+ python -m lidar_slam --result /working/result.json --no-model /working/79aa1111-e3d9-4bb0-ac7b-251745de0001
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Created default flags file: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001/processing/data/lidarslam.flags
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Lidar SLAM 0.0.17
=====================================================
 The recording path: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001
 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 0.020714057
Adjusted end_distance from 9.223372036854776e+18 to 934.510714057
 -=-=-> Lidar cleaning parameters file not found.
 --> Creating a generic default one.

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Averaged over 500 frames
Averaged shape: 195 points (N x 2)
Shape size (median max width): 2.1525

 SLAMing on 0.020714057 meters
Centerline goodness : 0.194930 with order 1
Centerline is valid?  [0, False]

 SLAMing on 0.080714057 meters
Centerline goodness : 0.209707 with order 1
Centerline is valid?  [False, False]
Translation: X:0.04, Y:0.00, Z:0.00
[[ 9.99996775e-01 -2.34111310e-03 -9.84606504e-04  4.04659655e-02]
 [ 2.33731264e-03  9.99989882e-01 -3.84347292e-03  3.34411557e-03]
 [ 9.93594546e-04  3.84115919e-03  9.99992129e-01  1.67972472e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 0.140714057 meters
Centerline goodness : 0.219313 with order 1
Centerline is valid?  [False, False]
Translation: X:0.08, Y:0.01, Z:0.00
[[ 9.99979817e-01 -6.34220632e-03 -3.76405415e-04  8.12210302e-02]
 [ 6.33879973e-03  9.99944206e-01 -8.45010704e-03  7.18687873e-03]
 [ 4.29976736e-04  8.44755054e-03  9.99964226e-01  1.50454059e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 0.20071405700000003 meters
Centerline goodness : 0.227023 with order 1
Centerline is valid?  [False, False]
Translation: X:0.13, Y:0.01, Z:0.00
[[ 0.99994295 -0.01058789  0.0014128   0.12531237]
 [ 0.01060547  0.99985819 -0.01308161  0.01012677]
 [-0.00127409  0.01309584  0.99991343  0.00196295]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.260714057 meters
Centerline goodness : 0.241129 with order 1
Centerline is valid?  [False, False]
Translation: X:0.17, Y:0.01, Z:0.00
[[ 0.99989547 -0.01425894  0.00239549  0.17068196]
 [ 0.01429817  0.99974904 -0.01724601  0.0142942 ]
 [-0.00214897  0.01727846  0.99984841  0.00234483]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.32071405700000005 meters
Centerline goodness : 0.249170 with order 1
Centerline is valid?  [False, False]
Translation: X:0.20, Y:0.02, Z:0.00
[[ 0.99984538 -0.0172959   0.00317441  0.20482153]
 [ 0.01735258  0.9996728  -0.01879302  0.01565997]
 [-0.00284833  0.0188452   0.99981836  0.00241127]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.38071405700000005 meters
Centerline goodness : 0.253286 with order 1
Centerline is valid?  [False, False]
Translation: X:0.25, Y:0.02, Z:0.00
[[ 0.99969976 -0.02401041  0.00488685  0.24989128]
 [ 0.02411639  0.99944622 -0.02292692  0.01847956]
 [-0.00433366  0.02303789  0.9997252   0.00198913]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.44071405700000005 meters
Centerline goodness : 0.252142 with order 1
Centerline is valid?  [False, False]
Translation: X:0.29, Y:0.02, Z:0.00
[[ 0.99956298 -0.02892419  0.00610187  0.2922949 ]
 [ 0.02907898  0.99921183 -0.02702094  0.02145771]
 [-0.0053155   0.02718657  0.99961624  0.00326388]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.500714057 meters
Centerline goodness : 0.258221 with order 1
Centerline is valid?  [False, False]
Translation: X:0.34, Y:0.02, Z:0.00
[[ 0.99949462 -0.03116105  0.00628368  0.33549258]
 [ 0.03132967  0.99909382 -0.02880972  0.02198048]
 [-0.00538025  0.02899202  0.99956516  0.00234808]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.560714057 meters
Centerline goodness : 0.878807 with order 3
Centerline is valid?  [False, False]
Translation: X:0.38, Y:0.02, Z:0.00
[[ 0.99937967 -0.03446571  0.00723815  0.38073058]
 [ 0.03468647  0.99885376 -0.03298513  0.02161176]
 [-0.006093    0.03321573  0.99942963  0.00203249]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.620714057 meters
Centerline goodness : 0.860345 with order 3
Centerline is valid?  [False, False]
Translation: X:0.43, Y:0.02, Z:0.00
[[ 0.99932287 -0.03600383  0.0075849   0.42626702]
 [ 0.03625063  0.99871557 -0.03539921  0.02311571]
 [-0.00630065  0.0356502   0.99934447  0.00234059]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.680714057 meters
Centerline goodness : 0.000000 with order 1
Centerline is valid?  [False, False]
Translation: X:0.47, Y:0.03, Z:0.00
[[ 0.99927653 -0.03712941  0.008235    0.47494343]
 [ 0.0374133   0.99859525 -0.03752026  0.02518877]
 [-0.00683032  0.03780121  0.99926194  0.00349643]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.740714057 meters
Centerline goodness : 0.566881 with order 3
Centerline is valid?  [False, False]
Translation: X:0.52, Y:0.03, Z:0.00
[[ 0.99916625 -0.03972658  0.00941269  0.52469572]
 [ 0.04007701  0.99837372 -0.04054322  0.0264264 ]
 [-0.00778673  0.04088665  0.99913345  0.00378375]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.800714057 meters
Centerline goodness : 0.642278 with order 2
Centerline is valid?  [False, False]
Translation: X:0.57, Y:0.03, Z:0.00
[[ 0.99914037 -0.04040183  0.00928526  0.57365099]
 [ 0.04075879  0.99827925 -0.0421576   0.02907792]
 [-0.00756604  0.04249982  0.99906783  0.00358101]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.860714057 meters
Centerline goodness : 0.886159 with order 1
Centerline is valid?  [False, False]
Translation: X:0.63, Y:0.03, Z:0.00
[[ 0.99914131 -0.04055808  0.00846686  0.62641073]
 [ 0.04087919  0.99828027 -0.04201669  0.03228812]
 [-0.00674818  0.04232673  0.99908103  0.00358866]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.920714057 meters
Centerline goodness : 0.408570 with order 1
Centerline is valid?  [False, False]
Translation: X:0.64, Y:0.03, Z:0.00
[[ 0.99909834 -0.04176769  0.00761327  0.64059649]
 [ 0.0420555   0.99820327 -0.04267985  0.0348751 ]
 [-0.00581695  0.04296154  0.99905979  0.00459313]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.980714057 meters
Centerline goodness : 0.419009 with order 1
Centerline is valid?  [False, False]
Translation: X:0.69, Y:0.04, Z:0.01
[[ 0.99902624 -0.04361426  0.00666124  0.69496017]
 [ 0.04386507  0.99807492 -0.04384419  0.03960831]
 [-0.00473619  0.04409369  0.99901617  0.0058985 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.040714057 meters
Centerline goodness : 0.779965 with order 1
Centerline is valid?  [False, False]
Translation: X:0.75, Y:0.04, Z:0.01
[[ 0.99892744 -0.04595158  0.00569465  0.75075064]
 [ 0.04616056  0.99793485 -0.04466803  0.04468558]
 [-0.00363033  0.04488299  0.99898565  0.0067263 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.100714057 meters
Centerline goodness : 0.776927 with order 2
Centerline is valid?  [False, False]
Translation: X:0.79, Y:0.05, Z:0.01
[[ 0.99888671 -0.0468543   0.00547941  0.78773325]
 [ 0.04705274  0.99789292 -0.04467387  0.0480042 ]
 [-0.0033747   0.04488196  0.9989866   0.00694043]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.160714057 meters
Centerline goodness : 0.752192 with order 2
Centerline is valid?  [False, False]
Translation: X:0.84, Y:0.05, Z:0.01
[[ 0.99877623 -0.04926927  0.00430991  0.84047196]
 [ 0.0494137   0.99776032 -0.04508468  0.05315125]
 [-0.00207897  0.04524248  0.99897387  0.00705718]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.2207140570000001 meters
Centerline goodness : 0.792862 with order 3
Centerline is valid?  [False, False]
Translation: X:0.89, Y:0.06, Z:0.01
[[ 0.99888463 -0.04708772  0.00349796  0.89017999]
 [ 0.04719802  0.99785576 -0.04534568  0.0579446 ]
 [-0.00135523  0.0454602   0.99896523  0.00779718]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.280714057 meters
Centerline goodness : 0.895533 with order 2
Centerline is valid?  [False, False]
Translation: X:0.94, Y:0.06, Z:0.01
[[ 9.98766084e-01 -4.95613792e-02  3.15887433e-03  9.40393732e-01]
 [ 4.96539270e-02  9.97725605e-01 -4.55862236e-02  6.26787190e-02]
 [-8.92373687e-04  4.56868245e-02  9.98955413e-01  8.16587912e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 1.340714057 meters
Centerline goodness : 0.731016 with order 2
Centerline is valid?  [False, False]
Translation: X:0.99, Y:0.07, Z:0.01
[[ 9.98546812e-01 -5.38680866e-02  1.57907736e-03  9.90799355e-01]
 [ 5.38846697e-02  9.97539592e-01 -4.48464642e-02  6.58593443e-02]
 [ 8.40601032e-04  4.48663819e-02  9.98992643e-01  8.06017255e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 1.400714057 meters
Centerline goodness : 0.343423 with order 1
Centerline is valid?  [False, False]
Translation: X:1.04, Y:0.07, Z:0.01
[[ 9.98472269e-01 -5.52492947e-02 -8.02593495e-04  1.04136391e+00]
 [ 5.51680390e-02  9.97608632e-01 -4.16353885e-02  6.80042904e-02]
 [ 3.10100005e-03  4.15275033e-02  9.99132549e-01  7.68972509e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 1.4607140570000001 meters
Centerline goodness : 0.256593 with order 1
Centerline is valid?  [False, False]
Translation: X:1.07, Y:0.07, Z:0.01
[[ 0.99833061 -0.05771983 -0.00209947  1.0741154 ]
 [ 0.05758162  0.99746274 -0.04186204  0.0693927 ]
 [ 0.00451041  0.04167127  0.99912119  0.00797696]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.5207140570000002 meters
Centerline goodness : 0.928063 with order 2
Centerline is valid?  [False, False]
Translation: X:1.12, Y:0.07, Z:0.01
[[ 0.99808993 -0.06166241 -0.00377275  1.12363071]
 [ 0.06144947  0.99722074 -0.04212791  0.07082312]
 [ 0.00635997  0.04181561  0.9991051   0.00798042]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.580714057 meters
Centerline goodness : 0.938467 with order 3
Centerline is valid?  [False, False]
Translation: X:1.17, Y:0.07, Z:0.01
[[ 0.99804828 -0.06223262 -0.00517074  1.17383883]
 [ 0.06197314  0.99725452 -0.04053076  0.0722248 ]
 [ 0.00767888  0.04013121  0.99916491  0.00842654]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.640714057 meters
Centerline goodness : 0.940086 with order 3
Centerline is valid?  [False, False]
Translation: X:1.22, Y:0.07, Z:0.01
[[ 0.99824097 -0.05908348 -0.00490965  1.22150679]
 [ 0.05886261  0.9975813  -0.03696942  0.07276473]
 [ 0.00708205  0.0366154   0.99930434  0.00855799]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.7007140570000001 meters
Centerline goodness : 0.948044 with order 2
Centerline is valid?  [False, False]
Translation: X:1.27, Y:0.07, Z:0.01
[[ 0.99830816 -0.05773933 -0.00685516  1.26770811]
 [ 0.05744453  0.99764879 -0.03737668  0.07233744]
 [ 0.00899714  0.03691965  0.99927773  0.00739722]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.7607140570000002 meters
Centerline goodness : 0.951057 with order 2
Centerline is valid?  [False, True]
Translation: X:1.31, Y:0.07, Z:0.01
[[ 0.99807479 -0.06139379 -0.00880436  1.31475085]
 [ 0.06105772  0.99754189 -0.03438204  0.07254991]
 [ 0.01089356  0.03377827  0.99936998  0.00703453]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.820714057 meters
Centerline goodness : 0.945796 with order 2
Centerline is valid?  [True, False]
Translation: X:1.36, Y:0.07, Z:0.01
[[ 0.99757668 -0.06921964 -0.00702967  1.36012083]
 [ 0.06894793  0.99705895 -0.03346099  0.07192812]
 [ 0.00932515  0.03289522  0.9994153   0.00753859]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.880714057 meters
Centerline goodness : 0.945118 with order 2
Centerline is valid?  [False, False]
Translation: X:1.38, Y:0.07, Z:0.01
[[ 0.99701976 -0.07687683 -0.00644559  1.38481992]
 [ 0.07662266  0.99650721 -0.03320173  0.07141367]
 [ 0.00897552  0.0326089   0.99942789  0.00732577]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.940714057 meters
Centerline goodness : 0.948388 with order 1
Centerline is valid?  [False, False]
Translation: X:1.43, Y:0.07, Z:0.01
[[ 0.99591049 -0.09001465 -0.00772347  1.42962203]
 [ 0.08974186  0.99550094 -0.03040205  0.07128666]
 [ 0.01042535  0.0295846   0.99950791  0.00724918]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.000714057 meters
Centerline goodness : 0.961065 with order 1
Centerline is valid?  [False, True]
Translation: X:1.48, Y:0.07, Z:0.01
[[ 0.99472516 -0.10219151 -0.00887468  1.4778419 ]
 [ 0.10189974  0.99437983 -0.02872606  0.07136184]
 [ 0.01176037  0.0276702   0.99954792  0.00781317]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.060714057 meters
Centerline goodness : 0.964196 with order 1
Centerline is valid?  [True, True]
Translation: X:1.52, Y:0.02, Z:0.11
[[ 0.94436946 -0.21344413 -0.25021577  1.52250303]
 [ 0.21151522  0.97675129 -0.03490312  0.01720775]
 [ 0.25184844 -0.019963    0.96756077  0.10975301]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.1207140570000003 meters
Centerline goodness : 0.968826 with order 1
Centerline is valid?  [True, True]
Translation: X:1.58, Y:0.03, Z:0.12
[[ 0.94111785 -0.2273524  -0.25021608  1.58012792]
 [ 0.22590199  0.97352464 -0.03490089  0.0274121 ]
 [ 0.25152632 -0.02367846  0.96756077  0.12160831]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.1807140570000003 meters
Centerline goodness : 0.971328 with order 1
Centerline is valid?  [True, True]
Translation: X:1.64, Y:0.03, Z:0.14
[[ 0.94235669 -0.22215834 -0.250219    1.63644591]
 [ 0.22053473  0.97475526 -0.03487995  0.03370285]
 [ 0.25165116 -0.02231262  0.96756077  0.14009334]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.2407140570000004 meters
Centerline goodness : 0.974624 with order 1
Centerline is valid?  [True, True]
Translation: X:1.70, Y:0.04, Z:0.16
[[ 0.9423506  -0.22218446 -0.25021874  1.69523681]
 [ 0.22056127  0.97474919 -0.03488178  0.04383021]
 [ 0.25165071 -0.02231769  0.96756077  0.1557008 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.3007140570000004 meters
Centerline goodness : 0.980684 with order 1
Centerline is valid?  [True, True]
Translation: X:1.75, Y:0.05, Z:0.18
[[ 0.94466193 -0.21213231 -0.25022735  1.75133807]
 [ 0.21018033  0.97704237 -0.03481993  0.05472633]
 [ 0.25186916 -0.01969981  0.96756077  0.1776397 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.3607140570000005 meters
Centerline goodness : 0.981934 with order 1
Centerline is valid?  [True, True]
Translation: X:1.81, Y:0.06, Z:0.20
[[ 0.94466167 -0.21213312 -0.25022763  1.80890866]
 [ 0.21018169  0.97704215 -0.03481795  0.06168408]
 [ 0.25186898 -0.01970209  0.96756077  0.1964075 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.4207140570000005 meters
Centerline goodness : 0.986413 with order 1
Centerline is valid?  [True, True]
Translation: X:1.86, Y:0.07, Z:0.22
[[ 0.9452556  -0.20946913 -0.25022899  1.86435938]
 [ 0.20742899  0.97763061 -0.03480817  0.07391454]
 [ 0.25192275 -0.01900213  0.96756077  0.21692668]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.4807140570000006 meters
Centerline goodness : 0.987864 with order 1
Centerline is valid?  [True, True]
Translation: X:1.92, Y:0.08, Z:0.24
[[ 0.94532182 -0.20917007 -0.25022899  1.92301268]
 [ 0.20711969  0.97769618 -0.03480817  0.08436371]
 [ 0.25192875 -0.01892243  0.96756077  0.23538055]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.540714057 meters
Centerline goodness : 0.990193 with order 1
Centerline is valid?  [True, True]
Translation: X:1.98, Y:0.09, Z:0.26
[[ 0.94547017 -0.20848778 -0.25023791  1.97981083]
 [ 0.20643096  0.97784412 -0.03474388  0.09329178]
 [ 0.25193734 -0.01880755  0.96756077  0.2557647 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.6007140570000002 meters
Centerline goodness : 0.992360 with order 1
Centerline is valid?  [True, True]
Translation: X:2.04, Y:0.11, Z:0.27
[[ 0.94505298 -0.21036923 -0.25023919  2.0375108 ]
 [ 0.20837926  0.97743111 -0.03473471  0.10678244]
 [ 0.25189868 -0.01931852  0.96756077  0.26910481]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.6607140570000003 meters
Centerline goodness : 0.993304 with order 1
Centerline is valid?  [True, True]
Translation: X:2.10, Y:0.12, Z:0.29
[[ 0.94482618 -0.21138403 -0.25024043  2.0954041 ]
 [ 0.2094312   0.97720658 -0.03472571  0.1161537 ]
 [ 0.25187706 -0.01959839  0.96756077  0.29148408]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.7207140570000004 meters
Centerline goodness : 0.993240 with order 1
Centerline is valid?  [True, True]
Translation: X:2.15, Y:0.14, Z:0.32
[[ 0.94440797 -0.21323483 -0.25024887  2.14859915]
 [ 0.21136148  0.97679306 -0.03466483  0.13513376]
 [ 0.25183311 -0.02015523  0.96756078  0.32114907]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.7807140570000004 meters
Centerline goodness : 0.994398 with order 1
Centerline is valid?  [True, True]
Translation: X:2.21, Y:0.14, Z:0.33
[[ 0.94602719 -0.20593086 -0.25024997  2.20700111]
 [ 0.20380941  0.97839697 -0.0346569   0.13918722]
 [ 0.25198073 -0.01821693  0.96756078  0.33391346]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.8407140570000005 meters
Centerline goodness : 0.994615 with order 1
Centerline is valid?  [True, True]
Translation: X:2.27, Y:0.15, Z:0.34
[[ 0.94635203 -0.20443193 -0.25025073  2.26559754]
 [ 0.20226065  0.9787185  -0.0346514   0.14699287]
 [ 0.25200887 -0.01782345  0.96756078  0.34463715]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.9007140570000005 meters
Centerline goodness : 0.995489 with order 1
Centerline is valid?  [True, True]
Translation: X:2.32, Y:0.16, Z:0.36
[[ 0.94647088 -0.20388097 -0.25025073  2.32481479]
 [ 0.20169084  0.97883609 -0.0346514   0.15848931]
 [ 0.2520192  -0.01767674  0.96756078  0.36189943]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.9607140570000006 meters
Centerline goodness : 0.996693 with order 1
Centerline is valid?  [True, True]
Translation: X:2.38, Y:0.18, Z:0.37
[[ 0.94616386 -0.20529169 -0.25025843  2.38365133]
 [ 0.20316448  0.97853326 -0.03459568  0.17857965]
 [ 0.2519884  -0.01811044  0.96756078  0.37380847]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.0207140570000006 meters
Centerline goodness : 0.997493 with order 1
Centerline is valid?  [True, True]
Translation: X:2.44, Y:0.19, Z:0.39
[[ 0.94577171 -0.20708702 -0.25026154  2.44284263]
 [ 0.20502716  0.97814547 -0.03457321  0.18843657]
 [ 0.25195185 -0.01861205  0.96756078  0.39028792]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.0807140570000002 meters
Centerline goodness : 0.997272 with order 1
Centerline is valid?  [True, True]
Translation: X:2.50, Y:0.18, Z:0.42
[[ 0.94714609 -0.20069644 -0.25027029  2.49965045]
 [ 0.19843474  0.97950637 -0.03450972  0.1831938 ]
 [ 0.25206732 -0.01697657  0.96756078  0.41875699]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.1407140570000003 meters
Centerline goodness : 0.998517 with order 1
Centerline is valid?  [True, True]
Translation: X:2.56, Y:0.20, Z:0.43
[[ 0.94547974 -0.20840508 -0.25027064  2.55686832]
 [ 0.20640772  0.97785741 -0.03450718  0.20271924]
 [ 0.25192047 -0.01903196  0.96756078  0.43163757]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.2007140570000003 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:2.62, Y:0.21, Z:0.45
[[ 0.94475432 -0.21166747 -0.25027216  2.61521885]
 [ 0.2097848   0.97713886 -0.03449612  0.2102715 ]
 [ 0.25185236 -0.01991294  0.96756078  0.44610829]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.2607140570000004 meters
Centerline goodness : 0.999600 with order 1
Centerline is valid?  [True, True]
Translation: X:2.68, Y:0.22, Z:0.45
[[ 0.94223457 -0.22261512 -0.25027291  2.67570124]
 [ 0.22110975  0.97463884 -0.03449074  0.21635579]
 [ 0.25160386 -0.02283941  0.96756078  0.45357911]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.3207140570000004 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:2.73, Y:0.22, Z:0.47
[[ 0.94224375 -0.22257605 -0.25027309  2.73469711]
 [ 0.22106969  0.97464797 -0.03448939  0.21938035]
 [ 0.25160467 -0.02283038  0.96756078  0.46670321]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.3807140570000005 meters
Centerline goodness : 0.999578 with order 1
Centerline is valid?  [True, True]
Translation: X:2.79, Y:0.22, Z:0.50
[[ 0.94355849 -0.21693492 -0.25027309  2.78819946]
 [ 0.21523472  0.97595312 -0.03448939  0.21968525]
 [ 0.25173676 -0.0213247   0.96756078  0.50375457]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.4407140570000005 meters
Centerline goodness : 0.999634 with order 1
Centerline is valid?  [True, True]
Translation: X:2.85, Y:0.22, Z:0.52
[[ 0.94364902 -0.21654022 -0.25027357  2.84752345]
 [ 0.21482738  0.97604299 -0.03448591  0.22091137]
 [ 0.25174535 -0.02122302  0.96756078  0.51689398]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.5007140570000006 meters
Centerline goodness : 0.999352 with order 1
Centerline is valid?  [True, True]
Translation: X:2.91, Y:0.22, Z:0.53
[[ 0.94376905 -0.21601583 -0.25027413  2.9058434 ]
 [ 0.21428605  0.97616212 -0.03448189  0.22259107]
 [ 0.25175675 -0.02108732  0.96756078  0.53301938]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.5607140570000007 meters
Centerline goodness : 0.999330 with order 1
Centerline is valid?  [True, True]
Translation: X:2.97, Y:0.23, Z:0.55
[[ 0.94382836 -0.21575669 -0.25027402  2.96650917]
 [ 0.21401782  0.97622094 -0.03448263  0.22667887]
 [ 0.2517626  -0.02101741  0.96756078  0.55139128]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.6207140570000003 meters
Centerline goodness : 0.999542 with order 1
Centerline is valid?  [True, True]
Translation: X:3.03, Y:0.23, Z:0.57
[[ 0.94394051 -0.21525543 -0.25028267  3.02658627]
 [ 0.21351591  0.97633306 -0.03441977  0.22848401]
 [ 0.25176829 -0.02094911  0.96756078  0.56987364]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.6807140570000003 meters
Centerline goodness : 0.998615 with order 1
Centerline is valid?  [True, True]
Translation: X:3.08, Y:0.23, Z:0.60
[[ 0.94402972 -0.21485516 -0.25029011  3.08433955]
 [ 0.21311618  0.9764223  -0.03436557  0.23023152]
 [ 0.25177246 -0.02089876  0.96756078  0.59657481]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.7407140570000004 meters
Centerline goodness : 0.999125 with order 1
Centerline is valid?  [True, True]
Translation: X:3.14, Y:0.24, Z:0.61
[[ 0.94404981 -0.21475688 -0.25029869  3.14444035]
 [ 0.213031    0.97644308 -0.03430299  0.23546655]
 [ 0.25176923 -0.02093765  0.96756078  0.61213778]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.8007140570000004 meters
Centerline goodness : 0.998805 with order 1
Centerline is valid?  [True, True]
Translation: X:3.20, Y:0.24, Z:0.63
[[ 0.94433817 -0.21348249 -0.25030112  3.20218619]
 [ 0.21171756  0.97672934 -0.03428525  0.23863533]
 [ 0.25179575 -0.02061627  0.96756078  0.63206388]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.8607140570000005 meters
Centerline goodness : 0.998515 with order 1
Centerline is valid?  [True, True]
Translation: X:3.26, Y:0.24, Z:0.65
[[ 0.94441009 -0.21316319 -0.2503019   3.26277402]
 [ 0.21138882  0.97680074 -0.03427952  0.24140682]
 [ 0.25180221 -0.0205371   0.96756078  0.64854326]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.9207140570000005 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:3.32, Y:0.25, Z:0.67
[[ 0.94424165 -0.21389796 -0.25031056  3.32200286]
 [ 0.21216546  0.97663456 -0.03421621  0.24528788]
 [ 0.25178072 -0.02079889  0.96756079  0.66595867]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.9807140570000006 meters
Centerline goodness : 0.998231 with order 1
Centerline is valid?  [True, True]
Translation: X:3.38, Y:0.25, Z:0.68
[[ 0.94424234 -0.21388951 -0.25031516  3.38084317]
 [ 0.21216559  0.97663571 -0.03418253  0.25047715]
 [ 0.25177801 -0.02083167  0.96756079  0.68475206]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.040714057000001 meters
Centerline goodness : 0.998241 with order 1
Centerline is valid?  [True, True]
Translation: X:3.44, Y:0.25, Z:0.70
[[ 0.94378358 -0.21589936 -0.25031985  3.43976416]
 [ 0.21425347  0.97618101 -0.03414811  0.25414281]
 [ 0.25173004 -0.02140347  0.96756079  0.70145735]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.100714057 meters
Centerline goodness : 0.998209 with order 1
Centerline is valid?  [True, True]
Translation: X:3.50, Y:0.26, Z:0.71
[[ 0.94357388 -0.21681324 -0.2503205   3.49818785]
 [ 0.21519997  0.97597295 -0.03414338  0.25826569]
 [ 0.25170877 -0.02165216  0.96756079  0.71418858]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.160714057000001 meters
Centerline goodness : 0.997870 with order 1
Centerline is valid?  [True, True]
Translation: X:3.56, Y:0.26, Z:0.73
[[ 0.94362166 -0.2166052  -0.2503205   3.55629455]
 [ 0.21498478  0.97602038 -0.03414338  0.2636632 ]
 [ 0.25171354 -0.02159667  0.96756079  0.73404886]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.220714057 meters
Centerline goodness : 0.997967 with order 1
Centerline is valid?  [True, True]
Translation: X:3.61, Y:0.27, Z:0.75
[[ 0.94380868 -0.21578739 -0.25032176  3.61438351]
 [ 0.21414134  0.9762061  -0.03413411  0.2705445 ]
 [ 0.25173134 -0.02138817  0.96756079  0.75227395]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.280714057000001 meters
Centerline goodness : 0.997974 with order 1
Centerline is valid?  [True, True]
Translation: X:3.67, Y:0.28, Z:0.77
[[ 0.94403055 -0.21481317 -0.25032305  3.67346923]
 [ 0.21313618  0.97642638 -0.03412466  0.27687791]
 [ 0.25175246 -0.02113817  0.96756079  0.76915531]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.3407140570000005 meters
Centerline goodness : 0.997905 with order 1
Centerline is valid?  [True, True]
Translation: X:3.73, Y:0.28, Z:0.78
[[ 0.944296   -0.21363357 -0.25033132  3.73173188]
 [ 0.2119321   0.97669055 -0.03406387  0.28319487]
 [ 0.25177342 -0.02088687  0.96756079  0.78438547]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.400714057000001 meters
Centerline goodness : 0.997809 with order 1
Centerline is valid?  [True, True]
Translation: X:3.79, Y:0.29, Z:0.80
[[ 0.94490132 -0.21093993 -0.25033146  3.79017314]
 [ 0.20914636  0.97729091 -0.03406284  0.29138684]
 [ 0.25183188 -0.02016989  0.96756079  0.79965393]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.460714057000001 meters
Centerline goodness : 0.997803 with order 1
Centerline is valid?  [True, True]
Translation: X:3.85, Y:0.30, Z:0.82
[[ 0.94598555 -0.20602204 -0.25033231  3.84849526]
 [ 0.20406165  0.97836547 -0.03405663  0.30132962]
 [ 0.2519329  -0.01886614  0.96756079  0.81565711]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.520714057 meters
Centerline goodness : 0.998130 with order 1
Centerline is valid?  [True, True]
Translation: X:3.91, Y:0.31, Z:0.83
[[ 0.94677198 -0.20237628 -0.25033311  3.90617114]
 [ 0.20029273  0.9791442  -0.03405073  0.31100489]
 [ 0.25200327 -0.01790163  0.96756079  0.83414489]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.580714057000001 meters
Centerline goodness : 0.998020 with order 1
Centerline is valid?  [True, True]
Translation: X:3.97, Y:0.32, Z:0.85
[[ 0.94659825 -0.20318564 -0.25033446  3.96607129]
 [ 0.20113237  0.97897242 -0.03404081  0.32017104]
 [ 0.25198713 -0.01812739  0.96756079  0.85037797]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.640714057 meters
Centerline goodness : 0.998455 with order 1
Centerline is valid?  [True, True]
Translation: X:4.03, Y:0.33, Z:0.87
[[ 0.94658996 -0.20321339 -0.25034331  4.0254503 ]
 [ 0.20117823  0.97896526 -0.03397559  0.33023021]
 [ 0.2519817  -0.01820267  0.96756079  0.86529624]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.700714057000001 meters
Centerline goodness : 0.998615 with order 1
Centerline is valid?  [True, True]
Translation: X:4.08, Y:0.34, Z:0.88
[[ 0.94680568 -0.20219503 -0.2503521   4.08449612]
 [ 0.20014212  0.97917986 -0.03391068  0.34239284]
 [ 0.25199631 -0.01799918  0.96756079  0.88164051]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.760714057 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:4.14, Y:0.35, Z:0.90
[[ 0.94683358 -0.20205284 -0.25036138  4.1443082 ]
 [ 0.20001312  0.97920859 -0.03384206  0.35197862]
 [ 0.2519939  -0.01803276  0.9675608   0.89915094]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.820714057000001 meters
Centerline goodness : 0.998833 with order 1
Centerline is valid?  [True, True]
Translation: X:4.20, Y:0.36, Z:0.91
[[ 0.94674242 -0.20246706 -0.25037149  4.20302786]
 [ 0.20046122  0.97911955 -0.03376707  0.36277079]
 [ 0.25198034 -0.01822106  0.9675608   0.91373883]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.8807140570000005 meters
Centerline goodness : 0.998854 with order 1
Centerline is valid?  [True, True]
Translation: X:4.26, Y:0.37, Z:0.93
[[ 0.94690917 -0.2016758  -0.25037951  4.26210313]
 [ 0.19965858  0.97928558 -0.0337075   0.37304697]
 [ 0.25199104 -0.01807248  0.9675608   0.92827341]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.940714057000001 meters
Centerline goodness : 0.999340 with order 1
Centerline is valid?  [True, True]
Translation: X:4.32, Y:0.38, Z:0.94
[[ 0.94715536 -0.20051306 -0.2503822   4.32110601]
 [ 0.19846133  0.97952961 -0.03368755  0.38430746]
 [ 0.25201157 -0.01778384  0.9675608   0.94499036]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.000714057000001 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:4.38, Y:0.40, Z:0.96
[[ 0.94734187 -0.19961899 -0.25039098  4.37978539]
 [ 0.19755391  0.97971527 -0.03362214  0.39629477]
 [ 0.25202349 -0.01761406  0.9675608   0.96239988]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.060714057 meters
Centerline goodness : 0.999085 with order 1
Centerline is valid?  [True, True]
Translation: X:4.44, Y:0.41, Z:0.98
[[ 0.94695617 -0.20142976 -0.25039983  4.43685558]
 [ 0.19944393  0.97933452 -0.03355615  0.40738693]
 [ 0.2519844  -0.01816453  0.96756081  0.9761289 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.120714057000001 meters
Centerline goodness : 0.999007 with order 1
Centerline is valid?  [True, True]
Translation: X:4.50, Y:0.42, Z:0.99
[[ 0.94642337 -0.20391836 -0.25039991  4.4965142 ]
 [ 0.20201782  0.97880684 -0.03355552  0.4183877 ]
 [ 0.25193573 -0.01882751  0.96756081  0.9907955 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.180714057 meters
Centerline goodness : 0.999425 with order 1
Centerline is valid?  [True, True]
Translation: X:4.55, Y:0.43, Z:1.01
[[ 0.9461005  -0.20540017 -0.25040888  4.55445844]
 [ 0.20356798  0.97848791 -0.03348845  0.42877609]
 [ 0.2519006  -0.01929179  0.96756081  1.00715038]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.240714057000001 meters
Centerline goodness : 0.999050 with order 1
Centerline is valid?  [True, True]
Translation: X:4.61, Y:0.44, Z:1.02
[[ 0.94573915 -0.20705685 -0.25040952  4.61178643]
 [ 0.20528265  0.97812979 -0.03348366  0.44055214]
 [ 0.25186603 -0.01973792  0.96756081  1.02402636]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.300714057 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:4.67, Y:0.45, Z:1.04
[[ 0.94573133 -0.20709178 -0.25041016  4.66970317]
 [ 0.20532004  0.9781221  -0.03347891  0.45071056]
 [ 0.25186492 -0.01975217  0.96756081  1.0381445 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.360714057000001 meters
Centerline goodness : 0.999345 with order 1
Centerline is valid?  [True, True]
Translation: X:4.73, Y:0.46, Z:1.06
[[ 0.9458519  -0.20653965 -0.25041079  4.72809525]
 [ 0.20475024  0.9782417  -0.03347417  0.46220446]
 [ 0.25187602 -0.01961006  0.96756081  1.05596549]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.4207140570000005 meters
Centerline goodness : 0.999291 with order 1
Centerline is valid?  [True, True]
Translation: X:4.79, Y:0.47, Z:1.07
[[ 0.94597029 -0.20599363 -0.25041333  4.78686884]
 [ 0.20419051  0.97835933 -0.03345519  0.47261049]
 [ 0.25188577 -0.01948441  0.96756081  1.07173819]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.480714057000001 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:4.85, Y:0.48, Z:1.09
[[ 0.94600553 -0.20582108 -0.25042208  4.84653075]
 [ 0.20402933  0.9783952  -0.03338956  0.48446759]
 [ 0.25188403 -0.01950674  0.96756081  1.08736071]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.540714057000001 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:4.91, Y:0.50, Z:1.10
[[ 0.94608376 -0.20545031 -0.25043102  4.90661298]
 [ 0.20366354  0.9784737  -0.03332239  0.49564918]
 [ 0.25188626 -0.0194779   0.96756081  1.09807344]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.600714057 meters
Centerline goodness : 0.999128 with order 1
Centerline is valid?  [True, True]
Translation: X:4.96, Y:0.51, Z:1.12
[[ 0.94602676 -0.2057011  -0.25044048  4.9644578 ]
 [ 0.20394167  0.97841819 -0.03325111  0.50631876]
 [ 0.25187531 -0.01961881  0.96756081  1.11669273]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.660714057000001 meters
Centerline goodness : 0.999119 with order 1
Centerline is valid?  [True, True]
Translation: X:5.02, Y:0.52, Z:1.13
[[ 0.94553306 -0.20795716 -0.25044173  5.02221196]
 [ 0.20627747  0.97792873 -0.03324172  0.51841721]
 [ 0.25182701 -0.02022934  0.96756081  1.13463318]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.720714057 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:5.08, Y:0.53, Z:1.15
[[ 0.94498991 -0.21041052 -0.25044258  5.08106875]
 [ 0.20881661  0.97738991 -0.03323526  0.5288176 ]
 [ 0.2517731  -0.02088958  0.96756081  1.14942672]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.780714057000001 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:5.14, Y:0.54, Z:1.16
[[ 0.94457979 -0.21224253 -0.25044386  5.14008326]
 [ 0.21071398  0.97698294 -0.03322566  0.53905221]
 [ 0.25173127 -0.02138773  0.96756081  1.1600326 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.8407140570000005 meters
Centerline goodness : 0.999214 with order 1
Centerline is valid?  [True, True]
Translation: X:5.20, Y:0.55, Z:1.18
[[ 0.94479514 -0.21127995 -0.25044547  5.19821694]
 [ 0.20972158  0.97719687 -0.03321351  0.55035719]
 [ 0.25175188 -0.02114385  0.96756081  1.17731143]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.900714057000001 meters
Centerline goodness : 0.998877 with order 1
Centerline is valid?  [True, True]
Translation: X:5.26, Y:0.56, Z:1.19
[[ 0.94538529 -0.20862186 -0.25044677  5.2566999 ]
 [ 0.20697495  0.97778264 -0.03320371  0.56001564]
 [ 0.25180952 -0.02044591  0.96756081  1.19236435]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.960714057000001 meters
Centerline goodness : 0.998894 with order 1
Centerline is valid?  [True, True]
Translation: X:5.32, Y:0.57, Z:1.21
[[ 0.94659304 -0.2030697  -0.25044822  5.31552984]
 [ 0.20123556  0.97898033 -0.03319276  0.57013569]
 [ 0.25192432 -0.01897905  0.96756081  1.20563281]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.020714057000001 meters
Centerline goodness : 0.998783 with order 1
Centerline is valid?  [True, True]
Translation: X:5.38, Y:0.58, Z:1.22
[[ 0.94759903 -0.19832123 -0.25044912  5.37511571]
 [ 0.19632651  0.97997683 -0.03318598  0.58031968]
 [ 0.25201582 -0.0177228   0.96756081  1.21976812]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.080714057000001 meters
Centerline goodness : 0.998673 with order 1
Centerline is valid?  [True, True]
Translation: X:5.43, Y:0.59, Z:1.24
[[ 0.9482258  -0.19529901 -0.25045186  5.43239857]
 [ 0.19320651  0.98059742 -0.03316528  0.59048696]
 [ 0.25206959 -0.01694075  0.96756082  1.23523165]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.140714057 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:5.49, Y:0.60, Z:1.25
[[ 0.94843163 -0.19429671 -0.25045205  5.49170676]
 [ 0.19217038  0.98080105 -0.03316384  0.59913337]
 [ 0.25208726 -0.01667583  0.96756082  1.24806642]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.200714057000001 meters
Centerline goodness : 0.998907 with order 1
Centerline is valid?  [True, True]
Translation: X:5.55, Y:0.61, Z:1.26
[[ 0.94872275 -0.19286867 -0.25045324  5.55211021]
 [ 0.19069598  0.98108909 -0.03315483  0.60722389]
 [ 0.25211147 -0.01630568  0.96756082  1.26230095]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.260714057 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:5.61, Y:0.62, Z:1.28
[[ 0.94922456 -0.19037234 -0.2504618   5.61141853]
 [ 0.18813155  0.98158625 -0.03309002  0.61707891]
 [ 0.25214929 -0.0157099   0.96756082  1.27841981]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.320714057000001 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:5.67, Y:0.63, Z:1.29
[[ 0.94977997 -0.18756991 -0.25047064  5.66916083]
 [ 0.18525121  0.98213618 -0.03302303  0.62580862]
 [ 0.2521904  -0.01503537  0.96756082  1.29317994]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.3807140570000005 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:5.73, Y:0.63, Z:1.31
[[ 0.94994414 -0.18673583 -0.25047127  5.72844262]
 [ 0.18438999  0.98229839 -0.03301824  0.63324932]
 [ 0.25220321 -0.01481891  0.96756082  1.30699833]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.440714057000001 meters
Centerline goodness : 0.999223 with order 1
Centerline is valid?  [True, True]
Translation: X:5.79, Y:0.64, Z:1.32
[[ 0.95034623 -0.18467694 -0.2504725   5.78681686]
 [ 0.18226345  0.9826955  -0.03300887  0.64081739]
 [ 0.25223418 -0.01428213  0.96756082  1.32155122]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.500714057000001 meters
Centerline goodness : 0.999165 with order 1
Centerline is valid?  [True, True]
Translation: X:5.85, Y:0.65, Z:1.34
[[ 0.95079044 -0.18237582 -0.25047274  5.84630286]
 [ 0.17988451  0.98313381 -0.03300707  0.64918609]
 [ 0.25226791 -0.01367336  0.96756082  1.33663782]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.560714057000001 meters
Centerline goodness : 0.999084 with order 1
Centerline is valid?  [True, True]
Translation: X:5.91, Y:0.66, Z:1.35
[[ 0.9509019  -0.18179126 -0.25047458  5.90557254]
 [ 0.17928373  0.98324402 -0.03299312  0.65625447]
 [ 0.25227549 -0.0135328   0.96756082  1.35107349]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.620714057000001 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:5.96, Y:0.66, Z:1.37
[[ 0.95060076 -0.18334882 -0.25048234  5.96486003]
 [ 0.18090978  0.98294812 -0.03293409  0.66222217]
 [ 0.25224957 -0.01400754  0.96756082  1.36644195]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.680714057 meters
Centerline goodness : 0.998877 with order 1
Centerline is valid?  [True, True]
Translation: X:6.02, Y:0.67, Z:1.38
[[ 0.95050289 -0.18385385 -0.25048356  6.02381407]
 [ 0.18143442  0.98285172 -0.03292485  0.6697189 ]
 [ 0.25224155 -0.01415117  0.96756082  1.38146351]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.740714057000001 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:6.08, Y:0.68, Z:1.40
[[ 0.9499793  -0.18653875 -0.25048477  6.08343132]
 [ 0.18421317  0.98233501 -0.03291557  0.67612514]
 [ 0.25219999 -0.01487348  0.96756082  1.39623073]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.800714057 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:6.14, Y:0.68, Z:1.41
[[ 0.9490027  -0.19143508 -0.25049248  6.14197144]
 [ 0.18929182  0.981371   -0.03285681  0.68163506]
 [ 0.252116   -0.01623497  0.96756082  1.41326672]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.860714057000001 meters
Centerline goodness : 0.998944 with order 1
Centerline is valid?  [True, True]
Translation: X:6.20, Y:0.69, Z:1.43
[[ 0.94806423 -0.1960284  -0.25049368  6.20055204]
 [ 0.19404432  0.98044267 -0.03284766  0.6856796 ]
 [ 0.25203377 -0.01746518  0.96756082  1.42838576]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.9207140570000005 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:6.26, Y:0.69, Z:1.44
[[ 0.94771293 -0.19771743 -0.25049554  6.25955545]
 [ 0.19579478  0.98009508 -0.03283347  0.69089895]
 [ 0.2520012  -0.01792902  0.96756082  1.44322123]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.980714057000001 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:6.32, Y:0.70, Z:1.46
[[ 0.94751594 -0.19865856 -0.25049614  6.31968713]
 [ 0.19676926  0.97990006 -0.03282894  0.6958999 ]
 [ 0.25198293 -0.018184    0.96756082  1.45978269]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.040714057000001 meters
Centerline goodness : 0.999293 with order 1
Centerline is valid?  [True, True]
Translation: X:6.38, Y:0.70, Z:1.47
[[ 0.94733807 -0.199494   -0.25050494  6.37890247]
 [ 0.19765097  0.97972485 -0.03276159  0.70008435]
 [ 0.25196166 -0.01847624  0.96756083  1.4734592 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.100714057000001 meters
Centerline goodness : 0.999348 with order 1
Centerline is valid?  [True, True]
Translation: X:6.44, Y:0.71, Z:1.49
[[ 0.94758019 -0.19833919 -0.25050618  6.4395504 ]
 [ 0.19645918  0.97996484 -0.03275212  0.70507796]
 [ 0.25198328 -0.01817897  0.96756083  1.48773636]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.160714057000001 meters
Centerline goodness : 0.999244 with order 1
Centerline is valid?  [True, True]
Translation: X:6.50, Y:0.71, Z:1.50
[[ 0.94821471 -0.19527993 -0.2505087   6.49640701]
 [ 0.19330048  0.98059344 -0.03273285  0.71228978]
 [ 0.25203926 -0.01738568  0.96756083  1.5048742 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.220714057 meters
Centerline goodness : 0.999319 with order 1
Centerline is valid?  [True, True]
Translation: X:6.55, Y:0.72, Z:1.52
[[ 0.94872912 -0.19276507 -0.25050884  6.55461303]
 [ 0.19070004  0.9811025  -0.0327318   0.71961169]
 [ 0.2520844  -0.01671843  0.96756083  1.52115624]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.280714057000001 meters
Centerline goodness : 0.999138 with order 1
Centerline is valid?  [True, True]
Translation: X:6.61, Y:0.73, Z:1.54
[[ 0.94911314 -0.19086445 -0.25050948  6.61438315]
 [ 0.18873589  0.98148241 -0.03272685  0.72687394]
 [ 0.25211704 -0.01621865  0.96756083  1.53752214]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.3407140570000005 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:6.67, Y:0.73, Z:1.55
[[ 0.94921291 -0.19035669 -0.25051783  6.67272966]
 [ 0.18822764  0.98158214 -0.03266286  0.73333624]
 [ 0.25212142 -0.01615037  0.96756083  1.55210377]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.400714057000001 meters
Centerline goodness : 0.999010 with order 1
Centerline is valid?  [True, True]
Translation: X:6.73, Y:0.74, Z:1.57
[[ 0.94936716 -0.18958589 -0.25051784  6.73277934]
 [ 0.18743057  0.98173465 -0.03266277  0.74082266]
 [ 0.25213444 -0.01594574  0.96756083  1.56709535]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.460714057000001 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:6.79, Y:0.75, Z:1.58
[[ 0.94933414 -0.1897481  -0.25052017  6.79256689]
 [ 0.18760301  0.98170231 -0.03264489  0.74769459]
 [ 0.25213054 -0.01600743  0.96756083  1.5821406 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.520714057000001 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:6.85, Y:0.75, Z:1.60
[[ 0.94936108 -0.18961077 -0.25052205  6.8516615 ]
 [ 0.18746478  0.98172919 -0.03263049  0.75403516]
 [ 0.2521319  -0.01598594  0.96756083  1.59816072]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.580714057000001 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:6.91, Y:0.76, Z:1.61
[[ 0.95025554 -0.18507433 -0.25052326  6.90903039]
 [ 0.18277624  0.9826132  -0.03262113  0.76095594]
 [ 0.2522048  -0.01479129  0.96756083  1.61356628]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.640714057000001 meters
Centerline goodness : 0.999220 with order 1
Centerline is valid?  [True, True]
Translation: X:6.97, Y:0.77, Z:1.63
[[ 0.95082167 -0.18214356 -0.2505232   6.96782025]
 [ 0.17974559  0.98317209 -0.03262161  0.76777167]
 [ 0.25224924 -0.01401311  0.96756083  1.627995  ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.700714057000001 meters
Centerline goodness : 0.999168 with order 1
Centerline is valid?  [True, True]
Translation: X:7.03, Y:0.77, Z:1.64
[[ 0.95116924 -0.1803184  -0.25052417  7.02765189]
 [ 0.17786029  0.98351514 -0.03261418  0.77349889]
 [ 0.25227525 -0.01353669  0.96756083  1.64267764]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.760714057 meters
Centerline goodness : 0.999379 with order 1
Centerline is valid?  [True, True]
Translation: X:7.09, Y:0.78, Z:1.66
[[ 0.95130345 -0.17960638 -0.25052603  7.08678058]
 [ 0.17712781  0.98364779 -0.0325999   0.78024507]
 [ 0.25228452 -0.01336273  0.96756083  1.65726749]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.820714057000001 meters
Centerline goodness : 0.999096 with order 1
Centerline is valid?  [True, True]
Translation: X:7.15, Y:0.79, Z:1.67
[[ 0.95136973 -0.17924406 -0.25053385  7.14696228]
 [ 0.17676899  0.98371434 -0.03253964  0.78625373]
 [ 0.25228628 -0.01332938  0.96756083  1.67200239]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.8807140570000005 meters
Centerline goodness : 0.998997 with order 1
Centerline is valid?  [True, True]
Translation: X:7.21, Y:0.79, Z:1.69
[[ 0.95094041 -0.18149657 -0.25054207  7.20565431]
 [ 0.17911475  0.98329202 -0.03247627  0.79072477]
 [ 0.25225035 -0.01399278  0.96756083  1.68699698]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.940714057000001 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:7.26, Y:0.80, Z:1.70
[[ 0.95045871 -0.18400166 -0.25054267  7.26496576]
 [ 0.18170632  0.98281657 -0.03247161  0.79637702]
 [ 0.25221232 -0.01466226  0.96756083  1.70251726]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.000714057 meters
Centerline goodness : 0.999414 with order 1
Centerline is valid?  [True, True]
Translation: X:7.32, Y:0.80, Z:1.72
[[ 0.94952903 -0.18873892 -0.25054389  7.32418441]
 [ 0.18660743  0.9818981  -0.03246224  0.80149597]
 [ 0.25213545 -0.01592951  0.96756083  1.71753612]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.060714057 meters
Centerline goodness : 0.998783 with order 1
Centerline is valid?  [True, True]
Translation: X:7.38, Y:0.81, Z:1.73
[[ 0.94865262 -0.19309462 -0.25054475  7.38239972]
 [ 0.19111346  0.98103123 -0.03245555  0.80770226]
 [ 0.25205922 -0.01709343  0.96756083  1.73107017]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.120714057 meters
Centerline goodness : 0.998988 with order 1
Centerline is valid?  [True, True]
Translation: X:7.44, Y:0.81, Z:1.75
[[ 0.9480438  -0.19606195 -0.25054474  7.4410126 ]
 [ 0.19418209  0.98042845 -0.03245563  0.81410426]
 [ 0.25200451 -0.01788194  0.96756083  1.74672018]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.180714057 meters
Centerline goodness : 0.999193 with order 1
Centerline is valid?  [True, True]
Translation: X:7.50, Y:0.82, Z:1.76
[[ 0.9476858  -0.19778375 -0.25054582  7.50077757]
 [ 0.1959649   0.98007394 -0.03244734  0.82106442]
 [ 0.25197098 -0.01834831  0.96756083  1.76366512]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.240714057 meters
Centerline goodness : 0.999216 with order 1
Centerline is valid?  [True, True]
Translation: X:7.56, Y:0.83, Z:1.78
[[ 0.94766805 -0.19786566 -0.2505483   7.56029065]
 [ 0.19605466  0.98005662 -0.03242817  0.82929377]
 [ 0.25196794 -0.01839002  0.96756083  1.77967365]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.300714057 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:7.62, Y:0.84, Z:1.79
[[ 0.94762509 -0.19806818 -0.25055077  7.61955664]
 [ 0.19626912  0.98001433 -0.03240905  0.83520228]
 [ 0.25196255 -0.01846375  0.96756083  1.79190872]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.360714057 meters
Centerline goodness : 0.999197 with order 1
Centerline is valid?  [True, True]
Translation: X:7.68, Y:0.84, Z:1.81
[[ 0.94753063 -0.19851863 -0.25055152  7.67848669]
 [ 0.19673648  0.9799208  -0.03240328  0.84219933]
 [ 0.2519533  -0.01858952  0.96756083  1.80772865]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.420714057 meters
Centerline goodness : 0.999173 with order 1
Centerline is valid?  [True, True]
Translation: X:7.74, Y:0.85, Z:1.82
[[ 0.94745798 -0.1988635  -0.25055276  7.7363511 ]
 [ 0.19709568  0.97984894 -0.03239366  0.84926937]
 [ 0.25194577 -0.01869124  0.96756083  1.82275073]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.480714057 meters
Centerline goodness : 0.999151 with order 1
Centerline is valid?  [True, True]
Translation: X:7.79, Y:0.86, Z:1.84
[[ 0.94754148 -0.19846449 -0.25055338  7.79493737]
 [ 0.19668429  0.97993176 -0.03238884  0.85561128]
 [ 0.25195325 -0.01859014  0.96756083  1.83817221]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.540714057 meters
Centerline goodness : 0.999350 with order 1
Centerline is valid?  [True, True]
Translation: X:7.85, Y:0.86, Z:1.85
[[ 0.94752276 -0.19854789 -0.25055808  7.85423243]
 [ 0.1967801   0.97991373 -0.0323525   0.8634605 ]
 [ 0.25194882 -0.01865011  0.96756083  1.85399573]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.600714057 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:7.91, Y:0.87, Z:1.87
[[ 0.94750267 -0.1986335  -0.25056621  7.91401733]
 [ 0.19688523  0.97989469 -0.03228941  0.87189123]
 [ 0.25194225 -0.01873849  0.96756084  1.87035271]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.660714057 meters
Centerline goodness : 0.998871 with order 1
Centerline is valid?  [True, True]
Translation: X:7.97, Y:0.88, Z:1.88
[[ 0.94714337 -0.20032909 -0.25057474  7.97262392]
 [ 0.19865623  0.97953937 -0.03222309  0.8790738 ]
 [ 0.25190304 -0.01925835  0.96756084  1.88366851]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.720714057 meters
Centerline goodness : 0.998519 with order 1
Centerline is valid?  [True, True]
Translation: X:8.03, Y:0.89, Z:1.90
[[ 0.94706351 -0.20070589 -0.25057504  8.03070726]
 [ 0.19904656  0.97946021 -0.03222072  0.88676223]
 [ 0.25189517 -0.01936104  0.96756084  1.90079437]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.780714057 meters
Centerline goodness : 0.998171 with order 1
Centerline is valid?  [True, True]
Translation: X:8.09, Y:0.89, Z:1.92
[[ 0.94633382 -0.20411745 -0.25057607  8.08795098]
 [ 0.20257696  0.97873639 -0.03221273  0.89280535]
 [ 0.2518231  -0.02027694  0.96756084  1.91673855]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.840714057 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:8.15, Y:0.90, Z:1.93
[[ 0.94620296 -0.20472346 -0.25057585  8.14827134]
 [ 0.20320328  0.97860649 -0.03221443  0.89853138]
 [ 0.2518102  -0.02043644  0.96756084  1.93294176]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.900714057 meters
Centerline goodness : 0.998161 with order 1
Centerline is valid?  [True, True]
Translation: X:8.21, Y:0.91, Z:1.95
[[ 0.94605918 -0.20537647 -0.25058437  8.20656131]
 [ 0.20389613  0.97846455 -0.03214802  0.90514273]
 [ 0.25179037 -0.02067925  0.96756084  1.94628722]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.960714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:8.27, Y:0.91, Z:1.96
[[ 0.94607085 -0.20532273 -0.25058437  8.26528035]
 [ 0.20384055  0.97847613 -0.03214802  0.91169389]
 [ 0.25179154 -0.02066495  0.96756084  1.96233535]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.020714057 meters
Centerline goodness : 0.998007 with order 1
Centerline is valid?  [True, True]
Translation: X:8.32, Y:0.92, Z:1.98
[[ 0.94571141 -0.20697105 -0.25058512  8.32273701]
 [ 0.20554688  0.9781193  -0.03214217  0.9174369 ]
 [ 0.25175464 -0.02110978  0.96756084  1.97701326]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.080714057 meters
Centerline goodness : 0.998415 with order 1
Centerline is valid?  [True, True]
Translation: X:8.38, Y:0.92, Z:1.99
[[ 0.94487295 -0.21076574 -0.25058512  8.3820892 ]
 [ 0.20947168  0.97728629 -0.03214217  0.92176338]
 [ 0.25166787 -0.02212022  0.96756084  1.99269158]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.140714057 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:8.44, Y:0.93, Z:2.01
[[ 0.94464794 -0.21177064 -0.25058624  8.44243711]
 [ 0.21051335  0.97706273 -0.03213344  0.92778061]
 [ 0.25164339 -0.02239696  0.96756084  2.00819423]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.200714057 meters
Centerline goodness : 0.999398 with order 1
Centerline is valid?  [True, True]
Translation: X:8.50, Y:0.93, Z:2.02
[[ 0.94458148 -0.21205698 -0.25059463  8.50185087]
 [ 0.21082677  0.9769973  -0.03206787  0.93329711]
 [ 0.25163049 -0.02254134  0.96756084  2.02359469]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.260714057 meters
Centerline goodness : 0.999247 with order 1
Centerline is valid?  [True, True]
Translation: X:8.56, Y:0.94, Z:2.04
[[ 0.94506034 -0.2099111  -0.25059586  8.55974873]
 [ 0.20860979  0.97747339 -0.03205829  0.94214003]
 [ 0.25168017 -0.02197973  0.96756084  2.04076239]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.320714057 meters
Centerline goodness : 0.999197 with order 1
Centerline is valid?  [True, True]
Translation: X:8.62, Y:0.95, Z:2.06
[[ 0.9453294  -0.20869517 -0.25059659  8.62008765]
 [ 0.20735366  0.97774081 -0.03205259  0.94901232]
 [ 0.25170773 -0.02166187  0.96756084  2.05582635]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.380714057 meters
Centerline goodness : 0.999597 with order 1
Centerline is valid?  [True, True]
Translation: X:8.68, Y:0.96, Z:2.07
[[ 0.94556391 -0.20762709 -0.25059903  8.67874278]
 [ 0.206254    0.977974   -0.03203347  0.95596423]
 [ 0.25173035 -0.02139736  0.96756084  2.06884408]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.440714057 meters
Centerline goodness : 0.999196 with order 1
Centerline is valid?  [True, True]
Translation: X:8.74, Y:0.96, Z:2.08
[[ 0.94630012 -0.2042447  -0.25059964  8.73751117]
 [ 0.20275697  0.97870515 -0.03202874  0.96380301]
 [ 0.25180485 -0.02050202  0.96756084  2.08378508]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.500714057 meters
Centerline goodness : 0.998996 with order 1
Centerline is valid?  [True, True]
Translation: X:8.80, Y:0.97, Z:2.10
[[ 0.94718546 -0.2000974  -0.25060074  8.7954251 ]
 [ 0.19847002  0.97958377 -0.03202006  0.97110694]
 [ 0.25189155 -0.0194078   0.96756084  2.10047437]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.560714057 meters
Centerline goodness : 0.999347 with order 1
Centerline is valid?  [True, True]
Translation: X:8.85, Y:0.98, Z:2.12
[[ 0.94776683 -0.19732464 -0.25060134  8.85375081]
 [ 0.19560368  0.9801603  -0.03201541  0.97802451]
 [ 0.25194691 -0.0186754   0.96756084  2.11597854]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.620714057 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:8.91, Y:0.99, Z:2.13
[[ 0.94862784 -0.19314162 -0.25060234  8.9121042 ]
 [ 0.19127983  0.98101353 -0.03200757  0.98560712]
 [ 0.25202628 -0.0175719   0.96756084  2.13078943]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.680714057 meters
Centerline goodness : 0.999227 with order 1
Centerline is valid?  [True, True]
Translation: X:8.97, Y:0.99, Z:2.14
[[ 0.94908666 -0.1908733  -0.25060305  8.97046201]
 [ 0.18893556  0.98146789 -0.032002    0.99357972]
 [ 0.25206718 -0.01697515  0.96756084  2.14468088]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.740714057 meters
Centerline goodness : 0.998907 with order 1
Centerline is valid?  [True, True]
Translation: X:9.03, Y:1.00, Z:2.16
[[ 0.94934906 -0.18956299 -0.25060376  9.02985538]
 [ 0.187582    0.98172767 -0.03199647  1.00168617]
 [ 0.25208999 -0.01663294  0.96756084  2.16077195]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.800714057 meters
Centerline goodness : 0.999305 with order 1
Centerline is valid?  [True, True]
Translation: X:9.09, Y:1.01, Z:2.18
[[ 0.94946582 -0.18896649 -0.2506119   9.08930893]
 [ 0.18698195  0.98184421 -0.0319326   1.00927546]
 [ 0.25209603 -0.01654099  0.96756084  2.17621901]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.860714057000001 meters
Centerline goodness : 0.999430 with order 1
Centerline is valid?  [True, True]
Translation: X:9.15, Y:1.02, Z:2.19
[[ 0.94915309 -0.19052059 -0.25061987  9.1487594 ]
 [ 0.18860553  0.98153567 -0.03186993  1.01644247]
 [ 0.25206421 -0.01701885  0.96756085  2.19411549]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.920714057 meters
Centerline goodness : 0.999234 with order 1
Centerline is valid?  [True, True]
Translation: X:9.21, Y:1.02, Z:2.21
[[ 0.94902198 -0.19116155 -0.25062831  9.20737302]
 [ 0.18928584  0.98140686 -0.0318034   1.02397437]
 [ 0.25204793 -0.01725827  0.96756085  2.20852312]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.980714057 meters
Centerline goodness : 0.999058 with order 1
Centerline is valid?  [True, True]
Translation: X:9.27, Y:1.03, Z:2.22
[[ 0.94885675 -0.19197459 -0.25063245  9.2657253 ]
 [ 0.19013522  0.98124371 -0.0317707   1.03249793]
 [ 0.25203069 -0.01750821  0.96756085  2.22324718]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.040714057 meters
Centerline goodness : 0.999157 with order 1
Centerline is valid?  [True, True]
Translation: X:9.32, Y:1.04, Z:2.24
[[ 0.94849956 -0.19373009 -0.25063368  9.32444813]
 [ 0.19195321  0.98089001 -0.03176099  1.03995116]
 [ 0.25199714 -0.01798466  0.96756085  2.23742895]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.100714057 meters
Centerline goodness : 0.999077 with order 1
Centerline is valid?  [True, True]
Translation: X:9.38, Y:1.05, Z:2.25
[[ 0.94833618 -0.19452749 -0.25063428  9.38355089]
 [ 0.19277908  0.98072818 -0.03175628  1.0488971 ]
 [ 0.25198157 -0.01820142  0.96756085  2.25334258]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.160714057 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:9.44, Y:1.06, Z:2.27
[[ 0.94817272 -0.19531279 -0.250642    9.44350293]
 [ 0.19360725  0.980567   -0.03169526  1.05852264]
 [ 0.25196176 -0.01847352  0.96756085  2.26952859]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.220714057 meters
Centerline goodness : 0.998932 with order 1
Centerline is valid?  [True, True]
Translation: X:9.50, Y:1.07, Z:2.28
[[ 0.94791511 -0.19655544 -0.25064498  9.50144175]
 [ 0.19489857  0.98031192 -0.03167165  1.06634104]
 [ 0.2519355  -0.01882832  0.96756085  2.28341951]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.280714057 meters
Centerline goodness : 0.998911 with order 1
Centerline is valid?  [True, True]
Translation: X:9.56, Y:1.07, Z:2.30
[[ 0.94746908 -0.19869148 -0.25064724  9.56106214]
 [ 0.19711233  0.97986977 -0.03165379  1.07419094]
 [ 0.25189099 -0.01941468  0.96756085  2.29914097]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.340714057 meters
Centerline goodness : 0.998811 with order 1
Centerline is valid?  [True, True]
Translation: X:9.62, Y:1.08, Z:2.31
[[ 0.9470657  -0.2005954  -0.25065522  9.61993836]
 [ 0.19909803  0.97947027 -0.03159046  1.08207841]
 [ 0.25184624 -0.01998672  0.96756085  2.31471056]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.400714057 meters
Centerline goodness : 0.999281 with order 1
Centerline is valid?  [True, True]
Translation: X:9.68, Y:1.09, Z:2.33
[[ 0.94685843 -0.2015705  -0.25065604  9.67949768]
 [ 0.20010821  0.9792646  -0.03158393  1.09062401]
 [ 0.25182498 -0.02025282  0.96756085  2.33095079]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.460714057 meters
Centerline goodness : 0.999031 with order 1
Centerline is valid?  [True, True]
Translation: X:9.74, Y:1.10, Z:2.35
[[ 0.94692682 -0.2012388  -0.2506642   9.73857492]
 [ 0.19978222  0.97933325 -0.03151907  1.09890431]
 [ 0.25182664 -0.020232    0.96756085  2.34519208]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.520714057 meters
Centerline goodness : 0.999302 with order 1
Centerline is valid?  [True, True]
Translation: X:9.80, Y:1.11, Z:2.36
[[ 0.94756327 -0.19821094 -0.25067165  9.79661158]
 [ 0.1966664   0.97996562 -0.03145969  1.10830703]
 [ 0.25188525 -0.01948865  0.96756086  2.35924442]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.580714057 meters
Centerline goodness : 0.999048 with order 1
Centerline is valid?  [True, True]
Translation: X:9.85, Y:1.12, Z:2.38
[[ 0.94838861 -0.19422306 -0.25067201  9.85466441]
 [ 0.19254297  0.98078421 -0.03145684  1.11839366]
 [ 0.25196479 -0.01843183  0.96756086  2.37579755]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.640714057 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:9.91, Y:1.13, Z:2.39
[[ 0.94948183 -0.1888054  -0.25067265  9.91185448]
 [ 0.18694173  0.98186739 -0.03145171  1.12829289]
 [ 0.25206556 -0.01699835  0.96756086  2.3923364 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.700714057 meters
Centerline goodness : 0.999042 with order 1
Centerline is valid?  [True, True]
Translation: X:9.97, Y:1.14, Z:2.41
[[ 0.94993423 -0.1865158  -0.25067273  9.97152953]
 [ 0.18457423  0.98231522 -0.0314511   1.13717996]
 [ 0.25210576 -0.01639125  0.96756086  2.40904054]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.760714057 meters
Centerline goodness : 0.999318 with order 1
Centerline is valid?  [True, True]
Translation: X:10.03, Y:1.14, Z:2.42
[[ 0.95081426 -0.18196579 -0.25068048 10.03007046]
 [ 0.17988546  0.98318662 -0.03138922  1.14459587]
 [ 0.25217746 -0.01524846  0.96756086  2.42320358]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.820714057 meters
Centerline goodness : 0.999191 with order 1
Centerline is valid?  [True, True]
Translation: X:10.09, Y:1.15, Z:2.44
[[ 0.95177102 -0.17689227 -0.25068119 10.08808585]
 [ 0.17464081  0.98413193 -0.03138357  1.15299877]
 [ 0.25225487 -0.01390919  0.96756086  2.43782044]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.880714057 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:10.15, Y:1.16, Z:2.45
[[ 0.95243704 -0.17326945 -0.25068185 10.14661221]
 [ 0.17089626  0.98478925 -0.03137827  1.16156928]
 [ 0.25230569 -0.01295476  0.96756086  2.45339028]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.940714057000001 meters
Centerline goodness : 0.998881 with order 1
Centerline is valid?  [True, True]
Translation: X:10.21, Y:1.17, Z:2.47
[[ 0.9532006  -0.16901717 -0.2506827  10.20568732]
 [ 0.16650142  0.98554204 -0.03137146  1.16876329]
 [ 0.25236066 -0.01183573  0.96756086  2.46784748]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.000714057 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:10.26, Y:1.18, Z:2.48
[[ 0.95396205 -0.16466347 -0.25068376 10.26451474]
 [ 0.1620023   0.98629185 -0.03136298  1.17641836]
 [ 0.25241169 -0.01069225  0.96756086  2.48282304]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.060714057 meters
Centerline goodness : 0.998881 with order 1
Centerline is valid?  [True, True]
Translation: X:10.32, Y:1.18, Z:2.50
[[ 9.54508148e-01 -1.61466020e-01 -2.50684900e-01  1.03238375e+01]
 [ 1.58698924e-01  9.86829056e-01 -3.13538775e-02  1.18329422e+00]
 [ 2.52445729e-01 -9.85589233e-03  9.67560859e-01  2.49890496e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.120714057 meters
Centerline goodness : 0.999109 with order 1
Centerline is valid?  [True, True]
Translation: X:10.38, Y:1.19, Z:2.51
[[ 9.55406457e-01 -1.56059937e-01 -2.50686654e-01  1.03824338e+01]
 [ 1.53113594e-01  9.87711517e-01 -3.13398466e-02  1.18860797e+00]
 [ 2.52496990e-01 -8.44124276e-03  9.67560859e-01  2.51457245e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.180714057 meters
Centerline goodness : 0.999619 with order 1
Centerline is valid?  [True, True]
Translation: X:10.44, Y:1.19, Z:2.53
[[ 9.55716347e-01 -1.54149778e-01 -2.50687276e-01  1.04410264e+01]
 [ 1.51140166e-01  9.88015575e-01 -3.13348740e-02  1.19378274e+00]
 [ 2.52513197e-01 -7.94166513e-03  9.67560859e-01  2.52966578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.240714057 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:10.50, Y:1.20, Z:2.54
[[ 9.56088933e-01 -1.51819853e-01 -2.50688423e-01  1.04989345e+01]
 [ 1.48733928e-01  9.88380959e-01 -3.13256958e-02  1.19718425e+00]
 [ 2.52531526e-01 -7.33572268e-03  9.67560859e-01  2.54367017e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.300714057 meters
Centerline goodness : 0.999064 with order 1
Centerline is valid?  [True, True]
Translation: X:10.56, Y:1.20, Z:2.56
[[ 9.56403312e-01 -1.49826698e-01 -2.50688384e-01  1.05588874e+01]
 [ 1.46673391e-01  9.88688828e-01 -3.13260018e-02  1.19992795e+00]
 [ 2.52546276e-01 -6.80902370e-03  9.67560859e-01  2.55936395e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.360714057000001 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:10.62, Y:1.20, Z:2.57
[[ 9.56524159e-01 -1.49040616e-01 -2.50695889e-01  1.06201707e+01]
 [ 1.45876535e-01  9.88808619e-01 -3.12658303e-02  1.20211441e+00]
 [ 2.52550135e-01 -6.66412580e-03  9.67560861e-01  2.57456370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.420714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:10.68, Y:1.21, Z:2.59
[[ 9.56653715e-01 -1.48191382e-01 -2.50704974e-01  1.06796349e+01]
 [ 1.45017762e-01  9.88937236e-01 -3.11928227e-02  1.20524168e+00]
 [ 2.52553991e-01 -6.51594432e-03  9.67560863e-01  2.58902453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.480714057 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:10.74, Y:1.21, Z:2.60
[[ 9.56929537e-01 -1.46392186e-01 -2.50709373e-01  1.07382658e+01]
 [ 1.43167131e-01  9.89207960e-01 -3.11574246e-02  1.20708460e+00]
 [ 2.52564911e-01 -6.07788184e-03  9.67560864e-01  2.60376301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.540714057 meters
Centerline goodness : 0.999554 with order 1
Centerline is valid?  [True, True]
Translation: X:10.80, Y:1.21, Z:2.62
[[ 9.57089874e-01 -1.45339276e-01 -2.50709927e-01  1.07979445e+01]
 [ 1.42079879e-01  9.89364847e-01 -3.11529638e-02  1.20867219e+00]
 [ 2.52571338e-01 -5.80464986e-03  9.67560864e-01  2.61949579e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.600714057 meters
Centerline goodness : 0.999018 with order 1
Centerline is valid?  [True, True]
Translation: X:10.86, Y:1.21, Z:2.63
[[ 9.57061649e-01 -1.45523156e-01 -2.50711010e-01  1.08563399e+01]
 [ 1.42272242e-01  9.89337478e-01 -3.11442471e-02  1.20991774e+00]
 [ 2.52570007e-01 -5.86225293e-03  9.67560864e-01  2.63436845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.660714057 meters
Centerline goodness : 0.998783 with order 1
Centerline is valid?  [True, True]
Translation: X:10.92, Y:1.21, Z:2.65
[[ 9.56648100e-01 -1.48214102e-01 -2.50712967e-01  1.09158668e+01]
 [ 1.45058098e-01  9.88933348e-01 -3.11284841e-02  1.21104840e+00]
 [ 2.52552094e-01 -6.58894086e-03  9.67560864e-01  2.64897428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.720714057 meters
Centerline goodness : 0.998718 with order 1
Centerline is valid?  [True, True]
Translation: X:10.98, Y:1.21, Z:2.66
[[ 9.56157236e-01 -1.51337229e-01 -2.50719729e-01  1.09754418e+01]
 [ 1.48300960e-01  9.88453963e-01 -3.10739308e-02  1.21371179e+00]
 [ 2.52527552e-01 -7.47041266e-03  9.67560865e-01  2.66415838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.780714057 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:11.03, Y:1.21, Z:2.68
[[ 9.55268122e-01 -1.56841013e-01 -2.50726369e-01  1.10349592e+01]
 [ 1.54004851e-01  9.87583034e-01 -3.10202647e-02  1.21436825e+00]
 [ 2.52478358e-01 -8.98040713e-03  9.67560867e-01  2.67924967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.840714057 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:11.09, Y:1.22, Z:2.70
[[ 9.54582263e-01 -1.60952486e-01 -2.50732928e-01  1.10935668e+01]
 [ 1.58269408e-01  9.86910244e-01 -3.09671641e-02  1.21656057e+00]
 [ 2.52435137e-01 -1.01226465e-02  9.67560868e-01  2.69507147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.900714057 meters
Centerline goodness : 0.997397 with order 1
Centerline is valid?  [True, True]
Translation: X:11.15, Y:1.22, Z:2.71
[[ 0.95379671 -0.16554344 -0.25073335 11.15396196]
 [ 0.16301683  0.98613729 -0.03096376  1.21823538]
 [ 0.25238335 -0.01134063  0.96756087  2.71140352]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.960714057 meters
Centerline goodness : 0.997257 with order 1
Centerline is valid?  [True, True]
Translation: X:11.21, Y:1.22, Z:2.73
[[ 0.95268018 -0.17184907 -0.25073565 11.21249534]
 [ 0.16954133  0.98503712 -0.03094512  1.22006367]
 [ 0.25230181 -0.01302925  0.96756087  2.72764626]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.020714057000001 meters
Centerline goodness : 0.996432 with order 1
Centerline is valid?  [True, True]
Translation: X:11.27, Y:1.22, Z:2.74
[[ 0.95192609 -0.17597756 -0.25073614 11.27192063]
 [ 0.17381116  0.9842928  -0.03094116  1.22428417]
 [ 0.25224273 -0.01412704  0.96756087  2.74347401]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.080714057 meters
Centerline goodness : 0.996839 with order 1
Centerline is valid?  [True, True]
Translation: X:11.33, Y:1.23, Z:2.76
[[ 0.95095195 -0.18116621 -0.25073731 11.33124311]
 [ 0.17917884  0.98333014 -0.03093168  1.226655  ]
 [ 0.25216133 -0.01551228  0.96756087  2.75685307]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.140714057 meters
Centerline goodness : 0.996800 with order 1
Centerline is valid?  [True, True]
Translation: X:11.39, Y:1.23, Z:2.77
[[ 0.95012285 -0.18546453 -0.25073787 11.39022394]
 [ 0.18362479  0.98250977 -0.03092711  1.2313275 ]
 [ 0.25208829 -0.01665713  0.96756087  2.77309598]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.200714057 meters
Centerline goodness : 0.996999 with order 1
Centerline is valid?  [True, True]
Translation: X:11.45, Y:1.24, Z:2.79
[[ 0.94989972 -0.18660306 -0.25073856 11.45006763]
 [ 0.18480362  0.9822889  -0.03092149  1.23784747]
 [ 0.25206775 -0.01696508  0.96756087  2.79030556]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.260714057 meters
Centerline goodness : 0.996891 with order 1
Centerline is valid?  [True, True]
Translation: X:11.51, Y:1.24, Z:2.80
[[ 0.95003573 -0.18589827 -0.25074678 11.5076993 ]
 [ 0.18409234  0.98242455 -0.03085474  1.24494456]
 [ 0.25207563 -0.01684745  0.96756087  2.80443511]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.320714057 meters
Centerline goodness : 0.996319 with order 1
Centerline is valid?  [True, True]
Translation: X:11.57, Y:1.25, Z:2.82
[[ 0.95015752 -0.18527127 -0.25074937 11.56613181]
 [ 0.1834495   0.98254545 -0.03083367  1.25234966]
 [ 0.25208524 -0.016703    0.96756087  2.81960876]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.380714057 meters
Centerline goodness : 0.996546 with order 1
Centerline is valid?  [True, True]
Translation: X:11.63, Y:1.26, Z:2.83
[[ 0.95090988 -0.18136942 -0.25074995 11.62537769]
 [ 0.17941595  0.98329014 -0.03082897  1.26187175]
 [ 0.25215138 -0.01567297  0.96756087  2.834609  ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.440714057000001 meters
Centerline goodness : 0.997213 with order 1
Centerline is valid?  [True, True]
Translation: X:11.68, Y:1.27, Z:2.85
[[ 0.95190334 -0.1760785  -0.25075167 11.68343907]
 [ 0.17394867  0.98427247 -0.03081492  1.27200575]
 [ 0.25223381 -0.0142851   0.96756087  2.85048105]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.500714057 meters
Centerline goodness : 0.996968 with order 1
Centerline is valid?  [True, True]
Translation: X:11.74, Y:1.28, Z:2.87
[[ 0.9529201  -0.17048879 -0.25075258 11.74161736]
 [ 0.16817097  0.98527632 -0.03080755  1.28251508]
 [ 0.25231292 -0.01281217  0.96756087  2.86560937]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.560714057 meters
Centerline goodness : 0.996814 with order 1
Centerline is valid?  [True, True]
Translation: X:11.80, Y:1.29, Z:2.88
[[ 0.95344005 -0.16755573 -0.25075316 11.80152182]
 [ 0.16513959  0.98578907 -0.03080285  1.29218538]
 [ 0.25235092 -0.0120406   0.96756087  2.88133989]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.620714057 meters
Centerline goodness : 0.997300 with order 1
Centerline is valid?  [True, True]
Translation: X:11.86, Y:1.30, Z:2.90
[[ 9.53796927e-01 -1.65499993e-01 -2.50761188e-01  1.18607383e+01]
 [ 1.63031311e-01  9.86141982e-01 -3.07373255e-02  1.30240038e+00]
 [ 2.52373162e-01 -1.15647586e-02  9.67560873e-01  2.89615545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.680714057 meters
Centerline goodness : 0.997409 with order 1
Centerline is valid?  [True, True]
Translation: X:11.92, Y:1.31, Z:2.91
[[ 9.53620880e-01 -1.66500141e-01 -2.50768658e-01  1.19205108e+01]
 [ 1.64081400e-01  9.85969706e-01 -3.06762644e-02  1.31191390e+00]
 [ 2.52357903e-01 -1.18929462e-02  9.67560875e-01  2.91198681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.740714057 meters
Centerline goodness : 0.997390 with order 1
Centerline is valid?  [True, True]
Translation: X:11.98, Y:1.32, Z:2.93
[[ 0.95292788 -0.17040982 -0.25077671 11.97756161]
 [ 0.16814108  0.98528756 -0.03061034  1.32057436]
 [ 0.25230347 -0.01299642  0.96756088  2.92734906]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.800714057 meters
Centerline goodness : 0.997893 with order 1
Centerline is valid?  [True, True]
Translation: X:12.04, Y:1.33, Z:2.94
[[ 0.95225739 -0.17411427 -0.25077895 12.0351145 ]
 [ 0.1719762   0.98462598 -0.03059197  1.32986505]
 [ 0.25224996 -0.01399659  0.96756088  2.94117075]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.860714057000001 meters
Centerline goodness : 0.997563 with order 1
Centerline is valid?  [True, True]
Translation: X:12.10, Y:1.34, Z:2.96
[[ 0.95183625 -0.17640213 -0.25077888 12.09511221]
 [ 0.1743417   0.98420987 -0.03059255  1.3383688 ]
 [ 0.25221564 -0.01460212  0.96756088  2.95639141]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.920714057 meters
Centerline goodness : 0.998095 with order 1
Centerline is valid?  [True, True]
Translation: X:12.15, Y:1.35, Z:2.97
[[ 0.95104689 -0.18059843 -0.25078681 12.15319323]
 [ 0.17869792  0.98343029 -0.0305274   1.34862611]
 [ 0.25214454 -0.01578209  0.96756088  2.97216991]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.980714057 meters
Centerline goodness : 0.997780 with order 1
Centerline is valid?  [True, True]
Translation: X:12.21, Y:1.36, Z:2.99
[[ 0.95020056 -0.18499909 -0.25078722 12.21147993]
 [ 0.18324939  0.98259246 -0.030524    1.35817203]
 [ 0.25206854 -0.01695268  0.96756088  2.98880741]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.040714057 meters
Centerline goodness : 0.997800 with order 1
Centerline is valid?  [True, True]
Translation: X:12.27, Y:1.37, Z:3.00
[[ 0.94902248 -0.19094977 -0.25078779 12.26943331]
 [ 0.18940433  0.98142477 -0.0305193   1.36633169]
 [ 0.251957   -0.01853679  0.96756088  3.00245219]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.100714057000001 meters
Centerline goodness : 0.997969 with order 1
Centerline is valid?  [True, True]
Translation: X:12.33, Y:1.37, Z:3.02
[[ 0.94818882 -0.19504727 -0.2507878  12.32771503]
 [ 0.19364182  0.98059748 -0.03051923  1.37484189]
 [ 0.25187458 -0.01962502  0.96756088  3.01687277]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.160714057 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:12.39, Y:1.38, Z:3.03
[[ 0.94703483 -0.20057519 -0.25078801 12.38576989]
 [ 0.19935928  0.97945115 -0.03051749  1.38445149]
 [ 0.25175566 -0.02109579  0.96756088  3.03106308]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.220714057 meters
Centerline goodness : 0.997838 with order 1
Centerline is valid?  [True, True]
Translation: X:12.44, Y:1.39, Z:3.05
[[ 0.9461542  -0.20468835 -0.25078859 12.44447209]
 [ 0.20361455  0.97857554 -0.03051276  1.39398496]
 [ 0.25166118 -0.02219443  0.96756088  3.04689665]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.280714057 meters
Centerline goodness : 0.998430 with order 1
Centerline is valid?  [True, True]
Translation: X:12.50, Y:1.41, Z:3.06
[[ 0.94575179 -0.20653852 -0.25078955 12.50288858]
 [ 0.20553021  0.97817523 -0.03050486  1.40535634]
 [ 0.25161655 -0.0226948   0.96756088  3.0628075 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.340714057 meters
Centerline goodness : 0.998205 with order 1
Centerline is valid?  [True, True]
Translation: X:12.56, Y:1.42, Z:3.08
[[ 0.94581118 -0.206265   -0.25079068 12.56198387]
 [ 0.20524976  0.97823441 -0.03049556  1.4166797 ]
 [ 0.25162224 -0.02263169  0.96756088  3.07767686]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.400714057 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:12.62, Y:1.43, Z:3.10
[[ 0.9458941  -0.2058823  -0.2507924  12.61990251]
 [ 0.20485767  0.97831703 -0.03048137  1.42817744]
 [ 0.25163006 -0.0225446   0.96756088  3.09534815]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.460714057 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:12.68, Y:1.44, Z:3.11
[[ 0.94586534 -0.20601298 -0.25079358 12.67915062]
 [ 0.20499537  0.97828849 -0.03047172  1.43879129]
 [ 0.25162604 -0.02258937  0.96756088  3.11007211]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.520714057000001 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:12.74, Y:1.45, Z:3.12
[[ 0.94577884 -0.20639982 -0.25080172 12.73770784]
 [ 0.20541314  0.97820295 -0.03040453  1.44704325]
 [ 0.25161047 -0.022762    0.96756088  3.12378073]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.580714057 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:12.80, Y:1.46, Z:3.14
[[ 0.94562898 -0.2070846  -0.25080231 12.79702884]
 [ 0.20612266  0.97805384 -0.03039973  1.45710788]
 [ 0.25159347 -0.02294918  0.96756088  3.13955282]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.640714057 meters
Centerline goodness : 0.998614 with order 1
Centerline is valid?  [True, True]
Translation: X:12.86, Y:1.47, Z:3.16
[[ 0.94522881 -0.20889387 -0.2508104  12.8550043 ]
 [ 0.20801159  0.97765592 -0.03033277  1.46635189]
 [ 0.25154261 -0.02350006  0.96756088  3.15577562]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.700714057 meters
Centerline goodness : 0.998615 with order 1
Centerline is valid?  [True, True]
Translation: X:12.91, Y:1.47, Z:3.17
[[ 0.94515183 -0.20924115 -0.25081098 12.91358177]
 [ 0.20837206  0.97757931 -0.03032797  1.47497271]
 [ 0.25153349 -0.02359746  0.96756088  3.16973386]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.760714057 meters
Centerline goodness : 0.998586 with order 1
Centerline is valid?  [True, True]
Translation: X:12.97, Y:1.48, Z:3.19
[[ 0.94532269 -0.20846719 -0.25081157 12.9745242 ]
 [ 0.20757282  0.97774947 -0.03032311  1.48472485]
 [ 0.25155226 -0.02339654  0.96756088  3.18503811]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.820714057 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:13.03, Y:1.49, Z:3.20
[[ 0.94509324 -0.2094938  -0.25082089 13.03289942]
 [ 0.20865496  0.97752151 -0.03024587  1.49365057]
 [ 0.25151913 -0.02374985  0.96756089  3.201562  ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.880714057 meters
Centerline goodness : 0.999094 with order 1
Centerline is valid?  [True, True]
Translation: X:13.09, Y:1.50, Z:3.22
[[ 0.94494224 -0.21017314 -0.25082147 13.09195124]
 [ 0.20935889  0.97737113 -0.03024102  1.50187338]
 [ 0.25150152 -0.02393569  0.96756089  3.21781791]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.940714057000001 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:13.15, Y:1.51, Z:3.23
[[ 0.945081   -0.20953862 -0.25082955 13.15226415]
 [ 0.20872027  0.97750979 -0.03017387  1.51102773]
 [ 0.25151093 -0.02383646  0.96756089  3.23248076]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.000714057 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:13.21, Y:1.52, Z:3.25
[[ 0.94570223 -0.2067132  -0.2508325  13.21122113]
 [ 0.20580439  0.97812861 -0.0301493   1.52007798]
 [ 0.25157871 -0.02311017  0.96756089  3.24708137]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.060714057 meters
Centerline goodness : 0.999130 with order 1
Centerline is valid?  [True, True]
Translation: X:13.27, Y:1.53, Z:3.27
[[ 0.9472669  -0.19941913 -0.25083346 13.26849778]
 [ 0.19826254  0.97968539 -0.03014137  1.53256166]
 [ 0.25174864 -0.02117895  0.96756089  3.26507141]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.120714057 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:13.33, Y:1.54, Z:3.28
[[ 0.94812188 -0.19531228 -0.25083463 13.32656235]
 [ 0.19401779  0.98053515 -0.03013158  1.54204031]
 [ 0.25183724 -0.02009797  0.96756089  3.28100302]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.180714057000001 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:13.38, Y:1.55, Z:3.30
[[ 0.94944827 -0.18875809 -0.25083533 13.38461843]
 [ 0.18724126  0.9818519  -0.03012574  1.55184632]
 [ 0.25196963 -0.01836389  0.96756089  3.29504209]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.240714057 meters
Centerline goodness : 0.998869 with order 1
Centerline is valid?  [True, True]
Translation: X:13.44, Y:1.56, Z:3.31
[[ 0.94987303 -0.18660866 -0.25083549 13.44321845]
 [ 0.18501884  0.98227315 -0.03012442  1.55983922]
 [ 0.25201045 -0.01779492  0.96756089  3.31056756]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.300714057 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:13.50, Y:1.57, Z:3.33
[[ 0.95120977 -0.179669   -0.25083663 13.50103206]
 [ 0.17784518  0.98359757 -0.03011492  1.57155131]
 [ 0.25213302 -0.01596448  0.96756089  3.32683504]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.360714057000001 meters
Centerline goodness : 0.999183 with order 1
Centerline is valid?  [True, True]
Translation: X:13.56, Y:1.58, Z:3.34
[[ 0.95217432 -0.17448368 -0.25083761 13.55952475]
 [ 0.17248557  0.98455183 -0.03010674  1.58106881]
 [ 0.25221577 -0.01459901  0.96756089  3.34029988]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.420714057 meters
Centerline goodness : 0.999002 with order 1
Centerline is valid?  [True, True]
Translation: X:13.62, Y:1.59, Z:3.36
[[ 0.95250897 -0.17264585 -0.25083873 13.61778394]
 [ 0.17058769  0.98488273 -0.03009745  1.58923617]
 [ 0.25224293 -0.01412191  0.96756089  3.35559167]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.480714057 meters
Centerline goodness : 0.999435 with order 1
Centerline is valid?  [True, True]
Translation: X:13.68, Y:1.60, Z:3.37
[[ 0.95242953 -0.17308277 -0.25083929 13.67758671]
 [ 0.1710407   0.9848043  -0.03009275  1.59766708]
 [ 0.25223615 -0.0142425   0.96756089  3.3717618 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.540714057 meters
Centerline goodness : 0.999461 with order 1
Centerline is valid?  [True, True]
Translation: X:13.74, Y:1.61, Z:3.39
[[ 0.95183071 -0.17633488 -0.25084717 13.73606607]
 [ 0.17442068  0.98421329 -0.03002694  1.60503131]
 [ 0.25218192 -0.01517237  0.96756089  3.38670537]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.600714057000001 meters
Centerline goodness : 0.999207 with order 1
Centerline is valid?  [True, True]
Translation: X:13.80, Y:1.61, Z:3.40
[[ 0.95126846 -0.17934283 -0.25084751 13.79625724]
 [ 0.17753173  0.98365697 -0.03002415  1.6115431 ]
 [ 0.25213251 -0.01597237  0.96756089  3.40186672]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.660714057 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:13.85, Y:1.62, Z:3.41
[[ 0.95008156 -0.18551714 -0.25085537 13.85465169]
 [ 0.18393372  0.982482   -0.02995834  1.61730519]
 [ 0.25201867 -0.01767789  0.96756089  3.41390095]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.720714057 meters
Centerline goodness : 0.998933 with order 1
Centerline is valid?  [True, True]
Translation: X:13.91, Y:1.62, Z:3.43
[[ 0.94904565 -0.19074576 -0.25085536 13.91387312]
 [ 0.18934075  0.98145431 -0.02995842  1.62310503]
 [ 0.25191751 -0.01906523  0.96756089  3.4291266 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.780714057 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:13.97, Y:1.63, Z:3.45
[[ 0.948316   -0.19433937 -0.25085649 13.97253482]
 [ 0.19305964  0.98072985 -0.02994889  1.62956839]
 [ 0.2518427  -0.02002925  0.96756089  3.4453003 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.840714057 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:14.03, Y:1.64, Z:3.46
[[ 0.94776228 -0.19702129 -0.25085707 14.03096439]
 [ 0.19583454  0.98017967 -0.02994406  1.63543216]
 [ 0.25178462 -0.02074663  0.96756089  3.46075579]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.900714057 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:14.09, Y:1.64, Z:3.48
[[ 0.94738042 -0.19884863 -0.25085765 14.08834977]
 [ 0.19772566  0.97980008 -0.02993924  1.64178481]
 [ 0.25174372 -0.02123715  0.96756089  3.47525583]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.960714057 meters
Centerline goodness : 0.999145 with order 1
Centerline is valid?  [True, True]
Translation: X:14.15, Y:1.65, Z:3.49
[[ 0.94681873 -0.20150394 -0.25085944 14.14731288]
 [ 0.20047583  0.97924154 -0.02992419  1.64807589]
 [ 0.25168183 -0.02195847  0.96756089  3.48974042]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.020714057000001 meters
Centerline goodness : 0.999222 with order 1
Centerline is valid?  [True, True]
Translation: X:14.21, Y:1.65, Z:3.50
[[ 0.946406   -0.20343273 -0.25086012 14.2085088 ]
 [ 0.20247219  0.97883088 -0.02991846  1.6532139 ]
 [ 0.25163603 -0.02247719  0.96756089  3.50298605]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.080714057 meters
Centerline goodness : 0.999151 with order 1
Centerline is valid?  [True, True]
Translation: X:14.27, Y:1.66, Z:3.52
[[ 0.9459115  -0.20571025 -0.25086794 14.26689363]
 [ 0.20484502  0.97833907 -0.0298528   1.65880764]
 [ 0.25157493 -0.02315094  0.9675609   3.519389  ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.140714057 meters
Centerline goodness : 0.998628 with order 1
Centerline is valid?  [True, True]
Translation: X:14.33, Y:1.66, Z:3.54
[[ 0.94547172 -0.20772113 -0.2508688  14.32608513]
 [ 0.20692677  0.9779011  -0.02984551  1.66489326]
 [ 0.25152442 -0.02369338  0.9675609   3.53611938]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.200714057 meters
Centerline goodness : 0.998708 with order 1
Centerline is valid?  [True, True]
Translation: X:14.39, Y:1.67, Z:3.55
[[ 0.9454747  -0.20770272 -0.25087283 14.38597854]
 [ 0.20691665  0.97790427 -0.02981161  1.67074572]
 [ 0.25152157 -0.02372365  0.9675609   3.55220957]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.260714057000001 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:14.44, Y:1.68, Z:3.57
[[ 0.94595555 -0.20549182 -0.25088088 14.444852  ]
 [ 0.20464777  0.97838367 -0.02974377  1.67822581]
 [ 0.25156985 -0.02320593  0.9675609   3.56824011]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.320714057 meters
Centerline goodness : 0.998506 with order 1
Centerline is valid?  [True, True]
Translation: X:14.50, Y:1.69, Z:3.58
[[ 0.94648602 -0.20303333 -0.25088179 14.50495193]
 [ 0.20210706  0.9789119  -0.02973604  1.68509613]
 [ 0.25162858 -0.02256023  0.9675609   3.58319991]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.380714057 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:14.56, Y:1.69, Z:3.60
[[ 0.94767983 -0.19737584 -0.25088984 14.56272714]
 [ 0.19627377  0.98010021 -0.02966801  1.69209802]
 [ 0.25175293 -0.02112732  0.9675609   3.59708714]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.440714057000001 meters
Centerline goodness : 0.998447 with order 1
Centerline is valid?  [True, True]
Translation: X:14.62, Y:1.70, Z:3.61
[[ 0.94929882 -0.18943625 -0.25088975 14.62053859]
 [ 0.18806264  0.98170882 -0.02966879  1.70133912]
 [ 0.25192102 -0.01901844  0.9675609   3.61459448]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.500714057 meters
Centerline goodness : 0.998871 with order 1
Centerline is valid?  [True, True]
Translation: X:14.68, Y:1.71, Z:3.63
[[ 0.95093779 -0.18102885 -0.25089016 14.67781292]
 [ 0.17936942  0.98333442 -0.02966531  1.70917786]
 [ 0.2520792  -0.01679216  0.9675609   3.6295739 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.560714057 meters
Centerline goodness : 0.999138 with order 1
Centerline is valid?  [True, True]
Translation: X:14.74, Y:1.72, Z:3.65
[[ 0.95193158 -0.17572737 -0.25089074 14.73647567]
 [ 0.17388875  0.98431853 -0.0296604   1.71836484]
 [ 0.25216855 -0.01539241  0.9675609   3.6462975 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.620714057 meters
Centerline goodness : 0.999720 with order 1
Centerline is valid?  [True, True]
Translation: X:14.79, Y:1.73, Z:3.66
[[ 9.52455047e-01 -1.72864090e-01 -2.50893183e-01  1.47939956e+01]
 [ 1.70933516e-01  9.84836647e-01 -2.96397068e-02  1.72645251e+00]
 [ 2.52212442e-01 -1.46555655e-02  9.67560902e-01  3.66158090e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.680714057000001 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:14.85, Y:1.73, Z:3.68
[[ 9.52509211e-01 -1.72565397e-01 -2.50893177e-01  1.48541815e+01]
 [ 1.70624655e-01  9.84890203e-01 -2.96397598e-02  1.73373391e+00]
 [ 2.52217029e-01 -1.45764174e-02  9.67560902e-01  3.67780983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.740714057 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:14.91, Y:1.74, Z:3.69
[[ 9.52552132e-01 -1.72324296e-01 -2.50895940e-01  1.49126603e+01]
 [ 1.70381503e-01  9.84933000e-01 -2.96163494e-02  1.74064712e+00]
 [ 2.52219308e-01 -1.45369108e-02  9.67560902e-01  3.69312026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.800714057 meters
Centerline goodness : 0.999361 with order 1
Centerline is valid?  [True, True]
Translation: X:14.97, Y:1.75, Z:3.71
[[ 9.52828263e-01 -1.70790073e-01 -2.50896496e-01  1.49714120e+01]
 [ 1.68796372e-01  9.85206037e-01 -2.96116409e-02  1.74755548e+00]
 [ 2.52242117e-01 -1.41356100e-02  9.67560902e-01  3.70854096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.860714057000001 meters
Centerline goodness : 0.999385 with order 1
Centerline is valid?  [True, True]
Translation: X:15.03, Y:1.75, Z:3.72
[[ 9.53589030e-01 -1.66488849e-01 -2.50897240e-01  1.50297582e+01]
 [ 1.64350724e-01  9.85957587e-01 -2.96053335e-02  1.75477675e+00]
 [ 2.52302995e-01 -1.30038217e-02  9.67560902e-01  3.72428014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.920714057000001 meters
Centerline goodness : 0.999489 with order 1
Centerline is valid?  [True, True]
Translation: X:15.09, Y:1.76, Z:3.74
[[ 9.54507813e-01 -1.61136944e-01 -2.50897830e-01  1.50889285e+01]
 [ 1.58818587e-01  9.86863960e-01 -2.96003379e-02  1.76165309e+00]
 [ 2.52371734e-01 -1.15934850e-02  9.67560902e-01  3.73916198e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.980714057 meters
Centerline goodness : 0.999514 with order 1
Centerline is valid?  [True, True]
Translation: X:15.15, Y:1.77, Z:3.75
[[ 9.54933058e-01 -1.58595644e-01 -2.50898937e-01  1.51478558e+01]
 [ 1.56193632e-01  9.87283103e-01 -2.95909473e-02  1.76765952e+00]
 [ 2.52401276e-01 -1.09314423e-02  9.67560902e-01  3.75404947e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.040714057 meters
Centerline goodness : 0.999565 with order 1
Centerline is valid?  [True, True]
Translation: X:15.21, Y:1.77, Z:3.77
[[ 9.55793176e-01 -1.53325967e-01 -2.50899488e-01  1.52080220e+01]
 [ 1.50746777e-01  9.88129577e-01 -2.95862773e-02  1.77337016e+00]
 [ 2.52457549e-01 -9.54392722e-03  9.67560902e-01  3.76951396e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.100714057 meters
Centerline goodness : 0.999491 with order 1
Centerline is valid?  [True, True]
Translation: X:15.27, Y:1.78, Z:3.78
[[ 9.57065618e-01 -1.45158624e-01 -2.50907110e-01  1.52673802e+01]
 [ 1.42320366e-01  9.89380308e-01 -2.95215025e-02  1.77874189e+00]
 [ 2.52527854e-01 -7.45517667e-03  9.67560904e-01  3.78417429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.160714057 meters
Centerline goodness : 0.999334 with order 1
Centerline is valid?  [True, True]
Translation: X:15.33, Y:1.78, Z:3.80
[[ 9.57516311e-01 -1.42153617e-01 -2.50908079e-01  1.53270789e+01]
 [ 1.39216094e-01  9.89822129e-01 -2.95132616e-02  1.78487516e+00]
 [ 2.52549786e-01 -6.67101323e-03  9.67560904e-01  3.79967776e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.220714057000002 meters
Centerline goodness : 0.999515 with order 1
Centerline is valid?  [True, True]
Translation: X:15.39, Y:1.79, Z:3.82
[[ 9.59011545e-01 -1.31685885e-01 -2.50909713e-01  1.53857581e+01]
 [ 1.28399285e-01  9.91283719e-01 -2.94993656e-02  1.78875329e+00]
 [ 2.52607363e-01 -3.92639548e-03  9.67560904e-01  3.81546594e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.280714057 meters
Centerline goodness : 0.999388 with order 1
Centerline is valid?  [True, True]
Translation: X:15.45, Y:1.79, Z:3.83
[[ 9.60443556e-01 -1.20798265e-01 -2.50910253e-01  1.54450093e+01]
 [ 1.17146978e-01  9.92676505e-01 -2.94947670e-02  1.79155012e+00]
 [ 2.52635630e-01 -1.06531915e-03  9.67560904e-01  3.83172569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.340714057 meters
Centerline goodness : 0.999062 with order 1
Centerline is valid?  [True, True]
Translation: X:15.51, Y:1.79, Z:3.85
[[ 9.61296480e-01 -1.13809334e-01 -2.50911365e-01  1.55057173e+01]
 [ 1.09926168e-01  9.93502317e-01 -2.94853066e-02  1.79222541e+00]
 [ 2.52636726e-01  7.62396454e-04  9.67560904e-01  3.84671038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.400714057000002 meters
Centerline goodness : 0.998842 with order 1
Centerline is valid?  [True, True]
Translation: X:15.56, Y:1.79, Z:3.86
[[ 9.61512540e-01 -1.11952113e-01 -2.50919029e-01  1.55642871e+01]
 [ 1.08023795e-01  9.93712899e-01 -2.94199494e-02  1.79415052e+00]
 [ 2.52635101e-01  1.18242450e-03  9.67560906e-01  3.86211408e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.460714057 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:15.62, Y:1.79, Z:3.88
[[ 9.61181748e-01 -1.14756326e-01 -2.50919573e-01  1.56244548e+01]
 [ 1.10923165e-01  9.93393573e-01 -2.94153033e-02  1.79195746e+00]
 [ 2.52637484e-01  4.40659528e-04  9.67560906e-01  3.87654084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.520714057 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:15.69, Y:1.79, Z:3.89
[[ 9.60054221e-01 -1.23834752e-01 -2.50920003e-01  1.56851463e+01]
 [ 1.20307134e-01  9.92300937e-01 -2.94116376e-02  1.78888426e+00]
 [ 2.52630337e-01 -1.95069972e-03  9.67560906e-01  3.89196170e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.580714057 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:15.75, Y:1.78, Z:3.91
[[ 9.58278633e-01 -1.36895557e-01 -2.50921639e-01  1.57450872e+01]
 [ 1.33810998e-01  9.90570741e-01 -2.93976779e-02  1.78403850e+00]
 [ 2.52580045e-01 -5.40490818e-03  9.67560907e-01  3.90678845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.640714057 meters
Centerline goodness : 0.997614 with order 1
Centerline is valid?  [True, True]
Translation: X:15.80, Y:1.78, Z:3.92
[[ 9.56217002e-01 -1.50622622e-01 -2.50922042e-01  1.58049515e+01]
 [ 1.48002332e-01  9.88550094e-01 -2.93942322e-02  1.77938087e+00]
 [ 2.52476445e-01 -9.02978284e-03  9.67560907e-01  3.92107090e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.700714057 meters
Centerline goodness : 0.997181 with order 1
Centerline is valid?  [True, True]
Translation: X:15.86, Y:1.78, Z:3.94
[[ 9.54537201e-01 -1.60924423e-01 -2.50922423e-01  1.58647456e+01]
 [ 1.58653775e-01  9.86896727e-01 -2.93909790e-02  1.77612263e+00]
 [ 2.52364245e-01 -1.17550069e-02  9.67560907e-01  3.93519623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.760714057 meters
Centerline goodness : 0.997208 with order 1
Centerline is valid?  [True, True]
Translation: X:15.92, Y:1.78, Z:3.95
[[ 9.53637650e-01 -1.66171545e-01 -2.50922798e-01  1.59241313e+01]
 [ 1.64079734e-01  9.86009229e-01 -2.93877832e-02  1.77679613e+00]
 [ 2.52295607e-01 -1.31460494e-02  9.67560907e-01  3.94985024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.820714057 meters
Centerline goodness : 0.997065 with order 1
Centerline is valid?  [True, True]
Translation: X:15.98, Y:1.78, Z:3.96
[[ 9.52742916e-01 -1.71225285e-01 -2.50923968e-01  1.59842247e+01]
 [ 1.69307758e-01  9.85125286e-01 -2.93777875e-02  1.77686476e+00]
 [ 2.52221766e-01 -1.44938954e-02  9.67560907e-01  3.96408543e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.880714057000002 meters
Centerline goodness : 0.997100 with order 1
Centerline is valid?  [True, True]
Translation: X:16.04, Y:1.78, Z:3.98
[[ 9.52420887e-01 -1.73006168e-01 -2.50924928e-01  1.60445908e+01]
 [ 1.71151338e-01  9.84806909e-01 -2.93695834e-02  1.78000795e+00]
 [ 2.52193722e-01 -1.49739325e-02  9.67560907e-01  3.97964183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.940714057 meters
Centerline goodness : 0.996854 with order 1
Centerline is valid?  [True, True]
Translation: X:16.10, Y:1.78, Z:3.99
[[ 9.52405977e-01 -1.73077090e-01 -2.50932611e-01  1.61038206e+01]
 [ 1.71241941e-01  9.84793118e-01 -2.93038007e-02  1.78471627e+00]
 [ 2.52188525e-01 -1.50610723e-02  9.67560909e-01  3.99314900e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.000714057 meters
Centerline goodness : 0.997393 with order 1
Centerline is valid?  [True, True]
Translation: X:16.16, Y:1.79, Z:4.01
[[ 9.52296898e-01 -1.73675582e-01 -2.50933080e-01  1.61647000e+01]
 [ 1.71861842e-01  9.84685244e-01 -2.92997804e-02  1.79295495e+00]
 [ 2.52178758e-01 -1.52237314e-02  9.67560909e-01  4.00839975e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.060714057000002 meters
Centerline goodness : 0.997160 with order 1
Centerline is valid?  [True, True]
Translation: X:16.22, Y:1.80, Z:4.02
[[ 9.52052377e-01 -1.74998476e-01 -2.50941837e-01  1.62246083e+01]
 [ 1.73249475e-01  9.84444281e-01 -2.92245983e-02  1.80075739e+00]
 [ 2.52152516e-01 -1.56521932e-02  9.67560912e-01  4.02478316e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.120714057 meters
Centerline goodness : 0.996766 with order 1
Centerline is valid?  [True, True]
Translation: X:16.28, Y:1.81, Z:4.04
[[ 9.51812984e-01 -1.76284956e-01 -2.50949513e-01  1.62819896e+01]
 [ 1.74597078e-01  9.84208128e-01 -2.91585369e-02  1.80864397e+00]
 [ 2.52126762e-01 -1.60615776e-02  9.67560914e-01  4.04006258e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.180714057 meters
Centerline goodness : 0.997343 with order 1
Centerline is valid?  [True, True]
Translation: X:16.34, Y:1.82, Z:4.06
[[ 0.95126468 -0.17922009 -0.25094953 16.3412523 ]
 [ 0.17763218  0.98366488 -0.02915843  1.81767028]
 [ 0.25207601 -0.01683933  0.96756091  4.05542504]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.240714057 meters
Centerline goodness : 0.997803 with order 1
Centerline is valid?  [True, True]
Translation: X:16.40, Y:1.83, Z:4.07
[[ 0.95047434 -0.18335589 -0.25095646 16.4006462 ]
 [ 0.18192463  0.98288183 -0.02909862  1.82515008]
 [ 0.25199595 -0.01799767  0.96756092  4.06837292]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.300714057 meters
Centerline goodness : 0.997314 with order 1
Centerline is valid?  [True, True]
Translation: X:16.46, Y:1.83, Z:4.08
[[ 0.94984588 -0.18658306 -0.2509573  16.45963066]
 [ 0.18526379  0.98225812 -0.02909135  1.83480841]
 [ 0.2519328  -0.018861    0.96756092  4.08382031]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.360714057 meters
Centerline goodness : 0.997710 with order 1
Centerline is valid?  [True, True]
Translation: X:16.52, Y:1.84, Z:4.10
[[ 0.9495302  -0.18817805 -0.250961   16.51714328]
 [ 0.18692159  0.98194494 -0.02905946  1.84422944]
 [ 0.25189823 -0.0193172   0.96756092  4.09763969]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.420714057 meters
Centerline goodness : 0.997736 with order 1
Centerline is valid?  [True, True]
Translation: X:16.58, Y:1.85, Z:4.11
[[ 0.94947526 -0.18845315 -0.25096243 16.57650847]
 [ 0.18720933  0.98189049 -0.02904711  1.85361755]
 [ 0.25189164 -0.01940299  0.96756092  4.11316216]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.480714057 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:16.64, Y:1.87, Z:4.13
[[ 0.94983496 -0.18662147 -0.25097006 16.63520413]
 [ 0.1853325   0.98224843 -0.02898097  1.8653495 ]
 [ 0.25192342 -0.01898577  0.96756092  4.12858264]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.540714057000002 meters
Centerline goodness : 0.998039 with order 1
Centerline is valid?  [True, True]
Translation: X:16.69, Y:1.88, Z:4.14
[[ 0.95034842 -0.18397935 -0.25097706 16.69332247]
 [ 0.18261619  0.98275884 -0.02892028  1.87636462]
 [ 0.25197066 -0.01834813  0.96756092  4.14383717]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.600714057 meters
Centerline goodness : 0.997725 with order 1
Centerline is valid?  [True, True]
Translation: X:16.75, Y:1.89, Z:4.16
[[ 0.95100215 -0.18056904 -0.25097755 16.75186595]
 [ 0.17909076  0.98340753 -0.02891597  1.8880644 ]
 [ 0.25203455 -0.01744861  0.96756092  4.15955408]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.660714057 meters
Centerline goodness : 0.998021 with order 1
Centerline is valid?  [True, True]
Translation: X:16.81, Y:1.90, Z:4.17
[[ 9.51943843e-01 -1.75535287e-01 -2.50978651e-01  1.68100443e+01]
 [ 1.73888084e-01  9.84341075e-01 -2.89064526e-02  1.89989152e+00]
 [ 2.52122697e-01 -1.61248772e-02  9.67560920e-01  4.17409757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.720714057000002 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:16.87, Y:1.91, Z:4.19
[[ 9.52817647e-01 -1.70728081e-01 -2.50978992e-01  1.68674507e+01]
 [ 1.68918151e-01  9.85206195e-01 -2.89034847e-02  1.90993785e+00]
 [ 2.52200695e-01 -1.48551571e-02  9.67560920e-01  4.18828015e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.780714057 meters
Centerline goodness : 0.998157 with order 1
Centerline is valid?  [True, True]
Translation: X:16.92, Y:1.92, Z:4.20
[[ 9.54240971e-01 -1.62584584e-01 -2.50978926e-01  1.69248770e+01]
 [ 1.60497964e-01  9.86612872e-01 -2.89040625e-02  1.92331858e+00]
 [ 2.52318394e-01 -1.27001660e-02  9.67560920e-01  4.20452116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.840714057 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:16.98, Y:1.93, Z:4.22
[[ 9.55048463e-01 -1.57771796e-01 -2.50979069e-01  1.69823524e+01]
 [ 1.55522327e-01  9.87409455e-01 -2.89028220e-02  1.93447177e+00]
 [ 2.52379156e-01 -1.14292531e-02  9.67560920e-01  4.22003226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.900714057000002 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:17.04, Y:1.94, Z:4.24
[[ 9.55223656e-01 -1.56707199e-01 -2.50979322e-01  1.70403684e+01]
 [ 1.54422238e-01  9.87582162e-01 -2.89006235e-02  1.94458767e+00]
 [ 2.52391637e-01 -1.11502294e-02  9.67560920e-01  4.23589001e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.960714057 meters
Centerline goodness : 0.998786 with order 1
Centerline is valid?  [True, True]
Translation: X:17.10, Y:1.95, Z:4.25
[[ 9.54722429e-01 -1.59721553e-01 -2.50986274e-01  1.70990538e+01]
 [ 1.57554611e-01  9.87089050e-01 -2.88401218e-02  1.95390564e+00]
 [ 2.52352192e-01 -1.20097338e-02  9.67560922e-01  4.25060574e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.020714057 meters
Centerline goodness : 0.998908 with order 1
Centerline is valid?  [True, True]
Translation: X:17.16, Y:1.96, Z:4.26
[[ 9.53804083e-01 -1.65115133e-01 -2.50987579e-01  1.71566139e+01]
 [ 1.63134144e-01  9.86182617e-01 -2.88287621e-02  1.96099655e+00]
 [ 2.52279653e-01 -1.34476528e-02  9.67560922e-01  4.26422274e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.080714057 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:17.22, Y:1.97, Z:4.28
[[ 9.53537383e-01 -1.66648517e-01 -2.50987512e-01  1.72151106e+01]
 [ 1.64719438e-01  9.85919051e-01 -2.88293455e-02  1.96813791e+00]
 [ 2.52257738e-01 -1.38526634e-02  9.67560922e-01  4.27948453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.140714057 meters
Centerline goodness : 0.998470 with order 1
Centerline is valid?  [True, True]
Translation: X:17.27, Y:1.98, Z:4.29
[[ 9.52845402e-01 -1.70559791e-01 -2.50988041e-01  1.72737184e+01]
 [ 1.68764810e-01  9.85234781e-01 -2.88247399e-02  1.97666603e+00]
 [ 2.52198489e-01 -1.48924281e-02  9.67560922e-01  4.29427482e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.200714057 meters
Centerline goodness : 0.998860 with order 1
Centerline is valid?  [True, True]
Translation: X:17.33, Y:1.98, Z:4.31
[[ 9.52291459e-01 -1.73625276e-01 -2.50988526e-01  1.73325280e+01]
 [ 1.71935646e-01  9.84686504e-01 -2.88205160e-02  1.98459771e+00]
 [ 2.52148984e-01 -1.57083431e-02  9.67560922e-01  4.30897742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.260714057 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:17.39, Y:1.99, Z:4.32
[[ 9.51750124e-01 -1.76567432e-01 -2.50989328e-01  1.73936834e+01]
 [ 1.74979759e-01  9.84150326e-01 -2.88135291e-02  1.99309000e+00]
 [ 2.52098760e-01 -1.64947722e-02  9.67560922e-01  4.32422121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.320714057 meters
Centerline goodness : 0.998469 with order 1
Centerline is valid?  [True, True]
Translation: X:17.45, Y:2.00, Z:4.34
[[ 9.51433571e-01 -1.78253172e-01 -2.50997941e-01  1.74520849e+01]
 [ 1.76742650e-01  9.83837459e-01 -2.87383111e-02  2.00073008e+00]
 [ 2.52063872e-01 -1.70194473e-02  9.67560925e-01  4.33932519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.380714057000002 meters
Centerline goodness : 0.998591 with order 1
Centerline is valid?  [True, True]
Translation: X:17.51, Y:2.01, Z:4.35
[[ 0.95099455 -0.18057953 -0.25099882 17.51243247]
 [ 0.17915027  0.98340212 -0.02873066  2.00870258]
 [ 0.25202094 -0.0176438   0.96756092  4.35391316]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.440714057 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:17.57, Y:2.02, Z:4.37
[[ 0.95083363 -0.18142195 -0.25100098 17.57120679]
 [ 0.18002637  0.98324267 -0.02871177  2.01748578]
 [ 0.25200382 -0.01788668  0.96756092  4.36828978]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.500714057 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:17.63, Y:2.03, Z:4.38
[[ 0.95069813 -0.18212118 -0.25100786 17.6297152 ]
 [ 0.18076525  0.98310885 -0.02865153  2.02646251]
 [ 0.25198609 -0.01813455  0.96756093  4.38477944]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.560714057000002 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:17.69, Y:2.03, Z:4.40
[[ 0.95045934 -0.18336195 -0.25100884 17.68941107]
 [ 0.1820506   0.9828719  -0.02864286  2.03483515]
 [ 0.25196155 -0.01847243  0.96756093  4.39960835]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.620714057 meters
Centerline goodness : 0.998688 with order 1
Centerline is valid?  [True, True]
Translation: X:17.75, Y:2.04, Z:4.41
[[ 0.95028576 -0.18424948 -0.25101614 17.74727059]
 [ 0.18298524  0.98270019 -0.02857874  2.04199723]
 [ 0.25193923 -0.01877428  0.96756093  4.41328821]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.680714057 meters
Centerline goodness : 0.998667 with order 1
Centerline is valid?  [True, True]
Translation: X:17.81, Y:2.05, Z:4.43
[[ 0.94987851 -0.18633426 -0.25101864 17.80575944]
 [ 0.18514693  0.98229584 -0.02855677  2.04955008]
 [ 0.25189568 -0.01934987  0.96756093  4.42815348]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.740714057 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:17.86, Y:2.06, Z:4.44
[[ 0.94999266 -0.18575078 -0.25101911 17.8640405 ]
 [ 0.18454462  0.9824093  -0.02855264  2.05752888]
 [ 0.25190719 -0.01919943  0.96756093  4.44353623]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.800714057 meters
Centerline goodness : 0.998736 with order 1
Centerline is valid?  [True, True]
Translation: X:17.92, Y:2.06, Z:4.46
[[ 0.95042505 -0.1835246  -0.25101983 17.92442718]
 [ 0.18224415  0.98283884 -0.02854636  2.06464347]
 [ 0.25195099 -0.01861572  0.96756093  4.45899237]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.860714057 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:17.98, Y:2.07, Z:4.47
[[ 0.95084078 -0.18134632 -0.25102853 17.98310074]
 [ 0.18001174  0.98325238 -0.02846964  2.07221857]
 [ 0.25198726 -0.01811799  0.96756093  4.47479809]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.920714057 meters
Centerline goodness : 0.999221 with order 1
Centerline is valid?  [True, True]
Translation: X:18.04, Y:2.08, Z:4.49
[[ 9.51047143e-01 -1.80260234e-01 -2.51029040e-01  1.80432179e+01]
 [ 1.78889826e-01  9.83457252e-01 -2.84651370e-02  2.07875841e+00]
 [ 2.52007462e-01 -1.78348541e-02  9.67560932e-01  4.49103819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.980714057 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:18.10, Y:2.09, Z:4.51
[[ 9.51255356e-01 -1.79154480e-01 -2.51031713e-01  1.81034426e+01]
 [ 1.77752589e-01  9.83664117e-01 -2.84415512e-02  2.08541704e+00]
 [ 2.52026319e-01 -1.75663590e-02  9.67560932e-01  4.50640064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.040714057000002 meters
Centerline goodness : 0.999097 with order 1
Centerline is valid?  [True, True]
Translation: X:18.16, Y:2.09, Z:4.52
[[ 9.51400587e-01 -1.78371017e-01 -2.51039246e-01  1.81619691e+01]
 [ 1.76959936e-01  9.83808948e-01 -2.83749104e-02  2.09203198e+00]
 [ 2.52035918e-01 -1.74279823e-02  9.67560934e-01  4.52125128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.100714057 meters
Centerline goodness : 0.998832 with order 1
Centerline is valid?  [True, True]
Translation: X:18.22, Y:2.10, Z:4.54
[[ 9.51805857e-01 -1.76194706e-01 -2.51039908e-01  1.82215107e+01]
 [ 1.74711049e-01  9.84210977e-01 -2.83690525e-02  2.09964048e+00]
 [ 2.52074709e-01 -1.68576152e-02  9.67560934e-01  4.53683450e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.160714057 meters
Centerline goodness : 0.998999 with order 1
Centerline is valid?  [True, True]
Translation: X:18.28, Y:2.11, Z:4.55
[[ 9.52290676e-01 -1.73551858e-01 -2.51042271e-01  1.82796039e+01]
 [ 1.71983746e-01  9.84691817e-01 -2.83481204e-02  2.10749365e+00]
 [ 2.52119139e-01 -1.61795395e-02  9.67560935e-01  4.55075268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.220714057000002 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:18.34, Y:2.11, Z:4.56
[[ 9.52668115e-01 -1.71467121e-01 -2.51042803e-01  1.83388623e+01]
 [ 1.69829332e-01  9.85065810e-01 -2.83434071e-02  2.11497532e+00]
 [ 2.52153645e-01 -1.56325715e-02  9.67560935e-01  4.56458872e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.280714057 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:18.40, Y:2.12, Z:4.58
[[ 9.53355067e-01 -1.67595411e-01 -2.51049586e-01  1.83971884e+01]
 [ 1.65841816e-01  9.85746698e-01 -2.82832074e-02  2.12321188e+00]
 [ 2.52211436e-01 -1.46705803e-02  9.67560936e-01  4.58057955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.340714057 meters
Centerline goodness : 0.999134 with order 1
Centerline is valid?  [True, True]
Translation: X:18.46, Y:2.13, Z:4.60
[[ 9.54315185e-01 -1.62038356e-01 -2.51049993e-01  1.84553957e+01]
 [ 1.60097026e-01  9.86696107e-01 -2.82795946e-02  2.13211423e+00]
 [ 2.52292430e-01 -1.32047106e-02  9.67560936e-01  4.59631492e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.400714057000002 meters
Centerline goodness : 0.999251 with order 1
Centerline is valid?  [True, True]
Translation: X:18.51, Y:2.14, Z:4.61
[[ 9.55460648e-01 -1.55140604e-01 -2.51050481e-01  1.85136566e+01]
 [ 1.52966556e-01  9.87826778e-01 -2.82752598e-02  2.14074637e+00]
 [ 2.52381029e-01 -1.13864295e-02  9.67560936e-01  4.61056821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.460714057 meters
Centerline goodness : 0.999448 with order 1
Centerline is valid?  [True, True]
Translation: X:18.57, Y:2.15, Z:4.63
[[ 9.56421335e-01 -1.49102913e-01 -2.51050892e-01  1.85717345e+01]
 [ 1.46725444e-01  9.88773159e-01 -2.82716094e-02  2.14844229e+00]
 [ 2.52447763e-01 -9.79598332e-03  9.67560936e-01  4.62559149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.520714057 meters
Centerline goodness : 0.999520 with order 1
Centerline is valid?  [True, True]
Translation: X:18.63, Y:2.16, Z:4.64
[[ 9.57130650e-01 -1.44478466e-01 -2.51051574e-01  1.86308163e+01]
 [ 1.41946243e-01  9.89470728e-01 -2.82655567e-02  2.15545205e+00]
 [ 2.52491948e-01 -8.58199719e-03  9.67560936e-01  4.64216313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.580714057 meters
Centerline goodness : 0.999418 with order 1
Centerline is valid?  [True, True]
Translation: X:18.69, Y:2.16, Z:4.66
[[ 9.57486152e-01 -1.42100617e-01 -2.51053150e-01  1.86910948e+01]
 [ 1.39491743e-01  9.89820137e-01 -2.82515498e-02  2.16216603e+00]
 [ 2.52512026e-01 -7.96937377e-03  9.67560936e-01  4.65826343e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.640714057 meters
Centerline goodness : 0.999145 with order 1
Centerline is valid?  [True, True]
Translation: X:18.75, Y:2.17, Z:4.67
[[ 9.57753113e-01 -1.40285334e-01 -2.51055771e-01  1.87492652e+01]
 [ 1.37621275e-01  9.90082598e-01 -2.82282431e-02  2.16654892e+00]
 [ 2.52525958e-01 -7.51492748e-03  9.67560937e-01  4.67337751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.700714057000003 meters
Centerline goodness : 0.999250 with order 1
Centerline is valid?  [True, True]
Translation: X:18.81, Y:2.17, Z:4.69
[[ 9.57480861e-01 -1.42130711e-01 -2.51056293e-01  1.88084970e+01]
 [ 1.39530175e-01  9.89815518e-01 -2.82235945e-02  2.16944608e+00]
 [ 2.52510854e-01 -8.00637693e-03  9.67560937e-01  4.68892758e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.760714057 meters
Centerline goodness : 0.999017 with order 1
Centerline is valid?  [True, True]
Translation: X:18.87, Y:2.17, Z:4.70
[[ 9.56803304e-01 -1.46621696e-01 -2.51056796e-01  1.88671582e+01]
 [ 1.44174077e-01  9.89149896e-01 -2.82191212e-02  2.17042209e+00]
 [ 2.52470339e-01 -9.19573348e-03  9.67560937e-01  4.70258690e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.820714057 meters
Centerline goodness : 0.998797 with order 1
Centerline is valid?  [True, True]
Translation: X:18.93, Y:2.17, Z:4.72
[[ 9.55868373e-01 -1.52597963e-01 -2.51056796e-01  1.89259603e+01]
 [ 1.50352527e-01  9.88229629e-01 -2.82191212e-02  2.17176585e+00]
 [ 2.52407945e-01 -1.07732583e-02  9.67560937e-01  4.71854449e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.880714057000002 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:18.99, Y:2.18, Z:4.73
[[ 9.55329645e-01 -1.55934251e-01 -2.51057320e-01  1.89851138e+01]
 [ 1.53803035e-01  9.87698623e-01 -2.82144570e-02  2.17515564e+00]
 [ 2.52368570e-01 -1.16592707e-02  9.67560937e-01  4.73335584e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.940714057 meters
Centerline goodness : 0.998248 with order 1
Centerline is valid?  [True, True]
Translation: X:19.04, Y:2.18, Z:4.75
[[ 9.54769998e-01 -1.59324238e-01 -2.51057838e-01  1.90438138e+01]
 [ 1.57309139e-01  9.87146412e-01 -2.82098501e-02  2.17872730e+00]
 [ 2.52325357e-01 -1.25597738e-02  9.67560937e-01  4.74923962e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.000714057 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:19.10, Y:2.18, Z:4.76
[[ 9.54305688e-01 -1.62081305e-01 -2.51058367e-01  1.91017561e+01]
 [ 1.60160965e-01  9.86687861e-01 -2.82051406e-02  2.18212275e+00]
 [ 2.52287769e-01 -1.32934242e-02  9.67560937e-01  4.76402444e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.060714057000002 meters
Centerline goodness : 0.998629 with order 1
Centerline is valid?  [True, True]
Translation: X:19.16, Y:2.19, Z:4.78
[[ 9.53789872e-01 -1.65086342e-01 -2.51060508e-01  1.91613063e+01]
 [ 1.63273012e-01  9.86178214e-01 -2.81860679e-02  2.18583302e+00]
 [ 2.52243538e-01 -1.41078194e-02  9.67560937e-01  4.77946959e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.120714057 meters
Centerline goodness : 0.998422 with order 1
Centerline is valid?  [True, True]
Translation: X:19.22, Y:2.19, Z:4.79
[[ 9.53603804e-01 -1.66156189e-01 -2.51061556e-01  1.92207661e+01]
 [ 1.64381644e-01  9.85994294e-01 -2.81767289e-02  2.19050182e+00]
 [ 2.52227000e-01 -1.44004754e-02  9.67560937e-01  4.79105678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.180714057 meters
Centerline goodness : 0.998780 with order 1
Centerline is valid?  [True, True]
Translation: X:19.28, Y:2.20, Z:4.81
[[ 9.53518127e-01 -1.66641700e-01 -2.51065182e-01  1.92792970e+01]
 [ 1.64892135e-01  9.85909974e-01 -2.81443842e-02  2.19650437e+00]
 [ 2.52217696e-01 -1.45624934e-02  9.67560938e-01  4.80738226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.240714057 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:19.34, Y:2.20, Z:4.82
[[ 9.53588550e-01 -1.66237467e-01 -2.51065693e-01  1.93372775e+01]
 [ 1.64475366e-01  9.85979718e-01 -2.81398262e-02  2.20314575e+00]
 [ 2.52223575e-01 -1.44603057e-02  9.67560938e-01  4.82277271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.300714057 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:19.40, Y:2.21, Z:4.84
[[ 9.53835809e-01 -1.64812823e-01 -2.51065693e-01  1.93965020e+01]
 [ 1.63002339e-01  9.86224309e-01 -2.81398262e-02  2.20998943e+00]
 [ 2.52244894e-01 -1.40835213e-02  9.67560938e-01  4.83837552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.360714057 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:19.46, Y:2.22, Z:4.85
[[ 9.54748694e-01 -1.59437014e-01 -2.51067262e-01  1.94551093e+01]
 [ 1.57447778e-01  9.87126707e-01 -2.81258260e-02  2.21825744e+00]
 [ 2.52319497e-01 -1.26768868e-02  9.67560938e-01  4.85384281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.420714057 meters
Centerline goodness : 0.998693 with order 1
Centerline is valid?  [True, True]
Translation: X:19.51, Y:2.23, Z:4.87
[[ 9.56171212e-01 -1.50669552e-01 -2.51068318e-01  1.95138535e+01]
 [ 1.48385772e-01  9.88529783e-01 -2.81163939e-02  2.22641837e+00]
 [ 2.52424794e-01 -1.03708797e-02  9.67560938e-01  4.86880421e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.480714057 meters
Centerline goodness : 0.999011 with order 1
Centerline is valid?  [True, True]
Translation: X:19.57, Y:2.23, Z:4.88
[[ 9.57314925e-01 -1.43222002e-01 -2.51068901e-01  1.95714340e+01]
 [ 1.40687773e-01  9.89654845e-01 -2.81111821e-02  2.23437436e+00]
 [ 2.52497694e-01 -8.41107031e-03  9.67560938e-01  4.88479656e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.540714057000002 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:19.63, Y:2.24, Z:4.90
[[ 9.57770206e-01 -1.40144837e-01 -2.51069028e-01  1.96321257e+01]
 [ 1.37506989e-01  9.90101840e-01 -2.81100539e-02  2.24145070e+00]
 [ 2.52523385e-01 -7.60077383e-03  9.67560938e-01  4.90202450e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.600714057 meters
Centerline goodness : 0.998910 with order 1
Centerline is valid?  [True, True]
Translation: X:19.69, Y:2.25, Z:4.92
[[ 9.57722427e-01 -1.40456358e-01 -2.51077207e-01  1.96922619e+01]
 [ 1.37848208e-01  9.90056467e-01 -2.80368131e-02  2.24680129e+00]
 [ 2.52518561e-01 -7.75905844e-03  9.67560940e-01  4.91837089e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.660714057 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:19.75, Y:2.25, Z:4.93
[[ 9.57152435e-01 -1.44277092e-01 -2.51084322e-01  1.97513444e+01]
 [ 1.41814726e-01  9.89497902e-01 -2.79729502e-02  2.25193722e+00]
 [ 2.52483266e-01 -8.83307705e-03  9.67560942e-01  4.93433311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.720714057000002 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:19.81, Y:2.26, Z:4.95
[[ 9.56462059e-01 -1.48774085e-01 -2.51090822e-01  1.98116378e+01]
 [ 1.46479090e-01  9.88819830e-01 -2.79144941e-02  2.25511104e+00]
 [ 2.52436537e-01 -1.00804006e-02  9.67560944e-01  4.94867284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.780714057 meters
Centerline goodness : 0.998658 with order 1
Centerline is valid?  [True, True]
Translation: X:19.87, Y:2.26, Z:4.96
[[ 9.56625100e-01 -1.47710721e-01 -2.51097513e-01  1.98708999e+01]
 [ 1.45395564e-01  9.88981433e-01 -2.78541759e-02  2.25939947e+00]
 [ 2.52445139e-01 -9.86246080e-03  9.67560946e-01  4.96245415e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.840714057 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:19.93, Y:2.26, Z:4.98
[[ 9.57073342e-01 -1.44766521e-01 -2.51104105e-01  1.99305690e+01]
 [ 1.42367420e-01  9.89423558e-01 -2.77946253e-02  2.26438331e+00]
 [ 2.52472048e-01 -9.14754856e-03  9.67560948e-01  4.97873094e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.900714057000002 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:19.99, Y:2.27, Z:5.00
[[ 9.58604412e-01 -1.34251818e-01 -2.51105616e-01  1.99886786e+01]
 [ 1.31501322e-01  9.90926647e-01 -2.77809665e-02  2.26701806e+00]
 [ 2.52556892e-01 -6.38976347e-03  9.67560948e-01  4.99593107e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.960714057 meters
Centerline goodness : 0.998744 with order 1
Centerline is valid?  [True, True]
Translation: X:20.05, Y:2.27, Z:5.01
[[ 9.59404106e-01 -1.28411898e-01 -2.51105846e-01  2.00478799e+01]
 [ 1.25465170e-01  9.91709042e-01 -2.77788873e-02  2.27123280e+00]
 [ 2.52591078e-01 -4.85385931e-03  9.67560948e-01  5.01044363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.020714057 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:20.11, Y:2.27, Z:5.02
[[ 9.60135257e-01 -1.22812142e-01 -2.51112458e-01  2.01069160e+01]
 [ 1.19692643e-01  9.92423966e-01 -2.77189991e-02  2.27323896e+00]
 [ 2.52614251e-01 -3.44232540e-03  9.67560949e-01  5.02427657e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.080714057 meters
Centerline goodness : 0.998422 with order 1
Centerline is valid?  [True, True]
Translation: X:20.17, Y:2.27, Z:5.04
[[ 9.60608271e-01 -1.19054778e-01 -2.51112942e-01  2.01668169e+01]
 [ 1.15810125e-01  9.92884644e-01 -2.77146079e-02  2.27315401e+00]
 [ 2.52625741e-01 -2.45853958e-03  9.67560949e-01  5.03967733e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.140714057 meters
Centerline goodness : 0.998058 with order 1
Centerline is valid?  [True, True]
Translation: X:20.23, Y:2.27, Z:5.06
[[ 9.60869426e-01 -1.16926105e-01 -2.51113982e-01  2.02281551e+01]
 [ 1.13612409e-01  9.93138784e-01 -2.77051833e-02  2.27491914e+00]
 [ 2.52630494e-01 -1.90860092e-03  9.67560949e-01  5.05572636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.200714057000003 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:20.29, Y:2.27, Z:5.07
[[ 9.60736086e-01 -1.17999340e-01 -2.51122140e-01  2.02879892e+01]
 [ 1.14741068e-01  9.93011084e-01 -2.76310500e-02  2.27198344e+00]
 [ 2.52627514e-01 -2.26787561e-03  9.67560952e-01  5.07042976e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.260714057 meters
Centerline goodness : 0.997369 with order 1
Centerline is valid?  [True, True]
Translation: X:20.35, Y:2.27, Z:5.08
[[ 9.60009574e-01 -1.23770053e-01 -2.51122664e-01  2.03483351e+01]
 [ 1.20707018e-01  9.92303685e-01 -2.76262864e-02  2.26718496e+00]
 [ 2.52609252e-01 -3.79076854e-03  9.67560952e-01  5.08442560e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.320714057 meters
Centerline goodness : 0.997434 with order 1
Centerline is valid?  [True, True]
Translation: X:20.41, Y:2.26, Z:5.10
[[ 9.58795783e-01 -1.32833332e-01 -2.51129355e-01  2.04081333e+01]
 [ 1.30091457e-01  9.91118744e-01 -2.75653324e-02  2.26181063e+00]
 [ 2.52560606e-01 -6.24025926e-03  9.67560954e-01  5.09980867e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.380714057000002 meters
Centerline goodness : 0.996860 with order 1
Centerline is valid?  [True, True]
Translation: X:20.47, Y:2.26, Z:5.12
[[ 9.57491090e-01 -1.41931693e-01 -2.51129861e-01  2.04675010e+01]
 [ 1.39498076e-01  9.89838721e-01 -2.75607238e-02  2.25809568e+00]
 [ 2.52489800e-01 -8.64298493e-03  9.67560954e-01  5.11542303e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.440714057 meters
Centerline goodness : 0.996933 with order 1
Centerline is valid?  [True, True]
Translation: X:20.53, Y:2.26, Z:5.13
[[ 9.56523537e-01 -1.48311378e-01 -2.51130363e-01  2.05277361e+01]
 [ 1.46094651e-01  9.88886754e-01 -2.75561424e-02  2.25545467e+00]
 [ 2.52426379e-01 -1.03307041e-02  9.67560954e-01  5.12963366e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.500714057 meters
Centerline goodness : 0.996702 with order 1
Centerline is valid?  [True, True]
Translation: X:20.59, Y:2.26, Z:5.14
[[ 9.56165108e-01 -1.50603460e-01 -2.51131211e-01  2.05887431e+01]
 [ 1.48466331e-01  9.88533678e-01 -2.75484159e-02  2.25630575e+00]
 [ 2.52400546e-01 -1.09436954e-02  9.67560954e-01  5.14467942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.560714057000002 meters
Centerline goodness : 0.997164 with order 1
Centerline is valid?  [True, True]
Translation: X:20.65, Y:2.26, Z:5.16
[[ 9.55919961e-01 -1.52140035e-01 -2.51138284e-01  2.06498764e+01]
 [ 1.50071876e-01  9.88293010e-01 -2.74837868e-02  2.25665972e+00]
 [ 2.52379595e-01 -1.14164931e-02  9.67560956e-01  5.15969539e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.620714057 meters
Centerline goodness : 0.997022 with order 1
Centerline is valid?  [True, True]
Translation: X:20.71, Y:2.26, Z:5.17
[[ 9.55731496e-01 -1.53307906e-01 -2.51145363e-01  2.07099924e+01]
 [ 1.51296304e-01  9.88108106e-01 -2.74189504e-02  2.25718818e+00]
 [ 2.52362311e-01 -1.17922106e-02  9.67560958e-01  5.17394860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.680714057 meters
Centerline goodness : 0.997055 with order 1
Centerline is valid?  [True, True]
Translation: X:20.77, Y:2.26, Z:5.19
[[ 9.55463063e-01 -1.54970440e-01 -2.51146367e-01  2.07705892e+01]
 [ 1.53017581e-01  9.87843270e-01 -2.74097523e-02  2.25887466e+00]
 [ 2.52340950e-01 -1.22408037e-02  9.67560958e-01  5.18908929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.740714057 meters
Centerline goodness : 0.996935 with order 1
Centerline is valid?  [True, True]
Translation: X:20.83, Y:2.26, Z:5.20
[[ 9.55905645e-01 -1.52204866e-01 -2.51153493e-01  2.08315714e+01]
 [ 1.50175472e-01  9.88281143e-01 -2.73443042e-02  2.26249680e+00]
 [ 2.52372198e-01 -1.15785197e-02  9.67560960e-01  5.20298643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.800714057 meters
Centerline goodness : 0.996328 with order 1
Centerline is valid?  [True, True]
Translation: X:20.89, Y:2.27, Z:5.22
[[ 9.56679312e-01 -1.47251751e-01 -2.51160536e-01  2.08906770e+01]
 [ 1.45071690e-01  9.89045012e-01 -2.72794639e-02  2.26746273e+00]
 [ 2.52426025e-01 -1.03385848e-02  9.67560962e-01  5.21779064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.860714057000003 meters
Centerline goodness : 0.995503 with order 1
Centerline is valid?  [True, True]
Translation: X:20.95, Y:2.27, Z:5.23
[[ 9.58868691e-01 -1.32245828e-01 -2.51161054e-01  2.09488477e+01]
 [ 1.29560223e-01  9.91196368e-01 -2.72747014e-02  2.27103623e+00]
 [ 2.52556890e-01 -6.38762486e-03  9.67560962e-01  5.23001331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.920714057 meters
Centerline goodness : 0.995753 with order 1
Centerline is valid?  [True, True]
Translation: X:21.01, Y:2.28, Z:5.25
[[ 9.59420669e-01 -1.28181059e-01 -2.51160497e-01  2.10082553e+01]
 [ 1.25357136e-01  9.91736558e-01 -2.72798271e-02  2.27799548e+00]
 [ 2.52581804e-01 -5.31193061e-03  9.67560962e-01  5.24867895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.980714057 meters
Centerline goodness : 0.996122 with order 1
Centerline is valid?  [True, True]
Translation: X:21.07, Y:2.28, Z:5.26
[[ 9.60473768e-01 -1.20020554e-01 -2.51167688e-01  2.10656326e+01]
 [ 1.16939373e-01  9.92766141e-01 -2.72134621e-02  2.28271507e+00]
 [ 2.52616951e-01 -3.23357539e-03  9.67560964e-01  5.26432497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.040714057000002 meters
Centerline goodness : 0.996345 with order 1
Centerline is valid?  [True, True]
Translation: X:21.13, Y:2.28, Z:5.28
[[ 9.61560578e-01 -1.10978215e-01 -2.51167456e-01  2.11258970e+01]
 [ 1.07592774e-01  9.93822472e-01 -2.72156072e-02  2.28442029e+00]
 [ 2.52636201e-01 -8.54348232e-04  9.67560964e-01  5.28111296e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.100714057 meters
Centerline goodness : 0.995796 with order 1
Centerline is valid?  [True, True]
Translation: X:21.18, Y:2.29, Z:5.30
[[ 9.61875339e-01 -1.08199930e-01 -2.51174457e-01  2.11843782e+01]
 [ 1.04738215e-01  9.94129136e-01 -2.71508370e-02  2.28630239e+00]
 [ 2.52637565e-01 -1.91843903e-04  9.67560967e-01  5.29690722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.160714057 meters
Centerline goodness : 0.996073 with order 1
Centerline is valid?  [True, True]
Translation: X:21.25, Y:2.28, Z:5.31
[[ 9.62014731e-01 -1.06952336e-01 -2.51174949e-01  2.12450749e+01]
 [ 1.03449978e-01  9.94264140e-01 -2.71462934e-02  2.28429665e+00]
 [ 2.52637604e-01  1.31091197e-04  9.67560967e-01  5.31244731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.220714057000002 meters
Centerline goodness : 0.996835 with order 1
Centerline is valid?  [True, True]
Translation: X:21.30, Y:2.28, Z:5.33
[[ 9.62050016e-01 -1.06617658e-01 -2.51182088e-01  2.13043715e+01]
 [ 1.03121369e-01  9.94300082e-01 -2.70800788e-02  2.28084772e+00]
 [ 2.52637585e-01  1.50149416e-04  9.67560969e-01  5.32558092e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.280714057 meters
Centerline goodness : 0.996025 with order 1
Centerline is valid?  [True, True]
Translation: X:21.37, Y:2.28, Z:5.34
[[ 9.62647549e-01 -1.01080436e-01 -2.51182088e-01  2.13650923e+01]
 [ 9.73986449e-02  9.94876964e-01 -2.70800788e-02  2.27825438e+00]
 [ 2.52632539e-01  1.60377652e-03  9.67560969e-01  5.33729459e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.340714057 meters
Centerline goodness : 0.996831 with order 1
Centerline is valid?  [True, True]
Translation: X:21.42, Y:2.27, Z:5.35
[[ 9.62485328e-01 -1.02598016e-01 -2.51188455e-01  2.14238679e+01]
 [ 9.89824874e-02  9.94722242e-01 -2.70208949e-02  2.27401904e+00]
 [ 2.52635033e-01  1.14395682e-03  9.67560970e-01  5.35425133e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.400714057000002 meters
Centerline goodness : 0.997479 with order 1
Centerline is valid?  [True, True]
Translation: X:21.48, Y:2.27, Z:5.37
[[ 9.62729440e-01 -1.00281528e-01 -2.51188455e-01  2.14847653e+01]
 [ 9.65884323e-02  9.94957560e-01 -2.70208949e-02  2.26741896e+00]
 [ 2.52631549e-01  1.75191195e-03  9.67560970e-01  5.37022432e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.460714057 meters
Centerline goodness : 0.998106 with order 1
Centerline is valid?  [True, True]
Translation: X:21.55, Y:2.26, Z:5.39
[[ 9.62871937e-01 -9.88989239e-02 -2.51190437e-01  2.15465617e+01]
 [ 9.51643615e-02  9.95095278e-01 -2.70024571e-02  2.25927279e+00]
 [ 2.52628931e-01  2.09553061e-03  9.67560971e-01  5.38614316e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.520714057 meters
Centerline goodness : 0.997070 with order 1
Centerline is valid?  [True, True]
Translation: X:21.61, Y:2.25, Z:5.40
[[ 9.62966459e-01 -9.79678820e-02 -2.51192939e-01  2.16068621e+01]
 [ 9.42082414e-02  9.95186883e-01 -2.69791598e-02  2.25023827e+00]
 [ 2.52627009e-01  2.31558097e-03  9.67560971e-01  5.39996237e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.580714057 meters
Centerline goodness : 0.997328 with order 1
Centerline is valid?  [True, True]
Translation: X:21.67, Y:2.24, Z:5.42
[[ 9.63018586e-01 -9.74515974e-02 -2.51193928e-01  2.16677917e+01]
 [ 9.36770862e-02  9.95237271e-01 -2.69699462e-02  2.24144710e+00]
 [ 2.52625824e-01  2.44144412e-03  9.67560971e-01  5.41620334e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.640714057 meters
Centerline goodness : 0.996808 with order 1
Centerline is valid?  [True, True]
Translation: X:21.73, Y:2.24, Z:5.43
[[ 9.63039406e-01 -9.72417541e-02 -2.51195429e-01  2.17277932e+01]
 [ 9.34638693e-02  9.95257696e-01 -2.69559639e-02  2.23756757e+00]
 [ 2.52625429e-01  2.48195869e-03  9.67560971e-01  5.43179548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.700714057000003 meters
Centerline goodness : 0.997375 with order 1
Centerline is valid?  [True, True]
Translation: X:21.79, Y:2.23, Z:5.45
[[ 9.63068288e-01 -9.69526212e-02 -2.51196459e-01  2.17887833e+01]
 [ 9.31675694e-02  9.95285737e-01 -2.69463567e-02  2.22918707e+00]
 [ 2.52624773e-01  2.54781806e-03  9.67560971e-01  5.44544104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.760714057 meters
Centerline goodness : 0.996711 with order 1
Centerline is valid?  [True, True]
Translation: X:21.85, Y:2.22, Z:5.46
[[ 9.62999261e-01 -9.76189403e-02 -2.51203038e-01  2.18491512e+01]
 [ 9.38722131e-02  9.95221187e-01 -2.68848890e-02  2.22152072e+00]
 [ 2.52627060e-01  2.30914308e-03  9.67560973e-01  5.46120290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.820714057 meters
Centerline goodness : 0.995427 with order 1
Centerline is valid?  [True, True]
Translation: X:21.91, Y:2.21, Z:5.48
[[ 9.62641169e-01 -1.01086603e-01 -2.51204056e-01  2.19092291e+01]
 [ 9.74584315e-02  9.94876660e-01 -2.68753766e-02  2.21348026e+00]
 [ 2.52633793e-01  1.38939069e-03  9.67560973e-01  5.47778637e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.880714057000002 meters
Centerline goodness : 0.994905 with order 1
Centerline is valid?  [True, True]
Translation: X:21.97, Y:2.21, Z:5.49
[[ 9.62153400e-01 -1.05627205e-01 -2.51204556e-01  2.19680116e+01]
 [ 1.02152381e-01  9.94405781e-01 -2.68707013e-02  2.21011635e+00]
 [ 2.52637540e-01  1.92593035e-04  9.67560973e-01  5.49250176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.940714057 meters
Centerline goodness : 0.993552 with order 1
Centerline is valid?  [True, True]
Translation: X:22.03, Y:2.20, Z:5.51
[[ 9.61032988e-01 -1.15377543e-01 -2.51204338e-01  2.20277072e+01]
 [ 1.12229386e-01  9.93318892e-01 -2.68727451e-02  2.20388205e+00]
 [ 2.52626526e-01 -2.36691413e-03  9.67560973e-01  5.50766983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.000714057 meters
Centerline goodness : 0.993060 with order 1
Centerline is valid?  [True, True]
Translation: X:22.09, Y:2.19, Z:5.52
[[ 9.60826048e-01 -1.17087305e-01 -2.51204833e-01  2.20897029e+01]
 [ 1.13997810e-01  9.93117618e-01 -2.68681168e-02  2.19105736e+00]
 [ 2.52621861e-01 -2.82121427e-03  9.67560973e-01  5.52302522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.060714057000002 meters
Centerline goodness : 0.992834 with order 1
Centerline is valid?  [True, True]
Translation: X:22.15, Y:2.18, Z:5.53
[[ 9.60361169e-01 -1.20836927e-01 -2.51206811e-01  2.21527464e+01]
 [ 1.17878342e-01  9.92664996e-01 -2.68496121e-02  2.18457497e+00]
 [ 2.52608632e-01 -3.82651742e-03  9.67560973e-01  5.52753269e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.120714057 meters
Centerline goodness : 0.992364 with order 1
Centerline is valid?  [True, True]
Translation: X:22.21, Y:2.19, Z:5.54
[[ 9.59983099e-01 -1.23801691e-01 -2.51208262e-01  2.22119278e+01]
 [ 1.20946419e-01  9.92296221e-01 -2.68360285e-02  2.18639345e+00]
 [ 2.52595355e-01 -4.62060601e-03  9.67560973e-01  5.54281499e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.180714057 meters
Centerline goodness : 0.991761 with order 1
Centerline is valid?  [True, True]
Translation: X:22.27, Y:2.19, Z:5.56
[[ 9.60289459e-01 -1.21401500e-01 -2.51208740e-01  2.22701561e+01]
 [ 1.18466631e-01  9.92595449e-01 -2.68315465e-02  2.19098889e+00]
 [ 2.52606042e-01 -3.99380194e-03  9.67560973e-01  5.55974429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.240714057 meters
Centerline goodness : 0.990941 with order 1
Centerline is valid?  [True, True]
Translation: X:22.33, Y:2.20, Z:5.58
[[ 9.60020025e-01 -1.23513041e-01 -2.51209236e-01  2.23283848e+01]
 [ 1.20650439e-01  9.92332499e-01 -2.68269086e-02  2.19501304e+00]
 [ 2.52596562e-01 -4.55413520e-03  9.67560973e-01  5.57638578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.300714057 meters
Centerline goodness : 0.990994 with order 1
Centerline is valid?  [True, True]
Translation: X:22.39, Y:2.20, Z:5.59
[[ 9.59886270e-01 -1.24547243e-01 -2.51209740e-01  2.23876033e+01]
 [ 1.21720691e-01  9.92201917e-01 -2.68221811e-02  2.20124723e+00]
 [ 2.52591415e-01 -4.83117988e-03  9.67560973e-01  5.59350712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.360714057000003 meters
Centerline goodness : 0.991387 with order 1
Centerline is valid?  [True, True]
Translation: X:22.45, Y:2.21, Z:5.61
[[ 9.60348986e-01 -1.20923456e-01 -2.51211750e-01  2.24469897e+01]
 [ 1.17979881e-01  9.92654184e-01 -2.68033427e-02  2.20774719e+00]
 [ 2.52607548e-01 -3.89736954e-03  9.67560973e-01  5.60536792e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.420714057 meters
Centerline goodness : 0.991039 with order 1
Centerline is valid?  [True, True]
Translation: X:22.51, Y:2.22, Z:5.62
[[ 9.59974397e-01 -1.23860065e-01 -2.51212742e-01  2.25056949e+01]
 [ 1.21017741e-01  9.92288660e-01 -2.67940433e-02  2.21687887e+00]
 [ 2.52594268e-01 -4.67960302e-03  9.67560973e-01  5.62308931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.480714057 meters
Centerline goodness : 0.992086 with order 1
Centerline is valid?  [True, True]
Translation: X:22.56, Y:2.23, Z:5.64
[[ 9.60062192e-01 -1.23174735e-01 -2.51214196e-01  2.25648075e+01]
 [ 1.20312910e-01  9.92374734e-01 -2.67804095e-02  2.22539856e+00]
 [ 2.52597291e-01 -4.51345227e-03  9.67560974e-01  5.63877506e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.540714057000002 meters
Centerline goodness : 0.992335 with order 1
Centerline is valid?  [True, True]
Translation: X:22.62, Y:2.24, Z:5.66
[[ 9.59833750e-01 -1.24935252e-01 -2.51217745e-01  2.26209703e+01]
 [ 1.22141414e-01  9.92152241e-01 -2.67470711e-02  2.23578696e+00]
 [ 2.52587901e-01 -5.01134914e-03  9.67560974e-01  5.65779110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.600714057 meters
Centerline goodness : 0.992869 with order 1
Centerline is valid?  [True, True]
Translation: X:22.68, Y:2.24, Z:5.67
[[ 9.59403681e-01 -1.28196028e-01 -2.51217745e-01  2.26809213e+01]
 [ 1.25512024e-01  9.91731479e-01 -2.67470711e-02  2.24208976e+00]
 [ 2.52569415e-01 -5.86960916e-03  9.67560974e-01  5.67318084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.660714057 meters
Centerline goodness : 0.992649 with order 1
Centerline is valid?  [True, True]
Translation: X:22.74, Y:2.25, Z:5.68
[[ 9.59977815e-01 -1.23819453e-01 -2.51219700e-01  2.27409118e+01]
 [ 1.20992856e-01  9.92293457e-01 -2.67286983e-02  2.24786835e+00]
 [ 2.52593198e-01 -4.73683168e-03  9.67560974e-01  5.68488078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.720714057000002 meters
Centerline goodness : 0.992025 with order 1
Centerline is valid?  [True, True]
Translation: X:22.80, Y:2.26, Z:5.71
[[ 9.60237042e-01 -1.21790716e-01 -2.51220709e-01  2.27976154e+01]
 [ 1.18898323e-01  9.92546862e-01 -2.67192130e-02  2.25925631e+00]
 [ 2.52602479e-01 -4.21294297e-03  9.67560974e-01  5.70614373e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.780714057 meters
Centerline goodness : 0.992110 with order 1
Centerline is valid?  [True, True]
Translation: X:22.86, Y:2.27, Z:5.72
[[ 9.61223309e-01 -1.13742721e-01 -2.51221700e-01  2.28561214e+01]
 [ 1.10582212e-01  9.93508005e-01 -2.67098904e-02  2.26598700e+00]
 [ 2.52628826e-01 -2.10648209e-03  9.67560974e-01  5.72067104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.840714057 meters
Centerline goodness : 0.993457 with order 1
Centerline is valid?  [True, True]
Translation: X:22.91, Y:2.29, Z:5.74
[[ 9.61787577e-01 -1.08860336e-01 -2.51225166e-01  2.29131912e+01]
 [ 1.05544458e-01  9.94056684e-01 -2.66772513e-02  2.28639225e+00]
 [ 2.52636150e-01 -8.57575048e-04  9.67560975e-01  5.74292564e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.900714057000002 meters
Centerline goodness : 0.990648 with order 1
Centerline is valid?  [True, True]
Translation: X:22.98, Y:2.28, Z:5.75
[[ 9.63771552e-01 -8.96065758e-02 -2.51227101e-01  2.29757378e+01]
 [ 8.56508555e-02  9.95968487e-01 -2.66590182e-02  2.27888875e+00]
 [ 2.52603099e-01  4.17538725e-03  9.67560975e-01  5.75419525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.960714057 meters
Centerline goodness : 0.994293 with order 1
Centerline is valid?  [True, True]
Translation: X:23.03, Y:2.29, Z:5.77
[[ 9.63899524e-01 -8.82135359e-02 -2.51229139e-01  2.30328196e+01]
 [ 8.42162932e-02  9.96091330e-01 -2.66397975e-02  2.29438679e+00]
 [ 2.52597158e-01  4.52050123e-03  9.67560975e-01  5.77195341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.020714057000003 meters
Centerline goodness : 0.994288 with order 1
Centerline is valid?  [True, True]
Translation: X:23.09, Y:2.29, Z:5.79
[[ 9.64627963e-01 -7.98502854e-02 -2.51230620e-01  2.30930275e+01]
 [ 7.55776282e-02  9.96784374e-01 -2.66258274e-02  2.29262933e+00]
 [ 2.52548836e-01  6.69660329e-03  9.67560975e-01  5.78631861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.080714057 meters
Centerline goodness : 0.991894 with order 1
Centerline is valid?  [True, True]
Translation: X:23.16, Y:2.27, Z:5.80
[[ 9.66090770e-01 -5.95928139e-02 -2.51231607e-01  2.31550118e+01]
 [ 5.46488060e-02  9.98150825e-01 -2.66165127e-02  2.26975780e+00]
 [ 2.52353189e-01  1.19844599e-02  9.67560975e-01  5.79886393e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.140714057 meters
Centerline goodness : 0.992169 with order 1
Centerline is valid?  [True, True]
Translation: X:23.22, Y:2.26, Z:5.81
[[ 9.66512351e-01 -5.23117142e-02 -2.51231685e-01  2.32151084e+01]
 [ 4.71264690e-02  9.98534274e-01 -2.66157718e-02  2.26207407e+00]
 [ 2.52255765e-01  1.38848099e-02  9.67560975e-01  5.81257981e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.200714057000003 meters
Centerline goodness : 0.994563 with order 1
Centerline is valid?  [True, True]
Translation: X:23.27, Y:2.25, Z:5.83
[[ 9.66729235e-01 -4.81371657e-02 -2.51231766e-01  2.32742526e+01]
 [ 4.28138732e-02  9.98728498e-01 -2.66150116e-02  2.25128159e+00]
 [ 2.52193495e-01  1.49733048e-02  9.67560975e-01  5.83019929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.260714057 meters
Centerline goodness : 0.996471 with order 1
Centerline is valid?  [True, True]
Translation: X:23.33, Y:2.25, Z:5.85
[[ 9.66184603e-01 -5.80526729e-02 -2.51231367e-01  2.33327961e+01]
 [ 5.30569758e-02  9.98236644e-01 -2.66187791e-02  2.25275308e+00]
 [ 2.52333648e-01  1.23890780e-02  9.67560975e-01  5.84579579e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.320714057 meters
Centerline goodness : 0.997719 with order 1
Centerline is valid?  [True, True]
Translation: X:23.39, Y:2.24, Z:5.86
[[ 9.66125475e-01 -5.90282128e-02 -2.51231442e-01  2.33935425e+01]
 [ 5.40650669e-02  9.98182572e-01 -2.66180653e-02  2.23611000e+00]
 [ 2.52346064e-01  1.21335463e-02  9.67560975e-01  5.85951620e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.380714057000002 meters
Centerline goodness : 0.999020 with order 1
Centerline is valid?  [True, True]
Translation: X:23.45, Y:2.22, Z:5.87
[[ 9.65991735e-01 -6.11778654e-02 -2.51231442e-01  2.34526111e+01]
 [ 5.62860644e-02  9.98059797e-01 -2.66180653e-02  2.21894390e+00]
 [ 2.52372439e-01  1.15720019e-02  9.67560975e-01  5.87437423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.440714057 meters
Centerline goodness : 0.999395 with order 1
Centerline is valid?  [True, True]
Translation: X:23.51, Y:2.20, Z:5.89
[[ 9.65835908e-01 -6.36161037e-02 -2.51224980e-01  2.35100569e+01]
 [ 5.87894667e-02  9.97913841e-01 -2.66789249e-02  2.20482175e+00]
 [ 2.52398094e-01  1.09980811e-02  9.67560977e-01  5.88968601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.500714057 meters
Centerline goodness : 0.999813 with order 1
Centerline is valid?  [True, True]
Translation: X:23.57, Y:2.19, Z:5.90
[[ 9.65547286e-01 -6.78652801e-02 -2.51222494e-01  2.35708349e+01]
 [ 6.31737620e-02  9.97645259e-01 -2.67023084e-02  2.19143755e+00]
 [ 2.52443090e-01  9.91167134e-03  9.67560977e-01  5.90411255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.560714057000002 meters
Centerline goodness : 0.999645 with order 1
Centerline is valid?  [True, True]
Translation: X:23.63, Y:2.19, Z:5.92
[[ 9.65236735e-01 -7.21482246e-02 -2.51222369e-01  2.36287899e+01]
 [ 6.75988469e-02  9.97355162e-01 -2.67034897e-02  2.18841256e+00]
 [ 2.52484536e-01  8.79284672e-03  9.67560977e-01  5.91905519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.620714057 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:23.69, Y:2.18, Z:5.93
[[ 9.64243927e-01 -8.44051095e-02 -2.51215896e-01  2.36875654e+01]
 [ 8.02483204e-02  9.96415517e-01 -2.67642504e-02  2.17877782e+00]
 [ 2.52574456e-01  5.64761223e-03  9.67560979e-01  5.93288739e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.680714057000003 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:23.75, Y:2.17, Z:5.95
[[ 9.62561017e-01 -1.01820221e-01 -2.51214909e-01  2.37479409e+01]
 [ 9.82432012e-02  9.94802218e-01 -2.67735157e-02  2.17075900e+00]
 [ 2.52635233e-01  1.09098576e-03  9.67560979e-01  5.94651601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.740714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:23.81, Y:2.17, Z:5.96
[[ 9.61197841e-01 -1.13972922e-01 -2.51214815e-01  2.38051485e+01]
 [ 1.10803288e-01  9.93481637e-01 -2.67743911e-02  2.16877944e+00]
 [ 2.52628861e-01 -2.09994066e-03  9.67560979e-01  5.96087014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.800714057 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:23.86, Y:2.17, Z:5.98
[[ 9.59301135e-01 -1.28980174e-01 -2.51207975e-01  2.38630921e+01]
 [ 1.26298686e-01  9.91629135e-01 -2.68384208e-02  2.16676172e+00]
 [ 2.52566771e-01 -5.98110956e-03  9.67560981e-01  5.97600313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.860714057000003 meters
Centerline goodness : 0.999917 with order 1
Centerline is valid?  [True, True]
Translation: X:23.92, Y:2.17, Z:5.99
[[ 9.58269229e-01 -1.36436351e-01 -2.51207497e-01  2.39226440e+01]
 [ 1.34005172e-01  9.90617016e-01 -2.68428977e-02  2.16512307e+00]
 [ 2.52512768e-01 -7.94038100e-03  9.67560981e-01  5.98968795e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.920714057 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:23.98, Y:2.18, Z:6.01
[[ 9.57913368e-01 -1.38912828e-01 -2.51207497e-01  2.39775102e+01]
 [ 1.36565271e-01  9.90267330e-01 -2.68428977e-02  2.17625087e+00]
 [ 2.52491400e-01 -8.59304932e-03  9.67560981e-01  6.01013462e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.980714057 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:24.04, Y:2.19, Z:6.02
[[ 9.58342358e-01 -1.35922873e-01 -2.51206881e-01  2.40362018e+01]
 [ 1.33472856e-01  9.90688723e-01 -2.68486536e-02  2.18563525e+00]
 [ 2.52517171e-01 -7.79909782e-03  9.67560981e-01  6.02047485e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.040714057000002 meters
Centerline goodness : 0.999876 with order 1
Centerline is valid?  [True, True]
Translation: X:24.09, Y:2.20, Z:6.03
[[ 9.58942128e-01 -1.31628323e-01 -2.51205055e-01  2.40923287e+01]
 [ 1.29028952e-01  9.91276834e-01 -2.68657363e-02  2.19783252e+00]
 [ 2.52550043e-01 -6.65003865e-03  9.67560981e-01  6.03440599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.100714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.15, Y:2.21, Z:6.05
[[ 9.59172851e-01 -1.29939298e-01 -2.51203545e-01  2.41487518e+01]
 [ 1.27279294e-01  9.91502625e-01 -2.68798425e-02  2.20569845e+00]
 [ 2.52561722e-01 -6.19059472e-03  9.67560982e-01  6.04684264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.160714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:24.20, Y:2.22, Z:6.06
[[ 9.59692331e-01 -1.26061225e-01 -2.51195535e-01  2.42038243e+01]
 [ 1.23251032e-01  9.92009394e-01 -2.69544956e-02  2.22355727e+00]
 [ 2.52586247e-01 -5.09208622e-03  9.67560984e-01  6.06185101e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.220714057000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.26, Y:2.24, Z:6.07
[[ 9.59882405e-01 -1.24608625e-01 -2.51194068e-01  2.42604602e+01]
 [ 1.21745949e-01  9.92194861e-01 -2.69681662e-02  2.23632991e+00]
 [ 2.52593929e-01 -4.69559185e-03  9.67560984e-01  6.07381035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.280714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.32, Y:2.25, Z:6.09
[[ 9.59865287e-01 -1.24754569e-01 -2.51187039e-01  2.43159916e+01]
 [ 1.21879719e-01  9.92176660e-01 -2.70334794e-02  2.25277718e+00]
 [ 2.52594467e-01 -4.66610739e-03  9.67560986e-01  6.08818626e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.340714057 meters
Centerline goodness : 0.999917 with order 1
Centerline is valid?  [True, True]
Translation: X:24.37, Y:2.27, Z:6.10
[[ 9.59485425e-01 -1.27657131e-01 -2.51179967e-01  2.43717755e+01]
 [ 1.24862868e-01  9.91803865e-01 -2.70990310e-02  2.26809302e+00]
 [ 2.52580647e-01 -5.36192594e-03  9.67560989e-01  6.10340600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.400714057000002 meters
Centerline goodness : 0.999938 with order 1
Centerline is valid?  [True, True]
Translation: X:24.43, Y:2.28, Z:6.12
[[ 9.59021535e-01 -1.31099526e-01 -2.51178443e-01  2.44273582e+01]
 [ 1.28417563e-01  9.91349488e-01 -2.71131553e-02  2.28035636e+00]
 [ 2.52560142e-01 -6.25362365e-03  9.67560989e-01  6.11833192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.460714057 meters
Centerline goodness : 0.999440 with order 1
Centerline is valid?  [True, True]
Translation: X:24.48, Y:2.30, Z:6.13
[[ 9.58094014e-01 -1.37727321e-01 -2.51171347e-01  2.44836460e+01]
 [ 1.35251770e-01  9.90438426e-01 -2.71787345e-02  2.29939805e+00]
 [ 2.52513008e-01 -7.93158646e-03  9.67560991e-01  6.13405745e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.520714057000003 meters
Centerline goodness : 0.999687 with order 1
Centerline is valid?  [True, True]
Translation: X:24.54, Y:2.31, Z:6.15
[[ 9.56737065e-01 -1.46857770e-01 -2.51171224e-01  2.45415412e+01]
 [ 1.44690481e-01  9.89103594e-01 -2.71798738e-02  2.31188477e+00]
 [ 2.52425936e-01 -1.03380925e-02  9.67560991e-01  6.14878981e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.580714057 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:24.60, Y:2.33, Z:6.16
[[ 9.55646476e-01 -1.53794673e-01 -2.51171280e-01  2.45976791e+01]
 [ 1.51862383e-01  9.88027884e-01 -2.71793575e-02  2.33010038e+00]
 [ 2.52344268e-01 -1.21696118e-02  9.67560991e-01  6.16400878e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.640714057 meters
Centerline goodness : 0.999332 with order 1
Centerline is valid?  [True, True]
Translation: X:24.65, Y:2.35, Z:6.18
[[ 9.54960389e-01 -1.57999533e-01 -2.51170866e-01  2.46526614e+01]
 [ 1.56208788e-01  9.87349932e-01 -2.71831836e-02  2.35327525e+00]
 [ 2.52288467e-01 -1.32762329e-02  9.67560991e-01  6.18075582e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.700714057000003 meters
Centerline goodness : 0.999272 with order 1
Centerline is valid?  [True, True]
Translation: X:24.71, Y:2.36, Z:6.20
[[ 9.54809450e-01 -1.58910801e-01 -2.51169806e-01  2.47097709e+01]
 [ 1.57148398e-01  9.87200549e-01 -2.71929743e-02  2.36451387e+00]
 [ 2.52276227e-01 -1.35068237e-02  9.67560991e-01  6.19602364e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.760714057 meters
Centerline goodness : 0.998871 with order 1
Centerline is valid?  [True, True]
Translation: X:24.77, Y:2.39, Z:6.21
[[ 9.54588631e-01 -1.60232774e-01 -2.51169274e-01  2.47654541e+01]
 [ 1.58513937e-01  9.86982070e-01 -2.71978843e-02  2.38626434e+00]
 [ 2.52257562e-01 -1.38510393e-02  9.67560991e-01  6.21117067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.820714057 meters
Centerline goodness : 0.998411 with order 1
Centerline is valid?  [True, True]
Translation: X:24.82, Y:2.41, Z:6.22
[[ 9.54680643e-01 -1.59682888e-01 -2.51169755e-01  2.48221866e+01]
 [ 1.57946558e-01  9.87073149e-01 -2.71934391e-02  2.40736892e+00]
 [ 2.52265248e-01 -1.37103484e-02  9.67560991e-01  6.22486243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.880714057000002 meters
Centerline goodness : 0.997492 with order 1
Centerline is valid?  [True, True]
Translation: X:24.88, Y:2.43, Z:6.24
[[ 9.54772029e-01 -1.59135560e-01 -2.51169755e-01  2.48803848e+01]
 [ 1.57380660e-01  9.87163535e-01 -2.71934391e-02  2.42607811e+00]
 [ 2.52273067e-01 -1.35657269e-02  9.67560991e-01  6.24090290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.940714057 meters
Centerline goodness : 0.996656 with order 1
Centerline is valid?  [True, True]
Translation: X:24.94, Y:2.45, Z:6.26
[[ 9.54253752e-01 -1.62212135e-01 -2.51171258e-01  2.49374630e+01]
 [ 1.60565291e-01  9.86650931e-01 -2.71795538e-02  2.44840815e+00]
 [ 2.52227209e-01 -1.43931950e-02  9.67560991e-01  6.25508800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.000714057 meters
Centerline goodness : 0.995211 with order 1
Centerline is valid?  [True, True]
Translation: X:25.00, Y:2.46, Z:6.26
[[ 9.54666507e-01 -1.59764205e-01 -2.51171772e-01  2.49972084e+01]
 [ 1.58035524e-01  9.87059423e-01 -2.71747985e-02  2.46268219e+00]
 [ 2.52263025e-01 -1.37511926e-02  9.67560991e-01  6.26035589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.060714057000002 meters
Centerline goodness : 0.993633 with order 1
Centerline is valid?  [True, True]
Translation: X:25.06, Y:2.48, Z:6.27
[[ 9.53775441e-01 -1.64999683e-01 -2.51172278e-01  2.50555726e+01]
 [ 1.63449983e-01  9.86177412e-01 -2.71701193e-02  2.48313958e+00]
 [ 2.52183488e-01 -1.51399123e-02  9.67560991e-01  6.27232879e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.120714057 meters
Centerline goodness : 0.993382 with order 1
Centerline is valid?  [True, True]
Translation: X:25.11, Y:2.50, Z:6.29
[[ 9.53699564e-01 -1.65436511e-01 -2.51173053e-01  2.51144619e+01]
 [ 1.63903532e-01  9.86102330e-01 -2.71629546e-02  2.50173534e+00]
 [ 2.52176078e-01 -1.52628525e-02  9.67560991e-01  6.28831921e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.180714057000003 meters
Centerline goodness : 0.992335 with order 1
Centerline is valid?  [True, True]
Translation: X:25.17, Y:2.52, Z:6.30
[[ 9.53038395e-01 -1.69200828e-01 -2.51175032e-01  2.51724240e+01]
 [ 1.67800606e-01  9.85447170e-01 -2.71446441e-02  2.52122831e+00]
 [ 2.52112621e-01 -1.62774345e-02  9.67560991e-01  6.30102820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.240714057 meters
Centerline goodness : 0.994611 with order 1
Centerline is valid?  [True, True]
Translation: X:25.22, Y:2.55, Z:6.33
[[ 9.51417896e-01 -1.78087085e-01 -2.51175191e-01  2.52226019e+01]
 [ 1.76989744e-01  9.83838340e-01 -2.71431725e-02  2.55454528e+00]
 [ 2.51949631e-01 -1.86309328e-02  9.67560991e-01  6.33009965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.300714057 meters
Centerline goodness : 0.994188 with order 1
Centerline is valid?  [True, True]
Translation: X:25.28, Y:2.56, Z:6.33
[[ 9.53503778e-01 -1.66555567e-01 -2.51176809e-01  2.52838718e+01]
 [ 1.65069735e-01  9.85908740e-01 -2.71281937e-02  2.56357759e+00]
 [ 2.52155763e-01 -1.55948542e-02  9.67560991e-01  6.33438793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.360714057000003 meters
Centerline goodness : 0.996011 with order 1
Centerline is valid?  [True, True]
Translation: X:25.34, Y:2.60, Z:6.36
[[ 9.53008670e-01 -1.69364956e-01 -2.51177203e-01  2.53364359e+01]
 [ 1.67975590e-01  9.85417911e-01 -2.71245451e-02  2.59688135e+00]
 [ 2.52108462e-01 -1.63417123e-02  9.67560991e-01  6.36123983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.420714057 meters
Centerline goodness : 0.996826 with order 1
Centerline is valid?  [True, True]
Translation: X:25.39, Y:2.61, Z:6.38
[[ 9.53951991e-01 -1.63967545e-01 -2.51177711e-01  2.53943811e+01]
 [ 1.62395977e-01  9.86352909e-01 -2.71198404e-02  2.61209404e+00]
 [ 2.52196639e-01 -1.49192241e-02  9.67560991e-01  6.37634444e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.480714057 meters
Centerline goodness : 0.997549 with order 1
Centerline is valid?  [True, True]
Translation: X:25.45, Y:2.63, Z:6.39
[[ 9.55279023e-01 -1.56049923e-01 -2.51178042e-01  2.54502359e+01]
 [ 1.54210484e-01  9.87665838e-01 -2.71167725e-02  2.63077878e+00]
 [ 2.52311542e-01 -1.28302035e-02  9.67560991e-01  6.39099369e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.540714057000002 meters
Centerline goodness : 0.998051 with order 1
Centerline is valid?  [True, True]
Translation: X:25.51, Y:2.65, Z:6.41
[[ 9.56620862e-01 -1.47601693e-01 -2.51177760e-01  2.55061370e+01]
 [ 1.45475427e-01  9.88990111e-01 -2.71193855e-02  2.64740747e+00]
 [ 2.52415188e-01 -1.05972220e-02  9.67560991e-01  6.40567373e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.600714057 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:25.56, Y:2.66, Z:6.42
[[ 9.57404642e-01 -1.42430118e-01 -2.51177255e-01  2.55643339e+01]
 [ 1.40127739e-01  9.89761841e-01 -2.71240663e-02  2.65898236e+00]
 [ 2.52468946e-01 -9.22819370e-03  9.67560991e-01  6.42089227e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.660714057 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:25.62, Y:2.67, Z:6.44
[[ 9.58077690e-01 -1.37828193e-01 -2.51178283e-01  2.56226264e+01]
 [ 1.35372860e-01  9.90423642e-01 -2.71145375e-02  2.67154253e+00]
 [ 2.52510058e-01 -8.02488922e-03  9.67560991e-01  6.43601081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.720714057000002 meters
Centerline goodness : 0.997591 with order 1
Centerline is valid?  [True, True]
Translation: X:25.68, Y:2.68, Z:6.45
[[ 9.58796684e-01 -1.32733317e-01 -2.51178790e-01  2.56807705e+01]
 [ 1.30107304e-01  9.91129228e-01 -2.71098449e-02  2.68087119e+00]
 [ 2.52549019e-01 -6.68736578e-03  9.67560991e-01  6.44921263e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.780714057 meters
Centerline goodness : 0.998080 with order 1
Centerline is valid?  [True, True]
Translation: X:25.74, Y:2.69, Z:6.47
[[ 9.58076296e-01 -1.37836959e-01 -2.51178790e-01  2.57397382e+01]
 [ 1.35383152e-01  9.90422364e-01 -2.71098449e-02  2.69013235e+00]
 [ 2.52509829e-01 -8.03207642e-03  9.67560991e-01  6.46558277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.840714057000003 meters
Centerline goodness : 0.997861 with order 1
Centerline is valid?  [True, True]
Translation: X:25.80, Y:2.70, Z:6.48
[[ 9.57432554e-01 -1.42228355e-01 -2.51185189e-01  2.57969399e+01]
 [ 1.39938451e-01  9.89790637e-01 -2.70504230e-02  2.69791494e+00]
 [ 2.52468086e-01 -9.25151074e-03  9.67560993e-01  6.47991979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.900714057000002 meters
Centerline goodness : 0.997447 with order 1
Centerline is valid?  [True, True]
Translation: X:25.86, Y:2.70, Z:6.50
[[ 9.56645705e-01 -1.47428592e-01 -2.51184805e-01  2.58553912e+01]
 [ 1.45313608e-01  9.89015691e-01 -2.70539930e-02  2.70489525e+00]
 [ 2.52414245e-01 -1.06194841e-02  9.67560993e-01  6.49586411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.960714057 meters
Centerline goodness : 0.997520 with order 1
Centerline is valid?  [True, True]
Translation: X:25.92, Y:2.71, Z:6.51
[[ 9.55759766e-01 -1.53066076e-01 -2.51185282e-01  2.59150440e+01]
 [ 1.51143132e-01  9.88141728e-01 -2.70495636e-02  2.71122957e+00]
 [ 2.52347029e-01 -1.21120456e-02  9.67560993e-01  6.51086747e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.020714057000003 meters
Centerline goodness : 0.997516 with order 1
Centerline is valid?  [True, True]
Translation: X:25.97, Y:2.72, Z:6.52
[[ 9.54659007e-01 -1.59777229e-01 -2.51191993e-01  2.59723580e+01]
 [ 1.58098224e-01  9.87054531e-01 -2.69871023e-02  2.71769853e+00]
 [ 2.52252119e-01 -1.39495277e-02  9.67560995e-01  6.52491232e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.080714057 meters
Centerline goodness : 0.998028 with order 1
Centerline is valid?  [True, True]
Translation: X:26.03, Y:2.72, Z:6.54
[[ 9.54070704e-01 -1.63251686e-01 -2.51193110e-01  2.60325471e+01]
 [ 1.61693361e-01  9.86472257e-01 -2.69766995e-02  2.72457982e+00]
 [ 2.52199026e-01 -1.48785796e-02  9.67560995e-01  6.53987530e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.140714057 meters
Centerline goodness : 0.997323 with order 1
Centerline is valid?  [True, True]
Translation: X:26.09, Y:2.73, Z:6.55
[[ 9.54085616e-01 -1.63161266e-01 -2.51195221e-01  2.60929877e+01]
 [ 1.61605030e-01  9.86487269e-01 -2.69570284e-02  2.73246201e+00]
 [ 2.52199231e-01 -1.48750983e-02  9.67560995e-01  6.55470608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.200714057000003 meters
Centerline goodness : 0.998055 with order 1
Centerline is valid?  [True, True]
Translation: X:26.15, Y:2.74, Z:6.57
[[ 9.54670996e-01 -1.59689105e-01 -2.51202466e-01  2.61524316e+01]
 [ 1.58032751e-01  9.87067684e-01 -2.68893480e-02  2.74266689e+00]
 [ 2.52247773e-01 -1.40277363e-02  9.67560997e-01  6.57032717e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.260714057 meters
Centerline goodness : 0.998092 with order 1
Centerline is valid?  [True, True]
Translation: X:26.21, Y:2.75, Z:6.58
[[ 9.55367505e-01 -1.55456072e-01 -2.51209754e-01  2.62093416e+01]
 [ 1.53674038e-01  9.87757520e-01 -2.68210991e-02  2.75226285e+00]
 [ 2.52303826e-01 -1.29804108e-02  9.67561000e-01  6.58464869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.320714057 meters
Centerline goodness : 0.998500 with order 1
Centerline is valid?  [True, True]
Translation: X:26.27, Y:2.76, Z:6.60
[[ 9.55728883e-01 -1.53219565e-01 -2.51209211e-01  2.62691038e+01]
 [ 1.51360394e-01  9.88114562e-01 -2.68261796e-02  2.76056685e+00]
 [ 2.52333775e-01 -1.23845704e-02  9.67561000e-01  6.59928669e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.380714057000002 meters
Centerline goodness : 0.998285 with order 1
Centerline is valid?  [True, True]
Translation: X:26.33, Y:2.77, Z:6.61
[[ 9.56033569e-01 -1.51294841e-01 -2.51216413e-01  2.63269642e+01]
 [ 1.49388187e-01  9.88416485e-01 -2.67585756e-02  2.77007172e+00]
 [ 2.52354878e-01 -1.19466679e-02  9.67561002e-01  6.61336828e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.440714057 meters
Centerline goodness : 0.997999 with order 1
Centerline is valid?  [True, True]
Translation: X:26.39, Y:2.78, Z:6.63
[[ 9.56106289e-01 -1.50834629e-01 -2.51216398e-01  2.63868922e+01]
 [ 1.48912350e-01  9.88488282e-01 -2.67587187e-02  2.77791928e+00]
 [ 2.52360607e-01 -1.18250449e-02  9.67561002e-01  6.62753047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.500714057 meters
Centerline goodness : 0.997534 with order 1
Centerline is valid?  [True, True]
Translation: X:26.45, Y:2.79, Z:6.64
[[ 9.56092065e-01 -1.50913124e-01 -2.51223389e-01  2.64462437e+01]
 [ 1.49010754e-01  9.88475231e-01 -2.66929202e-02  2.78760145e+00]
 [ 2.52356410e-01 -1.19140974e-02  9.67561004e-01  6.64436713e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.560714057000002 meters
Centerline goodness : 0.997472 with order 1
Centerline is valid?  [True, True]
Translation: X:26.51, Y:2.80, Z:6.66
[[ 9.56337728e-01 -1.49336402e-01 -2.51230548e-01  2.65061381e+01]
 [ 1.47398343e-01  9.88718776e-01 -2.66253766e-02  2.79630837e+00]
 [ 2.52372498e-01 -1.15681142e-02  9.67561006e-01  6.66028501e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.620714057 meters
Centerline goodness : 0.997793 with order 1
Centerline is valid?  [True, True]
Translation: X:26.57, Y:2.80, Z:6.68
[[ 9.56450061e-01 -1.48603296e-01 -2.51237619e-01  2.65663134e+01]
 [ 1.46657948e-01  9.88830669e-01 -2.65584957e-02  2.80338441e+00]
 [ 2.52378143e-01 -1.14441188e-02  9.67561009e-01  6.67572119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.680714057000003 meters
Centerline goodness : 0.996993 with order 1
Centerline is valid?  [True, True]
Translation: X:26.63, Y:2.81, Z:6.69
[[ 9.56717786e-01 -1.46857543e-01 -2.51244780e-01  2.66252238e+01]
 [ 1.44870906e-01  9.89095885e-01 -2.64905786e-02  2.81221833e+00]
 [ 2.52395520e-01 -1.10540512e-02  9.67561011e-01  6.69055958e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.740714057 meters
Centerline goodness : 0.997920 with order 1
Centerline is valid?  [True, True]
Translation: X:26.68, Y:2.82, Z:6.71
[[ 9.56586241e-01 -1.47710234e-01 -2.51245798e-01  2.66840466e+01]
 [ 1.45754987e-01  9.88966250e-01 -2.64809254e-02  2.82016680e+00]
 [ 2.52385118e-01 -1.12890392e-02  9.67561011e-01  6.70762247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.800714057 meters
Centerline goodness : 0.997519 with order 1
Centerline is valid?  [True, True]
Translation: X:26.74, Y:2.83, Z:6.72
[[ 9.56225034e-01 -1.50019166e-01 -2.51252731e-01  2.67436748e+01]
 [ 1.48159383e-01  9.88610665e-01 -2.64149827e-02  2.82753587e+00]
 [ 2.52353883e-01 -1.19667817e-02  9.67561013e-01  6.72359799e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.860714057000003 meters
Centerline goodness : 0.997852 with order 1
Centerline is valid?  [True, True]
Translation: X:26.80, Y:2.83, Z:6.74
[[ 9.55140209e-01 -1.56767021e-01 -2.51259394e-01  2.68019945e+01]
 [ 1.55152608e-01  9.87538996e-01 -2.63514589e-02  2.83487536e+00]
 [ 2.52259489e-01 -1.38142124e-02  9.67561015e-01  6.73758949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.920714057 meters
Centerline goodness : 0.998002 with order 1
Centerline is valid?  [True, True]
Translation: X:26.86, Y:2.84, Z:6.75
[[ 9.54036313e-01 -1.63350413e-01 -2.51259537e-01  2.68603079e+01]
 [ 1.61959836e-01  9.86445480e-01 -2.63500914e-02  2.84309014e+00]
 [ 2.52158133e-01 -1.55550094e-02  9.67561015e-01  6.75105598e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.980714057 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:26.92, Y:2.85, Z:6.76
[[ 9.53514593e-01 -1.66368493e-01 -2.51259718e-01  2.69180516e+01]
 [ 1.65080927e-01  9.85928015e-01 -2.63483721e-02  2.85092645e+00]
 [ 2.52107534e-01 -1.63546298e-02  9.67561015e-01  6.76273729e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.040714057000002 meters
Centerline goodness : 0.997977 with order 1
Centerline is valid?  [True, True]
Translation: X:26.98, Y:2.86, Z:6.78
[[ 9.52730892e-01 -1.70799696e-01 -2.51259449e-01  2.69756574e+01]
 [ 1.69662165e-01  9.85149927e-01 -2.63509353e-02  2.86143510e+00]
 [ 2.52028959e-01 -1.75238721e-02  9.67561015e-01  6.77927712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.100714057 meters
Centerline goodness : 0.998035 with order 1
Centerline is valid?  [True, True]
Translation: X:27.03, Y:2.87, Z:6.79
[[ 9.51925766e-01 -1.75229865e-01 -2.51260482e-01  2.70341910e+01]
 [ 1.74245744e-01  9.84349820e-01 -2.63410815e-02  2.87221125e+00]
 [ 2.51943954e-01 -1.87063152e-02  9.67561015e-01  6.79480331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.160714057 meters
Centerline goodness : 0.998144 with order 1
Centerline is valid?  [True, True]
Translation: X:27.09, Y:2.88, Z:6.81
[[ 9.51382071e-01 -1.78156770e-01 -2.51261456e-01  2.70923788e+01]
 [ 1.77274818e-01  9.83809065e-01 -2.63317824e-02  2.88173324e+00]
 [ 2.51884484e-01 -1.94907433e-02  9.67561015e-01  6.81093740e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.220714057000002 meters
Centerline goodness : 0.997693 with order 1
Centerline is valid?  [True, True]
Translation: X:27.15, Y:2.89, Z:6.83
[[ 9.50941697e-01 -1.80491894e-01 -2.51261946e-01  2.71503756e+01]
 [ 1.79690780e-01  9.83370788e-01 -2.63271080e-02  2.89409779e+00]
 [ 2.51835488e-01 -2.01139104e-02  9.67561015e-01  6.82666902e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.280714057 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:27.21, Y:2.91, Z:6.84
[[ 9.50598336e-01 -1.82290957e-01 -2.51262433e-01  2.72083067e+01]
 [ 1.81552428e-01  9.83028913e-01 -2.63224591e-02  2.90624612e+00]
 [ 2.51796583e-01 -2.05952191e-02  9.67561015e-01  6.84047110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.340714057000003 meters
Centerline goodness : 0.998062 with order 1
Centerline is valid?  [True, True]
Translation: X:27.27, Y:2.92, Z:6.85
[[ 9.50280015e-01 -1.83942496e-01 -2.51262913e-01  2.72664039e+01]
 [ 1.83261524e-01  9.82711851e-01 -2.63178795e-02  2.91849662e+00]
 [ 2.51760019e-01 -2.10374695e-02  9.67561015e-01  6.85412480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.400714057000002 meters
Centerline goodness : 0.997998 with order 1
Centerline is valid?  [True, True]
Translation: X:27.32, Y:2.93, Z:6.87
[[ 9.50292801e-01 -1.83875936e-01 -2.51263275e-01  2.73246221e+01]
 [ 1.83193600e-01  9.82724608e-01 -2.63144216e-02  2.93057107e+00]
 [ 2.51761192e-01 -2.10234185e-02  9.67561015e-01  6.86767864e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.460714057 meters
Centerline goodness : 0.997771 with order 1
Centerline is valid?  [True, True]
Translation: X:27.38, Y:2.94, Z:6.88
[[ 9.50458727e-01 -1.83014965e-01 -2.51264265e-01  2.73837973e+01]
 [ 1.82305733e-01  9.82889958e-01 -2.63049617e-02  2.94158092e+00]
 [ 2.51779325e-01 -2.08051355e-02  9.67561015e-01  6.88281842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.520714057000003 meters
Centerline goodness : 0.997588 with order 1
Centerline is valid?  [True, True]
Translation: X:27.44, Y:2.95, Z:6.90
[[ 9.50781238e-01 -1.81322560e-01 -2.51271101e-01  2.74414793e+01]
 [ 1.80572773e-01  9.83211555e-01 -2.62395128e-02  2.95465642e+00]
 [ 2.51810465e-01 -2.04246830e-02  9.67561017e-01  6.89861752e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.580714057 meters
Centerline goodness : 0.997293 with order 1
Centerline is valid?  [True, True]
Translation: X:27.50, Y:2.97, Z:6.91
[[ 9.50964277e-01 -1.80359458e-01 -2.51271587e-01  2.75000744e+01]
 [ 1.79578047e-01  9.83393847e-01 -2.62348537e-02  2.96752335e+00]
 [ 2.51830636e-01 -2.01744522e-02  9.67561017e-01  6.91333262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.640714057 meters
Centerline goodness : 0.997435 with order 1
Centerline is valid?  [True, True]
Translation: X:27.56, Y:2.98, Z:6.93
[[ 9.50893917e-01 -1.80728650e-01 -2.51272590e-01  2.75581123e+01]
 [ 1.79962353e-01  9.83323847e-01 -2.62252458e-02  2.97892438e+00]
 [ 2.51821983e-01 -2.02821797e-02  9.67561017e-01  6.92724233e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.700714057000003 meters
Centerline goodness : 0.997747 with order 1
Centerline is valid?  [True, True]
Translation: X:27.62, Y:2.99, Z:6.94
[[ 9.50911007e-01 -1.80637270e-01 -2.51273624e-01  2.76166972e+01]
 [ 1.79870458e-01  9.83340925e-01 -2.62153339e-02  2.98904937e+00]
 [ 2.51823104e-01 -2.02682522e-02  9.67561017e-01  6.94298161e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.760714057 meters
Centerline goodness : 0.998048 with order 1
Centerline is valid?  [True, True]
Translation: X:27.68, Y:3.00, Z:6.96
[[ 9.51152431e-01 -1.79360338e-01 -2.51274594e-01  2.76757125e+01]
 [ 1.78552426e-01  9.83581352e-01 -2.62060273e-02  3.00304424e+00]
 [ 2.51849327e-01 -1.99397619e-02  9.67561017e-01  6.95858361e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.820714057 meters
Centerline goodness : 0.997466 with order 1
Centerline is valid?  [True, True]
Translation: X:27.73, Y:3.01, Z:6.97
[[ 9.51259886e-01 -1.78786795e-01 -2.51276563e-01  2.77341105e+01]
 [ 1.77964288e-01  9.83688439e-01 -2.61871418e-02  3.01311312e+00]
 [ 2.51859765e-01 -1.98074771e-02  9.67561018e-01  6.97294917e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.880714057000002 meters
Centerline goodness : 0.998029 with order 1
Centerline is valid?  [True, True]
Translation: X:27.79, Y:3.03, Z:6.99
[[ 9.51963772e-01 -1.74998795e-01 -2.51277533e-01  2.77918267e+01]
 [ 1.74049653e-01  9.84388866e-01 -2.61778323e-02  3.02840267e+00]
 [ 2.51935894e-01 -1.88144193e-02  9.67561018e-01  6.98931803e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.940714057 meters
Centerline goodness : 0.997957 with order 1
Centerline is valid?  [True, True]
Translation: X:27.85, Y:3.04, Z:7.01
[[ 9.52495548e-01 -1.72080164e-01 -2.51278028e-01  2.78483644e+01]
 [ 1.71032891e-01  9.84917621e-01 -2.61730762e-02  3.03906827e+00]
 [ 2.51992025e-01 -1.80470690e-02  9.67561018e-01  7.00512923e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.000714057000003 meters
Centerline goodness : 0.997503 with order 1
Centerline is valid?  [True, True]
Translation: X:27.91, Y:3.05, Z:7.02
[[ 9.53040802e-01 -1.69034958e-01 -2.51277561e-01  2.79076055e+01]
 [ 1.67882887e-01  9.85459320e-01 -2.61775621e-02  3.05089467e+00]
 [ 2.52048737e-01 -1.72369174e-02  9.67561018e-01  7.02044316e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.060714057000002 meters
Centerline goodness : 0.997876 with order 1
Centerline is valid?  [True, True]
Translation: X:27.97, Y:3.06, Z:7.03
[[ 9.53428806e-01 -1.66829368e-01 -2.51279672e-01  2.79665276e+01]
 [ 1.65607612e-01  9.85844773e-01 -2.61572785e-02  3.06055610e+00]
 [ 2.52086553e-01 -1.66747237e-02  9.67561018e-01  7.03485299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.120714057 meters
Centerline goodness : 0.997999 with order 1
Centerline is valid?  [True, True]
Translation: X:28.02, Y:3.07, Z:7.05
[[ 9.54570401e-01 -1.60166725e-01 -2.51280660e-01  2.80242839e+01]
 [ 1.58721102e-01  9.86977155e-01 -2.61477858e-02  3.07350220e+00]
 [ 2.52196276e-01 -1.49236409e-02  9.67561018e-01  7.04908098e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.180714057000003 meters
Centerline goodness : 0.998219 with order 1
Centerline is valid?  [True, True]
Translation: X:28.08, Y:3.09, Z:7.06
[[ 9.56219263e-01 -1.50009056e-01 -2.51280727e-01  2.80818688e+01]
 [ 1.48219149e-01  9.88608826e-01 -2.61471371e-02  3.08583253e+00]
 [ 2.52340652e-01 -1.22422193e-02  9.67561018e-01  7.06387225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.240714057 meters
Centerline goodness : 0.998169 with order 1
Centerline is valid?  [True, True]
Translation: X:28.14, Y:3.10, Z:7.08
[[ 9.57890350e-01 -1.38938817e-01 -2.51280884e-01  2.81392532e+01]
 [ 1.36774787e-01  9.90257069e-01 -2.61456333e-02  3.09716571e+00]
 [ 2.52465315e-01 -9.32423943e-03  9.67561018e-01  7.07974657e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.300714057 meters
Centerline goodness : 0.998160 with order 1
Centerline is valid?  [True, True]
Translation: X:28.20, Y:3.11, Z:7.10
[[ 9.58804724e-01 -1.32481208e-01 -2.51281180e-01  2.81981093e+01]
 [ 1.30099879e-01  9.91156182e-01 -2.61427844e-02  3.10526163e+00]
 [ 2.52522323e-01 -7.62582595e-03  9.67561018e-01  7.09601673e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.360714057000003 meters
Centerline goodness : 0.998513 with order 1
Centerline is valid?  [True, True]
Translation: X:28.26, Y:3.11, Z:7.11
[[ 9.59010716e-01 -1.30979886e-01 -2.51282145e-01  2.82579505e+01]
 [ 1.28550336e-01  9.91358588e-01 -2.61335117e-02  3.11112643e+00]
 [ 2.52533677e-01 -7.24008632e-03  9.67561018e-01  7.11180882e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.420714057 meters
Centerline goodness : 0.998028 with order 1
Centerline is valid?  [True, True]
Translation: X:28.32, Y:3.11, Z:7.13
[[ 9.59048821e-01 -1.30687960e-01 -2.51288710e-01  2.83183978e+01]
 [ 1.28265130e-01  9.91397196e-01 -2.60702339e-02  3.11490970e+00]
 [ 2.52533988e-01 -7.22895198e-03  9.67561020e-01  7.12658538e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.480714057 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:28.38, Y:3.12, Z:7.14
[[ 9.59023674e-01 -1.30859702e-01 -2.51295306e-01  2.83781941e+01]
 [ 1.28459350e-01  9.91373722e-01 -2.60065026e-02  3.11890398e+00]
 [ 2.52530766e-01 -7.34037998e-03  9.67561022e-01  7.14264468e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.540714057000002 meters
Centerline goodness : 0.997443 with order 1
Centerline is valid?  [True, True]
Translation: X:28.44, Y:3.12, Z:7.16
[[ 9.58965259e-01 -1.31274045e-01 -2.51302124e-01  2.84377434e+01]
 [ 1.28904962e-01  9.91317610e-01 -2.59404554e-02  3.12164220e+00]
 [ 2.52525530e-01 -7.51809534e-03  9.67561024e-01  7.15706373e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.600714057 meters
Centerline goodness : 0.997296 with order 1
Centerline is valid?  [True, True]
Translation: X:28.50, Y:3.12, Z:7.17
[[ 9.57971401e-01 -1.38328980e-01 -2.51308353e-01  2.84975148e+01]
 [ 1.36213937e-01  9.90341350e-01 -2.58799718e-02  3.11782790e+00]
 [ 2.52461004e-01 -9.43942731e-03  9.67561026e-01  7.17271775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.660714057 meters
Centerline goodness : 0.997281 with order 1
Centerline is valid?  [True, True]
Translation: X:28.56, Y:3.12, Z:7.19
[[ 9.57148068e-01 -1.43913911e-01 -2.51309297e-01  2.85571200e+01]
 [ 1.41990100e-01  9.89529945e-01 -2.58708089e-02  3.11842159e+00]
 [ 2.52401244e-01 -1.09212374e-02  9.67561026e-01  7.18708245e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.720714057000002 meters
Centerline goodness : 0.998015 with order 1
Centerline is valid?  [True, True]
Translation: X:28.62, Y:3.12, Z:7.20
[[ 9.55758235e-01 -1.52871599e-01 -2.51309512e-01  2.86162778e+01]
 [ 1.51251687e-01  9.88156737e-01 -2.58687186e-02  3.11725803e+00]
 [ 2.52287780e-01 -1.32867468e-02  9.67561026e-01  7.20172660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.780714057 meters
Centerline goodness : 0.998297 with order 1
Centerline is valid?  [True, True]
Translation: X:28.67, Y:3.12, Z:7.22
[[ 9.54428223e-01 -1.60966325e-01 -2.51309789e-01  2.86744362e+01]
 [ 1.59621761e-01  9.86839319e-01 -2.58660225e-02  3.11584455e+00]
 [ 2.52165940e-01 -1.54272493e-02  9.67561026e-01  7.21591909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.840714057000003 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:28.73, Y:3.12, Z:7.23
[[ 9.53289723e-01 -1.67576296e-01 -2.51310342e-01  2.87334448e+01]
 [ 1.66457771e-01  9.85709408e-01 -2.58606513e-02  3.11612674e+00]
 [ 2.52052601e-01 -1.71798663e-02  9.67561026e-01  7.23203492e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.900714057000002 meters
Centerline goodness : 0.997981 with order 1
Centerline is valid?  [True, True]
Translation: X:28.79, Y:3.12, Z:7.25
[[ 9.52647271e-01 -1.71190543e-01 -2.51310517e-01  2.87936056e+01]
 [ 1.70195427e-01  9.85070978e-01 -2.58589495e-02  3.11665914e+00]
 [ 2.51985505e-01 -1.81374432e-02  9.67561026e-01  7.24855666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.960714057 meters
Centerline goodness : 0.997758 with order 1
Centerline is valid?  [True, True]
Translation: X:28.85, Y:3.12, Z:7.26
[[ 9.52333263e-01 -1.72918881e-01 -2.51317363e-01  2.88528339e+01]
 [ 1.72000106e-01  9.84759221e-01 -2.57922504e-02  3.11955558e+00]
 [ 2.51947058e-01 -1.86637952e-02  9.67561028e-01  7.26334854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.020714057000003 meters
Centerline goodness : 0.998074 with order 1
Centerline is valid?  [True, True]
Translation: X:28.91, Y:3.12, Z:7.28
[[ 9.51935363e-01 -1.75095759e-01 -2.51317608e-01  2.89119375e+01]
 [ 1.74251748e-01  9.84363353e-01 -2.57898640e-02  3.12200270e+00]
 [ 2.51903539e-01 -1.92422490e-02  9.67561028e-01  7.27818316e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.080714057 meters
Centerline goodness : 0.997745 with order 1
Centerline is valid?  [True, True]
Translation: X:28.97, Y:3.12, Z:7.29
[[ 9.51532517e-01 -1.77270451e-01 -2.51318635e-01  2.89722189e+01]
 [ 1.76503168e-01  9.83962413e-01 -2.57798526e-02  3.12469708e+00]
 [ 2.51858097e-01 -1.98281672e-02  9.67561028e-01  7.29073197e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.140714057 meters
Centerline goodness : 0.998051 with order 1
Centerline is valid?  [True, True]
Translation: X:29.03, Y:3.13, Z:7.31
[[ 9.51098090e-01 -1.79578093e-01 -2.51324753e-01  2.90316244e+01]
 [ 1.78905169e-01  9.83530080e-01 -2.57200760e-02  3.12838592e+00]
 [ 2.51804216e-01 -2.05009822e-02  9.67561030e-01  7.30540179e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.200714057000003 meters
Centerline goodness : 0.997749 with order 1
Centerline is valid?  [True, True]
Translation: X:29.09, Y:3.13, Z:7.32
[[ 9.50562767e-01 -1.82389195e-01 -2.51325701e-01  2.90908619e+01]
 [ 1.81814591e-01  9.82996647e-01 -2.57108037e-02  3.13225844e+00]
 [ 2.51741695e-01 -2.12549470e-02  9.67561030e-01  7.31994807e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.260714057 meters
Centerline goodness : 0.997796 with order 1
Centerline is valid?  [True, True]
Translation: X:29.15, Y:3.14, Z:7.34
[[ 9.50197910e-01 -1.84279541e-01 -2.51326446e-01  2.91497280e+01]
 [ 1.83771363e-01  9.82632900e-01 -2.57035194e-02  3.13734856e+00]
 [ 2.51698267e-01 -2.17631732e-02  9.67561030e-01  7.33668685e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.320714057 meters
Centerline goodness : 0.997750 with order 1
Centerline is valid?  [True, True]
Translation: X:29.21, Y:3.14, Z:7.35
[[ 9.49713704e-01 -1.86757671e-01 -2.51327382e-01  2.92081704e+01]
 [ 1.86336511e-01  9.82149940e-01 -2.56943642e-02  3.14276317e+00]
 [ 2.51639793e-01 -2.24291778e-02  9.67561030e-01  7.35240369e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.380714057000002 meters
Centerline goodness : 0.997786 with order 1
Centerline is valid?  [True, True]
Translation: X:29.27, Y:3.15, Z:7.37
[[ 9.49012232e-01 -1.90289792e-01 -2.51327632e-01  2.92669746e+01]
 [ 1.89989957e-01  9.81449816e-01 -2.56919178e-02  3.14776935e+00]
 [ 2.51554368e-01 -2.33677818e-02  9.67561030e-01  7.36584742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.440714057 meters
Centerline goodness : 0.998005 with order 1
Centerline is valid?  [True, True]
Translation: X:29.33, Y:3.15, Z:7.38
[[ 9.47945436e-01 -1.95534375e-01 -2.51327990e-01  2.93254749e+01]
 [ 1.95414825e-01  9.80384186e-01 -2.56884158e-02  3.15450958e+00]
 [ 2.51420955e-01 -2.47619987e-02  9.67561030e-01  7.38063722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.500714057000003 meters
Centerline goodness : 0.997876 with order 1
Centerline is valid?  [True, True]
Translation: X:29.38, Y:3.16, Z:7.40
[[ 9.47354300e-01 -1.98378164e-01 -2.51328338e-01  2.93838557e+01]
 [ 1.98356853e-01  9.79793263e-01 -2.56850113e-02  3.16103695e+00]
 [ 2.51345158e-01 -2.55198924e-02  9.67561030e-01  7.39695465e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.560714057000002 meters
Centerline goodness : 0.998542 with order 1
Centerline is valid?  [True, True]
Translation: X:29.44, Y:3.17, Z:7.41
[[ 9.46720320e-01 -2.01381349e-01 -2.51328842e-01  2.94419589e+01]
 [ 2.01464202e-01  9.79159185e-01 -2.56800777e-02  3.16915265e+00]
 [ 2.51262433e-01 -2.63219132e-02  9.67561030e-01  7.41239300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.620714057 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:29.50, Y:3.18, Z:7.43
[[ 9.47063226e-01 -1.99761175e-01 -2.51329899e-01  2.94987440e+01]
 [ 1.99791241e-01  9.79502182e-01 -2.56697283e-02  3.17978497e+00]
 [ 2.51306000e-01 -2.59026567e-02  9.67561030e-01  7.42758380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.680714057000003 meters
Centerline goodness : 0.998493 with order 1
Centerline is valid?  [True, True]
Translation: X:29.56, Y:3.19, Z:7.44
[[ 9.47755106e-01 -1.96452836e-01 -2.51329549e-01  2.95565510e+01]
 [ 1.96368725e-01  9.80193967e-01 -2.56731565e-02  3.18787587e+00]
 [ 2.51395272e-01 -2.50213981e-02  9.67561030e-01  7.44285620e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.740714057 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:29.61, Y:3.20, Z:7.46
[[ 9.48638385e-01 -1.92141780e-01 -2.51329964e-01  2.96149545e+01]
 [ 1.91911252e-01  9.81076536e-01 -2.56690903e-02  3.19687620e+00]
 [ 2.51506036e-01 -2.38823638e-02  9.67561030e-01  7.45871826e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.800714057 meters
Centerline goodness : 0.998294 with order 1
Centerline is valid?  [True, True]
Translation: X:29.67, Y:3.21, Z:7.48
[[ 9.50293446e-01 -1.83781170e-01 -2.51330158e-01  2.96725253e+01]
 [ 1.83265518e-01  9.82728317e-01 -2.56671928e-02  3.20868793e+00]
 [ 2.51706410e-01 -2.16687865e-02  9.67561030e-01  7.47526242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.860714057000003 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:29.73, Y:3.22, Z:7.49
[[ 9.52005167e-01 -1.74697353e-01 -2.51330455e-01  2.97300896e+01]
 [ 1.73872730e-01  9.84433654e-01 -2.56642841e-02  3.22007545e+00]
 [ 2.51901641e-01 -1.92669813e-02  9.67561030e-01  7.48983794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.920714057 meters
Centerline goodness : 0.998209 with order 1
Centerline is valid?  [True, True]
Translation: X:29.79, Y:3.23, Z:7.50
[[ 9.53367047e-01 -1.67104996e-01 -2.51330847e-01  2.97882609e+01]
 [ 1.66022972e-01  9.85787966e-01 -2.56604503e-02  3.23089651e+00]
 [ 2.52046914e-01 -1.72628665e-02  9.67561030e-01  7.50438185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.980714057 meters
Centerline goodness : 0.997525 with order 1
Centerline is valid?  [True, True]
Translation: X:29.84, Y:3.24, Z:7.52
[[ 9.54364665e-01 -1.61309632e-01 -2.51331033e-01  2.98445758e+01]
 [ 1.60031131e-01  9.86778431e-01 -2.56586277e-02  3.24108851e+00]
 [ 2.52147026e-01 -1.57331018e-02  9.67561030e-01  7.52018080e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.040714057000002 meters
Centerline goodness : 0.998091 with order 1
Centerline is valid?  [True, True]
Translation: X:29.90, Y:3.25, Z:7.53
[[ 9.54839564e-01 -1.58475165e-01 -2.51330519e-01  2.99020509e+01]
 [ 1.57099105e-01  9.87249334e-01 -2.56636568e-02  3.24898526e+00]
 [ 2.52192940e-01 -1.49791248e-02  9.67561030e-01  7.53443154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.100714057 meters
Centerline goodness : 0.998266 with order 1
Centerline is valid?  [True, True]
Translation: X:29.96, Y:3.26, Z:7.55
[[ 9.54985203e-01 -1.57595373e-01 -2.51330381e-01  2.99622139e+01]
 [ 1.56189098e-01  9.87393677e-01 -2.56650110e-02  3.25613584e+00]
 [ 2.52206716e-01 -1.47453599e-02  9.67561030e-01  7.54955343e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.160714057000003 meters
Centerline goodness : 0.998137 with order 1
Centerline is valid?  [True, True]
Translation: X:30.02, Y:3.26, Z:7.57
[[ 9.54974178e-01 -1.57652105e-01 -2.51336694e-01  3.00221311e+01]
 [ 1.56264009e-01  9.87383433e-01 -2.56030395e-02  3.26428508e+00]
 [ 2.52202061e-01 -1.48246380e-02  9.67561032e-01  7.56553274e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.220714057000002 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:30.08, Y:3.27, Z:7.58
[[ 9.54940528e-01 -1.57845638e-01 -2.51343075e-01  3.00827378e+01]
 [ 1.56480579e-01  9.87350760e-01 -2.55402489e-02  3.26981120e+00]
 [ 2.52195193e-01 -1.49408911e-02  9.67561034e-01  7.58135052e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.280714057 meters
Centerline goodness : 0.998084 with order 1
Centerline is valid?  [True, True]
Translation: X:30.14, Y:3.28, Z:7.60
[[ 9.54844299e-01 -1.58414633e-01 -2.51350689e-01  3.01428196e+01]
 [ 1.57088595e-01  9.87256148e-01 -2.54651054e-02  3.27540955e+00]
 [ 2.52181558e-01 -1.51691157e-02  9.67561037e-01  7.59646586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.340714057000003 meters
Centerline goodness : 0.998472 with order 1
Centerline is valid?  [True, True]
Translation: X:30.20, Y:3.28, Z:7.61
[[ 9.54737877e-01 -1.59044226e-01 -2.51357357e-01  3.02025562e+01]
 [ 1.57756867e-01  9.87151283e-01 -2.53991201e-02  3.28114158e+00]
 [ 2.52167321e-01 -1.54038473e-02  9.67561039e-01  7.61063111e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.400714057000002 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:30.26, Y:3.29, Z:7.63
[[ 9.54647203e-01 -1.59578001e-01 -2.51363440e-01  3.02623738e+01]
 [ 1.58324589e-01  9.87061938e-01 -2.53387884e-02  3.28692184e+00]
 [ 2.52154797e-01 -1.56074097e-02  9.67561040e-01  7.62644027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.460714057 meters
Centerline goodness : 0.998339 with order 1
Centerline is valid?  [True, True]
Translation: X:30.32, Y:3.29, Z:7.64
[[ 9.54131239e-01 -1.62631619e-01 -2.51365343e-01  3.03208053e+01]
 [ 1.61486882e-01  9.86549994e-01 -2.53198963e-02  3.29214902e+00]
 [ 2.52102293e-01 -1.64337013e-02  9.67561041e-01  7.64202718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.520714057000003 meters
Centerline goodness : 0.998412 with order 1
Centerline is valid?  [True, True]
Translation: X:30.38, Y:3.30, Z:7.66
[[ 9.53423254e-01 -1.66731675e-01 -2.51365565e-01  3.03796298e+01]
 [ 1.65726888e-01  9.85846648e-01 -2.53176836e-02  3.29688614e+00]
 [ 2.52029160e-01 -1.75195646e-02  9.67561041e-01  7.65781206e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.580714057 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:30.44, Y:3.30, Z:7.67
[[ 9.52716846e-01 -1.70721210e-01 -2.51366027e-01  3.04381420e+01]
 [ 1.69853360e-01  9.85144194e-01 -2.53130955e-02  3.30126413e+00]
 [ 2.51953265e-01 -1.85791517e-02  9.67561041e-01  7.67252084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.640714057 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:30.50, Y:3.31, Z:7.69
[[ 9.52378175e-01 -1.72600034e-01 -2.51366346e-01  3.04963516e+01]
 [ 1.71796975e-01  9.84807193e-01 -2.53099351e-02  3.30680409e+00]
 [ 2.51915881e-01 -1.90793480e-02  9.67561041e-01  7.68771821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.700714057000003 meters
Centerline goodness : 0.998230 with order 1
Centerline is valid?  [True, True]
Translation: X:30.55, Y:3.31, Z:7.70
[[ 9.51695002e-01 -1.76327411e-01 -2.51366797e-01  3.05549574e+01]
 [ 1.75652499e-01  9.84126940e-01 -2.53054503e-02  3.31141351e+00]
 [ 2.51838881e-01 -2.00701355e-02  9.67561041e-01  7.70358613e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.760714057 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:30.61, Y:3.31, Z:7.72
[[ 9.51106799e-01 -1.79472598e-01 -2.51367147e-01  3.06132922e+01]
 [ 1.78905817e-01  9.83540807e-01 -2.53019737e-02  3.31430909e+00]
 [ 2.51770858e-01 -2.09061656e-02  9.67561041e-01  7.71729258e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.820714057000004 meters
Centerline goodness : 0.997884 with order 1
Centerline is valid?  [True, True]
Translation: X:30.67, Y:3.32, Z:7.73
[[ 9.50914925e-01 -1.80486476e-01 -2.51367137e-01  3.06731078e+01]
 [ 1.79954246e-01  9.83349518e-01 -2.53020792e-02  3.31871697e+00]
 [ 2.51748436e-01 -2.11744588e-02  9.67561041e-01  7.73241780e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.880714057000002 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:30.73, Y:3.32, Z:7.75
[[ 9.50948408e-01 -1.80301538e-01 -2.51373190e-01  3.07325784e+01]
 [ 1.79778820e-01  9.83383154e-01 -2.52418016e-02  3.32255752e+00]
 [ 2.51747296e-01 -2.11879244e-02  9.67561042e-01  7.74722045e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.940714057 meters
Centerline goodness : 0.998286 with order 1
Centerline is valid?  [True, True]
Translation: X:30.79, Y:3.33, Z:7.76
[[ 9.51228442e-01 -1.78809861e-01 -2.51379165e-01  3.07927149e+01]
 [ 1.78251926e-01  9.83662600e-01 -2.51821609e-02  3.32617475e+00]
 [ 2.51775101e-01 -2.08548326e-02  9.67561044e-01  7.76239540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.000714057 meters
Centerline goodness : 0.998021 with order 1
Centerline is valid?  [True, True]
Translation: X:30.85, Y:3.33, Z:7.78
[[ 9.51721938e-01 -1.76155165e-01 -2.51385581e-01  3.08514237e+01]
 [ 1.75523590e-01  9.84154743e-01 -2.51179482e-02  3.33011655e+00]
 [ 2.51826969e-01 -2.02187972e-02  9.67561046e-01  7.77702188e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.060714057 meters
Centerline goodness : 0.998130 with order 1
Centerline is valid?  [True, True]
Translation: X:30.91, Y:3.33, Z:7.79
[[ 9.52228275e-01 -1.73393324e-01 -2.51388279e-01  3.09090668e+01]
 [ 1.72674751e-01  9.84659269e-01 -2.50909182e-02  3.33464046e+00]
 [ 2.51882397e-01 -1.95161268e-02  9.67561047e-01  7.79056201e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.120714057 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:30.97, Y:3.34, Z:7.81
[[ 9.52270476e-01 -1.73162103e-01 -2.51387800e-01  3.09686190e+01]
 [ 1.72434396e-01  9.84701266e-01 -2.50957204e-02  3.33965740e+00]
 [ 2.51887513e-01 -1.94499899e-02  9.67561047e-01  7.80576214e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.180714057 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:31.03, Y:3.34, Z:7.82
[[ 9.52154907e-01 -1.73788371e-01 -2.51393387e-01  3.10271237e+01]
 [ 1.73096712e-01  9.84586484e-01 -2.50396326e-02  3.34390280e+00]
 [ 2.51870128e-01 -1.96737596e-02  9.67561048e-01  7.82444718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.240714057000005 meters
Centerline goodness : 0.998290 with order 1
Centerline is valid?  [True, True]
Translation: X:31.09, Y:3.35, Z:7.84
[[ 9.52164087e-01 -1.73736731e-01 -2.51394313e-01  3.10872504e+01]
 [ 1.73045752e-01  9.84595678e-01 -2.50303334e-02  3.34871706e+00]
 [ 2.51870442e-01 -1.96697335e-02  9.67561048e-01  7.84064228e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.300714057 meters
Centerline goodness : 0.998465 with order 1
Centerline is valid?  [True, True]
Translation: X:31.15, Y:3.35, Z:7.85
[[ 9.52333413e-01 -1.72796246e-01 -2.51401129e-01  3.11480502e+01]
 [ 1.72091249e-01  9.84764701e-01 -2.49616884e-02  3.35389739e+00]
 [ 2.51884244e-01 -1.94920844e-02  9.67561050e-01  7.85431747e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.360714057 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:31.21, Y:3.36, Z:7.87
[[ 9.52548775e-01 -1.71595432e-01 -2.51407715e-01  3.12066165e+01]
 [ 1.70866997e-01  9.84979543e-01 -2.48951826e-02  3.36066741e+00]
 [ 2.51903356e-01 -1.92434057e-02  9.67561053e-01  7.86915357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.420714057000005 meters
Centerline goodness : 0.998443 with order 1
Centerline is valid?  [True, True]
Translation: X:31.27, Y:3.37, Z:7.88
[[ 9.52651802e-01 -1.71021827e-01 -2.51408190e-01  3.12653650e+01]
 [ 1.70275122e-01  9.85082155e-01 -2.48903884e-02  3.36657057e+00]
 [ 2.51914521e-01 -1.90966869e-02  9.67561053e-01  7.88395798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.480714057 meters
Centerline goodness : 0.998643 with order 1
Centerline is valid?  [True, True]
Translation: X:31.32, Y:3.37, Z:7.90
[[ 9.52679082e-01 -1.70868416e-01 -2.51409131e-01  3.13249736e+01]
 [ 1.70118984e-01  9.85109371e-01 -2.48808816e-02  3.37285213e+00]
 [ 2.51916848e-01 -1.90659704e-02  9.67561053e-01  7.89785461e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.540714057 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:31.38, Y:3.38, Z:7.91
[[ 9.52586377e-01 -1.71383126e-01 -2.51410058e-01  3.13841845e+01]
 [ 1.70653676e-01  9.85017122e-01 -2.48715049e-02  3.38022947e+00]
 [ 2.51905769e-01 -1.92117940e-02  9.67561053e-01  7.91195814e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.600714057000005 meters
Centerline goodness : 0.998659 with order 1
Centerline is valid?  [True, True]
Translation: X:31.44, Y:3.39, Z:7.93
[[ 9.52408788e-01 -1.72358649e-01 -2.51415983e-01  3.14424462e+01]
 [ 1.71678165e-01  9.84840595e-01 -2.48114756e-02  3.38789567e+00]
 [ 2.51881139e-01 -1.95319671e-02  9.67561054e-01  7.92726561e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.660714057 meters
Centerline goodness : 0.998259 with order 1
Centerline is valid?  [True, True]
Translation: X:31.50, Y:3.40, Z:7.94
[[ 9.52147806e-01 -1.73793906e-01 -2.51416456e-01  3.15017198e+01]
 [ 1.73163560e-01  9.84580626e-01 -2.48066863e-02  3.39573508e+00]
 [ 2.51851022e-01 -1.99165367e-02  9.67561055e-01  7.94338806e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.720714057 meters
Centerline goodness : 0.998726 with order 1
Centerline is valid?  [True, True]
Translation: X:31.56, Y:3.40, Z:7.96
[[ 9.51826592e-01 -1.75541887e-01 -2.51418344e-01  3.15618676e+01]
 [ 1.74976120e-01  9.84260604e-01 -2.47875302e-02  3.40359976e+00]
 [ 2.51812421e-01 -2.03987761e-02  9.67561055e-01  7.95910546e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.780714057000004 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:31.62, Y:3.41, Z:7.97
[[ 9.51611994e-01 -1.76692285e-01 -2.51424839e-01  3.16199512e+01]
 [ 1.76183054e-01  9.84046940e-01 -2.47214811e-02  3.41154178e+00]
 [ 2.51781938e-01 -2.07715382e-02  9.67561057e-01  7.97399253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.840714057 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:31.68, Y:3.42, Z:7.99
[[ 9.51731173e-01 -1.76048559e-01 -2.51425295e-01  3.16795598e+01]
 [ 1.75518607e-01  9.84165787e-01 -2.47168419e-02  3.42004040e+00]
 [ 2.51795538e-01 -2.06060286e-02  9.67561057e-01  7.98958503e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.900714057 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:31.74, Y:3.43, Z:8.01
[[ 9.51814312e-01 -1.75589518e-01 -2.51431575e-01  3.17385066e+01]
 [ 1.75060726e-01  9.84248943e-01 -2.46528046e-02  3.42938799e+00]
 [ 2.51800036e-01 -2.05509016e-02  9.67561059e-01  8.00689141e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.960714057000004 meters
Centerline goodness : 0.998118 with order 1
Centerline is valid?  [True, True]
Translation: X:31.80, Y:3.44, Z:8.02
[[ 9.52146146e-01 -1.73771657e-01 -2.51438120e-01  3.17954819e+01]
 [ 1.73198492e-01  9.84580021e-01 -2.45858703e-02  3.43788865e+00]
 [ 2.51833277e-01 -2.01393617e-02  9.67561061e-01  8.02111891e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.020714057 meters
Centerline goodness : 0.997864 with order 1
Centerline is valid?  [True, True]
Translation: X:31.85, Y:3.45, Z:8.04
[[ 9.52158233e-01 -1.73705928e-01 -2.51437767e-01  3.18539690e+01]
 [ 1.73129577e-01  9.84592051e-01 -2.45894793e-02  3.44649955e+00]
 [ 2.51834965e-01 -2.01182391e-02  9.67561061e-01  8.03564216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.080714057 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:31.91, Y:3.45, Z:8.05
[[ 9.52141986e-01 -1.73794303e-01 -2.51438221e-01  3.19135796e+01]
 [ 1.73222181e-01  9.84575879e-01 -2.45848340e-02  3.45293168e+00]
 [ 2.51832712e-01 -2.01464245e-02  9.67561061e-01  8.05026738e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.140714057000004 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:31.97, Y:3.46, Z:8.07
[[ 9.52146271e-01 -1.73768880e-01 -2.51439566e-01  3.19730839e+01]
 [ 1.73199502e-01  9.84580212e-01 -2.45710776e-02  3.46083982e+00]
 [ 2.51832110e-01 -2.01539476e-02  9.67561061e-01  8.06609739e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.200714057 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:32.03, Y:3.47, Z:8.08
[[ 9.52169624e-01 -1.73638315e-01 -2.51441331e-01  3.20325890e+01]
 [ 1.73069233e-01  9.84603570e-01 -2.45529987e-02  3.46880878e+00]
 [ 2.51833374e-01 -2.01381387e-02  9.67561061e-01  8.08206141e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.260714057 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:32.09, Y:3.48, Z:8.10
[[ 9.52174732e-01 -1.73600964e-01 -2.51447778e-01  3.20921388e+01]
 [ 1.73047976e-01  9.84608955e-01 -2.44868061e-02  3.47549144e+00]
 [ 2.51828667e-01 -2.01968110e-02  9.67561063e-01  8.09650805e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.320714057 meters
Centerline goodness : 0.998577 with order 1
Centerline is valid?  [True, True]
Translation: X:32.15, Y:3.48, Z:8.11
[[ 9.52150503e-01 -1.73725285e-01 -2.51453665e-01  3.21522146e+01]
 [ 1.73192433e-01  9.84585061e-01 -2.44262046e-02  3.48143720e+00]
 [ 2.51820971e-01 -2.02924490e-02  9.67561065e-01  8.11214861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.380714057 meters
Centerline goodness : 0.998488 with order 1
Centerline is valid?  [True, True]
Translation: X:32.21, Y:3.49, Z:8.13
[[ 9.52314361e-01 -1.72816195e-01 -2.51459581e-01  3.22123668e+01]
 [ 1.72268394e-01  9.84748668e-01 -2.43651565e-02  3.48671920e+00]
 [ 2.51835181e-01 -2.01152497e-02  9.67561067e-01  8.12748675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.440714057 meters
Centerline goodness : 0.998331 with order 1
Centerline is valid?  [True, True]
Translation: X:32.27, Y:3.49, Z:8.14
[[ 9.52577796e-01 -1.71348959e-01 -2.51465855e-01  3.22717648e+01]
 [ 1.70768226e-01  9.85011529e-01 -2.43002374e-02  3.49254137e+00]
 [ 2.51860586e-01 -1.97945111e-02  9.67561069e-01  8.14267946e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.500714057 meters
Centerline goodness : 0.998470 with order 1
Centerline is valid?  [True, True]
Translation: X:32.33, Y:3.50, Z:8.16
[[ 9.52931476e-01 -1.69365694e-01 -2.51469409e-01  3.23301874e+01]
 [ 1.68727111e-01  9.85364120e-01 -2.42634022e-02  3.49818395e+00]
 [ 2.51898321e-01 -1.93083471e-02  9.67561070e-01  8.15961470e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.560714057 meters
Centerline goodness : 0.998310 with order 1
Centerline is valid?  [True, True]
Translation: X:32.39, Y:3.50, Z:8.17
[[ 9.53551720e-01 -1.65837637e-01 -2.51469671e-01  3.23886314e+01]
 [ 1.65079736e-01  9.85981795e-01 -2.42606805e-02  3.50442096e+00]
 [ 2.51967852e-01 -1.83787333e-02  9.67561070e-01  8.17479732e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.620714057 meters
Centerline goodness : 0.997901 with order 1
Centerline is valid?  [True, True]
Translation: X:32.45, Y:3.51, Z:8.19
[[ 9.54026651e-01 -1.63081871e-01 -2.51470580e-01  3.24470497e+01]
 [ 1.62232745e-01  9.86454466e-01 -2.42512595e-02  3.50976321e+00]
 [ 2.52019217e-01 -1.76604145e-02  9.67561070e-01  8.19163273e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.680714057 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:32.51, Y:3.52, Z:8.21
[[ 9.54638538e-01 -1.59460303e-01 -2.51471020e-01  3.25058492e+01]
 [ 1.58489320e-01  9.87062933e-01 -2.42466957e-02  3.51549869e+00]
 [ 2.52084108e-01 -1.67086408e-02  9.67561070e-01  8.20675668e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.740714057000005 meters
Centerline goodness : 0.998336 with order 1
Centerline is valid?  [True, True]
Translation: X:32.56, Y:3.52, Z:8.22
[[ 9.55097814e-01 -1.56685696e-01 -2.51471189e-01  3.25640640e+01]
 [ 1.55620959e-01  9.87519265e-01 -2.42449446e-02  3.52094953e+00]
 [ 2.52131480e-01 -1.59778941e-02  9.67561070e-01  8.22121203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.800714057 meters
Centerline goodness : 0.998110 with order 1
Centerline is valid?  [True, True]
Translation: X:32.62, Y:3.53, Z:8.24
[[ 9.55323761e-01 -1.55297894e-01 -2.51473806e-01  3.26219161e+01]
 [ 1.54193181e-01  9.87743875e-01 -2.42177657e-02  3.52623387e+00]
 [ 2.52152680e-01 -1.56397392e-02  9.67561070e-01  8.23793083e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.860714057 meters
Centerline goodness : 0.998135 with order 1
Centerline is valid?  [True, True]
Translation: X:32.68, Y:3.53, Z:8.25
[[ 9.55457531e-01 -1.54472752e-01 -2.51473806e-01  3.26797710e+01]
 [ 1.53340039e-01  9.87876679e-01 -2.42177657e-02  3.53085115e+00]
 [ 2.52166094e-01 -1.54219567e-02  9.67561070e-01  8.25318894e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.920714057000005 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:32.74, Y:3.53, Z:8.27
[[ 9.55141073e-01 -1.56417567e-01 -2.51473806e-01  3.27398076e+01]
 [ 1.55350856e-01  9.87562460e-01 -2.42177657e-02  3.53415473e+00]
 [ 2.52134175e-01 -1.59352883e-02  9.67561070e-01  8.26747085e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.980714057 meters
Centerline goodness : 0.998357 with order 1
Centerline is valid?  [True, True]
Translation: X:32.80, Y:3.54, Z:8.28
[[ 9.54539328e-01 -1.60039674e-01 -2.51479569e-01  3.27980946e+01]
 [ 1.59111691e-01  9.86964980e-01 -2.41577774e-02  3.53828323e+00]
 [ 2.52067731e-01 -1.69537908e-02  9.67561072e-01  8.28029846e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.040714057 meters
Centerline goodness : 0.998558 with order 1
Centerline is valid?  [True, True]
Translation: X:32.86, Y:3.54, Z:8.29
[[ 9.54121683e-01 -1.62511464e-01 -2.51479299e-01  3.28571534e+01]
 [ 1.61666730e-01  9.86549611e-01 -2.41605949e-02  3.54348163e+00]
 [ 2.52023178e-01 -1.76036884e-02  9.67561072e-01  8.29484941e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.100714057000005 meters
Centerline goodness : 0.998376 with order 1
Centerline is valid?  [True, True]
Translation: X:32.92, Y:3.55, Z:8.31
[[ 9.53273925e-01 -1.67412275e-01 -2.51479530e-01  3.29156244e+01]
 [ 1.66734819e-01  9.85705778e-01 -2.41581922e-02  3.54840058e+00]
 [ 2.51929203e-01 -1.89010193e-02  9.67561072e-01  8.31071677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.160714057 meters
Centerline goodness : 0.997828 with order 1
Centerline is valid?  [True, True]
Translation: X:32.98, Y:3.55, Z:8.32
[[ 9.53280791e-01 -1.67372846e-01 -2.51479747e-01  3.29760364e+01]
 [ 1.66694643e-01  9.85712629e-01 -2.41559292e-02  3.55294223e+00]
 [ 2.51929809e-01 -1.88929433e-02  9.67561072e-01  8.32137029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.220714057 meters
Centerline goodness : 0.997591 with order 1
Centerline is valid?  [True, True]
Translation: X:33.03, Y:3.56, Z:8.34
[[ 9.52236128e-01 -1.73209251e-01 -2.51485411e-01  3.30327006e+01]
 [ 1.72745236e-01  9.84671735e-01 -2.40968215e-02  3.55808323e+00]
 [ 2.51804369e-01 -2.04970427e-02  9.67561074e-01  8.34274973e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.280714057000004 meters
Centerline goodness : 0.997792 with order 1
Centerline is valid?  [True, True]
Translation: X:33.09, Y:3.56, Z:8.36
[[ 9.51501240e-01 -1.77201513e-01 -2.51485613e-01  3.30910809e+01]
 [ 1.76874094e-01  9.83938514e-01 -2.40947139e-02  3.56219730e+00]
 [ 2.51716000e-01 -2.15551397e-02  9.67561074e-01  8.35838532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.340714057 meters
Centerline goodness : 0.997468 with order 1
Centerline is valid?  [True, True]
Translation: X:33.15, Y:3.57, Z:8.37
[[ 9.50920803e-01 -1.80289894e-01 -2.51485946e-01  3.31493604e+01]
 [ 1.80068706e-01  9.83358975e-01 -2.40912329e-02  3.56695520e+00]
 [ 2.51644368e-01 -2.23758945e-02  9.67561074e-01  8.37457809e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.400714057 meters
Centerline goodness : 0.997849 with order 1
Centerline is valid?  [True, True]
Translation: X:33.21, Y:3.57, Z:8.39
[[ 9.50007082e-01 -1.85043607e-01 -2.51486398e-01  3.32084203e+01]
 [ 1.84985896e-01  9.82445957e-01 -2.40865198e-02  3.57090080e+00]
 [ 2.51528851e-01 -2.36390723e-02  9.67561074e-01  8.38716124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.460714057000004 meters
Centerline goodness : 0.998366 with order 1
Centerline is valid?  [True, True]
Translation: X:33.27, Y:3.57, Z:8.40
[[ 9.49157965e-01 -1.89350488e-01 -2.51486680e-01  3.32675665e+01]
 [ 1.89440678e-01  9.81596766e-01 -2.40835740e-02  3.57422603e+00]
 [ 2.51418748e-01 -2.47826910e-02  9.67561074e-01  8.40235741e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.520714057 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:33.33, Y:3.58, Z:8.42
[[ 9.48685429e-01 -1.91703683e-01 -2.51486889e-01  3.33264270e+01]
 [ 1.91874890e-01  9.81123903e-01 -2.40813893e-02  3.57788444e+00]
 [ 2.51356289e-01 -2.54083559e-02  9.67561074e-01  8.41737848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.580714057 meters
Centerline goodness : 0.998557 with order 1
Centerline is valid?  [True, True]
Translation: X:33.39, Y:3.58, Z:8.43
[[ 9.48961592e-01 -1.90331454e-01 -2.51487244e-01  3.33858388e+01]
 [ 1.90456720e-01  9.81400277e-01 -2.40776809e-02  3.58329972e+00]
 [ 2.51392391e-01 -2.50486411e-02  9.67561074e-01  8.43297908e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.640714057000004 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:33.44, Y:3.59, Z:8.45
[[ 9.49200792e-01 -1.89126690e-01 -2.51493443e-01  3.34434448e+01]
 [ 1.89227809e-01  9.81639559e-01 -2.40127694e-02  3.58979064e+00]
 [ 2.51417368e-01 -2.47966134e-02  9.67561076e-01  8.45058356e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.700714057 meters
Centerline goodness : 0.998007 with order 1
Centerline is valid?  [True, True]
Translation: X:33.50, Y:3.60, Z:8.47
[[ 9.49855575e-01 -1.85809376e-01 -2.51494059e-01  3.35021832e+01]
 [ 1.85798861e-01  9.82294498e-01 -2.40063075e-02  3.59635916e+00]
 [ 2.51501828e-01 -2.39247847e-02  9.67561076e-01  8.46618022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.760714057 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:33.56, Y:3.60, Z:8.48
[[ 9.50667970e-01 -1.81606516e-01 -2.51494500e-01  3.35605498e+01]
 [ 1.81453741e-01  9.83106535e-01 -2.40016895e-02  3.60244681e+00]
 [ 2.51604750e-01 -2.28169805e-02  9.67561076e-01  8.48123649e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.820714057 meters
Centerline goodness : 0.998164 with order 1
Centerline is valid?  [True, True]
Translation: X:33.62, Y:3.61, Z:8.49
[[ 9.51192936e-01 -1.78835921e-01 -2.51494953e-01  3.36188647e+01]
 [ 1.78589880e-01  9.83630927e-01 -2.39969437e-02  3.60883321e+00]
 [ 2.51669729e-01 -2.20887302e-02  9.67561076e-01  8.49399062e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.880714057 meters
Centerline goodness : 0.998229 with order 1
Centerline is valid?  [True, True]
Translation: X:33.68, Y:3.62, Z:8.51
[[ 9.52076453e-01 -1.74070603e-01 -2.51495235e-01  3.36775445e+01]
 [ 1.73662909e-01  9.84512815e-01 -2.39939840e-02  3.61539089e+00]
 [ 2.51776929e-01 -2.08312870e-02  9.67561076e-01  8.50997556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.940714057 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:33.74, Y:3.62, Z:8.53
[[ 9.52790581e-01 -1.70117520e-01 -2.51495803e-01  3.37357435e+01]
 [ 1.69576764e-01  9.85224997e-01 -2.39880348e-02  3.62309757e+00]
 [ 2.51860737e-01 -1.97922707e-02  9.67561076e-01  8.52725997e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.000714057 meters
Centerline goodness : 0.997618 with order 1
Centerline is valid?  [True, True]
Translation: X:33.79, Y:3.63, Z:8.54
[[ 9.52927641e-01 -1.69347659e-01 -2.51496086e-01  3.37940620e+01]
 [ 1.68781475e-01  9.85361624e-01 -2.39850694e-02  3.62900262e+00]
 [ 2.51876407e-01 -1.95918446e-02  9.67561076e-01  8.54252387e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.060714057000006 meters
Centerline goodness : 0.997639 with order 1
Centerline is valid?  [True, True]
Translation: X:33.85, Y:3.63, Z:8.56
[[ 9.52778088e-01 -1.70186389e-01 -2.51496537e-01  3.38528067e+01]
 [ 1.69649997e-01  9.85212577e-01 -2.39803369e-02  3.63398178e+00]
 [ 2.51858678e-01 -1.98184470e-02  9.67561076e-01  8.55706780e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.120714057 meters
Centerline goodness : 0.997123 with order 1
Centerline is valid?  [True, True]
Translation: X:33.91, Y:3.64, Z:8.57
[[ 9.52491836e-01 -1.71779815e-01 -2.51497511e-01  3.39123219e+01]
 [ 1.71300356e-01  9.84927216e-01 -2.39701185e-02  3.63892382e+00]
 [ 2.51824326e-01 -2.02502708e-02  9.67561076e-01  8.57211543e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.180714057 meters
Centerline goodness : 0.997328 with order 1
Centerline is valid?  [True, True]
Translation: X:33.97, Y:3.64, Z:8.59
[[ 9.52106877e-01 -1.73892679e-01 -2.51503145e-01  3.39710175e+01]
 [ 1.73500730e-01  9.84543431e-01 -2.39108605e-02  3.64351880e+00]
 [ 2.51773693e-01 -2.08702845e-02  9.67561078e-01  8.58931062e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.240714057000005 meters
Centerline goodness : 0.997104 with order 1
Centerline is valid?  [True, True]
Translation: X:34.03, Y:3.65, Z:8.60
[[ 9.51892232e-01 -1.75062565e-01 -2.51504031e-01  3.40304987e+01]
 [ 1.74712922e-01  9.84329270e-01 -2.39015396e-02  3.64769166e+00]
 [ 2.51747044e-01 -2.11893143e-02  9.67561078e-01  8.60456253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.300714057 meters
Centerline goodness : 0.997171 with order 1
Centerline is valid?  [True, True]
Translation: X:34.09, Y:3.65, Z:8.62
[[ 9.51769623e-01 -1.75726676e-01 -2.51504911e-01  3.40890538e+01]
 [ 1.75402096e-01  9.84206921e-01 -2.38922733e-02  3.65214142e+00]
 [ 2.51731384e-01 -2.13745486e-02  9.67561078e-01  8.62086491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.360714057 meters
Centerline goodness : 0.997348 with order 1
Centerline is valid?  [True, True]
Translation: X:34.15, Y:3.66, Z:8.64
[[ 9.51717213e-01 -1.76008768e-01 -2.51505985e-01  3.41487724e+01]
 [ 1.75696769e-01  9.84154635e-01 -2.38809622e-02  3.65544437e+00]
 [ 2.51724040e-01 -2.14608663e-02  9.67561078e-01  8.63564869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.420714057000005 meters
Centerline goodness : 0.997488 with order 1
Centerline is valid?  [True, True]
Translation: X:34.21, Y:3.66, Z:8.65
[[ 9.51566987e-01 -1.76814135e-01 -2.51509506e-01  3.42095710e+01]
 [ 1.76539332e-01  9.84004744e-01 -2.38438194e-02  3.65775930e+00]
 [ 2.51702472e-01 -2.17123289e-02  9.67561078e-01  8.65077089e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.480714057 meters
Centerline goodness : 0.997562 with order 1
Centerline is valid?  [True, True]
Translation: X:34.27, Y:3.66, Z:8.67
[[ 9.51558719e-01 -1.76849927e-01 -2.51515621e-01  3.42689655e+01]
 [ 1.76593309e-01  9.83996624e-01 -2.37791520e-02  3.66249099e+00]
 [ 2.51695863e-01 -2.17887164e-02  9.67561080e-01  8.66662296e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.540714057 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:34.33, Y:3.67, Z:8.68
[[ 9.51553150e-01 -1.76871737e-01 -2.51521355e-01  3.43274364e+01]
 [ 1.76631811e-01  9.83991180e-01 -2.37183546e-02  3.66723163e+00]
 [ 2.51689901e-01 -2.18573974e-02  9.67561082e-01  8.68034785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.600714057000005 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:34.39, Y:3.67, Z:8.70
[[ 9.51429090e-01 -1.77537256e-01 -2.51521788e-01  3.43872601e+01]
 [ 1.77321225e-01  9.83867288e-01 -2.37137575e-02  3.67139067e+00]
 [ 2.51674135e-01 -2.20381929e-02  9.67561082e-01  8.69563767e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.660714057 meters
Centerline goodness : 0.998439 with order 1
Centerline is valid?  [True, True]
Translation: X:34.45, Y:3.68, Z:8.71
[[ 9.51160353e-01 -1.78963227e-01 -2.51527625e-01  3.44470292e+01]
 [ 1.78812104e-01  9.83598917e-01 -2.36516853e-02  3.67577470e+00]
 [ 2.51635082e-01 -2.24796386e-02  9.67561084e-01  8.71223601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.720714057 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:34.51, Y:3.68, Z:8.73
[[ 9.50912645e-01 -1.80266195e-01 -2.51533778e-01  3.45062528e+01]
 [ 1.80176726e-01  9.83351435e-01 -2.35860777e-02  3.67906440e+00]
 [ 2.51597874e-01 -2.28922329e-02  9.67561086e-01  8.72709363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.780714057000004 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:34.56, Y:3.68, Z:8.74
[[ 9.50726161e-01 -1.81246535e-01 -2.51534211e-01  3.45646014e+01]
 [ 1.81191725e-01  9.83165029e-01 -2.35814531e-02  3.68436031e+00]
 [ 2.51573697e-01 -2.31564132e-02  9.67561086e-01  8.74299262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.840714057 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:34.62, Y:3.69, Z:8.76
[[ 9.50688824e-01 -1.81441668e-01 -2.51534653e-01  3.46230587e+01]
 [ 1.81394751e-01  9.83127703e-01 -2.35767436e-02  3.68965884e+00]
 [ 2.51568489e-01 -2.32129191e-02  9.67561086e-01  8.75870076e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.900714057 meters
Centerline goodness : 0.997825 with order 1
Centerline is valid?  [True, True]
Translation: X:34.68, Y:3.69, Z:8.78
[[ 9.50690323e-01 -1.81432602e-01 -2.51535527e-01  3.46825497e+01]
 [ 1.81387822e-01  9.83129206e-01 -2.35674157e-02  3.69444408e+00]
 [ 2.51567820e-01 -2.32201675e-02  9.67561086e-01  8.77502363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.960714057000004 meters
Centerline goodness : 0.998664 with order 1
Centerline is valid?  [True, True]
Translation: X:34.74, Y:3.70, Z:8.79
[[ 9.50903067e-01 -1.80306244e-01 -2.51541281e-01  3.47425989e+01]
 [ 1.80239188e-01  9.83341909e-01 -2.35058387e-02  3.69890516e+00]
 [ 2.51589333e-01 -2.29858223e-02  9.67561088e-01  8.78966838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.020714057 meters
Centerline goodness : 0.998058 with order 1
Centerline is valid?  [True, True]
Translation: X:34.80, Y:3.71, Z:8.80
[[ 9.51443507e-01 -1.77423435e-01 -2.51547566e-01  3.47997806e+01]
 [ 1.77275755e-01  9.83882080e-01 -2.34384013e-02  3.70577675e+00]
 [ 2.51651664e-01 -2.22929699e-02  9.67561090e-01  8.80399132e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.080714057 meters
Centerline goodness : 0.998438 with order 1
Centerline is valid?  [True, True]
Translation: X:34.86, Y:3.71, Z:8.82
[[ 9.51822854e-01 -1.75377508e-01 -2.51547180e-01  3.48583040e+01]
 [ 1.75159002e-01  9.84261028e-01 -2.34425424e-02  3.71150282e+00]
 [ 2.51699380e-01 -2.17476052e-02  9.67561090e-01  8.81996550e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.140714057000004 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:34.92, Y:3.72, Z:8.83
[[ 9.52166760e-01 -1.73500030e-01 -2.51547613e-01  3.49164025e+01]
 [ 1.73218771e-01  9.84604450e-01 -2.34378934e-02  3.71719734e+00]
 [ 2.51741374e-01 -2.12559853e-02  9.67561090e-01  8.83424990e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.200714057 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:34.98, Y:3.72, Z:8.85
[[ 9.52678230e-01 -1.70668885e-01 -2.51547852e-01  3.49765839e+01]
 [ 1.70291877e-01  9.85114949e-01 -2.34353259e-02  3.72426581e+00]
 [ 2.51803230e-01 -2.05102312e-02  9.67561090e-01  8.85019413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.260714057 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:35.04, Y:3.73, Z:8.87
[[ 9.53010428e-01 -1.68793932e-01 -2.51554631e-01  3.50353084e+01]
 [ 1.68372240e-01  9.85446594e-01 -2.33623393e-02  3.73011604e+00]
 [ 2.51837076e-01 -2.00902638e-02  9.67561093e-01  8.86538779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.320714057 meters
Centerline goodness : 0.998232 with order 1
Centerline is valid?  [True, True]
Translation: X:35.09, Y:3.74, Z:8.88
[[ 9.53624875e-01 -1.65287041e-01 -2.51554749e-01  3.50935166e+01]
 [ 1.64746365e-01  9.86059276e-01 -2.33610708e-02  3.73632060e+00]
 [ 2.51909176e-01 -1.91650322e-02  9.67561093e-01  8.88020714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.380714057 meters
Centerline goodness : 0.998027 with order 1
Centerline is valid?  [True, True]
Translation: X:35.15, Y:3.74, Z:8.90
[[ 9.54142142e-01 -1.62274375e-01 -2.51554766e-01  3.51512556e+01]
 [ 1.61631312e-01  9.86574674e-01 -2.33608838e-02  3.74324969e+00]
 [ 2.51968434e-01 -1.83695233e-02  9.67561093e-01  8.89665333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.440714057 meters
Centerline goodness : 0.997545 with order 1
Centerline is valid?  [True, True]
Translation: X:35.21, Y:3.75, Z:8.91
[[ 9.54414140e-01 -1.60662967e-01 -2.51557269e-01  3.52104710e+01]
 [ 1.59972214e-01  9.86845692e-01 -2.33339070e-02  3.74891622e+00]
 [ 2.51997102e-01 -1.79719624e-02  9.67561093e-01  8.91329596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.500714057 meters
Centerline goodness : 0.997851 with order 1
Centerline is valid?  [True, True]
Translation: X:35.27, Y:3.75, Z:8.93
[[ 9.54657142e-01 -1.59210626e-01 -2.51558576e-01  3.52691705e+01]
 [ 1.58474226e-01  9.87087689e-01 -2.33198078e-02  3.75386362e+00]
 [ 2.52023134e-01 -1.76031294e-02  9.67561093e-01  8.92848831e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.560714057000006 meters
Centerline goodness : 0.998080 with order 1
Centerline is valid?  [True, True]
Translation: X:35.33, Y:3.76, Z:8.94
[[ 9.54996968e-01 -1.57158443e-01 -2.51559169e-01  3.53294343e+01]
 [ 1.56354021e-01  9.87425899e-01 -2.33134049e-02  3.75970174e+00]
 [ 2.52059937e-01 -1.70680567e-02  9.67561093e-01  8.94427866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.620714057 meters
Centerline goodness : 0.997987 with order 1
Centerline is valid?  [True, True]
Translation: X:35.39, Y:3.76, Z:8.96
[[ 9.55210447e-01 -1.55845941e-01 -2.51565188e-01  3.53891080e+01]
 [ 1.55014031e-01  9.87638683e-01 -2.32482827e-02  3.76392132e+00]
 [ 2.52078661e-01 -1.67891312e-02  9.67561096e-01  8.96038380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.680714057 meters
Centerline goodness : 0.997982 with order 1
Centerline is valid?  [True, True]
Translation: X:35.45, Y:3.77, Z:8.98
[[ 9.55633152e-01 -1.53230486e-01 -2.51566488e-01  3.54482315e+01]
 [ 1.52313496e-01  9.88059093e-01 -2.32342084e-02  3.76781687e+00]
 [ 2.52122745e-01 -1.61135915e-02  9.67561096e-01  8.97541436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.740714057000005 meters
Centerline goodness : 0.997458 with order 1
Centerline is valid?  [True, True]
Translation: X:35.51, Y:3.77, Z:8.99
[[ 9.55956938e-01 -1.51188171e-01 -2.51571998e-01  3.55060298e+01]
 [ 1.50217576e-01  9.88381317e-01 -2.31743980e-02  3.77182172e+00]
 [ 2.52152757e-01 -1.56368091e-02  9.67561097e-01  8.99003139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.800714057 meters
Centerline goodness : 0.997723 with order 1
Centerline is valid?  [True, True]
Translation: X:35.57, Y:3.78, Z:9.01
[[ 9.56325024e-01 -1.48842123e-01 -2.51571998e-01  3.55667369e+01]
 [ 1.47791973e-01  9.88746924e-01 -2.31743980e-02  3.77512009e+00]
 [ 2.52190366e-01 -1.50180651e-02  9.67561097e-01  9.00534019e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.860714057 meters
Centerline goodness : 0.997991 with order 1
Centerline is valid?  [True, True]
Translation: X:35.63, Y:3.78, Z:9.02
[[ 9.56668659e-01 -1.46613523e-01 -2.51574148e-01  3.56272768e+01]
 [ 1.45493957e-01  9.89088236e-01 -2.31510334e-02  3.77698200e+00]
 [ 2.52223285e-01 -1.44546503e-02  9.67561098e-01  9.01925048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.920714057000005 meters
Centerline goodness : 0.997859 with order 1
Centerline is valid?  [True, True]
Translation: X:35.69, Y:3.78, Z:9.03
[[ 9.56831794e-01 -1.45542837e-01 -2.51575435e-01  3.56858353e+01]
 [ 1.44390661e-01  9.89250229e-01 -2.31370374e-02  3.77969069e+00]
 [ 2.52238487e-01 -1.41868903e-02  9.67561098e-01  9.03430702e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.980714057 meters
Centerline goodness : 0.997733 with order 1
Centerline is valid?  [True, True]
Translation: X:35.75, Y:3.78, Z:9.05
[[ 9.56657829e-01 -1.46681962e-01 -2.51575435e-01  3.57451107e+01]
 [ 1.45568384e-01  9.89077612e-01 -2.31370374e-02  3.78377883e+00]
 [ 2.52221417e-01 -1.44872017e-02  9.67561098e-01  9.04953742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.040714057 meters
Centerline goodness : 0.998112 with order 1
Centerline is valid?  [True, True]
Translation: X:35.80, Y:3.79, Z:9.06
[[ 9.56032904e-01 -1.50699909e-01 -2.51576278e-01  3.58044355e+01]
 [ 1.49724950e-01  9.88457152e-01 -2.31278731e-02  3.78525451e+00]
 [ 2.52157739e-01 -1.55562380e-02  9.67561098e-01  9.06448394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.100714057000005 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:35.86, Y:3.79, Z:9.08
[[ 9.55034371e-01 -1.56903115e-01 -2.51576554e-01  3.58631008e+01]
 [ 1.56139456e-01  9.87464283e-01 -2.31248718e-02  3.78702601e+00]
 [ 2.52051226e-01 -1.71959787e-02  9.67561098e-01  9.08092931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.160714057 meters
Centerline goodness : 0.998892 with order 1
Centerline is valid?  [True, True]
Translation: X:35.92, Y:3.79, Z:9.10
[[ 9.54723535e-01 -1.58782940e-01 -2.51576926e-01  3.59217321e+01]
 [ 1.58084187e-01  9.87154911e-01 -2.31208209e-02  3.79121682e+00]
 [ 2.52016590e-01 -1.76963419e-02  9.67561098e-01  9.09590628e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.220714057 meters
Centerline goodness : 0.998559 with order 1
Centerline is valid?  [True, True]
Translation: X:35.98, Y:3.79, Z:9.11
[[ 9.53705585e-01 -1.64786640e-01 -2.51577065e-01  3.59804796e+01]
 [ 1.64292348e-01  9.86140721e-01 -2.31193029e-02  3.79345066e+00]
 [ 2.51900141e-01 -1.92831785e-02  9.67561098e-01  9.11098977e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.280714057000004 meters
Centerline goodness : 0.998150 with order 1
Centerline is valid?  [True, True]
Translation: X:36.04, Y:3.80, Z:9.13
[[ 9.53032661e-01 -1.68634704e-01 -2.51577192e-01  3.60388549e+01]
 [ 1.68271693e-01  9.85469532e-01 -2.31179275e-02  3.79737036e+00]
 [ 2.51820142e-01 -2.03011801e-02  9.67561098e-01  9.12638561e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.340714057 meters
Centerline goodness : 0.998230 with order 1
Centerline is valid?  [True, True]
Translation: X:36.10, Y:3.80, Z:9.14
[[ 9.52644839e-01 -1.70811359e-01 -2.51577602e-01  3.60974189e+01]
 [ 1.70523619e-01  9.85082465e-01 -2.31134603e-02  3.80225090e+00]
 [ 2.51772726e-01 -2.08810046e-02  9.67561098e-01  9.14257547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.400714057 meters
Centerline goodness : 0.998272 with order 1
Centerline is valid?  [True, True]
Translation: X:36.16, Y:3.81, Z:9.16
[[ 9.52340082e-01 -1.72501792e-01 -2.51578020e-01  3.61550602e+01]
 [ 1.72272813e-01  9.84778176e-01 -2.31089178e-02  3.80724468e+00]
 [ 2.51734873e-01 -2.13325043e-02  9.67561098e-01  9.15659053e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.460714057000004 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:36.21, Y:3.81, Z:9.17
[[ 9.52473385e-01 -1.71764582e-01 -2.51577780e-01  3.62148874e+01]
 [ 1.71509809e-01  9.84911287e-01 -2.31115258e-02  3.81379261e+00]
 [ 2.51751537e-01 -2.11349439e-02  9.67561098e-01  9.17229251e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.520714057 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:36.27, Y:3.82, Z:9.19
[[ 9.52717607e-01 -1.70396009e-01 -2.51583707e-01  3.62738844e+01]
 [ 1.70111602e-01  9.85155260e-01 -2.30468263e-02  3.82166614e+00]
 [ 2.51776100e-01 -2.08401903e-02  9.67561100e-01  9.18631465e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.580714057 meters
Centerline goodness : 0.997815 with order 1
Centerline is valid?  [True, True]
Translation: X:36.33, Y:3.83, Z:9.20
[[ 9.53053684e-01 -1.68505497e-01 -2.51584125e-01  3.63326181e+01]
 [ 1.68157932e-01  9.85490722e-01 -2.30422628e-02  3.82897236e+00]
 [ 2.51816569e-01 -2.03453527e-02  9.67561100e-01  9.20195887e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.640714057000004 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:36.39, Y:3.84, Z:9.22
[[ 9.53280301e-01 -1.67218070e-01 -2.51584547e-01  3.63907626e+01]
 [ 1.66827900e-01  9.85716855e-01 -2.30376624e-02  3.83629328e+00]
 [ 2.51843442e-01 -2.00099717e-02  9.67561100e-01  9.21890847e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.700714057 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:36.45, Y:3.84, Z:9.24
[[ 9.53344865e-01 -1.66848948e-01 -2.51584971e-01  3.64507217e+01]
 [ 1.66447432e-01  9.85781280e-01 -2.30330301e-02  3.84373634e+00]
 [ 2.51850791e-01 -1.99172514e-02  9.67561100e-01  9.23539239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.760714057 meters
Centerline goodness : 0.998641 with order 1
Centerline is valid?  [True, True]
Translation: X:36.51, Y:3.85, Z:9.25
[[ 9.53155791e-01 -1.67916881e-01 -2.51590857e-01  3.65094229e+01]
 [ 1.67568611e-01  9.85592819e-01 -2.29685619e-02  3.84983131e+00]
 [ 2.51822951e-01 -2.02661128e-02  9.67561102e-01  9.24988160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.820714057 meters
Centerline goodness : 0.998139 with order 1
Centerline is valid?  [True, True]
Translation: X:36.57, Y:3.86, Z:9.26
[[ 9.53057802e-01 -1.68471512e-01 -2.51591287e-01  3.65689904e+01]
 [ 1.68143353e-01  9.85495040e-01 -2.29638514e-02  3.85569985e+00]
 [ 2.51810720e-01 -2.04175248e-02  9.67561102e-01  9.26316477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.880714057 meters
Centerline goodness : 0.998507 with order 1
Centerline is valid?  [True, True]
Translation: X:36.63, Y:3.86, Z:9.28
[[ 9.52573235e-01 -1.71182058e-01 -2.51596772e-01  3.66282186e+01]
 [ 1.70961977e-01  9.85011384e-01 -2.29036027e-02  3.86249685e+00]
 [ 2.51746370e-01 -2.11961227e-02  9.67561104e-01  9.28047340e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.940714057 meters
Centerline goodness : 0.998205 with order 1
Centerline is valid?  [True, True]
Translation: X:36.69, Y:3.87, Z:9.30
[[ 9.52149815e-01 -1.73519278e-01 -2.51598471e-01  3.66855123e+01]
 [ 1.73383704e-01  9.84588427e-01 -2.28849244e-02  3.86811164e+00]
 [ 2.51691918e-01 -2.18331982e-02  9.67561104e-01  9.29584789e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.000714057 meters
Centerline goodness : 0.998113 with order 1
Centerline is valid?  [True, True]
Translation: X:36.74, Y:3.87, Z:9.31
[[ 9.51966562e-01 -1.74521136e-01 -2.51598962e-01  3.67437367e+01]
 [ 1.74421113e-01  9.84405304e-01 -2.28795213e-02  3.87377482e+00]
 [ 2.51668313e-01 -2.21036319e-02  9.67561104e-01  9.31214103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.060714057000006 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:36.80, Y:3.88, Z:9.33
[[ 9.51970517e-01 -1.74498967e-01 -2.51599375e-01  3.68017674e+01]
 [ 1.74399381e-01  9.84409260e-01 -2.28749785e-02  3.87932782e+00]
 [ 2.51668415e-01 -2.21024701e-02  9.67561104e-01  9.32801055e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.120714057 meters
Centerline goodness : 0.997848 with order 1
Centerline is valid?  [True, True]
Translation: X:36.86, Y:3.89, Z:9.34
[[ 9.52324101e-01 -1.72558860e-01 -2.51599375e-01  3.68621521e+01]
 [ 1.72393177e-01  9.84762574e-01 -2.28749785e-02  3.88537310e+00]
 [ 2.51712929e-01 -2.15896223e-02  9.67561104e-01  9.34254645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.180714057 meters
Centerline goodness : 0.998036 with order 1
Centerline is valid?  [True, True]
Translation: X:36.92, Y:3.89, Z:9.36
[[ 9.53005209e-01 -1.68747880e-01 -2.51605297e-01  3.69205729e+01]
 [ 1.68469560e-01  9.85442909e-01 -2.28096673e-02  3.89196177e+00]
 [ 2.51791738e-01 -2.06501019e-02  9.67561106e-01  9.35740122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.240714057000005 meters
Centerline goodness : 0.998173 with order 1
Centerline is valid?  [True, True]
Translation: X:36.98, Y:3.90, Z:9.37
[[ 9.53717946e-01 -1.64672011e-01 -2.51605262e-01  3.69785450e+01]
 [ 1.64254914e-01  9.86154159e-01 -2.28100529e-02  3.89843250e+00]
 [ 2.51877752e-01 -1.95730438e-02  9.67561106e-01  9.37002534e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.300714057 meters
Centerline goodness : 0.998219 with order 1
Centerline is valid?  [True, True]
Translation: X:37.04, Y:3.91, Z:9.39
[[ 9.55018511e-01 -1.56954063e-01 -2.51604980e-01  3.70360669e+01]
 [ 1.56273859e-01  9.87450273e-01 -2.28131585e-02  3.90586121e+00]
 [ 2.52028024e-01 -1.75322925e-02  9.67561106e-01  9.38707643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.360714057 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:37.09, Y:3.91, Z:9.40
[[ 9.56213598e-01 -1.49500357e-01 -2.51605243e-01  3.70938532e+01]
 [ 1.48567974e-01  9.88639090e-01 -2.28102576e-02  3.91381818e+00]
 [ 2.52156920e-01 -1.55690027e-02  9.67561106e-01  9.40430739e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.420714057000005 meters
Centerline goodness : 0.997721 with order 1
Centerline is valid?  [True, True]
Translation: X:37.15, Y:3.92, Z:9.42
[[ 9.56956347e-01 -1.44669146e-01 -2.51605621e-01  3.71526884e+01]
 [ 1.43574104e-01  9.89376753e-01 -2.28060875e-02  3.92039396e+00]
 [ 2.52232090e-01 -1.42996213e-02  9.67561106e-01  9.41978479e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.480714057 meters
Centerline goodness : 0.997387 with order 1
Centerline is valid?  [True, True]
Translation: X:37.21, Y:3.93, Z:9.44
[[ 9.57195799e-01 -1.43075675e-01 -2.51605948e-01  3.72122304e+01]
 [ 1.41927602e-01  9.89614371e-01 -2.28024802e-02  3.92576778e+00]
 [ 2.52255342e-01 -1.38833907e-02  9.67561106e-01  9.43633048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.540714057 meters
Centerline goodness : 0.997545 with order 1
Centerline is valid?  [True, True]
Translation: X:37.27, Y:3.93, Z:9.45
[[ 9.57148401e-01 -1.43381631e-01 -2.51612094e-01  3.72720468e+01]
 [ 1.42261745e-01  9.89567956e-01 -2.27344638e-02  3.93038440e+00]
 [ 2.52246970e-01 -1.40345199e-02  9.67561108e-01  9.45159004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.600714057000005 meters
Centerline goodness : 0.997417 with order 1
Centerline is valid?  [True, True]
Translation: X:37.33, Y:3.93, Z:9.47
[[ 9.56865928e-01 -1.45249774e-01 -2.51614983e-01  3.73307825e+01]
 [ 1.44201566e-01  9.89287879e-01 -2.27024465e-02  3.93443841e+00]
 [ 2.52217178e-01 -1.45600772e-02  9.67561109e-01  9.46758433e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.660714057 meters
Centerline goodness : 0.997207 with order 1
Centerline is valid?  [True, True]
Translation: X:37.39, Y:3.94, Z:9.48
[[ 9.56680544e-01 -1.46465441e-01 -2.51615203e-01  3.73906956e+01]
 [ 1.45459068e-01  9.89103821e-01 -2.27000100e-02  3.93816411e+00]
 [ 2.52198326e-01 -1.48830550e-02  9.67561109e-01  9.48294026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.720714057 meters
Centerline goodness : 0.997440 with order 1
Centerline is valid?  [True, True]
Translation: X:37.45, Y:3.94, Z:9.50
[[ 9.56634977e-01 -1.46752737e-01 -2.51621054e-01  3.74510789e+01]
 [ 1.45773145e-01  9.89059072e-01 -2.26349769e-02  3.94284364e+00]
 [ 2.52189831e-01 -1.50261816e-02  9.67561111e-01  9.49822296e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.780714057000004 meters
Centerline goodness : 0.997479 with order 1
Centerline is valid?  [True, True]
Translation: X:37.51, Y:3.95, Z:9.51
[[ 9.56869853e-01 -1.45203220e-01 -2.51626925e-01  3.75119717e+01]
 [ 1.44188270e-01  9.89292858e-01 -2.25695253e-02  3.94682882e+00]
 [ 2.52209887e-01 -1.46855525e-02  9.67561113e-01  9.51304008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.840714057 meters
Centerline goodness : 0.997330 with order 1
Centerline is valid?  [True, True]
Translation: X:37.57, Y:3.95, Z:9.53
[[ 9.57248264e-01 -1.42681746e-01 -2.51630047e-01  3.75701686e+01]
 [ 1.41590512e-01  9.89668791e-01 -2.25346637e-02  3.95234188e+00]
 [ 2.52245690e-01 -1.40571596e-02  9.67561114e-01  9.52811592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.900714057 meters
Centerline goodness : 0.997552 with order 1
Centerline is valid?  [True, True]
Translation: X:37.63, Y:3.96, Z:9.54
[[ 9.58171737e-01 -1.36341609e-01 -2.51630458e-01  3.76284113e+01]
 [ 1.35036976e-01  9.90584378e-01 -2.25300779e-02  3.95754225e+00]
 [ 2.52332988e-01 -1.23917322e-02  9.67561114e-01  9.54414208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.960714057000004 meters
Centerline goodness : 0.997731 with order 1
Centerline is valid?  [True, True]
Translation: X:37.69, Y:3.96, Z:9.56
[[ 9.59027553e-01 -1.30185524e-01 -2.51630448e-01  3.76860102e+01]
 [ 1.28672740e-01  9.91431146e-01 -2.25301860e-02  3.96154819e+00]
 [ 2.52407367e-01 -1.07709099e-02  9.67561114e-01  9.55836788e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.020714057 meters
Centerline goodness : 0.997637 with order 1
Centerline is valid?  [True, True]
Translation: X:37.75, Y:3.97, Z:9.57
[[ 9.59318361e-01 -1.28025705e-01 -2.51630089e-01  3.77456757e+01]
 [ 1.26438909e-01  9.91718414e-01 -2.25341977e-02  3.96654295e+00]
 [ 2.52431149e-01 -1.01983642e-02  9.67561114e-01  9.57364417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.080714057 meters
Centerline goodness : 0.997749 with order 1
Centerline is valid?  [True, True]
Translation: X:37.80, Y:3.97, Z:9.59
[[ 9.60031910e-01 -1.22549571e-01 -2.51635322e-01  3.78039889e+01]
 [ 1.20793256e-01  9.92423214e-01 -2.24756149e-02  3.97049615e+00]
 [ 2.52483112e-01 -8.81854229e-03  9.67561115e-01  9.58907453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.140714057000004 meters
Centerline goodness : 0.997661 with order 1
Centerline is valid?  [True, True]
Translation: X:37.86, Y:3.97, Z:9.60
[[ 9.60231628e-01 -1.20974794e-01 -2.51635293e-01  3.78641892e+01]
 [ 1.19165270e-01  9.92620003e-01 -2.24759357e-02  3.97407017e+00]
 [ 2.52497247e-01 -8.40408334e-03  9.67561115e-01  9.60483573e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.200714057 meters
Centerline goodness : 0.998063 with order 1
Centerline is valid?  [True, True]
Translation: X:37.92, Y:3.98, Z:9.62
[[ 9.60401955e-01 -1.19611561e-01 -2.51636958e-01  3.79241840e+01]
 [ 1.17760945e-01  9.92788009e-01 -2.24572823e-02  3.97668079e+00]
 [ 2.52508305e-01 -8.06498808e-03  9.67561115e-01  9.62025636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.260714057 meters
Centerline goodness : 0.998154 with order 1
Centerline is valid?  [True, True]
Translation: X:37.98, Y:3.98, Z:9.64
[[ 9.60376786e-01 -1.19809993e-01 -2.51638620e-01  3.79832089e+01]
 [ 1.17970947e-01  9.92763498e-01 -2.24386444e-02  3.97963359e+00]
 [ 2.52506010e-01 -8.13649306e-03  9.67561116e-01  9.63536808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.320714057 meters
Centerline goodness : 0.998513 with order 1
Centerline is valid?  [True, True]
Translation: X:38.04, Y:3.98, Z:9.65
[[ 9.59985534e-01 -1.22904708e-01 -2.51639043e-01  3.80429230e+01]
 [ 1.21171298e-01  9.92378072e-01 -2.24338935e-02  3.97991691e+00]
 [ 2.52478300e-01 -8.95521637e-03  9.67561116e-01  9.64958027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.380714057000006 meters
Centerline goodness : 0.998295 with order 1
Centerline is valid?  [True, True]
Translation: X:38.10, Y:3.98, Z:9.66
[[ 9.59189721e-01 -1.28957942e-01 -2.51644447e-01  3.81009365e+01]
 [ 1.27444816e-01  9.91593295e-01 -2.23731241e-02  3.98055771e+00]
 [ 2.52414138e-01 -1.06107096e-02  9.67561117e-01  9.66480271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.440714057 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:38.16, Y:3.98, Z:9.68
[[ 9.58539048e-01 -1.33707920e-01 -2.51644760e-01  3.81599104e+01]
 [ 1.32356254e-01  9.90949758e-01 -2.23696042e-02  3.98255735e+00]
 [ 2.52358307e-01 -1.18646186e-02  9.67561117e-01  9.68142337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.500714057 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:38.22, Y:3.98, Z:9.70
[[ 9.57726394e-01 -1.39408219e-01 -2.51645589e-01  3.82200172e+01]
 [ 1.38251844e-01  9.90144659e-01 -2.23602741e-02  3.98040320e+00]
 [ 2.52282742e-01 -1.33754418e-02  9.67561117e-01  9.69526067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.560714057000006 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:38.28, Y:3.98, Z:9.71
[[ 9.57274957e-01 -1.42474036e-01 -2.51646191e-01  3.82792346e+01]
 [ 1.41423243e-01  9.89696816e-01 -2.23534932e-02  3.98289041e+00]
 [ 2.52238226e-01 -1.41901812e-02  9.67561117e-01  9.71182765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.620714057 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:38.34, Y:3.99, Z:9.73
[[ 9.57166956e-01 -1.43196335e-01 -2.51647031e-01  3.83379419e+01]
 [ 1.42172485e-01  9.89589677e-01 -2.23440324e-02  3.98619190e+00]
 [ 2.52226888e-01 -1.43903143e-02  9.67561117e-01  9.72859266e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.680714057 meters
Centerline goodness : 0.998444 with order 1
Centerline is valid?  [True, True]
Translation: X:38.40, Y:3.99, Z:9.74
[[ 9.57343418e-01 -1.42011056e-01 -2.51647451e-01  3.83979266e+01]
 [ 1.40948301e-01  9.89764887e-01 -2.23393033e-02  3.98708105e+00]
 [ 2.52244239e-01 -1.40828956e-02  9.67561117e-01  9.74340719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.740714057000005 meters
Centerline goodness : 0.997834 with order 1
Centerline is valid?  [True, True]
Translation: X:38.46, Y:3.99, Z:9.76
[[ 9.57701676e-01 -1.39571581e-01 -2.51649108e-01  3.84569879e+01]
 [ 1.38431124e-01  9.90120505e-01 -2.23206233e-02  3.99096236e+00]
 [ 2.52278266e-01 -1.34595705e-02  9.67561118e-01  9.75742519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.800714057 meters
Centerline goodness : 0.998248 with order 1
Centerline is valid?  [True, True]
Translation: X:38.52, Y:3.99, Z:9.77
[[ 9.57998391e-01 -1.37520003e-01 -2.51649223e-01  3.85178631e+01]
 [ 1.36310453e-01  9.90414715e-01 -2.23193193e-02  3.99312900e+00]
 [ 2.52306447e-01 -1.29205478e-02  9.67561118e-01  9.77261811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.860714057 meters
Centerline goodness : 0.998211 with order 1
Centerline is valid?  [True, True]
Translation: X:38.58, Y:4.00, Z:9.79
[[ 9.58230601e-01 -1.35888592e-01 -2.51651360e-01  3.85769038e+01]
 [ 1.34630165e-01  9.90645064e-01 -2.22952063e-02  3.99606359e+00]
 [ 2.52326842e-01 -1.25159151e-02  9.67561118e-01  9.78727163e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.920714057000005 meters
Centerline goodness : 0.998161 with order 1
Centerline is valid?  [True, True]
Translation: X:38.64, Y:4.00, Z:9.80
[[ 9.58680082e-01 -1.32678822e-01 -2.51652204e-01  3.86355214e+01]
 [ 1.31314345e-01  9.91090254e-01 -2.22856781e-02  4.00097371e+00]
 [ 2.52366884e-01 -1.16807086e-02  9.67561118e-01  9.80302003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.980714057 meters
Centerline goodness : 0.998248 with order 1
Centerline is valid?  [True, True]
Translation: X:38.69, Y:4.00, Z:9.82
[[ 9.58979152e-01 -1.30498830e-01 -2.51652619e-01  3.86949186e+01]
 [ 1.29061900e-01  9.91386193e-01 -2.22809812e-02  4.00366240e+00]
 [ 2.52392574e-01 -1.11117687e-02  9.67561118e-01  9.81803210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.040714057 meters
Centerline goodness : 0.998665 with order 1
Centerline is valid?  [True, True]
Translation: X:38.76, Y:4.01, Z:9.83
[[ 9.58922901e-01 -1.30909940e-01 -2.51653447e-01  3.87553093e+01]
 [ 1.29489352e-01  9.91330662e-01 -2.22716271e-02  4.00663783e+00]
 [ 2.52387356e-01 -1.12296686e-02  9.67561118e-01  9.83274836e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.100714057000005 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:38.82, Y:4.01, Z:9.85
[[ 9.58748852e-01 -1.32175501e-01 -2.51655073e-01  3.88157823e+01]
 [ 1.30802504e-01  9.91158664e-01 -2.22532473e-02  4.00996610e+00]
 [ 2.52371440e-01 -1.15818383e-02  9.67561118e-01  9.84884458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.160714057 meters
Centerline goodness : 0.998498 with order 1
Centerline is valid?  [True, True]
Translation: X:38.87, Y:4.01, Z:9.86
[[ 9.58551797e-01 -1.33593126e-01 -2.51657167e-01  3.88744343e+01]
 [ 1.32274268e-01  9.90963857e-01 -2.22295368e-02  4.01226915e+00]
 [ 2.52352870e-01 -1.19796052e-02  9.67561118e-01  9.86400771e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.220714057 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:38.93, Y:4.02, Z:9.88
[[ 9.58516407e-01 -1.33846033e-01 -2.51657578e-01  3.89345827e+01]
 [ 1.32536946e-01  9.90928864e-01 -2.22248786e-02  4.01504622e+00]
 [ 2.52349470e-01 -1.20510162e-02  9.67561118e-01  9.87870149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.280714057000004 meters
Centerline goodness : 0.998368 with order 1
Centerline is valid?  [True, True]
Translation: X:38.99, Y:4.02, Z:9.89
[[ 9.58736923e-01 -1.32254144e-01 -2.51659203e-01  3.89941441e+01]
 [ 1.30896059e-01  9.91147363e-01 -2.22064660e-02  4.01924499e+00]
 [ 2.52368253e-01 -1.16510391e-02  9.67561119e-01  9.89396081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.340714057 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:39.05, Y:4.02, Z:9.91
[[ 9.59186293e-01 -1.28952172e-01 -2.51660472e-01  3.90523185e+01]
 [ 1.27486263e-01  9.91592035e-01 -2.21920830e-02  4.02333547e+00]
 [ 2.52406236e-01 -1.07969113e-02  9.67561119e-01  9.90855068e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.400714057 meters
Centerline goodness : 0.998267 with order 1
Centerline is valid?  [True, True]
Translation: X:39.11, Y:4.03, Z:9.92
[[ 9.60100651e-01 -1.21957975e-01 -2.51660472e-01  3.91095389e+01]
 [ 1.20255925e-01  9.92494848e-01 -2.21920830e-02  4.02634462e+00]
 [ 2.52478223e-01 -8.95702936e-03  9.67561119e-01  9.92350470e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.460714057000004 meters
Centerline goodness : 0.998655 with order 1
Centerline is valid?  [True, True]
Translation: X:39.17, Y:4.03, Z:9.94
[[ 9.60996960e-01 -1.14682405e-01 -2.51660065e-01  3.91692374e+01]
 [ 1.12733834e-01  9.93377264e-01 -2.21966948e-02  4.02937890e+00]
 [ 2.52538957e-01 -7.03964768e-03  9.67561119e-01  9.94036107e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.520714057 meters
Centerline goodness : 0.998726 with order 1
Centerline is valid?  [True, True]
Translation: X:39.23, Y:4.03, Z:9.96
[[ 9.61537236e-01 -1.10057793e-01 -2.51661332e-01  3.92287741e+01]
 [ 1.07957227e-01  9.93908035e-01 -2.21823180e-02  4.03158739e+00]
 [ 2.52569557e-01 -5.83953473e-03  9.67561119e-01  9.95527535e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.580714057 meters
Centerline goodness : 0.998079 with order 1
Centerline is valid?  [True, True]
Translation: X:39.29, Y:4.03, Z:9.97
[[ 9.61736979e-01 -1.08295575e-01 -2.51662576e-01  3.92893847e+01]
 [ 1.06139385e-01  9.94104120e-01 -2.21681960e-02  4.03386986e+00]
 [ 2.52579521e-01 -5.39133731e-03  9.67561119e-01  9.97015336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.640714057000004 meters
Centerline goodness : 0.998494 with order 1
Centerline is valid?  [True, True]
Translation: X:39.35, Y:4.03, Z:9.98
[[ 9.61822744e-01 -1.07527256e-01 -2.51664258e-01  3.93478583e+01]
 [ 1.05350209e-01  9.94188489e-01 -2.21490853e-02  4.03430965e+00]
 [ 2.52583339e-01 -5.20938814e-03  9.67561119e-01  9.98454603e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.700714057 meters
Centerline goodness : 0.998218 with order 1
Centerline is valid?  [True, True]
Translation: X:39.41, Y:4.03, Z:10.00
[[ 9.61542119e-01 -1.10008432e-01 -2.51664258e-01  3.94067736e+01]
 [ 1.07914897e-01  9.93913373e-01 -2.21490853e-02  4.03402048e+00]
 [ 2.52569058e-01 -5.86104405e-03  9.67561119e-01  1.00005162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.760714057 meters
Centerline goodness : 0.998393 with order 1
Centerline is valid?  [True, True]
Translation: X:39.47, Y:4.03, Z:10.02
[[ 9.61023875e-01 -1.14444753e-01 -2.51665471e-01  3.94657616e+01]
 [ 1.12504242e-01  9.93404663e-01 -2.21352932e-02  4.03292720e+00]
 [ 2.52538921e-01 -7.04088773e-03  9.67561119e-01  1.00155226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.820714057 meters
Centerline goodness : 0.998158 with order 1
Centerline is valid?  [True, True]
Translation: X:39.52, Y:4.03, Z:10.03
[[ 9.60795067e-01 -1.16349896e-01 -2.51665533e-01  3.95248785e+01]
 [ 1.14473772e-01  9.93179649e-01 -2.21345925e-02  4.03334991e+00]
 [ 2.52524443e-01 -7.54229550e-03  9.67561119e-01  1.00295400e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.880714057000006 meters
Centerline goodness : 0.997713 with order 1
Centerline is valid?  [True, True]
Translation: X:39.58, Y:4.03, Z:10.04
[[ 9.60499724e-01 -1.18758703e-01 -2.51667738e-01  3.95842858e+01]
 [ 1.16970359e-01  9.92889272e-01 -2.21094898e-02  4.03258882e+00]
 [ 2.52503892e-01 -8.20150675e-03  9.67561120e-01  1.00443870e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.940714057 meters
Centerline goodness : 0.998101 with order 1
Centerline is valid?  [True, True]
Translation: X:39.64, Y:4.03, Z:10.06
[[ 9.60427687e-01 -1.19339693e-01 -2.51667828e-01  3.96443973e+01]
 [ 1.17571210e-01  9.92818325e-01 -2.21084650e-02  4.03434043e+00]
 [ 2.52498849e-01 -8.35530903e-03  9.67561120e-01  1.00599942e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.000714057 meters
Centerline goodness : 0.997955 with order 1
Centerline is valid?  [True, True]
Translation: X:39.70, Y:4.04, Z:10.07
[[ 9.60330615e-01 -1.20114917e-01 -2.51669458e-01  3.97024543e+01]
 [ 1.18377441e-01  9.92722931e-01 -2.20898933e-02  4.03673629e+00]
 [ 2.52491368e-01 -8.57838574e-03  9.67561120e-01  1.00747364e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.060714057000006 meters
Centerline goodness : 0.997807 with order 1
Centerline is valid?  [True, True]
Translation: X:39.76, Y:4.04, Z:10.09
[[ 9.60041116e-01 -1.22407270e-01 -2.51669458e-01  3.97618988e+01]
 [ 1.20747133e-01  9.92437487e-01 -2.20898933e-02  4.03825435e+00]
 [ 2.52470168e-01 -9.18115973e-03  9.67561120e-01  1.00901932e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.120714057 meters
Centerline goodness : 0.997951 with order 1
Centerline is valid?  [True, True]
Translation: X:39.82, Y:4.04, Z:10.11
[[ 9.59658118e-01 -1.25372925e-01 -2.51670272e-01  3.98208258e+01]
 [ 1.23815318e-01  9.92059581e-01 -2.20806238e-02  4.03996519e+00]
 [ 2.52440217e-01 -9.97078482e-03  9.67561120e-01  1.01052158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.180714057 meters
Centerline goodness : 0.997571 with order 1
Centerline is valid?  [True, True]
Translation: X:39.88, Y:4.04, Z:10.12
[[ 9.59362207e-01 -1.27617390e-01 -2.51670337e-01  3.98814155e+01]
 [ 1.26135774e-01  9.91767233e-01 -2.20798845e-02  4.04333663e+00]
 [ 2.52416171e-01 -1.05620259e-02  9.67561120e-01  1.01209872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.240714057000005 meters
Centerline goodness : 0.997657 with order 1
Centerline is valid?  [True, True]
Translation: X:39.94, Y:4.05, Z:10.14
[[ 9.58856214e-01 -1.31362109e-01 -2.51671925e-01  3.99387496e+01]
 [ 1.30011770e-01  9.91266976e-01 -2.20617649e-02  4.04609322e+00]
 [ 2.52372148e-01 -1.15662522e-02  9.67561120e-01  1.01359475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.300714057 meters
Centerline goodness : 0.997590 with order 1
Centerline is valid?  [True, True]
Translation: X:40.00, Y:4.05, Z:10.15
[[ 9.58052711e-01 -1.37099985e-01 -2.51671606e-01  3.99980353e+01]
 [ 1.35942744e-01  9.90470943e-01 -2.20654072e-02  4.05013435e+00]
 [ 2.52298579e-01 -1.30731055e-02  9.67561120e-01  1.01499234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.360714057 meters
Centerline goodness : 0.997509 with order 1
Centerline is valid?  [True, True]
Translation: X:40.06, Y:4.06, Z:10.16
[[ 9.57492909e-01 -1.40955793e-01 -2.51671995e-01  4.00567747e+01]
 [ 1.39930236e-01  9.89915574e-01 -2.20609616e-02  4.05537131e+00]
 [ 2.52243648e-01 -1.40933073e-02  9.67561120e-01  1.01648804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.420714057000005 meters
Centerline goodness : 0.998131 with order 1
Centerline is valid?  [True, True]
Translation: X:40.12, Y:4.06, Z:10.18
[[ 9.57176051e-01 -1.43090544e-01 -2.51672613e-01  4.01160298e+01]
 [ 1.42139136e-01  9.89600976e-01 -2.20539114e-02  4.06209796e+00]
 [ 2.52211170e-01 -1.46630519e-02  9.67561120e-01  1.01808838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.480714057 meters
Centerline goodness : 0.998141 with order 1
Centerline is valid?  [True, True]
Translation: X:40.18, Y:4.07, Z:10.20
[[ 9.57012170e-01 -1.44180365e-01 -2.51673855e-01  4.01766699e+01]
 [ 1.43269593e-01  9.89438262e-01 -2.20397360e-02  4.07013592e+00]
 [ 2.52193438e-01 -1.49649152e-02  9.67561120e-01  1.01980435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.540714057 meters
Centerline goodness : 0.997484 with order 1
Centerline is valid?  [True, True]
Translation: X:40.24, Y:4.08, Z:10.21
[[ 9.57517676e-01 -1.40779640e-01 -2.51676367e-01  4.02360079e+01]
 [ 1.39761206e-01  9.89940564e-01 -2.20110108e-02  4.07874228e+00]
 [ 2.52243347e-01 -1.40986608e-02  9.67561120e-01  1.02143813e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.600714057000005 meters
Centerline goodness : 0.997309 with order 1
Centerline is valid?  [True, True]
Translation: X:40.29, Y:4.09, Z:10.23
[[ 9.58463362e-01 -1.34186976e-01 -2.51678046e-01  4.02930674e+01]
 [ 1.32950474e-01  9.90878667e-01 -2.19917995e-02  4.08552904e+00]
 [ 2.52333419e-01 -1.23823814e-02  9.67561121e-01  1.02315352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.660714057 meters
Centerline goodness : 0.997517 with order 1
Centerline is valid?  [True, True]
Translation: X:40.35, Y:4.10, Z:10.24
[[ 9.58389082e-01 -1.34716545e-01 -2.51678008e-01  4.03536714e+01]
 [ 1.33497840e-01  9.90805061e-01 -2.19922351e-02  4.09530022e+00]
 [ 2.52326561e-01 -1.25213525e-02  9.67561121e-01  1.02446259e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.720714057 meters
Centerline goodness : 0.997877 with order 1
Centerline is valid?  [True, True]
Translation: X:40.41, Y:4.10, Z:10.26
[[ 9.58636130e-01 -1.32944063e-01 -2.51679649e-01  4.04129676e+01]
 [ 1.31670343e-01  9.91049993e-01 -2.19734298e-02  4.10316868e+00]
 [ 2.52348352e-01 -1.20742220e-02  9.67561121e-01  1.02575620e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.780714057000004 meters
Centerline goodness : 0.998091 with order 1
Centerline is valid?  [True, True]
Translation: X:40.47, Y:4.11, Z:10.27
[[ 9.58477509e-01 -1.34082088e-01 -2.51680072e-01  4.04715641e+01]
 [ 1.32848119e-01  9.90892910e-01 -2.19685895e-02  4.11219898e+00]
 [ 2.52333593e-01 -1.23788252e-02  9.67561121e-01  1.02715185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.840714057 meters
Centerline goodness : 0.998199 with order 1
Centerline is valid?  [True, True]
Translation: X:40.53, Y:4.12, Z:10.29
[[ 9.58283325e-01 -1.35462163e-01 -2.51680494e-01  4.05317074e+01]
 [ 1.34276141e-01  9.90700516e-01 -2.19637522e-02  4.11947020e+00]
 [ 2.52315253e-01 -1.27471881e-02  9.67561121e-01  1.02863542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.900714057 meters
Centerline goodness : 0.997955 with order 1
Centerline is valid?  [True, True]
Translation: X:40.59, Y:4.13, Z:10.30
[[ 9.58048337e-01 -1.37111169e-01 -2.51682161e-01  4.05895985e+01]
 [ 1.35985949e-01  9.90467695e-01 -2.19446298e-02  4.12621651e+00]
 [ 2.52291904e-01 -1.32012214e-02  9.67561121e-01  1.03003852e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.960714057000004 meters
Centerline goodness : 0.997843 with order 1
Centerline is valid?  [True, True]
Translation: X:40.65, Y:4.13, Z:10.31
[[ 9.57366036e-01 -1.41793324e-01 -2.51684180e-01  4.06475958e+01]
 [ 1.40832685e-01  9.89790687e-01 -2.19214499e-02  4.13420737e+00]
 [ 2.52222973e-01 -1.44585074e-02  9.67561121e-01  1.03145809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.020714057 meters
Centerline goodness : 0.998056 with order 1
Centerline is valid?  [True, True]
Translation: X:40.71, Y:4.14, Z:10.33
[[ 9.56846455e-01 -1.45257808e-01 -2.51684387e-01  4.07056156e+01]
 [ 1.44415164e-01  9.89274388e-01 -2.19190824e-02  4.14229086e+00]
 [ 2.52168835e-01 -1.53738457e-02  9.67561121e-01  1.03299646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.080714057 meters
Centerline goodness : 0.998035 with order 1
Centerline is valid?  [True, True]
Translation: X:40.76, Y:4.15, Z:10.35
[[ 9.55952857e-01 -1.51026712e-01 -2.51684462e-01  4.07635540e+01]
 [ 1.50379909e-01  9.88385286e-01 -2.19182216e-02  4.15125292e+00]
 [ 2.52071456e-01 -1.68955000e-02  9.67561121e-01  1.03453973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.140714057000004 meters
Centerline goodness : 0.998915 with order 1
Centerline is valid?  [True, True]
Translation: X:40.82, Y:4.16, Z:10.36
[[ 9.54928793e-01 -1.57371496e-01 -2.51684749e-01  4.08212062e+01]
 [ 1.56940946e-01  9.87364814e-01 -2.19149171e-02  4.16147595e+00]
 [ 2.51953449e-01 -1.85724573e-02  9.67561121e-01  1.03612131e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.200714057000006 meters
Centerline goodness : 0.998437 with order 1
Centerline is valid?  [True, True]
Translation: X:40.88, Y:4.17, Z:10.38
[[ 9.54303090e-01 -1.61122129e-01 -2.51684866e-01  4.08784424e+01]
 [ 1.60819371e-01  9.86740556e-01 -2.19135798e-02  4.17416094e+00]
 [ 2.51878427e-01 -1.95636049e-02  9.67561121e-01  1.03753738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.260714057 meters
Centerline goodness : 0.998756 with order 1
Centerline is valid?  [True, True]
Translation: X:40.94, Y:4.19, Z:10.39
[[ 9.54321566e-01 -1.61012001e-01 -2.51685288e-01  4.09368928e+01]
 [ 1.60706773e-01  9.86759009e-01 -2.19087240e-02  4.18673141e+00]
 [ 2.51880293e-01 -1.95395627e-02  9.67561121e-01  1.03882809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.320714057 meters
Centerline goodness : 0.999148 with order 1
Centerline is valid?  [True, True]
Translation: X:40.99, Y:4.20, Z:10.40
[[ 9.54723023e-01 -1.58610411e-01 -2.51687679e-01  4.09944942e+01]
 [ 1.58230778e-01  9.87159679e-01 -2.18812277e-02  4.19827124e+00]
 [ 2.51926519e-01 -1.89342255e-02  9.67561122e-01  1.04044738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.380714057000006 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:41.05, Y:4.21, Z:10.42
[[ 9.55711925e-01 -1.52538479e-01 -2.51687759e-01  4.10516454e+01]
 [ 1.51952911e-01  9.88145518e-01 -2.18803067e-02  4.21366404e+00]
 [ 2.52041720e-01 -1.73334176e-02  9.67561122e-01  1.04230321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.440714057 meters
Centerline goodness : 0.998436 with order 1
Centerline is valid?  [True, True]
Translation: X:41.11, Y:4.23, Z:10.44
[[ 9.56692477e-01 -1.46262021e-01 -2.51688153e-01  4.11097560e+01]
 [ 1.45464764e-01  9.89121556e-01 -2.18757722e-02  4.22790321e+00]
 [ 2.52149772e-01 -1.56833710e-02  9.67561122e-01  1.04384911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.500714057 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:41.17, Y:4.24, Z:10.45
[[ 9.57284296e-01 -1.42336444e-01 -2.51688523e-01  4.11682845e+01]
 [ 1.41407286e-01  9.89709865e-01 -2.18715120e-02  4.23904619e+00]
 [ 2.52211728e-01 -1.46533361e-02  9.67561122e-01  1.04518423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.560714057000006 meters
Centerline goodness : 0.998598 with order 1
Centerline is valid?  [True, True]
Translation: X:41.23, Y:4.25, Z:10.46
[[ 9.58129122e-01 -1.36533551e-01 -2.51688647e-01  4.12259310e+01]
 [ 1.35408313e-01  9.90548478e-01 -2.18700902e-02  4.25287348e+00]
 [ 2.52295807e-01 -1.31263648e-02  9.67561122e-01  1.04644359e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.620714057 meters
Centerline goodness : 0.998773 with order 1
Centerline is valid?  [True, True]
Translation: X:41.28, Y:4.26, Z:10.48
[[ 9.58649716e-01 -1.32828705e-01 -2.51688811e-01  4.12844637e+01]
 [ 1.31578648e-01  9.91064499e-01 -2.18681989e-02  4.26238793e+00]
 [ 2.52344570e-01 -1.21529307e-02  9.67561122e-01  1.04804970e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.680714057 meters
Centerline goodness : 0.999037 with order 1
Centerline is valid?  [True, True]
Translation: X:41.34, Y:4.27, Z:10.50
[[ 9.59308589e-01 -1.27981919e-01 -2.51689609e-01  4.13425570e+01]
 [ 1.26570456e-01  9.91716745e-01 -2.18590152e-02  4.27376675e+00]
 [ 2.52402359e-01 -1.08869275e-02  9.67561122e-01  1.04965922e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.740714057000005 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:41.40, Y:4.28, Z:10.51
[[ 9.60047503e-01 -1.22314910e-01 -2.51689996e-01  4.13994371e+01]
 [ 1.20713266e-01  9.92446818e-01 -2.18545572e-02  4.28367837e+00]
 [ 2.52462074e-01 -9.40090843e-03  9.67561122e-01  1.05112599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.800714057 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:41.46, Y:4.29, Z:10.53
[[ 9.60264217e-01 -1.20602585e-01 -2.51689589e-01  4.14589259e+01]
 [ 1.18941938e-01  9.92660561e-01 -2.18592380e-02  4.29016649e+00]
 [ 2.52478610e-01 -8.94580362e-03  9.67561122e-01  1.05276008e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.860714057 meters
Centerline goodness : 0.998428 with order 1
Centerline is valid?  [True, True]
Translation: X:41.52, Y:4.30, Z:10.54
[[ 9.60854738e-01 -1.15800000e-01 -2.51691345e-01  4.15169682e+01]
 [ 1.13982696e-01  9.93242671e-01 -2.18390026e-02  4.29746864e+00]
 [ 2.52519541e-01 -7.70434903e-03  9.67561122e-01  1.05429263e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.920714057000005 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:41.58, Y:4.30, Z:10.56
[[ 9.60993941e-01 -1.14638173e-01 -2.51691743e-01  4.15780041e+01]
 [ 1.12782912e-01  9.93379723e-01 -2.18344148e-02  4.30360105e+00]
 [ 2.52528532e-01 -7.40378732e-03  9.67561122e-01  1.05578128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.980714057 meters
Centerline goodness : 0.998718 with order 1
Centerline is valid?  [True, True]
Translation: X:41.64, Y:4.31, Z:10.57
[[ 9.60913548e-01 -1.15304918e-01 -2.51694118e-01  4.16363945e+01]
 [ 1.13479299e-01  9.93301013e-01 -2.18070095e-02  4.30778735e+00]
 [ 2.52522478e-01 -7.60742119e-03  9.67561122e-01  1.05708372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.040714057 meters
Centerline goodness : 0.998588 with order 1
Centerline is valid?  [True, True]
Translation: X:41.70, Y:4.31, Z:10.59
[[ 9.60921058e-01 -1.15242314e-01 -2.51694118e-01  4.16950997e+01]
 [ 1.13414585e-01  9.93308404e-01 -2.18070095e-02  4.31205736e+00]
 [ 2.52522973e-01 -7.59096936e-03  9.67561122e-01  1.05872720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.100714057000005 meters
Centerline goodness : 0.998816 with order 1
Centerline is valid?  [True, True]
Translation: X:41.75, Y:4.32, Z:10.60
[[ 9.60861230e-01 -1.15739218e-01 -2.51694519e-01  4.17547823e+01]
 [ 1.13929449e-01  9.93249584e-01 -2.18023796e-02  4.31650045e+00]
 [ 2.52518867e-01 -7.72635669e-03  9.67561122e-01  1.06045879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.160714057 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:41.81, Y:4.32, Z:10.62
[[ 9.60640559e-01 -1.17553269e-01 -2.51696136e-01  4.18136919e+01]
 [ 1.15809548e-01  9.93032537e-01 -2.17836961e-02  4.31859219e+00]
 [ 2.52503197e-01 -8.22251360e-03  9.67561122e-01  1.06194111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.220714057 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:41.87, Y:4.32, Z:10.63
[[ 9.60337434e-01 -1.19998658e-01 -2.51698896e-01  4.18739205e+01]
 [ 1.18345773e-01  9.92734174e-01 -2.17517547e-02  4.32190122e+00]
 [ 2.52480277e-01 -8.89847608e-03  9.67561123e-01  1.06348844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.280714057000004 meters
Centerline goodness : 0.999175 with order 1
Centerline is valid?  [True, True]
Translation: X:41.93, Y:4.32, Z:10.65
[[ 9.59636665e-01 -1.25476384e-01 -2.51700511e-01  4.19337410e+01]
 [ 1.24013278e-01  9.92042530e-01 -2.17330531e-02  4.32379375e+00]
 [ 2.52424597e-01 -1.03583709e-02  9.67561123e-01  1.06484239e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.340714057 meters
Centerline goodness : 0.999021 with order 1
Centerline is valid?  [True, True]
Translation: X:41.99, Y:4.33, Z:10.66
[[ 9.58687394e-01 -1.32533147e-01 -2.51701103e-01  4.19933882e+01]
 [ 1.31310289e-01  9.91103214e-01 -2.17262015e-02  4.32520915e+00]
 [ 2.52341214e-01 -1.22223091e-02  9.67561123e-01  1.06627039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.400714057 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:42.05, Y:4.33, Z:10.68
[[ 9.58091875e-01 -1.36770633e-01 -2.51701715e-01  4.20522807e+01]
 [ 1.35692972e-01  9.90512846e-01 -2.17191006e-02  4.32836729e+00]
 [ 2.52284318e-01 -1.33452599e-02  9.67561123e-01  1.06773638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.460714057000004 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:42.11, Y:4.33, Z:10.69
[[ 9.57310232e-01 -1.42137128e-01 -2.51702518e-01  4.21108885e+01]
 [ 1.41243591e-01  9.89736800e-01 -2.17098014e-02  4.33191796e+00]
 [ 2.52205013e-01 -1.47683524e-02  9.67561123e-01  1.06924703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.520714057 meters
Centerline goodness : 0.999046 with order 1
Centerline is valid?  [True, True]
Translation: X:42.17, Y:4.34, Z:10.71
[[ 9.56789095e-01 -1.45603208e-01 -2.51702867e-01  4.21697100e+01]
 [ 1.44828174e-01  9.89218712e-01 -2.17057530e-02  4.33618154e+00]
 [ 2.52149613e-01 -1.56858389e-02  9.67561123e-01  1.07091458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.580714057 meters
Centerline goodness : 0.999045 with order 1
Centerline is valid?  [True, True]
Translation: X:42.23, Y:4.34, Z:10.72
[[ 9.56229315e-01 -1.49233910e-01 -2.51703669e-01  4.22294905e+01]
 [ 1.48584416e-01  9.88661689e-01 -2.16964486e-02  4.34098942e+00]
 [ 2.52087620e-01 -1.66524623e-02  9.67561123e-01  1.07247335e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.640714057000004 meters
Centerline goodness : 0.999089 with order 1
Centerline is valid?  [True, True]
Translation: X:42.29, Y:4.35, Z:10.74
[[ 9.55881905e-01 -1.51433694e-01 -2.51709398e-01  4.22884674e+01]
 [ 1.50876296e-01  9.88315990e-01 -2.16297854e-02  4.34665570e+00]
 [ 2.52043901e-01 -1.73014612e-02  9.67561125e-01  1.07395491e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.700714057000006 meters
Centerline goodness : 0.999045 with order 1
Centerline is valid?  [True, True]
Translation: X:42.35, Y:4.35, Z:10.75
[[ 9.55521737e-01 -1.53688944e-01 -2.51709990e-01  4.23478823e+01]
 [ 1.53209891e-01  9.87957074e-01 -2.16228914e-02  4.35350540e+00]
 [ 2.52001864e-01 -1.79033175e-02  9.67561125e-01  1.07541591e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.760714057 meters
Centerline goodness : 0.999222 with order 1
Centerline is valid?  [True, True]
Translation: X:42.41, Y:4.36, Z:10.77
[[ 9.55245851e-01 -1.55386111e-01 -2.51715159e-01  4.24059713e+01]
 [ 1.54980491e-01  9.87682187e-01 -2.15625576e-02  4.36112094e+00]
 [ 2.51965101e-01 -1.84133953e-02  9.67561127e-01  1.07700248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.820714057 meters
Centerline goodness : 0.999379 with order 1
Centerline is valid?  [True, True]
Translation: X:42.47, Y:4.37, Z:10.79
[[ 9.55186612e-01 -1.55749218e-01 -2.51715550e-01  4.24659224e+01]
 [ 1.55357127e-01  9.87623115e-01 -2.15579840e-02  4.36822674e+00]
 [ 2.51957735e-01 -1.85139071e-02  9.67561127e-01  1.07855290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.880714057000006 meters
Centerline goodness : 0.999087 with order 1
Centerline is valid?  [True, True]
Translation: X:42.52, Y:4.38, Z:10.80
[[ 9.54857368e-01 -1.57752678e-01 -2.51717101e-01  4.25241590e+01]
 [ 1.57433384e-01  9.87294669e-01 -2.15398612e-02  4.37675318e+00]
 [ 2.51916923e-01 -1.90611799e-02  9.67561127e-01  1.08015963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.940714057 meters
Centerline goodness : 0.999152 with order 1
Centerline is valid?  [True, True]
Translation: X:42.58, Y:4.38, Z:10.82
[[ 9.54231719e-01 -1.61493418e-01 -2.51717505e-01  4.25822446e+01]
 [ 1.61302481e-01  9.86670030e-01 -2.15351398e-02  4.38476315e+00]
 [ 2.51839902e-01 -2.00531447e-02  9.67561127e-01  1.08153219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.000714057 meters
Centerline goodness : 0.998791 with order 1
Centerline is valid?  [True, True]
Translation: X:42.64, Y:4.39, Z:10.83
[[ 9.53994967e-01 -1.62886161e-01 -2.51717505e-01  4.26418457e+01]
 [ 1.62742575e-01  9.86433521e-01 -2.15351398e-02  4.39387385e+00]
 [ 2.51810361e-01 -2.04207400e-02  9.67561127e-01  1.08313486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.060714057000006 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:42.70, Y:4.40, Z:10.85
[[ 9.54335875e-01 -1.60874308e-01 -2.51719078e-01  4.27021596e+01]
 [ 1.60667149e-01  9.86774086e-01 -2.15167400e-02  4.40373738e+00]
 [ 2.51851354e-01 -1.99087897e-02  9.67561128e-01  1.08464836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.120714057 meters
Centerline goodness : 0.999010 with order 1
Centerline is valid?  [True, True]
Translation: X:42.76, Y:4.41, Z:10.86
[[ 9.54591824e-01 -1.59338577e-01 -2.51725381e-01  4.27593997e+01]
 [ 1.59098617e-01  9.87029806e-01 -2.14427568e-02  4.41196883e+00]
 [ 2.51877112e-01 -1.95800796e-02  9.67561130e-01  1.08627280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.180714057 meters
Centerline goodness : 0.998740 with order 1
Centerline is valid?  [True, True]
Translation: X:42.82, Y:4.42, Z:10.88
[[ 9.55214551e-01 -1.55561636e-01 -2.51725522e-01  4.28156879e+01]
 [ 1.55193811e-01  9.87651335e-01 -2.14410980e-02  4.42165106e+00]
 [ 2.51952460e-01 -1.85853942e-02  9.67561130e-01  1.08794527e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.240714057000005 meters
Centerline goodness : 0.998736 with order 1
Centerline is valid?  [True, True]
Translation: X:42.87, Y:4.43, Z:10.89
[[ 9.56165904e-01 -1.49603520e-01 -2.51725148e-01  4.28742222e+01]
 [ 1.49032329e-01  9.88599745e-01 -2.14454914e-02  4.43232929e+00]
 [ 2.52063738e-01 -1.70097374e-02  9.67561130e-01  1.08943779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.300714057 meters
Centerline goodness : 0.998665 with order 1
Centerline is valid?  [True, True]
Translation: X:42.93, Y:4.44, Z:10.91
[[ 9.57588244e-01 -1.40211010e-01 -2.51725301e-01  4.29318389e+01]
 [ 1.39321963e-01  9.90014929e-01 -2.14436888e-02  4.44296500e+00]
 [ 2.52218448e-01 -1.45366389e-02  9.67561130e-01  1.09070686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.360714057 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:42.99, Y:4.45, Z:10.92
[[ 9.58976145e-01 -1.30381310e-01 -2.51724985e-01  4.29891107e+01]
 [ 1.29158726e-01  9.91391967e-01 -2.14473976e-02  4.45342193e+00]
 [ 2.52354468e-01 -1.19449358e-02  9.67561130e-01  1.09236481e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.420714057000005 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:43.05, Y:4.46, Z:10.94
[[ 9.59674854e-01 -1.25134811e-01 -2.51724956e-01  4.30469084e+01]
 [ 1.23734877e-01  9.92083502e-01 -2.14477390e-02  4.46102507e+00]
 [ 2.52416035e-01 -1.05643008e-02  9.67561130e-01  1.09399170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.480714057 meters
Centerline goodness : 0.998926 with order 1
Centerline is valid?  [True, True]
Translation: X:43.10, Y:4.47, Z:10.96
[[ 9.60496145e-01 -1.18666055e-01 -2.51725093e-01  4.31046356e+01]
 [ 1.17048215e-01  9.92894646e-01 -2.14461367e-02  4.46919100e+00]
 [ 2.52481425e-01 -8.86504127e-03  9.67561130e-01  1.09566633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.540714057 meters
Centerline goodness : 0.998788 with order 1
Centerline is valid?  [True, True]
Translation: X:43.16, Y:4.48, Z:10.97
[[ 9.60957130e-01 -1.14873283e-01 -2.51725093e-01  4.31631956e+01]
 [ 1.13127554e-01  9.93348992e-01 -2.14461367e-02  4.47508035e+00]
 [ 2.52514455e-01 -7.86822607e-03  9.67561130e-01  1.09726817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.600714057000005 meters
Centerline goodness : 0.998854 with order 1
Centerline is valid?  [True, True]
Translation: X:43.22, Y:4.48, Z:10.99
[[ 9.61642228e-01 -1.08988997e-01 -2.51725294e-01  4.32212971e+01]
 [ 1.07045644e-01  9.94022834e-01 -2.14437743e-02  4.47977560e+00]
 [ 2.52557826e-01 -6.32485742e-03  9.67561130e-01  1.09883963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.660714057 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:43.28, Y:4.48, Z:11.00
[[ 9.62327847e-01 -1.02759381e-01 -2.51725294e-01  4.32817952e+01]
 [ 1.00606381e-01  9.94695190e-01 -2.14437743e-02  4.48301623e+00]
 [ 2.52593488e-01 -4.68922968e-03  9.67561130e-01  1.10041061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.720714057 meters
Centerline goodness : 0.998830 with order 1
Centerline is valid?  [True, True]
Translation: X:43.34, Y:4.48, Z:11.02
[[ 9.62872400e-01 -9.75198720e-02 -2.51727267e-01  4.33418066e+01]
 [ 9.51967853e-02  9.95227979e-01 -2.14205961e-02  4.48421093e+00]
 [ 2.52614953e-01 -3.33832574e-03  9.67561131e-01  1.10178832e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.780714057000004 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:43.40, Y:4.49, Z:11.03
[[ 9.63031001e-01 -9.59379398e-02 -2.51728432e-01  4.34023899e+01]
 [ 9.35652840e-02  9.95382983e-01 -2.14068931e-02  4.48787860e+00]
 [ 2.52619931e-01 -2.93754058e-03  9.67561131e-01  1.10336162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.840714057 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:43.46, Y:4.49, Z:11.05
[[ 9.63312001e-01 -9.30688589e-02 -2.51730365e-01  4.34623685e+01]
 [ 9.06057899e-02  9.95657225e-01 -2.13841388e-02  4.48760061e+00]
 [ 2.52627354e-01 -2.20863104e-03  9.67561131e-01  1.10488398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.900714057 meters
Centerline goodness : 0.997907 with order 1
Centerline is valid?  [True, True]
Translation: X:43.52, Y:4.49, Z:11.06
[[ 9.63243986e-01 -9.37660974e-02 -2.51731886e-01  4.35232470e+01]
 [ 9.13311235e-02  9.95591337e-01 -2.13662203e-02  4.48545315e+00]
 [ 2.52625512e-01 -2.41007277e-03  9.67561131e-01  1.10648213e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.960714057000004 meters
Centerline goodness : 0.998302 with order 1
Centerline is valid?  [True, True]
Translation: X:43.58, Y:4.48, Z:11.08
[[ 9.63032637e-01 -9.59084128e-02 -2.51733425e-01  4.35836580e+01]
 [ 9.35501383e-02  9.95385670e-01 -2.13480721e-02  4.48422024e+00]
 [ 2.52619303e-01 -2.99080652e-03  9.67561131e-01  1.10797191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.020714057 meters
Centerline goodness : 0.998086 with order 1
Centerline is valid?  [True, True]
Translation: X:43.64, Y:4.48, Z:11.10
[[ 9.62549775e-01 -1.00635227e-01 -2.51734945e-01  4.36417912e+01]
 [ 9.84405080e-02  9.94914314e-01 -2.13301317e-02  4.48047339e+00]
 [ 2.52601263e-01 -4.24960245e-03  9.67561131e-01  1.10950408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.080714057 meters
Centerline goodness : 0.998501 with order 1
Centerline is valid?  [True, True]
Translation: X:43.70, Y:4.48, Z:11.11
[[ 9.61964025e-01 -1.06087729e-01 -2.51735196e-01  4.37016558e+01]
 [ 1.04077207e-01  9.94340529e-01 -2.13271706e-02  4.47558792e+00]
 [ 2.52573059e-01 -5.68392526e-03  9.67561131e-01  1.11096869e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.140714057000004 meters
Centerline goodness : 0.998574 with order 1
Centerline is valid?  [True, True]
Translation: X:43.76, Y:4.47, Z:11.12
[[ 9.61524848e-01 -1.09995390e-01 -2.51735936e-01  4.37602016e+01]
 [ 1.08118718e-01  9.93909386e-01 -2.13184339e-02  4.47354553e+00]
 [ 2.52547639e-01 -6.71916286e-03  9.67561131e-01  1.11225259e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.200714057000006 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:43.82, Y:4.47, Z:11.14
[[ 9.60790342e-01 -1.16236040e-01 -2.51736173e-01  4.38195153e+01]
 [ 1.14570407e-01  9.93186420e-01 -2.13156313e-02  4.47010475e+00]
 [ 2.52498593e-01 -8.36166312e-03  9.67561131e-01  1.11361936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.260714057 meters
Centerline goodness : 0.998561 with order 1
Centerline is valid?  [True, True]
Translation: X:43.88, Y:4.47, Z:11.15
[[ 9.59990120e-01 -1.22669755e-01 -2.51736173e-01  4.38772769e+01]
 [ 1.21221180e-01  9.92396629e-01 -2.13156313e-02  4.46720670e+00]
 [ 2.52436913e-01 -1.00529606e-02  9.67561131e-01  1.11507023e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.320714057 meters
Centerline goodness : 0.998676 with order 1
Centerline is valid?  [True, True]
Translation: X:43.94, Y:4.47, Z:11.17
[[ 9.59273511e-01 -1.28152848e-01 -2.51736326e-01  4.39362839e+01]
 [ 1.26889932e-01  9.91687787e-01 -2.13138232e-02  4.46583158e+00]
 [ 2.52375267e-01 -1.14970193e-02  9.67561131e-01  1.11679665e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.380714057000006 meters
Centerline goodness : 0.999053 with order 1
Centerline is valid?  [True, True]
Translation: X:44.00, Y:4.47, Z:11.18
[[ 9.58765166e-01 -1.31900330e-01 -2.51737283e-01  4.39971459e+01]
 [ 1.30767047e-01  9.91184232e-01 -2.13025175e-02  4.46676214e+00]
 [ 2.52327835e-01 -1.24948295e-02  9.67561131e-01  1.11831959e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.440714057 meters
Centerline goodness : 0.999251 with order 1
Centerline is valid?  [True, True]
Translation: X:44.06, Y:4.47, Z:11.20
[[ 9.58436737e-01 -1.34263021e-01 -2.51738876e-01  4.40563600e+01]
 [ 1.33214581e-01  9.90858658e-01 -2.12836758e-02  4.46859543e+00]
 [ 2.52295255e-01 -1.31362321e-02  9.67561132e-01  1.11965687e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.500714057 meters
Centerline goodness : 0.998657 with order 1
Centerline is valid?  [True, True]
Translation: X:44.12, Y:4.47, Z:11.21
[[ 9.57940129e-01 -1.37761417e-01 -2.51738955e-01  4.41151653e+01]
 [ 1.36831601e-01  9.90365669e-01 -2.12827433e-02  4.47106911e+00]
 [ 2.52245559e-01 -1.40582505e-02  9.67561132e-01  1.12110273e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.560714057000006 meters
Centerline goodness : 0.998507 with order 1
Centerline is valid?  [True, True]
Translation: X:44.18, Y:4.48, Z:11.23
[[ 9.57694054e-01 -1.39461655e-01 -2.51739042e-01  4.41752071e+01]
 [ 1.38589670e-01  9.90121201e-01 -2.12817138e-02  4.47612462e+00]
 [ 2.52220145e-01 -1.45070600e-02  9.67561132e-01  1.12269091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.620714057 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:44.23, Y:4.48, Z:11.24
[[ 9.57511382e-01 -1.40707470e-01 -2.51740664e-01  4.42342508e+01]
 [ 1.39882705e-01  9.89939763e-01 -2.12625061e-02  4.48090902e+00]
 [ 2.52199887e-01 -1.48550735e-02  9.67561132e-01  1.12430685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.680714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:44.29, Y:4.49, Z:11.26
[[ 9.57608264e-01 -1.40045124e-01 -2.51741485e-01  4.42924978e+01]
 [ 1.39200475e-01  9.90036134e-01 -2.12527851e-02  4.48689253e+00]
 [ 2.52209515e-01 -1.46906917e-02  9.67561132e-01  1.12567577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.740714057000005 meters
Centerline goodness : 0.998636 with order 1
Centerline is valid?  [True, True]
Translation: X:44.35, Y:4.49, Z:11.27
[[ 9.57769250e-01 -1.38939133e-01 -2.51741895e-01  4.43521782e+01]
 [ 1.38058307e-01  9.90196157e-01 -2.12479312e-02  4.49301165e+00]
 [ 2.52226026e-01 -1.44044447e-02  9.67561132e-01  1.12710838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.800714057 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:44.41, Y:4.50, Z:11.29
[[ 9.58065003e-01 -1.36879622e-01 -2.51744750e-01  4.44119808e+01]
 [ 1.35937959e-01  9.90490200e-01 -2.12140420e-02  4.50054702e+00]
 [ 2.52254478e-01 -1.38972362e-02  9.67561132e-01  1.12872676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.860714057 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:44.47, Y:4.51, Z:11.30
[[ 9.58214346e-01 -1.35827250e-01 -2.51746350e-01  4.44690928e+01]
 [ 1.34854950e-01  9.90638639e-01 -2.11950400e-02  4.50870734e+00]
 [ 2.52268526e-01 -1.36398501e-02  9.67561133e-01  1.13037850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.920714057000005 meters
Centerline goodness : 0.998897 with order 1
Centerline is valid?  [True, True]
Translation: X:44.53, Y:4.52, Z:11.32
[[ 9.58510894e-01 -1.33718516e-01 -2.51746350e-01  4.45284481e+01]
 [ 1.32674874e-01  9.90932969e-01 -2.11950400e-02  4.51778369e+00]
 [ 2.52297928e-01 -1.30847385e-02  9.67561133e-01  1.13190789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.980714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:44.59, Y:4.52, Z:11.33
[[ 9.58958178e-01 -1.30469108e-01 -2.51747940e-01  4.45868329e+01]
 [ 1.29320534e-01  9.91376705e-01 -2.11761453e-02  4.52473667e+00]
 [ 2.52339876e-01 -1.22491401e-02  9.67561133e-01  1.13334924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.040714057 meters
Centerline goodness : 0.998761 with order 1
Centerline is valid?  [True, True]
Translation: X:44.64, Y:4.53, Z:11.35
[[ 9.60032298e-01 -1.22315011e-01 -2.51747940e-01  4.46445669e+01]
 [ 1.20890980e-01  9.92439893e-01 -2.11761453e-02  4.53370974e+00]
 [ 2.52434859e-01 -1.01042716e-02  9.67561133e-01  1.13487886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.100714057000005 meters
Centerline goodness : 0.998450 with order 1
Centerline is valid?  [True, True]
Translation: X:44.70, Y:4.54, Z:11.36
[[ 9.61288339e-01 -1.12016107e-01 -2.51748132e-01  4.47012565e+01]
 [ 1.10245334e-01  9.93678838e-01 -2.11738639e-02  4.54226032e+00]
 [ 2.52528605e-01 -7.39986848e-03  9.67561133e-01  1.13649253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.160714057 meters
Centerline goodness : 0.998821 with order 1
Centerline is valid?  [True, True]
Translation: X:44.76, Y:4.55, Z:11.38
[[ 9.62404686e-01 -1.01981901e-01 -2.51747714e-01  4.47593018e+01]
 [ 9.98720295e-02  9.94774866e-01 -2.11788316e-02  4.54898401e+00]
 [ 2.52592156e-01 -4.75994827e-03  9.67561133e-01  1.13806545e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.220714057 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:44.82, Y:4.55, Z:11.40
[[ 9.63114442e-01 -9.50452445e-02 -2.51747836e-01  4.48190449e+01]
 [ 9.27025836e-02  9.95468608e-01 -2.11773820e-02  4.55413386e+00]
 [ 2.52619877e-01 -2.94143234e-03  9.67561133e-01  1.13954279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.280714057000004 meters
Centerline goodness : 0.997842 with order 1
Centerline is valid?  [True, True]
Translation: X:44.88, Y:4.56, Z:11.41
[[ 9.64085349e-01 -8.46241735e-02 -2.51750252e-01  4.48787530e+01]
 [ 8.19392692e-02  9.96412912e-01 -2.11486196e-02  4.55754914e+00]
 [ 2.52636886e-01 -2.39157317e-04  9.67561133e-01  1.14088841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.340714057 meters
Centerline goodness : 0.998265 with order 1
Centerline is valid?  [True, True]
Translation: X:44.94, Y:4.56, Z:11.42
[[ 9.64877656e-01 -7.50501572e-02 -2.51751034e-01  4.49376793e+01]
 [ 7.20469190e-02  9.97177201e-01 -2.11393111e-02  4.55764337e+00]
 [ 2.52626900e-01  2.25896265e-03  9.67561133e-01  1.14221577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.400714057 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:45.00, Y:4.55, Z:11.44
[[ 9.65312181e-01 -6.92373489e-02 -2.51751034e-01  4.49951852e+01]
 [ 6.60396254e-02  9.97593052e-01 -2.11393111e-02  4.55461096e+00]
 [ 2.52608712e-01  3.78049058e-03  9.67561133e-01  1.14366159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.460714057000004 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:45.05, Y:4.55, Z:11.45
[[ 9.65438311e-01 -6.74764339e-02 -2.51745503e-01  4.50510643e+01]
 [ 6.42027141e-02  9.97711562e-01 -2.12049803e-02  4.55246157e+00]
 [ 2.52600235e-01  4.30935583e-03  9.67561135e-01  1.14508119e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.520714057000006 meters
Centerline goodness : 0.998705 with order 1
Centerline is valid?  [True, True]
Translation: X:45.11, Y:4.54, Z:11.47
[[ 9.65411928e-01 -6.78614963e-02 -2.51743174e-01  4.51089265e+01]
 [ 6.45934510e-02  9.97685754e-01 -2.12325915e-02  4.54421660e+00]
 [ 2.52601454e-01  4.23723673e-03  9.67561136e-01  1.14652642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.580714057 meters
Centerline goodness : 0.998542 with order 1
Centerline is valid?  [True, True]
Translation: X:45.17, Y:4.53, Z:11.48
[[ 9.65087115e-01 -7.23537766e-02 -2.51737544e-01  4.51655999e+01]
 [ 6.92186112e-02  9.97374118e-01 -2.12991443e-02  4.53352898e+00]
 [ 2.52617584e-01  3.13060657e-03  9.67561138e-01  1.14800448e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.640714057000004 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:45.22, Y:4.53, Z:11.50
[[ 9.64908225e-01 -7.47230579e-02 -2.51731170e-01  4.52233815e+01]
 [ 7.16475893e-02  9.97200966e-01 -2.13742194e-02  4.53271209e+00]
 [ 2.52623713e-01  2.58822861e-03  9.67561141e-01  1.14951179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.700714057000006 meters
Centerline goodness : 0.998124 with order 1
Centerline is valid?  [True, True]
Translation: X:45.28, Y:4.52, Z:11.51
[[ 9.64170788e-01 -8.37049251e-02 -2.51730367e-01  4.52825021e+01]
 [ 8.09278289e-02  9.96490555e-01 -2.13836686e-02  4.52060852e+00]
 [ 2.52636852e-01  2.45516468e-04  9.67561141e-01  1.15101154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.760714057 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:45.34, Y:4.51, Z:11.52
[[ 9.63611996e-01 -8.99107635e-02 -2.51729965e-01  4.53393141e+01]
 [ 8.73405710e-02  9.95948875e-01 -2.13884022e-02  4.51415289e+00]
 [ 2.52633223e-01 -1.37611799e-03  9.67561141e-01  1.15241640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.820714057 meters
Centerline goodness : 0.997461 with order 1
Centerline is valid?  [True, True]
Translation: X:45.40, Y:4.50, Z:11.54
[[ 9.62930375e-01 -9.69553143e-02 -2.51723578e-01  4.53980723e+01]
 [ 9.46020918e-02  9.95283764e-01 -2.14633150e-02  4.50268647e+00]
 [ 2.52617373e-01 -3.14589909e-03  9.67561143e-01  1.15385619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.880714057000006 meters
Centerline goodness : 0.996677 with order 1
Centerline is valid?  [True, True]
Translation: X:45.46, Y:4.49, Z:11.55
[[ 9.62607266e-01 -1.00125448e-01 -2.51718387e-01  4.54567429e+01]
 [ 9.78628966e-02  9.94967120e-01 -2.15240254e-02  4.49340639e+00]
 [ 2.52606622e-01 -3.91470731e-03  9.67561145e-01  1.15530998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.940714057 meters
Centerline goodness : 0.996053 with order 1
Centerline is valid?  [True, True]
Translation: X:45.51, Y:4.49, Z:11.57
[[ 9.62610459e-01 -1.00096724e-01 -2.51717599e-01  4.55145751e+01]
 [ 9.78307987e-02  9.94970077e-01 -2.15332400e-02  4.48898441e+00]
 [ 2.52606886e-01 -3.89761171e-03  9.67561145e-01  1.15679071e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.000714057 meters
Centerline goodness : 0.995050 with order 1
Centerline is valid?  [True, True]
Translation: X:45.57, Y:4.48, Z:11.58
[[ 9.62481715e-01 -1.01340411e-01 -2.51712274e-01  4.55724865e+01]
 [ 9.91000680e-02  9.94843113e-01 -2.15953161e-02  4.48179780e+00]
 [ 2.52602700e-01 -4.15960664e-03  9.67561147e-01  1.15831281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.060714057000006 meters
Centerline goodness : 0.995458 with order 1
Centerline is valid?  [True, True]
Translation: X:45.63, Y:4.48, Z:11.60
[[ 9.62473065e-01 -1.01425563e-01 -2.51711054e-01  4.56304175e+01]
 [ 9.91843690e-02  9.94834403e-01 -2.16095233e-02  4.47501131e+00]
 [ 2.52602575e-01 -4.16721796e-03  9.67561147e-01  1.15969261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.120714057 meters
Centerline goodness : 0.994823 with order 1
Centerline is valid?  [True, True]
Translation: X:45.69, Y:4.47, Z:11.61
[[ 9.62574644e-01 -1.00461022e-01 -2.51709433e-01  4.56883071e+01]
 [ 9.81824666e-02  9.94933373e-01 -2.16283947e-02  4.46902366e+00]
 [ 2.52606926e-01 -3.89450864e-03  9.67561147e-01  1.16119871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.180714057 meters
Centerline goodness : 0.994636 with order 1
Centerline is valid?  [True, True]
Translation: X:45.75, Y:4.46, Z:11.63
[[ 9.62646321e-01 -9.97759235e-02 -2.51707817e-01  4.57461833e+01]
 [ 9.74694254e-02  9.95003071e-01 -2.16471879e-02  4.46494875e+00]
 [ 2.52609919e-01 -3.69523044e-03  9.67561148e-01  1.16259339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.240714057000005 meters
Centerline goodness : 0.993325 with order 1
Centerline is valid?  [True, True]
Translation: X:45.80, Y:4.46, Z:11.64
[[ 9.62700122e-01 -9.92585624e-02 -2.51706602e-01  4.58046141e+01]
 [ 9.69309873e-02  9.95055361e-01 -2.16612967e-02  4.46339245e+00]
 [ 2.52612073e-01 -3.54483657e-03  9.67561148e-01  1.16404170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.300714057 meters
Centerline goodness : 0.993985 with order 1
Centerline is valid?  [True, True]
Translation: X:45.86, Y:4.46, Z:11.65
[[ 9.62348806e-01 -1.02610765e-01 -2.51705794e-01  4.58614515e+01]
 [ 1.00393433e-01  9.94711787e-01 -2.16706878e-02  4.45790397e+00]
 [ 2.52598366e-01 -4.41484814e-03  9.67561148e-01  1.16548446e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.360714057 meters
Centerline goodness : 0.993667 with order 1
Centerline is valid?  [True, True]
Translation: X:45.92, Y:4.45, Z:11.67
[[ 9.61843333e-01 -1.07250160e-01 -2.51703806e-01  4.59202404e+01]
 [ 1.05182878e-01  9.94216246e-01 -2.16937571e-02  4.45477432e+00]
 [ 2.52574672e-01 -5.60893516e-03  9.67561148e-01  1.16714423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.420714057000005 meters
Centerline goodness : 0.994059 with order 1
Centerline is valid?  [True, True]
Translation: X:45.98, Y:4.45, Z:11.69
[[ 9.61411166e-01 -1.11057889e-01 -2.51703625e-01  4.59782346e+01]
 [ 1.09118259e-01  9.93791978e-01 -2.16958585e-02  4.45353101e+00]
 [ 2.52550539e-01 -6.60682061e-03  9.67561148e-01  1.16869982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.480714057 meters
Centerline goodness : 0.994206 with order 1
Centerline is valid?  [True, True]
Translation: X:46.04, Y:4.45, Z:11.70
[[ 9.60291469e-01 -1.20357748e-01 -2.51702814e-01  4.60377398e+01]
 [ 1.18729148e-01  9.92689413e-01 -2.17052585e-02  4.44989671e+00]
 [ 2.52475115e-01 -9.04108605e-03  9.67561148e-01  1.17011727e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.540714057 meters
Centerline goodness : 0.994729 with order 1
Centerline is valid?  [True, True]
Translation: X:46.10, Y:4.45, Z:11.72
[[ 9.59169989e-01 -1.28990797e-01 -2.51702814e-01  4.60966085e+01]
 [ 1.27653686e-01  9.91581272e-01 -2.17052585e-02  4.44823850e+00]
 [ 2.52383575e-01 -1.13117593e-02  9.67561148e-01  1.17168757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.600714057000005 meters
Centerline goodness : 0.994671 with order 1
Centerline is valid?  [True, True]
Translation: X:46.15, Y:4.45, Z:11.73
[[ 9.57701802e-01 -1.39474201e-01 -2.51702614e-01  4.61549822e+01]
 [ 1.38491065e-01  9.90125752e-01 -2.17075833e-02  4.44945071e+00]
 [ 2.52244887e-01 -1.40691715e-02  9.67561148e-01  1.17337835e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.660714057 meters
Centerline goodness : 0.994755 with order 1
Centerline is valid?  [True, True]
Translation: X:46.21, Y:4.45, Z:11.75
[[ 9.56922532e-01 -1.44724018e-01 -2.51702655e-01  4.62131935e+01]
 [ 1.43918831e-01  9.89351389e-01 -2.17071055e-02  4.45330847e+00]
 [ 2.52163911e-01 -1.54527335e-02  9.67561148e-01  1.17497144e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.720714057 meters
Centerline goodness : 0.995379 with order 1
Centerline is valid?  [True, True]
Translation: X:46.27, Y:4.46, Z:11.77
[[ 9.56129289e-01 -1.49875388e-01 -2.51702504e-01  4.62713033e+01]
 [ 1.49244398e-01  9.88562004e-01 -2.17088573e-02  4.45991053e+00]
 [ 2.52077155e-01 -1.68087144e-02  9.67561148e-01  1.17650074e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.780714057000004 meters
Centerline goodness : 0.995422 with order 1
Centerline is valid?  [True, True]
Translation: X:46.33, Y:4.47, Z:11.78
[[ 9.55510734e-01 -1.53769590e-01 -2.51702504e-01  4.63284355e+01]
 [ 1.53270743e-01  9.87945750e-01 -2.17088573e-02  4.46971487e+00]
 [ 2.52006581e-01 -1.78355835e-02  9.67561148e-01  1.17806568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.840714057 meters
Centerline goodness : 0.994801 with order 1
Centerline is valid?  [True, True]
Translation: X:46.38, Y:4.48, Z:11.80
[[ 9.55008885e-01 -1.56856606e-01 -2.51702274e-01  4.63840286e+01]
 [ 1.56461880e-01  9.87445335e-01 -2.17115160e-02  4.48165390e+00]
 [ 2.51947831e-01 -1.86471204e-02  9.67561148e-01  1.17963919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.900714057 meters
Centerline goodness : 0.994293 with order 1
Centerline is valid?  [True, True]
Translation: X:46.44, Y:4.49, Z:11.81
[[ 9.54952585e-01 -1.57208502e-01 -2.51696339e-01  4.64398174e+01]
 [ 1.56807747e-01  9.87388959e-01 -2.17801171e-02  4.49227768e+00]
 [ 2.51946205e-01 -1.86689566e-02  9.67561150e-01  1.18115823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.960714057000004 meters
Centerline goodness : 0.994746 with order 1
Centerline is valid?  [True, True]
Translation: X:46.50, Y:4.51, Z:11.82
[[ 9.54260163e-01 -1.61367454e-01 -2.51690456e-01  4.64963374e+01]
 [ 1.61090253e-01  9.86697826e-01 -2.18478873e-02  4.50649148e+00]
 [ 2.51867964e-01 -1.96963108e-02  9.67561153e-01  1.18244117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.020714057000006 meters
Centerline goodness : 0.993550 with order 1
Centerline is valid?  [True, True]
Translation: X:46.55, Y:4.52, Z:11.84
[[ 9.53756208e-01 -1.64321089e-01 -2.51689641e-01  4.65535015e+01]
 [ 1.64141855e-01  9.86194560e-01 -2.18572814e-02  4.52175588e+00]
 [ 2.51806567e-01 -2.04662866e-02  9.67561153e-01  1.18384408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.080714057 meters
Centerline goodness : 0.994696 with order 1
Centerline is valid?  [True, True]
Translation: X:46.61, Y:4.53, Z:11.85
[[ 9.53373180e-01 -1.66529607e-01 -2.51689233e-01  4.66112176e+01]
 [ 1.66424273e-01  9.85811856e-01 -2.18619714e-02  4.53382683e+00]
 [ 2.51758896e-01 -2.10445805e-02  9.67561153e-01  1.18537418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.140714057000004 meters
Centerline goodness : 0.993350 with order 1
Centerline is valid?  [True, True]
Translation: X:46.67, Y:4.55, Z:11.87
[[ 9.52911711e-01 -1.69150230e-01 -2.51689233e-01  4.66672220e+01]
 [ 1.69134085e-01  9.85350555e-01 -2.18619714e-02  4.55179233e+00]
 [ 2.51700083e-01 -2.17366996e-02  9.67561153e-01  1.18677953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.200714057000006 meters
Centerline goodness : 0.994349 with order 1
Centerline is valid?  [True, True]
Translation: X:46.72, Y:4.57, Z:11.88
[[ 9.52467338e-01 -1.71635304e-01 -2.51688879e-01  4.67238393e+01]
 [ 1.71702705e-01  9.84906116e-01 -2.18660546e-02  4.56791066e+00]
 [ 2.51642903e-01 -2.23889583e-02  9.67561153e-01  1.18839099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.260714057 meters
Centerline goodness : 0.994486 with order 1
Centerline is valid?  [True, True]
Translation: X:46.78, Y:4.59, Z:11.90
[[ 9.53347896e-01 -1.66675448e-01 -2.51688467e-01  4.67803028e+01]
 [ 1.66572765e-01  9.85786581e-01 -2.18707874e-02  4.58520467e+00]
 [ 2.51756437e-01 -2.10739746e-02  9.67561153e-01  1.18963608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.320714057 meters
Centerline goodness : 0.995925 with order 1
Centerline is valid?  [True, True]
Translation: X:46.84, Y:4.61, Z:11.92
[[ 9.53615239e-01 -1.65140084e-01 -2.51687761e-01  4.68358880e+01]
 [ 1.64983036e-01  9.86053706e-01 -2.18789116e-02  4.60503321e+00]
 [ 2.51790735e-01 -2.06601475e-02  9.67561153e-01  1.19160602e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.380714057000006 meters
Centerline goodness : 0.996347 with order 1
Centerline is valid?  [True, True]
Translation: X:46.89, Y:4.62, Z:11.93
[[ 9.54576120e-01 -1.59492012e-01 -2.51687761e-01  4.68926212e+01]
 [ 1.59142939e-01  9.87013089e-01 -2.18789116e-02  4.61808213e+00]
 [ 2.51908626e-01 -1.91692434e-02  9.67561153e-01  1.19332513e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.440714057 meters
Centerline goodness : 0.997524 with order 1
Centerline is valid?  [True, True]
Translation: X:46.95, Y:4.64, Z:11.95
[[ 9.56298263e-01 -1.48818378e-01 -2.51687748e-01  4.69494805e+01]
 [ 1.48106932e-01  9.88729308e-01 -2.18790571e-02  4.63608289e+00]
 [ 2.52107059e-01 -1.63537959e-02  9.67561153e-01  1.19500578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.500714057 meters
Centerline goodness : 0.997583 with order 1
Centerline is valid?  [True, True]
Translation: X:47.01, Y:4.65, Z:11.96
[[ 9.58275506e-01 -1.35503648e-01 -2.51687935e-01  4.70066081e+01]
 [ 1.34341775e-01  9.90693539e-01 -2.18769144e-02  4.65373918e+00]
 [ 2.52310012e-01 -1.28480928e-02  9.67561153e-01  1.19646574e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.560714057000006 meters
Centerline goodness : 0.998220 with order 1
Centerline is valid?  [True, True]
Translation: X:47.07, Y:4.66, Z:11.98
[[ 9.58613639e-01 -1.33090271e-01 -2.51688042e-01  4.70661184e+01]
 [ 1.31847097e-01  9.91028656e-01 -2.18756795e-02  4.66266176e+00]
 [ 2.52341502e-01 -1.22140129e-02  9.67561153e-01  1.19797958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.620714057 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:47.12, Y:4.68, Z:11.99
[[ 9.60043579e-01 -1.22347168e-01 -2.51689286e-01  4.71231478e+01]
 [ 1.20744832e-01  9.92442828e-01 -2.18613554e-02  4.67656255e+00]
 [ 2.52461902e-01 -9.40232678e-03  9.67561153e-01  1.19941172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.680714057 meters
Centerline goodness : 0.997872 with order 1
Centerline is valid?  [True, True]
Translation: X:47.18, Y:4.69, Z:12.01
[[ 9.60907413e-01 -1.15366656e-01 -2.51689248e-01  4.71811656e+01]
 [ 1.13528781e-01  9.93294155e-01 -2.18617941e-02  4.68621281e+00]
 [ 2.52523581e-01 -7.56681338e-03  9.67561153e-01  1.20102873e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.740714057000005 meters
Centerline goodness : 0.998900 with order 1
Centerline is valid?  [True, True]
Translation: X:47.24, Y:4.70, Z:12.03
[[ 9.61889006e-01 -1.06873750e-01 -2.51689376e-01  4.72375163e+01]
 [ 1.04750235e-01  9.94258274e-01 -2.18603232e-02  4.69768004e+00]
 [ 2.52580539e-01 -5.33731662e-03  9.67561153e-01  1.20266750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.800714057 meters
Centerline goodness : 0.998921 with order 1
Centerline is valid?  [True, True]
Translation: X:47.30, Y:4.70, Z:12.04
[[ 9.62630523e-01 -9.99732472e-02 -2.51689942e-01  4.72963264e+01]
 [ 9.76193684e-02  9.94983854e-01 -2.18538062e-02  4.70385530e+00]
 [ 2.52612224e-01 -3.53267221e-03  9.67561153e-01  1.20418197e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.860714057 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:47.35, Y:4.71, Z:12.06
[[ 9.63255015e-01 -9.37654222e-02 -2.51689933e-01  4.73542734e+01]
 [ 9.12029954e-02  9.95592497e-01 -2.18539060e-02  4.70832549e+00]
 [ 2.52629750e-01 -1.90399124e-03  9.67561153e-01  1.20563250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.920714057000005 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:47.41, Y:4.71, Z:12.07
[[ 9.63785468e-01 -8.81484899e-02 -2.51689126e-01  4.74105100e+01]
 [ 8.53951683e-02  9.96107256e-01 -2.18631941e-02  4.71033945e+00]
 [ 2.52636573e-01 -4.21606547e-04  9.67561153e-01  1.20699454e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.980714057 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:47.47, Y:4.71, Z:12.09
[[ 9.64007364e-01 -8.56935501e-02 -2.51687142e-01  4.74683350e+01]
 [ 8.28519600e-02  9.96321512e-01 -2.18860122e-02  4.71134425e+00]
 [ 2.52636804e-01  2.45503891e-04  9.67561153e-01  1.20850361e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.040714057 meters
Centerline goodness : 0.998173 with order 1
Centerline is valid?  [True, True]
Translation: X:47.53, Y:4.71, Z:12.10
[[ 9.64195644e-01 -8.35508680e-02 -2.51686338e-01  4.75268265e+01]
 [ 8.06350566e-02  9.96503179e-01 -2.18952497e-02  4.70909293e+00]
 [ 2.52635604e-01  8.16562280e-04  9.67561153e-01  1.21004056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.100714057000005 meters
Centerline goodness : 0.998113 with order 1
Centerline is valid?  [True, True]
Translation: X:47.58, Y:4.71, Z:12.11
[[ 9.64295797e-01 -8.23881844e-02 -2.51685922e-01  4.75838661e+01]
 [ 7.94321685e-02  9.96599678e-01 -2.19000404e-02  4.70562808e+00]
 [ 2.52634413e-01  1.12615837e-03  9.67561153e-01  1.21148510e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.160714057 meters
Centerline goodness : 0.997567 with order 1
Centerline is valid?  [True, True]
Translation: X:47.64, Y:4.70, Z:12.13
[[ 9.64277552e-01 -8.26191575e-02 -2.51680108e-01  4.76428905e+01]
 [ 7.96534926e-02  9.96580547e-01 -2.19666556e-02  4.69924235e+00]
 [ 2.52634366e-01  1.13475327e-03  9.67561155e-01  1.21292920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.220714057 meters
Centerline goodness : 0.997027 with order 1
Centerline is valid?  [True, True]
Translation: X:47.70, Y:4.70, Z:12.14
[[ 9.64152482e-01 -8.40673033e-02 -2.51679716e-01  4.77016600e+01]
 [ 8.11489841e-02  9.96459789e-01 -2.19711502e-02  4.69706766e+00]
 [ 2.52635772e-01  7.59985739e-04  9.67561155e-01  1.21446054e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.280714057000004 meters
Centerline goodness : 0.996896 with order 1
Centerline is valid?  [True, True]
Translation: X:47.76, Y:4.69, Z:12.16
[[ 9.63826988e-01 -8.77214952e-02 -2.51679311e-01  4.77597082e+01]
 [ 8.49244548e-02  9.96145021e-01 -2.19757799e-02  4.68935482e+00]
 [ 2.52636841e-01 -1.92878592e-04  9.67561155e-01  1.21595517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.34071405700001 meters
Centerline goodness : 0.995709 with order 1
Centerline is valid?  [True, True]
Translation: X:47.82, Y:4.68, Z:12.17
[[ 9.63534993e-01 -9.08888734e-02 -2.51673457e-01  4.78167249e+01]
 [ 8.81806089e-02  9.95860584e-01 -2.20426271e-02  4.68167744e+00]
 [ 2.52635106e-01 -9.53876100e-04  9.67561158e-01  1.21721315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.400714057 meters
Centerline goodness : 0.995262 with order 1
Centerline is valid?  [True, True]
Translation: X:47.88, Y:4.68, Z:12.19
[[ 9.63300497e-01 -9.33469820e-02 -2.51671401e-01  4.78755490e+01]
 [ 9.07150749e-02  9.95632394e-01 -2.20660847e-02  4.67602857e+00]
 [ 2.52632001e-01 -1.57411962e-03  9.67561158e-01  1.21866560e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.460714057000004 meters
Centerline goodness : 0.995084 with order 1
Centerline is valid?  [True, True]
Translation: X:47.93, Y:4.67, Z:12.20
[[ 9.63129162e-01 -9.51014109e-02 -2.51670297e-01  4.79341552e+01]
 [ 9.25251105e-02  9.95465538e-01 -2.20786681e-02  4.67429780e+00]
 [ 2.52628820e-01 -2.02121292e-03  9.67561158e-01  1.22005710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.520714057000006 meters
Centerline goodness : 0.994261 with order 1
Centerline is valid?  [True, True]
Translation: X:47.99, Y:4.67, Z:12.21
[[ 9.62511496e-01 -1.01163727e-01 -2.51669467e-01  4.79909433e+01]
 [ 9.87886069e-02  9.94863270e-01 -2.20881240e-02  4.66922283e+00]
 [ 2.52611226e-01 -3.60200272e-03  9.67561158e-01  1.22143493e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.580714057 meters
Centerline goodness : 0.994179 with order 1
Centerline is valid?  [True, True]
Translation: X:48.05, Y:4.66, Z:12.23
[[ 9.61530736e-01 -1.10100642e-01 -2.51667423e-01  4.80496269e+01]
 [ 1.08020071e-01  9.93902787e-01 -2.21113888e-02  4.66449869e+00]
 [ 2.52567431e-01 -5.92435298e-03  9.67561158e-01  1.22313433e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.640714057000004 meters
Centerline goodness : 0.994155 with order 1
Centerline is valid?  [True, True]
Translation: X:48.11, Y:4.66, Z:12.25
[[ 9.60581806e-01 -1.18093618e-01 -2.51667423e-01  4.81061946e+01]
 [ 1.16282349e-01  9.92970041e-01 -2.21113888e-02  4.66387651e+00]
 [ 2.52509425e-01 -8.02468127e-03  9.67561158e-01  1.22468172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.700714057000006 meters
Centerline goodness : 0.993419 with order 1
Centerline is valid?  [True, True]
Translation: X:48.17, Y:4.66, Z:12.26
[[ 9.59011808e-01 -1.30236367e-01 -2.51664143e-01  4.81654330e+01]
 [ 1.28825220e-01  9.91419941e-01 -2.21486600e-02  4.66176280e+00]
 [ 2.52389411e-01 -1.11798622e-02  9.67561159e-01  1.22618795e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.760714057 meters
Centerline goodness : 0.993769 with order 1
Centerline is valid?  [True, True]
Translation: X:48.22, Y:4.66, Z:12.28
[[ 9.57481031e-01 -1.41050419e-01 -2.51664169e-01  4.82240915e+01]
 [ 1.40005161e-01  9.89903028e-01 -2.21483674e-02  4.66143289e+00]
 [ 2.52247159e-01 -1.40276408e-02  9.67561159e-01  1.22758935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.820714057 meters
Centerline goodness : 0.994230 with order 1
Centerline is valid?  [True, True]
Translation: X:48.28, Y:4.67, Z:12.29
[[ 9.56576777e-01 -1.47057929e-01 -2.51664130e-01  4.82811011e+01]
 [ 1.46216098e-01  9.89004693e-01 -2.21488008e-02  4.66510246e+00]
 [ 2.52154163e-01 -1.56103186e-02  9.67561159e-01  1.22911484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.880714057000006 meters
Centerline goodness : 0.994025 with order 1
Centerline is valid?  [True, True]
Translation: X:48.34, Y:4.67, Z:12.31
[[ 9.55811368e-01 -1.51954157e-01 -2.51663593e-01  4.83392315e+01]
 [ 1.51276783e-01  9.88243136e-01 -2.21549057e-02  4.67189331e+00]
 [ 2.52071348e-01 -1.68949481e-02  9.67561159e-01  1.23059536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.940714057 meters
Centerline goodness : 0.994168 with order 1
Centerline is valid?  [True, True]
Translation: X:48.40, Y:4.68, Z:12.32
[[ 9.55395684e-01 -1.54546167e-01 -2.51663602e-01  4.83971127e+01]
 [ 1.53956793e-01  9.87829171e-01 -2.21547977e-02  4.68017485e+00]
 [ 2.52024587e-01 -1.75787232e-02  9.67561159e-01  1.23194418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.000714057 meters
Centerline goodness : 0.993618 with order 1
Centerline is valid?  [True, True]
Translation: X:48.46, Y:4.69, Z:12.33
[[ 9.55048304e-01 -1.56679205e-01 -2.51663195e-01  4.84552741e+01]
 [ 1.56161045e-01  9.87483006e-01 -2.21594227e-02  4.68916693e+00]
 [ 2.51985049e-01 -1.81366685e-02  9.67561159e-01  1.23343065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.060714057000006 meters
Centerline goodness : 0.994217 with order 1
Centerline is valid?  [True, True]
Translation: X:48.51, Y:4.70, Z:12.35
[[ 9.54412433e-01 -1.60507307e-01 -2.51663091e-01  4.85129616e+01]
 [ 1.60118892e-01  9.86848949e-01 -2.21606049e-02  4.70195304e+00]
 [ 2.51910396e-01 -1.91456584e-02  9.67561159e-01  1.23502459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.120714057 meters
Centerline goodness : 0.994988 with order 1
Centerline is valid?  [True, True]
Translation: X:48.57, Y:4.72, Z:12.37
[[ 9.53740794e-01 -1.64451168e-01 -2.51663091e-01  4.85690619e+01]
 [ 1.64196838e-01  9.86178638e-01 -2.21606049e-02  4.71501557e+00]
 [ 2.51829102e-01 -2.01868109e-02  9.67561159e-01  1.23651391e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.180714057 meters
Centerline goodness : 0.994956 with order 1
Centerline is valid?  [True, True]
Translation: X:48.63, Y:4.73, Z:12.38
[[ 9.53368443e-01 -1.66597494e-01 -2.51662248e-01  4.86258870e+01]
 [ 1.66413669e-01  9.85806763e-01 -2.21701720e-02  4.72697447e+00]
 [ 2.51783842e-01 -2.07436957e-02  9.67561159e-01  1.23813138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.240714057000005 meters
Centerline goodness : 0.994801 with order 1
Centerline is valid?  [True, True]
Translation: X:48.68, Y:4.74, Z:12.40
[[ 9.52647148e-01 -1.70674978e-01 -2.51661408e-01  4.86833134e+01]
 [ 1.70627442e-01  9.85085954e-01 -2.21797112e-02  4.74339344e+00]
 [ 2.51693640e-01 -2.18109036e-02  9.67561159e-01  1.23966676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.300714057 meters
Centerline goodness : 0.995866 with order 1
Centerline is valid?  [True, True]
Translation: X:48.74, Y:4.76, Z:12.41
[[ 9.52623460e-01 -1.70807264e-01 -2.51661325e-01  4.87403542e+01]
 [ 1.70763987e-01  9.85062272e-01 -2.21806491e-02  4.75996765e+00]
 [ 2.51690693e-01 -2.18448845e-02  9.67561159e-01  1.24126922e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.360714057 meters
Centerline goodness : 0.996379 with order 1
Centerline is valid?  [True, True]
Translation: X:48.80, Y:4.78, Z:12.43
[[ 9.52973585e-01 -1.68842899e-01 -2.51661325e-01  4.87986093e+01]
 [ 1.68732744e-01  9.85412239e-01 -2.21806491e-02  4.77866694e+00]
 [ 2.51735195e-01 -2.13259332e-02  9.67561159e-01  1.24279814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.420714057000005 meters
Centerline goodness : 0.996478 with order 1
Centerline is valid?  [True, True]
Translation: X:48.85, Y:4.79, Z:12.44
[[ 9.53321158e-01 -1.66867995e-01 -2.51662158e-01  4.88549669e+01]
 [ 1.66693107e-01  9.85759528e-01 -2.21711928e-02  4.79293111e+00]
 [ 2.51778033e-01 -2.08140799e-02  9.67561159e-01  1.24423209e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.480714057 meters
Centerline goodness : 0.997829 with order 1
Centerline is valid?  [True, True]
Translation: X:48.91, Y:4.81, Z:12.46
[[ 9.53831400e-01 -1.63926916e-01 -2.51661730e-01  4.89128058e+01]
 [ 1.63650706e-01  9.86269065e-01 -2.21760531e-02  4.80636255e+00]
 [ 2.51841431e-01 -2.00324040e-02  9.67561159e-01  1.24571787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.540714057 meters
Centerline goodness : 0.998102 with order 1
Centerline is valid?  [True, True]
Translation: X:48.97, Y:4.82, Z:12.47
[[ 9.54540294e-01 -1.59746615e-01 -2.51662167e-01  4.89697723e+01]
 [ 1.59329600e-01  9.86976454e-01 -2.21710883e-02  4.82396938e+00]
 [ 2.51926390e-01 -1.89340353e-02  9.67561159e-01  1.24716392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.600714057000005 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:49.03, Y:4.84, Z:12.49
[[ 9.55333851e-01 -1.54930313e-01 -2.51662136e-01  4.90268636e+01]
 [ 1.54349618e-01  9.87767494e-01 -2.21714378e-02  4.84239256e+00]
 [ 2.52018706e-01 -1.76628297e-02  9.67561159e-01  1.24889217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.660714057 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:49.08, Y:4.86, Z:12.51
[[ 9.55614605e-01 -1.53188483e-01 -2.51662502e-01  4.90846999e+01]
 [ 1.52549750e-01  9.88047157e-01 -2.21672920e-02  4.85552662e+00]
 [ 2.52050193e-01 -1.72076638e-02  9.67561159e-01  1.25054843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.720714057 meters
Centerline goodness : 0.998556 with order 1
Centerline is valid?  [True, True]
Translation: X:49.14, Y:4.87, Z:12.52
[[ 9.55630177e-01 -1.53090624e-01 -2.51662922e-01  4.91433005e+01]
 [ 1.52449820e-01  9.88062688e-01 -2.21625228e-02  4.87069834e+00]
 [ 2.52051617e-01 -1.71867916e-02  9.67561159e-01  1.25214183e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.780714057000004 meters
Centerline goodness : 0.999047 with order 1
Centerline is valid?  [True, True]
Translation: X:49.20, Y:4.89, Z:12.54
[[ 9.55202502e-01 -1.55734135e-01 -2.51664577e-01  4.92025359e+01]
 [ 1.55188001e-01  9.87636745e-01 -2.21437106e-02  4.88597397e+00]
 [ 2.52001715e-01 -1.79035949e-02  9.67561159e-01  1.25377415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.84071405700001 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:49.26, Y:4.90, Z:12.55
[[ 9.54912933e-01 -1.57497314e-01 -2.51666219e-01  4.92607485e+01]
 [ 1.57015957e-01  9.87348202e-01 -2.21250294e-02  4.89655213e+00]
 [ 2.51966822e-01 -1.83881355e-02  9.67561159e-01  1.25523485e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.900714057 meters
Centerline goodness : 0.999367 with order 1
Centerline is valid?  [True, True]
Translation: X:49.32, Y:4.91, Z:12.57
[[ 9.54435650e-01 -1.60363649e-01 -2.51666623e-01  4.93173993e+01]
 [ 1.59980883e-01  9.86872233e-01 -2.21204320e-02  4.91062260e+00]
 [ 2.51910116e-01 -1.91493197e-02  9.67561159e-01  1.25693759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.960714057000004 meters
Centerline goodness : 0.999300 with order 1
Centerline is valid?  [True, True]
Translation: X:49.38, Y:4.93, Z:12.59
[[ 9.54430811e-01 -1.60392966e-01 -2.51666292e-01  4.93755386e+01]
 [ 1.60010209e-01  9.86867394e-01 -2.21241967e-02  4.92615608e+00]
 [ 2.51909824e-01 -1.91531612e-02  9.67561159e-01  1.25870071e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.020714057000006 meters
Centerline goodness : 0.999362 with order 1
Centerline is valid?  [True, True]
Translation: X:49.43, Y:4.94, Z:12.60
[[ 9.54780079e-01 -1.58297977e-01 -2.51667940e-01  4.94347178e+01]
 [ 1.57848953e-01  9.87215811e-01 -2.21054381e-02  4.94015917e+00]
 [ 2.51949816e-01 -1.86196890e-02  9.67561160e-01  1.26020746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.080714057 meters
Centerline goodness : 0.999315 with order 1
Centerline is valid?  [True, True]
Translation: X:49.49, Y:4.95, Z:12.62
[[ 9.55190311e-01 -1.55800609e-01 -2.51669704e-01  4.94926957e+01]
 [ 1.55272032e-01  9.87624845e-01 -2.20853444e-02  4.95341259e+00]
 [ 2.51996162e-01 -1.79815592e-02  9.67561160e-01  1.26178659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.140714057000004 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:49.55, Y:4.96, Z:12.63
[[ 9.55435398e-01 -1.54290445e-01 -2.51669742e-01  4.95513132e+01]
 [ 1.53710711e-01  9.87869057e-01 -2.20849045e-02  4.96421673e+00]
 [ 2.52024241e-01 -1.75836356e-02  9.67561160e-01  1.26332059e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.200714057000006 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:49.61, Y:4.98, Z:12.65
[[ 9.55651933e-01 -1.52942202e-01 -2.51670551e-01  4.96092651e+01]
 [ 1.52319124e-01  9.88084788e-01 -2.20756785e-02  4.97727657e+00]
 [ 2.52048146e-01 -1.72375730e-02  9.67561160e-01  1.26480129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.260714057 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:49.67, Y:4.99, Z:12.66
[[ 9.55653282e-01 -1.52932453e-01 -2.51671353e-01  4.96677023e+01]
 [ 1.52311441e-01  9.88086177e-01 -2.20665335e-02  4.98956511e+00]
 [ 2.52047674e-01 -1.72444714e-02  9.67561160e-01  1.26626818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.320714057 meters
Centerline goodness : 0.998907 with order 1
Centerline is valid?  [True, True]
Translation: X:49.73, Y:5.00, Z:12.68
[[ 9.55441637e-01 -1.54247250e-01 -2.51672534e-01  4.97281228e+01]
 [ 1.53674398e-01  9.87875418e-01 -2.20530559e-02  4.99971423e+00]
 [ 2.52022733e-01 -1.76052173e-02  9.67561160e-01  1.26754670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.380714057000006 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:49.79, Y:5.01, Z:12.69
[[ 9.55272123e-01 -1.55291102e-01 -2.51674082e-01  4.97879222e+01]
 [ 1.54758323e-01  9.87706588e-01 -2.20353741e-02  5.00826461e+00]
 [ 2.52002047e-01 -1.78988803e-02  9.67561160e-01  1.26910147e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.440714057 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:49.85, Y:5.02, Z:12.71
[[ 9.54947110e-01 -1.57274910e-01 -2.51675625e-01  4.98466103e+01]
 [ 1.56814123e-01  9.87382677e-01 -2.20177380e-02  5.01860076e+00]
 [ 2.51962990e-01 -1.84405172e-02  9.67561160e-01  1.27086905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.500714057 meters
Centerline goodness : 0.998543 with order 1
Centerline is valid?  [True, True]
Translation: X:49.90, Y:5.03, Z:12.72
[[ 9.54559092e-01 -1.59604619e-01 -2.51680959e-01  4.99038474e+01]
 [ 1.59239007e-01  9.86995870e-01 -2.19566014e-02  5.02808959e+00]
 [ 2.51912442e-01 -1.91185524e-02  9.67561162e-01  1.27228045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.560714057000006 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:49.96, Y:5.04, Z:12.74
[[ 9.54330918e-01 -1.60961065e-01 -2.51682408e-01  4.99623116e+01]
 [ 1.60645907e-01  9.86768225e-01 -2.19399822e-02  5.03769479e+00]
 [ 2.51883686e-01 -1.94937455e-02  9.67561162e-01  1.27386532e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.620714057 meters
Centerline goodness : 0.998532 with order 1
Centerline is valid?  [True, True]
Translation: X:50.02, Y:5.05, Z:12.75
[[ 9.54484551e-01 -1.60046882e-01 -2.51682809e-01  5.00205562e+01]
 [ 1.59701862e-01  9.86921554e-01 -2.19353802e-02  5.04862492e+00]
 [ 2.51901879e-01 -1.92572316e-02  9.67561162e-01  1.27547516e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.680714057 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:50.08, Y:5.06, Z:12.77
[[ 9.54805777e-01 -1.58118594e-01 -2.51683212e-01  5.00801071e+01]
 [ 1.57709267e-01  9.87242032e-01 -2.19307529e-02  5.05764045e+00]
 [ 2.51939906e-01 -1.87531655e-02  9.67561162e-01  1.27715483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.740714057000005 meters
Centerline goodness : 0.998598 with order 1
Centerline is valid?  [True, True]
Translation: X:50.14, Y:5.07, Z:12.79
[[ 9.55160352e-01 -1.55953100e-01 -2.51688958e-01  5.01389740e+01]
 [ 1.55487558e-01  9.87595847e-01 -2.18646193e-02  5.06724234e+00]
 [ 2.51976825e-01 -1.82502841e-02  9.67561164e-01  1.27868613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.800714057 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:50.20, Y:5.08, Z:12.80
[[ 9.55468661e-01 -1.54051585e-01 -2.51689783e-01  5.01976930e+01]
 [ 1.53523974e-01  9.87903206e-01 -2.18551151e-02  5.07701983e+00]
 [ 2.52011959e-01 -1.77585381e-02  9.67561164e-01  1.28009723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.860714057 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:50.26, Y:5.09, Z:12.82
[[ 9.55968989e-01 -1.50915018e-01 -2.51690184e-01  5.02568825e+01]
 [ 1.50282173e-01  9.88401651e-01 -2.18505008e-02  5.08697765e+00]
 [ 2.52068562e-01 -1.69361465e-02  9.67561164e-01  1.28164929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.920714057000005 meters
Centerline goodness : 0.998765 with order 1
Centerline is valid?  [True, True]
Translation: X:50.31, Y:5.10, Z:12.83
[[ 9.56386058e-01 -1.48240020e-01 -2.51695460e-01  5.03145807e+01]
 [ 1.47532413e-01  9.88817173e-01 -2.17895647e-02  5.09619622e+00]
 [ 2.52110879e-01 -1.62940028e-02  9.67561166e-01  1.28305466e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.980714057 meters
Centerline goodness : 0.998374 with order 1
Centerline is valid?  [True, True]
Translation: X:50.37, Y:5.10, Z:12.85
[[ 9.56508924e-01 -1.47445152e-01 -2.51695460e-01  5.03733599e+01]
 [ 1.46710594e-01  9.88939440e-01 -2.17895647e-02  5.10496056e+00]
 [ 2.52124333e-01 -1.60844772e-02  9.67561166e-01  1.28464758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.040714057 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:50.43, Y:5.11, Z:12.86
[[ 9.56390456e-01 -1.48210256e-01 -2.51696277e-01  5.04332698e+01]
 [ 1.47504114e-01  9.88821603e-01 -2.17801261e-02  5.11227693e+00]
 [ 2.52110754e-01 -1.62959314e-02  9.67561166e-01  1.28620480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.100714057000005 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:50.49, Y:5.12, Z:12.88
[[ 9.56029316e-01 -1.50512819e-01 -2.51701884e-01  5.04918705e+01]
 [ 1.49901807e-01  9.88462393e-01 -2.17151315e-02  5.12079073e+00]
 [ 2.52066253e-01 -1.69702649e-02  9.67561168e-01  1.28772718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.160714057 meters
Centerline goodness : 0.998985 with order 1
Centerline is valid?  [True, True]
Translation: X:50.55, Y:5.13, Z:12.89
[[ 9.55618886e-01 -1.53096379e-01 -2.51702289e-01  5.05494451e+01]
 [ 1.52574265e-01  9.88053516e-01 -2.17104364e-02  5.12794950e+00]
 [ 2.52019121e-01 -1.76563888e-02  9.67561168e-01  1.28908332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.220714057 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:50.61, Y:5.13, Z:12.91
[[ 9.55444511e-01 -1.54180073e-01 -2.51702785e-01  5.06092637e+01]
 [ 1.53696251e-01  9.87879734e-01 -2.17046893e-02  5.13396588e+00]
 [ 2.51998511e-01 -1.79481481e-02  9.67561168e-01  1.29075675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.280714057000004 meters
Centerline goodness : 0.999096 with order 1
Centerline is valid?  [True, True]
Translation: X:50.67, Y:5.14, Z:12.92
[[ 9.55567227e-01 -1.53408133e-01 -2.51708600e-01  5.06677156e+01]
 [ 1.52915835e-01  9.88002321e-01 -2.16370490e-02  5.14242920e+00]
 [ 2.52007980e-01 -1.78145758e-02  9.67561171e-01  1.29227561e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.34071405700001 meters
Centerline goodness : 0.999282 with order 1
Centerline is valid?  [True, True]
Translation: X:50.73, Y:5.15, Z:12.94
[[ 9.55792568e-01 -1.51989092e-01 -2.51713889e-01  5.07265100e+01]
 [ 1.51464805e-01  9.88227159e-01 -2.15753438e-02  5.14938118e+00]
 [ 2.52029719e-01 -1.75042420e-02  9.67561172e-01  1.29375416e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.400714057 meters
Centerline goodness : 0.999257 with order 1
Centerline is valid?  [True, True]
Translation: X:50.79, Y:5.16, Z:12.95
[[ 9.55951424e-01 -1.50978065e-01 -2.51719085e-01  5.07862730e+01]
 [ 1.50435403e-01  9.88385711e-01 -2.15145563e-02  5.15538000e+00]
 [ 2.52043773e-01 -1.73005912e-02  9.67561174e-01  1.29536859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.460714057000004 meters
Centerline goodness : 0.999256 with order 1
Centerline is valid?  [True, True]
Translation: X:50.84, Y:5.16, Z:12.97
[[ 9.56524912e-01 -1.47291420e-01 -2.51724713e-01  5.08438362e+01]
 [ 1.46641021e-01  9.88957214e-01 -2.14485201e-02  5.16329013e+00]
 [ 2.52104154e-01 -1.63971251e-02  9.67561176e-01  1.29707881e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.520714057000006 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:50.90, Y:5.17, Z:12.99
[[ 9.57029451e-01 -1.43976796e-01 -2.51724673e-01  5.09023031e+01]
 [ 1.43213923e-01  9.89459304e-01 -2.14489837e-02  5.17157215e+00]
 [ 2.52159476e-01 -1.55231689e-02  9.67561176e-01  1.29870092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.580714057 meters
Centerline goodness : 0.998995 with order 1
Centerline is valid?  [True, True]
Translation: X:50.96, Y:5.18, Z:13.00
[[ 9.57176849e-01 -1.42992890e-01 -2.51725073e-01  5.09613594e+01]
 [ 1.42197909e-01  9.89605930e-01 -2.14442914e-02  5.17795570e+00]
 [ 2.52175006e-01 -1.52687997e-02  9.67561176e-01  1.30002742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.640714057000004 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:51.02, Y:5.18, Z:13.01
[[ 9.57145519e-01 -1.43201742e-01 -2.51725477e-01  5.10224589e+01]
 [ 1.42415079e-01  9.89574803e-01 -2.14395521e-02  5.18425727e+00]
 [ 2.52171370e-01 -1.53287323e-02  9.67561176e-01  1.30129262e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.700714057000006 meters
Centerline goodness : 0.998974 with order 1
Centerline is valid?  [True, True]
Translation: X:51.08, Y:5.19, Z:13.03
[[ 9.57089174e-01 -1.43567372e-01 -2.51731449e-01  5.10831313e+01]
 [ 1.42811528e-01  9.89519189e-01 -2.13692078e-02  5.19039565e+00]
 [ 2.52161020e-01 -1.54979154e-02  9.67561179e-01  1.30276114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.760714057 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:51.14, Y:5.20, Z:13.04
[[ 9.56846530e-01 -1.45166143e-01 -2.51736983e-01  5.11411851e+01]
 [ 1.44481615e-01  9.89278126e-01 -2.13038174e-02  5.19693761e+00]
 [ 2.52130484e-01 -1.59868820e-02  9.67561181e-01  1.30440083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.820714057 meters
Centerline goodness : 0.999227 with order 1
Centerline is valid?  [True, True]
Translation: X:51.20, Y:5.20, Z:13.06
[[ 9.56391285e-01 -1.48135101e-01 -2.51737367e-01  5.11996242e+01]
 [ 1.47552420e-01  9.88824870e-01 -2.12992739e-02  5.20371770e+00]
 [ 2.52079340e-01 -1.67740179e-02  9.67561181e-01  1.30601750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.880714057000006 meters
Centerline goodness : 0.999485 with order 1
Centerline is valid?  [True, True]
Translation: X:51.26, Y:5.21, Z:13.08
[[ 9.55688415e-01 -1.52595670e-01 -2.51742360e-01  5.12579826e+01]
 [ 1.52179825e-01  9.88124566e-01 -2.12401057e-02  5.21009193e+00]
 [ 2.51993959e-01 -1.80111854e-02  9.67561183e-01  1.30765256e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.940714057 meters
Centerline goodness : 0.999487 with order 1
Centerline is valid?  [True, True]
Translation: X:51.32, Y:5.21, Z:13.09
[[ 9.55687867e-01 -1.52598714e-01 -2.51742594e-01  5.13176038e+01]
 [ 1.52183701e-01  9.88124029e-01 -2.12373271e-02  5.21450016e+00]
 [ 2.51993696e-01 -1.80148638e-02  9.67561183e-01  1.30872134e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.000714057 meters
Centerline goodness : 0.999463 with order 1
Centerline is valid?  [True, True]
Translation: X:51.38, Y:5.22, Z:13.10
[[ 9.56025624e-01 -1.50467516e-01 -2.51742989e-01  5.13765199e+01]
 [ 1.49981409e-01  9.88460799e-01 -2.12326501e-02  5.21937618e+00]
 [ 2.52032900e-01 -1.74578107e-02  9.67561183e-01  1.31014058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.060714057000006 meters
Centerline goodness : 0.999694 with order 1
Centerline is valid?  [True, True]
Translation: X:51.43, Y:5.23, Z:13.12
[[ 9.56568312e-01 -1.46977836e-01 -2.51743082e-01  5.14333301e+01]
 [ 1.46373661e-01  9.89001503e-01 -2.12315441e-02  5.22752636e+00]
 [ 2.52094853e-01 -1.65391344e-02  9.67561183e-01  1.31176146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.120714057 meters
Centerline goodness : 0.999435 with order 1
Centerline is valid?  [True, True]
Translation: X:51.49, Y:5.23, Z:13.14
[[ 9.57292366e-01 -1.42186290e-01 -2.51742696e-01  5.14900006e+01]
 [ 1.41418525e-01  9.89722096e-01 -2.12361208e-02  5.23364953e+00]
 [ 2.52174794e-01 -1.52719045e-02  9.67561183e-01  1.31375870e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.180714057 meters
Centerline goodness : 0.999413 with order 1
Centerline is valid?  [True, True]
Translation: X:51.55, Y:5.24, Z:13.15
[[ 9.57784735e-01 -1.38831248e-01 -2.51742500e-01  5.15480693e+01]
 [ 1.37949250e-01  9.90211560e-01 -2.12384517e-02  5.23912861e+00]
 [ 2.52226894e-01 -1.43858242e-02  9.67561183e-01  1.31546960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.240714057000005 meters
Centerline goodness : 0.999505 with order 1
Centerline is valid?  [True, True]
Translation: X:51.61, Y:5.24, Z:13.17
[[ 9.58245241e-01 -1.35615988e-01 -2.51742648e-01  5.16076084e+01]
 [ 1.34625628e-01  9.90668937e-01 -2.12366870e-02  5.24452353e+00]
 [ 2.52273656e-01 -1.35410577e-02  9.67561183e-01  1.31683668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.300714057 meters
Centerline goodness : 0.999600 with order 1
Centerline is valid?  [True, True]
Translation: X:51.67, Y:5.25, Z:13.18
[[ 9.58608561e-01 -1.33014052e-01 -2.51747670e-01  5.16690424e+01]
 [ 1.31951306e-01  9.91029963e-01 -2.11769963e-02  5.24911558e+00]
 [ 2.52306322e-01 -1.29179838e-02  9.67561184e-01  1.31831953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.360714057 meters
Centerline goodness : 0.999246 with order 1
Centerline is valid?  [True, True]
Translation: X:51.73, Y:5.25, Z:13.20
[[ 9.59265880e-01 -1.28175548e-01 -2.51753848e-01  5.17270811e+01]
 [ 1.26968526e-01  9.91682229e-01 -2.11033049e-02  5.25393799e+00]
 [ 2.52364745e-01 -1.17211346e-02  9.67561187e-01  1.31951671e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.420714057000005 meters
Centerline goodness : 0.999362 with order 1
Centerline is valid?  [True, True]
Translation: X:51.78, Y:5.26, Z:13.21
[[ 9.59900367e-01 -1.23334482e-01 -2.51753630e-01  5.17848586e+01]
 [ 1.21963258e-01  9.92310186e-01 -2.11059000e-02  5.25898325e+00]
 [ 2.52420777e-01 -1.04451318e-02  9.67561187e-01  1.32139029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.480714057 meters
Centerline goodness : 0.999670 with order 1
Centerline is valid?  [True, True]
Translation: X:51.84, Y:5.26, Z:13.23
[[ 9.60345614e-01 -1.19818151e-01 -2.51753675e-01  5.18430811e+01]
 [ 1.18328379e-01  9.92750199e-01 -2.11053675e-02  5.26118030e+00]
 [ 2.52457317e-01 -9.52115710e-03  9.67561187e-01  1.32315061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.540714057 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:51.90, Y:5.26, Z:13.25
[[ 9.60597259e-01 -1.17783451e-01 -2.51753779e-01  5.19025958e+01]
 [ 1.16225359e-01  9.92998631e-01 -2.11041296e-02  5.26431872e+00]
 [ 2.52476875e-01 -8.98760428e-03  9.67561187e-01  1.32477967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.600714057000005 meters
Centerline goodness : 0.999413 with order 1
Centerline is valid?  [True, True]
Translation: X:51.96, Y:5.27, Z:13.26
[[ 9.60661301e-01 -1.17256772e-01 -2.51755265e-01  5.19630540e+01]
 [ 1.15685559e-01  9.93062040e-01 -2.10863890e-02  5.26757020e+00]
 [ 2.52481119e-01 -8.86757070e-03  9.67561187e-01  1.32630824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.66071405700001 meters
Centerline goodness : 0.999627 with order 1
Centerline is valid?  [True, True]
Translation: X:52.02, Y:5.27, Z:13.28
[[ 9.60630679e-01 -1.17504062e-01 -2.51756814e-01  5.20235802e+01]
 [ 1.15946035e-01  9.93032055e-01 -2.10678768e-02  5.26846753e+00]
 [ 2.52478147e-01 -8.95175561e-03  9.67561187e-01  1.32777976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.720714057 meters
Centerline goodness : 0.999396 with order 1
Centerline is valid?  [True, True]
Translation: X:52.08, Y:5.27, Z:13.29
[[ 9.60506418e-01 -1.18512230e-01 -2.51758360e-01  5.20842410e+01]
 [ 1.16993050e-01  9.92909638e-01 -2.10493896e-02  5.26800358e+00]
 [ 2.52467912e-01 -9.23590466e-03  9.67561187e-01  1.32931383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.780714057000004 meters
Centerline goodness : 0.999282 with order 1
Centerline is valid?  [True, True]
Translation: X:52.14, Y:5.27, Z:13.31
[[ 9.60441011e-01 -1.19037814e-01 -2.51759932e-01  5.21433643e+01]
 [ 1.17541294e-01  9.92845285e-01 -2.10305623e-02  5.26772504e+00]
 [ 2.52462094e-01 -9.39357374e-03  9.67561188e-01  1.33089992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.84071405700001 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:52.20, Y:5.27, Z:13.33
[[ 9.60487188e-01 -1.18654035e-01 -2.51764935e-01  5.22038117e+01]
 [ 1.17160288e-01  9.92891588e-01 -2.09705060e-02  5.26828919e+00]
 [ 2.52463521e-01 -9.35494993e-03  9.67561189e-01  1.33257221e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.900714057 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:52.26, Y:5.27, Z:13.34
[[ 9.60486338e-01 -1.18657581e-01 -2.51766506e-01  5.22630501e+01]
 [ 1.17168893e-01  9.92890971e-01 -2.09516361e-02  5.26968441e+00]
 [ 2.52462761e-01 -9.37544250e-03  9.67561190e-01  1.33402860e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.960714057000004 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:52.32, Y:5.27, Z:13.35
[[ 9.60451228e-01 -1.18940617e-01 -2.51766893e-01  5.23230695e+01]
 [ 1.17462697e-01  9.92856354e-01 -2.09469783e-02  5.26824324e+00]
 [ 2.52459806e-01 -9.45466729e-03  9.67561190e-01  1.33532427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.020714057000006 meters
Centerline goodness : 0.999221 with order 1
Centerline is valid?  [True, True]
Translation: X:52.38, Y:5.27, Z:13.37
[[ 9.60361856e-01 -1.19659398e-01 -2.51767220e-01  5.23820183e+01]
 [ 1.18206761e-01  9.92768125e-01 -2.09430430e-02  5.26695437e+00]
 [ 2.52452503e-01 -9.64768794e-03  9.67561190e-01  1.33664090e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.080714057 meters
Centerline goodness : 0.999088 with order 1
Centerline is valid?  [True, True]
Translation: X:52.44, Y:5.27, Z:13.38
[[ 9.60279784e-01 -1.20316265e-01 -2.51767220e-01  5.24424065e+01]
 [ 1.18885795e-01  9.92687039e-01 -2.09430430e-02  5.26714618e+00]
 [ 2.52445845e-01 -9.82036539e-03  9.67561190e-01  1.33818903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.140714057000004 meters
Centerline goodness : 0.998998 with order 1
Centerline is valid?  [True, True]
Translation: X:52.50, Y:5.27, Z:13.40
[[ 9.60224041e-01 -1.20757138e-01 -2.51768752e-01  5.25012258e+01]
 [ 1.19346372e-01  9.92632160e-01 -2.09246127e-02  5.26856162e+00]
 [ 2.52440557e-01 -9.95537093e-03  9.67561190e-01  1.33981753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.200714057000006 meters
Centerline goodness : 0.999183 with order 1
Centerline is valid?  [True, True]
Translation: X:52.56, Y:5.27, Z:13.42
[[ 9.59971904e-01 -1.22744651e-01 -2.51769128e-01  5.25603802e+01]
 [ 1.21402161e-01  9.92382923e-01 -2.09200879e-02  5.26744397e+00]
 [ 2.52419212e-01 -1.04826195e-02  9.67561190e-01  1.34160013e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.260714057 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:52.62, Y:5.27, Z:13.43
[[ 9.59874482e-01 -1.23502669e-01 -2.51769875e-01  5.26200950e+01]
 [ 1.22188127e-01  9.92286646e-01 -2.09110945e-02  5.27047557e+00]
 [ 2.52410461e-01 -1.06912635e-02  9.67561190e-01  1.34317136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.320714057 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:52.68, Y:5.27, Z:13.44
[[ 9.59572684e-01 -1.25822923e-01 -2.51771435e-01  5.26787477e+01]
 [ 1.24591666e-01  9.91988119e-01 -2.08923024e-02  5.27099484e+00]
 [ 2.52383002e-01 -1.13209399e-02  9.67561190e-01  1.34448762e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.380714057000006 meters
Centerline goodness : 0.999189 with order 1
Centerline is valid?  [True, True]
Translation: X:52.74, Y:5.27, Z:13.46
[[ 9.58989538e-01 -1.30193569e-01 -2.51771127e-01  5.27398614e+01]
 [ 1.29109042e-01  9.91410214e-01 -2.08960149e-02  5.26898077e+00]
 [ 2.52328993e-01 -1.24668693e-02  9.67561190e-01  1.34582685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.440714057 meters
Centerline goodness : 0.999146 with order 1
Centerline is valid?  [True, True]
Translation: X:52.80, Y:5.27, Z:13.47
[[ 9.58516974e-01 -1.33625323e-01 -2.51772684e-01  5.27991752e+01]
 [ 1.32661770e-01  9.90941470e-01 -2.08772285e-02  5.26879312e+00]
 [ 2.52281720e-01 -1.33894320e-02  9.67561190e-01  1.34721032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.500714057 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:52.86, Y:5.27, Z:13.49
[[ 9.58238249e-01 -1.35609325e-01 -2.51772851e-01  5.28580603e+01]
 [ 1.34713425e-01  9.90664685e-01 -2.08752168e-02  5.27078145e+00]
 [ 2.52253346e-01 -1.39137518e-02  9.67561190e-01  1.34881166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.560714057000006 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:52.92, Y:5.27, Z:13.50
[[ 9.57888114e-01 -1.38060599e-01 -2.51772979e-01  5.29172087e+01]
 [ 1.37248069e-01  9.90316746e-01 -2.08736804e-02  5.27228805e+00]
 [ 2.52216830e-01 -1.45607048e-02  9.67561190e-01  1.35048264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.620714057 meters
Centerline goodness : 0.998970 with order 1
Centerline is valid?  [True, True]
Translation: X:52.98, Y:5.28, Z:13.52
[[ 9.57684353e-01 -1.39464973e-01 -2.51774108e-01  5.29772172e+01]
 [ 1.38703563e-01  9.90114226e-01 -2.08600536e-02  5.27503265e+00]
 [ 2.52194372e-01 -1.49446190e-02  9.67561190e-01  1.35212771e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.680714057 meters
Centerline goodness : 0.999354 with order 1
Centerline is valid?  [True, True]
Translation: X:53.04, Y:5.28, Z:13.54
[[ 9.57232048e-01 -1.42533705e-01 -2.51775595e-01  5.30363329e+01]
 [ 1.41880946e-01  9.89664289e-01 -2.08420865e-02  5.27657793e+00]
 [ 2.52144015e-01 -1.57714465e-02  9.67561190e-01  1.35359129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.740714057000005 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:53.10, Y:5.28, Z:13.55
[[ 9.56968157e-01 -1.44294147e-01 -2.51775983e-01  5.30951472e+01]
 [ 1.43702273e-01  9.89401566e-01 -2.08373961e-02  5.28030496e+00]
 [ 2.52114266e-01 -1.62400566e-02  9.67561190e-01  1.35495566e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.800714057 meters
Centerline goodness : 0.999418 with order 1
Centerline is valid?  [True, True]
Translation: X:53.16, Y:5.28, Z:13.56
[[ 9.56910632e-01 -1.44675053e-01 -2.51776035e-01  5.31563198e+01]
 [ 1.44096253e-01  9.89344277e-01 -2.08367667e-02  5.28494210e+00]
 [ 2.52107740e-01 -1.63410599e-02  9.67561190e-01  1.35649203e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.860714057 meters
Centerline goodness : 0.999285 with order 1
Centerline is valid?  [True, True]
Translation: X:53.22, Y:5.29, Z:13.58
[[ 9.56738475e-01 -1.45805159e-01 -2.51778368e-01  5.32154751e+01]
 [ 1.45272062e-01  9.89172903e-01 -2.08085456e-02  5.29056928e+00]
 [ 2.52086332e-01 -1.66680263e-02  9.67561191e-01  1.35803853e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.920714057000005 meters
Centerline goodness : 0.999239 with order 1
Centerline is valid?  [True, True]
Translation: X:53.28, Y:5.30, Z:13.60
[[ 9.56623431e-01 -1.46556095e-01 -2.51779513e-01  5.32753381e+01]
 [ 1.46052090e-01  9.89058324e-01 -2.07946796e-02  5.29698458e+00]
 [ 2.52072210e-01 -1.68802463e-02  9.67561191e-01  1.35961359e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.980714057 meters
Centerline goodness : 0.998926 with order 1
Centerline is valid?  [True, True]
Translation: X:53.33, Y:5.30, Z:13.61
[[ 9.56244189e-01 -1.49007897e-01 -2.51781050e-01  5.33344654e+01]
 [ 1.48591919e-01  9.88680331e-01 -2.07760566e-02  5.30435583e+00]
 [ 2.52026768e-01 -1.75456459e-02  9.67561191e-01  1.36120867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.040714057 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:53.39, Y:5.31, Z:13.63
[[ 9.55908961e-01 -1.51141602e-01 -2.51782198e-01  5.33932961e+01]
 [ 1.50801664e-01  9.88345988e-01 -2.07621264e-02  5.31071673e+00]
 [ 2.51985947e-01 -1.81224717e-02  9.67561191e-01  1.36286895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.100714057000005 meters
Centerline goodness : 0.999215 with order 1
Centerline is valid?  [True, True]
Translation: X:53.45, Y:5.32, Z:13.64
[[ 9.55218023e-01 -1.55447311e-01 -2.51782968e-01  5.34508303e+01]
 [ 1.55255981e-01  9.87656267e-01 -2.07527912e-02  5.31760038e+00]
 [ 2.51900992e-01 -1.92673715e-02  9.67561191e-01  1.36427830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.16071405700001 meters
Centerline goodness : 0.999064 with order 1
Centerline is valid?  [True, True]
Translation: X:53.51, Y:5.32, Z:13.66
[[ 9.54606159e-01 -1.59159096e-01 -2.51784556e-01  5.35100081e+01]
 [ 1.59098910e-01  9.87044912e-01 -2.07335057e-02  5.32416118e+00]
 [ 2.51822591e-01 -2.02663163e-02  9.67561191e-01  1.36550630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.220714057 meters
Centerline goodness : 0.998968 with order 1
Centerline is valid?  [True, True]
Translation: X:53.57, Y:5.33, Z:13.67
[[ 9.54167388e-01 -1.61768603e-01 -2.51784661e-01  5.35685917e+01]
 [ 1.61797445e-01  9.86606183e-01 -2.07322323e-02  5.33180314e+00]
 [ 2.51766128e-01 -2.09560950e-02  9.67561191e-01  1.36684647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.280714057000004 meters
Centerline goodness : 0.999040 with order 1
Centerline is valid?  [True, True]
Translation: X:53.63, Y:5.34, Z:13.69
[[ 9.54159511e-01 -1.61814941e-01 -2.51784733e-01  5.36279764e+01]
 [ 1.61845589e-01  9.86598305e-01 -2.07313562e-02  5.33877891e+00]
 [ 2.51765034e-01 -2.09692276e-02  9.67561191e-01  1.36852519e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.34071405700001 meters
Centerline goodness : 0.999373 with order 1
Centerline is valid?  [True, True]
Translation: X:53.69, Y:5.35, Z:13.70
[[ 9.54437836e-01 -1.60162690e-01 -2.51786280e-01  5.36853676e+01]
 [ 1.60142101e-01  9.86876638e-01 -2.07125529e-02  5.34755542e+00]
 [ 2.51799375e-01 -2.05527396e-02  9.67561192e-01  1.37021241e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.400714057 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:53.74, Y:5.36, Z:13.72
[[ 9.54888756e-01 -1.57451648e-01 -2.51786502e-01  5.37437117e+01]
 [ 1.57339648e-01  9.87327371e-01 -2.07098515e-02  5.35708433e+00]
 [ 2.51856505e-01 -1.98403952e-02  9.67561192e-01  1.37177599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.460714057000004 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:53.80, Y:5.37, Z:13.73
[[ 9.55222617e-01 -1.55412942e-01 -2.51786753e-01  5.38017979e+01]
 [ 1.55232497e-01  9.87660924e-01 -2.07067982e-02  5.36589608e+00]
 [ 2.51898042e-01 -1.93058844e-02  9.67561192e-01  1.37305104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.520714057000006 meters
Centerline goodness : 0.999365 with order 1
Centerline is valid?  [True, True]
Translation: X:53.86, Y:5.37, Z:13.75
[[ 9.55376241e-01 -1.54465753e-01 -2.51786753e-01  5.38607819e+01]
 [ 1.54253146e-01  9.87814353e-01 -2.07067982e-02  5.37420836e+00]
 [ 2.51917060e-01 -1.90561156e-02  9.67561192e-01  1.37463012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.580714057 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:53.92, Y:5.38, Z:13.76
[[ 9.55692975e-01 -1.52492557e-01 -2.51787525e-01  5.39183363e+01]
 [ 1.52215425e-01  9.88130600e-01 -2.06974105e-02  5.38312740e+00]
 [ 2.51955159e-01 -1.85455753e-02  9.67561192e-01  1.37622173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.640714057000004 meters
Centerline goodness : 0.999137 with order 1
Centerline is valid?  [True, True]
Translation: X:53.98, Y:5.39, Z:13.78
[[ 9.55834020e-01 -1.51605725e-01 -2.51787671e-01  5.39761685e+01]
 [ 1.51298961e-01  9.88271377e-01 -2.06956326e-02  5.39068108e+00]
 [ 2.51972125e-01 -1.83136233e-02  9.67561192e-01  1.37781127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.700714057000006 meters
Centerline goodness : 0.998887 with order 1
Centerline is valid?  [True, True]
Translation: X:54.03, Y:5.40, Z:13.79
[[ 9.55757452e-01 -1.52087043e-01 -2.51788056e-01  5.40347723e+01]
 [ 1.51797841e-01  9.88194971e-01 -2.06909488e-02  5.39680612e+00]
 [ 2.51962516e-01 -1.84453548e-02  9.67561192e-01  1.37948311e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.760714057 meters
Centerline goodness : 0.999021 with order 1
Centerline is valid?  [True, True]
Translation: X:54.09, Y:5.40, Z:13.81
[[ 9.54955891e-01 -1.57040850e-01 -2.51788439e-01  5.40931164e+01]
 [ 1.56921069e-01  9.87394478e-01 -2.06862902e-02  5.40151711e+00]
 [ 2.51863107e-01 -1.97564162e-02  9.67561192e-01  1.38106326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.820714057 meters
Centerline goodness : 0.998911 with order 1
Centerline is valid?  [True, True]
Translation: X:54.15, Y:5.41, Z:13.83
[[ 9.54473567e-01 -1.59946093e-01 -2.51788517e-01  5.41529196e+01]
 [ 1.59925274e-01  9.86912369e-01 -2.06853402e-02  5.40504954e+00]
 [ 2.51801741e-01 -2.05237370e-02  9.67561192e-01  1.38250842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.880714057000006 meters
Centerline goodness : 0.998937 with order 1
Centerline is valid?  [True, True]
Translation: X:54.21, Y:5.41, Z:13.84
[[ 9.53878534e-01 -1.63456114e-01 -2.51789278e-01  5.42122468e+01]
 [ 1.63557053e-01  9.86317186e-01 -2.06760674e-02  5.40907935e+00]
 [ 2.51723722e-01 -2.14594555e-02  9.67561192e-01  1.38395348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.940714057 meters
Centerline goodness : 0.999272 with order 1
Centerline is valid?  [True, True]
Translation: X:54.27, Y:5.41, Z:13.86
[[ 9.53638888e-01 -1.64847801e-01 -2.51789742e-01  5.42716995e+01]
 [ 1.64997555e-01  9.86077350e-01 -2.06704138e-02  5.41277540e+00]
 [ 2.51691634e-01 -2.18325814e-02  9.67561192e-01  1.38553415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.000714057 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:54.33, Y:5.42, Z:13.87
[[ 9.53684462e-01 -1.64576345e-01 -2.51794705e-01  5.43320916e+01]
 [ 1.64732752e-01  9.86122891e-01 -2.06097875e-02  5.41639441e+00]
 [ 2.51692406e-01 -2.18236007e-02  9.67561194e-01  1.38711332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.060714057000006 meters
Centerline goodness : 0.999410 with order 1
Centerline is valid?  [True, True]
Translation: X:54.39, Y:5.42, Z:13.89
[[ 9.54074981e-01 -1.62294752e-01 -2.51796234e-01  5.43919362e+01]
 [ 1.62378467e-01  9.86513680e-01 -2.05910946e-02  5.42037423e+00]
 [ 2.51742256e-01 -2.12408382e-02  9.67561194e-01  1.38879908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.120714057 meters
Centerline goodness : 0.999342 with order 1
Centerline is valid?  [True, True]
Translation: X:54.45, Y:5.42, Z:13.90
[[ 9.54761007e-01 -1.58200544e-01 -2.51801523e-01  5.44497627e+01]
 [ 1.58162104e-01  9.87199789e-01 -2.05262213e-02  5.42460331e+00]
 [ 2.51825669e-01 -2.02278230e-02  9.67561196e-01  1.39043983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.180714057 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:54.51, Y:5.43, Z:13.92
[[ 9.55016488e-01 -1.56650956e-01 -2.51801481e-01  5.45094665e+01]
 [ 1.56559742e-01  9.87455164e-01 -2.05267296e-02  5.42909264e+00]
 [ 2.51858205e-01 -1.98186096e-02  9.67561196e-01  1.39189440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.240714057000005 meters
Centerline goodness : 0.999250 with order 1
Centerline is valid?  [True, True]
Translation: X:54.57, Y:5.43, Z:13.93
[[ 9.55563570e-01 -1.53270231e-01 -2.51806472e-01  5.45668973e+01]
 [ 1.53080306e-01  9.88001817e-01 -2.04653309e-02  5.43295027e+00]
 [ 2.51921978e-01 -1.89906870e-02  9.67561198e-01  1.39326595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.300714057 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:54.63, Y:5.44, Z:13.95
[[ 9.56272919e-01 -1.48781027e-01 -2.51806096e-01  5.46262737e+01]
 [ 1.48437557e-01  9.88709903e-01 -2.04699522e-02  5.43695293e+00]
 [ 2.52008721e-01 -1.78026207e-02  9.67561198e-01  1.39476315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.360714057 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:54.69, Y:5.44, Z:13.96
[[ 9.57318087e-01 -1.41899884e-01 -2.51806478e-01  5.46850668e+01]
 [ 1.41324375e-01  9.89751784e-01 -2.04652524e-02  5.44156054e+00]
 [ 2.52129928e-01 -1.59946368e-02  9.67561198e-01  1.39631571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.420714057000005 meters
Centerline goodness : 0.999225 with order 1
Centerline is valid?  [True, True]
Translation: X:54.74, Y:5.45, Z:13.98
[[ 9.57982389e-01 -1.37342883e-01 -2.51806821e-01  5.47430720e+01]
 [ 1.36614151e-01  9.90413005e-01 -2.04610297e-02  5.44670600e+00]
 [ 2.52202927e-01 -1.47990690e-02  9.67561198e-01  1.39794582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.48071405700001 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:54.80, Y:5.45, Z:13.99
[[ 9.58767955e-01 -1.31747271e-01 -2.51806800e-01  5.48005180e+01]
 [ 1.30829133e-01  9.91193762e-01 -2.04612919e-02  5.45068526e+00]
 [ 2.52285049e-01 -1.33260344e-02  9.67561198e-01  1.39938542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.540714057 meters
Centerline goodness : 0.999025 with order 1
Centerline is valid?  [True, True]
Translation: X:54.86, Y:5.45, Z:14.01
[[ 9.59174937e-01 -1.28751643e-01 -2.51806384e-01  5.48609319e+01]
 [ 1.27730878e-01  9.91597675e-01 -2.04664106e-02  5.45413297e+00]
 [ 2.52325709e-01 -1.25325823e-02  9.67561198e-01  1.40089372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.600714057000005 meters
Centerline goodness : 0.999004 with order 1
Centerline is valid?  [True, True]
Translation: X:54.92, Y:5.46, Z:14.02
[[ 9.59423752e-01 -1.26881177e-01 -2.51807924e-01  5.49194854e+01]
 [ 1.25802164e-01  9.91844604e-01 -2.04474385e-02  5.45717233e+00]
 [ 2.52348726e-01 -1.20602235e-02  9.67561198e-01  1.40234044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.66071405700001 meters
Centerline goodness : 0.998892 with order 1
Centerline is valid?  [True, True]
Translation: X:54.98, Y:5.46, Z:14.04
[[ 9.59562619e-01 -1.25826663e-01 -2.51807924e-01  5.49796228e+01]
 [ 1.24712019e-01  9.91982265e-01 -2.04474385e-02  5.46146900e+00]
 [ 2.52361828e-01 -1.17828769e-02  9.67561198e-01  1.40391770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.720714057 meters
Centerline goodness : 0.999185 with order 1
Centerline is valid?  [True, True]
Translation: X:55.04, Y:5.46, Z:14.05
[[ 9.59627576e-01 -1.25327237e-01 -2.51809449e-01  5.50393962e+01]
 [ 1.24200642e-01  9.92046809e-01 -2.04286415e-02  5.46465246e+00]
 [ 2.52367026e-01 -1.16710075e-02  9.67561198e-01  1.40547383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.780714057000004 meters
Centerline goodness : 0.998913 with order 1
Centerline is valid?  [True, True]
Translation: X:55.10, Y:5.47, Z:14.07
[[ 9.59654493e-01 -1.25117883e-01 -2.51810979e-01  5.50991501e+01]
 [ 1.23989155e-01  9.92073652e-01 -2.04097742e-02  5.46743562e+00]
 [ 2.52368665e-01 -1.16354988e-02  9.67561198e-01  1.40691886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.84071405700001 meters
Centerline goodness : 0.998868 with order 1
Centerline is valid?  [True, True]
Translation: X:55.16, Y:5.47, Z:14.08
[[ 9.59693769e-01 -1.24814744e-01 -2.51811734e-01  5.51583546e+01]
 [ 1.23678217e-01  9.92112655e-01 -2.04004527e-02  5.47106348e+00]
 [ 2.52371885e-01 -1.15654389e-02  9.67561198e-01  1.40830127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.900714057 meters
Centerline goodness : 0.999207 with order 1
Centerline is valid?  [True, True]
Translation: X:55.22, Y:5.48, Z:14.10
[[ 9.59774827e-01 -1.24184658e-01 -2.51814319e-01  5.52176847e+01]
 [ 1.23035216e-01  9.92193258e-01 -2.03684898e-02  5.47531667e+00]
 [ 2.52377924e-01 -1.14328653e-02  9.67561199e-01  1.40985342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.960714057000004 meters
Centerline goodness : 0.999052 with order 1
Centerline is valid?  [True, True]
Translation: X:55.28, Y:5.48, Z:14.11
[[ 9.60009578e-01 -1.22355109e-01 -2.51815086e-01  5.52762915e+01]
 [ 1.21146362e-01  9.92425851e-01 -2.03590085e-02  5.48063915e+00]
 [ 2.52398830e-01 -1.09616383e-02  9.67561199e-01  1.41136960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.020714057000006 meters
Centerline goodness : 0.998641 with order 1
Centerline is valid?  [True, True]
Translation: X:55.33, Y:5.49, Z:14.13
[[ 9.60225366e-01 -1.20648369e-01 -2.51815840e-01  5.53346482e+01]
 [ 1.19384442e-01  9.92639535e-01 -2.03496779e-02  5.48667101e+00]
 [ 2.52417514e-01 -1.05226165e-02  9.67561199e-01  1.41307297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.080714057 meters
Centerline goodness : 0.998820 with order 1
Centerline is valid?  [True, True]
Translation: X:55.39, Y:5.49, Z:14.15
[[ 9.60451890e-01 -1.18830111e-01 -2.51816542e-01  5.53944247e+01]
 [ 1.17507090e-01  9.92863701e-01 -2.03409864e-02  5.49176317e+00]
 [ 2.52436626e-01 -1.00536902e-02  9.67561199e-01  1.41468994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.140714057000004 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:55.45, Y:5.50, Z:14.16
[[ 9.60636302e-01 -1.17326834e-01 -2.51818009e-01  5.54542499e+01]
 [ 1.15957848e-01  9.93046203e-01 -2.03228080e-02  5.49743271e+00]
 [ 2.52451329e-01 -9.67744735e-03  9.67561199e-01  1.41618028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.200714057000006 meters
Centerline goodness : 0.998887 with order 1
Centerline is valid?  [True, True]
Translation: X:55.51, Y:5.50, Z:14.18
[[ 9.60754407e-01 -1.16353315e-01 -2.51819131e-01  5.55140523e+01]
 [ 1.14955129e-01  9.93163062e-01 -2.03088936e-02  5.50261232e+00]
 [ 2.52460467e-01 -9.43604164e-03  9.67561199e-01  1.41775827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.260714057 meters
Centerline goodness : 0.998613 with order 1
Centerline is valid?  [True, True]
Translation: X:55.57, Y:5.51, Z:14.19
[[ 9.60945162e-01 -1.14763881e-01 -2.51820665e-01  5.55723708e+01]
 [ 1.13317067e-01  9.93351682e-01 -2.02898615e-02  5.50685439e+00]
 [ 2.52475024e-01 -9.03813494e-03  9.67561199e-01  1.41920920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.320714057 meters
Centerline goodness : 0.998798 with order 1
Centerline is valid?  [True, True]
Translation: X:55.63, Y:5.51, Z:14.21
[[ 9.61232958e-01 -1.12327029e-01 -2.51821045e-01  5.56307438e+01]
 [ 1.10799286e-01  9.93635764e-01 -2.02851492e-02  5.51082195e+00]
 [ 2.52496966e-01 -8.40283806e-03  9.67561199e-01  1.42071407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.380714057000006 meters
Centerline goodness : 0.999023 with order 1
Centerline is valid?  [True, True]
Translation: X:55.69, Y:5.52, Z:14.22
[[ 9.61730289e-01 -1.07985299e-01 -2.51821416e-01  5.56900876e+01]
 [ 1.06312459e-01  9.94125928e-01 -2.02805388e-02  5.51512475e+00]
 [ 2.52532199e-01 -7.26734543e-03  9.67561199e-01  1.42242164e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.440714057 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:55.75, Y:5.52, Z:14.24
[[ 9.62130113e-01 -1.04360241e-01 -2.51822529e-01  5.57501342e+01]
 [ 1.02568948e-01  9.94519417e-01 -2.02667055e-02  5.51901043e+00]
 [ 2.52557433e-01 -6.32996418e-03  9.67561199e-01  1.42404250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.500714057 meters
Centerline goodness : 0.998507 with order 1
Centerline is valid?  [True, True]
Translation: X:55.81, Y:5.52, Z:14.26
[[ 9.62441946e-01 -1.01440514e-01 -2.51823992e-01  5.58102497e+01]
 [ 9.95557111e-02  9.94825944e-01 -2.02485173e-02  5.52198275e+00]
 [ 2.52575060e-01 -5.58249419e-03  9.67561199e-01  1.42572193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.560714057000006 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:55.87, Y:5.52, Z:14.27
[[ 9.62415863e-01 -1.01683882e-01 -2.51825526e-01  5.58706365e+01]
 [ 9.98122622e-02  9.94800625e-01 -2.02294212e-02  5.52366949e+00]
 [ 2.52573196e-01 -5.66615957e-03  9.67561200e-01  1.42704169e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.620714057 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:55.93, Y:5.52, Z:14.28
[[ 9.62266898e-01 -1.03081154e-01 -2.51826710e-01  5.59303925e+01]
 [ 1.01260416e-01  9.94654561e-01 -2.02146693e-02  5.52422855e+00]
 [ 2.52564337e-01 -6.04817024e-03  9.67561200e-01  1.42840930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.680714057 meters
Centerline goodness : 0.998444 with order 1
Centerline is valid?  [True, True]
Translation: X:55.99, Y:5.53, Z:14.30
[[ 9.62093654e-01 -1.04684847e-01 -2.51827090e-01  5.59889323e+01]
 [ 1.02919332e-01  9.94484374e-01 -2.02099327e-02  5.52773365e+00]
 [ 2.52553780e-01 -6.47402799e-03  9.67561200e-01  1.42994177e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.740714057000005 meters
Centerline goodness : 0.998849 with order 1
Centerline is valid?  [True, True]
Translation: X:56.05, Y:5.53, Z:14.32
[[ 9.61722898e-01 -1.08033746e-01 -2.51828866e-01  5.60483484e+01]
 [ 1.06386805e-01  9.94119863e-01 -2.01877801e-02  5.53016605e+00]
 [ 2.52529039e-01 -7.37621817e-03  9.67561200e-01  1.43155478e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.800714057 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:56.11, Y:5.53, Z:14.33
[[ 9.61019710e-01 -1.14118201e-01 -2.51829611e-01  5.61075910e+01]
 [ 1.12678765e-01  9.93426557e-01 -2.01784765e-02  5.53219220e+00]
 [ 2.52476955e-01 -8.98393590e-03  9.67561200e-01  1.43301816e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.860714057 meters
Centerline goodness : 0.999414 with order 1
Centerline is valid?  [True, True]
Translation: X:56.17, Y:5.54, Z:14.35
[[ 9.60334681e-01 -1.19745426e-01 -2.51829970e-01  5.61665105e+01]
 [ 1.18497010e-01  9.92749449e-01 -2.01739963e-02  5.53528898e+00]
 [ 2.52419808e-01 -1.04673102e-02  9.67561200e-01  1.43451561e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.920714057000005 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:56.23, Y:5.54, Z:14.36
[[ 9.59058427e-01 -1.29570679e-01 -2.51830048e-01  5.62263291e+01]
 [ 1.28654434e-01  9.91484284e-01 -2.01730212e-02  5.53772970e+00]
 [ 2.52299367e-01 -1.30519464e-02  9.67561200e-01  1.43594506e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.98071405700001 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:56.28, Y:5.54, Z:14.37
[[ 9.57706019e-01 -1.39213925e-01 -2.51830627e-01  5.62838591e+01]
 [ 1.38625880e-01  9.90139488e-01 -2.01657965e-02  5.54119436e+00]
 [ 2.52154808e-01 -1.55973376e-02  9.67561200e-01  1.43737790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.040714057 meters
Centerline goodness : 0.999040 with order 1
Centerline is valid?  [True, True]
Translation: X:56.34, Y:5.55, Z:14.39
[[ 9.56844318e-01 -1.45018750e-01 -2.51830327e-01  5.63418782e+01]
 [ 1.44626406e-01  9.89280745e-01 -2.01695431e-02  5.54594676e+00]
 [ 2.52055855e-01 -1.71222023e-02  9.67561200e-01  1.43912431e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.100714057000005 meters
Centerline goodness : 0.998788 with order 1
Centerline is valid?  [True, True]
Translation: X:56.40, Y:5.55, Z:14.41
[[ 9.56599243e-01 -1.46626009e-01 -2.51830701e-01  5.64002780e+01]
 [ 1.46289379e-01  9.89036296e-01 -2.01648774e-02  5.55114380e+00]
 [ 2.52026399e-01 -1.75504505e-02  9.67561200e-01  1.44061786e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.16071405700001 meters
Centerline goodness : 0.998970 with order 1
Centerline is valid?  [True, True]
Translation: X:56.46, Y:5.56, Z:14.42
[[ 9.56356447e-01 -1.48200741e-01 -2.51831069e-01  5.64601455e+01]
 [ 1.47918723e-01  9.88794020e-01 -2.01602708e-02  5.55717483e+00]
 [ 2.51996823e-01 -1.79701253e-02  9.67561200e-01  1.44224502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.220714057 meters
Centerline goodness : 0.998923 with order 1
Centerline is valid?  [True, True]
Translation: X:56.52, Y:5.57, Z:14.44
[[ 9.56468773e-01 -1.47471452e-01 -2.51832598e-01  5.65195933e+01]
 [ 1.47169707e-01  9.88906169e-01 -2.01411556e-02  5.56507447e+00]
 [ 2.52009055e-01 -1.77977433e-02  9.67561200e-01  1.44364545e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.280714057000004 meters
Centerline goodness : 0.999304 with order 1
Centerline is valid?  [True, True]
Translation: X:56.58, Y:5.57, Z:14.45
[[ 9.56621357e-01 -1.46476466e-01 -2.51833725e-01  5.65783268e+01]
 [ 1.46144674e-01  9.89058459e-01 -2.01270570e-02  5.57227036e+00]
 [ 2.52026416e-01 -1.75501852e-02  9.67561200e-01  1.44516593e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.34071405700001 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:56.64, Y:5.58, Z:14.47
[[ 9.56830168e-01 -1.45105532e-01 -2.51834099e-01  5.66363851e+01]
 [ 1.44728487e-01  9.89266777e-01 -2.01223716e-02  5.58105815e+00]
 [ 2.52050975e-01 -1.71938760e-02  9.67561200e-01  1.44679379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.400714057 meters
Centerline goodness : 0.998984 with order 1
Centerline is valid?  [True, True]
Translation: X:56.69, Y:5.59, Z:14.48
[[ 9.57023757e-01 -1.43821911e-01 -2.51834841e-01  5.66942189e+01]
 [ 1.43403787e-01  9.89459861e-01 -2.01130889e-02  5.58970369e+00]
 [ 2.52073170e-01 -1.68653660e-02  9.67561200e-01  1.44830902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.460714057000004 meters
Centerline goodness : 0.998939 with order 1
Centerline is valid?  [True, True]
Translation: X:56.75, Y:5.60, Z:14.50
[[ 9.57246594e-01 -1.42331019e-01 -2.51834944e-01  5.67536074e+01]
 [ 1.41862710e-01  9.89682013e-01 -2.01118000e-02  5.59786279e+00]
 [ 2.52099047e-01 -1.64740354e-02  9.67561200e-01  1.44978171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.520714057000006 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:56.81, Y:5.61, Z:14.51
[[ 9.57537197e-01 -1.40361377e-01 -2.51835662e-01  5.68124406e+01]
 [ 1.39828695e-01  9.89971622e-01 -2.01028061e-02  5.60614172e+00]
 [ 2.52131816e-01 -1.59646673e-02  9.67561201e-01  1.45135279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.580714057 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:56.87, Y:5.61, Z:14.53
[[ 9.57762152e-01 -1.38816765e-01 -2.51836389e-01  5.68715156e+01]
 [ 1.38234157e-01  9.90195719e-01 -2.00936918e-02  5.61312416e+00]
 [ 2.52156655e-01 -1.55674135e-02  9.67561201e-01  1.45290306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.640714057000004 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:56.93, Y:5.62, Z:14.55
[[ 9.58055893e-01 -1.36772805e-01 -2.51837458e-01  5.69307188e+01]
 [ 1.36124506e-01  9.90488214e-01 -2.00802776e-02  5.62117358e+00]
 [ 2.52188470e-01 -1.50432214e-02  9.67561201e-01  1.45459165e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.700714057000006 meters
Centerline goodness : 0.998883 with order 1
Centerline is valid?  [True, True]
Translation: X:56.99, Y:5.63, Z:14.56
[[ 9.58355882e-01 -1.34651934e-01 -2.51838957e-01  5.69894932e+01]
 [ 1.33936778e-01  9.90786797e-01 -2.00614704e-02  5.62800554e+00]
 [ 2.52220029e-01 -1.45044702e-02  9.67561201e-01  1.45604982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.760714057 meters
Centerline goodness : 0.998336 with order 1
Centerline is valid?  [True, True]
Translation: X:57.05, Y:5.64, Z:14.58
[[ 9.58796734e-01 -1.31475369e-01 -2.51839335e-01  5.70498498e+01]
 [ 1.30653989e-01  9.91225132e-01 -2.00567262e-02  5.63565160e+00]
 [ 2.52266443e-01 -1.36734900e-02  9.67561201e-01  1.45753914e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.820714057 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:57.11, Y:5.64, Z:14.59
[[ 9.59200672e-01 -1.28492241e-01 -2.51840851e-01  5.71081737e+01]
 [ 1.27574982e-01  9.91626500e-01 -2.00376660e-02  5.64251847e+00]
 [ 2.52306746e-01 -1.29084493e-02  9.67561201e-01  1.45908364e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.880714057000006 meters
Centerline goodness : 0.998696 with order 1
Centerline is valid?  [True, True]
Translation: X:57.17, Y:5.65, Z:14.61
[[ 9.59899724e-01 -1.23160538e-01 -2.51841222e-01  5.71663808e+01]
 [ 1.22064342e-01  9.92319996e-01 -2.00330036e-02  5.65027858e+00]
 [ 2.52374356e-01 -1.15111585e-02  9.67561201e-01  1.46072329e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.940714057 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:57.22, Y:5.66, Z:14.62
[[ 9.60666119e-01 -1.17032397e-01 -2.51841270e-01  5.72244249e+01]
 [ 1.15729491e-01  9.93078742e-01 -2.00323948e-02  5.65750160e+00]
 [ 2.52442651e-01 -9.90101913e-03  9.67561201e-01  1.46239272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.000714057 meters
Centerline goodness : 0.998466 with order 1
Centerline is valid?  [True, True]
Translation: X:57.28, Y:5.66, Z:14.64
[[ 9.61355953e-01 -1.11223378e-01 -2.51841402e-01  5.72845582e+01]
 [ 1.09725008e-01  9.93760128e-01 -2.00307358e-02  5.66316266e+00]
 [ 2.52497830e-01 -8.37663271e-03  9.67561201e-01  1.46397370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.060714057000006 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:57.34, Y:5.67, Z:14.66
[[ 9.61917581e-01 -1.06253105e-01 -2.51842896e-01  5.73415980e+01]
 [ 1.04592192e-01  9.94313832e-01 -2.00119357e-02  5.66816950e+00]
 [ 2.52537206e-01 -7.09096780e-03  9.67561201e-01  1.46553966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.120714057 meters
Centerline goodness : 0.998736 with order 1
Centerline is valid?  [True, True]
Translation: X:57.40, Y:5.67, Z:14.67
[[ 9.62130328e-01 -1.04310030e-01 -2.51842509e-01  5.74024057e+01]
 [ 1.02582411e-01  9.94523090e-01 -2.00168111e-02  5.67222155e+00]
 [ 2.52551144e-01 -6.57583077e-03  9.67561201e-01  1.46704256e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.180714057 meters
Centerline goodness : 0.998737 with order 1
Centerline is valid?  [True, True]
Translation: X:57.46, Y:5.67, Z:14.69
[[ 9.62100876e-01 -1.04576976e-01 -2.51844319e-01  5.74628215e+01]
 [ 1.02864310e-01  9.94494431e-01 -1.99940067e-02  5.67457813e+00]
 [ 2.52548686e-01 -6.66954083e-03  9.67561201e-01  1.46852186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.240714057000005 meters
Centerline goodness : 0.998487 with order 1
Centerline is valid?  [True, True]
Translation: X:57.52, Y:5.68, Z:14.70
[[ 9.61876134e-01 -1.06620773e-01 -2.51845814e-01  5.75229022e+01]
 [ 1.04981863e-01  9.94273504e-01 -1.99751629e-02  5.67589301e+00]
 [ 2.52533387e-01 -7.22561014e-03  9.67561202e-01  1.47001184e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.300714057 meters
Centerline goodness : 0.998630 with order 1
Centerline is valid?  [True, True]
Translation: X:57.58, Y:5.68, Z:14.72
[[ 9.61492797e-01 -1.10020654e-01 -2.51847290e-01  5.75816602e+01]
 [ 1.08501164e-01  9.93895988e-01 -1.99565351e-02  5.67645933e+00]
 [ 2.52505642e-01 -8.13765935e-03  9.67561202e-01  1.47158557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.360714057 meters
Centerline goodness : 0.998294 with order 1
Centerline is valid?  [True, True]
Translation: X:57.64, Y:5.68, Z:14.73
[[ 9.60955508e-01 -1.14616441e-01 -2.51848333e-01  5.76411450e+01]
 [ 1.13255338e-01  9.93365738e-01 -1.99433696e-02  5.67725038e+00]
 [ 2.52463343e-01 -9.35847720e-03  9.67561202e-01  1.47307879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.420714057000005 meters
Centerline goodness : 0.998411 with order 1
Centerline is valid?  [True, True]
Translation: X:57.70, Y:5.68, Z:14.75
[[ 9.60491688e-01 -1.18438083e-01 -2.51849436e-01  5.76999991e+01]
 [ 1.17209565e-01  9.92907214e-01 -1.99294240e-02  5.67908336e+00]
 [ 2.52423525e-01 -1.03771167e-02  9.67561202e-01  1.47465658e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.48071405700001 meters
Centerline goodness : 0.998186 with order 1
Centerline is valid?  [True, True]
Translation: X:57.76, Y:5.68, Z:14.76
[[ 9.59533475e-01 -1.25965022e-01 -2.51849803e-01  5.77587001e+01]
 [ 1.24991905e-01  9.91957674e-01 -1.99247837e-02  5.68049464e+00]
 [ 2.52334171e-01 -1.23606898e-02  9.67561202e-01  1.47621674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.540714057 meters
Centerline goodness : 0.998419 with order 1
Centerline is valid?  [True, True]
Translation: X:57.82, Y:5.68, Z:14.78
[[ 9.58405470e-01 -1.34276637e-01 -2.51850631e-01  5.78168582e+01]
 [ 1.33587322e-01  9.90836943e-01 -1.99143138e-02  5.68184437e+00]
 [ 2.52216937e-01 -1.45580640e-02  9.67561202e-01  1.47765826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.600714057000005 meters
Centerline goodness : 0.998150 with order 1
Centerline is valid?  [True, True]
Translation: X:57.88, Y:5.68, Z:14.79
[[ 9.57739158e-01 -1.38950024e-01 -2.51850343e-01  5.78759102e+01]
 [ 1.38417960e-01  9.90173593e-01 -1.99179561e-02  5.68485592e+00]
 [ 2.52143160e-01 -1.57844042e-02  9.67561202e-01  1.47915121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.66071405700001 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:57.93, Y:5.69, Z:14.81
[[ 9.57123609e-01 -1.43127995e-01 -2.51850698e-01  5.79336313e+01]
 [ 1.42738645e-01  9.89560070e-01 -1.99134723e-02  5.68751710e+00]
 [ 2.52071570e-01 -1.68891729e-02  9.67561202e-01  1.48063769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.720714057 meters
Centerline goodness : 0.998603 with order 1
Centerline is valid?  [True, True]
Translation: X:57.99, Y:5.69, Z:14.82
[[ 9.56725057e-01 -1.45768485e-01 -2.51850579e-01  5.79912619e+01]
 [ 1.45468247e-01  9.89162465e-01 -1.99149722e-02  5.69164631e+00]
 [ 2.52024115e-01 -1.75831093e-02  9.67561202e-01  1.48213806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.780714057000004 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:58.05, Y:5.70, Z:14.83
[[ 9.56333474e-01 -1.48313211e-01 -2.51852094e-01  5.80497122e+01]
 [ 1.48104294e-01  9.88771599e-01 -1.98957932e-02  5.69537378e+00]
 [ 2.51975007e-01 -1.82733636e-02  9.67561202e-01  1.48344673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.84071405700001 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:58.11, Y:5.70, Z:14.85
[[ 9.55890467e-01 -1.51141639e-01 -2.51852378e-01  5.81088893e+01]
 [ 1.51029624e-01  9.88329071e-01 -1.98922016e-02  5.70016553e+00]
 [ 2.51919567e-01 -1.90224040e-02  9.67561202e-01  1.48502247e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.900714057 meters
Centerline goodness : 0.998781 with order 1
Centerline is valid?  [True, True]
Translation: X:58.17, Y:5.71, Z:14.87
[[ 9.55688303e-01 -1.52413565e-01 -2.51853078e-01  5.81680845e+01]
 [ 1.52347042e-01  9.88127032e-01 -1.98833295e-02  5.70564733e+00]
 [ 2.51893324e-01 -1.93668061e-02  9.67561202e-01  1.48662770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.960714057000004 meters
Centerline goodness : 0.998645 with order 1
Centerline is valid?  [True, True]
Translation: X:58.23, Y:5.71, Z:14.88
[[ 9.55811608e-01 -1.51636549e-01 -2.51854178e-01  5.82274993e+01]
 [ 1.51547304e-01  9.88250283e-01 -1.98693920e-02  5.71148054e+00]
 [ 2.51907889e-01 -1.91764263e-02  9.67561202e-01  1.48814044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.020714057000006 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:58.29, Y:5.72, Z:14.90
[[ 9.55970250e-01 -1.50631942e-01 -2.51854917e-01  5.82870698e+01]
 [ 1.50511060e-01  9.88408822e-01 -1.98600254e-02  5.71662559e+00]
 [ 2.51927176e-01 -1.89213571e-02  9.67561202e-01  1.48965847e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.080714057 meters
Centerline goodness : 0.998487 with order 1
Centerline is valid?  [True, True]
Translation: X:58.35, Y:5.72, Z:14.91
[[ 9.56555761e-01 -1.46866018e-01 -2.51856010e-01  5.83451092e+01]
 [ 1.46621024e-01  9.88993633e-01 -1.98461478e-02  5.72427949e+00]
 [ 2.51998715e-01 -1.79434390e-02  9.67561202e-01  1.49131519e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.140714057000004 meters
Centerline goodness : 0.998736 with order 1
Centerline is valid?  [True, True]
Translation: X:58.40, Y:5.73, Z:14.93
[[ 9.57314828e-01 -1.41833562e-01 -2.51856231e-01  5.84022398e+01]
 [ 1.41418718e-01  9.89750973e-01 -1.98433436e-02  5.73244331e+00]
 [ 2.52089402e-01 -1.66208583e-02  9.67561202e-01  1.49286783e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.200714057000006 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:58.46, Y:5.74, Z:14.95
[[ 9.57987878e-01 -1.37214056e-01 -2.51856167e-01  5.84613637e+01]
 [ 1.36642540e-01  9.90421640e-01 -1.98441585e-02  5.73974329e+00]
 [ 2.52166695e-01 -1.54038030e-02  9.67561203e-01  1.49450864e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.260714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:58.52, Y:5.75, Z:14.96
[[ 9.58622552e-01 -1.32705402e-01 -2.51857259e-01  5.85192244e+01]
 [ 1.31984929e-01  9.91053348e-01 -1.98302917e-02  5.74786697e+00]
 [ 2.52235566e-01 -1.42315976e-02  9.67561203e-01  1.49585795e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.320714057 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:58.58, Y:5.75, Z:14.97
[[ 9.58978510e-01 -1.30108222e-01 -2.51857238e-01  5.85777808e+01]
 [ 1.29299835e-01  9.91407233e-01 -1.98305538e-02  5.75453319e+00]
 [ 2.52273206e-01 -1.35480245e-02  9.67561203e-01  1.49737184e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.380714057000006 meters
Centerline goodness : 0.998772 with order 1
Centerline is valid?  [True, True]
Translation: X:58.64, Y:5.76, Z:14.99
[[ 9.59454054e-01 -1.26552919e-01 -2.51857651e-01  5.86363228e+01]
 [ 1.25625717e-01  9.91879598e-01 -1.98253067e-02  5.76079687e+00]
 [ 2.52321416e-01 -1.26183271e-02  9.67561203e-01  1.49909711e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.440714057 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:58.70, Y:5.77, Z:15.01
[[ 9.59823131e-01 -1.23721861e-01 -2.51858014e-01  5.86967778e+01]
 [ 1.22700211e-01  9.92245836e-01 -1.98206945e-02  5.76737679e+00]
 [ 2.52357319e-01 -1.18786703e-02  9.67561203e-01  1.50065913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.500714057 meters
Centerline goodness : 0.998420 with order 1
Centerline is valid?  [True, True]
Translation: X:58.75, Y:5.77, Z:15.02
[[ 9.60276659e-01 -1.20146485e-01 -2.51860200e-01  5.87548265e+01]
 [ 1.19011374e-01  9.92695590e-01 -1.97928867e-02  5.77406732e+00]
 [ 2.52398555e-01 -1.09675814e-02  9.67561203e-01  1.50223251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.560714057000006 meters
Centerline goodness : 0.998354 with order 1
Centerline is valid?  [True, True]
Translation: X:58.81, Y:5.78, Z:15.04
[[ 9.60525208e-01 -1.18142554e-01 -2.51860401e-01  5.88149503e+01]
 [ 1.16940473e-01  9.92941725e-01 -1.97903250e-02  5.77973471e+00]
 [ 2.52420780e-01 -1.04435685e-02  9.67561203e-01  1.50388004e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.620714057 meters
Centerline goodness : 0.998498 with order 1
Centerline is valid?  [True, True]
Translation: X:58.87, Y:5.78, Z:15.06
[[ 9.60643900e-01 -1.17170432e-01 -2.51861840e-01  5.88746382e+01]
 [ 1.15940345e-01  9.93059366e-01 -1.97719891e-02  5.78475838e+00]
 [ 2.52430452e-01 -1.02071079e-02  9.67561203e-01  1.50560250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.680714057 meters
Centerline goodness : 0.998102 with order 1
Centerline is valid?  [True, True]
Translation: X:58.93, Y:5.79, Z:15.07
[[ 9.60386634e-01 -1.19257649e-01 -2.51863309e-01  5.89343833e+01]
 [ 1.18102906e-01  9.92804871e-01 -1.97532655e-02  5.78852059e+00]
 [ 2.52406848e-01 -1.07750165e-02  9.67561203e-01  1.50713579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.740714057000005 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:58.99, Y:5.79, Z:15.09
[[ 9.59792492e-01 -1.23946320e-01 -2.51864412e-01  5.89949188e+01]
 [ 1.22953593e-01  9.92216095e-01 -1.97391846e-02  5.79142270e+00]
 [ 2.52350523e-01 -1.20221133e-02  9.67561203e-01  1.50867248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.80071405700001 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:59.05, Y:5.79, Z:15.10
[[ 9.59181973e-01 -1.28582747e-01 -2.51865876e-01  5.90533993e+01]
 [ 1.27751604e-01  9.91610120e-01 -1.97204866e-02  5.79419234e+00]
 [ 2.52288466e-01 -1.32607345e-02  9.67561204e-01  1.51021281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.860714057 meters
Centerline goodness : 0.998636 with order 1
Centerline is valid?  [True, True]
Translation: X:59.11, Y:5.80, Z:15.12
[[ 9.58764701e-01 -1.31657953e-01 -2.51865900e-01  5.91131486e+01]
 [ 1.30930884e-01  9.91195348e-01 -1.97201794e-02  5.79735003e+00]
 [ 2.52244627e-01 -1.40700132e-02  9.67561204e-01  1.51152839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.920714057000005 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:59.17, Y:5.80, Z:15.13
[[ 9.58161660e-01 -1.35975230e-01 -2.51866970e-01  5.91711439e+01]
 [ 1.35397827e-01  9.90595317e-01 -1.97065111e-02  5.79962893e+00]
 [ 2.52177838e-01 -1.52202172e-02  9.67561204e-01  1.51324750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.98071405700001 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:59.23, Y:5.80, Z:15.15
[[ 9.57757482e-01 -1.38793373e-01 -2.51867038e-01  5.92296282e+01]
 [ 1.38311614e-01  9.90192701e-01 -1.97056398e-02  5.80309992e+00]
 [ 2.52131915e-01 -1.59629127e-02  9.67561204e-01  1.51472189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.040714057 meters
Centerline goodness : 0.998305 with order 1
Centerline is valid?  [True, True]
Translation: X:59.29, Y:5.81, Z:15.16
[[ 9.57438926e-01 -1.40973472e-01 -2.51867393e-01  5.92890850e+01]
 [ 1.40566747e-01  9.89875172e-01 -1.97010982e-02  5.80603027e+00]
 [ 2.52094612e-01 -1.65415819e-02  9.67561204e-01  1.51631919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.100714057000005 meters
Centerline goodness : 0.998411 with order 1
Centerline is valid?  [True, True]
Translation: X:59.35, Y:5.81, Z:15.18
[[ 9.57113366e-01 -1.43163071e-01 -2.51869689e-01  5.93474681e+01]
 [ 1.42838237e-01  9.89550535e-01 -1.96717102e-02  5.80953254e+00]
 [ 2.52054048e-01 -1.71485655e-02  9.67561204e-01  1.51789501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.16071405700001 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:59.41, Y:5.81, Z:15.19
[[ 9.56971269e-01 -1.44109848e-01 -2.51869692e-01  5.94071811e+01]
 [ 1.43817116e-01  9.89408744e-01 -1.96716631e-02  5.81310909e+00]
 [ 2.52036956e-01 -1.73979564e-02  9.67561204e-01  1.51945736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.220714057 meters
Centerline goodness : 0.998665 with order 1
Centerline is valid?  [True, True]
Translation: X:59.47, Y:5.82, Z:15.21
[[ 9.56703507e-01 -1.45874421e-01 -2.51871102e-01  5.94672205e+01]
 [ 1.45646243e-01  9.89141501e-01 -1.96535940e-02  5.81592551e+00]
 [ 2.52003117e-01 -1.78814174e-02  9.67561204e-01  1.52096974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.280714057000004 meters
Centerline goodness : 0.998555 with order 1
Centerline is valid?  [True, True]
Translation: X:59.53, Y:5.82, Z:15.22
[[ 9.56611142e-01 -1.46476403e-01 -2.51872560e-01  5.95261213e+01]
 [ 1.46273535e-01  9.89049303e-01 -1.96348954e-02  5.81903495e+00]
 [ 2.51990429e-01 -1.80593299e-02  9.67561204e-01  1.52247607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.34071405700001 meters
Centerline goodness : 0.998443 with order 1
Centerline is valid?  [True, True]
Translation: X:59.59, Y:5.82, Z:15.24
[[ 9.56602497e-01 -1.46532226e-01 -2.51872924e-01  5.95854400e+01]
 [ 1.46332474e-01  9.89040677e-01 -1.96302249e-02  5.82235600e+00]
 [ 2.51989028e-01 -1.80788659e-02  9.67561204e-01  1.52393149e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.400714057 meters
Centerline goodness : 0.998419 with order 1
Centerline is valid?  [True, True]
Translation: X:59.65, Y:5.83, Z:15.26
[[ 9.56511198e-01 -1.47125172e-01 -2.51874002e-01  5.96451835e+01]
 [ 1.46949151e-01  9.88949515e-01 -1.96163897e-02  5.82634089e+00]
 [ 2.51976737e-01 -1.82493744e-02  9.67561205e-01  1.52553154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.460714057000004 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:59.70, Y:5.83, Z:15.27
[[ 9.56139275e-01 -1.49520783e-01 -2.51875410e-01  5.97028082e+01]
 [ 1.49430762e-01  9.88577946e-01 -1.95982943e-02  5.82927646e+00]
 [ 2.51928827e-01 -1.88992354e-02  9.67561205e-01  1.52707220e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.520714057000006 meters
Centerline goodness : 0.998783 with order 1
Centerline is valid?  [True, True]
Translation: X:59.76, Y:5.83, Z:15.29
[[ 9.55652940e-01 -1.52598281e-01 -2.51875410e-01  5.97614981e+01]
 [ 1.52612696e-01  9.88091732e-01 -1.95982943e-02  5.83307453e+00]
 [ 2.51866676e-01 -1.97102178e-02  9.67561205e-01  1.52860037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.580714057 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:59.82, Y:5.84, Z:15.30
[[ 9.55263824e-01 -1.55015404e-01 -2.51875466e-01  5.98196548e+01]
 [ 1.55112074e-01  9.87702475e-01 -1.95975643e-02  5.83672660e+00]
 [ 2.51815946e-01 -2.03480817e-02  9.67561205e-01  1.53024145e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.640714057000004 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:59.88, Y:5.84, Z:15.32
[[ 9.55014240e-01 -1.56545521e-01 -2.51875569e-01  5.98796028e+01]
 [ 1.56694500e-01  9.87452693e-01 -1.95962529e-02  5.83919817e+00]
 [ 2.51782914e-01 -2.07528157e-02  9.67561205e-01  1.53170115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.700714057000006 meters
Centerline goodness : 0.998694 with order 1
Centerline is valid?  [True, True]
Translation: X:59.94, Y:5.84, Z:15.33
[[ 9.54989638e-01 -1.56693800e-01 -2.51876646e-01  5.99386936e+01]
 [ 1.56851445e-01  9.87428050e-01 -1.95824003e-02  5.84278737e+00]
 [ 2.51778506e-01 -2.08062263e-02  9.67561205e-01  1.53329647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.760714057 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:60.00, Y:5.85, Z:15.35
[[ 9.55345082e-01 -1.54510740e-01 -2.51877362e-01  5.99972383e+01]
 [ 1.54596660e-01  9.87783763e-01 -1.95731793e-02  5.84672471e+00]
 [ 2.51824635e-01 -2.02402584e-02  9.67561205e-01  1.53480441e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.820714057 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:60.06, Y:5.85, Z:15.36
[[ 9.55503579e-01 -1.53527536e-01 -2.51877362e-01  6.00555824e+01]
 [ 1.53580075e-01  9.87942332e-01 -1.95731793e-02  5.85157097e+00]
 [ 2.51845330e-01 -1.99811012e-02  9.67561205e-01  1.53634066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.880714057000006 meters
Centerline goodness : 0.998965 with order 1
Centerline is valid?  [True, True]
Translation: X:60.11, Y:5.86, Z:15.38
[[ 9.55918470e-01 -1.50922739e-01 -2.51877362e-01  6.01137534e+01]
 [ 1.50886865e-01  9.88357245e-01 -1.95731793e-02  5.85585143e+00]
 [ 2.51898854e-01 -1.92946221e-02  9.67561205e-01  1.53786514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.940714057 meters
Centerline goodness : 0.998961 with order 1
Centerline is valid?  [True, True]
Translation: X:60.17, Y:5.86, Z:15.39
[[ 9.56623780e-01 -1.46385571e-01 -2.51877365e-01  6.01722309e+01]
 [ 1.46195800e-01  9.89062021e-01 -1.95731357e-02  5.86028364e+00]
 [ 2.51987561e-01 -1.80992858e-02  9.67561205e-01  1.53938104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.000714057 meters
Centerline goodness : 0.998732 with order 1
Centerline is valid?  [True, True]
Translation: X:60.23, Y:5.87, Z:15.41
[[ 9.57165192e-01 -1.42802608e-01 -2.51877373e-01  6.02313976e+01]
 [ 1.42491405e-01  9.89602494e-01 -1.95730354e-02  5.86568503e+00]
 [ 2.52053557e-01 -1.71557326e-02  9.67561205e-01  1.54095885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.060714057000006 meters
Centerline goodness : 0.999026 with order 1
Centerline is valid?  [True, True]
Translation: X:60.29, Y:5.87, Z:15.43
[[ 9.58036798e-01 -1.36831733e-01 -2.51878086e-01  6.02898525e+01]
 [ 1.36320686e-01  9.90471567e-01 -1.95638582e-02  5.87029753e+00]
 [ 2.52155039e-01 -1.55932975e-02  9.67561205e-01  1.54262189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.120714057 meters
Centerline goodness : 0.999275 with order 1
Centerline is valid?  [True, True]
Translation: X:60.35, Y:5.87, Z:15.44
[[ 9.58701488e-01 -1.32093585e-01 -2.51878428e-01  6.03486388e+01]
 [ 1.31423341e-01  9.91133358e-01 -1.95594599e-02  5.87344726e+00]
 [ 2.52228791e-01 -1.43510210e-02  9.67561205e-01  1.54416005e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.180714057 meters
Centerline goodness : 0.998934 with order 1
Centerline is valid?  [True, True]
Translation: X:60.41, Y:5.88, Z:15.46
[[ 9.59197009e-01 -1.28445740e-01 -2.51878522e-01  6.04069663e+01]
 [ 1.27652449e-01  9.91626103e-01 -1.95582438e-02  5.87707278e+00]
 [ 2.52281490e-01 -1.33927011e-02  9.67561205e-01  1.54573903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.240714057000005 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:60.47, Y:5.88, Z:15.47
[[ 9.59614731e-01 -1.25286852e-01 -2.51878489e-01  6.04671521e+01]
 [ 1.24386680e-01  9.92041034e-01 -1.95586687e-02  5.88008297e+00]
 [ 2.52324241e-01 -1.25615424e-02  9.67561205e-01  1.54723592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.30071405700001 meters
Centerline goodness : 0.999343 with order 1
Centerline is valid?  [True, True]
Translation: X:60.53, Y:5.88, Z:15.49
[[ 9.59827286e-01 -1.23645667e-01 -2.51879596e-01  6.05260864e+01]
 [ 1.22693779e-01  9.92252111e-01 -1.95444077e-02  5.88338671e+00]
 [ 2.52344642e-01 -1.21448037e-02  9.67561205e-01  1.54879187e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.360714057 meters
Centerline goodness : 0.999367 with order 1
Centerline is valid?  [True, True]
Translation: X:60.59, Y:5.88, Z:15.50
[[ 9.59826997e-01 -1.23645700e-01 -2.51880681e-01  6.05862052e+01]
 [ 1.22697477e-01  9.92251930e-01 -1.95304148e-02  5.88495189e+00]
 [ 2.52343943e-01 -1.21593047e-02  9.67561205e-01  1.55042022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.420714057000005 meters
Centerline goodness : 0.999482 with order 1
Centerline is valid?  [True, True]
Translation: X:60.65, Y:5.89, Z:15.52
[[ 9.59886876e-01 -1.23177062e-01 -2.51882110e-01  6.06451044e+01]
 [ 1.22217839e-01  9.92311485e-01 -1.95119609e-02  5.88817690e+00]
 [ 2.52348937e-01 -1.20552120e-02  9.67561205e-01  1.55189048e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.48071405700001 meters
Centerline goodness : 0.999619 with order 1
Centerline is valid?  [True, True]
Translation: X:60.70, Y:5.89, Z:15.53
[[ 9.59884042e-01 -1.23197700e-01 -2.51882816e-01  6.07045126e+01]
 [ 1.22241559e-01  9.92308742e-01 -1.95028486e-02  5.89142843e+00]
 [ 2.52348226e-01 -1.20700749e-02  9.67561205e-01  1.55337037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.540714057 meters
Centerline goodness : 0.999372 with order 1
Centerline is valid?  [True, True]
Translation: X:60.76, Y:5.89, Z:15.55
[[ 9.59762378e-01 -1.24139857e-01 -2.51883851e-01  6.07643742e+01]
 [ 1.23219048e-01  9.92188101e-01 -1.94894671e-02  5.89303828e+00]
 [ 2.52335580e-01 -1.23316311e-02  9.67561205e-01  1.55504551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.600714057000005 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:60.82, Y:5.90, Z:15.56
[[ 9.59621327e-01 -1.25222601e-01 -2.51885310e-01  6.08230686e+01]
 [ 1.24343318e-01  9.92048202e-01 -1.94705943e-02  5.89670445e+00]
 [ 2.52320528e-01 -1.26358577e-02  9.67561206e-01  1.55648120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.66071405700001 meters
Centerline goodness : 0.999484 with order 1
Centerline is valid?  [True, True]
Translation: X:60.88, Y:5.90, Z:15.58
[[ 9.59511080e-01 -1.26063865e-01 -2.51885668e-01  6.08822490e+01]
 [ 1.25214224e-01  9.91938745e-01 -1.94659636e-02  5.90055448e+00]
 [ 2.52309108e-01 -1.28618607e-02  9.67561206e-01  1.55822781e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.720714057 meters
Centerline goodness : 0.999283 with order 1
Centerline is valid?  [True, True]
Translation: X:60.94, Y:5.90, Z:15.60
[[ 9.59433594e-01 -1.26649382e-01 -2.51887104e-01  6.09429292e+01]
 [ 1.25824399e-01  9.91861896e-01 -1.94473660e-02  5.90314369e+00]
 [ 2.52300217e-01 -1.30350873e-02  9.67561206e-01  1.55968197e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.780714057000004 meters
Centerline goodness : 0.999371 with order 1
Centerline is valid?  [True, True]
Translation: X:61.00, Y:5.91, Z:15.61
[[ 9.59136730e-01 -1.28875531e-01 -2.51888530e-01  6.10025263e+01]
 [ 1.28130645e-01  9.91566970e-01 -1.94288789e-02  5.90663709e+00]
 [ 2.52268254e-01 -1.36396885e-02  9.67561206e-01  1.56127154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.84071405700001 meters
Centerline goodness : 0.999284 with order 1
Centerline is valid?  [True, True]
Translation: X:61.06, Y:5.91, Z:15.63
[[ 9.58598747e-01 -1.32815899e-01 -2.51889618e-01  6.10616656e+01]
 [ 1.32207986e-01  9.91031844e-01 -1.94147562e-02  5.91016096e+00]
 [ 2.52209221e-01 -1.46908583e-02  9.67561206e-01  1.56285623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.900714057 meters
Centerline goodness : 0.999218 with order 1
Centerline is valid?  [True, True]
Translation: X:61.12, Y:5.91, Z:15.64
[[ 9.57738970e-01 -1.38878817e-01 -2.51890332e-01  6.11198837e+01]
 [ 1.38478566e-01  9.90175294e-01 -1.94054883e-02  5.91278691e+00]
 [ 2.52110595e-01 -1.62960196e-02  9.67561206e-01  1.56446251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.960714057000004 meters
Centerline goodness : 0.999155 with order 1
Centerline is valid?  [True, True]
Translation: X:61.18, Y:5.92, Z:15.66
[[ 9.56972242e-01 -1.44067282e-01 -2.51890347e-01  6.11784683e+01]
 [ 1.43842874e-01  9.89410260e-01 -1.94053060e-02  5.91642400e+00]
 [ 2.52018563e-01 -1.76622923e-02  9.67561206e-01  1.56603720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.020714057000006 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:61.24, Y:5.92, Z:15.68
[[ 9.56537278e-01 -1.46927379e-01 -2.51890414e-01  6.12381410e+01]
 [ 1.46800172e-01  9.88975823e-01 -1.94044245e-02  5.92139332e+00]
 [ 2.51964571e-01 -1.84165008e-02  9.67561206e-01  1.56767434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.080714057 meters
Centerline goodness : 0.999269 with order 1
Centerline is valid?  [True, True]
Translation: X:61.30, Y:5.93, Z:15.69
[[ 9.56221617e-01 -1.48965498e-01 -2.51891839e-01  6.12971670e+01]
 [ 1.48912270e-01  9.88660368e-01 -1.93859101e-02  5.92516359e+00]
 [ 2.51923310e-01 -1.89725593e-02  9.67561206e-01  1.56919296e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.140714057000004 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:61.36, Y:5.93, Z:15.71
[[ 9.55971149e-01 -1.50563490e-01 -2.51892435e-01  6.13576633e+01]
 [ 1.50566505e-01  9.88409942e-01 -1.93781723e-02  5.92949503e+00]
 [ 2.51890632e-01 -1.94015900e-02  9.67561206e-01  1.57074252e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.200714057000006 meters
Centerline goodness : 0.999467 with order 1
Centerline is valid?  [True, True]
Translation: X:61.42, Y:5.94, Z:15.72
[[ 9.55818350e-01 -1.51527536e-01 -2.51894201e-01  6.14150436e+01]
 [ 1.51569287e-01  9.88257116e-01 -1.93551882e-02  5.93508451e+00]
 [ 2.51869080e-01 -1.96793805e-02  9.67561206e-01  1.57211977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.260714057 meters
Centerline goodness : 0.999510 with order 1
Centerline is valid?  [True, True]
Translation: X:61.47, Y:5.94, Z:15.73
[[ 9.55783375e-01 -1.51747457e-01 -2.51894521e-01  6.14736605e+01]
 [ 1.51797763e-01  9.88222129e-01 -1.93510227e-02  5.94049996e+00]
 [ 2.51864208e-01 -1.97416391e-02  9.67561207e-01  1.57347942e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.320714057 meters
Centerline goodness : 0.999512 with order 1
Centerline is valid?  [True, True]
Translation: X:61.53, Y:5.95, Z:15.75
[[ 9.55854136e-01 -1.51300515e-01 -2.51894868e-01  6.15331427e+01]
 [ 1.51336837e-01  9.88292909e-01 -1.93465033e-02  5.94724785e+00]
 [ 2.51873048e-01 -1.96285373e-02  9.67561207e-01  1.57532467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.380714057000006 meters
Centerline goodness : 0.999354 with order 1
Centerline is valid?  [True, True]
Translation: X:61.59, Y:5.96, Z:15.77
[[ 9.56199020e-01 -1.49102938e-01 -2.51896303e-01  6.15915697e+01]
 [ 1.49069592e-01  9.88637797e-01 -1.93278050e-02  5.95521466e+00]
 [ 2.51916038e-01 -1.90688509e-02  9.67561207e-01  1.57690694e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.440714057 meters
Centerline goodness : 0.998975 with order 1
Centerline is valid?  [True, True]
Translation: X:61.65, Y:5.96, Z:15.78
[[ 9.56257366e-01 -1.48727089e-01 -2.51897010e-01  6.16500134e+01]
 [ 1.48683408e-01  9.88696130e-01 -1.93185850e-02  5.96243048e+00]
 [ 2.51922795e-01 -1.89793666e-02  9.67561207e-01  1.57838574e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.500714057 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:61.71, Y:5.97, Z:15.80
[[ 9.56084275e-01 -1.49835512e-01 -2.51897160e-01  6.17084280e+01]
 [ 1.49829947e-01  9.88523067e-01 -1.93166258e-02  5.96775634e+00]
 [ 2.51900470e-01 -1.92734160e-02  9.67561207e-01  1.57978618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.560714057000006 meters
Centerline goodness : 0.999020 with order 1
Centerline is valid?  [True, True]
Translation: X:61.77, Y:5.98, Z:15.81
[[ 9.55429905e-01 -1.53952848e-01 -2.51897235e-01  6.17674138e+01]
 [ 1.54087283e-01  9.87868420e-01 -1.93156506e-02  5.97501582e+00]
 [ 2.51815023e-01 -2.03594102e-02  9.67561207e-01  1.58127000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.62071405700001 meters
Centerline goodness : 0.998574 with order 1
Centerline is valid?  [True, True]
Translation: X:61.83, Y:5.98, Z:15.83
[[ 9.55081131e-01 -1.56101337e-01 -2.51897611e-01  6.18266930e+01]
 [ 1.56310014e-01  9.87519253e-01 -1.93107441e-02  5.98178805e+00]
 [ 2.51768173e-01 -2.09307918e-02  9.67561207e-01  1.58289141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.680714057 meters
Centerline goodness : 0.998794 with order 1
Centerline is valid?  [True, True]
Translation: X:61.88, Y:5.99, Z:15.84
[[ 9.54628431e-01 -1.58844100e-01 -2.51899007e-01  6.18838974e+01]
 [ 1.59150727e-01  9.87065775e-01 -1.92925186e-02  5.98981440e+00]
 [ 2.51705391e-01 -2.16727232e-02  9.67561207e-01  1.58439406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.740714057000005 meters
Centerline goodness : 0.999173 with order 1
Centerline is valid?  [True, True]
Translation: X:61.94, Y:6.00, Z:15.86
[[ 9.54179987e-01 -1.61516447e-01 -2.51898768e-01  6.19414011e+01]
 [ 1.61913080e-01  9.86616356e-01 -1.92956390e-02  5.99752025e+00]
 [ 2.51644007e-01 -2.23741927e-02  9.67561207e-01  1.58604504e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.80071405700001 meters
Centerline goodness : 0.999103 with order 1
Centerline is valid?  [True, True]
Translation: X:62.00, Y:6.00, Z:15.88
[[ 9.54110124e-01 -1.61928537e-01 -2.51898830e-01  6.20011205e+01]
 [ 1.62339390e-01  9.86546315e-01 -1.92948314e-02  6.00317316e+00]
 [ 2.51634246e-01 -2.24837084e-02  9.67561207e-01  1.58762492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.860714057 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:62.06, Y:6.01, Z:15.89
[[ 9.53863838e-01 -1.63370922e-01 -2.51900219e-01  6.20594498e+01]
 [ 1.63835571e-01  9.86299303e-01 -1.92766806e-02  6.01140873e+00]
 [ 2.51598259e-01 -2.28828877e-02  9.67561207e-01  1.58922042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.920714057000005 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:62.12, Y:6.02, Z:15.91
[[ 9.53882306e-01 -1.63262908e-01 -2.51900316e-01  6.21195052e+01]
 [ 1.63724216e-01  9.86317819e-01 -1.92754127e-02  6.01817994e+00]
 [ 2.51600730e-01 -2.28557065e-02  9.67561207e-01  1.59063879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.98071405700001 meters
Centerline goodness : 0.998896 with order 1
Centerline is valid?  [True, True]
Translation: X:62.18, Y:6.03, Z:15.92
[[ 9.53972280e-01 -1.62728571e-01 -2.51905343e-01  6.21772384e+01]
 [ 1.63188974e-01  9.86407803e-01 -1.92094965e-02  6.02502056e+00]
 [ 2.51607330e-01 -2.27828473e-02  9.67561209e-01  1.59210236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.04071405700002 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:62.24, Y:6.03, Z:15.94
[[ 9.53964908e-01 -1.62771780e-01 -2.51905343e-01  6.22367017e+01]
 [ 1.63233652e-01  9.86400411e-01 -1.92094965e-02  6.03133089e+00]
 [ 2.51606298e-01 -2.27942435e-02  9.67561209e-01  1.59368098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.100714057 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:62.30, Y:6.04, Z:15.95
[[ 9.53914794e-01 -1.63063549e-01 -2.51906422e-01  6.22963346e+01]
 [ 1.63539051e-01  9.86350099e-01 -1.91953337e-02  6.03654127e+00]
 [ 2.51597984e-01 -2.28858244e-02  9.67561209e-01  1.59516922e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.160714057 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:62.36, Y:6.04, Z:15.97
[[ 9.53999457e-01 -1.62565298e-01 -2.51907839e-01  6.23563082e+01]
 [ 1.63028734e-01  9.86434937e-01 -1.91767189e-02  6.04183866e+00]
 [ 2.51608163e-01 -2.27736366e-02  9.67561209e-01  1.59666430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.22071405700001 meters
Centerline goodness : 0.999232 with order 1
Centerline is valid?  [True, True]
Translation: X:62.41, Y:6.05, Z:15.98
[[ 9.54189876e-01 -1.61441657e-01 -2.51909252e-01  6.24144574e+01]
 [ 1.61871758e-01  9.86625815e-01 -1.91581451e-02  6.04738219e+00]
 [ 2.51633094e-01 -2.24964854e-02  9.67561210e-01  1.59814932e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.28071405700001 meters
Centerline goodness : 0.999119 with order 1
Centerline is valid?  [True, True]
Translation: X:62.47, Y:6.05, Z:16.00
[[ 9.54540243e-01 -1.59356910e-01 -2.51909308e-01  6.24726163e+01]
 [ 1.59716349e-01  9.86977042e-01 -1.91574041e-02  6.05378998e+00]
 [ 2.51681569e-01 -2.19475218e-02  9.67561210e-01  1.59981729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.34071405700001 meters
Centerline goodness : 0.999053 with order 1
Centerline is valid?  [True, True]
Translation: X:62.53, Y:6.06, Z:16.01
[[ 9.54945991e-01 -1.56906583e-01 -2.51909663e-01  6.25298825e+01]
 [ 1.57183996e-01  9.87383595e-01 -1.91527386e-02  6.06000399e+00]
 [ 2.51736659e-01 -2.13063365e-02  9.67561210e-01  1.60129724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.40071405700002 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:62.59, Y:6.07, Z:16.03
[[ 9.55491126e-01 -1.53552618e-01 -2.51909313e-01  6.25885206e+01]
 [ 1.53714928e-01  9.87929510e-01 -1.91573431e-02  6.06678693e+00]
 [ 2.51810304e-01 -2.04175505e-02  9.67561210e-01  1.60274116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.46071405700002 meters
Centerline goodness : 0.998935 with order 1
Centerline is valid?  [True, True]
Translation: X:62.65, Y:6.07, Z:16.04
[[ 9.55986650e-01 -1.50436055e-01 -2.51909744e-01  6.26466417e+01]
 [ 1.50494072e-01  9.88425388e-01 -1.91516688e-02  6.07311958e+00]
 [ 2.51875088e-01 -1.96021835e-02  9.67561210e-01  1.60434757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.520714057 meters
Centerline goodness : 0.998932 with order 1
Centerline is valid?  [True, True]
Translation: X:62.71, Y:6.08, Z:16.06
[[ 9.56543673e-01 -1.46852599e-01 -2.51909737e-01  6.27051947e+01]
 [ 1.46789033e-01  9.88982401e-01 -1.91517598e-02  6.08048503e+00]
 [ 2.51946782e-01 -1.86580920e-02  9.67561210e-01  1.60587732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.58071405700001 meters
Centerline goodness : 0.998589 with order 1
Centerline is valid?  [True, True]
Translation: X:62.77, Y:6.09, Z:16.07
[[ 9.56710002e-01 -1.45764475e-01 -2.51910082e-01  6.27651548e+01]
 [ 1.45665201e-01  9.89148641e-01 -1.91472204e-02  6.08655620e+00]
 [ 2.51967500e-01 -1.83761954e-02  9.67561210e-01  1.60736045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.64071405700001 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:62.82, Y:6.09, Z:16.09
[[ 9.56555563e-01 -1.46772755e-01 -2.51911122e-01  6.28230766e+01]
 [ 1.46711256e-01  9.88994295e-01 -1.91335305e-02  6.09094424e+00]
 [ 2.51946943e-01 -1.86559121e-02  9.67561210e-01  1.60877996e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.70071405700001 meters
Centerline goodness : 0.998657 with order 1
Centerline is valid?  [True, True]
Translation: X:62.88, Y:6.09, Z:16.10
[[ 9.56285188e-01 -1.48524160e-01 -2.51911122e-01  6.28821674e+01]
 [ 1.48522064e-01  9.88723978e-01 -1.91335305e-02  6.09440384e+00]
 [ 2.51912358e-01 -1.91172479e-02  9.67561210e-01  1.61047176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.76071405700002 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:62.94, Y:6.10, Z:16.12
[[ 9.56177453e-01 -1.49214969e-01 -2.51911832e-01  6.29414716e+01]
 [ 1.49238758e-01  9.88616235e-01 -1.91241737e-02  6.09730049e+00]
 [ 2.51897740e-01 -1.93089051e-02  9.67561210e-01  1.61198845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.82071405700002 meters
Centerline goodness : 0.998866 with order 1
Centerline is valid?  [True, True]
Translation: X:63.00, Y:6.10, Z:16.14
[[ 9.55883513e-01 -1.51078966e-01 -2.51916365e-01  6.30019418e+01]
 [ 1.51181688e-01  9.88322139e-01 -1.90642815e-02  6.09887154e+00]
 [ 2.51854733e-01 -1.98619089e-02  9.67561212e-01  1.61355348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.880714057 meters
Centerline goodness : 0.999004 with order 1
Centerline is valid?  [True, True]
Translation: X:63.06, Y:6.10, Z:16.15
[[ 9.55414863e-01 -1.54012617e-01 -2.51917750e-01  6.30604787e+01]
 [ 1.54219715e-01  9.87852990e-01 -1.90459662e-02  6.09859803e+00]
 [ 2.51791022e-01 -2.06538844e-02  9.67561212e-01  1.61491967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.94071405700001 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:63.12, Y:6.10, Z:16.17
[[ 9.55082311e-01 -1.56062067e-01 -2.51917469e-01  6.31186919e+01]
 [ 1.56337785e-01  9.87519927e-01 -1.90496854e-02  6.09966469e+00]
 [ 2.51746454e-01 -2.11902015e-02  9.67561212e-01  1.61659106e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.00071405700001 meters
Centerline goodness : 0.998946 with order 1
Centerline is valid?  [True, True]
Translation: X:63.18, Y:6.09, Z:16.18
[[ 9.54249323e-01 -1.61076965e-01 -2.51917528e-01  6.31782224e+01]
 [ 1.61523278e-01  9.86685041e-01 -1.90489044e-02  6.09452530e+00]
 [ 2.51631596e-01 -2.25131407e-02  9.67561212e-01  1.61819242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.06071405700001 meters
Centerline goodness : 0.998676 with order 1
Centerline is valid?  [True, True]
Translation: X:63.24, Y:6.09, Z:16.20
[[ 9.53737385e-01 -1.64080332e-01 -2.51917935e-01  6.32388692e+01]
 [ 1.64630166e-01  9.86171513e-01 -1.90435247e-02  6.09360979e+00]
 [ 2.51558958e-01 -2.33107699e-02  9.67561212e-01  1.61968935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.12071405700001 meters
Centerline goodness : 0.998778 with order 1
Centerline is valid?  [True, True]
Translation: X:63.30, Y:6.09, Z:16.21
[[ 9.53033730e-01 -1.68117058e-01 -2.51919360e-01  6.32986503e+01]
 [ 1.68809158e-01  9.85465134e-01 -1.90246514e-02  6.09017508e+00]
 [ 2.51456114e-01 -2.43951605e-02  9.67561212e-01  1.62106840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.18071405700002 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:63.36, Y:6.09, Z:16.23
[[ 9.52471073e-01 -1.71275917e-01 -2.51919462e-01  6.33574699e+01]
 [ 1.72075894e-01  9.84899995e-01 -1.90232945e-02  6.08516720e+00]
 [ 2.51373709e-01 -2.52301290e-02  9.67561212e-01  1.62251978e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.240714057 meters
Centerline goodness : 0.999201 with order 1
Centerline is valid?  [True, True]
Translation: X:63.42, Y:6.08, Z:16.24
[[ 9.52356689e-01 -1.71911213e-01 -2.51919175e-01  6.34169710e+01]
 [ 1.72731826e-01  9.84785096e-01 -1.90270976e-02  6.07907128e+00]
 [ 2.51357221e-01 -2.53938754e-02  9.67561212e-01  1.62401755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.30071405700001 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:63.48, Y:6.08, Z:16.26
[[ 9.52929941e-01 -1.68704112e-01 -2.51919533e-01  6.34755422e+01]
 [ 1.69416789e-01  9.85360899e-01 -1.90223634e-02  6.07526783e+00]
 [ 2.51440808e-01 -2.45524188e-02  9.67561212e-01  1.62551787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.36071405700001 meters
Centerline goodness : 0.998965 with order 1
Centerline is valid?  [True, True]
Translation: X:63.53, Y:6.07, Z:16.27
[[ 9.53546577e-01 -1.65183206e-01 -2.51919497e-01  6.35341302e+01]
 [ 1.65775969e-01  9.85979949e-01 -1.90228281e-02  6.07450353e+00]
 [ 2.51529825e-01 -2.36230461e-02  9.67561212e-01  1.62707356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.42071405700001 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:63.59, Y:6.07, Z:16.29
[[ 9.54492124e-01 -1.59628831e-01 -2.51919475e-01  6.35926629e+01]
 [ 1.60032677e-01  9.86928398e-01 -1.90231314e-02  6.07063844e+00]
 [ 2.51663124e-01 -2.21579188e-02  9.67561212e-01  1.62852176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.48071405700001 meters
Centerline goodness : 0.997934 with order 1
Centerline is valid?  [True, True]
Translation: X:63.65, Y:6.07, Z:16.30
[[ 9.55621547e-01 -1.52722550e-01 -2.51919195e-01  6.36524499e+01]
 [ 1.52890862e-01  9.88059899e-01 -1.90268360e-02  6.06633201e+00]
 [ 2.51817081e-01 -2.03336885e-02  9.67561212e-01  1.63002480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.54071405700002 meters
Centerline goodness : 0.998502 with order 1
Centerline is valid?  [True, True]
Translation: X:63.71, Y:6.06, Z:16.32
[[ 9.56709285e-01 -1.45752902e-01 -2.51919501e-01  6.37108544e+01]
 [ 1.45685827e-01  9.89148004e-01 -1.90227782e-02  6.06268988e+00]
 [ 2.51958297e-01 -1.85018324e-02  9.67561212e-01  1.63164781e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.600714057 meters
Centerline goodness : 0.998946 with order 1
Centerline is valid?  [True, True]
Translation: X:63.77, Y:6.06, Z:16.33
[[ 9.57654079e-01 -1.39410078e-01 -2.51919622e-01  6.37692930e+01]
 [ 1.39128469e-01  9.90091644e-01 -1.90211738e-02  6.05899579e+00]
 [ 2.52075256e-01 -1.68334867e-02  9.67561212e-01  1.63306746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.660714057 meters
Centerline goodness : 0.998661 with order 1
Centerline is valid?  [True, True]
Translation: X:63.83, Y:6.06, Z:16.35
[[ 9.58255908e-01 -1.35211382e-01 -2.51919622e-01  6.38280687e+01]
 [ 1.34787604e-01  9.90691928e-01 -1.90211738e-02  6.05840351e+00]
 [ 2.52146616e-01 -1.57284901e-02  9.67561212e-01  1.63452745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.72071405700001 meters
Centerline goodness : 0.998756 with order 1
Centerline is valid?  [True, True]
Translation: X:63.89, Y:6.06, Z:16.36
[[ 9.58429811e-01 -1.33973249e-01 -2.51919563e-01  6.38854035e+01]
 [ 1.33507358e-01  9.90865253e-01 -1.90219645e-02  6.05845712e+00]
 [ 2.52166776e-01 -1.54018974e-02  9.67561212e-01  1.63609425e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.78071405700001 meters
Centerline goodness : 0.998547 with order 1
Centerline is valid?  [True, True]
Translation: X:63.94, Y:6.06, Z:16.38
[[ 9.58393015e-01 -1.34237524e-01 -2.51918869e-01  6.39437768e+01]
 [ 1.33778174e-01  9.90828550e-01 -1.90311406e-02  6.05528558e+00]
 [ 2.52163101e-01 -1.54619342e-02  9.67561212e-01  1.63766064e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.84071405700001 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:64.00, Y:6.05, Z:16.39
[[ 9.58137472e-01 -1.36050159e-01 -2.51918518e-01  6.40016139e+01]
 [ 1.35650947e-01  9.90573803e-01 -1.90357901e-02  6.05495298e+00]
 [ 2.52133707e-01 -1.59340817e-02  9.67561212e-01  1.63911428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.90071405700002 meters
Centerline goodness : 0.998816 with order 1
Centerline is valid?  [True, True]
Translation: X:64.06, Y:6.05, Z:16.41
[[ 9.57694501e-01 -1.39134177e-01 -2.51918486e-01  6.40592623e+01]
 [ 1.38839284e-01  9.90131949e-01 -1.90362152e-02  6.05324063e+00]
 [ 2.52081130e-01 -1.67453037e-02  9.67561212e-01  1.64066246e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.96071405700002 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:64.12, Y:6.05, Z:16.42
[[ 9.57187233e-01 -1.42584002e-01 -2.51917454e-01  6.41177737e+01]
 [ 1.42402415e-01  9.89625513e-01 -1.90498593e-02  6.05385436e+00]
 [ 2.52020145e-01 -1.76393718e-02  9.67561212e-01  1.64225940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.020714057 meters
Centerline goodness : 0.998708 with order 1
Centerline is valid?  [True, True]
Translation: X:64.18, Y:6.05, Z:16.44
[[ 9.56734375e-01 -1.45592099e-01 -2.51917202e-01  6.41771011e+01]
 [ 1.45511607e-01  9.89173063e-01 -1.90531896e-02  6.05453964e+00]
 [ 2.51963705e-01 -1.84280354e-02  9.67561212e-01  1.64382423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.08071405700001 meters
Centerline goodness : 0.998160 with order 1
Centerline is valid?  [True, True]
Translation: X:64.24, Y:6.06, Z:16.45
[[ 9.56503478e-01 -1.47100138e-01 -2.51917935e-01  6.42350054e+01]
 [ 1.47073320e-01  9.88942255e-01 -1.90435033e-02  6.05689271e+00]
 [ 2.51933592e-01 -1.88352300e-02  9.67561212e-01  1.64525360e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.14071405700001 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:64.29, Y:6.06, Z:16.47
[[ 9.56306831e-01 -1.48373621e-01 -2.51917672e-01  6.42938901e+01]
 [ 1.48389086e-01  9.88745615e-01 -1.90469773e-02  6.06040653e+00]
 [ 2.51908563e-01 -1.91670786e-02  9.67561212e-01  1.64677976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.20071405700001 meters
Centerline goodness : 0.998342 with order 1
Centerline is valid?  [True, True]
Translation: X:64.35, Y:6.07, Z:16.48
[[ 9.56236208e-01 -1.48826803e-01 -2.51918435e-01  6.43520975e+01]
 [ 1.48860285e-01  9.88674978e-01 -1.90368860e-02  6.06516506e+00]
 [ 2.51898652e-01 -1.92968902e-02  9.67561212e-01  1.64828830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.26071405700002 meters
Centerline goodness : 0.998646 with order 1
Centerline is valid?  [True, True]
Translation: X:64.41, Y:6.07, Z:16.50
[[ 9.56591906e-01 -1.46523131e-01 -2.51918435e-01  6.44091564e+01]
 [ 1.46478478e-01  9.89030663e-01 -1.90368860e-02  6.07003258e+00]
 [ 2.51944400e-01 -1.86900979e-02  9.67561212e-01  1.64977632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.32071405700002 meters
Centerline goodness : 0.997446 with order 1
Centerline is valid?  [True, True]
Translation: X:64.47, Y:6.08, Z:16.51
[[ 9.56862636e-01 -1.44745818e-01 -2.51917731e-01  6.44671449e+01]
 [ 1.44638468e-01  9.89301246e-01 -1.90461874e-02  6.07604679e+00]
 [ 2.51979382e-01 -1.82124097e-02  9.67561212e-01  1.65125421e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.380714057 meters
Centerline goodness : 0.997903 with order 1
Centerline is valid?  [True, True]
Translation: X:64.53, Y:6.08, Z:16.53
[[ 9.57660739e-01 -1.39368355e-01 -2.51917388e-01  6.45250445e+01]
 [ 1.39077596e-01  9.90098224e-01 -1.90507212e-02  6.08278159e+00]
 [ 2.52078026e-01 -1.67919370e-02  9.67561212e-01  1.65279345e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.44071405700001 meters
Centerline goodness : 0.998466 with order 1
Centerline is valid?  [True, True]
Translation: X:64.58, Y:6.09, Z:16.54
[[ 9.58472847e-01 -1.33669413e-01 -2.51917228e-01  6.45813567e+01]
 [ 1.33185155e-01  9.90908020e-01 -1.90528418e-02  6.09013351e+00]
 [ 2.52173584e-01 -1.52900034e-02  9.67561212e-01  1.65442920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.50071405700001 meters
Centerline goodness : 0.997968 with order 1
Centerline is valid?  [True, True]
Translation: X:64.64, Y:6.10, Z:16.56
[[ 9.59110953e-01 -1.29012999e-01 -2.51916308e-01  6.46388992e+01]
 [ 1.28368040e-01  9.91543328e-01 -1.90650019e-02  6.09673412e+00]
 [ 2.52245567e-01 -1.40525506e-02  9.67561212e-01  1.65598688e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.56071405700001 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:64.70, Y:6.10, Z:16.57
[[ 9.59163806e-01 -1.28620692e-01 -2.51915681e-01  6.46951625e+01]
 [ 1.27960300e-01  9.91595871e-01 -1.90732811e-02  6.10304803e+00]
 [ 2.52251768e-01 -1.39408052e-02  9.67561212e-01  1.65734133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.62071405700001 meters
Centerline goodness : 0.998962 with order 1
Centerline is valid?  [True, True]
Translation: X:64.75, Y:6.11, Z:16.59
[[ 9.58728500e-01 -1.31835381e-01 -2.51910887e-01  6.47538068e+01]
 [ 1.31267187e-01  9.91162309e-01 -1.91363997e-02  6.10723964e+00]
 [ 2.52207431e-01 -1.47210218e-02  9.67561214e-01  1.65881654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.68071405700002 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:64.81, Y:6.11, Z:16.60
[[ 9.58071257e-01 -1.36529746e-01 -2.51910887e-01  6.48108422e+01]
 [ 1.36120423e-01  9.90507460e-01 -1.91363997e-02  6.11216848e+00]
 [ 2.52132300e-01 -1.59561818e-02  9.67561214e-01  1.66024306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.740714057 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:64.87, Y:6.12, Z:16.62
[[ 9.57177760e-01 -1.42658223e-01 -2.51911426e-01  6.48692867e+01]
 [ 1.42458346e-01  9.89615930e-01 -1.91293036e-02  6.11626594e+00]
 [ 2.52024512e-01 -1.75767409e-02  9.67561214e-01  1.66190104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.80071405700001 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:64.93, Y:6.12, Z:16.63
[[ 9.56413089e-01 -1.47697755e-01 -2.51911445e-01  6.49272571e+01]
 [ 1.47668801e-01  9.88851862e-01 -1.91290473e-02  6.12049821e+00]
 [ 2.51928419e-01 -1.89041898e-02  9.67561214e-01  1.66331133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.86071405700001 meters
Centerline goodness : 0.998726 with order 1
Centerline is valid?  [True, True]
Translation: X:64.98, Y:6.12, Z:16.65
[[ 9.55891889e-01 -1.51034742e-01 -2.51911103e-01  6.49847237e+01]
 [ 1.51117820e-01  9.88330568e-01 -1.91335534e-02  6.12432599e+00]
 [ 2.51861275e-01 -1.97786482e-02  9.67561214e-01  1.66471943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.92071405700001 meters
Centerline goodness : 0.998514 with order 1
Centerline is valid?  [True, True]
Translation: X:65.04, Y:6.13, Z:16.66
[[ 9.55505843e-01 -1.53458597e-01 -2.51910782e-01  6.50419468e+01]
 [ 1.53622841e-01  9.87944213e-01 -1.91377697e-02  6.13056890e+00]
 [ 2.51810655e-01 -2.04129994e-02  9.67561214e-01  1.66619921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.98071405700001 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:65.10, Y:6.14, Z:16.68
[[ 9.55361221e-01 -1.54356963e-01 -2.51910432e-01  6.50994730e+01]
 [ 1.54550501e-01  9.87799429e-01 -1.91423785e-02  6.13625390e+00]
 [ 2.51791741e-01 -2.06449973e-02  9.67561214e-01  1.66764486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.04071405700002 meters
Centerline goodness : 0.998358 with order 1
Centerline is valid?  [True, True]
Translation: X:65.16, Y:6.14, Z:16.69
[[ 9.55456592e-01 -1.53766647e-01 -2.51909743e-01  6.51575311e+01]
 [ 1.53937767e-01  9.87894927e-01 -1.91514491e-02  6.14240983e+00]
 [ 2.51805211e-01 -2.04800449e-02  9.67561214e-01  1.66917836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.100714057 meters
Centerline goodness : 0.998596 with order 1
Centerline is valid?  [True, True]
Translation: X:65.21, Y:6.15, Z:16.71
[[ 9.56090208e-01 -1.49776488e-01 -2.51909743e-01  6.52138296e+01]
 [ 1.49812183e-01  9.88528974e-01 -1.91514491e-02  6.14983083e+00]
 [ 2.51888516e-01 -1.94286354e-02  9.67561214e-01  1.67058225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.160714057 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:65.27, Y:6.16, Z:16.72
[[ 9.56654535e-01 -1.46130434e-01 -2.51908709e-01  6.52724513e+01]
 [ 1.46038902e-01  9.89093191e-01 -1.91650367e-02  6.15761682e+00]
 [ 2.51961784e-01 -1.84541519e-02  9.67561214e-01  1.67210067e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.22071405700001 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:65.33, Y:6.17, Z:16.74
[[ 9.56952888e-01 -1.44163226e-01 -2.51908979e-01  6.53306072e+01]
 [ 1.44005930e-01  9.89391292e-01 -1.91614821e-02  6.16573633e+00]
 [ 2.51998932e-01 -1.79397513e-02  9.67561214e-01  1.67352428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.28071405700001 meters
Centerline goodness : 0.999174 with order 1
Centerline is valid?  [True, True]
Translation: X:65.39, Y:6.17, Z:16.75
[[ 9.56908812e-01 -1.44454865e-01 -2.51909342e-01  6.53893513e+01]
 [ 1.44308706e-01  9.89347269e-01 -1.91567066e-02  6.17335031e+00]
 [ 2.51993099e-01 -1.80214899e-02  9.67561214e-01  1.67526215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.34071405700001 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:65.45, Y:6.18, Z:16.77
[[ 9.56840212e-01 -1.44907314e-01 -2.51910061e-01  6.54471523e+01]
 [ 1.44778968e-01  9.89278744e-01 -1.91472592e-02  6.18218740e+00]
 [ 2.51983846e-01 -1.81504110e-02  9.67561215e-01  1.67694780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.40071405700002 meters
Centerline goodness : 0.999060 with order 1
Centerline is valid?  [True, True]
Translation: X:65.51, Y:6.19, Z:16.79
[[ 9.56638945e-01 -1.46229516e-01 -2.51910414e-01  6.55068898e+01]
 [ 1.46147217e-01  9.89077627e-01 -1.91426110e-02  6.19071968e+00]
 [ 2.51958169e-01 -1.85034388e-02  9.67561215e-01  1.67864557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.46071405700002 meters
Centerline goodness : 0.999173 with order 1
Centerline is valid?  [True, True]
Translation: X:65.57, Y:6.20, Z:16.80
[[ 9.56386713e-01 -1.47867749e-01 -2.51911859e-01  6.55650977e+01]
 [ 1.47845993e-01  9.88825491e-01 -1.91235802e-02  6.19811757e+00]
 [ 2.51924628e-01 -1.89546209e-02  9.67561215e-01  1.68002427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.520714057 meters
Centerline goodness : 0.999276 with order 1
Centerline is valid?  [True, True]
Translation: X:65.63, Y:6.21, Z:16.81
[[ 9.56039092e-01 -1.50098273e-01 -2.51912213e-01  6.56256068e+01]
 [ 1.50153409e-01  9.88477830e-01 -1.91189089e-02  6.20507685e+00]
 [ 2.51879353e-01 -1.95470533e-02  9.67561215e-01  1.68133850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.58071405700001 meters
Centerline goodness : 0.999407 with order 1
Centerline is valid?  [True, True]
Translation: X:65.68, Y:6.21, Z:16.83
[[ 9.56058538e-01 -1.49971955e-01 -2.51913647e-01  6.56844235e+01]
 [ 1.50027756e-01  9.88497275e-01 -1.91000019e-02  6.21248347e+00]
 [ 2.51880418e-01 -1.95333194e-02  9.67561215e-01  1.68283689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.64071405700001 meters
Centerline goodness : 0.999495 with order 1
Centerline is valid?  [True, True]
Translation: X:65.74, Y:6.22, Z:16.84
[[ 9.56343068e-01 -1.48146115e-01 -2.51914001e-01  6.57418912e+01]
 [ 1.48141200e-01  9.88781853e-01 -1.90953281e-02  6.22016200e+00]
 [ 2.51916891e-01 -1.90571578e-02  9.67561215e-01  1.68435960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.70071405700001 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:65.80, Y:6.23, Z:16.86
[[ 9.57090434e-01 -1.43238998e-01 -2.51913658e-01  6.57996319e+01]
 [ 1.43066516e-01  9.89528760e-01 -1.90998562e-02  6.22923111e+00]
 [ 2.52011654e-01 -1.77601196e-02  9.67561215e-01  1.68586557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.76071405700002 meters
Centerline goodness : 0.999452 with order 1
Centerline is valid?  [True, True]
Translation: X:65.86, Y:6.24, Z:16.87
[[ 9.57497357e-01 -1.40492920e-01 -2.51913776e-01  6.58581063e+01]
 [ 1.40227797e-01  9.89935059e-01 -1.90982896e-02  6.23663546e+00]
 [ 2.52061453e-01 -1.70387520e-02  9.67561215e-01  1.68734637e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.82071405700002 meters
Centerline goodness : 0.999515 with order 1
Centerline is valid?  [True, True]
Translation: X:65.92, Y:6.25, Z:16.89
[[ 9.57681042e-01 -1.39235382e-01 -2.51913736e-01  6.59152025e+01]
 [ 1.38927522e-01  9.90118366e-01 -1.90988186e-02  6.24574446e+00]
 [ 2.52083648e-01 -1.67071747e-02  9.67561215e-01  1.68890458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.880714057 meters
Centerline goodness : 0.999450 with order 1
Centerline is valid?  [True, True]
Translation: X:65.97, Y:6.25, Z:16.90
[[ 9.57434351e-01 -1.40922320e-01 -2.51913404e-01  6.59717978e+01]
 [ 1.40670457e-01  9.89872159e-01 -1.91032040e-02  6.25447514e+00]
 [ 2.52054133e-01 -1.71467098e-02  9.67561215e-01  1.69030397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.94071405700001 meters
Centerline goodness : 0.999360 with order 1
Centerline is valid?  [True, True]
Translation: X:66.03, Y:6.26, Z:16.92
[[ 9.57016854e-01 -1.43731945e-01 -2.51912425e-01  6.60294008e+01]
 [ 1.43571915e-01  9.89455244e-01 -1.91161059e-02  6.26332057e+00]
 [ 2.52003665e-01 -1.78731138e-02  9.67561215e-01  1.69183998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.00071405700001 meters
Centerline goodness : 0.999736 with order 1
Centerline is valid?  [True, True]
Translation: X:66.09, Y:6.27, Z:16.93
[[ 9.56728719e-01 -1.45637162e-01 -2.51912635e-01  6.60871492e+01]
 [ 1.45542447e-01  9.89167365e-01 -1.91133277e-02  6.27059571e+00]
 [ 2.51967369e-01 -1.83777119e-02  9.67561215e-01  1.69322177e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.06071405700001 meters
Centerline goodness : 0.999470 with order 1
Centerline is valid?  [True, True]
Translation: X:66.15, Y:6.28, Z:16.95
[[ 9.56350991e-01 -1.48097288e-01 -2.51912635e-01  6.61452574e+01]
 [ 1.48086001e-01  9.88789774e-01 -1.91133324e-02  6.27924674e+00]
 [ 2.51919270e-01 -1.90256804e-02  9.67561215e-01  1.69481010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.12071405700001 meters
Centerline goodness : 0.999448 with order 1
Centerline is valid?  [True, True]
Translation: X:66.20, Y:6.29, Z:16.97
[[ 9.56102907e-01 -1.49690533e-01 -2.51912635e-01  6.62041843e+01]
 [ 1.49733295e-01  9.88541664e-01 -1.91133324e-02  6.28745563e+00]
 [ 2.51887220e-01 -1.94453962e-02  9.67561215e-01  1.69651455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.18071405700002 meters
Centerline goodness : 0.999315 with order 1
Centerline is valid?  [True, True]
Translation: X:66.26, Y:6.30, Z:16.98
[[ 9.55585543e-01 -1.52957399e-01 -2.51913287e-01  6.62620848e+01]
 [ 1.53113280e-01  9.88023953e-01 -1.91047380e-02  6.29508912e+00]
 [ 2.51818573e-01 -2.03150581e-02  9.67561215e-01  1.69814361e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.240714057 meters
Centerline goodness : 0.999424 with order 1
Centerline is valid?  [True, True]
Translation: X:66.32, Y:6.30, Z:17.00
[[ 9.55040663e-01 -1.56323375e-01 -2.51913346e-01  6.63215190e+01]
 [ 1.56593754e-01  9.87478321e-01 -1.91039526e-02  6.30262260e+00]
 [ 2.51745363e-01 -2.12030052e-02  9.67561215e-01  1.69954741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.30071405700001 meters
Centerline goodness : 0.999668 with order 1
Centerline is valid?  [True, True]
Translation: X:66.38, Y:6.31, Z:17.01
[[ 9.54650990e-01 -1.58684867e-01 -2.51913875e-01  6.63794210e+01]
 [ 1.59037294e-01  9.87087861e-01 -1.90969863e-02  6.31119646e+00]
 [ 2.51691530e-01 -2.18327439e-02  9.67561215e-01  1.70096760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.36071405700001 meters
Centerline goodness : 0.999333 with order 1
Centerline is valid?  [True, True]
Translation: X:66.44, Y:6.32, Z:17.02
[[ 9.54453599e-01 -1.59865217e-01 -2.51915541e-01  6.64385201e+01]
 [ 1.60263516e-01  9.86889938e-01 -1.90749811e-02  6.31904129e+00]
 [ 2.51662339e-01 -2.21666860e-02  9.67561215e-01  1.70245920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.42071405700001 meters
Centerline goodness : 0.999065 with order 1
Centerline is valid?  [True, True]
Translation: X:66.50, Y:6.33, Z:17.04
[[ 9.54362717e-01 -1.60405826e-01 -2.51916208e-01  6.64973934e+01]
 [ 1.60824805e-01  9.86798796e-01 -1.90661722e-02  6.32633854e+00]
 [ 2.51648935e-01 -2.23183311e-02  9.67561215e-01  1.70405949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.48071405700001 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:66.56, Y:6.33, Z:17.06
[[ 9.54329735e-01 -1.60598482e-01 -2.51918409e-01  6.65563893e+01]
 [ 1.61031639e-01  9.86765627e-01 -1.90370391e-02  6.33275751e+00]
 [ 2.51641747e-01 -2.23992217e-02  9.67561216e-01  1.70578742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.54071405700002 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:66.62, Y:6.34, Z:17.07
[[ 9.54279467e-01 -1.60895297e-01 -2.51919437e-01  6.66150706e+01]
 [ 1.61342105e-01  9.86715174e-01 -1.90234330e-02  6.33963348e+00]
 [ 2.51633512e-01 -2.24915407e-02  9.67561216e-01  1.70717280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.600714057 meters
Centerline goodness : 0.999374 with order 1
Centerline is valid?  [True, True]
Translation: X:66.67, Y:6.35, Z:17.09
[[ 9.54200170e-01 -1.61361219e-01 -2.51921797e-01  6.66748493e+01]
 [ 1.61832065e-01  9.86635537e-01 -1.89921210e-02  6.34640535e+00]
 [ 2.51619590e-01 -2.26467395e-02  9.67561216e-01  1.70865457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.660714057 meters
Centerline goodness : 0.999508 with order 1
Centerline is valid?  [True, True]
Translation: X:66.73, Y:6.35, Z:17.10
[[ 9.54307510e-01 -1.60723621e-01 -2.51922793e-01  6.67345896e+01]
 [ 1.61176254e-01  9.86743136e-01 -1.89789082e-02  6.35328069e+00]
 [ 2.51633445e-01 -2.24922575e-02  9.67561216e-01  1.71017827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.72071405700001 meters
Centerline goodness : 0.999371 with order 1
Centerline is valid?  [True, True]
Translation: X:66.79, Y:6.36, Z:17.12
[[ 9.54682489e-01 -1.58479517e-01 -2.51923774e-01  6.67936068e+01]
 [ 1.58859303e-01  9.87119049e-01 -1.89658754e-02  6.36019007e+00]
 [ 2.51684459e-01 -2.19140461e-02  9.67561216e-01  1.71193362e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.78071405700001 meters
Centerline goodness : 0.999103 with order 1
Centerline is valid?  [True, True]
Translation: X:66.85, Y:6.37, Z:17.14
[[ 9.55003809e-01 -1.56529279e-01 -2.51925207e-01  6.68515581e+01]
 [ 1.56847805e-01  9.87441028e-01 -1.89468169e-02  6.36689219e+00]
 [ 2.51727017e-01 -2.14196335e-02  9.67561217e-01  1.71351825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.84071405700001 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:66.91, Y:6.37, Z:17.15
[[ 9.55606528e-01 -1.52806506e-01 -2.51925257e-01  6.69096552e+01]
 [ 1.52998799e-01  9.88044741e-01 -1.89461513e-02  6.37320204e+00]
 [ 2.51808521e-01 -2.04391959e-02  9.67561217e-01  1.71515734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.90071405700002 meters
Centerline goodness : 0.999167 with order 1
Centerline is valid?  [True, True]
Translation: X:66.97, Y:6.38, Z:17.17
[[ 9.56068850e-01 -1.49886734e-01 -2.51925231e-01  6.69674794e+01]
 [ 1.49979845e-01  9.88507499e-01 -1.89465042e-02  6.37881362e+00]
 [ 2.51869810e-01 -1.96695447e-02  9.67561217e-01  1.71664632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.96071405700002 meters
Centerline goodness : 0.999141 with order 1
Centerline is valid?  [True, True]
Translation: X:67.03, Y:6.38, Z:17.18
[[ 9.56124955e-01 -1.49528436e-01 -2.51925221e-01  6.70274605e+01]
 [ 1.49609358e-01  9.88563637e-01 -1.89466304e-02  6.38393262e+00]
 [ 2.51877173e-01 -1.95750245e-02  9.67561217e-01  1.71803354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.020714057 meters
Centerline goodness : 0.999434 with order 1
Centerline is valid?  [True, True]
Translation: X:67.09, Y:6.39, Z:17.19
[[ 9.56119485e-01 -1.49561068e-01 -2.51926610e-01  6.70880077e+01]
 [ 1.49647937e-01  9.88558152e-01 -1.89281482e-02  6.38805923e+00]
 [ 2.51875018e-01 -1.96027261e-02  9.67561217e-01  1.71949657e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.08071405700001 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:67.15, Y:6.39, Z:17.21
[[ 9.56183331e-01 -1.49149995e-01 -2.51928000e-01  6.71476218e+01]
 [ 1.49227767e-01  9.88622020e-01 -1.89096332e-02  6.39281775e+00]
 [ 2.51881940e-01 -1.95135768e-02  9.67561217e-01  1.72109162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.14071405700001 meters
Centerline goodness : 0.999387 with order 1
Centerline is valid?  [True, True]
Translation: X:67.21, Y:6.40, Z:17.23
[[ 9.56457662e-01 -1.47378766e-01 -2.51929036e-01  6.72053213e+01]
 [ 1.47400076e-01  9.88896438e-01 -1.88958151e-02  6.39839792e+00]
 [ 2.51916569e-01 -1.90613119e-02  9.67561217e-01  1.72260704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.20071405700001 meters
Centerline goodness : 0.999296 with order 1
Centerline is valid?  [True, True]
Translation: X:67.26, Y:6.40, Z:17.24
[[ 9.56583959e-01 -1.46556780e-01 -2.51929036e-01  6.72647778e+01]
 [ 1.46550214e-01  9.89022741e-01 -1.88958151e-02  6.40277436e+00]
 [ 2.51932856e-01 -1.88448206e-02  9.67561217e-01  1.72408326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.26071405700002 meters
Centerline goodness : 0.999387 with order 1
Centerline is valid?  [True, True]
Translation: X:67.32, Y:6.41, Z:17.26
[[ 9.56839476e-01 -1.44878022e-01 -2.51929704e-01  6.73236339e+01]
 [ 1.44816866e-01  9.89278201e-01 -1.88869154e-02  6.40790844e+00]
 [ 2.51964863e-01 -1.84119238e-02  9.67561217e-01  1.72563421e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.32071405700002 meters
Centerline goodness : 0.999162 with order 1
Centerline is valid?  [True, True]
Translation: X:67.38, Y:6.41, Z:17.27
[[ 9.57048087e-01 -1.43492895e-01 -2.51930048e-01  6.73829675e+01]
 [ 1.43385989e-01  9.89486693e-01 -1.88823206e-02  6.41305924e+00]
 [ 2.51990909e-01 -1.80519502e-02  9.67561217e-01  1.72717342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.380714057 meters
Centerline goodness : 0.999365 with order 1
Centerline is valid?  [True, True]
Translation: X:67.44, Y:6.42, Z:17.29
[[ 9.57077465e-01 -1.43295014e-01 -2.51931072e-01  6.74420246e+01]
 [ 1.43184982e-01  9.89516061e-01 -1.88686432e-02  6.41698584e+00]
 [ 2.51993625e-01 -1.80139930e-02  9.67561217e-01  1.72875669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.44071405700001 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:67.50, Y:6.42, Z:17.30
[[ 9.57011338e-01 -1.43734761e-01 -2.51931770e-01  6.75021611e+01]
 [ 1.43642076e-01  9.89449989e-01 -1.88593240e-02  6.42192700e+00]
 [ 2.51984627e-01 -1.81394154e-02  9.67561217e-01  1.73023896e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.50071405700001 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:67.56, Y:6.43, Z:17.32
[[ 9.57032261e-01 -1.43592961e-01 -2.51933153e-01  6.75610254e+01]
 [ 1.43500313e-01  9.89470911e-01 -1.88408260e-02  6.42578798e+00]
 [ 2.51985937e-01 -1.81212080e-02  9.67561217e-01  1.73175051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.56071405700001 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:67.62, Y:6.43, Z:17.33
[[ 9.56717873e-01 -1.45672317e-01 -2.51933497e-01  6.76200955e+01]
 [ 1.45651363e-01  9.89156649e-01 -1.88362335e-02  6.42894184e+00]
 [ 2.51945611e-01 -1.86734960e-02  9.67561217e-01  1.73328257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.62071405700001 meters
Centerline goodness : 0.999433 with order 1
Centerline is valid?  [True, True]
Translation: X:67.68, Y:6.43, Z:17.35
[[ 9.56232091e-01 -1.48827166e-01 -2.51933845e-01  6.76790528e+01]
 [ 1.48914429e-01  9.88670756e-01 -1.88315746e-02  6.43177243e+00]
 [ 2.51882275e-01 -1.95092286e-02  9.67561217e-01  1.73474858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.68071405700002 meters
Centerline goodness : 0.999548 with order 1
Centerline is valid?  [True, True]
Translation: X:67.74, Y:6.43, Z:17.36
[[ 9.55659176e-01 -1.52462612e-01 -2.51933904e-01  6.77378818e+01]
 [ 1.52673443e-01  9.88097273e-01 -1.88307880e-02  6.43451813e+00]
 [ 2.51806194e-01 -2.04678012e-02  9.67561217e-01  1.73621778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.740714057 meters
Centerline goodness : 0.999503 with order 1
Centerline is valid?  [True, True]
Translation: X:67.80, Y:6.44, Z:17.38
[[ 9.55173412e-01 -1.55476786e-01 -2.51933962e-01  6.77966192e+01]
 [ 1.55790158e-01  9.87610681e-01 -1.88300047e-02  6.43685589e+00]
 [ 2.51740301e-01 -2.12629120e-02  9.67561217e-01  1.73771562e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.80071405700001 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:67.86, Y:6.44, Z:17.39
[[ 9.55172440e-01 -1.55482649e-01 -2.51934031e-01  6.78557238e+01]
 [ 1.55796460e-01  9.87609705e-01 -1.88290879e-02  6.44107280e+00]
 [ 2.51740090e-01 -2.12654044e-02  9.67561217e-01  1.73923286e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.86071405700001 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:67.91, Y:6.45, Z:17.41
[[ 9.55425792e-01 -1.53917592e-01 -2.51934378e-01  6.79141164e+01]
 [ 1.54179478e-01  9.87863517e-01 -1.88244417e-02  6.44538563e+00]
 [ 2.51774194e-01 -2.08577538e-02  9.67561217e-01  1.74080128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.92071405700001 meters
Centerline goodness : 0.999277 with order 1
Centerline is valid?  [True, True]
Translation: X:67.97, Y:6.45, Z:17.42
[[ 9.55916101e-01 -1.50841956e-01 -2.51934737e-01  6.79719082e+01]
 [ 1.51000705e-01  9.88354495e-01 -1.88196354e-02  6.45062724e+00]
 [ 2.51839621e-01 -2.00523305e-02  9.67561217e-01  1.74245175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.98071405700001 meters
Centerline goodness : 0.999093 with order 1
Centerline is valid?  [True, True]
Translation: X:68.03, Y:6.46, Z:17.44
[[ 9.56516319e-01 -1.46987782e-01 -2.51934762e-01  6.80300463e+01]
 [ 1.47015869e-01  9.88955089e-01 -1.88193049e-02  6.45644054e+00]
 [ 2.51918373e-01 -1.90374357e-02  9.67561217e-01  1.74408997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.04071405700002 meters
Centerline goodness : 0.999365 with order 1
Centerline is valid?  [True, True]
Translation: X:68.09, Y:6.46, Z:17.46
[[ 9.56980966e-01 -1.43931262e-01 -2.51934955e-01  6.80891796e+01]
 [ 1.43856397e-01  9.89419662e-01 -1.88167114e-02  6.46132066e+00]
 [ 2.51977712e-01 -1.82352203e-02  9.67561217e-01  1.74556273e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.10071405700002 meters
Centerline goodness : 0.999274 with order 1
Centerline is valid?  [True, True]
Translation: X:68.15, Y:6.47, Z:17.47
[[ 9.57271394e-01 -1.41985544e-01 -2.51935672e-01  6.81483334e+01]
 [ 1.41847248e-01  9.89709882e-01 -1.88071135e-02  6.46592367e+00]
 [ 2.52013562e-01 -1.77328699e-02  9.67561218e-01  1.74712306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.160714057 meters
Centerline goodness : 0.999227 with order 1
Centerline is valid?  [True, True]
Translation: X:68.21, Y:6.47, Z:17.49
[[ 9.57324858e-01 -1.41623361e-01 -2.51936381e-01  6.82071261e+01]
 [ 1.41475281e-01  9.89763302e-01 -1.87976133e-02  6.47069617e+00]
 [ 2.52019565e-01 -1.76473477e-02  9.67561218e-01  1.74861285e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.22071405700001 meters
Centerline goodness : 0.999072 with order 1
Centerline is valid?  [True, True]
Translation: X:68.27, Y:6.48, Z:17.50
[[ 9.57334216e-01 -1.41558855e-01 -2.51937073e-01  6.82667298e+01]
 [ 1.41411020e-01  9.89772662e-01 -1.87883302e-02  6.47562504e+00]
 [ 2.52020082e-01 -1.76399672e-02  9.67561218e-01  1.75022982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.28071405700001 meters
Centerline goodness : 0.998912 with order 1
Centerline is valid?  [True, True]
Translation: X:68.33, Y:6.48, Z:17.52
[[ 9.57237450e-01 -1.42208006e-01 -2.51939174e-01  6.83273035e+01]
 [ 1.42089555e-01  9.89676016e-01 -1.87601224e-02  6.47950601e+00]
 [ 2.52005997e-01 -1.78400333e-02  9.67561218e-01  1.75172556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.34071405700001 meters
Centerline goodness : 0.999070 with order 1
Centerline is valid?  [True, True]
Translation: X:68.39, Y:6.48, Z:17.53
[[ 9.57081957e-01 -1.43248316e-01 -2.51940565e-01  6.83862773e+01]
 [ 1.43170019e-01  9.89520644e-01 -1.87414188e-02  6.48387898e+00]
 [ 2.51985067e-01 -1.81332617e-02  9.67561218e-01  1.75314623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.40071405700002 meters
Centerline goodness : 0.999342 with order 1
Centerline is valid?  [True, True]
Translation: X:68.45, Y:6.49, Z:17.55
[[ 9.56975601e-01 -1.43952934e-01 -2.51942952e-01  6.84451928e+01]
 [ 1.43906938e-01  9.89414350e-01 -1.87092745e-02  6.48735834e+00]
 [ 2.51969227e-01 -1.83520196e-02  9.67561219e-01  1.75464692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.46071405700002 meters
Centerline goodness : 0.999230 with order 1
Centerline is valid?  [True, True]
Translation: X:68.50, Y:6.49, Z:17.56
[[ 9.56767590e-01 -1.45328447e-01 -2.51943289e-01  6.85049074e+01]
 [ 1.45330269e-01  9.89206372e-01 -1.87047413e-02  6.49114626e+00]
 [ 2.51942237e-01 -1.87188957e-02  9.67561219e-01  1.75616676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.520714057 meters
Centerline goodness : 0.999049 with order 1
Centerline is valid?  [True, True]
Translation: X:68.56, Y:6.50, Z:17.58
[[ 9.56602345e-01 -1.46409902e-01 -2.51944624e-01  6.85624898e+01]
 [ 1.46453108e-01  9.89041098e-01 -1.86867385e-02  6.49581100e+00]
 [ 2.51919511e-01 -1.90222955e-02  9.67561219e-01  1.75776820e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.58071405700001 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:68.62, Y:6.50, Z:17.59
[[ 9.56426090e-01 -1.47556640e-01 -2.51944779e-01  6.86222934e+01]
 [ 1.47639284e-01  9.88864766e-01 -1.86846453e-02  6.49886265e+00]
 [ 2.51896359e-01 -1.93264647e-02  9.67561219e-01  1.75931960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.64071405700001 meters
Centerline goodness : 0.999186 with order 1
Centerline is valid?  [True, True]
Translation: X:68.68, Y:6.50, Z:17.61
[[ 9.56253940e-01 -1.48665991e-01 -2.51946075e-01  6.86817357e+01]
 [ 1.48790842e-01  9.88692481e-01 -1.86671643e-02  6.50231259e+00]
 [ 2.51872362e-01 -1.96367191e-02  9.67561219e-01  1.76081583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.70071405700001 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:68.74, Y:6.51, Z:17.62
[[ 9.56029839e-01 -1.50099235e-01 -2.51946754e-01  6.87402738e+01]
 [ 1.50275111e-01  9.88468143e-01 -1.86579942e-02  6.50669192e+00]
 [ 2.51841890e-01 -2.00237273e-02  9.67561219e-01  1.76245086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.76071405700002 meters
Centerline goodness : 0.999435 with order 1
Centerline is valid?  [True, True]
Translation: X:68.80, Y:6.51, Z:17.64
[[ 9.55604336e-01 -1.52783336e-01 -2.51947625e-01  6.87999832e+01]
 [ 1.53053388e-01  9.88041993e-01 -1.86462186e-02  6.50922095e+00]
 [ 2.51783665e-01 -2.07430302e-02  9.67561219e-01  1.76404570e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.82071405700002 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:68.86, Y:6.51, Z:17.66
[[ 9.55314747e-01 -1.54582022e-01 -2.51948671e-01  6.88577168e+01]
 [ 1.54916840e-01  9.87751800e-01 -1.86320805e-02  6.51241564e+00]
 [ 2.51742938e-01 -2.12315907e-02  9.67561219e-01  1.76553071e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.880714057 meters
Centerline goodness : 0.999525 with order 1
Centerline is valid?  [True, True]
Translation: X:68.92, Y:6.52, Z:17.67
[[ 9.55232391e-01 -1.55090126e-01 -2.51948671e-01  6.89165369e+01]
 [ 1.55442198e-01  9.87669261e-01 -1.86320805e-02  6.51693166e+00]
 [ 2.51731609e-01 -2.13654884e-02  9.67561219e-01  1.76718141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.94071405700001 meters
Centerline goodness : 0.999752 with order 1
Centerline is valid?  [True, True]
Translation: X:68.98, Y:6.52, Z:17.69
[[ 9.55203215e-01 -1.55269150e-01 -2.51949021e-01  6.89763222e+01]
 [ 1.55628541e-01  9.87640005e-01 -1.86273477e-02  6.52074359e+00]
 [ 2.51727184e-01 -2.14175560e-02  9.67561219e-01  1.76866438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.00071405700001 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:69.04, Y:6.52, Z:17.70
[[ 9.55153322e-01 -1.55574086e-01 -2.51950065e-01  6.90363477e+01]
 [ 1.55947532e-01  9.87589953e-01 -1.86132156e-02  6.52437001e+00]
 [ 2.51719087e-01 -2.15125161e-02  9.67561219e-01  1.77026904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.06071405700001 meters
Centerline goodness : 0.999324 with order 1
Centerline is valid?  [True, True]
Translation: X:69.10, Y:6.53, Z:17.72
[[ 9.55213733e-01 -1.55200487e-01 -2.51951450e-01  6.90968031e+01]
 [ 1.55566162e-01  9.87650452e-01 -1.85944418e-02  6.52862265e+00]
 [ 2.51725830e-01 -2.14334540e-02  9.67561219e-01  1.77190058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.12071405700001 meters
Centerline goodness : 0.999413 with order 1
Centerline is valid?  [True, True]
Translation: X:69.16, Y:6.53, Z:17.73
[[ 9.55528827e-01 -1.53245762e-01 -2.51953165e-01  6.91551928e+01]
 [ 1.53551161e-01  9.87966170e-01 -1.85711795e-02  6.53295636e+00]
 [ 2.51767158e-01 -2.09424036e-02  9.67561220e-01  1.77342526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.18071405700002 meters
Centerline goodness : 0.999233 with order 1
Centerline is valid?  [True, True]
Translation: X:69.22, Y:6.54, Z:17.75
[[ 9.55787859e-01 -1.51621806e-01 -2.51953165e-01  6.92157642e+01]
 [ 1.51872084e-01  9.88225673e-01 -1.85711795e-02  6.53690275e+00]
 [ 2.51802382e-01 -2.05145444e-02  9.67561220e-01  1.77495548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.240714057 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:69.27, Y:6.54, Z:17.76
[[ 9.56002556e-01 -1.50259900e-01 -2.51954513e-01  6.92737699e+01]
 [ 1.50468754e-01  9.88440663e-01 -1.85528786e-02  6.54063541e+00]
 [ 2.51829839e-01 -2.01746822e-02  9.67561220e-01  1.77649447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.30071405700001 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:69.33, Y:6.54, Z:17.78
[[ 9.56227875e-01 -1.48819149e-01 -2.51954582e-01  6.93331971e+01]
 [ 1.48979368e-01  9.88666260e-01 -1.85519414e-02  6.54496105e+00]
 [ 2.51859878e-01 -1.97961509e-02  9.67561220e-01  1.77811075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.36071405700001 meters
Centerline goodness : 0.999685 with order 1
Centerline is valid?  [True, True]
Translation: X:69.39, Y:6.55, Z:17.80
[[ 9.56664019e-01 -1.45987400e-01 -2.51955620e-01  6.93919499e+01]
 [ 1.46055274e-01  9.89102728e-01 -1.85378275e-02  6.55017539e+00]
 [ 2.51916280e-01 -1.90649746e-02  9.67561220e-01  1.77961042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.42071405700001 meters
Centerline goodness : 0.999346 with order 1
Centerline is valid?  [True, True]
Translation: X:69.45, Y:6.55, Z:17.81
[[ 9.56823348e-01 -1.44934723e-01 -2.51958341e-01  6.94502307e+01]
 [ 1.44976610e-01  9.89262101e-01 -1.85007701e-02  6.55476948e+00]
 [ 2.51934242e-01 -1.88260974e-02  9.67561221e-01  1.78118383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.48071405700001 meters
Centerline goodness : 0.999275 with order 1
Centerline is valid?  [True, True]
Translation: X:69.51, Y:6.56, Z:17.83
[[ 9.57370362e-01 -1.41275866e-01 -2.51958566e-01  6.95075442e+01]
 [ 1.41194545e-01  9.89809040e-01 -1.84977071e-02  6.56083911e+00]
 [ 2.52004146e-01 -1.78660187e-02  9.67561221e-01  1.78265732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.54071405700002 meters
Centerline goodness : 0.999500 with order 1
Centerline is valid?  [True, True]
Translation: X:69.57, Y:6.57, Z:17.84
[[ 9.58000946e-01 -1.36935168e-01 -2.51958224e-01  6.95651585e+01]
 [ 1.36705602e-01  9.90438913e-01 -1.85023633e-02  6.56714637e+00]
 [ 2.52082854e-01 -1.67188192e-02  9.67561221e-01  1.78435255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.60071405700002 meters
Centerline goodness : 0.999455 with order 1
Centerline is valid?  [True, True]
Translation: X:69.62, Y:6.57, Z:17.86
[[ 9.58430967e-01 -1.33892056e-01 -2.51958329e-01  6.96221947e+01]
 [ 1.33559848e-01  9.90868045e-01 -1.85009381e-02  6.57292784e+00]
 [ 2.52134585e-01 -1.59196440e-02  9.67561221e-01  1.78610905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.660714057 meters
Centerline goodness : 0.999455 with order 1
Centerline is valid?  [True, True]
Translation: X:69.68, Y:6.58, Z:17.88
[[ 9.58346827e-01 -1.34493301e-01 -2.51958155e-01  6.96798978e+01]
 [ 1.34180822e-01  9.90784101e-01 -1.85033060e-02  6.57702738e+00]
 [ 2.52124705e-01 -1.60753678e-02  9.67561221e-01  1.78759788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.72071405700001 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:69.74, Y:6.58, Z:17.89
[[ 9.57759807e-01 -1.38609074e-01 -2.51959674e-01  6.97392452e+01]
 [ 1.38441370e-01  9.90198152e-01 -1.84825968e-02  6.57992510e+00]
 [ 2.52051859e-01 -1.71797541e-02  9.67561221e-01  1.78897091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.78071405700001 meters
Centerline goodness : 0.999502 with order 1
Centerline is valid?  [True, True]
Translation: X:69.80, Y:6.58, Z:17.90
[[ 9.57152083e-01 -1.42745147e-01 -2.51959745e-01  6.97970208e+01]
 [ 1.42717824e-01  9.89590851e-01 -1.84816367e-02  6.58305353e+00]
 [ 2.51975222e-01 -1.82694095e-02  9.67561221e-01  1.79033198e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.84071405700001 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:69.85, Y:6.59, Z:17.92
[[ 9.56407826e-01 -1.47648504e-01 -2.51960294e-01  6.98542091e+01]
 [ 1.47789386e-01  9.88846299e-01 -1.84741458e-02  6.58625497e+00]
 [ 2.51877684e-01 -1.95682396e-02  9.67561221e-01  1.79174676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.90071405700002 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:69.91, Y:6.59, Z:17.93
[[ 9.55917545e-01 -1.50791096e-01 -2.51959705e-01  6.99123020e+01]
 [ 1.51036488e-01  9.88355396e-01 -1.84821797e-02  6.58954677e+00]
 [ 2.51812682e-01 -2.03876691e-02  9.67561221e-01  1.79343186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.96071405700002 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:69.97, Y:6.59, Z:17.95
[[ 9.55243033e-01 -1.55006299e-01 -2.51959908e-01  6.99714275e+01]
 [ 1.55395503e-01  9.87679477e-01 -1.84794040e-02  6.59273002e+00]
 [ 2.51720054e-01 -2.15011148e-02  9.67561221e-01  1.79499759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.020714057 meters
Centerline goodness : 0.998741 with order 1
Centerline is valid?  [True, True]
Translation: X:70.03, Y:6.60, Z:17.97
[[ 9.54953931e-01 -1.56776696e-01 -2.51960427e-01  7.00302916e+01]
 [ 1.57227876e-01  9.87389573e-01 -1.84723329e-02  6.59641863e+00]
 [ 2.51679129e-01 -2.19749758e-02  9.67561221e-01  1.79657412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.08071405700001 meters
Centerline goodness : 0.998743 with order 1
Centerline is valid?  [True, True]
Translation: X:70.09, Y:6.60, Z:17.98
[[ 9.54792176e-01 -1.57758658e-01 -2.51960526e-01  7.00907980e+01]
 [ 1.58243547e-01  9.87227331e-01 -1.84709796e-02  6.59978524e+00]
 [ 2.51656274e-01 -2.22351805e-02  9.67561221e-01  1.79807657e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.14071405700001 meters
Centerline goodness : 0.998786 with order 1
Centerline is valid?  [True, True]
Translation: X:70.15, Y:6.60, Z:18.00
[[ 9.54987830e-01 -1.56567663e-01 -2.51961924e-01  7.01510236e+01]
 [ 1.57017095e-01  9.87423496e-01 -1.84518896e-02  6.60432681e+00]
 [ 2.51682093e-01 -2.19409994e-02  9.67561221e-01  1.79950854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.20071405700001 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:70.21, Y:6.61, Z:18.01
[[ 9.54977753e-01 -1.56626885e-01 -2.51963310e-01  7.02120386e+01]
 [ 1.57083290e-01  9.87413321e-01 -1.84329424e-02  6.60924584e+00]
 [ 2.51679023e-01 -2.19761758e-02  9.67561221e-01  1.80092836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.26071405700002 meters
Centerline goodness : 0.998606 with order 1
Centerline is valid?  [True, True]
Translation: X:70.27, Y:6.61, Z:18.02
[[ 9.54786411e-01 -1.57786372e-01 -2.51965018e-01  7.02729850e+01]
 [ 1.58288283e-01  9.87221306e-01 -1.84095637e-02  6.61358105e+00]
 [ 2.51650013e-01 -2.23059090e-02  9.67561222e-01  1.80233506e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.32071405700002 meters
Centerline goodness : 0.999189 with order 1
Centerline is valid?  [True, True]
Translation: X:70.33, Y:6.62, Z:18.04
[[ 9.54503954e-01 -1.59483991e-01 -2.51966385e-01  7.03309015e+01]
 [ 1.60048484e-01  9.86937820e-01 -1.83908345e-02  6.61830579e+00]
 [ 2.51608199e-01 -2.27727137e-02  9.67561222e-01  1.80384721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.380714057 meters
Centerline goodness : 0.998786 with order 1
Centerline is valid?  [True, True]
Translation: X:70.39, Y:6.62, Z:18.05
[[ 9.54415904e-01 -1.60010516e-01 -2.51966104e-01  7.03907816e+01]
 [ 1.60591892e-01  9.86849472e-01 -1.83946851e-02  6.62379699e+00]
 [ 2.51595960e-01 -2.29075335e-02  9.67561222e-01  1.80537840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.44071405700001 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:70.45, Y:6.63, Z:18.07
[[ 9.54427335e-01 -1.59940747e-01 -2.51967102e-01  7.04508063e+01]
 [ 1.60523332e-01  9.86860881e-01 -1.83810105e-02  6.62973487e+00]
 [ 2.51596349e-01 -2.29032599e-02  9.67561222e-01  1.80690867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.50071405700001 meters
Centerline goodness : 0.998735 with order 1
Centerline is valid?  [True, True]
Translation: X:70.51, Y:6.64, Z:18.08
[[ 9.54565675e-01 -1.59110930e-01 -2.51968420e-01  7.05107172e+01]
 [ 1.59670053e-01  9.86999634e-01 -1.83629270e-02  6.63511552e+00]
 [ 2.51614480e-01 -2.27031912e-02  9.67561222e-01  1.80848122e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.56071405700001 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:70.57, Y:6.64, Z:18.10
[[ 9.54823104e-01 -1.57556628e-01 -2.51969736e-01  7.05674347e+01]
 [ 1.58067681e-01  9.87257856e-01 -1.83448415e-02  6.64207204e+00]
 [ 2.51649453e-01 -2.23121935e-02  9.67561222e-01  1.81007176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.62071405700001 meters
Centerline goodness : 0.999231 with order 1
Centerline is valid?  [True, True]
Translation: X:70.63, Y:6.65, Z:18.12
[[ 9.54928603e-01 -1.56916507e-01 -2.51969388e-01  7.06274376e+01]
 [ 1.57404563e-01  9.87363709e-01 -1.83496287e-02  6.64717751e+00]
 [ 2.51664789e-01 -2.21385460e-02  9.67561222e-01  1.81162444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.68071405700002 meters
Centerline goodness : 0.998502 with order 1
Centerline is valid?  [True, True]
Translation: X:70.69, Y:6.65, Z:18.13
[[ 9.55225064e-01 -1.55099518e-01 -2.51970668e-01  7.06864625e+01]
 [ 1.55530474e-01  9.87660978e-01 -1.83320351e-02  6.65326311e+00]
 [ 2.51704886e-01 -2.16778980e-02  9.67561222e-01  1.81311097e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.740714057 meters
Centerline goodness : 0.998547 with order 1
Centerline is valid?  [True, True]
Translation: X:70.75, Y:6.66, Z:18.15
[[ 9.55510159e-01 -1.53332795e-01 -2.51971010e-01  7.07471506e+01]
 [ 1.53705000e-01  9.87946801e-01 -1.83273257e-02  6.66047859e+00]
 [ 2.51744134e-01 -2.12172583e-02  9.67561222e-01  1.81453028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.80071405700001 meters
Centerline goodness : 0.998251 with order 1
Centerline is valid?  [True, True]
Translation: X:70.81, Y:6.67, Z:18.16
[[ 9.55772997e-01 -1.51683552e-01 -2.51972375e-01  7.08070901e+01]
 [ 1.52004695e-01  9.88210185e-01 -1.83085504e-02  6.66620959e+00]
 [ 2.51778773e-01 -2.08021658e-02  9.67561223e-01  1.81598280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.86071405700001 meters
Centerline goodness : 0.998297 with order 1
Centerline is valid?  [True, True]
Translation: X:70.87, Y:6.67, Z:18.18
[[ 9.56227792e-01 -1.48787281e-01 -2.51973719e-01  7.08655784e+01]
 [ 1.49015000e-01  9.88665770e-01 -1.82900299e-02  6.67359442e+00]
 [ 2.51839115e-01 -2.00584289e-02  9.67561223e-01  1.81760731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.92071405700001 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:70.92, Y:6.68, Z:18.19
[[ 9.56843715e-01 -1.44772858e-01 -2.51974055e-01  7.09236871e+01]
 [ 1.44865650e-01  9.89282360e-01 -1.82854055e-02  6.68071382e+00]
 [ 2.51920718e-01 -1.90061099e-02  9.67561223e-01  1.81919065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.98071405700001 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:70.98, Y:6.69, Z:18.21
[[ 9.57399487e-01 -1.41050644e-01 -2.51974083e-01  7.09820591e+01]
 [ 1.41017387e-01  9.89838247e-01 -1.82850097e-02  6.68611396e+00]
 [ 2.51992697e-01 -1.80266679e-02  9.67561223e-01  1.82077744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.04071405700002 meters
Centerline goodness : 0.997989 with order 1
Centerline is valid?  [True, True]
Translation: X:71.04, Y:6.69, Z:18.22
[[ 9.58426205e-01 -1.33895761e-01 -2.51974474e-01  7.10405071e+01]
 [ 1.33621625e-01  9.90863823e-01 -1.82796246e-02  6.69178128e+00]
 [ 2.52119955e-01 -1.61495675e-02  9.67561223e-01  1.82235668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.10071405700002 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:71.10, Y:6.70, Z:18.24
[[ 9.59518556e-01 -1.25828979e-01 -2.51974618e-01  7.10986748e+01]
 [ 1.25282516e-01  9.91952730e-01 -1.82776383e-02  6.69668940e+00]
 [ 2.52246767e-01 -1.40302809e-02  9.67561223e-01  1.82373992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.160714057 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:71.16, Y:6.70, Z:18.25
[[ 9.60397767e-01 -1.18932439e-01 -2.51974609e-01  7.11566290e+01]
 [ 1.18152946e-01  9.92827178e-01 -1.82777607e-02  6.70140721e+00]
 [ 2.52341059e-01 -1.22176219e-02  9.67561223e-01  1.82535264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.22071405700001 meters
Centerline goodness : 0.998237 with order 1
Centerline is valid?  [True, True]
Translation: X:71.21, Y:6.71, Z:18.27
[[ 9.60989185e-01 -1.14055367e-01 -2.51974523e-01  7.12149853e+01]
 [ 1.13110943e-01  9.93414211e-01 -1.82789498e-02  6.70521624e+00]
 [ 2.52399884e-01 -1.09352027e-02  9.67561223e-01  1.82683058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.28071405700001 meters
Centerline goodness : 0.998405 with order 1
Centerline is valid?  [True, True]
Translation: X:71.27, Y:6.71, Z:18.28
[[ 9.61172602e-01 -1.12499426e-01 -2.51974422e-01  7.12742325e+01]
 [ 1.11502144e-01  9.93596045e-01 -1.82803458e-02  6.70779524e+00]
 [ 2.52417317e-01 -1.05251206e-02  9.67561223e-01  1.82838061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.34071405700001 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:71.33, Y:6.71, Z:18.30
[[ 9.60990810e-01 -1.14039656e-01 -2.51975437e-01  7.13329427e+01]
 [ 1.13098001e-01  9.93415916e-01 -1.82663431e-02  6.71059120e+00]
 [ 2.52399497e-01 -1.09441304e-02  9.67561223e-01  1.83000413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.40071405700002 meters
Centerline goodness : 0.998387 with order 1
Centerline is valid?  [True, True]
Translation: X:71.39, Y:6.71, Z:18.32
[[ 9.60567800e-01 -1.17548049e-01 -2.51976107e-01  7.13925179e+01]
 [ 1.16727226e-01  9.92996190e-01 -1.82570885e-02  6.71310480e+00]
 [ 2.52357400e-01 -1.18753007e-02  9.67561223e-01  1.83166359e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.46071405700002 meters
Centerline goodness : 0.998394 with order 1
Centerline is valid?  [True, True]
Translation: X:71.45, Y:6.71, Z:18.33
[[ 9.59575592e-01 -1.25387588e-01 -2.51977450e-01  7.14516661e+01]
 [ 1.24836442e-01  9.92009687e-01 -1.82385349e-02  6.71322079e+00]
 [ 2.52250958e-01 -1.39547154e-02  9.67561223e-01  1.83308022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.520714057 meters
Centerline goodness : 0.998739 with order 1
Centerline is valid?  [True, True]
Translation: X:71.51, Y:6.71, Z:18.34
[[ 9.58327782e-01 -1.34592740e-01 -2.51977492e-01  7.15107151e+01]
 [ 1.34353102e-01  9.90765674e-01 -1.82379624e-02  6.71151246e+00]
 [ 2.52105347e-01 -1.63760118e-02  9.67561223e-01  1.83449183e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.58071405700001 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:71.57, Y:6.71, Z:18.36
[[ 9.57346060e-01 -1.41405515e-01 -2.51978177e-01  7.15692753e+01]
 [ 1.41399081e-01  9.89784836e-01 -1.82284896e-02  6.71093432e+00]
 [ 2.51981788e-01 -1.81785100e-02  9.67561223e-01  1.83582138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.64071405700001 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:71.63, Y:6.71, Z:18.37
[[ 9.56883067e-01 -1.44505906e-01 -2.51977853e-01  7.16276577e+01]
 [ 1.44603378e-01  9.89321698e-01 -1.82329666e-02  6.71162386e+00]
 [ 2.51921929e-01 -1.89900319e-02  9.67561223e-01  1.83725889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.70071405700001 meters
Centerline goodness : 0.999551 with order 1
Centerline is valid?  [True, True]
Translation: X:71.69, Y:6.71, Z:18.39
[[ 9.56981673e-01 -1.43851911e-01 -2.51977590e-01  7.16860995e+01]
 [ 1.43926261e-01  9.89420364e-01 -1.82366075e-02  6.71368115e+00]
 [ 2.51935129e-01 -1.88140932e-02  9.67561223e-01  1.83885817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.76071405700002 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:71.75, Y:6.72, Z:18.41
[[ 9.57222834e-01 -1.42238323e-01 -2.51977590e-01  7.17456523e+01]
 [ 1.42257984e-01  9.89661605e-01 -1.82366075e-02  6.71682561e+00]
 [ 2.51966490e-01 -1.83893268e-02  9.67561223e-01  1.84060507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.82071405700002 meters
Centerline goodness : 0.999596 with order 1
Centerline is valid?  [True, True]
Translation: X:71.80, Y:6.72, Z:18.42
[[ 9.57440922e-01 -1.40760411e-01 -2.51978943e-01  7.18046673e+01]
 [ 1.40734895e-01  9.89879689e-01 -1.82178853e-02  6.71947279e+00]
 [ 2.51993195e-01 -1.80196814e-02  9.67561223e-01  1.84212263e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.880714057 meters
Centerline goodness : 0.999261 with order 1
Centerline is valid?  [True, True]
Translation: X:71.86, Y:6.72, Z:18.43
[[ 9.57549338e-01 -1.40020933e-01 -2.51978974e-01  7.18645018e+01]
 [ 1.39970476e-01  9.89988076e-01 -1.82174596e-02  6.72249471e+00]
 [ 2.52007005e-01 -1.78255006e-02  9.67561223e-01  1.84347936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.94071405700001 meters
Centerline goodness : 0.999552 with order 1
Centerline is valid?  [True, True]
Translation: X:71.92, Y:6.73, Z:18.45
[[ 9.57635713e-01 -1.39427188e-01 -2.51979962e-01  7.19235368e+01]
 [ 1.39360198e-01  9.90074420e-01 -1.82037851e-02  6.72604162e+00]
 [ 2.52017017e-01 -1.76833828e-02  9.67561223e-01  1.84527102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.00071405700001 meters
Centerline goodness : 0.999530 with order 1
Centerline is valid?  [True, True]
Translation: X:71.98, Y:6.73, Z:18.47
[[ 9.57849410e-01 -1.37949628e-01 -2.51980968e-01  7.19831761e+01]
 [ 1.37836241e-01  9.90287988e-01 -1.81898546e-02  6.73022569e+00]
 [ 2.52043009e-01 -1.73089679e-02  9.67561223e-01  1.84693766e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.06071405700001 meters
Centerline goodness : 0.999147 with order 1
Centerline is valid?  [True, True]
Translation: X:72.04, Y:6.73, Z:18.48
[[ 9.58087571e-01 -1.36283244e-01 -2.51982310e-01  7.20426815e+01]
 [ 1.36118304e-01  9.90525928e-01 -1.81712422e-02  6.73446242e+00]
 [ 2.52071447e-01 -1.68897633e-02  9.67561224e-01  1.84821103e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.12071405700001 meters
Centerline goodness : 0.999438 with order 1
Centerline is valid?  [True, True]
Translation: X:72.10, Y:6.74, Z:18.50
[[ 9.58430464e-01 -1.33849277e-01 -2.51982971e-01  7.21002787e+01]
 [ 1.33604346e-01  9.90868315e-01 -1.81620688e-02  6.73904685e+00]
 [ 2.52112922e-01 -1.62589401e-02  9.67561224e-01  1.84989039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.18071405700002 meters
Centerline goodness : 0.999165 with order 1
Centerline is valid?  [True, True]
Translation: X:72.16, Y:6.75, Z:18.51
[[ 9.58893389e-01 -1.30491554e-01 -2.51982980e-01  7.21580119e+01]
 [ 1.30133044e-01  9.91330184e-01 -1.81619473e-02  6.74509477e+00]
 [ 2.52168315e-01 -1.53759409e-02  9.67561224e-01  1.85149786e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.240714057 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:72.22, Y:6.75, Z:18.53
[[ 9.59243016e-01 -1.27895948e-01 -2.51983062e-01  7.22171756e+01]
 [ 1.27449951e-01  9.91678726e-01 -1.81608030e-02  6.75064299e+00]
 [ 2.52208935e-01 -1.46946056e-02  9.67561224e-01  1.85294937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.30071405700001 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:72.28, Y:6.76, Z:18.55
[[ 9.59787476e-01 -1.23742473e-01 -2.51983732e-01  7.22755533e+01]
 [ 1.23158509e-01  9.92220996e-01 -1.81515132e-02  6.75713700e+00]
 [ 2.52269662e-01 -1.36123455e-02  9.67561224e-01  1.85463594e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.36071405700001 meters
Centerline goodness : 0.999232 with order 1
Centerline is valid?  [True, True]
Translation: X:72.33, Y:6.76, Z:18.56
[[ 9.59996678e-01 -1.22107974e-01 -2.51984169e-01  7.23345234e+01]
 [ 1.21470371e-01  9.92429187e-01 -1.81454411e-02  6.76216083e+00]
 [ 2.52292147e-01 -1.31890474e-02  9.67561224e-01  1.85625811e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.42071405700001 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:72.39, Y:6.77, Z:18.58
[[ 9.60231640e-01 -1.20244922e-01 -2.51984832e-01  7.23944274e+01]
 [ 1.19546800e-01  9.92662903e-01 -1.81362218e-02  6.76709678e+00]
 [ 2.52316784e-01 -1.27090065e-02  9.67561224e-01  1.85804530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.48071405700001 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:72.45, Y:6.77, Z:18.59
[[ 9.60144857e-01 -1.20933087e-01 -2.51986193e-01  7.24542380e+01]
 [ 1.20263163e-01  9.92576715e-01 -1.81172991e-02  6.77041030e+00]
 [ 2.52306608e-01 -1.29094249e-02  9.67561224e-01  1.85945430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.54071405700002 meters
Centerline goodness : 0.998486 with order 1
Centerline is valid?  [True, True]
Translation: X:72.51, Y:6.77, Z:18.61
[[ 9.59707947e-01 -1.24348431e-01 -2.51988343e-01  7.25128929e+01]
 [ 1.23801742e-01  9.92142115e-01 -1.80873421e-02  6.77230366e+00]
 [ 2.52257380e-01 -1.38380299e-02  9.67561224e-01  1.86108002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.60071405700002 meters
Centerline goodness : 0.998336 with order 1
Centerline is valid?  [True, True]
Translation: X:72.57, Y:6.77, Z:18.63
[[ 9.58886270e-01 -1.30532864e-01 -2.51988675e-01  7.25719135e+01]
 [ 1.30196492e-01  9.91323302e-01 -1.80827221e-02  6.77423329e+00]
 [ 2.52162635e-01 -1.54687677e-02  9.67561224e-01  1.86259626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.660714057 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:72.63, Y:6.78, Z:18.64
[[ 9.58186582e-01 -1.35572424e-01 -2.51989270e-01  7.26307508e+01]
 [ 1.35408768e-01  9.90624945e-01 -1.80744197e-02  6.77657942e+00]
 [ 2.52077250e-01 -1.68028902e-02  9.67561224e-01  1.86367312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.72071405700001 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:72.69, Y:6.78, Z:18.65
[[ 9.57804133e-01 -1.38247680e-01 -2.51989726e-01  7.26896514e+01]
 [ 1.38176274e-01  9.90242830e-01 -1.80680676e-02  6.78080022e+00]
 [ 2.52028888e-01 -1.75133316e-02  9.67561224e-01  1.86512760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.78071405700001 meters
Centerline goodness : 0.998115 with order 1
Centerline is valid?  [True, True]
Translation: X:72.75, Y:6.78, Z:18.67
[[ 9.57865321e-01 -1.37822511e-01 -2.51990043e-01  7.27490037e+01]
 [ 1.37737864e-01  9.90303986e-01 -1.80636458e-02  6.78443195e+00]
 [ 2.52036321e-01 -1.74060303e-02  9.67561224e-01  1.86674148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.84071405700001 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:72.81, Y:6.79, Z:18.68
[[ 9.58064912e-01 -1.36426917e-01 -2.51990716e-01  7.28076888e+01]
 [ 1.36297473e-01  9.90503429e-01 -1.80542494e-02  6.78915396e+00]
 [ 2.52060754e-01 -1.70485549e-02  9.67561224e-01  1.86835222e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.90071405700002 meters
Centerline goodness : 0.998285 with order 1
Centerline is valid?  [True, True]
Translation: X:72.87, Y:6.80, Z:18.70
[[ 9.58417561e-01 -1.33926442e-01 -2.51991046e-01  7.28658833e+01]
 [ 1.33713557e-01  9.90855638e-01 -1.80496473e-02  6.79558696e+00]
 [ 2.52104073e-01 -1.63955200e-02  9.67561225e-01  1.86999540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.96071405700002 meters
Centerline goodness : 0.998556 with order 1
Centerline is valid?  [True, True]
Translation: X:72.93, Y:6.80, Z:18.72
[[ 9.58559300e-01 -1.32907546e-01 -2.51991372e-01  7.29250645e+01]
 [ 1.32661373e-01  9.90997142e-01 -1.80450844e-02  6.80011225e+00]
 [ 2.52121058e-01 -1.61322379e-02  9.67561225e-01  1.87154242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.020714057 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:72.99, Y:6.81, Z:18.73
[[ 9.58431003e-01 -1.33828328e-01 -2.51992044e-01  7.29854979e+01]
 [ 1.33615773e-01  9.90869082e-01 -1.80357020e-02  6.80582008e+00]
 [ 2.52104813e-01 -1.63841358e-02  9.67561225e-01  1.87304076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.08071405700001 meters
Centerline goodness : 0.998513 with order 1
Centerline is valid?  [True, True]
Translation: X:73.04, Y:6.81, Z:18.74
[[ 9.58060856e-01 -1.36450459e-01 -2.51993388e-01  7.30440499e+01]
 [ 1.36331590e-01  9.90499414e-01 -1.80168992e-02  6.81129671e+00]
 [ 2.52057718e-01 -1.70933735e-02  9.67561225e-01  1.87444578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.14071405700001 meters
Centerline goodness : 0.998670 with order 1
Centerline is valid?  [True, True]
Translation: X:73.10, Y:6.82, Z:18.76
[[ 9.57747224e-01 -1.38634575e-01 -2.51993473e-01  7.31028933e+01]
 [ 1.38589980e-01  9.90185968e-01 -1.80157151e-02  6.81711341e+00]
 [ 2.52018002e-01 -1.76692692e-02  9.67561225e-01  1.87583693e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.20071405700001 meters
Centerline goodness : 0.998782 with order 1
Centerline is valid?  [True, True]
Translation: X:73.16, Y:6.82, Z:18.77
[[ 9.57679306e-01 -1.39102359e-01 -2.51993810e-01  7.31612352e+01]
 [ 1.39074842e-01  9.90118070e-01 -1.80110011e-02  6.82289901e+00]
 [ 2.52008997e-01 -1.77972363e-02  9.67561225e-01  1.87738377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.26071405700002 meters
Centerline goodness : 0.999029 with order 1
Centerline is valid?  [True, True]
Translation: X:73.22, Y:6.83, Z:18.79
[[ 9.57683605e-01 -1.39072758e-01 -2.51993810e-01  7.32212917e+01]
 [ 1.39044238e-01  9.90122368e-01 -1.80110011e-02  6.82900959e+00]
 [ 2.52009547e-01 -1.77894468e-02  9.67561225e-01  1.87895925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.32071405700002 meters
Centerline goodness : 0.998387 with order 1
Centerline is valid?  [True, True]
Translation: X:73.28, Y:6.84, Z:18.81
[[ 9.57795555e-01 -1.38297243e-01 -2.51995134e-01  7.32810119e+01]
 [ 1.38247310e-01  9.90234292e-01 -1.79924637e-02  6.83591270e+00]
 [ 2.52022531e-01 -1.76045476e-02  9.67561225e-01  1.88056316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.380714057 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:73.34, Y:6.84, Z:18.82
[[ 9.57630169e-01 -1.39435461e-01 -2.51996451e-01  7.33395009e+01]
 [ 1.39428917e-01  9.90068943e-01 -1.79739937e-02  6.84259801e+00]
 [ 2.52000072e-01 -1.79231535e-02  9.67561225e-01  1.88215587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.44071405700001 meters
Centerline goodness : 0.997651 with order 1
Centerline is valid?  [True, True]
Translation: X:73.40, Y:6.85, Z:18.84
[[ 9.57092621e-01 -1.43078086e-01 -2.51996777e-01  7.33984020e+01]
 [ 1.43196163e-01  9.89531181e-01 -1.79694193e-02  6.84739790e+00]
 [ 2.51929699e-01 -1.88865730e-02  9.67561225e-01  1.88359672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.50071405700001 meters
Centerline goodness : 0.998153 with order 1
Centerline is valid?  [True, True]
Translation: X:73.46, Y:6.85, Z:18.85
[[ 9.56518612e-01 -1.46866407e-01 -2.51996831e-01  7.34580322e+01]
 [ 1.47113117e-01  9.88956449e-01 -1.79686626e-02  6.85117288e+00]
 [ 2.51852884e-01 -1.98846791e-02  9.67561225e-01  1.88499342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.56071405700001 meters
Centerline goodness : 0.998197 with order 1
Centerline is valid?  [True, True]
Translation: X:73.52, Y:6.86, Z:18.86
[[ 9.55857782e-01 -1.51106470e-01 -2.51997492e-01  7.35163426e+01]
 [ 1.51499443e-01  9.88294176e-01 -1.79593956e-02  6.85583529e+00]
 [ 2.51761434e-01 -2.10108516e-02  9.67561225e-01  1.88631432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.62071405700001 meters
Centerline goodness : 0.998309 with order 1
Centerline is valid?  [True, True]
Translation: X:73.58, Y:6.86, Z:18.88
[[ 9.55597192e-01 -1.52745442e-01 -2.51997691e-01  7.35762083e+01]
 [ 1.53194771e-01  9.88032855e-01 -1.79565995e-02  6.86121689e+00]
 [ 2.51724787e-01 -2.14454525e-02  9.67561225e-01  1.88786746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.68071405700002 meters
Centerline goodness : 0.997870 with order 1
Centerline is valid?  [True, True]
Translation: X:73.63, Y:6.87, Z:18.89
[[ 9.56012632e-01 -1.50121139e-01 -2.51998992e-01  7.36342138e+01]
 [ 1.50486195e-01  9.88449352e-01 -1.79383255e-02  6.86644650e+00]
 [ 2.51781162e-01 -2.07731036e-02  9.67561225e-01  1.88948933e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.740714057 meters
Centerline goodness : 0.997586 with order 1
Centerline is valid?  [True, True]
Translation: X:73.69, Y:6.87, Z:18.91
[[ 9.56957312e-01 -1.43975845e-01 -2.51999322e-01  7.36918257e+01]
 [ 1.44133709e-01  9.89395703e-01 -1.79336793e-02  6.87294150e+00]
 [ 2.51909063e-01 -1.91598315e-02  9.67561225e-01  1.89105232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.80071405700001 meters
Centerline goodness : 0.998325 with order 1
Centerline is valid?  [True, True]
Translation: X:73.75, Y:6.88, Z:18.93
[[ 9.57824803e-01 -1.38087381e-01 -2.51999051e-01  7.37502473e+01]
 [ 1.38044733e-01  9.90263550e-01 -1.79374916e-02  6.87814401e+00]
 [ 2.52022416e-01 -1.76061673e-02  9.67561225e-01  1.89269892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.86071405700001 meters
Centerline goodness : 0.999130 with order 1
Centerline is valid?  [True, True]
Translation: X:73.81, Y:6.88, Z:18.94
[[ 9.58351873e-01 -1.34380148e-01 -2.51999333e-01  7.38085096e+01]
 [ 1.34213020e-01  9.90790217e-01 -1.79335300e-02  6.88224899e+00]
 [ 2.52088384e-01 -1.66349594e-02  9.67561225e-01  1.89413704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.92071405700001 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:73.87, Y:6.89, Z:18.95
[[ 9.58435517e-01 -1.33782271e-01 -2.51999333e-01  7.38673927e+01]
 [ 1.33594906e-01  9.90873751e-01 -1.79335300e-02  6.88597781e+00]
 [ 2.52098712e-01 -1.64776952e-02  9.67561225e-01  1.89549345e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.98071405700001 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:73.93, Y:6.89, Z:18.97
[[ 9.58662669e-01 -1.32144110e-01 -2.51999647e-01  7.39266628e+01]
 [ 1.31902463e-01  9.91100543e-01 -1.79291207e-02  6.88899397e+00]
 [ 2.52126214e-01 -1.60513954e-02  9.67561225e-01  1.89680841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.04071405700002 meters
Centerline goodness : 0.998734 with order 1
Centerline is valid?  [True, True]
Translation: X:73.99, Y:6.89, Z:18.99
[[ 9.58832839e-01 -1.30903650e-01 -2.51999647e-01  7.39860711e+01]
 [ 1.30620034e-01  9.91270374e-01 -1.79291207e-02  6.89280123e+00]
 [ 2.52146771e-01 -1.57251726e-02  9.67561225e-01  1.89855476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.10071405700002 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:74.05, Y:6.89, Z:19.00
[[ 9.59062192e-01 -1.29210606e-01 -2.52000657e-01  7.40452119e+01]
 [ 1.28873442e-01  9.91499214e-01 -1.79149046e-02  6.89483907e+00]
 [ 2.52173249e-01 -1.52946845e-02  9.67561225e-01  1.90014419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.160714057 meters
Centerline goodness : 0.998945 with order 1
Centerline is valid?  [True, True]
Translation: X:74.10, Y:6.90, Z:19.02
[[ 9.59063512e-01 -1.29198872e-01 -2.52001651e-01  7.41019739e+01]
 [ 1.28864974e-01  9.91500568e-01 -1.79009183e-02  6.89804289e+00]
 [ 2.52172558e-01 -1.53060686e-02  9.67561226e-01  1.90163712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.22071405700001 meters
Centerline goodness : 0.999314 with order 1
Centerline is valid?  [True, True]
Translation: X:74.16, Y:6.90, Z:19.03
[[ 9.59064339e-01 -1.29200890e-01 -2.51997468e-01  7.41607757e+01]
 [ 1.28851692e-01  9.91501232e-01 -1.79596191e-02  6.90104509e+00]
 [ 2.52176198e-01 -1.52458699e-02  9.67561227e-01  1.90314027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.28071405700001 meters
Centerline goodness : 0.998883 with order 1
Centerline is valid?  [True, True]
Translation: X:74.22, Y:6.90, Z:19.05
[[ 9.59110585e-01 -1.28856481e-01 -2.51997804e-01  7.42212677e+01]
 [ 1.28496870e-01  9.91547364e-01 -1.79549022e-02  6.90401275e+00]
 [ 2.52181364e-01 -1.51601924e-02  9.67561227e-01  1.90458193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.34071405700001 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:74.28, Y:6.91, Z:19.06
[[ 9.59287840e-01 -1.27527547e-01 -2.51999137e-01  7.42789706e+01]
 [ 1.27127901e-01  9.91724151e-01 -1.79361682e-02  6.90706895e+00]
 [ 2.52200986e-01 -1.48301733e-02  9.67561227e-01  1.90600612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.40071405700002 meters
Centerline goodness : 0.998837 with order 1
Centerline is valid?  [True, True]
Translation: X:74.34, Y:6.91, Z:19.08
[[ 9.59485544e-01 -1.26031795e-01 -2.51998965e-01  7.43389783e+01]
 [ 1.25580945e-01  9.91921183e-01 -1.79385905e-02  6.91084988e+00]
 [ 2.52223944e-01 -1.44344497e-02  9.67561227e-01  1.90763591e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.46071405700002 meters
Centerline goodness : 0.999295 with order 1
Centerline is valid?  [True, True]
Translation: X:74.40, Y:6.91, Z:19.09
[[ 9.59791350e-01 -1.23678641e-01 -2.52000315e-01  7.43984275e+01]
 [ 1.23153226e-01  9.92225867e-01 -1.79196060e-02  6.91474491e+00]
 [ 2.52257503e-01 -1.38355688e-02  9.67561228e-01  1.90918829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.520714057 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:74.46, Y:6.92, Z:19.11
[[ 9.59846382e-01 -1.23249441e-01 -2.52000989e-01  7.44580718e+01]
 [ 1.22712005e-01  9.92280702e-01 -1.79101177e-02  6.91812920e+00]
 [ 2.52263130e-01 -1.37325850e-02  9.67561228e-01  1.91075260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.58071405700001 meters
Centerline goodness : 0.998797 with order 1
Centerline is valid?  [True, True]
Translation: X:74.52, Y:6.92, Z:19.12
[[ 9.59607586e-01 -1.25093070e-01 -2.52001993e-01  7.45177302e+01]
 [ 1.24621643e-01  9.92042933e-01 -1.78959767e-02  6.92121364e+00]
 [ 2.52235459e-01 -1.42317875e-02  9.67561228e-01  1.91236125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.64071405700001 meters
Centerline goodness : 0.998463 with order 1
Centerline is valid?  [True, True]
Translation: X:74.58, Y:6.92, Z:19.14
[[ 9.59111852e-01 -1.28836896e-01 -2.52002997e-01  7.45764896e+01]
 [ 1.28495749e-01  9.91548830e-01 -1.78818406e-02  6.92315567e+00]
 [ 2.52177117e-01 -1.52306285e-02  9.67561228e-01  1.91382105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.70071405700001 meters
Centerline goodness : 0.998786 with order 1
Centerline is valid?  [True, True]
Translation: X:74.64, Y:6.92, Z:19.15
[[ 9.58485666e-01 -1.33415348e-01 -2.52003123e-01  7.46351248e+01]
 [ 1.33229562e-01  9.90923906e-01 -1.78800634e-02  6.92415131e+00]
 [ 2.52101393e-01 -1.64364812e-02  9.67561228e-01  1.91516559e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.76071405700002 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:74.69, Y:6.93, Z:19.17
[[ 9.58061103e-01 -1.36430978e-01 -2.52003000e-01  7.46934470e+01]
 [ 1.36346822e-01  9.90499766e-01 -1.78817917e-02  6.92698074e+00]
 [ 2.52048543e-01 -1.72279592e-02  9.67561228e-01  1.91650656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.82071405700002 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:74.75, Y:6.93, Z:19.18
[[ 9.57938597e-01 -1.37288502e-01 -2.52003000e-01  7.47518801e+01]
 [ 1.37233382e-01  9.90377322e-01 -1.78817917e-02  6.93053853e+00]
 [ 2.52033021e-01 -1.74535655e-02  9.67561228e-01  1.91809772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.880714057 meters
Centerline goodness : 0.999123 with order 1
Centerline is valid?  [True, True]
Translation: X:74.81, Y:6.94, Z:19.20
[[ 9.57927121e-01 -1.37368554e-01 -2.52003000e-01  7.48112433e+01]
 [ 1.37316145e-01  9.90365850e-01 -1.78817917e-02  6.93501550e+00]
 [ 2.52031561e-01 -1.74746274e-02  9.67561228e-01  1.91969000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.94071405700001 meters
Centerline goodness : 0.999007 with order 1
Centerline is valid?  [True, True]
Translation: X:74.87, Y:6.94, Z:19.21
[[ 9.57969361e-01 -1.37072495e-01 -2.52003639e-01  7.48682470e+01]
 [ 1.37012421e-01  9.90408078e-01 -1.78727780e-02  6.94046204e+00]
 [ 2.52036306e-01 -1.74060549e-02  9.67561228e-01  1.92127785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.00071405700001 meters
Centerline goodness : 0.999057 with order 1
Centerline is valid?  [True, True]
Translation: X:74.93, Y:6.94, Z:19.23
[[ 9.57861849e-01 -1.37822364e-01 -2.52003323e-01  7.49253500e+01]
 [ 1.37786517e-01  9.90300601e-01 -1.78772337e-02  6.94438947e+00]
 [ 2.52022925e-01 -1.75987399e-02  9.67561228e-01  1.92273520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.06071405700001 meters
Centerline goodness : 0.999347 with order 1
Centerline is valid?  [True, True]
Translation: X:74.99, Y:6.95, Z:19.24
[[ 9.57616822e-01 -1.39516356e-01 -2.52002398e-01  7.49853143e+01]
 [ 1.39534471e-01  9.90055589e-01 -1.78902718e-02  6.94827520e+00]
 [ 2.51992368e-01 -1.80309960e-02  9.67561228e-01  1.92431606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.12071405700001 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:75.04, Y:6.95, Z:19.26
[[ 9.57422933e-01 -1.40838370e-01 -2.52003732e-01  7.50445230e+01]
 [ 1.40906197e-01  9.89861634e-01 -1.78714603e-02  6.95349812e+00]
 [ 2.51965813e-01 -1.83983415e-02  9.67561228e-01  1.92582990e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.18071405700002 meters
Centerline goodness : 0.999101 with order 1
Centerline is valid?  [True, True]
Translation: X:75.10, Y:6.96, Z:19.27
[[ 9.57215279e-01 -1.42241667e-01 -2.52004401e-01  7.51042753e+01]
 [ 1.42359518e-01  9.89653836e-01 -1.78620133e-02  6.96010644e+00]
 [ 2.51937845e-01 -1.87774331e-02  9.67561228e-01  1.92727576e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.24071405700002 meters
Centerline goodness : 0.998900 with order 1
Centerline is valid?  [True, True]
Translation: X:75.16, Y:6.97, Z:19.29
[[ 9.57077458e-01 -1.43163731e-01 -2.52005724e-01  7.51628409e+01]
 [ 1.43317723e-01  9.89515864e-01 -1.78433305e-02  6.96559091e+00]
 [ 2.51918180e-01 -1.90394372e-02  9.67561228e-01  1.92877569e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.30071405700001 meters
Centerline goodness : 0.999098 with order 1
Centerline is valid?  [True, True]
Translation: X:75.22, Y:6.97, Z:19.30
[[ 9.56810420e-01 -1.44937126e-01 -2.52006052e-01  7.52208701e+01]
 [ 1.45152443e-01  9.89248477e-01 -1.78387063e-02  6.97323776e+00]
 [ 2.51882093e-01 -1.95110339e-02  9.67561228e-01  1.93040855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.36071405700001 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:75.28, Y:6.98, Z:19.32
[[ 9.56691059e-01 -1.45722334e-01 -2.52006386e-01  7.52802169e+01]
 [ 1.45965510e-01  9.89128919e-01 -1.78339790e-02  6.98021783e+00]
 [ 2.51865613e-01 -1.97226325e-02  9.67561228e-01  1.93200272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.42071405700001 meters
Centerline goodness : 0.998622 with order 1
Centerline is valid?  [True, True]
Translation: X:75.34, Y:6.99, Z:19.34
[[ 9.56608201e-01 -1.46263547e-01 -2.52007391e-01  7.53385867e+01]
 [ 1.46528794e-01  9.89045888e-01 -1.78197711e-02  6.98738228e+00]
 [ 2.51853256e-01 -1.98797999e-02  9.67561228e-01  1.93354484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.48071405700001 meters
Centerline goodness : 0.998892 with order 1
Centerline is valid?  [True, True]
Translation: X:75.40, Y:6.99, Z:19.35
[[ 9.56354280e-01 -1.47913602e-01 -2.52008052e-01  7.53966624e+01]
 [ 1.48237257e-01  9.88791436e-01 -1.78104116e-02  6.99351044e+00]
 [ 2.51817806e-01 -2.03239191e-02  9.67561228e-01  1.93507659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.54071405700002 meters
Centerline goodness : 0.999343 with order 1
Centerline is valid?  [True, True]
Translation: X:75.46, Y:7.00, Z:19.37
[[ 9.55965450e-01 -1.50406028e-01 -2.52008106e-01  7.54555662e+01]
 [ 1.50814437e-01  9.88401650e-01 -1.78096465e-02  6.99918550e+00]
 [ 2.51763906e-01 -2.09810539e-02  9.67561228e-01  1.93652567e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.60071405700002 meters
Centerline goodness : 0.999388 with order 1
Centerline is valid?  [True, True]
Translation: X:75.51, Y:7.00, Z:19.38
[[ 9.55480345e-01 -1.53457036e-01 -2.52008429e-01  7.55139283e+01]
 [ 1.53970187e-01  9.87915057e-01 -1.78050776e-02  7.00397422e+00]
 [ 2.51695236e-01 -2.17893833e-02  9.67561228e-01  1.93787968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.660714057 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:75.57, Y:7.01, Z:19.39
[[ 9.55072468e-01 -1.55975125e-01 -2.52008615e-01  7.55724535e+01]
 [ 1.56574459e-01  9.87505702e-01 -1.78024498e-02  7.00876658e+00]
 [ 2.51636683e-01 -2.24554827e-02  9.67561228e-01  1.93925244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.72071405700001 meters
Centerline goodness : 0.999478 with order 1
Centerline is valid?  [True, True]
Translation: X:75.63, Y:7.01, Z:19.41
[[ 9.54930051e-01 -1.56844163e-01 -2.52008939e-01  7.56324650e+01]
 [ 1.57474213e-01  9.87362704e-01 -1.77978562e-02  7.01441493e+00]
 [ 2.51615717e-01 -2.26892016e-02  9.67561229e-01  1.94093202e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.78071405700001 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:75.69, Y:7.02, Z:19.42
[[ 9.55159200e-01 -1.55440419e-01 -2.52010274e-01  7.56928650e+01]
 [ 1.56027750e-01  9.87592654e-01 -1.77789398e-02  7.01882545e+00]
 [ 2.51647061e-01 -2.23388779e-02  9.67561229e-01  1.94249558e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.84071405700001 meters
Centerline goodness : 0.999112 with order 1
Centerline is valid?  [True, True]
Translation: X:75.75, Y:7.02, Z:19.44
[[ 9.55581569e-01 -1.52820213e-01 -2.52011602e-01  7.57509974e+01]
 [ 1.53323523e-01  9.88016435e-01 -1.77600937e-02  7.02453477e+00]
 [ 2.51705706e-01 -2.16680883e-02  9.67561229e-01  1.94411648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.90071405700002 meters
Centerline goodness : 0.999025 with order 1
Centerline is valid?  [True, True]
Translation: X:75.81, Y:7.03, Z:19.46
[[ 9.56062430e-01 -1.49782423e-01 -2.52011616e-01  7.58098854e+01]
 [ 1.50182700e-01  9.88498732e-01 -1.77598880e-02  7.02953008e+00]
 [ 2.51773282e-01 -2.08682234e-02  9.67561229e-01  1.94560373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.96071405700002 meters
Centerline goodness : 0.999317 with order 1
Centerline is valid?  [True, True]
Translation: X:75.87, Y:7.03, Z:19.47
[[ 9.56040964e-01 -1.49918834e-01 -2.52011939e-01  7.58691232e+01]
 [ 1.50324938e-01  9.88477193e-01 -1.77553102e-02  7.03385945e+00]
 [ 2.51769910e-01 -2.09088752e-02  9.67561229e-01  1.94698644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.020714057 meters
Centerline goodness : 0.999225 with order 1
Centerline is valid?  [True, True]
Translation: X:75.93, Y:7.04, Z:19.48
[[ 9.55980568e-01 -1.50299336e-01 -2.52014411e-01  7.59285427e+01]
 [ 1.50727552e-01  9.88416512e-01 -1.77201564e-02  7.03810567e+00]
 [ 2.51758533e-01 -2.10453900e-02  9.67561229e-01  1.94841892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.08071405700001 meters
Centerline goodness : 0.998813 with order 1
Centerline is valid?  [True, True]
Translation: X:75.99, Y:7.04, Z:19.50
[[ 9.56104382e-01 -1.49508644e-01 -2.52015032e-01  7.59887417e+01]
 [ 1.49912347e-01  9.88540640e-01 -1.77113203e-02  7.04243572e+00]
 [ 2.51775096e-01 -2.08462941e-02  9.67561229e-01  1.95009955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.14071405700001 meters
Centerline goodness : 0.998388 with order 1
Centerline is valid?  [True, True]
Translation: X:76.05, Y:7.05, Z:19.52
[[ 9.56525189e-01 -1.46790109e-01 -2.52016321e-01  7.60473616e+01]
 [ 1.47106410e-01  9.88962418e-01 -1.76929560e-02  7.04819044e+00]
 [ 2.51831821e-01 -2.01494583e-02  9.67561230e-01  1.95172401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.20071405700001 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:76.10, Y:7.05, Z:19.53
[[ 9.57401032e-01 -1.40964480e-01 -2.52016427e-01  7.61044682e+01]
 [ 1.41083708e-01  9.89839583e-01 -1.76914449e-02  7.05432878e+00]
 [ 2.51949701e-01 -1.86176045e-02  9.67561230e-01  1.95324713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.26071405700002 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:76.16, Y:7.06, Z:19.55
[[ 9.58329951e-01 -1.34504831e-01 -2.52016182e-01  7.61626207e+01]
 [ 1.34404386e-01  9.90768565e-01 -1.76949372e-02  7.06071276e+00]
 [ 2.52069766e-01 -1.69144919e-02  9.67561230e-01  1.95481384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.32071405700002 meters
Centerline goodness : 0.998628 with order 1
Centerline is valid?  [True, True]
Translation: X:76.22, Y:7.07, Z:19.56
[[ 9.59175084e-01 -1.28339129e-01 -2.52016321e-01  7.62206823e+01]
 [ 1.28030594e-01  9.91612387e-01 -1.76929575e-02  7.06733078e+00]
 [ 2.52173205e-01 -1.52951553e-02  9.67561230e-01  1.95642257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.380714057 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:76.28, Y:7.07, Z:19.58
[[ 9.59722817e-01 -1.24176872e-01 -2.52016306e-01  7.62793372e+01]
 [ 1.23727565e-01  9.92158476e-01 -1.76931771e-02  7.07289738e+00]
 [ 2.52237197e-01 -1.42008180e-02  9.67561230e-01  1.95785638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.44071405700001 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:76.34, Y:7.08, Z:19.59
[[ 9.60131771e-01 -1.20974226e-01 -2.52016308e-01  7.63382914e+01]
 [ 1.20416715e-01  9.92565750e-01 -1.76931406e-02  7.07836666e+00]
 [ 2.52283170e-01 -1.33592296e-02  9.67561230e-01  1.95931475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.50071405700001 meters
Centerline goodness : 0.998526 with order 1
Centerline is valid?  [True, True]
Translation: X:76.40, Y:7.08, Z:19.61
[[ 9.60466563e-01 -1.18286281e-01 -2.52016542e-01  7.63959015e+01]
 [ 1.17638859e-01  9.92898872e-01 -1.76898076e-02  7.08379104e+00]
 [ 2.52319402e-01 -1.26564698e-02  9.67561230e-01  1.96087271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.56071405700001 meters
Centerline goodness : 0.999147 with order 1
Centerline is valid?  [True, True]
Translation: X:76.45, Y:7.09, Z:19.63
[[ 9.60798204e-01 -1.15561555e-01 -2.52016542e-01  7.64545951e+01]
 [ 1.14822146e-01  9.93228547e-01 -1.76898076e-02  7.08906404e+00]
 [ 2.52354286e-01 -1.19407447e-02  9.67561230e-01  1.96251781e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.62071405700001 meters
Centerline goodness : 0.999193 with order 1
Centerline is valid?  [True, True]
Translation: X:76.51, Y:7.10, Z:19.64
[[ 9.61083357e-01 -1.13164098e-01 -2.52017197e-01  7.65131147e+01]
 [ 1.12346223e-01  9.93511815e-01 -1.76804735e-02  7.09539543e+00]
 [ 2.52382858e-01 -1.13207713e-02  9.67561230e-01  1.96415533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.68071405700002 meters
Centerline goodness : 0.999516 with order 1
Centerline is valid?  [True, True]
Translation: X:76.57, Y:7.10, Z:19.66
[[ 9.61274031e-01 -1.11531358e-01 -2.52017845e-01  7.65716196e+01]
 [ 1.10660818e-01  9.93701118e-01 -1.76712261e-02  7.09946065e+00]
 [ 2.52401311e-01 -1.09016103e-02  9.67561230e-01  1.96582864e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.74071405700002 meters
Centerline goodness : 0.999169 with order 1
Centerline is valid?  [True, True]
Translation: X:76.63, Y:7.10, Z:19.67
[[ 9.61256225e-01 -1.11684459e-01 -2.52017958e-01  7.66307431e+01]
 [ 1.10819506e-01  9.93683462e-01 -1.76696157e-02  7.10303725e+00]
 [ 2.52399499e-01 -1.09434775e-02  9.67561230e-01  1.96734443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.80071405700001 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:76.69, Y:7.11, Z:19.69
[[ 9.60992122e-01 -1.13933875e-01 -2.52018281e-01  7.66883170e+01]
 [ 1.13146022e-01  9.93421323e-01 -1.76650073e-02  7.10612571e+00]
 [ 2.52372977e-01 -1.15389331e-02  9.67561230e-01  1.96876848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.86071405700001 meters
Centerline goodness : 0.999218 with order 1
Centerline is valid?  [True, True]
Translation: X:76.75, Y:7.11, Z:19.70
[[ 9.60629294e-01 -1.16954049e-01 -2.52018073e-01  7.67476343e+01]
 [ 1.16267359e-01  9.93060796e-01 -1.76679765e-02  7.10813806e+00]
 [ 2.52335610e-01 -1.23291000e-02  9.67561230e-01  1.97024847e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.92071405700001 meters
Centerline goodness : 0.999448 with order 1
Centerline is valid?  [True, True]
Translation: X:76.81, Y:7.11, Z:19.72
[[ 9.60402781e-01 -1.18798677e-01 -2.52018595e-01  7.68069059e+01]
 [ 1.18176220e-01  9.92835579e-01 -1.76605326e-02  7.10950464e+00]
 [ 2.52311075e-01 -1.28213804e-02  9.67561230e-01  1.97170652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.98071405700001 meters
Centerline goodness : 0.999220 with order 1
Centerline is valid?  [True, True]
Translation: X:76.87, Y:7.11, Z:19.73
[[ 9.60314340e-01 -1.19511295e-01 -2.52018689e-01  7.68652064e+01]
 [ 1.18913256e-01  9.92747597e-01 -1.76591893e-02  7.11220890e+00]
 [ 2.52301420e-01 -1.30099903e-02  9.67561230e-01  1.97322644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.04071405700002 meters
Centerline goodness : 0.999176 with order 1
Centerline is valid?  [True, True]
Translation: X:76.92, Y:7.12, Z:19.75
[[ 9.60314352e-01 -1.19508287e-01 -2.52020067e-01  7.69221856e+01]
 [ 1.18915300e-01  9.92747702e-01 -1.76394993e-02  7.11584633e+00]
 [ 2.52300409e-01 -1.30295777e-02  9.67561230e-01  1.97467548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.10071405700002 meters
Centerline goodness : 0.999246 with order 1
Centerline is valid?  [True, True]
Translation: X:76.98, Y:7.12, Z:19.76
[[ 9.60360681e-01 -1.19136734e-01 -2.52019445e-01  7.69805828e+01]
 [ 1.18528873e-01  9.92793755e-01 -1.76483845e-02  7.11812369e+00]
 [ 2.52305902e-01 -1.29227662e-02  9.67561230e-01  1.97624272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.160714057 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:77.04, Y:7.12, Z:19.78
[[ 9.60379861e-01 -1.18982021e-01 -2.52019445e-01  7.70386998e+01]
 [ 1.18368935e-01  9.92812837e-01 -1.76483845e-02  7.11934538e+00]
 [ 2.52307981e-01 -1.28821203e-02  9.67561230e-01  1.97769204e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.22071405700001 meters
Centerline goodness : 0.999383 with order 1
Centerline is valid?  [True, True]
Translation: X:77.10, Y:7.12, Z:19.79
[[ 9.60289268e-01 -1.19710987e-01 -2.52019445e-01  7.70962519e+01]
 [ 1.19122520e-01  9.92722700e-01 -1.76483845e-02  7.12190493e+00]
 [ 2.52298130e-01 -1.30736373e-02  9.67561230e-01  1.97911370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.28071405700001 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:77.15, Y:7.12, Z:19.81
[[ 9.60002748e-01 -1.21988705e-01 -2.52018809e-01  7.71546953e+01]
 [ 1.21474805e-01  9.92437447e-01 -1.76574588e-02  7.12363442e+00]
 [ 2.52266914e-01 -1.36627268e-02  9.67561230e-01  1.98083074e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.34071405700001 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:77.21, Y:7.13, Z:19.82
[[ 9.59593782e-01 -1.25165063e-01 -2.52018809e-01  7.72126885e+01]
 [ 1.24758506e-01  9.92030004e-01 -1.76574588e-02  7.12519025e+00]
 [ 2.52220317e-01 -1.44975024e-02  9.67561230e-01  1.98224403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.40071405700002 meters
Centerline goodness : 0.999091 with order 1
Centerline is valid?  [True, True]
Translation: X:77.27, Y:7.13, Z:19.84
[[ 9.59016495e-01 -1.29514725e-01 -2.52018450e-01  7.72727214e+01]
 [ 1.29253901e-01  9.91454216e-01 -1.76625823e-02  7.12667649e+00]
 [ 2.52152319e-01 -1.56356600e-02  9.67561230e-01  1.98377613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.46071405700002 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:77.33, Y:7.13, Z:19.85
[[ 9.58582473e-01 -1.32686403e-01 -2.52019765e-01  7.73305601e+01]
 [ 1.32537799e-01  9.91020902e-01 -1.76438055e-02  7.12911480e+00]
 [ 2.52097948e-01 -1.64891021e-02  9.67561230e-01  1.98514718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.520714057 meters
Centerline goodness : 0.999386 with order 1
Centerline is valid?  [True, True]
Translation: X:77.39, Y:7.13, Z:19.87
[[ 9.58373414e-01 -1.34186591e-01 -2.52020550e-01  7.73890721e+01]
 [ 1.34091696e-01  9.90812045e-01 -1.76325831e-02  7.13283336e+00]
 [ 2.52071053e-01 -1.68952642e-02  9.67561230e-01  1.98680798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.58071405700001 meters
Centerline goodness : 0.999112 with order 1
Centerline is valid?  [True, True]
Translation: X:77.45, Y:7.14, Z:19.88
[[ 9.58375326e-01 -1.34172323e-01 -2.52020877e-01  7.74477612e+01]
 [ 1.34078169e-01  9.90813959e-01 -1.76279079e-02  7.13740501e+00]
 [ 2.52070980e-01 -1.68963459e-02  9.67561230e-01  1.98834953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.64071405700001 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:77.51, Y:7.14, Z:19.90
[[ 9.58474236e-01 -1.33459711e-01 -2.52023101e-01  7.75080752e+01]
 [ 1.33349778e-01  9.90912819e-01 -1.75960511e-02  7.14173644e+00]
 [ 2.52081286e-01 -1.67418631e-02  9.67561231e-01  1.98987146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.70071405700001 meters
Centerline goodness : 0.998933 with order 1
Centerline is valid?  [True, True]
Translation: X:77.57, Y:7.15, Z:19.92
[[ 9.58426838e-01 -1.33797266e-01 -2.52024378e-01  7.75685468e+01]
 [ 1.33703549e-01  9.90865472e-01 -1.75777526e-02  7.14507980e+00]
 [ 2.52074109e-01 -1.68495637e-02  9.67561231e-01  1.99150841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.76071405700002 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:77.63, Y:7.15, Z:19.93
[[ 9.58342477e-01 -1.34397153e-01 -2.52025995e-01  7.76277768e+01]
 [ 1.34329820e-01  9.90781176e-01 -1.75545276e-02  7.14925972e+00]
 [ 2.52061891e-01 -1.70313571e-02  9.67561231e-01  1.99322719e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.82071405700002 meters
Centerline goodness : 0.999298 with order 1
Centerline is valid?  [True, True]
Translation: X:77.69, Y:7.15, Z:19.95
[[ 9.58260757e-01 -1.34976187e-01 -2.52027283e-01  7.76856063e+01]
 [ 1.34933297e-01  9.90699497e-01 -1.75360283e-02  7.15308117e+00]
 [ 2.52050248e-01 -1.72027844e-02  9.67561231e-01  1.99479980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.880714057 meters
Centerline goodness : 0.999479 with order 1
Centerline is valid?  [True, True]
Translation: X:77.75, Y:7.16, Z:19.96
[[ 9.58039299e-01 -1.36538612e-01 -2.52027597e-01  7.77452530e+01]
 [ 1.36549803e-01  9.90478065e-01 -1.75315038e-02  7.15566534e+00]
 [ 2.52021534e-01 -1.76184492e-02  9.67561231e-01  1.99632329e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.94071405700001 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:77.80, Y:7.16, Z:19.98
[[ 9.58116777e-01 -1.35992716e-01 -2.52028217e-01  7.78033019e+01]
 [ 1.35987756e-01  9.90555546e-01 -1.75225988e-02  7.15902819e+00]
 [ 2.52030893e-01 -1.74840556e-02  9.67561231e-01  1.99772742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.00071405700001 meters
Centerline goodness : 0.999298 with order 1
Centerline is valid?  [True, True]
Translation: X:77.86, Y:7.16, Z:19.99
[[ 9.58169737e-01 -1.35619643e-01 -2.52027909e-01  7.78636932e+01]
 [ 1.35600895e-01  9.90608500e-01 -1.75270168e-02  7.16233569e+00]
 [ 2.52037997e-01 -1.73813530e-02  9.67561231e-01  1.99938158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.06071405700001 meters
Centerline goodness : 0.999388 with order 1
Centerline is valid?  [True, True]
Translation: X:77.92, Y:7.16, Z:20.01
[[ 9.58489610e-01 -1.33337080e-01 -2.52029545e-01  7.79226302e+01]
 [ 1.33247234e-01  9.90928253e-01 -1.75034681e-02  7.16461788e+00]
 [ 2.52077058e-01 -1.68053474e-02  9.67561232e-01  2.00083604e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.12071405700001 meters
Centerline goodness : 0.999250 with order 1
Centerline is valid?  [True, True]
Translation: X:77.98, Y:7.17, Z:20.02
[[ 9.59011751e-01 -1.29528169e-01 -2.52029591e-01  7.79815160e+01]
 [ 1.29309625e-01  9.91449783e-01 -1.75028069e-02  7.16848009e+00]
 [ 2.52141790e-01 -1.58044544e-02  9.67561232e-01  2.00244162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.18071405700002 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:78.04, Y:7.17, Z:20.04
[[ 9.59274550e-01 -1.27566594e-01 -2.52029962e-01  7.80406435e+01]
 [ 1.27283112e-01  9.91712080e-01 -1.74974518e-02  7.17160528e+00]
 [ 2.52173249e-01 -1.52942976e-02  9.67561232e-01  2.00407486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.24071405700002 meters
Centerline goodness : 0.999455 with order 1
Centerline is valid?  [True, True]
Translation: X:78.10, Y:7.17, Z:20.05
[[ 9.59106451e-01 -1.28823057e-01 -2.52030624e-01  7.81001011e+01]
 [ 1.28584562e-01  9.91544342e-01 -1.74879174e-02  7.17489842e+00]
 [ 2.52152386e-01 -1.56344730e-02  9.67561232e-01  2.00549031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.30071405700001 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:78.16, Y:7.18, Z:20.07
[[ 9.58804232e-01 -1.31052213e-01 -2.52031273e-01  7.81597996e+01]
 [ 1.30891572e-01  9.91242602e-01 -1.74785593e-02  7.17781669e+00]
 [ 2.52114739e-01 -1.62302530e-02  9.67561232e-01  2.00688338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.36071405700001 meters
Centerline goodness : 0.998935 with order 1
Centerline is valid?  [True, True]
Translation: X:78.22, Y:7.18, Z:20.08
[[ 9.58267029e-01 -1.34922997e-01 -2.52031914e-01  7.82179540e+01]
 [ 1.34895772e-01  9.90705786e-01 -1.74693075e-02  7.17985481e+00]
 [ 2.52046487e-01 -1.72577783e-02  9.67561232e-01  2.00817243e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.42071405700001 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:78.28, Y:7.18, Z:20.10
[[ 9.58157598e-01 -1.35698101e-01 -2.52031827e-01  7.82770789e+01]
 [ 1.35696787e-01  9.90596367e-01 -1.74705667e-02  7.18313706e+00]
 [ 2.52032535e-01 -1.74603529e-02  9.67561232e-01  2.00974112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.48071405700001 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:78.34, Y:7.19, Z:20.11
[[ 9.58026359e-01 -1.36620392e-01 -2.52032464e-01  7.83364439e+01]
 [ 1.36652712e-01  9.90465111e-01 -1.74613696e-02  7.18625110e+00]
 [ 2.52014942e-01 -1.77124674e-02  9.67561232e-01  2.01133912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.54071405700002 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:78.40, Y:7.19, Z:20.13
[[ 9.57776156e-01 -1.38362410e-01 -2.52033091e-01  7.83953790e+01]
 [ 1.38456092e-01  9.90214788e-01 -1.74523181e-02  7.18930959e+00]
 [ 2.51981639e-01 -1.81801026e-02  9.67561232e-01  2.01293248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.60071405700002 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:78.45, Y:7.19, Z:20.14
[[ 9.57408821e-01 -1.40880521e-01 -2.52033782e-01  7.84548007e+01]
 [ 1.41062118e-01  9.89847081e-01 -1.74423298e-02  7.19204960e+00]
 [ 2.51932188e-01 -1.88529787e-02  9.67561232e-01  2.01443473e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.660714057 meters
Centerline goodness : 0.998736 with order 1
Centerline is valid?  [True, True]
Translation: X:78.51, Y:7.19, Z:20.16
[[ 9.56861519e-01 -1.44549971e-01 -2.52034402e-01  7.85134286e+01]
 [ 1.44858272e-01  9.89298822e-01 -1.74333761e-02  7.19385450e+00]
 [ 2.51857331e-01 -1.98279411e-02  9.67561232e-01  2.01576740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.72071405700001 meters
Centerline goodness : 0.998678 with order 1
Centerline is valid?  [True, True]
Translation: X:78.57, Y:7.20, Z:20.17
[[ 9.56415407e-01 -1.47472811e-01 -2.52034402e-01  7.85722195e+01]
 [ 1.47880217e-01  9.88851616e-01 -1.74333761e-02  7.19619975e+00]
 [ 2.51795574e-01 -2.05973524e-02  9.67561232e-01  2.01733185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.78071405700001 meters
Centerline goodness : 0.998896 with order 1
Centerline is valid?  [True, True]
Translation: X:78.63, Y:7.20, Z:20.19
[[ 9.56404236e-01 -1.47544692e-01 -2.52034720e-01  7.86313297e+01]
 [ 1.47955742e-01  9.88840400e-01 -1.74287677e-02  7.19894072e+00]
 [ 2.51793636e-01 -2.06210367e-02  9.67561232e-01  2.01872827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.84071405700001 meters
Centerline goodness : 0.999349 with order 1
Centerline is valid?  [True, True]
Translation: X:78.69, Y:7.20, Z:20.20
[[ 9.56281968e-01 -1.48334551e-01 -2.52035036e-01  7.86914074e+01]
 [ 1.48773583e-01  9.88717765e-01 -1.74242086e-02  7.20270972e+00]
 [ 2.51776129e-01 -2.08336988e-02  9.67561232e-01  2.02044276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.90071405700002 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:78.75, Y:7.21, Z:20.22
[[ 9.56411141e-01 -1.47497170e-01 -2.52036334e-01  7.87509822e+01]
 [ 1.47912723e-01  9.88847247e-01 -1.74054046e-02  7.20604765e+00]
 [ 2.51792683e-01 -2.06326575e-02  9.67561232e-01  2.02203810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.96071405700002 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:78.81, Y:7.21, Z:20.24
[[ 9.56581833e-01 -1.46382532e-01 -2.52038393e-01  7.88104204e+01]
 [ 1.46768104e-01  9.89018308e-01 -1.73755368e-02  7.20961962e+00]
 [ 2.51814061e-01 -2.03700743e-02  9.67561233e-01  2.02372450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.020714057 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:78.87, Y:7.21, Z:20.25
[[ 9.56732394e-01 -1.45393448e-01 -2.52039426e-01  7.88707290e+01]
 [ 1.45749407e-01  9.89169208e-01 -1.73605467e-02  7.21310682e+00]
 [ 2.51833749e-01 -2.01251996e-02  9.67561233e-01  2.02530407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.08071405700001 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:78.93, Y:7.22, Z:20.27
[[ 9.56703049e-01 -1.45584198e-01 -2.52040706e-01  7.89308727e+01]
 [ 1.45951496e-01  9.89139736e-01 -1.73419378e-02  7.21656738e+00]
 [ 2.51828190e-01 -2.01946334e-02  9.67561233e-01  2.02671287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.14071405700001 meters
Centerline goodness : 0.998965 with order 1
Centerline is valid?  [True, True]
Translation: X:78.99, Y:7.22, Z:20.28
[[ 9.56596363e-01 -1.46281319e-01 -2.52042007e-01  7.89908903e+01]
 [ 1.46677206e-01  9.89032715e-01 -1.73230190e-02  7.22079493e+00]
 [ 2.51811824e-01 -2.03976803e-02  9.67561233e-01  2.02797907e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.20071405700001 meters
Centerline goodness : 0.999211 with order 1
Centerline is valid?  [True, True]
Translation: X:79.05, Y:7.23, Z:20.30
[[ 9.56479284e-01 -1.47041942e-01 -2.52043740e-01  7.90494403e+01]
 [ 1.47470233e-01  9.88915223e-01 -1.72977595e-02  7.22561014e+00]
 [ 2.51793388e-01 -2.06240006e-02  9.67561233e-01  2.02966316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.26071405700002 meters
Centerline goodness : 0.998986 with order 1
Centerline is valid?  [True, True]
Translation: X:79.11, Y:7.23, Z:20.32
[[ 9.56632273e-01 -1.46042207e-01 -2.52044378e-01  7.91089334e+01]
 [ 1.46439031e-01  9.89068612e-01 -1.72884636e-02  7.23173919e+00]
 [ 2.51814029e-01 -2.03704323e-02  9.67561233e-01  2.03150550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.32071405700002 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:79.17, Y:7.24, Z:20.33
[[ 9.56941003e-01 -1.44003102e-01 -2.52045677e-01  7.91680514e+01]
 [ 1.44335757e-01  9.89378064e-01 -1.72695101e-02  7.23810311e+00]
 [ 2.51855327e-01 -1.98533013e-02  9.67561234e-01  2.03329576e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.380714057 meters
Centerline goodness : 0.999143 with order 1
Centerline is valid?  [True, True]
Translation: X:79.23, Y:7.24, Z:20.35
[[ 9.56940209e-01 -1.44006118e-01 -2.52046969e-01  7.92262207e+01]
 [ 1.44343818e-01  9.89377217e-01 -1.72506273e-02  7.24235489e+00]
 [ 2.51853725e-01 -1.98736031e-02  9.67561234e-01  2.03492718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.44071405700001 meters
Centerline goodness : 0.998965 with order 1
Centerline is valid?  [True, True]
Translation: X:79.29, Y:7.25, Z:20.36
[[ 9.56742891e-01 -1.45311006e-01 -2.52047122e-01  7.92850060e+01]
 [ 1.45693526e-01  9.89179402e-01 -1.72483970e-02  7.24592779e+00]
 [ 2.51826203e-01 -2.02193526e-02  9.67561234e-01  2.03644789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.50071405700001 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:79.34, Y:7.25, Z:20.38
[[ 9.56586463e-01 -1.46336813e-01 -2.52047367e-01  7.93445221e+01]
 [ 1.46755052e-01  9.89022533e-01 -1.72448134e-02  7.24951917e+00]
 [ 2.51804076e-01 -2.04930693e-02  9.67561234e-01  2.03776335e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.56071405700001 meters
Centerline goodness : 0.999234 with order 1
Centerline is valid?  [True, True]
Translation: X:79.41, Y:7.25, Z:20.39
[[ 9.56787153e-01 -1.45018318e-01 -2.52047677e-01  7.94053021e+01]
 [ 1.45393041e-01  9.89223754e-01 -1.72402764e-02  7.25337959e+00]
 [ 2.51831706e-01 -2.01507033e-02  9.67561234e-01  2.03923737e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.62071405700001 meters
Centerline goodness : 0.999480 with order 1
Centerline is valid?  [True, True]
Translation: X:79.46, Y:7.26, Z:20.41
[[ 9.57473003e-01 -1.40415859e-01 -2.52049271e-01  7.94638845e+01]
 [ 1.40640709e-01  9.89910990e-01 -1.72169514e-02  7.25859503e+00]
 [ 2.51923876e-01 -1.89636219e-02  9.67561234e-01  2.04086146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.68071405700002 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:79.52, Y:7.27, Z:20.43
[[ 9.58517328e-01 -1.33099998e-01 -2.52049444e-01  7.95208735e+01]
 [ 1.33077792e-01  9.90956086e-01 -1.72144157e-02  7.26603490e+00]
 [ 2.52061169e-01 -1.70418677e-02  9.67561234e-01  2.04258381e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.74071405700002 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:79.58, Y:7.27, Z:20.44
[[ 9.59320441e-01 -1.27182490e-01 -2.52049412e-01  7.95790089e+01]
 [ 1.26959985e-01  9.91758443e-01 -1.72148755e-02  7.27171433e+00]
 [ 2.52161564e-01 -1.54856077e-02  9.67561234e-01  2.04441428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.80071405700001 meters
Centerline goodness : 0.999503 with order 1
Centerline is valid?  [True, True]
Translation: X:79.64, Y:7.28, Z:20.46
[[ 9.59538484e-01 -1.25526386e-01 -2.52049645e-01  7.96368174e+01]
 [ 1.25248781e-01  9.91976062e-01 -1.72114697e-02  7.27612596e+00]
 [ 2.52187708e-01 -1.50538433e-02  9.67561234e-01  2.04580227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.86071405700001 meters
Centerline goodness : 0.999660 with order 1
Centerline is valid?  [True, True]
Translation: X:79.69, Y:7.28, Z:20.47
[[ 9.59238750e-01 -1.27797305e-01 -2.52049338e-01  7.96936919e+01]
 [ 1.27595306e-01  9.91676887e-01 -1.72159619e-02  7.27958973e+00]
 [ 2.52151657e-01 -1.56460946e-02  9.67561234e-01  2.04728245e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.92071405700001 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:79.75, Y:7.28, Z:20.49
[[ 9.58611583e-01 -1.32427710e-01 -2.52045104e-01  7.97525255e+01]
 [ 1.32366178e-01  9.91050289e-01 -1.72777383e-02  7.28160587e+00]
 [ 2.52077424e-01 -1.67996070e-02  9.67561236e-01  2.04865815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.98071405700001 meters
Centerline goodness : 0.999616 with order 1
Centerline is valid?  [True, True]
Translation: X:79.81, Y:7.28, Z:20.51
[[ 9.58155708e-01 -1.35686771e-01 -2.52045114e-01  7.98116799e+01]
 [ 1.35735586e-01  9.90594435e-01 -1.72775944e-02  7.28477703e+00]
 [ 2.52018828e-01 -1.76568656e-02  9.67561236e-01  2.05064145e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.04071405700002 meters
Centerline goodness : 0.999526 with order 1
Centerline is valid?  [True, True]
Translation: X:79.87, Y:7.29, Z:20.52
[[ 9.57706699e-01 -1.38818121e-01 -2.52046441e-01  7.98696107e+01]
 [ 1.38978048e-01  9.90145068e-01 -1.72582099e-02  7.28909706e+00]
 [ 2.51958293e-01 -1.85006193e-02  9.67561236e-01  2.05219053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.10071405700002 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:79.93, Y:7.29, Z:20.53
[[ 9.57364331e-01 -1.41159592e-01 -2.52046637e-01  7.99296700e+01]
 [ 1.41399591e-01  9.89802207e-01 -1.72553425e-02  7.29340228e+00]
 [ 2.51912075e-01 -1.91196419e-02  9.67561236e-01  2.05348445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.160714057 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:79.99, Y:7.30, Z:20.55
[[ 9.57072912e-01 -1.43120417e-01 -2.52047589e-01  7.99880157e+01]
 [ 1.43430505e-01  9.89510194e-01 -1.72414297e-02  7.29652510e+00]
 [ 2.51871259e-01 -1.96500077e-02  9.67561236e-01  2.05522986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.22071405700001 meters
Centerline goodness : 0.999661 with order 1
Centerline is valid?  [True, True]
Translation: X:80.05, Y:7.30, Z:20.57
[[ 9.56665292e-01 -1.45819024e-01 -2.52048271e-01  8.00473436e+01]
 [ 1.46223203e-01  9.89101538e-01 -1.72314510e-02  7.30150074e+00]
 [ 2.51814006e-01 -2.03705746e-02  9.67561236e-01  2.05662306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.28071405700001 meters
Centerline goodness : 0.999323 with order 1
Centerline is valid?  [True, True]
Translation: X:80.11, Y:7.30, Z:20.58
[[ 9.56276917e-01 -1.48343969e-01 -2.52048654e-01  8.01051353e+01]
 [ 1.48835239e-01  9.88711961e-01 -1.72258504e-02  7.30483694e+00]
 [ 2.51758870e-01 -2.10410386e-02  9.67561236e-01  2.05796793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.34071405700001 meters
Centerline goodness : 0.999368 with order 1
Centerline is valid?  [True, True]
Translation: X:80.16, Y:7.31, Z:20.59
[[ 9.55880140e-01 -1.50879967e-01 -2.52048396e-01  8.01638683e+01]
 [ 1.51456282e-01  9.88313784e-01 -1.72296243e-02  7.30875143e+00]
 [ 2.51702509e-01 -2.17048573e-02  9.67561236e-01  2.05939487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.40071405700002 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:80.22, Y:7.31, Z:20.61
[[ 9.55832369e-01 -1.51181637e-01 -2.52048796e-01  8.02230130e+01]
 [ 1.51769721e-01  9.88265801e-01 -1.72237664e-02  7.31320630e+00]
 [ 2.51695123e-01 -2.17903421e-02  9.67561236e-01  2.06083445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.46071405700002 meters
Centerline goodness : 0.999277 with order 1
Centerline is valid?  [True, True]
Translation: X:80.28, Y:7.32, Z:20.63
[[ 9.56107197e-01 -1.49433201e-01 -2.52049095e-01  8.02812710e+01]
 [ 1.49963107e-01  9.88541632e-01 -1.72194011e-02  7.31910152e+00]
 [ 2.51734174e-01 -2.13344721e-02  9.67561236e-01  2.06262748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.520714057 meters
Centerline goodness : 0.999098 with order 1
Centerline is valid?  [True, True]
Translation: X:80.34, Y:7.32, Z:20.64
[[ 9.56314779e-01 -1.48097851e-01 -2.52049737e-01  8.03394140e+01]
 [ 1.48584924e-01  9.88749886e-01 -1.72099936e-02  7.32481830e+00]
 [ 2.51762912e-01 -2.09926199e-02  9.67561236e-01  2.06421866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.58071405700001 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:80.40, Y:7.33, Z:20.66
[[ 9.56397020e-01 -1.47565275e-01 -2.52050055e-01  8.03991239e+01]
 [ 1.48035506e-01  9.88832375e-01 -1.72053311e-02  7.32874920e+00]
 [ 2.51774164e-01 -2.08572300e-02  9.67561236e-01  2.06600861e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.64071405700001 meters
Centerline goodness : 0.999143 with order 1
Centerline is valid?  [True, True]
Translation: X:80.46, Y:7.33, Z:20.68
[[ 9.56273051e-01 -1.48364285e-01 -2.52051364e-01  8.04587919e+01]
 [ 1.48866639e-01  9.88707925e-01 -1.71861371e-02  7.33240607e+00]
 [ 2.51754990e-01 -2.10873996e-02  9.67561237e-01  2.06750244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.70071405700001 meters
Centerline goodness : 0.999504 with order 1
Centerline is valid?  [True, True]
Translation: X:80.52, Y:7.34, Z:20.69
[[ 9.56159098e-01 -1.49095829e-01 -2.52052006e-01  8.05191431e+01]
 [ 1.49625464e-01  9.88593537e-01 -1.71767135e-02  7.33567472e+00]
 [ 2.51737961e-01 -2.12897274e-02  9.67561237e-01  2.06895770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.76071405700002 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:80.58, Y:7.34, Z:20.70
[[ 9.56103475e-01 -1.49449949e-01 -2.52053282e-01  8.05794097e+01]
 [ 1.49996502e-01  9.88537634e-01 -1.71579679e-02  7.33857722e+00]
 [ 2.51728413e-01 -2.14023180e-02  9.67561237e-01  2.07049475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.82071405700002 meters
Centerline goodness : 0.999325 with order 1
Centerline is valid?  [True, True]
Translation: X:80.64, Y:7.34, Z:20.72
[[ 9.56030226e-01 -1.49915688e-01 -2.52054544e-01  8.06395386e+01]
 [ 1.50482896e-01  9.88464030e-01 -1.71394184e-02  7.34070262e+00]
 [ 2.51716318e-01 -2.15440956e-02  9.67561237e-01  2.07210375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.880714057 meters
Centerline goodness : 0.999504 with order 1
Centerline is valid?  [True, True]
Translation: X:80.70, Y:7.34, Z:20.74
[[ 9.55885405e-01 -1.50834261e-01 -2.52055785e-01  8.06997813e+01]
 [ 1.51437417e-01  9.88318560e-01 -1.71211421e-02  7.34376593e+00]
 [ 2.51693865e-01 -2.18048271e-02  9.67561237e-01  2.07366955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.94071405700001 meters
Centerline goodness : 0.999596 with order 1
Centerline is valid?  [True, True]
Translation: X:80.76, Y:7.34, Z:20.75
[[ 9.55340979e-01 -1.54242901e-01 -2.52057019e-01  8.07586760e+01]
 [ 1.54966498e-01  9.87771671e-01 -1.71029632e-02  7.34496606e+00]
 [ 2.51612793e-01 -2.27212318e-02  9.67561237e-01  2.07515988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.00071405700001 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:80.82, Y:7.35, Z:20.77
[[ 9.54757203e-01 -1.57815679e-01 -2.52057323e-01  8.08177690e+01]
 [ 1.58661765e-01  9.87184930e-01 -1.70984798e-02  7.34515051e+00]
 [ 2.51525599e-01 -2.36669630e-02  9.67561237e-01  2.07674691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.06071405700001 meters
Centerline goodness : 0.999418 with order 1
Centerline is valid?  [True, True]
Translation: X:80.88, Y:7.35, Z:20.78
[[ 9.54532157e-01 -1.59170691e-01 -2.52057637e-01  8.08764797e+01]
 [ 1.60064014e-01  9.86958617e-01 -1.70938551e-02  7.34553896e+00]
 [ 2.51491297e-01 -2.40287227e-02  9.67561237e-01  2.07818304e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.12071405700001 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:80.93, Y:7.35, Z:20.80
[[ 9.54833123e-01 -1.57354685e-01 -2.52057951e-01  8.09347901e+01]
 [ 1.58187537e-01  9.87261192e-01 -1.70892212e-02  7.34783267e+00]
 [ 2.51536102e-01 -2.35550719e-02  9.67561237e-01  2.07981879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.18071405700002 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:80.99, Y:7.35, Z:20.82
[[ 9.55540799e-01 -1.52998456e-01 -2.52058038e-01  8.09920626e+01]
 [ 1.53683747e-01  9.87972322e-01 -1.70879300e-02  7.35228069e+00]
 [ 2.51640792e-01 -2.24090094e-02  9.67561237e-01  2.08151763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.24071405700002 meters
Centerline goodness : 0.999419 with order 1
Centerline is valid?  [True, True]
Translation: X:81.05, Y:7.36, Z:20.83
[[ 9.56525573e-01 -1.46716484e-01 -2.52057735e-01  8.10493055e+01]
 [ 1.47187489e-01  9.88960916e-01 -1.70923989e-02  7.35628899e+00]
 [ 2.51782985e-01 -2.07504286e-02  9.67561237e-01  2.08301545e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.30071405700001 meters
Centerline goodness : 0.998861 with order 1
Centerline is valid?  [True, True]
Translation: X:81.11, Y:7.36, Z:20.84
[[ 9.57264383e-01 -1.41816727e-01 -2.52057370e-01  8.11060851e+01]
 [ 1.42120233e-01  9.89701725e-01 -1.70977825e-02  7.36064637e+00]
 [ 2.51886366e-01 -1.94553540e-02  9.67561237e-01  2.08444675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.36071405700001 meters
Centerline goodness : 0.998635 with order 1
Centerline is valid?  [True, True]
Translation: X:81.16, Y:7.36, Z:20.86
[[ 9.57702994e-01 -1.38825271e-01 -2.52056580e-01  8.11636264e+01]
 [ 1.39024387e-01  9.90141145e-01 -1.71094188e-02  7.36482285e+00]
 [ 2.51946811e-01 -1.86562699e-02  9.67561237e-01  2.08589267e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.42071405700001 meters
Centerline goodness : 0.998946 with order 1
Centerline is valid?  [True, True]
Translation: X:81.22, Y:7.37, Z:20.87
[[ 9.57638502e-01 -1.39270517e-01 -2.52055993e-01  8.12197962e+01]
 [ 1.39482449e-01  9.90076572e-01 -1.71180721e-02  7.36679377e+00]
 [ 2.51938776e-01 -1.87644623e-02  9.67561237e-01  2.08712028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.48071405700001 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:81.28, Y:7.37, Z:20.89
[[ 9.57363560e-01 -1.41150691e-01 -2.52054550e-01  8.12780416e+01]
 [ 1.41420764e-01  9.89801198e-01 -1.71392935e-02  7.36813431e+00]
 [ 2.51903118e-01 -1.92372120e-02  9.67561238e-01  2.08894596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.54071405700002 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:81.34, Y:7.37, Z:20.91
[[ 9.56734421e-01 -1.45352796e-01 -2.52055175e-01  8.13361482e+01]
 [ 1.45767699e-01  9.89170530e-01 -1.71300869e-02  7.36889006e+00]
 [ 2.51815457e-01 -2.03525592e-02  9.67561238e-01  2.09054486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.60071405700002 meters
Centerline goodness : 0.999132 with order 1
Centerline is valid?  [True, True]
Translation: X:81.40, Y:7.37, Z:20.92
[[ 9.55885217e-01 -1.50836264e-01 -2.52055298e-01  8.13950462e+01]
 [ 1.51437619e-01  9.88318405e-01 -1.71282811e-02  7.36826275e+00]
 [ 2.51694456e-01 -2.17979836e-02  9.67561238e-01  2.09203880e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.660714057 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:81.45, Y:7.37, Z:20.94
[[ 9.55089914e-01 -1.55792785e-01 -2.52055280e-01  8.14540091e+01]
 [ 1.56562304e-01  9.87519548e-01 -1.71285535e-02  7.36715864e+00]
 [ 2.51578021e-01 -2.31030467e-02  9.67561238e-01  2.09352811e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.72071405700001 meters
Centerline goodness : 0.999066 with order 1
Centerline is valid?  [True, True]
Translation: X:81.51, Y:7.37, Z:20.95
[[ 9.54625659e-01 -1.58612362e-01 -2.52055490e-01  8.15124215e+01]
 [ 1.59478449e-01  9.87052857e-01 -1.71254597e-02  7.36777512e+00]
 [ 2.51508401e-01 -2.38490152e-02  9.67561238e-01  2.09507094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.78071405700001 meters
Centerline goodness : 0.999293 with order 1
Centerline is valid?  [True, True]
Translation: X:81.57, Y:7.37, Z:20.97
[[ 9.54194150e-01 -1.61187860e-01 -2.52055544e-01  8.15715715e+01]
 [ 1.62141658e-01  9.86618887e-01 -1.71246625e-02  7.36702863e+00]
 [ 2.51443048e-01 -2.45284509e-02  9.67561238e-01  2.09651538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.84071405700001 meters
Centerline goodness : 0.999070 with order 1
Centerline is valid?  [True, True]
Translation: X:81.63, Y:7.37, Z:20.98
[[ 9.54096894e-01 -1.61762453e-01 -2.52055599e-01  8.16312922e+01]
 [ 1.62735990e-01  9.86521045e-01 -1.71238445e-02  7.36664028e+00]
 [ 2.51428148e-01 -2.46807107e-02  9.67561238e-01  2.09816548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.90071405700002 meters
Centerline goodness : 0.999226 with order 1
Centerline is valid?  [True, True]
Translation: X:81.69, Y:7.37, Z:21.00
[[ 9.54277963e-01 -1.60688839e-01 -2.52056873e-01  8.16909800e+01]
 [ 1.61630803e-01  9.86703045e-01 -1.71050808e-02  7.36850806e+00]
 [ 2.51453880e-01 -2.44171532e-02  9.67561238e-01  2.09985832e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.96071405700002 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:81.75, Y:7.37, Z:21.01
[[ 9.54864978e-01 -1.57161401e-01 -2.52057864e-01  8.17491441e+01]
 [ 1.57987365e-01  9.87293223e-01 -1.70904565e-02  7.37068312e+00]
 [ 2.51540982e-01 -2.35028795e-02  9.67561238e-01  2.10125682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.020714057 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:81.81, Y:7.37, Z:21.03
[[ 9.55119802e-01 -1.55605794e-01 -2.52057536e-01  8.18084913e+01]
 [ 1.56377668e-01  9.87549379e-01 -1.70952953e-02  7.37280393e+00]
 [ 2.51579390e-01 -2.30881146e-02  9.67561238e-01  2.10279269e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.08071405700001 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:81.87, Y:7.37, Z:21.04
[[ 9.55534185e-01 -1.53039496e-01 -2.52058197e-01  8.18671035e+01]
 [ 1.53726801e-01  9.87965665e-01 -1.70855514e-02  7.37318276e+00]
 [ 2.51639608e-01 -2.24222720e-02  9.67561238e-01  2.10405102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.14071405700001 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:81.93, Y:7.38, Z:21.06
[[ 9.55989918e-01 -1.50166926e-01 -2.52057872e-01  8.19252391e+01]
 [ 1.50755503e-01  9.88423340e-01 -1.70903377e-02  7.37575111e+00]
 [ 2.51706287e-01 -2.16609206e-02  9.67561238e-01  2.10570026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.20071405700001 meters
Centerline goodness : 0.999164 with order 1
Centerline is valid?  [True, True]
Translation: X:81.98, Y:7.38, Z:21.07
[[ 9.56824089e-01 -1.44756685e-01 -2.52057859e-01  8.19826297e+01]
 [ 1.45161732e-01  9.89260322e-01 -1.70905287e-02  7.37795958e+00]
 [ 2.51824807e-01 -2.02365259e-02  9.67561238e-01  2.10723063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.26071405700002 meters
Centerline goodness : 0.999031 with order 1
Centerline is valid?  [True, True]
Translation: X:82.04, Y:7.38, Z:21.09
[[ 9.57567256e-01 -1.39756532e-01 -2.52057655e-01  8.20403849e+01]
 [ 1.39991347e-01  9.90005168e-01 -1.70935445e-02  7.38044596e+00]
 [ 2.51927315e-01 -1.89176723e-02  9.67561238e-01  2.10888788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.32071405700002 meters
Centerline goodness : 0.998857 with order 1
Centerline is valid?  [True, True]
Translation: X:82.10, Y:7.38, Z:21.11
[[ 9.58222137e-01 -1.35194385e-01 -2.52057166e-01  8.20981110e+01]
 [ 1.35272820e-01  9.90660804e-01 -1.71007535e-02  7.38456878e+00]
 [ 2.52015080e-01 -1.77101629e-02  9.67561238e-01  2.11055889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.38071405700002 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:82.15, Y:7.39, Z:21.12
[[ 9.58221109e-01 -1.35201872e-01 -2.52057057e-01  8.21544578e+01]
 [ 1.35280142e-01  9.90659776e-01 -1.71023529e-02  7.38581295e+00]
 [ 2.52015058e-01 -1.77104790e-02  9.67561238e-01  2.11179810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.44071405700001 meters
Centerline goodness : 0.999362 with order 1
Centerline is valid?  [True, True]
Translation: X:82.21, Y:7.39, Z:21.13
[[ 9.57733917e-01 -1.38613723e-01 -2.52055512e-01  8.22118817e+01]
 [ 1.38801567e-01  9.90172134e-01 -1.71251035e-02  7.38685793e+00]
 [ 2.51952118e-01 -1.85844077e-02  9.67561238e-01  2.11318113e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.50071405700001 meters
Centerline goodness : 0.999384 with order 1
Centerline is valid?  [True, True]
Translation: X:82.27, Y:7.39, Z:21.15
[[ 9.57173898e-01 -1.42431728e-01 -2.52054224e-01  8.22697894e+01]
 [ 1.42743970e-01  9.89611157e-01 -1.71440305e-02  7.38954855e+00]
 [ 2.51877526e-01 -1.95694021e-02  9.67561239e-01  2.11495321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.56071405700001 meters
Centerline goodness : 0.999186 with order 1
Centerline is valid?  [True, True]
Translation: X:82.33, Y:7.39, Z:21.16
[[ 9.56771342e-01 -1.45111162e-01 -2.52054260e-01  8.23268940e+01]
 [ 1.45514362e-01  9.89207597e-01 -1.71434986e-02  7.39182850e+00]
 [ 2.51821702e-01 -2.02751068e-02  9.67561239e-01  2.11628313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.62071405700001 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:82.38, Y:7.40, Z:21.18
[[ 9.56734184e-01 -1.45357621e-01 -2.52053293e-01  8.23846544e+01]
 [ 1.45765459e-01  9.89170382e-01 -1.71577054e-02  7.39505667e+00]
 [ 2.51817656e-01 -2.03253007e-02  9.67561239e-01  2.11825166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.68071405700002 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:82.44, Y:7.40, Z:21.20
[[ 9.56805784e-01 -1.44884431e-01 -2.52053950e-01  8.24426000e+01]
 [ 1.45278753e-01  9.89242148e-01 -1.71480560e-02  7.39908667e+00]
 [ 2.51826877e-01 -2.02107243e-02  9.67561239e-01  2.11976402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.74071405700002 meters
Centerline goodness : 0.999277 with order 1
Centerline is valid?  [True, True]
Translation: X:82.50, Y:7.40, Z:21.21
[[ 9.56773752e-01 -1.45093303e-01 -2.52055391e-01  8.25006921e+01]
 [ 1.45500256e-01  9.89209961e-01 -1.71268484e-02  7.40248770e+00]
 [ 2.51820694e-01 -2.02876049e-02  9.67561239e-01  2.12124288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.80071405700001 meters
Centerline goodness : 0.999144 with order 1
Centerline is valid?  [True, True]
Translation: X:82.56, Y:7.41, Z:21.23
[[ 9.56477330e-01 -1.47035756e-01 -2.52054762e-01  8.25588617e+01]
 [ 1.47506151e-01  9.88912681e-01 -1.71360966e-02  7.40567134e+00]
 [ 2.51779769e-01 -2.07893398e-02  9.67561239e-01  2.12268883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.86071405700001 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:82.62, Y:7.41, Z:21.24
[[ 9.56302937e-01 -1.48166292e-01 -2.52054444e-01  8.26166042e+01]
 [ 1.48673803e-01  9.88737728e-01 -1.71407757e-02  7.40945671e+00]
 [ 2.51755423e-01 -2.10821186e-02  9.67561239e-01  2.12419348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.92071405700001 meters
Centerline goodness : 0.999387 with order 1
Centerline is valid?  [True, True]
Translation: X:82.67, Y:7.41, Z:21.26
[[ 9.56292861e-01 -1.48232390e-01 -2.52053809e-01  8.26730879e+01]
 [ 1.48739701e-01  9.88727655e-01 -1.71501036e-02  7.41371624e+00]
 [ 2.51754773e-01 -2.10898865e-02  9.67561239e-01  2.12557358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.98071405700001 meters
Centerline goodness : 0.999429 with order 1
Centerline is valid?  [True, True]
Translation: X:82.73, Y:7.42, Z:21.27
[[ 9.56878072e-01 -1.44408669e-01 -2.52052558e-01  8.27311094e+01]
 [ 1.44781517e-01  9.89314690e-01 -1.71684756e-02  7.42019742e+00]
 [ 2.51838575e-01 -2.00644139e-02  9.67561239e-01  2.12719673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.04071405700002 meters
Centerline goodness : 0.999560 with order 1
Centerline is valid?  [True, True]
Translation: X:82.79, Y:7.43, Z:21.29
[[ 9.57359068e-01 -1.41184561e-01 -2.52052644e-01  8.27882116e+01]
 [ 1.41448475e-01  9.89796755e-01 -1.71672070e-02  7.42546231e+00]
 [ 2.51904634e-01 -1.92172809e-02  9.67561239e-01  2.12866507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.10071405700002 meters
Centerline goodness : 0.999230 with order 1
Centerline is valid?  [True, True]
Translation: X:82.85, Y:7.43, Z:21.30
[[ 9.57752802e-01 -1.38489484e-01 -2.52052045e-01  8.28453806e+01]
 [ 1.38659799e-01  9.90191115e-01 -1.71759990e-02  7.43187698e+00]
 [ 2.51958391e-01 -1.84991249e-02  9.67561239e-01  2.13047210e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.160714057 meters
Centerline goodness : 0.999164 with order 1
Centerline is valid?  [True, True]
Translation: X:82.90, Y:7.44, Z:21.32
[[ 9.57510417e-01 -1.40156085e-01 -2.52051729e-01  8.29032776e+01]
 [ 1.40381638e-01  9.89948393e-01 -1.71806426e-02  7.43549696e+00]
 [ 2.51926175e-01 -1.89327902e-02  9.67561239e-01  2.13195087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.22071405700001 meters
Centerline goodness : 0.999099 with order 1
Centerline is valid?  [True, True]
Translation: X:82.96, Y:7.44, Z:21.33
[[ 9.56359961e-01 -1.47803476e-01 -2.52051100e-01  8.29626180e+01]
 [ 1.48285833e-01  9.88795136e-01 -1.71898656e-02  7.43788984e+00]
 [ 2.51767623e-01 -2.09359080e-02  9.67561239e-01  2.13326540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.28071405700001 meters
Centerline goodness : 0.999406 with order 1
Centerline is valid?  [True, True]
Translation: X:83.02, Y:7.44, Z:21.35
[[ 9.55745427e-01 -1.51726511e-01 -2.52051074e-01  8.30210538e+01]
 [ 1.52341857e-01  9.88178351e-01 -1.71902473e-02  7.44151842e+00]
 [ 2.51679631e-01 -2.19684285e-02  9.67561239e-01  2.13476468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.34071405700001 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:83.08, Y:7.45, Z:21.36
[[ 9.55272424e-01 -1.54676986e-01 -2.52050840e-01  8.30781492e+01]
 [ 1.55391583e-01  9.87703313e-01 -1.71936662e-02  7.44551964e+00]
 [ 2.51610915e-01 -2.27419438e-02  9.67561239e-01  2.13626048e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.40071405700002 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:83.14, Y:7.45, Z:21.38
[[ 9.55263692e-01 -1.54730751e-01 -2.52050935e-01  8.31366773e+01]
 [ 1.55447537e-01  9.87694532e-01 -1.71922740e-02  7.45005028e+00]
 [ 2.51609504e-01 -2.27575420e-02  9.67561239e-01  2.13791732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.46071405700002 meters
Centerline goodness : 0.999143 with order 1
Centerline is valid?  [True, True]
Translation: X:83.20, Y:7.45, Z:21.40
[[ 9.55479759e-01 -1.53390336e-01 -2.52051256e-01  8.31958201e+01]
 [ 1.54062851e-01  9.87911547e-01 -1.71875696e-02  7.45478359e+00]
 [ 2.51640754e-01 -2.24093603e-02  9.67561239e-01  2.13950831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.520714057 meters
Centerline goodness : 0.999077 with order 1
Centerline is valid?  [True, True]
Translation: X:83.25, Y:7.46, Z:21.41
[[ 9.55451097e-01 -1.53567702e-01 -2.52051903e-01  8.32539060e+01]
 [ 1.54248721e-01  9.87882708e-01 -1.71780805e-02  7.45913487e+00]
 [ 2.51635715e-01 -2.24658677e-02  9.67561239e-01  2.14078842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.58071405700001 meters
Centerline goodness : 0.999055 with order 1
Centerline is valid?  [True, True]
Translation: X:83.31, Y:7.46, Z:21.42
[[ 9.55322470e-01 -1.54366375e-01 -2.52051585e-01  8.33115595e+01]
 [ 1.55073283e-01  9.87753527e-01 -1.71827507e-02  7.46283783e+00]
 [ 2.51617281e-01 -2.26713989e-02  9.67561239e-01  2.14224799e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.64071405700001 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:83.37, Y:7.47, Z:21.44
[[ 9.54896800e-01 -1.56978994e-01 -2.52050980e-01  8.33695929e+01]
 [ 1.57772294e-01  9.87325859e-01 -1.71916097e-02  7.46712541e+00]
 [ 2.51555172e-01 -2.33504482e-02  9.67561239e-01  2.14374647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.70071405700001 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:83.43, Y:7.47, Z:21.45
[[ 9.54796560e-01 -1.57588047e-01 -2.52050663e-01  8.34292594e+01]
 [ 1.58400815e-01  9.87225137e-01 -1.71962544e-02  7.47156899e+00]
 [ 2.51540675e-01 -2.35061060e-02  9.67561239e-01  2.14523631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.76071405700002 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:83.49, Y:7.48, Z:21.47
[[ 9.54846248e-01 -1.57285129e-01 -2.52051642e-01  8.34893385e+01]
 [ 1.58091367e-01  9.87274988e-01 -1.71818983e-02  7.47681923e+00]
 [ 2.51546739e-01 -2.34411175e-02  9.67561239e-01  2.14688153e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.82071405700002 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:83.55, Y:7.48, Z:21.48
[[ 9.55071004e-01 -1.55912429e-01 -2.52052953e-01  8.35473816e+01]
 [ 1.56677088e-01  9.87500751e-01 -1.71626501e-02  7.48198727e+00]
 [ 2.51578351e-01 -2.30993732e-02  9.67561240e-01  2.14844765e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.88071405700002 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:83.61, Y:7.49, Z:21.50
[[ 9.55241199e-01 -1.54865749e-01 -2.52053273e-01  8.36066814e+01]
 [ 1.55596102e-01  9.87671736e-01 -1.71579420e-02  7.48743837e+00]
 [ 2.51603071e-01 -2.28285338e-02  9.67561240e-01  2.15001925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.94071405700001 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:83.67, Y:7.49, Z:21.52
[[ 9.55229093e-01 -1.54939356e-01 -2.52053917e-01  8.36663529e+01]
 [ 1.55674683e-01  9.87659518e-01 -1.71484861e-02  7.49210218e+00]
 [ 2.51600425e-01 -2.28576808e-02  9.67561240e-01  2.15151141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.00071405700001 meters
Centerline goodness : 0.999029 with order 1
Centerline is valid?  [True, True]
Translation: X:83.73, Y:7.50, Z:21.53
[[ 9.55123019e-01 -1.55590323e-01 -2.52054895e-01  8.37254274e+01]
 [ 1.56351517e-01  9.87552847e-01 -1.71341008e-02  7.49638641e+00]
 [ 2.51583429e-01 -2.30439910e-02  9.67561240e-01  2.15293592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.06071405700001 meters
Centerline goodness : 0.998986 with order 1
Centerline is valid?  [True, True]
Translation: X:83.78, Y:7.50, Z:21.55
[[ 9.55125387e-01 -1.55575271e-01 -2.52055214e-01  8.37840040e+01]
 [ 1.56337184e-01  9.87555198e-01 -1.71293986e-02  7.50245430e+00]
 [ 2.51583348e-01 -2.30448788e-02  9.67561240e-01  2.15458760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.12071405700001 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:83.84, Y:7.51, Z:21.56
[[ 9.55474540e-01 -1.53415298e-01 -2.52055847e-01  8.38416648e+01]
 [ 1.54106324e-01  9.87905939e-01 -1.71200740e-02  7.50704103e+00]
 [ 2.51633950e-01 -2.24856052e-02  9.67561240e-01  2.15628227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.18071405700002 meters
Centerline goodness : 0.999073 with order 1
Centerline is valid?  [True, True]
Translation: X:83.90, Y:7.51, Z:21.58
[[ 9.55956604e-01 -1.50382247e-01 -2.52055847e-01  8.39006682e+01]
 [ 1.50970346e-01  9.88390033e-01 -1.71200740e-02  7.51266157e+00]
 [ 2.51704043e-01 -2.16869107e-02  9.67561240e-01  2.15779477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.24071405700002 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:83.96, Y:7.52, Z:21.59
[[ 9.56418363e-01 -1.47416540e-01 -2.52056103e-01  8.39586342e+01]
 [ 1.47905027e-01  9.88853445e-01 -1.71163055e-02  7.51784116e+00]
 [ 2.51769773e-01 -2.09100159e-02  9.67561240e-01  2.15929188e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.30071405700001 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:84.02, Y:7.52, Z:21.61
[[ 9.56479031e-01 -1.47022550e-01 -2.52056010e-01  8.40159607e+01]
 [ 1.47497318e-01  9.88914317e-01 -1.71176733e-02  7.52153347e+00]
 [ 2.51778481e-01 -2.08048900e-02  9.67561240e-01  2.16075642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.36071405700001 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:84.07, Y:7.53, Z:21.62
[[ 9.56449250e-01 -1.47222968e-01 -2.52052037e-01  8.40728133e+01]
 [ 1.47689269e-01  9.88884657e-01 -1.71759895e-02  7.52535582e+00]
 [ 2.51779092e-01 -2.07974188e-02  9.67561242e-01  2.16198278e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.42071405700001 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:84.13, Y:7.53, Z:21.63
[[ 9.56391817e-01 -1.47598175e-01 -2.52050534e-01  8.41294104e+01]
 [ 1.48071436e-01  9.88827122e-01 -1.71980140e-02  7.53046516e+00]
 [ 2.51772800e-01 -2.08734447e-02  9.67561242e-01  2.16341865e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.48071405700001 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:84.19, Y:7.54, Z:21.65
[[ 9.56527878e-01 -1.46720935e-01 -2.52046397e-01  8.41860883e+01]
 [ 1.47148632e-01  9.88963815e-01 -1.72584355e-02  7.53563303e+00]
 [ 2.51796940e-01 -2.05801079e-02  9.67561244e-01  2.16496178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.54071405700002 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:84.24, Y:7.54, Z:21.67
[[ 9.56665177e-01 -1.45824529e-01 -2.52045525e-01  8.42434848e+01]
 [ 1.46218500e-01  9.89101540e-01 -1.72711625e-02  7.54252456e+00]
 [ 2.51817177e-01 -2.03309988e-02  9.67561244e-01  2.16665703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.60071405700002 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:84.30, Y:7.55, Z:21.68
[[ 9.56531084e-01 -1.46702070e-01 -2.52045211e-01  8.42999028e+01]
 [ 1.47124595e-01  9.88967088e-01 -1.72757517e-02  7.54896045e+00]
 [ 2.51798807e-01 -2.05572562e-02  9.67561244e-01  2.16810032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.660714057 meters
Centerline goodness : 0.998630 with order 1
Centerline is valid?  [True, True]
Translation: X:84.36, Y:7.55, Z:21.70
[[ 9.56333748e-01 -1.47984600e-01 -2.52044282e-01  8.43591146e+01]
 [ 1.48447074e-01  9.88769208e-01 -1.72892994e-02  7.55404099e+00]
 [ 2.51772175e-01 -2.08808955e-02  9.67561244e-01  2.16964447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.72071405700001 meters
Centerline goodness : 0.998873 with order 1
Centerline is valid?  [True, True]
Translation: X:84.42, Y:7.56, Z:21.71
[[ 9.56018956e-01 -1.50003707e-01 -2.52044923e-01  8.44171690e+01]
 [ 1.50537121e-01  9.88453327e-01 -1.72799408e-02  7.56127944e+00]
 [ 2.51726698e-01 -2.14221662e-02  9.67561244e-01  2.17120308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.78071405700001 meters
Centerline goodness : 0.998357 with order 1
Centerline is valid?  [True, True]
Translation: X:84.48, Y:7.57, Z:21.73
[[ 9.56206422e-01 -1.48804221e-01 -2.52044804e-01  8.44758195e+01]
 [ 1.49296490e-01  9.88641442e-01 -1.72816796e-02  7.56899084e+00]
 [ 2.51753525e-01 -2.11045514e-02  9.67561244e-01  2.17277600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.84071405700001 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:84.53, Y:7.58, Z:21.74
[[ 9.56745469e-01 -1.45296978e-01 -2.52045422e-01  8.45338073e+01]
 [ 1.45672671e-01  9.89182050e-01 -1.72726584e-02  7.57679547e+00]
 [ 2.51828472e-01 -2.01905922e-02  9.67561244e-01  2.17444312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.90071405700002 meters
Centerline goodness : 0.998419 with order 1
Centerline is valid?  [True, True]
Translation: X:84.59, Y:7.58, Z:21.76
[[ 9.57023225e-01 -1.43455977e-01 -2.52045489e-01  8.45915837e+01]
 [ 1.43769520e-01  9.89460466e-01 -1.72716779e-02  7.58306733e+00]
 [ 2.51866773e-01 -1.97070621e-02  9.67561244e-01  2.17592015e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.96071405700002 meters
Centerline goodness : 0.998060 with order 1
Centerline is valid?  [True, True]
Translation: X:84.65, Y:7.59, Z:21.77
[[ 9.57056738e-01 -1.43232403e-01 -2.52045392e-01  8.46517891e+01]
 [ 1.43537997e-01  9.89494054e-01 -1.72730923e-02  7.58964089e+00]
 [ 2.51871484e-01 -1.96467615e-02  9.67561244e-01  2.17742289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.020714057 meters
Centerline goodness : 0.998419 with order 1
Centerline is valid?  [True, True]
Translation: X:84.71, Y:7.59, Z:21.79
[[ 9.56827976e-01 -1.44750479e-01 -2.52046670e-01  8.47116192e+01]
 [ 1.45112415e-01  9.89264713e-01 -1.72544340e-02  7.59478170e+00]
 [ 2.51838464e-01 -2.00655758e-02  9.67561244e-01  2.17899617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.08071405700001 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:84.77, Y:7.60, Z:21.80
[[ 9.56551703e-01 -1.46562781e-01 -2.52047993e-01  8.47704192e+01]
 [ 1.46991226e-01  9.88987629e-01 -1.72350875e-02  7.59938414e+00]
 [ 2.51798369e-01 -2.05625912e-02  9.67561244e-01  2.18040774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.14071405700001 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:84.83, Y:7.60, Z:21.82
[[ 9.56019562e-01 -1.49990888e-01 -2.52050252e-01  8.48284930e+01]
 [ 1.50544271e-01  9.88453597e-01 -1.72019854e-02  7.60462817e+00]
 [ 2.51720119e-01 -2.14992870e-02  9.67561245e-01  2.18163069e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.20071405700001 meters
Centerline goodness : 0.998773 with order 1
Centerline is valid?  [True, True]
Translation: X:84.89, Y:7.61, Z:21.83
[[ 9.55835915e-01 -1.51156363e-01 -2.52050505e-01  8.48873509e+01]
 [ 1.51750258e-01  9.88269234e-01 -1.71982823e-02  7.60968926e+00]
 [ 2.51693389e-01 -2.18099933e-02  9.67561245e-01  2.18331415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.26071405700002 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:84.94, Y:7.62, Z:21.85
[[ 9.55893678e-01 -1.50789552e-01 -2.52051160e-01  8.49449383e+01]
 [ 1.51373517e-01  9.88327177e-01 -1.71886706e-02  7.61647731e+00]
 [ 2.51700883e-01 -2.17233290e-02  9.67561245e-01  2.18500877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.32071405700002 meters
Centerline goodness : 0.998455 with order 1
Centerline is valid?  [True, True]
Translation: X:85.00, Y:7.62, Z:21.87
[[ 9.56631442e-01 -1.46035393e-01 -2.52051481e-01  8.50028040e+01]
 [ 1.46459336e-01  9.89067426e-01 -1.71839690e-02  7.62353019e+00]
 [ 2.51805377e-01 -2.04765675e-02  9.67561245e-01  2.18665705e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.38071405700002 meters
Centerline goodness : 0.998748 with order 1
Centerline is valid?  [True, True]
Translation: X:85.06, Y:7.63, Z:21.88
[[ 9.57165746e-01 -1.42491417e-01 -2.52051444e-01  8.50614156e+01]
 [ 1.42795085e-01  9.89603080e-01 -1.71845118e-02  7.62936253e+00]
 [ 2.51879530e-01 -1.95432812e-02  9.67561245e-01  2.18826636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.44071405700001 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:85.12, Y:7.63, Z:21.90
[[ 9.57910341e-01 -1.37396124e-01 -2.52051747e-01  8.51187616e+01]
 [ 1.37528349e-01  9.90348827e-01 -1.71800549e-02  7.63487064e+00]
 [ 2.51979625e-01 -1.82073083e-02  9.67561245e-01  2.18972361e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.50071405700001 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:85.18, Y:7.64, Z:21.91
[[ 9.58768764e-01 -1.31272784e-01 -2.52051411e-01  8.51782009e+01]
 [ 1.31196451e-01  9.91207429e-01 -1.71849839e-02  7.63970267e+00]
 [ 2.52091152e-01 -1.65918249e-02  9.67561245e-01  2.19108633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.56071405700001 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:85.24, Y:7.64, Z:21.93
[[ 9.59694089e-01 -1.24327260e-01 -2.52051559e-01  8.52370368e+01]
 [ 1.24016622e-01  9.92131356e-01 -1.71828125e-02  7.64493596e+00]
 [ 2.52204548e-01 -1.47683394e-02  9.67561245e-01  2.19264292e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.62071405700001 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:85.30, Y:7.65, Z:21.94
[[ 9.60591816e-01 -1.17189341e-01 -2.52051623e-01  8.52950951e+01]
 [ 1.16637812e-01  9.93025883e-01 -1.71818807e-02  7.64940715e+00]
 [ 2.52307319e-01 -1.28939759e-02  9.67561245e-01  2.19409685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.68071405700002 meters
Centerline goodness : 0.998631 with order 1
Centerline is valid?  [True, True]
Translation: X:85.35, Y:7.65, Z:21.96
[[ 9.61178906e-01 -1.12272865e-01 -2.52051411e-01  8.53533801e+01]
 [ 1.11554577e-01  9.93609708e-01 -1.71849936e-02  7.65202803e+00]
 [ 2.52370137e-01 -1.15996352e-02  9.67561245e-01  2.19562450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.74071405700002 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:85.41, Y:7.65, Z:21.97
[[ 9.61314530e-01 -1.11105631e-01 -2.52051411e-01  8.54109173e+01]
 [ 1.10347963e-01  9.93744435e-01 -1.71849936e-02  7.65417522e+00]
 [ 2.52384036e-01 -1.12931757e-02  9.67561245e-01  2.19724804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.80071405700001 meters
Centerline goodness : 0.998389 with order 1
Centerline is valid?  [True, True]
Translation: X:85.47, Y:7.65, Z:21.99
[[ 9.60964224e-01 -1.14097191e-01 -2.52050772e-01  8.54679434e+01]
 [ 1.13438013e-01  9.93396281e-01 -1.71943638e-02  7.65459665e+00]
 [ 2.52348128e-01 -1.20689702e-02  9.67561245e-01  2.19885262e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.86071405700001 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:85.53, Y:7.65, Z:22.00
[[ 9.60324288e-01 -1.19373048e-01 -2.52046300e-01  8.55266652e+01]
 [ 1.18874902e-01  9.92759216e-01 -1.72596765e-02  7.65429846e+00]
 [ 2.52281627e-01 -1.33870926e-02  9.67561247e-01  2.20039168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.92071405700001 meters
Centerline goodness : 0.998618 with order 1
Centerline is valid?  [True, True]
Translation: X:85.58, Y:7.66, Z:22.02
[[ 9.59547186e-01 -1.25467013e-01 -2.52046082e-01  8.55848018e+01]
 [ 1.25173949e-01  9.91984615e-01 -1.72628578e-02  7.65538608e+00]
 [ 2.52191754e-01 -1.49850768e-02  9.67561247e-01  2.20177889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.98071405700001 meters
Centerline goodness : 0.999176 with order 1
Centerline is valid?  [True, True]
Translation: X:85.64, Y:7.66, Z:22.03
[[ 9.58772187e-01 -1.31258618e-01 -2.52045766e-01  8.56433603e+01]
 [ 1.31160217e-01  9.91210791e-01 -1.72674629e-02  7.65690559e+00]
 [ 2.52096987e-01 -1.65028141e-02  9.67561247e-01  2.20333142e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.04071405700002 meters
Centerline goodness : 0.999131 with order 1
Centerline is valid?  [True, True]
Translation: X:85.70, Y:7.66, Z:22.05
[[ 9.57758525e-01 -1.38461198e-01 -2.52045836e-01  8.57009940e+01]
 [ 1.38606882e-01  9.90196951e-01 -1.72664372e-02  7.65924189e+00]
 [ 2.51965750e-01 -1.83982100e-02  9.67561247e-01  2.20472501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.10071405700002 meters
Centerline goodness : 0.999180 with order 1
Centerline is valid?  [True, True]
Translation: X:85.76, Y:7.66, Z:22.06
[[ 9.57334465e-01 -1.41363906e-01 -2.52045569e-01  8.57592894e+01]
 [ 1.41606900e-01  9.89772308e-01 -1.72703437e-02  7.66237346e+00]
 [ 2.51909128e-01 -1.91578965e-02  9.67561247e-01  2.20627591e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.160714057 meters
Centerline goodness : 0.998889 with order 1
Centerline is valid?  [True, True]
Translation: X:85.82, Y:7.67, Z:22.08
[[ 9.56818810e-01 -1.44812947e-01 -2.52045582e-01  8.58174038e+01]
 [ 1.45172887e-01  9.89255566e-01 -1.72701498e-02  7.66653721e+00]
 [ 2.51838436e-01 -2.00657807e-02  9.67561247e-01  2.20769473e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.22071405700001 meters
Centerline goodness : 0.999020 with order 1
Centerline is valid?  [True, True]
Translation: X:85.88, Y:7.67, Z:22.09
[[ 9.56419875e-01 -1.47425245e-01 -2.52045272e-01  8.58751171e+01]
 [ 1.47872577e-01  9.88855544e-01 -1.72746736e-02  7.67154645e+00]
 [ 2.51783088e-01 -2.07487427e-02  9.67561247e-01  2.20930779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.28071405700001 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:85.93, Y:7.68, Z:22.11
[[ 9.56090986e-01 -1.49543790e-01 -2.52045000e-01  8.59333638e+01]
 [ 1.50061943e-01  9.88525600e-01 -1.72786373e-02  7.67775154e+00]
 [ 2.51736848e-01 -2.13024130e-02  9.67561247e-01  2.21083105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.34071405700001 meters
Centerline goodness : 0.998553 with order 1
Centerline is valid?  [True, True]
Translation: X:85.99, Y:7.68, Z:22.12
[[ 9.55869531e-01 -1.50952292e-01 -2.52045323e-01  8.59915415e+01]
 [ 1.51519465e-01  9.88303326e-01 -1.72739248e-02  7.68355450e+00]
 [ 2.51704770e-01 -2.16781540e-02  9.67561247e-01  2.21230590e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.40071405700002 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:86.05, Y:7.69, Z:22.14
[[ 9.55744431e-01 -1.51742226e-01 -2.52045391e-01  8.60504254e+01]
 [ 1.52336461e-01  9.88177741e-01 -1.72729428e-02  7.69020107e+00]
 [ 2.51686680e-01 -2.18871840e-02  9.67561247e-01  2.21388408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.46071405700002 meters
Centerline goodness : 0.998574 with order 1
Centerline is valid?  [True, True]
Translation: X:86.11, Y:7.70, Z:22.15
[[ 9.55693680e-01 -1.52059947e-01 -2.52046352e-01  8.61098590e+01]
 [ 1.52668637e-01  9.88126721e-01 -1.72589097e-02  7.69677218e+00]
 [ 2.51678124e-01 -2.19853420e-02  9.67561247e-01  2.21547512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.520714057 meters
Centerline goodness : 0.998442 with order 1
Centerline is valid?  [True, True]
Translation: X:86.17, Y:7.70, Z:22.17
[[ 9.55779654e-01 -1.51517010e-01 -2.52047314e-01  8.61684923e+01]
 [ 1.52110955e-01  9.88212969e-01 -1.72448489e-02  7.70333861e+00]
 [ 2.51689312e-01 -2.18568819e-02  9.67561247e-01  2.21709475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.58071405700001 meters
Centerline goodness : 0.998236 with order 1
Centerline is valid?  [True, True]
Translation: X:86.23, Y:7.71, Z:22.19
[[ 9.55806573e-01 -1.51346059e-01 -2.52047942e-01  8.62276464e+01]
 [ 1.51936607e-01  9.88239950e-01 -1.72356627e-02  7.70807104e+00]
 [ 2.51692395e-01 -2.18213495e-02  9.67561247e-01  2.21867689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.64071405700001 meters
Centerline goodness : 0.998165 with order 1
Centerline is valid?  [True, True]
Translation: X:86.29, Y:7.71, Z:22.20
[[ 9.55894072e-01 -1.50791382e-01 -2.52048571e-01  8.62868044e+01]
 [ 1.51365521e-01  9.88327743e-01 -1.72264508e-02  7.71408572e+00]
 [ 2.51704196e-01 -2.16848012e-02  9.67561247e-01  2.22031420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.70071405700001 meters
Centerline goodness : 0.998299 with order 1
Centerline is valid?  [True, True]
Translation: X:86.35, Y:7.72, Z:22.22
[[ 9.56077209e-01 -1.49624762e-01 -2.52049204e-01  8.63455828e+01]
 [ 1.50161744e-01  9.88511517e-01 -1.72171906e-02  7.72011327e+00]
 [ 2.51729659e-01 -2.13871845e-02  9.67561247e-01  2.22165681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.76071405700002 meters
Centerline goodness : 0.998117 with order 1
Centerline is valid?  [True, True]
Translation: X:86.40, Y:7.73, Z:22.23
[[ 9.56089298e-01 -1.49546962e-01 -2.52049519e-01  8.64036501e+01]
 [ 1.50082513e-01  9.88523630e-01 -1.72125761e-02  7.72644158e+00]
 [ 2.51730994e-01 -2.13714654e-02  9.67561247e-01  2.22333616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.82071405700002 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:86.46, Y:7.73, Z:22.25
[[ 9.55955046e-01 -1.50402040e-01 -2.52049947e-01  8.64632505e+01]
 [ 1.50968240e-01  9.88388857e-01 -1.72063117e-02  7.73217498e+00]
 [ 2.51711223e-01 -2.16030763e-02  9.67561247e-01  2.22484320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.88071405700002 meters
Centerline goodness : 0.998899 with order 1
Centerline is valid?  [True, True]
Translation: X:86.52, Y:7.74, Z:22.26
[[ 9.55798896e-01 -1.51389547e-01 -2.52050937e-01  8.65208479e+01]
 [ 1.51993053e-01  9.88232034e-01 -1.71917926e-02  7.73838769e+00]
 [ 2.51687468e-01 -2.18780951e-02  9.67561247e-01  2.22626460e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.94071405700001 meters
Centerline goodness : 0.998832 with order 1
Centerline is valid?  [True, True]
Translation: X:86.58, Y:7.75, Z:22.28
[[ 9.55752363e-01 -1.51682345e-01 -2.52051358e-01  8.65793522e+01]
 [ 1.52297403e-01  9.88185284e-01 -1.71856190e-02  7.74583818e+00]
 [ 2.51680198e-01 -2.19615713e-02  9.67561247e-01  2.22796796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.00071405700001 meters
Centerline goodness : 0.998811 with order 1
Centerline is valid?  [True, True]
Translation: X:86.64, Y:7.75, Z:22.29
[[ 9.55864783e-01 -1.50971204e-01 -2.52052002e-01  8.66399156e+01]
 [ 1.51564605e-01  9.88298108e-01 -1.71761672e-02  7.75205766e+00]
 [ 2.51695623e-01 -2.17840688e-02  9.67561247e-01  2.22944464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.06071405700001 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:86.70, Y:7.76, Z:22.31
[[ 9.56000305e-01 -1.50108518e-01 -2.52053268e-01  8.66986932e+01]
 [ 1.50677517e-01  9.88434067e-01 -1.71575671e-02  7.75908728e+00]
 [ 2.51713534e-01 -2.15761212e-02  9.67561248e-01  2.23092207e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.12071405700001 meters
Centerline goodness : 0.998649 with order 1
Centerline is valid?  [True, True]
Translation: X:86.76, Y:7.77, Z:22.32
[[ 9.56395229e-01 -1.47569801e-01 -2.52054201e-01  8.67572237e+01]
 [ 1.48056274e-01  9.88830333e-01 -1.71438590e-02  7.76659080e+00]
 [ 2.51768755e-01 -2.09219008e-02  9.67561248e-01  2.23245892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.18071405700002 meters
Centerline goodness : 0.998373 with order 1
Centerline is valid?  [True, True]
Translation: X:86.82, Y:7.77, Z:22.34
[[ 9.57030873e-01 -1.43389574e-01 -2.52054237e-01  8.68155178e+01]
 [ 1.43734461e-01  9.89467792e-01 -1.71433308e-02  7.77455220e+00]
 [ 2.51857724e-01 -1.98221829e-02  9.67561248e-01  2.23392906e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.24071405700002 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:86.87, Y:7.78, Z:22.35
[[ 9.58012127e-01 -1.36679985e-01 -2.52054253e-01  8.68726284e+01]
 [ 1.36797634e-01  9.90450666e-01 -1.71430948e-02  7.78291876e+00]
 [ 2.51990420e-01 -1.80571327e-02  9.67561248e-01  2.23542131e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.30071405700001 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:86.93, Y:7.79, Z:22.37
[[ 9.59159816e-01 -1.28378696e-01 -2.52054275e-01  8.69305124e+01]
 [ 1.28215515e-01  9.91598158e-01 -1.71427710e-02  7.79057482e+00]
 [ 2.52137321e-01 -1.58746117e-02  9.67561248e-01  2.23718826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.36071405700001 meters
Centerline goodness : 0.998699 with order 1
Centerline is valid?  [True, True]
Translation: X:86.99, Y:7.80, Z:22.39
[[ 9.60103247e-01 -1.21120828e-01 -2.52054559e-01  8.69879665e+01]
 [ 1.20713413e-01  9.92539440e-01 -1.71385863e-02  7.79841802e+00]
 [ 2.52249931e-01 -1.39715538e-02  9.67561248e-01  2.23851607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.42071405700001 meters
Centerline goodness : 0.998146 with order 1
Centerline is valid?  [True, True]
Translation: X:87.05, Y:7.81, Z:22.40
[[ 9.60834993e-01 -1.15172843e-01 -2.52054226e-01  8.70455964e+01]
 [ 1.14563286e-01  9.93268017e-01 -1.71434834e-02  7.80587195e+00]
 [ 2.52331865e-01 -1.24041017e-02  9.67561248e-01  2.24016483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.48071405700001 meters
Centerline goodness : 0.998604 with order 1
Centerline is valid?  [True, True]
Translation: X:87.10, Y:7.81, Z:22.42
[[ 9.61376846e-01 -1.10558746e-01 -2.52054208e-01  8.71038270e+01]
 [ 1.09793421e-01  9.93806569e-01 -1.71437521e-02  7.81154734e+00]
 [ 2.52388519e-01 -1.11922875e-02  9.67561248e-01  2.24177945e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.54071405700002 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:87.16, Y:7.82, Z:22.43
[[ 9.61723957e-01 -1.07496741e-01 -2.52054521e-01  8.71621878e+01]
 [ 1.06629354e-01  9.94151110e-01 -1.71391488e-02  7.81701068e+00]
 [ 2.52422684e-01 -1.03932808e-02  9.67561248e-01  2.24338616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.60071405700002 meters
Centerline goodness : 0.998784 with order 1
Centerline is valid?  [True, True]
Translation: X:87.22, Y:7.82, Z:22.45
[[ 9.62525896e-01 -1.00061895e-01 -2.52054592e-01  8.72207459e+01]
 [ 9.89442285e-02  9.94945388e-01 -1.71381072e-02  7.82197082e+00]
 [ 2.52495425e-01 -8.44347512e-03  9.67561248e-01  2.24505661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.660714057 meters
Centerline goodness : 0.998711 with order 1
Centerline is valid?  [True, True]
Translation: X:87.28, Y:7.83, Z:22.47
[[ 9.62824122e-01 -9.71487019e-02 -2.52055233e-01  8.72775306e+01]
 [ 9.59354033e-02  9.95240176e-01 -1.71286694e-02  7.82546066e+00]
 [ 2.52519522e-01 -7.68912434e-03  9.67561248e-01  2.24654338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.72071405700001 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:87.33, Y:7.83, Z:22.48
[[ 9.63016179e-01 -9.52285280e-02 -2.52054294e-01  8.73341956e+01]
 [ 9.39469807e-02  9.95429606e-01 -1.71424723e-02  7.82756334e+00]
 [ 2.52534759e-01 -7.17126175e-03  9.67561248e-01  2.24799715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.78071405700001 meters
Centerline goodness : 0.998762 with order 1
Centerline is valid?  [True, True]
Translation: X:87.39, Y:7.83, Z:22.50
[[ 9.62724537e-01 -9.81349866e-02 -2.52053548e-01  8.73904914e+01]
 [ 9.69484174e-02  9.95141580e-01 -1.71534399e-02  7.82716388e+00]
 [ 2.52512319e-01 -7.92215505e-03  9.67561248e-01  2.24963624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.84071405700001 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:87.45, Y:7.83, Z:22.51
[[ 9.62078551e-01 -1.04288171e-01 -2.52049279e-01  8.74489346e+01]
 [ 1.03292533e-01  9.94502018e-01 -1.72159454e-02  7.82578800e+00]
 [ 2.52458936e-01 -9.47171665e-03  9.67561250e-01  2.25117550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.90071405700002 meters
Centerline goodness : 0.999072 with order 1
Centerline is valid?  [True, True]
Translation: X:87.51, Y:7.82, Z:22.53
[[ 9.61285497e-01 -1.11361325e-01 -2.52049297e-01  8.75074213e+01]
 [ 1.10604254e-01  9.93715412e-01 -1.72156781e-02  7.82316404e+00]
 [ 2.52382432e-01 -1.13285428e-02  9.67561250e-01  2.25267726e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.96071405700002 meters
Centerline goodness : 0.999277 with order 1
Centerline is valid?  [True, True]
Translation: X:87.57, Y:7.82, Z:22.54
[[ 9.60532856e-01 -1.17677261e-01 -2.52048993e-01  8.75660689e+01]
 [ 1.17132196e-01  9.92967026e-01 -1.72201329e-02  7.81954035e+00]
 [ 2.52302757e-01 -1.29825486e-02  9.67561250e-01  2.25402004e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.020714057 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:87.62, Y:7.82, Z:22.56
[[ 9.59823191e-01 -1.23332526e-01 -2.52048665e-01  8.76249439e+01]
 [ 1.22977243e-01  9.92259996e-01 -1.72249352e-02  7.81655597e+00]
 [ 2.52222202e-01 -1.44633577e-02  9.67561250e-01  2.25563969e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.08071405700001 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:87.68, Y:7.82, Z:22.57
[[ 9.59439176e-01 -1.26284716e-01 -2.52048879e-01  8.76840710e+01]
 [ 1.26030041e-01  9.91876927e-01 -1.72218040e-02  7.81641305e+00]
 [ 2.52176318e-01 -1.52424572e-02  9.67561250e-01  2.25725433e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.14071405700001 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:87.74, Y:7.81, Z:22.59
[[ 9.58691432e-01 -1.31840581e-01 -2.52049202e-01  8.77434877e+01]
 [ 1.31775061e-01  9.91130115e-01 -1.72170673e-02  7.81391967e+00]
 [ 2.52083463e-01 -1.67079442e-02  9.67561250e-01  2.25878544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.20071405700001 meters
Centerline goodness : 0.999128 with order 1
Centerline is valid?  [True, True]
Translation: X:87.80, Y:7.81, Z:22.60
[[ 9.58197074e-01 -1.35386624e-01 -2.52049260e-01  8.78015879e+01]
 [ 1.35441343e-01  9.90635778e-01 -1.72162173e-02  7.81373337e+00]
 [ 2.52019861e-01 -1.76413612e-02  9.67561250e-01  2.26019710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.26071405700002 meters
Centerline goodness : 0.999352 with order 1
Centerline is valid?  [True, True]
Translation: X:87.86, Y:7.82, Z:22.62
[[ 9.57939947e-01 -1.37194127e-01 -2.52049260e-01  8.78602036e+01]
 [ 1.37310045e-01  9.90378490e-01 -1.72162173e-02  7.81572058e+00]
 [ 2.51986130e-01 -1.81167931e-02  9.67561250e-01  2.26164811e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.32071405700002 meters
Centerline goodness : 0.998817 with order 1
Centerline is valid?  [True, True]
Translation: X:87.92, Y:7.82, Z:22.63
[[ 9.57596236e-01 -1.39572884e-01 -2.52049316e-01  8.79185891e+01]
 [ 1.39769582e-01  9.90034390e-01 -1.72153971e-02  7.81774115e+00]
 [ 2.51940294e-01 -1.87434283e-02  9.67561250e-01  2.26314331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.38071405700002 meters
Centerline goodness : 0.999375 with order 1
Centerline is valid?  [True, True]
Translation: X:87.98, Y:7.82, Z:22.65
[[ 9.57365244e-01 -1.41148617e-01 -2.52049316e-01  8.79783441e+01]
 [ 1.41398699e-01  9.89803030e-01 -1.72153971e-02  7.82104440e+00]
 [ 2.51909107e-01 -1.91580226e-02  9.67561250e-01  2.26479854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.44071405700001 meters
Centerline goodness : 0.999198 with order 1
Centerline is valid?  [True, True]
Translation: X:88.04, Y:7.82, Z:22.66
[[ 9.57212085e-01 -1.42181261e-01 -2.52050615e-01  8.80368956e+01]
 [ 1.42471316e-01  9.89649539e-01 -1.71963639e-02  7.82462806e+00]
 [ 2.51886776e-01 -1.94494154e-02  9.67561250e-01  2.26608161e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.50071405700001 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:88.09, Y:7.83, Z:22.68
[[ 9.57204316e-01 -1.42233557e-01 -2.52050615e-01  8.80938912e+01]
 [ 1.42525384e-01  9.89641753e-01 -1.71963639e-02  7.82872496e+00]
 [ 2.51885713e-01 -1.94631770e-02  9.67561250e-01  2.26759598e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.56071405700001 meters
Centerline goodness : 0.998795 with order 1
Centerline is valid?  [True, True]
Translation: X:88.15, Y:7.83, Z:22.69
[[ 9.57129848e-01 -1.42735387e-01 -2.52049725e-01  8.81524084e+01]
 [ 1.43040809e-01  9.89567160e-01 -1.72093942e-02  7.83401329e+00]
 [ 2.51876520e-01 -1.95817718e-02  9.67561250e-01  2.26930160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.62071405700001 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:88.21, Y:7.84, Z:22.71
[[ 9.57122599e-01 -1.42782883e-01 -2.52050351e-01  8.82109129e+01]
 [ 1.43092314e-01  9.89559873e-01 -1.72002326e-02  7.83909223e+00]
 [ 2.51874812e-01 -1.96037364e-02  9.67561250e-01  2.27091047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.68071405700002 meters
Centerline goodness : 0.999085 with order 1
Centerline is valid?  [True, True]
Translation: X:88.27, Y:7.84, Z:22.72
[[ 9.57242007e-01 -1.41979584e-01 -2.52050665e-01  8.82694481e+01]
 [ 1.42262998e-01  9.89679519e-01 -1.71956236e-02  7.84415554e+00]
 [ 2.51890808e-01 -1.93971100e-02  9.67561250e-01  2.27226495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.74071405700002 meters
Centerline goodness : 0.999170 with order 1
Centerline is valid?  [True, True]
Translation: X:88.33, Y:7.85, Z:22.74
[[ 9.57565100e-01 -1.39782633e-01 -2.52051374e-01  8.83277040e+01]
 [ 1.39994334e-01  9.90003159e-01 -1.71852264e-02  7.85046088e+00]
 [ 2.51933853e-01 -1.88297912e-02  9.67561250e-01  2.27403690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.80071405700001 meters
Centerline goodness : 0.999305 with order 1
Centerline is valid?  [True, True]
Translation: X:88.39, Y:7.86, Z:22.75
[[ 9.57870519e-01 -1.37673619e-01 -2.52051668e-01  8.83860202e+01]
 [ 1.37815014e-01  9.90308961e-01 -1.71809186e-02  7.85530029e+00]
 [ 2.51974384e-01 -1.82794087e-02  9.67561250e-01  2.27539841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.86071405700001 meters
Centerline goodness : 0.999037 with order 1
Centerline is valid?  [True, True]
Translation: X:88.44, Y:7.86, Z:22.77
[[ 9.58100052e-01 -1.36066483e-01 -2.52051984e-01  8.84442832e+01]
 [ 1.36154675e-01  9.90538682e-01 -1.71762751e-02  7.86046895e+00]
 [ 2.52004355e-01 -1.78614658e-02  9.67561250e-01  2.27692537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.92071405700001 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:88.50, Y:7.87, Z:22.78
[[ 9.58200652e-01 -1.35356226e-01 -2.52051984e-01  8.85032839e+01]
 [ 1.35420371e-01  9.90639338e-01 -1.71762751e-02  7.86544300e+00]
 [ 2.52017526e-01 -1.76746552e-02  9.67561250e-01  2.27849201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.98071405700001 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:88.56, Y:7.87, Z:22.80
[[ 9.58427405e-01 -1.33740011e-01 -2.52052612e-01  8.85604306e+01]
 [ 1.33751861e-01  9.90866152e-01 -1.71670553e-02  7.86977013e+00]
 [ 2.52046324e-01 -1.72591298e-02  9.67561250e-01  2.27999039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.04071405700002 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:88.62, Y:7.88, Z:22.82
[[ 9.58574859e-01 -1.32679512e-01 -2.52052350e-01  8.86198075e+01]
 [ 1.32654467e-01  9.91013599e-01 -1.71708936e-02  7.87535312e+00]
 [ 2.52065533e-01 -1.69762832e-02  9.67561250e-01  2.28168194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.10071405700002 meters
Centerline goodness : 0.999328 with order 1
Centerline is valid?  [True, True]
Translation: X:88.68, Y:7.88, Z:22.83
[[ 9.58677133e-01 -1.31936056e-01 -2.52053629e-01  8.86787157e+01]
 [ 1.31890771e-01  9.91115851e-01 -1.71521063e-02  7.87934224e+00]
 [ 2.52077328e-01 -1.68002154e-02  9.67561250e-01  2.28318031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.160714057 meters
Centerline goodness : 0.999014 with order 1
Centerline is valid?  [True, True]
Translation: X:88.74, Y:7.88, Z:22.85
[[ 9.58722243e-01 -1.31606655e-01 -2.52054260e-01  8.87375144e+01]
 [ 1.31552653e-01  9.91160947e-01 -1.71428265e-02  7.88411721e+00]
 [ 2.52082449e-01 -1.67231975e-02  9.67561250e-01  2.28471245e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.22071405700001 meters
Centerline goodness : 0.999125 with order 1
Centerline is valid?  [True, True]
Translation: X:88.80, Y:7.89, Z:22.86
[[ 9.59015169e-01 -1.29454231e-01 -2.52054571e-01  8.87960047e+01]
 [ 1.29328611e-01  9.91453676e-01 -1.71382487e-02  7.88863021e+00]
 [ 2.52119050e-01 -1.61620270e-02  9.67561251e-01  2.28624255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.28071405700001 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:88.86, Y:7.89, Z:22.88
[[ 9.59557875e-01 -1.25367825e-01 -2.52054742e-01  8.88554458e+01]
 [ 1.25104680e-01  9.91995557e-01 -1.71357428e-02  7.89225525e+00]
 [ 2.52185455e-01 -1.50904907e-02  9.67561251e-01  2.28786575e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.34071405700001 meters
Centerline goodness : 0.999304 with order 1
Centerline is valid?  [True, True]
Translation: X:88.91, Y:7.90, Z:22.89
[[ 9.59867915e-01 -1.22969656e-01 -2.52055649e-01  8.89133659e+01]
 [ 1.22628949e-01  9.92304875e-01 -1.71223923e-02  7.89707732e+00]
 [ 2.52221584e-01 -1.44740843e-02  9.67561251e-01  2.28947233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.40071405700002 meters
Centerline goodness : 0.999551 with order 1
Centerline is valid?  [True, True]
Translation: X:88.97, Y:7.90, Z:22.91
[[ 9.60221609e-01 -1.20176377e-01 -2.52055749e-01  8.89713991e+01]
 [ 1.19741681e-01  9.92657445e-01 -1.71209192e-02  7.90062112e+00]
 [ 2.52262546e-01 -1.37417025e-02  9.67561251e-01  2.29107953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.46071405700002 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:89.03, Y:7.90, Z:22.92
[[ 9.60281501e-01 -1.19696677e-01 -2.52055837e-01  8.90307591e+01]
 [ 1.19246117e-01  9.92717121e-01 -1.71196213e-02  7.90273192e+00]
 [ 2.52269307e-01 -1.36170243e-02  9.67561251e-01  2.29242777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.52071405700002 meters
Centerline goodness : 0.999036 with order 1
Centerline is valid?  [True, True]
Translation: X:89.09, Y:7.91, Z:22.94
[[ 9.60112591e-01 -1.21043415e-01 -2.52056153e-01  8.90900587e+01]
 [ 1.20639568e-01  9.92548826e-01 -1.71149601e-02  7.90562710e+00]
 [ 2.52249692e-01 -1.39756567e-02  9.67561251e-01  2.29387426e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.58071405700001 meters
Centerline goodness : 0.999395 with order 1
Centerline is valid?  [True, True]
Translation: X:89.15, Y:7.91, Z:22.95
[[ 9.60017533e-01 -1.21793715e-01 -2.52056792e-01  8.91482837e+01]
 [ 1.21417682e-01  9.92454103e-01 -1.71055463e-02  7.90803852e+00]
 [ 2.52238146e-01 -1.41825270e-02  9.67561251e-01  2.29544483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.64071405700001 meters
Centerline goodness : 0.999170 with order 1
Centerline is valid?  [True, True]
Translation: X:89.21, Y:7.91, Z:22.97
[[ 9.60077082e-01 -1.21323408e-01 -2.52056792e-01  8.92073263e+01]
 [ 1.20931485e-01  9.92513464e-01 -1.71055463e-02  7.91055253e+00]
 [ 2.52245063e-01 -1.40589592e-02  9.67561251e-01  2.29714550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.70071405700001 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:89.27, Y:7.91, Z:22.99
[[ 9.60142890e-01 -1.20800177e-01 -2.52057431e-01  8.92653879e+01]
 [ 1.20393043e-01  9.92579084e-01 -1.70961225e-02  7.91383377e+00]
 [ 2.52252149e-01 -1.39312407e-02  9.67561251e-01  2.29875270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.76071405700002 meters
Centerline goodness : 0.998615 with order 1
Centerline is valid?  [True, True]
Translation: X:89.32, Y:7.92, Z:23.00
[[ 9.60053000e-01 -1.21512502e-01 -2.52057431e-01  8.93243530e+01]
 [ 1.21129433e-01  9.92489488e-01 -1.70961225e-02  7.91555313e+00]
 [ 2.52241744e-01 -1.41183901e-02  9.67561251e-01  2.30036774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.82071405700002 meters
Centerline goodness : 0.998146 with order 1
Centerline is valid?  [True, True]
Translation: X:89.38, Y:7.92, Z:23.02
[[ 9.59961379e-01 -1.22232882e-01 -2.52058076e-01  8.93830091e+01]
 [ 1.21876643e-01  9.92398172e-01 -1.70866076e-02  7.91840021e+00]
 [ 2.52230520e-01 -1.43175089e-02  9.67561251e-01  2.30179703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.88071405700002 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:89.44, Y:7.92, Z:23.03
[[ 9.59813466e-01 -1.23388314e-01 -2.52058394e-01  8.94421957e+01]
 [ 1.23072345e-01  9.92250677e-01 -1.70819292e-02  7.92043011e+00]
 [ 2.52212822e-01 -1.46259519e-02  9.67561251e-01  2.30337579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.94071405700001 meters
Centerline goodness : 0.998935 with order 1
Centerline is valid?  [True, True]
Translation: X:89.50, Y:7.92, Z:23.05
[[ 9.59771100e-01 -1.23716125e-01 -2.52059034e-01  8.95003023e+01]
 [ 1.23413708e-01  9.92208439e-01 -1.70724802e-02  7.92214314e+00]
 [ 2.52207241e-01 -1.47218670e-02  9.67561251e-01  2.30476493e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.00071405700001 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:89.56, Y:7.92, Z:23.06
[[ 9.60009570e-01 -1.21851988e-01 -2.52058959e-01  8.95592795e+01]
 [ 1.21486291e-01  9.92446258e-01 -1.70735764e-02  7.92464685e+00]
 [ 2.52235420e-01 -1.42309114e-02  9.67561251e-01  2.30640410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.06071405700001 meters
Centerline goodness : 0.998843 with order 1
Centerline is valid?  [True, True]
Translation: X:89.62, Y:7.93, Z:23.08
[[ 9.60377893e-01 -1.18912851e-01 -2.52059591e-01  8.96168362e+01]
 [ 1.18450309e-01  9.92813344e-01 -1.70642476e-02  7.92778234e+00]
 [ 2.52277284e-01 -1.34684102e-02  9.67561251e-01  2.30814187e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.12071405700001 meters
Centerline goodness : 0.998709 with order 1
Centerline is valid?  [True, True]
Translation: X:89.68, Y:7.93, Z:23.10
[[ 9.60680950e-01 -1.16439271e-01 -2.52059534e-01  8.96752634e+01]
 [ 1.15892981e-01  9.93115099e-01 -1.70650905e-02  7.92926422e+00]
 [ 2.52311176e-01 -1.28178235e-02  9.67561251e-01  2.30975200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.18071405700002 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:89.73, Y:7.93, Z:23.11
[[ 9.60733632e-01 -1.16003790e-01 -2.52059534e-01  8.97343367e+01]
 [ 1.15442799e-01  9.93167530e-01 -1.70650905e-02  7.93179139e+00]
 [ 2.52316960e-01 -1.27034516e-02  9.67561251e-01  2.31122044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.24071405700002 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:89.79, Y:7.93, Z:23.12
[[ 9.60440439e-01 -1.18406737e-01 -2.52059534e-01  8.97930398e+01]
 [ 1.17926882e-01  9.92875638e-01 -1.70650905e-02  7.93142013e+00]
 [ 2.52284392e-01 -1.33345918e-02  9.67561251e-01  2.31247622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.30071405700001 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:89.85, Y:7.93, Z:23.14
[[ 9.60085440e-01 -1.21252216e-01 -2.52059214e-01  8.98504860e+01]
 [ 1.20867240e-01  9.92521905e-01 -1.70698086e-02  7.93136472e+00]
 [ 2.52244044e-01 -1.40772269e-02  9.67561251e-01  2.31386739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.36071405700001 meters
Centerline goodness : 0.998515 with order 1
Centerline is valid?  [True, True]
Translation: X:89.91, Y:7.93, Z:23.15
[[ 9.60054250e-01 -1.21498846e-01 -2.52059254e-01  8.99070085e+01]
 [ 1.21122357e-01  9.92490814e-01 -1.70692202e-02  7.93464476e+00]
 [ 2.52240385e-01 -1.41426335e-02  9.67561251e-01  2.31533125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.42071405700001 meters
Centerline goodness : 0.999004 with order 1
Centerline is valid?  [True, True]
Translation: X:89.96, Y:7.94, Z:23.17
[[ 9.60148761e-01 -1.20752308e-01 -2.52058005e-01  8.99642278e+01]
 [ 1.20345774e-01  9.92584962e-01 -1.70876503e-02  7.93766144e+00]
 [ 2.52252358e-01 -1.39274295e-02  9.67561251e-01  2.31697634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.48071405700001 meters
Centerline goodness : 0.999004 with order 1
Centerline is valid?  [True, True]
Translation: X:90.02, Y:7.94, Z:23.18
[[ 9.60475493e-01 -1.18126626e-01 -2.52057388e-01  9.00204277e+01]
 [ 1.17629027e-01  9.92910426e-01 -1.70967458e-02  7.93974352e+00]
 [ 2.52289989e-01 -1.32282599e-02  9.67561251e-01  2.31848936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.54071405700002 meters
Centerline goodness : 0.999247 with order 1
Centerline is valid?  [True, True]
Translation: X:90.08, Y:7.94, Z:23.20
[[ 9.60700876e-01 -1.16288659e-01 -2.52053120e-01  9.00775801e+01]
 [ 1.15712592e-01  9.93134507e-01 -1.71594435e-02  7.94278371e+00]
 [ 2.52318100e-01 -1.26806274e-02  9.67561253e-01  2.32006324e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.60071405700002 meters
Centerline goodness : 0.999047 with order 1
Centerline is valid?  [True, True]
Translation: X:90.13, Y:7.95, Z:23.22
[[ 9.60956516e-01 -1.14165558e-01 -2.52049202e-01  9.01342642e+01]
 [ 1.13502812e-01  9.93388490e-01 -1.72168130e-02  7.94530120e+00]
 [ 2.52348343e-01 -1.20636846e-02  9.67561255e-01  2.32154251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.660714057 meters
Centerline goodness : 0.998829 with order 1
Centerline is valid?  [True, True]
Translation: X:90.19, Y:7.95, Z:23.23
[[ 9.60905672e-01 -1.14594653e-01 -2.52048318e-01  9.01919480e+01]
 [ 1.13943009e-01  9.93337872e-01 -1.72297332e-02  7.94637226e+00]
 [ 2.52343575e-01 -1.21629954e-02  9.67561255e-01  2.32278281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.72071405700001 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:90.25, Y:7.95, Z:23.24
[[ 9.60762156e-01 -1.15791988e-01 -2.52048201e-01  9.02485380e+01]
 [ 1.15180309e-01  9.93195134e-01 -1.72314545e-02  7.94636905e+00]
 [ 2.52328311e-01 -1.24756602e-02  9.67561255e-01  2.32408240e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.78071405700001 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:90.31, Y:7.95, Z:23.26
[[ 9.60891753e-01 -1.14714719e-01 -2.52046767e-01  9.03059524e+01]
 [ 1.14061194e-01  9.93323914e-01 -1.72524063e-02  7.94820912e+00]
 [ 2.52343186e-01 -1.21710603e-02  9.67561255e-01  2.32558824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.84071405700001 meters
Centerline goodness : 0.999099 with order 1
Centerline is valid?  [True, True]
Translation: X:90.36, Y:7.95, Z:23.27
[[ 9.61510534e-01 -1.09408429e-01 -2.52046203e-01  9.03640918e+01]
 [ 1.08573721e-01  9.93938538e-01 -1.72606345e-02  7.95115619e+00]
 [ 2.52406894e-01 -1.07693123e-02  9.67561255e-01  2.32732116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.90071405700002 meters
Centerline goodness : 0.998832 with order 1
Centerline is valid?  [True, True]
Translation: X:90.42, Y:7.95, Z:23.29
[[ 9.62090625e-01 -1.04184303e-01 -2.52046149e-01  9.04199827e+01]
 [ 1.03173265e-01  9.94513610e-01 -1.72614241e-02  7.95397921e+00]
 [ 2.52461695e-01 -9.39736995e-03  9.67561255e-01  2.32901849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.96071405700002 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:90.48, Y:7.96, Z:23.31
[[ 9.63006823e-01 -9.53564677e-02 -2.52041670e-01  9.04767905e+01]
 [ 9.40310763e-02  9.95418478e-01 -1.73265868e-02  7.95521896e+00]
 [ 2.52539138e-01 -7.01412816e-03  9.67561257e-01  2.33096380e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.02071405700002 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:90.53, Y:7.96, Z:23.32
[[ 9.63272257e-01 -9.26380237e-02 -2.52041176e-01  9.05327903e+01]
 [ 9.12192789e-02  9.95679960e-01 -1.73337673e-02  7.95698305e+00]
 [ 2.52558114e-01 -6.29387722e-03  9.67561257e-01  2.33243955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.08071405700001 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:90.59, Y:7.95, Z:23.34
[[ 9.63209295e-01 -9.32948106e-02 -2.52039544e-01  9.05889447e+01]
 [ 9.18919638e-02  9.95617690e-01 -1.73574753e-02  7.95479216e+00]
 [ 2.52554391e-01 -6.44152705e-03  9.67561257e-01  2.33381244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.14071405700001 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:90.65, Y:7.95, Z:23.35
[[ 9.62563302e-01 -9.97433613e-02 -2.52037996e-01  9.06460994e+01]
 [ 9.85517152e-02  9.94980149e-01 -1.73799195e-02  7.95257183e+00]
 [ 2.52506334e-01 -8.10950412e-03  9.67561257e-01  2.33533445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.20071405700001 meters
Centerline goodness : 0.998732 with order 1
Centerline is valid?  [True, True]
Translation: X:90.71, Y:7.95, Z:23.37
[[ 9.61640644e-01 -1.08288664e-01 -2.52033404e-01  9.07055014e+01]
 [ 1.07367625e-01  9.94066306e-01 -1.74462573e-02  7.95006452e+00]
 [ 2.52427147e-01 -1.02831979e-02  9.67561260e-01  2.33671893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.26071405700002 meters
Centerline goodness : 0.998607 with order 1
Centerline is valid?  [True, True]
Translation: X:90.76, Y:7.95, Z:23.38
[[ 9.60698669e-01 -1.16350133e-01 -2.52033159e-01  9.07638389e+01]
 [ 1.15700153e-01  9.93130897e-01 -1.74498017e-02  7.94742389e+00]
 [ 2.52332204e-01 -1.23962738e-02  9.67561260e-01  2.33829522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.32071405700002 meters
Centerline goodness : 0.998565 with order 1
Centerline is valid?  [True, True]
Translation: X:90.82, Y:7.95, Z:23.40
[[ 9.59719474e-01 -1.24168746e-01 -2.52033040e-01  9.08219788e+01]
 [ 1.23782415e-01  9.92155914e-01 -1.74515269e-02  7.94688655e+00]
 [ 2.52223005e-01 -1.44486880e-02  9.67561260e-01  2.33986656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.38071405700002 meters
Centerline goodness : 0.998566 with order 1
Centerline is valid?  [True, True]
Translation: X:90.88, Y:7.95, Z:23.41
[[ 9.59087815e-01 -1.28957252e-01 -2.52032917e-01  9.08800679e+01]
 [ 1.28732354e-01  9.91525775e-01 -1.74533045e-02  7.94901385e+00]
 [ 2.52147863e-01 -1.57055390e-02  9.67561260e-01  2.34146449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.44071405700001 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:90.94, Y:7.95, Z:23.43
[[ 9.58182538e-01 -1.35520471e-01 -2.52032589e-01  9.09380182e+01]
 [ 1.35516422e-01  9.90621278e-01 -1.74580327e-02  7.94958127e+00]
 [ 2.52034766e-01 -1.74265725e-02  9.67561260e-01  2.34278395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.50071405700001 meters
Centerline goodness : 0.998592 with order 1
Centerline is valid?  [True, True]
Translation: X:91.00, Y:7.95, Z:23.44
[[ 9.57166560e-01 -1.42519437e-01 -2.52032511e-01  9.09970546e+01]
 [ 1.42752160e-01  9.89604466e-01 -1.74591649e-02  7.95106504e+00]
 [ 2.51900768e-01 -1.92668565e-02  9.67561260e-01  2.34398152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.56071405700001 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:91.05, Y:7.95, Z:23.45
[[ 9.56281069e-01 -1.48344823e-01 -2.52032401e-01  9.10548906e+01]
 [ 1.48774636e-01  9.88716962e-01 -1.74607517e-02  7.95455728e+00]
 [ 2.51778921e-01 -2.07986423e-02  9.67561260e-01  2.34545765e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.62071405700001 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:91.11, Y:7.96, Z:23.47
[[ 9.55879320e-01 -1.50912441e-01 -2.52032064e-01  9.11124341e+01]
 [ 1.51428090e-01  9.88313961e-01 -1.74656049e-02  7.95900530e+00]
 [ 2.51722585e-01 -2.14697237e-02  9.67561260e-01  2.34684136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.68071405700002 meters
Centerline goodness : 0.998178 with order 1
Centerline is valid?  [True, True]
Translation: X:91.17, Y:7.97, Z:23.48
[[ 9.55862148e-01 -1.51021143e-01 -2.52032079e-01  9.11693585e+01]
 [ 1.51540538e-01  9.88296730e-01 -1.74653890e-02  7.96591302e+00]
 [ 2.51720123e-01 -2.14985726e-02  9.67561260e-01  2.34827859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.74071405700002 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:91.23, Y:7.97, Z:23.50
[[ 9.56225333e-01 -1.48711749e-01 -2.52027633e-01  9.12265799e+01]
 [ 1.49136057e-01  9.88661297e-01 -1.75293261e-02  7.97420418e+00]
 [ 2.51776783e-01 -2.08244216e-02  9.67561262e-01  2.34979488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.80071405700001 meters
Centerline goodness : 0.998413 with order 1
Centerline is valid?  [True, True]
Translation: X:91.28, Y:7.98, Z:23.51
[[ 9.56624330e-01 -1.46123739e-01 -2.52027267e-01  9.12834914e+01]
 [ 1.46458902e-01  9.89061337e-01 -1.75345794e-02  7.98385028e+00]
 [ 2.51832644e-01 -2.01376314e-02  9.67561262e-01  2.35133685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.86071405700001 meters
Centerline goodness : 0.998673 with order 1
Centerline is valid?  [True, True]
Translation: X:91.34, Y:7.99, Z:23.53
[[ 9.57011691e-01 -1.43566031e-01 -2.52026622e-01  9.13411821e+01]
 [ 1.43812057e-01  9.89449496e-01 -1.75438507e-02  7.99153363e+00]
 [ 2.51886315e-01 -1.94547967e-02  9.67561262e-01  2.35291432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.92071405700001 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:91.40, Y:8.00, Z:23.54
[[ 9.57898646e-01 -1.37523665e-01 -2.52026638e-01  9.13995296e+01]
 [ 1.37565039e-01  9.90337357e-01 -1.75436167e-02  8.00288801e+00]
 [ 2.52004057e-01 -1.78650476e-02  9.67561262e-01  2.35442577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.98071405700001 meters
Centerline goodness : 0.999015 with order 1
Centerline is valid?  [True, True]
Translation: X:91.46, Y:8.01, Z:23.56
[[ 9.58587713e-01 -1.32635786e-01 -2.52026476e-01  9.14567210e+01]
 [ 1.32511085e-01  9.91026212e-01 -1.75459430e-02  8.01313710e+00]
 [ 2.52092064e-01 -1.65769766e-02  9.67561262e-01  2.35590278e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.04071405700002 meters
Centerline goodness : 0.999189 with order 1
Centerline is valid?  [True, True]
Translation: X:91.51, Y:8.02, Z:23.57
[[ 9.58977176e-01 -1.29791192e-01 -2.52025837e-01  9.15135715e+01]
 [ 1.29567850e-01  9.91415145e-01 -1.75551174e-02  8.02078733e+00]
 [ 2.52140732e-01 -1.58194888e-02  9.67561262e-01  2.35738413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.10071405700002 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:91.57, Y:8.03, Z:23.59
[[ 9.59338091e-01 -1.27104336e-01 -2.52021655e-01  9.15717067e+01]
 [ 1.26774461e-01  9.91775150e-01 -1.76149647e-02  8.03208805e+00]
 [ 2.52187753e-01 -1.50512028e-02  9.67561263e-01  2.35885016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.160714057 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:91.63, Y:8.04, Z:23.60
[[ 9.59150270e-01 -1.28514125e-01 -2.52021584e-01  9.16298363e+01]
 [ 1.28231658e-01  9.91587777e-01 -1.76159766e-02  8.03877498e+00]
 [ 2.52165424e-01 -1.54207767e-02  9.67561263e-01  2.36021300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.22071405700001 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:91.69, Y:8.05, Z:23.62
[[ 9.58666714e-01 -1.32074151e-01 -2.52020932e-01  9.16883424e+01]
 [ 1.31909671e-01  9.91105034e-01 -1.76253024e-02  8.04541017e+00]
 [ 2.52107061e-01 -1.63472074e-02  9.67561264e-01  2.36166303e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.28071405700001 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:91.75, Y:8.05, Z:23.63
[[ 9.58439797e-01 -1.33710905e-01 -2.52020932e-01  9.17460099e+01]
 [ 1.33601814e-01  9.90878350e-01 -1.76253024e-02  8.05067108e+00]
 [ 2.52078780e-01 -1.67776625e-02  9.67561264e-01  2.36314393e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.34071405700001 meters
Centerline goodness : 0.998696 with order 1
Centerline is valid?  [True, True]
Translation: X:91.80, Y:8.06, Z:23.65
[[ 9.57885659e-01 -1.37625130e-01 -2.52020609e-01  9.18039859e+01]
 [ 1.37647347e-01  9.90324388e-01 -1.76299176e-02  8.05844819e+00]
 [ 2.52008475e-01 -1.78025230e-02  9.67561264e-01  2.36472960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.40071405700002 meters
Centerline goodness : 0.998474 with order 1
Centerline is valid?  [True, True]
Translation: X:91.86, Y:8.06, Z:23.66
[[ 9.57602138e-01 -1.39584189e-01 -2.52020632e-01  9.18624005e+01]
 [ 1.39672845e-01  9.90040754e-01 -1.76295890e-02  8.06488256e+00]
 [ 2.51971508e-01 -1.83183066e-02  9.67561264e-01  2.36627697e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.46071405700002 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:91.92, Y:8.07, Z:23.68
[[ 9.57398914e-01 -1.40970750e-01 -2.52020965e-01  9.19208894e+01]
 [ 1.41107628e-01  9.89837362e-01 -1.76248264e-02  8.07155302e+00]
 [ 2.51944352e-01 -1.86880909e-02  9.67561264e-01  2.36773975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.52071405700002 meters
Centerline goodness : 0.998936 with order 1
Centerline is valid?  [True, True]
Translation: X:91.98, Y:8.08, Z:23.69
[[ 9.57076146e-01 -1.43145096e-01 -2.52021293e-01  9.19796543e+01]
 [ 1.43356883e-01  9.89514191e-01 -1.76201383e-02  8.07741837e+00]
 [ 2.51900882e-01 -1.92651730e-02  9.67561264e-01  2.36907747e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.58071405700001 meters
Centerline goodness : 0.999022 with order 1
Centerline is valid?  [True, True]
Translation: X:92.04, Y:8.08, Z:23.70
[[ 9.56614800e-01 -1.46196261e-01 -2.52021383e-01  9.20389340e+01]
 [ 1.46511825e-01  9.89052001e-01 -1.76188415e-02  8.08338228e+00]
 [ 2.51838062e-01 -2.00696682e-02  9.67561264e-01  2.37041595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.64071405700001 meters
Centerline goodness : 0.999025 with order 1
Centerline is valid?  [True, True]
Translation: X:92.10, Y:8.09, Z:23.72
[[ 9.56183828e-01 -1.48988807e-01 -2.52021471e-01  9.20976035e+01]
 [ 1.49399407e-01  9.88619966e-01 -1.76175946e-02  8.08988050e+00]
 [ 2.51778282e-01 -2.08061993e-02  9.67561264e-01  2.37170571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.70071405700001 meters
Centerline goodness : 0.998665 with order 1
Centerline is valid?  [True, True]
Translation: X:92.16, Y:8.10, Z:23.73
[[ 9.56058198e-01 -1.49792316e-01 -2.52021793e-01  9.21564345e+01]
 [ 1.50231381e-01  9.88493963e-01 -1.76129864e-02  8.09641070e+00]
 [ 2.51760311e-01 -2.10225419e-02  9.67561264e-01  2.37324825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.76071405700002 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:92.21, Y:8.11, Z:23.75
[[ 9.56089710e-01 -1.49589980e-01 -2.52022429e-01  9.22142606e+01]
 [ 1.50024565e-01  9.88525535e-01 -1.76038786e-02  8.10504849e+00]
 [ 2.51763970e-01 -2.09786681e-02  9.67561264e-01  2.37500082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.82071405700002 meters
Centerline goodness : 0.999019 with order 1
Centerline is valid?  [True, True]
Translation: X:92.27, Y:8.11, Z:23.77
[[ 9.56037122e-01 -1.49924651e-01 -2.52023055e-01  9.22722377e+01]
 [ 1.50372938e-01  9.88472761e-01 -1.75949107e-02  8.11133122e+00]
 [ 2.51755836e-01 -2.10760594e-02  9.67561264e-01  2.37652939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.88071405700002 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:92.33, Y:8.12, Z:23.78
[[ 9.56160725e-01 -1.49134325e-01 -2.52023055e-01  9.23291660e+01]
 [ 1.49555800e-01  9.88596724e-01 -1.75949107e-02  8.11920932e+00]
 [ 2.51773171e-01 -2.08679470e-02  9.67561264e-01  2.37790640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.94071405700001 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:92.38, Y:8.13, Z:23.79
[[ 9.56393324e-01 -1.47636894e-01 -2.52022136e-01  9.23848183e+01]
 [ 1.48004134e-01  9.88829982e-01 -1.76080620e-02  8.12747146e+00]
 [ 2.51806644e-01 -2.04600851e-02  9.67561264e-01  2.37940842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.00071405700001 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:92.44, Y:8.14, Z:23.81
[[ 9.57016940e-01 -1.43541546e-01 -2.52020636e-01  9.24424958e+01]
 [ 1.43764319e-01  9.89454911e-01 -1.76295042e-02  8.13562392e+00]
 [ 2.51893622e-01 -1.93598410e-02  9.67561264e-01  2.38094186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.06071405700001 meters
Centerline goodness : 0.998858 with order 1
Centerline is valid?  [True, True]
Translation: X:92.50, Y:8.14, Z:23.83
[[ 9.57969142e-01 -1.37043007e-01 -2.52020509e-01  9.25009007e+01]
 [ 1.37045144e-01  9.90407878e-01 -1.76313239e-02  8.14390077e+00]
 [ 2.52019347e-01 -1.76479225e-02  9.67561264e-01  2.38253784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.12071405700001 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:92.56, Y:8.15, Z:23.84
[[ 9.59117151e-01 -1.28762760e-01 -2.52020717e-01  9.25582437e+01]
 [ 1.28485463e-01  9.91554702e-01 -1.76283484e-02  8.15294111e+00]
 [ 2.52162202e-01 -1.54733472e-02  9.67561264e-01  2.38402241e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.18071405700002 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:92.62, Y:8.16, Z:23.86
[[ 9.60040617e-01 -1.21686437e-01 -2.52020684e-01  9.26165584e+01]
 [ 1.21169819e-01  9.92475239e-01 -1.76288243e-02  8.15955886e+00]
 [ 2.52269477e-01 -1.36129132e-02  9.67561264e-01  2.38556806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.24071405700002 meters
Centerline goodness : 0.997906 with order 1
Centerline is valid?  [True, True]
Translation: X:92.67, Y:8.16, Z:23.87
[[ 9.60462268e-01 -1.18312477e-01 -2.52020614e-01  9.26744615e+01]
 [ 1.17681639e-01  9.92894869e-01 -1.76298173e-02  8.16462754e+00]
 [ 2.52315802e-01 -1.27254247e-02  9.67561264e-01  2.38700983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.30071405700001 meters
Centerline goodness : 0.997923 with order 1
Centerline is valid?  [True, True]
Translation: X:92.73, Y:8.17, Z:23.88
[[ 9.60616608e-01 -1.17053932e-01 -2.52020058e-01  9.27318923e+01]
 [ 1.16378519e-01  9.93048312e-01 -1.76377693e-02  8.16862606e+00]
 [ 2.52332663e-01 -1.23865870e-02  9.67561264e-01  2.38833088e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.36071405700001 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:92.79, Y:8.17, Z:23.90
[[ 9.60666615e-01 -1.16645510e-01 -2.52018807e-01  9.27886763e+01]
 [ 1.15951638e-01  9.93097929e-01 -1.76556159e-02  8.17204143e+00]
 [ 2.52338804e-01 -1.22608327e-02  9.67561264e-01  2.38960622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.42071405700001 meters
Centerline goodness : 0.998153 with order 1
Centerline is valid?  [True, True]
Translation: X:92.85, Y:8.18, Z:23.91
[[ 9.60529807e-01 -1.17775997e-01 -2.52014492e-01  9.28466425e+01]
 [ 1.17104223e-01  9.92961585e-01 -1.77170138e-02  8.17691828e+00]
 [ 2.52327348e-01 -1.24942414e-02  9.67561266e-01  2.39135810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.48071405700001 meters
Centerline goodness : 0.998001 with order 1
Centerline is valid?  [True, True]
Translation: X:92.90, Y:8.18, Z:23.93
[[ 9.60225246e-01 -1.20233827e-01 -2.52014492e-01  9.29021856e+01]
 [ 1.19645055e-01  9.92658636e-01 -1.77170138e-02  8.18007546e+00]
 [ 2.52294546e-01 -1.31399637e-02  9.67561266e-01  2.39299939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.54071405700002 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:92.96, Y:8.18, Z:23.95
[[ 9.59557021e-01 -1.25459751e-01 -2.52012252e-01  9.29600660e+01]
 [ 1.25039238e-01  9.91993028e-01 -1.77488192e-02  8.18268826e+00]
 [ 2.52221159e-01 -1.44804160e-02  9.67561266e-01  2.39456741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.60071405700002 meters
Centerline goodness : 0.998313 with order 1
Centerline is valid?  [True, True]
Translation: X:93.02, Y:8.19, Z:23.96
[[ 9.58894559e-01 -1.30426937e-01 -2.52011981e-01  9.30195281e+01]
 [ 1.30173386e-01  9.91332302e-01 -1.77526627e-02  8.18568899e+00]
 [ 2.52143043e-01 -1.57823212e-02  9.67561266e-01  2.39604502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.660714057 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:93.08, Y:8.19, Z:23.97
[[ 9.57621460e-01 -1.39466018e-01 -2.52012639e-01  9.30791634e+01]
 [ 1.39520897e-01  9.90060147e-01 -1.77433229e-02  8.18697444e+00]
 [ 2.51982260e-01 -1.81696426e-02  9.67561267e-01  2.39723607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.72071405700001 meters
Centerline goodness : 0.998762 with order 1
Centerline is valid?  [True, True]
Translation: X:93.14, Y:8.19, Z:23.99
[[ 9.57284335e-01 -1.41761601e-01 -2.52012600e-01  9.31388390e+01]
 [ 1.41894111e-01  9.89722798e-01 -1.77438698e-02  8.19065718e+00]
 [ 2.51938015e-01 -1.87731751e-02  9.67561267e-01  2.39863438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.78071405700001 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:93.20, Y:8.20, Z:24.00
[[ 9.57078199e-01 -1.43145536e-01 -2.52013246e-01  9.31963300e+01]
 [ 1.43327350e-01  9.89516423e-01 -1.77346897e-02  8.19553737e+00]
 [ 2.51909888e-01 -1.91469058e-02  9.67561267e-01  2.40009420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.84071405700001 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:93.25, Y:8.20, Z:24.02
[[ 9.57144937e-01 -1.42699172e-01 -2.52012928e-01  9.32545202e+01]
 [ 1.42864675e-01  9.89583248e-01 -1.77392069e-02  8.19976144e+00]
 [ 2.51919142e-01 -1.90247531e-02  9.67561267e-01  2.40166772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.90071405700002 meters
Centerline goodness : 0.999392 with order 1
Centerline is valid?  [True, True]
Translation: X:93.31, Y:8.20, Z:24.03
[[ 9.57101889e-01 -1.42988165e-01 -2.52012615e-01  9.33127526e+01]
 [ 1.43162298e-01  9.89540155e-01 -1.77436559e-02  8.20495038e+00]
 [ 2.51913735e-01 -1.90962185e-02  9.67561267e-01  2.40323336e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.96071405700002 meters
Centerline goodness : 0.999234 with order 1
Centerline is valid?  [True, True]
Translation: X:93.37, Y:8.21, Z:24.05
[[ 9.57049018e-01 -1.43341614e-01 -2.52012615e-01  9.33694538e+01]
 [ 1.43527726e-01  9.89487218e-01 -1.77436559e-02  8.20974004e+00]
 [ 2.51906665e-01 -1.91892491e-02  9.67561267e-01  2.40463944e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.02071405700002 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:93.43, Y:8.21, Z:24.06
[[ 9.56899446e-01 -1.44338340e-01 -2.52011692e-01  9.34273690e+01]
 [ 1.44554810e-01  9.89337457e-01 -1.77567509e-02  8.21367656e+00]
 [ 2.51887587e-01 -1.94380772e-02  9.67561267e-01  2.40632709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.08071405700001 meters
Centerline goodness : 0.999259 with order 1
Centerline is valid?  [True, True]
Translation: X:93.49, Y:8.22, Z:24.08
[[ 9.56653199e-01 -1.45961514e-01 -2.52011692e-01  9.34857001e+01]
 [ 1.46233015e-01  9.89090796e-01 -1.77567509e-02  8.21796191e+00]
 [ 2.51854248e-01 -1.98653770e-02  9.67561267e-01  2.40781718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.14071405700001 meters
Centerline goodness : 0.999123 with order 1
Centerline is valid?  [True, True]
Translation: X:93.55, Y:8.22, Z:24.09
[[ 9.56730061e-01 -1.45457396e-01 -2.52011380e-01  9.35451457e+01]
 [ 1.45710642e-01  9.89167806e-01 -1.77611876e-02  8.22309908e+00]
 [ 2.51865040e-01 -1.97280779e-02  9.67561267e-01  2.40942616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.20071405700001 meters
Centerline goodness : 0.999146 with order 1
Centerline is valid?  [True, True]
Translation: X:93.60, Y:8.23, Z:24.11
[[ 9.57037040e-01 -1.43422054e-01 -2.52012337e-01  9.36033713e+01]
 [ 1.43609862e-01  9.89475230e-01 -1.77475944e-02  8.22814500e+00]
 [ 2.51905361e-01 -1.92063518e-02  9.67561267e-01  2.41104530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.26071405700002 meters
Centerline goodness : 0.999099 with order 1
Centerline is valid?  [True, True]
Translation: X:93.66, Y:8.23, Z:24.13
[[ 9.57751359e-01 -1.38571136e-01 -2.52012649e-01  9.36610881e+01]
 [ 1.38595748e-01  9.90190082e-01 -1.77431544e-02  8.23472951e+00]
 [ 2.51999115e-01 -1.79343513e-02  9.67561267e-01  2.41294198e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.32071405700002 meters
Centerline goodness : 0.998466 with order 1
Centerline is valid?  [True, True]
Translation: X:93.72, Y:8.24, Z:24.15
[[ 9.58225371e-01 -1.35253876e-01 -2.52012952e-01  9.37205156e+01]
 [ 1.35167287e-01  9.90663988e-01 -1.77388519e-02  8.24084688e+00]
 [ 2.52059405e-01 -1.70660890e-02  9.67561267e-01  2.41455363e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.38071405700002 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:93.78, Y:8.25, Z:24.16
[[ 9.58488333e-01 -1.33375737e-01 -2.52013943e-01  9.37793656e+01]
 [ 1.33229266e-01  9.90926736e-01 -1.77247602e-02  8.24722328e+00]
 [ 2.52091407e-01 -1.65866570e-02  9.67561267e-01  2.41598135e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.44071405700001 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:93.84, Y:8.25, Z:24.17
[[ 9.58160917e-01 -1.35706672e-01 -2.52014595e-01  9.38391916e+01]
 [ 1.35641528e-01  9.90599585e-01 -1.77154868e-02  8.25302149e+00]
 [ 2.52049663e-01 -1.72093578e-02  9.67561267e-01  2.41739846e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.50071405700001 meters
Centerline goodness : 0.999005 with order 1
Centerline is valid?  [True, True]
Translation: X:93.90, Y:8.26, Z:24.19
[[ 9.57733944e-01 -1.38686737e-01 -2.52015242e-01  9.38985446e+01]
 [ 1.38724916e-01  9.90172654e-01 -1.77062856e-02  8.25920416e+00]
 [ 2.51994228e-01 -1.80028825e-02  9.67561267e-01  2.41891311e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.56071405700001 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:93.96, Y:8.26, Z:24.21
[[ 9.57453047e-01 -1.40611728e-01 -2.52015882e-01  9.39566262e+01]
 [ 1.40717501e-01  9.89891608e-01 -1.76971742e-02  8.26444056e+00]
 [ 2.51956836e-01 -1.85188317e-02  9.67561267e-01  2.42061987e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.62071405700001 meters
Centerline goodness : 0.999435 with order 1
Centerline is valid?  [True, True]
Translation: X:94.02, Y:8.27, Z:24.22
[[ 9.57421220e-01 -1.40827682e-01 -2.52016211e-01  9.40153919e+01]
 [ 1.40942002e-01  9.89859752e-01 -1.76924773e-02  8.26942135e+00]
 [ 2.51952295e-01 -1.85805162e-02  9.67561267e-01  2.42223307e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.68071405700002 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:94.07, Y:8.28, Z:24.24
[[ 9.57458403e-01 -1.40574076e-01 -2.52016539e-01  9.40731450e+01]
 [ 1.40681024e-01  9.89896960e-01 -1.76878149e-02  8.27501473e+00]
 [ 2.51956854e-01 -1.85185977e-02  9.67561267e-01  2.42372551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.74071405700002 meters
Centerline goodness : 0.999342 with order 1
Centerline is valid?  [True, True]
Translation: X:94.13, Y:8.28, Z:24.25
[[ 9.57356547e-01 -1.41266085e-01 -2.52016539e-01  9.41318893e+01]
 [ 1.41396479e-01  9.89795018e-01 -1.76878149e-02  8.27986287e+00]
 [ 2.51943403e-01 -1.87007058e-02  9.67561267e-01  2.42540331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.80071405700001 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:94.19, Y:8.28, Z:24.27
[[ 9.57152234e-01 -1.42642681e-01 -2.52017194e-01  9.41908831e+01]
 [ 1.42822170e-01  9.89590471e-01 -1.76784710e-02  8.28386873e+00]
 [ 2.51915518e-01 -1.90726544e-02  9.67561267e-01  2.42695659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.86071405700001 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:94.25, Y:8.29, Z:24.28
[[ 9.56844898e-01 -1.44688817e-01 -2.52017831e-01  9.42505110e+01]
 [ 1.44940039e-01  9.89282658e-01 -1.76693894e-02  8.28705579e+00]
 [ 2.51873433e-01 -1.96206090e-02  9.67561267e-01  2.42841985e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.92071405700001 meters
Centerline goodness : 0.999343 with order 1
Centerline is valid?  [True, True]
Translation: X:94.31, Y:8.29, Z:24.30
[[ 9.56455023e-01 -1.47242346e-01 -2.52018810e-01  9.43088677e+01]
 [ 1.47583809e-01  9.88891959e-01 -1.76554154e-02  8.29004884e+00]
 [ 2.51818999e-01 -2.03072851e-02  9.67561267e-01  2.42986985e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.98071405700001 meters
Centerline goodness : 0.999569 with order 1
Centerline is valid?  [True, True]
Translation: X:94.37, Y:8.29, Z:24.31
[[ 9.56133673e-01 -1.49314717e-01 -2.52018879e-01  9.43673276e+01]
 [ 1.49726732e-01  9.88569789e-01 -1.76544249e-02  8.29345207e+00]
 [ 2.51774316e-01 -2.08539730e-02  9.67561267e-01  2.43138316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.04071405700002 meters
Centerline goodness : 0.999683 with order 1
Centerline is valid?  [True, True]
Translation: X:94.43, Y:8.30, Z:24.33
[[ 9.55771654e-01 -1.51614215e-01 -2.52019195e-01  9.44262538e+01]
 [ 1.52105433e-01  9.88206668e-01 -1.76499144e-02  8.29533804e+00]
 [ 2.51723027e-01 -2.14642009e-02  9.67561267e-01  2.43307129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.10071405700002 meters
Centerline goodness : 0.999525 with order 1
Centerline is valid?  [True, True]
Translation: X:94.48, Y:8.30, Z:24.34
[[ 9.55464688e-01 -1.53535774e-01 -2.52019833e-01  9.44848781e+01]
 [ 1.54094594e-01  9.87898607e-01 -1.76408066e-02  8.29638889e+00]
 [ 2.51678536e-01 -2.19797261e-02  9.67561267e-01  2.43448501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.160714057 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:94.54, Y:8.30, Z:24.36
[[ 9.55382585e-01 -1.54045750e-01 -2.52019888e-01  9.45430737e+01]
 [ 1.54622091e-01  9.87816197e-01 -1.76400148e-02  8.29884648e+00]
 [ 2.51666697e-01 -2.21148790e-02  9.67561267e-01  2.43594170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.22071405700001 meters
Centerline goodness : 0.999618 with order 1
Centerline is valid?  [True, True]
Translation: X:94.60, Y:8.30, Z:24.38
[[ 9.55313761e-01 -1.54471476e-01 -2.52020199e-01  9.46010322e+01]
 [ 1.55063434e-01  9.87747092e-01 -1.76355672e-02  8.29909630e+00]
 [ 2.51656411e-01 -2.22316175e-02  9.67561267e-01  2.43763658e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.28071405700001 meters
Centerline goodness : 0.999865 with order 1
Centerline is valid?  [True, True]
Translation: X:94.66, Y:8.30, Z:24.39
[[ 9.55224819e-01 -1.55020383e-01 -2.52020288e-01  9.46602867e+01]
 [ 1.55631311e-01  9.87657798e-01 -1.76342924e-02  8.30102715e+00]
 [ 2.51643478e-01 -2.23775340e-02  9.67561267e-01  2.43947464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.34071405700001 meters
Centerline goodness : 0.999821 with order 1
Centerline is valid?  [True, True]
Translation: X:94.72, Y:8.30, Z:24.41
[[ 9.55357097e-01 -1.54200972e-01 -2.52021580e-01  9.47201978e+01]
 [ 1.54788915e-01  9.87790501e-01 -1.76158206e-02  8.30034024e+00]
 [ 2.51660899e-01 -2.21807475e-02  9.67561267e-01  2.44104366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.40071405700002 meters
Centerline goodness : 0.999843 with order 1
Centerline is valid?  [True, True]
Translation: X:94.78, Y:8.30, Z:24.43
[[ 9.55572254e-01 -1.52859945e-01 -2.52022825e-01  9.47800131e+01]
 [ 1.53407036e-01  9.88006373e-01 -1.75979803e-02  8.30224554e+00]
 [ 2.51690184e-01 -2.18459328e-02  9.67561268e-01  2.44250698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.46071405700002 meters
Centerline goodness : 0.999798 with order 1
Centerline is valid?  [True, True]
Translation: X:94.84, Y:8.30, Z:24.44
[[ 9.55928328e-01 -1.50615540e-01 -2.52023789e-01  9.48379525e+01]
 [ 1.51090080e-01  9.88363589e-01 -1.75841685e-02  8.30477747e+00]
 [ 2.51739586e-01 -2.12690896e-02  9.67561268e-01  2.44419233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.52071405700002 meters
Centerline goodness : 0.999193 with order 1
Centerline is valid?  [True, True]
Translation: X:94.90, Y:8.31, Z:24.46
[[ 9.56181063e-01 -1.49002649e-01 -2.52023780e-01  9.48972462e+01]
 [ 1.49422434e-01  9.88617079e-01 -1.75843006e-02  8.30631935e+00]
 [ 2.51775120e-01 -2.08442314e-02  9.67561268e-01  2.44567132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.58071405700001 meters
Centerline goodness : 0.999397 with order 1
Centerline is valid?  [True, True]
Translation: X:94.96, Y:8.31, Z:24.47
[[ 9.56412226e-01 -1.47507811e-01 -2.52025989e-01  9.49557586e+01]
 [ 1.47885196e-01  9.88848763e-01 -1.75525856e-02  8.30819202e+00]
 [ 2.51804731e-01 -2.04834051e-02  9.67561268e-01  2.44719749e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.64071405700001 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:95.02, Y:8.31, Z:24.49
[[ 9.56580378e-01 -1.46413372e-01 -2.52025999e-01  9.50157767e+01]
 [ 1.46753678e-01  9.89017325e-01 -1.75524468e-02  8.31087420e+00]
 [ 2.51827992e-01 -2.01954161e-02  9.67561268e-01  2.44893284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.70071405700001 meters
Centerline goodness : 0.999466 with order 1
Centerline is valid?  [True, True]
Translation: X:95.07, Y:8.31, Z:24.50
[[ 9.56753122e-01 -1.45278015e-01 -2.52027303e-01  9.50734139e+01]
 [ 1.45584734e-01  9.89190404e-01 -1.75336932e-02  8.31305331e+00]
 [ 2.51850250e-01 -1.99159123e-02  9.67561268e-01  2.45032496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.76071405700002 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:95.13, Y:8.31, Z:24.52
[[ 9.57018627e-01 -1.43519255e-01 -2.52026924e-01  9.51334245e+01]
 [ 1.43764927e-01  9.89456429e-01 -1.75391444e-02  8.31448250e+00]
 [ 2.51886865e-01 -1.94473443e-02  9.67561268e-01  2.45206328e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.82071405700002 meters
Centerline goodness : 0.999220 with order 1
Centerline is valid?  [True, True]
Translation: X:95.19, Y:8.32, Z:24.53
[[ 9.57298145e-01 -1.41640537e-01 -2.52028213e-01  9.51917425e+01]
 [ 1.41827392e-01  9.89736338e-01 -1.75206072e-02  8.31635009e+00]
 [ 2.51923109e-01 -1.89720593e-02  9.67561269e-01  2.45339238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.88071405700002 meters
Centerline goodness : 0.999263 with order 1
Centerline is valid?  [True, True]
Translation: X:95.25, Y:8.32, Z:24.55
[[ 9.57444248e-01 -1.40649940e-01 -2.52027988e-01  9.52511334e+01]
 [ 1.40802385e-01  9.89882621e-01 -1.75238378e-02  8.31919150e+00]
 [ 2.51942852e-01 -1.87080441e-02  9.67561269e-01  2.45508609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.94071405700001 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:95.31, Y:8.32, Z:24.57
[[ 9.57536165e-01 -1.40020561e-01 -2.52029237e-01  9.53115986e+01]
 [ 1.40156390e-01  9.89974611e-01 -1.75058584e-02  8.32072971e+00]
 [ 2.51953726e-01 -1.85610155e-02  9.67561269e-01  2.45654108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.00071405700001 meters
Centerline goodness : 0.999223 with order 1
Centerline is valid?  [True, True]
Translation: X:95.37, Y:8.32, Z:24.58
[[ 9.57506638e-01 -1.40219978e-01 -2.52030547e-01  9.53702908e+01]
 [ 1.40367507e-01  9.89945033e-01 -1.74869747e-02  8.32217938e+00]
 [ 2.51948412e-01 -1.86330051e-02  9.67561269e-01  2.45798219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.06071405700001 meters
Centerline goodness : 0.999136 with order 1
Centerline is valid?  [True, True]
Translation: X:95.43, Y:8.32, Z:24.60
[[ 9.57436132e-01 -1.40700013e-01 -2.52030869e-01  9.54287935e+01]
 [ 1.40865017e-01  9.89874444e-01 -1.74823414e-02  8.32401273e+00]
 [ 2.51938682e-01 -1.87641073e-02  9.67561269e-01  2.45954774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.12071405700001 meters
Centerline goodness : 0.999248 with order 1
Centerline is valid?  [True, True]
Translation: X:95.49, Y:8.33, Z:24.61
[[ 9.57434025e-01 -1.40714352e-01 -2.52030869e-01  9.54873561e+01]
 [ 1.40879842e-01  9.89872334e-01 -1.74823414e-02  8.32731321e+00]
 [ 2.51938400e-01 -1.87678806e-02  9.67561269e-01  2.46108373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.18071405700002 meters
Centerline goodness : 0.999446 with order 1
Centerline is valid?  [True, True]
Translation: X:95.54, Y:8.33, Z:24.63
[[ 9.57197909e-01 -1.42311643e-01 -2.52030869e-01  9.55441946e+01]
 [ 1.42531257e-01  9.89635897e-01 -1.74823414e-02  8.32957090e+00]
 [ 2.51906735e-01 -1.91882158e-02  9.67561269e-01  2.46287716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.24071405700002 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:95.60, Y:8.33, Z:24.64
[[ 9.56886730e-01 -1.44389691e-01 -2.52030560e-01  9.56018074e+01]
 [ 1.44678572e-01  9.89324175e-01 -1.74867940e-02  8.33105176e+00]
 [ 2.51864838e-01 -1.97305404e-02  9.67561269e-01  2.46431257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.30071405700001 meters
Centerline goodness : 0.999337 with order 1
Centerline is valid?  [True, True]
Translation: X:95.66, Y:8.33, Z:24.66
[[ 9.56326307e-01 -1.48062774e-01 -2.52026604e-01  9.56600877e+01]
 [ 1.48461324e-01  9.88762588e-01 -1.75436320e-02  8.33157070e+00]
 [ 2.51792036e-01 -2.06387663e-02  9.67561270e-01  2.46565173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.36071405700001 meters
Centerline goodness : 0.999379 with order 1
Centerline is valid?  [True, True]
Translation: X:95.72, Y:8.33, Z:24.67
[[ 9.56094312e-01 -1.49553999e-01 -2.52026326e-01  9.57183587e+01]
 [ 1.50002089e-01  9.88529946e-01 -1.75476200e-02  8.33426815e+00]
 [ 2.51759887e-01 -2.10272958e-02  9.67561270e-01  2.46707560e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.42071405700001 meters
Centerline goodness : 0.999557 with order 1
Centerline is valid?  [True, True]
Translation: X:95.78, Y:8.34, Z:24.69
[[ 9.56144888e-01 -1.49230359e-01 -2.52026293e-01  9.57777308e+01]
 [ 1.49667345e-01  9.88580675e-01 -1.75480984e-02  8.33723830e+00]
 [ 2.51767031e-01 -2.09415815e-02  9.67561270e-01  2.46881029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.48071405700001 meters
Centerline goodness : 0.999426 with order 1
Centerline is valid?  [True, True]
Translation: X:95.84, Y:8.34, Z:24.70
[[ 9.56373167e-01 -1.47758659e-01 -2.52027268e-01  9.58363621e+01]
 [ 1.48149396e-01  9.88809543e-01 -1.75340773e-02  8.34016933e+00]
 [ 2.51797780e-01 -2.05685665e-02  9.67561271e-01  2.47039185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.54071405700002 meters
Centerline goodness : 0.999646 with order 1
Centerline is valid?  [True, True]
Translation: X:95.90, Y:8.34, Z:24.72
[[ 9.56777957e-01 -1.45113873e-01 -2.52027588e-01  9.58954749e+01]
 [ 1.45416132e-01  9.89215278e-01 -1.75294706e-02  8.34407122e+00]
 [ 2.51853310e-01 -1.98770660e-02  9.67561271e-01  2.47212191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.60071405700002 meters
Centerline goodness : 0.999471 with order 1
Centerline is valid?  [True, True]
Translation: X:95.95, Y:8.35, Z:24.74
[[ 9.57191977e-01 -1.42355590e-01 -2.52028579e-01  9.59539015e+01]
 [ 1.42568087e-01  9.89630011e-01 -1.75152149e-02  8.34859359e+00]
 [ 2.51908434e-01 -1.91658092e-02  9.67561271e-01  2.47361334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.66071405700002 meters
Centerline goodness : 0.999246 with order 1
Centerline is valid?  [True, True]
Translation: X:96.01, Y:8.35, Z:24.75
[[ 9.57887209e-01 -1.37599794e-01 -2.52028555e-01  9.60124643e+01]
 [ 1.37651087e-01  9.90325897e-01 -1.75155705e-02  8.35479969e+00]
 [ 2.52000543e-01 -1.79140635e-02  9.67561271e-01  2.47516725e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.72071405700001 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:96.07, Y:8.36, Z:24.77
[[ 9.58459235e-01 -1.33556506e-01 -2.52028878e-01  9.60696302e+01]
 [ 1.33472135e-01  9.90897854e-01 -1.75109115e-02  8.36106289e+00]
 [ 2.52073571e-01 -1.68553375e-02  9.67561271e-01  2.47674577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.78071405700001 meters
Centerline goodness : 0.999291 with order 1
Centerline is valid?  [True, True]
Translation: X:96.13, Y:8.37, Z:24.78
[[ 9.58704717e-01 -1.31783530e-01 -2.52028503e-01  9.61266076e+01]
 [ 1.31637746e-01  9.91143119e-01 -1.75163156e-02  8.36655735e+00]
 [ 2.52104678e-01 -1.63834897e-02  9.67561271e-01  2.47830642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.84071405700001 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:96.18, Y:8.37, Z:24.80
[[ 9.58759414e-01 -1.31386205e-01 -2.52027877e-01  9.61831820e+01]
 [ 1.31224624e-01  9.91197741e-01 -1.75253067e-02  8.37157327e+00]
 [ 2.52112046e-01 -1.62697107e-02  9.67561271e-01  2.47964056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.90071405700002 meters
Centerline goodness : 0.999269 with order 1
Centerline is valid?  [True, True]
Translation: X:96.24, Y:8.38, Z:24.81
[[ 9.58946323e-01 -1.30024584e-01 -2.52022931e-01  9.62388608e+01]
 [ 1.29798393e-01  9.91384261e-01 -1.75961556e-02  8.37612200e+00]
 [ 2.52139500e-01 -1.58384027e-02  9.67561273e-01  2.48105688e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.96071405700002 meters
Centerline goodness : 0.999223 with order 1
Centerline is valid?  [True, True]
Translation: X:96.30, Y:8.38, Z:24.83
[[ 9.59216690e-01 -1.28017776e-01 -2.52021410e-01  9.62966189e+01]
 [ 1.27718013e-01  9.91654031e-01 -1.76179244e-02  8.38085362e+00]
 [ 2.52173454e-01 -1.52882665e-02  9.67561273e-01  2.48255571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.02071405700002 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:96.35, Y:8.39, Z:24.84
[[ 9.59527947e-01 -1.25664770e-01 -2.52020801e-01  9.63540067e+01]
 [ 1.25283174e-01  9.91964429e-01 -1.76266222e-02  8.38639967e+00]
 [ 2.52210716e-01 -1.46607292e-02  9.67561273e-01  2.48436740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.08071405700001 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:96.41, Y:8.39, Z:24.86
[[ 9.59598428e-01 -1.25125424e-01 -2.52020801e-01  9.64123222e+01]
 [ 1.24725596e-01  9.92034691e-01 -1.76266222e-02  8.39184755e+00]
 [ 2.52218916e-01 -1.45189658e-02  9.67561273e-01  2.48577547e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.14071405700001 meters
Centerline goodness : 0.999046 with order 1
Centerline is valid?  [True, True]
Translation: X:96.47, Y:8.40, Z:24.87
[[ 9.59253919e-01 -1.27740349e-01 -2.52020480e-01  9.64712092e+01]
 [ 1.27427724e-01  9.91691139e-01 -1.76312230e-02  8.39593001e+00]
 [ 2.52178695e-01 -1.52015763e-02  9.67561273e-01  2.48716537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.20071405700001 meters
Centerline goodness : 0.999334 with order 1
Centerline is valid?  [True, True]
Translation: X:96.53, Y:8.40, Z:24.89
[[ 9.58683869e-01 -1.31950432e-01 -2.52020480e-01  9.65290770e+01]
 [ 1.31780215e-01  9.91122149e-01 -1.76312230e-02  8.40004957e+00]
 [ 2.52109527e-01 -1.63085440e-02  9.67561273e-01  2.48862577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.26071405700002 meters
Centerline goodness : 0.998958 with order 1
Centerline is valid?  [True, True]
Translation: X:96.59, Y:8.41, Z:24.90
[[ 9.58094608e-01 -1.36163675e-01 -2.52020188e-01  9.65877239e+01]
 [ 1.36134972e-01  9.90533322e-01 -1.76353897e-02  8.40527328e+00]
 [ 2.52035694e-01 -1.74123894e-02  9.67561273e-01  2.49002625e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.32071405700002 meters
Centerline goodness : 0.999023 with order 1
Centerline is valid?  [True, True]
Translation: X:96.64, Y:8.41, Z:24.92
[[ 9.57576378e-01 -1.39761419e-01 -2.52020290e-01  9.66448811e+01]
 [ 1.39854942e-01  9.90014969e-01 -1.76339297e-02  8.41056142e+00]
 [ 2.51968403e-01 -1.83604486e-02  9.67561273e-01  2.49156187e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.38071405700002 meters
Centerline goodness : 0.999136 with order 1
Centerline is valid?  [True, True]
Translation: X:96.70, Y:8.42, Z:24.93
[[ 9.57273859e-01 -1.41818166e-01 -2.52020566e-01  9.67033125e+01]
 [ 1.41982408e-01  9.89712170e-01 -1.76299811e-02  8.41520722e+00]
 [ 2.51928073e-01 -1.89057667e-02  9.67561273e-01  2.49315191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.44071405700001 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:96.76, Y:8.42, Z:24.95
[[ 9.56823280e-01 -1.44826393e-01 -2.52020885e-01  9.67610175e+01]
 [ 1.45093787e-01  9.89260905e-01 -1.76254265e-02  8.42110540e+00]
 [ 2.51867035e-01 -1.97022462e-02  9.67561273e-01  2.49462232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.50071405700001 meters
Centerline goodness : 0.999025 with order 1
Centerline is valid?  [True, True]
Translation: X:96.82, Y:8.43, Z:24.96
[[ 9.56438560e-01 -1.47346108e-01 -2.52020644e-01  9.68198945e+01]
 [ 1.47698039e-01  9.88875378e-01 -1.76288657e-02  8.42639165e+00]
 [ 2.51814555e-01 -2.03620281e-02  9.67561273e-01  2.49597972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.56071405700001 meters
Centerline goodness : 0.999154 with order 1
Centerline is valid?  [True, True]
Translation: X:96.88, Y:8.43, Z:24.97
[[ 9.56308348e-01 -1.48189072e-01 -2.52020521e-01  9.68794482e+01]
 [ 1.48569131e-01  9.88744848e-01 -1.76306316e-02  8.43332240e+00]
 [ 2.51796658e-01 -2.05821496e-02  9.67561273e-01  2.49739813e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.62071405700001 meters
Centerline goodness : 0.999001 with order 1
Centerline is valid?  [True, True]
Translation: X:96.94, Y:8.44, Z:24.99
[[ 9.56056812e-01 -1.49802200e-01 -2.52021175e-01  9.69386243e+01]
 [ 1.50239430e-01  9.88492592e-01 -1.76212747e-02  8.44123093e+00]
 [ 2.51760770e-01 -2.10165779e-02  9.67561274e-01  2.49905189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.68071405700002 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:97.00, Y:8.45, Z:25.00
[[ 9.55687458e-01 -1.52139141e-01 -2.52022150e-01  9.69967244e+01]
 [ 1.52659321e-01  9.88122014e-01 -1.76073254e-02  8.44755771e+00]
 [ 2.51707397e-01 -2.16464301e-02  9.67561274e-01  2.50049456e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.74071405700002 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:97.06, Y:8.45, Z:25.02
[[ 9.55289850e-01 -1.54616011e-01 -2.52022204e-01  9.70553097e+01]
 [ 1.55220474e-01  9.87722944e-01 -1.76065395e-02  8.45317780e+00]
 [ 2.51650367e-01 -2.22996575e-02  9.67561274e-01  2.50205096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.80071405700001 meters
Centerline goodness : 0.998974 with order 1
Centerline is valid?  [True, True]
Translation: X:97.12, Y:8.46, Z:25.04
[[ 9.55025440e-01 -1.56240362e-01 -2.52022536e-01  9.71153371e+01]
 [ 1.56901222e-01  9.87457434e-01 -1.76017947e-02  8.45822314e+00]
 [ 2.51611637e-01 -2.27324820e-02  9.67561274e-01  2.50359757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.86071405700001 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:97.17, Y:8.46, Z:25.05
[[ 9.54681608e-01 -1.58325597e-01 -2.52023874e-01  9.71729246e+01]
 [ 1.59062301e-01  9.87111967e-01 -1.75826133e-02  8.46403919e+00]
 [ 2.51559560e-01 -2.33016998e-02  9.67561274e-01  2.50500590e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.92071405700001 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:97.23, Y:8.47, Z:25.07
[[ 9.54614540e-01 -1.58729794e-01 -2.52023674e-01  9.72329733e+01]
 [ 1.59479478e-01  9.87044602e-01 -1.75854806e-02  8.46921506e+00]
 [ 2.51549947e-01 -2.34052485e-02  9.67561274e-01  2.50651676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.98071405700001 meters
Centerline goodness : 0.998908 with order 1
Centerline is valid?  [True, True]
Translation: X:97.29, Y:8.47, Z:25.08
[[ 9.54595414e-01 -1.58842710e-01 -2.52024978e-01  9.72921952e+01]
 [ 1.59601125e-01  9.87025273e-01 -1.75667807e-02  8.47408138e+00]
 [ 2.51545377e-01 -2.34543016e-02  9.67561274e-01  2.50795582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.04071405700002 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:97.35, Y:8.48, Z:25.09
[[ 9.54768022e-01 -1.57800855e-01 -2.52025621e-01  9.73520602e+01]
 [ 1.58526295e-01  9.87198636e-01 -1.75575455e-02  8.47934464e+00]
 [ 2.51569945e-01 -2.31893050e-02  9.67561274e-01  2.50945436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.10071405700002 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:97.41, Y:8.49, Z:25.11
[[ 9.55114472e-01 -1.55688203e-01 -2.52026841e-01  9.74096046e+01]
 [ 1.56346481e-01  9.87546518e-01 -1.75400206e-02  8.48607009e+00]
 [ 2.51619003e-01 -2.26507820e-02  9.67561274e-01  2.51107988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.16071405700002 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:97.47, Y:8.49, Z:25.12
[[ 9.55630240e-01 -1.52490348e-01 -2.52026859e-01  9.74683024e+01]
 [ 1.53040134e-01  9.88064307e-01 -1.75397559e-02  8.49083151e+00]
 [ 2.51693387e-01 -2.18087033e-02  9.67561274e-01  2.51248899e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.22071405700001 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:97.53, Y:8.50, Z:25.14
[[ 9.55825258e-01 -1.51263143e-01 -2.52026859e-01  9.75272174e+01]
 [ 1.51771282e-01  9.88260004e-01 -1.75397559e-02  8.49541515e+00]
 [ 2.51721183e-01 -2.14854979e-02  9.67561274e-01  2.51392668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.28071405700001 meters
Centerline goodness : 0.998675 with order 1
Centerline is valid?  [True, True]
Translation: X:97.59, Y:8.50, Z:25.15
[[ 9.56017713e-01 -1.50041431e-01 -2.52027184e-01  9.75858177e+01]
 [ 1.50509338e-01  9.88453064e-01 -1.75350862e-02  8.50097307e+00]
 [ 2.51748032e-01 -2.11685917e-02  9.67561274e-01  2.51545028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.34071405700001 meters
Centerline goodness : 0.998812 with order 1
Centerline is valid?  [True, True]
Translation: X:97.64, Y:8.50, Z:25.17
[[ 9.55982333e-01 -1.50265606e-01 -2.52027828e-01  9.76446529e+01]
 [ 1.50743543e-01  9.88417538e-01 -1.75258277e-02  8.50399706e+00]
 [ 2.51742254e-01 -2.12371860e-02  9.67561274e-01  2.51683743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.40071405700002 meters
Centerline goodness : 0.998744 with order 1
Centerline is valid?  [True, True]
Translation: X:97.71, Y:8.51, Z:25.18
[[ 9.55919142e-01 -1.50666843e-01 -2.52027967e-01  9.77050068e+01]
 [ 1.51158917e-01  9.88354136e-01 -1.75238278e-02  8.50728154e+00]
 [ 2.51733143e-01 -2.13449122e-02  9.67561274e-01  2.51825014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.46071405700002 meters
Centerline goodness : 0.998899 with order 1
Centerline is valid?  [True, True]
Translation: X:97.76, Y:8.51, Z:25.20
[[ 9.55910233e-01 -1.50721164e-01 -2.52029279e-01  9.77642089e+01]
 [ 1.51220026e-01  9.88345122e-01 -1.75049382e-02  8.51242104e+00]
 [ 2.51730273e-01 -2.13787245e-02  9.67561274e-01  2.51963313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.52071405700002 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:97.82, Y:8.52, Z:25.21
[[ 9.56044826e-01 -1.49864363e-01 -2.52029688e-01  9.78245457e+01]
 [ 1.50335697e-01  9.88480127e-01 -1.74990443e-02  8.51778306e+00]
 [ 2.51748821e-01 -2.11591881e-02  9.67561274e-01  2.52115828e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.58071405700001 meters
Centerline goodness : 0.999083 with order 1
Centerline is valid?  [True, True]
Translation: X:97.88, Y:8.52, Z:25.23
[[ 9.56327874e-01 -1.48045211e-01 -2.52030977e-01  9.78840815e+01]
 [ 1.48459700e-01  9.88763951e-01 -1.74804635e-02  8.52338648e+00]
 [ 2.51787043e-01 -2.06993888e-02  9.67561275e-01  2.52274030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.64071405700001 meters
Centerline goodness : 0.998920 with order 1
Centerline is valid?  [True, True]
Translation: X:97.94, Y:8.53, Z:25.25
[[ 9.57083962e-01 -1.43074244e-01 -2.52031846e-01  9.79407350e+01]
 [ 1.43323476e-01  9.89521729e-01 -1.74679229e-02  8.53150670e+00]
 [ 2.51890198e-01 -1.94038114e-02  9.67561275e-01  2.52450676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.70071405700001 meters
Centerline goodness : 0.998691 with order 1
Centerline is valid?  [True, True]
Translation: X:98.00, Y:8.54, Z:25.26
[[ 9.57452286e-01 -1.40588358e-01 -2.52031811e-01  9.79987806e+01]
 [ 1.40753219e-01  9.89890592e-01 -1.74684350e-02  8.53765962e+00]
 [ 2.51939777e-01 -1.87490957e-02  9.67561275e-01  2.52604399e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.76071405700002 meters
Centerline goodness : 0.998645 with order 1
Centerline is valid?  [True, True]
Translation: X:98.06, Y:8.54, Z:25.28
[[ 9.57872959e-01 -1.37693001e-01 -2.52031808e-01  9.80587798e+01]
 [ 1.37759779e-01  9.90311615e-01 -1.74684742e-02  8.54436489e+00]
 [ 2.51995313e-01 -1.79872671e-02  9.67561275e-01  2.52772389e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.82071405700002 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:98.12, Y:8.55, Z:25.29
[[ 9.58066052e-01 -1.36339963e-01 -2.52033440e-01  9.81179720e+01]
 [ 1.36367097e-01  9.90504766e-01 -1.74448951e-02  8.54921821e+00]
 [ 2.52018760e-01 -1.76557067e-02  9.67561275e-01  2.52916885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.88071405700002 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:98.18, Y:8.55, Z:25.31
[[ 9.58018967e-01 -1.36669916e-01 -2.52033712e-01  9.81756369e+01]
 [ 1.36709251e-01  9.90457669e-01 -1.74409632e-02  8.55257579e+00]
 [ 2.52012378e-01 -1.77465665e-02  9.67561275e-01  2.53057418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.94071405700001 meters
Centerline goodness : 0.998824 with order 1
Centerline is valid?  [True, True]
Translation: X:98.23, Y:8.56, Z:25.32
[[ 9.57782257e-01 -1.38318121e-01 -2.52034217e-01  9.82349803e+01]
 [ 1.38415181e-01  9.90220836e-01 -1.74336697e-02  8.55614505e+00]
 [ 2.51980925e-01 -1.81877023e-02  9.67561275e-01  2.53203674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.00071405700001 meters
Centerline goodness : 0.998869 with order 1
Centerline is valid?  [True, True]
Translation: X:98.29, Y:8.56, Z:25.33
[[ 9.57616036e-01 -1.39463114e-01 -2.52034853e-01  9.82942216e+01]
 [ 1.39601364e-01  9.90054467e-01 -1.74244716e-02  8.55921527e+00]
 [ 2.51958303e-01 -1.84984558e-02  9.67561275e-01  2.53349591e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.06071405700001 meters
Centerline goodness : 0.999050 with order 1
Centerline is valid?  [True, True]
Translation: X:98.35, Y:8.56, Z:25.35
[[ 9.57679197e-01 -1.39026922e-01 -2.52035852e-01  9.83543577e+01]
 [ 1.39154183e-01  9.90117672e-01 -1.74100078e-02  8.56229591e+00]
 [ 2.51965611e-01 -1.83986406e-02  9.67561275e-01  2.53504310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.12071405700001 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:98.41, Y:8.57, Z:25.37
[[ 9.57787425e-01 -1.38276964e-01 -2.52037160e-01  9.84124402e+01]
 [ 1.38383785e-01  9.90225974e-01 -1.73910551e-02  8.56671962e+00]
 [ 2.51978524e-01 -1.82209223e-02  9.67561275e-01  2.53662754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.18071405700002 meters
Centerline goodness : 0.999392 with order 1
Centerline is valid?  [True, True]
Translation: X:98.47, Y:8.57, Z:25.38
[[ 9.57657699e-01 -1.39171984e-01 -2.52037480e-01  9.84713344e+01]
 [ 1.39310336e-01  9.90096128e-01 -1.73864089e-02  8.57005846e+00]
 [ 2.51961034e-01 -1.84611977e-02  9.67561275e-01  2.53809426e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.24071405700002 meters
Centerline goodness : 0.999505 with order 1
Centerline is valid?  [True, True]
Translation: X:98.53, Y:8.57, Z:25.40
[[ 9.57236499e-01 -1.42039994e-01 -2.52037546e-01  9.85311810e+01]
 [ 1.42275765e-01  9.89674367e-01 -1.73854506e-02  8.57250502e+00]
 [ 2.51904528e-01 -1.92168468e-02  9.67561275e-01  2.53954315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.30071405700001 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:98.59, Y:8.58, Z:25.41
[[ 9.56932567e-01 -1.44072245e-01 -2.52038193e-01  9.85899847e+01]
 [ 1.44379349e-01  9.89369838e-01 -1.73760664e-02  8.57608663e+00]
 [ 2.51862395e-01 -1.97613864e-02  9.67561275e-01  2.54109746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.36071405700001 meters
Centerline goodness : 0.999281 with order 1
Centerline is valid?  [True, True]
Translation: X:98.65, Y:8.58, Z:25.43
[[ 9.56963707e-01 -1.43865150e-01 -2.52038254e-01  9.86494794e+01]
 [ 1.44165465e-01  9.89401042e-01 -1.73751871e-02  8.58041458e+00]
 [ 2.51866595e-01 -1.97077885e-02  9.67561275e-01  2.54274354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.42071405700001 meters
Centerline goodness : 0.999415 with order 1
Centerline is valid?  [True, True]
Translation: X:98.71, Y:8.58, Z:25.44
[[ 9.57029749e-01 -1.43422804e-01 -2.52039598e-01  9.87084734e+01]
 [ 1.43713235e-01  9.89467173e-01 -1.73556644e-02  8.58418617e+00]
 [ 2.51874107e-01 -1.96115389e-02  9.67561276e-01  2.54432359e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.48071405700001 meters
Centerline goodness : 0.999303 with order 1
Centerline is valid?  [True, True]
Translation: X:98.77, Y:8.59, Z:25.46
[[ 9.56921855e-01 -1.44139186e-01 -2.52040587e-01  9.87682208e+01]
 [ 1.44457663e-01  9.89359016e-01 -1.73412887e-02  8.58799249e+00]
 [ 2.51858187e-01 -1.98149360e-02  9.67561276e-01  2.54591030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.54071405700002 meters
Centerline goodness : 0.999145 with order 1
Centerline is valid?  [True, True]
Translation: X:98.83, Y:8.59, Z:25.47
[[ 9.56547493e-01 -1.46600769e-01 -2.52041877e-01  9.88277334e+01]
 [ 1.47007613e-01  9.88983666e-01 -1.73225281e-02  8.59082786e+00]
 [ 2.51804795e-01 -2.04822538e-02  9.67561276e-01  2.54740159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.60071405700002 meters
Centerline goodness : 0.999438 with order 1
Centerline is valid?  [True, True]
Translation: X:98.89, Y:8.59, Z:25.49
[[ 9.56132535e-01 -1.49281573e-01 -2.52042830e-01  9.88871859e+01]
 [ 1.49782973e-01  9.88567384e-01 -1.73086461e-02  8.59282008e+00]
 [ 2.51745183e-01 -2.12023648e-02  9.67561276e-01  2.54867062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.66071405700002 meters
Centerline goodness : 0.999573 with order 1
Centerline is valid?  [True, True]
Translation: X:98.95, Y:8.59, Z:25.50
[[ 9.55885916e-01 -1.50852146e-01 -2.52043142e-01  9.89456677e+01]
 [ 1.51408021e-01  9.88319877e-01 -1.73040990e-02  8.59491430e+00]
 [ 2.51709608e-01 -2.16206088e-02  9.67561276e-01  2.55008218e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.72071405700001 meters
Centerline goodness : 0.999731 with order 1
Centerline is valid?  [True, True]
Translation: X:99.00, Y:8.60, Z:25.52
[[ 9.56048814e-01 -1.49816513e-01 -2.52043008e-01  9.90045195e+01]
 [ 1.50336738e-01  9.88483366e-01 -1.73060567e-02  8.59802095e+00]
 [ 2.51733054e-01 -2.13458887e-02  9.67561276e-01  2.55173462e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.78071405700001 meters
Centerline goodness : 0.999192 with order 1
Centerline is valid?  [True, True]
Translation: X:99.06, Y:8.60, Z:25.53
[[ 9.56335270e-01 -1.47975966e-01 -2.52043577e-01  9.90620356e+01]
 [ 1.48435930e-01  9.88770733e-01 -1.72977574e-02  8.60247638e+00]
 [ 2.51772965e-01 -2.08698674e-02  9.67561276e-01  2.55328886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.84071405700001 meters
Centerline goodness : 0.999416 with order 1
Centerline is valid?  [True, True]
Translation: X:99.12, Y:8.61, Z:25.55
[[ 9.56677390e-01 -1.45748230e-01 -2.52043298e-01  9.91188087e+01]
 [ 1.46131584e-01  9.89113849e-01 -1.73018301e-02  8.60653162e+00]
 [ 2.51821228e-01 -2.02792168e-02  9.67561276e-01  2.55494608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.90071405700002 meters
Centerline goodness : 0.999259 with order 1
Centerline is valid?  [True, True]
Translation: X:99.17, Y:8.61, Z:25.56
[[ 9.56711396e-01 -1.45525881e-01 -2.52042700e-01  9.91748653e+01]
 [ 1.45899417e-01  9.89147969e-01 -1.73105382e-02  8.61056668e+00]
 [ 2.51826656e-01 -2.02116937e-02  9.67561276e-01  2.55632459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.96071405700002 meters
Centerline goodness : 0.999212 with order 1
Centerline is valid?  [True, True]
Translation: X:99.23, Y:8.61, Z:25.58
[[ 9.56875413e-01 -1.44446058e-01 -2.52041227e-01  9.92323854e+01]
 [ 1.44777380e-01  9.89312445e-01 -1.73319552e-02  8.61415205e+00]
 [ 2.51851055e-01 -1.99053468e-02  9.67561276e-01  2.55775653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.02071405700002 meters
Centerline goodness : 0.999596 with order 1
Centerline is valid?  [True, True]
Translation: X:99.29, Y:8.62, Z:25.59
[[ 9.57136876e-01 -1.42704276e-01 -2.52040651e-01  9.92904020e+01]
 [ 1.42974371e-01  9.89574475e-01 -1.73403213e-02  8.61801820e+00]
 [ 2.51887533e-01 -1.94382927e-02  9.67561276e-01  2.55925670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.08071405700001 meters
Centerline goodness : 0.999367 with order 1
Centerline is valid?  [True, True]
Translation: X:99.35, Y:8.62, Z:25.61
[[ 9.57547773e-01 -1.39921107e-01 -2.52040366e-01  9.93471899e+01]
 [ 1.40095815e-01  9.89986026e-01 -1.73444659e-02  8.62324072e+00]
 [ 2.51943297e-01 -1.87016458e-02  9.67561276e-01  2.56076192e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.14071405700001 meters
Centerline goodness : 0.999774 with order 1
Centerline is valid?  [True, True]
Translation: X:99.41, Y:8.63, Z:25.63
[[ 9.57844434e-01 -1.37876680e-01 -2.52039802e-01  9.94054277e+01]
 [ 1.37979995e-01  9.90282993e-01 -1.73526604e-02  8.62737118e+00]
 [ 2.51983257e-01 -1.81553014e-02  9.67561276e-01  2.56254136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.20071405700001 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:99.46, Y:8.63, Z:25.64
[[ 9.58359531e-01 -1.34249588e-01 -2.52039793e-01  9.94643930e+01]
 [ 1.34230067e-01  9.90798249e-01 -1.73527864e-02  8.63360008e+00]
 [ 2.52050190e-01 -1.72011102e-02  9.67561276e-01  2.56406630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.26071405700002 meters
Centerline goodness : 0.999706 with order 1
Centerline is valid?  [True, True]
Translation: X:99.52, Y:8.64, Z:25.66
[[ 9.58612349e-01 -1.32431659e-01 -2.52040115e-01  9.95225291e+01]
 [ 1.32351836e-01  9.91050975e-01 -1.73481143e-02  8.63888558e+00]
 [ 2.52082041e-01 -1.67278553e-02  9.67561276e-01  2.56561621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.32071405700002 meters
Centerline goodness : 0.999231 with order 1
Centerline is valid?  [True, True]
Translation: X:99.58, Y:8.65, Z:25.67
[[ 9.58901833e-01 -1.30318431e-01 -2.52040434e-01  9.95795097e+01]
 [ 1.30168323e-01  9.91340210e-01 -1.73434764e-02  8.64562331e+00]
 [ 2.52117991e-01 -1.61769894e-02  9.67561276e-01  2.56710478e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.38071405700002 meters
Centerline goodness : 0.999548 with order 1
Centerline is valid?  [True, True]
Translation: X:99.64, Y:8.65, Z:25.69
[[ 9.59149757e-01 -1.28481598e-01 -2.52040121e-01  9.96370378e+01]
 [ 1.28268171e-01  9.91587778e-01 -1.73480219e-02  8.65210628e+00]
 [ 2.52148806e-01 -1.56893744e-02  9.67561276e-01  2.56867968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.44071405700001 meters
Centerline goodness : 0.999526 with order 1
Centerline is valid?  [True, True]
Translation: X:99.69, Y:8.66, Z:25.70
[[ 9.59304187e-01 -1.27324991e-01 -2.52039329e-01  9.96937098e+01]
 [ 1.27069439e-01  9.91741904e-01 -1.73595295e-02  8.65860580e+00]
 [ 2.52168266e-01 -1.53734268e-02  9.67561276e-01  2.57013731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.50071405700001 meters
Centerline goodness : 0.999592 with order 1
Centerline is valid?  [True, True]
Translation: X:99.75, Y:8.66, Z:25.72
[[ 9.59087245e-01 -1.28950153e-01 -2.52038717e-01  9.97498508e+01]
 [ 1.28747237e-01  9.91525334e-01 -1.73684075e-02  8.66448101e+00]
 [ 2.52142432e-01 -1.57914702e-02  9.67561276e-01  2.57179732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.56071405700001 meters
Centerline goodness : 0.999480 with order 1
Centerline is valid?  [True, True]
Translation: X:99.81, Y:8.67, Z:25.74
[[ 9.58823962e-01 -1.30901509e-01 -2.52034531e-01  9.98095786e+01]
 [ 1.30748755e-01  9.91262324e-01 -1.74289409e-02  8.66847343e+00]
 [ 2.52113810e-01 -1.62419151e-02  9.67561278e-01  2.57360144e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.62071405700001 meters
Centerline goodness : 0.999593 with order 1
Centerline is valid?  [True, True]
Translation: X:99.87, Y:8.67, Z:25.75
[[ 9.58671414e-01 -1.32011586e-01 -2.52035834e-01  9.98677761e+01]
 [ 1.31901328e-01  9.91109948e-01 -1.74100769e-02  8.67254114e+00]
 [ 2.52093555e-01 -1.65533182e-02  9.67561278e-01  2.57477094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.68071405700002 meters
Centerline goodness : 0.999683 with order 1
Centerline is valid?  [True, True]
Translation: X:99.92, Y:8.68, Z:25.76
[[ 9.58787275e-01 -1.31167141e-01 -2.52035995e-01  9.99243057e+01]
 [ 1.31028919e-01  9.91225702e-01 -1.74077555e-02  8.67792448e+00]
 [ 2.52107881e-01 -1.63336696e-02  9.67561278e-01  2.57616981e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.74071405700002 meters
Centerline goodness : 0.999433 with order 1
Centerline is valid?  [True, True]
Translation: X:99.98, Y:8.68, Z:25.78
[[ 9.59029314e-01 -1.29387269e-01 -2.52035135e-01  9.99830770e+01]
 [ 1.29185580e-01  9.91467409e-01 -1.74201985e-02  8.68227158e+00]
 [ 2.52138574e-01 -1.58528239e-02  9.67561278e-01  2.57807650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.80071405700001 meters
Centerline goodness : 0.999023 with order 1
Centerline is valid?  [True, True]
Translation: X:100.04, Y:8.69, Z:25.80
[[ 9.59591672e-01 -1.25146481e-01 -2.52036073e-01  1.00041676e+02]
 [ 1.24804953e-01  9.92028595e-01 -1.74066109e-02  8.68735615e+00]
 [ 2.52205368e-01 -1.47521114e-02  9.67561279e-01  2.57971762e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.86071405700001 meters
Centerline goodness : 0.998614 with order 1
Centerline is valid?  [True, True]
Translation: X:100.10, Y:8.69, Z:25.80
[[ 9.60939382e-01 -1.14337917e-01 -2.52036395e-01  1.00102429e+02]
 [ 1.13632539e-01  9.93370434e-01 -1.74019513e-02  8.68600822e+00]
 [ 2.52355206e-01 -1.19173150e-02  9.67561279e-01  2.58048029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.92071405700001 meters
Centerline goodness : 0.998636 with order 1
Centerline is valid?  [True, True]
Translation: X:100.16, Y:8.69, Z:25.83
[[ 9.61980087e-01 -1.05223586e-01 -2.52036326e-01  1.00158386e+02]
 [ 1.04210548e-01  9.94402986e-01 -1.74029532e-02  8.69380888e+00]
 [ 2.52456876e-01 -9.52354915e-03  9.67561279e-01  2.58276955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.98071405700001 meters
Centerline goodness : 0.998858 with order 1
Centerline is valid?  [True, True]
Translation: X:100.21, Y:8.70, Z:25.85
[[ 9.63086122e-01 -9.45666369e-02 -2.52036255e-01  1.00214692e+02]
 [ 9.31944241e-02  9.95495807e-01 -1.74039802e-02  8.69957804e+00]
 [ 2.52546871e-01 -6.72684184e-03  9.67561279e-01  2.58495815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.04071405700002 meters
Centerline goodness : 0.998869 with order 1
Centerline is valid?  [True, True]
Translation: X:100.27, Y:8.69, Z:25.86
[[ 9.63359664e-01 -9.17382811e-02 -2.52036198e-01  1.00273059e+02]
 [ 9.02706916e-02  9.95765171e-01 -1.74048094e-02  8.69017649e+00]
 [ 2.52565555e-01 -5.98439056e-03  9.67561279e-01  2.58567172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.10071405700002 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:100.33, Y:8.69, Z:25.87
[[ 9.63076026e-01 -9.46737320e-02 -2.52034624e-01  1.00330390e+02]
 [ 9.32989549e-02  9.95485603e-01 -1.74275675e-02  8.69033955e+00]
 [ 2.52546772e-01 -6.73049459e-03  9.67561279e-01  2.58737358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.16071405700002 meters
Centerline goodness : 0.998607 with order 1
Centerline is valid?  [True, True]
Translation: X:100.39, Y:8.68, Z:25.89
[[ 9.61963399e-01 -1.05381641e-01 -2.52033984e-01  1.00387941e+02]
 [ 1.04365071e-01  9.94386187e-01 -1.74368139e-02  8.68466785e+00]
 [ 2.52456633e-01 -9.52996791e-03  9.67561279e-01  2.58931342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.22071405700001 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:100.45, Y:8.68, Z:25.91
[[ 9.61277827e-01 -1.11462224e-01 -2.52033950e-01  1.00445068e+02]
 [ 1.10650563e-01  9.93706392e-01 -1.74373018e-02  8.67816234e+00]
 [ 2.52391348e-01 -1.11256069e-02  9.67561279e-01  2.59059301e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.28071405700001 meters
Centerline goodness : 0.999286 with order 1
Centerline is valid?  [True, True]
Translation: X:100.50, Y:8.68, Z:25.92
[[ 9.60406959e-01 -1.18735056e-01 -2.52032657e-01  1.00503850e+02]
 [ 1.18163984e-01  9.92840653e-01 -1.74559821e-02  8.67576379e+00]
 [ 2.52300904e-01 -1.30163362e-02  9.67561279e-01  2.59230972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.34071405700001 meters
Centerline goodness : 0.999333 with order 1
Centerline is valid?  [True, True]
Translation: X:100.56, Y:8.67, Z:25.94
[[ 9.60006167e-01 -1.21933377e-01 -2.52032560e-01  1.00563437e+02]
 [ 1.21469976e-01  9.92441578e-01 -1.74573789e-02  8.67172215e+00]
 [ 2.52256229e-01 -1.38551975e-02  9.67561279e-01  2.59373691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.40071405700002 meters
Centerline goodness : 0.999333 with order 1
Centerline is valid?  [True, True]
Translation: X:100.62, Y:8.67, Z:25.95
[[ 9.59861032e-01 -1.23070917e-01 -2.52032435e-01  1.00622264e+02]
 [ 1.22645479e-01  9.92296963e-01 -1.74591858e-02  8.66779329e+00]
 [ 2.52239738e-01 -1.41522466e-02  9.67561279e-01  2.59499288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.46071405700002 meters
Centerline goodness : 0.999314 with order 1
Centerline is valid?  [True, True]
Translation: X:100.68, Y:8.67, Z:25.97
[[ 9.59859505e-01 -1.23084128e-01 -2.52031798e-01  1.00678932e+02]
 [ 1.22656733e-01  9.92295411e-01 -1.74683708e-02  8.66761096e+00]
 [ 2.52240076e-01 -1.41462151e-02  9.67561279e-01  2.59666730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.52071405700002 meters
Centerline goodness : 0.999402 with order 1
Centerline is valid?  [True, True]
Translation: X:100.74, Y:8.67, Z:25.98
[[ 9.59887934e-01 -1.22871275e-01 -2.52027387e-01  1.00736372e+02]
 [ 1.22420089e-01  9.92323515e-01 -1.75317841e-02  8.66820026e+00]
 [ 2.52246856e-01 -1.40246671e-02  9.67561281e-01  2.59807428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.58071405700001 meters
Centerline goodness : 0.999228 with order 1
Centerline is valid?  [True, True]
Translation: X:100.79, Y:8.67, Z:25.99
[[ 9.60059913e-01 -1.21529952e-01 -2.52022686e-01  1.00794990e+02]
 [ 1.21015821e-01  9.92494555e-01 -1.75991175e-02  8.66720088e+00]
 [ 2.52269964e-01 -1.36025250e-02  9.67561283e-01  2.59941325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.64071405700001 meters
Centerline goodness : 0.999207 with order 1
Centerline is valid?  [True, True]
Translation: X:100.85, Y:8.67, Z:26.01
[[ 9.60314564e-01 -1.19501769e-01 -2.52022350e-01  1.00852293e+02]
 [ 1.18917872e-01  9.92748025e-01 -1.76039217e-02  8.67020180e+00]
 [ 2.52298391e-01 -1.30646591e-02  9.67561283e-01  2.60089409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.70071405700001 meters
Centerline goodness : 0.998902 with order 1
Centerline is valid?  [True, True]
Translation: X:100.91, Y:8.67, Z:26.02
[[ 9.60494553e-01 -1.18047793e-01 -2.52021690e-01  1.00909184e+02]
 [ 1.17412322e-01  9.92927045e-01 -1.76133687e-02  8.67101304e+00]
 [ 2.52318371e-01 -1.26729071e-02  9.67561283e-01  2.60230702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.76071405700002 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:100.97, Y:8.67, Z:26.04
[[ 9.60686053e-01 -1.16489066e-01 -2.52017075e-01  1.00967277e+02]
 [ 1.15783747e-01  9.93117098e-01 -1.76791687e-02  8.67345538e+00]
 [ 2.52341896e-01 -1.21953503e-02  9.67561285e-01  2.60360712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.82071405700002 meters
Centerline goodness : 0.999162 with order 1
Centerline is valid?  [True, True]
Translation: X:101.02, Y:8.68, Z:26.05
[[ 9.60615466e-01 -1.17070543e-01 -2.52016696e-01  1.01024749e+02]
 [ 1.16383442e-01  9.93046903e-01 -1.76845631e-02  8.67753511e+00]
 [ 2.52334741e-01 -1.23425058e-02  9.67561285e-01  2.60496669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.88071405700002 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:101.08, Y:8.68, Z:26.07
[[ 9.60661969e-01 -1.16688342e-01 -2.52016692e-01  1.01081204e+02]
 [ 1.15988322e-01  9.93093129e-01 -1.76846270e-02  8.68231168e+00]
 [ 2.52339635e-01 -1.22420445e-02  9.67561285e-01  2.60655699e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.94071405700001 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:101.14, Y:8.69, Z:26.08
[[ 9.60698748e-01 -1.16387952e-01 -2.52015396e-01  1.01138381e+02]
 [ 1.15672964e-01  9.93129582e-01 -1.77030712e-02  8.68677116e+00]
 [ 2.52344369e-01 -1.21440495e-02  9.67561286e-01  2.60805076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.00071405700001 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:101.20, Y:8.69, Z:26.10
[[ 9.61086643e-01 -1.13149824e-01 -2.52011075e-01  1.01195865e+02]
 [ 1.12309504e-01  9.93514470e-01 -1.77643876e-02  8.69476002e+00]
 [ 2.52386686e-01 -1.12301232e-02  9.67561287e-01  2.60953823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.06071405700001 meters
Centerline goodness : 0.998272 with order 1
Centerline is valid?  [True, True]
Translation: X:101.25, Y:8.70, Z:26.11
[[ 9.61873632e-01 -1.06253012e-01 -2.52010742e-01  1.01253573e+02]
 [ 1.05178874e-01  9.94294556e-01 -1.77691076e-02  8.70371176e+00]
 [ 2.52460930e-01 -9.41456991e-03  9.67561287e-01  2.61076577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.12071405700001 meters
Centerline goodness : 0.998691 with order 1
Centerline is valid?  [True, True]
Translation: X:101.31, Y:8.71, Z:26.12
[[ 9.62566919e-01 -9.97782843e-02 -2.52010359e-01  1.01311454e+02]
 [ 9.84845932e-02  9.94979824e-01 -1.77745407e-02  8.71275363e+00]
 [ 2.52518735e-01 -7.70995279e-03  9.67561287e-01  2.61234339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.18071405700002 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:101.37, Y:8.72, Z:26.14
[[ 9.62769493e-01 -9.78044577e-02 -2.52010301e-01  1.01367219e+02]
 [ 9.64440967e-02  9.95179669e-01 -1.77753597e-02  8.72153641e+00]
 [ 2.52534037e-01 -7.19133177e-03  9.67561287e-01  2.61409282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.24071405700002 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:101.42, Y:8.73, Z:26.16
[[ 9.62569346e-01 -9.97668041e-02 -2.52005631e-01  1.01424195e+02]
 [ 9.84552583e-02  9.94981532e-01 -1.78413235e-02  8.72629586e+00]
 [ 2.52520921e-01 -7.63776838e-03  9.67561290e-01  2.61564366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.30071405700001 meters
Centerline goodness : 0.999201 with order 1
Centerline is valid?  [True, True]
Translation: X:101.48, Y:8.73, Z:26.17
[[ 9.61840985e-01 -1.06565933e-01 -2.52003219e-01  1.01482673e+02]
 [ 1.05474550e-01  9.94261330e-01 -1.78753350e-02  8.73022498e+00]
 [ 2.52461957e-01 -9.38669620e-03  9.67561290e-01  2.61708733e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.36071405700001 meters
Centerline goodness : 0.999555 with order 1
Centerline is valid?  [True, True]
Translation: X:101.54, Y:8.73, Z:26.18
[[ 9.60764932e-01 -1.15867181e-01 -2.52003058e-01  1.01540724e+02]
 [ 1.15088936e-01  9.93194305e-01 -1.78776046e-02  8.73421849e+00]
 [ 2.52359430e-01 -1.18265881e-02  9.67561290e-01  2.61844997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.42071405700001 meters
Centerline goodness : 0.999492 with order 1
Centerline is valid?  [True, True]
Translation: X:101.60, Y:8.74, Z:26.20
[[ 9.59842562e-01 -1.23275502e-01 -2.52002790e-01  1.01599067e+02]
 [ 1.22746465e-01  9.92276958e-01 -1.78813859e-02  8.73598371e+00]
 [ 2.52260898e-01 -1.37691362e-02  9.67561290e-01  2.61993176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.48071405700001 meters
Centerline goodness : 0.999247 with order 1
Centerline is valid?  [True, True]
Translation: X:101.66, Y:8.74, Z:26.22
[[ 9.59458472e-01 -1.26230575e-01 -2.52002544e-01  1.01657162e+02]
 [ 1.25800510e-01  9.91894331e-01 -1.78848472e-02  8.73963728e+00]
 [ 2.52217509e-01 -1.45422803e-02  9.67561290e-01  2.62157038e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.54071405700002 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:101.71, Y:8.74, Z:26.23
[[ 9.59430997e-01 -1.26439901e-01 -2.52002209e-01  1.01713188e+02]
 [ 1.26015677e-01  9.91866933e-01 -1.78895663e-02  8.74419629e+00]
 [ 2.52214613e-01 -1.45924245e-02  9.67561290e-01  2.62319826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.60071405700002 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:101.77, Y:8.75, Z:26.25
[[ 9.59501231e-01 -1.25915346e-01 -2.51997446e-01  1.01769193e+02]
 [ 1.25455888e-01  9.91936685e-01 -1.79564213e-02  8.74722392e+00]
 [ 2.52226500e-01 -1.43853549e-02  9.67561292e-01  2.62483842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.66071405700002 meters
Centerline goodness : 0.999162 with order 1
Centerline is valid?  [True, True]
Translation: X:101.83, Y:8.75, Z:26.26
[[ 9.59574034e-01 -1.25368835e-01 -2.51992716e-01  1.01825149e+02]
 [ 1.24873587e-01  9.92008959e-01 -1.80225646e-02  8.75018980e+00]
 [ 2.52238499e-01 -1.41732493e-02  9.67561294e-01  2.62645165e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.72071405700001 meters
Centerline goodness : 0.999078 with order 1
Centerline is valid?  [True, True]
Translation: X:101.88, Y:8.75, Z:26.28
[[ 9.59406139e-01 -1.26656807e-01 -2.51987924e-01  1.01881076e+02]
 [ 1.26187622e-01  9.91841449e-01 -1.80893237e-02  8.75214688e+00]
 [ 2.52223203e-01 -1.44427487e-02  9.67561297e-01  2.62769120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.78071405700001 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:101.94, Y:8.75, Z:26.29
[[ 9.59094914e-01 -1.28998194e-01 -2.51984943e-01  1.01938836e+02]
 [ 1.28597334e-01  9.91531140e-01 -1.81307552e-02  8.75425384e+00]
 [ 2.52189752e-01 -1.50154769e-02  9.67561297e-01  2.62902805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.84071405700001 meters
Centerline goodness : 0.999167 with order 1
Centerline is valid?  [True, True]
Translation: X:102.00, Y:8.76, Z:26.30
[[ 9.58443428e-01 -1.33755420e-01 -2.51983498e-01  1.01998275e+02]
 [ 1.33510253e-01  9.90881204e-01 -1.81508224e-02  8.75566438e+00]
 [ 2.52113482e-01 -1.62458440e-02  9.67561298e-01  2.63036770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.90071405700002 meters
Centerline goodness : 0.999364 with order 1
Centerline is valid?  [True, True]
Translation: X:102.06, Y:8.76, Z:26.32
[[ 9.57841058e-01 -1.38002961e-01 -2.51983513e-01  1.02055881e+02]
 [ 1.37901652e-01  9.90279602e-01 -1.81506023e-02  8.75796912e+00]
 [ 2.52038970e-01 -1.73635507e-02  9.67561298e-01  2.63201645e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.96071405700002 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:102.11, Y:8.76, Z:26.33
[[ 9.57536851e-01 -1.40099390e-01 -2.51982818e-01  1.02113362e+02]
 [ 1.40066564e-01  9.89975536e-01 -1.81602525e-02  8.75985743e+00]
 [ 2.52001066e-01 -1.79052566e-02  9.67561298e-01  2.63347625e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.02071405700002 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:102.17, Y:8.76, Z:26.35
[[ 9.57244439e-01 -1.42084185e-01 -2.51982477e-01  1.02170442e+02]
 [ 1.42117372e-01  9.89683124e-01 -1.81649792e-02  8.76084179e+00]
 [ 2.51963761e-01 -1.84227621e-02  9.67561298e-01  2.63497807e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.08071405700001 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:102.23, Y:8.76, Z:26.37
[[ 9.56769639e-01 -1.45255127e-01 -2.51977789e-01  1.02229005e+02]
 [ 1.45378827e-01  9.89208103e-01 -1.82297862e-02  8.76255506e+00]
 [ 2.51906441e-01 -1.91905295e-02  9.67561300e-01  2.63657121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.14071405700001 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:102.29, Y:8.76, Z:26.38
[[ 9.56286900e-01 -1.48399967e-01 -2.51977804e-01  1.02286929e+02]
 [ 1.48630370e-01  9.88724783e-01 -1.82295820e-02  8.76458124e+00]
 [ 2.51841969e-01 -2.00188437e-02  9.67561300e-01  2.63790220e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.20071405700001 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:102.35, Y:8.76, Z:26.39
[[ 9.55759804e-01 -1.51758172e-01 -2.51977488e-01  1.02345098e+02]
 [ 1.52101375e-01  9.88196689e-01 -1.82339414e-02  8.76493517e+00]
 [ 2.51770469e-01 -2.08988541e-02  9.67561300e-01  2.63932677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.26071405700002 meters
Centerline goodness : 0.998929 with order 1
Centerline is valid?  [True, True]
Translation: X:102.40, Y:8.77, Z:26.41
[[ 9.55873719e-01 -1.51040136e-01 -2.51976806e-01  1.02402710e+02]
 [ 1.51356505e-01  9.88310876e-01 -1.82433606e-02  8.76841406e+00]
 [ 2.51786898e-01 -2.06999798e-02  9.67561300e-01  2.64082524e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.32071405700002 meters
Centerline goodness : 0.999300 with order 1
Centerline is valid?  [True, True]
Translation: X:102.46, Y:8.77, Z:26.42
[[ 9.56397996e-01 -1.47685144e-01 -2.51976132e-01  1.02460030e+02]
 [ 1.47885254e-01  9.88836079e-01 -1.82526729e-02  8.77374642e+00]
 [ 2.51858739e-01 -1.98067344e-02  9.67561300e-01  2.64240161e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.38071405700002 meters
Centerline goodness : 0.998926 with order 1
Centerline is valid?  [True, True]
Translation: X:102.52, Y:8.78, Z:26.44
[[ 9.56934379e-01 -1.44169906e-01 -2.51975460e-01  1.02517791e+02]
 [ 1.44248394e-01  9.89372984e-01 -1.82619472e-02  8.77985137e+00]
 [ 2.51930536e-01 -1.88715703e-02  9.67561300e-01  2.64387781e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.44071405700001 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:102.57, Y:8.79, Z:26.45
[[ 9.57116281e-01 -1.42958039e-01 -2.51975048e-01  1.02574338e+02]
 [ 1.42993962e-01  9.89554961e-01 -1.82676341e-02  8.78513436e+00]
 [ 2.51954663e-01 -1.85466604e-02  9.67561300e-01  2.64547907e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.50071405700001 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:102.63, Y:8.79, Z:26.47
[[ 9.57028904e-01 -1.43550195e-01 -2.51970271e-01  1.02630638e+02]
 [ 1.43588997e-01  9.89467579e-01 -1.83332864e-02  8.78983872e+00]
 [ 2.51948161e-01 -1.86346736e-02  9.67561302e-01  2.64688233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.56071405700001 meters
Centerline goodness : 0.999232 with order 1
Centerline is valid?  [True, True]
Translation: X:102.69, Y:8.79, Z:26.48
[[ 9.56828374e-01 -1.44883127e-01 -2.51968931e-01  1.02687245e+02]
 [ 1.44962294e-01  9.89266975e-01 -1.83516942e-02  8.79448551e+00]
 [ 2.51923393e-01 -1.89665724e-02  9.67561302e-01  2.64823266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.62071405700001 meters
Centerline goodness : 0.998865 with order 1
Centerline is valid?  [True, True]
Translation: X:102.74, Y:8.80, Z:26.50
[[ 9.56718490e-01 -1.45609888e-01 -2.51967244e-01  1.02743829e+02]
 [ 1.45707637e-01  9.89157040e-01 -1.83748287e-02  8.79986823e+00]
 [ 2.51910730e-01 -1.91340134e-02  9.67561302e-01  2.64966837e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.68071405700002 meters
Centerline goodness : 0.999364 with order 1
Centerline is valid?  [True, True]
Translation: X:102.80, Y:8.81, Z:26.51
[[ 9.56536857e-01 -1.46800627e-01 -2.51965905e-01  1.02800548e+02]
 [ 1.46933952e-01  9.88975280e-01 -1.83931681e-02  8.80540104e+00]
 [ 2.51888180e-01 -1.94286029e-02  9.67561303e-01  2.65136578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.74071405700002 meters
Centerline goodness : 0.999101 with order 1
Centerline is valid?  [True, True]
Translation: X:102.86, Y:8.81, Z:26.53
[[ 9.56260302e-01 -1.48592562e-01 -2.51965246e-01  1.02857184e+02]
 [ 1.48784300e-01  9.88698433e-01 -1.84021925e-02  8.81017323e+00]
 [ 2.51852073e-01 -1.98911866e-02  9.67561303e-01  2.65280388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.80071405700002 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:102.92, Y:8.82, Z:26.54
[[ 9.55897032e-01 -1.50919524e-01 -2.51960635e-01  1.02915614e+02]
 [ 1.51173735e-01  9.88334731e-01 -1.84651152e-02  8.81506945e+00]
 [ 2.51808193e-01 -2.04390814e-02  9.67561305e-01  2.65427676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.86071405700001 meters
Centerline goodness : 0.999099 with order 1
Centerline is valid?  [True, True]
Translation: X:102.97, Y:8.82, Z:26.56
[[ 9.55329287e-01 -1.54472573e-01 -2.51960667e-01  1.02974014e+02]
 [ 1.54847501e-01  9.87765816e-01 -1.84646837e-02  8.82168013e+00]
 [ 2.51730421e-01 -2.13756265e-02  9.67561305e-01  2.65580282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.92071405700001 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:103.03, Y:8.83, Z:26.57
[[ 9.54972633e-01 -1.56662351e-01 -2.51960667e-01  1.03031887e+02]
 [ 1.57111643e-01  9.87408217e-01 -1.84646837e-02  8.82861842e+00]
 [ 2.51680753e-01 -2.19526866e-02  9.67561305e-01  2.65731538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.98071405700001 meters
Centerline goodness : 0.999055 with order 1
Centerline is valid?  [True, True]
Translation: X:103.09, Y:8.84, Z:26.59
[[ 9.54703210e-01 -1.58296154e-01 -2.51960530e-01  1.03088404e+02]
 [ 1.58800456e-01  9.87137985e-01 -1.84665493e-02  8.83511622e+00]
 [ 2.51642993e-01 -2.23813732e-02  9.67561305e-01  2.65861755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.04071405700002 meters
Centerline goodness : 0.999162 with order 1
Centerline is valid?  [True, True]
Translation: X:103.15, Y:8.84, Z:26.60
[[ 9.54773996e-01 -1.57870787e-01 -2.51959185e-01  1.03147705e+02]
 [ 1.58355837e-01  9.87209065e-01 -1.84848822e-02  8.84081120e+00]
 [ 2.51654614e-01 -2.22503229e-02  9.67561305e-01  2.66026538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.10071405700002 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:103.20, Y:8.85, Z:26.62
[[ 9.55401500e-01 -1.54026589e-01 -2.51959886e-01  1.03204840e+02]
 [ 1.54383590e-01  9.87838230e-01 -1.84753218e-02  8.84746610e+00]
 [ 2.51741299e-01 -2.12471216e-02  9.67561305e-01  2.66175030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.16071405700002 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:103.26, Y:8.85, Z:26.63
[[ 9.56163263e-01 -1.49225411e-01 -2.51959503e-01  1.03262427e+02]
 [ 1.49418100e-01  9.88601386e-01 -1.84805488e-02  8.85448203e+00]
 [ 2.51845281e-01 -1.99768882e-02  9.67561305e-01  2.66343058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.22071405700001 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:103.32, Y:8.86, Z:26.65
[[ 9.56515741e-01 -1.46949266e-01 -2.51959423e-01  1.03319072e+02]
 [ 1.47064466e-01  9.88954232e-01 -1.84816347e-02  8.86023378e+00]
 [ 2.51892200e-01 -1.93763034e-02  9.67561305e-01  2.66482564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.28071405700001 meters
Centerline goodness : 0.998897 with order 1
Centerline is valid?  [True, True]
Translation: X:103.38, Y:8.87, Z:26.66
[[ 9.56367897e-01 -1.47916284e-01 -2.51954794e-01  1.03376036e+02]
 [ 1.48047811e-01  9.88806324e-01 -1.85445285e-02  8.86675608e+00]
 [ 2.51877532e-01 -1.95659641e-02  9.67561307e-01  2.66631806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.34071405700001 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:103.43, Y:8.87, Z:26.68
[[ 9.56154922e-01 -1.49294278e-01 -2.51950359e-01  1.03433214e+02]
 [ 1.49456820e-01  9.88593207e-01 -1.86045964e-02  8.87228761e+00]
 [ 2.51853973e-01 -1.98668230e-02  9.67561308e-01  2.66771902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.40071405700002 meters
Centerline goodness : 0.998671 with order 1
Centerline is valid?  [True, True]
Translation: X:103.49, Y:8.88, Z:26.69
[[ 9.56074915e-01 -1.49805788e-01 -2.51950356e-01  1.03490061e+02]
 [ 1.49985674e-01  9.88513108e-01 -1.86046376e-02  8.87936584e+00]
 [ 2.51843312e-01 -2.00015166e-02  9.67561308e-01  2.66928200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.46071405700002 meters
Centerline goodness : 0.999001 with order 1
Centerline is valid?  [True, True]
Translation: X:103.55, Y:8.89, Z:26.71
[[ 9.56625224e-01 -1.46251633e-01 -2.51949677e-01  1.03547033e+02]
 [ 1.46308558e-01  9.89063866e-01 -1.86138311e-02  8.88664150e+00]
 [ 2.51916625e-01 -1.90559336e-02  9.67561308e-01  2.67083476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.52071405700002 meters
Centerline goodness : 0.998938 with order 1
Centerline is valid?  [True, True]
Translation: X:103.60, Y:8.89, Z:26.73
[[ 9.57645190e-01 -1.39417596e-01 -2.51949249e-01  1.03604693e+02]
 [ 1.39241391e-01  9.90083403e-01 -1.86196203e-02  8.89347470e+00]
 [ 2.52046673e-01 -1.72507741e-02  9.67561308e-01  2.67258949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.58071405700001 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:103.66, Y:8.90, Z:26.74
[[ 9.58596863e-01 -1.32716493e-01 -2.51949175e-01  1.03661635e+02]
 [ 1.32313159e-01  9.91033047e-01 -1.86206246e-02  8.90004873e+00]
 [ 2.52161222e-01 -1.54865189e-02  9.67561308e-01  2.67420150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.64071405700001 meters
Centerline goodness : 0.999176 with order 1
Centerline is valid?  [True, True]
Translation: X:103.72, Y:8.91, Z:26.76
[[ 9.59384963e-01 -1.26894885e-01 -2.51948768e-01  1.03719283e+02]
 [ 1.26293214e-01  9.91818074e-01 -1.86261275e-02  8.90551390e+00]
 [ 2.52250902e-01 -1.39497931e-02  9.67561308e-01  2.67575994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.70071405700001 meters
Centerline goodness : 0.998823 with order 1
Centerline is valid?  [True, True]
Translation: X:103.78, Y:8.91, Z:26.77
[[ 9.59889448e-01 -1.23020805e-01 -2.51948662e-01  1.03777233e+02]
 [ 1.22287831e-01  9.92319858e-01 -1.86275638e-02  8.91045937e+00]
 [ 2.52305238e-01 -1.29298533e-02  9.67561308e-01  2.67726165e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.76071405700002 meters
Centerline goodness : 0.998862 with order 1
Centerline is valid?  [True, True]
Translation: X:103.83, Y:8.92, Z:26.79
[[ 9.60290985e-01 -1.19846601e-01 -2.51948439e-01  1.03834741e+02]
 [ 1.19005623e-01  9.92718774e-01 -1.86305721e-02  8.91578461e+00]
 [ 2.52346756e-01 -1.20925105e-02  9.67561308e-01  2.67856928e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.82071405700002 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:103.89, Y:8.92, Z:26.80
[[ 9.60270392e-01 -1.20012900e-01 -2.51947767e-01  1.03892102e+02]
 [ 1.19175159e-01  9.92698265e-01 -1.86396590e-02  8.91910079e+00]
 [ 2.52345111e-01 -1.21268026e-02  9.67561309e-01  2.67993032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.88071405700002 meters
Centerline goodness : 0.999510 with order 1
Centerline is valid?  [True, True]
Translation: X:103.95, Y:8.92, Z:26.81
[[ 9.60107298e-01 -1.21313568e-01 -2.51946412e-01  1.03947776e+02]
 [ 1.20514963e-01  9.92536158e-01 -1.86579648e-02  8.92206980e+00]
 [ 2.52329387e-01 -1.24496643e-02  9.67561309e-01  2.68140774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.94071405700001 meters
Centerline goodness : 0.999397 with order 1
Centerline is valid?  [True, True]
Translation: X:104.00, Y:8.93, Z:26.83
[[ 9.59934595e-01 -1.22684041e-01 -2.51940864e-01  1.04004596e+02]
 [ 1.21912195e-01  9.92364100e-01 -1.87325883e-02  8.92706617e+00]
 [ 2.52315258e-01 -1.27326041e-02  9.67561311e-01  2.68310387e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.00071405700001 meters
Centerline goodness : 0.999665 with order 1
Centerline is valid?  [True, True]
Translation: X:104.06, Y:8.93, Z:26.85
[[ 9.59760027e-01 -1.24043687e-01 -2.51940180e-01  1.04060508e+02]
 [ 1.23315374e-01  9.92190538e-01 -1.87417738e-02  8.93077511e+00]
 [ 2.52297462e-01 -1.30804921e-02  9.67561311e-01  2.68462156e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.06071405700001 meters
Centerline goodness : 0.999287 with order 1
Centerline is valid?  [True, True]
Translation: X:104.12, Y:8.93, Z:26.86
[[ 9.59363494e-01 -1.27084926e-01 -2.51934730e-01  1.04118646e+02]
 [ 1.26440293e-01  9.91795774e-01 -1.88147608e-02  8.93328138e+00]
 [ 2.52258873e-01 -1.38045064e-02  9.67561314e-01  2.68602018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.12071405700001 meters
Centerline goodness : 0.999286 with order 1
Centerline is valid?  [True, True]
Translation: X:104.18, Y:8.94, Z:26.87
[[ 9.59146275e-01 -1.28715411e-01 -2.51934053e-01  1.04176565e+02]
 [ 1.28123531e-01  9.91579560e-01 -1.88238277e-02  8.93785061e+00]
 [ 2.52235574e-01 -1.42238763e-02  9.67561314e-01  2.68748526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.18071405700002 meters
Centerline goodness : 0.999331 with order 1
Centerline is valid?  [True, True]
Translation: X:104.23, Y:8.94, Z:26.89
[[ 9.59287577e-01 -1.27658312e-01 -2.51933919e-01  1.04233486e+02]
 [ 1.27030220e-01  9.91720182e-01 -1.88256189e-02  8.94313647e+00]
 [ 2.52251199e-01 -1.39440388e-02  9.67561314e-01  2.68896273e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.24071405700002 meters
Centerline goodness : 0.999038 with order 1
Centerline is valid?  [True, True]
Translation: X:104.29, Y:8.95, Z:26.90
[[ 9.59688553e-01 -1.24610891e-01 -2.51932543e-01  1.04291317e+02]
 [ 1.23874978e-01  9.92118891e-01 -1.88440149e-02  8.95039679e+00]
 [ 2.52295205e-01 -1.31237528e-02  9.67561314e-01  2.69047079e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.30071405700002 meters
Centerline goodness : 0.999079 with order 1
Centerline is valid?  [True, True]
Translation: X:104.35, Y:8.96, Z:26.92
[[ 9.59931049e-01 -1.22729024e-01 -2.51932468e-01  1.04347073e+02]
 [ 1.21929265e-01  9.92359874e-01 -1.88450181e-02  8.95645371e+00]
 [ 2.52320503e-01 -1.26280227e-02  9.67561314e-01  2.69212947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.36071405700001 meters
Centerline goodness : 0.999417 with order 1
Centerline is valid?  [True, True]
Translation: X:104.40, Y:8.96, Z:26.94
[[ 9.59587964e-01 -1.25392999e-01 -2.51927638e-01  1.04404313e+02]
 [ 1.24666405e-01  9.92018509e-01 -1.89093752e-02  8.96196232e+00]
 [ 2.52287983e-01 -1.32617040e-02  9.67561316e-01  2.69382702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.42071405700001 meters
Centerline goodness : 0.999775 with order 1
Centerline is valid?  [True, True]
Translation: X:104.46, Y:8.97, Z:26.95
[[ 9.58914540e-01 -1.30444346e-01 -2.51926928e-01  1.04462709e+02]
 [ 1.29886061e-01  9.91348420e-01 -1.89188317e-02  8.96727921e+00]
 [ 2.52215216e-01 -1.45802536e-02  9.67561316e-01  2.69529748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.48071405700001 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:104.52, Y:8.97, Z:26.97
[[ 9.58164535e-01 -1.35844184e-01 -2.51926738e-01  1.04520593e+02]
 [ 1.35467959e-01  9.90601037e-01 -1.89213565e-02  8.97201089e+00]
 [ 2.52129244e-01 -1.59982284e-02  9.67561316e-01  2.69672301e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.54071405700002 meters
Centerline goodness : 0.999485 with order 1
Centerline is valid?  [True, True]
Translation: X:104.58, Y:8.98, Z:26.98
[[ 9.57804877e-01 -1.38357846e-01 -2.51926424e-01  1.04577100e+02]
 [ 1.38065638e-01  9.90242245e-01 -1.89255371e-02  8.97756959e+00]
 [ 2.52086684e-01 -1.66554107e-02  9.67561316e-01  2.69816667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.60071405700002 meters
Centerline goodness : 0.999798 with order 1
Centerline is valid?  [True, True]
Translation: X:104.63, Y:8.98, Z:27.00
[[ 9.57607139e-01 -1.39721754e-01 -2.51925384e-01  1.04634896e+02]
 [ 1.39472118e-01  9.90044862e-01 -1.89393716e-02  8.98371729e+00]
 [ 2.52063674e-01 -1.70000894e-02  9.67561316e-01  2.69976340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.66071405700002 meters
Centerline goodness : 0.999573 with order 1
Centerline is valid?  [True, True]
Translation: X:104.69, Y:8.99, Z:27.01
[[ 9.57705386e-01 -1.39046724e-01 -2.51925390e-01  1.04693503e+02]
 [ 1.38774244e-01  9.90142925e-01 -1.89392947e-02  8.99088897e+00]
 [ 2.52075589e-01 -1.68224910e-02  9.67561316e-01  2.70137648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.72071405700001 meters
Centerline goodness : 0.999775 with order 1
Centerline is valid?  [True, True]
Translation: X:104.75, Y:9.00, Z:27.03
[[ 9.57872803e-01 -1.37888061e-01 -2.51925734e-01  1.04749853e+02]
 [ 1.37577538e-01  9.90310001e-01 -1.89347208e-02  8.99698624e+00]
 [ 2.52095445e-01 -1.65222682e-02  9.67561316e-01  2.70282981e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.78071405700001 meters
Centerline goodness : 0.999843 with order 1
Centerline is valid?  [True, True]
Translation: X:104.81, Y:9.01, Z:27.05
[[ 9.58271832e-01 -1.35088980e-01 -2.51924718e-01  1.04806633e+02]
 [ 1.34680153e-01  9.90707939e-01 -1.89482319e-02  9.00598773e+00]
 [ 2.52143515e-01 -1.57717027e-02  9.67561317e-01  2.70451656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.84071405700001 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:104.86, Y:9.01, Z:27.06
[[ 9.58353736e-01 -1.34507970e-01 -2.51924040e-01  1.04864486e+02]
 [ 1.34077120e-01  9.90789558e-01 -1.89572339e-02  9.01371555e+00]
 [ 2.52153608e-01 -1.56095138e-02  9.67561317e-01  2.70640453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.90071405700002 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:104.92, Y:9.02, Z:27.08
[[ 9.58121037e-01 -1.36154318e-01 -2.51924752e-01  1.04923187e+02]
 [ 1.35781677e-01  9.90557580e-01 -1.89477657e-02  9.02005737e+00]
 [ 2.52125793e-01 -1.60525123e-02  9.67561317e-01  2.70786536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.96071405700002 meters
Centerline goodness : 0.999410 with order 1
Centerline is valid?  [True, True]
Translation: X:104.98, Y:9.03, Z:27.10
[[ 9.57850656e-01 -1.38042980e-01 -2.51925100e-01  1.04981146e+02]
 [ 1.37735497e-01  9.90287882e-01 -1.89431449e-02  9.02583648e+00]
 [ 2.52093342e-01 -1.65543251e-02  9.67561317e-01  2.70966403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.02071405700002 meters
Centerline goodness : 0.999073 with order 1
Centerline is valid?  [True, True]
Translation: X:105.04, Y:9.03, Z:27.11
[[ 9.57757855e-01 -1.38685216e-01 -2.51925191e-01  1.05040506e+02]
 [ 1.38399800e-01  9.90195283e-01 -1.89419362e-02  9.03112229e+00]
 [ 2.52082102e-01 -1.67246078e-02  9.67561317e-01  2.71103120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.08071405700001 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:105.10, Y:9.04, Z:27.13
[[ 9.57763484e-01 -1.38645043e-01 -2.51925902e-01  1.05099000e+02]
 [ 1.38360746e-01  9.90200922e-01 -1.89324680e-02  9.03977262e+00]
 [ 2.52082153e-01 -1.67238294e-02  9.67561317e-01  2.71280735e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.14071405700001 meters
Centerline goodness : 0.999301 with order 1
Centerline is valid?  [True, True]
Translation: X:105.16, Y:9.05, Z:27.14
[[ 9.57767678e-01 -1.38614135e-01 -2.51926968e-01  1.05157490e+02]
 [ 1.38332507e-01  9.90205138e-01 -1.89182783e-02  9.04574589e+00]
 [ 2.52081719e-01 -1.67303737e-02  9.67561317e-01  2.71443749e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.20071405700001 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:105.22, Y:9.05, Z:27.16
[[ 9.57535210e-01 -1.40209123e-01 -2.51928012e-01  1.05215532e+02]
 [ 1.39985166e-01  9.89973120e-01 -1.89043590e-02  9.05139603e+00]
 [ 2.52052524e-01 -1.71645953e-02  9.67561317e-01  2.71589205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.26071405700002 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:105.27, Y:9.06, Z:27.17
[[ 9.57043464e-01 -1.43524305e-01 -2.51929717e-01  1.05273947e+02]
 [ 1.43418640e-01  9.89481975e-01 -1.88816184e-02  9.05641013e+00]
 [ 2.51989885e-01 -1.80608879e-02  9.67561317e-01  2.71732048e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.32071405700002 meters
Centerline goodness : 0.999526 with order 1
Centerline is valid?  [True, True]
Translation: X:105.33, Y:9.06, Z:27.19
[[ 9.56546526e-01 -1.46799164e-01 -2.51930050e-01  1.05333502e+02]
 [ 1.46805692e-01  9.88985208e-01 -1.88771701e-02  9.06146992e+00]
 [ 2.51926246e-01 -1.89278740e-02  9.67561317e-01  2.71875361e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.38071405700002 meters
Centerline goodness : 0.999300 with order 1
Centerline is valid?  [True, True]
Translation: X:105.39, Y:9.07, Z:27.20
[[ 9.56582180e-01 -1.46565646e-01 -2.51930635e-01  1.05391396e+02]
 [ 1.46566301e-01  9.89020863e-01 -1.88693609e-02  9.06794103e+00]
 [ 2.51930254e-01 -1.88744469e-02  9.67561317e-01  2.72003119e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.44071405700001 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:105.45, Y:9.07, Z:27.22
[[ 9.56942865e-01 -1.44189744e-01 -2.51931878e-01  1.05448403e+02]
 [ 1.44114194e-01  9.89381460e-01 -1.88527524e-02  9.07450612e+00]
 [ 2.51975103e-01 -1.82659526e-02  9.67561317e-01  2.72153810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.50071405700001 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:105.51, Y:9.08, Z:27.23
[[ 9.57454098e-01 -1.40756172e-01 -2.51931239e-01  1.05505763e+02]
 [ 1.40562030e-01  9.89892200e-01 -1.88612791e-02  9.08086382e+00]
 [ 2.52039610e-01 -1.73531574e-02  9.67561317e-01  2.72336674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.56071405700001 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:105.56, Y:9.09, Z:27.25
[[ 9.57952339e-01 -1.37324379e-01 -2.51931202e-01  1.05563245e+02]
 [ 1.37013869e-01  9.90389536e-01 -1.88617814e-02  9.08768487e+00]
 [ 2.52100209e-01 -1.64493812e-02  9.67561317e-01  2.72527668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.62071405700001 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:105.62, Y:9.09, Z:27.27
[[ 9.58327544e-01 -1.34680400e-01 -2.51931556e-01  1.05623074e+02]
 [ 1.34281622e-01  9.90763775e-01 -1.88570450e-02  9.09342432e+00]
 [ 2.52144334e-01 -1.57585523e-02  9.67561317e-01  2.72675702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.68071405700002 meters
Centerline goodness : 0.998979 with order 1
Centerline is valid?  [True, True]
Translation: X:105.68, Y:9.10, Z:27.28
[[ 9.58810207e-01 -1.31197393e-01 -2.51932990e-01  1.05681365e+02]
 [ 1.30685780e-01  9.91244854e-01 -1.88378684e-02  9.10084916e+00]
 [ 2.52198760e-01 -1.48621190e-02  9.67561317e-01  2.72785608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.74071405700002 meters
Centerline goodness : 0.999002 with order 1
Centerline is valid?  [True, True]
Translation: X:105.74, Y:9.11, Z:27.29
[[ 9.59238231e-01 -1.28031101e-01 -2.51932638e-01  1.05739470e+02]
 [ 1.27411171e-01  9.91670989e-01 -1.88425861e-02  9.10742424e+00]
 [ 2.52246725e-01 -1.40245034e-02  9.67561317e-01  2.72935052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.80071405700002 meters
Centerline goodness : 0.999065 with order 1
Centerline is valid?  [True, True]
Translation: X:105.80, Y:9.11, Z:27.31
[[ 9.59780517e-01 -1.23900174e-01 -2.51932739e-01  1.05798425e+02]
 [ 1.23140976e-01  9.92210315e-01 -1.88412265e-02  9.11483803e+00]
 [ 2.52304694e-01 -1.29398011e-02  9.67561317e-01  2.73100330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.86071405700001 meters
Centerline goodness : 0.999292 with order 1
Centerline is valid?  [True, True]
Translation: X:105.86, Y:9.12, Z:27.33
[[ 9.60708555e-01 -1.16484422e-01 -2.51933428e-01  1.05856247e+02]
 [ 1.15477212e-01  9.93131597e-01 -1.88320177e-02  9.12262339e+00]
 [ 2.52396684e-01 -1.10004894e-02  9.67561318e-01  2.73259955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.92071405700001 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:105.91, Y:9.13, Z:27.34
[[ 9.61617995e-01 -1.08721282e-01 -2.51933550e-01  1.05914161e+02]
 [ 1.07452664e-01  9.94031862e-01 -1.88303776e-02  9.13019985e+00]
 [ 2.52477239e-01 -8.96330100e-03  9.67561318e-01  2.73430350e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.98071405700001 meters
Centerline goodness : 0.999060 with order 1
Centerline is valid?  [True, True]
Translation: X:105.97, Y:9.13, Z:27.36
[[ 9.61953934e-01 -1.05707718e-01 -2.51933536e-01  1.05972113e+02]
 [ 1.04337492e-01  9.94363664e-01 -1.88305734e-02  9.13450665e+00]
 [ 2.52504091e-01 -8.17196910e-03  9.67561318e-01  2.73600405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.04071405700002 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:106.03, Y:9.14, Z:27.37
[[ 9.61810468e-01 -1.07005221e-01 -2.51933536e-01  1.06031178e+02]
 [ 1.05678715e-01  9.94222017e-01 -1.88305734e-02  9.13760649e+00]
 [ 2.52492837e-01 -8.51256958e-03  9.67561318e-01  2.73749924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.10071405700002 meters
Centerline goodness : 0.998812 with order 1
Centerline is valid?  [True, True]
Translation: X:106.09, Y:9.14, Z:27.39
[[ 9.61221511e-01 -1.12171036e-01 -2.51934249e-01  1.06089536e+02]
 [ 1.11021182e-01  9.93639807e-01 -1.88210181e-02  9.13811264e+00]
 [ 2.52443072e-01 -9.87887064e-03  9.67561318e-01  2.73875487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.16071405700002 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:106.15, Y:9.14, Z:27.40
[[ 9.60651317e-01 -1.16954381e-01 -2.51933959e-01  1.06148503e+02]
 [ 1.15964894e-01  9.93074905e-01 -1.88249046e-02  9.13955548e+00]
 [ 2.52390947e-01 -1.11313253e-02  9.67561318e-01  2.74004130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.22071405700001 meters
Centerline goodness : 0.999180 with order 1
Centerline is valid?  [True, True]
Translation: X:106.21, Y:9.14, Z:27.42
[[ 9.60426163e-01 -1.18789362e-01 -2.51933865e-01  1.06207294e+02]
 [ 1.17861489e-01  9.92851573e-01 -1.88261578e-02  9.14115217e+00]
 [ 2.52369282e-01 -1.16121661e-02  9.67561318e-01  2.74171672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.28071405700001 meters
Centerline goodness : 0.999318 with order 1
Centerline is valid?  [True, True]
Translation: X:106.27, Y:9.14, Z:27.43
[[ 9.60199151e-01 -1.20609160e-01 -2.51934559e-01  1.06265514e+02]
 [ 1.19745165e-01  9.92626325e-01 -1.88168757e-02  9.14393468e+00]
 [ 2.52346363e-01 -1.20999973e-02  9.67561318e-01  2.74341776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.34071405700001 meters
Centerline goodness : 0.999343 with order 1
Centerline is valid?  [True, True]
Translation: X:106.32, Y:9.15, Z:27.45
[[ 9.59659852e-01 -1.24826386e-01 -2.51935194e-01  1.06324993e+02]
 [ 1.24107089e-01  9.92090558e-01 -1.88083645e-02  9.14532901e+00]
 [ 2.52290307e-01 -1.32173112e-02  9.67561318e-01  2.74502435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.40071405700002 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:106.38, Y:9.15, Z:27.47
[[ 9.58649757e-01 -1.32359191e-01 -2.51935882e-01  1.06383614e+02]
 [ 1.31897022e-01  9.91085146e-01 -1.87991490e-02  9.14583886e+00]
 [ 2.52178150e-01 -1.52077930e-02  9.67561318e-01  2.74662582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.46071405700002 meters
Centerline goodness : 0.998889 with order 1
Centerline is valid?  [True, True]
Translation: X:106.44, Y:9.15, Z:27.48
[[ 9.58020645e-01 -1.36837952e-01 -2.51936138e-01  1.06442205e+02]
 [ 1.36528274e-01  9.90457850e-01 -1.87957105e-02  9.14813185e+00]
 [ 2.52104092e-01 -1.63897274e-02  9.67561318e-01  2.74811635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.52071405700002 meters
Centerline goodness : 0.999005 with order 1
Centerline is valid?  [True, True]
Translation: X:106.50, Y:9.15, Z:27.50
[[ 9.57558234e-01 -1.40037072e-01 -2.51936195e-01  1.06500364e+02]
 [ 1.39835938e-01  9.89996293e-01 -1.87949475e-02  9.14957407e+00]
 [ 2.52047889e-01 -1.72324775e-02  9.67561318e-01  2.74952313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.58071405700001 meters
Centerline goodness : 0.999094 with order 1
Centerline is valid?  [True, True]
Translation: X:106.56, Y:9.15, Z:27.51
[[ 9.57216380e-01 -1.42355553e-01 -2.51935900e-01  1.06559551e+02]
 [ 1.42231940e-01  9.89654827e-01 -1.87988999e-02  9.15270724e+00]
 [ 2.52005708e-01 -1.78387169e-02  9.67561318e-01  2.75094986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.64071405700001 meters
Centerline goodness : 0.998982 with order 1
Centerline is valid?  [True, True]
Translation: X:106.62, Y:9.16, Z:27.52
[[ 9.57242755e-01 -1.42176539e-01 -2.51936776e-01  1.06620000e+02]
 [ 1.42049934e-01  9.89681191e-01 -1.87871589e-02  9.15721854e+00]
 [ 2.52008181e-01 -1.78037307e-02  9.67561318e-01  2.75242224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.70071405700001 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:106.68, Y:9.16, Z:27.54
[[ 9.57747452e-01 -1.38733517e-01 -2.51938146e-01  1.06678733e+02]
 [ 1.38495085e-01  9.90185258e-01 -1.87687679e-02  9.16296572e+00]
 [ 2.52069295e-01 -1.69164554e-02  9.67561318e-01  2.75396440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.76071405700002 meters
Centerline goodness : 0.998920 with order 1
Centerline is valid?  [True, True]
Translation: X:106.74, Y:9.17, Z:27.55
[[ 9.58585738e-01 -1.32817596e-01 -2.51938225e-01  1.06736612e+02]
 [ 1.32379172e-01  9.91021457e-01 -1.87677037e-02  9.16910853e+00]
 [ 2.52168868e-01 -1.53609205e-02  9.67561318e-01  2.75547318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.82071405700002 meters
Centerline goodness : 0.998756 with order 1
Centerline is valid?  [True, True]
Translation: X:106.79, Y:9.18, Z:27.57
[[ 9.59704304e-01 -1.24478083e-01 -2.51938198e-01  1.06794493e+02]
 [ 1.23757565e-01  9.92134983e-01 -1.87680692e-02  9.17693632e+00]
 [ 2.52292913e-01 -1.31674610e-02  9.67561318e-01  2.75711636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.88071405700002 meters
Centerline goodness : 0.998843 with order 1
Centerline is valid?  [True, True]
Translation: X:106.85, Y:9.18, Z:27.59
[[ 9.60417324e-01 -1.18851688e-01 -2.51938165e-01  1.06853141e+02]
 [ 1.17941010e-01  9.92843221e-01 -1.87685063e-02  9.18319806e+00]
 [ 2.52365768e-01 -1.16882432e-02  9.67561318e-01  2.75862906e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.94071405700001 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:106.91, Y:9.19, Z:27.60
[[ 9.61195286e-01 -1.12386555e-01 -2.51938253e-01  1.06911231e+02]
 [ 1.11258021e-01  9.93614332e-01 -1.87673233e-02  9.18863876e+00]
 [ 2.52438654e-01 -9.99108890e-03  9.67561318e-01  2.76001144e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.00071405700001 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:106.97, Y:9.19, Z:27.62
[[ 9.61668468e-01 -1.08262981e-01 -2.51938253e-01  1.06968569e+02]
 [ 1.06995413e-01  9.94082375e-01 -1.87673233e-02  9.19376452e+00]
 [ 2.52479184e-01 -8.90829453e-03  9.67561318e-01  2.76153922e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.06071405700001 meters
Centerline goodness : 0.998681 with order 1
Centerline is valid?  [True, True]
Translation: X:107.03, Y:9.20, Z:27.63
[[ 9.61857929e-01 -1.06568221e-01 -2.51937567e-01  1.07025440e+02]
 [ 1.05241128e-01  9.94269454e-01 -1.87765335e-02  9.19775070e+00]
 [ 2.52494809e-01 -8.45383605e-03  9.67561318e-01  2.76305350e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.12071405700001 meters
Centerline goodness : 0.998863 with order 1
Centerline is valid?  [True, True]
Translation: X:107.08, Y:9.20, Z:27.65
[[ 9.61894713e-01 -1.06247076e-01 -2.51932771e-01  1.07082141e+02]
 [ 1.04892379e-01  9.94305093e-01 -1.88406759e-02  9.20038557e+00]
 [ 2.52499804e-01 -8.30308115e-03  9.67561320e-01  2.76460267e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.18071405700002 meters
Centerline goodness : 0.998658 with order 1
Centerline is valid?  [True, True]
Translation: X:107.14, Y:9.20, Z:27.66
[[ 9.61683847e-01 -1.08142508e-01 -2.51931294e-01  1.07138764e+02]
 [ 1.06846524e-01  9.94096628e-01 -1.88604046e-02  9.20282783e+00]
 [ 2.52483661e-01 -8.78023658e-03  9.67561320e-01  2.76591148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.24071405700002 meters
Centerline goodness : 0.998798 with order 1
Centerline is valid?  [True, True]
Translation: X:107.20, Y:9.20, Z:27.67
[[ 9.61399918e-01 -1.10643886e-01 -2.51928817e-01  1.07195833e+02]
 [ 1.09423584e-01  9.93815636e-01 -1.88934299e-02  9.20420329e+00]
 [ 2.52461240e-01 -9.40281210e-03  9.67561321e-01  2.76723605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.30071405700002 meters
Centerline goodness : 0.999047 with order 1
Centerline is valid?  [True, True]
Translation: X:107.25, Y:9.21, Z:27.69
[[ 9.61033288e-01 -1.13795116e-01 -2.51923979e-01  1.07253422e+02]
 [ 1.12664264e-01  9.93452248e-01 -1.89577286e-02  9.20655498e+00]
 [ 2.52431740e-01 -1.01638214e-02  9.67561323e-01  2.76880834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.36071405700001 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:107.31, Y:9.21, Z:27.70
[[ 9.60579843e-01 -1.17562847e-01 -2.51923285e-01  1.07310075e+02]
 [ 1.16556718e-01  9.93002914e-01 -1.89669460e-02  9.20910196e+00]
 [ 2.52390364e-01 -1.11440854e-02  9.67561323e-01  2.77038638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.42071405700001 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:107.37, Y:9.21, Z:27.72
[[ 9.59872938e-01 -1.23211343e-01 -2.51918457e-01  1.07368320e+02]
 [ 1.22379222e-01  9.92300938e-01 -1.90308696e-02  9.21094438e+00]
 [ 2.52323740e-01 -1.25623681e-02  9.67561325e-01  2.77183261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.48071405700001 meters
Centerline goodness : 0.998779 with order 1
Centerline is valid?  [True, True]
Translation: X:107.43, Y:9.21, Z:27.73
[[ 9.59270414e-01 -1.27818319e-01 -2.51918140e-01  1.07427265e+02]
 [ 1.27140801e-01  9.91702013e-01 -1.90350546e-02  9.21339403e+00]
 [ 2.52260756e-01 -1.37693093e-02  9.67561325e-01  2.77330867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.54071405700002 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:107.49, Y:9.22, Z:27.75
[[ 9.58376707e-01 -1.34355260e-01 -2.51918147e-01  1.07485936e+02]
 [ 1.33898884e-01  9.90812171e-01 -1.90349732e-02  9.21518158e+00]
 [ 2.52161015e-01 -1.54888837e-02  9.67561325e-01  2.77472828e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.60071405700002 meters
Centerline goodness : 0.998830 with order 1
Centerline is valid?  [True, True]
Translation: X:107.54, Y:9.22, Z:27.76
[[ 9.57657677e-01 -1.39387977e-01 -2.51918174e-01  1.07543759e+02]
 [ 1.39102094e-01  9.90095092e-01 -1.90346072e-02  9.21811990e+00]
 [ 2.52076143e-01 -1.68137078e-02  9.67561325e-01  2.77604244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.66071405700002 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:107.60, Y:9.22, Z:27.78
[[ 9.57504370e-01 -1.40437395e-01 -2.51918083e-01  1.07602979e+02]
 [ 1.40186743e-01  9.89942076e-01 -1.90358220e-02  9.22297297e+00]
 [ 2.52057651e-01 -1.70886927e-02  9.67561325e-01  2.77765065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.72071405700001 meters
Centerline goodness : 0.998858 with order 1
Centerline is valid?  [True, True]
Translation: X:107.66, Y:9.23, Z:27.79
[[ 9.58026864e-01 -1.36826383e-01 -2.51918774e-01  1.07661158e+02]
 [ 1.36455832e-01  9.90463423e-01 -1.90266661e-02  9.22997180e+00]
 [ 2.52119681e-01 -1.61477286e-02  9.67561325e-01  2.77939950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.78071405700001 meters
Centerline goodness : 0.999055 with order 1
Centerline is valid?  [True, True]
Translation: X:107.72, Y:9.24, Z:27.81
[[ 9.58894324e-01 -1.30608306e-01 -2.51918928e-01  1.07718363e+02]
 [ 1.30027867e-01  9.91327805e-01 -1.90246215e-02  9.23810701e+00]
 [ 2.52219012e-01 -1.45138792e-02  9.67561325e-01  2.78122405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.84071405700001 meters
Centerline goodness : 0.998693 with order 1
Centerline is valid?  [True, True]
Translation: X:107.78, Y:9.25, Z:27.83
[[ 9.59463276e-01 -1.26360432e-01 -2.51919162e-01  1.07777508e+02]
 [ 1.25637171e-01  9.91893887e-01 -1.90215306e-02  9.24584060e+00]
 [ 2.52280645e-01 -1.33999508e-02  9.67561325e-01  2.78285279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.90071405700002 meters
Centerline goodness : 0.998375 with order 1
Centerline is valid?  [True, True]
Translation: X:107.83, Y:9.25, Z:27.84
[[ 9.59931509e-01 -1.22750530e-01 -2.51920236e-01  1.07834661e+02]
 [ 1.21909013e-01  9.92359267e-01 -1.90072993e-02  9.25249059e+00]
 [ 2.52328536e-01 -1.24656418e-02  9.67561325e-01  2.78435696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.96071405700002 meters
Centerline goodness : 0.998528 with order 1
Centerline is valid?  [True, True]
Translation: X:107.89, Y:9.26, Z:27.86
[[ 9.59909382e-01 -1.22924243e-01 -2.51919847e-01  1.07893603e+02]
 [ 1.22087246e-01  9.92337257e-01 -1.90124495e-02  9.25731399e+00]
 [ 2.52326541e-01 -1.25059717e-02  9.67561325e-01  2.78588803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.02071405700002 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:107.95, Y:9.26, Z:27.87
[[ 9.59647014e-01 -1.24954520e-01 -2.51920574e-01  1.07951635e+02]
 [ 1.24188645e-01  9.92076647e-01 -1.90028108e-02  9.26179676e+00]
 [ 2.52299005e-01 -1.30496841e-02  9.67561325e-01  2.78723559e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.08071405700001 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:108.01, Y:9.27, Z:27.88
[[ 9.59188195e-01 -1.28430421e-01 -2.51919896e-01  1.08009484e+02]
 [ 1.27779688e-01  9.91620342e-01 -1.90117971e-02  9.26548494e+00]
 [ 2.52250586e-01 -1.39543542e-02  9.67561325e-01  2.78846277e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.14071405700001 meters
Centerline goodness : 0.998753 with order 1
Centerline is valid?  [True, True]
Translation: X:108.07, Y:9.27, Z:27.90
[[ 9.59071844e-01 -1.29297708e-01 -2.51919236e-01  1.08066411e+02]
 [ 1.28674014e-01  9.91504522e-01 -1.90205328e-02  9.27014643e+00]
 [ 2.52238373e-01 -1.41734019e-02  9.67561325e-01  2.78992555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.20071405700001 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:108.12, Y:9.28, Z:27.92
[[ 9.59293571e-01 -1.27644190e-01 -2.51918251e-01  1.08123145e+02]
 [ 1.26961171e-01  9.91725055e-01 -1.90335781e-02  9.27612229e+00]
 [ 2.52263167e-01 -1.37250470e-02  9.67561325e-01  2.79163079e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.26071405700002 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:108.18, Y:9.28, Z:27.93
[[ 9.59519828e-01 -1.25933391e-01 -2.51917606e-01  1.08180034e+02]
 [ 1.25190309e-01  9.91949991e-01 -1.90421076e-02  9.28098866e+00]
 [ 2.52287704e-01 -1.32663632e-02  9.67561325e-01  2.79317174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.32071405700002 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:108.24, Y:9.29, Z:27.95
[[ 9.59644988e-01 -1.24984668e-01 -2.51913338e-01  1.08238669e+02]
 [ 1.24194784e-01  9.92074043e-01 -1.90984035e-02  9.28627339e+00]
 [ 2.52303692e-01 -1.29586355e-02  9.67561327e-01  2.79474695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.38071405700002 meters
Centerline goodness : 0.998594 with order 1
Centerline is valid?  [True, True]
Translation: X:108.30, Y:9.29, Z:27.96
[[ 9.59890628e-01 -1.23082520e-01 -2.51914025e-01  1.08296769e+02]
 [ 1.22230741e-01  9.92318116e-01 -1.90893359e-02  9.29223212e+00]
 [ 2.52328415e-01 -1.24679633e-02  9.67561327e-01  2.79599406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.44071405700001 meters
Centerline goodness : 0.998929 with order 1
Centerline is valid?  [True, True]
Translation: X:108.35, Y:9.30, Z:27.98
[[ 9.60216256e-01 -1.20516535e-01 -2.51913687e-01  1.08354954e+02]
 [ 1.19576919e-01  9.92641318e-01 -1.90938058e-02  9.29788966e+00]
 [ 2.52361053e-01 -1.17888797e-02  9.67561327e-01  2.79768625e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.50071405700001 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:108.41, Y:9.30, Z:27.99
[[ 9.61026254e-01 -1.13876507e-01 -2.51914032e-01  1.08412613e+02]
 [ 1.12713980e-01  9.93444090e-01 -1.90892486e-02  9.30323680e+00]
 [ 2.52436323e-01 -1.00489640e-02  9.67561327e-01  2.79921535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.56071405700001 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:108.47, Y:9.31, Z:28.01
[[ 9.61505265e-01 -1.09758704e-01 -2.51913979e-01  1.08470113e+02]
 [ 1.08457134e-01  9.93917815e-01 -1.90899531e-02  9.30879045e+00]
 [ 2.52477080e-01 -8.96677764e-03  9.67561327e-01  2.80088281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.62071405700001 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:108.53, Y:9.31, Z:28.02
[[ 9.62001171e-01 -1.05323898e-01 -2.51913921e-01  1.08526306e+02]
 [ 1.03872683e-01  9.94407366e-01 -1.90907164e-02  9.31312350e+00]
 [ 2.52515767e-01 -7.80168321e-03  9.67561327e-01  2.80232740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.68071405700002 meters
Centerline goodness : 0.998952 with order 1
Centerline is valid?  [True, True]
Translation: X:108.58, Y:9.32, Z:28.04
[[ 9.62132903e-01 -1.04116990e-01 -2.51912545e-01  1.08582857e+02]
 [ 1.02620377e-01  9.94537033e-01 -1.91088583e-02  9.31626804e+00]
 [ 2.52525912e-01 -7.46609898e-03  9.67561327e-01  2.80379340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.74071405700002 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:108.64, Y:9.32, Z:28.05
[[ 9.61951239e-01 -1.05784657e-01 -2.51911533e-01  1.08639176e+02]
 [ 1.04340731e-01  9.94357760e-01 -1.91221858e-02  9.31929902e+00]
 [ 2.52513021e-01 -7.89002310e-03  9.67561327e-01  2.80525379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.80071405700002 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:108.70, Y:9.32, Z:28.07
[[ 9.61244245e-01 -1.12030781e-01 -2.51909915e-01  1.08695821e+02]
 [ 1.10791811e-01  9.93659248e-01 -1.91434758e-02  9.32024613e+00]
 [ 2.52457276e-01 -9.50799973e-03  9.67561327e-01  2.80672600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.86071405700001 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:108.75, Y:9.32, Z:28.08
[[ 9.60634427e-01 -1.17154601e-01 -2.51905332e-01  1.08754324e+02]
 [ 1.16072750e-01  9.93055053e-01 -1.92035969e-02  9.32120635e+00]
 [ 2.52405653e-01 -1.07917084e-02  9.67561329e-01  2.80823651e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.92071405700001 meters
Centerline goodness : 0.998983 with order 1
Centerline is valid?  [True, True]
Translation: X:108.81, Y:9.32, Z:28.10
[[ 9.59493697e-01 -1.26157544e-01 -2.51904981e-01  1.08813696e+02]
 [ 1.25378550e-01  9.91923013e-01 -1.92082056e-02  9.32181490e+00]
 [ 2.52293608e-01 -1.31533291e-02  9.67561329e-01  2.80956201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.98071405700001 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:108.87, Y:9.32, Z:28.11
[[ 9.58996975e-01 -1.29879792e-01 -2.51904825e-01  1.08872159e+02]
 [ 1.29226108e-01  9.91429059e-01 -1.92102458e-02  9.32498563e+00]
 [ 2.52240787e-01 -1.41301125e-02  9.67561329e-01  2.81097099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.04071405700002 meters
Centerline goodness : 0.999325 with order 1
Centerline is valid?  [True, True]
Translation: X:108.93, Y:9.33, Z:28.13
[[ 9.58344218e-01 -1.34610346e-01 -2.51905566e-01  1.08930154e+02]
 [ 1.34119248e-01  9.90779172e-01 -1.92005322e-02  9.32810211e+00]
 [ 2.52167378e-01 -1.53846661e-02  9.67561329e-01  2.81275265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.10071405700002 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:108.99, Y:9.33, Z:28.14
[[ 9.57997566e-01 -1.37055502e-01 -2.51905643e-01  1.08989246e+02]
 [ 1.36647443e-01  9.90433670e-01 -1.91995160e-02  9.33279584e+00]
 [ 2.52127230e-01 -1.60291724e-02  9.67561329e-01  2.81446487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.16071405700002 meters
Centerline goodness : 0.999302 with order 1
Centerline is valid?  [True, True]
Translation: X:109.05, Y:9.34, Z:28.16
[[ 9.57736354e-01 -1.38867806e-01 -2.51906348e-01  1.09048308e+02]
 [ 1.38523538e-01  9.90173198e-01 -1.91902689e-02  9.33693844e+00]
 [ 2.52095825e-01 -1.65157405e-02  9.67561329e-01  2.81593201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.22071405700001 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:109.11, Y:9.34, Z:28.17
[[ 9.57483276e-01 -1.40602066e-01 -2.51906404e-01  1.09107091e+02]
 [ 1.40316735e-01  9.89920692e-01 -1.91895359e-02  9.34232022e+00]
 [ 2.52065450e-01 -1.69730245e-02  9.67561329e-01  2.81721733e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.28071405700001 meters
Centerline goodness : 0.999190 with order 1
Centerline is valid?  [True, True]
Translation: X:109.17, Y:9.35, Z:28.19
[[ 9.57513306e-01 -1.40396794e-01 -2.51906747e-01  1.09165174e+02]
 [ 1.40105691e-01  9.89950671e-01 -1.91850232e-02  9.34850811e+00]
 [ 2.52068769e-01 -1.69236539e-02  9.67561329e-01  2.81874255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.34071405700001 meters
Centerline goodness : 0.999142 with order 1
Centerline is valid?  [True, True]
Translation: X:109.22, Y:9.36, Z:28.20
[[ 9.58108056e-01 -1.36278922e-01 -2.51906747e-01  1.09224205e+02]
 [ 1.35848366e-01  9.90543869e-01 -1.91850232e-02  9.35678194e+00]
 [ 2.52139198e-01 -1.58397947e-02  9.67561329e-01  2.82048310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.40071405700002 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:109.28, Y:9.37, Z:28.22
[[ 9.59066546e-01 -1.29359265e-01 -2.51907802e-01  1.09282249e+02]
 [ 1.28698212e-01  9.91498480e-01 -1.91711608e-02  9.36585038e+00]
 [ 2.52246170e-01 -1.40336648e-02  9.67561329e-01  2.82222127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.46071405700002 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:109.34, Y:9.37, Z:28.24
[[ 9.60033246e-01 -1.21977430e-01 -2.51908065e-01  1.09339707e+02]
 [ 1.21067805e-01  9.92459161e-01 -1.91677079e-02  9.37339018e+00]
 [ 2.52346494e-01 -1.20963197e-02  9.67561329e-01  2.82378561e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.52071405700002 meters
Centerline goodness : 0.999409 with order 1
Centerline is valid?  [True, True]
Translation: X:109.40, Y:9.38, Z:28.25
[[ 9.60684900e-01 -1.16733805e-01 -2.51908201e-01  1.09398078e+02]
 [ 1.15647615e-01  9.93105380e-01 -1.91659215e-02  9.38020977e+00]
 [ 2.52408701e-01 -1.07201712e-02  9.67561329e-01  2.82539621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.58071405700001 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:109.46, Y:9.39, Z:28.27
[[ 9.60965465e-01 -1.14400926e-01 -2.51908323e-01  1.09456834e+02]
 [ 1.13236442e-01  9.93383228e-01 -1.91643171e-02  9.38525099e+00]
 [ 2.52433919e-01 -1.01089553e-02  9.67561329e-01  2.82683549e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.64071405700001 meters
Centerline goodness : 0.999111 with order 1
Centerline is valid?  [True, True]
Translation: X:109.52, Y:9.39, Z:28.28
[[ 9.61190221e-01 -1.12496914e-01 -2.51908323e-01  1.09515377e+02]
 [ 1.11268209e-01  9.93605613e-01 -1.91643171e-02  9.39033262e+00]
 [ 2.52453450e-01 -9.60883373e-03  9.67561329e-01  2.82817461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.70071405700001 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:109.57, Y:9.40, Z:28.29
[[ 9.61334666e-01 -1.11256593e-01 -2.51907979e-01  1.09574306e+02]
 [ 1.09984881e-01  9.93748400e-01 -1.91688331e-02  9.39521371e+00]
 [ 2.52465810e-01 -9.27840539e-03  9.67561329e-01  2.82947822e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.76071405700002 meters
Centerline goodness : 0.999315 with order 1
Centerline is valid?  [True, True]
Translation: X:109.63, Y:9.40, Z:28.31
[[ 9.61534744e-01 -1.09513954e-01 -2.51907979e-01  1.09631371e+02]
 [ 1.08183493e-01  9.93946119e-01 -1.91688331e-02  9.39950123e+00]
 [ 2.52482213e-01 -8.82078605e-03  9.67561329e-01  2.83074976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.82071405700002 meters
Centerline goodness : 0.999566 with order 1
Centerline is valid?  [True, True]
Translation: X:109.69, Y:9.40, Z:28.32
[[ 9.61735364e-01 -1.07740376e-01 -2.51906930e-01  1.09689062e+02]
 [ 1.06346535e-01  9.94144075e-01 -1.91826093e-02  9.40416854e+00]
 [ 2.52498524e-01 -8.34083550e-03  9.67561329e-01  2.83235632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.88071405700002 meters
Centerline goodness : 0.999428 with order 1
Centerline is valid?  [True, True]
Translation: X:109.75, Y:9.41, Z:28.34
[[ 9.61962904e-01 -1.05690347e-01 -2.51906575e-01  1.09747321e+02]
 [ 1.04226215e-01  9.94368515e-01 -1.91872730e-02  9.40853105e+00]
 [ 2.52515877e-01 -7.79782415e-03  9.67561329e-01  2.83373818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.94071405700002 meters
Centerline goodness : 0.999382 with order 1
Centerline is valid?  [True, True]
Translation: X:109.80, Y:9.41, Z:28.35
[[ 9.62229664e-01 -1.03234359e-01 -2.51906213e-01  1.09804781e+02]
 [ 1.01686266e-01  9.94631374e-01 -1.91920280e-02  9.41173079e+00]
 [ 2.52535099e-01 -7.14826350e-03  9.67561329e-01  2.83512298e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.00071405700001 meters
Centerline goodness : 0.999588 with order 1
Centerline is valid?  [True, True]
Translation: X:109.86, Y:9.42, Z:28.37
[[ 9.62319239e-01 -1.02397770e-01 -2.51905496e-01  1.09861429e+02]
 [ 1.00819049e-01  9.94719470e-01 -1.92014275e-02  9.41532780e+00]
 [ 2.52541485e-01 -6.91896934e-03  9.67561329e-01  2.83657392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.06071405700001 meters
Centerline goodness : 0.999153 with order 1
Centerline is valid?  [True, True]
Translation: X:109.92, Y:9.42, Z:28.38
[[ 9.62263937e-01 -1.02928397e-01 -2.51900497e-01  1.09917298e+02]
 [ 1.01350444e-01  9.94664204e-01 -1.92667919e-02  9.41715923e+00]
 [ 2.52539508e-01 -6.99048819e-03  9.67561331e-01  2.83798986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.12071405700001 meters
Centerline goodness : 0.999294 with order 1
Centerline is valid?  [True, True]
Translation: X:109.98, Y:9.42, Z:28.39
[[ 9.61779345e-01 -1.07366265e-01 -2.51898742e-01  1.09976122e+02]
 [ 1.05931794e-01  9.94186281e-01 -1.92897214e-02  9.41689365e+00]
 [ 2.52505339e-01 -8.13163004e-03  9.67561332e-01  2.83940342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.18071405700002 meters
Centerline goodness : 0.999275 with order 1
Centerline is valid?  [True, True]
Translation: X:110.04, Y:9.42, Z:28.41
[[ 9.60970054e-01 -1.14384247e-01 -2.51898389e-01  1.10035135e+02]
 [ 1.13185175e-01  9.93386554e-01 -1.92943238e-02  9.41514389e+00]
 [ 2.52439439e-01 -9.96989592e-03  9.67561332e-01  2.84091280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.24071405700002 meters
Centerline goodness : 0.999594 with order 1
Centerline is valid?  [True, True]
Translation: X:110.09, Y:9.41, Z:28.42
[[ 9.60020304e-01 -1.22099190e-01 -2.51898398e-01  1.10093177e+02]
 [ 1.21160560e-01  9.92445390e-01 -1.92942081e-02  9.41383018e+00]
 [ 2.52351211e-01 -1.19973194e-02  9.67561332e-01  2.84224839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.30071405700002 meters
Centerline goodness : 0.999573 with order 1
Centerline is valid?  [True, True]
Translation: X:110.15, Y:9.41, Z:28.44
[[ 9.59414019e-01 -1.26775124e-01 -2.51898410e-01  1.10151808e+02]
 [ 1.25994526e-01  9.91843293e-01 -1.92940544e-02  9.41309294e+00]
 [ 2.52289754e-01 -1.32268346e-02  9.67561332e-01  2.84352179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.36071405700001 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:110.21, Y:9.42, Z:28.45
[[ 9.59272905e-01 -1.27838905e-01 -2.51898209e-01  1.10210134e+02]
 [ 1.27093580e-01  9.91703010e-01 -1.92966807e-02  9.41654100e+00]
 [ 2.52275078e-01 -1.35038622e-02  9.67561332e-01  2.84516905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.42071405700001 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:110.27, Y:9.42, Z:28.46
[[ 9.58698840e-01 -1.32075077e-01 -2.51898209e-01  1.10268054e+02]
 [ 1.31473013e-01  9.91131921e-01 -1.92966807e-02  9.41927345e+00]
 [ 2.52212966e-01 -1.46181111e-02  9.67561332e-01  2.84642430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.48071405700001 meters
Centerline goodness : 0.999910 with order 1
Centerline is valid?  [True, True]
Translation: X:110.33, Y:9.42, Z:28.48
[[ 9.57998266e-01 -1.37065591e-01 -2.51897493e-01  1.10326069e+02]
 [ 1.36629981e-01  9.90434009e-01 -1.93060203e-02  9.42186422e+00]
 [ 2.52134035e-01 -1.59216158e-02  9.67561332e-01  2.84803957e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.54071405700002 meters
Centerline goodness : 0.999753 with order 1
Centerline is valid?  [True, True]
Translation: X:110.38, Y:9.43, Z:28.49
[[ 9.57510657e-01 -1.40431933e-01 -2.51897230e-01  1.10383507e+02]
 [ 1.40109434e-01  9.89947722e-01 -1.93094457e-02  9.42570951e+00]
 [ 2.52076752e-01 -1.68041784e-02  9.67561332e-01  2.84917235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.60071405700002 meters
Centerline goodness : 0.999619 with order 1
Centerline is valid?  [True, True]
Translation: X:110.44, Y:9.43, Z:28.51
[[ 9.56933773e-01 -1.44312410e-01 -2.51896172e-01  1.10441478e+02]
 [ 1.44117797e-01  9.89371858e-01 -1.93232413e-02  9.43049424e+00]
 [ 2.52007567e-01 -1.78116591e-02  9.67561332e-01  2.85100009e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.66071405700002 meters
Centerline goodness : 0.999731 with order 1
Centerline is valid?  [True, True]
Translation: X:110.50, Y:9.44, Z:28.53
[[ 9.56669248e-01 -1.46055731e-01 -2.51896158e-01  1.10498831e+02]
 [ 1.45920172e-01  9.89107632e-01 -1.93234270e-02  9.43661600e+00]
 [ 2.51974709e-01 -1.82706023e-02  9.67561332e-01  2.85258133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.72071405700001 meters
Centerline goodness : 0.999461 with order 1
Centerline is valid?  [True, True]
Translation: X:110.56, Y:9.44, Z:28.54
[[ 9.56606767e-01 -1.46465580e-01 -2.51895467e-01  1.10555197e+02]
 [ 1.46341562e-01  9.89045198e-01 -1.93324244e-02  9.44292060e+00]
 [ 2.51967537e-01 -1.83692482e-02  9.67561332e-01  2.85399691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.78071405700001 meters
Centerline goodness : 0.999573 with order 1
Centerline is valid?  [True, True]
Translation: X:110.61, Y:9.45, Z:28.56
[[ 9.56543393e-01 -1.46880763e-01 -2.51894380e-01  1.10613650e+02]
 [ 1.46767118e-01  9.88981862e-01 -1.93465750e-02  9.45029855e+00]
 [ 2.51960613e-01 -1.84639739e-02  9.67561332e-01  2.85570889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.84071405700001 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:110.67, Y:9.46, Z:28.57
[[ 9.56493789e-01 -1.47202210e-01 -2.51895100e-01  1.10672628e+02]
 [ 1.47101923e-01  9.88932302e-01 -1.93371961e-02  9.45696873e+00]
 [ 2.51953679e-01 -1.85583456e-02  9.67561332e-01  2.85693012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.90071405700002 meters
Centerline goodness : 0.999639 with order 1
Centerline is valid?  [True, True]
Translation: X:110.73, Y:9.47, Z:28.59
[[ 9.56535132e-01 -1.46932711e-01 -2.51895455e-01  1.10730755e+02]
 [ 1.46824494e-01  9.88973619e-01 -1.93325778e-02  9.46597477e+00]
 [ 2.51958548e-01 -1.84921328e-02  9.67561332e-01  2.85882330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.96071405700002 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:110.79, Y:9.48, Z:28.61
[[ 9.56842356e-01 -1.44917318e-01 -2.51896163e-01  1.10789017e+02]
 [ 1.44743183e-01  9.89280556e-01 -1.93233454e-02  9.47581551e+00]
 [ 2.51996264e-01 -1.79708571e-02  9.67561332e-01  2.86073319e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.02071405700002 meters
Centerline goodness : 0.999273 with order 1
Centerline is valid?  [True, True]
Translation: X:110.85, Y:9.48, Z:28.62
[[ 9.57257433e-01 -1.42147789e-01 -2.51897229e-01  1.10847079e+02]
 [ 1.41883425e-01  9.89695023e-01 -1.93094458e-02  9.48396922e+00]
 [ 2.52046228e-01 -1.72559310e-02  9.67561332e-01  2.86246276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.08071405700001 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:110.91, Y:9.49, Z:28.64
[[ 9.57647286e-01 -1.39492903e-01 -2.51899594e-01  1.10905501e+02]
 [ 1.39146691e-01  9.90084106e-01 -1.92785345e-02  9.49226793e+00]
 [ 2.52091003e-01 -1.65889588e-02  9.67561333e-01  2.86404413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.14071405700001 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:110.96, Y:9.50, Z:28.66
[[ 9.57942598e-01 -1.37449658e-01 -2.51899920e-01  1.10964337e+02]
 [ 1.37035366e-01  9.90378620e-01 -1.92742737e-02  9.50022719e+00]
 [ 2.52125538e-01 -1.60555499e-02  9.67561333e-01  2.86551681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.20071405700001 meters
Centerline goodness : 0.998809 with order 1
Centerline is valid?  [True, True]
Translation: X:111.02, Y:9.51, Z:28.67
[[ 9.58141154e-01 -1.36057314e-01 -2.51900649e-01  1.11023573e+02]
 [ 1.35598378e-01  9.90576574e-01 -1.92647453e-02  9.50820102e+00]
 [ 2.52147992e-01 -1.56989740e-02  9.67561333e-01  2.86693734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.26071405700002 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:111.08, Y:9.51, Z:28.68
[[ 9.58414935e-01 -1.34113139e-01 -2.51901722e-01  1.11082705e+02]
 [ 1.33592075e-01  9.90849417e-01 -1.92507070e-02  9.51417744e+00]
 [ 2.52178447e-01 -1.52019086e-02  9.67561333e-01  2.86845551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.32071405700002 meters
Centerline goodness : 0.999152 with order 1
Centerline is valid?  [True, True]
Translation: X:111.14, Y:9.52, Z:28.70
[[ 9.59454189e-01 -1.26462728e-01 -2.51902437e-01  1.11140220e+02]
 [ 1.25685372e-01  9.91883540e-01 -1.92413475e-02  9.52319833e+00]
 [ 2.52291194e-01 -1.31992599e-02  9.67561333e-01  2.87002845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.38071405700002 meters
Centerline goodness : 0.999104 with order 1
Centerline is valid?  [True, True]
Translation: X:111.20, Y:9.53, Z:28.72
[[ 9.60230240e-01 -1.20429093e-01 -2.51902204e-01  1.11198767e+02]
 [ 1.19447103e-01  9.92654040e-01 -1.92443944e-02  9.53008679e+00]
 [ 2.52369326e-01 -1.16099392e-02  9.67561333e-01  2.87164246e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.44071405700002 meters
Centerline goodness : 0.998734 with order 1
Centerline is valid?  [True, True]
Translation: X:111.26, Y:9.54, Z:28.73
[[ 9.61356405e-01 -1.11081323e-01 -2.51902368e-01  1.11256623e+02]
 [ 1.09784489e-01  9.93769139e-01 -1.92422534e-02  9.53904546e+00]
 [ 2.52470254e-01 -9.15630917e-03  9.67561333e-01  2.87333730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.50071405700001 meters
Centerline goodness : 0.999006 with order 1
Centerline is valid?  [True, True]
Translation: X:111.31, Y:9.55, Z:28.75
[[ 9.62312296e-01 -1.02469842e-01 -2.51902713e-01  1.11314395e+02]
 [ 1.00884049e-01  9.94712178e-01 -1.92377382e-02  9.54513592e+00]
 [ 2.52541984e-01 -6.90025359e-03  9.67561333e-01  2.87486481e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.56071405700001 meters
Centerline goodness : 0.998494 with order 1
Centerline is valid?  [True, True]
Translation: X:111.37, Y:9.55, Z:28.76
[[ 9.63024409e-01 -9.55459396e-02 -2.51902682e-01  1.11372618e+02]
 [ 9.37270520e-02  9.95412042e-01 -1.92381440e-02  9.55045774e+00]
 [ 2.52585089e-01 -5.08329342e-03  9.67561333e-01  2.87625317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.62071405700001 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:111.43, Y:9.55, Z:28.78
[[ 9.63376206e-01 -9.19310771e-02 -2.51902684e-01  1.11430777e+02]
 [ 8.99906597e-02  9.95756786e-01 -1.92381178e-02  9.55283718e+00]
 [ 2.52602387e-01 -4.13534373e-03  9.67561333e-01  2.87770993e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.68071405700002 meters
Centerline goodness : 0.998957 with order 1
Centerline is valid?  [True, True]
Translation: X:111.49, Y:9.55, Z:28.79
[[ 9.63417542e-01 -9.14988307e-02 -2.51901972e-01  1.11486606e+02]
 [ 8.95414495e-02  9.95797100e-01 -1.92474362e-02  9.55451926e+00]
 [ 2.52604371e-01 -4.01235003e-03  9.67561333e-01  2.87914298e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.74071405700002 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:111.54, Y:9.55, Z:28.81
[[ 9.63119733e-01 -9.45867863e-02 -2.51900218e-01  1.11543872e+02]
 [ 9.27272217e-02  9.95505056e-01 -1.92703563e-02  9.55349503e+00]
 [ 2.52590662e-01 -4.79834701e-03  9.67561333e-01  2.88058245e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.80071405700002 meters
Centerline goodness : 0.999078 with order 1
Centerline is valid?  [True, True]
Translation: X:111.60, Y:9.55, Z:28.82
[[ 9.62732673e-01 -9.84610057e-02 -2.51895276e-01  1.11601061e+02]
 [ 9.67149148e-02  9.95124310e-01 -1.93347488e-02  9.55489467e+00]
 [ 2.52570832e-01 -5.74783579e-03  9.67561335e-01  2.88204593e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.86071405700001 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:111.66, Y:9.55, Z:28.83
[[ 9.61923915e-01 -1.06083610e-01 -2.51890155e-01  1.11660231e+02]
 [ 1.04576747e-01  9.94327559e-01 -1.94012491e-02  9.55241379e+00]
 [ 2.52519477e-01 -7.67932750e-03  9.67561337e-01  2.88341374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.92071405700001 meters
Centerline goodness : 0.998952 with order 1
Centerline is valid?  [True, True]
Translation: X:111.72, Y:9.55, Z:28.85
[[ 9.60867316e-01 -1.15263015e-01 -2.51889734e-01  1.11719091e+02]
 [ 1.14064175e-01  9.93283818e-01 -1.94067061e-02  9.55077239e+00]
 [ 2.52434873e-01 -1.00843250e-02  9.67561337e-01  2.88495108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.98071405700001 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:111.78, Y:9.55, Z:28.87
[[ 9.59913015e-01 -1.22957494e-01 -2.51889775e-01  1.11777522e+02]
 [ 1.22018542e-01  9.92338085e-01 -1.94061771e-02  9.54993931e+00]
 [ 2.52345952e-01 -1.21069812e-02  9.67561337e-01  2.88659624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.04071405700002 meters
Centerline goodness : 0.998896 with order 1
Centerline is valid?  [True, True]
Translation: X:111.83, Y:9.55, Z:28.88
[[ 9.59022684e-01 -1.29719070e-01 -2.51889766e-01  1.11834750e+02]
 [ 1.29008616e-01  9.91453566e-01 -1.94062897e-02  9.55008175e+00]
 [ 2.52254373e-01 -1.38848780e-02  9.67561337e-01  2.88812240e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.10071405700002 meters
Centerline goodness : 0.999344 with order 1
Centerline is valid?  [True, True]
Translation: X:111.89, Y:9.55, Z:28.89
[[ 9.58074514e-01 -1.36547085e-01 -2.51889102e-01  1.11894200e+02]
 [ 1.36065403e-01  9.90509600e-01 -1.94149057e-02  9.55172392e+00]
 [ 2.52149623e-01 -1.56724659e-02  9.67561337e-01  2.88944471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.16071405700002 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:111.95, Y:9.55, Z:28.91
[[ 9.57183376e-01 -1.42660232e-01 -2.51888950e-01  1.11952414e+02]
 [ 1.42385094e-01  9.89620872e-01 -1.94168831e-02  9.55440666e+00]
 [ 2.52044579e-01 -1.72797140e-02  9.67561337e-01  2.89075530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.22071405700001 meters
Centerline goodness : 0.999190 with order 1
Centerline is valid?  [True, True]
Translation: X:112.01, Y:9.56, Z:28.92
[[ 9.56940494e-01 -1.44280775e-01 -2.51888761e-01  1.12009334e+02]
 [ 1.44059922e-01  9.89378405e-01 -1.94193286e-02  9.55830804e+00]
 [ 2.52015137e-01 -1.77039333e-02  9.67561337e-01  2.89219738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.28071405700001 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:112.07, Y:9.56, Z:28.94
[[ 9.56329754e-01 -1.48276118e-01 -2.51888058e-01  1.12067688e+02]
 [ 1.48188353e-01  9.88768298e-01 -1.94284468e-02  9.56198438e+00]
 [ 2.51939701e-01 -1.87468746e-02  9.67561337e-01  2.89369036e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.34071405700001 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:112.13, Y:9.57, Z:28.95
[[ 9.56028665e-01 -1.50205084e-01 -2.51888120e-01  1.12126487e+02]
 [ 1.50182971e-01  9.88467320e-01 -1.94276417e-02  9.56812400e+00]
 [ 2.51901306e-01 -1.92559239e-02  9.67561337e-01  2.89533856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.40071405700002 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:112.19, Y:9.57, Z:28.97
[[ 9.56122645e-01 -1.49604456e-01 -2.51888853e-01  1.12185922e+02]
 [ 1.49564455e-01  9.88561283e-01 -1.94181290e-02  9.57476500e+00]
 [ 2.51912607e-01 -1.91075062e-02  9.67561337e-01  2.89699575e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.46071405700002 meters
Centerline goodness : 0.998985 with order 1
Centerline is valid?  [True, True]
Translation: X:112.24, Y:9.58, Z:28.99
[[ 9.56567584e-01 -1.46730119e-01 -2.51890312e-01  1.12244458e+02]
 [ 1.46597582e-01  9.89005976e-01 -1.93991975e-02  9.58395746e+00]
 [ 2.51967470e-01 -1.83698671e-02  9.67561338e-01  2.89864723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.52071405700002 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:112.30, Y:9.59, Z:29.00
[[ 9.57181714e-01 -1.42668345e-01 -2.51890670e-01  1.12302250e+02]
 [ 1.42399333e-01  9.89619261e-01 -1.93945430e-02  9.59331242e+00]
 [ 2.52042846e-01 -1.73049613e-02  9.67561338e-01  2.90006464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.58071405700001 meters
Centerline goodness : 0.999050 with order 1
Centerline is valid?  [True, True]
Translation: X:112.36, Y:9.60, Z:29.02
[[ 9.57961643e-01 -1.37334351e-01 -2.51890388e-01  1.12360134e+02]
 [ 1.36883697e-01  9.90397174e-01 -1.93982049e-02  9.60249228e+00]
 [ 2.52135568e-01 -1.58969514e-02  9.67561338e-01  2.90155452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.64071405700001 meters
Centerline goodness : 0.998818 with order 1
Centerline is valid?  [True, True]
Translation: X:112.42, Y:9.61, Z:29.03
[[ 9.58811873e-01 -1.31267031e-01 -2.51890370e-01  1.12417682e+02]
 [ 1.30610986e-01  9.91243901e-01 -1.93984372e-02  9.61210571e+00]
 [ 2.52231168e-01 -1.43001977e-02  9.67561338e-01  2.90326414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.70071405700001 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:112.48, Y:9.62, Z:29.05
[[ 9.59479859e-01 -1.26291926e-01 -2.51890354e-01  1.12475308e+02]
 [ 1.25467611e-01  9.91908046e-01 -1.93986449e-02  9.62020148e+00]
 [ 2.52301961e-01 -1.29914719e-02  9.67561338e-01  2.90496076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.76071405700002 meters
Centerline goodness : 0.998743 with order 1
Centerline is valid?  [True, True]
Translation: X:112.53, Y:9.63, Z:29.07
[[ 9.60001578e-01 -1.22262912e-01 -2.51890354e-01  1.12533482e+02]
 [ 1.21302470e-01  9.92426019e-01 -1.93986487e-02  9.62715628e+00]
 [ 2.52354276e-01 -1.19321887e-02  9.67561338e-01  2.90654595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.82071405700002 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:112.59, Y:9.63, Z:29.08
[[ 9.60541954e-01 -1.17941620e-01 -2.51890708e-01  1.12590864e+02]
 [ 1.16836479e-01  9.92961786e-01 -1.93940508e-02  9.63379789e+00]
 [ 2.52405213e-01 -1.08012240e-02  9.67561338e-01  2.90788647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.88071405700002 meters
Centerline goodness : 0.998988 with order 1
Centerline is valid?  [True, True]
Translation: X:112.65, Y:9.64, Z:29.09
[[ 9.60890507e-01 -1.15068156e-01 -2.51890358e-01  1.12648590e+02]
 [ 1.13864865e-01  9.93306844e-01 -1.93985936e-02  9.63960806e+00]
 [ 2.52436577e-01 -1.00415372e-02  9.67561338e-01  2.90918312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.94071405700002 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:112.71, Y:9.64, Z:29.11
[[ 9.61072521e-01 -1.13538801e-01 -2.51889955e-01  1.12705523e+02]
 [ 1.12282553e-01  9.93486849e-01 -1.94038283e-02  9.64411522e+00]
 [ 2.52452445e-01 -9.63436101e-03  9.67561338e-01  2.91080503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.00071405700001 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:112.76, Y:9.65, Z:29.12
[[ 9.61029501e-01 -1.13903932e-01 -2.51889246e-01  1.12761559e+02]
 [ 1.12657592e-01  9.93444212e-01 -1.94130244e-02  9.64753912e+00]
 [ 2.52449133e-01 -9.72074683e-03  9.67561338e-01  2.91225255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.06071405700001 meters
Centerline goodness : 0.999037 with order 1
Centerline is valid?  [True, True]
Translation: X:112.82, Y:9.65, Z:29.14
[[ 9.60828377e-01 -1.15592024e-01 -2.51887502e-01  1.12819075e+02]
 [ 1.14396713e-01  9.93245009e-01 -1.94356298e-02  9.65082586e+00]
 [ 2.52432608e-01 -1.01407977e-02  9.67561338e-01  2.91390399e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.12071405700001 meters
Centerline goodness : 0.999153 with order 1
Centerline is valid?  [True, True]
Translation: X:112.88, Y:9.65, Z:29.15
[[ 9.60474051e-01 -1.18501398e-01 -2.51886911e-01  1.12877266e+02]
 [ 1.17402264e-01  9.92894086e-01 -1.94432851e-02  9.65398816e+00]
 [ 2.52401081e-01 -1.08973229e-02  9.67561338e-01  2.91539529e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.18071405700002 meters
Centerline goodness : 0.999361 with order 1
Centerline is valid?  [True, True]
Translation: X:112.94, Y:9.66, Z:29.17
[[ 9.60132003e-01 -1.21242327e-01 -2.51886552e-01  1.12935963e+02]
 [ 1.20234516e-01  9.92555006e-01 -1.94479292e-02  9.65579733e+00]
 [ 2.52369170e-01 -1.16128786e-02  9.67561338e-01  2.91678344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.24071405700002 meters
Centerline goodness : 0.999567 with order 1
Centerline is valid?  [True, True]
Translation: X:112.99, Y:9.66, Z:29.18
[[ 9.59679726e-01 -1.24772462e-01 -2.51886198e-01  1.12994506e+02]
 [ 1.23882696e-01  9.92106183e-01 -1.94525117e-02  9.65645635e+00]
 [ 2.52324992e-01 -1.25361602e-02  9.67561338e-01  2.91830094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.30071405700002 meters
Centerline goodness : 0.999568 with order 1
Centerline is valid?  [True, True]
Translation: X:113.05, Y:9.66, Z:29.20
[[ 9.59239659e-01 -1.28111729e-01 -2.51886209e-01  1.13052998e+02]
 [ 1.27334859e-01  9.91669017e-01 -1.94523753e-02  9.65803439e+00]
 [ 2.52279827e-01 -1.34144051e-02  9.67561338e-01  2.91986330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.36071405700001 meters
Centerline goodness : 0.999207 with order 1
Centerline is valid?  [True, True]
Translation: X:113.11, Y:9.66, Z:29.21
[[ 9.58878320e-01 -1.30788778e-01 -2.51886209e-01  1.13111093e+02]
 [ 1.30102433e-01  9.91309721e-01 -1.94523753e-02  9.65993217e+00]
 [ 2.52241400e-01 -1.41185476e-02  9.67561338e-01  2.92123052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.42071405700001 meters
Centerline goodness : 0.999526 with order 1
Centerline is valid?  [True, True]
Translation: X:113.17, Y:9.66, Z:29.23
[[ 9.58561088e-01 -1.33094281e-01 -2.51885991e-01  1.13169991e+02]
 [ 1.32485188e-01  9.90994031e-01 -1.94552005e-02  9.66199203e+00]
 [ 2.52206889e-01 -1.47221646e-02  9.67561338e-01  2.92273081e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.48071405700001 meters
Centerline goodness : 0.999480 with order 1
Centerline is valid?  [True, True]
Translation: X:113.23, Y:9.67, Z:29.24
[[ 9.58485712e-01 -1.33636024e-01 -2.51885991e-01  1.13228354e+02]
 [ 1.33045261e-01  9.90918995e-01 -1.94552005e-02  9.66636995e+00]
 [ 2.52198528e-01 -1.48647057e-02  9.67561338e-01  2.92434251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.54071405700002 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:113.29, Y:9.67, Z:29.26
[[ 9.58483854e-01 -1.33648685e-01 -2.51886346e-01  1.13286704e+02]
 [ 1.33059555e-01  9.90917166e-01 -1.94506010e-02  9.67207543e+00]
 [ 2.52198051e-01 -1.48727981e-02  9.67561338e-01  2.92609163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.60071405700002 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:113.35, Y:9.68, Z:29.28
[[ 9.58389238e-01 -1.34324387e-01 -2.51886936e-01  1.13345489e+02]
 [ 1.33760124e-01  9.90822992e-01 -1.94429580e-02  9.67689699e+00]
 [ 2.52187031e-01 -1.50585062e-02  9.67561338e-01  2.92767779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.66071405700002 meters
Centerline goodness : 0.999477 with order 1
Centerline is valid?  [True, True]
Translation: X:113.40, Y:9.68, Z:29.29
[[ 9.57978383e-01 -1.37222558e-01 -2.51887648e-01  1.13403893e+02]
 [ 1.36758816e-01  9.90413730e-01 -1.94337288e-02  9.68151396e+00]
 [ 2.52139731e-01 -1.58307643e-02  9.67561338e-01  2.92909469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.72071405700001 meters
Centerline goodness : 0.999206 with order 1
Centerline is valid?  [True, True]
Translation: X:113.46, Y:9.69, Z:29.31
[[ 9.57586722e-01 -1.39927710e-01 -2.51888676e-01  1.13461869e+02]
 [ 1.39559072e-01  9.90023289e-01 -1.94203943e-02  9.68690234e+00]
 [ 2.52093107e-01 -1.65566381e-02  9.67561338e-01  2.93065190e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.78071405700001 meters
Centerline goodness : 0.999412 with order 1
Centerline is valid?  [True, True]
Translation: X:113.52, Y:9.69, Z:29.32
[[ 9.57116891e-01 -1.43106053e-01 -2.51888694e-01  1.13519014e+02]
 [ 1.42845165e-01  9.89554504e-01 -1.94201580e-02  9.69102050e+00]
 [ 2.52036734e-01 -1.73937209e-02  9.67561338e-01  2.93220075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.84071405700001 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:113.58, Y:9.70, Z:29.34
[[ 9.56645923e-01 -1.46221869e-01 -2.51888353e-01  1.13577078e+02]
 [ 1.46065450e-01  9.89084208e-01 -1.94245771e-02  9.69531046e+00]
 [ 2.51979090e-01 -1.82097431e-02  9.67561338e-01  2.93357980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.90071405700002 meters
Centerline goodness : 0.999093 with order 1
Centerline is valid?  [True, True]
Translation: X:113.64, Y:9.70, Z:29.35
[[ 9.56318799e-01 -1.48346427e-01 -2.51888254e-01  1.13635551e+02]
 [ 1.48261723e-01  9.88757350e-01 -1.94258651e-02  9.69973399e+00]
 [ 2.51938120e-01 -1.87680667e-02  9.67561338e-01  2.93498253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.96071405700002 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:113.69, Y:9.70, Z:29.37
[[ 9.56052929e-01 -1.50050898e-01 -2.51887923e-01  1.13693677e+02]
 [ 1.50022894e-01  9.88491578e-01 -1.94301565e-02  9.70432767e+00]
 [ 2.51904603e-01 -1.92126972e-02  9.67561338e-01  2.93672339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.02071405700002 meters
Centerline goodness : 0.999207 with order 1
Centerline is valid?  [True, True]
Translation: X:113.75, Y:9.71, Z:29.38
[[ 9.55694989e-01 -1.52313471e-01 -2.51888260e-01  1.13751093e+02]
 [ 1.52363393e-01  9.88133612e-01 -1.94257909e-02  9.71062834e+00]
 [ 2.51858066e-01 -1.98134190e-02  9.67561338e-01  2.93842257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.08071405700001 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:113.81, Y:9.71, Z:29.40
[[ 9.55534099e-01 -1.53320113e-01 -2.51887928e-01  1.13810121e+02]
 [ 1.53403079e-01  9.87972655e-01 -1.94300949e-02  9.71419061e+00]
 [ 2.51837409e-01 -2.00742655e-02  9.67561338e-01  2.93978808e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.14071405700001 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:113.87, Y:9.72, Z:29.41
[[ 9.55464183e-01 -1.53755560e-01 -2.51887719e-01  1.13868125e+02]
 [ 1.53852599e-01  9.87902700e-01 -1.94328058e-02  9.71884691e+00]
 [ 2.51828459e-01 -2.01862302e-02  9.67561338e-01  2.94118814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.20071405700001 meters
Centerline goodness : 0.999253 with order 1
Centerline is valid?  [True, True]
Translation: X:113.93, Y:9.72, Z:29.43
[[ 9.55547461e-01 -1.53238244e-01 -2.51887061e-01  1.13926296e+02]
 [ 1.53315487e-01  9.87986030e-01 -1.94413302e-02  9.72499707e+00]
 [ 2.51840052e-01 -2.00410737e-02  9.67561338e-01  2.94254620e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.26071405700002 meters
Centerline goodness : 0.999411 with order 1
Centerline is valid?  [True, True]
Translation: X:113.98, Y:9.73, Z:29.44
[[ 9.55662343e-01 -1.52521548e-01 -2.51886212e-01  1.13983595e+02]
 [ 1.52571584e-01  9.88100966e-01 -1.94523192e-02  9.73040263e+00]
 [ 2.51855907e-01 -1.98408295e-02  9.67561338e-01  2.94414318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.32071405700002 meters
Centerline goodness : 0.998851 with order 1
Centerline is valid?  [True, True]
Translation: X:114.04, Y:9.73, Z:29.46
[[ 9.55948617e-01 -1.50717955e-01 -2.51885569e-01  1.14041358e+02]
 [ 1.50704599e-01  9.88387276e-01 -1.94606464e-02  9.73444038e+00]
 [ 2.51893560e-01 -1.93569355e-02  9.67561338e-01  2.94600790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.38071405700002 meters
Centerline goodness : 0.998981 with order 1
Centerline is valid?  [True, True]
Translation: X:114.10, Y:9.74, Z:29.48
[[ 9.56317142e-01 -1.48361065e-01 -2.51885924e-01  1.14101697e+02]
 [ 1.48268951e-01  9.88755673e-01 -1.94560528e-02  9.74078331e+00]
 [ 2.51940156e-01 -1.87407047e-02  9.67561338e-01  2.94761231e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.44071405700002 meters
Centerline goodness : 0.998956 with order 1
Centerline is valid?  [True, True]
Translation: X:114.16, Y:9.75, Z:29.49
[[ 9.56605314e-01 -1.46488339e-01 -2.51887751e-01  1.14159721e+02]
 [ 1.46338915e-01  9.89043632e-01 -1.94323664e-02  9.74704956e+00]
 [ 2.51974591e-01 -1.82718753e-02  9.67561339e-01  2.94893032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.50071405700001 meters
Centerline goodness : 0.998887 with order 1
Centerline is valid?  [True, True]
Translation: X:114.22, Y:9.75, Z:29.50
[[ 9.56707800e-01 -1.45818135e-01 -2.51887390e-01  1.14219128e+02]
 [ 1.45644760e-01  9.89145998e-01 -1.94370471e-02  9.75266666e+00]
 [ 2.51987677e-01 -1.80905039e-02  9.67561339e-01  2.95045663e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.56071405700001 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:114.28, Y:9.76, Z:29.51
[[ 9.56516763e-01 -1.47064843e-01 -2.51888100e-01  1.14277537e+02]
 [ 1.46936155e-01  9.88955169e-01 -1.94278399e-02  9.75866200e+00]
 [ 2.51963191e-01 -1.84284144e-02  9.67561339e-01  2.95147779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.62071405700001 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:114.34, Y:9.76, Z:29.53
[[ 9.56368049e-01 -1.48029335e-01 -2.51887815e-01  1.14336370e+02]
 [ 1.47932390e-01  9.88806565e-01 -1.94315347e-02  9.76356903e+00]
 [ 2.51944762e-01 -1.86786676e-02  9.67561339e-01  2.95321908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.68071405700002 meters
Centerline goodness : 0.999022 with order 1
Centerline is valid?  [True, True]
Translation: X:114.40, Y:9.77, Z:29.55
[[ 9.56457043e-01 -1.47452042e-01 -2.51888509e-01  1.14395558e+02]
 [ 1.47337876e-01  9.88895503e-01 -1.94225288e-02  9.76808975e+00]
 [ 2.51955306e-01 -1.85359035e-02  9.67561339e-01  2.95472129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.74071405700002 meters
Centerline goodness : 0.999044 with order 1
Centerline is valid?  [True, True]
Translation: X:114.45, Y:9.77, Z:29.56
[[ 9.56513008e-01 -1.47087380e-01 -2.51889200e-01  1.14453609e+02]
 [ 1.46963194e-01  9.88951431e-01 -1.94135694e-02  9.77325898e+00]
 [ 2.51961676e-01 -1.84491097e-02  9.67561339e-01  2.95640803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.80071405700002 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:114.51, Y:9.78, Z:29.58
[[ 9.56350953e-01 -1.48136816e-01 -2.51889536e-01  1.14511509e+02]
 [ 1.48049365e-01  9.88789496e-01 -1.94092055e-02  9.77800499e+00]
 [ 2.51940945e-01 -1.87300738e-02  9.67561339e-01  2.95791076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.86071405700001 meters
Centerline goodness : 0.999339 with order 1
Centerline is valid?  [True, True]
Translation: X:114.57, Y:9.78, Z:29.59
[[ 9.55982867e-01 -1.50493971e-01 -2.51889505e-01  1.14569736e+02]
 [ 1.50486383e-01  9.88421527e-01 -1.94096101e-02  9.78235125e+00]
 [ 2.51894038e-01 -1.93506858e-02  9.67561339e-01  2.95931879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.92071405700001 meters
Centerline goodness : 0.999180 with order 1
Centerline is valid?  [True, True]
Translation: X:114.63, Y:9.79, Z:29.61
[[ 9.55398891e-01 -1.54158371e-01 -2.51889174e-01  1.14628308e+02]
 [ 1.54274038e-01  9.87837346e-01 -1.94138995e-02  9.78620322e+00]
 [ 2.51818349e-01 -2.03119420e-02  9.67561339e-01  2.96083691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.98071405700001 meters
Centerline goodness : 0.999134 with order 1
Centerline is valid?  [True, True]
Translation: X:114.69, Y:9.79, Z:29.62
[[ 9.54899901e-01 -1.57219435e-01 -2.51889317e-01  1.14686929e+02]
 [ 1.57439544e-01  9.87337816e-01 -1.94120485e-02  9.78951450e+00]
 [ 2.51751799e-01 -2.11207761e-02  9.67561339e-01  2.96216103e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.04071405700002 meters
Centerline goodness : 0.999317 with order 1
Centerline is valid?  [True, True]
Translation: X:114.75, Y:9.79, Z:29.63
[[ 9.54968748e-01 -1.56800599e-01 -2.51889384e-01  1.14745168e+02]
 [ 1.57006709e-01  9.87406755e-01 -1.94111809e-02  9.79325961e+00]
 [ 2.51760964e-01 -2.10112521e-02  9.67561339e-01  2.96349366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.10071405700002 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:114.80, Y:9.80, Z:29.65
[[ 9.55924394e-01 -1.50865140e-01 -2.51889384e-01  1.14803062e+02]
 [ 1.50869735e-01  9.88363055e-01 -1.94111809e-02  9.79995909e+00]
 [ 2.51886632e-01 -1.94468633e-02  9.67561339e-01  2.96523753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.16071405700002 meters
Centerline goodness : 0.998565 with order 1
Centerline is valid?  [True, True]
Translation: X:114.86, Y:9.81, Z:29.67
[[ 9.56932040e-01 -1.44335172e-01 -2.51889717e-01  1.14861336e+02]
 [ 1.44119429e-01  9.89369983e-01 -1.94068590e-02  9.80597150e+00]
 [ 2.52013217e-01 -1.77311570e-02  9.67561339e-01  2.96694369e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.22071405700001 meters
Centerline goodness : 0.998925 with order 1
Centerline is valid?  [True, True]
Translation: X:114.92, Y:9.81, Z:29.68
[[ 9.57150174e-01 -1.42880901e-01 -2.51890040e-01  1.14920483e+02]
 [ 1.42616964e-01  9.89587762e-01 -1.94026688e-02  9.80975708e+00]
 [ 2.52039571e-01 -1.73525248e-02  9.67561339e-01  2.96828943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.28071405700001 meters
Centerline goodness : 0.999085 with order 1
Centerline is valid?  [True, True]
Translation: X:114.98, Y:9.81, Z:29.69
[[ 9.57143651e-01 -1.42923964e-01 -2.51890397e-01  1.14980639e+02]
 [ 1.42662703e-01  9.89581260e-01 -1.93980246e-02  9.81235012e+00]
 [ 2.52038459e-01 -1.73686688e-02  9.67561339e-01  2.96940159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.34071405700001 meters
Centerline goodness : 0.999107 with order 1
Centerline is valid?  [True, True]
Translation: X:115.04, Y:9.82, Z:29.71
[[ 9.56866273e-01 -1.44768727e-01 -2.51890752e-01  1.15040247e+02]
 [ 1.44571203e-01  9.89304333e-01 -1.93934126e-02  9.81757447e+00]
 [ 2.52004172e-01 -1.78592466e-02  9.67561339e-01  2.97077596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.40071405700002 meters
Centerline goodness : 0.998836 with order 1
Centerline is valid?  [True, True]
Translation: X:115.10, Y:9.82, Z:29.72
[[ 9.56572461e-01 -1.46696371e-01 -2.51891449e-01  1.15097617e+02]
 [ 1.46566577e-01  9.89010862e-01 -1.93843542e-02  9.82180077e+00]
 [ 2.51966994e-01 -1.83763281e-02  9.67561339e-01  2.97229140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.46071405700002 meters
Centerline goodness : 0.999064 with order 1
Centerline is valid?  [True, True]
Translation: X:115.16, Y:9.83, Z:29.74
[[ 9.56197234e-01 -1.49123176e-01 -2.51891105e-01  1.15155326e+02]
 [ 1.49074523e-01  9.88635858e-01 -1.93888255e-02  9.82564181e+00]
 [ 2.51919902e-01 -1.90110051e-02  9.67561339e-01  2.97400323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.52071405700002 meters
Centerline goodness : 0.999317 with order 1
Centerline is valid?  [True, True]
Translation: X:115.21, Y:9.83, Z:29.76
[[ 9.55693483e-01 -1.52318354e-01 -2.51891019e-01  1.15214239e+02]
 [ 1.52377833e-01  9.88132089e-01 -1.93899407e-02  9.82857298e+00]
 [ 2.51855043e-01 -1.98517677e-02  9.67561339e-01  2.97564263e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.58071405700001 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:115.27, Y:9.83, Z:29.77
[[ 9.55264578e-01 -1.54984750e-01 -2.51891470e-01  1.15272870e+02]
 [ 1.55136286e-01  9.87702885e-01 -1.93840845e-02  9.83075817e+00]
 [ 2.51798169e-01 -2.05605778e-02  9.67561339e-01  2.97725875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.64071405700001 meters
Centerline goodness : 0.999253 with order 1
Centerline is valid?  [True, True]
Translation: X:115.33, Y:9.83, Z:29.79
[[ 9.55002716e-01 -1.56589304e-01 -2.51892045e-01  1.15331977e+02]
 [ 1.56797293e-01  9.87440710e-01 -1.93766056e-02  9.83281999e+00]
 [ 2.51762629e-01 -2.09912798e-02  9.67561339e-01  2.97882352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.70071405700001 meters
Centerline goodness : 0.999433 with order 1
Centerline is valid?  [True, True]
Translation: X:115.39, Y:9.84, Z:29.80
[[ 9.54995568e-01 -1.56631197e-01 -2.51893098e-01  1.15391068e+02]
 [ 1.56844198e-01  9.87433530e-01 -1.93629063e-02  9.83577682e+00]
 [ 2.51760527e-01 -2.10164813e-02  9.67561339e-01  2.98032275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.76071405700002 meters
Centerline goodness : 0.999615 with order 1
Centerline is valid?  [True, True]
Translation: X:115.45, Y:9.84, Z:29.82
[[ 9.55392943e-01 -1.54187552e-01 -2.51893873e-01  1.15450076e+02]
 [ 1.54320205e-01  9.87831333e-01 -1.93528316e-02  9.83741284e+00]
 [ 2.51812626e-01 -2.03827553e-02  9.67561339e-01  2.98170207e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.82071405700002 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:115.51, Y:9.84, Z:29.83
[[ 9.56241575e-01 -1.48833934e-01 -2.51893846e-01  1.15508627e+02]
 [ 1.48784806e-01  9.88680199e-01 -1.93531806e-02  9.84156185e+00]
 [ 2.51922868e-01 -1.89716610e-02  9.67561339e-01  2.98323890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.88071405700002 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:115.57, Y:9.85, Z:29.85
[[ 9.57587247e-01 -1.39914571e-01 -2.51893980e-01  1.15566609e+02]
 [ 1.39563550e-01  9.90024009e-01 -1.93514287e-02  9.84708900e+00]
 [ 2.52088635e-01 -1.66245368e-02  9.67561339e-01  2.98494451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.94071405700002 meters
Centerline goodness : 0.999251 with order 1
Centerline is valid?  [True, True]
Translation: X:115.62, Y:9.85, Z:29.87
[[ 9.58900874e-01 -1.30608121e-01 -2.51894090e-01  1.15624584e+02]
 [ 1.29942472e-01  9.91332705e-01 -1.93500049e-02  9.85230036e+00]
 [ 2.52238117e-01 -1.41770042e-02  9.67561339e-01  2.98663489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.00071405700001 meters
Centerline goodness : 0.999343 with order 1
Centerline is valid?  [True, True]
Translation: X:115.68, Y:9.86, Z:29.88
[[ 9.59902195e-01 -1.23033100e-01 -2.51894089e-01  1.15683579e+02]
 [ 1.22111406e-01  9.92327759e-01 -1.93500126e-02  9.85646226e+00]
 [ 2.52342189e-01 -1.21850219e-02  9.67561339e-01  2.98816282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.06071405700001 meters
Centerline goodness : 0.999410 with order 1
Centerline is valid?  [True, True]
Translation: X:115.74, Y:9.86, Z:29.90
[[ 9.60274329e-01 -1.20093354e-01 -2.51894421e-01  1.15740668e+02]
 [ 1.19073511e-01  9.92696954e-01 -1.93456909e-02  9.85960365e+00]
 [ 2.52378113e-01 -1.14167827e-02  9.67561339e-01  2.98954876e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.12071405700001 meters
Centerline goodness : 0.999228 with order 1
Centerline is valid?  [True, True]
Translation: X:115.80, Y:9.86, Z:29.91
[[ 9.60434671e-01 -1.18806498e-01 -2.51893349e-01  1.15797261e+02]
 [ 1.17739559e-01  9.92855780e-01 -1.93596355e-02  9.86067303e+00]
 [ 2.52393818e-01 -1.10641467e-02  9.67561339e-01  2.99107796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.18071405700002 meters
Centerline goodness : 0.999412 with order 1
Centerline is valid?  [True, True]
Translation: X:115.85, Y:9.86, Z:29.93
[[ 9.60357566e-01 -1.19438773e-01 -2.51888317e-01  1.15854004e+02]
 [ 1.18376097e-01  9.92778814e-01 -1.94248925e-02  9.86091703e+00]
 [ 2.52389470e-01 -1.11627133e-02  9.67561341e-01  2.99262817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.24071405700002 meters
Centerline goodness : 0.999413 with order 1
Centerline is valid?  [True, True]
Translation: X:115.91, Y:9.86, Z:29.94
[[ 9.60212762e-01 -1.20598142e-01 -2.51887953e-01  1.15910682e+02]
 [ 1.19573371e-01  9.92635229e-01 -1.94296227e-02  9.86189286e+00]
 [ 2.52376032e-01 -1.14625199e-02  9.67561341e-01  2.99410901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.30071405700002 meters
Centerline goodness : 0.999459 with order 1
Centerline is valid?  [True, True]
Translation: X:115.97, Y:9.86, Z:29.95
[[ 9.59948545e-01 -1.22694019e-01 -2.51882846e-01  1.15967037e+02]
 [ 1.21722755e-01  9.92372658e-01 -1.94956003e-02  9.86161103e+00]
 [ 2.52353643e-01 -1.19451010e-02  9.67561343e-01  2.99546306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.36071405700001 meters
Centerline goodness : 0.999416 with order 1
Centerline is valid?  [True, True]
Translation: X:116.03, Y:9.86, Z:29.97
[[ 9.59576240e-01 -1.25576172e-01 -2.51881051e-01  1.16025765e+02]
 [ 1.24696217e-01  9.92002959e-01 -1.95187680e-02  9.86147705e+00]
 [ 2.52317840e-01 -1.26788681e-02  9.67561344e-01  2.99708438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.42071405700001 meters
Centerline goodness : 0.999371 with order 1
Centerline is valid?  [True, True]
Translation: X:116.08, Y:9.86, Z:29.98
[[ 9.59229072e-01 -1.28201103e-01 -2.51881054e-01  1.16082079e+02]
 [ 1.27409880e-01  9.91658077e-01 -1.95187301e-02  9.86075741e+00]
 [ 2.52282205e-01 -1.33692015e-02  9.67561344e-01  2.99846037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.48071405700001 meters
Centerline goodness : 0.999372 with order 1
Centerline is valid?  [True, True]
Translation: X:116.14, Y:9.86, Z:30.00
[[ 9.59113715e-01 -1.29064814e-01 -2.51879249e-01  1.16139546e+02]
 [ 1.28296701e-01  9.91543275e-01 -1.95419925e-02  9.86082218e+00]
 [ 2.52271360e-01 -1.35722839e-02  9.67561344e-01  2.99987751e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.54071405700002 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:116.20, Y:9.86, Z:30.01
[[ 9.59220714e-01 -1.28277218e-01 -2.51874130e-01  1.16196417e+02]
 [ 1.27465257e-01  9.91649204e-01 -1.96077552e-02  9.85982945e+00]
 [ 2.52286009e-01 -1.32970359e-02  9.67561346e-01  3.00124313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.60071405700002 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:116.25, Y:9.86, Z:30.03
[[ 9.59211329e-01 -1.28350908e-01 -2.51872331e-01  1.16253936e+02]
 [ 1.27535393e-01  9.91639730e-01 -1.96308399e-02  9.85919546e+00]
 [ 2.52286247e-01 -1.32925128e-02  9.67561346e-01  3.00277704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.66071405700002 meters
Centerline goodness : 0.999532 with order 1
Centerline is valid?  [True, True]
Translation: X:116.31, Y:9.86, Z:30.04
[[ 9.59079739e-01 -1.29332540e-01 -2.51871292e-01  1.16310803e+02]
 [ 1.28546725e-01  9.91508873e-01 -1.96441665e-02  9.85790088e+00]
 [ 2.52273251e-01 -1.35369077e-02  9.67561346e-01  3.00425620e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.72071405700001 meters
Centerline goodness : 0.999577 with order 1
Centerline is valid?  [True, True]
Translation: X:116.37, Y:9.86, Z:30.06
[[ 9.58933565e-01 -1.30421645e-01 -2.51866261e-01  1.16368047e+02]
 [ 1.29655820e-01  9.91363175e-01 -1.97084711e-02  9.85866929e+00]
 [ 2.52261347e-01 -1.37568121e-02  9.67561348e-01  3.00571991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.78071405700001 meters
Centerline goodness : 0.999622 with order 1
Centerline is valid?  [True, True]
Translation: X:116.42, Y:9.86, Z:30.07
[[ 9.58739555e-01 -1.31849978e-01 -2.51861170e-01  1.16424827e+02]
 [ 1.31115479e-01  9.91169888e-01 -1.97733216e-02  9.86050628e+00]
 [ 2.52244320e-01 -1.40654324e-02  9.67561350e-01  3.00731333e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.84071405700001 meters
Centerline goodness : 0.999601 with order 1
Centerline is valid?  [True, True]
Translation: X:116.48, Y:9.86, Z:30.09
[[ 9.58256932e-01 -1.35316068e-01 -2.51859514e-01  1.16481574e+02]
 [ 1.34693329e-01  9.90689603e-01 -1.97943927e-02  9.86134050e+00]
 [ 2.52193101e-01 -1.49556823e-02  9.67561351e-01  3.00870469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.90071405700002 meters
Centerline goodness : 0.999601 with order 1
Centerline is valid?  [True, True]
Translation: X:116.54, Y:9.86, Z:30.10
[[ 9.57848568e-01 -1.38180538e-01 -2.51857619e-01  1.16538677e+02]
 [ 1.37648462e-01  9.90282853e-01 -1.98184807e-02  9.86408058e+00]
 [ 2.52148809e-01 -1.56847105e-02  9.67561351e-01  3.01015610e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.96071405700002 meters
Centerline goodness : 0.999490 with order 1
Centerline is valid?  [True, True]
Translation: X:116.60, Y:9.87, Z:30.12
[[ 9.57501261e-01 -1.40576125e-01 -2.51852513e-01  1.16597737e+02]
 [ 1.40108244e-01  9.89936533e-01 -1.98831531e-02  9.86772043e+00]
 [ 2.52113101e-01 -1.62484692e-02  9.67561353e-01  3.01158437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.02071405700002 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:116.65, Y:9.87, Z:30.13
[[ 9.57451862e-01 -1.40911764e-01 -2.51852748e-01  1.16654201e+02]
 [ 1.40456031e-01  9.89887308e-01 -1.98801809e-02  9.87249120e+00]
 [ 2.52107190e-01 -1.63399211e-02  9.67561353e-01  3.01303430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.08071405700002 meters
Centerline goodness : 0.999668 with order 1
Centerline is valid?  [True, True]
Translation: X:116.71, Y:9.88, Z:30.15
[[ 9.57524381e-01 -1.40427175e-01 -2.51847709e-01  1.16708951e+02]
 [ 1.39938358e-01  9.89959343e-01 -1.99438167e-02  9.87752945e+00]
 [ 2.52119646e-01 -1.61464642e-02  9.67561355e-01  3.01460988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.14071405700001 meters
Centerline goodness : 0.999778 with order 1
Centerline is valid?  [True, True]
Translation: X:116.77, Y:9.88, Z:30.16
[[ 9.57961336e-01 -1.37420435e-01 -2.51844599e-01  1.16765663e+02]
 [ 1.36819526e-01  9.90394414e-01 -1.99830176e-02  9.88489178e+00]
 [ 2.52171559e-01 -1.53143006e-02  9.67561356e-01  3.01627159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.20071405700001 meters
Centerline goodness : 0.999622 with order 1
Centerline is valid?  [True, True]
Translation: X:116.82, Y:9.89, Z:30.18
[[ 9.58621144e-01 -1.32740397e-01 -2.51844178e-01  1.16822714e+02]
 [ 1.31979713e-01  9.91050868e-01 -1.99883200e-02  9.89353788e+00]
 [ 2.52243649e-01 -1.40770961e-02  9.67561356e-01  3.01792467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.26071405700002 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:116.88, Y:9.90, Z:30.20
[[ 9.59005415e-01 -1.29935912e-01 -2.51843745e-01  1.16880584e+02]
 [ 1.29078948e-01  9.91432738e-01 -1.99937731e-02  9.90320794e+00]
 [ 2.52284043e-01 -1.33335890e-02  9.67561356e-01  3.01959534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.32071405700002 meters
Centerline goodness : 0.999710 with order 1
Centerline is valid?  [True, True]
Translation: X:116.94, Y:9.91, Z:30.21
[[ 9.59000619e-01 -1.29971423e-01 -2.51843685e-01  1.16938880e+02]
 [ 1.29115461e-01  9.91427968e-01 -1.99945324e-02  9.91048993e+00]
 [ 2.52283591e-01 -1.33421445e-02  9.67561356e-01  3.02108956e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.38071405700002 meters
Centerline goodness : 0.999441 with order 1
Centerline is valid?  [True, True]
Translation: X:117.00, Y:9.92, Z:30.23
[[ 9.58135111e-01 -1.36205593e-01 -2.51843494e-01  1.16996301e+02]
 [ 1.35559914e-01  9.90567329e-01 -1.99969323e-02  9.91985206e+00]
 [ 2.52191631e-01 -1.49801194e-02  9.67561356e-01  3.02260648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.44071405700002 meters
Centerline goodness : 0.999732 with order 1
Centerline is valid?  [True, True]
Translation: X:117.05, Y:9.93, Z:30.24
[[ 9.57592837e-01 -1.39968048e-01 -2.51843014e-01  1.17054528e+02]
 [ 1.39448184e-01  9.90027315e-01 -2.00029735e-02  9.92606199e+00]
 [ 2.52131241e-01 -1.59643468e-02  9.67561356e-01  3.02414417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.50071405700001 meters
Centerline goodness : 0.999710 with order 1
Centerline is valid?  [True, True]
Translation: X:117.11, Y:9.93, Z:30.25
[[ 9.56825647e-01 -1.45120152e-01 -2.51842852e-01  1.17111951e+02]
 [ 1.44774335e-01  9.89262448e-01 -2.00050177e-02  9.93368348e+00]
 [ 2.52041808e-01 -1.73190673e-02  9.67561356e-01  3.02536043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.56071405700001 meters
Centerline goodness : 0.999575 with order 1
Centerline is valid?  [True, True]
Translation: X:117.17, Y:9.94, Z:30.27
[[ 9.56376596e-01 -1.48051290e-01 -2.51842457e-01  1.17169799e+02]
 [ 1.47803561e-01  9.88814294e-01 -2.00099905e-02  9.94187861e+00]
 [ 2.51987926e-01 -1.80861253e-02  9.67561356e-01  3.02673934e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.62071405700001 meters
Centerline goodness : 0.999552 with order 1
Centerline is valid?  [True, True]
Translation: X:117.23, Y:9.95, Z:30.28
[[ 9.56054692e-01 -1.50116784e-01 -2.51841969e-01  1.17227067e+02]
 [ 1.49937516e-01  9.88492841e-01 -2.00161269e-02  9.95032900e+00]
 [ 2.51948740e-01 -1.86240472e-02  9.67561356e-01  3.02814648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.68071405700002 meters
Centerline goodness : 0.999731 with order 1
Centerline is valid?  [True, True]
Translation: X:117.28, Y:9.96, Z:30.30
[[ 9.56008563e-01 -1.50410568e-01 -2.51841791e-01  1.17284280e+02]
 [ 1.50240680e-01  9.88446763e-01 -2.00183720e-02  9.95964774e+00]
 [ 2.51943178e-01 -1.86991469e-02  9.67561356e-01  3.02994796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.74071405700002 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:117.34, Y:9.97, Z:30.32
[[ 9.56336815e-01 -1.48309166e-01 -2.51841791e-01  1.17342378e+02]
 [ 1.48067988e-01  9.88774563e-01 -2.00183720e-02  9.96932250e+00]
 [ 2.51983665e-01 -1.81454011e-02  9.67561356e-01  3.03159024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.80071405700002 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:117.40, Y:9.98, Z:30.33
[[ 9.57120291e-01 -1.43164582e-01 -2.51842514e-01  1.17399435e+02]
 [ 1.42751367e-01  9.89556303e-01 -2.00092669e-02  9.98056971e+00]
 [ 2.52076966e-01 -1.67995879e-02  9.67561356e-01  3.03336298e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.86071405700001 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:117.46, Y:9.99, Z:30.35
[[ 9.58186239e-01 -1.35847152e-01 -2.51842574e-01  1.17457581e+02]
 [ 1.35186306e-01  9.90618151e-01 -2.00085176e-02  9.99111523e+00]
 [ 2.52197925e-01 -1.48737810e-02  9.67561356e-01  3.03490977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.92071405700001 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:117.51, Y:10.00, Z:30.36
[[ 9.59210275e-01 -1.28416499e-01 -2.51842911e-01  1.17514694e+02]
 [ 1.27505416e-01  9.91636122e-01 -2.00042701e-02  1.00010358e+01]
 [ 2.52305406e-01 -1.29230338e-02  9.67561356e-01  3.03628126e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.98071405700001 meters
Centerline goodness : 0.999567 with order 1
Centerline is valid?  [True, True]
Translation: X:117.57, Y:10.01, Z:30.38
[[ 9.59554990e-01 -1.25815718e-01 -2.51842462e-01  1.17571473e+02]
 [ 1.24815257e-01  9.91978203e-01 -2.00099184e-02  1.00075220e+01]
 [ 2.52339795e-01 -1.22331647e-02  9.67561356e-01  3.03775873e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.04071405700002 meters
Centerline goodness : 0.999475 with order 1
Centerline is valid?  [True, True]
Translation: X:117.63, Y:10.02, Z:30.39
[[ 9.60576683e-01 -1.17772284e-01 -2.51837496e-01  1.17629689e+02]
 [ 1.16483909e-01  9.92989730e-01 -2.00722351e-02  1.00159137e+01]
 [ 2.52436000e-01 -1.00540949e-02  9.67561358e-01  3.03927840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.10071405700002 meters
Centerline goodness : 0.999404 with order 1
Centerline is valid?  [True, True]
Translation: X:117.69, Y:10.02, Z:30.41
[[ 9.61645153e-01 -1.08703750e-01 -2.51837435e-01  1.17687291e+02]
 [ 1.07109407e-01  9.94044591e-01 -2.00730013e-02  1.00224416e+01]
 [ 2.52519651e-01 -7.67105382e-03  9.67561358e-01  3.04087319e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.16071405700002 meters
Centerline goodness : 0.999264 with order 1
Centerline is valid?  [True, True]
Translation: X:117.74, Y:10.03, Z:30.43
[[ 9.62772864e-01 -9.82157108e-02 -2.51837422e-01  1.17744405e+02]
 [ 9.62682779e-02  9.95152997e-01 -2.00731620e-02  1.00286707e+01]
 [ 2.52588265e-01 -4.91805923e-03  9.67561358e-01  3.04253211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.22071405700001 meters
Centerline goodness : 0.999170 with order 1
Centerline is valid?  [True, True]
Translation: X:117.80, Y:10.03, Z:30.44
[[ 9.63637827e-01 -8.93331092e-02 -2.51836721e-01  1.17801254e+02]
 [ 8.70848613e-02  9.95998465e-01 -2.00819528e-02  1.00321415e+01]
 [ 2.52622971e-01 -2.57943653e-03  9.67561358e-01  3.04413580e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.28071405700001 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:117.86, Y:10.04, Z:30.46
[[ 9.63993946e-01 -8.54189768e-02 -2.51831828e-01  1.17858181e+02]
 [ 8.30233479e-02  9.96344006e-01 -2.01431280e-02  1.00352645e+01]
 [ 2.52631738e-01 -1.49006809e-03  9.67561360e-01  3.04550894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.34071405700001 meters
Centerline goodness : 0.998604 with order 1
Centerline is valid?  [True, True]
Translation: X:117.91, Y:10.04, Z:30.47
[[ 9.63808342e-01 -8.74915331e-02 -2.51830721e-01  1.17914027e+02]
 [ 8.51618532e-02  9.96163217e-01 -2.01569631e-02  1.00359331e+01]
 [ 2.52628065e-01 -2.01892174e-03  9.67561360e-01  3.04713683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.40071405700002 meters
Centerline goodness : 0.998953 with order 1
Centerline is valid?  [True, True]
Translation: X:117.97, Y:10.03, Z:30.49
[[ 9.63066426e-01 -9.53275330e-02 -2.51824780e-01  1.17972375e+02]
 [ 9.32417451e-02  9.95437937e-01 -2.02309264e-02  1.00321958e+01]
 [ 2.52604504e-01 -3.99685598e-03  9.67561362e-01  3.04864752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.46071405700002 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:118.03, Y:10.03, Z:30.50
[[ 9.62239762e-01 -1.03340676e-01 -2.51824036e-01  1.18029944e+02]
 [ 1.01521996e-01  9.94627377e-01 -2.02401815e-02  1.00274417e+01]
 [ 2.52562714e-01 -6.08977128e-03  9.67561362e-01  3.05015109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.52071405700002 meters
Centerline goodness : 0.998967 with order 1
Centerline is valid?  [True, True]
Translation: X:118.09, Y:10.02, Z:30.52
[[ 9.61532799e-01 -1.09735831e-01 -2.51818833e-01  1.18088876e+02]
 [ 1.08115635e-01  9.93930947e-01 -2.03047143e-02  1.00245603e+01]
 [ 2.52518686e-01 -7.70190416e-03  9.67561364e-01  3.05176591e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.58071405700002 meters
Centerline goodness : 0.999016 with order 1
Centerline is valid?  [True, True]
Translation: X:118.15, Y:10.02, Z:30.53
[[ 9.60657903e-01 -1.17148021e-01 -2.51818854e-01  1.18147795e+02]
 [ 1.15777799e-01  9.93067586e-01 -2.03044559e-02  1.00201059e+01]
 [ 2.52451768e-01 -9.64939661e-03  9.67561364e-01  3.05319246e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.64071405700001 meters
Centerline goodness : 0.999331 with order 1
Centerline is valid?  [True, True]
Translation: X:118.21, Y:10.02, Z:30.55
[[ 9.59667317e-01 -1.25004371e-01 -2.51818480e-01  1.18206273e+02]
 [ 1.23898164e-01  9.92087086e-01 -2.03090893e-02  1.00166837e+01]
 [ 2.52364587e-01 -1.17098780e-02  9.67561364e-01  3.05462194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.70071405700001 meters
Centerline goodness : 0.999177 with order 1
Centerline is valid?  [True, True]
Translation: X:118.27, Y:10.02, Z:30.56
[[ 9.58544039e-01 -1.33345405e-01 -2.51818046e-01  1.18265736e+02]
 [ 1.32519770e-01  9.90972166e-01 -2.03144666e-02  1.00155645e+01]
 [ 2.52253516e-01 -1.38985587e-02  9.67561364e-01  3.05594037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.76071405700002 meters
Centerline goodness : 0.999243 with order 1
Centerline is valid?  [True, True]
Translation: X:118.32, Y:10.02, Z:30.57
[[ 9.57954221e-01 -1.37518851e-01 -2.51817944e-01  1.18322652e+02]
 [ 1.36834125e-01  9.90385629e-01 -2.03157314e-02  1.00166751e+01]
 [ 2.52190669e-01 -1.49957474e-02  9.67561364e-01  3.05733398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.82071405700002 meters
Centerline goodness : 0.999534 with order 1
Centerline is valid?  [True, True]
Translation: X:118.38, Y:10.02, Z:30.59
[[ 9.57572890e-01 -1.40159089e-01 -2.51812611e-01  1.18381119e+02]
 [ 1.39546506e-01  9.90005738e-01 -2.03816296e-02  1.00180970e+01]
 [ 2.52152601e-01 -1.56226740e-02  9.67561367e-01  3.05884858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.88071405700002 meters
Centerline goodness : 0.999402 with order 1
Centerline is valid?  [True, True]
Translation: X:118.44, Y:10.02, Z:30.60
[[ 9.57387189e-01 -1.41422660e-01 -2.51812235e-01  1.18438647e+02]
 [ 1.40851661e-01  9.89820797e-01 -2.03862768e-02  1.00221634e+01]
 [ 2.52132068e-01 -1.59506113e-02  9.67561367e-01  3.06024949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.94071405700002 meters
Centerline goodness : 0.999446 with order 1
Centerline is valid?  [True, True]
Translation: X:118.49, Y:10.03, Z:30.62
[[ 9.57342518e-01 -1.41726739e-01 -2.51811111e-01  1.18494765e+02]
 [ 1.41162407e-01  9.89776242e-01 -2.04001542e-02  1.00262548e+01]
 [ 2.52127902e-01 -1.60163275e-02  9.67561367e-01  3.06165716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.00071405700001 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:118.55, Y:10.03, Z:30.63
[[ 9.57277409e-01 -1.42176545e-01 -2.51805070e-01  1.18550370e+02]
 [ 1.41607986e-01  9.89711056e-01 -2.04744596e-02  1.00317775e+01]
 [ 2.52125249e-01 -1.60578711e-02  9.67561369e-01  3.06312116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.06071405700001 meters
Centerline goodness : 0.999313 with order 1
Centerline is valid?  [True, True]
Translation: X:118.61, Y:10.04, Z:30.65
[[ 9.57295624e-01 -1.42057130e-01 -2.51803216e-01  1.18607790e+02]
 [ 1.41478560e-01  9.89729095e-01 -2.04972294e-02  1.00376772e+01]
 [ 2.52128747e-01 -1.60028484e-02  9.67561370e-01  3.06481339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.12071405700001 meters
Centerline goodness : 0.999290 with order 1
Centerline is valid?  [True, True]
Translation: X:118.67, Y:10.04, Z:30.66
[[ 9.57332815e-01 -1.41806974e-01 -2.51802828e-01  1.18665948e+02]
 [ 1.41218678e-01  9.89766110e-01 -2.05020001e-02  1.00447745e+01]
 [ 2.52133232e-01 -1.59320251e-02  9.67561370e-01  3.06635643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.18071405700002 meters
Centerline goodness : 0.999133 with order 1
Centerline is valid?  [True, True]
Translation: X:118.72, Y:10.05, Z:30.68
[[ 9.57179499e-01 -1.42838329e-01 -2.51802738e-01  1.18723968e+02]
 [ 1.42284690e-01  9.89613404e-01 -2.05030985e-02  1.00518300e+01]
 [ 2.52115993e-01 -1.62025291e-02  9.67561370e-01  3.06781593e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.24071405700002 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:118.78, Y:10.06, Z:30.69
[[ 9.57137405e-01 -1.43120723e-01 -2.51802397e-01  1.18780034e+02]
 [ 1.42575555e-01  9.89571454e-01 -2.05072905e-02  1.00587783e+01]
 [ 2.52111482e-01 -1.62725716e-02  9.67561370e-01  3.06929814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.30071405700002 meters
Centerline goodness : 0.999532 with order 1
Centerline is valid?  [True, True]
Translation: X:118.84, Y:10.07, Z:30.71
[[ 9.57436814e-01 -1.41105916e-01 -2.51801248e-01  1.18836299e+02]
 [ 1.40488793e-01  9.89869573e-01 -2.05213838e-02  1.00663033e+01]
 [ 2.52146083e-01 -1.57273251e-02  9.67561370e-01  3.07094791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.36071405700001 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:118.89, Y:10.07, Z:30.72
[[ 9.58144962e-01 -1.36223987e-01 -2.51796064e-01  1.18894383e+02]
 [ 1.35424948e-01  9.90573747e-01 -2.05848093e-02  1.00749851e+01]
 [ 2.52226715e-01 -1.43762375e-02  9.67561372e-01  3.07249802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.42071405700001 meters
Centerline goodness : 0.999574 with order 1
Centerline is valid?  [True, True]
Translation: X:118.95, Y:10.08, Z:30.74
[[ 9.59070393e-01 -1.29548332e-01 -2.51795970e-01  1.18951036e+02]
 [ 1.28523183e-01  9.91492819e-01 -2.05859580e-02  1.00834801e+01]
 [ 2.52320772e-01 -1.26182368e-02  9.67561372e-01  3.07396461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.48071405700001 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:119.01, Y:10.09, Z:30.75
[[ 9.59788894e-01 -1.24113970e-01 -2.51795555e-01  1.19009010e+02]
 [ 1.22903864e-01  9.92204943e-01 -2.05910337e-02  1.00912769e+01]
 [ 2.52388429e-01 -1.11836011e-02  9.67561372e-01  3.07529287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.54071405700002 meters
Centerline goodness : 0.999776 with order 1
Centerline is valid?  [True, True]
Translation: X:119.07, Y:10.10, Z:30.77
[[ 9.60327043e-01 -1.19879102e-01 -2.51795496e-01  1.19067056e+02]
 [ 1.18525832e-01  9.92737431e-01 -2.05917479e-02  1.00985373e+01]
 [ 2.52435334e-01 -1.00694584e-02  9.67561372e-01  3.07676732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.60071405700002 meters
Centerline goodness : 0.999842 with order 1
Centerline is valid?  [True, True]
Translation: X:119.12, Y:10.10, Z:30.78
[[ 9.60814253e-01 -1.15910259e-01 -2.51795121e-01  1.19122084e+02]
 [ 1.14421890e-01  9.93218718e-01 -2.05963349e-02  1.01047549e+01]
 [ 2.52474954e-01 -9.02162146e-03  9.67561372e-01  3.07830257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.66071405700002 meters
Centerline goodness : 0.999504 with order 1
Centerline is valid?  [True, True]
Translation: X:119.18, Y:10.11, Z:30.80
[[ 9.61115576e-01 -1.13398248e-01 -2.51788974e-01  1.19179624e+02]
 [ 1.11805579e-01  9.93515079e-01 -2.06712208e-02  1.01112827e+01]
 [ 2.52500223e-01 -8.28397973e-03  9.67561374e-01  3.07985652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.72071405700001 meters
Centerline goodness : 0.999595 with order 1
Centerline is valid?  [True, True]
Translation: X:119.24, Y:10.12, Z:30.81
[[ 9.61134295e-01 -1.13240338e-01 -2.51788585e-01  1.19236525e+02]
 [ 1.11641109e-01  9.93533476e-01 -2.06759498e-02  1.01161129e+01]
 [ 2.52501740e-01 -8.23759260e-03  9.67561374e-01  3.08134641e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.78071405700001 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:119.29, Y:10.12, Z:30.83
[[ 9.61051158e-01 -1.13955656e-01 -2.51783200e-01  1.19293542e+02]
 [ 1.12363432e-01  9.93450681e-01 -2.07413282e-02  1.01200098e+01]
 [ 2.52497784e-01 -8.35774698e-03  9.67561377e-01  3.08283931e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.84071405700001 meters
Centerline goodness : 0.999752 with order 1
Centerline is valid?  [True, True]
Translation: X:119.35, Y:10.12, Z:30.84
[[ 9.60799268e-01 -1.16071914e-01 -2.51777833e-01  1.19350122e+02]
 [ 1.14534045e-01  9.93201415e-01 -2.08062900e-02  1.01244273e+01]
 [ 2.52481125e-01 -8.84646539e-03  9.67561379e-01  3.08425334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.90071405700002 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:119.41, Y:10.13, Z:30.86
[[ 9.60539672e-01 -1.18212331e-01 -2.51772485e-01  1.19406833e+02]
 [ 1.16729770e-01  9.92944394e-01 -2.08708109e-02  1.01283005e+01]
 [ 2.52463264e-01 -9.34210242e-03  9.67561381e-01  3.08574268e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.96071405700002 meters
Centerline goodness : 0.999372 with order 1
Centerline is valid?  [True, True]
Translation: X:119.47, Y:10.13, Z:30.87
[[ 9.59589297e-01 -1.25704952e-01 -2.51767046e-01  1.19465557e+02]
 [ 1.24458203e-01  9.92003947e-01 -2.09362154e-02  1.01305914e+01]
 [ 2.52385690e-01 -1.12443059e-02  9.67561383e-01  3.08733962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.02071405700002 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:119.52, Y:10.13, Z:30.89
[[ 9.59082035e-01 -1.29518408e-01 -2.51767018e-01  1.19521302e+02]
 [ 1.28400431e-01  9.91501382e-01 -2.09365514e-02  1.01338976e+01]
 [ 2.52339015e-01 -1.22471234e-02  9.67561383e-01  3.08874099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.08071405700002 meters
Centerline goodness : 0.999461 with order 1
Centerline is valid?  [True, True]
Translation: X:119.58, Y:10.14, Z:30.90
[[ 9.58410761e-01 -1.34407059e-01 -2.51760911e-01  1.19579524e+02]
 [ 1.33435231e-01  9.90834815e-01 -2.10097460e-02  1.01376587e+01]
 [ 2.52277334e-01 -1.34578085e-02  9.67561385e-01  3.09021653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.14071405700001 meters
Centerline goodness : 0.999191 with order 1
Centerline is valid?  [True, True]
Translation: X:119.64, Y:10.14, Z:30.92
[[ 9.57699942e-01 -1.39382582e-01 -2.51760434e-01  1.19637590e+02]
 [ 1.38577659e-01  9.90128569e-01 -2.10154550e-02  1.01422301e+01]
 [ 2.52204387e-01 -1.47618715e-02  9.67561385e-01  3.09166830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.20071405700001 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:119.69, Y:10.15, Z:30.93
[[ 9.56970313e-01 -1.44307652e-01 -2.51760047e-01  1.19694605e+02]
 [ 1.43668355e-01  9.89402628e-01 -2.10200932e-02  1.01467539e+01]
 [ 2.52125412e-01 -1.60543466e-02  9.67561385e-01  3.09315488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.26071405700002 meters
Centerline goodness : 0.999349 with order 1
Centerline is valid?  [True, True]
Translation: X:119.75, Y:10.15, Z:30.95
[[ 9.56361281e-01 -1.48291143e-01 -2.51759481e-01  1.19753480e+02]
 [ 1.47785121e-01  9.88795949e-01 -2.10268722e-02  1.01521218e+01]
 [ 2.52056854e-01 -1.70970189e-02  9.67561385e-01  3.09457091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.32071405700002 meters
Centerline goodness : 0.999372 with order 1
Centerline is valid?  [True, True]
Translation: X:119.81, Y:10.16, Z:30.96
[[ 9.56034748e-01 -1.50382207e-01 -2.51759315e-01  1.19811495e+02]
 [ 1.49946594e-01  9.88470438e-01 -2.10288614e-02  1.01577206e+01]
 [ 2.52019007e-01 -1.76461295e-02  9.67561385e-01  3.09599634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.38071405700002 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:119.87, Y:10.16, Z:30.97
[[ 9.56612486e-01 -1.46662257e-01 -2.51759277e-01  1.19868928e+02]
 [ 1.46100358e-01  9.89046234e-01 -2.10293187e-02  1.01635119e+01]
 [ 2.52085772e-01 -1.66652116e-02  9.67561385e-01  3.09706437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.44071405700002 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:119.93, Y:10.18, Z:30.99
[[ 9.56970278e-01 -1.44311006e-01 -2.51758257e-01  1.19925830e+02]
 [ 1.43666209e-01  9.89402484e-01 -2.10415183e-02  1.01759828e+01]
 [ 2.52126767e-01 -1.60330467e-02  9.67561385e-01  3.09914537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.50071405700001 meters
Centerline goodness : 0.999730 with order 1
Centerline is valid?  [True, True]
Translation: X:119.98, Y:10.18, Z:31.01
[[ 9.57442762e-01 -1.41141573e-01 -2.51758642e-01  1.19983730e+02]
 [ 1.40390599e-01  9.89872683e-01 -2.10369123e-02  1.01839448e+01]
 [ 2.52178185e-01 -1.52029072e-02  9.67561385e-01  3.10071963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.56071405700001 meters
Centerline goodness : 0.999368 with order 1
Centerline is valid?  [True, True]
Translation: X:120.04, Y:10.20, Z:31.03
[[ 9.58342232e-01 -1.34900681e-01 -2.51757766e-01  1.20040474e+02]
 [ 1.33935692e-01  9.90766490e-01 -2.10473923e-02  1.01950725e+01]
 [ 2.52272465e-01 -1.35487457e-02  9.67561385e-01  3.10254831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.62071405700001 meters
Centerline goodness : 0.999616 with order 1
Centerline is valid?  [True, True]
Translation: X:120.10, Y:10.20, Z:31.04
[[ 9.58704546e-01 -1.32301318e-01 -2.51757729e-01  1.20097871e+02]
 [ 1.31248287e-01  9.91126064e-01 -2.10478352e-02  1.02031287e+01]
 [ 2.52308303e-01 -1.28641154e-02  9.67561385e-01  3.10408580e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.68071405700002 meters
Centerline goodness : 0.999434 with order 1
Centerline is valid?  [True, True]
Translation: X:120.16, Y:10.21, Z:31.06
[[ 9.59214345e-01 -1.28552282e-01 -2.51758119e-01  1.20156653e+02]
 [ 1.27373733e-01  9.91631543e-01 -2.10431604e-02  1.02108341e+01]
 [ 2.52356439e-01 -1.18824701e-02  9.67561386e-01  3.10563362e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.74071405700002 meters
Centerline goodness : 0.999321 with order 1
Centerline is valid?  [True, True]
Translation: X:120.22, Y:10.22, Z:31.07
[[ 9.59425600e-01 -1.26965232e-01 -2.51758509e-01  1.20215244e+02]
 [ 1.25734277e-01  9.91840851e-01 -2.10384937e-02  1.02187419e+01]
 [ 2.52375531e-01 -1.14698046e-02  9.67561386e-01  3.10735476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.80071405700002 meters
Centerline goodness : 0.999297 with order 1
Centerline is valid?  [True, True]
Translation: X:120.27, Y:10.22, Z:31.09
[[ 9.59113282e-01 -1.29301831e-01 -2.51759308e-01  1.20274477e+02]
 [ 1.28152341e-01  9.91531523e-01 -2.10289295e-02  1.02240856e+01]
 [ 2.52346370e-01 -1.20944192e-02  9.67561386e-01  3.10865758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.86071405700001 meters
Centerline goodness : 0.999364 with order 1
Centerline is valid?  [True, True]
Translation: X:120.33, Y:10.23, Z:31.10
[[ 9.58621066e-01 -1.32901854e-01 -2.51759308e-01  1.20333290e+02]
 [ 1.31874085e-01  9.91043395e-01 -2.10289295e-02  1.02289332e+01]
 [ 2.52299183e-01 -1.30417536e-02  9.67561386e-01  3.10997319e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.92071405700001 meters
Centerline goodness : 0.999206 with order 1
Centerline is valid?  [True, True]
Translation: X:120.39, Y:10.23, Z:31.11
[[ 9.58263622e-01 -1.35455092e-01 -2.51759308e-01  1.20390490e+02]
 [ 1.34513697e-01  9.90688573e-01 -2.10289295e-02  1.02341075e+01]
 [ 2.52263546e-01 -1.37138173e-02  9.67561386e-01  3.11142412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.98071405700001 meters
Centerline goodness : 0.999455 with order 1
Centerline is valid?  [True, True]
Translation: X:120.45, Y:10.24, Z:31.13
[[ 9.58039268e-01 -1.37034299e-01 -2.51758540e-01  1.20448380e+02]
 [ 1.36143940e-01  9.90465661e-01 -2.10381206e-02  1.02392805e+01]
 [ 2.52241133e-01 -1.41200540e-02  9.67561386e-01  3.11313459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.04071405700002 meters
Centerline goodness : 0.999366 with order 1
Centerline is valid?  [True, True]
Translation: X:120.51, Y:10.25, Z:31.15
[[ 9.58413837e-01 -1.34388835e-01 -2.51758927e-01  1.20505664e+02]
 [ 1.33410169e-01  9.90837685e-01 -2.10334941e-02  1.02456272e+01]
 [ 2.52278899e-01 -1.34284092e-02  9.67561386e-01  3.11477786e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.10071405700002 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:120.56, Y:10.25, Z:31.16
[[ 9.58765772e-01 -1.31854606e-01 -2.51758927e-01  1.20562779e+02]
 [ 1.30790224e-01  9.91186919e-01 -2.10334941e-02  1.02515622e+01]
 [ 2.52313518e-01 -1.27614123e-02  9.67561386e-01  3.11622407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.16071405700002 meters
Centerline goodness : 0.999297 with order 1
Centerline is valid?  [True, True]
Translation: X:120.62, Y:10.26, Z:31.17
[[ 9.58772564e-01 -1.31806608e-01 -2.51758195e-01  1.20619819e+02]
 [ 1.30738312e-01  9.91193582e-01 -2.10422475e-02  1.02558164e+01]
 [ 2.52314615e-01 -1.27397118e-02  9.67561386e-01  3.11747759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.22071405700001 meters
Centerline goodness : 0.999272 with order 1
Centerline is valid?  [True, True]
Translation: X:120.68, Y:10.26, Z:31.19
[[ 9.58449726e-01 -1.34143544e-01 -2.51753118e-01  1.20675559e+02]
 [ 1.33138419e-01  9.90872763e-01 -2.11028287e-02  1.02608779e+01]
 [ 2.52286115e-01 -1.32920118e-02  9.67561387e-01  3.11874695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.28071405700001 meters
Centerline goodness : 0.999363 with order 1
Centerline is valid?  [True, True]
Translation: X:120.73, Y:10.27, Z:31.20
[[ 9.57973298e-01 -1.37507918e-01 -2.51751332e-01  1.20733459e+02]
 [ 1.36611063e-01  9.90399510e-01 -2.11241141e-02  1.02665872e+01]
 [ 2.52239128e-01 -1.41556798e-02  9.67561388e-01  3.12044952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.34071405700001 meters
Centerline goodness : 0.999841 with order 1
Centerline is valid?  [True, True]
Translation: X:120.79, Y:10.27, Z:31.22
[[ 9.57518044e-01 -1.40642914e-01 -2.51751397e-01  1.20791455e+02]
 [ 1.39852408e-01  9.89947023e-01 -2.11233356e-02  1.02704908e+01]
 [ 2.52191393e-01 -1.49820641e-02  9.67561388e-01  3.12204071e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.40071405700002 meters
Centerline goodness : 0.999433 with order 1
Centerline is valid?  [True, True]
Translation: X:120.85, Y:10.28, Z:31.24
[[ 9.57212559e-01 -1.42707076e-01 -2.51751480e-01  1.20849086e+02]
 [ 1.41986751e-01  9.89643173e-01 -2.11223468e-02  1.02753073e+01]
 [ 2.52158442e-01 -1.55267991e-02  9.67561388e-01  3.12364597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.46071405700002 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:120.91, Y:10.28, Z:31.25
[[ 9.57120342e-01 -1.43323578e-01 -2.51751868e-01  1.20907322e+02]
 [ 1.42625353e-01  9.89551439e-01 -2.11177205e-02  1.02804057e+01]
 [ 2.52148090e-01 -1.56939992e-02  9.67561388e-01  3.12537311e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.52071405700002 meters
Centerline goodness : 0.999682 with order 1
Centerline is valid?  [True, True]
Translation: X:120.97, Y:10.28, Z:31.27
[[ 9.57156322e-01 -1.43082405e-01 -2.51752260e-01  1.20966162e+02]
 [ 1.42377234e-01  9.89587269e-01 -2.11130438e-02  1.02848278e+01]
 [ 2.52151737e-01 -1.56353071e-02  9.67561388e-01  3.12672664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.58071405700002 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:121.02, Y:10.29, Z:31.28
[[ 9.57477959e-01 -1.40913307e-01 -2.51752652e-01  1.21024202e+02]
 [ 1.40135881e-01  9.89907254e-01 -2.11083677e-02  1.02907463e+01]
 [ 2.52186227e-01 -1.50687829e-02  9.67561388e-01  3.12821773e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.64071405700001 meters
Centerline goodness : 0.999343 with order 1
Centerline is valid?  [True, True]
Translation: X:121.08, Y:10.30, Z:31.30
[[ 9.58094705e-01 -1.36657011e-01 -2.51752652e-01  1.21082545e+02]
 [ 1.35735481e-01  9.90520225e-01 -2.11083677e-02  1.02967752e+01]
 [ 2.52250700e-01 -1.39479520e-02  9.67561388e-01  3.12970266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.70071405700001 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:121.14, Y:10.30, Z:31.31
[[ 9.58848861e-01 -1.31262787e-01 -2.51751747e-01  1.21141148e+02]
 [ 1.30155958e-01  9.91268585e-01 -2.11191581e-02  1.03024825e+01]
 [ 2.52325758e-01 -1.25169092e-02  9.67561388e-01  3.13137751e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.76071405700002 meters
Centerline goodness : 0.999294 with order 1
Centerline is valid?  [True, True]
Translation: X:121.20, Y:10.31, Z:31.33
[[ 9.59156788e-01 -1.28992699e-01 -2.51752140e-01  1.21199587e+02]
 [ 1.27810359e-01  9.91573846e-01 -2.11144722e-02  1.03073370e+01]
 [ 2.52354450e-01 -1.19244420e-02  9.67561388e-01  3.13275698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.82071405700002 meters
Centerline goodness : 0.999247 with order 1
Centerline is valid?  [True, True]
Translation: X:121.26, Y:10.31, Z:31.34
[[ 9.59924393e-01 -1.23149610e-01 -2.51752525e-01  1.21256259e+02]
 [ 1.21771094e-01  9.92333701e-01 -2.11098771e-02  1.03130214e+01]
 [ 2.52422188e-01 -1.03922944e-02  9.67561388e-01  3.13435351e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.88071405700002 meters
Centerline goodness : 0.999178 with order 1
Centerline is valid?  [True, True]
Translation: X:121.31, Y:10.32, Z:31.36
[[ 9.60597701e-01 -1.17783443e-01 -2.51752095e-01  1.21313535e+02]
 [ 1.16222497e-01  9.92998735e-01 -2.11150033e-02  1.03174885e+01]
 [ 2.52476510e-01 -8.97623343e-03  9.67561388e-01  3.13625094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.94071405700002 meters
Centerline goodness : 0.999064 with order 1
Centerline is valid?  [True, True]
Translation: X:121.37, Y:10.32, Z:31.38
[[ 9.60683220e-01 -1.17084001e-01 -2.51752034e-01  1.21371395e+02]
 [ 1.15499274e-01  9.93083100e-01 -2.11157328e-02  1.03213555e+01]
 [ 2.52483005e-01 -8.79164688e-03  9.67561388e-01  3.13784812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.00071405700001 meters
Centerline goodness : 0.998996 with order 1
Centerline is valid?  [True, True]
Translation: X:121.43, Y:10.32, Z:31.39
[[ 9.60442038e-01 -1.19047053e-01 -2.51751645e-01  1.21429540e+02]
 [ 1.17527329e-01  9.92845032e-01 -2.11203682e-02  1.03239706e+01]
 [ 2.52464688e-01 -9.30280906e-03  9.67561388e-01  3.13928096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.06071405700001 meters
Centerline goodness : 0.999297 with order 1
Centerline is valid?  [True, True]
Translation: X:121.49, Y:10.32, Z:31.41
[[ 9.59728171e-01 -1.24672928e-01 -2.51750866e-01  1.21487987e+02]
 [ 1.23340670e-01  9.92139414e-01 -2.11296585e-02  1.03249006e+01]
 [ 2.52406253e-01 -1.07723919e-02  9.67561388e-01  3.14063627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.12071405700001 meters
Centerline goodness : 0.999479 with order 1
Centerline is valid?  [True, True]
Translation: X:121.55, Y:10.33, Z:31.42
[[ 9.59028908e-01 -1.29943264e-01 -2.51750475e-01  1.21546021e+02]
 [ 1.28787858e-01  9.91446937e-01 -2.11343104e-02  1.03259648e+01]
 [ 2.52343499e-01 -1.21539897e-02  9.67561388e-01  3.14195339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.18071405700002 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:121.60, Y:10.33, Z:31.44
[[ 9.58895004e-01 -1.30927729e-01 -2.51750475e-01  1.21604543e+02]
 [ 1.29805604e-01  9.91314202e-01 -2.11343080e-02  1.03281255e+01]
 [ 2.52330888e-01 -1.24130400e-02  9.67561388e-01  3.14387432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.24071405700002 meters
Centerline goodness : 0.999481 with order 1
Centerline is valid?  [True, True]
Translation: X:121.66, Y:10.33, Z:31.46
[[ 9.59069912e-01 -1.29638740e-01 -2.51751269e-01  1.21662146e+02]
 [ 1.28475518e-01  9.91487661e-01 -2.11248483e-02  1.03295836e+01]
 [ 2.52346876e-01 -1.20836682e-02  9.67561388e-01  3.14553571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.30071405700002 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:121.72, Y:10.33, Z:31.47
[[ 9.59425795e-01 -1.26978118e-01 -2.51751269e-01  1.21720419e+02]
 [ 1.25724985e-01  9.91840193e-01 -2.11248483e-02  1.03316939e+01]
 [ 2.52379421e-01 -1.13837002e-02  9.67561388e-01  3.14711705e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.36071405700001 meters
Centerline goodness : 0.999347 with order 1
Centerline is valid?  [True, True]
Translation: X:121.78, Y:10.33, Z:31.49
[[ 9.59768472e-01 -1.24361254e-01 -2.51751381e-01  1.21778717e+02]
 [ 1.23020081e-01  9.92179347e-01 -2.11235097e-02  1.03338108e+01]
 [ 2.52409467e-01 -1.06967966e-02  9.67561388e-01  3.14851918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.42071405700001 meters
Centerline goodness : 0.999506 with order 1
Centerline is valid?  [True, True]
Translation: X:121.84, Y:10.34, Z:31.50
[[ 9.60089312e-01 -1.21861184e-01 -2.51750600e-01  1.21837130e+02]
 [ 1.20433166e-01  9.92496477e-01 -2.11328216e-02  1.03351215e+01]
 [ 2.52436854e-01 -1.00297256e-02  9.67561388e-01  3.14988669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.48071405700001 meters
Centerline goodness : 0.999398 with order 1
Centerline is valid?  [True, True]
Translation: X:121.90, Y:10.34, Z:31.51
[[ 9.60362667e-01 -1.19688677e-01 -2.51750210e-01  1.21895479e+02]
 [ 1.18186126e-01  9.92766462e-01 -2.11374640e-02  1.03361532e+01]
 [ 2.52459080e-01 -9.45375072e-03  9.67561388e-01  3.15141649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.54071405700002 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:121.95, Y:10.34, Z:31.53
[[ 9.60591561e-01 -1.17839944e-01 -2.51749082e-01  1.21951787e+02]
 [ 1.16271512e-01  9.92992233e-01 -2.11508849e-02  1.03368242e+01]
 [ 2.52477303e-01 -8.95388503e-03  9.67561388e-01  3.15304980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.60071405700002 meters
Centerline goodness : 0.999687 with order 1
Centerline is valid?  [True, True]
Translation: X:122.01, Y:10.34, Z:31.55
[[ 9.60974176e-01 -1.14690076e-01 -2.51743560e-01  1.22008596e+02]
 [ 1.12998280e-01  9.93368639e-01 -2.12164178e-02  1.03377841e+01]
 [ 2.52507470e-01 -8.05815955e-03  9.67561390e-01  3.15463752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.66071405700002 meters
Centerline goodness : 0.999552 with order 1
Centerline is valid?  [True, True]
Translation: X:122.07, Y:10.34, Z:31.56
[[ 9.61302012e-01 -1.11921478e-01 -2.51738008e-01  1.22066794e+02]
 [ 1.10119189e-01  9.93690513e-01 -2.12821000e-02  1.03391376e+01]
 [ 2.52531594e-01 -7.26265964e-03  9.67561392e-01  3.15620667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.72071405700001 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:122.12, Y:10.34, Z:31.58
[[ 9.61422349e-01 -1.10883167e-01 -2.51737938e-01  1.22124372e+02]
 [ 1.09045682e-01  9.93808873e-01 -2.12829234e-02  1.03379021e+01]
 [ 2.52539315e-01 -6.98905693e-03  9.67561392e-01  3.15765333e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.78071405700001 meters
Centerline goodness : 0.999554 with order 1
Centerline is valid?  [True, True]
Translation: X:122.18, Y:10.34, Z:31.59
[[ 9.61455082e-01 -1.10601632e-01 -2.51736777e-01  1.22181607e+02]
 [ 1.08751072e-01  9.93840861e-01 -2.12966526e-02  1.03378021e+01]
 [ 2.52541739e-01 -6.90086951e-03  9.67561392e-01  3.15905576e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.84071405700001 meters
Centerline goodness : 0.999332 with order 1
Centerline is valid?  [True, True]
Translation: X:122.24, Y:10.34, Z:31.60
[[ 9.61455189e-01 -1.10613113e-01 -2.51731323e-01  1.22238177e+02]
 [ 1.08746123e-01  9.93840023e-01 -2.13609308e-02  1.03377126e+01]
 [ 2.52543463e-01 -6.83722753e-03  9.67561394e-01  3.16042661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.90071405700002 meters
Centerline goodness : 0.999335 with order 1
Centerline is valid?  [True, True]
Translation: X:122.30, Y:10.34, Z:31.62
[[ 9.61417390e-01 -1.10947697e-01 -2.51728446e-01  1.22295228e+02]
 [ 1.09083121e-01  9.93802363e-01 -2.13947752e-02  1.03374061e+01]
 [ 2.52542026e-01 -6.89001571e-03  9.67561395e-01  3.16204986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.96071405700002 meters
Centerline goodness : 0.999380 with order 1
Centerline is valid?  [True, True]
Translation: X:122.35, Y:10.34, Z:31.64
[[ 9.61245606e-01 -1.12438328e-01 -2.51723078e-01  1.22351966e+02]
 [ 1.10607489e-01  9.93632501e-01 -2.14577634e-02  1.03379384e+01]
 [ 2.52532906e-01 -7.21627672e-03  9.67561397e-01  3.16364977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.02071405700002 meters
Centerline goodness : 0.999138 with order 1
Centerline is valid?  [True, True]
Translation: X:122.41, Y:10.34, Z:31.65
[[ 9.60950050e-01 -1.14949318e-01 -2.51717414e-01  1.22409429e+02]
 [ 1.13185766e-01  9.93340677e-01 -2.15240028e-02  1.03373682e+01]
 [ 2.52515316e-01 -7.80733674e-03  9.67561399e-01  3.16502325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.08071405700002 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:122.47, Y:10.34, Z:31.67
[[ 9.60412794e-01 -1.19355836e-01 -2.51717004e-01  1.22466792e+02]
 [ 1.17739617e-01  9.92811107e-01 -2.15288022e-02  1.03368363e+01]
 [ 2.52477025e-01 -8.96052656e-03  9.67561399e-01  3.16671428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.14071405700001 meters
Centerline goodness : 0.998900 with order 1
Centerline is valid?  [True, True]
Translation: X:122.52, Y:10.34, Z:31.68
[[ 9.60053819e-01 -1.22211397e-01 -2.51716188e-01  1.22522579e+02]
 [ 1.20689035e-01  9.92456678e-01 -2.15383384e-02  1.03389208e+01]
 [ 2.52449642e-01 -9.70141967e-03  9.67561399e-01  3.16809492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.20071405700001 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:122.58, Y:10.34, Z:31.70
[[ 9.59620565e-01 -1.25572069e-01 -2.51714176e-01  1.22581369e+02]
 [ 1.24157019e-01  9.92028287e-01 -2.15618199e-02  1.03392023e+01]
 [ 2.52415146e-01 -1.05609160e-02  9.67561399e-01  3.16959305e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.26071405700002 meters
Centerline goodness : 0.998882 with order 1
Centerline is valid?  [True, True]
Translation: X:122.64, Y:10.34, Z:31.71
[[ 9.59235206e-01 -1.28482660e-01 -2.51714176e-01  1.22639807e+02]
 [ 1.27165931e-01  9.91647071e-01 -2.15618199e-02  1.03399802e+01]
 [ 2.52381946e-01 -1.13266108e-02  9.67561399e-01  3.17097046e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.32071405700002 meters
Centerline goodness : 0.998508 with order 1
Centerline is valid?  [True, True]
Translation: X:122.70, Y:10.34, Z:31.72
[[ 9.58893267e-01 -1.31011787e-01 -2.51713356e-01  1.22696686e+02]
 [ 1.29778027e-01  9.91308397e-01 -2.15713972e-02  1.03425191e+01]
 [ 2.52351670e-01 -1.19821950e-02  9.67561399e-01  3.17247280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.38071405700002 meters
Centerline goodness : 0.998708 with order 1
Centerline is valid?  [True, True]
Translation: X:122.75, Y:10.34, Z:31.74
[[ 9.58591327e-01 -1.33214048e-01 -2.51707541e-01  1.22754163e+02]
 [ 1.32037030e-01  9.91008564e-01 -2.16390439e-02  1.03443115e+01]
 [ 2.52326953e-01 -1.24917163e-02  9.67561402e-01  3.17412365e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.44071405700002 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:122.81, Y:10.35, Z:31.76
[[ 9.58465545e-01 -1.34116813e-01 -2.51707129e-01  1.22811635e+02]
 [ 1.32969073e-01  9.90883833e-01 -2.16438329e-02  1.03463113e+01]
 [ 2.52315326e-01 -1.27243955e-02  9.67561402e-01  3.17558158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.50071405700001 meters
Centerline goodness : 0.998470 with order 1
Centerline is valid?  [True, True]
Translation: X:122.87, Y:10.35, Z:31.77
[[ 9.58467002e-01 -1.34107922e-01 -2.51706319e-01  1.22868376e+02]
 [ 1.32957414e-01  9.90885191e-01 -2.16532510e-02  1.03492996e+01]
 [ 2.52315936e-01 -1.27122947e-02  9.67561402e-01  3.17697336e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.56071405700001 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:122.93, Y:10.35, Z:31.78
[[ 9.58218404e-01 -1.35883260e-01 -2.51700676e-01  1.22927038e+02]
 [ 1.34775675e-01  9.90638086e-01 -2.17186531e-02  1.03515980e+01]
 [ 2.52295477e-01 -1.31119155e-02  9.67561404e-01  3.17844392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.62071405700001 meters
Centerline goodness : 0.998325 with order 1
Centerline is valid?  [True, True]
Translation: X:122.98, Y:10.36, Z:31.80
[[ 9.58200196e-01 -1.36011596e-01 -2.51700676e-01  1.22983531e+02]
 [ 1.34908354e-01  9.90620026e-01 -2.17186531e-02  1.03551055e+01]
 [ 2.52293719e-01 -1.31457061e-02  9.67561404e-01  3.17999650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.68071405700002 meters
Centerline goodness : 0.998279 with order 1
Centerline is valid?  [True, True]
Translation: X:123.04, Y:10.36, Z:31.82
[[ 9.58271359e-01 -1.35511557e-01 -2.51699465e-01  1.23039979e+02]
 [ 1.34387725e-01  9.90690482e-01 -2.17326707e-02  1.03600687e+01]
 [ 2.52301293e-01 -1.29995227e-02  9.67561404e-01  3.18152479e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.74071405700002 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:123.10, Y:10.37, Z:31.83
[[ 9.58833694e-01 -1.31484524e-01 -2.51693795e-01  1.23096517e+02]
 [ 1.30207356e-01  9.91247136e-01 -2.17981460e-02  1.03652461e+01]
 [ 2.52356873e-01 -1.18715867e-02  9.67561406e-01  3.18303885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.80071405700002 meters
Centerline goodness : 0.998435 with order 1
Centerline is valid?  [True, True]
Translation: X:123.15, Y:10.37, Z:31.85
[[ 9.59099837e-01 -1.29530444e-01 -2.51692999e-01  1.23153908e+02]
 [ 1.28184824e-01  9.91510510e-01 -2.18073349e-02  1.03702476e+01]
 [ 2.52380968e-01 -1.13478114e-02  9.67561406e-01  3.18457343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.86071405700001 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:123.21, Y:10.38, Z:31.86
[[ 9.59403229e-01 -1.27265378e-01 -2.51692207e-01  1.23210108e+02]
 [ 1.25840837e-01  9.91810529e-01 -2.18164735e-02  1.03758846e+01]
 [ 2.52407463e-01 -1.07423629e-02  9.67561406e-01  3.18617396e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.92071405700001 meters
Centerline goodness : 0.998396 with order 1
Centerline is valid?  [True, True]
Translation: X:123.27, Y:10.38, Z:31.88
[[ 9.59526825e-01 -1.26341364e-01 -2.51686575e-01  1.23266872e+02]
 [ 1.24868648e-01  9.91931969e-01 -2.18812644e-02  1.03806031e+01]
 [ 2.52420469e-01 -1.04321022e-02  9.67561408e-01  3.18775787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.98071405700001 meters
Centerline goodness : 0.998421 with order 1
Centerline is valid?  [True, True]
Translation: X:123.32, Y:10.38, Z:31.89
[[ 9.59558211e-01 -1.26114384e-01 -2.51680754e-01  1.23324671e+02]
 [ 1.24616523e-01  9.91962200e-01 -2.19480200e-02  1.03839509e+01]
 [ 2.52425756e-01 -1.03031777e-02  9.67561410e-01  3.18908317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.04071405700002 meters
Centerline goodness : 0.998179 with order 1
Centerline is valid?  [True, True]
Translation: X:123.38, Y:10.39, Z:31.91
[[ 9.59524621e-01 -1.26371320e-01 -2.51679938e-01  1.23382051e+02]
 [ 1.24879686e-01  9.91928898e-01 -2.19573764e-02  1.03875171e+01]
 [ 2.52423386e-01 -1.03610682e-02  9.67561410e-01  3.19051471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.10071405700002 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:123.44, Y:10.39, Z:31.92
[[ 9.59522237e-01 -1.26391915e-01 -2.51678684e-01  1.23438222e+02]
 [ 1.24897217e-01  9.91926372e-01 -2.19717340e-02  1.03901386e+01]
 [ 2.52423774e-01 -1.03515999e-02  9.67561410e-01  3.19190130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.16071405700002 meters
Centerline goodness : 0.998331 with order 1
Centerline is valid?  [True, True]
Translation: X:123.50, Y:10.39, Z:31.94
[[ 9.59353950e-01 -1.27667043e-01 -2.51676628e-01  1.23495015e+02]
 [ 1.26209249e-01  9.91759766e-01 -2.19952668e-02  1.03933804e+01]
 [ 2.52410824e-01 -1.06626722e-02  9.67561411e-01  3.19350481e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.22071405700002 meters
Centerline goodness : 0.998029 with order 1
Centerline is valid?  [True, True]
Translation: X:123.55, Y:10.40, Z:31.95
[[ 9.58670716e-01 -1.32711170e-01 -2.51670824e-01  1.23553627e+02]
 [ 1.31406498e-01  9.91083056e-01 -2.20614788e-02  1.03959695e+01]
 [ 2.52354494e-01 -1.19214880e-02  9.67561413e-01  3.19492539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.28071405700001 meters
Centerline goodness : 0.997749 with order 1
Centerline is valid?  [True, True]
Translation: X:123.61, Y:10.40, Z:31.97
[[ 9.57792299e-01 -1.38909983e-01 -2.51670276e-01  1.23611352e+02]
 [ 1.37813374e-01  9.90212346e-01 -2.20677284e-02  1.03987703e+01]
 [ 2.52272442e-01 -1.35472296e-02  9.67561413e-01  3.19657496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.34071405700001 meters
Centerline goodness : 0.998229 with order 1
Centerline is valid?  [True, True]
Translation: X:123.67, Y:10.40, Z:31.98
[[ 9.56408681e-01 -1.48136964e-01 -2.51670171e-01  1.23669970e+02]
 [ 1.47352632e-01  9.88837785e-01 -2.20689279e-02  1.04033437e+01]
 [ 2.52130198e-01 -1.59773480e-02  9.67561413e-01  3.19809195e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.40071405700002 meters
Centerline goodness : 0.997992 with order 1
Centerline is valid?  [True, True]
Translation: X:123.73, Y:10.41, Z:31.99
[[ 9.55897287e-01 -1.51401720e-01 -2.51670214e-01  1.23728021e+02]
 [ 1.50728248e-01  9.88328882e-01 -2.20684424e-02  1.04090249e+01]
 [ 2.52074141e-01 -1.68386460e-02  9.67561413e-01  3.19945182e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.46071405700002 meters
Centerline goodness : 0.998447 with order 1
Centerline is valid?  [True, True]
Translation: X:123.78, Y:10.42, Z:32.01
[[ 9.55648098e-01 -1.52967578e-01 -2.51669688e-01  1.23784884e+02]
 [ 1.52345670e-01  9.88080724e-01 -2.20744310e-02  1.04171992e+01]
 [ 2.52046640e-01 -1.72453992e-02  9.67561413e-01  3.20084199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.52071405700002 meters
Centerline goodness : 0.998047 with order 1
Centerline is valid?  [True, True]
Translation: X:123.84, Y:10.43, Z:32.02
[[ 9.55536974e-01 -1.53662249e-01 -2.51668443e-01  1.23842404e+02]
 [ 1.53060198e-01  9.87969973e-01 -2.20886222e-02  1.04277021e+01]
 [ 2.52035052e-01 -1.74139266e-02  9.67561413e-01  3.20236495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.58071405700002 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:123.90, Y:10.44, Z:32.04
[[ 9.55463275e-01 -1.54120521e-01 -2.51668025e-01  1.23899499e+02]
 [ 1.53532780e-01  9.87896537e-01 -2.20933770e-02  1.04351351e+01]
 [ 2.52027014e-01 -1.75298811e-02  9.67561413e-01  3.20381357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.64071405700001 meters
Centerline goodness : 0.998133 with order 1
Centerline is valid?  [True, True]
Translation: X:123.96, Y:10.45, Z:32.05
[[ 9.55707508e-01 -1.52603247e-01 -2.51665268e-01  1.23955217e+02]
 [ 1.51955789e-01  9.88139633e-01 -2.21247380e-02  1.04458436e+01]
 [ 2.52056733e-01 -1.70972161e-02  9.67561413e-01  3.20521223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.70071405700001 meters
Centerline goodness : 0.998670 with order 1
Centerline is valid?  [True, True]
Translation: X:124.01, Y:10.46, Z:32.07
[[ 9.55210937e-01 -1.55684589e-01 -2.51663216e-01  1.24012064e+02]
 [ 1.55135612e-01  9.87644878e-01 -2.21480662e-02  1.04566739e+01]
 [ 2.52001998e-01 -1.78858519e-02  9.67561414e-01  3.20686094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.76071405700002 meters
Centerline goodness : 0.998626 with order 1
Centerline is valid?  [True, True]
Translation: X:124.07, Y:10.47, Z:32.08
[[ 9.54672373e-01 -1.58954360e-01 -2.51662814e-01  1.24069167e+02]
 [ 1.58515246e-01  9.87107987e-01 -2.21526237e-02  1.04658386e+01]
 [ 2.51939630e-01 -1.87438952e-02  9.67561414e-01  3.20829738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.82071405700002 meters
Centerline goodness : 0.998864 with order 1
Centerline is valid?  [True, True]
Translation: X:124.13, Y:10.48, Z:32.10
[[ 9.53776018e-01 -1.64247821e-01 -2.51662393e-01  1.24126454e+02]
 [ 1.63987391e-01  9.86213559e-01 -2.21574106e-02  1.04758983e+01]
 [ 2.51832171e-01 -2.01362524e-02  9.67561414e-01  3.20979203e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.88071405700002 meters
Centerline goodness : 0.999125 with order 1
Centerline is valid?  [True, True]
Translation: X:124.18, Y:10.49, Z:32.11
[[ 9.53153870e-01 -1.67821064e-01 -2.51662057e-01  1.24183565e+02]
 [ 1.67681199e-01  9.85592155e-01 -2.21612277e-02  1.04850317e+01]
 [ 2.51755270e-01 -2.10759355e-02  9.67561414e-01  3.21124500e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.94071405700002 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:124.24, Y:10.50, Z:32.13
[[ 9.53089571e-01 -1.68187092e-01 -2.51661226e-01  1.24240956e+02]
 [ 1.68057211e-01  9.85527897e-01 -2.21706611e-02  1.04957892e+01]
 [ 2.51747978e-01 -2.11628578e-02  9.67561414e-01  3.21271272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.000714057 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:124.30, Y:10.51, Z:32.14
[[ 9.53507948e-01 -1.65799364e-01 -2.51660813e-01  1.24299092e+02]
 [ 1.65587008e-01  9.85945839e-01 -2.21753439e-02  1.05071309e+01]
 [ 2.51800589e-01 -2.05273945e-02  9.67561414e-01  3.21418376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.060714057 meters
Centerline goodness : 0.999028 with order 1
Centerline is valid?  [True, True]
Translation: X:124.36, Y:10.52, Z:32.16
[[ 9.53656446e-01 -1.64943191e-01 -2.51660736e-01  1.24357617e+02]
 [ 1.64701481e-01  9.86094132e-01 -2.21762193e-02  1.05184325e+01]
 [ 2.51818991e-01 -2.03004015e-02  9.67561414e-01  3.21593337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.12071405700001 meters
Centerline goodness : 0.999270 with order 1
Centerline is valid?  [True, True]
Translation: X:124.42, Y:10.53, Z:32.18
[[ 9.53957242e-01 -1.63192607e-01 -2.51661983e-01  1.24416646e+02]
 [ 1.62895075e-01  9.86394464e-01 -2.21620616e-02  1.05282683e+01]
 [ 2.51854671e-01 -1.98528383e-02  9.67561414e-01  3.21755752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.180714057 meters
Centerline goodness : 0.998953 with order 1
Centerline is valid?  [True, True]
Translation: X:124.47, Y:10.54, Z:32.19
[[ 9.54292617e-01 -1.61217889e-01 -2.51663253e-01  1.24474974e+02]
 [ 1.60857008e-01  9.86729196e-01 -2.21476237e-02  1.05399724e+01]
 [ 2.51894073e-01 -1.93464842e-02  9.67561414e-01  3.21898514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.240714057 meters
Centerline goodness : 0.999040 with order 1
Centerline is valid?  [True, True]
Translation: X:124.53, Y:10.55, Z:32.20
[[ 9.54318180e-01 -1.61064550e-01 -2.51664504e-01  1.24534266e+02]
 [ 1.60702183e-01  9.86754742e-01 -2.21334093e-02  1.05479726e+01]
 [ 2.51896050e-01 -1.93207202e-02  9.67561414e-01  3.22042845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.300714057 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:124.59, Y:10.56, Z:32.22
[[ 9.54251127e-01 -1.61460065e-01 -2.51665322e-01  1.24592769e+02]
 [ 1.61113584e-01  9.86687862e-01 -2.21240952e-02  1.05575838e+01]
 [ 2.51887277e-01 -1.94347593e-02  9.67561414e-01  3.22176426e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.360714057 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:124.65, Y:10.57, Z:32.23
[[ 9.54169610e-01 -1.61940480e-01 -2.51665725e-01  1.24652495e+02]
 [ 1.61611530e-01  9.86606528e-01 -2.21195145e-02  1.05668041e+01]
 [ 2.51877092e-01 -1.95663144e-02  9.67561414e-01  3.22343361e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.420714057 meters
Centerline goodness : 0.999374 with order 1
Centerline is valid?  [True, True]
Translation: X:124.71, Y:10.58, Z:32.25
[[ 9.54060099e-01 -1.62581812e-01 -2.51667403e-01  1.24709548e+02]
 [ 1.62279674e-01  9.86497278e-01 -2.21004118e-02  1.05753056e+01]
 [ 2.51862333e-01 -1.97553829e-02  9.67561414e-01  3.22499768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.480714057 meters
Centerline goodness : 0.999396 with order 1
Centerline is valid?  [True, True]
Translation: X:124.77, Y:10.58, Z:32.27
[[ 9.53838233e-01 -1.63878444e-01 -2.51667403e-01  1.24766921e+02]
 [ 1.63620395e-01  9.86275792e-01 -2.21004118e-02  1.05834646e+01]
 [ 2.51835248e-01 -2.00977021e-02  9.67561414e-01  3.22655769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.540714057 meters
Centerline goodness : 0.999419 with order 1
Centerline is valid?  [True, True]
Translation: X:124.83, Y:10.59, Z:32.28
[[ 9.53756680e-01 -1.64352995e-01 -2.51667018e-01  1.24826521e+02]
 [ 1.64109938e-01  9.86194355e-01 -2.21047873e-02  1.05897198e+01]
 [ 2.51825581e-01 -2.02184702e-02  9.67561414e-01  3.22821382e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.600714057 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:124.88, Y:10.60, Z:32.29
[[ 9.53145521e-01 -1.67858533e-01 -2.51668687e-01  1.24884472e+02]
 [ 1.67739728e-01  9.85583889e-01 -2.20857667e-02  1.05974392e+01]
 [ 2.51747888e-01 -2.11638875e-02  9.67561414e-01  3.22946490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.660714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:124.94, Y:10.60, Z:32.31
[[ 9.52445722e-01 -1.71785447e-01 -2.51668246e-01  1.24943305e+02]
 [ 1.71799018e-01  9.84884305e-01 -2.20907927e-02  1.06034756e+01]
 [ 2.51658983e-01 -2.21960765e-02  9.67561414e-01  3.23069563e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.720714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:125.00, Y:10.61, Z:32.32
[[ 9.52427468e-01 -1.71886518e-01 -2.51668319e-01  1.25002865e+02]
 [ 1.71903748e-01  9.84866049e-01 -2.20899657e-02  1.06129242e+01]
 [ 2.51656550e-01 -2.22236371e-02  9.67561414e-01  3.23217068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.780714057 meters
Centerline goodness : 0.999549 with order 1
Centerline is valid?  [True, True]
Translation: X:125.06, Y:10.62, Z:32.34
[[ 9.53352483e-01 -1.66677787e-01 -2.51669543e-01  1.25060787e+02]
 [ 1.66521359e-01  9.85790691e-01 -2.20760086e-02  1.06227248e+01]
 [ 2.51773073e-01 -2.08621369e-02  9.67561415e-01  3.23382026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.840714057 meters
Centerline goodness : 0.999526 with order 1
Centerline is valid?  [True, True]
Translation: X:125.12, Y:10.63, Z:32.36
[[ 9.54754974e-01 -1.58446780e-01 -2.51669542e-01  1.25117655e+02]
 [ 1.58010502e-01  9.87190625e-01 -2.20760243e-02  1.06344310e+01]
 [ 2.51943687e-01 -1.86892367e-02  9.67561415e-01  3.23553104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.90071405700002 meters
Centerline goodness : 0.999412 with order 1
Centerline is valid?  [True, True]
Translation: X:125.17, Y:10.65, Z:32.37
[[ 9.55841654e-01 -1.51753628e-01 -2.51669563e-01  1.25174405e+02]
 [ 1.51090171e-01  9.88273454e-01 -2.20757869e-02  1.06450519e+01]
 [ 2.52068429e-01 -1.69238406e-02  9.67561415e-01  3.23733811e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.960714057 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:125.23, Y:10.65, Z:32.39
[[ 9.56151099e-01 -1.49791427e-01 -2.51669634e-01  1.25231982e+02]
 [ 1.49061616e-01  9.88581474e-01 -2.20749766e-02  1.06534771e+01]
 [ 2.52102580e-01 -1.64072692e-02  9.67561415e-01  3.23888807e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.020714057 meters
Centerline goodness : 0.999024 with order 1
Centerline is valid?  [True, True]
Translation: X:125.29, Y:10.66, Z:32.40
[[ 9.55691626e-01 -1.52695502e-01 -2.51669625e-01  1.25291530e+02]
 [ 1.52064191e-01  9.88124067e-01 -2.20750789e-02  1.06594909e+01]
 [ 2.52051579e-01 -1.71729699e-02  9.67561415e-01  3.24015494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.080714057 meters
Centerline goodness : 0.999387 with order 1
Centerline is valid?  [True, True]
Translation: X:125.35, Y:10.66, Z:32.41
[[ 9.55231076e-01 -1.55549942e-01 -2.51670037e-01  1.25349654e+02]
 [ 1.55016757e-01  9.87665279e-01 -2.20703774e-02  1.06647422e+01]
 [ 2.51998803e-01 -1.79307627e-02  9.67561415e-01  3.24138034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.140714057 meters
Centerline goodness : 0.999226 with order 1
Centerline is valid?  [True, True]
Translation: X:125.41, Y:10.67, Z:32.43
[[ 9.54778604e-01 -1.58302202e-01 -2.51670878e-01  1.25410106e+02]
 [ 1.57865008e-01  9.87214243e-01 -2.20607816e-02  1.06708341e+01]
 [ 2.51945346e-01 -1.86668630e-02  9.67561415e-01  3.24278348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.200714057 meters
Centerline goodness : 0.999044 with order 1
Centerline is valid?  [True, True]
Translation: X:125.47, Y:10.68, Z:32.44
[[ 9.55026528e-01 -1.56796960e-01 -2.51672496e-01  1.25467902e+02]
 [ 1.56313479e-01  9.87461510e-01 -2.20423104e-02  1.06776824e+01]
 [ 2.51973070e-01 -1.82888122e-02  9.67561415e-01  3.24433474e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.260714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:125.53, Y:10.69, Z:32.46
[[ 9.56003029e-01 -1.50728107e-01 -2.51672894e-01  1.25525254e+02]
 [ 1.50039824e-01  9.88434312e-01 -2.20377602e-02  1.06860730e+01]
 [ 2.52083834e-01 -1.66927912e-02  9.67561415e-01  3.24613212e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.320714057 meters
Centerline goodness : 0.999406 with order 1
Centerline is valid?  [True, True]
Translation: X:125.58, Y:10.70, Z:32.48
[[ 9.56846031e-01 -1.45280207e-01 -2.51673070e-01  1.25582689e+02]
 [ 1.44407728e-01  9.89272881e-01 -2.20357592e-02  1.06953317e+01]
 [ 2.52174702e-01 -1.52587074e-02  9.67561415e-01  3.24789619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.380714057 meters
Centerline goodness : 0.999221 with order 1
Centerline is valid?  [True, True]
Translation: X:125.64, Y:10.70, Z:32.49
[[ 9.57232771e-01 -1.42709807e-01 -2.51673070e-01  1.25640188e+02]
 [ 1.41750240e-01  9.89657160e-01 -2.20357592e-02  1.07011182e+01]
 [ 2.52214774e-01 -1.45813672e-02  9.67561415e-01  3.24924247e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.440714057 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:125.70, Y:10.71, Z:32.51
[[ 9.57653324e-01 -1.39860583e-01 -2.51672662e-01  1.25699146e+02]
 [ 1.38803311e-01  9.90074675e-01 -2.20404097e-02  1.07069376e+01]
 [ 2.52257314e-01 -1.38259273e-02  9.67561415e-01  3.25067101e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.500714057 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:125.76, Y:10.72, Z:32.52
[[ 9.58304974e-01 -1.35322745e-01 -2.51673064e-01  1.25757316e+02]
 [ 1.34113110e-01  9.90720998e-01 -2.20358258e-02  1.07150250e+01]
 [ 2.52319737e-01 -1.26356160e-02  9.67561415e-01  3.25232278e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.560714057 meters
Centerline goodness : 0.999240 with order 1
Centerline is valid?  [True, True]
Translation: X:125.82, Y:10.72, Z:32.54
[[ 9.58932058e-01 -1.30804476e-01 -2.51673395e-01  1.25816492e+02]
 [ 1.29443059e-01  9.91342062e-01 -2.20320466e-02  1.07217221e+01]
 [ 2.52376312e-01 -1.14501382e-02  9.67561415e-01  3.25403348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.62071405700001 meters
Centerline goodness : 0.999263 with order 1
Centerline is valid?  [True, True]
Translation: X:125.87, Y:10.73, Z:32.56
[[ 9.59198373e-01 -1.28833835e-01 -2.51675035e-01  1.25873618e+02]
 [ 1.27410738e-01  9.91605727e-01 -2.20132934e-02  1.07277822e+01]
 [ 2.52398463e-01 -1.09509867e-02  9.67561415e-01  3.25553343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.680714057 meters
Centerline goodness : 0.999145 with order 1
Centerline is valid?  [True, True]
Translation: X:125.93, Y:10.73, Z:32.57
[[ 9.59081730e-01 -1.29700098e-01 -2.51674633e-01  1.25932924e+02]
 [ 1.28305066e-01  9.91490304e-01 -2.20178899e-02  1.07337431e+01]
 [ 2.52388681e-01 -1.11741746e-02  9.67561415e-01  3.25718013e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.740714057 meters
Centerline goodness : 0.999586 with order 1
Centerline is valid?  [True, True]
Translation: X:125.99, Y:10.74, Z:32.59
[[ 9.58591422e-01 -1.33273371e-01 -2.51675772e-01  1.25992045e+02]
 [ 1.32002536e-01  9.91005104e-01 -2.20048664e-02  1.07375405e+01]
 [ 2.52344637e-01 -1.21281640e-02  9.67561415e-01  3.25869578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.800714057 meters
Centerline goodness : 0.999126 with order 1
Centerline is valid?  [True, True]
Translation: X:126.05, Y:10.74, Z:32.60
[[ 9.57865312e-01 -1.38394884e-01 -2.51676180e-01  1.26050834e+02]
 [ 1.37298534e-01  9.90285365e-01 -2.20001951e-02  1.07416768e+01]
 [ 2.52275952e-01 -1.34815469e-02  9.67561415e-01  3.26020869e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.860714057 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:126.11, Y:10.74, Z:32.62
[[ 9.57013166e-01 -1.44169383e-01 -2.51676356e-01  1.26110089e+02]
 [ 1.43269112e-01  9.89439256e-01 -2.19981751e-02  1.07449876e+01]
 [ 2.52189930e-01 -1.50049050e-02  9.67561415e-01  3.26178571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.920714057 meters
Centerline goodness : 0.999314 with order 1
Centerline is valid?  [True, True]
Translation: X:126.17, Y:10.75, Z:32.63
[[ 9.56228067e-01 -1.49286572e-01 -2.51677180e-01  1.26168640e+02]
 [ 1.48562238e-01  9.88658564e-01 -2.19887494e-02  1.07462096e+01]
 [ 2.52105424e-01 -1.63634658e-02  9.67561415e-01  3.26317548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.980714057 meters
Centerline goodness : 0.999269 with order 1
Centerline is valid?  [True, True]
Translation: X:126.23, Y:10.75, Z:32.65
[[ 9.55700211e-01 -1.52626738e-01 -2.51678733e-01  1.26226902e+02]
 [ 1.52020386e-01  9.88133128e-01 -2.19709542e-02  1.07499237e+01]
 [ 2.52045449e-01 -1.72626526e-02  9.67561415e-01  3.26465770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.040714057 meters
Centerline goodness : 0.999178 with order 1
Centerline is valid?  [True, True]
Translation: X:126.29, Y:10.75, Z:32.66
[[ 9.55589847e-01 -1.53316082e-01 -2.51678809e-01  1.26286410e+02]
 [ 1.52733350e-01  9.88023198e-01 -2.19700904e-02  1.07541006e+01]
 [ 2.52032870e-01 -1.74453523e-02  9.67561415e-01  3.26633329e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.100714057 meters
Centerline goodness : 0.999476 with order 1
Centerline is valid?  [True, True]
Translation: X:126.35, Y:10.76, Z:32.68
[[ 9.55379719e-01 -1.54617366e-01 -2.51680478e-01  1.26346288e+02]
 [ 1.54083823e-01  9.87813915e-01 -2.19509517e-02  1.07577974e+01]
 [ 2.52007477e-01 -1.78083962e-02  9.67561415e-01  3.26770067e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.160714057 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:126.41, Y:10.76, Z:32.69
[[ 9.55228111e-01 -1.55549253e-01 -2.51681715e-01  1.26406622e+02]
 [ 1.55051071e-01  9.87662870e-01 -2.19367561e-02  1.07625239e+01]
 [ 2.51988931e-01 -1.80689133e-02  9.67561416e-01  3.26927218e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.220714057 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:126.47, Y:10.77, Z:32.71
[[ 9.55164255e-01 -1.55938285e-01 -2.51683327e-01  1.26466791e+02]
 [ 1.55458161e-01  9.87599286e-01 -2.19182571e-02  1.07672460e+01]
 [ 2.51980169e-01 -1.81906915e-02  9.67561416e-01  3.27089227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.280714057 meters
Centerline goodness : 0.999544 with order 1
Centerline is valid?  [True, True]
Translation: X:126.53, Y:10.77, Z:32.73
[[ 9.55217852e-01 -1.55607031e-01 -2.51684938e-01  1.26526277e+02]
 [ 1.55120512e-01  9.87652787e-01 -2.18997424e-02  1.07735380e+01]
 [ 2.51985084e-01 -1.81224716e-02  9.67561416e-01  3.27270619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.340714057 meters
Centerline goodness : 0.999043 with order 1
Centerline is valid?  [True, True]
Translation: X:126.58, Y:10.78, Z:32.74
[[ 9.55416478e-01 -1.54380085e-01 -2.51686596e-01  1.26584559e+02]
 [ 1.53856910e-01  9.87850843e-01 -2.18806672e-02  1.07791641e+01]
 [ 2.52006755e-01 -1.78185718e-02  9.67561416e-01  3.27436874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.40071405700002 meters
Centerline goodness : 0.999248 with order 1
Centerline is valid?  [True, True]
Translation: X:126.64, Y:10.78, Z:32.76
[[ 9.55570668e-01 -1.53422127e-01 -2.51687007e-01  1.26644635e+02]
 [ 1.52867673e-01  9.88004513e-01 -2.18759370e-02  1.07839162e+01]
 [ 2.52024152e-01 -1.75708035e-02  9.67561416e-01  3.27597279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.460714057 meters
Centerline goodness : 0.999091 with order 1
Centerline is valid?  [True, True]
Translation: X:126.70, Y:10.79, Z:32.77
[[ 9.55574994e-01 -1.53392489e-01 -2.51688645e-01  1.26703712e+02]
 [ 1.52841974e-01  9.88008906e-01 -2.18570730e-02  1.07888747e+01]
 [ 2.52023334e-01 -1.75825171e-02  9.67561416e-01  3.27745276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.520714057 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:126.76, Y:10.79, Z:32.79
[[ 9.55315674e-01 -1.54997503e-01 -2.51689765e-01  1.26764517e+02]
 [ 1.54504855e-01  9.87750516e-01 -2.18441685e-02  1.07928310e+01]
 [ 2.51992487e-01 -1.80192141e-02  9.67561416e-01  3.27892308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.580714057 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:126.82, Y:10.80, Z:32.80
[[ 9.55110068e-01 -1.56256849e-01 -2.51691387e-01  1.26823895e+02]
 [ 1.55811865e-01  9.87545600e-01 -2.18254677e-02  1.07969187e+01]
 [ 2.51967101e-01 -1.83707806e-02  9.67561416e-01  3.28045352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.640714057 meters
Centerline goodness : 0.999161 with order 1
Centerline is valid?  [True, True]
Translation: X:126.88, Y:10.80, Z:32.82
[[ 9.55329097e-01 -1.54910763e-01 -2.51692216e-01  1.26882159e+02]
 [ 1.54422578e-01  9.87764007e-01 -2.18159040e-02  1.08007300e+01]
 [ 2.51992030e-01 -1.80255931e-02  9.67561417e-01  3.28191193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.700714057 meters
Centerline goodness : 0.999479 with order 1
Centerline is valid?  [True, True]
Translation: X:126.94, Y:10.81, Z:32.83
[[ 9.55839631e-01 -1.51728122e-01 -2.51692625e-01  1.26940608e+02]
 [ 1.51133151e-01  9.88272757e-01 -2.18111851e-02  1.08051149e+01]
 [ 2.52050335e-01 -1.71911044e-02  9.67561417e-01  3.28344214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.760714057 meters
Centerline goodness : 0.999000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.00, Y:10.81, Z:32.85
[[ 9.56509899e-01 -1.47443731e-01 -2.51692589e-01  1.26998517e+02]
 [ 1.46703333e-01  9.88940032e-01 -2.18115980e-02  1.08113830e+01]
 [ 2.52124860e-01 -1.60611322e-02  9.67561417e-01  3.28517163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.820714057 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:127.06, Y:10.82, Z:32.87
[[ 9.57090852e-01 -1.43623788e-01 -2.51692887e-01  1.27057534e+02]
 [ 1.42754823e-01  9.89517794e-01 -2.18081609e-02  1.08156700e+01]
 [ 2.52186761e-01 -1.50579821e-02  9.67561417e-01  3.28683715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.880714057 meters
Centerline goodness : 0.999500 with order 1
Centerline is valid?  [True, True]
Translation: X:127.12, Y:10.82, Z:32.88
[[ 9.58000633e-01 -1.37422931e-01 -2.51693713e-01  1.27115359e+02]
 [ 1.36346497e-01  9.90421351e-01 -2.17986178e-02  1.08193933e+01]
 [ 2.52278458e-01 -1.34344664e-02  9.67561417e-01  3.28828275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.940714057 meters
Centerline goodness : 0.999226 with order 1
Centerline is valid?  [True, True]
Translation: X:127.17, Y:10.82, Z:32.90
[[ 9.59255652e-01 -1.28370604e-01 -2.51693429e-01  1.27174059e+02]
 [ 1.26987216e-01  9.91664724e-01 -2.18018997e-02  1.08236161e+01]
 [ 2.52394218e-01 -1.10482523e-02  9.67561417e-01  3.28970111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.000714057 meters
Centerline goodness : 0.999222 with order 1
Centerline is valid?  [True, True]
Translation: X:127.23, Y:10.83, Z:32.91
[[ 9.61202271e-01 -1.12874399e-01 -2.51693392e-01  1.27232267e+02]
 [ 1.10968095e-01  9.93584793e-01 -2.18023274e-02  1.08276988e+01]
 [ 2.52539651e-01 -6.97348955e-03  9.67561417e-01  3.29135056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.060714057 meters
Centerline goodness : 0.999177 with order 1
Centerline is valid?  [True, True]
Translation: X:127.29, Y:10.83, Z:32.93
[[ 9.62029294e-01 -1.05593631e-01 -2.51693510e-01  1.27289885e+02]
 [ 1.03442560e-01  9.94396478e-01 -2.18009681e-02  1.08311168e+01]
 [ 2.52585183e-01 -5.06265100e-03  9.67561417e-01  3.29298490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.12071405700001 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:127.35, Y:10.83, Z:32.95
[[ 9.62789162e-01 -9.84267123e-02 -2.51692695e-01  1.27347080e+02]
 [ 9.60322110e-02  9.95139248e-01 -2.18103767e-02  1.08326118e+01]
 [ 2.52616002e-01 -3.17181169e-03  9.67561417e-01  3.29459802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.180714057 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:127.41, Y:10.83, Z:32.96
[[ 9.62855990e-01 -9.77720072e-02 -2.51692227e-01  1.27405997e+02]
 [ 9.53540976e-02  9.95204335e-01 -2.18157763e-02  1.08317876e+01]
 [ 2.52618167e-01 -2.99443422e-03  9.67561417e-01  3.29606946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.240714057 meters
Centerline goodness : 0.999751 with order 1
Centerline is valid?  [True, True]
Translation: X:127.46, Y:10.83, Z:32.97
[[ 9.62242012e-01 -1.03640408e-01 -2.51692227e-01  1.27464071e+02]
 [ 1.01419761e-01  9.94604496e-01 -2.18157763e-02  1.08287632e+01]
 [ 2.52595216e-01 -4.53450882e-03  9.67561417e-01  3.29732788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.300714057 meters
Centerline goodness : 0.999798 with order 1
Centerline is valid?  [True, True]
Translation: X:127.52, Y:10.83, Z:32.99
[[ 9.61042019e-01 -1.14245824e-01 -2.51686571e-01  1.27523286e+02]
 [ 1.12365185e-01  9.93426039e-01 -2.18808326e-02  1.08250624e+01]
 [ 2.52531787e-01 -7.25240876e-03  9.67561419e-01  3.29885034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.360714057 meters
Centerline goodness : 0.999373 with order 1
Centerline is valid?  [True, True]
Translation: X:127.58, Y:10.82, Z:33.00
[[ 9.59626559e-01 -1.25581537e-01 -2.51686601e-01  1.27581613e+02]
 [ 1.24083363e-01  9.92030525e-01 -2.18804956e-02  1.08209472e+01]
 [ 2.52428577e-01 -1.02330152e-02  9.67561419e-01  3.30042556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.420714057 meters
Centerline goodness : 0.999755 with order 1
Centerline is valid?  [True, True]
Translation: X:127.64, Y:10.82, Z:33.02
[[ 9.58295050e-01 -1.35368551e-01 -2.51686220e-01  1.27639972e+02]
 [ 1.34200009e-01  9.90712577e-01 -2.18848765e-02  1.08175152e+01]
 [ 2.52311227e-01 -1.28041242e-02  9.67561419e-01  3.30195368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.480714057 meters
Centerline goodness : 0.999622 with order 1
Centerline is valid?  [True, True]
Translation: X:127.70, Y:10.82, Z:33.04
[[ 9.57219357e-01 -1.42777227e-01 -2.51685846e-01  1.27698705e+02]
 [ 1.41858355e-01  9.89644922e-01 -2.18891695e-02  1.08164783e+01]
 [ 2.52204895e-01 -1.47510035e-02  9.67561419e-01  3.30362208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.540714057 meters
Centerline goodness : 0.999711 with order 1
Centerline is valid?  [True, True]
Translation: X:127.76, Y:10.82, Z:33.05
[[ 9.56225249e-01 -1.49290232e-01 -2.51685716e-01  1.27757476e+02]
 [ 1.48591728e-01  9.88656309e-01 -2.18906660e-02  1.08174502e+01]
 [ 2.52098734e-01 -1.64660078e-02  9.67561419e-01  3.30506209e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.600714057 meters
Centerline goodness : 0.999358 with order 1
Centerline is valid?  [True, True]
Translation: X:127.82, Y:10.82, Z:33.06
[[ 9.55731295e-01 -1.52420284e-01 -2.51685813e-01  1.27815352e+02]
 [ 1.51828261e-01  9.88164474e-01 -2.18895500e-02  1.08215783e+01]
 [ 2.52043391e-01 -1.72924914e-02  9.67561419e-01  3.30639888e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.660714057 meters
Centerline goodness : 0.999468 with order 1
Centerline is valid?  [True, True]
Translation: X:127.87, Y:10.82, Z:33.08
[[ 9.54869380e-01 -1.57729225e-01 -2.51686229e-01  1.27873623e+02]
 [ 1.57318707e-01  9.87305364e-01 -2.18847642e-02  1.08239019e+01]
 [ 2.51943031e-01 -1.86978609e-02  9.67561419e-01  3.30780332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.720714057 meters
Centerline goodness : 0.999447 with order 1
Centerline is valid?  [True, True]
Translation: X:127.93, Y:10.83, Z:33.09
[[ 9.54572245e-01 -1.59518187e-01 -2.51685870e-01  1.27930838e+02]
 [ 1.59167365e-01  9.87008929e-01 -2.18888997e-02  1.08297059e+01]
 [ 2.51907878e-01 -1.91656405e-02  9.67561419e-01  3.30938734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.780714057 meters
Centerline goodness : 0.999756 with order 1
Centerline is valid?  [True, True]
Translation: X:127.99, Y:10.84, Z:33.11
[[ 9.54459342e-01 -1.60193594e-01 -2.51685075e-01  1.27989447e+02]
 [ 1.59863328e-01  9.86896242e-01 -2.18980380e-02  1.08358641e+01]
 [ 2.51894980e-01 -1.93344267e-02  9.67561419e-01  3.31106363e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.840714057 meters
Centerline goodness : 0.999468 with order 1
Centerline is valid?  [True, True]
Translation: X:128.05, Y:10.84, Z:33.13
[[ 9.54009672e-01 -1.62848887e-01 -2.51685886e-01  1.28046762e+02]
 [ 1.62611328e-01  9.86447384e-01 -2.18887064e-02  1.08409915e+01]
 [ 2.51839435e-01 -2.00449386e-02  9.67561419e-01  3.31284594e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.90071405700002 meters
Centerline goodness : 0.999624 with order 1
Centerline is valid?  [True, True]
Translation: X:128.11, Y:10.85, Z:33.14
[[ 9.53694044e-01 -1.64687076e-01 -2.51685990e-01  1.28105157e+02]
 [ 1.64512341e-01  9.86132155e-01 -2.18875179e-02  1.08475666e+01]
 [ 2.51800238e-01 -2.05314559e-02  9.67561419e-01  3.31449208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.960714057 meters
Centerline goodness : 0.999602 with order 1
Centerline is valid?  [True, True]
Translation: X:128.17, Y:10.85, Z:33.16
[[ 9.53467798e-01 -1.65991308e-01 -2.51686402e-01  1.28165116e+02]
 [ 1.65862181e-01  9.85906122e-01 -2.18827794e-02  1.08541865e+01]
 [ 2.51771515e-01 -2.08807301e-02  9.67561419e-01  3.31604717e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.020714057 meters
Centerline goodness : 0.999667 with order 1
Centerline is valid?  [True, True]
Translation: X:128.22, Y:10.86, Z:33.17
[[ 9.53115388e-01 -1.68000513e-01 -2.51688070e-01  1.28223248e+02]
 [ 1.67944789e-01  9.85553921e-01 -2.18635757e-02  1.08600642e+01]
 [ 2.51725256e-01 -2.14311895e-02  9.67561419e-01  3.31745356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.080714057 meters
Centerline goodness : 0.999557 with order 1
Centerline is valid?  [True, True]
Translation: X:128.28, Y:10.87, Z:33.19
[[ 9.52883491e-01 -1.69310683e-01 -2.51688189e-01  1.28282378e+02]
 [ 1.69299915e-01  9.85322071e-01 -2.18622047e-02  1.08665993e+01]
 [ 2.51695432e-01 -2.17786550e-02  9.67561419e-01  3.31897509e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.140714057 meters
Centerline goodness : 0.999756 with order 1
Centerline is valid?  [True, True]
Translation: X:128.34, Y:10.87, Z:33.20
[[ 9.52948181e-01 -1.68944985e-01 -2.51689007e-01  1.28341227e+02]
 [ 1.68924238e-01  9.85386755e-01 -2.18527817e-02  1.08730316e+01]
 [ 2.51702932e-01 -2.16918051e-02  9.67561419e-01  3.32040578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.200714057 meters
Centerline goodness : 0.999534 with order 1
Centerline is valid?  [True, True]
Translation: X:128.40, Y:10.88, Z:33.22
[[ 9.53343806e-01 -1.66696196e-01 -2.51690218e-01  1.28398949e+02]
 [ 1.66602575e-01  9.85782252e-01 -2.18388243e-02  1.08808213e+01]
 [ 2.51752199e-01 -2.11123306e-02  9.67561419e-01  3.32193530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.260714057 meters
Centerline goodness : 0.999554 with order 1
Centerline is valid?  [True, True]
Translation: X:128.46, Y:10.89, Z:33.24
[[ 9.53903820e-01 -1.63460898e-01 -2.51690359e-01  1.28457254e+02]
 [ 1.63257653e-01  9.86341764e-01 -2.18371959e-02  1.08886664e+01]
 [ 2.51822241e-01 -2.02597928e-02  9.67561419e-01  3.32355974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.320714057 meters
Centerline goodness : 0.999554 with order 1
Centerline is valid?  [True, True]
Translation: X:128.52, Y:10.90, Z:33.25
[[ 9.54261329e-01 -1.61360085e-01 -2.51690761e-01  1.28515259e+02]
 [ 1.61086629e-01  9.86698757e-01 -2.18325622e-02  1.08966531e+01]
 [ 2.51865865e-01 -1.97100465e-02  9.67561419e-01  3.32518910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.380714057 meters
Centerline goodness : 0.999644 with order 1
Centerline is valid?  [True, True]
Translation: X:128.57, Y:10.90, Z:33.27
[[ 9.54413187e-01 -1.60458997e-01 -2.51691040e-01  1.28573110e+02]
 [ 1.60155756e-01  9.86850350e-01 -2.18293509e-02  1.09021459e+01]
 [ 2.51884107e-01 -1.94755484e-02  9.67561419e-01  3.32660471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.440714057 meters
Centerline goodness : 0.999554 with order 1
Centerline is valid?  [True, True]
Translation: X:128.63, Y:10.91, Z:33.28
[[ 9.54226546e-01 -1.61565216e-01 -2.51691040e-01  1.28631036e+02]
 [ 1.61299575e-01  9.86664039e-01 -2.18293509e-02  1.09092483e+01]
 [ 2.51861362e-01 -1.97675117e-02  9.67561419e-01  3.32807349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.500714057 meters
Centerline goodness : 0.999376 with order 1
Centerline is valid?  [True, True]
Translation: X:128.69, Y:10.92, Z:33.30
[[ 9.54003530e-01 -1.62877512e-01 -2.51690644e-01  1.28690032e+02]
 [ 1.62655291e-01  9.86441350e-01 -2.18339126e-02  1.09167687e+01]
 [ 2.51834312e-01 -2.01091852e-02  9.67561419e-01  3.32952117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.560714057 meters
Centerline goodness : 0.999511 with order 1
Centerline is valid?  [True, True]
Translation: X:128.75, Y:10.92, Z:33.31
[[ 9.53684314e-01 -1.64735114e-01 -2.51691422e-01  1.28747363e+02]
 [ 1.64578416e-01  9.86122516e-01 -2.18249447e-02  1.09227382e+01]
 [ 2.51793913e-01 -2.06088680e-02  9.67561419e-01  3.33077640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.62071405700001 meters
Centerline goodness : 0.999533 with order 1
Centerline is valid?  [True, True]
Translation: X:128.80, Y:10.93, Z:33.32
[[ 9.53503066e-01 -1.65780680e-01 -2.51691617e-01  1.28803849e+02]
 [ 1.65660139e-01  9.85941422e-01 -2.18226917e-02  1.09307926e+01]
 [ 2.51770972e-01 -2.08872649e-02  9.67561419e-01  3.33220700e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.680714057 meters
Centerline goodness : 0.999487 with order 1
Centerline is valid?  [True, True]
Translation: X:128.86, Y:10.94, Z:33.34
[[ 9.53723786e-01 -1.64508664e-01 -2.51689966e-01  1.28862159e+02]
 [ 1.64339867e-01  9.86161928e-01 -2.18417186e-02  1.09395423e+01]
 [ 2.51800214e-01 -2.05317290e-02  9.67561419e-01  3.33406321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.740714057 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:128.92, Y:10.95, Z:33.36
[[ 9.53830532e-01 -1.63886843e-01 -2.51691120e-01  1.28921319e+02]
 [ 1.63700386e-01  9.86268576e-01 -2.18284105e-02  1.09477932e+01]
 [ 2.51812432e-01 -2.03813290e-02  9.67561420e-01  3.33578997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.800714057 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:128.98, Y:10.95, Z:33.37
[[ 9.53720623e-01 -1.64522749e-01 -2.51692745e-01  1.28979834e+02]
 [ 1.64362835e-01  9.86158809e-01 -2.18096581e-02  1.09542068e+01]
 [ 2.51797203e-01 -2.05686125e-02  9.67561420e-01  3.33735370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.860714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:129.04, Y:10.96, Z:33.39
[[ 9.53598204e-01 -1.65230211e-01 -2.51693154e-01  1.29039063e+02]
 [ 1.65095597e-01  9.86036505e-01 -2.18049411e-02  1.09608297e+01]
 [ 2.51781473e-01 -2.07602789e-02  9.67561420e-01  3.33876237e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.920714057 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:129.10, Y:10.97, Z:33.40
[[ 9.53444493e-01 -1.66113664e-01 -2.51693960e-01  1.29098002e+02]
 [ 1.66011546e-01  9.85882912e-01 -2.17956308e-02  1.09675116e+01]
 [ 2.51761326e-01 -2.10031792e-02  9.67561420e-01  3.34023370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.980714057 meters
Centerline goodness : 0.999685 with order 1
Centerline is valid?  [True, True]
Translation: X:129.16, Y:10.98, Z:33.42
[[ 9.53555418e-01 -1.65474503e-01 -2.51694762e-01  1.29157653e+02]
 [ 1.65353068e-01  9.85993771e-01 -2.17863720e-02  1.09750135e+01]
 [ 2.51774556e-01 -2.08439878e-02  9.67561420e-01  3.34192225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.040714057 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:129.22, Y:10.98, Z:33.44
[[ 9.53849479e-01 -1.63768444e-01 -2.51696380e-01  1.29216969e+02]
 [ 1.63593886e-01  9.86287590e-01 -2.17676609e-02  1.09841773e+01]
 [ 2.51809872e-01 -2.04129168e-02  9.67561420e-01  3.34355682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.100714057 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:129.28, Y:10.99, Z:33.45
[[ 9.54145431e-01 -1.62032662e-01 -2.51698057e-01  1.29275134e+02]
 [ 1.61804173e-01  9.86583207e-01 -2.17482466e-02  1.09917230e+01]
 [ 2.51845003e-01 -1.99748058e-02  9.67561420e-01  3.34512533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.160714057 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:129.33, Y:11.00, Z:33.47
[[ 9.54444171e-01 -1.60263115e-01 -2.51698349e-01  1.29334031e+02]
 [ 1.59975363e-01  9.86881474e-01 -2.17448666e-02  1.09999753e+01]
 [ 2.51881338e-01 -1.95112735e-02  9.67561420e-01  3.34673767e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.220714057 meters
Centerline goodness : 0.999887 with order 1
Centerline is valid?  [True, True]
Translation: X:129.39, Y:11.01, Z:33.48
[[ 9.54543254e-01 -1.59670649e-01 -2.51699147e-01  1.29392736e+02]
 [ 1.59365185e-01  9.86980395e-01 -2.17356251e-02  1.10065096e+01]
 [ 2.51892665e-01 -1.93644869e-02  9.67561420e-01  3.34828283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.280714057 meters
Centerline goodness : 0.999774 with order 1
Centerline is valid?  [True, True]
Translation: X:129.45, Y:11.01, Z:33.50
[[ 9.54770230e-01 -1.58306512e-01 -2.51699933e-01  1.29451125e+02]
 [ 1.57957083e-01  9.87206928e-01 -2.17265279e-02  1.10132224e+01]
 [ 2.51919368e-01 -1.90139450e-02  9.67561420e-01  3.34954573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.340714057 meters
Centerline goodness : 0.999864 with order 1
Centerline is valid?  [True, True]
Translation: X:129.51, Y:11.02, Z:33.51
[[ 9.55242469e-01 -1.55428556e-01 -2.51701788e-01  1.29509845e+02]
 [ 1.54987019e-01  9.87678043e-01 -2.17050084e-02  1.10214639e+01]
 [ 2.51973908e-01 -1.82769640e-02  9.67561420e-01  3.35111867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.40071405700002 meters
Centerline goodness : 0.999661 with order 1
Centerline is valid?  [True, True]
Translation: X:129.57, Y:11.03, Z:33.53
[[ 9.56068172e-01 -1.50264658e-01 -2.51702567e-01  1.29567550e+02]
 [ 1.49650230e-01  9.88500932e-01 -2.16959725e-02  1.10289619e+01]
 [ 2.52068360e-01 -1.69245184e-02  9.67561420e-01  3.35271848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.460714057 meters
Centerline goodness : 0.999819 with order 1
Centerline is valid?  [True, True]
Translation: X:129.63, Y:11.04, Z:33.54
[[ 9.56990051e-01 -1.44277105e-01 -2.51702523e-01  1.29625075e+02]
 [ 1.43459539e-01  9.89418326e-01 -2.16964846e-02  1.10368745e+01]
 [ 2.52169395e-01 -1.53458081e-02  9.67561420e-01  3.35447238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.520714057 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:129.68, Y:11.04, Z:33.56
[[ 9.58066103e-01 -1.36949602e-01 -2.51702501e-01  1.29683237e+02]
 [ 1.35883837e-01  9.90487170e-01 -2.16967448e-02  1.10443962e+01]
 [ 2.52279458e-01 -1.34153860e-02  9.67561420e-01  3.35611879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.580714057 meters
Centerline goodness : 0.999410 with order 1
Centerline is valid?  [True, True]
Translation: X:129.74, Y:11.05, Z:33.58
[[ 9.59009279e-01 -1.30180154e-01 -2.51702861e-01  1.29740493e+02]
 [ 1.28886549e-01  9.91422055e-01 -2.16925599e-02  1.10504234e+01]
 [ 2.52367709e-01 -1.16377470e-02  9.67561420e-01  3.35758258e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.640714057 meters
Centerline goodness : 0.999362 with order 1
Centerline is valid?  [True, True]
Translation: X:129.80, Y:11.06, Z:33.59
[[ 9.59619204e-01 -1.25606004e-01 -2.51702435e-01  1.29798824e+02]
 [ 1.24156572e-01  9.92025385e-01 -2.16975021e-02  1.10553424e+01]
 [ 2.52420542e-01 -1.04291718e-02  9.67561421e-01  3.35902224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.700714057 meters
Centerline goodness : 0.999681 with order 1
Centerline is valid?  [True, True]
Translation: X:129.86, Y:11.06, Z:33.60
[[ 9.59987881e-01 -1.22756477e-01 -2.51702435e-01  1.29857295e+02]
 [ 1.21210841e-01  9.92389616e-01 -2.16975021e-02  1.10583801e+01]
 [ 2.52450392e-01 -9.67972485e-03  9.67561421e-01  3.36037217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.760714057 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:129.91, Y:11.06, Z:33.62
[[ 9.60018501e-01 -1.22517577e-01 -2.51702047e-01  1.29913726e+02]
 [ 1.20962699e-01  9.92419794e-01 -2.17020062e-02  1.10609706e+01]
 [ 2.52452971e-01 -9.61223149e-03  9.67561421e-01  3.36181627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.820714057 meters
Centerline goodness : 0.999002 with order 1
Centerline is valid?  [True, True]
Translation: X:129.97, Y:11.06, Z:33.63
[[ 9.59726280e-01 -1.24789091e-01 -2.51700516e-01  1.29970977e+02]
 [ 1.23306250e-01  9.92130950e-01 -2.17197440e-02  1.10630369e+01]
 [ 2.52430260e-01 -1.01912377e-02  9.67561421e-01  3.36332630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.880714057 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:130.03, Y:11.06, Z:33.65
[[ 9.59304317e-01 -1.27993955e-01 -2.51699770e-01  1.30029691e+02]
 [ 1.26617090e-01  9.91713663e-01 -2.17283959e-02  1.10644024e+01]
 [ 2.52395204e-01 -1.10253484e-02  9.67561421e-01  3.36483997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.940714057 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:130.09, Y:11.07, Z:33.66
[[ 9.58713946e-01 -1.32343479e-01 -2.51699770e-01  1.30087894e+02]
 [ 1.31113618e-01  9.91129202e-01 -2.17283959e-02  1.10658358e+01]
 [ 2.52342603e-01 -1.21699513e-02  9.67561421e-01  3.36636411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.000714057 meters
Centerline goodness : 0.999256 with order 1
Centerline is valid?  [True, True]
Translation: X:130.15, Y:11.07, Z:33.68
[[ 9.57911110e-01 -1.38034884e-01 -2.51699576e-01  1.30146749e+02]
 [ 1.36996971e-01  9.90333080e-01 -2.17306354e-02  1.10679538e+01]
 [ 2.52266002e-01 -1.36660623e-02  9.67561421e-01  3.36778944e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.060714057 meters
Centerline goodness : 0.999147 with order 1
Centerline is valid?  [True, True]
Translation: X:130.20, Y:11.07, Z:33.69
[[ 9.57135407e-01 -1.43314602e-01 -2.51699695e-01  1.30204736e+02]
 [ 1.42455838e-01  9.89562617e-01 -2.17292544e-02  1.10700249e+01]
 [ 2.52186729e-01 -1.50582522e-02  9.67561421e-01  3.36916171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.12071405700001 meters
Centerline goodness : 0.998903 with order 1
Centerline is valid?  [True, True]
Translation: X:130.26, Y:11.07, Z:33.71
[[ 9.56490702e-01 -1.47556047e-01 -2.51699721e-01  1.30263350e+02]
 [ 1.46841114e-01  9.88921402e-01 -2.17289566e-02  1.10737018e+01]
 [ 2.52117480e-01 -1.61763225e-02  9.67561421e-01  3.37071432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.180714057 meters
Centerline goodness : 0.999190 with order 1
Centerline is valid?  [True, True]
Translation: X:130.32, Y:11.08, Z:33.72
[[ 9.56119890e-01 -1.49939329e-01 -2.51700127e-01  1.30320778e+02]
 [ 1.49306455e-01  9.88552295e-01 -2.17242505e-02  1.10781635e+01]
 [ 2.52076058e-01 -1.68094658e-02  9.67561421e-01  3.37207199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.240714057 meters
Centerline goodness : 0.999011 with order 1
Centerline is valid?  [True, True]
Translation: X:130.38, Y:11.08, Z:33.73
[[ 9.56026454e-01 -1.50534487e-01 -2.51699796e-01  1.30377823e+02]
 [ 1.49920795e-01  9.88459228e-01 -2.17280934e-02  1.10833205e+01]
 [ 2.52065813e-01 -1.69624015e-02  9.67561421e-01  3.37345392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.300714057 meters
Centerline goodness : 0.999145 with order 1
Centerline is valid?  [True, True]
Translation: X:130.44, Y:11.09, Z:33.75
[[ 9.56002495e-01 -1.50689057e-01 -2.51698305e-01  1.30436547e+02]
 [ 1.50076087e-01  9.88435283e-01 -2.17453459e-02  1.10895280e+01]
 [ 2.52064271e-01 -1.69852918e-02  9.67561421e-01  3.37509774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.360714057 meters
Centerline goodness : 0.999437 with order 1
Centerline is valid?  [True, True]
Translation: X:130.50, Y:11.10, Z:33.77
[[ 9.56114845e-01 -1.49973214e-01 -2.51699103e-01  1.30496630e+02]
 [ 1.49338383e-01  9.88547211e-01 -2.17361025e-02  1.10964384e+01]
 [ 2.52076280e-01 -1.68061268e-02  9.67561421e-01  3.37675135e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.420714057 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:130.56, Y:11.10, Z:33.78
[[ 9.56391957e-01 -1.48193072e-01 -2.51700693e-01  1.30555355e+02]
 [ 1.47502695e-01  9.88823188e-01 -2.17176792e-02  1.11036430e+01]
 [ 2.52105891e-01 -1.63559168e-02  9.67561421e-01  3.37832508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.480714057 meters
Centerline goodness : 0.999413 with order 1
Centerline is valid?  [True, True]
Translation: X:130.61, Y:11.11, Z:33.80
[[ 9.56987083e-01 -1.44298600e-01 -2.51701485e-01  1.30612241e+02]
 [ 1.43478616e-01  9.89415296e-01 -2.17084923e-02  1.11115437e+01]
 [ 2.52169805e-01 -1.53390341e-02  9.67561421e-01  3.37985367e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.540714057 meters
Centerline goodness : 0.999615 with order 1
Centerline is valid?  [True, True]
Translation: X:130.67, Y:11.12, Z:33.82
[[ 9.57508744e-01 -1.40796141e-01 -2.51701115e-01  1.30669513e+02]
 [ 1.39856386e-01  9.89933708e-01 -2.17127908e-02  1.11203754e+01]
 [ 2.52224495e-01 -1.44118211e-02  9.67561421e-01  3.38153841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.600714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:130.73, Y:11.13, Z:33.83
[[ 9.57696084e-01 -1.39516309e-01 -2.51701034e-01  1.30728686e+02]
 [ 1.38532973e-01  9.90119755e-01 -2.17137289e-02  1.11297212e+01]
 [ 2.52243585e-01 -1.40737394e-02  9.67561421e-01  3.38321414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.660714057 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:130.79, Y:11.14, Z:33.85
[[ 9.57708220e-01 -1.39430100e-01 -2.51702629e-01  1.30788597e+02]
 [ 1.38448694e-01  9.90131949e-01 -2.16952206e-02  1.11356388e+01]
 [ 2.52243781e-01 -1.40702091e-02  9.67561421e-01  3.38480785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.720714057 meters
Centerline goodness : 0.999433 with order 1
Centerline is valid?  [True, True]
Translation: X:130.85, Y:11.14, Z:33.86
[[ 9.57509005e-01 -1.40788815e-01 -2.51704222e-01  1.30847967e+02]
 [ 1.39858262e-01  9.89934233e-01 -2.16767200e-02  1.11427397e+01]
 [ 2.52222466e-01 -1.44472605e-02  9.67561421e-01  3.38640975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.780714057 meters
Centerline goodness : 0.999250 with order 1
Centerline is valid?  [True, True]
Translation: X:130.91, Y:11.15, Z:33.88
[[ 9.57518277e-01 -1.40722845e-01 -2.51705838e-01  1.30906973e+02]
 [ 1.39794980e-01  9.89943583e-01 -2.16579387e-02  1.11485494e+01]
 [ 2.52222346e-01 -1.44493404e-02  9.67561422e-01  3.38789992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.840714057 meters
Centerline goodness : 0.999366 with order 1
Centerline is valid?  [True, True]
Translation: X:130.97, Y:11.15, Z:33.89
[[ 9.57751409e-01 -1.39125153e-01 -2.51707032e-01  1.30966783e+02]
 [ 1.38146828e-01  9.90175231e-01 -2.16440578e-02  1.11546197e+01]
 [ 2.52245302e-01 -1.40429011e-02  9.67561422e-01  3.38940534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.90071405700002 meters
Centerline goodness : 0.999569 with order 1
Centerline is valid?  [True, True]
Translation: X:131.02, Y:11.16, Z:33.91
[[ 9.58344832e-01 -1.34974606e-01 -2.51708241e-01  1.31024635e+02]
 [ 1.33859508e-01  9.90764238e-01 -2.16299843e-02  1.11611232e+01]
 [ 2.52303023e-01 -1.29645577e-02  9.67561422e-01  3.39090831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.960714057 meters
Centerline goodness : 0.999365 with order 1
Centerline is valid?  [True, True]
Translation: X:131.08, Y:11.17, Z:33.92
[[ 9.58738681e-01 -1.32148033e-01 -2.51708241e-01  1.31083489e+02]
 [ 1.30937340e-01  9.91154658e-01 -2.16299843e-02  1.11665794e+01]
 [ 2.52340156e-01 -1.22205050e-02  9.67561422e-01  3.39243818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.020714057 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:131.14, Y:11.17, Z:33.94
[[ 9.59319527e-01 -1.27862442e-01 -2.51708643e-01  1.31140698e+02]
 [ 1.26508132e-01  9.91729821e-01 -2.16253052e-02  1.11718789e+01]
 [ 2.52392032e-01 -1.10976126e-02  9.67561422e-01  3.39394302e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.080714057 meters
Centerline goodness : 0.999297 with order 1
Centerline is valid?  [True, True]
Translation: X:131.20, Y:11.18, Z:33.96
[[ 9.59798649e-01 -1.24215584e-01 -2.51708248e-01  1.31200289e+02]
 [ 1.22736901e-01  9.92203507e-01 -2.16299104e-02  1.11756470e+01]
 [ 2.52432578e-01 -1.01335314e-02  9.67561422e-01  3.39556274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.140714057 meters
Centerline goodness : 0.999367 with order 1
Centerline is valid?  [True, True]
Translation: X:131.26, Y:11.18, Z:33.97
[[ 9.59941523e-01 -1.23104115e-01 -2.51709455e-01  1.31259289e+02]
 [ 1.21591589e-01  9.92344819e-01 -2.16158550e-02  1.11776112e+01]
 [ 2.52443574e-01 -9.85579584e-03  9.67561422e-01  3.39691564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.200714057 meters
Centerline goodness : 0.999548 with order 1
Centerline is valid?  [True, True]
Translation: X:131.32, Y:11.18, Z:33.98
[[ 9.59793233e-01 -1.24254731e-01 -2.51709579e-01  1.31318387e+02]
 [ 1.22781428e-01  9.92198336e-01 -2.16144085e-02  1.11773575e+01]
 [ 2.52431518e-01 -1.01598987e-02  9.67561422e-01  3.39824992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.260714057 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:131.38, Y:11.18, Z:34.00
[[ 9.59488185e-01 -1.26589512e-01 -2.51709194e-01  1.31377390e+02]
 [ 1.25193879e-01  9.91896726e-01 -2.16188943e-02  1.11772509e+01]
 [ 2.52406250e-01 -1.07693768e-02  9.67561422e-01  3.39959898e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.320714057 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:131.44, Y:11.18, Z:34.01
[[ 9.59254638e-01 -1.28349758e-01 -2.51707922e-01  1.31435074e+02]
 [ 1.27009717e-01  9.91665526e-01 -2.16336854e-02  1.11770250e+01]
 [ 2.52386748e-01 -1.12171390e-02  9.67561422e-01  3.40103964e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.380714057 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:131.49, Y:11.18, Z:34.02
[[ 9.58994774e-01 -1.30279495e-01 -2.51706728e-01  1.31493617e+02]
 [ 1.29001031e-01  9.91408148e-01 -2.16475701e-02  1.11767799e+01]
 [ 2.52364336e-01 -1.17105208e-02  9.67561422e-01  3.40246751e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.440714057 meters
Centerline goodness : 0.999619 with order 1
Centerline is valid?  [True, True]
Translation: X:131.55, Y:11.18, Z:34.04
[[ 9.58664990e-01 -1.32685194e-01 -2.51706329e-01  1.31552099e+02]
 [ 1.31486843e-01  9.91081425e-01 -2.16522129e-02  1.11759575e+01]
 [ 2.52334395e-01 -1.23388520e-02  9.67561422e-01  3.40394081e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.500714057 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:131.61, Y:11.18, Z:34.05
[[ 9.58329969e-01 -1.35083719e-01 -2.51706294e-01  1.31608397e+02]
 [ 1.33966383e-01  9.90749298e-01 -2.16526160e-02  1.11757076e+01]
 [ 2.52302750e-01 -1.29698310e-02  9.67561422e-01  3.40529814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.560714057 meters
Centerline goodness : 0.999395 with order 1
Centerline is valid?  [True, True]
Translation: X:131.67, Y:11.17, Z:34.07
[[ 9.58221967e-01 -1.35851415e-01 -2.51704301e-01  1.31666023e+02]
 [ 1.34753989e-01  9.90641976e-01 -2.16757577e-02  1.11745235e+01]
 [ 2.52293529e-01 -1.31479715e-02  9.67561422e-01  3.40673597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.62071405700001 meters
Centerline goodness : 0.999598 with order 1
Centerline is valid?  [True, True]
Translation: X:131.72, Y:11.17, Z:34.08
[[ 9.58288725e-01 -1.35380276e-01 -2.51703995e-01  1.31724649e+02]
 [ 1.34265977e-01  9.90708158e-01 -2.16793215e-02  1.11734763e+01]
 [ 2.52300153e-01 -1.30202335e-02  9.67561422e-01  3.40816006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.680714057 meters
Centerline goodness : 0.999688 with order 1
Centerline is valid?  [True, True]
Translation: X:131.78, Y:11.17, Z:34.10
[[ 9.58518298e-01 -1.33745917e-01 -2.51703598e-01  1.31781512e+02]
 [ 1.32575131e-01  9.90935741e-01 -2.16839187e-02  1.11721011e+01]
 [ 2.52322227e-01 -1.25852047e-02  9.67561422e-01  3.40957280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.740714057 meters
Centerline goodness : 0.999534 with order 1
Centerline is valid?  [True, True]
Translation: X:131.84, Y:11.17, Z:34.11
[[ 9.58742008e-01 -1.32143316e-01 -2.51698046e-01  1.31839471e+02]
 [ 1.30901504e-01  9.91156805e-01 -2.17481885e-02  1.11714907e+01]
 [ 2.52346109e-01 -1.20967508e-02  9.67561424e-01  3.41111822e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.800714057 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:131.90, Y:11.17, Z:34.13
[[ 9.58722667e-01 -1.32285062e-01 -2.51697260e-01  1.31896838e+02]
 [ 1.31045662e-01  9.91137556e-01 -2.17572756e-02  1.11711694e+01]
 [ 2.52344770e-01 -1.21246409e-02  9.67561424e-01  3.41263459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.860714057 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:131.95, Y:11.17, Z:34.14
[[ 9.58493661e-01 -1.33936577e-01 -2.51696039e-01  1.31953190e+02]
 [ 1.32749326e-01  9.90910502e-01 -2.17713959e-02  1.11702468e+01]
 [ 2.52324234e-01 -1.25447344e-02  9.67561425e-01  3.41409101e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.920714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:132.01, Y:11.17, Z:34.16
[[ 9.58073903e-01 -1.36910592e-01 -2.51694034e-01  1.32011227e+02]
 [ 1.35817886e-01  9.90494068e-01 -2.17945464e-02  1.11693571e+01]
 [ 2.52285352e-01 -1.33037654e-02  9.67561425e-01  3.41556109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.980714057 meters
Centerline goodness : 0.999319 with order 1
Centerline is valid?  [True, True]
Translation: X:132.07, Y:11.17, Z:34.17
[[ 9.57621485e-01 -1.40040995e-01 -2.51693487e-01  1.32069282e+02]
 [ 1.39052593e-01  9.90044998e-01 -2.18008666e-02  1.11699310e+01]
 [ 2.52240893e-01 -1.41216537e-02  9.67561425e-01  3.41706004e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.040714057 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:132.13, Y:11.17, Z:34.19
[[ 9.57213773e-01 -1.42802568e-01 -2.51692710e-01  1.32126552e+02]
 [ 1.41905341e-01  9.89639937e-01 -2.18098376e-02  1.11714744e+01]
 [ 2.52199658e-01 -1.48398629e-02  9.67561425e-01  3.41862136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.100714057 meters
Centerline goodness : 0.998836 with order 1
Centerline is valid?  [True, True]
Translation: X:132.18, Y:11.17, Z:34.20
[[ 9.56846595e-01 -1.45243794e-01 -2.51691942e-01  1.32184978e+02]
 [ 1.44426964e-01  9.89274884e-01 -2.18186917e-02  1.11745091e+01]
 [ 2.52161546e-01 -1.54739622e-02  9.67561425e-01  3.42029434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.160714057 meters
Centerline goodness : 0.998862 with order 1
Centerline is valid?  [True, True]
Translation: X:132.24, Y:11.18, Z:34.22
[[ 9.56454428e-01 -1.47804319e-01 -2.51691895e-01  1.32243063e+02]
 [ 1.47074144e-01  9.88884784e-01 -2.18192375e-02  1.11778848e+01]
 [ 2.52119263e-01 -1.61482637e-02  9.67561425e-01  3.42182527e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.220714057 meters
Centerline goodness : 0.999014 with order 1
Centerline is valid?  [True, True]
Translation: X:132.30, Y:11.18, Z:34.23
[[ 9.56303993e-01 -1.48775325e-01 -2.51691430e-01  1.32299847e+02]
 [ 1.48076672e-01  9.88735043e-01 -2.18246016e-02  1.11824896e+01]
 [ 2.52103099e-01 -1.63986756e-02  9.67561425e-01  3.42337162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.280714057 meters
Centerline goodness : 0.998686 with order 1
Centerline is valid?  [True, True]
Translation: X:132.36, Y:11.19, Z:34.25
[[ 9.56430080e-01 -1.47971772e-01 -2.51686027e-01  1.32356584e+02]
 [ 1.47229588e-01  9.88860162e-01 -2.18867301e-02  1.11875521e+01]
 [ 2.52120904e-01 -1.61225031e-02  9.67561427e-01  3.42487709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.340714057 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:132.41, Y:11.19, Z:34.26
[[ 9.57306462e-01 -1.42194618e-01 -2.51684384e-01  1.32413315e+02]
 [ 1.41251702e-01  9.89731328e-01 -2.19056125e-02  1.11949761e+01]
 [ 2.52214780e-01 -1.45804633e-02  9.67561427e-01  3.42647840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.40071405700002 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:132.47, Y:11.20, Z:34.28
[[ 9.58168572e-01 -1.36265253e-01 -2.51683867e-01  1.32471803e+02]
 [ 1.35120059e-01  9.90586924e-01 -2.19115537e-02  1.12014800e+01]
 [ 2.52300531e-01 -1.30125768e-02  9.67561427e-01  3.42797278e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.460714057 meters
Centerline goodness : 0.998659 with order 1
Centerline is valid?  [True, True]
Translation: X:132.53, Y:11.21, Z:34.30
[[ 9.58659173e-01 -1.32769944e-01 -2.51683795e-01  1.32529269e+02]
 [ 1.31506313e-01  9.91073124e-01 -2.19123764e-02  1.12069793e+01]
 [ 2.52346350e-01 -1.20915071e-02  9.67561427e-01  3.42954097e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.520714057 meters
Centerline goodness : 0.998706 with order 1
Centerline is valid?  [True, True]
Translation: X:132.59, Y:11.21, Z:34.31
[[ 9.58734980e-01 -1.32222169e-01 -2.51683404e-01  1.32585514e+02]
 [ 1.30938842e-01  9.91148158e-01 -2.19168647e-02  1.12123843e+01]
 [ 2.52353438e-01 -1.19426686e-02  9.67561427e-01  3.43096815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.580714057 meters
Centerline goodness : 0.998925 with order 1
Centerline is valid?  [True, True]
Translation: X:132.64, Y:11.22, Z:34.32
[[ 9.58425301e-01 -1.34458737e-01 -2.51677952e-01  1.32643461e+02]
 [ 1.33234684e-01  9.90840769e-01 -2.19793051e-02  1.12168379e+01]
 [ 2.52328085e-01 -1.24667102e-02  9.67561429e-01  3.43243591e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.640714057 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:132.70, Y:11.22, Z:34.34
[[ 9.58056750e-01 -1.37060910e-01 -2.51677512e-01  1.32699998e+02]
 [ 1.35923568e-01  9.90475377e-01 -2.19843396e-02  1.12196181e+01]
 [ 2.52293572e-01 -1.31466606e-02  9.67561429e-01  3.43390995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.700714057 meters
Centerline goodness : 0.999016 with order 1
Centerline is valid?  [True, True]
Translation: X:132.76, Y:11.22, Z:34.35
[[ 9.57854263e-01 -1.38478692e-01 -2.51672132e-01  1.32757374e+02]
 [ 1.37373240e-01  9.90273991e-01 -2.20457598e-02  1.12236822e+01]
 [ 2.52277235e-01 -1.34563912e-02  9.67561431e-01  3.43541034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.760714057 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:132.81, Y:11.23, Z:34.37
[[ 9.57562818e-01 -1.40480522e-01 -2.51671755e-01  1.32813418e+02]
 [ 1.39441708e-01  9.89984750e-01 -2.20500693e-02  1.12283535e+01]
 [ 2.52248804e-01 -1.39792129e-02  9.67561431e-01  3.43702716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.820714057 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:132.87, Y:11.23, Z:34.39
[[ 9.57033974e-01 -1.44048368e-01 -2.51666524e-01  1.32869806e+02]
 [ 1.43114795e-01  9.89459105e-01 -2.21096081e-02  1.12307851e+01]
 [ 2.52198587e-01 -1.48575569e-02  9.67561433e-01  3.43852338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.880714057 meters
Centerline goodness : 0.998685 with order 1
Centerline is valid?  [True, True]
Translation: X:132.93, Y:11.23, Z:34.40
[[ 9.55894730e-01 -1.51428827e-01 -2.51663617e-01  1.32928529e+02]
 [ 1.50736823e-01  9.88325915e-01 -2.21426490e-02  1.12340753e+01]
 [ 2.52078710e-01 -1.67689327e-02  9.67561433e-01  3.43997934e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.940714057 meters
Centerline goodness : 0.998820 with order 1
Centerline is valid?  [True, True]
Translation: X:132.99, Y:11.24, Z:34.41
[[ 9.55311936e-01 -1.55063101e-01 -2.51663545e-01  1.32987275e+02]
 [ 1.54494225e-01  9.87745514e-01 -2.21434760e-02  1.12397222e+01]
 [ 2.52013173e-01 -1.77266373e-02  9.67561433e-01  3.44141181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.000714057 meters
Centerline goodness : 0.998817 with order 1
Centerline is valid?  [True, True]
Translation: X:133.05, Y:11.25, Z:34.43
[[ 9.54297823e-01 -1.61186945e-01 -2.51663332e-01  1.33045205e+02]
 [ 1.60825466e-01  9.86734376e-01 -2.21458876e-02  1.12463513e+01]
 [ 2.51894489e-01 -1.93401004e-02  9.67561433e-01  3.44268375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.060714057 meters
Centerline goodness : 0.999123 with order 1
Centerline is valid?  [True, True]
Translation: X:133.10, Y:11.25, Z:34.44
[[ 9.53845692e-01 -1.63841789e-01 -2.51662996e-01  1.33103399e+02]
 [ 1.63569569e-01  9.86283117e-01 -2.21497081e-02  1.12535068e+01]
 [ 2.51840012e-01 -2.00370041e-02  9.67561433e-01  3.44418001e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.12071405700001 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:133.16, Y:11.26, Z:34.46
[[ 9.53394381e-01 -1.66447910e-01 -2.51662965e-01  1.33160950e+02]
 [ 1.66264245e-01  9.85832428e-01 -2.21500591e-02  1.12623407e+01]
 [ 2.51784343e-01 -2.07248112e-02  9.67561433e-01  3.44569241e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.180714057 meters
Centerline goodness : 0.998903 with order 1
Centerline is valid?  [True, True]
Translation: X:133.22, Y:11.27, Z:34.47
[[ 9.53144890e-01 -1.67870958e-01 -2.51662792e-01  1.33217131e+02]
 [ 1.67735201e-01  9.85583172e-01 -2.21520313e-02  1.12730435e+01]
 [ 2.51753295e-01 -2.10986135e-02  9.67561433e-01  3.44712963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.240714057 meters
Centerline goodness : 0.999031 with order 1
Centerline is valid?  [True, True]
Translation: X:133.28, Y:11.28, Z:34.49
[[ 9.52903495e-01 -1.69238095e-01 -2.51661274e-01  1.33275420e+02]
 [ 1.69144355e-01  9.85341926e-01 -2.21692594e-02  1.12846160e+01]
 [ 2.51724288e-01 -2.14419191e-02  9.67561433e-01  3.44859676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.300714057 meters
Centerline goodness : 0.999185 with order 1
Centerline is valid?  [True, True]
Translation: X:133.33, Y:11.30, Z:34.50
[[ 9.52666544e-01 -1.70566543e-01 -2.51661502e-01  1.33331969e+02]
 [ 1.70518708e-01  9.85105075e-01 -2.21666772e-02  1.12956438e+01]
 [ 2.51693916e-01 -2.17955422e-02  9.67561433e-01  3.45007289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.360714057 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:133.39, Y:11.31, Z:34.52
[[ 9.52354924e-01 -1.72298973e-01 -2.51660808e-01  1.33389732e+02]
 [ 1.72308072e-01  9.84793490e-01 -2.21745542e-02  1.13074524e+01]
 [ 2.51654578e-01 -2.22451426e-02  9.67561433e-01  3.45201708e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.420714057 meters
Centerline goodness : 0.999088 with order 1
Centerline is valid?  [True, True]
Translation: X:133.45, Y:11.32, Z:34.54
[[ 9.52070755e-01 -1.73861165e-01 -2.51661623e-01  1.33446882e+02]
 [ 1.73925909e-01  9.84509257e-01 -2.21652986e-02  1.13201877e+01]
 [ 2.51616882e-01 -2.26675439e-02  9.67561433e-01  3.45362496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.480714057 meters
Centerline goodness : 0.999180 with order 1
Centerline is valid?  [True, True]
Translation: X:133.51, Y:11.33, Z:34.55
[[ 9.51824969e-01 -1.75201636e-01 -2.51661706e-01  1.33505967e+02]
 [ 1.75312305e-01  9.84263347e-01 -2.21643555e-02  1.13317075e+01]
 [ 2.51584624e-01 -2.30228068e-02  9.67561433e-01  3.45462882e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.540714057 meters
Centerline goodness : 0.999195 with order 1
Centerline is valid?  [True, True]
Translation: X:133.56, Y:11.34, Z:34.57
[[ 9.51476295e-01 -1.77083316e-01 -2.51663188e-01  1.33562765e+02]
 [ 1.77262540e-01  9.83914366e-01 -2.21475146e-02  1.13432501e+01]
 [ 2.51536981e-01 -2.35376206e-02  9.67561433e-01  3.45668337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.600714057 meters
Centerline goodness : 0.999376 with order 1
Centerline is valid?  [True, True]
Translation: X:133.62, Y:11.35, Z:34.58
[[ 9.51238851e-01 -1.78353141e-01 -2.51664073e-01  1.33620933e+02]
 [ 1.78578300e-01  9.83676636e-01 -2.21374524e-02  1.13510210e+01]
 [ 2.51504353e-01 -2.38837375e-02  9.67561433e-01  3.45828104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.660714057 meters
Centerline goodness : 0.999105 with order 1
Centerline is valid?  [True, True]
Translation: X:133.68, Y:11.36, Z:34.60
[[ 9.50962310e-01 -1.79821852e-01 -2.51664035e-01  1.33679086e+02]
 [ 1.80096989e-01  9.83399710e-01 -2.21378827e-02  1.13596391e+01]
 [ 2.51467214e-01 -2.42716429e-02  9.67561433e-01  3.45978009e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.720714057 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:133.74, Y:11.37, Z:34.61
[[ 9.50881330e-01 -1.80248056e-01 -2.51665122e-01  1.33738495e+02]
 [ 1.80540973e-01  9.83318574e-01 -2.21255155e-02  1.13669687e+01]
 [ 2.51455071e-01 -2.43971264e-02  9.67561434e-01  3.46113341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.780714057 meters
Centerline goodness : 0.999620 with order 1
Centerline is valid?  [True, True]
Translation: X:133.80, Y:11.37, Z:34.63
[[ 9.50936021e-01 -1.79958214e-01 -2.51665899e-01  1.33798618e+02]
 [ 1.80243562e-01  9.83373333e-01 -2.21166766e-02  1.13736811e+01]
 [ 2.51461612e-01 -2.43296135e-02  9.67561434e-01  3.46268522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.840714057 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:133.86, Y:11.38, Z:34.64
[[ 9.51313182e-01 -1.77951347e-01 -2.51667533e-01  1.33856933e+02]
 [ 1.78173130e-01  9.83750990e-01 -2.20980699e-02  1.13813164e+01]
 [ 2.51510566e-01 -2.38182070e-02  9.67561434e-01  3.46417276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.90071405700002 meters
Centerline goodness : 0.999373 with order 1
Centerline is valid?  [True, True]
Translation: X:133.92, Y:11.39, Z:34.66
[[ 9.52256171e-01 -1.72833552e-01 -2.51667933e-01  1.33915327e+02]
 [ 1.72882109e-01  9.84694701e-01 -2.20935094e-02  1.13886498e+01]
 [ 2.51634580e-01 -2.24702024e-02  9.67561434e-01  3.46585272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.960714057 meters
Centerline goodness : 0.999438 with order 1
Centerline is valid?  [True, True]
Translation: X:133.97, Y:11.40, Z:34.67
[[ 9.53417720e-01 -1.66306104e-01 -2.51668294e-01  1.33973288e+02]
 [ 1.66133518e-01  9.85855827e-01 -2.20893996e-02  1.13975218e+01]
 [ 2.51782256e-01 -2.07501142e-02  9.67561434e-01  3.46734172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.020714057 meters
Centerline goodness : 0.999797 with order 1
Centerline is valid?  [True, True]
Translation: X:134.03, Y:11.41, Z:34.69
[[ 9.54648512e-01 -1.59088855e-01 -2.51668341e-01  1.34031566e+02]
 [ 1.58671024e-01  9.87084388e-01 -2.20888668e-02  1.14062137e+01]
 [ 2.51931983e-01 -1.88453695e-02  9.67561434e-01  3.46888909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.080714057 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:134.09, Y:11.41, Z:34.70
[[ 9.55021945e-01 -1.56830949e-01 -2.51668707e-01  1.34089996e+02]
 [ 1.56337511e-01  9.87456758e-01 -2.20846914e-02  1.14128374e+01]
 [ 2.51975529e-01 -1.82538945e-02  9.67561434e-01  3.47045285e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.140714057 meters
Centerline goodness : 0.999616 with order 1
Centerline is valid?  [True, True]
Translation: X:134.15, Y:11.42, Z:34.72
[[ 9.55890610e-01 -1.51441874e-01 -2.51671415e-01  1.34147537e+02]
 [ 1.50773602e-01  9.88322291e-01 -2.20537942e-02  1.14223226e+01]
 [ 2.52072337e-01 -1.68643909e-02  9.67561434e-01  3.47216091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.200714057 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:134.21, Y:11.43, Z:34.74
[[ 9.56381525e-01 -1.48310084e-01 -2.51671410e-01  1.34206468e+02]
 [ 1.47535571e-01  9.88810843e-01 -2.20538540e-02  1.14307560e+01]
 [ 2.52126228e-01 -1.60385866e-02  9.67561434e-01  3.47376775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.260714057 meters
Centerline goodness : 0.999502 with order 1
Centerline is valid?  [True, True]
Translation: X:134.27, Y:11.44, Z:34.75
[[ 9.56546734e-01 -1.47239438e-01 -2.51672195e-01  1.34266918e+02]
 [ 1.46430975e-01  9.88975223e-01 -2.20448905e-02  1.14376790e+01]
 [ 2.52143442e-01 -1.57656368e-02  9.67561434e-01  3.47526954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.320714057 meters
Centerline goodness : 0.999363 with order 1
Centerline is valid?  [True, True]
Translation: X:134.33, Y:11.45, Z:34.77
[[ 9.56452195e-01 -1.47848826e-01 -2.51674241e-01  1.34326006e+02]
 [ 1.47067152e-01  9.88881341e-01 -2.20215042e-02  1.14453950e+01]
 [ 2.52131815e-01 -1.59504978e-02  9.67561435e-01  3.47683134e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.380714057 meters
Centerline goodness : 0.999161 with order 1
Centerline is valid?  [True, True]
Translation: X:134.38, Y:11.45, Z:34.78
[[ 9.56355291e-01 -1.48472934e-01 -2.51675077e-01  1.34384672e+02]
 [ 1.47714926e-01  9.88784999e-01 -2.20119472e-02  1.14520071e+01]
 [ 2.52120719e-01 -1.61249232e-02  9.67561435e-01  3.47841069e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.440714057 meters
Centerline goodness : 0.999185 with order 1
Centerline is valid?  [True, True]
Translation: X:134.44, Y:11.46, Z:34.80
[[ 9.56481134e-01 -1.47657989e-01 -2.51676299e-01  1.34444033e+02]
 [ 1.46876012e-01  9.88910272e-01 -2.19979716e-02  1.14588784e+01]
 [ 2.52133453e-01 -1.59245662e-02  9.67561435e-01  3.48017232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.500714057 meters
Centerline goodness : 0.999364 with order 1
Centerline is valid?  [True, True]
Translation: X:134.50, Y:11.46, Z:34.82
[[ 9.56458718e-01 -1.47800350e-01 -2.51677925e-01  1.34503233e+02]
 [ 1.47028080e-01  9.88888089e-01 -2.19793484e-02  1.14640592e+01]
 [ 2.52129858e-01 -1.59813827e-02  9.67561435e-01  3.48177254e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.560714057 meters
Centerline goodness : 0.999049 with order 1
Centerline is valid?  [True, True]
Translation: X:134.56, Y:11.47, Z:34.83
[[ 9.56348389e-01 -1.48511187e-01 -2.51678735e-01  1.34563375e+02]
 [ 1.47765450e-01  9.88778381e-01 -2.19700757e-02  1.14689399e+01]
 [ 2.52117294e-01 -1.61783749e-02  9.67561435e-01  3.48325683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.62071405700001 meters
Centerline goodness : 0.999298 with order 1
Centerline is valid?  [True, True]
Translation: X:134.62, Y:11.47, Z:34.85
[[ 9.56469773e-01 -1.47724696e-01 -2.51680328e-01  1.34622630e+02]
 [ 1.46957080e-01  9.88899254e-01 -2.19518023e-02  1.14740738e+01]
 [ 2.52129312e-01 -1.59899709e-02  9.67561435e-01  3.48478320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.68071405700002 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:134.68, Y:11.48, Z:34.86
[[ 9.56639994e-01 -1.46616966e-01 -2.51681124e-01  1.34682878e+02]
 [ 1.45814186e-01  9.89068623e-01 -2.19426804e-02  1.14796270e+01]
 [ 2.52147072e-01 -1.57074326e-02  9.67561435e-01  3.48635266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.740714057 meters
Centerline goodness : 0.999228 with order 1
Centerline is valid?  [True, True]
Translation: X:134.74, Y:11.48, Z:34.88
[[ 9.56698465e-01 -1.46232204e-01 -2.51682716e-01  1.34741904e+02]
 [ 1.45421171e-01  9.89126889e-01 -2.19244067e-02  1.14836370e+01]
 [ 2.52152196e-01 -1.56249490e-02  9.67561435e-01  3.48769163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.800714057 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:134.80, Y:11.49, Z:34.89
[[ 9.56647518e-01 -1.46564456e-01 -2.51683106e-01  1.34800820e+02]
 [ 1.45765861e-01  9.89076251e-01 -2.19199218e-02  1.14884698e+01]
 [ 2.52146465e-01 -1.57171659e-02  9.67561435e-01  3.48923836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.860714057 meters
Centerline goodness : 0.999183 with order 1
Centerline is valid?  [True, True]
Translation: X:134.86, Y:11.49, Z:34.91
[[ 9.56587161e-01 -1.46956472e-01 -2.51683928e-01  1.34860298e+02]
 [ 1.46173639e-01  9.89016278e-01 -2.19104848e-02  1.14940564e+01]
 [ 2.52139389e-01 -1.58302671e-02  9.67561435e-01  3.49061154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.920714057 meters
Centerline goodness : 0.999135 with order 1
Centerline is valid?  [True, True]
Translation: X:134.92, Y:11.50, Z:34.92
[[ 9.56495133e-01 -1.47552202e-01 -2.51685137e-01  1.34919607e+02]
 [ 1.46793206e-01  9.88924817e-01 -2.18965920e-02  1.14999300e+01]
 [ 2.52128568e-01 -1.60016845e-02  9.67561435e-01  3.49236198e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.980714057 meters
Centerline goodness : 0.999021 with order 1
Centerline is valid?  [True, True]
Translation: X:134.98, Y:11.51, Z:34.94
[[ 9.56438177e-01 -1.47918212e-01 -2.51686744e-01  1.34978717e+02]
 [ 1.47176472e-01  9.88868260e-01 -2.18781024e-02  1.15060370e+01]
 [ 2.52121202e-01 -1.61173146e-02  9.67561436e-01  3.49380728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.040714057 meters
Centerline goodness : 0.999200 with order 1
Centerline is valid?  [True, True]
Translation: X:135.04, Y:11.51, Z:34.95
[[ 9.56084835e-01 -1.50181757e-01 -2.51688753e-01  1.35038024e+02]
 [ 1.49522847e-01  9.88516706e-01 -2.18549674e-02  1.15115767e+01]
 [ 2.52080754e-01 -1.67380160e-02  9.67561436e-01  3.49510895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.100714057 meters
Centerline goodness : 0.999316 with order 1
Centerline is valid?  [True, True]
Translation: X:135.09, Y:11.52, Z:34.97
[[ 9.55558140e-01 -1.53495905e-01 -2.51689587e-01  1.35094967e+02]
 [ 1.52951970e-01  9.87992143e-01 -2.18453525e-02  1.15172652e+01]
 [ 2.52020507e-01 -1.76219139e-02  9.67561436e-01  3.49656597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.160714057 meters
Centerline goodness : 0.999520 with order 1
Centerline is valid?  [True, True]
Translation: X:135.15, Y:11.52, Z:34.98
[[ 9.55105368e-01 -1.56289702e-01 -2.51688827e-01  1.35151983e+02]
 [ 1.55838325e-01  9.87540791e-01 -2.18541119e-02  1.15227990e+01]
 [ 2.51968556e-01 -1.83497855e-02  9.67561436e-01  3.49803877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.220714057 meters
Centerline goodness : 0.999542 with order 1
Centerline is valid?  [True, True]
Translation: X:135.21, Y:11.53, Z:35.00
[[ 9.54870045e-01 -1.57721395e-01 -2.51688613e-01  1.35210928e+02]
 [ 1.57317999e-01  9.87306101e-01 -2.18565715e-02  1.15285009e+01]
 [ 2.51940952e-01 -1.87249636e-02  9.67561436e-01  3.49974514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.280714057 meters
Centerline goodness : 0.999680 with order 1
Centerline is valid?  [True, True]
Translation: X:135.27, Y:11.54, Z:35.01
[[ 9.54823542e-01 -1.58001425e-01 -2.51689398e-01  1.35268589e+02]
 [ 1.57609914e-01  9.87259743e-01 -2.18475250e-02  1.15359182e+01]
 [ 2.51934751e-01 -1.88082132e-02  9.67561436e-01  3.50116490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.340714057 meters
Centerline goodness : 0.999178 with order 1
Centerline is valid?  [True, True]
Translation: X:135.33, Y:11.54, Z:35.03
[[ 9.54876884e-01 -1.57675758e-01 -2.51691261e-01  1.35327515e+02]
 [ 1.57278814e-01  9.87313019e-01 -2.18260444e-02  1.15419961e+01]
 [ 2.51939497e-01 -1.87445179e-02  9.67561436e-01  3.50270958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.40071405700002 meters
Centerline goodness : 0.999358 with order 1
Centerline is valid?  [True, True]
Translation: X:135.39, Y:11.55, Z:35.05
[[ 9.54922848e-01 -1.57395927e-01 -2.51692026e-01  1.35385691e+02]
 [ 1.56991790e-01  9.87358894e-01 -2.18172239e-02  1.15488323e+01]
 [ 2.51944303e-01 -1.86798161e-02  9.67561436e-01  3.50450364e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.460714057 meters
Centerline goodness : 0.999359 with order 1
Centerline is valid?  [True, True]
Translation: X:135.45, Y:11.55, Z:35.06
[[ 9.55030457e-01 -1.56741010e-01 -2.51692433e-01  1.35445247e+02]
 [ 1.56315862e-01  9.87466235e-01 -2.18125198e-02  1.15548292e+01]
 [ 2.51956696e-01 -1.85118989e-02  9.67561436e-01  3.50567189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.520714057 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:135.50, Y:11.56, Z:35.07
[[ 9.55145747e-01 -1.56034971e-01 -2.51693643e-01  1.35504874e+02]
 [ 1.55589505e-01  9.87581252e-01 -2.17985564e-02  1.15608644e+01]
 [ 2.51969260e-01 -1.83400910e-02  9.67561436e-01  3.50749864e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.580714057 meters
Centerline goodness : 0.999060 with order 1
Centerline is valid?  [True, True]
Translation: X:135.56, Y:11.57, Z:35.09
[[ 9.55337236e-01 -1.54855664e-01 -2.51695229e-01  1.35563493e+02]
 [ 1.54374958e-01  9.87772238e-01 -2.17802307e-02  1.15672910e+01]
 [ 2.51990351e-01 -1.80479750e-02  9.67561437e-01  3.50922191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.640714057 meters
Centerline goodness : 0.999105 with order 1
Centerline is valid?  [True, True]
Translation: X:135.62, Y:11.57, Z:35.11
[[ 9.55313695e-01 -1.54999548e-01 -2.51696014e-01  1.35621628e+02]
 [ 1.54526108e-01  9.87748804e-01 -2.17711458e-02  1.15715227e+01]
 [ 2.51986955e-01 -1.80953319e-02  9.67561437e-01  3.51075782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.700714057 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:135.68, Y:11.58, Z:35.12
[[ 9.55377682e-01 -1.54604657e-01 -2.51696014e-01  1.35680821e+02]
 [ 1.54117811e-01  9.87812592e-01 -2.17711458e-02  1.15762871e+01]
 [ 2.51994413e-01 -1.79911719e-02  9.67561437e-01  3.51221019e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.760714057 meters
Centerline goodness : 0.999084 with order 1
Centerline is valid?  [True, True]
Translation: X:135.74, Y:11.58, Z:35.14
[[ 9.55465234e-01 -1.54061416e-01 -2.51696777e-01  1.35739199e+02]
 [ 1.53558438e-01  9.87899897e-01 -2.17623296e-02  1.15811726e+01]
 [ 2.52003955e-01 -1.78570146e-02  9.67561437e-01  3.51362441e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.820714057 meters
Centerline goodness : 0.999012 with order 1
Centerline is valid?  [True, True]
Translation: X:135.80, Y:11.58, Z:35.15
[[ 9.55339996e-01 -1.54835519e-01 -2.51697148e-01  1.35797060e+02]
 [ 1.54359947e-01  9.87775073e-01 -2.17580333e-02  1.15847273e+01]
 [ 2.51989085e-01 -1.80656389e-02  9.67561437e-01  3.51489062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.880714057 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:135.86, Y:11.59, Z:35.17
[[ 9.55357652e-01 -1.54727733e-01 -2.51696415e-01  1.35856452e+02]
 [ 1.54246279e-01  9.87792642e-01 -2.17665129e-02  1.15889999e+01]
 [ 2.51991750e-01 -1.80284307e-02  9.67561437e-01  3.51665214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.940714057 meters
Centerline goodness : 0.999473 with order 1
Centerline is valid?  [True, True]
Translation: X:135.91, Y:11.59, Z:35.18
[[ 9.55574543e-01 -1.53379944e-01 -2.51698005e-01  1.35914004e+02]
 [ 1.52857562e-01  9.88008900e-01 -2.17481071e-02  1.15946129e+01]
 [ 2.52015593e-01 -1.76920059e-02  9.67561437e-01  3.51834443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.000714057 meters
Centerline goodness : 0.999104 with order 1
Centerline is valid?  [True, True]
Translation: X:135.97, Y:11.60, Z:35.20
[[ 9.55648037e-01 -1.52921618e-01 -2.51697853e-01  1.35972895e+02]
 [ 1.52383217e-01  9.88082131e-01 -2.17498713e-02  1.15996769e+01]
 [ 2.52024176e-01 -1.75693068e-02  9.67561437e-01  3.51988885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.060714057 meters
Centerline goodness : 0.999379 with order 1
Centerline is valid?  [True, True]
Translation: X:136.03, Y:11.60, Z:35.22
[[ 9.55762018e-01 -1.52205630e-01 -2.51699047e-01  1.36033293e+02]
 [ 1.51646554e-01  9.88195763e-01 -2.17360472e-02  1.16036766e+01]
 [ 2.52036280e-01 -1.73948048e-02  9.67561437e-01  3.52151937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.12071405700001 meters
Centerline goodness : 0.999427 with order 1
Centerline is valid?  [True, True]
Translation: X:136.09, Y:11.61, Z:35.23
[[ 9.55843048e-01 -1.51692628e-01 -2.51701040e-01  1.36093384e+02]
 [ 1.51122201e-01  9.88276595e-01 -2.17129370e-02  1.16074773e+01]
 [ 2.52043940e-01 -1.72834552e-02  9.67561437e-01  3.52300892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.18071405700002 meters
Centerline goodness : 0.999494 with order 1
Centerline is valid?  [True, True]
Translation: X:136.15, Y:11.61, Z:35.25
[[ 9.55938172e-01 -1.51089372e-01 -2.51702628e-01  1.36153140e+02]
 [ 1.50503304e-01  9.88371440e-01 -2.16945136e-02  1.16126877e+01]
 [ 2.52053500e-01 -1.71434637e-02  9.67561437e-01  3.52455024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.240714057 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:136.21, Y:11.62, Z:35.26
[[ 9.55942943e-01 -1.51056482e-01 -2.51704250e-01  1.36213226e+02]
 [ 1.50474235e-01  9.88376279e-01 -2.16756804e-02  1.16180706e+01]
 [ 2.52052762e-01 -1.71542908e-02  9.67561437e-01  3.52596721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.300714057 meters
Centerline goodness : 0.999333 with order 1
Centerline is valid?  [True, True]
Translation: X:136.27, Y:11.62, Z:35.27
[[ 9.56062208e-01 -1.50297058e-01 -2.51705878e-01  1.36271683e+02]
 [ 1.49694006e-01  9.88495164e-01 -2.16567606e-02  1.16234433e+01]
 [ 2.52064991e-01 -1.69736508e-02  9.67561438e-01  3.52723111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.360714057 meters
Centerline goodness : 0.999632 with order 1
Centerline is valid?  [True, True]
Translation: X:136.33, Y:11.63, Z:35.29
[[ 9.56252097e-01 -1.49084129e-01 -2.51705878e-01  1.36329558e+02]
 [ 1.48439934e-01  9.88684262e-01 -2.16567606e-02  1.16302899e+01]
 [ 2.52086320e-01 -1.66538811e-02  9.67561438e-01  3.52909752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.420714057 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:136.39, Y:11.64, Z:35.31
[[ 9.56411363e-01 -1.48056893e-01 -2.51707093e-01  1.36388396e+02]
 [ 1.47381564e-01  9.88842895e-01 -2.16426316e-02  1.16375063e+01]
 [ 2.52103111e-01 -1.63977262e-02  9.67561438e-01  3.53070972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.480714057 meters
Centerline goodness : 0.999148 with order 1
Centerline is valid?  [True, True]
Translation: X:136.45, Y:11.64, Z:35.32
[[ 9.56480416e-01 -1.47605184e-01 -2.51709998e-01  1.36446008e+02]
 [ 1.46923407e-01  9.88911812e-01 -2.16087909e-02  1.16438445e+01]
 [ 2.52108560e-01 -1.63137052e-02  9.67561438e-01  3.53219577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.540714057 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:136.50, Y:11.65, Z:35.34
[[ 9.56263457e-01 -1.49004287e-01 -2.51709998e-01  1.36503317e+02]
 [ 1.48369955e-01  9.88695816e-01 -2.16087909e-02  1.16503715e+01]
 [ 2.52084425e-01 -1.66825041e-02  9.67561438e-01  3.53408941e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.600714057 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:136.56, Y:11.66, Z:35.36
[[ 9.55854779e-01 -1.51603181e-01 -2.51710384e-01  1.36562249e+02]
 [ 1.51058191e-01  9.88288762e-01 -2.16042993e-02  1.16565758e+01]
 [ 2.52037824e-01 -1.73723425e-02  9.67561438e-01  3.53565848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.660714057 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:136.62, Y:11.66, Z:35.37
[[ 9.55378939e-01 -1.54572208e-01 -2.51711174e-01  1.36622447e+02]
 [ 1.54130405e-01  9.87814492e-01 -2.15950881e-02  1.16615633e+01]
 [ 2.51981946e-01 -1.81648527e-02  9.67561438e-01  3.53700972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.720714057 meters
Centerline goodness : 0.999494 with order 1
Centerline is valid?  [True, True]
Translation: X:136.68, Y:11.67, Z:35.38
[[ 9.55051606e-01 -1.56580095e-01 -2.51712344e-01  1.36680968e+02]
 [ 1.56210048e-01  9.87488057e-01 -2.15814479e-02  1.16662429e+01]
 [ 2.51942158e-01 -1.87086007e-02  9.67561438e-01  3.53834040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.780714057 meters
Centerline goodness : 0.999126 with order 1
Centerline is valid?  [True, True]
Translation: X:136.74, Y:11.67, Z:35.40
[[ 9.54960073e-01 -1.57136764e-01 -2.51712727e-01  1.36738316e+02]
 [ 1.56786795e-01  9.87396746e-01 -2.15769783e-02  1.16719665e+01]
 [ 2.51930864e-01 -1.88600789e-02  9.67561438e-01  3.53986600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.840714057 meters
Centerline goodness : 0.999128 with order 1
Centerline is valid?  [True, True]
Translation: X:136.80, Y:11.68, Z:35.42
[[ 9.55151819e-01 -1.55967000e-01 -2.51712727e-01  1.36797899e+02]
 [ 1.55577302e-01  9.87588040e-01 -2.15769783e-02  1.16769369e+01]
 [ 2.51953775e-01 -1.85514969e-02  9.67561438e-01  3.54170189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.90071405700002 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:136.86, Y:11.68, Z:35.43
[[ 9.55390848e-01 -1.54493441e-01 -2.51714331e-01  1.36856184e+02]
 [ 1.54058620e-01  9.87826495e-01 -2.15582421e-02  1.16836526e+01]
 [ 2.51980693e-01 -1.81822154e-02  9.67561439e-01  3.54306569e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.960714057 meters
Centerline goodness : 0.999016 with order 1
Centerline is valid?  [True, True]
Translation: X:136.91, Y:11.69, Z:35.45
[[ 9.55311389e-01 -1.54983366e-01 -2.51714731e-01  1.36914785e+02]
 [ 1.54566402e-01  9.87747271e-01 -2.15535775e-02  1.16885566e+01]
 [ 2.51970984e-01 -1.83162622e-02  9.67561439e-01  3.54499681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.020714057 meters
Centerline goodness : 0.998900 with order 1
Centerline is valid?  [True, True]
Translation: X:136.98, Y:11.69, Z:35.46
[[ 9.55172773e-01 -1.55832797e-01 -2.51716333e-01  1.36975288e+02]
 [ 1.55449584e-01  9.87609071e-01 -2.15348491e-02  1.16912941e+01]
 [ 2.51953170e-01 -1.85596977e-02  9.67561439e-01  3.54648502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.080714057 meters
Centerline goodness : 0.999038 with order 1
Centerline is valid?  [True, True]
Translation: X:137.03, Y:11.70, Z:35.48
[[ 9.55112829e-01 -1.56197200e-01 -2.51717936e-01  1.37033092e+02]
 [ 1.55831275e-01  9.87549326e-01 -2.15161026e-02  1.16953624e+01]
 [ 2.51944633e-01 -1.86752213e-02  9.67561439e-01  3.54807647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.140714057 meters
Centerline goodness : 0.998949 with order 1
Centerline is valid?  [True, True]
Translation: X:137.09, Y:11.70, Z:35.50
[[ 9.55039616e-01 -1.56644248e-01 -2.51717919e-01  1.37092200e+02]
 [ 1.56293457e-01  9.87476280e-01 -2.15162923e-02  1.16972631e+01]
 [ 2.51935878e-01 -1.87929523e-02  9.67561439e-01  3.54966047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.200714057 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:137.15, Y:11.70, Z:35.51
[[ 9.54979939e-01 -1.57006393e-01 -2.51718711e-01  1.37152146e+02]
 [ 1.56670330e-01  9.87416759e-01 -2.15070298e-02  1.16984236e+01]
 [ 2.51928015e-01 -1.88980714e-02  9.67561439e-01  3.55123379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.260714057 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:137.21, Y:11.70, Z:35.53
[[ 9.55052989e-01 -1.56558934e-01 -2.51720260e-01  1.37211921e+02]
 [ 1.56212429e-01  9.87489699e-01 -2.14888826e-02  1.17004291e+01]
 [ 2.51935440e-01 -1.87988117e-02  9.67561439e-01  3.55287717e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.320714057 meters
Centerline goodness : 0.999296 with order 1
Centerline is valid?  [True, True]
Translation: X:137.27, Y:11.70, Z:35.54
[[ 9.55327374e-01 -1.54873184e-01 -2.51721879e-01  1.37271147e+02]
 [ 1.54474410e-01  9.87763484e-01 -2.14699008e-02  1.17010342e+01]
 [ 2.51966792e-01 -1.83738048e-02  9.67561439e-01  3.55432499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.380714057 meters
Centerline goodness : 0.999025 with order 1
Centerline is valid?  [True, True]
Translation: X:137.33, Y:11.70, Z:35.56
[[ 9.55576028e-01 -1.53331156e-01 -2.51722091e-01  1.37331181e+02]
 [ 1.52880683e-01  9.88011461e-01 -2.14674201e-02  1.17042695e+01]
 [ 2.51995935e-01 -1.79696931e-02  9.67561439e-01  3.55586078e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.440714057 meters
Centerline goodness : 0.999435 with order 1
Centerline is valid?  [True, True]
Translation: X:137.39, Y:11.70, Z:35.57
[[ 9.56249473e-01 -1.49070952e-01 -2.51723650e-01  1.37390104e+02]
 [ 1.48480726e-01  9.88682664e-01 -2.14491189e-02  1.17049245e+01]
 [ 2.52072249e-01 -1.68654015e-02  9.67561440e-01  3.55729741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.500714057 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:137.45, Y:11.71, Z:35.59
[[ 9.56779345e-01 -1.45631411e-01 -2.51723614e-01  1.37449729e+02]
 [ 1.44924451e-01  9.89210200e-01 -2.14495392e-02  1.17080875e+01]
 [ 2.52131294e-01 -1.59584307e-02  9.67561440e-01  3.55864204e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.560714057 meters
Centerline goodness : 0.998828 with order 1
Centerline is valid?  [True, True]
Translation: X:137.51, Y:11.71, Z:35.60
[[ 9.57352246e-01 -1.41814337e-01 -2.51724790e-01  1.37507784e+02]
 [ 1.40981657e-01  9.89780118e-01 -2.14357324e-02  1.17105791e+01]
 [ 2.52192087e-01 -1.49670316e-02  9.67561440e-01  3.56030636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.62071405700001 meters
Centerline goodness : 0.998899 with order 1
Centerline is valid?  [True, True]
Translation: X:137.57, Y:11.71, Z:35.62
[[ 9.57624054e-01 -1.39967136e-01 -2.51724796e-01  1.37565329e+02]
 [ 1.39071916e-01  9.90050259e-01 -2.14356608e-02  1.17124100e+01]
 [ 2.52220488e-01 -1.44805452e-02  9.67561440e-01  3.56160503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.68071405700002 meters
Centerline goodness : 0.999079 with order 1
Centerline is valid?  [True, True]
Translation: X:137.62, Y:11.71, Z:35.63
[[ 9.57566066e-01 -1.40364669e-01 -2.51724032e-01  1.37621380e+02]
 [ 1.39480561e-01  9.89992576e-01 -2.14446273e-02  1.17137799e+01]
 [ 2.52214991e-01 -1.45759618e-02  9.67561440e-01  3.56308001e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.740714057 meters
Centerline goodness : 0.998988 with order 1
Centerline is valid?  [True, True]
Translation: X:137.68, Y:11.72, Z:35.65
[[ 9.57310532e-01 -1.42102083e-01 -2.51721163e-01  1.37678479e+02]
 [ 1.41268008e-01  9.89738367e-01 -2.14782564e-02  1.17165264e+01]
 [ 2.52190198e-01 -1.49987863e-02  9.67561440e-01  3.56503855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.800714057 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:137.73, Y:11.72, Z:35.67
[[ 9.56985937e-01 -1.44272543e-01 -2.51720776e-01  1.37734842e+02]
 [ 1.43510815e-01  9.89415552e-01 -2.14827966e-02  1.17171488e+01]
 [ 2.52155828e-01 -1.55659195e-02  9.67561440e-01  3.56659870e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.860714057 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:137.79, Y:11.72, Z:35.68
[[ 9.56798173e-01 -1.45515289e-01 -2.51719203e-01  1.37792714e+02]
 [ 1.44790855e-01  9.89228642e-01 -2.15012034e-02  1.17207705e+01]
 [ 2.52136600e-01 -1.58743265e-02  9.67561440e-01  3.56806494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.920714057 meters
Centerline goodness : 0.999127 with order 1
Centerline is valid?  [True, True]
Translation: X:137.85, Y:11.72, Z:35.70
[[ 9.56436330e-01 -1.47876196e-01 -2.51718450e-01  1.37851368e+02]
 [ 1.47229492e-01  9.88868442e-01 -2.15100199e-02  1.17217633e+01]
 [ 2.52097251e-01 -1.64874151e-02  9.67561440e-01  3.56958494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.980714057 meters
Centerline goodness : 0.998945 with order 1
Centerline is valid?  [True, True]
Translation: X:137.91, Y:11.72, Z:35.71
[[ 9.56352483e-01 -1.48417351e-01 -2.51718529e-01  1.37910753e+02]
 [ 1.47789242e-01  9.88784961e-01 -2.15090906e-02  1.17238719e+01]
 [ 2.52087818e-01 -1.66310183e-02  9.67561440e-01  3.57102577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.040714057 meters
Centerline goodness : 0.999531 with order 1
Centerline is valid?  [True, True]
Translation: X:137.97, Y:11.73, Z:35.73
[[ 9.56597735e-01 -1.46826965e-01 -2.51719318e-01  1.37969360e+02]
 [ 1.46147349e-01  9.89029175e-01 -2.14998542e-02  1.17274707e+01]
 [ 2.52114508e-01 -1.62213993e-02  9.67561440e-01  3.57254921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.100714057 meters
Centerline goodness : 0.999484 with order 1
Centerline is valid?  [True, True]
Translation: X:138.03, Y:11.73, Z:35.74
[[ 9.56647880e-01 -1.46499891e-01 -2.51719318e-01  1.38027281e+02]
 [ 1.45809187e-01  9.89079085e-01 -2.14998542e-02  1.17313775e+01]
 [ 2.52120039e-01 -1.61351992e-02  9.67561440e-01  3.57404624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.160714057 meters
Centerline goodness : 0.999574 with order 1
Centerline is valid?  [True, True]
Translation: X:138.09, Y:11.73, Z:35.76
[[ 9.56465701e-01 -1.47685293e-01 -2.51718926e-01  1.38086054e+02]
 [ 1.47033576e-01  9.88897713e-01 -2.15044459e-02  1.17347964e+01]
 [ 2.52100161e-01 -1.64428690e-02  9.67561440e-01  3.57553032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.220714057 meters
Centerline goodness : 0.999709 with order 1
Centerline is valid?  [True, True]
Translation: X:138.14, Y:11.74, Z:35.77
[[ 9.56160212e-01 -1.49650362e-01 -2.51718926e-01  1.38143329e+02]
 [ 1.49065289e-01  9.88593495e-01 -2.15044459e-02  1.17372164e+01]
 [ 2.52065841e-01 -1.69608589e-02  9.67561440e-01  3.57694794e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.280714057 meters
Centerline goodness : 0.999888 with order 1
Centerline is valid?  [True, True]
Translation: X:138.20, Y:11.74, Z:35.78
[[ 9.56065405e-01 -1.50256148e-01 -2.51718158e-01  1.38200320e+02]
 [ 1.49689272e-01  9.88499011e-01 -2.15134258e-02  1.17414236e+01]
 [ 2.52055675e-01 -1.71112656e-02  9.67561441e-01  3.57840205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.340714057 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:138.26, Y:11.75, Z:35.80
[[ 9.55794091e-01 -1.51974318e-01 -2.51717028e-01  1.38256693e+02]
 [ 1.51462274e-01  9.88228609e-01 -2.15266409e-02  1.17451378e+01]
 [ 2.52025465e-01 -1.75505974e-02  9.67561441e-01  3.57989694e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.40071405700002 meters
Centerline goodness : 0.999286 with order 1
Centerline is valid?  [True, True]
Translation: X:138.32, Y:11.75, Z:35.82
[[ 9.55531612e-01 -1.53624622e-01 -2.51711766e-01  1.38315289e+02]
 [ 1.53152506e-01  9.87966734e-01 -2.15880048e-02  1.17498031e+01]
 [ 2.51999300e-01 -1.79222668e-02  9.67561442e-01  3.58157792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.460714057 meters
Centerline goodness : 0.999108 with order 1
Centerline is valid?  [True, True]
Translation: X:138.37, Y:11.76, Z:35.83
[[ 9.55788771e-01 -1.52015827e-01 -2.51712164e-01  1.38373491e+02]
 [ 1.51490326e-01  9.88223072e-01 -2.15833647e-02  1.17559608e+01]
 [ 2.52028781e-01 -1.75028201e-02  9.67561442e-01  3.58310444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.520714057 meters
Centerline goodness : 0.999440 with order 1
Centerline is valid?  [True, True]
Translation: X:138.43, Y:11.76, Z:35.85
[[ 9.56250961e-01 -1.49080803e-01 -2.51712164e-01  1.38432168e+02]
 [ 1.48455730e-01  9.88683496e-01 -2.15833647e-02  1.17636556e+01]
 [ 2.52081327e-01 -1.67289998e-02  9.67561442e-01  3.58477700e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.580714057 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:138.49, Y:11.77, Z:35.86
[[ 9.56695150e-01 -1.46201759e-01 -2.51713001e-01  1.38490029e+02]
 [ 1.45481624e-01  9.89125713e-01 -2.15735977e-02  1.17729057e+01]
 [ 2.52129900e-01 -1.59802600e-02  9.67561443e-01  3.58636086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.640714057 meters
Centerline goodness : 0.999085 with order 1
Centerline is valid?  [True, True]
Translation: X:138.55, Y:11.78, Z:35.88
[[ 9.56732713e-01 -1.45955039e-01 -2.51713413e-01  1.38548666e+02]
 [ 1.45227801e-01  9.89163118e-01 -2.15687882e-02  1.17795758e+01]
 [ 2.52133698e-01 -1.59202203e-02  9.67561443e-01  3.58790874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.700714057 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:138.61, Y:11.79, Z:35.89
[[ 9.56157701e-01 -1.49675412e-01 -2.51713569e-01  1.38607730e+02]
 [ 1.49074804e-01  9.88590698e-01 -2.15669686e-02  1.17879238e+01]
 [ 2.52069738e-01 -1.69027278e-02  9.67561443e-01  3.58941574e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.760714057 meters
Centerline goodness : 0.999101 with order 1
Centerline is valid?  [True, True]
Translation: X:138.67, Y:11.79, Z:35.91
[[ 9.55644995e-01 -1.52913433e-01 -2.51714374e-01  1.38667061e+02]
 [ 1.52425155e-01  9.88079877e-01 -2.15575676e-02  1.17948737e+01]
 [ 2.52010350e-01 -1.77662211e-02  9.67561443e-01  3.59084479e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.820714057 meters
Centerline goodness : 0.999235 with order 1
Centerline is valid?  [True, True]
Translation: X:138.72, Y:11.80, Z:35.92
[[ 9.54407305e-01 -1.60456367e-01 -2.51715018e-01  1.38724811e+02]
 [ 1.60226248e-01  9.86845046e-01 -2.15500444e-02  1.18040831e+01]
 [ 2.51861561e-01 -1.97638331e-02  9.67561443e-01  3.59215220e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.880714057 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:138.78, Y:11.81, Z:35.94
[[ 9.53833442e-01 -1.63833296e-01 -2.51714949e-01  1.38783311e+02]
 [ 1.63717772e-01  9.86271794e-01 -2.15508570e-02  1.18100287e+01]
 [ 2.51790102e-01 -2.06542825e-02  9.67561443e-01  3.59358531e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.940714057 meters
Centerline goodness : 0.999079 with order 1
Centerline is valid?  [True, True]
Translation: X:138.84, Y:11.82, Z:35.95
[[ 9.52977592e-01 -1.68740270e-01 -2.51714979e-01  1.38841700e+02]
 [ 1.68791791e-01  9.85416108e-01 -2.15505065e-02  1.18172989e+01]
 [ 2.51680433e-01 -2.19502724e-02  9.67561443e-01  3.59499545e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.000714057 meters
Centerline goodness : 0.999079 with order 1
Centerline is valid?  [True, True]
Translation: X:138.90, Y:11.82, Z:35.97
[[ 9.52338158e-01 -1.72312920e-01 -2.51714699e-01  1.38900145e+02]
 [ 1.72485235e-01  9.84776258e-01 -2.15537733e-02  1.18243377e+01]
 [ 2.51596653e-01 -2.28905882e-02  9.67561443e-01  3.59653886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.060714057 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:138.96, Y:11.83, Z:35.98
[[ 9.52051248e-01 -1.73891060e-01 -2.51714760e-01  1.38957758e+02]
 [ 1.74117324e-01  9.84489016e-01 -2.15530584e-02  1.18309986e+01]
 [ 2.51558301e-01 -2.33082842e-02  9.67561443e-01  3.59812371e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.12071405700001 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:139.02, Y:11.84, Z:36.00
[[ 9.52202497e-01 -1.73059759e-01 -2.51715564e-01  1.39017110e+02]
 [ 1.73260164e-01  9.84640435e-01 -2.15436644e-02  1.18378578e+01]
 [ 2.51577664e-01 -2.30983489e-02  9.67561443e-01  3.59978385e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.18071405700002 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:139.08, Y:11.85, Z:36.01
[[ 9.52476590e-01 -1.71543040e-01 -2.51716766e-01  1.39076520e+02]
 [ 1.71695468e-01  9.84914789e-01 -2.15296086e-02  1.18459230e+01]
 [ 2.51612820e-01 -2.27121798e-02  9.67561443e-01  3.60120911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.240714057 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:139.14, Y:11.85, Z:36.03
[[ 9.52744372e-01 -1.70048318e-01 -2.51717563e-01  1.39135023e+02]
 [ 1.70152288e-01  9.85182763e-01 -2.15202955e-02  1.18537998e+01]
 [ 2.51647294e-01 -2.23269788e-02  9.67561443e-01  3.60278236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.300714057 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:139.19, Y:11.86, Z:36.04
[[ 9.53251962e-01 -1.67178834e-01 -2.51717967e-01  1.39193036e+02]
 [ 1.67186373e-01  9.85690518e-01 -2.15155622e-02  1.18631967e+01]
 [ 2.51712960e-01 -2.15740621e-02  9.67561443e-01  3.60445877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.360714057 meters
Centerline goodness : 0.999161 with order 1
Centerline is valid?  [True, True]
Translation: X:139.25, Y:11.87, Z:36.06
[[ 9.53765438e-01 -1.64223531e-01 -2.51718335e-01  1.39251187e+02]
 [ 1.64131660e-01  9.86203865e-01 -2.15112543e-02  1.18702992e+01]
 [ 2.51778249e-01 -2.07982572e-02  9.67561443e-01  3.60596324e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.420714057 meters
Centerline goodness : 0.999206 with order 1
Centerline is valid?  [True, True]
Translation: X:139.31, Y:11.88, Z:36.07
[[ 9.53967007e-01 -1.63048547e-01 -2.51718335e-01  1.39310530e+02]
 [ 1.62916717e-01  9.86405297e-01 -2.15112543e-02  1.18786408e+01]
 [ 2.51803678e-01 -2.04880980e-02  9.67561443e-01  3.60747971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.480714057 meters
Centerline goodness : 0.999045 with order 1
Centerline is valid?  [True, True]
Translation: X:139.37, Y:11.89, Z:36.09
[[ 9.54039074e-01 -1.62623872e-01 -2.51719926e-01  1.39369334e+02]
 [ 1.62482485e-01  9.86477323e-01 -2.14926248e-02  1.18864553e+01]
 [ 2.51811213e-01 -2.03952753e-02  9.67561443e-01  3.60899812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.540714057 meters
Centerline goodness : 0.999114 with order 1
Centerline is valid?  [True, True]
Translation: X:139.43, Y:11.89, Z:36.11
[[ 9.53965247e-01 -1.63055146e-01 -2.51720734e-01  1.39428741e+02]
 [ 1.62930905e-01  9.86403566e-01 -2.14831572e-02  1.18924990e+01]
 [ 2.51801169e-01 -2.05189016e-02  9.67561443e-01  3.61064777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.600714057 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:139.49, Y:11.90, Z:36.12
[[ 9.53572228e-01 -1.65336153e-01 -2.51721995e-01  1.39487617e+02]
 [ 1.65293366e-01  9.86010757e-01 -2.14683752e-02  1.18985433e+01]
 [ 2.51750093e-01 -2.11363293e-02  9.67561443e-01  3.61210139e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.660714057 meters
Centerline goodness : 0.998749 with order 1
Centerline is valid?  [True, True]
Translation: X:139.55, Y:11.90, Z:36.13
[[ 9.53224341e-01 -1.67330068e-01 -2.51722077e-01  1.39547172e+02]
 [ 1.67355374e-01  9.85662888e-01 -2.14674139e-02  1.19037193e+01]
 [ 2.51705253e-01 -2.16637809e-02  9.67561443e-01  3.61340458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.720714057 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:139.61, Y:11.91, Z:36.15
[[ 9.53261579e-01 -1.67117006e-01 -2.51722601e-01  1.39606875e+02]
 [ 1.67136674e-01  9.85700130e-01 -2.14612645e-02  1.19086545e+01]
 [ 2.51709543e-01 -2.16138794e-02  9.67561443e-01  3.61484195e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.780714057 meters
Centerline goodness : 0.999202 with order 1
Centerline is valid?  [True, True]
Translation: X:139.66, Y:11.91, Z:36.17
[[ 9.53575766e-01 -1.65310637e-01 -2.51725350e-01  1.39664942e+02]
 [ 1.65277309e-01  9.86014305e-01 -2.14289765e-02  1.19137001e+01]
 [ 2.51747234e-01 -2.11703356e-02  9.67561444e-01  3.61656120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.840714057 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:139.72, Y:11.92, Z:36.18
[[ 9.53712710e-01 -1.64518718e-01 -2.51725362e-01  1.39724967e+02]
 [ 1.64458489e-01  9.86151211e-01 -2.14288373e-02  1.19189586e+01]
 [ 2.51764715e-01 -2.09614182e-02  9.67561444e-01  3.61821177e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.90071405700002 meters
Centerline goodness : 0.999248 with order 1
Centerline is valid?  [True, True]
Translation: X:139.78, Y:11.92, Z:36.20
[[ 9.53908976e-01 -1.63374456e-01 -2.51726942e-01  1.39782111e+02]
 [ 1.63280180e-01  9.86347395e-01 -2.14102593e-02  1.19232835e+01]
 [ 2.51788103e-01 -2.06785820e-02  9.67561444e-01  3.61978223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.960714057 meters
Centerline goodness : 0.999225 with order 1
Centerline is valid?  [True, True]
Translation: X:139.84, Y:11.93, Z:36.21
[[ 9.53671282e-01 -1.64756606e-01 -2.51726730e-01  1.39841637e+02]
 [ 1.64708684e-01  9.86109803e-01 -2.14127548e-02  1.19252209e+01]
 [ 2.51758088e-01 -2.10408490e-02  9.67561444e-01  3.62104111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.020714057 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:139.90, Y:11.93, Z:36.22
[[ 9.53407343e-01 -1.66275888e-01 -2.51727566e-01  1.39902033e+02]
 [ 1.66282230e-01  9.85845898e-01 -2.14029129e-02  1.19274341e+01]
 [ 2.51723377e-01 -2.14521268e-02  9.67561444e-01  3.62231349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.080714057 meters
Centerline goodness : 0.999407 with order 1
Centerline is valid?  [True, True]
Translation: X:139.96, Y:11.93, Z:36.24
[[ 9.53771057e-01 -1.64175595e-01 -2.51728316e-01  1.39961770e+02]
 [ 1.64112801e-01  9.86209552e-01 -2.13940983e-02  1.19318426e+01]
 [ 2.51769258e-01 -2.09067672e-02  9.67561444e-01  3.62386271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.140714057 meters
Centerline goodness : 0.999338 with order 1
Centerline is valid?  [True, True]
Translation: X:140.02, Y:11.94, Z:36.26
[[ 9.54801010e-01 -1.58073879e-01 -2.51729378e-01  1.40020048e+02]
 [ 1.57806956e-01  9.87238468e-01 -2.13815856e-02  1.19376117e+01]
 [ 2.51896796e-01 -1.93094873e-02  9.67561444e-01  3.62566842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.200714057 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:140.08, Y:11.94, Z:36.27
[[ 9.56055421e-01 -1.50300282e-01 -2.51729732e-01  1.40076975e+02]
 [ 1.49770543e-01  9.88489651e-01 -2.13774240e-02  1.19446054e+01]
 [ 2.52045268e-01 -1.72636966e-02  9.67561444e-01  3.62732760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.260714057 meters
Centerline goodness : 0.999794 with order 1
Centerline is valid?  [True, True]
Translation: X:140.13, Y:11.95, Z:36.29
[[ 9.57232143e-01 -1.42614144e-01 -2.51729675e-01  1.40133697e+02]
 [ 1.41823660e-01  9.89661067e-01 -2.13780920e-02  1.19507960e+01]
 [ 2.52175877e-01 -1.52374270e-02  9.67561444e-01  3.62899885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.320714057 meters
Centerline goodness : 0.999633 with order 1
Centerline is valid?  [True, True]
Translation: X:140.19, Y:11.96, Z:36.30
[[ 9.58272251e-01 -1.35449108e-01 -2.51729681e-01  1.40191160e+02]
 [ 1.34416064e-01  9.90694353e-01 -2.13780176e-02  1.19577290e+01]
 [ 2.52282807e-01 -1.33505520e-02  9.67561444e-01  3.63045880e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.380714057 meters
Centerline goodness : 0.999474 with order 1
Centerline is valid?  [True, True]
Translation: X:140.25, Y:11.96, Z:36.32
[[ 9.58839122e-01 -1.31377028e-01 -2.51729251e-01  1.40249253e+02]
 [ 1.30204932e-01  9.91256495e-01 -2.13830889e-02  1.19634332e+01]
 [ 2.52337501e-01 -1.22734479e-02  9.67561444e-01  3.63173635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.440714057 meters
Centerline goodness : 0.999220 with order 1
Centerline is valid?  [True, True]
Translation: X:140.31, Y:11.97, Z:36.33
[[ 9.59199318e-01 -1.28721703e-01 -2.51728804e-01  1.40306681e+02]
 [ 1.27458479e-01  9.91613269e-01 -2.13883448e-02  1.19672107e+01]
 [ 2.52370766e-01 -1.15692846e-02  9.67561444e-01  3.63305891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.500714057 meters
Centerline goodness : 0.999334 with order 1
Centerline is valid?  [True, True]
Translation: X:140.36, Y:11.97, Z:36.35
[[ 9.59499021e-01 -1.26469169e-01 -2.51728382e-01  1.40363749e+02]
 [ 1.25128540e-01  9.91909862e-01 -2.13933133e-02  1.19727174e+01]
 [ 2.52397459e-01 -1.09715417e-02  9.67561444e-01  3.63460860e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.560714057 meters
Centerline goodness : 0.999175 with order 1
Centerline is valid?  [True, True]
Translation: X:140.42, Y:11.98, Z:36.36
[[ 9.59813704e-01 -1.24067607e-01 -2.51723821e-01  1.40419152e+02]
 [ 1.22631857e-01  9.92220470e-01 -2.14468458e-02  1.19779254e+01]
 [ 2.52426387e-01 -1.02843831e-02  9.67561445e-01  3.63622426e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.62071405700001 meters
Centerline goodness : 0.999383 with order 1
Centerline is valid?  [True, True]
Translation: X:140.48, Y:11.98, Z:36.38
[[ 9.59952894e-01 -1.22989550e-01 -2.51722092e-01  1.40476601e+02]
 [ 1.21512096e-01  9.92357785e-01 -2.14671227e-02  1.19814905e+01]
 [ 2.52438609e-01 -9.97985238e-03  9.67561446e-01  3.63784942e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.68071405700002 meters
Centerline goodness : 0.998997 with order 1
Centerline is valid?  [True, True]
Translation: X:140.53, Y:11.98, Z:36.39
[[ 9.60078552e-01 -1.22006169e-01 -2.51721409e-01  1.40532996e+02]
 [ 1.20493428e-01  9.92481815e-01 -2.14751249e-02  1.19843542e+01]
 [ 2.52449019e-01 -9.71296861e-03  9.67561446e-01  3.63943956e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.740714057 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:140.59, Y:11.99, Z:36.41
[[ 9.59413010e-01 -1.27135828e-01 -2.51720397e-01  1.40590218e+02]
 [ 1.25793192e-01  9.91823766e-01 -2.14869800e-02  1.19880374e+01]
 [ 2.52394037e-01 -1.10498240e-02  9.67561446e-01  3.64128935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.800714057 meters
Centerline goodness : 0.999021 with order 1
Centerline is valid?  [True, True]
Translation: X:140.65, Y:11.99, Z:36.43
[[ 9.58911954e-01 -1.30861481e-01 -2.51720354e-01  1.40649686e+02]
 [ 1.29644615e-01  9.91327676e-01 -2.14874824e-02  1.19895693e+01]
 [ 2.52349238e-01 -1.20295847e-02  9.67561446e-01  3.64259303e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.860714057 meters
Centerline goodness : 0.999137 with order 1
Centerline is valid?  [True, True]
Translation: X:140.71, Y:11.99, Z:36.44
[[ 9.58654966e-01 -1.32730244e-01 -2.51720754e-01  1.40708583e+02]
 [ 1.31577790e-01  9.91073042e-01 -2.14827954e-02  1.19934609e+01]
 [ 2.52325071e-01 -1.25262719e-02  9.67561446e-01  3.64402376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.920714057 meters
Centerline goodness : 0.998722 with order 1
Centerline is valid?  [True, True]
Translation: X:140.77, Y:12.00, Z:36.46
[[ 9.58747024e-01 -1.32061855e-01 -2.51721692e-01  1.40767181e+02]
 [ 1.30889678e-01  9.91164393e-01 -2.14718054e-02  1.19976132e+01]
 [ 2.52333184e-01 -1.23617416e-02  9.67561446e-01  3.64575882e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.980714057 meters
Centerline goodness : 0.998997 with order 1
Centerline is valid?  [True, True]
Translation: X:140.83, Y:12.00, Z:36.47
[[ 9.59097617e-01 -1.29490356e-01 -2.51722086e-01  1.40825274e+02]
 [ 1.28232463e-01  9.91511773e-01 -2.14671813e-02  1.20026500e+01]
 [ 2.52365205e-01 -1.16898206e-02  9.67561446e-01  3.64735006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.040714057 meters
Centerline goodness : 0.999203 with order 1
Centerline is valid?  [True, True]
Translation: X:140.88, Y:12.01, Z:36.49
[[ 9.59469037e-01 -1.26708953e-01 -2.51722086e-01  1.40883606e+02]
 [ 1.25357081e-01  9.91879409e-01 -2.14671813e-02  1.20076099e+01]
 [ 2.52398038e-01 -1.09580502e-02  9.67561446e-01  3.64921299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.100714057 meters
Centerline goodness : 0.999455 with order 1
Centerline is valid?  [True, True]
Translation: X:140.94, Y:12.01, Z:36.51
[[ 9.59343872e-01 -1.27651586e-01 -2.51722880e-01  1.40942991e+02]
 [ 1.26333998e-01  9.91755656e-01 -2.14578669e-02  1.20117894e+01]
 [ 2.52386721e-01 -1.12156848e-02  9.67561446e-01  3.65075395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.160714057 meters
Centerline goodness : 0.998801 with order 1
Centerline is valid?  [True, True]
Translation: X:141.00, Y:12.01, Z:36.52
[[ 9.58863126e-01 -1.31212425e-01 -2.51723668e-01  1.41001529e+02]
 [ 1.30017601e-01  9.91279668e-01 -2.14486217e-02  1.20143704e+01]
 [ 2.52342880e-01 -1.21622151e-02  9.67561446e-01  3.65195090e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.220714057 meters
Centerline goodness : 0.999275 with order 1
Centerline is valid?  [True, True]
Translation: X:141.06, Y:12.02, Z:36.54
[[ 9.58062483e-01 -1.36936735e-01 -2.51723280e-01  1.41060012e+02]
 [ 1.35934342e-01  9.90485546e-01 -2.14531778e-02  1.20184220e+01]
 [ 2.52265998e-01 -1.36643535e-02  9.67561446e-01  3.65360416e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.280714057 meters
Centerline goodness : 0.999231 with order 1
Centerline is valid?  [True, True]
Translation: X:141.12, Y:12.02, Z:36.55
[[ 9.57164335e-01 -1.43079661e-01 -2.51723353e-01  1.41118870e+02]
 [ 1.42285500e-01  9.89593166e-01 -2.14523158e-02  1.20216140e+01]
 [ 2.52173100e-01 -1.52831915e-02  9.67561446e-01  3.65499236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.340714057 meters
Centerline goodness : 0.999525 with order 1
Centerline is valid?  [True, True]
Translation: X:141.18, Y:12.03, Z:36.57
[[ 9.56481743e-01 -1.47573334e-01 -2.51723631e-01  1.41177078e+02]
 [ 1.46932335e-01  9.88913963e-01 -2.14490569e-02  1.20255208e+01]
 [ 2.52098322e-01 -1.64707096e-02  9.67561446e-01  3.65656714e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.40071405700002 meters
Centerline goodness : 0.999615 with order 1
Centerline is valid?  [True, True]
Translation: X:141.24, Y:12.03, Z:36.58
[[ 9.56188549e-01 -1.49461167e-01 -2.51723696e-01  1.41235140e+02]
 [ 1.48884391e-01  9.88621975e-01 -2.14482961e-02  1.20314118e+01]
 [ 2.52065265e-01 -1.69691140e-02  9.67561446e-01  3.65814440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.460714057 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:141.29, Y:12.04, Z:36.60
[[ 9.56051627e-01 -1.50333854e-01 -2.51724091e-01  1.41294465e+02]
 [ 1.49787899e-01  9.88485587e-01 -2.14436514e-02  1.20371066e+01]
 [ 2.52049343e-01 -1.72039850e-02  9.67561446e-01  3.65960271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.520714057 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:141.35, Y:12.04, Z:36.61
[[ 9.55797391e-01 -1.51940573e-01 -2.51724868e-01  1.41353589e+02]
 [ 1.51451524e-01  9.88232259e-01 -2.14345270e-02  1.20424883e+01]
 [ 2.52019410e-01 -1.76370500e-02  9.67561446e-01  3.66111534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.580714057 meters
Centerline goodness : 0.999434 with order 1
Centerline is valid?  [True, True]
Translation: X:141.41, Y:12.05, Z:36.63
[[ 9.55666106e-01 -1.52762870e-01 -2.51725643e-01  1.41413163e+02]
 [ 1.52304112e-01  9.88101416e-01 -2.14254308e-02  1.20482945e+01]
 [ 2.52003474e-01 -1.78632924e-02  9.67561446e-01  3.66258692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.640714057 meters
Centerline goodness : 0.999273 with order 1
Centerline is valid?  [True, True]
Translation: X:141.47, Y:12.06, Z:36.64
[[ 9.55990736e-01 -1.50716708e-01 -2.51726413e-01  1.41473028e+02]
 [ 1.50190889e-01  9.88425028e-01 -2.14163764e-02  1.20557884e+01]
 [ 2.52040492e-01 -1.73331564e-02  9.67561446e-01  3.66416162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.700714057 meters
Centerline goodness : 0.999138 with order 1
Centerline is valid?  [True, True]
Translation: X:141.53, Y:12.06, Z:36.65
[[ 9.56336825e-01 -1.48502109e-01 -2.51728029e-01  1.41531972e+02]
 [ 1.47906151e-01  9.88769904e-01 -2.13973676e-02  1.20614981e+01]
 [ 2.52078653e-01 -1.67690334e-02  9.67561446e-01  3.66543780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.760714057 meters
Centerline goodness : 0.999045 with order 1
Centerline is valid?  [True, True]
Translation: X:141.59, Y:12.07, Z:36.67
[[ 9.58308677e-01 -1.35190020e-01 -2.51730290e-01  1.41588399e+02]
 [ 1.34150120e-01  9.90730557e-01 -2.13707279e-02  1.20736113e+01]
 [ 2.52286000e-01 -1.32898947e-02  9.67561447e-01  3.66719531e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.820714057 meters
Centerline goodness : 0.998946 with order 1
Centerline is valid?  [True, True]
Translation: X:141.65, Y:12.08, Z:36.69
[[ 9.59583549e-01 -1.25822493e-01 -2.51730237e-01  1.41645795e+02]
 [ 1.24465772e-01  9.91993718e-01 -2.13713537e-02  1.20820312e+01]
 [ 2.52403811e-01 -1.08241989e-02  9.67561447e-01  3.66891290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.880714057 meters
Centerline goodness : 0.998889 with order 1
Centerline is valid?  [True, True]
Translation: X:141.70, Y:12.09, Z:36.71
[[ 9.61570651e-01 -1.09607618e-01 -2.51730120e-01  1.41702685e+02]
 [ 1.07703671e-01  9.93953281e-01 -2.13727399e-02  1.20925556e+01]
 [ 2.52550594e-01 -6.56085862e-03  9.67561447e-01  3.67072556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.940714057 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:141.76, Y:12.10, Z:36.72
[[ 9.62313831e-01 -1.02878470e-01 -2.51730234e-01  1.41760147e+02]
 [ 1.00748395e-01  9.94682374e-01 -2.13713987e-02  1.20989761e+01]
 [ 2.52590283e-01 -4.79542442e-03  9.67561447e-01  3.67227483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.000714057 meters
Centerline goodness : 0.998678 with order 1
Centerline is valid?  [True, True]
Translation: X:141.82, Y:12.10, Z:36.74
[[ 9.62963228e-01 -9.66121414e-02 -2.51729847e-01  1.41815491e+02]
 [ 9.42702208e-02  9.95317133e-01 -2.13759454e-02  1.21038734e+01]
 [ 2.52616206e-01 -3.14637892e-03  9.67561447e-01  3.67385856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.060714057 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:141.87, Y:12.10, Z:36.75
[[ 9.63015774e-01 -9.60946247e-02 -2.51726919e-01  1.41871737e+02]
 [ 9.37263173e-02  9.95367758e-01 -2.14103803e-02  1.21047593e+01]
 [ 2.52618281e-01 -2.97490311e-03  9.67561447e-01  3.67522705e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.12071405700001 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:141.93, Y:12.10, Z:36.76
[[ 9.62629192e-01 -9.98994881e-02 -2.51724314e-01  1.41929068e+02]
 [ 9.76510504e-02  9.94989727e-01 -2.14409666e-02  1.21048852e+01]
 [ 2.52605048e-01 -3.94144332e-03  9.67561448e-01  3.67647784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.18071405700002 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:141.99, Y:12.10, Z:36.78
[[ 9.62200171e-01 -1.03962862e-01 -2.51719199e-01  1.41985555e+02]
 [ 1.01835411e-01  9.94568883e-01 -2.15008548e-02  1.21048189e+01]
 [ 2.52587373e-01 -4.94580183e-03  9.67561449e-01  3.67764357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.240714057 meters
Centerline goodness : 0.998949 with order 1
Centerline is valid?  [True, True]
Translation: X:142.04, Y:12.10, Z:36.79
[[ 9.61681723e-01 -1.08661419e-01 -2.51716029e-01  1.42042790e+02]
 [ 1.06682403e-01  9.94059849e-01 -2.15379068e-02  1.21042227e+01]
 [ 2.52561137e-01 -6.14105937e-03  9.67561450e-01  3.67935759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.300714057 meters
Centerline goodness : 0.999093 with order 1
Centerline is valid?  [True, True]
Translation: X:142.10, Y:12.10, Z:36.81
[[ 9.61059071e-01 -1.14038948e-01 -2.51715276e-01  1.42101321e+02]
 [ 1.12238774e-01  9.93447632e-01 -2.15466926e-02  1.21021822e+01]
 [ 2.52523108e-01 -7.54456956e-03  9.67561450e-01  3.68110041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.360714057 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:142.16, Y:12.10, Z:36.83
[[ 9.60711830e-01 -1.16928233e-01 -2.51715251e-01  1.42158519e+02]
 [ 1.15225377e-01  9.93105654e-01 -2.15469907e-02  1.21007848e+01]
 [ 2.52499290e-01 -8.30353592e-03  9.67561450e-01  3.68262772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.420714057 meters
Centerline goodness : 0.999459 with order 1
Centerline is valid?  [True, True]
Translation: X:142.22, Y:12.10, Z:36.84
[[ 9.60379682e-01 -1.19637404e-01 -2.51709670e-01  1.42215303e+02]
 [ 1.18008904e-01  9.92777327e-01 -2.16119935e-02  1.20995701e+01]
 [ 2.52477256e-01 -8.94826292e-03  9.67561452e-01  3.68400175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.480714057 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:142.27, Y:12.10, Z:36.85
[[ 9.60200407e-01 -1.21071579e-01 -2.51707868e-01  1.42272437e+02]
 [ 1.19485976e-01  9.92600179e-01 -2.16329701e-02  1.20996201e+01]
 [ 2.52464412e-01 -9.30357345e-03  9.67561452e-01  3.68540427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.540714057 meters
Centerline goodness : 0.999439 with order 1
Centerline is valid?  [True, True]
Translation: X:142.33, Y:12.10, Z:36.87
[[ 9.59849477e-01 -1.23834380e-01 -2.51702262e-01  1.42330314e+02]
 [ 1.22324998e-01  9.92252887e-01 -2.16980010e-02  1.20991562e+01]
 [ 2.52439255e-01 -9.96266373e-03  9.67561454e-01  3.68660168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.600714057 meters
Centerline goodness : 0.999642 with order 1
Centerline is valid?  [True, True]
Translation: X:142.39, Y:12.10, Z:36.88
[[ 9.59486356e-01 -1.26619500e-01 -2.51701083e-01  1.42387566e+02]
 [ 1.25200584e-01  9.91893854e-01 -2.17116738e-02  1.21001444e+01]
 [ 2.52409878e-01 -1.06810678e-02  9.67561454e-01  3.68799866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.660714057 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:142.45, Y:12.10, Z:36.90
[[ 9.59131963e-01 -1.29286883e-01 -2.51695809e-01  1.42445086e+02]
 [ 1.27942115e-01  9.91542620e-01 -2.17726414e-02  1.21021604e+01]
 [ 2.52382039e-01 -1.13196580e-02  9.67561456e-01  3.68961744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.720714057 meters
Centerline goodness : 0.999463 with order 1
Centerline is valid?  [True, True]
Translation: X:142.50, Y:12.11, Z:36.91
[[ 9.58813210e-01 -1.31630945e-01 -2.51695299e-01  1.42502285e+02]
 [ 1.30363859e-01  9.91226997e-01 -2.17785408e-02  1.21054282e+01]
 [ 2.52353905e-01 -1.19304178e-02  9.67561456e-01  3.69137303e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.780714057 meters
Centerline goodness : 0.999620 with order 1
Centerline is valid?  [True, True]
Translation: X:142.56, Y:12.11, Z:36.93
[[ 9.58397927e-01 -1.34622792e-01 -2.51694492e-01  1.42558075e+02]
 [ 1.33454434e-01  9.90815423e-01 -2.17878642e-02  1.21092299e+01]
 [ 2.52315927e-01 -1.27083020e-02  9.67561456e-01  3.69274292e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.840714057 meters
Centerline goodness : 0.999351 with order 1
Centerline is valid?  [True, True]
Translation: X:142.62, Y:12.11, Z:36.94
[[ 9.57814745e-01 -1.38714810e-01 -2.51692501e-01  1.42616398e+02]
 [ 1.37678897e-01  9.90236744e-01 -2.18108367e-02  1.21138013e+01]
 [ 2.52260649e-01 -1.37620050e-02  9.67561457e-01  3.69422785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.90071405700002 meters
Centerline goodness : 0.999487 with order 1
Centerline is valid?  [True, True]
Translation: X:142.67, Y:12.12, Z:36.96
[[ 9.57281617e-01 -1.42348074e-01 -2.51692137e-01  1.42673521e+02]
 [ 1.41434087e-01  9.89707282e-01 -2.18150387e-02  1.21186517e+01]
 [ 2.52206869e-01 -1.47147120e-02  9.67561457e-01  3.69568464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.960714057 meters
Centerline goodness : 0.999710 with order 1
Centerline is valid?  [True, True]
Translation: X:142.73, Y:12.12, Z:36.97
[[ 9.56919182e-01 -1.44774196e-01 -2.51686535e-01  1.42732167e+02]
 [ 1.43925520e-01  9.89346619e-01 -2.18794793e-02  1.21228288e+01]
 [ 2.52172807e-01 -1.52872222e-02  9.67561459e-01  3.69703839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.020714057 meters
Centerline goodness : 0.999354 with order 1
Centerline is valid?  [True, True]
Translation: X:142.79, Y:12.13, Z:36.98
[[ 9.56438826e-01 -1.47914719e-01 -2.51686327e-01  1.42791070e+02]
 [ 1.47171871e-01  9.88868861e-01 -2.18818724e-02  1.21289756e+01]
 [ 2.52121423e-01 -1.61124754e-02  9.67561459e-01  3.69835028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.080714057 meters
Centerline goodness : 0.999330 with order 1
Centerline is valid?  [True, True]
Translation: X:142.85, Y:12.14, Z:37.00
[[ 9.56108758e-01 -1.50033449e-01 -2.51686327e-01  1.42847640e+02]
 [ 1.49362455e-01  9.88540359e-01 -2.18818724e-02  1.21351692e+01]
 [ 2.52085105e-01 -1.66710380e-02  9.67561459e-01  3.69976296e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.140714057 meters
Centerline goodness : 0.999508 with order 1
Centerline is valid?  [True, True]
Translation: X:142.90, Y:12.14, Z:37.01
[[ 9.55531284e-01 -1.53677207e-01 -2.51680913e-01  1.42904408e+02]
 [ 1.53113575e-01  9.87964926e-01 -2.19439747e-02  1.21441692e+01]
 [ 2.52024204e-01 -1.75676102e-02  9.67561461e-01  3.70118157e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.200714057 meters
Centerline goodness : 0.999507 with order 1
Centerline is valid?  [True, True]
Translation: X:142.96, Y:12.15, Z:37.03
[[ 9.55282231e-01 -1.55219074e-01 -2.51680150e-01  1.42962823e+02]
 [ 1.54705492e-01  9.87716705e-01 -2.19527260e-02  1.21522475e+01]
 [ 2.51996170e-01 -1.79652523e-02  9.67561461e-01  3.70273447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.260714057 meters
Centerline goodness : 0.999485 with order 1
Centerline is valid?  [True, True]
Translation: X:143.02, Y:12.16, Z:37.04
[[ 9.54919232e-01 -1.57436912e-01 -2.51680112e-01  1.43021159e+02]
 [ 1.56998533e-01  9.87354809e-01 -2.19531600e-02  1.21607758e+01]
 [ 2.51953807e-01 -1.85499137e-02  9.67561461e-01  3.70442184e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.320714057 meters
Centerline goodness : 0.999462 with order 1
Centerline is valid?  [True, True]
Translation: X:143.08, Y:12.17, Z:37.06
[[ 9.54571914e-01 -1.59527967e-01 -2.51680927e-01  1.43078405e+02]
 [ 1.59163079e-01  9.87008401e-01 -2.19438119e-02  1.21693640e+01]
 [ 2.51911841e-01 -1.91113648e-02  9.67561461e-01  3.70585905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.380714057 meters
Centerline goodness : 0.999328 with order 1
Centerline is valid?  [True, True]
Translation: X:143.14, Y:12.18, Z:37.07
[[ 9.54247073e-01 -1.61460221e-01 -2.51680593e-01  1.43136962e+02]
 [ 1.61159999e-01  9.86684223e-01 -2.19476392e-02  1.21791426e+01]
 [ 2.51872941e-01 -1.96173738e-02  9.67561461e-01  3.70743087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.440714057 meters
Centerline goodness : 0.999460 with order 1
Centerline is valid?  [True, True]
Translation: X:143.20, Y:12.19, Z:37.09
[[ 9.53917127e-01 -1.63397217e-01 -2.51681275e-01  1.43195376e+02]
 [ 1.63164899e-01  9.86354835e-01 -2.19398251e-02  1.21886370e+01]
 [ 2.51831948e-01 -2.01367748e-02  9.67561461e-01  3.70868105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.500714057 meters
Centerline goodness : 0.999526 with order 1
Centerline is valid?  [True, True]
Translation: X:143.26, Y:12.20, Z:37.10
[[ 9.53873030e-01 -1.63653851e-01 -2.51681662e-01  1.43255001e+02]
 [ 1.63431426e-01  9.86310807e-01 -2.19353758e-02  1.21996233e+01]
 [ 2.51826152e-01 -2.02091296e-02  9.67561461e-01  3.71035000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.560714057 meters
Centerline goodness : 0.999638 with order 1
Centerline is valid?  [True, True]
Translation: X:143.31, Y:12.21, Z:37.12
[[ 9.54252901e-01 -1.61421583e-01 -2.51683281e-01  1.43313905e+02]
 [ 1.61128134e-01  9.86690113e-01 -2.19167933e-02  1.22092839e+01]
 [ 2.51871248e-01 -1.96390937e-02  9.67561461e-01  3.71192425e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.62071405700001 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:143.37, Y:12.22, Z:37.13
[[ 9.54788991e-01 -1.58217901e-01 -2.51684483e-01  1.43372303e+02]
 [ 1.57819205e-01  9.87225080e-01 -2.19029806e-02  1.22197596e+01]
 [ 2.51934677e-01 -1.88079203e-02  9.67561461e-01  3.71343608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.68071405700002 meters
Centerline goodness : 0.999359 with order 1
Centerline is valid?  [True, True]
Translation: X:143.43, Y:12.23, Z:37.15
[[ 9.55761865e-01 -1.52230005e-01 -2.51684889e-01  1.43429365e+02]
 [ 1.51629227e-01  9.88194840e-01 -2.18983083e-02  1.22341357e+01]
 [ 2.52047288e-01 -1.72332171e-02  9.67561461e-01  3.71484228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.740714057 meters
Centerline goodness : 0.998962 with order 1
Centerline is valid?  [True, True]
Translation: X:143.49, Y:12.25, Z:37.17
[[ 9.56795480e-01 -1.45592323e-01 -2.51684892e-01  1.43486714e+02]
 [ 1.44766449e-01  9.89223504e-01 -2.18982717e-02  1.22483924e+01]
 [ 2.52160831e-01 -1.54833608e-02  9.67561461e-01  3.71650355e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.800714057 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:143.54, Y:12.26, Z:37.18
[[ 9.57937354e-01 -1.37879384e-01 -2.51684926e-01  1.43543077e+02]
 [ 1.36792389e-01  9.90357675e-01 -2.18978815e-02  1.22605356e+01]
 [ 2.52277365e-01 -1.34517838e-02  9.67561461e-01  3.71807808e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.860714057 meters
Centerline goodness : 0.999261 with order 1
Centerline is valid?  [True, True]
Translation: X:143.60, Y:12.27, Z:37.20
[[ 9.58938554e-01 -1.30735515e-01 -2.51684474e-01  1.43600880e+02]
 [ 1.29405541e-01  9.91349818e-01 -2.19030824e-02  1.22681100e+01]
 [ 2.52370868e-01 -1.15656554e-02  9.67561461e-01  3.71957678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.920714057 meters
Centerline goodness : 0.999212 with order 1
Centerline is valid?  [True, True]
Translation: X:143.66, Y:12.28, Z:37.21
[[ 9.60351264e-01 -1.19918239e-01 -2.51684455e-01  1.43659147e+02]
 [ 1.18222960e-01  9.92745475e-01 -2.19032984e-02  1.22760515e+01]
 [ 2.52485209e-01 -8.72002098e-03  9.67561461e-01  3.72120340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.980714057 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:143.72, Y:12.28, Z:37.23
[[ 9.60543989e-01 -1.18364340e-01 -2.51684579e-01  1.43717084e+02]
 [ 1.16617027e-01  9.92935434e-01 -2.19018726e-02  1.22829866e+01]
 [ 2.52498937e-01 -8.31299522e-03  9.67561461e-01  3.72296613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.040714057 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:143.78, Y:12.28, Z:37.24
[[ 9.60247912e-01 -1.20742009e-01 -2.51684953e-01  1.43776459e+02]
 [ 1.19076019e-01  9.92643641e-01 -2.18975700e-02  1.22841784e+01]
 [ 2.52477425e-01 -8.94254641e-03  9.67561461e-01  3.72436119e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.100714057 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:143.84, Y:12.29, Z:37.26
[[ 9.59401920e-01 -1.27289545e-01 -2.51684976e-01  1.43835911e+02]
 [ 1.25844649e-01  9.91808264e-01 -2.18973112e-02  1.22850199e+01]
 [ 2.52410538e-01 -1.06648851e-02  9.67561461e-01  3.72569078e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.160714057 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:143.89, Y:12.29, Z:37.27
[[ 9.58641058e-01 -1.32898437e-01 -2.51684976e-01  1.43894676e+02]
 [ 1.31643094e-01  9.91055298e-01 -2.18973112e-02  1.22856813e+01]
 [ 2.52343847e-01 -1.21409275e-02  9.67561461e-01  3.72726067e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.220714057 meters
Centerline goodness : 0.998896 with order 1
Centerline is valid?  [True, True]
Translation: X:143.95, Y:12.28, Z:37.29
[[ 9.57852483e-01 -1.38467666e-01 -2.51684976e-01  1.43953396e+02]
 [ 1.37400732e-01  9.90273471e-01 -2.18973112e-02  1.22847548e+01]
 [ 2.52269024e-01 -1.36073059e-02  9.67561461e-01  3.72869847e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.280714057 meters
Centerline goodness : 0.999015 with order 1
Centerline is valid?  [True, True]
Translation: X:144.01, Y:12.29, Z:37.30
[[ 9.57067471e-01 -1.43793934e-01 -2.51684646e-01  1.44011941e+02]
 [ 1.42906376e-01  9.89493865e-01 -2.19011052e-02  1.22852020e+01]
 [ 2.52189659e-01 -1.50065053e-02  9.67561461e-01  3.73035839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.340714057 meters
Centerline goodness : 0.999180 with order 1
Centerline is valid?  [True, True]
Translation: X:144.07, Y:12.28, Z:37.32
[[ 9.56118975e-01 -1.49971272e-01 -2.51684573e-01  1.44070027e+02]
 [ 1.49292909e-01  9.88550420e-01 -2.19019426e-02  1.22844117e+01]
 [ 2.52087552e-01 -1.66338590e-02  9.67561461e-01  3.73186030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.40071405700002 meters
Centerline goodness : 0.999455 with order 1
Centerline is valid?  [True, True]
Translation: X:144.13, Y:12.28, Z:37.33
[[ 9.55076869e-01 -1.56471138e-01 -2.51684243e-01  1.44128031e+02]
 [ 1.56012390e-01  9.87512164e-01 -2.19057280e-02  1.22816833e+01]
 [ 2.51968866e-01 -1.83442062e-02  9.67561461e-01  3.73319973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.460714057 meters
Centerline goodness : 0.999391 with order 1
Centerline is valid?  [True, True]
Translation: X:144.19, Y:12.28, Z:37.35
[[ 9.54218575e-01 -1.61623692e-01 -2.51683716e-01  1.44187214e+02]
 [ 1.61338426e-01  9.86655860e-01 -2.19117887e-02  1.22805261e+01]
 [ 2.51866677e-01 -1.96976187e-02  9.67561461e-01  3.73490452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.520714057 meters
Centerline goodness : 0.999392 with order 1
Centerline is valid?  [True, True]
Translation: X:144.25, Y:12.28, Z:37.36
[[ 9.53799353e-01 -1.64078500e-01 -2.51684404e-01  1.44245651e+02]
 [ 1.63878773e-01  9.86237278e-01 -2.19038833e-02  1.22806838e+01]
 [ 2.51814497e-01 -2.03538216e-02  9.67561461e-01  3.73646476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.580714057 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:144.31, Y:12.28, Z:37.38
[[ 9.53726742e-01 -1.64499941e-01 -2.51684469e-01  1.44306551e+02]
 [ 1.64314742e-01  9.86164752e-01 -2.19031384e-02  1.22797825e+01]
 [ 2.51805416e-01 -2.04658597e-02  9.67561461e-01  3.73800208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.640714057 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:144.37, Y:12.28, Z:37.39
[[ 9.54525300e-01 -1.59798508e-01 -2.51686090e-01  1.44365850e+02]
 [ 1.59458364e-01  9.86962056e-01 -2.18844872e-02  1.22822829e+01]
 [ 2.51901730e-01 -1.92441556e-02  9.67561461e-01  3.73942534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.700714057 meters
Centerline goodness : 0.999302 with order 1
Centerline is valid?  [True, True]
Translation: X:144.42, Y:12.29, Z:37.41
[[ 9.55511739e-01 -1.53789915e-01 -2.51686271e-01  1.44424607e+02]
 [ 1.53246244e-01  9.87945721e-01 -2.18824143e-02  1.22854034e+01]
 [ 2.52017669e-01 -1.76610719e-02  9.67561461e-01  3.74095155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.760714057 meters
Centerline goodness : 0.999551 with order 1
Centerline is valid?  [True, True]
Translation: X:144.48, Y:12.29, Z:37.42
[[ 9.56234659e-01 -1.49229042e-01 -2.51686251e-01  1.44482011e+02]
 [ 1.48530564e-01  9.88665677e-01 -2.18826366e-02  1.22872400e+01]
 [ 2.52099083e-01 -1.64581653e-02  9.67561461e-01  3.74237762e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.820714057 meters
Centerline goodness : 0.999371 with order 1
Centerline is valid?  [True, True]
Translation: X:144.54, Y:12.29, Z:37.44
[[ 9.56776300e-01 -1.45716755e-01 -2.51685795e-01  1.44541349e+02]
 [ 1.44897821e-01  9.89204500e-01 -2.18878801e-02  1.22894408e+01]
 [ 2.52158152e-01 -1.55269183e-02  9.67561461e-01  3.74380072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.880714057 meters
Centerline goodness : 0.999776 with order 1
Centerline is valid?  [True, True]
Translation: X:144.60, Y:12.29, Z:37.45
[[ 9.57258776e-01 -1.42512260e-01 -2.51686097e-01  1.44598453e+02]
 [ 1.41585658e-01  9.89684078e-01 -2.18844053e-02  1.22920539e+01]
 [ 2.52208519e-01 -1.46861028e-02  9.67561461e-01  3.74504571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.940714057 meters
Centerline goodness : 0.999484 with order 1
Centerline is valid?  [True, True]
Translation: X:144.66, Y:12.30, Z:37.47
[[ 9.57708477e-01 -1.39460390e-01 -2.51684868e-01  1.44655834e+02]
 [ 1.38426740e-01  9.90130543e-01 -2.18985325e-02  1.22959343e+01]
 [ 2.52254853e-01 -1.38675056e-02  9.67561461e-01  3.74665227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.000714057 meters
Centerline goodness : 0.999573 with order 1
Centerline is valid?  [True, True]
Translation: X:144.71, Y:12.30, Z:37.48
[[ 9.58001834e-01 -1.37431510e-01 -2.51684458e-01  1.44713047e+02]
 [ 1.36327951e-01  9.90421596e-01 -2.19032504e-02  1.23009461e+01]
 [ 2.52283919e-01 -1.33282725e-02  9.67561461e-01  3.74807175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.060714057 meters
Centerline goodness : 0.999507 with order 1
Centerline is valid?  [True, True]
Translation: X:144.77, Y:12.31, Z:37.49
[[ 9.58220635e-01 -1.35899061e-01 -2.51683651e-01  1.44769744e+02]
 [ 1.34741224e-01  9.90638503e-01 -2.19125130e-02  1.23064597e+01]
 [ 2.52305406e-01 -1.29151411e-02  9.67561461e-01  3.74947771e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.12071405700001 meters
Centerline goodness : 0.999438 with order 1
Centerline is valid?  [True, True]
Translation: X:144.83, Y:12.31, Z:37.51
[[ 9.58611920e-01 -1.33121457e-01 -2.51678098e-01  1.44826134e+02]
 [ 1.31853013e-01  9.91025647e-01 -2.19761200e-02  1.23131308e+01]
 [ 2.52344943e-01 -1.21179449e-02  9.67561463e-01  3.75101710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.18071405700002 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:144.88, Y:12.32, Z:37.53
[[ 9.58890240e-01 -1.31112495e-01 -2.51672447e-01  1.44882757e+02]
 [ 1.29759235e-01  9.91300535e-01 -2.20406442e-02  1.23193500e+01]
 [ 2.52372836e-01 -1.15222656e-02  9.67561465e-01  3.75278335e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.240714057 meters
Centerline goodness : 0.999462 with order 1
Centerline is valid?  [True, True]
Translation: X:144.94, Y:12.32, Z:37.54
[[ 9.58752549e-01 -1.32116486e-01 -2.51671977e-01  1.44937612e+02]
 [ 1.30795758e-01  9.91164186e-01 -2.20460119e-02  1.23231611e+01]
 [ 2.52360892e-01 -1.17809568e-02  9.67561465e-01  3.75444031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.300714057 meters
Centerline goodness : 0.999418 with order 1
Centerline is valid?  [True, True]
Translation: X:145.00, Y:12.33, Z:37.56
[[ 9.58685650e-01 -1.32607510e-01 -2.51668578e-01  1.44996010e+02]
 [ 1.31293234e-01  9.91097548e-01 -2.20847537e-02  1.23264860e+01]
 [ 2.52356715e-01 -1.18700450e-02  9.67561466e-01  3.75600167e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.360714057 meters
Centerline goodness : 0.999284 with order 1
Centerline is valid?  [True, True]
Translation: X:145.05, Y:12.33, Z:37.57
[[ 9.58839183e-01 -1.31493481e-01 -2.51668207e-01  1.45054624e+02]
 [ 1.30140439e-01  9.91249486e-01 -2.20889765e-02  1.23293139e+01]
 [ 2.52370537e-01 -1.15724347e-02  9.67561466e-01  3.75740151e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.420714057 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:145.11, Y:12.33, Z:37.59
[[ 9.59422062e-01 -1.27172967e-01 -2.51667130e-01  1.45112442e+02]
 [ 1.25670731e-01  9.91825792e-01 -2.21012447e-02  1.23326790e+01]
 [ 2.52420631e-01 -1.04227704e-02  9.67561466e-01  3.75881572e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.480714057 meters
Centerline goodness : 0.999642 with order 1
Centerline is valid?  [True, True]
Translation: X:145.17, Y:12.34, Z:37.60
[[ 9.59698811e-01 -1.25069016e-01 -2.51666313e-01  1.45170213e+02]
 [ 1.23493299e-01  9.92099052e-01 -2.21105455e-02  1.23378353e+01]
 [ 2.52443254e-01 -9.85963894e-03  9.67561466e-01  3.76038019e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.540714057 meters
Centerline goodness : 0.999530 with order 1
Centerline is valid?  [True, True]
Translation: X:145.23, Y:12.34, Z:37.62
[[ 9.60346819e-01 -1.19992768e-01 -2.51665897e-01  1.45227141e+02]
 [ 1.18244515e-01  9.92738208e-01 -2.21152787e-02  1.23411041e+01]
 [ 2.52492025e-01 -8.51977425e-03  9.67561466e-01  3.76194617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.600714057 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:145.29, Y:12.34, Z:37.64
[[ 9.60419983e-01 -1.19406798e-01 -2.51665400e-01  1.45285075e+02]
 [ 1.17637304e-01  9.92810218e-01 -2.21209231e-02  1.23430107e+01]
 [ 2.52497370e-01 -8.35986271e-03  9.67561466e-01  3.76373487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.660714057 meters
Centerline goodness : 0.999375 with order 1
Centerline is valid?  [True, True]
Translation: X:145.34, Y:12.34, Z:37.65
[[ 9.59751540e-01 -1.24665582e-01 -2.51665400e-01  1.45340902e+02]
 [ 1.23073529e-01  9.92150982e-01 -2.21209231e-02  1.23439306e+01]
 [ 2.52447792e-01 -9.74275893e-03  9.67561466e-01  3.76524587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.720714057 meters
Centerline goodness : 0.999578 with order 1
Centerline is valid?  [True, True]
Translation: X:145.40, Y:12.34, Z:37.67
[[ 9.58814845e-01 -1.31682291e-01 -2.51662207e-01  1.45398594e+02]
 [ 1.30317762e-01  9.91224666e-01 -2.21572017e-02  1.23437250e+01]
 [ 2.52371498e-01 -1.15514017e-02  9.67561467e-01  3.76662653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.780714057 meters
Centerline goodness : 0.999466 with order 1
Centerline is valid?  [True, True]
Translation: X:145.46, Y:12.34, Z:37.68
[[ 9.57958308e-01 -1.37775349e-01 -2.51662141e-01  1.45456493e+02]
 [ 1.36616698e-01  9.90376142e-01 -2.21579507e-02  1.23444026e+01]
 [ 2.52292999e-01 -1.31548577e-02  9.67561467e-01  3.76795404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.840714057 meters
Centerline goodness : 0.999623 with order 1
Centerline is valid?  [True, True]
Translation: X:145.51, Y:12.35, Z:37.69
[[ 9.57254259e-01 -1.42586980e-01 -2.51660957e-01  1.45514931e+02]
 [ 1.41587712e-01  9.89677397e-01 -2.21713807e-02  1.23454700e+01]
 [ 2.52224511e-01 -1.44084506e-02  9.67561467e-01  3.76935917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.90071405700002 meters
Centerline goodness : 0.999535 with order 1
Centerline is valid?  [True, True]
Translation: X:145.57, Y:12.35, Z:37.71
[[ 9.56618076e-01 -1.46795124e-01 -2.51660580e-01  1.45572481e+02]
 [ 1.45937324e-01  9.89045266e-01 -2.21756632e-02  1.23480849e+01]
 [ 2.52158985e-01 -1.55130312e-02  9.67561467e-01  3.77076476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.960714057 meters
Centerline goodness : 0.999845 with order 1
Centerline is valid?  [True, True]
Translation: X:145.63, Y:12.35, Z:37.72
[[ 9.56322437e-01 -1.48709534e-01 -2.51660230e-01  1.45630966e+02]
 [ 1.47915600e-01  9.88751252e-01 -2.21796315e-02  1.23515977e+01]
 [ 2.52127691e-01 -1.60135946e-02  9.67561467e-01  3.77222849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.020714057 meters
Centerline goodness : 0.999469 with order 1
Centerline is valid?  [True, True]
Translation: X:145.69, Y:12.36, Z:37.74
[[ 9.56304583e-01 -1.48824988e-01 -2.51659826e-01  1.45687651e+02]
 [ 1.48033765e-01  9.88733465e-01 -2.21842234e-02  1.23581164e+01]
 [ 2.52126058e-01 -1.60392771e-02  9.67561467e-01  3.77382463e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.080714057 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:145.74, Y:12.36, Z:37.75
[[ 9.56775950e-01 -1.45773187e-01 -2.51654443e-01  1.45744705e+02]
 [ 1.44862548e-01  9.89201697e-01 -2.22451161e-02  1.23643977e+01]
 [ 2.52179744e-01 -1.51717117e-02  9.67561469e-01  3.77534102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.140714057 meters
Centerline goodness : 0.999423 with order 1
Centerline is valid?  [True, True]
Translation: X:145.80, Y:12.37, Z:37.77
[[ 9.57057048e-01 -1.43916954e-01 -2.51653964e-01  1.45801341e+02]
 [ 1.42941997e-01  9.89480924e-01 -2.22505334e-02  1.23718440e+01]
 [ 2.52209026e-01 -1.46768904e-02  9.67561469e-01  3.77696274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.200714057 meters
Centerline goodness : 0.999667 with order 1
Centerline is valid?  [True, True]
Translation: X:145.86, Y:12.38, Z:37.78
[[ 9.57062807e-01 -1.43887797e-01 -2.51648733e-01  1.45857438e+02]
 [ 1.42896388e-01  9.89486183e-01 -2.23095447e-02  1.23786705e+01]
 [ 2.52213016e-01 -1.46080595e-02  9.67561471e-01  3.77842128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.260714057 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:145.91, Y:12.39, Z:37.80
[[ 9.57052782e-01 -1.43958075e-01 -2.51646666e-01  1.45913945e+02]
 [ 1.42962943e-01  9.89476044e-01 -2.23328411e-02  1.23859433e+01]
 [ 2.52213340e-01 -1.46024401e-02  9.67561471e-01  3.77989115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.320714057 meters
Centerline goodness : 0.999533 with order 1
Centerline is valid?  [True, True]
Translation: X:145.97, Y:12.39, Z:37.81
[[ 9.57328092e-01 -1.42126183e-01 -2.51640761e-01  1.45971576e+02]
 [ 1.41051615e-01  9.89748816e-01 -2.23991831e-02  1.23935856e+01]
 [ 2.52244656e-01 -1.40509686e-02  9.67561473e-01  3.78139612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.380714057 meters
Centerline goodness : 0.999577 with order 1
Centerline is valid?  [True, True]
Translation: X:146.03, Y:12.40, Z:37.83
[[ 9.58068573e-01 -1.37045919e-01 -2.51640668e-01  1.46028723e+02]
 [ 1.35799112e-01  9.90483130e-01 -2.24002323e-02  1.24033297e+01]
 [ 2.52315697e-01 -1.27116205e-02  9.67561473e-01  3.78293511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.440714057 meters
Centerline goodness : 0.999420 with order 1
Centerline is valid?  [True, True]
Translation: X:146.09, Y:12.41, Z:37.85
[[ 9.59063567e-01 -1.29901953e-01 -2.51639737e-01  1.46086609e+02]
 [ 1.28410870e-01  9.91467806e-01 -2.24106796e-02  1.24125756e+01]
 [ 2.52403889e-01 -1.08200112e-02  9.67561473e-01  3.78453689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.500714057 meters
Centerline goodness : 0.999375 with order 1
Centerline is valid?  [True, True]
Translation: X:146.14, Y:12.42, Z:37.86
[[ 9.60084570e-01 -1.22127282e-01 -2.51639714e-01  1.46144243e+02]
 [ 1.20373638e-01  9.92475661e-01 -2.24109415e-02  1.24219132e+01]
 [ 2.52483279e-01 -8.77438868e-03  9.67561473e-01  3.78604090e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.560714057 meters
Centerline goodness : 0.999508 with order 1
Centerline is valid?  [True, True]
Translation: X:146.20, Y:12.43, Z:37.87
[[ 9.60960879e-01 -1.15029036e-01 -2.51639643e-01  1.46200695e+02]
 [ 1.13035865e-01  9.93338113e-01 -2.24117380e-02  1.24292765e+01]
 [ 2.52541249e-01 -6.90750116e-03  9.67561473e-01  3.78748705e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.62071405700001 meters
Centerline goodness : 0.999574 with order 1
Centerline is valid?  [True, True]
Translation: X:146.26, Y:12.44, Z:37.89
[[ 9.61811800e-01 -1.07686516e-01 -2.51637986e-01  1.46258231e+02]
 [ 1.05441266e-01  9.94172530e-01 -2.24303275e-02  1.24356562e+01]
 [ 2.52587017e-01 -4.95927406e-03  9.67561473e-01  3.78892553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.68071405700002 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:146.31, Y:12.44, Z:37.90
[[ 9.62293687e-01 -1.03293757e-01 -2.51637159e-01  1.46314349e+02]
 [ 1.00898347e-01  9.94643649e-01 -2.24395981e-02  1.24403614e+01]
 [ 2.52607173e-01 -3.79628993e-03  9.67561473e-01  3.79041451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.740714057 meters
Centerline goodness : 0.999350 with order 1
Centerline is valid?  [True, True]
Translation: X:146.37, Y:12.44, Z:37.92
[[ 9.62066274e-01 -1.05395746e-01 -2.51635096e-01  1.46372210e+02]
 [ 1.03064971e-01  9.94420956e-01 -2.24627117e-02  1.24419898e+01]
 [ 2.52598687e-01 -4.32414649e-03  9.67561473e-01  3.79202402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.800714057 meters
Centerline goodness : 0.999419 with order 1
Centerline is valid?  [True, True]
Translation: X:146.43, Y:12.44, Z:37.94
[[ 9.61385338e-01 -1.11437054e-01 -2.51634684e-01  1.46428872e+02]
 [ 1.09308358e-01  9.93753944e-01 -2.24673268e-02  1.24431322e+01]
 [ 2.52566653e-01 -5.90601567e-03  9.67561473e-01  3.79357826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.860714057 meters
Centerline goodness : 0.999577 with order 1
Centerline is valid?  [True, True]
Translation: X:146.49, Y:12.44, Z:37.95
[[ 9.60016862e-01 -1.22680849e-01 -2.51628763e-01  1.46487527e+02]
 [ 1.20913809e-01  9.92407222e-01 -2.25334510e-02  1.24418725e+01]
 [ 2.52482625e-01 -8.79289936e-03  9.67561476e-01  3.79506140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.920714057 meters
Centerline goodness : 0.999065 with order 1
Centerline is valid?  [True, True]
Translation: X:146.55, Y:12.44, Z:37.97
[[ 9.58742831e-01 -1.32269461e-01 -2.51628642e-01  1.46546398e+02]
 [ 1.30825876e-01  9.91149218e-01 -2.25348038e-02  1.24427650e+01]
 [ 2.52382198e-01 -1.13144559e-02  9.67561476e-01  3.79655006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.980714057 meters
Centerline goodness : 0.999489 with order 1
Centerline is valid?  [True, True]
Translation: X:146.60, Y:12.45, Z:37.98
[[ 9.57928308e-01 -1.38044793e-01 -2.51628679e-01  1.46603229e+02]
 [ 1.36796635e-01  9.90342810e-01 -2.25343905e-02  1.24450765e+01]
 [ 2.52309409e-01 -1.28356259e-02  9.67561476e-01  3.79782368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.040714057 meters
Centerline goodness : 0.999511 with order 1
Centerline is valid?  [True, True]
Translation: X:146.66, Y:12.45, Z:37.99
[[ 9.57463434e-01 -1.41236802e-01 -2.51626586e-01  1.46661621e+02]
 [ 1.40090569e-01  9.89881700e-01 -2.25577453e-02  1.24496552e+01]
 [ 2.52266536e-01 -1.36522952e-02  9.67561476e-01  3.79916511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.100714057 meters
Centerline goodness : 0.999555 with order 1
Centerline is valid?  [True, True]
Translation: X:146.72, Y:12.46, Z:38.01
[[ 9.57182414e-01 -1.43129655e-01 -2.51626168e-01  1.46717878e+02]
 [ 1.42046303e-01  9.89602843e-01 -2.25623986e-02  1.24554469e+01]
 [ 2.52239320e-01 -1.41462359e-02  9.67561476e-01  3.80060018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.160714057 meters
Centerline goodness : 0.999711 with order 1
Centerline is valid?  [True, True]
Translation: X:146.77, Y:12.46, Z:38.02
[[ 9.57283321e-01 -1.42463762e-01 -2.51620189e-01  1.46773749e+02]
 [ 1.41340434e-01  9.89702387e-01 -2.26288896e-02  1.24612503e+01]
 [ 2.52252899e-01 -1.39018481e-02  9.67561478e-01  3.80220575e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.220714057 meters
Centerline goodness : 0.999199 with order 1
Centerline is valid?  [True, True]
Translation: X:146.83, Y:12.47, Z:38.04
[[ 9.57368864e-01 -1.41898452e-01 -2.51614164e-01  1.46828631e+02]
 [ 1.40738476e-01  9.89786637e-01 -2.26956895e-02  1.24699697e+01]
 [ 2.52264821e-01 -1.36836475e-02  9.67561480e-01  3.80376713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.280714057 meters
Centerline goodness : 0.999577 with order 1
Centerline is valid?  [True, True]
Translation: X:146.89, Y:12.48, Z:38.05
[[ 9.57127540e-01 -1.43520891e-01 -2.51612054e-01  1.46886695e+02]
 [ 1.42409736e-01  9.89547023e-01 -2.27190647e-02  1.24771061e+01]
 [ 2.52242619e-01 -1.40869635e-02  9.67561480e-01  3.80535539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.340714057 meters
Centerline goodness : 0.999532 with order 1
Centerline is valid?  [True, True]
Translation: X:146.95, Y:12.48, Z:38.07
[[ 9.56443201e-01 -1.48012759e-01 -2.51612054e-01  1.46945235e+02]
 [ 1.47053817e-01  9.88867544e-01 -2.27190647e-02  1.24840793e+01]
 [ 2.52173705e-01 -1.52710178e-02  9.67561480e-01  3.80679946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.40071405700002 meters
Centerline goodness : 0.999200 with order 1
Centerline is valid?  [True, True]
Translation: X:147.00, Y:12.49, Z:38.08
[[ 9.56022755e-01 -1.50704608e-01 -2.51612029e-01  1.47001546e+02]
 [ 1.49836873e-01  9.88449666e-01 -2.27193404e-02  1.24901096e+01]
 [ 2.52129735e-01 -1.59805531e-02  9.67561480e-01  3.80805451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.460714057 meters
Centerline goodness : 0.999755 with order 1
Centerline is valid?  [True, True]
Translation: X:147.06, Y:12.50, Z:38.10
[[ 9.55735923e-01 -1.52516466e-01 -2.51609963e-01  1.47059298e+02]
 [ 1.51704206e-01  9.88164271e-01 -2.27421939e-02  1.24969215e+01]
 [ 2.52100535e-01 -1.64347581e-02  9.67561481e-01  3.80950251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.520714057 meters
Centerline goodness : 0.999532 with order 1
Centerline is valid?  [True, True]
Translation: X:147.12, Y:12.51, Z:38.11
[[ 9.55843133e-01 -1.51843801e-01 -2.51609548e-01  1.47117257e+02]
 [ 1.51007515e-01  9.88270871e-01 -2.27467872e-02  1.25050323e+01]
 [ 2.52112346e-01 -1.62525723e-02  9.67561481e-01  3.81080756e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.580714057 meters
Centerline goodness : 0.999596 with order 1
Centerline is valid?  [True, True]
Translation: X:147.17, Y:12.51, Z:38.12
[[ 9.56397008e-01 -1.48315899e-01 -2.51609134e-01  1.47174845e+02]
 [ 1.47358768e-01  9.88821404e-01 -2.27513642e-02  1.25144585e+01]
 [ 2.52170886e-01 -1.53174753e-02  9.67561481e-01  3.81233257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.640714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:147.23, Y:12.52, Z:38.14
[[ 9.56804705e-01 -1.45664329e-01 -2.51608149e-01  1.47229888e+02]
 [ 1.44614470e-01  9.89226230e-01 -2.27622584e-02  1.25233201e+01]
 [ 2.52213029e-01 -1.46071432e-02  9.67561481e-01  3.81376832e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.700714057 meters
Centerline goodness : 0.999619 with order 1
Centerline is valid?  [True, True]
Translation: X:147.29, Y:12.53, Z:38.16
[[ 9.57356569e-01 -1.41997602e-01 -2.51605010e-01  1.47286982e+02]
 [ 1.40814461e-01  9.89773504e-01 -2.27969024e-02  1.25342429e+01]
 [ 2.52269078e-01 -1.36048595e-02  9.67561481e-01  3.81560505e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.760714057 meters
Centerline goodness : 0.999730 with order 1
Centerline is valid?  [True, True]
Translation: X:147.34, Y:12.54, Z:38.17
[[ 9.57510703e-01 -1.40954819e-01 -2.51604835e-01  1.47342669e+02]
 [ 1.39735865e-01  9.89926311e-01 -2.27988352e-02  1.25437838e+01]
 [ 2.52283851e-01 -1.33280906e-02  9.67561481e-01  3.81703653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.820714057 meters
Centerline goodness : 0.999323 with order 1
Centerline is valid?  [True, True]
Translation: X:147.40, Y:12.55, Z:38.19
[[ 9.57404398e-01 -1.41677961e-01 -2.51603209e-01  1.47399419e+02]
 [ 1.40478792e-01  9.89820743e-01 -2.28167642e-02  1.25543468e+01]
 [ 2.52274708e-01 -1.35000444e-02  9.67561482e-01  3.81858176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.880714057 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:147.46, Y:12.56, Z:38.20
[[ 9.57092476e-01 -1.43771479e-01 -2.51602372e-01  1.47456954e+02]
 [ 1.42640792e-01  9.89511283e-01 -2.28259833e-02  1.25645429e+01]
 [ 2.52245112e-01 -1.40421849e-02  9.67561482e-01  3.82018616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.940714057 meters
Centerline goodness : 0.999525 with order 1
Centerline is valid?  [True, True]
Translation: X:147.51, Y:12.57, Z:38.22
[[ 9.56827835e-01 -1.45522303e-01 -2.51602372e-01  1.47514985e+02]
 [ 1.44450930e-01  9.89248656e-01 -2.28259833e-02  1.25739218e+01]
 [ 2.52218998e-01 -1.45036606e-02  9.67561482e-01  3.82181533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.000714057 meters
Centerline goodness : 0.999774 with order 1
Centerline is valid?  [True, True]
Translation: X:147.57, Y:12.58, Z:38.23
[[ 9.56835104e-01 -1.45473819e-01 -2.51602766e-01  1.47572977e+02]
 [ 1.44401941e-01  9.89255908e-01 -2.28216446e-02  1.25822093e+01]
 [ 2.52219475e-01 -1.44953771e-02  9.67561482e-01  3.82339252e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.060714057 meters
Centerline goodness : 0.999523 with order 1
Centerline is valid?  [True, True]
Translation: X:147.63, Y:12.59, Z:38.25
[[ 9.57128484e-01 -1.43530877e-01 -2.51602766e-01  1.47631694e+02]
 [ 1.42393177e-01  9.89547046e-01 -2.28216446e-02  1.25916000e+01]
 [ 2.52248384e-01 -1.39832711e-02  9.67561482e-01  3.82477911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.12071405700001 meters
Centerline goodness : 0.999750 with order 1
Centerline is valid?  [True, True]
Translation: X:147.69, Y:12.60, Z:38.26
[[ 9.57239043e-01 -1.42790934e-01 -2.51603188e-01  1.47690388e+02]
 [ 1.41629393e-01  9.89656759e-01 -2.28169958e-02  1.26001839e+01]
 [ 2.52258855e-01 -1.37930875e-02  9.67561482e-01  3.82615977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.18071405700002 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:147.75, Y:12.61, Z:38.27
[[ 9.56751879e-01 -1.46018730e-01 -2.51603603e-01  1.47747388e+02]
 [ 1.44967734e-01  9.89173367e-01 -2.28124193e-02  1.26079862e+01]
 [ 2.52210623e-01 -1.46485790e-02  9.67561482e-01  3.82749722e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.240714057 meters
Centerline goodness : 0.999544 with order 1
Centerline is valid?  [True, True]
Translation: X:147.81, Y:12.61, Z:38.29
[[ 9.55815006e-01 -1.52031353e-01 -2.51603142e-01  1.47806058e+02]
 [ 1.51182895e-01  9.88242427e-01 -2.28174931e-02  1.26147017e+01]
 [ 2.52113874e-01 -1.62287892e-02  9.67561482e-01  3.82878620e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.300714057 meters
Centerline goodness : 0.999407 with order 1
Centerline is valid?  [True, True]
Translation: X:147.86, Y:12.62, Z:38.30
[[ 9.55481980e-01 -1.54110448e-01 -2.51603170e-01  1.47862628e+02]
 [ 1.53332621e-01  9.87911172e-01 -2.28171873e-02  1.26216608e+01]
 [ 2.52077950e-01 -1.67775623e-02  9.67561482e-01  3.83024830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.360714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:147.92, Y:12.63, Z:38.32
[[ 9.56001118e-01 -1.50858571e-01 -2.51601974e-01  1.47919541e+02]
 [ 1.49966955e-01  9.88427381e-01 -2.28303676e-02  1.26305893e+01]
 [ 2.52134437e-01 -1.59061250e-02  9.67561482e-01  3.83213034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.420714057 meters
Centerline goodness : 0.999200 with order 1
Centerline is valid?  [True, True]
Translation: X:147.98, Y:12.64, Z:38.34
[[ 9.56563554e-01 -1.47250175e-01 -2.51601974e-01  1.47977171e+02]
 [ 1.46236209e-01  9.88986221e-01 -2.28303676e-02  1.26377124e+01]
 [ 2.52192661e-01 -1.49546214e-02  9.67561482e-01  3.83371954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.480714057 meters
Centerline goodness : 0.999153 with order 1
Centerline is valid?  [True, True]
Translation: X:148.04, Y:12.65, Z:38.35
[[ 9.57411169e-01 -1.41634355e-01 -2.51601995e-01  1.48035126e+02]
 [ 1.40430205e-01  9.89827330e-01 -2.28301379e-02  1.26464861e+01]
 [ 2.52276063e-01 -1.34746907e-02  9.67561482e-01  3.83543552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.540714057 meters
Centerline goodness : 0.999379 with order 1
Centerline is valid?  [True, True]
Translation: X:148.09, Y:12.65, Z:38.37
[[ 9.58248445e-01 -1.35853372e-01 -2.51602421e-01  1.48093528e+02]
 [ 1.34454830e-01  9.90656801e-01 -2.28254374e-02  1.26539846e+01]
 [ 2.52352563e-01 -1.19567208e-02  9.67561482e-01  3.83706527e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.600714057 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:148.15, Y:12.66, Z:38.39
[[ 9.58892145e-01 -1.31232178e-01 -2.51602800e-01  1.48152384e+02]
 [ 1.29678508e-01  9.91293435e-01 -2.28212607e-02  1.26618639e+01]
 [ 2.52407088e-01 -1.07443482e-02  9.67561482e-01  3.83850194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.660714057 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:148.21, Y:12.67, Z:38.40
[[ 9.59156203e-01 -1.29286451e-01 -2.51603640e-01  1.48210831e+02]
 [ 1.27669472e-01  9.91554395e-01 -2.28120014e-02  1.26694911e+01]
 [ 2.52427978e-01 -1.02418311e-02  9.67561482e-01  3.83993539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.720714057 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:148.27, Y:12.68, Z:38.41
[[ 9.59078053e-01 -1.29864915e-01 -2.51603640e-01  1.48270374e+02]
 [ 1.28267477e-01  9.91477215e-01 -2.28120014e-02  1.26755758e+01]
 [ 2.52421755e-01 -1.03940741e-02  9.67561482e-01  3.84143587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.780714057 meters
Centerline goodness : 0.998843 with order 1
Centerline is valid?  [True, True]
Translation: X:148.33, Y:12.68, Z:38.43
[[ 9.58686498e-01 -1.32722951e-01 -2.51604485e-01  1.48328614e+02]
 [ 1.31224530e-01  9.91090390e-01 -2.28026768e-02  1.26817649e+01]
 [ 2.52389226e-01 -1.11560621e-02  9.67561482e-01  3.84295901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.840714057 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:148.39, Y:12.69, Z:38.45
[[ 9.58155027e-01 -1.36506312e-01 -2.51604793e-01  1.48386637e+02]
 [ 1.35136706e-01  9.90564619e-01 -2.27992802e-02  1.26877640e+01]
 [ 2.52343051e-01 -1.21557981e-02  9.67561482e-01  3.84466571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.90071405700002 meters
Centerline goodness : 0.998861 with order 1
Centerline is valid?  [True, True]
Translation: X:148.44, Y:12.69, Z:38.46
[[ 9.57596438e-01 -1.40370497e-01 -2.51605216e-01  1.48444998e+02]
 [ 1.39132870e-01  9.90011338e-01 -2.27946102e-02  1.26912347e+01]
 [ 2.52291707e-01 -1.31785183e-02  9.67561482e-01  3.84618191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.96071405700002 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:148.50, Y:12.70, Z:38.48
[[ 9.57058138e-01 -1.43994796e-01 -2.51605285e-01  1.48504514e+02]
 [ 1.42880095e-01  9.89477498e-01 -2.27938490e-02  1.26962430e+01]
 [ 2.52239963e-01 -1.41343484e-02  9.67561482e-01  3.84779893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.020714057 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:148.56, Y:12.70, Z:38.49
[[ 9.56735534e-01 -1.46120009e-01 -2.51606957e-01  1.48562821e+02]
 [ 1.45082154e-01  9.89157445e-01 -2.27753749e-02  1.27015402e+01]
 [ 2.52206833e-01 -1.47136688e-02  9.67561482e-01  3.84941152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.080714057 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:148.62, Y:12.71, Z:38.51
[[ 9.56616947e-01 -1.46893660e-01 -2.51607371e-01  1.48622120e+02]
 [ 1.45883224e-01  9.89039724e-01 -2.27707990e-02  1.27059908e+01]
 [ 2.52194571e-01 -1.49223622e-02  9.67561482e-01  3.85095304e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.140714057 meters
Centerline goodness : 0.998407 with order 1
Centerline is valid?  [True, True]
Translation: X:148.68, Y:12.71, Z:38.52
[[ 9.56387371e-01 -1.48379627e-01 -2.51608194e-01  1.48680949e+02]
 [ 1.47421947e-01  9.88811749e-01 -2.27616986e-02  1.27100771e+01]
 [ 2.52170511e-01 -1.53235689e-02  9.67561482e-01  3.85239052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.200714057 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:148.74, Y:12.71, Z:38.54
[[ 9.56030517e-01 -1.50661086e-01 -2.51608599e-01  1.48739416e+02]
 [ 1.49781945e-01  9.88457120e-01 -2.27572250e-02  1.27134428e+01]
 [ 2.52132939e-01 -1.59298236e-02  9.67561482e-01  3.85382405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.260714057 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:148.80, Y:12.72, Z:38.55
[[ 9.55851916e-01 -1.51790087e-01 -2.51608593e-01  1.48797726e+02]
 [ 1.50949225e-01  9.88279534e-01 -2.27572935e-02  1.27164461e+01]
 [ 2.52113954e-01 -1.62275194e-02  9.67561482e-01  3.85521756e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.320714057 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:148.86, Y:12.72, Z:38.57
[[ 9.55912009e-01 -1.51411832e-01 -2.51608204e-01  1.48855405e+02]
 [ 1.50557010e-01  9.88339262e-01 -2.27615960e-02  1.27201288e+01]
 [ 2.52120641e-01 -1.61232958e-02  9.67561482e-01  3.85673552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.380714057 meters
Centerline goodness : 0.998786 with order 1
Centerline is valid?  [True, True]
Translation: X:148.91, Y:12.72, Z:38.58
[[ 9.55983892e-01 -1.50958601e-01 -2.51607432e-01  1.48911017e+02]
 [ 1.50086170e-01  9.88410675e-01 -2.27701224e-02  1.27237264e+01]
 [ 2.52128818e-01 -1.59949256e-02  9.67561482e-01  3.85825012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.440714057 meters
Centerline goodness : 0.999171 with order 1
Centerline is valid?  [True, True]
Translation: X:148.97, Y:12.73, Z:38.60
[[ 9.55822044e-01 -1.51983150e-01 -2.51605529e-01  1.48969153e+02]
 [ 1.51139968e-01  9.88249601e-01 -2.27911310e-02  1.27269928e+01]
 [ 2.52112932e-01 -1.62433863e-02  9.67561482e-01  3.85996010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.500714057 meters
Centerline goodness : 0.999356 with order 1
Centerline is valid?  [True, True]
Translation: X:149.03, Y:12.73, Z:38.61
[[ 9.55141385e-01 -1.56203691e-01 -2.51605529e-01  1.49026617e+02]
 [ 1.55503755e-01  9.87572350e-01 -2.27911310e-02  1.27289013e+01]
 [ 2.52038722e-01 -1.73568522e-02  9.67561482e-01  3.86141260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.560714057 meters
Centerline goodness : 0.999244 with order 1
Centerline is valid?  [True, True]
Translation: X:149.08, Y:12.73, Z:38.63
[[ 9.54401473e-01 -1.60663817e-01 -2.51604781e-01  1.49084941e+02]
 [ 1.60113220e-01  9.86835318e-01 -2.27993913e-02  1.27310668e+01]
 [ 2.51955521e-01 -1.85254790e-02  9.67561482e-01  3.86331032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.62071405700001 meters
Centerline goodness : 0.999269 with order 1
Centerline is valid?  [True, True]
Translation: X:149.14, Y:12.73, Z:38.65
[[ 9.53958336e-01 -1.63273092e-01 -2.51605626e-01  1.49143241e+02]
 [ 1.62813636e-01  9.86393599e-01 -2.27900622e-02  1.27347800e+01]
 [ 2.51903183e-01 -1.92240568e-02  9.67561482e-01  3.86468820e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.68071405700002 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:149.20, Y:12.74, Z:38.66
[[ 9.53646925e-01 -1.65080907e-01 -2.51606513e-01  1.49203026e+02]
 [ 1.64685499e-01  9.86083032e-01 -2.27802600e-02  1.27375745e+01]
 [ 2.51865499e-01 -1.97116191e-02  9.67561482e-01  3.86593683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.740714057 meters
Centerline goodness : 0.999315 with order 1
Centerline is valid?  [True, True]
Translation: X:149.26, Y:12.74, Z:38.67
[[ 9.53611631e-01 -1.65283041e-01 -2.51607578e-01  1.49262977e+02]
 [ 1.64897593e-01  9.86047859e-01 -2.27684948e-02  1.27414233e+01]
 [ 2.51860359e-01 -1.97771825e-02  9.67561483e-01  3.86733373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.800714057 meters
Centerline goodness : 0.998975 with order 1
Centerline is valid?  [True, True]
Translation: X:149.32, Y:12.75, Z:38.69
[[ 9.54183617e-01 -1.61946370e-01 -2.51608819e-01  1.49320000e+02]
 [ 1.61451063e-01  9.86618353e-01 -2.27547742e-02  1.27473805e+01]
 [ 2.51926931e-01 -1.89102784e-02  9.67561483e-01  3.86911070e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.860714057 meters
Centerline goodness : 0.999341 with order 1
Centerline is valid?  [True, True]
Translation: X:149.38, Y:12.75, Z:38.71
[[ 9.54688734e-01 -1.58941571e-01 -2.51608819e-01  1.49377199e+02]
 [ 1.58344154e-01  9.87121750e-01 -2.27547742e-02  1.27530217e+01]
 [ 2.51985217e-01 -1.81170589e-02  9.67561483e-01  3.87104043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.920714057 meters
Centerline goodness : 0.999292 with order 1
Centerline is valid?  [True, True]
Translation: X:149.43, Y:12.76, Z:38.72
[[ 9.55280368e-01 -1.55346202e-01 -2.51608777e-01  1.49434781e+02]
 [ 1.54626563e-01  9.87710902e-01 -2.27552382e-02  1.27587940e+01]
 [ 2.52051672e-01 -1.71677680e-02  9.67561483e-01  3.87243516e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.980714057 meters
Centerline goodness : 0.999270 with order 1
Centerline is valid?  [True, True]
Translation: X:149.49, Y:12.76, Z:38.74
[[ 9.55682099e-01 -1.52856011e-01 -2.51608359e-01  1.49494499e+02]
 [ 1.52050643e-01  9.88110617e-01 -2.27598540e-02  1.27631791e+01]
 [ 2.52095871e-01 -1.65060278e-02  9.67561483e-01  3.87415124e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.040714057 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:149.55, Y:12.77, Z:38.76
[[ 9.55930562e-01 -1.51291631e-01 -2.51610022e-01  1.49554005e+02]
 [ 1.50438010e-01  9.88357846e-01 -2.27414603e-02  1.27663975e+01]
 [ 2.52121332e-01 -1.61124539e-02  9.67561483e-01  3.87555104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.100714057 meters
Centerline goodness : 0.999064 with order 1
Centerline is valid?  [True, True]
Translation: X:149.61, Y:12.77, Z:38.77
[[ 9.56122680e-01 -1.50071407e-01 -2.51610796e-01  1.49612867e+02]
 [ 1.49178645e-01  9.88548910e-01 -2.27328860e-02  1.27699157e+01]
 [ 2.52141135e-01 -1.57995298e-02  9.67561483e-01  3.87702963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.160714057 meters
Centerline goodness : 0.999408 with order 1
Centerline is valid?  [True, True]
Translation: X:149.67, Y:12.77, Z:38.78
[[ 9.56419886e-01 -1.48164767e-01 -2.51611214e-01  1.49671623e+02]
 [ 1.47208568e-01  9.88844307e-01 -2.27282596e-02  1.27731808e+01]
 [ 2.52171844e-01 -1.53015671e-02  9.67561483e-01  3.87837970e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.220714057 meters
Centerline goodness : 0.999750 with order 1
Centerline is valid?  [True, True]
Translation: X:149.73, Y:12.78, Z:38.80
[[ 9.56805344e-01 -1.45654122e-01 -2.51611626e-01  1.49728577e+02]
 [ 1.44614020e-01  9.89227182e-01 -2.27237062e-02  1.27779562e+01]
 [ 2.52210861e-01 -1.46444052e-02  9.67561483e-01  3.87987318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.280714057 meters
Centerline goodness : 0.999819 with order 1
Centerline is valid?  [True, True]
Translation: X:149.79, Y:12.78, Z:38.81
[[ 9.56926960e-01 -1.44853822e-01 -2.51611135e-01  1.49786105e+02]
 [ 1.43785182e-01  9.89347870e-01 -2.27291322e-02  1.27830353e+01]
 [ 2.52223343e-01 -1.44278336e-02  9.67561483e-01  3.88148065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.340714057 meters
Centerline goodness : 0.999366 with order 1
Centerline is valid?  [True, True]
Translation: X:149.84, Y:12.79, Z:38.83
[[ 9.56695167e-01 -1.46378269e-01 -2.51610333e-01  1.49843412e+02]
 [ 1.45358957e-01  9.89117666e-01 -2.27380147e-02  1.27869685e+01]
 [ 2.52200576e-01 -1.48204669e-02  9.67561483e-01  3.88294539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.40071405700002 meters
Centerline goodness : 0.999388 with order 1
Centerline is valid?  [True, True]
Translation: X:149.90, Y:12.79, Z:38.84
[[ 9.56134718e-01 -1.49997486e-01 -2.51609131e-01  1.49901394e+02]
 [ 1.49097390e-01  9.88560745e-01 -2.27513035e-02  1.27914302e+01]
 [ 2.52143548e-01 -1.57609535e-02  9.67561483e-01  3.88438411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.46071405700002 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:149.96, Y:12.79, Z:38.86
[[ 9.55391719e-01 -1.54660617e-01 -2.51608339e-01  1.49959212e+02]
 [ 1.53916439e-01  9.87821699e-01 -2.27600637e-02  1.27945357e+01]
 [ 2.52064262e-01 -1.69818832e-02  9.67561483e-01  3.88574731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.520714057 meters
Centerline goodness : 0.999367 with order 1
Centerline is valid?  [True, True]
Translation: X:150.02, Y:12.80, Z:38.87
[[ 9.54371833e-01 -1.60834139e-01 -2.51608395e-01  1.50017313e+02]
 [ 1.60299806e-01  9.86805949e-01 -2.27594378e-02  1.27976714e+01]
 [ 2.51949156e-01 -1.86118105e-02  9.67561483e-01  3.88716000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.580714057 meters
Centerline goodness : 0.999482 with order 1
Centerline is valid?  [True, True]
Translation: X:150.08, Y:12.80, Z:38.89
[[ 9.53702376e-01 -1.64757919e-01 -2.51608043e-01  1.50075763e+02]
 [ 1.64355963e-01  9.86138402e-01 -2.27633367e-02  1.28009442e+01]
 [ 2.51870793e-01 -1.96438338e-02  9.67561483e-01  3.88871263e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.640714057 meters
Centerline goodness : 0.999367 with order 1
Centerline is valid?  [True, True]
Translation: X:150.14, Y:12.81, Z:38.91
[[ 9.53431587e-01 -1.66318077e-01 -2.51607842e-01  1.50135197e+02]
 [ 1.65968610e-01  9.85868221e-01 -2.27655507e-02  1.28061558e+01]
 [ 2.51838499e-01 -2.00536088e-02  9.67561483e-01  3.89053024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.700714057 meters
Centerline goodness : 0.999820 with order 1
Centerline is valid?  [True, True]
Translation: X:150.19, Y:12.81, Z:38.92
[[ 9.53624830e-01 -1.65203857e-01 -2.51609558e-01  1.50193553e+02]
 [ 1.64821465e-01  9.86061093e-01 -2.27465692e-02  1.28110522e+01]
 [ 2.51860217e-01 -1.97789628e-02  9.67561483e-01  3.89186178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.760714057 meters
Centerline goodness : 0.999797 with order 1
Centerline is valid?  [True, True]
Translation: X:150.25, Y:12.82, Z:38.93
[[ 9.53827389e-01 -1.64029666e-01 -2.51609979e-01  1.50253148e+02]
 [ 1.63608560e-01  9.86263172e-01 -2.27419139e-02  1.28162174e+01]
 [ 2.51884005e-01 -1.94736861e-02  9.67561483e-01  3.89327917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.820714057 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:150.31, Y:12.82, Z:38.95
[[ 9.54620385e-01 -1.59348411e-01 -2.51610817e-01  1.50311809e+02]
 [ 1.58770621e-01  9.87053756e-01 -2.27326340e-02  1.28240323e+01]
 [ 2.51975812e-01 -1.82473698e-02  9.67561483e-01  3.89479236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.880714057 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:150.37, Y:12.83, Z:38.96
[[ 9.55282288e-01 -1.55331010e-01 -2.51610866e-01  1.50369723e+02]
 [ 1.54616921e-01  9.87712944e-01 -2.27321007e-02  1.28312779e+01]
 [ 2.52050309e-01 -1.71877240e-02  9.67561483e-01  3.89638934e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.940714057 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:150.43, Y:12.84, Z:38.98
[[ 9.56358616e-01 -1.48560404e-01 -2.51610818e-01  1.50427838e+02]
 [ 1.47616473e-01  9.88783396e-01 -2.27326296e-02  1.28389981e+01]
 [ 2.52165768e-01 -1.54013553e-02  9.67561483e-01  3.89784528e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.000714057 meters
Centerline goodness : 0.999496 with order 1
Centerline is valid?  [True, True]
Translation: X:150.49, Y:12.85, Z:38.99
[[ 9.57071769e-01 -1.43894430e-01 -2.51610854e-01  1.50486213e+02]
 [ 1.42792477e-01  9.89491564e-01 -2.27322321e-02  1.28469560e+01]
 [ 2.52237859e-01 -1.41717593e-02  9.67561483e-01  3.89933782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.060714057 meters
Centerline goodness : 0.999202 with order 1
Centerline is valid?  [True, True]
Translation: X:150.54, Y:12.85, Z:39.01
[[ 9.57494546e-01 -1.41053912e-01 -2.51610789e-01  1.50544369e+02]
 [ 1.39855576e-01  9.89910921e-01 -2.27329539e-02  1.28527117e+01]
 [ 2.52278839e-01 -1.34224925e-02  9.67561483e-01  3.90086846e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.12071405700001 meters
Centerline goodness : 0.999451 with order 1
Centerline is valid?  [True, True]
Translation: X:150.60, Y:12.86, Z:39.03
[[ 9.57469775e-01 -1.41222663e-01 -2.51610391e-01  1.50601938e+02]
 [ 1.40028888e-01  9.89886318e-01 -2.27373534e-02  1.28567655e+01]
 [ 2.52276713e-01 -1.34623945e-02  9.67561483e-01  3.90250380e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.18071405700002 meters
Centerline goodness : 0.999615 with order 1
Centerline is valid?  [True, True]
Translation: X:150.66, Y:12.86, Z:39.04
[[ 9.57118722e-01 -1.43583334e-01 -2.51609974e-01  1.50658540e+02]
 [ 1.42468291e-01  9.89538068e-01 -2.27419673e-02  1.28606364e+01]
 [ 2.52243015e-01 -1.40796804e-02  9.67561483e-01  3.90401482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.240714057 meters
Centerline goodness : 0.999636 with order 1
Centerline is valid?  [True, True]
Translation: X:150.72, Y:12.87, Z:39.05
[[ 9.57049110e-01 -1.44048031e-01 -2.51609152e-01  1.50716161e+02]
 [ 1.42946348e-01  9.89468914e-01 -2.27510549e-02  1.28652756e+01]
 [ 2.52236679e-01 -1.41927325e-02  9.67561483e-01  3.90548848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.300714057 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:150.77, Y:12.87, Z:39.07
[[ 9.56856688e-01 -1.45322100e-01 -2.51608359e-01  1.50774123e+02]
 [ 1.44261283e-01  9.89277854e-01 -2.27598264e-02  1.28701835e+01]
 [ 2.52218083e-01 -1.45194525e-02  9.67561483e-01  3.90691912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.360714057 meters
Centerline goodness : 0.999525 with order 1
Centerline is valid?  [True, True]
Translation: X:150.83, Y:12.88, Z:39.08
[[ 9.56679960e-01 -1.46482187e-01 -2.51607677e-01  1.50832767e+02]
 [ 1.45458705e-01  9.89102326e-01 -2.27673636e-02  1.28750631e+01]
 [ 2.52200752e-01 -1.48174464e-02  9.67561483e-01  3.90836273e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.420714057 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:150.89, Y:12.88, Z:39.10
[[ 9.56738336e-01 -1.46099704e-01 -2.51608094e-01  1.50889182e+02]
 [ 1.45064471e-01  9.89160329e-01 -2.27627479e-02  1.28806554e+01]
 [ 2.52206376e-01 -1.47214015e-02  9.67561483e-01  3.90996786e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.480714057 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:150.95, Y:12.89, Z:39.12
[[ 9.56885792e-01 -1.45132973e-01 -2.51606840e-01  1.50947705e+02]
 [ 1.44061349e-01  9.89306603e-01 -2.27766082e-02  1.28870119e+01]
 [ 2.52221945e-01 -1.44522079e-02  9.67561483e-01  3.91161972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.540714057 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:151.01, Y:12.89, Z:39.13
[[ 9.56669962e-01 -1.46547445e-01 -2.51607690e-01  1.51005398e+02]
 [ 1.45526215e-01  9.89092400e-01 -2.27672112e-02  1.28931077e+01]
 [ 2.52199731e-01 -1.48348076e-02  9.67561484e-01  3.91316268e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.600714057 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:151.06, Y:12.90, Z:39.15
[[ 9.56335871e-01 -1.48711993e-01 -2.51607720e-01  1.51062127e+02]
 [ 1.47764223e-01  9.88760539e-01 -2.27668828e-02  1.28983980e+01]
 [ 2.52165493e-01 -1.54058324e-02  9.67561484e-01  3.91456678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.660714057 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:151.12, Y:12.90, Z:39.16
[[ 9.56122765e-01 -1.50077990e-01 -2.51606550e-01  1.51121345e+02]
 [ 1.49173154e-01  9.88548659e-01 -2.27798000e-02  1.29047788e+01]
 [ 2.52144064e-01 -1.57526574e-02  9.67561484e-01  3.91609293e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.720714057 meters
Centerline goodness : 0.998999 with order 1
Centerline is valid?  [True, True]
Translation: X:151.18, Y:12.91, Z:39.17
[[ 9.55747186e-01 -1.52450119e-01 -2.51607387e-01  1.51179277e+02]
 [ 1.51628172e-01  9.88175288e-01 -2.27705600e-02  1.29108171e+01]
 [ 2.52103576e-01 -1.63878695e-02  9.67561484e-01  3.91738348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.780714057 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:151.24, Y:12.92, Z:39.19
[[ 9.55004689e-01 -1.57034895e-01 -2.51607008e-01  1.51237529e+02]
 [ 1.56367481e-01  9.87436338e-01 -2.27747390e-02  1.29166153e+01]
 [ 2.52022332e-01 -1.75931717e-02  9.67561484e-01  3.91873652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.840714057 meters
Centerline goodness : 0.998263 with order 1
Centerline is valid?  [True, True]
Translation: X:151.30, Y:12.92, Z:39.20
[[ 9.54080821e-01 -1.62554266e-01 -2.51606633e-01  1.51295787e+02]
 [ 1.62073300e-01  9.86515772e-01 -2.27788893e-02  1.29225060e+01]
 [ 2.51916717e-01 -1.90458158e-02  9.67561484e-01  3.92027596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.90071405700002 meters
Centerline goodness : 0.997422 with order 1
Centerline is valid?  [True, True]
Translation: X:151.35, Y:12.93, Z:39.22
[[ 9.53555618e-01 -1.65607259e-01 -2.51606677e-01  1.51353751e+02]
 [ 1.65230243e-01  9.85991943e-01 -2.27783952e-02  1.29278658e+01]
 [ 2.51854424e-01 -1.98525657e-02  9.67561484e-01  3.92192066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.96071405700002 meters
Centerline goodness : 0.997855 with order 1
Centerline is valid?  [True, True]
Translation: X:151.41, Y:12.93, Z:39.23
[[ 9.53251936e-01 -1.67346748e-01 -2.51606463e-01  1.51413089e+02]
 [ 1.67028292e-01  9.85688889e-01 -2.27807628e-02  1.29320492e+01]
 [ 2.51817981e-01 -2.03095916e-02  9.67561484e-01  3.92346534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.020714057 meters
Centerline goodness : 0.997727 with order 1
Centerline is valid?  [True, True]
Translation: X:151.47, Y:12.94, Z:39.25
[[ 9.52950199e-01 -1.69055307e-01 -2.51607277e-01  1.51470191e+02]
 [ 1.68797359e-01  9.85387689e-01 -2.27717669e-02  1.29378852e+01]
 [ 2.51780401e-01 -2.07702839e-02  9.67561484e-01  3.92513479e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.080714057 meters
Centerline goodness : 0.997880 with order 1
Centerline is valid?  [True, True]
Translation: X:151.53, Y:12.94, Z:39.27
[[ 9.52829445e-01 -1.69733257e-01 -2.51608167e-01  1.51528884e+02]
 [ 1.69500968e-01  9.85267130e-01 -2.27619246e-02  1.29406659e+01]
 [ 2.51764713e-01 -2.09595959e-02  9.67561484e-01  3.92679232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.140714057 meters
Centerline goodness : 0.997217 with order 1
Centerline is valid?  [True, True]
Translation: X:151.59, Y:12.95, Z:39.28
[[ 9.52860648e-01 -1.69557372e-01 -2.51608593e-01  1.51588607e+02]
 [ 1.69320328e-01  9.85298298e-01 -2.27572195e-02  1.29455624e+01]
 [ 2.51768173e-01 -2.09179906e-02  9.67561484e-01  3.92840926e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.200714057 meters
Centerline goodness : 0.996414 with order 1
Centerline is valid?  [True, True]
Translation: X:151.65, Y:12.95, Z:39.30
[[ 9.53236764e-01 -1.67427415e-01 -2.51610280e-01  1.51647021e+02]
 [ 1.67122774e-01  9.85673849e-01 -2.27385483e-02  1.29497248e+01]
 [ 2.51812730e-01 -2.03745879e-02  9.67561484e-01  3.92989714e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.260714057 meters
Centerline goodness : 0.997599 with order 1
Centerline is valid?  [True, True]
Translation: X:151.71, Y:12.95, Z:39.31
[[ 9.53654112e-01 -1.65032996e-01 -2.51610700e-01  1.51706299e+02]
 [ 1.64648113e-01  9.86090345e-01 -2.27339066e-02  1.29535021e+01]
 [ 2.51862726e-01 -1.97469435e-02  9.67561484e-01  3.93127931e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.320714057 meters
Centerline goodness : 0.997380 with order 1
Centerline is valid?  [True, True]
Translation: X:151.77, Y:12.96, Z:39.33
[[ 9.54027710e-01 -1.62858762e-01 -2.51611113e-01  1.51766303e+02]
 [ 1.62401142e-01  9.86462998e-01 -2.27293342e-02  1.29594557e+01]
 [ 2.51906724e-01 -1.91775173e-02  9.67561484e-01  3.93270126e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.380714057 meters
Centerline goodness : 0.998187 with order 1
Centerline is valid?  [True, True]
Translation: X:151.83, Y:12.96, Z:39.34
[[ 9.54484039e-01 -1.60160663e-01 -2.51612361e-01  1.51825476e+02]
 [ 1.59614962e-01  9.86917965e-01 -2.27155052e-02  1.29644172e+01]
 [ 2.51958890e-01 -1.84795104e-02  9.67561484e-01  3.93419144e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.440714057 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:151.88, Y:12.97, Z:39.36
[[ 9.54672952e-01 -1.59029396e-01 -2.51613206e-01  1.51882778e+02]
 [ 1.58447713e-01  9.87106252e-01 -2.27061447e-02  1.29687442e+01]
 [ 2.51979913e-01 -1.81905947e-02  9.67561484e-01  3.93572885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.500714057 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:151.94, Y:12.97, Z:39.37
[[ 9.54954240e-01 -1.57331826e-01 -2.51612990e-01  1.51942124e+02]
 [ 1.56691853e-01  9.87386442e-01 -2.27085376e-02  1.29719764e+01]
 [ 2.52012031e-01 -1.77400914e-02  9.67561484e-01  3.93733033e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.560714057 meters
Centerline goodness : 0.998267 with order 1
Centerline is valid?  [True, True]
Translation: X:152.00, Y:12.98, Z:39.39
[[ 9.55208185e-01 -1.55781270e-01 -2.51613830e-01  1.52001562e+02]
 [ 1.55091083e-01  9.87639358e-01 -2.26992322e-02  1.29764349e+01]
 [ 2.52039836e-01 -1.73405690e-02  9.67561484e-01  3.93893898e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.62071405700001 meters
Centerline goodness : 0.998387 with order 1
Centerline is valid?  [True, True]
Translation: X:152.06, Y:12.98, Z:39.40
[[ 9.55755063e-01 -1.52388729e-01 -2.51614656e-01  1.52060127e+02]
 [ 1.51585798e-01  9.88183640e-01 -2.26900741e-02  1.29799530e+01]
 [ 2.52099198e-01 -1.64550552e-02  9.67561484e-01  3.94048042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.68071405700002 meters
Centerline goodness : 0.997997 with order 1
Centerline is valid?  [True, True]
Translation: X:152.12, Y:12.98, Z:39.42
[[ 9.56112731e-01 -1.50128427e-01 -2.51614587e-01  1.52117643e+02]
 [ 1.49248622e-01  9.88539314e-01 -2.26908365e-02  1.29840997e+01]
 [ 2.52137451e-01 -1.58581326e-02  9.67561484e-01  3.94188196e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.740714057 meters
Centerline goodness : 0.998527 with order 1
Centerline is valid?  [True, True]
Translation: X:152.17, Y:12.99, Z:39.43
[[ 9.56463440e-01 -1.47879004e-01 -2.51613769e-01  1.52174849e+02]
 [ 1.46920550e-01  9.88887793e-01 -2.26998964e-02  1.29883270e+01]
 [ 2.52174623e-01 -1.52556125e-02  9.67561484e-01  3.94311806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.800714057 meters
Centerline goodness : 0.996829 with order 1
Centerline is valid?  [True, True]
Translation: X:152.23, Y:13.00, Z:39.45
[[ 9.56910336e-01 -1.44961126e-01 -2.51612562e-01  1.52232434e+02]
 [ 1.43900280e-01  9.89331500e-01 -2.27132671e-02  1.29951143e+01]
 [ 2.52220775e-01 -1.44725581e-02  9.67561484e-01  3.94451179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.860714057 meters
Centerline goodness : 0.996807 with order 1
Centerline is valid?  [True, True]
Translation: X:152.29, Y:13.00, Z:39.46
[[ 9.57270486e-01 -1.42564840e-01 -2.51611769e-01  1.52288706e+02]
 [ 1.41420522e-01  9.89688812e-01 -2.27220514e-02  1.30007870e+01]
 [ 2.52256719e-01 -1.38319186e-02  9.67561484e-01  3.94607996e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.920714057 meters
Centerline goodness : 0.997105 with order 1
Centerline is valid?  [True, True]
Translation: X:152.35, Y:13.01, Z:39.47
[[ 9.57492048e-01 -1.41069825e-01 -2.51611371e-01  1.52345074e+02]
 [ 1.39873729e-01  9.89908505e-01 -2.27264631e-02  1.30053119e+01]
 [ 2.52278254e-01 -1.34334130e-02  9.67561484e-01  3.94744010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.980714057 meters
Centerline goodness : 0.997693 with order 1
Centerline is valid?  [True, True]
Translation: X:152.40, Y:13.01, Z:39.49
[[ 9.57146752e-01 -1.43397275e-01 -2.51609455e-01  1.52400838e+02]
 [ 1.42274439e-01  9.89565828e-01 -2.27476570e-02  1.30118886e+01]
 [ 2.52246070e-01 -1.40247481e-02  9.67561485e-01  3.94906794e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.040714057 meters
Centerline goodness : 0.997698 with order 1
Centerline is valid?  [True, True]
Translation: X:152.46, Y:13.02, Z:39.51
[[ 9.56477619e-01 -1.47798053e-01 -2.51607431e-01  1.52458464e+02]
 [ 1.46818476e-01  9.88901341e-01 -2.27700183e-02  1.30173109e+01]
 [ 2.52180290e-01 -1.51616067e-02  9.67561485e-01  3.95069401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.100714057 meters
Centerline goodness : 0.998354 with order 1
Centerline is valid?  [True, True]
Translation: X:152.52, Y:13.02, Z:39.52
[[ 9.55509077e-01 -1.53936390e-01 -2.51606821e-01  1.52515729e+02]
 [ 1.53163255e-01  9.87938377e-01 -2.27767558e-02  1.30224834e+01]
 [ 2.52078206e-01 -1.67735227e-02  9.67561485e-01  3.95196535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.160714057 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:152.57, Y:13.03, Z:39.54
[[ 9.55244961e-01 -1.55566949e-01 -2.51606813e-01  1.52573252e+02]
 [ 1.54849139e-01  9.87675534e-01 -2.27768461e-02  1.30283092e+01]
 [ 2.52049218e-01 -1.72036308e-02  9.67561485e-01  3.95355123e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.220714057 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:152.63, Y:13.04, Z:39.55
[[ 9.54536589e-01 -1.59857198e-01 -2.51605993e-01  1.52631046e+02]
 [ 1.59282729e-01  9.86970017e-01 -2.27858966e-02  1.30352683e+01]
 [ 2.51970061e-01 -1.83265173e-02  9.67561485e-01  3.95492322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.280714057 meters
Centerline goodness : 0.998553 with order 1
Centerline is valid?  [True, True]
Translation: X:152.69, Y:13.04, Z:39.56
[[ 9.54279734e-01 -1.61383901e-01 -2.51605694e-01  1.52686648e+02]
 [ 1.60860450e-01  9.86714026e-01 -2.27891971e-02  1.30422173e+01]
 [ 2.51940677e-01 -1.87261362e-02  9.67561485e-01  3.95643062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.340714057 meters
Centerline goodness : 0.998622 with order 1
Centerline is valid?  [True, True]
Translation: X:152.74, Y:13.05, Z:39.58
[[ 9.54668498e-01 -1.59078067e-01 -2.51599338e-01  1.52744524e+02]
 [ 1.58457916e-01  9.87101083e-01 -2.28591666e-02  1.30493551e+01]
 [ 2.51990371e-01 -1.80449805e-02  9.67561487e-01  3.95817431e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.40071405700002 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:152.80, Y:13.06, Z:39.60
[[ 9.55527602e-01 -1.53832917e-01 -2.51599751e-01  1.52802808e+02]
 [ 1.53035857e-01  9.87956321e-01 -2.28546207e-02  1.30581722e+01]
 [ 2.52085357e-01 -1.66655626e-02  9.67561487e-01  3.95988988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.46071405700002 meters
Centerline goodness : 0.998688 with order 1
Centerline is valid?  [True, True]
Translation: X:152.86, Y:13.07, Z:39.62
[[ 9.56382405e-01 -1.48425303e-01 -2.51600127e-01  1.52860071e+02]
 [ 1.47445902e-01  9.88806129e-01 -2.28504765e-02  1.30671394e+01]
 [ 2.52175337e-01 -1.52436141e-02  9.67561487e-01  3.96158607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.520714057 meters
Centerline goodness : 0.998687 with order 1
Centerline is valid?  [True, True]
Translation: X:152.92, Y:13.07, Z:39.63
[[ 9.56685065e-01 -1.46461844e-01 -2.51600107e-01  1.52917800e+02]
 [ 1.45415831e-01  9.89106709e-01 -2.28507003e-02  1.30740977e+01]
 [ 2.52206109e-01 -1.47257151e-02  9.67561487e-01  3.96314582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.580714057 meters
Centerline goodness : 0.998666 with order 1
Centerline is valid?  [True, True]
Translation: X:152.98, Y:13.08, Z:39.65
[[ 9.56737713e-01 -1.46117536e-01 -2.51600107e-01  1.52975902e+02]
 [ 1.45059855e-01  9.89158978e-01 -2.28507003e-02  1.30788036e+01]
 [ 2.52211393e-01 -1.46349484e-02  9.67561487e-01  3.96456737e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.640714057 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:153.03, Y:13.08, Z:39.66
[[ 9.56714319e-01 -1.46272054e-01 -2.51599279e-01  1.53033880e+02]
 [ 1.45217223e-01  9.89135677e-01 -2.28598082e-02  1.30846582e+01]
 [ 2.52209575e-01 -1.46662427e-02  9.67561487e-01  3.96589115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.700714057 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:153.09, Y:13.09, Z:39.67
[[ 9.56703244e-01 -1.46345889e-01 -2.51598456e-01  1.53091099e+02]
 [ 1.45291186e-01  9.89124606e-01 -2.28688667e-02  1.30912608e+01]
 [ 2.52208988e-01 -1.46763191e-02  9.67561487e-01  3.96727105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.760714057 meters
Centerline goodness : 0.998865 with order 1
Centerline is valid?  [True, True]
Translation: X:153.15, Y:13.10, Z:39.69
[[ 9.56318542e-01 -1.48840411e-01 -2.51597650e-01  1.53147342e+02]
 [ 1.47867941e-01  9.88742475e-01 -2.28777290e-02  1.30986376e+01]
 [ 2.52170414e-01 -1.53248300e-02  9.67561487e-01  3.96876345e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.820714057 meters
Centerline goodness : 0.998800 with order 1
Centerline is valid?  [True, True]
Translation: X:153.20, Y:13.10, Z:39.70
[[ 9.55871111e-01 -1.51696521e-01 -2.51592099e-01  1.53204938e+02]
 [ 1.50804952e-01  9.88297367e-01 -2.29386194e-02  1.31035892e+01]
 [ 2.52127518e-01 -1.60149708e-02  9.67561489e-01  3.97038934e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.880714057 meters
Centerline goodness : 0.998416 with order 1
Centerline is valid?  [True, True]
Translation: X:153.26, Y:13.11, Z:39.72
[[ 9.55004285e-01 -1.57061844e-01 -2.51591720e-01  1.53262648e+02]
 [ 1.56351288e-01  9.87435012e-01 -2.29427810e-02  1.31084468e+01]
 [ 2.52033908e-01 -1.74262353e-02  9.67561489e-01  3.97179104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.940714057 meters
Centerline goodness : 0.998415 with order 1
Centerline is valid?  [True, True]
Translation: X:153.32, Y:13.11, Z:39.74
[[ 9.54044895e-01 -1.62788591e-01 -2.51591362e-01  1.53321272e+02]
 [ 1.62271589e-01  9.86479285e-01 -2.29467015e-02  1.31132586e+01]
 [ 2.51925128e-01 -1.89339466e-02  9.67561489e-01  3.97358162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.000714057 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:153.38, Y:13.12, Z:39.75
[[ 9.53324617e-01 -1.66953960e-01 -2.51592033e-01  1.53379708e+02]
 [ 1.66580553e-01  9.85760978e-01 -2.29393466e-02  1.31170562e+01]
 [ 2.51839423e-01 -2.00416961e-02  9.67561489e-01  3.97512790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.060714057 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:153.44, Y:13.12, Z:39.76
[[ 9.53126753e-01 -1.68079537e-01 -2.51592254e-01  1.53438909e+02]
 [ 1.67745069e-01  9.85563539e-01 -2.29369157e-02  1.31214173e+01]
 [ 2.51815379e-01 -2.03415720e-02  9.67561489e-01  3.97645111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.12071405700001 meters
Centerline goodness : 0.998753 with order 1
Centerline is valid?  [True, True]
Translation: X:153.50, Y:13.13, Z:39.78
[[ 9.53251356e-01 -1.67370792e-01 -2.51592667e-01  1.53498882e+02]
 [ 1.67013394e-01  9.85687898e-01 -2.29323846e-02  1.31260954e+01]
 [ 2.51830059e-01 -2.01590184e-02  9.67561489e-01  3.97772709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.18071405700002 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:153.56, Y:13.13, Z:39.79
[[ 9.53424823e-01 -1.66378544e-01 -2.51593494e-01  1.53558324e+02]
 [ 1.65989765e-01  9.85861004e-01 -2.29233090e-02  1.31310453e+01]
 [ 2.51850162e-01 -1.99062932e-02  9.67561489e-01  3.97899023e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.240714057 meters
Centerline goodness : 0.998958 with order 1
Centerline is valid?  [True, True]
Translation: X:153.62, Y:13.14, Z:39.80
[[ 9.53511286e-01 -1.65882086e-01 -2.51593644e-01  1.53616149e+02]
 [ 1.65476849e-01  9.85947265e-01 -2.29216692e-02  1.31372554e+01]
 [ 2.51860359e-01 -1.97768530e-02  9.67561489e-01  3.98048414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.300714057 meters
Centerline goodness : 0.998660 with order 1
Centerline is valid?  [True, True]
Translation: X:153.67, Y:13.14, Z:39.82
[[ 9.53682198e-01 -1.64896889e-01 -2.51593485e-01  1.53673685e+02]
 [ 1.64457685e-01  9.86117735e-01 -2.29234058e-02  1.31425610e+01]
 [ 2.51880796e-01 -1.95148382e-02  9.67561489e-01  3.98190423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.360714057 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:153.73, Y:13.15, Z:39.83
[[ 9.53820136e-01 -1.64095907e-01 -2.51594280e-01  1.53731639e+02]
 [ 1.63631753e-01  9.86255326e-01 -2.29146752e-02  1.31478765e+01]
 [ 2.51896403e-01 -1.93123345e-02  9.67561489e-01  3.98346010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.420714057 meters
Centerline goodness : 0.998644 with order 1
Centerline is valid?  [True, True]
Translation: X:153.79, Y:13.15, Z:39.85
[[ 9.54214712e-01 -1.61785787e-01 -2.51594201e-01  1.53789124e+02]
 [ 1.61242865e-01  9.86648679e-01 -2.29155486e-02  1.31530451e+01]
 [ 2.51942496e-01 -1.87014161e-02  9.67561489e-01  3.98514378e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.480714057 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:153.85, Y:13.16, Z:39.87
[[ 9.54115824e-01 -1.62368593e-01 -2.51593789e-01  1.53847721e+02]
 [ 1.61844296e-01  9.86550097e-01 -2.29200729e-02  1.31574105e+01]
 [ 2.51931377e-01 -1.88506153e-02  9.67561489e-01  3.98660783e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.540714057 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:153.91, Y:13.16, Z:39.88
[[ 9.54065796e-01 -1.62662294e-01 -2.51593789e-01  1.53906576e+02]
 [ 1.62147981e-01  9.86500229e-01 -2.29200729e-02  1.31606604e+01]
 [ 2.51925562e-01 -1.89281673e-02  9.67561489e-01  3.98809847e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.600714057 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:153.96, Y:13.16, Z:39.89
[[ 9.53647324e-01 -1.65097994e-01 -2.51593789e-01  1.53964317e+02]
 [ 1.64666504e-01  9.86082964e-01 -2.29200729e-02  1.31638071e+01]
 [ 2.51876407e-01 -1.95714035e-02  9.67561489e-01  3.98942286e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.660714057 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:154.02, Y:13.17, Z:39.91
[[ 9.53340288e-01 -1.66862415e-01 -2.51593382e-01  1.54022346e+02]
 [ 1.66489777e-01  9.85776658e-01 -2.29245389e-02  1.31673914e+01]
 [ 2.51840127e-01 -2.00328394e-02  9.67561489e-01  3.99093967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.720714057 meters
Centerline goodness : 0.998753 with order 1
Centerline is valid?  [True, True]
Translation: X:154.08, Y:13.17, Z:39.93
[[ 9.53254149e-01 -1.67354197e-01 -2.51593125e-01  1.54080237e+02]
 [ 1.66997551e-01  9.85690699e-01 -2.29273620e-02  1.31713067e+01]
 [ 2.51829993e-01 -2.01598327e-02  9.67561489e-01  3.99253891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.780714057 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:154.14, Y:13.18, Z:39.94
[[ 9.53543900e-01 -1.65696155e-01 -2.51592557e-01  1.54136730e+02]
 [ 1.65281467e-01  9.85979760e-01 -2.29335874e-02  1.31758771e+01]
 [ 2.51865176e-01 -1.97154046e-02  9.67561489e-01  3.99402262e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.840714057 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:154.19, Y:13.18, Z:39.96
[[ 9.54215721e-01 -1.61784022e-01 -2.51591512e-01  1.54193252e+02]
 [ 1.61233305e-01  9.86649556e-01 -2.29450487e-02  1.31820573e+01]
 [ 2.51944796e-01 -1.86704048e-02  9.67561489e-01  3.99551854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.90071405700002 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:154.25, Y:13.19, Z:39.97
[[ 9.54971199e-01 -1.57264591e-01 -2.51590654e-01  1.54251429e+02]
 [ 1.56557860e-01  9.87402010e-01 -2.29544505e-02  1.31886690e+01]
 [ 2.52031040e-01 -1.74676554e-02  9.67561490e-01  3.99705253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.96071405700002 meters
Centerline goodness : 0.999027 with order 1
Centerline is valid?  [True, True]
Translation: X:154.31, Y:13.19, Z:39.99
[[ 9.55438305e-01 -1.54401491e-01 -2.51590590e-01  1.54307326e+02]
 [ 1.53597373e-01  9.87866847e-01 -2.29551528e-02  1.31942732e+01]
 [ 2.52082313e-01 -1.67114215e-02  9.67561490e-01  3.99864680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.020714057 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:154.36, Y:13.20, Z:40.00
[[ 9.55482486e-01 -1.54129402e-01 -2.51589639e-01  1.54363857e+02]
 [ 1.53313319e-01  9.87910729e-01 -2.29655680e-02  1.31992217e+01]
 [ 2.52087773e-01 -1.66288446e-02  9.67561490e-01  4.00019674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.080714057 meters
Centerline goodness : 0.999071 with order 1
Centerline is valid?  [True, True]
Translation: X:154.42, Y:13.20, Z:40.02
[[ 9.55941957e-01 -1.51262256e-01 -2.51584390e-01  1.54421981e+02]
 [ 1.50333853e-01  9.88367177e-01 -2.30229376e-02  1.32045980e+01]
 [ 2.52140255e-01 -1.58130587e-02  9.67561491e-01  4.00203727e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.140714057 meters
Centerline goodness : 0.999073 with order 1
Centerline is valid?  [True, True]
Translation: X:154.48, Y:13.21, Z:40.03
[[ 9.56642403e-01 -1.46766457e-01 -2.51584816e-01  1.54479638e+02]
 [ 1.45686846e-01  9.89062941e-01 -2.30182800e-02  1.32091204e+01]
 [ 2.52211529e-01 -1.46323356e-02  9.67561491e-01  4.00339029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.200714057 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:154.54, Y:13.21, Z:40.05
[[ 9.56914647e-01 -1.44981505e-01 -2.51584421e-01  1.54538087e+02]
 [ 1.43840281e-01  9.89333075e-01 -2.30225960e-02  1.32142855e+01]
 [ 2.52238639e-01 -1.41573145e-02  9.67561491e-01  4.00510467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.260714057 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:154.60, Y:13.22, Z:40.07
[[ 9.56977046e-01 -1.44567565e-01 -2.51585278e-01  1.54595836e+02]
 [ 1.43414773e-01  9.89395065e-01 -2.30132287e-02  1.32196671e+01]
 [ 2.52244199e-01 -1.40579138e-02  9.67561491e-01  4.00655530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.320714057 meters
Centerline goodness : 0.998914 with order 1
Centerline is valid?  [True, True]
Translation: X:154.65, Y:13.22, Z:40.08
[[ 9.56836320e-01 -1.45496798e-01 -2.51584855e-01  1.54654294e+02]
 [ 1.44374276e-01  9.89255400e-01 -2.30178460e-02  1.32231353e+01]
 [ 2.52230700e-01 -1.42980704e-02  9.67561491e-01  4.00800970e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.380714057 meters
Centerline goodness : 0.999072 with order 1
Centerline is valid?  [True, True]
Translation: X:154.71, Y:13.23, Z:40.10
[[ 9.56441234e-01 -1.48072393e-01 -2.51584442e-01  1.54712466e+02]
 [ 1.47035975e-01  9.88863182e-01 -2.30223657e-02  1.32274439e+01]
 [ 2.52191568e-01 -1.49724237e-02  9.67561491e-01  4.00972133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.440714057 meters
Centerline goodness : 0.998892 with order 1
Centerline is valid?  [True, True]
Translation: X:154.77, Y:13.23, Z:40.11
[[ 9.56126245e-01 -1.50092881e-01 -2.51584442e-01  1.54770596e+02]
 [ 1.49124967e-01  9.88550310e-01 -2.30223657e-02  1.32311034e+01]
 [ 2.52159371e-01 -1.55052337e-02  9.67561491e-01  4.01117539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.500714057 meters
Centerline goodness : 0.998920 with order 1
Centerline is valid?  [True, True]
Translation: X:154.83, Y:13.23, Z:40.12
[[ 9.55723647e-01 -1.52635601e-01 -2.51584348e-01  1.54828082e+02]
 [ 1.51753669e-01  9.88150164e-01 -2.30233876e-02  1.32344396e+01]
 [ 2.52117304e-01 -1.61748520e-02  9.67561491e-01  4.01240954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.560714057 meters
Centerline goodness : 0.998968 with order 1
Centerline is valid?  [True, True]
Translation: X:154.88, Y:13.24, Z:40.14
[[ 9.55462549e-01 -1.54263621e-01 -2.51583093e-01  1.54884957e+02]
 [ 1.53433342e-01  9.87890430e-01 -2.30370921e-02  1.32376308e+01]
 [ 2.52090316e-01 -1.65901562e-02  9.67561491e-01  4.01398893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.62071405700001 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:154.94, Y:13.24, Z:40.16
[[ 9.55102652e-01 -1.56478362e-01 -2.51581888e-01  1.54942039e+02]
 [ 1.55719818e-01  9.87532290e-01 -2.30502477e-02  1.32410632e+01]
 [ 2.52052103e-01 -1.71609330e-02  9.67561491e-01  4.01583261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.68071405700002 meters
Centerline goodness : 0.998945 with order 1
Centerline is valid?  [True, True]
Translation: X:155.00, Y:13.24, Z:40.17
[[ 9.54782267e-01 -1.58422181e-01 -2.51581468e-01  1.54998905e+02]
 [ 1.57728448e-01  9.87213357e-01 -2.30548282e-02  1.32448065e+01]
 [ 2.52016982e-01 -1.76692135e-02  9.67561491e-01  4.01738257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.740714057 meters
Centerline goodness : 0.998902 with order 1
Centerline is valid?  [True, True]
Translation: X:155.06, Y:13.25, Z:40.19
[[ 9.54389678e-01 -1.60772301e-01 -2.51580225e-01  1.55056908e+02]
 [ 1.60154858e-01  9.86822310e-01 -2.30683856e-02  1.32483619e+01]
 [ 2.51973736e-01 -1.82755662e-02  9.67561492e-01  4.01888504e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.800714057 meters
Centerline goodness : 0.999234 with order 1
Centerline is valid?  [True, True]
Translation: X:155.11, Y:13.25, Z:40.20
[[ 9.54256716e-01 -1.61559707e-01 -2.51580169e-01  1.55114531e+02]
 [ 1.60968863e-01  9.86689843e-01 -2.30690026e-02  1.32522959e+01]
 [ 2.51958618e-01 -1.84828230e-02  9.67561492e-01  4.02012565e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.860714057 meters
Centerline goodness : 0.998965 with order 1
Centerline is valid?  [True, True]
Translation: X:155.17, Y:13.26, Z:40.22
[[ 9.54172821e-01 -1.62052813e-01 -2.51581226e-01  1.55172541e+02]
 [ 1.61481756e-01  9.86606302e-01 -2.30574611e-02  1.32577427e+01]
 [ 2.51948150e-01 -1.86249754e-02  9.67561492e-01  4.02184400e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.920714057 meters
Centerline goodness : 0.999214 with order 1
Centerline is valid?  [True, True]
Translation: X:155.23, Y:13.26, Z:40.23
[[ 9.53903786e-01 -1.63628349e-01 -2.51581657e-01  1.55230679e+02]
 [ 1.63112087e-01  9.86338186e-01 -2.30527593e-02  1.32631978e+01]
 [ 2.51916680e-01 -1.90458948e-02  9.67561492e-01  4.02324031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.980714057 meters
Centerline goodness : 0.999125 with order 1
Centerline is valid?  [True, True]
Translation: X:155.29, Y:13.27, Z:40.25
[[ 9.53649249e-01 -1.65105359e-01 -2.51581657e-01  1.55288693e+02]
 [ 1.64639326e-01  9.86084410e-01 -2.30527593e-02  1.32682856e+01]
 [ 2.51886884e-01 -1.94359878e-02  9.67561492e-01  4.02474843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.040714057 meters
Centerline goodness : 0.998921 with order 1
Centerline is valid?  [True, True]
Translation: X:155.35, Y:13.27, Z:40.26
[[ 9.53223127e-01 -1.67548023e-01 -2.51581657e-01  1.55346038e+02]
 [ 1.67165088e-01  9.85659375e-01 -2.30527593e-02  1.32729650e+01]
 [ 2.51836263e-01 -2.00812466e-02  9.67561492e-01  4.02624584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.100714057 meters
Centerline goodness : 0.999393 with order 1
Centerline is valid?  [True, True]
Translation: X:155.40, Y:13.28, Z:40.28
[[ 9.53021433e-01 -1.68692232e-01 -2.51581158e-01  1.55403645e+02]
 [ 1.68346807e-01  9.85458102e-01 -2.30582112e-02  1.32779778e+01]
 [ 2.51812431e-01 -2.03779150e-02  9.67561492e-01  4.02765685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.160714057 meters
Centerline goodness : 0.999283 with order 1
Centerline is valid?  [True, True]
Translation: X:155.46, Y:13.28, Z:40.29
[[ 9.52904845e-01 -1.69350168e-01 -2.51580754e-01  1.55460973e+02]
 [ 1.69025985e-01  9.85341734e-01 -2.30626100e-02  1.32834362e+01]
 [ 2.51798674e-01 -2.05472119e-02  9.67561492e-01  4.02943325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.220714057 meters
Centerline goodness : 0.999038 with order 1
Centerline is valid?  [True, True]
Translation: X:155.52, Y:13.29, Z:40.31
[[ 9.53483839e-01 -1.66059926e-01 -2.51580344e-01  1.55518768e+02]
 [ 1.65622607e-01  9.85919399e-01 -2.30670798e-02  1.32905112e+01]
 [ 2.51868460e-01 -1.96733046e-02  9.67561492e-01  4.03104993e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.280714057 meters
Centerline goodness : 0.999327 with order 1
Centerline is valid?  [True, True]
Translation: X:155.58, Y:13.30, Z:40.33
[[ 9.54087736e-01 -1.62554258e-01 -2.51580416e-01  1.55576958e+02]
 [ 1.61997929e-01  9.86521473e-01 -2.30662999e-02  1.32972939e+01]
 [ 2.51939008e-01 -1.87482325e-02  9.67561492e-01  4.03267687e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.340714057 meters
Centerline goodness : 0.999282 with order 1
Centerline is valid?  [True, True]
Translation: X:155.64, Y:13.31, Z:40.34
[[ 9.55364035e-01 -1.54876938e-01 -2.51580396e-01  1.55635114e+02]
 [ 1.54059761e-01  9.87792248e-01 -2.30665173e-02  1.33056269e+01]
 [ 2.52081637e-01 -1.67214948e-02  9.67561492e-01  4.03434713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.40071405700002 meters
Centerline goodness : 0.998802 with order 1
Centerline is valid?  [True, True]
Translation: X:155.69, Y:13.32, Z:40.36
[[ 9.56931709e-01 -1.44875759e-01 -2.51580443e-01  1.55693267e+02]
 [ 1.43719576e-01  9.89349606e-01 -2.30660047e-02  1.33154562e+01]
 [ 2.52242717e-01 -1.40844433e-02  9.67561492e-01  4.03591523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.46071405700002 meters
Centerline goodness : 0.998934 with order 1
Centerline is valid?  [True, True]
Translation: X:155.75, Y:13.32, Z:40.38
[[ 9.58293596e-01 -1.35575602e-01 -2.51580285e-01  1.55751477e+02]
 [ 1.34104193e-01  9.90698716e-01 -2.30677294e-02  1.33247250e+01]
 [ 2.52367686e-01 -1.16323137e-02  9.67561492e-01  4.03756098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.520714057 meters
Centerline goodness : 0.998818 with order 1
Centerline is valid?  [True, True]
Translation: X:155.81, Y:13.33, Z:40.39
[[ 9.58818951e-01 -1.31808865e-01 -2.51580289e-01  1.55809324e+02]
 [ 1.30210139e-01  9.91218039e-01 -2.30676893e-02  1.33321481e+01]
 [ 2.52411446e-01 -1.06405668e-02  9.67561492e-01  4.03913437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.580714057 meters
Centerline goodness : 0.998849 with order 1
Centerline is valid?  [True, True]
Translation: X:155.87, Y:13.34, Z:40.41
[[ 9.58645942e-01 -1.33061326e-01 -2.51580289e-01  1.55867352e+02]
 [ 1.31504927e-01  9.91047091e-01 -2.30676893e-02  1.33369066e+01]
 [ 2.52397330e-01 -1.09703007e-02  9.67561492e-01  4.04075051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.640714057 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:155.93, Y:13.34, Z:40.42
[[ 9.57932690e-01 -1.38102567e-01 -2.51580289e-01  1.55925395e+02]
 [ 1.36716640e-01  9.90341579e-01 -2.30676893e-02  1.33402986e+01]
 [ 2.52336127e-01 -1.22979180e-02  9.67561492e-01  4.04230755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.700714057 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:155.98, Y:13.34, Z:40.44
[[ 9.57156198e-01 -1.43386142e-01 -2.51579862e-01  1.55983061e+02]
 [ 1.42177844e-01  9.89572194e-01 -2.30723361e-02  1.33438563e+01]
 [ 2.52264690e-01 -1.36852528e-02  9.67561492e-01  4.04382066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.760714057 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:156.04, Y:13.35, Z:40.45
[[ 9.56394545e-01 -1.48381496e-01 -2.51579819e-01  1.56041180e+02]
 [ 1.47342332e-01  9.88816405e-01 -2.30728153e-02  1.33466753e+01]
 [ 2.52189830e-01 -1.50016425e-02  9.67561492e-01  4.04523078e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.820714057 meters
Centerline goodness : 0.998921 with order 1
Centerline is valid?  [True, True]
Translation: X:156.10, Y:13.35, Z:40.47
[[ 9.55634474e-01 -1.53201059e-01 -2.51579385e-01  1.56098752e+02]
 [ 1.52324117e-01  9.88061127e-01 -2.30775385e-02  1.33507139e+01]
 [ 2.52111314e-01 -1.62679163e-02  9.67561492e-01  4.04662501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.880714057 meters
Centerline goodness : 0.998874 with order 1
Centerline is valid?  [True, True]
Translation: X:156.16, Y:13.36, Z:40.48
[[ 9.55091660e-01 -1.56549424e-01 -2.51579408e-01  1.56156171e+02]
 [ 1.55786202e-01  9.87521189e-01 -2.30772899e-02  1.33567924e+01]
 [ 2.52052732e-01 -1.71516734e-02  9.67561492e-01  4.04833710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.940714057 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:156.21, Y:13.36, Z:40.50
[[ 9.55024201e-01 -1.56960688e-01 -2.51579246e-01  1.56214431e+02]
 [ 1.56210968e-01  9.87454045e-01 -2.30790568e-02  1.33617093e+01]
 [ 2.52045449e-01 -1.72583797e-02  9.67561492e-01  4.04996148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.000714057 meters
Centerline goodness : 0.999175 with order 1
Centerline is valid?  [True, True]
Translation: X:156.27, Y:13.37, Z:40.51
[[ 9.55033421e-01 -1.56904177e-01 -2.51579500e-01  1.56272243e+02]
 [ 1.56153263e-01  9.87463236e-01 -2.30762917e-02  1.33666958e+01]
 [ 2.52046273e-01 -1.72463299e-02  9.67561492e-01  4.05141136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.060714057 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:156.33, Y:13.37, Z:40.53
[[ 9.55061392e-01 -1.56731017e-01 -2.51581253e-01  1.56330778e+02]
 [ 1.55979238e-01  9.87491187e-01 -2.30571604e-02  1.33725234e+01]
 [ 2.52048042e-01 -1.72204485e-02  9.67561492e-01  4.05279239e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.12071405700001 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:156.39, Y:13.38, Z:40.54
[[ 9.55464464e-01 -1.54254762e-01 -2.51581253e-01  1.56388834e+02]
 [ 1.53418921e-01  9.87892202e-01 -2.30571604e-02  1.33773761e+01]
 [ 2.52091835e-01 -1.65670271e-02  9.67561492e-01  4.05424435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.18071405700002 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:156.45, Y:13.38, Z:40.56
[[ 9.56324415e-01 -1.48831096e-01 -2.51580840e-01  1.56447752e+02]
 [ 1.47810097e-01  9.88746851e-01 -2.30616646e-02  1.33836171e+01]
 [ 2.52182056e-01 -1.51317554e-02  9.67561492e-01  4.05556359e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.240714057 meters
Centerline goodness : 0.999345 with order 1
Centerline is valid?  [True, True]
Translation: X:156.51, Y:13.39, Z:40.57
[[ 9.57216921e-01 -1.42978823e-01 -2.51580647e-01  1.56506567e+02]
 [ 1.41758975e-01  9.89632485e-01 -2.30637723e-02  1.33913554e+01]
 [ 2.52270012e-01 -1.35867814e-02  9.67561492e-01  4.05695726e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.300714057 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:156.56, Y:13.40, Z:40.58
[[ 9.57778444e-01 -1.39167894e-01 -2.51580504e-01  1.56564968e+02]
 [ 1.37818630e-01  9.90188879e-01 -2.30653321e-02  1.33982432e+01]
 [ 2.52322171e-01 -1.25810025e-02  9.67561492e-01  4.05844034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.360714057 meters
Centerline goodness : 0.999321 with order 1
Centerline is valid?  [True, True]
Translation: X:156.62, Y:13.40, Z:40.60
[[ 9.57685098e-01 -1.39809114e-01 -2.51580335e-01  1.56621454e+02]
 [ 1.38481068e-01  9.90096409e-01 -2.30671706e-02  1.34042761e+01]
 [ 2.52313787e-01 -1.27480281e-02  9.67561492e-01  4.06008655e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.420714057 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:156.68, Y:13.41, Z:40.62
[[ 9.57294667e-01 -1.42467791e-01 -2.51574737e-01  1.56678699e+02]
 [ 1.41213788e-01  9.89708926e-01 -2.31280697e-02  1.34090932e+01]
 [ 2.52280768e-01 -1.33854439e-02  9.67561494e-01  4.06173233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.480714057 meters
Centerline goodness : 0.999685 with order 1
Centerline is valid?  [True, True]
Translation: X:156.74, Y:13.41, Z:40.63
[[ 9.56880476e-01 -1.45223587e-01 -2.51574768e-01  1.56735473e+02]
 [ 1.44063009e-01  9.89298215e-01 -2.31277358e-02  1.34133391e+01]
 [ 2.52241161e-01 -1.41121391e-02  9.67561494e-01  4.06326855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.540714057 meters
Centerline goodness : 0.999258 with order 1
Centerline is valid?  [True, True]
Translation: X:156.79, Y:13.42, Z:40.65
[[ 9.56168761e-01 -1.49847214e-01 -2.51569302e-01  1.56792166e+02]
 [ 1.48827803e-01  9.88591243e-01 -2.31870417e-02  1.34175299e+01]
 [ 2.52173723e-01 -1.52697817e-02  9.67561495e-01  4.06480609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.600714057 meters
Centerline goodness : 0.999594 with order 1
Centerline is valid?  [True, True]
Translation: X:156.85, Y:13.42, Z:40.66
[[ 9.55836059e-01 -1.51955290e-01 -2.51569111e-01  1.56849851e+02]
 [ 1.51006831e-01  9.88260695e-01 -2.31891199e-02  1.34226816e+01]
 [ 2.52139573e-01 -1.58236572e-02  9.67561495e-01  4.06635359e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.660714057 meters
Centerline goodness : 0.999323 with order 1
Centerline is valid?  [True, True]
Translation: X:156.91, Y:13.43, Z:40.68
[[ 9.55741624e-01 -1.52548088e-01 -2.51569132e-01  1.56907428e+02]
 [ 1.51619802e-01  9.88166844e-01 -2.31888815e-02  1.34285745e+01]
 [ 2.52129695e-01 -1.59802828e-02  9.67561495e-01  4.06781568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.720714057 meters
Centerline goodness : 0.999685 with order 1
Centerline is valid?  [True, True]
Translation: X:156.96, Y:13.43, Z:40.69
[[ 9.55593268e-01 -1.53475913e-01 -2.51568382e-01  1.56964798e+02]
 [ 1.52576973e-01  9.88019314e-01 -2.31970253e-02  1.34348156e+01]
 [ 2.52114604e-01 -1.62166211e-02  9.67561495e-01  4.06905436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.780714057 meters
Centerline goodness : 0.999683 with order 1
Centerline is valid?  [True, True]
Translation: X:157.02, Y:13.44, Z:40.71
[[ 9.55397976e-01 -1.54695466e-01 -2.51563155e-01  1.57021216e+02]
 [ 1.53823088e-01  9.87824746e-01 -2.32535729e-02  1.34411332e+01]
 [ 2.52097532e-01 -1.64798049e-02  9.67561497e-01  4.07055533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.840714057 meters
Centerline goodness : 0.999751 with order 1
Centerline is valid?  [True, True]
Translation: X:157.08, Y:13.45, Z:40.72
[[ 9.54937346e-01 -1.57522876e-01 -2.51557565e-01  1.57079476e+02]
 [ 1.56730674e-01  9.87366172e-01 -2.33138899e-02  1.34465971e+01]
 [ 2.52051901e-01 -1.71634826e-02  9.67561499e-01  4.07203880e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.90071405700002 meters
Centerline goodness : 0.999864 with order 1
Centerline is valid?  [True, True]
Translation: X:157.14, Y:13.46, Z:40.73
[[ 9.54299735e-01 -1.61340834e-01 -2.51557450e-01  1.57136829e+02]
 [ 1.60678008e-01  9.86731464e-01 -2.33151367e-02  1.34551879e+01]
 [ 2.51981334e-01 -1.81701213e-02  9.67561499e-01  4.07339136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.96071405700002 meters
Centerline goodness : 0.999661 with order 1
Centerline is valid?  [True, True]
Translation: X:157.19, Y:13.46, Z:40.75
[[ 9.53754731e-01 -1.64532234e-01 -2.51557266e-01  1.57194880e+02]
 [ 1.63977382e-01  9.86188486e-01 -2.33171197e-02  1.34622437e+01]
 [ 2.51919297e-01 -1.90108887e-02  9.67561499e-01  4.07506391e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.020714057 meters
Centerline goodness : 0.999547 with order 1
Centerline is valid?  [True, True]
Translation: X:157.25, Y:13.47, Z:40.77
[[ 9.53370029e-01 -1.66746272e-01 -2.51557685e-01  1.57252361e+02]
 [ 1.66267913e-01  9.85805003e-01 -2.33126017e-02  1.34702427e+01]
 [ 2.51874113e-01 -1.96004354e-02  9.67561499e-01  4.07672419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.080714057 meters
Centerline goodness : 0.999590 with order 1
Centerline is valid?  [True, True]
Translation: X:157.31, Y:13.48, Z:40.78
[[ 9.53252282e-01 -1.67417659e-01 -2.51557976e-01  1.57310397e+02]
 [ 1.66962967e-01  9.85687596e-01 -2.33094578e-02  1.34802879e+01]
 [ 2.51859991e-01 -1.97810723e-02  9.67561499e-01  4.07809936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.140714057 meters
Centerline goodness : 0.999680 with order 1
Centerline is valid?  [True, True]
Translation: X:157.37, Y:13.49, Z:40.80
[[ 9.53331784e-01 -1.66963720e-01 -2.51558395e-01  1.57367936e+02]
 [ 1.66494769e-01  9.85766895e-01 -2.33049376e-02  1.34883943e+01]
 [ 2.51869017e-01 -1.96658191e-02  9.67561499e-01  4.07971549e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.200714057 meters
Centerline goodness : 0.999589 with order 1
Centerline is valid?  [True, True]
Translation: X:157.43, Y:13.50, Z:40.81
[[ 9.53692776e-01 -1.64889057e-01 -2.51558518e-01  1.57426185e+02]
 [ 1.64349884e-01  9.86126796e-01 -2.33036072e-02  1.34988090e+01]
 [ 2.51911105e-01 -1.91191313e-02  9.67561499e-01  4.08113307e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.260714057 meters
Centerline goodness : 0.999564 with order 1
Centerline is valid?  [True, True]
Translation: X:157.48, Y:13.51, Z:40.83
[[ 9.54063701e-01 -1.62727786e-01 -2.51559381e-01  1.57483528e+02]
 [ 1.62117571e-01  9.86496462e-01 -2.32942840e-02  1.35079782e+01]
 [ 2.51953067e-01 -1.85579650e-02  9.67561499e-01  4.08279583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.320714057 meters
Centerline goodness : 0.999655 with order 1
Centerline is valid?  [True, True]
Translation: X:157.54, Y:13.52, Z:40.84
[[ 9.54768629e-01 -1.58539451e-01 -2.51559351e-01  1.57542062e+02]
 [ 1.57786828e-01  9.87198398e-01 -2.32946157e-02  1.35165380e+01]
 [ 2.52032104e-01 -1.74517836e-02  9.67561499e-01  4.08437959e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.380714057 meters
Centerline goodness : 0.999585 with order 1
Centerline is valid?  [True, True]
Translation: X:157.60, Y:13.52, Z:40.86
[[ 9.56333279e-01 -1.48808936e-01 -2.51560252e-01  1.57599934e+02]
 [ 1.47728678e-01  9.88753788e-01 -2.32848729e-02  1.35241126e+01]
 [ 2.52196150e-01 -1.48945647e-02  9.67561499e-01  4.08594310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.440714057 meters
Centerline goodness : 0.999838 with order 1
Centerline is valid?  [True, True]
Translation: X:157.66, Y:13.53, Z:40.87
[[ 9.58086243e-01 -1.37070016e-01 -2.51560255e-01  1.57656995e+02]
 [ 1.35592265e-01  9.90491067e-01 -2.32848495e-02  1.35323126e+01]
 [ 2.52359840e-01 -1.18007307e-02  9.67561499e-01  4.08737592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.500714057 meters
Centerline goodness : 0.999630 with order 1
Centerline is valid?  [True, True]
Translation: X:157.72, Y:13.54, Z:40.89
[[ 9.58521949e-01 -1.33990149e-01 -2.51559760e-01  1.57716100e+02]
 [ 1.32406863e-01  9.90921788e-01 -2.32901863e-02  1.35374098e+01]
 [ 2.52396703e-01 -1.09840839e-02  9.67561499e-01  4.08871965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.560714057 meters
Centerline goodness : 0.999700 with order 1
Centerline is valid?  [True, True]
Translation: X:157.77, Y:13.54, Z:40.90
[[ 9.59099421e-01 -1.29791308e-01 -2.51560167e-01  1.57773612e+02]
 [ 1.28067303e-01  9.91492076e-01 -2.32857907e-02  1.35442837e+01]
 [ 2.52442206e-01 -9.88324387e-03  9.67561499e-01  4.09031269e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.62071405700001 meters
Centerline goodness : 0.999400 with order 1
Centerline is valid?  [True, True]
Translation: X:157.83, Y:13.55, Z:40.92
[[ 9.58891444e-01 -1.31319160e-01 -2.51560087e-01  1.57830408e+02]
 [ 1.29646536e-01  9.91286794e-01 -2.32866643e-02  1.35500245e+01]
 [ 2.52426177e-01 -1.02845106e-02  9.67561499e-01  4.09198208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.68071405700002 meters
Centerline goodness : 0.999585 with order 1
Centerline is valid?  [True, True]
Translation: X:157.89, Y:13.55, Z:40.94
[[ 9.58155823e-01 -1.36584646e-01 -2.51559244e-01  1.57888271e+02]
 [ 1.35087622e-01  9.90559762e-01 -2.32957577e-02  1.35518693e+01]
 [ 2.52366308e-01 -1.16615743e-02  9.67561499e-01  4.09366470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.740714057 meters
Centerline goodness : 0.999244 with order 1
Centerline is valid?  [True, True]
Translation: X:157.95, Y:13.55, Z:40.95
[[ 9.57014378e-01 -1.44365410e-01 -2.51559354e-01  1.57946986e+02]
 [ 1.43132036e-01  9.89429423e-01 -2.32945725e-02  1.35532771e+01]
 [ 2.52263157e-01 -1.37129618e-02  9.67561499e-01  4.09522038e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.800714057 meters
Centerline goodness : 0.999566 with order 1
Centerline is valid?  [True, True]
Translation: X:158.01, Y:13.55, Z:40.97
[[ 9.55972752e-01 -1.51109073e-01 -2.51559426e-01  1.58006257e+02]
 [ 1.50104470e-01  9.88395694e-01 -2.32937971e-02  1.35540301e+01]
 [ 2.52160157e-01 -1.54919589e-02  9.67561499e-01  4.09657929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.860714057 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:158.06, Y:13.56, Z:40.98
[[ 9.55600468e-01 -1.53445924e-01 -2.51559326e-01  1.58064457e+02]
 [ 1.52520312e-01  9.88025760e-01 -2.32948795e-02  1.35562909e+01]
 [ 2.52121598e-01 -1.61073090e-02  9.67561499e-01  4.09800312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.920714057 meters
Centerline goodness : 0.999681 with order 1
Centerline is valid?  [True, True]
Translation: X:158.12, Y:13.56, Z:41.00
[[ 9.55326143e-01 -1.55144165e-01 -2.51559632e-01  1.58122724e+02]
 [ 1.54277055e-01  9.87753053e-01 -2.32915678e-02  1.35585658e+01]
 [ 2.52092346e-01 -1.65588358e-02  9.67561499e-01  4.09961637e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.980714057 meters
Centerline goodness : 0.999273 with order 1
Centerline is valid?  [True, True]
Translation: X:158.18, Y:13.56, Z:41.01
[[ 9.55484468e-01 -1.54166088e-01 -2.51559632e-01  1.58181270e+02]
 [ 1.53265782e-01  9.87910473e-01 -2.32915678e-02  1.35605054e+01]
 [ 2.52109165e-01 -1.63007526e-02  9.67561499e-01  4.10115924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.040714057 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:158.24, Y:13.56, Z:41.03
[[ 9.55795100e-01 -1.52228514e-01 -2.51559547e-01  1.58238020e+02]
 [ 1.51262224e-01  9.88219206e-01 -2.32924931e-02  1.35631934e+01]
 [ 2.52141757e-01 -1.57886056e-02  9.67561499e-01  4.10257778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.100714057 meters
Centerline goodness : 0.999276 with order 1
Centerline is valid?  [True, True]
Translation: X:158.30, Y:13.57, Z:41.04
[[ 9.56352226e-01 -1.48690358e-01 -2.51558336e-01  1.58296084e+02]
 [ 1.47600656e-01  9.88772419e-01 -2.33055646e-02  1.35654110e+01]
 [ 2.52199257e-01 -1.48418469e-02  9.67561499e-01  4.10403834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.160714057 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:158.35, Y:13.57, Z:41.06
[[ 9.56965881e-01 -1.44689691e-01 -2.51557541e-01  1.58354904e+02]
 [ 1.43462174e-01  9.89381148e-01 -2.33141355e-02  1.35676445e+01]
 [ 2.52259604e-01 -1.37781596e-02  9.67561499e-01  4.10554227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.220714057 meters
Centerline goodness : 0.999302 with order 1
Centerline is valid?  [True, True]
Translation: X:158.41, Y:13.57, Z:41.07
[[ 9.57034899e-01 -1.44231798e-01 -2.51557926e-01  1.58413823e+02]
 [ 1.42989858e-01  9.89449617e-01 -2.33099891e-02  1.35705604e+01]
 [ 2.52265935e-01 -1.36617591e-02  9.67561499e-01  4.10694707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.280714057 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:158.47, Y:13.57, Z:41.08
[[ 9.56810090e-01 -1.45715690e-01 -2.51557926e-01  1.58472986e+02]
 [ 1.44524018e-01  9.89226694e-01 -2.33099891e-02  1.35714666e+01]
 [ 2.52244446e-01 -1.40529293e-02  9.67561499e-01  4.10824467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.340714057 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:158.53, Y:13.57, Z:41.10
[[ 9.56516506e-01 -1.47631308e-01 -2.51557490e-01  1.58530285e+02]
 [ 1.46503316e-01  9.88935389e-01 -2.33146893e-02  1.35723111e+01]
 [ 2.52216082e-01 -1.45531213e-02  9.67561499e-01  4.10963860e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.40071405700002 meters
Centerline goodness : 0.999528 with order 1
Centerline is valid?  [True, True]
Translation: X:158.59, Y:13.57, Z:41.11
[[ 9.56597378e-01 -1.47108585e-01 -2.51556199e-01  1.58587574e+02]
 [ 1.45959229e-01  9.89015510e-01 -2.33286094e-02  1.35748627e+01]
 [ 2.52224821e-01 -1.44008624e-02  9.67561499e-01  4.11139024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.46071405700002 meters
Centerline goodness : 0.999126 with order 1
Centerline is valid?  [True, True]
Translation: X:158.64, Y:13.58, Z:41.13
[[ 9.56916888e-01 -1.45016181e-01 -2.51555911e-01  1.58643977e+02]
 [ 1.43795116e-01  9.89332399e-01 -2.33317166e-02  1.35777125e+01]
 [ 2.52255889e-01 -1.38459976e-02  9.67561499e-01  4.11318678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.520714057 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:158.70, Y:13.58, Z:41.15
[[ 9.57186751e-01 -1.43226325e-01 -2.51554652e-01  1.58701337e+02]
 [ 1.41941085e-01  9.89599781e-01 -2.33452795e-02  1.35806605e+01]
 [ 2.52282087e-01 -1.33601481e-02  9.67561499e-01  4.11488265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.580714057 meters
Centerline goodness : 0.999169 with order 1
Centerline is valid?  [True, True]
Translation: X:158.76, Y:13.58, Z:41.16
[[ 9.57079035e-01 -1.43945425e-01 -2.51554041e-01  1.58759895e+02]
 [ 1.42682811e-01  9.89492954e-01 -2.33518672e-02  1.35835535e+01]
 [ 2.52272345e-01 -1.35428552e-02  9.67561499e-01  4.11637436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.640714057 meters
Centerline goodness : 0.999192 with order 1
Centerline is valid?  [True, True]
Translation: X:158.82, Y:13.58, Z:41.18
[[ 9.56570541e-01 -1.47286675e-01 -2.51554041e-01  1.58819559e+02]
 [ 1.46137259e-01  9.88988671e-01 -2.33518672e-02  1.35840258e+01]
 [ 2.52223515e-01 -1.44237097e-02  9.67561499e-01  4.11759739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.700714057 meters
Centerline goodness : 0.999283 with order 1
Centerline is valid?  [True, True]
Translation: X:158.88, Y:13.59, Z:41.19
[[ 9.55971826e-01 -1.51123971e-01 -2.51553998e-01  1.58877315e+02]
 [ 1.50104531e-01  9.88394303e-01 -2.33523219e-02  1.35863012e+01]
 [ 2.52163635e-01 -1.54352331e-02  9.67561499e-01  4.11878650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.760714057 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:158.93, Y:13.59, Z:41.20
[[ 9.55632210e-01 -1.53258198e-01 -2.51553181e-01  1.58934775e+02]
 [ 1.52308850e-01  9.88056816e-01 -2.33611209e-02  1.35906158e+01]
 [ 2.52129119e-01 -1.59891361e-02  9.67561499e-01  4.12025857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.820714057 meters
Centerline goodness : 0.999355 with order 1
Centerline is valid?  [True, True]
Translation: X:158.99, Y:13.59, Z:41.22
[[ 9.55072732e-01 -1.56708280e-01 -2.51552366e-01  1.58991891e+02]
 [ 1.55873731e-01  9.87500495e-01 -2.33699017e-02  1.35930967e+01]
 [ 2.52070343e-01 -1.68904498e-02  9.67561499e-01  4.12199929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.880714057 meters
Centerline goodness : 0.999153 with order 1
Centerline is valid?  [True, True]
Translation: X:159.05, Y:13.60, Z:41.24
[[ 9.54692708e-01 -1.59008370e-01 -2.51551530e-01  1.59048298e+02]
 [ 1.58249576e-01  9.87122332e-01 -2.33788950e-02  1.35976104e+01]
 [ 2.52029573e-01 -1.74882622e-02  9.67561499e-01  4.12369404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.940714057 meters
Centerline goodness : 0.999354 with order 1
Centerline is valid?  [True, True]
Translation: X:159.11, Y:13.60, Z:41.25
[[ 9.54051495e-01 -1.62814606e-01 -2.51549496e-01  1.59105363e+02]
 [ 1.62179419e-01  9.86483776e-01 -2.34007627e-02  1.36004710e+01]
 [ 2.51959482e-01 -1.84706184e-02  9.67561500e-01  4.12540314e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.000714057 meters
Centerline goodness : 0.999132 with order 1
Centerline is valid?  [True, True]
Translation: X:159.16, Y:13.60, Z:41.27
[[ 9.53690500e-01 -1.64916631e-01 -2.51549071e-01  1.59163824e+02]
 [ 1.64351719e-01  9.86124081e-01 -2.34053260e-02  1.36046422e+01]
 [ 2.51918524e-01 -1.90210852e-02  9.67561500e-01  4.12689579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.060714057 meters
Centerline goodness : 0.999199 with order 1
Centerline is valid?  [True, True]
Translation: X:159.22, Y:13.61, Z:41.28
[[ 9.53208850e-01 -1.67678125e-01 -2.51549071e-01  1.59222425e+02]
 [ 1.67207153e-01  9.85643931e-01 -2.34053260e-02  1.36096517e+01]
 [ 2.51862376e-01 -1.97506401e-02  9.67561500e-01  4.12828715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.12071405700001 meters
Centerline goodness : 0.999220 with order 1
Centerline is valid?  [True, True]
Translation: X:159.28, Y:13.61, Z:41.30
[[ 9.52906025e-01 -1.69390766e-01 -2.51548953e-01  1.59279683e+02]
 [ 1.68977748e-01  9.85341896e-01 -2.34065948e-02  1.36148569e+01]
 [ 2.51826583e-01 -2.02018902e-02  9.67561500e-01  4.12968767e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.18071405700002 meters
Centerline goodness : 0.999180 with order 1
Centerline is valid?  [True, True]
Translation: X:159.34, Y:13.62, Z:41.31
[[ 9.52749190e-01 -1.70271393e-01 -2.51548474e-01  1.59335794e+02]
 [ 1.69887003e-01  9.85185412e-01 -2.34117416e-02  1.36194565e+01]
 [ 2.51808237e-01 -2.04292984e-02  9.67561500e-01  4.13113713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.240714057 meters
Centerline goodness : 0.999265 with order 1
Centerline is valid?  [True, True]
Translation: X:159.39, Y:13.63, Z:41.33
[[ 9.52739658e-01 -1.70327724e-01 -2.51546437e-01  1.59392314e+02]
 [ 1.69939517e-01  9.85175835e-01 -2.34336111e-02  1.36252480e+01]
 [ 2.51808865e-01 -2.04215492e-02  9.67561500e-01  4.13282921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.300714057 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:159.45, Y:13.63, Z:41.35
[[ 9.53057917e-01 -1.68545932e-01 -2.51541002e-01  1.59449886e+02]
 [ 1.68081809e-01  9.85493095e-01 -2.34918091e-02  1.36298380e+01]
 [ 2.51851369e-01 -1.98904119e-02  9.67561502e-01  4.13459157e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.360714057 meters
Centerline goodness : 0.999332 with order 1
Centerline is valid?  [True, True]
Translation: X:159.51, Y:13.63, Z:41.36
[[ 9.53342922e-01 -1.66926321e-01 -2.51541002e-01  1.59508030e+02]
 [ 1.66407087e-01  9.85777265e-01 -2.34918091e-02  1.36346752e+01]
 [ 2.51884802e-01 -1.94624554e-02  9.67561502e-01  4.13606318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.420714057 meters
Centerline goodness : 0.999465 with order 1
Centerline is valid?  [True, True]
Translation: X:159.57, Y:13.64, Z:41.37
[[ 9.53525759e-01 -1.65879373e-01 -2.51540574e-01  1.59565155e+02]
 [ 1.65323323e-01  9.85959491e-01 -2.34963891e-02  1.36397828e+01]
 [ 2.51906383e-01 -1.91811112e-02  9.67561502e-01  4.13741933e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.480714057 meters
Centerline goodness : 0.999376 with order 1
Centerline is valid?  [True, True]
Translation: X:159.62, Y:13.64, Z:41.39
[[ 9.53530686e-01 -1.65852328e-01 -2.51539732e-01  1.59622007e+02]
 [ 1.65292993e-01  9.85964362e-01 -2.35054058e-02  1.36429974e+01]
 [ 2.51907637e-01 -1.91646294e-02  9.67561502e-01  4.13875841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.540714057 meters
Centerline goodness : 0.999445 with order 1
Centerline is valid?  [True, True]
Translation: X:159.68, Y:13.65, Z:41.40
[[ 9.53827067e-01 -1.64148159e-01 -2.51533912e-01  1.59678757e+02]
 [ 1.63514577e-01  9.86259375e-01 -2.35675259e-02  1.36485727e+01]
 [ 2.51946245e-01 -1.86501169e-02  9.67561503e-01  4.14032945e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.600714057 meters
Centerline goodness : 0.999155 with order 1
Centerline is valid?  [True, True]
Translation: X:159.74, Y:13.65, Z:41.42
[[ 9.54290057e-01 -1.61436025e-01 -2.51533094e-01  1.59736124e+02]
 [ 1.60707960e-01  9.86720382e-01 -2.35762533e-02  1.36545212e+01]
 [ 2.51998887e-01 -1.79247862e-02  9.67561504e-01  4.14190815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.660714057 meters
Centerline goodness : 0.999243 with order 1
Centerline is valid?  [True, True]
Translation: X:159.79, Y:13.66, Z:41.44
[[ 9.55207155e-01 -1.55919207e-01 -2.51532289e-01  1.59792595e+02]
 [ 1.55001515e-01  9.87632668e-01 -2.35848301e-02  1.36603498e+01]
 [ 2.52098834e-01 -1.64594876e-02  9.67561504e-01  4.14364554e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.720714057 meters
Centerline goodness : 0.999733 with order 1
Centerline is valid?  [True, True]
Translation: X:159.85, Y:13.67, Z:41.46
[[ 9.55784187e-01 -1.52342850e-01 -2.51531795e-01  1.59849264e+02]
 [ 1.51302417e-01  9.88205994e-01 -2.35900990e-02  1.36659413e+01]
 [ 2.52159011e-01 -1.55103250e-02  9.67561504e-01  4.14553927e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.780714057 meters
Centerline goodness : 0.999844 with order 1
Centerline is valid?  [True, True]
Translation: X:159.91, Y:13.67, Z:41.47
[[ 9.55930267e-01 -1.51424713e-01 -2.51531072e-01  1.59906474e+02]
 [ 1.50351117e-01  9.88350993e-01 -2.35978080e-02  1.36704630e+01]
 [ 2.52174276e-01 -1.52601188e-02  9.67561504e-01  4.14712524e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.840714057 meters
Centerline goodness : 0.999554 with order 1
Centerline is valid?  [True, True]
Translation: X:159.96, Y:13.67, Z:41.48
[[ 9.55644614e-01 -1.53218553e-01 -2.51530211e-01  1.59964179e+02]
 [ 1.52203400e-01  9.88067222e-01 -2.36069871e-02  1.36743337e+01]
 [ 2.52145785e-01 -1.57238631e-02  9.67561504e-01  4.14832465e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.90071405700002 meters
Centerline goodness : 0.999555 with order 1
Centerline is valid?  [True, True]
Translation: X:160.02, Y:13.68, Z:41.50
[[ 9.55074658e-01 -1.56741695e-01 -2.51524233e-01  1.60022058e+02]
 [ 1.55829458e-01  9.87500322e-01 -2.36705131e-02  1.36795965e+01]
 [ 2.52090417e-01 -1.65877777e-02  9.67561506e-01  4.14971526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.96071405700002 meters
Centerline goodness : 0.999777 with order 1
Centerline is valid?  [True, True]
Translation: X:160.08, Y:13.69, Z:41.51
[[ 9.54246284e-01 -1.61709009e-01 -2.51523807e-01  1.60080093e+02]
 [ 1.60964315e-01  9.86676229e-01 -2.36750395e-02  1.36850581e+01]
 [ 2.52001028e-01 -1.78945387e-02  9.67561506e-01  4.15144544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.020714057 meters
Centerline goodness : 0.999621 with order 1
Centerline is valid?  [True, True]
Translation: X:160.14, Y:13.69, Z:41.53
[[ 9.53442539e-01 -1.66382317e-01 -2.51523853e-01  1.60137094e+02]
 [ 1.65796648e-01  9.85875746e-01 -2.36745464e-02  1.36919346e+01]
 [ 2.51910292e-01 -1.91294922e-02  9.67561506e-01  4.15271032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.080714057 meters
Centerline goodness : 0.999488 with order 1
Centerline is valid?  [True, True]
Translation: X:160.19, Y:13.70, Z:41.54
[[ 9.53068318e-01 -1.68513514e-01 -2.51523313e-01  1.60194293e+02]
 [ 1.67998853e-01  9.85502729e-01 -2.36802862e-02  1.36987764e+01]
 [ 2.51867359e-01 -1.96866975e-02  9.67561506e-01  4.15440707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.140714057 meters
Centerline goodness : 0.999599 with order 1
Centerline is valid?  [True, True]
Translation: X:160.25, Y:13.71, Z:41.56
[[ 9.52590721e-01 -1.71193247e-01 -2.51522941e-01  1.60250768e+02]
 [ 1.70768769e-01  9.85026438e-01 -2.36842393e-02  1.37073204e+01]
 [ 2.51811328e-01 -2.03908763e-02  9.67561506e-01  4.15621740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.200714057 meters
Centerline goodness : 0.999710 with order 1
Centerline is valid?  [True, True]
Translation: X:160.31, Y:13.71, Z:41.58
[[ 9.52374076e-01 -1.72395026e-01 -2.51522513e-01  1.60309408e+02]
 [ 1.72010283e-01  9.84810289e-01 -2.36887778e-02  1.37148097e+01]
 [ 2.51785786e-01 -2.07038807e-02  9.67561506e-01  4.15779979e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.260714057 meters
Centerline goodness : 0.999799 with order 1
Centerline is valid?  [True, True]
Translation: X:160.37, Y:13.72, Z:41.59
[[ 9.52055117e-01 -1.74146604e-01 -2.51523388e-01  1.60367209e+02]
 [ 1.73823966e-01  9.84492007e-01 -2.36794817e-02  1.37239029e+01]
 [ 2.51746467e-01 -2.11766212e-02  9.67561506e-01  4.15913398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.320714057 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:160.43, Y:13.73, Z:41.61
[[ 9.51622179e-01 -1.76497066e-01 -2.51523388e-01  1.60425729e+02]
 [ 1.76254528e-01  9.84059766e-01 -2.36794817e-02  1.37326550e+01]
 [ 2.51693406e-01 -2.17982161e-02  9.67561506e-01  4.16055612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.380714057 meters
Centerline goodness : 0.999530 with order 1
Centerline is valid?  [True, True]
Translation: X:160.48, Y:13.74, Z:41.62
[[ 9.51152031e-01 -1.79013246e-01 -2.51523503e-01  1.60483039e+02]
 [ 1.78856818e-01  9.83590148e-01 -2.36782591e-02  1.37412527e+01]
 [ 2.51634762e-01 -2.24650694e-02  9.67561506e-01  4.16195308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.440714057 meters
Centerline goodness : 0.999506 with order 1
Centerline is valid?  [True, True]
Translation: X:160.54, Y:13.75, Z:41.64
[[ 9.51166162e-01 -1.78938622e-01 -2.51523165e-01  1.60541154e+02]
 [ 1.78778708e-01  9.83604262e-01 -2.36818525e-02  1.37504771e+01]
 [ 2.51636855e-01 -2.24416096e-02  9.67561506e-01  4.16361642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.500714057 meters
Centerline goodness : 0.999393 with order 1
Centerline is valid?  [True, True]
Translation: X:160.60, Y:13.76, Z:41.65
[[ 9.51653253e-01 -1.76329145e-01 -2.51523593e-01  1.60598388e+02]
 [ 1.76081455e-01  9.84090802e-01 -2.36773024e-02  1.37594117e+01]
 [ 2.51697053e-01 -2.17560584e-02  9.67561506e-01  4.16537018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.560714057 meters
Centerline goodness : 0.999594 with order 1
Centerline is valid?  [True, True]
Translation: X:160.66, Y:13.77, Z:41.67
[[ 9.52166589e-01 -1.73535784e-01 -2.51523593e-01  1.60657546e+02]
 [ 1.73192908e-01  9.84603271e-01 -2.36773024e-02  1.37677358e+01]
 [ 2.51759812e-01 -2.10173662e-02  9.67561506e-01  4.16698607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.62071405700001 meters
Centerline goodness : 0.999033 with order 1
Centerline is valid?  [True, True]
Translation: X:160.72, Y:13.77, Z:41.68
[[ 9.52570164e-01 -1.71304109e-01 -2.51525315e-01  1.60716026e+02]
 [ 1.70890027e-01  9.85006016e-01 -2.36589961e-02  1.37744054e+01]
 [ 2.51806832e-01 -2.04463141e-02  9.67561506e-01  4.16844994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.68071405700002 meters
Centerline goodness : 0.999482 with order 1
Centerline is valid?  [True, True]
Translation: X:160.77, Y:13.78, Z:41.70
[[ 9.53182035e-01 -1.67866128e-01 -2.51525289e-01  1.60773289e+02]
 [ 1.67334946e-01  9.85616180e-01 -2.36592791e-02  1.37818347e+01]
 [ 2.51878986e-01 -1.95373709e-02  9.67561506e-01  4.17001579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.740714057 meters
Centerline goodness : 0.999077 with order 1
Centerline is valid?  [True, True]
Translation: X:160.83, Y:13.79, Z:41.72
[[ 9.53847710e-01 -1.64041383e-01 -2.51525289e-01  1.60832545e+02]
 [ 1.63380106e-01  9.86279463e-01 -2.36592791e-02  1.37893490e+01]
 [ 2.51955328e-01 -1.85268791e-02  9.67561506e-01  4.17169447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.800714057 meters
Centerline goodness : 0.998986 with order 1
Centerline is valid?  [True, True]
Translation: X:160.89, Y:13.80, Z:41.74
[[ 9.55454006e-01 -1.54408661e-01 -2.51526555e-01  1.60889635e+02]
 [ 1.53423712e-01  9.87877543e-01 -2.36458085e-02  1.37987903e+01]
 [ 2.52128553e-01 -1.59976553e-02  9.67561506e-01  4.17353271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.860714057 meters
Centerline goodness : 0.999233 with order 1
Centerline is valid?  [True, True]
Translation: X:160.95, Y:13.81, Z:41.75
[[ 9.56154933e-01 -1.50007240e-01 -2.51526485e-01  1.60947217e+02]
 [ 1.48872797e-01  9.88573584e-01 -2.36465587e-02  1.38066526e+01]
 [ 2.52199593e-01 -1.48356775e-02  9.67561506e-01  4.17489404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.920714057 meters
Centerline goodness : 0.999098 with order 1
Centerline is valid?  [True, True]
Translation: X:161.00, Y:13.81, Z:41.77
[[ 9.57054854e-01 -1.44154282e-01 -2.51526440e-01  1.61004280e+02]
 [ 1.42821383e-01  9.89465952e-01 -2.36470376e-02  1.38148795e+01]
 [ 2.52285670e-01 -1.32918419e-02  9.67561506e-01  4.17673408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.980714057 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:161.06, Y:13.82, Z:41.78
[[ 9.57328640e-01 -1.42324578e-01 -2.51526517e-01  1.61062672e+02]
 [ 1.40929944e-01  9.89737141e-01 -2.36462105e-02  1.38215406e+01]
 [ 2.52310573e-01 -1.28104235e-02  9.67561506e-01  4.17840020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.040714057 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:161.12, Y:13.83, Z:41.80
[[ 9.57429604e-01 -1.41642214e-01 -2.51527407e-01  1.61122752e+02]
 [ 1.40226962e-01  9.89837211e-01 -2.36367440e-02  1.38271322e+01]
 [ 2.52319148e-01 -1.26404057e-02  9.67561506e-01  4.18003453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.100714057 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:161.18, Y:13.83, Z:41.81
[[ 9.57027524e-01 -1.44330818e-01 -2.51529190e-01  1.61181373e+02]
 [ 1.43011572e-01  9.89439180e-01 -2.36177584e-02  1.38296112e+01]
 [ 2.52281606e-01 -1.33687399e-02  9.67561506e-01  4.18124084e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.160714057 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:161.24, Y:13.83, Z:41.82
[[ 9.56235922e-01 -1.49482713e-01 -2.51530871e-01  1.61241030e+02]
 [ 1.48342734e-01  9.88654379e-01 -2.35998370e-02  1.38324461e+01]
 [ 2.52204865e-01 -1.47457653e-02  9.67561506e-01  4.18232253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.220714057 meters
Centerline goodness : 0.999169 with order 1
Centerline is valid?  [True, True]
Translation: X:161.30, Y:13.84, Z:41.84
[[ 9.55732479e-01 -1.52667720e-01 -2.51531301e-01  1.61299026e+02]
 [ 1.51636954e-01  9.88154592e-01 -2.35952587e-02  1.38368442e+01]
 [ 2.52154044e-01 -1.55906852e-02  9.67561506e-01  4.18407229e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.280714057 meters
Centerline goodness : 0.999211 with order 1
Centerline is valid?  [True, True]
Translation: X:161.36, Y:13.84, Z:41.86
[[ 9.55485490e-01 -1.54205279e-01 -2.51531729e-01  1.61358088e+02]
 [ 1.53227880e-01  9.87909255e-01 -2.35906885e-02  1.38417099e+01]
 [ 2.52128332e-01 -1.60011131e-02  9.67561506e-01  4.18555635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.340714057 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:161.42, Y:13.85, Z:41.87
[[ 9.55226368e-01 -1.55801668e-01 -2.51532159e-01  1.61417643e+02]
 [ 1.54879652e-01  9.87651755e-01 -2.35861017e-02  1.38471041e+01]
 [ 2.52100933e-01 -1.64271471e-02  9.67561506e-01  4.18712200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.40071405700002 meters
Centerline goodness : 0.999212 with order 1
Centerline is valid?  [True, True]
Translation: X:161.48, Y:13.85, Z:41.89
[[ 9.54934166e-01 -1.57580665e-01 -2.51533441e-01  1.61475408e+02]
 [ 1.56722634e-01  9.87361310e-01 -2.35724267e-02  1.38530153e+01]
 [ 2.52068946e-01 -1.69108679e-02  9.67561506e-01  4.18869199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.46071405700002 meters
Centerline goodness : 0.999033 with order 1
Centerline is valid?  [True, True]
Translation: X:161.53, Y:13.86, Z:41.90
[[ 9.54563876e-01 -1.59807368e-01 -2.51534115e-01  1.61534501e+02]
 [ 1.59026854e-01  9.86992978e-01 -2.35652335e-02  1.38584571e+01]
 [ 2.52028303e-01 -1.75061583e-02  9.67561506e-01  4.19044298e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.520714057 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:161.59, Y:13.86, Z:41.92
[[ 9.54126716e-01 -1.62394351e-01 -2.51535850e-01  1.61594448e+02]
 [ 1.61706608e-01  9.86557918e-01 -2.35466949e-02  1.38641436e+01]
 [ 2.51978535e-01 -1.82084786e-02  9.67561507e-01  4.19198676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.580714057 meters
Centerline goodness : 0.999169 with order 1
Centerline is valid?  [True, True]
Translation: X:161.65, Y:13.87, Z:41.93
[[ 9.53637727e-01 -1.65239023e-01 -2.51537573e-01  1.61652980e+02]
 [ 1.64652830e-01  9.86070923e-01 -2.35282739e-02  1.38695528e+01]
 [ 2.51921676e-01 -1.89789237e-02  9.67561507e-01  4.19331841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.640714057 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:161.71, Y:13.87, Z:41.95
[[ 9.53420056e-01 -1.66490241e-01 -2.51537664e-01  1.61712716e+02]
 [ 1.65946861e-01  9.85853998e-01 -2.35273065e-02  1.38748244e+01]
 [ 2.51896479e-01 -1.93104800e-02  9.67561507e-01  4.19470762e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.700714057 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:161.77, Y:13.88, Z:41.96
[[ 9.52977012e-01 -1.69005813e-01 -2.51538961e-01  1.61771877e+02]
 [ 1.68551671e-01  9.85412326e-01 -2.35134275e-02  1.38810059e+01]
 [ 2.51843499e-01 -1.99895564e-02  9.67561507e-01  4.19601802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.760714057 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:161.83, Y:13.89, Z:41.98
[[ 9.52944613e-01 -1.69187785e-01 -2.51539377e-01  1.61830868e+02]
 [ 1.68741004e-01  9.85380029e-01 -2.35089803e-02  1.38878208e+01]
 [ 2.51839311e-01 -2.00422508e-02  9.67561507e-01  4.19770842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.820714057 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:161.89, Y:13.90, Z:41.99
[[ 9.53397066e-01 -1.66617295e-01 -2.51540676e-01  1.61890157e+02]
 [ 1.66086692e-01  9.85831219e-01 -2.34950693e-02  1.38952429e+01]
 [ 2.51891336e-01 -1.93774288e-02  9.67561507e-01  4.19937203e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.880714057 meters
Centerline goodness : 0.999213 with order 1
Centerline is valid?  [True, True]
Translation: X:161.95, Y:13.90, Z:42.01
[[ 9.53936597e-01 -1.63497358e-01 -2.51542406e-01  1.61948170e+02]
 [ 1.62865512e-01  9.86368936e-01 -2.34765322e-02  1.39026793e+01]
 [ 2.51951967e-01 -1.85724595e-02  9.67561507e-01  4.20107740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.940714057 meters
Centerline goodness : 0.999168 with order 1
Centerline is valid?  [True, True]
Translation: X:162.01, Y:13.91, Z:42.03
[[ 9.53884452e-01 -1.63800686e-01 -2.51542816e-01  1.62007685e+02]
 [ 1.63180303e-01  9.86317011e-01 -2.34721432e-02  1.39089450e+01]
 [ 2.51945712e-01 -1.86571206e-02  9.67561507e-01  4.20267123e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.000714057 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:162.07, Y:13.91, Z:42.04
[[ 9.53292888e-01 -1.67206496e-01 -2.51544543e-01  1.62066966e+02]
 [ 1.66706809e-01  9.85727532e-01 -2.34536234e-02  1.39135679e+01]
 [ 2.51875980e-01 -1.95760157e-02  9.67561507e-01  4.20403763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.060714057 meters
Centerline goodness : 0.998918 with order 1
Centerline is valid?  [True, True]
Translation: X:162.12, Y:13.92, Z:42.05
[[ 9.52315435e-01 -1.72685646e-01 -2.51545183e-01  1.62124909e+02]
 [ 1.72374284e-01  9.84752434e-01 -2.34467584e-02  1.39180160e+01]
 [ 2.51758649e-01 -2.10312108e-02  9.67561507e-01  4.20517290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.12071405700001 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:162.18, Y:13.92, Z:42.07
[[ 9.51762039e-01 -1.75711223e-01 -2.51544406e-01  1.62184410e+02]
 [ 1.75500762e-01  9.84199848e-01 -2.34550893e-02  1.39230025e+01]
 [ 2.51691289e-01 -2.18225712e-02  9.67561507e-01  4.20663734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.18071405700002 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:162.24, Y:13.93, Z:42.08
[[ 9.51384737e-01 -1.77741563e-01 -2.51545262e-01  1.62243252e+02]
 [ 1.77602722e-01  9.83822933e-01 -2.34459049e-02  1.39279931e+01]
 [ 2.51643309e-01 -2.23690472e-02  9.67561507e-01  4.20822187e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.24071405700002 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:162.30, Y:13.93, Z:42.10
[[ 9.51689253e-01 -1.76102547e-01 -2.51546136e-01  1.62302351e+02]
 [ 1.75910293e-01  9.84127176e-01 -2.34365231e-02  1.39339295e+01]
 [ 2.51680620e-01 -2.19452674e-02  9.67561508e-01  4.20986611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.300714057 meters
Centerline goodness : 0.998964 with order 1
Centerline is valid?  [True, True]
Translation: X:162.36, Y:13.94, Z:42.11
[[ 9.52326287e-01 -1.72620778e-01 -2.51548623e-01  1.62360269e+02]
 [ 1.72316900e-01  9.84763356e-01 -2.34098010e-02  1.39399779e+01]
 [ 2.51756884e-01 -2.10523100e-02  9.67561508e-01  4.21148133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.360714057 meters
Centerline goodness : 0.999437 with order 1
Centerline is valid?  [True, True]
Translation: X:162.42, Y:13.94, Z:42.13
[[ 9.52507043e-01 -1.71620492e-01 -2.51548683e-01  1.62420283e+02]
 [ 1.71282717e-01  9.84943776e-01 -2.34091535e-02  1.39443780e+01]
 [ 2.51778800e-01 -2.07885583e-02  9.67561508e-01  4.21288954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.420714057 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:162.48, Y:13.95, Z:42.14
[[ 9.51933926e-01 -1.74769587e-01 -2.51549980e-01  1.62479954e+02]
 [ 1.74542741e-01  9.84371625e-01 -2.33952147e-02  1.39477810e+01]
 [ 2.51707434e-01 -2.16355244e-02  9.67561508e-01  4.21413333e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.480714057 meters
Centerline goodness : 0.999528 with order 1
Centerline is valid?  [True, True]
Translation: X:162.54, Y:13.95, Z:42.15
[[ 9.51234204e-01 -1.78538176e-01 -2.51550410e-01  1.62540403e+02]
 [ 1.78441009e-01  9.83672551e-01 -2.33905902e-02  1.39505013e+01]
 [ 2.51619346e-01 -2.26369794e-02  9.67561508e-01  4.21534243e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.540714057 meters
Centerline goodness : 0.999193 with order 1
Centerline is valid?  [True, True]
Translation: X:162.60, Y:13.95, Z:42.17
[[ 9.50754267e-01 -1.81075359e-01 -2.51551263e-01  1.62599313e+02]
 [ 1.81067143e-01  9.83192758e-01 -2.33814097e-02  1.39541008e+01]
 [ 2.51557177e-01 -2.33176934e-02  9.67561508e-01  4.21682908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.600714057 meters
Centerline goodness : 0.999170 with order 1
Centerline is valid?  [True, True]
Translation: X:162.66, Y:13.96, Z:42.19
[[ 9.50635449e-01 -1.81697941e-01 -2.51551390e-01  1.62657450e+02]
 [ 1.81711327e-01  9.83073938e-01 -2.33800416e-02  1.39582211e+01]
 [ 2.51541721e-01 -2.34838405e-02  9.67561508e-01  4.21856563e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.660714057 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:162.72, Y:13.96, Z:42.20
[[ 9.50673982e-01 -1.81495030e-01 -2.51552251e-01  1.62717023e+02]
 [ 1.81503922e-01  9.83112472e-01 -2.33707763e-02  1.39621154e+01]
 [ 2.51545835e-01 -2.34397312e-02  9.67561508e-01  4.22029878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.720714057 meters
Centerline goodness : 0.999284 with order 1
Centerline is valid?  [True, True]
Translation: X:162.78, Y:13.96, Z:42.22
[[ 9.51136537e-01 -1.79052781e-01 -2.51553951e-01  1.62775500e+02]
 [ 1.78983164e-01  9.83574954e-01 -2.33524628e-02  1.39648612e+01]
 [ 2.51603489e-01 -2.28125415e-02  9.67561508e-01  4.22198718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.780714057 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:162.83, Y:13.97, Z:42.23
[[ 9.51581884e-01 -1.76670691e-01 -2.51553940e-01  1.62834177e+02]
 [ 1.76519821e-01  9.84020025e-01 -2.33525813e-02  1.39687703e+01]
 [ 2.51659831e-01 -2.21823633e-02  9.67561508e-01  4.22348468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.840714057 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:162.89, Y:13.97, Z:42.25
[[ 9.51852310e-01 -1.75207242e-01 -2.51554372e-01  1.62893248e+02]
 [ 1.75007713e-01  9.84290188e-01 -2.33479306e-02  1.39705725e+01]
 [ 2.51693226e-01 -2.18001736e-02  9.67561508e-01  4.22471962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.90071405700002 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:162.95, Y:13.97, Z:42.26
[[ 9.51895371e-01 -1.74972535e-01 -2.51554796e-01  1.62952222e+02]
 [ 1.74766206e-01  9.84333206e-01 -2.33433618e-02  1.39737718e+01]
 [ 2.51698186e-01 -2.17428391e-02  9.67561508e-01  4.22617024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.96071405700002 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:163.01, Y:13.98, Z:42.28
[[ 9.52159899e-01 -1.73526645e-01 -2.51555224e-01  1.63012051e+02]
 [ 1.73272261e-01  9.84597393e-01 -2.33387451e-02  1.39784436e+01]
 [ 2.51730512e-01 -2.13653254e-02  9.67561508e-01  4.22759105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.020714057 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:163.07, Y:13.98, Z:42.29
[[ 9.52737397e-01 -1.70325497e-01 -2.51556511e-01  1.63071277e+02]
 [ 1.69965735e-01  9.85173893e-01 -2.33248643e-02  1.39833441e+01]
 [ 2.51799727e-01 -2.05335168e-02  9.67561508e-01  4.22936203e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.080714057 meters
Centerline goodness : 0.998765 with order 1
Centerline is valid?  [True, True]
Translation: X:163.13, Y:13.99, Z:42.31
[[ 9.53899112e-01 -1.63692192e-01 -2.51557848e-01  1.63129629e+02]
 [ 1.63110527e-01  9.86332388e-01 -2.33104404e-02  1.39900726e+01]
 [ 2.51935390e-01 -1.87959247e-02  9.67561508e-01  4.23106169e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.140714057 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:163.19, Y:14.00, Z:42.33
[[ 9.54788078e-01 -1.58424082e-01 -2.51558219e-01  1.63188145e+02]
 [ 1.57664440e-01  9.87217673e-01 -2.33064375e-02  1.39966909e+01]
 [ 2.52035020e-01 -1.74090770e-02  9.67561508e-01  4.23270323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.200714057 meters
Centerline goodness : 0.999123 with order 1
Centerline is valid?  [True, True]
Translation: X:163.25, Y:14.01, Z:42.34
[[ 9.56347037e-01 -1.48723257e-01 -2.51558617e-01  1.63245976e+02]
 [ 1.47635567e-01  9.88767288e-01 -2.33021416e-02  1.40057964e+01]
 [ 2.52198501e-01 -1.48540648e-02  9.67561508e-01  4.23435883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.260714057 meters
Centerline goodness : 0.999326 with order 1
Centerline is valid?  [True, True]
Translation: X:163.30, Y:14.01, Z:42.36
[[ 9.56674117e-01 -1.46604366e-01 -2.51558730e-01  1.63303341e+02]
 [ 1.45445182e-01  9.89091890e-01 -2.33009167e-02  1.40125683e+01]
 [ 2.52230716e-01 -1.42966213e-02  9.67561508e-01  4.23596093e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.320714057 meters
Centerline goodness : 0.999596 with order 1
Centerline is valid?  [True, True]
Translation: X:163.36, Y:14.02, Z:42.37
[[ 9.56628383e-01 -1.46903216e-01 -2.51558306e-01  1.63361743e+02]
 [ 1.45752959e-01  9.89046475e-01 -2.33054927e-02  1.40193154e+01]
 [ 2.52226508e-01 -1.43706716e-02  9.67561508e-01  4.23744523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.380714057 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:163.42, Y:14.03, Z:42.39
[[ 9.56357170e-01 -1.48658608e-01 -2.51558306e-01  1.63419172e+02]
 [ 1.47567848e-01  9.88777318e-01 -2.33054927e-02  1.40261532e+01]
 [ 2.52199709e-01 -1.48335428e-02  9.67561508e-01  4.23900824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.440714057 meters
Centerline goodness : 0.999752 with order 1
Centerline is valid?  [True, True]
Translation: X:163.48, Y:14.03, Z:42.41
[[ 9.56437912e-01 -1.48138986e-01 -2.51557870e-01  1.63478363e+02]
 [ 1.47029379e-01  9.88857420e-01 -2.33101989e-02  1.40337994e+01]
 [ 2.52208015e-01 -1.46916393e-02  9.67561508e-01  4.24064356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.500714057 meters
Centerline goodness : 0.999346 with order 1
Centerline is valid?  [True, True]
Translation: X:163.54, Y:14.04, Z:42.42
[[ 9.56377239e-01 -1.48527219e-01 -2.51559620e-01  1.63536912e+02]
 [ 1.47435726e-01  9.88797362e-01 -2.32912982e-02  1.40414121e+01]
 [ 2.52200880e-01 -1.48136077e-02  9.67561509e-01  4.24242102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.560714057 meters
Centerline goodness : 0.999415 with order 1
Centerline is valid?  [True, True]
Translation: X:163.60, Y:14.05, Z:42.44
[[ 9.56134340e-01 -1.50080702e-01 -2.51560939e-01  1.63595310e+02]
 [ 1.49045615e-01  9.88556313e-01 -2.32770414e-02  1.40475338e+01]
 [ 2.52175589e-01 -1.52380763e-02  9.67561509e-01  4.24392003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.62071405700001 meters
Centerline goodness : 0.999639 with order 1
Centerline is valid?  [True, True]
Translation: X:163.65, Y:14.05, Z:42.45
[[ 9.55400426e-01 -1.54683235e-01 -2.51561371e-01  1.63653839e+02]
 [ 1.53805512e-01  9.87827040e-01 -2.32723766e-02  1.40531440e+01]
 [ 2.52098971e-01 -1.64570869e-02  9.67561509e-01  4.24546088e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.68071405700002 meters
Centerline goodness : 0.999505 with order 1
Centerline is valid?  [True, True]
Translation: X:163.71, Y:14.06, Z:42.47
[[ 9.54726361e-01 -1.58790475e-01 -2.51561446e-01  1.63712300e+02]
 [ 1.58052421e-01  9.87156455e-01 -2.32715658e-02  1.40581467e+01]
 [ 2.52025808e-01 -1.75419183e-02  9.67561509e-01  4.24698317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.74071405700002 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:163.77, Y:14.06, Z:42.48
[[ 9.53681813e-01 -1.64947681e-01 -2.51561648e-01  1.63770077e+02]
 [ 1.64419475e-01  9.86116003e-01 -2.32693832e-02  1.40631468e+01]
 [ 2.51907197e-01 -1.91700466e-02  9.67561509e-01  4.24834183e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.800714057 meters
Centerline goodness : 0.999302 with order 1
Centerline is valid?  [True, True]
Translation: X:163.83, Y:14.07, Z:42.50
[[ 9.53422083e-01 -1.66441249e-01 -2.51562401e-01  1.63829440e+02]
 [ 1.65965982e-01  9.85857093e-01 -2.32612404e-02  1.40699806e+01]
 [ 2.51876207e-01 -1.95730206e-02  9.67561509e-01  4.24980107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.860714057 meters
Centerline goodness : 0.999300 with order 1
Centerline is valid?  [True, True]
Translation: X:163.89, Y:14.08, Z:42.51
[[ 9.54765315e-01 -1.58553215e-01 -2.51563256e-01  1.63885857e+02]
 [ 1.57812237e-01  9.87195342e-01 -2.32519846e-02  1.40794994e+01]
 [ 2.52028752e-01 -1.74995717e-02  9.67561509e-01  4.25138903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.920714057 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:163.94, Y:14.09, Z:42.53
[[ 9.56973782e-01 -1.44628285e-01 -2.51562793e-01  1.63942604e+02]
 [ 1.43413664e-01  9.89389526e-01 -2.32569907e-02  1.40901129e+01]
 [ 2.52257211e-01 -1.38212116e-02  9.67561509e-01  4.25319848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.980714057 meters
Centerline goodness : 0.998984 with order 1
Centerline is valid?  [True, True]
Translation: X:164.00, Y:14.10, Z:42.55
[[ 9.59066103e-01 -1.30031848e-01 -2.51562969e-01  1.63999974e+02]
 [ 1.28324008e-01  9.91459606e-01 -2.32550861e-02  1.41003403e+01]
 [ 2.52438424e-01 -9.97840382e-03  9.67561509e-01  4.25477796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.040714057 meters
Centerline goodness : 0.998743 with order 1
Centerline is valid?  [True, True]
Translation: X:164.06, Y:14.11, Z:42.57
[[ 9.60545795e-01 -1.18608075e-01 -2.51562917e-01  1.64057843e+02]
 [ 1.16514668e-01  9.92916667e-01 -2.32556548e-02  1.41102242e+01]
 [ 2.52539321e-01 -6.97264832e-03  9.67561509e-01  4.25654626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.100714057 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:164.11, Y:14.12, Z:42.58
[[ 9.61265696e-01 -1.12623942e-01 -2.51563329e-01  1.64114024e+02]
 [ 1.10330151e-01  9.93622987e-01 -2.32511987e-02  1.41169914e+01]
 [ 2.52577748e-01 -5.40444020e-03  9.67561509e-01  4.25814276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.160714057 meters
Centerline goodness : 0.998995 with order 1
Centerline is valid?  [True, True]
Translation: X:164.17, Y:14.12, Z:42.60
[[ 9.61078686e-01 -1.14210684e-01 -2.51562476e-01  1.64171038e+02]
 [ 1.11967900e-01  9.93439551e-01 -2.32604193e-02  1.41196799e+01]
 [ 2.52568702e-01 -5.81182892e-03  9.67561509e-01  4.25967713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.220714057 meters
Centerline goodness : 0.999022 with order 1
Centerline is valid?  [True, True]
Translation: X:164.23, Y:14.12, Z:42.61
[[ 9.60569583e-01 -1.18418966e-01 -2.51561174e-01  1.64229608e+02]
 [ 1.16314256e-01  9.92939722e-01 -2.32744931e-02  1.41206284e+01]
 [ 2.52541224e-01 -6.90338075e-03  9.67561509e-01  4.26091943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.280714057 meters
Centerline goodness : 0.999341 with order 1
Centerline is valid?  [True, True]
Translation: X:164.29, Y:14.12, Z:42.62
[[ 9.60228499e-01 -1.21155381e-01 -2.51560337e-01  1.64287015e+02]
 [ 1.19140544e-01  9.92604356e-01 -2.32835315e-02  1.41215190e+01]
 [ 2.52520812e-01 -7.61352496e-03  9.67561509e-01  4.26220256e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.340714057 meters
Centerline goodness : 0.999046 with order 1
Centerline is valid?  [True, True]
Translation: X:164.34, Y:14.12, Z:42.64
[[ 9.60146734e-01 -1.21814136e-01 -2.51554297e-01  1.64342356e+02]
 [ 1.19804477e-01  9.92522911e-01 -2.33486129e-02  1.41237065e+01]
 [ 2.52517595e-01 -7.71923660e-03  9.67561511e-01  4.26374411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.40071405700002 meters
Centerline goodness : 0.999343 with order 1
Centerline is valid?  [True, True]
Translation: X:164.40, Y:14.13, Z:42.65
[[ 9.60066304e-01 -1.22450792e-01 -2.51552173e-01  1.64398038e+02]
 [ 1.20456616e-01  9.92443438e-01 -2.33714800e-02  1.41255511e+01]
 [ 2.52513159e-01 -7.86295316e-03  9.67561511e-01  4.26534337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.46071405700002 meters
Centerline goodness : 0.999774 with order 1
Centerline is valid?  [True, True]
Translation: X:164.46, Y:14.13, Z:42.67
[[ 9.59359868e-01 -1.27880858e-01 -2.51545484e-01  1.64456065e+02]
 [ 1.26051106e-01  9.91746708e-01 -2.34432622e-02  1.41265685e+01]
 [ 2.52467350e-01 -9.21706163e-03  9.67561514e-01  4.26677844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.520714057 meters
Centerline goodness : 0.999616 with order 1
Centerline is valid?  [True, True]
Translation: X:164.51, Y:14.13, Z:42.68
[[ 9.58033314e-01 -1.37466487e-01 -2.51545491e-01  1.64514684e+02]
 [ 1.35960663e-01  9.90436830e-01 -2.34431825e-02  1.41276069e+01]
 [ 2.52362571e-01 -1.17409421e-02  9.67561514e-01  4.26812052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.580714057 meters
Centerline goodness : 0.999549 with order 1
Centerline is valid?  [True, True]
Translation: X:164.57, Y:14.13, Z:42.70
[[ 9.56409722e-01 -1.48342232e-01 -2.51545278e-01  1.64572737e+02]
 [ 1.47204055e-01  9.88828234e-01 -2.34454731e-02  1.41293029e+01]
 [ 2.52213026e-01 -1.46050064e-02  9.67561514e-01  4.26989301e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.640714057 meters
Centerline goodness : 0.999416 with order 1
Centerline is valid?  [True, True]
Translation: X:164.63, Y:14.13, Z:42.71
[[ 9.55097750e-01 -1.56567029e-01 -2.51545332e-01  1.64629859e+02]
 [ 1.55708021e-01  9.87524860e-01 -2.34448941e-02  1.41321879e+01]
 [ 2.52077966e-01 -1.67754601e-02  9.67561514e-01  4.27143682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.700714057 meters
Centerline goodness : 0.999709 with order 1
Centerline is valid?  [True, True]
Translation: X:164.69, Y:14.14, Z:42.73
[[ 9.54487505e-01 -1.60243712e-01 -2.51546328e-01  1.64688531e+02]
 [ 1.59512383e-01  9.86917746e-01 -2.34341966e-02  1.41362842e+01]
 [ 2.52010718e-01 -1.77571065e-02  9.67561514e-01  4.27293188e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.760714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:164.75, Y:14.14, Z:42.74
[[ 9.54757460e-01 -1.58627241e-01 -2.51546400e-01  1.64746742e+02]
 [ 1.57841202e-01  9.87186421e-01 -2.34334232e-02  1.41421637e+01]
 [ 2.52040370e-01 -1.73311506e-02  9.67561514e-01  4.27446350e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.820714057 meters
Centerline goodness : 0.999528 with order 1
Centerline is valid?  [True, True]
Translation: X:164.81, Y:14.15, Z:42.76
[[ 9.55490561e-01 -1.54149917e-01 -2.51546400e-01  1.64805013e+02]
 [ 1.53211870e-01  9.87915481e-01 -2.34334232e-02  1.41480161e+01]
 [ 2.52118843e-01 -1.61494798e-02  9.67561514e-01  4.27600496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.880714057 meters
Centerline goodness : 0.999506 with order 1
Centerline is valid?  [True, True]
Translation: X:164.86, Y:14.16, Z:42.78
[[ 9.56317781e-01 -1.48931963e-01 -2.51546364e-01  1.64862197e+02]
 [ 1.47816832e-01  9.88737094e-01 -2.34338159e-02  1.41552463e+01]
 [ 2.52203265e-01 -1.47726118e-02  9.67561514e-01  4.27755840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.940714057 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:164.92, Y:14.16, Z:42.79
[[ 9.56823383e-01 -1.45649139e-01 -2.51545905e-01  1.64919099e+02]
 [ 1.44421467e-01  9.89238629e-01 -2.34387358e-02  1.41613126e+01]
 [ 2.52252758e-01 -1.39018983e-02  9.67561514e-01  4.27906627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.000714057 meters
Centerline goodness : 0.999259 with order 1
Centerline is valid?  [True, True]
Translation: X:164.98, Y:14.17, Z:42.81
[[ 9.57155374e-01 -1.43461163e-01 -2.51540227e-01  1.64977158e+02]
 [ 1.42143452e-01  9.89567083e-01 -2.34995230e-02  1.41685000e+01]
 [ 2.52287197e-01 -1.32621015e-02  9.67561516e-01  4.28057927e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.060714057 meters
Centerline goodness : 0.999482 with order 1
Centerline is valid?  [True, True]
Translation: X:165.03, Y:14.17, Z:42.82
[[ 9.56881835e-01 -1.45274582e-01 -2.51540156e-01  1.65033596e+02]
 [ 1.44018089e-01  9.89295975e-01 -2.35002856e-02  1.41741359e+01]
 [ 2.52261658e-01 -1.37393362e-02  9.67561516e-01  4.28187968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.12071405700001 meters
Centerline goodness : 0.999573 with order 1
Centerline is valid?  [True, True]
Translation: X:165.09, Y:14.18, Z:42.83
[[ 9.56566627e-01 -1.47338857e-01 -2.51538364e-01  1.65091321e+02]
 [ 1.46147284e-01  9.88983219e-01 -2.35194429e-02  1.41797649e+01]
 [ 2.52232549e-01 -1.42637346e-02  9.67561516e-01  4.28335661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.18071405700002 meters
Centerline goodness : 0.999460 with order 1
Centerline is valid?  [True, True]
Translation: X:165.15, Y:14.19, Z:42.85
[[ 9.56262723e-01 -1.49299886e-01 -2.51537569e-01  1.65148350e+02]
 [ 1.48172554e-01  9.88681612e-01 -2.35279481e-02  1.41859513e+01]
 [ 2.52203289e-01 -1.47720642e-02  9.67561516e-01  4.28520041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.24071405700002 meters
Centerline goodness : 0.999775 with order 1
Centerline is valid?  [True, True]
Translation: X:165.21, Y:14.19, Z:42.87
[[ 9.55895655e-01 -1.51632480e-01 -2.51537450e-01  1.65206454e+02]
 [ 1.50583911e-01  9.88317187e-01 -2.35292218e-02  1.41911629e+01]
 [ 2.52166579e-01 -1.53860120e-02  9.67561516e-01  4.28688851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.300714057 meters
Centerline goodness : 0.999798 with order 1
Centerline is valid?  [True, True]
Translation: X:165.27, Y:14.20, Z:42.88
[[ 9.54553815e-01 -1.59861549e-01 -2.51537867e-01  1.65265038e+02]
 [ 1.59093489e-01  9.86983205e-01 -2.35247571e-02  1.41967005e+01]
 [ 2.52024355e-01 -1.75623903e-02  9.67561516e-01  4.28844909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.360714057 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:165.32, Y:14.20, Z:42.90
[[ 9.53758830e-01 -1.64537971e-01 -2.51537970e-01  1.65324175e+02]
 [ 1.63929147e-01  9.86191600e-01 -2.35236576e-02  1.42012493e+01]
 [ 2.51935168e-01 -1.87985087e-02  9.67561516e-01  4.28984013e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.420714057 meters
Centerline goodness : 0.999687 with order 1
Centerline is valid?  [True, True]
Translation: X:165.38, Y:14.21, Z:42.91
[[ 9.52698843e-01 -1.70567736e-01 -2.51538391e-01  1.65382196e+02]
 [ 1.70165262e-01  9.85134830e-01 -2.35191538e-02  1.42072036e+01]
 [ 2.51810839e-01 -2.03964255e-02  9.67561516e-01  4.29137793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.480714057 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:165.44, Y:14.21, Z:42.93
[[ 9.52162939e-01 -1.73534212e-01 -2.51538497e-01  1.65440904e+02]
 [ 1.73233061e-01  9.84600025e-01 -2.35180242e-02  1.42127968e+01]
 [ 2.51745992e-01 -2.11817928e-02  9.67561516e-01  4.29283077e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.540714057 meters
Centerline goodness : 0.999597 with order 1
Centerline is valid?  [True, True]
Translation: X:165.50, Y:14.22, Z:42.94
[[ 9.51750175e-01 -1.75783783e-01 -2.51538598e-01  1.65499819e+02]
 [ 1.75559570e-01  9.84187884e-01 -2.35169397e-02  1.42189976e+01]
 [ 2.51695137e-01 -2.17777566e-02  9.67561516e-01  4.29426652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.600714057 meters
Centerline goodness : 0.999730 with order 1
Centerline is valid?  [True, True]
Translation: X:165.56, Y:14.23, Z:42.96
[[ 9.51777776e-01 -1.75634135e-01 -2.51538696e-01  1.65558819e+02]
 [ 1.75405096e-01  9.84215452e-01 -2.35158924e-02  1.42250672e+01]
 [ 2.51698465e-01 -2.17392654e-02  9.67561516e-01  4.29601285e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.660714057 meters
Centerline goodness : 0.999798 with order 1
Centerline is valid?  [True, True]
Translation: X:165.62, Y:14.23, Z:42.98
[[ 9.52292224e-01 -1.72820437e-01 -2.51540485e-01  1.65616278e+02]
 [ 1.72500556e-01  9.84729131e-01 -2.34967374e-02  1.42317239e+01]
 [ 2.51759960e-01 -2.10151133e-02  9.67561516e-01  4.29758382e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.720714057 meters
Centerline goodness : 0.999865 with order 1
Centerline is valid?  [True, True]
Translation: X:165.68, Y:14.24, Z:42.99
[[ 9.52743487e-01 -1.70314628e-01 -2.51540802e-01  1.65676002e+02]
 [ 1.69910303e-01  9.85179451e-01 -2.34933513e-02  1.42383628e+01]
 [ 2.51814090e-01 -2.03562364e-02  9.67561516e-01  4.29937308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.780714057 meters
Centerline goodness : 0.999595 with order 1
Centerline is valid?  [True, True]
Translation: X:165.73, Y:14.24, Z:43.01
[[ 9.53169096e-01 -1.67913107e-01 -2.51542963e-01  1.65734684e+02]
 [ 1.67433118e-01  9.85604029e-01 -2.34701902e-02  1.42447181e+01]
 [ 2.51862710e-01 -1.97455626e-02  9.67561516e-01  4.30104983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.840714057 meters
Centerline goodness : 0.999618 with order 1
Centerline is valid?  [True, True]
Translation: X:165.79, Y:14.25, Z:43.03
[[ 9.53506156e-01 -1.65987749e-01 -2.51543391e-01  1.65793209e+02]
 [ 1.65443460e-01  9.85940073e-01 -2.34655957e-02  1.42505327e+01]
 [ 2.51901711e-01 -1.92416190e-02  9.67561516e-01  4.30252850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.90071405700002 meters
Centerline goodness : 0.999371 with order 1
Centerline is valid?  [True, True]
Translation: X:165.85, Y:14.26, Z:43.04
[[ 9.53705004e-01 -1.64840078e-01 -2.51544259e-01  1.65852537e+02]
 [ 1.64259196e-01  9.86138286e-01 -2.34562880e-02  1.42559549e+01]
 [ 2.51923961e-01 -1.89480787e-02  9.67561516e-01  4.30408746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.96071405700002 meters
Centerline goodness : 0.999752 with order 1
Centerline is valid?  [True, True]
Translation: X:165.91, Y:14.26, Z:43.05
[[ 9.54016814e-01 -1.63023815e-01 -2.51545531e-01  1.65910298e+02]
 [ 1.62384757e-01  9.86449002e-01 -2.34426371e-02  1.42603697e+01]
 [ 2.51958547e-01 -1.84824901e-02  9.67561517e-01  4.30547515e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.020714057 meters
Centerline goodness : 0.999324 with order 1
Centerline is valid?  [True, True]
Translation: X:165.97, Y:14.26, Z:43.06
[[ 9.55326288e-01 -1.55166738e-01 -2.51545158e-01  1.65971232e+02]
 [ 1.54259736e-01  9.87752089e-01 -2.34466398e-02  1.42635200e+01]
 [ 2.52102394e-01 -1.64040983e-02  9.67561517e-01  4.30567867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.080714057 meters
Centerline goodness : 0.999620 with order 1
Centerline is valid?  [True, True]
Translation: X:166.03, Y:14.27, Z:43.09
[[ 9.55096580e-01 -1.56574493e-01 -2.51545127e-01  1.66025908e+02]
 [ 1.55715192e-01  9.87523680e-01 -2.34469733e-02  1.42693706e+01]
 [ 2.52077968e-01 -1.67752738e-02  9.67561517e-01  4.30853553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.140714057 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:166.08, Y:14.27, Z:43.11
[[ 9.55608188e-01 -1.53421120e-01 -2.51545127e-01  1.66083683e+02]
 [ 1.52454791e-01  9.88032275e-01 -2.34469733e-02  1.42733242e+01]
 [ 2.52131965e-01 -1.59431401e-02  9.67561517e-01  4.31051574e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.200714057 meters
Centerline goodness : 0.999373 with order 1
Centerline is valid?  [True, True]
Translation: X:166.14, Y:14.28, Z:43.12
[[ 9.55972262e-01 -1.51135258e-01 -2.51545557e-01  1.66142748e+02]
 [ 1.50092596e-01  9.88393984e-01 -2.34423606e-02  1.42775362e+01]
 [ 2.52169083e-01 -1.53448792e-02  9.67561517e-01  4.31230998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.260714057 meters
Centerline goodness : 0.999485 with order 1
Centerline is valid?  [True, True]
Translation: X:166.20, Y:14.28, Z:43.14
[[ 9.55984871e-01 -1.51053277e-01 -2.51546883e-01  1.66202830e+02]
 [ 1.50011565e-01  9.88406623e-01 -2.34281306e-02  1.42803656e+01]
 [ 2.52169501e-01 -1.53380032e-02  9.67561517e-01  4.31365589e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.320714057 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:166.26, Y:14.28, Z:43.15
[[ 9.55560517e-01 -1.53712761e-01 -2.51548179e-01  1.66262725e+02]
 [ 1.52764918e-01  9.87985149e-01 -2.34142075e-02  1.42834787e+01]
 [ 2.52124927e-01 -1.60540447e-02  9.67561517e-01  4.31496917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.380714057 meters
Centerline goodness : 0.999619 with order 1
Centerline is valid?  [True, True]
Translation: X:166.32, Y:14.29, Z:43.16
[[ 9.55155171e-01 -1.56210403e-01 -2.51549019e-01  1.66321245e+02]
 [ 1.55349703e-01  9.87582234e-01 -2.34051696e-02  1.42880417e+01]
 [ 2.52081473e-01 -1.67224965e-02  9.67561517e-01  4.31643692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.440714057 meters
Centerline goodness : 0.999843 with order 1
Centerline is valid?  [True, True]
Translation: X:166.38, Y:14.29, Z:43.18
[[ 9.54695275e-01 -1.58996742e-01 -2.51549136e-01  1.66379285e+02]
 [ 1.58230992e-01  9.87124719e-01 -2.34039121e-02  1.42913145e+01]
 [ 2.52031516e-01 -1.74592649e-02  9.67561517e-01  4.31784635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.500714057 meters
Centerline goodness : 0.999731 with order 1
Centerline is valid?  [True, True]
Translation: X:166.44, Y:14.30, Z:43.20
[[ 9.54594562e-01 -1.59598024e-01 -2.51550578e-01  1.66436807e+02]
 [ 1.58856767e-01  9.87024574e-01 -2.33884041e-02  1.42973320e+01]
 [ 2.52019346e-01 -1.76340682e-02  9.67561517e-01  4.31972764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.560714057 meters
Centerline goodness : 0.999754 with order 1
Centerline is valid?  [True, True]
Translation: X:166.49, Y:14.30, Z:43.21
[[ 9.54713431e-01 -1.58884709e-01 -2.51551017e-01  1.66494367e+02]
 [ 1.58120458e-01  9.87142910e-01 -2.33836813e-02  1.43038661e+01]
 [ 2.52032113e-01 -1.74506475e-02  9.67561517e-01  4.32138027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.62071405700001 meters
Centerline goodness : 0.999821 with order 1
Centerline is valid?  [True, True]
Translation: X:166.55, Y:14.31, Z:43.23
[[ 9.54690830e-01 -1.59019763e-01 -2.51551455e-01  1.66554688e+02]
 [ 1.58261336e-01  9.87120445e-01 -2.33789680e-02  1.43091778e+01]
 [ 2.52029303e-01 -1.74911829e-02  9.67561517e-01  4.32300715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.68071405700002 meters
Centerline goodness : 0.999754 with order 1
Centerline is valid?  [True, True]
Translation: X:166.61, Y:14.32, Z:43.24
[[ 9.54089413e-01 -1.62586559e-01 -2.51553180e-01  1.66613723e+02]
 [ 1.61954204e-01  9.86521732e-01 -2.33603971e-02  1.43156082e+01]
 [ 2.51960765e-01 -1.84521875e-02  9.67561517e-01  4.32446043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.74071405700002 meters
Centerline goodness : 0.999933 with order 1
Centerline is valid?  [True, True]
Translation: X:166.67, Y:14.32, Z:43.26
[[ 9.53016522e-01 -1.68760510e-01 -2.51553970e-01  1.66672867e+02]
 [ 1.68340386e-01  9.85452284e-01 -2.33518934e-02  1.43197710e+01]
 [ 2.51835311e-01 -2.00919520e-02  9.67561517e-01  4.32560400e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.800714057 meters
Centerline goodness : 0.999798 with order 1
Centerline is valid?  [True, True]
Translation: X:166.73, Y:14.33, Z:43.27
[[ 9.51637623e-01 -1.76370452e-01 -2.51553768e-01  1.66730783e+02]
 [ 1.76208957e-01  9.84075704e-01 -2.33540687e-02  1.43259396e+01]
 [ 2.51666919e-01 -2.21014165e-02  9.67561517e-01  4.32705661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.860714057 meters
Centerline goodness : 0.999911 with order 1
Centerline is valid?  [True, True]
Translation: X:166.79, Y:14.33, Z:43.28
[[ 9.50778059e-01 -1.80947351e-01 -2.51553452e-01  1.66789510e+02]
 [ 1.80941045e-01  9.83216541e-01 -2.33574711e-02  1.43313518e+01]
 [ 2.51557987e-01 -2.33085734e-02  9.67561517e-01  4.32845100e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.920714057 meters
Centerline goodness : 0.999753 with order 1
Centerline is valid?  [True, True]
Translation: X:166.85, Y:14.34, Z:43.30
[[ 9.50850188e-01 -1.80568055e-01 -2.51553371e-01  1.66847908e+02]
 [ 1.80548581e-01  9.83288665e-01 -2.33583386e-02  1.43381721e+01]
 [ 2.51567348e-01 -2.32073236e-02  9.67561517e-01  4.33003889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.980714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:166.91, Y:14.35, Z:43.32
[[ 9.51641395e-01 -1.76350059e-01 -2.51553795e-01  1.66905514e+02]
 [ 1.76187945e-01  9.84079473e-01 -2.33537757e-02  1.43463478e+01]
 [ 2.51667365e-01 -2.20963264e-02  9.67561517e-01  4.33171753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.040714057 meters
Centerline goodness : 0.999933 with order 1
Centerline is valid?  [True, True]
Translation: X:166.96, Y:14.35, Z:43.33
[[ 9.52690598e-01 -1.70590858e-01 -2.51553939e-01  1.66961862e+02]
 [ 1.70232954e-01  9.85127106e-01 -2.33522230e-02  1.43541861e+01]
 [ 2.51796280e-01 -2.05753268e-02  9.67561517e-01  4.33345330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.100714057 meters
Centerline goodness : 0.999910 with order 1
Centerline is valid?  [True, True]
Translation: X:167.02, Y:14.36, Z:43.35
[[ 9.53530487e-01 -1.65832286e-01 -2.51553697e-01  1.67019712e+02]
 [ 1.65311759e-01  9.85964794e-01 -2.33548299e-02  1.43607539e+01]
 [ 2.51896074e-01 -1.93152418e-02  9.67561517e-01  4.33511720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.160714057 meters
Centerline goodness : 0.999820 with order 1
Centerline is valid?  [True, True]
Translation: X:167.08, Y:14.37, Z:43.36
[[ 9.54137803e-01 -1.62301536e-01 -2.51553700e-01  1.67077717e+02]
 [ 1.61660961e-01  9.86569961e-01 -2.33547981e-02  1.43671453e+01]
 [ 2.51965843e-01 -1.83827171e-02  9.67561517e-01  4.33636980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.220714057 meters
Centerline goodness : 0.999752 with order 1
Centerline is valid?  [True, True]
Translation: X:167.14, Y:14.37, Z:43.38
[[ 9.54819160e-01 -1.58244562e-01 -2.51553234e-01  1.67135655e+02]
 [ 1.57464827e-01  9.87248270e-01 -2.33598123e-02  1.43742772e+01]
 [ 2.52042059e-01 -1.73063902e-02  9.67561517e-01  4.33783942e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.280714057 meters
Centerline goodness : 0.999887 with order 1
Centerline is valid?  [True, True]
Translation: X:167.19, Y:14.38, Z:43.40
[[ 9.55627668e-01 -1.53286573e-01 -2.51553150e-01  1.67193465e+02]
 [ 1.52338292e-01  9.88052287e-01 -2.33607202e-02  1.43822396e+01]
 [ 2.52128550e-01 -1.59970265e-02  9.67561517e-01  4.33953275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.340714057 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:167.25, Y:14.39, Z:43.41
[[ 9.56407571e-01 -1.48342873e-01 -2.51553075e-01  1.67250645e+02]
 [ 1.47226721e-01  9.88826846e-01 -2.33615284e-02  1.43904574e+01]
 [ 2.52207950e-01 -1.46921917e-02  9.67561517e-01  4.34146621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.40071405700002 meters
Centerline goodness : 0.999639 with order 1
Centerline is valid?  [True, True]
Translation: X:167.31, Y:14.40, Z:43.43
[[ 9.56991941e-01 -1.44524523e-01 -2.51553349e-01  1.67308304e+02]
 [ 1.43279765e-01  9.89406532e-01 -2.33585704e-02  1.43972885e+01]
 [ 2.52264413e-01 -1.36885412e-02  9.67561517e-01  4.34300340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.46071405700002 meters
Centerline goodness : 0.999864 with order 1
Centerline is valid?  [True, True]
Translation: X:167.37, Y:14.40, Z:43.45
[[ 9.57412279e-01 -1.41713282e-01 -2.51553324e-01  1.67367639e+02]
 [ 1.40373257e-01  9.89823071e-01 -2.33588481e-02  1.44042534e+01]
 [ 2.52303542e-01 -1.29473115e-02  9.67561517e-01  4.34474377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.520714057 meters
Centerline goodness : 0.999706 with order 1
Centerline is valid?  [True, True]
Translation: X:167.43, Y:14.41, Z:43.46
[[ 9.57525659e-01 -1.40942034e-01 -2.51555072e-01  1.67426436e+02]
 [ 1.39580842e-01  9.89935570e-01 -2.33400000e-02  1.44118213e+01]
 [ 2.52312901e-01 -1.27636199e-02  9.67561517e-01  4.34612918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.580714057 meters
Centerline goodness : 0.999548 with order 1
Centerline is valid?  [True, True]
Translation: X:167.49, Y:14.42, Z:43.48
[[ 9.57163852e-01 -1.43377022e-01 -2.51555938e-01  1.67485401e+02]
 [ 1.42100713e-01  9.89577216e-01 -2.33306713e-02  1.44178269e+01]
 [ 2.52279107e-01 -1.34150029e-02  9.67561517e-01  4.34779752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.640714057 meters
Centerline goodness : 0.999615 with order 1
Centerline is valid?  [True, True]
Translation: X:167.54, Y:14.42, Z:43.49
[[ 9.56247315e-01 -1.49366146e-01 -2.51556807e-01  1.67543207e+02]
 [ 1.48295230e-01  9.88668115e-01 -2.33212971e-02  1.44242789e+01]
 [ 2.52189606e-01 -1.50037468e-02  9.67561517e-01  4.34907537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.700714057 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:167.60, Y:14.43, Z:43.50
[[ 9.55133806e-01 -1.56329030e-01 -2.51556451e-01  1.67600459e+02]
 [ 1.55493341e-01  9.87561522e-01 -2.33251370e-02  1.44310624e+01]
 [ 2.52073867e-01 -1.68367260e-02  9.67561517e-01  4.35039702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.760714057 meters
Centerline goodness : 0.999206 with order 1
Centerline is valid?  [True, True]
Translation: X:167.66, Y:14.44, Z:43.52
[[ 9.54074406e-01 -1.62667407e-01 -2.51557833e-01  1.67658341e+02]
 [ 1.62050958e-01  9.86507030e-01 -2.33102222e-02  1.44368573e+01]
 [ 2.51955384e-01 -1.85255014e-02  9.67561518e-01  4.35192390e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.820714057 meters
Centerline goodness : 0.999365 with order 1
Centerline is valid?  [True, True]
Translation: X:167.72, Y:14.44, Z:43.53
[[ 9.53322524e-01 -1.67017314e-01 -2.51557909e-01  1.67716368e+02]
 [ 1.66549016e-01  9.85757626e-01 -2.33093947e-02  1.44432277e+01]
 [ 2.51868200e-01 -1.96753512e-02  9.67561518e-01  4.35346196e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.880714057 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:167.77, Y:14.45, Z:43.55
[[ 9.53022352e-01 -1.68720371e-01 -2.51558804e-01  1.67774593e+02]
 [ 1.68312561e-01  9.85458271e-01 -2.32997317e-02  1.44495816e+01]
 [ 2.51831844e-01 -2.01353415e-02  9.67561518e-01  4.35516860e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.940714057 meters
Centerline goodness : 0.999457 with order 1
Centerline is valid?  [True, True]
Translation: X:167.83, Y:14.46, Z:43.57
[[ 9.52980431e-01 -1.68956857e-01 -2.51558899e-01  1.67833404e+02]
 [ 1.68557363e-01  9.85416453e-01 -2.32987143e-02  1.44554734e+01]
 [ 2.51826755e-01 -2.01988858e-02  9.67561518e-01  4.35670160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.000714057 meters
Centerline goodness : 0.999525 with order 1
Centerline is valid?  [True, True]
Translation: X:167.89, Y:14.46, Z:43.58
[[ 9.52938145e-01 -1.69193359e-01 -2.51560129e-01  1.67892074e+02]
 [ 1.68805401e-01  9.85374307e-01 -2.32854196e-02  1.44625195e+01]
 [ 2.51820627e-01 -2.02751441e-02  9.67561518e-01  4.35802625e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.060714057 meters
Centerline goodness : 0.999569 with order 1
Centerline is valid?  [True, True]
Translation: X:167.95, Y:14.47, Z:43.59
[[ 9.53022787e-01 -1.68712841e-01 -2.51562210e-01  1.67951935e+02]
 [ 1.68314428e-01  9.85458822e-01 -2.32629228e-02  1.44684255e+01]
 [ 2.51828953e-01 -2.01714539e-02  9.67561518e-01  4.35935720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.12071405700001 meters
Centerline goodness : 0.999478 with order 1
Centerline is valid?  [True, True]
Translation: X:168.01, Y:14.48, Z:43.61
[[ 9.53372039e-01 -1.66726751e-01 -2.51563004e-01  1.68010376e+02]
 [ 1.66263009e-01  9.85807206e-01 -2.32543262e-02  1.44762606e+01]
 [ 2.51869741e-01 -1.96555978e-02  9.67561518e-01  4.36081127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.18071405700002 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:168.07, Y:14.48, Z:43.62
[[ 9.53568773e-01 -1.65597257e-01 -2.51563397e-01  1.68067697e+02]
 [ 1.65096207e-01  9.86003386e-01 -2.32500782e-02  1.44840520e+01]
 [ 2.51892510e-01 -1.93616142e-02  9.67561518e-01  4.36244417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.24071405700002 meters
Centerline goodness : 0.999318 with order 1
Centerline is valid?  [True, True]
Translation: X:168.13, Y:14.49, Z:43.64
[[ 9.54044856e-01 -1.62832032e-01 -2.51563397e-01  1.68125103e+02]
 [ 1.62236952e-01  9.86477879e-01 -2.32500782e-02  1.44914391e+01]
 [ 2.51947584e-01 -1.86312613e-02  9.67561518e-01  4.36437886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.300714057 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:168.18, Y:14.50, Z:43.66
[[ 9.54519373e-01 -1.60026274e-01 -2.51563824e-01  1.68183236e+02]
 [ 1.59337050e-01  9.86950532e-01 -2.32454526e-02  1.44992452e+01]
 [ 2.52000934e-01 -1.78952029e-02  9.67561518e-01  4.36599583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.360714057 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:168.24, Y:14.51, Z:43.68
[[ 9.54535645e-01 -1.59928294e-01 -2.51564390e-01  1.68241560e+02]
 [ 1.59237348e-01  9.86966768e-01 -2.32393271e-02  1.45050663e+01]
 [ 2.52002319e-01 -1.78756802e-02  9.67561518e-01  4.36758341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.420714057 meters
Centerline goodness : 0.999405 with order 1
Centerline is valid?  [True, True]
Translation: X:168.30, Y:14.51, Z:43.69
[[ 9.54232110e-01 -1.61728862e-01 -2.51564813e-01  1.68300870e+02]
 [ 1.61100301e-01  9.86664502e-01 -2.32347539e-02  1.45117428e+01]
 [ 2.51967801e-01 -1.83558189e-02  9.67561518e-01  4.36922149e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.480714057 meters
Centerline goodness : 0.999748 with order 1
Centerline is valid?  [True, True]
Translation: X:168.36, Y:14.52, Z:43.71
[[ 9.54001840e-01 -1.63079009e-01 -2.51566545e-01  1.68358371e+02]
 [ 1.62501265e-01  9.86435176e-01 -2.32159850e-02  1.45176735e+01]
 [ 2.51940129e-01 -1.87317894e-02  9.67561518e-01  4.37054174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.540714057 meters
Centerline goodness : 0.999748 with order 1
Centerline is valid?  [True, True]
Translation: X:168.42, Y:14.52, Z:43.72
[[ 9.53699803e-01 -1.64836680e-01 -2.51566205e-01  1.68418170e+02]
 [ 1.64317736e-01  9.86134133e-01 -2.32196672e-02  1.45234757e+01]
 [ 2.51905474e-01 -1.91921973e-02  9.67561518e-01  4.37200792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.600714057 meters
Centerline goodness : 0.999795 with order 1
Centerline is valid?  [True, True]
Translation: X:168.48, Y:14.53, Z:43.73
[[ 9.53403819e-01 -1.66538169e-01 -2.51567480e-01  1.68478259e+02]
 [ 1.66080725e-01  9.85839075e-01 -2.32058488e-02  1.45297727e+01]
 [ 2.51869711e-01 -1.96559646e-02  9.67561518e-01  4.37346599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.660714057 meters
Centerline goodness : 0.999635 with order 1
Centerline is valid?  [True, True]
Translation: X:168.54, Y:14.54, Z:43.75
[[ 9.53455333e-01 -1.66240460e-01 -2.51569151e-01  1.68538266e+02]
 [ 1.65777643e-01  9.85890513e-01 -2.31877199e-02  1.45353790e+01]
 [ 2.51874376e-01 -1.95960855e-02  9.67561518e-01  4.37483540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.720714057 meters
Centerline goodness : 0.999726 with order 1
Centerline is valid?  [True, True]
Translation: X:168.60, Y:14.54, Z:43.77
[[ 9.53659012e-01 -1.65065491e-01 -2.51570811e-01  1.68596826e+02]
 [ 1.64567434e-01  9.86093669e-01 -2.31696962e-02  1.45425217e+01]
 [ 2.51896901e-01 -1.93043731e-02  9.67561519e-01  4.37659824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.780714057 meters
Centerline goodness : 0.999520 with order 1
Centerline is valid?  [True, True]
Translation: X:168.66, Y:14.55, Z:43.78
[[ 9.53637581e-01 -1.65187950e-01 -2.51571670e-01  1.68656232e+02]
 [ 1.64696505e-01  9.86072340e-01 -2.31603658e-02  1.45481284e+01]
 [ 2.51893678e-01 -1.93463794e-02  9.67561519e-01  4.37828869e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.840714057 meters
Centerline goodness : 0.999590 with order 1
Centerline is valid?  [True, True]
Translation: X:168.72, Y:14.55, Z:43.80
[[ 9.53367132e-01 -1.66739134e-01 -2.51573394e-01  1.68715914e+02]
 [ 1.66305371e-01  9.85802713e-01 -2.31416202e-02  1.45520398e+01]
 [ 2.51860348e-01 -1.97755466e-02  9.67561519e-01  4.37970503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.90071405700002 meters
Centerline goodness : 0.999408 with order 1
Centerline is valid?  [True, True]
Translation: X:168.78, Y:14.55, Z:43.81
[[ 9.53039778e-01 -1.68598882e-01 -2.51574241e-01  1.68775494e+02]
 [ 1.68230819e-01  9.85476171e-01 -2.31324102e-02  1.45547929e+01]
 [ 2.51820518e-01 -2.02764334e-02  9.67561519e-01  4.38101459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.96071405700002 meters
Centerline goodness : 0.999703 with order 1
Centerline is valid?  [True, True]
Translation: X:168.83, Y:14.56, Z:43.83
[[ 9.53228977e-01 -1.67525241e-01 -2.51574664e-01  1.68832906e+02]
 [ 1.67121848e-01  9.85664949e-01 -2.31278064e-02  1.45598906e+01]
 [ 2.51842820e-01 -1.99975276e-02  9.67561519e-01  4.38252299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.020714057 meters
Centerline goodness : 0.999840 with order 1
Centerline is valid?  [True, True]
Translation: X:168.89, Y:14.56, Z:43.84
[[ 9.53967545e-01 -1.63267646e-01 -2.51574243e-01  1.68890200e+02]
 [ 1.62718236e-01  9.86401373e-01 -2.31323924e-02  1.45632925e+01]
 [ 2.51929950e-01 -1.88681654e-02  9.67561519e-01  4.38407076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.080714057 meters
Centerline goodness : 0.999590 with order 1
Centerline is valid?  [True, True]
Translation: X:168.95, Y:14.57, Z:43.86
[[ 9.54768667e-01 -1.58516315e-01 -2.51573786e-01  1.68949682e+02]
 [ 1.57804139e-01  9.87199330e-01 -2.31373570e-02  1.45671225e+01]
 [ 2.52021121e-01 -1.76085613e-02  9.67561519e-01  4.38557585e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.140714057 meters
Centerline goodness : 0.999658 with order 1
Centerline is valid?  [True, True]
Translation: X:169.01, Y:14.57, Z:43.87
[[ 9.55805824e-01 -1.52136290e-01 -2.51574595e-01  1.69007680e+02]
 [ 1.51209846e-01  9.88231072e-01 -2.31285582e-02  1.45718322e+01]
 [ 2.52132525e-01 -1.59341453e-02  9.67561519e-01  4.38715961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.200714057 meters
Centerline goodness : 0.999545 with order 1
Centerline is valid?  [True, True]
Translation: X:169.07, Y:14.58, Z:43.89
[[ 9.56862622e-01 -1.45341158e-01 -2.51574781e-01  1.69065189e+02]
 [ 1.44184876e-01  9.89280488e-01 -2.31265356e-02  1.45761171e+01]
 [ 2.52239260e-01 -1.41443612e-02  9.67561519e-01  4.38891388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.260714057 meters
Centerline goodness : 0.999611 with order 1
Centerline is valid?  [True, True]
Translation: X:169.12, Y:14.58, Z:43.90
[[ 9.57157119e-01 -1.43388931e-01 -2.51574769e-01  1.69124844e+02]
 [ 1.42166487e-01  9.89572558e-01 -2.31266688e-02  1.45806700e+01]
 [ 2.52267596e-01 -1.36296455e-02  9.67561519e-01  4.39049405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.320714057 meters
Centerline goodness : 0.999362 with order 1
Centerline is valid?  [True, True]
Translation: X:169.18, Y:14.58, Z:43.92
[[ 9.57874944e-01 -1.38510220e-01 -2.51576053e-01  1.69183748e+02]
 [ 1.37126294e-01  9.90283890e-01 -2.31126845e-02  1.45838503e+01]
 [ 2.52333056e-01 -1.23586306e-02  9.67561519e-01  4.39199250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.380714057 meters
Centerline goodness : 0.999363 with order 1
Centerline is valid?  [True, True]
Translation: X:169.24, Y:14.59, Z:43.93
[[ 9.58241873e-01 -1.35947788e-01 -2.51576453e-01  1.69243321e+02]
 [ 1.34478325e-01  9.90647054e-01 -2.31083379e-02  1.45871915e+01]
 [ 2.52364999e-01 -1.16882030e-02  9.67561519e-01  4.39342499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.440714057 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:169.30, Y:14.59, Z:43.95
[[ 9.58118569e-01 -1.36812506e-01 -2.51577316e-01  1.69302795e+02]
 [ 1.35374750e-01  9.90525172e-01 -2.30989401e-02  1.45889163e+01]
 [ 2.52353888e-01 -1.19256929e-02  9.67561519e-01  4.39483543e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.500714057 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:169.36, Y:14.59, Z:43.96
[[ 9.57650655e-01 -1.40048759e-01 -2.51578156e-01  1.69361727e+02]
 [ 1.38722896e-01  9.90062028e-01 -2.30897880e-02  1.45914106e+01]
 [ 2.52311675e-01 -1.27876997e-02  9.67561519e-01  4.39631613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.560714057 meters
Centerline goodness : 0.999660 with order 1
Centerline is valid?  [True, True]
Translation: X:169.42, Y:14.59, Z:43.98
[[ 9.57342357e-01 -1.42140788e-01 -2.51578234e-01  1.69420649e+02]
 [ 1.40885967e-01  9.89756559e-01 -2.30889333e-02  1.45948704e+01]
 [ 2.52283086e-01 -1.33398291e-02  9.67561519e-01  4.39789758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.62071405700001 meters
Centerline goodness : 0.999819 with order 1
Centerline is valid?  [True, True]
Translation: X:169.48, Y:14.60, Z:43.99
[[ 9.56616671e-01 -1.46943552e-01 -2.51579287e-01  1.69478462e+02]
 [ 1.45854430e-01  9.89036863e-01 -2.30774589e-02  1.45963607e+01]
 [ 2.52212272e-01 -1.46176714e-02  9.67561519e-01  4.39941433e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.68071405700002 meters
Centerline goodness : 0.999752 with order 1
Centerline is valid?  [True, True]
Translation: X:169.54, Y:14.60, Z:44.01
[[ 9.56332226e-01 -1.48783524e-01 -2.51579287e-01  1.69536955e+02]
 [ 1.47756770e-01  9.88754453e-01 -2.30774589e-02  1.46010708e+01]
 [ 2.52183685e-01 -1.51028252e-02  9.67561519e-01  4.40105450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.74071405700002 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:169.60, Y:14.60, Z:44.03
[[ 9.55894039e-01 -1.51572552e-01 -2.51579703e-01  1.69596332e+02]
 [ 1.50641570e-01  9.88319158e-01 -2.30729165e-02  1.46046518e+01]
 [ 2.52138261e-01 -1.58430982e-02  9.67561519e-01  4.40261341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.800714057 meters
Centerline goodness : 0.999865 with order 1
Centerline is valid?  [True, True]
Translation: X:169.66, Y:14.61, Z:44.04
[[ 9.55692383e-01 -1.52837506e-01 -2.51580536e-01  1.69655393e+02]
 [ 1.51951820e-01  9.88118770e-01 -2.30638330e-02  1.46104151e+01]
 [ 2.52116468e-01 -1.61861909e-02  9.67561519e-01  4.40411738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.860714057 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:169.71, Y:14.62, Z:44.06
[[ 9.55160048e-01 -1.56129130e-01 -2.51580954e-01  1.69714533e+02]
 [ 1.55356361e-01  9.87589323e-01 -2.30592680e-02  1.46158062e+01]
 [ 2.52058888e-01 -1.70594101e-02  9.67561519e-01  4.40556785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.920714057 meters
Centerline goodness : 0.999461 with order 1
Centerline is valid?  [True, True]
Translation: X:169.77, Y:14.62, Z:44.07
[[ 9.54411316e-01 -1.60642119e-01 -2.51581297e-01  1.69773073e+02]
 [ 1.60023623e-01  9.86843900e-01 -2.30555270e-02  1.46212003e+01]
 [ 2.51975157e-01 -1.82544947e-02  9.67561519e-01  4.40708633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.980714057 meters
Centerline goodness : 0.999842 with order 1
Centerline is valid?  [True, True]
Translation: X:169.83, Y:14.63, Z:44.08
[[ 9.53862200e-01 -1.63871044e-01 -2.51581366e-01  1.69831720e+02]
 [ 1.63362503e-01  9.86296695e-01 -2.30547770e-02  1.46258084e+01]
 [ 2.51911880e-01 -1.91078813e-02  9.67561519e-01  4.40842102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.040714057 meters
Centerline goodness : 0.999752 with order 1
Centerline is valid?  [True, True]
Translation: X:169.89, Y:14.63, Z:44.10
[[ 9.53680479e-01 -1.64923966e-01 -2.51582253e-01  1.69891909e+02]
 [ 1.64453772e-01  9.86115551e-01 -2.30450890e-02  1.46325857e+01]
 [ 2.51889860e-01 -1.93959990e-02  9.67561519e-01  4.40987968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.100714057 meters
Centerline goodness : 0.999595 with order 1
Centerline is valid?  [True, True]
Translation: X:169.95, Y:14.64, Z:44.11
[[ 9.53861377e-01 -1.63871862e-01 -2.51583953e-01  1.69949650e+02]
 [ 1.63370760e-01  9.86295987e-01 -2.30265138e-02  1.46401187e+01]
 [ 2.51909641e-01 -1.91373597e-02  9.67561520e-01  4.41129054e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.160714057 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:170.01, Y:14.65, Z:44.13
[[ 9.53992896e-01 -1.63104469e-01 -2.51583953e-01  1.70008211e+02]
 [ 1.62577276e-01  9.86427093e-01 -2.30265138e-02  1.46469017e+01]
 [ 2.51924955e-01 -1.89347032e-02  9.67561520e-01  4.41315433e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.220714057 meters
Centerline goodness : 0.999416 with order 1
Centerline is valid?  [True, True]
Translation: X:170.07, Y:14.65, Z:44.15
[[ 9.53963002e-01 -1.63277302e-01 -2.51585201e-01  1.70066052e+02]
 [ 1.62759562e-01  9.86397350e-01 -2.30128710e-02  1.46525941e+01]
 [ 2.51920456e-01 -1.89944697e-02  9.67561520e-01  4.41470673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.280714057 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:170.12, Y:14.66, Z:44.16
[[ 9.53940888e-01 -1.63403354e-01 -2.51587215e-01  1.70123926e+02]
 [ 1.62895676e-01  9.86375395e-01 -2.29908429e-02  1.46590201e+01]
 [ 2.51916219e-01 -1.90505642e-02  9.67561520e-01  4.41629659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.340714057 meters
Centerline goodness : 0.999595 with order 1
Centerline is valid?  [True, True]
Translation: X:170.18, Y:14.66, Z:44.18
[[ 9.54107574e-01 -1.62426630e-01 -2.51587612e-01  1.70182659e+02]
 [ 1.61886887e-01  9.86541564e-01 -2.29864898e-02  1.46642963e+01]
 [ 2.51935254e-01 -1.87971515e-02  9.67561520e-01  4.41787313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.40071405700002 meters
Centerline goodness : 0.999348 with order 1
Centerline is valid?  [True, True]
Translation: X:170.24, Y:14.67, Z:44.20
[[ 9.54492577e-01 -1.60147421e-01 -2.51588402e-01  1.70241573e+02]
 [ 1.59532483e-01  9.86925228e-01 -2.29778426e-02  1.46704173e+01]
 [ 2.51978783e-01 -1.82043423e-02  9.67561520e-01  4.41953677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.46071405700002 meters
Centerline goodness : 0.999369 with order 1
Centerline is valid?  [True, True]
Translation: X:170.30, Y:14.68, Z:44.21
[[ 9.55126177e-01 -1.56322954e-01 -2.51589190e-01  1.70299887e+02]
 [ 1.55580378e-01  9.87556156e-01 -2.29692073e-02  1.46769377e+01]
 [ 2.52049068e-01 -1.72038501e-02  9.67561520e-01  4.42102101e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.520714057 meters
Centerline goodness : 0.999301 with order 1
Centerline is valid?  [True, True]
Translation: X:170.36, Y:14.68, Z:44.22
[[ 9.55940776e-01 -1.51261942e-01 -2.51589066e-01  1.70358059e+02]
 [ 1.50347255e-01  9.88366357e-01 -2.29705649e-02  1.46829563e+01]
 [ 2.52136741e-01 -1.58672259e-02  9.67561520e-01  4.42245106e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.580714057 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:170.41, Y:14.69, Z:44.24
[[ 9.56728415e-01 -1.46197543e-01 -2.51588986e-01  1.70414820e+02]
 [ 1.45110925e-01  9.89148691e-01 -2.29714497e-02  1.46889376e+01]
 [ 2.52217285e-01 -1.45308716e-02  9.67561520e-01  4.42408264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.640714057 meters
Centerline goodness : 0.999052 with order 1
Centerline is valid?  [True, True]
Translation: X:170.47, Y:14.69, Z:44.26
[[ 9.57254053e-01 -1.42716088e-01 -2.51588545e-01  1.70472030e+02]
 [ 1.41510269e-01  9.89670114e-01 -2.29762794e-02  1.46931756e+01]
 [ 2.52268748e-01 -1.36082259e-02  9.67561520e-01  4.42577554e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.700714057 meters
Centerline goodness : 0.998849 with order 1
Centerline is valid?  [True, True]
Translation: X:170.53, Y:14.70, Z:44.27
[[ 9.57177624e-01 -1.43228964e-01 -2.51587876e-01  1.70529194e+02]
 [ 1.42038596e-01  9.89594256e-01 -2.29835933e-02  1.46955971e+01]
 [ 2.52261834e-01 -1.37358076e-02  9.67561520e-01  4.42708870e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.760714057 meters
Centerline goodness : 0.999162 with order 1
Centerline is valid?  [True, True]
Translation: X:170.59, Y:14.70, Z:44.29
[[ 9.56938457e-01 -1.44827788e-01 -2.51582394e-01  1.70588088e+02]
 [ 1.43675889e-01  9.89356477e-01 -2.30434490e-02  1.46989420e+01]
 [ 2.52242003e-01 -1.40951617e-02  9.67561522e-01  4.42857831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.820714057 meters
Centerline goodness : 0.999208 with order 1
Centerline is valid?  [True, True]
Translation: X:170.65, Y:14.70, Z:44.30
[[ 9.56504285e-01 -1.47668288e-01 -2.51582252e-01  1.70646233e+02]
 [ 1.46612236e-01  9.88925569e-01 -2.30450049e-02  1.47008126e+01]
 [ 2.52199138e-01 -1.48423905e-02  9.67561522e-01  4.42959112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.880714057 meters
Centerline goodness : 0.999028 with order 1
Centerline is valid?  [True, True]
Translation: X:170.70, Y:14.70, Z:44.31
[[ 9.56024170e-01 -1.50748480e-01 -2.51580368e-01  1.70702784e+02]
 [ 1.49791476e-01  9.88448529e-01 -2.30655586e-02  1.47044428e+01]
 [ 2.52151342e-01 -1.56333630e-02  9.67561522e-01  4.43118055e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.940714057 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:170.76, Y:14.71, Z:44.33
[[ 9.55774856e-01 -1.52330386e-01 -2.51574795e-01  1.70761591e+02]
 [ 1.51411149e-01  9.88200305e-01 -2.31261867e-02  1.47106176e+01]
 [ 2.52129110e-01 -1.59878009e-02  9.67561524e-01  4.43286729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.000714057 meters
Centerline goodness : 0.999415 with order 1
Centerline is valid?  [True, True]
Translation: X:170.82, Y:14.72, Z:44.35
[[ 9.55730320e-01 -1.52608214e-01 -2.51575613e-01  1.70819511e+02]
 [ 1.51700736e-01  9.88156100e-01 -2.31172852e-02  1.47151637e+01]
 [ 2.52123864e-01 -1.60703152e-02  9.67561524e-01  4.43450373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.060714057 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:170.88, Y:14.72, Z:44.36
[[ 9.55374425e-01 -1.54819429e-01 -2.51576335e-01  1.70877661e+02]
 [ 1.53989050e-01  9.87802271e-01 -2.31094202e-02  1.47211285e+01]
 [ 2.52085463e-01 -1.66618519e-02  9.67561524e-01  4.43610684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.12071405700001 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:170.94, Y:14.73, Z:44.37
[[ 9.54679036e-01 -1.59050768e-01 -2.51576612e-01  1.70936076e+02]
 [ 1.58364863e-01  9.87110259e-01 -2.31064023e-02  1.47256847e+01]
 [ 2.52008946e-01 -1.77816978e-02  9.67561524e-01  4.43735434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.18071405700002 meters
Centerline goodness : 0.999481 with order 1
Centerline is valid?  [True, True]
Translation: X:171.00, Y:14.73, Z:44.39
[[ 9.54518775e-01 -1.60009735e-01 -2.51576612e-01  1.70996060e+02]
 [ 1.59356410e-01  9.86950672e-01 -2.31064023e-02  1.47307594e+01]
 [ 2.51990956e-01 -1.80348509e-02  9.67561524e-01  4.43878299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.24071405700002 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:171.06, Y:14.74, Z:44.40
[[ 9.54060708e-01 -1.62716723e-01 -2.51577887e-01  1.71055232e+02]
 [ 1.62159038e-01  9.86494390e-01 -2.30925213e-02  1.47365553e+01]
 [ 2.51937713e-01 -1.87639608e-02  9.67561524e-01  4.44004007e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.300714057 meters
Centerline goodness : 0.999386 with order 1
Centerline is valid?  [True, True]
Translation: X:171.11, Y:14.74, Z:44.41
[[ 9.54273964e-01 -1.61460704e-01 -2.51578305e-01  1.71113292e+02]
 [ 1.60861521e-01  9.86706905e-01 -2.30879625e-02  1.47429347e+01]
 [ 2.51961849e-01 -1.84370274e-02  9.67561524e-01  4.44135480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.360714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:171.17, Y:14.75, Z:44.43
[[ 9.54856473e-01 -1.57979344e-01 -2.51578305e-01  1.71171289e+02]
 [ 1.57261880e-01  9.87287014e-01 -2.30879625e-02  1.47530097e+01]
 [ 2.52027415e-01 -1.75179868e-02  9.67561524e-01  4.44304052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.420714057 meters
Centerline goodness : 0.999273 with order 1
Centerline is valid?  [True, True]
Translation: X:171.23, Y:14.76, Z:44.45
[[ 9.55464919e-01 -1.54256842e-01 -2.51578248e-01  1.71228662e+02]
 [ 1.53412832e-01  9.87892413e-01 -2.30885804e-02  1.47623072e+01]
 [ 2.52093814e-01 -1.65350031e-02  9.67561524e-01  4.44461782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.480714057 meters
Centerline goodness : 0.999566 with order 1
Centerline is valid?  [True, True]
Translation: X:171.29, Y:14.77, Z:44.46
[[ 9.55733032e-01 -1.52586883e-01 -2.51578248e-01  1.71286299e+02]
 [ 1.51686206e-01  9.88159002e-01 -2.30885804e-02  1.47707935e+01]
 [ 2.52122325e-01 -1.60944311e-02  9.67561524e-01  4.44624704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.540714057 meters
Centerline goodness : 0.999613 with order 1
Centerline is valid?  [True, True]
Translation: X:171.34, Y:14.78, Z:44.48
[[ 9.55554565e-01 -1.53700549e-01 -2.51578248e-01  1.71344130e+02]
 [ 1.52837660e-01  9.87981562e-01 -2.30885804e-02  1.47794712e+01]
 [ 2.52103398e-01 -1.63882323e-02  9.67561524e-01  4.44772031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.600714057 meters
Centerline goodness : 0.999453 with order 1
Centerline is valid?  [True, True]
Translation: X:171.40, Y:14.79, Z:44.49
[[ 9.55382688e-01 -1.54765950e-01 -2.51577860e-01  1.71401924e+02]
 [ 1.53938110e-01  9.87810599e-01 -2.30928119e-02  1.47864488e+01]
 [ 2.52085257e-01 -1.66649477e-02  9.67561524e-01  4.44916448e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.660714057 meters
Centerline goodness : 0.998970 with order 1
Centerline is valid?  [True, True]
Translation: X:171.46, Y:14.80, Z:44.51
[[ 9.55165050e-01 -1.56104421e-01 -2.51577299e-01  1.71461736e+02]
 [ 1.55320418e-01  9.87594050e-01 -2.30989154e-02  1.47952512e+01]
 [ 2.52062087e-01 -1.70118146e-02  9.67561524e-01  4.45081328e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.720714057 meters
Centerline goodness : 0.999359 with order 1
Centerline is valid?  [True, True]
Translation: X:171.52, Y:14.81, Z:44.52
[[ 9.55279213e-01 -1.55401444e-01 -2.51579045e-01  1.71520256e+02]
 [ 1.54598563e-01  9.87707752e-01 -2.30798913e-02  1.48063932e+01]
 [ 2.52073221e-01 -1.68460183e-02  9.67561524e-01  4.45212518e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.780714057 meters
Centerline goodness : 0.999008 with order 1
Centerline is valid?  [True, True]
Translation: X:171.58, Y:14.82, Z:44.54
[[ 9.55664318e-01 -1.53013936e-01 -2.51579903e-01  1.71577181e+02]
 [ 1.52132479e-01  9.88090815e-01 -2.30705367e-02  1.48187830e+01]
 [ 2.52113905e-01 -1.62257855e-02  9.67561524e-01  4.45389603e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.840714057 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:171.63, Y:14.83, Z:44.56
[[ 9.56193311e-01 -1.49672466e-01 -2.51580018e-01  1.71634843e+02]
 [ 1.48677997e-01  9.88616539e-01 -2.30692808e-02  1.48296623e+01]
 [ 2.52169003e-01 -1.53457210e-02  9.67561524e-01  4.45560790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.90071405700002 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:171.69, Y:14.84, Z:44.57
[[ 9.56560741e-01 -1.47303773e-01 -2.51581293e-01  1.71691513e+02]
 [ 1.46232651e-01  9.88981528e-01 -2.30553617e-02  1.48407563e+01]
 [ 2.52205394e-01 -1.47355456e-02  9.67561524e-01  4.45713190e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.96071405700002 meters
Centerline goodness : 0.999417 with order 1
Centerline is valid?  [True, True]
Translation: X:171.75, Y:14.85, Z:44.59
[[ 9.57013258e-01 -1.44334851e-01 -2.51581148e-01  1.71750494e+02]
 [ 1.43162717e-01  9.89430550e-01 -2.30569489e-02  1.48489720e+01]
 [ 2.52249995e-01 -1.39512348e-02  9.67561524e-01  4.45862908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.020714057 meters
Centerline goodness : 0.999442 with order 1
Centerline is valid?  [True, True]
Translation: X:171.81, Y:14.86, Z:44.60
[[ 9.57559376e-01 -1.40664643e-01 -2.51581994e-01  1.71809043e+02]
 [ 1.39370651e-01  9.89972032e-01 -2.30477117e-02  1.48566191e+01]
 [ 2.52301136e-01 -1.29935939e-02  9.67561524e-01  4.46001238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.080714057 meters
Centerline goodness : 0.999302 with order 1
Centerline is valid?  [True, True]
Translation: X:171.87, Y:14.86, Z:44.61
[[ 9.58235522e-01 -1.35981250e-01 -2.51582559e-01  1.71866991e+02]
 [ 1.34530416e-01  9.90641537e-01 -2.30415455e-02  1.48649381e+01]
 [ 2.52361351e-01 -1.17662790e-02  9.67561524e-01  4.46149420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.140714057 meters
Centerline goodness : 0.999208 with order 1
Centerline is valid?  [True, True]
Translation: X:171.93, Y:14.87, Z:44.63
[[ 9.58854694e-01 -1.31544260e-01 -2.51582559e-01  1.71925536e+02]
 [ 1.29943439e-01  9.91253646e-01 -2.30415455e-02  1.48721475e+01]
 [ 2.52413112e-01 -1.05980088e-02  9.67561524e-01  4.46305997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.200714057 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:171.98, Y:14.88, Z:44.65
[[ 9.59450692e-01 -1.27122606e-01 -2.51583412e-01  1.71983289e+02]
 [ 1.25374886e-01  9.91842051e-01 -2.30322235e-02  1.48791946e+01]
 [ 2.52458924e-01 -9.44395882e-03  9.67561524e-01  4.46489391e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.260714057 meters
Centerline goodness : 0.999487 with order 1
Centerline is valid?  [True, True]
Translation: X:172.04, Y:14.89, Z:44.67
[[ 9.59717792e-01 -1.25090107e-01 -2.51583436e-01  1.72041465e+02]
 [ 1.23273850e-01  9.92105381e-01 -2.30319633e-02  1.48850891e+01]
 [ 2.52478351e-01 -8.90947391e-03  9.67561524e-01  4.46656061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.320714057 meters
Centerline goodness : 0.999162 with order 1
Centerline is valid?  [True, True]
Translation: X:172.10, Y:14.89, Z:44.68
[[ 9.59556261e-01 -1.26322387e-01 -2.51583856e-01  1.72100791e+02]
 [ 1.24548922e-01  9.91946221e-01 -2.30273810e-02  1.48877830e+01]
 [ 2.52466529e-01 -9.23843030e-03  9.67561524e-01  4.46796983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.380714057 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:172.16, Y:14.89, Z:44.69
[[ 9.59267770e-01 -1.28494200e-01 -2.51584152e-01  1.72160010e+02]
 [ 1.26794907e-01  9.91661707e-01 -2.30241447e-02  1.48900483e+01]
 [ 2.52444838e-01 -9.81326921e-03  9.67561524e-01  4.46948875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.440714057 meters
Centerline goodness : 0.998935 with order 1
Centerline is valid?  [True, True]
Translation: X:172.22, Y:14.89, Z:44.71
[[ 9.58988749e-01 -1.30558657e-01 -2.51585009e-01  1.72218544e+02]
 [ 1.28931548e-01  9.91386391e-01 -2.30147724e-02  1.48916570e+01]
 [ 2.52422732e-01 -1.03663368e-02  9.67561524e-01  4.47103633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.500714057 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:172.28, Y:14.89, Z:44.73
[[ 9.58755985e-01 -1.32256319e-01 -2.51585428e-01  1.72277033e+02]
 [ 1.30687772e-01  9.91156515e-01 -2.30101908e-02  1.48943258e+01]
 [ 2.52403779e-01 -1.08179809e-02  9.67561524e-01  4.47286272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.560714057 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:172.34, Y:14.89, Z:44.74
[[ 9.58309371e-01 -1.35453719e-01 -2.51585848e-01  1.72335867e+02]
 [ 1.33994462e-01  9.90715008e-01 -2.30056012e-02  1.48903669e+01]
 [ 2.52366069e-01 -1.16646270e-02  9.67561524e-01  4.47440668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.62071405700001 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:172.39, Y:14.89, Z:44.76
[[ 9.58109485e-01 -1.36859657e-01 -2.51586265e-01  1.72394917e+02]
 [ 1.35449145e-01  9.90517280e-01 -2.30010337e-02  1.48915483e+01]
 [ 2.52348457e-01 -1.20396360e-02  9.67561524e-01  4.47590217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.68071405700002 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:172.45, Y:14.89, Z:44.78
[[ 9.57673138e-01 -1.39878128e-01 -2.51587499e-01  1.72454568e+02]
 [ 1.38573281e-01  9.90085359e-01 -2.29875374e-02  1.48907183e+01]
 [ 2.52308553e-01 -1.28487581e-02  9.67561525e-01  4.47753825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.74071405700002 meters
Centerline goodness : 0.998951 with order 1
Centerline is valid?  [True, True]
Translation: X:172.51, Y:14.89, Z:44.79
[[ 9.57336604e-01 -1.42161720e-01 -2.51588299e-01  1.72512821e+02]
 [ 1.40936475e-01  9.89751932e-01 -2.29787731e-02  1.48872356e+01]
 [ 2.52276707e-01 -1.34595474e-02  9.67561525e-01  4.47876327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.800714057 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:172.57, Y:14.89, Z:44.80
[[ 9.57303493e-01 -1.42385190e-01 -2.51587918e-01  1.72572907e+02]
 [ 1.41166418e-01  9.89719064e-01 -2.29829501e-02  1.48857308e+01]
 [ 2.52273790e-01 -1.35141066e-02  9.67561525e-01  4.48031623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.860714057 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:172.63, Y:14.89, Z:44.82
[[ 9.57754172e-01 -1.39319136e-01 -2.51589198e-01  1.72633356e+02]
 [ 1.38000249e-01  9.90165824e-01 -2.29689217e-02  1.48852556e+01]
 [ 2.52315036e-01 -1.27207915e-02  9.67561525e-01  4.48182404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.920714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:172.69, Y:14.89, Z:44.83
[[ 9.57991846e-01 -1.37672752e-01 -2.51590614e-01  1.72692240e+02]
 [ 1.36302225e-01  9.90401355e-01 -2.29534030e-02  1.48861137e+01]
 [ 2.52335743e-01 -1.23031875e-02  9.67561525e-01  4.48318366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.980714057 meters
Centerline goodness : 0.998848 with order 1
Centerline is valid?  [True, True]
Translation: X:172.75, Y:14.89, Z:44.85
[[ 9.58105759e-01 -1.36877004e-01 -2.51591016e-01  1.72750276e+02]
 [ 1.35480714e-01  9.90514169e-01 -2.29489926e-02  1.48869601e+01]
 [ 2.52345656e-01 -1.20981685e-02  9.67561525e-01  4.48518790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.040714057 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:172.81, Y:14.89, Z:44.87
[[ 9.57938188e-01 -1.38043331e-01 -2.51591864e-01  1.72809364e+02]
 [ 1.36688931e-01  9.90348376e-01 -2.29397007e-02  1.48872931e+01]
 [ 2.52330266e-01 -1.24150076e-02  9.67561525e-01  4.48690573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.100714057 meters
Centerline goodness : 0.998671 with order 1
Centerline is valid?  [True, True]
Translation: X:172.87, Y:14.89, Z:44.88
[[ 9.57813809e-01 -1.38902186e-01 -2.51592705e-01  1.72869072e+02]
 [ 1.37579265e-01  9.90225297e-01 -2.29304689e-02  1.48908216e+01]
 [ 2.52318553e-01 -1.26508195e-02  9.67561525e-01  4.48846530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.160714057 meters
Centerline goodness : 0.998739 with order 1
Centerline is valid?  [True, True]
Translation: X:172.93, Y:14.89, Z:44.90
[[ 9.57080254e-01 -1.43868258e-01 -2.51593546e-01  1.72928127e+02]
 [ 1.42715883e-01  9.89498253e-01 -2.29212419e-02  1.48913308e+01]
 [ 2.52249013e-01 -1.39689270e-02  9.67561525e-01  4.49001857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.220714057 meters
Centerline goodness : 0.999256 with order 1
Centerline is valid?  [True, True]
Translation: X:172.99, Y:14.89, Z:44.91
[[ 9.56126936e-01 -1.50073094e-01 -2.51593618e-01  1.72986942e+02]
 [ 1.49131222e-01  9.88551734e-01 -2.29204495e-02  1.48911464e+01]
 [ 2.52153050e-01 -1.56056047e-02  9.67561525e-01  4.49136451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.280714057 meters
Centerline goodness : 0.999191 with order 1
Centerline is valid?  [True, True]
Translation: X:173.05, Y:14.89, Z:44.93
[[ 9.55254803e-01 -1.55528144e-01 -2.51593437e-01  1.73045943e+02]
 [ 1.54770845e-01  9.87684437e-01 -2.29224358e-02  1.48918506e+01]
 [ 2.52060006e-01 -1.70425619e-02  9.67561525e-01  4.49264087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.340714057 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:173.10, Y:14.90, Z:44.94
[[ 9.54899992e-01 -1.57692551e-01 -2.51593055e-01  1.73103915e+02]
 [ 1.57007647e-01  9.87331235e-01 -2.29266265e-02  1.48967869e+01]
 [ 2.52021040e-01 -1.76093981e-02  9.67561525e-01  4.49406233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.40071405700002 meters
Centerline goodness : 0.999011 with order 1
Centerline is valid?  [True, True]
Translation: X:173.16, Y:14.90, Z:44.96
[[ 9.55111358e-01 -1.56407398e-01 -2.51592962e-01  1.73161623e+02]
 [ 1.55678586e-01  9.87541645e-01 -2.29276423e-02  1.49031363e+01]
 [ 2.52044581e-01 -1.72691851e-02  9.67561525e-01  4.49562208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.46071405700002 meters
Centerline goodness : 0.999325 with order 1
Centerline is valid?  [True, True]
Translation: X:173.22, Y:14.91, Z:44.97
[[ 9.55192590e-01 -1.55911199e-01 -2.51592556e-01  1.73219697e+02]
 [ 1.55164370e-01  9.87622467e-01 -2.29321032e-02  1.49105531e+01]
 [ 2.52053832e-01 -1.71336253e-02  9.67561525e-01  4.49736346e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.520714057 meters
Centerline goodness : 0.999417 with order 1
Centerline is valid?  [True, True]
Translation: X:173.28, Y:14.92, Z:44.99
[[ 9.55061442e-01 -1.56711209e-01 -2.51593399e-01  1.73277945e+02]
 [ 1.55993971e-01  9.87491987e-01 -2.29228463e-02  1.49183993e+01]
 [ 2.52038733e-01 -1.73543267e-02  9.67561525e-01  4.49901288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.580714057 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:173.34, Y:14.93, Z:45.01
[[ 9.54701441e-01 -1.58888323e-01 -2.51594235e-01  1.73336187e+02]
 [ 1.58247432e-01  9.87133585e-01 -2.29136728e-02  1.49255209e+01]
 [ 2.51997834e-01 -1.79384252e-02  9.67561525e-01  4.50062140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.640714057 meters
Centerline goodness : 0.999350 with order 1
Centerline is valid?  [True, True]
Translation: X:173.39, Y:14.93, Z:45.02
[[ 9.54209626e-01 -1.61815086e-01 -2.51594651e-01  1.73393993e+02]
 [ 1.61274846e-01  9.86643602e-01 -2.29091057e-02  1.49336712e+01]
 [ 2.51941291e-01 -1.87157994e-02  9.67561525e-01  4.50228030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.700714057 meters
Centerline goodness : 0.999462 with order 1
Centerline is valid?  [True, True]
Translation: X:173.45, Y:14.94, Z:45.04
[[ 9.53474350e-01 -1.66092550e-01 -2.51594770e-01  1.73452274e+02]
 [ 1.65698108e-01  9.85910427e-01 -2.29077933e-02  1.49401493e+01]
 [ 2.51854721e-01 -1.98467842e-02  9.67561525e-01  4.50360730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.760714057 meters
Centerline goodness : 0.999573 with order 1
Centerline is valid?  [True, True]
Translation: X:173.51, Y:14.95, Z:45.05
[[ 9.52689758e-01 -1.70534945e-01 -2.51595028e-01  1.73510483e+02]
 [ 1.70292436e-01  9.85127326e-01 -2.29049618e-02  1.49461413e+01]
 [ 2.51759233e-01 -2.10234078e-02  9.67561525e-01  4.50495970e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.820714057 meters
Centerline goodness : 0.999215 with order 1
Centerline is valid?  [True, True]
Translation: X:173.57, Y:14.95, Z:45.07
[[ 9.52304382e-01 -1.72674466e-01 -2.51594701e-01  1.73568551e+02]
 [ 1.72503878e-01  9.84742408e-01 -2.29085514e-02  1.49537527e+01]
 [ 2.51711694e-01 -2.15851478e-02  9.67561525e-01  4.50651780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.880714057 meters
Centerline goodness : 0.999057 with order 1
Centerline is valid?  [True, True]
Translation: X:173.63, Y:14.96, Z:45.08
[[ 9.52386102e-01 -1.72223061e-01 -2.51594772e-01  1.73626479e+02]
 [ 1.72037303e-01  9.84824045e-01 -2.29077715e-02  1.49604580e+01]
 [ 2.51721828e-01 -2.14666428e-02  9.67561525e-01  4.50824274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.940714057 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:173.69, Y:14.97, Z:45.10
[[ 9.52544170e-01 -1.71346022e-01 -2.51595199e-01  1.73685729e+02]
 [ 1.71131625e-01  9.84981937e-01 -2.29030816e-02  1.49676938e+01]
 [ 2.51741078e-01 -2.12396983e-02  9.67561525e-01  4.50994942e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.000714057 meters
Centerline goodness : 0.998968 with order 1
Centerline is valid?  [True, True]
Translation: X:173.74, Y:14.97, Z:45.11
[[ 9.52624239e-01 -1.70897788e-01 -2.51596909e-01  1.73744648e+02]
 [ 1.70673058e-01  9.85061936e-01 -2.28842766e-02  1.49733602e+01]
 [ 2.51749411e-01 -2.11406974e-02  9.67561525e-01  4.51142406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.060714057 meters
Centerline goodness : 0.999170 with order 1
Centerline is valid?  [True, True]
Translation: X:173.80, Y:14.98, Z:45.13
[[ 9.52501489e-01 -1.71579382e-01 -2.51597752e-01  1.73803894e+02]
 [ 1.71380294e-01  9.84939353e-01 -2.28750059e-02  1.49777703e+01]
 [ 2.51733407e-01 -2.13304197e-02  9.67561525e-01  4.51281513e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.12071405700001 meters
Centerline goodness : 0.999417 with order 1
Centerline is valid?  [True, True]
Translation: X:173.86, Y:14.98, Z:45.14
[[ 9.52240461e-01 -1.73022080e-01 -2.51597822e-01  1.73864195e+02]
 [ 1.72872334e-01  9.84678590e-01 -2.28742345e-02  1.49825199e+01]
 [ 2.51700737e-01 -2.17125311e-02  9.67561525e-01  4.51409182e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.18071405700002 meters
Centerline goodness : 0.999371 with order 1
Centerline is valid?  [True, True]
Translation: X:173.92, Y:14.99, Z:45.15
[[ 9.51936723e-01 -1.74681603e-01 -2.51600502e-01  1.73924862e+02]
 [ 1.74596136e-01  9.84375085e-01 -2.28447219e-02  1.49866737e+01]
 [ 2.51659818e-01 -2.21817459e-02  9.67561526e-01  4.51541142e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.24071405700002 meters
Centerline goodness : 0.999215 with order 1
Centerline is valid?  [True, True]
Translation: X:173.98, Y:14.99, Z:45.17
[[ 9.51826969e-01 -1.75276304e-01 -2.51602141e-01  1.73982930e+02]
 [ 1.75215842e-01  9.84265387e-01 -2.28266554e-02  1.49911648e+01]
 [ 2.51644251e-01 -2.23576548e-02  9.67561526e-01  4.51683885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.300714057 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:174.04, Y:15.00, Z:45.19
[[ 9.52198701e-01 -1.73242551e-01 -2.51604157e-01  1.74042414e+02]
 [ 1.73118623e-01  9.84636939e-01 -2.28044222e-02  1.49968787e+01]
 [ 2.51689443e-01 -2.18430238e-02  9.67561526e-01  4.51874793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.360714057 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:174.10, Y:15.00, Z:45.21
[[ 9.53005805e-01 -1.68742285e-01 -2.51606790e-01  1.74100650e+02]
 [ 1.68472742e-01  9.85443159e-01 -2.27753325e-02  1.50037031e+01]
 [ 2.51787351e-01 -2.06838618e-02  9.67561526e-01  4.52050596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.420714057 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:174.16, Y:15.01, Z:45.22
[[ 9.54061623e-01 -1.62666216e-01 -2.51607077e-01  1.74159139e+02]
 [ 1.62190817e-01  9.86496613e-01 -2.27721598e-02  1.50104529e+01]
 [ 2.51913790e-01 -1.90823137e-02  9.67561526e-01  4.52207241e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.480714057 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:174.22, Y:15.02, Z:45.24
[[ 9.54750824e-01 -1.58570213e-01 -2.51607537e-01  1.74217322e+02]
 [ 1.57956951e-01  9.87183500e-01 -2.27670810e-02  1.50162281e+01]
 [ 2.51992989e-01 -1.80062699e-02  9.67561527e-01  4.52362537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.540714057 meters
Centerline goodness : 0.999595 with order 1
Centerline is valid?  [True, True]
Translation: X:174.28, Y:15.02, Z:45.25
[[ 9.55064930e-01 -1.56667274e-01 -2.51607520e-01  1.74276369e+02]
 [ 1.55989333e-01  9.87496319e-01 -2.27672640e-02  1.50210577e+01]
 [ 2.52028385e-01 -1.75038738e-02  9.67561527e-01  4.52494249e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.600714057 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:174.34, Y:15.03, Z:45.26
[[ 9.55115487e-01 -1.56357412e-01 -2.51608361e-01  1.74336080e+02]
 [ 1.55671385e-01  9.87546705e-01 -2.27579705e-02  1.50258962e+01]
 [ 2.52033385e-01 -1.74317320e-02  9.67561527e-01  4.52637018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.660714057 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:174.39, Y:15.03, Z:45.28
[[ 9.55243248e-01 -1.55573600e-01 -2.51609206e-01  1.74394485e+02]
 [ 1.54863412e-01  9.87673946e-01 -2.27486250e-02  1.50307148e+01]
 [ 2.52046942e-01 -1.72345896e-02  9.67561527e-01  4.52776635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.720714057 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:174.45, Y:15.04, Z:45.29
[[ 9.55758579e-01 -1.52375595e-01 -2.51609254e-01  1.74453609e+02]
 [ 1.51557007e-01  9.88186722e-01 -2.27480926e-02  1.50373289e+01]
 [ 2.52103178e-01 -1.63914607e-02  9.67561527e-01  4.52934160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.780714057 meters
Centerline goodness : 0.998832 with order 1
Centerline is valid?  [True, True]
Translation: X:174.51, Y:15.04, Z:45.31
[[ 9.56479079e-01 -1.47783480e-01 -2.51610441e-01  1.74511353e+02]
 [ 1.46812598e-01  9.88903020e-01 -2.27349505e-02  1.50439576e+01]
 [ 2.52178175e-01 -1.51940780e-02  9.67561527e-01  4.53111913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.840714057 meters
Centerline goodness : 0.998831 with order 1
Centerline is valid?  [True, True]
Translation: X:174.57, Y:15.05, Z:45.33
[[ 9.57158140e-01 -1.43319437e-01 -2.51610479e-01  1.74569070e+02]
 [ 1.42197403e-01  9.89577203e-01 -2.27345273e-02  1.50500158e+01]
 [ 2.52246294e-01 -1.40178189e-02  9.67561527e-01  4.53292376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.90071405700002 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:174.63, Y:15.06, Z:45.35
[[ 9.57521891e-01 -1.40868523e-01 -2.51610588e-01  1.74627998e+02]
 [ 1.39663811e-01  9.89937986e-01 -2.27333236e-02  1.50563233e+01]
 [ 2.52281289e-01 -1.33732388e-02  9.67561527e-01  4.53450829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.96071405700002 meters
Centerline goodness : 0.999009 with order 1
Centerline is valid?  [True, True]
Translation: X:174.69, Y:15.06, Z:45.36
[[ 9.57736585e-01 -1.39399847e-01 -2.51611439e-01  1.74688187e+02]
 [ 1.38147892e-01  9.90150890e-01 -2.27238984e-02  1.50618330e+01]
 [ 2.52300999e-01 -1.29960811e-02  9.67561527e-01  4.53601463e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.020714057 meters
Centerline goodness : 0.999078 with order 1
Centerline is valid?  [True, True]
Translation: X:174.75, Y:15.07, Z:45.37
[[ 9.57922813e-01 -1.38111270e-01 -2.51613118e-01  1.74747168e+02]
 [ 1.36820581e-01  9.90335599e-01 -2.27052977e-02  1.50661341e+01]
 [ 2.52317285e-01 -1.26759304e-02  9.67561527e-01  4.53741082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.080714057 meters
Centerline goodness : 0.998965 with order 1
Centerline is valid?  [True, True]
Translation: X:174.81, Y:15.07, Z:45.39
[[ 9.58223055e-01 -1.36009539e-01 -2.51614748e-01  1.74805911e+02]
 [ 1.34652487e-01  9.90633130e-01 -2.26872177e-02  1.50720895e+01]
 [ 2.52343584e-01 -1.21411365e-02  9.67561527e-01  4.53893499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.140714057 meters
Centerline goodness : 0.998990 with order 1
Centerline is valid?  [True, True]
Translation: X:174.86, Y:15.08, Z:45.40
[[ 9.58436927e-01 -1.34493379e-01 -2.51615159e-01  1.74864406e+02]
 [ 1.33086246e-01  9.90844866e-01 -2.26826613e-02  1.50780536e+01]
 [ 2.52362256e-01 -1.17466168e-02  9.67561527e-01  4.54047401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.200714057 meters
Centerline goodness : 0.998921 with order 1
Centerline is valid?  [True, True]
Translation: X:174.92, Y:15.08, Z:45.42
[[ 9.58394947e-01 -1.34791428e-01 -2.51615574e-01  1.74923223e+02]
 [ 1.33395581e-01  9.90803374e-01 -2.26780535e-02  1.50826615e+01]
 [ 2.52358367e-01 -1.18298737e-02  9.67561527e-01  4.54195949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.260714057 meters
Centerline goodness : 0.999439 with order 1
Centerline is valid?  [True, True]
Translation: X:174.98, Y:15.09, Z:45.43
[[ 9.58060716e-01 -1.37146883e-01 -2.51615574e-01  1.74979889e+02]
 [ 1.35830704e-01  9.90472476e-01 -2.26780535e-02  1.50869926e+01]
 [ 2.52328525e-01 -1.24501684e-02  9.67561527e-01  4.54333739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.320714057 meters
Centerline goodness : 0.999103 with order 1
Centerline is valid?  [True, True]
Translation: X:175.04, Y:15.09, Z:45.45
[[ 9.57765012e-01 -1.39199120e-01 -2.51614361e-01  1.75036888e+02]
 [ 1.37948858e-01  9.90179382e-01 -2.26915056e-02  1.50907497e+01]
 [ 2.52301990e-01 -1.29767838e-02  9.67561527e-01  4.54484991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.380714057 meters
Centerline goodness : 0.999257 with order 1
Centerline is valid?  [True, True]
Translation: X:175.10, Y:15.10, Z:45.47
[[ 9.57689741e-01 -1.39717470e-01 -2.51613570e-01  1.75096061e+02]
 [ 1.38482453e-01  9.90104695e-01 -2.27002772e-02  1.50954697e+01]
 [ 2.52295402e-01 -1.31042419e-02  9.67561527e-01  4.54659747e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.440714057 meters
Centerline goodness : 0.999551 with order 1
Centerline is valid?  [True, True]
Translation: X:175.16, Y:15.10, Z:45.48
[[ 9.57447761e-01 -1.41363929e-01 -2.51614834e-01  1.75155094e+02]
 [ 1.40188325e-01  9.89864924e-01 -2.26862523e-02  1.50999256e+01]
 [ 2.52271717e-01 -1.35525606e-02  9.67561527e-01  4.54802810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.500714057 meters
Centerline goodness : 0.999618 with order 1
Centerline is valid?  [True, True]
Translation: X:175.21, Y:15.10, Z:45.49
[[ 9.56930241e-01 -1.44825579e-01 -2.51614915e-01  1.75214924e+02]
 [ 1.43767451e-01  9.89351451e-01 -2.26853614e-02  1.51033584e+01]
 [ 2.52221002e-01 -1.44657265e-02  9.67561527e-01  4.54943627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.560714057 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:175.27, Y:15.11, Z:45.51
[[ 9.56629372e-01 -1.46798351e-01 -2.51615757e-01  1.75273135e+02]
 [ 1.45809523e-01  9.89052770e-01 -2.26760196e-02  1.51093908e+01]
 [ 2.52190063e-01 -1.49954270e-02  9.67561527e-01  4.55091434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.62071405700001 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:175.33, Y:15.12, Z:45.52
[[ 9.56484117e-01 -1.47741114e-01 -2.51616171e-01  1.75331871e+02]
 [ 1.46785447e-01  9.88908509e-01 -2.26714208e-02  1.51166060e+01]
 [ 2.52174873e-01 -1.52487382e-02  9.67561527e-01  4.55241764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.68071405700002 meters
Centerline goodness : 0.999505 with order 1
Centerline is valid?  [True, True]
Translation: X:175.39, Y:15.12, Z:45.54
[[ 9.56169845e-01 -1.49760892e-01 -2.51616579e-01  1.75389512e+02]
 [ 1.48874895e-01  9.88596216e-01 -2.26668927e-02  1.51238187e+01]
 [ 2.52141812e-01 -1.57859924e-02  9.67561527e-01  4.55391701e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.74071405700002 meters
Centerline goodness : 0.999639 with order 1
Centerline is valid?  [True, True]
Translation: X:175.45, Y:15.13, Z:45.56
[[ 9.55794836e-01 -1.52136111e-01 -2.51616443e-01  1.75448067e+02]
 [ 1.51330286e-01  9.88223299e-01 -2.26684048e-02  1.51320899e+01]
 [ 2.52101914e-01 -1.64108441e-02  9.67561527e-01  4.55553653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.800714057 meters
Centerline goodness : 0.999483 with order 1
Centerline is valid?  [True, True]
Translation: X:175.51, Y:15.14, Z:45.57
[[ 9.55105889e-01 -1.56401703e-01 -2.51617265e-01  1.75505885e+02]
 [ 1.55743055e-01  9.87537674e-01 -2.26592759e-02  1.51402847e+01]
 [ 2.52025478e-01 -1.75456337e-02  9.67561527e-01  4.55719557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.860714057 meters
Centerline goodness : 0.999910 with order 1
Centerline is valid?  [True, True]
Translation: X:175.56, Y:15.15, Z:45.59
[[ 9.54389615e-01 -1.60714588e-01 -2.51617335e-01  1.75563320e+02]
 [ 1.60202655e-01  9.86824048e-01 -2.26584950e-02  1.51485005e+01]
 [ 2.51943588e-01 -1.86847329e-02  9.67561527e-01  4.55858337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.920714057 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:175.62, Y:15.16, Z:45.60
[[ 9.53739317e-01 -1.64528985e-01 -2.51617821e-01  1.75622375e+02]
 [ 1.64148144e-01  9.86175554e-01 -2.26531030e-02  1.51562825e+01]
 [ 2.51866436e-01 -1.96974432e-02  9.67561527e-01  4.55991443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.980714057 meters
Centerline goodness : 0.999774 with order 1
Centerline is valid?  [True, True]
Translation: X:175.68, Y:15.16, Z:45.62
[[ 9.53183785e-01 -1.67716492e-01 -2.51618463e-01  1.75681360e+02]
 [ 1.67445962e-01  9.85621129e-01 -2.26459647e-02  1.51636209e+01]
 [ 2.51798575e-01 -2.05467292e-02  9.67561527e-01  4.56152798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.040714057 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:175.74, Y:15.17, Z:45.63
[[ 9.52995966e-01 -1.68778525e-01 -2.51619750e-01  1.75739087e+02]
 [ 1.68547891e-01  9.85433619e-01 -2.26316595e-02  1.51710447e+01]
 [ 2.51774299e-01 -2.08420980e-02  9.67561528e-01  4.56293917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.100714057 meters
Centerline goodness : 0.999297 with order 1
Centerline is valid?  [True, True]
Translation: X:175.80, Y:15.18, Z:45.65
[[ 9.53645240e-01 -1.65070464e-01 -2.51619750e-01  1.75797735e+02]
 [ 1.64713662e-01  9.86081750e-01 -2.26316595e-02  1.51805091e+01]
 [ 2.51853462e-01 -1.98626361e-02  9.67561528e-01  4.56450915e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.160714057 meters
Centerline goodness : 0.999043 with order 1
Centerline is valid?  [True, True]
Translation: X:175.86, Y:15.19, Z:45.66
[[ 9.54708232e-01 -1.58806438e-01 -2.51620164e-01  1.75855153e+02]
 [ 1.58237914e-01  9.87141722e-01 -2.26270478e-02  1.51901380e+01]
 [ 2.51978083e-01 -1.82136212e-02  9.67561528e-01  4.56619483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.220714057 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:175.91, Y:15.20, Z:45.68
[[ 9.55819253e-01 -1.51976063e-01 -2.51620412e-01  1.75912240e+02]
 [ 1.51176370e-01  9.88247867e-01 -2.26242978e-02  1.51998569e+01]
 [ 2.52101687e-01 -1.64143211e-02  9.67561528e-01  4.56777415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.280714057 meters
Centerline goodness : 0.999518 with order 1
Centerline is valid?  [True, True]
Translation: X:175.97, Y:15.21, Z:45.69
[[ 9.56855273e-01 -1.45310604e-01 -2.51620379e-01  1.75970280e+02]
 [ 1.44284817e-01  9.89277522e-01 -2.26246656e-02  1.52097091e+01]
 [ 2.52209989e-01 -1.46564696e-02  9.67561528e-01  4.56943319e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.340714057 meters
Centerline goodness : 0.998941 with order 1
Centerline is valid?  [True, True]
Translation: X:176.03, Y:15.22, Z:45.71
[[ 9.57852573e-01 -1.38583695e-01 -2.51620763e-01  1.76028210e+02]
 [ 1.37331237e-01  9.90266857e-01 -2.26203939e-02  1.52172413e+01]
 [ 2.52306520e-01 -1.28883882e-02  9.67561528e-01  4.57066841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.40071405700002 meters
Centerline goodness : 0.999057 with order 1
Centerline is valid?  [True, True]
Translation: X:176.09, Y:15.22, Z:45.72
[[ 9.58633900e-01 -1.33071552e-01 -2.51620763e-01  1.76086085e+02]
 [ 1.31632658e-01  9.91040444e-01 -2.26203939e-02  1.52241448e+01]
 [ 2.52376483e-01 -1.14368335e-02  9.67561528e-01  4.57230828e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.46071405700002 meters
Centerline goodness : 0.998871 with order 1
Centerline is valid?  [True, True]
Translation: X:176.14, Y:15.23, Z:45.74
[[ 9.59131565e-01 -1.29435902e-01 -2.51620724e-01  1.76144716e+02]
 [ 1.27874037e-01  9.91532415e-01 -2.26208219e-02  1.52308857e+01]
 [ 2.52418051e-01 -1.04794135e-02  9.67561528e-01  4.57388531e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.52071405700002 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:176.20, Y:15.24, Z:45.75
[[ 9.59275935e-01 -1.28357229e-01 -2.51622935e-01  1.76204477e+02]
 [ 1.26765375e-01  9.91675326e-01 -2.25962059e-02  1.52359809e+01]
 [ 2.52428642e-01 -1.02210791e-02  9.67561528e-01  4.57541696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.580714057 meters
Centerline goodness : 0.999151 with order 1
Centerline is valid?  [True, True]
Translation: X:176.26, Y:15.24, Z:45.77
[[ 9.59018737e-01 -1.30262155e-01 -2.51624387e-01  1.76263480e+02]
 [ 1.28738889e-01  9.91421424e-01 -2.25800229e-02  1.52391508e+01]
 [ 2.52407131e-01 -1.07391791e-02  9.67561528e-01  4.57656072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.640714057 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:176.32, Y:15.24, Z:45.78
[[ 9.58762969e-01 -1.32128638e-01 -2.51625899e-01  1.76321939e+02]
 [ 1.30672863e-01  9.91168758e-01 -2.25631646e-02  1.52443849e+01]
 [ 2.52384970e-01 -1.12479498e-02  9.67561528e-01  4.57829754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.700714057 meters
Centerline goodness : 0.998945 with order 1
Centerline is valid?  [True, True]
Translation: X:176.38, Y:15.25, Z:45.80
[[ 9.58898931e-01 -1.31136659e-01 -2.51626742e-01  1.76379772e+02]
 [ 1.29649821e-01  9.91303310e-01 -2.25537599e-02  1.52492144e+01]
 [ 2.52396047e-01 -1.09965859e-02  9.67561528e-01  4.58004949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.760714057 meters
Centerline goodness : 0.999127 with order 1
Centerline is valid?  [True, True]
Translation: X:176.44, Y:15.25, Z:45.82
[[ 9.59015995e-01 -1.30276994e-01 -2.51627157e-01  1.76437823e+02]
 [ 1.28762323e-01  9.91419085e-01 -2.25491213e-02  1.52534427e+01]
 [ 2.52405598e-01 -1.07751292e-02  9.67561528e-01  4.58158262e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.820714057 meters
Centerline goodness : 0.998896 with order 1
Centerline is valid?  [True, True]
Translation: X:176.50, Y:15.26, Z:45.83
[[ 9.58871291e-01 -1.31337034e-01 -2.51627565e-01  1.76497006e+02]
 [ 1.29859373e-01  9.91276089e-01 -2.25445738e-02  1.52589254e+01]
 [ 2.52393326e-01 -1.10588534e-02  9.67561528e-01  4.58327356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.880714057 meters
Centerline goodness : 0.998810 with order 1
Centerline is valid?  [True, True]
Translation: X:176.56, Y:15.26, Z:45.85
[[ 9.58362222e-01 -1.34999211e-01 -2.51628824e-01  1.76556414e+02]
 [ 1.33649041e-01  9.90772582e-01 -2.25305061e-02  1.52615732e+01]
 [ 2.52348541e-01 -1.20375653e-02  9.67561528e-01  4.58479644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.940714057 meters
Centerline goodness : 0.999131 with order 1
Centerline is valid?  [True, True]
Translation: X:176.62, Y:15.26, Z:45.86
[[ 9.57868456e-01 -1.38457699e-01 -2.51629663e-01  1.76615886e+02]
 [ 1.37226985e-01  9.90283572e-01 -2.25211331e-02  1.52647988e+01]
 [ 2.52302946e-01 -1.29580970e-02  9.67561528e-01  4.58632777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.000714057 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:176.67, Y:15.27, Z:45.88
[[ 9.57145243e-01 -1.43370383e-01 -2.51630518e-01  1.76674696e+02]
 [ 1.42308500e-01  9.89566329e-01 -2.25115769e-02  1.52668412e+01]
 [ 2.52232582e-01 -1.42623128e-02  9.67561528e-01  4.58757761e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.060714057 meters
Centerline goodness : 0.999022 with order 1
Centerline is valid?  [True, True]
Translation: X:176.73, Y:15.27, Z:45.89
[[ 9.56568895e-01 -1.47165963e-01 -2.51630939e-01  1.76732870e+02]
 [ 1.46233924e-01  9.88993974e-01 -2.25068781e-02  1.52683444e+01]
 [ 2.52173728e-01 -1.52676001e-02  9.67561528e-01  4.58877393e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.12071405700001 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:176.79, Y:15.27, Z:45.90
[[ 9.56407971e-01 -1.48209070e-01 -2.51630415e-01  1.76792834e+02]
 [ 1.47310858e-01  9.88834004e-01 -2.25127350e-02  1.52722289e+01]
 [ 2.52157302e-01 -1.55365331e-02  9.67561528e-01  4.59046674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.18071405700002 meters
Centerline goodness : 0.999020 with order 1
Centerline is valid?  [True, True]
Translation: X:176.85, Y:15.28, Z:45.92
[[ 9.56485283e-01 -1.47706412e-01 -2.51632112e-01  1.76850911e+02]
 [ 1.46796135e-01  9.88910980e-01 -2.24937518e-02  1.52785229e+01]
 [ 2.52164229e-01 -1.54236788e-02  9.67561529e-01  4.59207498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.24071405700002 meters
Centerline goodness : 0.999183 with order 1
Centerline is valid?  [True, True]
Translation: X:176.91, Y:15.28, Z:45.94
[[ 9.56621144e-01 -1.46823932e-01 -2.51632112e-01  1.76910084e+02]
 [ 1.45883741e-01  9.89045987e-01 -2.24937518e-02  1.52831263e+01]
 [ 2.52178351e-01 -1.51910351e-02  9.67561529e-01  4.59373053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.300714057 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:176.97, Y:15.29, Z:45.95
[[ 9.56376038e-01 -1.48407120e-01 -2.51635055e-01  1.76968275e+02]
 [ 1.47529243e-01  9.88802628e-01 -2.24607741e-02  1.52893048e+01]
 [ 2.52150743e-01 -1.56425829e-02  9.67561529e-01  4.59546592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.360714057 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:177.03, Y:15.29, Z:45.97
[[ 9.55479900e-01 -1.54070594e-01 -2.51635475e-01  1.77025970e+02]
 [ 1.53386077e-01  9.87911148e-01 -2.24560693e-02  1.52949715e+01]
 [ 2.52053311e-01 -1.71410556e-02  9.67561529e-01  4.59703535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.420714057 meters
Centerline goodness : 0.999386 with order 1
Centerline is valid?  [True, True]
Translation: X:177.08, Y:15.30, Z:45.98
[[ 9.54489791e-01 -1.60090595e-01 -2.51635134e-01  1.77084244e+02]
 [ 1.59609526e-01  9.86924694e-01 -2.24598941e-02  1.52982235e+01]
 [ 2.51940545e-01 -1.87256248e-02  9.67561529e-01  4.59833639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.480714057 meters
Centerline goodness : 0.999365 with order 1
Centerline is valid?  [True, True]
Translation: X:177.14, Y:15.30, Z:46.00
[[ 9.54038639e-01 -1.62758093e-01 -2.51634812e-01  1.77142863e+02]
 [ 1.62366749e-01  9.86474749e-01 -2.24634938e-02  1.53038019e+01]
 [ 2.51887504e-01 -1.94260854e-02  9.67561529e-01  4.59988078e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.540714057 meters
Centerline goodness : 0.999613 with order 1
Centerline is valid?  [True, True]
Translation: X:177.20, Y:15.31, Z:46.01
[[ 9.54318549e-01 -1.61108640e-01 -2.51634880e-01  1.77201559e+02]
 [ 1.60661424e-01  9.86753937e-01 -2.24627348e-02  1.53101728e+01]
 [ 2.51920649e-01 -1.89914137e-02  9.67561529e-01  4.60141270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.600714057 meters
Centerline goodness : 0.999292 with order 1
Centerline is valid?  [True, True]
Translation: X:177.26, Y:15.32, Z:46.03
[[ 9.55011618e-01 -1.56947469e-01 -2.51635257e-01  1.77259993e+02]
 [ 1.56359985e-01  9.87444768e-01 -2.24585179e-02  1.53178495e+01]
 [ 2.52000725e-01 -1.78975393e-02  9.67561529e-01  4.60276580e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.660714057 meters
Centerline goodness : 0.999294 with order 1
Centerline is valid?  [True, True]
Translation: X:177.32, Y:15.33, Z:46.04
[[ 9.55640496e-01 -1.53068511e-01 -2.51637187e-01  1.77316563e+02]
 [ 1.52355016e-01  9.88071119e-01 -2.24368733e-02  1.53264279e+01]
 [ 2.52069815e-01 -1.68966029e-02  9.67561529e-01  4.60438724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.720714057 meters
Centerline goodness : 0.999132 with order 1
Centerline is valid?  [True, True]
Translation: X:177.37, Y:15.33, Z:46.06
[[ 9.55938872e-01 -1.51194497e-01 -2.51636835e-01  1.77374830e+02]
 [ 1.50416383e-01  9.88368009e-01 -2.24408192e-02  1.53326187e+01]
 [ 2.52102726e-01 -1.63982510e-02  9.67561529e-01  4.60607334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.780714057 meters
Centerline goodness : 0.998810 with order 1
Centerline is valid?  [True, True]
Translation: X:177.43, Y:15.34, Z:46.08
[[ 9.56006520e-01 -1.50766713e-01 -2.51636507e-01  1.77433885e+02]
 [ 1.49973123e-01  9.88435282e-01 -2.24444976e-02  1.53384782e+01]
 [ 2.52110284e-01 -1.62816267e-02  9.67561529e-01  4.60782091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.840714057 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:177.49, Y:15.34, Z:46.09
[[ 9.55917874e-01 -1.51325671e-01 -2.51637755e-01  1.77494160e+02]
 [ 1.50554713e-01  9.88347182e-01 -2.24304965e-02  1.53445629e+01]
 [ 2.52099775e-01 -1.64435373e-02  9.67561529e-01  4.60934496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.90071405700002 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:177.55, Y:15.35, Z:46.11
[[ 9.55764071e-01 -1.52291273e-01 -2.51639443e-01  1.77553459e+02]
 [ 1.51558045e-01  9.88194253e-01 -2.24115371e-02  1.53498987e+01]
 [ 2.52081733e-01 -1.67178400e-02  9.67561530e-01  4.61077630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.96071405700002 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:177.61, Y:15.35, Z:46.12
[[ 9.55647068e-01 -1.53023105e-01 -2.51639842e-01  1.77612348e+02]
 [ 1.52315885e-01  9.88077828e-01 -2.24070558e-02  1.53548869e+01]
 [ 2.52068546e-01 -1.69155081e-02  9.67561530e-01  4.61223211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.02071405700002 meters
Centerline goodness : 0.999314 with order 1
Centerline is valid?  [True, True]
Translation: X:177.67, Y:15.36, Z:46.14
[[ 9.55765715e-01 -1.52278264e-01 -2.51641072e-01  1.77670633e+02]
 [ 1.51549391e-01  9.88195995e-01 -2.23932407e-02  1.53597221e+01]
 [ 2.52080703e-01 -1.67333594e-02  9.67561530e-01  4.61403083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.080714057 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:177.73, Y:15.36, Z:46.16
[[ 9.56071589e-01 -1.50345185e-01 -2.51641494e-01  1.77730186e+02]
 [ 1.49551976e-01  9.88500360e-01 -2.23884956e-02  1.53647496e+01]
 [ 2.52113710e-01 -1.62284780e-02  9.67561530e-01  4.61553726e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.140714057 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:177.79, Y:15.37, Z:46.17
[[ 9.56420668e-01 -1.48106163e-01 -2.51642745e-01  1.77789007e+02]
 [ 1.47240714e-01  9.88847591e-01 -2.23744196e-02  1.53679578e+01]
 [ 2.52150112e-01 -1.56527001e-02  9.67561530e-01  4.61709595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.200714057 meters
Centerline goodness : 0.999269 with order 1
Centerline is valid?  [True, True]
Translation: X:177.85, Y:15.37, Z:46.19
[[ 9.56712601e-01 -1.46207780e-01 -2.51643169e-01  1.77846830e+02]
 [ 1.45279227e-01  9.89137778e-01 -2.23696566e-02  1.53724689e+01]
 [ 2.52180383e-01 -1.51571926e-02  9.67561530e-01  4.61856185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.260714057 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:177.91, Y:15.38, Z:46.20
[[ 9.56813254e-01 -1.45547631e-01 -2.51643169e-01  1.77906058e+02]
 [ 1.44596706e-01  9.89237783e-01 -2.23696566e-02  1.53775080e+01]
 [ 2.52190781e-01 -1.49831892e-02  9.67561530e-01  4.61998120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.320714057 meters
Centerline goodness : 0.999248 with order 1
Centerline is valid?  [True, True]
Translation: X:177.97, Y:15.38, Z:46.22
[[ 9.56385742e-01 -1.48326945e-01 -2.51645445e-01  1.77965647e+02]
 [ 1.47476947e-01  9.88813074e-01 -2.23440273e-02  1.53791442e+01]
 [ 2.52144527e-01 -1.57423928e-02  9.67561530e-01  4.62156666e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.380714057 meters
Centerline goodness : 0.999613 with order 1
Centerline is valid?  [True, True]
Translation: X:178.02, Y:15.38, Z:46.23
[[ 9.55997964e-01 -1.50803981e-01 -2.51646682e-01  1.78024806e+02]
 [ 1.50041645e-01  9.88427474e-01 -2.23300798e-02  1.53821461e+01]
 [ 2.52101959e-01 -1.64099715e-02  9.67561530e-01  4.62309503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.440714057 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:178.08, Y:15.38, Z:46.25
[[ 9.55720315e-01 -1.52551842e-01 -2.51647798e-01  1.78083091e+02]
 [ 1.51852106e-01  9.88151237e-01 -2.23174957e-02  1.53849132e+01]
 [ 2.52070658e-01 -1.68839640e-02  9.67561530e-01  4.62452992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.500714057 meters
Centerline goodness : 0.999569 with order 1
Centerline is valid?  [True, True]
Translation: X:178.14, Y:15.39, Z:46.26
[[ 9.55731601e-01 -1.52481123e-01 -2.51647798e-01  1.78142231e+02]
 [ 1.51778988e-01  9.88162471e-01 -2.23174957e-02  1.53884443e+01]
 [ 2.52071907e-01 -1.68653121e-02  9.67561530e-01  4.62619626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.560714057 meters
Centerline goodness : 0.999046 with order 1
Centerline is valid?  [True, True]
Translation: X:178.20, Y:15.39, Z:46.28
[[ 9.55913641e-01 -1.51334359e-01 -2.51648612e-01  1.78200918e+02]
 [ 1.50595719e-01  9.88343699e-01 -2.23083203e-02  1.53942041e+01]
 [ 2.52091335e-01 -1.65723760e-02  9.67561530e-01  4.62764436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.62071405700001 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:178.26, Y:15.40, Z:46.29
[[ 9.56066464e-01 -1.50364519e-01 -2.51649413e-01  1.78259633e+02]
 [ 1.49595352e-01  9.88495813e-01 -2.22992723e-02  1.53992998e+01]
 [ 2.52107411e-01 -1.63259962e-02  9.67561530e-01  4.62917065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.68071405700002 meters
Centerline goodness : 0.999296 with order 1
Centerline is valid?  [True, True]
Translation: X:178.32, Y:15.40, Z:46.31
[[ 9.56107217e-01 -1.50105172e-01 -2.51649413e-01  1.78318752e+02]
 [ 1.49327207e-01  9.88536356e-01 -2.22992723e-02  1.54041754e+01]
 [ 2.52111830e-01 -1.62576090e-02  9.67561530e-01  4.63094798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.74071405700002 meters
Centerline goodness : 0.999363 with order 1
Centerline is valid?  [True, True]
Translation: X:178.38, Y:15.41, Z:46.32
[[ 9.56014882e-01 -1.50689976e-01 -2.51650702e-01  1.78377157e+02]
 [ 1.49935663e-01  9.88444580e-01 -2.22847165e-02  1.54076349e+01]
 [ 2.52100856e-01 -1.64268943e-02  9.67561531e-01  4.63226642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.800714057 meters
Centerline goodness : 0.999477 with order 1
Centerline is valid?  [True, True]
Translation: X:178.44, Y:15.41, Z:46.34
[[ 9.55983123e-01 -1.50891330e-01 -2.51650702e-01  1.78435524e+02]
 [ 1.50143847e-01  9.88412979e-01 -2.22847165e-02  1.54127031e+01]
 [ 2.52097391e-01 -1.64799918e-02  9.67561531e-01  4.63379565e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.860714057 meters
Centerline goodness : 0.999569 with order 1
Centerline is valid?  [True, True]
Translation: X:178.49, Y:15.42, Z:46.35
[[ 9.56338238e-01 -1.48624020e-01 -2.51650702e-01  1.78493273e+02]
 [ 1.47799640e-01  9.88766230e-01 -2.22847165e-02  1.54189889e+01]
 [ 2.52135761e-01 -1.58821567e-02  9.67561531e-01  4.63545388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.920714057 meters
Centerline goodness : 0.999272 with order 1
Centerline is valid?  [True, True]
Translation: X:178.55, Y:15.42, Z:46.37
[[ 9.56809209e-01 -1.45561196e-01 -2.51650702e-01  1.78550622e+02]
 [ 1.44632990e-01  9.89234396e-01 -2.22847165e-02  1.54243882e+01]
 [ 2.52185321e-01 -1.50747715e-02  9.67561531e-01  4.63705874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.980714057 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:178.61, Y:15.43, Z:46.39
[[ 9.56989285e-01 -1.44373391e-01 -2.51650219e-01  1.78609875e+02]
 [ 1.43403505e-01  9.89413252e-01 -2.22901797e-02  1.54296793e+01]
 [ 2.52204170e-01 -1.47560602e-02  9.67561531e-01  4.63884182e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.040714057 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:178.67, Y:15.43, Z:46.40
[[ 9.57032552e-01 -1.44083387e-01 -2.51651885e-01  1.78669758e+02]
 [ 1.43108609e-01  9.89456372e-01 -2.22713525e-02  1.54339434e+01]
 [ 2.52207493e-01 -1.46991419e-02  9.67561531e-01  4.64036293e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.100714057 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:178.73, Y:15.44, Z:46.42
[[ 9.56849849e-01 -1.45288886e-01 -2.51653544e-01  1.78730414e+02]
 [ 1.44359873e-01  9.89275012e-01 -2.22525851e-02  1.54381040e+01]
 [ 2.52187616e-01 -1.50362909e-02  9.67561531e-01  4.64184242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.160714057 meters
Centerline goodness : 0.998934 with order 1
Centerline is valid?  [True, True]
Translation: X:178.79, Y:15.44, Z:46.43
[[ 9.56692533e-01 -1.46318391e-01 -2.51655174e-01  1.78790082e+02]
 [ 1.45429103e-01  9.89118809e-01 -2.22341382e-02  1.54424053e+01]
 [ 2.52170130e-01 -1.53267522e-02  9.67561531e-01  4.64348335e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.220714057 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:178.85, Y:15.45, Z:46.45
[[ 9.56484385e-01 -1.47670186e-01 -2.51656784e-01  1.78849090e+02]
 [ 1.46831502e-01  9.88912010e-01 -2.22158984e-02  1.54466634e+01]
 [ 2.52147042e-01 -1.57019837e-02  9.67561531e-01  4.64512880e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.280714057 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:178.91, Y:15.45, Z:46.47
[[ 9.56451964e-01 -1.47878747e-01 -2.51657540e-01  1.78907831e+02]
 [ 1.47049377e-01  9.88879828e-01 -2.22073379e-02  1.54509155e+01]
 [ 2.52143058e-01 -1.57658325e-02  9.67561531e-01  4.64654193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.340714057 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:178.97, Y:15.46, Z:46.48
[[ 9.56279883e-01 -1.48986796e-01 -2.51657943e-01  1.78966331e+02]
 [ 1.48196195e-01  9.88708716e-01 -2.22027701e-02  1.54559971e+01]
 [ 2.52124321e-01 -1.60626872e-02  9.67561531e-01  4.64849833e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.40071405700002 meters
Centerline goodness : 0.999096 with order 1
Centerline is valid?  [True, True]
Translation: X:179.02, Y:15.46, Z:46.50
[[ 9.55721730e-01 -1.52524255e-01 -2.51659145e-01  1.79024422e+02]
 [ 1.51857230e-01  9.88153340e-01 -2.21891313e-02  1.54596016e+01]
 [ 2.52062206e-01 -1.70096258e-02  9.67561531e-01  4.65028465e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.46071405700002 meters
Centerline goodness : 0.998965 with order 1
Centerline is valid?  [True, True]
Translation: X:179.08, Y:15.46, Z:46.52
[[ 9.55301411e-01 -1.55133460e-01 -2.51660137e-01  1.79082072e+02]
 [ 1.54557947e-01  9.87734773e-01 -2.21778790e-02  1.54631151e+01]
 [ 2.52014000e-01 -1.77095151e-02  9.67561531e-01  4.65163253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.52071405700002 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:179.14, Y:15.47, Z:46.53
[[ 9.55002740e-01 -1.56961032e-01 -2.51660488e-01  1.79140785e+02]
 [ 1.56448623e-01  9.87437161e-01 -2.21738927e-02  1.54680137e+01]
 [ 2.51979355e-01 -1.81958085e-02  9.67561531e-01  4.65318304e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.580714057 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:179.20, Y:15.47, Z:46.55
[[ 9.54974277e-01 -1.57133467e-01 -2.51660889e-01  1.79199495e+02]
 [ 1.56628107e-01  9.87408809e-01 -2.21693404e-02  1.54734004e+01]
 [ 2.51975724e-01 -1.82460189e-02  9.67561531e-01  4.65461891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.640714057 meters
Centerline goodness : 0.998894 with order 1
Centerline is valid?  [True, True]
Translation: X:179.26, Y:15.48, Z:46.56
[[ 9.54997111e-01 -1.56990208e-01 -2.51663651e-01  1.79258249e+02]
 [ 1.56488213e-01  9.87431694e-01 -2.21379437e-02  1.54788539e+01]
 [ 2.51976106e-01 -1.82407228e-02  9.67561532e-01  4.65615193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.700714057 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:179.32, Y:15.49, Z:46.58
[[ 9.55066150e-01 -1.56567901e-01 -2.51664742e-01  1.79316452e+02]
 [ 1.56054816e-01  9.87500560e-01 -2.21255341e-02  1.54857949e+01]
 [ 2.51983222e-01 -1.81421465e-02  9.67561532e-01  4.65776499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.760714057 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:179.38, Y:15.49, Z:46.60
[[ 9.55012904e-01 -1.56891127e-01 -2.51665506e-01  1.79375417e+02]
 [ 1.56391297e-01  9.87447521e-01 -2.21168462e-02  1.54918750e+01]
 [ 2.51976417e-01 -1.82364214e-02  9.67561532e-01  4.65987630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.820714057 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:179.43, Y:15.50, Z:46.61
[[ 9.54589898e-01 -1.59441362e-01 -2.51667596e-01  1.79433599e+02]
 [ 1.59034408e-01  9.87025813e-01 -2.20930353e-02  1.54969141e+01]
 [ 2.51924957e-01 -1.89340189e-02  9.67561532e-01  4.66125697e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.880714057 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:179.49, Y:15.50, Z:46.63
[[ 9.54086708e-01 -1.62425287e-01 -2.51667596e-01  1.79491655e+02]
 [ 1.62119752e-01  9.86523737e-01 -2.20930353e-02  1.55009263e+01]
 [ 2.51864525e-01 -1.97216169e-02  9.67561532e-01  4.66287035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.940714057 meters
Centerline goodness : 0.999189 with order 1
Centerline is valid?  [True, True]
Translation: X:179.55, Y:15.50, Z:46.64
[[ 9.53802924e-01 -1.64083416e-01 -2.51667667e-01  1.79552354e+02]
 [ 1.63834473e-01  9.86240437e-01 -2.20922307e-02  1.55047301e+01]
 [ 2.51829798e-01 -2.01602054e-02  9.67561532e-01  4.66433370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.000714057 meters
Centerline goodness : 0.998897 with order 1
Centerline is valid?  [True, True]
Translation: X:179.61, Y:15.51, Z:46.66
[[ 9.53864704e-01 -1.63721325e-01 -2.51669335e-01  1.79610656e+02]
 [ 1.63465055e-01  9.86302159e-01 -2.20732080e-02  1.55098701e+01]
 [ 2.51835864e-01 -2.00842879e-02  9.67561532e-01  4.66577800e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.060714057 meters
Centerline goodness : 0.999008 with order 1
Centerline is valid?  [True, True]
Translation: X:179.67, Y:15.52, Z:46.68
[[ 9.53992454e-01 -1.62974645e-01 -2.51669750e-01  1.79669865e+02]
 [ 1.62694225e-01  9.86429709e-01 -2.20684788e-02  1.55150459e+01]
 [ 2.51851121e-01 -1.98920526e-02  9.67561533e-01  4.66755526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.12071405700001 meters
Centerline goodness : 0.999008 with order 1
Centerline is valid?  [True, True]
Translation: X:179.73, Y:15.52, Z:46.69
[[ 9.54453873e-01 -1.60247661e-01 -2.51671397e-01  1.79728664e+02]
 [ 1.59879472e-01  9.86890250e-01 -2.20496761e-02  1.55209806e+01]
 [ 2.51905457e-01 -1.91916915e-02  9.67561533e-01  4.66910764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.18071405700002 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:179.79, Y:15.53, Z:46.71
[[ 9.54929760e-01 -1.57386324e-01 -2.51671806e-01  1.79786081e+02]
 [ 1.56922143e-01  9.87364906e-01 -2.20450150e-02  1.55284548e+01]
 [ 2.51961493e-01 -1.84414382e-02  9.67561533e-01  4.67061551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.24071405700002 meters
Centerline goodness : 0.998892 with order 1
Centerline is valid?  [True, True]
Translation: X:179.84, Y:15.54, Z:46.72
[[ 9.55478200e-01 -1.54021791e-01 -2.51671806e-01  1.79844278e+02]
 [ 1.53443366e-01  9.87911510e-01 -2.20450150e-02  1.55351458e+01]
 [ 2.52024886e-01 -1.75538377e-02  9.67561533e-01  4.67217658e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.300714057 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:179.90, Y:15.54, Z:46.74
[[ 9.56107057e-01 -1.50068633e-01 -2.51671812e-01  1.79901889e+02]
 [ 1.49356089e-01  9.88537697e-01 -2.20449408e-02  1.55421734e+01]
 [ 2.52095328e-01 -1.65113941e-02  9.67561533e-01  4.67383963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.360714057 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:179.96, Y:15.55, Z:46.75
[[ 9.56518147e-01 -1.47425022e-01 -2.51672202e-01  1.79960250e+02]
 [ 1.46623995e-01  9.88946723e-01 -2.20404953e-02  1.55488116e+01]
 [ 2.52139719e-01 -1.58190500e-02  9.67561533e-01  4.67532496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.420714057 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:180.02, Y:15.56, Z:46.77
[[ 9.56762731e-01 -1.45829194e-01 -2.51672251e-01  1.80018519e+02]
 [ 1.44974222e-01  9.89189929e-01 -2.20399259e-02  1.55553157e+01]
 [ 2.52165721e-01 -1.53990091e-02  9.67561533e-01  4.67671366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.480714057 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:180.08, Y:15.56, Z:46.78
[[ 9.56747112e-01 -1.45930977e-01 -2.51672631e-01  1.80078046e+02]
 [ 1.45080589e-01  9.89174431e-01 -2.20355956e-02  1.55605506e+01]
 [ 2.52163807e-01 -1.54303210e-02  9.67561533e-01  4.67848783e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.540714057 meters
Centerline goodness : 0.998687 with order 1
Centerline is valid?  [True, True]
Translation: X:180.14, Y:15.57, Z:46.80
[[ 9.56560828e-01 -1.47144349e-01 -2.51674241e-01  1.80137569e+02]
 [ 1.46339916e-01  9.88989319e-01 -2.20171819e-02  1.55655846e+01]
 [ 2.52142841e-01 -1.57692137e-02  9.67561533e-01  4.68014584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.600714057 meters
Centerline goodness : 0.998868 with order 1
Centerline is valid?  [True, True]
Translation: X:180.20, Y:15.57, Z:46.82
[[ 9.56257732e-01 -1.49098663e-01 -2.51675860e-01  1.80196260e+02]
 [ 1.48365350e-01  9.88687909e-01 -2.19986602e-02  1.55699418e+01]
 [ 2.52108851e-01 -1.63035882e-02  9.67561533e-01  4.68158784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.660714057 meters
Centerline goodness : 0.998981 with order 1
Centerline is valid?  [True, True]
Translation: X:180.26, Y:15.57, Z:46.83
[[ 9.55795587e-01 -1.52032782e-01 -2.51676039e-01  1.80255892e+02]
 [ 1.51399540e-01  9.88227873e-01 -2.19966127e-02  1.55742956e+01]
 [ 2.52057483e-01 -1.70793711e-02  9.67561533e-01  4.68307117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.720714057 meters
Centerline goodness : 0.998982 with order 1
Centerline is valid?  [True, True]
Translation: X:180.31, Y:15.58, Z:46.85
[[ 9.55614550e-01 -1.53164625e-01 -2.51677234e-01  1.80314710e+02]
 [ 1.52573377e-01  9.88047628e-01 -2.19829364e-02  1.55790547e+01]
 [ 2.52036102e-01 -1.73920317e-02  9.67561533e-01  4.68472126e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.780714057 meters
Centerline goodness : 0.999050 with order 1
Centerline is valid?  [True, True]
Translation: X:180.37, Y:15.58, Z:46.86
[[ 9.55532011e-01 -1.53677375e-01 -2.51678048e-01  1.80372174e+02]
 [ 1.53105976e-01  9.87965445e-01 -2.19736091e-02  1.55838470e+01]
 [ 2.52026062e-01 -1.75369264e-02  9.67561533e-01  4.68622742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.840714057 meters
Centerline goodness : 0.999256 with order 1
Centerline is valid?  [True, True]
Translation: X:180.43, Y:15.59, Z:46.88
[[ 9.55792067e-01 -1.52051583e-01 -2.51678048e-01  1.80430493e+02]
 [ 1.51425008e-01  9.88224482e-01 -2.19736091e-02  1.55889971e+01]
 [ 2.52055531e-01 -1.71081492e-02  9.67561533e-01  4.68776741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.90071405700002 meters
Centerline goodness : 0.999275 with order 1
Centerline is valid?  [True, True]
Translation: X:180.49, Y:15.60, Z:46.89
[[ 9.56468544e-01 -1.47735857e-01 -2.51678446e-01  1.80488703e+02]
 [ 1.46964092e-01  9.88897829e-01 -2.19690557e-02  1.55962988e+01]
 [ 2.52129886e-01 -1.59749835e-02  9.67561533e-01  4.68930299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.96071405700002 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:180.55, Y:15.60, Z:46.91
[[ 9.57298747e-01 -1.42257009e-01 -2.51678469e-01  1.80546198e+02]
 [ 1.41299646e-01  9.89723084e-01 -2.19687903e-02  1.56041675e+01]
 [ 2.52217205e-01 -1.45313832e-02  9.67561533e-01  4.69097659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.02071405700002 meters
Centerline goodness : 0.998933 with order 1
Centerline is valid?  [True, True]
Translation: X:180.60, Y:15.61, Z:46.92
[[ 9.57955447e-01 -1.37765435e-01 -2.51678458e-01  1.80604615e+02]
 [ 1.36655970e-01  9.90374935e-01 -2.19689155e-02  1.56113279e+01]
 [ 2.52282594e-01 -1.33481216e-02  9.67561533e-01  4.69248414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.080714057 meters
Centerline goodness : 0.998589 with order 1
Centerline is valid?  [True, True]
Translation: X:180.66, Y:15.62, Z:46.94
[[ 9.58481096e-01 -1.34059371e-01 -2.51678512e-01  1.80663595e+02]
 [ 1.32824688e-01  9.90896057e-01 -2.19682986e-02  1.56186693e+01]
 [ 2.52332301e-01 -1.23729210e-02  9.67561533e-01  4.69397820e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.140714057 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:180.72, Y:15.63, Z:46.95
[[ 9.58857528e-01 -1.31338330e-01 -2.51679329e-01  1.80722106e+02]
 [ 1.30014099e-01  9.91268954e-01 -2.19589396e-02  1.56254514e+01]
 [ 2.52365955e-01 -1.16663666e-02  9.67561533e-01  4.69542775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.200714057 meters
Centerline goodness : 0.999201 with order 1
Centerline is valid?  [True, True]
Translation: X:180.78, Y:15.63, Z:46.97
[[ 9.58974078e-01 -1.30483839e-01 -2.51679729e-01  1.80782202e+02]
 [ 1.29131930e-01  9.91384361e-01 -2.19543456e-02  1.56307992e+01]
 [ 2.52376035e-01 -1.14462410e-02  9.67561533e-01  4.69700440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.260714057 meters
Centerline goodness : 0.999248 with order 1
Centerline is valid?  [True, True]
Translation: X:180.84, Y:15.64, Z:46.99
[[ 9.58882510e-01 -1.31151920e-01 -2.51681359e-01  1.80841110e+02]
 [ 1.29827490e-01  9.91293927e-01 -2.19356434e-02  1.56373092e+01]
 [ 2.52367105e-01 -1.16414542e-02  9.67561533e-01  4.69859019e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.320714057 meters
Centerline goodness : 0.999315 with order 1
Centerline is valid?  [True, True]
Translation: X:180.90, Y:15.64, Z:47.00
[[ 9.58663265e-01 -1.32743458e-01 -2.51682176e-01  1.80901220e+02]
 [ 1.31475287e-01  9.91076933e-01 -2.19262675e-02  1.56418473e+01]
 [ 2.52346968e-01 -1.20700792e-02  9.67561533e-01  4.70010327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.380714057 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:180.96, Y:15.65, Z:47.02
[[ 9.58240930e-01 -1.35755588e-01 -2.51683809e-01  1.80958691e+02]
 [ 1.34594205e-01  9.90658600e-01 -2.19075058e-02  1.56461590e+01]
 [ 2.52306796e-01 -1.28825135e-02  9.67561534e-01  4.70165573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.440714057 meters
Centerline goodness : 0.999114 with order 1
Centerline is valid?  [True, True]
Translation: X:181.02, Y:15.65, Z:47.03
[[ 9.57764099e-01 -1.39077003e-01 -2.51685354e-01  1.81016320e+02]
 [ 1.38032673e-01  9.90185750e-01 -2.18897415e-02  1.56505711e+01]
 [ 2.52259611e-01 -1.37755937e-02  9.67561534e-01  4.70309808e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.500714057 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:181.07, Y:15.65, Z:47.05
[[ 9.57178734e-01 -1.43050764e-01 -2.51685024e-01  1.81073661e+02]
 [ 1.42140005e-01  9.89604412e-01 -2.18935430e-02  1.56546809e+01]
 [ 2.52200498e-01 -1.48184767e-02  9.67561534e-01  4.70451855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.560714057 meters
Centerline goodness : 0.998908 with order 1
Centerline is valid?  [True, True]
Translation: X:181.13, Y:15.66, Z:47.06
[[ 9.56555639e-01 -1.47158937e-01 -2.51685432e-01  1.81133862e+02]
 [ 1.46388632e-01  9.88984958e-01 -2.18888471e-02  1.56588641e+01]
 [ 2.52134246e-01 -1.59059859e-02  9.67561534e-01  4.70609922e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.62071405700001 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:181.19, Y:15.66, Z:47.08
[[ 9.56223098e-01 -1.49301912e-01 -2.51686961e-01  1.81191213e+02]
 [ 1.48608882e-01  9.88654160e-01 -2.18712576e-02  1.56641473e+01]
 [ 2.52096781e-01 -1.64891163e-02  9.67561534e-01  4.70761397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.68071405700002 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:181.25, Y:15.67, Z:47.09
[[ 9.56104378e-01 -1.50057483e-01 -2.51688638e-01  1.81248871e+02]
 [ 1.49395144e-01  9.88536081e-01 -2.18519415e-02  1.56686808e+01]
 [ 2.52082347e-01 -1.67083233e-02  9.67561534e-01  4.70916437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.74071405700002 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:181.31, Y:15.67, Z:47.11
[[ 9.55860476e-01 -1.51603367e-01 -2.51688638e-01  1.81306335e+02]
 [ 1.50993472e-01  9.88293208e-01 -2.18519415e-02  1.56735301e+01]
 [ 2.52054999e-01 -1.71159342e-02  9.67561534e-01  4.71054049e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.800714057 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:181.36, Y:15.68, Z:47.12
[[ 9.55444760e-01 -1.54202111e-01 -2.51688337e-01  1.81364846e+02]
 [ 1.53679505e-01  9.87879016e-01 -2.18554090e-02  1.56775526e+01]
 [ 2.52007777e-01 -1.77977030e-02  9.67561534e-01  4.71184473e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.860714057 meters
Centerline goodness : 0.998664 with order 1
Centerline is valid?  [True, True]
Translation: X:181.42, Y:15.68, Z:47.13
[[ 9.54810682e-01 -1.58081955e-01 -2.51687619e-01  1.81422020e+02]
 [ 1.57688939e-01  9.87246767e-01 -2.18636715e-02  1.56821607e+01]
 [ 2.51934040e-01 -1.88126865e-02  9.67561534e-01  4.71325675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.920714057 meters
Centerline goodness : 0.998982 with order 1
Centerline is valid?  [True, True]
Translation: X:181.48, Y:15.69, Z:47.15
[[ 9.54331145e-01 -1.60952214e-01 -2.51687206e-01  1.81479707e+02]
 [ 1.60655486e-01  9.86768254e-01 -2.18684185e-02  1.56863543e+01]
 [ 2.51876716e-01 -1.95652175e-02  9.67561534e-01  4.71476677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.980714057 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:181.54, Y:15.69, Z:47.17
[[ 9.54253060e-01 -1.61415614e-01 -2.51686507e-01  1.81538205e+02]
 [ 1.61132528e-01  9.86690290e-01 -2.18764632e-02  1.56916533e+01]
 [ 2.51867836e-01 -1.96792013e-02  9.67561534e-01  4.71650265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.040714057 meters
Centerline goodness : 0.999023 with order 1
Centerline is valid?  [True, True]
Translation: X:181.60, Y:15.70, Z:47.18
[[ 9.54509307e-01 -1.59892699e-01 -2.51686924e-01  1.81596170e+02]
 [ 1.59559110e-01  9.86946058e-01 -2.18716713e-02  1.56989487e+01]
 [ 2.51898538e-01 -1.92822277e-02  9.67561534e-01  4.71792196e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.100714057 meters
Centerline goodness : 0.998498 with order 1
Centerline is valid?  [True, True]
Translation: X:181.65, Y:15.71, Z:47.20
[[ 9.54775817e-01 -1.58292845e-01 -2.51687334e-01  1.81653514e+02]
 [ 1.57906133e-01  9.87211978e-01 -2.18669525e-02  1.57055209e+01]
 [ 2.51930133e-01 -1.88649361e-02  9.67561534e-01  4.71960629e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.160714057 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:181.71, Y:15.71, Z:47.21
[[ 9.54874838e-01 -1.57694416e-01 -2.51687335e-01  1.81711772e+02]
 [ 1.57287380e-01  9.87310750e-01 -2.18669364e-02  1.57113745e+01]
 [ 2.51941905e-01 -1.87070542e-02  9.67561534e-01  4.72120954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.220714057 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:181.77, Y:15.72, Z:47.23
[[ 9.55076202e-01 -1.56468890e-01 -2.51688168e-01  1.81770201e+02]
 [ 1.56022744e-01  9.87511600e-01 -2.18573404e-02  1.57184253e+01]
 [ 2.51964980e-01 -1.83936531e-02  9.67561534e-01  4.72283843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.280714057 meters
Centerline goodness : 0.999136 with order 1
Centerline is valid?  [True, True]
Translation: X:181.83, Y:15.72, Z:47.24
[[ 9.55210246e-01 -1.55647837e-01 -2.51688570e-01  1.81830136e+02]
 [ 1.55175022e-01  9.87645266e-01 -2.18527125e-02  1.57243604e+01]
 [ 2.51980352e-01 -1.81818446e-02  9.67561534e-01  4.72430786e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.340714057 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:181.89, Y:15.73, Z:47.26
[[ 9.54800736e-01 -1.58137946e-01 -2.51690176e-01  1.81889396e+02]
 [ 1.57754556e-01  9.87236936e-01 -2.18342057e-02  1.57304407e+01]
 [ 2.51930654e-01 -1.88579561e-02  9.67561534e-01  4.72566747e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.40071405700002 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:181.95, Y:15.74, Z:47.27
[[ 9.54393287e-01 -1.60578202e-01 -2.51690475e-01  1.81948439e+02]
 [ 1.60278635e-01  9.86830369e-01 -2.18307558e-02  1.57365188e+01]
 [ 2.51881348e-01 -1.95054789e-02  9.67561534e-01  4.72718957e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.46071405700002 meters
Centerline goodness : 0.999316 with order 1
Centerline is valid?  [True, True]
Translation: X:182.01, Y:15.74, Z:47.29
[[ 9.53963329e-01 -1.63111190e-01 -2.51691688e-01  1.82007044e+02]
 [ 1.62901400e-01  9.86401117e-01 -2.18167617e-02  1.57420988e+01]
 [ 2.51827520e-01 -2.01885378e-02  9.67561535e-01  4.72865544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.52071405700002 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:182.07, Y:15.75, Z:47.30
[[ 9.53693528e-01 -1.64680744e-01 -2.51692087e-01  1.82066457e+02]
 [ 1.64525538e-01  9.86131622e-01 -2.18121619e-02  1.57486094e+01]
 [ 2.51793569e-01 -2.06076584e-02  9.67561535e-01  4.73026232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.580714057 meters
Centerline goodness : 0.998996 with order 1
Centerline is valid?  [True, True]
Translation: X:182.13, Y:15.75, Z:47.32
[[ 9.53653139e-01 -1.64912663e-01 -2.51693276e-01  1.82125888e+02]
 [ 1.64768945e-01  9.86091285e-01 -2.17984296e-02  1.57536700e+01]
 [ 2.51787383e-01 -2.06830947e-02  9.67561535e-01  4.73188823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.640714057 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:182.19, Y:15.76, Z:47.33
[[ 9.53646731e-01 -1.64947245e-01 -2.51694892e-01  1.82185341e+02]
 [ 1.64809600e-01  9.86084904e-01 -2.17797541e-02  1.57574539e+01]
 [ 2.51785044e-01 -2.07115430e-02  9.67561535e-01  4.73338261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.700714057 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:182.24, Y:15.76, Z:47.35
[[ 9.53708217e-01 -1.64589537e-01 -2.51696089e-01  1.82243753e+02]
 [ 1.64443351e-01  9.86146353e-01 -2.17659172e-02  1.57619499e+01]
 [ 2.51791622e-01 -2.06314143e-02  9.67561535e-01  4.73506659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.760714057 meters
Centerline goodness : 0.999313 with order 1
Centerline is valid?  [True, True]
Translation: X:182.30, Y:15.77, Z:47.37
[[ 9.53729849e-01 -1.64463522e-01 -2.51696494e-01  1.82303717e+02]
 [ 1.64314278e-01  9.86167971e-01 -2.17612327e-02  1.57662730e+01]
 [ 2.51793949e-01 -2.06029905e-02  9.67561535e-01  4.73658630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.820714057 meters
Centerline goodness : 0.998857 with order 1
Centerline is valid?  [True, True]
Translation: X:182.36, Y:15.77, Z:47.38
[[ 9.53729837e-01 -1.64460903e-01 -2.51698251e-01  1.82364089e+02]
 [ 1.64316902e-01  9.86167982e-01 -2.17408928e-02  1.57700873e+01]
 [ 2.51792283e-01 -2.06233386e-02  9.67561535e-01  4.73803221e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.880714057 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:182.42, Y:15.77, Z:47.39
[[ 9.53586452e-01 -1.65287755e-01 -2.51699892e-01  1.82422834e+02]
 [ 1.65176866e-01  9.86024728e-01 -2.17218678e-02  1.57743599e+01]
 [ 2.51772677e-01 -2.08613207e-02  9.67561535e-01  4.73918132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.940714057 meters
Centerline goodness : 0.999130 with order 1
Centerline is valid?  [True, True]
Translation: X:182.48, Y:15.78, Z:47.41
[[ 9.53619065e-01 -1.65096732e-01 -2.51701704e-01  1.82482810e+02]
 [ 1.64984854e-01  9.86057336e-01 -2.17008528e-02  1.57783877e+01]
 [ 2.51775052e-01 -2.08326221e-02  9.67561536e-01  4.74060340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.000714057 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:182.54, Y:15.78, Z:47.42
[[ 9.53971332e-01 -1.63047037e-01 -2.51702922e-01  1.82542727e+02]
 [ 1.62869153e-01  9.86409309e-01 -2.16867260e-02  1.57837766e+01]
 [ 2.51818061e-01 -2.03061266e-02  9.67561536e-01  4.74211805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.060714057 meters
Centerline goodness : 0.998649 with order 1
Centerline is valid?  [True, True]
Translation: X:182.60, Y:15.79, Z:47.44
[[ 9.54198610e-01 -1.61705482e-01 -2.51706874e-01  1.82600229e+02]
 [ 1.61494037e-01  9.86636384e-01 -2.16407553e-02  1.57896483e+01]
 [ 2.51842589e-01 -1.99995806e-02  9.67561537e-01  4.74397838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.12071405700001 meters
Centerline goodness : 0.998971 with order 1
Centerline is valid?  [True, True]
Translation: X:182.66, Y:15.79, Z:47.46
[[ 9.54348421e-01 -1.60818351e-01 -2.51707268e-01  1.82659477e+02]
 [ 1.60577953e-01  9.86785994e-01 -2.16361689e-02  1.57939129e+01]
 [ 2.51860700e-01 -1.97701942e-02  9.67561537e-01  4.74559216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.18071405700002 meters
Centerline goodness : 0.998840 with order 1
Centerline is valid?  [True, True]
Translation: X:182.72, Y:15.80, Z:47.47
[[ 9.54239439e-01 -1.61461291e-01 -2.51708847e-01  1.82720119e+02]
 [ 1.61247565e-01  9.86677199e-01 -2.16177867e-02  1.57964930e+01]
 [ 2.51845816e-01 -1.99588940e-02  9.67561537e-01  4.74707272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.24071405700002 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:182.78, Y:15.80, Z:47.48
[[ 9.53943758e-01 -1.63196661e-01 -2.51710462e-01  1.82779646e+02]
 [ 1.63046867e-01  9.86381875e-01 -2.15989711e-02  1.57995452e+01]
 [ 2.51807517e-01 -2.04363986e-02  9.67561537e-01  4.74844855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.300714057 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:182.84, Y:15.80, Z:47.50
[[ 9.53597097e-01 -1.65208742e-01 -2.51711438e-01  1.82838238e+02]
 [ 1.65130365e-01  9.86035465e-01 -2.15875835e-02  1.58027755e+01]
 [ 2.51762863e-01 -2.09793448e-02  9.67561537e-01  4.74992259e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.360714057 meters
Centerline goodness : 0.998956 with order 1
Centerline is valid?  [True, True]
Translation: X:182.90, Y:15.80, Z:47.51
[[ 9.53092457e-01 -1.68094985e-01 -2.51711827e-01  1.82897671e+02]
 [ 1.68116003e-01  9.85530913e-01 -2.15830526e-02  1.58044365e+01]
 [ 2.51697790e-01 -2.17461416e-02  9.67561537e-01  4.75146605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.420714057 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:182.96, Y:15.81, Z:47.53
[[ 9.53034992e-01 -1.68419315e-01 -2.51712611e-01  1.82956369e+02]
 [ 1.68453769e-01  9.85473437e-01 -2.15739071e-02  1.58058776e+01]
 [ 2.51689554e-01 -2.18412497e-02  9.67561537e-01  4.75283718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.480714057 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:183.01, Y:15.81, Z:47.55
[[ 9.53452729e-01 -1.66037527e-01 -2.51712997e-01  1.83014431e+02]
 [ 1.65992111e-01  9.85891160e-01 -2.15694020e-02  1.58104792e+01]
 [ 2.51742949e-01 -2.12169666e-02  9.67561537e-01  4.75458248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.540714057 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:183.07, Y:15.81, Z:47.56
[[ 9.54375514e-01 -1.60647892e-01 -2.51713394e-01  1.83071560e+02]
 [ 1.60420416e-01  9.86813179e-01 -2.15647635e-02  1.58144359e+01]
 [ 2.51858429e-01 -1.97990851e-02  9.67561537e-01  4.75609447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.600714057 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:183.13, Y:15.82, Z:47.58
[[ 9.55448544e-01 -1.54138412e-01 -2.51712992e-01  1.83128941e+02]
 [ 1.53688591e-01  9.87883888e-01 -2.15694588e-02  1.58187810e+01]
 [ 2.51987891e-01 -1.80769071e-02  9.67561537e-01  4.75758963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.660714057 meters
Centerline goodness : 0.998756 with order 1
Centerline is valid?  [True, True]
Translation: X:183.19, Y:15.82, Z:47.59
[[ 9.56462758e-01 -1.47714195e-01 -2.51713148e-01  1.83186664e+02]
 [ 1.47046892e-01  9.88894357e-01 -2.15676376e-02  1.58240323e+01]
 [ 2.52103558e-01 -1.63849941e-02  9.67561537e-01  4.75946025e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.720714057 meters
Centerline goodness : 0.998618 with order 1
Centerline is valid?  [True, True]
Translation: X:183.25, Y:15.83, Z:47.61
[[ 9.57233405e-01 -1.42634148e-01 -2.51713542e-01  1.83245249e+02]
 [ 1.41795877e-01  9.89661035e-01 -2.15630349e-02  1.58281214e+01]
 [ 2.52186710e-01 -1.50510852e-02  9.67561537e-01  4.76105757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.780714057 meters
Centerline goodness : 0.998578 with order 1
Centerline is valid?  [True, True]
Translation: X:183.30, Y:15.83, Z:47.63
[[ 9.57512647e-01 -1.40746716e-01 -2.51713912e-01  1.83303984e+02]
 [ 1.39845649e-01  9.89938592e-01 -2.15587147e-02  1.58309927e+01]
 [ 2.52215634e-01 -1.45583534e-02  9.67561537e-01  4.76268495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.840714057 meters
Centerline goodness : 0.998596 with order 1
Centerline is valid?  [True, True]
Translation: X:183.36, Y:15.83, Z:47.64
[[ 9.57436236e-01 -1.41264853e-01 -2.51714311e-01  1.83363401e+02]
 [ 1.40382555e-01  9.89862698e-01 -2.15540547e-02  1.58334061e+01]
 [ 2.52207438e-01 -1.46996651e-02  9.67561537e-01  4.76413368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.90071405700002 meters
Centerline goodness : 0.998892 with order 1
Centerline is valid?  [True, True]
Translation: X:183.42, Y:15.84, Z:47.66
[[ 9.57172571e-01 -1.43038386e-01 -2.51715494e-01  1.83423803e+02]
 [ 1.42219784e-01  9.89600703e-01 -2.15402354e-02  1.58357110e+01]
 [ 2.52178910e-01 -1.51812006e-02  9.67561537e-01  4.76573356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.96071405700002 meters
Centerline goodness : 0.999098 with order 1
Centerline is valid?  [True, True]
Translation: X:183.48, Y:15.84, Z:47.67
[[ 9.56867360e-01 -1.45063336e-01 -2.51717072e-01  1.83482510e+02]
 [ 1.44318185e-01  9.89297263e-01 -2.15217840e-02  1.58382223e+01]
 [ 2.52145032e-01 -1.57338581e-02  9.67561537e-01  4.76723565e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.02071405700002 meters
Centerline goodness : 0.999234 with order 1
Centerline is valid?  [True, True]
Translation: X:183.54, Y:15.84, Z:47.69
[[ 9.56796276e-01 -1.45531328e-01 -2.51717142e-01  1.83541802e+02]
 [ 1.44802255e-01  9.89226544e-01 -2.15209622e-02  1.58401143e+01]
 [ 2.52137252e-01 -1.58580332e-02  9.67561537e-01  4.76881582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.080714057 meters
Centerline goodness : 0.999012 with order 1
Centerline is valid?  [True, True]
Translation: X:183.60, Y:15.84, Z:47.70
[[ 9.56956333e-01 -1.44473708e-01 -2.51717947e-01  1.83600799e+02]
 [ 1.43711260e-01  9.89385834e-01 -2.15115359e-02  1.58432631e+01]
 [ 2.52154023e-01 -1.55891028e-02  9.67561537e-01  4.77034538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.140714057 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:183.66, Y:15.85, Z:47.72
[[ 9.57261058e-01 -1.42438565e-01 -2.51719134e-01  1.83660092e+02]
 [ 1.41610801e-01  9.89688957e-01 -2.14976471e-02  1.58469878e+01]
 [ 2.52185741e-01 -1.50672878e-02  9.67561538e-01  4.77197871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.200714057 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:183.72, Y:15.85, Z:47.74
[[ 9.57292461e-01 -1.42225968e-01 -2.51719918e-01  1.83718146e+02]
 [ 1.41393411e-01  9.89720238e-01 -2.14884547e-02  1.58510272e+01]
 [ 2.52188514e-01 -1.50208022e-02  9.67561538e-01  4.77351963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.260714057 meters
Centerline goodness : 0.999284 with order 1
Centerline is valid?  [True, True]
Translation: X:183.78, Y:15.85, Z:47.75
[[ 9.56655621e-01 -1.46447637e-01 -2.51720307e-01  1.83776692e+02]
 [ 1.45759335e-01  9.89086780e-01 -2.14839022e-02  1.58525235e+01]
 [ 2.52119494e-01 -1.61378886e-02  9.67561538e-01  4.77518381e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.320714057 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:183.83, Y:15.86, Z:47.77
[[ 9.56044252e-01 -1.50386796e-01 -2.51720478e-01  1.83834344e+02]
 [ 1.49832608e-01  9.88477980e-01 -2.14818957e-02  1.58557416e+01]
 [ 2.52050743e-01 -1.71782928e-02  9.67561538e-01  4.77657012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.380714057 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:183.89, Y:15.86, Z:47.78
[[ 9.55117293e-01 -1.56166299e-01 -2.51720170e-01  1.83893633e+02]
 [ 1.55807337e-01  9.87553769e-01 -2.14855065e-02  1.58583830e+01]
 [ 2.51942515e-01 -1.86986704e-02  9.67561538e-01  4.77805704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.440714057 meters
Centerline goodness : 0.999597 with order 1
Centerline is valid?  [True, True]
Translation: X:183.95, Y:15.86, Z:47.79
[[ 9.54577039e-01 -1.59434306e-01 -2.51720833e-01  1.83952082e+02]
 [ 1.59188399e-01  9.87014570e-01 -2.14777319e-02  1.58632293e+01]
 [ 2.51876417e-01 -1.95688866e-02  9.67561538e-01  4.77934340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.500714057 meters
Centerline goodness : 0.999218 with order 1
Centerline is valid?  [True, True]
Translation: X:184.01, Y:15.87, Z:47.81
[[ 9.54495354e-01 -1.59920620e-01 -2.51722100e-01  1.84009238e+02]
 [ 1.59695132e-01  9.86933032e-01 -2.14628778e-02  1.58687524e+01]
 [ 2.51865212e-01 -1.97125768e-02  9.67561538e-01  4.78081704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.560714057 meters
Centerline goodness : 0.999420 with order 1
Centerline is valid?  [True, True]
Translation: X:184.07, Y:15.87, Z:47.82
[[ 9.54589319e-01 -1.59359346e-01 -2.51721734e-01  1.84067025e+02]
 [ 1.59113660e-01  9.87026851e-01 -2.14671664e-02  1.58736440e+01]
 [ 2.51877104e-01 -1.95600387e-02  9.67561538e-01  4.78241925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.62071405700001 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:184.12, Y:15.88, Z:47.84
[[ 9.55026845e-01 -1.56716555e-01 -2.51721369e-01  1.84124632e+02]
 [ 1.56379966e-01  9.87463560e-01 -2.14714445e-02  1.58802494e+01]
 [ 2.51930610e-01 -1.88583733e-02  9.67561538e-01  4.78423419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.68071405700002 meters
Centerline goodness : 0.999262 with order 1
Centerline is valid?  [True, True]
Translation: X:184.18, Y:15.89, Z:47.86
[[ 9.55692525e-01 -1.52603768e-01 -2.51721846e-01  1.84182670e+02]
 [ 1.52129010e-01  9.88127513e-01 -2.14658519e-02  1.58881014e+01]
 [ 2.52009052e-01 -1.77794412e-02  9.67561538e-01  4.78590331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.74071405700002 meters
Centerline goodness : 0.999484 with order 1
Centerline is valid?  [True, True]
Translation: X:184.24, Y:15.90, Z:47.87
[[ 9.56657131e-01 -1.46434841e-01 -2.51722012e-01  1.84241055e+02]
 [ 1.45751344e-01  9.89088392e-01 -2.14639094e-02  1.58967161e+01]
 [ 2.52118384e-01 -1.61552196e-02  9.67561538e-01  4.78731830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.800714057 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:184.30, Y:15.91, Z:47.89
[[ 9.57886465e-01 -1.38164962e-01 -2.51721995e-01  1.84297897e+02]
 [ 1.37201270e-01  9.90310610e-01 -2.14641100e-02  1.59062835e+01]
 [ 2.52248550e-01 -1.39763969e-02  9.67561538e-01  4.78887947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.860714057 meters
Centerline goodness : 0.999301 with order 1
Centerline is valid?  [True, True]
Translation: X:184.35, Y:15.92, Z:47.91
[[ 9.59333799e-01 -1.27729034e-01 -2.51721982e-01  1.84353996e+02]
 [ 1.26412383e-01  9.91745529e-01 -2.14642633e-02  1.59162768e+01]
 [ 2.52385759e-01 -1.12293822e-02  9.67561538e-01  4.79066094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.920714057 meters
Centerline goodness : 0.998984 with order 1
Centerline is valid?  [True, True]
Translation: X:184.41, Y:15.92, Z:47.92
[[ 9.60877674e-01 -1.15543748e-01 -2.51721550e-01  1.84411115e+02]
 [ 1.13814537e-01  9.93270013e-01 -2.14693264e-02  1.59241495e+01]
 [ 2.52508113e-01 -8.02017532e-03  9.67561538e-01  4.79240491e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.980714057 meters
Centerline goodness : 0.998936 with order 1
Centerline is valid?  [True, True]
Translation: X:184.47, Y:15.93, Z:47.94
[[ 9.61814490e-01 -1.07466783e-01 -2.51721627e-01  1.84470203e+02]
 [ 1.05465725e-01  9.94191173e-01 -2.14684156e-02  1.59303440e+01]
 [ 2.52566561e-01 -5.89937080e-03  9.67561538e-01  4.79418541e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.040714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:184.53, Y:15.94, Z:47.96
[[ 9.62704380e-01 -9.91760474e-02 -2.51722842e-01  1.84527449e+02]
 [ 9.68998403e-02  9.95062882e-01 -2.14541633e-02  1.59350498e+01]
 [ 2.52607796e-01 -3.73788619e-03  9.67561538e-01  4.79577601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.100714057 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:184.58, Y:15.93, Z:47.97
[[ 9.62900495e-01 -9.72535263e-02 -2.51722842e-01  1.84584681e+02]
 [ 9.49127104e-02  9.95254388e-01 -2.14541633e-02  1.59349071e+01]
 [ 2.52614756e-01 -3.23347272e-03  9.67561538e-01  4.79729239e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.160714057 meters
Centerline goodness : 0.998806 with order 1
Centerline is valid?  [True, True]
Translation: X:184.64, Y:15.93, Z:47.99
[[ 9.62532876e-01 -1.00840694e-01 -2.51717334e-01  1.84642624e+02]
 [ 9.86036019e-02  9.94894105e-01 -2.15185962e-02  1.59317315e+01]
 [ 2.52602042e-01 -4.10787960e-03  9.67561540e-01  4.79862804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.220714057 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:184.70, Y:15.93, Z:48.00
[[ 9.61994131e-01 -1.05870184e-01 -2.51711732e-01  1.84700383e+02]
 [ 1.03785174e-01  9.94365512e-01 -2.15839412e-02  1.59254846e+01]
 [ 2.52578561e-01 -5.36032116e-03  9.67561542e-01  4.79994639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.280714057 meters
Centerline goodness : 0.999151 with order 1
Centerline is valid?  [True, True]
Translation: X:184.76, Y:15.92, Z:48.01
[[ 9.61778322e-01 -1.07826285e-01 -2.51706084e-01  1.84758277e+02]
 [ 1.05789932e-01  9.94152797e-01 -2.16496150e-02  1.59199691e+01]
 [ 2.52568705e-01 -5.80583896e-03  9.67561544e-01  4.80121819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.340714057 meters
Centerline goodness : 0.999309 with order 1
Centerline is valid?  [True, True]
Translation: X:184.82, Y:15.92, Z:48.03
[[ 9.61793042e-01 -1.07697684e-01 -2.51704892e-01  1.84816151e+02]
 [ 1.05653382e-01  9.94167017e-01 -2.16634548e-02  1.59188129e+01]
 [ 2.52569806e-01 -5.75771320e-03  9.67561544e-01  4.80278881e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.40071405700002 meters
Centerline goodness : 0.999271 with order 1
Centerline is valid?  [True, True]
Translation: X:184.88, Y:15.91, Z:48.04
[[ 9.61808742e-01 -1.07559103e-01 -2.51704160e-01  1.84875130e+02]
 [ 1.05507910e-01  9.94182280e-01 -2.16719664e-02  1.59095586e+01]
 [ 2.52570833e-01 -5.71249315e-03  9.67561544e-01  4.80443972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.46071405700002 meters
Centerline goodness : 0.999338 with order 1
Centerline is valid?  [True, True]
Translation: X:184.93, Y:15.91, Z:48.06
[[ 9.61756057e-01 -1.08030105e-01 -2.51703760e-01  1.84931116e+02]
 [ 1.05993552e-01  9.94130520e-01 -2.16766111e-02  1.59072693e+01]
 [ 2.52568116e-01 -5.83136337e-03  9.67561544e-01  4.80589856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.52071405700002 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:184.99, Y:15.90, Z:48.07
[[ 9.61441103e-01 -1.10812667e-01 -2.51697356e-01  1.84989445e+02]
 [ 1.08850415e-01  9.93820151e-01 -2.17507196e-02  1.58977782e+01]
 [ 2.52552160e-01 -6.48532582e-03  9.67561547e-01  4.80736701e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.580714057 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:185.05, Y:15.89, Z:48.09
[[ 9.61076920e-01 -1.13930776e-01 -2.51696110e-01  1.85047442e+02]
 [ 1.12069794e-01  9.93461947e-01 -2.17651264e-02  1.58948352e+01]
 [ 2.52530226e-01 -7.28957057e-03  9.67561547e-01  4.80880696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.640714057 meters
Centerline goodness : 0.998977 with order 1
Centerline is valid?  [True, True]
Translation: X:185.11, Y:15.89, Z:48.10
[[ 9.60053552e-01 -1.22265905e-01 -2.51690736e-01  1.85105568e+02]
 [ 1.20669776e-01  9.92452710e-01 -2.18271102e-02  1.58891778e+01]
 [ 2.52459864e-01 -9.41626996e-03  9.67561549e-01  4.81031039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.700714057 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:185.16, Y:15.88, Z:48.12
[[ 9.58540575e-01 -1.33610209e-01 -2.51690839e-01  1.85164848e+02]
 [ 1.32397632e-01  9.90956354e-01 -2.18259149e-02  1.58845059e+01]
 [ 2.52330801e-01 -1.24022462e-02  9.67561549e-01  4.81170486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.760714057 meters
Centerline goodness : 0.998183 with order 1
Centerline is valid?  [True, True]
Translation: X:185.22, Y:15.88, Z:48.13
[[ 9.57282174e-01 -1.42346865e-01 -2.51690700e-01  1.85224675e+02]
 [ 1.41429561e-01  9.89707653e-01 -2.18275208e-02  1.58829748e+01]
 [ 2.52207291e-01 -1.47014087e-02  9.67561549e-01  4.81301746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.820714057 meters
Centerline goodness : 0.998297 with order 1
Centerline is valid?  [True, True]
Translation: X:185.28, Y:15.89, Z:48.15
[[ 9.57016991e-01 -1.44119143e-01 -2.51690588e-01  1.85282048e+02]
 [ 1.43261542e-01  9.89444103e-01 -2.18288117e-02  1.58865980e+01]
 [ 2.52179718e-01 -1.51670382e-02  9.67561549e-01  4.81455616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.880714057 meters
Centerline goodness : 0.998577 with order 1
Centerline is valid?  [True, True]
Translation: X:185.34, Y:15.89, Z:48.16
[[ 9.57853829e-01 -1.38448870e-01 -2.51690193e-01  1.85340650e+02]
 [ 1.37398048e-01  9.90275255e-01 -2.18333635e-02  1.58930549e+01]
 [ 2.52265375e-01 -1.36685705e-02  9.67561549e-01  4.81594468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.940714057 meters
Centerline goodness : 0.998538 with order 1
Centerline is valid?  [True, True]
Translation: X:185.40, Y:15.90, Z:48.17
[[ 9.59114535e-01 -1.29427612e-01 -2.51689894e-01  1.85398659e+02]
 [ 1.28070789e-01  9.91524597e-01 -2.18368162e-02  1.58992624e+01]
 [ 2.52383007e-01 -1.12901153e-02  9.67561549e-01  4.81726714e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.000714057 meters
Centerline goodness : 0.998583 with order 1
Centerline is valid?  [True, True]
Translation: X:185.46, Y:15.91, Z:48.19
[[ 9.60307961e-01 -1.20253693e-01 -2.51689630e-01  1.85455529e+02]
 [ 1.18586334e-01  9.92703532e-01 -2.18398562e-02  1.59052220e+01]
 [ 2.52479508e-01 -8.87396258e-03  9.67561549e-01  4.81881126e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.060714057 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:185.51, Y:15.91, Z:48.21
[[ 9.61221839e-01 -1.12717545e-01 -2.51688956e-01  1.85512281e+02]
 [ 1.10794103e-01  9.93603215e-01 -2.18476166e-02  1.59106529e+01]
 [ 2.52541566e-01 -6.88524595e-03  9.67561549e-01  4.82051339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.12071405700001 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:185.57, Y:15.91, Z:48.22
[[ 9.61820524e-01 -1.07491019e-01 -2.51688222e-01  1.85569885e+02]
 [ 1.05389380e-01  9.94190822e-01 -2.18560716e-02  1.59149315e+01]
 [ 2.52575452e-01 -5.50364739e-03  9.67561549e-01  4.82212926e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.18071405700002 meters
Centerline goodness : 0.998369 with order 1
Centerline is valid?  [True, True]
Translation: X:185.63, Y:15.92, Z:48.24
[[ 9.61735200e-01 -1.08252696e-01 -2.51687819e-01  1.85628576e+02]
 [ 1.06175480e-01  9.94107075e-01 -2.18607128e-02  1.59173550e+01]
 [ 2.52571123e-01 -5.69885782e-03  9.67561549e-01  4.82357272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.24071405700002 meters
Centerline goodness : 0.998495 with order 1
Centerline is valid?  [True, True]
Translation: X:185.69, Y:15.92, Z:48.25
[[ 9.61146758e-01 -1.13359400e-01 -2.51687418e-01  1.85686047e+02]
 [ 1.11452946e-01  9.93529138e-01 -2.18653309e-02  1.59185398e+01]
 [ 2.52537424e-01 -7.03551240e-03  9.67561549e-01  4.82502091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.300714057 meters
Centerline goodness : 0.998386 with order 1
Centerline is valid?  [True, True]
Translation: X:185.74, Y:15.92, Z:48.26
[[ 9.60344147e-01 -1.19968260e-01 -2.51687776e-01  1.85743196e+02]
 [ 1.18285684e-01  9.92738931e-01 -2.18612015e-02  1.59182964e+01]
 [ 2.52482904e-01 -8.77678392e-03  9.67561549e-01  4.82633849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.360714057 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:185.80, Y:15.92, Z:48.28
[[ 9.59358674e-01 -1.27611857e-01 -2.51686608e-01  1.85802189e+02]
 [ 1.26183782e-01  9.91765675e-01 -2.18746410e-02  1.59188291e+01]
 [ 2.52405602e-01 -1.07731414e-02  9.67561549e-01  4.82757163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.420714057 meters
Centerline goodness : 0.997817 with order 1
Centerline is valid?  [True, True]
Translation: X:185.86, Y:15.92, Z:48.29
[[ 9.59041536e-01 -1.29974039e-01 -2.51686473e-01  1.85859969e+02]
 [ 1.28625367e-01  9.91451939e-01 -2.18761996e-02  1.59226630e+01]
 [ 2.52378379e-01 -1.13930807e-02  9.67561549e-01  4.82900547e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.480714057 meters
Centerline goodness : 0.997786 with order 1
Centerline is valid?  [True, True]
Translation: X:185.92, Y:15.92, Z:48.31
[[ 9.57913017e-01 -1.38046446e-01 -2.51685975e-01  1.85918579e+02]
 [ 1.36969282e-01  9.90333579e-01 -2.18819201e-02  1.59230197e+01]
 [ 2.52273794e-01 -1.35122713e-02  9.67561549e-01  4.83059297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.540714057 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.98, Y:15.93, Z:48.32
[[ 9.57306460e-01 -1.42191776e-01 -2.51685995e-01  1.85976450e+02]
 [ 1.41255023e-01  9.89731383e-01 -2.18816977e-02  1.59265629e+01]
 [ 2.52212925e-01 -1.46044205e-02  9.67561549e-01  4.83219684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.600714057 meters
Centerline goodness : 0.997853 with order 1
Centerline is valid?  [True, True]
Translation: X:186.03, Y:15.93, Z:48.34
[[ 9.55856271e-01 -1.51634921e-01 -2.51685598e-01  1.86034270e+02]
 [ 1.51017102e-01  9.88288838e-01 -2.18862555e-02  1.59323169e+01]
 [ 2.52056788e-01 -1.70887152e-02  9.67561549e-01  4.83359418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.660714057 meters
Centerline goodness : 0.998132 with order 1
Centerline is valid?  [True, True]
Translation: X:186.09, Y:15.94, Z:48.35
[[ 9.55071434e-01 -1.56502740e-01 -2.51685216e-01  1.86090997e+02]
 [ 1.56049011e-01  9.87506712e-01 -2.18906522e-02  1.59405464e+01]
 [ 2.51966787e-01 -1.83680926e-02  9.67561549e-01  4.83493867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.720714057 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:186.15, Y:15.95, Z:48.36
[[ 9.54908583e-01 -1.57493620e-01 -2.51685038e-01  1.86147034e+02]
 [ 1.57073010e-01  9.87344306e-01 -2.18926960e-02  1.59486314e+01]
 [ 2.51947749e-01 -1.86274032e-02  9.67561549e-01  4.83638326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.780714057 meters
Centerline goodness : 0.998384 with order 1
Centerline is valid?  [True, True]
Translation: X:186.20, Y:15.96, Z:48.38
[[ 9.55326143e-01 -1.54943994e-01 -2.51682974e-01  1.86203548e+02]
 [ 1.54430585e-01  9.87760531e-01 -2.19164059e-02  1.59644746e+01]
 [ 2.51998323e-01 -1.79302333e-02  9.67561549e-01  4.83803178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.840714057 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:186.26, Y:15.97, Z:48.39
[[ 9.55443231e-01 -1.54220464e-01 -2.51682898e-01  1.86259476e+02]
 [ 1.53682265e-01  9.87877216e-01 -2.19172717e-02  1.59748662e+01]
 [ 2.52011893e-01 -1.77384891e-02  9.67561549e-01  4.83948793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.90071405700002 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:186.32, Y:15.99, Z:48.41
[[ 9.55703313e-01 -1.52609779e-01 -2.51677239e-01  1.86317551e+02]
 [ 1.51999926e-01  9.88136028e-01 -2.19820748e-02  1.59866695e+01]
 [ 2.52046027e-01 -1.72465800e-02  9.67561551e-01  4.84074360e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.96071405700002 meters
Centerline goodness : 0.998379 with order 1
Centerline is valid?  [True, True]
Translation: X:186.37, Y:16.00, Z:48.42
[[ 9.56085681e-01 -1.50195786e-01 -2.51677168e-01  1.86374845e+02]
 [ 1.49503817e-01  9.88516748e-01 -2.19828897e-02  1.59990462e+01]
 [ 2.52088833e-01 -1.66091712e-02  9.67561551e-01  4.84209621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.02071405700002 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:186.43, Y:16.01, Z:48.44
[[ 9.56411002e-01 -1.48111504e-01 -2.51676336e-01  1.86432154e+02]
 [ 1.47346353e-01  9.88840425e-01 -2.19924111e-02  1.60107235e+01]
 [ 2.52125064e-01 -1.60498062e-02  9.67561552e-01  4.84350050e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.080714057 meters
Centerline goodness : 0.998630 with order 1
Centerline is valid?  [True, True]
Translation: X:186.49, Y:16.02, Z:48.45
[[ 9.56386224e-01 -1.48272111e-01 -2.51675925e-01  1.86487939e+02]
 [ 1.47511175e-01  9.88815747e-01 -2.19971053e-02  1.60206917e+01]
 [ 2.52122675e-01 -1.60872830e-02  9.67561552e-01  4.84487034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.140714057 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:186.54, Y:16.03, Z:48.46
[[ 9.56228662e-01 -1.49288278e-01 -2.51673907e-01  1.86544213e+02]
 [ 1.48555758e-01  9.88658839e-01 -2.20201695e-02  1.60308174e+01]
 [ 2.52106986e-01 -1.63312907e-02  9.67561552e-01  4.84630516e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.200714057 meters
Centerline goodness : 0.998996 with order 1
Centerline is valid?  [True, True]
Translation: X:186.60, Y:16.04, Z:48.48
[[ 9.56244768e-01 -1.49194724e-01 -2.51668191e-01  1.86599512e+02]
 [ 1.48441958e-01  9.88674478e-01 -2.20853099e-02  1.60421222e+01]
 [ 2.52112930e-01 -1.62391572e-02  9.67561554e-01  4.84796107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.260714057 meters
Centerline goodness : 0.999256 with order 1
Centerline is valid?  [True, True]
Translation: X:186.66, Y:16.05, Z:48.50
[[ 9.56065830e-01 -1.50346696e-01 -2.51662473e-01  1.86656213e+02]
 [ 1.49615972e-01  9.88496042e-01 -2.21502858e-02  1.60509206e+01]
 [ 2.52097581e-01 -1.64755942e-02  9.67561556e-01  4.84950160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.320714057 meters
Centerline goodness : 0.999078 with order 1
Centerline is valid?  [True, True]
Translation: X:186.71, Y:16.06, Z:48.51
[[ 9.55214959e-01 -1.55663120e-01 -2.51661232e-01  1.86713284e+02]
 [ 1.55109129e-01  9.87648672e-01 -2.21643727e-02  1.60608496e+01]
 [ 2.52003057e-01 -1.78632143e-02  9.67561556e-01  4.85095472e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.380714057 meters
Centerline goodness : 0.999430 with order 1
Centerline is valid?  [True, True]
Translation: X:186.77, Y:16.07, Z:48.52
[[ 9.54156556e-01 -1.62024981e-01 -2.51660829e-01  1.86772077e+02]
 [ 1.61685931e-01  9.86593228e-01 -2.21689543e-02  1.60682018e+01]
 [ 2.51878794e-01 -1.95373624e-02  9.67561556e-01  4.85224005e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.440714057 meters
Centerline goodness : 0.999626 with order 1
Centerline is valid?  [True, True]
Translation: X:186.83, Y:16.08, Z:48.54
[[ 9.53689071e-01 -1.64754579e-01 -2.51660652e-01  1.86830813e+02]
 [ 1.64507819e-01  9.86126577e-01 -2.21709659e-02  1.60773854e+01]
 [ 2.51822025e-01 -2.02559372e-02  9.67561556e-01  4.85355248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.500714057 meters
Centerline goodness : 0.999493 with order 1
Centerline is valid?  [True, True]
Translation: X:186.89, Y:16.09, Z:48.55
[[ 9.53656421e-01 -1.64943646e-01 -2.51660532e-01  1.86888855e+02]
 [ 1.64702961e-01  9.86093972e-01 -2.21723240e-02  1.60869389e+01]
 [ 2.51818118e-01 -2.03044557e-02  9.67561556e-01  4.85508952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.560714057 meters
Centerline goodness : 0.999646 with order 1
Centerline is valid?  [True, True]
Translation: X:186.95, Y:16.10, Z:48.57
[[ 9.54170896e-01 -1.61941763e-01 -2.51660020e-01  1.86946483e+02]
 [ 1.61597479e-01  9.86607513e-01 -2.21781292e-02  1.60984764e+01]
 [ 2.51881232e-01 -1.95058995e-02  9.67561556e-01  4.85661747e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.62071405700001 meters
Centerline goodness : 0.999515 with order 1
Centerline is valid?  [True, True]
Translation: X:187.00, Y:16.11, Z:48.58
[[ 9.54627290e-01 -1.59229155e-01 -2.51660116e-01  1.87003372e+02]
 [ 1.58792964e-01  9.87062801e-01 -2.21770498e-02  1.61069715e+01]
 [ 2.51935571e-01 -1.87910388e-02  9.67561556e-01  4.85805318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.68071405700002 meters
Centerline goodness : 0.999203 with order 1
Centerline is valid?  [True, True]
Translation: X:187.06, Y:16.12, Z:48.60
[[ 9.55637328e-01 -1.53051900e-01 -2.51659319e-01  1.87061558e+02]
 [ 1.52403577e-01  9.88069293e-01 -2.21860864e-02  1.61167950e+01]
 [ 2.52052468e-01 -1.71519281e-02  9.67561556e-01  4.85965208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.74071405700002 meters
Centerline goodness : 0.999711 with order 1
Centerline is valid?  [True, True]
Translation: X:187.12, Y:16.13, Z:48.61
[[ 9.56981923e-01 -1.44405639e-01 -2.51659713e-01  1.87118707e+02]
 [ 1.43465293e-01  9.89406734e-01 -2.21816186e-02  1.61266073e+01]
 [ 2.52196965e-01 -1.48770263e-02  9.67561556e-01  4.86112589e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.800714057 meters
Centerline goodness : 0.999444 with order 1
Centerline is valid?  [True, True]
Translation: X:187.18, Y:16.14, Z:48.63
[[ 9.58242107e-01 -1.35792545e-01 -2.51659392e-01  1.87176789e+02]
 [ 1.34559650e-01  9.90657113e-01 -2.21852554e-02  1.61365656e+01]
 [ 2.52320759e-01 -1.26043539e-02  9.67561556e-01  4.86257926e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.860714057 meters
Centerline goodness : 0.999465 with order 1
Centerline is valid?  [True, True]
Translation: X:187.23, Y:16.14, Z:48.64
[[ 9.59107170e-01 -1.29541652e-01 -2.51659286e-01  1.87234829e+02]
 [ 1.28097114e-01  9.91513434e-01 -2.21864580e-02  1.61433345e+01]
 [ 2.52397633e-01 -1.09576372e-02  9.67561556e-01  4.86400530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.920714057 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:187.29, Y:16.15, Z:48.65
[[ 9.59847208e-01 -1.23939394e-01 -2.51659220e-01  1.87292121e+02]
 [ 1.22305471e-01  9.92244476e-01 -2.21872045e-02  1.61485299e+01]
 [ 2.52457340e-01 -9.48297311e-03  9.67561556e-01  4.86525392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.980714057 meters
Centerline goodness : 0.999221 with order 1
Centerline is valid?  [True, True]
Translation: X:187.35, Y:16.15, Z:48.67
[[ 9.59354382e-01 -1.27700199e-01 -2.51658158e-01  1.87347928e+02]
 [ 1.26190105e-01  9.91757657e-01 -2.21992430e-02  1.61535542e+01]
 [ 2.52418753e-01 -1.04598282e-02  9.67561556e-01  4.86714656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.040714057 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:187.40, Y:16.16, Z:48.69
[[ 9.58656634e-01 -1.32847765e-01 -2.51652400e-01  1.87404925e+02]
 [ 1.31494569e-01  9.91066838e-01 -2.22643358e-02  1.61563033e+01]
 [ 2.52362116e-01 -1.17470706e-02  9.67561558e-01  4.86873097e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.100714057 meters
Centerline goodness : 0.999177 with order 1
Centerline is valid?  [True, True]
Translation: X:187.46, Y:16.16, Z:48.70
[[ 9.57702386e-01 -1.39563006e-01 -2.51651162e-01  1.87462245e+02]
 [ 1.38433317e-01  9.90121151e-01 -2.22783242e-02  1.61585231e+01]
 [ 2.52274368e-01 -1.35009007e-02  9.67561558e-01  4.87028651e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.160714057 meters
Centerline goodness : 0.998979 with order 1
Centerline is valid?  [True, True]
Translation: X:187.52, Y:16.16, Z:48.72
[[ 9.56720756e-01 -1.46140572e-01 -2.51651204e-01  1.87520075e+02]
 [ 1.45233800e-01  9.89146521e-01 -2.22778465e-02  1.61620150e+01]
 [ 2.52175610e-01 -1.52345825e-02  9.67561558e-01  4.87191719e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.220714057 meters
Centerline goodness : 0.999045 with order 1
Centerline is valid?  [True, True]
Translation: X:187.58, Y:16.17, Z:48.73
[[ 9.56071777e-01 -1.50327900e-01 -2.51651107e-01  1.87577261e+02]
 [ 1.49562819e-01  9.88501195e-01 -2.22789365e-02  1.61655171e+01]
 [ 2.52106566e-01 -1.63373865e-02  9.67561558e-01  4.87333100e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.280714057 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:187.63, Y:16.17, Z:48.75
[[ 9.55953328e-01 -1.51077552e-01 -2.51652157e-01  1.87633950e+02]
 [ 1.50341009e-01  9.88383407e-01 -2.22670736e-02  1.61708184e+01]
 [ 2.52092871e-01 -1.65473562e-02  9.67561558e-01  4.87484564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.340714057 meters
Centerline goodness : 0.998982 with order 1
Centerline is valid?  [True, True]
Translation: X:187.69, Y:16.18, Z:48.76
[[ 9.55933306e-01 -1.51213444e-01 -2.51646596e-01  1.87690669e+02]
 [ 1.50465083e-01  9.88363112e-01 -2.23297525e-02  1.61761339e+01]
 [ 2.52094771e-01 -1.65182718e-02  9.67561560e-01  4.87636372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.40071405700002 meters
Centerline goodness : 0.999023 with order 1
Centerline is valid?  [True, True]
Translation: X:187.75, Y:16.18, Z:48.78
[[ 9.55900694e-01 -1.51421439e-01 -2.51645409e-01  1.87746901e+02]
 [ 1.50676631e-01  9.88330581e-01 -2.23431195e-02  1.61820059e+01]
 [ 2.52092081e-01 -1.65592789e-02  9.67561560e-01  4.87786882e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.46071405700002 meters
Centerline goodness : 0.999070 with order 1
Centerline is valid?  [True, True]
Translation: X:187.80, Y:16.19, Z:48.79
[[ 9.55678127e-01 -1.52828918e-01 -2.51639901e-01  1.87803955e+02]
 [ 1.52115650e-01  9.88108722e-01 -2.24049832e-02  1.61868600e+01]
 [ 2.52071711e-01 -1.68664147e-02  9.67561562e-01  4.87920415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.52071405700002 meters
Centerline goodness : 0.999315 with order 1
Centerline is valid?  [True, True]
Translation: X:187.86, Y:16.19, Z:48.80
[[ 9.55187400e-01 -1.55875392e-01 -2.51634444e-01  1.87861513e+02]
 [ 1.55249508e-01  9.87619797e-01 -2.24661182e-02  1.61926308e+01]
 [ 2.52021073e-01 -1.76067704e-02  9.67561564e-01  4.88047822e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.580714057 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:187.92, Y:16.20, Z:48.82
[[ 9.54498666e-01 -1.60038711e-01 -2.51634472e-01  1.87919769e+02]
 [ 1.59554327e-01  9.86933485e-01 -2.24658036e-02  1.61980576e+01]
 [ 2.51941884e-01 -1.87057891e-02  9.67561564e-01  4.88182670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.640714057 meters
Centerline goodness : 0.999444 with order 1
Centerline is valid?  [True, True]
Translation: X:187.98, Y:16.21, Z:48.84
[[ 9.53865492e-01 -1.63770463e-01 -2.51634373e-01  1.87977085e+02]
 [ 1.63412643e-01  9.86301955e-01 -2.24669092e-02  1.62059354e+01]
 [ 2.51866890e-01 -1.96898286e-02  9.67561564e-01  4.88356814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.700714057 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:188.03, Y:16.21, Z:48.85
[[ 9.53688877e-01 -1.64795904e-01 -2.51634332e-01  1.88033956e+02]
 [ 1.64472836e-01  9.86125704e-01 -2.24673736e-02  1.62147059e+01]
 [ 2.51845613e-01 -1.99601278e-02  9.67561564e-01  4.88511914e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.760714057 meters
Centerline goodness : 0.999443 with order 1
Centerline is valid?  [True, True]
Translation: X:188.09, Y:16.22, Z:48.87
[[ 9.53743285e-01 -1.64481417e-01 -2.51633882e-01  1.88091588e+02]
 [ 1.64146331e-01  9.86179990e-01 -2.24724133e-02  1.62244165e+01]
 [ 2.51852593e-01 -1.98718652e-02  9.67561564e-01  4.88695684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.820714057 meters
Centerline goodness : 0.999463 with order 1
Centerline is valid?  [True, True]
Translation: X:188.15, Y:16.23, Z:48.89
[[ 9.53824888e-01 -1.64006916e-01 -2.51634288e-01  1.88150405e+02]
 [ 1.63656888e-01  9.86261435e-01 -2.24678607e-02  1.62346234e+01]
 [ 2.51862079e-01 -1.97512797e-02  9.67561564e-01  4.88871611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.880714057 meters
Centerline goodness : 0.999396 with order 1
Centerline is valid?  [True, True]
Translation: X:188.21, Y:16.24, Z:48.90
[[ 9.53475129e-01 -1.66025661e-01 -2.51635963e-01  1.88208257e+02]
 [ 1.65749220e-01  9.85912387e-01 -2.24490866e-02  1.62429516e+01]
 [ 2.51818137e-01 -2.03038187e-02  9.67561564e-01  4.88999374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.940714057 meters
Centerline goodness : 0.999283 with order 1
Centerline is valid?  [True, True]
Translation: X:188.27, Y:16.25, Z:48.91
[[ 9.52965657e-01 -1.68923247e-01 -2.51637426e-01  1.88268605e+02]
 [ 1.68749711e-01  9.85403628e-01 -2.24326764e-02  1.62494698e+01]
 [ 2.51753833e-01 -2.10861727e-02  9.67561564e-01  4.89145536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.000714057 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:188.33, Y:16.26, Z:48.93
[[ 9.52215279e-01 -1.73100669e-01 -2.51639069e-01  1.88326498e+02]
 [ 1.73074223e-01  9.84653703e-01 -2.24142250e-02  1.62580034e+01]
 [ 2.51657259e-01 -2.22090689e-02  9.67561565e-01  4.89273975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.060714057 meters
Centerline goodness : 0.999506 with order 1
Centerline is valid?  [True, True]
Translation: X:188.38, Y:16.27, Z:48.94
[[ 9.51713590e-01 -1.75835717e-01 -2.51640703e-01  1.88384703e+02]
 [ 1.75907283e-01  9.84151946e-01 -2.23958664e-02  1.62659011e+01]
 [ 2.51590681e-01 -2.29509819e-02  9.67561565e-01  4.89434389e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.12071405700001 meters
Centerline goodness : 0.999303 with order 1
Centerline is valid?  [True, True]
Translation: X:188.44, Y:16.27, Z:48.96
[[ 9.51669916e-01 -1.76071639e-01 -2.51640913e-01  1.88443964e+02]
 [ 1.76151863e-01  9.84108252e-01 -2.23935166e-02  1.62743492e+01]
 [ 2.51584762e-01 -2.30157794e-02  9.67561565e-01  4.89584215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.18071405700002 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:188.50, Y:16.28, Z:48.97
[[ 9.51796714e-01 -1.75383741e-01 -2.51641727e-01  1.88502170e+02]
 [ 1.75442918e-01  9.84235095e-01 -2.23843641e-02  1.62838556e+01]
 [ 2.51600472e-01 -2.28433946e-02  9.67561565e-01  4.89731044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.24071405700002 meters
Centerline goodness : 0.999639 with order 1
Centerline is valid?  [True, True]
Translation: X:188.56, Y:16.29, Z:48.99
[[ 9.51851572e-01 -1.75081773e-01 -2.51644505e-01  1.88560635e+02]
 [ 1.75138860e-01  9.84289957e-01 -2.23530866e-02  1.62926153e+01]
 [ 2.51604777e-01 -2.27959110e-02  9.67561565e-01  4.89888838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.300714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:188.62, Y:16.30, Z:49.01
[[ 9.51984388e-01 -1.74357505e-01 -2.51644960e-01  1.88620040e+02]
 [ 1.74391255e-01  9.84422805e-01 -2.23479632e-02  1.63015456e+01]
 [ 2.51621573e-01 -2.26097684e-02  9.67561565e-01  4.90053395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.360714057 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:188.68, Y:16.31, Z:49.02
[[ 9.52047453e-01 -1.74010424e-01 -2.51646616e-01  1.88679288e+02]
 [ 1.74037241e-01  9.84485877e-01 -2.23292992e-02  1.63102710e+01]
 [ 2.51628070e-01 -2.25373304e-02  9.67561565e-01  4.90195201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.420714057 meters
Centerline goodness : 0.999341 with order 1
Centerline is valid?  [True, True]
Translation: X:188.74, Y:16.32, Z:49.03
[[ 9.52322540e-01 -1.72496795e-01 -2.51647842e-01  1.88737359e+02]
 [ 1.72475670e-01  9.84760967e-01 -2.23154779e-02  1.63177462e+01]
 [ 2.51662321e-01 -2.21515977e-02  9.67561566e-01  4.90345849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.480714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:188.80, Y:16.32, Z:49.05
[[ 9.52779552e-01 -1.69954371e-01 -2.51647842e-01  1.88795339e+02]
 [ 1.69846667e-01  9.85217808e-01 -2.23154779e-02  1.63248931e+01]
 [ 2.51720548e-01 -2.14798161e-02  9.67561566e-01  4.90500912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.540714057 meters
Centerline goodness : 0.999841 with order 1
Centerline is valid?  [True, True]
Translation: X:188.85, Y:16.33, Z:49.07
[[ 9.53265379e-01 -1.67207764e-01 -2.51647930e-01  1.88853297e+02]
 [ 1.67006833e-01  9.85703191e-01 -2.23144890e-02  1.63324337e+01]
 [ 2.51781323e-01 -2.07552939e-02  9.67561566e-01  4.90675526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.600714057 meters
Centerline goodness : 0.999658 with order 1
Centerline is valid?  [True, True]
Translation: X:188.91, Y:16.34, Z:49.08
[[ 9.53992806e-01 -1.63005940e-01 -2.51648147e-01  1.88911537e+02]
 [ 1.62662727e-01  9.86429425e-01 -2.23120427e-02  1.63387550e+01]
 [ 2.51870132e-01 -1.96482454e-02  9.67561566e-01  4.90828201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.660714057 meters
Centerline goodness : 0.999294 with order 1
Centerline is valid?  [True, True]
Translation: X:188.97, Y:16.35, Z:49.10
[[ 9.55084751e-01 -1.56480819e-01 -2.51648309e-01  1.88968479e+02]
 [ 1.55916366e-01  9.87518274e-01 -2.23102046e-02  1.63461060e+01]
 [ 2.51998423e-01 -1.79279536e-02  9.67561566e-01  4.90969921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.720714057 meters
Centerline goodness : 0.999495 with order 1
Centerline is valid?  [True, True]
Translation: X:189.03, Y:16.35, Z:49.11
[[ 9.56397839e-01 -1.48244731e-01 -2.51647914e-01  1.89026730e+02]
 [ 1.47399639e-01  9.88825264e-01 -2.23146652e-02  1.63539020e+01]
 [ 2.52143846e-01 -1.57511141e-02  9.67561566e-01  4.91113740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.780714057 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:189.09, Y:16.36, Z:49.13
[[ 9.57561375e-01 -1.40533154e-01 -2.51647862e-01  1.89085474e+02]
 [ 1.39426631e-01  9.89980931e-01 -2.23152536e-02  1.63604829e+01]
 [ 2.52262617e-01 -1.37181887e-02  9.67561566e-01  4.91267750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.840714057 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:189.14, Y:16.37, Z:49.14
[[ 9.58407396e-01 -1.34642208e-01 -2.51648048e-01  1.89142602e+02]
 [ 1.33336900e-01  9.90819557e-01 -2.23131561e-02  1.63679925e+01]
 [ 2.52342100e-01 -1.21688767e-02  9.67561566e-01  4.91441659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.90071405700002 meters
Centerline goodness : 0.999241 with order 1
Centerline is valid?  [True, True]
Translation: X:189.20, Y:16.37, Z:49.16
[[ 9.59185323e-01 -1.28983555e-01 -2.51648087e-01  1.89199537e+02]
 [ 1.27487095e-01  9.91589221e-01 -2.23127162e-02  1.63744563e+01]
 [ 2.52409504e-01 -1.06798537e-02  9.67561566e-01  4.91593333e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.96071405700002 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:189.26, Y:16.38, Z:49.18
[[ 9.59798590e-01 -1.24338741e-01 -2.51647660e-01  1.89259233e+02]
 [ 1.22684176e-01  9.92194800e-01 -2.23175230e-02  1.63788275e+01]
 [ 2.52458433e-01 -9.45285887e-03  9.67561566e-01  4.91752238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.02071405700002 meters
Centerline goodness : 0.999216 with order 1
Centerline is valid?  [True, True]
Translation: X:189.32, Y:16.38, Z:49.19
[[ 9.59828462e-01 -1.24105401e-01 -2.51648910e-01  1.89317168e+02]
 [ 1.22446652e-01  9.92224458e-01 -2.23034263e-02  1.63831063e+01]
 [ 2.52460179e-01 -9.40610302e-03  9.67561566e-01  4.91898664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.080714057 meters
Centerline goodness : 0.998644 with order 1
Centerline is valid?  [True, True]
Translation: X:189.38, Y:16.38, Z:49.20
[[ 9.59288665e-01 -1.28210286e-01 -2.51649319e-01  1.89376126e+02]
 [ 1.26691348e-01  9.91691517e-01 -2.22988043e-02  1.63848266e+01]
 [ 2.52417431e-01 -1.04908013e-02  9.67561566e-01  4.92043654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.140714057 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:189.44, Y:16.39, Z:49.22
[[ 9.58672798e-01 -1.32736811e-01 -2.51649370e-01  1.89435281e+02]
 [ 1.31370986e-01  9.91082465e-01 -2.22982312e-02  1.63872425e+01]
 [ 2.52365074e-01 -1.16827181e-02  9.67561566e-01  4.92202680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.200714057 meters
Centerline goodness : 0.998949 with order 1
Centerline is valid?  [True, True]
Translation: X:189.49, Y:16.39, Z:49.24
[[ 9.58222448e-01 -1.35948235e-01 -2.51650189e-01  1.89493362e+02]
 [ 1.34693433e-01  9.90636604e-01 -2.22889857e-02  1.63900681e+01]
 [ 2.52324037e-01 -1.25378214e-02  9.67561566e-01  4.92350418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.260714057 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:189.55, Y:16.39, Z:49.25
[[ 9.57614108e-01 -1.40166329e-01 -2.51651784e-01  1.89551860e+02]
 [ 1.39058993e-01  9.90033636e-01 -2.22709623e-02  1.63918821e+01]
 [ 2.52265370e-01 -1.36674560e-02  9.67561566e-01  4.92519141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.320714057 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:189.61, Y:16.39, Z:49.27
[[ 9.57163339e-01 -1.43212092e-01 -2.51651821e-01  1.89611305e+02]
 [ 1.42208007e-01  9.89586229e-01 -2.22705463e-02  1.63943165e+01]
 [ 2.52220588e-01 -1.44703534e-02  9.67561566e-01  4.92684147e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.380714057 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:189.67, Y:16.39, Z:49.28
[[ 9.56137426e-01 -1.49906505e-01 -2.51653059e-01  1.89671010e+02]
 [ 1.49132997e-01  9.88566637e-01 -2.22565543e-02  1.63932160e+01]
 [ 2.52112220e-01 -1.62494502e-02  9.67561566e-01  4.92816326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.440714057 meters
Centerline goodness : 0.999344 with order 1
Centerline is valid?  [True, True]
Translation: X:189.73, Y:16.40, Z:49.29
[[ 9.55831064e-01 -1.51847377e-01 -2.51653236e-01  1.89728600e+02]
 [ 1.51140235e-01  9.88261789e-01 -2.22545493e-02  1.63965583e+01]
 [ 2.52078572e-01 -1.67633396e-02  9.67561566e-01  4.92945802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.500714057 meters
Centerline goodness : 0.999547 with order 1
Centerline is valid?  [True, True]
Translation: X:189.79, Y:16.40, Z:49.31
[[ 9.55860261e-01 -1.51664728e-01 -2.51652481e-01  1.89788475e+02]
 [ 1.50949151e-01  9.88290802e-01 -2.22630855e-02  1.64012855e+01]
 [ 2.52082357e-01 -1.67063296e-02  9.67561566e-01  4.93093172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.560714057 meters
Centerline goodness : 0.999253 with order 1
Centerline is valid?  [True, True]
Translation: X:189.85, Y:16.41, Z:49.33
[[ 9.56131892e-01 -1.49940762e-01 -2.51653676e-01  1.89848019e+02]
 [ 1.49170247e-01  9.88561174e-01 -2.22495669e-02  1.64068082e+01]
 [ 2.52111170e-01 -1.62657205e-02  9.67561566e-01  4.93257370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.62071405700001 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:189.91, Y:16.41, Z:49.34
[[ 9.56660292e-01 -1.46528817e-01 -2.51655304e-01  1.89907431e+02]
 [ 1.45647446e-01  9.89086750e-01 -2.22311373e-02  1.64125934e+01]
 [ 2.52166429e-01 -1.53853059e-02  9.67561566e-01  4.93427044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.68071405700002 meters
Centerline goodness : 0.999615 with order 1
Centerline is valid?  [True, True]
Translation: X:189.97, Y:16.42, Z:49.36
[[ 9.57248076e-01 -1.42635574e-01 -2.51656938e-01  1.89965516e+02]
 [ 1.41627139e-01  9.89670831e-01 -2.22126211e-02  1.64188575e+01]
 [ 2.52225841e-01 -1.43784634e-02  9.67561566e-01  4.93587672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.74071405700002 meters
Centerline goodness : 0.999366 with order 1
Centerline is valid?  [True, True]
Translation: X:190.03, Y:16.42, Z:49.38
[[ 9.57495924e-01 -1.40961927e-01 -2.51657089e-01  1.90025524e+02]
 [ 1.39897261e-01  9.89916881e-01 -2.22109125e-02  1.64242197e+01]
 [ 2.52250494e-01 -1.39392794e-02  9.67561566e-01  4.93750183e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.80071405700002 meters
Centerline goodness : 0.999343 with order 1
Centerline is valid?  [True, True]
Translation: X:190.08, Y:16.43, Z:49.39
[[ 9.57686600e-01 -1.39657625e-01 -2.51658743e-01  1.90083667e+02]
 [ 1.38553716e-01  9.90106245e-01 -2.21921547e-02  1.64289595e+01]
 [ 2.52268197e-01 -1.36151249e-02  9.67561567e-01  4.93899435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.860714057 meters
Centerline goodness : 0.999549 with order 1
Centerline is valid?  [True, True]
Translation: X:190.14, Y:16.43, Z:49.41
[[ 9.57819631e-01 -1.38742325e-01 -2.51658741e-01  1.90143838e+02]
 [ 1.37607425e-01  9.90238205e-01 -2.21921866e-02  1.64333681e+01]
 [ 2.52281095e-01 -1.33739994e-02  9.67561567e-01  4.94051172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.920714057 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:190.20, Y:16.44, Z:49.42
[[ 9.57950754e-01 -1.37831013e-01 -2.51660417e-01  1.90202714e+02]
 [ 1.36670255e-01  9.90368412e-01 -2.21731645e-02  1.64377177e+01]
 [ 2.52292677e-01 -1.31536935e-02  9.67561567e-01  4.94186091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.980714057 meters
Centerline goodness : 0.999502 with order 1
Centerline is valid?  [True, True]
Translation: X:190.26, Y:16.44, Z:49.43
[[ 9.58126255e-01 -1.36604940e-01 -2.51660824e-01  1.90260046e+02]
 [ 1.35403906e-01  9.90542446e-01 -2.21685442e-02  1.64422929e+01]
 [ 2.52309060e-01 -1.28355943e-02  9.67561567e-01  4.94342027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.040714057 meters
Centerline goodness : 0.999614 with order 1
Centerline is valid?  [True, True]
Translation: X:190.32, Y:16.45, Z:49.45
[[ 9.58404800e-01 -1.34637551e-01 -2.51660425e-01  1.90319112e+02]
 [ 1.33368782e-01  9.90818411e-01 -2.21730671e-02  1.64475761e+01]
 [ 2.52335110e-01 -1.23128705e-02  9.67561567e-01  4.94533508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.100714057 meters
Centerline goodness : 0.999411 with order 1
Centerline is valid?  [True, True]
Translation: X:190.38, Y:16.45, Z:49.47
[[ 9.58208975e-01 -1.36021174e-01 -2.51662077e-01  1.90376930e+02]
 [ 1.34804122e-01  9.90624568e-01 -2.21542990e-02  1.64516238e+01]
 [ 2.52316091e-01 -1.26966373e-02  9.67561567e-01  4.94691744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.160714057 meters
Centerline goodness : 0.999683 with order 1
Centerline is valid?  [True, True]
Translation: X:190.43, Y:16.45, Z:49.48
[[ 9.57580973e-01 -1.40373347e-01 -2.51662481e-01  1.90434557e+02]
 [ 1.39304789e-01  9.90001801e-01 -2.21497098e-02  1.64545577e+01]
 [ 2.52255539e-01 -1.38476481e-02  9.67561567e-01  4.94828214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.220714057 meters
Centerline goodness : 0.999616 with order 1
Centerline is valid?  [True, True]
Translation: X:190.49, Y:16.46, Z:49.50
[[ 9.56827728e-01 -1.45420381e-01 -2.51661700e-01  1.90492289e+02]
 [ 1.44520456e-01  9.89253676e-01 -2.21585824e-02  1.64576945e+01]
 [ 2.52179571e-01 -1.51683175e-02  9.67561567e-01  4.94984099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.280714057 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:190.55, Y:16.46, Z:49.51
[[ 9.56144023e-01 -1.49850432e-01 -2.51661390e-01  1.90551268e+02]
 [ 1.49099778e-01  9.88573769e-01 -2.21620988e-02  1.64613688e+01]
 [ 2.52106849e-01 -1.63324991e-02  9.67561567e-01  4.95132029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.340714057 meters
Centerline goodness : 0.999753 with order 1
Centerline is valid?  [True, True]
Translation: X:190.61, Y:16.47, Z:49.53
[[ 9.55952109e-01 -1.51069760e-01 -2.51661464e-01  1.90610392e+02]
 [ 1.50360685e-01  9.88382792e-01 -2.21612660e-02  1.64653690e+01]
 [ 2.52085757e-01 -1.66548812e-02  9.67561567e-01  4.95273257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.40071405700002 meters
Centerline goodness : 0.999842 with order 1
Centerline is valid?  [True, True]
Translation: X:190.67, Y:16.47, Z:49.54
[[ 9.56652375e-01 -1.46568567e-01 -2.51662249e-01  1.90669289e+02]
 [ 1.45709193e-01  9.89079423e-01 -2.21523426e-02  1.64720514e+01]
 [ 2.52160789e-01 -1.54774120e-02  9.67561567e-01  4.95433344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.46071405700002 meters
Centerline goodness : 0.999774 with order 1
Centerline is valid?  [True, True]
Translation: X:190.73, Y:16.48, Z:49.56
[[ 9.58098909e-01 -1.36792504e-01 -2.51663052e-01  1.90726537e+02]
 [ 1.35604451e-01  9.90515578e-01 -2.21432196e-02  1.64799408e+01]
 [ 2.52305200e-01 -1.29112354e-02  9.67561567e-01  4.95616288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.52071405700002 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:190.78, Y:16.49, Z:49.58
[[ 9.59577084e-01 -1.26005698e-01 -2.51663235e-01  1.90784249e+02]
 [ 1.24453594e-01  9.91978363e-01 -2.21411345e-02  1.64869350e+01]
 [ 2.52434393e-01 -1.00742688e-02  9.67561567e-01  4.95791322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.580714057 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:190.84, Y:16.49, Z:49.59
[[ 9.60528660e-01 -1.18533720e-01 -2.51663368e-01  1.90840993e+02]
 [ 1.16729887e-01  9.92916900e-01 -2.21396232e-02  1.64916475e+01]
 [ 2.52505103e-01 -8.11089400e-03  9.67561567e-01  4.95934992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.640714057 meters
Centerline goodness : 0.999434 with order 1
Centerline is valid?  [True, True]
Translation: X:190.90, Y:16.50, Z:49.61
[[ 9.60733929e-01 -1.16860888e-01 -2.51662177e-01  1.90898910e+02]
 [ 1.14997114e-01  9.93118775e-01 -2.21531615e-02  1.64952493e+01]
 [ 2.52519271e-01 -7.65713016e-03  9.67561567e-01  4.96095522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.700714057 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:190.96, Y:16.50, Z:49.62
[[ 9.60242671e-01 -1.20831122e-01 -2.51662181e-01  1.90956717e+02]
 [ 1.19101242e-01  9.92634945e-01 -2.21531108e-02  1.64965802e+01]
 [ 2.52485460e-01 -8.70091602e-03  9.67561567e-01  4.96229234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.760714057 meters
Centerline goodness : 0.999235 with order 1
Centerline is valid?  [True, True]
Translation: X:191.02, Y:16.50, Z:49.64
[[ 9.59422479e-01 -1.27181224e-01 -2.51661366e-01  1.91015247e+02]
 [ 1.25663256e-01  9.91825375e-01 -2.21623694e-02  1.64974876e+01]
 [ 2.52422766e-01 -1.03615113e-02  9.67561567e-01  4.96377874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.820714057 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:191.07, Y:16.50, Z:49.65
[[ 9.58937166e-01 -1.30790461e-01 -2.51661214e-01  1.91073720e+02]
 [ 1.29393980e-01  9.91345526e-01 -2.21640927e-02  1.65008833e+01]
 [ 2.52382070e-01 -1.13094737e-02  9.67561567e-01  4.96527460e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.880714057 meters
Centerline goodness : 0.999595 with order 1
Centerline is valid?  [True, True]
Translation: X:191.13, Y:16.50, Z:49.67
[[ 9.58143350e-01 -1.36484263e-01 -2.51661214e-01  1.91132204e+02]
 [ 1.35280312e-01  9.90559433e-01 -2.21640927e-02  1.65033849e+01]
 [ 2.52310439e-01 -1.28084296e-02  9.67561567e-01  4.96689730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.940714057 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:191.19, Y:16.51, Z:49.69
[[ 9.57561493e-01 -1.40507697e-01 -2.51661627e-01  1.91189823e+02]
 [ 1.39441150e-01  9.89982387e-01 -2.21593979e-02  1.65085847e+01]
 [ 2.52254145e-01 -1.38730006e-02  9.67561567e-01  4.96858172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.000714057 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:191.25, Y:16.51, Z:49.70
[[ 9.57097408e-01 -1.43634747e-01 -2.51661701e-01  1.91248252e+02]
 [ 1.42674324e-01  9.89521619e-01 -2.21585641e-02  1.65130306e+01]
 [ 2.52207433e-01 -1.46977587e-02  9.67561567e-01  4.97004564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.060714057 meters
Centerline goodness : 0.999820 with order 1
Centerline is valid?  [True, True]
Translation: X:191.31, Y:16.52, Z:49.71
[[ 9.56384521e-01 -1.48307114e-01 -2.51661773e-01  1.91307851e+02]
 [ 1.47505266e-01  9.88813042e-01 -2.21577386e-02  1.65163390e+01]
 [ 2.52132594e-01 -1.59301185e-02  9.67561567e-01  4.97136809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.12071405700001 meters
Centerline goodness : 0.999730 with order 1
Centerline is valid?  [True, True]
Translation: X:191.37, Y:16.52, Z:49.73
[[ 9.56007465e-01 -1.50717863e-01 -2.51662181e-01  1.91366607e+02]
 [ 1.49998990e-01  9.88437931e-01 -2.21531038e-02  1.65226197e+01]
 [ 2.52091314e-01 -1.65705404e-02  9.67561567e-01  4.97264394e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.18071405700002 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:191.43, Y:16.53, Z:49.74
[[ 9.55973372e-01 -1.50933283e-01 -2.51662584e-01  1.91426212e+02]
 [ 1.50222918e-01  9.88404026e-01 -2.21485250e-02  1.65301911e+01]
 [ 2.52087261e-01 -1.66320877e-02  9.67561567e-01  4.97412988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.24071405700002 meters
Centerline goodness : 0.999706 with order 1
Centerline is valid?  [True, True]
Translation: X:191.48, Y:16.54, Z:49.76
[[ 9.56241325e-01 -1.49224870e-01 -2.51663399e-01  1.91484823e+02]
 [ 1.48458984e-01  9.88670715e-01 -2.21392645e-02  1.65371824e+01]
 [ 2.52115962e-01 -1.61912130e-02  9.67561567e-01  4.97554558e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.30071405700002 meters
Centerline goodness : 0.999638 with order 1
Centerline is valid?  [True, True]
Translation: X:191.54, Y:16.55, Z:49.77
[[ 9.57815701e-01 -1.38760288e-01 -2.51663795e-01  1.91542222e+02]
 [ 1.37641040e-01  9.90234819e-01 -2.21347681e-02  1.65481900e+01]
 [ 2.52277679e-01 -1.34382379e-02  9.67561567e-01  4.97715309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.360714057 meters
Centerline goodness : 0.999659 with order 1
Centerline is valid?  [True, True]
Translation: X:191.60, Y:16.56, Z:49.79
[[ 9.59133312e-01 -1.29339383e-01 -2.51663691e-01  1.91599676e+02]
 [ 1.27901240e-01  9.91539849e-01 -2.21359406e-02  1.65591013e+01]
 [ 2.52397628e-01 -1.09567801e-02  9.67561567e-01  4.97873220e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.420714057 meters
Centerline goodness : 0.999566 with order 1
Centerline is valid?  [True, True]
Translation: X:191.66, Y:16.57, Z:49.80
[[ 9.60113347e-01 -1.21851286e-01 -2.51663716e-01  1.91655567e+02]
 [ 1.20160389e-01  9.92507679e-01 -2.21356647e-02  1.65673861e+01]
 [ 2.52475430e-01 -8.98726298e-03  9.67561567e-01  4.98028485e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.480714057 meters
Centerline goodness : 0.999657 with order 1
Centerline is valid?  [True, True]
Translation: X:191.71, Y:16.58, Z:49.82
[[ 9.60580712e-01 -1.18112365e-01 -2.51662802e-01  1.91713391e+02]
 [ 1.16292642e-01  9.92968063e-01 -2.21460498e-02  1.65755487e+01]
 [ 2.52508847e-01 -7.99346393e-03  9.67561567e-01  4.98195935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.540714057 meters
Centerline goodness : 0.999543 with order 1
Centerline is valid?  [True, True]
Translation: X:191.77, Y:16.58, Z:49.83
[[ 9.60627434e-01 -1.17732949e-01 -2.51662246e-01  1.91771677e+02]
 [ 1.15898782e-01  9.93013970e-01 -2.21523654e-02  1.65812981e+01]
 [ 2.52512189e-01 -7.88717774e-03  9.67561567e-01  4.98344602e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.600714057 meters
Centerline goodness : 0.999315 with order 1
Centerline is valid?  [True, True]
Translation: X:191.83, Y:16.59, Z:49.85
[[ 9.60377521e-01 -1.19754461e-01 -2.51662246e-01  1.91829291e+02]
 [ 1.17988459e-01  9.92767846e-01 -2.21523654e-02  1.65865997e+01]
 [ 2.52495030e-01 -8.41860690e-03  9.67561567e-01  4.98482816e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.660714057 meters
Centerline goodness : 0.999589 with order 1
Centerline is valid?  [True, True]
Translation: X:191.89, Y:16.59, Z:49.86
[[ 9.59837729e-01 -1.24008284e-01 -2.51661438e-01  1.91887817e+02]
 [ 1.22383405e-01  9.92235440e-01 -2.21615398e-02  1.65907757e+01]
 [ 2.52455612e-01 -9.52770158e-03  9.67561567e-01  4.98632722e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.720714057 meters
Centerline goodness : 0.999521 with order 1
Centerline is valid?  [True, True]
Translation: X:191.95, Y:16.59, Z:49.88
[[ 9.59096295e-01 -1.29617970e-01 -2.51661438e-01  1.91945897e+02]
 [ 1.28182536e-01  9.91502952e-01 -2.21615398e-02  1.65933177e+01]
 [ 2.52395592e-01 -1.10035506e-02  9.67561567e-01  4.98780887e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.780714057 meters
Centerline goodness : 0.999523 with order 1
Centerline is valid?  [True, True]
Translation: X:192.00, Y:16.60, Z:49.89
[[ 9.58104061e-01 -1.36759945e-01 -2.51661132e-01  1.92003703e+02]
 [ 1.35565079e-01  9.90520480e-01 -2.21650182e-02  1.65959288e+01]
 [ 2.52306792e-01 -1.28800673e-02  9.67561567e-01  4.98909413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.840714057 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:192.06, Y:16.60, Z:49.91
[[ 9.57119471e-01 -1.43489244e-01 -2.51660793e-01  1.92061955e+02]
 [ 1.42521195e-01  9.89543456e-01 -2.21688583e-02  1.65986772e+01]
 [ 2.52210284e-01 -1.46487510e-02  9.67561567e-01  4.99067425e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.90071405700002 meters
Centerline goodness : 0.999276 with order 1
Centerline is valid?  [True, True]
Translation: X:192.12, Y:16.60, Z:49.92
[[ 9.56116555e-01 -1.50026480e-01 -2.51660860e-01  1.92120356e+02]
 [ 1.49280224e-01  9.88546403e-01 -2.21681033e-02  1.66001842e+01]
 [ 2.52104240e-01 -1.63726988e-02  9.67561567e-01  4.99197940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.96071405700002 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:192.18, Y:16.60, Z:49.94
[[ 9.55026641e-01 -1.56815195e-01 -2.51660704e-01  1.92179132e+02]
 [ 1.56298884e-01  9.87460964e-01 -2.21698706e-02  1.66034957e+01]
 [ 2.51981694e-01 -1.81614702e-02  9.67561567e-01  4.99361114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.02071405700002 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:192.24, Y:16.61, Z:49.95
[[ 9.54449360e-01 -1.60291216e-01 -2.51660774e-01  1.92238649e+02]
 [ 1.59893202e-01  9.86885351e-01 -2.21690813e-02  1.66075048e+01]
 [ 2.51913840e-01 -1.90795815e-02  9.67561567e-01  4.99504929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.080714057 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:192.30, Y:16.61, Z:49.96
[[ 9.53819147e-01 -1.63998397e-01 -2.51661599e-01  1.92297656e+02]
 [ 1.63728869e-01  9.86256460e-01 -2.21597111e-02  1.66116181e+01]
 [ 2.51837035e-01 -2.00679121e-02  9.67561568e-01  4.99638211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.140714057 meters
Centerline goodness : 0.998469 with order 1
Centerline is valid?  [True, True]
Translation: X:192.36, Y:16.62, Z:49.98
[[ 9.53552172e-01 -1.65543828e-01 -2.51661473e-01  1.92357189e+02]
 [ 1.65326491e-01  9.85989876e-01 -2.21611341e-02  1.66176734e+01]
 [ 2.51804304e-01 -2.04745108e-02  9.67561568e-01  4.99798834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.200714057 meters
Centerline goodness : 0.998761 with order 1
Centerline is valid?  [True, True]
Translation: X:192.42, Y:16.62, Z:50.00
[[ 9.53610836e-01 -1.65203063e-01 -2.51663109e-01  1.92417422e+02]
 [ 1.64979008e-01  9.86048495e-01 -2.21425452e-02  1.66236070e+01]
 [ 2.51810046e-01 -2.04037591e-02  9.67561568e-01  4.99960898e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.260714057 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:192.48, Y:16.63, Z:50.01
[[ 9.53740721e-01 -1.64449046e-01 -2.51664753e-01  1.92476470e+02]
 [ 1.64204247e-01  9.86178230e-01 -2.21238464e-02  1.66301536e+01]
 [ 2.51824546e-01 -2.02240081e-02  9.67561568e-01  5.00119020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.320714057 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:192.54, Y:16.64, Z:50.03
[[ 9.53747454e-01 -1.64408739e-01 -2.51665573e-01  1.92535804e+02]
 [ 1.64165017e-01  9.86184970e-01 -2.21145097e-02  1.66370139e+01]
 [ 2.51824625e-01 -2.02230257e-02  9.67561568e-01  5.00264026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.380714057 meters
Centerline goodness : 0.999344 with order 1
Centerline is valid?  [True, True]
Translation: X:192.59, Y:16.65, Z:50.04
[[ 9.53741787e-01 -1.64440366e-01 -2.51666385e-01  1.92593671e+02]
 [ 1.64200140e-01  9.86179330e-01 -2.21052742e-02  1.66451102e+01]
 [ 2.51823186e-01 -2.02409319e-02  9.67561568e-01  5.00416661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.440714057 meters
Centerline goodness : 0.999345 with order 1
Centerline is valid?  [True, True]
Translation: X:192.65, Y:16.65, Z:50.06
[[ 9.53685500e-01 -1.64765892e-01 -2.51666780e-01  1.92652471e+02]
 [ 1.64537920e-01  9.86123131e-01 -2.21007663e-02  1.66536552e+01]
 [ 2.51815886e-01 -2.03315482e-02  9.67561568e-01  5.00578622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.500714057 meters
Centerline goodness : 0.998798 with order 1
Centerline is valid?  [True, True]
Translation: X:192.71, Y:16.66, Z:50.07
[[ 9.53616598e-01 -1.65162429e-01 -2.51667950e-01  1.92710920e+02]
 [ 1.64951438e-01  9.86054343e-01 -2.20874418e-02  1.66613998e+01]
 [ 2.51806291e-01 -2.04500391e-02  9.67561568e-01  5.00739728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.560714057 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:192.77, Y:16.67, Z:50.09
[[ 9.53664537e-01 -1.64884234e-01 -2.51668710e-01  1.92769095e+02]
 [ 1.64666052e-01  9.86102236e-01 -2.20787751e-02  1.66681470e+01]
 [ 2.51811520e-01 -2.03855482e-02  9.67561568e-01  5.00893410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.62071405700001 meters
Centerline goodness : 0.998843 with order 1
Centerline is valid?  [True, True]
Translation: X:192.83, Y:16.68, Z:50.11
[[ 9.53458769e-01 -1.66069681e-01 -2.51668905e-01  1.92826914e+02]
 [ 1.65892407e-01  9.85896716e-01 -2.20765584e-02  1.66753213e+01]
 [ 2.51785794e-01 -2.07008721e-02  9.67561568e-01  5.01050514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.68071405700002 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:192.89, Y:16.68, Z:50.12
[[ 9.53335905e-01 -1.66773448e-01 -2.51668969e-01  1.92886513e+02]
 [ 1.66620311e-01  9.85773975e-01 -2.20758233e-02  1.66811632e+01]
 [ 2.51770381e-01 -2.08874869e-02  9.67561568e-01  5.01226491e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.74071405700002 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:192.95, Y:16.69, Z:50.14
[[ 9.53335887e-01 -1.66771000e-01 -2.51670659e-01  1.92945336e+02]
 [ 1.66622836e-01  9.85773980e-01 -2.20565394e-02  1.66882312e+01]
 [ 2.51768779e-01 -2.09067883e-02  9.67561568e-01  5.01360402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.80071405700002 meters
Centerline goodness : 0.999408 with order 1
Centerline is valid?  [True, True]
Translation: X:193.01, Y:16.70, Z:50.15
[[ 9.53361770e-01 -1.66621716e-01 -2.51671492e-01  1.93005963e+02]
 [ 1.66470965e-01  9.85799851e-01 -2.20470336e-02  1.66951703e+01]
 [ 2.51771234e-01 -2.08771970e-02  9.67561568e-01  5.01500486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.860714057 meters
Centerline goodness : 0.999091 with order 1
Centerline is valid?  [True, True]
Translation: X:193.07, Y:16.70, Z:50.17
[[ 9.53557340e-01 -1.65495748e-01 -2.51673513e-01  1.93065455e+02]
 [ 1.65312742e-01  9.85995255e-01 -2.20239451e-02  1.67017458e+01]
 [ 2.51793759e-01 -2.06037438e-02  9.67561569e-01  5.01667541e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.920714057 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:193.12, Y:16.71, Z:50.18
[[ 9.54082527e-01 -1.62438191e-01 -2.51675120e-01  1.93122254e+02]
 [ 1.62156022e-01  9.86519731e-01 -2.20055638e-02  1.67101239e+01]
 [ 2.51857015e-01 -1.98155124e-02  9.67561569e-01  5.01825340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.980714057 meters
Centerline goodness : 0.998791 with order 1
Centerline is valid?  [True, True]
Translation: X:193.18, Y:16.72, Z:50.20
[[ 9.54522832e-01 -1.59831000e-01 -2.51674818e-01  1.93180295e+02]
 [ 1.59459309e-01  9.86959134e-01 -2.20090126e-02  1.67180342e+01]
 [ 2.51910483e-01 -1.91237876e-02  9.67561569e-01  5.01991502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.040714057 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:193.24, Y:16.73, Z:50.22
[[ 9.54975027e-01 -1.57106125e-01 -2.51675117e-01  1.93237937e+02]
 [ 1.56642756e-01  9.87410148e-01 -2.20055985e-02  1.67254834e+01]
 [ 2.51963779e-01 -1.84082869e-02  9.67561569e-01  5.02156242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.100714057 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:193.30, Y:16.73, Z:50.23
[[ 9.55438420e-01 -1.54263009e-01 -2.51675088e-01  1.93296196e+02]
 [ 1.53703016e-01  9.87872017e-01 -2.20059274e-02  1.67341665e+01]
 [ 2.52017477e-01 -1.76579114e-02  9.67561569e-01  5.02315130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.160714057 meters
Centerline goodness : 0.998805 with order 1
Centerline is valid?  [True, True]
Translation: X:193.36, Y:16.74, Z:50.25
[[ 9.55620705e-01 -1.53129073e-01 -2.51675497e-01  1.93355592e+02]
 [ 1.52531816e-01  9.88053637e-01 -2.20012514e-02  1.67417529e+01]
 [ 2.52037921e-01 -1.73636692e-02  9.67561569e-01  5.02471516e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.220714057 meters
Centerline goodness : 0.999196 with order 1
Centerline is valid?  [True, True]
Translation: X:193.41, Y:16.75, Z:50.26
[[ 9.55766545e-01 -1.52213430e-01 -2.51677139e-01  1.93413552e+02]
 [ 1.51590029e-01  9.88198986e-01 -2.19824463e-02  1.67498123e+01]
 [ 2.52053117e-01 -1.71416580e-02  9.67561569e-01  5.02614463e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.280714057 meters
Centerline goodness : 0.999079 with order 1
Centerline is valid?  [True, True]
Translation: X:193.47, Y:16.76, Z:50.28
[[ 9.56023114e-01 -1.50593568e-01 -2.51677139e-01  1.93471655e+02]
 [ 1.49915207e-01  9.88454452e-01 -2.19824463e-02  1.67581899e+01]
 [ 2.52081804e-01 -1.67145038e-02  9.67561569e-01  5.02771080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.340714057 meters
Centerline goodness : 0.999169 with order 1
Centerline is valid?  [True, True]
Translation: X:193.53, Y:16.77, Z:50.29
[[ 9.56225670e-01 -1.49301328e-01 -2.51677533e-01  1.93529766e+02]
 [ 1.48580318e-01  9.88656088e-01 -2.19779377e-02  1.67661662e+01]
 [ 2.52103860e-01 -1.63784597e-02  9.67561569e-01  5.02937980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.40071405700002 meters
Centerline goodness : 0.999331 with order 1
Centerline is valid?  [True, True]
Translation: X:193.59, Y:16.77, Z:50.31
[[ 9.56398609e-01 -1.48189270e-01 -2.51677653e-01  1.93589066e+02]
 [ 1.47430910e-01  9.88828174e-01 -2.19765592e-02  1.67726922e+01]
 [ 2.52122645e-01 -1.60867147e-02  9.67561569e-01  5.03116633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.46071405700002 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:193.65, Y:16.78, Z:50.33
[[ 9.56463156e-01 -1.47769270e-01 -2.51679309e-01  1.93649388e+02]
 [ 1.47001642e-01  9.88892503e-01 -2.19575806e-02  1.67792799e+01]
 [ 2.52128438e-01 -1.59956550e-02  9.67561569e-01  5.03272686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.52071405700002 meters
Centerline goodness : 0.999147 with order 1
Centerline is valid?  [True, True]
Translation: X:193.71, Y:16.78, Z:50.34
[[ 9.56335358e-01 -1.48591326e-01 -2.51680951e-01  1.93708159e+02]
 [ 1.47856507e-01  9.88765465e-01 -2.19387512e-02  1.67849902e+01]
 [ 2.52113340e-01 -1.62318628e-02  9.67561569e-01  5.03413263e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.580714057 meters
Centerline goodness : 0.999007 with order 1
Centerline is valid?  [True, True]
Translation: X:193.77, Y:16.79, Z:50.36
[[ 9.56043267e-01 -1.50457842e-01 -2.51681762e-01  1.93768317e+02]
 [ 1.49788771e-01  9.88474797e-01 -2.19294345e-02  1.67891750e+01]
 [ 2.52080534e-01 -1.67336137e-02  9.67561569e-01  5.03576396e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.640714057 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:193.83, Y:16.79, Z:50.37
[[ 9.55733543e-01 -1.52410183e-01 -2.51683395e-01  1.93826923e+02]
 [ 1.51812268e-01  9.88166462e-01 -2.19106827e-02  1.67928834e+01]
 [ 2.52044501e-01 -1.72678526e-02  9.67561569e-01  5.03710414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.700714057 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:193.89, Y:16.80, Z:50.39
[[ 9.55627473e-01 -1.53071265e-01 -2.51684963e-01  1.93886171e+02]
 [ 1.52500510e-01  9.88060882e-01 -2.18926560e-02  1.67966258e+01]
 [ 2.52031203e-01 -1.74608617e-02  9.67561570e-01  5.03875897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.760714057 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:193.95, Y:16.80, Z:50.40
[[ 9.55692575e-01 -1.52662229e-01 -2.51686207e-01  1.93945533e+02]
 [ 1.52081342e-01  9.88125803e-01 -2.18783485e-02  1.68006283e+01]
 [ 2.52037633e-01 -1.73678008e-02  9.67561570e-01  5.04009636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.820714057 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:194.00, Y:16.81, Z:50.42
[[ 9.56135262e-01 -1.49862615e-01 -2.51687419e-01  1.94003643e+02]
 [ 1.49190400e-01  9.88566727e-01 -2.18643929e-02  1.68056564e+01]
 [ 2.52086463e-01 -1.66440296e-02  9.67561570e-01  5.04198383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.880714057 meters
Centerline goodness : 0.999356 with order 1
Centerline is valid?  [True, True]
Translation: X:194.06, Y:16.81, Z:50.44
[[ 9.56610869e-01 -1.46794714e-01 -2.51688215e-01  1.94061189e+02]
 [ 1.46020871e-01  9.89040067e-01 -2.18552226e-02  1.68099752e+01]
 [ 2.52137961e-01 -1.58447889e-02  9.67561570e-01  5.04381157e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.940714057 meters
Centerline goodness : 0.999010 with order 1
Centerline is valid?  [True, True]
Translation: X:194.12, Y:16.81, Z:50.45
[[ 9.56920314e-01 -1.44763844e-01 -2.51688183e-01  1.94120727e+02]
 [ 1.43921070e-01  9.89347795e-01 -2.18555905e-02  1.68142702e+01]
 [ 2.52171049e-01 -1.53091742e-02  9.67561570e-01  5.04541864e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.000714057 meters
Centerline goodness : 0.999085 with order 1
Centerline is valid?  [True, True]
Translation: X:194.18, Y:16.82, Z:50.47
[[ 9.57523538e-01 -1.40715686e-01 -2.51689829e-01  1.94180437e+02]
 [ 1.39740751e-01  9.89947314e-01 -2.18366273e-02  1.68169095e+01]
 [ 2.52232426e-01 -1.42622411e-02  9.67561570e-01  5.04698950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.060714057 meters
Centerline goodness : 0.998964 with order 1
Centerline is valid?  [True, True]
Translation: X:194.24, Y:16.82, Z:50.48
[[ 9.58303848e-01 -1.35297241e-01 -2.51691063e-01  1.94239241e+02]
 [ 1.34142646e-01  9.90721724e-01 -2.18223967e-02  1.68204178e+01]
 [ 2.52308313e-01 -1.28500184e-02  9.67561570e-01  5.04848402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.12071405700001 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:194.30, Y:16.82, Z:50.50
[[ 9.59214770e-01 -1.28679741e-01 -2.51691376e-01  1.94299271e+02]
 [ 1.27302369e-01  9.91623945e-01 -2.18187817e-02  1.68239793e+01]
 [ 2.52390830e-01 -1.11120108e-02  9.67561570e-01  5.04993817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.18071405700002 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:194.36, Y:16.83, Z:50.51
[[ 9.59695652e-01 -1.25040401e-01 -2.51692578e-01  1.94357295e+02]
 [ 1.23543739e-01  9.92099537e-01 -2.18049109e-02  1.68280724e+01]
 [ 2.52430584e-01 -1.01689641e-02  9.67561570e-01  5.05136452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.24071405700002 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:194.42, Y:16.83, Z:50.53
[[ 9.60070707e-01 -1.22127328e-01 -2.51692578e-01  1.94415993e+02]
 [ 1.20532334e-01  9.92469900e-01 -2.18049109e-02  1.68296939e+01]
 [ 2.52460283e-01 -9.40283754e-03  9.67561570e-01  5.05292908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.30071405700002 meters
Centerline goodness : 0.999038 with order 1
Centerline is valid?  [True, True]
Translation: X:194.47, Y:16.83, Z:50.54
[[ 9.60051755e-01 -1.22276158e-01 -2.51692607e-01  1.94474846e+02]
 [ 1.20686275e-01  9.92451200e-01 -2.18045729e-02  1.68314619e+01]
 [ 2.52458809e-01 -9.44232467e-03  9.67561570e-01  5.05443280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.360714057 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:194.53, Y:16.83, Z:50.56
[[ 9.59735504e-01 -1.24733804e-01 -2.51692749e-01  1.94533560e+02]
 [ 1.23227309e-01  9.92138933e-01 -2.18029301e-02  1.68334640e+01]
 [ 2.52433738e-01 -1.00903740e-02  9.67561570e-01  5.05605661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.420714057 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:194.59, Y:16.83, Z:50.58
[[ 9.59094206e-01 -1.29572622e-01 -2.51692749e-01  1.94591663e+02]
 [ 1.28229573e-01  9.91504820e-01 -2.18029301e-02  1.68333180e+01]
 [ 2.52379637e-01 -1.13633897e-02  9.67561570e-01  5.05753139e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.480714057 meters
Centerline goodness : 0.998955 with order 1
Centerline is valid?  [True, True]
Translation: X:194.65, Y:16.84, Z:50.59
[[ 9.58519881e-01 -1.33755833e-01 -2.51692303e-01  1.94648006e+02]
 [ 1.32552853e-01  9.90935996e-01 -2.18080766e-02  1.68352977e+01]
 [ 2.52327921e-01 -1.24590580e-02  9.67561570e-01  5.05896007e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.540714057 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:194.71, Y:16.84, Z:50.61
[[ 9.57657099e-01 -1.39802065e-01 -2.51690810e-01  1.94706628e+02]
 [ 1.38799163e-01  9.90080021e-01 -2.18253014e-02  1.68361970e+01]
 [ 2.52245264e-01 -1.40333189e-02  9.67561570e-01  5.06071115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.600714057 meters
Centerline goodness : 0.999164 with order 1
Centerline is valid?  [True, True]
Translation: X:194.76, Y:16.84, Z:50.62
[[ 9.56731123e-01 -1.46003913e-01 -2.51691111e-01  1.94764888e+02]
 [ 1.45212016e-01  9.89159885e-01 -2.18218222e-02  1.68367681e+01]
 [ 2.52148822e-01 -1.56709573e-02  9.67561570e-01  5.06224108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.660714057 meters
Centerline goodness : 0.999481 with order 1
Centerline is valid?  [True, True]
Translation: X:194.82, Y:16.84, Z:50.64
[[ 9.55801538e-01 -1.51970045e-01 -2.51691331e-01  1.94823527e+02]
 [ 1.51381146e-01  9.88234621e-01 -2.18192940e-02  1.68384830e+01]
 [ 2.52045966e-01 -1.72464073e-02  9.67561570e-01  5.06365068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.720714057 meters
Centerline goodness : 0.999481 with order 1
Centerline is valid?  [True, True]
Translation: X:194.88, Y:16.84, Z:50.65
[[ 9.55315280e-01 -1.54997272e-01 -2.51691401e-01  1.94882021e+02]
 [ 1.54511339e-01  9.87750070e-01 -2.18184765e-02  1.68421917e+01]
 [ 2.51990004e-01 -1.80456514e-02  9.67561570e-01  5.06515092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.780714057 meters
Centerline goodness : 0.999751 with order 1
Centerline is valid?  [True, True]
Translation: X:194.94, Y:16.85, Z:50.67
[[ 9.54812512e-01 -1.58063656e-01 -2.51692168e-01  1.94940486e+02]
 [ 1.57684181e-01  9.87248722e-01 -2.18096308e-02  1.68458655e+01]
 [ 2.51930081e-01 -1.88637651e-02  9.67561570e-01  5.06659929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.840714057 meters
Centerline goodness : 0.999234 with order 1
Centerline is valid?  [True, True]
Translation: X:195.00, Y:16.85, Z:50.68
[[ 9.54572958e-01 -1.59503816e-01 -2.51692275e-01  1.94998926e+02]
 [ 1.59173596e-01  9.87009706e-01 -2.18083923e-02  1.68508303e+01]
 [ 2.51901240e-01 -1.92450630e-02  9.67561570e-01  5.06807291e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.90071405700002 meters
Centerline goodness : 0.999798 with order 1
Centerline is valid?  [True, True]
Translation: X:195.06, Y:16.86, Z:50.70
[[ 9.54684937e-01 -1.58831564e-01 -2.51692680e-01  1.95058576e+02]
 [ 1.58479728e-01  9.87121458e-01 -2.18037167e-02  1.68558817e+01]
 [ 2.51914364e-01 -1.90725077e-02  9.67561570e-01  5.06961849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.96071405700002 meters
Centerline goodness : 0.999368 with order 1
Centerline is valid?  [True, True]
Translation: X:195.12, Y:16.86, Z:50.71
[[ 9.54863380e-01 -1.57752723e-01 -2.51694266e-01  1.95118730e+02]
 [ 1.57369037e-01  9.87299540e-01 -2.17854006e-02  1.68622373e+01]
 [ 2.51934339e-01 -1.88068030e-02  9.67561571e-01  5.07120692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.02071405700002 meters
Centerline goodness : 0.999616 with order 1
Centerline is valid?  [True, True]
Translation: X:195.18, Y:16.87, Z:50.73
[[ 9.55115197e-01 -1.56218295e-01 -2.51695856e-01  1.95178382e+02]
 [ 1.55787313e-01  9.87550763e-01 -2.17670102e-02  1.68687476e+01]
 [ 2.51962840e-01 -1.84210188e-02  9.67561571e-01  5.07291780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.080714057 meters
Centerline goodness : 0.999481 with order 1
Centerline is valid?  [True, True]
Translation: X:195.24, Y:16.88, Z:50.74
[[ 9.55337962e-01 -1.54847481e-01 -2.51697509e-01  1.95236388e+02]
 [ 1.54374967e-01  9.87772949e-01 -2.17478806e-02  1.68753062e+01]
 [ 2.51987595e-01 -1.80792186e-02  9.67561571e-01  5.07439085e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.140714057 meters
Centerline goodness : 0.999412 with order 1
Centerline is valid?  [True, True]
Translation: X:195.29, Y:16.88, Z:50.76
[[ 9.55321581e-01 -1.54948478e-01 -2.51697528e-01  1.95294222e+02]
 [ 1.54479449e-01  9.87756619e-01 -2.17476633e-02  1.68823562e+01]
 [ 2.51985667e-01 -1.81060834e-02  9.67561571e-01  5.07587228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.200714057 meters
Centerline goodness : 0.999525 with order 1
Centerline is valid?  [True, True]
Translation: X:195.35, Y:16.89, Z:50.77
[[ 9.55074673e-01 -1.56463168e-01 -2.51697528e-01  1.95353577e+02]
 [ 1.56045573e-01  9.87510414e-01 -2.17476633e-02  1.68884599e+01]
 [ 2.51956638e-01 -1.85056425e-02  9.67561571e-01  5.07739818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.260714057 meters
Centerline goodness : 0.999706 with order 1
Centerline is valid?  [True, True]
Translation: X:195.41, Y:16.89, Z:50.79
[[ 9.54862458e-01 -1.57751298e-01 -2.51698659e-01  1.95410908e+02]
 [ 1.57380889e-01  9.87298772e-01 -2.17345646e-02  1.68946470e+01]
 [ 2.51930433e-01 -1.88590389e-02  9.67561571e-01  5.07887429e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.320714057 meters
Centerline goodness : 0.999345 with order 1
Centerline is valid?  [True, True]
Translation: X:195.47, Y:16.90, Z:50.81
[[ 9.54719674e-01 -1.58613731e-01 -2.51698290e-01  1.95468896e+02]
 [ 1.58271501e-01  9.87156297e-01 -2.17388367e-02  1.69009848e+01]
 [ 2.51913630e-01 -1.90821710e-02  9.67561571e-01  5.08058116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.380714057 meters
Centerline goodness : 0.999523 with order 1
Centerline is valid?  [True, True]
Translation: X:195.53, Y:16.91, Z:50.82
[[ 9.54753352e-01 -1.58409251e-01 -2.51699318e-01  1.95529137e+02]
 [ 1.58063193e-01  9.87189935e-01 -2.17269334e-02  1.69078883e+01]
 [ 2.51916780e-01 -1.90405353e-02  9.67561571e-01  5.08216684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.440714057 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:195.59, Y:16.91, Z:50.84
[[ 9.54943362e-01 -1.57256560e-01 -2.51701312e-01  1.95587820e+02]
 [ 1.56877409e-01  9.87379574e-01 -2.17038013e-02  1.69148313e+01]
 [ 2.51937800e-01 -1.87603486e-02  9.67561571e-01  5.08366647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.500714057 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:195.65, Y:16.92, Z:50.85
[[ 9.55120488e-01 -1.56173409e-01 -2.51703636e-01  1.95645668e+02]
 [ 1.55764541e-01  9.87556339e-01 -2.16768241e-02  1.69215209e+01]
 [ 2.51956864e-01 -1.85025226e-02  9.67561572e-01  5.08538152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.560714057 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:195.70, Y:16.93, Z:50.87
[[ 9.55120217e-01 -1.56174323e-01 -2.51704094e-01  1.95704610e+02]
 [ 1.55766882e-01  9.87556087e-01 -2.16715014e-02  1.69272818e+01]
 [ 2.51956442e-01 -1.85082727e-02  9.67561572e-01  5.08691287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.62071405700001 meters
Centerline goodness : 0.999273 with order 1
Centerline is valid?  [True, True]
Translation: X:195.76, Y:16.93, Z:50.88
[[ 9.54986299e-01 -1.56989836e-01 -2.51704905e-01  1.95762348e+02]
 [ 1.56612562e-01  9.87422534e-01 -2.16620757e-02  1.69324039e+01]
 [ 2.51939821e-01 -1.87331646e-02  9.67561572e-01  5.08835931e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.68071405700002 meters
Centerline goodness : 0.999364 with order 1
Centerline is valid?  [True, True]
Translation: X:195.82, Y:16.94, Z:50.90
[[ 9.54753924e-01 -1.58397390e-01 -2.51704610e-01  1.95822767e+02]
 [ 1.58067032e-01  9.87190670e-01 -2.16654998e-02  1.69372312e+01]
 [ 2.51912202e-01 -1.91009799e-02  9.67561572e-01  5.08988178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.74071405700002 meters
Centerline goodness : 0.999523 with order 1
Centerline is valid?  [True, True]
Translation: X:195.88, Y:16.94, Z:50.91
[[ 9.54486826e-01 -1.59996540e-01 -2.51706189e-01  1.95881847e+02]
 [ 1.59725332e-01  9.86924121e-01 -2.16471410e-02  1.69423943e+01]
 [ 2.51878377e-01 -1.95419438e-02  9.67561572e-01  5.09127905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.80071405700002 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:195.94, Y:16.95, Z:50.93
[[ 9.54438865e-01 -1.60281785e-01 -2.51706578e-01  1.95942440e+02]
 [ 1.60021457e-01  9.86876249e-01 -2.16426180e-02  1.69468749e+01]
 [ 2.51872161e-01 -1.96218976e-02  9.67561572e-01  5.09272171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.860714057 meters
Centerline goodness : 0.999386 with order 1
Centerline is valid?  [True, True]
Translation: X:196.00, Y:16.95, Z:50.94
[[ 9.54543184e-01 -1.59656933e-01 -2.51708112e-01  1.96002608e+02]
 [ 1.59380049e-01  9.86980430e-01 -2.16247663e-02  1.69515326e+01]
 [ 2.51883524e-01 -1.94754779e-02  9.67561572e-01  5.09440331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.920714057 meters
Centerline goodness : 0.999272 with order 1
Centerline is valid?  [True, True]
Translation: X:196.06, Y:16.96, Z:50.96
[[ 9.54518236e-01 -1.59803474e-01 -2.51709727e-01  1.96061600e+02]
 [ 1.59536501e-01  9.86955565e-01 -2.16059528e-02  1.69563124e+01]
 [ 2.51879022e-01 -1.95336131e-02  9.67561572e-01  5.09585333e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.980714057 meters
Centerline goodness : 0.999343 with order 1
Centerline is valid?  [True, True]
Translation: X:196.12, Y:16.96, Z:50.98
[[ 9.54340875e-01 -1.60857385e-01 -2.51710936e-01  1.96120788e+02]
 [ 1.60629927e-01  9.86778505e-01 -2.15918536e-02  1.69597180e+01]
 [ 2.51856151e-01 -1.98263208e-02  9.67561572e-01  5.09753691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.040714057 meters
Centerline goodness : 0.999660 with order 1
Centerline is valid?  [True, True]
Translation: X:196.18, Y:16.96, Z:50.99
[[ 9.54236815e-01 -1.61472249e-01 -2.51711767e-01  1.96180389e+02]
 [ 1.61268230e-01  9.86674601e-01 -2.15821625e-02  1.69629990e+01]
 [ 2.51842528e-01 -1.99986172e-02  9.67561572e-01  5.09889801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.100714057 meters
Centerline goodness : 0.999727 with order 1
Centerline is valid?  [True, True]
Translation: X:196.24, Y:16.97, Z:51.00
[[ 9.54034774e-01 -1.62659835e-01 -2.51712987e-01  1.96241473e+02]
 [ 1.62499922e-01  9.86472807e-01 -2.15679255e-02  1.69652702e+01]
 [ 2.51816252e-01 -2.03267899e-02  9.67561573e-01  5.10017115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.160714057 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:196.30, Y:16.97, Z:51.02
[[ 9.54075365e-01 -1.62419100e-01 -2.51714589e-01  1.96301825e+02]
 [ 1.62255907e-01  9.86513382e-01 -2.15492151e-02  1.69688986e+01]
 [ 2.51819815e-01 -2.02826038e-02  9.67561573e-01  5.10157260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.220714057 meters
Centerline goodness : 0.999796 with order 1
Centerline is valid?  [True, True]
Translation: X:196.36, Y:16.97, Z:51.03
[[ 9.54247313e-01 -1.61403327e-01 -2.51716174e-01  1.96360431e+02]
 [ 1.61210458e-01  9.86685166e-01 -2.15306884e-02  1.69734741e+01]
 [ 2.51839740e-01 -2.00336781e-02  9.67561573e-01  5.10306860e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.280714057 meters
Centerline goodness : 0.999525 with order 1
Centerline is valid?  [True, True]
Translation: X:196.42, Y:16.98, Z:51.05
[[ 9.54449988e-01 -1.60197534e-01 -2.51718037e-01  1.96419671e+02]
 [ 1.59969397e-01  9.86887613e-01 -2.15088813e-02  1.69792859e+01]
 [ 2.51863083e-01 -1.97380310e-02  9.67561573e-01  5.10467912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.340714057 meters
Centerline goodness : 0.999796 with order 1
Centerline is valid?  [True, True]
Translation: X:196.48, Y:16.98, Z:51.06
[[ 9.54574944e-01 -1.59449454e-01 -2.51719186e-01  1.96477930e+02]
 [ 1.59199420e-01  9.87012407e-01 -2.14954313e-02  1.69845097e+01]
 [ 2.51877394e-01 -1.95545482e-02  9.67561573e-01  5.10631275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.40071405700002 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:196.54, Y:16.99, Z:51.08
[[ 9.54590875e-01 -1.59353819e-01 -2.51719333e-01  1.96535988e+02]
 [ 1.59100986e-01  9.87028316e-01 -2.14937115e-02  1.69905927e+01]
 [ 2.51879214e-01 -1.95310931e-02  9.67561573e-01  5.10794113e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.46071405700002 meters
Centerline goodness : 0.999683 with order 1
Centerline is valid?  [True, True]
Translation: X:196.60, Y:17.00, Z:51.10
[[ 9.54608657e-01 -1.59246636e-01 -2.51719726e-01  1.96595388e+02]
 [ 1.58991368e-01  9.87046080e-01 -2.14891026e-02  1.69958624e+01]
 [ 2.51881036e-01 -1.95075803e-02  9.67561573e-01  5.10951368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.52071405700002 meters
Centerline goodness : 0.999411 with order 1
Centerline is valid?  [True, True]
Translation: X:196.65, Y:17.00, Z:51.11
[[ 9.54569372e-01 -1.59479497e-01 -2.51721284e-01  1.96653240e+02]
 [ 1.59236929e-01  9.87006891e-01 -2.14708412e-02  1.70016329e+01]
 [ 2.51874801e-01 -1.95879167e-02  9.67561573e-01  5.11101698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.580714057 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:196.71, Y:17.01, Z:51.13
[[ 9.54311341e-01 -1.61016334e-01 -2.51721284e-01  1.96711988e+02]
 [ 1.60825996e-01  9.86749209e-01 -2.14708412e-02  1.70068291e+01]
 [ 2.51842934e-01 -1.99934590e-02  9.67561573e-01  5.11256965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.640714057 meters
Centerline goodness : 0.999478 with order 1
Centerline is valid?  [True, True]
Translation: X:196.77, Y:17.01, Z:51.14
[[ 9.53986445e-01 -1.62930126e-01 -2.51721349e-01  1.96771810e+02]
 [ 1.62805051e-01  9.86424630e-01 -2.14700790e-02  1.70113607e+01]
 [ 2.51802261e-01 -2.04993428e-02  9.67561573e-01  5.11410283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.700714057 meters
Centerline goodness : 0.999412 with order 1
Centerline is valid?  [True, True]
Translation: X:196.83, Y:17.02, Z:51.16
[[ 9.53674467e-01 -1.64743934e-01 -2.51722959e-01  1.96830541e+02]
 [ 1.64685496e-01  9.86112840e-01 -2.14511862e-02  1.70162982e+01]
 [ 2.51761195e-01 -2.09976718e-02  9.67561574e-01  5.11557565e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.760714057 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:196.89, Y:17.02, Z:51.17
[[ 9.53594581e-01 -1.65205301e-01 -2.51723228e-01  1.96889654e+02]
 [ 1.65163384e-01  9.86032981e-01 -2.14480298e-02  1.70218093e+01]
 [ 2.51750733e-01 -2.11227351e-02  9.67561574e-01  5.11709962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.820714057 meters
Centerline goodness : 0.999322 with order 1
Centerline is valid?  [True, True]
Translation: X:196.95, Y:17.03, Z:51.18
[[ 9.53971857e-01 -1.63011396e-01 -2.51724016e-01  1.96949677e+02]
 [ 1.62897289e-01  9.86410083e-01 -2.14387748e-02  1.70269684e+01]
 [ 2.51797872e-01 -2.05531721e-02  9.67561574e-01  5.11814290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.880714057 meters
Centerline goodness : 0.999251 with order 1
Centerline is valid?  [True, True]
Translation: X:197.01, Y:17.03, Z:51.20
[[ 9.53828273e-01 -1.63847678e-01 -2.51725176e-01  1.97007737e+02]
 [ 1.63765583e-01  9.86266595e-01 -2.14251450e-02  1.70342712e+01]
 [ 2.51778593e-01 -2.07880111e-02  9.67561574e-01  5.12024073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.940714057 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:197.07, Y:17.04, Z:51.22
[[ 9.53966344e-01 -1.63040104e-01 -2.51726319e-01  1.97066338e+02]
 [ 1.62934067e-01  9.86404597e-01 -2.14117115e-02  1.70400467e+01]
 [ 2.51794966e-01 -2.05887408e-02  9.67561574e-01  5.12192902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.000714057 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:197.13, Y:17.05, Z:51.24
[[ 9.54329795e-01 -1.60897796e-01 -2.51727118e-01  1.97125631e+02]
 [ 1.60721392e-01  9.86767741e-01 -2.14023080e-02  1.70459190e+01]
 [ 2.51839784e-01 -2.00330727e-02  9.67561574e-01  5.12353225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.060714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:197.18, Y:17.05, Z:51.25
[[ 9.54714126e-01 -1.58598799e-01 -2.51728739e-01  1.97184486e+02]
 [ 1.58349268e-01  9.87151593e-01 -2.13832318e-02  1.70522464e+01]
 [ 2.51885780e-01 -1.94461880e-02  9.67561574e-01  5.12511827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.12071405700001 meters
Centerline goodness : 0.999387 with order 1
Centerline is valid?  [True, True]
Translation: X:197.24, Y:17.06, Z:51.27
[[ 9.55261603e-01 -1.55266596e-01 -2.51729129e-01  1.97242449e+02]
 [ 1.54905088e-01  9.87698014e-01 -2.13786349e-02  1.70588360e+01]
 [ 2.51951749e-01 -1.85719339e-02  9.67561574e-01  5.12662845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.18071405700002 meters
Centerline goodness : 0.999296 with order 1
Centerline is valid?  [True, True]
Translation: X:197.30, Y:17.06, Z:51.28
[[ 9.55542910e-01 -1.53525232e-01 -2.51729519e-01  1.97301928e+02]
 [ 1.53105809e-01  9.87978624e-01 -2.13740393e-02  1.70642494e+01]
 [ 2.51984839e-01 -1.81174401e-02  9.67561574e-01  5.12815895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.24071405700002 meters
Centerline goodness : 0.999247 with order 1
Centerline is valid?  [True, True]
Translation: X:197.36, Y:17.07, Z:51.30
[[ 9.55779325e-01 -1.52044547e-01 -2.51730683e-01  1.97361308e+02]
 [ 1.51578464e-01  9.88214403e-01 -2.13603224e-02  1.70700567e+01]
 [ 2.52011607e-01 -1.77411958e-02  9.67561574e-01  5.12963759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.30071405700002 meters
Centerline goodness : 0.999292 with order 1
Centerline is valid?  [True, True]
Translation: X:197.42, Y:17.08, Z:51.31
[[ 9.56176242e-01 -1.49526785e-01 -2.51731474e-01  1.97420493e+02]
 [ 1.48977723e-01  9.88610021e-01 -2.13510000e-02  1.70774930e+01]
 [ 2.52056804e-01 -1.70870629e-02  9.67561574e-01  5.13116759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.360714057 meters
Centerline goodness : 0.999198 with order 1
Centerline is valid?  [True, True]
Translation: X:197.48, Y:17.09, Z:51.33
[[ 9.56940294e-01 -1.44553695e-01 -2.51733001e-01  1.97476992e+02]
 [ 1.43840741e-01  9.89370883e-01 -2.13329818e-02  1.70857438e+01]
 [ 2.52141063e-01 -1.57950716e-02  9.67561574e-01  5.13278973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.420714057 meters
Centerline goodness : 0.999104 with order 1
Centerline is valid?  [True, True]
Translation: X:197.53, Y:17.10, Z:51.35
[[ 9.58166547e-01 -1.36189496e-01 -2.51732577e-01  1.97533681e+02]
 [ 1.35191983e-01  9.90589631e-01 -2.13379873e-02  1.70950516e+01]
 [ 2.52269690e-01 -1.35868808e-02  9.67561574e-01  5.13470120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.480714057 meters
Centerline goodness : 0.999105 with order 1
Centerline is valid?  [True, True]
Translation: X:197.59, Y:17.10, Z:51.36
[[ 9.59072002e-01 -1.29659280e-01 -2.51732729e-01  1.97591755e+02]
 [ 1.28441395e-01  9.91487557e-01 -2.13361875e-02  1.71026805e+01]
 [ 2.52356303e-01 -1.18699629e-02  9.67561574e-01  5.13636669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.540714057 meters
Centerline goodness : 0.998983 with order 1
Centerline is valid?  [True, True]
Translation: X:197.65, Y:17.11, Z:51.38
[[ 9.60075684e-01 -1.22005320e-01 -2.51732763e-01  1.97650494e+02]
 [ 1.20529021e-01  9.92480498e-01 -2.13357939e-02  1.71103268e+01]
 [ 2.52442938e-01 -9.85712652e-03  9.67561574e-01  5.13787423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.600714057 meters
Centerline goodness : 0.999259 with order 1
Centerline is valid?  [True, True]
Translation: X:197.71, Y:17.12, Z:51.39
[[ 9.60856510e-01 -1.15694365e-01 -2.51733155e-01  1.97710222e+02]
 [ 1.14006388e-01  9.93250988e-01 -2.13311652e-02  1.71171065e+01]
 [ 2.52502100e-01 -8.20299889e-03  9.67561574e-01  5.13940301e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.660714057 meters
Centerline goodness : 0.999191 with order 1
Centerline is valid?  [True, True]
Translation: X:197.77, Y:17.12, Z:51.41
[[ 9.61264295e-01 -1.12253194e-01 -2.51734337e-01  1.97767969e+02]
 [ 1.10452890e-01  9.93652724e-01 -2.13172053e-02  1.71225075e+01]
 [ 2.52529434e-01 -7.31331684e-03  9.67561574e-01  5.14086844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.720714057 meters
Centerline goodness : 0.999561 with order 1
Centerline is valid?  [True, True]
Translation: X:197.83, Y:17.13, Z:51.42
[[ 9.61076135e-01 -1.13853810e-01 -2.51733934e-01  1.97826875e+02]
 [ 1.12106200e-01  9.93467450e-01 -2.13219612e-02  1.71262716e+01]
 [ 2.52517056e-01 -7.72890665e-03  9.67561574e-01  5.14234460e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.780714057 meters
Centerline goodness : 0.999165 with order 1
Centerline is valid?  [True, True]
Translation: X:197.89, Y:17.13, Z:51.44
[[ 9.60728599e-01 -1.16750102e-01 -2.51733934e-01  1.97885370e+02]
 [ 1.15100131e-01  9.93125034e-01 -2.13219612e-02  1.71299864e+01]
 [ 2.52492613e-01 -8.48999097e-03  9.67561574e-01  5.14389479e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.840714057 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:197.94, Y:17.13, Z:51.45
[[ 9.60189294e-01 -1.21105518e-01 -2.51733934e-01  1.97943550e+02]
 [ 1.19602472e-01  9.92592879e-01 -2.13219612e-02  1.71325677e+01]
 [ 2.52451518e-01 -9.63488203e-03  9.67561574e-01  5.14549040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.90071405700002 meters
Centerline goodness : 0.998871 with order 1
Centerline is valid?  [True, True]
Translation: X:198.00, Y:17.13, Z:51.47
[[ 9.59572658e-01 -1.25898138e-01 -2.51733934e-01  1.98001422e+02]
 [ 1.24556900e-01  9.91983343e-01 -2.13219612e-02  1.71348212e+01]
 [ 2.52400265e-01 -1.08952274e-02  9.67561574e-01  5.14702853e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.96071405700002 meters
Centerline goodness : 0.999264 with order 1
Centerline is valid?  [True, True]
Translation: X:198.06, Y:17.14, Z:51.49
[[ 9.59390457e-01 -1.27277785e-01 -2.51734614e-01  1.98060313e+02]
 [ 1.25985255e-01  9.91803122e-01 -2.13139271e-02  1.71371539e+01]
 [ 2.52383966e-01 -1.12664713e-02  9.67561574e-01  5.14853434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.02071405700002 meters
Centerline goodness : 0.999148 with order 1
Centerline is valid?  [True, True]
Translation: X:198.12, Y:17.14, Z:51.50
[[ 9.59824363e-01 -1.23962966e-01 -2.51734731e-01  1.98118859e+02]
 [ 1.22558838e-01  9.92232385e-01 -2.13125562e-02  1.71404152e+01]
 [ 2.52421320e-01 -1.03960054e-02  9.67561574e-01  5.14977356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.080714057 meters
Centerline goodness : 0.999609 with order 1
Centerline is valid?  [True, True]
Translation: X:198.18, Y:17.14, Z:51.51
[[ 9.60187643e-01 -1.21117322e-01 -2.51734552e-01  1.98175503e+02]
 [ 1.19616585e-01  9.92591335e-01 -2.13146658e-02  1.71449906e+01]
 [ 2.52451110e-01 -9.64554866e-03  9.67561574e-01  5.15136834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.140714057 meters
Centerline goodness : 0.999265 with order 1
Centerline is valid?  [True, True]
Translation: X:198.23, Y:17.15, Z:51.53
[[ 9.60419064e-01 -1.19279098e-01 -2.51729456e-01  1.98233543e+02]
 [ 1.17700626e-01  9.92819060e-01 -2.13746818e-02  1.71488064e+01]
 [ 2.52471355e-01 -9.10006263e-03  9.67561576e-01  5.15333683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.200714057 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:198.29, Y:17.15, Z:51.55
[[ 9.59943180e-01 -1.23049465e-01 -2.51729855e-01  1.98291454e+02]
 [ 1.21599459e-01  9.92349180e-01 -2.13699894e-02  1.71528654e+01]
 [ 2.52433481e-01 -1.00962386e-02  9.67561576e-01  5.15472715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.260714057 meters
Centerline goodness : 0.999244 with order 1
Centerline is valid?  [True, True]
Translation: X:198.35, Y:17.16, Z:51.56
[[ 9.59232466e-01 -1.28472393e-01 -2.51729855e-01  1.98350464e+02]
 [ 1.27205545e-01  9.91646143e-01 -2.13699894e-02  1.71563251e+01]
 [ 2.52372393e-01 -1.15226458e-02  9.67561576e-01  5.15614167e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.320714057 meters
Centerline goodness : 0.999109 with order 1
Centerline is valid?  [True, True]
Translation: X:198.41, Y:17.16, Z:51.58
[[ 9.58663965e-01 -1.32647205e-01 -2.51730253e-01  1.98407931e+02]
 [ 1.31522713e-01  9.91082893e-01 -2.13652933e-02  1.71603782e+01]
 [ 2.52319594e-01 -1.26261090e-02  9.67561576e-01  5.15770486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.380714057 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:198.47, Y:17.17, Z:51.59
[[ 9.58272664e-01 -1.35445628e-01 -2.51729982e-01  1.98467054e+02]
 [ 1.34414957e-01  9.90694709e-01 -2.13684857e-02  1.71653670e+01]
 [ 2.52281830e-01 -1.33594389e-02  9.67561576e-01  5.15918912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.440714057 meters
Centerline goodness : 0.999131 with order 1
Centerline is valid?  [True, True]
Translation: X:198.53, Y:17.17, Z:51.61
[[ 9.58231250e-01 -1.35737598e-01 -2.51730362e-01  1.98525082e+02]
 [ 1.34717977e-01  9.90653646e-01 -2.13640118e-02  1.71699943e+01]
 [ 2.52277500e-01 -1.34409414e-02  9.67561576e-01  5.16053158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.500714057 meters
Centerline goodness : 0.999223 with order 1
Centerline is valid?  [True, True]
Translation: X:198.58, Y:17.18, Z:51.62
[[ 9.58277713e-01 -1.35409195e-01 -2.51730362e-01  1.98584862e+02]
 [ 1.34378463e-01  9.90699757e-01 -2.13640118e-02  1.71760621e+01]
 [ 2.52282092e-01 -1.33544826e-02  9.67561576e-01  5.16234427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.560714057 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:198.64, Y:17.18, Z:51.64
[[ 9.58269070e-01 -1.35466649e-01 -2.51732349e-01  1.98644630e+02]
 [ 1.34444002e-01  9.90691370e-01 -2.13405681e-02  1.71830957e+01]
 [ 2.52280001e-01 -1.33938982e-02  9.67561577e-01  5.16402660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.62071405700001 meters
Centerline goodness : 0.999384 with order 1
Centerline is valid?  [True, True]
Translation: X:198.70, Y:17.19, Z:51.66
[[ 9.57831658e-01 -1.38522711e-01 -2.51733936e-01  1.98704323e+02]
 [ 1.37608398e-01  9.90257193e-01 -2.13218384e-02  1.71890590e+01]
 [ 2.52234900e-01 -1.42179719e-02  9.67561577e-01  5.16560992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.68071405700002 meters
Centerline goodness : 0.999107 with order 1
Centerline is valid?  [True, True]
Translation: X:198.76, Y:17.19, Z:51.67
[[ 9.57010556e-01 -1.44083379e-01 -2.51735528e-01  1.98763208e+02]
 [ 1.43362337e-01  9.89440964e-01 -2.13030230e-02  1.71946093e+01]
 [ 2.52146855e-01 -1.57021758e-02  9.67561577e-01  5.16696494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.74071405700002 meters
Centerline goodness : 0.999222 with order 1
Centerline is valid?  [True, True]
Translation: X:198.82, Y:17.20, Z:51.68
[[ 9.56455061e-01 -1.47725785e-01 -2.51735593e-01  1.98821978e+02]
 [ 1.47128415e-01  9.88887983e-01 -2.13022584e-02  1.72013029e+01]
 [ 2.52085196e-01 -1.66628058e-02  9.67561577e-01  5.16822487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.80071405700002 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:198.88, Y:17.21, Z:51.70
[[ 9.56431963e-01 -1.47874578e-01 -2.51735991e-01  1.98881647e+02]
 [ 1.47283488e-01  9.88865000e-01 -2.12975472e-02  1.72065271e+01]
 [ 2.52082277e-01 -1.67069001e-02  9.67561577e-01  5.16996936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.860714057 meters
Centerline goodness : 0.999265 with order 1
Centerline is valid?  [True, True]
Translation: X:198.94, Y:17.21, Z:51.72
[[ 9.56574471e-01 -1.46947192e-01 -2.51737569e-01  1.98939546e+02]
 [ 1.46329545e-01  9.89007014e-01 -2.12788891e-02  1.72132292e+01]
 [ 2.52097094e-01 -1.64818018e-02  9.67561577e-01  5.17150413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.920714057 meters
Centerline goodness : 0.998920 with order 1
Centerline is valid?  [True, True]
Translation: X:199.00, Y:17.22, Z:51.73
[[ 9.57054536e-01 -1.43786692e-01 -2.51737962e-01  1.98998246e+02]
 [ 1.43063140e-01  9.89484889e-01 -2.12742304e-02  1.72183877e+01]
 [ 2.52149861e-01 -1.56538247e-02  9.67561577e-01  5.17279940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.980714057 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:199.06, Y:17.22, Z:51.74
[[ 9.57777047e-01 -1.38891799e-01 -2.51738350e-01  1.99056094e+02]
 [ 1.38003655e-01  9.90203309e-01 -2.12696470e-02  1.72246117e+01]
 [ 2.52226326e-01 -1.43692326e-02  9.67561577e-01  5.17443502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.040714057 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:199.11, Y:17.23, Z:51.76
[[ 9.58512581e-01 -1.33721567e-01 -2.51738305e-01  1.99113987e+02]
 [ 1.32658325e-01  9.90933574e-01 -2.12701730e-02  1.72330250e+01]
 [ 2.52300219e-01 -1.30074534e-02  9.67561577e-01  5.17634701e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.100714057 meters
Centerline goodness : 0.999239 with order 1
Centerline is valid?  [True, True]
Translation: X:199.17, Y:17.24, Z:51.78
[[ 9.58863369e-01 -1.31181072e-01 -2.51739083e-01  1.99173503e+02]
 [ 1.30034331e-01  9.91281516e-01 -2.12609594e-02  1.72376579e+01]
 [ 2.52333336e-01 -1.23483682e-02  9.67561577e-01  5.17794003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.160714057 meters
Centerline goodness : 0.998985 with order 1
Centerline is valid?  [True, True]
Translation: X:199.23, Y:17.24, Z:51.79
[[ 9.58957648e-01 -1.30487815e-01 -2.51740262e-01  1.99234304e+02]
 [ 1.29321296e-01  9.91375089e-01 -2.12469910e-02  1.72405475e+01]
 [ 2.52341498e-01 -1.21804125e-02  9.67561577e-01  5.17938979e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.220714057 meters
Centerline goodness : 0.999517 with order 1
Centerline is valid?  [True, True]
Translation: X:199.29, Y:17.24, Z:51.81
[[ 9.58765809e-01 -1.31886948e-01 -2.51741845e-01  1.99294544e+02]
 [ 1.30772648e-01  9.91185087e-01 -2.12282270e-02  1.72438803e+01]
 [ 2.52322488e-01 -1.25680494e-02  9.67561577e-01  5.18084329e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.280714057 meters
Centerline goodness : 0.999012 with order 1
Centerline is valid?  [True, True]
Translation: X:199.35, Y:17.25, Z:51.82
[[ 9.58529740e-01 -1.33588882e-01 -2.51743417e-01  1.99353833e+02]
 [ 1.32537028e-01  9.90951104e-01 -2.12095636e-02  1.72466019e+01]
 [ 2.52298779e-01 -1.30353267e-02  9.67561578e-01  5.18236941e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.340714057 meters
Centerline goodness : 0.998899 with order 1
Centerline is valid?  [True, True]
Translation: X:199.41, Y:17.25, Z:51.84
[[ 9.58369345e-01 -1.34733997e-01 -2.51743815e-01  1.99412694e+02]
 [ 1.33722115e-01  9.90791982e-01 -2.12048412e-02  1.72494420e+01]
 [ 2.52282766e-01 -1.33416456e-02  9.67561578e-01  5.18398453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.40071405700002 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:199.47, Y:17.25, Z:51.85
[[ 9.58239444e-01 -1.35653320e-01 -2.51744604e-01  1.99471559e+02]
 [ 1.34674998e-01  9.90663110e-01 -2.11954658e-02  1.72513318e+01]
 [ 2.52269328e-01 -1.35933728e-02  9.67561578e-01  5.18545190e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.46071405700002 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:199.53, Y:17.25, Z:51.87
[[ 9.58075495e-01 -1.36806194e-01 -2.51744733e-01  1.99531573e+02]
 [ 1.35867287e-01  9.90500327e-01 -2.11939374e-02  1.72540428e+01]
 [ 2.52252702e-01 -1.38984818e-02  9.67561578e-01  5.18689780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.52071405700002 meters
Centerline goodness : 0.999270 with order 1
Centerline is valid?  [True, True]
Translation: X:199.59, Y:17.26, Z:51.88
[[ 9.57670167e-01 -1.39611359e-01 -2.51746936e-01  1.99590710e+02]
 [ 1.38774275e-01  9.90097787e-01 -2.11677410e-02  1.72556733e+01]
 [ 2.52209341e-01 -1.46642844e-02  9.67561578e-01  5.18827556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.580714057 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:199.65, Y:17.26, Z:51.90
[[ 9.57151027e-01 -1.43126520e-01 -2.51747316e-01  1.99648071e+02]
 [ 1.42409686e-01  9.89581528e-01 -2.11632173e-02  1.72574334e+01]
 [ 2.52153511e-01 -1.55948610e-02  9.67561578e-01  5.18979642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.640714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:199.71, Y:17.26, Z:51.91
[[ 9.57012183e-01 -1.44052522e-01 -2.51746999e-01  1.99705831e+02]
 [ 1.43366080e-01  9.89443342e-01 -2.11669815e-02  1.72601380e+01]
 [ 2.52138549e-01 -1.58349212e-02  9.67561578e-01  5.19130174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.700714057 meters
Centerline goodness : 0.999159 with order 1
Centerline is valid?  [True, True]
Translation: X:199.76, Y:17.26, Z:51.93
[[ 9.56822400e-01 -1.45308386e-01 -2.51746632e-01  1.99762931e+02]
 [ 1.44663364e-01  9.89254409e-01 -2.11713454e-02  1.72641883e+01]
 [ 2.52117840e-01 -1.61612971e-02  9.67561578e-01  5.19277724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.760714057 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:199.82, Y:17.27, Z:51.94
[[ 9.56516685e-01 -1.47310097e-01 -2.51745045e-01  1.99818671e+02]
 [ 1.46727993e-01  9.88949883e-01 -2.11902085e-02  1.72675688e+01]
 [ 2.52084764e-01 -1.66692571e-02  9.67561578e-01  5.19417910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.820714057 meters
Centerline goodness : 0.999389 with order 1
Centerline is valid?  [True, True]
Translation: X:199.88, Y:17.27, Z:51.96
[[ 9.56169644e-01 -1.49550679e-01 -2.51742342e-01  1.99876145e+02]
 [ 1.49036163e-01  9.88603984e-01 -2.12222662e-02  1.72713031e+01]
 [ 2.52047287e-01 -1.72266259e-02  9.67561579e-01  5.19560555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.880714057 meters
Centerline goodness : 0.999346 with order 1
Centerline is valid?  [True, True]
Translation: X:199.93, Y:17.28, Z:51.97
[[ 9.55478933e-01 -1.53903669e-01 -2.51741275e-01  1.99934959e+02]
 [ 1.53533551e-01  9.87915243e-01 -2.12349258e-02  1.72751147e+01]
 [ 2.51967175e-01 -1.83612076e-02  9.67561579e-01  5.19718298e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.940714057 meters
Centerline goodness : 0.999388 with order 1
Centerline is valid?  [True, True]
Translation: X:199.99, Y:17.28, Z:51.99
[[ 9.55069742e-01 -1.56422243e-01 -2.51741671e-01  1.99993716e+02]
 [ 1.56138876e-01  9.87506926e-01 -2.12302257e-02  1.72801689e+01]
 [ 2.51917523e-01 -1.90303153e-02  9.67561579e-01  5.19873756e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.000714057 meters
Centerline goodness : 0.999323 with order 1
Centerline is valid?  [True, True]
Translation: X:200.05, Y:17.28, Z:52.00
[[ 9.54558309e-01 -1.59512915e-01 -2.51742061e-01  2.00051929e+02]
 [ 1.59335758e-01  9.86996246e-01 -2.12256000e-02  1.72848412e+01]
 [ 2.51854226e-01 -1.98504392e-02  9.67561579e-01  5.20012742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.060714057 meters
Centerline goodness : 0.999504 with order 1
Centerline is valid?  [True, True]
Translation: X:200.11, Y:17.29, Z:52.02
[[ 9.54314310e-01 -1.60966675e-01 -2.51741789e-01  2.00111377e+02]
 [ 1.60838081e-01  9.86752476e-01 -2.12288292e-02  1.72891426e+01]
 [ 2.51823967e-01 -2.02306906e-02  9.67561579e-01  5.20154469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.12071405700001 meters
Centerline goodness : 0.999435 with order 1
Centerline is valid?  [True, True]
Translation: X:200.17, Y:17.29, Z:52.03
[[ 9.54164867e-01 -1.61848989e-01 -2.51742549e-01  2.00170969e+02]
 [ 1.61752751e-01  9.86603146e-01 -2.12198120e-02  1.72948625e+01]
 [ 2.51804396e-01 -2.04728507e-02  9.67561579e-01  5.20290909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.18071405700002 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:200.23, Y:17.30, Z:52.04
[[ 9.54410218e-01 -1.60394645e-01 -2.51743308e-01  2.00229776e+02]
 [ 1.60251334e-01  9.86848323e-01 -2.12107957e-02  1.73007462e+01]
 [ 2.51834560e-01 -2.00984009e-02  9.67561579e-01  5.20438868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.24071405700002 meters
Centerline goodness : 0.999435 with order 1
Centerline is valid?  [True, True]
Translation: X:200.29, Y:17.31, Z:52.06
[[ 9.55045097e-01 -1.56569417e-01 -2.51743680e-01  2.00287448e+02]
 [ 1.56297297e-01  9.87482377e-01 -2.12063850e-02  1.73075334e+01]
 [ 2.51912719e-01 -1.90938026e-02  9.67561579e-01  5.20604762e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.30071405700002 meters
Centerline goodness : 0.999363 with order 1
Centerline is valid?  [True, True]
Translation: X:200.35, Y:17.31, Z:52.08
[[ 9.55718199e-01 -1.52406896e-01 -2.51743643e-01  2.00345188e+02]
 [ 1.51993336e-01  9.88153984e-01 -2.12068279e-02  1.73145370e+01]
 [ 2.51993550e-01 -1.79956046e-02  9.67561579e-01  5.20778088e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.360714057 meters
Centerline goodness : 0.999273 with order 1
Centerline is valid?  [True, True]
Translation: X:200.40, Y:17.32, Z:52.09
[[ 9.56130618e-01 -1.49797799e-01 -2.51743643e-01  2.00403688e+02]
 [ 1.49295711e-01  9.88565153e-01 -2.12068279e-02  1.73195796e+01]
 [ 2.52041729e-01 -1.73077486e-02  9.67561579e-01  5.20937601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.420714057 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:200.46, Y:17.32, Z:52.11
[[ 9.56402169e-01 -1.48053462e-01 -2.51744045e-01  2.00461005e+02]
 [ 1.47493462e-01  9.88835756e-01 -2.12020543e-02  1.73217633e+01]
 [ 2.52072550e-01 -1.68529099e-02  9.67561579e-01  5.21098855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.480714057 meters
Centerline goodness : 0.999276 with order 1
Centerline is valid?  [True, True]
Translation: X:200.52, Y:17.32, Z:52.13
[[ 9.56400375e-01 -1.48065722e-01 -2.51743650e-01  2.00520814e+02]
 [ 1.47504909e-01  9.88833948e-01 -2.12067425e-02  1.73232827e+01]
 [ 2.52072659e-01 -1.68512875e-02  9.67561579e-01  5.21255750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.540714057 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:200.58, Y:17.32, Z:52.14
[[ 9.56542847e-01 -1.47140446e-01 -2.51744855e-01  2.00579581e+02]
 [ 1.46552007e-01  9.88975930e-01 -2.11924307e-02  1.73231245e+01]
 [ 2.52087865e-01 -1.66222457e-02  9.67561579e-01  5.21376655e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.600714057 meters
Centerline goodness : 0.999257 with order 1
Centerline is valid?  [True, True]
Translation: X:200.64, Y:17.32, Z:52.15
[[ 9.57031478e-01 -1.43928029e-01 -2.51744855e-01  2.00638689e+02]
 [ 1.43230700e-01  9.89462403e-01 -2.11924307e-02  1.73239655e+01]
 [ 2.52142254e-01 -1.57757684e-02  9.67561579e-01  5.21534970e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.660714057 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:200.70, Y:17.33, Z:52.17
[[ 9.57567627e-01 -1.40315238e-01 -2.51745652e-01  2.00695871e+02]
 [ 1.39498006e-01  9.89995752e-01 -2.11829480e-02  1.73267331e+01]
 [ 2.52199417e-01 -1.48339114e-02  9.67561579e-01  5.21691052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.720714057 meters
Centerline goodness : 0.998871 with order 1
Centerline is valid?  [True, True]
Translation: X:200.76, Y:17.33, Z:52.18
[[ 9.58115507e-01 -1.36524748e-01 -2.51745243e-01  2.00755488e+02]
 [ 1.35577921e-01  9.90540107e-01 -2.11878086e-02  1.73298407e+01]
 [ 2.52256421e-01 -1.38307288e-02  9.67561579e-01  5.21844872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.780714057 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:200.81, Y:17.33, Z:52.20
[[ 9.59051392e-01 -1.29785817e-01 -2.51746042e-01  2.00814597e+02]
 [ 1.28613554e-01  9.91468624e-01 -2.11783177e-02  1.73309167e+01]
 [ 2.52346947e-01 -1.20668581e-02  9.67561579e-01  5.21990803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.840714057 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:200.87, Y:17.33, Z:52.21
[[ 9.59706118e-01 -1.24852202e-01 -2.51746090e-01  2.00873460e+02]
 [ 1.23513400e-01  9.92116900e-01 -2.11777433e-02  1.73310142e+01]
 [ 2.52405638e-01 -1.07696057e-02  9.67561579e-01  5.22137933e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.90071405700002 meters
Centerline goodness : 0.998788 with order 1
Centerline is valid?  [True, True]
Translation: X:200.93, Y:17.33, Z:52.23
[[ 9.59815785e-01 -1.24006713e-01 -2.51745892e-01  2.00930944e+02]
 [ 1.22638743e-01  9.92225349e-01 -2.11800969e-02  1.73318974e+01]
 [ 2.52415130e-01 -1.05448085e-02  9.67561579e-01  5.22285647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.96071405700002 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:200.99, Y:17.33, Z:52.24
[[ 9.59362012e-01 -1.27471312e-01 -2.51745097e-01  2.00990674e+02]
 [ 1.26217892e-01  9.91776208e-01 -2.11895416e-02  1.73268042e+01]
 [ 2.52375857e-01 -1.14462943e-02  9.67561579e-01  5.22426348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.02071405700002 meters
Centerline goodness : 0.999129 with order 1
Centerline is valid?  [True, True]
Translation: X:201.05, Y:17.33, Z:52.26
[[ 9.59012524e-01 -1.30074870e-01 -2.51744926e-01  2.01048150e+02]
 [ 1.28908905e-01  9.91429983e-01 -2.11915739e-02  1.73266076e+01]
 [ 2.52343959e-01 -1.21291781e-02  9.67561579e-01  5.22557697e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.080714057 meters
Centerline goodness : 0.999154 with order 1
Centerline is valid?  [True, True]
Translation: X:201.11, Y:17.32, Z:52.27
[[ 9.58513858e-01 -1.33701400e-01 -2.51744155e-01  2.01106217e+02]
 [ 1.32655663e-01  9.90935419e-01 -2.12007359e-02  1.73240566e+01]
 [ 2.52296767e-01 -1.30740886e-02  9.67561579e-01  5.22706216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.140714057 meters
Centerline goodness : 0.999022 with order 1
Centerline is valid?  [True, True]
Translation: X:201.16, Y:17.32, Z:52.29
[[ 9.58196569e-01 -1.35958122e-01 -2.51743371e-01  2.01162951e+02]
 [ 1.34986297e-01  9.90620429e-01 -2.12100348e-02  1.73232976e+01]
 [ 2.52265803e-01 -1.36585230e-02  9.67561579e-01  5.22858239e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.200714057 meters
Centerline goodness : 0.999467 with order 1
Centerline is valid?  [True, True]
Translation: X:201.22, Y:17.32, Z:52.30
[[ 9.58085083e-01 -1.36752019e-01 -2.51737679e-01  2.01220346e+02]
 [ 1.35789417e-01  9.90509216e-01 -2.12773870e-02  1.73230957e+01]
 [ 2.52258217e-01 -1.37977656e-02  9.67561581e-01  5.22993669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.260714057 meters
Centerline goodness : 0.999269 with order 1
Centerline is valid?  [True, True]
Translation: X:201.28, Y:17.32, Z:52.31
[[ 9.57991281e-01 -1.37417913e-01 -2.51732047e-01  2.01276284e+02]
 [ 1.36460446e-01  9.90415563e-01 -2.13438149e-02  1.73237930e+01]
 [ 2.52252360e-01 -1.39042789e-02  9.67561584e-01  5.23134969e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.320714057 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:201.33, Y:17.33, Z:52.33
[[ 9.57844465e-01 -1.38441153e-01 -2.51730070e-01  2.01334850e+02]
 [ 1.37512220e-01  9.90269577e-01 -2.13671075e-02  1.73275371e+01]
 [ 2.52238717e-01 -1.41495952e-02  9.67561584e-01  5.23296339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.380714057 meters
Centerline goodness : 0.999206 with order 1
Centerline is valid?  [True, True]
Translation: X:201.39, Y:17.33, Z:52.34
[[ 9.57802702e-01 -1.38729846e-01 -2.51730042e-01  2.01391775e+02]
 [ 1.37810600e-01  9.90228091e-01 -2.13674371e-02  1.73296708e+01]
 [ 2.52234460e-01 -1.42252791e-02  9.67561584e-01  5.23437435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.440714057 meters
Centerline goodness : 0.999228 with order 1
Centerline is valid?  [True, True]
Translation: X:201.45, Y:17.33, Z:52.36
[[ 9.58231151e-01 -1.35749349e-01 -2.51724404e-01  2.01450164e+02]
 [ 1.34711880e-01  9.90652970e-01 -2.14336631e-02  1.73336324e+01]
 [ 2.52281134e-01 -1.33718640e-02  9.67561586e-01  5.23586000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.500714057 meters
Centerline goodness : 0.999363 with order 1
Centerline is valid?  [True, True]
Translation: X:201.51, Y:17.34, Z:52.37
[[ 9.59234414e-01 -1.28468528e-01 -2.51724407e-01  2.01506476e+02]
 [ 1.27184883e-01  9.91647420e-01 -2.14336308e-02  1.73391971e+01]
 [ 2.52375405e-01 -1.14556629e-02  9.67561586e-01  5.23740998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.560714057 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:201.56, Y:17.34, Z:52.39
[[ 9.60271921e-01 -1.20470984e-01 -2.51723222e-01  2.01563684e+02]
 [ 1.18913655e-01  9.92672930e-01 -2.14475281e-02  1.73444830e+01]
 [ 2.52462634e-01 -9.33786939e-03  9.67561586e-01  5.23922660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.62071405700001 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:201.62, Y:17.35, Z:52.41
[[ 9.60682449e-01 -1.17152321e-01 -2.51723192e-01  2.01619729e+02]
 [ 1.15482954e-01  9.93077880e-01 -2.14478905e-02  1.73490395e+01]
 [ 2.52493404e-01 -8.46512576e-03  9.67561586e-01  5.24117237e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.68071405700002 meters
Centerline goodness : 0.998743 with order 1
Centerline is valid?  [True, True]
Translation: X:201.68, Y:17.35, Z:52.43
[[ 9.60205954e-01 -1.21001466e-01 -2.51720422e-01  2.01676487e+02]
 [ 1.19453444e-01  9.92607409e-01 -2.14803537e-02  1.73514813e+01]
 [ 2.52458710e-01 -9.44330776e-03  9.67561587e-01  5.24279682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.74071405700002 meters
Centerline goodness : 0.999208 with order 1
Centerline is valid?  [True, True]
Translation: X:201.74, Y:17.35, Z:52.44
[[ 9.59632091e-01 -1.25482823e-01 -2.51714742e-01  2.01735158e+02]
 [ 1.24068706e-01  9.92039664e-01 -2.15467152e-02  1.73532353e+01]
 [ 2.52414750e-01 -1.05530028e-02  9.67561589e-01  5.24429348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.80071405700002 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:201.79, Y:17.35, Z:52.45
[[ 9.58764186e-01 -1.31950544e-01 -2.51714697e-01  2.01792799e+02]
 [ 1.30754840e-01  9.91180553e-01 -2.15472355e-02  1.73543013e+01]
 [ 2.52337882e-01 -1.22541972e-02  9.67561589e-01  5.24549536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.860714057 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:201.85, Y:17.36, Z:52.47
[[ 9.58195998e-01 -1.36016702e-01 -2.51713896e-01  2.01850781e+02]
 [ 1.34956078e-01  9.90617066e-01 -2.15565850e-02  1.73568897e+01]
 [ 2.52284137e-01 -1.33148868e-02  9.67561589e-01  5.24697312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.920714057 meters
Centerline goodness : 0.999452 with order 1
Centerline is valid?  [True, True]
Translation: X:201.91, Y:17.36, Z:52.48
[[ 9.57837295e-01 -1.38521573e-01 -2.51713109e-01  2.01908606e+02]
 [ 1.37543315e-01  9.90260952e-01 -2.15657746e-02  1.73604519e+01]
 [ 2.52248988e-01 -1.39649522e-02  9.67561589e-01  5.24843055e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.980714057 meters
Centerline goodness : 0.999585 with order 1
Centerline is valid?  [True, True]
Translation: X:201.97, Y:17.37, Z:52.50
[[ 9.57889028e-01 -1.38164301e-01 -2.51712605e-01  2.01965386e+02]
 [ 1.37172409e-01  9.90312271e-01 -2.15716537e-02  1.73653927e+01]
 [ 2.52254514e-01 -1.38647739e-02  9.67561589e-01  5.25000222e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.040714057 meters
Centerline goodness : 0.999342 with order 1
Centerline is valid?  [True, True]
Translation: X:202.02, Y:17.37, Z:52.52
[[ 9.58120241e-01 -1.36553820e-01 -2.51711457e-01  2.02022522e+02]
 [ 1.35503917e-01  9.90541657e-01 -2.15850404e-02  1.73705410e+01]
 [ 2.52278204e-01 -1.34268243e-02  9.67561589e-01  5.25184114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.100714057 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:202.08, Y:17.38, Z:52.53
[[ 9.58014831e-01 -1.37291539e-01 -2.51711376e-01  2.02078309e+02]
 [ 1.36266354e-01  9.90437038e-01 -2.15859839e-02  1.73759878e+01]
 [ 2.52267843e-01 -1.36200987e-02  9.67561589e-01  5.25338896e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.160714057 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:202.14, Y:17.38, Z:52.55
[[ 9.57886747e-01 -1.38193295e-01 -2.51705370e-01  2.02135366e+02]
 [ 1.37180338e-01  9.90309336e-01 -2.16558035e-02  1.73812140e+01]
 [ 2.52258865e-01 -1.37852206e-02  9.67561591e-01  5.25481583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.220714057 meters
Centerline goodness : 0.999627 with order 1
Centerline is valid?  [True, True]
Translation: X:202.19, Y:17.39, Z:52.56
[[ 9.57804459e-01 -1.38771893e-01 -2.51700181e-01  2.02192233e+02]
 [ 1.37762763e-01  9.90227165e-01 -2.17159514e-02  1.73881810e+01]
 [ 2.52253920e-01 -1.38752774e-02  9.67561593e-01  5.25613250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.280714057 meters
Centerline goodness : 0.999407 with order 1
Centerline is valid?  [True, True]
Translation: X:202.25, Y:17.39, Z:52.58
[[ 9.57509262e-01 -1.40803465e-01 -2.51695048e-01  2.02249661e+02]
 [ 1.39847573e-01  9.89933580e-01 -2.17752869e-02  1.73943093e+01]
 [ 2.52227416e-01 -1.43489026e-02  9.67561595e-01  5.25781665e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.340714057 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:202.31, Y:17.40, Z:52.59
[[ 9.56797426e-01 -1.45562174e-01 -2.51694932e-01  2.02306614e+02]
 [ 1.44767148e-01  9.89226087e-01 -2.17766243e-02  1.74003395e+01]
 [ 2.52153046e-01 -1.56013393e-02  9.67561595e-01  5.25931424e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.40071405700002 meters
Centerline goodness : 0.999101 with order 1
Centerline is valid?  [True, True]
Translation: X:202.37, Y:17.41, Z:52.61
[[ 9.55831186e-01 -1.51779487e-01 -2.51693726e-01  2.02365032e+02]
 [ 1.51191652e-01  9.88264264e-01 -2.17905592e-02  1.74071784e+01]
 [ 2.52047275e-01 -1.72258941e-02  9.67561595e-01  5.26070500e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.46071405700002 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:202.42, Y:17.41, Z:52.62
[[ 9.54805243e-01 -1.58105483e-01 -2.51693473e-01  2.02422809e+02]
 [ 1.57731660e-01  9.87241494e-01 -2.17934832e-02  1.74128712e+01]
 [ 2.51927909e-01 -1.88914971e-02  9.67561595e-01  5.26198380e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.52071405700002 meters
Centerline goodness : 0.999428 with order 1
Centerline is valid?  [True, True]
Translation: X:202.48, Y:17.42, Z:52.64
[[ 9.54393129e-01 -1.60574394e-01 -2.51693503e-01  2.02479835e+02]
 [ 1.60284556e-01  9.86830239e-01 -2.17931297e-02  1.74188093e+01]
 [ 2.51878179e-01 -1.95433681e-02  9.67561595e-01  5.26356006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.580714057 meters
Centerline goodness : 0.999273 with order 1
Centerline is valid?  [True, True]
Translation: X:202.54, Y:17.43, Z:52.65
[[ 9.54127280e-01 -1.62147802e-01 -2.51692717e-01  2.02535657e+02]
 [ 1.61909067e-01  9.86564807e-01 -2.18022074e-02  1.74253837e+01]
 [ 2.51846357e-01 -1.99492522e-02  9.67561595e-01  5.26501557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.640714057 meters
Centerline goodness : 0.999448 with order 1
Centerline is valid?  [True, True]
Translation: X:202.59, Y:17.43, Z:52.67
[[ 9.54232389e-01 -1.61537844e-01 -2.51686458e-01  2.02592433e+02]
 [ 1.61259492e-01  9.86669597e-01 -2.18742371e-02  1.74328520e+01]
 [ 2.51864893e-01 -1.97137248e-02  9.67561597e-01  5.26653617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.700714057 meters
Centerline goodness : 0.999538 with order 1
Centerline is valid?  [True, True]
Translation: X:202.65, Y:17.44, Z:52.68
[[ 9.54934035e-01 -1.57339763e-01 -2.51684700e-01  2.02649891e+02]
 [ 1.56913466e-01  9.87369636e-01 -2.18944372e-02  1.74420340e+01]
 [ 2.51950697e-01 -1.85849754e-02  9.67561598e-01  5.26822753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.760714057 meters
Centerline goodness : 0.999558 with order 1
Centerline is valid?  [True, True]
Translation: X:202.71, Y:17.45, Z:52.70
[[ 9.55721544e-01 -1.52483359e-01 -2.51684635e-01  2.02705906e+02]
 [ 1.51891985e-01  9.88154555e-01 -2.18951924e-02  1.74516497e+01]
 [ 2.52041971e-01 -1.73031716e-02  9.67561598e-01  5.26971587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.820714057 meters
Centerline goodness : 0.999601 with order 1
Centerline is valid?  [True, True]
Translation: X:202.76, Y:17.46, Z:52.71
[[ 9.56392531e-01 -1.48218362e-01 -2.51683618e-01  2.02762496e+02]
 [ 1.47479248e-01  9.88822512e-01 -2.19068727e-02  1.74615623e+01]
 [ 2.52117428e-01 -1.61665414e-02  9.67561598e-01  5.27127448e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.880714057 meters
Centerline goodness : 0.999867 with order 1
Centerline is valid?  [True, True]
Translation: X:202.82, Y:17.47, Z:52.73
[[ 9.56634872e-01 -1.46646861e-01 -2.51683173e-01  2.02818514e+02]
 [ 1.45853128e-01  9.89063562e-01 -2.19119871e-02  1.74694806e+01]
 [ 2.52143980e-01 -1.57470070e-02  9.67561598e-01  5.27299415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.940714057 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:202.88, Y:17.48, Z:52.74
[[ 9.56482625e-01 -1.47645415e-01 -2.51678007e-01  2.02875410e+02]
 [ 1.46870026e-01  9.88911757e-01 -2.19711630e-02  1.74790704e+01]
 [ 2.52131282e-01 -1.59489197e-02  9.67561599e-01  5.27440388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.000714057 meters
Centerline goodness : 0.999689 with order 1
Centerline is valid?  [True, True]
Translation: X:202.93, Y:17.49, Z:52.76
[[ 9.55922414e-01 -1.51231977e-01 -2.51676832e-01  2.02933245e+02]
 [ 1.50574705e-01  9.88354155e-01 -2.19846130e-02  1.74876105e+01]
 [ 2.52070619e-01 -1.68805804e-02  9.67561600e-01  5.27573736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.060714057 meters
Centerline goodness : 0.999509 with order 1
Centerline is valid?  [True, True]
Translation: X:202.99, Y:17.50, Z:52.77
[[ 9.55038895e-01 -1.56715396e-01 -2.51676366e-01  2.02991542e+02]
 [ 1.56242856e-01  9.87473854e-01 -2.19899542e-02  1.74954846e+01]
 [ 2.51969995e-01 -1.83213726e-02  9.67561600e-01  5.27732605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.12071405700001 meters
Centerline goodness : 0.999465 with order 1
Centerline is valid?  [True, True]
Translation: X:203.05, Y:17.50, Z:52.79
[[ 9.54232085e-01 -1.61555291e-01 -2.51676413e-01  2.03049102e+02]
 [ 1.61247338e-01  9.86669023e-01 -2.19894175e-02  1.75037101e+01]
 [ 2.51873827e-01 -1.95991438e-02  9.67561600e-01  5.27899431e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.18071405700002 meters
Centerline goodness : 0.999799 with order 1
Centerline is valid?  [True, True]
Translation: X:203.11, Y:17.51, Z:52.81
[[ 9.53599106e-01 -1.65250565e-01 -2.51676373e-01  2.03107967e+02]
 [ 1.65068148e-01  9.86036993e-01 -2.19898736e-02  1.75101693e+01]
 [ 2.51796053e-01 -2.05742290e-02  9.67561600e-01  5.28067430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.24071405700002 meters
Centerline goodness : 0.999709 with order 1
Centerline is valid?  [True, True]
Translation: X:203.17, Y:17.52, Z:52.82
[[ 9.53371508e-01 -1.66557412e-01 -2.51677166e-01  2.03166763e+02]
 [ 1.66421835e-01  9.85809625e-01 -2.19807912e-02  1.75157799e+01]
 [ 2.51766836e-01 -2.09287158e-02  9.67561600e-01  5.28217729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.30071405700002 meters
Centerline goodness : 0.999866 with order 1
Centerline is valid?  [True, True]
Translation: X:203.22, Y:17.52, Z:52.84
[[ 9.53641951e-01 -1.65001919e-01 -2.51677165e-01  2.03224985e+02]
 [ 1.64813422e-01  9.86079804e-01 -2.19808048e-02  1.75230384e+01]
 [ 2.51800644e-01 -2.05179572e-02  9.67561600e-01  5.28353716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.360714057 meters
Centerline goodness : 0.999731 with order 1
Centerline is valid?  [True, True]
Translation: X:203.28, Y:17.53, Z:52.85
[[ 9.54164483e-01 -1.61952907e-01 -2.51677165e-01  2.03283242e+02]
 [ 1.61660728e-01  9.86601568e-01 -2.19808048e-02  1.75302346e+01]
 [ 2.51864941e-01 -1.97130105e-02  9.67561600e-01  5.28519257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.420714057 meters
Centerline goodness : 0.999594 with order 1
Centerline is valid?  [True, True]
Translation: X:203.34, Y:17.54, Z:52.87
[[ 9.55396936e-01 -1.54515734e-01 -2.51677536e-01  2.03340774e+02]
 [ 1.53972018e-01  9.87830780e-01 -2.19765510e-02  1.75393025e+01]
 [ 2.52010540e-01 -1.77549686e-02  9.67561600e-01  5.28677542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.480714057 meters
Centerline goodness : 0.999413 with order 1
Centerline is valid?  [True, True]
Translation: X:203.40, Y:17.55, Z:52.88
[[ 9.56442166e-01 -1.47907756e-01 -2.51677727e-01  2.03398141e+02]
 [ 1.47140422e-01  9.88871490e-01 -2.19743696e-02  1.75484958e+01]
 [ 2.52127108e-01 -1.60147531e-02  9.67561600e-01  5.28832538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.540714057 meters
Centerline goodness : 0.999526 with order 1
Centerline is valid?  [True, True]
Translation: X:203.46, Y:17.55, Z:52.90
[[ 9.57045551e-01 -1.43951908e-01 -2.51677694e-01  2.03457242e+02]
 [ 1.43050396e-01  9.89471422e-01 -2.19747495e-02  1.75548259e+01]
 [ 2.52191192e-01 -1.49717575e-02  9.67561600e-01  5.28993159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.600714057 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:203.52, Y:17.56, Z:52.92
[[ 9.57499617e-01 -1.40898610e-01 -2.51678495e-01  2.03515543e+02]
 [ 1.39896084e-01  9.89922522e-01 -2.19655662e-02  1.75609681e+01]
 [ 2.52237128e-01 -1.41768146e-02  9.67561600e-01  5.29162014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.660714057 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:203.57, Y:17.57, Z:52.93
[[ 9.57569732e-01 -1.40421001e-01 -2.51678665e-01  2.03573818e+02]
 [ 1.39402813e-01  9.89992149e-01 -2.19636175e-02  1.75666797e+01]
 [ 2.52244056e-01 -1.40530186e-02  9.67561600e-01  5.29329958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.720714057 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:203.63, Y:17.57, Z:52.95
[[ 9.57286376e-01 -1.42339191e-01 -2.51679060e-01  2.03633911e+02]
 [ 1.41387149e-01  9.89710802e-01 -2.19590910e-02  1.75700797e+01]
 [ 2.52215124e-01 -1.45630461e-02  9.67561600e-01  5.29477079e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.780714057 meters
Centerline goodness : 0.999618 with order 1
Centerline is valid?  [True, True]
Translation: X:203.69, Y:17.57, Z:52.96
[[ 9.56767545e-01 -1.45783723e-01 -2.51680296e-01  2.03691303e+02]
 [ 1.44952104e-01  9.89195283e-01 -2.19449142e-02  1.75745500e+01]
 [ 2.52160173e-01 -1.54854068e-02  9.67561600e-01  5.29616321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.840714057 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:203.75, Y:17.58, Z:52.98
[[ 9.56158350e-01 -1.49727782e-01 -2.51679959e-01  2.03749696e+02]
 [ 1.49028876e-01  9.88589220e-01 -2.19487754e-02  1.75805657e+01]
 [ 2.52094436e-01 -1.65210766e-02  9.67561600e-01  5.29769822e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.90071405700002 meters
Centerline goodness : 0.999616 with order 1
Centerline is valid?  [True, True]
Translation: X:203.81, Y:17.59, Z:52.99
[[ 9.56096996e-01 -1.50118387e-01 -2.51680361e-01  2.03808998e+02]
 [ 1.49433936e-01  9.88528175e-01 -2.19441735e-02  1.75856632e+01]
 [ 2.52087352e-01 -1.66288285e-02  9.67561600e-01  5.29929417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.96071405700002 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:203.87, Y:17.60, Z:53.01
[[ 9.55633270e-01 -1.53041334e-01 -2.51681154e-01  2.03867059e+02]
 [ 1.52458442e-01  9.88066433e-01 -2.19350742e-02  1.75954382e+01]
 [ 2.52034673e-01 -1.74090300e-02  9.67561600e-01  5.30092981e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.02071405700002 meters
Centerline goodness : 0.999067 with order 1
Centerline is valid?  [True, True]
Translation: X:203.92, Y:17.60, Z:53.03
[[ 9.55913652e-01 -1.51279998e-01 -2.51681252e-01  2.03924661e+02]
 [ 1.50637633e-01  9.88345691e-01 -2.19339528e-02  1.76019437e+01]
 [ 2.52066249e-01 -1.69457030e-02  9.67561600e-01  5.30257944e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.08071405700002 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:203.98, Y:17.61, Z:53.04
[[ 9.56194801e-01 -1.49491975e-01 -2.51681648e-01  2.03983407e+02]
 [ 1.48790148e-01  9.88625608e-01 -2.19294066e-02  1.76072135e+01]
 [ 2.52097192e-01 -1.64789649e-02  9.67561600e-01  5.30431680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.140714057 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:204.04, Y:17.61, Z:53.06
[[ 9.56225512e-01 -1.49294046e-01 -2.51682456e-01  2.04043365e+02]
 [ 1.48587939e-01  9.88656226e-01 -2.19201230e-02  1.76115548e+01]
 [ 2.52099971e-01 -1.64363966e-02  9.67561600e-01  5.30577641e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.200714057 meters
Centerline goodness : 0.998975 with order 1
Centerline is valid?  [True, True]
Translation: X:204.10, Y:17.62, Z:53.07
[[ 9.56158660e-01 -1.49718917e-01 -2.51684055e-01  2.04101700e+02]
 [ 1.49032035e-01  9.88589786e-01 -2.19017486e-02  1.76156364e+01]
 [ 2.52091392e-01 -1.65674404e-02  9.67561600e-01  5.30706043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.260714057 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:204.16, Y:17.62, Z:53.09
[[ 9.56452978e-01 -1.47827051e-01 -2.51684055e-01  2.04160733e+02]
 [ 1.47076013e-01  9.88882683e-01 -2.19017486e-02  1.76208249e+01]
 [ 2.52123675e-01 -1.60686945e-02  9.67561600e-01  5.30861240e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.320714057 meters
Centerline goodness : 0.998586 with order 1
Centerline is valid?  [True, True]
Translation: X:204.22, Y:17.63, Z:53.10
[[ 9.57061410e-01 -1.43833932e-01 -2.51684839e-01  2.04218393e+02]
 [ 1.42949914e-01  9.89487762e-01 -2.18927353e-02  1.76264523e+01]
 [ 2.52187986e-01 -1.50256340e-02  9.67561600e-01  5.31020410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.380714057 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:204.27, Y:17.63, Z:53.12
[[ 9.57668015e-01 -1.39738184e-01 -2.51684747e-01  2.04274542e+02]
 [ 1.38715174e-01  9.90090280e-01 -2.18937901e-02  1.76310673e+01]
 [ 2.52250021e-01 -1.39455109e-02  9.67561600e-01  5.31186249e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.440714057 meters
Centerline goodness : 0.998478 with order 1
Centerline is valid?  [True, True]
Translation: X:204.33, Y:17.64, Z:53.13
[[ 9.57861008e-01 -1.38411135e-01 -2.51683625e-01  2.04330673e+02]
 [ 1.37339824e-01  9.90281712e-01 -2.19066865e-02  1.76362116e+01]
 [ 2.52269820e-01 -1.35826239e-02  9.67561600e-01  5.31348799e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.500714057 meters
Centerline goodness : 0.998362 with order 1
Centerline is valid?  [True, True]
Translation: X:204.39, Y:17.64, Z:53.15
[[ 9.57917318e-01 -1.38023579e-01 -2.51682147e-01  2.04388351e+02]
 [ 1.36934706e-01  9.90337437e-01 -2.19236496e-02  1.76404305e+01]
 [ 2.52276233e-01 -1.34629771e-02  9.67561600e-01  5.31510035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.560714057 meters
Centerline goodness : 0.998798 with order 1
Centerline is valid?  [True, True]
Translation: X:204.45, Y:17.64, Z:53.17
[[ 9.57747954e-01 -1.39195931e-01 -2.51681045e-01  2.04448166e+02]
 [ 1.38143427e-01  9.90169275e-01 -2.19362947e-02  1.76433472e+01]
 [ 2.52260281e-01 -1.37586407e-02  9.67561600e-01  5.31686189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.62071405700001 meters
Centerline goodness : 0.998978 with order 1
Centerline is valid?  [True, True]
Translation: X:204.51, Y:17.65, Z:53.18
[[ 9.57214906e-01 -1.42812700e-01 -2.51682652e-01  2.04506329e+02]
 [ 1.41887504e-01  9.89640108e-01 -2.19178478e-02  1.76460583e+01]
 [ 2.52205394e-01 -1.47305327e-02  9.67561601e-01  5.31826533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.68071405700002 meters
Centerline goodness : 0.998641 with order 1
Centerline is valid?  [True, True]
Translation: X:204.56, Y:17.65, Z:53.20
[[ 9.56594081e-01 -1.46913603e-01 -2.51682652e-01  2.04564194e+02]
 [ 1.46127376e-01  9.89022951e-01 -2.19178478e-02  1.76491996e+01]
 [ 2.52139949e-01 -1.58112420e-02  9.67561601e-01  5.31962199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.74071405700002 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:204.62, Y:17.65, Z:53.21
[[ 9.55734167e-01 -1.52406777e-01 -2.51683088e-01  2.04623125e+02]
 [ 1.51808180e-01  9.88167043e-01 -2.19128341e-02  1.76506577e+01]
 [ 2.52044597e-01 -1.72647074e-02  9.67561601e-01  5.32105675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.80071405700002 meters
Centerline goodness : 0.998937 with order 1
Centerline is valid?  [True, True]
Translation: X:204.68, Y:17.66, Z:53.23
[[ 9.55185614e-01 -1.55807785e-01 -2.51683088e-01  2.04681243e+02]
 [ 1.55324638e-01  9.87620415e-01 -2.19128341e-02  1.76554186e+01]
 [ 2.51981546e-01 -1.81617607e-02  9.67561601e-01  5.32278729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.860714057 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:204.74, Y:17.66, Z:53.24
[[ 9.54948640e-01 -1.57253531e-01 -2.51683179e-01  2.04739485e+02]
 [ 1.56819758e-01  9.87384139e-01 -2.19117878e-02  1.76603897e+01]
 [ 2.51953685e-01 -1.85442633e-02  9.67561601e-01  5.32443413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.920714057 meters
Centerline goodness : 0.999093 with order 1
Centerline is valid?  [True, True]
Translation: X:204.80, Y:17.67, Z:53.26
[[ 9.54778978e-01 -1.58279755e-01 -2.51683575e-01  2.04798468e+02]
 [ 1.57882031e-01  9.87214940e-01 -2.19072472e-02  1.76655232e+01]
 [ 2.51933259e-01 -1.88197348e-02  9.67561601e-01  5.32595817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.980714057 meters
Centerline goodness : 0.998888 with order 1
Centerline is valid?  [True, True]
Translation: X:204.86, Y:17.67, Z:53.27
[[ 9.54498376e-01 -1.59961968e-01 -2.51684364e-01  2.04856835e+02]
 [ 1.59623779e-01  9.86935013e-01 -2.18981758e-02  1.76711381e+01]
 [ 2.51898986e-01 -1.92730362e-02  9.67561601e-01  5.32736484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.040714057 meters
Centerline goodness : 0.999362 with order 1
Centerline is valid?  [True, True]
Translation: X:204.92, Y:17.68, Z:53.29
[[ 9.54240012e-01 -1.61495015e-01 -2.51685039e-01  2.04915184e+02]
 [ 1.61210965e-01  9.86677168e-01 -2.18904192e-02  1.76770055e+01]
 [ 2.51867075e-01 -1.96856740e-02  9.67561601e-01  5.32875429e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.100714057 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:204.97, Y:17.68, Z:53.30
[[ 9.53968257e-01 -1.63091597e-01 -2.51685709e-01  2.04972203e+02]
 [ 1.62863849e-01  9.86405857e-01 -2.18827066e-02  1.76848110e+01]
 [ 2.51833143e-01 -2.01150960e-02  9.67561601e-01  5.33001684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.160714057 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:205.03, Y:17.69, Z:53.32
[[ 9.53563110e-01 -1.65445075e-01 -2.51684967e-01  2.05029122e+02]
 [ 1.65295133e-01  9.86001163e-01 -2.18912355e-02  1.76938332e+01]
 [ 2.51783467e-01 -2.07276256e-02  9.67561601e-01  5.33161526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.220714057 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:205.09, Y:17.70, Z:53.33
[[ 9.53291010e-01 -1.67006700e-01 -2.51684349e-01  2.05085077e+02]
 [ 1.66908026e-01  9.85729260e-01 -2.18983389e-02  1.77035659e+01]
 [ 2.51749797e-01 -2.11326484e-02  9.67561601e-01  5.33312556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.280714057 meters
Centerline goodness : 0.999078 with order 1
Centerline is valid?  [True, True]
Translation: X:205.14, Y:17.71, Z:53.35
[[ 9.53221118e-01 -1.67406786e-01 -2.51683268e-01  2.05144029e+02]
 [ 1.67318473e-01  9.85659397e-01 -2.19107541e-02  1.77116862e+01]
 [ 2.51741988e-01 -2.12254666e-02  9.67561601e-01  5.33493841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.340714057 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:205.20, Y:17.72, Z:53.36
[[ 9.53175447e-01 -1.67664231e-01 -2.51684868e-01  2.05202393e+02]
 [ 1.67589500e-01  9.85613760e-01 -2.18923625e-02  1.77222989e+01]
 [ 2.51734635e-01 -2.13124789e-02  9.67561601e-01  5.33641048e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.40071405700002 meters
Centerline goodness : 0.998704 with order 1
Centerline is valid?  [True, True]
Translation: X:205.26, Y:17.73, Z:53.38
[[ 9.53494305e-01 -1.65839489e-01 -2.51686062e-01  2.05260012e+02]
 [ 1.65706269e-01  9.85932431e-01 -2.18786305e-02  1.77334593e+01]
 [ 2.51773792e-01 -2.08448087e-02  9.67561601e-01  5.33792703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.46071405700002 meters
Centerline goodness : 0.999186 with order 1
Centerline is valid?  [True, True]
Translation: X:205.32, Y:17.75, Z:53.39
[[ 9.54109265e-01 -1.62264073e-01 -2.51686075e-01  2.05317341e+02]
 [ 1.62009296e-01  9.86546664e-01 -2.18784817e-02  1.77452833e+01]
 [ 2.51850149e-01 -1.99010218e-02  9.67561601e-01  5.33939895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.52071405700002 meters
Centerline goodness : 0.999207 with order 1
Centerline is valid?  [True, True]
Translation: X:205.37, Y:17.76, Z:53.41
[[ 9.54690608e-01 -1.58808458e-01 -2.51685748e-01  2.05374867e+02]
 [ 1.58435251e-01  9.87126861e-01 -2.18822432e-02  1.77557153e+01]
 [ 2.51920847e-01 -1.89851225e-02  9.67561601e-01  5.34128168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.58071405700002 meters
Centerline goodness : 0.999228 with order 1
Centerline is valid?  [True, True]
Translation: X:205.43, Y:17.76, Z:53.43
[[ 9.54900898e-01 -1.57538422e-01 -2.51686153e-01  2.05432880e+02]
 [ 1.57123291e-01  9.87336641e-01 -2.18775818e-02  1.77635708e+01]
 [ 2.51945521e-01 -1.86548343e-02  9.67561601e-01  5.34306161e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.640714057 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:205.49, Y:17.77, Z:53.45
[[ 9.55001032e-01 -1.56928941e-01 -2.51686983e-01  2.05492598e+02]
 [ 1.56495611e-01  9.87436536e-01 -2.18680348e-02  1.77716415e+01]
 [ 2.51956650e-01 -1.85039124e-02  9.67561601e-01  5.34463192e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.700714057 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:205.55, Y:17.78, Z:53.46
[[ 9.54638895e-01 -1.59114509e-01 -2.51688604e-01  2.05551436e+02]
 [ 1.58760321e-01  9.87075360e-01 -2.18493546e-02  1.77794889e+01]
 [ 2.51912169e-01 -1.90999199e-02  9.67561601e-01  5.34600996e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.760714057 meters
Centerline goodness : 0.998711 with order 1
Centerline is valid?  [True, True]
Translation: X:205.61, Y:17.79, Z:53.47
[[ 9.54170882e-01 -1.61896787e-01 -2.51689011e-01  2.05611103e+02]
 [ 1.61638387e-01  9.86608252e-01 -2.18446722e-02  1.77858195e+01]
 [ 2.51855037e-01 -1.98390556e-02  9.67561601e-01  5.34742445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.820714057 meters
Centerline goodness : 0.998735 with order 1
Centerline is valid?  [True, True]
Translation: X:205.67, Y:17.79, Z:53.49
[[ 9.53769323e-01 -1.64244694e-01 -2.51689806e-01  2.05670120e+02]
 [ 1.64068533e-01  9.86207244e-01 -2.18355029e-02  1.77913628e+01]
 [ 2.51804675e-01 -2.04683445e-02  9.67561601e-01  5.34885763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.880714057 meters
Centerline goodness : 0.998736 with order 1
Centerline is valid?  [True, True]
Translation: X:205.73, Y:17.80, Z:53.50
[[ 9.53527340e-01 -1.65643140e-01 -2.51690212e-01  2.05730133e+02]
 [ 1.65515772e-01  9.85965488e-01 -2.18308274e-02  1.77995017e+01]
 [ 2.51773989e-01 -2.08424089e-02  9.67561601e-01  5.35043108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.940714057 meters
Centerline goodness : 0.998528 with order 1
Centerline is valid?  [True, True]
Translation: X:205.79, Y:17.81, Z:53.52
[[ 9.53621401e-01 -1.65098294e-01 -2.51691830e-01  2.05789325e+02]
 [ 1.64957286e-01  9.86059493e-01 -2.18121571e-02  1.78077841e+01]
 [ 2.51784268e-01 -2.07178613e-02  9.67561601e-01  5.35204255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.000714057 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:205.85, Y:17.81, Z:53.54
[[ 9.53806802e-01 -1.64021338e-01 -2.51693434e-01  2.05849407e+02]
 [ 1.63848557e-01  9.86244740e-01 -2.17936321e-02  1.78145230e+01]
 [ 2.51805946e-01 -2.04526914e-02  9.67561602e-01  5.35369644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.060714057 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:205.91, Y:17.82, Z:53.55
[[ 9.54216791e-01 -1.61616607e-01 -2.51695030e-01  2.05907805e+02]
 [ 1.61366898e-01  9.86654228e-01 -2.17751823e-02  1.78233394e+01]
 [ 2.51855197e-01 -1.98370017e-02  9.67561602e-01  5.35533152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.12071405700001 meters
Centerline goodness : 0.998561 with order 1
Centerline is valid?  [True, True]
Translation: X:205.97, Y:17.83, Z:53.57
[[ 9.54870735e-01 -1.57705713e-01 -2.51695823e-01  2.05966153e+02]
 [ 1.57325510e-01  9.87306905e-01 -2.17660118e-02  1.78321206e+01]
 [ 2.51933649e-01 -1.88144460e-02  9.67561602e-01  5.35682513e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.18071405700002 meters
Centerline goodness : 0.998086 with order 1
Centerline is valid?  [True, True]
Translation: X:206.02, Y:17.84, Z:53.58
[[ 9.55611925e-01 -1.53150269e-01 -2.51695937e-01  2.06024335e+02]
 [ 1.52615731e-01  9.88045918e-01 -2.17646974e-02  1.78401162e+01]
 [ 2.52020412e-01 -1.76141550e-02  9.67561602e-01  5.35818919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.24071405700002 meters
Centerline goodness : 0.997870 with order 1
Centerline is valid?  [True, True]
Translation: X:206.08, Y:17.85, Z:53.60
[[ 9.56217180e-01 -1.49324036e-01 -2.51696321e-01  2.06082719e+02]
 [ 1.48660842e-01  9.88648798e-01 -2.17602576e-02  1.78479252e+01]
 [ 2.52088594e-01 -1.66098549e-02  9.67561602e-01  5.35978653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.30071405700002 meters
Centerline goodness : 0.998053 with order 1
Centerline is valid?  [True, True]
Translation: X:206.14, Y:17.85, Z:53.61
[[ 9.56573945e-01 -1.47021212e-01 -2.51696348e-01  2.06141766e+02]
 [ 1.46280013e-01  9.89003874e-01 -2.17599453e-02  1.78539758e+01]
 [ 2.52127836e-01 -1.60031484e-02  9.67561602e-01  5.36139856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.360714057 meters
Centerline goodness : 0.998035 with order 1
Centerline is valid?  [True, True]
Translation: X:206.20, Y:17.86, Z:53.63
[[ 9.56925586e-01 -1.44713389e-01 -2.51697155e-01  2.06199637e+02]
 [ 1.43896414e-01  9.89353695e-01 -2.17506063e-02  1.78602356e+01]
 [ 2.52165114e-01 -1.54046062e-02  9.67561602e-01  5.36303289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.420714057 meters
Centerline goodness : 0.997479 with order 1
Centerline is valid?  [True, True]
Translation: X:206.26, Y:17.87, Z:53.64
[[ 9.57282575e-01 -1.42332759e-01 -2.51697155e-01  2.06258958e+02]
 [ 1.41435128e-01  9.89708551e-01 -2.17506063e-02  1.78665875e+01]
 [ 2.52202650e-01 -1.47773428e-02  9.67561602e-01  5.36442630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.480714057 meters
Centerline goodness : 0.997295 with order 1
Centerline is valid?  [True, True]
Translation: X:206.32, Y:17.87, Z:53.66
[[ 9.57397008e-01 -1.41558848e-01 -2.51698353e-01  2.06316714e+02]
 [ 1.40638641e-01  9.89822351e-01 -2.17367259e-02  1.78713594e+01]
 [ 2.52213682e-01 -1.45878380e-02  9.67561602e-01  5.36605082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.540714057 meters
Centerline goodness : 0.997718 with order 1
Centerline is valid?  [True, True]
Translation: X:206.38, Y:17.88, Z:53.68
[[ 9.57310802e-01 -1.42141064e-01 -2.51698126e-01  2.06375430e+02]
 [ 1.41239886e-01  9.89736680e-01 -2.17393597e-02  1.78761596e+01]
 [ 2.52204923e-01 -1.47384906e-02  9.67561602e-01  5.36765205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.600714057 meters
Centerline goodness : 0.997678 with order 1
Centerline is valid?  [True, True]
Translation: X:206.44, Y:17.88, Z:53.69
[[ 9.57135255e-01 -1.43317689e-01 -2.51698518e-01  2.06435693e+02]
 [ 1.42457559e-01  9.89562247e-01 -2.17348207e-02  1.78802678e+01]
 [ 2.52186335e-01 -1.50531934e-02  9.67561602e-01  5.36931131e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.660714057 meters
Centerline goodness : 0.998252 with order 1
Centerline is valid?  [True, True]
Translation: X:206.49, Y:17.88, Z:53.71
[[ 9.56731897e-01 -1.45983355e-01 -2.51700095e-01  2.06493428e+02]
 [ 1.45218349e-01  9.89161273e-01 -2.17165382e-02  1.78829949e+01]
 [ 2.52142240e-01 -1.57745675e-02  9.67561602e-01  5.37066821e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.720714057 meters
Centerline goodness : 0.997851 with order 1
Centerline is valid?  [True, True]
Translation: X:206.55, Y:17.89, Z:53.72
[[ 9.56460713e-01 -1.47749212e-01 -2.51700367e-01  2.06553268e+02]
 [ 1.47044895e-01  9.88891464e-01 -2.17133936e-02  1.78859733e+01]
 [ 2.52112481e-01 -1.62432461e-02  9.67561602e-01  5.37217347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.780714057 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:206.61, Y:17.89, Z:53.74
[[ 9.56627554e-01 -1.46662516e-01 -2.51701867e-01  2.06612153e+02]
 [ 1.45925917e-01  9.89057587e-01 -2.16959898e-02  1.78892851e+01]
 [ 2.52129630e-01 -1.59748441e-02  9.67561602e-01  5.37382205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.840714057 meters
Centerline goodness : 0.997938 with order 1
Centerline is valid?  [True, True]
Translation: X:206.67, Y:17.89, Z:53.76
[[ 9.56864302e-01 -1.45107956e-01 -2.51702976e-01  2.06670492e+02]
 [ 1.44322039e-01  9.89293178e-01 -2.16831119e-02  1.78931737e+01]
 [ 2.52154429e-01 -1.55784910e-02  9.67561602e-01  5.37550143e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.90071405700002 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:206.73, Y:17.90, Z:53.77
[[ 9.57126550e-01 -1.43367322e-01 -2.51703355e-01  2.06730720e+02]
 [ 1.42523575e-01  9.89553972e-01 -2.16787167e-02  1.78960073e+01]
 [ 2.52182074e-01 -1.51243865e-02  9.67561602e-01  5.37706104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.96071405700002 meters
Centerline goodness : 0.998102 with order 1
Centerline is valid?  [True, True]
Translation: X:206.79, Y:17.90, Z:53.78
[[ 9.57100167e-01 -1.43540604e-01 -2.51704918e-01  2.06790501e+02]
 [ 1.42707486e-01  9.89527864e-01 -2.16605539e-02  1.78981598e+01]
 [ 2.52178199e-01 -1.51888564e-02  9.67561603e-01  5.37823967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.02071405700002 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:206.85, Y:17.90, Z:53.80
[[ 9.56926374e-01 -1.44692666e-01 -2.51706075e-01  2.06849502e+02]
 [ 1.43902112e-01  9.89355136e-01 -2.16470992e-02  1.79013857e+01]
 [ 2.52158875e-01 -1.55063556e-02  9.67561603e-01  5.37964358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.08071405700002 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:206.91, Y:17.90, Z:53.81
[[ 9.56405330e-01 -1.48096971e-01 -2.51706440e-01  2.06908701e+02]
 [ 1.47422931e-01  9.88836724e-01 -2.16428547e-02  1.79023311e+01]
 [ 2.52101813e-01 -1.64079596e-02  9.67561603e-01  5.38114592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.140714057 meters
Centerline goodness : 0.998606 with order 1
Centerline is valid?  [True, True]
Translation: X:206.97, Y:17.91, Z:53.83
[[ 9.56191859e-01 -1.49468068e-01 -2.51707025e-01  2.06967905e+02]
 [ 1.48842311e-01  9.88624220e-01 -2.16360509e-02  1.79056245e+01]
 [ 2.52077560e-01 -1.67764395e-02  9.67561603e-01  5.38268354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.200714057 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:207.03, Y:17.91, Z:53.85
[[ 9.55946854e-01 -1.51025862e-01 -2.51707770e-01  2.07026832e+02]
 [ 1.50455222e-01  9.88380232e-01 -2.16273802e-02  1.79093103e+01]
 [ 2.52049278e-01 -1.71961225e-02  9.67561603e-01  5.38452615e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.260714057 meters
Centerline goodness : 0.998528 with order 1
Centerline is valid?  [True, True]
Translation: X:207.09, Y:17.91, Z:53.86
[[ 9.55653748e-01 -1.52865350e-01 -2.51710345e-01  2.07086451e+02]
 [ 1.52364999e-01  9.88088286e-01 -2.15973635e-02  1.79125915e+01]
 [ 2.52013532e-01 -1.77122451e-02  9.67561603e-01  5.38615676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.320714057 meters
Centerline goodness : 0.998416 with order 1
Centerline is valid?  [True, True]
Translation: X:207.15, Y:17.92, Z:53.88
[[ 9.55346504e-01 -1.54771368e-01 -2.51711902e-01  2.07145625e+02]
 [ 1.54340476e-01  9.87782038e-01 -2.15792076e-02  1.79162811e+01]
 [ 2.51976339e-01 -1.82337143e-02  9.67561603e-01  5.38775691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.380714057 meters
Centerline goodness : 0.998234 with order 1
Centerline is valid?  [True, True]
Translation: X:207.21, Y:17.92, Z:53.89
[[ 9.55250301e-01 -1.55362741e-01 -2.51712694e-01  2.07205571e+02]
 [ 1.54954351e-01  9.87686127e-01 -2.15699627e-02  1.79202135e+01]
 [ 2.51964305e-01 -1.83992637e-02  9.67561603e-01  5.38917248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.440714057 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:207.27, Y:17.92, Z:53.91
[[ 9.55412120e-01 -1.54361945e-01 -2.51714265e-01  2.07265733e+02]
 [ 1.53924386e-01  9.87847565e-01 -2.15516110e-02  1.79245397e+01]
 [ 2.51982073e-01 -1.81542935e-02  9.67561604e-01  5.39071748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.500714057 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:207.32, Y:17.93, Z:53.92
[[ 9.55674756e-01 -1.52725045e-01 -2.51715753e-01  2.07323919e+02]
 [ 1.52236480e-01  9.88109473e-01 -2.15342215e-02  1.79291628e+01]
 [ 2.52011535e-01 -1.77406084e-02  9.67561604e-01  5.39238738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.560714057 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:207.38, Y:17.93, Z:53.94
[[ 9.56102780e-01 -1.50021527e-01 -2.51716141e-01  2.07382759e+02]
 [ 1.49442420e-01  9.88536006e-01 -2.15296819e-02  1.79328662e+01]
 [ 2.52060385e-01 -1.70324805e-02  9.67561604e-01  5.39391890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.62071405700001 meters
Centerline goodness : 0.998467 with order 1
Centerline is valid?  [True, True]
Translation: X:207.44, Y:17.94, Z:53.95
[[ 9.56644889e-01 -1.46524218e-01 -2.51716527e-01  2.07441427e+02]
 [ 1.45827692e-01  9.89075807e-01 -2.15251760e-02  1.79379128e+01]
 [ 2.52120686e-01 -1.61152904e-02  9.67561604e-01  5.39545457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.68071405700002 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:207.50, Y:17.94, Z:53.97
[[ 9.57197267e-01 -1.42871220e-01 -2.51716520e-01  2.07499945e+02]
 [ 1.42050876e-01  9.89625289e-01 -2.15252536e-02  1.79420674e+01]
 [ 2.52180373e-01 -1.51526383e-02  9.67561604e-01  5.39691634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.74071405700002 meters
Centerline goodness : 0.998650 with order 1
Centerline is valid?  [True, True]
Translation: X:207.56, Y:17.95, Z:53.98
[[ 9.57756068e-01 -1.39075919e-01 -2.51716514e-01  2.07559104e+02]
 [ 1.38127025e-01  9.90180582e-01 -2.15253204e-02  1.79459123e+01]
 [ 2.52238459e-01 -1.41528470e-02  9.67561604e-01  5.39835789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.80071405700002 meters
Centerline goodness : 0.998438 with order 1
Centerline is valid?  [True, True]
Translation: X:207.62, Y:17.95, Z:54.00
[[ 9.58242518e-01 -1.35683014e-01 -2.51716896e-01  2.07619331e+02]
 [ 1.34620459e-01  9.90663507e-01 -2.15208523e-02  1.79506346e+01]
 [ 2.52286758e-01 -1.32640486e-02  9.67561604e-01  5.40006804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.860714057 meters
Centerline goodness : 0.997811 with order 1
Centerline is valid?  [True, True]
Translation: X:207.68, Y:17.96, Z:54.02
[[ 9.59059661e-01 -1.29777366e-01 -2.51718896e-01  2.07677166e+02]
 [ 1.28521240e-01  9.91473727e-01 -2.14974421e-02  1.79557342e+01]
 [ 2.52362553e-01 -1.17338951e-02  9.67561604e-01  5.40180121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.920714057 meters
Centerline goodness : 0.998368 with order 1
Centerline is valid?  [True, True]
Translation: X:207.74, Y:17.96, Z:54.04
[[ 9.59839140e-01 -1.23879954e-01 -2.51719252e-01  2.07736570e+02]
 [ 1.22425706e-01  9.92244922e-01 -2.14932750e-02  1.79595540e+01]
 [ 2.52429735e-01 -1.01868205e-02  9.67561604e-01  5.40353792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.980714057 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:207.79, Y:17.96, Z:54.05
[[ 9.60214361e-01 -1.20933903e-01 -2.51720821e-01  2.07794800e+02]
 [ 1.19385032e-01  9.92615758e-01 -2.14748828e-02  1.79627012e+01]
 [ 2.52459095e-01 -9.43120750e-03  9.67561604e-01  5.40506703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.040714057 meters
Centerline goodness : 0.998007 with order 1
Centerline is valid?  [True, True]
Translation: X:207.85, Y:17.96, Z:54.07
[[ 9.60472936e-01 -1.18862809e-01 -2.51720821e-01  2.07853731e+02]
 [ 1.17244065e-01  9.92870917e-01 -2.14748828e-02  1.79647994e+01]
 [ 2.52478847e-01 -8.88672844e-03  9.67561604e-01  5.40659163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.100714057 meters
Centerline goodness : 0.997989 with order 1
Centerline is valid?  [True, True]
Translation: X:207.91, Y:17.97, Z:54.08
[[ 9.60481585e-01 -1.18792095e-01 -2.51721201e-01  2.07913013e+02]
 [ 1.17172131e-01  9.92879505e-01 -2.14704303e-02  1.79659979e+01]
 [ 2.52479338e-01 -8.87275668e-03  9.67561604e-01  5.40800524e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.160714057 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:207.97, Y:17.97, Z:54.09
[[ 9.60390430e-01 -1.19525988e-01 -2.51721592e-01  2.07972189e+02]
 [ 1.17931984e-01  9.92789638e-01 -2.14658338e-02  1.79682082e+01]
 [ 2.52472314e-01 -9.07044545e-03  9.67561604e-01  5.40945500e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.220714057 meters
Centerline goodness : 0.997970 with order 1
Centerline is valid?  [True, True]
Translation: X:208.03, Y:17.97, Z:54.11
[[ 9.60104229e-01 -1.21802764e-01 -2.51721981e-01  2.08031395e+02]
 [ 1.20286776e-01  9.92507181e-01 -2.14612778e-02  1.79679944e+01]
 [ 2.52449917e-01 -9.67376202e-03  9.67561604e-01  5.41086606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.280714057 meters
Centerline goodness : 0.997705 with order 1
Centerline is valid?  [True, True]
Translation: X:208.09, Y:17.97, Z:54.12
[[ 9.59865785e-01 -1.23667607e-01 -2.51722065e-01  2.08090457e+02]
 [ 1.22214827e-01  9.92271632e-01 -2.14602859e-02  1.79700396e+01]
 [ 2.52430607e-01 -1.01651745e-02  9.67561604e-01  5.41241766e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.340714057 meters
Centerline goodness : 0.997989 with order 1
Centerline is valid?  [True, True]
Translation: X:208.15, Y:17.97, Z:54.14
[[ 9.59728274e-01 -1.24728670e-01 -2.51722860e-01  2.08148693e+02]
 [ 1.23314157e-01  9.92135815e-01 -2.14509608e-02  1.79698653e+01]
 [ 2.52418815e-01 -1.04538987e-02  9.67561604e-01  5.41394202e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.40071405700002 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:208.21, Y:17.97, Z:54.16
[[ 9.59729591e-01 -1.24718538e-01 -2.51722860e-01  2.08207344e+02]
 [ 1.23303684e-01  9.92137116e-01 -2.14509608e-02  1.79717233e+01]
 [ 2.52418925e-01 -1.04512340e-02  9.67561604e-01  5.41560542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.46071405700002 meters
Centerline goodness : 0.998502 with order 1
Centerline is valid?  [True, True]
Translation: X:208.27, Y:17.97, Z:54.17
[[ 9.59729204e-01 -1.24720721e-01 -2.51723254e-01  2.08266886e+02]
 [ 1.23307150e-01  9.92136786e-01 -2.14463394e-02  1.79720624e+01]
 [ 2.52418703e-01 -1.04565989e-02  9.67561604e-01  5.41718032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.52071405700002 meters
Centerline goodness : 0.999112 with order 1
Centerline is valid?  [True, True]
Translation: X:208.33, Y:17.97, Z:54.19
[[ 9.59587117e-01 -1.25807693e-01 -2.51724032e-01  2.08327521e+02]
 [ 1.24433223e-01  9.91996381e-01 -2.14371981e-02  1.79733845e+01]
 [ 2.52406294e-01 -1.07519735e-02  9.67561604e-01  5.41874563e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.58071405700002 meters
Centerline goodness : 0.998843 with order 1
Centerline is valid?  [True, True]
Translation: X:208.39, Y:17.97, Z:54.20
[[ 9.59095831e-01 -1.29496659e-01 -2.51725649e-01  2.08386518e+02]
 [ 1.28251798e-01  9.91510331e-01 -2.14181977e-02  1.79730472e+01]
 [ 2.52362167e-01 -1.17421631e-02  9.67561604e-01  5.42007404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.640714057 meters
Centerline goodness : 0.999001 with order 1
Centerline is valid?  [True, True]
Translation: X:208.45, Y:17.97, Z:54.22
[[ 9.58426728e-01 -1.34358496e-01 -2.51726046e-01  2.08446319e+02]
 [ 1.33279244e-01  9.90847165e-01 -2.14135363e-02  1.79732431e+01]
 [ 2.52299129e-01 -1.30265516e-02  9.67561604e-01  5.42153282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.700714057 meters
Centerline goodness : 0.998754 with order 1
Centerline is valid?  [True, True]
Translation: X:208.50, Y:17.97, Z:54.23
[[ 9.58052767e-01 -1.36998146e-01 -2.51726844e-01  2.08504288e+02]
 [ 1.36010666e-01  9.90476129e-01 -2.14041477e-02  1.79746062e+01]
 [ 2.52261758e-01 -1.37312327e-02  9.67561605e-01  5.42297138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.760714057 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:208.56, Y:17.98, Z:54.25
[[ 9.57815390e-01 -1.38648079e-01 -2.51726813e-01  2.08561111e+02]
 [ 1.37716352e-01  9.90240402e-01 -2.14045069e-02  1.79777725e+01]
 [ 2.52237755e-01 -1.41653323e-02  9.67561605e-01  5.42455547e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.820714057 meters
Centerline goodness : 0.999276 with order 1
Centerline is valid?  [True, True]
Translation: X:208.62, Y:17.98, Z:54.26
[[ 9.57552927e-01 -1.40450652e-01 -2.51726054e-01  2.08618848e+02]
 [ 1.39577619e-01  9.89979572e-01 -2.14134320e-02  1.79830180e+01]
 [ 2.52211182e-01 -1.46308289e-02  9.67561605e-01  5.42607367e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.880714057 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:208.68, Y:17.99, Z:54.27
[[ 9.57053130e-01 -1.43818222e-01 -2.51725299e-01  2.08677069e+02]
 [ 1.43056937e-01  9.89482591e-01 -2.14223097e-02  1.79880585e+01]
 [ 2.52158719e-01 -1.55087617e-02  9.67561605e-01  5.42747926e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.940714057 meters
Centerline goodness : 0.998939 with order 1
Centerline is valid?  [True, True]
Translation: X:208.74, Y:17.99, Z:54.29
[[ 9.56447625e-01 -1.47792022e-01 -2.51724967e-01  2.08736160e+02]
 [ 1.47164417e-01  9.88879948e-01 -2.14262006e-02  1.79943619e+01]
 [ 2.52092394e-01 -1.65519194e-02  9.67561605e-01  5.42894252e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.000714057 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:208.79, Y:18.00, Z:54.31
[[ 9.55744107e-01 -1.52273911e-01 -2.51725758e-01  2.08793631e+02]
 [ 1.51800782e-01  9.88179052e-01 -2.14169048e-02  1.80017408e+01]
 [ 2.52011357e-01 -1.77430863e-02  9.67561605e-01  5.43050785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.060714057 meters
Centerline goodness : 0.999274 with order 1
Centerline is valid?  [True, True]
Translation: X:208.85, Y:18.01, Z:54.32
[[ 9.55365544e-01 -1.54629957e-01 -2.51726546e-01  2.08851240e+02]
 [ 1.54239229e-01  9.87801586e-01 -2.14076437e-02  1.80109463e+01]
 [ 2.51966144e-01 -1.83739832e-02  9.67561605e-01  5.43228218e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.12071405700001 meters
Centerline goodness : 0.999365 with order 1
Centerline is valid?  [True, True]
Translation: X:208.91, Y:18.02, Z:54.34
[[ 9.55284915e-01 -1.55126649e-01 -2.51726943e-01  2.08910937e+02]
 [ 1.54754007e-01  9.87721170e-01 -2.14029798e-02  1.80186714e+01]
 [ 2.51956203e-01 -1.85098093e-02  9.67561605e-01  5.43393213e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.18071405700002 meters
Centerline goodness : 0.999523 with order 1
Centerline is valid?  [True, True]
Translation: X:208.97, Y:18.03, Z:54.36
[[ 9.54901749e-01 -1.57465571e-01 -2.51728512e-01  2.08968394e+02]
 [ 1.57177205e-01  9.87338862e-01 -2.13845045e-02  1.80287861e+01]
 [ 2.51908666e-01 -1.91458833e-02  9.67561605e-01  5.43561896e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.24071405700002 meters
Centerline goodness : 0.999159 with order 1
Centerline is valid?  [True, True]
Translation: X:209.03, Y:18.04, Z:54.37
[[ 9.54227358e-01 -1.61501906e-01 -2.51728590e-01  2.09026526e+02]
 [ 1.61350940e-01  9.86665402e-01 -2.13835914e-02  1.80362978e+01]
 [ 2.51825381e-01 -2.02118367e-02  9.67561605e-01  5.43704474e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.30071405700002 meters
Centerline goodness : 0.999477 with order 1
Centerline is valid?  [True, True]
Translation: X:209.08, Y:18.04, Z:54.38
[[ 9.53570055e-01 -1.65338537e-01 -2.51728660e-01  2.09084757e+02]
 [ 1.65318258e-01  9.86008444e-01 -2.13827589e-02  1.80432660e+01]
 [ 2.51741979e-01 -2.12253849e-02  9.67561605e-01  5.43838831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.360714057 meters
Centerline goodness : 0.999271 with order 1
Centerline is valid?  [True, True]
Translation: X:209.14, Y:18.05, Z:54.40
[[ 9.52688898e-01 -1.70341221e-01 -2.51729482e-01  2.09144401e+02]
 [ 1.70493738e-01  9.85126934e-01 -2.13730776e-02  1.80518930e+01]
 [ 2.51626209e-01 -2.25564067e-02  9.67561605e-01  5.43960156e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.420714057 meters
Centerline goodness : 0.999316 with order 1
Centerline is valid?  [True, True]
Translation: X:209.20, Y:18.06, Z:54.41
[[ 9.52718408e-01 -1.70175132e-01 -2.51730131e-01  2.09203995e+02]
 [ 1.70323997e-01  9.85156462e-01 -2.13654357e-02  1.80596143e+01]
 [ 2.51629431e-01 -2.25204381e-02  9.67561605e-01  5.44099598e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.480714057 meters
Centerline goodness : 0.999474 with order 1
Centerline is valid?  [True, True]
Translation: X:209.26, Y:18.07, Z:54.43
[[ 9.53207347e-01 -1.67412982e-01 -2.51731301e-01  2.09261709e+02]
 [ 1.67471439e-01  9.85645689e-01 -2.13516472e-02  1.80694433e+01]
 [ 2.51692414e-01 -2.18052562e-02  9.67561605e-01  5.44282432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.540714057 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:209.32, Y:18.08, Z:54.45
[[ 9.53567246e-01 -1.65350136e-01 -2.51731683e-01  2.09319374e+02]
 [ 1.65339589e-01  9.86005639e-01 -2.13471374e-02  1.80779655e+01]
 [ 2.51738611e-01 -2.12652819e-02  9.67561605e-01  5.44461550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.600714057 meters
Centerline goodness : 0.999036 with order 1
Centerline is valid?  [True, True]
Translation: X:209.38, Y:18.09, Z:54.46
[[ 9.54215734e-01 -1.61565773e-01 -2.51731669e-01  2.09377494e+02]
 [ 1.61426490e-01  9.86653830e-01 -2.13473047e-02  1.80867875e+01]
 [ 2.51821009e-01 -2.02662256e-02  9.67561605e-01  5.44628172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.660714057 meters
Centerline goodness : 0.999125 with order 1
Centerline is valid?  [True, True]
Translation: X:209.44, Y:18.10, Z:54.48
[[ 9.54557828e-01 -1.59532151e-01 -2.51731693e-01  2.09436138e+02]
 [ 1.59323823e-01  9.86995554e-01 -2.13470197e-02  1.80952843e+01]
 [ 2.51863598e-01 -1.97298909e-02  9.67561605e-01  5.44781150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.720714057 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:209.50, Y:18.10, Z:54.49
[[ 9.54620598e-01 -1.59154867e-01 -2.51732482e-01  2.09496610e+02]
 [ 1.58936158e-01  9.87058255e-01 -2.13377116e-02  1.81022567e+01]
 [ 2.51870625e-01 -1.96399746e-02  9.67561605e-01  5.44934351e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.780714057 meters
Centerline goodness : 0.999103 with order 1
Centerline is valid?  [True, True]
Translation: X:209.56, Y:18.11, Z:54.51
[[ 9.54579225e-01 -1.59399690e-01 -2.51734466e-01  2.09555749e+02]
 [ 1.59195442e-01  9.87016977e-01 -2.13142776e-02  1.81077233e+01]
 [ 2.51863681e-01 -1.97288130e-02  9.67561605e-01  5.45077137e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.840714057 meters
Centerline goodness : 0.999055 with order 1
Centerline is valid?  [True, True]
Translation: X:209.62, Y:18.11, Z:54.52
[[ 9.54249001e-01 -1.61364214e-01 -2.51734849e-01  2.09615409e+02]
 [ 1.61227920e-01  9.86687110e-01 -2.13097583e-02  1.81128954e+01]
 [ 2.51822163e-01 -2.02518705e-02  9.67561605e-01  5.45205397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.90071405700002 meters
Centerline goodness : 0.999240 with order 1
Centerline is valid?  [True, True]
Translation: X:209.68, Y:18.12, Z:54.54
[[ 9.53810304e-01 -1.63935585e-01 -2.51736029e-01  2.09676050e+02]
 [ 1.63890377e-01  9.86248667e-01 -2.12958058e-02  1.81168774e+01]
 [ 2.51765463e-01 -2.09449538e-02  9.67561605e-01  5.45351069e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.96071405700002 meters
Centerline goodness : 0.999239 with order 1
Centerline is valid?  [True, True]
Translation: X:209.73, Y:18.12, Z:54.55
[[ 9.53686175e-01 -1.64653801e-01 -2.51737573e-01  2.09734321e+02]
 [ 1.64637807e-01  9.86124565e-01 -2.12775451e-02  1.81218033e+01]
 [ 2.51748033e-01 -2.11534212e-02  9.67561606e-01  5.45514910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.02071405700002 meters
Centerline goodness : 0.998894 with order 1
Centerline is valid?  [True, True]
Translation: X:209.79, Y:18.13, Z:54.57
[[ 9.53925921e-01 -1.63257900e-01 -2.51738345e-01  2.09792045e+02]
 [ 1.63196830e-01  9.86364258e-01 -2.12683979e-02  1.81265585e+01]
 [ 2.51777940e-01 -2.07944238e-02  9.67561606e-01  5.45693787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.08071405700002 meters
Centerline goodness : 0.998705 with order 1
Centerline is valid?  [True, True]
Translation: X:209.85, Y:18.13, Z:54.59
[[ 9.54498114e-01 -1.59877966e-01 -2.51738727e-01  2.09850470e+02]
 [ 1.59703180e-01  9.86936037e-01 -2.12638808e-02  1.81311552e+01]
 [ 2.51849648e-01 -1.99071410e-02  9.67561606e-01  5.45854844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.140714057 meters
Centerline goodness : 0.998984 with order 1
Centerline is valid?  [True, True]
Translation: X:209.91, Y:18.14, Z:54.60
[[ 9.55289065e-01 -1.55081366e-01 -2.51739096e-01  2.09908929e+02]
 [ 1.54744788e-01  9.87725713e-01 -2.12595080e-02  1.81352184e+01]
 [ 2.51946132e-01 -1.86463375e-02  9.67561606e-01  5.45992498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.200714057 meters
Centerline goodness : 0.998701 with order 1
Centerline is valid?  [True, True]
Translation: X:209.97, Y:18.14, Z:54.61
[[ 9.55585225e-01 -1.53245958e-01 -2.51739061e-01  2.09967506e+02]
 [ 1.52846958e-01  9.88021165e-01 -2.12599310e-02  1.81402365e+01]
 [ 2.51981518e-01 -1.81618738e-02  9.67561606e-01  5.46144693e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.260714057 meters
Centerline goodness : 0.998630 with order 1
Centerline is valid?  [True, True]
Translation: X:210.03, Y:18.15, Z:54.63
[[ 9.56558206e-01 -1.47049729e-01 -2.51739500e-01  2.10025096e+02]
 [ 1.46441888e-01  9.88990905e-01 -2.12547280e-02  1.81451382e+01]
 [ 2.52093578e-01 -1.65338232e-02  9.67561606e-01  5.46284047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.320714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:210.08, Y:18.15, Z:54.64
[[ 9.57569745e-01 -1.40312219e-01 -2.51739277e-01  2.10083536e+02]
 [ 1.39475387e-01  9.89997344e-01 -2.12573649e-02  1.81508387e+01]
 [ 2.52203884e-01 -1.47560236e-02  9.67561606e-01  5.46434945e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.380714057 meters
Centerline goodness : 0.998335 with order 1
Centerline is valid?  [True, True]
Translation: X:210.14, Y:18.16, Z:54.66
[[ 9.58286249e-01 -1.35332268e-01 -2.51739236e-01  2.10141861e+02]
 [ 1.34326741e-01  9.90709054e-01 -2.12578493e-02  1.81565750e+01]
 [ 2.52277214e-01 -1.34442064e-02  9.67561606e-01  5.46587728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.440714057 meters
Centerline goodness : 0.998840 with order 1
Centerline is valid?  [True, True]
Translation: X:210.20, Y:18.16, Z:54.67
[[ 9.58543760e-01 -1.33496285e-01 -2.51739153e-01  2.10200062e+02]
 [ 1.32428393e-01  9.90964572e-01 -2.12588293e-02  1.81612731e+01]
 [ 2.52302557e-01 -1.29598934e-02  9.67561606e-01  5.46739116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.500714057 meters
Centerline goodness : 0.998888 with order 1
Centerline is valid?  [True, True]
Translation: X:210.26, Y:18.16, Z:54.69
[[ 9.58723148e-01 -1.32202459e-01 -2.51738823e-01  2.10258840e+02]
 [ 1.31089786e-01  9.91142454e-01 -2.12627433e-02  1.81637857e+01]
 [ 2.52320022e-01 -1.26153041e-02  9.67561606e-01  5.46920583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.560714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:210.32, Y:18.17, Z:54.71
[[ 9.58504880e-01 -1.33774311e-01 -2.51739604e-01  2.10316899e+02]
 [ 1.32717219e-01  9.90926046e-01 -2.12534954e-02  1.81666984e+01]
 [ 2.52298502e-01 -1.30386011e-02  9.67561606e-01  5.47075077e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.62071405700001 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:210.38, Y:18.17, Z:54.72
[[ 9.57984096e-01 -1.37453456e-01 -2.51739985e-01  2.10376342e+02]
 [ 1.36522035e-01  9.90409115e-01 -2.12489798e-02  1.81670424e+01]
 [ 2.52246321e-01 -1.40118703e-02  9.67561606e-01  5.47212906e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.68071405700002 meters
Centerline goodness : 0.998363 with order 1
Centerline is valid?  [True, True]
Translation: X:210.44, Y:18.17, Z:54.74
[[ 9.57243550e-01 -1.42519228e-01 -2.51740055e-01  2.10435669e+02]
 [ 1.41759564e-01  9.89673048e-01 -2.12481500e-02  1.81670938e+01]
 [ 2.52168617e-01 -1.53469059e-02  9.67561606e-01  5.47355178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.74071405700002 meters
Centerline goodness : 0.998740 with order 1
Centerline is valid?  [True, True]
Translation: X:210.49, Y:18.17, Z:54.75
[[ 9.56791390e-01 -1.45523696e-01 -2.51740124e-01  2.10494227e+02]
 [ 1.44866058e-01  9.89223117e-01 -2.12473355e-02  1.81703065e+01]
 [ 2.52119141e-01 -1.61393317e-02  9.67561606e-01  5.47501761e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.80071405700002 meters
Centerline goodness : 0.997984 with order 1
Centerline is valid?  [True, True]
Translation: X:210.55, Y:18.17, Z:54.77
[[ 9.56301436e-01 -1.48708711e-01 -2.51740507e-01  2.10552301e+02]
 [ 1.48160256e-01  9.88735193e-01 -2.12427897e-02  1.81730466e+01]
 [ 2.52063687e-01 -1.69834276e-02  9.67561606e-01  5.47685445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.860714057 meters
Centerline goodness : 0.997940 with order 1
Centerline is valid?  [True, True]
Translation: X:210.61, Y:18.18, Z:54.78
[[ 9.56051712e-01 -1.50304497e-01 -2.51741299e-01  2.10610691e+02]
 [ 1.49812632e-01  9.88486377e-01 -2.12334026e-02  1.81755259e+01]
 [ 2.52034321e-01 -1.74137956e-02  9.67561606e-01  5.47844768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.920714057 meters
Centerline goodness : 0.998444 with order 1
Centerline is valid?  [True, True]
Translation: X:210.67, Y:18.18, Z:54.80
[[ 9.55920756e-01 -1.51135007e-01 -2.51741369e-01  2.10669542e+02]
 [ 1.50671538e-01  9.88355840e-01 -2.12325688e-02  1.81805963e+01]
 [ 2.52019037e-01 -1.76336061e-02  9.67561606e-01  5.48000792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.980714057 meters
Centerline goodness : 0.998242 with order 1
Centerline is valid?  [True, True]
Translation: X:210.73, Y:18.19, Z:54.81
[[ 9.55823078e-01 -1.51746872e-01 -2.51744178e-01  2.10729692e+02]
 [ 1.51312906e-01  9.88258568e-01 -2.11992170e-02  1.81871334e+01]
 [ 2.52005256e-01 -1.78294423e-02  9.67561606e-01  5.48144373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.040714057 meters
Centerline goodness : 0.998214 with order 1
Centerline is valid?  [True, True]
Translation: X:210.79, Y:18.19, Z:54.83
[[ 9.55680681e-01 -1.52638557e-01 -2.51745719e-01  2.10789468e+02]
 [ 1.52239651e-01  9.88116622e-01 -2.11809047e-02  1.81944834e+01]
 [ 2.51987152e-01 -1.80834989e-02  9.67561607e-01  5.48293096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.100714057 meters
Centerline goodness : 0.998760 with order 1
Centerline is valid?  [True, True]
Translation: X:210.85, Y:18.20, Z:54.84
[[ 9.55172486e-01 -1.55784543e-01 -2.51747292e-01  2.10847760e+02]
 [ 1.55497347e-01  9.87609607e-01 -2.11621918e-02  1.82020611e+01]
 [ 2.51924786e-01 -1.89324926e-02  9.67561607e-01  5.48416265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.160714057 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:210.91, Y:18.21, Z:54.86
[[ 9.54830470e-01 -1.57867271e-01 -2.51747292e-01  2.10906603e+02]
 [ 1.57650816e-01  9.87268141e-01 -2.11621918e-02  1.82092428e+01]
 [ 2.51882898e-01 -1.94818605e-02  9.67561607e-01  5.48570033e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.220714057 meters
Centerline goodness : 0.999010 with order 1
Centerline is valid?  [True, True]
Translation: X:210.96, Y:18.22, Z:54.87
[[ 9.54529670e-01 -1.59675342e-01 -2.51747680e-01  2.10964164e+02]
 [ 1.59521531e-01  9.86967699e-01 -2.11575742e-02  1.82179929e+01]
 [ 2.51845171e-01 -1.99636431e-02  9.67561607e-01  5.48695651e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.280714057 meters
Centerline goodness : 0.998245 with order 1
Centerline is valid?  [True, True]
Translation: X:211.02, Y:18.23, Z:54.89
[[ 9.54822778e-01 -1.57913680e-01 -2.51747359e-01  2.11020546e+02]
 [ 1.57699012e-01  9.87260461e-01 -2.11613890e-02  1.82280719e+01]
 [ 2.51881887e-01 -1.94949335e-02  9.67561607e-01  5.48892646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.340714057 meters
Centerline goodness : 0.998357 with order 1
Centerline is valid?  [True, True]
Translation: X:211.08, Y:18.24, Z:54.91
[[ 9.55440182e-01 -1.54134137e-01 -2.51747349e-01  2.11078826e+02]
 [ 1.53791079e-01  9.87876761e-01 -2.11615153e-02  1.82376767e+01]
 [ 2.51957067e-01 -1.84979343e-02  9.67561607e-01  5.49055285e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.40071405700002 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:211.14, Y:18.25, Z:54.92
[[ 9.55921906e-01 -1.51116467e-01 -2.51748134e-01  2.11136899e+02]
 [ 1.50673438e-01  9.88357274e-01 -2.11521705e-02  1.82462759e+01]
 [ 2.52013540e-01 -1.77119337e-02  9.67561607e-01  5.49214163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.46071405700002 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:211.19, Y:18.26, Z:54.94
[[ 9.56716306e-01 -1.46002722e-01 -2.51748118e-01  2.11194086e+02]
 [ 1.45386210e-01  9.89148840e-01 -2.11523551e-02  1.82561463e+01]
 [ 2.52104661e-01 -1.63639017e-02  9.67561607e-01  5.49358796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.52071405700002 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:211.25, Y:18.26, Z:54.95
[[ 9.57471211e-01 -1.40967312e-01 -2.51748084e-01  2.11252318e+02]
 [ 1.40180069e-01  9.89900050e-01 -2.11527662e-02  1.82641274e+01]
 [ 2.52187289e-01 -1.50368991e-02  9.67561607e-01  5.49506092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.58071405700002 meters
Centerline goodness : 0.999040 with order 1
Centerline is valid?  [True, True]
Translation: X:211.31, Y:18.27, Z:54.97
[[ 9.58277764e-01 -1.35375879e-01 -2.51748084e-01  2.11310360e+02]
 [ 1.34399354e-01  9.90701456e-01 -2.11527662e-02  1.82727336e+01]
 [ 2.52270767e-01 -1.35645543e-02  9.67561607e-01  5.49672377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.640714057 meters
Centerline goodness : 0.998779 with order 1
Centerline is valid?  [True, True]
Translation: X:211.37, Y:18.28, Z:54.98
[[ 9.59026264e-01 -1.29966733e-01 -2.51748433e-01  2.11368409e+02]
 [ 1.28808366e-01  9.91443968e-01 -2.11486043e-02  1.82791966e+01]
 [ 2.52343081e-01 -1.21452373e-02  9.67561607e-01  5.49815702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.700714057 meters
Centerline goodness : 0.999015 with order 1
Centerline is valid?  [True, True]
Translation: X:211.43, Y:18.28, Z:55.00
[[ 9.59297011e-01 -1.27952238e-01 -2.51748824e-01  2.11427850e+02]
 [ 1.26727006e-01  9.91712256e-01 -2.11439518e-02  1.82843773e+01]
 [ 2.52367810e-01 -1.16200449e-02  9.67561607e-01  5.49987593e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.760714057 meters
Centerline goodness : 0.999084 with order 1
Centerline is valid?  [True, True]
Translation: X:211.49, Y:18.29, Z:55.01
[[ 9.59135259e-01 -1.29156067e-01 -2.51750405e-01  2.11487115e+02]
 [ 1.27976450e-01  9.91552196e-01 -2.11251172e-02  1.82881847e+01]
 [ 2.52352104e-01 -1.19562782e-02  9.67561607e-01  5.50124855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.820714057 meters
Centerline goodness : 0.999017 with order 1
Centerline is valid?  [True, True]
Translation: X:211.55, Y:18.29, Z:55.03
[[ 9.58396657e-01 -1.34525065e-01 -2.51751572e-01  2.11546033e+02]
 [ 1.33530643e-01  9.90819804e-01 -2.11111961e-02  1.82896238e+01]
 [ 2.52280428e-01 -1.33836494e-02  9.67561607e-01  5.50276963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.880714057 meters
Centerline goodness : 0.999322 with order 1
Centerline is valid?  [True, True]
Translation: X:211.61, Y:18.29, Z:55.04
[[ 9.57746951e-01 -1.39074553e-01 -2.51751954e-01  2.11605389e+02]
 [ 1.38235299e-01  9.90174486e-01 -2.11066383e-02  1.82922399e+01]
 [ 2.52213758e-01 -1.45861881e-02  9.67561607e-01  5.50435999e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.940714057 meters
Centerline goodness : 0.999161 with order 1
Centerline is valid?  [True, True]
Translation: X:211.66, Y:18.29, Z:55.06
[[ 9.56700214e-01 -1.46100422e-01 -2.51752592e-01  2.11663971e+02]
 [ 1.45501196e-01  9.89133072e-01 -2.10990245e-02  1.82938174e+01]
 [ 2.52099391e-01 -1.64448619e-02  9.67561607e-01  5.50580597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.000714057 meters
Centerline goodness : 0.998937 with order 1
Centerline is valid?  [True, True]
Translation: X:211.72, Y:18.30, Z:55.07
[[ 9.55938353e-01 -1.51004886e-01 -2.51752636e-01  2.11722479e+02]
 [ 1.50572133e-01  9.88373859e-01 -2.10985085e-02  1.82967316e+01]
 [ 2.52011702e-01 -1.77380579e-02  9.67561607e-01  5.50738647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.060714057 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:211.78, Y:18.30, Z:55.09
[[ 9.55356712e-01 -1.54641785e-01 -2.51752800e-01  2.11780469e+02]
 [ 1.54332987e-01  9.87793635e-01 -2.10965497e-02  1.83004870e+01]
 [ 2.51942221e-01 -1.86990312e-02  9.67561607e-01  5.50897233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.12071405700001 meters
Centerline goodness : 0.998980 with order 1
Centerline is valid?  [True, True]
Translation: X:211.84, Y:18.31, Z:55.11
[[ 9.55258744e-01 -1.55245684e-01 -2.51752873e-01  2.11839589e+02]
 [ 1.54957619e-01  9.87695858e-01 -2.10956804e-02  1.83050745e+01]
 [ 2.51930283e-01 -1.88591926e-02  9.67561607e-01  5.51051264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.18071405700002 meters
Centerline goodness : 0.998982 with order 1
Centerline is valid?  [True, True]
Translation: X:211.90, Y:18.31, Z:55.12
[[ 9.54937350e-01 -1.57209246e-01 -2.51753670e-01  2.11898544e+02]
 [ 1.56990364e-01  9.87375004e-01 -2.10861596e-02  1.83105467e+01]
 [ 2.51890220e-01 -1.93869389e-02  9.67561607e-01  5.51198740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.24071405700002 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:211.96, Y:18.32, Z:55.13
[[ 9.54944255e-01 -1.57165422e-01 -2.51754842e-01  2.11957366e+02]
 [ 1.56948720e-01  9.87381924e-01 -2.10721620e-02  1.83161882e+01]
 [ 2.51889995e-01 -1.93898601e-02  9.67561607e-01  5.51334225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.30071405700002 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:212.02, Y:18.32, Z:55.15
[[ 9.54886701e-01 -1.57514111e-01 -2.51755224e-01  2.12017503e+02]
 [ 1.57310449e-01  9.87324455e-01 -2.10675981e-02  1.83236033e+01]
 [ 2.51882533e-01 -1.94865580e-02  9.67561607e-01  5.51485015e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.360714057 meters
Centerline goodness : 0.998794 with order 1
Centerline is valid?  [True, True]
Translation: X:212.08, Y:18.33, Z:55.16
[[ 9.54965052e-01 -1.57035992e-01 -2.51756720e-01  2.12077247e+02]
 [ 1.56820779e-01  9.87402731e-01 -2.10497013e-02  1.83295469e+01]
 [ 2.51890834e-01 -1.93789558e-02  9.67561607e-01  5.51638265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.420714057 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:212.14, Y:18.34, Z:55.18
[[ 9.55333272e-01 -1.54777732e-01 -2.51758204e-01  2.12135358e+02]
 [ 1.54490483e-01  9.87770393e-01 -2.10319374e-02  1.83364478e+01]
 [ 2.51934576e-01 -1.88017369e-02  9.67561608e-01  5.51800694e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.480714057 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:212.19, Y:18.35, Z:55.20
[[ 9.55848018e-01 -1.51566209e-01 -2.51758319e-01  2.12192584e+02]
 [ 1.51170308e-01  9.88283994e-01 -2.10305645e-02  1.83461760e+01]
 [ 2.51996240e-01 -1.79563592e-02  9.67561608e-01  5.51963598e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.540714057 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:212.25, Y:18.35, Z:55.21
[[ 9.56196520e-01 -1.49351738e-01 -2.51758363e-01  2.12250627e+02]
 [ 1.48880845e-01  9.88631494e-01 -2.10300302e-02  1.83530987e+01]
 [ 2.52037119e-01 -1.73731561e-02  9.67561608e-01  5.52115206e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.600714057 meters
Centerline goodness : 0.998618 with order 1
Centerline is valid?  [True, True]
Translation: X:212.31, Y:18.36, Z:55.23
[[ 9.56706400e-01 -1.46049295e-01 -2.51758748e-01  2.12308856e+02]
 [ 1.45467619e-01  9.89139577e-01 -2.10254272e-02  1.83610496e+01]
 [ 2.52095290e-01 -1.65075848e-02  9.67561608e-01  5.52282170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.660714057 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:212.37, Y:18.37, Z:55.24
[[ 9.56908880e-01 -1.44716083e-01 -2.51759111e-01  2.12367362e+02]
 [ 1.44090357e-01  9.89341237e-01 -2.10210721e-02  1.83688797e+01]
 [ 2.52117758e-01 -1.61608096e-02  9.67561608e-01  5.52441883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.720714057 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:212.43, Y:18.37, Z:55.26
[[ 9.56972099e-01 -1.44295392e-01 -2.51760284e-01  2.12427462e+02]
 [ 1.43659091e-01  9.89404251e-01 -2.10070164e-02  1.83737875e+01]
 [ 2.52123911e-01 -1.60645249e-02  9.67561608e-01  5.52601731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.780714057 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:212.49, Y:18.38, Z:55.28
[[ 9.57053685e-01 -1.43750596e-01 -2.51761814e-01  2.12485802e+02]
 [ 1.43100640e-01  9.89485565e-01 -2.09886707e-02  1.83781862e+01]
 [ 2.52131814e-01 -1.59399919e-02  9.67561608e-01  5.52760476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.840714057 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:212.54, Y:18.38, Z:55.29
[[ 9.57361358e-01 -1.41687045e-01 -2.51761814e-01  2.12544583e+02]
 [ 1.40967173e-01  9.89791762e-01 -2.09886707e-02  1.83835411e+01]
 [ 2.52165592e-01 -1.53964087e-02  9.67561608e-01  5.52900806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.90071405700002 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:212.60, Y:18.39, Z:55.30
[[ 9.57682448e-01 -1.39495427e-01 -2.51764481e-01  2.12603654e+02]
 [ 1.38709723e-01  9.90111323e-01 -2.09566282e-02  1.83879464e+01]
 [ 2.52198217e-01 -1.48523864e-02  9.67561608e-01  5.53049514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.96071405700002 meters
Centerline goodness : 0.998735 with order 1
Centerline is valid?  [True, True]
Translation: X:212.66, Y:18.39, Z:55.32
[[ 9.57715292e-01 -1.39269111e-01 -2.51764838e-01  2.12662684e+02]
 [ 1.38476868e-01  9.90144008e-01 -2.09523376e-02  1.83923297e+01]
 [ 2.52201459e-01 -1.47972320e-02  9.67561608e-01  5.53203428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.02071405700002 meters
Centerline goodness : 0.999015 with order 1
Centerline is valid?  [True, True]
Translation: X:212.72, Y:18.40, Z:55.33
[[ 9.57674504e-01 -1.39548020e-01 -2.51765554e-01  2.12721335e+02]
 [ 1.38767474e-01  9.90103504e-01 -2.09437357e-02  1.83968723e+01]
 [ 2.52196614e-01 -1.48795882e-02  9.67561608e-01  5.53340153e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.08071405700002 meters
Centerline goodness : 0.998336 with order 1
Centerline is valid?  [True, True]
Translation: X:212.78, Y:18.40, Z:55.35
[[ 9.57821313e-01 -1.38536774e-01 -2.51765554e-01  2.12778837e+02]
 [ 1.37721988e-01  9.90249471e-01 -2.09437357e-02  1.84008264e+01]
 [ 2.52212184e-01 -1.46132961e-02  9.67561608e-01  5.53517802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.140714057 meters
Centerline goodness : 0.999250 with order 1
Centerline is valid?  [True, True]
Translation: X:212.84, Y:18.41, Z:55.37
[[ 9.58093966e-01 -1.36638651e-01 -2.51765430e-01  2.12837922e+02]
 [ 1.35759223e-01  9.90520434e-01 -2.09452217e-02  1.84051111e+01]
 [ 2.52240730e-01 -1.41119888e-02  9.67561608e-01  5.53688947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.200714057 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:212.90, Y:18.41, Z:55.38
[[ 9.58280595e-01 -1.35321386e-01 -2.51766606e-01  2.12896556e+02]
 [ 1.34401087e-01  9.90705929e-01 -2.09310743e-02  1.84093997e+01]
 [ 2.52259091e-01 -1.37798633e-02  9.67561608e-01  5.53848411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.260714057 meters
Centerline goodness : 0.998618 with order 1
Centerline is valid?  [True, True]
Translation: X:212.96, Y:18.41, Z:55.40
[[ 9.58209894e-01 -1.35819720e-01 -2.51767360e-01  2.12956129e+02]
 [ 1.34918660e-01  9.90635768e-01 -2.09220022e-02  1.84128418e+01]
 [ 2.52251373e-01 -1.39204454e-02  9.67561608e-01  5.54007482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.320714057 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:213.01, Y:18.41, Z:55.42
[[ 9.57882187e-01 -1.38109880e-01 -2.51768499e-01  2.13014298e+02]
 [ 1.37289927e-01  9.90310214e-01 -2.09082914e-02  1.84147711e+01]
 [ 2.52216557e-01 -1.45375989e-02  9.67561609e-01  5.54155759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.380714057 meters
Centerline goodness : 0.999114 with order 1
Centerline is valid?  [True, True]
Translation: X:213.07, Y:18.42, Z:55.43
[[ 9.57188462e-01 -1.42836237e-01 -2.51769851e-01  2.13073078e+02]
 [ 1.42180625e-01  9.89620227e-01 -2.08919998e-02  1.84165824e+01]
 [ 2.52140671e-01 -1.57992135e-02  9.67561609e-01  5.54286656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.440714057 meters
Centerline goodness : 0.998840 with order 1
Centerline is valid?  [True, True]
Translation: X:213.13, Y:18.42, Z:55.44
[[ 9.56252913e-01 -1.48970683e-01 -2.51769937e-01  2.13131945e+02]
 [ 1.48523305e-01  9.88688220e-01 -2.08909640e-02  1.84201106e+01]
 [ 2.52034112e-01 -1.74166579e-02  9.67561609e-01  5.54407552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.500714057 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:213.19, Y:18.42, Z:55.46
[[ 9.55430724e-01 -1.54155613e-01 -2.51770090e-01  2.13190796e+02]
 [ 1.53884667e-01  9.87867984e-01 -2.08891193e-02  1.84228501e+01]
 [ 2.51935786e-01 -1.87854501e-02  9.67561609e-01  5.54555955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.560714057 meters
Centerline goodness : 0.998080 with order 1
Centerline is valid?  [True, True]
Translation: X:213.25, Y:18.43, Z:55.47
[[ 9.55053888e-01 -1.56473191e-01 -2.51770157e-01  2.13250107e+02]
 [ 1.56281156e-01  9.87491711e-01 -2.08883126e-02  1.84272050e+01]
 [ 2.51889404e-01 -1.93974669e-02  9.67561609e-01  5.54712378e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.62071405700001 meters
Centerline goodness : 0.997965 with order 1
Centerline is valid?  [True, True]
Translation: X:213.31, Y:18.43, Z:55.49
[[ 9.54780618e-01 -1.58130871e-01 -2.51770927e-01  2.13306879e+02]
 [ 1.57997581e-01  9.87218735e-01 -2.08790200e-02  1.84317697e+01]
 [ 2.51854594e-01 -1.98443138e-02  9.67561609e-01  5.54879325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.68071405700002 meters
Centerline goodness : 0.998492 with order 1
Centerline is valid?  [True, True]
Translation: X:213.36, Y:18.44, Z:55.50
[[ 9.54804078e-01 -1.57989640e-01 -2.51770621e-01  2.13364620e+02]
 [ 1.57850584e-01  9.87242172e-01 -2.08827126e-02  1.84360448e+01]
 [ 2.51857827e-01 -1.98032405e-02  9.67561609e-01  5.55041182e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.74071405700002 meters
Centerline goodness : 0.998376 with order 1
Centerline is valid?  [True, True]
Translation: X:213.42, Y:18.44, Z:55.52
[[ 9.54976277e-01 -1.56944824e-01 -2.51770994e-01  2.13423776e+02]
 [ 1.56771454e-01  9.87414205e-01 -2.08782124e-02  1.84414460e+01]
 [ 2.51878983e-01 -1.95323074e-02  9.67561609e-01  5.55213260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.80071405700002 meters
Centerline goodness : 0.998443 with order 1
Centerline is valid?  [True, True]
Translation: X:213.48, Y:18.45, Z:55.53
[[ 9.55011842e-01 -1.56720080e-01 -2.51776088e-01  2.13481868e+02]
 [ 1.56555222e-01  9.87449812e-01 -2.08166045e-02  1.84461243e+01]
 [ 2.51878631e-01 -1.95367575e-02  9.67561611e-01  5.55334929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.860714057 meters
Centerline goodness : 0.998605 with order 1
Centerline is valid?  [True, True]
Translation: X:213.54, Y:18.45, Z:55.55
[[ 9.55045721e-01 -1.56514110e-01 -2.51775703e-01  2.13542225e+02]
 [ 1.56341034e-01  9.87483648e-01 -2.08212657e-02  1.84512415e+01]
 [ 2.51883212e-01 -1.94776131e-02  9.67561611e-01  5.55466846e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.920714057 meters
Centerline goodness : 0.998017 with order 1
Centerline is valid?  [True, True]
Translation: X:213.60, Y:18.46, Z:55.56
[[ 9.55114793e-01 -1.56089585e-01 -2.51777230e-01  2.13601847e+02]
 [ 1.55906935e-01  9.87552668e-01 -2.08027791e-02  1.84592249e+01]
 [ 2.51890373e-01 -1.93847743e-02  9.67561611e-01  5.55627376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.980714057 meters
Centerline goodness : 0.998274 with order 1
Centerline is valid?  [True, True]
Translation: X:213.66, Y:18.47, Z:55.58
[[ 9.55189306e-01 -1.55630447e-01 -2.51778778e-01  2.13660810e+02]
 [ 1.55437116e-01  9.87627119e-01 -2.07840361e-02  1.84653600e+01]
 [ 2.51898178e-01 -1.92830780e-02  9.67561611e-01  5.55780303e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.040714057 meters
Centerline goodness : 0.998832 with order 1
Centerline is valid?  [True, True]
Translation: X:213.72, Y:18.47, Z:55.59
[[ 9.55424428e-01 -1.54178611e-01 -2.51779900e-01  2.13719425e+02]
 [ 1.53939548e-01  9.87861936e-01 -2.07704304e-02  1.84722784e+01]
 [ 2.51926136e-01 -1.89143074e-02  9.67561611e-01  5.55935344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.100714057 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:213.78, Y:18.48, Z:55.61
[[ 9.55522724e-01 -1.53567031e-01 -2.51780640e-01  2.13778417e+02]
 [ 1.53309557e-01  9.87960091e-01 -2.07614546e-02  1.84800517e+01]
 [ 2.51937499e-01 -1.87623367e-02  9.67561611e-01  5.56105716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.160714057 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:213.84, Y:18.49, Z:55.63
[[ 9.55871970e-01 -1.51376100e-01 -2.51781756e-01  2.13836757e+02]
 [ 1.51047811e-01  9.88308698e-01 -2.07479168e-02  1.84882956e+01]
 [ 2.51978838e-01 -1.81987310e-02  9.67561611e-01  5.56269632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.220714057 meters
Centerline goodness : 0.998313 with order 1
Centerline is valid?  [True, True]
Translation: X:213.90, Y:18.49, Z:55.64
[[ 9.56222767e-01 -1.49143483e-01 -2.51782131e-01  2.13896463e+02]
 [ 1.48740641e-01  9.88658654e-01 -2.07433615e-02  1.84945536e+01]
 [ 2.52020320e-01 -1.76149611e-02  9.67561611e-01  5.56423249e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.280714057 meters
Centerline goodness : 0.998099 with order 1
Centerline is valid?  [True, True]
Translation: X:213.96, Y:18.50, Z:55.65
[[ 9.56891366e-01 -1.44789228e-01 -2.51783622e-01  2.13955703e+02]
 [ 1.44243488e-01  9.89325164e-01 -2.07252487e-02  1.84981300e+01]
 [ 2.52096666e-01 -1.64863364e-02  9.67561611e-01  5.56548173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.340714057 meters
Centerline goodness : 0.998591 with order 1
Centerline is valid?  [True, True]
Translation: X:214.01, Y:18.50, Z:55.67
[[ 9.57298142e-01 -1.42074483e-01 -2.51783853e-01  2.14014341e+02]
 [ 1.41437486e-01  9.89730276e-01 -2.07224363e-02  1.85045215e+01]
 [ 2.52142232e-01 -1.57741254e-02  9.67561611e-01  5.56703575e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.40071405700002 meters
Centerline goodness : 0.998660 with order 1
Centerline is valid?  [True, True]
Translation: X:214.07, Y:18.51, Z:55.68
[[ 9.57495889e-01 -1.40735566e-01 -2.51783882e-01  2.14074072e+02]
 [ 1.40053305e-01  9.89927102e-01 -2.07220884e-02  1.85101211e+01]
 [ 2.52164024e-01 -1.54218503e-02  9.67561611e-01  5.56844198e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.46071405700002 meters
Centerline goodness : 0.998828 with order 1
Centerline is valid?  [True, True]
Translation: X:214.13, Y:18.51, Z:55.70
[[ 9.57528891e-01 -1.40505912e-01 -2.51786640e-01  2.14132790e+02]
 [ 1.39824665e-01  9.89960124e-01 -2.06885238e-02  1.85139098e+01]
 [ 2.52165594e-01 -1.53961234e-02  9.67561612e-01  5.57009584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.52071405700002 meters
Centerline goodness : 0.998333 with order 1
Centerline is valid?  [True, True]
Translation: X:214.19, Y:18.52, Z:55.72
[[ 9.56898487e-01 -1.44735565e-01 -2.51787413e-01  2.14190306e+02]
 [ 1.44200092e-01  9.89332455e-01 -2.06791181e-02  1.85189715e+01]
 [ 2.52094463e-01 -1.65199513e-02  9.67561612e-01  5.57189582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.58071405700002 meters
Centerline goodness : 0.998830 with order 1
Centerline is valid?  [True, True]
Translation: X:214.25, Y:18.52, Z:55.73
[[ 9.56100437e-01 -1.49916797e-01 -2.51787429e-01  2.14249332e+02]
 [ 1.49557073e-01  9.88536830e-01 -2.06789202e-02  1.85209581e+01]
 [ 2.52001264e-01 -1.78854664e-02  9.67561612e-01  5.57343911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.640714057 meters
Centerline goodness : 0.998809 with order 1
Centerline is valid?  [True, True]
Translation: X:214.31, Y:18.52, Z:55.75
[[ 9.55439482e-01 -1.54072847e-01 -2.51787518e-01  2.14307527e+02]
 [ 1.53854457e-01  9.87877135e-01 -2.06778300e-02  1.85239606e+01]
 [ 2.51921024e-01 -1.89822168e-02  9.67561612e-01  5.57487379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.700714057 meters
Centerline goodness : 0.998091 with order 1
Centerline is valid?  [True, True]
Translation: X:214.37, Y:18.53, Z:55.77
[[ 9.54339172e-01 -1.60747293e-01 -2.51787714e-01  2.14366408e+02]
 [ 1.60756260e-01  9.86777559e-01 -2.06754504e-02  1.85261085e+01]
 [ 2.51781988e-01 -2.07450591e-02  9.67561612e-01  5.57652748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.760714057 meters
Centerline goodness : 0.997471 with order 1
Centerline is valid?  [True, True]
Translation: X:214.43, Y:18.53, Z:55.78
[[ 9.53452332e-01 -1.65925518e-01 -2.51788349e-01  2.14425584e+02]
 [ 1.66112603e-01  9.85890181e-01 -2.06677159e-02  1.85273277e+01]
 [ 2.51664962e-01 -2.21195361e-02  9.67561612e-01  5.57790082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.820714057 meters
Centerline goodness : 0.997125 with order 1
Centerline is valid?  [True, True]
Translation: X:214.48, Y:18.53, Z:55.79
[[ 9.52874281e-01 -1.69213160e-01 -2.51788625e-01  2.14483815e+02]
 [ 1.69513009e-01  9.85311283e-01 -2.06643539e-02  1.85292409e+01]
 [ 2.51586853e-01 -2.29909160e-02  9.67561612e-01  5.57917523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.880714057 meters
Centerline goodness : 0.997220 with order 1
Centerline is valid?  [True, True]
Translation: X:214.54, Y:18.53, Z:55.81
[[ 9.52533262e-01 -1.71122394e-01 -2.51788625e-01  2.14542606e+02]
 [ 1.71487247e-01  9.84969598e-01 -2.06643539e-02  1.85331479e+01]
 [ 2.51540274e-01 -2.34950536e-02  9.67561612e-01  5.58081007e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.940714057 meters
Centerline goodness : 0.997408 with order 1
Centerline is valid?  [True, True]
Translation: X:214.60, Y:18.54, Z:55.82
[[ 9.52307963e-01 -1.72371219e-01 -2.51789012e-01  2.14599727e+02]
 [ 1.72779839e-01  9.84743777e-01 -2.06596307e-02  1.85370661e+01]
 [ 2.51508789e-01 -2.38297343e-02  9.67561612e-01  5.58229561e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.000714057 meters
Centerline goodness : 0.996649 with order 1
Centerline is valid?  [True, True]
Translation: X:214.66, Y:18.54, Z:55.84
[[ 9.51957307e-01 -1.74296988e-01 -2.51789288e-01  2.14659120e+02]
 [ 1.74772093e-01  9.84392216e-01 -2.06562692e-02  1.85399134e+01]
 [ 2.51459741e-01 -2.43418544e-02  9.67561612e-01  5.58380851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.060714057 meters
Centerline goodness : 0.996736 with order 1
Centerline is valid?  [True, True]
Translation: X:214.72, Y:18.54, Z:55.85
[[ 9.51916388e-01 -1.74519271e-01 -2.51790022e-01  2.14717560e+02]
 [ 1.75004294e-01  9.84351149e-01 -2.06473223e-02  1.85429716e+01]
 [ 2.51453153e-01 -2.44098106e-02  9.67561612e-01  5.58518189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.12071405700001 meters
Centerline goodness : 0.996431 with order 1
Centerline is valid?  [True, True]
Translation: X:214.78, Y:18.55, Z:55.87
[[ 9.51998984e-01 -1.74067617e-01 -2.51790388e-01  2.14777349e+02]
 [ 1.74538423e-01  9.84433955e-01 -2.06428517e-02  1.85468432e+01]
 [ 2.51464260e-01 -2.42951234e-02  9.67561612e-01  5.58675737e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.18071405700002 meters
Centerline goodness : 0.997415 with order 1
Centerline is valid?  [True, True]
Translation: X:214.84, Y:18.55, Z:55.88
[[ 9.52063101e-01 -1.73714510e-01 -2.51791819e-01  2.14838043e+02]
 [ 1.74177863e-01  9.84498180e-01 -2.06253815e-02  1.85503032e+01]
 [ 2.51471516e-01 -2.42198965e-02  9.67561612e-01  5.58834009e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.24071405700002 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:214.90, Y:18.55, Z:55.90
[[ 9.52481552e-01 -1.71401957e-01 -2.51794088e-01  2.14897251e+02]
 [ 1.71793809e-01  9.84917572e-01 -2.05976449e-02  1.85524607e+01]
 [ 2.51526899e-01 -2.36377887e-02  9.67561613e-01  5.58964119e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.30071405700002 meters
Centerline goodness : 0.997587 with order 1
Centerline is valid?  [True, True]
Translation: X:214.96, Y:18.56, Z:55.91
[[ 9.53431363e-01 -1.66037070e-01 -2.51794215e-01  2.14955834e+02]
 [ 1.66246718e-01  9.85869073e-01 -2.05960942e-02  1.85578162e+01]
 [ 2.51655845e-01 -2.22229998e-02  9.67561613e-01  5.59090890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.360714057 meters
Centerline goodness : 0.997740 with order 1
Centerline is valid?  [True, True]
Translation: X:215.01, Y:18.57, Z:55.92
[[ 9.55097233e-01 -1.56169592e-01 -2.51794231e-01  2.15014437e+02]
 [ 1.56043870e-01  9.87535376e-01 -2.05958976e-02  1.85651292e+01]
 [ 2.51872164e-01 -1.96198616e-02  9.67561613e-01  5.59247133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.420714057 meters
Centerline goodness : 0.997940 with order 1
Centerline is valid?  [True, True]
Translation: X:215.07, Y:18.57, Z:55.94
[[ 9.56389236e-01 -1.48051510e-01 -2.51794321e-01  2.15071866e+02]
 [ 1.47650555e-01  9.88825145e-01 -2.05948011e-02  1.85723936e+01]
 [ 2.52029647e-01 -1.74809252e-02  9.67561613e-01  5.59419223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.480714057 meters
Centerline goodness : 0.997677 with order 1
Centerline is valid?  [True, True]
Translation: X:215.13, Y:18.58, Z:55.96
[[ 9.58293990e-01 -1.35174867e-01 -2.51794327e-01  2.15128976e+02]
 [ 1.34337712e-01  9.90721574e-01 -2.05947252e-02  1.85808845e+01]
 [ 2.52241961e-01 -1.40896724e-02  9.67561613e-01  5.59583796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.540714057 meters
Centerline goodness : 0.997347 with order 1
Centerline is valid?  [True, True]
Translation: X:215.19, Y:18.59, Z:55.97
[[ 9.59401930e-01 -1.27072586e-01 -2.51794550e-01  2.15186454e+02]
 [ 1.25962165e-01  9.91821306e-01 -2.05920016e-02  1.85878563e+01]
 [ 2.52351878e-01 -1.19605807e-02  9.67561613e-01  5.59742527e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.600714057 meters
Centerline goodness : 0.997995 with order 1
Centerline is valid?  [True, True]
Translation: X:215.24, Y:18.59, Z:55.99
[[ 9.59692547e-01 -1.24858887e-01 -2.51794507e-01  2.15243904e+02]
 [ 1.23673539e-01  9.92109270e-01 -2.05925288e-02  1.85929116e+01]
 [ 2.52378824e-01 -1.13778212e-02  9.67561613e-01  5.59896291e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.660714057 meters
Centerline goodness : 0.998369 with order 1
Centerline is valid?  [True, True]
Translation: X:215.30, Y:18.60, Z:56.01
[[ 9.59499786e-01 -1.26331658e-01 -2.51794507e-01  2.15303801e+02]
 [ 1.25196064e-01  9.91918290e-01 -2.05925288e-02  1.85961514e+01]
 [ 2.52361065e-01 -1.17651543e-02  9.67561613e-01  5.60053904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.720714057 meters
Centerline goodness : 0.997863 with order 1
Centerline is valid?  [True, True]
Translation: X:215.36, Y:18.60, Z:56.02
[[ 9.59047194e-01 -1.29720554e-01 -2.51795666e-01  2.15361547e+02]
 [ 1.28703208e-01  9.91469624e-01 -2.05783456e-02  1.85969195e+01]
 [ 2.52317189e-01 -1.26713054e-02  9.67561613e-01  5.60188156e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.780714057 meters
Centerline goodness : 0.997798 with order 1
Centerline is valid?  [True, True]
Translation: X:215.42, Y:18.60, Z:56.03
[[ 9.58819035e-01 -1.31394020e-01 -2.51796880e-01  2.15421033e+02]
 [ 1.30437151e-01  9.91243307e-01 -2.05634791e-02  1.85973643e+01]
 [ 2.52293890e-01 -1.31270124e-02  9.67561613e-01  5.60332854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.840714057 meters
Centerline goodness : 0.997895 with order 1
Centerline is valid?  [True, True]
Translation: X:215.48, Y:18.60, Z:56.05
[[ 9.58820953e-01 -1.31378546e-01 -2.51797653e-01  2.15481359e+02]
 [ 1.30423634e-01  9.91245282e-01 -2.05540076e-02  1.85996385e+01]
 [ 2.52293591e-01 -1.31327517e-02  9.67561613e-01  5.60485775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.90071405700002 meters
Centerline goodness : 0.997433 with order 1
Centerline is valid?  [True, True]
Translation: X:215.54, Y:18.60, Z:56.07
[[ 9.58831445e-01 -1.31299044e-01 -2.51799169e-01  2.15539912e+02]
 [ 1.30346310e-01  9.91255838e-01 -2.05354263e-02  1.86013474e+01]
 [ 2.52293678e-01 -1.31310800e-02  9.67561613e-01  5.60652717e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.96071405700002 meters
Centerline goodness : 0.997564 with order 1
Centerline is valid?  [True, True]
Translation: X:215.60, Y:18.60, Z:56.08
[[ 9.59071251e-01 -1.29535025e-01 -2.51799549e-01  2.15599499e+02]
 [ 1.28523868e-01  9.91493874e-01 -2.05307616e-02  1.86008917e+01]
 [ 2.52317163e-01 -1.26717889e-02  9.67561613e-01  5.60826478e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.02071405700002 meters
Centerline goodness : 0.997433 with order 1
Centerline is valid?  [True, True]
Translation: X:215.66, Y:18.60, Z:56.10
[[ 9.59193918e-01 -1.28621338e-01 -2.51800673e-01  2.15657109e+02]
 [ 1.27582910e-01  9.91615679e-01 -2.05169623e-02  1.86024700e+01]
 [ 2.52328415e-01 -1.24457171e-02  9.67561613e-01  5.60974155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.08071405700002 meters
Centerline goodness : 0.997575 with order 1
Centerline is valid?  [True, True]
Translation: X:215.71, Y:18.60, Z:56.11
[[ 9.59119619e-01 -1.29174932e-01 -2.51800304e-01  2.15714819e+02]
 [ 1.28154030e-01  9.91541937e-01 -2.05214914e-02  1.86014189e+01]
 [ 2.52321424e-01 -1.25866588e-02  9.67561613e-01  5.61107543e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.140714057 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:215.77, Y:18.60, Z:56.12
[[ 9.58852645e-01 -1.31143982e-01 -2.51799249e-01  2.15772863e+02]
 [ 1.30186263e-01  9.91276891e-01 -2.05344365e-02  1.85981857e+01]
 [ 2.52295744e-01 -1.30913045e-02  9.67561613e-01  5.61234283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.200714057 meters
Centerline goodness : 0.998385 with order 1
Centerline is valid?  [True, True]
Translation: X:215.83, Y:18.59, Z:56.14
[[ 9.58706732e-01 -1.32207742e-01 -2.51798560e-01  2.15831274e+02]
 [ 1.31283787e-01  9.91131958e-01 -2.05428807e-02  1.85947857e+01]
 [ 2.52281527e-01 -1.33624704e-02  9.67561613e-01  5.61398567e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.260714057 meters
Centerline goodness : 0.998228 with order 1
Centerline is valid?  [True, True]
Translation: X:215.89, Y:18.60, Z:56.15
[[ 9.58680502e-01 -1.32397725e-01 -2.51798607e-01  2.15889407e+02]
 [ 1.31480347e-01  9.91105914e-01 -2.05423033e-02  1.85951326e+01]
 [ 2.52278843e-01 -1.34130625e-02  9.67561613e-01  5.61546924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.320714057 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:215.95, Y:18.59, Z:56.17
[[ 9.58984990e-01 -1.30175389e-01 -2.51797849e-01  2.15948116e+02]
 [ 1.29180430e-01  9.91408114e-01 -2.05515827e-02  1.85943534e+01]
 [ 2.52309741e-01 -1.28186950e-02  9.67561613e-01  5.61692169e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.380714057 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:216.00, Y:18.59, Z:56.18
[[ 9.59339686e-01 -1.27535885e-01 -2.51797467e-01  2.16004369e+02]
 [ 1.26450479e-01  9.91759909e-01 -2.05562619e-02  1.85939208e+01]
 [ 2.52344294e-01 -1.21194726e-02  9.67561613e-01  5.61838571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.440714057 meters
Centerline goodness : 0.997864 with order 1
Centerline is valid?  [True, True]
Translation: X:216.06, Y:18.59, Z:56.20
[[ 9.59364551e-01 -1.27352429e-01 -2.51795585e-01  2.16061771e+02]
 [ 1.26254791e-01  9.91784362e-01 -2.05792964e-02  1.85935870e+01]
 [ 2.52347747e-01 -1.20473516e-02  9.67561614e-01  5.62015149e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.500714057 meters
Centerline goodness : 0.998251 with order 1
Centerline is valid?  [True, True]
Translation: X:216.12, Y:18.59, Z:56.22
[[ 9.59208357e-01 -1.28524331e-01 -2.51795203e-01  2.16119868e+02]
 [ 1.27465078e-01  9.91629444e-01 -2.05839626e-02  1.85939611e+01]
 [ 2.52333078e-01 -1.23507863e-02  9.67561614e-01  5.62159502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.560714057 meters
Centerline goodness : 0.998614 with order 1
Centerline is valid?  [True, True]
Translation: X:216.18, Y:18.59, Z:56.23
[[ 9.58601879e-01 -1.32972935e-01 -2.51794828e-01  2.16177561e+02]
 [ 1.32062900e-01  9.91027498e-01 -2.05885527e-02  1.85921476e+01]
 [ 2.52273319e-01 -1.35165300e-02  9.67561614e-01  5.62299815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.62071405700001 meters
Centerline goodness : 0.998221 with order 1
Centerline is valid?  [True, True]
Translation: X:216.24, Y:18.59, Z:56.25
[[ 9.57410061e-01 -1.41299805e-01 -2.51794243e-01  2.16236072e+02]
 [ 1.40669766e-01  9.89842328e-01 -2.05957022e-02  1.85906456e+01]
 [ 2.52146769e-01 -1.57013048e-02  9.67561614e-01  5.62463405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.68071405700002 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:216.29, Y:18.59, Z:56.26
[[ 9.56003624e-01 -1.50522088e-01 -2.51793907e-01  2.16294575e+02]
 [ 1.50203626e-01  9.88440447e-01 -2.05998178e-02  1.85886013e+01]
 [ 2.51984009e-01 -1.81268574e-02  9.67561614e-01  5.62616064e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.74071405700002 meters
Centerline goodness : 0.997812 with order 1
Centerline is valid?  [True, True]
Translation: X:216.35, Y:18.59, Z:56.28
[[ 9.54985431e-01 -1.56852895e-01 -2.51793557e-01  2.16353486e+02]
 [ 1.56748236e-01  9.87423649e-01 -2.06040868e-02  1.85880588e+01]
 [ 2.51858724e-01 -1.97915932e-02  9.67561614e-01  5.62760889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.80071405700002 meters
Centerline goodness : 0.998327 with order 1
Centerline is valid?  [True, True]
Translation: X:216.41, Y:18.59, Z:56.29
[[ 9.54877044e-01 -1.57511541e-01 -2.51793456e-01  2.16410172e+02]
 [ 1.57428932e-01  9.87315326e-01 -2.06053195e-02  1.85904471e+01]
 [ 2.51845114e-01 -1.99640284e-02  9.67561614e-01  5.62894569e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.860714057 meters
Centerline goodness : 0.998299 with order 1
Centerline is valid?  [True, True]
Translation: X:216.47, Y:18.59, Z:56.30
[[ 9.55389231e-01 -1.54377452e-01 -2.51791618e-01  2.16468537e+02]
 [ 1.54182525e-01  9.87827032e-01 -2.06277560e-02  1.85938235e+01]
 [ 2.51911027e-01 -1.91143316e-02  9.67561614e-01  5.63040163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.920714057 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:216.53, Y:18.60, Z:56.32
[[ 9.56374604e-01 -1.48150736e-01 -2.51791532e-01  2.16525736e+02]
 [ 1.47744236e-01  9.88810443e-01 -2.06288117e-02  1.85995827e+01]
 [ 2.52030270e-01 -1.74718759e-02  9.67561614e-01  5.63199237e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.980714057 meters
Centerline goodness : 0.998522 with order 1
Centerline is valid?  [True, True]
Translation: X:216.58, Y:18.61, Z:56.34
[[ 9.57329438e-01 -1.41850639e-01 -2.51791070e-01  2.16582521e+02]
 [ 1.41229111e-01  9.89761869e-01 -2.06344428e-02  1.86067263e+01]
 [ 2.52140209e-01 -1.58062695e-02  9.67561614e-01  5.63367919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.040714057 meters
Centerline goodness : 0.998956 with order 1
Centerline is valid?  [True, True]
Translation: X:216.64, Y:18.61, Z:56.35
[[ 9.57711452e-01 -1.39249218e-01 -2.51790450e-01  2.16640114e+02]
 [ 1.38537597e-01  9.90142031e-01 -2.06420098e-02  1.86129483e+01]
 [ 2.52182691e-01 -1.51133547e-02  9.67561614e-01  5.63529477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.100714057 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:216.70, Y:18.62, Z:56.37
[[ 9.57337248e-01 -1.41799140e-01 -2.51790384e-01  2.16698195e+02]
 [ 1.41173675e-01  9.89769603e-01 -2.06428124e-02  1.86182898e+01]
 [ 2.52141602e-01 -1.57840406e-02  9.67561614e-01  5.63692319e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.160714057 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:216.76, Y:18.62, Z:56.38
[[ 9.56894058e-01 -1.44759954e-01 -2.51790225e-01  2.16755095e+02]
 [ 1.44234309e-01  9.89328185e-01 -2.06447613e-02  1.86237668e+01]
 [ 2.52091701e-01 -1.65619397e-02  9.67561614e-01  5.63841435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.220714057 meters
Centerline goodness : 0.998583 with order 1
Centerline is valid?  [True, True]
Translation: X:216.81, Y:18.63, Z:56.40
[[ 9.56145277e-01 -1.49634648e-01 -2.51784989e-01  2.16812291e+02]
 [ 1.49257621e-01  9.88581470e-01 -2.07084240e-02  1.86296551e+01]
 [ 2.52008672e-01 -1.77805668e-02  9.67561616e-01  5.63980304e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.280714057 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:216.87, Y:18.63, Z:56.41
[[ 9.55542508e-01 -1.53437916e-01 -2.51784277e-01  2.16870926e+02]
 [ 1.53187686e-01  9.87979927e-01 -2.07170777e-02  1.86345404e+01]
 [ 2.51936597e-01 -1.87742025e-02  9.67561616e-01  5.64116110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.340714057 meters
Centerline goodness : 0.998577 with order 1
Centerline is valid?  [True, True]
Translation: X:216.93, Y:18.64, Z:56.43
[[ 9.55111993e-01 -1.56095332e-01 -2.51784288e-01  2.16929197e+02]
 [ 1.55935369e-01  9.87549983e-01 -2.07169445e-02  1.86414737e+01]
 [ 2.51883388e-01 -1.94750738e-02  9.67561616e-01  5.64256893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.40071405700002 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:216.99, Y:18.65, Z:56.44
[[ 9.55328813e-01 -1.54763418e-01 -2.51783922e-01  2.16985447e+02]
 [ 1.54557059e-01  9.87766541e-01 -2.07213968e-02  1.86496851e+01]
 [ 2.51910647e-01 -1.91192350e-02  9.67561616e-01  5.64392184e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.46071405700002 meters
Centerline goodness : 0.998705 with order 1
Centerline is valid?  [True, True]
Translation: X:217.04, Y:18.66, Z:56.46
[[ 9.55680665e-01 -1.52584000e-01 -2.51778850e-01  2.17042904e+02]
 [ 1.52287553e-01  9.88117693e-01 -2.07828430e-02  1.86569743e+01]
 [ 2.51958266e-01 -1.84810236e-02  9.67561618e-01  5.64556736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.52071405700002 meters
Centerline goodness : 0.998726 with order 1
Centerline is valid?  [True, True]
Translation: X:217.10, Y:18.67, Z:56.47
[[ 9.56580798e-01 -1.46835369e-01 -2.51778776e-01  2.17100786e+02]
 [ 1.46343670e-01  9.89015453e-01 -2.07837374e-02  1.86663204e+01]
 [ 2.52064888e-01 -1.69649061e-02  9.67561618e-01  5.64710903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.58071405700002 meters
Centerline goodness : 0.999014 with order 1
Centerline is valid?  [True, True]
Translation: X:217.16, Y:18.68, Z:56.49
[[ 9.57879706e-01 -1.38109898e-01 -2.51777926e-01  2.17157550e+02]
 [ 1.37319877e-01  9.90308467e-01 -2.07940295e-02  1.86763206e+01]
 [ 2.52209673e-01 -1.46559350e-02  9.67561618e-01  5.64887415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.640714057 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:217.22, Y:18.69, Z:56.51
[[ 9.58921031e-01 -1.30684800e-01 -2.51777560e-01  2.17215180e+02]
 [ 1.29642408e-01  9.91342660e-01 -2.07984638e-02  1.86856280e+01]
 [ 2.52315879e-01 -1.26969646e-02  9.67561618e-01  5.65059735e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.700714057 meters
Centerline goodness : 0.998873 with order 1
Centerline is valid?  [True, True]
Translation: X:217.27, Y:18.69, Z:56.52
[[ 9.59303812e-01 -1.27844437e-01 -2.51777670e-01  2.17272407e+02]
 [ 1.26706384e-01  9.91722225e-01 -2.07971259e-02  1.86939481e+01]
 [ 2.52352308e-01 -1.19510761e-02  9.67561618e-01  5.65213506e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.760714057 meters
Centerline goodness : 0.999301 with order 1
Centerline is valid?  [True, True]
Translation: X:217.33, Y:18.70, Z:56.54
[[ 9.58884728e-01 -1.30952189e-01 -2.51776891e-01  2.17328587e+02]
 [ 1.29916718e-01  9.91306579e-01 -2.08065547e-02  1.87011319e+01]
 [ 2.52312753e-01 -1.27589399e-02  9.67561618e-01  5.65365383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.820714057 meters
Centerline goodness : 0.999324 with order 1
Centerline is valid?  [True, True]
Translation: X:217.39, Y:18.71, Z:56.55
[[ 9.58631709e-01 -1.32793908e-01 -2.51775741e-01  2.17386255e+02]
 [ 1.31817077e-01  9.91055380e-01 -2.08204621e-02  1.87063508e+01]
 [ 2.52288533e-01 -1.32291871e-02  9.67561618e-01  5.65516754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.880714057 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:217.44, Y:18.71, Z:56.57
[[ 9.57870588e-01 -1.38177798e-01 -2.51775360e-01  2.17444032e+02]
 [ 1.37381945e-01  9.90299206e-01 -2.08250685e-02  1.87129547e+01]
 [ 2.52210501e-01 -1.46416682e-02  9.67561618e-01  5.65671177e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.940714057 meters
Centerline goodness : 0.999322 with order 1
Centerline is valid?  [True, True]
Translation: X:217.50, Y:18.72, Z:56.58
[[ 9.57135140e-01 -1.43184045e-01 -2.51775005e-01  2.17502302e+02]
 [ 1.42556628e-01  9.89567454e-01 -2.08293617e-02  1.87192076e+01]
 [ 2.52130783e-01 -1.59556818e-02  9.67561618e-01  5.65805322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.000714057 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:217.56, Y:18.72, Z:56.59
[[ 9.56954530e-01 -1.44386758e-01 -2.51774683e-01  2.17559966e+02]
 [ 1.43799080e-01  9.89387588e-01 -2.08332520e-02  1.87242297e+01]
 [ 2.52110792e-01 -1.62684930e-02  9.67561618e-01  5.65928356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.060714057 meters
Centerline goodness : 0.999096 with order 1
Centerline is valid?  [True, True]
Translation: X:217.62, Y:18.73, Z:56.61
[[ 9.57102093e-01 -1.43406677e-01 -2.51773925e-01  2.17617898e+02]
 [ 1.42783385e-01  9.89534486e-01 -2.08424113e-02  1.87314047e+01]
 [ 2.52127922e-01 -1.60008179e-02  9.67561618e-01  5.66075667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.12071405700001 meters
Centerline goodness : 0.999183 with order 1
Centerline is valid?  [True, True]
Translation: X:217.68, Y:18.74, Z:56.62
[[ 9.57996580e-01 -1.37304889e-01 -2.51773548e-01  2.17675762e+02]
 [ 1.36473752e-01  9.90424313e-01 -2.08469588e-02  1.87402160e+01]
 [ 2.52225033e-01 -1.43891656e-02  9.67561618e-01  5.66231726e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.18071405700002 meters
Centerline goodness : 0.999318 with order 1
Centerline is valid?  [True, True]
Translation: X:217.73, Y:18.75, Z:56.64
[[ 9.58750069e-01 -1.31941121e-01 -2.51773403e-01  2.17732830e+02]
 [ 1.30928050e-01  9.91172627e-01 -2.08487110e-02  1.87478787e+01]
 [ 2.52301708e-01 -1.29754976e-02  9.67561618e-01  5.66399004e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.24071405700002 meters
Centerline goodness : 0.999408 with order 1
Centerline is valid?  [True, True]
Translation: X:217.79, Y:18.75, Z:56.66
[[ 9.58860673e-01 -1.31136333e-01 -2.51772659e-01  2.17789903e+02]
 [ 1.30093694e-01  9.91282294e-01 -2.08576958e-02  1.87538837e+01]
 [ 2.52312981e-01 -1.27544111e-02  9.67561618e-01  5.66573082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.30071405700002 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:217.85, Y:18.76, Z:56.67
[[ 9.58446468e-01 -1.34130852e-01 -2.51772282e-01  2.17848731e+02]
 [ 1.33188302e-01  9.90871154e-01 -2.08622414e-02  1.87584022e+01]
 [ 2.52272162e-01 -1.35377813e-02  9.67561618e-01  5.66717859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.36071405700002 meters
Centerline goodness : 0.999546 with order 1
Centerline is valid?  [True, True]
Translation: X:217.91, Y:18.76, Z:56.68
[[ 9.57575355e-01 -1.40214682e-01 -2.51772282e-01  2.17907341e+02]
 [ 1.39478062e-01  9.90005372e-01 -2.08622414e-02  1.87634927e+01]
 [ 2.52181105e-01 -1.51395418e-02  9.67561618e-01  5.66849204e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.420714057 meters
Centerline goodness : 0.999161 with order 1
Centerline is valid?  [True, True]
Translation: X:217.96, Y:18.77, Z:56.70
[[ 9.56608438e-01 -1.46666452e-01 -2.51772216e-01  2.17964167e+02]
 [ 1.46148248e-01  9.89042680e-01 -2.08630388e-02  1.87696887e+01]
 [ 2.52073375e-01 -1.68383092e-02  9.67561618e-01  5.66990260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.480714057 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:218.02, Y:18.77, Z:56.71
[[ 9.55645866e-01 -1.52813916e-01 -2.51771496e-01  2.18022992e+02]
 [ 1.52501981e-01  9.88082748e-01 -2.08717307e-02  1.87739797e+01]
 [ 2.51960562e-01 -1.84496686e-02  9.67561618e-01  5.67132836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.540714057 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:218.08, Y:18.78, Z:56.73
[[ 9.54728758e-01 -1.58442955e-01 -2.51771383e-01  2.18081217e+02]
 [ 1.58321822e-01  9.87166913e-01 -2.08730897e-02  1.87792452e+01]
 [ 2.51847573e-01 -1.99327651e-02  9.67561618e-01  5.67290749e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.600714057 meters
Centerline goodness : 0.999368 with order 1
Centerline is valid?  [True, True]
Translation: X:218.14, Y:18.78, Z:56.75
[[ 9.53977931e-01 -1.62902523e-01 -2.51771476e-01  2.18139695e+02]
 [ 1.62933262e-01  9.86416298e-01 -2.08719708e-02  1.87840847e+01]
 [ 2.51751584e-01 -2.11105484e-02  9.67561618e-01  5.67453242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.660714057 meters
Centerline goodness : 0.999208 with order 1
Centerline is valid?  [True, True]
Translation: X:218.20, Y:18.79, Z:56.76
[[ 9.53606122e-01 -1.65064992e-01 -2.51771549e-01  2.18198655e+02]
 [ 1.65169509e-01  9.86044335e-01 -2.08710829e-02  1.87894510e+01]
 [ 2.51702995e-01 -2.16821909e-02  9.67561618e-01  5.67597169e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.720714057 meters
Centerline goodness : 0.999209 with order 1
Centerline is valid?  [True, True]
Translation: X:218.26, Y:18.80, Z:56.78
[[ 9.53128897e-01 -1.67796933e-01 -2.51772704e-01  2.18256487e+02]
 [ 1.67998058e-01  9.85566655e-01 -2.08571400e-02  1.87956548e+01]
 [ 2.51638546e-01 -2.24177825e-02  9.67561618e-01  5.67771348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.780714057 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:218.32, Y:18.80, Z:56.79
[[ 9.52800846e-01 -1.69649920e-01 -2.51772619e-01  2.18316995e+02]
 [ 1.69913848e-01  9.85238154e-01 -2.08581682e-02  1.88005472e+01]
 [ 2.51594577e-01 -2.29059742e-02  9.67561618e-01  5.67928419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.840714057 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:218.38, Y:18.81, Z:56.80
[[ 9.52310302e-01 -1.72379415e-01 -2.51774552e-01  2.18376273e+02]
 [ 1.72742411e-01  9.84746653e-01 -2.08348072e-02  1.88054720e+01]
 [ 2.51525640e-01 -2.36509417e-02  9.67561618e-01  5.68049937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.90071405700002 meters
Centerline goodness : 0.999138 with order 1
Centerline is valid?  [True, True]
Translation: X:218.44, Y:18.81, Z:56.82
[[ 9.52164313e-01 -1.73183766e-01 -2.51774709e-01  2.18436353e+02]
 [ 1.73574656e-01  9.84600339e-01 -2.08329197e-02  1.88102358e+01]
 [ 2.51505387e-01 -2.38653457e-02  9.67561618e-01  5.68191208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.96071405700002 meters
Centerline goodness : 0.998936 with order 1
Centerline is valid?  [True, True]
Translation: X:218.49, Y:18.82, Z:56.84
[[ 9.52547326e-01 -1.71062254e-01 -2.51776282e-01  2.18494823e+02]
 [ 1.71385873e-01  9.84984093e-01 -2.08138909e-02  1.88163971e+01]
 [ 2.51556104e-01 -2.33246818e-02  9.67561619e-01  5.68350949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.02071405700002 meters
Centerline goodness : 0.999048 with order 1
Centerline is valid?  [True, True]
Translation: X:218.55, Y:18.82, Z:56.85
[[ 9.53439074e-01 -1.66019397e-01 -2.51776669e-01  2.18552240e+02]
 [ 1.66172599e-01  9.85877094e-01 -2.08092046e-02  1.88236483e+01]
 [ 2.51675582e-01 -2.19980747e-02  9.67561619e-01  5.68515278e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.08071405700002 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:218.61, Y:18.83, Z:56.87
[[ 9.54410134e-01 -1.60343037e-01 -2.51776500e-01  2.18610580e+02]
 [ 1.60302678e-01  9.86848491e-01 -2.08112482e-02  1.88295552e+01]
 [ 2.51802198e-01 -2.04979810e-02  9.67561619e-01  5.68689484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.140714057 meters
Centerline goodness : 0.999457 with order 1
Centerline is valid?  [True, True]
Translation: X:218.67, Y:18.83, Z:56.89
[[ 9.55184174e-01 -1.55665052e-01 -2.51776857e-01  2.18668439e+02]
 [ 1.55466896e-01  9.87621950e-01 -2.08069306e-02  1.88347134e+01]
 [ 2.51899262e-01 -1.92685157e-02  9.67561619e-01  5.68851543e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.200714057 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:218.73, Y:18.84, Z:56.90
[[ 9.55571739e-01 -1.53268021e-01 -2.51776816e-01  2.18727378e+02]
 [ 1.52988351e-01  9.88008915e-01 -2.08074208e-02  1.88397293e+01]
 [ 2.51946851e-01 -1.86359367e-02  9.67561619e-01  5.69004468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.260714057 meters
Centerline goodness : 0.999093 with order 1
Centerline is valid?  [True, True]
Translation: X:218.79, Y:18.85, Z:56.91
[[ 9.56315970e-01 -1.48552374e-01 -2.51777595e-01  2.18786191e+02]
 [ 1.48115167e-01  9.88751405e-01 -2.07979923e-02  1.88450114e+01]
 [ 2.52035042e-01 -1.74026284e-02  9.67561619e-01  5.69149915e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.320714057 meters
Centerline goodness : 0.999411 with order 1
Centerline is valid?  [True, True]
Translation: X:218.85, Y:18.85, Z:56.93
[[ 9.57266002e-01 -1.42301220e-01 -2.51778007e-01  2.18845066e+02]
 [ 1.41653416e-01  9.89697914e-01 -2.07930051e-02  1.88516945e+01]
 [ 2.52143038e-01 -1.57607778e-02  9.67561619e-01  5.69305982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.380714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:218.90, Y:18.86, Z:56.95
[[ 9.58088361e-01 -1.36654071e-01 -2.51778389e-01  2.18902310e+02]
 [ 1.35816251e-01  9.90515921e-01 -2.07883780e-02  1.88574035e+01]
 [ 2.52231320e-01 -1.42784938e-02  9.67561619e-01  5.69457267e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.440714057 meters
Centerline goodness : 0.999024 with order 1
Centerline is valid?  [True, True]
Translation: X:218.96, Y:18.86, Z:56.96
[[ 9.58471552e-01 -1.33940796e-01 -2.51777974e-01  2.18960371e+02]
 [ 1.33009846e-01  9.90896571e-01 -2.07934097e-02  1.88626829e+01]
 [ 2.52271017e-01 -1.35590579e-02  9.67561619e-01  5.69603611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.500714057 meters
Centerline goodness : 0.999112 with order 1
Centerline is valid?  [True, True]
Translation: X:219.02, Y:18.87, Z:56.98
[[ 9.58312631e-01 -1.35073545e-01 -2.51777758e-01  2.19018582e+02]
 [ 1.34180235e-01  9.90738709e-01 -2.07960235e-02  1.88675762e+01]
 [ 2.52254963e-01 -1.38545067e-02  9.67561619e-01  5.69752132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.560714057 meters
Centerline goodness : 0.999293 with order 1
Centerline is valid?  [True, True]
Translation: X:219.08, Y:18.87, Z:56.99
[[ 9.57835122e-01 -1.38419746e-01 -2.51777386e-01  2.19075808e+02]
 [ 1.37638514e-01  9.90264095e-01 -2.08005246e-02  1.88700501e+01]
 [ 2.52205309e-01 -1.47307922e-02  9.67561619e-01  5.69896373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.62071405700001 meters
Centerline goodness : 0.999111 with order 1
Centerline is valid?  [True, True]
Translation: X:219.13, Y:18.87, Z:57.01
[[ 9.57152358e-01 -1.43066644e-01 -2.51776286e-01  2.19133200e+02]
 [ 1.42439318e-01  9.89584673e-01 -2.08138288e-02  1.88742657e+01]
 [ 2.52131718e-01 -1.59408372e-02  9.67561619e-01  5.70056902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.68071405700002 meters
Centerline goodness : 0.998998 with order 1
Centerline is valid?  [True, True]
Translation: X:219.19, Y:18.88, Z:57.02
[[ 9.56629414e-01 -1.46523138e-01 -2.51775962e-01  2.19191492e+02]
 [ 1.46011940e-01  9.89063767e-01 -2.08177519e-02  1.88782175e+01]
 [ 2.52072763e-01 -1.68474229e-02  9.67561619e-01  5.70246095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.74071405700002 meters
Centerline goodness : 0.999022 with order 1
Centerline is valid?  [True, True]
Translation: X:219.25, Y:18.88, Z:57.04
[[ 9.56554063e-01 -1.47012966e-01 -2.51776712e-01  2.19250730e+02]
 [ 1.46520757e-01  9.88988709e-01 -2.08086697e-02  1.88826597e+01]
 [ 2.52063470e-01 -1.69858969e-02  9.67561619e-01  5.70408840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.80071405700002 meters
Centerline goodness : 0.998574 with order 1
Centerline is valid?  [True, True]
Translation: X:219.31, Y:18.89, Z:57.06
[[ 9.56307619e-01 -1.48606359e-01 -2.51777459e-01  2.19310566e+02]
 [ 1.48170554e-01  9.88743072e-01 -2.07996311e-02  1.88865571e+01]
 [ 2.52034176e-01 -1.74151598e-02  9.67561619e-01  5.70575324e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.86071405700002 meters
Centerline goodness : 0.998460 with order 1
Centerline is valid?  [True, True]
Translation: X:219.37, Y:18.89, Z:57.07
[[ 9.56154155e-01 -1.49587986e-01 -2.51779004e-01  2.19370450e+02]
 [ 1.49190382e-01  9.88590099e-01 -2.07809159e-02  1.88904825e+01]
 [ 2.52014806e-01 -1.76932468e-02  9.67561619e-01  5.70727600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.920714057 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:219.43, Y:18.89, Z:57.09
[[ 9.56137922e-01 -1.49689041e-01 -2.51780588e-01  2.19429192e+02]
 [ 1.49299900e-01  9.88573969e-01 -2.07616989e-02  1.88947075e+01]
 [ 2.52011534e-01 -1.77397690e-02  9.67561619e-01  5.70860879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.980714057 meters
Centerline goodness : 0.998435 with order 1
Centerline is valid?  [True, True]
Translation: X:219.49, Y:18.90, Z:57.10
[[ 9.56068281e-01 -1.50132546e-01 -2.51780976e-01  2.19487466e+02]
 [ 1.49759684e-01  9.88504519e-01 -2.07569954e-02  1.89003426e+01]
 [ 2.52002933e-01 -1.78615344e-02  9.67561619e-01  5.71013807e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.040714057 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:219.55, Y:18.91, Z:57.12
[[ 9.56113149e-01 -1.49846541e-01 -2.51780976e-01  2.19546904e+02]
 [ 1.49463976e-01  9.88549274e-01 -2.07569954e-02  1.89058924e+01]
 [ 2.52008265e-01 -1.77861496e-02  9.67561619e-01  5.71180397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.100714057 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:219.61, Y:18.91, Z:57.13
[[ 9.56167963e-01 -1.49493793e-01 -2.51782512e-01  2.19606218e+02]
 [ 1.49104145e-01  9.88604003e-01 -2.07383547e-02  1.89114924e+01]
 [ 2.52013454e-01 -1.77124659e-02  9.67561619e-01  5.71317229e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.160714057 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:219.67, Y:18.92, Z:57.15
[[ 9.56195779e-01 -1.49313859e-01 -2.51783645e-01  2.19665178e+02]
 [ 1.48921715e-01  9.88631789e-01 -2.07245875e-02  1.89175217e+01]
 [ 2.52015783e-01 -1.76792890e-02  9.67561620e-01  5.71498503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.220714057 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:219.72, Y:18.92, Z:57.17
[[ 9.56145970e-01 -1.49629908e-01 -2.51785176e-01  2.19724975e+02]
 [ 1.49253362e-01  9.88582165e-01 -2.07059741e-02  1.89246644e+01]
 [ 2.52008567e-01 -1.77818503e-02  9.67561620e-01  5.71673354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.280714057 meters
Centerline goodness : 0.999019 with order 1
Centerline is valid?  [True, True]
Translation: X:219.78, Y:18.93, Z:57.18
[[ 9.56102417e-01 -1.49905363e-01 -2.51786718e-01  2.19784897e+02]
 [ 1.49543080e-01  9.88538774e-01 -2.06872047e-02  1.89308488e+01]
 [ 2.52002056e-01 -1.78738750e-02  9.67561620e-01  5.71836485e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.340714057 meters
Centerline goodness : 0.998655 with order 1
Centerline is valid?  [True, True]
Translation: X:219.84, Y:18.94, Z:57.20
[[ 9.56293486e-01 -1.48679024e-01 -2.51788238e-01  2.19841857e+02]
 [ 1.48279992e-01  9.88729411e-01 -2.06686902e-02  1.89389034e+01]
 [ 2.52023437e-01 -1.75698242e-02  9.67561620e-01  5.72002149e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.40071405700002 meters
Centerline goodness : 0.998811 with order 1
Centerline is valid?  [True, True]
Translation: X:219.90, Y:18.95, Z:57.22
[[ 9.56823454e-01 -1.45229905e-01 -2.51787914e-01  2.19899406e+02]
 [ 1.44712887e-01  9.89257713e-01 -2.06726331e-02  1.89473278e+01]
 [ 2.52085420e-01 -1.66568956e-02  9.67561620e-01  5.72152503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.46071405700002 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:219.96, Y:18.95, Z:57.23
[[ 9.57132753e-01 -1.43177608e-01 -2.51787741e-01  2.19957908e+02]
 [ 1.42590482e-01  9.89565819e-01 -2.06747415e-02  1.89546273e+01]
 [ 2.52120702e-01 -1.61140630e-02  9.67561620e-01  5.72302934e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.52071405700002 meters
Centerline goodness : 0.998486 with order 1
Centerline is valid?  [True, True]
Translation: X:220.02, Y:18.96, Z:57.25
[[ 9.57423207e-01 -1.41221002e-01 -2.51788464e-01  2.20016454e+02]
 [ 1.40569894e-01  9.89855052e-01 -2.06659308e-02  1.89630736e+01]
 [ 2.52152547e-01 -1.56078359e-02  9.67561620e-01  5.72457383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.58071405700002 meters
Centerline goodness : 0.998317 with order 1
Centerline is valid?  [True, True]
Translation: X:220.07, Y:18.97, Z:57.26
[[ 9.57209554e-01 -1.42660724e-01 -2.51789174e-01  2.20074628e+02]
 [ 1.42060658e-01  9.89642383e-01 -2.06572786e-02  1.89714293e+01]
 [ 2.52128220e-01 -1.59959914e-02  9.67561620e-01  5.72599035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.640714057 meters
Centerline goodness : 0.998407 with order 1
Centerline is valid?  [True, True]
Translation: X:220.13, Y:18.98, Z:57.27
[[ 9.56697220e-01 -1.46056979e-01 -2.51789174e-01  2.20131836e+02]
 [ 1.45572022e-01  9.89131975e-01 -2.06572786e-02  1.89786546e+01]
 [ 2.52069862e-01 -1.68906982e-02  9.67561620e-01  5.72743483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.700714057 meters
Centerline goodness : 0.997708 with order 1
Centerline is valid?  [True, True]
Translation: X:220.19, Y:18.99, Z:57.29
[[ 9.56246334e-01 -1.48981136e-01 -2.51788741e-01  2.20189325e+02]
 [ 1.48593960e-01  9.88682403e-01 -2.06625522e-02  1.89853935e+01]
 [ 2.52017428e-01 -1.76557964e-02  9.67561620e-01  5.72919065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.760714057 meters
Centerline goodness : 0.997796 with order 1
Centerline is valid?  [True, True]
Translation: X:220.25, Y:18.99, Z:57.31
[[ 9.55671894e-01 -1.52622589e-01 -2.51788753e-01  2.20248591e+02]
 [ 1.52359008e-01  9.88109203e-01 -2.06624118e-02  1.89926486e+01]
 [ 2.51948334e-01 -1.86157983e-02  9.67561620e-01  5.73082919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.820714057 meters
Centerline goodness : 0.997878 with order 1
Centerline is valid?  [True, True]
Translation: X:220.31, Y:19.00, Z:57.32
[[ 9.54986309e-01 -1.56852225e-01 -2.51790646e-01  2.20306693e+02]
 [ 1.56738312e-01  9.87424488e-01 -2.06393125e-02  1.89993563e+01]
 [ 2.51861572e-01 -1.97549800e-02  9.67561620e-01  5.73242702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.880714057 meters
Centerline goodness : 0.998432 with order 1
Centerline is valid?  [True, True]
Translation: X:220.36, Y:19.01, Z:57.34
[[ 9.54527411e-01 -1.59620387e-01 -2.51791093e-01  2.20364091e+02]
 [ 1.59601953e-01  9.86965785e-01 -2.06338563e-02  1.90059191e+01]
 [ 2.51802778e-01 -2.04907688e-02  9.67561620e-01  5.73414370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.940714057 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:220.42, Y:19.01, Z:57.36
[[ 9.54483846e-01 -1.59880578e-01 -2.51791161e-01  2.20424193e+02]
 [ 1.59871204e-01  9.86922224e-01 -2.06330296e-02  1.90110801e+01]
 [ 2.51797113e-01 -2.05602625e-02  9.67561620e-01  5.73573017e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.000714057 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:220.48, Y:19.02, Z:57.37
[[ 9.54809896e-01 -1.57919176e-01 -2.51792764e-01  2.20482474e+02]
 [ 1.57848284e-01  9.87248198e-01 -2.06134528e-02  1.90168109e+01]
 [ 2.51837212e-01 -2.00631270e-02  9.67561621e-01  5.73694331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.060714057 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:220.54, Y:19.02, Z:57.39
[[ 9.55005083e-01 -1.56735035e-01 -2.51792415e-01  2.20541653e+02]
 [ 1.56622802e-01  9.87443268e-01 -2.06177102e-02  1.90217056e+01]
 [ 2.51862243e-01 -1.97464156e-02  9.67561621e-01  5.73859064e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.12071405700001 meters
Centerline goodness : 0.999070 with order 1
Centerline is valid?  [True, True]
Translation: X:220.60, Y:19.03, Z:57.40
[[ 9.54994124e-01 -1.56800579e-01 -2.51793173e-01  2.20600175e+02]
 [ 1.56692999e-01  9.87432325e-01 -2.06084507e-02  1.90250719e+01]
 [ 2.51860135e-01 -1.97732780e-02  9.67561621e-01  5.74011944e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.18071405700002 meters
Centerline goodness : 0.999233 with order 1
Centerline is valid?  [True, True]
Translation: X:220.66, Y:19.03, Z:57.42
[[ 9.54779650e-01 -1.58100687e-01 -2.51793552e-01  2.20658960e+02]
 [ 1.58038486e-01  9.87217970e-01 -2.06038190e-02  1.90283797e+01]
 [ 2.51832597e-01 -2.01209646e-02  9.67561621e-01  5.74150889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.24071405700002 meters
Centerline goodness : 0.999628 with order 1
Centerline is valid?  [True, True]
Translation: X:220.72, Y:19.03, Z:57.43
[[ 9.54593645e-01 -1.59219807e-01 -2.51793618e-01  2.20719258e+02]
 [ 1.59195841e-01  9.87032016e-01 -2.06030178e-02  1.90315603e+01]
 [ 2.51808770e-01 -2.04169869e-02  9.67561621e-01  5.74309075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.30071405700002 meters
Centerline goodness : 0.999189 with order 1
Centerline is valid?  [True, True]
Translation: X:220.78, Y:19.03, Z:57.45
[[ 9.54314382e-01 -1.60882777e-01 -2.51795141e-01  2.20778822e+02]
 [ 1.60920214e-01  9.86752739e-01 -2.05843782e-02  1.90344072e+01]
 [ 2.51771217e-01 -2.08749600e-02  9.67561621e-01  5.74463250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.36071405700002 meters
Centerline goodness : 0.998660 with order 1
Centerline is valid?  [True, True]
Translation: X:220.84, Y:19.04, Z:57.46
[[ 9.54083600e-01 -1.62244569e-01 -2.51795917e-01  2.20837239e+02]
 [ 1.62330789e-01  9.86521865e-01 -2.05748814e-02  1.90355110e+01]
 [ 2.51740341e-01 -2.12440730e-02  9.67561621e-01  5.74588793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.420714057 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:220.90, Y:19.04, Z:57.47
[[ 9.54089512e-01 -1.62210285e-01 -2.51795605e-01  2.20896824e+02]
 [ 1.62294337e-01  9.86527782e-01 -2.05787045e-02  1.90389203e+01]
 [ 2.51741437e-01 -2.12310747e-02  9.67561621e-01  5.74748886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.480714057 meters
Centerline goodness : 0.998407 with order 1
Centerline is valid?  [True, True]
Translation: X:220.96, Y:19.04, Z:57.49
[[ 9.54202885e-01 -1.61540344e-01 -2.51796685e-01  2.20956084e+02]
 [ 1.61605086e-01  9.86641200e-01 -2.05654812e-02  1.90413914e+01]
 [ 2.51755138e-01 -2.10679833e-02  9.67561621e-01  5.74931451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.540714057 meters
Centerline goodness : 0.998641 with order 1
Centerline is valid?  [True, True]
Translation: X:221.02, Y:19.04, Z:57.51
[[ 9.54422340e-01 -1.60236221e-01 -2.51798234e-01  2.21015442e+02]
 [ 1.60261606e-01  9.86860709e-01 -2.05465017e-02  1.90426829e+01]
 [ 2.51782077e-01 -2.07435492e-02  9.67561621e-01  5.75065492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.600714057 meters
Centerline goodness : 0.998737 with order 1
Centerline is valid?  [True, True]
Translation: X:221.07, Y:19.04, Z:57.52
[[ 9.54750154e-01 -1.58270072e-01 -2.51798982e-01  2.21074473e+02]
 [ 1.58231050e-01  9.87188509e-01 -2.05373218e-02  1.90449066e+01]
 [ 2.51823506e-01 -2.02344064e-02  9.67561621e-01  5.75199547e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.660714057 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:221.13, Y:19.05, Z:57.54
[[ 9.54811324e-01 -1.57900064e-01 -2.51799337e-01  2.21132624e+02]
 [ 1.57849611e-01  9.87249663e-01 -2.05329727e-02  1.90466510e+01]
 [ 2.51830968e-01 -2.01413127e-02  9.67561621e-01  5.75370417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.720714057 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:221.19, Y:19.05, Z:57.55
[[ 9.55281732e-01 -1.55028725e-01 -2.51799337e-01  2.21192043e+02]
 [ 1.54880747e-01  9.87719774e-01 -2.05329727e-02  1.90451046e+01]
 [ 2.51890385e-01 -1.93840957e-02  9.67561621e-01  5.75485610e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.780714057 meters
Centerline goodness : 0.998748 with order 1
Centerline is valid?  [True, True]
Translation: X:221.25, Y:19.05, Z:57.57
[[ 9.56068185e-01 -1.50102362e-01 -2.51799337e-01  2.21250317e+02]
 [ 1.49787173e-01  9.88505033e-01 -2.05329727e-02  1.90480921e+01]
 [ 2.51986960e-01 -1.80853890e-02  9.67561621e-01  5.75652743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.840714057 meters
Centerline goodness : 0.998768 with order 1
Centerline is valid?  [True, True]
Translation: X:221.31, Y:19.05, Z:57.58
[[ 9.57754561e-01 -1.38936338e-01 -2.51799314e-01  2.21308785e+02]
 [ 1.38242610e-01  9.90185521e-01 -2.05332577e-02  1.90508726e+01]
 [ 2.52180850e-01 -1.51435730e-02  9.67561621e-01  5.75833470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.90071405700002 meters
Centerline goodness : 0.998588 with order 1
Centerline is valid?  [True, True]
Translation: X:221.37, Y:19.05, Z:57.60
[[ 9.59204329e-01 -1.28545835e-01 -2.51799572e-01  2.21366426e+02]
 [ 1.27501416e-01  9.91625889e-01 -2.05300892e-02  1.90495763e+01]
 [ 2.52330032e-01 -1.24122515e-02  9.67561621e-01  5.75990160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.96071405700002 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:221.42, Y:19.05, Z:57.62
[[ 9.59793959e-01 -1.24066659e-01 -2.51799562e-01  2.21421899e+02]
 [ 1.22870868e-01  9.92210290e-01 -2.05302114e-02  1.90492261e+01]
 [ 2.52385231e-01 -1.12340580e-02  9.67561621e-01  5.76168910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.02071405700002 meters
Centerline goodness : 0.999028 with order 1
Centerline is valid?  [True, True]
Translation: X:221.48, Y:19.05, Z:57.63
[[ 9.59424986e-01 -1.26892007e-01 -2.51797765e-01  2.21481430e+02]
 [ 1.25785897e-01  9.91844501e-01 -2.05522334e-02  1.90457062e+01]
 [ 2.52352143e-01 -1.19542815e-02  9.67561621e-01  5.76347720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.08071405700002 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:221.54, Y:19.04, Z:57.65
[[ 9.57923881e-01 -1.37765510e-01 -2.51798537e-01  2.21540275e+02]
 [ 1.37029649e-01  9.90353912e-01 -2.05427670e-02  1.90388381e+01]
 [ 2.52199751e-01 -1.48254581e-02  9.67561622e-01  5.76498670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.140714057 meters
Centerline goodness : 0.998908 with order 1
Centerline is valid?  [True, True]
Translation: X:221.60, Y:19.03, Z:57.66
[[ 9.55878166e-01 -1.51309613e-01 -2.51798197e-01  2.21598756e+02]
 [ 1.51031729e-01  9.88315355e-01 -2.05469394e-02  1.90316527e+01]
 [ 2.51964974e-01 -1.83891462e-02  9.67561622e-01  5.76648720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.200714057 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:221.66, Y:19.02, Z:57.68
[[ 9.53930188e-01 -1.63140703e-01 -2.51798148e-01  2.21658714e+02]
 [ 1.63264558e-01  9.86368330e-01 -2.05475372e-02  1.90232893e+01]
 [ 2.51717858e-01 -2.15087973e-02  9.67561622e-01  5.76787152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.260714057 meters
Centerline goodness : 0.998641 with order 1
Centerline is valid?  [True, True]
Translation: X:221.72, Y:19.02, Z:57.69
[[ 9.52593318e-01 -1.70773994e-01 -2.51797963e-01  2.21718219e+02]
 [ 1.71156996e-01  9.85029435e-01 -2.05498059e-02  1.90156384e+01]
 [ 2.51537777e-01 -2.35213752e-02  9.67561622e-01  5.76916361e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.320714057 meters
Centerline goodness : 0.998460 with order 1
Centerline is valid?  [True, True]
Translation: X:221.78, Y:19.01, Z:57.71
[[ 9.52302942e-01 -1.72385805e-01 -2.51798014e-01  2.21777101e+02]
 [ 1.72823865e-01  9.84738363e-01 -2.05491726e-02  1.90149980e+01]
 [ 2.51497550e-01 -2.39476685e-02  9.67561622e-01  5.77055750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.380714057 meters
Centerline goodness : 0.998500 with order 1
Centerline is valid?  [True, True]
Translation: X:221.84, Y:19.01, Z:57.72
[[ 9.52802443e-01 -1.69603825e-01 -2.51797633e-01  2.21836557e+02]
 [ 1.69945929e-01  9.85239017e-01 -2.05538445e-02  1.90148379e+01]
 [ 2.51566863e-01 -2.32082295e-02  9.67561622e-01  5.77203232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.440714057 meters
Centerline goodness : 0.998422 with order 1
Centerline is valid?  [True, True]
Translation: X:221.89, Y:19.02, Z:57.74
[[ 9.53854225e-01 -1.63584446e-01 -2.51798028e-01  2.21894883e+02]
 [ 1.63723006e-01  9.86292307e-01 -2.05490067e-02  1.90155394e+01]
 [ 2.51707956e-01 -2.16243732e-02  9.67561622e-01  5.77352785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.500714057 meters
Centerline goodness : 0.998032 with order 1
Centerline is valid?  [True, True]
Translation: X:221.95, Y:19.02, Z:57.75
[[ 9.55257200e-01 -1.55182014e-01 -2.51797983e-01  2.21952857e+02]
 [ 1.55034897e-01  9.87695245e-01 -2.05495518e-02  1.90198936e+01]
 [ 2.51888592e-01 -1.94073670e-02  9.67561622e-01  5.77511905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.560714057 meters
Centerline goodness : 0.998120 with order 1
Centerline is valid?  [True, True]
Translation: X:222.01, Y:19.03, Z:57.77
[[ 9.55711761e-01 -1.52357549e-01 -2.51797950e-01  2.22011668e+02]
 [ 1.52114438e-01  9.88149228e-01 -2.05499551e-02  1.90250167e+01]
 [ 2.51944891e-01 -1.86622701e-02  9.67561622e-01  5.77656064e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.62071405700001 meters
Centerline goodness : 0.997924 with order 1
Centerline is valid?  [True, True]
Translation: X:222.07, Y:19.03, Z:57.78
[[ 9.55992814e-01 -1.50584081e-01 -2.51797882e-01  2.22069066e+02]
 [ 1.50280569e-01  9.88429773e-01 -2.05507886e-02  1.90301535e+01]
 [ 2.51979145e-01 -1.81939228e-02  9.67561622e-01  5.77793791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.68071405700002 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:222.13, Y:19.04, Z:57.79
[[ 9.55692326e-01 -1.52480757e-01 -2.51797133e-01  2.22126730e+02]
 [ 1.52239206e-01  9.88129805e-01 -2.05599641e-02  1.90385330e+01]
 [ 2.51943251e-01 -1.86843957e-02  9.67561622e-01  5.77938235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.74071405700002 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:222.18, Y:19.05, Z:57.81
[[ 9.55293323e-01 -1.54961495e-01 -2.51796749e-01  2.22184928e+02]
 [ 1.54802929e-01  9.87731313e-01 -2.05646688e-02  1.90467742e+01]
 [ 2.51894265e-01 -1.93335835e-02  9.67561622e-01  5.78059684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.80071405700002 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:222.24, Y:19.06, Z:57.82
[[ 9.54918062e-01 -1.57257367e-01 -2.51796775e-01  2.22242404e+02]
 [ 1.57176857e-01  9.87356340e-01 -2.05643556e-02  1.90567180e+01]
 [ 2.51847038e-01 -1.99393511e-02  9.67561622e-01  5.78199529e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.86071405700002 meters
Centerline goodness : 0.998285 with order 1
Centerline is valid?  [True, True]
Translation: X:222.30, Y:19.07, Z:57.84
[[ 9.54661337e-01 -1.58809646e-01 -2.51796003e-01  2.22299330e+02]
 [ 1.58779400e-01  9.87099702e-01 -2.05737982e-02  1.90701366e+01]
 [ 2.51815077e-01 -2.03390086e-02  9.67561622e-01  5.78366449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.920714057 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:222.36, Y:19.08, Z:57.85
[[ 9.54216893e-01 -1.61459240e-01 -2.51795621e-01  2.22355396e+02]
 [ 1.61517821e-01  9.86655218e-01 -2.05784701e-02  1.90824795e+01]
 [ 2.51758048e-01 -2.10331563e-02  9.67561622e-01  5.78525085e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.980714057 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:222.41, Y:19.09, Z:57.87
[[ 9.53764523e-01 -1.64111483e-01 -2.51794869e-01  2.22413631e+02]
 [ 1.64257837e-01  9.86202571e-01 -2.05876672e-02  1.90939807e+01]
 [ 2.51699420e-01 -2.17234938e-02  9.67561622e-01  5.78665707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.040714057 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:222.47, Y:19.10, Z:57.88
[[ 9.53717621e-01 -1.64383828e-01 -2.51794869e-01  2.22472325e+02]
 [ 1.64539444e-01  9.86155626e-01 -2.05876672e-02  1.91039401e+01]
 [ 2.51693207e-01 -2.17953669e-02  9.67561622e-01  5.78814533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.100714057 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:222.53, Y:19.12, Z:57.90
[[ 9.54968725e-01 -1.56951258e-01 -2.51795626e-01  2.22528501e+02]
 [ 1.56856668e-01  9.87406965e-01 -2.05784068e-02  1.91196878e+01]
 [ 2.51854562e-01 -1.98440881e-02  9.67561622e-01  5.78982943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.160714057 meters
Centerline goodness : 0.999483 with order 1
Centerline is valid?  [True, True]
Translation: X:222.59, Y:19.13, Z:57.92
[[ 9.56069447e-01 -1.50100651e-01 -2.51795566e-01  2.22586074e+02]
 [ 1.49773308e-01  9.88506174e-01 -2.05791392e-02  1.91301103e+01]
 [ 2.51990414e-01 -1.80371687e-02  9.67561622e-01  5.79159096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.220714057 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:222.64, Y:19.14, Z:57.93
[[ 9.57562606e-01 -1.40259309e-01 -2.51795911e-01  2.22642978e+02]
 [ 1.39599471e-01  9.89994273e-01 -2.05749150e-02  1.91419986e+01]
 [ 2.52162334e-01 -1.54488067e-02  9.67561622e-01  5.79347003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.280714057 meters
Centerline goodness : 0.999009 with order 1
Centerline is valid?  [True, True]
Translation: X:222.70, Y:19.15, Z:57.95
[[ 9.58272993e-01 -1.35320422e-01 -2.51796057e-01  2.22700743e+02]
 [ 1.34493848e-01  9.90700838e-01 -2.05731312e-02  1.91502199e+01]
 [ 2.52238530e-01 -1.41503446e-02  9.67561622e-01  5.79513998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.340714057 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:222.76, Y:19.16, Z:57.97
[[ 9.58456467e-01 -1.34014588e-01 -2.51796131e-01  2.22758377e+02]
 [ 1.33144068e-01  9.90883162e-01 -2.05722221e-02  1.91550281e+01]
 [ 2.52257525e-01 -1.38075819e-02  9.67561622e-01  5.79661667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.40071405700002 meters
Centerline goodness : 0.998966 with order 1
Centerline is valid?  [True, True]
Translation: X:222.81, Y:19.16, Z:57.98
[[ 9.58322756e-01 -1.34967417e-01 -2.51796131e-01  2.22814908e+02]
 [ 1.34129136e-01  9.90750301e-01 -2.05722221e-02  1.91576156e+01]
 [ 2.52243673e-01 -1.40583690e-02  9.67561622e-01  5.79802908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.46071405700002 meters
Centerline goodness : 0.999393 with order 1
Centerline is valid?  [True, True]
Translation: X:222.87, Y:19.16, Z:57.99
[[ 9.58275614e-01 -1.35303749e-01 -2.51795043e-01  2.22872059e+02]
 [ 1.34473363e-01  9.90703362e-01 -2.05855327e-02  1.91584126e+01]
 [ 2.52239496e-01 -1.41331122e-02  9.67561622e-01  5.79926597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.52071405700002 meters
Centerline goodness : 0.999126 with order 1
Centerline is valid?  [True, True]
Translation: X:222.93, Y:19.16, Z:58.01
[[ 9.58211985e-01 -1.35756969e-01 -2.51793244e-01  2.22929460e+02]
 [ 1.34936161e-01  9.90639976e-01 -2.06075172e-02  1.91609494e+01]
 [ 2.52234067e-01 -1.42296439e-02  9.67561622e-01  5.80071068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.58071405700002 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:222.99, Y:19.16, Z:58.02
[[ 9.57985760e-01 -1.37346216e-01 -2.51792179e-01  2.22986109e+02]
 [ 1.36575794e-01  9.90414987e-01 -2.06205164e-02  1.91629130e+01]
 [ 2.52210898e-01 -1.46345558e-02  9.67561622e-01  5.80226616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.640714057 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:223.04, Y:19.16, Z:58.04
[[ 9.57340071e-01 -1.41785661e-01 -2.51787241e-01  2.23044708e+02]
 [ 1.41149826e-01  9.89772215e-01 -2.06806474e-02  1.91577747e+01]
 [ 2.52144235e-01 -1.57413128e-02  9.67561624e-01  5.80397409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.700714057 meters
Centerline goodness : 0.999109 with order 1
Centerline is valid?  [True, True]
Translation: X:223.10, Y:19.16, Z:58.06
[[ 9.57114304e-01 -1.43302072e-01 -2.51787062e-01  2.23103016e+02]
 [ 1.42717044e-01  9.89547405e-01 -2.06828291e-02  1.91578859e+01]
 [ 2.52119126e-01 -1.61384737e-02  9.67561624e-01  5.80552911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.760714057 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:223.16, Y:19.16, Z:58.07
[[ 9.56965120e-01 -1.44294957e-01 -2.51787062e-01  2.23161967e+02]
 [ 1.43743577e-01  9.89398810e-01 -2.06828291e-02  1.91571614e+01]
 [ 2.52102247e-01 -1.64000270e-02  9.67561624e-01  5.80706278e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.820714057 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:223.22, Y:19.16, Z:58.08
[[ 9.56839040e-01 -1.45127986e-01 -2.51787447e-01  2.23219325e+02]
 [ 1.44606070e-01  9.89273218e-01 -2.06781409e-02  1.91552607e+01]
 [ 2.52087555e-01 -1.66243407e-02  9.67561624e-01  5.80828239e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.880714057 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:223.28, Y:19.15, Z:58.10
[[ 9.56474517e-01 -1.47513229e-01 -2.51786310e-01  2.23277536e+02]
 [ 1.47068559e-01  9.88909845e-01 -2.06919736e-02  1.91535034e+01]
 [ 2.52046301e-01 -1.72385043e-02  9.67561624e-01  5.80996625e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.940714057 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:223.34, Y:19.15, Z:58.11
[[ 9.55964162e-01 -1.50785721e-01 -2.51785995e-01  2.23336314e+02]
 [ 1.50451053e-01  9.88400812e-01 -2.06958050e-02  1.91523066e+01]
 [ 2.51986114e-01 -1.80970203e-02  9.67561624e-01  5.81134177e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.000714057 meters
Centerline goodness : 0.999186 with order 1
Centerline is valid?  [True, True]
Translation: X:223.39, Y:19.15, Z:58.13
[[ 9.55612639e-01 -1.52998131e-01 -2.51785735e-01  2.23393988e+02]
 [ 1.52737719e-01  9.88049969e-01 -2.06989649e-02  1.91501276e+01]
 [ 2.51943791e-01 -1.86769864e-02  9.67561624e-01  5.81267984e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.060714057 meters
Centerline goodness : 0.999167 with order 1
Centerline is valid?  [True, True]
Translation: X:223.45, Y:19.15, Z:58.14
[[ 9.55373725e-01 -1.54491759e-01 -2.51780344e-01  2.23451806e+02]
 [ 1.54264922e-01  9.87811306e-01 -2.07643426e-02  1.91511763e+01]
 [ 2.51919390e-01 -1.90031679e-02  9.67561626e-01  5.81433413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.12071405700001 meters
Centerline goodness : 0.999036 with order 1
Centerline is valid?  [True, True]
Translation: X:223.51, Y:19.15, Z:58.16
[[ 9.54925573e-01 -1.57238212e-01 -2.51780250e-01  2.23510515e+02]
 [ 1.57104347e-01  9.87363671e-01 -2.07654850e-02  1.91514714e+01]
 [ 2.51863800e-01 -1.97262792e-02  9.67561626e-01  5.81584419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.18071405700002 meters
Centerline goodness : 0.998780 with order 1
Centerline is valid?  [True, True]
Translation: X:223.57, Y:19.15, Z:58.17
[[ 9.54149608e-01 -1.61880299e-01 -2.51780250e-01  2.23568459e+02]
 [ 1.61904187e-01  9.86587973e-01 -2.07654850e-02  1.91515331e+01]
 [ 2.51764889e-01 -2.09508974e-02  9.67561626e-01  5.81705888e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.24071405700002 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:223.63, Y:19.15, Z:58.18
[[ 9.53555729e-01 -1.65343739e-01 -2.51779505e-01  2.23625952e+02]
 [ 1.65483044e-01  9.85993804e-01 -2.07745176e-02  1.91534233e+01]
 [ 2.51687968e-01 -2.18555785e-02  9.67561626e-01  5.81833772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.30071405700002 meters
Centerline goodness : 0.999213 with order 1
Centerline is valid?  [True, True]
Translation: X:223.68, Y:19.16, Z:58.20
[[ 9.53180980e-01 -1.67491727e-01 -2.51778755e-01  2.23683052e+02]
 [ 1.67701737e-01  9.85618674e-01 -2.07835954e-02  1.91563351e+01]
 [ 2.51638923e-01 -2.24132068e-02  9.67561626e-01  5.82001442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.36071405700002 meters
Centerline goodness : 0.999127 with order 1
Centerline is valid?  [True, True]
Translation: X:223.74, Y:19.16, Z:58.22
[[ 9.53363793e-01 -1.66449203e-01 -2.51777960e-01  2.23738740e+02]
 [ 1.66621214e-01  9.85801711e-01 -2.07932241e-02  1.91629899e+01]
 [ 2.51664160e-01 -2.21280425e-02  9.67561626e-01  5.82163123e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.420714057 meters
Centerline goodness : 0.999300 with order 1
Centerline is valid?  [True, True]
Translation: X:223.79, Y:19.17, Z:58.23
[[ 9.53910228e-01 -1.63290313e-01 -2.51776788e-01  2.23794835e+02]
 [ 1.63351158e-01  9.86348544e-01 -2.08074078e-02  1.91705485e+01]
 [ 2.51737317e-01 -2.12796308e-02  9.67561626e-01  5.82323825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.480714057 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:223.85, Y:19.18, Z:58.25
[[ 9.55280962e-01 -1.55071041e-01 -2.51776201e-01  2.23852320e+02]
 [ 1.54850727e-01  9.87718588e-01 -2.08145065e-02  1.91810444e+01]
 [ 2.51911761e-01 -1.91040261e-02  9.67561626e-01  5.82480117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.540714057 meters
Centerline goodness : 0.998063 with order 1
Centerline is valid?  [True, True]
Translation: X:223.91, Y:19.19, Z:58.26
[[ 9.55889805e-01 -1.51272922e-01 -2.51776059e-01  2.23909769e+02]
 [ 1.50923233e-01  9.88326294e-01 -2.08162216e-02  1.91896516e+01]
 [ 2.51985830e-01 -1.81008430e-02  9.67561626e-01  5.82630249e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.600714057 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:223.97, Y:19.20, Z:58.28
[[ 9.56175523e-01 -1.49457375e-01 -2.51775419e-01  2.23967439e+02]
 [ 1.49044059e-01  9.88611264e-01 -2.08239665e-02  1.91969982e+01]
 [ 2.52020310e-01 -1.76142634e-02  9.67561626e-01  5.82773691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.660714057 meters
Centerline goodness : 0.998213 with order 1
Centerline is valid?  [True, True]
Translation: X:224.03, Y:19.21, Z:58.29
[[ 9.56832712e-01 -1.45191849e-01 -2.51774679e-01  2.24025537e+02]
 [ 1.44631547e-01  9.89266246e-01 -2.08329132e-02  1.92061792e+01]
 [ 2.52096960e-01 -1.64809485e-02  9.67561626e-01  5.82880099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.720714057 meters
Centerline goodness : 0.998741 with order 1
Centerline is valid?  [True, True]
Translation: X:224.08, Y:19.21, Z:58.30
[[ 9.57410172e-01 -1.41334665e-01 -2.51774253e-01  2.24083400e+02]
 [ 1.40642315e-01  9.89841156e-01 -2.08380556e-02  1.92144772e+01]
 [ 2.52161657e-01 -1.54595473e-02  9.67561626e-01  5.83036692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.780714057 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:224.14, Y:19.22, Z:58.32
[[ 9.58059627e-01 -1.36863095e-01 -2.51774192e-01  2.24141508e+02]
 [ 1.36019142e-01  9.90487020e-01 -2.08387942e-02  1.92215673e+01]
 [ 2.52231131e-01 -1.42813022e-02  9.67561626e-01  5.83201679e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.840714057 meters
Centerline goodness : 0.998494 with order 1
Centerline is valid?  [True, True]
Translation: X:224.20, Y:19.23, Z:58.34
[[ 9.58513100e-01 -1.33650356e-01 -2.51774145e-01  2.24198708e+02]
 [ 1.32697543e-01  9.90937477e-01 -2.08393660e-02  1.92282898e+01]
 [ 2.52277624e-01 -1.34350051e-02  9.67561626e-01  5.83363540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.90071405700002 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:224.25, Y:19.24, Z:58.35
[[ 9.59089072e-01 -1.29453424e-01 -2.51773633e-01  2.24254570e+02]
 [ 1.28357072e-01  9.91508913e-01 -2.08455473e-02  1.92353415e+01]
 [ 2.52334329e-01 -1.23241896e-02  9.67561626e-01  5.83532045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.96071405700002 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:224.31, Y:19.24, Z:58.37
[[ 9.59238755e-01 -1.28340260e-01 -2.51773288e-01  2.24311298e+02]
 [ 1.27205192e-01  9.91657264e-01 -2.08497151e-02  1.92393676e+01]
 [ 2.52348667e-01 -1.20270146e-02  9.67561626e-01  5.83702661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.02071405700002 meters
Centerline goodness : 0.998314 with order 1
Centerline is valid?  [True, True]
Translation: X:224.37, Y:19.24, Z:58.38
[[ 9.58912699e-01 -1.30763578e-01 -2.51768390e-01  2.24368790e+02]
 [ 1.29694978e-01  9.91333465e-01 -2.09087002e-02  1.92424792e+01]
 [ 2.52320526e-01 -1.26034776e-02  9.67561628e-01  5.83838259e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.08071405700002 meters
Centerline goodness : 0.997671 with order 1
Centerline is valid?  [True, True]
Translation: X:224.43, Y:19.24, Z:58.40
[[ 9.58510415e-01 -1.33682547e-01 -2.51767273e-01  2.24425897e+02]
 [ 1.32709145e-01  9.90934179e-01 -2.09221318e-02  1.92449559e+01]
 [ 2.52281720e-01 -1.33577383e-02  9.67561628e-01  5.83966067e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.140714057 meters
Centerline goodness : 0.997945 with order 1
Centerline is valid?  [True, True]
Translation: X:224.48, Y:19.25, Z:58.41
[[ 9.57866917e-01 -1.38219984e-01 -2.51766173e-01  2.24483748e+02]
 [ 1.37396667e-01  9.90294838e-01 -2.09353600e-02  1.92455377e+01]
 [ 2.52216427e-01 -1.45385443e-02  9.67561628e-01  5.84131520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.200714057 meters
Centerline goodness : 0.997974 with order 1
Centerline is valid?  [True, True]
Translation: X:224.54, Y:19.25, Z:58.43
[[ 9.57405304e-01 -1.41382182e-01 -2.51766088e-01  2.24540555e+02]
 [ 1.40665680e-01  9.89835761e-01 -2.09363856e-02  1.92468034e+01]
 [ 2.52167109e-01 -1.53702414e-02  9.67561628e-01  5.84289997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.260714057 meters
Centerline goodness : 0.997637 with order 1
Centerline is valid?  [True, True]
Translation: X:224.60, Y:19.25, Z:58.44
[[ 9.57256102e-01 -1.42389605e-01 -2.51765676e-01  2.24597633e+02]
 [ 1.41705933e-01  9.89687268e-01 -2.09413388e-02  1.92492666e+01]
 [ 2.52151113e-01 -1.56304657e-02  9.67561628e-01  5.84437284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.320714057 meters
Centerline goodness : 0.998081 with order 1
Centerline is valid?  [True, True]
Translation: X:224.66, Y:19.25, Z:58.46
[[ 9.57021291e-01 -1.43968612e-01 -2.51760378e-01  2.24655823e+02]
 [ 1.43321803e-01  9.89453211e-01 -2.10048517e-02  1.92507838e+01]
 [ 2.52129153e-01 -1.59806608e-02  9.67561630e-01  5.84573491e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.380714057 meters
Centerline goodness : 0.998013 with order 1
Centerline is valid?  [True, True]
Translation: X:224.71, Y:19.25, Z:58.47
[[ 9.56768962e-01 -1.45637355e-01 -2.51759636e-01  2.24714544e+02]
 [ 1.45044776e-01  9.89201919e-01 -2.10137382e-02  1.92519249e+01]
 [ 2.52101500e-01 -1.64111276e-02  9.67561630e-01  5.84707677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.440714057 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:224.77, Y:19.26, Z:58.48
[[ 9.56476749e-01 -1.47544353e-01 -2.51759592e-01  2.24771885e+02]
 [ 1.47016291e-01  9.88910820e-01 -2.10142687e-02  1.92558203e+01]
 [ 2.52068321e-01 -1.69131019e-02  9.67561630e-01  5.84844893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.500714057 meters
Centerline goodness : 0.998433 with order 1
Centerline is valid?  [True, True]
Translation: X:224.83, Y:19.26, Z:58.50
[[ 9.55999694e-01 -1.50607238e-01 -2.51757909e-01  2.24829738e+02]
 [ 1.50177789e-01  9.88435221e-01 -2.10344078e-02  1.92597941e+01]
 [ 2.52014318e-01 -1.76995587e-02  9.67561631e-01  5.84991482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.560714057 meters
Centerline goodness : 0.998191 with order 1
Centerline is valid?  [True, True]
Translation: X:224.89, Y:19.26, Z:58.51
[[ 9.55561697e-01 -1.53362901e-01 -2.51757152e-01  2.24887994e+02]
 [ 1.53024597e-01  9.87998302e-01 -2.10434609e-02  1.92624226e+01]
 [ 2.51962925e-01 -1.84167116e-02  9.67561631e-01  5.85132200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.62071405700001 meters
Centerline goodness : 0.997997 with order 1
Centerline is valid?  [True, True]
Translation: X:224.94, Y:19.27, Z:58.53
[[ 9.55397717e-01 -1.54382428e-01 -2.51756368e-01  2.24944545e+02]
 [ 1.54076277e-01  9.87834641e-01 -2.10528410e-02  1.92678987e+01]
 [ 2.51943850e-01 -1.86758478e-02  9.67561631e-01  5.85282027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.68071405700002 meters
Centerline goodness : 0.998417 with order 1
Centerline is valid?  [True, True]
Translation: X:225.00, Y:19.27, Z:58.54
[[ 9.55139194e-01 -1.55975752e-01 -2.51755208e-01  2.24999706e+02]
 [ 1.55720072e-01  9.87576556e-01 -2.10667037e-02  1.92739434e+01]
 [ 2.51913436e-01 -1.90817047e-02  9.67561631e-01  5.85444099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.74071405700002 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:225.06, Y:19.28, Z:58.56
[[ 9.54617773e-01 -1.59140479e-01 -2.51752288e-01  2.25057241e+02]
 [ 1.58983176e-01  9.87055761e-01 -2.11015406e-02  1.92802931e+01]
 [ 2.51851656e-01 -1.98804728e-02  9.67561631e-01  5.85623601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.80071405700002 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:225.11, Y:19.29, Z:58.58
[[ 9.53806959e-01 -1.63930044e-01 -2.51752311e-01  2.25114657e+02]
 [ 1.63935632e-01  9.86245327e-01 -2.11012692e-02  1.92879939e+01]
 [ 2.51748672e-01 -2.11446368e-02  9.67561631e-01  5.85784535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.86071405700002 meters
Centerline goodness : 0.997854 with order 1
Centerline is valid?  [True, True]
Translation: X:225.17, Y:19.29, Z:58.59
[[ 9.53285047e-01 -1.66938872e-01 -2.51751926e-01  2.25172899e+02]
 [ 1.67045612e-01  9.85723240e-01 -2.11058646e-02  1.92942499e+01]
 [ 2.51681113e-01 -2.19341493e-02  9.67561631e-01  5.85932694e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.920714057 meters
Centerline goodness : 0.997673 with order 1
Centerline is valid?  [True, True]
Translation: X:225.23, Y:19.30, Z:58.61
[[ 9.52636710e-01 -1.70599683e-01 -2.51751956e-01  2.25232102e+02]
 [ 1.70831130e-01  9.85074253e-01 -2.11054967e-02  1.93017690e+01]
 [ 2.51594961e-01 -2.29012001e-02  9.67561631e-01  5.86052935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.980714057 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:225.29, Y:19.31, Z:58.62
[[ 9.52445703e-01 -1.71662878e-01 -2.51751941e-01  2.25290476e+02]
 [ 1.71930481e-01  9.84882968e-01 -2.11056829e-02  1.93129465e+01]
 [ 2.51569261e-01 -2.31818153e-02  9.67561631e-01  5.86203624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.040714057 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:225.35, Y:19.32, Z:58.64
[[ 9.52957224e-01 -1.68798957e-01 -2.51752738e-01  2.25347371e+02]
 [ 1.68971544e-01  9.85395134e-01 -2.10961662e-02  1.93246038e+01]
 [ 2.51636934e-01 -2.24353049e-02  9.67561631e-01  5.86369342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.100714057 meters
Centerline goodness : 0.998696 with order 1
Centerline is valid?  [True, True]
Translation: X:225.41, Y:19.34, Z:58.65
[[ 9.54006216e-01 -1.62765781e-01 -2.51752738e-01  2.25405063e+02]
 [ 1.62733114e-01  9.86444568e-01 -2.10961662e-02  1.93378348e+01]
 [ 2.51773855e-01 -2.08426334e-02  9.67561631e-01  5.86544024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.160714057 meters
Centerline goodness : 0.998708 with order 1
Centerline is valid?  [True, True]
Translation: X:225.46, Y:19.35, Z:58.67
[[ 9.55019484e-01 -1.56710470e-01 -2.51753079e-01  2.25461314e+02]
 [ 1.56473088e-01  9.87456984e-01 -2.10920966e-02  1.93502066e+01]
 [ 2.51900689e-01 -1.92492185e-02  9.67561631e-01  5.86698688e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.220714057 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:225.52, Y:19.36, Z:58.68
[[ 9.55525358e-01 -1.53596483e-01 -2.51752677e-01  2.25518173e+02]
 [ 1.53252105e-01  9.87961899e-01 -2.10968989e-02  1.93618747e+01]
 [ 2.51962462e-01 -1.84230057e-02  9.67561631e-01  5.86845061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.280714057 meters
Centerline goodness : 0.999215 with order 1
Centerline is valid?  [True, True]
Translation: X:225.58, Y:19.38, Z:58.70
[[ 9.55859158e-01 -1.51506042e-01 -2.51752239e-01  2.25575943e+02]
 [ 1.51089345e-01  9.88294850e-01 -2.11021256e-02  1.93752199e+01]
 [ 2.52002541e-01 -1.78664208e-02  9.67561631e-01  5.86982994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.340714057 meters
Centerline goodness : 0.998854 with order 1
Centerline is valid?  [True, True]
Translation: X:225.64, Y:19.38, Z:58.71
[[ 9.56020442e-01 -1.50484967e-01 -2.51752239e-01  2.25635171e+02]
 [ 1.50033624e-01  9.88455670e-01 -2.11021256e-02  1.93843104e+01]
 [ 2.52021481e-01 -1.75972373e-02  9.67561631e-01  5.87136173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.40071405700002 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:225.69, Y:19.40, Z:58.73
[[ 9.56598155e-01 -1.46766470e-01 -2.51752999e-01  2.25693140e+02]
 [ 1.46191388e-01  9.89031426e-01 -2.10930518e-02  1.93964042e+01]
 [ 2.52087380e-01 -1.66265461e-02  9.67561631e-01  5.87287531e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.46071405700002 meters
Centerline goodness : 0.998921 with order 1
Centerline is valid?  [True, True]
Translation: X:225.75, Y:19.41, Z:58.75
[[ 9.57500084e-01 -1.40761595e-01 -2.51753376e-01  2.25750399e+02]
 [ 1.39984206e-01  9.89929136e-01 -2.10885571e-02  1.94091517e+01]
 [ 2.52186461e-01 -1.50492011e-02  9.67561631e-01  5.87457636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.52071405700002 meters
Centerline goodness : 0.998912 with order 1
Centerline is valid?  [True, True]
Translation: X:225.81, Y:19.42, Z:58.76
[[ 9.57887224e-01 -1.38102145e-01 -2.51753576e-01  2.25808424e+02]
 [ 1.37235331e-01  9.90314009e-01 -2.10861696e-02  1.94208199e+01]
 [ 2.52227138e-01 -1.43513128e-02  9.67561631e-01  5.87635851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.58071405700002 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:225.87, Y:19.43, Z:58.78
[[ 9.57715131e-01 -1.39289187e-01 -2.51754344e-01  2.25867150e+02]
 [ 1.38464968e-01  9.90143027e-01 -2.10769865e-02  1.94296677e+01]
 [ 2.52208605e-01 -1.46734083e-02  9.67561632e-01  5.87782041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.640714057 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:225.93, Y:19.44, Z:58.79
[[ 9.56964728e-01 -1.44353308e-01 -2.51755102e-01  2.25925554e+02]
 [ 1.43703006e-01  9.89396578e-01 -2.10679375e-02  1.94375144e+01]
 [ 2.52126862e-01 -1.60166918e-02  9.67561632e-01  5.87921951e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.700714057 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:225.98, Y:19.44, Z:58.81
[[ 9.56127055e-01 -1.49801179e-01 -2.51755161e-01  2.25983756e+02]
 [ 1.49335782e-01  9.88562085e-01 -2.10672307e-02  1.94440936e+01]
 [ 2.52031503e-01 -1.74531046e-02  9.67561632e-01  5.88070548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.760714057 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:226.04, Y:19.45, Z:58.82
[[ 9.55563763e-01 -1.53353194e-01 -2.51755223e-01  2.26042598e+02]
 [ 1.53008528e-01  9.88000301e-01 -2.10664825e-02  1.94527327e+01]
 [ 2.51964849e-01 -1.83903288e-02  9.67561632e-01  5.88223094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.820714057 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:226.10, Y:19.46, Z:58.84
[[ 9.55362332e-01 -1.54602487e-01 -2.51755607e-01  2.26100624e+02]
 [ 1.54301435e-01  9.87799303e-01 -2.10618958e-02  1.94621227e+01]
 [ 2.51940235e-01 -1.87245095e-02  9.67561632e-01  5.88356941e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.880714057 meters
Centerline goodness : 0.998422 with order 1
Centerline is valid?  [True, True]
Translation: X:226.16, Y:19.47, Z:58.85
[[ 9.55328586e-01 -1.54810876e-01 -2.51755607e-01  2.26159603e+02]
 [ 1.54516899e-01  9.87765622e-01 -2.10618958e-02  1.94699432e+01]
 [ 2.51936144e-01 -1.87794646e-02  9.67561632e-01  5.88525976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.940714057 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:226.22, Y:19.48, Z:58.87
[[ 9.55317991e-01 -1.54873811e-01 -2.51757101e-01  2.26219286e+02]
 [ 1.54586655e-01  9.87755089e-01 -2.10440226e-02  1.94785049e+01]
 [ 2.51933526e-01 -1.88145548e-02  9.67561632e-01  5.88694800e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.000714057 meters
Centerline goodness : 0.998367 with order 1
Centerline is valid?  [True, True]
Translation: X:226.28, Y:19.49, Z:58.89
[[ 9.55218381e-01 -1.55484591e-01 -2.51758589e-01  2.26278317e+02]
 [ 1.55222841e-01  9.87655693e-01 -2.10262140e-02  1.94866626e+01]
 [ 2.51920055e-01 -1.89940574e-02  9.67561632e-01  5.88853910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.060714057 meters
Centerline goodness : 0.998711 with order 1
Centerline is valid?  [True, True]
Translation: X:226.34, Y:19.49, Z:58.90
[[ 9.55105939e-01 -1.56171983e-01 -2.51759722e-01  2.26338107e+02]
 [ 1.55937138e-01  9.87543456e-01 -2.10126311e-02  1.94944534e+01]
 [ 2.51905251e-01 -1.91894017e-02  9.67561632e-01  5.89014942e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.12071405700001 meters
Centerline goodness : 0.998275 with order 1
Centerline is valid?  [True, True]
Translation: X:226.40, Y:19.50, Z:58.92
[[ 9.55035053e-01 -1.56602423e-01 -2.51761253e-01  2.26396655e+02]
 [ 1.56387006e-01  9.87472706e-01 -2.09942779e-02  1.95026732e+01]
 [ 2.51895120e-01 -1.93219172e-02  9.67561632e-01  5.89180318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.18071405700002 meters
Centerline goodness : 0.998201 with order 1
Centerline is valid?  [True, True]
Translation: X:226.46, Y:19.51, Z:58.93
[[ 9.54941203e-01 -1.57172488e-01 -2.51762007e-01  2.26456490e+02]
 [ 1.56978806e-01  9.87378992e-01 -2.09852278e-02  1.95109953e+01]
 [ 2.51882817e-01 -1.94816406e-02  9.67561632e-01  5.89349993e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.24071405700002 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:226.52, Y:19.52, Z:58.95
[[ 9.54936795e-01 -1.57196760e-01 -2.51763574e-01  2.26515992e+02]
 [ 1.57008832e-01  9.87374618e-01 -2.09664183e-02  1.95188363e+01]
 [ 2.51880815e-01 -1.95075004e-02  9.67561632e-01  5.89499231e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.30071405700002 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:226.58, Y:19.53, Z:58.96
[[ 9.54993776e-01 -1.56847732e-01 -2.51765124e-01  2.26575811e+02]
 [ 1.56652831e-01  9.87431558e-01 -2.09477867e-02  1.95258214e+01]
 [ 2.51886441e-01 -1.94347135e-02  9.67561632e-01  5.89649759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.36071405700002 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:226.64, Y:19.53, Z:58.98
[[ 9.55043853e-01 -1.56540008e-01 -2.51766688e-01  2.26635127e+02]
 [ 1.56339584e-01  9.87481601e-01 -2.09289748e-02  1.95309117e+01]
 [ 2.51891194e-01 -1.93730106e-02  9.67561633e-01  5.89801949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.420714057 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:226.69, Y:19.54, Z:59.00
[[ 9.55399302e-01 -1.54354510e-01 -2.51767470e-01  2.26692379e+02]
 [ 1.54082338e-01  9.87836528e-01 -2.09195597e-02  1.95378938e+01]
 [ 2.51934132e-01 -1.88063877e-02  9.67561633e-01  5.89963450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.480714057 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:226.75, Y:19.54, Z:59.01
[[ 9.55672381e-01 -1.52654646e-01 -2.51767470e-01  2.26751720e+02]
 [ 1.52324770e-01  9.88109071e-01 -2.09195597e-02  1.95438967e+01]
 [ 2.51967189e-01 -1.83581765e-02  9.67561633e-01  5.90140312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.540714057 meters
Centerline goodness : 0.998425 with order 1
Centerline is valid?  [True, True]
Translation: X:226.81, Y:19.55, Z:59.03
[[ 9.55510726e-01 -1.53660693e-01 -2.51769030e-01  2.26811786e+02]
 [ 1.53369889e-01  9.87947789e-01 -2.09007737e-02  1.95486985e+01]
 [ 2.51946284e-01 -1.86428748e-02  9.67561633e-01  5.90287391e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.600714057 meters
Centerline goodness : 0.998356 with order 1
Centerline is valid?  [True, True]
Translation: X:226.87, Y:19.55, Z:59.04
[[ 9.55055999e-01 -1.56459026e-01 -2.51770953e-01  2.26870370e+02]
 [ 1.56269320e-01  9.87493811e-01 -2.08775800e-02  1.95526713e+01]
 [ 2.51888744e-01 -1.94048176e-02  9.67561633e-01  5.90431004e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.660714057 meters
Centerline goodness : 0.998915 with order 1
Centerline is valid?  [True, True]
Translation: X:226.93, Y:19.56, Z:59.06
[[ 9.54461625e-01 -1.60044812e-01 -2.51771057e-01  2.26929789e+02]
 [ 1.59977264e-01  9.86899921e-01 -2.08763212e-02  1.95555936e+01]
 [ 2.51813983e-01 -2.03519974e-02  9.67561633e-01  5.90585091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.720714057 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:226.99, Y:19.56, Z:59.07
[[ 9.54122595e-01 -1.62052489e-01 -2.51771849e-01  2.26988024e+02]
 [ 1.62055690e-01  9.86560962e-01 -2.08667628e-02  1.95593434e+01]
 [ 2.51769789e-01 -2.08916109e-02  9.67561633e-01  5.90725883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.780714057 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:227.05, Y:19.56, Z:59.09
[[ 9.54270112e-01 -1.61181539e-01 -2.51771849e-01  2.27047637e+02]
 [ 1.61155132e-01  9.86708468e-01 -2.08667628e-02  1.95641448e+01]
 [ 2.51788753e-01 -2.06617976e-02  9.67561633e-01  5.90880300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.840714057 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:227.11, Y:19.57, Z:59.10
[[ 9.54560878e-01 -1.59448668e-01 -2.51773019e-01  2.27107372e+02]
 [ 1.59367064e-01  9.86999142e-01 -2.08526456e-02  1.95686305e+01]
 [ 2.51824680e-01 -2.02192071e-02  9.67561633e-01  5.91037335e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.90071405700002 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:227.17, Y:19.57, Z:59.12
[[ 9.55010601e-01 -1.56730101e-01 -2.51774555e-01  2.27165361e+02]
 [ 1.56561001e-01  9.87448527e-01 -2.08340817e-02  1.95736967e+01]
 [ 2.51879741e-01 -1.95213075e-02  9.67561633e-01  5.91201271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.96071405700002 meters
Centerline goodness : 0.998704 with order 1
Centerline is valid?  [True, True]
Translation: X:227.23, Y:19.58, Z:59.14
[[ 9.55210274e-01 -1.55508542e-01 -2.51774555e-01  2.27225685e+02]
 [ 1.55297955e-01  9.87647957e-01 -2.08340817e-02  1.95786362e+01]
 [ 2.51904502e-01 -1.91991447e-02  9.67561633e-01  5.91350179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.02071405700002 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:227.29, Y:19.58, Z:59.15
[[ 9.55105013e-01 -1.56151256e-01 -2.51776092e-01  2.27286667e+02]
 [ 1.55967367e-01  9.87542858e-01 -2.08154923e-02  1.95818127e+01]
 [ 2.51890047e-01 -1.93878731e-02  9.67561634e-01  5.91484669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.08071405700002 meters
Centerline goodness : 0.998706 with order 1
Centerline is valid?  [True, True]
Translation: X:227.35, Y:19.59, Z:59.16
[[ 9.55039912e-01 -1.56546428e-01 -2.51777643e-01  2.27348497e+02]
 [ 1.56380881e-01  9.87477856e-01 -2.07967156e-02  1.95864887e+01]
 [ 2.51880499e-01 -1.95115162e-02  9.67561634e-01  5.91625384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.140714057 meters
Centerline goodness : 0.998386 with order 1
Centerline is valid?  [True, True]
Translation: X:227.41, Y:19.59, Z:59.18
[[ 9.55341273e-01 -1.54692946e-01 -2.51779954e-01  2.27407731e+02]
 [ 1.54471796e-01  9.87778885e-01 -2.07687029e-02  1.95914431e+01]
 [ 2.51915694e-01 -1.90517026e-02  9.67561634e-01  5.91777191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.200714057 meters
Centerline goodness : 0.998706 with order 1
Centerline is valid?  [True, True]
Translation: X:227.47, Y:19.60, Z:59.19
[[ 9.56039637e-01 -1.50315290e-01 -2.51780709e-01  2.27467191e+02]
 [ 1.49947960e-01  9.88475923e-01 -2.07595427e-02  1.95967792e+01]
 [ 2.51999645e-01 -1.79070579e-02  9.67561634e-01  5.91940437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.260714057 meters
Centerline goodness : 0.998570 with order 1
Centerline is valid?  [True, True]
Translation: X:227.53, Y:19.60, Z:59.21
[[ 9.56632033e-01 -1.46495947e-01 -2.51781833e-01  2.27525026e+02]
 [ 1.46002652e-01  9.89066648e-01 -2.07459020e-02  1.96027513e+01]
 [ 2.52068204e-01 -1.69146209e-02  9.67561634e-01  5.92105270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.320714057 meters
Centerline goodness : 0.998564 with order 1
Centerline is valid?  [True, True]
Translation: X:227.58, Y:19.61, Z:59.22
[[ 9.57047089e-01 -1.43758909e-01 -2.51782137e-01  2.27583879e+02]
 [ 1.43173805e-01  9.89480178e-01 -2.07422059e-02  1.96070432e+01]
 [ 2.52115311e-01 -1.61973389e-02  9.67561634e-01  5.92249602e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.380714057 meters
Centerline goodness : 0.998729 with order 1
Centerline is valid?  [True, True]
Translation: X:227.64, Y:19.61, Z:59.24
[[ 9.57141321e-01 -1.43128232e-01 -2.51783241e-01  2.27643019e+02]
 [ 1.42525269e-01  9.89574082e-01 -2.07288000e-02  1.96111117e+01]
 [ 2.52125046e-01 -1.60450831e-02  9.67561634e-01  5.92407773e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.440714057 meters
Centerline goodness : 0.998777 with order 1
Centerline is valid?  [True, True]
Translation: X:227.70, Y:19.61, Z:59.26
[[ 9.57079357e-01 -1.43540676e-01 -2.51783992e-01  2.27702936e+02]
 [ 1.42954079e-01  9.89512418e-01 -2.07196791e-02  1.96146053e+01]
 [ 2.52117503e-01 -1.61631715e-02  9.67561634e-01  5.92563450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.500714057 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:227.76, Y:19.62, Z:59.27
[[ 9.56996871e-01 -1.44087642e-01 -2.51785106e-01  2.27761389e+02]
 [ 1.43523131e-01  9.89430325e-01 -2.07061287e-02  1.96165642e+01]
 [ 2.52107316e-01 -1.63212864e-02  9.67561635e-01  5.92687170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.560714057 meters
Centerline goodness : 0.998961 with order 1
Centerline is valid?  [True, True]
Translation: X:227.82, Y:19.62, Z:59.28
[[ 9.57178336e-01 -1.42875113e-01 -2.51786287e-01  2.27820991e+02]
 [ 1.42273279e-01  9.89611118e-01 -2.06917543e-02  1.96201947e+01]
 [ 2.52126846e-01 -1.60167617e-02  9.67561635e-01  5.92844354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.62071405700001 meters
Centerline goodness : 0.998801 with order 1
Centerline is valid?  [True, True]
Translation: X:227.88, Y:19.62, Z:59.30
[[ 9.57848636e-01 -1.38307969e-01 -2.51787404e-01  2.27878873e+02]
 [ 1.37555007e-01  9.90278261e-01 -2.06781549e-02  1.96236025e+01]
 [ 2.52199546e-01 -1.48280756e-02  9.67561635e-01  5.93001573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.68071405700002 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:227.94, Y:19.63, Z:59.32
[[ 9.58877979e-01 -1.30981048e-01 -2.51787584e-01  2.27935982e+02]
 [ 1.29980752e-01  9.91300917e-01 -2.06759694e-02  1.96263254e+01]
 [ 2.52305423e-01 -1.29018077e-02  9.67561635e-01  5.93166474e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.74071405700002 meters
Centerline goodness : 0.998848 with order 1
Centerline is valid?  [True, True]
Translation: X:227.99, Y:19.63, Z:59.33
[[ 9.60028284e-01 -1.22265617e-01 -2.51787237e-01  2.27993722e+02]
 [ 1.20969742e-01  9.92440755e-01 -2.06801909e-02  1.96308748e+01]
 [ 2.52412392e-01 -1.06050688e-02  9.67561635e-01  5.93338403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.80071405700002 meters
Centerline goodness : 0.998408 with order 1
Centerline is valid?  [True, True]
Translation: X:228.05, Y:19.63, Z:59.35
[[ 9.60840885e-01 -1.15706516e-01 -2.51787203e-01  2.28052691e+02]
 [ 1.14189210e-01  9.93243745e-01 -2.06806032e-02  1.96336150e+01]
 [ 2.52478945e-01 -8.88061282e-03  9.67561635e-01  5.93477062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.86071405700002 meters
Centerline goodness : 0.998228 with order 1
Centerline is valid?  [True, True]
Translation: X:228.11, Y:19.63, Z:59.36
[[ 9.61161690e-01 -1.13010724e-01 -2.51787175e-01  2.28112118e+02]
 [ 1.11402439e-01  9.93560162e-01 -2.06809426e-02  1.96344681e+01]
 [ 2.52502875e-01 -8.17197582e-03  9.67561635e-01  5.93625176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.920714057 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:228.17, Y:19.63, Z:59.38
[[ 9.60842497e-01 -1.15692338e-01 -2.51787567e-01  2.28169948e+02]
 [ 1.14175712e-01  9.93245389e-01 -2.06761769e-02  1.96324463e+01]
 [ 2.52478915e-01 -8.88147537e-03  9.67561635e-01  5.93766282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.980714057 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:228.23, Y:19.63, Z:59.39
[[ 9.60133018e-01 -1.21440533e-01 -2.51787181e-01  2.28228362e+02]
 [ 1.20116625e-01  9.92544356e-01 -2.06808684e-02  1.96294556e+01]
 [ 2.52421441e-01 -1.03874420e-02  9.67561635e-01  5.93918127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.040714057 meters
Centerline goodness : 0.998662 with order 1
Centerline is valid?  [True, True]
Translation: X:228.29, Y:19.63, Z:59.41
[[ 9.59687936e-01 -1.24909787e-01 -2.51786835e-01  2.28286582e+02]
 [ 1.23701925e-01  9.92103806e-01 -2.06850785e-02  1.96286009e+01]
 [ 2.52382446e-01 -1.12952958e-02  9.67561635e-01  5.94066562e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.100714057 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:228.34, Y:19.62, Z:59.42
[[ 9.59061212e-01 -1.29635498e-01 -2.51786079e-01  2.28344771e+02]
 [ 1.28584914e-01  9.91482560e-01 -2.06942785e-02  1.96229816e+01]
 [ 2.52324219e-01 -1.25288117e-02  9.67561635e-01  5.94207469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.160714057 meters
Centerline goodness : 0.998986 with order 1
Centerline is valid?  [True, True]
Translation: X:228.40, Y:19.62, Z:59.44
[[ 9.58783439e-01 -1.31674123e-01 -2.51786106e-01  2.28402926e+02]
 [ 1.30692553e-01  9.91206950e-01 -2.06939537e-02  1.96228357e+01]
 [ 2.52296996e-01 -1.30655490e-02  9.67561635e-01  5.94350959e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.220714057 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:228.46, Y:19.62, Z:59.45
[[ 9.58462324e-01 -1.33992221e-01 -2.51785740e-01  2.28460723e+02]
 [ 1.33087893e-01  9.90888081e-01 -2.06984060e-02  1.96182445e+01]
 [ 2.52264914e-01 -1.36709912e-02  9.67561635e-01  5.94481923e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.280714057 meters
Centerline goodness : 0.999060 with order 1
Centerline is valid?  [True, True]
Translation: X:228.52, Y:19.62, Z:59.46
[[ 9.58543453e-01 -1.33413612e-01 -2.51784148e-01  2.28519017e+02]
 [ 1.32484643e-01  9.90968513e-01 -2.07177507e-02  1.96211883e+01]
 [ 2.52274193e-01 -1.34986688e-02  9.67561635e-01  5.94625527e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.340714057 meters
Centerline goodness : 0.998230 with order 1
Centerline is valid?  [True, True]
Translation: X:228.58, Y:19.62, Z:59.48
[[ 9.58967970e-01 -1.30327874e-01 -2.51783792e-01  2.28576681e+02]
 [ 1.29293418e-01  9.91389836e-01 -2.07220788e-02  1.96219048e+01]
 [ 2.52316557e-01 -1.26821772e-02  9.67561635e-01  5.94756199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.40071405700002 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:228.63, Y:19.62, Z:59.49
[[ 9.59737822e-01 -1.24532946e-01 -2.51783355e-01  2.28634547e+02]
 [ 1.23301278e-01  9.92152796e-01 -2.07273871e-02  1.96227295e+01]
 [ 2.52388802e-01 -1.11523521e-02  9.67561635e-01  5.94920639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.46071405700002 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:228.69, Y:19.63, Z:59.51
[[ 9.60797255e-01 -1.16077348e-01 -2.51783010e-01  2.28692244e+02]
 [ 1.14559208e-01  9.93200075e-01 -2.07315736e-02  1.96262764e+01]
 [ 2.52477371e-01 -8.92522332e-03  9.67561635e-01  5.95105349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.52071405700002 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:228.75, Y:19.63, Z:59.53
[[ 9.61980583e-01 -1.05823945e-01 -2.51782942e-01  2.28748866e+02]
 [ 1.03960102e-01  9.94365358e-01 -2.07324029e-02  1.96297478e+01]
 [ 2.52558220e-01 -6.23121137e-03  9.67561635e-01  5.95295974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.58071405700002 meters
Centerline goodness : 0.998729 with order 1
Centerline is valid?  [True, True]
Translation: X:228.81, Y:19.63, Z:59.54
[[ 9.62658853e-01 -9.94666576e-02 -2.51782279e-01  2.28806591e+02]
 [ 9.73868136e-02  9.95030473e-01 -2.07404473e-02  1.96283659e+01]
 [ 2.52594024e-01 -4.55429866e-03  9.67561635e-01  5.95446147e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.640714057 meters
Centerline goodness : 0.998955 with order 1
Centerline is valid?  [True, True]
Translation: X:228.86, Y:19.63, Z:59.56
[[ 9.62661456e-01 -9.94479408e-02 -2.51779722e-01  2.28862872e+02]
 [ 9.73593632e-02  9.95032513e-01 -2.07714429e-02  1.96257437e+01]
 [ 2.52594687e-01 -4.51724597e-03  9.67561636e-01  5.95586052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.700714057 meters
Centerline goodness : 0.998784 with order 1
Centerline is valid?  [True, True]
Translation: X:228.92, Y:19.62, Z:59.57
[[ 9.62460697e-01 -1.01387733e-01 -2.51773579e-01  2.28921409e+02]
 [ 9.93449886e-02  9.94834676e-01 -2.08456563e-02  1.96214549e+01]
 [ 2.52586580e-01 -4.94931839e-03  9.67561638e-01  5.95728453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.760714057 meters
Centerline goodness : 0.998242 with order 1
Centerline is valid?  [True, True]
Translation: X:228.98, Y:19.62, Z:59.59
[[ 9.62282035e-01 -1.03071533e-01 -2.51772804e-01  2.28980743e+02]
 [ 1.01082987e-01  9.94659388e-01 -2.08550122e-02  1.96159109e+01]
 [ 2.52577741e-01 -5.38154355e-03  9.67561638e-01  5.95869967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.820714057 meters
Centerline goodness : 0.998160 with order 1
Centerline is valid?  [True, True]
Translation: X:229.04, Y:19.61, Z:59.60
[[ 9.62218151e-01 -1.03667519e-01 -2.51772271e-01  2.29038386e+02]
 [ 1.01697344e-01  9.94596627e-01 -2.08614462e-02  1.96110924e+01]
 [ 2.52574505e-01 -5.53130919e-03  9.67561638e-01  5.96016894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.880714057 meters
Centerline goodness : 0.998078 with order 1
Centerline is valid?  [True, True]
Translation: X:229.10, Y:19.61, Z:59.62
[[ 9.62100641e-01 -1.04765033e-01 -2.51767044e-01  2.29095667e+02]
 [ 1.02815342e-01  9.94480355e-01 -2.09243445e-02  1.96051701e+01]
 [ 2.52569519e-01 -5.75418940e-03  9.67561640e-01  5.96165143e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.940714057 meters
Centerline goodness : 0.997589 with order 1
Centerline is valid?  [True, True]
Translation: X:229.15, Y:19.60, Z:59.63
[[ 9.61886839e-01 -1.06722927e-01 -2.51761646e-01  2.29153261e+02]
 [ 1.04822203e-01  9.94269462e-01 -2.09890959e-02  1.95971482e+01]
 [ 2.52558934e-01 -6.20107523e-03  9.67561642e-01  5.96310826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.000714057 meters
Centerline goodness : 0.997296 with order 1
Centerline is valid?  [True, True]
Translation: X:229.21, Y:19.59, Z:59.65
[[ 9.61502044e-01 -1.10148297e-01 -2.51756174e-01  2.29212276e+02]
 [ 1.08345807e-01  9.93890282e-01 -2.10545273e-02  1.95909018e+01]
 [ 2.52537135e-01 -7.03275474e-03  9.67561644e-01  5.96477853e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.060714057 meters
Centerline goodness : 0.997463 with order 1
Centerline is valid?  [True, True]
Translation: X:229.27, Y:19.58, Z:59.66
[[ 9.61037627e-01 -1.14129345e-01 -2.51756174e-01  2.29269304e+02]
 [ 1.12461004e-01  9.93433052e-01 -2.10545273e-02  1.95833613e+01]
 [ 2.52505844e-01 -8.07855902e-03  9.67561644e-01  5.96606152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.12071405700001 meters
Centerline goodness : 0.996852 with order 1
Centerline is valid?  [True, True]
Translation: X:229.33, Y:19.58, Z:59.67
[[ 9.60455440e-01 -1.18933436e-01 -2.51754216e-01  2.29328639e+02]
 [ 1.17420981e-01  9.92858517e-01 -2.10779181e-02  1.95774567e+01]
 [ 2.52463187e-01 -9.31682594e-03  9.67561645e-01  5.96732179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.18071405700002 meters
Centerline goodness : 0.996855 with order 1
Centerline is valid?  [True, True]
Translation: X:229.39, Y:19.57, Z:59.69
[[ 9.59870772e-01 -1.23564189e-01 -2.51753833e-01  2.29387125e+02]
 [ 1.22206829e-01  9.92280716e-01 -2.10824932e-02  1.95736633e+01]
 [ 2.52415515e-01 -1.05295686e-02  9.67561645e-01  5.96871295e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.24071405700002 meters
Centerline goodness : 0.997036 with order 1
Centerline is valid?  [True, True]
Translation: X:229.45, Y:19.57, Z:59.70
[[ 9.59184472e-01 -1.28784883e-01 -2.51753058e-01  2.29446421e+02]
 [ 1.27601458e-01  9.91601233e-01 -2.10917458e-02  1.95694463e+01]
 [ 2.52354941e-01 -1.18931822e-02  9.67561645e-01  5.97019796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.30071405700002 meters
Centerline goodness : 0.996689 with order 1
Centerline is valid?  [True, True]
Translation: X:229.50, Y:19.57, Z:59.72
[[ 9.58278488e-01 -1.35361509e-01 -2.51753058e-01  2.29503828e+02]
 [ 1.34400479e-01  9.90702604e-01 -2.10917483e-02  1.95678445e+01]
 [ 2.52267421e-01 -1.36239629e-02  9.67561645e-01  5.97169177e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.36071405700002 meters
Centerline goodness : 0.996818 with order 1
Centerline is valid?  [True, True]
Translation: X:229.56, Y:19.57, Z:59.73
[[ 9.57564963e-01 -1.40321194e-01 -2.51752465e-01  2.29562417e+02]
 [ 1.39526202e-01  9.89993575e-01 -2.10988124e-02  1.95689248e+01]
 [ 2.52193934e-01 -1.49225818e-02  9.67561645e-01  5.97337649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.420714057 meters
Centerline goodness : 0.997106 with order 1
Centerline is valid?  [True, True]
Translation: X:229.62, Y:19.57, Z:59.75
[[ 9.56678393e-01 -1.46243421e-01 -2.51752488e-01  2.29620622e+02]
 [ 1.45649165e-01  9.89111304e-01 -2.10985486e-02  1.95703859e+01]
 [ 2.52096755e-01 -1.64830139e-02  9.67561645e-01  5.97492483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.480714057 meters
Centerline goodness : 0.996586 with order 1
Centerline is valid?  [True, True]
Translation: X:229.68, Y:19.58, Z:59.76
[[ 9.56197919e-01 -1.49353314e-01 -2.51752115e-01  2.29678661e+02]
 [ 1.48863351e-01  9.88632574e-01 -2.11029989e-02  1.95750247e+01]
 [ 2.52042144e-01 -1.72980198e-02  9.67561645e-01  5.97644383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.540714057 meters
Centerline goodness : 0.996556 with order 1
Centerline is valid?  [True, True]
Translation: X:229.74, Y:19.58, Z:59.78
[[ 9.55502826e-01 -1.53737519e-01 -2.51752109e-01  2.29736374e+02]
 [ 1.53396312e-01  9.87939387e-01 -2.11030647e-02  1.95811159e+01]
 [ 2.51960157e-01 -1.84538071e-02  9.67561645e-01  5.97800221e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.600714057 meters
Centerline goodness : 0.997048 with order 1
Centerline is valid?  [True, True]
Translation: X:229.79, Y:19.59, Z:59.80
[[ 9.54663359e-01 -1.58867411e-01 -2.51751896e-01  2.29792887e+02]
 [ 1.58699762e-01  9.87101281e-01 -2.11056062e-02  1.95895006e+01]
 [ 2.51857612e-01 -1.98042172e-02  9.67561645e-01  5.97953826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.660714057 meters
Centerline goodness : 0.996709 with order 1
Centerline is valid?  [True, True]
Translation: X:229.85, Y:19.60, Z:59.81
[[ 9.54317604e-01 -1.60932487e-01 -2.51751157e-01  2.29850996e+02]
 [ 1.60832711e-01  9.86755806e-01 -2.11144159e-02  1.95976604e+01]
 [ 2.51814911e-01 -2.03399624e-02  9.67561645e-01  5.98112426e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.720714057 meters
Centerline goodness : 0.996600 with order 1
Centerline is valid?  [True, True]
Translation: X:229.91, Y:19.61, Z:59.83
[[ 9.53416831e-01 -1.66185921e-01 -2.51751038e-01  2.29908398e+02]
 [ 1.66264426e-01  9.85855092e-01 -2.11158384e-02  1.96081437e+01]
 [ 2.51699198e-01 -2.17250461e-02  9.67561645e-01  5.98263141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.780714057 meters
Centerline goodness : 0.997127 with order 1
Centerline is valid?  [True, True]
Translation: X:229.97, Y:19.62, Z:59.84
[[ 9.52108379e-01 -1.73525868e-01 -2.51750688e-01  2.29965529e+02]
 [ 1.73853172e-01  9.84545083e-01 -2.11200136e-02  1.96173967e+01]
 [ 2.51524770e-01 -2.36591137e-02  9.67561645e-01  5.98389378e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.840714057 meters
Centerline goodness : 0.996863 with order 1
Centerline is valid?  [True, True]
Translation: X:230.02, Y:19.63, Z:59.86
[[ 9.50952262e-01 -1.79754462e-01 -2.51750132e-01  2.30023062e+02]
 [ 1.80292349e-01  9.83386157e-01 -2.11266348e-02  1.96283022e+01]
 [ 2.51365202e-01 -2.52982015e-02  9.67561645e-01  5.98553774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.90071405700002 meters
Centerline goodness : 0.997501 with order 1
Centerline is valid?  [True, True]
Translation: X:230.08, Y:19.64, Z:59.87
[[ 9.50452001e-01 -1.82381026e-01 -2.51750186e-01  2.30079747e+02]
 [ 1.83008685e-01  9.82884283e-01 -2.11259949e-02  1.96406498e+01]
 [ 2.51294281e-01 -2.59932262e-02  9.67561645e-01  5.98705331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.96071405700002 meters
Centerline goodness : 0.997578 with order 1
Centerline is valid?  [True, True]
Translation: X:230.14, Y:19.65, Z:59.89
[[ 9.50268216e-01 -1.83336698e-01 -2.51749821e-01  2.30135362e+02]
 [ 1.83995832e-01  9.82699874e-01 -2.11303397e-02  1.96530345e+01]
 [ 2.51268484e-01 -2.62414274e-02  9.67561645e-01  5.98865137e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.02071405700002 meters
Centerline goodness : 0.997917 with order 1
Centerline is valid?  [True, True]
Translation: X:230.19, Y:19.67, Z:59.90
[[ 9.50816208e-01 -1.80481000e-01 -2.51744210e-01  2.30193209e+02]
 [ 1.81025231e-01  9.83249996e-01 -2.11969873e-02  1.96661957e+01]
 [ 2.51353147e-01 -2.54176145e-02  9.67561647e-01  5.99016734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.08071405700002 meters
Centerline goodness : 0.998005 with order 1
Centerline is valid?  [True, True]
Translation: X:230.25, Y:19.68, Z:59.92
[[ 9.52088775e-01 -1.73642839e-01 -2.51744174e-01  2.30250540e+02]
 [ 1.73953845e-01  9.84525637e-01 -2.11974073e-02  1.96805587e+01]
 [ 2.51529372e-01 -2.36100535e-02  9.67561647e-01  5.99151976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.140714057 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:230.31, Y:19.69, Z:59.93
[[ 9.52514021e-01 -1.71295480e-01 -2.51743717e-01  2.30307294e+02]
 [ 1.71525107e-01  9.84951561e-01 -2.12028387e-02  1.96881693e+01]
 [ 2.51587317e-01 -2.29843668e-02  9.67561647e-01  5.99347877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.200714057 meters
Centerline goodness : 0.998094 with order 1
Centerline is valid?  [True, True]
Translation: X:230.36, Y:19.71, Z:59.95
[[ 9.54324834e-01 -1.60901385e-01 -2.51743629e-01  2.30362974e+02]
 [ 1.60777103e-01  9.86762949e-01 -2.12038855e-02  1.97053638e+01]
 [ 2.51823020e-01 -2.02392169e-02  9.67561647e-01  5.99513946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.260714057 meters
Centerline goodness : 0.998256 with order 1
Centerline is valid?  [True, True]
Translation: X:230.42, Y:19.72, Z:59.97
[[ 9.55095628e-01 -1.56261767e-01 -2.51743127e-01  2.30420486e+02]
 [ 1.55978287e-01  9.87532742e-01 -2.12098386e-02  1.97195977e+01]
 [ 2.51918868e-01 -1.90090376e-02  9.67561647e-01  5.99672107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.320714057 meters
Centerline goodness : 0.998667 with order 1
Centerline is valid?  [True, True]
Translation: X:230.48, Y:19.73, Z:59.98
[[ 9.55253639e-01 -1.55293163e-01 -2.51742963e-01  2.30476612e+02]
 [ 1.54976279e-01  9.87690444e-01 -2.12117879e-02  1.97321513e+01]
 [ 2.51938164e-01 -1.87515502e-02  9.67561647e-01  5.99818758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.380714057 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:230.53, Y:19.74, Z:60.00
[[ 9.55059522e-01 -1.56485085e-01 -2.51741390e-01  2.30534106e+02]
 [ 1.56203789e-01  9.87496655e-01 -2.12304450e-02  1.97429901e+01]
 [ 2.51916028e-01 -1.90466203e-02  9.67561647e-01  5.99956912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.440714057 meters
Centerline goodness : 0.998131 with order 1
Centerline is valid?  [True, True]
Translation: X:230.59, Y:19.75, Z:60.01
[[ 9.54805667e-01 -1.58027241e-01 -2.51740997e-01  2.30590315e+02]
 [ 1.57797108e-01  9.87243204e-01 -2.12351036e-02  1.97545321e+01]
 [ 2.51885313e-01 -1.94486041e-02  9.67561647e-01  6.00103031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.500714057 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:230.65, Y:19.76, Z:60.03
[[ 9.54586101e-01 -1.59348476e-01 -2.51740816e-01  2.30647141e+02]
 [ 1.59162673e-01  9.87023922e-01 -2.12372493e-02  1.97648014e+01]
 [ 2.51858330e-01 -1.97949580e-02  9.67561647e-01  6.00279943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.560714057 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:230.70, Y:19.78, Z:60.04
[[ 9.54462065e-01 -1.60089751e-01 -2.51740816e-01  2.30704867e+02]
 [ 1.59929139e-01  9.86900020e-01 -2.12372493e-02  1.97758766e+01]
 [ 2.51842882e-01 -1.99905430e-02  9.67561647e-01  6.00437482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.62071405700001 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:230.76, Y:19.79, Z:60.06
[[ 9.54258181e-01 -1.61300605e-01 -2.51740816e-01  2.30763889e+02]
 [ 1.61181149e-01  9.86696314e-01 -2.12372493e-02  1.97871605e+01]
 [ 2.51817316e-01 -2.03100551e-02  9.67561647e-01  6.00590323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.68071405700002 meters
Centerline goodness : 0.998918 with order 1
Centerline is valid?  [True, True]
Translation: X:230.82, Y:19.80, Z:60.07
[[ 9.53823256e-01 -1.63851651e-01 -2.51741601e-01  2.30821319e+02]
 [ 1.63821373e-01  9.86261594e-01 -2.12279372e-02  1.97977102e+01]
 [ 2.51761305e-01 -2.09929545e-02  9.67561647e-01  6.00724882e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.74071405700002 meters
Centerline goodness : 0.998890 with order 1
Centerline is valid?  [True, True]
Translation: X:230.88, Y:19.81, Z:60.09
[[ 9.53479986e-01 -1.65837101e-01 -2.51741878e-01  2.30879174e+02]
 [ 1.65875218e-01  9.85918316e-01 -2.12246551e-02  1.98094924e+01]
 [ 2.51716763e-01 -2.15204551e-02  9.67561647e-01  6.00887755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.80071405700002 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:230.94, Y:19.82, Z:60.11
[[ 9.53698628e-01 -1.64574461e-01 -2.51742276e-01  2.30937321e+02]
 [ 1.64570865e-01  9.86136981e-01 -2.12199332e-02  1.98218342e+01]
 [ 2.51744627e-01 -2.11920228e-02  9.67561647e-01  6.01053356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.86071405700002 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:230.99, Y:19.83, Z:60.12
[[ 9.54046278e-01 -1.62545175e-01 -2.51743452e-01  2.30994632e+02]
 [ 1.62476229e-01  9.86484557e-01 -2.12059671e-02  1.98336629e+01]
 [ 2.51787955e-01 -2.06708528e-02  9.67561647e-01  6.01225227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.920714057 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:231.05, Y:19.85, Z:60.14
[[ 9.53703945e-01 -1.64541422e-01 -2.51743729e-01  2.31052060e+02]
 [ 1.64541224e-01  9.86142298e-01 -2.12026788e-02  1.98451028e+01]
 [ 2.51743858e-01 -2.12011428e-02  9.67561647e-01  6.01367974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.980714057 meters
Centerline goodness : 0.999235 with order 1
Centerline is valid?  [True, True]
Translation: X:231.11, Y:19.85, Z:60.15
[[ 9.52801361e-01 -1.69690375e-01 -2.51743407e-01  2.31111286e+02]
 [ 1.69864389e-01  9.85239247e-01 -2.12064981e-02  1.98527155e+01]
 [ 2.51626024e-01 -2.25566597e-02  9.67561647e-01  6.01499442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.040714057 meters
Centerline goodness : 0.999190 with order 1
Centerline is valid?  [True, True]
Translation: X:231.17, Y:19.86, Z:60.16
[[ 9.51974934e-01 -1.74266133e-01 -2.51743998e-01  2.31169677e+02]
 [ 1.74597830e-01  9.84411591e-01 -2.11994845e-02  1.98615044e+01]
 [ 2.51514062e-01 -2.37725780e-02  9.67561647e-01  6.01632749e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.100714057 meters
Centerline goodness : 0.999142 with order 1
Centerline is valid?  [True, True]
Translation: X:231.23, Y:19.87, Z:60.18
[[ 9.51822980e-01 -1.75094104e-01 -2.51744054e-01  2.31228782e+02]
 [ 1.75454189e-01  9.84259334e-01 -2.11988229e-02  1.98715903e+01]
 [ 2.51493224e-01 -2.39920220e-02  9.67561647e-01  6.01802975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.160714057 meters
Centerline goodness : 0.999638 with order 1
Centerline is valid?  [True, True]
Translation: X:231.29, Y:19.88, Z:60.20
[[ 9.52208312e-01 -1.72984040e-01 -2.51745610e-01  2.31286448e+02]
 [ 1.73277080e-01  9.84645341e-01 -2.11803193e-02  1.98797257e+01]
 [ 2.51544000e-01 -2.34536683e-02  9.67561648e-01  6.01952010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.220714057 meters
Centerline goodness : 0.999344 with order 1
Centerline is valid?  [True, True]
Translation: X:231.35, Y:19.89, Z:60.21
[[ 9.52258866e-01 -1.72705532e-01 -2.51745610e-01  2.31345046e+02]
 [ 1.72989085e-01  9.84695979e-01 -2.11803193e-02  1.98891030e+01]
 [ 2.51550849e-01 -2.33800961e-02  9.67561648e-01  6.02130748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.280714057 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:231.40, Y:19.89, Z:60.23
[[ 9.51862006e-01 -1.74877358e-01 -2.51747157e-01  2.31402540e+02]
 [ 1.75239729e-01  9.84298334e-01 -2.11619155e-02  1.98947451e+01]
 [ 2.51495048e-01 -2.39728804e-02  9.67561648e-01  6.02282710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.340714057 meters
Centerline goodness : 0.999433 with order 1
Centerline is valid?  [True, True]
Translation: X:231.46, Y:19.90, Z:60.24
[[ 9.51240186e-01 -1.78229166e-01 -2.51746842e-01  2.31460475e+02]
 [ 1.78704809e-01  9.83675051e-01 -2.11656621e-02  1.98991378e+01]
 [ 2.51409426e-01 -2.48547429e-02  9.67561648e-01  6.02405229e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.40071405700002 meters
Centerline goodness : 0.999482 with order 1
Centerline is valid?  [True, True]
Translation: X:231.52, Y:19.90, Z:60.25
[[ 9.51103159e-01 -1.78959572e-01 -2.51746405e-01  2.31520310e+02]
 [ 1.79458757e-01  9.83537670e-01 -2.11708669e-02  1.99045486e+01]
 [ 2.51390802e-01 -2.50424184e-02  9.67561648e-01  6.02545223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.46071405700002 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:231.58, Y:19.91, Z:60.27
[[ 9.51571998e-01 -1.76448586e-01 -2.51747152e-01  2.31579562e+02]
 [ 1.76864490e-01  9.84007684e-01 -2.11619782e-02  1.99096834e+01]
 [ 2.51455133e-01 -2.43879859e-02  9.67561648e-01  6.02696803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.52071405700002 meters
Centerline goodness : 0.999638 with order 1
Centerline is valid?  [True, True]
Translation: X:231.64, Y:19.92, Z:60.29
[[ 9.52172711e-01 -1.73176574e-01 -2.51747893e-01  2.31637246e+02]
 [ 1.73483293e-01  9.84609614e-01 -2.11531540e-02  1.99157111e+01]
 [ 2.51536627e-01 -2.35325977e-02  9.67561648e-01  6.02866672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.58071405700002 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:231.70, Y:19.92, Z:60.30
[[ 9.52840638e-01 -1.69462997e-01 -2.51747913e-01  2.31695665e+02]
 [ 1.69643312e-01  9.85278489e-01 -2.11529239e-02  1.99202709e+01]
 [ 2.51626441e-01 -2.25519842e-02  9.67561648e-01  6.03041748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.64071405700003 meters
Centerline goodness : 0.999275 with order 1
Centerline is valid?  [True, True]
Translation: X:231.76, Y:19.93, Z:60.32
[[ 9.53047673e-01 -1.68294083e-01 -2.51748357e-01  2.31755256e+02]
 [ 1.68435993e-01  9.85485715e-01 -2.11476401e-02  1.99250680e+01]
 [ 2.51653432e-01 -2.22487753e-02  9.67561648e-01  6.03195744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.700714057 meters
Centerline goodness : 0.999638 with order 1
Centerline is valid?  [True, True]
Translation: X:231.82, Y:19.93, Z:60.33
[[ 9.53007981e-01 -1.68516937e-01 -2.51749538e-01  2.31816327e+02]
 [ 1.68670121e-01  9.85445972e-01 -2.11335632e-02  1.99273298e+01]
 [ 2.51646932e-01 -2.23221707e-02  9.67561648e-01  6.03340592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.760714057 meters
Centerline goodness : 0.999706 with order 1
Centerline is valid?  [True, True]
Translation: X:231.88, Y:19.93, Z:60.35
[[ 9.52888684e-01 -1.69187294e-01 -2.51751497e-01  2.31876792e+02]
 [ 1.69369419e-01  9.85326524e-01 -2.11102070e-02  1.99295614e+01]
 [ 2.51629006e-01 -2.25233274e-02  9.67561648e-01  6.03493440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.820714057 meters
Centerline goodness : 0.999593 with order 1
Centerline is valid?  [True, True]
Translation: X:231.94, Y:19.93, Z:60.36
[[ 9.53206647e-01 -1.67384200e-01 -2.51753089e-01  2.31936319e+02]
 [ 1.67509934e-01  9.85644755e-01 -2.10912065e-02  1.99314587e+01]
 [ 2.51669446e-01 -2.20668650e-02  9.67561648e-01  6.03641125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.880714057 meters
Centerline goodness : 0.999661 with order 1
Centerline is valid?  [True, True]
Translation: X:232.00, Y:19.93, Z:60.38
[[ 9.53752799e-01 -1.64242463e-01 -2.51753873e-01  2.31996541e+02]
 [ 1.64263767e-01  9.86191143e-01 -2.10818398e-02  1.99342571e+01]
 [ 2.51739973e-01 -2.12471758e-02  9.67561648e-01  6.03800622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.940714057 meters
Centerline goodness : 0.999549 with order 1
Centerline is valid?  [True, True]
Translation: X:232.05, Y:19.94, Z:60.40
[[ 9.54427334e-01 -1.60273720e-01 -2.51755433e-01  2.32054495e+02]
 [ 1.60164975e-01  9.86865504e-01 -2.10632010e-02  1.99387525e+01]
 [ 2.51824629e-01 -2.02191078e-02  9.67561649e-01  6.03963902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.000714057 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:232.11, Y:19.94, Z:60.41
[[ 9.55141701e-01 -1.55959708e-01 -2.51755637e-01  2.32113102e+02]
 [ 1.55705038e-01  9.87579053e-01 -2.10607633e-02  1.99423863e+01]
 [ 2.51913224e-01 -1.90836077e-02  9.67561649e-01  6.04102985e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.060714057 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:232.17, Y:19.95, Z:60.43
[[ 9.55343412e-01 -1.54719214e-01 -2.51755694e-01  2.32173864e+02]
 [ 1.54422600e-01  9.87780408e-01 -2.10600782e-02  1.99469138e+01]
 [ 2.51937741e-01 -1.87571619e-02  9.67561649e-01  6.04250601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.12071405700001 meters
Centerline goodness : 0.999526 with order 1
Centerline is valid?  [True, True]
Translation: X:232.23, Y:19.95, Z:60.44
[[ 9.55828876e-01 -1.51688616e-01 -2.51757272e-01  2.32231791e+02]
 [ 1.51294081e-01  9.88264828e-01 -2.10411909e-02  1.99529868e+01]
 [ 2.51994567e-01 -1.79776073e-02  9.67561649e-01  6.04403102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.18071405700002 meters
Centerline goodness : 0.999616 with order 1
Centerline is valid?  [True, True]
Translation: X:232.29, Y:19.96, Z:60.46
[[ 9.56267105e-01 -1.48900974e-01 -2.51757273e-01  2.32290952e+02]
 [ 1.48411865e-01  9.88701768e-01 -2.10411858e-02  1.99598477e+01]
 [ 2.52045914e-01 -1.72427726e-02  9.67561649e-01  6.04561847e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.24071405700002 meters
Centerline goodness : 0.999774 with order 1
Centerline is valid?  [True, True]
Translation: X:232.35, Y:19.97, Z:60.47
[[ 9.56643235e-01 -1.46463686e-01 -2.51758039e-01  2.32348789e+02]
 [ 1.45894329e-01  9.89076589e-01 -2.10320206e-02  1.99661504e+01]
 [ 2.52088409e-01 -1.66099298e-02  9.67561649e-01  6.04736826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.30071405700002 meters
Centerline goodness : 0.999887 with order 1
Centerline is valid?  [True, True]
Translation: X:232.41, Y:19.97, Z:60.49
[[ 9.56724708e-01 -1.45930573e-01 -2.51758019e-01  2.32405722e+02]
 [ 1.45343081e-01  9.89157739e-01 -2.10322540e-02  1.99729208e+01]
 [ 2.52097642e-01 -1.64692092e-02  9.67561649e-01  6.04911682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.36071405700002 meters
Centerline goodness : 0.999592 with order 1
Centerline is valid?  [True, True]
Translation: X:232.46, Y:19.98, Z:60.51
[[ 9.56717494e-01 -1.45977864e-01 -2.51758019e-01  2.32463223e+02]
 [ 1.45391975e-01  9.89150554e-01 -2.10322540e-02  1.99789726e+01]
 [ 2.52096827e-01 -1.64816704e-02  9.67561649e-01  6.05054247e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.420714057 meters
Centerline goodness : 0.999660 with order 1
Centerline is valid?  [True, True]
Translation: X:232.52, Y:19.98, Z:60.52
[[ 9.56461156e-01 -1.47646816e-01 -2.51758763e-01  2.32521988e+02]
 [ 1.47119848e-01  9.88895227e-01 -2.10233482e-02  1.99847385e+01]
 [ 2.52067069e-01 -1.69306950e-02  9.67561649e-01  6.05191563e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.480714057 meters
Centerline goodness : 0.999546 with order 1
Centerline is valid?  [True, True]
Translation: X:232.58, Y:19.99, Z:60.53
[[ 9.56041836e-01 -1.50337963e-01 -2.51758824e-01  2.32580501e+02]
 [ 1.49902466e-01  9.88477263e-01 -2.10226170e-02  1.99904546e+01]
 [ 2.52018371e-01 -1.76407672e-02  9.67561649e-01  6.05314496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.540714057 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:232.64, Y:20.00, Z:60.55
[[ 9.55880092e-01 -1.51362954e-01 -2.51758824e-01  2.32638336e+02]
 [ 1.50962235e-01  9.88315968e-01 -2.10226170e-02  1.99968570e+01]
 [ 2.51999311e-01 -1.79109737e-02  9.67561649e-01  6.05465662e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.600714057 meters
Centerline goodness : 0.999636 with order 1
Centerline is valid?  [True, True]
Translation: X:232.70, Y:20.00, Z:60.56
[[ 9.55916975e-01 -1.51127821e-01 -2.51760041e-01  2.32696212e+02]
 [ 1.50722945e-01  9.88352800e-01 -2.10080335e-02  2.00046151e+01]
 [ 2.52002639e-01 -1.78640790e-02  9.67561649e-01  6.05640886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.660714057 meters
Centerline goodness : 0.999613 with order 1
Centerline is valid?  [True, True]
Translation: X:232.75, Y:20.01, Z:60.58
[[ 9.55756630e-01 -1.52137361e-01 -2.51760775e-01  2.32754745e+02]
 [ 1.51769051e-01  9.88192890e-01 -2.09992264e-02  2.00119527e+01]
 [ 2.51982975e-01 -1.81393441e-02  9.67561649e-01  6.05829458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.720714057 meters
Centerline goodness : 0.999727 with order 1
Centerline is valid?  [True, True]
Translation: X:232.81, Y:20.02, Z:60.60
[[ 9.55505212e-01 -1.53706553e-01 -2.51761961e-01  2.32813323e+02]
 [ 1.53395233e-01  9.87942069e-01 -2.09850005e-02  2.00175501e+01]
 [ 2.51951765e-01 -1.85678074e-02  9.67561649e-01  6.05986163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.780714057 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:232.87, Y:20.02, Z:60.61
[[ 9.54274958e-01 -1.61166469e-01 -2.51763129e-01  2.32872057e+02]
 [ 1.61112236e-01  9.86713264e-01 -2.09709832e-02  2.00233007e+01]
 [ 2.51797838e-01 -2.05500365e-02  9.67561649e-01  6.06130077e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.840714057 meters
Centerline goodness : 0.999590 with order 1
Centerline is valid?  [True, True]
Translation: X:232.93, Y:20.03, Z:60.63
[[ 9.53591043e-01 -1.65164682e-01 -2.51763282e-01  2.32930875e+02]
 [ 1.65246888e-01  9.86029290e-01 -2.09691491e-02  2.00285475e+01]
 [ 2.51709333e-01 -2.16071060e-02  9.67561649e-01  6.06271111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.90071405700002 meters
Centerline goodness : 0.999135 with order 1
Centerline is valid?  [True, True]
Translation: X:232.99, Y:20.04, Z:60.64
[[ 9.53011472e-01 -1.68476604e-01 -2.51763316e-01  2.32988831e+02]
 [ 1.68671614e-01  9.85449237e-01 -2.09687337e-02  2.00367245e+01]
 [ 2.51632709e-01 -2.24818810e-02  9.67561649e-01  6.06431924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.96071405700002 meters
Centerline goodness : 0.999636 with order 1
Centerline is valid?  [True, True]
Translation: X:233.05, Y:20.04, Z:60.66
[[ 9.53331513e-01 -1.66655510e-01 -2.51763713e-01  2.33046859e+02]
 [ 1.66789793e-01  9.85769586e-01 -2.09639692e-02  2.00443931e+01]
 [ 2.51674772e-01 -2.20060051e-02  9.67561649e-01  6.06588759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.02071405700002 meters
Centerline goodness : 0.999133 with order 1
Centerline is valid?  [True, True]
Translation: X:233.10, Y:20.05, Z:60.68
[[ 9.54220359e-01 -1.61484859e-01 -2.51766057e-01  2.33104491e+02]
 [ 1.61450676e-01  9.86658691e-01 -2.09357782e-02  2.00539765e+01]
 [ 2.51787980e-01 -2.06704542e-02  9.67561650e-01  6.06772208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.08071405700002 meters
Centerline goodness : 0.999061 with order 1
Centerline is valid?  [True, True]
Translation: X:233.16, Y:20.06, Z:60.69
[[ 9.55492408e-01 -1.53779214e-01 -2.51766186e-01  2.33161807e+02]
 [ 1.53483666e-01  9.87929412e-01 -2.09342286e-02  2.00636240e+01]
 [ 2.51946469e-01 -1.86395008e-02  9.67561650e-01  6.06924854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.14071405700003 meters
Centerline goodness : 0.999079 with order 1
Centerline is valid?  [True, True]
Translation: X:233.22, Y:20.07, Z:60.71
[[ 9.56699151e-01 -1.46084557e-01 -2.51765836e-01  2.33219962e+02]
 [ 1.45526868e-01  9.89132707e-01 -2.09384349e-02  2.00731068e+01]
 [ 2.52088605e-01 -1.66069107e-02  9.67561650e-01  6.07075612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.200714057 meters
Centerline goodness : 0.999400 with order 1
Centerline is valid?  [True, True]
Translation: X:233.28, Y:20.08, Z:60.72
[[ 9.57514443e-01 -1.40641027e-01 -2.51766146e-01  2.33278252e+02]
 [ 1.39899859e-01  9.89944325e-01 -2.09347121e-02  2.00811024e+01]
 [ 2.52178747e-01 -1.51767589e-02  9.67561650e-01  6.07241542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.260714057 meters
Centerline goodness : 0.998493 with order 1
Centerline is valid?  [True, True]
Translation: X:233.34, Y:20.09, Z:60.74
[[ 9.58253753e-01 -1.35511898e-01 -2.51766301e-01  2.33336157e+02]
 [ 1.34597578e-01  9.90679215e-01 -2.09328516e-02  2.00879493e+01]
 [ 2.52256292e-01 -1.38281507e-02  9.67561650e-01  6.07381638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.320714057 meters
Centerline goodness : 0.998444 with order 1
Centerline is valid?  [True, True]
Translation: X:233.39, Y:20.09, Z:60.75
[[ 9.59066863e-01 -1.29632139e-01 -2.51766281e-01  2.33394568e+02]
 [ 1.28518900e-01  9.91486106e-01 -2.09330909e-02  2.00944644e+01]
 [ 2.52336371e-01 -1.22804917e-02  9.67561650e-01  6.07538547e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.380714057 meters
Centerline goodness : 0.998141 with order 1
Centerline is valid?  [True, True]
Translation: X:233.45, Y:20.10, Z:60.77
[[ 9.59525835e-01 -1.26190019e-01 -2.51766264e-01  2.33453839e+02]
 [ 1.24960409e-01  9.91940872e-01 -2.09332912e-02  2.01000169e+01]
 [ 2.52378820e-01 -1.13747817e-02  9.67561650e-01  6.07706325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.440714057 meters
Centerline goodness : 0.997911 with order 1
Centerline is valid?  [True, True]
Translation: X:233.51, Y:20.10, Z:60.79
[[ 9.59994595e-01 -1.22570547e-01 -2.51767431e-01  2.33512098e+02]
 [ 1.21222378e-01  9.92404917e-01 -2.09192519e-02  2.01045601e+01]
 [ 2.52419320e-01 -1.04374779e-02  9.67561650e-01  6.07882139e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.500714057 meters
Centerline goodness : 0.998245 with order 1
Centerline is valid?  [True, True]
Translation: X:233.57, Y:20.11, Z:60.80
[[ 9.59866019e-01 -1.23573276e-01 -2.51767494e-01  2.33571381e+02]
 [ 1.22259161e-01  9.92277740e-01 -2.09184921e-02  2.01078817e+01]
 [ 2.52408246e-01 -1.07019329e-02  9.67561650e-01  6.08038782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.560714057 meters
Centerline goodness : 0.998428 with order 1
Centerline is valid?  [True, True]
Translation: X:233.63, Y:20.11, Z:60.82
[[ 9.59204381e-01 -1.28606785e-01 -2.51768249e-01  2.33629243e+02]
 [ 1.27465093e-01  9.91622633e-01 -2.09094018e-02  2.01088278e+01]
 [ 2.52348185e-01 -1.20352735e-02  9.67561650e-01  6.08172185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.62071405700001 meters
Centerline goodness : 0.998295 with order 1
Centerline is valid?  [True, True]
Translation: X:233.69, Y:20.11, Z:60.83
[[ 9.58311200e-01 -1.35100779e-01 -2.51768592e-01  2.33688582e+02]
 [ 1.34179775e-01  9.90736473e-01 -2.09052606e-02  2.01095028e+01]
 [ 2.52260644e-01 -1.37485077e-02  9.67561650e-01  6.08310354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.68071405700002 meters
Centerline goodness : 0.998025 with order 1
Centerline is valid?  [True, True]
Translation: X:233.75, Y:20.11, Z:60.85
[[ 9.57114890e-01 -1.43330268e-01 -2.51768785e-01  2.33746720e+02]
 [ 1.42688526e-01  9.89546892e-01 -2.09029448e-02  2.01093844e+01]
 [ 2.52133043e-01 -1.59179970e-02  9.67561650e-01  6.08451355e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.74071405700002 meters
Centerline goodness : 0.998218 with order 1
Centerline is valid?  [True, True]
Translation: X:233.80, Y:20.11, Z:60.86
[[ 9.55984954e-01 -1.50683067e-01 -2.51768506e-01  2.33804811e+02]
 [ 1.50289759e-01  9.88420920e-01 -2.09062959e-02  2.01094777e+01]
 [ 2.52003484e-01 -1.78521239e-02  9.67561650e-01  6.08599941e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.80071405700002 meters
Centerline goodness : 0.998704 with order 1
Centerline is valid?  [True, True]
Translation: X:233.86, Y:20.11, Z:60.87
[[ 9.55226964e-01 -1.55416019e-01 -2.51768361e-01  2.33863089e+02]
 [ 1.55182907e-01  9.87664477e-01 -2.09080463e-02  2.01112742e+01]
 [ 2.51912112e-01 -1.90982165e-02  9.67561650e-01  6.08746071e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.86071405700002 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:233.92, Y:20.11, Z:60.89
[[ 9.54765360e-01 -1.58227699e-01 -2.51767952e-01  2.33921238e+02]
 [ 1.58088800e-01  9.87203413e-01 -2.09129662e-02  2.01143219e+01]
 [ 2.51855193e-01 -1.98347178e-02  9.67561650e-01  6.08932930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.920714057 meters
Centerline goodness : 0.998955 with order 1
Centerline is valid?  [True, True]
Translation: X:233.98, Y:20.12, Z:60.91
[[ 9.54484783e-01 -1.59910919e-01 -2.51768342e-01  2.33979635e+02]
 [ 1.59830444e-01  9.86923033e-01 -2.09082803e-02  2.01180940e+01]
 [ 2.51819438e-01 -2.02836104e-02  9.67561650e-01  6.09070995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.980714057 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:234.04, Y:20.12, Z:60.92
[[ 9.53961848e-01 -1.63002014e-01 -2.51768020e-01  2.34038491e+02]
 [ 1.63025603e-01  9.86400190e-01 -2.09121529e-02  2.01211443e+01]
 [ 2.51752746e-01 -2.10952373e-02  9.67561650e-01  6.09215750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.040714057 meters
Centerline goodness : 0.998978 with order 1
Centerline is valid?  [True, True]
Translation: X:234.10, Y:20.13, Z:60.94
[[ 9.53712663e-01 -1.64453492e-01 -2.51768159e-01  2.34099007e+02]
 [ 1.64526884e-01  9.86150930e-01 -2.09104757e-02  2.01252268e+01]
 [ 2.51720205e-01 -2.14800452e-02  9.67561650e-01  6.09371286e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.100714057 meters
Centerline goodness : 0.999070 with order 1
Centerline is valid?  [True, True]
Translation: X:234.16, Y:20.13, Z:60.95
[[ 9.53632657e-01 -1.64913834e-01 -2.51770100e-01  2.34158062e+02]
 [ 1.65009013e-01  9.86070867e-01 -2.08870830e-02  2.01298223e+01]
 [ 2.51707730e-01 -2.16257314e-02  9.67561650e-01  6.09521901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.160714057 meters
Centerline goodness : 0.999250 with order 1
Centerline is valid?  [True, True]
Translation: X:234.22, Y:20.14, Z:60.97
[[ 9.54012432e-01 -1.62700739e-01 -2.51771225e-01  2.34217253e+02]
 [ 1.62724209e-01  9.86450773e-01 -2.08735164e-02  2.01360747e+01]
 [ 2.51756056e-01 -2.10556793e-02  9.67561650e-01  6.09690792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.220714057 meters
Centerline goodness : 0.998934 with order 1
Centerline is valid?  [True, True]
Translation: X:234.27, Y:20.14, Z:60.99
[[ 9.54634677e-01 -1.59007267e-01 -2.51772362e-01  2.34274085e+02]
 [ 1.58908791e-01  9.87072877e-01 -2.08597902e-02  2.01429638e+01]
 [ 2.51834528e-01 -2.00953625e-02  9.67561650e-01  6.09853646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.280714057 meters
Centerline goodness : 0.998912 with order 1
Centerline is valid?  [True, True]
Translation: X:234.33, Y:20.15, Z:61.00
[[ 9.55080739e-01 -1.56306284e-01 -2.51771975e-01  2.34332410e+02]
 [ 1.56114828e-01  9.87518524e-01 -2.08644597e-02  2.01503781e+01]
 [ 2.51890735e-01 -1.93780949e-02  9.67561650e-01  6.09996518e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.340714057 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:234.39, Y:20.16, Z:61.01
[[ 9.55133487e-01 -1.55983637e-01 -2.51771975e-01  2.34392964e+02]
 [ 1.55781222e-01  9.87571205e-01 -2.08644597e-02  2.01557177e+01]
 [ 2.51897267e-01 -1.92930018e-02  9.67561650e-01  6.10140401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.40071405700002 meters
Centerline goodness : 0.999021 with order 1
Centerline is valid?  [True, True]
Translation: X:234.45, Y:20.16, Z:61.03
[[ 9.54812784e-01 -1.57932572e-01 -2.51773412e-01  2.34452275e+02]
 [ 1.57800904e-01  9.87250866e-01 -2.08471089e-02  2.01611501e+01]
 [ 2.51855956e-01 -1.98249859e-02  9.67561650e-01  6.10319627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.46071405700002 meters
Centerline goodness : 0.998996 with order 1
Centerline is valid?  [True, True]
Translation: X:234.51, Y:20.17, Z:61.05
[[ 9.54662306e-01 -1.58837203e-01 -2.51774947e-01  2.34510769e+02]
 [ 1.58741134e-01  9.87100514e-01 -2.08285527e-02  2.01669436e+01]
 [ 2.51835528e-01 -2.00828065e-02  9.67561651e-01  6.10471359e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.52071405700002 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:234.57, Y:20.17, Z:61.06
[[ 9.54749085e-01 -1.58314654e-01 -2.51775010e-01  2.34568938e+02]
 [ 1.58201029e-01  9.87187235e-01 -2.08277948e-02  2.01721841e+01]
 [ 2.51846421e-01 -1.99457476e-02  9.67561651e-01  6.10631351e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.58071405700002 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:234.63, Y:20.18, Z:61.08
[[ 9.54848930e-01 -1.57711127e-01 -2.51775139e-01  2.34627190e+02]
 [ 1.57577407e-01  9.87287004e-01 -2.08262340e-02  2.01779055e+01]
 [ 2.51858851e-01 -1.97881662e-02  9.67561651e-01  6.10803457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.64071405700003 meters
Centerline goodness : 0.998678 with order 1
Centerline is valid?  [True, True]
Translation: X:234.69, Y:20.18, Z:61.10
[[ 9.54839340e-01 -1.57768560e-01 -2.51775529e-01  2.34685719e+02]
 [ 1.57638028e-01  9.87277426e-01 -2.08215090e-02  2.01826914e+01]
 [ 2.51857276e-01 -1.98082022e-02  9.67561651e-01  6.10957110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.700714057 meters
Centerline goodness : 0.998790 with order 1
Centerline is valid?  [True, True]
Translation: X:234.74, Y:20.19, Z:61.11
[[ 9.54731853e-01 -1.58416857e-01 -2.51776068e-01  2.34744753e+02]
 [ 1.58310057e-01  9.87170027e-01 -2.08149991e-02  2.01875409e+01]
 [ 2.51843234e-01 -1.99859411e-02  9.67561651e-01  6.11103580e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.760714057 meters
Centerline goodness : 0.999132 with order 1
Centerline is valid?  [True, True]
Translation: X:234.81, Y:20.19, Z:61.13
[[ 9.54701136e-01 -1.58601259e-01 -2.51776450e-01  2.34805329e+02]
 [ 1.58501936e-01  9.87139334e-01 -2.08103766e-02  2.01919347e+01]
 [ 2.51838989e-01 -2.00393646e-02  9.67561651e-01  6.11255136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.820714057 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:234.86, Y:20.20, Z:61.14
[[ 9.54881366e-01 -1.57510115e-01 -2.51777957e-01  2.34863708e+02]
 [ 1.57378506e-01  9.87319449e-01 -2.07921206e-02  2.01982056e+01]
 [ 2.51860243e-01 -1.97704302e-02  9.67561651e-01  6.11419239e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.880714057 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:234.92, Y:20.20, Z:61.16
[[ 9.54884965e-01 -1.57486513e-01 -2.51779072e-01  2.34922587e+02]
 [ 1.57357641e-01  9.87323059e-01 -2.07786140e-02  2.02028891e+01]
 [ 2.51859635e-01 -1.97781748e-02  9.67561651e-01  6.11563592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.940714057 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:234.98, Y:20.21, Z:61.17
[[ 9.54687371e-01 -1.58679362e-01 -2.51779434e-01  2.34981983e+02]
 [ 1.58592165e-01  9.87125603e-01 -2.07742289e-02  2.02057830e+01]
 [ 2.51834367e-01 -2.00973515e-02  9.67561651e-01  6.11722809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.000714057 meters
Centerline goodness : 0.998905 with order 1
Centerline is valid?  [True, True]
Translation: X:235.04, Y:20.21, Z:61.19
[[ 9.54576413e-01 -1.59344303e-01 -2.51780192e-01  2.35041431e+02]
 [ 1.59282109e-01  9.87014702e-01 -2.07650401e-02  2.02100910e+01]
 [ 2.51819542e-01 -2.02822625e-02  9.67561651e-01  6.11886175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.060714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:235.10, Y:20.21, Z:61.20
[[ 9.54546172e-01 -1.59523593e-01 -2.51781313e-01  2.35099849e+02]
 [ 1.59471056e-01  9.86984478e-01 -2.07514380e-02  2.02138646e+01]
 [ 2.51814592e-01 -2.03436260e-02  9.67561651e-01  6.12043223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.12071405700001 meters
Centerline goodness : 0.998840 with order 1
Centerline is valid?  [True, True]
Translation: X:235.16, Y:20.22, Z:61.22
[[ 9.54515787e-01 -1.59704722e-01 -2.51781679e-01  2.35158903e+02]
 [ 1.59659504e-01  9.86954105e-01 -2.07469945e-02  2.02182409e+01]
 [ 2.51810355e-01 -2.03960042e-02  9.67561651e-01  6.12199402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.18071405700002 meters
Centerline goodness : 0.999226 with order 1
Centerline is valid?  [True, True]
Translation: X:235.22, Y:20.22, Z:61.24
[[ 9.54311733e-01 -1.60918415e-01 -2.51782405e-01  2.35217620e+02]
 [ 1.60916757e-01  9.86750082e-01 -2.07381850e-02  2.02228042e+01]
 [ 2.51783464e-01 -2.07253147e-02  9.67561651e-01  6.12358191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.24071405700002 meters
Centerline goodness : 0.999042 with order 1
Centerline is valid?  [True, True]
Translation: X:235.28, Y:20.23, Z:61.25
[[ 9.54040254e-01 -1.62520076e-01 -2.51782483e-01  2.35277211e+02]
 [ 1.62573119e-01  9.86478560e-01 -2.07372275e-02  2.02264358e+01]
 [ 2.51748237e-01 -2.11489138e-02  9.67561651e-01  6.12502804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.30071405700002 meters
Centerline goodness : 0.999433 with order 1
Centerline is valid?  [True, True]
Translation: X:235.34, Y:20.23, Z:61.27
[[ 9.53869884e-01 -1.63515961e-01 -2.51783189e-01  2.35337424e+02]
 [ 1.63605113e-01  9.86308111e-01 -2.07286591e-02  2.02302125e+01]
 [ 2.51725268e-01 -2.14205734e-02  9.67561651e-01  6.12666520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.36071405700002 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:235.40, Y:20.24, Z:61.28
[[ 9.54005170e-01 -1.62722633e-01 -2.51784592e-01  2.35397230e+02]
 [ 1.62789280e-01  9.86443450e-01 -2.07115983e-02  2.02360441e+01]
 [ 2.51741508e-01 -2.12288606e-02  9.67561651e-01  6.12843215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.420714057 meters
Centerline goodness : 0.998910 with order 1
Centerline is valid?  [True, True]
Translation: X:235.46, Y:20.24, Z:61.30
[[ 9.54040353e-01 -1.62511893e-01 -2.51787388e-01  2.35457064e+02]
 [ 1.62580295e-01  9.86478629e-01 -2.06775538e-02  2.02408662e+01]
 [ 2.51743226e-01 -2.12084472e-02  9.67561652e-01  6.13008086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.480714057 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:235.52, Y:20.25, Z:61.32
[[ 9.53716102e-01 -1.64401784e-01 -2.51788899e-01  2.35516534e+02]
 [ 1.64539278e-01  9.86154159e-01 -2.06591469e-02  2.02455911e+01]
 [ 2.51699070e-01 -2.17262025e-02  9.67561652e-01  6.13178704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.540714057 meters
Centerline goodness : 0.998411 with order 1
Centerline is valid?  [True, True]
Translation: X:235.57, Y:20.25, Z:61.33
[[ 9.53108551e-01 -1.67885877e-01 -2.51790435e-01  2.35574815e+02]
 [ 1.68146821e-01  9.85545849e-01 -2.06404030e-02  2.02498588e+01]
 [ 2.51616250e-01 -2.26652166e-02  9.67561652e-01  6.13331389e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.600714057 meters
Centerline goodness : 0.998186 with order 1
Centerline is valid?  [True, True]
Translation: X:235.63, Y:20.25, Z:61.35
[[ 9.52544135e-01 -1.71058938e-01 -2.51790608e-01  2.35633102e+02]
 [ 1.71428454e-01  9.84980378e-01 -2.06382967e-02  2.02532866e+01]
 [ 2.51539173e-01 -2.35051861e-02  9.67561652e-01  6.13474741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.660714057 meters
Centerline goodness : 0.998079 with order 1
Centerline is valid?  [True, True]
Translation: X:235.69, Y:20.26, Z:61.36
[[ 9.52372654e-01 -1.72011561e-01 -2.51790293e-01  2.35691248e+02]
 [ 1.72412513e-01  9.84808523e-01 -2.06421351e-02  2.02580878e+01]
 [ 2.51515913e-01 -2.37527921e-02  9.67561652e-01  6.13610512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.720714057 meters
Centerline goodness : 0.997687 with order 1
Centerline is valid?  [True, True]
Translation: X:235.75, Y:20.26, Z:61.38
[[ 9.52283953e-01 -1.72501946e-01 -2.51790293e-01  2.35749557e+02]
 [ 1.72919600e-01  9.84719612e-01 -2.06421351e-02  2.02627702e+01]
 [ 2.51503648e-01 -2.38823027e-02  9.67561652e-01  6.13770408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.780714057 meters
Centerline goodness : 0.998243 with order 1
Centerline is valid?  [True, True]
Translation: X:235.81, Y:20.27, Z:61.40
[[ 9.52258573e-01 -1.72640918e-01 -2.51791032e-01  2.35809188e+02]
 [ 1.73065666e-01  9.84694140e-01 -2.06331242e-02  2.02662463e+01]
 [ 2.51499275e-01 -2.39283132e-02  9.67561652e-01  6.13955780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.840714057 meters
Centerline goodness : 0.998147 with order 1
Centerline is valid?  [True, True]
Translation: X:235.87, Y:20.27, Z:61.41
[[ 9.52507956e-01 -1.71257444e-01 -2.51792536e-01  2.35869164e+02]
 [ 1.71639889e-01  9.84944049e-01 -2.06147515e-02  2.02703359e+01]
 [ 2.51531989e-01 -2.35819281e-02  9.67561652e-01  6.14067367e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.90071405700002 meters
Centerline goodness : 0.998057 with order 1
Centerline is valid?  [True, True]
Translation: X:235.93, Y:20.27, Z:61.43
[[ 9.52736574e-01 -1.69979359e-01 -2.51793640e-01  2.35926262e+02]
 [ 1.70321823e-01  9.85173114e-01 -2.06012511e-02  2.02749177e+01]
 [ 2.51562112e-01 -2.32583864e-02  9.67561652e-01  6.14273833e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.96071405700002 meters
Centerline goodness : 0.998178 with order 1
Centerline is valid?  [True, True]
Translation: X:235.99, Y:20.28, Z:61.44
[[ 9.53079823e-01 -1.68043939e-01 -2.51793737e-01  2.35986406e+02]
 [ 1.68320830e-01  9.85516989e-01 -2.06000733e-02  2.02787044e+01]
 [ 2.51608723e-01 -2.27486167e-02  9.67561652e-01  6.14416991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.02071405700002 meters
Centerline goodness : 0.998352 with order 1
Centerline is valid?  [True, True]
Translation: X:236.04, Y:20.28, Z:61.46
[[ 9.53759530e-01 -1.64139988e-01 -2.51795201e-01  2.36043908e+02]
 [ 1.64288750e-01  9.86197537e-01 -2.05821666e-02  2.02838964e+01]
 [ 2.51698163e-01 -2.17366812e-02  9.67561653e-01  6.14558880e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.08071405700002 meters
Centerline goodness : 0.998439 with order 1
Centerline is valid?  [True, True]
Translation: X:236.10, Y:20.29, Z:61.47
[[ 9.54466766e-01 -1.59976784e-01 -2.51794798e-01  2.36101443e+02]
 [ 1.59982715e-01  9.86905113e-01 -2.05870862e-02  2.02889645e+01]
 [ 2.51791030e-01 -2.06331260e-02  9.67561653e-01  6.14736384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.14071405700003 meters
Centerline goodness : 0.998373 with order 1
Centerline is valid?  [True, True]
Translation: X:236.16, Y:20.29, Z:61.49
[[ 9.54953381e-01 -1.57046000e-01 -2.51794747e-01  2.36160728e+02]
 [ 1.56952187e-01  9.87391593e-01 -2.05877140e-02  2.02942669e+01]
 [ 2.51853234e-01 -1.98594291e-02  9.67561653e-01  6.14881242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.200714057 meters
Centerline goodness : 0.998277 with order 1
Centerline is valid?  [True, True]
Translation: X:236.22, Y:20.30, Z:61.50
[[ 9.55906614e-01 -1.51134250e-01 -2.51795520e-01  2.36217781e+02]
 [ 1.50842208e-01  9.88343647e-01 -2.05782506e-02  2.03015484e+01]
 [ 2.51970581e-01 -1.83105064e-02  9.67561653e-01  6.15032448e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.260714057 meters
Centerline goodness : 0.998298 with order 1
Centerline is valid?  [True, True]
Translation: X:236.28, Y:20.31, Z:61.52
[[ 9.56364165e-01 -1.48212006e-01 -2.51795126e-01  2.36275262e+02]
 [ 1.47819564e-01  9.88800138e-01 -2.05830764e-02  2.03069377e+01]
 [ 2.52025714e-01 -1.75353290e-02  9.67561653e-01  6.15205562e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.320714057 meters
Centerline goodness : 0.998205 with order 1
Centerline is valid?  [True, True]
Translation: X:236.33, Y:20.31, Z:61.54
[[ 9.57395857e-01 -1.41394509e-01 -2.51795088e-01  2.36332258e+02]
 [ 1.40770862e-01  9.89828209e-01 -2.05835350e-02  2.03137940e+01]
 [ 2.52144280e-01 -1.57388206e-02  9.67561653e-01  6.15357777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.380714057 meters
Centerline goodness : 0.998383 with order 1
Centerline is valid?  [True, True]
Translation: X:236.39, Y:20.32, Z:61.55
[[ 9.57904800e-01 -1.37904836e-01 -2.51794856e-01  2.36390284e+02]
 [ 1.37162268e-01  9.90334647e-01 -2.05863731e-02  2.03198382e+01]
 [ 2.52200131e-01 -1.48169678e-02  9.67561653e-01  6.15511658e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.440714057 meters
Centerline goodness : 0.998101 with order 1
Centerline is valid?  [True, True]
Translation: X:236.45, Y:20.33, Z:61.57
[[ 9.58680768e-01 -1.32402977e-01 -2.51794833e-01  2.36448008e+02]
 [ 1.31474156e-01  9.91105815e-01 -2.05866640e-02  2.03261819e+01]
 [ 2.52281058e-01 -1.33684742e-02  9.67561653e-01  6.15689578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.500714057 meters
Centerline goodness : 0.998812 with order 1
Centerline is valid?  [True, True]
Translation: X:236.51, Y:20.33, Z:61.58
[[ 9.58986999e-01 -1.30165670e-01 -2.51795223e-01  2.36506718e+02]
 [ 1.29162444e-01  9.91409829e-01 -2.05818848e-02  2.03304027e+01]
 [ 2.52311314e-01 -1.27847265e-02  9.67561653e-01  6.15826015e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.560714057 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:236.57, Y:20.33, Z:61.60
[[ 9.59187217e-01 -1.28677444e-01 -2.51797534e-01  2.36565323e+02]
 [ 1.27631322e-01  9.91608691e-01 -2.05535731e-02  2.03344667e+01]
 [ 2.52329405e-01 -1.24225276e-02  9.67561653e-01  6.15999729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.62071405700001 meters
Centerline goodness : 0.998385 with order 1
Centerline is valid?  [True, True]
Translation: X:236.62, Y:20.34, Z:61.61
[[ 9.59645177e-01 -1.25215590e-01 -2.51797914e-01  2.36624941e+02]
 [ 1.24053709e-01  9.92062709e-01 -2.05489160e-02  2.03381416e+01]
 [ 2.52372366e-01 -1.15167971e-02  9.67561653e-01  6.16144555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.68071405700002 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:236.68, Y:20.34, Z:61.63
[[ 9.60244430e-01 -1.20531646e-01 -2.51799041e-01  2.36682578e+02]
 [ 1.19215220e-01  9.92656054e-01 -2.05350978e-02  2.03419155e+01]
 [ 2.52424972e-01 -1.02995647e-02  9.67561653e-01  6.16315122e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.74071405700002 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:236.74, Y:20.35, Z:61.65
[[ 9.61079080e-01 -1.13684911e-01 -2.51799015e-01  2.36740995e+02]
 [ 1.12137435e-01  9.93480494e-01 -2.05354227e-02  2.03452455e+01]
 [ 2.52491977e-01 -8.49993036e-03  9.67561653e-01  6.16477890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.80071405700002 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:236.80, Y:20.35, Z:61.66
[[ 9.61813874e-01 -1.07290870e-01 -2.51799008e-01  2.36800987e+02]
 [ 1.05527925e-01  9.94204280e-01 -2.05355044e-02  2.03463911e+01]
 [ 2.52542924e-01 -6.82049377e-03  9.67561653e-01  6.16636863e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.86071405700002 meters
Centerline goodness : 0.998153 with order 1
Centerline is valid?  [True, True]
Translation: X:236.86, Y:20.34, Z:61.68
[[ 9.62089931e-01 -1.04783973e-01 -2.51800088e-01  2.36860382e+02]
 [ 1.02940090e-01  9.94475829e-01 -2.05222511e-02  2.03448236e+01]
 [ 2.52559505e-01 -6.17607261e-03  9.67561653e-01  6.16788555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.920714057 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:236.92, Y:20.34, Z:61.69
[[ 9.61987699e-01 -1.05716570e-01 -2.51800861e-01  2.36920548e+02]
 [ 1.03906562e-01  9.94375509e-01 -2.05127692e-02  2.03411973e+01]
 [ 2.52553149e-01 -6.43073016e-03  9.67561653e-01  6.16944443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.980714057 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:236.98, Y:20.34, Z:61.71
[[ 9.61788761e-01 -1.07509629e-01 -2.51801628e-01  2.36979611e+02]
 [ 1.05762462e-01  9.94180021e-01 -2.05033519e-02  2.03373722e+01]
 [ 2.52540455e-01 -6.91126669e-03  9.67561653e-01  6.17097980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.040714057 meters
Centerline goodness : 0.999123 with order 1
Centerline is valid?  [True, True]
Translation: X:237.04, Y:20.33, Z:61.72
[[ 9.61665061e-01 -1.08610551e-01 -2.51801628e-01  2.37038537e+02]
 [ 1.06900465e-01  9.94058300e-01 -2.05033519e-02  2.03330010e+01]
 [ 2.52532378e-01 -7.20035381e-03  9.67561653e-01  6.17245719e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.100714057 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:237.10, Y:20.33, Z:61.74
[[ 9.61428555e-01 -1.10685427e-01 -2.51801253e-01  2.37097056e+02]
 [ 1.09044040e-01  9.93825347e-01 -2.05079572e-02  2.03295803e+01]
 [ 2.52516399e-01 -7.74049017e-03  9.67561653e-01  6.17407593e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.160714057 meters
Centerline goodness : 0.999197 with order 1
Centerline is valid?  [True, True]
Translation: X:237.16, Y:20.33, Z:61.76
[[ 9.61017758e-01 -1.14197186e-01 -2.51801253e-01  2.37156063e+02]
 [ 1.12674169e-01  9.93420332e-01 -2.05079572e-02  2.03270413e+01]
 [ 2.52486435e-01 -8.66298578e-03  9.67561653e-01  6.17554279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.220714057 meters
Centerline goodness : 0.999112 with order 1
Centerline is valid?  [True, True]
Translation: X:237.21, Y:20.32, Z:61.77
[[ 9.60196889e-01 -1.20905228e-01 -2.51801231e-01  2.37214708e+02]
 [ 1.19608446e-01  9.92609305e-01 -2.05082247e-02  2.03240561e+01]
 [ 2.52419796e-01 -1.04256204e-02  9.67561653e-01  6.17681584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.280714057 meters
Centerline goodness : 0.999005 with order 1
Centerline is valid?  [True, True]
Translation: X:237.27, Y:20.32, Z:61.79
[[ 9.59271137e-01 -1.28043791e-01 -2.51800860e-01  2.37272511e+02]
 [ 1.26986935e-01  9.91692263e-01 -2.05127804e-02  2.03214183e+01]
 [ 2.52335499e-01 -1.22981012e-02  9.67561653e-01  6.17850160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.340714057 meters
Centerline goodness : 0.998790 with order 1
Centerline is valid?  [True, True]
Translation: X:237.33, Y:20.32, Z:61.80
[[ 9.58671241e-01 -1.32461194e-01 -2.51800484e-01  2.37330719e+02]
 [ 1.31552486e-01  9.91096857e-01 -2.05173896e-02  2.03205400e+01]
 [ 2.52276426e-01 -1.34555482e-02  9.67561653e-01  6.18008603e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.40071405700002 meters
Centerline goodness : 0.998814 with order 1
Centerline is valid?  [True, True]
Translation: X:237.39, Y:20.32, Z:61.82
[[ 9.58436137e-01 -1.34152380e-01 -2.51800140e-01  2.37387530e+02]
 [ 1.33299775e-01  9.90863277e-01 -2.05216169e-02  2.03194090e+01]
 [ 2.52252535e-01 -1.38962427e-02  9.67561653e-01  6.18161338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.46071405700002 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:237.45, Y:20.32, Z:61.83
[[ 9.58527352e-01 -1.33501172e-01 -2.51799032e-01  2.37445734e+02]
 [ 1.32622979e-01  9.90953809e-01 -2.05351930e-02  2.03227171e+01]
 [ 2.52262683e-01 -1.37107936e-02  9.67561653e-01  6.18320659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.52071405700002 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:237.50, Y:20.33, Z:61.85
[[ 9.58919034e-01 -1.30657730e-01 -2.51799214e-01  2.37503591e+02]
 [ 1.29683953e-01  9.91342761e-01 -2.05329652e-02  2.03258863e+01]
 [ 2.52302119e-01 -1.29648662e-02  9.67561653e-01  6.18467830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.58071405700002 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:237.56, Y:20.33, Z:61.86
[[ 9.59289630e-01 -1.27909302e-01 -2.51798762e-01  2.37561969e+02]
 [ 1.26841162e-01  9.91710386e-01 -2.05385101e-02  2.03299637e+01]
 [ 2.52338514e-01 -1.22360679e-02  9.67561653e-01  6.18597269e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.64071405700003 meters
Centerline goodness : 0.998686 with order 1
Centerline is valid?  [True, True]
Translation: X:237.62, Y:20.34, Z:61.88
[[ 9.59563803e-01 -1.25836851e-01 -2.51798323e-01  2.37619848e+02]
 [ 1.24697272e-01  9.91982126e-01 -2.05438940e-02  2.03367129e+01]
 [ 2.52364614e-01 -1.16853868e-02  9.67561653e-01  6.18775242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.700714057 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:237.68, Y:20.34, Z:61.89
[[ 9.59668941e-01 -1.25031735e-01 -2.51798708e-01  2.37678208e+02]
 [ 1.23866196e-01  9.92086341e-01 -2.05391686e-02  2.03411749e+01]
 [ 2.52374107e-01 -1.14785459e-02  9.67561653e-01  6.18934732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.760714057 meters
Centerline goodness : 0.998792 with order 1
Centerline is valid?  [True, True]
Translation: X:237.74, Y:20.35, Z:61.91
[[ 9.59626952e-01 -1.25354073e-01 -2.51798471e-01  2.37736439e+02]
 [ 1.24198662e-01  9.92044715e-01 -2.05420702e-02  2.03467441e+01]
 [ 2.52370375e-01 -1.15603090e-02  9.67561653e-01  6.19093146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.820714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:237.79, Y:20.35, Z:61.92
[[ 9.59559863e-01 -1.25866590e-01 -2.51798471e-01  2.37792418e+02]
 [ 1.24728494e-01  9.91978239e-01 -2.05420702e-02  2.03526694e+01]
 [ 2.52364164e-01 -1.16950980e-02  9.67561653e-01  6.19247014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.880714057 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:237.85, Y:20.36, Z:61.94
[[ 9.58910603e-01 -1.30723169e-01 -2.51797355e-01  2.37851363e+02]
 [ 1.29745639e-01  9.91334217e-01 -2.05557426e-02  2.03574069e+01]
 [ 2.52302446e-01 -1.29584892e-02  9.67561654e-01  6.19412828e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.940714057 meters
Centerline goodness : 0.998625 with order 1
Centerline is valid?  [True, True]
Translation: X:237.91, Y:20.36, Z:61.96
[[ 9.58468086e-01 -1.33927710e-01 -2.51798128e-01  2.37909323e+02]
 [ 1.33061044e-01  9.90894853e-01 -2.05462772e-02  2.03624879e+01]
 [ 2.52257184e-01 -1.38115708e-02  9.67561654e-01  6.19566442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.000714057 meters
Centerline goodness : 0.998953 with order 1
Centerline is valid?  [True, True]
Translation: X:237.97, Y:20.37, Z:61.97
[[ 9.57727442e-01 -1.39125171e-01 -2.51798202e-01  2.37966100e+02]
 [ 1.38434664e-01  9.90158438e-01 -2.05453617e-02  2.03678695e+01]
 [ 2.52178492e-01 -1.51807428e-02  9.67561654e-01  6.19721657e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.060714057 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:238.02, Y:20.37, Z:61.99
[[ 9.56851294e-01 -1.45026409e-01 -2.51799408e-01  2.38024174e+02]
 [ 1.44539709e-01  9.89285989e-01 -2.05305760e-02  2.03733091e+01]
 [ 2.52079102e-01 -1.67503050e-02  9.67561654e-01  6.19893496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.12071405700001 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:238.08, Y:20.38, Z:62.00
[[ 9.56186468e-01 -1.49346610e-01 -2.51799578e-01  2.38082157e+02]
 [ 1.49006956e-01  9.88623037e-01 -2.05284846e-02  2.03805373e+01]
 [ 2.52000723e-01 -1.78908296e-02  9.67561654e-01  6.20034324e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.18071405700002 meters
Centerline goodness : 0.999274 with order 1
Centerline is valid?  [True, True]
Translation: X:238.14, Y:20.39, Z:62.02
[[ 9.55348958e-01 -1.54614037e-01 -2.51799263e-01  2.38141095e+02]
 [ 1.54452137e-01  9.87786900e-01 -2.05323566e-02  2.03868381e+01]
 [ 2.51898604e-01 -1.92753687e-02  9.67561654e-01  6.20171488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.24071405700002 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:238.20, Y:20.40, Z:62.03
[[ 9.54480454e-01 -1.59888110e-01 -2.51799236e-01  2.38199184e+02]
 [ 1.59905282e-01  9.86918796e-01 -2.05326867e-02  2.03955513e+01]
 [ 2.51788331e-01 -2.06659798e-02  9.67561654e-01  6.20321299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.30071405700002 meters
Centerline goodness : 0.998499 with order 1
Centerline is valid?  [True, True]
Translation: X:238.26, Y:20.41, Z:62.05
[[ 9.53866673e-01 -1.63509710e-01 -2.51799413e-01  2.38257550e+02]
 [ 1.63650572e-01  9.86304714e-01 -2.05305129e-02  2.04052199e+01]
 [ 2.51707886e-01 -2.16237459e-02  9.67561654e-01  6.20465072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.36071405700002 meters
Centerline goodness : 0.998914 with order 1
Centerline is valid?  [True, True]
Translation: X:238.32, Y:20.42, Z:62.06
[[ 9.53413190e-01 -1.66133551e-01 -2.51799389e-01  2.38316190e+02]
 [ 1.66363584e-01  9.85850721e-01 -2.05308109e-02  2.04150714e+01]
 [ 2.51647465e-01 -2.23159030e-02  9.67561654e-01  6.20607867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.420714057 meters
Centerline goodness : 0.999334 with order 1
Centerline is valid?  [True, True]
Translation: X:238.37, Y:20.43, Z:62.08
[[ 9.53171106e-01 -1.67513434e-01 -2.51801693e-01  2.38373186e+02]
 [ 1.67797835e-01  9.85608205e-01 -2.05025116e-02  2.04263334e+01]
 [ 2.51612261e-01 -2.27093774e-02  9.67561654e-01  6.20754750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.480714057 meters
Centerline goodness : 0.999137 with order 1
Centerline is valid?  [True, True]
Translation: X:238.43, Y:20.44, Z:62.09
[[ 9.53120445e-01 -1.67801444e-01 -2.51801693e-01  2.38432738e+02]
 [ 1.68095647e-01  9.85557457e-01 -2.05025116e-02  2.04371926e+01]
 [ 2.51605387e-01 -2.27854055e-02  9.67561654e-01  6.20923332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.540714057 meters
Centerline goodness : 0.999129 with order 1
Centerline is valid?  [True, True]
Translation: X:238.49, Y:20.45, Z:62.11
[[ 9.52770758e-01 -1.69773528e-01 -2.51803161e-01  2.38490907e+02]
 [ 1.70139586e-01  9.85207038e-01 -2.04844639e-02  2.04469603e+01]
 [ 2.51555966e-01 -2.33246873e-02  9.67561654e-01  6.21074021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.600714057 meters
Centerline goodness : 0.999264 with order 1
Centerline is valid?  [True, True]
Translation: X:238.55, Y:20.46, Z:62.12
[[ 9.52147973e-01 -1.73231970e-01 -2.51803342e-01  2.38549049e+02]
 [ 1.73716384e-01  9.84582701e-01 -2.04822463e-02  2.04558792e+01]
 [ 2.51469394e-01 -2.42402366e-02  9.67561654e-01  6.21231815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.660714057 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:238.61, Y:20.46, Z:62.14
[[ 9.51631704e-01 -1.76045817e-01 -2.51803435e-01  2.38607685e+02]
 [ 1.76626408e-01  9.84064854e-01 -2.04810990e-02  2.04640794e+01]
 [ 2.51396522e-01 -2.49846731e-02  9.67561654e-01  6.21373815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.720714057 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:238.67, Y:20.47, Z:62.15
[[ 9.51375570e-01 -1.77423652e-01 -2.51804236e-01  2.38665343e+02]
 [ 1.78053788e-01  9.83807794e-01 -2.04712492e-02  2.04719412e+01]
 [ 2.51359054e-01 -2.53588516e-02  9.67561654e-01  6.21509310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.780714057 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:238.72, Y:20.48, Z:62.17
[[ 9.51451591e-01 -1.77015527e-01 -2.51804236e-01  2.38723677e+02]
 [ 1.77631751e-01  9.83884083e-01 -2.04712492e-02  2.04798917e+01]
 [ 2.51369909e-01 -2.52510246e-02  9.67561654e-01  6.21666855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.840714057 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:238.78, Y:20.49, Z:62.18
[[ 9.51502349e-01 -1.76741955e-01 -2.51804608e-01  2.38782897e+02]
 [ 1.77350055e-01  9.83934995e-01 -2.04666660e-02  2.04873279e+01]
 [ 2.51376684e-01 -2.51834803e-02  9.67561654e-01  6.21836898e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.90071405700002 meters
Centerline goodness : 0.999484 with order 1
Centerline is valid?  [True, True]
Translation: X:238.84, Y:20.49, Z:62.20
[[ 9.51425009e-01 -1.77155720e-01 -2.51806083e-01  2.38842513e+02]
 [ 1.77782682e-01  9.83857295e-01 -2.04485033e-02  2.04929038e+01]
 [ 2.51363821e-01 -2.53115434e-02  9.67561654e-01  6.21994428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.96071405700002 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:238.90, Y:20.50, Z:62.21
[[ 9.51393107e-01 -1.77324758e-01 -2.51807637e-01  2.38901460e+02]
 [ 1.77962499e-01  9.83825183e-01 -2.04293549e-02  2.04988213e+01]
 [ 2.51357325e-01 -2.53759690e-02  9.67561655e-01  6.22124974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.02071405700002 meters
Centerline goodness : 0.999415 with order 1
Centerline is valid?  [True, True]
Translation: X:238.96, Y:20.51, Z:62.23
[[ 9.51472019e-01 -1.76900302e-01 -2.51808023e-01  2.38960479e+02]
 [ 1.77524822e-01  9.83904352e-01 -2.04245901e-02  2.05053716e+01]
 [ 2.51368126e-01 -2.52687486e-02  9.67561655e-01  6.22280911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.08071405700002 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:239.02, Y:20.51, Z:62.24
[[ 9.51714613e-01 -1.75589382e-01 -2.51808784e-01  2.39019118e+02]
 [ 1.76171682e-01  9.84147732e-01 -2.04152064e-02  2.05108181e+01]
 [ 2.51401737e-01 -2.49321266e-02  9.67561655e-01  6.22420523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.14071405700003 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:239.08, Y:20.52, Z:62.26
[[ 9.52132698e-01 -1.73307688e-01 -2.51808994e-01  2.39077053e+02]
 [ 1.73812926e-01  9.84567109e-01 -2.04126105e-02  2.05176688e+01]
 [ 2.51460516e-01 -2.43321443e-02  9.67561655e-01  6.22579920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.200714057 meters
Centerline goodness : 0.999639 with order 1
Centerline is valid?  [True, True]
Translation: X:239.13, Y:20.52, Z:62.27
[[ 9.52861685e-01 -1.69253775e-01 -2.51808994e-01  2.39134282e+02]
 [ 1.69620965e-01  9.85297952e-01 -2.04126105e-02  2.05240636e+01]
 [ 2.51561798e-01 -2.32616903e-02  9.67561655e-01  6.22724173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.260714057 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:239.19, Y:20.53, Z:62.29
[[ 9.53745302e-01 -1.64201983e-01 -2.51808674e-01  2.39191892e+02]
 [ 1.64396246e-01  9.86183065e-01 -2.04165606e-02  2.05318868e+01]
 [ 2.51681890e-01 -2.19242021e-02  9.67561655e-01  6.22885185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.320714057 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:239.25, Y:20.54, Z:62.30
[[ 9.54588197e-01 -1.59228715e-01 -2.51808638e-01  2.39249105e+02]
 [ 1.59253788e-01  9.87026533e-01 -2.04170119e-02  2.05401563e+01]
 [ 2.51792781e-01 -2.06116407e-02  9.67561655e-01  6.23042067e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.380714057 meters
Centerline goodness : 0.999503 with order 1
Centerline is valid?  [True, True]
Translation: X:239.31, Y:20.55, Z:62.32
[[ 9.55635897e-01 -1.52815631e-01 -2.51808290e-01  2.39307500e+02]
 [ 1.52621777e-01  9.88073663e-01 -2.04212965e-02  2.05461571e+01]
 [ 2.51925833e-01 -1.89161047e-02  9.67561655e-01  6.23193207e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.440714057 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:239.36, Y:20.55, Z:62.34
[[ 9.56553039e-01 -1.46965036e-01 -2.51808583e-01  2.39364114e+02]
 [ 1.46573640e-01  9.88989022e-01 -2.04176811e-02  2.05540562e+01]
 [ 2.52036610e-01 -1.73779057e-02  9.67561655e-01  6.23351609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.500714057 meters
Centerline goodness : 0.999323 with order 1
Centerline is valid?  [True, True]
Translation: X:239.42, Y:20.56, Z:62.35
[[ 9.57120380e-01 -1.43224279e-01 -2.51808228e-01  2.39422632e+02]
 [ 1.42704930e-01  9.89554568e-01 -2.04220586e-02  2.05604175e+01]
 [ 2.52102917e-01 -1.63879071e-02  9.67561655e-01  6.23504948e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.560714057 meters
Centerline goodness : 0.998633 with order 1
Centerline is valid?  [True, True]
Translation: X:239.48, Y:20.57, Z:62.37
[[ 9.58173648e-01 -1.35999501e-01 -2.51808253e-01  2.39479812e+02]
 [ 1.35235558e-01  9.90602996e-01 -2.04217497e-02  2.05685117e+01]
 [ 2.52219358e-01 -1.44858473e-02  9.67561655e-01  6.23686843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.62071405700001 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:239.54, Y:20.58, Z:62.38
[[ 9.58596867e-01 -1.32983264e-01 -2.51808453e-01  2.39538123e+02]
 [ 1.32117909e-01  9.91023668e-01 -2.04192845e-02  2.05750703e+01]
 [ 2.52263560e-01 -1.36945442e-02  9.67561655e-01  6.23840494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.68071405700002 meters
Centerline goodness : 0.998584 with order 1
Centerline is valid?  [True, True]
Translation: X:239.60, Y:20.58, Z:62.40
[[ 9.58876657e-01 -1.30949870e-01 -2.51808831e-01  2.39595889e+02]
 [ 1.30016964e-01  9.91301585e-01 -2.04146208e-02  2.05806299e+01]
 [ 2.52291786e-01 -1.31643165e-02  9.67561655e-01  6.24002859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.74071405700002 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:239.65, Y:20.59, Z:62.42
[[ 9.59092957e-01 -1.29356031e-01 -2.51808890e-01  2.39654631e+02]
 [ 1.28369425e-01  9.91516295e-01 -2.04139005e-02  2.05850806e+01]
 [ 2.52313279e-01 -1.27457342e-02  9.67561655e-01  6.24161696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.80071405700002 meters
Centerline goodness : 0.998788 with order 1
Centerline is valid?  [True, True]
Translation: X:239.71, Y:20.59, Z:62.43
[[ 9.59115313e-01 -1.29188007e-01 -2.51809998e-01  2.39714007e+02]
 [ 1.28199303e-01  9.91538587e-01 -2.04002195e-02  2.05900803e+01]
 [ 2.52314793e-01 -1.27157034e-02  9.67561655e-01  6.24324736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.86071405700002 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:239.77, Y:20.59, Z:62.45
[[ 9.59264252e-01 -1.28074443e-01 -2.51811502e-01  2.39774381e+02]
 [ 1.27052964e-01  9.91686510e-01 -2.03816353e-02  2.05938225e+01]
 [ 2.52328436e-01 -1.24420237e-02  9.67561655e-01  6.24479102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.920714057 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:239.83, Y:20.60, Z:62.46
[[ 9.59507722e-01 -1.26234422e-01 -2.51813029e-01  2.39833961e+02]
 [ 1.25155705e-01  9.91928126e-01 -2.03627620e-02  2.05978621e+01]
 [ 2.52350907e-01 -1.19776097e-02  9.67561655e-01  6.24646465e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.980714057 meters
Centerline goodness : 0.998790 with order 1
Centerline is valid?  [True, True]
Translation: X:239.89, Y:20.60, Z:62.48
[[ 9.59687549e-01 -1.24856815e-01 -2.51814584e-01  2.39892303e+02]
 [ 1.23736595e-01  9.92106545e-01 -2.03435131e-02  2.06011978e+01]
 [ 2.52366923e-01 -1.16352630e-02  9.67561655e-01  6.24805346e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.040714057 meters
Centerline goodness : 0.998952 with order 1
Centerline is valid?  [True, True]
Translation: X:239.95, Y:20.61, Z:62.49
[[ 9.59840271e-01 -1.23677278e-01 -2.51814584e-01  2.39951684e+02]
 [ 1.22517217e-01  9.92257866e-01 -2.03435131e-02  2.06052677e+01]
 [ 2.52381032e-01 -1.13250987e-02  9.67561655e-01  6.24943124e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.100714057 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:240.01, Y:20.61, Z:62.51
[[ 9.59919737e-01 -1.23056667e-01 -2.51815715e-01  2.40010243e+02]
 [ 1.21879316e-01  9.92336709e-01 -2.03294988e-02  2.06104859e+01]
 [ 2.52387658e-01 -1.11764398e-02  9.67561655e-01  6.25105489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.160714057 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:240.07, Y:20.61, Z:62.53
[[ 9.59546462e-01 -1.25933501e-01 -2.51816087e-01  2.40069049e+02]
 [ 1.24854531e-01  9.91966857e-01 -2.03248936e-02  2.06134740e+01]
 [ 2.52352797e-01 -1.19376998e-02  9.67561655e-01  6.25261920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.220714057 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:240.13, Y:20.62, Z:62.54
[[ 9.58705061e-01 -1.32186352e-01 -2.51816153e-01  2.40128803e+02]
 [ 1.31318978e-01  9.91131807e-01 -2.03240715e-02  2.06159033e+01]
 [ 2.52269564e-01 -1.35834497e-02  9.67561655e-01  6.25405174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.280714057 meters
Centerline goodness : 0.998662 with order 1
Centerline is valid?  [True, True]
Translation: X:240.19, Y:20.62, Z:62.55
[[ 9.57737296e-01 -1.39023440e-01 -2.51816909e-01  2.40187430e+02]
 [ 1.38389911e-01  9.90169453e-01 -2.03146965e-02  2.06187341e+01]
 [ 2.52165631e-01 -1.53927773e-02  9.67561656e-01  6.25539107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.340714057 meters
Centerline goodness : 0.999005 with order 1
Centerline is valid?  [True, True]
Translation: X:240.25, Y:20.62, Z:62.57
[[ 9.56935002e-01 -1.44442250e-01 -2.51817074e-01  2.40245334e+02]
 [ 1.43992840e-01  9.89370233e-01 -2.03126546e-02  2.06221717e+01]
 [ 2.52074323e-01 -1.68219657e-02  9.67561656e-01  6.25699368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.40071405700002 meters
Centerline goodness : 0.998869 with order 1
Centerline is valid?  [True, True]
Translation: X:240.30, Y:20.63, Z:62.59
[[ 9.56432540e-01 -1.47732615e-01 -2.51817139e-01  2.40302794e+02]
 [ 1.47394975e-01  9.88869127e-01 -2.03118485e-02  2.06261939e+01]
 [ 2.52014917e-01 -1.76896682e-02  9.67561656e-01  6.25852825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.46071405700002 meters
Centerline goodness : 0.998823 with order 1
Centerline is valid?  [True, True]
Translation: X:240.36, Y:20.63, Z:62.60
[[ 9.55700786e-01 -1.52393897e-01 -2.51817608e-01  2.40361329e+02]
 [ 1.52215927e-01  9.88138642e-01 -2.03060356e-02  2.06303289e+01]
 [ 2.51925225e-01 -1.89241564e-02  9.67561656e-01  6.26006446e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.52071405700002 meters
Centerline goodness : 0.999389 with order 1
Centerline is valid?  [True, True]
Translation: X:240.42, Y:20.64, Z:62.61
[[ 9.55441887e-01 -1.54008641e-01 -2.51817671e-01  2.40419664e+02]
 [ 1.53885692e-01  9.87879998e-01 -2.03052490e-02  2.06352531e+01]
 [ 2.51892825e-01 -1.93506511e-02  9.67561656e-01  6.26144302e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.58071405700002 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:240.48, Y:20.64, Z:62.63
[[ 9.55441796e-01 -1.54009206e-01 -2.51817671e-01  2.40478831e+02]
 [ 1.53886276e-01  9.87879907e-01 -2.03052490e-02  2.06409886e+01]
 [ 2.51892813e-01 -1.93508001e-02  9.67561656e-01  6.26305674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.64071405700003 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:240.54, Y:20.65, Z:62.65
[[ 9.55596381e-01 -1.53045949e-01 -2.51818377e-01  2.40538357e+02]
 [ 1.52892612e-01  9.88034363e-01 -2.02964948e-02  2.06464981e+01]
 [ 2.51911506e-01 -1.91059125e-02  9.67561656e-01  6.26476670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.700714057 meters
Centerline goodness : 0.999189 with order 1
Centerline is valid?  [True, True]
Translation: X:240.60, Y:20.65, Z:62.66
[[ 9.55458769e-01 -1.53900373e-01 -2.51819807e-01  2.40598399e+02]
 [ 1.53780693e-01  9.87896893e-01 -2.02787409e-02  2.06509524e+01]
 [ 2.51892910e-01 -1.93495236e-02  9.67561656e-01  6.26627503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.760714057 meters
Centerline goodness : 0.998148 with order 1
Centerline is valid?  [True, True]
Translation: X:240.66, Y:20.66, Z:62.68
[[ 9.55034745e-01 -1.56507826e-01 -2.51821239e-01  2.40657557e+02]
 [ 1.56481353e-01  9.87473078e-01 -2.02609422e-02  2.06559197e+01]
 [ 2.51837690e-01 -2.00554244e-02  9.67561656e-01  6.26760312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.820714057 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:240.72, Y:20.66, Z:62.69
[[ 9.54459599e-01 -1.59977769e-01 -2.51821341e-01  2.40716908e+02]
 [ 1.60069522e-01  9.86897813e-01 -2.02596731e-02  2.06604349e+01]
 [ 2.51763028e-01 -2.09718823e-02  9.67561656e-01  6.26903066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.880714057 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:240.78, Y:20.67, Z:62.71
[[ 9.54023391e-01 -1.62557986e-01 -2.51821904e-01  2.40775173e+02]
 [ 1.62739284e-01  9.86461228e-01 -2.02526745e-02  2.06665578e+01]
 [ 2.51704778e-01 -2.16597912e-02  9.67561656e-01  6.27091402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.940714057 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:240.83, Y:20.67, Z:62.72
[[ 9.54137107e-01 -1.61888030e-01 -2.51822649e-01  2.40833634e+02]
 [ 1.62048980e-01  9.86575052e-01 -2.02434004e-02  2.06733979e+01]
 [ 2.51719108e-01 -2.14926239e-02  9.67561656e-01  6.27248464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.000714057 meters
Centerline goodness : 0.997728 with order 1
Centerline is valid?  [True, True]
Translation: X:240.89, Y:20.68, Z:62.74
[[ 9.54259009e-01 -1.61166760e-01 -2.51823388e-01  2.40892713e+02]
 [ 1.61305597e-01  9.86697056e-01 -2.02342118e-02  2.06801716e+01]
 [ 2.51734478e-01 -2.13118430e-02  9.67561656e-01  6.27394042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.060714057 meters
Centerline goodness : 0.998076 with order 1
Centerline is valid?  [True, True]
Translation: X:240.95, Y:20.69, Z:62.76
[[ 9.54228875e-01 -1.61343384e-01 -2.51824475e-01  2.40951400e+02]
 [ 1.61491775e-01  9.86666880e-01 -2.02206670e-02  2.06866656e+01]
 [ 2.51729340e-01 -2.13724371e-02  9.67561656e-01  6.27576689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.12071405700001 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:241.01, Y:20.69, Z:62.77
[[ 9.54344172e-01 -1.60657471e-01 -2.51826088e-01  2.41011803e+02]
 [ 1.60787814e-01  9.86782254e-01 -2.02005609e-02  2.06926311e+01]
 [ 2.51742886e-01 -2.12122787e-02  9.67561656e-01  6.27731644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.18071405700002 meters
Centerline goodness : 0.998003 with order 1
Centerline is valid?  [True, True]
Translation: X:241.07, Y:20.70, Z:62.79
[[ 9.54910284e-01 -1.57254710e-01 -2.51827930e-01  2.41071234e+02]
 [ 1.57275450e-01  9.87348621e-01 -2.01775733e-02  2.07004225e+01]
 [ 2.51814978e-01 -2.03385786e-02  9.67561657e-01  6.27893827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.24071405700002 meters
Centerline goodness : 0.998132 with order 1
Centerline is valid?  [True, True]
Translation: X:241.13, Y:20.71, Z:62.80
[[ 9.55527577e-01 -1.53456681e-01 -2.51829500e-01  2.41129280e+02]
 [ 1.53353582e-01  9.87965756e-01 -2.01579609e-02  2.07066674e+01]
 [ 2.51892296e-01 -1.93574684e-02  9.67561657e-01  6.28038083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.30071405700002 meters
Centerline goodness : 0.998275 with order 1
Centerline is valid?  [True, True]
Translation: X:241.19, Y:20.71, Z:62.82
[[ 9.55987210e-01 -1.50566832e-01 -2.51829474e-01  2.41186620e+02]
 [ 1.50365568e-01  9.88424929e-01 -2.01582840e-02  2.07120382e+01]
 [ 2.51949699e-01 -1.85954202e-02  9.67561657e-01  6.28198084e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.36071405700002 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:241.24, Y:20.72, Z:62.84
[[ 9.56430911e-01 -1.47722165e-01 -2.51829454e-01  2.41244693e+02]
 [ 1.47424337e-01  9.88867887e-01 -2.01585330e-02  2.07169840e+01]
 [ 2.52003923e-01 -1.78455461e-02  9.67561657e-01  6.28364966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.420714057 meters
Centerline goodness : 0.997993 with order 1
Centerline is valid?  [True, True]
Translation: X:241.30, Y:20.72, Z:62.85
[[ 9.56856880e-01 -1.44936145e-01 -2.51830152e-01  2.41303025e+02]
 [ 1.44546137e-01  9.89292878e-01 -2.01498120e-02  2.07219736e+01]
 [ 2.52054212e-01 -1.71205895e-02  9.67561657e-01  6.28525215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.480714057 meters
Centerline goodness : 0.998743 with order 1
Centerline is valid?  [True, True]
Translation: X:241.36, Y:20.73, Z:62.87
[[ 9.57655179e-01 -1.39564068e-01 -2.51830159e-01  2.41361506e+02]
 [ 1.38992060e-01  9.90088479e-01 -2.01497307e-02  2.07274892e+01]
 [ 2.52146317e-01 -1.57058986e-02  9.67561657e-01  6.28679331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.540714057 meters
Centerline goodness : 0.998585 with order 1
Centerline is valid?  [True, True]
Translation: X:241.42, Y:20.73, Z:62.88
[[ 9.57796972e-01 -1.38587070e-01 -2.51830467e-01  2.41421781e+02]
 [ 1.37982985e-01  9.90229690e-01 -2.01458785e-02  2.07322108e+01]
 [ 2.52161963e-01 -1.54526580e-02  9.67561657e-01  6.28848166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.600714057 meters
Centerline goodness : 0.998675 with order 1
Centerline is valid?  [True, True]
Translation: X:241.48, Y:20.74, Z:62.90
[[ 9.57919178e-01 -1.37736393e-01 -2.51832353e-01  2.41481674e+02]
 [ 1.37109688e-01  9.90351467e-01 -2.01222730e-02  2.07364986e+01]
 [ 2.52174109e-01 -1.52531441e-02  9.67561657e-01  6.28954163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.660714057 meters
Centerline goodness : 0.998592 with order 1
Centerline is valid?  [True, True]
Translation: X:241.54, Y:20.74, Z:62.91
[[ 9.57927447e-01 -1.37673643e-01 -2.51835211e-01  2.41540256e+02]
 [ 1.37054200e-01  9.90359875e-01 -2.00864363e-02  2.07407705e+01]
 [ 2.52172861e-01 -1.52737249e-02  9.67561658e-01  6.29126021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.720714057 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:241.60, Y:20.75, Z:62.93
[[ 9.58090390e-01 -1.36534314e-01 -2.51835631e-01  2.41600082e+02]
 [ 1.35877677e-01  9.90522086e-01 -2.00811779e-02  2.07458852e+01]
 [ 2.52190524e-01 -1.49792570e-02  9.67561658e-01  6.29299068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.780714057 meters
Centerline goodness : 0.998472 with order 1
Centerline is valid?  [True, True]
Translation: X:241.66, Y:20.75, Z:62.95
[[ 9.58322866e-01 -1.34890211e-01 -2.51837080e-01  2.41660036e+02]
 [ 1.34182695e-01  9.90753492e-01 -2.00629812e-02  2.07504254e+01]
 [ 2.52214767e-01 -1.45653644e-02  9.67561658e-01  6.29473632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.840714057 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:241.72, Y:20.75, Z:62.96
[[ 9.58412884e-01 -1.34245631e-01 -2.51838943e-01  2.41720174e+02]
 [ 1.33522434e-01  9.90843164e-01 -2.00395698e-02  2.07543792e+01]
 [ 2.52223120e-01 -1.44199670e-02  9.67561658e-01  6.29628716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.90071405700002 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:241.78, Y:20.76, Z:62.98
[[ 9.58264697e-01 -1.35296642e-01 -2.51840404e-01  2.41780088e+02]
 [ 1.34613823e-01  9.90695851e-01 -2.00212032e-02  2.07568005e+01]
 [ 2.52206045e-01 -1.47155873e-02  9.67561658e-01  6.29764739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.96071405700002 meters
Centerline goodness : 0.998494 with order 1
Centerline is valid?  [True, True]
Translation: X:241.84, Y:20.76, Z:62.99
[[ 9.58146775e-01 -1.36127858e-01 -2.51841147e-01  2.41840374e+02]
 [ 1.35475621e-01  9.90578559e-01 -2.00118530e-02  2.07605460e+01]
 [ 2.52192611e-01 -1.49440432e-02  9.67561658e-01  6.29907035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.02071405700002 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:241.90, Y:20.76, Z:63.01
[[ 9.58369775e-01 -1.34546843e-01 -2.51842255e-01  2.41899649e+02]
 [ 1.33844753e-01  9.90800518e-01 -1.99978980e-02  2.07645248e+01]
 [ 2.52216090e-01 -1.45423833e-02  9.67561658e-01  6.30052937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.08071405700002 meters
Centerline goodness : 0.998768 with order 1
Centerline is valid?  [True, True]
Translation: X:241.96, Y:20.77, Z:63.02
[[ 9.58746968e-01 -1.31830108e-01 -2.51843351e-01  2.41959124e+02]
 [ 1.31039725e-01  9.91175679e-01 -1.99840774e-02  2.07694925e+01]
 [ 2.52255508e-01 -1.38418100e-02  9.67561658e-01  6.30210085e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.14071405700003 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:242.02, Y:20.77, Z:63.04
[[ 9.59487238e-01 -1.26327464e-01 -2.51844422e-01  2.42017656e+02]
 [ 1.25354580e-01  9.91910986e-01 -1.99705829e-02  2.07742557e+01]
 [ 2.52330082e-01 -1.24083323e-02  9.67561659e-01  6.30374042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.200714057 meters
Centerline goodness : 0.999020 with order 1
Centerline is valid?  [True, True]
Translation: X:242.07, Y:20.78, Z:63.05
[[ 9.60185474e-01 -1.20905204e-01 -2.51844766e-01  2.42074419e+02]
 [ 1.19750309e-01  9.92603251e-01 -1.99662353e-02  2.07791058e+01]
 [ 2.52395955e-01 -1.09871994e-02  9.67561659e-01  6.30533784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.260714057 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:242.13, Y:20.78, Z:63.07
[[ 9.60393767e-01 -1.19240112e-01 -2.51844413e-01  2.42134121e+02]
 [ 1.18027843e-01  9.92809448e-01 -1.99706873e-02  2.07831804e+01]
 [ 2.52414820e-01 -1.05449292e-02  9.67561659e-01  6.30699726e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.320714057 meters
Centerline goodness : 0.998542 with order 1
Centerline is valid?  [True, True]
Translation: X:242.19, Y:20.79, Z:63.08
[[ 9.60016445e-01 -1.22237694e-01 -2.51845928e-01  2.42194817e+02]
 [ 1.21131630e-01  9.92435924e-01 -1.99515711e-02  2.07865462e+01]
 [ 2.52379780e-01 -1.13526715e-02  9.67561659e-01  6.30839936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.380714057 meters
Centerline goodness : 0.998087 with order 1
Centerline is valid?  [True, True]
Translation: X:242.25, Y:20.79, Z:63.10
[[ 9.59323645e-01 -1.27557925e-01 -2.51847415e-01  2.42252493e+02]
 [ 1.26636524e-01  9.91748897e-01 -1.99327792e-02  2.07898802e+01]
 [ 2.52311980e-01 -1.27710950e-02  9.67561659e-01  6.30976902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.440714057 meters
Centerline goodness : 0.998430 with order 1
Centerline is valid?  [True, True]
Translation: X:242.31, Y:20.79, Z:63.11
[[ 9.58784758e-01 -1.31547780e-01 -2.51847113e-01  2.42310727e+02]
 [ 1.30760285e-01  9.91213539e-01 -1.99365905e-02  2.07922400e+01]
 [ 2.52256883e-01 -1.38167012e-02  9.67561659e-01  6.31133274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.500714057 meters
Centerline goodness : 0.998366 with order 1
Centerline is valid?  [True, True]
Translation: X:242.37, Y:20.80, Z:63.13
[[ 9.58561857e-01 -1.33162164e-01 -2.51847183e-01  2.42370179e+02]
 [ 1.32429511e-01  9.90991923e-01 -1.99357047e-02  2.07959937e+01]
 [ 2.52233206e-01 -1.42423933e-02  9.67561659e-01  6.31284766e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.560714057 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:242.43, Y:20.80, Z:63.14
[[ 9.58324687e-01 -1.34856340e-01 -2.51848292e-01  2.42429224e+02]
 [ 1.34184682e-01  9.90756074e-01 -1.99216944e-02  2.07988130e+01]
 [ 2.52206791e-01 -1.47027314e-02  9.67561659e-01  6.31422030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.62071405700001 meters
Centerline goodness : 0.998660 with order 1
Centerline is valid?  [True, True]
Translation: X:242.49, Y:20.80, Z:63.16
[[ 9.58265763e-01 -1.35274286e-01 -2.51848356e-01  2.42488708e+02]
 [ 1.34616986e-01  9.90697444e-01 -1.99208786e-02  2.08027268e+01]
 [ 2.52200305e-01 -1.48135708e-02  9.67561659e-01  6.31576410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.68071405700002 meters
Centerline goodness : 0.999251 with order 1
Centerline is valid?  [True, True]
Translation: X:242.55, Y:20.81, Z:63.17
[[ 9.58644475e-01 -1.32562488e-01 -2.51849075e-01  2.42547514e+02]
 [ 1.31815812e-01  9.91074221e-01 -1.99117834e-02  2.08076569e+01]
 [ 2.52240682e-01 -1.41093693e-02  9.67561659e-01  6.31723665e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.74071405700002 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:242.61, Y:20.81, Z:63.19
[[ 9.59285651e-01 -1.27839348e-01 -2.51849441e-01  2.42606312e+02]
 [ 1.26934170e-01  9.91711360e-01 -1.99071526e-02  2.08123927e+01]
 [ 2.52306869e-01 -1.28716541e-02  9.67561659e-01  6.31864454e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.80071405700002 meters
Centerline goodness : 0.999498 with order 1
Centerline is valid?  [True, True]
Translation: X:242.67, Y:20.82, Z:63.20
[[ 9.59568965e-01 -1.25695159e-01 -2.51849417e-01  2.42665655e+02]
 [ 1.24717437e-01  9.91992568e-01 -1.99074555e-02  2.08186156e+01]
 [ 2.52335021e-01 -1.23074374e-02  9.67561659e-01  6.32022891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.86071405700002 meters
Centerline goodness : 0.999106 with order 1
Centerline is valid?  [True, True]
Translation: X:242.73, Y:20.82, Z:63.22
[[ 9.59597082e-01 -1.25475071e-01 -2.51852032e-01  2.42725441e+02]
 [ 1.24498589e-01  9.92020722e-01 -1.98743215e-02  2.08246471e+01]
 [ 2.52336167e-01 -1.22838817e-02  9.67561660e-01  6.32171724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.920714057 meters
Centerline goodness : 0.999226 with order 1
Centerline is valid?  [True, True]
Translation: X:242.78, Y:20.83, Z:63.23
[[ 9.59117918e-01 -1.29083809e-01 -2.51853509e-01  2.42784511e+02]
 [ 1.28234203e-01  9.91545130e-01 -1.98555907e-02  2.08290751e+01]
 [ 2.52287156e-01 -1.32523811e-02  9.67561660e-01  6.32313440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.980714057 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:242.84, Y:20.83, Z:63.25
[[ 9.58474866e-01 -1.33774836e-01 -2.51853576e-01  2.42843335e+02]
 [ 1.33084115e-01  9.90905852e-01 -1.98547421e-02  2.08331160e+01]
 [ 2.52219247e-01 -1.44874390e-02  9.67561660e-01  6.32461356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.040714057 meters
Centerline goodness : 0.999132 with order 1
Centerline is valid?  [True, True]
Translation: X:242.90, Y:20.84, Z:63.26
[[ 9.57236122e-01 -1.42367840e-01 -2.51853934e-01  2.42901924e+02]
 [ 1.41969273e-01  9.89672014e-01 -1.98502003e-02  2.08361120e+01]
 [ 2.52078820e-01 -1.67541910e-02  9.67561660e-01  6.32608217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.100714057 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:242.96, Y:20.84, Z:63.27
[[ 9.55475447e-01 -1.53740896e-01 -2.51853941e-01  2.42960049e+02]
 [ 1.53728095e-01  9.87913784e-01 -1.98501158e-02  2.08389550e+01]
 [ 2.51861754e-01 -1.97507284e-02  9.67561660e-01  6.32736802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.160714057 meters
Centerline goodness : 0.999250 with order 1
Centerline is valid?  [True, True]
Translation: X:243.02, Y:20.84, Z:63.29
[[ 9.54943671e-01 -1.57009067e-01 -2.51854598e-01  2.43018030e+02]
 [ 1.57109436e-01  9.87381856e-01 -1.98417757e-02  2.08429059e+01]
 [ 2.51791999e-01 -2.06209558e-02  9.67561660e-01  6.32875528e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.220714057 meters
Centerline goodness : 0.999388 with order 1
Centerline is valid?  [True, True]
Translation: X:243.08, Y:20.85, Z:63.30
[[ 9.54860391e-01 -1.57514575e-01 -2.51854706e-01  2.43077538e+02]
 [ 1.57632477e-01  9.87298517e-01 -1.98403993e-02  2.08511597e+01]
 [ 2.51780930e-01 -2.07556696e-02  9.67561660e-01  6.33011308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.280714057 meters
Centerline goodness : 0.999474 with order 1
Centerline is valid?  [True, True]
Translation: X:243.14, Y:20.86, Z:63.32
[[ 9.55036420e-01 -1.56442597e-01 -2.51855414e-01  2.43137241e+02]
 [ 1.56526442e-01  9.87474652e-01 -1.98314046e-02  2.08591073e+01]
 [ 2.51803314e-01 -2.04823181e-02  9.67561660e-01  6.33184706e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.340714057 meters
Centerline goodness : 0.999178 with order 1
Centerline is valid?  [True, True]
Translation: X:243.20, Y:20.87, Z:63.33
[[ 9.55004775e-01 -1.56633424e-01 -2.51856807e-01  2.43196484e+02]
 [ 1.56728387e-01  9.87442975e-01 -1.98137030e-02  2.08662767e+01]
 [ 2.51797723e-01 -2.05509302e-02  9.67561660e-01  6.33342731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.40071405700002 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:243.25, Y:20.87, Z:63.35
[[ 9.54650261e-01 -1.58777640e-01 -2.51858175e-01  2.43254959e+02]
 [ 1.58950009e-01  9.87088143e-01 -1.97962951e-02  2.08731263e+01]
 [ 2.51749427e-01 -2.11343208e-02  9.67561660e-01  6.33479110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.46071405700002 meters
Centerline goodness : 0.998696 with order 1
Centerline is valid?  [True, True]
Translation: X:243.31, Y:20.88, Z:63.36
[[ 9.53996015e-01 -1.62662320e-01 -2.51858241e-01  2.43314241e+02]
 [ 1.62966948e-01  9.86432924e-01 -1.97954546e-02  2.08789825e+01]
 [ 2.51661236e-01 -2.21597842e-02  9.67561660e-01  6.33610509e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.52071405700002 meters
Centerline goodness : 0.998859 with order 1
Centerline is valid?  [True, True]
Translation: X:243.37, Y:20.88, Z:63.38
[[ 9.53843954e-01 -1.63551118e-01 -2.51858576e-01  2.43374569e+02]
 [ 1.63887086e-01  9.86280554e-01 -1.97911895e-02  2.08840408e+01]
 [ 2.51640088e-01 -2.23986617e-02  9.67561660e-01  6.33757663e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.58071405700002 meters
Centerline goodness : 0.999062 with order 1
Centerline is valid?  [True, True]
Translation: X:243.43, Y:20.89, Z:63.39
[[ 9.53416812e-01 -1.66020961e-01 -2.51859927e-01  2.43433760e+02]
 [ 1.66445443e-01  9.85852374e-01 -1.97739878e-02  2.08894288e+01]
 [ 2.51579604e-01 -2.30680847e-02  9.67561660e-01  6.33893271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.64071405700003 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:243.49, Y:20.90, Z:63.40
[[ 9.53589766e-01 -1.65024637e-01 -2.51859934e-01  2.43493619e+02]
 [ 1.65415250e-01  9.86025754e-01 -1.97738990e-02  2.08959991e+01]
 [ 2.51603562e-01 -2.28052863e-02  9.67561660e-01  6.34038634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.700714057 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:243.55, Y:20.90, Z:63.42
[[ 9.54364868e-01 -1.60479080e-01 -2.51861399e-01  2.43551279e+02]
 [ 1.60720029e-01  9.86802312e-01 -1.97552190e-02  2.09024063e+01]
 [ 2.51707711e-01 -2.16254845e-02  9.67561661e-01  6.34195516e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.760714057 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:243.61, Y:20.91, Z:63.44
[[ 9.55094151e-01 -1.56079652e-01 -2.51861679e-01  2.43609199e+02]
 [ 1.56172060e-01  9.87532359e-01 -1.97516571e-02  2.09097382e+01]
 [ 2.51804389e-01 -2.04690650e-02  9.67561661e-01  6.34364488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.820714057 meters
Centerline goodness : 0.998615 with order 1
Centerline is valid?  [True, True]
Translation: X:243.67, Y:20.92, Z:63.45
[[ 9.55866372e-01 -1.51278344e-01 -2.51861749e-01  2.43667904e+02]
 [ 1.51207986e-01  9.88304636e-01 -1.97507554e-02  2.09151698e+01]
 [ 2.51903996e-01 -1.92044248e-02  9.67561661e-01  6.34509473e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.880714057 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:243.73, Y:20.92, Z:63.46
[[ 9.56781535e-01 -1.45378017e-01 -2.51861720e-01  2.43725251e+02]
 [ 1.45107428e-01  9.89218746e-01 -1.97511254e-02  2.09216195e+01]
 [ 2.52017715e-01 -1.76494942e-02  9.67561661e-01  6.34649091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.940714057 meters
Centerline goodness : 0.999078 with order 1
Centerline is valid?  [True, True]
Translation: X:243.78, Y:20.93, Z:63.48
[[ 9.57886813e-01 -1.37907965e-01 -2.51861563e-01  2.43783801e+02]
 [ 1.37383756e-01  9.90320916e-01 -1.97531264e-02  2.09276605e+01]
 [ 2.52147888e-01 -1.56804284e-02  9.67561661e-01  6.34804368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.000714057 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:243.84, Y:20.93, Z:63.50
[[ 9.58813329e-01 -1.31311506e-01 -2.51861647e-01  2.43842327e+02]
 [ 1.30564342e-01  9.91243062e-01 -1.97520657e-02  2.09334373e+01]
 [ 2.52249783e-01 -1.39456062e-02  9.67561661e-01  6.34963872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.060714057 meters
Centerline goodness : 0.998358 with order 1
Centerline is valid?  [True, True]
Translation: X:243.90, Y:20.94, Z:63.51
[[ 9.59403972e-01 -1.26923394e-01 -2.51862006e-01  2.43901888e+02]
 [ 1.26029067e-01  9.91829981e-01 -1.97474807e-02  2.09398266e+01]
 [ 2.52310706e-01 -1.27961223e-02  9.67561661e-01  6.35125718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.12071405700001 meters
Centerline goodness : 0.998704 with order 1
Centerline is valid?  [True, True]
Translation: X:243.96, Y:20.94, Z:63.53
[[ 9.59663200e-01 -1.24946138e-01 -2.51863068e-01  2.43960788e+02]
 [ 1.23988542e-01  9.92087402e-01 -1.97339315e-02  2.09441398e+01]
 [ 2.52335855e-01 -1.22902066e-02  9.67561661e-01  6.35283276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.18071405700002 meters
Centerline goodness : 0.998705 with order 1
Centerline is valid?  [True, True]
Translation: X:244.02, Y:20.95, Z:63.54
[[ 9.59502068e-01 -1.26177293e-01 -2.51863200e-01  2.44019377e+02]
 [ 1.25261741e-01  9.91927485e-01 -1.97322396e-02  2.09475679e+01]
 [ 2.52319791e-01 -1.26156983e-02  9.67561661e-01  6.35436342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.24071405700002 meters
Centerline goodness : 0.998242 with order 1
Centerline is valid?  [True, True]
Translation: X:244.08, Y:20.95, Z:63.56
[[ 9.59199780e-01 -1.28450053e-01 -2.51865770e-01  2.44078152e+02]
 [ 1.27619924e-01  9.91627495e-01 -1.96993895e-02  2.09504590e+01]
 [ 2.52287410e-01 -1.32474402e-02  9.67561661e-01  6.35592012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.30071405700002 meters
Centerline goodness : 0.998107 with order 1
Centerline is valid?  [True, True]
Translation: X:244.14, Y:20.95, Z:63.58
[[ 9.58919638e-01 -1.30524253e-01 -2.51866129e-01  2.44136661e+02]
 [ 1.29765462e-01  9.91349101e-01 -1.96947947e-02  2.09536409e+01]
 [ 2.52257909e-01 -1.37977991e-02  9.67561661e-01  6.35754228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.36071405700002 meters
Centerline goodness : 0.998530 with order 1
Centerline is valid?  [True, True]
Translation: X:244.20, Y:20.96, Z:63.59
[[ 9.58431477e-01 -1.34061085e-01 -2.51866489e-01  2.44196083e+02]
 [ 1.33423147e-01  9.90863543e-01 -1.96901855e-02  2.09565526e+01]
 [ 2.52205010e-01 -1.47331260e-02  9.67561661e-01  6.35913774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.420714057 meters
Centerline goodness : 0.998123 with order 1
Centerline is valid?  [True, True]
Translation: X:244.25, Y:20.96, Z:63.61
[[ 9.57942616e-01 -1.37509459e-01 -2.51867213e-01  2.44254443e+02]
 [ 1.36990668e-01  9.90376806e-01 -1.96809234e-02  2.09590149e+01]
 [ 2.52149759e-01 -1.56502626e-02  9.67561661e-01  6.36053155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.480714057 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:244.31, Y:20.96, Z:63.62
[[ 9.57346284e-01 -1.41601553e-01 -2.51867213e-01  2.44314047e+02]
 [ 1.41221361e-01  9.89782395e-01 -1.96809234e-02  2.09615756e+01]
 [ 2.52080583e-01 -1.67275716e-02  9.67561661e-01  6.36196373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.540714057 meters
Centerline goodness : 0.998610 with order 1
Centerline is valid?  [True, True]
Translation: X:244.37, Y:20.96, Z:63.63
[[ 9.56841480e-01 -1.44972439e-01 -2.51867770e-01  2.44372465e+02]
 [ 1.44708355e-01  9.89278744e-01 -1.96737998e-02  2.09645667e+01]
 [ 2.52019589e-01 -1.76226629e-02  9.67561661e-01  6.36328823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.600714057 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:244.43, Y:20.97, Z:63.65
[[ 9.56292212e-01 -1.48552024e-01 -2.51868023e-01  2.44432175e+02]
 [ 1.48410175e-01  9.88730241e-01 -1.96705563e-02  2.09680150e+01]
 [ 2.51951632e-01 -1.85689775e-02  9.67561661e-01  6.36483097e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.660714057 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:244.49, Y:20.97, Z:63.67
[[ 9.55740086e-01 -1.52062060e-01 -2.51869049e-01  2.44490347e+02]
 [ 1.52042753e-01  9.88178419e-01 -1.96574047e-02  2.09720954e+01]
 [ 2.51880704e-01 -1.95074940e-02  9.67561661e-01  6.36652836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.720714057 meters
Centerline goodness : 0.999159 with order 1
Centerline is valid?  [True, True]
Translation: X:244.55, Y:20.98, Z:63.68
[[ 9.55356470e-01 -1.54453856e-01 -2.51869055e-01  2.44550022e+02]
 [ 1.54515765e-01  9.87794750e-01 -1.96573292e-02  2.09763012e+01]
 [ 2.51831081e-01 -2.01379830e-02  9.67561661e-01  6.36807275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.780714057 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:244.61, Y:20.98, Z:63.70
[[ 9.55087177e-01 -1.56108154e-01 -2.51870462e-01  2.44608533e+02]
 [ 1.56230965e-01  9.87525283e-01 -1.96392913e-02  2.09799106e+01]
 [ 2.51794302e-01 -2.05927300e-02  9.67561661e-01  6.36955841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.840714057 meters
Centerline goodness : 0.999049 with order 1
Centerline is valid?  [True, True]
Translation: X:244.67, Y:20.98, Z:63.71
[[ 9.54858982e-01 -1.57497861e-01 -2.51870498e-01  2.44668011e+02]
 [ 1.57668000e-01  9.87296874e-01 -1.96388227e-02  2.09836638e+01]
 [ 2.51764028e-01 -2.09596115e-02  9.67561661e-01  6.37083682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.90071405700002 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:244.73, Y:20.99, Z:63.72
[[ 9.54239431e-01 -1.61207930e-01 -2.51871220e-01  2.44726624e+02]
 [ 1.61506570e-01  9.86676395e-01 -1.96295623e-02  2.09873888e+01]
 [ 2.51679828e-01 -2.19475546e-02  9.67561662e-01  6.37228506e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.96071405700002 meters
Centerline goodness : 0.998663 with order 1
Centerline is valid?  [True, True]
Translation: X:244.79, Y:20.99, Z:63.74
[[ 9.53930727e-01 -1.63024583e-01 -2.51871305e-01  2.44785646e+02]
 [ 1.63385269e-01  9.86367060e-01 -1.96284774e-02  2.09911545e+01]
 [ 2.51637482e-01 -2.24278532e-02  9.67561662e-01  6.37376901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.02071405700002 meters
Centerline goodness : 0.998823 with order 1
Centerline is valid?  [True, True]
Translation: X:244.84, Y:21.00, Z:63.75
[[ 9.53783648e-01 -1.63878719e-01 -2.51874013e-01  2.44843700e+02]
 [ 1.64277570e-01  9.86219534e-01 -1.95936603e-02  2.09958363e+01]
 [ 2.51614056e-01 -2.26891381e-02  9.67561662e-01  6.37543915e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.08071405700002 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:244.90, Y:21.00, Z:63.77
[[ 9.53816568e-01 -1.63686446e-01 -2.51874376e-01  2.44903005e+02]
 [ 1.64079981e-01  9.86252519e-01 -1.95889942e-02  2.10011920e+01]
 [ 2.51618191e-01 -2.26432356e-02  9.67561662e-01  6.37712979e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.14071405700003 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:244.96, Y:21.01, Z:63.79
[[ 9.53764916e-01 -1.63984914e-01 -2.51875830e-01  2.44961673e+02]
 [ 1.64393499e-01  9.86200680e-01 -1.95702875e-02  2.10059097e+01]
 [ 2.51609346e-01 -2.27412953e-02  9.67561662e-01  6.37862178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.200714057 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:245.02, Y:21.01, Z:63.80
[[ 9.53712092e-01 -1.64290204e-01 -2.51876902e-01  2.45022176e+02]
 [ 1.64712788e-01  9.86147677e-01 -1.95564781e-02  2.10113353e+01]
 [ 2.51600759e-01 -2.28360972e-02  9.67561662e-01  6.37996893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.260714057 meters
Centerline goodness : 0.998271 with order 1
Centerline is valid?  [True, True]
Translation: X:245.08, Y:21.02, Z:63.81
[[ 9.53813066e-01 -1.63700805e-01 -2.51878306e-01  2.45081430e+02]
 [ 1.64108087e-01  9.86248847e-01 -1.95383751e-02  2.10163548e+01]
 [ 2.51613137e-01 -2.26993094e-02  9.67561663e-01  6.38131383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.320714057 meters
Centerline goodness : 0.997936 with order 1
Centerline is valid?  [True, True]
Translation: X:245.14, Y:21.02, Z:63.83
[[ 9.53943121e-01 -1.62939616e-01 -2.51879344e-01  2.45141049e+02]
 [ 1.63324522e-01  9.86379174e-01 -1.95249817e-02  2.10223028e+01]
 [ 2.51629933e-01 -2.25123515e-02  9.67561663e-01  6.38290310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.380714057 meters
Centerline goodness : 0.997762 with order 1
Centerline is valid?  [True, True]
Translation: X:245.20, Y:21.03, Z:63.85
[[ 9.54147001e-01 -1.61739330e-01 -2.51880704e-01  2.45199107e+02]
 [ 1.62088027e-01  9.86583464e-01 -1.95074240e-02  2.10281511e+01]
 [ 2.51656455e-01 -2.22138962e-02  9.67561663e-01  6.38450115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.440714057 meters
Centerline goodness : 0.998015 with order 1
Centerline is valid?  [True, True]
Translation: X:245.26, Y:21.03, Z:63.86
[[ 9.54354531e-01 -1.60510163e-01 -2.51880758e-01  2.45256798e+02]
 [ 1.60817262e-01  9.86791415e-01 -1.95067233e-02  2.10345683e+01]
 [ 2.51684797e-01 -2.18904441e-02  9.67561663e-01  6.38631221e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.500714057 meters
Centerline goodness : 0.998170 with order 1
Centerline is valid?  [True, True]
Translation: X:245.32, Y:21.04, Z:63.88
[[ 9.54251747e-01 -1.61119543e-01 -2.51881116e-01  2.45316621e+02]
 [ 1.61448566e-01  9.86688415e-01 -1.95021006e-02  2.10396849e+01]
 [ 2.51670349e-01 -2.20559314e-02  9.67561663e-01  6.38777982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.560714057 meters
Centerline goodness : 0.998401 with order 1
Centerline is valid?  [True, True]
Translation: X:245.38, Y:21.04, Z:63.89
[[ 9.53805138e-01 -1.63740488e-01 -2.51882533e-01  2.45375613e+02]
 [ 1.64163418e-01  9.86240718e-01 -1.94837860e-02  2.10443159e+01]
 [ 2.51607095e-01 -2.27661623e-02  9.67561663e-01  6.38916332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.62071405700001 meters
Centerline goodness : 0.998102 with order 1
Centerline is valid?  [True, True]
Translation: X:245.43, Y:21.05, Z:63.91
[[ 9.53302149e-01 -1.66643917e-01 -2.51882547e-01  2.45434619e+02]
 [ 1.67165653e-01  9.85736290e-01 -1.94836070e-02  2.10499133e+01]
 [ 2.51536592e-01 -2.35323460e-02  9.67561663e-01  6.39067067e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.68071405700002 meters
Centerline goodness : 0.998474 with order 1
Centerline is valid?  [True, True]
Translation: X:245.49, Y:21.05, Z:63.92
[[ 9.53088249e-01 -1.67862259e-01 -2.51883011e-01  2.45493058e+02]
 [ 1.68427022e-01  9.85521670e-01 -1.94776067e-02  2.10543772e+01]
 [ 2.51505721e-01 -2.38600273e-02  9.67561663e-01  6.39205180e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.74071405700002 meters
Centerline goodness : 0.998130 with order 1
Centerline is valid?  [True, True]
Translation: X:245.55, Y:21.06, Z:63.94
[[ 9.52851649e-01 -1.69199590e-01 -2.51883372e-01  2.45551237e+02]
 [ 1.69811091e-01  9.85284222e-01 -1.94729360e-02  2.10587873e+01]
 [ 2.51471525e-01 -2.42177710e-02  9.67561663e-01  6.39372721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.80071405700002 meters
Centerline goodness : 0.997931 with order 1
Centerline is valid?  [True, True]
Translation: X:245.61, Y:21.06, Z:63.95
[[ 9.52838713e-01 -1.69271875e-01 -2.51883741e-01  2.45610915e+02]
 [ 1.69887084e-01  9.85271216e-01 -1.94681672e-02  2.10636330e+01]
 [ 2.51469213e-01 -2.42417709e-02  9.67561663e-01  6.39529275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.86071405700002 meters
Centerline goodness : 0.997853 with order 1
Centerline is valid?  [True, True]
Translation: X:245.67, Y:21.07, Z:63.97
[[ 9.53226319e-01 -1.67073100e-01 -2.51885219e-01  2.45669235e+02]
 [ 1.67618496e-01  9.85660071e-01 -1.94490233e-02  2.10686877e+01]
 [ 2.51522611e-01 -2.36813008e-02  9.67561663e-01  6.39660186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.920714057 meters
Centerline goodness : 0.998084 with order 1
Centerline is valid?  [True, True]
Translation: X:245.73, Y:21.07, Z:63.98
[[ 9.54180732e-01 -1.61533676e-01 -2.51884897e-01  2.45727795e+02]
 [ 1.61889589e-01  9.86617116e-01 -1.94531845e-02  2.10746752e+01]
 [ 2.51656296e-01 -2.22156887e-02  9.67561663e-01  6.39813726e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.980714057 meters
Centerline goodness : 0.998145 with order 1
Centerline is valid?  [True, True]
Translation: X:245.79, Y:21.08, Z:64.00
[[ 9.55572062e-01 -1.53088261e-01 -2.51884931e-01  2.45786571e+02]
 [ 1.53157397e-01  9.88010325e-01 -1.94527451e-02  2.10805092e+01]
 [ 2.51842900e-01 -1.99895407e-02  9.67561663e-01  6.39968855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.040714057 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:245.84, Y:21.09, Z:64.01
[[ 9.56824672e-01 -1.45053267e-01 -2.51885087e-01  2.45843092e+02]
 [ 1.44850352e-01  9.89262374e-01 -1.94507301e-02  2.10876707e+01]
 [ 2.52001831e-01 -1.78747050e-02  9.67561663e-01  6.40135700e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.100714057 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:245.90, Y:21.09, Z:64.03
[[ 9.57673903e-01 -1.39336318e-01 -2.51885066e-01  2.45901454e+02]
 [ 1.38939610e-01  9.90109814e-01 -1.94510022e-02  2.10925950e+01]
 [ 2.52104107e-01 -1.63690957e-02  9.67561663e-01  6.40290410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.160714057 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:245.96, Y:21.10, Z:64.04
[[ 9.58217089e-01 -1.35550223e-01 -2.51885187e-01  2.45961324e+02]
 [ 1.35025733e-01  9.90651185e-01 -1.94494352e-02  2.10969873e+01]
 [ 2.52166734e-01 -1.53742008e-02  9.67561663e-01  6.40439639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.220714057 meters
Centerline goodness : 0.998502 with order 1
Centerline is valid?  [True, True]
Translation: X:246.02, Y:21.10, Z:64.06
[[ 9.58700147e-01 -1.32088454e-01 -2.51886222e-01  2.46019818e+02]
 [ 1.31450335e-01  9.91132206e-01 -1.94360199e-02  2.11014745e+01]
 [ 2.52219821e-01 -1.44772132e-02  9.67561663e-01  6.40600311e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.280714057 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:246.08, Y:21.10, Z:64.07
[[ 9.59086856e-01 -1.29250492e-01 -2.51886312e-01  2.46079170e+02]
 [ 1.28516692e-01  9.91516891e-01 -1.94348609e-02  2.11049606e+01]
 [ 2.52261498e-01 -1.37318760e-02  9.67561663e-01  6.40741310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.340714057 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:246.14, Y:21.11, Z:64.09
[[ 9.59243317e-01 -1.28082722e-01 -2.51887029e-01  2.46138593e+02]
 [ 1.27311877e-01  9.91672493e-01 -1.94255542e-02  2.11079355e+01]
 [ 2.52277516e-01 -1.34343774e-02  9.67561663e-01  6.40890280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.40071405700002 meters
Centerline goodness : 0.998624 with order 1
Centerline is valid?  [True, True]
Translation: X:246.20, Y:21.11, Z:64.11
[[ 9.59445786e-01 -1.26555795e-01 -2.51887702e-01  2.46197570e+02]
 [ 1.25735619e-01  9.91873752e-01 -1.94168321e-02  2.11102292e+01]
 [ 2.52298112e-01 -1.30418583e-02  9.67561663e-01  6.41056869e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.46071405700002 meters
Centerline goodness : 0.998556 with order 1
Centerline is valid?  [True, True]
Translation: X:246.26, Y:21.11, Z:64.12
[[ 9.59581445e-01 -1.25522368e-01 -2.51888043e-01  2.46256874e+02]
 [ 1.24668426e-01  9.92008539e-01 -1.94124034e-02  2.11127881e+01]
 [ 2.52311780e-01 -1.27747038e-02  9.67561663e-01  6.41227011e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.52071405700002 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:246.32, Y:21.12, Z:64.14
[[ 9.59632345e-01 -1.25130461e-01 -2.51889121e-01  2.46316093e+02]
 [ 1.24266941e-01  9.92059186e-01 -1.93984042e-02  2.11161517e+01]
 [ 2.52316248e-01 -1.26861545e-02  9.67561663e-01  6.41380182e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.58071405700002 meters
Centerline goodness : 0.998586 with order 1
Centerline is valid?  [True, True]
Translation: X:246.38, Y:21.12, Z:64.15
[[ 9.59318974e-01 -1.27509273e-01 -2.51889840e-01  2.46375082e+02]
 [ 1.26728597e-01  9.91747915e-01 -1.93890631e-02  2.11167759e+01]
 [ 2.52283509e-01 -1.33213499e-02  9.67561664e-01  6.41539640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.64071405700003 meters
Centerline goodness : 0.998816 with order 1
Centerline is valid?  [True, True]
Translation: X:246.43, Y:21.12, Z:64.17
[[ 9.58982803e-01 -1.30013272e-01 -2.51889921e-01  2.46434905e+02]
 [ 1.29317532e-01  9.91413678e-01 -1.93880187e-02  2.11180405e+01]
 [ 2.52247812e-01 -1.39810064e-02  9.67561664e-01  6.41681211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.700714057 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:246.50, Y:21.12, Z:64.18
[[ 9.58852120e-01 -1.30972225e-01 -2.51890626e-01  2.46495729e+02]
 [ 1.30311321e-01  9.91283723e-01 -1.93788430e-02  2.11209915e+01]
 [ 2.52233168e-01 -1.42427555e-02  9.67561664e-01  6.41826776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.760714057 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:246.55, Y:21.12, Z:64.20
[[ 9.58995224e-01 -1.29917385e-01 -2.51892106e-01  2.46554848e+02]
 [ 1.29225847e-01  9.91426188e-01 -1.93595883e-02  2.11246006e+01]
 [ 2.52247578e-01 -1.39852182e-02  9.67561664e-01  6.41966879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.820714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:246.61, Y:21.13, Z:64.21
[[ 9.59299681e-01 -1.27647720e-01 -2.51893196e-01  2.46612960e+02]
 [ 1.26883158e-01  9.91729005e-01 -1.93453944e-02  2.11291088e+01]
 [ 2.52279185e-01 -1.34029735e-02  9.67561664e-01  6.42123868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.880714057 meters
Centerline goodness : 0.998979 with order 1
Centerline is valid?  [True, True]
Translation: X:246.67, Y:21.13, Z:64.23
[[ 9.59422392e-01 -1.26722101e-01 -2.51893196e-01  2.46671005e+02]
 [ 1.25926251e-01  9.91850964e-01 -1.93453944e-02  2.11337623e+01]
 [ 2.52291999e-01 -1.31595613e-02  9.67561664e-01  6.42281512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.940714057 meters
Centerline goodness : 0.998818 with order 1
Centerline is valid?  [True, True]
Translation: X:246.73, Y:21.14, Z:64.25
[[ 9.59320219e-01 -1.27493277e-01 -2.51893196e-01  2.46730028e+02]
 [ 1.26723494e-01  9.91749420e-01 -1.93453944e-02  2.11374303e+01]
 [ 2.52281339e-01 -1.33623580e-02  9.67561664e-01  6.42451318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.000714057 meters
Centerline goodness : 0.998686 with order 1
Centerline is valid?  [True, True]
Translation: X:246.79, Y:21.14, Z:64.26
[[ 9.58496681e-01 -1.33542398e-01 -2.51893906e-01  2.46788396e+02]
 [ 1.32979622e-01  9.90930135e-01 -1.93361555e-02  2.11414032e+01]
 [ 2.52191459e-01 -1.49631156e-02  9.67561664e-01  6.42606111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.060714057 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:246.85, Y:21.14, Z:64.28
[[ 9.57297783e-01 -1.41881595e-01 -2.51893962e-01  2.46846866e+02]
 [ 1.41601386e-01  9.89734909e-01 -1.93354166e-02  2.11434687e+01]
 [ 2.52051588e-01 -1.71587828e-02  9.67561664e-01  6.42754250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.12071405700001 meters
Centerline goodness : 0.998739 with order 1
Centerline is valid?  [True, True]
Translation: X:246.91, Y:21.14, Z:64.29
[[ 9.56092111e-01 -1.49790748e-01 -2.51894040e-01  2.46905298e+02]
 [ 1.49778970e-01  9.88530445e-01 -1.93344120e-02  2.11449282e+01]
 [ 2.51901043e-01 -1.92429509e-02  9.67561664e-01  6.42912838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.18071405700002 meters
Centerline goodness : 0.999006 with order 1
Centerline is valid?  [True, True]
Translation: X:246.96, Y:21.15, Z:64.30
[[ 9.55247070e-01 -1.55088310e-01 -2.51894128e-01  2.46964410e+02]
 [ 1.55256649e-01  9.87684969e-01 -1.93332574e-02  2.11474694e+01]
 [ 2.51790406e-01 -2.06402008e-02  9.67561664e-01  6.43045771e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.24071405700002 meters
Centerline goodness : 0.999142 with order 1
Centerline is valid?  [True, True]
Translation: X:247.02, Y:21.15, Z:64.32
[[ 9.55031373e-01 -1.56410741e-01 -2.51894337e-01  2.47023689e+02]
 [ 1.56624703e-01  9.87469003e-01 -1.93305403e-02  2.11510515e+01]
 [ 2.51761354e-01 -2.09916033e-02  9.67561664e-01  6.43188720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.30071405700002 meters
Centerline goodness : 0.999277 with order 1
Centerline is valid?  [True, True]
Translation: X:247.08, Y:21.16, Z:64.34
[[ 9.55029074e-01 -1.56424226e-01 -2.51894680e-01  2.47083665e+02]
 [ 1.56639818e-01  9.87466693e-01 -1.93260638e-02  2.11553346e+01]
 [ 2.51760671e-01 -2.09997841e-02  9.67561664e-01  6.43350410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.36071405700002 meters
Centerline goodness : 0.999141 with order 1
Centerline is valid?  [True, True]
Translation: X:247.14, Y:21.16, Z:64.35
[[ 9.55560028e-01 -1.53145067e-01 -2.51896053e-01  2.47141478e+02]
 [ 1.53254004e-01  9.87998181e-01 -1.93081518e-02  2.11610372e+01]
 [ 2.51829790e-01 -2.01539806e-02  9.67561664e-01  6.43523649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.42071405700003 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:247.20, Y:21.17, Z:64.37
[[ 9.56062304e-01 -1.49976984e-01 -2.51896358e-01  2.47198809e+02]
 [ 1.49979443e-01  9.88500640e-01 -1.93041787e-02  2.11682414e+01]
 [ 2.51894893e-01 -1.93232778e-02  9.67561664e-01  6.43704822e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.480714057 meters
Centerline goodness : 0.999296 with order 1
Centerline is valid?  [True, True]
Translation: X:247.26, Y:21.17, Z:64.38
[[ 9.56380751e-01 -1.47932705e-01 -2.51896358e-01  2.47257323e+02]
 [ 1.47865815e-01  9.88819018e-01 -1.93041787e-02  2.11741929e+01]
 [ 2.51935628e-01 -1.87847153e-02  9.67561664e-01  6.43835961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.540714057 meters
Centerline goodness : 0.999001 with order 1
Centerline is valid?  [True, True]
Translation: X:247.32, Y:21.18, Z:64.40
[[ 9.56514381e-01 -1.47066188e-01 -2.51896358e-01  2.47317049e+02]
 [ 1.46969910e-01  9.88952574e-01 -1.93041787e-02  2.11790591e+01]
 [ 2.51952543e-01 -1.85564605e-02  9.67561664e-01  6.43992008e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.600714057 meters
Centerline goodness : 0.999341 with order 1
Centerline is valid?  [True, True]
Translation: X:247.38, Y:21.18, Z:64.41
[[ 9.56490127e-01 -1.47221408e-01 -2.51897787e-01  2.47378217e+02]
 [ 1.47135283e-01  9.88928348e-01 -1.92855118e-02  2.11831951e+01]
 [ 2.51948102e-01 -1.86166506e-02  9.67561664e-01  6.44130179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.660714057 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:247.44, Y:21.19, Z:64.43
[[ 9.56714831e-01 -1.45750961e-01 -2.51899564e-01  2.47438692e+02]
 [ 1.45621060e-01  9.89152906e-01 -1.92622765e-02  2.11882645e+01]
 [ 2.51974681e-01 -1.82533758e-02  9.67561664e-01  6.44279262e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.720714057 meters
Centerline goodness : 0.999227 with order 1
Centerline is valid?  [True, True]
Translation: X:247.50, Y:21.19, Z:64.45
[[ 9.57144055e-01 -1.42902623e-01 -2.51900968e-01  2.47496570e+02]
 [ 1.42680985e-01  9.89581633e-01 -1.92438883e-02  2.11944664e+01]
 [ 2.52026574e-01 -1.75223051e-02  9.67561665e-01  6.44462602e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.780714057 meters
Centerline goodness : 0.999069 with order 1
Centerline is valid?  [True, True]
Translation: X:247.55, Y:21.20, Z:64.46
[[ 9.57563110e-01 -1.40066890e-01 -2.51901085e-01  2.47554877e+02]
 [ 1.39749572e-01  9.89999893e-01 -1.92423593e-02  2.11998468e+01]
 [ 2.52077265e-01 -1.67772955e-02  9.67561665e-01  6.44628261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.840714057 meters
Centerline goodness : 0.999204 with order 1
Centerline is valid?  [True, True]
Translation: X:247.61, Y:21.21, Z:64.48
[[ 9.58050129e-01 -1.36694004e-01 -2.51902161e-01  2.47612681e+02]
 [ 1.36266155e-01  9.90485643e-01 -1.92282628e-02  2.12050176e+01]
 [ 2.52133862e-01 -1.59040993e-02  9.67561665e-01  6.44790180e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.90071405700002 meters
Centerline goodness : 0.999317 with order 1
Centerline is valid?  [True, True]
Translation: X:247.67, Y:21.21, Z:64.49
[[ 9.58632500e-01 -1.32548239e-01 -2.51902152e-01  2.47671374e+02]
 [ 1.31980047e-01  9.91065859e-01 -1.92283840e-02  2.12106411e+01]
 [ 2.52200311e-01 -1.48131042e-02  9.67561665e-01  6.44941845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.96071405700002 meters
Centerline goodness : 0.998772 with order 1
Centerline is valid?  [True, True]
Translation: X:247.73, Y:21.22, Z:64.51
[[ 9.59229097e-01 -1.28158809e-01 -2.51902478e-01  2.47729531e+02]
 [ 1.27443282e-01  9.91659540e-01 -1.92241123e-02  2.12167340e+01]
 [ 2.52265235e-01 -1.36629506e-02  9.67561665e-01  6.45083715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.02071405700002 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:247.79, Y:21.22, Z:64.53
[[ 9.59909520e-01 -1.22958042e-01 -2.51902824e-01  2.47787584e+02]
 [ 1.22067945e-01  9.92335641e-01 -1.92195742e-02  2.12221025e+01]
 [ 2.52335352e-01 -1.23002079e-02  9.67561665e-01  6.45253085e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.08071405700002 meters
Centerline goodness : 0.998564 with order 1
Centerline is valid?  [True, True]
Translation: X:247.85, Y:21.23, Z:64.54
[[ 9.60607987e-01 -1.17376536e-01 -2.51902846e-01  2.47846419e+02]
 [ 1.16298054e-01  9.93028389e-01 -1.92192870e-02  2.12269157e+01]
 [ 2.52402571e-01 -1.08336102e-02  9.67561665e-01  6.45417548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.14071405700003 meters
Centerline goodness : 0.998718 with order 1
Centerline is valid?  [True, True]
Translation: X:247.90, Y:21.23, Z:64.56
[[ 9.61121750e-01 -1.13091558e-01 -2.51903317e-01  2.47904925e+02]
 [ 1.11870124e-01  9.93537081e-01 -1.92131114e-02  2.12312685e+01]
 [ 2.52448127e-01 -9.71431610e-03  9.67561665e-01  6.45587592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.200714057 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:247.96, Y:21.23, Z:64.57
[[ 9.61253703e-01 -1.11963667e-01 -2.51903664e-01  2.47964388e+02]
 [ 1.10705388e-01  9.93667625e-01 -1.92085600e-02  2.12345538e+01]
 [ 2.52459177e-01 -9.42279348e-03  9.67561665e-01  6.45749093e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.260714057 meters
Centerline goodness : 0.998859 with order 1
Centerline is valid?  [True, True]
Translation: X:248.02, Y:21.24, Z:64.59
[[ 9.60951521e-01 -1.14526673e-01 -2.51904377e-01  2.48022876e+02]
 [ 1.13357286e-01  9.93368772e-01 -1.91992066e-02  2.12362568e+01]
 [ 2.52432763e-01 -1.01056897e-02  9.67561665e-01  6.45872556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.320714057 meters
Centerline goodness : 0.999024 with order 1
Centerline is valid?  [True, True]
Translation: X:248.08, Y:21.24, Z:64.60
[[ 9.60532258e-01 -1.17992134e-01 -2.51904026e-01  2.48081425e+02]
 [ 1.16938479e-01  9.92953476e-01 -1.92038177e-02  2.12375476e+01]
 [ 2.52394877e-01 -1.10113872e-02  9.67561665e-01  6.45983895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.380714057 meters
Centerline goodness : 0.999202 with order 1
Centerline is valid?  [True, True]
Translation: X:248.14, Y:21.24, Z:64.61
[[ 9.60438130e-01 -1.18756133e-01 -2.51903910e-01  2.48138742e+02]
 [ 1.17727870e-01  9.92860163e-01 -1.92053347e-02  2.12398776e+01]
 [ 2.52386108e-01 -1.12105750e-02  9.67561665e-01  6.46129339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.440714057 meters
Centerline goodness : 0.999046 with order 1
Centerline is valid?  [True, True]
Translation: X:248.20, Y:21.24, Z:64.63
[[ 9.60675007e-01 -1.16834755e-01 -2.51899130e-01  2.48196400e+02]
 [ 1.15725283e-01  9.93094361e-01 -1.92678300e-02  2.12438672e+01]
 [ 2.52410758e-01 -1.06409753e-02  9.67561667e-01  6.46309650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.500714057 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:248.25, Y:21.25, Z:64.65
[[ 9.60878866e-01 -1.15146002e-01 -2.51899194e-01  2.48254854e+02]
 [ 1.13979767e-01  9.93296228e-01 -1.92669939e-02  2.12486945e+01]
 [ 2.52429037e-01 -1.01981642e-02  9.67561667e-01  6.46493986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.560714057 meters
Centerline goodness : 0.999135 with order 1
Centerline is valid?  [True, True]
Translation: X:248.31, Y:21.25, Z:64.67
[[ 9.60902113e-01 -1.14950276e-01 -2.51899906e-01  2.48313919e+02]
 [ 1.13779873e-01  9.93319325e-01 -1.92576878e-02  2.12529339e+01]
 [ 2.52430721e-01 -1.01563865e-02  9.67561667e-01  6.46667645e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.62071405700001 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:248.37, Y:21.26, Z:64.68
[[ 9.60683496e-01 -1.16761720e-01 -2.51900617e-01  2.48372475e+02]
 [ 1.15654874e-01  9.93102940e-01 -1.92483816e-02  2.12555981e+01]
 [ 2.52410717e-01 -1.06419315e-02  9.67561667e-01  6.46822756e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.68071405700002 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:248.43, Y:21.26, Z:64.69
[[ 9.59830138e-01 -1.23580684e-01 -2.51900617e-01  2.48430611e+02]
 [ 1.22704079e-01  9.92256624e-01 -1.92483816e-02  2.12575170e+01]
 [ 2.52328784e-01 -1.24340564e-02  9.67561667e-01  6.46942215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.74071405700002 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:248.49, Y:21.26, Z:64.71
[[ 9.58611867e-01 -1.32700338e-01 -2.51900592e-01  2.48489082e+02]
 [ 1.32131971e-01  9.91045221e-01 -1.92487054e-02  2.12599949e+01]
 [ 2.52199188e-01 -1.48320842e-02  9.67561667e-01  6.47068457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.80071405700002 meters
Centerline goodness : 0.999191 with order 1
Centerline is valid?  [True, True]
Translation: X:248.55, Y:21.26, Z:64.72
[[ 9.57660214e-01 -1.39402511e-01 -2.51900486e-01  2.48547539e+02]
 [ 1.39060665e-01  9.90096746e-01 -1.92500858e-02  2.12641077e+01]
 [ 2.52089362e-01 -1.65944080e-02  9.67561667e-01  6.47218281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.86071405700002 meters
Centerline goodness : 0.999276 with order 1
Centerline is valid?  [True, True]
Translation: X:248.61, Y:21.27, Z:64.74
[[ 9.57331650e-01 -1.41641640e-01 -2.51900293e-01  2.48607148e+02]
 [ 1.41374985e-01  9.89768887e-01 -1.92526201e-02  2.12691364e+01]
 [ 2.52050045e-01 -1.71812576e-02  9.67561667e-01  6.47385856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.92071405700003 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:248.67, Y:21.28, Z:64.76
[[ 9.57288666e-01 -1.41929368e-01 -2.51901697e-01  2.48665016e+02]
 [ 1.41677278e-01  9.89726019e-01 -1.92342318e-02  2.12762748e+01]
 [ 2.52043566e-01 -1.72760347e-02  9.67561667e-01  6.47555411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.980714057 meters
Centerline goodness : 0.999389 with order 1
Centerline is valid?  [True, True]
Translation: X:248.72, Y:21.28, Z:64.77
[[ 9.57314190e-01 -1.41756489e-01 -2.51902043e-01  2.48724655e+02]
 [ 1.41499729e-01  9.89751507e-01 -1.92296994e-02  2.12826687e+01]
 [ 2.52046361e-01 -1.72352066e-02  9.67561667e-01  6.47725425e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.04071405700006 meters
Centerline goodness : 0.999364 with order 1
Centerline is valid?  [True, True]
Translation: X:248.78, Y:21.29, Z:64.79
[[ 9.56915007e-01 -1.44424138e-01 -2.51903431e-01  2.48783191e+02]
 [ 1.44262552e-01  9.89352937e-01 -1.92115054e-02  2.12890567e+01]
 [ 2.51996004e-01 -1.79564540e-02  9.67561667e-01  6.47884222e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.10071405700006 meters
Centerline goodness : 0.999206 with order 1
Centerline is valid?  [True, True]
Translation: X:248.84, Y:21.30, Z:64.80
[[ 9.56279197e-01 -1.48575670e-01 -2.51903489e-01  2.48841653e+02]
 [ 1.48555064e-01  9.88717523e-01 -1.92107350e-02  2.12955064e+01]
 [ 2.51915642e-01 -1.90507128e-02  9.67561667e-01  6.48016474e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.16071405700006 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:248.90, Y:21.30, Z:64.81
[[ 9.55591865e-01 -1.52933474e-01 -2.51903833e-01  2.48900962e+02]
 [ 1.53061923e-01  9.88029943e-01 -1.92062283e-02  2.13012098e+01]
 [ 2.51825805e-01 -2.02035696e-02  9.67561667e-01  6.48141509e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.22071405700007 meters
Centerline goodness : 0.998890 with order 1
Centerline is valid?  [True, True]
Translation: X:248.96, Y:21.31, Z:64.83
[[ 9.55417184e-01 -1.54019952e-01 -2.51904463e-01  2.48960067e+02]
 [ 1.54187452e-01  9.87855085e-01 -1.91979613e-02  2.13067460e+01]
 [ 2.51801974e-01 -2.04984451e-02  9.67561667e-01  6.48287244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.28071405700007 meters
Centerline goodness : 0.998860 with order 1
Centerline is valid?  [True, True]
Translation: X:249.02, Y:21.32, Z:64.85
[[ 9.55255648e-01 -1.55018000e-01 -2.51904876e-01  2.49019640e+02]
 [ 1.55220808e-01  9.87693347e-01 -1.91925388e-02  2.13163161e+01]
 [ 2.51779959e-01 -2.07670972e-02  9.67561667e-01  6.48463915e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.340714057 meters
Centerline goodness : 0.998630 with order 1
Centerline is valid?  [True, True]
Translation: X:249.08, Y:21.32, Z:64.86
[[ 9.55620249e-01 -1.52751960e-01 -2.51906290e-01  2.49077709e+02]
 [ 1.52882698e-01  9.88058318e-01 -1.91739651e-02  2.13249072e+01]
 [ 2.51826966e-01 -2.01890839e-02  9.67561667e-01  6.48645117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.400714057 meters
Centerline goodness : 0.998490 with order 1
Centerline is valid?  [True, True]
Translation: X:249.14, Y:21.33, Z:64.88
[[ 9.55878082e-01 -1.51129518e-01 -2.51906651e-01  2.49136623e+02]
 [ 1.51206434e-01  9.88316324e-01 -1.91692171e-02  2.13332332e+01]
 [ 2.51860490e-01 -1.97664719e-02  9.67561667e-01  6.48821555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.460714057 meters
Centerline goodness : 0.998306 with order 1
Centerline is valid?  [True, True]
Translation: X:249.19, Y:21.34, Z:64.90
[[ 9.55804384e-01 -1.51592540e-01 -2.51908082e-01  2.49194316e+02]
 [ 1.51690099e-01  9.88242570e-01 -1.91503947e-02  2.13398847e+01]
 [ 2.51849347e-01 -1.99079307e-02  9.67561668e-01  6.48968497e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.520714057 meters
Centerline goodness : 0.998482 with order 1
Centerline is valid?  [True, True]
Translation: X:249.25, Y:21.35, Z:64.91
[[ 9.55352728e-01 -1.54413353e-01 -2.51908082e-01  2.49253447e+02]
 [ 1.54606667e-01  9.87790484e-01 -1.91503947e-02  2.13454492e+01]
 [ 2.51789483e-01 -2.06512872e-02  9.67561668e-01  6.49109849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.580714057 meters
Centerline goodness : 0.998117 with order 1
Centerline is valid?  [True, True]
Translation: X:249.31, Y:21.35, Z:64.92
[[ 9.54964925e-01 -1.56793447e-01 -2.51908331e-01  2.49313163e+02]
 [ 1.57068449e-01  9.87402091e-01 -1.91471149e-02  2.13512795e+01]
 [ 2.51736955e-01 -2.12820279e-02  9.67561668e-01  6.49242046e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.640714057 meters
Centerline goodness : 0.998436 with order 1
Centerline is valid?  [True, True]
Translation: X:249.37, Y:21.36, Z:64.94
[[ 9.55040499e-01 -1.56331352e-01 -2.51909020e-01  2.49374059e+02]
 [ 1.56593033e-01  9.87477776e-01 -1.91380484e-02  2.13569782e+01]
 [ 2.51746436e-01 -2.11695863e-02  9.67561668e-01  6.49380657e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.700714057 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:249.43, Y:21.37, Z:64.95
[[ 9.55802643e-01 -1.51599122e-01 -2.51910728e-01  2.49430851e+02]
 [ 1.51706032e-01  9.88240798e-01 -1.91155484e-02  2.13657532e+01]
 [ 2.51846359e-01 -1.99456851e-02  9.67561668e-01  6.49531565e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.76071405700003 meters
Centerline goodness : 0.998447 with order 1
Centerline is valid?  [True, True]
Translation: X:249.49, Y:21.38, Z:64.97
[[ 9.57213855e-01 -1.42417695e-01 -2.51910373e-01  2.49487430e+02]
 [ 1.42212012e-01  9.89651535e-01 -1.91202220e-02  2.13756684e+01]
 [ 2.52026545e-01 -1.75225396e-02  9.67561668e-01  6.49690102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.82071405700003 meters
Centerline goodness : 0.998066 with order 1
Centerline is valid?  [True, True]
Translation: X:249.54, Y:21.39, Z:64.99
[[ 9.58764225e-01 -1.31576349e-01 -2.51910353e-01  2.49544655e+02]
 [ 1.31003532e-01  9.91197499e-01 -1.91204877e-02  2.13859507e+01]
 [ 2.52208716e-01 -1.46691063e-02  9.67561668e-01  6.49876850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.88071405700003 meters
Centerline goodness : 0.998341 with order 1
Centerline is valid?  [True, True]
Translation: X:249.60, Y:21.40, Z:65.01
[[ 9.60022679e-01 -1.22055631e-01 -2.51910456e-01  2.49601761e+02]
 [ 1.21161348e-01  9.92448682e-01 -1.91191244e-02  2.13952394e+01]
 [ 2.52341797e-01 -1.21670175e-02  9.67561668e-01  6.50053194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.94071405700004 meters
Centerline goodness : 0.998667 with order 1
Centerline is valid?  [True, True]
Translation: X:249.66, Y:21.40, Z:65.02
[[ 9.60344979e-01 -1.19492992e-01 -2.51910593e-01  2.49660359e+02]
 [ 1.18512641e-01  9.92768493e-01 -1.91173276e-02  2.14021738e+01]
 [ 2.52373286e-01 -1.14953601e-02  9.67561668e-01  6.50202919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.00071405700004 meters
Centerline goodness : 0.998782 with order 1
Centerline is valid?  [True, True]
Translation: X:249.72, Y:21.41, Z:65.03
[[ 9.60087162e-01 -1.21546557e-01 -2.51910848e-01  2.49720390e+02]
 [ 1.20636433e-01  9.92512724e-01 -1.91139603e-02  2.14066090e+01]
 [ 2.52347958e-01 -1.20385582e-02  9.67561668e-01  6.50339676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.06071405700004 meters
Centerline goodness : 0.998483 with order 1
Centerline is valid?  [True, True]
Translation: X:249.78, Y:21.41, Z:65.05
[[ 9.59436459e-01 -1.26578319e-01 -2.51911910e-01  2.49779221e+02]
 [ 1.25841870e-01  9.91866430e-01 -1.90999598e-02  2.14100935e+01]
 [ 2.52280607e-01 -1.33758679e-02  9.67561668e-01  6.50464697e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.12071405700004 meters
Centerline goodness : 0.999042 with order 1
Centerline is valid?  [True, True]
Translation: X:249.84, Y:21.41, Z:65.06
[[ 9.58909646e-01 -1.30509005e-01 -2.51912070e-01  2.49839206e+02]
 [ 1.29906015e-01  9.91342373e-01 -1.90978377e-02  2.14146856e+01]
 [ 2.52223549e-01 -1.44117924e-02  9.67561668e-01  6.50625971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.18071405700005 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:249.90, Y:21.42, Z:65.08
[[ 9.58789094e-01 -1.31388984e-01 -2.51913493e-01  2.49896070e+02]
 [ 1.30820677e-01  9.91222447e-01 -1.90790588e-02  2.14204511e+01]
 [ 2.52209087e-01 -1.46627001e-02  9.67561668e-01  6.50798859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.24071405700005 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:249.96, Y:21.43, Z:65.10
[[ 9.58785953e-01 -1.31411903e-01 -2.51913493e-01  2.49955840e+02]
 [ 1.30844371e-01  9.91219320e-01 -1.90790588e-02  2.14253664e+01]
 [ 2.52208736e-01 -1.46687288e-02  9.67561668e-01  6.50961743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.30071405700005 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:250.02, Y:21.43, Z:65.11
[[ 9.58664546e-01 -1.32292006e-01 -2.51914894e-01  2.50015334e+02]
 [ 1.31759095e-01  9.91098500e-01 -1.90605447e-02  2.14281855e+01]
 [ 2.52194031e-01 -1.49194101e-02  9.67561668e-01  6.51089577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.36071405700005 meters
Centerline goodness : 0.998624 with order 1
Centerline is valid?  [True, True]
Translation: X:250.07, Y:21.43, Z:65.12
[[ 9.58335849e-01 -1.34651175e-01 -2.51915584e-01  2.50074795e+02]
 [ 1.34200487e-01  9.90771050e-01 -1.90514153e-02  2.14318411e+01]
 [ 2.52155963e-01 -1.55495397e-02  9.67561668e-01  6.51232263e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.42071405700005 meters
Centerline goodness : 0.998743 with order 1
Centerline is valid?  [True, True]
Translation: X:250.13, Y:21.43, Z:65.14
[[ 9.58222512e-01 -1.35454718e-01 -2.51915932e-01  2.50134029e+02]
 [ 1.35032432e-01  9.90658095e-01 -1.90468153e-02  2.14345028e+01]
 [ 2.52142538e-01 -1.57657337e-02  9.67561668e-01  6.51369108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.48071405700006 meters
Centerline goodness : 0.997974 with order 1
Centerline is valid?  [True, True]
Translation: X:250.19, Y:21.44, Z:65.15
[[ 9.58174449e-01 -1.35792358e-01 -2.51916970e-01  2.50192030e+02]
 [ 1.35385101e-01  9.90610224e-01 -1.90330723e-02  2.14375951e+01]
 [ 2.52136072e-01 -1.58688008e-02  9.67561668e-01  6.51512217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.54071405700006 meters
Centerline goodness : 0.998302 with order 1
Centerline is valid?  [True, True]
Translation: X:250.25, Y:21.44, Z:65.17
[[ 9.58286971e-01 -1.34996005e-01 -2.51916970e-01  2.50251226e+02]
 [ 1.34561791e-01  9.90722396e-01 -1.90330723e-02  2.14411620e+01]
 [ 2.52149173e-01 -1.56592536e-02  9.67561668e-01  6.51685911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.60071405700006 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:250.31, Y:21.45, Z:65.19
[[ 9.58423569e-01 -1.34020579e-01 -2.51918135e-01  2.50310408e+02]
 [ 1.33557394e-01  9.90858593e-01 -1.90176411e-02  2.14459541e+01]
 [ 2.52164004e-01 -1.54185741e-02  9.67561669e-01  6.51869914e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.66071405700006 meters
Centerline goodness : 0.998467 with order 1
Centerline is valid?  [True, True]
Translation: X:250.37, Y:21.45, Z:65.20
[[ 9.58471879e-01 -1.33672120e-01 -2.51919476e-01  2.50369367e+02]
 [ 1.33201797e-01  9.90906800e-01 -1.89998658e-02  2.14505397e+01]
 [ 2.52168474e-01 -1.53452898e-02  9.67561669e-01  6.52032168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.72071405700007 meters
Centerline goodness : 0.998586 with order 1
Centerline is valid?  [True, True]
Translation: X:250.43, Y:21.45, Z:65.22
[[ 9.58449916e-01 -1.33828856e-01 -2.51919822e-01  2.50428841e+02]
 [ 1.33365038e-01  9.90884931e-01 -1.89952816e-02  2.14537373e+01]
 [ 2.52165672e-01 -1.53912705e-02  9.67561669e-01  6.52180220e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.78071405700007 meters
Centerline goodness : 0.998125 with order 1
Centerline is valid?  [True, True]
Translation: X:250.49, Y:21.46, Z:65.23
[[ 9.58244703e-01 -1.35288487e-01 -2.51920849e-01  2.50488171e+02]
 [ 1.34877641e-01  9.90680432e-01 -1.89816468e-02  2.14564624e+01]
 [ 2.52141054e-01 -1.57894272e-02  9.67561669e-01  6.52315115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.840714057 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:250.55, Y:21.46, Z:65.25
[[ 9.58047028e-01 -1.36680686e-01 -2.51921182e-01  2.50547829e+02]
 [ 1.36318127e-01  9.90483333e-01 -1.89772222e-02  2.14582580e+01]
 [ 2.52117552e-01 -1.61603525e-02  9.67561669e-01  6.52455789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.900714057 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:250.61, Y:21.46, Z:65.26
[[ 9.58071984e-01 -1.36503814e-01 -2.51922175e-01  2.50607288e+02]
 [ 1.36138720e-01  9.90508261e-01 -1.89640391e-02  2.14599871e+01]
 [ 2.52119659e-01 -1.61274478e-02  9.67561669e-01  6.52608409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.960714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:250.67, Y:21.46, Z:65.28
[[ 9.58233191e-01 -1.35366324e-01 -2.51922827e-01  2.50665654e+02]
 [ 1.34964994e-01  9.90669039e-01 -1.89553644e-02  2.14628178e+01]
 [ 2.52138063e-01 -1.58371036e-02  9.67561669e-01  6.52771277e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.020714057 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:250.73, Y:21.46, Z:65.30
[[ 9.58612195e-01 -1.32655120e-01 -2.51923159e-01  2.50725592e+02]
 [ 1.32163193e-01  9.91046796e-01 -1.89509487e-02  2.14644824e+01]
 [ 2.52181580e-01 -1.51283587e-02  9.67561669e-01  6.52950735e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.080714057 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:250.78, Y:21.47, Z:65.31
[[ 9.58976136e-01 -1.29995285e-01 -2.51924584e-01  2.50784708e+02]
 [ 1.29418346e-01  9.91409336e-01 -1.89319883e-02  2.14665155e+01]
 [ 2.52221454e-01 -1.44483382e-02  9.67561669e-01  6.53110654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.140714057 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:250.84, Y:21.47, Z:65.33
[[ 9.59086410e-01 -1.29177782e-01 -2.51925303e-01  2.50843509e+02]
 [ 1.28575702e-01  9.91519153e-01 -1.89224189e-02  2.14696500e+01]
 [ 2.52233119e-01 -1.42432380e-02  9.67561669e-01  6.53256277e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.200714057 meters
Centerline goodness : 0.998874 with order 1
Centerline is valid?  [True, True]
Translation: X:250.90, Y:21.47, Z:65.34
[[ 9.59466694e-01 -1.26320815e-01 -2.51926011e-01  2.50903377e+02]
 [ 1.25624615e-01  9.91897553e-01 -1.89129848e-02  2.14701681e+01]
 [ 2.52273898e-01 -1.35017292e-02  9.67561669e-01  6.53361858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.26071405700003 meters
Centerline goodness : 0.998849 with order 1
Centerline is valid?  [True, True]
Translation: X:250.96, Y:21.47, Z:65.35
[[ 9.60004050e-01 -1.22169284e-01 -2.51926359e-01  2.50961885e+02]
 [ 1.21334017e-01  9.92431625e-01 -1.89083543e-02  2.14719724e+01]
 [ 2.52329706e-01 -1.24151405e-02  9.67561669e-01  6.53531723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.32071405700003 meters
Centerline goodness : 0.999196 with order 1
Centerline is valid?  [True, True]
Translation: X:251.02, Y:21.47, Z:65.37
[[ 9.60619493e-01 -1.17231589e-01 -2.51926466e-01  2.51020482e+02]
 [ 1.16229973e-01  9.93042356e-01 -1.89069257e-02  2.14728060e+01]
 [ 2.52390141e-01 -1.11190450e-02  9.67561669e-01  6.53682640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.38071405700003 meters
Centerline goodness : 0.998766 with order 1
Centerline is valid?  [True, True]
Translation: X:251.08, Y:21.48, Z:65.38
[[ 9.60992561e-01 -1.14133048e-01 -2.51926466e-01  2.51077636e+02]
 [ 1.13026876e-01  9.93412026e-01 -1.89069257e-02  2.14751074e+01]
 [ 2.52424686e-01 -1.03050465e-02  9.67561669e-01  6.53836270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.44071405700004 meters
Centerline goodness : 0.999019 with order 1
Centerline is valid?  [True, True]
Translation: X:251.13, Y:21.48, Z:65.40
[[ 9.61266068e-01 -1.11807006e-01 -2.51926061e-01  2.51134045e+02]
 [ 1.10620967e-01  9.93682709e-01 -1.89123210e-02  2.14752709e+01]
 [ 2.52449101e-01 -9.68853212e-03  9.67561669e-01  6.54001796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.50071405700004 meters
Centerline goodness : 0.999228 with order 1
Centerline is valid?  [True, True]
Translation: X:251.19, Y:21.47, Z:65.41
[[ 9.61240001e-01 -1.12041258e-01 -2.51921449e-01  2.51190301e+02]
 [ 1.10847092e-01  9.93656342e-01 -1.89735653e-02  2.14727574e+01]
 [ 2.52449168e-01 -9.68661016e-03  9.67561671e-01  6.54135016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.56071405700004 meters
Centerline goodness : 0.999325 with order 1
Centerline is valid?  [True, True]
Translation: X:251.25, Y:21.47, Z:65.43
[[ 9.60974418e-01 -1.14301801e-01 -2.51919166e-01  2.51249298e+02]
 [ 1.13175961e-01  9.93393203e-01 -1.90038317e-02  2.14706772e+01]
 [ 2.52426959e-01 -1.02489975e-02  9.67561672e-01  6.54277595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.62071405700004 meters
Centerline goodness : 0.999392 with order 1
Centerline is valid?  [True, True]
Translation: X:251.31, Y:21.47, Z:65.44
[[ 9.60584019e-01 -1.17538242e-01 -2.51918843e-01  2.51308401e+02]
 [ 1.16520491e-01  9.93006378e-01 -1.90081129e-02  2.14690376e+01]
 [ 2.52391198e-01 -1.10948179e-02  9.67561672e-01  6.54421820e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.68071405700005 meters
Centerline goodness : 0.999842 with order 1
Centerline is valid?  [True, True]
Translation: X:251.37, Y:21.47, Z:65.46
[[ 9.60483471e-01 -1.18357083e-01 -2.51918843e-01  2.51365462e+02]
 [ 1.17366972e-01  9.92906685e-01 -1.90081129e-02  2.14686241e+01]
 [ 2.52381648e-01 -1.13099736e-02  9.67561672e-01  6.54558379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.74071405700005 meters
Centerline goodness : 0.999798 with order 1
Centerline is valid?  [True, True]
Translation: X:251.42, Y:21.47, Z:65.47
[[ 9.60375861e-01 -1.19228411e-01 -2.51918226e-01  2.51423575e+02]
 [ 1.18265576e-01  9.92799896e-01 -1.90162892e-02  2.14681702e+01]
 [ 2.52371670e-01 -1.15304690e-02  9.67561672e-01  6.54743275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.80071405700005 meters
Centerline goodness : 0.999799 with order 1
Centerline is valid?  [True, True]
Translation: X:251.48, Y:21.47, Z:65.49
[[ 9.60321709e-01 -1.19663792e-01 -2.51918226e-01  2.51480287e+02]
 [ 1.18715657e-01  9.92746178e-01 -1.90162892e-02  2.14665298e+01]
 [ 2.52366417e-01 -1.16448823e-02  9.67561672e-01  6.54882569e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.86071405700005 meters
Centerline goodness : 0.999575 with order 1
Centerline is valid?  [True, True]
Translation: X:251.54, Y:21.47, Z:65.51
[[ 9.59973153e-01 -1.22432111e-01 -2.51916503e-01  2.51538614e+02]
 [ 1.21571498e-01  9.92400062e-01 -1.90390881e-02  2.14655902e+01]
 [ 2.52332949e-01 -1.23488531e-02  9.67561672e-01  6.55064093e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.92071405700005 meters
Centerline goodness : 0.999620 with order 1
Centerline is valid?  [True, True]
Translation: X:251.60, Y:21.47, Z:65.52
[[ 9.59558388e-01 -1.25641459e-01 -2.51916503e-01  2.51596437e+02]
 [ 1.24889282e-01  9.91987994e-01 -1.90390881e-02  2.14664222e+01]
 [ 2.52290245e-01 -1.31925546e-02  9.67561672e-01  6.55201185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.98071405700006 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:251.66, Y:21.46, Z:65.53
[[ 9.58891266e-01 -1.30636078e-01 -2.51916166e-01  2.51655982e+02]
 [ 1.30051605e-01  9.91324328e-01 -1.90435377e-02  2.14646785e+01]
 [ 2.52218397e-01 -1.45014196e-02  9.67561672e-01  6.55340224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.04071405700006 meters
Centerline goodness : 0.999557 with order 1
Centerline is valid?  [True, True]
Translation: X:251.71, Y:21.46, Z:65.55
[[ 9.58454856e-01 -1.33800512e-01 -2.51916081e-01  2.51714295e+02]
 [ 1.33322804e-01  9.90889666e-01 -1.90446603e-02  2.14645495e+01]
 [ 2.52169227e-01 -1.53327111e-02  9.67561672e-01  6.55477871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.10071405700006 meters
Centerline goodness : 0.999600 with order 1
Centerline is valid?  [True, True]
Translation: X:251.77, Y:21.47, Z:65.56
[[ 9.58303921e-01 -1.34877915e-01 -2.51915746e-01  2.51772159e+02]
 [ 1.34435508e-01  9.90739232e-01 -1.90490987e-02  2.14671801e+01]
 [ 2.52152115e-01 -1.56115952e-02  9.67561672e-01  6.55632754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.16071405700006 meters
Centerline goodness : 0.999491 with order 1
Centerline is valid?  [True, True]
Translation: X:251.83, Y:21.47, Z:65.58
[[ 9.58446699e-01 -1.33860865e-01 -2.51915054e-01  2.51828834e+02]
 [ 1.33381644e-01  9.90881487e-01 -1.90582378e-02  2.14690033e+01]
 [ 2.52169116e-01 -1.53345389e-02  9.67561672e-01  6.55780302e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.22071405700007 meters
Centerline goodness : 0.999400 with order 1
Centerline is valid?  [True, True]
Translation: X:251.88, Y:21.47, Z:65.59
[[ 9.58645884e-01 -1.32428807e-01 -2.51914033e-01  2.51884228e+02]
 [ 1.31897597e-01  9.91079862e-01 -1.90717250e-02  2.14729792e+01]
 [ 2.52192571e-01 -1.49438250e-02  9.67561672e-01  6.55935401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.28071405700007 meters
Centerline goodness : 0.999489 with order 1
Centerline is valid?  [True, True]
Translation: X:251.94, Y:21.48, Z:65.61
[[ 9.58753104e-01 -1.31655035e-01 -2.51911568e-01  2.51941058e+02]
 [ 1.31089135e-01  9.91186495e-01 -1.91042355e-02  2.14766222e+01]
 [ 2.52206513e-01 -1.47066244e-02  9.67561672e-01  6.56089253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.340714057 meters
Centerline goodness : 0.999667 with order 1
Centerline is valid?  [True, True]
Translation: X:252.00, Y:21.48, Z:65.62
[[ 9.58776288e-01 -1.31495383e-01 -2.51906716e-01  2.51997846e+02]
 [ 1.30907381e-01  9.91209284e-01 -1.91680141e-02  2.14796903e+01]
 [ 2.52212781e-01 -1.45986111e-02  9.67561674e-01  6.56247695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.400714057 meters
Centerline goodness : 0.999555 with order 1
Centerline is valid?  [True, True]
Translation: X:252.06, Y:21.48, Z:65.64
[[ 9.58938415e-01 -1.30309839e-01 -2.51905661e-01  2.52055926e+02]
 [ 1.29678111e-01  9.91370589e-01 -1.91818591e-02  2.14835209e+01]
 [ 2.52231449e-01 -1.42724289e-02  9.67561675e-01  6.56399238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.460714057 meters
Centerline goodness : 0.999489 with order 1
Centerline is valid?  [True, True]
Translation: X:252.11, Y:21.49, Z:65.65
[[ 9.59132402e-01 -1.28874944e-01 -2.51905307e-01  2.52112612e+02]
 [ 1.28193474e-01  9.91563569e-01 -1.91865107e-02  2.14881788e+01]
 [ 2.52252786e-01 -1.38902125e-02  9.67561675e-01  6.56528229e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.520714057 meters
Centerline goodness : 0.999557 with order 1
Centerline is valid?  [True, True]
Translation: X:252.17, Y:21.49, Z:65.67
[[ 9.59484949e-01 -1.26226191e-01 -2.51903914e-01  2.52171234e+02]
 [ 1.25450393e-01  9.91913996e-01 -1.92047889e-02  2.14930089e+01]
 [ 2.52291165e-01 -1.31747390e-02  9.67561675e-01  6.56681378e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.580714057 meters
Centerline goodness : 0.999622 with order 1
Centerline is valid?  [True, True]
Translation: X:252.23, Y:21.50, Z:65.69
[[ 9.59582097e-01 -1.25485650e-01 -2.51903851e-01  2.52228204e+02]
 [ 1.24684608e-01  9.92010531e-01 -1.92056149e-02  2.14977599e+01]
 [ 2.52301302e-01 -1.29791687e-02  9.67561675e-01  6.56850868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.640714057 meters
Centerline goodness : 0.999602 with order 1
Centerline is valid?  [True, True]
Translation: X:252.28, Y:21.50, Z:65.70
[[ 9.59405043e-01 -1.26833650e-01 -2.51903135e-01  2.52284086e+02]
 [ 1.26075712e-01  9.91834512e-01 -1.92149975e-02  2.15030053e+01]
 [ 2.52283331e-01 -1.33239015e-02  9.67561675e-01  6.56993034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.700714057 meters
Centerline goodness : 0.999690 with order 1
Centerline is valid?  [True, True]
Translation: X:252.34, Y:21.51, Z:65.71
[[ 9.59195360e-01 -1.28413247e-01 -2.51901368e-01  2.52342506e+02]
 [ 1.27702650e-01  9.91625901e-01 -1.92381355e-02  2.15069857e+01]
 [ 2.52262352e-01 -1.37153419e-02  9.67561675e-01  6.57135385e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.76071405700003 meters
Centerline goodness : 0.999355 with order 1
Centerline is valid?  [True, True]
Translation: X:252.40, Y:21.51, Z:65.73
[[ 9.59147298e-01 -1.28771822e-01 -2.51901326e-01  2.52399948e+02]
 [ 1.28073206e-01  9.91578099e-01 -1.92386804e-02  2.15113841e+01]
 [ 2.52257238e-01 -1.38090821e-02  9.67561675e-01  6.57285515e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.82071405700003 meters
Centerline goodness : 0.999420 with order 1
Centerline is valid?  [True, True]
Translation: X:252.46, Y:21.52, Z:65.74
[[ 9.59232963e-01 -1.28133546e-01 -2.51900608e-01  2.52456070e+02]
 [ 1.27410890e-01  9.91663238e-01 -1.92480757e-02  2.15163425e+01]
 [ 2.52266897e-01 -1.36314919e-02  9.67561675e-01  6.57436158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.88071405700003 meters
Centerline goodness : 0.999665 with order 1
Centerline is valid?  [True, True]
Translation: X:252.51, Y:21.52, Z:65.76
[[ 9.59246000e-01 -1.28038006e-01 -2.51899546e-01  2.52511673e+02]
 [ 1.27308483e-01  9.91676120e-01 -1.92619638e-02  2.15221038e+01]
 [ 2.52269028e-01 -1.35919873e-02  9.67561675e-01  6.57585829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.94071405700004 meters
Centerline goodness : 0.999553 with order 1
Centerline is valid?  [True, True]
Translation: X:252.57, Y:21.53, Z:65.77
[[ 9.59126524e-01 -1.28933326e-01 -2.51897814e-01  2.52569199e+02]
 [ 1.28228150e-01  9.91557183e-01 -1.92845888e-02  2.15276895e+01]
 [ 2.52257513e-01 -1.38040302e-02  9.67561675e-01  6.57742952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.00071405700004 meters
Centerline goodness : 0.999448 with order 1
Centerline is valid?  [True, True]
Translation: X:252.62, Y:21.53, Z:65.79
[[ 9.59034186e-01 -1.29620224e-01 -2.51896858e-01  2.52624534e+02]
 [ 1.28935007e-01  9.91465273e-01 -1.92970690e-02  2.15325970e+01]
 [ 2.52248278e-01 -1.39717743e-02  9.67561676e-01  6.57893590e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.06071405700004 meters
Centerline goodness : 0.999554 with order 1
Centerline is valid?  [True, True]
Translation: X:252.68, Y:21.54, Z:65.80
[[ 9.58483359e-01 -1.33635708e-01 -2.51895114e-01  2.52682580e+02]
 [ 1.33080368e-01  9.90916929e-01 -1.93198145e-02  2.15376705e+01]
 [ 2.52188950e-01 -1.50045738e-02  9.67561676e-01  6.58042257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.12071405700004 meters
Centerline goodness : 0.999464 with order 1
Centerline is valid?  [True, True]
Translation: X:252.74, Y:21.54, Z:65.82
[[ 9.57719014e-01 -1.39008333e-01 -2.51894766e-01  2.52741478e+02]
 [ 1.38633686e-01  9.90155175e-01 -1.93243544e-02  2.15434159e+01]
 [ 2.52101152e-01 -1.64137981e-02  9.67561676e-01  6.58177175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.18071405700005 meters
Centerline goodness : 0.999623 with order 1
Centerline is valid?  [True, True]
Translation: X:252.80, Y:21.55, Z:65.83
[[ 9.57475371e-01 -1.40676677e-01 -2.51894792e-01  2.52798846e+02]
 [ 1.40358631e-01  9.89912136e-01 -1.93240111e-02  2.15481711e+01]
 [ 2.52072149e-01 -1.68533435e-02  9.67561676e-01  6.58316886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.24071405700005 meters
Centerline goodness : 0.999756 with order 1
Centerline is valid?  [True, True]
Translation: X:252.86, Y:21.56, Z:65.85
[[ 9.57575616e-01 -1.39995416e-01 -2.51893278e-01  2.52855371e+02]
 [ 1.39649129e-01  9.90012091e-01 -1.93437242e-02  2.15550273e+01]
 [ 2.52085424e-01 -1.66535983e-02  9.67561676e-01  6.58468443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.30071405700005 meters
Centerline goodness : 0.999531 with order 1
Centerline is valid?  [True, True]
Translation: X:252.91, Y:21.56, Z:65.86
[[ 9.57897225e-01 -1.37779547e-01 -2.51892245e-01  2.52912503e+02]
 [ 1.37354691e-01  9.90332767e-01 -1.93571747e-02  2.15627294e+01]
 [ 2.52124166e-01 -1.60563976e-02  9.67561676e-01  6.58633953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.36071405700005 meters
Centerline goodness : 0.999687 with order 1
Centerline is valid?  [True, True]
Translation: X:252.97, Y:21.57, Z:65.88
[[ 9.58214764e-01 -1.35554839e-01 -2.51891549e-01  2.52971050e+02]
 [ 1.35052296e-01  9.90649195e-01 -1.93662243e-02  2.15695982e+01]
 [ 2.52161345e-01 -1.54615299e-02  9.67561676e-01  6.58790936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.42071405700005 meters
Centerline goodness : 0.999597 with order 1
Centerline is valid?  [True, True]
Translation: X:253.03, Y:21.58, Z:65.89
[[ 9.58485714e-01 -1.33624947e-01 -2.51891861e-01  2.53029860e+02]
 [ 1.33058154e-01  9.90919086e-01 -1.93621610e-02  2.15778353e+01]
 [ 2.52191720e-01 -1.49579114e-02  9.67561676e-01  6.58949883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.48071405700006 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:253.09, Y:21.58, Z:65.91
[[ 9.58611264e-01 -1.32719874e-01 -2.51892597e-01  2.53088975e+02]
 [ 1.32124964e-01  9.91044132e-01 -1.93525876e-02  2.15839450e+01]
 [ 2.52205153e-01 -1.47296917e-02  9.67561676e-01  6.59094317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.54071405700006 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:253.15, Y:21.59, Z:65.92
[[ 9.58922730e-01 -1.30449741e-01 -2.51892960e-01  2.53146972e+02]
 [ 1.29779279e-01  9.91354124e-01 -1.93478563e-02  2.15917174e+01]
 [ 2.52239048e-01 -1.41373875e-02  9.67561676e-01  6.59241079e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.60071405700006 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:253.20, Y:21.60, Z:65.94
[[ 9.59368911e-01 -1.27126733e-01 -2.51893004e-01  2.53204402e+02]
 [ 1.26344065e-01  9.91797792e-01 -1.93472818e-02  2.16005051e+01]
 [ 2.52286482e-01 -1.32640056e-02  9.67561676e-01  6.59398632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.66071405700006 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:253.26, Y:21.61, Z:65.96
[[ 9.59779725e-01 -1.23987074e-01 -2.51893004e-01  2.53262645e+02]
 [ 1.23098306e-01  9.92205871e-01 -1.93472818e-02  2.16089851e+01]
 [ 2.52328530e-01 -1.24384733e-02  9.67561676e-01  6.59567451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.72071405700007 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:253.32, Y:21.62, Z:65.97
[[ 9.59886833e-01 -1.23154635e-01 -2.51893238e-01  2.53320566e+02]
 [ 1.22238542e-01  9.92312219e-01 -1.93442368e-02  2.16157456e+01]
 [ 2.52339070e-01 -1.22227838e-02  9.67561676e-01  6.59725984e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.78071405700007 meters
Centerline goodness : 0.999528 with order 1
Centerline is valid?  [True, True]
Translation: X:253.38, Y:21.62, Z:65.99
[[ 9.59954787e-01 -1.22623827e-01 -2.51893238e-01  2.53379363e+02]
 [ 1.21689803e-01  9.92379661e-01 -1.93442368e-02  2.16226619e+01]
 [ 2.52345791e-01 -1.20832458e-02  9.67561676e-01  6.59885279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.840714057 meters
Centerline goodness : 0.999482 with order 1
Centerline is valid?  [True, True]
Translation: X:253.44, Y:21.63, Z:66.00
[[ 9.59727634e-01 -1.24387722e-01 -2.51893951e-01  2.53437327e+02]
 [ 1.23515720e-01  9.92154235e-01 -1.93349445e-02  2.16292337e+01]
 [ 2.52322680e-01 -1.25565821e-02  9.67561676e-01  6.60021541e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.900714057 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:253.50, Y:21.63, Z:66.02
[[ 9.59502476e-01 -1.26113482e-01 -2.51893603e-01  2.53496620e+02]
 [ 1.25298610e-01  9.91930564e-01 -1.93394757e-02  2.16342996e+01]
 [ 2.52299933e-01 -1.30056436e-02  9.67561676e-01  6.60178677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.960714057 meters
Centerline goodness : 0.999256 with order 1
Centerline is valid?  [True, True]
Translation: X:253.55, Y:21.64, Z:66.03
[[ 9.59334989e-01 -1.27379854e-01 -2.51894326e-01  2.53554319e+02]
 [ 1.26610251e-01  9.91764182e-01 -1.93300629e-02  2.16402359e+01]
 [ 2.52282031e-01 -1.33483980e-02  9.67561676e-01  6.60331884e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.020714057 meters
Centerline goodness : 0.999277 with order 1
Centerline is valid?  [True, True]
Translation: X:253.61, Y:21.65, Z:66.05
[[ 9.59321292e-01 -1.27482965e-01 -2.51894326e-01  2.53612945e+02]
 [ 1.26716848e-01  9.91750568e-01 -1.93300629e-02  2.16450451e+01]
 [ 2.52280594e-01 -1.33755140e-02  9.67561676e-01  6.60485601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.080714057 meters
Centerline goodness : 0.999351 with order 1
Centerline is valid?  [True, True]
Translation: X:253.67, Y:21.65, Z:66.06
[[ 9.59303694e-01 -1.27614038e-01 -2.51894978e-01  2.53671318e+02]
 [ 1.26854577e-01  9.91733126e-01 -1.93215650e-02  2.16497333e+01]
 [ 2.52278297e-01 -1.34187821e-02  9.67561676e-01  6.60619737e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.140714057 meters
Centerline goodness : 0.999480 with order 1
Centerline is valid?  [True, True]
Translation: X:253.73, Y:21.66, Z:66.08
[[ 9.59117561e-01 -1.29004831e-01 -2.51895333e-01  2.53731049e+02]
 [ 1.28293602e-01  9.91548086e-01 -1.93169360e-02  2.16552780e+01]
 [ 2.52258313e-01 -1.37893471e-02  9.67561676e-01  6.60769297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.200714057 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:253.79, Y:21.66, Z:66.09
[[ 9.59014138e-01 -1.29769330e-01 -2.51896414e-01  2.53790328e+02]
 [ 1.29087647e-01  9.91445299e-01 -1.93028264e-02  2.16623134e+01]
 [ 2.52246430e-01 -1.40050321e-02  9.67561676e-01  6.60918171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.26071405700003 meters
Centerline goodness : 0.999228 with order 1
Centerline is valid?  [True, True]
Translation: X:253.85, Y:21.67, Z:66.11
[[ 9.58940510e-01 -1.30310916e-01 -2.51897128e-01  2.53849861e+02]
 [ 1.29649993e-01  9.91372100e-01 -1.92934958e-02  2.16700790e+01]
 [ 2.52237938e-01 -1.41571463e-02  9.67561676e-01  6.61072608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.32071405700003 meters
Centerline goodness : 0.998911 with order 1
Centerline is valid?  [True, True]
Translation: X:253.91, Y:21.68, Z:66.12
[[ 9.58993554e-01 -1.29917881e-01 -2.51898208e-01  2.53909271e+02]
 [ 1.29247357e-01  9.91424947e-01 -1.92793970e-02  2.16779645e+01]
 [ 2.52242906e-01 -1.40683602e-02  9.67561677e-01  6.61220401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.38071405700003 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:253.97, Y:21.69, Z:66.14
[[ 9.59031288e-01 -1.29637670e-01 -2.51898915e-01  2.53968497e+02]
 [ 1.28960093e-01  9.91462534e-01 -1.92701463e-02  2.16880404e+01]
 [ 2.52246474e-01 -1.40042343e-02  9.67561677e-01  6.61373191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.44071405700004 meters
Centerline goodness : 0.998658 with order 1
Centerline is valid?  [True, True]
Translation: X:254.03, Y:21.70, Z:66.15
[[ 9.59050329e-01 -1.29494681e-01 -2.51899968e-01  2.54027967e+02]
 [ 1.28815873e-01  9.91481549e-01 -1.92563776e-02  2.16973351e+01]
 [ 2.52247769e-01 -1.39808791e-02  9.67561677e-01  6.61536612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.50071405700004 meters
Centerline goodness : 0.998726 with order 1
Centerline is valid?  [True, True]
Translation: X:254.09, Y:21.71, Z:66.17
[[ 9.58835422e-01 -1.31073753e-01 -2.51901378e-01  2.54086404e+02]
 [ 1.30453186e-01  9.91267809e-01 -1.92379127e-02  2.17060393e+01]
 [ 2.52223313e-01 -1.44153452e-02  9.67561677e-01  6.61703057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.56071405700004 meters
Centerline goodness : 0.998429 with order 1
Centerline is valid?  [True, True]
Translation: X:254.14, Y:21.71, Z:66.19
[[ 9.58525574e-01 -1.33318779e-01 -2.51902416e-01  2.54144204e+02]
 [ 1.32777723e-01  9.90959385e-01 -1.92243151e-02  2.17141037e+01]
 [ 2.52188025e-01 -1.50200316e-02  9.67561677e-01  6.61862613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.62071405700004 meters
Centerline goodness : 0.998055 with order 1
Centerline is valid?  [True, True]
Translation: X:254.20, Y:21.72, Z:66.20
[[ 9.58419914e-01 -1.34076143e-01 -2.51902475e-01  2.54204046e+02]
 [ 1.33560918e-01  9.90854145e-01 -1.92235441e-02  2.17206241e+01]
 [ 2.52176030e-01 -1.52200984e-02  9.67561677e-01  6.62018576e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.68071405700005 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:254.26, Y:21.73, Z:66.22
[[ 9.58498211e-01 -1.33512528e-01 -2.51903919e-01  2.54263084e+02]
 [ 1.32983194e-01  9.90932215e-01 -1.92045932e-02  2.17279871e+01]
 [ 2.52183763e-01 -1.50914195e-02  9.67561677e-01  6.62162656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.74071405700005 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:254.32, Y:21.73, Z:66.23
[[ 9.58645075e-01 -1.32452542e-01 -2.51904635e-01  2.54323349e+02]
 [ 1.31889799e-01  9.91078516e-01 -1.91952090e-02  2.17341260e+01]
 [ 2.52199726e-01 -1.48222591e-02  9.67561677e-01  6.62313307e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.80071405700005 meters
Centerline goodness : 0.998686 with order 1
Centerline is valid?  [True, True]
Translation: X:254.38, Y:21.74, Z:66.25
[[ 9.59045526e-01 -1.29518399e-01 -2.51906060e-01  2.54383096e+02]
 [ 1.28861313e-01  9.91477193e-01 -1.91764843e-02  2.17397160e+01]
 [ 2.52242821e-01 -1.40698241e-02  9.67561677e-01  6.62462191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.86071405700005 meters
Centerline goodness : 0.998778 with order 1
Centerline is valid?  [True, True]
Translation: X:254.44, Y:21.75, Z:66.26
[[ 9.59473269e-01 -1.26308529e-01 -2.51907129e-01  2.54442300e+02]
 [ 1.25546604e-01  9.91902642e-01 -1.91624302e-02  2.17456100e+01]
 [ 2.52287725e-01 -1.32402452e-02  9.67561677e-01  6.62626873e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.92071405700005 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:254.50, Y:21.75, Z:66.28
[[ 9.59617626e-01 -1.25204911e-01 -2.51908201e-01  2.54501268e+02]
 [ 1.24409381e-01  9.92046192e-01 -1.91483249e-02  2.17500722e+01]
 [ 2.52302036e-01 -1.29646734e-02  9.67561678e-01  6.62777393e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.98071405700006 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:254.56, Y:21.75, Z:66.29
[[ 9.59805630e-01 -1.23750922e-01 -2.51910425e-01  2.54560703e+02]
 [ 1.22913932e-01  9.92233152e-01 -1.91190319e-02  2.17536727e+01]
 [ 2.52319873e-01 -1.26127465e-02  9.67561678e-01  6.62928299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.04071405700006 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:254.62, Y:21.76, Z:66.31
[[ 9.59843379e-01 -1.23456333e-01 -2.51911138e-01  2.54620167e+02]
 [ 1.22611851e-01  9.92270707e-01 -1.91096334e-02  2.17575638e+01]
 [ 2.52323248e-01 -1.25450358e-02  9.67561678e-01  6.63077397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.10071405700006 meters
Centerline goodness : 0.998501 with order 1
Centerline is valid?  [True, True]
Translation: X:254.68, Y:21.76, Z:66.32
[[ 9.59917044e-01 -1.22877874e-01 -2.51913270e-01  2.54679234e+02]
 [ 1.22021221e-01  9.92344053e-01 -1.90814805e-02  2.17617929e+01]
 [ 2.52329327e-01 -1.24221264e-02  9.67561678e-01  6.63232163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.16071405700006 meters
Centerline goodness : 0.998754 with order 1
Centerline is valid?  [True, True]
Translation: X:254.74, Y:21.77, Z:66.34
[[ 9.59885655e-01 -1.23121433e-01 -2.51913959e-01  2.54739116e+02]
 [ 1.22275391e-01  9.92312941e-01 -1.90723774e-02  2.17657579e+01]
 [ 2.52325700e-01 -1.24955763e-02  9.67561678e-01  6.63387974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.22071405700007 meters
Centerline goodness : 0.998574 with order 1
Centerline is valid?  [True, True]
Translation: X:254.80, Y:21.77, Z:66.35
[[ 9.59837863e-01 -1.23490534e-01 -2.51915392e-01  2.54798818e+02]
 [ 1.22661919e-01  9.92265600e-01 -1.90534419e-02  2.17695445e+01]
 [ 2.52319897e-01 -1.26122104e-02  9.67561679e-01  6.63528728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.28071405700007 meters
Centerline goodness : 0.998227 with order 1
Centerline is valid?  [True, True]
Translation: X:254.86, Y:21.78, Z:66.37
[[ 9.59655174e-01 -1.24900157e-01 -2.51916451e-01  2.54858834e+02]
 [ 1.24122839e-01  9.92084180e-01 -1.90394278e-02  2.17751973e+01]
 [ 2.52300353e-01 -1.29972996e-02  9.67561679e-01  6.63695392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.340714057 meters
Centerline goodness : 0.998347 with order 1
Centerline is valid?  [True, True]
Translation: X:254.92, Y:21.78, Z:66.38
[[ 9.59453304e-01 -1.26438665e-01 -2.51917887e-01  2.54917043e+02]
 [ 1.25718322e-01  9.91883626e-01 -1.90204128e-02  2.17785930e+01]
 [ 2.52278142e-01 -1.34214959e-02  9.67561679e-01  6.63831028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.400714057 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:254.98, Y:21.78, Z:66.40
[[ 9.59008286e-01 -1.29770898e-01 -2.51917887e-01  2.54976070e+02]
 [ 1.29163217e-01  9.91440915e-01 -1.90204129e-02  2.17822416e+01]
 [ 2.52229996e-01 -1.42977912e-02  9.67561679e-01  6.64001742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.460714057 meters
Centerline goodness : 0.997983 with order 1
Centerline is valid?  [True, True]
Translation: X:255.03, Y:21.79, Z:66.42
[[ 9.58746993e-01 -1.31686096e-01 -2.51918589e-01  2.55034660e+02]
 [ 1.31145631e-01  9.91180812e-01 -1.90111109e-02  2.17863963e+01]
 [ 2.52200370e-01 -1.48111768e-02  9.67561679e-01  6.64159661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.520714057 meters
Centerline goodness : 0.998071 with order 1
Centerline is valid?  [True, True]
Translation: X:255.09, Y:21.79, Z:66.43
[[ 9.58460319e-01 -1.33755986e-01 -2.51918943e-01  2.55094379e+02]
 [ 1.33286787e-01  9.90895246e-01 -1.90064113e-02  2.17896314e+01]
 [ 2.52167504e-01 -1.53605754e-02  9.67561679e-01  6.64313464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.580714057 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:255.15, Y:21.79, Z:66.45
[[ 9.58252199e-01 -1.35236941e-01 -2.51920012e-01  2.55153528e+02]
 [ 1.34821576e-01  9.90687861e-01 -1.89922356e-02  2.17929302e+01]
 [ 2.52142549e-01 -1.57649015e-02  9.67561679e-01  6.64450930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.640714057 meters
Centerline goodness : 0.998212 with order 1
Centerline is valid?  [True, True]
Translation: X:255.21, Y:21.80, Z:66.46
[[ 9.58126057e-01 -1.36127115e-01 -2.51920361e-01  2.55212851e+02]
 [ 1.35743097e-01  9.90562104e-01 -1.89876004e-02  2.17965386e+01]
 [ 2.52127490e-01 -1.60039353e-02  9.67561679e-01  6.64597167e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.700714057 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:255.27, Y:21.80, Z:66.48
[[ 9.57952036e-01 -1.37341752e-01 -2.51922886e-01  2.55272505e+02]
 [ 1.37007646e-01  9.90388636e-01 -1.89540412e-02  2.17998538e+01]
 [ 2.52104745e-01 -1.63582992e-02  9.67561680e-01  6.64750185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.76071405700003 meters
Centerline goodness : 0.998629 with order 1
Centerline is valid?  [True, True]
Translation: X:255.33, Y:21.80, Z:66.49
[[ 9.57884588e-01 -1.37809457e-01 -2.51923938e-01  2.55330850e+02]
 [ 1.37494851e-01  9.90321382e-01 -1.89400534e-02  2.18032532e+01]
 [ 2.52095781e-01 -1.64958592e-02  9.67561680e-01  6.64878234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.82071405700003 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:255.39, Y:21.81, Z:66.50
[[ 9.58072638e-01 -1.36495972e-01 -2.51923938e-01  2.55390375e+02]
 [ 1.36136893e-01  9.90508971e-01 -1.89400534e-02  2.18081690e+01]
 [ 2.52118161e-01 -1.61501952e-02  9.67561680e-01  6.65036285e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.88071405700003 meters
Centerline goodness : 0.998309 with order 1
Centerline is valid?  [True, True]
Translation: X:255.45, Y:21.81, Z:66.52
[[ 9.58388203e-01 -1.34260446e-01 -2.51924959e-01  2.55448224e+02]
 [ 1.33829255e-01  9.90823657e-01 -1.89264593e-02  2.18146472e+01]
 [ 2.52154284e-01 -1.55760343e-02  9.67561680e-01  6.65213876e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.94071405700004 meters
Centerline goodness : 0.998352 with order 1
Centerline is valid?  [True, True]
Translation: X:255.51, Y:21.82, Z:66.54
[[ 9.58545319e-01 -1.33133430e-01 -2.51925307e-01  2.55507593e+02]
 [ 1.32665312e-01  9.90980262e-01 -1.89218271e-02  2.18200899e+01]
 [ 2.52172135e-01 -1.52843207e-02  9.67561680e-01  6.65383830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.00071405700004 meters
Centerline goodness : 0.997958 with order 1
Centerline is valid?  [True, True]
Translation: X:255.57, Y:21.82, Z:66.55
[[ 9.58570228e-01 -1.32951954e-01 -2.51926369e-01  2.55566558e+02]
 [ 1.32481399e-01  9.91005135e-01 -1.89076818e-02  2.18249605e+01]
 [ 2.52174138e-01 -1.52512171e-02  9.67561680e-01  6.65534975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.06071405700004 meters
Centerline goodness : 0.997716 with order 1
Centerline is valid?  [True, True]
Translation: X:255.62, Y:21.83, Z:66.57
[[ 9.58864833e-01 -1.30808846e-01 -2.51927126e-01  2.55624939e+02]
 [ 1.30268433e-01  9.91298652e-01 -1.88975821e-02  2.18290898e+01]
 [ 2.52206992e-01 -1.46979249e-02  9.67561680e-01  6.65656463e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.12071405700004 meters
Centerline goodness : 0.997538 with order 1
Centerline is valid?  [True, True]
Translation: X:255.68, Y:21.83, Z:66.58
[[ 9.58720578e-01 -1.31861957e-01 -2.51927126e-01  2.55683527e+02]
 [ 1.31357169e-01  9.91154971e-01 -1.88975821e-02  2.18349392e+01]
 [ 2.52190696e-01 -1.49749332e-02  9.67561680e-01  6.65837041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.18071405700005 meters
Centerline goodness : 0.998069 with order 1
Centerline is valid?  [True, True]
Translation: X:255.74, Y:21.84, Z:66.60
[[ 9.58919005e-01 -1.30409825e-01 -2.51927807e-01  2.55742741e+02]
 [ 1.29858293e-01  9.91352636e-01 -1.88885020e-02  2.18381336e+01]
 [ 2.52212542e-01 -1.46023715e-02  9.67561680e-01  6.65978749e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.24071405700005 meters
Centerline goodness : 0.997677 with order 1
Centerline is valid?  [True, True]
Translation: X:255.80, Y:21.84, Z:66.61
[[ 9.59292916e-01 -1.27630170e-01 -2.51927850e-01  2.55801696e+02]
 [ 1.26984793e-01  9.91724815e-01 -1.88879282e-02  2.18429938e+01]
 [ 2.52253770e-01 -1.38719501e-02  9.67561680e-01  6.66134452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.30071405700005 meters
Centerline goodness : 0.997998 with order 1
Centerline is valid?  [True, True]
Translation: X:255.86, Y:21.85, Z:66.63
[[ 9.59792299e-01 -1.23818117e-01 -2.51928198e-01  2.55860405e+02]
 [ 1.23045115e-01  9.92221407e-01 -1.88832877e-02  2.18481051e+01]
 [ 2.52306644e-01 -1.28745000e-02  9.67561680e-01  6.66291663e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.36071405700005 meters
Centerline goodness : 0.998227 with order 1
Centerline is valid?  [True, True]
Translation: X:255.92, Y:21.85, Z:66.64
[[ 9.60094675e-01 -1.21450504e-01 -2.51928542e-01  2.55919453e+02]
 [ 1.20598721e-01  9.92521810e-01 -1.88787034e-02  2.18528262e+01]
 [ 2.52337400e-01 -1.22569173e-02  9.67561680e-01  6.66448214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.42071405700005 meters
Centerline goodness : 0.998436 with order 1
Centerline is valid?  [True, True]
Translation: X:255.98, Y:21.86, Z:66.66
[[ 9.60194188e-01 -1.20659790e-01 -2.51929229e-01  2.55976956e+02]
 [ 1.19783703e-01  9.92620675e-01 -1.88695319e-02  2.18572297e+01]
 [ 2.52346955e-01 -1.20586010e-02  9.67561680e-01  6.66595163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.48071405700006 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:256.03, Y:21.86, Z:66.67
[[ 9.60037520e-01 -1.21900751e-01 -2.51928894e-01  2.56033944e+02]
 [ 1.21065406e-01  9.92465082e-01 -1.88740039e-02  2.18607823e+01]
 [ 2.52331385e-01 -1.23801219e-02  9.67561680e-01  6.66730024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.54071405700006 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:256.09, Y:21.86, Z:66.69
[[ 9.59596932e-01 -1.25323822e-01 -2.51927902e-01  2.56091536e+02]
 [ 1.24600669e-01  9.92027190e-01 -1.88872288e-02  2.18644397e+01]
 [ 2.52286349e-01 -1.32662583e-02  9.67561680e-01  6.66867755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.60071405700006 meters
Centerline goodness : 0.998210 with order 1
Centerline is valid?  [True, True]
Translation: X:256.15, Y:21.87, Z:66.70
[[ 9.59150224e-01 -1.28697940e-01 -2.51927943e-01  2.56150351e+02]
 [ 1.28088991e-01  9.91582827e-01 -1.88866815e-02  2.18686940e+01]
 [ 2.52238099e-01 -1.41540313e-02  9.67561680e-01  6.67017142e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.66071405700006 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:256.21, Y:21.87, Z:66.72
[[ 9.58553476e-01 -1.33069919e-01 -2.51927827e-01  2.56208545e+02]
 [ 1.32608449e-01  9.90988514e-01 -1.88882346e-02  2.18725285e+01]
 [ 2.52171038e-01 -1.53023753e-02  9.67561680e-01  6.67188297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.72071405700007 meters
Centerline goodness : 0.998395 with order 1
Centerline is valid?  [True, True]
Translation: X:256.27, Y:21.88, Z:66.74
[[ 9.57928688e-01 -1.37495448e-01 -2.51927827e-01  2.56265958e+02]
 [ 1.37183779e-01  9.90365511e-01 -1.88882346e-02  2.18771085e+01]
 [ 2.52097677e-01 -1.64668296e-02  9.67561680e-01  6.67376388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.78071405700007 meters
Centerline goodness : 0.998621 with order 1
Centerline is valid?  [True, True]
Translation: X:256.32, Y:21.88, Z:66.75
[[ 9.57378994e-01 -1.41272085e-01 -2.51927884e-01  2.56324240e+02]
 [ 1.41088539e-01  9.89816795e-01 -1.88874671e-02  2.18816580e+01]
 [ 2.52030723e-01 -1.74616728e-02  9.67561680e-01  6.67536974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.840714057 meters
Centerline goodness : 0.998507 with order 1
Centerline is valid?  [True, True]
Translation: X:256.38, Y:21.89, Z:66.77
[[ 9.57239309e-01 -1.42215377e-01 -2.51927951e-01  2.56384153e+02]
 [ 1.42064028e-01  9.89677275e-01 -1.88865726e-02  2.18861871e+01]
 [ 2.52013329e-01 -1.77109297e-02  9.67561680e-01  6.67687680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.900714057 meters
Centerline goodness : 0.998322 with order 1
Centerline is valid?  [True, True]
Translation: X:256.44, Y:21.89, Z:66.78
[[ 9.57044256e-01 -1.43519675e-01 -2.51929344e-01  2.56444602e+02]
 [ 1.43417397e-01  9.89482415e-01 -1.88679797e-02  2.18920487e+01]
 [ 2.51987582e-01 -1.80735592e-02  9.67561680e-01  6.67830436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.960714057 meters
Centerline goodness : 0.998182 with order 1
Centerline is valid?  [True, True]
Translation: X:256.50, Y:21.90, Z:66.80
[[ 9.57323573e-01 -1.41642107e-01 -2.51930725e-01  2.56502060e+02]
 [ 1.41481034e-01  9.89761493e-01 -1.88495222e-02  2.18998064e+01]
 [ 2.52021216e-01 -1.75983275e-02  9.67561680e-01  6.67963274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.020714057 meters
Centerline goodness : 0.998430 with order 1
Centerline is valid?  [True, True]
Translation: X:256.56, Y:21.91, Z:66.81
[[ 9.57844859e-01 -1.38073551e-01 -2.51930387e-01  2.56560138e+02]
 [ 1.37790414e-01  9.90281943e-01 -1.88540361e-02  2.19081692e+01]
 [ 2.52085357e-01 -1.66543506e-02  9.67561680e-01  6.68140290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.080714057 meters
Centerline goodness : 0.997593 with order 1
Centerline is valid?  [True, True]
Translation: X:256.62, Y:21.92, Z:66.83
[[ 9.58270969e-01 -1.35083227e-01 -2.51931088e-01  2.56617243e+02]
 [ 1.34701300e-01  9.90707040e-01 -1.88446717e-02  2.19156293e+01]
 [ 2.52135501e-01 -1.58771431e-02  9.67561680e-01  6.68300507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.140714057 meters
Centerline goodness : 0.997653 with order 1
Centerline is valid?  [True, True]
Translation: X:256.67, Y:21.92, Z:66.85
[[ 9.58818187e-01 -1.31142714e-01 -2.51931088e-01  2.56674888e+02]
 [ 1.30627449e-01  9.91252414e-01 -1.88446717e-02  2.19232431e+01]
 [ 2.52198640e-01 -1.48405012e-02  9.67561680e-01  6.68471388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.200714057 meters
Centerline goodness : 0.997975 with order 1
Centerline is valid?  [True, True]
Translation: X:256.73, Y:21.93, Z:66.86
[[ 9.59064258e-01 -1.29330774e-01 -2.51931142e-01  2.56734122e+02]
 [ 1.28754414e-01  9.91497457e-01 -1.88439473e-02  2.19306537e+01]
 [ 2.52226189e-01 -1.43646902e-02  9.67561680e-01  6.68636440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.26071405700003 meters
Centerline goodness : 0.997767 with order 1
Centerline is valid?  [True, True]
Translation: X:256.79, Y:21.94, Z:66.88
[[ 9.59117583e-01 -1.28931949e-01 -2.51932558e-01  2.56792857e+02]
 [ 1.28347065e-01  9.91550629e-01 -1.88249922e-02  2.19370911e+01]
 [ 2.52231029e-01 -1.42794232e-02  9.67561681e-01  6.68772224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.32071405700003 meters
Centerline goodness : 0.997502 with order 1
Centerline is valid?  [True, True]
Translation: X:256.85, Y:21.94, Z:66.89
[[ 9.58881872e-01 -1.30672065e-01 -2.51933260e-01  2.56850522e+02]
 [ 1.30148491e-01  9.91315966e-01 -1.88155995e-02  2.19427245e+01]
 [ 2.52204136e-01 -1.47467964e-02  9.67561681e-01  6.68930619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.38071405700003 meters
Centerline goodness : 0.997736 with order 1
Centerline is valid?  [True, True]
Translation: X:256.91, Y:21.95, Z:66.91
[[ 9.58653474e-01 -1.32337804e-01 -2.51932973e-01  2.56909645e+02]
 [ 1.31869577e-01  9.91088414e-01 -1.88194337e-02  2.19484111e+01]
 [ 2.52178373e-01 -1.51809792e-02  9.67561681e-01  6.69086049e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.44071405700004 meters
Centerline goodness : 0.997524 with order 1
Centerline is valid?  [True, True]
Translation: X:256.97, Y:21.95, Z:66.93
[[ 9.58545991e-01 -1.33112773e-01 -2.51933669e-01  2.56969363e+02]
 [ 1.32673209e-01  9.90981331e-01 -1.88101126e-02  2.19528980e+01]
 [ 2.52165429e-01 -1.53944904e-02  9.67561681e-01  6.69250746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.50071405700004 meters
Centerline goodness : 0.998017 with order 1
Centerline is valid?  [True, True]
Translation: X:257.03, Y:21.96, Z:66.94
[[ 9.58445420e-01 -1.33832343e-01 -2.51935074e-01  2.57028551e+02]
 [ 1.33422062e-01  9.90881144e-01 -1.87912722e-02  2.19566986e+01]
 [ 2.52152595e-01 -1.56032884e-02  9.67561681e-01  6.69415607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.56071405700004 meters
Centerline goodness : 0.997905 with order 1
Centerline is valid?  [True, True]
Translation: X:257.09, Y:21.96, Z:66.96
[[ 9.58474493e-01 -1.33622656e-01 -2.51935769e-01  2.57088215e+02]
 [ 1.33207719e-01  9.90910158e-01 -1.87819520e-02  2.19604534e+01]
 [ 2.52155407e-01 -1.55577673e-02  9.67561681e-01  6.69568571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.62071405700004 meters
Centerline goodness : 0.997577 with order 1
Centerline is valid?  [True, True]
Translation: X:257.15, Y:21.96, Z:66.97
[[ 9.58487225e-01 -1.33528744e-01 -2.51937121e-01  2.57148321e+02]
 [ 1.33115383e-01  9.90922911e-01 -1.87637985e-02  2.19621741e+01]
 [ 2.52155772e-01 -1.55518453e-02  9.67561681e-01  6.69715742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.68071405700005 meters
Centerline goodness : 0.997422 with order 1
Centerline is valid?  [True, True]
Translation: X:257.21, Y:21.96, Z:66.99
[[ 9.58139176e-01 -1.36001234e-01 -2.51938451e-01  2.57208700e+02]
 [ 1.35676238e-01  9.90575867e-01 -1.87459358e-02  2.19626607e+01]
 [ 2.52113619e-01 -1.62208455e-02  9.67561681e-01  6.69875148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.74071405700005 meters
Centerline goodness : 0.997724 with order 1
Centerline is valid?  [True, True]
Translation: X:257.27, Y:21.96, Z:67.00
[[ 9.57804839e-01 -1.38333693e-01 -2.51939833e-01  2.57268031e+02]
 [ 1.38092544e-01  9.90242261e-01 -1.87273364e-02  2.19635769e+01]
 [ 2.52072092e-01 -1.68538791e-02  9.67561681e-01  6.70017235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.80071405700005 meters
Centerline goodness : 0.997761 with order 1
Centerline is valid?  [True, True]
Translation: X:257.33, Y:21.96, Z:67.02
[[ 9.57267789e-01 -1.42001859e-01 -2.51940178e-01  2.57326732e+02]
 [ 1.41886188e-01  9.89705901e-01 -1.87226990e-02  2.19610567e+01]
 [ 2.52005339e-01 -1.78241948e-02  9.67561681e-01  6.70159755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.86071405700005 meters
Centerline goodness : 0.997633 with order 1
Centerline is valid?  [True, True]
Translation: X:257.39, Y:21.96, Z:67.03
[[ 9.57196722e-01 -1.42479978e-01 -2.51940254e-01  2.57387445e+02]
 [ 1.42380779e-01  9.89634889e-01 -1.87216714e-02  2.19621902e+01]
 [ 2.51996329e-01 -1.79511271e-02  9.67561681e-01  6.70315134e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.92071405700005 meters
Centerline goodness : 0.997639 with order 1
Centerline is valid?  [True, True]
Translation: X:257.45, Y:21.96, Z:67.05
[[ 9.57200130e-01 -1.42454695e-01 -2.51941604e-01  2.57447010e+02]
 [ 1.42359399e-01  9.89638308e-01 -1.87034915e-02  2.19612455e+01]
 [ 2.51995463e-01 -1.79632709e-02  9.67561682e-01  6.70469513e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.98071405700006 meters
Centerline goodness : 0.997789 with order 1
Centerline is valid?  [True, True]
Translation: X:257.51, Y:21.96, Z:67.06
[[ 9.57376615e-01 -1.41262557e-01 -2.51942268e-01  2.57507161e+02]
 [ 1.41129210e-01  9.89814660e-01 -1.86945392e-02  2.19602580e+01]
 [ 2.52016989e-01 -1.76586985e-02  9.67561682e-01  6.70626865e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.04071405700006 meters
Centerline goodness : 0.997997 with order 1
Centerline is valid?  [True, True]
Translation: X:257.57, Y:21.96, Z:67.08
[[ 9.57505302e-01 -1.40385865e-01 -2.51943260e-01  2.57566451e+02]
 [ 1.40226318e-01  9.89943228e-01 -1.86811644e-02  2.19587519e+01]
 [ 2.52032095e-01 -1.74417616e-02  9.67561682e-01  6.70790752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.10071405700006 meters
Centerline goodness : 0.998322 with order 1
Centerline is valid?  [True, True]
Translation: X:257.63, Y:21.96, Z:67.10
[[ 9.57495493e-01 -1.40452136e-01 -2.51943602e-01  2.57626678e+02]
 [ 1.40296042e-01  9.89933436e-01 -1.86765507e-02  2.19567423e+01]
 [ 2.52030557e-01 -1.74639770e-02  9.67561682e-01  6.70951479e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.16071405700006 meters
Centerline goodness : 0.998164 with order 1
Centerline is valid?  [True, True]
Translation: X:257.69, Y:21.96, Z:67.11
[[ 9.57549914e-01 -1.40078096e-01 -2.51945012e-01  2.57686478e+02]
 [ 1.39914318e-01  9.89987819e-01 -1.86575071e-02  2.19573098e+01]
 [ 2.52036001e-01 -1.73852201e-02  9.67561682e-01  6.71091855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.22071405700007 meters
Centerline goodness : 0.998604 with order 1
Centerline is valid?  [True, True]
Translation: X:257.75, Y:21.95, Z:67.12
[[ 9.57766516e-01 -1.38587468e-01 -2.51946054e-01  2.57746871e+02]
 [ 1.38376886e-01  9.90204151e-01 -1.86434276e-02  2.19547124e+01]
 [ 2.52061774e-01 -1.70074596e-02  9.67561682e-01  6.71242410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.28071405700007 meters
Centerline goodness : 0.998605 with order 1
Centerline is valid?  [True, True]
Translation: X:257.81, Y:21.96, Z:67.14
[[ 9.57879814e-01 -1.37800331e-01 -2.51947080e-01  2.57805651e+02]
 [ 1.37566726e-01  9.90317290e-01 -1.86295499e-02  2.19564241e+01]
 [ 2.52074708e-01 -1.68146651e-02  9.67561682e-01  6.71399386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.340714057 meters
Centerline goodness : 0.998944 with order 1
Centerline is valid?  [True, True]
Translation: X:257.86, Y:21.96, Z:67.15
[[ 9.58123734e-01 -1.36093365e-01 -2.51947427e-01  2.57864331e+02]
 [ 1.35803193e-01  9.90560754e-01 -1.86248535e-02  2.19580094e+01]
 [ 2.52103953e-01 -1.63703509e-02  9.67561682e-01  6.71548640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.400714057 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:257.92, Y:21.96, Z:67.17
[[ 9.58497053e-01 -1.33436564e-01 -2.51948570e-01  2.57922491e+02]
 [ 1.33060517e-01  9.90933191e-01 -1.86093793e-02  2.19605641e+01]
 [ 2.52147372e-01 -1.56873718e-02  9.67561682e-01  6.71700849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.460714057 meters
Centerline goodness : 0.999235 with order 1
Centerline is valid?  [True, True]
Translation: X:257.98, Y:21.96, Z:67.19
[[ 9.58990319e-01 -1.29844687e-01 -2.51948259e-01  2.57981113e+02]
 [ 1.29346020e-01  9.91424804e-01 -1.86135905e-02  2.19635146e+01]
 [ 2.52204629e-01 -1.47382516e-02  9.67561682e-01  6.71874943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.520714057 meters
Centerline goodness : 0.999146 with order 1
Centerline is valid?  [True, True]
Translation: X:258.04, Y:21.97, Z:67.20
[[ 9.59566818e-01 -1.25512632e-01 -2.51948609e-01  2.58039321e+02]
 [ 1.24868740e-01  9.91998744e-01 -1.86088483e-02  2.19665240e+01]
 [ 2.52268350e-01 -1.36040721e-02  9.67561682e-01  6.72030073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.580714057 meters
Centerline goodness : 0.998920 with order 1
Centerline is valid?  [True, True]
Translation: X:258.10, Y:21.97, Z:67.22
[[ 9.60159723e-01 -1.20893163e-01 -2.51948705e-01  2.58097339e+02]
 [ 1.20093535e-01  9.92588183e-01 -1.86075548e-02  2.19708047e+01]
 [ 2.52330834e-01 -1.23911860e-02  9.67561682e-01  6.72186028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.640714057 meters
Centerline goodness : 0.998942 with order 1
Centerline is valid?  [True, True]
Translation: X:258.15, Y:21.98, Z:67.23
[[ 9.60555532e-01 -1.17707649e-01 -2.51948366e-01  2.58154849e+02]
 [ 1.16799259e-01  9.92981128e-01 -1.86121465e-02  2.19751712e+01]
 [ 2.52370765e-01 -1.15493823e-02  9.67561682e-01  6.72348681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.700714057 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:258.21, Y:21.98, Z:67.25
[[ 9.60953547e-01 -1.14414365e-01 -2.51947679e-01  2.58211683e+02]
 [ 1.13392399e-01  9.93375763e-01 -1.86214411e-02  2.19798268e+01]
 [ 2.52409278e-01 -1.06746119e-02  9.67561682e-01  6.72480899e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.76071405700003 meters
Centerline goodness : 0.998875 with order 1
Centerline is valid?  [True, True]
Translation: X:258.27, Y:21.98, Z:67.26
[[ 9.61143525e-01 -1.12809583e-01 -2.51946665e-01  2.58269396e+02]
 [ 1.11729891e-01  9.93563869e-01 -1.86351526e-02  2.19839345e+01]
 [ 2.52427327e-01 -1.02389172e-02  9.67561682e-01  6.72644983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.82071405700003 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:258.33, Y:21.99, Z:67.28
[[ 9.61245243e-01 -1.11940304e-01 -2.51946325e-01  2.58325265e+02]
 [ 1.10830090e-01  9.93664557e-01 -1.86397462e-02  2.19886725e+01]
 [ 2.52436672e-01 -1.00058665e-02  9.67561682e-01  6.72785552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.88071405700003 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:258.38, Y:21.99, Z:67.30
[[ 9.61237006e-01 -1.12014780e-01 -2.51944651e-01  2.58381990e+02]
 [ 1.10901163e-01  9.93656202e-01 -1.86623475e-02  2.19927108e+01]
 [ 2.52436824e-01 -1.00020159e-02  9.67561683e-01  6.72954738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.94071405700004 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:258.44, Y:22.00, Z:67.31
[[ 9.60925061e-01 -1.14662208e-01 -2.51943656e-01  2.58439891e+02]
 [ 1.13634386e-01  9.93347090e-01 -1.86757709e-02  2.19952345e+01]
 [ 2.52408903e-01 -1.06834462e-02  9.67561683e-01  6.73108609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.00071405700004 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:258.50, Y:22.00, Z:67.32
[[ 9.60496943e-01 -1.18196255e-01 -2.51942985e-01  2.58496820e+02]
 [ 1.17285337e-01  9.92922468e-01 -1.86848186e-02  2.19974957e+01]
 [ 2.52368326e-01 -1.16025068e-02  9.67561683e-01  6.73244423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.06071405700004 meters
Centerline goodness : 0.998925 with order 1
Centerline is valid?  [True, True]
Translation: X:258.55, Y:22.00, Z:67.34
[[ 9.60281455e-01 -1.19944270e-01 -2.51938286e-01  2.58553542e+02]
 [ 1.19075841e-01  9.92708143e-01 -1.87479717e-02  2.19991344e+01]
 [ 2.52349900e-01 -1.19964336e-02  9.67561685e-01  6.73379550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.12071405700004 meters
Centerline goodness : 0.999106 with order 1
Centerline is valid?  [True, True]
Translation: X:258.61, Y:22.00, Z:67.35
[[ 9.60352344e-01 -1.19378571e-01 -2.51936764e-01  2.58609939e+02]
 [ 1.18485693e-01  9.92778368e-01 -1.87683994e-02  2.20011474e+01]
 [ 2.52357914e-01 -1.18266258e-02  9.67561685e-01  6.73548810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.18071405700005 meters
Centerline goodness : 0.999061 with order 1
Centerline is valid?  [True, True]
Translation: X:258.67, Y:22.00, Z:67.37
[[ 9.60916431e-01 -1.14760007e-01 -2.51932043e-01  2.58666308e+02]
 [ 1.13694710e-01  9.93337246e-01 -1.88315648e-02  2.20026063e+01]
 [ 2.52414592e-01 -1.05477806e-02  9.67561687e-01  6.73694390e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.24071405700005 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:258.72, Y:22.01, Z:67.38
[[ 9.61378041e-01 -1.10830248e-01 -2.51930385e-01  2.58724233e+02]
 [ 1.09626605e-01  9.93794015e-01 -1.88537240e-02  2.20050693e+01]
 [ 2.52456471e-01 -9.49271652e-03  9.67561687e-01  6.73847444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.30071405700005 meters
Centerline goodness : 0.998842 with order 1
Centerline is valid?  [True, True]
Translation: X:258.78, Y:22.01, Z:67.40
[[ 9.61964143e-01 -1.05623075e-01 -2.51930059e-01  2.58781079e+02]
 [ 1.04242789e-01  9.94373076e-01 -1.88580767e-02  2.20056418e+01]
 [ 2.52504316e-01 -8.12109841e-03  9.67561687e-01  6.74008229e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.36071405700005 meters
Centerline goodness : 0.999131 with order 1
Centerline is valid?  [True, True]
Translation: X:258.84, Y:22.01, Z:67.42
[[ 9.62021444e-01 -1.05101975e-01 -2.51929189e-01  2.58838081e+02]
 [ 1.03701096e-01  9.94429493e-01 -1.88696918e-02  2.20053055e+01]
 [ 2.52509058e-01 -7.97228474e-03  9.67561687e-01  6.74165961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.42071405700005 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:258.90, Y:22.00, Z:67.43
[[ 9.61858070e-01 -1.06598718e-01 -2.51924129e-01  2.58895235e+02]
 [ 1.05230652e-01  9.94267519e-01 -1.89370146e-02  2.20031917e+01]
 [ 2.52498640e-01 -8.29542006e-03  9.67561689e-01  6.74296305e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.48071405700006 meters
Centerline goodness : 0.999380 with order 1
Centerline is valid?  [True, True]
Translation: X:258.95, Y:22.00, Z:67.44
[[ 9.61495772e-01 -1.09830006e-01 -2.51919133e-01  2.58952846e+02]
 [ 1.08553515e-01  9.93908955e-01 -1.90032455e-02  2.20028851e+01]
 [ 2.52471809e-01 -9.07516721e-03  9.67561692e-01  6.74436374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.54071405700006 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:259.01, Y:22.00, Z:67.46
[[ 9.60679945e-01 -1.16761650e-01 -2.51914193e-01  2.59012165e+02]
 [ 1.15701878e-01  9.93100935e-01 -1.90685169e-02  2.19990063e+01]
 [ 2.52402692e-01 -1.08282034e-02  9.67561694e-01  6.74581619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.60071405700006 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:259.07, Y:22.00, Z:67.47
[[ 9.59554625e-01 -1.25675291e-01 -2.51913961e-01  2.59070982e+02]
 [ 1.24915748e-01  9.91984037e-01 -1.90715839e-02  2.19962819e+01]
 [ 2.52291455e-01 -1.31677944e-02  9.67561694e-01  6.74729764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.66071405700006 meters
Centerline goodness : 0.998945 with order 1
Centerline is valid?  [True, True]
Translation: X:259.13, Y:21.99, Z:67.49
[[ 9.58258214e-01 -1.35205557e-01 -2.51913979e-01  2.59130075e+02]
 [ 1.34768411e-01  9.90693575e-01 -1.90713502e-02  2.19935236e+01]
 [ 2.52148113e-01 -1.56747688e-02  9.67561694e-01  6.74871235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.72071405700007 meters
Centerline goodness : 0.998642 with order 1
Centerline is valid?  [True, True]
Translation: X:259.19, Y:21.99, Z:67.50
[[ 9.56758049e-01 -1.45442218e-01 -2.51913869e-01  2.59188135e+02]
 [ 1.45351471e-01  9.89196228e-01 -1.90728031e-02  2.19935435e+01]
 [ 2.51966240e-01 -1.83679936e-02  9.67561694e-01  6.75003666e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.78071405700007 meters
Centerline goodness : 0.999058 with order 1
Centerline is valid?  [True, True]
Translation: X:259.25, Y:22.00, Z:67.52
[[ 9.55512291e-01 -1.53413498e-01 -2.51913795e-01  2.59247154e+02]
 [ 1.53592932e-01  9.87950101e-01 -1.90737713e-02  2.19951265e+01]
 [ 2.51804434e-01 -2.04669556e-02  9.67561694e-01  6.75150594e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.840714057 meters
Centerline goodness : 0.998692 with order 1
Centerline is valid?  [True, True]
Translation: X:259.31, Y:22.00, Z:67.53
[[ 9.55014677e-01 -1.56481366e-01 -2.51913773e-01  2.59305478e+02]
 [ 1.56764896e-01  9.87451744e-01 -1.90740710e-02  2.19999266e+01]
 [ 2.51737431e-01 -2.12752186e-02  9.67561694e-01  6.75302189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.900714057 meters
Centerline goodness : 0.998797 with order 1
Centerline is valid?  [True, True]
Translation: X:259.36, Y:22.01, Z:67.54
[[ 9.55073291e-01 -1.56123222e-01 -2.51913773e-01  2.59361912e+02]
 [ 1.56394588e-01  9.87510462e-01 -1.90740710e-02  2.20059284e+01]
 [ 2.51745392e-01 -2.11808150e-02  9.67561694e-01  6.75439906e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.960714057 meters
Centerline goodness : 0.998862 with order 1
Centerline is valid?  [True, True]
Translation: X:259.42, Y:22.01, Z:67.56
[[ 9.55559926e-01 -1.53124565e-01 -2.51908904e-01  2.59418556e+02]
 [ 1.53277326e-01  9.87997871e-01 -1.91381639e-02  2.20142447e+01]
 [ 2.51815984e-01 -2.03242606e-02  9.67561696e-01  6.75579238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.020714057 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:259.48, Y:22.02, Z:67.58
[[ 9.56229570e-01 -1.48886730e-01 -2.51908220e-01  2.59475300e+02]
 [ 1.48893324e-01  9.88667874e-01 -1.91471617e-02  2.20239490e+01]
 [ 2.51904323e-01 -1.91983700e-02  9.67561696e-01  6.75755498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.080714057 meters
Centerline goodness : 0.998965 with order 1
Centerline is valid?  [True, True]
Translation: X:259.53, Y:22.03, Z:67.59
[[ 9.56689418e-01 -1.45903329e-01 -2.51907872e-01  2.59533111e+02]
 [ 1.45807543e-01  9.89127581e-01 -1.91517380e-02  2.20339308e+01]
 [ 2.51963327e-01 -1.84078028e-02  9.67561696e-01  6.75911511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.140714057 meters
Centerline goodness : 0.998921 with order 1
Centerline is valid?  [True, True]
Translation: X:259.59, Y:22.04, Z:67.61
[[ 9.56701477e-01 -1.45824347e-01 -2.51907810e-01  2.59590413e+02]
 [ 1.45725668e-01  9.89139631e-01 -1.91525568e-02  2.20426404e+01]
 [ 2.51964907e-01 -1.83861545e-02  9.67561696e-01  6.76056386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.200714057 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:259.65, Y:22.05, Z:67.62
[[ 9.56395762e-01 -1.47817316e-01 -2.51907100e-01  2.59648484e+02]
 [ 1.47783777e-01  9.88834049e-01 -1.91618911e-02  2.20497799e+01]
 [ 2.51926777e-01 -1.89014313e-02  9.67561696e-01  6.76196953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.26071405700003 meters
Centerline goodness : 0.999314 with order 1
Centerline is valid?  [True, True]
Translation: X:259.71, Y:22.06, Z:67.63
[[ 9.55587448e-01 -1.52955873e-01 -2.51906989e-01  2.59707584e+02]
 [ 1.53096310e-01  9.88025448e-01 -1.91633545e-02  2.20587460e+01]
 [ 2.51821663e-01 -2.02537694e-02  9.67561696e-01  6.76309534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.32071405700003 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:259.77, Y:22.07, Z:67.65
[[ 9.54721903e-01 -1.58268765e-01 -2.51906899e-01  2.59766323e+02]
 [ 1.58589320e-01  9.87158624e-01 -1.91645353e-02  2.20677200e+01]
 [ 2.51705215e-01 -2.16529423e-02  9.67561696e-01  6.76453101e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.38071405700003 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:259.82, Y:22.08, Z:67.66
[[ 9.54134256e-01 -1.61773611e-01 -2.51906968e-01  2.59824716e+02]
 [ 1.62213515e-01  9.86569577e-01 -1.91636296e-02  2.20778384e+01]
 [ 2.51623920e-01 -2.25780390e-02  9.67561696e-01  6.76622792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.44071405700004 meters
Centerline goodness : 0.999287 with order 1
Centerline is valid?  [True, True]
Translation: X:259.88, Y:22.09, Z:67.68
[[ 9.54231911e-01 -1.61195456e-01 -2.51907689e-01  2.59881852e+02]
 [ 1.61618193e-01  9.86667461e-01 -1.91541378e-02  2.20877497e+01]
 [ 2.51636680e-01 -2.24353761e-02  9.67561696e-01  6.76803488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.50071405700004 meters
Centerline goodness : 0.999266 with order 1
Centerline is valid?  [True, True]
Translation: X:259.94, Y:22.10, Z:67.70
[[ 9.54515195e-01 -1.59508869e-01 -2.51908046e-01  2.59938632e+02]
 [ 1.59875512e-01  9.86951427e-01 -1.91494518e-02  2.20975791e+01]
 [ 2.51675512e-01 -2.19954850e-02  9.67561696e-01  6.76971928e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.56071405700004 meters
Centerline goodness : 0.998795 with order 1
Centerline is valid?  [True, True]
Translation: X:260.00, Y:22.11, Z:67.71
[[ 9.54699310e-01 -1.58403466e-01 -2.51907859e-01  2.59998523e+02]
 [ 1.58731905e-01  9.87135952e-01 -1.91519064e-02  2.21079590e+01]
 [ 2.51701032e-01 -2.17015025e-02  9.67561696e-01  6.77114375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.62071405700004 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:260.06, Y:22.12, Z:67.72
[[ 9.54771745e-01 -1.57964010e-01 -2.51909283e-01  2.60058033e+02]
 [ 1.58282430e-01  9.87208486e-01 -1.91331557e-02  2.21165034e+01]
 [ 2.51709332e-01 -2.16050169e-02  9.67561696e-01  6.77243394e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.68071405700005 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:260.12, Y:22.13, Z:67.74
[[ 9.55047785e-01 -1.56285842e-01 -2.51909635e-01  2.60117363e+02]
 [ 1.56548471e-01  9.87485026e-01 -1.91285175e-02  2.21251628e+01]
 [ 2.51746509e-01 -2.11674200e-02  9.67561696e-01  6.77374154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.74071405700005 meters
Centerline goodness : 0.998899 with order 1
Centerline is valid?  [True, True]
Translation: X:260.18, Y:22.13, Z:67.75
[[ 9.55364764e-01 -1.54335188e-01 -2.51910338e-01  2.60175640e+02]
 [ 1.54534000e-01  9.87802458e-01 -1.91192625e-02  2.21347280e+01]
 [ 2.51788426e-01 -2.06628425e-02  9.67561696e-01  6.77527044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.80071405700005 meters
Centerline goodness : 0.998577 with order 1
Centerline is valid?  [True, True]
Translation: X:260.23, Y:22.15, Z:67.77
[[ 9.56209241e-01 -1.49013632e-01 -2.51910350e-01  2.60232862e+02]
 [ 1.49031881e-01  9.88647540e-01 -1.91191016e-02  2.21501146e+01]
 [ 2.51899555e-01 -1.92608116e-02  9.67561696e-01  6.77711689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.86071405700005 meters
Centerline goodness : 0.998099 with order 1
Centerline is valid?  [True, True]
Translation: X:260.29, Y:22.16, Z:67.79
[[ 9.56488572e-01 -1.47209899e-01 -2.51910415e-01  2.60290596e+02]
 [ 1.47167192e-01  9.88926848e-01 -1.91182412e-02  2.21593685e+01]
 [ 2.51935367e-01 -1.87865693e-02  9.67561696e-01  6.77877116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.92071405700005 meters
Centerline goodness : 0.998074 with order 1
Centerline is valid?  [True, True]
Translation: X:260.35, Y:22.17, Z:67.80
[[ 9.56490425e-01 -1.47197241e-01 -2.51910776e-01  2.60350495e+02]
 [ 1.47155349e-01  9.88928702e-01 -1.91134898e-02  2.21681944e+01]
 [ 2.51935250e-01 -1.87881481e-02  9.67561696e-01  6.78030797e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.98071405700006 meters
Centerline goodness : 0.997997 with order 1
Centerline is valid?  [True, True]
Translation: X:260.41, Y:22.17, Z:67.82
[[ 9.55715537e-01 -1.52144827e-01 -2.51912213e-01  2.60408469e+02]
 [ 1.52275760e-01  9.88153577e-01 -1.90945303e-02  2.21743557e+01]
 [ 2.51833088e-01 -2.01111844e-02  9.67561696e-01  6.78161798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.04071405700006 meters
Centerline goodness : 0.997975 with order 1
Centerline is valid?  [True, True]
Translation: X:260.47, Y:22.18, Z:67.83
[[ 9.54772413e-01 -1.57954902e-01 -2.51912460e-01  2.60468064e+02]
 [ 1.58283982e-01  9.87209048e-01 -1.90912721e-02  2.21791957e+01]
 [ 2.51705820e-01 -2.16458873e-02  9.67561696e-01  6.78294949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.10071405700006 meters
Centerline goodness : 0.997697 with order 1
Centerline is valid?  [True, True]
Translation: X:260.53, Y:22.18, Z:67.84
[[ 9.54502437e-01 -1.59577339e-01 -2.51913022e-01  2.60526961e+02]
 [ 1.59963487e-01  9.86938443e-01 -1.90838583e-02  2.21837114e+01]
 [ 2.51667996e-01 -2.20812959e-02  9.67561696e-01  6.78429791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.16071405700006 meters
Centerline goodness : 0.997900 with order 1
Centerline is valid?  [True, True]
Translation: X:260.59, Y:22.19, Z:67.86
[[ 9.54884587e-01 -1.57270560e-01 -2.51915457e-01  2.60586377e+02]
 [ 1.57586766e-01  9.87321349e-01 -1.90516597e-02  2.21897808e+01]
 [ 2.51717774e-01 -2.15064059e-02  9.67561697e-01  6.78589377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.22071405700007 meters
Centerline goodness : 0.998029 with order 1
Centerline is valid?  [True, True]
Translation: X:260.64, Y:22.20, Z:67.88
[[ 9.56150638e-01 -1.49378815e-01 -2.51916508e-01  2.60644170e+02]
 [ 1.49430759e-01  9.88588900e-01 -1.90377488e-02  2.21979208e+01]
 [ 2.51885700e-01 -1.94411194e-02  9.67561697e-01  6.78760541e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.28071405700007 meters
Centerline goodness : 0.997748 with order 1
Centerline is valid?  [True, True]
Translation: X:260.70, Y:22.21, Z:67.89
[[ 9.57592935e-01 -1.39834857e-01 -2.51916622e-01  2.60700638e+02]
 [ 1.39563657e-01  9.90030104e-01 -1.90362432e-02  2.22058251e+01]
 [ 2.52066970e-01 -1.69294330e-02  9.67561697e-01  6.78949205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.340714057 meters
Centerline goodness : 0.998115 with order 1
Centerline is valid?  [True, True]
Translation: X:260.76, Y:22.21, Z:67.91
[[ 9.58772307e-01 -1.31505548e-01 -2.51916561e-01  2.60757760e+02]
 [ 1.30952183e-01  9.91205890e-01 -1.90370449e-02  2.22131728e+01]
 [ 2.52204656e-01 -1.47368322e-02  9.67561697e-01  6.79124793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.400714057 meters
Centerline goodness : 0.997887 with order 1
Centerline is valid?  [True, True]
Translation: X:260.82, Y:22.22, Z:67.93
[[ 9.59512793e-01 -1.25989154e-01 -2.51916521e-01  2.60815194e+02]
 [ 1.25249123e-01  9.91942654e-01 -1.90375781e-02  2.22169493e+01]
 [ 2.52285271e-01 -1.32855236e-02  9.67561697e-01  6.79263111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.460714057 meters
Centerline goodness : 0.997704 with order 1
Centerline is valid?  [True, True]
Translation: X:260.87, Y:22.22, Z:67.94
[[ 9.59960356e-01 -1.22533155e-01 -2.51916137e-01  2.60874908e+02]
 [ 1.21675019e-01  9.92387307e-01 -1.90426590e-02  2.22205457e+01]
 [ 2.52331734e-01 -1.23717031e-02  9.67561697e-01  6.79410922e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.520714057 meters
Centerline goodness : 0.997679 with order 1
Centerline is valid?  [True, True]
Translation: X:260.93, Y:22.22, Z:67.96
[[ 9.60283501e-01 -1.19972125e-01 -2.51917223e-01  2.60934291e+02]
 [ 1.19031261e-01  9.92708156e-01 -1.90282750e-02  2.22240205e+01]
 [ 2.52363145e-01 -1.17134863e-02  9.67561697e-01  6.79559815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.580714057 meters
Centerline goodness : 0.997751 with order 1
Centerline is valid?  [True, True]
Translation: X:260.99, Y:22.23, Z:67.97
[[ 9.60705053e-01 -1.16546813e-01 -2.51917924e-01  2.60992575e+02]
 [ 1.15492754e-01  9.93126227e-01 -1.90189897e-02  2.22263794e+01]
 [ 2.52402900e-01 -1.08230554e-02  9.67561697e-01  6.79715992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.640714057 meters
Centerline goodness : 0.998076 with order 1
Centerline is valid?  [True, True]
Translation: X:261.05, Y:22.23, Z:67.99
[[ 9.61086473e-01 -1.13358550e-01 -2.51917906e-01  2.61051796e+02]
 [ 1.12196860e-01  9.93503968e-01 -1.90192307e-02  2.22280372e+01]
 [ 2.52437432e-01 -9.98527276e-03  9.67561697e-01  6.79879746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.700714057 meters
Centerline goodness : 0.997900 with order 1
Centerline is valid?  [True, True]
Translation: X:261.11, Y:22.23, Z:68.00
[[ 9.61321430e-01 -1.11346850e-01 -2.51918612e-01  2.61108881e+02]
 [ 1.10119763e-01  9.93736515e-01 -1.90098816e-02  2.22298804e+01]
 [ 2.52457414e-01 -9.46661122e-03  9.67561697e-01  6.80029994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.76071405700003 meters
Centerline goodness : 0.998057 with order 1
Centerline is valid?  [True, True]
Translation: X:261.17, Y:22.23, Z:68.02
[[ 9.61126589e-01 -1.13017259e-01 -2.51918199e-01  2.61166820e+02]
 [ 1.11845072e-01  9.93543706e-01 -1.90153543e-02  2.22280368e+01]
 [ 2.52440804e-01 -9.89964654e-03  9.67561697e-01  6.80188652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.82071405700003 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:261.22, Y:22.23, Z:68.03
[[ 9.60428397e-01 -1.18805275e-01 -2.51917845e-01  2.61224864e+02]
 [ 1.17827171e-01  9.92851951e-01 -1.90200413e-02  2.22262211e+01]
 [ 2.52376805e-01 -1.14153792e-02  9.67561697e-01  6.80321817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.88071405700003 meters
Centerline goodness : 0.998074 with order 1
Centerline is valid?  [True, True]
Translation: X:261.28, Y:22.22, Z:68.05
[[ 9.59455387e-01 -1.26424328e-01 -2.51917149e-01  2.61283665e+02]
 [ 1.25701185e-01  9.91885628e-01 -1.90292506e-02  2.22237460e+01]
 [ 2.52278760e-01 -1.34085673e-02  9.67561697e-01  6.80470601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.94071405700004 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:261.34, Y:22.22, Z:68.06
[[ 9.59005071e-01 -1.29796033e-01 -2.51917175e-01  2.61341083e+02]
 [ 1.29186977e-01  9.91437656e-01 -1.90289063e-02  2.22241401e+01]
 [ 2.52230050e-01 -1.42956007e-02  9.67561697e-01  6.80623164e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.00071405700004 meters
Centerline goodness : 0.999416 with order 1
Centerline is valid?  [True, True]
Translation: X:261.40, Y:22.22, Z:68.08
[[ 9.58654303e-01 -1.32362492e-01 -2.51916846e-01  2.61398290e+02]
 [ 1.31839109e-01  9.91088384e-01 -1.90332602e-02  2.22233462e+01]
 [ 2.52191150e-01 -1.49661757e-02  9.67561697e-01  6.80777209e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.06071405700004 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:261.46, Y:22.22, Z:68.10
[[ 9.58585076e-01 -1.32864816e-01 -2.51915846e-01  2.61457736e+02]
 [ 1.32354965e-01  9.91019371e-01 -1.90464857e-02  2.22239039e+01]
 [ 2.52184091e-01 -1.50846361e-02  9.67561697e-01  6.80952300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.12071405700004 meters
Centerline goodness : 0.999192 with order 1
Centerline is valid?  [True, True]
Translation: X:261.52, Y:22.23, Z:68.11
[[ 9.58661136e-01 -1.32312870e-01 -2.51916913e-01  2.61515374e+02]
 [ 1.31788042e-01  9.91095193e-01 -1.90323664e-02  2.22260733e+01]
 [ 2.52191868e-01 -1.49540467e-02  9.67561697e-01  6.81085935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.18071405700005 meters
Centerline goodness : 0.999146 with order 1
Centerline is valid?  [True, True]
Translation: X:261.57, Y:22.23, Z:68.12
[[ 9.58792674e-01 -1.31356965e-01 -2.51916565e-01  2.61571921e+02]
 [ 1.30798591e-01  9.91226171e-01 -1.90369773e-02  2.22255961e+01]
 [ 2.52206931e-01 -1.46978174e-02  9.67561697e-01  6.81224303e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.24071405700005 meters
Centerline goodness : 0.999216 with order 1
Centerline is valid?  [True, True]
Translation: X:261.63, Y:22.23, Z:68.14
[[ 9.58807907e-01 -1.31248192e-01 -2.51915282e-01  2.61629800e+02]
 [ 1.30681698e-01  9.91241263e-01 -1.90539386e-02  2.22276648e+01]
 [ 2.52209617e-01 -1.46516498e-02  9.67561697e-01  6.81387659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.30071405700005 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:261.69, Y:22.23, Z:68.15
[[ 9.58865210e-01 -1.30829562e-01 -2.51914935e-01  2.61686235e+02]
 [ 1.30247708e-01  9.91298294e-01 -1.90585192e-02  2.22282648e+01]
 [ 2.52216263e-01 -1.45367919e-02  9.67561697e-01  6.81518396e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.36071405700005 meters
Centerline goodness : 0.999259 with order 1
Centerline is valid?  [True, True]
Translation: X:261.74, Y:22.23, Z:68.17
[[ 9.58949294e-01 -1.30215120e-01 -2.51913226e-01  2.61742854e+02]
 [ 1.29606575e-01  9.91381888e-01 -1.90810856e-02  2.22303598e+01]
 [ 2.52226855e-01 -1.43518168e-02  9.67561698e-01  6.81667230e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.42071405700005 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:261.80, Y:22.23, Z:68.18
[[ 9.59168164e-01 -1.28602525e-01 -2.51908362e-01  2.61800853e+02]
 [ 1.27922688e-01  9.91599340e-01 -1.91450924e-02  2.22320054e+01]
 [ 2.52254273e-01 -1.38614317e-02  9.67561700e-01  6.81832736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.48071405700006 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:261.86, Y:22.23, Z:68.20
[[ 9.58959130e-01 -1.30152197e-01 -2.51908302e-01  2.61857906e+02]
 [ 1.29524557e-01  9.91391358e-01 -1.91458826e-02  2.22340263e+01]
 [ 2.52231592e-01 -1.42681923e-02  9.67561700e-01  6.82002539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.54071405700006 meters
Centerline goodness : 0.999264 with order 1
Centerline is valid?  [True, True]
Translation: X:261.91, Y:22.24, Z:68.22
[[ 9.58705639e-01 -1.32006563e-01 -2.51908246e-01  2.61914515e+02]
 [ 1.31441454e-01  9.91139017e-01 -1.91466240e-02  2.22373976e+01]
 [ 2.52203571e-01 -1.47552096e-02  9.67561700e-01  6.82154125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.60071405700006 meters
Centerline goodness : 0.999354 with order 1
Centerline is valid?  [True, True]
Translation: X:261.97, Y:22.24, Z:68.23
[[ 9.57755416e-01 -1.38735309e-01 -2.51906883e-01  2.61972376e+02]
 [ 1.38393269e-01  9.90191913e-01 -1.91645352e-02  2.22379371e+01]
 [ 2.52094956e-01 -1.65072795e-02  9.67561700e-01  6.82309313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.66071405700006 meters
Centerline goodness : 0.999243 with order 1
Centerline is valid?  [True, True]
Translation: X:262.03, Y:22.24, Z:68.25
[[ 9.57123381e-01 -1.43031277e-01 -2.51906507e-01  2.62031107e+02]
 [ 1.42833485e-01  9.89561078e-01 -1.91694785e-02  2.22402103e+01]
 [ 2.52018709e-01 -1.76331281e-02  9.67561700e-01  6.82477913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.72071405700007 meters
Centerline goodness : 0.999114 with order 1
Centerline is valid?  [True, True]
Translation: X:262.09, Y:22.24, Z:68.26
[[ 9.56395096e-01 -1.47821626e-01 -2.51907101e-01  2.62088797e+02]
 [ 1.47788292e-01  9.88833379e-01 -1.91616689e-02  2.22420006e+01]
 [ 2.51926659e-01 -1.89027939e-02  9.67561700e-01  6.82619885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.78071405700007 meters
Centerline goodness : 0.999022 with order 1
Centerline is valid?  [True, True]
Translation: X:262.15, Y:22.25, Z:68.28
[[ 9.55971358e-01 -1.50537062e-01 -2.51907437e-01  2.62147606e+02]
 [ 1.50597005e-01  9.88409602e-01 -1.91572537e-02  2.22462773e+01]
 [ 2.51871606e-01 -1.96227196e-02  9.67561700e-01  6.82776026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.840714057 meters
Centerline goodness : 0.999467 with order 1
Centerline is valid?  [True, True]
Translation: X:262.21, Y:22.25, Z:68.29
[[ 9.56032733e-01 -1.50146690e-01 -2.51907494e-01  2.62205640e+02]
 [ 1.50193585e-01  9.88470999e-01 -1.91564971e-02  2.22506887e+01]
 [ 2.51879537e-01 -1.95206513e-02  9.67561700e-01  6.82917724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.900714057 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:262.26, Y:22.26, Z:68.31
[[ 9.56178759e-01 -1.49214130e-01 -2.51907373e-01  2.62263431e+02]
 [ 1.49228970e-01  9.88617055e-01 -1.91580866e-02  2.22568233e+01]
 [ 2.51898583e-01 -1.92733222e-02  9.67561700e-01  6.83063910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.960714057 meters
Centerline goodness : 0.999357 with order 1
Centerline is valid?  [True, True]
Translation: X:262.32, Y:22.26, Z:68.32
[[ 9.56216622e-01 -1.48971888e-01 -2.51907025e-01  2.62321282e+02]
 [ 1.48977310e-01  9.88654921e-01 -1.91626645e-02  2.22620656e+01]
 [ 2.51903818e-01 -1.92047727e-02  9.67561700e-01  6.83204686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.020714057 meters
Centerline goodness : 0.999422 with order 1
Centerline is valid?  [True, True]
Translation: X:262.38, Y:22.27, Z:68.34
[[ 9.56183659e-01 -1.49184476e-01 -2.51906338e-01  2.62379630e+02]
 [ 1.49194746e-01  9.88621957e-01 -1.91716906e-02  2.22670614e+01]
 [ 2.51900256e-01 -1.92514449e-02  9.67561700e-01  6.83350493e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.080714057 meters
Centerline goodness : 0.999443 with order 1
Centerline is valid?  [True, True]
Translation: X:262.44, Y:22.27, Z:68.35
[[ 9.56010667e-01 -1.50289062e-01 -2.51906338e-01  2.62436699e+02]
 [ 1.50336808e-01  9.88448932e-01 -1.91716906e-02  2.22728990e+01]
 [ 2.51877846e-01 -1.95424541e-02  9.67561700e-01  6.83493905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.140714057 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:262.50, Y:22.28, Z:68.37
[[ 9.55842656e-01 -1.51354412e-01 -2.51906050e-01  2.62495679e+02]
 [ 1.51437319e-01  9.88280851e-01 -1.91754730e-02  2.22791999e+01]
 [ 2.51856218e-01 -1.98192419e-02  9.67561700e-01  6.83650685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.200714057 meters
Centerline goodness : 0.999127 with order 1
Centerline is valid?  [True, True]
Translation: X:262.55, Y:22.29, Z:68.38
[[ 9.55577227e-01 -1.53020074e-01 -2.51906770e-01  2.62554634e+02]
 [ 1.53161995e-01  9.88015216e-01 -1.91660075e-02  2.22860738e+01]
 [ 2.51820506e-01 -2.02679433e-02  9.67561700e-01  6.83792321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.26071405700003 meters
Centerline goodness : 0.999329 with order 1
Centerline is valid?  [True, True]
Translation: X:262.61, Y:22.29, Z:68.40
[[ 9.55370871e-01 -1.54302042e-01 -2.51907480e-01  2.62613623e+02]
 [ 1.54489929e-01  9.87808627e-01 -1.91566765e-02  2.22932296e+01]
 [ 2.51792296e-01 -2.06154379e-02  9.67561700e-01  6.83951230e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.32071405700003 meters
Centerline goodness : 0.999442 with order 1
Centerline is valid?  [True, True]
Translation: X:262.67, Y:22.30, Z:68.41
[[ 9.55192554e-01 -1.55400927e-01 -2.51908189e-01  2.62670717e+02]
 [ 1.55628572e-01  9.87630056e-01 -1.91473446e-02  2.23029482e+01]
 [ 2.51767614e-01 -2.09147108e-02  9.67561700e-01  6.84112779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.38071405700003 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:262.73, Y:22.31, Z:68.43
[[ 9.55113528e-01 -1.55883842e-01 -2.51909461e-01  2.62729246e+02]
 [ 1.56132273e-01  9.87550876e-01 -1.91305986e-02  2.23110706e+01]
 [ 2.51755560e-01 -2.10593033e-02  9.67561700e-01  6.84285611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.44071405700004 meters
Centerline goodness : 0.999172 with order 1
Centerline is valid?  [True, True]
Translation: X:262.79, Y:22.32, Z:68.45
[[ 9.54891595e-01 -1.57236514e-01 -2.51910144e-01  2.62787380e+02]
 [ 1.57533246e-01  9.87328537e-01 -1.91215993e-02  2.23204824e+01]
 [ 2.51724688e-01 -2.14251682e-02  9.67561700e-01  6.84456127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.50071405700004 meters
Centerline goodness : 0.999216 with order 1
Centerline is valid?  [True, True]
Translation: X:262.85, Y:22.33, Z:68.46
[[ 9.54711734e-01 -1.58323718e-01 -2.51910906e-01  2.62846276e+02]
 [ 1.58660016e-01  9.87148291e-01 -1.91115534e-02  2.23293582e+01]
 [ 2.51699233e-01 -2.17221641e-02  9.67561700e-01  6.84597530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.56071405700004 meters
Centerline goodness : 0.999147 with order 1
Centerline is valid?  [True, True]
Translation: X:262.91, Y:22.34, Z:68.47
[[ 9.54742475e-01 -1.58137117e-01 -2.51911609e-01  2.62905026e+02]
 [ 1.58469501e-01  9.87179072e-01 -1.91022877e-02  2.23383005e+01]
 [ 2.51702649e-01 -2.16825416e-02  9.67561700e-01  6.84746409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.62071405700004 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:262.96, Y:22.35, Z:68.49
[[ 9.54837705e-01 -1.57559610e-01 -2.51912537e-01  2.62964994e+02]
 [ 1.57875581e-01  9.87274466e-01 -1.90900474e-02  2.23481058e+01]
 [ 2.51714635e-01 -2.15429411e-02  9.67561700e-01  6.84905875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.68071405700005 meters
Centerline goodness : 0.999232 with order 1
Centerline is valid?  [True, True]
Translation: X:263.02, Y:22.36, Z:68.51
[[ 9.55072468e-01 -1.56127925e-01 -2.51913978e-01  2.63024012e+02]
 [ 1.56400253e-01  9.87509624e-01 -1.90710062e-02  2.23573429e+01]
 [ 2.51744994e-01 -2.11852170e-02  9.67561701e-01  6.85058923e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.74071405700005 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:263.08, Y:22.37, Z:68.52
[[ 9.55444066e-01 -1.53836353e-01 -2.51914694e-01  2.63080654e+02]
 [ 1.54033345e-01  9.87881767e-01 -1.90615464e-02  2.23653282e+01]
 [ 2.51794292e-01 -2.05910214e-02  9.67561701e-01  6.85215585e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.80071405700005 meters
Centerline goodness : 0.998709 with order 1
Centerline is valid?  [True, True]
Translation: X:263.14, Y:22.38, Z:68.54
[[ 9.55984787e-01 -1.50440210e-01 -2.51914331e-01  2.63137769e+02]
 [ 1.50520677e-01  9.88422987e-01 -1.90663401e-02  2.23753337e+01]
 [ 2.51866260e-01 -1.96911846e-02  9.67561701e-01  6.85395679e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.86071405700005 meters
Centerline goodness : 0.998508 with order 1
Centerline is valid?  [True, True]
Translation: X:263.20, Y:22.38, Z:68.56
[[ 9.56511085e-01 -1.47056838e-01 -2.51914331e-01  2.63195885e+02]
 [ 1.47022532e-01  9.88949367e-01 -1.90663401e-02  2.23835624e+01]
 [ 2.51934354e-01 -1.87999173e-02  9.67561701e-01  6.85567354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.92071405700005 meters
Centerline goodness : 0.998683 with order 1
Centerline is valid?  [True, True]
Translation: X:263.26, Y:22.39, Z:68.57
[[ 9.56881993e-01 -1.44623113e-01 -2.51914682e-01  2.63255808e+02]
 [ 1.44507505e-01  9.89320086e-01 -1.90616961e-02  2.23893029e+01]
 [ 2.51981017e-01 -1.81637685e-02  9.67561701e-01  6.85731150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.98071405700006 meters
Centerline goodness : 0.998364 with order 1
Centerline is valid?  [True, True]
Translation: X:263.31, Y:22.40, Z:68.59
[[ 9.57243257e-01 -1.42209780e-01 -2.51916109e-01  2.63313917e+02]
 [ 1.42017317e-01  9.89680985e-01 -1.90428311e-02  2.23955148e+01]
 [ 2.52024659e-01 -1.75478282e-02  9.67561701e-01  6.85855177e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.04071405700006 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:263.37, Y:22.40, Z:68.60
[[ 9.57575464e-01 -1.39956042e-01 -2.51915734e-01  2.63373552e+02]
 [ 1.39685922e-01  9.90012639e-01 -1.90477904e-02  2.24014122e+01]
 [ 2.52065613e-01 -1.69493849e-02  9.67561701e-01  6.86009045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.10071405700006 meters
Centerline goodness : 0.998247 with order 1
Centerline is valid?  [True, True]
Translation: X:263.43, Y:22.41, Z:68.62
[[ 9.58184051e-01 -1.35724422e-01 -2.51917062e-01  2.63431848e+02]
 [ 1.35315614e-01  9.90619774e-01 -1.90302057e-02  2.24076143e+01]
 [ 2.52136887e-01 -1.58538722e-02  9.67561701e-01  6.86180782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.16071405700006 meters
Centerline goodness : 0.998398 with order 1
Centerline is valid?  [True, True]
Translation: X:263.49, Y:22.41, Z:68.63
[[ 9.58773624e-01 -1.31494365e-01 -2.51917389e-01  2.63490871e+02]
 [ 1.30943546e-01  9.91207246e-01 -1.90258742e-02  2.24135262e+01]
 [ 2.52204137e-01 -1.47454499e-02  9.67561701e-01  6.86336704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.22071405700007 meters
Centerline goodness : 0.998053 with order 1
Centerline is valid?  [True, True]
Translation: X:263.55, Y:22.42, Z:68.65
[[ 9.59214609e-01 -1.28237237e-01 -2.51917736e-01  2.63549237e+02]
 [ 1.27577469e-01  9.91646197e-01 -1.90212758e-02  2.24204723e+01]
 [ 2.52252501e-01 -1.38935415e-02  9.67561701e-01  6.86504639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.28071405700007 meters
Centerline goodness : 0.998124 with order 1
Centerline is valid?  [True, True]
Translation: X:263.61, Y:22.43, Z:68.67
[[ 9.59517254e-01 -1.25950685e-01 -2.51918766e-01  2.63606946e+02]
 [ 1.25217195e-01  9.91947259e-01 -1.90076244e-02  2.24262265e+01]
 [ 2.52284153e-01 -1.33064177e-02  9.67561701e-01  6.86665940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.340714057 meters
Centerline goodness : 0.998232 with order 1
Centerline is valid?  [True, True]
Translation: X:263.67, Y:22.43, Z:68.68
[[ 9.59615408e-01 -1.25200670e-01 -2.51918760e-01  2.63666164e+02]
 [ 1.24441812e-01  9.92044829e-01 -1.90077032e-02  2.24306320e+01]
 [ 2.52294481e-01 -1.31091422e-02  9.67561701e-01  6.86824265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.400714057 meters
Centerline goodness : 0.998436 with order 1
Centerline is valid?  [True, True]
Translation: X:263.72, Y:22.43, Z:68.70
[[ 9.59675119e-01 -1.24740778e-01 -2.51919439e-01  2.63724627e+02]
 [ 1.23968734e-01  9.92104229e-01 -1.89987072e-02  2.24348404e+01]
 [ 2.52300254e-01 -1.29975474e-02  9.67561701e-01  6.86974261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.460714057 meters
Centerline goodness : 0.998416 with order 1
Centerline is valid?  [True, True]
Translation: X:263.78, Y:22.44, Z:68.71
[[ 9.59719902e-01 -1.24395766e-01 -2.51919439e-01  2.63783022e+02]
 [ 1.23612064e-01  9.92148732e-01 -1.89987072e-02  2.24391337e+01]
 [ 2.52304911e-01 -1.29068443e-02  9.67561701e-01  6.87121170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.520714057 meters
Centerline goodness : 0.998302 with order 1
Centerline is valid?  [True, True]
Translation: X:263.84, Y:22.44, Z:68.73
[[ 9.59951077e-01 -1.22598356e-01 -2.51919773e-01  2.63841356e+02]
 [ 1.21755089e-01  9.92378414e-01 -1.89942747e-02  2.24431071e+01]
 [ 2.52328412e-01 -1.24389399e-02  9.67561701e-01  6.87271059e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.580714057 meters
Centerline goodness : 0.998159 with order 1
Centerline is valid?  [True, True]
Translation: X:263.90, Y:22.45, Z:68.74
[[ 9.60092631e-01 -1.21485094e-01 -2.51919654e-01  2.63900925e+02]
 [ 1.20603811e-01  9.92518956e-01 -1.89958521e-02  2.24473190e+01]
 [ 2.52342745e-01 -1.21446927e-02  9.67561701e-01  6.87432848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.640714057 meters
Centerline goodness : 0.998221 with order 1
Centerline is valid?  [True, True]
Translation: X:263.96, Y:22.45, Z:68.76
[[ 9.60137462e-01 -1.21128119e-01 -2.51920689e-01  2.63959140e+02]
 [ 1.20238375e-01  9.92563556e-01 -1.89821204e-02  2.24514686e+01]
 [ 2.52346563e-01 -1.20650893e-02  9.67561701e-01  6.87575848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.700714057 meters
Centerline goodness : 0.997983 with order 1
Centerline is valid?  [True, True]
Translation: X:264.02, Y:22.46, Z:68.77
[[ 9.59979979e-01 -1.22369257e-01 -2.51921028e-01  2.64018565e+02]
 [ 1.21522612e-01  9.92407227e-01 -1.89776157e-02  2.24556590e+01]
 [ 2.52330526e-01 -1.23959702e-02  9.67561701e-01  6.87745090e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.76071405700003 meters
Centerline goodness : 0.998212 with order 1
Centerline is valid?  [True, True]
Translation: X:264.08, Y:22.46, Z:68.79
[[ 9.59806104e-01 -1.23723047e-01 -2.51922309e-01  2.64077749e+02]
 [ 1.22926592e-01  9.92234624e-01 -1.89605996e-02  2.24599251e+01]
 [ 2.52311901e-01 -1.27694516e-02  9.67561701e-01  6.87894219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.82071405700003 meters
Centerline goodness : 0.998442 with order 1
Centerline is valid?  [True, True]
Translation: X:264.14, Y:22.46, Z:68.81
[[ 9.59275119e-01 -1.27772716e-01 -2.51923361e-01  2.64136082e+02]
 [ 1.27116791e-01  9.91706785e-01 -1.89466117e-02  2.24636093e+01]
 [ 2.52254966e-01 -1.38486761e-02  9.67561701e-01  6.88052892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.88071405700003 meters
Centerline goodness : 0.998601 with order 1
Centerline is valid?  [True, True]
Translation: X:264.19, Y:22.47, Z:68.82
[[ 9.58610698e-01 -1.32665498e-01 -2.51923393e-01  2.64193787e+02]
 [ 1.32175167e-01  9.91045290e-01 -1.89461859e-02  2.24664576e+01]
 [ 2.52180997e-01 -1.51360001e-02  9.67561701e-01  6.88202408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.94071405700004 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:264.25, Y:22.47, Z:68.83
[[ 9.58100816e-01 -1.36299565e-01 -2.51923112e-01  2.64253061e+02]
 [ 1.35931251e-01  9.90537024e-01 -1.89499212e-02  2.24693171e+01]
 [ 2.52122036e-01 -1.60882889e-02  9.67561701e-01  6.88337498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.00071405700004 meters
Centerline goodness : 0.998810 with order 1
Centerline is valid?  [True, True]
Translation: X:264.31, Y:22.47, Z:68.85
[[ 9.57845262e-01 -1.38083432e-01 -2.51923442e-01  2.64311876e+02]
 [ 1.37776669e-01  9.90282110e-01 -1.89455268e-02  2.24732897e+01]
 [ 2.52091341e-01 -1.65622897e-02  9.67561701e-01  6.88482788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.06071405700004 meters
Centerline goodness : 0.998788 with order 1
Centerline is valid?  [True, True]
Translation: X:264.37, Y:22.48, Z:68.86
[[ 9.57912333e-01 -1.37617245e-01 -2.51923514e-01  2.64371691e+02]
 [ 1.37294944e-01  9.90349030e-01 -1.89445787e-02  2.24784865e+01]
 [ 2.52099308e-01 -1.64405791e-02  9.67561701e-01  6.88617063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.12071405700004 meters
Centerline goodness : 0.998900 with order 1
Centerline is valid?  [True, True]
Translation: X:264.43, Y:22.48, Z:68.88
[[ 9.58000022e-01 -1.37004161e-01 -2.51924229e-01  2.64429774e+02]
 [ 1.36663593e-01  9.90436533e-01 -1.89350657e-02  2.24841941e+01]
 [ 2.52109143e-01 -1.62890768e-02  9.67561702e-01  6.88765743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.18071405700005 meters
Centerline goodness : 0.998834 with order 1
Centerline is valid?  [True, True]
Translation: X:264.49, Y:22.49, Z:68.89
[[ 9.58339922e-01 -1.34605340e-01 -2.51924584e-01  2.64488643e+02]
 [ 1.34184804e-01  9.90775495e-01 -1.89303409e-02  2.24913857e+01]
 [ 2.52148829e-01 -1.56627494e-02  9.67561702e-01  6.88914275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.24071405700005 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:264.55, Y:22.50, Z:68.91
[[ 9.58677950e-01 -1.32174397e-01 -2.51925619e-01  2.64547030e+02]
 [ 1.31675210e-01  9.91112407e-01 -1.89165531e-02  2.24994866e+01]
 [ 2.52186891e-01 -1.50374763e-02  9.67561702e-01  6.89066629e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.30071405700005 meters
Centerline goodness : 0.998709 with order 1
Centerline is valid?  [True, True]
Translation: X:264.61, Y:22.51, Z:68.92
[[ 9.58856377e-01 -1.30873506e-01 -2.51925729e-01  2.64605991e+02]
 [ 1.30330695e-01  9.91290134e-01 -1.89150894e-02  2.25063817e+01]
 [ 2.52206974e-01 -1.46968012e-02  9.67561702e-01  6.89227340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.36071405700005 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:264.67, Y:22.51, Z:68.94
[[ 9.58999486e-01 -1.29819300e-01 -2.51926448e-01  2.64665817e+02]
 [ 1.29243341e-01  9.91432671e-01 -1.89055095e-02  2.25117033e+01]
 [ 2.52222411e-01 -1.44294418e-02  9.67561702e-01  6.89383225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.42071405700005 meters
Centerline goodness : 0.998380 with order 1
Centerline is valid?  [True, True]
Translation: X:264.72, Y:22.52, Z:68.95
[[ 9.59014679e-01 -1.29704278e-01 -2.51927858e-01  2.64724392e+02]
 [ 1.29129352e-01  9.91447882e-01 -1.88867057e-02  2.25176538e+01]
 [ 2.52223027e-01 -1.44186530e-02  9.67561702e-01  6.89530371e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.48071405700006 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:264.78, Y:22.52, Z:68.97
[[ 9.59031785e-01 -1.29577058e-01 -2.51928208e-01  2.64783784e+02]
 [ 1.28999053e-01  9.91464933e-01 -1.88820361e-02  2.25222759e+01]
 [ 2.52224662e-01 -1.43900274e-02  9.67561702e-01  6.89682781e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.54071405700006 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:264.84, Y:22.53, Z:68.98
[[ 9.59217059e-01 -1.28196919e-01 -2.51928924e-01  2.64841499e+02]
 [ 1.27574749e-01  9.91649390e-01 -1.88724707e-02  2.25271928e+01]
 [ 2.52244557e-01 -1.40369734e-02  9.67561702e-01  6.89831444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.60071405700006 meters
Centerline goodness : 0.998501 with order 1
Centerline is valid?  [True, True]
Translation: X:264.90, Y:22.53, Z:69.00
[[ 9.59549909e-01 -1.25681301e-01 -2.51928924e-01  2.64901730e+02]
 [ 1.24974091e-01  9.91980497e-01 -1.88724707e-02  2.25309101e+01]
 [ 2.52280496e-01 -1.33755108e-02  9.67561702e-01  6.89989000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.66071405700006 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:264.96, Y:22.54, Z:69.01
[[ 9.59787915e-01 -1.23847744e-01 -2.51930336e-01  2.64960379e+02]
 [ 1.23083513e-01  9.92217209e-01 -1.88536046e-02  2.25351136e+01]
 [ 2.52304592e-01 -1.29130089e-02  9.67561702e-01  6.90143528e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.72071405700007 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:265.02, Y:22.54, Z:69.03
[[ 9.60155438e-01 -1.20964456e-01 -2.51930813e-01  2.65017807e+02]
 [ 1.20104497e-01  9.92582335e-01 -1.88472256e-02  2.25382453e+01]
 [ 2.52341919e-01 -1.21617573e-02  9.67561702e-01  6.90291385e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.78071405700007 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:265.08, Y:22.54, Z:69.04
[[ 9.60433847e-01 -1.18734425e-01 -2.51930469e-01  2.65078178e+02]
 [ 1.17797962e-01  9.92858625e-01 -1.88518224e-02  2.25403174e+01]
 [ 2.52369700e-01 -1.15709675e-02  9.67561702e-01  6.90435089e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.840714057 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:265.14, Y:22.54, Z:69.06
[[ 9.60727128e-01 -1.16335284e-01 -2.51931513e-01  2.65136800e+02]
 [ 1.15321492e-01  9.93149580e-01 -1.88378698e-02  2.25417940e+01]
 [ 2.52397185e-01 -1.09550652e-02  9.67561702e-01  6.90571199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.900714057 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:265.20, Y:22.54, Z:69.07
[[ 9.61036026e-01 -1.13754553e-01 -2.51931854e-01  2.65195605e+02]
 [ 1.12654878e-01  9.93455678e-01 -1.88333084e-02  2.25436637e+01]
 [ 2.52425505e-01 -1.02818645e-02  9.67561702e-01  6.90710109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.960714057 meters
Centerline goodness : 0.998946 with order 1
Centerline is valid?  [True, True]
Translation: X:265.25, Y:22.54, Z:69.09
[[ 9.61230781e-01 -1.12097257e-01 -2.51931719e-01  2.65253969e+02]
 [ 1.10941211e-01  9.93648472e-01 -1.88351056e-02  2.25448824e+01]
 [ 2.52442932e-01 -9.84472688e-03  9.67561702e-01  6.90850525e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.020714057 meters
Centerline goodness : 0.999087 with order 1
Centerline is valid?  [True, True]
Translation: X:265.31, Y:22.55, Z:69.10
[[ 9.61479040e-01 -1.09949128e-01 -2.51931034e-01  2.65311531e+02]
 [ 1.08718250e-01  9.93893976e-01 -1.88442746e-02  2.25456037e+01]
 [ 2.52464648e-01 -9.27112608e-03  9.67561702e-01  6.91013947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.080714057 meters
Centerline goodness : 0.999246 with order 1
Centerline is valid?  [True, True]
Translation: X:265.37, Y:22.55, Z:69.12
[[ 9.61719846e-01 -1.07824134e-01 -2.51930334e-01  2.65368097e+02]
 [ 1.06519180e-01  9.94131885e-01 -1.88536275e-02  2.25477120e+01]
 [ 2.52484854e-01 -8.70350474e-03  9.67561702e-01  6.91160601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.140714057 meters
Centerline goodness : 0.999155 with order 1
Centerline is valid?  [True, True]
Translation: X:265.43, Y:22.55, Z:69.13
[[ 9.61893824e-01 -1.06263345e-01 -2.51929302e-01  2.65425503e+02]
 [ 1.04902192e-01  9.94303551e-01 -1.88673992e-02  2.25478614e+01]
 [ 2.52499113e-01 -8.27950128e-03  9.67561702e-01  6.91311805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.200714057 meters
Centerline goodness : 0.999202 with order 1
Centerline is valid?  [True, True]
Translation: X:265.48, Y:22.55, Z:69.15
[[ 9.61763078e-01 -1.07450848e-01 -2.51924785e-01  2.65482094e+02]
 [ 1.06113977e-01  9.94173814e-01 -1.89275299e-02  2.25470771e+01]
 [ 2.52490804e-01 -8.52894147e-03  9.67561704e-01  6.91452018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.26071405700003 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:265.54, Y:22.55, Z:69.16
[[ 9.61508542e-01 -1.09709107e-01 -2.51923076e-01  2.65538635e+02]
 [ 1.08442408e-01  9.93922096e-01 -1.89502476e-02  2.25458112e+01]
 [ 2.52470927e-01 -9.09832003e-03  9.67561704e-01  6.91571875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.32071405700003 meters
Centerline goodness : 0.999341 with order 1
Centerline is valid?  [True, True]
Translation: X:265.60, Y:22.55, Z:69.17
[[ 9.61248011e-01 -1.11974562e-01 -2.51920540e-01  2.65596277e+02]
 [ 1.10775439e-01  9.93664135e-01 -1.89839085e-02  2.25462360e+01]
 [ 2.52450120e-01 -9.65836397e-03  9.67561705e-01  6.91711246e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.38071405700003 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:265.65, Y:22.55, Z:69.19
[[ 9.60976705e-01 -1.14289196e-01 -2.51916161e-01  2.65654897e+02]
 [ 1.13152979e-01  9.93395093e-01 -1.90418476e-02  2.25476736e+01]
 [ 2.52428555e-01 -1.02062921e-02  9.67561707e-01  6.91856465e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.44071405700004 meters
Centerline goodness : 0.999143 with order 1
Centerline is valid?  [True, True]
Translation: X:265.71, Y:22.55, Z:69.20
[[ 9.60509831e-01 -1.18149419e-01 -2.51915819e-01  2.65711547e+02]
 [ 1.17142285e-01  9.92932486e-01 -1.90463608e-02  2.25469045e+01]
 [ 2.52385717e-01 -1.12157780e-02  9.67561707e-01  6.91994793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.50071405700004 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:265.77, Y:22.55, Z:69.22
[[ 9.60160377e-01 -1.20959668e-01 -2.51914291e-01  2.65769232e+02]
 [ 1.20042130e-01  9.92585691e-01 -1.90665613e-02  2.25474538e+01]
 [ 2.52352805e-01 -1.19333713e-02  9.67561707e-01  6.92154628e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.56071405700004 meters
Centerline goodness : 0.999552 with order 1
Centerline is valid?  [True, True]
Translation: X:265.83, Y:22.55, Z:69.23
[[ 9.59484536e-01 -1.26209938e-01 -2.51913630e-01  2.65827508e+02]
 [ 1.25467496e-01  9.91914332e-01 -1.90752829e-02  2.25484380e+01]
 [ 2.52284230e-01 -1.33045334e-02  9.67561707e-01  6.92322608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.62071405700004 meters
Centerline goodness : 0.999732 with order 1
Centerline is valid?  [True, True]
Translation: X:265.89, Y:22.55, Z:69.25
[[ 9.58634272e-01 -1.32513604e-01 -2.51913630e-01  2.65885698e+02]
 [ 1.31984329e-01  9.91068247e-01 -1.90752829e-02  2.25482773e+01]
 [ 2.52191334e-01 -1.49624315e-02  9.67561707e-01  6.92488164e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.68071405700005 meters
Centerline goodness : 0.999710 with order 1
Centerline is valid?  [True, True]
Translation: X:265.94, Y:22.55, Z:69.26
[[ 9.57582850e-01 -1.39909479e-01 -2.51913522e-01  2.65944390e+02]
 [ 1.39630209e-01  9.90019941e-01 -1.90767064e-02  2.25493325e+01]
 [ 2.52068423e-01 -1.69072109e-02  9.67561707e-01  6.92622128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.74071405700005 meters
Centerline goodness : 0.999510 with order 1
Centerline is valid?  [True, True]
Translation: X:266.00, Y:22.55, Z:69.28
[[ 9.56775452e-01 -1.45328366e-01 -2.51913477e-01  2.66003717e+02]
 [ 1.45232579e-01  9.89213604e-01 -1.90773054e-02  2.25525184e+01]
 [ 2.51968712e-01 -1.83333466e-02  9.67561707e-01  6.92762270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.80071405700005 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:266.06, Y:22.56, Z:69.29
[[ 9.56645800e-01 -1.46178702e-01 -2.51913875e-01  2.66062017e+02]
 [ 1.46113124e-01  9.89084027e-01 -1.90720473e-02  2.25564065e+01]
 [ 2.51951917e-01 -1.85627292e-02  9.67561707e-01  6.92904331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.86071405700005 meters
Centerline goodness : 0.999376 with order 1
Centerline is valid?  [True, True]
Translation: X:266.12, Y:22.56, Z:69.31
[[ 9.57063718e-01 -1.43417011e-01 -2.51913875e-01  2.66118909e+02]
 [ 1.43257809e-01  9.89501621e-01 -1.90720473e-02  2.25625361e+01]
 [ 2.52004444e-01 -1.78354654e-02  9.67561707e-01  6.93051739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.92071405700005 meters
Centerline goodness : 0.999171 with order 1
Centerline is valid?  [True, True]
Translation: X:266.18, Y:22.57, Z:69.32
[[ 9.58135950e-01 -1.36070116e-01 -2.51913527e-01  2.66176711e+02]
 [ 1.35660848e-01  9.90571661e-01 -1.90766462e-02  2.25706063e+01]
 [ 2.52134162e-01 -1.58967822e-02  9.67561707e-01  6.93214244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.98071405700006 meters
Centerline goodness : 0.998790 with order 1
Centerline is valid?  [True, True]
Translation: X:266.23, Y:22.58, Z:69.34
[[ 9.59226998e-01 -1.28153082e-01 -2.51913387e-01  2.66234555e+02]
 [ 1.27475485e-01  9.91658213e-01 -1.90784974e-02  2.25783629e+01]
 [ 2.52256947e-01 -1.38121714e-02  9.67561707e-01  6.93367720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.04071405700006 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:266.29, Y:22.59, Z:69.35
[[ 9.60190111e-01 -1.20725466e-01 -2.51913304e-01  2.66292056e+02]
 [ 1.19796610e-01  9.92615102e-01 -1.90795830e-02  2.25861184e+01]
 [ 2.52356342e-01 -1.18583331e-02  9.67561707e-01  6.93517785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.10071405700006 meters
Centerline goodness : 0.999460 with order 1
Centerline is valid?  [True, True]
Translation: X:266.35, Y:22.59, Z:69.37
[[ 9.60658629e-01 -1.16939940e-01 -2.51912782e-01  2.66350780e+02]
 [ 1.15881481e-01  9.93079649e-01 -1.90864850e-02  2.25919527e+01]
 [ 2.52401429e-01 -1.08564297e-02  9.67561707e-01  6.93665200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.16071405700006 meters
Centerline goodness : 0.998762 with order 1
Centerline is valid?  [True, True]
Translation: X:266.41, Y:22.60, Z:69.38
[[ 9.61213183e-01 -1.12290855e-01 -2.51912643e-01  2.66406738e+02]
 [ 1.11075077e-01  9.93628685e-01 -1.90883110e-02  2.25981418e+01]
 [ 2.52451071e-01 -9.63327998e-03  9.67561707e-01  6.93804895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.22071405700007 meters
Centerline goodness : 0.999006 with order 1
Centerline is valid?  [True, True]
Translation: X:266.47, Y:22.60, Z:69.40
[[ 9.61626479e-01 -1.08698627e-01 -2.51910943e-01  2.66465304e+02]
 [ 1.07355875e-01  9.94036969e-01 -1.91107287e-02  2.26044805e+01]
 [ 2.52486100e-01 -8.66673696e-03  9.67561707e-01  6.93950331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.28071405700007 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:266.52, Y:22.61, Z:69.41
[[ 9.61776958e-01 -1.07359094e-01 -2.51910911e-01  2.66520703e+02]
 [ 1.05971091e-01  9.94185542e-01 -1.91111435e-02  2.26105680e+01]
 [ 2.52497941e-01 -8.31461661e-03  9.67561707e-01  6.94090767e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.340714057 meters
Centerline goodness : 0.999232 with order 1
Centerline is valid?  [True, True]
Translation: X:266.58, Y:22.62, Z:69.42
[[ 9.61568751e-01 -1.09212008e-01 -2.51909257e-01  2.66578057e+02]
 [ 1.07880752e-01  9.93979715e-01 -1.91329218e-02  2.26157909e+01]
 [ 2.52482236e-01 -8.77854036e-03  9.67561707e-01  6.94243347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.400714057 meters
Centerline goodness : 0.999098 with order 1
Centerline is valid?  [True, True]
Translation: X:266.64, Y:22.62, Z:69.44
[[ 9.60970258e-01 -1.14360158e-01 -2.51908550e-01  2.66636774e+02]
 [ 1.13200063e-01  9.93387800e-01 -1.91422316e-02  2.26193799e+01]
 [ 2.52431988e-01 -1.01209485e-02  9.67561707e-01  6.94377232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.460714057 meters
Centerline goodness : 0.999392 with order 1
Centerline is valid?  [True, True]
Translation: X:266.70, Y:22.62, Z:69.45
[[ 9.60454561e-01 -1.18613333e-01 -2.51908541e-01  2.66695753e+02]
 [ 1.17596735e-01  9.92876920e-01 -1.91423443e-02  2.26228951e+01]
 [ 2.52384714e-01 -1.12382700e-02  9.67561707e-01  6.94511140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.520714057 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:266.75, Y:22.63, Z:69.47
[[ 9.59545459e-01 -1.25756106e-01 -2.51908541e-01  2.66754739e+02]
 [ 1.24980768e-01  9.91974485e-01 -1.91423443e-02  2.26273615e+01]
 [ 2.52294112e-01 -1.31157733e-02  9.67561707e-01  6.94652879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.580714057 meters
Centerline goodness : 0.999234 with order 1
Centerline is valid?  [True, True]
Translation: X:266.81, Y:22.63, Z:69.48
[[ 9.58496626e-01 -1.33515213e-01 -2.51908527e-01  2.66811786e+02]
 [ 1.33002220e-01  9.90930862e-01 -1.91425301e-02  2.26305742e+01]
 [ 2.52179753e-01 -1.51563428e-02  9.67561707e-01  6.94792605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.640714057 meters
Centerline goodness : 0.999235 with order 1
Centerline is valid?  [True, True]
Translation: X:266.87, Y:22.63, Z:69.49
[[ 9.57848530e-01 -1.38088017e-01 -2.51908501e-01  2.66870361e+02]
 [ 1.37729728e-01  9.90284844e-01 -1.91428758e-02  2.26346933e+01]
 [ 2.52104572e-01 -1.63593138e-02  9.67561707e-01  6.94929752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.700714057 meters
Centerline goodness : 0.999303 with order 1
Centerline is valid?  [True, True]
Translation: X:266.93, Y:22.64, Z:69.51
[[ 9.57188477e-01 -1.42592263e-01 -2.51908050e-01  2.66927915e+02]
 [ 1.42385006e-01  9.89626108e-01 -1.91488083e-02  2.26391078e+01]
 [ 2.52025255e-01 -1.75389104e-02  9.67561707e-01  6.95051336e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.76071405700003 meters
Centerline goodness : 0.999170 with order 1
Centerline is valid?  [True, True]
Translation: X:266.99, Y:22.65, Z:69.52
[[ 9.56722722e-01 -1.45684549e-01 -2.51908008e-01  2.66985463e+02]
 [ 1.45581968e-01  9.89160853e-01 -1.91493557e-02  2.26459872e+01]
 [ 2.51967305e-01 -1.83526398e-02  9.67561707e-01  6.95195893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.82071405700003 meters
Centerline goodness : 0.998875 with order 1
Centerline is valid?  [True, True]
Translation: X:267.04, Y:22.65, Z:69.54
[[ 9.56517291e-01 -1.47028485e-01 -2.51907318e-01  2.67043192e+02]
 [ 1.46969100e-01  9.88955529e-01 -1.91584262e-02  2.26532638e+01]
 [ 2.51941970e-01 -1.86972260e-02  9.67561707e-01  6.95359213e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.88071405700003 meters
Centerline goodness : 0.999005 with order 1
Centerline is valid?  [True, True]
Translation: X:267.10, Y:22.66, Z:69.55
[[ 9.56511142e-01 -1.47069076e-01 -2.51906972e-01  2.67101367e+02]
 [ 1.47009877e-01  9.88949380e-01 -1.91629754e-02  2.26586852e+01]
 [ 2.51941525e-01 -1.87032135e-02  9.67561707e-01  6.95508101e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.94071405700004 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:267.16, Y:22.67, Z:69.57
[[ 9.56595371e-01 -1.46520218e-01 -2.51906972e-01  2.67159319e+02]
 [ 1.46442406e-01  9.89033570e-01 -1.91629754e-02  2.26650034e+01]
 [ 2.51952215e-01 -1.85586495e-02  9.67561707e-01  6.95662080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.00071405700004 meters
Centerline goodness : 0.999230 with order 1
Centerline is valid?  [True, True]
Translation: X:267.22, Y:22.67, Z:69.58
[[ 9.56972160e-01 -1.44038752e-01 -2.51906972e-01  2.67217724e+02]
 [ 1.43876810e-01  9.89410048e-01 -1.91629754e-02  2.26723449e+01]
 [ 2.51999501e-01 -1.79051377e-02  9.67561707e-01  6.95808951e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.06071405700004 meters
Centerline goodness : 0.999433 with order 1
Centerline is valid?  [True, True]
Translation: X:267.28, Y:22.68, Z:69.60
[[ 9.57598703e-01 -1.39812106e-01 -2.51907323e-01  2.67276106e+02]
 [ 1.39508152e-01  9.90035571e-01 -1.91583650e-02  2.26787233e+01]
 [ 2.52075782e-01 -1.67970997e-02  9.67561707e-01  6.95955599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.12071405700004 meters
Centerline goodness : 0.999069 with order 1
Centerline is valid?  [True, True]
Translation: X:267.33, Y:22.69, Z:69.61
[[ 9.58548152e-01 -1.33147099e-01 -2.51907303e-01  2.67334394e+02]
 [ 1.32617435e-01  9.90982120e-01 -1.91586232e-02  2.26876360e+01]
 [ 2.52186549e-01 -1.50428376e-02  9.67561707e-01  6.96105838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.18071405700005 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:267.39, Y:22.69, Z:69.63
[[ 9.59420159e-01 -1.26711128e-01 -2.51907221e-01  2.67391600e+02]
 [ 1.25963525e-01  9.91849836e-01 -1.91596998e-02  2.26946424e+01]
 [ 2.52281883e-01 -1.33489192e-02  9.67561707e-01  6.96255192e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.24071405700005 meters
Centerline goodness : 0.999017 with order 1
Centerline is valid?  [True, True]
Translation: X:267.45, Y:22.70, Z:69.64
[[ 9.60291013e-01 -1.19934247e-01 -2.51906622e-01  2.67448751e+02]
 [ 1.18955639e-01  9.92714541e-01 -1.91675789e-02  2.27017944e+01]
 [ 2.52370216e-01 -1.15592593e-02  9.67561708e-01  6.96409759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.30071405700005 meters
Centerline goodness : 0.998336 with order 1
Centerline is valid?  [True, True]
Translation: X:267.50, Y:22.71, Z:69.66
[[ 9.61602223e-01 -1.08924221e-01 -2.51906090e-01  2.67504853e+02]
 [ 1.07572368e-01  9.94012335e-01 -1.91745719e-02  2.27087207e+01]
 [ 2.52486335e-01 -8.65982357e-03  9.67561708e-01  6.96566280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.36071405700005 meters
Centerline goodness : 0.998095 with order 1
Centerline is valid?  [True, True]
Translation: X:267.56, Y:22.72, Z:69.67
[[ 9.62219094e-01 -1.03335410e-01 -2.51905159e-01  2.67561758e+02]
 [ 1.01792078e-01  9.94620651e-01 -1.91867912e-02  2.27153233e+01]
 [ 2.52532748e-01 -7.18005268e-03  9.67561708e-01  6.96733511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.42071405700005 meters
Centerline goodness : 0.998166 with order 1
Centerline is valid?  [True, True]
Translation: X:267.62, Y:22.72, Z:69.69
[[ 9.62593434e-01 -9.97894814e-02 -2.51904625e-01  2.67617808e+02]
 [ 9.81249460e-02  9.94988991e-01 -1.91937991e-02  2.27193904e+01]
 [ 2.52557668e-01 -6.24230273e-03  9.67561708e-01  6.96890726e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.48071405700006 meters
Centerline goodness : 0.998054 with order 1
Centerline is valid?  [True, True]
Translation: X:267.67, Y:22.72, Z:69.70
[[ 9.62284034e-01 -1.02733663e-01 -2.51903220e-01  2.67674564e+02]
 [ 1.01163418e-01  9.94684298e-01 -1.92122175e-02  2.27218833e+01]
 [ 2.52537919e-01 -6.99578070e-03  9.67561708e-01  6.97029775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.54071405700006 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:267.73, Y:22.72, Z:69.72
[[ 9.60991895e-01 -1.14200816e-01 -2.51898296e-01  2.67733112e+02]
 [ 1.13000188e-01  9.93407958e-01 -1.92765671e-02  2.27210936e+01]
 [ 2.52439172e-01 -9.93993015e-03  9.67561710e-01  6.97167618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.60071405700006 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:267.79, Y:22.72, Z:69.73
[[ 9.60121360e-01 -1.21302858e-01 -2.51897978e-01  2.67791990e+02]
 [ 1.20340845e-01  9.92545382e-01 -1.92807275e-02  2.27217913e+01]
 [ 2.52358982e-01 -1.18017772e-02  9.67561710e-01  6.97322155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.66071405700006 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:267.85, Y:22.72, Z:69.75
[[ 9.58773081e-01 -1.31535479e-01 -2.51897990e-01  2.67849829e+02]
 [ 1.30919359e-01  9.91205519e-01 -1.92805668e-02  2.27212994e+01]
 [ 2.52218757e-01 -1.44926348e-02  9.67561710e-01  6.97479885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.72071405700007 meters
Centerline goodness : 0.999503 with order 1
Centerline is valid?  [True, True]
Translation: X:267.91, Y:22.72, Z:69.76
[[ 9.57714267e-01 -1.39035161e-01 -2.51898007e-01  2.67907920e+02]
 [ 1.38672946e-01  9.90150535e-01 -1.92803452e-02  2.27215917e+01]
 [ 2.52097593e-01 -1.64663770e-02  9.67561710e-01  6.97642778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.78071405700007 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:267.97, Y:22.72, Z:69.78
[[ 9.57328635e-01 -1.41666356e-01 -2.51897853e-01  2.67966294e+02]
 [ 1.41392747e-01  9.89765771e-01 -1.92823612e-02  2.27238289e+01]
 [ 2.52051534e-01 -1.71569727e-02  9.67561710e-01  6.97801661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.84071405700007 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:268.02, Y:22.72, Z:69.79
[[ 9.57293965e-01 -1.41900432e-01 -2.51897860e-01  2.68023714e+02]
 [ 1.41634778e-01  9.89731167e-01 -1.92822702e-02  2.27248047e+01]
 [ 2.52047325e-01 -1.72186965e-02  9.67561710e-01  6.97934866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.900714057 meters
Centerline goodness : 0.999438 with order 1
Centerline is valid?  [True, True]
Translation: X:268.08, Y:22.73, Z:69.81
[[ 9.57458616e-01 -1.40787077e-01 -2.51896800e-01  2.68081904e+02]
 [ 1.40480076e-01  9.89895453e-01 -1.92961089e-02  2.27277670e+01]
 [ 2.52068140e-01 -1.69112559e-02  9.67561710e-01  6.98104476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.960714057 meters
Centerline goodness : 0.999459 with order 1
Centerline is valid?  [True, True]
Translation: X:268.14, Y:22.73, Z:69.83
[[ 9.57989671e-01 -1.37126919e-01 -2.51896800e-01  2.68140076e+02]
 [ 1.36695956e-01  9.90425099e-01 -1.92961089e-02  2.27315172e+01]
 [ 2.52130929e-01 -1.59478009e-02  9.67561710e-01  6.98251497e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.020714057 meters
Centerline goodness : 0.999347 with order 1
Centerline is valid?  [True, True]
Translation: X:268.20, Y:22.74, Z:69.84
[[ 9.58586807e-01 -1.32888559e-01 -2.51896735e-01  2.68198151e+02]
 [ 1.32313923e-01  9.91020006e-01 -1.92969546e-02  2.27359461e+01]
 [ 2.52199048e-01 -1.48316392e-02  9.67561710e-01  6.98405040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.080714057 meters
Centerline goodness : 0.999574 with order 1
Centerline is valid?  [True, True]
Translation: X:268.26, Y:22.74, Z:69.86
[[ 9.59620337e-01 -1.25207333e-01 -2.51896669e-01  2.68255666e+02]
 [ 1.24372744e-01  9.92047889e-01 -1.92978170e-02  2.27425106e+01]
 [ 2.52309787e-01 -1.28105023e-02  9.67561710e-01  6.98552028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.140714057 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:268.31, Y:22.75, Z:69.87
[[ 9.60427755e-01 -1.18856314e-01 -2.51896217e-01  2.68314226e+02]
 [ 1.17805677e-01  9.92849026e-01 -1.93037189e-02  2.27476194e+01]
 [ 2.52389282e-01 -1.11349770e-02  9.67561710e-01  6.98707654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.200714057 meters
Centerline goodness : 0.999373 with order 1
Centerline is valid?  [True, True]
Translation: X:268.37, Y:22.75, Z:69.88
[[ 9.60795444e-01 -1.15846735e-01 -2.51896108e-01  2.68371927e+02]
 [ 1.14694158e-01  9.93213251e-01 -1.93051328e-02  2.27519795e+01]
 [ 2.52422989e-01 -1.03427284e-02  9.67561710e-01  6.98845579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.26071405700003 meters
Centerline goodness : 0.999392 with order 1
Centerline is valid?  [True, True]
Translation: X:268.43, Y:22.76, Z:69.90
[[ 9.60612454e-01 -1.17355900e-01 -2.51895425e-01  2.68428879e+02]
 [ 1.16251917e-01  9.93031953e-01 -1.93140440e-02  2.27557400e+01]
 [ 2.52406823e-01 -1.07300147e-02  9.67561710e-01  6.99012414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.32071405700003 meters
Centerline goodness : 0.999439 with order 1
Centerline is valid?  [True, True]
Translation: X:268.49, Y:22.76, Z:69.92
[[ 9.60244500e-01 -1.20331647e-01 -2.51894413e-01  2.68486448e+02]
 [ 1.19324664e-01  9.92667156e-01 -1.93272316e-02  2.27583370e+01]
 [ 2.52372988e-01 -1.14983483e-02  9.67561710e-01  6.99157998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.38071405700003 meters
Centerline goodness : 0.999798 with order 1
Centerline is valid?  [True, True]
Translation: X:268.54, Y:22.76, Z:69.93
[[ 9.59205022e-01 -1.28356687e-01 -2.51893404e-01  2.68543745e+02]
 [ 1.27617405e-01  9.91634886e-01 -1.93403762e-02  2.27595628e+01]
 [ 2.52268754e-01 -1.35945966e-02  9.67561710e-01  6.99303587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.44071405700004 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:268.60, Y:22.76, Z:69.95
[[ 9.57995768e-01 -1.37090477e-01 -2.51893449e-01  2.68600924e+02]
 [ 1.36646841e-01  9.90431024e-01 -1.93397902e-02  2.27627934e+01]
 [ 2.52134388e-01 -1.58930069e-02  9.67561710e-01  6.99485162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.50071405700004 meters
Centerline goodness : 0.999820 with order 1
Centerline is valid?  [True, True]
Translation: X:268.66, Y:22.77, Z:69.96
[[ 9.57007564e-01 -1.43827374e-01 -2.51893250e-01  2.68658967e+02]
 [ 1.43611281e-01  9.89445134e-01 -1.93423757e-02  2.27657742e+01]
 [ 2.52016514e-01 -1.76639124e-02  9.67561710e-01  6.99603183e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.56071405700004 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:268.72, Y:22.77, Z:69.97
[[ 9.56159682e-01 -1.49360118e-01 -2.51893266e-01  2.68716449e+02]
 [ 1.49331693e-01  9.88597960e-01 -1.93421760e-02  2.27700343e+01]
 [ 2.51910118e-01 -1.91214389e-02  9.67561710e-01  6.99739066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.62071405700004 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:268.77, Y:22.77, Z:69.99
[[ 9.55575665e-01 -1.53053040e-01 -2.51892665e-01  2.68774051e+02]
 [ 1.53147889e-01  9.88013817e-01 -1.93499975e-02  2.27749278e+01]
 [ 2.51835009e-01 -2.00864432e-02  9.67561710e-01  6.99911909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.68071405700005 meters
Centerline goodness : 0.999843 with order 1
Centerline is valid?  [True, True]
Translation: X:268.83, Y:22.78, Z:70.01
[[ 9.55073747e-01 -1.56154838e-01 -2.51892445e-01  2.68831464e+02]
 [ 1.56354257e-01  9.87511424e-01 -1.93528613e-02  2.27798210e+01]
 [ 2.51768710e-01 -2.09010464e-02  9.67561710e-01  7.00051275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.74071405700005 meters
Centerline goodness : 0.999528 with order 1
Centerline is valid?  [True, True]
Translation: X:268.89, Y:22.79, Z:70.02
[[ 9.55233436e-01 -1.55176113e-01 -2.51891755e-01  2.68890081e+02]
 [ 1.55339943e-01  9.87671312e-01 -1.93618392e-02  2.27862075e+01]
 [ 2.51790755e-01 -2.06337746e-02  9.67561710e-01  7.00229545e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.80071405700005 meters
Centerline goodness : 0.999775 with order 1
Centerline is valid?  [True, True]
Translation: X:268.95, Y:22.79, Z:70.04
[[ 9.55848714e-01 -1.51338750e-01 -2.51892475e-01  2.68946834e+02]
 [ 1.51374766e-01  9.88286984e-01 -1.93524683e-02  2.27938530e+01]
 [ 2.51870832e-01 -1.96321325e-02  9.67561710e-01  7.00380091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.86071405700005 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:269.00, Y:22.80, Z:70.05
[[ 9.56384577e-01 -1.47915197e-01 -2.51892112e-01  2.69004875e+02]
 [ 1.47833825e-01  9.88822764e-01 -1.93571914e-02  2.28007573e+01]
 [ 2.51939877e-01 -1.87252551e-02  9.67561710e-01  7.00518878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.92071405700005 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:269.06, Y:22.81, Z:70.07
[[ 9.56455054e-01 -1.47459676e-01 -2.51891590e-01  2.69061745e+02]
 [ 1.47361078e-01  9.88893194e-01 -1.93639744e-02  2.28078967e+01]
 [ 2.51949285e-01 -1.85982451e-02  9.67561710e-01  7.00664662e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.98071405700006 meters
Centerline goodness : 0.999594 with order 1
Centerline is valid?  [True, True]
Translation: X:269.12, Y:22.81, Z:70.08
[[ 9.56435905e-01 -1.47592037e-01 -2.51886781e-01  2.69116967e+02]
 [ 1.47481592e-01  9.88874005e-01 -1.94263443e-02  2.28138774e+01]
 [ 2.51951463e-01 -1.85686101e-02  9.67561712e-01  7.00807818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.04071405700006 meters
Centerline goodness : 0.999459 with order 1
Centerline is valid?  [True, True]
Translation: X:269.17, Y:22.82, Z:70.09
[[ 9.56368929e-01 -1.48028858e-01 -2.51884753e-01  2.69174215e+02]
 [ 1.47926351e-01  9.88807055e-01 -1.94526009e-02  2.28203805e+01]
 [ 2.51944967e-01 -1.86565292e-02  9.67561713e-01  7.00941719e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.10071405700006 meters
Centerline goodness : 0.999502 with order 1
Centerline is valid?  [True, True]
Translation: X:269.23, Y:22.83, Z:70.11
[[ 9.56346850e-01 -1.48173150e-01 -2.51883742e-01  2.69231080e+02]
 [ 1.48072112e-01  9.88784980e-01 -1.94656777e-02  2.28276837e+01]
 [ 2.51943152e-01 -1.86810181e-02  9.67561713e-01  7.01093421e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.16071405700006 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:269.29, Y:22.83, Z:70.12
[[ 9.56381737e-01 -1.47951737e-01 -2.51881434e-01  2.69288825e+02]
 [ 1.47835374e-01  9.88819815e-01 -1.94955110e-02  2.28331151e+01]
 [ 2.51949747e-01 -1.85918354e-02  9.67561713e-01  7.01246590e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.22071405700007 meters
Centerline goodness : 0.998980 with order 1
Centerline is valid?  [True, True]
Translation: X:269.35, Y:22.84, Z:70.14
[[ 9.56488358e-01 -1.47261526e-01 -2.51881053e-01  2.69346390e+02]
 [ 1.47120466e-01  9.88926338e-01 -1.95004293e-02  2.28414251e+01]
 [ 2.51963470e-01 -1.84049242e-02  9.67561713e-01  7.01426021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.28071405700007 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:269.40, Y:22.85, Z:70.16
[[ 9.56478437e-01 -1.47326045e-01 -2.51880995e-01  2.69403037e+02]
 [ 1.47186977e-01  9.88916426e-01 -1.95011793e-02  2.28489236e+01]
 [ 2.51962285e-01 -1.84211447e-02  9.67561713e-01  7.01597916e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.34071405700007 meters
Centerline goodness : 0.999272 with order 1
Centerline is valid?  [True, True]
Translation: X:269.46, Y:22.86, Z:70.18
[[ 9.56382754e-01 -1.47946713e-01 -2.51880523e-01  2.69462315e+02]
 [ 1.47827099e-01  9.88820820e-01 -1.95072726e-02  2.28551147e+01]
 [ 2.51950742e-01 -1.85783480e-02  9.67561713e-01  7.01761539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.400714057 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:269.52, Y:22.86, Z:70.19
[[ 9.56098715e-01 -1.49770133e-01 -2.51881229e-01  2.69522687e+02]
 [ 1.49714764e-01  9.88536955e-01 -1.94981502e-02  2.28611896e+01]
 [ 2.51914144e-01 -1.90681824e-02  9.67561713e-01  7.01907200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.460714057 meters
Centerline goodness : 0.999549 with order 1
Centerline is valid?  [True, True]
Translation: X:269.58, Y:22.87, Z:70.20
[[ 9.55793124e-01 -1.51705659e-01 -2.51882707e-01  2.69581649e+02]
 [ 1.51720974e-01  9.88231407e-01 -1.94790415e-02  2.28670224e+01]
 [ 2.51873482e-01 -1.95979556e-02  9.67561713e-01  7.02015352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.520714057 meters
Centerline goodness : 0.999681 with order 1
Centerline is valid?  [True, True]
Translation: X:269.64, Y:22.87, Z:70.22
[[ 9.55356716e-01 -1.54430075e-01 -2.51882707e-01  2.69640092e+02]
 [ 1.54537873e-01  9.87794823e-01 -1.94790415e-02  2.28720410e+01]
 [ 2.51816584e-01 -2.03159846e-02  9.67561713e-01  7.02176106e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.580714057 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:269.70, Y:22.88, Z:70.23
[[ 9.55294501e-01 -1.54814296e-01 -2.51882811e-01  2.69698352e+02]
 [ 1.54935492e-01  9.87732561e-01 -1.94776983e-02  2.28776985e+01]
 [ 2.51808280e-01 -2.04186492e-02  9.67561713e-01  7.02333437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.640714057 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:269.76, Y:22.88, Z:70.25
[[ 9.55444936e-01 -1.53882568e-01 -2.51883166e-01  2.69757197e+02]
 [ 1.53973334e-01  9.87883096e-01 -1.94730989e-02  2.28828285e+01]
 [ 2.51827692e-01 -2.01778170e-02  9.67561713e-01  7.02495498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.700714057 meters
Centerline goodness : 0.999412 with order 1
Centerline is valid?  [True, True]
Translation: X:269.82, Y:22.89, Z:70.26
[[ 9.55639130e-01 -1.52670776e-01 -2.51883877e-01  2.69816897e+02]
 [ 1.52722813e-01  9.88077375e-01 -1.94639054e-02  2.28873735e+01]
 [ 2.51852329e-01 -1.98679445e-02  9.67561713e-01  7.02645449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.76071405700003 meters
Centerline goodness : 0.999660 with order 1
Centerline is valid?  [True, True]
Translation: X:269.88, Y:22.89, Z:70.28
[[ 9.55645584e-01 -1.52629223e-01 -2.51884571e-01  2.69876352e+02]
 [ 1.52682204e-01  9.88083828e-01 -1.94549115e-02  2.28916888e+01]
 [ 2.51852459e-01 -1.98662913e-02  9.67561713e-01  7.02792484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.82071405700003 meters
Centerline goodness : 0.999727 with order 1
Centerline is valid?  [True, True]
Translation: X:269.93, Y:22.89, Z:70.29
[[ 9.55319098e-01 -1.54658414e-01 -2.51885283e-01  2.69934640e+02]
 [ 1.54782700e-01  9.87757147e-01 -1.94456958e-02  2.28945385e+01]
 [ 2.51808929e-01 -2.04106395e-02  9.67561713e-01  7.02938827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.88071405700003 meters
Centerline goodness : 0.999637 with order 1
Centerline is valid?  [True, True]
Translation: X:269.99, Y:22.90, Z:70.31
[[ 9.54650063e-01 -1.58735859e-01 -2.51885260e-01  2.69993399e+02]
 [ 1.58998565e-01  9.87087286e-01 -1.94459867e-02  2.28968748e+01]
 [ 2.51719513e-01 -2.14852826e-02  9.67561713e-01  7.03096370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.94071405700004 meters
Centerline goodness : 0.999886 with order 1
Centerline is valid?  [True, True]
Translation: X:270.05, Y:22.90, Z:70.32
[[ 9.54112599e-01 -1.61934508e-01 -2.51885618e-01  2.70053187e+02]
 [ 1.62307140e-01  9.86548745e-01 -1.94413579e-02  2.28977218e+01]
 [ 2.51645667e-01 -2.23335897e-02  9.67561713e-01  7.03229260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.00071405700004 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:270.11, Y:22.90, Z:70.33
[[ 9.54556921e-01 -1.59293615e-01 -2.51886144e-01  2.70113183e+02]
 [ 1.59578274e-01  9.86993958e-01 -1.94345339e-02  2.28996801e+01]
 [ 2.51705900e-01 -2.16441872e-02  9.67561713e-01  7.03301527e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.06071405700004 meters
Centerline goodness : 0.999841 with order 1
Centerline is valid?  [True, True]
Translation: X:270.17, Y:22.90, Z:70.35
[[ 9.54525302e-01 -1.59482971e-01 -2.51886144e-01  2.70170178e+02]
 [ 1.59774065e-01  9.86962283e-01 -1.94345339e-02  2.29040708e+01]
 [ 2.51701601e-01 -2.16941188e-02  9.67561713e-01  7.03536210e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.12071405700004 meters
Centerline goodness : 0.999704 with order 1
Centerline is valid?  [True, True]
Translation: X:270.23, Y:22.91, Z:70.37
[[ 9.55326532e-01 -1.54609910e-01 -2.51886864e-01  2.70227652e+02]
 [ 1.54737918e-01  9.87764566e-01 -1.94252007e-02  2.29075252e+01]
 [ 2.51808247e-01 -2.04190391e-02  9.67561713e-01  7.03710401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.18071405700005 meters
Centerline goodness : 0.999750 with order 1
Centerline is valid?  [True, True]
Translation: X:270.29, Y:22.91, Z:70.39
[[ 9.56107099e-01 -1.49707118e-01 -2.51886868e-01  2.70285190e+02]
 [ 1.49668734e-01  9.88545363e-01 -1.94251411e-02  2.29105339e+01]
 [ 2.51909678e-01 -1.91270734e-02  9.67561713e-01  7.03860687e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.24071405700005 meters
Centerline goodness : 0.999659 with order 1
Centerline is valid?  [True, True]
Translation: X:270.34, Y:22.91, Z:70.40
[[ 9.56584790e-01 -1.46624491e-01 -2.51886481e-01  2.70344157e+02]
 [ 1.46480231e-01  9.89022755e-01 -1.94301672e-02  2.29127852e+01]
 [ 2.51970400e-01 -1.83097877e-02  9.67561714e-01  7.03988169e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.30071405700005 meters
Centerline goodness : 0.999909 with order 1
Centerline is valid?  [True, True]
Translation: X:270.40, Y:22.92, Z:70.41
[[ 9.56607571e-01 -1.46475846e-01 -2.51886447e-01  2.70402491e+02]
 [ 1.46326432e-01  9.89045513e-01 -1.94306042e-02  2.29153061e+01]
 [ 2.51973274e-01 -1.82701819e-02  9.67561714e-01  7.04123484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.36071405700005 meters
Centerline goodness : 0.999751 with order 1
Centerline is valid?  [True, True]
Translation: X:270.46, Y:22.92, Z:70.42
[[ 9.56454253e-01 -1.47474864e-01 -2.51885741e-01  2.70459880e+02]
 [ 1.47356932e-01  9.88892325e-01 -1.94397545e-02  2.29169746e+01]
 [ 2.51954751e-01 -1.85238740e-02  9.67561714e-01  7.04249476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.42071405700005 meters
Centerline goodness : 0.999774 with order 1
Centerline is valid?  [True, True]
Translation: X:270.52, Y:22.92, Z:70.44
[[ 9.56331129e-01 -1.48272960e-01 -2.51884698e-01  2.70518775e+02]
 [ 1.48178559e-01  9.88769278e-01 -1.94532634e-02  2.29187989e+01]
 [ 2.51940244e-01 -1.87201502e-02  9.67561714e-01  7.04407879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.48071405700006 meters
Centerline goodness : 0.999593 with order 1
Centerline is valid?  [True, True]
Translation: X:270.58, Y:22.92, Z:70.46
[[ 9.56219110e-01 -1.48993879e-01 -2.51884571e-01  2.70576241e+02]
 [ 1.48923505e-01  9.88657320e-01 -1.94548962e-02  2.29214522e+01]
 [ 2.51926186e-01 -1.89083897e-02  9.67561714e-01  7.04556985e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.54071405700006 meters
Centerline goodness : 0.999820 with order 1
Centerline is valid?  [True, True]
Translation: X:270.63, Y:22.92, Z:70.47
[[ 9.56203007e-01 -1.49098405e-01 -2.51883854e-01  2.70633268e+02]
 [ 1.49029145e-01  9.88641219e-01 -1.94641788e-02  2.29230901e+01]
 [ 2.51924839e-01 -1.89263290e-02  9.67561714e-01  7.04720000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.60071405700006 meters
Centerline goodness : 0.999687 with order 1
Centerline is valid?  [True, True]
Translation: X:270.69, Y:22.92, Z:70.49
[[ 9.56289208e-01 -1.48545728e-01 -2.51883143e-01  2.70688653e+02]
 [ 1.48455311e-01  9.88727368e-01 -1.94733746e-02  2.29240460e+01]
 [ 2.51936444e-01 -1.87712125e-02  9.67561714e-01  7.04885969e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.66071405700006 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:270.75, Y:22.92, Z:70.51
[[ 9.56376192e-01 -1.47987644e-01 -2.51881392e-01  2.70745021e+02]
 [ 1.47872371e-01  9.88814274e-01 -1.94960002e-02  2.29247081e+01]
 [ 2.51949083e-01 -1.86007882e-02  9.67561714e-01  7.05063088e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.72071405700007 meters
Centerline goodness : 0.999732 with order 1
Centerline is valid?  [True, True]
Translation: X:270.80, Y:22.93, Z:70.52
[[ 9.56322685e-01 -1.48341278e-01 -2.51876534e-01  2.70802931e+02]
 [ 1.48221609e-01  9.88760748e-01 -1.95585719e-02  2.29250218e+01]
 [ 2.51946973e-01 -1.86292392e-02  9.67561716e-01  7.05206302e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.78071405700007 meters
Centerline goodness : 0.999800 with order 1
Centerline is valid?  [True, True]
Translation: X:270.86, Y:22.93, Z:70.54
[[ 9.56459861e-01 -1.47455405e-01 -2.51875838e-01  2.70857480e+02]
 [ 1.47303343e-01  9.88897789e-01 -1.95675339e-02  2.29283834e+01]
 [ 2.51964797e-01 -1.83865920e-02  9.67561716e-01  7.05382744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.84071405700007 meters
Centerline goodness : 0.999733 with order 1
Centerline is valid?  [True, True]
Translation: X:270.91, Y:22.93, Z:70.56
[[ 9.57224544e-01 -1.42410580e-01 -2.51873778e-01  2.70914522e+02]
 [ 1.42080560e-01  9.89661149e-01 -1.95940144e-02  2.29306279e+01]
 [ 2.52060087e-01 -1.70304960e-02  9.67561716e-01  7.05582843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.900714057 meters
Centerline goodness : 0.999555 with order 1
Centerline is valid?  [True, True]
Translation: X:270.97, Y:22.93, Z:70.57
[[ 9.58347453e-01 -1.34646921e-01 -2.51873709e-01  2.70973846e+02]
 [ 1.34053761e-01  9.90780313e-01 -1.95948935e-02  2.29329582e+01]
 [ 2.52189905e-01 -1.49859018e-02  9.67561716e-01  7.05695687e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.960714057 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:271.03, Y:22.94, Z:70.59
[[ 9.59624379e-01 -1.25222729e-01 -2.51873618e-01  2.71031866e+02]
 [ 1.24310572e-01  9.92049835e-01 -1.95960672e-02  2.29398005e+01]
 [ 2.52325054e-01 -1.25056897e-02  9.67561716e-01  7.05850359e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.020714057 meters
Centerline goodness : 0.999531 with order 1
Centerline is valid?  [True, True]
Translation: X:271.09, Y:22.94, Z:70.60
[[ 9.60728964e-01 -1.16445517e-01 -2.51873577e-01  2.71088991e+02]
 [ 1.15236858e-01  9.93144723e-01 -1.95965932e-02  2.29430019e+01]
 [ 2.52428849e-01 -1.01981049e-02  9.67561716e-01  7.06026823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.080714057 meters
Centerline goodness : 0.999349 with order 1
Centerline is valid?  [True, True]
Translation: X:271.15, Y:22.95, Z:70.62
[[ 9.60953318e-01 -1.14580572e-01 -2.51873012e-01  2.71145626e+02]
 [ 1.13307096e-01  9.93366594e-01 -1.96038578e-02  2.29475327e+01]
 [ 2.52448457e-01 -9.70060739e-03  9.67561716e-01  7.06179471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.140714057 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:271.20, Y:22.95, Z:70.63
[[ 9.61066838e-01 -1.13627607e-01 -2.51871594e-01  2.71202666e+02]
 [ 1.12317229e-01  9.93478644e-01 -1.96220511e-02  2.29517207e+01]
 [ 2.52458657e-01 -9.43141685e-03  9.67561716e-01  7.06320154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.200714057 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:271.26, Y:22.95, Z:70.64
[[ 9.60910680e-01 -1.14942390e-01 -2.51870824e-01  2.71259588e+02]
 [ 1.13673768e-01  9.93324147e-01 -1.96319403e-02  2.29523971e+01]
 [ 2.52445913e-01 -9.76656453e-03  9.67561716e-01  7.06448700e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.26071405700003 meters
Centerline goodness : 0.996832 with order 1
Centerline is valid?  [True, True]
Translation: X:271.32, Y:22.95, Z:70.66
[[ 9.60131638e-01 -1.21281871e-01 -2.51868905e-01  2.71318684e+02]
 [ 1.20220770e-01  9.92552562e-01 -1.96565211e-02  2.29494859e+01]
 [ 2.52377107e-01 -1.14070259e-02  9.67561717e-01  7.06569900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.32071405700003 meters
Centerline goodness : 0.998490 with order 1
Centerline is valid?  [True, True]
Translation: X:271.38, Y:22.95, Z:70.67
[[ 9.58950270e-01 -1.30293643e-01 -2.51868905e-01  2.71377803e+02]
 [ 1.29537072e-01  9.91379730e-01 -1.96565211e-02  2.29454814e+01]
 [ 2.52258847e-01 -1.37767342e-02  9.67561717e-01  7.06683103e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.38071405700003 meters
Centerline goodness : 0.997797 with order 1
Centerline is valid?  [True, True]
Translation: X:271.44, Y:22.94, Z:70.68
[[ 9.58242100e-01 -1.35404202e-01 -2.51868576e-01  2.71437798e+02]
 [ 1.34819427e-01  9.90675112e-01 -1.96607371e-02  2.29379080e+01]
 [ 2.52182076e-01 -1.51170311e-02  9.67561717e-01  7.06790225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.44071405700004 meters
Centerline goodness : 0.995395 with order 1
Centerline is valid?  [True, True]
Translation: X:271.49, Y:22.93, Z:70.69
[[ 9.57903356e-01 -1.37780508e-01 -2.51868404e-01  2.71494780e+02]
 [ 1.37275602e-01  9.90337709e-01 -1.96629379e-02  2.29323966e+01]
 [ 2.52143948e-01 -1.57401927e-02  9.67561717e-01  7.06920570e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.50071405700004 meters
Centerline goodness : 0.996688 with order 1
Centerline is valid?  [True, True]
Translation: X:271.55, Y:22.93, Z:70.71
[[ 9.58282488e-01 -1.35121575e-01 -2.51866696e-01  2.71553229e+02]
 [ 1.34520934e-01  9.90715210e-01 -1.96847964e-02  2.29288609e+01]
 [ 2.52188007e-01 -1.50177475e-02  9.67561717e-01  7.07072386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.56071405700004 meters
Centerline goodness : 0.995665 with order 1
Centerline is valid?  [True, True]
Translation: X:271.61, Y:22.93, Z:70.72
[[ 9.58527314e-01 -1.33373937e-01 -2.51866595e-01  2.71611601e+02]
 [ 1.32713817e-01  9.90958879e-01 -1.96860929e-02  2.29252803e+01]
 [ 2.52215050e-01 -1.45565193e-02  9.67561717e-01  7.07201542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.62071405700004 meters
Centerline goodness : 0.994312 with order 1
Centerline is valid?  [True, True]
Translation: X:271.67, Y:22.92, Z:70.73
[[ 9.58460943e-01 -1.33852668e-01 -2.51865210e-01  2.71669134e+02]
 [ 1.33204112e-01  9.90892742e-01 -1.97037881e-02  2.29207263e+01]
 [ 2.52208813e-01 -1.46641704e-02  9.67561717e-01  7.07295319e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.68071405700005 meters
Centerline goodness : 0.995828 with order 1
Centerline is valid?  [True, True]
Translation: X:271.73, Y:22.92, Z:70.74
[[ 9.57891645e-01 -1.37870749e-01 -2.51863560e-01  2.71726193e+02]
 [ 1.37352679e-01  9.90325790e-01 -1.97248622e-02  2.29218187e+01]
 [ 2.52146461e-01 -1.56998542e-02  9.67561717e-01  7.07434748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.74071405700005 meters
Centerline goodness : 0.997383 with order 1
Centerline is valid?  [True, True]
Translation: X:271.78, Y:22.92, Z:70.76
[[ 9.57255986e-01 -1.42225637e-01 -2.51858780e-01  2.71783966e+02]
 [ 1.41839139e-01  9.89691964e-01 -1.97857135e-02  2.29209338e+01]
 [ 2.52076647e-01 -1.67834397e-02  9.67561719e-01  7.07580984e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.80071405700005 meters
Centerline goodness : 0.997143 with order 1
Centerline is valid?  [True, True]
Translation: X:271.84, Y:22.92, Z:70.77
[[ 9.57253721e-01 -1.42241443e-01 -2.51858462e-01  2.71840401e+02]
 [ 1.41854421e-01  9.89689693e-01 -1.97897557e-02  2.29200019e+01]
 [ 2.52076648e-01 -1.67834191e-02  9.67561719e-01  7.07718390e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.86071405700005 meters
Centerline goodness : 0.996238 with order 1
Centerline is valid?  [True, True]
Translation: X:271.90, Y:22.92, Z:70.79
[[ 9.57499112e-01 -1.40583020e-01 -2.51856835e-01  2.71897519e+02]
 [ 1.40134390e-01  9.89934290e-01 -1.98104531e-02  2.29190549e+01]
 [ 2.52106730e-01 -1.63253127e-02  9.67561719e-01  7.07888018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.92071405700005 meters
Centerline goodness : 0.995545 with order 1
Centerline is valid?  [True, True]
Translation: X:271.96, Y:22.92, Z:70.80
[[ 9.58007945e-01 -1.37081158e-01 -2.51852206e-01  2.71955503e+02]
 [ 1.36498569e-01  9.90440992e-01 -1.98691330e-02  2.29190676e+01]
 [ 2.52168432e-01 -1.53426783e-02  9.67561721e-01  7.08031464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.98071405700006 meters
Centerline goodness : 0.995159 with order 1
Centerline is valid?  [True, True]
Translation: X:272.01, Y:22.91, Z:70.82
[[ 9.57930735e-01 -1.37620575e-01 -2.51851712e-01  2.72012286e+02]
 [ 1.37054611e-01  9.90364076e-01 -1.98753829e-02  2.29131209e+01]
 [ 2.52160150e-01 -1.54781983e-02  9.67561721e-01  7.08194202e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.04071405700006 meters
Centerline goodness : 0.993760 with order 1
Centerline is valid?  [True, True]
Translation: X:272.07, Y:22.91, Z:70.84
[[ 9.57315292e-01 -1.41847338e-01 -2.51846707e-01  2.72069345e+02]
 [ 1.41407972e-01  9.89750594e-01 -1.99386106e-02  2.29136027e+01]
 [ 2.52093667e-01 -1.65255951e-02  9.67561723e-01  7.08361039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.10071405700006 meters
Centerline goodness : 0.994377 with order 1
Centerline is valid?  [True, True]
Translation: X:272.13, Y:22.91, Z:70.85
[[ 9.56018148e-01 -1.50342056e-01 -2.51846317e-01  2.72128445e+02]
 [ 1.50189420e-01  9.88456066e-01 -1.99435347e-02  2.29065991e+01]
 [ 2.51937372e-01 -1.87582713e-02  9.67561723e-01  7.08511540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.16071405700006 meters
Centerline goodness : 0.993615 with order 1
Centerline is valid?  [True, True]
Translation: X:272.19, Y:22.90, Z:70.86
[[ 9.55495280e-01 -1.53630390e-01 -2.51846131e-01  2.72188239e+02]
 [ 1.53588743e-01  9.87933530e-01 -1.99458878e-02  2.29025205e+01]
 [ 2.51871532e-01 -1.96225290e-02  9.67561723e-01  7.08646509e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.22071405700007 meters
Centerline goodness : 0.994792 with order 1
Centerline is valid?  [True, True]
Translation: X:272.24, Y:22.90, Z:70.88
[[ 9.55204741e-01 -1.55426575e-01 -2.51846150e-01  2.72244930e+02]
 [ 1.55445978e-01  9.87643012e-01 -1.99456516e-02  2.29009641e+01]
 [ 2.51834174e-01 -2.00962901e-02  9.67561723e-01  7.08779945e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.28071405700007 meters
Centerline goodness : 0.994326 with order 1
Centerline is valid?  [True, True]
Translation: X:272.30, Y:22.90, Z:70.89
[[ 9.55624816e-01 -1.52825439e-01 -2.51844389e-01  2.72304123e+02]
 [ 1.52750710e-01  9.88063007e-01 -1.99678610e-02  2.29021978e+01]
 [ 2.51889721e-01 -1.93876257e-02  9.67561723e-01  7.08909654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.34071405700007 meters
Centerline goodness : 0.994482 with order 1
Centerline is valid?  [True, True]
Translation: X:272.36, Y:22.90, Z:70.91
[[ 9.55983709e-01 -1.50564183e-01 -2.51844347e-01  2.72360916e+02]
 [ 1.50412574e-01  9.88421631e-01 -1.99683851e-02  2.29039798e+01]
 [ 2.51934924e-01 -1.87911056e-02  9.67561723e-01  7.09069066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.400714057 meters
Centerline goodness : 0.994626 with order 1
Centerline is valid?  [True, True]
Translation: X:272.42, Y:22.91, Z:70.92
[[ 9.56070939e-01 -1.50010491e-01 -2.51843627e-01  2.72417572e+02]
 [ 1.49837716e-01  9.88508755e-01 -1.99774692e-02  2.29057810e+01]
 [ 2.51946460e-01 -1.86357961e-02  9.67561723e-01  7.09225699e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.460714057 meters
Centerline goodness : 0.994134 with order 1
Centerline is valid?  [True, True]
Translation: X:272.48, Y:22.91, Z:70.93
[[ 9.56113987e-01 -1.49737660e-01 -2.51842566e-01  2.72475490e+02]
 [ 1.49552126e-01  9.88551733e-01 -1.99908364e-02  2.29103397e+01]
 [ 2.51952786e-01 -1.85500728e-02  9.67561723e-01  7.09338028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.520714057 meters
Centerline goodness : 0.993634 with order 1
Centerline is valid?  [True, True]
Translation: X:272.53, Y:22.91, Z:70.94
[[ 9.55767733e-01 -1.51940464e-01 -2.51837519e-01  2.72533912e+02]
 [ 1.51813074e-01  9.88205757e-01 -2.00542159e-02  2.29125274e+01]
 [ 2.51914333e-01 -1.90650554e-02  9.67561725e-01  7.09441178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.580714057 meters
Centerline goodness : 0.995369 with order 1
Centerline is valid?  [True, True]
Translation: X:272.59, Y:22.91, Z:70.96
[[ 9.54916520e-01 -1.57203249e-01 -2.51836413e-01  2.72591766e+02]
 [ 1.57250918e-01  9.87354759e-01 -2.00680947e-02  2.29099393e+01]
 [ 2.51806651e-01 -2.04381520e-02  9.67561725e-01  7.09625105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.640714057 meters
Centerline goodness : 0.993136 with order 1
Centerline is valid?  [True, True]
Translation: X:272.65, Y:22.92, Z:70.97
[[ 9.56089993e-01 -1.49901160e-01 -2.51836389e-01  2.72650068e+02]
 [ 1.49700853e-01  9.88527650e-01 -2.00683988e-02  2.29180200e+01]
 [ 2.51955510e-01 -1.85129270e-02  9.67561725e-01  7.09741524e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.700714057 meters
Centerline goodness : 0.994548 with order 1
Centerline is valid?  [True, True]
Translation: X:272.71, Y:22.92, Z:70.99
[[ 9.57029073e-01 -1.43784169e-01 -2.51836190e-01  2.72708812e+02]
 [ 1.43375785e-01  9.89464776e-01 -2.00708887e-02  2.29239313e+01]
 [ 2.52068916e-01 -1.68987876e-02  9.67561725e-01  7.09877695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.76071405700003 meters
Centerline goodness : 0.994100 with order 1
Centerline is valid?  [True, True]
Translation: X:272.77, Y:22.93, Z:71.00
[[ 9.56715271e-01 -1.45858390e-01 -2.51835702e-01  2.72765164e+02]
 [ 1.45518713e-01  9.89151767e-01 -2.00770135e-02  2.29262350e+01]
 [ 2.52032131e-01 -1.74388220e-02  9.67561726e-01  7.10044542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.82071405700003 meters
Centerline goodness : 0.995335 with order 1
Centerline is valid?  [True, True]
Translation: X:272.82, Y:22.93, Z:71.02
[[ 9.56540075e-01 -1.47011851e-01 -2.51830499e-01  2.72822963e+02]
 [ 1.46694240e-01  9.88976793e-01 -2.01420775e-02  2.29292478e+01]
 [ 2.52015643e-01 -1.76753794e-02  9.67561728e-01  7.10186661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.88071405700003 meters
Centerline goodness : 0.996026 with order 1
Centerline is valid?  [True, True]
Translation: X:272.88, Y:22.93, Z:71.04
[[ 9.55760633e-01 -1.51996908e-01 -2.51830405e-01  2.72880848e+02]
 [ 1.51848109e-01  9.88198564e-01 -2.01432452e-02  2.29321445e+01]
 [ 2.51920156e-01 -1.89878501e-02  9.67561728e-01  7.10361016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.94071405700004 meters
Centerline goodness : 0.994771 with order 1
Centerline is valid?  [True, True]
Translation: X:272.94, Y:22.93, Z:71.05
[[ 9.55087304e-01 -1.56171985e-01 -2.51830405e-01  2.72939412e+02]
 [ 1.56164936e-01  9.87525576e-01 -2.01432452e-02  2.29342675e+01]
 [ 2.51834777e-01 -2.00885213e-02  9.67561728e-01  7.10459173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.00071405700004 meters
Centerline goodness : 0.995394 with order 1
Centerline is valid?  [True, True]
Translation: X:273.00, Y:22.94, Z:71.06
[[ 9.54885323e-01 -1.57402973e-01 -2.51829952e-01  2.72997659e+02]
 [ 1.57436254e-01  9.87323578e-01 -2.01489091e-02  2.29378328e+01]
 [ 2.51809148e-01 -2.04072667e-02  9.67561728e-01  7.10598520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.06071405700004 meters
Centerline goodness : 0.996975 with order 1
Centerline is valid?  [True, True]
Translation: X:273.05, Y:22.94, Z:71.08
[[ 9.54387657e-01 -1.60393444e-01 -2.51829592e-01  2.73052888e+02]
 [ 1.60527159e-01  9.86825654e-01 -2.01534111e-02  2.29434455e+01]
 [ 2.51744377e-01 -2.11913222e-02  9.67561728e-01  7.10828413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.12071405700004 meters
Centerline goodness : 0.996055 with order 1
Centerline is valid?  [True, True]
Translation: X:273.11, Y:22.95, Z:71.09
[[ 9.54741206e-01 -1.58275916e-01 -2.51829237e-01  2.73109915e+02]
 [ 1.58336511e-01  9.87179422e-01 -2.01578468e-02  2.29533372e+01]
 [ 2.51791142e-01 -2.06282359e-02  9.67561728e-01  7.10949809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.18071405700005 meters
Centerline goodness : 0.996812 with order 1
Centerline is valid?  [True, True]
Translation: X:273.17, Y:22.96, Z:71.11
[[ 9.54620869e-01 -1.59008404e-01 -2.51823993e-01  2.73166692e+02]
 [ 1.59076779e-01  9.87059067e-01 -2.02231463e-02  2.29599234e+01]
 [ 2.51780806e-01 -2.07539123e-02  9.67561730e-01  7.11097331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.24071405700005 meters
Centerline goodness : 0.997679 with order 1
Centerline is valid?  [True, True]
Translation: X:273.22, Y:22.97, Z:71.13
[[ 9.53970773e-01 -1.62871302e-01 -2.51818790e-01  2.73223174e+02]
 [ 1.63054060e-01  9.86408527e-01 -2.02877369e-02  2.29683922e+01]
 [ 2.51700492e-01 -2.17061681e-02  9.67561732e-01  7.11275744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.30071405700005 meters
Centerline goodness : 0.997368 with order 1
Centerline is valid?  [True, True]
Translation: X:273.28, Y:22.98, Z:71.14
[[ 9.53439797e-01 -1.65951764e-01 -2.51818517e-01  2.73282093e+02]
 [ 1.66238407e-01  9.85876799e-01 -2.02911233e-02  2.29772399e+01]
 [ 2.51629381e-01 -2.25155447e-02  9.67561732e-01  7.11391490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.36071405700005 meters
Centerline goodness : 0.997743 with order 1
Centerline is valid?  [True, True]
Translation: X:273.34, Y:22.98, Z:71.15
[[ 9.53198503e-01 -1.67332147e-01 -2.51818517e-01  2.73340492e+02]
 [ 1.67665758e-01  9.85635056e-01 -2.02911233e-02  2.29847503e+01]
 [ 2.51596516e-01 -2.28798742e-02  9.67561732e-01  7.11541808e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.42071405700005 meters
Centerline goodness : 0.997326 with order 1
Centerline is valid?  [True, True]
Translation: X:273.40, Y:22.99, Z:71.17
[[ 9.53575973e-01 -1.65167714e-01 -2.51818368e-01  2.73397748e+02]
 [ 1.65427198e-01  9.86013203e-01 -2.02929780e-02  2.29944440e+01]
 [ 2.51647980e-01 -2.23067108e-02  9.67561732e-01  7.11708075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.48071405700006 meters
Centerline goodness : 0.997651 with order 1
Centerline is valid?  [True, True]
Translation: X:273.46, Y:23.00, Z:71.19
[[ 9.54242210e-01 -1.61274583e-01 -2.51818016e-01  2.73455689e+02]
 [ 1.61400538e-01  9.86680234e-01 -2.02973461e-02  2.30039217e+01]
 [ 2.51737305e-01 -2.12749789e-02  9.67561732e-01  7.11855064e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.54071405700006 meters
Centerline goodness : 0.998392 with order 1
Centerline is valid?  [True, True]
Translation: X:273.51, Y:23.01, Z:71.20
[[ 9.54749284e-01 -1.58245230e-01 -2.51817894e-01  2.73511080e+02]
 [ 1.58267838e-01  9.87187544e-01 -2.02988576e-02  2.30114887e+01]
 [ 2.51803686e-01 -2.04743538e-02  9.67561732e-01  7.11997164e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.60071405700006 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:273.57, Y:23.02, Z:71.21
[[ 9.54975251e-01 -1.56878735e-01 -2.51816070e-01  2.73569438e+02]
 [ 1.56849000e-01  9.87413505e-01 -2.03214551e-02  2.30190035e+01]
 [ 2.51834593e-01 -2.00906120e-02  9.67561732e-01  7.12142450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.66071405700006 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:273.63, Y:23.03, Z:71.23
[[ 9.55694014e-01 -1.52439159e-01 -2.51815914e-01  2.73626835e+02]
 [ 1.52258173e-01  9.88131777e-01 -2.03233866e-02  2.30268564e+01]
 [ 2.51925387e-01 -1.89180922e-02  9.67561732e-01  7.12316205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.72071405700007 meters
Centerline goodness : 0.998596 with order 1
Centerline is valid?  [True, True]
Translation: X:273.68, Y:23.03, Z:71.25
[[ 9.55568418e-01 -1.53224913e-01 -2.51815656e-01  2.73683291e+02]
 [ 1.53069760e-01  9.88006315e-01 -2.03265901e-02  2.30312427e+01]
 [ 2.51909998e-01 -1.91219143e-02  9.67561732e-01  7.12452404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.78071405700007 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:273.74, Y:23.04, Z:71.26
[[ 9.55000494e-01 -1.56730060e-01 -2.51812916e-01  2.73741776e+02]
 [ 1.56685050e-01  9.87438730e-01 -2.03604754e-02  2.30378618e+01]
 [ 2.51840925e-01 -2.00110554e-02  9.67561733e-01  7.12599892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.84071405700007 meters
Centerline goodness : 0.998660 with order 1
Centerline is valid?  [True, True]
Translation: X:273.80, Y:23.04, Z:71.27
[[ 9.54642183e-01 -1.58898396e-01 -2.51812632e-01  2.73798753e+02]
 [ 1.58926132e-01  9.87080439e-01 -2.03639868e-02  2.30427626e+01]
 [ 2.51795128e-01 -2.05792868e-02  9.67561733e-01  7.12748505e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.900714057 meters
Centerline goodness : 0.998907 with order 1
Centerline is valid?  [True, True]
Translation: X:273.86, Y:23.05, Z:71.29
[[ 9.54471160e-01 -1.59924217e-01 -2.51811536e-01  2.73856017e+02]
 [ 1.59983262e-01  9.86909374e-01 -2.03775387e-02  2.30471914e+01]
 [ 2.51774027e-01 -2.08358579e-02  9.67561733e-01  7.12907326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.960714057 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:273.91, Y:23.05, Z:71.31
[[ 9.54105006e-01 -1.62094938e-01 -2.51811175e-01  2.73911771e+02]
 [ 1.62226604e-01  9.86543006e-01 -2.03819910e-02  2.30539499e+01]
 [ 2.51726371e-01 -2.14039120e-02  9.67561733e-01  7.13067658e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.020714057 meters
Centerline goodness : 0.998862 with order 1
Centerline is valid?  [True, True]
Translation: X:273.97, Y:23.06, Z:71.32
[[ 9.53703480e-01 -1.64448477e-01 -2.51806215e-01  2.73969687e+02]
 [ 1.64644167e-01  9.86141155e-01 -2.04430894e-02  2.30601544e+01]
 [ 2.51678307e-01 -2.19617790e-02  9.67561734e-01  7.13228732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.080714057 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:274.03, Y:23.06, Z:71.34
[[ 9.53467896e-01 -1.65808888e-01 -2.51806244e-01  2.74026382e+02]
 [ 1.66050947e-01  9.85905258e-01 -2.04427315e-02  2.30628691e+01]
 [ 2.51646687e-01 -2.23211771e-02  9.67561734e-01  7.13367049e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.140714057 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:274.08, Y:23.07, Z:71.35
[[ 9.52840341e-01 -1.69386523e-01 -2.51800496e-01  2.74083571e+02]
 [ 1.69731842e-01  9.85276766e-01 -2.05133009e-02  2.30691479e+01]
 [ 2.51567855e-01 -2.31926614e-02  9.67561737e-01  7.13512109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.200714057 meters
Centerline goodness : 0.999153 with order 1
Centerline is valid?  [True, True]
Translation: X:274.14, Y:23.08, Z:71.37
[[ 9.52183874e-01 -1.73038780e-01 -2.51800419e-01  2.74141591e+02]
 [ 1.73508221e-01  9.84618740e-01 -2.05142466e-02  2.30757224e+01]
 [ 2.51477171e-01 -2.41561080e-02  9.67561737e-01  7.13664651e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.26071405700003 meters
Centerline goodness : 0.998934 with order 1
Centerline is valid?  [True, True]
Translation: X:274.20, Y:23.08, Z:71.38
[[ 9.51825975e-01 -1.74997193e-01 -2.51800110e-01  2.74198771e+02]
 [ 1.75532363e-01  9.84259823e-01 -2.05180330e-02  2.30807680e+01]
 [ 2.51427330e-01 -2.46694718e-02  9.67561737e-01  7.13816552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.32071405700003 meters
Centerline goodness : 0.999043 with order 1
Centerline is valid?  [True, True]
Translation: X:274.26, Y:23.09, Z:71.40
[[ 9.51229502e-01 -1.78211907e-01 -2.51799426e-01  2.74257284e+02]
 [ 1.78854451e-01  9.83661401e-01 -2.05264284e-02  2.30887704e+01]
 [ 2.51343430e-01 -2.55101040e-02  9.67561737e-01  7.13952544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.38071405700003 meters
Centerline goodness : 0.999018 with order 1
Centerline is valid?  [True, True]
Translation: X:274.32, Y:23.10, Z:71.41
[[ 9.50733347e-01 -1.80840085e-01 -2.51799457e-01  2.74315086e+02]
 [ 1.81572356e-01  9.83163344e-01 -2.05260532e-02  2.30957785e+01]
 [ 2.51271929e-01 -2.62050173e-02  9.67561737e-01  7.14104441e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.44071405700004 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:274.37, Y:23.10, Z:71.42
[[ 9.50533439e-01 -1.81887972e-01 -2.51799419e-01  2.74372305e+02]
 [ 1.82655870e-01  9.82962611e-01 -2.05265107e-02  2.31013666e+01]
 [ 2.51242940e-01 -2.64815072e-02  9.67561737e-01  7.14239301e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.50071405700004 meters
Centerline goodness : 0.998706 with order 1
Centerline is valid?  [True, True]
Translation: X:274.43, Y:23.11, Z:71.44
[[ 9.50886834e-01 -1.80032782e-01 -2.51798384e-01  2.74427980e+02]
 [ 1.80734072e-01  9.83317515e-01 -2.05392046e-02  2.31123591e+01]
 [ 2.51295491e-01 -2.59780880e-02  9.67561737e-01  7.14381015e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.56071405700004 meters
Centerline goodness : 0.998902 with order 1
Centerline is valid?  [True, True]
Translation: X:274.49, Y:23.12, Z:71.46
[[ 9.51052881e-01 -1.79155430e-01 -2.51797039e-01  2.74485440e+02]
 [ 1.79822485e-01  9.83484285e-01 -2.05556743e-02  2.31186591e+01]
 [ 2.51321092e-01 -2.57292360e-02  9.67561737e-01  7.14551062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.62071405700004 meters
Centerline goodness : 0.998970 with order 1
Centerline is valid?  [True, True]
Translation: X:274.54, Y:23.13, Z:71.47
[[ 9.51222084e-01 -1.78255372e-01 -2.51796681e-01  2.74542721e+02]
 [ 1.78890586e-01  9.83654127e-01 -2.05600648e-02  2.31253830e+01]
 [ 2.51345786e-01 -2.54868681e-02  9.67561737e-01  7.14697154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.68071405700005 meters
Centerline goodness : 0.999257 with order 1
Centerline is valid?  [True, True]
Translation: X:274.60, Y:23.14, Z:71.48
[[ 9.51244598e-01 -1.78138621e-01 -2.51794255e-01  2.74599613e+02]
 [ 1.78762081e-01  9.83676868e-01 -2.05897347e-02  2.31361754e+01]
 [ 2.51352011e-01 -2.54253911e-02  9.67561738e-01  7.14831642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.74071405700005 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:274.66, Y:23.14, Z:71.50
[[ 9.51623761e-01 -1.76109296e-01 -2.51789066e-01  2.74655675e+02]
 [ 1.76647002e-01  9.84057564e-01 -2.06530040e-02  2.31448554e+01]
 [ 2.51412121e-01 -2.48238943e-02  9.67561740e-01  7.14978024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.80071405700005 meters
Centerline goodness : 0.998695 with order 1
Centerline is valid?  [True, True]
Translation: X:274.71, Y:23.16, Z:71.51
[[ 9.51941971e-01 -1.74382626e-01 -2.51787974e-01  2.74712574e+02]
 [ 1.74858006e-01  9.84376748e-01 -2.06663089e-02  2.31568945e+01]
 [ 2.51458072e-01 -2.43540161e-02  9.67561740e-01  7.15145979e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.86071405700005 meters
Centerline goodness : 0.999003 with order 1
Centerline is valid?  [True, True]
Translation: X:274.77, Y:23.16, Z:71.53
[[ 9.52034284e-01 -1.73878123e-01 -2.51787847e-01  2.74770359e+02]
 [ 1.74335908e-01  9.84469314e-01 -2.06678556e-02  2.31641385e+01]
 [ 2.51471097e-01 -2.42191559e-02  9.67561740e-01  7.15299282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.92071405700005 meters
Centerline goodness : 0.998729 with order 1
Centerline is valid?  [True, True]
Translation: X:274.83, Y:23.18, Z:71.54
[[ 9.52334932e-01 -1.72224392e-01 -2.51787484e-01  2.74825047e+02]
 [ 1.72624686e-01  9.84770722e-01 -2.06722758e-02  2.31766016e+01]
 [ 2.51513212e-01 -2.37778050e-02  9.67561740e-01  7.15449973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.98071405700006 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:274.88, Y:23.19, Z:71.56
[[ 9.52846674e-01 -1.69372906e-01 -2.51785692e-01  2.74882215e+02]
 [ 1.69670391e-01  9.85283570e-01 -2.06940820e-02  2.31872887e+01]
 [ 2.51585322e-01 -2.30022895e-02  9.67561740e-01  7.15603444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.04071405700006 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:274.94, Y:23.20, Z:71.58
[[ 9.53147393e-01 -1.67673211e-01 -2.51785112e-01  2.74939366e+02]
 [ 1.67910995e-01  9.85584781e-01 -2.07011342e-02  2.31987155e+01]
 [ 2.51626600e-01 -2.25462567e-02  9.67561740e-01  7.15755354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.10071405700006 meters
Centerline goodness : 0.998376 with order 1
Centerline is valid?  [True, True]
Translation: X:275.00, Y:23.21, Z:71.59
[[ 9.53239934e-01 -1.67147569e-01 -2.51784271e-01  2.74995632e+02]
 [ 1.67364786e-01  9.85677466e-01 -2.07113617e-02  2.32078902e+01]
 [ 2.51639936e-01 -2.23969235e-02  9.67561740e-01  7.15916795e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.16071405700006 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:275.05, Y:23.22, Z:71.61
[[ 9.53245284e-01 -1.67124057e-01 -2.51779623e-01  2.75050770e+02]
 [ 1.67325708e-01  9.85682915e-01 -2.07677104e-02  2.32170136e+01]
 [ 2.51645657e-01 -2.23324817e-02  9.67561741e-01  7.16063471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.22071405700007 meters
Centerline goodness : 0.998577 with order 1
Centerline is valid?  [True, True]
Translation: X:275.11, Y:23.22, Z:71.62
[[ 9.53062421e-01 -1.68166372e-01 -2.51777865e-01  2.75109091e+02]
 [ 1.68397913e-01  9.85499853e-01 -2.07890063e-02  2.32230964e+01]
 [ 2.51623061e-01 -2.25856464e-02  9.67561742e-01  7.16221345e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.28071405700007 meters
Centerline goodness : 0.999333 with order 1
Centerline is valid?  [True, True]
Translation: X:275.17, Y:23.23, Z:71.64
[[ 9.52788948e-01 -1.69709103e-01 -2.51777762e-01  2.75165582e+02]
 [ 1.69992832e-01  9.85225965e-01 -2.07902530e-02  2.32303943e+01]
 [ 2.51586284e-01 -2.29916913e-02  9.67561742e-01  7.16372769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.34071405700007 meters
Centerline goodness : 0.999239 with order 1
Centerline is valid?  [True, True]
Translation: X:275.22, Y:23.24, Z:71.65
[[ 9.52726004e-01 -1.70069666e-01 -2.51772657e-01  2.75221669e+02]
 [ 1.70349516e-01  9.85163053e-01 -2.08518961e-02  2.32356648e+01]
 [ 2.51583395e-01 -2.30232067e-02  9.67561744e-01  7.16516312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.400714057 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:275.28, Y:23.24, Z:71.67
[[ 9.52813212e-01 -1.69582922e-01 -2.51770958e-01  2.75278240e+02]
 [ 1.69840829e-01  9.85250443e-01 -2.08723946e-02  2.32414044e+01]
 [ 2.51597049e-01 -2.28734948e-02  9.67561744e-01  7.16669792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.460714057 meters
Centerline goodness : 0.998845 with order 1
Centerline is valid?  [True, True]
Translation: X:275.34, Y:23.25, Z:71.68
[[ 9.53094138e-01 -1.68003885e-01 -2.51766277e-01  2.75335547e+02]
 [ 1.68193286e-01  9.85531840e-01 -2.09287095e-02  2.32464482e+01]
 [ 2.51639787e-01 -2.23983670e-02  9.67561745e-01  7.16844894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.520714057 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:275.39, Y:23.25, Z:71.70
[[ 9.53779274e-01 -1.64069717e-01 -2.51766208e-01  2.75392755e+02]
 [ 1.64125052e-01  9.86217482e-01 -2.09295391e-02  2.32502896e+01]
 [ 2.51730139e-01 -2.13589813e-02  9.67561745e-01  7.17013707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.580714057 meters
Centerline goodness : 0.999007 with order 1
Centerline is valid?  [True, True]
Translation: X:275.45, Y:23.25, Z:71.72
[[ 9.54505647e-01 -1.59790681e-01 -2.51765581e-01  2.75450625e+02]
 [ 1.59698564e-01  9.86943771e-01 -2.09370822e-02  2.32546499e+01]
 [ 2.51824022e-01 -2.02220384e-02  9.67561745e-01  7.17182856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.640714057 meters
Centerline goodness : 0.999168 with order 1
Centerline is valid?  [True, True]
Translation: X:275.51, Y:23.26, Z:71.73
[[ 9.55842301e-01 -1.51591534e-01 -2.51764778e-01  2.75508589e+02]
 [ 1.51218450e-01  9.88278410e-01 -2.09467318e-02  2.32599049e+01]
 [ 2.51989041e-01 -1.80497071e-02  9.67561745e-01  7.17337961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.700714057 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:275.57, Y:23.26, Z:71.75
[[ 9.57470876e-01 -1.40939925e-01 -2.51764690e-01  2.75566514e+02]
 [ 1.40205449e-01  9.89900814e-01 -2.09477848e-02  2.32632779e+01]
 [ 2.52174451e-01 -1.52418876e-02  9.67561745e-01  7.17478028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.76071405700003 meters
Centerline goodness : 0.998664 with order 1
Centerline is valid?  [True, True]
Translation: X:275.63, Y:23.27, Z:71.76
[[ 9.59138514e-01 -1.29104229e-01 -2.51764592e-01  2.75625366e+02]
 [ 1.27968985e-01  9.91556897e-01 -2.09489592e-02  2.32670394e+01]
 [ 2.52343517e-01 -1.21251058e-02  9.67561745e-01  7.17623095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.82071405700003 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:275.68, Y:23.27, Z:71.78
[[ 9.60567509e-01 -1.18003382e-01 -2.51764299e-01  2.75682987e+02]
 [ 1.16492380e-01  9.92970553e-01 -2.09524842e-02  2.32696688e+01]
 [ 2.52466999e-01 -9.20234688e-03  9.67561745e-01  7.17787550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.88071405700003 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:275.74, Y:23.27, Z:71.79
[[ 9.61942709e-01 -1.06212963e-01 -2.51763839e-01  2.75741202e+02]
 [ 1.04303201e-01  9.94324698e-01 -2.09580085e-02  2.32667441e+01]
 [ 2.52561015e-01 -6.09937087e-03  9.67561745e-01  7.17929423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.94071405700004 meters
Centerline goodness : 0.998579 with order 1
Centerline is valid?  [True, True]
Translation: X:275.80, Y:23.27, Z:71.81
[[ 9.61634564e-01 -1.08968680e-01 -2.51763366e-01  2.75798298e+02]
 [ 1.07150219e-01  9.94021808e-01 -2.09636930e-02  2.32668412e+01]
 [ 2.52542662e-01 -6.81708804e-03  9.67561745e-01  7.18084681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.00071405700004 meters
Centerline goodness : 0.998628 with order 1
Centerline is valid?  [True, True]
Translation: X:275.86, Y:23.27, Z:71.82
[[ 9.61252447e-01 -1.12301227e-01 -2.51758154e-01  2.75857021e+02]
 [ 1.10578708e-01  9.93644933e-01 -2.10260992e-02  2.32662412e+01]
 [ 2.52519471e-01 -7.62770218e-03  9.67561747e-01  7.18241415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.06071405700004 meters
Centerline goodness : 0.998587 with order 1
Centerline is valid?  [True, True]
Translation: X:275.91, Y:23.26, Z:71.84
[[ 9.60412653e-01 -1.19270146e-01 -2.51758154e-01  2.75914976e+02]
 [ 1.17782612e-01  9.92816780e-01 -2.10260992e-02  2.32612561e+01]
 [ 2.52457506e-01 -9.45900124e-03  9.67561747e-01  7.18383529e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.12071405700004 meters
Centerline goodness : 0.998207 with order 1
Centerline is valid?  [True, True]
Translation: X:275.97, Y:23.26, Z:71.85
[[ 9.59314933e-01 -1.27798048e-01 -2.51758849e-01  2.75973950e+02]
 [ 1.26600639e-01  9.91731078e-01 -2.10177818e-02  2.32579048e+01]
 [ 2.52363106e-01 -1.17101591e-02  9.67561747e-01  7.18545330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.18071405700005 meters
Centerline goodness : 0.997963 with order 1
Centerline is valid?  [True, True]
Translation: X:276.03, Y:23.26, Z:71.87
[[ 9.58263693e-01 -1.35455709e-01 -2.51758706e-01  2.76033255e+02]
 [ 1.34516786e-01  9.90688354e-01 -2.10194947e-02  2.32557639e+01]
 [ 2.52261628e-01 -1.37235534e-02  9.67561747e-01  7.18683689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.24071405700005 meters
Centerline goodness : 0.997428 with order 1
Centerline is valid?  [True, True]
Translation: X:276.09, Y:23.25, Z:71.88
[[ 9.57223866e-01 -1.42618435e-01 -2.51758719e-01  2.76092205e+02]
 [ 1.41922075e-01  9.89654643e-01 -2.10193305e-02  2.32546749e+01]
 [ 2.52151930e-01 -1.56099151e-02  9.67561747e-01  7.18833080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.30071405700005 meters
Centerline goodness : 0.997569 with order 1
Centerline is valid?  [True, True]
Translation: X:276.15, Y:23.25, Z:71.90
[[ 9.56483426e-01 -1.47502791e-01 -2.51758579e-01  2.76151347e+02]
 [ 1.46971543e-01  9.88917328e-01 -2.10210136e-02  2.32543903e+01]
 [ 2.52069079e-01 -1.68950957e-02  9.67561747e-01  7.18978768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.36071405700005 meters
Centerline goodness : 0.997484 with order 1
Centerline is valid?  [True, True]
Translation: X:276.21, Y:23.26, Z:71.91
[[ 9.56261804e-01 -1.48932868e-01 -2.51758540e-01  2.76207262e+02]
 [ 1.48449998e-01  9.88696463e-01 -2.10214767e-02  2.32565964e+01]
 [ 2.52043567e-01 -1.72715196e-02  9.67561747e-01  7.19114322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.42071405700005 meters
Centerline goodness : 0.997778 with order 1
Centerline is valid?  [True, True]
Translation: X:276.26, Y:23.26, Z:71.92
[[ 9.56388988e-01 -1.48117155e-01 -2.51756654e-01  2.76262895e+02]
 [ 1.47600705e-01  9.88823129e-01 -2.10440497e-02  2.32591321e+01]
 [ 2.52059787e-01 -1.70331621e-02  9.67561748e-01  7.19249181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.48071405700006 meters
Centerline goodness : 0.997822 with order 1
Centerline is valid?  [True, True]
Translation: X:276.32, Y:23.26, Z:71.94
[[ 9.56638831e-01 -1.46500410e-01 -2.51753403e-01  2.76318978e+02]
 [ 1.45918970e-01  9.89071872e-01 -2.10828621e-02  2.32644443e+01]
 [ 2.52090858e-01 -1.65669128e-02  9.67561748e-01  7.19393178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.54071405700006 meters
Centerline goodness : 0.997600 with order 1
Centerline is valid?  [True, True]
Translation: X:276.38, Y:23.27, Z:71.95
[[ 9.56976152e-01 -1.44283059e-01 -2.51751947e-01  2.76376846e+02]
 [ 1.43621904e-01  9.89407665e-01 -2.11002435e-02  2.32678199e+01]
 [ 2.52129713e-01 -1.59646640e-02  9.67561748e-01  7.19539713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.60071405700006 meters
Centerline goodness : 0.997289 with order 1
Centerline is valid?  [True, True]
Translation: X:276.43, Y:23.27, Z:71.97
[[ 9.57463515e-01 -1.41013321e-01 -2.51751586e-01  2.76433870e+02]
 [ 1.40240262e-01  9.89892553e-01 -2.11045421e-02  2.32737235e+01]
 [ 2.52183042e-01 -1.50988795e-02  9.67561748e-01  7.19706467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.66071405700006 meters
Centerline goodness : 0.997837 with order 1
Centerline is valid?  [True, True]
Translation: X:276.49, Y:23.28, Z:71.99
[[ 9.58808595e-01 -1.31557614e-01 -2.51751212e-01  2.76491836e+02]
 [ 1.30463394e-01  9.91228386e-01 -2.11090044e-02  2.32817846e+01]
 [ 2.52319998e-01 -1.26048228e-02  9.67561748e-01  7.19877027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.72071405700007 meters
Centerline goodness : 0.997750 with order 1
Centerline is valid?  [True, True]
Translation: X:276.55, Y:23.29, Z:72.00
[[ 9.59521547e-01 -1.26252884e-01 -2.51751088e-01  2.76549087e+02]
 [ 1.24978994e-01  9.91934775e-01 -2.11104889e-02  2.32859633e+01]
 [ 2.52385919e-01 -1.12076288e-02  9.67561748e-01  7.20021872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.78071405700007 meters
Centerline goodness : 0.997801 with order 1
Centerline is valid?  [True, True]
Translation: X:276.61, Y:23.29, Z:72.02
[[ 9.59881542e-01 -1.23487581e-01 -2.51750357e-01  2.76606671e+02]
 [ 1.22118020e-01  9.92290869e-01 -2.11191972e-02  2.32907651e+01]
 [ 2.52417539e-01 -1.04713275e-02  9.67561749e-01  7.20182249e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.84071405700007 meters
Centerline goodness : 0.997265 with order 1
Centerline is valid?  [True, True]
Translation: X:276.66, Y:23.30, Z:72.04
[[ 9.60568048e-01 -1.18029053e-01 -2.51750211e-01  2.76663292e+02]
 [ 1.16474823e-01  9.92969043e-01 -2.11209429e-02  2.32965633e+01]
 [ 2.52473051e-01 -9.03445846e-03  9.67561749e-01  7.20355217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.900714057 meters
Centerline goodness : 0.997244 with order 1
Centerline is valid?  [True, True]
Translation: X:276.72, Y:23.30, Z:72.05
[[ 9.61001473e-01 -1.14457388e-01 -2.51745258e-01  2.76720927e+02]
 [ 1.12767315e-01  9.93395666e-01 -2.11798125e-02  2.32992804e+01]
 [ 2.52506834e-01 -8.03480573e-03  9.67561750e-01  7.20510650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.960714057 meters
Centerline goodness : 0.996957 with order 1
Centerline is valid?  [True, True]
Translation: X:276.78, Y:23.30, Z:72.07
[[ 9.60993170e-01 -1.14528165e-01 -2.51744764e-01  2.76778991e+02]
 [ 1.12838940e-01  9.93387407e-01 -2.11856878e-02  2.32986527e+01]
 [ 2.52506436e-01 -8.04731099e-03  9.67561750e-01  7.20662011e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.020714057 meters
Centerline goodness : 0.996399 with order 1
Centerline is valid?  [True, True]
Translation: X:276.84, Y:23.30, Z:72.08
[[ 9.60537131e-01 -1.18292805e-01 -2.51744380e-01  2.76835309e+02]
 [ 1.16729331e-01  9.92937680e-01 -2.11902523e-02  2.33007946e+01]
 [ 2.52473135e-01 -9.03192882e-03  9.67561750e-01  7.20840721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.080714057 meters
Centerline goodness : 0.997018 with order 1
Centerline is valid?  [True, True]
Translation: X:276.89, Y:23.30, Z:72.10
[[ 9.59839374e-01 -1.23838075e-01 -2.51738965e-01  2.76893862e+02]
 [ 1.22444952e-01  9.92247693e-01 -2.12543882e-02  2.32987926e+01]
 [ 2.52419510e-01 -1.04233668e-02  9.67561752e-01  7.20987635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.140714057 meters
Centerline goodness : 0.996911 with order 1
Centerline is valid?  [True, True]
Translation: X:276.95, Y:23.30, Z:72.11
[[ 9.59009160e-01 -1.30111974e-01 -2.51738566e-01  2.76952533e+02]
 [ 1.28929565e-01  9.91425850e-01 -2.12591205e-02  2.32961376e+01]
 [ 2.52346188e-01 -1.20688525e-02  9.67561752e-01  7.21112021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.200714057 meters
Centerline goodness : 0.996590 with order 1
Centerline is valid?  [True, True]
Translation: X:277.01, Y:23.30, Z:72.13
[[ 9.58385628e-01 -1.34628607e-01 -2.51738211e-01  2.77009699e+02]
 [ 1.33597832e-01  9.90807494e-01 -2.12633192e-02  2.32987941e+01]
 [ 2.52286757e-01 -1.32532198e-02  9.67561752e-01  7.21279922e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.26071405700003 meters
Centerline goodness : 0.996706 with order 1
Centerline is valid?  [True, True]
Translation: X:277.07, Y:23.30, Z:72.15
[[ 9.57751962e-01 -1.39066250e-01 -2.51737476e-01  2.77068034e+02]
 [ 1.38183382e-01  9.90178193e-01 -2.12720133e-02  2.32980836e+01]
 [ 2.52223179e-01 -1.44126234e-02  9.67561752e-01  7.21452264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.32071405700003 meters
Centerline goodness : 0.997414 with order 1
Centerline is valid?  [True, True]
Translation: X:277.13, Y:23.30, Z:72.16
[[ 9.57104440e-01 -1.43455011e-01 -2.51737463e-01  2.77126507e+02]
 [ 1.42720751e-01  9.89534377e-01 -2.12721647e-02  2.32993086e+01]
 [ 2.52154473e-01 -1.55684765e-02  9.67561752e-01  7.21594360e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.38071405700003 meters
Centerline goodness : 0.997492 with order 1
Centerline is valid?  [True, True]
Translation: X:277.18, Y:23.30, Z:72.17
[[ 9.56488478e-01 -1.47506769e-01 -2.51737053e-01  2.77184390e+02]
 [ 1.46908574e-01  9.88921210e-01 -2.12770196e-02  2.33016459e+01]
 [ 2.52086616e-01 -1.66311073e-02  9.67561752e-01  7.21745344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.44071405700004 meters
Centerline goodness : 0.997094 with order 1
Centerline is valid?  [True, True]
Translation: X:277.24, Y:23.30, Z:72.19
[[ 9.55654239e-01 -1.52819077e-01 -2.51736581e-01  2.77241723e+02]
 [ 1.52399633e-01  9.88089774e-01 -2.12826094e-02  2.33041194e+01]
 [ 2.51990730e-01 -1.80257467e-02  9.67561752e-01  7.21888677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.50071405700004 meters
Centerline goodness : 0.997177 with order 1
Centerline is valid?  [True, True]
Translation: X:277.30, Y:23.31, Z:72.21
[[ 9.55122391e-01 -1.56109322e-01 -2.51736168e-01  2.77299772e+02]
 [ 1.55800308e-01  9.87559166e-01 -2.12874851e-02  2.33099530e+01]
 [ 2.51927535e-01 -1.88884188e-02  9.67561752e-01  7.22055459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.56071405700004 meters
Centerline goodness : 0.997250 with order 1
Centerline is valid?  [True, True]
Translation: X:277.36, Y:23.32, Z:72.22
[[ 9.54866224e-01 -1.57668961e-01 -2.51735959e-01  2.77357947e+02]
 [ 1.57412271e-01  9.87303456e-01 -2.12899645e-02  2.33153825e+01]
 [ 2.51896548e-01 -1.92972609e-02  9.67561752e-01  7.22208499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.62071405700004 meters
Centerline goodness : 0.997421 with order 1
Centerline is valid?  [True, True]
Translation: X:277.41, Y:23.32, Z:72.24
[[ 9.54624493e-01 -1.59126622e-01 -2.51735566e-01  2.77413848e+02]
 [ 1.58918240e-01  9.87062071e-01 -2.12946035e-02  2.33224308e+01]
 [ 2.51867168e-01 -1.96770231e-02  9.67561752e-01  7.22363309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.68071405700005 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:277.47, Y:23.33, Z:72.25
[[ 9.54451097e-01 -1.60166489e-01 -2.51733587e-01  2.77470824e+02]
 [ 1.59987320e-01  9.86888850e-01 -2.13179702e-02  2.33287288e+01]
 [ 2.51847495e-01 -1.99272219e-02  9.67561753e-01  7.22520736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.74071405700005 meters
Centerline goodness : 0.996670 with order 1
Centerline is valid?  [True, True]
Translation: X:277.53, Y:23.33, Z:72.26
[[ 9.54539991e-01 -1.59637116e-01 -2.51732788e-01  2.77528297e+02]
 [ 1.59437482e-01  9.86977624e-01 -2.13274104e-02  2.33337103e+01]
 [ 2.51859275e-01 -1.97777757e-02  9.67561753e-01  7.22644141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.80071405700005 meters
Centerline goodness : 0.997619 with order 1
Centerline is valid?  [True, True]
Translation: X:277.59, Y:23.34, Z:72.28
[[ 9.53513104e-01 -1.65661580e-01 -2.51732002e-01  2.77585707e+02]
 [ 1.65664354e-01  9.85951352e-01 -2.13366835e-02  2.33415090e+01]
 [ 2.51730176e-01 -2.13582122e-02  9.67561753e-01  7.22828320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.86071405700005 meters
Centerline goodness : 0.997875 with order 1
Centerline is valid?  [True, True]
Translation: X:277.64, Y:23.35, Z:72.30
[[ 9.53131553e-01 -1.67843102e-01 -2.51731872e-01  2.77642444e+02]
 [ 1.67919705e-01  9.85569710e-01 -2.13382138e-02  2.33482485e+01]
 [ 2.51680780e-01 -2.19326167e-02  9.67561753e-01  7.22971379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.92071405700005 meters
Centerline goodness : 0.997409 with order 1
Centerline is valid?  [True, True]
Translation: X:277.70, Y:23.36, Z:72.31
[[ 9.53056260e-01 -1.68271847e-01 -2.51730713e-01  2.77699889e+02]
 [ 1.68359459e-01  9.85494388e-01 -2.13518826e-02  2.33558923e+01]
 [ 2.51672125e-01 -2.20317012e-02  9.67561753e-01  7.23130174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.98071405700006 meters
Centerline goodness : 0.997478 with order 1
Centerline is valid?  [True, True]
Translation: X:277.76, Y:23.37, Z:72.33
[[ 9.53109826e-01 -1.67968921e-01 -2.51730214e-01  2.77755010e+02]
 [ 1.68044683e-01  9.85547985e-01 -2.13577566e-02  2.33656351e+01]
 [ 2.51679645e-01 -2.19456364e-02  9.67561753e-01  7.23277324e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.04071405700006 meters
Centerline goodness : 0.998117 with order 1
Centerline is valid?  [True, True]
Translation: X:277.81, Y:23.38, Z:72.34
[[ 9.53293738e-01 -1.66924873e-01 -2.51728299e-01  2.77810591e+02]
 [ 1.66959194e-01  9.85731967e-01 -2.13803086e-02  2.33764569e+01]
 [ 2.51705536e-01 -2.16466397e-02  9.67561753e-01  7.23444530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.10071405700006 meters
Centerline goodness : 0.997636 with order 1
Centerline is valid?  [True, True]
Translation: X:277.87, Y:23.39, Z:72.36
[[ 9.53790915e-01 -1.64061931e-01 -2.51727181e-01  2.77868096e+02]
 [ 1.63995410e-01  9.86229094e-01 -2.13934666e-02  2.33854804e+01]
 [ 2.51770523e-01 -2.08772081e-02  9.67561753e-01  7.23610846e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.16071405700006 meters
Centerline goodness : 0.997713 with order 1
Centerline is valid?  [True, True]
Translation: X:277.92, Y:23.40, Z:72.38
[[ 9.54014359e-01 -1.62758881e-01 -2.51726340e-01  2.77923797e+02]
 [ 1.62645458e-01  9.86452407e-01 -2.14033507e-02  2.33951406e+01]
 [ 2.51799640e-01 -2.05230421e-02  9.67561753e-01  7.23768647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.22071405700007 meters
Centerline goodness : 0.997588 with order 1
Centerline is valid?  [True, True]
Translation: X:277.98, Y:23.41, Z:72.39
[[ 9.54533863e-01 -1.59692248e-01 -2.51721057e-01  2.77981163e+02]
 [ 1.59458343e-01  9.86971265e-01 -2.14653147e-02  2.34056997e+01]
 [ 2.51869294e-01 -1.96496528e-02  9.67561755e-01  7.23925032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.28071405700007 meters
Centerline goodness : 0.997100 with order 1
Centerline is valid?  [True, True]
Translation: X:278.04, Y:23.42, Z:72.41
[[ 9.54743702e-01 -1.58434240e-01 -2.51720192e-01  2.78036836e+02]
 [ 1.58154934e-01  9.87180744e-01 -2.14754464e-02  2.34151456e+01]
 [ 2.51895773e-01 -1.93072433e-02  9.67561755e-01  7.24061381e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.34071405700007 meters
Centerline goodness : 0.997629 with order 1
Centerline is valid?  [True, True]
Translation: X:278.09, Y:23.42, Z:72.42
[[ 9.54872308e-01 -1.57660419e-01 -2.51718230e-01  2.78092050e+02]
 [ 1.57348803e-01  9.87309056e-01 -2.14984213e-02  2.34226679e+01]
 [ 2.51913138e-01 -1.90793151e-02  9.67561755e-01  7.24208745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.400714057 meters
Centerline goodness : 0.997649 with order 1
Centerline is valid?  [True, True]
Translation: X:278.15, Y:23.43, Z:72.44
[[ 9.54921608e-01 -1.57370957e-01 -2.51712346e-01  2.78147349e+02]
 [ 1.57031508e-01  9.87358074e-01 -2.15670986e-02  2.34323721e+01]
 [ 2.51924252e-01 -1.89318810e-02  9.67561758e-01  7.24381091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.460714057 meters
Centerline goodness : 0.997556 with order 1
Centerline is valid?  [True, True]
Translation: X:278.20, Y:23.44, Z:72.45
[[ 9.54880032e-01 -1.57631675e-01 -2.51706932e-01  2.78204832e+02]
 [ 1.57284566e-01  9.87316415e-01 -2.16301103e-02  2.34408728e+01]
 [ 2.51923976e-01 -1.89354553e-02  9.67561760e-01  7.24544490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.520714057 meters
Centerline goodness : 0.997559 with order 1
Centerline is valid?  [True, True]
Translation: X:278.26, Y:23.45, Z:72.47
[[ 9.54789975e-01 -1.58177480e-01 -2.51706156e-01  2.78260988e+02]
 [ 1.57846545e-01  9.87226527e-01 -2.16391423e-02  2.34486508e+01]
 [ 2.51913819e-01 -1.90701110e-02  9.67561760e-01  7.24677709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.580714057 meters
Centerline goodness : 0.997757 with order 1
Centerline is valid?  [True, True]
Translation: X:278.32, Y:23.46, Z:72.48
[[ 9.54655059e-01 -1.58992175e-01 -2.51704603e-01  2.78317111e+02]
 [ 1.58684189e-01  9.87091837e-01 -2.16571897e-02  2.34584503e+01]
 [ 2.51898882e-01 -1.92663950e-02  9.67561760e-01  7.24837801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.640714057 meters
Centerline goodness : 0.997327 with order 1
Centerline is valid?  [True, True]
Translation: X:278.37, Y:23.47, Z:72.50
[[ 9.54781188e-01 -1.58241514e-01 -2.51699239e-01  2.78373807e+02]
 [ 1.57891730e-01  9.87217540e-01 -2.17193506e-02  2.34660639e+01]
 [ 2.51918807e-01 -1.90040010e-02  9.67561762e-01  7.24989408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.700714057 meters
Centerline goodness : 0.997141 with order 1
Centerline is valid?  [True, True]
Translation: X:278.43, Y:23.47, Z:72.51
[[ 9.54827470e-01 -1.57963206e-01 -2.51698487e-01  2.78430021e+02]
 [ 1.57601683e-01  9.87263694e-01 -2.17280691e-02  2.34722637e+01]
 [ 2.51925013e-01 -1.89215479e-02  9.67561762e-01  7.25143223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.76071405700003 meters
Centerline goodness : 0.997765 with order 1
Centerline is valid?  [True, True]
Translation: X:278.49, Y:23.48, Z:72.53
[[ 9.55160916e-01 -1.55942861e-01 -2.51693163e-01  2.78486050e+02]
 [ 1.55496597e-01  9.87596083e-01 -2.17895736e-02  2.34833942e+01]
 [ 2.51969110e-01 -1.83248811e-02  9.67561764e-01  7.25294569e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.82071405700003 meters
Centerline goodness : 0.997268 with order 1
Centerline is valid?  [True, True]
Translation: X:278.54, Y:23.49, Z:72.55
[[ 9.55283208e-01 -1.55193176e-01 -2.51692414e-01  2.78541875e+02]
 [ 1.54719189e-01  9.87717981e-01 -2.17982246e-02  2.34918124e+01]
 [ 2.51984058e-01 -1.81181680e-02  9.67561764e-01  7.25452774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.88071405700003 meters
Centerline goodness : 0.997532 with order 1
Centerline is valid?  [True, True]
Translation: X:278.60, Y:23.50, Z:72.56
[[ 9.55140913e-01 -1.56074823e-01 -2.51687277e-01  2.78598207e+02]
 [ 1.55615269e-01  9.87575892e-01 -2.18573745e-02  2.34988005e+01]
 [ 2.51971673e-01 -1.82895106e-02  9.67561765e-01  7.25612125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.94071405700004 meters
Centerline goodness : 0.997618 with order 1
Centerline is valid?  [True, True]
Translation: X:278.66, Y:23.51, Z:72.58
[[ 9.54462879e-01 -1.60177815e-01 -2.51681704e-01  2.78656063e+02]
 [ 1.59840870e-01  9.86899362e-01 -2.19213669e-02  2.35082236e+01]
 [ 2.51895830e-01 -1.93058914e-02  9.67561767e-01  7.25766468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.00071405700004 meters
Centerline goodness : 0.997462 with order 1
Centerline is valid?  [True, True]
Translation: X:278.71, Y:23.52, Z:72.59
[[ 9.53702798e-01 -1.64642897e-01 -2.51681724e-01  2.78713699e+02]
 [ 1.64457816e-01  9.86140502e-01 -2.19211380e-02  2.35168015e+01]
 [ 2.51802701e-01 -2.04847760e-02  9.67561767e-01  7.25917426e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.06071405700004 meters
Centerline goodness : 0.997887 with order 1
Centerline is valid?  [True, True]
Translation: X:278.77, Y:23.52, Z:72.60
[[ 9.53055344e-01 -1.68350926e-01 -2.51681299e-01  2.78770560e+02]
 [ 1.68290729e-01  9.85493521e-01 -2.19260158e-02  2.35227481e+01]
 [ 2.51721555e-01 -2.14589227e-02  9.67561767e-01  7.26049257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.12071405700004 meters
Centerline goodness : 0.997496 with order 1
Centerline is valid?  [True, True]
Translation: X:278.83, Y:23.53, Z:72.62
[[ 9.52602532e-01 -1.70896223e-01 -2.51680149e-01  2.78828706e+02]
 [ 1.70919219e-01  9.85040756e-01 -2.19392106e-02  2.35303347e+01]
 [ 2.51664532e-01 -2.21176269e-02  9.67561767e-01  7.26207249e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.18071405700005 meters
Centerline goodness : 0.997675 with order 1
Centerline is valid?  [True, True]
Translation: X:278.89, Y:23.54, Z:72.64
[[ 9.52127885e-01 -1.73521550e-01 -2.51679882e-01  2.78886353e+02]
 [ 1.73633163e-01  9.84565925e-01 -2.19422745e-02  2.35393993e+01]
 [ 2.51602893e-01 -2.28081224e-02  9.67561767e-01  7.26372654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.24071405700005 meters
Centerline goodness : 0.997671 with order 1
Centerline is valid?  [True, True]
Translation: X:278.94, Y:23.55, Z:72.65
[[ 9.51667704e-01 -1.76027889e-01 -2.51679882e-01  2.78942454e+02]
 [ 1.76224911e-01  9.84105339e-01 -2.19422745e-02  2.35475236e+01]
 [ 2.51541967e-01 -2.34705107e-02  9.67561767e-01  7.26541986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.30071405700005 meters
Centerline goodness : 0.998006 with order 1
Centerline is valid?  [True, True]
Translation: X:279.00, Y:23.56, Z:72.67
[[ 9.51381574e-01 -1.77569480e-01 -2.51678725e-01  2.78999974e+02]
 [ 1.77815580e-01  9.83818873e-01 -2.19555300e-02  2.35571361e+01]
 [ 2.51504912e-01 -2.38643117e-02  9.67561768e-01  7.26710585e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.36071405700005 meters
Centerline goodness : 0.998047 with order 1
Centerline is valid?  [True, True]
Translation: X:279.06, Y:23.57, Z:72.68
[[ 9.51298439e-01 -1.78014321e-01 -2.51678725e-01  2.79056251e+02]
 [ 1.78275588e-01  9.83735620e-01 -2.19555300e-02  2.35659570e+01]
 [ 2.51493726e-01 -2.39819112e-02  9.67561768e-01  7.26843589e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.42071405700005 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:279.11, Y:23.57, Z:72.70
[[ 9.51190627e-01 -1.78592221e-01 -2.51676796e-01  2.79113270e+02]
 [ 1.78867403e-01  9.83627692e-01 -2.19776192e-02  2.35736069e+01]
 [ 2.51481298e-01 -2.41118696e-02  9.67561768e-01  7.27004381e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.48071405700006 meters
Centerline goodness : 0.997878 with order 1
Centerline is valid?  [True, True]
Translation: X:279.17, Y:23.59, Z:72.72
[[ 9.50897828e-01 -1.80145812e-01 -2.51675996e-01  2.79171355e+02]
 [ 1.80471581e-01  9.83334424e-01 -2.19867790e-02  2.35859830e+01]
 [ 2.51442497e-01 -2.45131845e-02  9.67561768e-01  7.27178669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.54071405700006 meters
Centerline goodness : 0.997782 with order 1
Centerline is valid?  [True, True]
Translation: X:279.23, Y:23.60, Z:72.73
[[ 9.50681645e-01 -1.81282057e-01 -2.51676827e-01  2.79229087e+02]
 [ 1.81649083e-01  9.83117801e-01 -2.19772642e-02  2.35950463e+01]
 [ 2.51412053e-01 -2.48234832e-02  9.67561768e-01  7.27313822e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.60071405700006 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:279.28, Y:23.60, Z:72.75
[[ 9.50676892e-01 -1.81307458e-01 -2.51676483e-01  2.79284492e+02]
 [ 1.81674319e-01  9.83113050e-01 -2.19812021e-02  2.36038177e+01]
 [ 2.51411791e-01 -2.48261328e-02  9.67561768e-01  7.27484210e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.66071405700006 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:279.34, Y:23.61, Z:72.77
[[ 9.50798520e-01 -1.80676173e-01 -2.51671004e-01  2.79342421e+02]
 [ 1.81005095e-01  9.83235083e-01 -2.20437639e-02  2.36127058e+01]
 [ 2.51434543e-01 -2.45945557e-02  9.67561770e-01  7.27659134e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.72071405700007 meters
Centerline goodness : 0.998743 with order 1
Centerline is valid?  [True, True]
Translation: X:279.40, Y:23.62, Z:72.78
[[ 9.50859602e-01 -1.80353848e-01 -2.51671425e-01  2.79401822e+02]
 [ 1.80673033e-01  9.83296262e-01 -2.20389602e-02  2.36196120e+01]
 [ 2.51442382e-01 -2.45142826e-02  9.67561770e-01  7.27797677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.78071405700007 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:279.46, Y:23.63, Z:72.79
[[ 9.50635363e-01 -1.81530962e-01 -2.51672240e-01  2.79461151e+02]
 [ 1.81892749e-01  9.83071576e-01 -2.20296458e-02  2.36260036e+01]
 [ 2.51410888e-01 -2.48351951e-02  9.67561770e-01  7.27941962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.84071405700007 meters
Centerline goodness : 0.998741 with order 1
Centerline is valid?  [True, True]
Translation: X:279.52, Y:23.63, Z:72.81
[[ 9.50069118e-01 -1.84470431e-01 -2.51673063e-01  2.79518967e+02]
 [ 1.84935006e-01  9.82504022e-01 -2.20202433e-02  2.36338732e+01]
 [ 2.51331880e-01 -2.56224063e-02  9.67561770e-01  7.28075715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.900714057 meters
Centerline goodness : 0.998925 with order 1
Centerline is valid?  [True, True]
Translation: X:279.58, Y:23.64, Z:72.82
[[ 9.50256671e-01 -1.83502125e-01 -2.51672860e-01  2.79577448e+02]
 [ 1.83933039e-01  9.82692039e-01 -2.20225579e-02  2.36419935e+01]
 [ 2.51358102e-01 -2.53638714e-02  9.67561770e-01  7.28244340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.960714057 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:279.64, Y:23.65, Z:72.84
[[ 9.50902232e-01 -1.80125791e-01 -2.51673686e-01  2.79635137e+02]
 [ 1.80443971e-01  9.83338902e-01 -2.20131202e-02  2.36496924e+01]
 [ 2.51445656e-01 -2.44806740e-02  9.67561770e-01  7.28389923e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.020714057 meters
Centerline goodness : 0.999037 with order 1
Centerline is valid?  [True, True]
Translation: X:279.69, Y:23.66, Z:72.86
[[ 9.51933590e-01 -1.74593233e-01 -2.51673686e-01  2.79691964e+02]
 [ 1.74722787e-01  9.84371561e-01 -2.20131202e-02  2.36605190e+01]
 [ 2.51583761e-01 -2.30180993e-02  9.67561770e-01  7.28571342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.080714057 meters
Centerline goodness : 0.998970 with order 1
Centerline is valid?  [True, True]
Translation: X:279.75, Y:23.67, Z:72.87
[[ 9.53072302e-01 -1.68266079e-01 -2.51673824e-01  2.79748918e+02]
 [ 1.68180572e-01  9.85510420e-01 -2.20115417e-02  2.36669688e+01]
 [ 2.51730971e-01 -2.13480569e-02  9.67561770e-01  7.28725523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.140714057 meters
Centerline goodness : 0.999178 with order 1
Centerline is valid?  [True, True]
Translation: X:279.81, Y:23.68, Z:72.89
[[ 9.53899998e-01 -1.63508606e-01 -2.51673855e-01  2.79806275e+02]
 [ 1.63261342e-01  9.86337286e-01 -2.20111879e-02  2.36760031e+01]
 [ 2.51834325e-01 -2.00921392e-02  9.67561770e-01  7.28898455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.200714057 meters
Centerline goodness : 0.998821 with order 1
Centerline is valid?  [True, True]
Translation: X:279.87, Y:23.68, Z:72.90
[[ 9.54567844e-01 -1.59563570e-01 -2.51673794e-01  2.79865150e+02]
 [ 1.59182023e-01  9.87003830e-01 -2.20118853e-02  2.36829363e+01]
 [ 2.51915293e-01 -1.90501057e-02  9.67561770e-01  7.29048705e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.26071405700003 meters
Centerline goodness : 0.999174 with order 1
Centerline is valid?  [True, True]
Translation: X:279.92, Y:23.69, Z:72.92
[[ 9.55226366e-01 -1.55572447e-01 -2.51674002e-01  2.79923767e+02]
 [ 1.55055959e-01  9.87660484e-01 -2.20094975e-02  2.36870960e+01]
 [ 2.51992538e-01 -1.79995016e-02  9.67561770e-01  7.29175912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.32071405700003 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:279.98, Y:23.70, Z:72.94
[[ 9.56656204e-01 -1.46523494e-01 -2.51673941e-01  2.79980384e+02]
 [ 1.45699831e-01  9.89083975e-01 -2.20101958e-02  2.36980236e+01]
 [ 2.52151673e-01 -1.56126604e-02  9.67561770e-01  7.29359038e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.38071405700003 meters
Centerline goodness : 0.998768 with order 1
Centerline is valid?  [True, True]
Translation: X:280.04, Y:23.71, Z:72.95
[[ 9.57903501e-01 -1.38134556e-01 -2.51673849e-01  2.80037584e+02]
 [ 1.37026479e-01  9.90322800e-01 -2.20112508e-02  2.37063600e+01]
 [ 2.52278865e-01 -1.34013273e-02  9.67561770e-01  7.29528471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.44071405700004 meters
Centerline goodness : 0.998460 with order 1
Centerline is valid?  [True, True]
Translation: X:280.10, Y:23.71, Z:72.97
[[ 9.58138251e-01 -1.36496807e-01 -2.51673823e-01  2.80095875e+02]
 [ 1.35333231e-01  9.90555606e-01 -2.20115524e-02  2.37108762e+01]
 [ 2.52301423e-01 -1.29697214e-02  9.67561770e-01  7.29695652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.50071405700004 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:280.15, Y:23.72, Z:72.99
[[ 9.57630074e-01 -1.40017597e-01 -2.51673823e-01  2.80153721e+02]
 [ 1.38973182e-01  9.90051487e-01 -2.20115524e-02  2.37173205e+01]
 [ 2.52252047e-01 -1.38969874e-02  9.67561770e-01  7.29866537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.56071405700004 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:280.21, Y:23.72, Z:73.00
[[ 9.56684762e-01 -1.46337120e-01 -2.51673823e-01  2.80212236e+02]
 [ 1.45506784e-01  9.89112363e-01 -2.20115524e-02  2.37190936e+01]
 [ 2.52154797e-01 -1.55621317e-02  9.67561770e-01  7.30009578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.62071405700004 meters
Centerline goodness : 0.998981 with order 1
Centerline is valid?  [True, True]
Translation: X:280.27, Y:23.72, Z:73.02
[[ 9.56249282e-01 -1.49156848e-01 -2.51673491e-01  2.80271061e+02]
 [ 1.48421121e-01  9.88679167e-01 -2.20153403e-02  2.37231040e+01]
 [ 2.52108077e-01 -1.63015085e-02  9.67561770e-01  7.30161229e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.68071405700005 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:280.33, Y:23.73, Z:73.03
[[ 9.55320369e-01 -1.54994871e-01 -2.51673564e-01  2.80328886e+02]
 [ 1.54457460e-01  9.87754147e-01 -2.20145080e-02  2.37257932e+01]
 [ 2.52003742e-01 -1.78419515e-02  9.67561770e-01  7.30289098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.74071405700005 meters
Centerline goodness : 0.999031 with order 1
Centerline is valid?  [True, True]
Translation: X:280.39, Y:23.73, Z:73.04
[[ 9.54769731e-01 -1.58351856e-01 -2.51673302e-01  2.80388882e+02]
 [ 1.57927665e-01  9.87205187e-01 -2.20175098e-02  2.37291409e+01]
 [ 2.51939702e-01 -1.87245251e-02  9.67561770e-01  7.30434149e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.80071405700005 meters
Centerline goodness : 0.998678 with order 1
Centerline is valid?  [True, True]
Translation: X:280.45, Y:23.73, Z:73.06
[[ 9.54460407e-01 -1.60204475e-01 -2.51674108e-01  2.80447220e+02]
 [ 1.59845651e-01  9.86896653e-01 -2.20082836e-02  2.37335443e+01]
 [ 2.51902161e-01 -1.92229762e-02  9.67561770e-01  7.30591377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.86071405700005 meters
Centerline goodness : 0.998797 with order 1
Centerline is valid?  [True, True]
Translation: X:280.50, Y:23.74, Z:73.08
[[ 9.54338615e-01 -1.60928402e-01 -2.51674108e-01  2.80503909e+02]
 [ 1.60594181e-01  9.86775124e-01 -2.20082837e-02  2.37391351e+01]
 [ 2.51887507e-01 -1.94140424e-02  9.67561770e-01  7.30750133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.92071405700005 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:280.56, Y:23.74, Z:73.09
[[ 9.53938987e-01 -1.63280905e-01 -2.51673906e-01  2.80560240e+02]
 [ 1.63026053e-01  9.86376216e-01 -2.20105986e-02  2.37437816e+01]
 [ 2.51839065e-01 -2.00326354e-02  9.67561770e-01  7.30905191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.98071405700006 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:280.62, Y:23.75, Z:73.11
[[ 9.53387179e-01 -1.66474357e-01 -2.51672755e-01  2.80618581e+02]
 [ 1.66324679e-01  9.85825063e-01 -2.20237486e-02  2.37480968e+01]
 [ 2.51771699e-01 -2.08622307e-02  9.67561770e-01  7.31077561e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.04071405700006 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:280.68, Y:23.75, Z:73.12
[[ 9.52650906e-01 -1.70636665e-01 -2.51673161e-01  2.80677659e+02]
 [ 1.70629877e-01  9.85089135e-01 -2.20191072e-02  2.37530367e+01]
 [ 2.51677764e-01 -2.19664380e-02  9.67561770e-01  7.31216166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.10071405700006 meters
Centerline goodness : 0.998894 with order 1
Centerline is valid?  [True, True]
Translation: X:280.74, Y:23.76, Z:73.14
[[ 9.52369369e-01 -1.72200807e-01 -2.51673334e-01  2.80736574e+02]
 [ 1.72247806e-01  9.84807565e-01 -2.20171271e-02  2.37570573e+01]
 [ 2.51641171e-01 -2.23817422e-02  9.67561770e-01  7.31357709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.16071405700006 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:280.80, Y:23.76, Z:73.15
[[ 9.52364996e-01 -1.72224395e-01 -2.51673742e-01  2.80796241e+02]
 [ 1.72273419e-01  9.84803189e-01 -2.20124647e-02  2.37620770e+01]
 [ 2.51640187e-01 -2.23927952e-02  9.67561770e-01  7.31498921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.22071405700007 meters
Centerline goodness : 0.998773 with order 1
Centerline is valid?  [True, True]
Translation: X:280.85, Y:23.77, Z:73.17
[[ 9.53461230e-01 -1.66046387e-01 -2.51674950e-01  2.80854359e+02]
 [ 1.65888727e-01  9.85899077e-01 -2.19986533e-02  2.37699323e+01]
 [ 2.51778897e-01 -2.07751740e-02  9.67561770e-01  7.31664122e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.28071405700007 meters
Centerline goodness : 0.998794 with order 1
Centerline is valid?  [True, True]
Translation: X:280.91, Y:23.78, Z:73.18
[[ 9.54851770e-01 -1.57853506e-01 -2.51675125e-01  2.80912054e+02]
 [ 1.57417857e-01  9.87287074e-01 -2.19966405e-02  2.37795217e+01]
 [ 2.51947845e-01 -1.86146277e-02  9.67561770e-01  7.31840368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.34071405700007 meters
Centerline goodness : 0.998547 with order 1
Centerline is valid?  [True, True]
Translation: X:280.97, Y:23.79, Z:73.20
[[ 9.55922778e-01 -1.51232318e-01 -2.51675243e-01  2.80969873e+02]
 [ 1.50572246e-01  9.88354292e-01 -2.19952930e-02  2.37879194e+01]
 [ 2.52070706e-01 -1.68695052e-02  9.67561770e-01  7.31990092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.400714057 meters
Centerline goodness : 0.998903 with order 1
Centerline is valid?  [True, True]
Translation: X:281.03, Y:23.80, Z:73.22
[[ 9.56494426e-01 -1.47573741e-01 -2.51675197e-01  2.81028147e+02]
 [ 1.46789449e-01  9.88923173e-01 -2.19958192e-02  2.37970712e+01]
 [ 2.52133440e-01 -1.59043851e-02  9.67561770e-01  7.32164939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.460714057 meters
Centerline goodness : 0.998561 with order 1
Centerline is valid?  [True, True]
Translation: X:281.09, Y:23.81, Z:73.23
[[ 9.56995011e-01 -1.44290447e-01 -2.51676013e-01  2.81086393e+02]
 [ 1.43397320e-01  9.89420943e-01 -2.19864850e-02  2.38055637e+01]
 [ 2.52185958e-01 -1.50487092e-02  9.67561770e-01  7.32309383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.520714057 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:281.15, Y:23.81, Z:73.25
[[ 9.57459124e-01 -1.41177689e-01 -2.51676153e-01  2.81145215e+02]
 [ 1.40179542e-01  9.89881993e-01 -2.19848823e-02  2.38118662e+01]
 [ 2.52233467e-01 -1.42302218e-02  9.67561770e-01  7.32450124e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.580714057 meters
Centerline goodness : 0.997721 with order 1
Centerline is valid?  [True, True]
Translation: X:281.20, Y:23.82, Z:73.26
[[ 9.57985913e-01 -1.37556166e-01 -2.51676958e-01  2.81202236e+02]
 [ 1.36437840e-01  9.90404860e-01 -2.19756589e-02  2.38207048e+01]
 [ 2.52284970e-01 -1.32858888e-02  9.67561770e-01  7.32623839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.640714057 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:281.26, Y:23.82, Z:73.28
[[ 9.58400118e-01 -1.34639976e-01 -2.51676958e-01  2.81260589e+02]
 [ 1.33422990e-01  9.90815511e-01 -2.19756589e-02  2.38249884e+01]
 [ 2.52324236e-01 -1.25180182e-02  9.67561770e-01  7.32801630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.700714057 meters
Centerline goodness : 0.998011 with order 1
Centerline is valid?  [True, True]
Translation: X:281.32, Y:23.83, Z:73.29
[[ 9.58394244e-01 -1.34681481e-01 -2.51677120e-01  2.81319919e+02]
 [ 1.33466385e-01  9.90809707e-01 -2.19738071e-02  2.38301074e+01]
 [ 2.52323598e-01 -1.25308650e-02  9.67561770e-01  7.32948096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.76071405700003 meters
Centerline goodness : 0.998322 with order 1
Centerline is valid?  [True, True]
Translation: X:281.38, Y:23.84, Z:73.31
[[ 9.58178799e-01 -1.36204305e-01 -2.51677921e-01  2.81378724e+02]
 [ 1.35043126e-01  9.90596239e-01 -2.19646306e-02  2.38359194e+01]
 [ 2.52302879e-01 -1.29413297e-02  9.67561770e-01  7.33091420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.82071405700003 meters
Centerline goodness : 0.998489 with order 1
Centerline is valid?  [True, True]
Translation: X:281.44, Y:23.84, Z:73.32
[[ 9.57760406e-01 -1.39115154e-01 -2.51678325e-01  2.81436988e+02]
 [ 1.38053696e-01  9.90181264e-01 -2.19599955e-02  2.38400069e+01]
 [ 2.52262130e-01 -1.37127088e-02  9.67561770e-01  7.33232868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.88071405700003 meters
Centerline goodness : 0.998451 with order 1
Centerline is valid?  [True, True]
Translation: X:281.50, Y:23.84, Z:73.34
[[ 9.57606090e-01 -1.40173457e-01 -2.51678325e-01  2.81496088e+02]
 [ 1.39147827e-01  9.90028101e-01 -2.19599955e-02  2.38441426e+01]
 [ 2.52246823e-01 -1.39914667e-02  9.67561770e-01  7.33388281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.94071405700004 meters
Centerline goodness : 0.998539 with order 1
Centerline is valid?  [True, True]
Translation: X:281.56, Y:23.85, Z:73.35
[[ 9.57535315e-01 -1.40654697e-01 -2.51679116e-01  2.81555054e+02]
 [ 1.39647738e-01  9.89957911e-01 -2.19509242e-02  2.38489691e+01]
 [ 2.52239233e-01 -1.41276341e-02  9.67561770e-01  7.33541690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.00071405700004 meters
Centerline goodness : 0.998017 with order 1
Centerline is valid?  [True, True]
Translation: X:281.61, Y:23.85, Z:73.37
[[ 9.57650147e-01 -1.39869277e-01 -2.51679917e-01  2.81614046e+02]
 [ 1.38838133e-01  9.90071984e-01 -2.19417353e-02  2.38534272e+01]
 [ 2.52250210e-01 -1.39302639e-02  9.67561770e-01  7.33696375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.06071405700004 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:281.67, Y:23.86, Z:73.39
[[ 9.57726738e-01 -1.39342424e-01 -2.51680721e-01  2.81672657e+02]
 [ 1.38295859e-01  9.90148080e-01 -2.19325166e-02  2.38580085e+01]
 [ 2.52257312e-01 -1.38010439e-02  9.67561770e-01  7.33860472e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.12071405700004 meters
Centerline goodness : 0.997790 with order 1
Centerline is valid?  [True, True]
Translation: X:281.73, Y:23.86, Z:73.40
[[ 9.57521266e-01 -1.40745993e-01 -2.51681528e-01  2.81731443e+02]
 [ 1.39749376e-01  9.89944182e-01 -2.19232526e-02  2.38611180e+01]
 [ 2.52236274e-01 -1.41803558e-02  9.67561770e-01  7.34023684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.18071405700005 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:281.79, Y:23.86, Z:73.42
[[ 9.56896016e-01 -1.44934551e-01 -2.51682321e-01  2.81788742e+02]
 [ 1.44082207e-01  9.89323045e-01 -2.19141411e-02  2.38623761e+01]
 [ 2.52171237e-01 -1.52933899e-02  9.67561770e-01  7.34161484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.24071405700005 meters
Centerline goodness : 0.998076 with order 1
Centerline is valid?  [True, True]
Translation: X:281.85, Y:23.87, Z:73.43
[[ 9.56007745e-01 -1.50683757e-01 -2.51681538e-01  2.81847254e+02]
 [ 1.50023989e-01  9.88439264e-01 -2.19231279e-02  2.38655643e+01]
 [ 2.52075374e-01 -1.67995882e-02  9.67561771e-01  7.34317013e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.30071405700005 meters
Centerline goodness : 0.998032 with order 1
Centerline is valid?  [True, True]
Translation: X:281.90, Y:23.87, Z:73.45
[[ 9.55501807e-01 -1.53860080e-01 -2.51681093e-01  2.81903987e+02]
 [ 1.53306758e-01  9.87935317e-01 -2.19282348e-02  2.38692462e+01]
 [ 2.52018521e-01 -1.76319446e-02  9.67561771e-01  7.34481995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.36071405700005 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:281.96, Y:23.87, Z:73.47
[[ 9.55178093e-01 -1.55857765e-01 -2.51680686e-01  2.81962331e+02]
 [ 1.55371040e-01  9.87612671e-01 -2.19329099e-02  2.38727237e+01]
 [ 2.51981449e-01 -1.81540547e-02  9.67561771e-01  7.34652754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.42071405700005 meters
Centerline goodness : 0.998181 with order 1
Centerline is valid?  [True, True]
Translation: X:282.02, Y:23.88, Z:73.48
[[ 9.54768338e-01 -1.58347878e-01 -2.51681088e-01  2.82021408e+02]
 [ 1.57946939e-01  9.87204090e-01 -2.19282893e-02  2.38766618e+01]
 [ 2.51932898e-01 -1.88158213e-02  9.67561771e-01  7.34794273e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.48071405700006 meters
Centerline goodness : 0.998157 with order 1
Centerline is valid?  [True, True]
Translation: X:282.08, Y:23.88, Z:73.49
[[ 9.54364498e-01 -1.60762657e-01 -2.51681890e-01  2.82079623e+02]
 [ 1.60446184e-01  9.86801183e-01 -2.19190913e-02  2.38800343e+01]
 [ 2.51883758e-01 -1.94625963e-02  9.67561771e-01  7.34943556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.54071405700006 meters
Centerline goodness : 0.998488 with order 1
Centerline is valid?  [True, True]
Translation: X:282.14, Y:23.88, Z:73.51
[[ 9.54030719e-01 -1.62731684e-01 -2.51681914e-01  2.82138861e+02]
 [ 1.62482220e-01  9.86467989e-01 -2.19188098e-02  2.38829693e+01]
 [ 2.51843037e-01 -1.99826183e-02  9.67561771e-01  7.35093386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.60071405700006 meters
Centerline goodness : 0.998536 with order 1
Centerline is valid?  [True, True]
Translation: X:282.20, Y:23.89, Z:73.53
[[ 9.53355356e-01 -1.66642067e-01 -2.51682314e-01  2.82196658e+02]
 [ 1.66526809e-01  9.85793380e-01 -2.19142184e-02  2.38867789e+01]
 [ 2.51758590e-01 -2.10198152e-02  9.67561771e-01  7.35250193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.66071405700006 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:282.26, Y:23.89, Z:73.54
[[ 9.52613272e-01 -1.70830698e-01 -2.51683983e-01  2.82255034e+02]
 [ 1.70863044e-01  9.85051485e-01 -2.18950373e-02  2.38884888e+01]
 [ 2.51662025e-01 -2.21459881e-02  9.67561771e-01  7.35414402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.72071405700007 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:282.31, Y:23.89, Z:73.56
[[ 9.51816978e-01 -1.75212785e-01 -2.51684169e-01  2.82313802e+02]
 [ 1.75394970e-01  9.84254696e-01 -2.18928989e-02  2.38921848e+01]
 [ 2.51557240e-01 -2.33061042e-02  9.67561771e-01  7.35551055e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.78071405700007 meters
Centerline goodness : 0.998544 with order 1
Centerline is valid?  [True, True]
Translation: X:282.37, Y:23.90, Z:73.57
[[ 9.51139735e-01 -1.78852593e-01 -2.51684235e-01  2.82372914e+02]
 [ 1.79159065e-01  9.83576517e-01 -2.18921361e-02  2.38978005e+01]
 [ 2.51466168e-01 -2.42690316e-02  9.67561771e-01  7.35691731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.84071405700007 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:282.43, Y:23.90, Z:73.58
[[ 9.50633654e-01 -1.81523184e-01 -2.51684304e-01  2.82430642e+02]
 [ 1.81920961e-01  9.83069445e-01 -2.18913460e-02  2.39009839e+01]
 [ 2.51396935e-01 -2.49760000e-02  9.67561771e-01  7.35825919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.900714057 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:282.49, Y:23.91, Z:73.60
[[ 9.50093771e-01 -1.84328521e-01 -2.51683975e-01  2.82489743e+02]
 [ 1.84821052e-01  9.82528260e-01 -2.18951207e-02  2.39060933e+01]
 [ 2.51322514e-01 -2.57140793e-02  9.67561771e-01  7.35980072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.960714057 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:282.55, Y:23.91, Z:73.61
[[ 9.50317208e-01 -1.83172527e-01 -2.51684384e-01  2.82548237e+02]
 [ 1.83626830e-01  9.82752256e-01 -2.18904215e-02  2.39115030e+01]
 [ 2.51353120e-01 -2.54131613e-02  9.67561771e-01  7.36117789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.020714057 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:282.61, Y:23.92, Z:73.63
[[ 9.50833674e-01 -1.80472421e-01 -2.51684384e-01  2.82607516e+02]
 [ 1.80834591e-01  9.83269882e-01 -2.18904215e-02  2.39185961e+01]
 [ 2.51424292e-01 -2.46990927e-02  9.67561771e-01  7.36287033e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.080714057 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:282.66, Y:23.93, Z:73.64
[[ 9.51568166e-01 -1.76556452e-01 -2.51686003e-01  2.82664865e+02]
 [ 1.76789967e-01  9.84005555e-01 -2.18717957e-02  2.39265918e+01]
 [ 2.51522031e-01 -2.36830555e-02  9.67561771e-01  7.36445459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.140714057 meters
Centerline goodness : 0.998586 with order 1
Centerline is valid?  [True, True]
Translation: X:282.72, Y:23.93, Z:73.66
[[ 9.51971363e-01 -1.74369861e-01 -2.51685668e-01  2.82723198e+02]
 [ 1.74527843e-01  9.84409208e-01 -2.18756492e-02  2.39337738e+01]
 [ 2.51576143e-01 -2.31011652e-02  9.67561771e-01  7.36591437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.200714057 meters
Centerline goodness : 0.998202 with order 1
Centerline is valid?  [True, True]
Translation: X:282.78, Y:23.94, Z:73.67
[[ 9.52972556e-01 -1.68812436e-01 -2.51685653e-01  2.82781361e+02]
 [ 1.68781109e-01  9.85410770e-01 -2.18758124e-02  2.39433249e+01]
 [ 2.51706663e-01 -2.16327348e-02  9.67561771e-01  7.36717140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.26071405700003 meters
Centerline goodness : 0.998158 with order 1
Centerline is valid?  [True, True]
Translation: X:282.84, Y:23.96, Z:73.69
[[ 9.54373549e-01 -1.60703075e-01 -2.51685618e-01  2.82839660e+02]
 [ 1.60395816e-01  9.86810323e-01 -2.18762169e-02  2.39568547e+01]
 [ 2.51881542e-01 -1.94912373e-02  9.67561771e-01  7.36861890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.32071405700003 meters
Centerline goodness : 0.997913 with order 1
Centerline is valid?  [True, True]
Translation: X:282.90, Y:23.97, Z:73.70
[[ 9.55737074e-01 -1.52384022e-01 -2.51685828e-01  2.82896103e+02]
 [ 1.51794871e-01  9.88169952e-01 -2.18738018e-02  2.39688703e+01]
 [ 2.52041591e-01 -1.72990145e-02  9.67561771e-01  7.37026348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.38071405700003 meters
Centerline goodness : 0.998151 with order 1
Centerline is valid?  [True, True]
Translation: X:282.95, Y:23.98, Z:73.72
[[ 9.56277405e-01 -1.48956323e-01 -2.51685397e-01  2.82952642e+02]
 [ 1.48249589e-01  9.88707934e-01 -2.18787658e-02  2.39817762e+01]
 [ 2.52102329e-01 -1.63900873e-02  9.67561771e-01  7.37215021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.44071405700004 meters
Centerline goodness : 0.997893 with order 1
Centerline is valid?  [True, True]
Translation: X:283.01, Y:23.99, Z:73.74
[[ 9.56317125e-01 -1.48700925e-01 -2.51685500e-01  2.83010304e+02]
 [ 1.47985841e-01  9.88747471e-01 -2.18775795e-02  2.39899434e+01]
 [ 2.52106618e-01 -1.63239865e-02  9.67561771e-01  7.37371017e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.50071405700004 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:283.07, Y:24.00, Z:73.75
[[ 9.55681856e-01 -1.52730477e-01 -2.51685500e-01  2.83069228e+02]
 [ 1.52152093e-01  9.88114929e-01 -2.18775795e-02  2.39985701e+01]
 [ 2.52035573e-01 -1.73864698e-02  9.67561771e-01  7.37492587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.56071405700004 meters
Centerline goodness : 0.998241 with order 1
Centerline is valid?  [True, True]
Translation: X:283.13, Y:24.01, Z:73.76
[[ 9.55177921e-01 -1.55851022e-01 -2.51685516e-01  2.83127048e+02]
 [ 1.55378619e-01  9.87612710e-01 -2.18773969e-02  2.40053840e+01]
 [ 2.51977429e-01 -1.82097413e-02  9.67561771e-01  7.37634925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.62071405700004 meters
Centerline goodness : 0.997723 with order 1
Centerline is valid?  [True, True]
Translation: X:283.19, Y:24.01, Z:73.78
[[ 9.54353274e-01 -1.60824528e-01 -2.51684921e-01  2.83186366e+02]
 [ 1.60519293e-01  9.86790067e-01 -2.18842411e-02  2.40102400e+01]
 [ 2.51879702e-01 -1.95149884e-02  9.67561771e-01  7.37774716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.68071405700005 meters
Centerline goodness : 0.997965 with order 1
Centerline is valid?  [True, True]
Translation: X:283.24, Y:24.02, Z:73.80
[[ 9.53870871e-01 -1.63660744e-01 -2.51685365e-01  2.83244898e+02]
 [ 1.63453273e-01  9.86308436e-01 -2.18791290e-02  2.40158684e+01]
 [ 2.51820153e-01 -2.02689329e-02  9.67561771e-01  7.37950943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.74071405700005 meters
Centerline goodness : 0.998091 with order 1
Centerline is valid?  [True, True]
Translation: X:283.30, Y:24.02, Z:73.81
[[ 9.53513789e-01 -1.65727296e-01 -2.51686149e-01  2.83303276e+02]
 [ 1.65592479e-01  9.85951738e-01 -2.18701102e-02  2.40221184e+01]
 [ 2.51774870e-01 -2.08238816e-02  9.67561771e-01  7.38131400e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.80071405700005 meters
Centerline goodness : 0.998142 with order 1
Centerline is valid?  [True, True]
Translation: X:283.36, Y:24.03, Z:73.83
[[ 9.53514181e-01 -1.65723851e-01 -2.51686934e-01  2.83363303e+02]
 [ 1.65591287e-01  9.85952139e-01 -2.18610674e-02  2.40254376e+01]
 [ 2.51774171e-01 -2.08323255e-02  9.67561771e-01  7.38301321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.86071405700005 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:283.42, Y:24.03, Z:73.85
[[ 9.53566020e-01 -1.65422905e-01 -2.51688512e-01  2.83422096e+02]
 [ 1.65284871e-01  9.86003955e-01 -2.18428835e-02  2.40288465e+01]
 [ 2.51779182e-01 -2.07716717e-02  9.67561771e-01  7.38452068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.92071405700005 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:283.48, Y:24.03, Z:73.86
[[ 9.53609127e-01 -1.65170103e-01 -2.51691219e-01  2.83481901e+02]
 [ 1.65031657e-01  9.86047060e-01 -2.18116480e-02  2.40313177e+01]
 [ 2.51782019e-01 -2.07372323e-02  9.67561772e-01  7.38587012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.98071405700006 meters
Centerline goodness : 0.998144 with order 1
Centerline is valid?  [True, True]
Translation: X:283.54, Y:24.03, Z:73.87
[[ 9.53557876e-01 -1.65464579e-01 -2.51691975e-01  2.83541626e+02]
 [ 1.65338437e-01  9.85995859e-01 -2.18029214e-02  2.40344250e+01]
 [ 2.51774857e-01 -2.08240104e-02  9.67561772e-01  7.38734633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.04071405700006 meters
Centerline goodness : 0.998319 with order 1
Centerline is valid?  [True, True]
Translation: X:283.60, Y:24.04, Z:73.89
[[ 9.53469693e-01 -1.65970769e-01 -2.51692765e-01  2.83600396e+02]
 [ 1.65864238e-01  9.85907746e-01 -2.17938039e-02  2.40361694e+01]
 [ 2.51762981e-01 -2.09670972e-02  9.67561772e-01  7.38886825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.10071405700006 meters
Centerline goodness : 0.998081 with order 1
Centerline is valid?  [True, True]
Translation: X:283.66, Y:24.04, Z:73.90
[[ 9.53621320e-01 -1.65096716e-01 -2.51693170e-01  2.83659194e+02]
 [ 1.64961678e-01  9.86059267e-01 -2.17891214e-02  2.40406447e+01]
 [ 2.51781695e-01 -2.07411571e-02  9.67561772e-01  7.39037530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.16071405700006 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.72, Y:24.04, Z:73.92
[[ 9.53833258e-01 -1.63866593e-01 -2.51693971e-01  2.83717909e+02]
 [ 1.63692142e-01  9.86271018e-01 -2.17798714e-02  2.40440593e+01]
 [ 2.51807462e-01 -2.04259594e-02  9.67561772e-01  7.39198604e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.22071405700007 meters
Centerline goodness : 0.997512 with order 1
Centerline is valid?  [True, True]
Translation: X:283.78, Y:24.04, Z:73.94
[[ 9.54173586e-01 -1.61872534e-01 -2.51694360e-01  2.83777488e+02]
 [ 1.61631462e-01  9.86610918e-01 -2.17753663e-02  2.40448587e+01]
 [ 2.51849238e-01 -1.99042482e-02  9.67561772e-01  7.39356224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.28071405700007 meters
Centerline goodness : 0.997895 with order 1
Centerline is valid?  [True, True]
Translation: X:283.84, Y:24.05, Z:73.95
[[ 9.54490647e-01 -1.59991116e-01 -2.51695150e-01  2.83836596e+02]
 [ 1.59688489e-01  9.86927463e-01 -2.17662377e-02  2.40486654e+01]
 [ 2.51887260e-01 -1.94171479e-02  9.67561772e-01  7.39512150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.34071405700007 meters
Centerline goodness : 0.998546 with order 1
Centerline is valid?  [True, True]
Translation: X:283.90, Y:24.05, Z:73.96
[[ 9.54961702e-01 -1.57153128e-01 -2.51696329e-01  2.83895868e+02]
 [ 1.56757660e-01  9.87397519e-01 -2.17525913e-02  2.40492536e+01]
 [ 2.51942819e-01 -1.86824359e-02  9.67561772e-01  7.39642185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.400714057 meters
Centerline goodness : 0.997837 with order 1
Centerline is valid?  [True, True]
Translation: X:283.96, Y:24.05, Z:73.98
[[ 9.55202970e-01 -1.55679871e-01 -2.51696373e-01  2.83955372e+02]
 [ 1.55234503e-01  9.87638140e-01 -2.17520783e-02  2.40528445e+01]
 [ 2.51971299e-01 -1.82943117e-02  9.67561772e-01  7.39791414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.460714057 meters
Centerline goodness : 0.998504 with order 1
Centerline is valid?  [True, True]
Translation: X:284.01, Y:24.05, Z:73.99
[[ 9.55928213e-01 -1.51161483e-01 -2.51697155e-01  2.84013827e+02]
 [ 1.50565125e-01  9.88360958e-01 -2.17430259e-02  2.40539869e+01]
 [ 2.52054350e-01 -1.71120417e-02  9.67561772e-01  7.39938349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.520714057 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:284.07, Y:24.06, Z:74.01
[[ 9.56755211e-01 -1.45835664e-01 -2.51697089e-01  2.84072096e+02]
 [ 1.45058498e-01  9.89184128e-01 -2.17437971e-02  2.40557927e+01]
 [ 2.52145787e-01 -1.57073104e-02  9.67561772e-01  7.40098943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.580714057 meters
Centerline goodness : 0.998156 with order 1
Centerline is valid?  [True, True]
Translation: X:284.13, Y:24.06, Z:74.02
[[ 9.57518730e-01 -1.40735553e-01 -2.51697011e-01  2.84131139e+02]
 [ 1.39785364e-01  9.89943039e-01 -2.17447038e-02  2.40569438e+01]
 [ 2.52225956e-01 -1.43625970e-02  9.67561772e-01  7.40247768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.640714057 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:284.19, Y:24.06, Z:74.04
[[ 9.57763015e-01 -1.39063498e-01 -2.51696944e-01  2.84189364e+02]
 [ 1.38056494e-01  9.90185608e-01 -2.17454794e-02  2.40582405e+01]
 [ 2.52250694e-01 -1.39213815e-02  9.67561772e-01  7.40405312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.700714057 meters
Centerline goodness : 0.998659 with order 1
Centerline is valid?  [True, True]
Translation: X:284.25, Y:24.06, Z:74.06
[[ 9.57795398e-01 -1.38840410e-01 -2.51696875e-01  2.84248065e+02]
 [ 1.37825645e-01  9.90217749e-01 -2.17462763e-02  2.40590399e+01]
 [ 2.52253975e-01 -1.38618007e-02  9.67561772e-01  7.40555803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.76071405700003 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:284.31, Y:24.06, Z:74.07
[[ 9.57759265e-01 -1.39089447e-01 -2.51696875e-01  2.84305407e+02]
 [ 1.38083113e-01  9.90181879e-01 -2.17462763e-02  2.40587516e+01]
 [ 2.52250362e-01 -1.39273903e-02  9.67561772e-01  7.40682970e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.82071405700003 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:284.36, Y:24.06, Z:74.09
[[ 9.57936661e-01 -1.37865091e-01 -2.51695392e-01  2.84362051e+02]
 [ 1.36812821e-01  9.90357817e-01 -2.17634260e-02  2.40599767e+01]
 [ 2.52268915e-01 -1.35871730e-02  9.67561772e-01  7.40850654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.88071405700003 meters
Centerline goodness : 0.998294 with order 1
Centerline is valid?  [True, True]
Translation: X:284.42, Y:24.06, Z:74.10
[[ 9.58238535e-01 -1.35761282e-01 -2.51689859e-01  2.84420115e+02]
 [ 1.34621107e-01  9.90656716e-01 -2.18272350e-02  2.40596891e+01]
 [ 2.52301542e-01 -1.29670697e-02  9.67561774e-01  7.41002644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.94071405700004 meters
Centerline goodness : 0.998261 with order 1
Centerline is valid?  [True, True]
Translation: X:284.48, Y:24.06, Z:74.11
[[ 9.58412654e-01 -1.34527305e-01 -2.51689467e-01  2.84476366e+02]
 [ 1.33344206e-01  9.90829298e-01 -2.18317467e-02  2.40604048e+01]
 [ 2.52318264e-01 -1.26375100e-02  9.67561774e-01  7.41142627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.00071405700004 meters
Centerline goodness : 0.998057 with order 1
Centerline is valid?  [True, True]
Translation: X:284.53, Y:24.06, Z:74.13
[[ 9.58269075e-01 -1.35549859e-01 -2.51687538e-01  2.84534148e+02]
 [ 1.34395528e-01  9.90686755e-01 -2.18539712e-02  2.40631910e+01]
 [ 2.52305813e-01 -1.28836946e-02  9.67561774e-01  7.41290322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.06071405700004 meters
Centerline goodness : 0.997868 with order 1
Centerline is valid?  [True, True]
Translation: X:284.59, Y:24.06, Z:74.14
[[ 9.57778552e-01 -1.38974859e-01 -2.51686778e-01  2.84593519e+02]
 [ 1.37934140e-01  9.90200078e-01 -2.18627108e-02  2.40628131e+01]
 [ 2.52258635e-01 -1.37765638e-02  9.67561774e-01  7.41413933e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.12071405700004 meters
Centerline goodness : 0.998039 with order 1
Centerline is valid?  [True, True]
Translation: X:284.65, Y:24.07, Z:74.16
[[ 9.57131518e-01 -1.43363446e-01 -2.51686669e-01  2.84652587e+02]
 [ 1.42471015e-01  9.89557465e-01 -2.18639677e-02  2.40653989e+01]
 [ 2.52192916e-01 -1.49313627e-02  9.67561774e-01  7.41553282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.18071405700005 meters
Centerline goodness : 0.998101 with order 1
Centerline is valid?  [True, True]
Translation: X:284.71, Y:24.07, Z:74.17
[[ 9.56333461e-01 -1.48593838e-01 -2.51686677e-01  2.84710603e+02]
 [ 1.47878713e-01  9.88763802e-01 -2.18638760e-02  2.40692491e+01]
 [ 2.52107513e-01 -1.63099458e-02  9.67561774e-01  7.41710977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.24071405700005 meters
Centerline goodness : 0.997515 with order 1
Centerline is valid?  [True, True]
Translation: X:284.77, Y:24.07, Z:74.19
[[ 9.55625156e-01 -1.53082882e-01 -2.51686697e-01  2.84768008e+02]
 [ 1.52520109e-01  9.88058499e-01 -2.18636487e-02  2.40730626e+01]
 [ 2.52028130e-01 -1.74938297e-02  9.67561774e-01  7.41861423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.30071405700005 meters
Centerline goodness : 0.998187 with order 1
Centerline is valid?  [True, True]
Translation: X:284.82, Y:24.08, Z:74.20
[[ 9.55316897e-01 -1.54995641e-01 -2.51686267e-01  2.84823584e+02]
 [ 1.54496501e-01  9.87751282e-01 -2.18685985e-02  2.40778025e+01]
 [ 2.51992970e-01 -1.79932058e-02  9.67561775e-01  7.42004012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.36071405700005 meters
Centerline goodness : 0.997686 with order 1
Centerline is valid?  [True, True]
Translation: X:284.88, Y:24.08, Z:74.22
[[ 9.55134930e-01 -1.56123040e-01 -2.51680077e-01  2.84881185e+02]
 [ 1.55643566e-01  9.87569610e-01 -2.19396108e-02  2.40847575e+01]
 [ 2.51976874e-01 -1.82170962e-02  9.67561777e-01  7.42172924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.42071405700005 meters
Centerline goodness : 0.997389 with order 1
Centerline is valid?  [True, True]
Translation: X:284.94, Y:24.09, Z:74.23
[[ 9.54802953e-01 -1.58140649e-01 -2.51680066e-01  2.84938916e+02]
 [ 1.57729669e-01  9.87238573e-01 -2.19397360e-02  2.40896466e+01]
 [ 2.51937834e-01 -1.87492889e-02  9.67561777e-01  7.42316629e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.48071405700006 meters
Centerline goodness : 0.998291 with order 1
Centerline is valid?  [True, True]
Translation: X:285.00, Y:24.09, Z:74.25
[[ 9.54181493e-01 -1.61849369e-01 -2.51679280e-01  2.84997017e+02]
 [ 1.61562060e-01  9.86618444e-01 -2.19487494e-02  2.40942665e+01]
 [ 2.51863811e-01 -1.97187324e-02  9.67561777e-01  7.42452024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.54071405700006 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:285.05, Y:24.10, Z:74.26
[[ 9.53631438e-01 -1.65060025e-01 -2.51678898e-01  2.85054390e+02]
 [ 1.64880744e-01  9.86069166e-01 -2.19531326e-02  2.40999853e+01]
 [ 2.51796386e-01 -2.05618066e-02  9.67561777e-01  7.42595283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.60071405700006 meters
Centerline goodness : 0.997971 with order 1
Centerline is valid?  [True, True]
Translation: X:285.11, Y:24.11, Z:74.27
[[ 9.53368564e-01 -1.66572203e-01 -2.51678529e-01  2.85111636e+02]
 [ 1.66443258e-01  9.85806531e-01 -2.19573601e-02  2.41067607e+01]
 [ 2.51763824e-01 -2.09567374e-02  9.67561777e-01  7.42734080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.66071405700006 meters
Centerline goodness : 0.997598 with order 1
Centerline is valid?  [True, True]
Translation: X:285.17, Y:24.11, Z:74.29
[[ 9.53428201e-01 -1.66237949e-01 -2.51673616e-01  2.85167681e+02]
 [ 1.66082905e-01  9.85866052e-01 -2.20135310e-02  2.41141323e+01]
 [ 2.51775959e-01 -2.08103641e-02  9.67561779e-01  7.42883718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.72071405700007 meters
Centerline goodness : 0.997794 with order 1
Centerline is valid?  [True, True]
Translation: X:285.22, Y:24.12, Z:74.30
[[ 9.53438964e-01 -1.66177903e-01 -2.51672500e-01  2.85222968e+02]
 [ 1.66017472e-01  9.85876788e-01 -2.20262868e-02  2.41199697e+01]
 [ 2.51778358e-01 -2.07813120e-02  9.67561779e-01  7.43037162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.78071405700007 meters
Centerline goodness : 0.997677 with order 1
Centerline is valid?  [True, True]
Translation: X:285.28, Y:24.13, Z:74.32
[[ 9.53358348e-01 -1.66648760e-01 -2.51666549e-01  2.85278047e+02]
 [ 1.66486576e-01  9.85796161e-01 -2.20940814e-02  2.41257182e+01]
 [ 2.51773869e-01 -2.08355250e-02  9.67561781e-01  7.43192209e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.84071405700007 meters
Centerline goodness : 0.997889 with order 1
Centerline is valid?  [True, True]
Translation: X:285.34, Y:24.13, Z:74.33
[[ 9.53105470e-01 -1.68093282e-01 -2.51663688e-01  2.85336736e+02]
 [ 1.67971723e-01  9.85543461e-01 -2.21266212e-02  2.41307465e+01]
 [ 2.51744838e-01 -2.11833795e-02  9.67561781e-01  7.43328560e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.900714057 meters
Centerline goodness : 0.997630 with order 1
Centerline is valid?  [True, True]
Translation: X:285.40, Y:24.14, Z:74.35
[[ 9.52973266e-01 -1.68841175e-01 -2.51663688e-01  2.85395178e+02]
 [ 1.68745071e-01  9.85411342e-01 -2.21266212e-02  2.41352892e+01]
 [ 2.51728137e-01 -2.13809284e-02  9.67561781e-01  7.43465627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.960714057 meters
Centerline goodness : 0.998027 with order 1
Centerline is valid?  [True, True]
Translation: X:285.45, Y:24.14, Z:74.36
[[ 9.53212914e-01 -1.67483540e-01 -2.51663275e-01  2.85453063e+02]
 [ 1.67339998e-01  9.85650815e-01 -2.21313189e-02  2.41410657e+01]
 [ 2.51758744e-01 -2.10174730e-02  9.67561781e-01  7.43622283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.020714057 meters
Centerline goodness : 0.997590 with order 1
Centerline is valid?  [True, True]
Translation: X:285.51, Y:24.15, Z:74.38
[[ 9.53555742e-01 -1.65520652e-01 -2.51663188e-01  2.85509461e+02]
 [ 1.65310065e-01  9.85993277e-01 -2.21323110e-02  2.41475572e+01]
 [ 2.51801566e-01 -2.04980658e-02  9.67561781e-01  7.43775417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.080714057 meters
Centerline goodness : 0.998604 with order 1
Centerline is valid?  [True, True]
Translation: X:285.57, Y:24.15, Z:74.39
[[ 9.54229145e-01 -1.61595146e-01 -2.51661972e-01  2.85567581e+02]
 [ 1.61247452e-01  9.86665500e-01 -2.21461239e-02  2.41544277e+01]
 [ 2.51884892e-01 -1.94473748e-02  9.67561781e-01  7.43936155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.140714057 meters
Centerline goodness : 0.998116 with order 1
Centerline is valid?  [True, True]
Translation: X:285.62, Y:24.16, Z:74.41
[[ 9.55243230e-01 -1.55488444e-01 -2.51661906e-01  2.85624177e+02]
 [ 1.54933092e-01  9.87676695e-01 -2.21468769e-02  2.41602060e+01]
 [ 2.52004183e-01 -1.78351029e-02  9.67561781e-01  7.44072699e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.200714057 meters
Centerline goodness : 0.998251 with order 1
Centerline is valid?  [True, True]
Translation: X:285.68, Y:24.17, Z:74.42
[[ 9.56029114e-01 -1.50582685e-01 -2.51660859e-01  2.85682163e+02]
 [ 1.49857728e-01  9.88459231e-01 -2.21587661e-02  2.41681099e+01]
 [ 2.52093226e-01 -1.65288989e-02  9.67561782e-01  7.44237547e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.26071405700003 meters
Centerline goodness : 0.998224 with order 1
Centerline is valid?  [True, True]
Translation: X:285.74, Y:24.17, Z:74.44
[[ 9.56685648e-01 -1.46353653e-01 -2.51660841e-01  2.85740148e+02]
 [ 1.45485244e-01  9.89112240e-01 -2.21589666e-02  2.41728048e+01]
 [ 2.52163864e-01 -1.54137736e-02  9.67561782e-01  7.44384734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.32071405700003 meters
Centerline goodness : 0.998390 with order 1
Centerline is valid?  [True, True]
Translation: X:285.80, Y:24.18, Z:74.45
[[ 9.56758340e-01 -1.45878744e-01 -2.51660229e-01  2.85796974e+02]
 [ 1.44992416e-01  9.89184447e-01 -2.21659230e-02  2.41776360e+01]
 [ 2.52171921e-01 -1.52813930e-02  9.67561782e-01  7.44531765e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.38071405700003 meters
Centerline goodness : 0.998438 with order 1
Centerline is valid?  [True, True]
Translation: X:285.85, Y:24.18, Z:74.47
[[ 9.57241433e-01 -1.42684412e-01 -2.51654522e-01  2.85853995e+02]
 [ 1.41672926e-01  9.89663875e-01 -2.22305301e-02  2.41826279e+01]
 [ 2.52225339e-01 -1.43726480e-02  9.67561784e-01  7.44686089e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.44071405700004 meters
Centerline goodness : 0.998412 with order 1
Centerline is valid?  [True, True]
Translation: X:285.91, Y:24.19, Z:74.48
[[ 9.57791350e-01 -1.38950659e-01 -2.51651435e-01  2.85911471e+02]
 [ 1.37803611e-01  9.90209279e-01 -2.22654195e-02  2.41882665e+01]
 [ 2.52281381e-01 -1.33528503e-02  9.67561784e-01  7.44831164e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.50071405700004 meters
Centerline goodness : 0.998694 with order 1
Centerline is valid?  [True, True]
Translation: X:285.97, Y:24.19, Z:74.50
[[ 9.58114485e-01 -1.36706242e-01 -2.51650625e-01  2.85969619e+02]
 [ 1.35480846e-01  9.90529547e-01 -2.22745774e-02  2.41935089e+01]
 [ 2.52312453e-01 -1.27522442e-02  9.67561784e-01  7.44976126e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.56071405700004 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:286.03, Y:24.20, Z:74.51
[[ 9.58066384e-01 -1.37043103e-01 -2.51650534e-01  2.86026300e+02]
 [ 1.35828836e-01  9.90481865e-01 -2.22755987e-02  2.41987834e+01]
 [ 2.52308008e-01 -1.28398969e-02  9.67561784e-01  7.45132663e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.62071405700004 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:286.08, Y:24.20, Z:74.53
[[ 9.57853295e-01 -1.38526825e-01 -2.51649327e-01  2.86082825e+02]
 [ 1.37359196e-01  9.90270489e-01 -2.22892266e-02  2.42032911e+01]
 [ 2.52288558e-01 -1.32165401e-02  9.67561784e-01  7.45279206e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.68071405700005 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:286.14, Y:24.21, Z:74.54
[[ 9.57149782e-01 -1.43316905e-01 -2.51643716e-01  2.86140752e+02]
 [ 1.42294906e-01  9.89571892e-01 -2.23524033e-02  2.42078249e+01]
 [ 2.52223025e-01 -1.44130210e-02  9.67561786e-01  7.45434121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.74071405700005 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:286.20, Y:24.21, Z:74.56
[[ 9.56629123e-01 -1.46752265e-01 -2.51643584e-01  2.86198884e+02]
 [ 1.45846282e-01  9.89054683e-01 -2.23538935e-02  2.42124916e+01]
 [ 2.52169749e-01 -1.53168957e-02  9.67561786e-01  7.45594634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.80071405700005 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:286.26, Y:24.22, Z:74.58
[[ 9.56301337e-01 -1.48873517e-01 -2.51643457e-01  2.86255128e+02]
 [ 1.48039077e-01  9.88728816e-01 -2.23553179e-02  2.42162172e+01]
 [ 2.52135252e-01 -1.58746446e-02  9.67561786e-01  7.45751867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.86071405700005 meters
Centerline goodness : 0.998392 with order 1
Centerline is valid?  [True, True]
Translation: X:286.31, Y:24.22, Z:74.59
[[ 9.56094771e-01 -1.50196434e-01 -2.51642245e-01  2.86311441e+02]
 [ 1.49403283e-01  9.88523287e-01 -2.23689581e-02  2.42228224e+01]
 [ 2.52113956e-01 -1.62093338e-02  9.67561786e-01  7.45902129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.92071405700005 meters
Centerline goodness : 0.998673 with order 1
Centerline is valid?  [True, True]
Translation: X:286.37, Y:24.23, Z:74.60
[[ 9.56224054e-01 -1.49380610e-01 -2.51636626e-01  2.86369096e+02]
 [ 1.48543269e-01  9.88651457e-01 -2.24319941e-02  2.42289714e+01]
 [ 2.52131822e-01 -1.59289146e-02  9.67561788e-01  7.46043960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.98071405700006 meters
Centerline goodness : 0.998252 with order 1
Centerline is valid?  [True, True]
Translation: X:286.43, Y:24.24, Z:74.62
[[ 9.55869180e-01 -1.51636191e-01 -2.51635800e-01  2.86425990e+02]
 [ 1.50872931e-01  9.88298411e-01 -2.24412510e-02  2.42361478e+01]
 [ 2.52094167e-01 -1.65141305e-02  9.67561788e-01  7.46185028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.04071405700006 meters
Centerline goodness : 0.998552 with order 1
Centerline is valid?  [True, True]
Translation: X:286.48, Y:24.24, Z:74.63
[[ 9.55471130e-01 -1.54126467e-01 -2.51634559e-01  2.86483733e+02]
 [ 1.53444065e-01  9.87902163e-01 -2.24551637e-02  2.42433364e+01]
 [ 2.52051260e-01 -1.71565690e-02  9.67561788e-01  7.46334120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.10071405700006 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:286.54, Y:24.25, Z:74.65
[[ 9.54473205e-01 -1.60190999e-01 -2.51634151e-01  2.86541821e+02]
 [ 1.59713363e-01  9.86907899e-01 -2.24597347e-02  2.42515647e+01]
 [ 2.51937578e-01 -1.87521216e-02  9.67561788e-01  7.46484036e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.16071405700006 meters
Centerline goodness : 0.998553 with order 1
Centerline is valid?  [True, True]
Translation: X:286.60, Y:24.26, Z:74.66
[[ 9.53315692e-01 -1.66941380e-01 -2.51634193e-01  2.86599985e+02]
 [ 1.66693406e-01  9.85752956e-01 -2.24592652e-02  2.42582307e+01]
 [ 2.51798530e-01 -2.05349906e-02  9.67561788e-01  7.46623410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.22071405700007 meters
Centerline goodness : 0.998644 with order 1
Centerline is valid?  [True, True]
Translation: X:286.66, Y:24.27, Z:74.68
[[ 9.52575074e-01 -1.71117290e-01 -2.51633862e-01  2.86657963e+02]
 [ 1.71010491e-01  9.85013110e-01 -2.24629647e-02  2.42680913e+01]
 [ 2.51706455e-01 -2.16343701e-02  9.67561788e-01  7.46808533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.28071405700007 meters
Centerline goodness : 0.998900 with order 1
Centerline is valid?  [True, True]
Translation: X:286.72, Y:24.28, Z:74.70
[[ 9.52307003e-01 -1.72601909e-01 -2.51634564e-01  2.86716237e+02]
 [ 1.72547735e-01  9.84745169e-01 -2.24551014e-02  2.42750147e+01]
 [ 2.51671715e-01 -2.20348238e-02  9.67561789e-01  7.46975419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.34071405700007 meters
Centerline goodness : 0.998660 with order 1
Centerline is valid?  [True, True]
Translation: X:286.77, Y:24.28, Z:74.71
[[ 9.51987048e-01 -1.74357388e-01 -2.51634977e-01  2.86774405e+02]
 [ 1.74364233e-01  9.84425259e-01 -2.24504772e-02  2.42840527e+01]
 [ 2.51630234e-01 -2.25035761e-02  9.67561789e-01  7.47135695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.400714057 meters
Centerline goodness : 0.998729 with order 1
Centerline is valid?  [True, True]
Translation: X:286.83, Y:24.29, Z:74.73
[[ 9.51521654e-01 -1.76878986e-01 -2.51635385e-01  2.86832869e+02]
 [ 1.76972975e-01  9.83959729e-01 -2.24458970e-02  2.42933437e+01]
 [ 2.51569293e-01 -2.31749056e-02  9.67561789e-01  7.47283403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.460714057 meters
Centerline goodness : 0.998210 with order 1
Centerline is valid?  [True, True]
Translation: X:286.89, Y:24.30, Z:74.74
[[ 9.51218833e-01 -1.78500218e-01 -2.51635459e-01  2.86892353e+02]
 [ 1.78649702e-01  9.83656700e-01 -2.24450655e-02  2.42998278e+01]
 [ 2.51529355e-01 -2.36044309e-02  9.67561789e-01  7.47409886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.520714057 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:286.95, Y:24.31, Z:74.76
[[ 9.50738366e-01 -1.81040168e-01 -2.51636675e-01  2.86950571e+02]
 [ 1.81279864e-01  9.83175692e-01 -2.24314294e-02  2.43084192e+01]
 [ 2.51464052e-01 -2.42902417e-02  9.67561789e-01  7.47560615e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.580714057 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:287.01, Y:24.32, Z:74.77
[[ 9.50775850e-01 -1.80842624e-01 -2.51637097e-01  2.87010312e+02]
 [ 1.81076823e-01  9.83213216e-01 -2.24266897e-02  2.43189306e+01]
 [ 2.51468621e-01 -2.42428913e-02  9.67561789e-01  7.47711280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.640714057 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:287.07, Y:24.33, Z:74.79
[[ 9.51038108e-01 -1.79455955e-01 -2.51638782e-01  2.87069284e+02]
 [ 1.79647812e-01  9.83475752e-01 -2.24077750e-02  2.43269001e+01]
 [ 2.51501849e-01 -2.38957087e-02  9.67561789e-01  7.47867815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.700714057 meters
Centerline goodness : 0.998189 with order 1
Centerline is valid?  [True, True]
Translation: X:287.13, Y:24.34, Z:74.81
[[ 9.51320185e-01 -1.77952799e-01 -2.51640034e-01  2.87126598e+02]
 [ 1.78097084e-01  9.83758075e-01 -2.23937051e-02  2.43361532e+01]
 [ 2.51537938e-01 -2.35127725e-02  9.67561789e-01  7.48051624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.76071405700003 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:287.19, Y:24.34, Z:74.82
[[ 9.51399439e-01 -1.77528473e-01 -2.51640119e-01  2.87186594e+02]
 [ 1.77658540e-01  9.83837389e-01 -2.23927516e-02  2.43422829e+01]
 [ 2.51548308e-01 -2.34015647e-02  9.67561789e-01  7.48215902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.82071405700003 meters
Centerline goodness : 0.998357 with order 1
Centerline is valid?  [True, True]
Translation: X:287.25, Y:24.35, Z:74.84
[[ 9.51390130e-01 -1.77576025e-01 -2.51641763e-01  2.87245179e+02]
 [ 1.77712561e-01  9.83828053e-01 -2.23742644e-02  2.43481092e+01]
 [ 2.51545358e-01 -2.34332477e-02  9.67561789e-01  7.48355075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.88071405700003 meters
Centerline goodness : 0.998209 with order 1
Centerline is valid?  [True, True]
Translation: X:287.30, Y:24.35, Z:74.85
[[ 9.51042064e-01 -1.79427370e-01 -2.51644217e-01  2.87303663e+02]
 [ 1.79634286e-01  9.83479614e-01 -2.23466209e-02  2.43549619e+01]
 [ 2.51496553e-01 -2.39513530e-02  9.67561789e-01  7.48494609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.94071405700004 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:287.36, Y:24.36, Z:74.87
[[ 9.50896580e-01 -1.80196696e-01 -2.51644284e-01  2.87363766e+02]
 [ 1.80430051e-01  9.83333951e-01 -2.23458678e-02  2.43596726e+01]
 [ 2.51477020e-01 -2.41555819e-02  9.67561789e-01  7.48653214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.00071405700004 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:287.42, Y:24.36, Z:74.88
[[ 9.50749382e-01 -1.80969459e-01 -2.51645915e-01  2.87423288e+02]
 [ 1.81233997e-01  9.83186514e-01 -2.23274886e-02  2.43648383e+01]
 [ 2.51455464e-01 -2.43789489e-02  9.67561790e-01  7.48802611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.06071405700004 meters
Centerline goodness : 0.998309 with order 1
Centerline is valid?  [True, True]
Translation: X:287.48, Y:24.37, Z:74.90
[[ 9.50885016e-01 -1.80254284e-01 -2.51646735e-01  2.87483197e+02]
 [ 1.80496848e-01  9.83322319e-01 -2.23182423e-02  2.43718112e+01]
 [ 2.51472810e-01 -2.41993603e-02  9.67561790e-01  7.48971630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.12071405700004 meters
Centerline goodness : 0.998830 with order 1
Centerline is valid?  [True, True]
Translation: X:287.54, Y:24.38, Z:74.91
[[ 9.51593696e-01 -1.76471126e-01 -2.51649320e-01  2.87541539e+02]
 [ 1.76592334e-01  9.84031679e-01 -2.22890583e-02  2.43787638e+01]
 [ 2.51564278e-01 -2.32292135e-02  9.67561790e-01  7.49125230e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.18071405700005 meters
Centerline goodness : 0.998302 with order 1
Centerline is valid?  [True, True]
Translation: X:287.60, Y:24.39, Z:74.93
[[ 9.52529602e-01 -1.71347353e-01 -2.51649442e-01  2.87598767e+02]
 [ 1.71294346e-01  9.84967769e-01 -2.22876877e-02  2.43863011e+01]
 [ 2.51685525e-01 -2.18764443e-02  9.67561790e-01  7.49284120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.24071405700005 meters
Centerline goodness : 0.998066 with order 1
Centerline is valid?  [True, True]
Translation: X:287.66, Y:24.39, Z:74.94
[[ 9.52831965e-01 -1.69657974e-01 -2.51649395e-01  2.87656923e+02]
 [ 1.69547309e-01  9.85269986e-01 -2.22882082e-02  2.43921776e+01]
 [ 2.51723969e-01 -2.14295606e-02  9.67561790e-01  7.49443874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.30071405700005 meters
Centerline goodness : 0.998465 with order 1
Centerline is valid?  [True, True]
Translation: X:287.72, Y:24.40, Z:74.96
[[ 9.53347763e-01 -1.66734984e-01 -2.51649534e-01  2.87715614e+02]
 [ 1.66525249e-01  9.85785295e-01 -2.22866387e-02  2.43981081e+01]
 [ 2.51788373e-01 -2.06590841e-02  9.67561790e-01  7.49600434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.36071405700005 meters
Centerline goodness : 0.997790 with order 1
Centerline is valid?  [True, True]
Translation: X:287.78, Y:24.40, Z:74.97
[[ 9.53579639e-01 -1.65403782e-01 -2.51649479e-01  2.87775340e+02]
 [ 1.65148596e-01  9.86016845e-01 -2.22872589e-02  2.44039159e+01]
 [ 2.51817023e-01 -2.03068819e-02  9.67561790e-01  7.49742409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.42071405700005 meters
Centerline goodness : 0.998278 with order 1
Centerline is valid?  [True, True]
Translation: X:287.83, Y:24.41, Z:74.99
[[ 9.53968444e-01 -1.63142483e-01 -2.51652016e-01  2.87833002e+02]
 [ 1.62817911e-01  9.86405030e-01 -2.22585781e-02  2.44114661e+01]
 [ 2.51862135e-01 -1.97394746e-02  9.67561790e-01  7.49906847e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.48071405700006 meters
Centerline goodness : 0.997880 with order 1
Centerline is valid?  [True, True]
Translation: X:287.89, Y:24.42, Z:75.01
[[ 9.54294835e-01 -1.61222683e-01 -2.51651772e-01  2.87891845e+02]
 [ 1.60832122e-01  9.86730693e-01 -2.22613439e-02  2.44173514e+01]
 [ 2.51901561e-01 -1.92298029e-02  9.67561790e-01  7.50061170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.54071405700006 meters
Centerline goodness : 0.998068 with order 1
Centerline is valid?  [True, True]
Translation: X:287.95, Y:24.42, Z:75.02
[[ 9.54852075e-01 -1.57887658e-01 -2.51652545e-01  2.87949736e+02]
 [ 1.57386068e-01  9.87286406e-01 -2.22526041e-02  2.44240802e+01]
 [ 2.51966548e-01 -1.83586593e-02  9.67561791e-01  7.50209240e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.60071405700006 meters
Centerline goodness : 0.997655 with order 1
Centerline is valid?  [True, True]
Translation: X:288.01, Y:24.43, Z:75.04
[[ 9.54961106e-01 -1.57226724e-01 -2.51652626e-01  2.88007717e+02]
 [ 1.56702926e-01  9.87395086e-01 -2.22516835e-02  2.44297242e+01]
 [ 2.51979125e-01 -1.81852106e-02  9.67561791e-01  7.50370327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.66071405700006 meters
Centerline goodness : 0.998022 with order 1
Centerline is valid?  [True, True]
Translation: X:288.07, Y:24.43, Z:75.05
[[ 9.55606200e-01 -1.53257126e-01 -2.51652626e-01  2.88065384e+02]
 [ 1.52598557e-01  9.88037723e-01 -2.22516835e-02  2.44343706e+01]
 [ 2.52052517e-01 -1.71379808e-02  9.67561791e-01  7.50508633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.72071405700007 meters
Centerline goodness : 0.998044 with order 1
Centerline is valid?  [True, True]
Translation: X:288.12, Y:24.44, Z:75.07
[[ 9.56112239e-01 -1.50068461e-01 -2.51652228e-01  2.88123206e+02]
 [ 1.49300527e-01  9.88541357e-01 -2.22561883e-02  2.44400610e+01]
 [ 2.52108586e-01 -1.62923961e-02  9.67561791e-01  7.50683133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.78071405700007 meters
Centerline goodness : 0.997917 with order 1
Centerline is valid?  [True, True]
Translation: X:288.18, Y:24.45, Z:75.08
[[ 9.57034248e-01 -1.44071592e-01 -2.51652189e-01  2.88181114e+02]
 [ 1.43100260e-01  9.89457911e-01 -2.22566197e-02  2.44457297e+01]
 [ 2.52205796e-01 -1.47111464e-02  9.67561791e-01  7.50846175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.84071405700007 meters
Centerline goodness : 0.998036 with order 1
Centerline is valid?  [True, True]
Translation: X:288.24, Y:24.45, Z:75.10
[[ 9.57801647e-01 -1.38878378e-01 -2.51652144e-01  2.88239704e+02]
 [ 1.37731054e-01  9.90219560e-01 -2.22571345e-02  2.44509331e+01]
 [ 2.52281910e-01 -1.33423950e-02  9.67561791e-01  7.51001094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.900714057 meters
Centerline goodness : 0.998162 with order 1
Centerline is valid?  [True, True]
Translation: X:288.30, Y:24.45, Z:75.11
[[ 9.58000796e-01 -1.37497793e-01 -2.51652202e-01  2.88298363e+02]
 [ 1.36303921e-01  9.90417029e-01 -2.22564763e-02  2.44546198e+01]
 [ 2.52300843e-01 -1.29794598e-02  9.67561791e-01  7.51148913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.960714057 meters
Centerline goodness : 0.997418 with order 1
Centerline is valid?  [True, True]
Translation: X:288.36, Y:24.46, Z:75.13
[[ 9.57864301e-01 -1.38445478e-01 -2.51652202e-01  2.88356169e+02]
 [ 1.37283676e-01  9.90281698e-01 -2.22564763e-02  2.44572056e+01]
 [ 2.52287879e-01 -1.32290552e-02  9.67561791e-01  7.51294858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.020714057 meters
Centerline goodness : 0.997541 with order 1
Centerline is valid?  [True, True]
Translation: X:288.41, Y:24.46, Z:75.15
[[ 9.57769042e-01 -1.39103646e-01 -2.51651819e-01  2.88414671e+02]
 [ 1.37962985e-01  9.90187190e-01 -2.22608086e-02  2.44614301e+01]
 [ 2.52278967e-01 -1.33979227e-02  9.67561791e-01  7.51453029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.080714057 meters
Centerline goodness : 0.997645 with order 1
Centerline is valid?  [True, True]
Translation: X:288.47, Y:24.47, Z:75.16
[[ 9.58030114e-01 -1.37294075e-01 -2.51651819e-01  2.88472572e+02]
 [ 1.36092174e-01  9.90446049e-01 -2.22608086e-02  2.44658613e+01]
 [ 2.52303827e-01 -1.29213181e-02  9.67561791e-01  7.51596031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.140714057 meters
Centerline goodness : 0.997860 with order 1
Centerline is valid?  [True, True]
Translation: X:288.53, Y:24.47, Z:75.18
[[ 9.57959763e-01 -1.37784089e-01 -2.51651819e-01  2.88530102e+02]
 [ 1.36598770e-01  9.90376309e-01 -2.22608086e-02  2.44696621e+01]
 [ 2.52297185e-01 -1.30503699e-02  9.67561791e-01  7.51752372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.200714057 meters
Centerline goodness : 0.997896 with order 1
Centerline is valid?  [True, True]
Translation: X:288.59, Y:24.47, Z:75.19
[[ 9.57526736e-01 -1.40763296e-01 -2.51651036e-01  2.88586710e+02]
 [ 1.39676499e-01  9.89946735e-01 -2.22696606e-02  2.44723881e+01]
 [ 2.52255872e-01 -1.38259402e-02  9.67561791e-01  7.51917000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.26071405700003 meters
Centerline goodness : 0.997497 with order 1
Centerline is valid?  [True, True]
Translation: X:288.65, Y:24.47, Z:75.21
[[ 9.56789528e-01 -1.45691980e-01 -2.51649849e-01  2.88645664e+02]
 [ 1.44768624e-01  9.89214593e-01 -2.22830616e-02  2.44738520e+01]
 [ 2.52182166e-01 -1.51108025e-02  9.67561791e-01  7.52071963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.32071405700003 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:288.70, Y:24.47, Z:75.22
[[ 9.55855933e-01 -1.51696259e-01 -2.51649915e-01  2.88704776e+02]
 [ 1.50976697e-01  9.88286161e-01 -2.22823132e-02  2.44749520e+01]
 [ 2.52082272e-01 -1.66945916e-02  9.67561791e-01  7.52231526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.38071405700003 meters
Centerline goodness : 0.997225 with order 1
Centerline is valid?  [True, True]
Translation: X:288.76, Y:24.48, Z:75.24
[[ 9.55287311e-01 -1.55236153e-01 -2.51650334e-01  2.88764297e+02]
 [ 1.54637973e-01  9.87720004e-01 -2.22775772e-02  2.44787821e+01]
 [ 2.52018355e-01 -1.76332108e-02  9.67561791e-01  7.52382831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.44071405700004 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:288.82, Y:24.48, Z:75.25
[[ 9.54384768e-01 -1.60689762e-01 -2.51651575e-01  2.88823267e+02]
 [ 1.60280507e-01  9.86820395e-01 -2.22635587e-02  2.44808793e+01]
 [ 2.51912432e-01 -1.90868408e-02  9.67561791e-01  7.52535725e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.50071405700004 meters
Centerline goodness : 0.998179 with order 1
Centerline is valid?  [True, True]
Translation: X:288.88, Y:24.48, Z:75.27
[[ 9.53817278e-01 -1.64024496e-01 -2.51651675e-01  2.88882053e+02]
 [ 1.63728910e-01  9.86254140e-01 -2.22624199e-02  2.44832741e+01]
 [ 2.51844089e-01 -1.99683738e-02  9.67561791e-01  7.52676040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.56071405700004 meters
Centerline goodness : 0.998112 with order 1
Centerline is valid?  [True, True]
Translation: X:288.94, Y:24.49, Z:75.28
[[ 9.53801843e-01 -1.64114043e-01 -2.51651794e-01  2.88942518e+02]
 [ 1.63821853e-01  9.86238736e-01 -2.22610815e-02  2.44880683e+01]
 [ 2.51842103e-01 -1.99934025e-02  9.67561791e-01  7.52820936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.62071405700004 meters
Centerline goodness : 0.998158 with order 1
Centerline is valid?  [True, True]
Translation: X:289.00, Y:24.49, Z:75.30
[[ 9.54228558e-01 -1.61611958e-01 -2.51653403e-01  2.89000803e+02]
 [ 1.61239468e-01  9.86664628e-01 -2.22428813e-02  2.44925223e+01]
 [ 2.51892226e-01 -1.93516683e-02  9.67561791e-01  7.52958258e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.68071405700005 meters
Centerline goodness : 0.997944 with order 1
Centerline is valid?  [True, True]
Translation: X:289.06, Y:24.50, Z:75.31
[[ 9.55052803e-01 -1.56667508e-01 -2.51653403e-01  2.89059260e+02]
 [ 1.56127026e-01  9.87486509e-01 -2.22428813e-02  2.44985688e+01]
 [ 2.51989077e-01 -1.80467713e-02  9.67561791e-01  7.53113756e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.74071405700005 meters
Centerline goodness : 0.998695 with order 1
Centerline is valid?  [True, True]
Translation: X:289.12, Y:24.51, Z:75.33
[[ 9.56052663e-01 -1.50445454e-01 -2.51653473e-01  2.89117094e+02]
 [ 1.49694005e-01  9.88482167e-01 -2.22420800e-02  2.45063219e+01]
 [ 2.52101191e-01 -1.64064165e-02  9.67561791e-01  7.53270871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.80071405700005 meters
Centerline goodness : 0.997976 with order 1
Centerline is valid?  [True, True]
Translation: X:289.17, Y:24.51, Z:75.35
[[ 9.56979779e-01 -1.44430829e-01 -2.51653408e-01  2.89174809e+02]
 [ 1.43475283e-01  9.89403911e-01 -2.22428217e-02  2.45134526e+01]
 [ 2.52199415e-01 -1.48201134e-02  9.67561791e-01  7.53460281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.86071405700005 meters
Centerline goodness : 0.998239 with order 1
Centerline is valid?  [True, True]
Translation: X:289.23, Y:24.52, Z:75.36
[[ 9.57442144e-01 -1.41332613e-01 -2.51653795e-01  2.89233203e+02]
 [ 1.40273275e-01  9.89863051e-01 -2.22384377e-02  2.45202952e+01]
 [ 2.52245810e-01 -1.40082844e-02  9.67561791e-01  7.53613078e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.92071405700005 meters
Centerline goodness : 0.997983 with order 1
Centerline is valid?  [True, True]
Translation: X:289.29, Y:24.53, Z:75.38
[[ 9.57072286e-01 -1.43812958e-01 -2.51655466e-01  2.89291933e+02]
 [ 1.42842586e-01  9.89495977e-01 -2.22195198e-02  2.45263196e+01]
 [ 2.52207526e-01 -1.46814308e-02  9.67561791e-01  7.53764729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.98071405700006 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:289.35, Y:24.53, Z:75.39
[[ 9.56472780e-01 -1.47747316e-01 -2.51655623e-01  2.89350806e+02]
 [ 1.46910747e-01  9.88900199e-01 -2.22177412e-02  2.45315956e+01]
 [ 2.52144907e-01 -1.57202509e-02  9.67561791e-01  7.53922170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.04071405700006 meters
Centerline goodness : 0.997981 with order 1
Centerline is valid?  [True, True]
Translation: X:289.41, Y:24.54, Z:75.41
[[ 9.55635237e-01 -1.53069714e-01 -2.51656426e-01  2.89408712e+02]
 [ 1.52416068e-01  9.88066859e-01 -2.22086354e-02  2.45365144e+01]
 [ 2.52052844e-01 -1.71331285e-02  9.67561791e-01  7.54089770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.10071405700006 meters
Centerline goodness : 0.997836 with order 1
Centerline is valid?  [True, True]
Translation: X:289.47, Y:24.54, Z:75.42
[[ 9.55207625e-01 -1.55715727e-01 -2.51656521e-01  2.89467417e+02]
 [ 1.55152185e-01  9.87640939e-01 -2.22075576e-02  2.45410212e+01]
 [ 2.52004349e-01 -1.78322308e-02  9.67561791e-01  7.54239497e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.16071405700006 meters
Centerline goodness : 0.998079 with order 1
Centerline is valid?  [True, True]
Translation: X:289.53, Y:24.55, Z:75.44
[[ 9.54745049e-01 -1.58526608e-01 -2.51656919e-01  2.89528122e+02]
 [ 1.58059715e-01  9.87179898e-01 -2.22030457e-02  2.45456635e+01]
 [ 2.51950426e-01 -1.85785731e-02  9.67561791e-01  7.54385946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.22071405700007 meters
Centerline goodness : 0.998313 with order 1
Centerline is valid?  [True, True]
Translation: X:289.59, Y:24.55, Z:75.45
[[ 9.54719403e-01 -1.58678393e-01 -2.51658557e-01  2.89586134e+02]
 [ 1.58221526e-01  9.87154394e-01 -2.21844727e-02  2.45510553e+01]
 [ 2.51946047e-01 -1.86378543e-02  9.67561791e-01  7.54526977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.28071405700007 meters
Centerline goodness : 0.998211 with order 1
Centerline is valid?  [True, True]
Translation: X:289.64, Y:24.56, Z:75.47
[[ 9.54981627e-01 -1.57090971e-01 -2.51659530e-01  2.89643334e+02]
 [ 1.56583079e-01  9.87415859e-01 -2.21734206e-02  2.45579159e+01]
 [ 2.51975856e-01 -1.82304149e-02  9.67561791e-01  7.54676195e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.34071405700007 meters
Centerline goodness : 0.997878 with order 1
Centerline is valid?  [True, True]
Translation: X:289.70, Y:24.56, Z:75.48
[[ 9.55302884e-01 -1.55126007e-01 -2.51659138e-01  2.89700781e+02]
 [ 1.54550225e-01  9.87735982e-01 -2.21778707e-02  2.45644615e+01]
 [ 2.52013151e-01 -1.77073925e-02  9.67561791e-01  7.54844412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.400714057 meters
Centerline goodness : 0.997614 with order 1
Centerline is valid?  [True, True]
Translation: X:289.76, Y:24.57, Z:75.50
[[ 9.55498971e-01 -1.53913463e-01 -2.51659219e-01  2.89759195e+02]
 [ 1.53296759e-01  9.87931317e-01 -2.21769495e-02  2.45701387e+01]
 [ 2.52035355e-01 -1.73884904e-02  9.67561791e-01  7.55005573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.460714057 meters
Centerline goodness : 0.997655 with order 1
Centerline is valid?  [True, True]
Translation: X:289.82, Y:24.58, Z:75.52
[[ 9.55469935e-01 -1.54092948e-01 -2.51659625e-01  2.89817040e+02]
 [ 1.53483544e-01  9.87902419e-01 -2.21723480e-02  2.45767006e+01]
 [ 2.52031755e-01 -1.74405992e-02  9.67561791e-01  7.55154557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.520714057 meters
Centerline goodness : 0.997423 with order 1
Centerline is valid?  [True, True]
Translation: X:289.88, Y:24.58, Z:75.53
[[ 9.55078524e-01 -1.56500628e-01 -2.51659625e-01  2.89876448e+02]
 [ 1.55972968e-01  9.87512441e-01 -2.21723480e-02  2.45805861e+01]
 [ 2.51986997e-01 -1.80757653e-02  9.67561791e-01  7.55295733e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.580714057 meters
Centerline goodness : 0.997653 with order 1
Centerline is valid?  [True, True]
Translation: X:289.93, Y:24.59, Z:75.54
[[ 9.54969617e-01 -1.57162761e-01 -2.51660282e-01  2.89934821e+02]
 [ 1.56659544e-01  9.87403922e-01 -2.21648878e-02  2.45857969e+01]
 [ 2.51973844e-01 -1.82581905e-02  9.67561791e-01  7.55445230e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.640714057 meters
Centerline goodness : 0.997774 with order 1
Centerline is valid?  [True, True]
Translation: X:289.99, Y:24.59, Z:75.56
[[ 9.54693864e-01 -1.58828626e-01 -2.51660673e-01  2.89993010e+02]
 [ 1.58383160e-01  9.87129013e-01 -2.21604522e-02  2.45909611e+01]
 [ 2.51941266e-01 -1.87023648e-02  9.67561791e-01  7.55606037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.700714057 meters
Centerline goodness : 0.997181 with order 1
Centerline is valid?  [True, True]
Translation: X:290.05, Y:24.60, Z:75.58
[[ 9.54526950e-01 -1.59828681e-01 -2.51660673e-01  2.90051943e+02]
 [ 1.59417194e-01  9.86962549e-01 -2.21604522e-02  2.45952232e+01]
 [ 2.51921535e-01 -1.89662893e-02  9.67561791e-01  7.55750129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.76071405700003 meters
Centerline goodness : 0.997158 with order 1
Centerline is valid?  [True, True]
Translation: X:290.11, Y:24.60, Z:75.59
[[ 9.54204512e-01 -1.61741359e-01 -2.51661443e-01  2.90110374e+02]
 [ 1.61397173e-01  9.86640895e-01 -2.21517021e-02  2.46008588e+01]
 [ 2.51882317e-01 -1.94801912e-02  9.67561791e-01  7.55911938e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.82071405700003 meters
Centerline goodness : 0.997303 with order 1
Centerline is valid?  [True, True]
Translation: X:290.17, Y:24.61, Z:75.61
[[ 9.53738852e-01 -1.64464339e-01 -2.51661843e-01  2.90169544e+02]
 [ 1.64213930e-01  9.86176094e-01 -2.21471577e-02  2.46057463e+01]
 [ 2.51825311e-01 -2.02037755e-02  9.67561791e-01  7.56071062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.88071405700003 meters
Centerline goodness : 0.997677 with order 1
Centerline is valid?  [True, True]
Translation: X:290.23, Y:24.61, Z:75.62
[[ 9.53133031e-01 -1.67938494e-01 -2.51662645e-01  2.90229044e+02]
 [ 1.67808673e-01  9.85570980e-01 -2.21380394e-02  2.46103615e+01]
 [ 2.51749228e-01 -2.11306778e-02  9.67561792e-01  7.56222141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.94071405700004 meters
Centerline goodness : 0.997587 with order 1
Centerline is valid?  [True, True]
Translation: X:290.29, Y:24.62, Z:75.64
[[ 9.52543673e-01 -1.71248523e-01 -2.51663456e-01  2.90286793e+02]
 [ 1.71233804e-01  9.84981878e-01 -2.21288184e-02  2.46162047e+01]
 [ 2.51673471e-01 -2.20146249e-02  9.67561792e-01  7.56376394e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.00071405700004 meters
Centerline goodness : 0.997616 with order 1
Centerline is valid?  [True, True]
Translation: X:290.34, Y:24.62, Z:75.65
[[ 9.52199641e-01 -1.73150872e-01 -2.51663705e-01  2.90343915e+02]
 [ 1.73201690e-01  9.84637809e-01 -2.21259863e-02  2.46217458e+01]
 [ 2.51628733e-01 -2.25202229e-02  9.67561792e-01  7.56529615e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.06071405700004 meters
Centerline goodness : 0.997801 with order 1
Centerline is valid?  [True, True]
Translation: X:290.40, Y:24.63, Z:75.67
[[ 9.52006818e-01 -1.74207138e-01 -2.51664244e-01  2.90403362e+02]
 [ 1.74295554e-01  9.84444906e-01 -2.21198462e-02  2.46272041e+01]
 [ 2.51603018e-01 -2.28057145e-02  9.67561792e-01  7.56700031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.12071405700004 meters
Centerline goodness : 0.997920 with order 1
Centerline is valid?  [True, True]
Translation: X:290.46, Y:24.63, Z:75.69
[[ 9.52040983e-01 -1.74017985e-01 -2.51665867e-01  2.90462110e+02]
 [ 1.74104800e-01  9.84479075e-01 -2.21013678e-02  2.46325620e+01]
 [ 2.51605815e-01 -2.27748275e-02  9.67561792e-01  7.56863280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.18071405700005 meters
Centerline goodness : 0.997722 with order 1
Centerline is valid?  [True, True]
Translation: X:290.52, Y:24.64, Z:75.70
[[ 9.51972907e-01 -1.74388855e-01 -2.51666668e-01  2.90520886e+02]
 [ 1.74490698e-01  9.84410955e-01 -2.20922484e-02  2.46386574e+01]
 [ 2.51596067e-01 -2.28822706e-02  9.67561792e-01  7.57006450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.24071405700005 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:290.58, Y:24.65, Z:75.72
[[ 9.52146142e-01 -1.73439934e-01 -2.51667069e-01  2.90579613e+02]
 [ 1.73510644e-01  9.84584273e-01 -2.20876800e-02  2.46454853e+01]
 [ 2.51618324e-01 -2.26362158e-02  9.67561792e-01  7.57155620e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.30071405700005 meters
Centerline goodness : 0.997998 with order 1
Centerline is valid?  [True, True]
Translation: X:290.64, Y:24.65, Z:75.73
[[ 9.52235838e-01 -1.72946660e-01 -2.51667165e-01  2.90639180e+02]
 [ 1.73000854e-01  9.84674001e-01 -2.20865784e-02  2.46521402e+01]
 [ 2.51629914e-01 -2.25070030e-02  9.67561792e-01  7.57295407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.36071405700005 meters
Centerline goodness : 0.997540 with order 1
Centerline is valid?  [True, True]
Translation: X:290.70, Y:24.66, Z:75.75
[[ 9.52509708e-01 -1.71430710e-01 -2.51667973e-01  2.90697233e+02]
 [ 1.71435683e-01  9.84947915e-01 -2.20773755e-02  2.46587856e+01]
 [ 2.51664585e-01 -2.21159563e-02  9.67561792e-01  7.57451297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.42071405700005 meters
Centerline goodness : 0.997679 with order 1
Centerline is valid?  [True, True]
Translation: X:290.76, Y:24.67, Z:75.76
[[ 9.52975591e-01 -1.68821070e-01 -2.51668371e-01  2.90756021e+02]
 [ 1.68738384e-01  9.85413694e-01 -2.20728310e-02  2.46650661e+01]
 [ 2.51723818e-01 -2.14312450e-02  9.67561792e-01  7.57646639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.48071405700006 meters
Centerline goodness : 0.998235 with order 1
Centerline is valid?  [True, True]
Translation: X:290.81, Y:24.67, Z:75.78
[[ 9.53129907e-01 -1.67945271e-01 -2.51669956e-01  2.90814194e+02]
 [ 1.67837518e-01  9.85567936e-01 -2.20547430e-02  2.46710670e+01]
 [ 2.51741829e-01 -2.12186256e-02  9.67561792e-01  7.57809419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.54071405700006 meters
Centerline goodness : 0.998622 with order 1
Centerline is valid?  [True, True]
Translation: X:290.87, Y:24.67, Z:75.79
[[ 9.53023575e-01 -1.68546809e-01 -2.51670496e-01  2.90872402e+02]
 [ 1.68461145e-01  9.85461670e-01 -2.20485838e-02  2.46749841e+01]
 [ 2.51727846e-01 -2.13838797e-02  9.67561792e-01  7.57945629e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.60071405700006 meters
Centerline goodness : 0.998762 with order 1
Centerline is valid?  [True, True]
Translation: X:290.93, Y:24.68, Z:75.81
[[ 9.52938295e-01 -1.69026158e-01 -2.51671939e-01  2.90931838e+02]
 [ 1.68961130e-01  9.85376437e-01 -2.20321049e-02  2.46811355e+01]
 [ 2.51715600e-01 -2.15275387e-02  9.67561792e-01  7.58095413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.66071405700006 meters
Centerline goodness : 0.998644 with order 1
Centerline is valid?  [True, True]
Translation: X:290.99, Y:24.69, Z:75.82
[[ 9.52843053e-01 -1.69559802e-01 -2.51673579e-01  2.90990761e+02]
 [ 1.69517856e-01  9.85281233e-01 -2.20133542e-02  2.46863496e+01]
 [ 2.51701834e-01 -2.16878940e-02  9.67561792e-01  7.58236040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.72071405700007 meters
Centerline goodness : 0.999173 with order 1
Centerline is valid?  [True, True]
Translation: X:291.05, Y:24.69, Z:75.84
[[ 9.53031098e-01 -1.68499066e-01 -2.51673977e-01  2.91049075e+02]
 [ 1.68422205e-01  9.85469215e-01 -2.20088035e-02  2.46917021e+01]
 [ 2.51725419e-01 -2.14124119e-02  9.67561792e-01  7.58397537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.78071405700007 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:291.11, Y:24.70, Z:75.86
[[ 9.53066813e-01 -1.68296329e-01 -2.51674383e-01  2.91107242e+02]
 [ 1.68213785e-01  9.85504916e-01 -2.20041613e-02  2.46988146e+01]
 [ 2.51729561e-01 -2.13636645e-02  9.67561792e-01  7.58564459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.84071405700007 meters
Centerline goodness : 0.999145 with order 1
Centerline is valid?  [True, True]
Translation: X:291.17, Y:24.71, Z:75.87
[[ 9.53176869e-01 -1.67671282e-01 -2.51674784e-01  2.91165448e+02]
 [ 1.67568670e-01  9.85614915e-01 -2.19995657e-02  2.47054220e+01]
 [ 2.51743116e-01 -2.12033318e-02  9.67561792e-01  7.58719755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.900714057 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:291.22, Y:24.71, Z:75.89
[[ 9.53348260e-01 -1.66693430e-01 -2.51675180e-01  2.91224130e+02]
 [ 1.66558730e-01  9.85786188e-01 -2.19950392e-02  2.47118143e+01]
 [ 2.51764345e-01 -2.09497661e-02  9.67561792e-01  7.58906976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.960714057 meters
Centerline goodness : 0.999286 with order 1
Centerline is valid?  [True, True]
Translation: X:291.28, Y:24.72, Z:75.91
[[ 9.53362922e-01 -1.66607145e-01 -2.51676772e-01  2.91284089e+02]
 [ 1.66474289e-01  9.85800858e-01 -2.19768074e-02  2.47171204e+01]
 [ 2.51764671e-01 -2.09458383e-02  9.67561793e-01  7.59057489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.020714057 meters
Centerline goodness : 0.999457 with order 1
Centerline is valid?  [True, True]
Translation: X:291.34, Y:24.72, Z:75.92
[[ 9.53359727e-01 -1.66623030e-01 -2.51678361e-01  2.91343371e+02]
 [ 1.66495490e-01  9.85797683e-01 -2.19585904e-02  2.47221668e+01]
 [ 2.51762752e-01 -2.09688763e-02  9.67561793e-01  7.59205521e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.080714057 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:291.40, Y:24.73, Z:75.94
[[ 9.53360703e-01 -1.66616237e-01 -2.51679158e-01  2.91403245e+02]
 [ 1.66490861e-01  9.85798668e-01 -2.19494564e-02  2.47284359e+01]
 [ 2.51762115e-01 -2.09765305e-02  9.67561793e-01  7.59363921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.140714057 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:291.46, Y:24.73, Z:75.95
[[ 9.53356619e-01 -1.66637186e-01 -2.51680762e-01  2.91461905e+02]
 [ 1.66517347e-01  9.85794604e-01 -2.19310541e-02  2.47346442e+01]
 [ 2.51760066e-01 -2.10010970e-02  9.67561793e-01  7.59513475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.200714057 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:291.52, Y:24.74, Z:75.97
[[ 9.53163602e-01 -1.67733619e-01 -2.51683493e-01  2.91522254e+02]
 [ 1.67659319e-01  9.85601724e-01 -2.18996624e-02  2.47390742e+01]
 [ 2.51732994e-01 -2.13231221e-02  9.67561793e-01  7.59672062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.26071405700003 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:291.58, Y:24.74, Z:75.98
[[ 9.52987708e-01 -1.68727718e-01 -2.51685093e-01  2.91582510e+02]
 [ 1.68692076e-01  9.85425895e-01 -2.18812632e-02  2.47447650e+01]
 [ 2.51708983e-01 -2.16047059e-02  9.67561794e-01  7.59839563e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.32071405700003 meters
Centerline goodness : 0.999044 with order 1
Centerline is valid?  [True, True]
Translation: X:291.64, Y:24.75, Z:76.00
[[ 9.52748407e-01 -1.70070852e-01 -2.51687065e-01  2.91641863e+02]
 [ 1.70086885e-01  9.85186609e-01 -2.18585618e-02  2.47494439e+01]
 [ 2.51676230e-01 -2.19829587e-02  9.67561794e-01  7.59998436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.38071405700003 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:291.70, Y:24.75, Z:76.02
[[ 9.52819415e-01 -1.69671430e-01 -2.51687840e-01  2.91701237e+02]
 [ 1.69676205e-01  9.85257621e-01 -2.18496330e-02  2.47537768e+01]
 [ 2.51684621e-01 -2.18866829e-02  9.67561794e-01  7.60162167e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.44071405700004 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:291.76, Y:24.76, Z:76.03
[[ 9.52941092e-01 -1.68984992e-01 -2.51688992e-01  2.91760661e+02]
 [ 1.68969880e-01  9.85379294e-01 -2.18363541e-02  2.47598921e+01]
 [ 2.51699137e-01 -2.17190997e-02  9.67561794e-01  7.60324339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.50071405700004 meters
Centerline goodness : 0.998975 with order 1
Centerline is valid?  [True, True]
Translation: X:291.82, Y:24.76, Z:76.05
[[ 9.53204466e-01 -1.67490640e-01 -2.51690548e-01  2.91818620e+02]
 [ 1.67429372e-01  9.85642614e-01 -2.18184077e-02  2.47649859e+01]
 [ 2.51731308e-01 -2.13429866e-02  9.67561794e-01  7.60465453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.56071405700004 meters
Centerline goodness : 0.998733 with order 1
Centerline is valid?  [True, True]
Translation: X:291.88, Y:24.77, Z:76.06
[[ 9.53401092e-01 -1.66367741e-01 -2.51690548e-01  2.91878008e+02]
 [ 1.66268264e-01  9.85839146e-01 -2.18184077e-02  2.47704311e+01]
 [ 2.51756274e-01 -2.10464568e-02  9.67561794e-01  7.60635375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.62071405700004 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:291.94, Y:24.78, Z:76.08
[[ 9.53083733e-01 -1.68173925e-01 -2.51692133e-01  2.91936658e+02]
 [ 1.68140709e-01  9.85521921e-01 -2.18001088e-02  2.47754261e+01]
 [ 2.51714324e-01 -2.15423645e-02  9.67561794e-01  7.60789361e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.68071405700005 meters
Centerline goodness : 0.998737 with order 1
Centerline is valid?  [True, True]
Translation: X:292.00, Y:24.78, Z:76.10
[[ 9.52896428e-01 -1.69230772e-01 -2.51692953e-01  2.91997389e+02]
 [ 1.69236013e-01  9.85334634e-01 -2.17906336e-02  2.47801866e+01]
 [ 2.51689429e-01 -2.18312948e-02  9.67561794e-01  7.60953693e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.74071405700005 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:292.06, Y:24.78, Z:76.11
[[ 9.52648106e-01 -1.70619628e-01 -2.51695308e-01  2.92055439e+02]
 [ 1.70679293e-01  9.85086257e-01 -2.17633997e-02  2.47836827e+01]
 [ 2.51654852e-01 -2.22263157e-02  9.67561795e-01  7.61085524e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.80071405700005 meters
Centerline goodness : 0.998220 with order 1
Centerline is valid?  [True, True]
Translation: X:292.12, Y:24.79, Z:76.13
[[ 9.52449718e-01 -1.71723977e-01 -2.51695073e-01  2.92115484e+02]
 [ 1.71820538e-01  9.84887780e-01 -2.17661155e-02  2.47889739e+01]
 [ 2.51629166e-01 -2.25152521e-02  9.67561795e-01  7.61250463e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.86071405700005 meters
Centerline goodness : 0.998268 with order 1
Centerline is valid?  [True, True]
Translation: X:292.18, Y:24.79, Z:76.14
[[ 9.52219867e-01 -1.72991730e-01 -2.51696616e-01  2.92175219e+02]
 [ 1.73136154e-01  9.84657750e-01 -2.17482556e-02  2.47932314e+01]
 [ 2.51597292e-01 -2.28686630e-02  9.67561795e-01  7.61412502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.92071405700005 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:292.24, Y:24.80, Z:76.16
[[ 9.52130658e-01 -1.73479801e-01 -2.51698168e-01  2.92236049e+02]
 [ 1.73645565e-01  9.84568440e-01 -2.17302777e-02  2.47966316e+01]
 [ 2.51583837e-01 -2.30162071e-02  9.67561795e-01  7.61559180e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.98071405700006 meters
Centerline goodness : 0.998144 with order 1
Centerline is valid?  [True, True]
Translation: X:292.29, Y:24.80, Z:76.17
[[ 9.52421450e-01 -1.71873914e-01 -2.51699702e-01  2.92294553e+02]
 [ 1.71989637e-01  9.84859448e-01 -2.17124947e-02  2.48033468e+01]
 [ 2.51620641e-01 -2.26102949e-02  9.67561795e-01  7.61722068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.04071405700006 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:292.35, Y:24.81, Z:76.19
[[ 9.52834271e-01 -1.69569791e-01 -2.51700095e-01  2.92353402e+02]
 [ 1.69608250e-01  9.85272453e-01 -2.17079432e-02  2.48102111e+01]
 [ 2.51674181e-01 -2.20063403e-02  9.67561795e-01  7.61860878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.10071405700006 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:292.41, Y:24.82, Z:76.20
[[ 9.52948171e-01 -1.68927386e-01 -2.51700856e-01  2.92413391e+02]
 [ 1.68946291e-01  9.85386371e-01 -2.16991112e-02  2.48155107e+01]
 [ 2.51688167e-01 -2.18457977e-02  9.67561795e-01  7.62026987e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.16071405700006 meters
Centerline goodness : 0.998167 with order 1
Centerline is valid?  [True, True]
Translation: X:292.47, Y:24.82, Z:76.22
[[ 9.53057712e-01 -1.68305966e-01 -2.51702402e-01  2.92472872e+02]
 [ 1.68308424e-01  9.85495917e-01 -2.16811640e-02  2.48233421e+01]
 [ 2.51700759e-01 -2.17002341e-02  9.67561795e-01  7.62198484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.22071405700007 meters
Centerline goodness : 0.998967 with order 1
Centerline is valid?  [True, True]
Translation: X:292.53, Y:24.83, Z:76.24
[[ 9.53472146e-01 -1.65939742e-01 -2.51703930e-01  2.92530574e+02]
 [ 1.65866331e-01  9.85910268e-01 -2.16634198e-02  2.48299552e+01]
 [ 2.51752311e-01 -2.10937400e-02  9.67561795e-01  7.62361508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.28071405700007 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:292.59, Y:24.84, Z:76.25
[[ 9.53784991e-01 -1.64132049e-01 -2.51703918e-01  2.92589714e+02]
 [ 1.63997114e-01  9.86222914e-01 -2.16635561e-02  2.48358667e+01]
 [ 2.51791855e-01 -2.06163414e-02  9.67561795e-01  7.62535776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.34071405700007 meters
Centerline goodness : 0.999134 with order 1
Centerline is valid?  [True, True]
Translation: X:292.65, Y:24.84, Z:76.27
[[ 9.54887755e-01 -1.57587169e-01 -2.51705501e-01  2.92647644e+02]
 [ 1.57234605e-01  9.87324043e-01 -2.16451477e-02  2.48427392e+01]
 [ 2.51925890e-01 -1.89081284e-02  9.67561796e-01  7.62693734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.400714057 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:292.71, Y:24.85, Z:76.28
[[ 9.55513554e-01 -1.53747198e-01 -2.51705477e-01  2.92706087e+02]
 [ 1.53264168e-01  9.87948162e-01 -2.16454230e-02  2.48488393e+01]
 [ 2.51999887e-01 -1.78949355e-02  9.67561796e-01  7.62843410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.460714057 meters
Centerline goodness : 0.998905 with order 1
Centerline is valid?  [True, True]
Translation: X:292.76, Y:24.86, Z:76.30
[[ 9.56854521e-01 -1.45167413e-01 -2.51705876e-01  2.92763738e+02]
 [ 1.44394590e-01  9.89283518e-01 -2.16407826e-02  2.48584734e+01]
 [ 2.52150011e-01 -1.56378862e-02  9.67561796e-01  7.63004348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.520714057 meters
Centerline goodness : 0.998563 with order 1
Centerline is valid?  [True, True]
Translation: X:292.82, Y:24.86, Z:76.31
[[ 9.57338341e-01 -1.41941655e-01 -2.51705913e-01  2.92821860e+02]
 [ 1.41059653e-01  9.89764553e-01 -2.16403533e-02  2.48640465e+01]
 [ 2.52201258e-01 -1.47884087e-02  9.67561796e-01  7.63133989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.580714057 meters
Centerline goodness : 0.999293 with order 1
Centerline is valid?  [True, True]
Translation: X:292.88, Y:24.87, Z:76.33
[[ 9.58075878e-01 -1.36875670e-01 -2.51705509e-01  2.92880329e+02]
 [ 1.35820925e-01  9.90496930e-01 -2.16450507e-02  2.48688125e+01]
 [ 2.52276215e-01 -1.34492742e-02  9.67561796e-01  7.63278784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.640714057 meters
Centerline goodness : 0.999047 with order 1
Centerline is valid?  [True, True]
Translation: X:292.94, Y:24.88, Z:76.34
[[ 9.58599886e-01 -1.33156350e-01 -2.51705471e-01  2.92938183e+02]
 [ 1.31975672e-01  9.91016597e-01 -2.16454917e-02  2.48766515e+01]
 [ 2.52326534e-01 -1.24696329e-02  9.67561796e-01  7.63447288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.700714057 meters
Centerline goodness : 0.998854 with order 1
Centerline is valid?  [True, True]
Translation: X:293.00, Y:24.88, Z:76.36
[[ 9.58855874e-01 -1.31298833e-01 -2.51706235e-01  2.92996435e+02]
 [ 1.30057677e-01  9.91270325e-01 -2.16366123e-02  2.48788448e+01]
 [ 2.52349783e-01 -1.19899352e-02  9.67561796e-01  7.63634186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.76071405700003 meters
Centerline goodness : 0.998538 with order 1
Centerline is valid?  [True, True]
Translation: X:293.05, Y:24.88, Z:76.38
[[ 9.58628531e-01 -1.32947819e-01 -2.51706609e-01  2.93053526e+02]
 [ 1.31763557e-01  9.91045110e-01 -2.16322513e-02  2.48823160e+01]
 [ 2.52328565e-01 -1.24284649e-02  9.67561796e-01  7.63787458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.82071405700003 meters
Centerline goodness : 0.998351 with order 1
Centerline is valid?  [True, True]
Translation: X:293.11, Y:24.88, Z:76.39
[[ 9.57828744e-01 -1.38593836e-01 -2.51705871e-01  2.93112302e+02]
 [ 1.37598347e-01  9.90251670e-01 -2.16408380e-02  2.48833143e+01]
 [ 2.52251446e-01 -1.39060950e-02  9.67561796e-01  7.63930474e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.88071405700003 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:293.17, Y:24.88, Z:76.41
[[ 9.56749888e-01 -1.45855231e-01 -2.51705988e-01  2.93170655e+02]
 [ 1.45106062e-01  9.89179440e-01 -2.16394804e-02  2.48815293e+01]
 [ 2.52138619e-01 -1.58204941e-02  9.67561796e-01  7.64060862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.94071405700004 meters
Centerline goodness : 0.998291 with order 1
Centerline is valid?  [True, True]
Translation: X:293.23, Y:24.89, Z:76.42
[[ 9.56472670e-01 -1.47661910e-01 -2.51706162e-01  2.93230102e+02]
 [ 1.46974521e-01  9.88903590e-01 -2.16374536e-02  2.48857859e+01]
 [ 2.52108155e-01 -1.62987596e-02  9.67561796e-01  7.64226977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.00071405700004 meters
Centerline goodness : 0.998084 with order 1
Centerline is valid?  [True, True]
Translation: X:293.29, Y:24.89, Z:76.44
[[ 9.55581232e-01 -1.53323041e-01 -2.51707277e-01  2.93288848e+02]
 [ 1.52831105e-01  9.88015706e-01 -2.16244753e-02  2.48872725e+01]
 [ 2.52006273e-01 -1.78047585e-02  9.67561796e-01  7.64390096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.06071405700004 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:293.35, Y:24.89, Z:76.45
[[ 9.54846487e-01 -1.57834045e-01 -2.51707369e-01  2.93348060e+02]
 [ 1.57495565e-01  9.87282926e-01 -2.16234060e-02  2.48888626e+01]
 [ 2.51919297e-01 -1.89957611e-02  9.67561796e-01  7.64536605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.12071405700004 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:293.41, Y:24.89, Z:76.47
[[ 9.54435438e-01 -1.60300690e-01 -2.51707537e-01  2.93406855e+02]
 [ 1.60046534e-01  9.86872646e-01 -2.16214524e-02  2.48911640e+01]
 [ 2.51869217e-01 -1.96486384e-02  9.67561796e-01  7.64673019e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.18071405700005 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:293.47, Y:24.89, Z:76.48
[[ 9.54480290e-01 -1.60033018e-01 -2.51707784e-01  2.93465596e+02]
 [ 1.59770519e-01  9.86917433e-01 -2.16185757e-02  2.48949699e+01]
 [ 2.51874486e-01 -1.95809787e-02  9.67561796e-01  7.64843188e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.24071405700005 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:293.53, Y:24.90, Z:76.50
[[ 9.54646370e-01 -1.59038685e-01 -2.51708175e-01  2.93525628e+02]
 [ 1.58743593e-01  9.87083232e-01 -2.16140162e-02  2.48991968e+01]
 [ 2.51894384e-01 -1.93233181e-02  9.67561796e-01  7.65009784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.30071405700005 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:293.59, Y:24.90, Z:76.52
[[ 9.54756858e-01 -1.58371573e-01 -2.51709727e-01  2.93585987e+02]
 [ 1.58058557e-01  9.87193552e-01 -2.15959253e-02  2.49029837e+01]
 [ 2.51906401e-01 -1.91660184e-02  9.67561796e-01  7.65154928e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.36071405700005 meters
Centerline goodness : 0.998828 with order 1
Centerline is valid?  [True, True]
Translation: X:293.65, Y:24.91, Z:76.53
[[ 9.54607685e-01 -1.59265856e-01 -2.51711255e-01  2.93646062e+02]
 [ 1.58987894e-01  9.87044697e-01 -2.15781111e-02  2.49085653e+01]
 [ 2.51886916e-01 -1.94204116e-02  9.67561796e-01  7.65294426e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.42071405700005 meters
Centerline goodness : 0.998801 with order 1
Centerline is valid?  [True, True]
Translation: X:293.70, Y:24.91, Z:76.54
[[ 9.54623072e-01 -1.59171178e-01 -2.51712785e-01  2.93703823e+02]
 [ 1.58894682e-01  9.87060097e-01 -2.15602410e-02  2.49144220e+01]
 [ 2.51887415e-01 -1.94139196e-02  9.67561796e-01  7.65446453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.48071405700006 meters
Centerline goodness : 0.999087 with order 1
Centerline is valid?  [True, True]
Translation: X:293.76, Y:24.92, Z:76.56
[[ 9.55119465e-01 -1.56164310e-01 -2.51713163e-01  2.93762311e+02]
 [ 1.55786828e-01  9.87555472e-01 -2.15558332e-02  2.49228215e+01]
 [ 2.51946963e-01 -1.86251994e-02  9.67561796e-01  7.65592308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.54071405700006 meters
Centerline goodness : 0.999373 with order 1
Centerline is valid?  [True, True]
Translation: X:293.82, Y:24.93, Z:76.58
[[ 9.55675421e-01 -1.52725174e-01 -2.51713153e-01  2.93820293e+02]
 [ 1.52230906e-01  9.88109859e-01 -2.15559464e-02  2.49326476e+01]
 [ 2.52012384e-01 -1.77180332e-02  9.67561796e-01  7.65768151e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.60071405700006 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:293.88, Y:24.94, Z:76.59
[[ 9.56398168e-01 -1.48131154e-01 -2.51713537e-01  2.93877459e+02]
 [ 1.47482211e-01  9.88829880e-01 -2.15514606e-02  2.49416441e+01]
 [ 2.52094310e-01 -1.65114915e-02  9.67561796e-01  7.65942766e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.66071405700006 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:293.94, Y:24.95, Z:76.61
[[ 9.57515058e-01 -1.40731036e-01 -2.51713505e-01  2.93935320e+02]
 [ 1.39831225e-01  9.89940780e-01 -2.15518362e-02  2.49506165e+01]
 [ 2.52214476e-01 -1.45612000e-02  9.67561796e-01  7.66110804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.72071405700007 meters
Centerline goodness : 0.999412 with order 1
Centerline is valid?  [True, True]
Translation: X:293.99, Y:24.96, Z:76.63
[[ 9.58874816e-01 -1.31146250e-01 -2.51713623e-01  2.93992787e+02]
 [ 1.29922500e-01  9.91289928e-01 -2.15504596e-02  2.49605429e+01]
 [ 2.52347441e-01 -1.20390701e-02  9.67561796e-01  7.66269775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.78071405700007 meters
Centerline goodness : 0.999067 with order 1
Centerline is valid?  [True, True]
Translation: X:294.05, Y:24.97, Z:76.64
[[ 9.60093172e-01 -1.21906903e-01 -2.51713744e-01  2.94049756e+02]
 [ 1.20371445e-01  9.92495014e-01 -2.15490472e-02  2.49676398e+01]
 [ 2.52451613e-01 -9.61005400e-03  9.67561796e-01  7.66412480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.84071405700007 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:294.11, Y:24.97, Z:76.65
[[ 9.61287809e-01 -1.12098774e-01 -2.51713356e-01  2.94108187e+02]
 [ 1.10231413e-01  9.93672219e-01 -2.15535800e-02  2.49722343e+01]
 [ 2.52536699e-01 -7.02752514e-03  9.67561796e-01  7.66519633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.900714057 meters
Centerline goodness : 0.999062 with order 1
Centerline is valid?  [True, True]
Translation: X:294.16, Y:24.98, Z:76.67
[[ 9.60930684e-01 -1.15121623e-01 -2.51712598e-01  2.94163960e+02]
 [ 1.13353811e-01  9.93320681e-01 -2.15624241e-02  2.49782280e+01]
 [ 2.52513631e-01 -7.81258734e-03  9.67561796e-01  7.66710644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.960714057 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:294.22, Y:24.98, Z:76.69
[[ 9.60769184e-01 -1.16473021e-01 -2.51707392e-01  2.94222602e+02]
 [ 1.14734904e-01  9.93160786e-01 -2.16230326e-02  2.49797043e+01]
 [ 2.52504411e-01 -8.10488006e-03  9.67561798e-01  7.66879138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.020714057 meters
Centerline goodness : 0.998508 with order 1
Centerline is valid?  [True, True]
Translation: X:294.28, Y:24.98, Z:76.70
[[ 9.60309376e-01 -1.20205206e-01 -2.51707392e-01  2.94281167e+02]
 [ 1.18592959e-01  9.92707487e-01 -2.16230325e-02  2.49818383e+01]
 [ 2.52471014e-01 -9.08592364e-03  9.67561798e-01  7.67041982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.080714057 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:294.34, Y:24.98, Z:76.72
[[ 9.59472330e-01 -1.26711703e-01 -2.51708150e-01  2.94339697e+02]
 [ 1.25321407e-01  9.91880724e-01 -2.16142101e-02  2.49819029e+01]
 [ 2.52403235e-01 -1.08061831e-02  9.67561798e-01  7.67187944e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.140714057 meters
Centerline goodness : 0.997923 with order 1
Centerline is valid?  [True, True]
Translation: X:294.40, Y:24.98, Z:76.73
[[ 9.58297478e-01 -1.35309842e-01 -2.51708541e-01  2.94399122e+02]
 [ 1.34211392e-01  9.90717076e-01 -2.16096470e-02  2.49800879e+01]
 [ 2.52295948e-01 -1.30736835e-02  9.67561798e-01  7.67339338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.200714057 meters
Centerline goodness : 0.998036 with order 1
Centerline is valid?  [True, True]
Translation: X:294.46, Y:24.98, Z:76.75
[[ 9.56969671e-01 -1.44401583e-01 -2.51708623e-01  2.94456570e+02]
 [ 1.43611214e-01  9.89398243e-01 -2.16086995e-02  2.49792685e+01]
 [ 2.52160399e-01 -1.54693109e-02  9.67561798e-01  7.67485492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.26071405700003 meters
Centerline goodness : 0.997790 with order 1
Centerline is valid?  [True, True]
Translation: X:294.52, Y:24.98, Z:76.76
[[ 9.56031720e-01 -1.50487320e-01 -2.51708000e-01  2.94515789e+02]
 [ 1.49901390e-01  9.88464629e-01 -2.16159554e-02  2.49786152e+01]
 [ 2.52057382e-01 -1.70658400e-02  9.67561798e-01  7.67630898e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.32071405700003 meters
Centerline goodness : 0.997696 with order 1
Centerline is valid?  [True, True]
Translation: X:294.58, Y:24.98, Z:76.78
[[ 9.55626220e-01 -1.53041142e-01 -2.51708039e-01  2.94575027e+02]
 [ 1.52541992e-01  9.88060581e-01 -2.16154918e-02  2.49800191e+01]
 [ 2.52010851e-01 -1.77397149e-02  9.67561798e-01  7.67787988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.38071405700003 meters
Centerline goodness : 0.998007 with order 1
Centerline is valid?  [True, True]
Translation: X:294.64, Y:24.98, Z:76.79
[[ 9.55558548e-01 -1.53462464e-01 -2.51708428e-01  2.94635027e+02]
 [ 1.52978801e-01  9.87993144e-01 -2.16109628e-02  2.49821358e+01]
 [ 2.52002673e-01 -1.78555133e-02  9.67561798e-01  7.67927854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.44071405700004 meters
Centerline goodness : 0.997513 with order 1
Centerline is valid?  [True, True]
Translation: X:294.69, Y:24.98, Z:76.81
[[ 9.55437149e-01 -1.54215222e-01 -2.51709195e-01  2.94694976e+02]
 [ 1.53759454e-01  9.87872149e-01 -2.16020260e-02  2.49849316e+01]
 [ 2.51987865e-01 -1.80632902e-02  9.67561798e-01  7.68067236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.50071405700004 meters
Centerline goodness : 0.997471 with order 1
Centerline is valid?  [True, True]
Translation: X:294.75, Y:24.99, Z:76.82
[[ 9.55267137e-01 -1.55263632e-01 -2.51709953e-01  2.94753078e+02]
 [ 1.54845775e-01  9.87702648e-01 -2.15931891e-02  2.49896101e+01]
 [ 2.51967224e-01 -1.83489588e-02  9.67561798e-01  7.68215661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.56071405700004 meters
Centerline goodness : 0.997443 with order 1
Centerline is valid?  [True, True]
Translation: X:294.81, Y:24.99, Z:76.84
[[ 9.55069941e-01 -1.56469852e-01 -2.51711328e-01  2.94812997e+02]
 [ 1.56097158e-01  9.87506002e-01 -2.15771546e-02  2.49948035e+01]
 [ 2.51942621e-01 -1.86837311e-02  9.67561798e-01  7.68387235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.62071405700004 meters
Centerline goodness : 0.997359 with order 1
Centerline is valid?  [True, True]
Translation: X:294.87, Y:25.00, Z:76.86
[[ 9.55039297e-01 -1.56654223e-01 -2.51712923e-01  2.94872333e+02]
 [ 1.56292673e-01  9.87475483e-01 -2.15585288e-02  2.50008635e+01]
 [ 2.51937575e-01 -1.87516433e-02  9.67561799e-01  7.68567046e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.68071405700005 meters
Centerline goodness : 0.996987 with order 1
Centerline is valid?  [True, True]
Translation: X:294.93, Y:25.01, Z:76.87
[[ 9.54733094e-01 -1.58507190e-01 -2.51714501e-01  2.94931155e+02]
 [ 1.58213417e-01  9.87169965e-01 -2.15400872e-02  2.50059689e+01]
 [ 2.51899254e-01 -1.92595771e-02  9.67561799e-01  7.68724817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.74071405700005 meters
Centerline goodness : 0.997747 with order 1
Centerline is valid?  [True, True]
Translation: X:294.99, Y:25.01, Z:76.89
[[ 9.54399304e-01 -1.60504022e-01 -2.51714973e-01  2.94990376e+02]
 [ 1.60279550e-01  9.86836728e-01 -2.15345672e-02  2.50094199e+01]
 [ 2.51857966e-01 -1.97921867e-02  9.67561799e-01  7.68865793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.80071405700005 meters
Centerline goodness : 0.998196 with order 1
Centerline is valid?  [True, True]
Translation: X:295.05, Y:25.01, Z:76.90
[[ 9.54239333e-01 -1.61451763e-01 -2.51715362e-01  2.95049990e+02]
 [ 1.61260697e-01  9.86676971e-01 -2.15300199e-02  2.50143039e+01]
 [ 2.51837811e-01 -2.00470030e-02  9.67561799e-01  7.69018494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.86071405700005 meters
Centerline goodness : 0.997774 with order 1
Centerline is valid?  [True, True]
Translation: X:295.11, Y:25.02, Z:76.92
[[ 9.54375688e-01 -1.60641858e-01 -2.51716588e-01  2.95108459e+02]
 [ 1.60427020e-01  9.86813177e-01 -2.15156829e-02  2.50201289e+01]
 [ 2.51853565e-01 -1.98480975e-02  9.67561799e-01  7.69159270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.92071405700005 meters
Centerline goodness : 0.997643 with order 1
Centerline is valid?  [True, True]
Translation: X:295.17, Y:25.03, Z:76.93
[[ 9.54436695e-01 -1.60278355e-01 -2.51716993e-01  2.95167503e+02]
 [ 1.60052407e-01  9.86874109e-01 -2.15109397e-02  2.50262293e+01]
 [ 2.51860721e-01 -1.97570805e-02  9.67561799e-01  7.69299349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.98071405700006 meters
Centerline goodness : 0.997905 with order 1
Centerline is valid?  [True, True]
Translation: X:295.23, Y:25.03, Z:76.95
[[ 9.54447300e-01 -1.60213351e-01 -2.51718163e-01  2.95226502e+02]
 [ 1.59988783e-01  9.86884724e-01 -2.14972443e-02  2.50339041e+01]
 [ 2.51860955e-01 -1.97540958e-02  9.67561799e-01  7.69474435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.04071405700006 meters
Centerline goodness : 0.997691 with order 1
Centerline is valid?  [True, True]
Translation: X:295.28, Y:25.04, Z:76.96
[[ 9.54252371e-01 -1.61367855e-01 -2.51719742e-01  2.95284701e+02]
 [ 1.61187377e-01  9.86690069e-01 -2.14787425e-02  2.50414563e+01]
 [ 2.51835348e-01 -2.00779038e-02  9.67561799e-01  7.69629791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.10071405700006 meters
Centerline goodness : 0.997610 with order 1
Centerline is valid?  [True, True]
Translation: X:295.34, Y:25.05, Z:76.98
[[ 9.53792310e-01 -1.64064042e-01 -2.51720521e-01  2.95343781e+02]
 [ 1.63977632e-01  9.86230395e-01 -2.14696070e-02  2.50481610e+01]
 [ 2.51776819e-01 -2.07989888e-02  9.67561799e-01  7.69784253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.16071405700006 meters
Centerline goodness : 0.997894 with order 1
Centerline is valid?  [True, True]
Translation: X:295.40, Y:25.06, Z:77.00
[[ 9.52740994e-01 -1.70061905e-01 -2.51721169e-01  2.95401127e+02]
 [ 1.70181585e-01  9.85178974e-01 -2.14620035e-02  2.50550364e+01]
 [ 2.51640272e-01 -2.23905770e-02  9.67561799e-01  7.69956108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.22071405700007 meters
Centerline goodness : 0.998181 with order 1
Centerline is valid?  [True, True]
Translation: X:295.46, Y:25.06, Z:77.01
[[ 9.52328969e-01 -1.72354083e-01 -2.51721284e-01  2.95459643e+02]
 [ 1.72552173e-01  9.84766565e-01 -2.14606596e-02  2.50607849e+01]
 [ 2.51585536e-01 -2.29974467e-02  9.67561799e-01  7.70091988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.28071405700007 meters
Centerline goodness : 0.998011 with order 1
Centerline is valid?  [True, True]
Translation: X:295.52, Y:25.07, Z:77.02
[[ 9.52026708e-01 -1.74015365e-01 -2.51721671e-01  2.95518180e+02]
 [ 1.74271240e-01  9.84463900e-01 -2.14561146e-02  2.50696272e+01]
 [ 2.51544592e-01 -2.34410537e-02  9.67561799e-01  7.70241008e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.34071405700007 meters
Centerline goodness : 0.997147 with order 1
Centerline is valid?  [True, True]
Translation: X:295.58, Y:25.08, Z:77.04
[[ 9.52077695e-01 -1.73735626e-01 -2.51722058e-01  2.95576818e+02]
 [ 1.73983162e-01  9.84514951e-01 -2.14515714e-02  2.50772444e+01]
 [ 2.51551032e-01 -2.33718370e-02  9.67561799e-01  7.70386871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.4007140570001 meters
Centerline goodness : 0.997840 with order 1
Centerline is valid?  [True, True]
Translation: X:295.64, Y:25.09, Z:77.05
[[ 9.52251199e-01 -1.72780999e-01 -2.51722826e-01  2.95636564e+02]
 [ 1.72998376e-01  9.84688671e-01 -2.14425577e-02  2.50853375e+01]
 [ 2.51573482e-01 -2.31289389e-02  9.67561799e-01  7.70546604e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.460714057 meters
Centerline goodness : 0.998210 with order 1
Centerline is valid?  [True, True]
Translation: X:295.70, Y:25.09, Z:77.07
[[ 9.52356393e-01 -1.72197988e-01 -2.51724358e-01  2.95695256e+02]
 [ 1.72400226e-01  9.84793964e-01 -2.14245542e-02  2.50935161e+01]
 [ 2.51585894e-01 -2.29935251e-02  9.67561799e-01  7.70705940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.520714057 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:295.75, Y:25.10, Z:77.09
[[ 9.52563494e-01 -1.71046973e-01 -2.51725492e-01  2.95753428e+02]
 [ 1.71213504e-01  9.85001267e-01 -2.14112267e-02  2.51026738e+01]
 [ 2.51612254e-01 -2.27032507e-02  9.67561800e-01  7.70872072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.580714057 meters
Centerline goodness : 0.998018 with order 1
Centerline is valid?  [True, True]
Translation: X:295.81, Y:25.11, Z:77.10
[[ 9.52681644e-01 -1.70387105e-01 -2.51725882e-01  2.95813360e+02]
 [ 1.70532370e-01  9.85119519e-01 -2.14066360e-02  2.51098625e+01]
 [ 2.51627495e-01 -2.25337021e-02  9.67561800e-01  7.71038801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.640714057 meters
Centerline goodness : 0.998039 with order 1
Centerline is valid?  [True, True]
Translation: X:295.87, Y:25.12, Z:77.12
[[ 9.52889258e-01 -1.69219819e-01 -2.51727460e-01  2.95870642e+02]
 [ 1.69330210e-01  9.85327271e-01 -2.13880678e-02  2.51177682e+01]
 [ 2.51653216e-01 -2.22446037e-02  9.67561800e-01  7.71188520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.700714057 meters
Centerline goodness : 0.998063 with order 1
Centerline is valid?  [True, True]
Translation: X:295.93, Y:25.12, Z:77.13
[[ 9.53037249e-01 -1.68384343e-01 -2.51727460e-01  2.95930072e+02]
 [ 1.68466295e-01  9.85475346e-01 -2.13880678e-02  2.51242794e+01]
 [ 2.51672622e-01 -2.20239673e-02  9.67561800e-01  7.71334523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.76071405700003 meters
Centerline goodness : 0.998084 with order 1
Centerline is valid?  [True, True]
Translation: X:295.99, Y:25.13, Z:77.15
[[ 9.53659302e-01 -1.64823636e-01 -2.51728235e-01  2.95988899e+02]
 [ 1.64786826e-01  9.86097481e-01 -2.13789405e-02  2.51334486e+01]
 [ 2.51752334e-01 -2.10932714e-02  9.67561800e-01  7.71478980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.82071405700003 meters
Centerline goodness : 0.998198 with order 1
Centerline is valid?  [True, True]
Translation: X:296.05, Y:25.14, Z:77.16
[[ 9.54055723e-01 -1.62513021e-01 -2.51728417e-01  2.96046793e+02]
 [ 1.62398192e-01  9.86493720e-01 -2.13768075e-02  2.51418259e+01]
 [ 2.51802512e-01 -2.04855742e-02  9.67561800e-01  7.71647334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.88071405700003 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:296.11, Y:25.15, Z:77.18
[[ 9.54219733e-01 -1.61547009e-01 -2.51728553e-01  2.96107046e+02]
 [ 1.61399761e-01  9.86657599e-01 -2.13751981e-02  2.51484713e+01]
 [ 2.51822989e-01 -2.02322924e-02  9.67561800e-01  7.71798763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.94071405700004 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:296.16, Y:25.16, Z:77.19
[[ 9.54541358e-01 -1.59633129e-01 -2.51730134e-01  2.96164167e+02]
 [ 1.59425715e-01  9.86978895e-01 -2.13565633e-02  2.51571426e+01]
 [ 2.51861545e-01 -1.97465338e-02  9.67561800e-01  7.71938828e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.00071405700004 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:296.22, Y:25.16, Z:77.21
[[ 9.55003225e-01 -1.56846929e-01 -2.51729777e-01  2.96222391e+02]
 [ 1.56543754e-01  9.87440009e-01 -2.13607736e-02  2.51644970e+01]
 [ 2.51918425e-01 -1.90071165e-02  9.67561800e-01  7.72109314e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.06071405700004 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:296.28, Y:25.17, Z:77.23
[[ 9.55228953e-01 -1.55465831e-01 -2.51730060e-01  2.96280938e+02]
 [ 1.55116626e-01  9.87665273e-01 -2.13574416e-02  2.51711188e+01]
 [ 2.51945391e-01 -1.86462709e-02  9.67561800e-01  7.72276731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.12071405700004 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:296.34, Y:25.18, Z:77.24
[[ 9.55672400e-01 -1.52714959e-01 -2.51730820e-01  2.96338701e+02]
 [ 1.52274718e-01  9.88107612e-01 -2.13484705e-02  2.51761938e+01]
 [ 2.51997371e-01 -1.79300957e-02  9.67561800e-01  7.72429131e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.18071405700005 meters
Centerline goodness : 0.998890 with order 1
Centerline is valid?  [True, True]
Translation: X:296.40, Y:25.18, Z:77.26
[[ 9.55812775e-01 -1.51833903e-01 -2.51730820e-01  2.96398684e+02]
 [ 1.51363762e-01  9.88247567e-01 -2.13484705e-02  2.51817597e+01]
 [ 2.52013793e-01 -1.76977831e-02  9.67561800e-01  7.72590817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.24071405700005 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:296.46, Y:25.19, Z:77.27
[[ 9.56017536e-01 -1.50536675e-01 -2.51732357e-01  2.96458684e+02]
 [ 1.50027272e-01  9.88451736e-01 -2.13303318e-02  2.51857824e+01]
 [ 2.52036283e-01 -1.73745475e-02  9.67561800e-01  7.72735495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.30071405700005 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:296.52, Y:25.19, Z:77.29
[[ 9.55740578e-01 -1.52282007e-01 -2.51734259e-01  2.96518744e+02]
 [ 1.51837713e-01  9.88175735e-01 -2.13078664e-02  2.51895408e+01]
 [ 2.52002491e-01 -1.78579617e-02  9.67561800e-01  7.72874710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.36071405700005 meters
Centerline goodness : 0.998820 with order 1
Centerline is valid?  [True, True]
Translation: X:296.58, Y:25.19, Z:77.30
[[ 9.55494057e-01 -1.53818715e-01 -2.51735793e-01  2.96578916e+02]
 [ 1.53431333e-01  9.87929944e-01 -2.12897349e-02  2.51937315e+01]
 [ 2.51972087e-01 -1.82819430e-02  9.67561801e-01  7.73032962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.42071405700005 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:296.64, Y:25.20, Z:77.32
[[ 9.54970591e-01 -1.57033393e-01 -2.51737331e-01  2.96637919e+02]
 [ 1.56759943e-01  9.87407638e-01 -2.12715230e-02  2.51969425e+01]
 [ 2.51907703e-01 -1.91486508e-02  9.67561801e-01  7.73197345e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.48071405700006 meters
Centerline goodness : 0.998701 with order 1
Centerline is valid?  [True, True]
Translation: X:296.70, Y:25.20, Z:77.34
[[ 9.54322092e-01 -1.60926920e-01 -2.51737703e-01  2.96696243e+02]
 [ 1.60786918e-01  9.86759989e-01 -2.12671285e-02  2.52010430e+01]
 [ 2.51827146e-01 -2.01804388e-02  9.67561801e-01  7.73363325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.54071405700006 meters
Centerline goodness : 0.998754 with order 1
Centerline is valid?  [True, True]
Translation: X:296.76, Y:25.20, Z:77.35
[[ 9.53465522e-01 -1.65926204e-01 -2.51737945e-01  2.96755190e+02]
 [ 1.65956959e-01  9.85903707e-01 -2.12642607e-02  2.52037157e+01]
 [ 2.51717671e-01 -2.15029243e-02  9.67561801e-01  7.73504419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.60071405700006 meters
Centerline goodness : 0.998488 with order 1
Centerline is valid?  [True, True]
Translation: X:296.81, Y:25.21, Z:77.36
[[ 9.53107390e-01 -1.67971059e-01 -2.51738010e-01  2.96813037e+02]
 [ 1.68071597e-01  9.85545434e-01 -2.12634880e-02  2.52075126e+01]
 [ 2.51670897e-01 -2.20436220e-02  9.67561801e-01  7.73649674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.66071405700006 meters
Centerline goodness : 0.998178 with order 1
Centerline is valid?  [True, True]
Translation: X:296.87, Y:25.21, Z:77.38
[[ 9.52785786e-01 -1.69786273e-01 -2.51737695e-01  2.96872666e+02]
 [ 1.69947622e-01  9.85223584e-01 -2.12672216e-02  2.52130863e+01]
 [ 2.51628796e-01 -2.25191161e-02  9.67561801e-01  7.73813904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.72071405700007 meters
Centerline goodness : 0.998658 with order 1
Centerline is valid?  [True, True]
Translation: X:296.93, Y:25.22, Z:77.40
[[ 9.52778127e-01 -1.69826976e-01 -2.51739227e-01  2.96931846e+02]
 [ 1.69994468e-01  9.85215894e-01 -2.12490731e-02  2.52180642e+01]
 [ 2.51626153e-01 -2.25486238e-02  9.67561801e-01  7.73969323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.78071405700007 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:296.99, Y:25.22, Z:77.41
[[ 9.52859233e-01 -1.69370199e-01 -2.51739981e-01  2.96991143e+02]
 [ 1.69524485e-01  9.85297065e-01 -2.12401307e-02  2.52230442e+01]
 [ 2.51636110e-01 -2.24372359e-02  9.67561801e-01  7.74119166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.84071405700007 meters
Centerline goodness : 0.998513 with order 1
Centerline is valid?  [True, True]
Translation: X:297.05, Y:25.23, Z:77.43
[[ 9.53021494e-01 -1.68453107e-01 -2.51741102e-01  2.97050424e+02]
 [ 1.68579657e-01  9.85459446e-01 -2.12268437e-02  2.52295705e+01]
 [ 2.51656374e-01 -2.22087902e-02  9.67561801e-01  7.74280847e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.9007140570001 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:297.11, Y:25.24, Z:77.44
[[ 9.53275299e-01 -1.67009111e-01 -2.51742250e-01  2.97109278e+02]
 [ 1.67090089e-01  9.85713397e-01 -2.12132178e-02  2.52350714e+01]
 [ 2.51688509e-01 -2.18415985e-02  9.67561801e-01  7.74430864e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.960714057 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:297.17, Y:25.24, Z:77.46
[[ 9.53562756e-01 -1.65359357e-01 -2.51742633e-01  2.97169687e+02]
 [ 1.65385397e-01  9.86000945e-01 -2.12086708e-02  2.52401565e+01]
 [ 2.51725526e-01 -2.14107567e-02  9.67561801e-01  7.74597232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.020714057 meters
Centerline goodness : 0.998266 with order 1
Centerline is valid?  [True, True]
Translation: X:297.23, Y:25.25, Z:77.48
[[ 9.54021098e-01 -1.62690497e-01 -2.51745003e-01  2.97227831e+02]
 [ 1.62633152e-01  9.86459246e-01 -2.11805076e-02  2.52461539e+01]
 [ 2.51782053e-01 -2.07354321e-02  9.67561802e-01  7.74759632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.080714057 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:297.29, Y:25.25, Z:77.49
[[ 9.54427356e-01 -1.60289417e-01 -2.51745357e-01  2.97286580e+02]
 [ 1.60151555e-01  9.86865262e-01 -2.11762883e-02  2.52510092e+01]
 [ 2.51833083e-01 -2.01061815e-02  9.67561802e-01  7.74883777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.140714057 meters
Centerline goodness : 0.998486 with order 1
Centerline is valid?  [True, True]
Translation: X:297.35, Y:25.26, Z:77.50
[[ 9.54631144e-01 -1.59071329e-01 -2.51745290e-01  2.97345951e+02]
 [ 1.58891861e-01  9.87068846e-01 -2.11770936e-02  2.52557227e+01]
 [ 2.51858601e-01 -1.97839646e-02  9.67561802e-01  7.75027084e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.200714057 meters
Centerline goodness : 0.998338 with order 1
Centerline is valid?  [True, True]
Translation: X:297.40, Y:25.26, Z:77.52
[[ 9.54980739e-01 -1.56957688e-01 -2.51746047e-01  2.97403104e+02]
 [ 1.56708773e-01  9.87417983e-01 -2.11680919e-02  2.52619613e+01]
 [ 2.51901068e-01 -1.92356940e-02  9.67561802e-01  7.75195326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.26071405700003 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:297.46, Y:25.27, Z:77.53
[[ 9.55456062e-01 -1.54037816e-01 -2.51746032e-01  2.97462327e+02]
 [ 1.53689705e-01  9.87892393e-01 -2.11682643e-02  2.52671347e+01]
 [ 2.51958703e-01 -1.84654269e-02  9.67561802e-01  7.75335699e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.32071405700003 meters
Centerline goodness : 0.998310 with order 1
Centerline is valid?  [True, True]
Translation: X:297.52, Y:25.27, Z:77.55
[[ 9.55693224e-01 -1.52558706e-01 -2.51746506e-01  2.97523213e+02]
 [ 1.52161863e-01  9.88128995e-01 -2.11626324e-02  2.52717882e+01]
 [ 2.51986565e-01 -1.80812330e-02  9.67561802e-01  7.75479467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.38071405700003 meters
Centerline goodness : 0.998235 with order 1
Centerline is valid?  [True, True]
Translation: X:297.58, Y:25.28, Z:77.56
[[ 9.55767612e-01 -1.52088963e-01 -2.51748325e-01  2.97581657e+02]
 [ 1.51681856e-01  9.88203255e-01 -2.11409677e-02  2.52766845e+01]
 [ 2.51993822e-01 -1.79798010e-02  9.67561802e-01  7.75648202e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.44071405700004 meters
Centerline goodness : 0.998631 with order 1
Centerline is valid?  [True, True]
Translation: X:297.64, Y:25.28, Z:77.58
[[ 9.55546597e-01 -1.53470828e-01 -2.51748694e-01  2.97640085e+02]
 [ 1.53111776e-01  9.87982808e-01 -2.11365665e-02  2.52794598e+01]
 [ 2.51967229e-01 -1.83487155e-02  9.67561802e-01  7.75810109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.50071405700004 meters
Centerline goodness : 0.998128 with order 1
Centerline is valid?  [True, True]
Translation: X:297.70, Y:25.28, Z:77.59
[[ 9.55027940e-01 -1.56665351e-01 -2.51749085e-01  2.97698502e+02]
 [ 1.56415989e-01  9.87465179e-01 -2.11319091e-02  2.52821615e+01]
 [ 2.51904094e-01 -1.91960187e-02  9.67561802e-01  7.75945029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.56071405700004 meters
Centerline goodness : 0.997916 with order 1
Centerline is valid?  [True, True]
Translation: X:297.76, Y:25.28, Z:77.61
[[ 9.54424769e-01 -1.60298967e-01 -2.51749085e-01  2.97758557e+02]
 [ 1.60173061e-01  9.86862722e-01 -2.11319091e-02  2.52837779e+01]
 [ 2.51829211e-01 -2.01546041e-02  9.67561802e-01  7.76076517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.62071405700004 meters
Centerline goodness : 0.998130 with order 1
Centerline is valid?  [True, True]
Translation: X:297.82, Y:25.28, Z:77.62
[[ 9.53919598e-01 -1.63277256e-01 -2.51749753e-01  2.97816853e+02]
 [ 1.63254684e-01  9.86357788e-01 -2.11239561e-02  2.52848826e+01]
 [ 2.51764391e-01 -2.09487705e-02  9.67561802e-01  7.76207985e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.68071405700005 meters
Centerline goodness : 0.998279 with order 1
Centerline is valid?  [True, True]
Translation: X:297.88, Y:25.29, Z:77.64
[[ 9.53776557e-01 -1.64108297e-01 -2.51751357e-01  2.97876749e+02]
 [ 1.64119001e-01  9.86214753e-01 -2.11048241e-02  2.52889275e+01]
 [ 2.51744379e-01 -2.11878947e-02  9.67561802e-01  7.76363165e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.74071405700005 meters
Centerline goodness : 0.997919 with order 1
Centerline is valid?  [True, True]
Translation: X:297.94, Y:25.29, Z:77.65
[[ 9.53846131e-01 -1.63701103e-01 -2.51752869e-01  2.97936562e+02]
 [ 1.63702692e-01  9.86284329e-01 -2.10867634e-02  2.52908205e+01]
 [ 2.51751836e-01 -2.10990947e-02  9.67561802e-01  7.76513104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.80071405700005 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:298.00, Y:25.29, Z:77.67
[[ 9.53753126e-01 -1.64239826e-01 -2.51754354e-01  2.97996207e+02]
 [ 1.64264386e-01  9.86191314e-01 -2.10690229e-02  2.52938241e+01]
 [ 2.51738330e-01 -2.12596281e-02  9.67561802e-01  7.76691962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.86071405700005 meters
Centerline goodness : 0.997977 with order 1
Centerline is valid?  [True, True]
Translation: X:298.05, Y:25.30, Z:77.69
[[ 9.53372921e-01 -1.66430391e-01 -2.51755830e-01  2.98054981e+02]
 [ 1.66534095e-01  9.85810953e-01 -2.10513741e-02  2.52959001e+01]
 [ 2.51687243e-01 -2.18561192e-02  9.67561803e-01  7.76860538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.92071405700005 meters
Centerline goodness : 0.998010 with order 1
Centerline is valid?  [True, True]
Translation: X:298.11, Y:25.29, Z:77.70
[[ 9.52632522e-01 -1.70616613e-01 -2.51756329e-01  2.98114007e+02]
 [ 1.70864368e-01  9.85069773e-01 -2.10454083e-02  2.52949241e+01]
 [ 2.51588246e-01 -2.29676456e-02  9.67561803e-01  7.76994462e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.98071405700006 meters
Centerline goodness : 0.997754 with order 1
Centerline is valid?  [True, True]
Translation: X:298.17, Y:25.29, Z:77.71
[[ 9.51884671e-01 -1.74739542e-01 -2.51757157e-01  2.98173456e+02]
 [ 1.75130332e-01  9.84320514e-01 -2.10354993e-02  2.52943073e+01]
 [ 2.51485467e-01 -2.40669451e-02  9.67561803e-01  7.77135450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.04071405700006 meters
Centerline goodness : 0.997594 with order 1
Centerline is valid?  [True, True]
Translation: X:298.23, Y:25.29, Z:77.73
[[ 9.51305513e-01 -1.77865077e-01 -2.51757494e-01  2.98232971e+02]
 [ 1.78363459e-01  9.83739881e-01 -2.10314625e-02  2.52948006e+01]
 [ 2.51404650e-01 -2.48969912e-02  9.67561803e-01  7.77273142e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.10071405700006 meters
Centerline goodness : 0.997175 with order 1
Centerline is valid?  [True, True]
Translation: X:298.29, Y:25.29, Z:77.74
[[ 9.50902032e-01 -1.80008564e-01 -2.51758301e-01  2.98292382e+02]
 [ 1.80582573e-01  9.83335151e-01 -2.10217982e-02  2.52944461e+01]
 [ 2.51346890e-01 -2.54734912e-02  9.67561803e-01  7.77411913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.16071405700006 meters
Centerline goodness : 0.997528 with order 1
Centerline is valid?  [True, True]
Translation: X:298.35, Y:25.30, Z:77.76
[[ 9.50891406e-01 -1.80064536e-01 -2.51758410e-01  2.98352109e+02]
 [ 1.80640796e-01  9.83324484e-01 -2.10204957e-02  2.52959466e+01]
 [ 2.51345254e-01 -2.54896308e-02  9.67561803e-01  7.77565878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.22071405700007 meters
Centerline goodness : 0.997946 with order 1
Centerline is valid?  [True, True]
Translation: X:298.41, Y:25.30, Z:77.77
[[ 9.51585937e-01 -1.76355707e-01 -2.51759545e-01  2.98409913e+02]
 [ 1.76809074e-01  9.84020966e-01 -2.10068892e-02  2.53008281e+01]
 [ 2.51441356e-01 -2.45235116e-02  9.67561803e-01  7.77736543e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.28071405700007 meters
Centerline goodness : 0.997759 with order 1
Centerline is valid?  [True, True]
Translation: X:298.47, Y:25.31, Z:77.79
[[ 9.52772943e-01 -1.69825998e-01 -2.51759507e-01  2.98468339e+02]
 [ 1.70056809e-01  9.85210319e-01 -2.10073468e-02  2.53064201e+01]
 [ 2.51603658e-01 -2.27981867e-02  9.67561803e-01  7.77907635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.34071405700007 meters
Centerline goodness : 0.997073 with order 1
Centerline is valid?  [True, True]
Translation: X:298.53, Y:25.31, Z:77.81
[[ 9.54006714e-01 -1.62751822e-01 -2.51759874e-01  2.98526861e+02]
 [ 1.62743096e-01  9.86444910e-01 -2.10029491e-02  2.53126887e+01]
 [ 2.51765514e-01 -2.09352269e-02  9.67561803e-01  7.78069582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.4007140570001 meters
Centerline goodness : 0.997756 with order 1
Centerline is valid?  [True, True]
Translation: X:298.58, Y:25.32, Z:77.82
[[ 9.54988354e-01 -1.56888515e-01 -2.51760277e-01  2.98584893e+02]
 [ 1.56681798e-01  9.87425893e-01 -2.09981098e-02  2.53197017e+01]
 [ 2.51888979e-01 -1.93933025e-02  9.67561803e-01  7.78219343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.460714057 meters
Centerline goodness : 0.997789 with order 1
Centerline is valid?  [True, True]
Translation: X:298.64, Y:25.33, Z:77.84
[[ 9.55610607e-01 -1.53052759e-01 -2.51760246e-01  2.98643167e+02]
 [ 1.52715702e-01  9.88047053e-01 -2.09984805e-02  2.53270456e+01]
 [ 2.51964845e-01 -1.83813721e-02  9.67561803e-01  7.78357168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.520714057 meters
Centerline goodness : 0.997277 with order 1
Centerline is valid?  [True, True]
Translation: X:298.70, Y:25.34, Z:77.85
[[ 9.55932117e-01 -1.51031941e-01 -2.51760086e-01  2.98700535e+02]
 [ 1.50625799e-01  9.88367771e-01 -2.10004087e-02  2.53364893e+01]
 [ 2.52003287e-01 -1.78465989e-02  9.67561803e-01  7.78525871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.580714057 meters
Centerline goodness : 0.997422 with order 1
Centerline is valid?  [True, True]
Translation: X:298.76, Y:25.34, Z:77.87
[[ 9.55801163e-01 -1.51858494e-01 -2.51760072e-01  2.98758296e+02]
 [ 1.51480356e-01  9.88237157e-01 -2.10005737e-02  2.53430369e+01]
 [ 2.51987773e-01 -1.80643325e-02  9.67561803e-01  7.78664642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.640714057 meters
Centerline goodness : 0.997614 with order 1
Centerline is valid?  [True, True]
Translation: X:298.82, Y:25.35, Z:77.88
[[ 9.55615220e-01 -1.53024239e-01 -2.51760072e-01  2.98818512e+02]
 [ 1.52685666e-01  9.88051650e-01 -2.10005737e-02  2.53484480e+01]
 [ 2.51965551e-01 -1.83716863e-02  9.67561803e-01  7.78823132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.700714057 meters
Centerline goodness : 0.997104 with order 1
Centerline is valid?  [True, True]
Translation: X:298.88, Y:25.36, Z:77.90
[[ 9.55604726e-01 -1.53087248e-01 -2.51761597e-01  2.98878929e+02]
 [ 1.52755611e-01  9.88041228e-01 -2.09822678e-02  2.53578560e+01]
 [ 2.51962956e-01 -1.84072422e-02  9.67561803e-01  7.78998435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.76071405700003 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:298.94, Y:25.37, Z:77.92
[[ 9.55580966e-01 -1.53231684e-01 -2.51763913e-01  2.98937537e+02]
 [ 1.52912241e-01  9.88017590e-01 -2.09544444e-02  2.53653377e+01]
 [ 2.51958060e-01 -1.84741159e-02  9.67561803e-01  7.79163573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.82071405700003 meters
Centerline goodness : 0.997185 with order 1
Centerline is valid?  [True, True]
Translation: X:299.00, Y:25.37, Z:77.93
[[ 9.55464628e-01 -1.53954179e-01 -2.51764682e-01  2.98997938e+02]
 [ 1.53661683e-01  9.87901506e-01 -2.09452024e-02  2.53738237e+01]
 [ 2.51943310e-01 -1.86741848e-02  9.67561803e-01  7.79320161e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.88071405700003 meters
Centerline goodness : 0.997446 with order 1
Centerline is valid?  [True, True]
Translation: X:299.06, Y:25.38, Z:77.95
[[ 9.55545641e-01 -1.53446791e-01 -2.51766977e-01  2.99057143e+02]
 [ 1.53144309e-01  9.87982427e-01 -2.09175813e-02  2.53827223e+01]
 [ 2.51951085e-01 -1.85689760e-02  9.67561804e-01  7.79461667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.94071405700004 meters
Centerline goodness : 0.997499 with order 1
Centerline is valid?  [True, True]
Translation: X:299.12, Y:25.39, Z:77.96
[[ 9.55664069e-01 -1.52702777e-01 -2.51769832e-01  2.99116204e+02]
 [ 1.52384060e-01  9.88100699e-01 -2.08831602e-02  2.53920020e+01]
 [ 2.51962864e-01 -1.84084233e-02  9.67561804e-01  7.79606678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.00071405700004 meters
Centerline goodness : 0.997906 with order 1
Centerline is valid?  [True, True]
Translation: X:299.17, Y:25.40, Z:77.98
[[ 9.56201590e-01 -1.49298701e-01 -2.51770565e-01  2.99173455e+02]
 [ 1.48866795e-01  9.88636910e-01 -2.08743221e-02  2.54002460e+01]
 [ 2.52026183e-01 -1.75202172e-02  9.67561804e-01  7.79766089e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.06071405700004 meters
Centerline goodness : 0.997732 with order 1
Centerline is valid?  [True, True]
Translation: X:299.23, Y:25.41, Z:77.99
[[ 9.56774687e-01 -1.45581025e-01 -2.51770458e-01  2.99230225e+02]
 [ 1.45022716e-01  9.89208078e-01 -2.08756110e-02  2.54086180e+01]
 [ 2.52092464e-01 -1.65391795e-02  9.67561804e-01  7.79917179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.12071405700004 meters
Centerline goodness : 0.998366 with order 1
Centerline is valid?  [True, True]
Translation: X:299.29, Y:25.42, Z:78.01
[[ 9.57305359e-01 -1.42050284e-01 -2.51770069e-01  2.99288409e+02]
 [ 1.41371094e-01  9.89736443e-01 -2.08803106e-02  2.54175003e+01]
 [ 2.52152066e-01 -1.56041767e-02  9.67561804e-01  7.80102416e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.18071405700005 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:299.35, Y:25.42, Z:78.02
[[ 9.57626669e-01 -1.39866427e-01 -2.51770818e-01  2.99346869e+02]
 [ 1.39115636e-01  9.90056175e-01 -2.08712676e-02  2.54235480e+01]
 [ 2.52186443e-01 -1.50383752e-02  9.67561804e-01  7.80245138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.24071405700005 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:299.41, Y:25.43, Z:78.04
[[ 9.57445314e-01 -1.41101874e-01 -2.51771189e-01  2.99407356e+02]
 [ 1.40394099e-01  9.89875787e-01 -2.08667896e-02  2.54290256e+01]
 [ 2.52166547e-01 -1.53683793e-02  9.67561804e-01  7.80379606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.30071405700005 meters
Centerline goodness : 0.997744 with order 1
Centerline is valid?  [True, True]
Translation: X:299.47, Y:25.43, Z:78.05
[[ 9.57022561e-01 -1.43938630e-01 -2.51772690e-01  2.99466017e+02]
 [ 1.43331715e-01  9.89455079e-01 -2.08486628e-02  2.54322887e+01]
 [ 2.52118695e-01 -1.61343708e-02  9.67561805e-01  7.80521065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.36071405700005 meters
Centerline goodness : 0.997612 with order 1
Centerline is valid?  [True, True]
Translation: X:299.52, Y:25.44, Z:78.07
[[ 9.56492682e-01 -1.47418534e-01 -2.51772766e-01  2.99523642e+02]
 [ 1.46929825e-01  9.88927195e-01 -2.08477477e-02  2.54363691e+01]
 [ 2.52058280e-01 -1.70522104e-02  9.67561805e-01  7.80671458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.42071405700005 meters
Centerline goodness : 0.997681 with order 1
Centerline is valid?  [True, True]
Translation: X:299.58, Y:25.44, Z:78.08
[[ 9.55793744e-01 -1.51884664e-01 -2.51772451e-01  2.99581845e+02]
 [ 1.51546462e-01  9.88230177e-01 -2.08515588e-02  2.54410696e+01]
 [ 2.51976165e-01 -1.82254347e-02  9.67561805e-01  7.80838250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.48071405700006 meters
Centerline goodness : 0.997267 with order 1
Centerline is valid?  [True, True]
Translation: X:299.64, Y:25.44, Z:78.10
[[ 9.54962154e-01 -1.57028271e-01 -2.51772530e-01  2.99639284e+02]
 [ 1.56864958e-01  9.87399938e-01 -2.08505946e-02  2.54436357e+01]
 [ 2.51874314e-01 -1.95827586e-02  9.67561805e-01  7.80980843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.54071405700006 meters
Centerline goodness : 0.997319 with order 1
Centerline is valid?  [True, True]
Translation: X:299.70, Y:25.45, Z:78.11
[[ 9.54437802e-01 -1.60183872e-01 -2.51772933e-01  2.99698249e+02]
 [ 1.60129050e-01  9.86875951e-01 -2.08457376e-02  2.54465466e+01]
 [ 2.51807803e-01 -2.04202006e-02  9.67561805e-01  7.81114337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.60071405700006 meters
Centerline goodness : 0.997500 with order 1
Centerline is valid?  [True, True]
Translation: X:299.76, Y:25.45, Z:78.13
[[ 9.54227751e-01 -1.61430314e-01 -2.51773019e-01  2.99757868e+02]
 [ 1.61418133e-01  9.86665944e-01 -2.08446932e-02  2.54491174e+01]
 [ 2.51780829e-01 -2.07501459e-02  9.67561805e-01  7.81257803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.66071405700006 meters
Centerline goodness : 0.997580 with order 1
Centerline is valid?  [True, True]
Translation: X:299.82, Y:25.45, Z:78.14
[[ 9.54392993e-01 -1.60448743e-01 -2.51774137e-01  2.99816662e+02]
 [ 1.60406740e-01  9.86831161e-01 -2.08311759e-02  2.54529176e+01]
 [ 2.51800900e-01 -2.05051402e-02  9.67561805e-01  7.81420185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.72071405700007 meters
Centerline goodness : 0.996754 with order 1
Centerline is valid?  [True, True]
Translation: X:299.88, Y:25.46, Z:78.16
[[ 9.54570368e-01 -1.59388879e-01 -2.51774896e-01  2.99876317e+02]
 [ 1.59313260e-01  9.87008475e-01 -2.08220025e-02  2.54566358e+01]
 [ 2.51822752e-01 -2.02350129e-02  9.67561805e-01  7.81553696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.78071405700007 meters
Centerline goodness : 0.997145 with order 1
Centerline is valid?  [True, True]
Translation: X:299.94, Y:25.46, Z:78.17
[[ 9.54610366e-01 -1.59145591e-01 -2.51777143e-01  2.99936633e+02]
 [ 1.59068832e-01  9.87048470e-01 -2.07948045e-02  2.54615770e+01]
 [ 2.51825645e-01 -2.01989600e-02  9.67561805e-01  7.81719006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.84071405700007 meters
Centerline goodness : 0.996797 with order 1
Centerline is valid?  [True, True]
Translation: X:300.00, Y:25.47, Z:78.19
[[ 9.54556525e-01 -1.59465239e-01 -2.51779027e-01  2.99995488e+02]
 [ 1.59405327e-01  9.86994664e-01 -2.07719637e-02  2.54677752e+01]
 [ 2.51816962e-01 -2.03069047e-02  9.67561805e-01  7.81898146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.9007140570001 meters
Centerline goodness : 0.996993 with order 1
Centerline is valid?  [True, True]
Translation: X:300.05, Y:25.47, Z:78.20
[[ 9.54501939e-01 -1.59789857e-01 -2.51780161e-01  3.00053032e+02]
 [ 1.59744579e-01  9.86940102e-01 -2.07582152e-02  2.54737071e+01]
 [ 2.51808890e-01 -2.04067592e-02  9.67561805e-01  7.82029651e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.960714057 meters
Centerline goodness : 0.997307 with order 1
Centerline is valid?  [True, True]
Translation: X:300.11, Y:25.48, Z:78.22
[[ 9.54570121e-01 -1.59382630e-01 -2.51779787e-01  3.00112006e+02]
 [ 1.59322326e-01  9.87008260e-01 -2.07627499e-02  2.54805310e+01]
 [ 2.51817951e-01 -2.02946404e-02  9.67561805e-01  7.82176856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.020714057 meters
Centerline goodness : 0.997179 with order 1
Centerline is valid?  [True, True]
Translation: X:300.17, Y:25.49, Z:78.23
[[ 9.54625848e-01 -1.59046849e-01 -2.51780838e-01  3.00171113e+02]
 [ 1.58978479e-01  9.87063970e-01 -2.07499871e-02  2.54866537e+01]
 [ 2.51824014e-01 -2.02192607e-02  9.67561806e-01  7.82340710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.080714057 meters
Centerline goodness : 0.997227 with order 1
Centerline is valid?  [True, True]
Translation: X:300.23, Y:25.49, Z:78.25
[[ 9.54881123e-01 -1.57505226e-01 -2.51781941e-01  3.00231311e+02]
 [ 1.57387986e-01  9.87319105e-01 -2.07366020e-02  2.54930567e+01]
 [ 2.51855244e-01 -1.98264627e-02  9.67561806e-01  7.82488540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.140714057 meters
Centerline goodness : 0.997384 with order 1
Centerline is valid?  [True, True]
Translation: X:300.29, Y:25.50, Z:78.26
[[ 9.55480544e-01 -1.53824719e-01 -2.51783411e-01  3.00289120e+02]
 [ 1.53587172e-01  9.87917868e-01 -2.07187359e-02  2.55001081e+01]
 [ 2.51928384e-01 -1.88743530e-02  9.67561806e-01  7.82645910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.200714057 meters
Centerline goodness : 0.998070 with order 1
Centerline is valid?  [True, True]
Translation: X:300.35, Y:25.51, Z:78.28
[[ 9.56432132e-01 -1.47792727e-01 -2.51783413e-01  3.00346904e+02]
 [ 1.47350516e-01  9.88867312e-01 -2.07187131e-02  2.55079437e+01]
 [ 2.52042462e-01 -1.72843728e-02  9.67561806e-01  7.82805306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.26071405700003 meters
Centerline goodness : 0.997983 with order 1
Centerline is valid?  [True, True]
Translation: X:300.41, Y:25.52, Z:78.30
[[ 9.57388456e-01 -1.41465187e-01 -2.51783527e-01  3.00405671e+02]
 [ 1.40808876e-01  9.89820010e-01 -2.07173230e-02  2.55159768e+01]
 [ 2.52151154e-01 -1.56188297e-02  9.67561806e-01  7.82952308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.32071405700003 meters
Centerline goodness : 0.997401 with order 1
Centerline is valid?  [True, True]
Translation: X:300.46, Y:25.52, Z:78.31
[[ 9.58446596e-01 -1.34108213e-01 -2.51783855e-01  3.00463587e+02]
 [ 1.33203886e-01  9.90872182e-01 -2.07133445e-02  2.55239510e+01]
 [ 2.52263447e-01 -1.36859535e-02  9.67561806e-01  7.83128541e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.38071405700003 meters
Centerline goodness : 0.997025 with order 1
Centerline is valid?  [True, True]
Translation: X:300.52, Y:25.53, Z:78.33
[[ 9.59388386e-01 -1.27195247e-01 -2.51784221e-01  3.00520591e+02]
 [ 1.26058354e-01  9.91806651e-01 -2.07088883e-02  2.55317303e+01]
 [ 2.52355337e-01 -1.18716375e-02  9.67561806e-01  7.83313376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.44071405700004 meters
Centerline goodness : 0.996509 with order 1
Centerline is valid?  [True, True]
Translation: X:300.58, Y:25.53, Z:78.35
[[ 9.59843941e-01 -1.23710569e-01 -2.51784240e-01  3.00579205e+02]
 [ 1.22456024e-01  9.92257867e-01 -2.07086540e-02  2.55343818e+01]
 [ 2.52396773e-01 -1.09554210e-02  9.67561806e-01  7.83518996e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.50071405700004 meters
Centerline goodness : 0.996626 with order 1
Centerline is valid?  [True, True]
Translation: X:300.64, Y:25.53, Z:78.37
[[ 9.59421304e-01 -1.26944429e-01 -2.51785373e-01  3.00639616e+02]
 [ 1.25802731e-01  9.91839400e-01 -2.06948715e-02  2.55348788e+01]
 [ 2.52357752e-01 -1.18201870e-02  9.67561806e-01  7.83674973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.56071405700004 meters
Centerline goodness : 0.996653 with order 1
Centerline is valid?  [True, True]
Translation: X:300.70, Y:25.54, Z:78.38
[[ 9.59273725e-01 -1.28051832e-01 -2.51786910e-01  3.00699290e+02]
 [ 1.26952458e-01  9.91693284e-01 -2.06761536e-02  2.55374093e+01]
 [ 2.52343007e-01 -1.21308761e-02  9.67561806e-01  7.83818439e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.62071405700004 meters
Centerline goodness : 0.995434 with order 1
Centerline is valid?  [True, True]
Translation: X:300.76, Y:25.54, Z:78.39
[[ 9.58830083e-01 -1.31330312e-01 -2.51788046e-01  3.00759105e+02]
 [ 1.30345394e-01  9.91253321e-01 -2.06623117e-02  2.55354050e+01]
 [ 2.52299325e-01 -1.30077660e-02  9.67561806e-01  7.83928509e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.68071405700005 meters
Centerline goodness : 0.995753 with order 1
Centerline is valid?  [True, True]
Translation: X:300.82, Y:25.53, Z:78.41
[[ 9.58876629e-01 -1.30989333e-01 -2.51788412e-01  3.00818243e+02]
 [ 1.29994052e-01  9.91299551e-01 -2.06578524e-02  2.55346860e+01]
 [ 2.52303698e-01 -1.29226641e-02  9.67561806e-01  7.84081667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.74071405700005 meters
Centerline goodness : 0.995189 with order 1
Centerline is valid?  [True, True]
Translation: X:300.88, Y:25.54, Z:78.42
[[ 9.59051082e-01 -1.29705152e-01 -2.51788793e-01  3.00876513e+02]
 [ 1.28667671e-01  9.91472680e-01 -2.06532046e-02  2.55363996e+01]
 [ 2.52320537e-01 -1.25895995e-02  9.67561806e-01  7.84224485e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.80071405700005 meters
Centerline goodness : 0.995753 with order 1
Centerline is valid?  [True, True]
Translation: X:300.94, Y:25.54, Z:78.44
[[ 9.59025643e-01 -1.29893107e-01 -2.51788793e-01  3.00935943e+02]
 [ 1.28861980e-01  9.91447444e-01 -2.06532046e-02  2.55371584e+01]
 [ 2.52318065e-01 -1.26390498e-02  9.67561806e-01  7.84402072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.86071405700005 meters
Centerline goodness : 0.995615 with order 1
Centerline is valid?  [True, True]
Translation: X:300.99, Y:25.54, Z:78.45
[[ 9.58390792e-01 -1.34494323e-01 -2.51790322e-01  3.00994836e+02]
 [ 1.33623699e-01  9.90817300e-01 -2.06345476e-02  2.55359384e+01]
 [ 2.52253437e-01 -1.38691938e-02  9.67561806e-01  7.84545110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.92071405700005 meters
Centerline goodness : 0.995401 with order 1
Centerline is valid?  [True, True]
Translation: X:301.05, Y:25.54, Z:78.47
[[ 9.57807614e-01 -1.38585137e-01 -2.51791053e-01  3.01053754e+02]
 [ 1.37855310e-01  9.90237596e-01 -2.06256234e-02  2.55364053e+01]
 [ 2.52191372e-01 -1.49553546e-02  9.67561806e-01  7.84698315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.98071405700006 meters
Centerline goodness : 0.995448 with order 1
Centerline is valid?  [True, True]
Translation: X:301.11, Y:25.54, Z:78.48
[[ 9.56573848e-01 -1.46859586e-01 -2.51791053e-01  3.01112726e+02]
 [ 1.46410123e-01  9.89008928e-01 -2.06256234e-02  2.55356202e+01]
 [ 2.52052670e-01 -1.71348272e-02  9.67561806e-01  7.84832887e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.04071405700006 meters
Centerline goodness : 0.995659 with order 1
Centerline is valid?  [True, True]
Translation: X:301.17, Y:25.54, Z:78.50
[[ 9.55547053e-01 -1.53398945e-01 -2.51790771e-01  3.01170957e+02]
 [ 1.53170440e-01  9.87984442e-01 -2.06290664e-02  2.55362842e+01]
 [ 2.51929842e-01 -1.88548597e-02  9.67561806e-01  7.84962833e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.10071405700006 meters
Centerline goodness : 0.996386 with order 1
Centerline is valid?  [True, True]
Translation: X:301.23, Y:25.54, Z:78.51
[[ 9.55035723e-01 -1.56551340e-01 -2.51790479e-01  3.01229050e+02]
 [ 1.56428941e-01  9.87473686e-01 -2.06326384e-02  2.55400230e+01]
 [ 2.51866539e-01 -1.96824112e-02  9.67561806e-01  7.85132802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.16071405700006 meters
Centerline goodness : 0.996492 with order 1
Centerline is valid?  [True, True]
Translation: X:301.29, Y:25.55, Z:78.53
[[ 9.54996162e-01 -1.56791890e-01 -2.51790853e-01  3.01287738e+02]
 [ 1.56678860e-01  9.87434159e-01 -2.06280677e-02  2.55462576e+01]
 [ 2.51861203e-01 -1.97505782e-02  9.67561806e-01  7.85292840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.22071405700007 meters
Centerline goodness : 0.996576 with order 1
Centerline is valid?  [True, True]
Translation: X:301.35, Y:25.55, Z:78.55
[[ 9.54930590e-01 -1.57188980e-01 -2.51791963e-01  3.01345841e+02]
 [ 1.57092991e-01  9.87368642e-01 -2.06145067e-02  2.55540181e+01]
 [ 2.51851862e-01 -1.98693295e-02  9.67561806e-01  7.85455643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.28071405700007 meters
Centerline goodness : 0.995940 with order 1
Centerline is valid?  [True, True]
Translation: X:301.41, Y:25.56, Z:78.56
[[ 9.54806317e-01 -1.57940801e-01 -2.51792772e-01  3.01405643e+02]
 [ 1.57872942e-01  9.87244440e-01 -2.06046237e-02  2.55619774e+01]
 [ 2.51835325e-01 -2.00778408e-02  9.67561807e-01  7.85612099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.34071405700007 meters
Centerline goodness : 0.996926 with order 1
Centerline is valid?  [True, True]
Translation: X:301.46, Y:25.57, Z:78.57
[[ 9.54793872e-01 -1.58013591e-01 -2.51794297e-01  3.01464396e+02]
 [ 1.57953092e-01  9.87232008e-01 -2.05859743e-02  2.55697585e+01]
 [ 2.51832253e-01 -2.01163256e-02  9.67561807e-01  7.85748286e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.4007140570001 meters
Centerline goodness : 0.996300 with order 1
Centerline is valid?  [True, True]
Translation: X:301.52, Y:25.58, Z:78.59
[[ 9.55194939e-01 -1.55569536e-01 -2.51795052e-01  3.01521218e+02]
 [ 1.55428440e-01  9.87632825e-01 -2.05767386e-02  2.55789296e+01]
 [ 2.51882172e-01 -1.94813156e-02  9.67561807e-01  7.85894101e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.460714057 meters
Centerline goodness : 0.997395 with order 1
Centerline is valid?  [True, True]
Translation: X:301.58, Y:25.59, Z:78.61
[[ 9.56018106e-01 -1.50428807e-01 -2.51794670e-01  3.01578610e+02]
 [ 1.50111988e-01  9.88454752e-01 -2.05814135e-02  2.55874952e+01]
 [ 2.51983675e-01 -1.81211945e-02  9.67561807e-01  7.86068757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.520714057 meters
Centerline goodness : 0.996874 with order 1
Centerline is valid?  [True, True]
Translation: X:301.64, Y:25.60, Z:78.62
[[ 9.56981100e-01 -1.44175601e-01 -2.51794699e-01  3.01635651e+02]
 [ 1.43646827e-01  9.89414983e-01 -2.05810574e-02  2.55967041e+01]
 [ 2.52096734e-01 -1.64738266e-02  9.67561807e-01  7.86239862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.580714057 meters
Centerline goodness : 0.997029 with order 1
Centerline is valid?  [True, True]
Translation: X:301.69, Y:25.61, Z:78.64
[[ 9.57755924e-01 -1.38935426e-01 -2.51794633e-01  3.01693109e+02]
 [ 1.38228923e-01  9.90186423e-01 -2.05818620e-02  2.56061701e+01]
 [ 2.52183177e-01 -1.50929006e-02  9.67561807e-01  7.86407866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.640714057 meters
Centerline goodness : 0.997077 with order 1
Centerline is valid?  [True, True]
Translation: X:301.75, Y:25.61, Z:78.65
[[ 9.58071851e-01 -1.36739470e-01 -2.51794847e-01  3.01751596e+02]
 [ 1.35959312e-01  9.90500662e-01 -2.05792390e-02  2.56136262e+01]
 [ 2.52216957e-01 -1.45174645e-02  9.67561807e-01  7.86547692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.700714057 meters
Centerline goodness : 0.997218 with order 1
Centerline is valid?  [True, True]
Translation: X:301.81, Y:25.62, Z:78.67
[[ 9.57975496e-01 -1.37411554e-01 -2.51795579e-01  3.01810167e+02]
 [ 1.36656492e-01  9.90404900e-01 -2.05702784e-02  2.56194748e+01]
 [ 2.52206170e-01 -1.47036780e-02  9.67561807e-01  7.86684459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.76071405700003 meters
Centerline goodness : 0.997099 with order 1
Centerline is valid?  [True, True]
Translation: X:301.87, Y:25.62, Z:78.68
[[ 9.57669363e-01 -1.39528478e-01 -2.51795937e-01  3.01868457e+02]
 [ 1.38846240e-01  9.90100382e-01 -2.05658954e-02  2.56234541e+01]
 [ 2.52172782e-01 -1.52655913e-02  9.67561807e-01  7.86831294e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.82071405700003 meters
Centerline goodness : 0.997031 with order 1
Centerline is valid?  [True, True]
Translation: X:301.93, Y:25.63, Z:78.70
[[ 9.57297817e-01 -1.42055128e-01 -2.51796009e-01  3.01928095e+02]
 [ 1.41458705e-01  9.89730527e-01 -2.05650111e-02  2.56270826e+01]
 [ 2.52131562e-01 -1.59318970e-02  9.67561807e-01  7.87005413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.88071405700003 meters
Centerline goodness : 0.996988 with order 1
Centerline is valid?  [True, True]
Translation: X:301.99, Y:25.63, Z:78.72
[[ 9.56830429e-01 -1.45167308e-01 -2.51797504e-01  3.01986578e+02]
 [ 1.44681150e-01  9.89264979e-01 -2.05466970e-02  2.56296988e+01]
 [ 2.52077161e-01 -1.67706474e-02  9.67561807e-01  7.87150421e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.94071405700004 meters
Centerline goodness : 0.996922 with order 1
Centerline is valid?  [True, True]
Translation: X:302.05, Y:25.63, Z:78.73
[[ 9.56331892e-01 -1.48415939e-01 -2.51797580e-01  3.02045335e+02]
 [ 1.48040178e-01  9.88767909e-01 -2.05457675e-02  2.56331452e+01]
 [ 2.52018686e-01 -1.76275857e-02  9.67561807e-01  7.87295935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.00071405700004 meters
Centerline goodness : 0.996614 with order 1
Centerline is valid?  [True, True]
Translation: X:302.10, Y:25.64, Z:78.74
[[ 9.56043221e-01 -1.50262871e-01 -2.51798391e-01  3.02104633e+02]
 [ 1.49952368e-01  9.88479928e-01 -2.05358218e-02  2.56372265e+01]
 [ 2.51983427e-01 -1.81246319e-02  9.67561807e-01  7.87434587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.06071405700004 meters
Centerline goodness : 0.996972 with order 1
Centerline is valid?  [True, True]
Translation: X:302.16, Y:25.64, Z:78.76
[[ 9.55680696e-01 -1.52547470e-01 -2.51800869e-01  3.02163483e+02]
 [ 1.52322467e-01  9.88118108e-01 -2.05053964e-02  2.56401654e+01]
 [ 2.51937044e-01 -1.87583179e-02  9.67561807e-01  7.87588006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.12071405700004 meters
Centerline goodness : 0.996685 with order 1
Centerline is valid?  [True, True]
Translation: X:302.22, Y:25.64, Z:78.78
[[ 9.55588718e-01 -1.53121968e-01 -2.51801242e-01  3.02221654e+02]
 [ 1.52917665e-01  9.88026267e-01 -2.05008170e-02  2.56444047e+01]
 [ 2.51925366e-01 -1.89145085e-02  9.67561807e-01  7.87750005e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.18071405700005 meters
Centerline goodness : 0.996980 with order 1
Centerline is valid?  [True, True]
Translation: X:302.28, Y:25.65, Z:78.79
[[ 9.55373255e-01 -1.54460373e-01 -2.51801386e-01  3.02280213e+02]
 [ 1.54301971e-01  9.87811060e-01 -2.04990488e-02  2.56493957e+01]
 [ 2.51898484e-01 -1.92692070e-02  9.67561807e-01  7.87905609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.24071405700005 meters
Centerline goodness : 0.997340 with order 1
Centerline is valid?  [True, True]
Translation: X:302.34, Y:25.65, Z:78.81
[[ 9.54973549e-01 -1.56910860e-01 -2.51802507e-01  3.02339202e+02]
 [ 1.56839289e-01  9.87411663e-01 -2.04852621e-02  2.56523595e+01]
 [ 2.51847092e-01 -1.99296429e-02  9.67561808e-01  7.88063411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.30071405700005 meters
Centerline goodness : 0.996766 with order 1
Centerline is valid?  [True, True]
Translation: X:302.40, Y:25.66, Z:78.82
[[ 9.54577233e-01 -1.59302646e-01 -2.51803443e-01  3.02398655e+02]
 [ 1.59315352e-01  9.87015422e-01 -2.04737506e-02  2.56567887e+01]
 [ 2.51795405e-01 -2.05723780e-02  9.67561808e-01  7.88210776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.36071405700005 meters
Centerline goodness : 0.996714 with order 1
Centerline is valid?  [True, True]
Translation: X:302.46, Y:25.66, Z:78.83
[[ 9.54235935e-01 -1.61333594e-01 -2.51803993e-01  3.02457716e+02]
 [ 1.61417099e-01  9.86674020e-01 -2.04669870e-02  2.56596756e+01]
 [ 2.51750471e-01 -2.11151357e-02  9.67561808e-01  7.88346125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.42071405700005 meters
Centerline goodness : 0.997186 with order 1
Centerline is valid?  [True, True]
Translation: X:302.52, Y:25.66, Z:78.85
[[ 9.53651739e-01 -1.64750554e-01 -2.51804715e-01  3.02516358e+02]
 [ 1.64952579e-01  9.86089303e-01 -2.04580967e-02  2.56613480e+01]
 [ 2.51672419e-01 -2.20259377e-02  9.67561808e-01  7.88501147e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.48071405700006 meters
Centerline goodness : 0.997525 with order 1
Centerline is valid?  [True, True]
Translation: X:302.58, Y:25.67, Z:78.86
[[ 9.53519459e-01 -1.65514006e-01 -2.51804995e-01  3.02575374e+02]
 [ 1.65742904e-01  9.85956843e-01 -2.04546493e-02  2.56652029e+01]
 [ 2.51654389e-01 -2.22309851e-02  9.67561808e-01  7.88646958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.54071405700006 meters
Centerline goodness : 0.996929 with order 1
Centerline is valid?  [True, True]
Translation: X:302.63, Y:25.67, Z:78.88
[[ 9.53509787e-01 -1.65568581e-01 -2.51805742e-01  3.02634911e+02]
 [ 1.65801745e-01  9.85947141e-01 -2.04454538e-02  2.56692761e+01]
 [ 2.51652276e-01 -2.22548910e-02  9.67561808e-01  7.88820376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.60071405700006 meters
Centerline goodness : 0.996978 with order 1
Centerline is valid?  [True, True]
Translation: X:302.70, Y:25.67, Z:78.90
[[ 9.53655450e-01 -1.64725232e-01 -2.51807229e-01  3.02695774e+02]
 [ 1.64934512e-01  9.86092967e-01 -2.04271199e-02  2.56709632e+01]
 [ 2.51670200e-01 -2.20512682e-02  9.67561808e-01  7.88959599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.66071405700006 meters
Centerline goodness : 0.997202 with order 1
Centerline is valid?  [True, True]
Translation: X:302.75, Y:25.67, Z:78.91
[[ 9.53891374e-01 -1.63351205e-01 -2.51808718e-01  3.02753562e+02]
 [ 1.63518569e-01  9.86329134e-01 -2.04087461e-02  2.56745112e+01]
 [ 2.51700069e-01 -2.17076745e-02  9.67561808e-01  7.89101310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.72071405700007 meters
Centerline goodness : 0.996527 with order 1
Centerline is valid?  [True, True]
Translation: X:302.81, Y:25.68, Z:78.93
[[ 9.53818252e-01 -1.63778112e-01 -2.51808403e-01  3.02811173e+02]
 [ 1.63958973e-01  9.86255940e-01 -2.04126421e-02  2.56775808e+01]
 [ 2.51690677e-01 -2.18162964e-02  9.67561808e-01  7.89266286e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.78071405700007 meters
Centerline goodness : 0.997352 with order 1
Centerline is valid?  [True, True]
Translation: X:302.87, Y:25.68, Z:78.94
[[ 9.53388529e-01 -1.66261790e-01 -2.51808123e-01  3.02872000e+02]
 [ 1.66526230e-01  9.85825643e-01 -2.04160953e-02  2.56788212e+01]
 [ 2.51633321e-01 -2.24681864e-02  9.67561808e-01  7.89418725e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.84071405700007 meters
Centerline goodness : 0.997477 with order 1
Centerline is valid?  [True, True]
Translation: X:302.93, Y:25.68, Z:78.96
[[ 9.52604860e-01 -1.70692394e-01 -2.51809627e-01  3.02930427e+02]
 [ 1.71112498e-01  9.85040331e-01 -2.03975308e-02  2.56816342e+01]
 [ 2.51524341e-01 -2.36569874e-02  9.67561808e-01  7.89572244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.9007140570001 meters
Centerline goodness : 0.997352 with order 1
Centerline is valid?  [True, True]
Translation: X:302.99, Y:25.68, Z:78.97
[[ 9.52028312e-01 -1.73879305e-01 -2.51809610e-01  3.02989535e+02]
 [ 1.74407899e-01  9.84462197e-01 -2.03977325e-02  2.56826423e+01]
 [ 2.51443786e-01 -2.44983662e-02  9.67561808e-01  7.89727958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.960714057 meters
Centerline goodness : 0.997928 with order 1
Centerline is valid?  [True, True]
Translation: X:303.05, Y:25.68, Z:78.99
[[ 9.51542680e-01 -1.76517450e-01 -2.51809685e-01  3.03048142e+02]
 [ 1.77136183e-01  9.83974971e-01 -2.03968085e-02  2.56846085e+01]
 [ 2.51374820e-01 -2.51961726e-02  9.67561808e-01  7.89885087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.020714057 meters
Centerline goodness : 0.997791 with order 1
Centerline is valid?  [True, True]
Translation: X:303.11, Y:25.69, Z:79.00
[[ 9.51185872e-01 -1.78430176e-01 -2.51809669e-01  3.03108139e+02]
 [ 1.79114062e-01  9.83616854e-01 -2.03970055e-02  2.56871276e+01]
 [ 2.51323676e-01 -2.57013092e-02  9.67561808e-01  7.90042668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.080714057 meters
Centerline goodness : 0.998096 with order 1
Centerline is valid?  [True, True]
Translation: X:303.17, Y:25.69, Z:79.02
[[ 9.50781462e-01 -1.80570651e-01 -2.51811141e-01  3.03167241e+02]
 [ 1.81332295e-01  9.83210711e-01 -2.03788201e-02  2.56875004e+01]
 [ 2.51263228e-01 -2.62856877e-02  9.67561808e-01  7.90192456e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.140714057 meters
Centerline goodness : 0.997541 with order 1
Centerline is valid?  [True, True]
Translation: X:303.23, Y:25.69, Z:79.03
[[ 9.50730355e-01 -1.80839180e-01 -2.51811405e-01  3.03227274e+02]
 [ 1.81610837e-01  9.83159367e-01 -2.03755574e-02  2.56890036e+01]
 [ 2.51255440e-01 -2.63600191e-02  9.67561808e-01  7.90315999e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.200714057 meters
Centerline goodness : 0.997707 with order 1
Centerline is valid?  [True, True]
Translation: X:303.29, Y:25.69, Z:79.05
[[ 9.51054071e-01 -1.79127356e-01 -2.51812519e-01  3.03286953e+02]
 [ 1.79844242e-01  9.83484340e-01 -2.03617815e-02  2.56923791e+01]
 [ 2.51301021e-01 -2.59218763e-02  9.67561808e-01  7.90472631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.26071405700003 meters
Centerline goodness : 0.997965 with order 1
Centerline is valid?  [True, True]
Translation: X:303.35, Y:25.69, Z:79.06
[[ 9.51646905e-01 -1.75949092e-01 -2.51813592e-01  3.03345860e+02]
 [ 1.76561110e-01  9.84079322e-01 -2.03485016e-02  2.56948143e+01]
 [ 2.51384849e-01 -2.50958988e-02  9.67561809e-01  7.90626027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.32071405700003 meters
Centerline goodness : 0.997943 with order 1
Centerline is valid?  [True, True]
Translation: X:303.40, Y:25.70, Z:79.08
[[ 9.52089187e-01 -1.73539740e-01 -2.51813699e-01  3.03404320e+02]
 [ 1.74070012e-01  9.84523044e-01 -2.03471734e-02  2.56989511e+01]
 [ 2.51447433e-01 -2.44608899e-02  9.67561809e-01  7.90783717e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.38071405700003 meters
Centerline goodness : 0.997792 with order 1
Centerline is valid?  [True, True]
Translation: X:303.46, Y:25.70, Z:79.09
[[ 9.52411648e-01 -1.71761181e-01 -2.51813720e-01  3.03463918e+02]
 [ 1.72230941e-01  9.84846438e-01 -2.03469194e-02  2.57030739e+01]
 [ 2.51492656e-01 -2.39914709e-02  9.67561809e-01  7.90941811e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.44071405700004 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:303.52, Y:25.71, Z:79.11
[[ 9.53032279e-01 -1.68281799e-01 -2.51814836e-01  3.03522623e+02]
 [ 1.68636726e-01  9.85468528e-01 -2.03330922e-02  2.57069245e+01]
 [ 2.51577285e-01 -2.30871362e-02  9.67561809e-01  7.91084579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.50071405700004 meters
Centerline goodness : 0.997940 with order 1
Centerline is valid?  [True, True]
Translation: X:303.58, Y:25.71, Z:79.12
[[ 9.53560073e-01 -1.65264884e-01 -2.51814824e-01  3.03580360e+02]
 [ 1.65517118e-01  9.85997283e-01 -2.03332398e-02  2.57123150e+01]
 [ 2.51649103e-01 -2.22906985e-02  9.67561809e-01  7.91234012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.56071405700004 meters
Centerline goodness : 0.998145 with order 1
Centerline is valid?  [True, True]
Translation: X:303.64, Y:25.72, Z:79.14
[[ 9.54519983e-01 -1.59627411e-01 -2.51814795e-01  3.03638177e+02]
 [ 1.59687873e-01  9.86958118e-01 -2.03336063e-02  2.57168601e+01]
 [ 2.51776457e-01 -2.08029356e-02  9.67561809e-01  7.91399322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.62071405700004 meters
Centerline goodness : 0.998051 with order 1
Centerline is valid?  [True, True]
Translation: X:303.70, Y:25.72, Z:79.15
[[ 9.55285487e-01 -1.54980541e-01 -2.51814755e-01  3.03695475e+02]
 [ 1.54883019e-01  9.87723532e-01 -2.03340998e-02  2.57239127e+01]
 [ 2.51874749e-01 -1.95769592e-02  9.67561809e-01  7.91539488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.68071405700005 meters
Centerline goodness : 0.997999 with order 1
Centerline is valid?  [True, True]
Translation: X:303.75, Y:25.73, Z:79.17
[[ 9.55801521e-01 -1.51765785e-01 -2.51814613e-01  3.03752366e+02]
 [ 1.51558674e-01  9.88239051e-01 -2.03358520e-02  2.57317151e+01]
 [ 2.51939321e-01 -1.87276506e-02  9.67561809e-01  7.91696605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.74071405700005 meters
Centerline goodness : 0.997864 with order 1
Centerline is valid?  [True, True]
Translation: X:303.81, Y:25.74, Z:79.19
[[ 9.56164350e-01 -1.49464004e-01 -2.51813915e-01  3.03810726e+02]
 [ 1.49176526e-01  9.88601267e-01 -2.03444970e-02  2.57394664e+01]
 [ 2.51984325e-01 -1.81120424e-02  9.67561809e-01  7.91864483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.80071405700005 meters
Centerline goodness : 0.997992 with order 1
Centerline is valid?  [True, True]
Translation: X:303.87, Y:25.75, Z:79.20
[[ 9.56212888e-01 -1.49152542e-01 -2.51814283e-01  3.03868668e+02]
 [ 1.48855691e-01  9.88649721e-01 -2.03399473e-02  2.57471665e+01]
 [ 2.51989875e-01 -1.80346692e-02  9.67561809e-01  7.92018109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.86071405700005 meters
Centerline goodness : 0.998034 with order 1
Centerline is valid?  [True, True]
Translation: X:303.93, Y:25.75, Z:79.22
[[ 9.56092279e-01 -1.49923716e-01 -2.51814283e-01  3.03927905e+02]
 [ 1.49653026e-01  9.88529341e-01 -2.03399473e-02  2.57542916e+01]
 [ 2.51975247e-01 -1.82379028e-02  9.67561809e-01  7.92178989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.92071405700005 meters
Centerline goodness : 0.996884 with order 1
Centerline is valid?  [True, True]
Translation: X:303.99, Y:25.76, Z:79.23
[[ 9.55797404e-01 -1.51790391e-01 -2.51815407e-01  3.03985538e+02]
 [ 1.51586690e-01  9.88234956e-01 -2.03260226e-02  2.57616239e+01]
 [ 2.51938082e-01 -1.87443044e-02  9.67561809e-01  7.92335555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.98071405700006 meters
Centerline goodness : 0.996839 with order 1
Centerline is valid?  [True, True]
Translation: X:304.04, Y:25.77, Z:79.25
[[ 9.55616043e-01 -1.52927416e-01 -2.51815773e-01  3.04043779e+02]
 [ 1.52763496e-01  9.88053820e-01 -2.03214814e-02  2.57675494e+01]
 [ 2.51915248e-01 -1.90487242e-02  9.67561809e-01  7.92497832e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.04071405700006 meters
Centerline goodness : 0.996451 with order 1
Centerline is valid?  [True, True]
Translation: X:304.10, Y:25.77, Z:79.27
[[ 9.55738378e-01 -1.52160396e-01 -2.51816137e-01  3.04102921e+02]
 [ 1.51971626e-01  9.88176020e-01 -2.03169638e-02  2.57735955e+01]
 [ 2.51930106e-01 -1.88512059e-02  9.67561809e-01  7.92654144e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.10071405700006 meters
Centerline goodness : 0.995798 with order 1
Centerline is valid?  [True, True]
Translation: X:304.16, Y:25.78, Z:79.28
[[ 9.56161948e-01 -1.49473802e-01 -2.51817218e-01  3.04160814e+02]
 [ 1.49197380e-01  9.88598962e-01 -2.03035683e-02  2.57806728e+01]
 [ 2.51981091e-01 -1.81569697e-02  9.67561809e-01  7.92812225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.16071405700006 meters
Centerline goodness : 0.995785 with order 1
Centerline is valid?  [True, True]
Translation: X:304.22, Y:25.79, Z:79.30
[[ 9.56493467e-01 -1.47337492e-01 -2.51817218e-01  3.04218289e+02]
 [ 1.46988610e-01  9.88929782e-01 -2.03035683e-02  2.57864800e+01]
 [ 2.52021023e-01 -1.75940325e-02  9.67561809e-01  7.92960575e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.22071405700007 meters
Centerline goodness : 0.995032 with order 1
Centerline is valid?  [True, True]
Translation: X:304.28, Y:25.79, Z:79.31
[[ 9.56573046e-01 -1.46820553e-01 -2.51816864e-01  3.04279054e+02]
 [ 1.46452995e-01  9.89009154e-01 -2.03079468e-02  2.57914536e+01]
 [ 2.52030808e-01 -1.74532995e-02  9.67561809e-01  7.93107250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.28071405700007 meters
Centerline goodness : 0.995979 with order 1
Centerline is valid?  [True, True]
Translation: X:304.34, Y:25.80, Z:79.32
[[ 9.56430672e-01 -1.47742033e-01 -2.51818707e-01  3.04337781e+02]
 [ 1.47411717e-01  9.88867181e-01 -2.02850717e-02  2.57975538e+01]
 [ 2.52012213e-01 -1.77197632e-02  9.67561809e-01  7.93248516e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.34071405700007 meters
Centerline goodness : 0.995976 with order 1
Centerline is valid?  [True, True]
Translation: X:304.40, Y:25.80, Z:79.34
[[ 9.56332022e-01 -1.48378011e-01 -2.51819438e-01  3.04395943e+02]
 [ 1.48071642e-01  9.88768766e-01 -2.02759951e-02  2.58025873e+01]
 [ 2.51999707e-01 -1.78967343e-02  9.67561809e-01  7.93393185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.4007140570001 meters
Centerline goodness : 0.996007 with order 1
Centerline is valid?  [True, True]
Translation: X:304.45, Y:25.81, Z:79.36
[[ 9.56147164e-01 -1.49564758e-01 -2.51819347e-01  3.04454039e+02]
 [ 1.49298348e-01  9.88584261e-01 -2.02771303e-02  2.58082708e+01]
 [ 2.51977387e-01 -1.82082919e-02  9.67561809e-01  7.93554844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.460714057 meters
Centerline goodness : 0.996176 with order 1
Centerline is valid?  [True, True]
Translation: X:304.51, Y:25.81, Z:79.37
[[ 9.55975563e-01 -1.50657693e-01 -2.51819347e-01  3.04513025e+02]
 [ 1.50428364e-01  9.88412943e-01 -2.02771303e-02  2.58136492e+01]
 [ 2.51956407e-01 -1.84963313e-02  9.67561809e-01  7.93708290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.520714057 meters
Centerline goodness : 0.996147 with order 1
Centerline is valid?  [True, True]
Translation: X:304.57, Y:25.82, Z:79.39
[[ 9.55792021e-01 -1.51817154e-01 -2.51819704e-01  3.04571618e+02]
 [ 1.51628335e-01  9.88229663e-01 -2.02726897e-02  2.58179364e+01]
 [ 2.51933443e-01 -1.88065272e-02  9.67561809e-01  7.93863061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.580714057 meters
Centerline goodness : 0.996300 with order 1
Centerline is valid?  [True, True]
Translation: X:304.63, Y:25.83, Z:79.40
[[ 9.56106928e-01 -1.49819684e-01 -2.51820579e-01  3.04628277e+02]
 [ 1.49565934e-01  9.88544127e-01 -2.02618197e-02  2.58254518e+01]
 [ 2.51971373e-01 -1.82913138e-02  9.67561809e-01  7.94028616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.640714057 meters
Centerline goodness : 0.995844 with order 1
Centerline is valid?  [True, True]
Translation: X:304.69, Y:25.83, Z:79.42
[[ 9.56300663e-01 -1.48578186e-01 -2.51820501e-01  3.04687546e+02]
 [ 1.48282066e-01  9.88737502e-01 -2.02627894e-02  2.58314988e+01]
 [ 2.51994981e-01 -1.79631452e-02  9.67561809e-01  7.94181578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.700714057 meters
Centerline goodness : 0.996576 with order 1
Centerline is valid?  [True, True]
Translation: X:304.75, Y:25.84, Z:79.43
[[ 9.56269019e-01 -1.48780508e-01 -2.51821212e-01  3.04746013e+02]
 [ 1.48493569e-01  9.88705941e-01 -2.02539416e-02  2.58366686e+01]
 [ 2.51990520e-01 -1.80256138e-02  9.67561809e-01  7.94322617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.76071405700003 meters
Centerline goodness : 0.996134 with order 1
Centerline is valid?  [True, True]
Translation: X:304.80, Y:25.84, Z:79.45
[[ 9.55725242e-01 -1.52234487e-01 -2.51821212e-01  3.04804927e+02]
 [ 1.52064743e-01  9.88162989e-01 -2.02539416e-02  2.58431024e+01]
 [ 2.51923750e-01 -1.89359247e-02  9.67561809e-01  7.94475776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.82071405700003 meters
Centerline goodness : 0.995807 with order 1
Centerline is valid?  [True, True]
Translation: X:304.86, Y:25.85, Z:79.46
[[ 9.55352549e-01 -1.54555488e-01 -2.51821579e-01  3.04863839e+02]
 [ 1.54465731e-01  9.87790616e-01 -2.02493802e-02  2.58476854e+01]
 [ 2.51876646e-01 -1.95525073e-02  9.67561809e-01  7.94619324e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.88071405700003 meters
Centerline goodness : 0.996577 with order 1
Centerline is valid?  [True, True]
Translation: X:304.92, Y:25.85, Z:79.47
[[ 9.55622138e-01 -1.52878431e-01 -2.51822386e-01  3.04924291e+02]
 [ 1.52734370e-01  9.88060009e-01 -2.02393403e-02  2.58525607e+01]
 [ 2.51909788e-01 -1.91207717e-02  9.67561809e-01  7.94710880e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.94071405700004 meters
Centerline goodness : 0.995967 with order 1
Centerline is valid?  [True, True]
Translation: X:304.98, Y:25.86, Z:79.49
[[ 9.54737868e-01 -1.58305229e-01 -2.51823467e-01  3.04981545e+02]
 [ 1.58348989e-01  9.87176029e-01 -2.02258793e-02  2.58597702e+01]
 [ 2.51795953e-01 -2.05655785e-02  9.67561809e-01  7.94907697e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.00071405700004 meters
Centerline goodness : 0.995754 with order 1
Centerline is valid?  [True, True]
Translation: X:305.04, Y:25.87, Z:79.51
[[ 9.54454734e-01 -1.60003193e-01 -2.51823625e-01  3.05040989e+02]
 [ 1.60105167e-01  9.86892765e-01 -2.02239146e-02  2.58655816e+01]
 [ 2.51758804e-01 -2.10154524e-02  9.67561809e-01  7.95063750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.06071405700004 meters
Centerline goodness : 0.996310 with order 1
Centerline is valid?  [True, True]
Translation: X:305.10, Y:25.87, Z:79.52
[[ 9.54009975e-01 -1.62632372e-01 -2.51824700e-01  3.05099511e+02]
 [ 1.62827231e-01  9.86447580e-01 -2.02105173e-02  2.58705264e+01]
 [ 2.51698751e-01 -2.17228836e-02  9.67561810e-01  7.95217683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.12071405700004 meters
Centerline goodness : 0.995890 with order 1
Centerline is valid?  [True, True]
Translation: X:305.16, Y:25.88, Z:79.54
[[ 9.53709322e-01 -1.64385986e-01 -2.51824893e-01  3.05158578e+02]
 [ 1.64641107e-01  9.86146509e-01 -2.02081209e-02  2.58762178e+01]
 [ 2.51658171e-01 -2.21880558e-02  9.67561810e-01  7.95385289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.18071405700005 meters
Centerline goodness : 0.996075 with order 1
Centerline is valid?  [True, True]
Translation: X:305.22, Y:25.88, Z:79.55
[[ 9.53815419e-01 -1.63768140e-01 -2.51825619e-01  3.05218789e+02]
 [ 1.64004620e-01  9.86252748e-01 -2.01990694e-02  2.58821162e+01]
 [ 2.51671672e-01 -2.20343810e-02  9.67561810e-01  7.95529191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.24071405700005 meters
Centerline goodness : 0.995940 with order 1
Centerline is valid?  [True, True]
Translation: X:305.28, Y:25.89, Z:79.57
[[ 9.54295238e-01 -1.60946376e-01 -2.51827049e-01  3.05275546e+02]
 [ 1.61091593e-01  9.86733103e-01 -2.01812164e-02  2.58898561e+01]
 [ 2.51734180e-01 -2.13083819e-02  9.67561810e-01  7.95682958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.30071405700005 meters
Centerline goodness : 0.996501 with order 1
Centerline is valid?  [True, True]
Translation: X:305.33, Y:25.90, Z:79.58
[[ 9.54643662e-01 -1.58867249e-01 -2.51826677e-01  3.05334128e+02]
 [ 1.58940589e-01  9.87081770e-01 -2.01858649e-02  2.58975371e+01]
 [ 2.51780395e-01 -2.07551724e-02  9.67561810e-01  7.95841824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.36071405700005 meters
Centerline goodness : 0.996000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.39, Y:25.91, Z:79.60
[[ 9.54909583e-01 -1.57259867e-01 -2.51827367e-01  3.05392477e+02]
 [ 1.57280853e-01  9.87347766e-01 -2.01772533e-02  2.59055323e+01]
 [ 2.51814260e-01 -2.03401705e-02  9.67561810e-01  7.96005771e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.42071405700005 meters
Centerline goodness : 0.996427 with order 1
Centerline is valid?  [True, True]
Translation: X:305.45, Y:25.91, Z:79.62
[[ 9.54959278e-01 -1.56957247e-01 -2.51827719e-01  3.05452175e+02]
 [ 1.56969105e-01  9.87397466e-01 -2.01728586e-02  2.59147410e+01]
 [ 2.51820328e-01 -2.02649131e-02  9.67561810e-01  7.96166892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.48071405700006 meters
Centerline goodness : 0.996568 with order 1
Centerline is valid?  [True, True]
Translation: X:305.51, Y:25.92, Z:79.63
[[ 9.54894170e-01 -1.57350482e-01 -2.51829208e-01  3.05511430e+02]
 [ 1.57380573e-01  9.87332346e-01 -2.01542497e-02  2.59223002e+01]
 [ 2.51810404e-01 -2.03878495e-02  9.67561810e-01  7.96317138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.54071405700006 meters
Centerline goodness : 0.997460 with order 1
Centerline is valid?  [True, True]
Translation: X:305.57, Y:25.93, Z:79.65
[[ 9.54933947e-01 -1.57105056e-01 -2.51831608e-01  3.05571518e+02]
 [ 1.57134677e-01  9.87372123e-01 -2.01242218e-02  2.59276985e+01]
 [ 2.51813126e-01 -2.03541759e-02  9.67561810e-01  7.96462086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.60071405700006 meters
Centerline goodness : 0.996976 with order 1
Centerline is valid?  [True, True]
Translation: X:305.63, Y:25.93, Z:79.66
[[ 9.55951965e-01 -1.50784449e-01 -2.51833060e-01  3.05629563e+02]
 [ 1.50604246e-01  9.88389654e-01 -2.01060349e-02  2.59339152e+01]
 [ 2.51940868e-01 -1.87067246e-02  9.67561811e-01  7.96620773e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.66071405700006 meters
Centerline goodness : 0.997558 with order 1
Centerline is valid?  [True, True]
Translation: X:305.69, Y:25.94, Z:79.68
[[ 9.56368792e-01 -1.48117707e-01 -2.51833038e-01  3.05688096e+02]
 [ 1.47846963e-01  9.88805851e-01 -2.01063128e-02  2.59386703e+01]
 [ 2.51992082e-01 -1.80036998e-02  9.67561811e-01  7.96769066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.72071405700007 meters
Centerline goodness : 0.997313 with order 1
Centerline is valid?  [True, True]
Translation: X:305.75, Y:25.94, Z:79.69
[[ 9.57254628e-01 -1.42280372e-01 -2.51833024e-01  3.05747187e+02]
 [ 1.41811699e-01  9.89689432e-01 -2.01064790e-02  2.59398116e+01]
 [ 2.52097240e-01 -1.64658490e-02  9.67561811e-01  7.96894936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.78071405700007 meters
Centerline goodness : 0.997429 with order 1
Centerline is valid?  [True, True]
Translation: X:305.81, Y:25.95, Z:79.71
[[ 9.57623236e-01 -1.39777905e-01 -2.51833030e-01  3.05805236e+02]
 [ 1.39224475e-01  9.90056704e-01 -2.01064133e-02  2.59466949e+01]
 [ 2.52139412e-01 -1.58069528e-02  9.67561811e-01  7.97071697e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.84071405700007 meters
Centerline goodness : 0.997012 with order 1
Centerline is valid?  [True, True]
Translation: X:305.86, Y:25.95, Z:79.72
[[ 9.57926459e-01 -1.37683896e-01 -2.51833366e-01  3.05864024e+02]
 [ 1.37060661e-01  9.90358661e-01 -2.01022007e-02  2.59498047e+01]
 [ 2.52173104e-01 -1.52600178e-02  9.67561811e-01  7.97225057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.9007140570001 meters
Centerline goodness : 0.996750 with order 1
Centerline is valid?  [True, True]
Translation: X:305.92, Y:25.95, Z:79.74
[[ 9.57475762e-01 -1.40782024e-01 -2.51834444e-01  3.05922529e+02]
 [ 1.40267250e-01  9.89909866e-01 -2.00886857e-02  2.59533196e+01]
 [ 2.52121527e-01 -1.60896952e-02  9.67561811e-01  7.97404543e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.960714057 meters
Centerline goodness : 0.996737 with order 1
Centerline is valid?  [True, True]
Translation: X:305.98, Y:25.96, Z:79.76
[[ 9.56588568e-01 -1.46688596e-01 -2.51834804e-01  3.05980331e+02]
 [ 1.46375186e-01  9.89025243e-01 -2.00841782e-02  2.59552990e+01]
 [ 2.52017098e-01 -1.76500709e-02  9.67561811e-01  7.97559434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.020714057 meters
Centerline goodness : 0.996137 with order 1
Centerline is valid?  [True, True]
Translation: X:306.04, Y:25.95, Z:79.77
[[ 9.55392101e-01 -1.54288564e-01 -2.51835210e-01  3.06039504e+02]
 [ 1.54234360e-01  9.87830245e-01 -2.00790844e-02  2.59542461e+01]
 [ 2.51868410e-01 -1.96582438e-02  9.67561811e-01  7.97705404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.080714057 meters
Centerline goodness : 0.996702 with order 1
Centerline is valid?  [True, True]
Translation: X:306.10, Y:25.95, Z:79.79
[[ 9.53946018e-01 -1.62990503e-01 -2.51835445e-01  3.06098229e+02]
 [ 1.63232745e-01  9.86383303e-01 -2.00761378e-02  2.59540150e+01]
 [ 2.51678497e-01 -2.19562393e-02  9.67561811e-01  7.97850868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.140714057 meters
Centerline goodness : 0.996012 with order 1
Centerline is valid?  [True, True]
Translation: X:306.16, Y:25.95, Z:79.80
[[ 9.52748698e-01 -1.69849297e-01 -2.51835531e-01  3.06156853e+02]
 [ 1.70325184e-01  9.85183396e-01 -2.00750492e-02  2.59520970e+01]
 [ 2.51513917e-01 -2.37674561e-02  9.67561811e-01  7.97973826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.200714057 meters
Centerline goodness : 0.997398 with order 1
Centerline is valid?  [True, True]
Translation: X:306.21, Y:25.95, Z:79.81
[[ 9.52046219e-01 -1.73744124e-01 -2.51835217e-01  3.06214993e+02]
 [ 1.74351616e-01  9.84478719e-01 -2.00789871e-02  2.59514172e+01]
 [ 2.51415018e-01 -2.47917533e-02  9.67561811e-01  7.98094013e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.26071405700003 meters
Centerline goodness : 0.997768 with order 1
Centerline is valid?  [True, True]
Translation: X:306.27, Y:25.95, Z:79.83
[[ 9.51924529e-01 -1.74410539e-01 -2.51834580e-01  3.06274108e+02]
 [ 1.75038641e-01  9.84356636e-01 -2.00869793e-02  2.59541140e+01]
 [ 2.51398421e-01 -2.49594944e-02  9.67561811e-01  7.98266896e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.32071405700003 meters
Centerline goodness : 0.997483 with order 1
Centerline is valid?  [True, True]
Translation: X:306.33, Y:25.96, Z:79.84
[[ 9.52042255e-01 -1.73765705e-01 -2.51835313e-01  3.06334218e+02]
 [ 1.74374246e-01  9.84474736e-01 -2.00777885e-02  2.59565061e+01]
 [ 2.51414334e-01 -2.47986896e-02  9.67561811e-01  7.98425728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.38071405700003 meters
Centerline goodness : 0.997647 with order 1
Centerline is valid?  [True, True]
Translation: X:306.39, Y:25.96, Z:79.86
[[ 9.52709991e-01 -1.70064416e-01 -2.51836786e-01  3.06392739e+02]
 [ 1.70551755e-01  9.85144519e-01 -2.00592879e-02  2.59578326e+01]
 [ 2.51507001e-01 -2.38405220e-02  9.67561811e-01  7.98573607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.44071405700004 meters
Centerline goodness : 0.997885 with order 1
Centerline is valid?  [True, True]
Translation: X:306.45, Y:25.96, Z:79.87
[[ 9.53904861e-01 -1.63229181e-01 -2.51836754e-01  3.06450251e+02]
 [ 1.63483848e-01  9.86342050e-01 -2.00596910e-02  2.59620875e+01]
 [ 2.51671507e-01 -2.20362049e-02  9.67561811e-01  7.98721713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.50071405700004 meters
Centerline goodness : 0.997599 with order 1
Centerline is valid?  [True, True]
Translation: X:306.51, Y:25.97, Z:79.89
[[ 9.54792085e-01 -1.57957319e-01 -2.51836376e-01  3.06507805e+02]
 [ 1.58031556e-01  9.87230189e-01 -2.00644357e-02  2.59653200e+01]
 [ 2.51789798e-01 -2.06407301e-02  9.67561811e-01  7.98861427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.56071405700004 meters
Centerline goodness : 0.998034 with order 1
Centerline is valid?  [True, True]
Translation: X:306.57, Y:25.97, Z:79.90
[[ 9.55377787e-01 -1.54375695e-01 -2.51836116e-01  3.06566056e+02]
 [ 1.54327431e-01  9.87815940e-01 -2.00677016e-02  2.59678244e+01]
 [ 2.51865695e-01 -1.96929845e-02  9.67561811e-01  7.99025750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.62071405700004 meters
Centerline goodness : 0.997703 with order 1
Centerline is valid?  [True, True]
Translation: X:306.62, Y:25.97, Z:79.92
[[ 9.55989721e-01 -1.50539841e-01 -2.51836079e-01  3.06624160e+02]
 [ 1.50361258e-01  9.88427418e-01 -2.00681680e-02  2.59721352e+01]
 [ 2.51942744e-01 -1.86814273e-02  9.67561811e-01  7.99186430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.68071405700005 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:306.68, Y:25.98, Z:79.93
[[ 9.56442449e-01 -1.47635781e-01 -2.51836291e-01  3.06682075e+02]
 [ 1.47359382e-01  9.88879461e-01 -2.00655087e-02  2.59762594e+01]
 [ 2.51998122e-01 -1.79189359e-02  9.67561811e-01  7.99329619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.74071405700005 meters
Centerline goodness : 0.998097 with order 1
Centerline is valid?  [True, True]
Translation: X:306.74, Y:25.98, Z:79.95
[[ 9.56722784e-01 -1.45808540e-01 -2.51836029e-01  3.06741548e+02]
 [ 1.45469319e-01  9.89159199e-01 -2.00687971e-02  2.59798514e+01]
 [ 2.52032126e-01 -1.74341402e-02  9.67561811e-01  7.99501181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.80071405700005 meters
Centerline goodness : 0.998199 with order 1
Centerline is valid?  [True, True]
Translation: X:306.80, Y:25.98, Z:79.96
[[ 9.56929649e-01 -1.44442887e-01 -2.51837050e-01  3.06799577e+02]
 [ 1.44060732e-01  9.89365586e-01 -2.00559696e-02  2.59838546e+01]
 [ 2.52055853e-01 -1.70876778e-02  9.67561811e-01  7.99633138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.86071405700005 meters
Centerline goodness : 0.997840 with order 1
Centerline is valid?  [True, True]
Translation: X:306.86, Y:25.99, Z:79.98
[[ 9.57122955e-01 -1.43157012e-01 -2.51836689e-01  3.06857550e+02]
 [ 1.42730089e-01  9.89558335e-01 -2.00604998e-02  2.59882847e+01]
 [ 2.52078896e-01 -1.67443082e-02  9.67561811e-01  7.99792974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.92071405700005 meters
Centerline goodness : 0.997255 with order 1
Centerline is valid?  [True, True]
Translation: X:306.91, Y:25.99, Z:79.99
[[ 9.57575098e-01 -1.40100730e-01 -2.51836689e-01  3.06914977e+02]
 [ 1.39570261e-01  9.90008949e-01 -2.00604998e-02  2.59912963e+01]
 [ 2.52131067e-01 -1.59394774e-02  9.67561811e-01  7.99939371e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.98071405700006 meters
Centerline goodness : 0.997735 with order 1
Centerline is valid?  [True, True]
Translation: X:306.97, Y:25.99, Z:80.01
[[ 9.58049065e-01 -1.36823360e-01 -2.51835973e-01  3.06971684e+02]
 [ 1.36179562e-01  9.90480864e-01 -2.00694841e-02  2.59937023e+01]
 [ 2.52184687e-01 -1.50673621e-02  9.67561811e-01  8.00117208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.04071405700006 meters
Centerline goodness : 0.997432 with order 1
Centerline is valid?  [True, True]
Translation: X:307.03, Y:26.00, Z:80.03
[[ 9.58275479e-01 -1.35229823e-01 -2.51835266e-01  3.07029839e+02]
 [ 1.34529764e-01  9.90706113e-01 -2.00783549e-02  2.59969998e+01]
 [ 2.52209930e-01 -1.46387438e-02  9.67561811e-01  8.00287022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.10071405700006 meters
Centerline goodness : 0.997595 with order 1
Centerline is valid?  [True, True]
Translation: X:307.09, Y:26.00, Z:80.05
[[ 9.58574095e-01 -1.33096714e-01 -2.51835204e-01  3.07088753e+02]
 [ 1.32324274e-01  9.91003085e-01 -2.00791362e-02  2.59986670e+01]
 [ 2.52241931e-01 -1.40765707e-02  9.67561811e-01  8.00456086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.16071405700006 meters
Centerline goodness : 0.997462 with order 1
Centerline is valid?  [True, True]
Translation: X:307.15, Y:26.00, Z:80.06
[[ 9.59248534e-01 -1.28144097e-01 -2.51835939e-01  3.07147400e+02]
 [ 1.27206593e-01  9.91673173e-01 -2.00699128e-02  2.60003810e+01]
 [ 2.52310785e-01 -1.27831574e-02  9.67561811e-01  8.00617652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.22071405700007 meters
Centerline goodness : 0.997842 with order 1
Centerline is valid?  [True, True]
Translation: X:307.20, Y:26.00, Z:80.08
[[ 9.59810982e-01 -1.23860334e-01 -2.51836250e-01  3.07204846e+02]
 [ 1.22779106e-01  9.92231146e-01 -2.00660041e-02  2.60025776e+01]
 [ 2.52365153e-01 -1.16606586e-02  9.67561811e-01  8.00754935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.28071405700007 meters
Centerline goodness : 0.997489 with order 1
Centerline is valid?  [True, True]
Translation: X:307.26, Y:26.01, Z:80.09
[[ 9.60151708e-01 -1.21193800e-01 -2.51834788e-01  3.07261895e+02]
 [ 1.20017724e-01  9.92568570e-01 -2.00843358e-02  2.60061970e+01]
 [ 2.52397393e-01 -1.09406288e-02  9.67561811e-01  8.00891114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.34071405700007 meters
Centerline goodness : 0.997982 with order 1
Centerline is valid?  [True, True]
Translation: X:307.32, Y:26.01, Z:80.11
[[ 9.60680808e-01 -1.16926984e-01 -2.51834202e-01  3.07319042e+02]
 [ 1.15604977e-01  9.93092047e-01 -2.00916909e-02  2.60090447e+01]
 [ 2.52443804e-01 -9.81158532e-03  9.67561811e-01  8.01060160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.4007140570001 meters
Centerline goodness : 0.997765 with order 1
Centerline is valid?  [True, True]
Translation: X:307.38, Y:26.01, Z:80.12
[[ 9.60931075e-01 -1.14853623e-01 -2.51833507e-01  3.07376379e+02]
 [ 1.13459399e-01  9.93339287e-01 -2.01003986e-02  2.60093681e+01]
 [ 2.52464719e-01 -9.25778072e-03  9.67561811e-01  8.01229141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.460714057 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:307.43, Y:26.01, Z:80.14
[[ 9.60751136e-01 -1.16350738e-01 -2.51832803e-01  3.07432089e+02]
 [ 1.15004706e-01  9.93161385e-01 -2.01092076e-02  2.60095632e+01]
 [ 2.52450337e-01 -9.64201331e-03  9.67561811e-01  8.01372614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.520714057 meters
Centerline goodness : 0.997670 with order 1
Centerline is valid?  [True, True]
Translation: X:307.49, Y:26.01, Z:80.15
[[ 9.60278001e-01 -1.20199744e-01 -2.51829669e-01  3.07490883e+02]
 [ 1.18973341e-01  9.92692997e-01 -2.01483885e-02  2.60074699e+01]
 [ 2.52411380e-01 -1.06129627e-02  9.67561812e-01  8.01529018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.580714057 meters
Centerline goodness : 0.997874 with order 1
Centerline is valid?  [True, True]
Translation: X:307.55, Y:26.01, Z:80.16
[[ 9.59651806e-01 -1.25100879e-01 -2.51829669e-01  3.07549397e+02]
 [ 1.24039987e-01  9.92072641e-01 -2.01483885e-02  2.60056719e+01]
 [ 2.52353905e-01 -1.19015114e-02  9.67561812e-01  8.01648750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.640714057 meters
Centerline goodness : 0.997415 with order 1
Centerline is valid?  [True, True]
Translation: X:307.61, Y:26.00, Z:80.18
[[ 9.58908143e-01 -1.30678903e-01 -2.51829701e-01  3.07608194e+02]
 [ 1.29806655e-01  9.91334601e-01 -2.01479778e-02  2.60043890e+01]
 [ 2.52280412e-01 -1.33691114e-02  9.67561812e-01  8.01796072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.700714057 meters
Centerline goodness : 0.997748 with order 1
Centerline is valid?  [True, True]
Translation: X:307.67, Y:26.00, Z:80.19
[[ 9.58297057e-01 -1.35087880e-01 -2.51829339e-01  3.07667267e+02]
 [ 1.34363597e-01  9.90727157e-01 -2.01525037e-02  2.60039415e+01]
 [ 2.52216524e-01 -1.45246109e-02  9.67561812e-01  8.01940337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.76071405700003 meters
Centerline goodness : 0.997798 with order 1
Centerline is valid?  [True, True]
Translation: X:307.73, Y:26.00, Z:80.21
[[ 9.57456498e-01 -1.40922342e-01 -2.51829206e-01  3.07725831e+02]
 [ 1.40395166e-01  9.89890401e-01 -2.01541713e-02  2.60046525e+01]
 [ 2.52123487e-01 -1.60588610e-02  9.67561812e-01  8.02090294e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.82071405700003 meters
Centerline goodness : 0.997756 with order 1
Centerline is valid?  [True, True]
Translation: X:307.78, Y:26.01, Z:80.22
[[ 9.56329192e-01 -1.48379757e-01 -2.51829156e-01  3.07784898e+02]
 [ 1.48105200e-01  9.88766218e-01 -2.01547973e-02  2.60061604e+01]
 [ 2.51990726e-01 -1.80225864e-02  9.67561812e-01  8.02237798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.88071405700003 meters
Centerline goodness : 0.998170 with order 1
Centerline is valid?  [True, True]
Translation: X:307.84, Y:26.01, Z:80.24
[[ 9.55108583e-01 -1.56043772e-01 -2.51829181e-01  3.07842922e+02]
 [ 1.56029419e-01  9.87546767e-01 -2.01544760e-02  2.60091791e+01]
 [ 2.51838075e-01 -2.00430479e-02  9.67561812e-01  8.02397215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.94071405700004 meters
Centerline goodness : 0.997456 with order 1
Centerline is valid?  [True, True]
Translation: X:307.90, Y:26.01, Z:80.25
[[ 9.54741071e-01 -1.58277069e-01 -2.51829022e-01  3.07901572e+02]
 [ 1.58338056e-01  9.87179202e-01 -2.01564741e-02  2.60128470e+01]
 [ 2.51790680e-01 -2.06299040e-02  9.67561812e-01  8.02507160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.00071405700004 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:307.96, Y:26.02, Z:80.27
[[ 9.53750622e-01 -1.64140788e-01 -2.51828420e-01  3.07958666e+02]
 [ 1.64399131e-01  9.86187781e-01 -2.01639914e-02  2.60198299e+01]
 [ 2.51659844e-01 -2.21689540e-02  9.67561812e-01  8.02696772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.06071405700004 meters
Centerline goodness : 0.998305 with order 1
Centerline is valid?  [True, True]
Translation: X:308.02, Y:26.03, Z:80.29
[[ 9.54076650e-01 -1.62235491e-01 -2.51828101e-01  3.08015878e+02]
 [ 1.62428001e-01  9.86514266e-01 -2.01679758e-02  2.60281388e+01]
 [ 2.51703975e-01 -2.16621401e-02  9.67561812e-01  8.02860883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.12071405700004 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:308.07, Y:26.04, Z:80.30
[[ 9.55083373e-01 -1.56200042e-01 -2.51827912e-01  3.08074102e+02]
 [ 1.56186842e-01  9.87521558e-01 -2.01703310e-02  2.60369776e+01]
 [ 2.51836099e-01 -2.00678585e-02  9.67561812e-01  8.03008495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.18071405700005 meters
Centerline goodness : 0.998205 with order 1
Centerline is valid?  [True, True]
Translation: X:308.13, Y:26.04, Z:80.32
[[ 9.55410985e-01 -1.54183679e-01 -2.51827806e-01  3.08131582e+02]
 [ 1.54101661e-01  9.87849069e-01 -2.01716570e-02  2.60441805e+01]
 [ 2.51878004e-01 -1.95348605e-02  9.67561812e-01  8.03166467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.24071405700005 meters
Centerline goodness : 0.997794 with order 1
Centerline is valid?  [True, True]
Translation: X:308.19, Y:26.06, Z:80.33
[[ 9.57248962e-01 -1.42330151e-01 -2.51826433e-01  3.08187760e+02]
 [ 1.41841604e-01  9.89683471e-01 -2.01887839e-02  2.60574657e+01]
 [ 2.52101931e-01 -1.63937726e-02  9.67561812e-01  8.03336797e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.30071405700005 meters
Centerline goodness : 0.997907 with order 1
Centerline is valid?  [True, True]
Translation: X:308.25, Y:26.06, Z:80.35
[[ 9.58137852e-01 -1.36218759e-01 -2.51825943e-01  3.08246163e+02]
 [ 1.35521648e-01  9.90568548e-01 -2.01948901e-02  2.60640812e+01]
 [ 2.52201782e-01 -1.47783783e-02  9.67561812e-01  8.03489167e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.36071405700005 meters
Centerline goodness : 0.997998 with order 1
Centerline is valid?  [True, True]
Translation: X:308.30, Y:26.07, Z:80.36
[[ 9.59126189e-01 -1.29076138e-01 -2.51825941e-01  3.08303560e+02]
 [ 1.28137409e-01  9.91550790e-01 -2.01949099e-02  2.60731347e+01]
 [ 2.52304892e-01 -1.28988567e-02  9.67561812e-01  8.03629155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.42071405700005 meters
Centerline goodness : 0.997618 with order 1
Centerline is valid?  [True, True]
Translation: X:308.36, Y:26.08, Z:80.38
[[ 9.59927214e-01 -1.22978621e-01 -2.51825342e-01  3.08360191e+02]
 [ 1.21831907e-01  9.92345127e-01 -2.02023819e-02  2.60814811e+01]
 [ 2.52382112e-01 -1.12875455e-02  9.67561812e-01  8.03798370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.48071405700006 meters
Centerline goodness : 0.997660 with order 1
Centerline is valid?  [True, True]
Translation: X:308.42, Y:26.09, Z:80.40
[[ 9.60425879e-01 -1.19023126e-01 -2.51824594e-01  3.08417594e+02]
 [ 1.17740437e-01  9.92838696e-01 -2.02116974e-02  2.60861310e+01]
 [ 2.52426861e-01 -1.02381005e-02  9.67561813e-01  8.03950024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.54071405700006 meters
Centerline goodness : 0.997279 with order 1
Centerline is valid?  [True, True]
Translation: X:308.47, Y:26.09, Z:80.41
[[ 9.60281791e-01 -1.20181252e-01 -2.51824042e-01  3.08473874e+02]
 [ 1.18935849e-01  9.92696063e-01 -2.02185827e-02  2.60904886e+01]
 [ 2.52414629e-01 -1.05353694e-02  9.67561813e-01  8.04100970e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.60071405700006 meters
Centerline goodness : 0.997662 with order 1
Centerline is valid?  [True, True]
Translation: X:308.53, Y:26.09, Z:80.42
[[ 9.59220151e-01 -1.28381871e-01 -2.51822950e-01  3.08532424e+02]
 [ 1.27409915e-01  9.91643773e-01 -2.02321725e-02  2.60935053e+01]
 [ 2.52316104e-01 -1.26776329e-02  9.67561813e-01  8.04247057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.66071405700006 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:308.59, Y:26.10, Z:80.44
[[ 9.57895675e-01 -1.37917146e-01 -2.51822827e-01  3.08591496e+02]
 [ 1.37267363e-01  9.90327354e-01 -2.02337036e-02  2.60957482e+01]
 [ 2.52177608e-01 -1.51852783e-02  9.67561813e-01  8.04378807e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.72071405700007 meters
Centerline goodness : 0.997632 with order 1
Centerline is valid?  [True, True]
Translation: X:308.65, Y:26.10, Z:80.45
[[ 9.56937741e-01 -1.44414070e-01 -2.51822827e-01  3.08649687e+02]
 [ 1.43984378e-01  9.89373082e-01 -2.02337048e-02  2.60998614e+01]
 [ 2.52068758e-01 -1.68961573e-02  9.67561813e-01  8.04521504e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.78071405700007 meters
Centerline goodness : 0.997913 with order 1
Centerline is valid?  [True, True]
Translation: X:308.71, Y:26.11, Z:80.47
[[ 9.56347652e-01 -1.48272094e-01 -2.51822467e-01  3.08707158e+02]
 [ 1.47972042e-01  9.88784451e-01 -2.02381742e-02  2.61064071e+01]
 [ 2.51998897e-01 -1.79079543e-02  9.67561813e-01  8.04698602e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.84071405700007 meters
Centerline goodness : 0.997538 with order 1
Centerline is valid?  [True, True]
Translation: X:308.76, Y:26.11, Z:80.48
[[ 9.56484479e-01 -1.47387094e-01 -2.51822332e-01  3.08764192e+02]
 [ 1.47056584e-01  9.88920982e-01 -2.02398606e-02  2.61111363e+01]
 [ 2.52015482e-01 -1.76730195e-02  9.67561813e-01  8.04840366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.9007140570001 meters
Centerline goodness : 0.997508 with order 1
Centerline is valid?  [True, True]
Translation: X:308.82, Y:26.12, Z:80.50
[[ 9.57037656e-01 -1.43753222e-01 -2.51821240e-01  3.08822006e+02]
 [ 1.43295963e-01  9.89472620e-01 -2.02534323e-02  2.61181697e+01]
 [ 2.52081719e-01 -1.67016698e-02  9.67561813e-01  8.04990352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.960714057 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:308.88, Y:26.13, Z:80.52
[[ 9.58030449e-01 -1.36980846e-01 -2.51821182e-01  3.08879585e+02]
 [ 1.36294007e-01  9.90461363e-01 -2.02541626e-02  2.61259954e+01]
 [ 2.52193583e-01 -1.49176134e-02  9.67561813e-01  8.05164264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.020714057 meters
Centerline goodness : 0.998169 with order 1
Centerline is valid?  [True, True]
Translation: X:308.94, Y:26.13, Z:80.53
[[ 9.58690434e-01 -1.32282905e-01 -2.51821136e-01  3.08938061e+02]
 [ 1.31436947e-01  9.91117589e-01 -2.02547338e-02  2.61333734e+01]
 [ 2.52263712e-01 -1.36805817e-02  9.67561813e-01  8.05319523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.080714057 meters
Centerline goodness : 0.997885 with order 1
Centerline is valid?  [True, True]
Translation: X:308.99, Y:26.14, Z:80.55
[[ 9.58623973e-01 -1.32763104e-01 -2.51821439e-01  3.08993726e+02]
 [ 1.31934378e-01  9.91051572e-01 -2.02509565e-02  2.61385367e+01]
 [ 2.52256613e-01 -1.38108526e-02  9.67561813e-01  8.05462740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.140714057 meters
Centerline goodness : 0.997630 with order 1
Centerline is valid?  [True, True]
Translation: X:309.05, Y:26.14, Z:80.56
[[ 9.57878114e-01 -1.38044905e-01 -2.51819623e-01  3.09050568e+02]
 [ 1.37389020e-01  9.90309670e-01 -2.02735144e-02  2.61433030e+01]
 [ 2.52178063e-01 -1.51776955e-02  9.67561813e-01  8.05616636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.200714057 meters
Centerline goodness : 0.997889 with order 1
Centerline is valid?  [True, True]
Translation: X:309.11, Y:26.15, Z:80.58
[[ 9.56864746e-01 -1.44902064e-01 -2.51819874e-01  3.09107961e+02]
 [ 1.44479299e-01  9.89300178e-01 -2.02704036e-02  2.61466713e+01]
 [ 2.52062669e-01 -1.69867242e-02  9.67561813e-01  8.05751668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.26071405700003 meters
Centerline goodness : 0.997517 with order 1
Centerline is valid?  [True, True]
Translation: X:309.17, Y:26.15, Z:80.59
[[ 9.56052445e-01 -1.50166967e-01 -2.51820581e-01  3.09166595e+02]
 [ 1.49925052e-01  9.88489730e-01 -2.02616180e-02  2.61511209e+01]
 [ 2.51964683e-01 -1.83830442e-02  9.67561813e-01  8.05897388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.32071405700003 meters
Centerline goodness : 0.997702 with order 1
Centerline is valid?  [True, True]
Translation: X:309.22, Y:26.16, Z:80.61
[[ 9.55522350e-01 -1.53504226e-01 -2.51820357e-01  3.09224648e+02]
 [ 1.53374843e-01  9.87960278e-01 -2.02643952e-02  2.61556189e+01]
 [ 2.51899181e-01 -1.92598252e-02  9.67561813e-01  8.06056337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.38071405700003 meters
Centerline goodness : 0.997704 with order 1
Centerline is valid?  [True, True]
Translation: X:309.28, Y:26.16, Z:80.62
[[ 9.55148514e-01 -1.55813307e-01 -2.51820430e-01  3.09284803e+02]
 [ 1.55762565e-01  9.87586662e-01 -2.02634904e-02  2.61607091e+01]
 [ 2.51851819e-01 -1.98695535e-02  9.67561813e-01  8.06210829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.44071405700004 meters
Centerline goodness : 0.997564 with order 1
Centerline is valid?  [True, True]
Translation: X:309.34, Y:26.17, Z:80.63
[[ 9.55052973e-01 -1.56395441e-01 -2.51821932e-01  3.09344498e+02]
 [ 1.56369367e-01  9.87491149e-01 -2.02448035e-02  2.61663295e+01]
 [ 2.51838124e-01 -2.00423763e-02  9.67561813e-01  8.06340888e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.50071405700004 meters
Centerline goodness : 0.997444 with order 1
Centerline is valid?  [True, True]
Translation: X:309.40, Y:26.17, Z:80.65
[[ 9.55285364e-01 -1.54968424e-01 -2.51822678e-01  3.09403948e+02]
 [ 1.54896317e-01  9.87723471e-01 -2.02355303e-02  2.61736675e+01]
 [ 2.51867037e-01 -1.96756993e-02  9.67561813e-01  8.06489673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.56071405700004 meters
Centerline goodness : 0.997584 with order 1
Centerline is valid?  [True, True]
Translation: X:309.46, Y:26.18, Z:80.67
[[ 9.55857433e-01 -1.51397958e-01 -2.51823799e-01  3.09461613e+02]
 [ 1.51208304e-01  9.88295066e-01 -2.02215705e-02  2.61826789e+01]
 [ 2.51937722e-01 -1.87489111e-02  9.67561813e-01  8.06660703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.62071405700004 meters
Centerline goodness : 0.997600 with order 1
Centerline is valid?  [True, True]
Translation: X:309.52, Y:26.19, Z:80.68
[[ 9.56283088e-01 -1.48685047e-01 -2.51824170e-01  3.09519466e+02]
 [ 1.48404561e-01  9.88720062e-01 -2.02169488e-02  2.61919511e+01]
 [ 2.51989567e-01 -1.80387292e-02  9.67561813e-01  8.06831472e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.68071405700005 meters
Centerline goodness : 0.997261 with order 1
Centerline is valid?  [True, True]
Translation: X:309.58, Y:26.20, Z:80.70
[[ 9.57002060e-01 -1.43984231e-01 -2.51824538e-01  3.09577930e+02]
 [ 1.43545561e-01  9.89437281e-01 -2.02123602e-02  2.61976434e+01]
 [ 2.52074847e-01 -1.68050242e-02  9.67561813e-01  8.06955473e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.74071405700005 meters
Centerline goodness : 0.997215 with order 1
Centerline is valid?  [True, True]
Translation: X:309.64, Y:26.21, Z:80.71
[[ 9.56234436e-01 -1.48997043e-01 -2.51824512e-01  3.09635146e+02]
 [ 1.48728260e-01  9.88671509e-01 -2.02126801e-02  2.62058724e+01]
 [ 2.51983350e-01 -1.81253607e-02  9.67561813e-01  8.07148578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.80071405700005 meters
Centerline goodness : 0.997437 with order 1
Centerline is valid?  [True, True]
Translation: X:309.69, Y:26.21, Z:80.73
[[ 9.56349812e-01 -1.48254376e-01 -2.51824697e-01  3.09694198e+02]
 [ 1.47961004e-01  9.88786672e-01 -2.02103784e-02  2.62122662e+01]
 [ 2.51997181e-01 -1.79320434e-02  9.67561813e-01  8.07306735e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.86071405700005 meters
Centerline goodness : 0.997150 with order 1
Centerline is valid?  [True, True]
Translation: X:309.75, Y:26.22, Z:80.75
[[ 9.56642182e-01 -1.46354648e-01 -2.51825441e-01  3.09753499e+02]
 [ 1.45999284e-01  9.89078422e-01 -2.02010984e-02  2.62181740e+01]
 [ 2.52031635e-01 -1.74411113e-02  9.67561813e-01  8.07456030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.92071405700005 meters
Centerline goodness : 0.997532 with order 1
Centerline is valid?  [True, True]
Translation: X:309.81, Y:26.22, Z:80.76
[[ 9.56870942e-01 -1.44850167e-01 -2.51826189e-01  3.09813450e+02]
 [ 1.44446240e-01  9.89306614e-01 -2.01917763e-02  2.62237748e+01]
 [ 2.52058096e-01 -1.70544222e-02  9.67561813e-01  8.07603756e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.98071405700006 meters
Centerline goodness : 0.997528 with order 1
Centerline is valid?  [True, True]
Translation: X:309.87, Y:26.23, Z:80.77
[[ 9.57119767e-01 -1.43194843e-01 -2.51827300e-01  3.09871834e+02]
 [ 1.42738445e-01  9.89554742e-01 -2.01779110e-02  2.62278734e+01]
 [ 2.52086272e-01 -1.66327597e-02  9.67561814e-01  8.07737670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.04071405700006 meters
Centerline goodness : 0.997959 with order 1
Centerline is valid?  [True, True]
Translation: X:309.93, Y:26.23, Z:80.79
[[ 9.57272642e-01 -1.42169262e-01 -2.51827300e-01  3.09930637e+02]
 [ 1.41678112e-01  9.89707110e-01 -2.01779110e-02  2.62321079e+01]
 [ 2.52103948e-01 -1.63626544e-02  9.67561814e-01  8.07880966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.10071405700006 meters
Centerline goodness : 0.997911 with order 1
Centerline is valid?  [True, True]
Translation: X:309.99, Y:26.24, Z:80.80
[[ 9.57384634e-01 -1.41413132e-01 -2.51827300e-01  3.09989098e+02]
 [ 1.40896365e-01  9.89818704e-01 -2.01779110e-02  2.62356984e+01]
 [ 2.52116793e-01 -1.61635292e-02  9.67561814e-01  8.08035221e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.16071405700006 meters
Centerline goodness : 0.997602 with order 1
Centerline is valid?  [True, True]
Translation: X:310.05, Y:26.24, Z:80.82
[[ 9.57331253e-01 -1.41774054e-01 -2.51827300e-01  3.10046277e+02]
 [ 1.41269514e-01  9.89765516e-01 -2.01779110e-02  2.62386749e+01]
 [ 2.52110682e-01 -1.62585754e-02  9.67561814e-01  8.08174695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.22071405700007 meters
Centerline goodness : 0.997303 with order 1
Centerline is valid?  [True, True]
Translation: X:310.10, Y:26.24, Z:80.84
[[ 9.57187510e-01 -1.42742589e-01 -2.51826577e-01  3.10104523e+02]
 [ 1.42268502e-01  9.89622232e-01 -2.01869341e-02  2.62422399e+01]
 [ 2.52094714e-01 -1.65043086e-02  9.67561814e-01  8.08352080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.28071405700007 meters
Centerline goodness : 0.997847 with order 1
Centerline is valid?  [True, True]
Translation: X:310.16, Y:26.25, Z:80.85
[[ 9.56636559e-01 -1.46388822e-01 -2.51826940e-01  3.10161922e+02]
 [ 1.46039515e-01  9.89072864e-01 -2.01823985e-02  2.62464670e+01]
 [ 2.52029670e-01 -1.74694640e-02  9.67561814e-01  8.08501785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.34071405700007 meters
Centerline goodness : 0.997779 with order 1
Centerline is valid?  [True, True]
Translation: X:310.22, Y:26.25, Z:80.87
[[ 9.55904775e-01 -1.51093960e-01 -2.51826677e-01  3.10220118e+02]
 [ 1.50903395e-01  9.88342402e-01 -2.01856755e-02  2.62497703e+01]
 [ 2.51940917e-01 -1.87059170e-02  9.67561814e-01  8.08660849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.4007140570001 meters
Centerline goodness : 0.997855 with order 1
Centerline is valid?  [True, True]
Translation: X:310.28, Y:26.25, Z:80.88
[[ 9.55184277e-01 -1.55583844e-01 -2.51826656e-01  3.10278018e+02]
 [ 1.55545629e-01  9.87622441e-01 -2.01859360e-02  2.62540070e+01]
 [ 2.51850263e-01 -1.98892470e-02  9.67561814e-01  8.08788065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.460714057 meters
Centerline goodness : 0.997829 with order 1
Centerline is valid?  [True, True]
Translation: X:310.34, Y:26.26, Z:80.89
[[ 9.54401657e-01 -1.60314720e-01 -2.51826660e-01  3.10336324e+02]
 [ 1.60437243e-01  9.86839612e-01 -2.01858913e-02  2.62591236e+01]
 [ 2.51748619e-01 -2.11369270e-02  9.67561814e-01  8.08920068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.520714057 meters
Centerline goodness : 0.997971 with order 1
Centerline is valid?  [True, True]
Translation: X:310.40, Y:26.26, Z:80.91
[[ 9.53990747e-01 -1.62742602e-01 -2.51826331e-01  3.10395117e+02]
 [ 1.62946585e-01  9.86428292e-01 -2.01899946e-02  2.62638800e+01]
 [ 2.51694390e-01 -2.17731726e-02  9.67561814e-01  8.09058218e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.580714057 meters
Centerline goodness : 0.998396 with order 1
Centerline is valid?  [True, True]
Translation: X:310.45, Y:26.27, Z:80.92
[[ 9.54331486e-01 -1.60732452e-01 -2.51826315e-01  3.10452155e+02]
 [ 1.60868045e-01  9.86769389e-01 -2.01902011e-02  2.62734221e+01]
 [ 2.51739719e-01 -2.12426622e-02  9.67561814e-01  8.09203730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.640714057 meters
Centerline goodness : 0.997567 with order 1
Centerline is valid?  [True, True]
Translation: X:310.51, Y:26.28, Z:80.94
[[ 9.54775778e-01 -1.58072995e-01 -2.51825617e-01  3.10509837e+02]
 [ 1.58115933e-01  9.87213936e-01 -2.01989017e-02  2.62837856e+01]
 [ 2.51798659e-01 -2.05322202e-02  9.67561814e-01  8.09356083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.700714057 meters
Centerline goodness : 0.997890 with order 1
Centerline is valid?  [True, True]
Translation: X:310.57, Y:26.29, Z:80.95
[[ 9.54649444e-01 -1.58834279e-01 -2.51825556e-01  3.10569777e+02]
 [ 1.58902884e-01  9.87087558e-01 -2.01996584e-02  2.62921047e+01]
 [ 2.51782271e-01 -2.07322145e-02  9.67561814e-01  8.09514162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.76071405700003 meters
Centerline goodness : 0.997768 with order 1
Centerline is valid?  [True, True]
Translation: X:310.63, Y:26.30, Z:80.97
[[ 9.54190941e-01 -1.61563623e-01 -2.51827012e-01  3.10626958e+02]
 [ 1.61729752e-01  9.86628702e-01 -2.01814868e-02  2.63008368e+01]
 [ 2.51720352e-01 -2.14709283e-02  9.67561814e-01  8.09659465e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.82071405700003 meters
Centerline goodness : 0.997929 with order 1
Centerline is valid?  [True, True]
Translation: X:310.68, Y:26.31, Z:80.98
[[ 9.53051811e-01 -1.68152379e-01 -2.51827367e-01  3.10684346e+02]
 [ 1.68543781e-01  9.85487636e-01 -2.01770567e-02  2.63053918e+01]
 [ 2.51565577e-01 -2.32141561e-02  9.67561814e-01  8.09844415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.88071405700003 meters
Centerline goodness : 0.998054 with order 1
Centerline is valid?  [True, True]
Translation: X:310.74, Y:26.31, Z:81.00
[[ 9.52244829e-01 -1.72663593e-01 -2.51827458e-01  3.10741926e+02]
 [ 1.73208886e-01  9.84678432e-01 -2.01759184e-02  2.63103821e+01]
 [ 2.51452713e-01 -2.44063396e-02  9.67561814e-01  8.09985771e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.94071405700004 meters
Centerline goodness : 0.997775 with order 1
Centerline is valid?  [True, True]
Translation: X:310.80, Y:26.32, Z:81.02
[[ 9.52233513e-01 -1.72725346e-01 -2.51827902e-01  3.10800851e+02]
 [ 1.73274192e-01  9.84667055e-01 -2.01703849e-02  2.63153247e+01]
 [ 2.51450575e-01 -2.44283597e-02  9.67561814e-01  8.10162849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.00071405700004 meters
Centerline goodness : 0.997524 with order 1
Centerline is valid?  [True, True]
Translation: X:310.86, Y:26.32, Z:81.03
[[ 9.52569025e-01 -1.70863743e-01 -2.51828976e-01  3.10859873e+02]
 [ 1.71352707e-01  9.85003526e-01 -2.01569644e-02  2.63189352e+01]
 [ 2.51496524e-01 -2.39506769e-02  9.67561814e-01  8.10305491e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.06071405700004 meters
Centerline goodness : 0.997764 with order 1
Centerline is valid?  [True, True]
Translation: X:310.92, Y:26.32, Z:81.05
[[ 9.53370640e-01 -1.66332735e-01 -2.51828997e-01  3.10917683e+02]
 [ 1.66667551e-01  9.85807098e-01 -2.01567004e-02  2.63247107e+01]
 [ 2.51607532e-01 -2.27549159e-02  9.67561814e-01  8.10453641e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.12071405700004 meters
Centerline goodness : 0.997591 with order 1
Centerline is valid?  [True, True]
Translation: X:310.98, Y:26.33, Z:81.06
[[ 9.54067131e-01 -1.62290249e-01 -2.51828881e-01  3.10975311e+02]
 [ 1.62487195e-01  9.86504719e-01 -2.01581506e-02  2.63296775e+01]
 [ 2.51701851e-01 -2.16867397e-02  9.67561814e-01  8.10617290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.18071405700005 meters
Centerline goodness : 0.997878 with order 1
Centerline is valid?  [True, True]
Translation: X:311.03, Y:26.33, Z:81.08
[[ 9.55214048e-01 -1.55397182e-01 -2.51828987e-01  3.11033216e+02]
 [ 1.55360254e-01  9.87652213e-01 -2.01568293e-02  2.63346359e+01]
 [ 2.51851770e-01 -1.98701289e-02  9.67561814e-01  8.10765199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.24071405700005 meters
Centerline goodness : 0.997510 with order 1
Centerline is valid?  [True, True]
Translation: X:311.09, Y:26.34, Z:81.09
[[ 9.56339355e-01 -1.48314592e-01 -2.51828949e-01  3.11091289e+02]
 [ 1.48037168e-01  9.88776355e-01 -2.01572990e-02  2.63420558e+01]
 [ 2.51992132e-01 -1.80028261e-02  9.67561814e-01  8.10942974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.30071405700005 meters
Centerline goodness : 0.997385 with order 1
Centerline is valid?  [True, True]
Translation: X:311.15, Y:26.35, Z:81.11
[[ 9.57329719e-01 -1.41781235e-01 -2.51829088e-01  3.11148433e+02]
 [ 1.41282793e-01  9.89764076e-01 -2.01555619e-02  2.63472185e+01]
 [ 2.52109065e-01 -1.62835984e-02  9.67561814e-01  8.11104662e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.36071405700005 meters
Centerline goodness : 0.997151 with order 1
Centerline is valid?  [True, True]
Translation: X:311.21, Y:26.35, Z:81.12
[[ 9.57943731e-01 -1.37572155e-01 -2.51828732e-01  3.11205971e+02]
 [ 1.36929994e-01  9.90375560e-01 -2.01600137e-02  2.63506207e+01]
 [ 2.52178478e-01 -1.51707479e-02  9.67561814e-01  8.11243522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.42071405700005 meters
Centerline goodness : 0.997086 with order 1
Centerline is valid?  [True, True]
Translation: X:311.26, Y:26.36, Z:81.14
[[ 9.58230979e-01 -1.35557707e-01 -2.51828311e-01  3.11264446e+02]
 [ 1.34845983e-01  9.90661356e-01 -2.01652620e-02  2.63554139e+01]
 [ 2.52210133e-01 -1.46350574e-02  9.67561814e-01  8.11365403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.48071405700006 meters
Centerline goodness : 0.997397 with order 1
Centerline is valid?  [True, True]
Translation: X:311.32, Y:26.36, Z:81.15
[[ 9.58247430e-01 -1.35442007e-01 -2.51827969e-01  3.11320412e+02]
 [ 1.34725247e-01  9.90677696e-01 -2.01695365e-02  2.63573806e+01]
 [ 2.52212155e-01 -1.46001789e-02  9.67561814e-01  8.11502894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.54071405700006 meters
Centerline goodness : 0.997178 with order 1
Centerline is valid?  [True, True]
Translation: X:311.38, Y:26.36, Z:81.17
[[ 9.58073904e-01 -1.36667181e-01 -2.51826283e-01  3.11378737e+02]
 [ 1.35986381e-01  9.90504945e-01 -2.01905654e-02  2.63604791e+01]
 [ 2.52194566e-01 -1.49008912e-02  9.67561814e-01  8.11677086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.60071405700006 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:311.44, Y:26.36, Z:81.18
[[ 9.57824961e-01 -1.38401109e-01 -2.51826283e-01  3.11435498e+02]
 [ 1.37779012e-01  9.90257181e-01 -2.01905654e-02  2.63632072e+01]
 [ 2.52167182e-01 -1.53573491e-02  9.67561814e-01  8.11835714e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.66071405700006 meters
Centerline goodness : 0.997002 with order 1
Centerline is valid?  [True, True]
Translation: X:311.49, Y:26.37, Z:81.20
[[ 9.57445554e-01 -1.41001069e-01 -2.51826745e-01  3.11493851e+02]
 [ 1.40468535e-01  9.89879369e-01 -2.01848092e-02  2.63651243e+01]
 [ 2.52124179e-01 -1.60478780e-02  9.67561814e-01  8.12000541e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.72071405700007 meters
Centerline goodness : 0.997175 with order 1
Centerline is valid?  [True, True]
Translation: X:311.55, Y:26.37, Z:81.21
[[ 9.57074558e-01 -1.43497529e-01 -2.51826826e-01  3.11551469e+02]
 [ 1.43049847e-01  9.89509654e-01 -2.01837937e-02  2.63679954e+01]
 [ 2.52081400e-01 -1.67063935e-02  9.67561814e-01  8.12144154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.78071405700007 meters
Centerline goodness : 0.997617 with order 1
Centerline is valid?  [True, True]
Translation: X:311.61, Y:26.37, Z:81.23
[[ 9.56268454e-01 -1.48775249e-01 -2.51826467e-01  3.11610461e+02]
 [ 1.48505336e-01  9.88705517e-01 -2.01882720e-02  2.63675136e+01]
 [ 2.51985732e-01 -1.80921664e-02  9.67561814e-01  8.12273735e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.84071405700007 meters
Centerline goodness : 0.997396 with order 1
Centerline is valid?  [True, True]
Translation: X:311.67, Y:26.37, Z:81.24
[[ 9.56259091e-01 -1.48835299e-01 -2.51826538e-01  3.11669520e+02]
 [ 1.48567655e-01  9.88696172e-01 -2.01873887e-02  2.63722935e+01]
 [ 2.51984530e-01 -1.81089042e-02  9.67561814e-01  8.12418913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.9007140570001 meters
Centerline goodness : 0.997570 with order 1
Centerline is valid?  [True, True]
Translation: X:311.73, Y:26.38, Z:81.26
[[ 9.56534821e-01 -1.47052194e-01 -2.51826901e-01  3.11727766e+02]
 [ 1.46725261e-01  9.88971360e-01 -2.01828568e-02  2.63779004e+01]
 [ 2.52017526e-01 -1.76437625e-02  9.67561814e-01  8.12566008e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.960714057 meters
Centerline goodness : 0.997730 with order 1
Centerline is valid?  [True, True]
Translation: X:311.79, Y:26.38, Z:81.27
[[ 9.56894754e-01 -1.44691541e-01 -2.51826901e-01  3.11786393e+02]
 [ 1.44284574e-01  9.89330387e-01 -2.01828568e-02  2.63823471e+01]
 [ 2.52060294e-01 -1.70218672e-02  9.67561814e-01  8.12720065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.020714057 meters
Centerline goodness : 0.997733 with order 1
Centerline is valid?  [True, True]
Translation: X:311.84, Y:26.39, Z:81.29
[[ 9.57584930e-01 -1.40051115e-01 -2.51826901e-01  3.11844085e+02]
 [ 1.39486915e-01  9.90018208e-01 -2.01828568e-02  2.63875357e+01]
 [ 2.52139849e-01 -1.57997579e-02  9.67561814e-01  8.12892379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.080714057 meters
Centerline goodness : 0.996899 with order 1
Centerline is valid?  [True, True]
Translation: X:311.90, Y:26.39, Z:81.30
[[ 9.57912237e-01 -1.37794110e-01 -2.51827181e-01  3.11901037e+02]
 [ 1.37154395e-01  9.90344115e-01 -2.01793634e-02  2.63934429e+01]
 [ 2.52176164e-01 -1.52091456e-02  9.67561814e-01  8.13040760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.140714057 meters
Centerline goodness : 0.997679 with order 1
Centerline is valid?  [True, True]
Translation: X:311.96, Y:26.40, Z:81.32
[[ 9.57625261e-01 -1.39775227e-01 -2.51826818e-01  3.11957851e+02]
 [ 1.39201411e-01  9.90058371e-01 -2.01838930e-02  2.63982478e+01]
 [ 2.52144457e-01 -1.57260426e-02  9.67561814e-01  8.13184058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.200714057 meters
Centerline goodness : 0.997516 with order 1
Centerline is valid?  [True, True]
Translation: X:312.02, Y:26.40, Z:81.34
[[ 9.56965138e-01 -1.44226691e-01 -2.51826104e-01  3.12015686e+02]
 [ 1.43801364e-01  9.89400535e-01 -2.01927982e-02  2.64013872e+01]
 [ 2.52069222e-01 -1.68891333e-02  9.67561814e-01  8.13353699e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.26071405700003 meters
Centerline goodness : 0.997757 with order 1
Centerline is valid?  [True, True]
Translation: X:312.07, Y:26.40, Z:81.35
[[ 9.55949757e-01 -1.50810651e-01 -2.51825752e-01  3.12074036e+02]
 [ 1.50607457e-01  9.88387307e-01 -2.01971842e-02  2.64038080e+01]
 [ 2.51947327e-01 -1.86193428e-02  9.67561814e-01  8.13491287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.32071405700003 meters
Centerline goodness : 0.997500 with order 1
Centerline is valid?  [True, True]
Translation: X:312.13, Y:26.41, Z:81.36
[[ 9.54919157e-01 -1.57204375e-01 -2.51825709e-01  3.12133135e+02]
 [ 1.57218115e-01  9.87357340e-01 -2.01977154e-02  2.64071739e+01]
 [ 2.51817132e-01 -2.03043780e-02  9.67561814e-01  8.13622731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.38071405700003 meters
Centerline goodness : 0.997671 with order 1
Centerline is valid?  [True, True]
Translation: X:312.19, Y:26.41, Z:81.38
[[ 9.54161389e-01 -1.61740432e-01 -2.51825487e-01  3.12190696e+02]
 [ 1.61907594e-01  9.86599144e-01 -2.02004819e-02  2.64113860e+01]
 [ 2.51718045e-01 -2.14979390e-02  9.67561814e-01  8.13754112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.44071405700004 meters
Centerline goodness : 0.997838 with order 1
Centerline is valid?  [True, True]
Translation: X:312.25, Y:26.42, Z:81.39
[[ 9.53755343e-01 -1.64118844e-01 -2.51824841e-01  3.12248145e+02]
 [ 1.64364769e-01  9.86192597e-01 -2.02085409e-02  2.64164362e+01]
 [ 2.51664396e-01 -2.21171278e-02  9.67561814e-01  8.13924623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.50071405700004 meters
Centerline goodness : 0.998162 with order 1
Centerline is valid?  [True, True]
Translation: X:312.31, Y:26.42, Z:81.41
[[ 9.53740577e-01 -1.64205211e-01 -2.51824465e-01  3.12307428e+02]
 [ 1.64452846e-01  9.86177817e-01 -2.02132263e-02  2.64213136e+01]
 [ 2.51662818e-01 -2.21350758e-02  9.67561814e-01  8.14100313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.56071405700004 meters
Centerline goodness : 0.997736 with order 1
Centerline is valid?  [True, True]
Translation: X:312.37, Y:26.43, Z:81.43
[[ 9.53703502e-01 -1.64418187e-01 -2.51825914e-01  3.12367409e+02]
 [ 1.64677798e-01  9.86140648e-01 -2.01951604e-02  2.64270911e+01]
 [ 2.51656221e-01 -2.22099419e-02  9.67561814e-01  8.14254503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.62071405700004 meters
Centerline goodness : 0.998267 with order 1
Centerline is valid?  [True, True]
Translation: X:312.43, Y:26.43, Z:81.44
[[ 9.53766334e-01 -1.64051050e-01 -2.51827389e-01  3.12426301e+02]
 [ 1.64302999e-01  9.86203541e-01 -2.01767451e-02  2.64336826e+01]
 [ 2.51663079e-01 -2.21320952e-02  9.67561815e-01  8.14406689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.68071405700005 meters
Centerline goodness : 0.997522 with order 1
Centerline is valid?  [True, True]
Translation: X:312.49, Y:26.44, Z:81.46
[[ 9.53945595e-01 -1.63003740e-01 -2.51828479e-01  3.12485778e+02]
 [ 1.63223640e-01  9.86383035e-01 -2.01631349e-02  2.64390202e+01]
 [ 2.51686006e-01 -2.18698273e-02  9.67561815e-01  8.14574623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.74071405700005 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:312.54, Y:26.45, Z:81.47
[[ 9.54693305e-01 -1.58563529e-01 -2.51829903e-01  3.12544270e+02]
 [ 1.58637167e-01  9.87131407e-01 -2.01453355e-02  2.64460511e+01]
 [ 2.51783522e-01 -2.07169654e-02  9.67561815e-01  8.14719536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.80071405700005 meters
Centerline goodness : 0.997815 with order 1
Centerline is valid?  [True, True]
Translation: X:312.60, Y:26.46, Z:81.49
[[ 9.55815387e-01 -1.51653094e-01 -2.51829874e-01  3.12602203e+02]
 [ 1.51491977e-01  9.88253172e-01 -2.01456951e-02  2.64554162e+01]
 [ 2.51926829e-01 -1.88946401e-02  9.67561815e-01  8.14873308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.86071405700005 meters
Centerline goodness : 0.997760 with order 1
Centerline is valid?  [True, True]
Translation: X:312.66, Y:26.46, Z:81.50
[[ 9.56853697e-01 -1.44957772e-01 -2.51829799e-01  3.12659700e+02]
 [ 1.44569320e-01  9.89289556e-01 -2.01466276e-02  2.64623663e+01]
 [ 2.52053001e-01 -1.71294878e-02  9.67561815e-01  8.15021048e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.92071405700005 meters
Centerline goodness : 0.997524 with order 1
Centerline is valid?  [True, True]
Translation: X:312.72, Y:26.47, Z:81.52
[[ 9.57652590e-01 -1.39582651e-01 -2.51829705e-01  3.12717988e+02]
 [ 1.39011765e-01  9.90085751e-01 -2.01478095e-02  2.64703706e+01]
 [ 2.52145287e-01 -1.57126898e-02  9.67561815e-01  8.15190777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.98071405700006 meters
Centerline goodness : 0.996931 with order 1
Centerline is valid?  [True, True]
Translation: X:312.78, Y:26.48, Z:81.54
[[ 9.58840283e-01 -1.31175203e-01 -2.51830059e-01  3.12776308e+02]
 [ 1.30320943e-01  9.91267217e-01 -2.01433818e-02  2.64789557e+01]
 [ 2.52273194e-01 -1.35044448e-02  9.67561815e-01  8.15356643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.04071405700006 meters
Centerline goodness : 0.997034 with order 1
Centerline is valid?  [True, True]
Translation: X:312.83, Y:26.48, Z:81.55
[[ 9.59277958e-01 -1.27934805e-01 -2.51830268e-01  3.12833913e+02]
 [ 1.26971674e-01  9.91701842e-01 -2.01407637e-02  2.64841296e+01]
 [ 2.52317246e-01 -1.26547199e-02  9.67561815e-01  8.15491464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.10071405700006 meters
Centerline goodness : 0.996762 with order 1
Centerline is valid?  [True, True]
Translation: X:312.89, Y:26.49, Z:81.57
[[ 9.59603076e-01 -1.25473726e-01 -2.51829865e-01  3.12892721e+02]
 [ 1.24426106e-01  9.92024340e-01 -2.01458074e-02  2.64892975e+01]
 [ 2.52349125e-01 -1.20022307e-02  9.67561815e-01  8.15677692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.16071405700006 meters
Centerline goodness : 0.996548 with order 1
Centerline is valid?  [True, True]
Translation: X:312.95, Y:26.49, Z:81.58
[[ 9.59396100e-01 -1.27044536e-01 -2.51830913e-01  3.12951601e+02]
 [ 1.26053427e-01  9.91819141e-01 -2.01327004e-02  2.64915738e+01]
 [ 2.52328469e-01 -1.24289153e-02  9.67561815e-01  8.15849573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.22071405700007 meters
Centerline goodness : 0.996892 with order 1
Centerline is valid?  [True, True]
Translation: X:313.01, Y:26.49, Z:81.60
[[ 9.58784620e-01 -1.31578375e-01 -2.51831657e-01  3.13010925e+02]
 [ 1.30742989e-01  9.91212046e-01 -2.01233801e-02  2.64938076e+01]
 [ 2.52266374e-01 -1.36312362e-02  9.67561815e-01  8.15998444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.28071405700007 meters
Centerline goodness : 0.997017 with order 1
Centerline is valid?  [True, True]
Translation: X:313.07, Y:26.49, Z:81.61
[[ 9.58000623e-01 -1.37169662e-01 -2.51831869e-01  3.13068719e+02]
 [ 1.36524162e-01  9.90432385e-01 -2.01207365e-02  2.64942864e+01]
 [ 2.52182393e-01 -1.51054568e-02  9.67561815e-01  8.16130855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.34071405700007 meters
Centerline goodness : 0.997620 with order 1
Centerline is valid?  [True, True]
Translation: X:313.13, Y:26.49, Z:81.63
[[ 9.57078533e-01 -1.43460968e-01 -2.51832547e-01  3.13127373e+02]
 [ 1.43030791e-01  9.89513866e-01 -2.01122445e-02  2.64947739e+01]
 [ 2.52077119e-01 -1.67708108e-02  9.67561815e-01  8.16277434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.4007140570001 meters
Centerline goodness : 0.998099 with order 1
Centerline is valid?  [True, True]
Translation: X:313.19, Y:26.50, Z:81.64
[[ 9.56413155e-01 -1.47832030e-01 -2.51832422e-01  3.13186240e+02]
 [ 1.47549632e-01  9.88850110e-01 -2.01138130e-02  2.64964754e+01]
 [ 2.51997984e-01 -1.79206659e-02  9.67561815e-01  8.16430567e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.460714057 meters
Centerline goodness : 0.998432 with order 1
Centerline is valid?  [True, True]
Translation: X:313.25, Y:26.50, Z:81.66
[[ 9.55918430e-01 -1.50998398e-01 -2.51832164e-01  3.13245160e+02]
 [ 1.50822572e-01  9.88356139e-01 -2.01170410e-02  2.64977603e+01]
 [ 2.51937506e-01 -1.87517243e-02  9.67561815e-01  8.16580321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.520714057 meters
Centerline goodness : 0.998359 with order 1
Centerline is valid?  [True, True]
Translation: X:313.30, Y:26.50, Z:81.67
[[ 9.55486402e-01 -1.53708482e-01 -2.51832161e-01  3.13303916e+02]
 [ 1.53624631e-01  9.87924479e-01 -2.01170732e-02  2.65010909e+01]
 [ 2.51883321e-01 -1.94660329e-02  9.67561815e-01  8.16738181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.580714057 meters
Centerline goodness : 0.998338 with order 1
Centerline is valid?  [True, True]
Translation: X:313.36, Y:26.50, Z:81.69
[[ 9.55177666e-01 -1.55615402e-01 -2.51832231e-01  3.13363376e+02]
 [ 1.55596530e-01  9.87615846e-01 -2.01161951e-02  2.65040286e+01]
 [ 2.51843892e-01 -1.99696812e-02  9.67561815e-01  8.16877329e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.640714057 meters
Centerline goodness : 0.998067 with order 1
Centerline is valid?  [True, True]
Translation: X:313.42, Y:26.51, Z:81.70
[[ 9.55132634e-01 -1.55889789e-01 -2.51833327e-01  3.13422500e+02]
 [ 1.55883830e-01  9.87570819e-01 -2.01024750e-02  2.65063594e+01]
 [ 2.51837015e-01 -2.00562136e-02  9.67561815e-01  8.17018935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.700714057 meters
Centerline goodness : 0.997815 with order 1
Centerline is valid?  [True, True]
Translation: X:313.48, Y:26.51, Z:81.72
[[ 9.55157260e-01 -1.55738249e-01 -2.51833689e-01  3.13483291e+02]
 [ 1.55728331e-01  9.87595443e-01 -2.00979401e-02  2.65106689e+01]
 [ 2.51839821e-01 -2.00209467e-02  9.67561815e-01  8.17159121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.76071405700003 meters
Centerline goodness : 0.998089 with order 1
Centerline is valid?  [True, True]
Translation: X:313.54, Y:26.52, Z:81.73
[[ 9.55825008e-01 -1.51583634e-01 -2.51835176e-01  3.13540259e+02]
 [ 1.51437561e-01  9.88262864e-01 -2.00792798e-02  2.65150465e+01]
 [ 2.51923043e-01 -1.89450270e-02  9.67561815e-01  8.17313564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.82071405700003 meters
Centerline goodness : 0.998418 with order 1
Centerline is valid?  [True, True]
Translation: X:313.60, Y:26.52, Z:81.75
[[ 9.57291936e-01 -1.42025353e-01 -2.51835161e-01  3.13598093e+02]
 [ 1.41555114e-01  9.89726712e-01 -2.00794700e-02  2.65210248e+01]
 [ 2.52099780e-01 -1.64266402e-02  9.67561815e-01  8.17492499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.88071405700003 meters
Centerline goodness : 0.998508 with order 1
Centerline is valid?  [True, True]
Translation: X:313.66, Y:26.53, Z:81.76
[[ 9.58246937e-01 -1.35431750e-01 -2.51835360e-01  3.13656459e+02]
 [ 1.34738885e-01  9.90677721e-01 -2.00769808e-02  2.65262768e+01]
 [ 2.52206741e-01 -1.46933102e-02  9.67561815e-01  8.17639059e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.94071405700004 meters
Centerline goodness : 0.998525 with order 1
Centerline is valid?  [True, True]
Translation: X:313.71, Y:26.53, Z:81.78
[[ 9.59465655e-01 -1.26509398e-01 -2.51835321e-01  3.13714214e+02]
 [ 1.25514669e-01  9.91888584e-01 -2.00774604e-02  2.65300759e+01]
 [ 2.52332568e-01 -1.23453932e-02  9.67561815e-01  8.17775403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.00071405700004 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:313.77, Y:26.53, Z:81.79
[[ 9.60322931e-01 -1.19829233e-01 -2.51834912e-01  3.13771480e+02]
 [ 1.18607547e-01  9.92738102e-01 -2.00825962e-02  2.65310646e+01]
 [ 2.52412595e-01 -1.05837434e-02  9.67561815e-01  8.17935986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.06071405700004 meters
Centerline goodness : 0.998670 with order 1
Centerline is valid?  [True, True]
Translation: X:313.83, Y:26.53, Z:81.81
[[ 9.60801790e-01 -1.15927860e-01 -2.51834573e-01  3.13829489e+02]
 [ 1.14573415e-01  9.93211685e-01 -2.00868483e-02  2.65313640e+01]
 [ 2.52453666e-01 -9.55406725e-03  9.67561815e-01  8.18105523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.12071405700004 meters
Centerline goodness : 0.998504 with order 1
Centerline is valid?  [True, True]
Translation: X:313.89, Y:26.53, Z:81.83
[[ 9.60741748e-01 -1.16425885e-01 -2.51833889e-01  3.13886917e+02]
 [ 1.15085997e-01  9.93152248e-01 -2.00954194e-02  2.65294558e+01]
 [ 2.52449020e-01 -9.67604567e-03  9.67561815e-01  8.18252742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.18071405700005 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:313.95, Y:26.53, Z:81.84
[[ 9.60302257e-01 -1.20007001e-01 -2.51829097e-01  3.13946465e+02]
 [ 1.18772283e-01  9.92716933e-01 -2.01552959e-02  2.65250557e+01]
 [ 2.52413785e-01 -1.05551407e-02  9.67561817e-01  8.18384315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.24071405700005 meters
Centerline goodness : 0.998279 with order 1
Centerline is valid?  [True, True]
Translation: X:314.01, Y:26.52, Z:81.85
[[ 9.59590583e-01 -1.25571767e-01 -2.51828599e-01  3.14005804e+02]
 [ 1.24523348e-01  9.92011819e-01 -2.01615105e-02  2.65200153e+01]
 [ 2.52348664e-01 -1.20117447e-02  9.67561817e-01  8.18529762e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.30071405700005 meters
Centerline goodness : 0.997830 with order 1
Centerline is valid?  [True, True]
Translation: X:314.06, Y:26.52, Z:81.87
[[ 9.59697152e-01 -1.24754690e-01 -2.51828601e-01  3.14063563e+02]
 [ 1.23678670e-01  9.92117483e-01 -2.01614972e-02  2.65179446e+01]
 [ 2.52358799e-01 -1.17968949e-02  9.67561817e-01  8.18669165e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.36071405700005 meters
Centerline goodness : 0.998221 with order 1
Centerline is valid?  [True, True]
Translation: X:314.12, Y:26.52, Z:81.88
[[ 9.59836442e-01 -1.23679916e-01 -2.51827883e-01  3.14120085e+02]
 [ 1.22565247e-01  9.92255468e-01 -2.01704494e-02  2.65190752e+01]
 [ 2.52372274e-01 -1.15050145e-02  9.67561817e-01  8.18817040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.42071405700005 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:314.18, Y:26.51, Z:81.90
[[ 9.59916200e-01 -1.23069646e-01 -2.51822858e-01  3.14177069e+02]
 [ 1.21917988e-01  9.92333930e-01 -2.02330077e-02  2.65149071e+01]
 [ 2.52382435e-01 -1.12797444e-02  9.67561819e-01  8.18984595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.48071405700006 meters
Centerline goodness : 0.997749 with order 1
Centerline is valid?  [True, True]
Translation: X:314.23, Y:26.51, Z:81.91
[[ 9.59553055e-01 -1.25879995e-01 -2.51817715e-01  3.14234381e+02]
 [ 1.24806560e-01  9.91973468e-01 -2.02968202e-02  2.65124350e+01]
 [ 2.52351456e-01 -1.19526269e-02  9.67561821e-01  8.19128778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.54071405700006 meters
Centerline goodness : 0.997410 with order 1
Centerline is valid?  [True, True]
Translation: X:314.29, Y:26.51, Z:81.93
[[ 9.58973003e-01 -1.30235236e-01 -2.51812553e-01  3.14292690e+02]
 [ 1.29292288e-01  9.91397472e-01 -2.03606603e-02  2.65116321e+01]
 [ 2.52298004e-01 -1.30320976e-02  9.67561823e-01  8.19273769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.60071405700006 meters
Centerline goodness : 0.997541 with order 1
Centerline is valid?  [True, True]
Translation: X:314.35, Y:26.51, Z:81.94
[[ 9.58488929e-01 -1.33752689e-01 -2.51811817e-01  3.14351892e+02]
 [ 1.32926324e-01  9.90916578e-01 -2.03697637e-02  2.65098036e+01]
 [ 2.52249015e-01 -1.39482261e-02  9.67561823e-01  8.19407384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.66071405700006 meters
Centerline goodness : 0.998123 with order 1
Centerline is valid?  [True, True]
Translation: X:314.41, Y:26.51, Z:81.95
[[ 9.58169654e-01 -1.36020994e-01 -2.51811841e-01  3.14409534e+02]
 [ 1.35271464e-01  9.90599170e-01 -2.03694652e-02  2.65095610e+01]
 [ 2.52215276e-01 -1.45455529e-02  9.67561823e-01  8.19540655e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.72071405700007 meters
Centerline goodness : 0.997971 with order 1
Centerline is valid?  [True, True]
Translation: X:314.47, Y:26.51, Z:81.97
[[ 9.57784331e-01 -1.38710963e-01 -2.51810332e-01  3.14468303e+02]
 [ 1.38047612e-01  9.90215725e-01 -2.03881116e-02  2.65109851e+01]
 [ 2.52174605e-01 -1.52344011e-02  9.67561823e-01  8.19684723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.78071405700007 meters
Centerline goodness : 0.997338 with order 1
Centerline is valid?  [True, True]
Translation: X:314.53, Y:26.51, Z:81.98
[[ 9.56938781e-01 -1.44429322e-01 -2.51810129e-01  3.14527540e+02]
 [ 1.43959039e-01  9.89373548e-01 -2.03906147e-02  2.65107946e+01]
 [ 2.52079283e-01 -1.67377743e-02  9.67561823e-01  8.19826496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.84071405700007 meters
Centerline goodness : 0.997847 with order 1
Centerline is valid?  [True, True]
Translation: X:314.59, Y:26.51, Z:82.00
[[ 9.55969884e-01 -1.50709096e-01 -2.51810145e-01  3.14586652e+02]
 [ 1.50451831e-01  9.88407040e-01 -2.03904098e-02  2.65112205e+01]
 [ 2.51963941e-01 -1.83926799e-02  9.67561823e-01  8.19976002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.9007140570001 meters
Centerline goodness : 0.997647 with order 1
Centerline is valid?  [True, True]
Translation: X:314.65, Y:26.51, Z:82.01
[[ 9.55410388e-01 -1.54215835e-01 -2.51810377e-01  3.14645103e+02]
 [ 1.54078343e-01  9.87848274e-01 -2.03875542e-02  2.65141057e+01]
 [ 2.51894530e-01 -1.93200444e-02  9.67561823e-01  8.20126771e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.960714057 meters
Centerline goodness : 0.996979 with order 1
Centerline is valid?  [True, True]
Translation: X:314.70, Y:26.52, Z:82.03
[[ 9.55048179e-01 -1.56443498e-01 -2.51810261e-01  3.14702452e+02]
 [ 1.56381279e-01  9.87486296e-01 -2.03889793e-02  2.65191783e+01]
 [ 2.51848905e-01 -1.99059532e-02  9.67561823e-01  8.20271228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.020714057 meters
Centerline goodness : 0.997421 with order 1
Centerline is valid?  [True, True]
Translation: X:314.76, Y:26.53, Z:82.04
[[ 9.55072166e-01 -1.56297040e-01 -2.51810232e-01  3.14758295e+02]
 [ 1.56229752e-01  9.87510273e-01 -2.03893424e-02  2.65265564e+01]
 [ 2.51851985e-01 -1.98669567e-02  9.67561823e-01  8.20429412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.080714057 meters
Centerline goodness : 0.997996 with order 1
Centerline is valid?  [True, True]
Translation: X:314.82, Y:26.54, Z:82.06
[[ 9.55086641e-01 -1.56216717e-01 -2.51805173e-01  3.14815806e+02]
 [ 1.56130379e-01  9.87524701e-01 -2.04516376e-02  2.65350426e+01]
 [ 2.51858716e-01 -1.97813511e-02  9.67561825e-01  8.20572104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.140714057 meters
Centerline goodness : 0.998472 with order 1
Centerline is valid?  [True, True]
Translation: X:314.87, Y:26.54, Z:82.07
[[ 9.54835697e-01 -1.57743885e-01 -2.51804804e-01  3.14874267e+02]
 [ 1.57708231e-01  9.87273852e-01 -2.04561796e-02  2.65445374e+01]
 [ 2.51827136e-01 -2.01793995e-02  9.67561825e-01  8.20703382e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.200714057 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:314.93, Y:26.55, Z:82.09
[[ 9.54444103e-01 -1.60096206e-01 -2.51804804e-01  3.14931884e+02]
 [ 1.60140484e-01  9.86882247e-01 -2.04561758e-02  2.65536496e+01]
 [ 2.51776647e-01 -2.07998667e-02  9.67561825e-01  8.20859526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.26071405700003 meters
Centerline goodness : 0.998227 with order 1
Centerline is valid?  [True, True]
Translation: X:314.99, Y:26.56, Z:82.10
[[ 9.53869606e-01 -1.63484935e-01 -2.51804391e-01  3.14989195e+02]
 [ 1.63643085e-01  9.86307395e-01 -2.04612637e-02  2.65632309e+01]
 [ 2.51701641e-01 -2.16886696e-02  9.67561825e-01  8.21006028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.32071405700003 meters
Centerline goodness : 0.998664 with order 1
Centerline is valid?  [True, True]
Translation: X:315.05, Y:26.57, Z:82.12
[[ 9.53196549e-01 -1.67365067e-01 -2.51804038e-01  3.15045934e+02]
 [ 1.67654074e-01  9.85633436e-01 -2.04656023e-02  2.65738914e+01]
 [ 2.51611706e-01 -2.27082314e-02  9.67561825e-01  8.21163003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.38071405700003 meters
Centerline goodness : 0.998031 with order 1
Centerline is valid?  [True, True]
Translation: X:315.10, Y:26.58, Z:82.13
[[ 9.52622934e-01 -1.70600853e-01 -2.51803286e-01  3.15102971e+02]
 [ 1.70997582e-01  9.85058682e-01 -2.04748472e-02  2.65835690e+01]
 [ 2.51534040e-01 -2.35529440e-02  9.67561825e-01  8.21325684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.44071405700004 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:315.16, Y:26.59, Z:82.15
[[ 9.52110523e-01 -1.73438038e-01 -2.51803094e-01  3.15159907e+02]
 [ 1.73930774e-01  9.84544956e-01 -2.04772079e-02  2.65926729e+01]
 [ 2.51462993e-01 -2.42997420e-02  9.67561825e-01  8.21492005e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.50071405700004 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:315.22, Y:26.60, Z:82.16
[[ 9.51214694e-01 -1.78286436e-01 -2.51802606e-01  3.15218000e+02]
 [ 1.78942836e-01  9.83646227e-01 -2.04832057e-02  2.66004188e+01]
 [ 2.51336561e-01 -2.55743463e-02  9.67561825e-01  8.21626844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.56071405700004 meters
Centerline goodness : 0.998393 with order 1
Centerline is valid?  [True, True]
Translation: X:315.28, Y:26.61, Z:82.18
[[ 9.50389609e-01 -1.82633806e-01 -2.51802469e-01  3.15277244e+02]
 [ 1.83438042e-01  9.82817813e-01 -2.04848997e-02  2.66058852e+01]
 [ 2.51217187e-01 -2.67215160e-02  9.67561825e-01  8.21750195e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.62071405700004 meters
Centerline goodness : 0.998732 with order 1
Centerline is valid?  [True, True]
Translation: X:315.33, Y:26.61, Z:82.19
[[ 9.50075327e-01 -1.84261696e-01 -2.51802504e-01  3.15334957e+02]
 [ 1.85121599e-01  9.82502102e-01 -2.04844656e-02  2.66118425e+01]
 [ 2.51170992e-01 -2.71522969e-02  9.67561825e-01  8.21894587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.68071405700005 meters
Centerline goodness : 0.998753 with order 1
Centerline is valid?  [True, True]
Translation: X:315.39, Y:26.62, Z:82.21
[[ 9.50641175e-01 -1.81320803e-01 -2.51801752e-01  3.15392402e+02]
 [ 1.82077937e-01  9.83070513e-01 -2.04937045e-02  2.66196923e+01]
 [ 2.51254812e-01 -2.63653843e-02  9.67561825e-01  8.22063990e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.74071405700005 meters
Centerline goodness : 0.998657 with order 1
Centerline is valid?  [True, True]
Translation: X:315.45, Y:26.63, Z:82.22
[[ 9.51471474e-01 -1.76912497e-01 -2.51801515e-01  3.15450221e+02]
 [ 1.77518544e-01  9.83903987e-01 -2.04966213e-02  2.66289436e+01]
 [ 2.51374622e-01 -2.51974877e-02  9.67561825e-01  8.22233599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.80071405700005 meters
Centerline goodness : 0.998587 with order 1
Centerline is valid?  [True, True]
Translation: X:315.51, Y:26.64, Z:82.24
[[ 9.51837691e-01 -1.74931539e-01 -2.51801444e-01  3.15507471e+02]
 [ 1.75469847e-01  9.84271398e-01 -2.04974887e-02  2.66355303e+01]
 [ 2.51426617e-01 -2.46732784e-02  9.67561825e-01  8.22391953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.86071405700005 meters
Centerline goodness : 0.998098 with order 1
Centerline is valid?  [True, True]
Translation: X:315.56, Y:26.65, Z:82.26
[[ 9.53282785e-01 -1.66878029e-01 -2.51800823e-01  3.15564711e+02]
 [ 1.67140109e-01  9.85719901e-01 -2.05051178e-02  2.66460494e+01]
 [ 2.51626936e-01 -2.25388412e-02  9.67561825e-01  8.22560924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.92071405700005 meters
Centerline goodness : 0.998161 with order 1
Centerline is valid?  [True, True]
Translation: X:315.62, Y:26.65, Z:82.27
[[ 9.53824405e-01 -1.63753681e-01 -2.51800984e-01  3.15622968e+02]
 [ 1.63909997e-01  9.86262204e-01 -2.05031402e-02  2.66543255e+01]
 [ 2.51699258e-01 -2.17163031e-02  9.67561825e-01  8.22700102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.98071405700006 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:315.68, Y:26.66, Z:82.28
[[ 9.54053658e-01 -1.62412449e-01 -2.51801140e-01  3.15681342e+02]
 [ 1.62523661e-01  9.86491642e-01 -2.05012190e-02  2.66604757e+01]
 [ 2.51729373e-01 -2.13643802e-02  9.67561825e-01  8.22832619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.04071405700006 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:315.74, Y:26.67, Z:82.30
[[ 9.54118506e-01 -1.62031160e-01 -2.51801073e-01  3.15738215e+02]
 [ 1.62129191e-01  9.86556532e-01 -2.05020494e-02  2.66669863e+01]
 [ 2.51737964e-01 -2.12629195e-02  9.67561825e-01  8.22975347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.10071405700006 meters
Centerline goodness : 0.998621 with order 1
Centerline is valid?  [True, True]
Translation: X:315.80, Y:26.67, Z:82.31
[[ 9.54376641e-01 -1.60504117e-01 -2.51800824e-01  3.15796190e+02]
 [ 1.60549439e-01  9.86814784e-01 -2.05051011e-02  2.66746915e+01]
 [ 2.51771929e-01 -2.08568916e-02  9.67561825e-01  8.23124246e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.16071405700006 meters
Centerline goodness : 0.998430 with order 1
Centerline is valid?  [True, True]
Translation: X:315.85, Y:26.68, Z:82.33
[[ 9.54841637e-01 -1.57714873e-01 -2.51800451e-01  3.15853866e+02]
 [ 1.57664216e-01  9.87279772e-01 -2.05096759e-02  2.66830542e+01]
 [ 2.51832173e-01 -2.01164283e-02  9.67561825e-01  8.23276579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.22071405700007 meters
Centerline goodness : 0.999135 with order 1
Centerline is valid?  [True, True]
Translation: X:315.91, Y:26.69, Z:82.34
[[ 9.55600249e-01 -1.53051400e-01 -2.51800382e-01  3.15910469e+02]
 [ 1.52842156e-01  9.88037749e-01 -2.05105241e-02  2.66920499e+01]
 [ 2.51927447e-01 -1.88858514e-02  9.67561825e-01  8.23415720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.28071405700007 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:315.97, Y:26.70, Z:82.36
[[ 9.56249504e-01 -1.48942731e-01 -2.51799422e-01  3.15968557e+02]
 [ 1.48590984e-01  9.88685771e-01 -2.05223008e-02  2.67022583e+01]
 [ 2.52007154e-01 -1.77906841e-02  9.67561825e-01  8.23576163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.34071405700007 meters
Centerline goodness : 0.999295 with order 1
Centerline is valid?  [True, True]
Translation: X:316.03, Y:26.71, Z:82.37
[[ 9.56717253e-01 -1.45907494e-01 -2.51799722e-01  3.16026114e+02]
 [ 1.45453783e-01  9.89152255e-01 -2.05186206e-02  2.67117427e+01]
 [ 2.52062084e-01 -1.69947038e-02  9.67561825e-01  8.23732522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.4007140570001 meters
Centerline goodness : 0.998824 with order 1
Centerline is valid?  [True, True]
Translation: X:316.08, Y:26.72, Z:82.39
[[ 9.57274697e-01 -1.42204377e-01 -2.51799663e-01  3.16084335e+02]
 [ 1.41624970e-01  9.89707696e-01 -2.05193527e-02  2.67207652e+01]
 [ 2.52126006e-01 -1.60184626e-02  9.67561825e-01  8.23893411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.460714057 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:316.14, Y:26.73, Z:82.40
[[ 9.58015106e-01 -1.37127900e-01 -2.51799516e-01  3.16141329e+02]
 [ 1.36376101e-01  9.90444567e-01 -2.05211589e-02  2.67297970e+01]
 [ 2.52207486e-01 -1.46798560e-02  9.67561825e-01  8.24030012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.520714057 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:316.20, Y:26.74, Z:82.42
[[ 9.58729560e-01 -1.32041147e-01 -2.51799059e-01  3.16198871e+02]
 [ 1.31115768e-01  9.91154533e-01 -2.05267594e-02  2.67402806e+01]
 [ 2.52282155e-01 -1.33352161e-02  9.67561825e-01  8.24185677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.580714057 meters
Centerline goodness : 0.998975 with order 1
Centerline is valid?  [True, True]
Translation: X:316.26, Y:26.75, Z:82.44
[[ 9.59179423e-01 -1.28732781e-01 -2.51798939e-01  3.16255977e+02]
 [ 1.27695157e-01  9.91600998e-01 -2.05282303e-02  2.67494337e+01]
 [ 2.52326735e-01 -1.24632490e-02  9.67561825e-01  8.24350445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.640714057 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:316.31, Y:26.76, Z:82.45
[[ 9.59477146e-01 -1.26495416e-01 -2.51798562e-01  3.16313258e+02]
 [ 1.25380969e-01  9.91896171e-01 -2.05328585e-02  2.67573676e+01]
 [ 2.52355342e-01 -1.18699391e-02  9.67561825e-01  8.24505848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.700714057 meters
Centerline goodness : 0.998513 with order 1
Centerline is valid?  [True, True]
Translation: X:316.37, Y:26.76, Z:82.47
[[ 9.59812629e-01 -1.23925712e-01 -2.51797807e-01  3.16370818e+02]
 [ 1.22722037e-01  9.92228463e-01 -2.05421089e-02  2.67648410e+01]
 [ 2.52386647e-01 -1.11845642e-02  9.67561826e-01  8.24672639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.76071405700003 meters
Centerline goodness : 0.998586 with order 1
Centerline is valid?  [True, True]
Translation: X:316.43, Y:26.77, Z:82.48
[[ 9.60608935e-01 -1.17594759e-01 -2.51797430e-01  3.16428760e+02]
 [ 1.16176177e-01  9.93016076e-01 -2.05467227e-02  2.67707241e+01]
 [ 2.52455083e-01 -9.51549759e-03  9.67561826e-01  8.24799396e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.82071405700003 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:316.49, Y:26.78, Z:82.50
[[ 9.61424480e-01 -1.10730489e-01 -2.51796998e-01  3.16486853e+02]
 [ 1.09079084e-01  9.93820591e-01 -2.05520264e-02  2.67759873e+01]
 [ 2.52516777e-01 -7.70656448e-03  9.67561826e-01  8.24956891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.88071405700003 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:316.54, Y:26.78, Z:82.51
[[ 9.61974182e-01 -1.05849523e-01 -2.51796646e-01  3.16544861e+02]
 [ 1.04032592e-01  9.94361432e-01 -2.05563327e-02  2.67789437e+01]
 [ 2.52552751e-01 -6.42039642e-03  9.67561826e-01  8.25118068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.94071405700004 meters
Centerline goodness : 0.998495 with order 1
Centerline is valid?  [True, True]
Translation: X:316.60, Y:26.78, Z:82.53
[[ 9.62128555e-01 -1.04437056e-01 -2.51796635e-01  3.16602509e+02]
 [ 1.02572542e-01  9.94513100e-01 -2.05564628e-02  2.67756872e+01]
 [ 2.52561909e-01 -6.04946120e-03  9.67561826e-01  8.25266096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.00071405700004 meters
Centerline goodness : 0.998034 with order 1
Centerline is valid?  [True, True]
Translation: X:316.66, Y:26.77, Z:82.54
[[ 9.62104398e-01 -1.04660259e-01 -2.51796262e-01  3.16660200e+02]
 [ 1.02802063e-01  9.94489306e-01 -2.05610338e-02  2.67724003e+01]
 [ 2.52560613e-01 -6.10331426e-03  9.67561826e-01  8.25428547e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.06071405700004 meters
Centerline goodness : 0.998296 with order 1
Centerline is valid?  [True, True]
Translation: X:316.72, Y:26.77, Z:82.56
[[ 9.62074914e-01 -1.04932732e-01 -2.51795517e-01  3.16717564e+02]
 [ 1.03081323e-01  9.94460210e-01 -2.05701516e-02  2.67673986e+01]
 [ 2.52559105e-01 -6.16538820e-03  9.67561826e-01  8.25551582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.12071405700004 meters
Centerline goodness : 0.997980 with order 1
Centerline is valid?  [True, True]
Translation: X:316.78, Y:26.76, Z:82.57
[[ 9.61766677e-01 -1.07727807e-01 -2.51792730e-01  3.16775651e+02]
 [ 1.05961599e-01  9.94156731e-01 -2.06042097e-02  2.67638277e+01]
 [ 2.52541084e-01 -6.86391794e-03  9.67561826e-01  8.25713788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.18071405700005 meters
Centerline goodness : 0.998227 with order 1
Centerline is valid?  [True, True]
Translation: X:316.83, Y:26.76, Z:82.59
[[ 9.61013614e-01 -1.14251665e-01 -2.51792356e-01  3.16834041e+02]
 [ 1.12704092e-01  9.93414851e-01 -2.06087817e-02  2.67581723e+01]
 [ 2.52488854e-01 -8.57270917e-03  9.67561826e-01  8.25856902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.24071405700005 meters
Centerline goodness : 0.998467 with order 1
Centerline is valid?  [True, True]
Translation: X:316.89, Y:26.75, Z:82.60
[[ 9.59800792e-01 -1.24029943e-01 -2.51791607e-01  3.16892808e+02]
 [ 1.22809934e-01  9.92216015e-01 -2.06179371e-02  2.67534631e+01]
 [ 2.52388906e-01 -1.11333983e-02  9.67561826e-01  8.26006429e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.30071405700005 meters
Centerline goodness : 0.997518 with order 1
Centerline is valid?  [True, True]
Translation: X:316.95, Y:26.75, Z:82.62
[[ 9.58511337e-01 -1.33630762e-01 -2.51791256e-01  3.16951011e+02]
 [ 1.32734152e-01  9.90937117e-01 -2.06222121e-02  2.67506924e+01]
 [ 2.52265064e-01 -1.36546747e-02  9.67561826e-01  8.26160990e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.36071405700005 meters
Centerline goodness : 0.997755 with order 1
Centerline is valid?  [True, True]
Translation: X:317.01, Y:26.75, Z:82.63
[[ 9.57511430e-01 -1.40617103e-01 -2.51790969e-01  3.17010037e+02]
 [ 1.39956061e-01  9.89942867e-01 -2.06257197e-02  2.67485399e+01]
 [ 2.52159003e-01 -1.54903098e-02  9.67561826e-01  8.26314545e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.42071405700005 meters
Centerline goodness : 0.997693 with order 1
Centerline is valid?  [True, True]
Translation: X:317.07, Y:26.75, Z:82.64
[[ 9.56152326e-01 -1.49579526e-01 -2.51790977e-01  3.17068089e+02]
 [ 1.49222308e-01  9.88588532e-01 -2.06256279e-02  2.67487231e+01]
 [ 2.52002844e-01 -1.78515885e-02  9.67561826e-01  8.26449185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.48071405700006 meters
Centerline goodness : 0.997521 with order 1
Centerline is valid?  [True, True]
Translation: X:317.13, Y:26.75, Z:82.66
[[ 9.54724636e-01 -1.58436582e-01 -2.51791023e-01  3.17126639e+02]
 [ 1.58380209e-01  9.87162761e-01 -2.06250628e-02  2.67508343e+01]
 [ 2.51826486e-01 -2.01874594e-02  9.67561826e-01  8.26603401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.54071405700006 meters
Centerline goodness : 0.997531 with order 1
Centerline is valid?  [True, True]
Translation: X:317.18, Y:26.75, Z:82.67
[[ 9.53690425e-01 -1.64547355e-01 -2.51791066e-01  3.17184109e+02]
 [ 1.64698853e-01  9.86128245e-01 -2.06245424e-02  2.67545974e+01]
 [ 2.51691996e-01 -2.18002710e-02  9.67561826e-01  8.26729736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.60071405700006 meters
Centerline goodness : 0.998049 with order 1
Centerline is valid?  [True, True]
Translation: X:317.24, Y:26.76, Z:82.69
[[ 9.53319210e-01 -1.66684421e-01 -2.51791158e-01  3.17241139e+02]
 [ 1.66908914e-01  9.85756607e-01 -2.06234196e-02  2.67606568e+01]
 [ 2.51642400e-01 -2.23654867e-02  9.67561826e-01  8.26869374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.66071405700006 meters
Centerline goodness : 0.997859 with order 1
Centerline is valid?  [True, True]
Translation: X:317.30, Y:26.77, Z:82.70
[[ 9.53538985e-01 -1.65424275e-01 -2.51790018e-01  3.17297319e+02]
 [ 1.65602252e-01  9.85976671e-01 -2.06373219e-02  2.67688888e+01]
 [ 2.51672998e-01 -2.20185031e-02  9.67561826e-01  8.27038318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.72071405700007 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:317.35, Y:26.78, Z:82.72
[[ 9.53910165e-01 -1.63271431e-01 -2.51789270e-01  3.17354503e+02]
 [ 1.63373797e-01  9.86348177e-01 -2.06464396e-02  2.67764244e+01]
 [ 2.51722862e-01 -2.14409207e-02  9.67561826e-01  8.27212027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.78071405700007 meters
Centerline goodness : 0.998054 with order 1
Centerline is valid?  [True, True]
Translation: X:317.41, Y:26.79, Z:82.74
[[ 9.54433164e-01 -1.60185933e-01 -2.51789203e-01  3.17410952e+02]
 [ 1.60183188e-01  9.86871338e-01 -2.06472673e-02  2.67859048e+01]
 [ 2.51790949e-01 -2.06259604e-02  9.67561826e-01  8.27365957e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.84071405700007 meters
Centerline goodness : 0.998351 with order 1
Centerline is valid?  [True, True]
Translation: X:317.47, Y:26.79, Z:82.75
[[ 9.55057745e-01 -1.56419787e-01 -2.51788710e-01  3.17468744e+02]
 [ 1.56287511e-01  9.87495649e-01 -2.06532721e-02  2.67930576e+01]
 [ 2.51870836e-01 -1.96263634e-02  9.67561826e-01  8.27512675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.9007140570001 meters
Centerline goodness : 0.998120 with order 1
Centerline is valid?  [True, True]
Translation: X:317.53, Y:26.80, Z:82.77
[[ 9.55571064e-01 -1.53253307e-01 -2.51788336e-01  3.17526296e+02]
 [ 1.53012319e-01  9.88008342e-01 -2.06578344e-02  2.68023783e+01]
 [ 2.51934858e-01 -1.87866884e-02  9.67561826e-01  8.27662369e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.960714057 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:317.58, Y:26.81, Z:82.78
[[ 9.56118180e-01 -1.49802175e-01 -2.51788271e-01  3.17583224e+02]
 [ 1.49443866e-01  9.88554375e-01 -2.06586224e-02  2.68122087e+01]
 [ 2.52001104e-01 -1.78761282e-02  9.67561826e-01  8.27821166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.020714057 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:317.64, Y:26.82, Z:82.80
[[ 9.56927304e-01 -1.44544516e-01 -2.51787646e-01  3.17641163e+02]
 [ 1.44005927e-01  9.89361006e-01 -2.06662410e-02  2.68222612e+01]
 [ 2.52096070e-01 -1.64828231e-02  9.67561826e-01  8.27979504e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.080714057 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:317.70, Y:26.83, Z:82.82
[[ 9.57749756e-01 -1.38990717e-01 -2.51787581e-01  3.17699030e+02]
 [ 1.38263774e-01  9.90179783e-01 -2.06670315e-02  2.68328515e+01]
 [ 2.52187498e-01 -1.50192569e-02  9.67561826e-01  8.28151463e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.140714057 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:317.76, Y:26.84, Z:82.83
[[ 9.58081342e-01 -1.36685771e-01 -2.51787890e-01  3.17755013e+02]
 [ 1.35881784e-01  9.90509551e-01 -2.06632631e-02  2.68424712e+01]
 [ 2.52222684e-01 -1.44163009e-02  9.67561826e-01  8.28310069e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.200714057 meters
Centerline goodness : 0.999465 with order 1
Centerline is valid?  [True, True]
Translation: X:317.81, Y:26.85, Z:82.85
[[ 9.57676597e-01 -1.39494678e-01 -2.51787153e-01  3.17811542e+02]
 [ 1.38783436e-01  9.90106972e-01 -2.06722411e-02  2.68504407e+01]
 [ 2.52179883e-01 -1.51465648e-02  9.67561826e-01  8.28486614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.26071405700003 meters
Centerline goodness : 0.998998 with order 1
Centerline is valid?  [True, True]
Translation: X:317.87, Y:26.86, Z:82.86
[[ 9.56672243e-01 -1.46225253e-01 -2.51786406e-01  3.17868892e+02]
 [ 1.45739684e-01  9.89106782e-01 -2.06813352e-02  2.68576864e+01]
 [ 2.52067775e-01 -1.69100118e-02  9.67561827e-01  8.28614111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.32071405700003 meters
Centerline goodness : 0.998551 with order 1
Centerline is valid?  [True, True]
Translation: X:317.93, Y:26.86, Z:82.88
[[ 9.54544060e-01 -1.59529125e-01 -2.51785812e-01  3.17926932e+02]
 [ 1.59493237e-01  9.86982214e-01 -2.06885619e-02  2.68649175e+01]
 [ 2.51808547e-01 -2.04099904e-02  9.67561827e-01  8.28754564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.38071405700003 meters
Centerline goodness : 0.998902 with order 1
Centerline is valid?  [True, True]
Translation: X:317.98, Y:26.87, Z:82.89
[[ 9.53429690e-01 -1.66059623e-01 -2.51785677e-01  3.17984758e+02]
 [ 1.66245357e-01  9.85867332e-01 -2.06902095e-02  2.68738307e+01]
 [ 2.51663082e-01 -2.21315398e-02  9.67561827e-01  8.28916946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.44071405700004 meters
Centerline goodness : 0.998732 with order 1
Centerline is valid?  [True, True]
Translation: X:318.04, Y:26.88, Z:82.91
[[ 9.53040862e-01 -1.68276971e-01 -2.51785577e-01  3.18041886e+02]
 [ 1.68537840e-01  9.85477986e-01 -2.06914216e-02  2.68829915e+01]
 [ 2.51611033e-01 -2.27156271e-02  9.67561827e-01  8.29061798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.50071405700004 meters
Centerline goodness : 0.998442 with order 1
Centerline is valid?  [True, True]
Translation: X:318.10, Y:26.90, Z:82.92
[[ 9.53597557e-01 -1.65093539e-01 -2.51785271e-01  3.18098827e+02]
 [ 1.65245114e-01  9.86035376e-01 -2.06951448e-02  2.68952850e+01]
 [ 2.51685819e-01 -2.18714463e-02  9.67561827e-01  8.29246816e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.56071405700004 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:318.16, Y:26.91, Z:82.94
[[ 9.54335551e-01 -1.60772428e-01 -2.51785391e-01  3.18155692e+02]
 [ 1.60777452e-01  9.86773724e-01 -2.06936928e-02  2.69082150e+01]
 [ 2.51782183e-01 -2.07326869e-02  9.67561827e-01  8.29412612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.62071405700004 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:318.21, Y:26.92, Z:82.95
[[ 9.54883918e-01 -1.57482806e-01 -2.51785363e-01  3.18214590e+02]
 [ 1.57375959e-01  9.87321915e-01 -2.06940277e-02  2.69194617e+01]
 [ 2.51852161e-01 -1.98645687e-02  9.67561827e-01  8.29540241e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.68071405700005 meters
Centerline goodness : 0.998203 with order 1
Centerline is valid?  [True, True]
Translation: X:318.27, Y:26.93, Z:82.97
[[ 9.55164237e-01 -1.55773000e-01 -2.51785728e-01  3.18274344e+02]
 [ 1.55609244e-01  9.87601997e-01 -2.06895817e-02  2.69311713e+01]
 [ 2.51886966e-01 -1.94182383e-02  9.67561827e-01  8.29704960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.74071405700005 meters
Centerline goodness : 0.998773 with order 1
Centerline is valid?  [True, True]
Translation: X:318.33, Y:26.94, Z:82.99
[[ 9.55806549e-01 -1.51778877e-01 -2.51787637e-01  3.18331818e+02]
 [ 1.51485620e-01  9.88243396e-01 -2.06663250e-02  2.69414055e+01]
 [ 2.51964181e-01 -1.83891976e-02  9.67561827e-01  8.29865630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.80071405700005 meters
Centerline goodness : 0.998769 with order 1
Centerline is valid?  [True, True]
Translation: X:318.39, Y:26.95, Z:83.00
[[ 9.56691191e-01 -1.46099115e-01 -2.51787635e-01  3.18389241e+02]
 [ 1.45613195e-01  9.89125725e-01 -2.06663517e-02  2.69516419e+01]
 [ 2.52068963e-01 -1.68922853e-02  9.67561827e-01  8.30030798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.86071405700005 meters
Centerline goodness : 0.998307 with order 1
Centerline is valid?  [True, True]
Translation: X:318.45, Y:26.96, Z:83.02
[[ 9.57442515e-01 -1.41091586e-01 -2.51787600e-01  3.18446691e+02]
 [ 1.40435859e-01  9.89874059e-01 -2.06667818e-02  2.69610044e+01]
 [ 2.52153923e-01 -1.55727524e-02  9.67561827e-01  8.30203469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.92071405700005 meters
Centerline goodness : 0.998663 with order 1
Centerline is valid?  [True, True]
Translation: X:318.50, Y:26.97, Z:83.04
[[ 9.57965014e-01 -1.37499152e-01 -2.51787640e-01  3.18504992e+02]
 [ 1.36721904e-01  9.90393874e-01 -2.06662926e-02  2.69693791e+01]
 [ 2.52210534e-01 -1.46273003e-02  9.67561827e-01  8.30369123e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.98071405700006 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:318.56, Y:26.98, Z:83.05
[[ 9.57792522e-01 -1.38694229e-01 -2.51788396e-01  3.18562978e+02]
 [ 1.37959855e-01  9.90222381e-01 -2.06570777e-02  2.69770078e+01]
 [ 2.52191522e-01 -1.49514961e-02  9.67561827e-01  8.30508817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.04071405700006 meters
Centerline goodness : 0.998469 with order 1
Centerline is valid?  [True, True]
Translation: X:318.62, Y:26.98, Z:83.06
[[ 9.57211348e-01 -1.42650057e-01 -2.51788396e-01  3.18622549e+02]
 [ 1.42049670e-01  9.89643965e-01 -2.06570777e-02  2.69820604e+01]
 [ 2.52127600e-01 -1.59932693e-02  9.67561827e-01  8.30639281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.10071405700006 meters
Centerline goodness : 0.998561 with order 1
Centerline is valid?  [True, True]
Translation: X:318.68, Y:26.99, Z:83.08
[[ 9.56550765e-01 -1.47013798e-01 -2.51788756e-01  3.18681557e+02]
 [ 1.46562469e-01  9.88985798e-01 -2.06526952e-02  2.69879391e+01]
 [ 2.52051734e-01 -1.71474303e-02  9.67561827e-01  8.30773219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.16071405700006 meters
Centerline goodness : 0.998148 with order 1
Centerline is valid?  [True, True]
Translation: X:318.74, Y:26.99, Z:83.09
[[ 9.56187750e-01 -1.49356798e-01 -2.51788669e-01  3.18740325e+02]
 [ 1.48984656e-01  9.88623788e-01 -2.06537510e-02  2.69933568e+01]
 [ 2.52009046e-01 -1.77637845e-02  9.67561827e-01  8.30942592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.22071405700007 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:318.80, Y:27.00, Z:83.11
[[ 9.56091615e-01 -1.49969736e-01 -2.51789401e-01  3.18800050e+02]
 [ 1.49620728e-01  9.88527910e-01 -2.06448195e-02  2.69992902e+01]
 [ 2.51996949e-01 -1.79345746e-02  9.67561827e-01  8.31111690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.28071405700007 meters
Centerline goodness : 0.998877 with order 1
Centerline is valid?  [True, True]
Translation: X:318.86, Y:27.01, Z:83.13
[[ 9.56121095e-01 -1.49779246e-01 -2.51790845e-01  3.18858721e+02]
 [ 1.49428392e-01  9.88557370e-01 -2.06271981e-02  2.70052664e+01]
 [ 2.51999222e-01 -1.79026017e-02  9.67561827e-01  8.31283598e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.34071405700007 meters
Centerline goodness : 0.998873 with order 1
Centerline is valid?  [True, True]
Translation: X:318.92, Y:27.01, Z:83.14
[[ 9.56072304e-01 -1.50089170e-01 -2.51791562e-01  3.18916129e+02]
 [ 1.49751125e-01  9.88508715e-01 -2.06184405e-02  2.70122826e+01]
 [ 2.51992758e-01 -1.79933498e-02  9.67561827e-01  8.31445915e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.4007140570001 meters
Centerline goodness : 0.999141 with order 1
Centerline is valid?  [True, True]
Translation: X:318.98, Y:27.02, Z:83.16
[[ 9.55726877e-01 -1.52273638e-01 -2.51791334e-01  3.18975435e+02]
 [ 1.52008991e-01  9.88163970e-01 -2.06212215e-02  2.70178832e+01]
 [ 2.51951193e-01 -1.85662911e-02  9.67561827e-01  8.31563823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.460714057 meters
Centerline goodness : 0.999069 with order 1
Centerline is valid?  [True, True]
Translation: X:319.04, Y:27.02, Z:83.17
[[ 9.55413334e-01 -1.54227493e-01 -2.51792062e-01  3.19036215e+02]
 [ 1.54031501e-01  9.87850914e-01 -2.06123254e-02  2.70238263e+01]
 [ 2.51912006e-01 -1.90906187e-02  9.67561827e-01  8.31695324e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.520714057 meters
Centerline goodness : 0.999065 with order 1
Centerline is valid?  [True, True]
Translation: X:319.10, Y:27.03, Z:83.18
[[ 9.55321848e-01 -1.54790805e-01 -2.51793512e-01  3.19096141e+02]
 [ 1.54618582e-01  9.87759564e-01 -2.05946070e-02  2.70299594e+01]
 [ 2.51899305e-01 -1.92574778e-02  9.67561827e-01  8.31822397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.580714057 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:319.15, Y:27.04, Z:83.20
[[ 9.55304465e-01 -1.54896322e-01 -2.51794576e-01  3.19154516e+02]
 [ 1.54731092e-01  9.87742217e-01 -2.05815932e-02  2.70362919e+01]
 [ 2.51896145e-01 -1.92987618e-02  9.67561827e-01  8.32002782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.640714057 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:319.21, Y:27.04, Z:83.22
[[ 9.55357460e-01 -1.54567992e-01 -2.51795272e-01  3.19211322e+02]
 [ 1.54393847e-01  9.87795165e-01 -2.05730714e-02  2.70425626e+01]
 [ 2.51902091e-01 -1.92210034e-02  9.67561827e-01  8.32172416e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.700714057 meters
Centerline goodness : 0.998915 with order 1
Centerline is valid?  [True, True]
Translation: X:319.27, Y:27.05, Z:83.23
[[ 9.55278551e-01 -1.55054942e-01 -2.51795265e-01  3.19269893e+02]
 [ 1.54897308e-01  9.87716340e-01 -2.05731600e-02  2.70474129e+01]
 [ 2.51892267e-01 -1.93493102e-02  9.67561827e-01  8.32332255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.76071405700003 meters
Centerline goodness : 0.999214 with order 1
Centerline is valid?  [True, True]
Translation: X:319.33, Y:27.05, Z:83.25
[[ 9.54500360e-01 -1.59774958e-01 -2.51795604e-01  3.19329197e+02]
 [ 1.59778753e-01  9.86938532e-01 -2.05690072e-02  2.70504383e+01]
 [ 2.51793196e-01 -2.05984628e-02  9.67561827e-01  8.32473333e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.82071405700003 meters
Centerline goodness : 0.998605 with order 1
Centerline is valid?  [True, True]
Translation: X:319.39, Y:27.05, Z:83.26
[[ 9.53609744e-01 -1.65007231e-01 -2.51795690e-01  3.19387902e+02]
 [ 1.65189200e-01  9.86047406e-01 -2.05679497e-02  2.70538234e+01]
 [ 2.51676348e-01 -2.19801314e-02  9.67561827e-01  8.32635179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.88071405700003 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:319.45, Y:27.06, Z:83.28
[[ 9.52995487e-01 -1.68517771e-01 -2.51796272e-01  3.19446014e+02]
 [ 1.68821056e-01  9.85432242e-01 -2.05608286e-02  2.70560532e+01]
 [ 2.51593030e-01 -2.29141357e-02  9.67561827e-01  8.32794592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.94071405700004 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:319.51, Y:27.06, Z:83.30
[[ 9.52827253e-01 -1.69466314e-01 -2.51796335e-01  3.19505082e+02]
 [ 1.69802091e-01  9.85263688e-01 -2.05600521e-02  2.70591287e+01]
 [ 2.51570022e-01 -2.31653663e-02  9.67561827e-01  8.32963675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.00071405700004 meters
Centerline goodness : 0.999050 with order 1
Centerline is valid?  [True, True]
Translation: X:319.56, Y:27.06, Z:83.31
[[ 9.52866453e-01 -1.69244673e-01 -2.51797069e-01  3.19563430e+02]
 [ 1.69575260e-01  9.85302941e-01 -2.05510633e-02  2.70613289e+01]
 [ 2.51574550e-01 -2.31161347e-02  9.67561827e-01  8.33116029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.06071405700004 meters
Centerline goodness : 0.998709 with order 1
Centerline is valid?  [True, True]
Translation: X:319.62, Y:27.06, Z:83.33
[[ 9.52886117e-01 -1.69130671e-01 -2.51799253e-01  3.19623380e+02]
 [ 1.69464397e-01  9.85322573e-01 -2.05242730e-02  2.70638330e+01]
 [ 2.51574771e-01 -2.31137137e-02  9.67561828e-01  8.33278802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.12071405700004 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:319.68, Y:27.07, Z:83.34
[[ 9.52871056e-01 -1.69213316e-01 -2.51800722e-01  3.19683947e+02]
 [ 1.69554582e-01  9.85307433e-01 -2.05062328e-02  2.70654572e+01]
 [ 2.51571050e-01 -2.31541704e-02  9.67561828e-01  8.33439168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.18071405700005 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:319.74, Y:27.07, Z:83.36
[[ 9.53102275e-01 -1.67903782e-01 -2.51802252e-01  3.19743984e+02]
 [ 1.68205403e-01  9.85539044e-01 -2.04874284e-02  2.70679331e+01]
 [ 2.51600867e-01 -2.28278846e-02  9.67561828e-01  8.33576383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.24071405700005 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:319.80, Y:27.07, Z:83.37
[[ 9.53369315e-01 -1.66376527e-01 -2.51805086e-01  3.19802849e+02]
 [ 1.66635319e-01  9.85806454e-01 -2.04525421e-02  2.70708542e+01]
 [ 2.51633901e-01 -2.24607948e-02  9.67561829e-01  8.33733544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.30071405700005 meters
Centerline goodness : 0.998625 with order 1
Centerline is valid?  [True, True]
Translation: X:319.86, Y:27.07, Z:83.39
[[ 9.54014948e-01 -1.62633022e-01 -2.51805441e-01  3.19860125e+02]
 [ 1.62765635e-01  9.86452848e-01 -2.04481655e-02  2.70742668e+01]
 [ 2.51719741e-01 -2.14774169e-02  9.67561829e-01  8.33876197e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.36071405700005 meters
Centerline goodness : 0.998385 with order 1
Centerline is valid?  [True, True]
Translation: X:319.92, Y:27.08, Z:83.41
[[ 9.54798061e-01 -1.57971055e-01 -2.51805101e-01  3.19917618e+02]
 [ 1.57944121e-01  9.87236221e-01 -2.04523565e-02  2.70802330e+01]
 [ 2.51821996e-01 -2.02432648e-02  9.67561829e-01  8.34067904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.42071405700005 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:319.98, Y:27.08, Z:83.42
[[ 9.55511905e-01 -1.53593682e-01 -2.51805442e-01  3.19975246e+02]
 [ 1.53419191e-01  9.87949607e-01 -2.04481464e-02  2.70849049e+01]
 [ 2.51911794e-01 -1.90933399e-02  9.67561829e-01  8.34244422e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.48071405700006 meters
Centerline goodness : 0.998140 with order 1
Centerline is valid?  [True, True]
Translation: X:320.03, Y:27.09, Z:83.44
[[ 9.55463543e-01 -1.53894240e-01 -2.51805442e-01  3.20033967e+02]
 [ 1.53729952e-01  9.87901298e-01 -2.04481464e-02  2.70885279e+01]
 [ 2.51905775e-01 -1.91725803e-02  9.67561829e-01  8.34394990e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.54071405700006 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:320.09, Y:27.09, Z:83.45
[[ 9.54863792e-01 -1.57571505e-01 -2.51806195e-01  3.20093182e+02]
 [ 1.57534528e-01  9.87301942e-01 -2.04388774e-02  2.70892711e+01]
 [ 2.51829330e-01 -2.01518261e-02  9.67561829e-01  8.34543427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.60071405700006 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:320.15, Y:27.09, Z:83.47
[[ 9.53843420e-01 -1.63633511e-01 -2.51807078e-01  3.20152842e+02]
 [ 1.63805432e-01  9.86281135e-01 -2.04279882e-02  2.70893032e+01]
 [ 2.51695274e-01 -2.17622650e-02  9.67561829e-01  8.34675017e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.66071405700006 meters
Centerline goodness : 0.998212 with order 1
Centerline is valid?  [True, True]
Translation: X:320.21, Y:27.09, Z:83.48
[[ 9.53597825e-01 -1.65058607e-01 -2.51807158e-01  3.20212757e+02]
 [ 1.65279256e-01  9.86035245e-01 -2.04269989e-02  2.70913188e+01]
 [ 2.51662385e-01 -2.21393581e-02  9.67561829e-01  8.34838148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.72071405700007 meters
Centerline goodness : 0.998390 with order 1
Centerline is valid?  [True, True]
Translation: X:320.27, Y:27.09, Z:83.50
[[ 9.54176561e-01 -1.61677081e-01 -2.51808682e-01  3.20271114e+02]
 [ 1.61787664e-01  9.86614543e-01 -2.04082040e-02  2.70946569e+01]
 [ 2.51737646e-01 -2.12665084e-02  9.67561829e-01  8.34974817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.78071405700007 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:320.33, Y:27.10, Z:83.51
[[ 9.54948702e-01 -1.57052125e-01 -2.51808672e-01  3.20328825e+02]
 [ 1.57005512e-01  9.87386839e-01 -2.04083201e-02  2.70997255e+01]
 [ 2.51837739e-01 -2.00464507e-02  9.67561829e-01  8.35141557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.84071405700007 meters
Centerline goodness : 0.997901 with order 1
Centerline is valid?  [True, True]
Translation: X:320.39, Y:27.10, Z:83.53
[[ 9.57058537e-01 -1.43636203e-01 -2.51808654e-01  3.20387090e+02]
 [ 1.43134343e-01  9.89492825e-01 -2.04085412e-02  2.71033797e+01]
 [ 2.52094262e-01 -1.65102978e-02  9.67561829e-01  8.35311828e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.9007140570001 meters
Centerline goodness : 0.997991 with order 1
Centerline is valid?  [True, True]
Translation: X:320.44, Y:27.11, Z:83.55
[[ 9.59101957e-01 -1.29289423e-01 -2.51808818e-01  3.20443887e+02]
 [ 1.28302487e-01  9.91525111e-01 -2.04065267e-02  2.71099511e+01]
 [ 2.52313114e-01 -1.27357578e-02  9.67561829e-01  8.35474544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.960714057 meters
Centerline goodness : 0.998077 with order 1
Centerline is valid?  [True, True]
Translation: X:320.50, Y:27.12, Z:83.56
[[ 9.60969685e-01 -1.14585305e-01 -2.51808404e-01  3.20502002e+02]
 [ 1.13100577e-01  9.93373859e-01 -2.04116358e-02  2.71173800e+01]
 [ 2.52478759e-01 -8.86471245e-03  9.67561829e-01  8.35644767e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.020714057 meters
Centerline goodness : 0.998055 with order 1
Centerline is valid?  [True, True]
Translation: X:320.56, Y:27.12, Z:83.58
[[ 9.61661315e-01 -1.08628325e-01 -2.51808267e-01  3.20560203e+02]
 [ 1.06942387e-01  9.94055643e-01 -2.04133209e-02  2.71213054e+01]
 [ 2.52528894e-01 -7.29827603e-03  9.67561829e-01  8.35801910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.080714057 meters
Centerline goodness : 0.997952 with order 1
Centerline is valid?  [True, True]
Translation: X:320.62, Y:27.12, Z:83.60
[[ 9.61333616e-01 -1.11491625e-01 -2.51808055e-01  3.20619070e+02]
 [ 1.09901480e-01  9.93732788e-01 -2.04159322e-02  2.71225632e+01]
 [ 2.52506126e-01 -8.04755602e-03  9.67561829e-01  8.35956488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.140714057 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:320.68, Y:27.12, Z:83.61
[[ 9.60360293e-01 -1.19586135e-01 -2.51807988e-01  3.20678299e+02]
 [ 1.18268768e-01  9.92771703e-01 -2.04167560e-02  2.71208572e+01]
 [ 2.52429406e-01 -1.01735788e-02  9.67561829e-01  8.36063974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.200714057 meters
Centerline goodness : 0.998436 with order 1
Centerline is valid?  [True, True]
Translation: X:320.74, Y:27.12, Z:83.62
[[ 9.59111794e-01 -1.29217994e-01 -2.51808014e-01  3.20735735e+02]
 [ 1.28226048e-01  9.91534795e-01 -2.04164359e-02  2.71204014e+01]
 [ 2.52314579e-01 -1.27067021e-02  9.67561829e-01  8.36238417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.26071405700003 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:320.79, Y:27.12, Z:83.64
[[ 9.58105290e-01 -1.36481486e-01 -2.51807579e-01  3.20793721e+02]
 [ 1.35733834e-01  9.90534844e-01 -2.04217980e-02  2.71206162e+01]
 [ 2.52211379e-01 -1.46125754e-02  9.67561829e-01  8.36411131e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.32071405700003 meters
Centerline goodness : 0.998168 with order 1
Centerline is valid?  [True, True]
Translation: X:320.85, Y:27.12, Z:83.66
[[ 9.57527883e-01 -1.40475131e-01 -2.51807647e-01  3.20851759e+02]
 [ 1.39862920e-01  9.89960276e-01 -2.04209612e-02  2.71202964e+01]
 [ 2.52148205e-01 -1.56649131e-02  9.67561829e-01  8.36559264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.38071405700003 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:320.91, Y:27.12, Z:83.67
[[ 9.57289229e-01 -1.42092369e-01 -2.51807647e-01  3.20909750e+02]
 [ 1.41534943e-01  9.89722610e-01 -2.04209612e-02  2.71213749e+01]
 [ 2.52121385e-01 -1.60908147e-02  9.67561829e-01  8.36705841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.44071405700004 meters
Centerline goodness : 0.998450 with order 1
Centerline is valid?  [True, True]
Translation: X:320.97, Y:27.12, Z:83.68
[[ 9.57206234e-01 -1.42651033e-01 -2.51807284e-01  3.20968134e+02]
 [ 1.42111363e-01  9.89639915e-01 -2.04254351e-02  2.71234100e+01]
 [ 2.52112249e-01 -1.62333227e-02  9.67561829e-01  8.36846466e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.50071405700004 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:321.03, Y:27.13, Z:83.70
[[ 9.57292024e-01 -1.42074958e-01 -2.51806843e-01  3.21025694e+02]
 [ 1.41514345e-01  9.89725351e-01 -2.04308773e-02  2.71267575e+01]
 [ 2.52122332e-01 -1.60759645e-02  9.67561829e-01  8.36990770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.56071405700004 meters
Centerline goodness : 0.998848 with order 1
Centerline is valid?  [True, True]
Translation: X:321.08, Y:27.13, Z:83.71
[[ 9.57443864e-01 -1.41049358e-01 -2.51806129e-01  3.21084387e+02]
 [ 1.40451696e-01  9.89876528e-01 -2.04396705e-02  2.71312143e+01]
 [ 2.52139979e-01 -1.57967608e-02  9.67561829e-01  8.37134789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.62071405700004 meters
Centerline goodness : 0.998806 with order 1
Centerline is valid?  [True, True]
Translation: X:321.14, Y:27.14, Z:83.73
[[ 9.57553139e-01 -1.40305720e-01 -2.51806058e-01  3.21139907e+02]
 [ 1.39682640e-01  9.89985325e-01 -2.04405475e-02  2.71360275e+01]
 [ 2.52152228e-01 -1.56000246e-02  9.67561829e-01  8.37277468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.68071405700005 meters
Centerline goodness : 0.998665 with order 1
Centerline is valid?  [True, True]
Translation: X:321.20, Y:27.14, Z:83.75
[[ 9.57212384e-01 -1.42615011e-01 -2.51804311e-01  3.21197769e+02]
 [ 1.42064531e-01  9.89645883e-01 -2.04620420e-02  2.71384175e+01]
 [ 2.52115294e-01 -1.61859413e-02  9.67561829e-01  8.37461592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.74071405700005 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:321.26, Y:27.14, Z:83.76
[[ 9.56834039e-01 -1.45131669e-01 -2.51804330e-01  3.21256129e+02]
 [ 1.44666541e-01  9.89268875e-01 -2.04618063e-02  2.71427190e+01]
 [ 2.52071843e-01 -1.68491088e-02  9.67561829e-01  8.37597244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.80071405700005 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:321.31, Y:27.15, Z:83.77
[[ 9.56649858e-01 -1.46342036e-01 -2.51803610e-01  3.21314217e+02]
 [ 1.45915621e-01  9.89085226e-01 -2.04706645e-02  2.71484342e+01]
 [ 2.52050949e-01 -1.71588220e-02  9.67561829e-01  8.37734472e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.86071405700005 meters
Centerline goodness : 0.998552 with order 1
Centerline is valid?  [True, True]
Translation: X:321.37, Y:27.15, Z:83.79
[[ 9.56604303e-01 -1.46640132e-01 -2.51803255e-01  3.21371716e+02]
 [ 1.46222678e-01  9.89039787e-01 -2.04750388e-02  2.71531437e+01]
 [ 2.52045900e-01 -1.72328360e-02  9.67561829e-01  8.37884279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.92071405700005 meters
Centerline goodness : 0.998945 with order 1
Centerline is valid?  [True, True]
Translation: X:321.43, Y:27.16, Z:83.81
[[ 9.56357418e-01 -1.48242930e-01 -2.51802548e-01  3.21430785e+02]
 [ 1.47877555e-01  9.88793530e-01 -2.04837233e-02  2.71603081e+01]
 [ 2.52017298e-01 -1.76461844e-02  9.67561829e-01  8.38073178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.98071405700006 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:321.49, Y:27.17, Z:83.82
[[ 9.56336766e-01 -1.48373493e-01 -2.51804084e-01  3.21489924e+02]
 [ 1.48017496e-01  9.88772983e-01 -2.04648304e-02  2.71673718e+01]
 [ 2.52013513e-01 -1.77001402e-02  9.67561830e-01  8.38203695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.04071405700006 meters
Centerline goodness : 0.997742 with order 1
Centerline is valid?  [True, True]
Translation: X:321.55, Y:27.17, Z:83.84
[[ 9.56333844e-01 -1.48391042e-01 -2.51804839e-01  3.21547790e+02]
 [ 1.48038076e-01  9.88770094e-01 -2.04555358e-02  2.71748215e+01]
 [ 2.52012512e-01 -1.77143825e-02  9.67561830e-01  8.38359211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.10071405700006 meters
Centerline goodness : 0.998584 with order 1
Centerline is valid?  [True, True]
Translation: X:321.61, Y:27.18, Z:83.85
[[ 9.56323474e-01 -1.48457861e-01 -2.51804839e-01  3.21605835e+02]
 [ 1.48107161e-01  9.88759748e-01 -2.04555358e-02  2.71825715e+01]
 [ 2.52011274e-01 -1.77319907e-02  9.67561830e-01  8.38510442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.16071405700006 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:321.67, Y:27.19, Z:83.87
[[ 9.56119239e-01 -1.49766954e-01 -2.51805204e-01  3.21665677e+02]
 [ 1.49461840e-01  9.88555974e-01 -2.04510332e-02  2.71893063e+01]
 [ 2.51986428e-01 -1.80816429e-02  9.67561830e-01  8.38676885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.22071405700007 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:321.72, Y:27.20, Z:83.88
[[ 9.55512017e-01 -1.53590912e-01 -2.51806706e-01  3.21724431e+02]
 [ 1.53420417e-01  9.87949739e-01 -2.04325348e-02  2.71956808e+01]
 [ 2.51910621e-01 -1.91087573e-02  9.67561830e-01  8.38808945e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.28071405700007 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:321.78, Y:27.20, Z:83.90
[[ 9.55086291e-01 -1.56216031e-01 -2.51806926e-01  3.21782461e+02]
 [ 1.56135386e-01  9.87524361e-01 -2.04298178e-02  2.72013727e+01]
 [ 2.51856939e-01 -1.98037327e-02  9.67561830e-01  8.38951976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.34071405700007 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:321.84, Y:27.21, Z:83.91
[[ 9.54870945e-01 -1.57526459e-01 -2.51807255e-01  3.21842135e+02]
 [ 1.57491388e-01  9.87309096e-01 -2.04257637e-02  2.72088354e+01]
 [ 2.51829191e-01 -2.01535057e-02  9.67561830e-01  8.39133329e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.4007140570001 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:321.90, Y:27.21, Z:83.93
[[ 9.54884007e-01 -1.57443960e-01 -2.51809317e-01  3.21900984e+02]
 [ 1.57412756e-01  9.87322162e-01 -2.04003093e-02  2.72146854e+01]
 [ 2.51828825e-01 -2.01580695e-02  9.67561830e-01  8.39274743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.460714057 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:321.96, Y:27.22, Z:83.94
[[ 9.54840325e-01 -1.57706878e-01 -2.51810434e-01  3.21961665e+02]
 [ 1.57688219e-01  9.87278489e-01 -2.03865149e-02  2.72216468e+01]
 [ 2.51822118e-01 -2.02416724e-02  9.67561830e-01  8.39415173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.520714057 meters
Centerline goodness : 0.998881 with order 1
Centerline is valid?  [True, True]
Translation: X:322.02, Y:27.23, Z:83.96
[[ 9.55573245e-01 -1.53201009e-01 -2.51811884e-01  3.22019633e+02]
 [ 1.53034032e-01  9.88010985e-01 -2.03685907e-02  2.72316191e+01]
 [ 2.51913396e-01 -1.90721075e-02  9.67561830e-01  8.39574536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.580714057 meters
Centerline goodness : 0.998452 with order 1
Centerline is valid?  [True, True]
Translation: X:322.08, Y:27.24, Z:83.98
[[ 9.56967472e-01 -1.44235746e-01 -2.51812047e-01  3.22077017e+02]
 [ 1.43765202e-01  9.89402228e-01 -2.03665673e-02  2.72417687e+01]
 [ 2.52080988e-01 -1.67116674e-02  9.67561830e-01  8.39751239e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.640714057 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:322.13, Y:27.25, Z:83.99
[[ 9.58125543e-01 -1.36331077e-01 -2.51811994e-01  3.22133775e+02]
 [ 1.35592629e-01  9.90555307e-01 -2.03672230e-02  2.72520970e+01]
 [ 2.52210393e-01 -1.46294937e-02  9.67561830e-01  8.39940889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.700714057 meters
Centerline goodness : 0.998336 with order 1
Centerline is valid?  [True, True]
Translation: X:322.19, Y:27.26, Z:84.01
[[ 9.58965120e-01 -1.30294016e-01 -2.51812168e-01  3.22192707e+02]
 [ 1.29351900e-01  9.91389605e-01 -2.03650736e-02  2.72616535e+01]
 [ 2.52297413e-01 -1.30429871e-02  9.67561830e-01  8.40101326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.76071405700003 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:322.25, Y:27.27, Z:84.02
[[ 9.59156897e-01 -1.28872481e-01 -2.51813284e-01  3.22251912e+02]
 [ 1.27885921e-01  9.91580061e-01 -2.03512679e-02  2.72687822e+01]
 [ 2.52315750e-01 -1.26833147e-02  9.67561831e-01  8.40241674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.82071405700003 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:322.31, Y:27.28, Z:84.04
[[ 9.58859557e-01 -1.31065024e-01 -2.51814038e-01  3.22310702e+02]
 [ 1.30155037e-01  9.91284960e-01 -2.03419413e-02  2.72750365e+01]
 [ 2.52285585e-01 -1.32698005e-02  9.67561831e-01  8.40396086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.88071405700003 meters
Centerline goodness : 0.998695 with order 1
Centerline is valid?  [True, True]
Translation: X:322.37, Y:27.28, Z:84.06
[[ 9.58486244e-01 -1.33765658e-01 -2.51815147e-01  3.22369511e+02]
 [ 1.32950616e-01  9.90914173e-01 -2.03282038e-02  2.72807421e+01]
 [ 2.52246413e-01 -1.39946752e-02  9.67561831e-01  8.40553115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 331.94071405700004 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:322.43, Y:27.28, Z:84.07
[[ 9.58061860e-01 -1.36771440e-01 -2.51815500e-01  3.22427673e+02]
 [ 1.36059264e-01  9.90492210e-01 -2.03238265e-02  2.72848812e+01]
 [ 2.52201010e-01 -1.47903485e-02  9.67561831e-01  8.40686672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.00071405700004 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:322.49, Y:27.29, Z:84.09
[[ 9.57676591e-01 -1.39443539e-01 -2.51815500e-01  3.22485626e+02]
 [ 1.38821834e-01  9.90108802e-01 -2.03238265e-02  2.72890336e+01]
 [ 2.52158769e-01 -1.54938366e-02  9.67561831e-01  8.40851354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.06071405700004 meters
Centerline goodness : 0.998912 with order 1
Centerline is valid?  [True, True]
Translation: X:322.55, Y:27.29, Z:84.10
[[ 9.57559045e-01 -1.40248209e-01 -2.51815637e-01  3.22545868e+02]
 [ 1.39654203e-01  9.89991775e-01 -2.03221244e-02  2.72926720e+01]
 [ 2.52145551e-01 -1.57074780e-02  9.67561831e-01  8.41006520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.12071405700004 meters
Centerline goodness : 0.998674 with order 1
Centerline is valid?  [True, True]
Translation: X:322.61, Y:27.30, Z:84.12
[[ 9.57692138e-01 -1.39333820e-01 -2.51817108e-01  3.22605188e+02]
 [ 1.38713624e-01  9.90124378e-01 -2.03038824e-02  2.72976086e+01]
 [ 2.52159275e-01 -1.54855950e-02  9.67561831e-01  8.41161732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.18071405700005 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:322.66, Y:27.30, Z:84.13
[[ 9.57796538e-01 -1.38613004e-01 -2.51817846e-01  3.22663352e+02]
 [ 1.37970798e-01  9.90228349e-01 -2.02947236e-02  2.73021101e+01]
 [ 2.52170283e-01 -1.53052931e-02  9.67561831e-01  8.41311946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.24071405700005 meters
Centerline goodness : 0.997968 with order 1
Centerline is valid?  [True, True]
Translation: X:322.72, Y:27.31, Z:84.15
[[ 9.57811605e-01 -1.38508185e-01 -2.51818212e-01  3.22722354e+02]
 [ 1.37863617e-01  9.90243370e-01 -2.02901893e-02  2.73070090e+01]
 [ 2.52171672e-01 -1.52823907e-02  9.67561831e-01  8.41480190e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.30071405700005 meters
Centerline goodness : 0.998085 with order 1
Centerline is valid?  [True, True]
Translation: X:322.78, Y:27.31, Z:84.16
[[ 9.57545677e-01 -1.40333535e-01 -2.51818933e-01  3.22780260e+02]
 [ 1.39753132e-01  9.89978653e-01 -2.02812278e-02  2.73113425e+01]
 [ 2.52141505e-01 -1.57722825e-02  9.67561831e-01  8.41648120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.36071405700005 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:322.84, Y:27.32, Z:84.18
[[ 9.57236690e-01 -1.42425620e-01 -2.51819105e-01  3.22839653e+02]
 [ 1.41916648e-01  9.89670866e-01 -2.02790992e-02  2.73157583e+01]
 [ 2.52106295e-01 -1.63254253e-02  9.67561831e-01  8.41809092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.42071405700005 meters
Centerline goodness : 0.997758 with order 1
Centerline is valid?  [True, True]
Translation: X:322.90, Y:27.32, Z:84.20
[[ 9.57214054e-01 -1.42575805e-01 -2.51820162e-01  3.22899771e+02]
 [ 1.42075363e-01  9.89648363e-01 -2.02659605e-02  2.73208868e+01]
 [ 2.52102847e-01 -1.63785787e-02  9.67561831e-01  8.41962572e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.48071405700006 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:322.96, Y:27.33, Z:84.21
[[ 9.57412253e-01 -1.41236123e-01 -2.51821634e-01  3.22961232e+02]
 [ 1.40695089e-01  9.89845910e-01 -2.02476502e-02  2.73253989e+01]
 [ 2.52124314e-01 -1.60447187e-02  9.67561831e-01  8.42108461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.54071405700006 meters
Centerline goodness : 0.997914 with order 1
Centerline is valid?  [True, True]
Translation: X:323.02, Y:27.33, Z:84.23
[[ 9.57947362e-01 -1.37555739e-01 -2.51823887e-01  3.23019941e+02]
 [ 1.36897416e-01  9.90378850e-01 -2.02195910e-02  2.73321339e+01]
 [ 2.52182373e-01 -1.51047355e-02  9.67561832e-01  8.42255251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.60071405700006 meters
Centerline goodness : 0.998199 with order 1
Centerline is valid?  [True, True]
Translation: X:323.08, Y:27.34, Z:84.24
[[ 9.58901196e-01 -1.30740958e-01 -2.51823943e-01  3.23077430e+02]
 [ 1.29852235e-01  9.91327188e-01 -2.02188998e-02  2.73400749e+01]
 [ 2.52283360e-01 -1.33119746e-02  9.67561832e-01  8.42426652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.66071405700006 meters
Centerline goodness : 0.997989 with order 1
Centerline is valid?  [True, True]
Translation: X:323.13, Y:27.35, Z:84.26
[[ 9.59568850e-01 -1.25746787e-01 -2.51824079e-01  3.23134313e+02]
 [ 1.24689698e-01  9.91989790e-01 -2.02172053e-02  2.73464786e+01]
 [ 2.52349164e-01 -1.20000678e-02  9.67561832e-01  8.42589948e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.72071405700007 meters
Centerline goodness : 0.998131 with order 1
Centerline is valid?  [True, True]
Translation: X:323.19, Y:27.35, Z:84.28
[[ 9.59401403e-01 -1.27018799e-01 -2.51823694e-01  3.23193024e+02]
 [ 1.26003437e-01  9.91823676e-01 -2.02220001e-02  2.73520978e+01]
 [ 2.52333276e-01 -1.23296356e-02  9.67561832e-01  8.42756448e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.78071405700007 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:323.25, Y:27.35, Z:84.29
[[ 9.58648047e-01 -1.32583467e-01 -2.51824434e-01  3.23252439e+02]
 [ 1.31758663e-01  9.91075728e-01 -2.02127771e-02  2.73544278e+01]
 [ 2.52256965e-01 -1.38031115e-02  9.67561832e-01  8.42882865e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.84071405700007 meters
Centerline goodness : 0.998163 with order 1
Centerline is valid?  [True, True]
Translation: X:323.31, Y:27.36, Z:84.30
[[ 9.57806066e-01 -1.38535056e-01 -2.51824500e-01  3.23310325e+02]
 [ 1.37911892e-01  9.90238248e-01 -2.02119523e-02  2.73577918e+01]
 [ 2.52166316e-01 -1.53704627e-02  9.67561832e-01  8.43008958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.9007140570001 meters
Centerline goodness : 0.998228 with order 1
Centerline is valid?  [True, True]
Translation: X:323.37, Y:27.36, Z:84.32
[[ 9.57005391e-01 -1.43961824e-01 -2.51824690e-01  3.23369354e+02]
 [ 1.43523119e-01  9.89440593e-01 -2.02095941e-02  2.73620331e+01]
 [ 2.52074980e-01 -1.68019743e-02  9.67561832e-01  8.43172065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 332.9607140570001 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:323.43, Y:27.37, Z:84.33
[[ 9.56513419e-01 -1.47193980e-01 -2.51825360e-01  3.23428110e+02]
 [ 1.46867040e-01  9.88949939e-01 -2.02012330e-02  2.73655528e+01]
 [ 2.52016175e-01 -1.76620948e-02  9.67561832e-01  8.43325054e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.020714057 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:323.49, Y:27.37, Z:84.35
[[ 9.56283827e-01 -1.48677642e-01 -2.51825734e-01  3.23485474e+02]
 [ 1.48402241e-01  9.88720827e-01 -2.01965801e-02  2.73708951e+01]
 [ 2.51988127e-01 -1.80578403e-02  9.67561832e-01  8.43472181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.080714057 meters
Centerline goodness : 0.998196 with order 1
Centerline is valid?  [True, True]
Translation: X:323.54, Y:27.37, Z:84.36
[[ 9.56964531e-01 -1.44231886e-01 -2.51825434e-01  3.23544295e+02]
 [ 1.43804763e-01  9.89399888e-01 -2.02003193e-02  2.73748873e+01]
 [ 2.52069586e-01 -1.68827076e-02  9.67561832e-01  8.43581513e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.140714057 meters
Centerline goodness : 0.998182 with order 1
Centerline is valid?  [True, True]
Translation: X:323.60, Y:27.38, Z:84.38
[[ 9.56398922e-01 -1.47936593e-01 -2.51825070e-01  3.23602897e+02]
 [ 1.47633890e-01  9.88835678e-01 -2.02048514e-02  2.73821152e+01]
 [ 2.52002651e-01 -1.78540166e-02  9.67561832e-01  8.43786665e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.200714057 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:323.66, Y:27.39, Z:84.39
[[ 9.56401450e-01 -1.47917798e-01 -2.51826513e-01  3.23662810e+02]
 [ 1.47619172e-01  9.88838243e-01 -2.01868551e-02  2.73878690e+01]
 [ 2.52001682e-01 -1.78676837e-02  9.67561832e-01  8.43940355e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.26071405700003 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:323.72, Y:27.39, Z:84.41
[[ 9.56273196e-01 -1.48742175e-01 -2.51827996e-01  3.23721906e+02]
 [ 1.48476363e-01  9.88710275e-01 -2.01683300e-02  2.73935567e+01]
 [ 2.51984809e-01 -1.81040717e-02  9.67561832e-01  8.44072279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.32071405700003 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:323.78, Y:27.40, Z:84.42
[[ 9.56176862e-01 -1.49355904e-01 -2.51830542e-01  3.23780790e+02]
 [ 1.49119252e-01  9.88614167e-01 -2.01364931e-02  2.73998053e+01]
 [ 2.51970746e-01 -1.82987334e-02  9.67561832e-01  8.44235636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.38071405700003 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:323.84, Y:27.41, Z:84.44
[[ 9.56270473e-01 -1.48754136e-01 -2.51831272e-01  3.23839705e+02]
 [ 1.48499463e-01  9.88707641e-01 -2.01273649e-02  2.74083071e+01]
 [ 2.51981531e-01 -1.81496038e-02  9.67561833e-01  8.44402935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.44071405700004 meters
Centerline goodness : 0.998385 with order 1
Centerline is valid?  [True, True]
Translation: X:323.90, Y:27.41, Z:84.46
[[ 9.56349312e-01 -1.48244555e-01 -2.51832377e-01  3.23899041e+02]
 [ 1.47976222e-01  9.88786369e-01 -2.01135262e-02  2.74139957e+01]
 [ 2.51990143e-01 -1.80296468e-02  9.67561833e-01  8.44569375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.50071405700004 meters
Centerline goodness : 0.998342 with order 1
Centerline is valid?  [True, True]
Translation: X:323.96, Y:27.42, Z:84.47
[[ 9.56194818e-01 -1.49235283e-01 -2.51833876e-01  3.23957324e+02]
 [ 1.49005477e-01  9.88632171e-01 -2.00947453e-02  2.74198699e+01]
 [ 2.51969916e-01 -1.83101353e-02  9.67561833e-01  8.44713520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.56071405700004 meters
Centerline goodness : 0.998189 with order 1
Centerline is valid?  [True, True]
Translation: X:324.02, Y:27.43, Z:84.49
[[ 9.55688709e-01 -1.52442127e-01 -2.51834248e-01  3.24016328e+02]
 [ 1.52322360e-01  9.88126656e-01 -2.00900760e-02  2.74263226e+01]
 [ 2.51906707e-01 -1.91601283e-02  9.67561833e-01  8.44855894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.62071405700004 meters
Centerline goodness : 0.998045 with order 1
Centerline is valid?  [True, True]
Translation: X:324.07, Y:27.43, Z:84.50
[[ 9.55406960e-01 -1.54197039e-01 -2.51834894e-01  3.24074665e+02]
 [ 1.54138968e-01  9.87845075e-01 -2.00819752e-02  2.74309611e+01]
 [ 2.51870441e-01 -1.96311119e-02  9.67561833e-01  8.44990032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.68071405700005 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:324.13, Y:27.44, Z:84.51
[[ 9.55001260e-01 -1.56690077e-01 -2.51834894e-01  3.24133647e+02]
 [ 1.56716668e-01  9.87439416e-01 -2.00819752e-02  2.74369115e+01]
 [ 2.51818347e-01 -2.02884140e-02  9.67561833e-01  8.45130712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.74071405700005 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:324.19, Y:27.44, Z:84.53
[[ 9.55430154e-01 -1.54052677e-01 -2.51835252e-01  3.24191850e+02]
 [ 1.53990881e-01  9.87868262e-01 -2.00774857e-02  2.74440574e+01]
 [ 2.51873043e-01 -1.95976972e-02  9.67561833e-01  8.45300937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.80071405700005 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:324.25, Y:27.45, Z:84.55
[[ 9.56345118e-01 -1.48266149e-01 -2.51835590e-01  3.24249922e+02]
 [ 1.48009101e-01  9.88782267e-01 -2.00732457e-02  2.74522507e+01]
 [ 2.51986748e-01 -1.80770089e-02  9.67561833e-01  8.45470099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.86071405700005 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:324.31, Y:27.46, Z:84.56
[[ 9.57472800e-01 -1.40799921e-01 -2.51835701e-01  3.24307297e+02]
 [ 1.40290161e-01  9.89906961e-01 -2.00718502e-02  2.74604889e+01]
 [ 2.52120029e-01 -1.61118205e-02  9.67561833e-01  8.45623512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.92071405700005 meters
Centerline goodness : 0.998692 with order 1
Centerline is valid?  [True, True]
Translation: X:324.37, Y:27.47, Z:84.58
[[ 9.58129175e-01 -1.36261849e-01 -2.51835647e-01  3.24365952e+02]
 [ 1.35598245e-01  9.90560553e-01 -2.00725305e-02  2.74671641e+01]
 [ 2.52193578e-01 -1.49163945e-02  9.67561833e-01  8.45771015e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 333.98071405700006 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:324.42, Y:27.47, Z:84.59
[[ 9.58433434e-01 -1.34104941e-01 -2.51835694e-01  3.24424311e+02]
 [ 1.33368494e-01  9.90863241e-01 -2.00719473e-02  2.74737723e+01]
 [ 2.52226479e-01 -1.43493218e-02  9.67561833e-01  8.45908091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.04071405700006 meters
Centerline goodness : 0.999036 with order 1
Centerline is valid?  [True, True]
Translation: X:324.48, Y:27.48, Z:84.61
[[ 9.58879556e-01 -1.30876966e-01 -2.51835694e-01  3.24482955e+02]
 [ 1.30031327e-01  9.91306699e-01 -2.00719473e-02  2.74797310e+01]
 [ 2.52273366e-01 -1.34999494e-02  9.67561833e-01  8.46058147e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.10071405700006 meters
Centerline goodness : 0.999061 with order 1
Centerline is valid?  [True, True]
Translation: X:324.54, Y:27.48, Z:84.62
[[ 9.59417039e-01 -1.26876822e-01 -2.51835694e-01  3.24540665e+02]
 [ 1.25895952e-01  9.91840373e-01 -2.00719473e-02  2.74845748e+01]
 [ 2.52327473e-01 -1.24477262e-02  9.67561833e-01  8.46223689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.16071405700006 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:324.60, Y:27.49, Z:84.64
[[ 9.60053742e-01 -1.21965659e-01 -2.51835641e-01  3.24597110e+02]
 [ 1.20818715e-01  9.92471626e-01 -2.00726027e-02  2.74895262e+01]
 [ 2.52387897e-01 -1.11556812e-02  9.67561833e-01  8.46397639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.22071405700007 meters
Centerline goodness : 0.998786 with order 1
Centerline is valid?  [True, True]
Translation: X:324.66, Y:27.49, Z:84.66
[[ 9.60775381e-01 -1.16145612e-01 -2.51834994e-01  3.24655694e+02]
 [ 1.14800116e-01  9.93185631e-01 -2.00807192e-02  2.74931362e+01]
 [ 2.52451185e-01 -9.61762599e-03  9.67561833e-01  8.46561398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.28071405700007 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:324.71, Y:27.50, Z:84.67
[[ 9.61498962e-01 -1.09994296e-01 -2.51835264e-01  3.24713495e+02]
 [ 1.08442287e-01  9.93899980e-01 -2.00773377e-02  2.74964294e+01]
 [ 2.52507456e-01 -8.00525266e-03  9.67561833e-01  8.46694640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.34071405700007 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:324.77, Y:27.50, Z:84.69
[[ 9.61727928e-01 -1.07974891e-01 -2.51834896e-01  3.24772604e+02]
 [ 1.06353637e-01  9.94125555e-01 -2.00819479e-02  2.75002239e+01]
 [ 2.52523852e-01 -7.47018696e-03  9.67561833e-01  8.46872432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.4007140570001 meters
Centerline goodness : 0.999109 with order 1
Centerline is valid?  [True, True]
Translation: X:324.83, Y:27.50, Z:84.70
[[ 9.62464075e-01 -1.01200357e-01 -2.51836044e-01  3.24831764e+02]
 [ 9.93547878e-02  9.94849697e-01 -2.00675441e-02  2.75014719e+01]
 [ 2.52569855e-01 -5.70682641e-03  9.67561833e-01  8.46953073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.4607140570001 meters
Centerline goodness : 0.998745 with order 1
Centerline is valid?  [True, True]
Translation: X:324.89, Y:27.50, Z:84.71
[[ 9.63340355e-01 -9.24896254e-02 -2.51835324e-01  3.24888379e+02]
 [ 9.03488059e-02  9.95707801e-01 -2.00765751e-02  2.75027340e+01]
 [ 2.52611271e-01 -3.41244581e-03  9.67561833e-01  8.47110221e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.520714057 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:324.95, Y:27.50, Z:84.73
[[ 9.64387008e-01 -8.08524734e-02 -2.51834422e-01  3.24946608e+02]
 [ 7.83180834e-02  9.96726018e-01 -2.00878882e-02  2.75028496e+01]
 [ 2.52634076e-01 -3.50690803e-04  9.67561833e-01  8.47285321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.580714057 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:325.00, Y:27.50, Z:84.75
[[ 9.65163794e-01 -7.09813861e-02 -2.51834259e-01  3.25002916e+02]
 [ 6.81157290e-02  9.97475134e-01 -2.00899283e-02  2.75012339e+01]
 [ 2.52624422e-01  2.23619732e-03  9.67561833e-01  8.47483982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.640714057 meters
Centerline goodness : 0.998673 with order 1
Centerline is valid?  [True, True]
Translation: X:325.06, Y:27.50, Z:84.76
[[ 9.65141453e-01 -7.12882243e-02 -2.51833207e-01  3.25059493e+02]
 [ 6.84294007e-02  9.97453398e-01 -2.01031089e-02  2.74960417e+01]
 [ 2.52625003e-01  2.16954833e-03  9.67561833e-01  8.47637019e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.700714057 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.12, Y:27.49, Z:84.78
[[ 9.64298167e-01 -8.19266546e-02 -2.51827458e-01  3.25118741e+02]
 [ 7.94055712e-02  9.96638214e-01 -2.01748769e-02  2.74881970e+01]
 [ 2.52633728e-01 -5.41906329e-04  9.67561836e-01  8.47770430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.76071405700003 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:325.18, Y:27.48, Z:84.79
[[ 9.62802367e-01 -9.79526058e-02 -2.51827100e-01  3.25177548e+02]
 [ 9.59685523e-02  9.95179798e-01 -2.01793419e-02  2.74779280e+01]
 [ 2.52589862e-01 -4.73876407e-03  9.67561836e-01  8.47895896e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.82071405700003 meters
Centerline goodness : 0.998310 with order 1
Centerline is valid?  [True, True]
Translation: X:325.24, Y:27.47, Z:84.81
[[ 9.61011064e-01 -1.14196972e-01 -2.51826900e-01  3.25236447e+02]
 [ 1.12759288e-01  9.93417353e-01 -2.01818374e-02  2.74684742e+01]
 [ 2.52473917e-01 -9.00085303e-03  9.67561836e-01  8.48058376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.88071405700003 meters
Centerline goodness : 0.998675 with order 1
Centerline is valid?  [True, True]
Translation: X:325.30, Y:27.47, Z:84.82
[[ 9.59817434e-01 -1.23829749e-01 -2.51826701e-01  3.25295147e+02]
 [ 1.22716508e-01  9.92236490e-01 -2.01843204e-02  2.74650389e+01]
 [ 2.52371061e-01 -1.15300309e-02  9.67561836e-01  8.48204264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 334.94071405700004 meters
Centerline goodness : 0.998677 with order 1
Centerline is valid?  [True, True]
Translation: X:325.35, Y:27.46, Z:84.84
[[ 9.58110141e-01 -1.36412750e-01 -2.51826367e-01  3.25353148e+02]
 [ 1.35723881e-01  9.90540990e-01 -2.01884881e-02  2.74574916e+01]
 [ 2.52198306e-01 -1.48360568e-02  9.67561836e-01  8.48360581e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.00071405700004 meters
Centerline goodness : 0.998801 with order 1
Centerline is valid?  [True, True]
Translation: X:325.41, Y:27.46, Z:84.85
[[ 9.57799846e-01 -1.38574694e-01 -2.51826348e-01  3.25410878e+02]
 [ 1.37958957e-01  9.90232166e-01 -2.01887167e-02  2.74577967e+01]
 [ 2.52164196e-01 -1.54049507e-02  9.67561836e-01  8.48515969e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.06071405700004 meters
Centerline goodness : 0.998869 with order 1
Centerline is valid?  [True, True]
Translation: X:325.47, Y:27.46, Z:84.87
[[ 9.57459474e-01 -1.40908537e-01 -2.51825612e-01  3.25469059e+02]
 [ 1.40369440e-01  9.89893159e-01 -2.01978933e-02  2.74589795e+01]
 [ 2.52126507e-01 -1.60099558e-02  9.67561836e-01  8.48657677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.12071405700004 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:325.53, Y:27.46, Z:84.88
[[ 9.57438499e-01 -1.41052308e-01 -2.51824876e-01  3.25526338e+02]
 [ 1.40515676e-01  9.89872224e-01 -2.02070737e-02  2.74611348e+01]
 [ 2.52124704e-01 -1.60383123e-02  9.67561836e-01  8.48793472e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.18071405700005 meters
Centerline goodness : 0.998664 with order 1
Centerline is valid?  [True, True]
Translation: X:325.58, Y:27.47, Z:84.89
[[ 9.57335156e-01 -1.41753939e-01 -2.51823788e-01  3.25584325e+02]
 [ 1.41237526e-01  9.89769209e-01 -2.02206275e-02  2.74660884e+01]
 [ 2.52113785e-01 -1.62090511e-02  9.67561836e-01  8.48943887e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.24071405700005 meters
Centerline goodness : 0.998408 with order 1
Centerline is valid?  [True, True]
Translation: X:325.64, Y:27.47, Z:84.91
[[ 9.57286553e-01 -1.42082434e-01 -2.51823426e-01  3.25642579e+02]
 [ 1.41575970e-01  9.89720763e-01 -2.02251335e-02  2.74717090e+01]
 [ 2.52108509e-01 -1.62908975e-02  9.67561836e-01  8.49097066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.30071405700005 meters
Centerline goodness : 0.998756 with order 1
Centerline is valid?  [True, True]
Translation: X:325.70, Y:27.48, Z:84.93
[[ 9.57491972e-01 -1.40691456e-01 -2.51823426e-01  3.25700805e+02]
 [ 1.40137870e-01  9.89925412e-01 -2.02251335e-02  2.74790392e+01]
 [ 2.52131912e-01 -1.59245955e-02  9.67561836e-01  8.49251008e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.36071405700005 meters
Centerline goodness : 0.998889 with order 1
Centerline is valid?  [True, True]
Translation: X:325.76, Y:27.48, Z:84.94
[[ 9.57594908e-01 -1.39987691e-01 -2.51824221e-01  3.25758599e+02]
 [ 1.39412862e-01  9.90027979e-01 -2.02152273e-02  2.74847265e+01]
 [ 2.52142907e-01 -1.57495367e-02  9.67561836e-01  8.49409746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.42071405700005 meters
Centerline goodness : 0.998571 with order 1
Centerline is valid?  [True, True]
Translation: X:325.82, Y:27.49, Z:84.96
[[ 9.57842473e-01 -1.38283620e-01 -2.51824221e-01  3.25815032e+02]
 [ 1.37651084e-01  9.90274469e-01 -2.02152273e-02  2.74928386e+01]
 [ 2.52170531e-01 -1.53008738e-02  9.67561836e-01  8.49568769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.48071405700006 meters
Centerline goodness : 0.998561 with order 1
Centerline is valid?  [True, True]
Translation: X:325.87, Y:27.50, Z:84.97
[[ 9.57822831e-01 -1.38420271e-01 -2.51823855e-01  3.25872986e+02]
 [ 1.37791169e-01  9.90254894e-01 -2.02197810e-02  2.74998795e+01]
 [ 2.52168633e-01 -1.53321354e-02  9.67561836e-01  8.49731376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.54071405700006 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:325.93, Y:27.51, Z:84.99
[[ 9.57599254e-01 -1.39958619e-01 -2.51823855e-01  3.25931365e+02]
 [ 1.39381612e-01  9.90032286e-01 -2.02197810e-02  2.75060039e+01]
 [ 2.52143680e-01 -1.57371677e-02  9.67561836e-01  8.49880701e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.60071405700006 meters
Centerline goodness : 0.998424 with order 1
Centerline is valid?  [True, True]
Translation: X:325.99, Y:27.51, Z:85.00
[[ 9.56952243e-01 -1.44316149e-01 -2.51823855e-01  3.25988181e+02]
 [ 1.43886783e-01  9.89387565e-01 -2.02197810e-02  2.75128322e+01]
 [ 2.52069432e-01 -1.68847596e-02  9.67561836e-01  8.50022427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.66071405700006 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:326.05, Y:27.52, Z:85.02
[[ 9.55924618e-01 -1.50973887e-01 -2.51823370e-01  3.26045739e+02]
 [ 1.50768728e-01  9.88362133e-01 -2.02258185e-02  2.75195853e+01]
 [ 2.51946254e-01 -1.86327315e-02  9.67561836e-01  8.50157201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.72071405700007 meters
Centerline goodness : 0.998437 with order 1
Centerline is valid?  [True, True]
Translation: X:326.10, Y:27.53, Z:85.03
[[ 9.55519772e-01 -1.53515379e-01 -2.51823336e-01  3.26103299e+02]
 [ 1.53396370e-01  9.87957718e-01 -2.02262420e-02  2.75256950e+01]
 [ 2.51895848e-01 -1.93022115e-02  9.67561836e-01  8.50306366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.78071405700007 meters
Centerline goodness : 0.998490 with order 1
Centerline is valid?  [True, True]
Translation: X:326.16, Y:27.53, Z:85.05
[[ 9.55076011e-01 -1.56253001e-01 -2.51822978e-01  3.26161498e+02]
 [ 1.56225781e-01  9.87514164e-01 -2.02307003e-02  2.75344742e+01]
 [ 2.51839865e-01 -2.00193850e-02  9.67561836e-01  8.50454539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.84071405700007 meters
Centerline goodness : 0.998389 with order 1
Centerline is valid?  [True, True]
Translation: X:326.22, Y:27.54, Z:85.06
[[ 9.54896299e-01 -1.57347434e-01 -2.51823040e-01  3.26219534e+02]
 [ 1.57357592e-01  9.87334461e-01 -2.02299275e-02  2.75431873e+01]
 [ 2.51816693e-01 -2.03087843e-02  9.67561836e-01  8.50599175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.9007140570001 meters
Centerline goodness : 0.998272 with order 1
Centerline is valid?  [True, True]
Translation: X:326.28, Y:27.55, Z:85.08
[[ 9.54605272e-01 -1.59102941e-01 -2.51823407e-01  3.26276401e+02]
 [ 1.59173940e-01  9.87043359e-01 -2.02253604e-02  2.75524973e+01]
 [ 2.51778536e-01 -2.07764882e-02  9.67561836e-01  8.50763257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 335.9607140570001 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:326.34, Y:27.56, Z:85.09
[[ 9.54113126e-01 -1.62028129e-01 -2.51823407e-01  3.26335636e+02]
 [ 1.62198552e-01  9.86550842e-01 -2.02253604e-02  2.75595497e+01]
 [ 2.51713672e-01 -2.15481102e-02  9.67561836e-01  8.50897226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.020714057 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:326.39, Y:27.57, Z:85.10
[[ 9.53733254e-01 -1.64248502e-01 -2.51823965e-01  3.26394833e+02]
 [ 1.64496247e-01  9.86170472e-01 -2.02184152e-02  2.75666896e+01]
 [ 2.51662203e-01 -2.21411222e-02  9.67561836e-01  8.51027156e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.080714057 meters
Centerline goodness : 0.998402 with order 1
Centerline is valid?  [True, True]
Translation: X:326.45, Y:27.58, Z:85.12
[[ 9.53689109e-01 -1.64504529e-01 -2.51824033e-01  3.26454081e+02]
 [ 1.64761205e-01  9.86126257e-01 -2.02175632e-02  2.75754232e+01]
 [ 2.51656172e-01 -2.22095614e-02  9.67561836e-01  8.51167229e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.140714057 meters
Centerline goodness : 0.998324 with order 1
Centerline is valid?  [True, True]
Translation: X:326.51, Y:27.59, Z:85.13
[[ 9.54048343e-01 -1.62407034e-01 -2.51824770e-01  3.26511242e+02]
 [ 1.62594790e-01  9.86485963e-01 -2.02083746e-02  2.75851996e+01]
 [ 2.51703583e-01 -2.16656294e-02  9.67561836e-01  8.51342095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.200714057 meters
Centerline goodness : 0.998726 with order 1
Centerline is valid?  [True, True]
Translation: X:326.57, Y:27.59, Z:85.15
[[ 9.54220366e-01 -1.61393171e-01 -2.51824814e-01  3.26570338e+02]
 [ 1.61546601e-01  9.86658167e-01 -2.02078329e-02  2.75916905e+01]
 [ 2.51726416e-01 -2.13987170e-02  9.67561836e-01  8.51495093e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.26071405700003 meters
Centerline goodness : 0.998052 with order 1
Centerline is valid?  [True, True]
Translation: X:326.63, Y:27.60, Z:85.17
[[ 9.54519388e-01 -1.59613408e-01 -2.51825927e-01  3.26629767e+02]
 [ 1.59709982e-01  9.86957408e-01 -2.01939570e-02  2.76012077e+01]
 [ 2.51764690e-01 -2.09435906e-02  9.67561836e-01  8.51668883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.32071405700003 meters
Centerline goodness : 0.998666 with order 1
Centerline is valid?  [True, True]
Translation: X:326.69, Y:27.61, Z:85.18
[[ 9.54427425e-01 -1.60160118e-01 -2.51827377e-01  3.26689731e+02]
 [ 1.60280015e-01  9.86865367e-01 -2.01758504e-02  2.76084213e+01]
 [ 2.51751084e-01 -2.11065109e-02  9.67561836e-01  8.51819157e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.38071405700003 meters
Centerline goodness : 0.998805 with order 1
Centerline is valid?  [True, True]
Translation: X:326.75, Y:27.62, Z:85.20
[[ 9.53920719e-01 -1.63148740e-01 -2.51828813e-01  3.26748257e+02]
 [ 1.63374937e-01  9.86358093e-01 -2.01579105e-02  2.76157105e+01]
 [ 2.51682126e-01 -2.19134682e-02  9.67561836e-01  8.51965640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.44071405700004 meters
Centerline goodness : 0.998591 with order 1
Centerline is valid?  [True, True]
Translation: X:326.81, Y:27.62, Z:85.21
[[ 9.53318271e-01 -1.66632601e-01 -2.51829009e-01  3.26806817e+02]
 [ 1.66977941e-01  9.85754597e-01 -2.01554644e-02  2.76218878e+01]
 [ 2.51600161e-01 -2.28353170e-02  9.67561836e-01  8.52088808e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.50071405700004 meters
Centerline goodness : 0.998398 with order 1
Centerline is valid?  [True, True]
Translation: X:326.87, Y:27.63, Z:85.22
[[ 9.52825801e-01 -1.69425814e-01 -2.51829081e-01  3.26865218e+02]
 [ 1.69866451e-01  9.85260972e-01 -2.01545613e-02  2.76283867e+01]
 [ 2.51532068e-01 -2.35735263e-02  9.67561836e-01  8.52229105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.56071405700004 meters
Centerline goodness : 0.998666 with order 1
Centerline is valid?  [True, True]
Translation: X:326.93, Y:27.63, Z:85.24
[[ 9.52889915e-01 -1.69063676e-01 -2.51829871e-01  3.26925491e+02]
 [ 1.69494571e-01  9.85325216e-01 -2.01446952e-02  2.76342942e+01]
 [ 2.51540058e-01 -2.34881189e-02  9.67561837e-01  8.52386050e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.62071405700004 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:326.98, Y:27.64, Z:85.25
[[ 9.53136926e-01 -1.67663360e-01 -2.51831288e-01  3.26984718e+02]
 [ 1.68051240e-01  9.85572770e-01 -2.01269653e-02  2.76421947e+01]
 [ 2.51572615e-01 -2.31368065e-02  9.67561837e-01  8.52549180e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.68071405700005 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:327.04, Y:27.65, Z:85.27
[[ 9.53674652e-01 -1.64575193e-01 -2.51832610e-01  3.27042862e+02]
 [ 1.64862347e-01  9.86111544e-01 -2.01104078e-02  2.76497601e+01]
 [ 2.51644718e-01 -2.23389290e-02  9.67561837e-01  8.52712814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.74071405700005 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:327.10, Y:27.66, Z:85.29
[[ 9.54190324e-01 -1.61558395e-01 -2.51832705e-01  3.27101051e+02]
 [ 1.61743277e-01  9.86627960e-01 -2.01092225e-02  2.76579244e+01]
 [ 2.51714001e-01 -2.15442215e-02  9.67561837e-01  8.52860625e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.80071405700005 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:327.16, Y:27.67, Z:85.30
[[ 9.54612557e-01 -1.59044327e-01 -2.51832817e-01  3.27160640e+02]
 [ 1.59144129e-01  9.87050567e-01 -2.01078202e-02  2.76650331e+01]
 [ 2.51769759e-01 -2.08825366e-02  9.67561837e-01  8.53011216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.86071405700005 meters
Centerline goodness : 0.998695 with order 1
Centerline is valid?  [True, True]
Translation: X:327.22, Y:27.67, Z:85.32
[[ 9.54876746e-01 -1.57448617e-01 -2.51833939e-01  3.27219616e+02]
 [ 1.57497889e-01  9.87314872e-01 -2.00937520e-02  2.76728358e+01]
 [ 2.51803127e-01 -2.04762574e-02  9.67561837e-01  8.53151909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.92071405700005 meters
Centerline goodness : 0.998379 with order 1
Centerline is valid?  [True, True]
Translation: X:327.28, Y:27.68, Z:85.33
[[ 9.55113676e-01 -1.56003144e-01 -2.51835036e-01  3.27277525e+02]
 [ 1.56006923e-01  9.87551839e-01 -2.00799949e-02  2.76798270e+01]
 [ 2.51832695e-01 -2.01093314e-02  9.67561837e-01  8.53301804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 336.98071405700006 meters
Centerline goodness : 0.998907 with order 1
Centerline is valid?  [True, True]
Translation: X:327.34, Y:27.69, Z:85.35
[[ 9.55107024e-01 -1.56043864e-01 -2.51835036e-01  3.27337279e+02]
 [ 1.56049025e-01  9.87545187e-01 -2.00799949e-02  2.76864175e+01]
 [ 2.51831838e-01 -2.01200677e-02  9.67561837e-01  8.53474016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.04071405700006 meters
Centerline goodness : 0.998494 with order 1
Centerline is valid?  [True, True]
Translation: X:327.40, Y:27.69, Z:85.36
[[ 9.54835667e-01 -1.57693455e-01 -2.51836502e-01  3.27395607e+02]
 [ 1.57759470e-01  9.87273762e-01 -2.00615942e-02  2.76924396e+01]
 [ 2.51795153e-01 -2.05740674e-02  9.67561837e-01  8.53621296e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.10071405700006 meters
Centerline goodness : 0.998283 with order 1
Centerline is valid?  [True, True]
Translation: X:327.46, Y:27.69, Z:85.37
[[ 9.55064370e-01 -1.56300727e-01 -2.51837512e-01  3.27456023e+02]
 [ 1.56322758e-01  9.87502525e-01 -2.00489061e-02  2.76923106e+01]
 [ 2.51823838e-01 -2.02199386e-02  9.67561837e-01  8.53735020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.16071405700006 meters
Centerline goodness : 0.998576 with order 1
Centerline is valid?  [True, True]
Translation: X:327.51, Y:27.69, Z:85.39
[[ 9.55502344e-01 -1.53599413e-01 -2.51838223e-01  3.27514234e+02]
 [ 1.53532058e-01  9.87940437e-01 -2.00399665e-02  2.76917951e+01]
 [ 2.51879292e-01 -1.95170058e-02  9.67561837e-01  8.53904566e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.22071405700007 meters
Centerline goodness : 0.998554 with order 1
Centerline is valid?  [True, True]
Translation: X:327.57, Y:27.69, Z:85.41
[[ 9.56333414e-01 -1.48336930e-01 -2.51838354e-01  3.27573140e+02]
 [ 1.48091432e-01  9.88770648e-01 -2.00383197e-02  2.76929068e+01]
 [ 2.51982796e-01 -1.81317879e-02  9.67561837e-01  8.54077037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.28071405700007 meters
Centerline goodness : 0.997835 with order 1
Centerline is valid?  [True, True]
Translation: X:327.63, Y:27.69, Z:85.42
[[ 9.57072128e-01 -1.43492947e-01 -2.51838669e-01  3.27633172e+02]
 [ 1.43084253e-01  9.89507716e-01 -2.00343646e-02  2.76864379e+01]
 [ 2.52071096e-01 -1.68598160e-02  9.67561837e-01  8.54173194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.34071405700007 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:327.69, Y:27.69, Z:85.44
[[ 9.57331274e-01 -1.41754195e-01 -2.51838399e-01  3.27691680e+02]
 [ 1.41285694e-01  9.89766054e-01 -2.00377579e-02  2.76881793e+01]
 [ 2.52101535e-01 -1.63983907e-02  9.67561837e-01  8.54378222e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.4007140570001 meters
Centerline goodness : 0.998811 with order 1
Centerline is valid?  [True, True]
Translation: X:327.75, Y:27.69, Z:85.46
[[ 9.57709369e-01 -1.39174785e-01 -2.51839520e-01  3.27751081e+02]
 [ 1.38622604e-01  9.90142831e-01 -2.00236624e-02  2.76910642e+01]
 [ 2.52143884e-01 -1.57338009e-02  9.67561837e-01  8.54558251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.4607140570001 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:327.81, Y:27.69, Z:85.47
[[ 9.57661448e-01 -1.39502157e-01 -2.51840622e-01  3.27810684e+02]
 [ 1.38964696e-01  9.90095158e-01 -2.00097906e-02  2.76864610e+01]
 [ 2.52137589e-01 -1.58343503e-02  9.67561837e-01  8.54698648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.520714057 meters
Centerline goodness : 0.998563 with order 1
Centerline is valid?  [True, True]
Translation: X:327.87, Y:27.69, Z:85.49
[[ 9.57386515e-01 -1.41374362e-01 -2.51841915e-01  3.27868567e+02]
 [ 1.40904584e-01  9.89821276e-01 -1.99935037e-02  2.76895359e+01]
 [ 2.52105055e-01 -1.63441696e-02  9.67561838e-01  8.54861751e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.580714057 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:327.93, Y:27.69, Z:85.50
[[ 9.57063548e-01 -1.43544468e-01 -2.51841915e-01  3.27926544e+02]
 [ 1.43148223e-01  9.89499291e-01 -1.99935037e-02  2.76864104e+01]
 [ 2.52067353e-01 -1.69156692e-02  9.67561838e-01  8.54995636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.640714057 meters
Centerline goodness : 0.998297 with order 1
Centerline is valid?  [True, True]
Translation: X:327.98, Y:27.69, Z:85.52
[[ 9.57207944e-01 -1.42578150e-01 -2.51842058e-01  3.27983945e+02]
 [ 1.42149630e-01  9.89643276e-01 -1.99917073e-02  2.76888397e+01]
 [ 2.52084180e-01 -1.66630343e-02  9.67561838e-01  8.55179858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.700714057 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:328.04, Y:27.69, Z:85.53
[[ 9.57648918e-01 -1.39585408e-01 -2.51842140e-01  3.28042859e+02]
 [ 1.39055777e-01  9.90082756e-01 -1.99906657e-02  2.76943230e+01]
 [ 2.52134966e-01 -1.58760650e-02  9.67561838e-01  8.55346355e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.76071405700003 meters
Centerline goodness : 0.998438 with order 1
Centerline is valid?  [True, True]
Translation: X:328.10, Y:27.70, Z:85.55
[[ 9.58414400e-01 -1.34227422e-01 -2.51842880e-01  3.28100471e+02]
 [ 1.33518849e-01  9.90844823e-01 -1.99813391e-02  2.76967564e+01]
 [ 2.52219258e-01 -1.44753684e-02  9.67561838e-01  8.55492090e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.82071405700003 meters
Centerline goodness : 0.998621 with order 1
Centerline is valid?  [True, True]
Translation: X:328.16, Y:27.70, Z:85.57
[[ 9.59406865e-01 -1.26940230e-01 -2.51842503e-01  3.28158788e+02]
 [ 1.25983981e-01  9.91830929e-01 -1.99860997e-02  2.76993436e+01]
 [ 2.52322223e-01 -1.25533200e-02  9.67561838e-01  8.55663766e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.88071405700003 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:328.22, Y:27.70, Z:85.58
[[ 9.59747134e-01 -1.24340796e-01 -2.51842817e-01  3.28216004e+02]
 [ 1.23297753e-01  9.92168523e-01 -1.99821419e-02  2.77040446e+01]
 [ 2.52355111e-01 -1.18738500e-02  9.67561838e-01  8.55821531e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 337.94071405700004 meters
Centerline goodness : 0.998351 with order 1
Centerline is valid?  [True, True]
Translation: X:328.27, Y:27.71, Z:85.60
[[ 9.59824444e-01 -1.23744075e-01 -2.51842096e-01  3.28273349e+02]
 [ 1.22678497e-01  9.92245099e-01 -1.99912250e-02  2.77056270e+01]
 [ 2.52362881e-01 -1.17075434e-02  9.67561838e-01  8.55963519e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.00071405700004 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:328.33, Y:27.71, Z:85.61
[[ 9.59190716e-01 -1.28574028e-01 -2.51837030e-01  3.28329727e+02]
 [ 1.27655002e-01  9.91615855e-01 -2.00548440e-02  2.77061384e+01]
 [ 2.52304124e-01 -1.29118363e-02  9.67561840e-01  8.56104062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.06071405700004 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:328.39, Y:27.71, Z:85.63
[[ 9.58738888e-01 -1.31904100e-01 -2.51835369e-01  3.28388118e+02]
 [ 1.31092220e-01  9.91166886e-01 -2.00756842e-02  2.77088511e+01]
 [ 2.52258943e-01 -1.37663183e-02  9.67561840e-01  8.56259659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.12071405700004 meters
Centerline goodness : 0.998909 with order 1
Centerline is valid?  [True, True]
Translation: X:328.45, Y:27.71, Z:85.64
[[ 9.58188630e-01 -1.35843958e-01 -2.51835201e-01  3.28445712e+02]
 [ 1.35164832e-01  9.90619680e-01 -2.00777858e-02  2.77123655e+01]
 [ 2.52200352e-01 -1.48009565e-02  9.67561840e-01  8.56392307e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.18071405700005 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:328.50, Y:27.72, Z:85.65
[[ 9.57708092e-01 -1.39200561e-01 -2.51830132e-01  3.28503569e+02]
 [ 1.38618471e-01  9.90141027e-01 -2.01411775e-02  2.77177300e+01]
 [ 2.52151008e-01 -1.56189392e-02  9.67561842e-01  8.56547486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.24071405700005 meters
Centerline goodness : 0.998522 with order 1
Centerline is valid?  [True, True]
Translation: X:328.56, Y:27.72, Z:85.67
[[ 9.57292806e-01 -1.42028703e-01 -2.51829966e-01  3.28561614e+02]
 [ 1.41541869e-01  9.89727310e-01 -2.01432500e-02  2.77232436e+01]
 [ 2.52103914e-01 -1.63614957e-02  9.67561842e-01  8.56701148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.30071405700005 meters
Centerline goodness : 0.998659 with order 1
Centerline is valid?  [True, True]
Translation: X:328.62, Y:27.73, Z:85.69
[[ 9.57028578e-01 -1.43798543e-01 -2.51829864e-01  3.28620504e+02]
 [ 1.43371350e-01  9.89463923e-01 -2.01445178e-02  2.77293176e+01]
 [ 2.52073318e-01 -1.68263084e-02  9.67561842e-01  8.56858904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.36071405700005 meters
Centerline goodness : 0.998820 with order 1
Centerline is valid?  [True, True]
Translation: X:328.68, Y:27.74, Z:85.70
[[ 9.56931459e-01 -1.44442106e-01 -2.51830619e-01  3.28678384e+02]
 [ 1.44039197e-01  9.89367115e-01 -2.01350814e-02  2.77368389e+01]
 [ 2.52061286e-01 -1.70055874e-02  9.67561842e-01  8.57018479e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.42071405700005 meters
Centerline goodness : 0.998818 with order 1
Centerline is valid?  [True, True]
Translation: X:328.74, Y:27.74, Z:85.72
[[ 9.56744475e-01 -1.45674849e-01 -2.51830990e-01  3.28736774e+02]
 [ 1.45314945e-01  9.89180637e-01 -2.01304410e-02  2.77442232e+01]
 [ 2.52038838e-01 -1.73351182e-02  9.67561842e-01  8.57203658e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.48071405700006 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:328.79, Y:27.75, Z:85.74
[[ 9.56261370e-01 -1.48811854e-01 -2.51831738e-01  3.28794586e+02]
 [ 1.48560785e-01  9.88698556e-01 -2.01210753e-02  2.77511121e+01]
 [ 2.51979930e-01 -1.81713136e-02  9.67561842e-01  8.57376326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.54071405700006 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:328.85, Y:27.76, Z:85.75
[[ 9.55867578e-01 -1.51320413e-01 -2.51831899e-01  3.28854151e+02]
 [ 1.51154982e-01  9.88305315e-01 -2.01190608e-02  2.77562080e+01]
 [ 2.51931229e-01 -1.88344882e-02  9.67561842e-01  8.57498669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.60071405700006 meters
Centerline goodness : 0.998843 with order 1
Centerline is valid?  [True, True]
Translation: X:328.91, Y:27.76, Z:85.76
[[ 9.55929790e-01 -1.50922627e-01 -2.51834466e-01  3.28913799e+02]
 [ 1.50752128e-01  9.88367499e-01 -2.00868831e-02  2.77639376e+01]
 [ 2.51936566e-01 -1.87629316e-02  9.67561842e-01  8.57634397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.66071405700006 meters
Centerline goodness : 0.999209 with order 1
Centerline is valid?  [True, True]
Translation: X:328.97, Y:27.77, Z:85.78
[[ 9.56132812e-01 -1.49629191e-01 -2.51835562e-01  3.28972464e+02]
 [ 1.49418409e-01  9.88570285e-01 -2.00731317e-02  2.77717735e+01]
 [ 2.51960680e-01 -1.84362891e-02  9.67561843e-01  8.57799454e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.72071405700007 meters
Centerline goodness : 0.999137 with order 1
Centerline is valid?  [True, True]
Translation: X:329.03, Y:27.78, Z:85.80
[[ 9.56888003e-01 -1.44719856e-01 -2.51836283e-01  3.29029135e+02]
 [ 1.44344963e-01  9.89323994e-01 -2.00640798e-02  2.77806437e+01]
 [ 2.52051348e-01 -1.71522216e-02  9.67561843e-01  8.57964884e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.78071405700007 meters
Centerline goodness : 0.998900 with order 1
Centerline is valid?  [True, True]
Translation: X:329.09, Y:27.79, Z:85.81
[[ 9.57170857e-01 -1.42837786e-01 -2.51835894e-01  3.29086590e+02]
 [ 1.42397827e-01  9.89606031e-01 -2.00689602e-02  2.77878226e+01]
 [ 2.52084925e-01 -1.66514602e-02  9.67561843e-01  8.58137597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.84071405700007 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:329.14, Y:27.79, Z:85.83
[[ 9.57233333e-01 -1.42418504e-01 -2.51835891e-01  3.29143886e+02]
 [ 1.41964326e-01  9.89668311e-01 -2.00689999e-02  2.77944847e+01]
 [ 2.52092198e-01 -1.65409970e-02  9.67561843e-01  8.58299705e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.9007140570001 meters
Centerline goodness : 0.999321 with order 1
Centerline is valid?  [True, True]
Translation: X:329.20, Y:27.80, Z:85.84
[[ 9.56774374e-01 -1.45469865e-01 -2.51835891e-01  3.29202460e+02]
 [ 1.45119107e-01  9.89210635e-01 -2.00689999e-02  2.77978485e+01]
 [ 2.52038176e-01 -1.73446948e-02  9.67561843e-01  8.58448683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 338.9607140570001 meters
Centerline goodness : 0.999369 with order 1
Centerline is valid?  [True, True]
Translation: X:329.26, Y:27.80, Z:85.86
[[ 9.55986180e-01 -1.50562525e-01 -2.51835959e-01  3.29261188e+02]
 [ 1.50384714e-01  9.88423850e-01 -2.00681524e-02  2.78030158e+01]
 [ 2.51942179e-01 -1.86874022e-02  9.67561843e-01  8.58593214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.020714057 meters
Centerline goodness : 0.999251 with order 1
Centerline is valid?  [True, True]
Translation: X:329.32, Y:27.81, Z:85.87
[[ 9.55466251e-01 -1.53827463e-01 -2.51835969e-01  3.29319644e+02]
 [ 1.53760499e-01  9.87904339e-01 -2.00680247e-02  2.78085722e+01]
 [ 2.51876860e-01 -1.95481040e-02  9.67561843e-01  8.58730875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.080714057 meters
Centerline goodness : 0.999345 with order 1
Centerline is valid?  [True, True]
Translation: X:329.38, Y:27.81, Z:85.89
[[ 9.55369647e-01 -1.54426193e-01 -2.51836036e-01  3.29379065e+02]
 [ 1.54379779e-01  9.87807771e-01 -2.00671778e-02  2.78123088e+01]
 [ 2.51864491e-01 -1.97068190e-02  9.67561843e-01  8.58862792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.140714057 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:329.44, Y:27.82, Z:85.90
[[ 9.55683014e-01 -1.52473079e-01 -2.51837126e-01  3.29436941e+02]
 [ 1.52363946e-01  9.88120987e-01 -2.00534928e-02  2.78187577e+01]
 [ 2.51903167e-01 -1.92061158e-02  9.67561843e-01  8.59027919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.200714057 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:329.49, Y:27.83, Z:85.92
[[ 9.56134344e-01 -1.49616774e-01 -2.51837126e-01  3.29494852e+02]
 [ 1.49410716e-01  9.88571846e-01 -2.00534928e-02  2.78251033e+01]
 [ 2.51959431e-01 -1.84533321e-02  9.67561843e-01  8.59192960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.26071405700003 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:329.55, Y:27.83, Z:85.94
[[ 9.56676838e-01 -1.46107799e-01 -2.51837126e-01  3.29553058e+02]
 [ 1.45782732e-01  9.89113367e-01 -2.00534928e-02  2.78307090e+01]
 [ 2.52025439e-01 -1.75287921e-02  9.67561843e-01  8.59351517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.32071405700003 meters
Centerline goodness : 0.999029 with order 1
Centerline is valid?  [True, True]
Translation: X:329.61, Y:27.84, Z:85.95
[[ 9.57003179e-01 -1.43954785e-01 -2.51837120e-01  3.29611415e+02]
 [ 1.43556713e-01  9.89438894e-01 -2.00535658e-02  2.78372438e+01]
 [ 2.52064248e-01 -1.69615829e-02  9.67561843e-01  8.59497957e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.38071405700003 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:329.67, Y:27.84, Z:85.96
[[ 9.57129413e-01 -1.43112442e-01 -2.51837477e-01  3.29670318e+02]
 [ 1.42686998e-01  9.89564781e-01 -2.00490804e-02  2.78411503e+01]
 [ 2.52078771e-01 -1.67443691e-02  9.67561843e-01  8.59638811e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.44071405700004 meters
Centerline goodness : 0.999130 with order 1
Centerline is valid?  [True, True]
Translation: X:329.73, Y:27.85, Z:85.98
[[ 9.57258134e-01 -1.42248263e-01 -2.51837839e-01  3.29729719e+02]
 [ 1.41794725e-01  9.89693120e-01 -2.00445389e-02  2.78464329e+01]
 [ 2.52093477e-01 -1.65214793e-02  9.67561843e-01  8.59782216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.50071405700004 meters
Centerline goodness : 0.999105 with order 1
Centerline is valid?  [True, True]
Translation: X:329.79, Y:27.86, Z:85.99
[[ 9.57419476e-01 -1.41156954e-01 -2.51838563e-01  3.29789134e+02]
 [ 1.40668827e-01  9.89853960e-01 -2.00354357e-02  2.78552597e+01]
 [ 2.52111540e-01 -1.62435189e-02  9.67561843e-01  8.59936561e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.56071405700004 meters
Centerline goodness : 0.998351 with order 1
Centerline is valid?  [True, True]
Translation: X:329.85, Y:27.86, Z:86.01
[[ 9.57566241e-01 -1.40155324e-01 -2.51839987e-01  3.29846922e+02]
 [ 1.39637960e-01  9.90000272e-01 -2.00175186e-02  2.78627733e+01]
 [ 2.52127218e-01 -1.59983221e-02  9.67561843e-01  8.60102306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.62071405700004 meters
Centerline goodness : 0.998800 with order 1
Centerline is valid?  [True, True]
Translation: X:329.90, Y:27.87, Z:86.03
[[ 9.57784915e-01 -1.38653033e-01 -2.51840015e-01  3.29904442e+02]
 [ 1.38084884e-01  9.90218096e-01 -2.00171668e-02  2.78703219e+01]
 [ 2.52151981e-01 -1.56031588e-02  9.67561843e-01  8.60269020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.68071405700005 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:329.96, Y:27.88, Z:86.04
[[ 9.57716229e-01 -1.39126036e-01 -2.51840368e-01  3.29961965e+02]
 [ 1.38575068e-01  9.90149707e-01 -2.00127259e-02  2.78786218e+01]
 [ 2.52143958e-01 -1.57322837e-02  9.67561843e-01  8.60429775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.74071405700005 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:330.02, Y:27.88, Z:86.06
[[ 9.57349519e-01 -1.41625663e-01 -2.51841360e-01  3.30020706e+02]
 [ 1.41162637e-01  9.89784371e-01 -2.00002298e-02  2.78848759e+01]
 [ 2.52101188e-01 -1.64033802e-02  9.67561843e-01  8.60551839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.80071405700005 meters
Centerline goodness : 0.999198 with order 1
Centerline is valid?  [True, True]
Translation: X:330.08, Y:27.89, Z:86.07
[[ 9.56956401e-01 -1.44256104e-01 -2.51842455e-01  3.30079664e+02]
 [ 1.43885830e-01  9.89392445e-01 -1.99864401e-02  2.78900670e+01]
 [ 2.52054188e-01 -1.71104087e-02  9.67561843e-01  8.60679310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.86071405700005 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:330.14, Y:27.90, Z:86.08
[[ 9.56879247e-01 -1.44767000e-01 -2.51842455e-01  3.30137629e+02]
 [ 1.44414043e-01  9.89315484e-01 -1.99864401e-02  2.78969722e+01]
 [ 2.52045017e-01 -1.72449772e-02  9.67561843e-01  8.60829317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.92071405700005 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:330.20, Y:27.91, Z:86.10
[[ 9.56966765e-01 -1.44187341e-01 -2.51842455e-01  3.30196548e+02]
 [ 1.43814736e-01  9.89402781e-01 -1.99864401e-02  2.79066804e+01]
 [ 2.52055417e-01 -1.70922972e-02  9.67561843e-01  8.61021302e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 339.98071405700006 meters
Centerline goodness : 0.998985 with order 1
Centerline is valid?  [True, True]
Translation: X:330.25, Y:27.91, Z:86.12
[[ 9.56779027e-01 -1.45425305e-01 -2.51843947e-01  3.30254061e+02]
 [ 1.45099594e-01  9.89215549e-01 -1.99676225e-02  2.79122823e+01]
 [ 2.52031746e-01 -1.74378519e-02  9.67561843e-01  8.61174442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.04071405700006 meters
Centerline goodness : 0.998728 with order 1
Centerline is valid?  [True, True]
Translation: X:330.31, Y:27.92, Z:86.13
[[ 9.56379774e-01 -1.48025481e-01 -2.51845558e-01  3.30313697e+02]
 [ 1.47793268e-01  9.88817099e-01 -1.99472837e-02  2.79174115e+01]
 [ 2.51981900e-01 -1.81438993e-02  9.67561843e-01  8.61337940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.10071405700006 meters
Centerline goodness : 0.998560 with order 1
Centerline is valid?  [True, True]
Translation: X:330.37, Y:27.92, Z:86.15
[[ 9.55638262e-01 -1.52736988e-01 -2.51847025e-01  3.30370973e+02]
 [ 1.52669495e-01  9.88076349e-01 -1.99287397e-02  2.79228572e+01]
 [ 2.51887945e-01 -1.94046921e-02  9.67561844e-01  8.61487448e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.16071405700006 meters
Centerline goodness : 0.998728 with order 1
Centerline is valid?  [True, True]
Translation: X:330.43, Y:27.93, Z:86.17
[[ 9.55283265e-01 -1.54942242e-01 -2.51846748e-01  3.30430539e+02]
 [ 1.54948703e-01  9.87721421e-01 -1.99322357e-02  2.79279728e+01]
 [ 2.51842774e-01 -1.99823957e-02  9.67561844e-01  8.61655289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.22071405700007 meters
Centerline goodness : 0.998915 with order 1
Centerline is valid?  [True, True]
Translation: X:330.49, Y:27.93, Z:86.18
[[ 9.55209821e-01 -1.55392028e-01 -2.51848200e-01  3.30490264e+02]
 [ 1.55418572e-01  9.87647966e-01 -1.99138762e-02  2.79327244e+01]
 [ 2.51831820e-01 -2.01199577e-02  9.67561844e-01  8.61818231e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.28071405700007 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:330.55, Y:27.94, Z:86.20
[[ 9.55552059e-01 -1.53271022e-01 -2.51849672e-01  3.30549037e+02]
 [ 1.53230431e-01  9.87990189e-01 -1.98952493e-02  2.79387203e+01]
 [ 2.51874370e-01 -1.95800874e-02  9.67561844e-01  8.61952548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.34071405700007 meters
Centerline goodness : 0.998816 with order 1
Centerline is valid?  [True, True]
Translation: X:330.61, Y:27.95, Z:86.21
[[ 9.56570774e-01 -1.46779074e-01 -2.51849672e-01  3.30606678e+02]
 [ 1.46518221e-01  9.89007882e-01 -1.98952493e-02  2.79467541e+01]
 [ 2.52001517e-01 -1.78693519e-02  9.67561844e-01  8.62112857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.4007140570001 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:330.66, Y:27.95, Z:86.23
[[ 9.57575541e-01 -1.40074176e-01 -2.51849775e-01  3.30664862e+02]
 [ 1.39586433e-01  9.90010030e-01 -1.98939436e-02  2.79534062e+01]
 [ 2.52120431e-01 -1.61048580e-02  9.67561844e-01  8.62277127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.4607140570001 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:330.72, Y:27.96, Z:86.24
[[ 9.58156754e-01 -1.36041093e-01 -2.51850067e-01  3.30723984e+02]
 [ 1.35417760e-01  9.90588920e-01 -1.98902406e-02  2.79593229e+01]
 [ 2.52185776e-01 -1.50470035e-02  9.67561844e-01  8.62441930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.520714057 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:330.78, Y:27.97, Z:86.26
[[ 9.58796588e-01 -1.31452956e-01 -2.51851588e-01  3.30781982e+02]
 [ 1.30679428e-01  9.91225520e-01 -1.98709696e-02  2.79650566e+01]
 [ 2.52253819e-01 -1.38596036e-02  9.67561844e-01  8.62587824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.580714057 meters
Centerline goodness : 0.998977 with order 1
Centerline is valid?  [True, True]
Translation: X:330.84, Y:27.97, Z:86.27
[[ 9.59035903e-01 -1.29695561e-01 -2.51851542e-01  3.30842338e+02]
 [ 1.28862449e-01  9.91463358e-01 -1.98715552e-02  2.79694838e+01]
 [ 2.52278828e-01 -1.33966714e-02  9.67561844e-01  8.62740451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.640714057 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:330.90, Y:27.97, Z:86.29
[[ 9.58921587e-01 -1.30535289e-01 -2.51852988e-01  3.30901352e+02]
 [ 1.29735378e-01  9.91349879e-01 -1.98532029e-02  2.79722958e+01]
 [ 2.52265973e-01 -1.36365778e-02  9.67561844e-01  8.62888323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.700714057 meters
Centerline goodness : 0.998813 with order 1
Centerline is valid?  [True, True]
Translation: X:330.96, Y:27.97, Z:86.30
[[ 9.58415877e-01 -1.34197224e-01 -2.51853353e-01  3.30959983e+02]
 [ 1.33522399e-01  9.90847013e-01 -1.98485791e-02  2.79747685e+01]
 [ 2.52211766e-01 -1.46048705e-02  9.67561844e-01  8.63032775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.76071405700003 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:331.02, Y:27.98, Z:86.32
[[ 9.57541937e-01 -1.40297095e-01 -2.51853457e-01  3.31018874e+02]
 [ 1.39829133e-01  9.89976717e-01 -1.98472519e-02  2.79750022e+01]
 [ 2.52113571e-01 -1.62118744e-02  9.67561844e-01  8.63178430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.82071405700003 meters
Centerline goodness : 0.998661 with order 1
Centerline is valid?  [True, True]
Translation: X:331.08, Y:27.98, Z:86.33
[[ 9.56450590e-01 -1.47553625e-01 -2.51853520e-01  3.31077228e+02]
 [ 1.47331822e-01  9.88887988e-01 -1.98464542e-02  2.79752964e+01]
 [ 2.51983337e-01 -1.81238853e-02  9.67561844e-01  8.63315284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.88071405700003 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:331.14, Y:27.98, Z:86.35
[[ 9.55776753e-01 -1.51856657e-01 -2.51853835e-01  3.31136083e+02]
 [ 1.51781887e-01  9.88214823e-01 -1.98424613e-02  2.79782711e+01]
 [ 2.51898903e-01 -1.92618870e-02  9.67561844e-01  8.63465975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 340.94071405700004 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:331.19, Y:27.98, Z:86.36
[[ 9.55018341e-01 -1.56555371e-01 -2.51853894e-01  3.31194102e+02]
 [ 1.56640330e-01  9.87456386e-01 -1.98417125e-02  2.79788759e+01]
 [ 2.51801062e-01 -2.05012777e-02  9.67561844e-01  8.63626138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.00071405700004 meters
Centerline goodness : 0.999044 with order 1
Centerline is valid?  [True, True]
Translation: X:331.25, Y:27.98, Z:86.38
[[ 9.54719472e-01 -1.58368249e-01 -2.51853585e-01  3.31253117e+02]
 [ 1.58513766e-01  9.87157301e-01 -1.98456326e-02  2.79802224e+01]
 [ 2.51762023e-01 -2.09752485e-02  9.67561844e-01  8.63780938e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.06071405700004 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:331.31, Y:27.98, Z:86.39
[[ 9.54877993e-01 -1.57409524e-01 -2.51853648e-01  3.31312442e+02]
 [ 1.57522680e-01  9.87315951e-01 -1.98448322e-02  2.79831366e+01]
 [ 2.51782890e-01 -2.07232680e-02  9.67561844e-01  8.63947567e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.12071405700004 meters
Centerline goodness : 0.999190 with order 1
Centerline is valid?  [True, True]
Translation: X:331.37, Y:27.99, Z:86.41
[[ 9.54995705e-01 -1.56692046e-01 -2.51854734e-01  3.31372630e+02]
 [ 1.56784442e-01  9.87433729e-01 -1.98310459e-02  2.79854343e+01]
 [ 2.51797226e-01 -2.05483402e-02  9.67561844e-01  8.64114677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.18071405700005 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:331.43, Y:27.99, Z:86.43
[[ 9.54830807e-01 -1.57691449e-01 -2.51856184e-01  3.31433224e+02]
 [ 1.57822625e-01  9.87268697e-01 -1.98126036e-02  2.79866532e+01]
 [ 2.51774005e-01 -2.08309200e-02  9.67561845e-01  8.64250773e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.24071405700005 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:331.49, Y:27.99, Z:86.44
[[ 9.54869133e-01 -1.57457467e-01 -2.51857273e-01  3.31493354e+02]
 [ 1.57584321e-01  9.87307040e-01 -1.97987612e-02  2.79877800e+01]
 [ 2.51777921e-01 -2.07835313e-02  9.67561845e-01  8.64381072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.30071405700005 meters
Centerline goodness : 0.999147 with order 1
Centerline is valid?  [True, True]
Translation: X:331.55, Y:27.99, Z:86.45
[[ 9.54929585e-01 -1.57089258e-01 -2.51858000e-01  3.31551808e+02]
 [ 1.57206031e-01  9.87367530e-01 -1.97894984e-02  2.79909843e+01]
 [ 2.51785129e-01 -2.06960190e-02  9.67561845e-01  8.64520112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.36071405700005 meters
Centerline goodness : 0.999331 with order 1
Centerline is valid?  [True, True]
Translation: X:331.61, Y:27.99, Z:86.47
[[ 9.55161448e-01 -1.55672656e-01 -2.51858359e-01  3.31610853e+02]
 [ 1.55742510e-01  9.87599528e-01 -1.97849326e-02  2.79942878e+01]
 [ 2.51815169e-01 -2.03272481e-02  9.67561845e-01  8.64670967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.42071405700005 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:331.67, Y:28.00, Z:86.49
[[ 9.55756950e-01 -1.51973161e-01 -2.51858713e-01  3.31668925e+02]
 [ 1.51918596e-01  9.88195059e-01 -1.97804283e-02  2.79994626e+01]
 [ 2.51891630e-01 -1.93567401e-02  9.67561845e-01  8.64850401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.48071405700006 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:331.73, Y:28.00, Z:86.50
[[ 9.56915059e-01 -1.44501007e-01 -2.51859145e-01  3.31726341e+02]
 [ 1.44194440e-01  9.89351765e-01 -1.97749229e-02  2.80044413e+01]
 [ 2.52034786e-01 -1.73937669e-02  9.67561845e-01  8.65046648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.54071405700006 meters
Centerline goodness : 0.998631 with order 1
Centerline is valid?  [True, True]
Translation: X:331.78, Y:28.01, Z:86.52
[[ 9.58268991e-01 -1.35230967e-01 -2.51859340e-01  3.31784583e+02]
 [ 1.34611068e-01  9.90701222e-01 -1.97724349e-02  2.80104705e+01]
 [ 2.52191202e-01 -1.49557436e-02  9.67561845e-01  8.65186503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.60071405700006 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:331.84, Y:28.02, Z:86.54
[[ 9.59072395e-01 -1.29410316e-01 -2.51859308e-01  3.31842350e+02]
 [ 1.28593406e-01  9.91500262e-01 -1.97728481e-02  2.80153682e+01]
 [ 2.52277380e-01 -1.34238535e-02  9.67561845e-01  8.65353622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.66071405700006 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:331.90, Y:28.02, Z:86.55
[[ 9.60044909e-01 -1.21986113e-01 -2.51859406e-01  3.31900831e+02]
 [ 1.20918661e-01  9.92465496e-01 -1.97716021e-02  2.80196921e+01]
 [ 2.52373631e-01 -1.14728761e-02  9.67561845e-01  8.65512520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.72071405700007 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:331.96, Y:28.02, Z:86.57
[[ 9.60738914e-01 -1.16393299e-01 -2.51859762e-01  3.31957831e+02]
 [ 1.15138255e-01  9.93152781e-01 -1.97670580e-02  2.80248043e+01]
 [ 2.52435976e-01 -1.00077118e-02  9.67561845e-01  8.65672900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.78071405700007 meters
Centerline goodness : 0.998490 with order 1
Centerline is valid?  [True, True]
Translation: X:332.01, Y:28.03, Z:86.58
[[ 9.60951635e-01 -1.14624694e-01 -2.51859355e-01  3.32014691e+02]
 [ 1.13308629e-01  9.93363082e-01 -1.97722514e-02  2.80271128e+01]
 [ 2.52454173e-01 -9.53766097e-03  9.67561845e-01  8.65814796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.84071405700007 meters
Centerline goodness : 0.998128 with order 1
Centerline is valid?  [True, True]
Translation: X:332.07, Y:28.03, Z:86.59
[[ 9.60738765e-01 -1.16405963e-01 -2.51854477e-01  3.32072413e+02]
 [ 1.15133774e-01  9.93151962e-01 -1.98341950e-02  2.80285497e+01]
 [ 2.52438586e-01 -9.94147636e-03  9.67561847e-01  8.65939692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.9007140570001 meters
Centerline goodness : 0.998700 with order 1
Centerline is valid?  [True, True]
Translation: X:332.13, Y:28.03, Z:86.61
[[ 9.60302688e-01 -1.19951720e-01 -2.51853792e-01  3.32130065e+02]
 [ 1.18796917e-01  9.92720279e-01 -1.98428854e-02  2.80305992e+01]
 [ 2.52400555e-01 -1.08642779e-02  9.67561847e-01  8.66078468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 341.9607140570001 meters
Centerline goodness : 0.998196 with order 1
Centerline is valid?  [True, True]
Translation: X:332.19, Y:28.03, Z:86.62
[[ 9.60015989e-01 -1.22227187e-01 -2.51852764e-01  3.32188960e+02]
 [ 1.21145800e-01  9.92436113e-01 -1.98559230e-02  2.80339895e+01]
 [ 2.52374712e-01 -1.14489011e-02  9.67561847e-01  8.66222908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.020714057 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:332.25, Y:28.03, Z:86.64
[[ 9.59281114e-01 -1.27867066e-01 -2.51852652e-01  3.32246651e+02]
 [ 1.26975856e-01  9.91707022e-01 -1.98573523e-02  2.80345733e+01]
 [ 2.52303145e-01 -1.29304229e-02  9.67561847e-01  8.66351989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.080714057 meters
Centerline goodness : 0.998962 with order 1
Centerline is valid?  [True, True]
Translation: X:332.30, Y:28.04, Z:86.65
[[ 9.58602481e-01 -1.32860385e-01 -2.51851944e-01  3.32303737e+02]
 [ 1.32135682e-01  9.91032538e-01 -1.98663239e-02  2.80363527e+01]
 [ 2.52232919e-01 -1.42347210e-02  9.67561847e-01  8.66537827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.140714057 meters
Centerline goodness : 0.999193 with order 1
Centerline is valid?  [True, True]
Translation: X:332.36, Y:28.04, Z:86.67
[[ 9.57995551e-01 -1.37169214e-01 -2.51851406e-01  3.32361761e+02]
 [ 1.36588547e-01  9.90428507e-01 -1.98731430e-02  2.80379554e+01]
 [ 2.52166795e-01 -1.53616350e-02  9.67561847e-01  8.66683375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.200714057 meters
Centerline goodness : 0.999313 with order 1
Centerline is valid?  [True, True]
Translation: X:332.42, Y:28.04, Z:86.69
[[ 9.57461518e-01 -1.40849132e-01 -2.51851076e-01  3.32420548e+02]
 [ 1.40391991e-01  9.89896449e-01 -1.98773295e-02  2.80394884e+01]
 [ 2.52106190e-01 -1.63260958e-02  9.67561847e-01  8.66872816e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.26071405700003 meters
Centerline goodness : 0.998905 with order 1
Centerline is valid?  [True, True]
Translation: X:332.48, Y:28.04, Z:86.70
[[ 9.57128045e-01 -1.43096377e-01 -2.51851807e-01  3.32479095e+02]
 [ 1.42717807e-01  9.89563989e-01 -1.98680544e-02  2.80428756e+01]
 [ 2.52066526e-01 -1.69274656e-02  9.67561847e-01  8.67014521e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.32071405700003 meters
Centerline goodness : 0.998442 with order 1
Centerline is valid?  [True, True]
Translation: X:332.54, Y:28.05, Z:86.72
[[ 9.56879879e-01 -1.44745455e-01 -2.51852439e-01  3.32537457e+02]
 [ 1.44424878e-01  9.89316448e-01 -1.98600389e-02  2.80472264e+01]
 [ 2.52036411e-01 -1.73700863e-02  9.67561847e-01  8.67166628e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.38071405700003 meters
Centerline goodness : 0.998692 with order 1
Centerline is valid?  [True, True]
Translation: X:332.60, Y:28.05, Z:86.73
[[ 9.56604025e-01 -1.46557083e-01 -2.51852658e-01  3.32596946e+02]
 [ 1.46298652e-01  9.89041148e-01 -1.98572715e-02  2.80518775e+01]
 [ 2.52002865e-01 -1.78501584e-02  9.67561847e-01  8.67299937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.44071405700004 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:332.66, Y:28.06, Z:86.74
[[ 9.56505839e-01 -1.47195910e-01 -2.51853022e-01  3.32656721e+02]
 [ 1.46960352e-01  9.88943136e-01 -1.98526520e-02  2.80574310e+01]
 [ 2.51990546e-01 -1.80232312e-02  9.67561847e-01  8.67449631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.50071405700004 meters
Centerline goodness : 0.998501 with order 1
Centerline is valid?  [True, True]
Translation: X:332.72, Y:28.06, Z:86.76
[[ 9.56515015e-01 -1.47134407e-01 -2.51854110e-01  3.32715579e+02]
 [ 1.46900382e-01  9.88952324e-01 -1.98388357e-02  2.80636433e+01]
 [ 2.51990683e-01 -1.80213208e-02  9.67561847e-01  8.67629238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.56071405700004 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:332.77, Y:28.07, Z:86.78
[[ 9.56693696e-01 -1.45966148e-01 -2.51855227e-01  3.32774573e+02]
 [ 1.45696228e-01  9.89130726e-01 -1.98246414e-02  2.80698414e+01]
 [ 2.52011470e-01 -1.77282471e-02  9.67561847e-01  8.67791423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.62071405700004 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:332.83, Y:28.08, Z:86.79
[[ 9.56467156e-01 -1.47441413e-01 -2.51856326e-01  3.32832286e+02]
 [ 1.47225177e-01  9.88904588e-01 -1.98106749e-02  2.80762170e+01]
 [ 2.51982790e-01 -1.81313322e-02  9.67561847e-01  8.67946333e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.68071405700005 meters
Centerline goodness : 0.998688 with order 1
Centerline is valid?  [True, True]
Translation: X:332.89, Y:28.08, Z:86.81
[[ 9.56291354e-01 -1.48577379e-01 -2.51856326e-01  3.32890547e+02]
 [ 1.48399671e-01  9.88729020e-01 -1.98106749e-02  2.80804892e+01]
 [ 2.51961076e-01 -1.84306189e-02  9.67561847e-01  8.68095507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.74071405700005 meters
Centerline goodness : 0.998687 with order 1
Centerline is valid?  [True, True]
Translation: X:332.95, Y:28.09, Z:86.82
[[ 9.55904999e-01 -1.51042949e-01 -2.51856430e-01  3.32950034e+02]
 [ 1.50949237e-01  9.88343016e-01 -1.98093542e-02  2.80863279e+01]
 [ 2.51912607e-01 -1.90816752e-02  9.67561847e-01  8.68236029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.80071405700005 meters
Centerline goodness : 0.998681 with order 1
Centerline is valid?  [True, True]
Translation: X:333.01, Y:28.09, Z:86.84
[[ 9.55973688e-01 -1.50606377e-01 -2.51857155e-01  3.33010107e+02]
 [ 1.50500268e-01  9.88411667e-01 -1.98001262e-02  2.80944676e+01]
 [ 2.51920576e-01 -1.89761697e-02  9.67561847e-01  8.68400356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.86071405700005 meters
Centerline goodness : 0.999004 with order 1
Centerline is valid?  [True, True]
Translation: X:333.07, Y:28.10, Z:86.86
[[ 9.56655597e-01 -1.46209190e-01 -2.51858972e-01  3.33067344e+02]
 [ 1.45959993e-01  9.89092792e-01 -1.97769893e-02  2.81028835e+01]
 [ 2.52003472e-01 -1.78415662e-02  9.67561848e-01  8.68577835e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.92071405700005 meters
Centerline goodness : 0.997858 with order 1
Centerline is valid?  [True, True]
Translation: X:333.13, Y:28.11, Z:86.87
[[ 9.57497864e-01 -1.40587433e-01 -2.51859117e-01  3.33125109e+02]
 [ 1.40148193e-01  9.89933042e-01 -1.97751427e-02  2.81125826e+01]
 [ 2.52103799e-01 -1.63629433e-02  9.67561848e-01  8.68746647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 342.98071405700006 meters
Centerline goodness : 0.998693 with order 1
Centerline is valid?  [True, True]
Translation: X:333.18, Y:28.12, Z:86.89
[[ 9.58251035e-01 -1.35358064e-01 -2.51859384e-01  3.33183236e+02]
 [ 1.34742645e-01  9.90683349e-01 -1.97717500e-02  2.81200073e+01]
 [ 2.52189163e-01 -1.49898996e-02  9.67561848e-01  8.68899525e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.04071405700006 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:333.24, Y:28.13, Z:86.90
[[ 9.58673267e-01 -1.32334550e-01 -2.51859355e-01  3.33242279e+02]
 [ 1.31616730e-01  9.91103476e-01 -1.97721146e-02  2.81258525e+01]
 [ 2.52235216e-01 -1.41939070e-02  9.67561848e-01  8.69046671e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.10071405700006 meters
Centerline goodness : 0.998506 with order 1
Centerline is valid?  [True, True]
Translation: X:333.30, Y:28.13, Z:86.92
[[ 9.59033844e-01 -1.29693476e-01 -2.51860453e-01  3.33300711e+02]
 [ 1.28889996e-01  9.91462044e-01 -1.97581228e-02  2.81320869e+01]
 [ 2.52272579e-01 -1.35135843e-02  9.67561848e-01  8.69201420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.16071405700006 meters
Centerline goodness : 0.998455 with order 1
Centerline is valid?  [True, True]
Translation: X:333.36, Y:28.14, Z:86.94
[[ 9.59423658e-01 -1.26777639e-01 -2.51860428e-01  3.33360072e+02]
 [ 1.25875506e-01  9.91849263e-01 -1.97584386e-02  2.81383045e+01]
 [ 2.52312508e-01 -1.27463455e-02  9.67561848e-01  8.69358647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.22071405700007 meters
Centerline goodness : 0.998144 with order 1
Centerline is valid?  [True, True]
Translation: X:333.42, Y:28.15, Z:86.95
[[ 9.60036584e-01 -1.22047289e-01 -2.51861505e-01  3.33418512e+02]
 [ 1.20988944e-01  9.92457466e-01 -1.97447018e-02  2.81458465e+01]
 [ 2.52371618e-01 -1.15168215e-02  9.67561848e-01  8.69522140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.28071405700007 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:333.48, Y:28.15, Z:86.97
[[ 9.60638740e-01 -1.17211864e-01 -2.51862246e-01  3.33475439e+02]
 [ 1.15992767e-01  9.93053976e-01 -1.97352399e-02  2.81536783e+01]
 [ 2.52426009e-01 -1.02557627e-02  9.67561848e-01  8.69677908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.34071405700007 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:333.53, Y:28.16, Z:86.98
[[ 9.60882222e-01 -1.15199572e-01 -2.51861896e-01  3.33534107e+02]
 [ 1.13911416e-01  9.93294787e-01 -1.97397045e-02  2.81603851e+01]
 [ 2.52447114e-01 -9.72241410e-03  9.67561848e-01  8.69847856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.4007140570001 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:333.59, Y:28.17, Z:87.00
[[ 9.60826496e-01 -1.15661833e-01 -2.51862631e-01  3.33593469e+02]
 [ 1.14391724e-01  9.93239773e-01 -1.97303298e-02  2.81660461e+01]
 [ 2.52442028e-01 -9.85357697e-03  9.67561848e-01  8.70008124e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.4607140570001 meters
Centerline goodness : 0.998046 with order 1
Centerline is valid?  [True, True]
Translation: X:333.65, Y:28.17, Z:87.02
[[ 9.60306204e-01 -1.19903495e-01 -2.51863349e-01  3.33652000e+02]
 [ 1.18778931e-01  9.92724857e-01 -1.97211542e-02  2.81698987e+01]
 [ 2.52395643e-01 -1.09777127e-02  9.67561848e-01  8.70158576e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.520714057 meters
Centerline goodness : 0.998405 with order 1
Centerline is valid?  [True, True]
Translation: X:333.71, Y:28.17, Z:87.03
[[ 9.59488519e-01 -1.26279853e-01 -2.51863417e-01  3.33710993e+02]
 [ 1.25370887e-01  9.91913933e-01 -1.97202861e-02  2.81715350e+01]
 [ 2.52317108e-01 -1.26549520e-02  9.67561848e-01  8.70314583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.580714057 meters
Centerline goodness : 0.997848 with order 1
Centerline is valid?  [True, True]
Translation: X:333.77, Y:28.17, Z:87.05
[[ 9.58467486e-01 -1.33808496e-01 -2.51863782e-01  3.33769537e+02]
 [ 1.33155335e-01  9.90899062e-01 -1.97156305e-02  2.81735473e+01]
 [ 2.52209704e-01 -1.46402155e-02  9.67561848e-01  8.70452987e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.640714057 meters
Centerline goodness : 0.997829 with order 1
Centerline is valid?  [True, True]
Translation: X:333.83, Y:28.18, Z:87.06
[[ 9.57522051e-01 -1.40414335e-01 -2.51863727e-01  3.33828841e+02]
 [ 1.39984637e-01  9.89957357e-01 -1.97163243e-02  2.81760116e+01]
 [ 2.52102804e-01 -1.63782373e-02  9.67561848e-01  8.70586605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.700714057 meters
Centerline goodness : 0.997687 with order 1
Centerline is valid?  [True, True]
Translation: X:333.89, Y:28.18, Z:87.07
[[ 9.56674288e-01 -1.46078605e-01 -2.51863750e-01  3.33887655e+02]
 [ 1.45840947e-01  9.89111569e-01 -1.97160354e-02  2.81791732e+01]
 [ 2.52001440e-01 -1.78702236e-02  9.67561848e-01  8.70733466e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.76071405700003 meters
Centerline goodness : 0.997990 with order 1
Centerline is valid?  [True, True]
Translation: X:333.95, Y:28.18, Z:87.09
[[ 9.56400957e-01 -1.47856177e-01 -2.51864569e-01  3.33946964e+02]
 [ 1.47681542e-01  9.88838639e-01 -1.97055625e-02  2.81846253e+01]
 [ 2.51967007e-01 -1.83493291e-02  9.67561848e-01  8.70890556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.82071405700003 meters
Centerline goodness : 0.997826 with order 1
Centerline is valid?  [True, True]
Translation: X:334.01, Y:28.19, Z:87.11
[[ 9.56318371e-01 -1.48386212e-01 -2.51866445e-01  3.34007064e+02]
 [ 1.48235841e-01  9.88756174e-01 -1.96815651e-02  2.81907649e+01]
 [ 2.51954975e-01 -1.85137919e-02  9.67561848e-01  8.71061210e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.88071405700003 meters
Centerline goodness : 0.998152 with order 1
Centerline is valid?  [True, True]
Translation: X:334.07, Y:28.20, Z:87.12
[[ 9.56400288e-01 -1.47854352e-01 -2.51868181e-01  3.34066072e+02]
 [ 1.47691766e-01  9.88838032e-01 -1.96593242e-02  2.81971885e+01]
 [ 2.51963553e-01 -1.83966732e-02  9.67561848e-01  8.71238994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 343.94071405700004 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:334.13, Y:28.20, Z:87.14
[[ 9.56310774e-01 -1.48429885e-01 -2.51869555e-01  3.34125054e+02]
 [ 1.48291436e-01  9.88748630e-01 -1.96417061e-02  2.82021689e+01]
 [ 2.51951093e-01 -1.85665227e-02  9.67561849e-01  8.71409201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.00071405700004 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:334.18, Y:28.21, Z:87.16
[[ 9.55827206e-01 -1.51511443e-01 -2.51870275e-01  3.34184005e+02]
 [ 1.51479968e-01  9.88265342e-01 -1.96324642e-02  2.82073376e+01]
 [ 2.51889206e-01 -1.93880577e-02  9.67561849e-01  8.71567844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.06071405700004 meters
Centerline goodness : 0.998183 with order 1
Centerline is valid?  [True, True]
Translation: X:334.24, Y:28.21, Z:87.17
[[ 9.55298768e-01 -1.54807195e-01 -2.51870993e-01  3.34242786e+02]
 [ 1.54890012e-01  9.87736813e-01 -1.96232510e-02  2.82111193e+01]
 [ 2.51820072e-01 -2.02662336e-02  9.67561849e-01  8.71709327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.12071405700004 meters
Centerline goodness : 0.998340 with order 1
Centerline is valid?  [True, True]
Translation: X:334.30, Y:28.22, Z:87.19
[[ 9.54707293e-01 -1.58413414e-01 -2.51871347e-01  3.34301887e+02]
 [ 1.58619914e-01  9.87144787e-01 -1.96186968e-02  2.82165551e+01]
 [ 2.51741352e-01 -2.12216986e-02  9.67561849e-01  8.71853056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.18071405700005 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:334.36, Y:28.22, Z:87.20
[[ 9.54638430e-01 -1.58827264e-01 -2.51871729e-01  3.34361588e+02]
 [ 1.59049109e-01  9.87075823e-01 -1.96137956e-02  2.82225880e+01]
 [ 2.51731700e-01 -2.13358911e-02  9.67561849e-01  8.71996780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.24071405700005 meters
Centerline goodness : 0.997915 with order 1
Centerline is valid?  [True, True]
Translation: X:334.42, Y:28.23, Z:87.21
[[ 9.54921694e-01 -1.57113479e-01 -2.51872811e-01  3.34419623e+02]
 [ 1.57280742e-01  9.87359414e-01 -1.95998925e-02  2.82290974e+01]
 [ 2.51768398e-01 -2.08983802e-02  9.67561849e-01  8.72129703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.30071405700005 meters
Centerline goodness : 0.998166 with order 1
Centerline is valid?  [True, True]
Translation: X:334.48, Y:28.24, Z:87.23
[[ 9.55800719e-01 -1.51674232e-01 -2.51872811e-01  3.34475890e+02]
 [ 1.51656813e-01  9.88238865e-01 -1.95998925e-02  2.82379268e+01]
 [ 2.51883300e-01 -1.94646365e-02  9.67561849e-01  8.72341350e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.36071405700005 meters
Centerline goodness : 0.998186 with order 1
Centerline is valid?  [True, True]
Translation: X:334.53, Y:28.25, Z:87.25
[[ 9.56760893e-01 -1.45494626e-01 -2.51872801e-01  3.34533418e+02]
 [ 1.45267555e-01  9.89198249e-01 -1.96000236e-02  2.82467281e+01]
 [ 2.52003832e-01 -1.78364100e-02  9.67561849e-01  8.72498513e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.42071405700005 meters
Centerline goodness : 0.997659 with order 1
Centerline is valid?  [True, True]
Translation: X:334.59, Y:28.25, Z:87.27
[[ 9.57360410e-01 -1.41496134e-01 -2.51872764e-01  3.34590854e+02]
 [ 1.41133423e-01  9.89796533e-01 -1.96004958e-02  2.82539276e+01]
 [ 2.52076183e-01 -1.67829268e-02  9.67561849e-01  8.72676997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.48071405700006 meters
Centerline goodness : 0.997559 with order 1
Centerline is valid?  [True, True]
Translation: X:334.65, Y:28.26, Z:87.28
[[ 9.57607690e-01 -1.39812655e-01 -2.51872853e-01  3.34650140e+02]
 [ 1.39393215e-01  9.90043129e-01 -1.95993511e-02  2.82608076e+01]
 [ 2.52105225e-01 -1.63408774e-02  9.67561849e-01  8.72823300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.54071405700006 meters
Centerline goodness : 0.998056 with order 1
Centerline is valid?  [True, True]
Translation: X:334.71, Y:28.27, Z:87.30
[[ 9.57588191e-01 -1.39944793e-01 -2.51873600e-01  3.34708207e+02]
 [ 1.39532344e-01  9.90023720e-01 -1.95897462e-02  2.82662681e+01]
 [ 2.52102322e-01 -1.63856042e-02  9.67561849e-01  8.72962087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.60071405700006 meters
Centerline goodness : 0.997824 with order 1
Centerline is valid?  [True, True]
Translation: X:334.77, Y:28.27, Z:87.31
[[ 9.57378049e-01 -1.41375245e-01 -2.51873600e-01  3.34766247e+02]
 [ 1.41011254e-01  9.89814158e-01 -1.95897462e-02  2.82722318e+01]
 [ 2.52077561e-01 -1.67622192e-02  9.67561849e-01  8.73111224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.66071405700006 meters
Centerline goodness : 0.998099 with order 1
Centerline is valid?  [True, True]
Translation: X:334.83, Y:28.28, Z:87.32
[[ 9.57106894e-01 -1.43198837e-01 -2.51873951e-01  3.34825212e+02]
 [ 1.42897821e-01  9.89543648e-01 -1.95852304e-02  2.82770073e+01]
 [ 2.52044851e-01 -1.72470798e-02  9.67561849e-01  8.73237253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.72071405700007 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:334.88, Y:28.28, Z:87.34
[[ 9.56954726e-01 -1.44211862e-01 -2.51874159e-01  3.34883753e+02]
 [ 1.43945880e-01  9.89391786e-01 -1.95825650e-02  2.82838594e+01]
 [ 2.52026262e-01 -1.75166192e-02  9.67561849e-01  8.73404035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.78071405700007 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:334.94, Y:28.29, Z:87.36
[[ 9.57028444e-01 -1.43720560e-01 -2.51874885e-01  3.34942257e+02]
 [ 1.43440372e-01  9.89465385e-01 -1.95732225e-02  2.82920880e+01]
 [ 2.52034554e-01 -1.73968965e-02  9.67561849e-01  8.73576212e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.84071405700007 meters
Centerline goodness : 0.998357 with order 1
Centerline is valid?  [True, True]
Translation: X:335.00, Y:28.30, Z:87.37
[[ 9.57405768e-01 -1.41183827e-01 -2.51875607e-01  3.35001339e+02]
 [ 1.40820115e-01  9.89841880e-01 -1.95639202e-02  2.82984240e+01]
 [ 2.52079134e-01 -1.67385420e-02  9.67561849e-01  8.73744149e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.9007140570001 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:335.06, Y:28.30, Z:87.39
[[ 9.58266683e-01 -1.35215015e-01 -2.51876684e-01  3.35058443e+02]
 [ 1.34652817e-01  9.90699962e-01 -1.95500521e-02  2.83041572e+01]
 [ 2.52177681e-01 -1.51817414e-02  9.67561849e-01  8.73898271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 344.9607140570001 meters
Centerline goodness : 0.998546 with order 1
Centerline is valid?  [True, True]
Translation: X:335.12, Y:28.31, Z:87.41
[[ 9.59135779e-01 -1.28906393e-01 -2.51876358e-01  3.35117278e+02]
 [ 1.28129687e-01  9.91564630e-01 -1.95542473e-02  2.83104682e+01]
 [ 2.52272355e-01 -1.35176608e-02  9.67561849e-01  8.74052755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.020714057 meters
Centerline goodness : 0.998570 with order 1
Centerline is valid?  [True, True]
Translation: X:335.17, Y:28.32, Z:87.42
[[ 9.59595080e-01 -1.25440101e-01 -2.51877081e-01  3.35174518e+02]
 [ 1.24548671e-01  9.92020980e-01 -1.95449311e-02  2.83155588e+01]
 [ 2.52319067e-01 -1.26157359e-02  9.67561849e-01  8.74194734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.080714057 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:335.23, Y:28.32, Z:87.44
[[ 9.59598879e-01 -1.25411687e-01 -2.51876755e-01  3.35233589e+02]
 [ 1.24518196e-01  9.92024723e-01 -1.95491345e-02  2.83189799e+01]
 [ 2.52319658e-01 -1.26039116e-02  9.67561849e-01  8.74369939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.140714057 meters
Centerline goodness : 0.998259 with order 1
Centerline is valid?  [True, True]
Translation: X:335.29, Y:28.32, Z:87.45
[[ 9.59337598e-01 -1.27392821e-01 -2.51877833e-01  3.35292594e+02]
 [ 1.26569926e-01  9.91765309e-01 -1.95352311e-02  2.83225842e+01]
 [ 2.52292345e-01 -1.31392770e-02  9.67561849e-01  8.74520871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.200714057 meters
Centerline goodness : 0.998545 with order 1
Centerline is valid?  [True, True]
Translation: X:335.35, Y:28.32, Z:87.46
[[ 9.59062728e-01 -1.29444499e-01 -2.51878551e-01  3.35352111e+02]
 [ 1.28693393e-01  9.91492182e-01 -1.95259666e-02  2.83249669e+01]
 [ 2.52263143e-01 -1.36884786e-02  9.67561849e-01  8.74644075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.26071405700003 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:335.41, Y:28.33, Z:87.48
[[ 9.58969287e-01 -1.30130168e-01 -2.51881016e-01  3.35412729e+02]
 [ 1.29410587e-01  9.91399455e-01 -1.94941233e-02  2.83281097e+01]
 [ 2.52251475e-01 -1.39018045e-02  9.67561850e-01  8.74793187e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.32071405700003 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:335.47, Y:28.33, Z:87.50
[[ 9.59034196e-01 -1.29648258e-01 -2.51882394e-01  3.35471813e+02]
 [ 1.28917046e-01  9.91464104e-01 -1.94763041e-02  2.83305167e+01]
 [ 2.52257421e-01 -1.37934925e-02  9.67561850e-01  8.74977138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.38071405700003 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:335.53, Y:28.33, Z:87.51
[[ 9.59069329e-01 -1.29385275e-01 -2.51883847e-01  3.35530634e+02]
 [ 1.28650096e-01  9.91499147e-01 -1.94574936e-02  2.83349763e+01]
 [ 2.52260132e-01 -1.37437958e-02  9.67561850e-01  8.75149778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.44071405700004 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:335.59, Y:28.34, Z:87.53
[[ 9.58920334e-01 -1.30483551e-01 -2.51884568e-01  3.35589609e+02]
 [ 1.29787960e-01  9.91351025e-01 -1.94481497e-02  2.83384178e+01]
 [ 2.52243689e-01 -1.40423579e-02  9.67561850e-01  8.75293322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.50071405700004 meters
Centerline goodness : 0.998444 with order 1
Centerline is valid?  [True, True]
Translation: X:335.65, Y:28.34, Z:87.54
[[ 9.58608998e-01 -1.32750105e-01 -2.51885287e-01  3.35648614e+02]
 [ 1.32133621e-01  9.91041290e-01 -1.94388349e-02  2.83414289e+01]
 [ 2.52209227e-01 -1.46482730e-02  9.67561850e-01  8.75431146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.56071405700004 meters
Centerline goodness : 0.998366 with order 1
Centerline is valid?  [True, True]
Translation: X:335.71, Y:28.34, Z:87.56
[[ 9.58245058e-01 -1.35351507e-01 -2.51885644e-01  3.35707287e+02]
 [ 1.34824265e-01  9.90678923e-01 -1.94342148e-02  2.83448798e+01]
 [ 2.52168248e-01 -1.53375564e-02  9.67561850e-01  8.75555482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.62071405700004 meters
Centerline goodness : 0.998557 with order 1
Centerline is valid?  [True, True]
Translation: X:335.77, Y:28.35, Z:87.57
[[ 9.58146809e-01 -1.36045267e-01 -2.51885644e-01  3.35766160e+02]
 [ 1.35541508e-01  9.90581047e-01 -1.94342148e-02  2.83511585e+01]
 [ 2.52157077e-01 -1.55201290e-02  9.67561850e-01  8.75707596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.68071405700005 meters
Centerline goodness : 0.998581 with order 1
Centerline is valid?  [True, True]
Translation: X:335.82, Y:28.36, Z:87.59
[[ 9.58313921e-01 -1.34862336e-01 -2.51886043e-01  3.35824547e+02]
 [ 1.34319895e-01  9.90747535e-01 -1.94290310e-02  2.83573683e+01]
 [ 2.52175721e-01 -1.52141961e-02  9.67561850e-01  8.75871602e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.74071405700005 meters
Centerline goodness : 0.998268 with order 1
Centerline is valid?  [True, True]
Translation: X:335.88, Y:28.36, Z:87.60
[[ 9.58438325e-01 -1.33974707e-01 -2.51886395e-01  3.35882251e+02]
 [ 1.33403420e-01  9.90871443e-01 -1.94244769e-02  2.83641950e+01]
 [ 2.52189424e-01 -1.49853434e-02  9.67561850e-01  8.76035205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.80071405700005 meters
Centerline goodness : 0.998222 with order 1
Centerline is valid?  [True, True]
Translation: X:335.94, Y:28.37, Z:87.62
[[ 9.58657628e-01 -1.32395706e-01 -2.51886740e-01  3.35939529e+02]
 [ 1.31772165e-01  9.91089784e-01 -1.94199983e-02  2.83700249e+01]
 [ 2.52213499e-01 -1.45745316e-02  9.67561850e-01  8.76190655e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.86071405700005 meters
Centerline goodness : 0.997931 with order 1
Centerline is valid?  [True, True]
Translation: X:336.00, Y:28.38, Z:87.63
[[ 9.58757681e-01 -1.31669210e-01 -2.51886736e-01  3.35998793e+02]
 [ 1.31021081e-01  9.91189355e-01 -1.94200435e-02  2.83762593e+01]
 [ 2.52224474e-01 -1.43833567e-02  9.67561850e-01  8.76342909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.92071405700005 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:336.06, Y:28.38, Z:87.65
[[ 9.58684391e-01 -1.32200514e-01 -2.51887401e-01  3.36058278e+02]
 [ 1.31572616e-01  9.91116463e-01 -1.94114216e-02  2.83813542e+01]
 [ 2.52215950e-01 -1.45320575e-02  9.67561850e-01  8.76504037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 345.98071405700006 meters
Centerline goodness : 0.998196 with order 1
Centerline is valid?  [True, True]
Translation: X:336.12, Y:28.39, Z:87.67
[[ 9.58521194e-01 -1.33376085e-01 -2.51888746e-01  3.36117610e+02]
 [ 1.32792535e-01  9.90954094e-01 -1.93939533e-02  2.83856839e+01]
 [ 2.52196874e-01 -1.48594298e-02  9.67561850e-01  8.76666224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.04071405700006 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:336.18, Y:28.39, Z:87.68
[[ 9.58086649e-01 -1.36460576e-01 -2.51889824e-01  3.36176053e+02]
 [ 1.35985090e-01  9.90521314e-01 -1.93799382e-02  2.83902787e+01]
 [ 2.52146837e-01 -1.56856004e-02  9.67561850e-01  8.76806906e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.10071405700006 meters
Centerline goodness : 0.998338 with order 1
Centerline is valid?  [True, True]
Translation: X:336.23, Y:28.39, Z:87.69
[[ 9.57499781e-01 -1.40519177e-01 -2.51889916e-01  3.36234249e+02]
 [ 1.40181450e-01  9.89936173e-01 -1.93787381e-02  2.83937829e+01]
 [ 2.52078024e-01 -1.67551561e-02  9.67561850e-01  8.76948215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.16071405700006 meters
Centerline goodness : 0.998982 with order 1
Centerline is valid?  [True, True]
Translation: X:336.29, Y:28.40, Z:87.71
[[ 9.57213677e-01 -1.42455584e-01 -2.51889627e-01  3.36293105e+02]
 [ 1.42182479e-01  9.89650676e-01 -1.93825056e-02  2.83985796e+01]
 [ 2.52043885e-01 -1.72610919e-02  9.67561850e-01  8.77094208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.22071405700007 meters
Centerline goodness : 0.998913 with order 1
Centerline is valid?  [True, True]
Translation: X:336.35, Y:28.40, Z:87.73
[[ 9.57172218e-01 -1.42732638e-01 -2.51890330e-01  3.36351251e+02]
 [ 1.42471317e-01  9.89609315e-01 -1.93733581e-02  2.84037547e+01]
 [ 2.52038228e-01 -1.73435069e-02  9.67561851e-01  8.77261331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.28071405700007 meters
Centerline goodness : 0.998350 with order 1
Centerline is valid?  [True, True]
Translation: X:336.41, Y:28.41, Z:87.74
[[ 9.57311029e-01 -1.41798436e-01 -2.51890448e-01  3.36409769e+02]
 [ 1.41505859e-01  9.89747859e-01 -1.93718302e-02  2.84062604e+01]
 [ 2.52054926e-01 -1.70991075e-02  9.67561851e-01  8.77391102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.34071405700007 meters
Centerline goodness : 0.998674 with order 1
Centerline is valid?  [True, True]
Translation: X:336.47, Y:28.41, Z:87.75
[[ 9.57564249e-01 -1.40078777e-01 -2.51890144e-01  3.36469089e+02]
 [ 1.39726906e-01  9.90000490e-01 -1.93757792e-02  2.84105429e+01]
 [ 2.52085501e-01 -1.66422771e-02  9.67561851e-01  8.77546995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.4007140570001 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:336.53, Y:28.41, Z:87.77
[[ 9.58042203e-01 -1.36770432e-01 -2.51890823e-01  3.36527381e+02]
 [ 1.36308838e-01  9.90477068e-01 -1.93669500e-02  2.84145339e+01]
 [ 2.52140910e-01 -1.57805900e-02  9.67561851e-01  8.77713870e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.4607140570001 meters
Centerline goodness : 0.999103 with order 1
Centerline is valid?  [True, True]
Translation: X:336.59, Y:28.42, Z:87.79
[[ 9.58374328e-01 -1.34422791e-01 -2.51891168e-01  3.36587301e+02]
 [ 1.33882910e-01  9.90807984e-01 -1.93624529e-02  2.84188163e+01]
 [ 2.52178536e-01 -1.51674449e-02  9.67561851e-01  8.77865233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.520714057 meters
Centerline goodness : 0.998529 with order 1
Centerline is valid?  [True, True]
Translation: X:336.64, Y:28.42, Z:87.80
[[ 9.58683802e-01 -1.32195010e-01 -2.51892531e-01  3.36644930e+02]
 [ 1.31584396e-01  9.91116204e-01 -1.93447097e-02  2.84238446e+01]
 [ 2.52212043e-01 -1.45996667e-02  9.67561851e-01  8.78034859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.580714057 meters
Centerline goodness : 0.998324 with order 1
Centerline is valid?  [True, True]
Translation: X:336.70, Y:28.43, Z:87.82
[[ 9.58906623e-01 -1.30568880e-01 -2.51892550e-01  3.36704504e+02]
 [ 1.29903324e-01  9.91337943e-01 -1.93444687e-02  2.84274340e+01]
 [ 2.52236428e-01 -1.41721404e-02  9.67561851e-01  8.78178600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.640714057 meters
Centerline goodness : 0.999240 with order 1
Centerline is valid?  [True, True]
Translation: X:336.76, Y:28.43, Z:87.83
[[ 9.59076095e-01 -1.29313463e-01 -2.51894964e-01  3.36763686e+02]
 [ 1.28613698e-01  9.91506695e-01 -1.93129738e-02  2.84305815e+01]
 [ 2.52252971e-01 -1.38745314e-02  9.67561851e-01  8.78302312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.700714057 meters
Centerline goodness : 0.999049 with order 1
Centerline is valid?  [True, True]
Translation: X:336.82, Y:28.44, Z:87.85
[[ 9.59253718e-01 -1.27988506e-01 -2.51895311e-01  3.36823839e+02]
 [ 1.27245127e-01  9.91683347e-01 -1.93084520e-02  2.84351289e+01]
 [ 2.52271645e-01 -1.35307465e-02  9.67561851e-01  8.78463972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.76071405700003 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:336.88, Y:28.44, Z:87.86
[[ 9.59585556e-01 -1.25473620e-01 -2.51896670e-01  3.36882498e+02]
 [ 1.24649883e-01  9.92013243e-01 -1.92907085e-02  2.84376164e+01]
 [ 2.52305308e-01 -1.28878053e-02  9.67561851e-01  8.78625606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.82071405700003 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:336.94, Y:28.44, Z:87.88
[[ 9.59818012e-01 -1.23682348e-01 -2.51896923e-01  3.36941307e+02]
 [ 1.22798953e-01  9.92244130e-01 -1.92874025e-02  2.84398970e+01]
 [ 2.52328755e-01 -1.24202820e-02  9.67561851e-01  8.78787382e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.88071405700003 meters
Centerline goodness : 0.999092 with order 1
Centerline is valid?  [True, True]
Translation: X:337.00, Y:28.44, Z:87.89
[[ 9.59784995e-01 -1.23936232e-01 -2.51897942e-01  3.37000116e+02]
 [ 1.23064899e-01  9.92211439e-01 -1.92740900e-02  2.84420290e+01]
 [ 2.52324777e-01 -1.25008124e-02  9.67561851e-01  8.78940026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 346.94071405700004 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:337.06, Y:28.44, Z:87.91
[[ 9.59580380e-01 -1.25510641e-01 -2.51897942e-01  3.37058928e+02]
 [ 1.24692507e-01  9.92008210e-01 -1.92740900e-02  2.84449766e+01]
 [ 2.52303930e-01 -1.29147471e-02  9.67561851e-01  8.79083166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.00071405700004 meters
Centerline goodness : 0.998519 with order 1
Centerline is valid?  [True, True]
Translation: X:337.12, Y:28.44, Z:87.92
[[ 9.58895865e-01 -1.30637463e-01 -2.51897942e-01  3.37118012e+02]
 [ 1.29992655e-01  9.91327604e-01 -1.92740900e-02  2.84448006e+01]
 [ 2.52231301e-01 -1.42630371e-02  9.67561851e-01  8.79209253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.06071405700004 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:337.18, Y:28.45, Z:87.93
[[ 9.58406474e-01 -1.34180242e-01 -2.51898181e-01  3.37176990e+02]
 [ 1.33656112e-01  9.90840388e-01 -1.92709621e-02  2.84461083e+01]
 [ 2.52176674e-01 -1.51983166e-02  9.67561851e-01  8.79335979e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.12071405700004 meters
Centerline goodness : 0.999359 with order 1
Centerline is valid?  [True, True]
Translation: X:337.24, Y:28.45, Z:87.95
[[ 9.57753734e-01 -1.38762718e-01 -2.51898179e-01  3.37237315e+02]
 [ 1.38393717e-01  9.90189784e-01 -1.92709853e-02  2.84479163e+01]
 [ 2.52101098e-01 -1.64042673e-02  9.67561851e-01  8.79484801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.18071405700005 meters
Centerline goodness : 0.999503 with order 1
Centerline is valid?  [True, True]
Translation: X:337.30, Y:28.45, Z:87.96
[[ 9.57441895e-01 -1.40895742e-01 -2.51899596e-01  3.37295273e+02]
 [ 1.40603849e-01  9.89878731e-01 -1.92524452e-02  2.84496268e+01]
 [ 2.52062640e-01 -1.69849551e-02  9.67561852e-01  8.79640622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.24071405700005 meters
Centerline goodness : 0.999033 with order 1
Centerline is valid?  [True, True]
Translation: X:337.35, Y:28.45, Z:87.98
[[ 9.57209162e-01 -1.42468118e-01 -2.51899692e-01  3.37354783e+02]
 [ 1.42229830e-01  9.89646435e-01 -1.92511904e-02  2.84505059e+01]
 [ 2.52034313e-01 -1.74002345e-02  9.67561852e-01  8.79802153e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.30071405700005 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:337.41, Y:28.45, Z:87.99
[[ 9.57277073e-01 -1.42009225e-01 -2.51900746e-01  3.37414395e+02]
 [ 1.41759001e-01  9.89714256e-01 -1.92373911e-02  2.84527640e+01]
 [ 2.52041646e-01 -1.72936847e-02  9.67561852e-01  8.79945642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.36071405700005 meters
Centerline goodness : 0.999741 with order 1
Centerline is valid?  [True, True]
Translation: X:337.47, Y:28.45, Z:88.01
[[ 9.57581269e-01 -1.39939243e-01 -2.51903001e-01  3.37473568e+02]
 [ 1.39626635e-01  9.90017910e-01 -1.92078188e-02  2.84542351e+01]
 [ 2.52076410e-01 -1.67793208e-02  9.67561852e-01  8.80065715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.42071405700005 meters
Centerline goodness : 0.999318 with order 1
Centerline is valid?  [True, True]
Translation: X:337.53, Y:28.46, Z:88.02
[[ 9.57912672e-01 -1.37651804e-01 -2.51903342e-01  3.37531990e+02]
 [ 1.37262898e-01  9.90348488e-01 -1.92033462e-02  2.84580640e+01]
 [ 2.52115469e-01 -1.61818541e-02  9.67561852e-01  8.80212809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.48071405700006 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:337.59, Y:28.46, Z:88.04
[[ 9.58749563e-01 -1.31696554e-01 -2.51903342e-01  3.37590068e+02]
 [ 1.31106095e-01  9.91182336e-01 -1.92033462e-02  2.84628788e+01]
 [ 2.52211158e-01 -1.46148637e-02  9.67561852e-01  8.80382698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.54071405700006 meters
Centerline goodness : 0.999553 with order 1
Centerline is valid?  [True, True]
Translation: X:337.65, Y:28.47, Z:88.05
[[ 9.59297042e-01 -1.27647575e-01 -2.51903318e-01  3.37648997e+02]
 [ 1.26920108e-01  9.91727032e-01 -1.92036620e-02  2.84676224e+01]
 [ 2.52270631e-01 -1.35495802e-02  9.67561852e-01  8.80540228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.60071405700006 meters
Centerline goodness : 0.999648 with order 1
Centerline is valid?  [True, True]
Translation: X:337.71, Y:28.47, Z:88.07
[[ 9.59441055e-01 -1.26559157e-01 -2.51904031e-01  3.37706612e+02]
 [ 1.25797348e-01  9.91870257e-01 -1.91943065e-02  2.84718189e+01]
 [ 2.52285331e-01 -1.32730534e-02  9.67561852e-01  8.80683677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.66071405700006 meters
Centerline goodness : 0.999555 with order 1
Centerline is valid?  [True, True]
Translation: X:337.77, Y:28.48, Z:88.08
[[ 9.59396164e-01 -1.26896618e-01 -2.51905239e-01  3.37765418e+02]
 [ 1.26150372e-01  9.91825726e-01 -1.91784315e-02  2.84761740e+01]
 [ 2.52279775e-01 -1.33782261e-02  9.67561852e-01  8.80839477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.72071405700007 meters
Centerline goodness : 0.999579 with order 1
Centerline is valid?  [True, True]
Translation: X:337.82, Y:28.48, Z:88.10
[[ 9.58971756e-01 -1.30063285e-01 -2.51906160e-01  3.37823543e+02]
 [ 1.29427275e-01  9.91403668e-01 -1.91663302e-02  2.84799947e+01]
 [ 2.52233527e-01 -1.42235585e-02  9.67561852e-01  8.80990591e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.78071405700007 meters
Centerline goodness : 0.999509 with order 1
Centerline is valid?  [True, True]
Translation: X:337.88, Y:28.48, Z:88.11
[[ 9.58257099e-01 -1.35227892e-01 -2.51906230e-01  3.37882395e+02]
 [ 1.34766858e-01  9.90691971e-01 -1.91654165e-02  2.84842078e+01]
 [ 2.52153178e-01 -1.55832148e-02  9.67561852e-01  8.81136939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.84071405700007 meters
Centerline goodness : 0.999581 with order 1
Centerline is valid?  [True, True]
Translation: X:337.94, Y:28.49, Z:88.13
[[ 9.57396502e-01 -1.41192004e-01 -2.51906243e-01  3.37939890e+02]
 [ 1.40932986e-01  9.89833616e-01 -1.91652406e-02  2.84861214e+01]
 [ 2.52051246e-01 -1.71531648e-02  9.67561852e-01  8.81276198e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.9007140570001 meters
Centerline goodness : 0.999491 with order 1
Centerline is valid?  [True, True]
Translation: X:338.00, Y:28.49, Z:88.14
[[ 9.56584883e-01 -1.46590425e-01 -2.51905953e-01  3.37998305e+02]
 [ 1.46513389e-01  9.89022939e-01 -1.91690581e-02  2.84893070e+01]
 [ 2.51950766e-01 -1.85707636e-02  9.67561852e-01  8.81413704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 347.9607140570001 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:338.06, Y:28.49, Z:88.16
[[ 9.56330745e-01 -1.48238822e-01 -2.51906248e-01  3.38057423e+02]
 [ 1.48218709e-01  9.88768886e-01 -1.91651715e-02  2.84935803e+01]
 [ 2.51918083e-01 -1.90089762e-02  9.67561852e-01  8.81557977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.020714057 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:338.12, Y:28.50, Z:88.17
[[ 9.56676845e-01 -1.45987959e-01 -2.51906590e-01  3.38116091e+02]
 [ 1.45892689e-01  9.89114853e-01 -1.91606771e-02  2.84986127e+01]
 [ 2.51961778e-01 -1.84207538e-02  9.67561852e-01  8.81709023e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.080714057 meters
Centerline goodness : 0.999305 with order 1
Centerline is valid?  [True, True]
Translation: X:338.17, Y:28.51, Z:88.19
[[ 9.57902861e-01 -1.37713472e-01 -2.51906943e-01  3.38174116e+02]
 [ 1.37339042e-01  9.90338848e-01 -1.91560414e-02  2.85074086e+01]
 [ 2.52111276e-01 -1.62470313e-02  9.67561852e-01  8.81881016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.140714057 meters
Centerline goodness : 0.999230 with order 1
Centerline is valid?  [True, True]
Translation: X:338.23, Y:28.52, Z:88.20
[[ 9.58933356e-01 -1.30343906e-01 -2.51907295e-01  3.38231586e+02]
 [ 1.29721294e-01  9.91365528e-01 -1.91514046e-02  2.85160242e+01]
 [ 2.52228478e-01 -1.43128197e-02  9.67561852e-01  8.82046856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.200714057 meters
Centerline goodness : 0.999089 with order 1
Centerline is valid?  [True, True]
Translation: X:338.29, Y:28.52, Z:88.22
[[ 9.59684670e-01 -1.24691846e-01 -2.51907280e-01  3.38288619e+02]
 [ 1.23878112e-01  9.92112609e-01 -1.91516030e-02  2.85222809e+01]
 [ 2.52308438e-01 -1.28262984e-02  9.67561852e-01  8.82195328e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.26071405700003 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:338.35, Y:28.53, Z:88.23
[[ 9.60110340e-01 -1.21371290e-01 -2.51907017e-01  3.38347311e+02]
 [ 1.20444477e-01  9.92535244e-01 -1.91550665e-02  2.85286852e+01]
 [ 2.52351468e-01 -1.19498315e-02  9.67561852e-01  8.82349725e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.32071405700003 meters
Centerline goodness : 0.999087 with order 1
Centerline is valid?  [True, True]
Translation: X:338.41, Y:28.53, Z:88.25
[[ 9.60332712e-01 -1.19598347e-01 -2.51907361e-01  3.38406185e+02]
 [ 1.18612851e-01  9.92755886e-01 -1.91505397e-02  2.85333983e+01]
 [ 2.52372888e-01 -1.14885606e-02  9.67561852e-01  8.82495817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.38071405700003 meters
Centerline goodness : 0.998222 with order 1
Centerline is valid?  [True, True]
Translation: X:338.46, Y:28.54, Z:88.26
[[ 9.60274144e-01 -1.20066955e-01 -2.51907710e-01  3.38463816e+02]
 [ 1.19098483e-01  9.92697831e-01 -1.91459460e-02  2.85386288e+01]
 [ 2.52367033e-01 -1.16164693e-02  9.67561852e-01  8.82628866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.44071405700004 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:338.52, Y:28.54, Z:88.28
[[ 9.60133841e-01 -1.21184509e-01 -2.51907366e-01  3.38522878e+02]
 [ 1.20252592e-01  9.92558600e-01 -1.91504673e-02  2.85430435e+01]
 [ 2.52353563e-01 -1.19055020e-02  9.67561852e-01  8.82769842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.50071405700004 meters
Centerline goodness : 0.998663 with order 1
Centerline is valid?  [True, True]
Translation: X:338.58, Y:28.55, Z:88.29
[[ 9.59903226e-01 -1.22997872e-01 -2.51907366e-01  3.38581387e+02]
 [ 1.22127203e-01  9.92329686e-01 -1.91504673e-02  2.85462192e+01]
 [ 2.52330625e-01 -1.23821466e-02  9.67561852e-01  8.82914461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.56071405700004 meters
Centerline goodness : 0.998545 with order 1
Centerline is valid?  [True, True]
Translation: X:338.64, Y:28.55, Z:88.31
[[ 9.59833602e-01 -1.23540011e-01 -2.51907366e-01  3.38639947e+02]
 [ 1.22687657e-01  9.92260550e-01 -1.91504673e-02  2.85502104e+01]
 [ 2.52323591e-01 -1.25246625e-02  9.67561852e-01  8.83071002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.62071405700004 meters
Centerline goodness : 0.998502 with order 1
Centerline is valid?  [True, True]
Translation: X:338.70, Y:28.56, Z:88.33
[[ 9.59973419e-01 -1.22448101e-01 -2.51907718e-01  3.38697195e+02]
 [ 1.21560071e-01  9.92399408e-01 -1.91458449e-02  2.85557094e+01]
 [ 2.52337442e-01 -1.22424180e-02  9.67561853e-01  8.83254365e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.68071405700005 meters
Centerline goodness : 0.998711 with order 1
Centerline is valid?  [True, True]
Translation: X:338.75, Y:28.56, Z:88.34
[[ 9.59904824e-01 -1.22981937e-01 -2.51909056e-01  3.38753812e+02]
 [ 1.22116554e-01  9.92331426e-01 -1.91282220e-02  2.85578193e+01]
 [ 2.52329698e-01 -1.24009931e-02  9.67561853e-01  8.83403029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.74071405700005 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:338.81, Y:28.56, Z:88.36
[[ 9.59627947e-01 -1.25126102e-01 -2.51908041e-01  3.38812112e+02]
 [ 1.24329668e-01  9.92056316e-01 -1.91415734e-02  2.85609293e+01]
 [ 2.52302074e-01 -1.29508543e-02  9.67561853e-01  8.83558420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.80071405700005 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:338.87, Y:28.56, Z:88.37
[[ 9.59345583e-01 -1.27273584e-01 -2.51907697e-01  3.38869810e+02]
 [ 1.26548545e-01  9.91775626e-01 -1.91461026e-02  2.85643783e+01]
 [ 2.52272707e-01 -1.35108236e-02  9.67561853e-01  8.83698624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.86071405700005 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:338.93, Y:28.57, Z:88.38
[[ 9.58711928e-01 -1.31963231e-01 -2.51907017e-01  3.38927950e+02]
 [ 1.31394439e-01  9.91145088e-01 -1.91550531e-02  2.85662810e+01]
 [ 2.52204165e-01 -1.47350033e-02  9.67561853e-01  8.83812451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.92071405700005 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:338.99, Y:28.57, Z:88.40
[[ 9.58589001e-01 -1.32853297e-01 -2.51906983e-01  3.38985479e+02]
 [ 1.32314502e-01  9.91022674e-01 -1.91554979e-02  2.85718547e+01]
 [ 2.52190403e-01 -1.49686973e-02  9.67561853e-01  8.83974790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 348.98071405700006 meters
Centerline goodness : 0.998439 with order 1
Centerline is valid?  [True, True]
Translation: X:339.04, Y:28.58, Z:88.42
[[ 9.58689930e-01 -1.32123654e-01 -2.51906645e-01  3.39043971e+02]
 [ 1.31559010e-01  9.91123163e-01 -1.91599386e-02  2.85787062e+01]
 [ 2.52201992e-01 -1.47721487e-02  9.67561853e-01  8.84154157e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.04071405700006 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:339.10, Y:28.58, Z:88.43
[[ 9.59050167e-01 -1.29481512e-01 -2.51907353e-01  3.39101586e+02]
 [ 1.28829941e-01  9.91481770e-01 -1.91506223e-02  2.85847204e+01]
 [ 2.52241200e-01 -1.40868019e-02  9.67561853e-01  8.84315005e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.10071405700006 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:339.16, Y:28.59, Z:88.45
[[ 9.59717396e-01 -1.24439460e-01 -2.51907405e-01  3.39160043e+02]
 [ 1.23617633e-01  9.92145131e-01 -1.91499411e-02  2.85916715e+01]
 [ 2.52311714e-01 -1.27616656e-02  9.67561853e-01  8.84470818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.16071405700006 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:339.22, Y:28.60, Z:88.46
[[ 9.60457877e-01 -1.18588150e-01 -2.51907755e-01  3.39217511e+02]
 [ 1.17569913e-01  9.92880039e-01 -1.91453347e-02  2.85971921e+01]
 [ 2.52384592e-01 -1.12284852e-02  9.67561853e-01  8.84603683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.22071405700007 meters
Centerline goodness : 0.998756 with order 1
Centerline is valid?  [True, True]
Translation: X:339.28, Y:28.60, Z:88.48
[[ 9.61247471e-01 -1.12008778e-01 -2.51907390e-01  3.39276066e+02]
 [ 1.10767302e-01  9.93661852e-01 -1.91501375e-02  2.86022308e+01]
 [ 2.52455747e-01 -9.49508080e-03  9.67561853e-01  8.84755103e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.28071405700007 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:339.33, Y:28.61, Z:88.49
[[ 9.61959265e-01 -1.05720684e-01 -2.51907740e-01  3.39333449e+02]
 [ 1.04268478e-01  9.94364889e-01 -1.91455311e-02  2.86079399e+01]
 [ 2.52512291e-01 -7.84881561e-03  9.67561853e-01  8.84903402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.34071405700007 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:339.39, Y:28.61, Z:88.51
[[ 9.62582593e-01 -9.98878987e-02 -2.51907044e-01  3.39391594e+02]
 [ 9.82368999e-02  9.94978698e-01 -1.91546907e-02  2.86130044e+01]
 [ 2.52555464e-01 -6.30859519e-03  9.67561853e-01  8.85061380e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.4007140570001 meters
Centerline goodness : 0.998470 with order 1
Centerline is valid?  [True, True]
Translation: X:339.45, Y:28.62, Z:88.52
[[ 9.62748150e-01 -9.82802894e-02 -2.51906697e-01  3.39449559e+02]
 [ 9.65740014e-02  9.95141390e-01 -1.91592467e-02  2.86182497e+01]
 [ 2.52565757e-01 -5.88210842e-03  9.67561853e-01  8.85220998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.4607140570001 meters
Centerline goodness : 0.998732 with order 1
Centerline is valid?  [True, True]
Translation: X:339.51, Y:28.62, Z:88.54
[[ 9.62299369e-01 -1.02583164e-01 -2.51905971e-01  3.39506277e+02]
 [ 1.01019207e-01  9.94699793e-01 -1.91687901e-02  2.86236496e+01]
 [ 2.52537212e-01 -7.00122684e-03  9.67561853e-01  8.85391008e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.520714057 meters
Centerline goodness : 0.998522 with order 1
Centerline is valid?  [True, True]
Translation: X:339.56, Y:28.63, Z:88.55
[[ 9.61698939e-01 -1.08068865e-01 -2.51905282e-01  3.39564488e+02]
 [ 1.06687326e-01  9.94107653e-01 -1.91778365e-02  2.86274619e+01]
 [ 2.52493496e-01 -8.43179588e-03  9.67561853e-01  8.85537322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.580714057 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:339.62, Y:28.63, Z:88.57
[[ 9.60862895e-01 -1.15266634e-01 -2.51904941e-01  3.39622921e+02]
 [ 1.14126622e-01  9.93281004e-01 -1.91823202e-02  2.86302787e+01]
 [ 2.52423474e-01 -1.03174803e-02  9.67561853e-01  8.85675805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.640714057 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:339.68, Y:28.63, Z:88.58
[[ 9.59359319e-01 -1.27176067e-01 -2.51904635e-01  3.39680975e+02]
 [ 1.26437197e-01  9.91789050e-01 -1.91863367e-02  2.86327211e+01]
 [ 2.52276301e-01 -1.34435252e-02  9.67561853e-01  8.85805372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.700714057 meters
Centerline goodness : 0.998487 with order 1
Centerline is valid?  [True, True]
Translation: X:339.74, Y:28.64, Z:88.59
[[ 9.58100640e-01 -1.36335554e-01 -2.51904306e-01  3.39738435e+02]
 [ 1.35905407e-01  9.90535935e-01 -1.91906498e-02  2.86351686e+01]
 [ 2.52136636e-01 -1.58485835e-02  9.67561853e-01  8.85949253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.76071405700003 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:339.80, Y:28.64, Z:88.61
[[ 9.57529786e-01 -1.40288047e-01 -2.51904690e-01  3.39795723e+02]
 [ 1.39993070e-01  9.89966592e-01 -1.91856117e-02  2.86389961e+01]
 [ 2.52068739e-01 -1.68941162e-02  9.67561853e-01  8.86112716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.82071405700003 meters
Centerline goodness : 0.998554 with order 1
Centerline is valid?  [True, True]
Translation: X:339.85, Y:28.64, Z:88.63
[[ 9.56936268e-01 -1.44281576e-01 -2.51904359e-01  3.39853719e+02]
 [ 1.44120788e-01  9.89374016e-01 -1.91899523e-02  2.86432208e+01]
 [ 2.51996384e-01 -1.79410935e-02  9.67561853e-01  8.86270118e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.88071405700003 meters
Centerline goodness : 0.998693 with order 1
Centerline is valid?  [True, True]
Translation: X:339.91, Y:28.65, Z:88.64
[[ 9.56450453e-01 -1.47468221e-01 -2.51904060e-01  3.39911357e+02]
 [ 1.47414453e-01  9.88888555e-01 -1.91938759e-02  2.86473903e+01]
 [ 2.51935529e-01 -1.87763081e-02  9.67561853e-01  8.86398845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 349.94071405700004 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:339.97, Y:28.65, Z:88.65
[[ 9.56075090e-01 -1.49882452e-01 -2.51904094e-01  3.39971070e+02]
 [ 1.49910695e-01  9.88513225e-01 -1.91934349e-02  2.86524879e+01]
 [ 2.51887287e-01 -1.94127528e-02  9.67561853e-01  8.86537511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.00071405700004 meters
Centerline goodness : 0.998207 with order 1
Centerline is valid?  [True, True]
Translation: X:340.03, Y:28.66, Z:88.67
[[ 9.55980943e-01 -1.50480630e-01 -2.51904778e-01  3.40031496e+02]
 [ 1.50531522e-01  9.88419050e-01 -1.91844522e-02  2.86572250e+01]
 [ 2.51874370e-01 -1.95796389e-02  9.67561853e-01  8.86683592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.06071405700004 meters
Centerline goodness : 0.998179 with order 1
Centerline is valid?  [True, True]
Translation: X:340.09, Y:28.66, Z:88.68
[[ 9.56452814e-01 -1.47449365e-01 -2.51906132e-01  3.40088539e+02]
 [ 1.47402085e-01  9.88890926e-01 -1.91666635e-02  2.86649243e+01]
 [ 2.51933800e-01 -1.87994799e-02  9.67561853e-01  8.86839174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.12071405700004 meters
Centerline goodness : 0.997721 with order 1
Centerline is valid?  [True, True]
Translation: X:340.15, Y:28.67, Z:88.70
[[ 9.57313049e-01 -1.41757500e-01 -2.51905811e-01  3.40145659e+02]
 [ 1.41516166e-01  9.89750298e-01 -1.91708773e-02  2.86732734e+01]
 [ 2.52041467e-01 -1.72962135e-02  9.67561853e-01  8.87035496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.18071405700005 meters
Centerline goodness : 0.997324 with order 1
Centerline is valid?  [True, True]
Translation: X:340.20, Y:28.68, Z:88.72
[[ 9.58025100e-01 -1.36862024e-01 -2.51906124e-01  3.40203170e+02]
 [ 1.36455956e-01  9.90460705e-01 -1.91667655e-02  2.86809509e+01]
 [ 2.52126319e-01 -1.60118485e-02  9.67561853e-01  8.87189798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.24071405700005 meters
Centerline goodness : 0.998231 with order 1
Centerline is valid?  [True, True]
Translation: X:340.26, Y:28.69, Z:88.73
[[ 9.58649836e-01 -1.32415245e-01 -2.51906124e-01  3.40261206e+02]
 [ 1.31858679e-01  9.91083207e-01 -1.91667655e-02  2.86874833e+01]
 [ 2.52197901e-01 -1.48417920e-02  9.67561853e-01  8.87340344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.30071405700005 meters
Centerline goodness : 0.998081 with order 1
Centerline is valid?  [True, True]
Translation: X:340.32, Y:28.70, Z:88.75
[[ 9.59092978e-01 -1.29166438e-01 -2.51906117e-01  3.40319046e+02]
 [ 1.28499961e-01  9.91524277e-01 -1.91668578e-02  2.86957416e+01]
 [ 2.52246745e-01 -1.39871275e-02  9.67561853e-01  8.87497821e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.36071405700005 meters
Centerline goodness : 0.998384 with order 1
Centerline is valid?  [True, True]
Translation: X:340.38, Y:28.70, Z:88.76
[[ 9.59522210e-01 -1.25937751e-01 -2.51906355e-01  3.40376924e+02]
 [ 1.25162945e-01  9.91951102e-01 -1.91637304e-02  2.87018418e+01]
 [ 2.52292223e-01 -1.31413162e-02  9.67561853e-01  8.87632054e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.42071405700005 meters
Centerline goodness : 0.998788 with order 1
Centerline is valid?  [True, True]
Translation: X:340.43, Y:28.71, Z:88.78
[[ 9.60182375e-01 -1.20802178e-01 -2.51906014e-01  3.40434707e+02]
 [ 1.19852704e-01  9.92606624e-01 -1.91682125e-02  2.87095534e+01]
 [ 2.52359139e-01 -1.17866370e-02  9.67561853e-01  8.87785544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.48071405700006 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:340.49, Y:28.72, Z:88.80
[[ 9.61000676e-01 -1.14109861e-01 -2.51906014e-01  3.40492281e+02]
 [ 1.12934518e-01  9.93417523e-01 -1.91682125e-02  2.87169753e+01]
 [ 2.52435130e-01 -1.00282189e-02  9.67561853e-01  8.87955924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.54071405700006 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:340.55, Y:28.72, Z:88.81
[[ 9.61745806e-01 -1.07648838e-01 -2.51906197e-01  3.40550554e+02]
 [ 1.06256293e-01  9.94154049e-01 -1.91658009e-02  2.87238699e+01]
 [ 2.52496742e-01 -8.33399004e-03  9.67561853e-01  8.88119814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.60071405700006 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:340.61, Y:28.73, Z:88.83
[[ 9.62000858e-01 -1.05344811e-01 -2.51906371e-01  3.40608683e+02]
 [ 1.03875239e-01  9.94405699e-01 -1.91635158e-02  2.87296440e+01]
 [ 2.52515908e-01 -7.73151581e-03  9.67561853e-01  8.88279089e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.66071405700006 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:340.67, Y:28.73, Z:88.84
[[ 9.61841557e-01 -1.06789507e-01 -2.51906371e-01  3.40665823e+02]
 [ 1.05368604e-01  9.94248569e-01 -1.91635158e-02  2.87326677e+01]
 [ 2.52504011e-01 -8.11075684e-03  9.67561853e-01  8.88418388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.72071405700007 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:340.72, Y:28.73, Z:88.85
[[ 9.61365615e-01 -1.10994844e-01 -2.51905339e-01  3.40723899e+02]
 [ 1.09712131e-01  9.93778390e-01 -1.91770727e-02  2.87342462e+01]
 [ 2.52466638e-01 -9.20089321e-03  9.67561853e-01  8.88548851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.78071405700007 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:340.78, Y:28.74, Z:88.87
[[ 9.61048586e-01 -1.13708681e-01 -2.51904645e-01  3.40782459e+02]
 [ 1.12515103e-01  9.93464766e-01 -1.91861786e-02  2.87359630e+01]
 [ 2.52440025e-01 -9.90422726e-03  9.67561853e-01  8.88687526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.84071405700007 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:340.84, Y:28.74, Z:88.89
[[ 9.60720033e-01 -1.16452750e-01 -2.51904296e-01  3.40841290e+02]
 [ 1.15350551e-01  9.93139449e-01 -1.91907607e-02  2.87389271e+01]
 [ 2.52410911e-01 -1.06203511e-02  9.67561853e-01  8.88855801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.9007140570001 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:340.90, Y:28.74, Z:88.90
[[ 9.60567574e-01 -1.17702186e-01 -2.51905006e-01  3.40900614e+02]
 [ 1.16644593e-01  9.92988475e-01 -1.91814377e-02  2.87419214e+01]
 [ 2.52396465e-01 -1.09582899e-02  9.67561853e-01  8.89011327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 350.9607140570001 meters
Centerline goodness : 0.998744 with order 1
Centerline is valid?  [True, True]
Translation: X:340.96, Y:28.75, Z:88.92
[[ 9.60315497e-01 -1.19739973e-01 -2.51905705e-01  3.40959805e+02]
 [ 1.18753575e-01  9.92738643e-01 -1.91722528e-02  2.87452432e+01]
 [ 2.52372213e-01 -1.15032914e-02  9.67561854e-01  8.89155649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.020714057 meters
Centerline goodness : 0.998348 with order 1
Centerline is valid?  [True, True]
Translation: X:341.02, Y:28.75, Z:88.93
[[ 9.60190998e-01 -1.20733533e-01 -2.51906056e-01  3.41019043e+02]
 [ 1.19781888e-01  9.92615182e-01 -1.91676492e-02  2.87480891e+01]
 [ 2.52359953e-01 -1.17691788e-02  9.67561854e-01  8.89299021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.080714057 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:341.08, Y:28.75, Z:88.94
[[ 9.59827441e-01 -1.23589127e-01 -2.51906750e-01  3.41078268e+02]
 [ 1.22736324e-01  9.92254376e-01 -1.91585183e-02  2.87519435e+01]
 [ 2.52323360e-01 -1.25292369e-02  9.67561854e-01  8.89429628e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.140714057 meters
Centerline goodness : 0.998420 with order 1
Centerline is valid?  [True, True]
Translation: X:341.14, Y:28.76, Z:88.96
[[ 9.59341740e-01 -1.27304423e-01 -2.51906750e-01  3.41135636e+02]
 [ 1.26577176e-01  9.91771733e-01 -1.91585183e-02  2.87554192e+01]
 [ 2.52272958e-01 -1.35060787e-02  9.67561854e-01  8.89564551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.200714057 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:341.19, Y:28.76, Z:88.97
[[ 9.59064524e-01 -1.29375973e-01 -2.51906919e-01  3.41193103e+02]
 [ 1.28719348e-01  9.91496024e-01 -1.91562945e-02  2.87587375e+01]
 [ 2.52243073e-01 -1.40531719e-02  9.67561854e-01  8.89715747e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.26071405700003 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:341.25, Y:28.76, Z:88.99
[[ 9.58813487e-01 -1.31224755e-01 -2.51906254e-01  3.41249050e+02]
 [ 1.30628366e-01  9.91246151e-01 -1.91650417e-02  2.87633728e+01]
 [ 2.52216032e-01 -1.45304020e-02  9.67561854e-01  8.89878686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.32071405700003 meters
Centerline goodness : 0.998677 with order 1
Centerline is valid?  [True, True]
Translation: X:341.31, Y:28.77, Z:89.01
[[ 9.58785522e-01 -1.31430817e-01 -2.51905267e-01  3.41306593e+02]
 [ 1.30838006e-01  9.91218251e-01 -1.91779985e-02  2.87684320e+01]
 [ 2.52213678e-01 -1.45711955e-02  9.67561854e-01  8.90061056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.38071405700003 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:341.37, Y:28.77, Z:89.02
[[ 9.58784298e-01 -1.31439161e-01 -2.51905572e-01  3.41366572e+02]
 [ 1.30847681e-01  9.91217051e-01 -1.91739963e-02  2.87735849e+01]
 [ 2.52213312e-01 -1.45775332e-02  9.67561854e-01  8.90212851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.44071405700004 meters
Centerline goodness : 0.998914 with order 1
Centerline is valid?  [True, True]
Translation: X:341.43, Y:28.78, Z:89.03
[[ 9.58797225e-01 -1.31342128e-01 -2.51906979e-01  3.41426222e+02]
 [ 1.30752210e-01  9.91230007e-01 -1.91554905e-02  2.87786386e+01]
 [ 2.52213680e-01 -1.45711632e-02  9.67561854e-01  8.90348673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.50071405700004 meters
Centerline goodness : 0.998606 with order 1
Centerline is valid?  [True, True]
Translation: X:341.48, Y:28.79, Z:89.05
[[ 9.58699587e-01 -1.32049056e-01 -2.51909007e-01  3.41484756e+02]
 [ 1.31490046e-01  9.91132916e-01 -1.91287825e-02  2.87854939e+01]
 [ 2.52201247e-01 -1.47847711e-02  9.67561854e-01  8.90510180e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.56071405700004 meters
Centerline goodness : 0.998676 with order 1
Centerline is valid?  [True, True]
Translation: X:341.54, Y:28.79, Z:89.07
[[ 9.58740548e-01 -1.31749994e-01 -2.51909708e-01  3.41543670e+02]
 [ 1.31183286e-01  9.91173743e-01 -1.91195458e-02  2.87904753e+01]
 [ 2.52205289e-01 -1.47156596e-02  9.67561854e-01  8.90663544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.62071405700004 meters
Centerline goodness : 0.997963 with order 1
Centerline is valid?  [True, True]
Translation: X:341.60, Y:28.80, Z:89.08
[[ 9.58794206e-01 -1.31356953e-01 -2.51910741e-01  3.41602204e+02]
 [ 1.30780515e-01  9.91227229e-01 -1.91059312e-02  2.87959617e+01]
 [ 2.52210483e-01 -1.46263602e-02  9.67561854e-01  8.90838442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.68071405700005 meters
Centerline goodness : 0.998769 with order 1
Centerline is valid?  [True, True]
Translation: X:341.66, Y:28.80, Z:89.10
[[ 9.58880459e-01 -1.30724490e-01 -2.51911440e-01  3.41660032e+02]
 [ 1.30129074e-01  9.91313139e-01 -1.90967053e-02  2.87998520e+01]
 [ 2.52219528e-01 -1.44695449e-02  9.67561854e-01  8.90985865e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.74071405700005 meters
Centerline goodness : 0.998681 with order 1
Centerline is valid?  [True, True]
Translation: X:341.72, Y:28.80, Z:89.11
[[ 9.58993145e-01 -1.29895244e-01 -2.51911440e-01  3.41719446e+02]
 [ 1.29271781e-01  9.91425298e-01 -1.90967053e-02  2.88035487e+01]
 [ 2.52231946e-01 -1.42514312e-02  9.67561854e-01  8.91146616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.80071405700005 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:341.78, Y:28.81, Z:89.13
[[ 9.58969868e-01 -1.30064987e-01 -2.51912470e-01  3.41778203e+02]
 [ 1.29450822e-01  9.91402198e-01 -1.90831198e-02  2.88077582e+01]
 [ 2.52228622e-01 -1.43101395e-02  9.67561854e-01  8.91298299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.86071405700005 meters
Centerline goodness : 0.998562 with order 1
Centerline is valid?  [True, True]
Translation: X:341.84, Y:28.81, Z:89.14
[[ 9.58673091e-01 -1.32233398e-01 -2.51913146e-01  3.41837541e+02]
 [ 1.31694920e-01  9.91106767e-01 -1.90741928e-02  2.88097029e+01]
 [ 2.52195069e-01 -1.48897662e-02  9.67561855e-01  8.91422828e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.92071405700005 meters
Centerline goodness : 0.998189 with order 1
Centerline is valid?  [True, True]
Translation: X:341.90, Y:28.81, Z:89.16
[[ 9.58420232e-01 -1.34053713e-01 -2.51913201e-01  3.41896800e+02]
 [ 1.33577022e-01  9.90854875e-01 -1.90734551e-02  2.88117710e+01]
 [ 2.52166291e-01 -1.53694300e-02  9.67561855e-01  8.91551189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 351.98071405700006 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:341.96, Y:28.81, Z:89.17
[[ 9.58480933e-01 -1.33619011e-01 -2.51913201e-01  3.41955630e+02]
 [ 1.33127608e-01  9.90915356e-01 -1.90734551e-02  2.88148604e+01]
 [ 2.52173236e-01 -1.52550590e-02  9.67561855e-01  8.91728613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.04071405700006 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:342.02, Y:28.82, Z:89.19
[[ 9.58532536e-01 -1.33247013e-01 -2.51913897e-01  3.42015750e+02]
 [ 1.32745430e-01  9.90966803e-01 -1.90642642e-02  2.88158198e+01]
 [ 2.52178565e-01 -1.51667010e-02  9.67561855e-01  8.91909501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.10071405700006 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:342.08, Y:28.82, Z:89.21
[[ 9.58585684e-01 -1.32860850e-01 -2.51915623e-01  3.42075359e+02]
 [ 1.32352179e-01  9.91019841e-01 -1.90414322e-02  2.88166312e+01]
 [ 2.52183241e-01 -1.50887373e-02  9.67561855e-01  8.92072540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.16071405700006 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:342.13, Y:28.82, Z:89.22
[[ 9.58633833e-01 -1.32510984e-01 -2.51916678e-01  3.42134176e+02]
 [ 1.31994134e-01  9.91067861e-01 -1.90274614e-02  2.88169103e+01]
 [ 2.52187871e-01 -1.50111555e-02  9.67561855e-01  8.92207043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.22071405700007 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:342.19, Y:28.82, Z:89.24
[[ 9.58591777e-01 -1.32814228e-01 -2.51917023e-01  3.42193027e+02]
 [ 1.32308834e-01  9.91025984e-01 -1.90228945e-02  2.88189177e+01]
 [ 2.52182827e-01 -1.50956573e-02  9.67561855e-01  8.92365717e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.28071405700007 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:342.25, Y:28.82, Z:89.25
[[ 9.58524959e-01 -1.33294933e-01 -2.51917374e-01  3.42252304e+02]
 [ 1.32807023e-01  9.90959435e-01 -1.90182403e-02  2.88196492e+01]
 [ 2.52174934e-01 -1.52269385e-02  9.67561855e-01  8.92494073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.34071405700007 meters
Centerline goodness : 0.998460 with order 1
Centerline is valid?  [True, True]
Translation: X:342.31, Y:28.82, Z:89.26
[[ 9.58591156e-01 -1.32817376e-01 -2.51917725e-01  3.42309531e+02]
 [ 1.32314523e-01  9.91025403e-01 -1.90135974e-02  2.88215098e+01]
 [ 2.52182201e-01 -1.51061072e-02  9.67561855e-01  8.92620303e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.4007140570001 meters
Centerline goodness : 0.998718 with order 1
Centerline is valid?  [True, True]
Translation: X:342.37, Y:28.83, Z:89.28
[[ 9.59017928e-01 -1.29701885e-01 -2.51916722e-01  3.42366664e+02]
 [ 1.29090170e-01  9.91450305e-01 -1.90268679e-02  2.88250902e+01]
 [ 2.52230732e-01 -1.42728651e-02  9.67561855e-01  8.92775220e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.4607140570001 meters
Centerline goodness : 0.997910 with order 1
Centerline is valid?  [True, True]
Translation: X:342.42, Y:28.83, Z:89.30
[[ 9.59608067e-01 -1.25262334e-01 -2.51916069e-01  3.42423488e+02]
 [ 1.24498269e-01  9.92037212e-01 -1.90355198e-02  2.88293068e+01]
 [ 2.52294548e-01 -1.30964761e-02  9.67561855e-01  8.92964650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.520714057 meters
Centerline goodness : 0.998367 with order 1
Centerline is valid?  [True, True]
Translation: X:342.48, Y:28.83, Z:89.31
[[ 9.59930871e-01 -1.22765194e-01 -2.51915522e-01  3.42482061e+02]
 [ 1.21914864e-01  9.92357869e-01 -1.90427505e-02  2.88327374e+01]
 [ 2.52328138e-01 -1.24325226e-02  9.67561855e-01  8.93141844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.580714057 meters
Centerline goodness : 0.998584 with order 1
Centerline is valid?  [True, True]
Translation: X:342.54, Y:28.84, Z:89.33
[[ 9.60034415e-01 -1.21951368e-01 -2.51916227e-01  3.42539528e+02]
 [ 1.21075991e-01  9.92460746e-01 -1.90334202e-02  2.88352280e+01]
 [ 2.52338118e-01 -1.22282686e-02  9.67561855e-01  8.93260499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.640714057 meters
Centerline goodness : 0.998211 with order 1
Centerline is valid?  [True, True]
Translation: X:342.60, Y:28.84, Z:89.34
[[ 9.59853152e-01 -1.23372740e-01 -2.51914856e-01  3.42597302e+02]
 [ 1.22540631e-01  9.92280622e-01 -1.90515498e-02  2.88372435e+01]
 [ 2.52320672e-01 -1.25831152e-02  9.67561855e-01  8.93416343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.700714057 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:342.65, Y:28.84, Z:89.36
[[ 9.59576609e-01 -1.25506223e-01 -2.51914509e-01  3.42654856e+02]
 [ 1.24745003e-01  9.92005821e-01 -1.90561320e-02  2.88390740e+01]
 [ 2.52292323e-01 -1.31392578e-02  9.67561855e-01  8.93569861e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.76071405700003 meters
Centerline goodness : 0.997944 with order 1
Centerline is valid?  [True, True]
Translation: X:342.71, Y:28.84, Z:89.37
[[ 9.59433489e-01 -1.26597019e-01 -2.51913823e-01  3.42713370e+02]
 [ 1.25870292e-01  9.91863493e-01 -1.90652019e-02  2.88416044e+01]
 [ 2.52277722e-01 -1.34166732e-02  9.67561855e-01  8.93726986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.82071405700003 meters
Centerline goodness : 0.997693 with order 1
Centerline is valid?  [True, True]
Translation: X:342.77, Y:28.84, Z:89.39
[[ 9.59093021e-01 -1.29151083e-01 -2.51913823e-01  3.42771578e+02]
 [ 1.28510704e-01  9.91524844e-01 -1.90652019e-02  2.88449900e+01]
 [ 2.52241106e-01 -1.40883206e-02  9.67561855e-01  8.93886029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.88071405700003 meters
Centerline goodness : 0.998087 with order 1
Centerline is valid?  [True, True]
Translation: X:342.83, Y:28.85, Z:89.40
[[ 9.58714097e-01 -1.31934473e-01 -2.51913823e-01  3.42830681e+02]
 [ 1.31388236e-01  9.91147643e-01 -1.90652019e-02  2.88488480e+01]
 [ 2.52199149e-01 -1.48204349e-02  9.67561855e-01  8.94041509e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 352.94071405700004 meters
Centerline goodness : 0.998199 with order 1
Centerline is valid?  [True, True]
Translation: X:342.89, Y:28.85, Z:89.42
[[ 9.58102763e-01 -1.36301754e-01 -2.51914524e-01  3.42889015e+02]
 [ 1.35905743e-01  9.90538490e-01 -1.90559332e-02  2.88516298e+01]
 [ 2.52128389e-01 -1.59790882e-02  9.67561855e-01  8.94173874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.00071405700004 meters
Centerline goodness : 0.998408 with order 1
Centerline is valid?  [True, True]
Translation: X:342.95, Y:28.85, Z:89.43
[[ 9.57358619e-01 -1.41434505e-01 -2.51914182e-01  3.42947544e+02]
 [ 1.41211147e-01  9.89795995e-01 -1.90604531e-02  2.88535904e+01]
 [ 2.52039454e-01 -1.73254014e-02  9.67561855e-01  8.94309559e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.06071405700004 meters
Centerline goodness : 0.998756 with order 1
Centerline is valid?  [True, True]
Translation: X:343.01, Y:28.86, Z:89.45
[[ 9.56585102e-01 -1.46575091e-01 -2.51914044e-01  3.43006094e+02]
 [ 1.46525501e-01  9.89023209e-01 -1.90622783e-02  2.88564041e+01]
 [ 2.51942891e-01 -1.86771401e-02  9.67561855e-01  8.94472040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.12071405700004 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:343.06, Y:28.86, Z:89.46
[[ 9.56188876e-01 -1.49137169e-01 -2.51914547e-01  3.43064494e+02]
 [ 1.49176218e-01  9.88626997e-01 -1.90556305e-02  2.88615206e+01]
 [ 2.51891425e-01 -1.93588775e-02  9.67561855e-01  8.94630952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.18071405700005 meters
Centerline goodness : 0.998741 with order 1
Centerline is valid?  [True, True]
Translation: X:343.12, Y:28.87, Z:89.48
[[ 9.55934378e-01 -1.50758814e-01 -2.51915155e-01  3.43123889e+02]
 [ 1.50854992e-01  9.88372380e-01 -1.90475824e-02  2.88673002e+01]
 [ 2.51857573e-01 -1.97944198e-02  9.67561855e-01  8.94798343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.24071405700005 meters
Centerline goodness : 0.998483 with order 1
Centerline is valid?  [True, True]
Translation: X:343.18, Y:28.87, Z:89.50
[[ 9.55876189e-01 -1.51125034e-01 -2.51916524e-01  3.43181699e+02]
 [ 1.51238386e-01  9.88314135e-01 -1.90294601e-02  2.88736190e+01]
 [ 2.51848490e-01 -1.99096407e-02  9.67561856e-01  8.94957493e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.30071405700005 meters
Centerline goodness : 0.998502 with order 1
Centerline is valid?  [True, True]
Translation: X:343.24, Y:28.88, Z:89.51
[[ 9.55771445e-01 -1.51783967e-01 -2.51917790e-01  3.43240514e+02]
 [ 1.51924073e-01  9.88209286e-01 -1.90126893e-02  2.88793653e+01]
 [ 2.51833321e-01 -2.01005912e-02  9.67561856e-01  8.95118754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.36071405700005 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:343.30, Y:28.88, Z:89.53
[[ 9.55671834e-01 -1.52409317e-01 -2.51918133e-01  3.43299865e+02]
 [ 1.52571837e-01  9.88109571e-01 -1.90081518e-02  2.88846701e+01]
 [ 2.51819737e-01 -2.02700569e-02  9.67561856e-01  8.95257154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.42071405700005 meters
Centerline goodness : 0.998412 with order 1
Centerline is valid?  [True, True]
Translation: X:343.36, Y:28.89, Z:89.54
[[ 9.55375226e-01 -1.54255990e-01 -2.51919169e-01  3.43358387e+02]
 [ 1.54484800e-01  9.87812563e-01 -1.89944014e-02  2.88914722e+01]
 [ 2.51778920e-01 -2.07709019e-02  9.67561856e-01  8.95409918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.48071405700006 meters
Centerline goodness : 0.998361 with order 1
Centerline is valid?  [True, True]
Translation: X:343.42, Y:28.90, Z:89.56
[[ 9.55458607e-01 -1.53738587e-01 -2.51919228e-01  3.43417990e+02]
 [ 1.53950034e-01  9.87896062e-01 -1.89936277e-02  2.88978898e+01]
 [ 2.51790066e-01 -2.06353485e-02  9.67561856e-01  8.95567028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.54071405700006 meters
Centerline goodness : 0.998127 with order 1
Centerline is valid?  [True, True]
Translation: X:343.47, Y:28.91, Z:89.57
[[ 9.55965162e-01 -1.50554885e-01 -2.51920297e-01  3.43474938e+02]
 [ 1.50661991e-01  9.88403129e-01 -1.89794374e-02  2.89074429e+01]
 [ 2.51856257e-01 -1.98111324e-02  9.67561856e-01  8.95720464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.60071405700006 meters
Centerline goodness : 0.998516 with order 1
Centerline is valid?  [True, True]
Translation: X:343.53, Y:28.91, Z:89.59
[[ 9.56337029e-01 -1.48172024e-01 -2.51921690e-01  3.43533259e+02]
 [ 1.48203137e-01  9.88775158e-01 -1.89609300e-02  2.89139433e+01]
 [ 2.51903388e-01 -1.92025451e-02  9.67561856e-01  8.95879438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.66071405700006 meters
Centerline goodness : 0.998006 with order 1
Centerline is valid?  [True, True]
Translation: X:343.59, Y:28.92, Z:89.61
[[ 9.56733069e-01 -1.45592824e-01 -2.51921742e-01  3.43592240e+02]
 [ 1.45536653e-01  9.89171164e-01 -1.89602309e-02  2.89229188e+01]
 [ 2.51954197e-01 -1.85239672e-02  9.67561856e-01  8.96052808e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.72071405700007 meters
Centerline goodness : 0.998579 with order 1
Centerline is valid?  [True, True]
Translation: X:343.65, Y:28.93, Z:89.62
[[ 9.57073479e-01 -1.43336027e-01 -2.51922882e-01  3.43650467e+02]
 [ 1.43207323e-01  9.89511368e-01 -1.89450726e-02  2.89296347e+01]
 [ 2.51996067e-01 -1.79453751e-02  9.67561856e-01  8.96199548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.78071405700007 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:343.71, Y:28.94, Z:89.63
[[ 9.57146409e-01 -1.42848219e-01 -2.51922882e-01  3.43709680e+02]
 [ 1.42702982e-01  9.89584227e-01 -1.89450726e-02  2.89358038e+01]
 [ 2.52005181e-01 -1.78169384e-02  9.67561856e-01  8.96346168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.84071405700007 meters
Centerline goodness : 0.998570 with order 1
Centerline is valid?  [True, True]
Translation: X:343.77, Y:28.94, Z:89.65
[[ 9.57442808e-01 -1.40846709e-01 -2.51923549e-01  3.43767283e+02]
 [ 1.40635974e-01  9.89880267e-01 -1.89362025e-02  2.89425787e+01]
 [ 2.52041252e-01 -1.72991829e-02  9.67561856e-01  8.96494522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.9007140570001 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:343.83, Y:28.95, Z:89.66
[[ 9.57769920e-01 -1.38604855e-01 -2.51923549e-01  3.43825540e+02]
 [ 1.38318182e-01  9.90206797e-01 -1.89362025e-02  2.89470732e+01]
 [ 2.52081060e-01 -1.67090822e-02  9.67561856e-01  8.96637517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 353.9607140570001 meters
Centerline goodness : 0.998645 with order 1
Centerline is valid?  [True, True]
Translation: X:343.88, Y:28.95, Z:89.68
[[ 9.58245838e-01 -1.35275554e-01 -2.51923479e-01  3.43882835e+02]
 [ 1.34875914e-01  9.90681519e-01 -1.89371338e-02  2.89524936e+01]
 [ 2.52137666e-01 -1.58319797e-02  9.67561856e-01  8.96791530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.020714057 meters
Centerline goodness : 0.998829 with order 1
Centerline is valid?  [True, True]
Translation: X:343.94, Y:28.96, Z:89.70
[[ 9.58705738e-01 -1.31978003e-01 -2.51922835e-01  3.43940565e+02]
 [ 1.31464529e-01  9.91139818e-01 -1.89457023e-02  2.89578032e+01]
 [ 2.52191168e-01 -1.49555633e-02  9.67561856e-01  8.96974512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.080714057 meters
Centerline goodness : 0.998614 with order 1
Centerline is valid?  [True, True]
Translation: X:344.00, Y:28.96, Z:89.71
[[ 9.59473877e-01 -1.26271898e-01 -2.51923179e-01  3.43998292e+02]
 [ 1.25566667e-01  9.91904353e-01 -1.89411266e-02  2.89618502e+01]
 [ 2.52275430e-01 -1.34596378e-02  9.67561856e-01  8.97139316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.140714057 meters
Centerline goodness : 0.998517 with order 1
Centerline is valid?  [True, True]
Translation: X:344.06, Y:28.97, Z:89.73
[[ 9.59998362e-01 -1.22220912e-01 -2.51922991e-01  3.44057650e+02]
 [ 1.21378148e-01  9.92425556e-01 -1.89436188e-02  2.89657589e+01]
 [ 2.52330121e-01 -1.23921031e-02  9.67561856e-01  8.97292653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.200714057 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:344.12, Y:28.97, Z:89.74
[[ 9.60087185e-01 -1.21519769e-01 -2.51923684e-01  3.44117664e+02]
 [ 1.20655737e-01  9.92513819e-01 -1.89343979e-02  2.89691293e+01]
 [ 2.52338642e-01 -1.22173650e-02  9.67561856e-01  8.97432053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.26071405700003 meters
Centerline goodness : 0.998615 with order 1
Centerline is valid?  [True, True]
Translation: X:344.18, Y:28.97, Z:89.76
[[ 9.59833566e-01 -1.23504863e-01 -2.51924741e-01  3.44175651e+02]
 [ 1.22711571e-01  9.92262008e-01 -1.89203305e-02  2.89709744e+01]
 [ 2.52312102e-01 -1.27537123e-02  9.67561856e-01  8.97556552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.32071405700003 meters
Centerline goodness : 0.998740 with order 1
Centerline is valid?  [True, True]
Translation: X:344.23, Y:28.97, Z:89.77
[[ 9.59574097e-01 -1.25506293e-01 -2.51924041e-01  3.44233467e+02]
 [ 1.24778192e-01  9.92004068e-01 -1.89296456e-02  2.89741336e+01]
 [ 2.52285463e-01 -1.32702288e-02  9.67561856e-01  8.97717435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.38071405700003 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:344.29, Y:28.98, Z:89.79
[[ 9.59433292e-01 -1.26579016e-01 -2.51923620e-01  3.44289933e+02]
 [ 1.25885704e-01  9.91864026e-01 -1.89352524e-02  2.89797985e+01]
 [ 2.52270781e-01 -1.35464706e-02  9.67561857e-01  8.97886294e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.44071405700004 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:344.35, Y:28.98, Z:89.81
[[ 9.59333626e-01 -1.27333496e-01 -2.51922956e-01  3.44349322e+02]
 [ 1.26663377e-01  9.91764847e-01 -1.89440802e-02  2.89847749e+01]
 [ 2.52260547e-01 -1.37357190e-02  9.67561857e-01  8.98066881e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.50071405700004 meters
Centerline goodness : 0.998436 with order 1
Centerline is valid?  [True, True]
Translation: X:344.41, Y:28.99, Z:89.82
[[ 9.59009420e-01 -1.29749953e-01 -2.51924359e-01  3.44408703e+02]
 [ 1.29166430e-01  9.91442314e-01 -1.89254055e-02  2.89898200e+01]
 [ 2.52224040e-01 -1.43905279e-02  9.67561857e-01  8.98222367e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.56071405700004 meters
Centerline goodness : 0.999087 with order 1
Centerline is valid?  [True, True]
Translation: X:344.47, Y:29.00, Z:89.84
[[ 9.58428135e-01 -1.33972672e-01 -2.51926245e-01  3.44466495e+02]
 [ 1.33538589e-01  9.90863374e-01 -1.89002661e-02  2.89955487e+01]
 [ 2.52156608e-01 -1.55273286e-02  9.67561857e-01  8.98382646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.62071405700004 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:344.53, Y:29.00, Z:89.85
[[ 9.58144109e-01 -1.35988879e-01 -2.51926361e-01  3.44525739e+02]
 [ 1.35623446e-01  9.90580193e-01 -1.88987154e-02  2.89994553e+01]
 [ 2.52123279e-01 -1.60594285e-02  9.67561857e-01  8.98527789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.68071405700005 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:344.59, Y:29.01, Z:89.87
[[ 9.57813120e-01 -1.38300261e-01 -2.51926705e-01  3.44585980e+02]
 [ 1.38014289e-01  9.90250003e-01 -1.88941337e-02  2.90058395e+01]
 [ 2.52083484e-01 -1.66724358e-02  9.67561857e-01  8.98660899e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.74071405700005 meters
Centerline goodness : 0.999085 with order 1
Centerline is valid?  [True, True]
Translation: X:344.64, Y:29.01, Z:89.88
[[ 9.57648247e-01 -1.39434881e-01 -2.51928063e-01  3.44644773e+02]
 [ 1.39192082e-01  9.90085481e-01 -1.88760124e-02  2.90130499e+01]
 [ 2.52062292e-01 -1.69898114e-02  9.67561857e-01  8.98798609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.80071405700005 meters
Centerline goodness : 0.998823 with order 1
Centerline is valid?  [True, True]
Translation: X:344.70, Y:29.02, Z:89.90
[[ 9.57460284e-01 -1.40719725e-01 -2.51928092e-01  3.44704239e+02]
 [ 1.40520555e-01  9.89897815e-01 -1.88756176e-02  2.90204859e+01]
 [ 2.52039240e-01 -1.73284210e-02  9.67561857e-01  8.98964295e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.86071405700005 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:344.76, Y:29.03, Z:89.91
[[ 9.57104304e-01 -1.43118428e-01 -2.51929486e-01  3.44761514e+02]
 [ 1.43005416e-01  9.89542250e-01 -1.88569935e-02  2.90282594e+01]
 [ 2.51993654e-01 -1.79791712e-02  9.67561857e-01  8.99122629e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.92071405700005 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:344.82, Y:29.03, Z:89.93
[[ 9.56760956e-01 -1.45395614e-01 -2.51929728e-01  3.44821374e+02]
 [ 1.45360640e-01  9.89199080e-01 -1.88537618e-02  2.90339959e+01]
 [ 2.51949910e-01 -1.85821233e-02  9.67561857e-01  8.99290672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 354.98071405700006 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:344.88, Y:29.04, Z:89.94
[[ 9.56256199e-01 -1.48676900e-01 -2.51931064e-01  3.44880005e+02]
 [ 1.48757883e-01  9.88694241e-01 -1.88358924e-02  2.90388382e+01]
 [ 2.51883254e-01 -1.94647929e-02  9.67561858e-01  8.99439874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.04071405700006 meters
Centerline goodness : 0.998277 with order 1
Centerline is valid?  [True, True]
Translation: X:344.94, Y:29.04, Z:89.96
[[ 9.56038065e-01 -1.50071878e-01 -2.51931835e-01  3.44938983e+02]
 [ 1.50202887e-01  9.88475943e-01 -1.88255813e-02  2.90439765e+01]
 [ 2.51853748e-01 -1.98429167e-02  9.67561858e-01  8.99587649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.10071405700006 meters
Centerline goodness : 0.998514 with order 1
Centerline is valid?  [True, True]
Translation: X:345.00, Y:29.05, Z:89.97
[[ 9.56036839e-01 -1.50079104e-01 -2.51932184e-01  3.44999628e+02]
 [ 1.50211582e-01  9.88474711e-01 -1.88209097e-02  2.90500287e+01]
 [ 2.51853218e-01 -1.98496490e-02  9.67561858e-01  8.99739266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.16071405700006 meters
Centerline goodness : 0.998864 with order 1
Centerline is valid?  [True, True]
Translation: X:345.06, Y:29.06, Z:89.99
[[ 9.56287432e-01 -1.48471048e-01 -2.51933909e-01  3.45058149e+02]
 [ 1.48555029e-01  9.88725466e-01 -1.87977852e-02  2.90553737e+01]
 [ 2.51884398e-01 -1.94499634e-02  9.67561858e-01  8.99890859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.22071405700007 meters
Centerline goodness : 0.998581 with order 1
Centerline is valid?  [True, True]
Translation: X:345.12, Y:29.06, Z:90.00
[[ 9.56736796e-01 -1.45546834e-01 -2.51934162e-01  3.45116711e+02]
 [ 1.45532533e-01  9.89174935e-01 -1.87943962e-02  2.90622195e+01]
 [ 2.51942423e-01 -1.86833262e-02  9.67561858e-01  9.00048901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.28071405700007 meters
Centerline goodness : 0.998818 with order 1
Centerline is valid?  [True, True]
Translation: X:345.17, Y:29.07, Z:90.02
[[ 9.57410503e-01 -1.41047004e-01 -2.51934259e-01  3.45174927e+02]
 [ 1.40880532e-01  9.89848218e-01 -1.87930981e-02  2.90693801e+01]
 [ 2.52027387e-01 -1.74999228e-02  9.67561858e-01  9.00205819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.34071405700007 meters
Centerline goodness : 0.998761 with order 1
Centerline is valid?  [True, True]
Translation: X:345.23, Y:29.08, Z:90.04
[[ 9.58361283e-01 -1.34433766e-01 -2.51934938e-01  3.45231894e+02]
 [ 1.34045736e-01  9.90797105e-01 -1.87839877e-02  2.90778487e+01]
 [ 2.52141609e-01 -1.57689577e-02  9.67561858e-01  9.00399671e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.4007140570001 meters
Centerline goodness : 0.998566 with order 1
Centerline is valid?  [True, True]
Translation: X:345.29, Y:29.08, Z:90.05
[[ 9.59018611e-01 -1.29661519e-01 -2.51934901e-01  3.45289067e+02]
 [ 1.29111904e-01  9.91452096e-01 -1.87844798e-02  2.90844684e+01]
 [ 2.52217010e-01 -1.45131292e-02  9.67561858e-01  9.00542949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.4607140570001 meters
Centerline goodness : 0.998514 with order 1
Centerline is valid?  [True, True]
Translation: X:345.35, Y:29.09, Z:90.07
[[ 9.59285279e-01 -1.27674381e-01 -2.51934529e-01  3.45348221e+02]
 [ 1.27056265e-01  9.91717531e-01 -1.87894727e-02  2.90899117e+01]
 [ 2.52246823e-01 -1.39853958e-02  9.67561858e-01  9.00693432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.520714057 meters
Centerline goodness : 0.998371 with order 1
Centerline is valid?  [True, True]
Translation: X:345.41, Y:29.10, Z:90.09
[[ 9.59718260e-01 -1.24375816e-01 -2.51935544e-01  3.45407582e+02]
 [ 1.23649774e-01  9.92148276e-01 -1.87758544e-02  2.90959794e+01]
 [ 2.52292678e-01 -1.31322428e-02  9.67561858e-01  9.00856900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.580714057 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:345.47, Y:29.10, Z:90.10
[[ 9.59797941e-01 -1.23756530e-01 -2.51936965e-01  3.45467168e+02]
 [ 1.23014560e-01  9.92227596e-01 -1.87567663e-02  2.91009598e+01]
 [ 2.52300081e-01 -1.29892092e-02  9.67561858e-01  9.01015040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.640714057 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:345.53, Y:29.10, Z:90.12
[[ 9.59882224e-01 -1.23098439e-01 -2.51938265e-01  3.45526449e+02]
 [ 1.22338811e-01  9.92311471e-01 -1.87392870e-02  2.91039718e+01]
 [ 2.52308007e-01 -1.28343193e-02  9.67561858e-01  9.01176056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.700714057 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:345.59, Y:29.11, Z:90.13
[[ 9.59729117e-01 -1.24285098e-01 -2.51938953e-01  3.45585563e+02]
 [ 1.23567984e-01  9.92159331e-01 -1.87300416e-02  2.91071767e+01]
 [ 2.52291448e-01 -1.31558223e-02  9.67561858e-01  9.01324587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.76071405700003 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:345.64, Y:29.11, Z:90.15
[[ 9.59371404e-01 -1.27016144e-01 -2.51939294e-01  3.45644942e+02]
 [ 1.26392538e-01  9.91803551e-01 -1.87254497e-02  2.91104529e+01]
 [ 2.52252721e-01 -1.38785857e-02  9.67561858e-01  9.01467387e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.82071405700003 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:345.70, Y:29.11, Z:90.16
[[ 9.58877766e-01 -1.30689907e-01 -2.51939630e-01  3.45704078e+02]
 [ 1.30191716e-01  9.91312082e-01 -1.87209207e-02  2.91122810e+01]
 [ 2.52197435e-01 -1.48493783e-02  9.67561858e-01  9.01611703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.88071405700003 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:345.76, Y:29.12, Z:90.18
[[ 9.58516996e-01 -1.33309483e-01 -2.51939975e-01  3.45763144e+02]
 [ 1.32901133e-01  9.90952567e-01 -1.87162847e-02  2.91154502e+01]
 [ 2.52155623e-01 -1.55432311e-02  9.67561858e-01  9.01762197e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 355.94071405700004 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:345.82, Y:29.12, Z:90.19
[[ 9.58208319e-01 -1.35508962e-01 -2.51940745e-01  3.45821953e+02]
 [ 1.35177769e-01  9.90644770e-01 -1.87059100e-02  2.91179384e+01]
 [ 2.52118600e-01 -1.61326294e-02  9.67561858e-01  9.01924232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.00071405700004 meters
Centerline goodness : 0.998813 with order 1
Centerline is valid?  [True, True]
Translation: X:345.88, Y:29.12, Z:90.21
[[ 9.57997461e-01 -1.36989852e-01 -2.51941748e-01  3.45881076e+02]
 [ 1.36712336e-01  9.90434416e-01 -1.86923895e-02  2.91206934e+01]
 [ 2.52092446e-01 -1.65362833e-02  9.67561859e-01  9.02087534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.06071405700004 meters
Centerline goodness : 0.998630 with order 1
Centerline is valid?  [True, True]
Translation: X:345.94, Y:29.12, Z:90.22
[[ 9.57665706e-01 -1.39288980e-01 -2.51942406e-01  3.45939801e+02]
 [ 1.39091647e-01  9.90103247e-01 -1.86835188e-02  2.91231505e+01]
 [ 2.52051403e-01 -1.71505190e-02  9.67561859e-01  9.02240336e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.12071405700004 meters
Centerline goodness : 0.998513 with order 1
Centerline is valid?  [True, True]
Translation: X:346.00, Y:29.13, Z:90.24
[[ 9.57323726e-01 -1.41619126e-01 -2.51943063e-01  3.45998862e+02]
 [ 1.41503053e-01  9.89761660e-01 -1.86746618e-02  2.91251983e+01]
 [ 2.52008273e-01 -1.77730156e-02  9.67561859e-01  9.02407550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.18071405700005 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:346.06, Y:29.13, Z:90.26
[[ 9.57002823e-01 -1.43770781e-01 -2.51943565e-01  3.46059308e+02]
 [ 1.43729401e-01  9.89440938e-01 -1.86678878e-02  2.91274116e+01]
 [ 2.51967174e-01 -1.83464763e-02  9.67561859e-01  9.02554570e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.24071405700005 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:346.12, Y:29.13, Z:90.27
[[ 9.56993501e-01 -1.43830375e-01 -2.51944960e-01  3.46118321e+02]
 [ 1.43795953e-01  9.89431624e-01 -1.86490307e-02  2.91309324e+01]
 [ 2.51964608e-01 -1.83816644e-02  9.67561859e-01  9.02695450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.30071405700005 meters
Centerline goodness : 0.998635 with order 1
Centerline is valid?  [True, True]
Translation: X:346.18, Y:29.13, Z:90.29
[[ 9.57108580e-01 -1.43061381e-01 -2.51945643e-01  3.46177107e+02]
 [ 1.43003309e-01  9.89546669e-01 -1.86398090e-02  2.91337167e+01]
 [ 2.51978608e-01 -1.81887396e-02  9.67561859e-01  9.02863950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.36071405700005 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:346.24, Y:29.14, Z:90.30
[[ 9.57470510e-01 -1.40617130e-01 -2.51946511e-01  3.46235206e+02]
 [ 1.40479311e-01  9.89908359e-01 -1.86280599e-02  2.91369374e+01]
 [ 2.52023382e-01 -1.75574543e-02  9.67561859e-01  9.03042100e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.42071405700005 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:346.29, Y:29.14, Z:90.32
[[ 9.57931746e-01 -1.37439845e-01 -2.51946540e-01  3.46294306e+02]
 [ 1.37194511e-01  9.90368959e-01 -1.86276762e-02  2.91411217e+01]
 [ 2.52080217e-01 -1.67216399e-02  9.67561859e-01  9.03197674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.48071405700006 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:346.35, Y:29.14, Z:90.33
[[ 9.58566567e-01 -1.32938846e-01 -2.51947217e-01  3.46351940e+02]
 [ 1.32543554e-01  9.91002299e-01 -1.86185127e-02  2.91443244e+01]
 [ 2.52155395e-01 -1.55468957e-02  9.67561859e-01  9.03342442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.54071405700006 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:346.41, Y:29.15, Z:90.35
[[ 9.58959638e-01 -1.30073772e-01 -2.51946873e-01  3.46410407e+02]
 [ 1.29580338e-01  9.91394026e-01 -1.86231591e-02  2.91464940e+01]
 [ 2.52201010e-01 -1.47885031e-02  9.67561859e-01  9.03488271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.60071405700006 meters
Centerline goodness : 0.998232 with order 1
Centerline is valid?  [True, True]
Translation: X:346.47, Y:29.15, Z:90.36
[[ 9.59138455e-01 -1.28748582e-01 -2.51946873e-01  3.46468828e+02]
 [ 1.28210331e-01  9.91572130e-01 -1.86231591e-02  2.91471572e+01]
 [ 2.52221203e-01 -1.44400041e-02  9.67561859e-01  9.03620262e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.66071405700006 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:346.53, Y:29.15, Z:90.38
[[ 9.59069508e-01 -1.29261469e-01 -2.51946725e-01  3.46526824e+02]
 [ 1.28740037e-01  9.91503457e-01 -1.86251664e-02  2.91486885e+01]
 [ 2.52213565e-01 -1.45728015e-02  9.67561859e-01  9.03771583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.72071405700007 meters
Centerline goodness : 0.998428 with order 1
Centerline is valid?  [True, True]
Translation: X:346.58, Y:29.15, Z:90.39
[[ 9.58912546e-01 -1.30421991e-01 -2.51946092e-01  3.46583487e+02]
 [ 1.29937567e-01  9.91347070e-01 -1.86337291e-02  2.91509792e+01]
 [ 2.52196268e-01 -1.48691456e-02  9.67561859e-01  9.03920318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.78071405700007 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:346.64, Y:29.15, Z:90.41
[[ 9.58561627e-01 -1.32984984e-01 -2.51941661e-01  3.46640321e+02]
 [ 1.32571633e-01  9.90997133e-01 -1.86934451e-02  2.91515946e+01]
 [ 2.52159412e-01 -1.54814984e-02  9.67561861e-01  9.04053405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.84071405700007 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:346.70, Y:29.15, Z:90.42
[[ 9.58060358e-01 -1.36552198e-01 -2.51940168e-01  3.46699324e+02]
 [ 1.36254323e-01  9.90497129e-01 -1.87135478e-02  2.91529184e+01]
 [ 2.52101390e-01 -1.63992288e-02  9.67561861e-01  9.04191421e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.9007140570001 meters
Centerline goodness : 0.998674 with order 1
Centerline is valid?  [True, True]
Translation: X:346.76, Y:29.15, Z:90.44
[[ 9.57780346e-01 -1.38502561e-01 -2.51940168e-01  3.46757010e+02]
 [ 1.38270730e-01  9.90217657e-01 -1.87135478e-02  2.91540908e+01]
 [ 2.52067478e-01 -1.69124827e-02  9.67561861e-01  9.04374884e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 356.9607140570001 meters
Centerline goodness : 0.998353 with order 1
Centerline is valid?  [True, True]
Translation: X:346.82, Y:29.16, Z:90.45
[[ 9.57694470e-01 -1.39095023e-01 -2.51940224e-01  3.46816985e+02]
 [ 1.38883454e-01  9.90131919e-01 -1.87127968e-02  2.91565002e+01]
 [ 2.52056915e-01 -1.70691865e-02  9.67561861e-01  9.04539750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.020714057 meters
Centerline goodness : 0.998401 with order 1
Centerline is valid?  [True, True]
Translation: X:346.88, Y:29.16, Z:90.47
[[ 9.57667917e-01 -1.39275235e-01 -2.51941601e-01  3.46875762e+02]
 [ 1.39074627e-01  9.90105435e-01 -1.86942478e-02  2.91587625e+01]
 [ 2.52052394e-01 -1.71358028e-02  9.67561861e-01  9.04707477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.080714057 meters
Centerline goodness : 0.998095 with order 1
Centerline is valid?  [True, True]
Translation: X:346.94, Y:29.16, Z:90.49
[[ 9.57632496e-01 -1.39517783e-01 -2.51942038e-01  3.46935561e+02]
 [ 1.39326937e-01  9.90070074e-01 -1.86883448e-02  2.91613786e+01]
 [ 2.52047629e-01 -1.72057461e-02  9.67561861e-01  9.04855469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.140714057 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:347.00, Y:29.16, Z:90.50
[[ 9.57379824e-01 -1.41239402e-01 -2.51943057e-01  3.46995084e+02]
 [ 1.41110479e-01  9.89817707e-01 -1.86746003e-02  2.91641501e+01]
 [ 2.52015288e-01 -1.76731198e-02  9.67561861e-01  9.04997950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.200714057 meters
Centerline goodness : 0.998216 with order 1
Centerline is valid?  [True, True]
Translation: X:347.05, Y:29.17, Z:90.51
[[ 9.57252632e-01 -1.42097707e-01 -2.51943726e-01  3.47054627e+02]
 [ 1.42000230e-01  9.89690624e-01 -1.86655769e-02  2.91675031e+01]
 [ 2.51998679e-01 -1.79083944e-02  9.67561861e-01  9.05139443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.26071405700003 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:347.11, Y:29.17, Z:90.53
[[ 9.56780835e-01 -1.45239305e-01 -2.51944394e-01  3.47113919e+02]
 [ 1.45250675e-01  9.89218972e-01 -1.86565534e-02  2.91685710e+01]
 [ 2.51937839e-01 -1.87448606e-02  9.67561861e-01  9.05262751e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.32071405700003 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:347.17, Y:29.17, Z:90.54
[[ 9.56587288e-01 -1.46508537e-01 -2.51944456e-01  3.47173435e+02]
 [ 1.46563160e-01  9.89025381e-01 -1.86557192e-02  2.91713815e+01]
 [ 2.51912683e-01 -1.90799519e-02  9.67561861e-01  9.05407796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.38071405700003 meters
Centerline goodness : 0.999239 with order 1
Centerline is valid?  [True, True]
Translation: X:347.23, Y:29.17, Z:90.56
[[ 9.56524166e-01 -1.46918944e-01 -2.51945119e-01  3.47232472e+02]
 [ 1.46989832e-01  9.88962228e-01 -1.86467586e-02  2.91746343e+01]
 [ 2.51903768e-01 -1.91972955e-02  9.67561861e-01  9.05572334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.44071405700004 meters
Centerline goodness : 0.999378 with order 1
Centerline is valid?  [True, True]
Translation: X:347.29, Y:29.18, Z:90.57
[[ 9.56600829e-01 -1.46417769e-01 -2.51945808e-01  3.47292143e+02]
 [ 1.46474100e-01  9.89038919e-01 -1.86374488e-02  2.91782898e+01]
 [ 2.51913063e-01 -1.90749363e-02  9.67561861e-01  9.05749590e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.50071405700004 meters
Centerline goodness : 0.999126 with order 1
Centerline is valid?  [True, True]
Translation: X:347.35, Y:29.18, Z:90.59
[[ 9.56749293e-01 -1.45442091e-01 -2.51947195e-01  3.47351302e+02]
 [ 1.45470256e-01  9.89187419e-01 -1.86186694e-02  2.91828722e+01]
 [ 2.51930934e-01 -1.88374243e-02  9.67561862e-01  9.05925034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.56071405700004 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:347.41, Y:29.19, Z:90.61
[[ 9.56685732e-01 -1.45857822e-01 -2.51948219e-01  3.47410561e+02]
 [ 1.45903714e-01  9.89123838e-01 -1.86048032e-02  2.91865317e+01]
 [ 2.51921646e-01 -1.89612312e-02  9.67561862e-01  9.06064309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.62071405700004 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:347.47, Y:29.19, Z:90.62
[[ 9.56750454e-01 -1.45431199e-01 -2.51949071e-01  3.47469641e+02]
 [ 1.45465648e-01  9.89188574e-01 -1.85932637e-02  2.91903081e+01]
 [ 2.51929183e-01 -1.88608215e-02  9.67561862e-01  9.06214960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.68071405700005 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:347.53, Y:29.19, Z:90.64
[[ 9.56896393e-01 -1.44466659e-01 -2.51949751e-01  3.47529889e+02]
 [ 1.44470822e-01  9.89334531e-01 -1.85840456e-02  2.91948732e+01]
 [ 2.51947364e-01 -1.86163814e-02  9.67561862e-01  9.06375814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.74071405700005 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:347.59, Y:29.20, Z:90.65
[[ 9.57189271e-01 -1.42510846e-01 -2.51951105e-01  3.47587782e+02]
 [ 1.42453530e-01  9.89627358e-01 -1.85656709e-02  2.91993176e+01]
 [ 2.51983516e-01 -1.81204633e-02  9.67561862e-01  9.06534912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.80071405700005 meters
Centerline goodness : 0.998207 with order 1
Centerline is valid?  [True, True]
Translation: X:347.65, Y:29.20, Z:90.67
[[ 9.57985814e-01 -1.37054078e-01 -2.51951105e-01  3.47645898e+02]
 [ 1.36811918e-01  9.90423048e-01 -1.85656709e-02  2.92022928e+01]
 [ 2.52082682e-01 -1.66842645e-02  9.67561862e-01  9.06651746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.86071405700005 meters
Centerline goodness : 0.998939 with order 1
Centerline is valid?  [True, True]
Translation: X:347.70, Y:29.21, Z:90.68
[[ 9.57851563e-01 -1.37989912e-01 -2.51950726e-01  3.47701743e+02]
 [ 1.37778094e-01  9.90289009e-01 -1.85708189e-02  2.92094171e+01]
 [ 2.52066620e-01 -1.69252027e-02  9.67561862e-01  9.06847770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.92071405700005 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:347.76, Y:29.21, Z:90.70
[[ 9.57954803e-01 -1.37275227e-01 -2.51948619e-01  3.47760715e+02]
 [ 1.37031734e-01  9.90392027e-01 -1.85993551e-02  2.92137678e+01]
 [ 2.52081134e-01 -1.67076147e-02  9.67561862e-01  9.07007686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 357.98071405700006 meters
Centerline goodness : 0.998268 with order 1
Centerline is valid?  [True, True]
Translation: X:347.82, Y:29.22, Z:90.71
[[ 9.57968150e-01 -1.37180828e-01 -2.51949289e-01  3.47820714e+02]
 [ 1.36936517e-01  9.90405368e-01 -1.85902750e-02  2.92180701e+01]
 [ 2.52082157e-01 -1.66921667e-02  9.67561862e-01  9.07138989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.04071405700006 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:347.88, Y:29.22, Z:90.73
[[ 9.57933152e-01 -1.37423776e-01 -2.51949961e-01  3.47878942e+02]
 [ 1.37190078e-01  9.90370447e-01 -1.85811623e-02  2.92230353e+01]
 [ 2.52077289e-01 -1.67655234e-02  9.67561862e-01  9.07291685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.10071405700006 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:347.94, Y:29.23, Z:90.75
[[ 9.58145907e-01 -1.35932478e-01 -2.51949961e-01  3.47937795e+02]
 [ 1.35648287e-01  9.90582799e-01 -1.85811623e-02  2.92285692e+01]
 [ 2.52103081e-01 -1.63731161e-02  9.67561862e-01  9.07458902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.16071405700006 meters
Centerline goodness : 0.998635 with order 1
Centerline is valid?  [True, True]
Translation: X:348.00, Y:29.24, Z:90.76
[[ 9.58357435e-01 -1.34431805e-01 -2.51950624e-01  3.47995796e+02]
 [ 1.34099172e-01  9.90793867e-01 -1.85721652e-02  2.92354328e+01]
 [ 2.52127823e-01 -1.59875976e-02  9.67561862e-01  9.07632488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.22071405700007 meters
Centerline goodness : 0.998475 with order 1
Centerline is valid?  [True, True]
Translation: X:348.05, Y:29.24, Z:90.78
[[ 9.58504593e-01 -1.33378260e-01 -2.51950760e-01  3.48054804e+02]
 [ 1.33010455e-01  9.90940645e-01 -1.85703241e-02  2.92425091e+01]
 [ 2.52145126e-01 -1.57123443e-02  9.67561862e-01  9.07784878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.28071405700007 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:348.11, Y:29.25, Z:90.79
[[ 9.58429781e-01 -1.33913495e-01 -2.51951447e-01  3.48112875e+02]
 [ 1.33566244e-01  9.90866059e-01 -1.85610013e-02  2.92497956e+01]
 [ 2.52135706e-01 -1.58627920e-02  9.67561862e-01  9.07920022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.34071405700007 meters
Centerline goodness : 0.998309 with order 1
Centerline is valid?  [True, True]
Translation: X:348.17, Y:29.26, Z:90.81
[[ 9.58166164e-01 -1.35784868e-01 -2.51952520e-01  3.48172221e+02]
 [ 1.35504777e-01  9.90603092e-01 -1.85464229e-02  2.92562319e+01]
 [ 2.52103269e-01 -1.63702152e-02  9.67561863e-01  9.08087211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.4007140570001 meters
Centerline goodness : 0.998628 with order 1
Centerline is valid?  [True, True]
Translation: X:348.23, Y:29.26, Z:90.82
[[ 9.58048490e-01 -1.36610120e-01 -2.51953897e-01  3.48232120e+02]
 [ 1.36362869e-01  9.90485685e-01 -1.85277025e-02  2.92622699e+01]
 [ 2.52087800e-01 -1.66067189e-02  9.67561863e-01  9.08241374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.4607140570001 meters
Centerline goodness : 0.998226 with order 1
Centerline is valid?  [True, True]
Translation: X:348.29, Y:29.27, Z:90.84
[[ 9.58095035e-01 -1.36280763e-01 -2.51955269e-01  3.48291842e+02]
 [ 1.36027255e-01  9.90532181e-01 -1.85090156e-02  2.92703259e+01]
 [ 2.52092225e-01 -1.65393877e-02  9.67561863e-01  9.08405631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.520714057 meters
Centerline goodness : 0.998078 with order 1
Centerline is valid?  [True, True]
Translation: X:348.35, Y:29.28, Z:90.86
[[ 9.58301458e-01 -1.34819057e-01 -2.51956618e-01  3.48350383e+02]
 [ 1.34520877e-01  9.90738225e-01 -1.84906461e-02  2.92784496e+01]
 [ 2.52115943e-01 -1.61738121e-02  9.67561863e-01  9.08575977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.580714057 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:348.41, Y:29.29, Z:90.87
[[ 9.58494517e-01 -1.33438286e-01 -2.51957309e-01  3.48409587e+02]
 [ 1.33095843e-01  9.90930846e-01 -1.84812200e-02  2.92866614e+01]
 [ 2.52138372e-01 -1.58203224e-02  9.67561863e-01  9.08715357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.640714057 meters
Centerline goodness : 0.998472 with order 1
Centerline is valid?  [True, True]
Translation: X:348.47, Y:29.29, Z:90.89
[[ 9.58658284e-01 -1.32252242e-01 -2.51959598e-01  3.48468490e+02]
 [ 1.31877849e-01  9.91094260e-01 -1.84499653e-02  2.92933496e+01]
 [ 2.52155760e-01 -1.55406776e-02  9.67561864e-01  9.08881814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.700714057 meters
Centerline goodness : 0.998488 with order 1
Centerline is valid?  [True, True]
Translation: X:348.53, Y:29.30, Z:90.90
[[ 9.59014070e-01 -1.29645800e-01 -2.51960276e-01  3.48526579e+02]
 [ 1.29185662e-01  9.91448942e-01 -1.84406998e-02  2.93014996e+01]
 [ 2.52196508e-01 -1.48647646e-02  9.67561864e-01  9.09036494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.76071405700003 meters
Centerline goodness : 0.998298 with order 1
Centerline is valid?  [True, True]
Translation: X:348.58, Y:29.31, Z:90.92
[[ 9.59404749e-01 -1.26722322e-01 -2.51960276e-01  3.48583990e+02]
 [ 1.26163332e-01  9.91838069e-01 -1.84406998e-02  2.93091768e+01]
 [ 2.52240642e-01 -1.40960530e-02  9.67561864e-01  9.09188839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.82071405700003 meters
Centerline goodness : 0.998386 with order 1
Centerline is valid?  [True, True]
Translation: X:348.64, Y:29.32, Z:90.94
[[ 9.59580198e-01 -1.25386908e-01 -2.51960249e-01  3.48643248e+02]
 [ 1.24782682e-01  9.92012706e-01 -1.84410646e-02  2.93162327e+01]
 [ 2.52260037e-01 -1.37445954e-02  9.67561864e-01  9.09368129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.88071405700003 meters
Centerline goodness : 0.998557 with order 1
Centerline is valid?  [True, True]
Translation: X:348.70, Y:29.32, Z:90.95
[[ 9.59514975e-01 -1.25882338e-01 -2.51961605e-01  3.48702255e+02]
 [ 1.25299712e-01  9.91947878e-01 -1.84225199e-02  2.93217913e+01]
 [ 2.52251850e-01 -1.38940329e-02  9.67561864e-01  9.09530300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 358.94071405700004 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:348.76, Y:29.33, Z:90.97
[[ 9.59199689e-01 -1.28261334e-01 -2.51962274e-01  3.48762589e+02]
 [ 1.27761533e-01  9.91633974e-01 -1.84133662e-02  2.93264120e+01]
 [ 2.52216074e-01 -1.45289913e-02  9.67561864e-01  9.09688953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.00071405700004 meters
Centerline goodness : 0.998270 with order 1
Centerline is valid?  [True, True]
Translation: X:348.82, Y:29.33, Z:90.98
[[ 9.58451494e-01 -1.33735067e-01 -2.51963619e-01  3.48821468e+02]
 [ 1.33425256e-01  9.90888151e-01 -1.83949486e-02  2.93291694e+01]
 [ 2.52127814e-01 -1.59876444e-02  9.67561864e-01  9.09816635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.06071405700004 meters
Centerline goodness : 0.998441 with order 1
Centerline is valid?  [True, True]
Translation: X:348.88, Y:29.33, Z:91.00
[[ 9.57853036e-01 -1.37955941e-01 -2.51963727e-01  3.48880795e+02]
 [ 1.37789410e-01  9.90290745e-01 -1.83934683e-02  2.93329489e+01]
 [ 2.52054835e-01 -1.70996939e-02  9.67561864e-01  9.09955463e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.12071405700004 meters
Centerline goodness : 0.999244 with order 1
Centerline is valid?  [True, True]
Translation: X:348.94, Y:29.34, Z:91.01
[[ 9.57066935e-01 -1.43307570e-01 -2.51963930e-01  3.48939962e+02]
 [ 1.43323075e-01  9.89505068e-01 -1.83906894e-02  2.93355034e+01]
 [ 2.51955110e-01 -1.85111246e-02  9.67561864e-01  9.10099201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.18071405700005 meters
Centerline goodness : 0.998230 with order 1
Centerline is valid?  [True, True]
Translation: X:349.00, Y:29.34, Z:91.02
[[ 9.56629986e-01 -1.46195798e-01 -2.51964001e-01  3.48997502e+02]
 [ 1.46309474e-01  9.89067923e-01 -1.83897065e-02  2.93391759e+01]
 [ 2.51898009e-01 -1.92725758e-02  9.67561864e-01  9.10236968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.24071405700005 meters
Centerline goodness : 0.998256 with order 1
Centerline is valid?  [True, True]
Translation: X:349.06, Y:29.34, Z:91.04
[[ 9.56341776e-01 -1.48069852e-01 -2.51963741e-01  3.49055520e+02]
 [ 1.48246149e-01  9.88779433e-01 -1.83932761e-02  2.93434832e+01]
 [ 2.51860054e-01 -1.97623959e-02  9.67561864e-01  9.10423401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.30071405700005 meters
Centerline goodness : 0.998499 with order 1
Centerline is valid?  [True, True]
Translation: X:349.11, Y:29.35, Z:91.06
[[ 9.56271758e-01 -1.48520806e-01 -2.51964074e-01  3.49114616e+02]
 [ 1.48713593e-01  9.88709321e-01 -1.83887164e-02  2.93477482e+01]
 [ 2.51850335e-01 -1.98858727e-02  9.67561864e-01  9.10607795e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.36071405700005 meters
Centerline goodness : 0.998428 with order 1
Centerline is valid?  [True, True]
Translation: X:349.17, Y:29.35, Z:91.08
[[ 9.56275909e-01 -1.48491788e-01 -2.51965425e-01  3.49173605e+02]
 [ 1.48688444e-01  9.88713448e-01 -1.83701811e-02  2.93511147e+01]
 [ 2.51849425e-01 -1.98973855e-02  9.67561864e-01  9.10764146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.42071405700005 meters
Centerline goodness : 0.998614 with order 1
Centerline is valid?  [True, True]
Translation: X:349.23, Y:29.35, Z:91.09
[[ 9.56227419e-01 -1.48802044e-01 -2.51966416e-01  3.49233891e+02]
 [ 1.49012785e-01  9.88664870e-01 -1.83565838e-02  2.93545239e+01]
 [ 2.51841841e-01 -1.99931485e-02  9.67561864e-01  9.10912793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.48071405700006 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:349.29, Y:29.36, Z:91.10
[[ 9.56410099e-01 -1.47621069e-01 -2.51967743e-01  3.49294136e+02]
 [ 1.47796526e-01  9.88847760e-01 -1.83383534e-02  2.93589727e+01]
 [ 2.51864865e-01 -1.97009707e-02  9.67561864e-01  9.11047459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.54071405700006 meters
Centerline goodness : 0.998566 with order 1
Centerline is valid?  [True, True]
Translation: X:349.35, Y:29.37, Z:91.12
[[ 9.57012311e-01 -1.43663492e-01 -2.51968723e-01  3.49352865e+02]
 [ 1.43708295e-01  9.89450416e-01 -1.83248700e-02  2.93650659e+01]
 [ 2.51943173e-01 -1.86728694e-02  9.67561865e-01  9.11195057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.60071405700006 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:349.41, Y:29.37, Z:91.14
[[ 9.57498457e-01 -1.40386271e-01 -2.51969045e-01  3.49410658e+02]
 [ 1.40321180e-01  9.89936527e-01 -1.83204420e-02  2.93717509e+01]
 [ 2.52005300e-01 -1.78147986e-02  9.67561865e-01  9.11354045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.66071405700006 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:349.47, Y:29.38, Z:91.15
[[ 9.58172886e-01 -1.35706590e-01 -2.51969127e-01  3.49468520e+02]
 [ 1.35483314e-01  9.90610253e-01 -1.83193143e-02  2.93772260e+01]
 [ 2.52089253e-01 -1.65845421e-02  9.67561865e-01  9.11526289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.72071405700007 meters
Centerline goodness : 0.998911 with order 1
Centerline is valid?  [True, True]
Translation: X:349.53, Y:29.38, Z:91.17
[[ 9.58645769e-01 -1.32324843e-01 -2.51969097e-01  3.49525796e+02]
 [ 1.31987004e-01  9.91082145e-01 -1.83197304e-02  2.93819420e+01]
 [ 2.52146228e-01 -1.56945143e-02  9.67561865e-01  9.11704584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.78071405700007 meters
Centerline goodness : 0.998360 with order 1
Centerline is valid?  [True, True]
Translation: X:349.59, Y:29.38, Z:91.18
[[ 9.59082082e-01 -1.29124494e-01 -2.51969097e-01  3.49585034e+02]
 [ 1.28678396e-01  9.91517150e-01 -1.83197304e-02  2.93796084e+01]
 [ 2.52197207e-01 -1.48528540e-02  9.67561865e-01  9.11838586e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.84071405700007 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:349.64, Y:29.38, Z:91.20
[[ 9.59575930e-01 -1.25401789e-01 -2.51969095e-01  3.49643064e+02]
 [ 1.24829824e-01  9.92009023e-01 -1.83197539e-02  2.93816980e+01]
 [ 2.52252946e-01 -1.38740630e-02  9.67561865e-01  9.12026587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.9007140570001 meters
Centerline goodness : 0.998198 with order 1
Centerline is valid?  [True, True]
Translation: X:349.70, Y:29.38, Z:91.22
[[ 9.60346130e-01 -1.19358921e-01 -2.51969756e-01  3.49702539e+02]
 [ 1.18585187e-01  9.92775037e-01 -1.83106581e-02  2.93808484e+01]
 [ 2.52334824e-01 -1.22953109e-02  9.67561865e-01  9.12170933e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 359.9607140570001 meters
Centerline goodness : 0.997818 with order 1
Centerline is valid?  [True, True]
Translation: X:349.76, Y:29.38, Z:91.23
[[ 9.61360352e-01 -1.10893473e-01 -2.51970060e-01  3.49761936e+02]
 [ 1.09835158e-01  9.93781219e-01 -1.83064808e-02  2.93773163e+01]
 [ 2.52433182e-01 -1.00760464e-02  9.67561865e-01  9.12269137e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.020714057 meters
Centerline goodness : 0.997822 with order 1
Centerline is valid?  [True, True]
Translation: X:349.82, Y:29.38, Z:91.25
[[ 9.62017556e-01 -1.05040099e-01 -2.51969837e-01  3.49819739e+02]
 [ 1.03783671e-01  9.94431350e-01 -1.83095476e-02  2.93815855e+01]
 [ 2.52489942e-01 -8.53624853e-03  9.67561865e-01  9.12463231e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.080714057 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:349.88, Y:29.38, Z:91.26
[[ 9.63226473e-01 -9.33054108e-02 -2.51969962e-01  3.49876930e+02]
 [ 9.16544082e-02  9.95622566e-01 -1.83078175e-02  2.93792220e+01]
 [ 2.52575199e-01 -5.45958333e-03  9.67561865e-01  9.12638821e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.140714057 meters
Centerline goodness : 0.997922 with order 1
Centerline is valid?  [True, True]
Translation: X:349.93, Y:29.38, Z:91.28
[[ 9.63535668e-01 -9.00575257e-02 -2.51969560e-01  3.49933750e+02]
 [ 8.82958658e-02  9.95925931e-01 -1.83133597e-02  2.93787252e+01]
 [ 2.52592274e-01 -4.60229521e-03  9.67561865e-01  9.12796358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.200714057 meters
Centerline goodness : 0.998493 with order 1
Centerline is valid?  [True, True]
Translation: X:349.99, Y:29.38, Z:91.30
[[ 9.63397706e-01 -9.15344211e-02 -2.51964898e-01  3.49990630e+02]
 [ 8.98057027e-02  9.95789743e-01 -1.83772809e-02  2.93765220e+01]
 [ 2.52586215e-01 -4.92325448e-03  9.67561867e-01  9.12967442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.26071405700003 meters
Centerline goodness : 0.999058 with order 1
Centerline is valid?  [True, True]
Translation: X:350.05, Y:29.37, Z:91.31
[[ 9.62558889e-01 -9.99729152e-02 -2.51963889e-01  3.50047984e+02]
 [ 9.85244906e-02  9.94964669e-01 -1.83911046e-02  2.93680315e+01]
 [ 2.52533780e-01 -7.12209262e-03  9.67561867e-01  9.13090184e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.32071405700003 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:350.11, Y:29.36, Z:91.32
[[ 9.61433724e-01 -1.10282330e-01 -2.51958333e-01  3.50107109e+02]
 [ 1.09161422e-01  9.93852482e-01 -1.84669212e-02  2.93602036e+01]
 [ 2.52445990e-01 -9.74940917e-03  9.67561869e-01  9.13200317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.38071405700003 meters
Centerline goodness : 0.998862 with order 1
Centerline is valid?  [True, True]
Translation: X:350.17, Y:29.35, Z:91.33
[[ 9.60566274e-01 -1.17598791e-01 -2.51958245e-01  3.50165934e+02]
 [ 1.16724414e-01  9.92992618e-01 -1.84681223e-02  2.93546796e+01]
 [ 2.52364506e-01 -1.16698231e-02  9.67561870e-01  9.13345812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.44071405700004 meters
Centerline goodness : 0.999027 with order 1
Centerline is valid?  [True, True]
Translation: X:350.22, Y:29.35, Z:91.35
[[ 9.60109057e-01 -1.21275582e-01 -2.51957997e-01  3.50222697e+02]
 [ 1.20524476e-01  9.92538490e-01 -1.84715018e-02  2.93521294e+01]
 [ 2.52318152e-01 -1.26324494e-02  9.67561870e-01  9.13480540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.50071405700004 meters
Centerline goodness : 0.998784 with order 1
Centerline is valid?  [True, True]
Translation: X:350.28, Y:29.35, Z:91.36
[[ 9.59623229e-01 -1.25072013e-01 -2.51952874e-01  3.50281764e+02]
 [ 1.24430949e-01  9.92055021e-01 -1.85411223e-02  2.93491688e+01]
 [ 2.52270090e-01 -1.35582437e-02  9.67561872e-01  9.13641034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.56071405700004 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:350.34, Y:29.35, Z:91.38
[[ 9.59345515e-01 -1.27184912e-01 -2.51952737e-01  3.50339558e+02]
 [ 1.26614781e-01  9.91778632e-01 -1.85429838e-02  2.93475660e+01]
 [ 2.52239729e-01 -1.41118123e-02  9.67561872e-01  9.13804778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.62071405700004 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:350.40, Y:29.35, Z:91.40
[[ 9.59203953e-01 -1.28249552e-01 -2.51952035e-01  3.50396931e+02]
 [ 1.27712922e-01  9.91637642e-01 -1.85525166e-02  2.93465381e+01]
 [ 2.52224474e-01 -1.43818833e-02  9.67561872e-01  9.13952973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.68071405700005 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:350.45, Y:29.35, Z:91.41
[[ 9.59073106e-01 -1.29224333e-01 -2.51952077e-01  3.50454211e+02]
 [ 1.28720812e-01  9.91507326e-01 -1.85519570e-02  2.93461728e+01]
 [ 2.52209694e-01 -1.46387929e-02  9.67561872e-01  9.14084013e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.74071405700005 meters
Centerline goodness : 0.998836 with order 1
Centerline is valid?  [True, True]
Translation: X:350.51, Y:29.35, Z:91.42
[[ 9.58902884e-01 -1.30490665e-01 -2.51947309e-01  3.50511647e+02]
 [ 1.30013076e-01  9.91337494e-01 -1.86164932e-02  2.93468996e+01]
 [ 2.52194092e-01 -1.49050355e-02  9.67561874e-01  9.14221074e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.80071405700005 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:350.57, Y:29.35, Z:91.44
[[ 9.58658677e-01 -1.32275403e-01 -2.51945945e-01  3.50570151e+02]
 [ 1.31853363e-01  9.91094057e-01 -1.86349304e-02  2.93498028e+01]
 [ 2.52167072e-01 -1.53553823e-02  9.67561874e-01  9.14369487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.86071405700005 meters
Centerline goodness : 0.998882 with order 1
Centerline is valid?  [True, True]
Translation: X:350.63, Y:29.35, Z:91.45
[[ 9.58443741e-01 -1.33824543e-01 -2.51945602e-01  3.50627052e+02]
 [ 1.33453710e-01  9.90879747e-01 -1.86395674e-02  2.93536405e+01]
 [ 2.52142226e-01 -1.57580984e-02  9.67561874e-01  9.14527562e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.92071405700005 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:350.68, Y:29.36, Z:91.47
[[ 9.58383520e-01 -1.34264350e-01 -2.51940695e-01  3.50684042e+02]
 [ 1.33891093e-01  9.90819496e-01 -1.87056667e-02  2.93589550e+01]
 [ 2.52139256e-01 -1.58054123e-02  9.67561876e-01  9.14693764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 360.98071405700006 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:350.74, Y:29.36, Z:91.48
[[ 9.58378927e-01 -1.34298438e-01 -2.51939995e-01  3.50739223e+02]
 [ 1.33923867e-01  9.90814888e-01 -1.87150895e-02  2.93648110e+01]
 [ 2.52139305e-01 -1.58046310e-02  9.67561876e-01  9.14844999e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.04071405700006 meters
Centerline goodness : 0.998970 with order 1
Centerline is valid?  [True, True]
Translation: X:350.80, Y:29.37, Z:91.50
[[ 9.58176190e-01 -1.35740546e-01 -2.51938271e-01  3.50795503e+02]
 [ 1.35408721e-01  9.90612616e-01 -1.87382624e-02  2.93711078e+01]
 [ 2.52116772e-01 -1.61600822e-02  9.67561877e-01  9.15003617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.10071405700006 meters
Centerline goodness : 0.998883 with order 1
Centerline is valid?  [True, True]
Translation: X:350.85, Y:29.38, Z:91.51
[[ 9.57880228e-01 -1.37822256e-01 -2.51933512e-01  3.50851951e+02]
 [ 1.37544209e-01  9.90317158e-01 -1.88020478e-02  2.93769111e+01]
 [ 2.52085420e-01 -1.66418858e-02  9.67561879e-01  9.15139114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.16071405700006 meters
Centerline goodness : 0.999058 with order 1
Centerline is valid?  [True, True]
Translation: X:350.91, Y:29.38, Z:91.53
[[ 9.57303946e-01 -1.41772244e-01 -2.51932104e-01  3.50909825e+02]
 [ 1.41623064e-01  9.89741725e-01 -1.88208911e-02  2.93842540e+01]
 [ 2.52015995e-01 -1.76620832e-02  9.67561879e-01  9.15290514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.22071405700007 meters
Centerline goodness : 0.999351 with order 1
Centerline is valid?  [True, True]
Translation: X:350.97, Y:29.39, Z:91.54
[[ 9.56913321e-01 -1.44385889e-01 -2.51931760e-01  3.50967519e+02]
 [ 1.44324084e-01  9.89351383e-01 -1.88254965e-02  2.93908641e+01]
 [ 2.51967171e-01 -1.83454521e-02  9.67561879e-01  9.15435033e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.28071405700007 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:351.03, Y:29.40, Z:91.56
[[ 9.56602098e-01 -1.46434184e-01 -2.51931449e-01  3.51025862e+02]
 [ 1.46440737e-01  9.89040219e-01 -1.88296518e-02  2.93988089e+01]
 [ 2.51927640e-01 -1.88805426e-02  9.67561879e-01  9.15596927e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.34071405700007 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:351.08, Y:29.41, Z:91.57
[[ 9.56459228e-01 -1.47364478e-01 -2.51931449e-01  3.51083171e+02]
 [ 1.47402579e-01  9.88897327e-01 -1.88296518e-02  2.94067948e+01]
 [ 2.51909159e-01 -1.91255513e-02  9.67561879e-01  9.15745115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.4007140570001 meters
Centerline goodness : 0.999256 with order 1
Centerline is valid?  [True, True]
Translation: X:351.14, Y:29.41, Z:91.59
[[ 9.56530633e-01 -1.46900960e-01 -2.51931055e-01  3.51142068e+02]
 [ 1.46921961e-01  9.88968747e-01 -1.88349210e-02  2.94140252e+01]
 [ 2.51918808e-01 -1.89980258e-02  9.67561879e-01  9.15915609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.4607140570001 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:351.20, Y:29.42, Z:91.61
[[ 9.56769528e-01 -1.45335688e-01 -2.51931753e-01  3.51199585e+02]
 [ 1.45306060e-01  9.89207636e-01 -1.88255803e-02  2.94212002e+01]
 [ 2.51948843e-01 -1.85954690e-02  9.67561879e-01  9.16072377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.5207140570001 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:351.26, Y:29.43, Z:91.62
[[ 9.57093051e-01 -1.43189676e-01 -2.51931753e-01  3.51257725e+02]
 [ 1.43087303e-01  9.89531011e-01 -1.88255803e-02  2.94283785e+01]
 [ 2.51989911e-01 -1.80304030e-02  9.67561879e-01  9.16231127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.580714057 meters
Centerline goodness : 0.999549 with order 1
Centerline is valid?  [True, True]
Translation: X:351.32, Y:29.43, Z:91.64
[[ 9.57401681e-01 -1.41110713e-01 -2.51932108e-01  3.51316757e+02]
 [ 1.40939134e-01  9.89839349e-01 -1.88208318e-02  2.94341898e+01]
 [ 2.52028135e-01 -1.74879972e-02  9.67561879e-01  9.16374295e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.640714057 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:351.38, Y:29.44, Z:91.65
[[ 9.57721379e-01 -1.38923101e-01 -2.51932792e-01  3.51376057e+02]
 [ 1.38679818e-01  9.90158588e-01 -1.88116661e-02  2.94411634e+01]
 [ 2.52066793e-01 -1.69216589e-02  9.67561879e-01  9.16530003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.700714057 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:351.43, Y:29.45, Z:91.67
[[ 9.57842434e-01 -1.38084732e-01 -2.51933479e-01  3.51434601e+02]
 [ 1.37815464e-01  9.90279438e-01 -1.88024679e-02  2.94480733e+01]
 [ 2.52080878e-01 -1.67105277e-02  9.67561879e-01  9.16679573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.76071405700003 meters
Centerline goodness : 0.999364 with order 1
Centerline is valid?  [True, True]
Translation: X:351.49, Y:29.45, Z:91.68
[[ 9.57551724e-01 -1.40086465e-01 -2.51933479e-01  3.51493858e+02]
 [ 1.39884996e-01  9.89989220e-01 -1.88024679e-02  2.94545002e+01]
 [ 2.52045399e-01 -1.72373780e-02  9.67561879e-01  9.16837140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.82071405700003 meters
Centerline goodness : 0.999251 with order 1
Centerline is valid?  [True, True]
Translation: X:351.55, Y:29.46, Z:91.70
[[ 9.56819121e-01 -1.45004649e-01 -2.51934162e-01  3.51551646e+02]
 [ 1.44972248e-01  9.89257226e-01 -1.87933144e-02  2.94619353e+01]
 [ 2.51952808e-01 -1.85416594e-02  9.67561879e-01  9.16995701e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.88071405700003 meters
Centerline goodness : 0.999316 with order 1
Centerline is valid?  [True, True]
Translation: X:351.61, Y:29.47, Z:91.72
[[ 9.55901680e-01 -1.50934369e-01 -2.51934107e-01  3.51609741e+02]
 [ 1.51102901e-01  9.88339363e-01 -1.87940471e-02  2.94687231e+01]
 [ 2.51833063e-01 -2.01027132e-02  9.67561879e-01  9.17156167e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 361.94071405700004 meters
Centerline goodness : 0.999385 with order 1
Centerline is valid?  [True, True]
Translation: X:351.67, Y:29.48, Z:91.73
[[ 9.54993250e-01 -1.56579258e-01 -2.51934175e-01  3.51668542e+02]
 [ 1.56939669e-01  9.87429369e-01 -1.87931379e-02  2.94750084e+01]
 [ 2.51709819e-01 -2.15911461e-02  9.67561879e-01  9.17304815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.00071405700004 meters
Centerline goodness : 0.999385 with order 1
Centerline is valid?  [True, True]
Translation: X:351.73, Y:29.48, Z:91.75
[[ 9.54685840e-01 -1.58442651e-01 -2.51934262e-01  3.51727058e+02]
 [ 1.58866666e-01  9.87121190e-01 -1.87919735e-02  2.94812731e+01]
 [ 2.51667098e-01 -2.20835252e-02  9.67561879e-01  9.17452486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.06071405700004 meters
Centerline goodness : 0.999292 with order 1
Centerline is valid?  [True, True]
Translation: X:351.79, Y:29.49, Z:91.76
[[ 9.54613278e-01 -1.58878702e-01 -2.51934609e-01  3.51786318e+02]
 [ 1.59318750e-01  9.87048414e-01 -1.87873229e-02  2.94900903e+01]
 [ 2.51656561e-01 -2.22032790e-02  9.67561879e-01  9.17605309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.12071405700004 meters
Centerline goodness : 0.998925 with order 1
Centerline is valid?  [True, True]
Translation: X:351.85, Y:29.50, Z:91.77
[[ 9.54753365e-01 -1.58031216e-01 -2.51936793e-01  3.51845723e+02]
 [ 1.58450153e-01  9.87188780e-01 -1.87579873e-02  2.94986804e+01]
 [ 2.51673523e-01 -2.20101718e-02  9.67561879e-01  9.17746756e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.18071405700005 meters
Centerline goodness : 0.999175 with order 1
Centerline is valid?  [True, True]
Translation: X:351.90, Y:29.51, Z:91.79
[[ 9.55141204e-01 -1.55668277e-01 -2.51937826e-01  3.51903647e+02]
 [ 1.56010591e-01  9.87577518e-01 -1.87440995e-02  2.95081952e+01]
 [ 2.51725995e-01 -2.14017074e-02  9.67561879e-01  9.17914332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.24071405700005 meters
Centerline goodness : 0.999357 with order 1
Centerline is valid?  [True, True]
Translation: X:351.96, Y:29.52, Z:91.81
[[ 9.55469722e-01 -1.53638440e-01 -2.51938169e-01  3.51962995e+02]
 [ 1.53913039e-01  9.87906680e-01 -1.87394901e-02  2.95174546e+01]
 [ 2.51770506e-01 -2.08715538e-02  9.67561879e-01  9.18068653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.30071405700005 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:352.02, Y:29.53, Z:91.82
[[ 9.55661548e-01 -1.52439010e-01 -2.51939188e-01  3.52019962e+02]
 [ 1.52676485e-01  9.88098799e-01 -1.87257747e-02  2.95263048e+01]
 [ 2.51795348e-01 -2.05696869e-02  9.67561880e-01  9.18214634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.36071405700005 meters
Centerline goodness : 0.999192 with order 1
Centerline is valid?  [True, True]
Translation: X:352.08, Y:29.53, Z:91.84
[[ 9.55584369e-01 -1.52922560e-01 -2.51938890e-01  3.52079328e+02]
 [ 1.53175396e-01  9.88021504e-01 -1.87297949e-02  2.95341693e+01]
 [ 2.51785249e-01 -2.06929399e-02  9.67561880e-01  9.18358660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.42071405700005 meters
Centerline goodness : 0.999099 with order 1
Centerline is valid?  [True, True]
Translation: X:352.14, Y:29.54, Z:91.85
[[ 9.55526646e-01 -1.53281750e-01 -2.51939544e-01  3.52138347e+02]
 [ 1.53549084e-01  9.87963665e-01 -1.87209929e-02  2.95401525e+01]
 [ 2.51776701e-01 -2.07966785e-02  9.67561880e-01  9.18506244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.48071405700006 meters
Centerline goodness : 0.999168 with order 1
Centerline is valid?  [True, True]
Translation: X:352.20, Y:29.55, Z:91.87
[[ 9.55431021e-01 -1.53875595e-01 -2.51940201e-01  3.52196636e+02]
 [ 1.54165405e-01  9.87867847e-01 -1.87121480e-02  2.95480309e+01]
 [ 2.51762966e-01 -2.09622964e-02  9.67561880e-01  9.18661655e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.54071405700006 meters
Centerline goodness : 0.998865 with order 1
Centerline is valid?  [True, True]
Translation: X:352.25, Y:29.56, Z:91.88
[[ 9.55342720e-01 -1.54421281e-01 -2.51941176e-01  3.52254423e+02]
 [ 1.54733060e-01  9.87779341e-01 -1.86990029e-02  2.95554131e+01]
 [ 2.51749813e-01 -2.11196728e-02  9.67561880e-01  9.18799429e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.60071405700006 meters
Centerline goodness : 0.998586 with order 1
Centerline is valid?  [True, True]
Translation: X:352.31, Y:29.56, Z:91.90
[[ 9.55065326e-01 -1.56127726e-01 -2.51941176e-01  3.52313771e+02]
 [ 1.56497452e-01  9.87501339e-01 -1.86990029e-02  2.95620182e+01]
 [ 2.51711682e-01 -2.15693827e-02  9.67561880e-01  9.18962026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.66071405700006 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:352.37, Y:29.57, Z:91.91
[[ 9.54602563e-01 -1.58931058e-01 -2.51942188e-01  3.52371743e+02]
 [ 1.59399584e-01  9.87037299e-01 -1.86853614e-02  2.95680068e+01]
 [ 2.51646021e-01 -2.23223860e-02  9.67561880e-01  9.19115009e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.72071405700007 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:352.43, Y:29.57, Z:91.93
[[ 9.54059421e-01 -1.62159543e-01 -2.51942263e-01  3.52429439e+02]
 [ 1.62738058e-01  9.86492382e-01 -1.86843479e-02  2.95748949e+01]
 [ 2.51568969e-01 -2.31746165e-02  9.67561880e-01  9.19265311e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.78071405700007 meters
Centerline goodness : 0.997947 with order 1
Centerline is valid?  [True, True]
Translation: X:352.49, Y:29.58, Z:91.94
[[ 9.54123084e-01 -1.61784251e-01 -2.51942446e-01  3.52487665e+02]
 [ 1.62350654e-01  9.86556259e-01 -1.86818815e-02  2.95782439e+01]
 [ 2.51577831e-01 -2.30782064e-02  9.67561880e-01  9.19393477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.84071405700007 meters
Centerline goodness : 0.998191 with order 1
Centerline is valid?  [True, True]
Translation: X:352.55, Y:29.58, Z:91.96
[[ 9.53053413e-01 -1.67971026e-01 -2.51942308e-01  3.52545304e+02]
 [ 1.68747351e-01  9.85482242e-01 -1.86837404e-02  2.95825580e+01]
 [ 2.51422998e-01 -2.47079946e-02  9.67561880e-01  9.19564862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.9007140570001 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:352.61, Y:29.59, Z:91.97
[[ 9.52712277e-01 -1.69895131e-01 -2.51942378e-01  3.52605655e+02]
 [ 1.70737184e-01  9.85139466e-01 -1.86827943e-02  2.95859746e+01]
 [ 2.51372496e-01 -2.52166046e-02  9.67561880e-01  9.19710449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 362.9607140570001 meters
Centerline goodness : 0.998496 with order 1
Centerline is valid?  [True, True]
Translation: X:352.67, Y:29.59, Z:91.99
[[ 9.52576218e-01 -1.70654335e-01 -2.51943738e-01  3.52665766e+02]
 [ 1.71527035e-01  9.85002596e-01 -1.86644429e-02  2.95886654e+01]
 [ 2.51350404e-01 -2.54358578e-02  9.67561880e-01  9.19857282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.0207140570001 meters
Centerline goodness : 0.998589 with order 1
Centerline is valid?  [True, True]
Translation: X:352.73, Y:29.59, Z:92.00
[[ 9.52703784e-01 -1.69938731e-01 -2.51945088e-01  3.52725973e+02]
 [ 1.70791848e-01  9.85130684e-01 -1.86461992e-02  2.95920300e+01]
 [ 2.51367548e-01 -2.52658628e-02  9.67561880e-01  9.20012221e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.080714057 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:352.78, Y:29.60, Z:92.02
[[ 9.53239408e-01 -1.66906067e-01 -2.51946414e-01  3.52783492e+02]
 [ 1.67660682e-01  9.85668749e-01 -1.86282673e-02  2.95954004e+01]
 [ 2.51444878e-01 -2.44843090e-02  9.67561880e-01  9.20171041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.140714057 meters
Centerline goodness : 0.998359 with order 1
Centerline is valid?  [True, True]
Translation: X:352.84, Y:29.60, Z:92.03
[[ 9.54020955e-01 -1.62379307e-01 -2.51946379e-01  3.52842739e+02]
 [ 1.62979854e-01  9.86453515e-01 -1.86287361e-02  2.95990778e+01]
 [ 2.51558313e-01 -2.32899795e-02  9.67561880e-01  9.20317477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.200714057 meters
Centerline goodness : 0.998547 with order 1
Centerline is valid?  [True, True]
Translation: X:352.90, Y:29.60, Z:92.04
[[ 9.54645631e-01 -1.58665245e-01 -2.51946540e-01  3.52902028e+02]
 [ 1.59140134e-01  9.87080275e-01 -1.86265688e-02  2.96033569e+01]
 [ 2.51646849e-01 -2.23130336e-02  9.67561880e-01  9.20448248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.26071405700003 meters
Centerline goodness : 0.998478 with order 1
Centerline is valid?  [True, True]
Translation: X:352.96, Y:29.61, Z:92.06
[[ 9.55084147e-01 -1.56003489e-01 -2.51946789e-01  3.52961280e+02]
 [ 1.56388845e-01  9.87519977e-01 -1.86231973e-02  2.96076266e+01]
 [ 2.51707771e-01 -2.16149469e-02  9.67561880e-01  9.20602803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.32071405700003 meters
Centerline goodness : 0.998289 with order 1
Centerline is valid?  [True, True]
Translation: X:353.02, Y:29.61, Z:92.08
[[ 9.55218127e-01 -1.55179925e-01 -2.51947455e-01  3.53019614e+02]
 [ 1.55539674e-01  9.87654252e-01 -1.86141838e-02  2.96118258e+01]
 [ 2.51725523e-01 -2.14072193e-02  9.67561880e-01  9.20761586e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.38071405700003 meters
Centerline goodness : 0.998958 with order 1
Centerline is valid?  [True, True]
Translation: X:353.08, Y:29.62, Z:92.09
[[ 9.55514960e-01 -1.53341025e-01 -2.51947793e-01  3.53078419e+02]
 [ 1.53639540e-01  9.87951706e-01 -1.86096034e-02  2.96163114e+01]
 [ 2.51765868e-01 -2.09273887e-02  9.67561880e-01  9.20915064e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.44071405700004 meters
Centerline goodness : 0.998450 with order 1
Centerline is valid?  [True, True]
Translation: X:353.14, Y:29.62, Z:92.11
[[ 9.55770641e-01 -1.51738107e-01 -2.51948463e-01  3.53137561e+02]
 [ 1.51984591e-01  9.88207824e-01 -1.86005289e-02  2.96210466e+01]
 [ 2.51799852e-01 -2.05144448e-02  9.67561880e-01  9.21088850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.50071405700004 meters
Centerline goodness : 0.998542 with order 1
Centerline is valid?  [True, True]
Translation: X:353.20, Y:29.62, Z:92.12
[[ 9.55827910e-01 -1.51374766e-01 -2.51949771e-01  3.53195681e+02]
 [ 1.51613562e-01  9.88265150e-01 -1.85827965e-02  2.96247664e+01]
 [ 2.51806145e-01 -2.04370467e-02  9.67561881e-01  9.21242603e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.56071405700004 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:353.26, Y:29.63, Z:92.14
[[ 9.55398827e-01 -1.54059173e-01 -2.51950100e-01  3.53255499e+02]
 [ 1.54390256e-01  9.87835257e-01 -1.85783326e-02  2.96274043e+01]
 [ 2.51747354e-01 -2.11489234e-02  9.67561881e-01  9.21426806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.62071405700004 meters
Centerline goodness : 0.998824 with order 1
Centerline is valid?  [True, True]
Translation: X:353.31, Y:29.63, Z:92.16
[[ 9.54641746e-01 -1.58680848e-01 -2.51951435e-01  3.53313215e+02]
 [ 1.59173644e-01  9.87076122e-01 -1.85602077e-02  2.96279153e+01]
 [ 2.51640395e-01 -2.23856789e-02  9.67561881e-01  9.21571297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.68071405700005 meters
Centerline goodness : 0.998342 with order 1
Centerline is valid?  [True, True]
Translation: X:353.37, Y:29.63, Z:92.17
[[ 9.53932853e-01 -1.62888089e-01 -2.51951548e-01  3.53372419e+02]
 [ 1.63524276e-01  9.86364733e-01 -1.85586756e-02  2.96299345e+01]
 [ 2.51539109e-01 -2.34964642e-02  9.67561881e-01  9.21717982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.74071405700005 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:353.43, Y:29.63, Z:92.19
[[ 9.52932276e-01 -1.68642936e-01 -2.51951657e-01  3.53432000e+02]
 [ 1.69475251e-01  9.85359716e-01 -1.85572031e-02  2.96299535e+01]
 [ 2.51392554e-01 -2.50158125e-02  9.67561881e-01  9.21855991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.80071405700005 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:353.49, Y:29.63, Z:92.20
[[ 9.52016455e-01 -1.73738294e-01 -2.51951731e-01  3.53490149e+02]
 [ 1.74744335e-01  9.84438970e-01 -1.85561909e-02  2.96300969e+01]
 [ 2.51255024e-01 -2.63613387e-02  9.67561881e-01  9.22012709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.86071405700005 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:353.55, Y:29.63, Z:92.22
[[ 9.51712861e-01 -1.75393720e-01 -2.51951727e-01  3.53550401e+02]
 [ 1.76456132e-01  9.84133578e-01 -1.85562466e-02  2.96307136e+01]
 [ 2.51208804e-01 -2.67982088e-02  9.67561881e-01  9.22160647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.92071405700005 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:353.61, Y:29.63, Z:92.23
[[ 9.51922427e-01 -1.74250808e-01 -2.51953071e-01  3.53610667e+02]
 [ 1.75279070e-01  9.84344244e-01 -1.85379853e-02  2.96330746e+01]
 [ 2.51238814e-01 -2.65153760e-02  9.67561881e-01  9.22315310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 363.98071405700006 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:353.67, Y:29.64, Z:92.25
[[ 9.52342364e-01 -1.71938883e-01 -2.51954447e-01  3.53669675e+02]
 [ 1.72893317e-01  9.84766438e-01 -1.85192649e-02  2.96353408e+01]
 [ 2.51300465e-01 -2.59245596e-02  9.67561881e-01  9.22484831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.04071405700006 meters
Centerline goodness : 0.998837 with order 1
Centerline is valid?  [True, True]
Translation: X:353.73, Y:29.64, Z:92.26
[[ 9.52655370e-01 -1.70195055e-01 -2.51955134e-01  3.53728076e+02]
 [ 1.71092577e-01  9.85081070e-01 -1.85099035e-02  2.96373327e+01]
 [ 2.51346527e-01 -2.54740942e-02  9.67561881e-01  9.22638587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.10071405700006 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:353.79, Y:29.64, Z:92.28
[[ 9.52734532e-01 -1.69751195e-01 -2.51955239e-01  3.53788054e+02]
 [ 1.70633983e-01  9.85160637e-01 -1.85084764e-02  2.96384856e+01]
 [ 2.51358220e-01 -2.53584614e-02  9.67561881e-01  9.22776047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.16071405700006 meters
Centerline goodness : 0.998931 with order 1
Centerline is valid?  [True, True]
Translation: X:353.85, Y:29.64, Z:92.29
[[ 9.52979371e-01 -1.68369737e-01 -2.51956246e-01  3.53847023e+02]
 [ 1.69209100e-01  9.85406629e-01 -1.84947680e-02  2.96414018e+01]
 [ 2.51393314e-01 -2.50081573e-02  9.67561881e-01  9.22929695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.22071405700007 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:353.91, Y:29.65, Z:92.31
[[ 9.53496195e-01 -1.65417350e-01 -2.51956555e-01  3.53905315e+02]
 [ 1.66157379e-01  9.85925872e-01 -1.84905537e-02  2.96451956e+01]
 [ 2.51469144e-01 -2.42337682e-02  9.67561881e-01  9.23092010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.28071405700007 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:353.97, Y:29.65, Z:92.33
[[ 9.53784702e-01 -1.63745642e-01 -2.51956559e-01  3.53965266e+02]
 [ 1.64428835e-01  9.86215625e-01 -1.84905023e-02  2.96495736e+01]
 [ 2.51511234e-01 -2.37929652e-02  9.67561881e-01  9.23258299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.34071405700007 meters
Centerline goodness : 0.998931 with order 1
Centerline is valid?  [True, True]
Translation: X:354.02, Y:29.65, Z:92.34
[[ 9.54302297e-01 -1.60699517e-01 -2.51957917e-01  3.54023927e+02]
 [ 1.61284010e-01  9.86735149e-01 -1.84719773e-02  2.96530873e+01]
 [ 2.51584170e-01 -2.30089328e-02  9.67561881e-01  9.23417943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.4007140570001 meters
Centerline goodness : 0.998636 with order 1
Centerline is valid?  [True, True]
Translation: X:354.08, Y:29.66, Z:92.36
[[ 9.54895697e-01 -1.57135020e-01 -2.51957918e-01  3.54082462e+02]
 [ 1.57598409e-01  9.87330506e-01 -1.84719571e-02  2.96593338e+01]
 [ 2.51668330e-01 -2.20693748e-02  9.67561881e-01  9.23577842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.4607140570001 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:354.14, Y:29.67, Z:92.37
[[ 9.55497648e-01 -1.53431998e-01 -2.51958067e-01  3.54140447e+02]
 [ 1.53770174e-01  9.87934003e-01 -1.84699336e-02  2.96652648e+01]
 [ 2.51751820e-01 -2.10956576e-02  9.67561881e-01  9.23712201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.5207140570001 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:354.20, Y:29.67, Z:92.39
[[ 9.56571172e-01 -1.46590329e-01 -2.51958067e-01  3.54198320e+02]
 [ 1.46696375e-01  9.89009118e-01 -1.84699336e-02  2.96726415e+01]
 [ 2.51896339e-01 -1.92935290e-02  9.67561881e-01  9.23879670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.580714057 meters
Centerline goodness : 0.998695 with order 1
Centerline is valid?  [True, True]
Translation: X:354.26, Y:29.68, Z:92.40
[[ 9.57909605e-01 -1.37572690e-01 -2.51958218e-01  3.54255604e+02]
 [ 1.37373697e-01  9.90347113e-01 -1.84678757e-02  2.96811411e+01]
 [ 2.52066769e-01 -1.69218762e-02  9.67561881e-01  9.24019309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.640714057 meters
Centerline goodness : 0.998122 with order 1
Centerline is valid?  [True, True]
Translation: X:354.31, Y:29.69, Z:92.42
[[ 9.59340312e-01 -1.27213309e-01 -2.51958210e-01  3.54312795e+02]
 [ 1.26663775e-01  9.91773776e-01 -1.84679763e-02  2.96897636e+01]
 [ 2.52234918e-01 -1.41969040e-02  9.67561881e-01  9.24181150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.700714057 meters
Centerline goodness : 0.997612 with order 1
Centerline is valid?  [True, True]
Translation: X:354.37, Y:29.70, Z:92.44
[[ 9.60483148e-01 -1.18275953e-01 -2.51958174e-01  3.54369699e+02]
 [ 1.17424344e-01  9.92910086e-01 -1.84684742e-02  2.96974773e+01]
 [ 2.52356188e-01 -1.18473651e-02  9.67561881e-01  9.24372336e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.76071405700003 meters
Centerline goodness : 0.997690 with order 1
Centerline is valid?  [True, True]
Translation: X:354.43, Y:29.70, Z:92.45
[[ 9.60913614e-01 -1.14726242e-01 -2.51958164e-01  3.54428129e+02]
 [ 1.13754788e-01  9.93337183e-01 -1.84686117e-02  2.97029847e+01]
 [ 2.52398247e-01 -1.09147071e-02  9.67561881e-01  9.24546094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.82071405700003 meters
Centerline goodness : 0.998362 with order 1
Centerline is valid?  [True, True]
Translation: X:354.49, Y:29.71, Z:92.47
[[ 9.61064676e-01 -1.13453070e-01 -2.51958508e-01  3.54485848e+02]
 [ 1.12439891e-01  9.93486968e-01 -1.84639111e-02  2.97071312e+01]
 [ 2.52412282e-01 -1.05851744e-02  9.67561881e-01  9.24695142e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.88071405700003 meters
Centerline goodness : 0.997881 with order 1
Centerline is valid?  [True, True]
Translation: X:354.54, Y:29.71, Z:92.48
[[ 9.60773977e-01 -1.15889807e-01 -2.51958168e-01  3.54544011e+02]
 [ 1.14957634e-01  9.93198699e-01 -1.84685522e-02  2.97097546e+01]
 [ 2.52384841e-01 -1.12204104e-02  9.67561881e-01  9.24833733e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 364.94071405700004 meters
Centerline goodness : 0.998229 with order 1
Centerline is valid?  [True, True]
Translation: X:354.60, Y:29.71, Z:92.50
[[ 9.60406265e-01 -1.18899358e-01 -2.51957831e-01  3.54601261e+02]
 [ 1.18067572e-01  9.92833718e-01 -1.84731514e-02  2.97122551e+01]
 [ 2.52348676e-01 -1.20063191e-02  9.67561881e-01  9.24963070e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.00071405700004 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:354.66, Y:29.71, Z:92.51
[[ 9.59790770e-01 -1.23771691e-01 -2.51956834e-01  3.54658680e+02]
 [ 1.23100922e-01  9.92221953e-01 -1.84867360e-02  2.97147601e+01]
 [ 2.52285236e-01 -1.32727201e-02  9.67561881e-01  9.25104692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.06071405700004 meters
Centerline goodness : 0.999014 with order 1
Centerline is valid?  [True, True]
Translation: X:354.72, Y:29.72, Z:92.53
[[ 9.58915695e-01 -1.30378694e-01 -2.51956517e-01  3.54717200e+02]
 [ 1.29930161e-01  9.91350712e-01 -1.84910489e-02  2.97165286e+01]
 [ 2.52188112e-01 -1.50053939e-02  9.67561881e-01  9.25264165e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.12071405700004 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:354.78, Y:29.72, Z:92.54
[[ 9.58013156e-01 -1.36852711e-01 -2.51956600e-01  3.54775103e+02]
 [ 1.36623564e-01  9.90450465e-01 -1.84899256e-02  2.97190648e+01]
 [ 2.52080928e-01 -1.67096168e-02  9.67561881e-01  9.25408452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.18071405700005 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:354.83, Y:29.72, Z:92.55
[[ 9.57299241e-01 -1.41759875e-01 -2.51956944e-01  3.54833629e+02]
 [ 1.41698174e-01  9.89737300e-01 -1.84852290e-02  2.97225092e+01]
 [ 2.51991650e-01 -1.80059431e-02  9.67561881e-01  9.25547831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.24071405700005 meters
Centerline goodness : 0.998817 with order 1
Centerline is valid?  [True, True]
Translation: X:354.89, Y:29.73, Z:92.57
[[ 9.56799666e-01 -1.45093899e-01 -2.51956661e-01  3.54892224e+02]
 [ 1.45144191e-01  9.89237746e-01 -1.84890857e-02  2.97259700e+01]
 [ 2.51927693e-01 -1.88796948e-02  9.67561881e-01  9.25697099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.30071405700005 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:354.95, Y:29.73, Z:92.58
[[ 9.56676023e-01 -1.45906633e-01 -2.51956827e-01  3.54952282e+02]
 [ 1.45985069e-01  9.89114046e-01 -1.84868341e-02  2.97309880e+01]
 [ 2.51911388e-01 -1.90960239e-02  9.67561881e-01  9.25847973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.36071405700005 meters
Centerline goodness : 0.999037 with order 1
Centerline is valid?  [True, True]
Translation: X:355.01, Y:29.74, Z:92.60
[[ 9.56911154e-01 -1.44354128e-01 -2.51958188e-01  3.55011460e+02]
 [ 1.44384795e-01  9.89349258e-01 -1.84682566e-02  2.97371131e+01]
 [ 2.51940616e-01 -1.87064506e-02  9.67561882e-01  9.25990392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.42071405700005 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:355.07, Y:29.74, Z:92.61
[[ 9.57461395e-01 -1.40657057e-01 -2.51958864e-01  3.55069411e+02]
 [ 1.40564850e-01  9.89899382e-01 -1.84590306e-02  2.97438397e+01]
 [ 2.52010317e-01 -1.77427508e-02  9.67561882e-01  9.26129645e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.48071405700006 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:355.13, Y:29.75, Z:92.63
[[ 9.58273946e-01 -1.35010293e-01 -2.51958856e-01  3.55127377e+02]
 [ 1.34726834e-01  9.90710826e-01 -1.84591406e-02  2.97523552e+01]
 [ 2.52110540e-01 -1.62567056e-02  9.67561882e-01  9.26309388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.54071405700006 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:355.18, Y:29.76, Z:92.65
[[ 9.59106821e-01 -1.28960030e-01 -2.51959156e-01  3.55184549e+02]
 [ 1.28472944e-01  9.91541282e-01 -1.84550423e-02  2.97600740e+01]
 [ 2.52207868e-01 -1.46695777e-02  9.67561882e-01  9.26488709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.60071405700006 meters
Centerline goodness : 0.998362 with order 1
Centerline is valid?  [True, True]
Translation: X:355.24, Y:29.77, Z:92.66
[[ 9.59767359e-01 -1.23948557e-01 -2.51959069e-01  3.55242467e+02]
 [ 1.23291750e-01  9.92198827e-01 -1.84562323e-02  2.97661949e+01]
 [ 2.52281116e-01 -1.33507854e-02  9.67561882e-01  9.26634852e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.66071405700006 meters
Centerline goodness : 0.998290 with order 1
Centerline is valid?  [True, True]
Translation: X:355.30, Y:29.77, Z:92.68
[[ 9.60075208e-01 -1.21541035e-01 -2.51959069e-01  3.55299825e+02]
 [ 1.20802891e-01  9.92504926e-01 -1.84562323e-02  2.97720625e+01]
 [ 2.52313807e-01 -1.27180130e-02  9.67561882e-01  9.26775120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.72071405700007 meters
Centerline goodness : 0.998172 with order 1
Centerline is valid?  [True, True]
Translation: X:355.36, Y:29.78, Z:92.69
[[ 9.60420123e-01 -1.18785576e-01 -2.51958675e-01  3.55357075e+02]
 [ 1.17952969e-01  9.92847554e-01 -1.84616154e-02  2.97769631e+01]
 [ 2.52349528e-01 -1.19883667e-02  9.67561882e-01  9.26917957e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.78071405700007 meters
Centerline goodness : 0.998451 with order 1
Centerline is valid?  [True, True]
Translation: X:355.41, Y:29.78, Z:92.71
[[ 9.60773408e-01 -1.15903211e-01 -2.51954171e-01  3.55414214e+02]
 [ 1.14957271e-01  9.93197729e-01 -1.85228806e-02  2.97801215e+01]
 [ 2.52387172e-01 -1.11676728e-02  9.67561884e-01  9.27066730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.84071405700007 meters
Centerline goodness : 0.998014 with order 1
Centerline is valid?  [True, True]
Translation: X:355.47, Y:29.79, Z:92.72
[[ 9.61147359e-01 -1.12761003e-01 -2.51953787e-01  3.55471497e+02]
 [ 1.11707678e-01  9.93568369e-01 -1.85281046e-02  2.97850977e+01]
 [ 2.52422561e-01 -1.03369337e-02  9.67561884e-01  9.27241432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.9007140570001 meters
Centerline goodness : 0.998613 with order 1
Centerline is valid?  [True, True]
Translation: X:355.53, Y:29.79, Z:92.74
[[ 9.61447284e-01 -1.10175221e-01 -2.51953450e-01  3.55529536e+02]
 [ 1.09033494e-01  9.93865301e-01 -1.85326821e-02  2.97889460e+01]
 [ 2.52449634e-01 -9.65316810e-03  9.67561884e-01  9.27396071e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 365.9607140570001 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:355.59, Y:29.79, Z:92.75
[[ 9.61662130e-01 -1.08284708e-01 -2.51953109e-01  3.55586573e+02]
 [ 1.07078033e-01  9.94077795e-01 -1.85373176e-02  2.97917159e+01]
 [ 2.52468299e-01 -9.15200704e-03  9.67561884e-01  9.27539655e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.0207140570001 meters
Centerline goodness : 0.998401 with order 1
Centerline is valid?  [True, True]
Translation: X:355.64, Y:29.79, Z:92.77
[[ 9.61467127e-01 -1.10005009e-01 -2.51952102e-01  3.55644016e+02]
 [ 1.08852748e-01  9.93884772e-01 -1.85510054e-02  2.97938170e+01]
 [ 2.52452060e-01 -9.58949668e-03  9.67561884e-01  9.27695593e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.080714057 meters
Centerline goodness : 0.998030 with order 1
Centerline is valid?  [True, True]
Translation: X:355.70, Y:29.80, Z:92.78
[[ 9.61095463e-01 -1.13207743e-01 -2.51951418e-01  3.55703161e+02]
 [ 1.12161068e-01  9.93516689e-01 -1.85602788e-02  2.97951434e+01]
 [ 2.52419106e-01 -1.04209404e-02  9.67561884e-01  9.27840249e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.140714057 meters
Centerline goodness : 0.998670 with order 1
Centerline is valid?  [True, True]
Translation: X:355.76, Y:29.80, Z:92.80
[[ 9.60676328e-01 -1.16711202e-01 -2.51951362e-01  3.55760149e+02]
 [ 1.15782544e-01  9.93101148e-01 -1.85610418e-02  2.97969586e+01]
 [ 2.52379469e-01 -1.13404161e-02  9.67561884e-01  9.27995041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.200714057 meters
Centerline goodness : 0.998048 with order 1
Centerline is valid?  [True, True]
Translation: X:355.82, Y:29.80, Z:92.81
[[ 9.60463016e-01 -1.18455976e-01 -2.51950344e-01  3.55816255e+02]
 [ 1.17582600e-01  9.92889373e-01 -1.85748577e-02  2.97999484e+01]
 [ 2.52359122e-01 -1.17845126e-02  9.67561884e-01  9.28149645e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.26071405700003 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:355.88, Y:29.80, Z:92.83
[[ 9.60385870e-01 -1.19082658e-01 -2.51949005e-01  3.55875113e+02]
 [ 1.18225692e-01  9.92812664e-01 -1.85929947e-02  2.98010302e+01]
 [ 2.52352266e-01 -1.19303962e-02  9.67561884e-01  9.28294007e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.32071405700003 meters
Centerline goodness : 0.998651 with order 1
Centerline is valid?  [True, True]
Translation: X:355.93, Y:29.80, Z:92.84
[[ 9.60313174e-01 -1.19667485e-01 -2.51949005e-01  3.55934069e+02]
 [ 1.18830266e-01  9.92740484e-01 -1.85929947e-02  2.98016725e+01]
 [ 2.52344954e-01 -1.20840697e-02  9.67561884e-01  9.28426255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.38071405700003 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:355.99, Y:29.80, Z:92.86
[[ 9.60529746e-01 -1.17916517e-01 -2.51949005e-01  3.55992047e+02]
 [ 1.17020181e-01  9.92955476e-01 -1.85929947e-02  2.98040626e+01]
 [ 2.52366566e-01 -1.16239937e-02  9.67561884e-01  9.28564634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.44071405700004 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:356.05, Y:29.81, Z:92.87
[[ 9.60904148e-01 -1.14827087e-01 -2.51948326e-01  3.56050224e+02]
 [ 1.13824074e-01  9.93326753e-01 -1.86021990e-02  2.98081102e+01]
 [ 2.52403049e-01 -1.08028547e-02  9.67561884e-01  9.28720974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.50071405700004 meters
Centerline goodness : 0.998677 with order 1
Centerline is valid?  [True, True]
Translation: X:356.11, Y:29.81, Z:92.89
[[ 9.61214454e-01 -1.12199885e-01 -2.51948326e-01  3.56107272e+02]
 [ 1.11108244e-01  9.93634196e-01 -1.86021990e-02  2.98113675e+01]
 [ 2.52431637e-01 -1.01128335e-02  9.67561884e-01  9.28867357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.56071405700004 meters
Centerline goodness : 0.999040 with order 1
Centerline is valid?  [True, True]
Translation: X:356.16, Y:29.82, Z:92.90
[[ 9.61039947e-01 -1.13686458e-01 -2.51947631e-01  3.56164275e+02]
 [ 1.12642499e-01  9.93461260e-01 -1.86116049e-02  2.98154939e+01]
 [ 2.52416098e-01 -1.04935151e-02  9.67561884e-01  9.29015439e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.62071405700004 meters
Centerline goodness : 0.998790 with order 1
Centerline is valid?  [True, True]
Translation: X:356.22, Y:29.82, Z:92.92
[[ 9.60483720e-01 -1.18296674e-01 -2.51946265e-01  3.56222515e+02]
 [ 1.17403466e-01  9.92909536e-01 -1.86300748e-02  2.98192863e+01]
 [ 2.52363725e-01 -1.16854813e-02  9.67561884e-01  9.29163463e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.68071405700005 meters
Centerline goodness : 0.998837 with order 1
Centerline is valid?  [True, True]
Translation: X:356.28, Y:29.82, Z:92.93
[[ 9.59719195e-01 -1.24347510e-01 -2.51945953e-01  3.56280622e+02]
 [ 1.23657569e-01  9.92149973e-01 -1.86342979e-02  2.98224298e+01]
 [ 2.52285299e-01 -1.32713307e-02  9.67561884e-01  9.29299009e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.74071405700005 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:356.34, Y:29.83, Z:92.94
[[ 9.58506349e-01 -1.33374634e-01 -2.51945998e-01  3.56337650e+02]
 [ 1.32990115e-01  9.90942186e-01 -1.86336807e-02  2.98256495e+01]
 [ 2.52149179e-01 -1.56458260e-02  9.67561884e-01  9.29442834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.80071405700005 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:356.40, Y:29.83, Z:92.96
[[ 9.57875348e-01 -1.37834461e-01 -2.51945388e-01  3.56395830e+02]
 [ 1.37598757e-01  9.90312608e-01 -1.86419253e-02  2.98295578e+01]
 [ 2.52074194e-01 -1.68107317e-02  9.67561884e-01  9.29599215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.86071405700005 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:356.45, Y:29.83, Z:92.98
[[ 9.57188349e-01 -1.42527413e-01 -2.51945235e-01  3.56453779e+02]
 [ 1.42450145e-01  9.89626373e-01 -1.86440019e-02  2.98326027e+01]
 [ 2.51988930e-01 -1.80438139e-02  9.67561884e-01  9.29756559e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.92071405700005 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:356.51, Y:29.84, Z:92.99
[[ 9.56848964e-01 -1.44787980e-01 -2.51945432e-01  3.56512304e+02]
 [ 1.44788033e-01  9.89287080e-01 -1.86413332e-02  2.98369939e+01]
 [ 2.51945402e-01 -1.86417432e-02  9.67561884e-01  9.29892802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 366.98071405700006 meters
Centerline goodness : 0.999045 with order 1
Centerline is valid?  [True, True]
Translation: X:356.57, Y:29.84, Z:93.01
[[ 9.57197029e-01 -1.42468165e-01 -2.51945769e-01  3.56571611e+02]
 [ 1.42390778e-01  9.89635052e-01 -1.86367860e-02  2.98429401e+01]
 [ 2.51989513e-01 -1.80356779e-02  9.67561884e-01  9.30066352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.04071405700006 meters
Centerline goodness : 0.998953 with order 1
Centerline is valid?  [True, True]
Translation: X:356.63, Y:29.85, Z:93.02
[[ 9.57587112e-01 -1.39820346e-01 -2.51946809e-01  3.56628513e+02]
 [ 1.39656932e-01  9.90024816e-01 -1.86227174e-02  2.98497198e+01]
 [ 2.52037427e-01 -1.73532441e-02  9.67561884e-01  9.30215964e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.10071405700006 meters
Centerline goodness : 0.998545 with order 1
Centerline is valid?  [True, True]
Translation: X:356.69, Y:29.86, Z:93.04
[[ 9.58212408e-01 -1.35469393e-01 -2.51946473e-01  3.56686834e+02]
 [ 1.35157454e-01  9.90649024e-01 -1.86272591e-02  2.98579699e+01]
 [ 2.52113951e-01 -1.62035730e-02  9.67561884e-01  9.30392159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.16071405700006 meters
Centerline goodness : 0.998949 with order 1
Centerline is valid?  [True, True]
Translation: X:356.75, Y:29.86, Z:93.05
[[ 9.58431957e-01 -1.33906392e-01 -2.51946943e-01  3.56745279e+02]
 [ 1.33543218e-01  9.90868039e-01 -1.86208908e-02  2.98642622e+01]
 [ 2.52139630e-01 -1.57989487e-02  9.67561884e-01  9.30547365e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.22071405700007 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:356.80, Y:29.87, Z:93.07
[[ 9.58744241e-01 -1.31650578e-01 -2.51947626e-01  3.56803020e+02]
 [ 1.31213494e-01  9.91179411e-01 -1.86116489e-02  2.98693731e+01]
 [ 2.52175534e-01 -1.52151171e-02  9.67561884e-01  9.30651624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.28071405700007 meters
Centerline goodness : 0.998995 with order 1
Centerline is valid?  [True, True]
Translation: X:356.86, Y:29.88, Z:93.08
[[ 9.57750378e-01 -1.38697894e-01 -2.51946637e-01  3.56861490e+02]
 [ 1.38495855e-01  9.90187864e-01 -1.86250318e-02  2.98761053e+01]
 [ 2.52057755e-01 -1.70554337e-02  9.67561885e-01  9.30833596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.34071405700007 meters
Centerline goodness : 0.999133 with order 1
Centerline is valid?  [True, True]
Translation: X:356.92, Y:29.88, Z:93.10
[[ 9.57547212e-01 -1.40092683e-01 -2.51947171e-01  3.56921857e+02]
 [ 1.39939780e-01  9.89984967e-01 -1.86178091e-02  2.98816662e+01]
 [ 2.52032130e-01 -1.74300003e-02  9.67561885e-01  9.30985995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.4007140570001 meters
Centerline goodness : 0.999175 with order 1
Centerline is valid?  [True, True]
Translation: X:356.98, Y:29.89, Z:93.11
[[ 9.57050858e-01 -1.43441909e-01 -2.51948555e-01  3.56980356e+02]
 [ 1.43407403e-01  9.89488955e-01 -1.85990614e-02  2.98883965e+01]
 [ 2.51968197e-01 -1.83310402e-02  9.67561885e-01  9.31139307e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.4607140570001 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:357.04, Y:29.89, Z:93.13
[[ 9.56700673e-01 -1.45759109e-01 -2.51948613e-01  3.57038824e+02]
 [ 1.45803364e-01  9.89138758e-01 -1.85982701e-02  2.98932362e+01]
 [ 2.51923006e-01 -1.89419777e-02  9.67561885e-01  9.31298745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.5207140570001 meters
Centerline goodness : 0.998971 with order 1
Centerline is valid?  [True, True]
Translation: X:357.10, Y:29.90, Z:93.15
[[ 9.56286948e-01 -1.48449124e-01 -2.51948668e-01  3.57097565e+02]
 [ 1.48584799e-01  9.88724779e-01 -1.85975310e-02  2.98975981e+01]
 [ 2.51868678e-01 -1.96511660e-02  9.67561885e-01  9.31452141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.580714057 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:357.16, Y:29.90, Z:93.16
[[ 9.56157484e-01 -1.49280158e-01 -2.51949004e-01  3.57156989e+02]
 [ 1.49445220e-01  9.88595179e-01 -1.85929655e-02  2.99035794e+01]
 [ 2.51851132e-01 -1.98747713e-02  9.67561885e-01  9.31615573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.640714057 meters
Centerline goodness : 0.998945 with order 1
Centerline is valid?  [True, True]
Translation: X:357.22, Y:29.91, Z:93.18
[[ 9.56373777e-01 -1.47885856e-01 -2.51950336e-01  3.57216113e+02]
 [ 1.48008351e-01  9.88811661e-01 -1.85749054e-02  2.99097487e+01]
 [ 2.51878396e-01 -1.95262013e-02  9.67561885e-01  9.31778900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.700714057 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:357.27, Y:29.91, Z:93.19
[[ 9.56723917e-01 -1.45602348e-01 -2.51950993e-01  3.57274820e+02]
 [ 1.45649738e-01  9.89161998e-01 -1.85659951e-02  2.99149960e+01]
 [ 2.51923600e-01 -1.89340646e-02  9.67561885e-01  9.31944561e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.76071405700003 meters
Centerline goodness : 0.998506 with order 1
Centerline is valid?  [True, True]
Translation: X:357.33, Y:29.92, Z:93.21
[[ 9.56936724e-01 -1.44195898e-01 -2.51951681e-01  3.57334488e+02]
 [ 1.44198055e-01  9.89374839e-01 -1.85566478e-02  2.99199909e+01]
 [ 2.51950446e-01 -1.85734047e-02  9.67561885e-01  9.32086152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.82071405700003 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:357.39, Y:29.93, Z:93.22
[[ 9.57167812e-01 -1.42652669e-01 -2.51952368e-01  3.57393319e+02]
 [ 1.42604964e-01  9.89605892e-01 -1.85473160e-02  2.99255957e+01]
 [ 2.51979372e-01 -1.81767645e-02  9.67561885e-01  9.32229194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.88071405700003 meters
Centerline goodness : 0.998686 with order 1
Centerline is valid?  [True, True]
Translation: X:357.45, Y:29.93, Z:93.24
[[ 9.57301210e-01 -1.41754108e-01 -2.51952707e-01  3.57451779e+02]
 [ 1.41677159e-01  9.89739234e-01 -1.85427146e-02  2.99325047e+01]
 [ 2.51995985e-01 -1.79449805e-02  9.67561885e-01  9.32380546e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 367.94071405700004 meters
Centerline goodness : 0.998938 with order 1
Centerline is valid?  [True, True]
Translation: X:357.51, Y:29.94, Z:93.25
[[ 9.57232094e-01 -1.42219488e-01 -2.51953043e-01  3.57510720e+02]
 [ 1.42159504e-01  9.89670153e-01 -1.85381467e-02  2.99380852e+01]
 [ 2.51986892e-01 -1.80722106e-02  9.67561885e-01  9.32527230e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.00071405700004 meters
Centerline goodness : 0.998706 with order 1
Centerline is valid?  [True, True]
Translation: X:357.57, Y:29.94, Z:93.27
[[ 9.56893949e-01 -1.44475371e-01 -2.51954039e-01  3.57569634e+02]
 [ 1.44495394e-01  9.89332058e-01 -1.85246019e-02  2.99438255e+01]
 [ 2.51942556e-01 -1.86801186e-02  9.67561885e-01  9.32669932e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.06071405700004 meters
Centerline goodness : 0.998660 with order 1
Centerline is valid?  [True, True]
Translation: X:357.63, Y:29.95, Z:93.28
[[ 9.56385819e-01 -1.47800927e-01 -2.51954461e-01  3.57627684e+02]
 [ 1.47935220e-01  9.88823656e-01 -1.85188495e-02  2.99480278e+01]
 [ 2.51875635e-01 -1.95617736e-02  9.67561885e-01  9.32841778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.12071405700004 meters
Centerline goodness : 0.998754 with order 1
Centerline is valid?  [True, True]
Translation: X:357.69, Y:29.95, Z:93.30
[[ 9.55882671e-01 -1.51020194e-01 -2.51954798e-01  3.57686371e+02]
 [ 1.51264904e-01  9.88319863e-01 -1.85142635e-02  2.99518726e+01]
 [ 2.51807959e-01 -2.04144547e-02  9.67561885e-01  9.33005966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.18071405700005 meters
Centerline goodness : 0.998664 with order 1
Centerline is valid?  [True, True]
Translation: X:357.75, Y:29.96, Z:93.32
[[ 9.55752266e-01 -1.51842979e-01 -2.51954986e-01  3.57745261e+02]
 [ 1.52116281e-01  9.88189230e-01 -1.85117048e-02  2.99568385e+01]
 [ 2.51790076e-01 -2.06338518e-02  9.67561885e-01  9.33168037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.24071405700005 meters
Centerline goodness : 0.998546 with order 1
Centerline is valid?  [True, True]
Translation: X:357.80, Y:29.96, Z:93.33
[[ 9.55814889e-01 -1.51446636e-01 -2.51955977e-01  3.57804851e+02]
 [ 1.51710021e-01  9.88251934e-01 -1.84982066e-02  2.99618510e+01]
 [ 2.51797473e-01 -2.05433854e-02  9.67561885e-01  9.33322363e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.30071405700005 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:357.86, Y:29.97, Z:93.35
[[ 9.55937938e-01 -1.50666333e-01 -2.51956972e-01  3.57864876e+02]
 [ 1.50906788e-01  9.88375161e-01 -1.84846538e-02  2.99674291e+01]
 [ 2.51813028e-01 -2.03518354e-02  9.67561885e-01  9.33485661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.36071405700005 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:357.92, Y:29.97, Z:93.36
[[ 9.56004176e-01 -1.50243141e-01 -2.51958356e-01  3.57924042e+02]
 [ 1.50474182e-01  9.88441468e-01 -1.84657675e-02  2.99722042e+01]
 [ 2.51820442e-01 -2.02598767e-02  9.67561886e-01  9.33614456e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.42071405700005 meters
Centerline goodness : 0.998174 with order 1
Centerline is valid?  [True, True]
Translation: X:357.98, Y:29.98, Z:93.38
[[ 9.55944804e-01 -1.50619299e-01 -2.51959043e-01  3.57984189e+02]
 [ 1.50865559e-01  9.88381983e-01 -1.84563909e-02  2.99768320e+01]
 [ 2.51811667e-01 -2.03686508e-02  9.67561886e-01  9.33758491e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.48071405700006 meters
Centerline goodness : 0.998359 with order 1
Centerline is valid?  [True, True]
Translation: X:358.04, Y:29.98, Z:93.39
[[ 9.55882073e-01 -1.51014640e-01 -2.51960396e-01  3.58043112e+02]
 [ 1.51279158e-01  9.88319109e-01 -1.84378966e-02  2.99817273e+01]
 [ 2.51801667e-01 -2.04919017e-02  9.67561886e-01  9.33916993e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.54071405700006 meters
Centerline goodness : 0.998267 with order 1
Centerline is valid?  [True, True]
Translation: X:358.10, Y:29.99, Z:93.41
[[ 9.55909918e-01 -1.50836616e-01 -2.51961395e-01  3.58101798e+02]
 [ 1.51098668e-01  9.88346973e-01 -1.84242429e-02  2.99859906e+01]
 [ 2.51804332e-01 -2.04591145e-02  9.67561886e-01  9.34079791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.60071405700006 meters
Centerline goodness : 0.998450 with order 1
Centerline is valid?  [True, True]
Translation: X:358.16, Y:29.99, Z:93.42
[[ 9.55890931e-01 -1.50955277e-01 -2.51962364e-01  3.58161003e+02]
 [ 1.51224830e-01  9.88327925e-01 -1.84109721e-02  2.99903236e+01]
 [ 2.51800674e-01 -2.05040846e-02  9.67561886e-01  9.34242943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.66071405700006 meters
Centerline goodness : 0.998289 with order 1
Centerline is valid?  [True, True]
Translation: X:358.22, Y:29.99, Z:93.44
[[ 9.55980318e-01 -1.50387078e-01 -2.51963010e-01  3.58220965e+02]
 [ 1.50639667e-01  9.88417448e-01 -1.84021272e-02  2.99932813e+01]
 [ 2.51812078e-01 -2.03635526e-02  9.67561886e-01  9.34408186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.72071405700007 meters
Centerline goodness : 0.998404 with order 1
Centerline is valid?  [True, True]
Translation: X:358.28, Y:30.00, Z:93.46
[[ 9.55975154e-01 -1.50417680e-01 -2.51964338e-01  3.58281730e+02]
 [ 1.50676069e-01  9.88412238e-01 -1.83839382e-02  2.99969519e+01]
 [ 2.51809904e-01 -2.03904079e-02  9.67561886e-01  9.34556475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.78071405700007 meters
Centerline goodness : 0.998800 with order 1
Centerline is valid?  [True, True]
Translation: X:358.34, Y:30.00, Z:93.47
[[ 9.55770214e-01 -1.51711674e-01 -2.51966001e-01  3.58340465e+02]
 [ 1.52019952e-01  9.88206863e-01 -1.83611110e-02  3.00006568e+01]
 [ 2.51780126e-01 -2.07548563e-02  9.67561886e-01  9.34704159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.84071405700007 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:358.40, Y:30.00, Z:93.49
[[ 9.55372969e-01 -1.54192915e-01 -2.51966337e-01  3.58400265e+02]
 [ 1.54586622e-01  9.87808694e-01 -1.83565058e-02  3.00026035e+01]
 [ 2.51724981e-01 -2.14133154e-02  9.67561886e-01  9.34860143e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.9007140570001 meters
Centerline goodness : 0.998363 with order 1
Centerline is valid?  [True, True]
Translation: X:358.46, Y:30.01, Z:93.50
[[ 9.55186502e-01 -1.55341683e-01 -2.51967672e-01  3.58458503e+02]
 [ 1.55779201e-01  9.87621665e-01 -1.83381546e-02  3.00062992e+01]
 [ 2.51697412e-01 -2.17349648e-02  9.67561887e-01  9.35018756e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 368.9607140570001 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:358.52, Y:30.01, Z:93.52
[[ 9.55096371e-01 -1.55894770e-01 -2.51967742e-01  3.58517907e+02]
 [ 1.56351322e-01  9.87531271e-01 -1.83371898e-02  3.00101520e+01]
 [ 2.51684697e-01 -2.18817062e-02  9.67561887e-01  9.35175266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.0207140570001 meters
Centerline goodness : 0.998412 with order 1
Centerline is valid?  [True, True]
Translation: X:358.58, Y:30.01, Z:93.53
[[ 9.55220194e-01 -1.55133178e-01 -2.51968406e-01  3.58577691e+02]
 [ 1.55566257e-01  9.87655416e-01 -1.83280670e-02  3.00132715e+01]
 [ 2.51701252e-01 -2.16904420e-02  9.67561887e-01  9.35334667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.080714057 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:358.64, Y:30.02, Z:93.55
[[ 9.55339143e-01 -1.54396836e-01 -2.51969717e-01  3.58637392e+02]
 [ 1.54809637e-01  9.87774630e-01 -1.83100221e-02  3.00158195e+01]
 [ 2.51716304e-01 -2.15150597e-02  9.67561887e-01  9.35505127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.140714057 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:358.70, Y:30.02, Z:93.56
[[ 9.55498730e-01 -1.53403892e-01 -2.51971075e-01  3.58695338e+02]
 [ 1.53787881e-01  9.87934570e-01 -1.82913183e-02  3.00182014e+01]
 [ 2.51736895e-01 -2.12727663e-02  9.67561887e-01  9.35648311e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.200714057 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:358.76, Y:30.02, Z:93.58
[[ 9.55760967e-01 -1.51761496e-01 -2.51971075e-01  3.58755730e+02]
 [ 1.52089739e-01  9.88197419e-01 -1.82913183e-02  3.00213360e+01]
 [ 2.51773084e-01 -2.08400870e-02  9.67561887e-01  9.35796214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.26071405700003 meters
Centerline goodness : 0.998643 with order 1
Centerline is valid?  [True, True]
Translation: X:358.81, Y:30.03, Z:93.59
[[ 9.56141773e-01 -1.49341304e-01 -2.51972389e-01  3.58814094e+02]
 [ 1.49592168e-01  9.88578916e-01 -1.82732086e-02  3.00251877e+01]
 [ 2.51823536e-01 -2.02213177e-02  9.67561887e-01  9.35944859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.32071405700003 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:358.87, Y:30.03, Z:93.61
[[ 9.56393005e-01 -1.47723848e-01 -2.51972389e-01  3.58872082e+02]
 [ 1.47919846e-01  9.88830526e-01 -1.82732086e-02  3.00290846e+01]
 [ 2.51857378e-01 -1.97953481e-02  9.67561887e-01  9.36079461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.38071405700003 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:358.93, Y:30.03, Z:93.62
[[ 9.56335609e-01 -1.48094964e-01 -2.51972389e-01  3.58930523e+02]
 [ 1.48303550e-01  9.88773051e-01 -1.82732086e-02  3.00334650e+01]
 [ 2.51849678e-01 -1.98930797e-02  9.67561887e-01  9.36225306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.44071405700004 meters
Centerline goodness : 0.998482 with order 1
Centerline is valid?  [True, True]
Translation: X:358.99, Y:30.04, Z:93.64
[[ 9.56038690e-01 -1.49999793e-01 -2.51972389e-01  3.58989626e+02]
 [ 1.50272997e-01  9.88475653e-01 -1.82732086e-02  3.00370528e+01]
 [ 2.51809549e-01 -2.03947515e-02  9.67561887e-01  9.36397201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.50071405700004 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:359.05, Y:30.04, Z:93.66
[[ 9.55868384e-01 -1.51079585e-01 -2.51973393e-01  3.59049524e+02]
 [ 1.51393056e-01  9.88304983e-01 -1.82593507e-02  3.00407709e+01]
 [ 2.51785175e-01 -2.06934860e-02  9.67561887e-01  9.36561150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.56071405700004 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:359.11, Y:30.04, Z:93.67
[[ 9.55398380e-01 -1.54021694e-01 -2.51974707e-01  3.59108294e+02]
 [ 1.54439780e-01  9.87833798e-01 -1.82411926e-02  3.00444019e+01]
 [ 2.51718672e-01 -2.14873126e-02  9.67561887e-01  9.36739357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.62071405700004 meters
Centerline goodness : 0.998805 with order 1
Centerline is valid?  [True, True]
Translation: X:359.17, Y:30.05, Z:93.69
[[ 9.54741540e-01 -1.58041335e-01 -2.51975252e-01  3.59166503e+02]
 [ 1.58597901e-01  9.87174878e-01 -1.82336616e-02  3.00451001e+01]
 [ 2.51625311e-01 -2.25543119e-02  9.67561887e-01  9.36872173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.68071405700005 meters
Centerline goodness : 0.999152 with order 1
Centerline is valid?  [True, True]
Translation: X:359.23, Y:30.05, Z:93.70
[[ 9.53931839e-01 -1.62857758e-01 -2.51974993e-01  3.59225753e+02]
 [ 1.63577063e-01  9.86361976e-01 -1.82372502e-02  3.00466425e+01]
 [ 2.51508629e-01 -2.38202357e-02  9.67561887e-01  9.37023093e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.74071405700005 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:359.28, Y:30.05, Z:93.72
[[ 9.53265492e-01 -1.66713559e-01 -2.51975181e-01  3.59284156e+02]
 [ 1.67564669e-01  9.85692437e-01 -1.82346411e-02  3.00473898e+01]
 [ 2.51409992e-01 -2.48396838e-02  9.67561887e-01  9.37173112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.80071405700005 meters
Centerline goodness : 0.999384 with order 1
Centerline is valid?  [True, True]
Translation: X:359.34, Y:30.05, Z:93.73
[[ 9.52949570e-01 -1.68509841e-01 -2.51975298e-01  3.59344669e+02]
 [ 1.69422486e-01  9.85374841e-01 -1.82330291e-02  3.00478816e+01]
 [ 2.51362564e-01 -2.53151241e-02  9.67561887e-01  9.37322234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.86071405700005 meters
Centerline goodness : 0.998864 with order 1
Centerline is valid?  [True, True]
Translation: X:359.40, Y:30.05, Z:93.75
[[ 9.53092184e-01 -1.67699262e-01 -2.51976680e-01  3.59403806e+02]
 [ 1.68589332e-01  9.85518082e-01 -1.82139112e-02  3.00496474e+01]
 [ 2.51382034e-01 -2.51210437e-02  9.67561888e-01  9.37469678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.92071405700005 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:359.46, Y:30.05, Z:93.76
[[ 9.53425886e-01 -1.65789982e-01 -2.51977700e-01  3.59461609e+02]
 [ 1.66618802e-01  9.85853408e-01 -1.81997851e-02  3.00529463e+01]
 [ 2.51430417e-01 -2.46320764e-02  9.67561888e-01  9.37637296e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 369.98071405700006 meters
Centerline goodness : 0.998860 with order 1
Centerline is valid?  [True, True]
Translation: X:359.52, Y:30.06, Z:93.78
[[ 9.54041192e-01 -1.62211517e-01 -2.51977830e-01  3.59520125e+02]
 [ 1.62919133e-01  9.86471586e-01 -1.81979847e-02  3.00551453e+01]
 [ 2.51520893e-01 -2.36903826e-02  9.67561888e-01  9.37800858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.04071405700006 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:359.58, Y:30.06, Z:93.79
[[ 9.54176215e-01 -1.61415382e-01 -2.51977826e-01  3.59578732e+02]
 [ 1.62095919e-01  9.86607188e-01 -1.81980505e-02  3.00562037e+01]
 [ 2.51540579e-01 -2.34804303e-02  9.67561888e-01  9.37945710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.10071405700006 meters
Centerline goodness : 0.998866 with order 1
Centerline is valid?  [True, True]
Translation: X:359.64, Y:30.06, Z:93.81
[[ 9.53941376e-01 -1.62794666e-01 -2.51979656e-01  3.59637667e+02]
 [ 1.63528732e-01  9.86371182e-01 -1.81726684e-02  3.00565787e+01]
 [ 2.51503885e-01 -2.38702535e-02  9.67561888e-01  9.38088953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.16071405700006 meters
Centerline goodness : 0.998979 with order 1
Centerline is valid?  [True, True]
Translation: X:359.70, Y:30.06, Z:93.82
[[ 9.53632106e-01 -1.64596532e-01 -2.51979737e-01  3.59695874e+02]
 [ 1.65392154e-01  9.86060460e-01 -1.81715555e-02  3.00578171e+01]
 [ 2.51458230e-01 -2.43464926e-02  9.67561888e-01  9.38233731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.22071405700007 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:359.76, Y:30.06, Z:93.84
[[ 9.53653051e-01 -1.64473913e-01 -2.51980537e-01  3.59755636e+02]
 [ 1.65268271e-01  9.86081435e-01 -1.81604526e-02  3.00596169e+01]
 [ 2.51460250e-01 -2.43256167e-02  9.67561888e-01  9.38390812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.28071405700007 meters
Centerline goodness : 0.999164 with order 1
Centerline is valid?  [True, True]
Translation: X:359.81, Y:30.06, Z:93.85
[[ 9.53997559e-01 -1.62462164e-01 -2.51981554e-01  3.59814310e+02]
 [ 1.63191823e-01  9.86427463e-01 -1.81463297e-02  3.00629279e+01]
 [ 2.51509617e-01 -2.38097748e-02  9.67561888e-01  9.38544347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.34071405700007 meters
Centerline goodness : 0.999323 with order 1
Centerline is valid?  [True, True]
Translation: X:359.87, Y:30.07, Z:93.87
[[ 9.55073550e-01 -1.56011134e-01 -2.51982222e-01  3.59871380e+02]
 [ 1.56524038e-01  9.87507607e-01 -1.81370449e-02  3.00668100e+01]
 [ 2.51663942e-01 -2.21190630e-02  9.67561888e-01  9.38701554e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.4007140570001 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:359.93, Y:30.07, Z:93.89
[[ 9.56571324e-01 -1.46547861e-01 -2.51982194e-01  3.59929229e+02]
 [ 1.46739528e-01  9.89008870e-01 -1.81374318e-02  3.00723137e+01]
 [ 2.51870627e-01 -1.96260011e-02  9.67561888e-01  9.38864483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.4607140570001 meters
Centerline goodness : 0.999137 with order 1
Centerline is valid?  [True, True]
Translation: X:359.99, Y:30.08, Z:93.90
[[ 9.58148974e-01 -1.35850867e-01 -2.51982311e-01  3.59987432e+02]
 [ 1.35680518e-01  9.90586639e-01 -1.81358132e-02  3.00796454e+01]
 [ 2.52074076e-01 -1.68122797e-02  9.67561888e-01  9.39030418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.5207140570001 meters
Centerline goodness : 0.999002 with order 1
Centerline is valid?  [True, True]
Translation: X:360.05, Y:30.09, Z:93.92
[[ 9.59066460e-01 -1.29214134e-01 -2.51982605e-01  3.60045336e+02]
 [ 1.28820289e-01  9.91502181e-01 -1.81317178e-02  3.00853911e+01]
 [ 2.52184177e-01 -1.50709497e-02  9.67561888e-01  9.39181263e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.580714057 meters
Centerline goodness : 0.999023 with order 1
Centerline is valid?  [True, True]
Translation: X:360.10, Y:30.09, Z:93.93
[[ 9.59599982e-01 -1.25190461e-01 -2.51982586e-01  3.60103243e+02]
 [ 1.24660507e-01  9.92033764e-01 -1.81319824e-02  3.00901271e+01]
 [ 2.52245185e-01 -1.40128270e-02  9.67561888e-01  9.39331919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.640714057 meters
Centerline goodness : 0.999159 with order 1
Centerline is valid?  [True, True]
Translation: X:360.16, Y:30.09, Z:93.95
[[ 9.60027458e-01 -1.21870949e-01 -2.51981651e-01  3.60160746e+02]
 [ 1.21225426e-01  9.92459146e-01 -1.81449748e-02  3.00948192e+01]
 [ 2.52292839e-01 -1.31269089e-02  9.67561888e-01  9.39481332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.700714057 meters
Centerline goodness : 0.999478 with order 1
Centerline is valid?  [True, True]
Translation: X:360.22, Y:30.10, Z:93.96
[[ 9.60079977e-01 -1.21457879e-01 -2.51980993e-01  3.60216739e+02]
 [ 1.20796011e-01  9.92511336e-01 -1.81541088e-02  3.00986702e+01]
 [ 2.52298951e-01 -1.30089025e-02  9.67561888e-01  9.39625334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.76071405700003 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:360.27, Y:30.10, Z:93.98
[[ 9.59674874e-01 -1.24621555e-01 -2.51979373e-01  3.60273779e+02]
 [ 1.24060703e-01  9.92108137e-01 -1.81765643e-02  3.01019139e+01]
 [ 2.52255978e-01 -1.38171461e-02  9.67561889e-01  9.39768695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.82071405700003 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:360.33, Y:30.10, Z:93.99
[[ 9.59190695e-01 -1.28296236e-01 -2.51978743e-01  3.60331367e+02]
 [ 1.27857322e-01  9.91625837e-01 -1.81852966e-02  3.01046642e+01]
 [ 2.52201737e-01 -1.47741600e-02  9.67561889e-01  9.39921029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.88071405700003 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:360.39, Y:30.11, Z:94.01
[[ 9.58902322e-01 -1.30434679e-01 -2.51978435e-01  3.60389258e+02]
 [ 1.30066973e-01  9.91338349e-01 -1.81895591e-02  3.01074449e+01]
 [ 2.52168435e-01 -1.53320619e-02  9.67561889e-01  9.40080133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 370.94071405700004 meters
Centerline goodness : 0.998979 with order 1
Centerline is valid?  [True, True]
Translation: X:360.45, Y:30.11, Z:94.02
[[ 9.58730516e-01 -1.31692837e-01 -2.51977767e-01  3.60448396e+02]
 [ 1.31365271e-01  9.91166973e-01 -1.81988121e-02  3.01102509e+01]
 [ 2.52148694e-01 -1.56533711e-02  9.67561889e-01  9.40231774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.00071405700004 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:360.51, Y:30.11, Z:94.04
[[ 9.58817597e-01 -1.31056655e-01 -2.51978111e-01  3.60507338e+02]
 [ 1.30708813e-01  9.91253844e-01 -1.81940523e-02  3.01134654e+01]
 [ 2.52158722e-01 -1.54909823e-02  9.67561889e-01  9.40392734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.06071405700004 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:360.57, Y:30.12, Z:94.06
[[ 9.59090862e-01 -1.29040321e-01 -2.51978795e-01  3.60565079e+02]
 [ 1.28626762e-01  9.91526337e-01 -1.81845659e-02  3.01163793e+01]
 [ 2.52190154e-01 -1.49705655e-02  9.67561889e-01  9.40559765e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.12071405700004 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:360.62, Y:30.12, Z:94.07
[[ 9.59072076e-01 -1.29179982e-01 -2.51978738e-01  3.60621711e+02]
 [ 1.28770939e-01  9.91507609e-01 -1.81853569e-02  3.01198462e+01]
 [ 2.52188020e-01 -1.50064708e-02  9.67561889e-01  9.40716588e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.18071405700005 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:360.68, Y:30.12, Z:94.09
[[ 9.58666058e-01 -1.32161293e-01 -2.51977740e-01  3.60680218e+02]
 [ 1.31849483e-01  9.91102671e-01 -1.81991742e-02  3.01228833e+01]
 [ 2.52141038e-01 -1.57762041e-02  9.67561889e-01  9.40867527e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.24071405700005 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:360.74, Y:30.13, Z:94.10
[[ 9.58330339e-01 -1.34574071e-01 -2.51977740e-01  3.60736886e+02]
 [ 1.34343912e-01  9.90767633e-01 -1.81991742e-02  3.01261105e+01]
 [ 2.52100526e-01 -1.64108546e-02  9.67561889e-01  9.41008894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.30071405700005 meters
Centerline goodness : 0.998715 with order 1
Centerline is valid?  [True, True]
Translation: X:360.80, Y:30.13, Z:94.12
[[ 9.57709050e-01 -1.38928372e-01 -2.51976751e-01  3.60795010e+02]
 [ 1.38842062e-01  9.90147046e-01 -1.82128620e-02  3.01290327e+01]
 [ 2.52024319e-01 -1.75423488e-02  9.67561889e-01  9.41155648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.36071405700005 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:360.85, Y:30.13, Z:94.13
[[ 9.57076221e-01 -1.43223526e-01 -2.51976443e-01  3.60853499e+02]
 [ 1.43281629e-01  9.89514281e-01 -1.82171155e-02  3.01323440e+01]
 [ 2.51943409e-01 -1.86684271e-02  9.67561889e-01  9.41292675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.42071405700005 meters
Centerline goodness : 0.998894 with order 1
Centerline is valid?  [True, True]
Translation: X:360.91, Y:30.14, Z:94.14
[[ 9.56421938e-01 -1.47529752e-01 -2.51976286e-01  3.60912639e+02]
 [ 1.47733284e-01  9.88859411e-01 -1.82192952e-02  3.01362923e+01]
 [ 2.51857009e-01 -1.97999505e-02  9.67561889e-01  9.41449421e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.48071405700006 meters
Centerline goodness : 0.999119 with order 1
Centerline is valid?  [True, True]
Translation: X:360.97, Y:30.14, Z:94.16
[[ 9.56040239e-01 -1.49982250e-01 -2.51976955e-01  3.60971224e+02]
 [ 1.50271399e-01  9.88477062e-01 -1.82100368e-02  3.01403893e+01]
 [ 2.51804622e-01 -2.04554016e-02  9.67561889e-01  9.41610597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.54071405700006 meters
Centerline goodness : 0.999014 with order 1
Centerline is valid?  [True, True]
Translation: X:361.03, Y:30.15, Z:94.18
[[ 9.55858896e-01 -1.51133027e-01 -2.51977337e-01  3.61028083e+02]
 [ 1.51462608e-01  9.88295333e-01 -1.82047474e-02  3.01451842e+01]
 [ 2.51779365e-01 -2.07639748e-02  9.67561889e-01  9.41768056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.60071405700006 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:361.09, Y:30.15, Z:94.19
[[ 9.55956118e-01 -1.50517297e-01 -2.51977069e-01  3.61087269e+02]
 [ 1.50825014e-01  9.88392770e-01 -1.82084551e-02  3.01498735e+01]
 [ 2.51793001e-01 -2.05979610e-02  9.67561889e-01  9.41932995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.66071405700006 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:361.14, Y:30.16, Z:94.21
[[ 9.56302428e-01 -1.48299986e-01 -2.51977737e-01  3.61144864e+02]
 [ 1.48534901e-01  9.88739689e-01 -1.81992072e-02  3.01555269e+01]
 [ 2.51839331e-01 -2.00235422e-02  9.67561889e-01  9.42072933e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.72071405700007 meters
Centerline goodness : 0.998802 with order 1
Centerline is valid?  [True, True]
Translation: X:361.20, Y:30.16, Z:94.22
[[ 9.57269089e-01 -1.41926956e-01 -2.51977440e-01  3.61201749e+02]
 [ 1.41944732e-01  9.89707195e-01 -1.82033187e-02  3.01614912e+01]
 [ 2.51967427e-01 -1.83413958e-02  9.67561889e-01  9.42208626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.78071405700007 meters
Centerline goodness : 0.999078 with order 1
Centerline is valid?  [True, True]
Translation: X:361.26, Y:30.17, Z:94.24
[[ 9.57940672e-01 -1.37322458e-01 -2.51976608e-01  3.61260495e+02]
 [ 1.37181246e-01  9.90378476e-01 -1.82148320e-02  3.01669698e+01]
 [ 2.52053514e-01 -1.71177367e-02  9.67561889e-01  9.42357008e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.84071405700007 meters
Centerline goodness : 0.998821 with order 1
Centerline is valid?  [True, True]
Translation: X:361.32, Y:30.17, Z:94.25
[[ 9.58788961e-01 -1.31269150e-01 -2.51976463e-01  3.61318624e+02]
 [ 1.30922533e-01  9.91225220e-01 -1.82168308e-02  3.01739078e+01]
 [ 2.52156733e-01 -1.55233005e-02  9.67561889e-01  9.42515826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.9007140570001 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:361.38, Y:30.18, Z:94.27
[[ 9.59455137e-01 -1.26308032e-01 -2.51976429e-01  3.61376894e+02]
 [ 1.25793520e-01  9.91889167e-01 -1.82173013e-02  3.01809148e+01]
 [ 2.52233682e-01 -1.42183185e-02  9.67561889e-01  9.42662971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 371.9607140570001 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:361.43, Y:30.19, Z:94.28
[[ 9.59691098e-01 -1.24502619e-01 -2.51976377e-01  3.61433787e+02]
 [ 1.23926894e-01  9.92124099e-01 -1.82180262e-02  3.01871328e+01]
 [ 2.52260028e-01 -1.37429722e-02  9.67561889e-01  9.42841875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.0207140570001 meters
Centerline goodness : 0.999273 with order 1
Centerline is valid?  [True, True]
Translation: X:361.49, Y:30.19, Z:94.30
[[ 9.59557626e-01 -1.25528504e-01 -2.51975707e-01  3.61490869e+02]
 [ 1.24985027e-01  9.91991184e-01 -1.82272870e-02  3.01918279e+01]
 [ 2.52245724e-01 -1.40030584e-02  9.67561889e-01  9.42982219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.080714057 meters
Centerline goodness : 0.999272 with order 1
Centerline is valid?  [True, True]
Translation: X:361.55, Y:30.20, Z:94.31
[[ 9.59166037e-01 -1.28489220e-01 -2.51974270e-01  3.61547126e+02]
 [ 1.28040647e-01  9.91601046e-01 -1.82471241e-02  3.01971087e+01]
 [ 2.52202509e-01 -1.47609268e-02  9.67561889e-01  9.43101153e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.140714057 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:361.60, Y:30.20, Z:94.32
[[ 9.58979376e-01 -1.29878046e-01 -2.51972714e-01  3.61604787e+02]
 [ 1.29470823e-01  9.91414931e-01 -1.82685872e-02  3.02023604e+01]
 [ 2.52182200e-01 -1.51039163e-02  9.67561889e-01  9.43240992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.200714057 meters
Centerline goodness : 0.999111 with order 1
Centerline is valid?  [True, True]
Translation: X:361.66, Y:30.21, Z:94.34
[[ 9.59186545e-01 -1.28340340e-01 -2.51972078e-01  3.61662449e+02]
 [ 1.27878817e-01  9.91621373e-01 -1.82773557e-02  3.02087221e+01]
 [ 2.52206620e-01 -1.46904976e-02  9.67561890e-01  9.43402742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.26071405700003 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:361.72, Y:30.22, Z:94.36
[[ 9.59787547e-01 -1.23765650e-01 -2.51972078e-01  3.61720569e+02]
 [ 1.23149489e-01  9.92219805e-01 -1.82773557e-02  3.02170107e+01]
 [ 2.52273795e-01 -1.34878542e-02  9.67561890e-01  9.43574930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.32071405700003 meters
Centerline goodness : 0.999108 with order 1
Centerline is valid?  [True, True]
Translation: X:361.78, Y:30.22, Z:94.37
[[ 9.60385198e-01 -1.19038530e-01 -2.51972418e-01  3.61778678e+02]
 [ 1.18263917e-01  9.92814059e-01 -1.82726742e-02  3.02242051e+01]
 [ 2.52336911e-01 -1.22504394e-02  9.67561890e-01  9.43748863e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.38071405700003 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:361.84, Y:30.23, Z:94.39
[[ 9.60446677e-01 -1.18540877e-01 -2.51972700e-01  3.61836979e+02]
 [ 1.17750479e-01  9.92875156e-01 -1.82687874e-02  3.02303988e+01]
 [ 2.52343032e-01 -1.21237100e-02  9.67561890e-01  9.43902092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.44071405700004 meters
Centerline goodness : 0.999016 with order 1
Centerline is valid?  [True, True]
Translation: X:361.90, Y:30.24, Z:94.41
[[ 9.60300738e-01 -1.19717383e-01 -2.51972700e-01  3.61895316e+02]
 [ 1.18966712e-01  9.92730161e-01 -1.82687874e-02  3.02350831e+01]
 [ 2.52327990e-01 -1.24328337e-02  9.67561890e-01  9.44053725e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.50071405700004 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:361.95, Y:30.24, Z:94.42
[[ 9.59491736e-01 -1.26037169e-01 -2.51972700e-01  3.61953525e+02]
 [ 1.25500021e-01  9.91925398e-01 -1.82687874e-02  3.02387317e+01]
 [ 2.52240667e-01 -1.40938287e-02  9.67561890e-01  9.44180910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.56071405700004 meters
Centerline goodness : 0.998447 with order 1
Centerline is valid?  [True, True]
Translation: X:362.01, Y:30.24, Z:94.43
[[ 9.58565175e-01 -1.32901156e-01 -2.51972395e-01  3.62012441e+02]
 [ 1.32595056e-01  9.91001841e-01 -1.82729843e-02  3.02422749e+01]
 [ 2.52133608e-01 -1.58944475e-02  9.67561890e-01  9.44325586e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.62071405700004 meters
Centerline goodness : 0.999018 with order 1
Centerline is valid?  [True, True]
Translation: X:362.07, Y:30.25, Z:94.45
[[ 9.58116489e-01 -1.36098139e-01 -2.51972401e-01  3.62069560e+02]
 [ 1.35900268e-01  9.90553996e-01 -1.82729060e-02  3.02468173e+01]
 [ 2.52079177e-01 -1.67355442e-02  9.67561890e-01  9.44461238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.68071405700005 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:362.13, Y:30.25, Z:94.46
[[ 9.58634097e-01 -1.32402426e-01 -2.51972749e-01  3.62127523e+02]
 [ 1.32080729e-01  9.91070612e-01 -1.82681000e-02  3.02518735e+01]
 [ 2.52141528e-01 -1.57683208e-02  9.67561890e-01  9.44586384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.74071405700005 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:362.18, Y:30.26, Z:94.48
[[ 9.59162588e-01 -1.28519028e-01 -2.51972201e-01  3.62184124e+02]
 [ 1.28063990e-01  9.91597506e-01 -1.82756645e-02  3.02598671e+01]
 [ 2.52203777e-01 -1.47392318e-02  9.67561890e-01  9.44786087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.80071405700005 meters
Centerline goodness : 0.998506 with order 1
Centerline is valid?  [True, True]
Translation: X:362.24, Y:30.27, Z:94.49
[[ 9.60157123e-01 -1.20864615e-01 -2.51972308e-01  3.62241237e+02]
 [ 1.20151277e-01  9.92587389e-01 -1.82741847e-02  3.02673120e+01]
 [ 2.52313238e-01 -1.27287060e-02  9.67561890e-01  9.44941941e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.86071405700005 meters
Centerline goodness : 0.998448 with order 1
Centerline is valid?  [True, True]
Translation: X:362.30, Y:30.28, Z:94.51
[[ 9.62402342e-01 -1.01448183e-01 -2.51972218e-01  3.62298905e+02]
 [ 1.00079689e-01  9.94811572e-01 -1.82754257e-02  3.02769832e+01]
 [ 2.52518887e-01 -7.62898870e-03  9.67561890e-01  9.45124584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.92071405700005 meters
Centerline goodness : 0.998027 with order 1
Centerline is valid?  [True, True]
Translation: X:362.36, Y:30.28, Z:94.53
[[ 9.63183073e-01 -9.37456867e-02 -2.51972449e-01  3.62356278e+02]
 [ 9.21187935e-02  9.95580360e-01 -1.82722438e-02  3.02822252e+01]
 [ 2.52571765e-01 -5.61188204e-03  9.67561890e-01  9.45284961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 372.98071405700006 meters
Centerline goodness : 0.997656 with order 1
Centerline is valid?  [True, True]
Translation: X:362.41, Y:30.28, Z:94.54
[[ 9.63580569e-01 -8.95695758e-02 -2.51971781e-01  3.62413187e+02]
 [ 8.77998565e-02  9.95970368e-01 -1.82814428e-02  3.02839884e+01]
 [ 2.52593889e-01 -4.50744315e-03  9.67561890e-01  9.45420914e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.04071405700006 meters
Centerline goodness : 0.998148 with order 1
Centerline is valid?  [True, True]
Translation: X:362.47, Y:30.28, Z:94.56
[[ 9.63158491e-01 -9.40032523e-02 -2.51970452e-01  3.62471093e+02]
 [ 9.23778322e-02  9.95555853e-01 -1.82997428e-02  3.02844877e+01]
 [ 2.52570894e-01 -5.65093149e-03  9.67561890e-01  9.45554063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.10071405700006 meters
Centerline goodness : 0.998089 with order 1
Centerline is valid?  [True, True]
Translation: X:362.53, Y:30.28, Z:94.57
[[ 9.62048646e-01 -1.04755873e-01 -2.51969464e-01  3.62529295e+02]
 [ 1.03488874e-01  9.94462002e-01 -1.83133461e-02  3.02830758e+01]
 [ 2.52492488e-01 -8.45770613e-03  9.67561890e-01  9.45674601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.16071405700006 meters
Centerline goodness : 0.998651 with order 1
Centerline is valid?  [True, True]
Translation: X:362.59, Y:30.28, Z:94.58
[[ 9.60551668e-01 -1.17694414e-01 -2.51969282e-01  3.62587561e+02]
 [ 1.16863120e-01  9.92979124e-01 -1.83158477e-02  3.02815044e+01]
 [ 2.52355910e-01 -1.18525983e-02  9.67561890e-01  9.45849685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.22071405700007 meters
Centerline goodness : 0.999019 with order 1
Centerline is valid?  [True, True]
Translation: X:362.65, Y:30.28, Z:94.60
[[ 9.59231705e-01 -1.28008050e-01 -2.51969195e-01  3.62645115e+02]
 [ 1.27524903e-01  9.91666217e-01 -1.83170353e-02  3.02799459e+01]
 [ 2.52214067e-01 -1.45620661e-02  9.67561890e-01  9.45991181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.28071405700007 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:362.70, Y:30.28, Z:94.61
[[ 9.58236517e-01 -1.35255214e-01 -2.51969851e-01  3.62704065e+02]
 [ 1.35019613e-01  9.90673771e-01 -1.83080172e-02  3.02806650e+01]
 [ 2.52096177e-01 -1.64774613e-02  9.67561890e-01  9.46129297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.34071405700007 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:362.76, Y:30.28, Z:94.63
[[ 9.57841237e-01 -1.38027030e-01 -2.51969648e-01  3.62762542e+02]
 [ 1.37884547e-01  9.90279034e-01 -1.83108110e-02  3.02837583e+01]
 [ 2.52047646e-01 -1.72038710e-02  9.67561890e-01  9.46281630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.4007140570001 meters
Centerline goodness : 0.999294 with order 1
Centerline is valid?  [True, True]
Translation: X:362.82, Y:30.29, Z:94.64
[[ 9.57725315e-01 -1.38828995e-01 -2.51969704e-01  3.62821396e+02]
 [ 1.38713877e-01  9.90163220e-01 -1.83100326e-02  3.02881076e+01]
 [ 2.52033097e-01 -1.74157129e-02  9.67561890e-01  9.46432278e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.4607140570001 meters
Centerline goodness : 0.999067 with order 1
Centerline is valid?  [True, True]
Translation: X:362.88, Y:30.30, Z:94.66
[[ 9.58508945e-01 -1.33311073e-01 -2.51969762e-01  3.62879512e+02]
 [ 1.33009353e-01  9.90945651e-01 -1.83092325e-02  3.02954876e+01]
 [ 2.52129164e-01 -1.59647720e-02  9.67561890e-01  9.46594395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.5207140570001 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:362.94, Y:30.30, Z:94.68
[[ 9.59479285e-01 -1.26137107e-01 -2.51970101e-01  3.62936710e+02]
 [ 1.25593969e-01  9.91912848e-01 -1.83045746e-02  3.03044515e+01]
 [ 2.52241266e-01 -1.40830650e-02  9.67561890e-01  9.46759404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.580714057 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:363.00, Y:30.31, Z:94.69
[[ 9.60219967e-01 -1.20369267e-01 -2.51969948e-01  3.62995324e+02]
 [ 1.19630695e-01  9.92649668e-01 -1.83066717e-02  3.03112123e+01]
 [ 2.52321446e-01 -1.25649084e-02  9.67561890e-01  9.46923473e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.640714057 meters
Centerline goodness : 0.999043 with order 1
Centerline is valid?  [True, True]
Translation: X:363.05, Y:30.32, Z:94.71
[[ 9.60788274e-01 -1.15745177e-01 -2.51970131e-01  3.63052808e+02]
 [ 1.14851149e-01  9.93214061e-01 -1.83041541e-02  3.03186832e+01]
 [ 2.52378895e-01 -1.13526425e-02  9.67561890e-01  9.47067617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.700714057 meters
Centerline goodness : 0.998379 with order 1
Centerline is valid?  [True, True]
Translation: X:363.11, Y:30.33, Z:94.72
[[ 9.61093720e-01 -1.13181774e-01 -2.51969735e-01  3.63109934e+02]
 [ 1.12199822e-01  9.93516964e-01 -1.83096101e-02  3.03262833e+01]
 [ 2.52408520e-01 -1.06737082e-02  9.67561890e-01  9.47235895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.76071405700003 meters
Centerline goodness : 0.997970 with order 1
Centerline is valid?  [True, True]
Translation: X:363.17, Y:30.33, Z:94.74
[[ 9.60715743e-01 -1.16347238e-01 -2.51969407e-01  3.63167290e+02]
 [ 1.15470921e-01  9.93142014e-01 -1.83141244e-02  3.03307732e+01]
 [ 2.52372202e-01 -1.15004718e-02  9.67561890e-01  9.47405927e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.82071405700003 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:363.23, Y:30.33, Z:94.75
[[ 9.59698925e-01 -1.24457060e-01 -2.51969072e-01  3.63225287e+02]
 [ 1.23853431e-01  9.92131419e-01 -1.83187343e-02  3.03324602e+01]
 [ 2.52266328e-01 -1.36267644e-02  9.67561890e-01  9.47537507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.88071405700003 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:363.28, Y:30.34, Z:94.77
[[ 9.58794352e-01 -1.31244534e-01 -2.51968772e-01  3.63283530e+02]
 [ 1.30869327e-01  9.91230292e-01 -1.83228495e-02  3.03351550e+01]
 [ 2.52163854e-01 -1.54071391e-02  9.67561890e-01  9.47651302e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 373.94071405700004 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:363.34, Y:30.34, Z:94.78
[[ 9.58452714e-01 -1.33716865e-01 -2.51968641e-01  3.63342255e+02]
 [ 1.33424840e-01  9.90889509e-01 -1.83246567e-02  3.03407704e+01]
 [ 2.52123399e-01 -1.60555586e-02  9.67561890e-01  9.47824326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.00071405700004 meters
Centerline goodness : 0.998653 with order 1
Centerline is valid?  [True, True]
Translation: X:363.40, Y:30.35, Z:94.80
[[ 9.58337474e-01 -1.34539037e-01 -2.51969312e-01  3.63400930e+02]
 [ 1.34277256e-01  9.90774527e-01 -1.83154236e-02  3.03468626e+01]
 [ 2.52108915e-01 -1.62813911e-02  9.67561890e-01  9.48004175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.06071405700004 meters
Centerline goodness : 0.998653 with order 1
Centerline is valid?  [True, True]
Translation: X:363.46, Y:30.35, Z:94.82
[[ 9.57935997e-01 -1.37367211e-01 -2.51969988e-01  3.63458396e+02]
 [ 1.37203612e-01  9.90373694e-01 -1.83061237e-02  3.03511033e+01]
 [ 2.52059109e-01 -1.70350976e-02  9.67561890e-01  9.48156857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.12071405700004 meters
Centerline goodness : 0.998949 with order 1
Centerline is valid?  [True, True]
Translation: X:363.52, Y:30.35, Z:94.83
[[ 9.57483793e-01 -1.40482754e-01 -2.51970993e-01  3.63517794e+02]
 [ 1.40428305e-01  9.89921857e-01 -1.82922712e-02  3.03540006e+01]
 [ 2.52001342e-01 -1.78693064e-02  9.67561890e-01  9.48285724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.18071405700005 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:363.58, Y:30.36, Z:94.84
[[ 9.57130347e-01 -1.42870911e-01 -2.51971032e-01  3.63577196e+02]
 [ 1.42897526e-01  9.89568446e-01 -1.82917336e-02  3.03591541e+01]
 [ 2.51955940e-01 -1.84984638e-02  9.67561890e-01  9.48429096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.24071405700005 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:363.64, Y:30.37, Z:94.86
[[ 9.57142845e-01 -1.42786576e-01 -2.51971364e-01  3.63636259e+02]
 [ 1.42811528e-01  9.89580945e-01 -1.82871668e-02  3.03654695e+01]
 [ 2.51957222e-01 -1.84809846e-02  9.67561890e-01  9.48578545e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.30071405700005 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:363.69, Y:30.37, Z:94.87
[[ 9.57227031e-01 -1.42219921e-01 -2.51972031e-01  3.63694963e+02]
 [ 1.42228078e-01  9.89665140e-01 -1.82779700e-02  3.03718149e+01]
 [ 2.51967427e-01 -1.83413307e-02  9.67561890e-01  9.48728857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.36071405700005 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:363.75, Y:30.38, Z:94.89
[[ 9.57104399e-01 -1.43041724e-01 -2.51972687e-01  3.63752300e+02]
 [ 1.43080102e-01  9.89542486e-01 -1.82689198e-02  3.03788760e+01]
 [ 2.51950897e-01 -1.85670143e-02  9.67561890e-01  9.48896675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.42071405700005 meters
Centerline goodness : 0.998625 with order 1
Centerline is valid?  [True, True]
Translation: X:363.81, Y:30.39, Z:94.90
[[ 9.56291475e-01 -1.48379708e-01 -2.51972374e-01  3.63810506e+02]
 [ 1.48597946e-01  9.88728850e-01 -1.82732323e-02  3.03852990e+01]
 [ 2.51843733e-01 -1.99680410e-02  9.67561890e-01  9.49048769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.48071405700006 meters
Centerline goodness : 0.999129 with order 1
Centerline is valid?  [True, True]
Translation: X:363.87, Y:30.39, Z:94.92
[[ 9.55566182e-01 -1.52981018e-01 -2.51972378e-01  3.63869450e+02]
 [ 1.53355401e-01  9.88002132e-01 -1.82731797e-02  3.03901848e+01]
 [ 2.51744696e-01 -2.11800925e-02  9.67561890e-01  9.49202279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.54071405700006 meters
Centerline goodness : 0.998578 with order 1
Centerline is valid?  [True, True]
Translation: X:363.93, Y:30.40, Z:94.94
[[ 9.55194459e-01 -1.55284462e-01 -2.51972778e-01  3.63928931e+02]
 [ 1.55738492e-01  9.87629391e-01 -1.82676661e-02  3.03958841e+01]
 [ 2.51692406e-01 -2.17926870e-02  9.67561890e-01  9.49351973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.60071405700006 meters
Centerline goodness : 0.999012 with order 1
Centerline is valid?  [True, True]
Translation: X:363.99, Y:30.40, Z:94.95
[[ 9.55019800e-01 -1.56353967e-01 -2.51973450e-01  3.63988345e+02]
 [ 1.56846745e-01  9.87454166e-01 -1.82583865e-02  3.04008046e+01]
 [ 2.51667005e-01 -2.20840949e-02  9.67561890e-01  9.49471710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.66071405700006 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:364.05, Y:30.41, Z:94.96
[[ 9.55211796e-01 -1.55175608e-01 -2.51974117e-01  3.64046341e+02]
 [ 1.55630782e-01  9.87646712e-01 -1.82491779e-02  3.04074363e+01]
 [ 2.51693236e-01 -2.17830990e-02  9.67561890e-01  9.49627106e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.72071405700007 meters
Centerline goodness : 0.999029 with order 1
Centerline is valid?  [True, True]
Translation: X:364.11, Y:30.41, Z:94.98
[[ 9.55530448e-01 -1.53201118e-01 -2.51974164e-01  3.64105413e+02]
 [ 1.53589427e-01  9.87966234e-01 -1.82485278e-02  3.04148861e+01]
 [ 2.51737661e-01 -2.12635436e-02  9.67561890e-01  9.49778208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.78071405700007 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:364.16, Y:30.42, Z:94.99
[[ 9.55951077e-01 -1.50552536e-01 -2.51975143e-01  3.64163358e+02]
 [ 1.50854496e-01  9.88387781e-01 -1.82350108e-02  3.04222340e+01]
 [ 2.51794479e-01 -2.05798050e-02  9.67561890e-01  9.49925995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.84071405700007 meters
Centerline goodness : 0.998705 with order 1
Centerline is valid?  [True, True]
Translation: X:364.22, Y:30.43, Z:95.01
[[ 9.56477290e-01 -1.47172247e-01 -2.51975242e-01  3.64221079e+02]
 [ 1.47359900e-01  9.88914857e-01 -1.82336334e-02  3.04303082e+01]
 [ 2.51865546e-01 -1.96909902e-02  9.67561890e-01  9.50088478e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.9007140570001 meters
Centerline goodness : 0.999097 with order 1
Centerline is valid?  [True, True]
Translation: X:364.28, Y:30.44, Z:95.03
[[ 9.56735106e-01 -1.45486820e-01 -2.51975242e-01  3.64279510e+02]
 [ 1.45617321e-01  9.89172953e-01 -1.82336334e-02  3.04380016e+01]
 [ 2.51899848e-01 -1.92472027e-02  9.67561890e-01  9.50258877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 374.9607140570001 meters
Centerline goodness : 0.998586 with order 1
Centerline is valid?  [True, True]
Translation: X:364.34, Y:30.44, Z:95.04
[[ 9.56675472e-01 -1.45877902e-01 -2.51975553e-01  3.64338371e+02]
 [ 1.46022787e-01  9.89113258e-01 -1.82293425e-02  3.04440887e+01]
 [ 2.51891618e-01 -1.93546076e-02  9.67561890e-01  9.50435530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.0207140570001 meters
Centerline goodness : 0.998864 with order 1
Centerline is valid?  [True, True]
Translation: X:364.40, Y:30.45, Z:95.06
[[ 9.56487644e-01 -1.47101982e-01 -2.51976971e-01  3.64397212e+02]
 [ 1.47293514e-01  9.88925188e-01 -1.82097168e-02  3.04476832e+01]
 [ 2.51865059e-01 -1.96972044e-02  9.67561891e-01  9.50580616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.080714057 meters
Centerline goodness : 0.998888 with order 1
Centerline is valid?  [True, True]
Translation: X:364.46, Y:30.45, Z:95.07
[[ 9.56207333e-01 -1.48913091e-01 -2.51977037e-01  3.64456394e+02]
 [ 1.49166292e-01  9.88644454e-01 -1.82088005e-02  3.04515711e+01]
 [ 2.51827229e-01 -2.01750917e-02  9.67561891e-01  9.50733109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.140714057 meters
Centerline goodness : 0.999096 with order 1
Centerline is valid?  [True, True]
Translation: X:364.52, Y:30.45, Z:95.09
[[ 9.56121925e-01 -1.49459298e-01 -2.51977744e-01  3.64517330e+02]
 [ 1.49733591e-01  9.88558874e-01 -1.81990145e-02  3.04548768e+01]
 [ 2.51814847e-01 -2.03290557e-02  9.67561891e-01  9.50878357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.200714057 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:364.58, Y:30.46, Z:95.10
[[ 9.56398464e-01 -1.47676495e-01 -2.51979425e-01  3.64575755e+02]
 [ 1.47896416e-01  9.88835828e-01 -1.81757083e-02  3.04571415e+01]
 [ 2.51850408e-01 -1.98836344e-02  9.67561891e-01  9.51019341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.26071405700003 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:364.63, Y:30.46, Z:95.12
[[ 9.57234460e-01 -1.42157239e-01 -2.51979181e-01  3.64634122e+02]
 [ 1.42189160e-01  9.89672554e-01 -1.81790974e-02  3.04611014e+01]
 [ 2.51961170e-01 -1.84270496e-02  9.67561891e-01  9.51166829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.32071405700003 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:364.69, Y:30.47, Z:95.13
[[ 9.58869200e-01 -1.30676575e-01 -2.51979146e-01  3.64692344e+02]
 [ 1.30319665e-01  9.91305345e-01 -1.81795793e-02  3.04662929e+01]
 [ 2.52163920e-01 -1.54059992e-02  9.67561891e-01  9.51335318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.38071405700003 meters
Centerline goodness : 0.998398 with order 1
Centerline is valid?  [True, True]
Translation: X:364.75, Y:30.47, Z:95.15
[[ 9.60955071e-01 -1.14331616e-01 -2.51979430e-01  3.64750468e+02]
 [ 1.13423520e-01  9.93380467e-01 -1.81756388e-02  3.04721483e+01]
 [ 2.52389494e-01 -1.11144218e-02  9.67561891e-01  9.51515877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.44071405700004 meters
Centerline goodness : 0.998999 with order 1
Centerline is valid?  [True, True]
Translation: X:364.81, Y:30.48, Z:95.17
[[ 9.62705366e-01 -9.85121912e-02 -2.51979616e-01  3.64808542e+02]
 [ 9.70716189e-02  9.95111471e-01 -1.81730698e-02  3.04764234e+01]
 [ 2.52538075e-01 -6.96475744e-03  9.67561891e-01  9.51691116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.50071405700004 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:364.87, Y:30.48, Z:95.18
[[ 9.63614067e-01 -8.91863273e-02 -2.51979620e-01  3.64867047e+02]
 [ 8.74320699e-02  9.96004706e-01 -1.81730144e-02  3.04770924e+01]
 [ 2.52593671e-01 -4.51932736e-03  9.67561891e-01  9.51840338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.56071405700004 meters
Centerline goodness : 0.998584 with order 1
Centerline is valid?  [True, True]
Translation: X:364.92, Y:30.48, Z:95.20
[[ 9.63528090e-01 -9.01113649e-02 -2.51979288e-01  3.64923504e+02]
 [ 8.83870036e-02  9.95920334e-01 -1.81776048e-02  3.04753065e+01]
 [ 2.52589306e-01 -4.75706147e-03  9.67561891e-01  9.51980067e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.62071405700004 meters
Centerline goodness : 0.998983 with order 1
Centerline is valid?  [True, True]
Translation: X:364.98, Y:30.47, Z:95.21
[[ 9.62733491e-01 -9.82419746e-02 -2.51977657e-01  3.64982300e+02]
 [ 9.67852117e-02  9.95138873e-01 -1.82001976e-02  3.04705785e+01]
 [ 2.52540784e-01 -6.86577108e-03  9.67561891e-01  9.52120083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.68071405700005 meters
Centerline goodness : 0.999150 with order 1
Centerline is valid?  [True, True]
Translation: X:365.04, Y:30.47, Z:95.23
[[ 9.61413344e-01 -1.10416649e-01 -2.51977270e-01  3.65040948e+02]
 [ 1.09368664e-01  9.93834520e-01 -1.82055490e-02  3.04666190e+01]
 [ 2.52433905e-01 -1.00553597e-02  9.67561891e-01  9.52262296e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.74071405700005 meters
Centerline goodness : 0.999405 with order 1
Centerline is valid?  [True, True]
Translation: X:365.10, Y:30.46, Z:95.24
[[ 9.59991123e-01 -1.22166505e-01 -2.51976962e-01  3.65098599e+02]
 [ 1.21513995e-01  9.92422668e-01 -1.82098089e-02  3.04627363e+01]
 [ 2.52292278e-01 -1.31374725e-02  9.67561891e-01  9.52436327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.80071405700005 meters
Centerline goodness : 0.999338 with order 1
Centerline is valid?  [True, True]
Translation: X:365.16, Y:30.46, Z:95.26
[[ 9.58561316e-01 -1.32920902e-01 -2.51976661e-01  3.65157001e+02]
 [ 1.32630920e-01  9.90998128e-01 -1.82139725e-02  3.04588680e+01]
 [ 2.52129417e-01 -1.59606868e-02  9.67561891e-01  9.52596113e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.86071405700005 meters
Centerline goodness : 0.999592 with order 1
Centerline is valid?  [True, True]
Translation: X:365.22, Y:30.46, Z:95.27
[[ 9.57401147e-01 -1.41034917e-01 -2.51976578e-01  3.65215732e+02]
 [ 1.41019376e-01  9.89839252e-01 -1.82151225e-02  3.04567889e+01]
 [ 2.51985276e-01 -1.80944006e-02  9.67561891e-01  9.52738028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.92071405700005 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:365.28, Y:30.46, Z:95.29
[[ 9.56527838e-01 -1.46841593e-01 -2.51976274e-01  3.65275153e+02]
 [ 1.47021778e-01  9.88965446e-01 -1.82193259e-02  3.04571389e+01]
 [ 2.51871183e-01 -1.96187074e-02  9.67561891e-01  9.52881967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 375.98071405700006 meters
Centerline goodness : 0.999434 with order 1
Centerline is valid?  [True, True]
Translation: X:365.33, Y:30.46, Z:95.30
[[ 9.55809669e-01 -1.51445715e-01 -2.51976334e-01  3.65334696e+02]
 [ 1.51782306e-01  9.88246031e-01 -1.82185014e-02  3.04592594e+01]
 [ 2.51773726e-01 -2.08321292e-02  9.67561891e-01  9.53024443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.04071405700006 meters
Centerline goodness : 0.999459 with order 1
Centerline is valid?  [True, True]
Translation: X:365.39, Y:30.46, Z:95.32
[[ 9.55362324e-01 -1.54241587e-01 -2.51976907e-01  3.65392236e+02]
 [ 1.54675158e-01  9.87797535e-01 -1.82105643e-02  3.04623160e+01]
 [ 2.51710994e-01 -2.15768808e-02  9.67561891e-01  9.53162011e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.10071405700006 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:365.45, Y:30.47, Z:95.33
[[ 9.55381942e-01 -1.54120476e-01 -2.51976633e-01  3.65450754e+02]
 [ 1.54548941e-01  9.87817221e-01 -1.82143585e-02  3.04677890e+01]
 [ 2.51714063e-01 -2.15410525e-02  9.67561891e-01  9.53335154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.16071405700006 meters
Centerline goodness : 0.999548 with order 1
Centerline is valid?  [True, True]
Translation: X:365.51, Y:30.48, Z:95.35
[[ 9.55776729e-01 -1.51651845e-01 -2.51977304e-01  3.65509456e+02]
 [ 1.51998946e-01  9.88212981e-01 -1.82050778e-02  3.04751931e+01]
 [ 2.51768076e-01 -2.09002948e-02  9.67561891e-01  9.53492043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.22071405700007 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:365.57, Y:30.48, Z:95.36
[[ 9.55821267e-01 -1.51369775e-01 -2.51977967e-01  3.65568614e+02]
 [ 1.51709710e-01  9.88257595e-01 -1.81958884e-02  3.04803936e+01]
 [ 2.51773447e-01 -2.08354872e-02  9.67561891e-01  9.53644611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.28071405700007 meters
Centerline goodness : 0.999348 with order 1
Centerline is valid?  [True, True]
Translation: X:365.63, Y:30.49, Z:95.38
[[ 9.55979945e-01 -1.50363278e-01 -2.51978628e-01  3.65627882e+02]
 [ 1.50671456e-01  9.88416590e-01 -1.81867312e-02  3.04860278e+01]
 [ 2.51794473e-01 -2.05798366e-02  9.67561891e-01  9.53807200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.34071405700007 meters
Centerline goodness : 0.999592 with order 1
Centerline is valid?  [True, True]
Translation: X:365.69, Y:30.49, Z:95.40
[[ 9.56071043e-01 -1.49781842e-01 -2.51979287e-01  3.65687489e+02]
 [ 1.50072686e-01  9.88507847e-01 -1.81775929e-02  3.04931026e+01]
 [ 2.51806176e-01 -2.04361383e-02  9.67561891e-01  9.53968779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.4007140570001 meters
Centerline goodness : 0.999251 with order 1
Centerline is valid?  [True, True]
Translation: X:365.75, Y:30.50, Z:95.41
[[ 9.56174376e-01 -1.49118480e-01 -2.51980637e-01  3.65746073e+02]
 [ 1.49391723e-01  9.88611334e-01 -1.81588627e-02  3.05006161e+01]
 [ 2.51818736e-01 -2.02807824e-02  9.67561892e-01  9.54137080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.4607140570001 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:365.81, Y:30.51, Z:95.43
[[ 9.56092499e-01 -1.49641986e-01 -2.51980972e-01  3.65806124e+02]
 [ 1.49934205e-01  9.88529291e-01 -1.81542193e-02  3.05066573e+01]
 [ 2.51807205e-01 -2.04234538e-02  9.67561892e-01  9.54292695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.5207140570001 meters
Centerline goodness : 0.999183 with order 1
Centerline is valid?  [True, True]
Translation: X:365.87, Y:30.51, Z:95.44
[[ 9.56153290e-01 -1.49250786e-01 -2.51982318e-01  3.65865723e+02]
 [ 1.49534630e-01  9.88590156e-01 -1.81355146e-02  3.05120910e+01]
 [ 2.51813979e-01 -2.03397508e-02  9.67561892e-01  9.54438767e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.580714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:365.92, Y:30.52, Z:95.46
[[ 9.56128208e-01 -1.49410264e-01 -2.51982981e-01  3.65924559e+02]
 [ 1.49701930e-01  9.88565005e-01 -1.81263021e-02  3.05212425e+01]
 [ 2.51809812e-01 -2.03912699e-02  9.67561892e-01  9.54587879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.640714057 meters
Centerline goodness : 0.999111 with order 1
Centerline is valid?  [True, True]
Translation: X:365.98, Y:30.53, Z:95.47
[[ 9.55978469e-01 -1.50363727e-01 -2.51983962e-01  3.65983752e+02]
 [ 1.50691317e-01  9.88414922e-01 -1.81126457e-02  3.05276480e+01]
 [ 2.51788194e-01 -2.06564960e-02  9.67561892e-01  9.54745877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.700714057 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:366.04, Y:30.54, Z:95.49
[[ 9.55515457e-01 -1.53277419e-01 -2.51984611e-01  3.66042790e+02]
 [ 1.53706258e-01  9.87950730e-01 -1.81036143e-02  3.05356006e+01]
 [ 2.51723256e-01 -2.14333284e-02  9.67561892e-01  9.54881583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.76071405700003 meters
Centerline goodness : 0.999064 with order 1
Centerline is valid?  [True, True]
Translation: X:366.10, Y:30.54, Z:95.50
[[ 9.55320806e-01 -1.54485877e-01 -2.51984664e-01  3.66100807e+02]
 [ 1.54955933e-01  9.87755508e-01 -1.81028817e-02  3.05425771e+01]
 [ 2.51695879e-01 -2.17524592e-02  9.67561892e-01  9.55020956e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.82071405700003 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:366.16, Y:30.55, Z:95.52
[[ 9.55525618e-01 -1.53214399e-01 -2.51984406e-01  3.66159090e+02]
 [ 1.53640352e-01  9.87960929e-01 -1.81064677e-02  3.05494118e+01]
 [ 2.51724920e-01 -2.14137792e-02  9.67561892e-01  9.55172470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.88071405700003 meters
Centerline goodness : 0.999065 with order 1
Centerline is valid?  [True, True]
Translation: X:366.22, Y:30.56, Z:95.54
[[ 9.56000058e-01 -1.50225660e-01 -2.51984406e-01  3.66216180e+02]
 [ 1.50550184e-01  9.88436542e-01 -1.81064677e-02  3.05594846e+01]
 [ 2.51790651e-01 -2.06265145e-02  9.67561892e-01  9.55354200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 376.94071405700004 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:366.28, Y:30.57, Z:95.55
[[ 9.55877083e-01 -1.51006226e-01 -2.51984370e-01  3.66275071e+02]
 [ 1.51357102e-01  9.88313293e-01 -1.81069769e-02  3.05673242e+01]
 [ 2.51773768e-01 -2.08315797e-02  9.67561892e-01  9.55504875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.00071405700004 meters
Centerline goodness : 0.998805 with order 1
Centerline is valid?  [True, True]
Translation: X:366.33, Y:30.57, Z:95.56
[[ 9.55652051e-01 -1.52420565e-01 -2.51986368e-01  3.66333299e+02]
 [ 1.52826732e-01  9.88087615e-01 -1.80791204e-02  3.05728723e+01]
 [ 2.51740239e-01 -2.12329048e-02  9.67561892e-01  9.55646931e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.06071405700004 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:366.39, Y:30.58, Z:95.58
[[ 9.55160765e-01 -1.55469462e-01 -2.51986428e-01  3.66393676e+02]
 [ 1.55979355e-01  9.87594865e-01 -1.80782826e-02  3.05807036e+01]
 [ 2.51671124e-01 -2.20370144e-02  9.67561892e-01  9.55785875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.12071405700004 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:366.45, Y:30.59, Z:95.59
[[ 9.55055650e-01 -1.56111753e-01 -2.51987749e-01  3.66452529e+02]
 [ 1.56648281e-01  9.87489320e-01 -1.80598578e-02  3.05883171e+01]
 [ 2.51654567e-01 -2.22252785e-02  9.67561893e-01  9.55939772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.18071405700005 meters
Centerline goodness : 0.998845 with order 1
Centerline is valid?  [True, True]
Translation: X:366.51, Y:30.59, Z:95.61
[[ 9.55248256e-01 -1.54927227e-01 -2.51988736e-01  3.66513093e+02]
 [ 1.55427142e-01  9.87682511e-01 -1.80460723e-02  3.05943830e+01]
 [ 2.51680696e-01 -2.19274099e-02  9.67561893e-01  9.56107546e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.24071405700005 meters
Centerline goodness : 0.998772 with order 1
Centerline is valid?  [True, True]
Translation: X:366.57, Y:30.60, Z:95.63
[[ 9.55874277e-01 -1.51013360e-01 -2.51990736e-01  3.66570521e+02]
 [ 1.51387745e-01  9.88310224e-01 -1.80181095e-02  3.06032148e+01]
 [ 2.51765996e-01 -2.09252618e-02  9.67561893e-01  9.56269175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.30071405700005 meters
Centerline goodness : 0.998653 with order 1
Centerline is valid?  [True, True]
Translation: X:366.63, Y:30.61, Z:95.64
[[ 9.56384003e-01 -1.47750546e-01 -2.51990903e-01  3.66628054e+02]
 [ 1.48014852e-01  9.88821033e-01 -1.80157755e-02  3.06087082e+01]
 [ 2.51835745e-01 -2.00683966e-02  9.67561893e-01  9.56442690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.36071405700005 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:366.69, Y:30.61, Z:95.66
[[ 9.56761476e-01 -1.45285963e-01 -2.51991008e-01  3.66686218e+02]
 [ 1.45467079e-01  9.89199077e-01 -1.80143071e-02  3.06136504e+01]
 [ 2.51886498e-01 -1.94210007e-02  9.67561893e-01  9.56588850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.42071405700005 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:366.75, Y:30.62, Z:95.67
[[ 9.56984586e-01 -1.43809018e-01 -2.51991008e-01  3.66746500e+02]
 [ 1.43940066e-01  9.89422429e-01 -1.80143071e-02  3.06191746e+01]
 [ 2.51916175e-01 -1.90321880e-02  9.67561893e-01  9.56742700e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.48071405700006 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:366.81, Y:30.62, Z:95.69
[[ 9.57209368e-01 -1.42302820e-01 -2.51992328e-01  3.66807169e+02]
 [ 1.42387660e-01  9.89647364e-01 -1.79958202e-02  3.06245905e+01]
 [ 2.51944399e-01 -1.86548302e-02  9.67561893e-01  9.56874053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.54071405700006 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:366.87, Y:30.63, Z:95.70
[[ 9.57072836e-01 -1.43215896e-01 -2.51993637e-01  3.66867026e+02]
 [ 1.43336486e-01  9.89510719e-01 -1.79774652e-02  3.06299005e+01]
 [ 2.51925064e-01 -1.89141390e-02  9.67561893e-01  9.57027646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.60071405700006 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:366.93, Y:30.64, Z:95.72
[[ 9.57099782e-01 -1.43033361e-01 -2.51994970e-01  3.66925706e+02]
 [ 1.43152660e-01  9.89537669e-01 -1.79587654e-02  3.06359032e+01]
 [ 2.51927218e-01 -1.88854198e-02  9.67561894e-01  9.57176938e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.66071405700006 meters
Centerline goodness : 0.998366 with order 1
Centerline is valid?  [True, True]
Translation: X:366.98, Y:30.64, Z:95.74
[[ 9.57215975e-01 -1.42252524e-01 -2.51995629e-01  3.66984511e+02]
 [ 1.42347784e-01  9.89653941e-01 -1.79495130e-02  3.06422328e+01]
 [ 2.51941831e-01 -1.86894587e-02  9.67561894e-01  9.57350010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.72071405700007 meters
Centerline goodness : 0.998410 with order 1
Centerline is valid?  [True, True]
Translation: X:367.04, Y:30.65, Z:95.75
[[ 9.57256450e-01 -1.41978194e-01 -2.51996592e-01  3.67042473e+02]
 [ 1.42067698e-01  9.89694432e-01 -1.79359893e-02  3.06494073e+01]
 [ 2.51946143e-01 -1.86312342e-02  9.67561894e-01  9.57537332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.78071405700007 meters
Centerline goodness : 0.999017 with order 1
Centerline is valid?  [True, True]
Translation: X:367.10, Y:30.65, Z:95.77
[[ 9.56882763e-01 -1.44474679e-01 -2.51996916e-01  3.67101824e+02]
 [ 1.44649990e-01  9.89320395e-01 -1.79314271e-02  3.06545711e+01]
 [ 2.51896326e-01 -1.92930780e-02  9.67561894e-01  9.57678102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.84071405700007 meters
Centerline goodness : 0.998645 with order 1
Centerline is valid?  [True, True]
Translation: X:367.16, Y:30.66, Z:95.78
[[ 9.56144541e-01 -1.49278734e-01 -2.51998959e-01  3.67161169e+02]
 [ 1.49624487e-01  9.88580805e-01 -1.79026702e-02  3.06584976e+01]
 [ 2.51793822e-01 -2.05876746e-02  9.67561894e-01  9.57812346e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.9007140570001 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:367.22, Y:30.66, Z:95.79
[[ 9.55794378e-01 -1.51504488e-01 -2.51999002e-01  3.67219615e+02]
 [ 1.51925917e-01  9.88229746e-01 -1.79020721e-02  3.06629552e+01]
 [ 2.51745154e-01 -2.11744797e-02  9.67561894e-01  9.57949760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 377.9607140570001 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:367.28, Y:30.67, Z:95.81
[[ 9.56377567e-01 -1.47777018e-01 -2.51999805e-01  3.67277652e+02]
 [ 1.48074951e-01  9.88814305e-01 -1.78907615e-02  3.06668780e+01]
 [ 2.51824855e-01 -2.02045358e-02  9.67561894e-01  9.58110513e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.0207140570001 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:367.34, Y:30.67, Z:95.83
[[ 9.57027197e-01 -1.43509630e-01 -2.51999861e-01  3.67335688e+02]
 [ 1.43663081e-01  9.89464940e-01 -1.78899777e-02  3.06723737e+01]
 [ 2.51912411e-01 -1.90818813e-02  9.67561894e-01  9.58285504e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.080714057 meters
Centerline goodness : 0.998500 with order 1
Centerline is valid?  [True, True]
Translation: X:367.39, Y:30.68, Z:95.84
[[ 9.57402433e-01 -1.40984005e-01 -2.52000182e-01  3.67393319e+02]
 [ 1.41053053e-01  9.89840465e-01 -1.78854507e-02  3.06764161e+01]
 [ 2.51961540e-01 -1.84218210e-02  9.67561894e-01  9.58422677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.140714057 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:367.45, Y:30.68, Z:95.86
[[ 9.57453981e-01 -1.40631137e-01 -2.52001502e-01  3.67453445e+02]
 [ 1.40693104e-01  9.89892028e-01 -1.78668363e-02  3.06806098e+01]
 [ 2.51966911e-01 -1.83481998e-02  9.67561894e-01  9.58579745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.200714057 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:367.51, Y:30.68, Z:95.87
[[ 9.57190129e-01 -1.42413612e-01 -2.52002816e-01  3.67512633e+02]
 [ 1.42540835e-01  9.89627985e-01 -1.78482731e-02  3.06845152e+01]
 [ 2.51930877e-01 -1.88365011e-02  9.67561894e-01  9.58731600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.26071405700003 meters
Centerline goodness : 0.998782 with order 1
Centerline is valid?  [True, True]
Translation: X:367.57, Y:30.69, Z:95.89
[[ 9.56748846e-01 -1.45346958e-01 -2.52003786e-01  3.67571498e+02]
 [ 1.45577199e-01  9.89186134e-01 -1.78345678e-02  3.06864954e+01]
 [ 2.51870851e-01 -1.96228032e-02  9.67561895e-01  9.58870125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.32071405700003 meters
Centerline goodness : 0.998834 with order 1
Centerline is valid?  [True, True]
Translation: X:367.63, Y:30.69, Z:95.90
[[ 9.56443312e-01 -1.47343919e-01 -2.52003888e-01  3.67631467e+02]
 [ 1.47642252e-01  9.88880046e-01 -1.78331270e-02  3.06890301e+01]
 [ 2.51829220e-01 -2.01500465e-02  9.67561895e-01  9.59028813e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.38071405700003 meters
Centerline goodness : 0.998649 with order 1
Centerline is valid?  [True, True]
Translation: X:367.69, Y:30.69, Z:95.92
[[ 9.56319217e-01 -1.48144969e-01 -2.52005206e-01  3.67690430e+02]
 [ 1.48475347e-01  9.88755640e-01 -1.78144952e-02  3.06922279e+01]
 [ 2.51810696e-01 -2.03802163e-02  9.67561895e-01  9.59199086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.44071405700004 meters
Centerline goodness : 0.998792 with order 1
Centerline is valid?  [True, True]
Translation: X:367.75, Y:30.69, Z:95.94
[[ 9.56230912e-01 -1.48712789e-01 -2.52005854e-01  3.67748323e+02]
 [ 1.49064829e-01  9.88667106e-01 -1.78053229e-02  3.06942831e+01]
 [ 2.51797777e-01 -2.05392093e-02  9.67561895e-01  9.59354916e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.50071405700004 meters
Centerline goodness : 0.998560 with order 1
Centerline is valid?  [True, True]
Translation: X:367.81, Y:30.70, Z:95.95
[[ 9.56048688e-01 -1.49877687e-01 -2.52007115e-01  3.67807990e+02]
 [ 1.50273922e-01  9.88484373e-01 -1.77874552e-02  3.06956002e+01]
 [ 2.51771037e-01 -2.08644245e-02  9.67561895e-01  9.59504553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.56071405700004 meters
Centerline goodness : 0.998887 with order 1
Centerline is valid?  [True, True]
Translation: X:367.87, Y:30.70, Z:95.97
[[ 9.56039154e-01 -1.49937417e-01 -2.52007751e-01  3.67866773e+02]
 [ 1.50338041e-01  9.88474785e-01 -1.77784312e-02  3.06973834e+01]
 [ 2.51768960e-01 -2.08894753e-02  9.67561895e-01  9.59656850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.62071405700004 meters
Centerline goodness : 0.999397 with order 1
Centerline is valid?  [True, True]
Translation: X:367.93, Y:30.70, Z:95.98
[[ 9.56527063e-01 -1.46792411e-01 -2.52007868e-01  3.67925161e+02]
 [ 1.47086793e-01  9.88963832e-01 -1.77767717e-02  3.06996636e+01]
 [ 2.51836163e-01 -2.00630661e-02  9.67561895e-01  9.59803447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.68071405700005 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:367.98, Y:30.70, Z:96.00
[[ 9.57830844e-01 -1.38029430e-01 -2.52007839e-01  3.67983083e+02]
 [ 1.38026738e-01  9.90268949e-01 -1.77771900e-02  3.07047941e+01]
 [ 2.52009313e-01 -1.77562792e-02  9.67561895e-01  9.59970156e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.74071405700005 meters
Centerline goodness : 0.998814 with order 1
Centerline is valid?  [True, True]
Translation: X:368.04, Y:30.71, Z:96.02
[[ 9.59396595e-01 -1.26689479e-01 -2.52007836e-01  3.68040092e+02]
 [ 1.26303062e-01  9.91832398e-01 -1.77772328e-02  3.07112991e+01]
 [ 2.52201725e-01 -1.47739447e-02  9.67561895e-01  9.60157683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.80071405700005 meters
Centerline goodness : 0.998649 with order 1
Centerline is valid?  [True, True]
Translation: X:368.10, Y:30.72, Z:96.03
[[ 9.60482127e-01 -1.18178182e-01 -2.52007938e-01  3.68097525e+02]
 [ 1.17504574e-01  9.92913237e-01 -1.77757827e-02  3.07165948e+01]
 [ 2.52322727e-01 -1.25387638e-02  9.67561895e-01  9.60333478e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.86071405700005 meters
Centerline goodness : 0.998718 with order 1
Centerline is valid?  [True, True]
Translation: X:368.16, Y:30.72, Z:96.05
[[ 9.60821237e-01 -1.15388410e-01 -2.52008066e-01  3.68157143e+02]
 [ 1.14621098e-01  9.93250265e-01 -1.77739697e-02  3.07204030e+01]
 [ 2.52357989e-01 -1.18078337e-02  9.67561895e-01  9.60482095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.92071405700005 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:368.22, Y:30.72, Z:96.06
[[ 9.60563261e-01 -1.17514508e-01 -2.52009052e-01  3.68216190e+02]
 [ 1.16822625e-01  9.92993986e-01 -1.77599865e-02  3.07227782e+01]
 [ 2.52330529e-01 -1.23807685e-02  9.67561895e-01  9.60617479e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 378.98071405700006 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:368.28, Y:30.73, Z:96.08
[[ 9.60029069e-01 -1.21800907e-01 -2.52009378e-01  3.68275078e+02]
 [ 1.21255003e-01  9.92462580e-01 -1.77553491e-02  3.07250533e+01]
 [ 2.52272495e-01 -1.35117466e-02  9.67561895e-01  9.60761678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.04071405700006 meters
Centerline goodness : 0.998415 with order 1
Centerline is valid?  [True, True]
Translation: X:368.33, Y:30.73, Z:96.09
[[ 9.59624710e-01 -1.24946084e-01 -2.52009707e-01  3.68333202e+02]
 [ 1.24507682e-01  9.92059852e-01 -1.77506864e-02  3.07267142e+01]
 [ 2.52226591e-01 -1.43431471e-02  9.67561895e-01  9.60906740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.10071405700006 meters
Centerline goodness : 0.998348 with order 1
Centerline is valid?  [True, True]
Translation: X:368.39, Y:30.73, Z:96.11
[[ 9.59363303e-01 -1.26935374e-01 -2.52010839e-01  3.68391191e+02]
 [ 1.26568433e-01  9.91799333e-01 -1.77345914e-02  3.07291985e+01]
 [ 2.52195329e-01 -1.48827008e-02  9.67561895e-01  9.61077807e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.16071405700006 meters
Centerline goodness : 0.998401 with order 1
Centerline is valid?  [True, True]
Translation: X:368.45, Y:30.73, Z:96.12
[[ 9.59212355e-01 -1.28071195e-01 -2.52010767e-01  3.68449194e+02]
 [ 1.27742391e-01  9.91648793e-01 -1.77356163e-02  3.07314767e+01]
 [ 2.52177595e-01 -1.51802357e-02  9.67561895e-01  9.61234931e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.22071405700007 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:368.51, Y:30.73, Z:96.14
[[ 9.59092096e-01 -1.28968699e-01 -2.52010767e-01  3.68505880e+02]
 [ 1.28670247e-01  9.91528827e-01 -1.77356163e-02  3.07329864e+01]
 [ 2.52163280e-01 -1.54161983e-02  9.67561895e-01  9.61373339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.28071405700007 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:368.57, Y:30.73, Z:96.15
[[ 9.59003528e-01 -1.29627989e-01 -2.52009559e-01  3.68565533e+02]
 [ 1.29347346e-01  9.91440418e-01 -1.77527678e-02  3.07335081e+01]
 [ 2.52153718e-01 -1.55718006e-02  9.67561895e-01  9.61524327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.34071405700007 meters
Centerline goodness : 0.998596 with order 1
Centerline is valid?  [True, True]
Translation: X:368.62, Y:30.73, Z:96.17
[[ 9.59055603e-01 -1.29240848e-01 -2.52010224e-01  3.68624930e+02]
 [ 1.28949581e-01  9.91492400e-01 -1.77433297e-02  3.07344186e+01]
 [ 2.52159384e-01 -1.54797730e-02  9.67561895e-01  9.61662457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.4007140570001 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:368.68, Y:30.74, Z:96.18
[[ 9.59624277e-01 -1.24948178e-01 -2.52010316e-01  3.68683746e+02]
 [ 1.24512116e-01  9.92059451e-01 -1.77420190e-02  3.07362519e+01]
 [ 2.52226049e-01 -1.43526654e-02  9.67561895e-01  9.61826676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.4607140570001 meters
Centerline goodness : 0.998503 with order 1
Centerline is valid?  [True, True]
Translation: X:368.74, Y:30.74, Z:96.20
[[ 9.60573728e-01 -1.17425923e-01 -2.52010447e-01  3.68741817e+02]
 [ 1.16736239e-01  9.93004500e-01 -1.77401626e-02  3.07405500e+01]
 [ 2.52330663e-01 -1.23780175e-02  9.67561895e-01  9.61999145e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.5207140570001 meters
Centerline goodness : 0.998316 with order 1
Centerline is valid?  [True, True]
Translation: X:368.80, Y:30.74, Z:96.21
[[ 9.61364796e-01 -1.10763128e-01 -2.52010432e-01  3.68800515e+02]
 [ 1.09848553e-01  9.93790005e-01 -1.77403703e-02  3.07444195e+01]
 [ 2.52410427e-01 -1.06280138e-02  9.67561895e-01  9.62149375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.580714057 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:368.86, Y:30.75, Z:96.23
[[ 9.61295563e-01 -1.11360893e-01 -2.52011096e-01  3.68858246e+02]
 [ 1.10468950e-01  9.93721402e-01 -1.77309330e-02  3.07457529e+01]
 [ 2.52403352e-01 -1.07947338e-02  9.67561895e-01  9.62294501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.640714057 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:368.92, Y:30.75, Z:96.24
[[ 9.60858677e-01 -1.15071002e-01 -2.52010449e-01  3.68916391e+02]
 [ 1.14301836e-01  9.93287662e-01 -1.77401201e-02  3.07475080e+01]
 [ 2.52360243e-01 -1.17595086e-02  9.67561896e-01  9.62439164e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.700714057 meters
Centerline goodness : 0.999038 with order 1
Centerline is valid?  [True, True]
Translation: X:368.98, Y:30.75, Z:96.26
[[ 9.59648390e-01 -1.24763327e-01 -2.52010077e-01  3.68975745e+02]
 [ 1.24320131e-01  9.92083467e-01 -1.77454004e-02  3.07466554e+01]
 [ 2.52229007e-01 -1.43005810e-02  9.67561896e-01  9.62581624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.76071405700003 meters
Centerline goodness : 0.998926 with order 1
Centerline is valid?  [True, True]
Translation: X:369.03, Y:30.75, Z:96.27
[[ 9.59041538e-01 -1.29345399e-01 -2.52010111e-01  3.69032753e+02]
 [ 1.29057251e-01  9.91478363e-01 -1.77449247e-02  3.07490431e+01]
 [ 2.52157797e-01 -1.55056122e-02  9.67561896e-01  9.62711791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.82071405700003 meters
Centerline goodness : 0.998444 with order 1
Centerline is valid?  [True, True]
Translation: X:369.09, Y:30.75, Z:96.28
[[ 9.58392726e-01 -1.34070013e-01 -2.52009157e-01  3.69091485e+02]
 [ 1.33938172e-01  9.90830562e-01 -1.77584693e-02  3.07504816e+01]
 [ 2.52079252e-01 -1.67340579e-02  9.67561896e-01  9.62811638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.88071405700003 meters
Centerline goodness : 0.998929 with order 1
Centerline is valid?  [True, True]
Translation: X:369.15, Y:30.76, Z:96.30
[[ 9.57352917e-01 -1.41304522e-01 -2.52008778e-01  3.69148097e+02]
 [ 1.41416269e-01  9.89790829e-01 -1.77638385e-02  3.07552181e+01]
 [ 2.51946088e-01 -1.86318784e-02  9.67561896e-01  9.63017656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 379.94071405700004 meters
Centerline goodness : 0.999498 with order 1
Centerline is valid?  [True, True]
Translation: X:369.21, Y:30.76, Z:96.32
[[ 9.56642356e-01 -1.46038009e-01 -2.52008539e-01  3.69205387e+02]
 [ 1.46309308e-01  9.89079325e-01 -1.77672329e-02  3.07592596e+01]
 [ 2.51851127e-01 -1.98743073e-02  9.67561896e-01  9.63156278e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.00071405700004 meters
Centerline goodness : 0.998975 with order 1
Centerline is valid?  [True, True]
Translation: X:369.26, Y:30.77, Z:96.33
[[ 9.56332479e-01 -1.48053692e-01 -2.52008520e-01  3.69263361e+02]
 [ 1.48393276e-01  9.88768806e-01 -1.77675054e-02  3.07650419e+01]
 [ 2.51808708e-01 -2.04047274e-02  9.67561896e-01  9.63310836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.06071405700004 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:369.32, Y:30.77, Z:96.35
[[ 9.56296864e-01 -1.48283705e-01 -2.52008435e-01  3.69322269e+02]
 [ 1.48630778e-01  9.88733111e-01 -1.77686989e-02  3.07693683e+01]
 [ 2.51803893e-01 -2.04640589e-02  9.67561896e-01  9.63475908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.12071405700004 meters
Centerline goodness : 0.998837 with order 1
Centerline is valid?  [True, True]
Translation: X:369.38, Y:30.77, Z:96.36
[[ 9.56049285e-01 -1.49871116e-01 -2.52008758e-01  3.69380801e+02]
 [ 1.50273235e-01  9.88484897e-01 -1.77641273e-02  3.07749148e+01]
 [ 2.51769180e-01 -2.08867900e-02  9.67561896e-01  9.63619519e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.18071405700005 meters
Centerline goodness : 0.998881 with order 1
Centerline is valid?  [True, True]
Translation: X:369.44, Y:30.78, Z:96.38
[[ 9.56044129e-01 -1.49903915e-01 -2.52008809e-01  3.69439810e+02]
 [ 1.50307336e-01  9.88479725e-01 -1.77634050e-02  3.07810296e+01]
 [ 2.51768402e-01 -2.08961736e-02  9.67561896e-01  9.63789879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.24071405700005 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:369.50, Y:30.79, Z:96.39
[[ 9.56337378e-01 -1.48019858e-01 -2.52009804e-01  3.69498640e+02]
 [ 1.48363069e-01  9.88773666e-01 -1.77492670e-02  3.07873933e+01]
 [ 2.51807902e-01 -2.04146606e-02  9.67561896e-01  9.63938305e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.30071405700005 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:369.56, Y:30.79, Z:96.41
[[ 9.56893880e-01 -1.44376829e-01 -2.52010782e-01  3.69557088e+02]
 [ 1.44600147e-01  9.89331215e-01 -1.77353809e-02  3.07948747e+01]
 [ 2.51882711e-01 -1.94699187e-02  9.67561896e-01  9.64083438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.36071405700005 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:369.62, Y:30.80, Z:96.42
[[ 9.57564947e-01 -1.39856891e-01 -2.52010758e-01  3.69615421e+02]
 [ 1.39926955e-01  9.90002976e-01 -1.77357147e-02  3.08022377e+01]
 [ 2.51971862e-01 -1.82799992e-02  9.67561896e-01  9.64244080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.42071405700005 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:369.67, Y:30.81, Z:96.44
[[ 9.58256511e-01 -1.35037187e-01 -2.52010748e-01  3.69674035e+02]
 [ 1.34944003e-01  9.90694481e-01 -1.77358556e-02  3.08105554e+01]
 [ 2.52060658e-01 -1.70118401e-02  9.67561896e-01  9.64404943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.48071405700006 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:369.73, Y:30.82, Z:96.46
[[ 9.58692052e-01 -1.31908908e-01 -2.52011092e-01  3.69733384e+02]
 [ 1.31711132e-01  9.91129553e-01 -1.77309723e-02  3.08178077e+01]
 [ 2.52114514e-01 -1.61941239e-02  9.67561896e-01  9.64559901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.54071405700006 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:369.79, Y:30.82, Z:96.47
[[ 9.58744765e-01 -1.31523387e-01 -2.52012051e-01  3.69793667e+02]
 [ 1.31316140e-01  9.91182207e-01 -1.77173247e-02  3.08231978e+01]
 [ 2.52120104e-01 -1.61068574e-02  9.67561896e-01  9.64713383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.60071405700006 meters
Centerline goodness : 0.998395 with order 1
Centerline is valid?  [True, True]
Translation: X:369.85, Y:30.83, Z:96.49
[[ 9.58235036e-01 -1.35184653e-01 -2.52013344e-01  3.69851713e+02]
 [ 1.35106131e-01  9.90673045e-01 -1.76989187e-02  3.08294413e+01]
 [ 2.52055449e-01 -1.70888239e-02  9.67561896e-01  9.64851090e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.66071405700006 meters
Centerline goodness : 0.998047 with order 1
Centerline is valid?  [True, True]
Translation: X:369.91, Y:30.83, Z:96.50
[[ 9.57508794e-01 -1.40236169e-01 -2.52013344e-01  3.69909618e+02]
 [ 1.40328715e-01  9.89946766e-01 -1.76989187e-02  3.08348977e+01]
 [ 2.51961823e-01 -1.84178384e-02  9.67561896e-01  9.65030897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.72071405700007 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:369.97, Y:30.84, Z:96.52
[[ 9.56699516e-01 -1.45654378e-01 -2.52013568e-01  3.69967824e+02]
 [ 1.45931391e-01  9.89136437e-01 -1.76957217e-02  3.08385434e+01]
 [ 2.51853262e-01 -1.98472021e-02  9.67561896e-01  9.65185993e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.78071405700007 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:370.03, Y:30.84, Z:96.53
[[ 9.56025709e-01 -1.50013333e-01 -2.52013579e-01  3.70026701e+02]
 [ 1.50438223e-01  9.88461030e-01 -1.76955744e-02  3.08430363e+01]
 [ 2.51760174e-01 -2.09950508e-02  9.67561896e-01  9.65336261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.84071405700007 meters
Centerline goodness : 0.998403 with order 1
Centerline is valid?  [True, True]
Translation: X:370.09, Y:30.85, Z:96.55
[[ 9.55541507e-01 -1.53067160e-01 -2.52013638e-01  3.70085478e+02]
 [ 1.53595901e-01  9.87975301e-01 -1.76947338e-02  3.08466784e+01]
 [ 2.51691732e-01 -2.18002092e-02  9.67561896e-01  9.65490316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.9007140570001 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:370.14, Y:30.85, Z:96.56
[[ 9.55238509e-01 -1.54946288e-01 -2.52013966e-01  3.70144346e+02]
 [ 1.55540046e-01  9.87671178e-01 -1.76900563e-02  3.08502311e+01]
 [ 2.51647939e-01 -2.23000408e-02  9.67561896e-01  9.65649000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 380.9607140570001 meters
Centerline goodness : 0.998800 with order 1
Centerline is valid?  [True, True]
Translation: X:370.21, Y:30.85, Z:96.58
[[ 9.55106148e-01 -1.55759990e-01 -2.52014031e-01  3.70205730e+02]
 [ 1.56381621e-01  9.87538295e-01 -1.76891260e-02  3.08531492e+01]
 [ 2.51628765e-01 -2.25153697e-02  9.67561896e-01  9.65805106e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.0207140570001 meters
Centerline goodness : 0.998498 with order 1
Centerline is valid?  [True, True]
Translation: X:370.27, Y:30.86, Z:96.60
[[ 9.55206712e-01 -1.55138871e-01 -2.52016009e-01  3.70265304e+02]
 [ 1.55746799e-01  9.87639118e-01 -1.76609022e-02  3.08557112e+01]
 [ 2.51640762e-01 -2.23808744e-02  9.67561897e-01  9.65954125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.080714057 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:370.32, Y:30.86, Z:96.61
[[ 9.55552670e-01 -1.52991944e-01 -2.52016983e-01  3.70323466e+02]
 [ 1.53530626e-01  9.87986301e-01 -1.76470042e-02  3.08588480e+01]
 [ 2.51689176e-01 -2.18296832e-02  9.67561897e-01  9.66109900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.140714057 meters
Centerline goodness : 0.998363 with order 1
Centerline is valid?  [True, True]
Translation: X:370.38, Y:30.86, Z:96.63
[[ 9.56317814e-01 -1.48133748e-01 -2.52017126e-01  3.70382368e+02]
 [ 1.48508129e-01  9.88753757e-01 -1.76449550e-02  3.08623977e+01]
 [ 2.51796693e-01 -2.05524071e-02  9.67561897e-01  9.66266203e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.200714057 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:370.44, Y:30.87, Z:96.64
[[ 9.57091500e-01 -1.43049566e-01 -2.52017226e-01  3.70440147e+02]
 [ 1.43251943e-01  9.89528972e-01 -1.76435277e-02  3.08674672e+01]
 [ 2.51902246e-01 -1.92154869e-02  9.67561897e-01  9.66407649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.26071405700003 meters
Centerline goodness : 0.997731 with order 1
Centerline is valid?  [True, True]
Translation: X:370.50, Y:30.87, Z:96.66
[[ 9.57608945e-01 -1.39543208e-01 -2.52017465e-01  3.70499840e+02]
 [ 1.39627673e-01  9.90046938e-01 -1.76401173e-02  3.08724784e+01]
 [ 2.51970678e-01 -1.82962779e-02  9.67561897e-01  9.66564211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.32071405700003 meters
Centerline goodness : 0.997660 with order 1
Centerline is valid?  [True, True]
Translation: X:370.56, Y:30.88, Z:96.67
[[ 9.58601713e-01 -1.32549865e-01 -2.52018432e-01  3.70557683e+02]
 [ 1.32401182e-01  9.91039475e-01 -1.76262847e-02  3.08783438e+01]
 [ 2.52096576e-01 -1.64709516e-02  9.67561897e-01  9.66725717e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.38071405700003 meters
Centerline goodness : 0.998629 with order 1
Centerline is valid?  [True, True]
Translation: X:370.61, Y:30.88, Z:96.69
[[ 9.59416687e-01 -1.26516163e-01 -2.52018415e-01  3.70614390e+02]
 [ 1.26163336e-01  9.91852871e-01 -1.76265292e-02  3.08840196e+01]
 [ 2.52195229e-01 -1.48842977e-02  9.67561897e-01  9.66881976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.44071405700004 meters
Centerline goodness : 0.998794 with order 1
Centerline is valid?  [True, True]
Translation: X:370.67, Y:30.89, Z:96.70
[[ 9.59895026e-01 -1.22834893e-01 -2.52018110e-01  3.70673185e+02]
 [ 1.22356502e-01  9.92329602e-01 -1.76308881e-02  3.08887842e+01]
 [ 2.52250719e-01 -1.39122526e-02  9.67561897e-01  9.67047799e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.50071405700004 meters
Centerline goodness : 0.998442 with order 1
Centerline is valid?  [True, True]
Translation: X:370.73, Y:30.89, Z:96.72
[[ 9.60501022e-01 -1.18002182e-01 -2.52018397e-01  3.70732578e+02]
 [ 1.17361625e-01  9.92932800e-01 -1.76267940e-02  3.08935657e+01]
 [ 2.52317332e-01 -1.26467348e-02  9.67561897e-01  9.67213471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.56071405700004 meters
Centerline goodness : 0.998699 with order 1
Centerline is valid?  [True, True]
Translation: X:370.79, Y:30.90, Z:96.74
[[ 9.61014384e-01 -1.13743518e-01 -2.52019375e-01  3.70791052e+02]
 [ 1.12962873e-01  9.93443093e-01 -1.76127983e-02  3.08972335e+01]
 [ 2.52370249e-01 -1.15426801e-02  9.67561897e-01  9.67371507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.62071405700004 meters
Centerline goodness : 0.998556 with order 1
Centerline is valid?  [True, True]
Translation: X:370.85, Y:30.90, Z:96.75
[[ 9.61320258e-01 -1.11128490e-01 -2.52019483e-01  3.70849216e+02]
 [ 1.10260026e-01  9.93746734e-01 -1.76112460e-02  3.09004555e+01]
 [ 2.52400649e-01 -1.08576273e-02  9.67561897e-01  9.67510034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.68071405700005 meters
Centerline goodness : 0.998117 with order 1
Centerline is valid?  [True, True]
Translation: X:370.91, Y:30.90, Z:96.77
[[ 9.61516360e-01 -1.09418782e-01 -2.52019483e-01  3.70907297e+02]
 [ 1.08492655e-01  9.93941240e-01 -1.76112460e-02  3.09033973e+01]
 [ 2.52419559e-01 -1.04087616e-02  9.67561897e-01  9.67667711e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.74071405700005 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:370.97, Y:30.90, Z:96.78
[[ 9.61828414e-01 -1.06640901e-01 -2.52019483e-01  3.70966014e+02]
 [ 1.05621116e-01  9.94250484e-01 -1.76112460e-02  3.09044250e+01]
 [ 2.52448572e-01 -9.67958215e-03  9.67561897e-01  9.67817551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.80071405700005 meters
Centerline goodness : 0.998450 with order 1
Centerline is valid?  [True, True]
Translation: X:371.02, Y:30.91, Z:96.80
[[ 9.61772108e-01 -1.07147525e-01 -2.52019483e-01  3.71023719e+02]
 [ 1.06144818e-01  9.94194710e-01 -1.76112460e-02  3.09055415e+01]
 [ 2.52443438e-01 -9.81255700e-03  9.67561897e-01  9.67969881e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.86071405700005 meters
Centerline goodness : 0.998266 with order 1
Centerline is valid?  [True, True]
Translation: X:371.08, Y:30.91, Z:96.81
[[ 9.61413972e-01 -1.10316267e-01 -2.52018840e-01  3.71082084e+02]
 [ 1.09418003e-01  9.93839635e-01 -1.76204382e-02  3.09063453e+01]
 [ 2.52410133e-01 -1.06348627e-02  9.67561897e-01  9.68121632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.92071405700005 meters
Centerline goodness : 0.998049 with order 1
Centerline is valid?  [True, True]
Translation: X:371.14, Y:30.91, Z:96.82
[[ 9.61566059e-01 -1.08983412e-01 -2.52018510e-01  3.71139957e+02]
 [ 1.08038961e-01  9.93990411e-01 -1.76251665e-02  3.09085172e+01]
 [ 2.52424833e-01 -1.02800560e-02  9.67561897e-01  9.68214631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 381.98071405700006 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:371.20, Y:30.91, Z:96.84
[[ 9.60366626e-01 -1.19092849e-01 -2.52017535e-01  3.71196376e+02]
 [ 1.18485902e-01  9.92799050e-01 -1.76390931e-02  3.09092979e+01]
 [ 2.52303459e-01 -1.29205287e-02  9.67561897e-01  9.68422986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.04071405700006 meters
Centerline goodness : 0.998944 with order 1
Centerline is valid?  [True, True]
Translation: X:371.25, Y:30.91, Z:96.86
[[ 9.59748784e-01 -1.23974102e-01 -2.52017249e-01  3.71253772e+02]
 [ 1.23530989e-01  9.92183860e-01 -1.76431812e-02  3.09111537e+01]
 [ 2.52234744e-01 -1.41989183e-02  9.67561897e-01  9.68559990e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.10071405700006 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:371.31, Y:30.91, Z:96.87
[[ 9.58829818e-01 -1.30890967e-01 -2.52017728e-01  3.71311868e+02]
 [ 1.30683525e-01  9.91267258e-01 -1.76363378e-02  3.09131327e+01]
 [ 2.52125359e-01 -1.60243185e-02  9.67561897e-01  9.68746081e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.16071405700006 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:371.37, Y:30.92, Z:96.89
[[ 9.58284977e-01 -1.34821837e-01 -2.52017808e-01  3.71370571e+02]
 [ 1.34747714e-01  9.90722995e-01 -1.76351984e-02  3.09154753e+01]
 [ 2.52057447e-01 -1.70592779e-02  9.67561897e-01  9.68883890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.22071405700007 meters
Centerline goodness : 0.998587 with order 1
Centerline is valid?  [True, True]
Translation: X:371.43, Y:30.92, Z:96.90
[[ 9.57823423e-01 -1.38062135e-01 -2.52018127e-01  3.71428639e+02]
 [ 1.38098919e-01  9.90261506e-01 -1.76306316e-02  3.09191980e+01]
 [ 2.51997973e-01 -1.79163989e-02  9.67561897e-01  9.69039768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.28071405700007 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:371.49, Y:30.92, Z:96.92
[[ 9.57483017e-01 -1.40403372e-01 -2.52018186e-01  3.71486847e+02]
 [ 1.40519680e-01  9.89920911e-01 -1.76297879e-02  3.09237593e+01]
 [ 2.51953354e-01 -1.85332922e-02  9.67561897e-01  9.69156932e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.34071405700007 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:371.55, Y:30.93, Z:96.93
[[ 9.57583914e-01 -1.39712489e-01 -2.52018786e-01  3.71545773e+02]
 [ 1.39807639e-01  9.90021877e-01 -1.76212018e-02  3.09296619e+01]
 [ 2.51966014e-01 -1.83603722e-02  9.67561897e-01  9.69333675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.4007140570001 meters
Centerline goodness : 0.998393 with order 1
Centerline is valid?  [True, True]
Translation: X:371.60, Y:30.94, Z:96.95
[[ 9.57835215e-01 -1.37977323e-01 -2.52019761e-01  3.71603854e+02]
 [ 1.38017354e-01  9.90273293e-01 -1.76072560e-02  3.09363478e+01]
 [ 2.51997840e-01 -1.79182506e-02  9.67561897e-01  9.69487001e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.4607140570001 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:371.66, Y:30.94, Z:96.97
[[ 9.58185215e-01 -1.35522384e-01 -2.52021383e-01  3.71662649e+02]
 [ 1.35485379e-01  9.90623296e-01 -1.75840023e-02  3.09426735e+01]
 [ 2.52041279e-01 -1.72964815e-02  9.67561897e-01  9.69654419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.5207140570001 meters
Centerline goodness : 0.998270 with order 1
Centerline is valid?  [True, True]
Translation: X:371.72, Y:30.95, Z:96.98
[[ 9.58709265e-01 -1.31762858e-01 -2.52022011e-01  3.71721589e+02]
 [ 1.31600971e-01  9.91146964e-01 -1.75749970e-02  3.09487779e+01]
 [ 2.52106583e-01 -1.63170289e-02  9.67561897e-01  9.69804925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.580714057 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:371.78, Y:30.95, Z:97.00
[[ 9.59450128e-01 -1.26254515e-01 -2.52022319e-01  3.71779632e+02]
 [ 1.25907488e-01  9.91886374e-01 -1.75705774e-02  3.09547141e+01]
 [ 2.52195869e-01 -1.48734043e-02  9.67561897e-01  9.69953571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.640714057 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:371.84, Y:30.96, Z:97.01
[[ 9.60369040e-01 -1.19063302e-01 -2.52022295e-01  3.71837726e+02]
 [ 1.18473198e-01  9.92801775e-01 -1.75709312e-02  3.09615020e+01]
 [ 2.52300235e-01 -1.29833088e-02  9.67561897e-01  9.70106918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.700714057 meters
Centerline goodness : 0.998562 with order 1
Centerline is valid?  [True, True]
Translation: X:371.90, Y:30.97, Z:97.03
[[ 9.61168197e-01 -1.12429429e-01 -2.52022461e-01  3.71895664e+02]
 [ 1.11616027e-01  9.93596099e-01 -1.75685411e-02  3.09686502e+01]
 [ 2.52383756e-01 -1.12434229e-02  9.67561897e-01  9.70262362e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.76071405700003 meters
Centerline goodness : 0.997958 with order 1
Centerline is valid?  [True, True]
Translation: X:371.95, Y:30.97, Z:97.04
[[ 9.61645629e-01 -1.08269561e-01 -2.52022591e-01  3.71953824e+02]
 [ 1.07316341e-01  9.94069723e-01 -1.75666851e-02  3.09748730e+01]
 [ 2.52429964e-01 -1.01532164e-02  9.67561897e-01  9.70414968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.82071405700003 meters
Centerline goodness : 0.998443 with order 1
Centerline is valid?  [True, True]
Translation: X:372.01, Y:30.98, Z:97.06
[[ 9.61661733e-01 -1.08126432e-01 -2.52022591e-01  3.72012165e+02]
 [ 1.07168387e-01  9.94085685e-01 -1.75666851e-02  3.09813007e+01]
 [ 2.52431473e-01 -1.01156456e-02  9.67561897e-01  9.70582542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.88071405700003 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:372.07, Y:30.99, Z:97.07
[[ 9.61023241e-01 -1.13661529e-01 -2.52022591e-01  3.72069583e+02]
 [ 1.12890185e-01  9.93452172e-01 -1.75666851e-02  3.09854825e+01]
 [ 2.52369046e-01 -1.15688842e-02  9.67561897e-01  9.70730831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 382.94071405700004 meters
Centerline goodness : 0.998038 with order 1
Centerline is valid?  [True, True]
Translation: X:372.13, Y:30.99, Z:97.09
[[ 9.60518881e-01 -1.17848930e-01 -2.52022039e-01  3.72128206e+02]
 [ 1.17216861e-01  9.92950825e-01 -1.75745906e-02  3.09883215e+01]
 [ 2.52316639e-01 -1.26605062e-02  9.67561897e-01  9.70882168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.00071405700004 meters
Centerline goodness : 0.998330 with order 1
Centerline is valid?  [True, True]
Translation: X:372.19, Y:30.99, Z:97.10
[[ 9.59660895e-01 -1.24643085e-01 -2.52021958e-01  3.72187247e+02]
 [ 1.24240232e-01  9.92096496e-01 -1.75757547e-02  3.09901131e+01]
 [ 2.52220798e-01 -1.44445021e-02  9.67561897e-01  9.71029868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.06071405700004 meters
Centerline goodness : 0.998629 with order 1
Centerline is valid?  [True, True]
Translation: X:372.25, Y:30.99, Z:97.12
[[ 9.59044023e-01 -1.29303550e-01 -2.52022131e-01  3.72245676e+02]
 [ 1.29058920e-01  9.91481203e-01 -1.75732713e-02  3.09918819e+01]
 [ 2.52147492e-01 -1.56721632e-02  9.67561897e-01  9.71158976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.12071405700004 meters
Centerline goodness : 0.999282 with order 1
Centerline is valid?  [True, True]
Translation: X:372.30, Y:31.00, Z:97.13
[[ 9.58950450e-01 -1.29995690e-01 -2.52022131e-01  3.72304390e+02]
 [ 1.29774472e-01  9.91387798e-01 -1.75732713e-02  3.09965794e+01]
 [ 2.52136116e-01 -1.58541425e-02  9.67561897e-01  9.71316886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.18071405700005 meters
Centerline goodness : 0.998542 with order 1
Centerline is valid?  [True, True]
Translation: X:372.36, Y:31.00, Z:97.15
[[ 9.58979306e-01 -1.29782026e-01 -2.52022451e-01  3.72363435e+02]
 [ 1.29554782e-01  9.91416613e-01 -1.75686799e-02  3.10013633e+01]
 [ 2.52139344e-01 -1.58027134e-02  9.67561897e-01  9.71467857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.24071405700005 meters
Centerline goodness : 0.998610 with order 1
Centerline is valid?  [True, True]
Translation: X:372.42, Y:31.01, Z:97.16
[[ 9.58975989e-01 -1.29805307e-01 -2.52023084e-01  3.72421337e+02]
 [ 1.29581225e-01  9.91413318e-01 -1.75596055e-02  3.10065342e+01]
 [ 2.52138372e-01 -1.58182199e-02  9.67561898e-01  9.71613105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.30071405700005 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:372.48, Y:31.01, Z:97.18
[[ 9.58866204e-01 -1.30610815e-01 -2.52024638e-01  3.72481016e+02]
 [ 1.30419826e-01  9.91303744e-01 -1.75372768e-02  3.10127782e+01]
 [ 2.52123525e-01 -1.60531074e-02  9.67561898e-01  9.71786553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.36071405700005 meters
Centerline goodness : 0.998147 with order 1
Centerline is valid?  [True, True]
Translation: X:372.54, Y:31.02, Z:97.19
[[ 9.58669391e-01 -1.32045144e-01 -2.52025950e-01  3.72538690e+02]
 [ 1.31907625e-01  9.91107201e-01 -1.75183955e-02  3.10180964e+01]
 [ 2.52097953e-01 -1.64497951e-02  9.67561898e-01  9.71939138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.42071405700005 meters
Centerline goodness : 0.997731 with order 1
Centerline is valid?  [True, True]
Translation: X:372.60, Y:31.02, Z:97.21
[[ 9.58500032e-01 -1.33266884e-01 -2.52027035e-01  3.72596917e+02]
 [ 1.33174797e-01  9.90938003e-01 -1.75027727e-02  3.10234381e+01]
 [ 2.52075707e-01 -1.67872411e-02  9.67561898e-01  9.72101967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.48071405700006 meters
Centerline goodness : 0.997939 with order 1
Centerline is valid?  [True, True]
Translation: X:372.66, Y:31.03, Z:97.23
[[ 9.58432318e-01 -1.33751590e-01 -2.52027782e-01  3.72655099e+02]
 [ 1.33678728e-01  9.90870338e-01 -1.74920037e-02  3.10293991e+01]
 [ 2.52066437e-01 -1.69258516e-02  9.67561898e-01  9.72251764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.54071405700006 meters
Centerline goodness : 0.998001 with order 1
Centerline is valid?  [True, True]
Translation: X:372.71, Y:31.04, Z:97.24
[[ 9.58590322e-01 -1.32613837e-01 -2.52028104e-01  3.72713563e+02]
 [ 1.32503682e-01  9.91028237e-01 -1.74873751e-02  3.10360844e+01]
 [ 2.52086035e-01 -1.66314231e-02  9.67561898e-01  9.72409005e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.60071405700006 meters
Centerline goodness : 0.997395 with order 1
Centerline is valid?  [True, True]
Translation: X:372.77, Y:31.04, Z:97.26
[[ 9.58910313e-01 -1.30278088e-01 -2.52029030e-01  3.72772511e+02]
 [ 1.30092406e-01  9.91347883e-01 -1.74740088e-02  3.10433898e+01]
 [ 2.52124926e-01 -1.60310556e-02  9.67561898e-01  9.72572666e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.66071405700006 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:372.83, Y:31.05, Z:97.27
[[ 9.59196981e-01 -1.28149191e-01 -2.52029634e-01  3.72831342e+02]
 [ 1.27893786e-01  9.91634077e-01 -1.74652937e-02  3.10494167e+01]
 [ 2.52159337e-01 -1.54803670e-02  9.67561898e-01  9.72718691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.72071405700007 meters
Centerline goodness : 0.998526 with order 1
Centerline is valid?  [True, True]
Translation: X:372.89, Y:31.06, Z:97.29
[[ 9.59345804e-01 -1.27029686e-01 -2.52029932e-01  3.72891368e+02]
 [ 1.26737552e-01  9.91782590e-01 -1.74609928e-02  3.10568194e+01]
 [ 2.52176964e-01 -1.51905264e-02  9.67561898e-01  9.72881374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.78071405700007 meters
Centerline goodness : 0.997798 with order 1
Centerline is valid?  [True, True]
Translation: X:372.95, Y:31.06, Z:97.30
[[ 9.59536836e-01 -1.25576025e-01 -2.52031193e-01  3.72948765e+02]
 [ 1.25239514e-01  9.91973192e-01 -1.74427747e-02  3.10624184e+01]
 [ 2.52198582e-01 -1.48272794e-02  9.67561898e-01  9.73031372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.84071405700007 meters
Centerline goodness : 0.998383 with order 1
Centerline is valid?  [True, True]
Translation: X:373.01, Y:31.07, Z:97.32
[[ 9.59582312e-01 -1.25228368e-01 -2.52031033e-01  3.73007118e+02]
 [ 1.24879500e-01  9.92018538e-01 -1.74450862e-02  3.10668524e+01]
 [ 2.52204077e-01 -1.47335131e-02  9.67561898e-01  9.73170416e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.9007140570001 meters
Centerline goodness : 0.998101 with order 1
Centerline is valid?  [True, True]
Translation: X:373.06, Y:31.07, Z:97.33
[[ 9.59595571e-01 -1.25126118e-01 -2.52031336e-01  3.73063170e+02]
 [ 1.24774940e-01  9.92031772e-01 -1.74407069e-02  3.10723879e+01]
 [ 2.52205381e-01 -1.47111697e-02  9.67561898e-01  9.73309686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 383.9607140570001 meters
Centerline goodness : 0.997858 with order 1
Centerline is valid?  [True, True]
Translation: X:373.12, Y:31.08, Z:97.35
[[ 9.59466211e-01 -1.26116675e-01 -2.52030108e-01  3.73122328e+02]
 [ 1.25794340e-01  9.91902710e-01 -1.74584449e-02  3.10775968e+01]
 [ 2.52191148e-01 -1.49531730e-02  9.67561899e-01  9.73467648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.0207140570001 meters
Centerline goodness : 0.998149 with order 1
Centerline is valid?  [True, True]
Translation: X:373.18, Y:31.08, Z:97.36
[[ 9.59144336e-01 -1.28540516e-01 -2.52030709e-01  3.73180139e+02]
 [ 1.28302412e-01  9.91581564e-01 -1.74497546e-02  3.10816534e+01]
 [ 2.52152005e-01 -1.55993145e-02  9.67561899e-01  9.73622066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.080714057 meters
Centerline goodness : 0.998123 with order 1
Centerline is valid?  [True, True]
Translation: X:373.24, Y:31.09, Z:97.38
[[ 9.58865209e-01 -1.30606637e-01 -2.52030590e-01  3.73239084e+02]
 [ 1.30437965e-01  9.91302871e-01 -1.74514838e-02  3.10863726e+01]
 [ 2.52117927e-01 -1.61407366e-02  9.67561899e-01  9.73807277e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.140714057 meters
Centerline goodness : 0.997652 with order 1
Centerline is valid?  [True, True]
Translation: X:373.30, Y:31.09, Z:97.40
[[ 9.58988038e-01 -1.29699190e-01 -2.52031870e-01  3.73297823e+02]
 [ 1.29504668e-01  9.91425556e-01 -1.74329688e-02  3.10911325e+01]
 [ 2.52131879e-01 -1.59212951e-02  9.67561899e-01  9.73954721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.200714057 meters
Centerline goodness : 0.997998 with order 1
Centerline is valid?  [True, True]
Translation: X:373.36, Y:31.10, Z:97.41
[[ 9.59233910e-01 -1.27863715e-01 -2.52034077e-01  3.73356298e+02]
 [ 1.27615482e-01  9.91671061e-01 -1.74010138e-02  3.10966115e+01]
 [ 2.52159858e-01 -1.54718076e-02  9.67561899e-01  9.74113901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.26071405700003 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:373.42, Y:31.10, Z:97.43
[[ 9.59320775e-01 -1.27209723e-01 -2.52034398e-01  3.73416195e+02]
 [ 1.26940593e-01  9.91757759e-01 -1.73963630e-02  3.11017153e+01]
 [ 2.52170056e-01 -1.53047035e-02  9.67561899e-01  9.74261897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.32071405700003 meters
Centerline goodness : 0.998162 with order 1
Centerline is valid?  [True, True]
Translation: X:373.48, Y:31.11, Z:97.44
[[ 9.59254821e-01 -1.27703600e-01 -2.52035671e-01  3.73476276e+02]
 [ 1.27456005e-01  9.91691976e-01 -1.73778903e-02  3.11055430e+01]
 [ 2.52160972e-01 -1.54536349e-02  9.67561899e-01  9.74411952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.38071405700003 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:373.54, Y:31.11, Z:97.46
[[ 9.59367067e-01 -1.26855080e-01 -2.52036943e-01  3.73536494e+02]
 [ 1.26583625e-01  9.91804031e-01 -1.73594327e-02  3.11101356e+01]
 [ 2.52173388e-01 -1.52496818e-02  9.67561900e-01  9.74554717e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.44071405700004 meters
Centerline goodness : 0.998323 with order 1
Centerline is valid?  [True, True]
Translation: X:373.60, Y:31.12, Z:97.47
[[ 9.59466863e-01 -1.26096127e-01 -2.52037905e-01  3.73596320e+02]
 [ 1.25802671e-01  9.91903636e-01 -1.73454552e-02  3.11153603e+01]
 [ 2.52184509e-01 -1.50646523e-02  9.67561900e-01  9.74718897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.50071405700004 meters
Centerline goodness : 0.998092 with order 1
Centerline is valid?  [True, True]
Translation: X:373.66, Y:31.12, Z:97.49
[[ 9.59416186e-01 -1.26478575e-01 -2.52039187e-01  3.73655143e+02]
 [ 1.26202931e-01  9.91853115e-01 -1.73268033e-02  3.11190353e+01]
 [ 2.52177322e-01 -1.51844687e-02  9.67561900e-01  9.74890873e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.56071405700004 meters
Centerline goodness : 0.998230 with order 1
Centerline is valid?  [True, True]
Translation: X:373.71, Y:31.12, Z:97.50
[[ 9.59078098e-01 -1.29015990e-01 -2.52039829e-01  3.73714594e+02]
 [ 1.28828596e-01  9.91515657e-01 -1.73174566e-02  3.11223705e+01]
 [ 2.52135666e-01 -1.58611441e-02  9.67561900e-01  9.75045624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.62071405700004 meters
Centerline goodness : 0.997834 with order 1
Centerline is valid?  [True, True]
Translation: X:373.77, Y:31.12, Z:97.52
[[ 9.58417453e-01 -1.33834199e-01 -2.52040461e-01  3.73773239e+02]
 [ 1.33812230e-01  9.90855545e-01 -1.73082583e-02  3.11247004e+01]
 [ 2.52052125e-01 -1.71375592e-02  9.67561900e-01  9.75187621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.68071405700005 meters
Centerline goodness : 0.997986 with order 1
Centerline is valid?  [True, True]
Translation: X:373.83, Y:31.12, Z:97.53
[[ 9.57327844e-01 -1.41417618e-01 -2.52040586e-01  3.73832391e+02]
 [ 1.41652933e-01  9.89765090e-01 -1.73064359e-02  3.11247280e+01]
 [ 2.51908408e-01 -1.91343554e-02  9.67561900e-01  9.75315981e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.74071405700005 meters
Centerline goodness : 0.997667 with order 1
Centerline is valid?  [True, True]
Translation: X:373.89, Y:31.13, Z:97.55
[[ 9.56234688e-01 -1.48629391e-01 -2.52040723e-01  3.73891329e+02]
 [ 1.49109713e-01  9.88669232e-01 -1.73044464e-02  3.11251679e+01]
 [ 2.51756857e-01 -2.10346080e-02  9.67561900e-01  9.75468597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.80071405700005 meters
Centerline goodness : 0.997748 with order 1
Centerline is valid?  [True, True]
Translation: X:373.95, Y:31.13, Z:97.56
[[ 9.55586116e-01 -1.52743412e-01 -2.52040919e-01  3.73948522e+02]
 [ 1.53364068e-01  9.88018278e-01 -1.73015911e-02  3.11261421e+01]
 [ 2.51663738e-01 -2.21208604e-02  9.67561900e-01  9.75625425e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.86071405700005 meters
Centerline goodness : 0.998027 with order 1
Centerline is valid?  [True, True]
Translation: X:374.01, Y:31.13, Z:97.58
[[ 9.55331494e-01 -1.54327367e-01 -2.52041267e-01  3.74007568e+02]
 [ 1.55003115e-01  9.87762555e-01 -1.72965192e-02  3.11274296e+01]
 [ 2.51626252e-01 -2.25432719e-02  9.67561900e-01  9.75792071e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.92071405700005 meters
Centerline goodness : 0.998562 with order 1
Centerline is valid?  [True, True]
Translation: X:374.07, Y:31.13, Z:97.59
[[ 9.55322504e-01 -1.54381953e-01 -2.52041911e-01  3.74067819e+02]
 [ 1.55062014e-01  9.87753475e-01 -1.72871229e-02  3.11281901e+01]
 [ 2.51624093e-01 -2.25673488e-02  9.67561900e-01  9.75940198e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 384.98071405700006 meters
Centerline goodness : 0.998309 with order 1
Centerline is valid?  [True, True]
Translation: X:374.13, Y:31.13, Z:97.61
[[ 9.55586868e-01 -1.52734949e-01 -2.52043195e-01  3.74125998e+02]
 [ 1.53364008e-01  9.88018868e-01 -1.72683880e-02  3.11293448e+01]
 [ 2.51660918e-01 -2.21529097e-02  9.67561900e-01  9.76076174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.04071405700006 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:374.18, Y:31.13, Z:97.62
[[ 9.56238164e-01 -1.48602831e-01 -2.52043195e-01  3.74184600e+02]
 [ 1.49091691e-01  9.88672580e-01 -1.72683880e-02  3.11319032e+01]
 [ 2.51754327e-01 -2.10648545e-02  9.67561900e-01  9.76228999e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.10071405700006 meters
Centerline goodness : 0.998403 with order 1
Centerline is valid?  [True, True]
Translation: X:374.24, Y:31.14, Z:97.64
[[ 9.57017510e-01 -1.43498014e-01 -2.52043260e-01  3.74241780e+02]
 [ 1.43814037e-01  9.89454071e-01 -1.72674436e-02  3.11351722e+01]
 [ 2.51863073e-01 -1.97221127e-02  9.67561900e-01  9.76376690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.16071405700006 meters
Centerline goodness : 0.998215 with order 1
Centerline is valid?  [True, True]
Translation: X:374.30, Y:31.14, Z:97.65
[[ 9.57668692e-01 -1.39086410e-01 -2.52042947e-01  3.74300813e+02]
 [ 1.39251761e-01  9.90106370e-01 -1.72720090e-02  3.11378498e+01]
 [ 2.51951629e-01 -1.85565620e-02  9.67561900e-01  9.76524603e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.22071405700007 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:374.36, Y:31.14, Z:97.67
[[ 9.58381674e-01 -1.34085206e-01 -2.52043099e-01  3.74358758e+02]
 [ 1.34081806e-01  9.90819774e-01 -1.72697791e-02  3.11412965e+01]
 [ 2.52044909e-01 -1.72433541e-02  9.67561900e-01  9.76689517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.28071405700007 meters
Centerline goodness : 0.998013 with order 1
Centerline is valid?  [True, True]
Translation: X:374.42, Y:31.14, Z:97.69
[[ 9.59023295e-01 -1.29416322e-01 -2.52043122e-01  3.74416939e+02]
 [ 1.29255035e-01  9.91460994e-01 -1.72694473e-02  3.11442879e+01]
 [ 2.52125873e-01 -1.60160404e-02  9.67561900e-01  9.76871744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.34071405700007 meters
Centerline goodness : 0.997735 with order 1
Centerline is valid?  [True, True]
Translation: X:374.48, Y:31.15, Z:97.70
[[ 9.59507742e-01 -1.25773693e-01 -2.52043392e-01  3.74475836e+02]
 [ 1.25490263e-01  9.91944603e-01 -1.72655077e-02  3.11472234e+01]
 [ 2.52184629e-01 -1.50626032e-02  9.67561900e-01  9.77027905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.4007140570001 meters
Centerline goodness : 0.997585 with order 1
Centerline is valid?  [True, True]
Translation: X:374.53, Y:31.15, Z:97.72
[[ 9.59924410e-01 -1.22552444e-01 -2.52043699e-01  3.74534999e+02]
 [ 1.22161316e-01  9.92360151e-01 -1.72610237e-02  3.11488663e+01]
 [ 2.52233504e-01 -1.42207121e-02  9.67561900e-01  9.77150109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.4607140570001 meters
Centerline goodness : 0.997622 with order 1
Centerline is valid?  [True, True]
Translation: X:374.59, Y:31.15, Z:97.73
[[ 9.60238216e-01 -1.20066709e-01 -2.52044746e-01  3.74594024e+02]
 [ 1.19595607e-01  9.92672895e-01 -1.72457273e-02  3.11515000e+01]
 [ 2.52268625e-01 -1.35834380e-02  9.67561900e-01  9.77308223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.5207140570001 meters
Centerline goodness : 0.998016 with order 1
Centerline is valid?  [True, True]
Translation: X:374.65, Y:31.15, Z:97.75
[[ 9.60418100e-01 -1.18617863e-01 -2.52045386e-01  3.74652023e+02]
 [ 1.18100277e-01  9.92852070e-01 -1.72363665e-02  3.11547012e+01]
 [ 2.52288324e-01 -1.32125116e-02  9.67561900e-01  9.77464092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.580714057 meters
Centerline goodness : 0.997689 with order 1
Centerline is valid?  [True, True]
Translation: X:374.71, Y:31.16, Z:97.76
[[ 9.60653730e-01 -1.16694054e-01 -2.52045452e-01  3.74710651e+02]
 [ 1.16111761e-01  9.93086602e-01 -1.72354045e-02  3.11579216e+01]
 [ 2.52314231e-01 -1.27081856e-02  9.67561900e-01  9.77631253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.640714057 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:374.77, Y:31.16, Z:97.78
[[ 9.60780480e-01 -1.15645153e-01 -2.52045767e-01  3.74767773e+02]
 [ 1.15028657e-01  9.93212720e-01 -1.72307959e-02  3.11604436e+01]
 [ 2.52327720e-01 -1.24374737e-02  9.67561900e-01  9.77788216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.700714057 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:374.82, Y:31.16, Z:97.79
[[ 9.60720784e-01 -1.16140702e-01 -2.52045457e-01  3.74824928e+02]
 [ 1.15539746e-01  9.93153317e-01 -1.72353336e-02  3.11617252e+01]
 [ 2.52321505e-01 -1.25629249e-02  9.67561900e-01  9.77938735e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.76071405700003 meters
Centerline goodness : 0.998205 with order 1
Centerline is valid?  [True, True]
Translation: X:374.88, Y:31.16, Z:97.81
[[ 9.60459879e-01 -1.18287433e-01 -2.52041472e-01  3.74883137e+02]
 [ 1.17743758e-01  9.92893421e-01 -1.72934181e-02  3.11638986e+01]
 [ 2.52295913e-01 -1.30666757e-02  9.67561902e-01  9.78087698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.82071405700003 meters
Centerline goodness : 0.998414 with order 1
Centerline is valid?  [True, True]
Translation: X:374.94, Y:31.17, Z:97.83
[[ 9.60124329e-01 -1.20981024e-01 -2.52041396e-01  3.74942979e+02]
 [ 1.20528036e-01  9.92559264e-01 -1.72945254e-02  3.11651708e+01]
 [ 2.52258331e-01 -1.37731598e-02  9.67561902e-01  9.78266117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.88071405700003 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:375.00, Y:31.16, Z:97.84
[[ 9.59706747e-01 -1.24247465e-01 -2.52042708e-01  3.75001645e+02]
 [ 1.23909862e-01  9.92143088e-01 -1.72753757e-02  3.11638643e+01]
 [ 2.52208852e-01 -1.46512826e-02  9.67561902e-01  9.78415212e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 385.94071405700004 meters
Centerline goodness : 0.997988 with order 1
Centerline is valid?  [True, True]
Translation: X:375.06, Y:31.17, Z:97.86
[[ 9.59602757e-01 -1.25047427e-01 -2.52043030e-01  3.75061115e+02]
 [ 1.24738092e-01  9.92039380e-01 -1.72706827e-02  3.11661264e+01]
 [ 2.52196265e-01 -1.48663718e-02  9.67561902e-01  9.78568611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.00071405700004 meters
Centerline goodness : 0.998203 with order 1
Centerline is valid?  [True, True]
Translation: X:375.12, Y:31.17, Z:97.87
[[ 9.59535225e-01 -1.25563305e-01 -2.52043663e-01  3.75120841e+02]
 [ 1.25273828e-01  9.91972031e-01 -1.72614383e-02  3.11677488e+01]
 [ 2.52187667e-01 -1.50115164e-02  9.67561902e-01  9.78711992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.06071405700004 meters
Centerline goodness : 0.997966 with order 1
Centerline is valid?  [True, True]
Translation: X:375.18, Y:31.17, Z:97.89
[[ 9.59381219e-01 -1.26733398e-01 -2.52044287e-01  3.75179929e+02]
 [ 1.26485866e-01  9.91818372e-01 -1.72523174e-02  3.11694292e+01]
 [ 2.52168599e-01 -1.53284907e-02  9.67561902e-01  9.78862130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.12071405700004 meters
Centerline goodness : 0.997851 with order 1
Centerline is valid?  [True, True]
Translation: X:375.24, Y:31.17, Z:97.90
[[ 9.59253116e-01 -1.27698781e-01 -2.52044602e-01  3.75238157e+02]
 [ 1.27485095e-01  9.91690510e-01 -1.72477194e-02  3.11728332e+01]
 [ 2.52152752e-01 -1.55870014e-02  9.67561902e-01  9.79034156e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.18071405700005 meters
Centerline goodness : 0.998836 with order 1
Centerline is valid?  [True, True]
Translation: X:375.30, Y:31.18, Z:97.92
[[ 9.58734783e-01 -1.31533158e-01 -2.52044925e-01  3.75295444e+02]
 [ 1.31450406e-01  9.91172775e-01 -1.72429918e-02  3.11750203e+01]
 [ 2.52088093e-01 -1.65999517e-02  9.67561902e-01  9.79179536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.24071405700005 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:375.35, Y:31.18, Z:97.93
[[ 9.58305237e-01 -1.34628101e-01 -2.52044334e-01  3.75354673e+02]
 [ 1.34647827e-01  9.90743329e-01 -1.72516283e-02  3.11772120e+01]
 [ 2.52033797e-01 -1.74048961e-02  9.67561902e-01  9.79312514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.30071405700005 meters
Centerline goodness : 0.998979 with order 1
Centerline is valid?  [True, True]
Translation: X:375.41, Y:31.18, Z:97.95
[[ 9.57827282e-01 -1.37986935e-01 -2.52044648e-01  3.75412520e+02]
 [ 1.38121582e-01  9.90265100e-01 -1.72470464e-02  3.11801108e+01]
 [ 2.51970885e-01 -1.82931140e-02  9.67561902e-01  9.79474204e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.36071405700005 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:375.47, Y:31.18, Z:97.96
[[ 9.57548540e-01 -1.39908106e-01 -2.52044671e-01  3.75471185e+02]
 [ 1.40107914e-01  9.89986022e-01 -1.72467078e-02  3.11839574e+01]
 [ 2.51933655e-01 -1.87988932e-02  9.67561902e-01  9.79627235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.42071405700005 meters
Centerline goodness : 0.999385 with order 1
Centerline is valid?  [True, True]
Translation: X:375.53, Y:31.19, Z:97.98
[[ 9.57467569e-01 -1.40461135e-01 -2.52044686e-01  3.75530492e+02]
 [ 1.40679735e-01  9.89904930e-01 -1.72464887e-02  3.11878358e+01]
 [ 2.51922739e-01 -1.89446260e-02  9.67561902e-01  9.79785985e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.48071405700006 meters
Centerline goodness : 0.999271 with order 1
Centerline is valid?  [True, True]
Translation: X:375.59, Y:31.19, Z:97.99
[[ 9.57380332e-01 -1.41053409e-01 -2.52045304e-01  3.75588279e+02]
 [ 1.41294441e-01  9.89817534e-01 -1.72374505e-02  3.11931295e+01]
 [ 2.51910262e-01 -1.91098044e-02  9.67561902e-01  9.79926117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.54071405700006 meters
Centerline goodness : 0.999042 with order 1
Centerline is valid?  [True, True]
Translation: X:375.65, Y:31.20, Z:98.01
[[ 9.57523459e-01 -1.40079150e-01 -2.52044951e-01  3.75646679e+02]
 [ 1.40285824e-01  9.89960898e-01 -1.72426151e-02  3.11975343e+01]
 [ 2.51929977e-01 -1.88481251e-02  9.67561902e-01  9.80087376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.60071405700006 meters
Centerline goodness : 0.998971 with order 1
Centerline is valid?  [True, True]
Translation: X:375.71, Y:31.20, Z:98.02
[[ 9.57628370e-01 -1.39359567e-01 -2.52045267e-01  3.75705647e+02]
 [ 1.39543074e-01  9.90065948e-01 -1.72379956e-02  3.12043000e+01]
 [ 2.51943716e-01 -1.86635776e-02  9.67561902e-01  9.80246552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.66071405700006 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:375.76, Y:31.21, Z:98.04
[[ 9.57617247e-01 -1.39434828e-01 -2.52045904e-01  3.75763041e+02]
 [ 1.39623324e-01  9.90054797e-01 -1.72286743e-02  3.12103473e+01]
 [ 2.51941533e-01 -1.86930113e-02  9.67561903e-01  9.80410462e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.72071405700007 meters
Centerline goodness : 0.998581 with order 1
Centerline is valid?  [True, True]
Translation: X:375.82, Y:31.22, Z:98.06
[[ 9.57478246e-01 -1.40385548e-01 -2.52046240e-01  3.75822374e+02]
 [ 1.40607540e-01  9.89915583e-01 -1.72237488e-02  3.12163167e+01]
 [ 2.51922467e-01 -1.89482369e-02  9.67561903e-01  9.80594212e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.78071405700007 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:375.88, Y:31.22, Z:98.07
[[ 9.57054629e-01 -1.43242768e-01 -2.52047507e-01  3.75882160e+02]
 [ 1.43566434e-01  9.89491112e-01 -1.72051921e-02  3.12221811e+01]
 [ 2.51863287e-01 -1.97192530e-02  9.67561903e-01  9.80737760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.84071405700007 meters
Centerline goodness : 0.998348 with order 1
Centerline is valid?  [True, True]
Translation: X:375.94, Y:31.23, Z:98.09
[[ 9.56579471e-01 -1.46380636e-01 -2.52048459e-01  3.75940954e+02]
 [ 1.46814326e-01  9.89014669e-01 -1.71912415e-02  3.12273984e+01]
 [ 2.51796088e-01 -2.05595358e-02  9.67561903e-01  9.80878945e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.9007140570001 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:376.00, Y:31.23, Z:98.10
[[ 9.56173719e-01 -1.49007937e-01 -2.52048513e-01  3.75998799e+02]
 [ 1.49530939e-01  9.88607600e-01 -1.71904410e-02  3.12329223e+01]
 [ 2.51738588e-01 -2.12520029e-02  9.67561903e-01  9.81020094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 386.9607140570001 meters
Centerline goodness : 0.998923 with order 1
Centerline is valid?  [True, True]
Translation: X:376.06, Y:31.24, Z:98.12
[[ 9.55927040e-01 -1.50579887e-01 -2.52049980e-01  3.76058281e+02]
 [ 1.51161852e-01  9.88359916e-01 -1.71689097e-02  3.12399775e+01]
 [ 2.51701389e-01 -2.16881167e-02  9.67561903e-01  9.81185959e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.0207140570001 meters
Centerline goodness : 0.998529 with order 1
Centerline is valid?  [True, True]
Translation: X:376.12, Y:31.25, Z:98.13
[[ 9.55909614e-01 -1.50688391e-01 -2.52051224e-01  3.76118492e+02]
 [ 1.51278820e-01  9.88342337e-01 -1.71506338e-02  3.12467962e+01]
 [ 2.51697297e-01 -2.17355560e-02  9.67561903e-01  9.81347132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.080714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:376.18, Y:31.25, Z:98.15
[[ 9.55818277e-01 -1.51264616e-01 -2.52052448e-01  3.76175287e+02]
 [ 1.51879312e-01  9.88250549e-01 -1.71326160e-02  3.12532873e+01]
 [ 2.51682529e-01 -2.19058849e-02  9.67561903e-01  9.81503335e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.140714057 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:376.23, Y:31.26, Z:98.17
[[ 9.55786330e-01 -1.51466767e-01 -2.52052198e-01  3.76233874e+02]
 [ 1.52087357e-01  9.88218489e-01 -1.71363012e-02  3.12587326e+01]
 [ 2.51678222e-01 -2.19553102e-02  9.67561903e-01  9.81672229e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.200714057 meters
Centerline goodness : 0.998618 with order 1
Centerline is valid?  [True, True]
Translation: X:376.29, Y:31.27, Z:98.18
[[ 9.55589963e-01 -1.52699659e-01 -2.52052847e-01  3.76293054e+02]
 [ 1.53364587e-01  9.88021244e-01 -1.71267527e-02  3.12650104e+01]
 [ 2.51648816e-01 -2.22898279e-02  9.67561903e-01  9.81814523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.26071405700003 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:376.35, Y:31.27, Z:98.20
[[ 9.55505596e-01 -1.53225118e-01 -2.52053803e-01  3.76352485e+02]
 [ 1.53911566e-01  9.87936428e-01 -1.71126672e-02  3.12700109e+01]
 [ 2.51635224e-01 -2.24427463e-02  9.67561903e-01  9.81967679e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.32071405700003 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:376.41, Y:31.27, Z:98.21
[[ 9.55479217e-01 -1.53388487e-01 -2.52054434e-01  3.76411844e+02]
 [ 1.54082912e-01  9.87909880e-01 -1.71033728e-02  3.12747448e+01]
 [ 2.51630526e-01 -2.24953639e-02  9.67561904e-01  9.82114110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.38071405700003 meters
Centerline goodness : 0.998659 with order 1
Centerline is valid?  [True, True]
Translation: X:376.47, Y:31.28, Z:98.23
[[ 9.55673847e-01 -1.52169608e-01 -2.52055369e-01  3.76470829e+02]
 [ 1.52826275e-01  9.88105296e-01 -1.70895837e-02  3.12800705e+01]
 [ 2.51657760e-01 -2.21886149e-02  9.67561904e-01  9.82261669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.44071405700004 meters
Centerline goodness : 0.997995 with order 1
Centerline is valid?  [True, True]
Translation: X:376.53, Y:31.29, Z:98.24
[[ 9.55796190e-01 -1.51398205e-01 -2.52055998e-01  3.76528718e+02]
 [ 1.52031127e-01  9.88228111e-01 -1.70802961e-02  3.12856313e+01]
 [ 2.51674749e-01 -2.19950753e-02  9.67561904e-01  9.82405653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.50071405700004 meters
Centerline goodness : 0.998016 with order 1
Centerline is valid?  [True, True]
Translation: X:376.59, Y:31.29, Z:98.26
[[ 9.56020601e-01 -1.49974615e-01 -2.52055998e-01  3.76587426e+02]
 [ 1.50559236e-01  9.88453428e-01 -1.70802962e-02  3.12916106e+01]
 [ 2.51707226e-01 -2.16202435e-02  9.67561904e-01  9.82573512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.56071405700004 meters
Centerline goodness : 0.997640 with order 1
Centerline is valid?  [True, True]
Translation: X:376.65, Y:31.30, Z:98.27
[[ 9.55951130e-01 -1.50415754e-01 -2.52056618e-01  3.76647369e+02]
 [ 1.51017735e-01  9.88383640e-01 -1.70711484e-02  3.12968225e+01]
 [ 2.51696407e-01 -2.17458360e-02  9.67561904e-01  9.82728379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.62071405700004 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:376.71, Y:31.30, Z:98.29
[[ 9.55917656e-01 -1.50626256e-01 -2.52057861e-01  3.76706069e+02]
 [ 1.51240188e-01  9.88349942e-01 -1.70527735e-02  3.13012244e+01]
 [ 2.51689968e-01 -2.18202310e-02  9.67561904e-01  9.82872894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.68071405700005 meters
Centerline goodness : 0.997775 with order 1
Centerline is valid?  [True, True]
Translation: X:376.77, Y:31.31, Z:98.30
[[ 9.55825990e-01 -1.51206341e-01 -2.52058167e-01  3.76766396e+02]
 [ 1.51841140e-01  9.88257874e-01 -1.70482443e-02  3.13066381e+01]
 [ 2.51676271e-01 -2.19776445e-02  9.67561904e-01  9.83035713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.74071405700005 meters
Centerline goodness : 0.998122 with order 1
Centerline is valid?  [True, True]
Translation: X:376.83, Y:31.31, Z:98.32
[[ 9.55761843e-01 -1.51608661e-01 -2.52059743e-01  3.76826153e+02]
 [ 1.52263218e-01  9.88193334e-01 -1.70249085e-02  3.13112875e+01]
 [ 2.51664882e-01 -2.21076698e-02  9.67561904e-01  9.83199001e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.80071405700005 meters
Centerline goodness : 0.998583 with order 1
Centerline is valid?  [True, True]
Translation: X:376.89, Y:31.32, Z:98.34
[[ 9.55547933e-01 -1.52949027e-01 -2.52060989e-01  3.76885665e+02]
 [ 1.53653904e-01  9.87978370e-01 -1.70064406e-02  3.13163776e+01]
 [ 2.51631924e-01 -2.24796859e-02  9.67561904e-01  9.83368353e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.86071405700005 meters
Centerline goodness : 0.998469 with order 1
Centerline is valid?  [True, True]
Translation: X:376.94, Y:31.32, Z:98.35
[[ 9.55034865e-01 -1.56118622e-01 -2.52062261e-01  3.76944257e+02]
 [ 1.56936033e-01  9.87462659e-01 -1.69875747e-02  3.13199515e+01]
 [ 2.51554147e-01 -2.33339253e-02  9.67561904e-01  9.83514684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.92071405700005 meters
Centerline goodness : 0.997824 with order 1
Centerline is valid?  [True, True]
Translation: X:377.00, Y:31.32, Z:98.36
[[ 9.55185280e-01 -1.55194658e-01 -2.52062888e-01  3.77003836e+02]
 [ 1.55983135e-01  9.87613791e-01 -1.69782632e-02  3.13216416e+01]
 [ 2.51575720e-01 -2.31001725e-02  9.67561905e-01  9.83596891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 387.98071405700006 meters
Centerline goodness : 0.998331 with order 1
Centerline is valid?  [True, True]
Translation: X:377.06, Y:31.32, Z:98.38
[[ 9.53661400e-01 -1.64299221e-01 -2.52062888e-01  3.77060932e+02]
 [ 1.65397001e-01  9.86080915e-01 -1.69782632e-02  3.13223736e+01]
 [ 2.51343919e-01 -2.54989315e-02  9.67561905e-01  9.83805903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.04071405700006 meters
Centerline goodness : 0.999283 with order 1
Centerline is valid?  [True, True]
Translation: X:377.12, Y:31.32, Z:98.40
[[ 9.53072782e-01 -1.67679905e-01 -2.52062931e-01  3.77119969e+02]
 [ 1.68892807e-01  9.85488194e-01 -1.69776242e-02  3.13211971e+01]
 [ 2.51251849e-01 -2.63907044e-02  9.67561905e-01  9.83956446e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.10071405700006 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:377.18, Y:31.32, Z:98.41
[[ 9.53110749e-01 -1.67463871e-01 -2.52062991e-01  3.77180165e+02]
 [ 1.68669659e-01  9.85526426e-01 -1.69767299e-02  3.13212833e+01]
 [ 2.51257728e-01 -2.63346751e-02  9.67561905e-01  9.84107791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.16071405700006 meters
Centerline goodness : 0.998982 with order 1
Centerline is valid?  [True, True]
Translation: X:377.24, Y:31.32, Z:98.43
[[ 9.53733096e-01 -1.63880465e-01 -2.52064226e-01  3.77238238e+02]
 [ 1.64969213e-01  9.86152915e-01 -1.69583793e-02  3.13227264e+01]
 [ 2.51353018e-01 -2.54090692e-02  9.67561905e-01  9.84269428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.22071405700007 meters
Centerline goodness : 0.999008 with order 1
Centerline is valid?  [True, True]
Translation: X:377.30, Y:31.32, Z:98.44
[[ 9.54573009e-01 -1.58915107e-01 -2.52064197e-01  3.77296364e+02]
 [ 1.59835018e-01  9.86998058e-01 -1.69588042e-02  3.13241320e+01]
 [ 2.51481883e-01 -2.41002688e-02  9.67561905e-01  9.84416994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.28071405700007 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:377.35, Y:31.33, Z:98.46
[[ 9.55355460e-01 -1.54141498e-01 -2.52064167e-01  3.77354883e+02]
 [ 1.54899195e-01  9.87784705e-01 -1.69592592e-02  3.13269545e+01]
 [ 2.51599254e-01 -2.28424158e-02  9.67561905e-01  9.84583146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.34071405700007 meters
Centerline goodness : 0.999049 with order 1
Centerline is valid?  [True, True]
Translation: X:377.41, Y:31.33, Z:98.47
[[ 9.56171872e-01 -1.48992934e-01 -2.52064390e-01  3.77414026e+02]
 [ 1.49576799e-01  9.88604712e-01 -1.69559402e-02  3.13290611e+01]
 [ 2.51718359e-01 -2.14901917e-02  9.67561905e-01  9.84722744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.4007140570001 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:377.47, Y:31.33, Z:98.49
[[ 9.56772705e-01 -1.45084114e-01 -2.52064657e-01  3.77472533e+02]
 [ 1.45536468e-01  9.89207646e-01 -1.69519764e-02  3.13332809e+01]
 [ 2.51803748e-01 -2.04654116e-02  9.67561905e-01  9.84880810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.4607140570001 meters
Centerline goodness : 0.998525 with order 1
Centerline is valid?  [True, True]
Translation: X:377.53, Y:31.34, Z:98.50
[[ 9.57244674e-01 -1.41936126e-01 -2.52065014e-01  3.77530559e+02]
 [ 1.42283177e-01  9.89680912e-01 -1.69466625e-02  3.13372453e+01]
 [ 2.51869277e-01 -1.96425087e-02  9.67561905e-01  9.85038974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.5207140570001 meters
Centerline goodness : 0.998167 with order 1
Centerline is valid?  [True, True]
Translation: X:377.59, Y:31.34, Z:98.52
[[ 9.57778446e-01 -1.38288387e-01 -2.52065011e-01  3.77589070e+02]
 [ 1.38511855e-01  9.90215772e-01 -1.69467081e-02  3.13413364e+01]
 [ 2.51942282e-01 -1.86828005e-02  9.67561905e-01  9.85203298e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.580714057 meters
Centerline goodness : 0.998797 with order 1
Centerline is valid?  [True, True]
Translation: X:377.65, Y:31.35, Z:98.54
[[ 9.58196651e-01 -1.35359773e-01 -2.52065289e-01  3.77648275e+02]
 [ 1.35485160e-01  9.90634504e-01 -1.69425761e-02  3.13475662e+01]
 [ 2.51997915e-01 -1.79167862e-02  9.67561905e-01  9.85388611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.640714057 meters
Centerline goodness : 0.997806 with order 1
Centerline is valid?  [True, True]
Translation: X:377.71, Y:31.35, Z:98.56
[[ 9.58543830e-01 -1.32876644e-01 -2.52066508e-01  3.77706174e+02]
 [ 1.32922736e-01  9.90981892e-01 -1.69244188e-02  3.13512236e+01]
 [ 2.52042205e-01 -1.72825728e-02  9.67561905e-01  9.85556147e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.700714057 meters
Centerline goodness : 0.998589 with order 1
Centerline is valid?  [True, True]
Translation: X:377.77, Y:31.35, Z:98.57
[[ 9.58921819e-01 -1.30120763e-01 -2.52066522e-01  3.77766432e+02]
 [ 1.30073667e-01  9.91359880e-01 -1.69242123e-02  3.13535364e+01]
 [ 2.52090828e-01 -1.65582203e-02  9.67561905e-01  9.85701228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.76071405700003 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:377.82, Y:31.36, Z:98.59
[[ 9.59447830e-01 -1.26181237e-01 -2.52067763e-01  3.77823603e+02]
 [ 1.26005757e-01  9.91885450e-01 -1.69057040e-02  3.13571677e+01]
 [ 2.52155529e-01 -1.55418483e-02  9.67561905e-01  9.85856047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.82071405700003 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:377.88, Y:31.36, Z:98.60
[[ 9.59870579e-01 -1.22924505e-01 -2.52067527e-01  3.77881899e+02]
 [ 1.22638026e-01  9.92307409e-01 -1.69092153e-02  3.13600127e+01]
 [ 2.52207032e-01 -1.46824057e-02  9.67561905e-01  9.86016884e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.88071405700003 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:377.94, Y:31.36, Z:98.62
[[ 9.60041277e-01 -1.21584159e-01 -2.52067527e-01  3.77939325e+02]
 [ 1.21252390e-01  9.92477675e-01 -1.69092154e-02  3.13621375e+01]
 [ 2.52227286e-01 -1.43302455e-02  9.67561905e-01  9.86166540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 388.94071405700004 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:378.00, Y:31.36, Z:98.63
[[ 9.60017522e-01 -1.21769424e-01 -2.52068570e-01  3.77998287e+02]
 [ 1.21447987e-01  9.92454025e-01 -1.68936531e-02  3.13634031e+01]
 [ 2.52223598e-01 -1.43950176e-02  9.67561905e-01  9.86332314e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.00071405700004 meters
Centerline goodness : 0.998875 with order 1
Centerline is valid?  [True, True]
Translation: X:378.06, Y:31.37, Z:98.65
[[ 9.59828633e-01 -1.23248180e-01 -2.52069199e-01  3.78056013e+02]
 [ 1.22979168e-01  9.92265613e-01 -1.68842656e-02  3.13659149e+01]
 [ 2.52200553e-01 -1.47932589e-02  9.67561905e-01  9.86468112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.06071405700004 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:378.11, Y:31.37, Z:98.66
[[ 9.59424385e-01 -1.26356030e-01 -2.52069441e-01  3.78113425e+02]
 [ 1.26193015e-01  9.91862070e-01 -1.68806561e-02  3.13688293e+01]
 [ 2.52151090e-01 -1.56136896e-02  9.67561905e-01  9.86600242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.12071405700004 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:378.17, Y:31.37, Z:98.68
[[ 9.58835894e-01 -1.30748462e-01 -2.52068579e-01  3.78171561e+02]
 [ 1.30730632e-01  9.91273984e-01 -1.68935223e-02  3.13715318e+01]
 [ 2.52077826e-01 -1.67549691e-02  9.67561905e-01  9.86768091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.18071405700005 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:378.23, Y:31.37, Z:98.69
[[ 9.58293391e-01 -1.34666925e-01 -2.52068634e-01  3.78230469e+02]
 [ 1.34781911e-01  9.90731282e-01 -1.68927021e-02  3.13749714e+01]
 [ 2.52007169e-01 -1.77861275e-02  9.67561905e-01  9.86922056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.24071405700005 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:378.29, Y:31.38, Z:98.71
[[ 9.58015590e-01 -1.36628044e-01 -2.52069251e-01  3.78289864e+02]
 [ 1.36811835e-01  9.90453164e-01 -1.68834863e-02  3.13780301e+01]
 [ 2.51969545e-01 -1.83114138e-02  9.67561905e-01  9.87064234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.30071405700005 meters
Centerline goodness : 0.999103 with order 1
Centerline is valid?  [True, True]
Translation: X:378.35, Y:31.38, Z:98.72
[[ 9.57993167e-01 -1.36784025e-01 -2.52069876e-01  3.78348180e+02]
 [ 1.36975542e-01  9.90430696e-01 -1.68741474e-02  3.13813048e+01]
 [ 2.51965857e-01 -1.83620900e-02  9.67561905e-01  9.87213749e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.36071405700005 meters
Centerline goodness : 0.999151 with order 1
Centerline is valid?  [True, True]
Translation: X:378.41, Y:31.39, Z:98.74
[[ 9.58126941e-01 -1.35843640e-01 -2.52069973e-01  3.78408198e+02]
 [ 1.36003697e-01  9.90564640e-01 -1.68726976e-02  3.13865883e+01]
 [ 2.51983651e-01 -1.81162621e-02  9.67561905e-01  9.87363973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.42071405700005 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:378.47, Y:31.39, Z:98.75
[[ 9.58298114e-01 -1.34629050e-01 -2.52070909e-01  3.78467953e+02]
 [ 1.34751651e-01  9.90735977e-01 -1.68587108e-02  3.13924775e+01]
 [ 2.52005390e-01 -1.78113004e-02  9.67561905e-01  9.87503338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.48071405700006 meters
Centerline goodness : 0.999103 with order 1
Centerline is valid?  [True, True]
Translation: X:378.53, Y:31.40, Z:98.76
[[ 9.58529302e-01 -1.32971890e-01 -2.52071523e-01  3.78526296e+02]
 [ 1.33040810e-01  9.90967324e-01 -1.68495152e-02  3.13981246e+01]
 [ 2.52035155e-01 -1.73850457e-02  9.67561906e-01  9.87646579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.54071405700006 meters
Centerline goodness : 0.998643 with order 1
Centerline is valid?  [True, True]
Translation: X:378.58, Y:31.40, Z:98.78
[[ 9.58757964e-01 -1.31313036e-01 -2.52071523e-01  3.78584876e+02]
 [ 1.31325825e-01  9.91196056e-01 -1.68495152e-02  3.14034449e+01]
 [ 2.52064861e-01 -1.69488938e-02  9.67561906e-01  9.87812829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.60071405700006 meters
Centerline goodness : 0.999173 with order 1
Centerline is valid?  [True, True]
Translation: X:378.64, Y:31.41, Z:98.80
[[ 9.59246218e-01 -1.27696256e-01 -2.52072132e-01  3.78643185e+02]
 [ 1.27589094e-01  9.91684135e-01 -1.68403980e-02  3.14107690e+01]
 [ 2.52126390e-01 -1.60075670e-02  9.67561906e-01  9.87970444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.66071405700006 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:378.70, Y:31.42, Z:98.81
[[ 9.59656466e-01 -1.24575724e-01 -2.52072126e-01  3.78702018e+02]
 [ 1.24363036e-01  9.92093863e-01 -1.68404963e-02  3.14163998e+01]
 [ 2.52177126e-01 -1.51873638e-02  9.67561906e-01  9.88133664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.72071405700007 meters
Centerline goodness : 0.998483 with order 1
Centerline is valid?  [True, True]
Translation: X:378.76, Y:31.43, Z:98.83
[[ 9.60624142e-01 -1.16878545e-01 -2.52072733e-01  3.78759356e+02]
 [ 1.16408205e-01  9.93058827e-01 -1.68314058e-02  3.14253449e+01]
 [ 2.52290283e-01 -1.31746796e-02  9.67561906e-01  9.88290720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.78071405700007 meters
Centerline goodness : 0.998249 with order 1
Centerline is valid?  [True, True]
Translation: X:378.82, Y:31.43, Z:98.84
[[ 9.61170494e-01 -1.12297624e-01 -2.52072460e-01  3.78816274e+02]
 [ 1.11671596e-01  9.93602547e-01 -1.68354862e-02  3.14320657e+01]
 [ 2.52350424e-01 -1.19675614e-02  9.67561906e-01  9.88433859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.84071405700007 meters
Centerline goodness : 0.998171 with order 1
Centerline is valid?  [True, True]
Translation: X:378.87, Y:31.44, Z:98.86
[[ 9.61855761e-01 -1.06271121e-01 -2.52071307e-01  3.78874966e+02]
 [ 1.05437317e-01  9.94283137e-01 -1.68527424e-02  3.14389608e+01]
 [ 2.52421209e-01 -1.03678149e-02  9.67561906e-01  9.88575341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.9007140570001 meters
Centerline goodness : 0.998142 with order 1
Centerline is valid?  [True, True]
Translation: X:378.93, Y:31.44, Z:98.87
[[ 9.62423885e-01 -1.00996645e-01 -2.52071307e-01  3.78932843e+02]
 [ 9.99850873e-02  9.94846203e-01 -1.68527417e-02  3.14443952e+01]
 [ 2.52474253e-01 -8.98389051e-03  9.67561906e-01  9.88747910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 389.9607140570001 meters
Centerline goodness : 0.998179 with order 1
Centerline is valid?  [True, True]
Translation: X:378.99, Y:31.45, Z:98.89
[[ 9.62787803e-01 -9.74663635e-02 -2.52071327e-01  3.78988999e+02]
 [ 9.63359865e-02  9.95206196e-01 -1.68524367e-02  3.14489141e+01]
 [ 2.52505492e-01 -8.05821950e-03  9.67561906e-01  9.88902732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.0207140570001 meters
Centerline goodness : 0.998155 with order 1
Centerline is valid?  [True, True]
Translation: X:379.05, Y:31.45, Z:98.90
[[ 9.62856230e-01 -9.67904588e-02 -2.52070400e-01  3.79045729e+02]
 [ 9.56337008e-02  9.95273693e-01 -1.68662907e-02  3.14514554e+01]
 [ 2.52511534e-01 -7.86661213e-03  9.67561906e-01  9.89044946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.080714057 meters
Centerline goodness : 0.998237 with order 1
Centerline is valid?  [True, True]
Translation: X:379.10, Y:31.45, Z:98.92
[[ 9.62585683e-01 -9.94560806e-02 -2.52066043e-01  3.79102246e+02]
 [ 9.83721169e-02  9.95005659e-01 -1.69311647e-02  3.14522224e+01]
 [ 2.52491047e-01 -8.49857353e-03  9.67561908e-01  9.89171878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.140714057 meters
Centerline goodness : 0.997756 with order 1
Centerline is valid?  [True, True]
Translation: X:379.16, Y:31.45, Z:98.93
[[ 9.61911009e-01 -1.05786076e-01 -2.52064511e-01  3.79161264e+02]
 [ 1.04909443e-01  9.94337253e-01 -1.69539465e-02  3.14506492e+01]
 [ 2.52430625e-01 -1.01357597e-02  9.67561908e-01  9.89317975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.200714057 meters
Centerline goodness : 0.998110 with order 1
Centerline is valid?  [True, True]
Translation: X:379.22, Y:31.45, Z:98.95
[[ 9.61569733e-01 -1.08844527e-01 -2.52064511e-01  3.79219070e+02]
 [ 1.08071018e-01  9.93998601e-01 -1.69539465e-02  3.14514573e+01]
 [ 2.52397115e-01 -1.09384664e-02  9.67561908e-01  9.89464588e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.26071405700003 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:379.28, Y:31.45, Z:98.96
[[ 9.61044385e-01 -1.13390824e-01 -2.52063903e-01  3.79277614e+02]
 [ 1.12768323e-01  9.93476503e-01 -1.69629857e-02  3.14503638e+01]
 [ 2.52343011e-01 -1.21226413e-02  9.67561908e-01  9.89599971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.32071405700003 meters
Centerline goodness : 0.998738 with order 1
Centerline is valid?  [True, True]
Translation: X:379.34, Y:31.45, Z:98.97
[[ 9.60958361e-01 -1.14118200e-01 -2.52063613e-01  3.79335898e+02]
 [ 1.13519121e-01  9.93390920e-01 -1.69672849e-02  3.14534226e+01]
 [ 2.52333981e-01 -1.23091855e-02  9.67561908e-01  9.89746869e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.38071405700003 meters
Centerline goodness : 0.998508 with order 1
Centerline is valid?  [True, True]
Translation: X:379.39, Y:31.46, Z:98.99
[[ 9.60811829e-01 -1.15346056e-01 -2.52063319e-01  3.79392454e+02]
 [ 1.14787279e-01  9.93245108e-01 -1.69716528e-02  3.14564583e+01]
 [ 2.52318272e-01 -1.26270977e-02  9.67561908e-01  9.89906932e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.44071405700004 meters
Centerline goodness : 0.998335 with order 1
Centerline is valid?  [True, True]
Translation: X:379.45, Y:31.46, Z:99.01
[[ 9.60662654e-01 -1.16583823e-01 -2.52062448e-01  3.79450337e+02]
 [ 1.16063448e-01  9.93096571e-01 -1.69845787e-02  3.14595865e+01]
 [ 2.52302480e-01 -1.29387865e-02  9.67561908e-01  9.90063718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.50071405700004 meters
Centerline goodness : 0.998396 with order 1
Centerline is valid?  [True, True]
Translation: X:379.51, Y:31.46, Z:99.02
[[ 9.60313406e-01 -1.19427133e-01 -2.52062139e-01  3.79508806e+02]
 [ 1.19001572e-01  9.92748706e-01 -1.69891717e-02  3.14637384e+01]
 [ 2.52263330e-01 -1.36808615e-02  9.67561908e-01  9.90199903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.56071405700004 meters
Centerline goodness : 0.998035 with order 1
Centerline is valid?  [True, True]
Translation: X:379.57, Y:31.47, Z:99.03
[[ 9.60076239e-01 -1.21319622e-01 -2.52061828e-01  3.79567292e+02]
 [ 1.20956782e-01  9.92512301e-01 -1.69937833e-02  3.14673864e+01]
 [ 2.52236144e-01 -1.41732601e-02  9.67561908e-01  9.90342976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.62071405700004 meters
Centerline goodness : 0.998032 with order 1
Centerline is valid?  [True, True]
Translation: X:379.63, Y:31.47, Z:99.05
[[ 9.59573126e-01 -1.25237406e-01 -2.52061516e-01  3.79625470e+02]
 [ 1.25005757e-01  9.92010391e-01 -1.69984012e-02  3.14720608e+01]
 [ 2.52176479e-01 -1.51979317e-02  9.67561908e-01  9.90498537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.68071405700005 meters
Centerline goodness : 0.998769 with order 1
Centerline is valid?  [True, True]
Translation: X:379.68, Y:31.48, Z:99.07
[[ 9.59039006e-01 -1.29263882e-01 -2.52061569e-01  3.79684475e+02]
 [ 1.29168586e-01  9.91476957e-01 -1.69976242e-02  3.14766633e+01]
 [ 2.52110416e-01 -1.62570517e-02  9.67561908e-01  9.90651398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.74071405700005 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:379.74, Y:31.48, Z:99.08
[[ 9.58302710e-01 -1.34613237e-01 -2.52061880e-01  3.79742452e+02]
 [ 1.34700154e-01  9.90740686e-01 -1.69930029e-02  3.14806803e+01]
 [ 2.52015443e-01 -1.76683334e-02  9.67561908e-01  9.90792721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.80071405700005 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:379.80, Y:31.49, Z:99.09
[[ 9.57985771e-01 -1.36848648e-01 -2.52062907e-01  3.79801648e+02]
 [ 1.37015235e-01  9.90423435e-01 -1.69777583e-02  3.14870026e+01]
 [ 2.51972394e-01 -1.82720074e-02  9.67561908e-01  9.90936237e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.86071405700005 meters
Centerline goodness : 0.998559 with order 1
Centerline is valid?  [True, True]
Translation: X:379.86, Y:31.49, Z:99.11
[[ 9.58196242e-01 -1.35365973e-01 -2.52063515e-01  3.79861604e+02]
 [ 1.35484724e-01  9.90634116e-01 -1.69687306e-02  3.14921764e+01]
 [ 2.51999706e-01 -1.78913818e-02  9.67561908e-01  9.91087615e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.92071405700005 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:379.92, Y:31.50, Z:99.12
[[ 9.59095911e-01 -1.28834778e-01 -2.52064741e-01  3.79918797e+02]
 [ 1.28737305e-01  9.91533856e-01 -1.69504932e-02  3.14982457e+01]
 [ 2.52114538e-01 -1.61929867e-02  9.67561909e-01  9.91239058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 390.98071405700006 meters
Centerline goodness : 0.998322 with order 1
Centerline is valid?  [True, True]
Translation: X:379.97, Y:31.51, Z:99.14
[[ 9.60254863e-01 -1.19892127e-01 -2.52064429e-01  3.79974839e+02]
 [ 1.19491180e-01  9.92690476e-01 -1.69551351e-02  3.15074707e+01]
 [ 2.52254745e-01 -1.38382251e-02  9.67561909e-01  9.91413914e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.04071405700006 meters
Centerline goodness : 0.997586 with order 1
Centerline is valid?  [True, True]
Translation: X:380.03, Y:31.51, Z:99.16
[[ 9.61197918e-01 -1.12081532e-01 -2.52064063e-01  3.80032512e+02]
 [ 1.11415480e-01  9.93629171e-01 -1.69605781e-02  3.15149595e+01]
 [ 2.52359173e-01 -1.17813663e-02  9.67561909e-01  9.91586623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.10071405700006 meters
Centerline goodness : 0.997788 with order 1
Centerline is valid?  [True, True]
Translation: X:380.09, Y:31.52, Z:99.17
[[ 9.61284488e-01 -1.11336667e-01 -2.52064040e-01  3.80090497e+02]
 [ 1.10645396e-01  9.93715213e-01 -1.69609148e-02  3.15198231e+01]
 [ 2.52368243e-01 -1.15854613e-02  9.67561909e-01  9.91733206e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.16071405700006 meters
Centerline goodness : 0.997571 with order 1
Centerline is valid?  [True, True]
Translation: X:380.15, Y:31.53, Z:99.19
[[ 9.61125332e-01 -1.12702483e-01 -2.52063972e-01  3.80148636e+02]
 [ 1.12057030e-01  9.93557001e-01 -1.69619263e-02  3.15261523e+01]
 [ 2.52351575e-01 -1.19430030e-02  9.67561909e-01  9.91875396e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.22071405700007 meters
Centerline goodness : 0.998100 with order 1
Centerline is valid?  [True, True]
Translation: X:380.21, Y:31.53, Z:99.20
[[ 9.60721463e-01 -1.16095566e-01 -2.52063662e-01  3.80207344e+02]
 [ 1.15563429e-01  9.93155190e-01 -1.69665337e-02  3.15304659e+01]
 [ 2.52308073e-01 -1.28292281e-02  9.67561909e-01  9.92008521e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.28071405700007 meters
Centerline goodness : 0.998102 with order 1
Centerline is valid?  [True, True]
Translation: X:380.27, Y:31.53, Z:99.22
[[ 9.59958856e-01 -1.22241177e-01 -2.52063662e-01  3.80265421e+02]
 [ 1.21916606e-01  9.92395323e-01 -1.69665337e-02  3.15340173e+01]
 [ 2.52220808e-01 -1.44435719e-02  9.67561909e-01  9.92155179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.34071405700007 meters
Centerline goodness : 0.998376 with order 1
Centerline is valid?  [True, True]
Translation: X:380.32, Y:31.54, Z:99.23
[[ 9.59245064e-01 -1.27721889e-01 -2.52063535e-01  3.80323420e+02]
 [ 1.27582088e-01  9.91682854e-01 -1.69684173e-02  3.15393796e+01]
 [ 2.52134324e-01 -1.58819216e-02  9.67561909e-01  9.92322774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.4007140570001 meters
Centerline goodness : 0.998283 with order 1
Centerline is valid?  [True, True]
Translation: X:380.38, Y:31.54, Z:99.25
[[ 9.59171107e-01 -1.28275746e-01 -2.52063722e-01  3.80382326e+02]
 [ 1.28155403e-01  9.91608975e-01 -1.69656360e-02  3.15446361e+01]
 [ 2.52124929e-01 -1.60303800e-02  9.67561909e-01  9.92484996e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.4607140570001 meters
Centerline goodness : 0.998034 with order 1
Centerline is valid?  [True, True]
Translation: X:380.44, Y:31.55, Z:99.26
[[ 9.59151095e-01 -1.28424109e-01 -2.52064326e-01  3.80441081e+02]
 [ 1.28311133e-01  9.91588990e-01 -1.69566585e-02  3.15502320e+01]
 [ 2.52121854e-01 -1.60786616e-02  9.67561909e-01  9.92645353e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.5207140570001 meters
Centerline goodness : 0.997977 with order 1
Centerline is valid?  [True, True]
Translation: X:380.50, Y:31.56, Z:99.28
[[ 9.59358367e-01 -1.26865269e-01 -2.52064928e-01  3.80499402e+02]
 [ 1.26701923e-01  9.91796047e-01 -1.69477073e-02  3.15578429e+01]
 [ 2.52147075e-01 -1.56781863e-02  9.67561909e-01  9.92784695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.5807140570001 meters
Centerline goodness : 0.998044 with order 1
Centerline is valid?  [True, True]
Translation: X:380.56, Y:31.56, Z:99.29
[[ 9.59504340e-01 -1.25755893e-01 -2.52065223e-01  3.80557203e+02]
 [ 1.25556186e-01  9.91941817e-01 -1.69433274e-02  3.15637982e+01]
 [ 2.52164758e-01 -1.53911519e-02  9.67561909e-01  9.92909692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.640714057 meters
Centerline goodness : 0.997622 with order 1
Centerline is valid?  [True, True]
Translation: X:380.61, Y:31.57, Z:99.31
[[ 9.59712086e-01 -1.24161699e-01 -2.52064643e-01  3.80614790e+02]
 [ 1.23905848e-01  9.92149168e-01 -1.69519473e-02  3.15707619e+01]
 [ 2.52190508e-01 -1.49632947e-02  9.67561909e-01  9.93053174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.700714057 meters
Centerline goodness : 0.998687 with order 1
Centerline is valid?  [True, True]
Translation: X:380.67, Y:31.58, Z:99.32
[[ 9.59993975e-01 -1.21964227e-01 -2.52064071e-01  3.80672195e+02]
 [ 1.21631890e-01  9.92430364e-01 -1.69604499e-02  3.15785738e+01]
 [ 2.52224605e-01 -1.43770996e-02  9.67561909e-01  9.93242165e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.76071405700003 meters
Centerline goodness : 0.998217 with order 1
Centerline is valid?  [True, True]
Translation: X:380.73, Y:31.58, Z:99.34
[[ 9.59919697e-01 -1.22546997e-01 -2.52064297e-01  3.80730313e+02]
 [ 1.22235232e-01  9.92356289e-01 -1.69570877e-02  3.15841095e+01]
 [ 2.52215631e-01 -1.45336953e-02  9.67561909e-01  9.93411915e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.82071405700003 meters
Centerline goodness : 0.998361 with order 1
Centerline is valid?  [True, True]
Translation: X:380.79, Y:31.59, Z:99.36
[[ 9.59388451e-01 -1.26638197e-01 -2.52064610e-01  3.80789492e+02]
 [ 1.26465937e-01  9.91826085e-01 -1.69524304e-02  3.15893496e+01]
 [ 2.52151081e-01 -1.56136211e-02  9.67561909e-01  9.93572207e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.88071405700003 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:380.85, Y:31.59, Z:99.37
[[ 9.58731609e-01 -1.31517378e-01 -2.52065232e-01  3.80848599e+02]
 [ 1.31512564e-01  9.91169700e-01 -1.69431851e-02  3.15948639e+01]
 [ 2.52067743e-01 -1.69057777e-02  9.67561909e-01  9.93713412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 391.94071405700004 meters
Centerline goodness : 0.998189 with order 1
Centerline is valid?  [True, True]
Translation: X:380.91, Y:31.60, Z:99.38
[[ 9.58359737e-01 -1.34199798e-01 -2.52065524e-01  3.80908878e+02]
 [ 1.34286898e-01  9.90797711e-01 -1.69388351e-02  3.16002851e+01]
 [ 2.52019132e-01 -1.76155996e-02  9.67561909e-01  9.93842695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.00071405700004 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:380.97, Y:31.61, Z:99.40
[[ 9.58236855e-01 -1.35072064e-01 -2.52066790e-01  3.80966604e+02]
 [ 1.35193629e-01  9.90674718e-01 -1.69199668e-02  3.16080629e+01]
 [ 2.52001612e-01 -1.78644883e-02  9.67561909e-01  9.93988284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.06071405700004 meters
Centerline goodness : 0.998438 with order 1
Centerline is valid?  [True, True]
Translation: X:381.02, Y:31.62, Z:99.41
[[ 9.58707822e-01 -1.31687682e-01 -2.52066790e-01  3.81023606e+02]
 [ 1.31694707e-01  9.91145912e-01 -1.69199668e-02  3.16170352e+01]
 [ 2.52063120e-01 -1.69745577e-02  9.67561909e-01  9.94145387e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.12071405700004 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:381.08, Y:31.63, Z:99.43
[[ 9.59482314e-01 -1.25921319e-01 -2.52066479e-01  3.81081190e+02]
 [ 1.25732105e-01  9.91919853e-01 -1.69246026e-02  3.16272042e+01]
 [ 2.52160913e-01 -1.54539922e-02  9.67561909e-01  9.94317680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.18071405700005 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:381.14, Y:31.64, Z:99.45
[[ 9.59982230e-01 -1.22051253e-01 -2.52066679e-01  3.81138759e+02]
 [ 1.21732017e-01  9.92418750e-01 -1.69216286e-02  3.16375030e+01]
 [ 2.52221004e-01 -1.44401225e-02  9.67561909e-01  9.94496875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.24071405700005 meters
Centerline goodness : 0.999234 with order 1
Centerline is valid?  [True, True]
Translation: X:381.20, Y:31.65, Z:99.46
[[ 9.59983431e-01 -1.22041582e-01 -2.52066786e-01  3.81196978e+02]
 [ 1.21722438e-01  9.92419952e-01 -1.69200313e-02  3.16450486e+01]
 [ 2.52221055e-01 -1.44392339e-02  9.67561909e-01  9.94645594e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.30071405700005 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:381.26, Y:31.65, Z:99.48
[[ 9.59545098e-01 -1.25440746e-01 -2.52067101e-01  3.81256297e+02]
 [ 1.25237710e-01  9.91982554e-01 -1.69153384e-02  3.16503953e+01]
 [ 2.52168039e-01 -1.53372766e-02  9.67561909e-01  9.94786880e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.36071405700005 meters
Centerline goodness : 0.998777 with order 1
Centerline is valid?  [True, True]
Translation: X:381.32, Y:31.65, Z:99.49
[[ 9.59328458e-01 -1.27085866e-01 -2.52067635e-01  3.81316925e+02]
 [ 1.26940534e-01  9.91766223e-01 -1.69073795e-02  3.16541649e+01]
 [ 2.52140855e-01 -1.57778698e-02  9.67561909e-01  9.94903198e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.42071405700005 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:381.38, Y:31.66, Z:99.50
[[ 9.59967204e-01 -1.22165561e-01 -2.52068528e-01  3.81376973e+02]
 [ 1.21857403e-01  9.92403831e-01 -1.68940579e-02  3.16590838e+01]
 [ 2.52217645e-01 -1.44986746e-02  9.67561909e-01  9.95048558e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.48071405700006 meters
Centerline goodness : 0.999300 with order 1
Centerline is valid?  [True, True]
Translation: X:381.43, Y:31.67, Z:99.52
[[ 9.60786418e-01 -1.15544128e-01 -2.52069460e-01  3.81434266e+02]
 [ 1.15015984e-01  9.93220209e-01 -1.68801415e-02  3.16672990e+01]
 [ 2.52310883e-01 -1.27738062e-02  9.67561909e-01  9.95231160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.54071405700006 meters
Centerline goodness : 0.999420 with order 1
Centerline is valid?  [True, True]
Translation: X:381.49, Y:31.67, Z:99.54
[[ 9.61363662e-01 -1.10638295e-01 -2.52069586e-01  3.81491950e+02]
 [ 1.09945094e-01  9.93794345e-01 -1.68782520e-02  3.16722560e+01]
 [ 2.52372710e-01 -1.14876762e-02  9.67561909e-01  9.95399273e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.60071405700006 meters
Centerline goodness : 0.999300 with order 1
Centerline is valid?  [True, True]
Translation: X:381.55, Y:31.68, Z:99.56
[[ 9.61582536e-01 -1.08719510e-01 -2.52069624e-01  3.81550682e+02]
 [ 1.07961735e-01  9.94011774e-01 -1.68776942e-02  3.16758691e+01]
 [ 2.52395108e-01 -1.09845780e-02  9.67561909e-01  9.95563030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.66071405700006 meters
Centerline goodness : 0.999396 with order 1
Centerline is valid?  [True, True]
Translation: X:381.61, Y:31.68, Z:99.57
[[ 9.61124237e-01 -1.12697807e-01 -2.52070238e-01  3.81609245e+02]
 [ 1.12076640e-01  9.93556380e-01 -1.68685138e-02  3.16790057e+01]
 [ 2.52347038e-01 -1.20384479e-02  9.67561909e-01  9.95739262e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.72071405700007 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:381.67, Y:31.68, Z:99.59
[[ 9.60456974e-01 -1.18249073e-01 -2.52070540e-01  3.81667935e+02]
 [ 1.17816482e-01  9.92892180e-01 -1.68640023e-02  3.16776254e+01]
 [ 2.52273020e-01 -1.35009156e-02  9.67561909e-01  9.95876712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.78071405700007 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:381.73, Y:31.68, Z:99.60
[[ 9.59704642e-01 -1.24207361e-01 -2.52070491e-01  3.81726919e+02]
 [ 1.23975880e-01  9.92141906e-01 -1.68647294e-02  3.16765631e+01]
 [ 2.52184421e-01 -1.50655018e-02  9.67561909e-01  9.96021887e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.84071405700007 meters
Centerline goodness : 0.998908 with order 1
Centerline is valid?  [True, True]
Translation: X:381.79, Y:31.68, Z:99.62
[[ 9.58835736e-01 -1.30745272e-01 -2.52070833e-01  3.81785074e+02]
 [ 1.30736207e-01  9.91273826e-01 -1.68596206e-02  3.16752043e+01]
 [ 2.52075534e-01 -1.67891778e-02  9.67561909e-01  9.96150159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.9007140570001 meters
Centerline goodness : 0.998700 with order 1
Centerline is valid?  [True, True]
Translation: X:381.84, Y:31.67, Z:99.63
[[ 9.58345411e-01 -1.34292704e-01 -2.52070510e-01  3.81842648e+02]
 [ 1.34402419e-01  9.90783317e-01 -1.68644449e-02  3.16741918e+01]
 [ 2.52012028e-01 -1.77169229e-02  9.67561909e-01  9.96292215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 392.9607140570001 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:381.90, Y:31.68, Z:99.65
[[ 9.58447304e-01 -1.33561802e-01 -2.52071438e-01  3.81901296e+02]
 [ 1.33650412e-01  9.90885274e-01 -1.68505645e-02  3.16760804e+01]
 [ 2.52024468e-01 -1.75390733e-02  9.67561909e-01  9.96470901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.0207140570001 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:381.96, Y:31.68, Z:99.66
[[ 9.58666666e-01 -1.31976969e-01 -2.52072021e-01  3.81960161e+02]
 [ 1.32014229e-01  9.91104735e-01 -1.68418454e-02  3.16779222e+01]
 [ 2.52052509e-01 -1.71313776e-02  9.67561910e-01  9.96642338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.0807140570001 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:382.02, Y:31.68, Z:99.68
[[ 9.58697722e-01 -1.31749990e-01 -2.52072643e-01  3.82020260e+02]
 [ 1.31782012e-01  9.91135797e-01 -1.68325181e-02  3.16792158e+01]
 [ 2.52055904e-01 -1.70813433e-02  9.67561910e-01  9.96766493e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.140714057 meters
Centerline goodness : 0.998381 with order 1
Centerline is valid?  [True, True]
Translation: X:382.08, Y:31.68, Z:99.69
[[ 9.58800998e-01 -1.30994526e-01 -2.52073561e-01  3.82078797e+02]
 [ 1.31004585e-01  9.91239087e-01 -1.68187721e-02  3.16815583e+01]
 [ 2.52068333e-01 -1.68969366e-02  9.67561910e-01  9.96939972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.200714057 meters
Centerline goodness : 0.998547 with order 1
Centerline is valid?  [True, True]
Translation: X:382.14, Y:31.68, Z:99.71
[[ 9.59080272e-01 -1.28932735e-01 -2.52074161e-01  3.82137432e+02]
 [ 1.28875406e-01  9.91518311e-01 -1.68097660e-02  3.16839442e+01]
 [ 2.52103476e-01 -1.63642449e-02  9.67561910e-01  9.97111885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.26071405700003 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:382.19, Y:31.69, Z:99.73
[[ 9.60159177e-01 -1.20634410e-01 -2.52074779e-01  3.82194667e+02]
 [ 1.20299007e-01  9.92595533e-01 -1.68004943e-02  3.16870409e+01]
 [ 2.52235017e-01 -1.41931969e-02  9.67561910e-01  9.97274845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.32071405700003 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:382.25, Y:31.69, Z:99.74
[[ 9.61098394e-01 -1.12907309e-01 -2.52075023e-01  3.82253415e+02]
 [ 1.12311967e-01  9.93531020e-01 -1.67968378e-02  3.16898319e+01]
 [ 2.52340840e-01 -1.21676278e-02  9.67561910e-01  9.97426565e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.38071405700003 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:382.31, Y:31.69, Z:99.76
[[ 9.61360057e-01 -1.10657191e-01 -2.52075043e-01  3.82312785e+02]
 [ 1.09986008e-01  9.93791203e-01 -1.67965375e-02  3.16931175e+01]
 [ 2.52368618e-01 -1.15772076e-02  9.67561910e-01  9.97593495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.44071405700004 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:382.37, Y:31.69, Z:99.77
[[ 9.62030625e-01 -1.04662670e-01 -2.52076978e-01  3.82370639e+02]
 [ 1.03796959e-01  9.94457160e-01 -1.67674516e-02  3.16940138e+01]
 [ 2.52434682e-01 -1.00340217e-02  9.67561910e-01  9.97734349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.50071405700004 meters
Centerline goodness : 0.998758 with order 1
Centerline is valid?  [True, True]
Translation: X:382.43, Y:31.70, Z:99.79
[[ 9.62677690e-01 -9.85344006e-02 -2.52076647e-01  3.82429778e+02]
 [ 9.74609191e-02  9.95098013e-01 -1.67724135e-02  3.16951245e+01]
 [ 2.52493631e-01 -8.42119348e-03  9.67561910e-01  9.97916080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.56071405700004 meters
Centerline goodness : 0.998761 with order 1
Centerline is valid?  [True, True]
Translation: X:382.49, Y:31.69, Z:99.81
[[ 9.63465414e-01 -9.05066152e-02 -2.52077269e-01  3.82487497e+02]
 [ 8.91653766e-02  9.95875763e-01 -1.67630664e-02  3.16942131e+01]
 [ 2.52554811e-01 -6.32592990e-03  9.67561910e-01  9.98051759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.62071405700004 meters
Centerline goodness : 0.998177 with order 1
Centerline is valid?  [True, True]
Translation: X:382.55, Y:31.69, Z:99.82
[[ 9.64123742e-01 -8.32028666e-02 -2.52076760e-01  3.82545796e+02]
 [ 8.16140619e-02  9.96522899e-01 -1.67707130e-02  3.16922922e+01]
 [ 2.52595635e-01 -4.40396577e-03  9.67561910e-01  9.98192653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.68071405700005 meters
Centerline goodness : 0.997907 with order 1
Centerline is valid?  [True, True]
Translation: X:382.60, Y:31.69, Z:99.83
[[ 9.64504684e-01 -7.86658823e-02 -2.52076165e-01  3.82603209e+02]
 [ 7.69223264e-02  9.96895882e-01 -1.67796505e-02  3.16872395e+01]
 [ 2.52613677e-01 -3.20623356e-03  9.67561910e-01  9.98347002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.74071405700005 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:382.66, Y:31.68, Z:99.85
[[ 9.64804725e-01 -7.49098014e-02 -2.52072142e-01  3.82660622e+02]
 [ 7.30244007e-02  9.97187974e-01 -1.68398865e-02  3.16807965e+01]
 [ 2.52624781e-01 -2.16021503e-03  9.67561912e-01  9.98511386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.80071405700005 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:382.72, Y:31.67, Z:99.87
[[ 9.64905004e-01 -7.36100830e-02 -2.52071200e-01  3.82719772e+02]
 [ 7.16773810e-02  9.97285464e-01 -1.68539769e-02  3.16712856e+01]
 [ 2.52627566e-01 -1.80531680e-03  9.67561912e-01  9.98664480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.86071405700005 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:382.78, Y:31.66, Z:99.88
[[ 9.64650671e-01 -7.68736771e-02 -2.52070467e-01  3.82778091e+02]
 [ 7.50476589e-02  9.97037323e-01 -1.68649299e-02  3.16587981e+01]
 [ 2.52620133e-01 -2.64853243e-03  9.67561912e-01  9.98802352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.92071405700005 meters
Centerline goodness : 0.999191 with order 1
Centerline is valid?  [True, True]
Translation: X:382.84, Y:31.65, Z:99.89
[[ 9.64012538e-01 -8.45021641e-02 -2.52069853e-01  3.82835867e+02]
 [ 8.29300014e-02  9.96412505e-01 -1.68741000e-02  3.16464353e+01]
 [ 2.52591452e-01 -4.63730928e-03  9.67561912e-01  9.98945888e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 393.98071405700006 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:382.90, Y:31.63, Z:99.91
[[ 9.63260404e-01 -9.26949283e-02 -2.52065555e-01  3.82895440e+02]
 [ 9.13815541e-02  9.95671891e-01 -1.69380614e-02  3.16342111e+01]
 [ 2.52544661e-01 -6.71837834e-03  9.67561914e-01  9.99075975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.04071405700006 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:382.95, Y:31.62, Z:99.92
[[ 9.62554392e-01 -9.97597804e-02 -2.52065526e-01  3.82953115e+02]
 [ 9.86841268e-02  9.94974638e-01 -1.69384998e-02  3.16233098e+01]
 [ 2.52488587e-01 -8.57063898e-03  9.67561914e-01  9.99213387e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.10071405700006 meters
Centerline goodness : 0.997840 with order 1
Centerline is valid?  [True, True]
Translation: X:383.01, Y:31.61, Z:99.94
[[ 9.61927991e-01 -1.05639354e-01 -2.52061236e-01  3.83010966e+02]
 [ 1.04745175e-01  9.94353748e-01 -1.70021046e-02  3.16141034e+01]
 [ 2.52434126e-01 -1.00473980e-02  9.67561916e-01  9.99370660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.16071405700006 meters
Centerline goodness : 0.997697 with order 1
Centerline is valid?  [True, True]
Translation: X:383.07, Y:31.61, Z:99.95
[[ 9.61534441e-01 -1.09165546e-01 -2.52060316e-01  3.83070080e+02]
 [ 1.08386695e-01  9.93963173e-01 -1.70157366e-02  3.16062898e+01]
 [ 2.52396204e-01 -1.09587680e-02  9.67561916e-01  9.99524517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.22071405700007 meters
Centerline goodness : 0.997879 with order 1
Centerline is valid?  [True, True]
Translation: X:383.13, Y:31.60, Z:99.97
[[ 9.61427971e-01 -1.10099824e-01 -2.52060081e-01  3.83127591e+02]
 [ 1.09351576e-01  9.93857424e-01 -1.70192118e-02  3.15991355e+01]
 [ 2.52385595e-01 -1.12004209e-02  9.67561916e-01  9.99673311e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.28071405700007 meters
Centerline goodness : 0.996967 with order 1
Centerline is valid?  [True, True]
Translation: X:383.19, Y:31.59, Z:99.98
[[ 9.61405717e-01 -1.10303889e-01 -2.52055745e-01  3.83185469e+02]
 [ 1.09545781e-01  9.93834939e-01 -1.70831992e-02  3.15946088e+01]
 [ 2.52386149e-01 -1.11877580e-02  9.67561918e-01  9.99818344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.34071405700007 meters
Centerline goodness : 0.996873 with order 1
Centerline is valid?  [True, True]
Translation: X:383.24, Y:31.59, Z:99.99
[[ 9.61504254e-01 -1.09443873e-01 -2.52054773e-01  3.83242848e+02]
 [ 1.08653010e-01  9.93932693e-01 -1.70975240e-02  3.15910195e+01]
 [ 2.52396699e-01 -1.09471677e-02  9.67561918e-01  9.99946417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.4007140570001 meters
Centerline goodness : 0.996786 with order 1
Centerline is valid?  [True, True]
Translation: X:383.30, Y:31.59, Z:100.01
[[ 9.61627289e-01 -1.08367927e-01 -2.52050290e-01  3.83302069e+02]
 [ 1.07523548e-01  9.94054377e-01 -1.71633783e-02  3.15896619e+01]
 [ 2.52411653e-01 -1.05965685e-02  9.67561920e-01  1.00008893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.4607140570001 meters
Centerline goodness : 0.996873 with order 1
Centerline is valid?  [True, True]
Translation: X:383.36, Y:31.59, Z:100.02
[[ 9.61813494e-01 -1.06702964e-01 -2.52050153e-01  3.83359300e+02]
 [ 1.05801924e-01  9.94239057e-01 -1.71653805e-02  3.15893091e+01]
 [ 2.52429704e-01 -1.01574965e-02  9.67561920e-01  1.00024405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.5207140570001 meters
Centerline goodness : 0.997008 with order 1
Centerline is valid?  [True, True]
Translation: X:383.42, Y:31.59, Z:100.04
[[ 9.62101140e-01 -1.04088583e-01 -2.52045557e-01  3.83418125e+02]
 [ 1.03081833e-01  9.94523591e-01 -1.72326094e-02  3.15899459e+01]
 [ 2.52458971e-01 -9.40180480e-03  9.67561923e-01  1.00039615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.5807140570001 meters
Centerline goodness : 0.996450 with order 1
Centerline is valid?  [True, True]
Translation: X:383.47, Y:31.59, Z:100.05
[[ 9.62429290e-01 -1.01009563e-01 -2.52045492e-01  3.83474621e+02]
 [ 9.98988221e-02  9.94848345e-01 -1.72335708e-02  3.15910672e+01]
 [ 2.52487796e-01 -8.59295444e-03  9.67561923e-01  1.00054860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.640714057 meters
Centerline goodness : 0.996182 with order 1
Centerline is valid?  [True, True]
Translation: X:383.53, Y:31.59, Z:100.07
[[ 9.62526706e-01 -1.00079472e-01 -2.52044520e-01  3.83531699e+02]
 [ 9.89336918e-02  9.94944541e-01 -1.72477635e-02  3.15919738e+01]
 [ 2.52496467e-01 -8.33426196e-03  9.67561923e-01  1.00068917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.700714057 meters
Centerline goodness : 0.996782 with order 1
Centerline is valid?  [True, True]
Translation: X:383.59, Y:31.59, Z:100.08
[[ 9.62487394e-01 -1.00458893e-01 -2.52043701e-01  3.83588338e+02]
 [ 9.93227631e-02  9.94905569e-01 -1.72597255e-02  3.15918473e+01]
 [ 2.52493575e-01 -8.42140860e-03  9.67561923e-01  1.00083356e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.76071405700003 meters
Centerline goodness : 0.996826 with order 1
Centerline is valid?  [True, True]
Translation: X:383.65, Y:31.59, Z:100.10
[[ 9.62524410e-01 -1.00107601e-01 -2.52042115e-01  3.83645267e+02]
 [ 9.89535857e-02  9.94941953e-01 -1.72828668e-02  3.15927039e+01]
 [ 2.52497420e-01 -8.30528980e-03  9.67561923e-01  1.00098476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.82071405700003 meters
Centerline goodness : 0.996343 with order 1
Centerline is valid?  [True, True]
Translation: X:383.70, Y:31.59, Z:100.11
[[ 9.62907255e-01 -9.63671236e-02 -2.52037686e-01  3.83703086e+02]
 [ 9.50703331e-02  9.95319399e-01 -1.73472232e-02  3.15942898e+01]
 [ 2.52529700e-01 -7.25753962e-03  9.67561925e-01  1.00113580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.88071405700003 meters
Centerline goodness : 0.996050 with order 1
Centerline is valid?  [True, True]
Translation: X:383.76, Y:31.60, Z:100.13
[[ 9.63426183e-01 -9.10348288e-02 -2.52037001e-01  3.83759027e+02]
 [ 8.95560184e-02  9.95830532e-01 -1.73571698e-02  3.15968091e+01]
 [ 2.52566247e-01 -5.84907843e-03  9.67561925e-01  1.00128383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 394.94071405700004 meters
Centerline goodness : 0.996436 with order 1
Centerline is valid?  [True, True]
Translation: X:383.82, Y:31.60, Z:100.14
[[ 9.63754666e-01 -8.74956757e-02 -2.52034623e-01  3.83816288e+02]
 [ 8.58888489e-02  9.96152918e-01 -1.73916338e-02  3.15967094e+01]
 [ 2.52586718e-01 -4.88569540e-03  9.67561926e-01  1.00143343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.00071405700004 meters
Centerline goodness : 0.996198 with order 1
Centerline is valid?  [True, True]
Translation: X:383.87, Y:31.60, Z:100.16
[[ 9.63862540e-01 -8.63115906e-02 -2.52030381e-01  3.83872734e+02]
 [ 8.46489486e-02  9.96257975e-01 -1.74528951e-02  3.15957895e+01]
 [ 2.52593664e-01 -4.51191494e-03  9.67561928e-01  1.00158849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.06071405700004 meters
Centerline goodness : 0.995220 with order 1
Centerline is valid?  [True, True]
Translation: X:383.93, Y:31.59, Z:100.17
[[ 9.63672934e-01 -8.84080560e-02 -2.52028752e-01  3.83929482e+02]
 [ 8.68097460e-02  9.96071606e-01 -1.74763859e-02  3.15939378e+01]
 [ 2.52583737e-01 -5.03703184e-03  9.67561928e-01  1.00173672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.12071405700004 meters
Centerline goodness : 0.995490 with order 1
Centerline is valid?  [True, True]
Translation: X:383.99, Y:31.59, Z:100.19
[[ 9.63201599e-01 -9.34155617e-02 -2.52024229e-01  3.83986487e+02]
 [ 9.19686699e-02  9.95607384e-01 -1.75413813e-02  3.15904412e+01]
 [ 2.52555821e-01 -6.28244652e-03  9.67561930e-01  1.00186738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.18071405700005 meters
Centerline goodness : 0.995152 with order 1
Centerline is valid?  [True, True]
Translation: X:384.05, Y:31.59, Z:100.20
[[ 9.62210887e-01 -1.03124389e-01 -2.52022955e-01  3.84045013e+02]
 [ 1.01999591e-01  9.94629450e-01 -1.75596603e-02  3.15869358e+01]
 [ 2.52480282e-01 -8.81014196e-03  9.67561930e-01  1.00201330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.24071405700005 meters
Centerline goodness : 0.994914 with order 1
Centerline is valid?  [True, True]
Translation: X:384.10, Y:31.58, Z:100.22
[[ 9.61107536e-01 -1.12946537e-01 -2.52022587e-01  3.84103758e+02]
 [ 1.12151520e-01  9.93535862e-01 -1.75649483e-02  3.15847830e+01]
 [ 2.52377378e-01 -1.13829120e-02  9.67561930e-01  1.00216335e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.30071405700005 meters
Centerline goodness : 0.995149 with order 1
Centerline is valid?  [True, True]
Translation: X:384.16, Y:31.59, Z:100.23
[[ 9.60778607e-01 -1.15711716e-01 -2.52022354e-01  3.84159285e+02]
 [ 1.15009144e-01  9.93209068e-01 -1.75682836e-02  3.15869445e+01]
 [ 2.52343744e-01 -1.21056441e-02  9.67561930e-01  1.00230541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.36071405700005 meters
Centerline goodness : 0.995164 with order 1
Centerline is valid?  [True, True]
Translation: X:384.22, Y:31.59, Z:100.25
[[ 9.59859382e-01 -1.23109338e-01 -2.52019954e-01  3.84217905e+02]
 [ 1.22647609e-01  9.92294165e-01 -1.76026516e-02  3.15862608e+01]
 [ 2.52244980e-01 -1.40135743e-02  9.67561931e-01  1.00246237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.42071405700005 meters
Centerline goodness : 0.994384 with order 1
Centerline is valid?  [True, True]
Translation: X:384.28, Y:31.59, Z:100.26
[[ 9.59550800e-01 -1.25491865e-01 -2.52019948e-01  3.84275347e+02]
 [ 1.25110637e-01  9.91986629e-01 -1.76027360e-02  3.15874555e+01]
 [ 2.52209419e-01 -1.46396567e-02  9.67561931e-01  1.00261843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.48071405700006 meters
Centerline goodness : 0.995328 with order 1
Centerline is valid?  [True, True]
Translation: X:384.33, Y:31.59, Z:100.28
[[ 9.59339064e-01 -1.27101692e-01 -2.52019285e-01  3.84331824e+02]
 [ 1.26772405e-01  9.91775462e-01 -1.76122224e-02  3.15897768e+01]
 [ 2.52185086e-01 -1.50529978e-02  9.67561931e-01  1.00277057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.54071405700006 meters
Centerline goodness : 0.994937 with order 1
Centerline is valid?  [True, True]
Translation: X:384.39, Y:31.59, Z:100.29
[[ 9.58954598e-01 -1.29979826e-01 -2.52014533e-01  3.84390722e+02]
 [ 1.29730138e-01  9.91391704e-01 -1.76799675e-02  3.15926928e+01]
 [ 2.52143156e-01 -1.57395941e-02  9.67561933e-01  1.00291004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.60071405700006 meters
Centerline goodness : 0.993756 with order 1
Centerline is valid?  [True, True]
Translation: X:384.45, Y:31.60, Z:100.30
[[ 9.58308934e-01 -1.34657572e-01 -2.52014533e-01  3.84447323e+02]
 [ 1.34566167e-01  9.90746873e-01 -1.76799675e-02  3.15963480e+01]
 [ 2.52063352e-01 -1.69697589e-02  9.67561933e-01  1.00303780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.66071405700006 meters
Centerline goodness : 0.994410 with order 1
Centerline is valid?  [True, True]
Translation: X:384.50, Y:31.60, Z:100.32
[[ 9.57603019e-01 -1.39591548e-01 -2.52013209e-01  3.84504680e+02]
 [ 1.39662282e-01  9.90041009e-01 -1.76988110e-02  3.16016680e+01]
 [ 2.51974017e-01 -1.82483051e-02  9.67561933e-01  1.00317801e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.72071405700007 meters
Centerline goodness : 0.994968 with order 1
Centerline is valid?  [True, True]
Translation: X:384.56, Y:31.61, Z:100.34
[[ 9.57008935e-01 -1.43608465e-01 -2.52012909e-01  3.84561362e+02]
 [ 1.43814190e-01  9.89446350e-01 -1.77030861e-02  3.16112219e+01]
 [ 2.51895566e-01 -1.93010209e-02  9.67561933e-01  1.00335606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.78071405700007 meters
Centerline goodness : 0.994500 with order 1
Centerline is valid?  [True, True]
Translation: X:384.62, Y:31.62, Z:100.35
[[ 9.56742092e-01 -1.45375896e-01 -2.52012734e-01  3.84616712e+02]
 [ 1.45640885e-01  9.89179076e-01 -1.77055726e-02  3.16212186e+01]
 [ 2.51859687e-01 -1.97636911e-02  9.67561933e-01  1.00352186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.84071405700007 meters
Centerline goodness : 0.995195 with order 1
Centerline is valid?  [True, True]
Translation: X:384.67, Y:31.63, Z:100.37
[[ 9.56397129e-01 -1.47632563e-01 -2.52010232e-01  3.84673767e+02]
 [ 1.47964768e-01  9.88833495e-01 -1.77411179e-02  3.16310132e+01]
 [ 2.51815325e-01 -2.03210814e-02  9.67561934e-01  1.00368210e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.9007140570001 meters
Centerline goodness : 0.995330 with order 1
Centerline is valid?  [True, True]
Translation: X:384.73, Y:31.64, Z:100.38
[[ 9.56162428e-01 -1.49145439e-01 -2.52010018e-01  3.84731881e+02]
 [ 1.49528162e-01  9.88598237e-01 -1.77441656e-02  3.16401327e+01]
 [ 2.51783120e-01 -2.07162902e-02  9.67561934e-01  1.00383367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 395.9607140570001 meters
Centerline goodness : 0.995871 with order 1
Centerline is valid?  [True, True]
Translation: X:384.79, Y:31.65, Z:100.40
[[ 9.55510881e-01 -1.53264176e-01 -2.52010018e-01  3.84789278e+02]
 [ 1.53786662e-01  9.87944739e-01 -1.77441656e-02  3.16537614e+01]
 [ 2.51691516e-01 -2.18010361e-02  9.67561934e-01  1.00399547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.0207140570001 meters
Centerline goodness : 0.996007 with order 1
Centerline is valid?  [True, True]
Translation: X:384.85, Y:31.67, Z:100.42
[[ 9.55532110e-01 -1.53131763e-01 -2.52010020e-01  3.84846534e+02]
 [ 1.53649764e-01  9.87966040e-01 -1.77441266e-02  3.16657216e+01]
 [ 2.51694531e-01 -2.17661976e-02  9.67561934e-01  1.00415913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.0807140570001 meters
Centerline goodness : 0.996292 with order 1
Centerline is valid?  [True, True]
Translation: X:384.90, Y:31.68, Z:100.43
[[ 9.55950580e-01 -1.50497855e-01 -2.52009690e-01  3.84903949e+02]
 [ 1.50925244e-01  9.88385831e-01 -1.77488141e-02  3.16768725e+01]
 [ 2.51753966e-01 -2.10676349e-02  9.67561934e-01  1.00430248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.140714057 meters
Centerline goodness : 0.996626 with order 1
Centerline is valid?  [True, True]
Translation: X:384.96, Y:31.69, Z:100.44
[[ 9.57431323e-01 -1.40771241e-01 -2.52009363e-01  3.84961332e+02]
 [ 1.40867633e-01  9.89869246e-01 -1.77534589e-02  3.16943694e+01]
 [ 2.51955495e-01 -1.85022448e-02  9.67561934e-01  1.00444821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.200714057 meters
Centerline goodness : 0.996783 with order 1
Centerline is valid?  [True, True]
Translation: X:385.02, Y:31.71, Z:100.46
[[ 9.58506656e-01 -1.33252701e-01 -2.52009342e-01  3.85017511e+02]
 [ 1.33094429e-01  9.90944336e-01 -1.77537585e-02  3.17098403e+01]
 [ 2.52092966e-01 -1.65239438e-02  9.67561934e-01  1.00462082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.26071405700003 meters
Centerline goodness : 0.997439 with order 1
Centerline is valid?  [True, True]
Translation: X:385.07, Y:31.72, Z:100.48
[[ 9.59336380e-01 -1.27142284e-01 -2.52009027e-01  3.85074040e+02]
 [ 1.26776149e-01  9.91772380e-01 -1.77582265e-02  3.17226642e+01]
 [ 2.52193414e-01 -1.49126213e-02  9.67561934e-01  1.00478711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.32071405700003 meters
Centerline goodness : 0.997643 with order 1
Centerline is valid?  [True, True]
Translation: X:385.13, Y:31.73, Z:100.49
[[ 9.60048365e-01 -1.21650803e-01 -2.52008371e-01  3.85132297e+02]
 [ 1.21096635e-01  9.92481697e-01 -1.77675400e-02  3.17331073e+01]
 [ 2.52275131e-01 -1.34596681e-02  9.67561934e-01  1.00493194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.38071405700003 meters
Centerline goodness : 0.997508 with order 1
Centerline is valid?  [True, True]
Translation: X:385.19, Y:31.74, Z:100.51
[[ 9.60611443e-01 -1.17121473e-01 -2.52008367e-01  3.85189320e+02]
 [ 1.16414330e-01  9.93041800e-01 -1.77675865e-02  3.17416718e+01]
 [ 2.52335809e-01 -1.22696383e-02  9.67561934e-01  1.00506809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.44071405700004 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:385.25, Y:31.75, Z:100.52
[[ 9.60908222e-01 -1.14661996e-01 -2.52007966e-01  3.85245845e+02]
 [ 1.13870348e-01  9.93336627e-01 -1.77732737e-02  3.17493838e+01]
 [ 2.52366662e-01 -1.16177501e-02  9.67561934e-01  1.00521946e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.50071405700004 meters
Centerline goodness : 0.997461 with order 1
Centerline is valid?  [True, True]
Translation: X:385.30, Y:31.76, Z:100.54
[[ 9.61062524e-01 -1.13371451e-01 -2.52003451e-01  3.85302768e+02]
 [ 1.12519557e-01  9.93489400e-01 -1.78370767e-02  3.17569315e+01]
 [ 2.52384972e-01 -1.12127707e-02  9.67561936e-01  1.00539160e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.56071405700004 meters
Centerline goodness : 0.997831 with order 1
Centerline is valid?  [True, True]
Translation: X:385.36, Y:31.76, Z:100.55
[[ 9.61131217e-01 -1.12788364e-01 -2.52003112e-01  3.85358710e+02]
 [ 1.11915546e-01  9.93557537e-01 -1.78418582e-02  3.17633028e+01]
 [ 2.52391945e-01 -1.10546990e-02  9.67561936e-01  1.00554679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.62071405700004 meters
Centerline goodness : 0.997592 with order 1
Centerline is valid?  [True, True]
Translation: X:385.41, Y:31.77, Z:100.57
[[ 9.61166091e-01 -1.12501416e-01 -2.51998368e-01  3.85413875e+02]
 [ 1.11601447e-01  9.93591666e-01 -1.79086200e-02  3.17683706e+01]
 [ 2.52398224e-01 -1.09102243e-02  9.67561938e-01  1.00569536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.68071405700005 meters
Centerline goodness : 0.997705 with order 1
Centerline is valid?  [True, True]
Translation: X:385.47, Y:31.77, Z:100.58
[[ 9.61221454e-01 -1.12031908e-01 -2.51996367e-01  3.85469888e+02]
 [ 1.11108742e-01  9.93646376e-01 -1.79367412e-02  3.17717915e+01]
 [ 2.52404764e-01 -1.07578187e-02  9.67561938e-01  1.00584643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.74071405700005 meters
Centerline goodness : 0.998251 with order 1
Centerline is valid?  [True, True]
Translation: X:385.53, Y:31.78, Z:100.60
[[ 9.60983831e-01 -1.14062370e-01 -2.51991770e-01  3.85526600e+02]
 [ 1.13190865e-01  9.93410181e-01 -1.80011003e-02  3.17757821e+01]
 [ 2.52384438e-01 -1.12244000e-02  9.67561940e-01  1.00600539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.80071405700005 meters
Centerline goodness : 0.997905 with order 1
Centerline is valid?  [True, True]
Translation: X:385.59, Y:31.78, Z:100.61
[[ 9.60320826e-01 -1.19525812e-01 -2.51987085e-01  3.85585300e+02]
 [ 1.18821632e-01  9.92751240e-01 -1.80664420e-02  3.17778273e+01]
 [ 2.52319898e-01 -1.25919361e-02  9.67561942e-01  1.00614698e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.86071405700005 meters
Centerline goodness : 0.997859 with order 1
Centerline is valid?  [True, True]
Translation: X:385.64, Y:31.78, Z:100.63
[[ 9.59439612e-01 -1.26405262e-01 -2.51986785e-01  3.85642703e+02]
 [ 1.25932429e-01  9.91874224e-01 -1.80706314e-02  3.17796173e+01]
 [ 2.52223420e-01 -1.43956283e-02  9.67561942e-01  1.00628341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.92071405700005 meters
Centerline goodness : 0.997834 with order 1
Centerline is valid?  [True, True]
Translation: X:385.70, Y:31.78, Z:100.65
[[ 9.58724550e-01 -1.31718629e-01 -2.51986983e-01  3.85700443e+02]
 [ 1.31426214e-01  9.91161290e-01 -1.80678703e-02  3.17831695e+01]
 [ 2.52139618e-01 -1.57955845e-02  9.67561942e-01  1.00645112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 396.98071405700006 meters
Centerline goodness : 0.997834 with order 1
Centerline is valid?  [True, True]
Translation: X:385.76, Y:31.79, Z:100.66
[[ 9.58347145e-01 -1.34437055e-01 -2.51986961e-01  3.85757949e+02]
 [ 1.34236552e-01  9.90784583e-01 -1.80681749e-02  3.17867936e+01]
 [ 2.52093828e-01 -1.65102770e-02  9.67561942e-01  1.00658482e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.04071405700006 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:385.82, Y:31.79, Z:100.67
[[ 9.58262086e-01 -1.35043881e-01 -2.51985960e-01  3.85815297e+02]
 [ 1.34860267e-01  9.90699624e-01 -1.80821264e-02  3.17917933e+01]
 [ 2.52084276e-01 -1.66554776e-02  9.67561943e-01  1.00673546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.10071405700006 meters
Centerline goodness : 0.998121 with order 1
Centerline is valid?  [True, True]
Translation: X:385.87, Y:31.80, Z:100.69
[[ 9.58160091e-01 -1.35766917e-01 -2.51985287e-01  3.85871273e+02]
 [ 1.35605324e-01  9.90597746e-01 -1.80915021e-02  3.17970908e+01]
 [ 2.52072285e-01 -1.68359911e-02  9.67561943e-01  1.00689717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.16071405700006 meters
Centerline goodness : 0.998093 with order 1
Centerline is valid?  [True, True]
Translation: X:385.93, Y:31.80, Z:100.71
[[ 9.58126852e-01 -1.36010143e-01 -2.51980508e-01  3.85929202e+02]
 [ 1.35839420e-01  9.90564458e-01 -1.81578260e-02  3.18023818e+01]
 [ 2.52072584e-01 -1.68313853e-02  9.67561945e-01  1.00705526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.22071405700007 meters
Centerline goodness : 0.998025 with order 1
Centerline is valid?  [True, True]
Translation: X:385.99, Y:31.81, Z:100.72
[[ 9.57972491e-01 -1.37093781e-01 -2.51980163e-01  3.85986445e+02]
 [ 1.36958493e-01  9.90410264e-01 -1.81626184e-02  3.18096227e+01]
 [ 2.52053721e-01 -1.71115346e-02  9.67561945e-01  1.00718670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.28071405700007 meters
Centerline goodness : 0.997611 with order 1
Centerline is valid?  [True, True]
Translation: X:386.04, Y:31.82, Z:100.73
[[ 9.57468528e-01 -1.40578971e-01 -2.51975338e-01  3.86044474e+02]
 [ 1.40544263e-01  9.89906562e-01 -1.82293117e-02  3.18168300e+01]
 [ 2.51994699e-01 -1.79596960e-02  9.67561947e-01  1.00732958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.34071405700007 meters
Centerline goodness : 0.998420 with order 1
Centerline is valid?  [True, True]
Translation: X:386.10, Y:31.82, Z:100.75
[[ 9.56493256e-01 -1.47068923e-01 -2.51974966e-01  3.86101976e+02]
 [ 1.47252850e-01  9.88930788e-01 -1.82344609e-02  3.18246302e+01]
 [ 2.51867524e-01 -1.96628930e-02  9.67561947e-01  1.00748199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.4007140570001 meters
Centerline goodness : 0.998662 with order 1
Centerline is valid?  [True, True]
Translation: X:386.16, Y:31.83, Z:100.76
[[ 9.55167335e-01 -1.55448175e-01 -2.51974654e-01  3.86158427e+02]
 [ 1.55915325e-01  9.87602025e-01 -1.82387628e-02  3.18327437e+01]
 [ 2.51685861e-01 -2.18656398e-02  9.67561947e-01  1.00764042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.4607140570001 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:386.22, Y:31.84, Z:100.78
[[ 9.53886017e-01 -1.63127445e-01 -2.51974013e-01  3.86216347e+02]
 [ 1.63853198e-01  9.86315950e-01 -1.82476199e-02  3.18415540e+01]
 [ 2.51502676e-01 -2.38805984e-02  9.67561947e-01  1.00780118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.5207140570001 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:386.27, Y:31.85, Z:100.79
[[ 9.53363331e-01 -1.66155091e-01 -2.51973896e-01  3.86272890e+02]
 [ 1.66983380e-01  9.85790808e-01 -1.82492308e-02  3.18522496e+01]
 [ 2.51425753e-01 -2.46773055e-02  9.67561947e-01  1.00794273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.5807140570001 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:386.33, Y:31.87, Z:100.81
[[ 9.54051663e-01 -1.62157023e-01 -2.51973259e-01  3.86329874e+02]
 [ 1.62847064e-01  9.86482376e-01 -1.82580222e-02  3.18669958e+01]
 [ 2.51527846e-01 -2.36140090e-02  9.67561947e-01  1.00807917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.640714057 meters
Centerline goodness : 0.998956 with order 1
Centerline is valid?  [True, True]
Translation: X:386.39, Y:31.88, Z:100.82
[[ 9.54582196e-01 -1.59004765e-01 -2.51972846e-01  3.86387337e+02]
 [ 1.59586185e-01  9.87015038e-01 -1.82637263e-02  3.18762206e+01]
 [ 2.51605008e-01 -2.27771572e-02  9.67561947e-01  1.00823413e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.700714057 meters
Centerline goodness : 0.998888 with order 1
Centerline is valid?  [True, True]
Translation: X:386.44, Y:31.89, Z:100.84
[[ 9.55737232e-01 -1.51909228e-01 -2.51972082e-01  3.86444755e+02]
 [ 1.52246945e-01  9.88173527e-01 -1.82742624e-02  3.18872457e+01]
 [ 2.51768170e-01 -2.08965867e-02  9.67561947e-01  1.00839708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.76071405700003 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:386.50, Y:31.90, Z:100.85
[[ 9.57202938e-01 -1.42381978e-01 -2.51972039e-01  3.86501648e+02]
 [ 1.42396440e-01  9.89640987e-01 -1.82748502e-02  3.18995469e+01]
 [ 2.51963867e-01 -1.83871809e-02  9.67561947e-01  1.00854947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.82071405700003 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:386.56, Y:31.91, Z:100.87
[[ 9.59003824e-01 -1.29699423e-01 -2.51971678e-01  3.86559508e+02]
 [ 1.29283210e-01  9.91439206e-01 -1.82798335e-02  3.19118320e+01]
 [ 2.52185484e-01 -1.50452770e-02  9.67561947e-01  1.00871809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.88071405700003 meters
Centerline goodness : 0.999169 with order 1
Centerline is valid?  [True, True]
Translation: X:386.62, Y:31.92, Z:100.89
[[ 9.60252371e-01 -1.20106627e-01 -2.51971787e-01  3.86616683e+02]
 [ 1.19366604e-01  9.92681982e-01 -1.82783185e-02  3.19206469e+01]
 [ 2.52323200e-01 -1.25252177e-02  9.67561947e-01  1.00885829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 397.94071405700004 meters
Centerline goodness : 0.999031 with order 1
Centerline is valid?  [True, True]
Translation: X:386.68, Y:31.93, Z:100.90
[[ 9.60748098e-01 -1.16075745e-01 -2.51971254e-01  3.86675245e+02]
 [ 1.15197709e-01  9.93174266e-01 -1.82856699e-02  3.19270915e+01]
 [ 2.52373888e-01 -1.14585886e-02  9.67561947e-01  1.00900211e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.00071405700004 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:386.73, Y:31.93, Z:100.91
[[ 9.60523993e-01 -1.17916002e-01 -2.51971180e-01  3.86731717e+02]
 [ 1.17099818e-01  9.92951776e-01 -1.82866904e-02  3.19306935e+01]
 [ 2.52351524e-01 -1.19409744e-02  9.67561947e-01  1.00913813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.06071405700004 meters
Centerline goodness : 0.998694 with order 1
Centerline is valid?  [True, True]
Translation: X:386.79, Y:31.93, Z:100.93
[[ 9.59956124e-01 -1.22462626e-01 -2.51966555e-01  3.86789568e+02]
 [ 1.21783367e-01  9.92387062e-01 -1.83502007e-02  3.19324753e+01]
 [ 2.52295563e-01 -1.30699478e-02  9.67561949e-01  1.00928739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.12071405700004 meters
Centerline goodness : 0.999145 with order 1
Centerline is valid?  [True, True]
Translation: X:386.85, Y:31.93, Z:100.94
[[ 9.59068907e-01 -1.29228084e-01 -2.51966135e-01  3.86847117e+02]
 [ 1.28775998e-01  9.91503808e-01 -1.83559685e-02  3.19340442e+01]
 [ 2.52197489e-01 -1.48425518e-02  9.67561949e-01  1.00943462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.18071405700005 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:386.91, Y:31.94, Z:100.96
[[ 9.57878258e-01 -1.37776907e-01 -2.51965804e-01  3.86905079e+02]
 [ 1.37612937e-01  9.90315895e-01 -1.83605106e-02  3.19357930e+01]
 [ 2.52055395e-01 -1.70866204e-02  9.67561949e-01  1.00958859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.24071405700005 meters
Centerline goodness : 0.998881 with order 1
Centerline is valid?  [True, True]
Translation: X:386.96, Y:31.94, Z:100.97
[[ 9.56648829e-01 -1.46069734e-01 -2.51965577e-01  3.86963855e+02]
 [ 1.46185957e-01  9.89086671e-01 -1.83636286e-02  3.19379420e+01]
 [ 2.51898164e-01 -1.92662851e-02  9.67561949e-01  1.00974112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.30071405700005 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:387.02, Y:31.94, Z:100.99
[[ 9.55643272e-01 -1.52509622e-01 -2.51965777e-01  3.87022710e+02]
 [ 1.52845035e-01  9.88079588e-01 -1.83608838e-02  3.19414074e+01]
 [ 2.51762452e-01 -2.09652630e-02  9.67561949e-01  1.00989410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.36071405700005 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:387.08, Y:31.95, Z:101.00
[[ 9.55093495e-01 -1.55915467e-01 -2.51965838e-01  3.87081430e+02]
 [ 1.56366734e-01  9.87528406e-01 -1.83600376e-02  3.19462963e+01]
 [ 2.51686037e-01 -2.18635228e-02  9.67561949e-01  1.01004005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.42071405700005 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:387.14, Y:31.95, Z:101.02
[[ 9.55167372e-01 -1.55462014e-01 -2.51965979e-01  3.87139850e+02]
 [ 1.55898388e-01  9.87602487e-01 -1.83581059e-02  3.19519725e+01]
 [ 2.51696216e-01 -2.17460263e-02  9.67561949e-01  1.01018284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.48071405700006 meters
Centerline goodness : 0.998545 with order 1
Centerline is valid?  [True, True]
Translation: X:387.20, Y:31.96, Z:101.04
[[ 9.55212186e-01 -1.55185086e-01 -2.51966802e-01  3.87199390e+02]
 [ 1.55615017e-01  9.87647387e-01 -1.83467979e-02  3.19597378e+01]
 [ 2.51701504e-01 -2.16847333e-02  9.67561949e-01  1.01035007e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.54071405700006 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:387.26, Y:31.97, Z:101.05
[[ 9.55130645e-01 -1.55683962e-01 -2.51968164e-01  3.87257989e+02]
 [ 1.56135736e-01  9.87565549e-01 -1.83280745e-02  3.19656786e+01]
 [ 2.51688466e-01 -2.18355291e-02  9.67561949e-01  1.01049610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.60071405700006 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:387.32, Y:31.97, Z:101.07
[[ 9.54955588e-01 -1.56752090e-01 -2.51969457e-01  3.87316272e+02]
 [ 1.57244797e-01  9.87389896e-01 -1.83102816e-02  3.19727668e+01]
 [ 2.51662271e-01 -2.21353806e-02  9.67561950e-01  1.01065596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.66071405700006 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:387.37, Y:31.98, Z:101.08
[[ 9.54522033e-01 -1.59370360e-01 -2.51969794e-01  3.87374506e+02]
 [ 1.59953226e-01  9.86954846e-01 -1.83056474e-02  3.19790642e+01]
 [ 2.51600187e-01 -2.28302377e-02  9.67561950e-01  1.01078986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.72071405700007 meters
Centerline goodness : 0.998501 with order 1
Centerline is valid?  [True, True]
Translation: X:387.43, Y:31.99, Z:101.09
[[ 9.54675617e-01 -1.58447750e-01 -2.51969794e-01  3.87434042e+02]
 [ 1.58999271e-01  9.87108978e-01 -1.83056474e-02  3.19867927e+01]
 [ 2.51622135e-01 -2.25870583e-02  9.67561950e-01  1.01092651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.78071405700007 meters
Centerline goodness : 0.998852 with order 1
Centerline is valid?  [True, True]
Translation: X:387.49, Y:32.00, Z:101.11
[[ 9.55585164e-01 -1.52865547e-01 -2.51970472e-01  3.87492303e+02]
 [ 1.53229948e-01  9.88021168e-01 -1.82963171e-02  3.19956470e+01]
 [ 2.51749036e-01 -2.11257331e-02  9.67561950e-01  1.01109411e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.84071405700007 meters
Centerline goodness : 0.999368 with order 1
Centerline is valid?  [True, True]
Translation: X:387.55, Y:32.00, Z:101.13
[[ 9.56859018e-01 -1.44677881e-01 -2.51970497e-01  3.87548627e+02]
 [ 1.44764629e-01  9.89296952e-01 -1.82959747e-02  3.20041706e+01]
 [ 2.51920667e-01 -1.89697471e-02  9.67561950e-01  1.01126862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.9007140570001 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:387.61, Y:32.01, Z:101.15
[[ 9.58126866e-01 -1.36028912e-01 -2.51970323e-01  3.87606185e+02]
 [ 1.35822026e-01  9.90564257e-01 -1.82983676e-02  3.20133143e+01]
 [ 2.52081903e-01 -1.66909622e-02  9.67561950e-01  1.01145365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 398.9607140570001 meters
Centerline goodness : 0.999114 with order 1
Centerline is valid?  [True, True]
Translation: X:387.66, Y:32.02, Z:101.16
[[ 9.59052460e-01 -1.29341375e-01 -2.51970609e-01  3.87664017e+02]
 [ 1.28909233e-01  9.91487632e-01 -1.82944229e-02  3.20211236e+01]
 [ 2.52191968e-01 -1.49360266e-02  9.67561950e-01  1.01161509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.0207140570001 meters
Centerline goodness : 0.998683 with order 1
Centerline is valid?  [True, True]
Translation: X:387.72, Y:32.03, Z:101.17
[[ 9.59393018e-01 -1.26790544e-01 -2.51970622e-01  3.87722814e+02]
 [ 1.26272196e-01  9.91826927e-01 -1.82942464e-02  3.20281475e+01]
 [ 2.52230785e-01 -1.42655115e-02  9.67561950e-01  1.01173423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.0807140570001 meters
Centerline goodness : 0.998663 with order 1
Centerline is valid?  [True, True]
Translation: X:387.78, Y:32.03, Z:101.19
[[ 9.59397045e-01 -1.26759407e-01 -2.51970955e-01  3.87781284e+02]
 [ 1.26241206e-01  9.91830956e-01 -1.82896597e-02  3.20327123e+01]
 [ 2.52230980e-01 -1.42620718e-02  9.67561950e-01  1.01187573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.140714057 meters
Centerline goodness : 0.998275 with order 1
Centerline is valid?  [True, True]
Translation: X:387.84, Y:32.04, Z:101.20
[[ 9.59316377e-01 -1.27368466e-01 -2.51970955e-01  3.87840216e+02]
 [ 1.26870857e-01  9.91750611e-01 -1.82896597e-02  3.20378220e+01]
 [ 2.52221874e-01 -1.44222008e-02  9.67561950e-01  1.01203060e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.200714057 meters
Centerline goodness : 0.999476 with order 1
Centerline is valid?  [True, True]
Translation: X:387.90, Y:32.04, Z:101.22
[[ 9.59465574e-01 -1.26238341e-01 -2.51971614e-01  3.87897385e+02]
 [ 1.25704905e-01  9.91899238e-01 -1.82805742e-02  3.20430701e+01]
 [ 2.52238161e-01 -1.41344862e-02  9.67561950e-01  1.01218343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.26071405700003 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:387.96, Y:32.05, Z:101.23
[[ 9.59760798e-01 -1.23974513e-01 -2.51971289e-01  3.87955151e+02]
 [ 1.23363392e-01  9.92193091e-01 -1.82850492e-02  3.20489477e+01]
 [ 2.52271053e-01 -1.35347596e-02  9.67561950e-01  1.01234263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.32071405700003 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:388.01, Y:32.05, Z:101.25
[[ 9.59905220e-01 -1.22851933e-01 -2.51970972e-01  3.88012123e+02]
 [ 1.22201737e-01  9.92336754e-01 -1.82894215e-02  3.20532721e+01]
 [ 2.52286947e-01 -1.32351792e-02  9.67561950e-01  1.01247680e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.38071405700003 meters
Centerline goodness : 0.998653 with order 1
Centerline is valid?  [True, True]
Translation: X:388.07, Y:32.06, Z:101.26
[[ 9.59547473e-01 -1.25624469e-01 -2.51966545e-01  3.88068588e+02]
 [ 1.25052049e-01  9.91980471e-01 -1.83502213e-02  3.20569350e+01]
 [ 2.52251128e-01 -1.39010242e-02  9.67561951e-01  1.01261406e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.44071405700004 meters
Centerline goodness : 0.999045 with order 1
Centerline is valid?  [True, True]
Translation: X:388.13, Y:32.06, Z:101.28
[[ 9.58616345e-01 -1.32545657e-01 -2.51964980e-01  3.88126727e+02]
 [ 1.32201684e-01  9.91052570e-01 -1.83716754e-02  3.20577747e+01]
 [ 2.52145627e-01 -1.56988063e-02  9.67561952e-01  1.01277370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.50071405700004 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:388.19, Y:32.06, Z:101.29
[[ 9.58086434e-01 -1.36322998e-01 -2.51965127e-01  3.88185892e+02]
 [ 1.36107403e-01  9.90523766e-01 -1.83696571e-02  3.20601796e+01]
 [ 2.52081654e-01 -1.66945998e-02  9.67561952e-01  1.01291864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.56071405700004 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:388.24, Y:32.06, Z:101.31
[[ 9.57804406e-01 -1.38290002e-01 -2.51965465e-01  3.88243906e+02]
 [ 1.38142225e-01  9.90242118e-01 -1.83650250e-02  3.20635962e+01]
 [ 2.52046515e-01 -1.72169682e-02  9.67561952e-01  1.01308502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.62071405700004 meters
Centerline goodness : 0.999028 with order 1
Centerline is valid?  [True, True]
Translation: X:388.30, Y:32.07, Z:101.33
[[ 9.57547483e-01 -1.40057867e-01 -2.51965496e-01  3.88303183e+02]
 [ 1.39970081e-01  9.89985413e-01 -1.83646054e-02  3.20666840e+01]
 [ 2.52014273e-01 -1.76826491e-02  9.67561952e-01  1.01325101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.68071405700005 meters
Centerline goodness : 0.999073 with order 1
Centerline is valid?  [True, True]
Translation: X:388.36, Y:32.07, Z:101.34
[[ 9.57055776e-01 -1.43378134e-01 -2.51966173e-01  3.88362310e+02]
 [ 1.43405290e-01  9.89493813e-01 -1.83553056e-02  3.20700026e+01]
 [ 2.51950719e-01 -1.85662308e-02  9.67561952e-01  1.01339607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.74071405700005 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:388.42, Y:32.07, Z:101.35
[[ 9.56297924e-01 -1.48348577e-01 -2.51966227e-01  3.88421816e+02]
 [ 1.48544459e-01  9.88735381e-01 -1.83545592e-02  3.20731673e+01]
 [ 2.51850797e-01 -1.98757601e-02  9.67561952e-01  1.01353536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.80071405700005 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:388.48, Y:32.08, Z:101.37
[[ 9.55731652e-01 -1.51953324e-01 -2.51966658e-01  3.88480300e+02]
 [ 1.52273059e-01  9.88168125e-01 -1.83486541e-02  3.20756399e+01]
 [ 2.51773558e-01 -2.08313442e-02  9.67561952e-01  1.01368275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.86071405700005 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:388.54, Y:32.08, Z:101.38
[[ 9.55041880e-01 -1.56229878e-01 -2.51966728e-01  3.88539145e+02]
 [ 1.56695057e-01  9.87476593e-01 -1.83476826e-02  3.20792058e+01]
 [ 2.51677703e-01 -2.19591356e-02  9.67561952e-01  1.01383802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.92071405700005 meters
Centerline goodness : 0.999049 with order 1
Centerline is valid?  [True, True]
Translation: X:388.60, Y:32.08, Z:101.40
[[ 9.54462823e-01 -1.59729309e-01 -2.51966798e-01  3.88597927e+02]
 [ 1.60313616e-01  9.86895608e-01 -1.83467313e-02  3.20811982e+01]
 [ 2.51595437e-01 -2.28824355e-02  9.67561952e-01  1.01398995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 399.98071405700006 meters
Centerline goodness : 0.998958 with order 1
Centerline is valid?  [True, True]
Translation: X:388.66, Y:32.08, Z:101.41
[[ 9.54202969e-01 -1.61273007e-01 -2.51967678e-01  3.88657058e+02]
 [ 1.61912944e-01  9.86634704e-01 -1.83346301e-02  3.20841477e+01]
 [ 2.51556937e-01 -2.33018700e-02  9.67561952e-01  1.01413645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.04071405700006 meters
Centerline goodness : 0.998935 with order 1
Centerline is valid?  [True, True]
Translation: X:388.72, Y:32.09, Z:101.43
[[ 9.53907592e-01 -1.63010507e-01 -2.51968016e-01  3.88716151e+02]
 [ 1.63710720e-01  9.86338082e-01 -1.83299916e-02  3.20868661e+01]
 [ 2.51513630e-01 -2.37647472e-02  9.67561952e-01  1.01428764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.10071405700006 meters
Centerline goodness : 0.998781 with order 1
Centerline is valid?  [True, True]
Translation: X:388.77, Y:32.09, Z:101.44
[[ 9.54051573e-01 -1.62165599e-01 -2.51968084e-01  3.88774064e+02]
 [ 1.62837336e-01  9.86482665e-01 -1.83290499e-02  3.20882840e+01]
 [ 2.51534488e-01 -2.35429528e-02  9.67561952e-01  1.01441925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.16071405700006 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:388.83, Y:32.09, Z:101.46
[[ 9.54688115e-01 -1.58375606e-01 -2.51967796e-01  3.88832413e+02]
 [ 1.58917511e-01  9.87121637e-01 -1.83330125e-02  3.20918140e+01]
 [ 2.51626365e-01 -2.25397858e-02  9.67561952e-01  1.01457682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.22071405700007 meters
Centerline goodness : 0.998938 with order 1
Centerline is valid?  [True, True]
Translation: X:388.89, Y:32.10, Z:101.47
[[ 9.55401622e-01 -1.54012888e-01 -2.51967796e-01  3.88891230e+02]
 [ 1.54406629e-01  9.87837281e-01 -1.83330125e-02  3.20964200e+01]
 [ 2.51726702e-01 -2.13901082e-02  9.67561952e-01  1.01473275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.28071405700007 meters
Centerline goodness : 0.998754 with order 1
Centerline is valid?  [True, True]
Translation: X:388.95, Y:32.10, Z:101.49
[[ 9.55974715e-01 -1.50414159e-01 -2.51968104e-01  3.88949087e+02]
 [ 1.50686868e-01  9.88411617e-01 -1.83287737e-02  3.21018681e+01]
 [ 2.51805108e-01 -2.04464403e-02  9.67561952e-01  1.01489122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.34071405700007 meters
Centerline goodness : 0.998913 with order 1
Centerline is valid?  [True, True]
Translation: X:389.01, Y:32.11, Z:101.50
[[ 9.56136349e-01 -1.49383180e-01 -2.51968148e-01  3.89007172e+02]
 [ 1.49621068e-01  9.88573525e-01 -1.83281688e-02  3.21065936e+01]
 [ 2.51826960e-01 -2.01755150e-02  9.67561952e-01  1.01504810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.4007140570001 meters
Centerline goodness : 0.998802 with order 1
Centerline is valid?  [True, True]
Translation: X:389.07, Y:32.11, Z:101.52
[[ 9.55935166e-01 -1.50665226e-01 -2.51968148e-01  3.89066180e+02]
 [ 1.50946613e-01  9.88371994e-01 -1.83281688e-02  3.21101850e+01]
 [ 2.51799679e-01 -2.05131974e-02  9.67561952e-01  1.01520281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.4607140570001 meters
Centerline goodness : 0.999207 with order 1
Centerline is valid?  [True, True]
Translation: X:389.13, Y:32.11, Z:101.53
[[ 9.55306476e-01 -1.54600836e-01 -2.51968485e-01  3.89125304e+02]
 [ 1.55017021e-01  9.87741855e-01 -1.83235323e-02  3.21123949e+01]
 [ 2.51712652e-01 -2.15548149e-02  9.67561952e-01  1.01534727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.5207140570001 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:389.18, Y:32.12, Z:101.55
[[ 9.54832009e-01 -1.57504561e-01 -2.51968544e-01  3.89184065e+02]
 [ 1.58019569e-01  9.87265969e-01 -1.83227265e-02  3.21151631e+01]
 [ 2.51645882e-01 -2.23208349e-02  9.67561952e-01  1.01549208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.5807140570001 meters
Centerline goodness : 0.998941 with order 1
Centerline is valid?  [True, True]
Translation: X:389.24, Y:32.12, Z:101.56
[[ 9.54011082e-01 -1.62402834e-01 -2.51968601e-01  3.89242648e+02]
 [ 1.63084496e-01  9.86441967e-01 -1.83219456e-02  3.21159158e+01]
 [ 2.51527938e-01 -2.36128331e-02  9.67561952e-01  1.01563387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.640714057 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:389.30, Y:32.12, Z:101.58
[[ 9.54031688e-01 -1.62281586e-01 -2.51968701e-01  3.89302761e+02]
 [ 1.62959485e-01  9.86462652e-01 -1.83205718e-02  3.21192669e+01]
 [ 2.51530804e-01 -2.35822836e-02  9.67561952e-01  1.01578322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.700714057 meters
Centerline goodness : 0.998489 with order 1
Centerline is valid?  [True, True]
Translation: X:389.36, Y:32.12, Z:101.59
[[ 9.54723590e-01 -1.58157987e-01 -2.51970074e-01  3.89361593e+02]
 [ 1.58700705e-01  9.87157098e-01 -1.83016686e-02  3.21245146e+01]
 [ 2.51628602e-01 -2.25147936e-02  9.67561952e-01  1.01593646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.76071405700003 meters
Centerline goodness : 0.998869 with order 1
Centerline is valid?  [True, True]
Translation: X:389.42, Y:32.13, Z:101.61
[[ 9.55943936e-01 -1.50606251e-01 -2.51970132e-01  3.89419409e+02]
 [ 1.50892787e-01  9.88380719e-01 -1.83008599e-02  3.21304543e+01]
 [ 2.51798644e-01 -2.05258794e-02  9.67561952e-01  1.01610348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.82071405700003 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:389.48, Y:32.14, Z:101.63
[[ 9.57209827e-01 -1.42338736e-01 -2.51970300e-01  3.89476864e+02]
 [ 1.42345526e-01  9.89647874e-01 -1.82985518e-02  3.21378224e+01]
 [ 2.51966464e-01 -1.83512913e-02  9.67561952e-01  1.01627543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.88071405700003 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:389.53, Y:32.15, Z:101.64
[[ 9.58368793e-01 -1.34313991e-01 -2.51970254e-01  3.89534607e+02]
 [ 1.34048841e-01  9.90805757e-01 -1.82991795e-02  3.21451793e+01]
 [ 2.52111414e-01 -1.62389581e-02  9.67561952e-01  1.01644792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 400.94071405700004 meters
Centerline goodness : 0.998645 with order 1
Centerline is valid?  [True, True]
Translation: X:389.59, Y:32.15, Z:101.66
[[ 9.58812694e-01 -1.31107729e-01 -2.51970197e-01  3.89591661e+02]
 [ 1.30733882e-01  9.91248588e-01 -1.82999637e-02  3.21517880e+01]
 [ 2.52164369e-01 -1.53948045e-02  9.67561952e-01  1.01660401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.00071405700004 meters
Centerline goodness : 0.998821 with order 1
Centerline is valid?  [True, True]
Translation: X:389.65, Y:32.16, Z:101.67
[[ 9.58628466e-01 -1.32448899e-01 -2.51969746e-01  3.89649648e+02]
 [ 1.32118799e-01  9.91064835e-01 -1.83061828e-02  3.21557972e+01]
 [ 2.52142988e-01 -1.57411123e-02  9.67561952e-01  1.01674955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.06071405700004 meters
Centerline goodness : 0.998754 with order 1
Centerline is valid?  [True, True]
Translation: X:389.71, Y:32.16, Z:101.69
[[ 9.57911334e-01 -1.37540104e-01 -2.51969434e-01  3.89707860e+02]
 [ 1.37381215e-01  9.90348993e-01 -1.83104752e-02  3.21585364e+01]
 [ 2.52056100e-01 -1.70760552e-02  9.67561952e-01  1.01688960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.12071405700004 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:389.77, Y:32.16, Z:101.70
[[ 9.56704748e-01 -1.45696912e-01 -2.51969114e-01  3.89766649e+02]
 [ 1.45813261e-01  9.89142588e-01 -1.83148700e-02  3.21618173e+01]
 [ 2.51901802e-01 -1.92185150e-02  9.67561952e-01  1.01703570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.18071405700005 meters
Centerline goodness : 0.998937 with order 1
Centerline is valid?  [True, True]
Translation: X:389.83, Y:32.17, Z:101.72
[[ 9.55522081e-01 -1.53261215e-01 -2.51969349e-01  3.89825157e+02]
 [ 1.53635035e-01  9.87957975e-01 -1.83116371e-02  3.21651470e+01]
 [ 2.51741592e-01 -2.12141463e-02  9.67561952e-01  1.01718739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.24071405700005 meters
Centerline goodness : 0.999008 with order 1
Centerline is valid?  [True, True]
Translation: X:389.88, Y:32.17, Z:101.73
[[ 9.54822304e-01 -1.57562045e-01 -2.51969381e-01  3.89883054e+02]
 [ 1.58082025e-01  9.87256184e-01 -1.83111933e-02  3.21694995e+01]
 [ 2.51643479e-01 -2.23478942e-02  9.67561952e-01  1.01732337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.30071405700005 meters
Centerline goodness : 0.998936 with order 1
Centerline is valid?  [True, True]
Translation: X:389.94, Y:32.18, Z:101.75
[[ 9.54886863e-01 -1.57167856e-01 -2.51970918e-01  3.89940778e+02]
 [ 1.57679989e-01  9.87320868e-01 -1.82900250e-02  3.21772060e+01]
 [ 2.51650749e-01 -2.22658670e-02  9.67561952e-01  1.01751029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.36071405700005 meters
Centerline goodness : 0.998932 with order 1
Centerline is valid?  [True, True]
Translation: X:390.00, Y:32.18, Z:101.77
[[ 9.55644406e-01 -1.52493378e-01 -2.51971307e-01  3.89999078e+02]
 [ 1.52848198e-01  9.88080513e-01 -1.82846598e-02  3.21843616e+01]
 [ 2.51756228e-01 -2.10397275e-02  9.67561952e-01  1.01767153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.42071405700005 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:390.06, Y:32.19, Z:101.78
[[ 9.56935054e-01 -1.44171925e-01 -2.51971742e-01  3.90057764e+02]
 [ 1.44246054e-01  9.89373017e-01 -1.82786670e-02  3.21921194e+01]
 [ 2.51929313e-01 -1.88544323e-02  9.67561952e-01  1.01782471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.48071405700006 meters
Centerline goodness : 0.999316 with order 1
Centerline is valid?  [True, True]
Translation: X:390.12, Y:32.20, Z:101.80
[[ 9.58438788e-01 -1.33810792e-01 -2.51971747e-01  3.90115184e+02]
 [ 1.33534001e-01  9.90875655e-01 -1.82785991e-02  3.22006563e+01]
 [ 2.52118544e-01 -1.61278771e-02  9.67561952e-01  1.01799590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.54071405700006 meters
Centerline goodness : 0.998883 with order 1
Centerline is valid?  [True, True]
Translation: X:390.17, Y:32.21, Z:101.82
[[ 9.59957042e-01 -1.22444300e-01 -2.51971965e-01  3.90173509e+02]
 [ 1.21783951e-01  9.92388368e-01 -1.82755945e-02  3.22100455e+01]
 [ 2.52291789e-01 -1.31423558e-02  9.67561952e-01  1.01815758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.60071405700006 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:390.23, Y:32.22, Z:101.83
[[ 9.61128514e-01 -1.12880615e-01 -2.51972115e-01  3.90231472e+02]
 [ 1.11897945e-01  9.93551674e-01 -1.82735244e-02  3.22192572e+01]
 [ 2.52410043e-01 -1.06319564e-02  9.67561952e-01  1.01831095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.66071405700006 meters
Centerline goodness : 0.998032 with order 1
Centerline is valid?  [True, True]
Translation: X:390.29, Y:32.22, Z:101.84
[[ 9.61034662e-01 -1.13676945e-01 -2.51972082e-01  3.90289729e+02]
 [ 1.12721020e-01  9.93458622e-01 -1.82739860e-02  3.22235714e+01]
 [ 2.52401168e-01 -1.08406159e-02  9.67561952e-01  1.01844485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.72071405700007 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:390.35, Y:32.23, Z:101.86
[[ 9.60143881e-01 -1.20971621e-01 -2.51971416e-01  3.90348259e+02]
 [ 1.20259544e-01  9.92574112e-01 -1.82831603e-02  3.22271827e+01]
 [ 2.52312048e-01 -1.27475031e-02  9.67561952e-01  1.01859632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.78071405700007 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:390.41, Y:32.23, Z:101.87
[[ 9.58887078e-01 -1.30559188e-01 -2.51971962e-01  3.90405452e+02]
 [ 1.30173154e-01  9.91322829e-01 -1.82756351e-02  3.22288190e+01]
 [ 2.52171610e-01 -1.52757146e-02  9.67561952e-01  1.01874922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.84071405700007 meters
Centerline goodness : 0.998817 with order 1
Centerline is valid?  [True, True]
Translation: X:390.46, Y:32.23, Z:101.89
[[ 9.57588412e-01 -1.39765348e-01 -2.51972380e-01  3.90463267e+02]
 [ 1.39692458e-01  9.90026378e-01 -1.82698693e-02  3.22321380e+01]
 [ 2.52012797e-01 -1.77036259e-02  9.67561952e-01  1.01891276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.9007140570001 meters
Centerline goodness : 0.998813 with order 1
Centerline is valid?  [True, True]
Translation: X:390.52, Y:32.24, Z:101.91
[[ 9.56672399e-01 -1.45903971e-01 -2.51972128e-01  3.90522101e+02]
 [ 1.46038213e-01  9.89110168e-01 -1.82733466e-02  3.22365492e+01]
 [ 2.51894347e-01 -1.93159530e-02  9.67561952e-01  1.01906661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 401.9607140570001 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:390.58, Y:32.24, Z:101.92
[[ 9.56544977e-01 -1.46736817e-01 -2.51972247e-01  3.90580852e+02]
 [ 1.46899729e-01  9.88982616e-01 -1.82717068e-02  3.22417530e+01]
 [ 2.51877304e-01 -1.95369453e-02  9.67561952e-01  1.01920926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.0207140570001 meters
Centerline goodness : 0.998421 with order 1
Centerline is valid?  [True, True]
Translation: X:390.64, Y:32.25, Z:101.94
[[ 9.56995467e-01 -1.43768887e-01 -2.51972586e-01  3.90639361e+02]
 [ 1.43832402e-01  9.89433452e-01 -1.82670255e-02  3.22500728e+01]
 [ 2.51936335e-01 -1.87603615e-02  9.67561952e-01  1.01935858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.0807140570001 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:390.70, Y:32.26, Z:101.95
[[ 9.57518495e-01 -1.40242985e-01 -2.51972691e-01  3.90697845e+02]
 [ 1.40187401e-01  9.89956495e-01 -1.82655726e-02  3.22572886e+01]
 [ 2.52003621e-01 -1.78337730e-02  9.67561952e-01  1.01951563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.140714057 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:390.76, Y:32.26, Z:101.97
[[ 9.58141937e-01 -1.35917758e-01 -2.51972996e-01  3.90755157e+02]
 [ 1.35716797e-01  9.90579363e-01 -1.82613651e-02  3.22648362e+01]
 [ 2.52081294e-01 -1.66999883e-02  9.67561952e-01  1.01967145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.200714057 meters
Centerline goodness : 0.998277 with order 1
Centerline is valid?  [True, True]
Translation: X:390.81, Y:32.27, Z:101.98
[[ 9.58633523e-01 -1.32406109e-01 -2.51972996e-01  3.90813217e+02]
 [ 1.32086296e-01  9.91069994e-01 -1.82613651e-02  3.22728406e+01]
 [ 2.52140792e-01 -1.57762230e-02  9.67561952e-01  1.01983898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.26071405700003 meters
Centerline goodness : 0.998643 with order 1
Centerline is valid?  [True, True]
Translation: X:390.87, Y:32.28, Z:102.00
[[ 9.58648421e-01 -1.32297492e-01 -2.51973369e-01  3.90871367e+02]
 [ 1.31975349e-01  9.91084869e-01 -1.82562222e-02  3.22776074e+01]
 [ 2.52142246e-01 -1.57529748e-02  9.67561952e-01  1.01999068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.32071405700003 meters
Centerline goodness : 0.998367 with order 1
Centerline is valid?  [True, True]
Translation: X:390.93, Y:32.28, Z:102.02
[[ 9.58459775e-01 -1.33655401e-01 -2.51974392e-01  3.90930998e+02]
 [ 1.33382910e-01  9.90896678e-01 -1.82420909e-02  3.22814746e+01]
 [ 2.52118742e-01 -1.61247672e-02  9.67561953e-01  1.02015611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.38071405700003 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:390.99, Y:32.28, Z:102.03
[[ 9.58417017e-01 -1.33959152e-01 -2.51975728e-01  3.90989536e+02]
 [ 1.33701778e-01  9.90854043e-01 -1.82236148e-02  3.22839699e+01]
 [ 2.52112389e-01 -1.62237802e-02  9.67561953e-01  1.02028475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.44071405700004 meters
Centerline goodness : 0.998393 with order 1
Centerline is valid?  [True, True]
Translation: X:391.05, Y:32.29, Z:102.05
[[ 9.58589687e-01 -1.32717910e-01 -2.51975728e-01  3.91049544e+02]
 [ 1.32418531e-01  9.91026353e-01 -1.82236148e-02  3.22881598e+01]
 [ 2.52133187e-01 -1.58972864e-02  9.67561953e-01  1.02045361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.50071405700004 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:391.11, Y:32.29, Z:102.06
[[ 9.59155368e-01 -1.28563375e-01 -2.51977060e-01  3.91108676e+02]
 [ 1.28128284e-01  9.91590497e-01 -1.82051866e-02  3.22936095e+01]
 [ 2.52198578e-01 -1.48237859e-02  9.67561953e-01  1.02061482e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.56071405700004 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:391.17, Y:32.30, Z:102.08
[[ 9.59828061e-01 -1.23439554e-01 -2.51977717e-01  3.91167615e+02]
 [ 1.22833646e-01  9.92260449e-01 -1.81960794e-02  3.22979354e+01]
 [ 2.52273639e-01 -1.34862341e-02  9.67561953e-01  1.02077181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.62071405700004 meters
Centerline goodness : 0.997954 with order 1
Centerline is valid?  [True, True]
Translation: X:391.22, Y:32.30, Z:102.09
[[ 9.60449595e-01 -1.18505920e-01 -2.51978021e-01  3.91224452e+02]
 [ 1.17734469e-01  9.92878467e-01 -1.81918761e-02  3.23014991e+01]
 [ 2.52339396e-01 -1.21941184e-02  9.67561953e-01  1.02094066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.68071405700005 meters
Centerline goodness : 0.997779 with order 1
Centerline is valid?  [True, True]
Translation: X:391.28, Y:32.30, Z:102.11
[[ 9.60897489e-01 -1.14818346e-01 -2.51977703e-01  3.91283032e+02]
 [ 1.13921272e-01  9.93323129e-01 -1.81962739e-02  3.23029603e+01]
 [ 2.52384547e-01 -1.12208664e-02  9.67561953e-01  1.02111863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.74071405700005 meters
Centerline goodness : 0.997983 with order 1
Centerline is valid?  [True, True]
Translation: X:391.34, Y:32.30, Z:102.13
[[ 9.61201740e-01 -1.12242090e-01 -2.51978032e-01  3.91342915e+02]
 [ 1.11259287e-01  9.93624895e-01 -1.81917217e-02  3.23024962e+01]
 [ 2.52413522e-01 -1.05489817e-02  9.67561953e-01  1.02128225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.80071405700005 meters
Centerline goodness : 0.998882 with order 1
Centerline is valid?  [True, True]
Translation: X:391.40, Y:32.30, Z:102.14
[[ 9.61166712e-01 -1.12538612e-01 -2.51979388e-01  3.91401532e+02]
 [ 1.11570734e-01  9.93590316e-01 -1.81729120e-02  3.22987255e+01]
 [ 2.52409435e-01 -1.06463273e-02  9.67561953e-01  1.02142043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.86071405700005 meters
Centerline goodness : 0.999022 with order 1
Centerline is valid?  [True, True]
Translation: X:391.46, Y:32.30, Z:102.16
[[ 9.60819016e-01 -1.15469506e-01 -2.51979388e-01  3.91461078e+02]
 [ 1.14600520e-01  9.93245421e-01 -1.81729120e-02  3.22958856e+01]
 [ 2.52375791e-01 -1.14160895e-02  9.67561953e-01  1.02156346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.92071405700005 meters
Centerline goodness : 0.999093 with order 1
Centerline is valid?  [True, True]
Translation: X:391.52, Y:32.30, Z:102.17
[[ 9.60662989e-01 -1.16759739e-01 -2.51979731e-01  3.91519196e+02]
 [ 1.15935543e-01  9.93090564e-01 -1.81681654e-02  3.22976652e+01]
 [ 2.52360003e-01 -1.17599229e-02  9.67561953e-01  1.02170131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 402.98071405700006 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:391.58, Y:32.29, Z:102.19
[[ 9.59780957e-01 -1.23801857e-01 -2.51979394e-01  3.91577710e+02]
 [ 1.23214279e-01  9.92213682e-01 -1.81728284e-02  3.22947616e+01]
 [ 2.52267232e-01 -1.36055247e-02  9.67561953e-01  1.02186047e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.04071405700006 meters
Centerline goodness : 0.999212 with order 1
Centerline is valid?  [True, True]
Translation: X:391.64, Y:32.29, Z:102.20
[[ 9.58968223e-01 -1.29947397e-01 -2.51979407e-01  3.91636114e+02]
 [ 1.29567630e-01  9.91404047e-01 -1.81726588e-02  3.22922832e+01]
 [ 2.52174893e-01 -1.52213722e-02  9.67561953e-01  1.02200502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.10071405700006 meters
Centerline goodness : 0.999214 with order 1
Centerline is valid?  [True, True]
Translation: X:391.69, Y:32.29, Z:102.21
[[ 9.58339965e-01 -1.34503030e-01 -2.51979059e-01  3.91694476e+02]
 [ 1.34276144e-01  9.90777218e-01 -1.81774761e-02  3.22908865e+01]
 [ 2.52100037e-01 -1.64145746e-02  9.67561953e-01  1.02214639e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.16071405700006 meters
Centerline goodness : 0.998566 with order 1
Centerline is valid?  [True, True]
Translation: X:391.75, Y:32.29, Z:102.23
[[ 9.58115256e-01 -1.36094627e-01 -2.51978983e-01  3.91754070e+02]
 [ 1.35921343e-01  9.90552840e-01 -1.81785280e-02  3.22890505e+01]
 [ 2.52072498e-01 -1.68321969e-02  9.67561953e-01  1.02232324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.22071405700007 meters
Centerline goodness : 0.998995 with order 1
Centerline is valid?  [True, True]
Translation: X:391.81, Y:32.29, Z:102.25
[[ 9.58124535e-01 -1.36027438e-01 -2.51979983e-01  3.91811177e+02]
 [ 1.35855509e-01  9.90562126e-01 -1.81646627e-02  3.22868265e+01]
 [ 2.52072720e-01 -1.68288599e-02  9.67561953e-01  1.02247486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.28071405700007 meters
Centerline goodness : 0.998395 with order 1
Centerline is valid?  [True, True]
Translation: X:391.87, Y:32.29, Z:102.26
[[ 9.58328492e-01 -1.34584256e-01 -2.51979325e-01  3.91870257e+02]
 [ 1.34361086e-01  9.90765771e-01 -1.81737805e-02  3.22857317e+01]
 [ 2.52098395e-01 -1.64397641e-02  9.67561953e-01  1.02261559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.34071405700007 meters
Centerline goodness : 0.998667 with order 1
Centerline is valid?  [True, True]
Translation: X:391.93, Y:32.29, Z:102.28
[[ 9.58595916e-01 -1.32666086e-01 -2.51979325e-01  3.91927806e+02]
 [ 1.32378000e-01  9.91032683e-01 -1.81737805e-02  3.22879553e+01]
 [ 2.52130791e-01 -1.59352075e-02  9.67561953e-01  1.02275177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.4007140570001 meters
Centerline goodness : 0.998888 with order 1
Centerline is valid?  [True, True]
Translation: X:391.99, Y:32.29, Z:102.29
[[ 9.59214577e-01 -1.28117726e-01 -2.51978657e-01  3.91986232e+02]
 [ 1.27673364e-01  9.91649580e-01 -1.81830374e-02  3.22891362e+01]
 [ 2.52204099e-01 -1.47295284e-02  9.67561953e-01  1.02289618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.4607140570001 meters
Centerline goodness : 0.998953 with order 1
Centerline is valid?  [True, True]
Translation: X:392.04, Y:32.29, Z:102.31
[[ 9.59699575e-01 -1.24432818e-01 -2.51978571e-01  3.92044025e+02]
 [ 1.23863577e-01  9.92132626e-01 -1.81842336e-02  3.22913946e+01]
 [ 2.52258877e-01 -1.37595657e-02  9.67561953e-01  1.02306658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.5207140570001 meters
Centerline goodness : 0.999199 with order 1
Centerline is valid?  [True, True]
Translation: X:392.10, Y:32.29, Z:102.32
[[ 9.60257422e-01 -1.20052390e-01 -2.51978388e-01  3.92102165e+02]
 [ 1.19334497e-01  9.92687523e-01 -1.81867736e-02  3.22949039e+01]
 [ 2.52319167e-01 -1.26057298e-02  9.67561953e-01  1.02322516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.5807140570001 meters
Centerline goodness : 0.999042 with order 1
Centerline is valid?  [True, True]
Translation: X:392.16, Y:32.30, Z:102.34
[[ 9.60511456e-01 -1.18002824e-01 -2.51978326e-01  3.92159045e+02]
 [ 1.17215499e-01  9.92939946e-01 -1.81876275e-02  3.22972581e+01]
 [ 2.52345537e-01 -1.20663406e-02  9.67561953e-01  1.02337083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.640714057 meters
Centerline goodness : 0.998978 with order 1
Centerline is valid?  [True, True]
Translation: X:392.22, Y:32.30, Z:102.35
[[ 9.60302187e-01 -1.19703671e-01 -2.51973691e-01  3.92215486e+02]
 [ 1.18957027e-01  9.92731637e-01 -1.82516225e-02  3.22998463e+01]
 [ 2.52327041e-01 -1.24469681e-02  9.67561955e-01  1.02352576e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.700714057 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:392.27, Y:32.30, Z:102.37
[[ 9.59422312e-01 -1.26572091e-01 -2.51968913e-01  3.92272907e+02]
 [ 1.26040308e-01  9.91855995e-01 -1.83173499e-02  3.23019421e+01]
 [ 2.52235343e-01 -1.41841654e-02  9.67561957e-01  1.02365776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.76071405700003 meters
Centerline goodness : 0.998958 with order 1
Centerline is valid?  [True, True]
Translation: X:392.33, Y:32.30, Z:102.38
[[ 9.58617966e-01 -1.32526608e-01 -2.51968835e-01  3.92331538e+02]
 [ 1.32195932e-01  9.91054323e-01 -1.83184251e-02  3.23038968e+01]
 [ 2.52142482e-01 -1.57488836e-02  9.67561957e-01  1.02381036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.82071405700003 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:392.39, Y:32.31, Z:102.40
[[ 9.57986459e-01 -1.37017438e-01 -2.51968583e-01  3.92389826e+02]
 [ 1.36837860e-01  9.90424004e-01 -1.83218955e-02  3.23066952e+01]
 [ 2.52066152e-01 -1.69267139e-02  9.67561957e-01  1.02396733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.88071405700003 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:392.45, Y:32.31, Z:102.41
[[ 9.57439276e-01 -1.40790682e-01 -2.51968283e-01  3.92447501e+02]
 [ 1.40737826e-01  9.89877276e-01 -1.83260167e-02  3.23109935e+01]
 [ 2.51997810e-01 -1.79154201e-02  9.67561957e-01  1.02413170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 403.94071405700004 meters
Centerline goodness : 0.998874 with order 1
Centerline is valid?  [True, True]
Translation: X:392.51, Y:32.31, Z:102.43
[[ 9.56833568e-01 -1.44850533e-01 -2.51967947e-01  3.92506117e+02]
 [ 1.44934056e-01  9.89271503e-01 -1.83306429e-02  3.23145883e+01]
 [ 2.51919913e-01 -1.89793620e-02  9.67561957e-01  1.02427931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.00071405700004 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:392.56, Y:32.32, Z:102.44
[[ 9.56100791e-01 -1.49610888e-01 -2.51967973e-01  3.92564539e+02]
 [ 1.49855949e-01  9.88537908e-01 -1.83302790e-02  3.23180926e+01]
 [ 2.51822302e-01 -2.02333054e-02  9.67561957e-01  1.02442257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.06071405700004 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:392.62, Y:32.32, Z:102.46
[[ 9.55640852e-01 -1.52521061e-01 -2.51968032e-01  3.92623016e+02]
 [ 1.52865086e-01  9.88077070e-01 -1.83294745e-02  3.23223570e+01]
 [ 2.51759465e-01 -2.10007203e-02  9.67561957e-01  1.02455977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.12071405700004 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:392.68, Y:32.33, Z:102.47
[[ 9.56546304e-01 -1.46734824e-01 -2.51968371e-01  3.92681604e+02]
 [ 1.46883765e-01  9.88984004e-01 -1.83248061e-02  3.23296365e+01]
 [ 2.51881576e-01 -1.94815374e-02  9.67561957e-01  1.02471700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.18071405700005 meters
Centerline goodness : 0.998869 with order 1
Centerline is valid?  [True, True]
Translation: X:392.74, Y:32.34, Z:102.49
[[ 9.57364482e-01 -1.41297670e-01 -2.51968684e-01  3.92739562e+02]
 [ 1.41263434e-01  9.89802506e-01 -1.83205059e-02  3.23365420e+01]
 [ 2.51987879e-01 -1.80545599e-02  9.67561957e-01  1.02487139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.24071405700005 meters
Centerline goodness : 0.999069 with order 1
Centerline is valid?  [True, True]
Translation: X:392.80, Y:32.35, Z:102.50
[[ 9.58736876e-01 -1.31664000e-01 -2.51968637e-01  3.92795926e+02]
 [ 1.31303427e-01  9.91172914e-01 -1.83211440e-02  3.23464129e+01]
 [ 2.52156724e-01 -1.55191892e-02  9.67561957e-01  1.02503462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.30071405700005 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:392.85, Y:32.35, Z:102.52
[[ 9.58977602e-01 -1.29899329e-01 -2.51968498e-01  3.92853527e+02]
 [ 1.29478559e-01  9.91412915e-01 -1.83230627e-02  3.23535813e+01]
 [ 2.52184976e-01 -1.50531113e-02  9.67561957e-01  1.02520167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.36071405700005 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:392.91, Y:32.36, Z:102.53
[[ 9.58974512e-01 -1.29922133e-01 -2.51968498e-01  3.92911193e+02]
 [ 1.29502134e-01  9.91409836e-01 -1.83230627e-02  3.23598386e+01]
 [ 2.52184618e-01 -1.50591081e-02  9.67561957e-01  1.02533715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.42071405700005 meters
Centerline goodness : 0.999087 with order 1
Centerline is valid?  [True, True]
Translation: X:392.97, Y:32.37, Z:102.55
[[ 9.59228681e-01 -1.28033418e-01 -2.51967819e-01  3.92969498e+02]
 [ 1.27547105e-01  9.91663078e-01 -1.83323914e-02  3.23669917e+01]
 [ 2.52214342e-01 -1.45528102e-02  9.67561958e-01  1.02546976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.48071405700006 meters
Centerline goodness : 0.999377 with order 1
Centerline is valid?  [True, True]
Translation: X:393.03, Y:32.37, Z:102.56
[[ 9.59664015e-01 -1.24728854e-01 -2.51967640e-01  3.93025865e+02]
 [ 1.24130186e-01  9.92096533e-01 -1.83348585e-02  3.23738782e+01]
 [ 2.52263107e-01 -1.36814861e-02  9.67561958e-01  1.02561909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.54071405700006 meters
Centerline goodness : 0.999150 with order 1
Centerline is valid?  [True, True]
Translation: X:393.08, Y:32.38, Z:102.58
[[ 9.59933950e-01 -1.22635783e-01 -2.51966817e-01  3.93081833e+02]
 [ 1.21963434e-01  9.92365023e-01 -1.83461492e-02  3.23818583e+01]
 [ 2.52292951e-01 -1.31196468e-02  9.67561958e-01  1.02579051e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.60071405700006 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:393.14, Y:32.39, Z:102.60
[[ 9.60063646e-01 -1.21618335e-01 -2.51965825e-01  3.93139319e+02]
 [ 1.20908050e-01  9.92493911e-01 -1.83597648e-02  3.23868494e+01]
 [ 2.52307431e-01 -1.28381539e-02  9.67561958e-01  1.02595565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.66071405700006 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:393.20, Y:32.39, Z:102.61
[[ 9.60084700e-01 -1.21452716e-01 -2.51965489e-01  3.93195646e+02]
 [ 1.20735627e-01  9.92514815e-01 -1.83643860e-02  3.23929054e+01]
 [ 2.52309885e-01 -1.27898452e-02  9.67561958e-01  1.02610154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.72071405700007 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:393.25, Y:32.40, Z:102.62
[[ 9.59694390e-01 -1.24501296e-01 -2.51964493e-01  3.93254491e+02]
 [ 1.23883634e-01  9.92126551e-01 -1.83780380e-02  3.23962675e+01]
 [ 2.52268753e-01 -1.35769770e-02  9.67561958e-01  1.02623568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.78071405700007 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:393.31, Y:32.40, Z:102.64
[[ 9.59437669e-01 -1.26464405e-01 -2.51964508e-01  3.93313087e+02]
 [ 1.25913149e-01  9.91871027e-01 -1.83778318e-02  3.23999629e+01]
 [ 2.52240437e-01 -1.40932604e-02  9.67561958e-01  1.02638708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.84071405700007 meters
Centerline goodness : 0.998931 with order 1
Centerline is valid?  [True, True]
Translation: X:393.37, Y:32.40, Z:102.65
[[ 9.58693451e-01 -1.31987701e-01 -2.51964508e-01  3.93370698e+02]
 [ 1.31623237e-01  9.91129446e-01 -1.83778318e-02  3.24023390e+01]
 [ 2.52155091e-01 -1.55456772e-02  9.67561958e-01  1.02651367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.9007140570001 meters
Centerline goodness : 0.999015 with order 1
Centerline is valid?  [True, True]
Translation: X:393.43, Y:32.41, Z:102.67
[[ 9.57966055e-01 -1.37168057e-01 -2.51964207e-01  3.93428689e+02]
 [ 1.36977855e-01  9.90403540e-01 -1.83819514e-02  3.24064004e+01]
 [ 2.52067659e-01 -1.69042311e-02  9.67561958e-01  1.02667939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 404.9607140570001 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:393.49, Y:32.41, Z:102.68
[[ 9.57966676e-01 -1.37163948e-01 -2.51964083e-01  3.93487253e+02]
 [ 1.36973161e-01  9.90404157e-01 -1.83836558e-02  3.24094990e+01]
 [ 2.52067850e-01 -1.69013873e-02  9.67561958e-01  1.02683494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.0207140570001 meters
Centerline goodness : 0.999107 with order 1
Centerline is valid?  [True, True]
Translation: X:393.55, Y:32.41, Z:102.70
[[ 9.58236071e-01 -1.35266788e-01 -2.51965331e-01  3.93546288e+02]
 [ 1.35016255e-01  9.90673146e-01 -1.83665290e-02  3.24137153e+01]
 [ 2.52099669e-01 -1.64199449e-02  9.67561958e-01  1.02699994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.0807140570001 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:393.60, Y:32.42, Z:102.71
[[ 9.58491790e-01 -1.33441445e-01 -2.51966008e-01  3.93604944e+02]
 [ 1.33131564e-01  9.90928352e-01 -1.83572371e-02  3.24172120e+01]
 [ 2.52129878e-01 -1.59493678e-02  9.67561958e-01  1.02714008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.140714057 meters
Centerline goodness : 0.999151 with order 1
Centerline is valid?  [True, True]
Translation: X:393.66, Y:32.42, Z:102.73
[[ 9.58693423e-01 -1.31985046e-01 -2.51966008e-01  3.93664793e+02]
 [ 1.31625884e-01  9.91129476e-01 -1.83572371e-02  3.24196543e+01]
 [ 2.52153819e-01 -1.55662862e-02  9.67561958e-01  1.02727314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.200714057 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:393.72, Y:32.42, Z:102.74
[[ 9.58979972e-01 -1.29885322e-01 -2.51966698e-01  3.93722624e+02]
 [ 1.29457608e-01  9.91415194e-01 -1.83477734e-02  3.24239106e+01]
 [ 2.52186719e-01 -1.50238588e-02  9.67561958e-01  1.02742849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.26071405700003 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:393.78, Y:32.43, Z:102.76
[[ 9.59447330e-01 -1.26388665e-01 -2.51965725e-01  3.93780425e+02]
 [ 1.25839223e-01  9.91880718e-01 -1.83611231e-02  3.24282517e+01]
 [ 2.52240582e-01 -1.40906405e-02  9.67561958e-01  1.02758906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.32071405700003 meters
Centerline goodness : 0.999083 with order 1
Centerline is valid?  [True, True]
Translation: X:393.84, Y:32.43, Z:102.78
[[ 9.59886532e-01 -1.23011035e-01 -2.51964542e-01  3.93838417e+02]
 [ 1.22343198e-01  9.92317699e-01 -1.83773454e-02  3.24307041e+01]
 [ 2.52289490e-01 -1.31859814e-02  9.67561958e-01  1.02775333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.38071405700003 meters
Centerline goodness : 0.998642 with order 1
Centerline is valid?  [True, True]
Translation: X:393.89, Y:32.43, Z:102.79
[[ 9.59957179e-01 -1.22458992e-01 -2.51964304e-01  3.93893989e+02]
 [ 1.21771650e-01  9.92387938e-01 -1.83806089e-02  3.24325485e+01]
 [ 2.52297206e-01 -1.30375115e-02  9.67561958e-01  1.02789843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.44071405700004 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:393.95, Y:32.43, Z:102.80
[[ 9.59453991e-01 -1.26344259e-01 -2.51962629e-01  3.93952256e+02]
 [ 1.25782213e-01  9.91887163e-01 -1.84035346e-02  3.24318804e+01]
 [ 2.52243678e-01 -1.40350723e-02  9.67561958e-01  1.02802980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.50071405700004 meters
Centerline goodness : 0.998532 with order 1
Centerline is valid?  [True, True]
Translation: X:394.01, Y:32.43, Z:102.82
[[ 9.59217388e-01 -1.28128836e-01 -2.51962308e-01  3.94009639e+02]
 [ 1.27625973e-01  9.91651531e-01 -1.84079287e-02  3.24331035e+01]
 [ 2.52217395e-01 -1.44997295e-02  9.67561958e-01  1.02817490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.56071405700004 meters
Centerline goodness : 0.998957 with order 1
Centerline is valid?  [True, True]
Translation: X:394.07, Y:32.43, Z:102.83
[[ 9.58662164e-01 -1.32220871e-01 -2.51961301e-01  3.94068632e+02]
 [ 1.31852808e-01  9.91098117e-01 -1.84217079e-02  3.24339696e+01]
 [ 2.52154105e-01 -1.55616107e-02  9.67561959e-01  1.02832518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.62071405700004 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:394.13, Y:32.44, Z:102.85
[[ 9.58195570e-01 -1.35560923e-01 -2.51961280e-01  3.94127660e+02]
 [ 1.35305825e-01  9.90632608e-01 -1.84219884e-02  3.24351025e+01]
 [ 2.52098362e-01 -1.64399613e-02  9.67561959e-01  1.02846910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.68071405700005 meters
Centerline goodness : 0.998734 with order 1
Centerline is valid?  [True, True]
Translation: X:394.18, Y:32.44, Z:102.86
[[ 9.57524577e-01 -1.40221971e-01 -2.51961274e-01  3.94184979e+02]
 [ 1.40124696e-01  9.89962472e-01 -1.84220752e-02  3.24373787e+01]
 [ 2.52015385e-01 -1.76664070e-02  9.67561959e-01  1.02860866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.74071405700005 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:394.24, Y:32.44, Z:102.88
[[ 9.57011365e-01 -1.43682758e-01 -2.51961330e-01  3.94241748e+02]
 [ 1.43702955e-01  9.89449400e-01 -1.84213105e-02  3.24412191e+01]
 [ 2.51949811e-01 -1.85781841e-02  9.67561959e-01  1.02876256e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.80071405700005 meters
Centerline goodness : 0.998625 with order 1
Centerline is valid?  [True, True]
Translation: X:394.30, Y:32.44, Z:102.89
[[ 9.55978786e-01 -1.50401316e-01 -2.51960323e-01  3.94300096e+02]
 [ 1.50645756e-01  9.88415907e-01 -1.84350711e-02  3.24446422e+01]
 [ 2.51814250e-01 -2.03332163e-02  9.67561959e-01  1.02892488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.86071405700005 meters
Centerline goodness : 0.998271 with order 1
Centerline is valid?  [True, True]
Translation: X:394.36, Y:32.45, Z:102.91
[[ 9.55487684e-01 -1.53490243e-01 -2.51960376e-01  3.94357986e+02]
 [ 1.53839708e-01  9.87923843e-01 -1.84343461e-02  3.24499592e+01]
 [ 2.51747155e-01 -2.11477200e-02  9.67561959e-01  1.02907424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.92071405700005 meters
Centerline goodness : 0.998691 with order 1
Centerline is valid?  [True, True]
Translation: X:394.42, Y:32.46, Z:102.92
[[ 9.55422313e-01 -1.53897239e-01 -2.51960004e-01  3.94416553e+02]
 [ 1.54259189e-01  9.87858335e-01 -1.84394309e-02  3.24564053e+01]
 [ 2.51738567e-01 -2.12497022e-02  9.67561959e-01  1.02923489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 405.98071405700006 meters
Centerline goodness : 0.998711 with order 1
Centerline is valid?  [True, True]
Translation: X:394.48, Y:32.46, Z:102.94
[[ 9.55786218e-01 -1.51619640e-01 -2.51960690e-01  3.94475346e+02]
 [ 1.51906737e-01  9.88222989e-01 -1.84300506e-02  3.24632409e+01]
 [ 2.51787704e-01 -2.06593380e-02  9.67561959e-01  1.02939837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.04071405700006 meters
Centerline goodness : 0.998667 with order 1
Centerline is valid?  [True, True]
Translation: X:394.53, Y:32.47, Z:102.96
[[ 9.56420185e-01 -1.47566579e-01 -2.51961374e-01  3.94533313e+02]
 [ 1.47718620e-01  9.88857870e-01 -1.84206910e-02  3.24719556e+01]
 [ 2.51872266e-01 -1.96014658e-02  9.67561959e-01  1.02955237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.10071405700006 meters
Centerline goodness : 0.998732 with order 1
Centerline is valid?  [True, True]
Translation: X:394.59, Y:32.48, Z:102.97
[[ 9.57236055e-01 -1.42178123e-01 -2.51961341e-01  3.94591335e+02]
 [ 1.42147369e-01  9.89674081e-01 -1.84211440e-02  3.24806570e+01]
 [ 2.51978692e-01 -1.81822585e-02  9.67561959e-01  1.02969914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.16071405700006 meters
Centerline goodness : 0.998529 with order 1
Centerline is valid?  [True, True]
Translation: X:394.65, Y:32.49, Z:102.98
[[ 9.58124302e-01 -1.36063744e-01 -2.51961266e-01  3.94648045e+02]
 [ 1.35825623e-01  9.90561469e-01 -1.84221672e-02  3.24891173e+01]
 [ 2.52089711e-01 -1.65720698e-02  9.67561959e-01  1.02984672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.22071405700007 meters
Centerline goodness : 0.999216 with order 1
Centerline is valid?  [True, True]
Translation: X:394.71, Y:32.50, Z:103.00
[[ 9.59016875e-01 -1.29623901e-01 -2.51960865e-01  3.94706366e+02]
 [ 1.29166433e-01  9.91451690e-01 -1.84276513e-02  3.24975383e+01]
 [ 2.52195690e-01 -1.48724576e-02  9.67561959e-01  1.03001269e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.28071405700007 meters
Centerline goodness : 0.999169 with order 1
Centerline is valid?  [True, True]
Translation: X:394.76, Y:32.51, Z:103.02
[[ 9.59837057e-01 -1.23403423e-01 -2.51961148e-01  3.94764105e+02]
 [ 1.22736685e-01  9.92268245e-01 -1.84237901e-02  3.25052883e+01]
 [ 2.52286605e-01 -1.32410396e-02  9.67561959e-01  1.03017151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.34071405700007 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:394.82, Y:32.51, Z:103.03
[[ 9.60467706e-01 -1.18395091e-01 -2.51961083e-01  3.94821766e+02]
 [ 1.17558965e-01  9.92894970e-01 -1.84246752e-02  3.25112841e+01]
 [ 2.52352283e-01 -1.19239785e-02  9.67561959e-01  1.03033735e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.4007140570001 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:394.88, Y:32.52, Z:103.05
[[ 9.60705827e-01 -1.16447221e-01 -2.51961025e-01  3.94878537e+02]
 [ 1.15545135e-01  9.93131323e-01 -1.84254609e-02  3.25162091e+01]
 [ 2.52375980e-01 -1.14114231e-02  9.67561959e-01  1.03049347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.4607140570001 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:394.94, Y:32.52, Z:103.06
[[ 9.60506202e-01 -1.18085178e-01 -2.51959772e-01  3.94935852e+02]
 [ 1.17233900e-01  9.92933071e-01 -1.84425859e-02  3.25183865e+01]
 [ 2.52356986e-01 -1.18240087e-02  9.67561959e-01  1.03064044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.5207140570001 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:394.99, Y:32.52, Z:103.08
[[ 9.59808364e-01 -1.23629572e-01 -2.51959586e-01  3.94994379e+02]
 [ 1.22964890e-01  9.92239595e-01 -1.84451274e-02  3.25204210e+01]
 [ 2.52284641e-01 -1.32783953e-02  9.67561959e-01  1.03079466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.5807140570001 meters
Centerline goodness : 0.998813 with order 1
Centerline is valid?  [True, True]
Translation: X:395.05, Y:32.52, Z:103.09
[[ 9.59056788e-01 -1.29330837e-01 -2.51959545e-01  3.95053021e+02]
 [ 1.28858735e-01  9.91491393e-01 -1.84456869e-02  3.25213726e+01]
 [ 2.52201316e-01 -1.47767271e-02  9.67561959e-01  1.03093895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.640714057 meters
Centerline goodness : 0.998860 with order 1
Centerline is valid?  [True, True]
Translation: X:395.11, Y:32.52, Z:103.11
[[ 9.58385245e-01 -1.34216628e-01 -2.51959559e-01  3.95110037e+02]
 [ 1.33909875e-01  9.90821835e-01 -1.84454914e-02  3.25224360e+01]
 [ 2.52122725e-01 -1.60619862e-02  9.67561959e-01  1.03106938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.700714057 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:395.17, Y:32.52, Z:103.12
[[ 9.57971194e-01 -1.37143146e-01 -2.51958230e-01  3.95167411e+02]
 [ 1.36930714e-01  9.90408539e-01 -1.84636291e-02  3.25248353e+01]
 [ 2.52073743e-01 -1.68131955e-02  9.67561959e-01  1.03121465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.76071405700003 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:395.23, Y:32.53, Z:103.14
[[ 9.57428479e-01 -1.40883236e-01 -2.51957579e-01  3.95225080e+02]
 [ 1.40795158e-01  9.89866400e-01 -1.84725085e-02  3.25283883e+01]
 [ 2.52006809e-01 -1.77883013e-02  9.67561959e-01  1.03137328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.82071405700003 meters
Centerline goodness : 0.998997 with order 1
Centerline is valid?  [True, True]
Translation: X:395.28, Y:32.53, Z:103.15
[[ 9.57038136e-01 -1.43511513e-01 -2.51957243e-01  3.95283783e+02]
 [ 1.43511300e-01  9.89476177e-01 -1.84770873e-02  3.25339405e+01]
 [ 2.51957365e-01 -1.84754343e-02  9.67561959e-01  1.03152798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.88071405700003 meters
Centerline goodness : 0.998862 with order 1
Centerline is valid?  [True, True]
Translation: X:395.34, Y:32.54, Z:103.17
[[ 9.56503216e-01 -1.47034397e-01 -2.51957307e-01  3.95342136e+02]
 [ 1.47153850e-01  9.88941037e-01 -1.84762172e-02  3.25400893e+01]
 [ 2.51887560e-01 -1.94039267e-02  9.67561959e-01  1.03166936e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 406.94071405700004 meters
Centerline goodness : 0.998840 with order 1
Centerline is valid?  [True, True]
Translation: X:395.40, Y:32.55, Z:103.18
[[ 9.56069783e-01 -1.49827419e-01 -2.51956969e-01  3.95400899e+02]
 [ 1.50040407e-01  9.88507125e-01 -1.84808231e-02  3.25465190e+01]
 [ 2.51830193e-01 -2.01347697e-02  9.67561959e-01  1.03182347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.00071405700004 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:395.46, Y:32.56, Z:103.20
[[ 9.55475290e-01 -1.53572414e-01 -2.51957305e-01  3.95458999e+02]
 [ 1.53913696e-01  9.87911536e-01 -1.84762486e-02  3.25571077e+01]
 [ 2.51748970e-01 -2.11260810e-02  9.67561959e-01  1.03197773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.06071405700004 meters
Centerline goodness : 0.998588 with order 1
Centerline is valid?  [True, True]
Translation: X:395.52, Y:32.57, Z:103.21
[[ 9.55258090e-01 -1.54917579e-01 -2.51957386e-01  3.95517683e+02]
 [ 1.55304822e-01  9.87693820e-01 -1.84751388e-02  3.25651234e+01]
 [ 2.51718877e-01 -2.14816713e-02  9.67561959e-01  1.03214315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.12071405700004 meters
Centerline goodness : 0.999189 with order 1
Centerline is valid?  [True, True]
Translation: X:395.58, Y:32.58, Z:103.23
[[ 9.55221431e-01 -1.55142359e-01 -2.51958063e-01  3.95576129e+02]
 [ 1.55539653e-01  9.87657039e-01 -1.84659023e-02  3.25755758e+01]
 [ 2.51712998e-01 -2.15504442e-02  9.67561959e-01  1.03231827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.18071405700005 meters
Centerline goodness : 0.999323 with order 1
Centerline is valid?  [True, True]
Translation: X:395.63, Y:32.59, Z:103.25
[[ 9.55382627e-01 -1.54144944e-01 -2.51959067e-01  3.95633320e+02]
 [ 1.54511962e-01  9.87818592e-01 -1.84521938e-02  3.25857385e+01]
 [ 2.51734163e-01 -2.13017845e-02  9.67561959e-01  1.03247213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.24071405700005 meters
Centerline goodness : 0.999480 with order 1
Centerline is valid?  [True, True]
Translation: X:395.69, Y:32.60, Z:103.26
[[ 9.55489071e-01 -1.53483756e-01 -2.51959067e-01  3.95692385e+02]
 [ 1.53828328e-01  9.87925282e-01 -1.84521938e-02  3.25954849e+01]
 [ 2.51748844e-01 -2.11275724e-02  9.67561959e-01  1.03262119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.30071405700005 meters
Centerline goodness : 0.998983 with order 1
Centerline is valid?  [True, True]
Translation: X:395.75, Y:32.61, Z:103.28
[[ 9.55661820e-01 -1.52403389e-01 -2.51959705e-01  3.95752339e+02]
 [ 1.52713571e-01  9.88098377e-01 -1.84434735e-02  3.26050984e+01]
 [ 2.51771824e-01 -2.08519430e-02  9.67561959e-01  1.03275823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.36071405700005 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:395.81, Y:32.62, Z:103.29
[[ 9.55911425e-01 -1.50828266e-01 -2.51960676e-01  3.95809798e+02]
 [ 1.51088468e-01  9.88348422e-01 -1.84302005e-02  3.26151641e+01]
 [ 2.51804732e-01 -2.04507133e-02  9.67561959e-01  1.03289920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.42071405700005 meters
Centerline goodness : 0.999408 with order 1
Centerline is valid?  [True, True]
Translation: X:395.87, Y:32.63, Z:103.31
[[ 9.56052989e-01 -1.49928315e-01 -2.51960676e-01  3.95868014e+02]
 [ 1.50157981e-01  9.88490217e-01 -1.84302005e-02  3.26257088e+01]
 [ 2.51823872e-01 -2.02136582e-02  9.67561959e-01  1.03308237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.48071405700006 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:395.93, Y:32.64, Z:103.32
[[ 9.55990817e-01 -1.50323120e-01 -2.51961340e-01  3.95926426e+02]
 [ 1.50568560e-01  9.88427929e-01 -1.84211191e-02  3.26353321e+01]
 [ 2.51814746e-01 -2.03270353e-02  9.67561959e-01  1.03324362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.54071405700006 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:395.98, Y:32.65, Z:103.34
[[ 9.55895009e-01 -1.50930031e-01 -2.51962017e-01  3.95984059e+02]
 [ 1.51198490e-01  9.88331938e-01 -1.84118554e-02  3.26451957e+01]
 [ 2.51801011e-01 -2.04964758e-02  9.67561960e-01  1.03341689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.60071405700006 meters
Centerline goodness : 0.998671 with order 1
Centerline is valid?  [True, True]
Translation: X:396.04, Y:32.65, Z:103.36
[[ 9.55467413e-01 -1.53613136e-01 -2.51962353e-01  3.96042583e+02]
 [ 1.53973865e-01  9.87903448e-01 -1.84072569e-02  3.26544167e+01]
 [ 2.51742074e-01 -2.12080833e-02  9.67561960e-01  1.03358610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.66071405700006 meters
Centerline goodness : 0.998786 with order 1
Centerline is valid?  [True, True]
Translation: X:396.10, Y:32.66, Z:103.37
[[ 9.54807056e-01 -1.57664557e-01 -2.51963039e-01  3.96100421e+02]
 [ 1.58165327e-01  9.87241231e-01 -1.83978636e-02  3.26618965e+01]
 [ 2.51648992e-01 -2.22854065e-02  9.67561960e-01  1.03371636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.72071405700007 meters
Centerline goodness : 0.998646 with order 1
Centerline is valid?  [True, True]
Translation: X:396.16, Y:32.67, Z:103.38
[[ 9.53973643e-01 -1.62629448e-01 -2.51964186e-01  3.96158947e+02]
 [ 1.63303053e-01  9.86404689e-01 -1.83821437e-02  3.26688268e+01]
 [ 2.51528132e-01 -2.36104402e-02  9.67561960e-01  1.03384154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.78071405700007 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:396.22, Y:32.68, Z:103.40
[[ 9.53535063e-01 -1.65181921e-01 -2.51963920e-01  3.96216725e+02]
 [ 1.65941361e-01  9.85964212e-01 -1.83857937e-02  3.26761977e+01]
 [ 2.51464408e-01 -2.42797368e-02  9.67561960e-01  1.03400318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.84071405700007 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:396.28, Y:32.68, Z:103.42
[[ 9.53846464e-01 -1.63374018e-01 -2.51963992e-01  3.96275311e+02]
 [ 1.64072242e-01  9.86276989e-01 -1.83847988e-02  3.26841877e+01]
 [ 2.51509886e-01 -2.38040217e-02  9.67561960e-01  1.03417064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.9007140570001 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:396.33, Y:32.69, Z:103.43
[[ 9.54387394e-01 -1.60183289e-01 -2.51964317e-01  3.96333299e+02]
 [ 1.60774220e-01  9.86820051e-01 -1.83803500e-02  3.26919591e+01]
 [ 2.51587665e-01 -2.29673921e-02  9.67561960e-01  1.03433946e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 407.9607140570001 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:396.39, Y:32.70, Z:103.45
[[ 9.54833452e-01 -1.57502267e-01 -2.51964513e-01  3.96392961e+02]
 [ 1.58002812e-01  9.87267630e-01 -1.83776643e-02  3.26987340e+01]
 [ 2.51650931e-01 -2.22634931e-02  9.67561960e-01  1.03449000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.0207140570001 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:396.45, Y:32.70, Z:103.46
[[ 9.55037350e-01 -1.56259433e-01 -2.51965572e-01  3.96453125e+02]
 [ 1.56721572e-01  9.87472098e-01 -1.83631268e-02  3.27042179e+01]
 [ 2.51678384e-01 -2.19509685e-02  9.67561960e-01  1.03463005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.0807140570001 meters
Centerline goodness : 0.998396 with order 1
Centerline is valid?  [True, True]
Translation: X:396.51, Y:32.71, Z:103.47
[[ 9.55041439e-01 -1.56226041e-01 -2.51970779e-01  3.96513002e+02]
 [ 1.56705821e-01  9.87475929e-01 -1.82914146e-02  3.27085025e+01]
 [ 2.51672674e-01 -2.20162289e-02  9.67561962e-01  1.03474892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.140714057 meters
Centerline goodness : 0.998606 with order 1
Centerline is valid?  [True, True]
Translation: X:396.57, Y:32.71, Z:103.49
[[ 9.55162077e-01 -1.55486226e-01 -2.51971110e-01  3.96573396e+02]
 [ 1.55942077e-01  9.87596912e-01 -1.82868521e-02  3.27129003e+01]
 [ 2.51689243e-01 -2.18259906e-02  9.67561962e-01  1.03490324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.200714057 meters
Centerline goodness : 0.998279 with order 1
Centerline is valid?  [True, True]
Translation: X:396.63, Y:32.72, Z:103.51
[[ 9.55562030e-01 -1.53006846e-01 -2.51972442e-01  3.96630250e+02]
 [ 1.53383330e-01  9.87997883e-01 -1.82684815e-02  3.27188749e+01]
 [ 2.51743442e-01 -2.11917049e-02  9.67561962e-01  1.03506865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.26071405700003 meters
Centerline goodness : 0.997955 with order 1
Centerline is valid?  [True, True]
Translation: X:396.69, Y:32.72, Z:103.52
[[ 9.55925069e-01 -1.50722646e-01 -2.51972113e-01  3.96688473e+02]
 [ 1.51020421e-01  9.88361740e-01 -1.82730158e-02  3.27240397e+01]
 [ 2.51793753e-01 -2.05853007e-02  9.67561962e-01  1.03524018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.32071405700003 meters
Centerline goodness : 0.998070 with order 1
Centerline is valid?  [True, True]
Translation: X:396.75, Y:32.73, Z:103.54
[[ 9.55934087e-01 -1.50665401e-01 -2.51972137e-01  3.96747893e+02]
 [ 1.50961320e-01  9.88370775e-01 -1.82726884e-02  3.27289623e+01]
 [ 2.51794958e-01 -2.05705605e-02  9.67561962e-01  1.03541655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.38071405700003 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:396.81, Y:32.73, Z:103.56
[[ 9.55709839e-01 -1.52079164e-01 -2.51973474e-01  3.96807729e+02]
 [ 1.52427893e-01  9.88146002e-01 -1.82542278e-02  3.27335994e+01]
 [ 2.51762669e-01 -2.09620406e-02  9.67561963e-01  1.03555510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.44071405700004 meters
Centerline goodness : 0.998213 with order 1
Centerline is valid?  [True, True]
Translation: X:396.87, Y:32.74, Z:103.57
[[ 9.55374824e-01 -1.54168672e-01 -2.51974136e-01  3.96866963e+02]
 [ 1.54590723e-01  9.87810116e-01 -1.82450822e-02  3.27371496e+01]
 [ 2.51715421e-01 -2.15219717e-02  9.67561963e-01  1.03565897e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.50071405700004 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:396.93, Y:32.74, Z:103.58
[[ 9.55289763e-01 -1.54695321e-01 -2.51973861e-01  3.96926578e+02]
 [ 1.55134259e-01  9.87724830e-01 -1.82488775e-02  3.27417193e+01]
 [ 2.51703855e-01 -2.16568124e-02  9.67561963e-01  1.03582434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.56071405700004 meters
Centerline goodness : 0.997907 with order 1
Centerline is valid?  [True, True]
Translation: X:396.99, Y:32.75, Z:103.60
[[ 9.55506312e-01 -1.53349931e-01 -2.51975170e-01  3.96985144e+02]
 [ 1.53747929e-01  9.87941907e-01 -1.82307917e-02  3.27476237e+01]
 [ 2.51732521e-01 -2.13210241e-02  9.67561963e-01  1.03598608e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.62071405700004 meters
Centerline goodness : 0.998067 with order 1
Centerline is valid?  [True, True]
Translation: X:397.04, Y:32.75, Z:103.61
[[ 9.55582923e-01 -1.52871281e-01 -2.51975493e-01  3.97044540e+02]
 [ 1.53254200e-01  9.88018700e-01 -1.82263248e-02  3.27519659e+01]
 [ 2.51742781e-01 -2.11995380e-02  9.67561963e-01  1.03614203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.68071405700005 meters
Centerline goodness : 0.997411 with order 1
Centerline is valid?  [True, True]
Translation: X:397.10, Y:32.76, Z:103.63
[[ 9.55646006e-01 -1.52474846e-01 -2.51976452e-01  3.97103641e+02]
 [ 1.52847783e-01  9.88081899e-01 -1.82130599e-02  3.27575801e+01]
 [ 2.51750405e-01 -2.11088039e-02  9.67561963e-01  1.03632366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.74071405700005 meters
Centerline goodness : 0.997967 with order 1
Centerline is valid?  [True, True]
Translation: X:397.16, Y:32.76, Z:103.65
[[ 9.55522996e-01 -1.53241623e-01 -2.51977795e-01  3.97163808e+02]
 [ 1.53645457e-01  9.87958519e-01 -1.81944577e-02  3.27625728e+01]
 [ 2.51731758e-01 -2.13300208e-02  9.67561963e-01  1.03648483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.80071405700005 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:397.22, Y:32.77, Z:103.66
[[ 9.55044660e-01 -1.56192838e-01 -2.51979156e-01  3.97222580e+02]
 [ 1.56701815e-01  9.87478703e-01 -1.81755879e-02  3.27671558e+01]
 [ 2.51662947e-01 -2.21270929e-02  9.67561963e-01  1.03661367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.86071405700005 meters
Centerline goodness : 0.998645 with order 1
Centerline is valid?  [True, True]
Translation: X:397.28, Y:32.77, Z:103.68
[[ 9.54412226e-01 -1.60010793e-01 -2.51979858e-01  3.97281234e+02]
 [ 1.60652016e-01  9.86843924e-01 -1.81658597e-02  3.27700349e+01]
 [ 2.51571525e-01 -2.31433536e-02  9.67561963e-01  1.03675918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.92071405700005 meters
Centerline goodness : 0.998298 with order 1
Centerline is valid?  [True, True]
Translation: X:397.34, Y:32.77, Z:103.69
[[ 9.53817068e-01 -1.63520945e-01 -2.51979963e-01  3.97339436e+02]
 [ 1.64281860e-01  9.86246179e-01 -1.81644011e-02  3.27734416e+01]
 [ 2.51484535e-01 -2.40702211e-02  9.67561963e-01  1.03690237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 408.98071405700006 meters
Centerline goodness : 0.998182 with order 1
Centerline is valid?  [True, True]
Translation: X:397.40, Y:32.78, Z:103.71
[[ 9.53449741e-01 -1.65648568e-01 -2.51980444e-01  3.97397419e+02]
 [ 1.66483580e-01  9.85877028e-01 -1.81577235e-02  3.27761455e+01]
 [ 2.51429532e-01 -2.46381296e-02  9.67561963e-01  1.03706931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.04071405700006 meters
Centerline goodness : 0.998207 with order 1
Centerline is valid?  [True, True]
Translation: X:397.46, Y:32.78, Z:103.72
[[ 9.53474035e-01 -1.65508566e-01 -2.51980514e-01  3.97457344e+02]
 [ 1.66339071e-01  9.85901438e-01 -1.81567509e-02  3.27796268e+01]
 [ 2.51433049e-01 -2.46022142e-02  9.67561963e-01  1.03723271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.10071405700006 meters
Centerline goodness : 0.998278 with order 1
Centerline is valid?  [True, True]
Translation: X:397.52, Y:32.78, Z:103.74
[[ 9.53606926e-01 -1.64739097e-01 -2.51981866e-01  3.97515765e+02]
 [ 1.65548352e-01  9.86034866e-01 -1.81379689e-02  3.27831669e+01]
 [ 2.51450938e-01 -2.44186898e-02  9.67561964e-01  1.03738300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.16071405700006 meters
Centerline goodness : 0.998139 with order 1
Centerline is valid?  [True, True]
Translation: X:397.58, Y:32.79, Z:103.75
[[ 9.54254010e-01 -1.60947996e-01 -2.51982198e-01  3.97575593e+02]
 [ 1.61629576e-01  9.86684885e-01 -1.81333576e-02  3.27861518e+01]
 [ 2.51545553e-01 -2.34239466e-02  9.67561964e-01  1.03753508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.22071405700007 meters
Centerline goodness : 0.997328 with order 1
Centerline is valid?  [True, True]
Translation: X:397.63, Y:32.79, Z:103.77
[[ 9.55128967e-01 -1.55669894e-01 -2.51983216e-01  3.97634237e+02]
 [ 1.56175874e-01  9.87563057e-01 -1.81192024e-02  3.27916124e+01]
 [ 2.51669929e-01 -2.20475239e-02  9.67561964e-01  1.03767645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.28071405700007 meters
Centerline goodness : 0.997927 with order 1
Centerline is valid?  [True, True]
Translation: X:397.69, Y:32.80, Z:103.78
[[ 9.56192397e-01 -1.48998582e-01 -2.51983178e-01  3.97692530e+02]
 [ 1.49277998e-01  9.88629230e-01 -1.81197272e-02  3.27967834e+01]
 [ 2.51817749e-01 -2.02895990e-02  9.67561964e-01  1.03783810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.34071405700007 meters
Centerline goodness : 0.997758 with order 1
Centerline is valid?  [True, True]
Translation: X:397.75, Y:32.80, Z:103.80
[[ 9.57349194e-01 -1.41375170e-01 -2.51983296e-01  3.97749465e+02]
 [ 1.41396560e-01  9.89787224e-01 -1.81180840e-02  3.28021849e+01]
 [ 2.51971294e-01 -1.82842381e-02  9.67561964e-01  1.03799841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.4007140570001 meters
Centerline goodness : 0.997454 with order 1
Centerline is valid?  [True, True]
Translation: X:397.81, Y:32.81, Z:103.82
[[ 9.58023310e-01 -1.36733095e-01 -2.51982933e-01  3.97807473e+02]
 [ 1.36595932e-01  9.90461056e-01 -1.81231278e-02  3.28074921e+01]
 [ 2.52057314e-01 -1.70574648e-02  9.67561964e-01  1.03815839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.4607140570001 meters
Centerline goodness : 0.997431 with order 1
Centerline is valid?  [True, True]
Translation: X:397.87, Y:32.81, Z:103.83
[[ 9.58744125e-01 -1.31583546e-01 -2.51983081e-01  3.97865784e+02]
 [ 1.31272631e-01  9.91180671e-01 -1.81210713e-02  3.28129193e+01]
 [ 2.52145195e-01 -1.57050115e-02  9.67561964e-01  1.03831512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.5207140570001 meters
Centerline goodness : 0.997688 with order 1
Centerline is valid?  [True, True]
Translation: X:397.92, Y:32.82, Z:103.84
[[ 9.59185977e-01 -1.28322648e-01 -2.51983253e-01  3.97923335e+02]
 [ 1.27902062e-01  9.91621287e-01 -1.81186840e-02  3.28168187e+01]
 [ 2.52196995e-01 -1.48499901e-02  9.67561964e-01  1.03844748e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.5807140570001 meters
Centerline goodness : 0.997857 with order 1
Centerline is valid?  [True, True]
Translation: X:397.98, Y:32.82, Z:103.86
[[ 9.59159161e-01 -1.28523367e-01 -2.51983032e-01  3.97982649e+02]
 [ 1.28108765e-01  9.91594547e-01 -1.81217565e-02  3.28206960e+01]
 [ 2.52194070e-01 -1.48995863e-02  9.67561964e-01  1.03860609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.640714057 meters
Centerline goodness : 0.997184 with order 1
Centerline is valid?  [True, True]
Translation: X:398.04, Y:32.82, Z:103.87
[[ 9.58985569e-01 -1.29811013e-01 -2.51983690e-01  3.98042079e+02]
 [ 1.29442356e-01  9.91421510e-01 -1.81125973e-02  3.28228127e+01]
 [ 2.52173265e-01 -1.52476431e-02  9.67561964e-01  1.03872943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.700714057 meters
Centerline goodness : 0.998113 with order 1
Centerline is valid?  [True, True]
Translation: X:398.10, Y:32.83, Z:103.89
[[ 9.58745152e-01 -1.31574273e-01 -2.51984015e-01  3.98101993e+02]
 [ 1.31266447e-01  9.91181728e-01 -1.81080754e-02  3.28256464e+01]
 [ 2.52144509e-01 -1.57160169e-02  9.67561964e-01  1.03890164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.76071405700003 meters
Centerline goodness : 0.997748 with order 1
Centerline is valid?  [True, True]
Translation: X:398.16, Y:32.83, Z:103.91
[[ 9.58569267e-01 -1.32847148e-01 -2.51985306e-01  3.98161907e+02]
 [ 1.32587099e-01  9.91006261e-01 -1.80900915e-02  3.28271346e+01]
 [ 2.52122234e-01 -1.60693950e-02  9.67561964e-01  1.03906998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.82071405700003 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:398.22, Y:32.83, Z:103.92
[[ 9.58359107e-01 -1.34352356e-01 -2.51986641e-01  3.98220449e+02]
 [ 1.34148120e-01  9.90796500e-01 -1.80714788e-02  3.28291121e+01]
 [ 2.52095428e-01 -1.64845679e-02  9.67561964e-01  1.03922051e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.88071405700003 meters
Centerline goodness : 0.998380 with order 1
Centerline is valid?  [True, True]
Translation: X:398.28, Y:32.83, Z:103.94
[[ 9.57791617e-01 -1.38339392e-01 -2.51986968e-01  3.98280457e+02]
 [ 1.38271337e-01  9.90229581e-01 -1.80669285e-02  3.28281321e+01]
 [ 2.52024317e-01 -1.75382222e-02  9.67561964e-01  1.03935262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 409.94071405700004 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:398.34, Y:32.83, Z:103.95
[[ 9.57141597e-01 -1.42764526e-01 -2.51988599e-01  3.98339549e+02]
 [ 1.42852355e-01  9.89579513e-01 -1.80441459e-02  3.28278127e+01]
 [ 2.51938819e-01 -1.87263622e-02  9.67561964e-01  1.03947642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.00071405700004 meters
Centerline goodness : 0.998642 with order 1
Centerline is valid?  [True, True]
Translation: X:398.40, Y:32.83, Z:103.96
[[ 9.56781246e-01 -1.45159817e-01 -2.51988641e-01  3.98399392e+02]
 [ 1.45328992e-01  9.89218840e-01 -1.80435584e-02  3.28292341e+01]
 [ 2.51891111e-01 -1.93575169e-02  9.67561964e-01  1.03962129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.06071405700004 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:398.46, Y:32.83, Z:103.98
[[ 9.56597404e-01 -1.46365302e-01 -2.51989295e-01  3.98459173e+02]
 [ 1.46577741e-01  9.89034744e-01 -1.80344274e-02  3.28314028e+01]
 [ 2.51865782e-01 -1.96843352e-02  9.67561964e-01  1.03978841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.12071405700004 meters
Centerline goodness : 0.998673 with order 1
Centerline is valid?  [True, True]
Translation: X:398.52, Y:32.83, Z:103.99
[[ 9.56530006e-01 -1.46802830e-01 -2.51990630e-01  3.98518323e+02]
 [ 1.47034994e-01  9.88967210e-01 -1.80157556e-02  3.28327532e+01]
 [ 2.51855234e-01 -1.98188298e-02  9.67561965e-01  1.03993346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.18071405700005 meters
Centerline goodness : 0.998373 with order 1
Centerline is valid?  [True, True]
Translation: X:398.58, Y:32.83, Z:104.01
[[ 9.56352476e-01 -1.47951391e-01 -2.51992713e-01  3.98578225e+02]
 [ 1.48230150e-01  9.88789313e-01 -1.79865668e-02  3.28348023e+01]
 [ 2.51828839e-01 -2.01514200e-02  9.67561965e-01  1.04009717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.24071405700005 meters
Centerline goodness : 0.998559 with order 1
Centerline is valid?  [True, True]
Translation: X:398.64, Y:32.84, Z:104.02
[[ 9.56023936e-01 -1.50057448e-01 -2.51994039e-01  3.98636395e+02]
 [ 1.50412519e-01  9.88460028e-01 -1.79679711e-02  3.28362356e+01]
 [ 2.51782263e-01 -2.07252477e-02  9.67561965e-01  1.04023829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.30071405700005 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:398.70, Y:32.84, Z:104.04
[[ 9.55854737e-01 -1.51131489e-01 -2.51994039e-01  3.98695157e+02]
 [ 1.51523002e-01  9.88290409e-01 -1.79679711e-02  3.28375943e+01]
 [ 2.51758818e-01 -2.10081230e-02  9.67561965e-01  1.04037506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.36071405700005 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:398.75, Y:32.84, Z:104.05
[[ 9.55888122e-01 -1.50920046e-01 -2.51994121e-01  3.98753966e+02]
 [ 1.51304685e-01  9.88323877e-01 -1.79668256e-02  3.28410097e+01]
 [ 2.51763361e-01 -2.09536158e-02  9.67561965e-01  1.04052576e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.42071405700005 meters
Centerline goodness : 0.999155 with order 1
Centerline is valid?  [True, True]
Translation: X:398.81, Y:32.84, Z:104.07
[[ 9.56126511e-01 -1.49401244e-01 -2.51994767e-01  3.98813422e+02]
 [ 1.49736726e-01  9.88562811e-01 -1.79577560e-02  3.28446672e+01]
 [ 2.51795566e-01 -2.05629848e-02  9.67561965e-01  1.04068890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.48071405700006 meters
Centerline goodness : 0.998902 with order 1
Centerline is valid?  [True, True]
Translation: X:398.87, Y:32.85, Z:104.08
[[ 9.56174096e-01 -1.49092598e-01 -2.51997014e-01  3.98873715e+02]
 [ 1.49425879e-01  9.88610418e-01 -1.79261694e-02  3.28489807e+01]
 [ 2.51799533e-01 -2.05143365e-02  9.67561966e-01  1.04084470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.54071405700006 meters
Centerline goodness : 0.999067 with order 1
Centerline is valid?  [True, True]
Translation: X:398.93, Y:32.85, Z:104.10
[[ 9.56187761e-01 -1.49002743e-01 -2.51998310e-01  3.98932786e+02]
 [ 1.49337751e-01  9.88624065e-01 -1.79079293e-02  3.28530586e+01]
 [ 2.51799925e-01 -2.05095180e-02  9.67561966e-01  1.04099810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.60071405700006 meters
Centerline goodness : 0.999222 with order 1
Centerline is valid?  [True, True]
Translation: X:398.99, Y:32.86, Z:104.11
[[ 9.56196402e-01 -1.48946731e-01 -2.51998634e-01  3.98991376e+02]
 [ 1.49281030e-01  9.88632714e-01 -1.79033804e-02  3.28572251e+01]
 [ 2.51800743e-01 -2.04994676e-02  9.67561966e-01  1.04114618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.66071405700006 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:399.05, Y:32.86, Z:104.13
[[ 9.56183832e-01 -1.49025313e-01 -2.51999872e-01  3.99049746e+02]
 [ 1.49366847e-01  9.88620068e-01 -1.78859267e-02  3.28622651e+01]
 [ 2.51797587e-01 -2.05381925e-02  9.67561966e-01  1.04130212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.72071405700007 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:399.11, Y:32.87, Z:104.15
[[ 9.56135787e-01 -1.49332896e-01 -2.52000087e-01  3.99109515e+02]
 [ 1.49685656e-01  9.88571902e-01 -1.78829018e-02  3.28666563e+01]
 [ 2.51790711e-01 -2.06223160e-02  9.67561966e-01  1.04146138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.78071405700007 meters
Centerline goodness : 0.998858 with order 1
Centerline is valid?  [True, True]
Translation: X:399.17, Y:32.87, Z:104.16
[[ 9.56136371e-01 -1.49326936e-01 -2.52001402e-01  3.99168858e+02]
 [ 1.49684349e-01  9.88572436e-01 -1.78643562e-02  3.28704096e+01]
 [ 2.51789269e-01 -2.06399051e-02  9.67561966e-01  1.04162772e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.84071405700007 meters
Centerline goodness : 0.998581 with order 1
Centerline is valid?  [True, True]
Translation: X:399.23, Y:32.88, Z:104.18
[[ 9.56295666e-01 -1.48299782e-01 -2.52003520e-01  3.99228116e+02]
 [ 1.48630186e-01  9.88732017e-01 -1.78344309e-02  3.28760386e+01]
 [ 2.51808791e-01 -2.04003412e-02  9.67561967e-01  1.04177911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.9007140570001 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:399.29, Y:32.88, Z:104.19
[[ 9.56599505e-01 -1.46325392e-01 -2.52004496e-01  3.99286361e+02]
 [ 1.46592452e-01  9.89036439e-01 -1.78206259e-02  3.28809015e+01]
 [ 2.51849240e-01 -1.98947551e-02  9.67561967e-01  1.04193735e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 410.9607140570001 meters
Centerline goodness : 0.998649 with order 1
Centerline is valid?  [True, True]
Translation: X:399.34, Y:32.89, Z:104.21
[[ 9.56932905e-01 -1.44128687e-01 -2.52004639e-01  3.99344075e+02]
 [ 1.44321799e-01  9.89370363e-01 -1.78186099e-02  3.28867069e+01]
 [ 2.51894094e-01 -1.93185488e-02  9.67561967e-01  1.04208780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.0207140570001 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:399.40, Y:32.89, Z:104.23
[[ 9.57362382e-01 -1.41247767e-01 -2.52004639e-01  3.99402529e+02]
 [ 1.41343246e-01  9.89800275e-01 -1.78186099e-02  3.28926372e+01]
 [ 2.51951099e-01 -1.85602868e-02  9.67561967e-01  1.04225553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.0807140570001 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:399.46, Y:32.90, Z:104.24
[[ 9.57739760e-01 -1.38665617e-01 -2.52004761e-01  3.99460559e+02]
 [ 1.38674077e-01  9.90177792e-01 -1.78168739e-02  3.28970526e+01]
 [ 2.52000106e-01 -1.78825993e-02  9.67561967e-01  1.04239707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.140714057 meters
Centerline goodness : 0.998393 with order 1
Centerline is valid?  [True, True]
Translation: X:399.52, Y:32.90, Z:104.26
[[ 9.58625325e-01 -1.32405008e-01 -2.52004761e-01  3.99518851e+02]
 [ 1.32201525e-01  9.91062720e-01 -1.78168739e-02  3.29031597e+01]
 [ 2.52111568e-01 -1.62357073e-02  9.67561967e-01  1.04255086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.200714057 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:399.58, Y:32.91, Z:104.27
[[ 9.59175783e-01 -1.28356189e-01 -2.52004974e-01  3.99577760e+02]
 [ 1.28016535e-01  9.91612038e-01 -1.78138623e-02  3.29081606e+01]
 [ 2.52177685e-01 -1.51741784e-02  9.67561967e-01  1.04270396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.26071405700003 meters
Centerline goodness : 0.998552 with order 1
Centerline is valid?  [True, True]
Translation: X:399.64, Y:32.91, Z:104.29
[[ 9.59540184e-01 -1.25602456e-01 -2.52005273e-01  3.99637441e+02]
 [ 1.25170806e-01  9.91975346e-01 -1.78096359e-02  3.29115975e+01]
 [ 2.52219952e-01 -1.44546417e-02  9.67561967e-01  1.04285393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.32071405700003 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:399.70, Y:32.92, Z:104.30
[[ 9.59761948e-01 -1.23895175e-01 -2.52005931e-01  3.99695390e+02]
 [ 1.23408259e-01  9.92196326e-01 -1.78003238e-02  3.29150358e+01]
 [ 2.52244733e-01 -1.40155396e-02  9.67561967e-01  1.04299397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.38071405700003 meters
Centerline goodness : 0.997865 with order 1
Centerline is valid?  [True, True]
Translation: X:399.75, Y:32.92, Z:104.32
[[ 9.59775283e-01 -1.23791826e-01 -2.52005931e-01  3.99754197e+02]
 [ 1.23301417e-01  9.92209610e-01 -1.78003238e-02  3.29180607e+01]
 [ 2.52246241e-01 -1.39883774e-02  9.67561967e-01  1.04315240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.44071405700004 meters
Centerline goodness : 0.998495 with order 1
Centerline is valid?  [True, True]
Translation: X:399.81, Y:32.92, Z:104.33
[[ 9.59708201e-01 -1.24310170e-01 -2.52006251e-01  3.99811408e+02]
 [ 1.23838464e-01  9.92142805e-01 -1.77957937e-02  3.29210632e+01]
 [ 2.52238386e-01 -1.41292978e-02  9.67561967e-01  1.04329839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.50071405700004 meters
Centerline goodness : 0.998121 with order 1
Centerline is valid?  [True, True]
Translation: X:399.87, Y:32.92, Z:104.35
[[ 9.59703418e-01 -1.24347728e-01 -2.52005935e-01  3.99869754e+02]
 [ 1.23876123e-01  9.92138023e-01 -1.78002553e-02  3.29246365e+01]
 [ 2.52238092e-01 -1.41345525e-02  9.67561967e-01  1.04347033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.56071405700004 meters
Centerline goodness : 0.998742 with order 1
Centerline is valid?  [True, True]
Translation: X:399.93, Y:32.93, Z:104.36
[[ 9.59629982e-01 -1.24912532e-01 -2.52006262e-01  3.99928704e+02]
 [ 1.24461228e-01  9.92064876e-01 -1.77956243e-02  3.29281265e+01]
 [ 2.52229458e-01 -1.42877944e-02  9.67561967e-01  1.04364054e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.62071405700004 meters
Centerline goodness : 0.999062 with order 1
Centerline is valid?  [True, True]
Translation: X:399.99, Y:32.93, Z:104.38
[[ 9.59469163e-01 -1.26140548e-01 -2.52006920e-01  3.99987840e+02]
 [ 1.25733192e-01  9.91904638e-01 -1.77863151e-02  3.29315440e+01]
 [ 2.52210408e-01 -1.46202134e-02  9.67561967e-01  1.04380217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.68071405700005 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:400.05, Y:32.94, Z:104.39
[[ 9.59302302e-01 -1.27401996e-01 -2.52007589e-01  4.00047428e+02]
 [ 1.27039773e-01  9.91738313e-01 -1.77768226e-02  3.29355094e+01]
 [ 2.52190384e-01 -1.49616401e-02  9.67561967e-01  1.04393653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.74071405700005 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:400.11, Y:32.94, Z:104.41
[[ 9.59315887e-01 -1.27297709e-01 -2.52008576e-01  4.00106733e+02]
 [ 1.26935626e-01  9.91751899e-01 -1.77628167e-02  3.29403225e+01]
 [ 2.52191150e-01 -1.49487141e-02  9.67561967e-01  1.04407685e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.80071405700005 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:400.16, Y:32.95, Z:104.42
[[ 9.59461060e-01 -1.26198210e-01 -2.52008899e-01  4.00164765e+02]
 [ 1.25800153e-01  9.91896651e-01 -1.77582336e-02  3.29458636e+01]
 [ 2.52207841e-01 -1.46644246e-02  9.67561967e-01  1.04421686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.86071405700005 meters
Centerline goodness : 0.998277 with order 1
Centerline is valid?  [True, True]
Translation: X:400.22, Y:32.95, Z:104.44
[[ 9.59454637e-01 -1.26247038e-01 -2.52008899e-01  4.00222680e+02]
 [ 1.25850632e-01  9.91890248e-01 -1.77582336e-02  3.29513527e+01]
 [ 2.52207094e-01 -1.46772597e-02  9.67561967e-01  1.04437006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.92071405700005 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:400.28, Y:32.96, Z:104.45
[[ 9.58889826e-01 -1.30468290e-01 -2.52008585e-01  4.00281116e+02]
 [ 1.30213468e-01  9.91326858e-01 -1.77626916e-02  3.29562855e+01]
 [ 2.52140347e-01 -1.57824474e-02  9.67561967e-01  1.04454320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 411.98071405700006 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:400.34, Y:32.96, Z:104.47
[[ 9.58088621e-01 -1.36226093e-01 -2.52009216e-01  4.00340232e+02]
 [ 1.36168473e-01  9.90526603e-01 -1.77537346e-02  3.29606242e+01]
 [ 2.52040355e-01 -1.73060591e-02  9.67561967e-01  1.04469319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.04071405700006 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:400.40, Y:32.96, Z:104.48
[[ 9.57080961e-01 -1.43133243e-01 -2.52009742e-01  4.00399069e+02]
 [ 1.43311553e-01  9.89518503e-01 -1.77462734e-02  3.29638627e+01]
 [ 2.51908384e-01 -1.91312869e-02  9.67561967e-01  1.04484616e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.10071405700006 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:400.46, Y:32.97, Z:104.50
[[ 9.56428876e-01 -1.47427517e-01 -2.52009787e-01  4.00457592e+02]
 [ 1.47751583e-01  9.88865290e-01 -1.77456342e-02  3.29673048e+01]
 [ 2.51819925e-01 -2.02624080e-02  9.67561967e-01  1.04498416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.16071405700006 meters
Centerline goodness : 0.998809 with order 1
Centerline is valid?  [True, True]
Translation: X:400.52, Y:32.97, Z:104.51
[[ 9.55451443e-01 -1.53634713e-01 -2.52009750e-01  4.00517398e+02]
 [ 1.54169254e-01  9.87885072e-01 -1.77461544e-02  3.29704653e+01]
 [ 2.51683095e-01 -2.18965662e-02  9.67561967e-01  1.04510121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.22071405700007 meters
Centerline goodness : 0.999173 with order 1
Centerline is valid?  [True, True]
Translation: X:400.58, Y:32.98, Z:104.53
[[ 9.55502273e-01 -1.53317469e-01 -2.52010238e-01  4.00577414e+02]
 [ 1.53843057e-01  9.87936048e-01 -1.77392166e-02  3.29754691e+01]
 [ 2.51689731e-01 -2.18201636e-02  9.67561967e-01  1.04525483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.28071405700007 meters
Centerline goodness : 0.998002 with order 1
Centerline is valid?  [True, True]
Translation: X:400.64, Y:32.98, Z:104.54
[[ 9.56249013e-01 -1.48586817e-01 -2.52011476e-01  4.00635255e+02]
 [ 1.48956489e-01  9.88684939e-01 -1.77216221e-02  3.29828850e+01]
 [ 2.51793150e-01 -2.05924610e-02  9.67561967e-01  1.04543407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.34071405700007 meters
Centerline goodness : 0.997994 with order 1
Centerline is valid?  [True, True]
Translation: X:400.69, Y:32.99, Z:104.56
[[ 9.57433013e-01 -1.40755414e-01 -2.52011785e-01  4.00693759e+02]
 [ 1.40860755e-01  9.89870874e-01 -1.77172159e-02  3.29901841e+01]
 [ 2.51952920e-01 -1.85355230e-02  9.67561967e-01  1.04560029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.4007140570001 meters
Centerline goodness : 0.998198 with order 1
Centerline is valid?  [True, True]
Translation: X:400.75, Y:33.00, Z:104.58
[[ 9.57800761e-01 -1.38230375e-01 -2.52012033e-01  4.00752458e+02]
 [ 1.38251107e-01  9.90238788e-01 -1.77136898e-02  3.29952974e+01]
 [ 2.52000660e-01 -1.78747571e-02  9.67561967e-01  1.04576327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.4607140570001 meters
Centerline goodness : 0.998177 with order 1
Centerline is valid?  [True, True]
Translation: X:400.81, Y:33.00, Z:104.59
[[ 9.59032078e-01 -1.29410514e-01 -2.52012683e-01  4.00809823e+02]
 [ 1.29135160e-01  9.91468942e-01 -1.77044455e-02  3.30041193e+01]
 [ 2.52153889e-01 -1.55645669e-02  9.67561967e-01  1.04590575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.5207140570001 meters
Centerline goodness : 0.998051 with order 1
Centerline is valid?  [True, True]
Translation: X:400.87, Y:33.01, Z:104.61
[[ 9.59545675e-01 -1.25545548e-01 -2.52012723e-01  4.00868236e+02]
 [ 1.25139661e-01  9.91981168e-01 -1.77038662e-02  3.30094750e+01]
 [ 2.52214517e-01 -1.45491184e-02  9.67561967e-01  1.04606972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.5807140570001 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:400.93, Y:33.01, Z:104.62
[[ 9.59978363e-01 -1.22192684e-01 -2.52012879e-01  4.00927627e+02]
 [ 1.21674067e-01  9.92412249e-01 -1.77016539e-02  3.30142421e+01]
 [ 2.52263680e-01 -1.36702272e-02  9.67561967e-01  1.04621577e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.640714057 meters
Centerline goodness : 0.998136 with order 1
Centerline is valid?  [True, True]
Translation: X:400.99, Y:33.02, Z:104.64
[[ 9.60376298e-01 -1.19022610e-01 -2.52013857e-01  4.00985718e+02]
 [ 1.18400562e-01  9.92808366e-01 -1.76877167e-02  3.30203967e+01]
 [ 2.52306704e-01 -1.28517185e-02  9.67561967e-01  1.04637008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.700714057 meters
Centerline goodness : 0.997837 with order 1
Centerline is valid?  [True, True]
Translation: X:401.04, Y:33.03, Z:104.65
[[ 9.60526912e-01 -1.17800650e-01 -2.52014004e-01  4.01044942e+02]
 [ 1.17137888e-01  9.92958173e-01 -1.76856221e-02  3.30262851e+01]
 [ 2.52322743e-01 -1.25328722e-02  9.67561967e-01  1.04654153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.76071405700003 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:401.10, Y:33.03, Z:104.67
[[ 9.60400766e-01 -1.18821910e-01 -2.52015322e-01  4.01103559e+02]
 [ 1.18198554e-01  9.92832808e-01 -1.76668176e-02  3.30310473e+01]
 [ 2.52308285e-01 -1.28206214e-02  9.67561967e-01  1.04670049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.82071405700003 meters
Centerline goodness : 0.998604 with order 1
Centerline is valid?  [True, True]
Translation: X:401.16, Y:33.04, Z:104.68
[[ 9.59579817e-01 -1.25277578e-01 -2.52016076e-01  4.01162193e+02]
 [ 1.24875145e-01  9.92015353e-01 -1.76560630e-02  3.30356457e+01]
 [ 2.52215725e-01 -1.45281423e-02  9.67561968e-01  1.04684245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.88071405700003 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:401.22, Y:33.04, Z:104.70
[[ 9.58845573e-01 -1.30778056e-01 -2.52016401e-01  4.01219555e+02]
 [ 1.30562842e-01  9.91282892e-01 -1.76514173e-02  3.30397793e+01]
 [ 2.52127965e-01 -1.59789942e-02  9.67561968e-01  1.04698527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 412.94071405700004 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:401.28, Y:33.04, Z:104.71
[[ 9.58483339e-01 -1.33406715e-01 -2.52016541e-01  4.01279380e+02]
 [ 1.33280969e-01  9.90921128e-01 -1.76494127e-02  3.30434930e+01]
 [ 2.52083066e-01 -1.66723408e-02  9.67561968e-01  1.04713474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.00071405700004 meters
Centerline goodness : 0.998114 with order 1
Centerline is valid?  [True, True]
Translation: X:401.34, Y:33.05, Z:104.73
[[ 9.58466622e-01 -1.33524309e-01 -2.52017843e-01  4.01339314e+02]
 [ 1.33407412e-01  9.90904444e-01 -1.76308133e-02  3.30486954e+01]
 [ 2.52079742e-01 -1.67225020e-02  9.67561968e-01  1.04730502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.06071405700004 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:401.40, Y:33.05, Z:104.75
[[ 9.58574484e-01 -1.32745258e-01 -2.52019157e-01  4.01397242e+02]
 [ 1.32606919e-01  9.91012221e-01 -1.76120086e-02  3.30541747e+01]
 [ 2.52091975e-01 -1.65370619e-02  9.67561968e-01  1.04747343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.12071405700004 meters
Centerline goodness : 0.997852 with order 1
Centerline is valid?  [True, True]
Translation: X:401.46, Y:33.06, Z:104.76
[[ 9.58512620e-01 -1.33189994e-01 -2.52019805e-01  4.01457585e+02]
 [ 1.33069136e-01  9.90950427e-01 -1.76027263e-02  3.30594420e+01]
 [ 2.52083641e-01 -1.66636225e-02  9.67561968e-01  1.04762994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.18071405700005 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:401.52, Y:33.06, Z:104.78
[[ 9.58288708e-01 -1.34789137e-01 -2.52021111e-01  4.01516846e+02]
 [ 1.34727302e-01  9.90726681e-01 -1.75840088e-02  3.30631606e+01]
 [ 2.52054172e-01 -1.71035674e-02  9.67561968e-01  1.04775880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.24071405700005 meters
Centerline goodness : 0.998062 with order 1
Centerline is valid?  [True, True]
Translation: X:401.58, Y:33.07, Z:104.79
[[ 9.58143154e-01 -1.35819334e-01 -2.52021437e-01  4.01576704e+02]
 [ 1.35793595e-01  9.90581176e-01 -1.75793459e-02  3.30689874e+01]
 [ 2.52035306e-01 -1.73793670e-02  9.67561968e-01  1.04787987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.30071405700005 meters
Centerline goodness : 0.998062 with order 1
Centerline is valid?  [True, True]
Translation: X:401.64, Y:33.07, Z:104.80
[[ 9.58073117e-01 -1.36310735e-01 -2.52022391e-01  4.01636388e+02]
 [ 1.36305218e-01  9.90511149e-01 -1.75656523e-02  3.30743965e+01]
 [ 2.52025375e-01 -1.75227876e-02  9.67561968e-01  1.04802849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.36071405700005 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:401.70, Y:33.08, Z:104.82
[[ 9.58112709e-01 -1.36030420e-01 -2.52023335e-01  4.01695458e+02]
 [ 1.36018961e-01  9.90550739e-01 -1.75520968e-02  3.30801566e+01]
 [ 2.52029520e-01 -1.74630652e-02  9.67561968e-01  1.04820186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.42071405700005 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:401.75, Y:33.08, Z:104.84
[[ 9.58195467e-01 -1.35444564e-01 -2.52024239e-01  4.01752027e+02]
 [ 1.35416670e-01  9.90633487e-01 -1.75391128e-02  3.30844482e+01]
 [ 2.52039228e-01 -1.73223847e-02  9.67561968e-01  1.04837387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.48071405700006 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:401.81, Y:33.09, Z:104.85
[[ 9.58294784e-01 -1.34740649e-01 -2.52023936e-01  4.01811635e+02]
 [ 1.34687787e-01  9.90732773e-01 -1.75434665e-02  3.30881743e+01]
 [ 2.52052191e-01 -1.71327337e-02  9.67561968e-01  1.04853684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.54071405700006 meters
Centerline goodness : 0.998408 with order 1
Centerline is valid?  [True, True]
Translation: X:401.87, Y:33.09, Z:104.87
[[ 9.58319127e-01 -1.34565050e-01 -2.52025193e-01  4.01872026e+02]
 [ 1.34510977e-01  9.90757114e-01 -1.75253844e-02  3.30914401e+01]
 [ 2.52054057e-01 -1.71052438e-02  9.67561969e-01  1.04866726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.60071405700006 meters
Centerline goodness : 0.998313 with order 1
Centerline is valid?  [True, True]
Translation: X:401.93, Y:33.09, Z:104.88
[[ 9.58226092e-01 -1.35223552e-01 -2.52026482e-01  4.01931798e+02]
 [ 1.35196626e-01  9.90664112e-01 -1.75068349e-02  3.30946326e+01]
 [ 2.52040927e-01 -1.72976239e-02  9.67561969e-01  1.04878336e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.66071405700006 meters
Centerline goodness : 0.998502 with order 1
Centerline is valid?  [True, True]
Translation: X:401.99, Y:33.10, Z:104.89
[[ 9.58371223e-01 -1.34189305e-01 -2.52027436e-01  4.01990373e+02]
 [ 1.34130969e-01  9.90809202e-01 -1.74930858e-02  3.30989592e+01]
 [ 2.52058488e-01 -1.70398141e-02  9.67561969e-01  1.04892448e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.72071405700007 meters
Centerline goodness : 0.998058 with order 1
Centerline is valid?  [True, True]
Translation: X:402.05, Y:33.11, Z:104.91
[[ 9.58992228e-01 -1.29676219e-01 -2.52027745e-01  4.02047824e+02]
 [ 1.29466346e-01  9.91429580e-01 -1.74886282e-02  3.31051479e+01]
 [ 2.52135621e-01 -1.58576529e-02  9.67561969e-01  1.04911205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.78071405700007 meters
Centerline goodness : 0.998032 with order 1
Centerline is valid?  [True, True]
Translation: X:402.11, Y:33.11, Z:104.93
[[ 9.59564846e-01 -1.25368179e-01 -2.52028027e-01  4.02107121e+02]
 [ 1.25013698e-01  9.92000940e-01 -1.74845689e-02  3.31107961e+01]
 [ 2.52204048e-01 -1.47293779e-02  9.67561969e-01  1.04928834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.84071405700007 meters
Centerline goodness : 0.997730 with order 1
Centerline is valid?  [True, True]
Translation: X:402.17, Y:33.12, Z:104.95
[[ 9.60069563e-01 -1.21440611e-01 -2.52028992e-01  4.02165498e+02]
 [ 1.20957050e-01  9.92503989e-01 -1.74706442e-02  3.31165550e+01]
 [ 2.52261426e-01 -1.37116496e-02  9.67561969e-01  1.04945442e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.9007140570001 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:402.23, Y:33.12, Z:104.96
[[ 9.60142684e-01 -1.20860472e-01 -2.52029308e-01  4.02225440e+02]
 [ 1.20358507e-01  9.92576831e-01 -1.74660824e-02  3.31208357e+01]
 [ 2.52269411e-01 -1.35639401e-02  9.67561969e-01  1.04959848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 413.9607140570001 meters
Centerline goodness : 0.997870 with order 1
Centerline is valid?  [True, True]
Translation: X:402.29, Y:33.12, Z:104.97
[[ 9.60174820e-01 -1.20602220e-01 -2.52030594e-01  4.02286250e+02]
 [ 1.20096393e-01  9.92608906e-01 -1.74475074e-02  3.31245444e+01]
 [ 2.52272021e-01 -1.35153081e-02  9.67561969e-01  1.04971602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.0207140570001 meters
Centerline goodness : 0.998140 with order 1
Centerline is valid?  [True, True]
Translation: X:402.35, Y:33.13, Z:104.99
[[ 9.60321888e-01 -1.19423492e-01 -2.52031546e-01  4.02345325e+02]
 [ 1.18881453e-01  9.92755390e-01 -1.74337485e-02  3.31289512e+01]
 [ 2.52287675e-01 -1.32198661e-02  9.67561969e-01  1.04985277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.0807140570001 meters
Centerline goodness : 0.998425 with order 1
Centerline is valid?  [True, True]
Translation: X:402.40, Y:33.14, Z:105.00
[[ 9.60731126e-01 -1.16083977e-01 -2.52032169e-01  4.02402605e+02]
 [ 1.15431533e-01  9.93162595e-01 -1.74247448e-02  3.31350093e+01]
 [ 2.52331656e-01 -1.23519650e-02  9.67561969e-01  1.05000046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.140714057 meters
Centerline goodness : 0.998348 with order 1
Centerline is valid?  [True, True]
Translation: X:402.46, Y:33.14, Z:105.02
[[ 9.61269008e-01 -1.11542969e-01 -2.52031863e-01  4.02460380e+02]
 [ 1.10736129e-01  9.93697003e-01 -1.74291664e-02  3.31406856e+01]
 [ 2.52387408e-01 -1.11549153e-02  9.67561969e-01  1.05016314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.200714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:402.52, Y:33.15, Z:105.03
[[ 9.61618128e-01 -1.08493154e-01 -2.52031369e-01  4.02518218e+02]
 [ 1.07581587e-01  9.94043348e-01 -1.74362983e-02  3.31459763e+01]
 [ 2.52421825e-01 -1.03468740e-02  9.67561969e-01  1.05034116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.26071405700003 meters
Centerline goodness : 0.998056 with order 1
Centerline is valid?  [True, True]
Translation: X:402.58, Y:33.15, Z:105.05
[[ 9.61552560e-01 -1.09072862e-01 -2.52031317e-01  4.02576169e+02]
 [ 1.08180645e-01  9.93978318e-01 -1.74370518e-02  3.31500951e+01]
 [ 2.52415574e-01 -1.04982687e-02  9.67561969e-01  1.05048588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.32071405700003 meters
Centerline goodness : 0.998375 with order 1
Centerline is valid?  [True, True]
Translation: X:402.63, Y:33.15, Z:105.06
[[ 9.61485277e-01 -1.09665804e-01 -2.52030699e-01  4.02634776e+02]
 [ 1.08791249e-01  9.93911516e-01 -1.74459760e-02  3.31534462e+01]
 [ 2.52409442e-01 -1.06446855e-02  9.67561969e-01  1.05063232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.38071405700003 meters
Centerline goodness : 0.998458 with order 1
Centerline is valid?  [True, True]
Translation: X:402.69, Y:33.15, Z:105.08
[[ 9.60969448e-01 -1.14097529e-01 -2.52030699e-01  4.02691983e+02]
 [ 1.13372483e-01  9.93399375e-01 -1.74459760e-02  3.31549956e+01]
 [ 2.52357682e-01 -1.18082962e-02  9.67561969e-01  1.05076574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.44071405700004 meters
Centerline goodness : 0.998622 with order 1
Centerline is valid?  [True, True]
Translation: X:402.75, Y:33.16, Z:105.09
[[ 9.60050636e-01 -1.21595507e-01 -2.52026405e-01  4.02749288e+02]
 [ 1.21107454e-01  9.92484993e-01 -1.75078013e-02  3.31576548e+01]
 [ 2.52261295e-01 -1.37139005e-02  9.67561971e-01  1.05091993e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.50071405700004 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:402.81, Y:33.16, Z:105.11
[[ 9.59358068e-01 -1.26944595e-01 -2.52026124e-01  4.02806841e+02]
 [ 1.26636269e-01  9.91794631e-01 -1.75118396e-02  3.31605351e+01]
 [ 2.52181191e-01 -1.51155236e-02  9.67561971e-01  1.05105652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.56071405700004 meters
Centerline goodness : 0.998722 with order 1
Centerline is valid?  [True, True]
Translation: X:402.87, Y:33.16, Z:105.12
[[ 9.58909725e-01 -1.30287319e-01 -2.52026496e-01  4.02865285e+02]
 [ 1.30093440e-01  9.91347174e-01 -1.75064923e-02  3.31642604e+01]
 [ 2.52126628e-01 -1.59998482e-02  9.67561971e-01  1.05119415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.62071405700004 meters
Centerline goodness : 0.999146 with order 1
Centerline is valid?  [True, True]
Translation: X:402.92, Y:33.17, Z:105.13
[[ 9.58216508e-01 -1.35291933e-01 -2.52026224e-01  4.02923201e+02]
 [ 1.35266385e-01  9.90654526e-01 -1.75104099e-02  3.31682817e+01]
 [ 2.52039937e-01 -1.73119124e-02  9.67561971e-01  1.05132879e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.68071405700005 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:402.98, Y:33.17, Z:105.15
[[ 9.57687391e-01 -1.38987916e-01 -2.52026231e-01  4.02981525e+02]
 [ 1.39087549e-01  9.90125266e-01 -1.75103031e-02  3.31733247e+01]
 [ 2.51971260e-01 -1.82843142e-02  9.67561971e-01  1.05150670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.74071405700005 meters
Centerline goodness : 0.999313 with order 1
Centerline is valid?  [True, True]
Translation: X:403.04, Y:33.18, Z:105.17
[[ 9.57593340e-01 -1.39633634e-01 -2.52026672e-01  4.03039549e+02]
 [ 1.39756800e-01  9.90031135e-01 -1.75039558e-02  3.31781831e+01]
 [ 2.51958393e-01 -1.84607698e-02  9.67561971e-01  1.05166127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.80071405700005 meters
Centerline goodness : 0.999261 with order 1
Centerline is valid?  [True, True]
Translation: X:403.10, Y:33.18, Z:105.18
[[ 9.57622608e-01 -1.39432226e-01 -2.52026971e-01  4.03099096e+02]
 [ 1.39549699e-01  9.90060424e-01 -1.74996447e-02  3.31839574e+01]
 [ 2.51961945e-01 -1.84122326e-02  9.67561971e-01  1.05182029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.86071405700005 meters
Centerline goodness : 0.999239 with order 1
Centerline is valid?  [True, True]
Translation: X:403.16, Y:33.19, Z:105.20
[[ 9.57836255e-01 -1.37954678e-01 -2.52028205e-01  4.03156926e+02]
 [ 1.38026764e-01  9.90274203e-01 -1.74818546e-02  3.31898580e+01]
 [ 2.51988734e-01 -1.80418835e-02  9.67561971e-01  1.05197179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.92071405700005 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:403.22, Y:33.20, Z:105.21
[[ 9.57903755e-01 -1.37482012e-01 -2.52029945e-01  4.03215930e+02]
 [ 1.37544665e-01  9.90341723e-01 -1.74567421e-02  3.31959891e+01]
 [ 2.51995758e-01 -1.79434955e-02  9.67561972e-01  1.05212119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 414.98071405700006 meters
Centerline goodness : 0.999425 with order 1
Centerline is valid?  [True, True]
Translation: X:403.27, Y:33.20, Z:105.23
[[ 9.58009415e-01 -1.36743248e-01 -2.52030245e-01  4.03273836e+02]
 [ 1.36782020e-01  9.90447420e-01 -1.74524088e-02  3.32016099e+01]
 [ 2.52009205e-01 -1.77536340e-02  9.67561972e-01  1.05226323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.04071405700006 meters
Centerline goodness : 0.999259 with order 1
Centerline is valid?  [True, True]
Translation: X:403.33, Y:33.21, Z:105.24
[[ 9.58203746e-01 -1.35375355e-01 -2.52029947e-01  4.03332508e+02]
 [ 1.35366689e-01  9.90641773e-01 -1.74567083e-02  3.32084640e+01]
 [ 2.52034602e-01 -1.73893761e-02  9.67561972e-01  1.05242964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.10071405700006 meters
Centerline goodness : 0.999543 with order 1
Centerline is valid?  [True, True]
Translation: X:403.39, Y:33.22, Z:105.26
[[ 9.58490271e-01 -1.33330425e-01 -2.52030552e-01  4.03391560e+02]
 [ 1.33254830e-01  9.90928211e-01 -1.74479709e-02  3.32153635e+01]
 [ 2.52070529e-01 -1.68605779e-02  9.67561972e-01  1.05261703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.16071405700006 meters
Centerline goodness : 0.999064 with order 1
Centerline is valid?  [True, True]
Translation: X:403.45, Y:33.22, Z:105.28
[[ 9.58710188e-01 -1.31737422e-01 -2.52031797e-01  4.03449035e+02]
 [ 1.31612634e-01  9.91147976e-01 -1.74299692e-02  3.32214746e+01]
 [ 2.52096985e-01 -1.64602797e-02  9.67561972e-01  1.05279965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.22071405700007 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:403.51, Y:33.23, Z:105.29
[[ 9.58920716e-01 -1.30196135e-01 -2.52031797e-01  4.03507890e+02]
 [ 1.30019203e-01  9.91358262e-01 -1.74299692e-02  3.32266440e+01]
 [ 2.52123119e-01 -1.60550149e-02  9.67561972e-01  1.05294968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.28071405700007 meters
Centerline goodness : 0.998798 with order 1
Centerline is valid?  [True, True]
Translation: X:403.57, Y:33.23, Z:105.31
[[ 9.58887098e-01 -1.30441671e-01 -2.52032743e-01  4.03566751e+02]
 [ 1.30276630e-01  9.91324706e-01 -1.74162750e-02  3.32312144e+01]
 [ 2.52118093e-01 -1.61337351e-02  9.67561972e-01  1.05310034e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.34071405700007 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:403.63, Y:33.23, Z:105.32
[[ 9.58869016e-01 -1.30573909e-01 -2.52033063e-01  4.03627592e+02]
 [ 1.30414552e-01  9.91306652e-01 -1.74116495e-02  3.32339810e+01]
 [ 2.52115559e-01 -1.61732878e-02  9.67561972e-01  1.05323794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.4007140570001 meters
Centerline goodness : 0.999399 with order 1
Centerline is valid?  [True, True]
Translation: X:403.69, Y:33.24, Z:105.34
[[ 9.59085092e-01 -1.28974711e-01 -2.52034344e-01  4.03687103e+02]
 [ 1.28766118e-01  9.91522449e-01 -1.73930937e-02  3.32392918e+01]
 [ 2.52140979e-01 -1.57720271e-02  9.67561972e-01  1.05338533e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.4607140570001 meters
Centerline goodness : 0.999494 with order 1
Centerline is valid?  [True, True]
Translation: X:403.75, Y:33.24, Z:105.35
[[ 9.59438714e-01 -1.26315344e-01 -2.52035290e-01  4.03745635e+02]
 [ 1.26020421e-01  9.91875401e-01 -1.73793627e-02  3.32436483e+01]
 [ 2.52182885e-01 -1.50871599e-02  9.67561972e-01  1.05354781e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.5207140570001 meters
Centerline goodness : 0.999325 with order 1
Centerline is valid?  [True, True]
Translation: X:403.80, Y:33.25, Z:105.37
[[ 9.60149286e-01 -1.20793622e-01 -2.52036208e-01  4.03803672e+02]
 [ 1.20315582e-01  9.92583791e-01 -1.73660414e-02  3.32490546e+01]
 [ 2.52264762e-01 -1.36498909e-02  9.67561972e-01  1.05372857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.5807140570001 meters
Centerline goodness : 0.999495 with order 1
Centerline is valid?  [True, True]
Translation: X:403.86, Y:33.25, Z:105.39
[[ 9.60882411e-01 -1.14815444e-01 -2.52036518e-01  4.03862247e+02]
 [ 1.14136720e-01  9.93313337e-01 -1.73615513e-02  3.32543353e+01]
 [ 2.52344609e-01 -1.20842122e-02  9.67561972e-01  1.05388963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.640714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:403.92, Y:33.26, Z:105.40
[[ 9.61301579e-01 -1.11251535e-01 -2.52036447e-01  4.03919492e+02]
 [ 1.10452287e-01  9.93729759e-01 -1.73625831e-02  3.32561464e+01]
 [ 2.52387731e-01 -1.11473232e-02  9.67561972e-01  1.05402217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.700714057 meters
Centerline goodness : 0.999566 with order 1
Centerline is valid?  [True, True]
Translation: X:403.98, Y:33.26, Z:105.41
[[ 9.61312701e-01 -1.11164695e-01 -2.52032342e-01  4.03976160e+02]
 [ 1.10346977e-01  9.93740419e-01 -1.74219737e-02  3.32567261e+01]
 [ 2.52391433e-01 -1.10630423e-02  9.67561974e-01  1.05414986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.76071405700003 meters
Centerline goodness : 0.999303 with order 1
Centerline is valid?  [True, True]
Translation: X:404.03, Y:33.26, Z:105.43
[[ 9.61212077e-01 -1.12036298e-01 -2.52030180e-01  4.04032517e+02]
 [ 1.11239815e-01  9.93640322e-01 -1.74531839e-02  3.32573003e+01]
 [ 2.52382740e-01 -1.12595796e-02  9.67561975e-01  1.05429404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.82071405700003 meters
Centerline goodness : 0.999568 with order 1
Centerline is valid?  [True, True]
Translation: X:404.09, Y:33.25, Z:105.45
[[ 9.60682559e-01 -1.16492614e-01 -2.52028751e-01  4.04090771e+02]
 [ 1.15841129e-01  9.93114041e-01 -1.74737952e-02  3.32546749e+01]
 [ 2.52328860e-01 -1.24085247e-02  9.67561975e-01  1.05450437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.88071405700003 meters
Centerline goodness : 0.998952 with order 1
Centerline is valid?  [True, True]
Translation: X:404.15, Y:33.25, Z:105.46
[[ 9.60379467e-01 -1.18964139e-01 -2.52029388e-01  4.04149592e+02]
 [ 1.18398511e-01  9.92812561e-01 -1.74646021e-02  3.32540423e+01]
 [ 2.52295604e-01 -1.30672590e-02  9.67561975e-01  1.05464949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 415.94071405700004 meters
Centerline goodness : 0.999221 with order 1
Centerline is valid?  [True, True]
Translation: X:404.21, Y:33.25, Z:105.48
[[ 9.60180249e-01 -1.20560851e-01 -2.52029702e-01  4.04207879e+02]
 [ 1.20050337e-01  9.92614257e-01 -1.74600757e-02  3.32535519e+01]
 [ 2.52273277e-01 -1.34914308e-02  9.67561975e-01  1.05482801e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.00071405700004 meters
Centerline goodness : 0.999057 with order 1
Centerline is valid?  [True, True]
Translation: X:404.27, Y:33.25, Z:105.50
[[ 9.60153230e-01 -1.20775188e-01 -2.52030016e-01  4.04267564e+02]
 [ 1.20273100e-01  9.92587369e-01 -1.74555432e-02  3.32540904e+01]
 [ 2.52270007e-01 -1.35524351e-02  9.67561975e-01  1.05498850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.06071405700004 meters
Centerline goodness : 0.998926 with order 1
Centerline is valid?  [True, True]
Translation: X:404.33, Y:33.25, Z:105.52
[[ 9.60405273e-01 -1.18752946e-01 -2.52030653e-01  4.04326346e+02]
 [ 1.18184963e-01  9.92838325e-01 -1.74463453e-02  3.32506309e+01]
 [ 2.52297496e-01 -1.30306714e-02  9.67561975e-01  1.05515484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.12071405700004 meters
Centerline goodness : 0.998912 with order 1
Centerline is valid?  [True, True]
Translation: X:404.39, Y:33.25, Z:105.53
[[ 9.60854437e-01 -1.15062125e-01 -2.52030669e-01  4.04386254e+02]
 [ 1.14369600e-01  9.93285069e-01 -1.74461047e-02  3.32482506e+01]
 [ 2.52345687e-01 -1.20614797e-02  9.67561975e-01  1.05530640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.18071405700005 meters
Centerline goodness : 0.998735 with order 1
Centerline is valid?  [True, True]
Translation: X:404.45, Y:33.25, Z:105.55
[[ 9.61328895e-01 -1.11026920e-01 -2.52031304e-01  4.04445071e+02]
 [ 1.10200639e-01  9.93756395e-01 -1.74369324e-02  3.32466638e+01]
 [ 2.52393689e-01 -1.10113839e-02  9.67561975e-01  1.05545718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.24071405700005 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:404.50, Y:33.25, Z:105.56
[[ 9.61414475e-01 -1.10283563e-01 -2.52031234e-01  4.04502040e+02]
 [ 1.09431944e-01  9.93841319e-01 -1.74379456e-02  3.32487747e+01]
 [ 2.52402173e-01 -1.08151746e-02  9.67561975e-01  1.05560730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.30071405700005 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:404.56, Y:33.25, Z:105.58
[[ 9.61703019e-01 -1.07741292e-01 -2.52029991e-01  4.04559835e+02]
 [ 1.06799248e-01  9.94127362e-01 -1.74558887e-02  3.32458605e+01]
 [ 2.52430630e-01 -1.01292327e-02  9.67561975e-01  1.05576589e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.36071405700005 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:404.62, Y:33.24, Z:105.59
[[ 9.61839769e-01 -1.06515080e-01 -2.52029358e-01  4.04618122e+02]
 [ 1.05529307e-01  9.94262812e-01 -1.74650243e-02  3.32429638e+01]
 [ 2.52443707e-01 -9.79792844e-03  9.67561975e-01  1.05590763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.42071405700005 meters
Centerline goodness : 0.998905 with order 1
Centerline is valid?  [True, True]
Translation: X:404.68, Y:33.24, Z:105.61
[[ 9.61982248e-01 -1.05222025e-01 -2.52028729e-01  4.04676282e+02]
 [ 1.04190293e-01  9.94403861e-01 -1.74741021e-02  3.32412300e+01]
 [ 2.52457001e-01 -9.44917115e-03  9.67561975e-01  1.05606409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.48071405700006 meters
Centerline goodness : 0.998932 with order 1
Centerline is valid?  [True, True]
Translation: X:404.73, Y:33.24, Z:105.62
[[ 9.62028437e-01 -1.04799045e-01 -2.52028662e-01  4.04732934e+02]
 [ 1.03752806e-01  9.94449585e-01 -1.74750648e-02  3.32365643e+01]
 [ 2.52461168e-01 -9.33717168e-03  9.67561975e-01  1.05621151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.54071405700006 meters
Centerline goodness : 0.999207 with order 1
Centerline is valid?  [True, True]
Translation: X:404.79, Y:33.24, Z:105.64
[[ 9.61899064e-01 -1.05983640e-01 -2.52027099e-01  4.04790281e+02]
 [ 1.04971435e-01  9.94321292e-01 -1.74975817e-02  3.32356104e+01]
 [ 2.52450368e-01 -9.62473873e-03  9.67561975e-01  1.05638889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.60071405700006 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:404.85, Y:33.23, Z:105.65
[[ 9.61468566e-01 -1.09821050e-01 -2.52026851e-01  4.04847445e+02]
 [ 1.08937294e-01  9.93894550e-01 -1.75011471e-02  3.32323260e+01]
 [ 2.52410108e-01 -1.06283203e-02  9.67561975e-01  1.05653813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.66071405700006 meters
Centerline goodness : 0.999391 with order 1
Centerline is valid?  [True, True]
Translation: X:404.91, Y:33.23, Z:105.67
[[ 9.60818948e-01 -1.15368528e-01 -2.52025896e-01  4.04906246e+02]
 [ 1.14668342e-01  9.93249415e-01 -1.75148928e-02  3.32294039e+01]
 [ 2.52345241e-01 -1.20707508e-02  9.67561975e-01  1.05667553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.72071405700007 meters
Centerline goodness : 0.998833 with order 1
Centerline is valid?  [True, True]
Translation: X:404.96, Y:33.23, Z:105.68
[[ 9.60163776e-01 -1.20700576e-01 -2.52025583e-01  4.04964204e+02]
 [ 1.20179257e-01  9.92597611e-01 -1.75193905e-02  3.32283271e+01]
 [ 2.52274592e-01 -1.34667632e-02  9.67561975e-01  1.05684092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.78071405700007 meters
Centerline goodness : 0.999285 with order 1
Centerline is valid?  [True, True]
Translation: X:405.02, Y:33.23, Z:105.70
[[ 9.59808994e-01 -1.23490749e-01 -2.52025258e-01  4.05022599e+02]
 [ 1.23062476e-01  9.92244191e-01 -1.75240627e-02  3.32275476e+01]
 [ 2.52234658e-01 -1.41950993e-02  9.67561976e-01  1.05696662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.84071405700007 meters
Centerline goodness : 0.999172 with order 1
Centerline is valid?  [True, True]
Translation: X:405.08, Y:33.23, Z:105.71
[[ 9.59560285e-01 -1.25409290e-01 -2.52024938e-01  4.05080012e+02]
 [ 1.25044656e-01  9.91996260e-01 -1.75286656e-02  3.32283053e+01]
 [ 2.52206054e-01 -1.46945603e-02  9.67561976e-01  1.05712627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.9007140570001 meters
Centerline goodness : 0.999219 with order 1
Centerline is valid?  [True, True]
Translation: X:405.14, Y:33.23, Z:105.73
[[ 9.59514744e-01 -1.25758507e-01 -2.52024311e-01  4.05136386e+02]
 [ 1.25403318e-01  9.91950824e-01 -1.75376794e-02  3.32295102e+01]
 [ 2.52201235e-01 -1.47770229e-02  9.67561976e-01  1.05729448e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 416.9607140570001 meters
Centerline goodness : 0.999136 with order 1
Centerline is valid?  [True, True]
Translation: X:405.19, Y:33.23, Z:105.74
[[ 9.59484405e-01 -1.25998739e-01 -2.52019831e-01  4.05192353e+02]
 [ 1.25634880e-01  9.91920386e-01 -1.76018296e-02  3.32321774e+01]
 [ 2.52201416e-01 -1.47738001e-02  9.67561978e-01  1.05743448e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.0207140570001 meters
Centerline goodness : 0.999155 with order 1
Centerline is valid?  [True, True]
Translation: X:405.25, Y:33.23, Z:105.76
[[ 9.59299454e-01 -1.27402337e-01 -2.52018256e-01  4.05250268e+02]
 [ 1.27080039e-01  9.91735875e-01 -1.76243458e-02  3.32334241e+01]
 [ 2.52180929e-01 -1.51194645e-02  9.67561978e-01  1.05758057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.0807140570001 meters
Centerline goodness : 0.999420 with order 1
Centerline is valid?  [True, True]
Translation: X:405.31, Y:33.24, Z:105.77
[[ 9.59154333e-01 -1.28491579e-01 -2.52017619e-01  4.05306978e+02]
 [ 1.28203728e-01  9.91591078e-01 -1.76334595e-02  3.32364566e+01]
 [ 2.52164173e-01 -1.53963891e-02  9.67561978e-01  1.05770702e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.140714057 meters
Centerline goodness : 0.998996 with order 1
Centerline is valid?  [True, True]
Translation: X:405.36, Y:33.24, Z:105.79
[[ 9.59190556e-01 -1.28223366e-01 -2.52016362e-01  4.05363149e+02]
 [ 1.27921745e-01  9.91627175e-01 -1.76514103e-02  3.32403004e+01]
 [ 2.52169596e-01 -1.53073067e-02  9.67561978e-01  1.05788753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.200714057 meters
Centerline goodness : 0.999201 with order 1
Centerline is valid?  [True, True]
Translation: X:405.42, Y:33.24, Z:105.80
[[ 9.59426175e-01 -1.26457034e-01 -2.52011971e-01  4.05420427e+02]
 [ 1.26079337e-01  9.91861996e-01 -1.77138793e-02  3.32444317e+01]
 [ 2.52201141e-01 -1.47783428e-02  9.67561980e-01  1.05804378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.26071405700003 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:405.48, Y:33.25, Z:105.82
[[ 9.59998199e-01 -1.22039897e-01 -2.52011353e-01  4.05477330e+02]
 [ 1.21510615e-01  9.92431901e-01 -1.77226754e-02  3.32496342e+01]
 [ 2.52266979e-01 -1.36083181e-02  9.67561980e-01  1.05819658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.32071405700003 meters
Centerline goodness : 0.999221 with order 1
Centerline is valid?  [True, True]
Translation: X:405.53, Y:33.25, Z:105.84
[[ 9.60369736e-01 -1.19081886e-01 -2.52010860e-01  4.05533458e+02]
 [ 1.18450858e-01  9.92801618e-01 -1.77296721e-02  3.32538171e+01]
 [ 2.52308073e-01 -1.28238622e-02  9.67561980e-01  1.05836275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.38071405700003 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:405.59, Y:33.26, Z:105.85
[[ 9.60530797e-01 -1.17785059e-01 -2.52006483e-01  4.05591490e+02]
 [ 1.17094013e-01  9.92961454e-01 -1.77916797e-02  3.32573508e+01]
 [ 2.52328318e-01 -1.24189940e-02  9.67561982e-01  1.05852201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.44071405700004 meters
Centerline goodness : 0.998824 with order 1
Centerline is valid?  [True, True]
Translation: X:405.65, Y:33.26, Z:105.87
[[ 9.60154527e-01 -1.20814215e-01 -2.52006367e-01  4.05648545e+02]
 [ 1.20225035e-01  9.92587194e-01 -1.77933268e-02  3.32591320e+01]
 [ 2.52287979e-01 -1.32131309e-02  9.67561982e-01  1.05865692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.50071405700004 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:405.71, Y:33.26, Z:105.88
[[ 9.59757754e-01 -1.23928699e-01 -2.52005418e-01  4.05705667e+02]
 [ 1.23441230e-01  9.92192110e-01 -1.78067589e-02  3.32616499e+01]
 [ 2.52244555e-01 -1.40176837e-02  9.67561982e-01  1.05879168e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.56071405700004 meters
Centerline goodness : 0.999024 with order 1
Centerline is valid?  [True, True]
Translation: X:405.76, Y:33.26, Z:105.90
[[ 9.59215708e-01 -1.28057084e-01 -2.52005177e-01  4.05763291e+02]
 [ 1.27708284e-01  9.91651850e-01 -1.78101586e-02  3.32628062e+01]
 [ 2.52182117e-01 -1.50993650e-02  9.67561982e-01  1.05898971e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.62071405700004 meters
Centerline goodness : 0.999357 with order 1
Centerline is valid?  [True, True]
Translation: X:405.82, Y:33.27, Z:105.91
[[ 9.58873022e-01 -1.30598312e-01 -2.52005177e-01  4.05820100e+02]
 [ 1.30335460e-01  9.91309975e-01 -1.78101586e-02  3.32651524e+01]
 [ 2.52141223e-01 -1.57675302e-02  9.67561982e-01  1.05912060e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.68071405700005 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:405.88, Y:33.27, Z:105.93
[[ 9.58695492e-01 -1.31898140e-01 -2.52003638e-01  4.05876799e+02]
 [ 1.31673569e-01  9.91132733e-01 -1.78319116e-02  3.32700623e+01]
 [ 2.52121051e-01 -1.60868452e-02  9.67561982e-01  1.05929143e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.74071405700005 meters
Centerline goodness : 0.999005 with order 1
Centerline is valid?  [True, True]
Translation: X:405.94, Y:33.27, Z:105.95
[[ 9.58504064e-01 -1.33283982e-01 -2.52002657e-01  4.05935185e+02]
 [ 1.33102680e-01  9.90941575e-01 -1.78457620e-02  3.32748135e+01]
 [ 2.52098464e-01 -1.64369937e-02  9.67561982e-01  1.05945837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.80071405700005 meters
Centerline goodness : 0.999225 with order 1
Centerline is valid?  [True, True]
Translation: X:405.99, Y:33.28, Z:105.96
[[ 9.58384784e-01 -1.34138527e-01 -2.52002899e-01  4.05991568e+02]
 [ 1.33987040e-01  9.90822448e-01 -1.78423499e-02  3.32797178e+01]
 [ 2.52083476e-01 -1.66652858e-02  9.67561982e-01  1.05961569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.86071405700005 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:406.05, Y:33.29, Z:105.98
[[ 9.58417294e-01 -1.33907873e-01 -2.52001929e-01  4.06049484e+02]
 [ 1.33744996e-01  9.90854903e-01 -1.78560347e-02  3.32857703e+01]
 [ 2.52088411e-01 -1.65904646e-02  9.67561982e-01  1.05975721e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.92071405700005 meters
Centerline goodness : 0.998978 with order 1
Centerline is valid?  [True, True]
Translation: X:406.11, Y:33.29, Z:105.99
[[ 9.58599217e-01 -1.32600500e-01 -2.52001288e-01  4.06107728e+02]
 [ 1.32391011e-01  9.91036558e-01 -1.78650836e-02  3.32925038e+01]
 [ 2.52111408e-01 -1.62372501e-02  9.67561982e-01  1.05990413e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 417.98071405700006 meters
Centerline goodness : 0.999311 with order 1
Centerline is valid?  [True, True]
Translation: X:406.17, Y:33.30, Z:106.01
[[ 9.58674834e-01 -1.32052841e-01 -2.52001210e-01  4.06165145e+02]
 [ 1.31824534e-01  9.91112048e-01 -1.78661780e-02  3.32996342e+01]
 [ 2.52120715e-01 -1.60920868e-02  9.67561982e-01  1.06006466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.04071405700006 meters
Centerline goodness : 0.999489 with order 1
Centerline is valid?  [True, True]
Translation: X:406.22, Y:33.31, Z:106.02
[[ 9.58778019e-01 -1.31301931e-01 -2.52001018e-01  4.06222519e+02]
 [ 1.31047509e-01  9.91215039e-01 -1.78688879e-02  3.33079782e+01]
 [ 2.52133418e-01 -1.58918087e-02  9.67561982e-01  1.06023129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.10071405700006 meters
Centerline goodness : 0.999466 with order 1
Centerline is valid?  [True, True]
Translation: X:406.28, Y:33.32, Z:106.04
[[ 9.58859770e-01 -1.30703948e-01 -2.52000831e-01  4.06279492e+02]
 [ 1.30428604e-01  9.91296619e-01 -1.78715311e-02  3.33163696e+01]
 [ 2.52143451e-01 -1.57318244e-02  9.67561982e-01  1.06037258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.16071405700006 meters
Centerline goodness : 0.999351 with order 1
Centerline is valid?  [True, True]
Translation: X:406.34, Y:33.32, Z:106.06
[[ 9.58892817e-01 -1.30460256e-01 -2.52001363e-01  4.06338620e+02]
 [ 1.30178633e-01  9.91329612e-01 -1.78640240e-02  3.33223462e+01]
 [ 2.52146958e-01 -1.56755087e-02  9.67561982e-01  1.06055287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.22071405700007 meters
Centerline goodness : 0.999128 with order 1
Centerline is valid?  [True, True]
Translation: X:406.40, Y:33.33, Z:106.07
[[ 9.59413727e-01 -1.26569830e-01 -2.52002735e-01  4.06396013e+02]
 [ 1.26161715e-01  9.91849177e-01 -1.78446513e-02  3.33312315e+01]
 [ 2.52207300e-01 -1.46726936e-02  9.67561983e-01  1.06068058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.28071405700007 meters
Centerline goodness : 0.999240 with order 1
Centerline is valid?  [True, True]
Translation: X:406.45, Y:33.34, Z:106.08
[[ 9.60049141e-01 -1.21657106e-01 -2.52002373e-01  4.06453364e+02]
 [ 1.21081627e-01  9.92482053e-01 -1.78497609e-02  3.33394301e+01]
 [ 2.52279383e-01 -1.33762097e-02  9.67561983e-01  1.06082709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.34071405700007 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:406.51, Y:33.35, Z:106.10
[[ 9.60521320e-01 -1.17872416e-01 -2.52001760e-01  4.06510695e+02]
 [ 1.17166853e-01  9.92951663e-01 -1.78584115e-02  3.33472904e+01]
 [ 2.52330581e-01 -1.23728682e-02  9.67561983e-01  1.06103376e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.4007140570001 meters
Centerline goodness : 0.999190 with order 1
Centerline is valid?  [True, True]
Translation: X:406.57, Y:33.35, Z:106.12
[[ 9.60794367e-01 -1.15624962e-01 -2.52002088e-01  4.06569600e+02]
 [ 1.14844744e-01  9.93223000e-01 -1.78537721e-02  3.33529249e+01]
 [ 2.52358612e-01 -1.17873118e-02  9.67561983e-01  1.06121165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.4607140570001 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:406.63, Y:33.36, Z:106.14
[[ 9.60833563e-01 -1.15297340e-01 -2.52002753e-01  4.06628322e+02]
 [ 1.14508520e-01  9.93261988e-01 -1.78443902e-02  3.33569316e+01]
 [ 2.52362166e-01 -1.17109733e-02  9.67561983e-01  1.06135743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.5207140570001 meters
Centerline goodness : 0.999304 with order 1
Centerline is valid?  [True, True]
Translation: X:406.69, Y:33.36, Z:106.15
[[ 9.60798570e-01 -1.15588585e-01 -2.52002753e-01  4.06685719e+02]
 [ 1.14809595e-01  9.93227232e-01 -1.78443902e-02  3.33602523e+01]
 [ 2.52358604e-01 -1.17874695e-02  9.67561983e-01  1.06148631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.5807140570001 meters
Centerline goodness : 0.999099 with order 1
Centerline is valid?  [True, True]
Translation: X:406.74, Y:33.36, Z:106.16
[[ 9.60601333e-01 -1.17217819e-01 -2.52002109e-01  4.06743617e+02]
 [ 1.16491447e-01  9.93031216e-01 -1.78534798e-02  3.33628579e+01]
 [ 2.52338707e-01 -1.22060138e-02  9.67561983e-01  1.06164804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.640714057 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:406.80, Y:33.36, Z:106.18
[[ 9.60374012e-01 -1.19065927e-01 -2.52002109e-01  4.06802487e+02]
 [ 1.18401955e-01  9.92805233e-01 -1.78534798e-02  3.33648581e+01]
 [ 2.52314753e-01 -1.26915244e-02  9.67561983e-01  1.06181102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.700714057 meters
Centerline goodness : 0.999167 with order 1
Centerline is valid?  [True, True]
Translation: X:406.86, Y:33.37, Z:106.20
[[ 9.60489703e-01 -1.18128323e-01 -2.52002439e-01  4.06861230e+02]
 [ 1.17433912e-01  9.92920287e-01 -1.78488176e-02  3.33658705e+01]
 [ 2.52326785e-01 -1.24500266e-02  9.67561983e-01  1.06197090e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.76071405700003 meters
Centerline goodness : 0.999125 with order 1
Centerline is valid?  [True, True]
Translation: X:406.92, Y:33.37, Z:106.21
[[ 9.60881153e-01 -1.14900022e-01 -2.52002769e-01  4.06919659e+02]
 [ 1.14097853e-01  9.93309250e-01 -1.78441631e-02  3.33674382e+01]
 [ 2.52366976e-01 -1.16068547e-02  9.67561983e-01  1.06212112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.82071405700003 meters
Centerline goodness : 0.999309 with order 1
Centerline is valid?  [True, True]
Translation: X:406.98, Y:33.37, Z:106.23
[[ 9.61015405e-01 -1.13771681e-01 -2.52002769e-01  4.06978034e+02]
 [ 1.12931436e-01  9.93442538e-01 -1.78441631e-02  3.33694757e+01]
 [ 2.52380431e-01 -1.13105188e-02  9.67561983e-01  1.06227045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.88071405700003 meters
Centerline goodness : 0.999375 with order 1
Centerline is valid?  [True, True]
Translation: X:407.04, Y:33.37, Z:106.24
[[ 9.60852715e-01 -1.15137592e-01 -2.52002769e-01  4.07035936e+02]
 [ 1.14343441e-01  9.93281009e-01 -1.78441631e-02  3.33702829e+01]
 [ 2.52364098e-01 -1.16692511e-02  9.67561983e-01  1.06241835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 418.94071405700004 meters
Centerline goodness : 0.999239 with order 1
Centerline is valid?  [True, True]
Translation: X:407.09, Y:33.37, Z:106.26
[[ 9.60411556e-01 -1.18762681e-01 -2.52002119e-01  4.07093645e+02]
 [ 1.18088508e-01  9.92842567e-01 -1.78533299e-02  3.33703895e+01]
 [ 2.52318740e-01 -1.26120099e-02  9.67561983e-01  1.06255578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.00071405700004 meters
Centerline goodness : 0.998536 with order 1
Centerline is valid?  [True, True]
Translation: X:407.15, Y:33.37, Z:106.27
[[ 9.59809040e-01 -1.23539563e-01 -2.52001157e-01  4.07151838e+02]
 [ 1.23023200e-01  9.92242947e-01 -1.78669044e-02  3.33713718e+01]
 [ 2.52253640e-01 -1.38531723e-02  9.67561983e-01  1.06270676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.06071405700004 meters
Centerline goodness : 0.998975 with order 1
Centerline is valid?  [True, True]
Translation: X:407.21, Y:33.37, Z:106.29
[[ 9.59547891e-01 -1.25552462e-01 -2.52000841e-01  4.07209817e+02]
 [ 1.25102964e-01  9.91982794e-01 -1.78713556e-02  3.33721092e+01]
 [ 2.52224291e-01 -1.43776305e-02  9.67561983e-01  1.06287426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.12071405700004 meters
Centerline goodness : 0.999134 with order 1
Centerline is valid?  [True, True]
Translation: X:407.27, Y:33.38, Z:106.31
[[ 9.59650178e-01 -1.24768894e-01 -2.52000513e-01  4.07268199e+02]
 [ 1.24291702e-01  9.92084685e-01 -1.78759743e-02  3.33760334e+01]
 [ 2.52236216e-01 -1.41668909e-02  9.67561983e-01  1.06305101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.18071405700005 meters
Centerline goodness : 0.998932 with order 1
Centerline is valid?  [True, True]
Translation: X:407.33, Y:33.38, Z:106.32
[[ 9.59750227e-01 -1.23996273e-01 -2.52000846e-01  4.07326203e+02]
 [ 1.23494197e-01  9.92184358e-01 -1.78712877e-02  3.33790654e+01]
 [ 2.52247271e-01 -1.39686695e-02  9.67561983e-01  1.06321203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.24071405700005 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:407.38, Y:33.38, Z:106.34
[[ 9.59678069e-01 -1.24553516e-01 -2.52000846e-01  4.07384245e+02]
 [ 1.24070272e-01  9.92112486e-01 -1.78712878e-02  3.33828392e+01]
 [ 2.52239117e-01 -1.41151306e-02  9.67561983e-01  1.06336403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.30071405700005 meters
Centerline goodness : 0.999042 with order 1
Centerline is valid?  [True, True]
Translation: X:407.44, Y:33.39, Z:106.35
[[ 9.59304644e-01 -1.27398342e-01 -2.52000522e-01  4.07443200e+02]
 [ 1.27010072e-01  9.91740337e-01 -1.78758470e-02  3.33862236e+01]
 [ 2.52196436e-01 -1.48582215e-02  9.67561983e-01  1.06351578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.36071405700005 meters
Centerline goodness : 0.998889 with order 1
Centerline is valid?  [True, True]
Translation: X:407.50, Y:33.39, Z:106.37
[[ 9.58870529e-01 -1.30624313e-01 -2.52001185e-01  4.07502203e+02]
 [ 1.30347592e-01  9.91307366e-01 -1.78665016e-02  3.33905274e+01]
 [ 2.52144430e-01 -1.57160858e-02  9.67561983e-01  1.06365733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.42071405700005 meters
Centerline goodness : 0.999244 with order 1
Centerline is valid?  [True, True]
Translation: X:407.56, Y:33.40, Z:106.38
[[ 9.58787895e-01 -1.31229706e-01 -2.52001065e-01  4.07561046e+02]
 [ 1.30973022e-01  9.91224896e-01 -1.78681921e-02  3.33964015e+01]
 [ 2.52134567e-01 -1.58735347e-02  9.67561983e-01  1.06380525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.48071405700006 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:407.62, Y:33.40, Z:106.40
[[ 9.59060953e-01 -1.29218364e-01 -2.52001394e-01  4.07620373e+02]
 [ 1.28894860e-01  9.91497357e-01 -1.78635502e-02  3.34026047e+01]
 [ 2.52167015e-01 -1.53494509e-02  9.67561983e-01  1.06395528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.54071405700006 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:407.68, Y:33.41, Z:106.41
[[ 9.59457473e-01 -1.26239149e-01 -2.52002054e-01  4.07677962e+02]
 [ 1.25817344e-01  9.91892747e-01 -1.78542413e-02  3.34097834e+01]
 [ 2.52212914e-01 -1.45758440e-02  9.67561983e-01  1.06410830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.60071405700006 meters
Centerline goodness : 0.998925 with order 1
Centerline is valid?  [True, True]
Translation: X:407.74, Y:33.42, Z:106.43
[[ 9.60075334e-01 -1.21450885e-01 -2.52002053e-01  4.07736090e+02]
 [ 1.20867265e-01  9.92508101e-01 -1.78542474e-02  3.34187617e+01]
 [ 2.52282493e-01 -1.33173765e-02  9.67561983e-01  1.06427030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.66071405700006 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:407.79, Y:33.43, Z:106.44
[[ 9.60569313e-01 -1.17479379e-01 -2.52002362e-01  4.07794627e+02]
 [ 1.16762776e-01  9.92999414e-01 -1.78498899e-02  3.34255731e+01]
 [ 2.52335192e-01 -1.22784390e-02  9.67561983e-01  1.06441886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.72071405700007 meters
Centerline goodness : 0.998920 with order 1
Centerline is valid?  [True, True]
Translation: X:407.85, Y:33.43, Z:106.46
[[ 9.61124456e-01 -1.12846904e-01 -2.52002692e-01  4.07852661e+02]
 [ 1.11975178e-01  9.93550757e-01 -1.78452250e-02  3.34333010e+01]
 [ 2.52391244e-01 -1.10665641e-02  9.67561983e-01  1.06457611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.78071405700007 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:407.91, Y:33.44, Z:106.47
[[ 9.61503792e-01 -1.09567794e-01 -2.52002692e-01  4.07910438e+02]
 [ 1.08585465e-01  9.93926931e-01 -1.78452250e-02  3.34402013e+01]
 [ 2.52427525e-01 -1.02055780e-02  9.67561983e-01  1.06472668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.84071405700007 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:407.97, Y:33.45, Z:106.49
[[ 9.61467996e-01 -1.09882209e-01 -2.52002366e-01  4.07968444e+02]
 [ 1.08909276e-01  9.93891419e-01 -1.78498382e-02  3.34462643e+01]
 [ 2.52424368e-01 -1.02833469e-02  9.67561983e-01  1.06486682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.9007140570001 meters
Centerline goodness : 0.999098 with order 1
Centerline is valid?  [True, True]
Translation: X:408.03, Y:33.45, Z:106.50
[[ 9.61232455e-01 -1.11925449e-01 -2.52001709e-01  4.08026482e+02]
 [ 1.11019004e-01  9.93657805e-01 -1.78591096e-02  3.34513872e+01]
 [ 2.52402353e-01 -1.08102230e-02  9.67561983e-01  1.06501303e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 419.9607140570001 meters
Centerline goodness : 0.998693 with order 1
Centerline is valid?  [True, True]
Translation: X:408.08, Y:33.46, Z:106.52
[[ 9.61021821e-01 -1.13720230e-01 -2.52001527e-01  4.08084308e+02]
 [ 1.12873666e-01  9.93448789e-01 -1.78616708e-02  3.34571613e+01]
 [ 2.52381845e-01 -1.12788809e-02  9.67561983e-01  1.06517739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.0207140570001 meters
Centerline goodness : 0.999438 with order 1
Centerline is valid?  [True, True]
Translation: X:408.14, Y:33.46, Z:106.53
[[ 9.60857798e-01 -1.15097881e-01 -2.52001527e-01  4.08142807e+02]
 [ 1.14297807e-01  9.93285947e-01 -1.78616708e-02  3.34615928e+01]
 [ 2.52365416e-01 -1.16406962e-02  9.67561983e-01  1.06534485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.0807140570001 meters
Centerline goodness : 0.998942 with order 1
Centerline is valid?  [True, True]
Translation: X:408.20, Y:33.47, Z:106.55
[[ 9.60562356e-01 -1.17538412e-01 -2.52001352e-01  4.08201087e+02]
 [ 1.16820074e-01  9.92992418e-01 -1.78641391e-02  3.34658414e+01]
 [ 2.52335155e-01 -1.22791970e-02  9.67561983e-01  1.06551553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.1407140570001 meters
Centerline goodness : 0.999126 with order 1
Centerline is valid?  [True, True]
Translation: X:408.26, Y:33.47, Z:106.57
[[ 9.60454426e-01 -1.18416420e-01 -2.52001682e-01  4.08259374e+02]
 [ 1.17728943e-01  9.92885157e-01 -1.78594892e-02  3.34710987e+01]
 [ 2.52323586e-01 -1.25146661e-02  9.67561983e-01  1.06567016e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.200714057 meters
Centerline goodness : 0.999052 with order 1
Centerline is valid?  [True, True]
Translation: X:408.32, Y:33.48, Z:106.58
[[ 9.60328044e-01 -1.19436806e-01 -2.52001780e-01  4.08319103e+02]
 [ 1.18784150e-01  9.92759495e-01 -1.78580979e-02  3.34751579e+01]
 [ 2.52310074e-01 -1.27841851e-02  9.67561983e-01  1.06582038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.26071405700003 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:408.38, Y:33.48, Z:106.60
[[ 9.59935997e-01 -1.22546546e-01 -2.52002432e-01  4.08377434e+02]
 [ 1.22001343e-01  9.92369432e-01 -1.78488972e-02  3.34787257e+01]
 [ 2.52266831e-01 -1.36108361e-02  9.67561983e-01  1.06595309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.32071405700003 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:408.44, Y:33.48, Z:106.61
[[ 9.59398047e-01 -1.26689233e-01 -2.52002432e-01  4.08435183e+02]
 [ 1.26284043e-01  9.91833533e-01 -1.78488972e-02  3.34825549e+01]
 [ 2.52205725e-01 -1.46996889e-02  9.67561983e-01  1.06608754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.38071405700003 meters
Centerline goodness : 0.998897 with order 1
Centerline is valid?  [True, True]
Translation: X:408.49, Y:33.49, Z:106.62
[[ 9.58840699e-01 -1.30841307e-01 -2.52002116e-01  4.08492480e+02]
 [ 1.30575368e-01  9.91277626e-01 -1.78533570e-02  3.34873736e+01]
 [ 2.52140016e-01 -1.57867437e-02  9.67561983e-01  1.06622161e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.44071405700004 meters
Centerline goodness : 0.998965 with order 1
Centerline is valid?  [True, True]
Translation: X:408.55, Y:33.49, Z:106.64
[[ 9.58512938e-01 -1.33222389e-01 -2.52001475e-01  4.08550593e+02]
 [ 1.33034649e-01  9.90950411e-01 -1.78623934e-02  3.34921822e+01]
 [ 2.52100636e-01 -1.64035926e-02  9.67561983e-01  1.06636318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.50071405700004 meters
Centerline goodness : 0.999347 with order 1
Centerline is valid?  [True, True]
Translation: X:408.61, Y:33.50, Z:106.66
[[ 9.58136938e-01 -1.35900744e-01 -2.52001183e-01  4.08608361e+02]
 [ 1.35802580e-01  9.90574806e-01 -1.78665231e-02  3.34982742e+01]
 [ 2.52054096e-01 -1.71038350e-02  9.67561983e-01  1.06655824e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.56071405700004 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:408.67, Y:33.50, Z:106.67
[[ 9.57793362e-01 -1.38300807e-01 -2.52001514e-01  4.08666922e+02]
 [ 1.38285136e-01  9.90231375e-01 -1.78618478e-02  3.35045578e+01]
 [ 2.52010114e-01 -1.77401044e-02  9.67561983e-01  1.06672458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.62071405700004 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:408.73, Y:33.51, Z:106.69
[[ 9.57529006e-01 -1.40118785e-01 -2.52001842e-01  4.08727024e+02]
 [ 1.40165906e-01  9.89966989e-01 -1.78572130e-02  3.35106819e+01]
 [ 2.51975636e-01 -1.82232672e-02  9.67561983e-01  1.06688046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.68071405700005 meters
Centerline goodness : 0.999347 with order 1
Centerline is valid?  [True, True]
Translation: X:408.79, Y:33.52, Z:106.70
[[ 9.57257529e-01 -1.41959282e-01 -2.52003145e-01  4.08786004e+02]
 [ 1.42073580e-01  9.89695344e-01 -1.78388097e-02  3.35174776e+01]
 [ 2.51938724e-01 -1.87266541e-02  9.67561983e-01  1.06703948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.74071405700005 meters
Centerline goodness : 0.998828 with order 1
Centerline is valid?  [True, True]
Translation: X:408.85, Y:33.53, Z:106.72
[[ 9.57096023e-01 -1.43042930e-01 -2.52003815e-01  4.08845863e+02]
 [ 1.43196428e-01  9.89533677e-01 -1.78293487e-02  3.35257692e+01]
 [ 2.51916623e-01 -1.90216475e-02  9.67561983e-01  1.06720779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.80071405700005 meters
Centerline goodness : 0.999146 with order 1
Centerline is valid?  [True, True]
Translation: X:408.91, Y:33.53, Z:106.73
[[ 9.57187470e-01 -1.42427378e-01 -2.52005138e-01  4.08906214e+02]
 [ 1.42564920e-01  9.89625194e-01 -1.78106167e-02  3.35324305e+01]
 [ 2.51927354e-01 -1.88789933e-02  9.67561984e-01  1.06734097e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.86071405700005 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:408.97, Y:33.54, Z:106.75
[[ 9.57221524e-01 -1.42195972e-01 -2.52006468e-01  4.08965456e+02]
 [ 1.42330602e-01  9.89659261e-01 -1.77917869e-02  3.35403814e+01]
 [ 2.51930455e-01 -1.88375508e-02  9.67561984e-01  1.06748142e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.92071405700005 meters
Centerline goodness : 0.998709 with order 1
Centerline is valid?  [True, True]
Translation: X:409.02, Y:33.55, Z:106.76
[[ 9.57484053e-01 -1.40416150e-01 -2.52007129e-01  4.09023686e+02]
 [ 1.40492926e-01  9.89921978e-01 -1.77824197e-02  3.35479068e+01]
 [ 2.51964335e-01 -1.83788357e-02  9.67561984e-01  1.06763489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 420.98071405700006 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:409.08, Y:33.56, Z:106.78
[[ 9.57940774e-01 -1.37265732e-01 -2.52007129e-01  4.09081517e+02]
 [ 1.37235802e-01  9.90378776e-01 -1.77824197e-02  3.35561038e+01]
 [ 2.52023429e-01 -1.75498957e-02  9.67561984e-01  1.06778902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.04071405700006 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:409.14, Y:33.56, Z:106.80
[[ 9.58218378e-01 -1.35314256e-01 -2.52007129e-01  4.09140227e+02]
 [ 1.35218255e-01  9.90656252e-01 -1.77824197e-02  3.35634728e+01]
 [ 2.52058653e-01 -1.70365228e-02  9.67561984e-01  1.06795135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.10071405700006 meters
Centerline goodness : 0.998635 with order 1
Centerline is valid?  [True, True]
Translation: X:409.20, Y:33.57, Z:106.81
[[ 9.58569779e-01 -1.32801446e-01 -2.52007449e-01  4.09197547e+02]
 [ 1.32621586e-01  9.91007297e-01 -1.77778767e-02  3.35710425e+01]
 [ 2.52102149e-01 -1.63802923e-02  9.67561984e-01  1.06810891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.16071405700006 meters
Centerline goodness : 0.998628 with order 1
Centerline is valid?  [True, True]
Translation: X:409.26, Y:33.58, Z:106.83
[[ 9.58528281e-01 -1.33100640e-01 -2.52007449e-01  4.09256575e+02]
 [ 1.32930905e-01  9.90965853e-01 -1.77778767e-02  3.35780550e+01]
 [ 2.52097024e-01 -1.64589806e-02  9.67561984e-01  1.06826264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.22071405700007 meters
Centerline goodness : 0.998585 with order 1
Centerline is valid?  [True, True]
Translation: X:409.32, Y:33.58, Z:106.84
[[ 9.58414798e-01 -1.33914182e-01 -2.52008068e-01  4.09316470e+02]
 [ 1.33774278e-01  9.90852513e-01 -1.77690977e-02  3.35835831e+01]
 [ 2.52082362e-01 -1.66820312e-02  9.67561984e-01  1.06843440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.28071405700007 meters
Centerline goodness : 0.998404 with order 1
Centerline is valid?  [True, True]
Translation: X:409.37, Y:33.59, Z:106.86
[[ 9.58146064e-01 -1.35821155e-01 -2.52009394e-01  4.09374940e+02]
 [ 1.35750730e-01  9.90584003e-01 -1.77502778e-02  3.35894112e+01]
 [ 2.52047338e-01 -1.72031003e-02  9.67561984e-01  1.06859536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.34071405700007 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:409.43, Y:33.59, Z:106.88
[[ 9.57882349e-01 -1.37668568e-01 -2.52009466e-01  4.09433990e+02]
 [ 1.37660960e-01  9.90320364e-01 -1.77492629e-02  3.35940563e+01]
 [ 2.52013621e-01 -1.76901594e-02  9.67561984e-01  1.06875964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.4007140570001 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:409.49, Y:33.60, Z:106.89
[[ 9.57767003e-01 -1.38467537e-01 -2.52010138e-01  4.09493820e+02]
 [ 1.38489487e-01  9.90205011e-01 -1.77397119e-02  3.35988612e+01]
 [ 2.51998076e-01 -1.79102441e-02  9.67561984e-01  1.06890297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.4607140570001 meters
Centerline goodness : 0.998830 with order 1
Centerline is valid?  [True, True]
Translation: X:409.55, Y:33.60, Z:106.90
[[ 9.57607724e-01 -1.39562998e-01 -2.52011146e-01  4.09553465e+02]
 [ 1.39625804e-01  9.90045679e-01 -1.77253844e-02  3.36046385e+01]
 [ 2.51976353e-01 -1.82132939e-02  9.67561984e-01  1.06903406e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.5207140570001 meters
Centerline goodness : 0.998651 with order 1
Centerline is valid?  [True, True]
Translation: X:409.61, Y:33.61, Z:106.92
[[ 9.57649669e-01 -1.39273096e-01 -2.52012135e-01  4.09612630e+02]
 [ 1.39329770e-01  9.90087635e-01 -1.77113012e-02  3.36099972e+01]
 [ 2.51980807e-01 -1.81515711e-02  9.67561984e-01  1.06919568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.5807140570001 meters
Centerline goodness : 0.998489 with order 1
Centerline is valid?  [True, True]
Translation: X:409.67, Y:33.62, Z:106.94
[[ 9.57614819e-01 -1.39511326e-01 -2.52012795e-01  4.09671323e+02]
 [ 1.39578526e-01  9.90052765e-01 -1.77019139e-02  3.36162617e+01]
 [ 2.51975582e-01 -1.82239593e-02  9.67561984e-01  1.06936312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.6407140570001 meters
Centerline goodness : 0.998671 with order 1
Centerline is valid?  [True, True]
Translation: X:409.73, Y:33.62, Z:106.95
[[ 9.57459071e-01 -1.40575063e-01 -2.52013450e-01  4.09729527e+02]
 [ 1.40680740e-01  9.89896915e-01 -1.76925869e-02  3.36206602e+01]
 [ 2.51954473e-01 -1.85135108e-02  9.67561984e-01  1.06950332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.700714057 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:409.79, Y:33.63, Z:106.97
[[ 9.57242513e-01 -1.42042225e-01 -2.52013447e-01  4.09789077e+02]
 [ 1.42197604e-01  9.89680157e-01 -1.76926265e-02  3.36256833e+01]
 [ 2.51925808e-01 -1.88995740e-02  9.67561984e-01  1.06966789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.76071405700003 meters
Centerline goodness : 0.999197 with order 1
Centerline is valid?  [True, True]
Translation: X:409.85, Y:33.63, Z:106.98
[[ 9.57104504e-01 -1.42966877e-01 -2.52014763e-01  4.09849427e+02]
 [ 1.43158504e-01  9.89541953e-01 -1.76738580e-02  3.36317427e+01]
 [ 2.51905957e-01 -1.91623274e-02  9.67561985e-01  1.06981194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.82071405700003 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:409.91, Y:33.64, Z:106.99
[[ 9.57071326e-01 -1.43186532e-01 -2.52016061e-01  4.09908562e+02]
 [ 1.43390453e-01  9.89508700e-01 -1.76553365e-02  3.36381209e+01]
 [ 2.51900091e-01 -1.92392807e-02  9.67561985e-01  1.06994474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.88071405700003 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:409.97, Y:33.64, Z:107.01
[[ 9.57107381e-01 -1.42941385e-01 -2.52018295e-01  4.09967655e+02]
 [ 1.43145361e-01  9.89544755e-01 -1.76233905e-02  3.36448830e+01]
 [ 2.51902494e-01 -1.92077726e-02  9.67561985e-01  1.07011574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 421.94071405700004 meters
Centerline goodness : 0.998802 with order 1
Centerline is valid?  [True, True]
Translation: X:410.03, Y:33.65, Z:107.03
[[ 9.57182837e-01 -1.42433010e-01 -2.52019550e-01  4.10026937e+02]
 [ 1.42624460e-01  9.89620287e-01 -1.76054225e-02  3.36497739e+01]
 [ 2.51911253e-01 -1.90925440e-02  9.67561985e-01  1.07029498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.00071405700004 meters
Centerline goodness : 0.998848 with order 1
Centerline is valid?  [True, True]
Translation: X:410.09, Y:33.66, Z:107.05
[[ 9.57541272e-01 -1.40001259e-01 -2.52020553e-01  4.10085937e+02]
 [ 1.40114079e-01  9.89979091e-01 -1.75910471e-02  3.36571327e+01]
 [ 2.51957847e-01 -1.84674742e-02  9.67561985e-01  1.07045566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.06071405700004 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:410.15, Y:33.66, Z:107.06
[[ 9.57778840e-01 -1.38358973e-01 -2.52024779e-01  4.10145018e+02]
 [ 1.38432066e-01  9.90216770e-01 -1.75303080e-02  3.36639024e+01]
 [ 2.51984638e-01 -1.80981527e-02  9.67561987e-01  1.07061349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.12071405700004 meters
Centerline goodness : 0.998821 with order 1
Centerline is valid?  [True, True]
Translation: X:410.21, Y:33.67, Z:107.08
[[ 9.57721668e-01 -1.38752984e-01 -2.52025427e-01  4.10205044e+02]
 [ 1.38841861e-01  9.90159559e-01 -1.75209870e-02  3.36700514e+01]
 [ 2.51976475e-01 -1.82114504e-02  9.67561987e-01  1.07077596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.18071405700005 meters
Centerline goodness : 0.998494 with order 1
Centerline is valid?  [True, True]
Translation: X:410.26, Y:33.68, Z:107.09
[[ 9.57360494e-01 -1.41221152e-01 -2.52026724e-01  4.10263191e+02]
 [ 1.41398532e-01  9.89798022e-01 -1.75023047e-02  3.36767125e+01]
 [ 2.51927249e-01 -1.88801938e-02  9.67561987e-01  1.07090824e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.24071405700005 meters
Centerline goodness : 0.998701 with order 1
Centerline is valid?  [True, True]
Translation: X:410.32, Y:33.68, Z:107.10
[[ 9.57025887e-01 -1.43471191e-01 -2.52026724e-01  4.10321706e+02]
 [ 1.43724820e-01  9.89462908e-01 -1.75023047e-02  3.36816978e+01]
 [ 2.51882172e-01 -1.94723369e-02  9.67561987e-01  1.07103894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.30071405700005 meters
Centerline goodness : 0.998881 with order 1
Centerline is valid?  [True, True]
Translation: X:410.38, Y:33.69, Z:107.12
[[ 9.56477846e-01 -1.47080457e-01 -2.52026724e-01  4.10379638e+02]
 [ 1.47456449e-01  9.88913679e-01 -1.75023047e-02  3.36894484e+01]
 [ 2.51806922e-01 -2.04223992e-02  9.67561987e-01  1.07120286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.36071405700005 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:410.44, Y:33.70, Z:107.14
[[ 9.56440863e-01 -1.47320655e-01 -2.52026783e-01  4.10438390e+02]
 [ 1.47705015e-01  9.88876599e-01 -1.75014555e-02  3.36958386e+01]
 [ 2.51801714e-01 -2.04865127e-02  9.67561987e-01  1.07137057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.42071405700005 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:410.50, Y:33.70, Z:107.15
[[ 9.56397500e-01 -1.47600866e-01 -2.52027393e-01  4.10496563e+02]
 [ 1.47997031e-01  9.88833093e-01 -1.74926646e-02  3.37039969e+01]
 [ 2.51794959e-01 -2.05693653e-02  9.67561988e-01  1.07153289e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.48071405700006 meters
Centerline goodness : 0.998735 with order 1
Centerline is valid?  [True, True]
Translation: X:410.56, Y:33.71, Z:107.17
[[ 9.56410770e-01 -1.47513309e-01 -2.52028297e-01  4.10556412e+02]
 [ 1.47909912e-01  9.88846358e-01 -1.74796438e-02  3.37094551e+01]
 [ 2.51795743e-01 -2.05597637e-02  9.67561988e-01  1.07169678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.54071405700006 meters
Centerline goodness : 0.998762 with order 1
Centerline is valid?  [True, True]
Translation: X:410.62, Y:33.72, Z:107.19
[[ 9.56273878e-01 -1.48396011e-01 -2.52029550e-01  4.10615926e+02]
 [ 1.48827290e-01  9.88709023e-01 -1.74615466e-02  3.37158240e+01]
 [ 2.51775114e-01 -2.08108540e-02  9.67561988e-01  1.07185828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.60071405700006 meters
Centerline goodness : 0.998781 with order 1
Centerline is valid?  [True, True]
Translation: X:410.68, Y:33.72, Z:107.20
[[ 9.56517871e-01 -1.46812857e-01 -2.52030846e-01  4.10675470e+02]
 [ 1.47195344e-01  9.88953628e-01 -1.74428284e-02  3.37212690e+01]
 [ 2.51807651e-01 -2.04133900e-02  9.67561988e-01  1.07199964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.66071405700006 meters
Centerline goodness : 0.998585 with order 1
Centerline is valid?  [True, True]
Translation: X:410.73, Y:33.73, Z:107.22
[[ 9.57689507e-01 -1.38963779e-01 -2.52031497e-01  4.10733537e+02]
 [ 1.39082721e-01  9.90127301e-01 -1.74334136e-02  3.37273249e+01]
 [ 2.51965879e-01 -1.83574290e-02  9.67561988e-01  1.07216070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.72071405700007 meters
Centerline goodness : 0.998416 with order 1
Centerline is valid?  [True, True]
Translation: X:410.79, Y:33.73, Z:107.23
[[ 9.58961739e-01 -1.29894104e-01 -2.52031556e-01  4.10791982e+02]
 [ 1.29706275e-01  9.91399207e-01 -1.74325670e-02  3.37343069e+01]
 [ 2.52128272e-01 -1.59729095e-02  9.67561988e-01  1.07232907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.78071405700007 meters
Centerline goodness : 0.998249 with order 1
Centerline is valid?  [True, True]
Translation: X:410.85, Y:33.74, Z:107.25
[[ 9.59748246e-01 -1.23948615e-01 -2.52031832e-01  4.10849888e+02]
 [ 1.23560810e-01  9.92183940e-01 -1.74285712e-02  3.37387530e+01]
 [ 2.52222183e-01 -1.44142166e-02  9.67561988e-01  1.07246585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.84071405700007 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:410.91, Y:33.74, Z:107.26
[[ 9.59980495e-01 -1.22137419e-01 -2.52031547e-01  4.10907559e+02]
 [ 1.21687333e-01  9.92415384e-01 -1.74326867e-02  3.37442806e+01]
 [ 2.52249168e-01 -1.39340076e-02  9.67561988e-01  1.07264651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.9007140570001 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:410.97, Y:33.75, Z:107.28
[[ 9.59978271e-01 -1.22154245e-01 -2.52031862e-01  4.10965550e+02]
 [ 1.21705920e-01  9.92413185e-01 -1.74281330e-02  3.37488645e+01]
 [ 2.52248664e-01 -1.39431407e-02  9.67561988e-01  1.07283267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 422.9607140570001 meters
Centerline goodness : 0.998226 with order 1
Centerline is valid?  [True, True]
Translation: X:411.03, Y:33.75, Z:107.30
[[ 9.59826580e-01 -1.23339838e-01 -2.52032181e-01  4.11025417e+02]
 [ 1.22932780e-01  9.92262038e-01 -1.74235266e-02  3.37511155e+01]
 [ 2.52230980e-01 -1.42594527e-02  9.67561988e-01  1.07298220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.0207140570001 meters
Centerline goodness : 0.998157 with order 1
Centerline is valid?  [True, True]
Translation: X:411.08, Y:33.75, Z:107.31
[[ 9.59529558e-01 -1.25627734e-01 -2.52033132e-01  4.11084573e+02]
 [ 1.25301610e-01  9.91965930e-01 -1.74097506e-02  3.37536099e+01]
 [ 2.52195428e-01 -1.48749869e-02  9.67561988e-01  1.07313613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.0807140570001 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:411.14, Y:33.75, Z:107.33
[[ 9.58957961e-01 -1.29918322e-01 -2.52033449e-01  4.11143686e+02]
 [ 1.29738484e-01  9.91395474e-01 -1.74051689e-02  3.37525486e+01]
 [ 2.52126071e-01 -1.60076123e-02  9.67561988e-01  1.07329600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.1407140570001 meters
Centerline goodness : 0.998288 with order 1
Centerline is valid?  [True, True]
Translation: X:411.20, Y:33.75, Z:107.34
[[ 9.58639581e-01 -1.32246879e-01 -2.52033563e-01  4.11202246e+02]
 [ 1.32146251e-01  9.91077437e-01 -1.74035175e-02  3.37532778e+01]
 [ 2.52086338e-01 -1.66215898e-02  9.67561988e-01  1.07344948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.200714057 meters
Centerline goodness : 0.998081 with order 1
Centerline is valid?  [True, True]
Translation: X:411.26, Y:33.75, Z:107.36
[[ 9.58319926e-01 -1.34543107e-01 -2.52033872e-01  4.11261196e+02]
 [ 1.34521363e-01  9.90757930e-01 -1.73990390e-02  3.37534691e+01]
 [ 2.52045478e-01 -1.72300943e-02  9.67561988e-01  1.07362061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.26071405700003 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:411.32, Y:33.75, Z:107.37
[[ 9.58433541e-01 -1.33730125e-01 -2.52034522e-01  4.11320280e+02]
 [ 1.33683331e-01  9.90871520e-01 -1.73896158e-02  3.37526571e+01]
 [ 2.52059345e-01 -1.70260235e-02  9.67561988e-01  1.07372326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.32071405700003 meters
Centerline goodness : 0.997773 with order 1
Centerline is valid?  [True, True]
Translation: X:411.38, Y:33.75, Z:107.39
[[ 9.59334988e-01 -1.27099737e-01 -2.52035788e-01  4.11377953e+02]
 [ 1.26833456e-01  9.91771906e-01 -1.73712496e-02  3.37529797e+01]
 [ 2.52169895e-01 -1.53017226e-02  9.67561988e-01  1.07390655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.38071405700003 meters
Centerline goodness : 0.997740 with order 1
Centerline is valid?  [True, True]
Translation: X:411.43, Y:33.76, Z:107.41
[[ 9.60146029e-01 -1.20820452e-01 -2.52035755e-01  4.11434801e+02]
 [ 1.20341829e-01  9.92580509e-01 -1.73717270e-02  3.37551786e+01]
 [ 2.52264638e-01 -1.36510491e-02  9.67561988e-01  1.07407250e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.44071405700004 meters
Centerline goodness : 0.997903 with order 1
Centerline is valid?  [True, True]
Translation: X:411.49, Y:33.75, Z:107.42
[[ 9.60658617e-01 -1.16675366e-01 -2.52035474e-01  4.11493718e+02]
 [ 1.16055693e-01  9.93090710e-01 -1.73758121e-02  3.37545213e+01]
 [ 2.52321416e-01 -1.25579278e-02  9.67561988e-01  1.07422679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.50071405700004 meters
Centerline goodness : 0.997764 with order 1
Centerline is valid?  [True, True]
Translation: X:411.55, Y:33.76, Z:107.44
[[ 9.60602795e-01 -1.17133750e-01 -2.52035624e-01  4.11552800e+02]
 [ 1.16530122e-01  9.93035189e-01 -1.73736337e-02  3.37563412e+01]
 [ 2.52315282e-01 -1.26805809e-02  9.67561988e-01  1.07438636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.56071405700004 meters
Centerline goodness : 0.997951 with order 1
Centerline is valid?  [True, True]
Translation: X:411.61, Y:33.75, Z:107.45
[[ 9.59957768e-01 -1.22305579e-01 -2.52036565e-01  4.11612219e+02]
 [ 1.21880206e-01  9.92392990e-01 -1.73599744e-02  3.37547031e+01]
 [ 2.52242542e-01 -1.40534262e-02  9.67561988e-01  1.07453599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.62071405700004 meters
Centerline goodness : 0.997832 with order 1
Centerline is valid?  [True, True]
Translation: X:411.67, Y:33.75, Z:107.47
[[ 9.59181829e-01 -1.28248828e-01 -2.52036618e-01  4.11670516e+02]
 [ 1.28024558e-01  9.91619065e-01 -1.73591950e-02  3.37546504e+01]
 [ 2.52150612e-01 -1.56162522e-02  9.67561988e-01  1.07466037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.68071405700005 meters
Centerline goodness : 0.998119 with order 1
Centerline is valid?  [True, True]
Translation: X:411.73, Y:33.76, Z:107.48
[[ 9.58180519e-01 -1.35526769e-01 -2.52036876e-01  4.11730071e+02]
 [ 1.35549735e-01  9.90618523e-01 -1.73554452e-02  3.37554671e+01]
 [ 2.52024526e-01 -1.75338824e-02  9.67561988e-01  1.07479932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.74071405700005 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:411.79, Y:33.76, Z:107.50
[[ 9.57450963e-01 -1.40587827e-01 -2.52037133e-01  4.11787708e+02]
 [ 1.40783168e-01  9.89888386e-01 -1.73517190e-02  3.37561167e+01]
 [ 2.51928071e-01 -1.88691659e-02  9.67561988e-01  1.07499360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.80071405700005 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:411.85, Y:33.76, Z:107.52
[[ 9.57011538e-01 -1.43547334e-01 -2.52037854e-01  4.11845083e+02]
 [ 1.43845705e-01  9.89448177e-01 -1.73412352e-02  3.37595290e+01]
 [ 2.51867684e-01 -1.96588008e-02  9.67561988e-01  1.07515127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.86071405700005 meters
Centerline goodness : 0.998193 with order 1
Centerline is valid?  [True, True]
Translation: X:411.91, Y:33.76, Z:107.53
[[ 9.56941119e-01 -1.44013817e-01 -2.52039116e-01  4.11905253e+02]
 [ 1.44332806e-01  9.89377561e-01 -1.73228793e-02  3.37643480e+01]
 [ 2.51856580e-01 -1.98005372e-02  9.67561989e-01  1.07532194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.92071405700005 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:411.96, Y:33.77, Z:107.55
[[ 9.56840350e-01 -1.44679037e-01 -2.52040712e-01  4.11963012e+02]
 [ 1.45026660e-01  9.89276499e-01 -1.72996310e-02  3.37701508e+01]
 [ 2.51840847e-01 -1.99996376e-02  9.67561989e-01  1.07546742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 423.98071405700006 meters
Centerline goodness : 0.998167 with order 1
Centerline is valid?  [True, True]
Translation: X:412.02, Y:33.78, Z:107.56
[[ 9.56548636e-01 -1.46595735e-01 -2.52040467e-01  4.12021562e+02]
 [ 1.47007408e-01  9.88984035e-01 -1.73031951e-02  3.37763593e+01]
 [ 2.51800573e-01 -2.05004682e-02  9.67561989e-01  1.07562588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.04071405700006 meters
Centerline goodness : 0.998507 with order 1
Centerline is valid?  [True, True]
Translation: X:412.08, Y:33.78, Z:107.58
[[ 9.55968891e-01 -1.50329373e-01 -2.52040788e-01  4.12079829e+02]
 [ 1.50868910e-01  9.88402415e-01 -1.72985131e-02  3.37822268e+01]
 [ 2.51718199e-01 -2.14882786e-02  9.67561989e-01  1.07576542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.10071405700006 meters
Centerline goodness : 0.998124 with order 1
Centerline is valid?  [True, True]
Translation: X:412.14, Y:33.79, Z:107.59
[[ 9.55304419e-01 -1.54493401e-01 -2.52042173e-01  4.12138410e+02]
 [ 1.55179539e-01  9.87735172e-01 -1.72783244e-02  3.37875604e+01]
 [ 2.51620306e-01 -2.26057285e-02  9.67561989e-01  1.07591072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.16071405700006 meters
Centerline goodness : 0.998176 with order 1
Centerline is valid?  [True, True]
Translation: X:412.20, Y:33.79, Z:107.61
[[ 9.54758207e-01 -1.57832760e-01 -2.52042827e-01  4.12196693e+02]
 [ 1.58634790e-01  9.87186301e-01 -1.72687746e-02  3.37929885e+01]
 [ 2.51538804e-01 -2.34952567e-02  9.67561989e-01  1.07605328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.22071405700007 meters
Centerline goodness : 0.997964 with order 1
Centerline is valid?  [True, True]
Translation: X:412.26, Y:33.80, Z:107.62
[[ 9.54366737e-01 -1.60182525e-01 -2.52043030e-01  4.12255616e+02]
 [ 1.61065156e-01  9.86792738e-01 -1.72658050e-02  3.37986700e+01]
 [ 2.51479912e-01 -2.41174399e-02  9.67561989e-01  1.07621528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.28071405700007 meters
Centerline goodness : 0.998201 with order 1
Centerline is valid?  [True, True]
Translation: X:412.32, Y:33.80, Z:107.64
[[ 9.54278839e-01 -1.60704338e-01 -2.52043672e-01  4.12315328e+02]
 [ 1.61607151e-01  9.86704284e-01 -1.72564296e-02  3.38038054e+01]
 [ 2.51465754e-01 -2.42646143e-02  9.67561989e-01  1.07637330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.34071405700007 meters
Centerline goodness : 0.998283 with order 1
Centerline is valid?  [True, True]
Translation: X:412.37, Y:33.81, Z:107.65
[[ 9.54490853e-01 -1.59438264e-01 -2.52044941e-01  4.12374741e+02]
 [ 1.60302915e-01  9.86917337e-01 -1.72378807e-02  3.38103927e+01]
 [ 2.51495900e-01 -2.39501393e-02  9.67561989e-01  1.07653425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.4007140570001 meters
Centerline goodness : 0.997315 with order 1
Centerline is valid?  [True, True]
Translation: X:412.43, Y:33.82, Z:107.67
[[ 9.55014205e-01 -1.56271349e-01 -2.52045896e-01  4.12433535e+02]
 [ 1.57032094e-01  9.87443294e-01 -1.72239086e-02  3.38186671e+01]
 [ 2.51572633e-01 -2.31302174e-02  9.67561989e-01  1.07668633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.4607140570001 meters
Centerline goodness : 0.997245 with order 1
Centerline is valid?  [True, True]
Translation: X:412.49, Y:33.82, Z:107.68
[[ 9.55512569e-01 -1.53193591e-01 -2.52046531e-01  4.12491967e+02]
 [ 1.53852282e-01  9.87943891e-01 -1.72146126e-02  3.38248586e+01]
 [ 2.51644999e-01 -2.23291551e-02  9.67561990e-01  1.07684018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.5207140570001 meters
Centerline goodness : 0.997458 with order 1
Centerline is valid?  [True, True]
Translation: X:412.55, Y:33.83, Z:107.70
[[ 9.56184997e-01 -1.48938939e-01 -2.52046513e-01  4.12550708e+02]
 [ 1.49453199e-01  9.88618930e-01 -1.72148681e-02  3.38332470e+01]
 [ 2.51741918e-01 -2.12085592e-02  9.67561990e-01  1.07698940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.5807140570001 meters
Centerline goodness : 0.996998 with order 1
Centerline is valid?  [True, True]
Translation: X:412.61, Y:33.84, Z:107.71
[[ 9.56904294e-01 -1.44245222e-01 -2.52046597e-01  4.12608273e+02]
 [ 1.44600649e-01  9.89340358e-01 -1.72136331e-02  3.38429785e+01]
 [ 2.51842855e-01 -1.99743021e-02  9.67561990e-01  1.07714976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.6407140570001 meters
Centerline goodness : 0.997028 with order 1
Centerline is valid?  [True, True]
Translation: X:412.67, Y:33.85, Z:107.73
[[ 9.57446580e-01 -1.40600685e-01 -2.52046611e-01  4.12666239e+02]
 [ 1.40832659e-01  9.89883761e-01 -1.72134321e-02  3.38522282e+01]
 [ 2.51917068e-01 -1.90154528e-02  9.67561990e-01  1.07729268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.700714057 meters
Centerline goodness : 0.996260 with order 1
Centerline is valid?  [True, True]
Translation: X:412.73, Y:33.86, Z:107.75
[[ 9.57576593e-01 -1.39712467e-01 -2.52046611e-01  4.12725671e+02]
 [ 1.39914352e-01  9.90013976e-01 -1.72134321e-02  3.38602314e+01]
 [ 2.51934599e-01 -1.87817584e-02  9.67561990e-01  1.07745463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.76071405700003 meters
Centerline goodness : 0.996609 with order 1
Centerline is valid?  [True, True]
Translation: X:412.79, Y:33.86, Z:107.76
[[ 9.57408795e-01 -1.40856035e-01 -2.52047568e-01  4.12785358e+02]
 [ 1.41100329e-01  9.89845886e-01 -1.71994158e-02  3.38648755e+01]
 [ 2.51910889e-01 -1.90971228e-02  9.67561990e-01  1.07759793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.82071405700003 meters
Centerline goodness : 0.996876 with order 1
Centerline is valid?  [True, True]
Translation: X:412.84, Y:33.87, Z:107.77
[[ 9.57388531e-01 -1.40986465e-01 -2.52051617e-01  4.12843420e+02]
 [ 1.41250764e-01  9.89825463e-01 -1.71398690e-02  3.38687184e+01]
 [ 2.51903598e-01 -1.91929694e-02  9.67561991e-01  1.07773153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.88071405700003 meters
Centerline goodness : 0.996967 with order 1
Centerline is valid?  [True, True]
Translation: X:412.90, Y:33.87, Z:107.79
[[ 9.57681532e-01 -1.38982677e-01 -2.52051381e-01  4.12902042e+02]
 [ 1.39178186e-01  9.90118952e-01 -1.71433444e-02  3.38727407e+01]
 [ 2.51943477e-01 -1.86621898e-02  9.67561991e-01  1.07788668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 424.94071405700004 meters
Centerline goodness : 0.997200 with order 1
Centerline is valid?  [True, True]
Translation: X:412.96, Y:33.88, Z:107.80
[[ 9.58077863e-01 -1.36223722e-01 -2.52051395e-01  4.12960271e+02]
 [ 1.36325858e-01  9.90515711e-01 -1.71431314e-02  3.38758200e+01]
 [ 2.51996168e-01 -1.79366679e-02  9.67561991e-01  1.07804408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.00071405700004 meters
Centerline goodness : 0.997501 with order 1
Centerline is valid?  [True, True]
Translation: X:413.02, Y:33.88, Z:107.82
[[ 9.58560872e-01 -1.32782338e-01 -2.52051395e-01  4.13018200e+02]
 [ 1.32767987e-01  9.90998877e-01 -1.71431314e-02  3.38781756e+01]
 [ 2.52058955e-01 -1.70316213e-02  9.67561991e-01  1.07820067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.06071405700004 meters
Centerline goodness : 0.997000 with order 1
Centerline is valid?  [True, True]
Translation: X:413.08, Y:33.88, Z:107.84
[[ 9.59053691e-01 -1.29174765e-01 -2.52051379e-01  4.13078803e+02]
 [ 1.29038302e-01  9.91491413e-01 -1.71433726e-02  3.38809483e+01]
 [ 2.52121269e-01 -1.60828672e-02  9.67561991e-01  1.07835684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.12071405700004 meters
Centerline goodness : 0.997000 with order 1
Centerline is valid?  [True, True]
Translation: X:413.14, Y:33.88, Z:107.85
[[ 9.59669726e-01 -1.24512342e-01 -2.52052960e-01  4.13138002e+02]
 [ 1.24224327e-01  9.92106455e-01 -1.71201011e-02  3.38830330e+01]
 [ 2.52195032e-01 -1.48814666e-02  9.67561992e-01  1.07851312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.18071405700005 meters
Centerline goodness : 0.997066 with order 1
Centerline is valid?  [True, True]
Translation: X:413.20, Y:33.88, Z:107.87
[[ 9.60207954e-01 -1.20290632e-01 -2.52053266e-01  4.13196492e+02]
 [ 1.19861149e-01  9.92643119e-01 -1.71155879e-02  3.38839216e+01]
 [ 2.52257785e-01 -1.37768704e-02  9.67561992e-01  1.07865577e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.24071405700005 meters
Centerline goodness : 0.997161 with order 1
Centerline is valid?  [True, True]
Translation: X:413.26, Y:33.88, Z:107.88
[[ 9.60698265e-01 -1.16309631e-01 -2.52053392e-01  4.13255289e+02]
 [ 1.15746197e-01  9.93131380e-01 -1.71137318e-02  3.38846284e+01]
 [ 2.52312625e-01 -1.27330890e-02  9.67561992e-01  1.07881105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.30071405700005 meters
Centerline goodness : 0.997120 with order 1
Centerline is valid?  [True, True]
Translation: X:413.31, Y:33.88, Z:107.90
[[ 9.61032047e-01 -1.13518710e-01 -2.52053382e-01  4.13314601e+02]
 [ 1.12861035e-01  9.93463387e-01 -1.71138772e-02  3.38845862e+01]
 [ 2.52348552e-01 -1.20000213e-02  9.67561992e-01  1.07896258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.36071405700005 meters
Centerline goodness : 0.996642 with order 1
Centerline is valid?  [True, True]
Translation: X:413.37, Y:33.88, Z:107.91
[[ 9.61138501e-01 -1.12608202e-01 -2.52055898e-01  4.13374757e+02]
 [ 1.11929517e-01  9.93569408e-01 -1.70767551e-02  3.38847384e+01]
 [ 2.52358012e-01 -1.17993681e-02  9.67561992e-01  1.07912015e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.42071405700005 meters
Centerline goodness : 0.996862 with order 1
Centerline is valid?  [True, True]
Translation: X:413.43, Y:33.89, Z:107.93
[[ 9.61116920e-01 -1.12790081e-01 -2.52056866e-01  4.13434109e+02]
 [ 1.12121276e-01  9.93548032e-01 -1.70624501e-02  3.38854499e+01]
 [ 2.52355078e-01 -1.18619280e-02  9.67561992e-01  1.07927673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.48071405700006 meters
Centerline goodness : 0.997195 with order 1
Centerline is valid?  [True, True]
Translation: X:413.49, Y:33.88, Z:107.94
[[ 9.60504576e-01 -1.17889653e-01 -2.52057513e-01  4.13493542e+02]
 [ 1.17395488e-01  9.92938819e-01 -1.70528911e-02  3.38837813e+01]
 [ 2.52288048e-01 -1.32110348e-02  9.67561992e-01  1.07942650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.54071405700006 meters
Centerline goodness : 0.997075 with order 1
Centerline is valid?  [True, True]
Translation: X:413.55, Y:33.88, Z:107.96
[[ 9.59843939e-01 -1.23152185e-01 -2.52057835e-01  4.13552500e+02]
 [ 1.22837040e-01  9.92280416e-01 -1.70481237e-02  3.38836689e+01]
 [ 2.52211567e-01 -1.45985001e-02  9.67561992e-01  1.07956114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.60071405700006 meters
Centerline goodness : 0.997225 with order 1
Centerline is valid?  [True, True]
Translation: X:413.61, Y:33.88, Z:107.97
[[ 9.58288964e-01 -1.34717298e-01 -2.52058547e-01  4.13610895e+02]
 [ 1.34796060e-01  9.90726876e-01 -1.70375925e-02  3.38794324e+01]
 [ 2.52016435e-01 -1.76495621e-02  9.67561993e-01  1.07971787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.66071405700006 meters
Centerline goodness : 0.997414 with order 1
Centerline is valid?  [True, True]
Translation: X:413.67, Y:33.88, Z:107.99
[[ 9.57671567e-01 -1.39038292e-01 -2.52058570e-01  4.13668698e+02]
 [ 1.39263452e-01  9.90108793e-01 -1.70372573e-02  3.38805186e+01]
 [ 2.51934237e-01 -1.87864497e-02  9.67561993e-01  1.07986985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.72071405700007 meters
Centerline goodness : 0.997899 with order 1
Centerline is valid?  [True, True]
Translation: X:413.73, Y:33.88, Z:108.00
[[ 9.57276778e-01 -1.41730307e-01 -2.52058902e-01  4.13727899e+02]
 [ 1.42047953e-01  9.89713230e-01 -1.70323422e-02  3.38788263e+01]
 [ 2.51880029e-01 -1.94997853e-02  9.67561993e-01  1.08001254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.78071405700007 meters
Centerline goodness : 0.998145 with order 1
Centerline is valid?  [True, True]
Translation: X:413.79, Y:33.88, Z:108.02
[[ 9.57398476e-01 -1.40905502e-01 -2.52059113e-01  4.13786698e+02]
 [ 1.41196022e-01  9.89835183e-01 -1.70292102e-02  3.38802980e+01]
 [ 2.51896488e-01 -1.92860042e-02  9.67561993e-01  1.08016526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.84071405700007 meters
Centerline goodness : 0.997611 with order 1
Centerline is valid?  [True, True]
Translation: X:413.85, Y:33.88, Z:108.03
[[ 9.57904850e-01 -1.37420317e-01 -2.52059428e-01  4.13845510e+02]
 [ 1.37594006e-01  9.90342392e-01 -1.70245566e-02  3.38825620e+01]
 [ 2.51964657e-01 -1.83739612e-02  9.67561993e-01  1.08032415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.9007140570001 meters
Centerline goodness : 0.997858 with order 1
Centerline is valid?  [True, True]
Translation: X:413.90, Y:33.88, Z:108.05
[[ 9.58371217e-01 -1.34128078e-01 -2.52060051e-01  4.13903778e+02]
 [ 1.34192724e-01  9.90809160e-01 -1.70153269e-02  3.38842414e+01]
 [ 2.52025640e-01 -1.75176253e-02  9.67561993e-01  1.08049747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 425.9607140570001 meters
Centerline goodness : 0.998017 with order 1
Centerline is valid?  [True, True]
Translation: X:413.96, Y:33.89, Z:108.07
[[ 9.58642646e-01 -1.32174081e-01 -2.52060091e-01  4.13962474e+02]
 [ 1.32172755e-01  9.91080654e-01 -1.70147301e-02  3.38856060e+01]
 [ 2.52060786e-01 -1.70044308e-02  9.67561993e-01  1.08066145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.0207140570001 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:414.02, Y:33.89, Z:108.08
[[ 9.58818002e-01 -1.30895344e-01 -2.52060406e-01  4.14021489e+02]
 [ 1.30851974e-01  9.91255980e-01 -1.70100662e-02  3.38876705e+01]
 [ 2.52082923e-01 -1.66730441e-02  9.67561993e-01  1.08081065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.0807140570001 meters
Centerline goodness : 0.998832 with order 1
Centerline is valid?  [True, True]
Translation: X:414.08, Y:33.89, Z:108.10
[[ 9.58899824e-01 -1.30293977e-01 -2.52060722e-01  4.14082135e+02]
 [ 1.30231490e-01  9.91337771e-01 -1.70053746e-02  3.38883524e+01]
 [ 2.52093013e-01 -1.65197929e-02  9.67561993e-01  1.08095481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.1407140570001 meters
Centerline goodness : 0.999055 with order 1
Centerline is valid?  [True, True]
Translation: X:414.14, Y:33.89, Z:108.11
[[ 9.58975024e-01 -1.29736876e-01 -2.52061990e-01  4.14141452e+02]
 [ 1.29660469e-01  9.91412941e-01 -1.69865607e-02  3.38891766e+01]
 [ 2.52101302e-01 -1.63927884e-02  9.67561993e-01  1.08110871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.200714057 meters
Centerline goodness : 0.998903 with order 1
Centerline is valid?  [True, True]
Translation: X:414.20, Y:33.89, Z:108.13
[[ 9.58994272e-01 -1.29593296e-01 -2.52062618e-01  4.14199703e+02]
 [ 1.29514473e-01  9.91432184e-01 -1.69772368e-02  3.38910865e+01]
 [ 2.52103128e-01 -1.63646844e-02  9.67561993e-01  1.08126926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.26071405700003 meters
Centerline goodness : 0.998588 with order 1
Centerline is valid?  [True, True]
Translation: X:414.26, Y:33.89, Z:108.14
[[ 9.59094374e-01 -1.28850371e-01 -2.52062618e-01  4.14258847e+02]
 [ 1.28746420e-01  9.91532215e-01 -1.69772368e-02  3.38926150e+01]
 [ 2.52115729e-01 -1.61693874e-02  9.67561993e-01  1.08140792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.32071405700003 meters
Centerline goodness : 0.998926 with order 1
Centerline is valid?  [True, True]
Translation: X:414.32, Y:33.90, Z:108.16
[[ 9.59041963e-01 -1.29235580e-01 -2.52064829e-01  4.14319126e+02]
 [ 1.29153264e-01  9.91479865e-01 -1.69443533e-02  3.38958562e+01]
 [ 2.52107016e-01 -1.63046496e-02  9.67561993e-01  1.08155776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.38071405700003 meters
Centerline goodness : 0.998570 with order 1
Centerline is valid?  [True, True]
Translation: X:414.38, Y:33.90, Z:108.17
[[ 9.58953121e-01 -1.29890776e-01 -2.52066061e-01  4.14377112e+02]
 [ 1.29835423e-01  9.91391080e-01 -1.69260101e-02  3.38993117e+01]
 [ 2.52094577e-01 -1.64958535e-02  9.67561994e-01  1.08169313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.44071405700004 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:414.44, Y:33.90, Z:108.18
[[ 9.59089832e-01 -1.28875420e-01 -2.52067097e-01  4.14436599e+02]
 [ 1.28789765e-01  9.91527725e-01 -1.69105685e-02  3.39045251e+01]
 [ 2.52110871e-01 -1.62449079e-02  9.67561994e-01  1.08184384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.50071405700004 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:414.50, Y:33.91, Z:108.20
[[ 9.59184634e-01 -1.28166712e-01 -2.52067712e-01  4.14495303e+02]
 [ 1.28059490e-01  9.91622463e-01 -1.69013930e-02  3.39105736e+01]
 [ 2.52122201e-01 -1.60681061e-02  9.67561994e-01  1.08199869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.56071405700004 meters
Centerline goodness : 0.999036 with order 1
Centerline is valid?  [True, True]
Translation: X:414.55, Y:33.92, Z:108.21
[[ 9.59240373e-01 -1.27748289e-01 -2.52068009e-01  4.14554282e+02]
 [ 1.27628078e-01  9.91678157e-01 -1.68969572e-02  3.39165391e+01]
 [ 2.52128896e-01 -1.59627121e-02  9.67561994e-01  1.08214773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.62071405700004 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:414.61, Y:33.92, Z:108.23
[[ 9.58925674e-01 -1.30088278e-01 -2.52068624e-01  4.14612890e+02]
 [ 1.30049613e-01  9.91363657e-01 -1.68877743e-02  3.39229615e+01]
 [ 2.52088575e-01 -1.65873068e-02  9.67561994e-01  1.08229511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.68071405700005 meters
Centerline goodness : 0.998897 with order 1
Centerline is valid?  [True, True]
Translation: X:414.67, Y:33.93, Z:108.24
[[ 9.58107682e-01 -1.35978031e-01 -2.52070714e-01  4.14671432e+02]
 [ 1.36146862e-01  9.90545248e-01 -1.68565326e-02  3.39296199e+01]
 [ 2.51979566e-01 -1.81682634e-02  9.67561994e-01  1.08244800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.74071405700005 meters
Centerline goodness : 0.999119 with order 1
Centerline is valid?  [True, True]
Translation: X:414.73, Y:33.94, Z:108.26
[[ 9.57336215e-01 -1.41307060e-01 -2.52070797e-01  4.14729934e+02]
 [ 1.41656705e-01  9.89772336e-01 -1.68552851e-02  3.39355569e+01]
 [ 2.51874473e-01 -1.95713438e-02  9.67561994e-01  1.08258807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.80071405700005 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:414.79, Y:33.94, Z:108.27
[[ 9.56853476e-01 -1.44539398e-01 -2.52070996e-01  4.14789736e+02]
 [ 1.44999363e-01  9.89288221e-01 -1.68523127e-02  3.39437879e+01]
 [ 2.51806690e-01 -2.04249399e-02  9.67561994e-01  1.08274299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.86071405700005 meters
Centerline goodness : 0.998961 with order 1
Centerline is valid?  [True, True]
Translation: X:414.85, Y:33.95, Z:108.29
[[ 9.56793436e-01 -1.44934168e-01 -2.52072229e-01  4.14849365e+02]
 [ 1.45412348e-01  9.89227916e-01 -1.68338449e-02  3.39517275e+01]
 [ 2.51796685e-01 -2.05479024e-02  9.67561994e-01  1.08288998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.92071405700005 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:414.91, Y:33.96, Z:108.30
[[ 9.57226983e-01 -1.42040953e-01 -2.52073147e-01  4.14907823e+02]
 [ 1.42424675e-01  9.89662719e-01 -1.68200919e-02  3.39613456e+01]
 [ 2.51856538e-01 -1.98007903e-02  9.67561994e-01  1.08304228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 426.98071405700006 meters
Centerline goodness : 0.998493 with order 1
Centerline is valid?  [True, True]
Translation: X:414.97, Y:33.97, Z:108.32
[[ 9.57940971e-01 -1.37141971e-01 -2.52073751e-01  4.14966054e+02]
 [ 1.37362119e-01  9.90378229e-01 -1.68110370e-02  3.39721994e+01]
 [ 2.51953854e-01 -1.85214034e-02  9.67561994e-01  1.08321263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.04071405700006 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:415.02, Y:33.98, Z:108.34
[[ 9.58266856e-01 -1.34845439e-01 -2.52074077e-01  4.15023368e+02]
 [ 1.34989117e-01  9.90704543e-01 -1.68061436e-02  3.39812071e+01]
 [ 2.51997165e-01 -1.79224866e-02  9.67561994e-01  1.08337833e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.10071405700006 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:415.08, Y:33.99, Z:108.35
[[ 9.58256214e-01 -1.34920488e-01 -2.52074376e-01  4.15083064e+02]
 [ 1.35067879e-01  9.90693884e-01 -1.68016620e-02  3.39892137e+01]
 [ 2.51995431e-01 -1.79468543e-02  9.67561995e-01  1.08354023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.16071405700006 meters
Centerline goodness : 0.998384 with order 1
Centerline is valid?  [True, True]
Translation: X:415.14, Y:34.00, Z:108.37
[[ 9.57920220e-01 -1.37283409e-01 -2.52075618e-01  4.15141508e+02]
 [ 1.37515683e-01  9.90357394e-01 -1.67830016e-02  3.39967979e+01]
 [ 2.51948980e-01 -1.85875742e-02  9.67561995e-01  1.08366945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.22071405700007 meters
Centerline goodness : 0.998199 with order 1
Centerline is valid?  [True, True]
Translation: X:415.20, Y:34.00, Z:108.38
[[ 9.57709066e-01 -1.38748814e-01 -2.52075608e-01  4.15199999e+02]
 [ 1.39030674e-01  9.90145846e-01 -1.67831565e-02  3.40033054e+01]
 [ 2.51920259e-01 -1.89728607e-02  9.67561995e-01  1.08381519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.28071405700007 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:415.26, Y:34.01, Z:108.40
[[ 9.57448228e-01 -1.40536925e-01 -2.52075910e-01  4.15260139e+02]
 [ 1.40880542e-01  9.89884413e-01 -1.67786191e-02  3.40113982e+01]
 [ 2.51884030e-01 -1.94479317e-02  9.67561995e-01  1.08398022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.34071405700007 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:415.32, Y:34.02, Z:108.41
[[ 9.57449284e-01 -1.40526985e-01 -2.52077439e-01  4.15319222e+02]
 [ 1.40876285e-01  9.89885408e-01 -1.67556183e-02  3.40195593e+01]
 [ 2.51882395e-01 -1.94690783e-02  9.67561995e-01  1.08414769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.4007140570001 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:415.38, Y:34.03, Z:108.43
[[ 9.57782113e-01 -1.38238648e-01 -2.52078360e-01  4.15378223e+02]
 [ 1.38514066e-01  9.90218949e-01 -1.67417532e-02  3.40271839e+01]
 [ 2.51927126e-01 -1.88814469e-02  9.67561995e-01  1.08430701e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.4607140570001 meters
Centerline goodness : 0.997973 with order 1
Centerline is valid?  [True, True]
Translation: X:415.44, Y:34.04, Z:108.45
[[ 9.58194028e-01 -1.35349500e-01 -2.52080774e-01  4.15436151e+02]
 [ 1.35536627e-01  9.90631493e-01 -1.67053215e-02  3.40351168e+01]
 [ 2.51980211e-01 -1.81592387e-02  9.67561996e-01  1.08446458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.5207140570001 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:415.49, Y:34.04, Z:108.46
[[ 9.58478274e-01 -1.33321723e-01 -2.52080774e-01  4.15494498e+02]
 [ 1.33440214e-01  9.90916062e-01 -1.67053215e-02  3.40414537e+01]
 [ 2.52018070e-01 -1.76260249e-02  9.67561996e-01  1.08462092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.5807140570001 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:415.55, Y:34.05, Z:108.48
[[ 9.58844942e-01 -1.30658584e-01 -2.52080764e-01  4.15554269e+02]
 [ 1.30686922e-01  9.91282934e-01 -1.67054809e-02  3.40497454e+01]
 [ 2.52066074e-01 -1.69256932e-02  9.67561996e-01  1.08475525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.6407140570001 meters
Centerline goodness : 0.998331 with order 1
Centerline is valid?  [True, True]
Translation: X:415.61, Y:34.05, Z:108.49
[[ 9.58928594e-01 -1.30038479e-01 -2.52083214e-01  4.15614253e+02]
 [ 1.30055535e-01  9.91366593e-01 -1.66684343e-02  3.40543028e+01]
 [ 2.52074414e-01 -1.68009789e-02  9.67561996e-01  1.08490858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.700714057 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:415.67, Y:34.06, Z:108.51
[[ 9.58865175e-01 -1.30502924e-01 -2.52084438e-01  4.15674644e+02]
 [ 1.30540542e-01  9.91303156e-01 -1.66499000e-02  3.40612149e+01]
 [ 2.52064959e-01 -1.69422299e-02  9.67561997e-01  1.08505927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.76071405700003 meters
Centerline goodness : 0.998189 with order 1
Centerline is valid?  [True, True]
Translation: X:415.74, Y:34.07, Z:108.52
[[ 9.58599671e-01 -1.32436747e-01 -2.52085657e-01  4.15735178e+02]
 [ 1.32544633e-01  9.91037495e-01 -1.66314139e-02  3.40663722e+01]
 [ 2.52028949e-01 -1.74697331e-02  9.67561997e-01  1.08521087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.82071405700003 meters
Centerline goodness : 0.998328 with order 1
Centerline is valid?  [True, True]
Translation: X:415.79, Y:34.07, Z:108.54
[[ 9.58375625e-01 -1.34046178e-01 -2.52086856e-01  4.15793591e+02]
 [ 1.34213291e-01  9.90813198e-01 -1.66132254e-02  3.40700452e+01]
 [ 2.51997923e-01 -1.79116962e-02  9.67561997e-01  1.08536638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.88071405700003 meters
Centerline goodness : 0.998371 with order 1
Centerline is valid?  [True, True]
Translation: X:415.85, Y:34.07, Z:108.55
[[ 9.58134229e-01 -1.35760829e-01 -2.52086882e-01  4.15852904e+02]
 [ 1.35986086e-01  9.90571450e-01 -1.66128342e-02  3.40749139e+01]
 [ 2.51965440e-01 -1.83629833e-02  9.67561997e-01  1.08551075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 427.94071405700004 meters
Centerline goodness : 0.998421 with order 1
Centerline is valid?  [True, True]
Translation: X:415.91, Y:34.08, Z:108.56
[[ 9.58131382e-01 -1.35779832e-01 -2.52087469e-01  4.15913829e+02]
 [ 1.36008065e-01  9.90568582e-01 -1.66039208e-02  3.40782745e+01]
 [ 2.51964404e-01 -1.83771912e-02  9.67561997e-01  1.08564462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.00071405700004 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:415.97, Y:34.08, Z:108.58
[[ 9.58339977e-01 -1.34297477e-01 -2.52088627e-01  4.15972722e+02]
 [ 1.34480136e-01  9.90777466e-01 -1.65863241e-02  3.40817493e+01]
 [ 2.51991232e-01 -1.80055754e-02  9.67561997e-01  1.08579947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.06071405700004 meters
Centerline goodness : 0.998133 with order 1
Centerline is valid?  [True, True]
Translation: X:416.03, Y:34.09, Z:108.60
[[ 9.58918704e-01 -1.30099248e-01 -2.52089478e-01  4.16031125e+02]
 [ 1.30143239e-01  9.91356677e-01 -1.65733711e-02  3.40865283e+01]
 [ 2.52066771e-01 -1.69152257e-02  9.67561997e-01  1.08596632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.12071405700004 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:416.09, Y:34.09, Z:108.61
[[ 9.59359318e-01 -1.26808666e-01 -2.52089789e-01  4.16089113e+02]
 [ 1.26742606e-01  9.91797253e-01 -1.65686465e-02  3.40908235e+01]
 [ 2.52123008e-01 -1.60552314e-02  9.67561997e-01  1.08610923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.18071405700005 meters
Centerline goodness : 0.998532 with order 1
Centerline is valid?  [True, True]
Translation: X:416.15, Y:34.10, Z:108.63
[[ 9.60049292e-01 -1.21474727e-01 -2.52089761e-01  4.16147398e+02]
 [ 1.21228270e-01  9.92486359e-01 -1.65690749e-02  3.40956954e+01]
 [ 2.52208373e-01 -1.46532770e-02  9.67561997e-01  1.08626296e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.24071405700005 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:416.21, Y:34.10, Z:108.64
[[ 9.60672234e-01 -1.16445747e-01 -2.52089761e-01  4.16205625e+02]
 [ 1.16029438e-01  9.93107565e-01 -1.65690695e-02  3.41010270e+01]
 [ 2.52281647e-01 -1.33323883e-02  9.67561997e-01  1.08643832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.30071405700005 meters
Centerline goodness : 0.998674 with order 1
Centerline is valid?  [True, True]
Translation: X:416.27, Y:34.10, Z:108.66
[[ 9.60740708e-01 -1.15878768e-01 -2.52090070e-01  4.16265261e+02]
 [ 1.15444546e-01  9.93175804e-01 -1.65643729e-02  3.41044787e+01]
 [ 2.52289217e-01 -1.31883562e-02  9.67561997e-01  1.08658540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.36071405700005 meters
Centerline goodness : 0.998011 with order 1
Centerline is valid?  [True, True]
Translation: X:416.32, Y:34.11, Z:108.67
[[ 9.60811002e-01 -1.15292471e-01 -2.52090984e-01  4.16324322e+02]
 [ 1.14842100e-01  9.93245878e-01 -1.65504446e-02  3.41066677e+01]
 [ 2.52296473e-01 -1.30488088e-02  9.67561997e-01  1.08670234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.42071405700005 meters
Centerline goodness : 0.998462 with order 1
Centerline is valid?  [True, True]
Translation: X:416.38, Y:34.11, Z:108.68
[[ 9.60785811e-01 -1.15501563e-01 -2.52091282e-01  4.16383096e+02]
 [ 1.15059437e-01  9.93220801e-01 -1.65459149e-02  3.41088263e+01]
 [ 2.52293384e-01 -1.31084005e-02  9.67561997e-01  1.08683012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.48071405700006 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:416.44, Y:34.11, Z:108.70
[[ 9.60701497e-01 -1.16200768e-01 -2.52091282e-01  4.16441741e+02]
 [ 1.15782247e-01  9.93136800e-01 -1.65459149e-02  3.41106264e+01]
 [ 2.52283777e-01 -1.32920098e-02  9.67561997e-01  1.08697644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.54071405700006 meters
Centerline goodness : 0.997789 with order 1
Centerline is valid?  [True, True]
Translation: X:416.50, Y:34.11, Z:108.71
[[ 9.60648716e-01 -1.16635701e-01 -2.52091566e-01  4.16500825e+02]
 [ 1.16232999e-01  9.93084219e-01 -1.65415808e-02  3.41128045e+01]
 [ 2.52277495e-01 -1.34107104e-02  9.67561997e-01  1.08712371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.60071405700006 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:416.56, Y:34.12, Z:108.73
[[ 9.60484099e-01 -1.17983037e-01 -2.52091846e-01  4.16559032e+02]
 [ 1.17626949e-01  9.92920147e-01 -1.65373065e-02  3.41154178e+01]
 [ 2.52258195e-01 -1.37689749e-02  9.67561997e-01  1.08727324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.66071405700006 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:416.62, Y:34.12, Z:108.74
[[ 9.60308316e-01 -1.19404777e-01 -2.52092123e-01  4.16618759e+02]
 [ 1.19097809e-01  9.92744866e-01 -1.65330955e-02  3.41165214e+01]
 [ 2.52237291e-01 -1.41467503e-02  9.67561997e-01  1.08744947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.72071405700007 meters
Centerline goodness : 0.998095 with order 1
Centerline is valid?  [True, True]
Translation: X:416.68, Y:34.12, Z:108.76
[[ 9.60153870e-01 -1.20637858e-01 -2.52093342e-01  4.16679402e+02]
 [ 1.20377414e-01  9.92590827e-01 -1.65144847e-02  3.41193828e+01]
 [ 2.52217811e-01 -1.44898981e-02  9.67561997e-01  1.08761062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.78071405700007 meters
Centerline goodness : 0.997825 with order 1
Centerline is valid?  [True, True]
Translation: X:416.74, Y:34.12, Z:108.78
[[ 9.59976147e-01 -1.22039604e-01 -2.52095483e-01  4.16739881e+02]
 [ 1.21835091e-01  9.92413504e-01 -1.64817278e-02  3.41204696e+01]
 [ 2.52194386e-01 -1.48920107e-02  9.67561998e-01  1.08775032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.84071405700007 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:416.80, Y:34.12, Z:108.79
[[ 9.59806436e-01 -1.23364719e-01 -2.52096711e-01  4.16798896e+02]
 [ 1.23209907e-01  9.92244068e-01 -1.64629273e-02  3.41210678e+01]
 [ 2.52172411e-01 -1.52595887e-02  9.67561998e-01  1.08788115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.9007140570001 meters
Centerline goodness : 0.997596 with order 1
Centerline is valid?  [True, True]
Translation: X:416.86, Y:34.12, Z:108.80
[[ 9.59689623e-01 -1.24269875e-01 -2.52096857e-01  4.16858773e+02]
 [ 1.24146238e-01  9.92127390e-01 -1.64607005e-02  3.41235123e+01]
 [ 2.52157766e-01 -1.54997128e-02  9.67561998e-01  1.08803933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 428.9607140570001 meters
Centerline goodness : 0.997976 with order 1
Centerline is valid?  [True, True]
Translation: X:416.92, Y:34.13, Z:108.82
[[ 9.59720886e-01 -1.24026344e-01 -2.52097773e-01  4.16917590e+02]
 [ 1.23898151e-01  9.92158634e-01 -1.64466546e-02  3.41255930e+01]
 [ 2.52160801e-01 -1.54502499e-02  9.67561998e-01  1.08819355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.0207140570001 meters
Centerline goodness : 0.998025 with order 1
Centerline is valid?  [True, True]
Translation: X:416.98, Y:34.13, Z:108.84
[[ 9.59840172e-01 -1.23099168e-01 -2.52098074e-01  4.16978256e+02]
 [ 1.22940846e-01  9.92277788e-01 -1.64420431e-02  3.41282215e+01]
 [ 2.52175321e-01 -1.52114169e-02  9.67561998e-01  1.08835270e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.0807140570001 meters
Centerline goodness : 0.997907 with order 1
Centerline is valid?  [True, True]
Translation: X:417.04, Y:34.13, Z:108.85
[[ 9.59929937e-01 -1.22394125e-01 -2.52099574e-01  4.17037212e+02]
 [ 1.22218005e-01  9.92367460e-01 -1.64190093e-02  3.41311048e+01]
 [ 2.52185004e-01 -1.50500084e-02  9.67561998e-01  1.08850817e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.1407140570001 meters
Centerline goodness : 0.998540 with order 1
Centerline is valid?  [True, True]
Translation: X:417.10, Y:34.13, Z:108.86
[[ 9.59772764e-01 -1.23619815e-01 -2.52099947e-01  4.17095595e+02]
 [ 1.23486613e-01  9.92210492e-01 -1.64132873e-02  3.41327682e+01]
 [ 2.52165220e-01 -1.53779426e-02  9.67561999e-01  1.08864027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.200714057 meters
Centerline goodness : 0.997848 with order 1
Centerline is valid?  [True, True]
Translation: X:417.15, Y:34.13, Z:108.88
[[ 9.59245961e-01 -1.27641376e-01 -2.52100905e-01  4.17153994e+02]
 [ 1.27647985e-01  9.91683961e-01 -1.63985590e-02  3.41341434e+01]
 [ 2.52097558e-01 -1.64499209e-02  9.67561999e-01  1.08877503e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.26071405700003 meters
Centerline goodness : 0.997892 with order 1
Centerline is valid?  [True, True]
Translation: X:417.21, Y:34.14, Z:108.89
[[ 9.58565250e-01 -1.32656966e-01 -2.52100757e-01  4.17211908e+02]
 [ 1.32832649e-01  9.91002775e-01 -1.64008244e-02  3.41350773e+01]
 [ 2.52008234e-01 -1.77659510e-02  9.67561999e-01  1.08891821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.32071405700003 meters
Centerline goodness : 0.998242 with order 1
Centerline is valid?  [True, True]
Translation: X:417.27, Y:34.14, Z:108.91
[[ 9.58221094e-01 -1.35120916e-01 -2.52100522e-01  4.17270328e+02]
 [ 1.35379047e-01  9.90658068e-01 -1.64044386e-02  3.41358424e+01]
 [ 2.51961999e-01 -1.84100492e-02  9.67561999e-01  1.08910285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.38071405700003 meters
Centerline goodness : 0.997572 with order 1
Centerline is valid?  [True, True]
Translation: X:417.33, Y:34.14, Z:108.93
[[ 9.58212884e-01 -1.35178562e-01 -2.52100824e-01  4.17329760e+02]
 [ 1.35439861e-01  9.90649833e-01 -1.63997913e-02  3.41376428e+01]
 [ 2.51960540e-01 -1.84300091e-02  9.67561999e-01  1.08926584e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.44071405700004 meters
Centerline goodness : 0.997582 with order 1
Centerline is valid?  [True, True]
Translation: X:417.39, Y:34.14, Z:108.94
[[ 9.58245648e-01 -1.34944450e-01 -2.52101714e-01  4.17387902e+02]
 [ 1.35201406e-01  9.90682631e-01 -1.63860983e-02  3.41398879e+01]
 [ 2.51964003e-01 -1.83825990e-02  9.67561999e-01  1.08943661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.50071405700004 meters
Centerline goodness : 0.997742 with order 1
Centerline is valid?  [True, True]
Translation: X:417.45, Y:34.14, Z:108.96
[[ 9.58216101e-01 -1.35153553e-01 -2.52102007e-01  4.17447337e+02]
 [ 1.35418765e-01  9.90653018e-01 -1.63816000e-02  3.41423433e+01]
 [ 2.51959645e-01 -1.84422296e-02  9.67561999e-01  1.08961123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.56071405700004 meters
Centerline goodness : 0.998342 with order 1
Centerline is valid?  [True, True]
Translation: X:417.51, Y:34.15, Z:108.98
[[ 9.58204440e-01 -1.35233961e-01 -2.52103205e-01  4.17507141e+02]
 [ 1.35506727e-01  9.90641295e-01 -1.63631376e-02  3.41454406e+01]
 [ 2.51956697e-01 -1.84824490e-02  9.67561999e-01  1.08976801e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.62071405700004 meters
Centerline goodness : 0.997748 with order 1
Centerline is valid?  [True, True]
Translation: X:417.57, Y:34.15, Z:108.99
[[ 9.58035829e-01 -1.36421125e-01 -2.52104396e-01  4.17566996e+02]
 [ 1.36738886e-01  9.90472274e-01 -1.63447745e-02  3.41485725e+01]
 [ 2.51932187e-01 -1.88135946e-02  9.67561999e-01  1.08991045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.68071405700005 meters
Centerline goodness : 0.997609 with order 1
Centerline is valid?  [True, True]
Translation: X:417.63, Y:34.15, Z:109.00
[[ 9.57825382e-01 -1.37888798e-01 -2.52105567e-01  4.17625608e+02]
 [ 1.38260988e-01  9.90261248e-01 -1.63266886e-02  3.41522702e+01]
 [ 2.51901641e-01 -1.92182482e-02  9.67561999e-01  1.09004420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.74071405700005 meters
Centerline goodness : 0.998136 with order 1
Centerline is valid?  [True, True]
Translation: X:417.68, Y:34.16, Z:109.02
[[ 9.57909113e-01 -1.37305389e-01 -2.52105853e-01  4.17683503e+02]
 [ 1.37658980e-01  9.90345187e-01 -1.63222665e-02  3.41580493e+01]
 [ 2.51912954e-01 -1.90693869e-02  9.67561999e-01  1.09022597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.80071405700005 meters
Centerline goodness : 0.997762 with order 1
Centerline is valid?  [True, True]
Translation: X:417.74, Y:34.16, Z:109.04
[[ 9.57960897e-01 -1.36943076e-01 -2.52106156e-01  4.17742270e+02]
 [ 1.37285622e-01  9.90397089e-01 -1.63175960e-02  3.41640502e+01]
 [ 2.51919784e-01 -1.89789315e-02  9.67561999e-01  1.09038508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.86071405700005 meters
Centerline goodness : 0.997761 with order 1
Centerline is valid?  [True, True]
Translation: X:417.80, Y:34.17, Z:109.06
[[ 9.57920988e-01 -1.37221413e-01 -2.52106455e-01  4.17801106e+02]
 [ 1.37574592e-01  9.90357066e-01 -1.63129755e-02  3.41703001e+01]
 [ 2.51913898e-01 -1.90569011e-02  9.67561999e-01  1.09055500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.92071405700005 meters
Centerline goodness : 0.998009 with order 1
Centerline is valid?  [True, True]
Translation: X:417.86, Y:34.18, Z:109.07
[[ 9.57794432e-01 -1.38100903e-01 -2.52107056e-01  4.17860657e+02]
 [ 1.38486297e-01  9.90230143e-01 -1.63036792e-02  3.41774447e+01]
 [ 2.51895559e-01 -1.92977995e-02  9.67561999e-01  1.09071632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 429.98071405700006 meters
Centerline goodness : 0.998005 with order 1
Centerline is valid?  [True, True]
Translation: X:417.92, Y:34.18, Z:109.09
[[ 9.57557894e-01 -1.39729431e-01 -2.52108241e-01  4.17919826e+02]
 [ 1.40174783e-01  9.89992838e-01 -1.62853286e-02  3.41845857e+01]
 [ 2.51860893e-01 -1.97450730e-02  9.67561999e-01  1.09088354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.04071405700006 meters
Centerline goodness : 0.997921 with order 1
Centerline is valid?  [True, True]
Translation: X:417.98, Y:34.19, Z:109.10
[[ 9.57401050e-01 -1.40798439e-01 -2.52109162e-01  4.17976792e+02]
 [ 1.41283738e-01  9.89835420e-01 -1.62710571e-02  3.41922697e+01]
 [ 2.51837518e-01 -2.00409977e-02  9.67562000e-01  1.09103642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.10071405700006 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:418.04, Y:34.20, Z:109.12
[[ 9.57119037e-01 -1.42703307e-01 -2.52108937e-01  4.18035710e+02]
 [ 1.43252231e-01  9.89552392e-01 -1.62745553e-02  3.42000892e+01]
 [ 2.51797434e-01 -2.05384810e-02  9.67562000e-01  1.09117860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.16071405700006 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:418.10, Y:34.21, Z:109.13
[[ 9.57017788e-01 -1.43379738e-01 -2.52109509e-01  4.18095260e+02]
 [ 1.43953908e-01  9.89450706e-01 -1.62656785e-02  3.42065288e+01]
 [ 2.51782101e-01 -2.07256054e-02  9.67562000e-01  1.09133089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.22071405700007 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:418.15, Y:34.21, Z:109.15
[[ 9.57417787e-01 -1.40682333e-01 -2.52110419e-01  4.18153189e+02]
 [ 1.41168798e-01  9.89852139e-01 -1.62515704e-02  3.42137543e+01]
 [ 2.51838346e-01 -2.00305821e-02  9.67562000e-01  1.09147872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.28071405700007 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:418.21, Y:34.22, Z:109.16
[[ 9.57910129e-01 -1.37289953e-01 -2.52110398e-01  4.18211173e+02]
 [ 1.37661437e-01  9.90346003e-01 -1.62518914e-02  3.42203117e+01]
 [ 2.51907746e-01 -1.91380284e-02  9.67562000e-01  1.09164756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.34071405700007 meters
Centerline goodness : 0.998536 with order 1
Centerline is valid?  [True, True]
Translation: X:418.27, Y:34.23, Z:109.18
[[ 9.58649490e-01 -1.32028446e-01 -2.52110381e-01  4.18268677e+02]
 [ 1.32221765e-01  9.91086915e-01 -1.62521554e-02  3.42272563e+01]
 [ 2.52009046e-01 -1.77543591e-02  9.67562000e-01  1.09181517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.4007140570001 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:418.33, Y:34.23, Z:109.20
[[ 9.59263069e-01 -1.27493818e-01 -2.52110475e-01  4.18327085e+02]
 [ 1.27534128e-01  9.91701044e-01 -1.62507037e-02  3.42342176e+01]
 [ 2.52090085e-01 -1.65639898e-02  9.67562000e-01  1.09197369e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.4607140570001 meters
Centerline goodness : 0.998720 with order 1
Centerline is valid?  [True, True]
Translation: X:418.39, Y:34.24, Z:109.21
[[ 9.59604738e-01 -1.24895903e-01 -2.52110613e-01  4.18387273e+02]
 [ 1.24848940e-01  9.92042704e-01 -1.62485628e-02  3.42376951e+01]
 [ 2.52133873e-01 -1.58835448e-02  9.67562000e-01  1.09208631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.5207140570001 meters
Centerline goodness : 0.998360 with order 1
Centerline is valid?  [True, True]
Translation: X:418.45, Y:34.24, Z:109.23
[[ 9.59686219e-01 -1.24266519e-01 -2.52111471e-01  4.18446850e+02]
 [ 1.24201772e-01  9.92124154e-01 -1.62352269e-02  3.42443531e+01]
 [ 2.52143375e-01 -1.57319678e-02  9.67562000e-01  1.09226048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.5807140570001 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:418.51, Y:34.25, Z:109.24
[[ 9.59714710e-01 -1.24043942e-01 -2.52112624e-01  4.18506749e+02]
 [ 1.23976361e-01  9.92152640e-01 -1.62173068e-02  3.42491764e+01]
 [ 2.52145864e-01 -1.56920177e-02  9.67562000e-01  1.09243077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.6407140570001 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:418.57, Y:34.25, Z:109.26
[[ 9.59892726e-01 -1.22656324e-01 -2.52113826e-01  4.18565155e+02]
 [ 1.22546741e-01  9.92330541e-01 -1.61985982e-02  3.42533884e+01]
 [ 2.52167110e-01 -1.53468112e-02  9.67562000e-01  1.09259489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.700714057 meters
Centerline goodness : 0.998407 with order 1
Centerline is valid?  [True, True]
Translation: X:418.62, Y:34.26, Z:109.28
[[ 9.59685223e-01 -1.24268828e-01 -2.52114125e-01  4.18624567e+02]
 [ 1.24214960e-01  9.92123178e-01 -1.61939460e-02  3.42586505e+01]
 [ 2.52140670e-01 -1.57752554e-02  9.67562000e-01  1.09277966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.76071405700003 meters
Centerline goodness : 0.998531 with order 1
Centerline is valid?  [True, True]
Translation: X:418.68, Y:34.26, Z:109.29
[[ 9.59152732e-01 -1.28311734e-01 -2.52115324e-01  4.18683238e+02]
 [ 1.28399446e-01  9.91590613e-01 -1.61752629e-02  3.42594574e+01]
 [ 2.52070664e-01 -1.68569203e-02  9.67562000e-01  1.09292641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.82071405700003 meters
Centerline goodness : 0.998321 with order 1
Centerline is valid?  [True, True]
Translation: X:418.74, Y:34.26, Z:109.31
[[ 9.58736124e-01 -1.31388327e-01 -2.52115353e-01  4.18742910e+02]
 [ 1.31580228e-01  9.91173557e-01 -1.61748107e-02  3.42607612e+01]
 [ 2.52015252e-01 -1.76660202e-02  9.67562000e-01  1.09306906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.88071405700003 meters
Centerline goodness : 0.998399 with order 1
Centerline is valid?  [True, True]
Translation: X:418.80, Y:34.26, Z:109.32
[[ 9.58249892e-01 -1.34887160e-01 -2.52116239e-01  4.18802278e+02]
 [ 1.35201086e-01  9.90686373e-01 -1.61609809e-02  3.42609940e+01]
 [ 2.51948031e-01 -1.86001311e-02  9.67562000e-01  1.09321603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 430.94071405700004 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:418.86, Y:34.26, Z:109.34
[[ 9.57835907e-01 -1.37795214e-01 -2.52116748e-01  4.18861939e+02]
 [ 1.38209672e-01  9.90271259e-01 -1.61530459e-02  3.42615583e+01]
 [ 2.51889782e-01 -1.93730057e-02  9.67562000e-01  1.09336403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.00071405700004 meters
Centerline goodness : 0.998190 with order 1
Centerline is valid?  [True, True]
Translation: X:418.92, Y:34.26, Z:109.35
[[ 9.57623741e-01 -1.39260953e-01 -2.52117347e-01  4.18921890e+02]
 [ 1.39727501e-01  9.90058386e-01 -1.61436806e-02  3.42621518e+01]
 [ 2.51859078e-01 -1.97681551e-02  9.67562000e-01  1.09350789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.06071405700004 meters
Centerline goodness : 0.998480 with order 1
Centerline is valid?  [True, True]
Translation: X:418.98, Y:34.26, Z:109.37
[[ 9.57526870e-01 -1.39923825e-01 -2.52118258e-01  4.18981119e+02]
 [ 1.40416550e-01  9.89961127e-01 -1.61294483e-02  3.42625261e+01]
 [ 2.51844169e-01 -1.99571957e-02  9.67562001e-01  1.09366530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.12071405700004 meters
Centerline goodness : 0.998394 with order 1
Centerline is valid?  [True, True]
Translation: X:419.04, Y:34.26, Z:109.38
[[ 9.57510099e-01 -1.40037993e-01 -2.52118564e-01  4.19041159e+02]
 [ 1.40535836e-01  9.89944278e-01 -1.61246684e-02  3.42632055e+01]
 [ 2.51841396e-01 -1.99921602e-02  9.67562001e-01  1.09380925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.18071405700005 meters
Centerline goodness : 0.998065 with order 1
Centerline is valid?  [True, True]
Translation: X:419.10, Y:34.26, Z:109.40
[[ 9.57335336e-01 -1.41225626e-01 -2.52119767e-01  4.19100813e+02]
 [ 1.41768629e-01  9.89768790e-01 -1.61058322e-02  3.42631749e+01]
 [ 2.51814833e-01 -2.03239914e-02  9.67562001e-01  1.09396982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.24071405700005 meters
Centerline goodness : 0.998030 with order 1
Centerline is valid?  [True, True]
Translation: X:419.16, Y:34.26, Z:109.41
[[ 9.56876374e-01 -1.44301525e-01 -2.52120358e-01  4.19160397e+02]
 [ 1.44951179e-01  9.89307867e-01 -1.60965772e-02  3.42619251e+01]
 [ 2.51747414e-01 -2.11427087e-02  9.67562001e-01  1.09410508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.30071405700005 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:419.22, Y:34.26, Z:109.42
[[ 9.56475021e-01 -1.46937785e-01 -2.52120649e-01  4.19220400e+02]
 [ 1.47678002e-01  9.88904573e-01 -1.60920105e-02  3.42608416e+01]
 [ 2.51687788e-01 -2.18410677e-02  9.67562001e-01  1.09423021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.36071405700005 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:419.28, Y:34.26, Z:109.44
[[ 9.56406053e-01 -1.47385819e-01 -2.52120768e-01  4.19279858e+02]
 [ 1.48141712e-01  9.88835244e-01 -1.60901537e-02  3.42622776e+01]
 [ 2.51677362e-01 -2.19608818e-02  9.67562001e-01  1.09437526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.42071405700005 meters
Centerline goodness : 0.998551 with order 1
Centerline is valid?  [True, True]
Translation: X:419.34, Y:34.26, Z:109.45
[[ 9.56560827e-01 -1.46377457e-01 -2.52121052e-01  4.19338160e+02]
 [ 1.47100328e-01  9.88990770e-01 -1.60856962e-02  3.42625925e+01]
 [ 2.51699977e-01 -2.17001426e-02  9.67562001e-01  1.09453708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.48071405700006 meters
Centerline goodness : 0.998003 with order 1
Centerline is valid?  [True, True]
Translation: X:419.40, Y:34.26, Z:109.47
[[ 9.56711904e-01 -1.45386745e-01 -2.52121056e-01  4.19397110e+02]
 [ 1.46076046e-01  9.89142579e-01 -1.60856388e-02  3.42642472e+01]
 [ 2.51722310e-01 -2.14395248e-02  9.67562001e-01  1.09469210e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.54071405700006 meters
Centerline goodness : 0.998765 with order 1
Centerline is valid?  [True, True]
Translation: X:419.46, Y:34.26, Z:109.49
[[ 9.56972030e-01 -1.43663098e-01 -2.52121893e-01  4.19455327e+02]
 [ 1.44297412e-01  9.89403826e-01 -1.60725077e-02  3.42644780e+01]
 [ 2.51759392e-01 -2.09995964e-02  9.67562001e-01  1.09486699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.60071405700006 meters
Centerline goodness : 0.998150 with order 1
Centerline is valid?  [True, True]
Translation: X:419.51, Y:34.27, Z:109.50
[[ 9.57240585e-01 -1.41862138e-01 -2.52122187e-01  4.19514171e+02]
 [ 1.42436631e-01  9.89673496e-01 -1.60678994e-02  3.42656136e+01]
 [ 2.51798073e-01 -2.05305895e-02  9.67562001e-01  1.09501599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.66071405700006 meters
Centerline goodness : 0.998607 with order 1
Centerline is valid?  [True, True]
Translation: X:419.57, Y:34.26, Z:109.52
[[ 9.57774994e-01 -1.38207520e-01 -2.52122476e-01  4.19573489e+02]
 [ 1.38659408e-01  9.90209845e-01 -1.60633566e-02  3.42645691e+01]
 [ 2.51874235e-01 -1.95740720e-02  9.67562001e-01  1.09516620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.72071405700007 meters
Centerline goodness : 0.998999 with order 1
Centerline is valid?  [True, True]
Translation: X:419.63, Y:34.26, Z:109.53
[[ 9.58172606e-01 -1.35422922e-01 -2.52122767e-01  4.19632236e+02]
 [ 1.35781722e-01  9.90608621e-01 -1.60587933e-02  3.42646247e+01]
 [ 2.51929715e-01 -1.88465676e-02  9.67562001e-01  1.09530408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.78071405700007 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:419.69, Y:34.27, Z:109.55
[[ 9.58354739e-01 -1.34125236e-01 -2.52124208e-01  4.19690560e+02]
 [ 1.34446039e-01  9.90791151e-01 -1.60361392e-02  3.42660377e+01]
 [ 2.51953285e-01 -1.85287911e-02  9.67562001e-01  1.09546389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.84071405700007 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:419.75, Y:34.27, Z:109.56
[[ 9.58342665e-01 -1.34211473e-01 -2.52124208e-01  4.19750151e+02]
 [ 1.34535194e-01  9.90779049e-01 -1.60361392e-02  3.42681690e+01]
 [ 2.51951617e-01 -1.85514628e-02  9.67562001e-01  1.09564459e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.9007140570001 meters
Centerline goodness : 0.998848 with order 1
Centerline is valid?  [True, True]
Translation: X:419.81, Y:34.27, Z:109.58
[[ 9.58233393e-01 -1.34987213e-01 -2.52125400e-01  4.19809258e+02]
 [ 1.35342103e-01  9.90669450e-01 -1.60173703e-02  3.42674502e+01]
 [ 2.51935072e-01 -1.87748027e-02  9.67562001e-01  1.09580566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 431.9607140570001 meters
Centerline goodness : 0.998800 with order 1
Centerline is valid?  [True, True]
Translation: X:419.87, Y:34.27, Z:109.60
[[ 9.58032489e-01 -1.36402658e-01 -2.52127083e-01  4.19867982e+02]
 [ 1.36812405e-01  9.90467899e-01 -1.59908448e-02  3.42666601e+01]
 [ 2.51904976e-01 -1.91743637e-02  9.67562002e-01  1.09597588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.0207140570001 meters
Centerline goodness : 0.999009 with order 1
Centerline is valid?  [True, True]
Translation: X:419.93, Y:34.27, Z:109.61
[[ 9.58041303e-01 -1.36339140e-01 -2.52127945e-01  4.19927615e+02]
 [ 1.36750297e-01  9.90476695e-01 -1.59772366e-02  3.42654245e+01]
 [ 2.51905177e-01 -1.91717188e-02  9.67562002e-01  1.09612752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.0807140570001 meters
Centerline goodness : 0.999258 with order 1
Centerline is valid?  [True, True]
Translation: X:419.99, Y:34.26, Z:109.63
[[ 9.58018005e-01 -1.36501716e-01 -2.52128508e-01  4.19985969e+02]
 [ 1.36920703e-01  9.90453297e-01 -1.59683469e-02  3.42640672e+01]
 [ 2.51901219e-01 -1.92236489e-02  9.67562002e-01  1.09626358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.1407140570001 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:420.04, Y:34.26, Z:109.64
[[ 9.58033463e-01 -1.36393175e-01 -2.52128508e-01  4.20043550e+02]
 [ 1.36808488e-01  9.90468803e-01 -1.59683469e-02  3.42627991e+01]
 [ 2.51903395e-01 -1.91951094e-02  9.67562002e-01  1.09640220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.200714057 meters
Centerline goodness : 0.998990 with order 1
Centerline is valid?  [True, True]
Translation: X:420.10, Y:34.26, Z:109.66
[[ 9.58236918e-01 -1.34956687e-01 -2.52128345e-01  4.20102806e+02]
 [ 1.35322697e-01  9.90672851e-01 -1.59709210e-02  3.42623980e+01]
 [ 2.51932089e-01 -1.88147615e-02  9.67562002e-01  1.09655020e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.26071405700003 meters
Centerline goodness : 0.998798 with order 1
Centerline is valid?  [True, True]
Translation: X:420.16, Y:34.27, Z:109.67
[[ 9.58885934e-01 -1.30264919e-01 -2.52128570e-01  4.20160540e+02]
 [ 1.30473095e-01  9.91323264e-01 -1.59673664e-02  3.42650631e+01]
 [ 2.52020905e-01 -1.75851118e-02  9.67562002e-01  1.09671383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.32071405700003 meters
Centerline goodness : 0.999193 with order 1
Centerline is valid?  [True, True]
Translation: X:420.22, Y:34.27, Z:109.69
[[ 9.59682588e-01 -1.24260427e-01 -2.52128292e-01  4.20217894e+02]
 [ 1.24264416e-01  9.92120586e-01 -1.59717562e-02  3.42691567e+01]
 [ 2.52126326e-01 -1.60027587e-02  9.67562002e-01  1.09689636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.38071405700003 meters
Centerline goodness : 0.998686 with order 1
Centerline is valid?  [True, True]
Translation: X:420.28, Y:34.27, Z:109.70
[[ 9.60332527e-01 -1.19133257e-01 -2.52128349e-01  4.20276314e+02]
 [ 1.18964240e-01  9.92770085e-01 -1.59708508e-02  3.42729171e+01]
 [ 2.52208142e-01 -1.46569300e-02  9.67562002e-01  1.09704928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.44071405700004 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:420.34, Y:34.28, Z:109.72
[[ 9.60542380e-01 -1.17429260e-01 -2.52128349e-01  4.20335236e+02]
 [ 1.17202693e-01  9.92979587e-01 -1.59708508e-02  3.42766293e+01]
 [ 2.52233750e-01 -1.42094426e-02  9.67562002e-01  1.09719283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.50071405700004 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:420.39, Y:34.28, Z:109.73
[[ 9.60989824e-01 -1.13709492e-01 -2.52128360e-01  4.20393666e+02]
 [ 1.13357386e-01  9.93425911e-01 -1.59706765e-02  3.42794580e+01]
 [ 2.52286864e-01 -1.32329543e-02  9.67562002e-01  1.09733330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.56071405700004 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:420.45, Y:34.28, Z:109.75
[[ 9.61324739e-01 -1.10842396e-01 -2.52128360e-01  4.20451209e+02]
 [ 1.10393537e-01  9.93759631e-01 -1.59706765e-02  3.42824683e+01]
 [ 2.52325215e-01 -1.24803349e-02  9.67562002e-01  1.09749033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.62071405700004 meters
Centerline goodness : 0.999063 with order 1
Centerline is valid?  [True, True]
Translation: X:420.51, Y:34.29, Z:109.76
[[ 9.61895693e-01 -1.05774570e-01 -2.52127777e-01  4.20507900e+02]
 [ 1.05152371e-01  9.94327724e-01 -1.59798889e-02  3.42868819e+01]
 [ 2.52387904e-01 -1.11408473e-02  9.67562002e-01  1.09764693e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.68071405700005 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:420.57, Y:34.29, Z:109.78
[[ 9.62433342e-01 -1.00766740e-01 -2.52127202e-01  4.20565850e+02]
 [ 9.99733815e-02  9.94861637e-01 -1.59889470e-02  3.42910621e+01]
 [ 2.52442835e-01 -9.81771329e-03  9.67562002e-01  1.09780744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.74071405700005 meters
Centerline goodness : 0.999127 with order 1
Centerline is valid?  [True, True]
Translation: X:420.62, Y:34.29, Z:109.80
[[ 9.62996742e-01 -9.52323859e-02 -2.52127086e-01  4.20623751e+02]
 [ 9.42521422e-02  9.95419926e-01 -1.59907795e-02  3.42938242e+01]
 [ 2.52495165e-01 -8.36444936e-03  9.67562002e-01  1.09796418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.80071405700005 meters
Centerline goodness : 0.999152 with order 1
Centerline is valid?  [True, True]
Translation: X:420.68, Y:34.30, Z:109.81
[[ 9.63464689e-01 -9.03756333e-02 -2.52127028e-01  4.20682573e+02]
 [ 8.92316804e-02  9.95882510e-01 -1.59916983e-02  3.42954251e+01]
 [ 2.52534157e-01 -7.09028171e-03  9.67562002e-01  1.09812512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.86071405700005 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:420.74, Y:34.30, Z:109.83
[[ 9.63619301e-01 -8.87112237e-02 -2.52127271e-01  4.20739533e+02]
 [ 8.75122788e-02  9.96035135e-01 -1.59878568e-02  3.42965856e+01]
 [ 2.52545923e-01 -6.65802469e-03  9.67562002e-01  1.09826563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.92071405700005 meters
Centerline goodness : 0.998863 with order 1
Centerline is valid?  [True, True]
Translation: X:420.80, Y:34.29, Z:109.84
[[ 9.63573338e-01 -8.92208203e-02 -2.52123119e-01  4.20796270e+02]
 [ 8.80219634e-02  9.95989173e-01 -1.60530853e-02  3.42927848e+01]
 [ 2.52544166e-01 -6.72404694e-03  9.67562004e-01  1.09840385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 432.98071405700006 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:420.85, Y:34.29, Z:109.85
[[ 9.63374730e-01 -9.13464663e-02 -2.52120907e-01  4.20853544e+02]
 [ 9.02100660e-02  9.95792814e-01 -1.60877443e-02  3.42922061e+01]
 [ 2.52529746e-01 -7.24531736e-03  9.67562005e-01  1.09854515e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.04071405700006 meters
Centerline goodness : 0.999197 with order 1
Centerline is valid?  [True, True]
Translation: X:420.91, Y:34.29, Z:109.87
[[ 9.62919479e-01 -9.60289318e-02 -2.52120052e-01  4.20909761e+02]
 [ 9.50466481e-02  9.95342598e-01 -1.61011298e-02  3.42892643e+01]
 [ 2.52492002e-01 -8.45907440e-03  9.67562005e-01  1.09871140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.10071405700006 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:420.97, Y:34.29, Z:109.89
[[ 9.62288043e-01 -1.02166361e-01 -2.52118536e-01  4.20966444e+02]
 [ 1.01384617e-01  9.94716617e-01 -1.61248452e-02  3.42868119e+01]
 [ 2.52433914e-01 -1.00441955e-02  9.67562005e-01  1.09885430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.16071405700006 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:421.02, Y:34.29, Z:109.90
[[ 9.61556296e-01 -1.08841242e-01 -2.52117181e-01  4.21024950e+02]
 [ 1.08279006e-01  9.93989418e-01 -1.61459938e-02  3.42855677e+01]
 [ 2.52359160e-01 -1.17737157e-02  9.67562005e-01  1.09899364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.22071405700007 meters
Centerline goodness : 0.999272 with order 1
Centerline is valid?  [True, True]
Translation: X:421.08, Y:34.29, Z:109.91
[[ 9.60820235e-01 -1.15158294e-01 -2.52117121e-01  4.21083706e+02]
 [ 1.14808978e-01  9.93256349e-01 -1.61469291e-02  3.42856918e+01]
 [ 2.52276384e-01 -1.34310129e-02  9.67562005e-01  1.09914437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.28071405700007 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:421.14, Y:34.29, Z:109.93
[[ 9.60128934e-01 -1.20786469e-01 -2.52117153e-01  4.21141857e+02]
 [ 1.20627354e-01  9.92566539e-01 -1.61464426e-02  3.42889220e+01]
 [ 2.52193321e-01 -1.49095582e-02  9.67562005e-01  1.09929812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.34071405700007 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:421.20, Y:34.29, Z:109.95
[[ 9.59481123e-01 -1.25828965e-01 -2.52117129e-01  4.21200026e+02]
 [ 1.25840172e-01  9.91919116e-01 -1.61468064e-02  3.42930623e+01]
 [ 2.52111536e-01 -1.62339070e-02  9.67562005e-01  1.09945572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.4007140570001 meters
Centerline goodness : 0.998791 with order 1
Centerline is valid?  [True, True]
Translation: X:421.26, Y:34.30, Z:109.96
[[ 9.59264652e-01 -1.27468893e-01 -2.52117054e-01  4.21258537e+02]
 [ 1.27535239e-01  9.91702579e-01 -1.61479878e-02  3.42973639e+01]
 [ 2.52083498e-01 -1.66636148e-02  9.67562005e-01  1.09960764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.4607140570001 meters
Centerline goodness : 0.999186 with order 1
Centerline is valid?  [True, True]
Translation: X:421.32, Y:34.31, Z:109.98
[[ 9.58832878e-01 -1.30677094e-01 -2.52117054e-01  4.21316494e+02]
 [ 1.30851950e-01  9.91270402e-01 -1.61479878e-02  3.43052161e+01]
 [ 2.52026345e-01 -1.75067866e-02  9.67562005e-01  1.09977909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.5207140570001 meters
Centerline goodness : 0.999270 with order 1
Centerline is valid?  [True, True]
Translation: X:421.37, Y:34.31, Z:109.99
[[ 9.58655358e-01 -1.31973075e-01 -2.52117062e-01  4.21374275e+02]
 [ 1.32191814e-01  9.91092615e-01 -1.61478506e-02  3.43129805e+01]
 [ 2.52002440e-01 -1.78475883e-02  9.67562005e-01  1.09994598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.5807140570001 meters
Centerline goodness : 0.999469 with order 1
Centerline is valid?  [True, True]
Translation: X:421.43, Y:34.32, Z:110.01
[[ 9.58405844e-01 -1.33773033e-01 -2.52117062e-01  4.21431666e+02]
 [ 1.34052684e-01  9.90842634e-01 -1.61478506e-02  3.43217310e+01]
 [ 2.51968481e-01 -1.83207744e-02  9.67562005e-01  1.10011149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.6407140570001 meters
Centerline goodness : 0.999335 with order 1
Centerline is valid?  [True, True]
Translation: X:421.49, Y:34.33, Z:110.03
[[ 9.57644656e-01 -1.39117842e-01 -2.52116916e-01  4.21488844e+02]
 [ 1.39577853e-01  9.90079389e-01 -1.61501374e-02  3.43311874e+01]
 [ 2.51862534e-01 -1.97238451e-02  9.67562005e-01  1.10025927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.700714057 meters
Centerline goodness : 0.999316 with order 1
Centerline is valid?  [True, True]
Translation: X:421.55, Y:34.34, Z:110.04
[[ 9.57069271e-01 -1.43023085e-01 -2.52116656e-01  4.21547110e+02]
 [ 1.43614338e-01  9.89501877e-01 -1.61541928e-02  3.43383557e+01]
 [ 2.51780327e-01 -2.07468852e-02  9.67562005e-01  1.10038969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.76071405700003 meters
Centerline goodness : 0.998818 with order 1
Centerline is valid?  [True, True]
Translation: X:421.61, Y:34.35, Z:110.05
[[ 9.56122083e-01 -1.49224308e-01 -2.52116377e-01  4.21605959e+02]
 [ 1.50024655e-01  9.88550203e-01 -1.61585459e-02  3.43499019e+01]
 [ 2.51640944e-01 -2.23741299e-02  9.67562005e-01  1.10050173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.82071405700003 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:421.66, Y:34.36, Z:110.07
[[ 9.56026020e-01 -1.49838472e-01 -2.52116404e-01  4.21663704e+02]
 [ 1.50659761e-01  9.88453616e-01 -1.61581216e-02  3.43613570e+01]
 [ 2.51626480e-01 -2.25362125e-02  9.67562005e-01  1.10067504e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.88071405700003 meters
Centerline goodness : 0.999304 with order 1
Centerline is valid?  [True, True]
Translation: X:421.72, Y:34.37, Z:110.08
[[ 9.56106518e-01 -1.49323448e-01 -2.52116708e-01  4.21722116e+02]
 [ 1.50128508e-01  9.88534521e-01 -1.61533856e-02  3.43688954e+01]
 [ 2.51638148e-01 -2.24055478e-02  9.67562005e-01  1.10081806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 433.94071405700004 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:421.78, Y:34.38, Z:110.10
[[ 9.56446021e-01 -1.47132668e-01 -2.52117010e-01  4.21780072e+02]
 [ 1.47864669e-01  9.88875756e-01 -1.61486657e-02  3.43803622e+01]
 [ 2.51688395e-01 -2.18338712e-02  9.67562005e-01  1.10097597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.00071405700004 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:421.84, Y:34.39, Z:110.12
[[ 9.56602279e-01 -1.46112785e-01 -2.52117302e-01  4.21838893e+02]
 [ 1.46811403e-01  9.89032750e-01 -1.61441006e-02  3.43879625e+01]
 [ 2.51711128e-01 -2.15702114e-02  9.67562005e-01  1.10115344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.06071405700004 meters
Centerline goodness : 0.999087 with order 1
Centerline is valid?  [True, True]
Translation: X:421.90, Y:34.39, Z:110.13
[[ 9.57132498e-01 -1.42596005e-01 -2.52118545e-01  4.21897693e+02]
 [ 1.43180510e-01  9.89565226e-01 -1.61246744e-02  3.43936452e+01]
 [ 2.51787059e-01 -2.06650119e-02  9.67562005e-01  1.10127859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.12071405700004 meters
Centerline goodness : 0.999007 with order 1
Centerline is valid?  [True, True]
Translation: X:421.96, Y:34.40, Z:110.14
[[ 9.57061659e-01 -1.43070685e-01 -2.52118545e-01  4.21956203e+02]
 [ 1.43671274e-01  9.89494093e-01 -1.61246744e-02  3.44013133e+01]
 [ 2.51776779e-01 -2.07898849e-02  9.67562005e-01  1.10144095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.18071405700005 meters
Centerline goodness : 0.998958 with order 1
Centerline is valid?  [True, True]
Translation: X:422.02, Y:34.41, Z:110.16
[[ 9.57548467e-01 -1.39774913e-01 -2.52118836e-01  4.22015091e+02]
 [ 1.40265033e-01  9.89982758e-01 -1.61201233e-02  3.44096579e+01]
 [ 2.51846489e-01 -1.99276576e-02  9.67562005e-01  1.10158927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.24071405700005 meters
Centerline goodness : 0.999024 with order 1
Centerline is valid?  [True, True]
Translation: X:422.07, Y:34.42, Z:110.17
[[ 9.57953170e-01 -1.36973241e-01 -2.52119131e-01  4.22073719e+02]
 [ 1.37369688e-01  9.90388741e-01 -1.61155088e-02  3.44170548e+01]
 [ 2.51903342e-01 -1.91956237e-02  9.67562005e-01  1.10174728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.30071405700005 meters
Centerline goodness : 0.998699 with order 1
Centerline is valid?  [True, True]
Translation: X:422.13, Y:34.42, Z:110.19
[[ 9.58178543e-01 -1.35386551e-01 -2.52119737e-01  4.22132207e+02]
 [ 1.35731765e-01  9.90614700e-01 -1.61060120e-02  3.44233119e+01]
 [ 2.51934056e-01 -1.87882218e-02  9.67562005e-01  1.10190713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.36071405700005 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:422.19, Y:34.43, Z:110.21
[[ 9.58303853e-01 -1.34496142e-01 -2.52120037e-01  4.22191834e+02]
 [ 1.34812442e-01  9.90740305e-01 -1.61013232e-02  3.44296567e+01]
 [ 2.51951048e-01 -1.85589578e-02  9.67562005e-01  1.10206423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.42071405700005 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:422.25, Y:34.44, Z:110.22
[[ 9.58215681e-01 -1.35121201e-01 -2.52120944e-01  4.22250355e+02]
 [ 1.35462380e-01  9.90651881e-01 -1.60871003e-02  3.44353671e+01]
 [ 2.51937796e-01 -1.87379914e-02  9.67562006e-01  1.10218945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.48071405700006 meters
Centerline goodness : 0.998646 with order 1
Centerline is valid?  [True, True]
Translation: X:422.31, Y:34.44, Z:110.23
[[ 9.57785168e-01 -1.38137652e-01 -2.52122114e-01  4.22309314e+02]
 [ 1.38585764e-01  9.90220067e-01 -1.60687461e-02  3.44418495e+01]
 [ 2.51876076e-01 -1.95501291e-02  9.67562006e-01  1.10232539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.54071405700006 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:422.37, Y:34.45, Z:110.25
[[ 9.57378109e-01 -1.40930654e-01 -2.52122404e-01  4.22368174e+02]
 [ 1.41474556e-01  9.89811543e-01 -1.60642036e-02  3.44481268e+01]
 [ 2.51817604e-01 -2.02893882e-02  9.67562006e-01  1.10247140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.60071405700006 meters
Centerline goodness : 0.998379 with order 1
Centerline is valid?  [True, True]
Translation: X:422.43, Y:34.45, Z:110.26
[[ 9.57265661e-01 -1.41691918e-01 -2.52122699e-01  4.22428514e+02]
 [ 1.42262824e-01  9.89698631e-01 -1.60595666e-02  3.44543717e+01]
 [ 2.51801001e-01 -2.04944154e-02  9.67562006e-01  1.10262632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.66071405700006 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:422.49, Y:34.46, Z:110.28
[[ 9.57149990e-01 -1.42469115e-01 -2.52123873e-01  4.22487405e+02]
 [ 1.43071182e-01  9.89582397e-01 -1.60411123e-02  3.44620716e+01]
 [ 2.51782710e-01 -2.07179101e-02  9.67562006e-01  1.10276766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.72071405700007 meters
Centerline goodness : 0.998068 with order 1
Centerline is valid?  [True, True]
Translation: X:422.55, Y:34.47, Z:110.29
[[ 9.57160705e-01 -1.42397000e-01 -2.52123937e-01  4.22545031e+02]
 [ 1.42996887e-01  9.89593151e-01 -1.60401077e-02  3.44712026e+01]
 [ 2.51784185e-01 -2.06999773e-02  9.67562006e-01  1.10292735e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.78071405700007 meters
Centerline goodness : 0.997777 with order 1
Centerline is valid?  [True, True]
Translation: X:422.60, Y:34.48, Z:110.31
[[ 9.57126796e-01 -1.42624230e-01 -2.52124227e-01  4.22604795e+02]
 [ 1.43233010e-01  9.89559077e-01 -1.60355437e-02  3.44806032e+01]
 [ 2.51778875e-01 -2.07644634e-02  9.67562006e-01  1.10308662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.84071405700007 meters
Centerline goodness : 0.998242 with order 1
Centerline is valid?  [True, True]
Translation: X:422.66, Y:34.49, Z:110.32
[[ 9.56960820e-01 -1.43731684e-01 -2.52125348e-01  4.22664458e+02]
 [ 1.44382609e-01  9.89392283e-01 -1.60179007e-02  3.44878565e+01]
 [ 2.51753154e-01 -2.10740121e-02  9.67562006e-01  1.10323417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.9007140570001 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:422.72, Y:34.49, Z:110.34
[[ 9.56708216e-01 -1.45402137e-01 -2.52126173e-01  4.22723353e+02]
 [ 1.46113080e-01  9.89138419e-01 -1.60049060e-02  3.44944790e+01]
 [ 2.51714832e-01 -2.15269066e-02  9.67562006e-01  1.10338056e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 434.9607140570001 meters
Centerline goodness : 0.998179 with order 1
Centerline is valid?  [True, True]
Translation: X:422.78, Y:34.50, Z:110.35
[[ 9.56932829e-01 -1.43915978e-01 -2.52126460e-01  4.22780219e+02]
 [ 1.44577729e-01  9.89364072e-01 -1.60003935e-02  3.45021560e+01]
 [ 2.51747573e-01 -2.11405691e-02  9.67562006e-01  1.10353140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.0207140570001 meters
Centerline goodness : 0.998363 with order 1
Centerline is valid?  [True, True]
Translation: X:422.84, Y:34.51, Z:110.37
[[ 9.57453377e-01 -1.40411495e-01 -2.52126245e-01  4.22838372e+02]
 [ 1.40953618e-01  9.89886840e-01 -1.60037813e-02  3.45102398e+01]
 [ 2.51823567e-01 -2.02152320e-02  9.67562006e-01  1.10369061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.0807140570001 meters
Centerline goodness : 0.998138 with order 1
Centerline is valid?  [True, True]
Translation: X:422.90, Y:34.52, Z:110.39
[[ 9.58103118e-01 -1.35907179e-01 -2.52126265e-01  4.22895859e+02]
 [ 1.36296851e-01  9.90538771e-01 -1.60034586e-02  3.45181534e+01]
 [ 2.51915826e-01 -1.90310524e-02  9.67562006e-01  1.10386095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.1407140570001 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:422.96, Y:34.53, Z:110.40
[[ 9.58539251e-01 -1.32796060e-01 -2.52126379e-01  4.22955168e+02]
 [ 1.33080902e-01  9.90975994e-01 -1.60016568e-02  3.45250132e+01]
 [ 2.51976146e-01 -1.82149898e-02  9.67562006e-01  1.10403207e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.200714057 meters
Centerline goodness : 0.998584 with order 1
Centerline is valid?  [True, True]
Translation: X:423.01, Y:34.53, Z:110.42
[[ 9.58706124e-01 -1.31584212e-01 -2.52127275e-01  4.23013753e+02]
 [ 1.31831744e-01  9.91143173e-01 -1.59875333e-02  3.45292417e+01]
 [ 2.51997934e-01 -1.79110322e-02  9.67562006e-01  1.10417414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.26071405700003 meters
Centerline goodness : 0.998864 with order 1
Centerline is valid?  [True, True]
Translation: X:423.07, Y:34.53, Z:110.43
[[ 9.58758223e-01 -1.31203495e-01 -2.52127572e-01  4.23073785e+02]
 [ 1.31439371e-01  9.91195359e-01 -1.59828521e-02  3.45336030e+01]
 [ 2.52004685e-01 -1.78157987e-02  9.67562006e-01  1.10431980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.32071405700003 meters
Centerline goodness : 0.998392 with order 1
Centerline is valid?  [True, True]
Translation: X:423.13, Y:34.54, Z:110.45
[[ 9.59092348e-01 -1.28736051e-01 -2.52128731e-01  4.23131315e+02]
 [ 1.28893252e-01  9.91529961e-01 -1.59645441e-02  3.45394251e+01]
 [ 2.52048403e-01 -1.71862199e-02  9.67562006e-01  1.10446012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.38071405700003 meters
Centerline goodness : 0.999172 with order 1
Centerline is valid?  [True, True]
Translation: X:423.19, Y:34.55, Z:110.46
[[ 9.59488664e-01 -1.25748555e-01 -2.52128549e-01  4.23189766e+02]
 [ 1.25803983e-01  9.91926610e-01 -1.59674214e-02  3.45451347e+01]
 [ 2.52100897e-01 -1.63982158e-02  9.67562006e-01  1.10460853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.44071405700004 meters
Centerline goodness : 0.998693 with order 1
Centerline is valid?  [True, True]
Translation: X:423.25, Y:34.55, Z:110.47
[[ 9.60598805e-01 -1.16966356e-01 -2.52128553e-01  4.23249118e+02]
 [ 1.16725070e-01  9.93035901e-01 -1.59673629e-02  3.45509263e+01]
 [ 2.52240349e-01 -1.40914931e-02  9.67562006e-01  1.10473737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.50071405700004 meters
Centerline goodness : 0.998812 with order 1
Centerline is valid?  [True, True]
Translation: X:423.31, Y:34.56, Z:110.49
[[ 9.60863787e-01 -1.14769165e-01 -2.52128583e-01  4.23307969e+02]
 [ 1.14453823e-01  9.93300247e-01 -1.59668788e-02  3.45564161e+01]
 [ 2.52271889e-01 -1.35150846e-02  9.67562006e-01  1.10490045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.56071405700004 meters
Centerline goodness : 0.998429 with order 1
Centerline is valid?  [True, True]
Translation: X:423.37, Y:34.56, Z:110.51
[[ 9.61224539e-01 -1.11705508e-01 -2.52129459e-01  4.23366863e+02]
 [ 1.11290387e-01  9.93659877e-01 -1.59530368e-02  3.45587111e+01]
 [ 2.52312969e-01 -1.27251346e-02  9.67562007e-01  1.10506395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.62071405700004 meters
Centerline goodness : 0.998792 with order 1
Centerline is valid?  [True, True]
Translation: X:423.43, Y:34.56, Z:110.52
[[ 9.61471532e-01 -1.09557896e-01 -2.52130048e-01  4.23427604e+02]
 [ 1.09072753e-01  9.93905897e-01 -1.59437240e-02  3.45587123e+01]
 [ 2.52340302e-01 -1.21710817e-02  9.67562007e-01  1.10519832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.68071405700005 meters
Centerline goodness : 0.998933 with order 1
Centerline is valid?  [True, True]
Translation: X:423.49, Y:34.56, Z:110.54
[[ 9.61601359e-01 -1.08409794e-01 -2.52131203e-01  4.23485034e+02]
 [ 1.07890709e-01  9.94035198e-01 -1.59254348e-02  3.45630540e+01]
 [ 2.52353764e-01 -1.18886944e-02  9.67562007e-01  1.10537447e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.74071405700005 meters
Centerline goodness : 0.998043 with order 1
Centerline is valid?  [True, True]
Translation: X:423.54, Y:34.56, Z:110.55
[[ 9.61438383e-01 -1.09845762e-01 -2.52131203e-01  4.23543628e+02]
 [ 1.09375115e-01  9.93872962e-01 -1.59254348e-02  3.45618348e+01]
 [ 2.52335727e-01 -1.22655550e-02  9.67562007e-01  1.10549927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.80071405700005 meters
Centerline goodness : 0.998547 with order 1
Centerline is valid?  [True, True]
Translation: X:423.60, Y:34.56, Z:110.57
[[ 9.61046481e-01 -1.13220914e-01 -2.52132278e-01  4.23603327e+02]
 [ 1.12868612e-01  9.93482561e-01 -1.59083969e-02  3.45601153e+01]
 [ 2.52290185e-01 -1.31691115e-02  9.67562007e-01  1.10565659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.86071405700005 meters
Centerline goodness : 0.998177 with order 1
Centerline is valid?  [True, True]
Translation: X:423.66, Y:34.56, Z:110.58
[[ 9.60516860e-01 -1.17628165e-01 -2.52132856e-01  4.23662200e+02]
 [ 1.17427054e-01  9.92954229e-01 -1.58992323e-02  3.45619401e+01]
 [ 2.52226583e-01 -1.43357379e-02  9.67562007e-01  1.10582656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.92071405700005 meters
Centerline goodness : 0.998272 with order 1
Centerline is valid?  [True, True]
Translation: X:423.72, Y:34.56, Z:110.60
[[ 9.59979947e-01 -1.21931536e-01 -2.52133303e-01  4.23722072e+02]
 [ 1.21877650e-01  9.92417895e-01 -1.58921426e-02  3.45598152e+01]
 [ 2.52159355e-01 -1.54732762e-02  9.67562007e-01  1.10597674e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 435.98071405700006 meters
Centerline goodness : 0.998554 with order 1
Centerline is valid?  [True, True]
Translation: X:423.78, Y:34.56, Z:110.61
[[ 9.59368395e-01 -1.26652340e-01 -2.52133828e-01  4.23779831e+02]
 [ 1.26760201e-01  9.91806209e-01 -1.58838137e-02  3.45590552e+01]
 [ 2.52079618e-01 -1.67221058e-02  9.67562007e-01  1.10610967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.04071405700006 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:423.84, Y:34.56, Z:110.63
[[ 9.58935889e-01 -1.29887523e-01 -2.52133281e-01  4.23840547e+02]
 [ 1.30102525e-01  9.91373170e-01 -1.58924882e-02  3.45593693e+01]
 [ 2.52022406e-01 -1.75632992e-02  9.67562007e-01  1.10625923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.10071405700006 meters
Centerline goodness : 0.998422 with order 1
Centerline is valid?  [True, True]
Translation: X:423.90, Y:34.56, Z:110.64
[[ 9.58900208e-01 -1.30148433e-01 -2.52134442e-01  4.23899893e+02]
 [ 1.30377083e-01  9.91337395e-01 -1.58740561e-02  3.45598256e+01]
 [ 2.52016284e-01 -1.76509174e-02  9.67562007e-01  1.10639133e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.16071405700006 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:423.96, Y:34.56, Z:110.65
[[ 9.59046623e-01 -1.29064532e-01 -2.52134728e-01  4.23958168e+02]
 [ 1.29257710e-01  9.91484041e-01 -1.58695036e-02  3.45621552e+01]
 [ 2.52035749e-01 -1.73707637e-02  9.67562007e-01  1.10654443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.22071405700007 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:424.02, Y:34.57, Z:110.67
[[ 9.59315430e-01 -1.27050546e-01 -2.52135015e-01  4.24015761e+02]
 [ 1.27176806e-01  9.91753177e-01 -1.58649516e-02  3.45660778e+01]
 [ 2.52071352e-01 -1.68462330e-02  9.67562007e-01  1.10672569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.28071405700007 meters
Centerline goodness : 0.997962 with order 1
Centerline is valid?  [True, True]
Translation: X:424.07, Y:34.57, Z:110.69
[[ 9.59388438e-01 -1.26497504e-01 -2.52135295e-01  4.24074043e+02]
 [ 1.26606232e-01  9.91826248e-01 -1.58604947e-02  3.45682542e+01]
 [ 2.52080717e-01 -1.67055243e-02  9.67562007e-01  1.10688346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.34071405700007 meters
Centerline goodness : 0.998268 with order 1
Centerline is valid?  [True, True]
Translation: X:424.13, Y:34.57, Z:110.70
[[ 9.59178207e-01 -1.28081847e-01 -2.52135295e-01  4.24131572e+02]
 [ 1.28244148e-01  9.91615794e-01 -1.58604947e-02  3.45700081e+01]
 [ 2.52052782e-01 -1.71218353e-02  9.67562007e-01  1.10702444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.4007140570001 meters
Centerline goodness : 0.998135 with order 1
Centerline is valid?  [True, True]
Translation: X:424.19, Y:34.57, Z:110.71
[[ 9.58913222e-01 -1.30051379e-01 -2.52135025e-01  4.24188835e+02]
 [ 1.30279172e-01  9.91350415e-01 -1.58647846e-02  3.45704255e+01]
 [ 2.52017399e-01 -1.76349906e-02  9.67562007e-01  1.10714711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.4607140570001 meters
Centerline goodness : 0.998486 with order 1
Centerline is valid?  [True, True]
Translation: X:424.25, Y:34.57, Z:110.73
[[ 9.59058819e-01 -1.28975048e-01 -2.52134130e-01  4.24245513e+02]
 [ 1.29162717e-01  9.91496268e-01 -1.58789950e-02  3.45710861e+01]
 [ 2.52038043e-01 -1.73374391e-02  9.67562007e-01  1.10726343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.5207140570001 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:424.30, Y:34.57, Z:110.74
[[ 9.59678501e-01 -1.24282807e-01 -2.52132821e-01  4.24303712e+02]
 [ 1.24306393e-01  9.92116484e-01 -1.58997498e-02  3.45745628e+01]
 [ 2.52121194e-01 -1.60830734e-02  9.67562008e-01  1.10744355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.5807140570001 meters
Centerline goodness : 0.998209 with order 1
Centerline is valid?  [True, True]
Translation: X:424.36, Y:34.58, Z:110.76
[[ 9.60415584e-01 -1.18451696e-01 -2.52133103e-01  4.24362035e+02]
 [ 1.18279433e-01  9.92853119e-01 -1.58952743e-02  3.45770611e+01]
 [ 2.52213960e-01 -1.45560913e-02  9.67562008e-01  1.10762670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.6407140570001 meters
Centerline goodness : 0.998390 with order 1
Centerline is valid?  [True, True]
Translation: X:424.42, Y:34.58, Z:110.78
[[ 9.61119866e-01 -1.12594070e-01 -2.52133257e-01  4.24420623e+02]
 [ 1.12224684e-01  9.93555755e-01 -1.58928372e-02  3.45794235e+01]
 [ 2.52297888e-01 -1.30206535e-02  9.67562008e-01  1.10780009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.700714057 meters
Centerline goodness : 0.998028 with order 1
Centerline is valid?  [True, True]
Translation: X:424.48, Y:34.58, Z:110.80
[[ 9.61764758e-01 -1.06944992e-01 -2.52133534e-01  4.24479068e+02]
 [ 1.06386183e-01  9.94197937e-01 -1.58884424e-02  3.45821411e+01]
 [ 2.52369829e-01 -1.15425803e-02  9.67562008e-01  1.10796937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.76071405700003 meters
Centerline goodness : 0.998367 with order 1
Centerline is valid?  [True, True]
Translation: X:424.54, Y:34.58, Z:110.81
[[ 9.62327206e-01 -1.01758940e-01 -2.52133826e-01  4.24536132e+02]
 [ 1.01026515e-01  9.94756929e-01 -1.58838150e-02  3.45830030e+01]
 [ 2.52428190e-01 -1.01867743e-02  9.67562008e-01  1.10812519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.82071405700003 meters
Centerline goodness : 0.998278 with order 1
Centerline is valid?  [True, True]
Translation: X:424.59, Y:34.58, Z:110.83
[[ 9.62700342e-01 -9.81673922e-02 -2.52133327e-01  4.24594791e+02]
 [ 9.73118965e-02  9.95127051e-01 -1.58917169e-02  3.45841383e+01]
 [ 2.52464743e-01 -9.23661095e-03  9.67562008e-01  1.10827200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.88071405700003 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:424.65, Y:34.58, Z:110.84
[[ 9.62754713e-01 -9.76334771e-02 -2.52133035e-01  4.24653077e+02]
 [ 9.67587832e-02  9.95180910e-01 -1.58963621e-02  3.45830073e+01]
 [ 2.52470000e-01 -9.09178816e-03  9.67562008e-01  1.10841776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 436.94071405700004 meters
Centerline goodness : 0.998475 with order 1
Centerline is valid?  [True, True]
Translation: X:424.71, Y:34.58, Z:110.86
[[ 9.62641950e-01 -9.87406120e-02 -2.52132442e-01  4.24709797e+02]
 [ 9.79007537e-02  9.95069068e-01 -1.59057531e-02  3.45827609e+01]
 [ 2.52459738e-01 -9.37241092e-03  9.67562008e-01  1.10855847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.00071405700004 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:424.77, Y:34.58, Z:110.87
[[ 9.62529408e-01 -9.98346533e-02 -2.52131277e-01  4.24766662e+02]
 [ 9.90268244e-02  9.94957340e-01 -1.59242057e-02  3.45812569e+01]
 [ 2.52449652e-01 -9.64024337e-03  9.67562008e-01  1.10873039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.06071405700004 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:424.82, Y:34.58, Z:110.89
[[ 9.62399761e-01 -1.01078943e-01 -2.52130417e-01  4.24822680e+02]
 [ 1.00309479e-01  9.94828626e-01 -1.59378122e-02  3.45797866e+01]
 [ 2.52437533e-01 -9.95252410e-03  9.67562008e-01  1.10888807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.12071405700004 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:424.88, Y:34.58, Z:110.91
[[ 9.62121451e-01 -1.03698026e-01 -2.52129002e-01  4.24880425e+02]
 [ 1.03010983e-01  9.94552166e-01 -1.59601611e-02  3.45770922e+01]
 [ 2.52410482e-01 -1.06164432e-02  9.67562008e-01  1.10905780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.18071405700005 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:424.94, Y:34.58, Z:110.92
[[ 9.61771979e-01 -1.06892105e-01 -2.52128415e-01  4.24938646e+02]
 [ 1.06310326e-01  9.94204754e-01 -1.59694274e-02  3.45767824e+01]
 [ 2.52374275e-01 -1.14449061e-02  9.67562008e-01  1.10920809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.24071405700005 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:425.00, Y:34.58, Z:110.93
[[ 9.61290838e-01 -1.11136572e-01 -2.52128117e-01  4.24997234e+02]
 [ 1.10696732e-01  9.93725848e-01 -1.59741403e-02  3.45760828e+01]
 [ 2.52321538e-01 -1.25539639e-02  9.67562008e-01  1.10934269e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.30071405700005 meters
Centerline goodness : 0.999057 with order 1
Centerline is valid?  [True, True]
Translation: X:425.06, Y:34.57, Z:110.95
[[ 9.60467977e-01 -1.18038036e-01 -2.52127523e-01  4.25056083e+02]
 [ 1.17828717e-01  9.92905293e-01 -1.59835054e-02  3.45713898e+01]
 [ 2.52225414e-01 -1.43562175e-02  9.67562008e-01  1.10945659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.36071405700005 meters
Centerline goodness : 0.998592 with order 1
Centerline is valid?  [True, True]
Translation: X:425.12, Y:34.57, Z:110.96
[[ 9.59966281e-01 -1.22050959e-01 -2.52127553e-01  4.25115113e+02]
 [ 1.21977325e-01  9.92404189e-01 -1.59830379e-02  3.45696377e+01]
 [ 2.52163184e-01 -1.54106669e-02  9.67562008e-01  1.10960022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.42071405700005 meters
Centerline goodness : 0.998908 with order 1
Centerline is valid?  [True, True]
Translation: X:425.17, Y:34.57, Z:110.97
[[ 9.59665330e-01 -1.24395146e-01 -2.52127553e-01  4.25172056e+02]
 [ 1.24400736e-01  9.92103321e-01 -1.59830379e-02  3.45693953e+01]
 [ 2.52124795e-01 -1.60264858e-02  9.67562008e-01  1.10973858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.48071405700006 meters
Centerline goodness : 0.999002 with order 1
Centerline is valid?  [True, True]
Translation: X:425.23, Y:34.57, Z:110.99
[[ 9.59467952e-01 -1.25916649e-01 -2.52123474e-01  4.25230703e+02]
 [ 1.25956902e-01  9.91905917e-01 -1.60471284e-02  3.45683544e+01]
 [ 2.52103366e-01 -1.63599863e-02  9.67562010e-01  1.10989561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.54071405700006 meters
Centerline goodness : 0.998865 with order 1
Centerline is valid?  [True, True]
Translation: X:425.29, Y:34.57, Z:111.00
[[ 9.59240944e-01 -1.27634571e-01 -2.52123436e-01  4.25287259e+02]
 [ 1.27732754e-01  9.91678786e-01 -1.60477295e-02  3.45695133e+01]
 [ 2.52073707e-01 -1.68107816e-02  9.67562010e-01  1.11004287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.60071405700006 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:425.35, Y:34.57, Z:111.02
[[ 9.59253353e-01 -1.27549256e-01 -2.52119400e-01  4.25345503e+02]
 [ 1.27628027e-01  9.91691245e-01 -1.61108865e-02  3.45734512e+01]
 [ 2.52079534e-01 -1.67230798e-02  9.67562012e-01  1.11017862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.66071405700006 meters
Centerline goodness : 0.998974 with order 1
Centerline is valid?  [True, True]
Translation: X:425.40, Y:34.58, Z:111.03
[[ 9.59230409e-01 -1.27722247e-01 -2.52119117e-01  4.25401565e+02]
 [ 1.27805709e-01  9.91668290e-01 -1.61153200e-02  3.45775787e+01]
 [ 2.52076818e-01 -1.67639574e-02  9.67562012e-01  1.11031868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.72071405700007 meters
Centerline goodness : 0.998530 with order 1
Centerline is valid?  [True, True]
Translation: X:425.46, Y:34.58, Z:111.05
[[ 9.59111630e-01 -1.28620389e-01 -2.52114411e-01  4.25458453e+02]
 [ 1.28715044e-01  9.91549477e-01 -1.61886174e-02  3.45827411e+01]
 [ 2.52066099e-01 -1.69242263e-02  9.67562015e-01  1.11046121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.78071405700007 meters
Centerline goodness : 0.998863 with order 1
Centerline is valid?  [True, True]
Translation: X:425.52, Y:34.59, Z:111.06
[[ 9.58876800e-01 -1.30360647e-01 -2.52113833e-01  4.25516163e+02]
 [ 1.30511810e-01  9.91314433e-01 -1.61976196e-02  3.45884885e+01]
 [ 2.52035613e-01 -1.73723111e-02  9.67562015e-01  1.11061082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.84071405700007 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:425.57, Y:34.59, Z:111.08
[[ 9.58460918e-01 -1.33385008e-01 -2.52113284e-01  4.25574393e+02]
 [ 1.33636268e-01  9.90897930e-01 -1.62061623e-02  3.45939237e+01]
 [ 2.51980190e-01 -1.81585050e-02  9.67562015e-01  1.11076870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.9007140570001 meters
Centerline goodness : 0.999042 with order 1
Centerline is valid?  [True, True]
Translation: X:425.63, Y:34.60, Z:111.09
[[ 9.58177706e-01 -1.35404488e-01 -2.52113284e-01  4.25632365e+02]
 [ 1.35724101e-01  9.90614117e-01 -1.62061623e-02  3.46002508e+01]
 [ 2.51941365e-01 -1.86894654e-02  9.67562015e-01  1.11093853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 437.9607140570001 meters
Centerline goodness : 0.999178 with order 1
Centerline is valid?  [True, True]
Translation: X:425.69, Y:34.61, Z:111.11
[[ 9.58228573e-01 -1.35044397e-01 -2.52113095e-01  4.25690342e+02]
 [ 1.35351056e-01  9.90665109e-01 -1.62090883e-02  3.46068256e+01]
 [ 2.51948594e-01 -1.85917621e-02  9.67562015e-01  1.11108019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.0207140570001 meters
Centerline goodness : 0.999153 with order 1
Centerline is valid?  [True, True]
Translation: X:425.75, Y:34.61, Z:111.12
[[ 9.58459210e-01 -1.33398196e-01 -2.52112801e-01  4.25749782e+02]
 [ 1.33647938e-01  9.90896234e-01 -1.62136644e-02  3.46129988e+01]
 [ 2.51980499e-01 -1.81542200e-02  9.67562015e-01  1.11122811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.0807140570001 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:425.81, Y:34.62, Z:111.14
[[ 9.59017712e-01 -1.29320756e-01 -2.52113408e-01  4.25807066e+02]
 [ 1.29435017e-01  9.91455496e-01 -1.62042174e-02  3.46227149e+01]
 [ 2.52054766e-01 -1.70921717e-02  9.67562015e-01  1.11137213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.1407140570001 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:425.87, Y:34.63, Z:111.15
[[ 9.59491283e-01 -1.25758988e-01 -2.52113377e-01  4.25865808e+02]
 [ 1.25752679e-01  9.91929267e-01 -1.62047016e-02  3.46277944e+01]
 [ 2.52116524e-01 -1.61556626e-02  9.67562015e-01  1.11152509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.200714057 meters
Centerline goodness : 0.998766 with order 1
Centerline is valid?  [True, True]
Translation: X:425.92, Y:34.63, Z:111.17
[[ 9.60079057e-01 -1.21189626e-01 -2.52113624e-01  4.25922237e+02]
 [ 1.21029893e-01  9.92516648e-01 -1.62008558e-02  3.46328958e+01]
 [ 2.52190345e-01 -1.49591825e-02  9.67562015e-01  1.11167642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.26071405700003 meters
Centerline goodness : 0.998829 with order 1
Centerline is valid?  [True, True]
Translation: X:425.98, Y:34.64, Z:111.18
[[ 9.60864124e-01 -1.14800892e-01 -2.52112853e-01  4.25980380e+02]
 [ 1.14422262e-01  9.93299899e-01 -1.62128519e-02  3.46377800e+01]
 [ 2.52284921e-01 -1.32689751e-02  9.67562015e-01  1.11182794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.32071405700003 meters
Centerline goodness : 0.998941 with order 1
Centerline is valid?  [True, True]
Translation: X:426.04, Y:34.64, Z:111.20
[[ 9.61647989e-01 -1.08038337e-01 -2.52112797e-01  4.26037397e+02]
 [ 1.07431300e-01  9.94080294e-01 -1.62137253e-02  3.46418685e+01]
 [ 2.52372067e-01 -1.14929092e-02  9.67562015e-01  1.11197255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.38071405700003 meters
Centerline goodness : 0.999146 with order 1
Centerline is valid?  [True, True]
Translation: X:426.10, Y:34.64, Z:111.21
[[ 9.61989898e-01 -1.04951204e-01 -2.52112439e-01  4.26095951e+02]
 [ 1.04238618e-01  9.94420055e-01 -1.62192898e-02  3.46440263e+01]
 [ 2.52407899e-01 -1.06770593e-02  9.67562015e-01  1.11212149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.44071405700004 meters
Centerline goodness : 0.998968 with order 1
Centerline is valid?  [True, True]
Translation: X:426.15, Y:34.64, Z:111.23
[[ 9.61911771e-01 -1.05664981e-01 -2.52112389e-01  4.26152928e+02]
 [ 1.04976258e-01  9.94342444e-01 -1.62200568e-02  3.46444245e+01]
 [ 2.52399941e-01 -1.08635517e-02  9.67562015e-01  1.11226714e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.50071405700004 meters
Centerline goodness : 0.998882 with order 1
Centerline is valid?  [True, True]
Translation: X:426.21, Y:34.64, Z:111.24
[[ 9.61551687e-01 -1.08902787e-01 -2.52108182e-01  4.26211705e+02]
 [ 1.08306209e-01  9.93984184e-01 -1.62851925e-02  3.46436904e+01]
 [ 2.52365049e-01 -1.16458271e-02  9.67562017e-01  1.11241202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.56071405700004 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:426.27, Y:34.64, Z:111.25
[[ 9.60986127e-01 -1.13785443e-01 -2.52108184e-01  4.26267971e+02]
 [ 1.13353613e-01  9.93421236e-01 -1.62851747e-02  3.46423664e+01]
 [ 2.52302639e-01 -1.29275465e-02  9.67562017e-01  1.11254969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.62071405700004 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:426.33, Y:34.64, Z:111.27
[[ 9.60303226e-01 -1.19414940e-01 -2.52106696e-01  4.26326840e+02]
 [ 1.19167173e-01  9.92740262e-01 -1.63081658e-02  3.46420872e+01]
 [ 2.52223907e-01 -1.43820581e-02  9.67562017e-01  1.11270259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.68071405700005 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:426.38, Y:34.64, Z:111.29
[[ 9.59897027e-01 -1.22637249e-01 -2.52106730e-01  4.26383881e+02]
 [ 1.22498487e-01  9.92334713e-01 -1.63076403e-02  3.46421071e+01]
 [ 2.52174184e-01 -1.52290375e-02  9.67562017e-01  1.11286179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.74071405700005 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:426.44, Y:34.64, Z:111.30
[[ 9.59718703e-01 -1.24026908e-01 -2.52105805e-01  4.26440880e+02]
 [ 1.23931370e-01  9.92156545e-01 -1.63219356e-02  3.46428875e+01]
 [ 2.52152784e-01 -1.55793510e-02  9.67562017e-01  1.11299410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.80071405700005 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:426.50, Y:34.64, Z:111.31
[[ 9.59621145e-01 -1.24782524e-01 -2.52104305e-01  4.26499027e+02]
 [ 1.24706471e-01  9.92059038e-01 -1.63450782e-02  3.46445736e+01]
 [ 2.52141934e-01 -1.57539555e-02  9.67562018e-01  1.11313819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.86071405700005 meters
Centerline goodness : 0.998712 with order 1
Centerline is valid?  [True, True]
Translation: X:426.56, Y:34.65, Z:111.33
[[ 9.59573549e-01 -1.25149225e-01 -2.52103701e-01  4.26556356e+02]
 [ 1.25083134e-01  9.92011464e-01 -1.63543777e-02  3.46466670e+01]
 [ 2.52136499e-01 -1.58406927e-02  9.67562018e-01  1.11327826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.92071405700005 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:426.61, Y:34.65, Z:111.34
[[ 9.59427229e-01 -1.26274352e-01 -2.52099543e-01  4.26612985e+02]
 [ 1.26229587e-01  9.91865179e-01 -1.64182339e-02  3.46483978e+01]
 [ 2.52121960e-01 -1.60703206e-02  9.67562020e-01  1.11339044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 438.98071405700006 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:426.67, Y:34.65, Z:111.35
[[ 9.59400882e-01 -1.26477351e-01 -2.52098051e-01  4.26669367e+02]
 [ 1.26433460e-01  9.91838833e-01 -1.64411199e-02  3.46510768e+01]
 [ 2.52120065e-01 -1.61000040e-02  9.67562020e-01  1.11352415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.04071405700006 meters
Centerline goodness : 0.998554 with order 1
Centerline is valid?  [True, True]
Translation: X:426.73, Y:34.65, Z:111.37
[[ 9.59421426e-01 -1.26324349e-01 -2.52096583e-01  4.26726427e+02]
 [ 1.26269404e-01  9.91859359e-01 -1.64635950e-02  3.46539754e+01]
 [ 2.52124108e-01 -1.60365595e-02  9.67562020e-01  1.11366415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.10071405700006 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:426.78, Y:34.66, Z:111.38
[[ 9.59572477e-01 -1.25179981e-01 -2.52092510e-01  4.26783863e+02]
 [ 1.25070088e-01  9.92010269e-01 -1.65257312e-02  3.46569578e+01]
 [ 2.52147049e-01 -1.56715955e-02  9.67562022e-01  1.11380831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.16071405700006 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:426.84, Y:34.66, Z:111.40
[[ 9.59866194e-01 -1.22909289e-01 -2.52091644e-01  4.26841984e+02]
 [ 1.22719193e-01  9.92303614e-01 -1.65389371e-02  3.46596963e+01]
 [ 2.52184238e-01 -1.50613164e-02  9.67562022e-01  1.11396765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.22071405700007 meters
Centerline goodness : 0.998223 with order 1
Centerline is valid?  [True, True]
Translation: X:426.90, Y:34.66, Z:111.41
[[ 9.59954755e-01 -1.22216078e-01 -2.52091448e-01  4.26898236e+02]
 [ 1.22001776e-01  9.92392025e-01 -1.65419188e-02  3.46622547e+01]
 [ 2.52195231e-01 -1.48761107e-02  9.67562022e-01  1.11412188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.28071405700007 meters
Centerline goodness : 0.997660 with order 1
Centerline is valid?  [True, True]
Translation: X:426.95, Y:34.66, Z:111.42
[[ 9.60324462e-01 -1.19285042e-01 -2.52087298e-01  4.26953587e+02]
 [ 1.18955231e-01  9.92760761e-01 -1.66049286e-02  3.46645536e+01]
 [ 2.52243098e-01 -1.40409835e-02  9.67562024e-01  1.11424692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.34071405700007 meters
Centerline goodness : 0.998142 with order 1
Centerline is valid?  [True, True]
Translation: X:427.01, Y:34.67, Z:111.44
[[ 9.59900324e-01 -1.22655589e-01 -2.52085252e-01  4.27008779e+02]
 [ 1.22431537e-01  9.92337526e-01 -1.66359284e-02  3.46687904e+01]
 [ 2.52194145e-01 -1.48943518e-02  9.67562025e-01  1.11442816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.4007140570001 meters
Centerline goodness : 0.998562 with order 1
Centerline is valid?  [True, True]
Translation: X:427.06, Y:34.67, Z:111.46
[[ 9.59881038e-01 -1.22815982e-01 -2.52080596e-01  4.27064801e+02]
 [ 1.22578960e-01  9.92318145e-01 -1.67061957e-02  3.46734509e+01]
 [ 2.52195938e-01 -1.48638168e-02  9.67562027e-01  1.11459274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.4607140570001 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:427.12, Y:34.68, Z:111.47
[[ 9.59644044e-01 -1.24663075e-01 -2.52076230e-01  4.27123853e+02]
 [ 1.24471303e-01  9.92081448e-01 -1.67718302e-02  3.46790327e+01]
 [ 2.52170979e-01 -1.52812699e-02  9.67562029e-01  1.11472471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.5207140570001 meters
Centerline goodness : 0.998333 with order 1
Centerline is valid?  [True, True]
Translation: X:427.18, Y:34.68, Z:111.49
[[ 9.59331877e-01 -1.27043257e-01 -2.52076100e-01  4.27181190e+02]
 [ 1.26931442e-01  9.91769655e-01 -1.67737767e-02  3.46840390e+01]
 [ 2.52132422e-01 -1.59047642e-02  9.67562029e-01  1.11487252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.5807140570001 meters
Centerline goodness : 0.998622 with order 1
Centerline is valid?  [True, True]
Translation: X:427.24, Y:34.69, Z:111.50
[[ 9.58997542e-01 -1.29544090e-01 -2.52075470e-01  4.27236391e+02]
 [ 1.29514374e-01  9.91435500e-01 -1.67832388e-02  3.46901741e+01]
 [ 2.52090739e-01 -1.65523121e-02  9.67562029e-01  1.11502100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.6407140570001 meters
Centerline goodness : 0.998047 with order 1
Centerline is valid?  [True, True]
Translation: X:427.30, Y:34.70, Z:111.52
[[ 9.58801104e-01 -1.30993063e-01 -2.52073918e-01  4.27295007e+02]
 [ 1.31006268e-01  9.91239072e-01 -1.68065290e-02  3.46970581e+01]
 [ 2.52067055e-01 -1.69091446e-02  9.67562029e-01  1.11516298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.700714057 meters
Centerline goodness : 0.998246 with order 1
Centerline is valid?  [True, True]
Translation: X:427.35, Y:34.70, Z:111.53
[[ 9.58583937e-01 -1.32572910e-01 -2.52073918e-01  4.27351184e+02]
 [ 1.32639570e-01  9.91021839e-01 -1.68065290e-02  3.47040552e+01]
 [ 2.52038848e-01 -1.73245074e-02  9.67562029e-01  1.11531638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.76071405700003 meters
Centerline goodness : 0.998780 with order 1
Centerline is valid?  [True, True]
Translation: X:427.41, Y:34.71, Z:111.55
[[ 9.58618121e-01 -1.32327807e-01 -2.52072706e-01  4.27408125e+02]
 [ 1.32381422e-01  9.91056047e-01 -1.68246827e-02  3.47116252e+01]
 [ 2.52044553e-01 -1.72412977e-02  9.67562030e-01  1.11548939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.82071405700003 meters
Centerline goodness : 0.998529 with order 1
Centerline is valid?  [True, True]
Translation: X:427.47, Y:34.72, Z:111.56
[[ 9.58607202e-01 -1.32407515e-01 -2.52072374e-01  4.27465368e+02]
 [ 1.32462528e-01  9.91045126e-01 -1.68296491e-02  3.47191638e+01]
 [ 2.52043470e-01 -1.72571210e-02  9.67562030e-01  1.11564433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.88071405700003 meters
Centerline goodness : 0.998110 with order 1
Centerline is valid?  [True, True]
Translation: X:427.52, Y:34.72, Z:111.57
[[ 9.59183801e-01 -1.28165009e-01 -2.52071747e-01  4.27524160e+02]
 [ 1.28074046e-01  9.91621644e-01 -1.68390419e-02  3.47241962e+01]
 [ 2.52117976e-01 -1.61321123e-02  9.67562030e-01  1.11571929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 439.94071405700004 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:427.58, Y:34.73, Z:111.59
[[ 9.58761472e-01 -1.31287713e-01 -2.52071371e-01  4.27580643e+02]
 [ 1.31300906e-01  9.91199440e-01 -1.68446630e-02  3.47328695e+01]
 [ 2.52064499e-01 -1.69471855e-02  9.67562030e-01  1.11591610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.00071405700004 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:427.64, Y:34.74, Z:111.61
[[ 9.58967917e-01 -1.29771759e-01 -2.52071070e-01  4.27637753e+02]
 [ 1.29732489e-01  9.91405864e-01 -1.68491675e-02  3.47396475e+01]
 [ 2.52091283e-01 -1.65439963e-02  9.67562030e-01  1.11608891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.06071405700004 meters
Centerline goodness : 0.998857 with order 1
Centerline is valid?  [True, True]
Translation: X:427.69, Y:34.75, Z:111.63
[[ 9.59294075e-01 -1.27338964e-01 -2.52070754e-01  4.27694753e+02]
 [ 1.27216181e-01  9.91731813e-01 -1.68538926e-02  3.47466778e+01]
 [ 2.52132743e-01 -1.58996393e-02  9.67562030e-01  1.11625443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.12071405700004 meters
Centerline goodness : 0.999011 with order 1
Centerline is valid?  [True, True]
Translation: X:427.75, Y:34.75, Z:111.64
[[ 9.59410121e-01 -1.26462438e-01 -2.52070368e-01  4.27751109e+02]
 [ 1.26308507e-01  9.91847727e-01 -1.68596627e-02  3.47516991e+01]
 [ 2.52147536e-01 -1.56633009e-02  9.67562030e-01  1.11641024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.18071405700005 meters
Centerline goodness : 0.998831 with order 1
Centerline is valid?  [True, True]
Translation: X:427.81, Y:34.76, Z:111.66
[[ 9.59227497e-01 -1.27848766e-01 -2.52066066e-01  4.27808466e+02]
 [ 1.27724937e-01  9.91665229e-01 -1.69237528e-02  3.47573030e+01]
 [ 2.52128834e-01 -1.59613933e-02  9.67562032e-01  1.11657972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.24071405700005 meters
Centerline goodness : 0.998966 with order 1
Centerline is valid?  [True, True]
Translation: X:427.87, Y:34.76, Z:111.67
[[ 9.58676935e-01 -1.31914328e-01 -2.52065752e-01  4.27866763e+02]
 [ 1.31926801e-01  9.91114901e-01 -1.69284214e-02  3.47598286e+01]
 [ 2.52059225e-01 -1.70253412e-02  9.67562032e-01  1.11672424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.30071405700005 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:427.92, Y:34.76, Z:111.69
[[ 9.58266045e-01 -1.34867255e-01 -2.52065491e-01  4.27924806e+02]
 [ 1.34978644e-01  9.90703822e-01 -1.69323183e-02  3.47628541e+01]
 [ 2.52005860e-01 -1.77977926e-02  9.67562032e-01  1.11686457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.36071405700005 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:427.98, Y:34.77, Z:111.70
[[ 9.58577701e-01 -1.32634604e-01 -2.52065176e-01  4.27983973e+02]
 [ 1.32669203e-01  9.91015651e-01 -1.69370041e-02  3.47670918e+01]
 [ 2.52046967e-01 -1.72058516e-02  9.67562032e-01  1.11700895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.42071405700005 meters
Centerline goodness : 0.998606 with order 1
Centerline is valid?  [True, True]
Translation: X:428.04, Y:34.77, Z:111.72
[[ 9.59410718e-01 -1.26467011e-01 -2.52065804e-01  4.28042002e+02]
 [ 1.26295442e-01  9.91848232e-01 -1.69276446e-02  3.47721622e+01]
 [ 2.52151811e-01 -1.55941986e-02  9.67562032e-01  1.11716829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.48071405700006 meters
Centerline goodness : 0.999131 with order 1
Centerline is valid?  [True, True]
Translation: X:428.10, Y:34.78, Z:111.73
[[ 9.60410320e-01 -1.18637333e-01 -2.52065866e-01  4.28099233e+02]
 [ 1.18201432e-01  9.92845359e-01 -1.69267299e-02  3.47779298e+01]
 [ 2.52270567e-01 -1.35379402e-02  9.67562032e-01  1.11734393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.54071405700006 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:428.16, Y:34.78, Z:111.75
[[ 9.60891852e-01 -1.14672995e-01 -2.52065373e-01  4.28157489e+02]
 [ 1.14101328e-01  9.93324783e-01 -1.69340644e-02  3.47817403e+01]
 [ 2.52324662e-01 -1.24891893e-02  9.67562032e-01  1.11749812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.60071405700006 meters
Centerline goodness : 0.999084 with order 1
Centerline is valid?  [True, True]
Translation: X:428.21, Y:34.79, Z:111.76
[[ 9.60909014e-01 -1.14529580e-01 -2.52065156e-01  4.28214932e+02]
 [ 1.13952229e-01  9.93341843e-01 -1.69372907e-02  3.47851103e+01]
 [ 2.52326688e-01 -1.24481910e-02  9.67562032e-01  1.11763096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.66071405700006 meters
Centerline goodness : 0.999012 with order 1
Centerline is valid?  [True, True]
Translation: X:428.27, Y:34.79, Z:111.78
[[ 9.60668677e-01 -1.16528509e-01 -2.52065070e-01  4.28271328e+02]
 [ 1.16018300e-01  9.93102633e-01 -1.69385717e-02  3.47887813e+01]
 [ 2.52300311e-01 -1.29718058e-02  9.67562032e-01  1.11779663e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.72071405700007 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:428.33, Y:34.79, Z:111.79
[[ 9.60126172e-01 -1.20926344e-01 -2.52060615e-01  4.28329642e+02]
 [ 1.20547378e-01  9.92561924e-01 -1.70046109e-02  3.47908854e+01]
 [ 2.52242075e-01 -1.40586742e-02  9.67562034e-01  1.11793389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.78071405700007 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:428.39, Y:34.79, Z:111.81
[[ 9.59236518e-01 -1.27792440e-01 -2.52060302e-01  4.28389034e+02]
 [ 1.27644327e-01  9.91674146e-01 -1.70092602e-02  3.47934431e+01]
 [ 2.52135339e-01 -1.58581640e-02  9.67562034e-01  1.11806741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.84071405700007 meters
Centerline goodness : 0.998768 with order 1
Centerline is valid?  [True, True]
Translation: X:428.45, Y:34.80, Z:111.82
[[ 9.58548209e-01 -1.32856981e-01 -2.52060219e-01  4.28447492e+02]
 [ 1.32879872e-01  9.90986167e-01 -1.70104865e-02  3.47976667e+01]
 [ 2.52048152e-01 -1.71883584e-02  9.67562034e-01  1.11822789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.9007140570001 meters
Centerline goodness : 0.998877 with order 1
Centerline is valid?  [True, True]
Translation: X:428.50, Y:34.80, Z:111.84
[[ 9.58422708e-01 -1.33759303e-01 -2.52060234e-01  4.28504860e+02]
 [ 1.33812791e-01  9.90860630e-01 -1.70102574e-02  3.48016489e+01]
 [ 2.52031843e-01 -1.74258665e-02  9.67562034e-01  1.11840216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 440.9607140570001 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:428.56, Y:34.81, Z:111.86
[[ 9.58427988e-01 -1.33722048e-01 -2.52059925e-01  4.28563072e+02]
 [ 1.33773075e-01  9.90865914e-01 -1.70148423e-02  3.48073987e+01]
 [ 2.52032847e-01 -1.74113301e-02  9.67562034e-01  1.11857972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.0207140570001 meters
Centerline goodness : 0.999191 with order 1
Centerline is valid?  [True, True]
Translation: X:428.62, Y:34.81, Z:111.87
[[ 9.58302132e-01 -1.34619830e-01 -2.52060558e-01  4.28620786e+02]
 [ 1.34703700e-01  9.90739990e-01 -1.70054622e-02  3.48123346e+01]
 [ 2.52015747e-01 -1.76571190e-02  9.67562034e-01  1.11872684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.0807140570001 meters
Centerline goodness : 0.998966 with order 1
Centerline is valid?  [True, True]
Translation: X:428.68, Y:34.82, Z:111.89
[[ 9.57978492e-01 -1.36903921e-01 -2.52060558e-01  4.28679426e+02]
 [ 1.37065118e-01  9.90416058e-01 -1.70054622e-02  3.48163691e+01]
 [ 2.51972938e-01 -1.82578431e-02  9.67562034e-01  1.11887143e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.1407140570001 meters
Centerline goodness : 0.999482 with order 1
Centerline is valid?  [True, True]
Translation: X:428.74, Y:34.82, Z:111.90
[[ 9.57149199e-01 -1.42586375e-01 -2.52060583e-01  4.28737519e+02]
 [ 1.42940158e-01  9.89585235e-01 -1.70050953e-02  3.48200167e+01]
 [ 2.51860126e-01 -1.97531661e-02  9.67562034e-01  1.11901137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.200714057 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:428.80, Y:34.82, Z:111.91
[[ 9.56412502e-01 -1.47447366e-01 -2.52060310e-01  4.28796625e+02]
 [ 1.47964879e-01  9.88846340e-01 -1.70091371e-02  3.48249788e+01]
 [ 2.51756867e-01 -2.10283218e-02  9.67562034e-01  1.11913433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.26071405700003 meters
Centerline goodness : 0.999346 with order 1
Centerline is valid?  [True, True]
Translation: X:428.86, Y:34.83, Z:111.93
[[ 9.56258102e-01 -1.48445589e-01 -2.52060209e-01  4.28855906e+02]
 [ 1.48996565e-01  9.88691389e-01 -1.70106304e-02  3.48305473e+01]
 [ 2.51734911e-01 -2.12895522e-02  9.67562034e-01  1.11929729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.32071405700003 meters
Centerline goodness : 0.999098 with order 1
Centerline is valid?  [True, True]
Translation: X:428.91, Y:34.84, Z:111.95
[[ 9.56430482e-01 -1.47329218e-01 -2.52061174e-01  4.28913946e+02]
 [ 1.47846078e-01  9.88864330e-01 -1.69963217e-02  3.48380579e+01]
 [ 2.51758359e-01 -2.10104557e-02  9.67562034e-01  1.11946252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.38071405700003 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:428.97, Y:34.85, Z:111.96
[[ 9.56511034e-01 -1.46804249e-01 -2.52061807e-01  4.28972942e+02]
 [ 1.47305766e-01  9.88945123e-01 -1.69869266e-02  3.48451107e+01]
 [ 2.51769048e-01 -2.08819748e-02  9.67562034e-01  1.11964767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.44071405700004 meters
Centerline goodness : 0.999165 with order 1
Centerline is valid?  [True, True]
Translation: X:429.03, Y:34.85, Z:111.98
[[ 9.56181370e-01 -1.48934190e-01 -2.52063075e-01  4.29031689e+02]
 [ 1.49512872e-01  9.88614174e-01 -1.69680867e-02  3.48492625e+01]
 [ 2.51720257e-01 -2.14621059e-02  9.67562034e-01  1.11979479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.50071405700004 meters
Centerline goodness : 0.999391 with order 1
Centerline is valid?  [True, True]
Translation: X:429.09, Y:34.85, Z:111.99
[[ 9.55906612e-01 -1.50686654e-01 -2.52063646e-01  4.29090367e+02]
 [ 1.51327006e-01  9.88338257e-01 -1.69596022e-02  3.48529777e+01]
 [ 2.51679730e-01 -2.19322409e-02  9.67562034e-01  1.11993669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.56071405700004 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:429.15, Y:34.86, Z:112.01
[[ 9.55524516e-01 -1.53090886e-01 -2.52063641e-01  4.29150429e+02]
 [ 1.53812802e-01  9.87954448e-01 -1.69596776e-02  3.48575770e+01]
 [ 2.51623767e-01 -2.25652273e-02  9.67562034e-01  1.12007769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.62071405700004 meters
Centerline goodness : 0.999009 with order 1
Centerline is valid?  [True, True]
Translation: X:429.21, Y:34.86, Z:112.02
[[ 9.55230617e-01 -1.54912137e-01 -2.52064867e-01  4.29209330e+02]
 [ 1.55700648e-01  9.87658998e-01 -1.69414327e-02  3.48617548e+01]
 [ 2.51578568e-01 -2.30636880e-02  9.67562034e-01  1.12021771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.68071405700005 meters
Centerline goodness : 0.998941 with order 1
Centerline is valid?  [True, True]
Translation: X:429.27, Y:34.87, Z:112.04
[[ 9.55197569e-01 -1.55115502e-01 -2.52065041e-01  4.29268002e+02]
 [ 1.55911592e-01  9.87625764e-01 -1.69388517e-02  3.48664693e+01]
 [ 2.51573407e-01 -2.31199119e-02  9.67562034e-01  1.12036508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.74071405700005 meters
Centerline goodness : 0.999301 with order 1
Centerline is valid?  [True, True]
Translation: X:429.33, Y:34.87, Z:112.06
[[ 9.55524009e-01 -1.53091751e-01 -2.52065041e-01  4.29327589e+02]
 [ 1.53819146e-01  9.87953818e-01 -1.69388517e-02  3.48725750e+01]
 [ 2.51621818e-01 -2.25869499e-02  9.67562034e-01  1.12055506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.80071405700005 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:429.39, Y:34.88, Z:112.07
[[ 9.55744428e-01 -1.51706628e-01 -2.52066832e-01  4.29385845e+02]
 [ 1.52394002e-01  9.88175109e-01 -1.69121621e-02  3.48783488e+01]
 [ 2.51651856e-01 -2.22497687e-02  9.67562035e-01  1.12073011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.86071405700005 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:429.44, Y:34.88, Z:112.09
[[ 9.55994442e-01 -1.50122918e-01 -2.52066930e-01  4.29444436e+02]
 [ 1.50756944e-01  9.88426210e-01 -1.69106923e-02  3.48836352e+01]
 [ 2.51688243e-01 -2.18343122e-02  9.67562035e-01  1.12088528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.92071405700005 meters
Centerline goodness : 0.999141 with order 1
Centerline is valid?  [True, True]
Translation: X:429.50, Y:34.89, Z:112.11
[[ 9.55892218e-01 -1.50771406e-01 -2.52067553e-01  4.29503557e+02]
 [ 1.51429864e-01  9.88323499e-01 -1.69014033e-02  3.48878377e+01]
 [ 2.51672534e-01 -2.20146353e-02  9.67562035e-01  1.12106416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 441.98071405700006 meters
Centerline goodness : 0.998915 with order 1
Centerline is valid?  [True, True]
Translation: X:429.56, Y:34.89, Z:112.12
[[ 9.55705692e-01 -1.51947158e-01 -2.52068823e-01  4.29562142e+02]
 [ 1.52650472e-01  9.88136031e-01 -1.68824401e-02  3.48919279e+01]
 [ 2.51643525e-01 -2.23437809e-02  9.67562035e-01  1.12122037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.04071405700006 meters
Centerline goodness : 0.999459 with order 1
Centerline is valid?  [True, True]
Translation: X:429.62, Y:34.89, Z:112.13
[[ 9.55380377e-01 -1.53978844e-01 -2.52069140e-01  4.29621266e+02]
 [ 1.54752347e-01  9.87809118e-01 -1.68777121e-02  3.48938903e+01]
 [ 2.51595005e-01 -2.28836560e-02  9.67562035e-01  1.12132787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.10071405700006 meters
Centerline goodness : 0.998873 with order 1
Centerline is valid?  [True, True]
Translation: X:429.68, Y:34.90, Z:112.15
[[ 9.54963788e-01 -1.56541273e-01 -2.52069421e-01  4.29680550e+02]
 [ 1.57402867e-01  9.87390309e-01 -1.68735157e-02  3.48964867e+01]
 [ 2.51532305e-01 -2.35628531e-02  9.67562035e-01  1.12148289e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.16071405700006 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:429.74, Y:34.90, Z:112.16
[[ 9.54744937e-01 -1.57869567e-01 -2.52070042e-01  4.29740586e+02]
 [ 1.58778698e-01  9.87170159e-01 -1.68642296e-02  3.48988135e+01]
 [ 2.51498372e-01 -2.39223154e-02  9.67562035e-01  1.12164866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.22071405700007 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:429.80, Y:34.90, Z:112.18
[[ 9.55130338e-01 -1.55518767e-01 -2.52071319e-01  4.29799613e+02]
 [ 1.56353072e-01  9.87557572e-01 -1.68451252e-02  3.49022097e+01]
 [ 2.51554673e-01 -2.33228350e-02  9.67562035e-01  1.12179190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.28071405700007 meters
Centerline goodness : 0.999008 with order 1
Centerline is valid?  [True, True]
Translation: X:429.86, Y:34.91, Z:112.20
[[ 9.55550791e-01 -1.52913106e-01 -2.52071949e-01  4.29857958e+02]
 [ 1.53661432e-01  9.87980123e-01 -1.68356947e-02  3.49057445e+01]
 [ 2.51616473e-01 -2.26463753e-02  9.67562035e-01  1.12196041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.34071405700007 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:429.92, Y:34.91, Z:112.21
[[ 9.56123107e-01 -1.49292600e-01 -2.52072061e-01  4.29917140e+02]
 [ 1.49918528e-01  9.88555032e-01 -1.68340060e-02  3.49086543e+01]
 [ 2.51700297e-01 -2.16948902e-02  9.67562035e-01  1.12211937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.4007140570001 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:429.98, Y:34.91, Z:112.23
[[ 9.56566118e-01 -1.46426165e-01 -2.52072689e-01  4.29975425e+02]
 [ 1.46957343e-01  9.88999733e-01 -1.68246066e-02  3.49125230e+01]
 [ 2.51763385e-01 -2.09500839e-02  9.67562035e-01  1.12228036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.4607140570001 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:430.03, Y:34.92, Z:112.24
[[ 9.56858123e-01 -1.44505691e-01 -2.52072683e-01  4.30033729e+02]
 [ 1.44971737e-01  9.89292740e-01 -1.68246965e-02  3.49164477e+01]
 [ 2.51804939e-01 -2.04445672e-02  9.67562035e-01  1.12244066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.5207140570001 meters
Centerline goodness : 0.998668 with order 1
Centerline is valid?  [True, True]
Translation: X:430.09, Y:34.92, Z:112.26
[[ 9.56938934e-01 -1.43969580e-01 -2.52072680e-01  4.30091936e+02]
 [ 1.44417442e-01  9.89373807e-01 -1.68247426e-02  3.49198358e+01]
 [ 2.51816358e-01 -2.03034404e-02  9.67562035e-01  1.12257381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.5807140570001 meters
Centerline goodness : 0.998784 with order 1
Centerline is valid?  [True, True]
Translation: X:430.15, Y:34.92, Z:112.27
[[ 9.57054979e-01 -1.43193467e-01 -2.52074192e-01  4.30151039e+02]
 [ 1.43620963e-01  9.89490126e-01 -1.68020528e-02  3.49243879e+01]
 [ 2.51830868e-01 -2.01226498e-02  9.67562036e-01  1.12272505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.6407140570001 meters
Centerline goodness : 0.998536 with order 1
Centerline is valid?  [True, True]
Translation: X:430.21, Y:34.93, Z:112.29
[[ 9.57220936e-01 -1.42079319e-01 -2.52074486e-01  4.30209900e+02]
 [ 1.42470212e-01  9.89656545e-01 -1.67976477e-02  3.49283930e+01]
 [ 2.51853763e-01 -1.98340454e-02  9.67562036e-01  1.12290071e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.700714057 meters
Centerline goodness : 0.998918 with order 1
Centerline is valid?  [True, True]
Translation: X:430.27, Y:34.93, Z:112.31
[[ 9.57561614e-01 -1.39763717e-01 -2.52075105e-01  4.30268841e+02]
 [ 1.40078594e-01  9.89998050e-01 -1.67883419e-02  3.49331184e+01]
 [ 2.51900264e-01 -1.92344545e-02  9.67562036e-01  1.12305028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.76071405700003 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:430.33, Y:34.94, Z:112.32
[[ 9.57560128e-01 -1.39772798e-01 -2.52075715e-01  4.30327439e+02]
 [ 1.40090380e-01  9.89996538e-01 -1.67791784e-02  3.49379426e+01]
 [ 2.51899358e-01 -1.92463106e-02  9.67562036e-01  1.12322491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.82071405700003 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:430.39, Y:34.94, Z:112.34
[[ 9.57151660e-01 -1.42542011e-01 -2.52076328e-01  4.30385960e+02]
 [ 1.42955825e-01  9.89586985e-01 -1.67699750e-02  3.49410331e+01]
 [ 2.51841879e-01 -1.99843701e-02  9.67562036e-01  1.12337152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.88071405700003 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:430.45, Y:34.95, Z:112.35
[[ 9.57002226e-01 -1.43541753e-01 -2.52076385e-01  4.30446024e+02]
 [ 1.43989674e-01  9.89437098e-01 -1.67691118e-02  3.49450081e+01]
 [ 2.51820795e-01 -2.02483190e-02  9.67562036e-01  1.12352706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 442.94071405700004 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:430.50, Y:34.95, Z:112.37
[[ 9.56615859e-01 -1.46092344e-01 -2.52077617e-01  4.30504572e+02]
 [ 1.46631578e-01  9.89049341e-01 -1.67505683e-02  3.49502000e+01]
 [ 2.51764331e-01 -2.09386796e-02  9.67562036e-01  1.12367214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.00071405700004 meters
Centerline goodness : 0.999094 with order 1
Centerline is valid?  [True, True]
Translation: X:430.56, Y:34.96, Z:112.38
[[ 9.56652816e-01 -1.45849623e-01 -2.52077919e-01  4.30564628e+02]
 [ 1.46381815e-01  9.89086414e-01 -1.67460347e-02  3.49556602e+01]
 [ 2.51769247e-01 -2.08794819e-02  9.67562036e-01  1.12383921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.06071405700004 meters
Centerline goodness : 0.998981 with order 1
Centerline is valid?  [True, True]
Translation: X:430.62, Y:34.96, Z:112.40
[[ 9.56889058e-01 -1.44289350e-01 -2.52079181e-01  4.30624267e+02]
 [ 1.44773626e-01  9.89323407e-01 -1.67270178e-02  3.49621985e+01]
 [ 2.51801364e-01 -2.04885167e-02  9.67562036e-01  1.12400007e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.12071405700004 meters
Centerline goodness : 0.998686 with order 1
Centerline is valid?  [True, True]
Translation: X:430.68, Y:34.97, Z:112.42
[[ 9.57132382e-01 -1.42664169e-01 -2.52080420e-01  4.30682281e+02]
 [ 1.43098260e-01  9.89567441e-01 -1.67083117e-02  3.49681207e+01]
 [ 2.51834254e-01 -2.00802033e-02  9.67562036e-01  1.12416188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.18071405700005 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:430.74, Y:34.97, Z:112.43
[[ 9.57419172e-01 -1.40726562e-01 -2.52080473e-01  4.30741060e+02]
 [ 1.41095207e-01  9.89855041e-01 -1.67075255e-02  3.49733028e+01]
 [ 2.51874319e-01 -1.95712412e-02  9.67562036e-01  1.12434186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.24071405700005 meters
Centerline goodness : 0.998615 with order 1
Centerline is valid?  [True, True]
Translation: X:430.80, Y:34.98, Z:112.45
[[ 9.57519189e-01 -1.40042737e-01 -2.52081405e-01  4.30800563e+02]
 [ 1.40391901e-01  9.89955273e-01 -1.66934434e-02  3.49782555e+01]
 [ 2.51887112e-01 -1.94058953e-02  9.67562036e-01  1.12449297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.30071405700005 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:430.86, Y:34.98, Z:112.46
[[ 9.57589442e-01 -1.39559895e-01 -2.52082320e-01  4.30859901e+02]
 [ 1.39896320e-01  9.90025661e-01 -1.66796227e-02  3.49826803e+01]
 [ 2.51895772e-01 -1.92931583e-02  9.67562036e-01  1.12463600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.36071405700005 meters
Centerline goodness : 0.998479 with order 1
Centerline is valid?  [True, True]
Translation: X:430.92, Y:34.99, Z:112.48
[[ 9.57426808e-01 -1.40670738e-01 -2.52082626e-01  4.30919841e+02]
 [ 1.41046005e-01  9.89862601e-01 -1.66749939e-02  3.49869724e+01]
 [ 2.51872847e-01 -1.95901611e-02  9.67562036e-01  1.12479689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.42071405700005 meters
Centerline goodness : 0.998840 with order 1
Centerline is valid?  [True, True]
Translation: X:430.98, Y:34.99, Z:112.50
[[ 9.57213093e-01 -1.42115522e-01 -2.52083860e-01  4.30978743e+02]
 [ 1.42544630e-01  9.89648218e-01 -1.66563127e-02  3.49913101e+01]
 [ 2.51841464e-01 -1.99895599e-02  9.67562037e-01  1.12495166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.48071405700006 meters
Centerline goodness : 0.998657 with order 1
Centerline is valid?  [True, True]
Translation: X:431.04, Y:35.00, Z:112.51
[[ 9.57130433e-01 -1.42670621e-01 -2.52084170e-01  4.31037482e+02]
 [ 1.43119766e-01  9.89565286e-01 -1.66516190e-02  3.49961260e+01]
 [ 2.51829441e-01 -2.01404563e-02  9.67562037e-01  1.12510436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.54071405700006 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:431.10, Y:35.00, Z:112.53
[[ 9.57337569e-01 -1.41272378e-01 -2.52085093e-01  4.31095631e+02]
 [ 1.41677804e-01  9.89772999e-01 -1.66376397e-02  3.50007826e+01]
 [ 2.51857457e-01 -1.97870248e-02  9.67562037e-01  1.12527430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.60071405700006 meters
Centerline goodness : 0.998282 with order 1
Centerline is valid?  [True, True]
Translation: X:431.15, Y:35.01, Z:112.55
[[ 9.57915758e-01 -1.37296522e-01 -2.52085435e-01  4.31152772e+02]
 [ 1.37568635e-01  9.90352580e-01 -1.66324613e-02  3.50072440e+01]
 [ 2.51937039e-01 -1.87465524e-02  9.67562037e-01  1.12547298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.66071405700006 meters
Centerline goodness : 0.998025 with order 1
Centerline is valid?  [True, True]
Translation: X:431.21, Y:35.01, Z:112.57
[[ 9.58263598e-01 -1.34847362e-01 -2.52085435e-01  4.31210016e+02]
 [ 1.35036556e-01  9.90701009e-01 -1.66324613e-02  3.50122158e+01]
 [ 2.51984138e-01 -1.81024666e-02  9.67562037e-01  1.12565409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.72071405700007 meters
Centerline goodness : 0.997903 with order 1
Centerline is valid?  [True, True]
Translation: X:431.27, Y:35.02, Z:112.58
[[ 9.58291444e-01 -1.34649333e-01 -2.52085434e-01  4.31270242e+02]
 [ 1.34831821e-01  9.90728894e-01 -1.66324736e-02  3.50150424e+01]
 [ 2.51987874e-01 -1.80503810e-02  9.67562037e-01  1.12578439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.78071405700007 meters
Centerline goodness : 0.998013 with order 1
Centerline is valid?  [True, True]
Translation: X:431.33, Y:35.02, Z:112.59
[[ 9.57989258e-01 -1.36781632e-01 -2.52086030e-01  4.31329894e+02]
 [ 1.37038676e-01  9.90426203e-01 -1.66234248e-02  3.50198975e+01]
 [ 2.51946389e-01 -1.86204733e-02  9.67562037e-01  1.12592840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.84071405700007 meters
Centerline goodness : 0.998475 with order 1
Centerline is valid?  [True, True]
Translation: X:431.39, Y:35.02, Z:112.61
[[ 9.57919878e-01 -1.37265596e-01 -2.52086620e-01  4.31389052e+02]
 [ 1.37541368e-01  9.90356669e-01 -1.66144791e-02  3.50226778e+01]
 [ 2.51936262e-01 -1.87569987e-02  9.67562037e-01  1.12607195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.9007140570001 meters
Centerline goodness : 0.998112 with order 1
Centerline is valid?  [True, True]
Translation: X:431.45, Y:35.03, Z:112.63
[[ 9.57930752e-01 -1.37188615e-01 -2.52087204e-01  4.31447231e+02]
 [ 1.37464100e-01  9.90367545e-01 -1.66056166e-02  3.50267651e+01]
 [ 2.51937087e-01 -1.87459099e-02  9.67562037e-01  1.12625516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 443.9607140570001 meters
Centerline goodness : 0.998469 with order 1
Centerline is valid?  [True, True]
Translation: X:431.51, Y:35.03, Z:112.64
[[ 9.58214303e-01 -1.35193326e-01 -2.52087515e-01  4.31505250e+02]
 [ 1.35402492e-01  9.90651591e-01 -1.66008988e-02  3.50320980e+01]
 [ 2.51975228e-01 -1.82260590e-02  9.67562037e-01  1.12640828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.0207140570001 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:431.56, Y:35.04, Z:112.66
[[ 9.58982303e-01 -1.29633461e-01 -2.52087502e-01  4.31562055e+02]
 [ 1.29654440e-01  9.91420259e-01 -1.66010863e-02  3.50378897e+01]
 [ 2.52076713e-01 -1.67641159e-02  9.67562037e-01  1.12656322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.0807140570001 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:431.62, Y:35.04, Z:112.67
[[ 9.59843134e-01 -1.23098389e-01 -2.52087177e-01  4.31620237e+02]
 [ 1.22897128e-01  9.92280473e-01 -1.66060171e-02  3.50439090e+01]
 [ 2.52185358e-01 -1.50416185e-02  9.67562037e-01  1.12674520e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.1407140570001 meters
Centerline goodness : 0.997756 with order 1
Centerline is valid?  [True, True]
Translation: X:431.68, Y:35.05, Z:112.69
[[ 9.60385616e-01 -1.18791375e-01 -2.52087441e-01  4.31679153e+02]
 [ 1.18445650e-01  9.92821737e-01 -1.66020193e-02  3.50496935e+01]
 [ 2.52250067e-01 -1.39143202e-02  9.67562037e-01  1.12690177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.200714057 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:431.74, Y:35.05, Z:112.70
[[ 9.60580850e-01 -1.17201530e-01 -2.52087746e-01  4.31737133e+02]
 [ 1.16803327e-01  9.93016369e-01 -1.65973885e-02  3.50539354e+01]
 [ 2.52272497e-01 -1.35015539e-02  9.67562037e-01  1.12704128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.26071405700003 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:431.80, Y:35.06, Z:112.72
[[ 9.60795374e-01 -1.15429712e-01 -2.52087746e-01  4.31795042e+02]
 [ 1.14971688e-01  9.93230103e-01 -1.65973885e-02  3.50589870e+01]
 [ 2.52296969e-01 -1.30362597e-02  9.67562037e-01  1.12719490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.32071405700003 meters
Centerline goodness : 0.998100 with order 1
Centerline is valid?  [True, True]
Translation: X:431.85, Y:35.06, Z:112.74
[[ 9.60697508e-01 -1.16240780e-01 -2.52088039e-01  4.31853955e+02]
 [ 1.15811307e-01  9.93132628e-01 -1.65929239e-02  3.50624463e+01]
 [ 2.52285631e-01 -1.32538647e-02  9.67562037e-01  1.12739013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.38071405700003 meters
Centerline goodness : 0.998032 with order 1
Centerline is valid?  [True, True]
Translation: X:431.91, Y:35.06, Z:112.75
[[ 9.60528313e-01 -1.17628025e-01 -2.52089285e-01  4.31914754e+02]
 [ 1.17250351e-01  9.92964077e-01 -1.65739753e-02  3.50632844e+01]
 [ 2.52265169e-01 -1.36377846e-02  9.67562037e-01  1.12754686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.44071405700004 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:431.97, Y:35.07, Z:112.77
[[ 9.60667559e-01 -1.16481985e-01 -2.52090835e-01  4.31974662e+02]
 [ 1.16071791e-01  9.93102928e-01 -1.65503682e-02  3.50659005e+01]
 [ 2.52279966e-01 -1.33612329e-02  9.67562037e-01  1.12767833e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.50071405700004 meters
Centerline goodness : 0.998152 with order 1
Centerline is valid?  [True, True]
Translation: X:432.03, Y:35.07, Z:112.78
[[ 9.60958596e-01 -1.14054048e-01 -2.52091752e-01  4.32034384e+02]
 [ 1.13565551e-01  9.93392880e-01 -1.65363870e-02  3.50681057e+01]
 [ 2.52312194e-01 -1.27381555e-02  9.67562037e-01  1.12784903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.56071405700004 meters
Centerline goodness : 0.998470 with order 1
Centerline is valid?  [True, True]
Translation: X:432.09, Y:35.07, Z:112.80
[[ 9.61085658e-01 -1.12975610e-01 -2.52092978e-01  4.32094218e+02]
 [ 1.12455610e-01  9.93519452e-01 -1.65176820e-02  3.50700165e+01]
 [ 2.52325373e-01 -1.24743625e-02  9.67562038e-01  1.12801259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.62071405700004 meters
Centerline goodness : 0.998402 with order 1
Centerline is valid?  [True, True]
Translation: X:432.15, Y:35.07, Z:112.82
[[ 9.61004761e-01 -1.13658947e-01 -2.52094214e-01  4.32153584e+02]
 [ 1.13166952e-01  9.93438992e-01 -1.64987935e-02  3.50725299e+01]
 [ 2.52315458e-01 -1.26733147e-02  9.67562038e-01  1.12815350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.68071405700005 meters
Centerline goodness : 0.998367 with order 1
Centerline is valid?  [True, True]
Translation: X:432.21, Y:35.07, Z:112.83
[[ 9.59823142e-01 -1.23237978e-01 -2.52095093e-01  4.32212793e+02]
 [ 1.23073010e-01  9.92260685e-01 -1.64853540e-02  3.50709748e+01]
 [ 2.52175672e-01 -1.52030777e-02  9.67562038e-01  1.12830644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.74071405700005 meters
Centerline goodness : 0.998525 with order 1
Centerline is valid?  [True, True]
Translation: X:432.27, Y:35.07, Z:112.84
[[ 9.58996358e-01 -1.29513616e-01 -2.52095635e-01  4.32271001e+02]
 [ 1.29562999e-01  9.91434282e-01 -1.64770588e-02  3.50722156e+01]
 [ 2.52070259e-01 -1.68608272e-02  9.67562038e-01  1.12844881e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.80071405700005 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:432.33, Y:35.07, Z:112.86
[[ 9.58276966e-01 -1.34732546e-01 -2.52096008e-01  4.32329838e+02]
 [ 1.34960013e-01  9.90714131e-01 -1.64713620e-02  3.50744162e+01]
 [ 2.51974306e-01 -1.82387537e-02  9.67562038e-01  1.12860196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.86071405700005 meters
Centerline goodness : 0.999122 with order 1
Centerline is valid?  [True, True]
Translation: X:432.39, Y:35.08, Z:112.88
[[ 9.57923199e-01 -1.37224123e-01 -2.52096577e-01  4.32389318e+02]
 [ 1.37538227e-01  9.90359641e-01 -1.64626363e-02  3.50758581e+01]
 [ 2.51925347e-01 -1.89029751e-02  9.67562038e-01  1.12875266e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.92071405700005 meters
Centerline goodness : 0.999006 with order 1
Centerline is valid?  [True, True]
Translation: X:432.45, Y:35.08, Z:112.89
[[ 9.58075271e-01 -1.36157255e-01 -2.52097158e-01  4.32448611e+02]
 [ 1.36437566e-01  9.90512022e-01 -1.64537360e-02  3.50789552e+01]
 [ 2.51945561e-01 -1.86316050e-02  9.67562038e-01  1.12892067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 444.98071405700006 meters
Centerline goodness : 0.998937 with order 1
Centerline is valid?  [True, True]
Translation: X:432.51, Y:35.08, Z:112.91
[[ 9.58532474e-01 -1.32898677e-01 -2.52098073e-01  4.32507212e+02]
 [ 1.33072359e-01  9.90969971e-01 -1.64397168e-02  3.50831880e+01]
 [ 2.52006436e-01 -1.77892827e-02  9.67562038e-01  1.12910116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.04071405700006 meters
Centerline goodness : 0.998968 with order 1
Centerline is valid?  [True, True]
Translation: X:432.56, Y:35.09, Z:112.92
[[ 9.59123910e-01 -1.28559598e-01 -2.52098702e-01  4.32564798e+02]
 [ 1.28589014e-01  9.91561858e-01 -1.64300584e-02  3.50862051e+01]
 [ 2.52083699e-01 -1.66586616e-02  9.67562038e-01  1.12923705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.10071405700006 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:432.62, Y:35.09, Z:112.94
[[ 9.59947375e-01 -1.22259656e-01 -2.52098421e-01  4.32623028e+02]
 [ 1.22074971e-01  9.92384811e-01 -1.64343656e-02  3.50903407e+01]
 [ 2.52187904e-01 -1.49987814e-02  9.67562038e-01  1.12940321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.16071405700006 meters
Centerline goodness : 0.998851 with order 1
Centerline is valid?  [True, True]
Translation: X:432.68, Y:35.10, Z:112.96
[[ 9.60925878e-01 -1.14314121e-01 -2.52098668e-01  4.32679937e+02]
 [ 1.13862088e-01  9.93360690e-01 -1.64305783e-02  3.50963357e+01]
 [ 2.52303154e-01 -1.29159129e-02  9.67562038e-01  1.12957777e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.22071405700007 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:432.74, Y:35.10, Z:112.97
[[ 9.61737683e-01 -1.07270239e-01 -2.52098640e-01  4.32737443e+02]
 [ 1.06580451e-01  9.94168310e-01 -1.64310153e-02  3.51005455e+01]
 [ 2.52391038e-01 -1.10664600e-02  9.67562038e-01  1.12973069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.28071405700007 meters
Centerline goodness : 0.999230 with order 1
Centerline is valid?  [True, True]
Translation: X:432.80, Y:35.10, Z:112.99
[[ 9.62148756e-01 -1.03518798e-01 -2.52098453e-01  4.32796228e+02]
 [ 1.02701793e-01  9.94576427e-01 -1.64338727e-02  3.51032177e+01]
 [ 2.52432394e-01 -1.00791330e-02  9.67562038e-01  1.12988813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.34071405700007 meters
Centerline goodness : 0.998604 with order 1
Centerline is valid?  [True, True]
Translation: X:432.86, Y:35.11, Z:113.00
[[ 9.62607105e-01 -9.91654276e-02 -2.52098751e-01  4.32855054e+02]
 [ 9.82029385e-02  9.95030784e-01 -1.64293037e-02  3.51060251e+01]
 [ 2.52475237e-01 -8.94187368e-03  9.67562038e-01  1.13003750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.4007140570001 meters
Centerline goodness : 0.998753 with order 1
Centerline is valid?  [True, True]
Translation: X:432.91, Y:35.11, Z:113.02
[[ 9.63026653e-01 -9.50046895e-02 -2.52098738e-01  4.32914046e+02]
 [ 9.39020426e-02  9.95445869e-01 -1.64294988e-02  3.51074863e+01]
 [ 2.52511527e-01 -7.85054119e-03  9.67562038e-01  1.13019915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.4607140570001 meters
Centerline goodness : 0.998868 with order 1
Centerline is valid?  [True, True]
Translation: X:432.97, Y:35.11, Z:113.04
[[ 9.63446107e-01 -9.06513738e-02 -2.52099041e-01  4.32971656e+02]
 [ 8.94034366e-02  9.95860055e-01 -1.64248508e-02  3.51084573e+01]
 [ 2.52544300e-01 -6.71406207e-03  9.67562038e-01  1.13037235e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.5207140570001 meters
Centerline goodness : 0.998327 with order 1
Centerline is valid?  [True, True]
Translation: X:433.03, Y:35.11, Z:113.05
[[ 9.63921088e-01 -8.54531212e-02 -2.52098988e-01  4.33030714e+02]
 [ 8.40301450e-02  9.96327824e-01 -1.64256645e-02  3.51083285e+01]
 [ 2.52576861e-01 -5.35087017e-03  9.67562038e-01  1.13051524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.5807140570001 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:433.09, Y:35.11, Z:113.06
[[ 9.64287371e-01 -8.12155565e-02 -2.52098988e-01  4.33090637e+02]
 [ 7.96501562e-02  9.96687539e-01 -1.64256645e-02  3.51051800e+01]
 [ 2.52597940e-01 -4.24066299e-03  9.67562038e-01  1.13063729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.6407140570001 meters
Centerline goodness : 0.999370 with order 1
Centerline is valid?  [True, True]
Translation: X:433.15, Y:35.10, Z:113.08
[[ 9.64404939e-01 -7.98075396e-02 -2.52098930e-01  4.33146778e+02]
 [ 7.81946021e-02  9.96802775e-01 -1.64265533e-02  3.51007628e+01]
 [ 2.52603876e-01 -3.87092641e-03  9.67562038e-01  1.13078573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.700714057 meters
Centerline goodness : 0.998857 with order 1
Centerline is valid?  [True, True]
Translation: X:433.20, Y:35.10, Z:113.09
[[ 9.64268440e-01 -8.14448981e-02 -2.52097408e-01  4.33203699e+02]
 [ 7.98808754e-02  9.96668675e-01 -1.64498775e-02  3.50979564e+01]
 [ 2.52597349e-01 -4.27566394e-03  9.67562038e-01  1.13093311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.76071405700003 meters
Centerline goodness : 0.998470 with order 1
Centerline is valid?  [True, True]
Translation: X:433.26, Y:35.09, Z:113.11
[[ 9.63876043e-01 -8.59768869e-02 -2.52093135e-01  4.33263101e+02]
 [ 8.45481364e-02  9.96282522e-01 -1.65151131e-02  3.50856146e+01]
 [ 2.52575903e-01 -5.39548296e-03  9.67562041e-01  1.13108656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.82071405700003 meters
Centerline goodness : 0.998762 with order 1
Centerline is valid?  [True, True]
Translation: X:433.32, Y:35.08, Z:113.12
[[ 9.63482062e-01 -9.02849282e-02 -2.52093135e-01  4.33320397e+02]
 [ 8.90010615e-02  9.95894604e-01 -1.65151131e-02  3.50803900e+01]
 [ 2.52549259e-01 -6.52454145e-03  9.67562041e-01  1.13123339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.88071405700003 meters
Centerline goodness : 0.998641 with order 1
Centerline is valid?  [True, True]
Translation: X:433.38, Y:35.07, Z:113.14
[[ 9.62687736e-01 -9.84050032e-02 -2.52088828e-01  4.33379776e+02]
 [ 9.73773290e-02  9.95109411e-01 -1.65806011e-02  3.50708452e+01]
 [ 2.52487580e-01 -8.58579546e-03  9.67562043e-01  1.13136574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 445.94071405700004 meters
Centerline goodness : 0.998413 with order 1
Centerline is valid?  [True, True]
Translation: X:433.44, Y:35.06, Z:113.15
[[ 9.61903271e-01 -1.05799211e-01 -2.52088523e-01  4.33438909e+02]
 [ 1.05019474e-01  9.94331856e-01 -1.65852446e-02  3.50629685e+01]
 [ 2.52414355e-01 -1.05208031e-02  9.67562043e-01  1.13148371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.00071405700004 meters
Centerline goodness : 0.997918 with order 1
Centerline is valid?  [True, True]
Translation: X:433.50, Y:35.06, Z:113.16
[[ 9.61302550e-01 -1.11125766e-01 -2.52088222e-01  4.33497642e+02]
 [ 1.10524472e-01  9.93734934e-01 -1.65898220e-02  3.50584279e+01]
 [ 2.52352429e-01 -1.19140795e-02  9.67562043e-01  1.13162755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.06071405700004 meters
Centerline goodness : 0.997570 with order 1
Centerline is valid?  [True, True]
Translation: X:433.56, Y:35.06, Z:113.18
[[ 9.60734110e-01 -1.15938188e-01 -2.52087893e-01  4.33555246e+02]
 [ 1.15498002e-01  9.93169081e-01 -1.65948200e-02  3.50561419e+01]
 [ 2.52289874e-01 -1.31724384e-02  9.67562043e-01  1.13175604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.12071405700004 meters
Centerline goodness : 0.997681 with order 1
Centerline is valid?  [True, True]
Translation: X:433.61, Y:35.06, Z:113.19
[[ 9.60477542e-01 -1.18053851e-01 -2.52083676e-01  4.33612848e+02]
 [ 1.17668401e-01  9.92913207e-01 -1.66586434e-02  3.50571393e+01]
 [ 2.52263828e-01 -1.36620301e-02  9.67562045e-01  1.13191362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.18071405700005 meters
Centerline goodness : 0.997944 with order 1
Centerline is valid?  [True, True]
Translation: X:433.67, Y:35.06, Z:113.21
[[ 9.60309233e-01 -1.19416533e-01 -2.52083060e-01  4.33670802e+02]
 [ 1.19074668e-01  9.92745387e-01 -1.66679536e-02  3.50582459e+01]
 [ 2.52244724e-01 -1.40103171e-02  9.67562045e-01  1.13208205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.24071405700005 meters
Centerline goodness : 0.997801 with order 1
Centerline is valid?  [True, True]
Translation: X:433.73, Y:35.06, Z:113.22
[[ 9.60334769e-01 -1.19211647e-01 -2.52082754e-01  4.33729445e+02]
 [ 1.18861651e-01  9.92770836e-01 -1.66725788e-02  3.50607460e+01]
 [ 2.52247972e-01 -1.39517153e-02  9.67562045e-01  1.13223831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.30071405700005 meters
Centerline goodness : 0.997818 with order 1
Centerline is valid?  [True, True]
Translation: X:433.79, Y:35.06, Z:113.24
[[ 9.60345172e-01 -1.19127953e-01 -2.52082687e-01  4.33785960e+02]
 [ 1.18774867e-01  9.92781206e-01 -1.66735887e-02  3.50636410e+01]
 [ 2.52249245e-01 -1.39286872e-02  9.67562045e-01  1.13238702e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.36071405700005 meters
Centerline goodness : 0.997982 with order 1
Centerline is valid?  [True, True]
Translation: X:433.84, Y:35.07, Z:113.25
[[ 9.59977898e-01 -1.22055063e-01 -2.52081332e-01  4.33843831e+02]
 [ 1.21795504e-01  9.92414814e-01 -1.66940603e-02  3.50660624e+01]
 [ 2.52206842e-01 -1.46764438e-02  9.67562045e-01  1.13253286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.42071405700005 meters
Centerline goodness : 0.997679 with order 1
Centerline is valid?  [True, True]
Translation: X:433.90, Y:35.07, Z:113.27
[[ 9.59164038e-01 -1.28294808e-01 -2.52080920e-01  4.33902054e+02]
 [ 1.28244554e-01  9.91601954e-01 -1.67002661e-02  3.50689597e+01]
 [ 2.52106491e-01 -1.63097106e-02  9.67562045e-01  1.13268084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.48071405700006 meters
Centerline goodness : 0.997607 with order 1
Centerline is valid?  [True, True]
Translation: X:433.96, Y:35.07, Z:113.28
[[ 9.58087861e-01 -1.36099276e-01 -2.52080619e-01  4.33960424e+02]
 [ 1.36311915e-01  9.90525119e-01 -1.67048131e-02  3.50739901e+01]
 [ 2.51965698e-01 -1.83569133e-02  9.67562045e-01  1.13282251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.54071405700006 meters
Centerline goodness : 0.997585 with order 1
Centerline is valid?  [True, True]
Translation: X:434.02, Y:35.08, Z:113.30
[[ 9.57128633e-01 -1.42689272e-01 -2.52080445e-01  4.34018483e+02]
 [ 1.43124442e-01  9.89563669e-01 -1.67074387e-02  3.50785530e+01]
 [ 2.51833622e-01 -2.00877050e-02  9.67562045e-01  1.13297215e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.60071405700006 meters
Centerline goodness : 0.997797 with order 1
Centerline is valid?  [True, True]
Translation: X:434.08, Y:35.09, Z:113.31
[[ 9.56630615e-01 -1.45991155e-01 -2.52080242e-01  4.34075867e+02]
 [ 1.46537444e-01  9.89063970e-01 -1.67104968e-02  3.50852760e+01]
 [ 2.51763070e-01 -2.09534217e-02  9.67562045e-01  1.13313652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.66071405700006 meters
Centerline goodness : 0.998271 with order 1
Centerline is valid?  [True, True]
Translation: X:434.13, Y:35.09, Z:113.33
[[ 9.56555752e-01 -1.46481374e-01 -2.52079948e-01  4.34133368e+02]
 [ 1.47043121e-01  9.88988843e-01 -1.67149405e-02  3.50910732e+01]
 [ 2.51752683e-01 -2.10778498e-02  9.67562045e-01  1.13328706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.72071405700007 meters
Centerline goodness : 0.998180 with order 1
Centerline is valid?  [True, True]
Translation: X:434.19, Y:35.10, Z:113.34
[[ 9.56740195e-01 -1.45272913e-01 -2.52079314e-01  4.34191637e+02]
 [ 1.45791190e-01  9.89174009e-01 -1.67244914e-02  3.50971629e+01]
 [ 2.51779921e-01 -2.07499500e-02  9.67562045e-01  1.13343909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.78071405700007 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:434.25, Y:35.10, Z:113.36
[[ 9.57349487e-01 -1.41202020e-01 -2.52079253e-01  4.34249363e+02]
 [ 1.41582090e-01  9.89785215e-01 -1.67254140e-02  3.51039017e+01]
 [ 2.51865980e-01 -1.96778411e-02  9.67562045e-01  1.13358354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.84071405700007 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:434.31, Y:35.11, Z:113.37
[[ 9.58562015e-01 -1.32721900e-01 -2.52078879e-01  4.34307146e+02]
 [ 1.32813357e-01  9.90999841e-01 -1.67310459e-02  3.51130111e+01]
 [ 2.52030705e-01 -1.74416970e-02  9.67562045e-01  1.13373609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.9007140570001 meters
Centerline goodness : 0.998849 with order 1
Centerline is valid?  [True, True]
Translation: X:434.36, Y:35.12, Z:113.39
[[ 9.60266910e-01 -1.19765313e-01 -2.52078822e-01  4.34363640e+02]
 [ 1.19418491e-01  9.92703011e-01 -1.67319126e-02  3.51221969e+01]
 [ 2.52243308e-01 -1.40357705e-02  9.67562045e-01  1.13389435e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 446.9607140570001 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:434.42, Y:35.13, Z:113.41
[[ 9.61778742e-01 -1.06949604e-01 -2.52078230e-01  4.34420668e+02]
 [ 1.06167952e-01  9.94207278e-01 -1.67408195e-02  3.51319853e+01]
 [ 2.52408435e-01 -1.06616650e-02  9.67562045e-01  1.13406580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.0207140570001 meters
Centerline goodness : 0.998558 with order 1
Centerline is valid?  [True, True]
Translation: X:434.48, Y:35.14, Z:113.42
[[ 9.62713855e-01 -9.81764907e-02 -2.52078183e-01  4.34477641e+02]
 [ 9.70990306e-02  9.95133910e-01 -1.67415242e-02  3.51392247e+01]
 [ 2.52495172e-01 -8.35924995e-03  9.67562045e-01  1.13421923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.0807140570001 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:434.53, Y:35.14, Z:113.44
[[ 9.62872229e-01 -9.66118064e-02 -2.52077824e-01  4.34533761e+02]
 [ 9.54802449e-02  9.95290442e-01 -1.67469361e-02  3.51438260e+01]
 [ 2.52508600e-01 -7.94329265e-03  9.67562045e-01  1.13436860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.1407140570001 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:434.59, Y:35.15, Z:113.45
[[ 9.62636687e-01 -9.89440003e-02 -2.52072794e-01  4.34590593e+02]
 [ 9.78712548e-02  9.95056896e-01 -1.68223207e-02  3.51457376e+01]
 [ 2.52491239e-01 -8.47689751e-03  9.67562048e-01  1.13450759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.200714057 meters
Centerline goodness : 0.998538 with order 1
Centerline is valid?  [True, True]
Translation: X:434.65, Y:35.15, Z:113.47
[[ 9.61912873e-01 -1.05751589e-01 -2.52071866e-01  4.34648554e+02]
 [ 1.04904589e-01  9.94339765e-01 -1.68362125e-02  3.51473713e+01]
 [ 2.52425536e-01 -1.02485261e-02  9.67562048e-01  1.13466669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.26071405700003 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:434.71, Y:35.15, Z:113.48
[[ 9.60931517e-01 -1.14326169e-01 -2.52071710e-01  4.34706147e+02]
 [ 1.13767789e-01  9.93364663e-01 -1.68385475e-02  3.51479969e+01]
 [ 2.52324216e-01 -1.24969502e-02  9.67562048e-01  1.13480138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.32071405700003 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:434.76, Y:35.15, Z:113.50
[[ 9.59698041e-01 -1.24256680e-01 -2.52071316e-01  4.34764777e+02]
 [ 1.24032167e-01  9.92135216e-01 -1.68444413e-02  3.51496524e+01]
 [ 2.52181864e-01 -1.50993741e-02  9.67562048e-01  1.13495138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.38071405700003 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:434.82, Y:35.15, Z:113.51
[[ 9.58779415e-01 -1.31156748e-01 -2.52071299e-01  4.34822918e+02]
 [ 1.31165503e-01  9.91217366e-01 -1.68446882e-02  3.51521270e+01]
 [ 2.52066744e-01 -1.69127185e-02  9.67562048e-01  1.13511857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.44071405700004 meters
Centerline goodness : 0.998783 with order 1
Centerline is valid?  [True, True]
Translation: X:434.88, Y:35.16, Z:113.53
[[ 9.58344619e-01 -1.34296820e-01 -2.52071331e-01  4.34880469e+02]
 [ 1.34411958e-01  9.90782367e-01 -1.68442174e-02  3.51571623e+01]
 [ 2.52009955e-01 -1.77388359e-02  9.67562048e-01  1.13526468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.50071405700004 meters
Centerline goodness : 0.998784 with order 1
Centerline is valid?  [True, True]
Translation: X:434.94, Y:35.16, Z:113.54
[[ 9.57442327e-01 -1.40586443e-01 -2.52070711e-01  4.34937994e+02]
 [ 1.40912138e-01  9.89878644e-01 -1.68534952e-02  3.51649633e+01]
 [ 2.51888786e-01 -1.93835731e-02  9.67562048e-01  1.13539240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.56071405700004 meters
Centerline goodness : 0.998778 with order 1
Centerline is valid?  [True, True]
Translation: X:435.00, Y:35.17, Z:113.55
[[ 9.57095635e-01 -1.42927932e-01 -2.52070529e-01  4.34996566e+02]
 [ 1.43332254e-01  9.89531067e-01 -1.68562093e-02  3.51710613e+01]
 [ 2.51840843e-01 -1.99968328e-02  9.67562048e-01  1.13554243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.62071405700004 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:435.05, Y:35.18, Z:113.57
[[ 9.56561003e-01 -1.46463254e-01 -2.52070550e-01  4.35054824e+02]
 [ 1.46987499e-01  9.88994719e-01 -1.68558964e-02  3.51831303e+01]
 [ 2.51765212e-01 -2.09275266e-02  9.67562048e-01  1.13569380e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.68071405700005 meters
Centerline goodness : 0.998791 with order 1
Centerline is valid?  [True, True]
Translation: X:435.11, Y:35.19, Z:113.58
[[ 9.56315789e-01 -1.48055921e-01 -2.52070538e-01  4.35112197e+02]
 [ 1.48634125e-01  9.88748588e-01 -1.68560827e-02  3.51918327e+01]
 [ 2.51730031e-01 -2.13465458e-02  9.67562048e-01  1.13583305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.74071405700005 meters
Centerline goodness : 0.999447 with order 1
Centerline is valid?  [True, True]
Translation: X:435.17, Y:35.20, Z:113.60
[[ 9.55992351e-01 -1.50130688e-01 -2.52070230e-01  4.35170780e+02]
 [ 1.50778063e-01  9.88423843e-01 -1.68606844e-02  3.52027845e+01]
 [ 2.51683531e-01 -2.18879757e-02  9.67562048e-01  1.13597343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.80071405700005 meters
Centerline goodness : 0.999380 with order 1
Centerline is valid?  [True, True]
Translation: X:435.23, Y:35.22, Z:113.61
[[ 9.55823545e-01 -1.51201616e-01 -2.52070271e-01  4.35229502e+02]
 [ 1.51885485e-01  9.88254288e-01 -1.68600737e-02  3.52157849e+01]
 [ 2.51658796e-01 -2.21705597e-02  9.67562048e-01  1.13612417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.86071405700005 meters
Centerline goodness : 0.999578 with order 1
Centerline is valid?  [True, True]
Translation: X:435.29, Y:35.23, Z:113.63
[[ 9.56054261e-01 -1.49734821e-01 -2.52070891e-01  4.35287793e+02]
 [ 1.50371353e-01  9.88485967e-01 -1.68507993e-02  3.52265150e+01]
 [ 2.51691689e-01 -2.17939625e-02  9.67562048e-01  1.13629066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.92071405700005 meters
Centerline goodness : 0.998928 with order 1
Centerline is valid?  [True, True]
Translation: X:435.34, Y:35.24, Z:113.65
[[ 9.56630909e-01 -1.46004290e-01 -2.52071520e-01  4.35344439e+02]
 [ 1.46516772e-01  9.89064813e-01 -1.68413858e-02  3.52397301e+01]
 [ 2.51773985e-01 -2.08217151e-02  9.67562048e-01  1.13645228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 447.98071405700006 meters
Centerline goodness : 0.998925 with order 1
Centerline is valid?  [True, True]
Translation: X:435.40, Y:35.25, Z:113.66
[[ 9.57369900e-01 -1.41077955e-01 -2.52071192e-01  4.35402173e+02]
 [ 1.41422187e-01  9.89806025e-01 -1.68462915e-02  3.52523743e+01]
 [ 2.51878225e-01 -1.95203269e-02  9.67562048e-01  1.13661693e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.04071405700006 meters
Centerline goodness : 0.998338 with order 1
Centerline is valid?  [True, True]
Translation: X:435.46, Y:35.26, Z:113.68
[[ 9.57748181e-01 -1.38486216e-01 -2.52071400e-01  4.35461617e+02]
 [ 1.38743471e-01  9.90185112e-01 -1.68431741e-02  3.52602644e+01]
 [ 2.51929895e-01 -1.88417416e-02  9.67562048e-01  1.13677756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.10071405700006 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:435.52, Y:35.27, Z:113.69
[[ 9.57740040e-01 -1.38540231e-01 -2.52072648e-01  4.35519728e+02]
 [ 1.38804211e-01  9.90176918e-01 -1.68244686e-02  3.52705140e+01]
 [ 2.51927384e-01 -1.88752778e-02  9.67562048e-01  1.13693183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.16071405700006 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:435.58, Y:35.28, Z:113.71
[[ 9.57197350e-01 -1.42240298e-01 -2.52073264e-01  4.35578893e+02]
 [ 1.42632042e-01  9.89632936e-01 -1.68152346e-02  3.52786901e+01]
 [ 2.51851809e-01 -1.98582265e-02  9.67562048e-01  1.13707744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.22071405700007 meters
Centerline goodness : 0.999070 with order 1
Centerline is valid?  [True, True]
Translation: X:435.64, Y:35.29, Z:113.72
[[ 9.56278281e-01 -1.48292442e-01 -2.52073802e-01  4.35636440e+02]
 [ 1.48891466e-01  9.88710701e-01 -1.68071792e-02  3.52863859e+01]
 [ 2.51720443e-01 -2.14592974e-02  9.67562048e-01  1.13719906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.28071405700007 meters
Centerline goodness : 0.999137 with order 1
Centerline is valid?  [True, True]
Translation: X:435.69, Y:35.29, Z:113.73
[[ 9.55628227e-01 -1.52423755e-01 -2.52074771e-01  4.35693776e+02]
 [ 1.53166742e-01  9.88057669e-01 -1.67926302e-02  3.52938001e+01]
 [ 2.51624006e-01 -2.25619599e-02  9.67562048e-01  1.13733319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.34071405700007 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:435.75, Y:35.30, Z:113.75
[[ 9.55632128e-01 -1.52399653e-01 -2.52074558e-01  4.35754284e+02]
 [ 1.53140984e-01  9.88061607e-01 -1.67958318e-02  3.53008434e+01]
 [ 2.51624871e-01 -2.25523093e-02  9.67562048e-01  1.13749528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.4007140570001 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:435.81, Y:35.31, Z:113.77
[[ 9.56151599e-01 -1.49102597e-01 -2.52076448e-01  4.35812190e+02]
 [ 1.49739506e-01  9.88583297e-01 -1.67674084e-02  3.53081775e+01]
 [ 2.51698630e-01 -2.17136184e-02  9.67562049e-01  1.13765070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.4607140570001 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:435.87, Y:35.31, Z:113.78
[[ 9.56739450e-01 -1.45282825e-01 -2.52076428e-01  4.35870899e+02]
 [ 1.45790126e-01  9.89173434e-01 -1.67677151e-02  3.53143926e+01]
 [ 2.51783367e-01 -2.07079198e-02  9.67562049e-01  1.13781489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.5207140570001 meters
Centerline goodness : 0.999541 with order 1
Centerline is valid?  [True, True]
Translation: X:435.93, Y:35.32, Z:113.80
[[ 9.57686353e-01 -1.38903358e-01 -2.52076789e-01  4.35928834e+02]
 [ 1.39195911e-01  9.90122984e-01 -1.67622843e-02  3.53209261e+01]
 [ 2.51915360e-01 -1.90350473e-02  9.67562049e-01  1.13796516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.5807140570001 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:435.99, Y:35.33, Z:113.81
[[ 9.58355940e-01 -1.34205801e-01 -2.52076764e-01  4.35985742e+02]
 [ 1.34339202e-01  9.90793617e-01 -1.67626671e-02  3.53282406e+01]
 [ 2.52005696e-01 -1.77991896e-02  9.67562049e-01  1.13812163e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.6407140570001 meters
Centerline goodness : 0.999147 with order 1
Centerline is valid?  [True, True]
Translation: X:436.05, Y:35.33, Z:113.83
[[ 9.58527412e-01 -1.32976019e-01 -2.52076535e-01  4.36045841e+02]
 [ 1.33066899e-01  9.90965236e-01 -1.67661059e-02  3.53330852e+01]
 [ 2.52028573e-01 -1.74722707e-02  9.67562049e-01  1.13828330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.7007140570001 meters
Centerline goodness : 0.999125 with order 1
Centerline is valid?  [True, True]
Translation: X:436.10, Y:35.34, Z:113.84
[[ 9.58662700e-01 -1.31994779e-01 -2.52077779e-01  4.36104082e+02]
 [ 1.32057356e-01  9.91100590e-01 -1.67473814e-02  3.53391267e+01]
 [ 2.52045002e-01 -1.72336351e-02  9.67562049e-01  1.13842887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.76071405700003 meters
Centerline goodness : 0.999358 with order 1
Centerline is valid?  [True, True]
Translation: X:436.16, Y:35.34, Z:113.85
[[ 9.58231885e-01 -1.35086229e-01 -2.52078093e-01  4.36163127e+02]
 [ 1.35254670e-01  9.90669399e-01 -1.67426511e-02  3.53414502e+01]
 [ 2.51987755e-01 -1.80513971e-02  9.67562049e-01  1.13854858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.82071405700003 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:436.22, Y:35.34, Z:113.87
[[ 9.57524675e-01 -1.40011065e-01 -2.52078159e-01  4.36222286e+02]
 [ 1.40346538e-01  9.89960891e-01 -1.67416545e-02  3.53436486e+01]
 [ 2.51891536e-01 -1.93477497e-02  9.67562049e-01  1.13867916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.88071405700003 meters
Centerline goodness : 0.998920 with order 1
Centerline is valid?  [True, True]
Translation: X:436.28, Y:35.35, Z:113.89
[[ 9.57395100e-01 -1.40894399e-01 -2.52078142e-01  4.36281867e+02]
 [ 1.41259731e-01  9.89830994e-01 -1.67419076e-02  3.53466517e+01]
 [ 2.51873599e-01 -1.95798703e-02  9.67562049e-01  1.13885104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 448.94071405700004 meters
Centerline goodness : 0.998756 with order 1
Centerline is valid?  [True, True]
Translation: X:436.34, Y:35.35, Z:113.90
[[ 9.57514925e-01 -1.40075524e-01 -2.52079383e-01  4.36340302e+02]
 [ 1.40418007e-01  9.89951068e-01 -1.67232115e-02  3.53503208e+01]
 [ 2.51888767e-01 -1.93837599e-02  9.67562049e-01  1.13903014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.00071405700004 meters
Centerline goodness : 0.998387 with order 1
Centerline is valid?  [True, True]
Translation: X:436.40, Y:35.35, Z:113.92
[[ 9.57524943e-01 -1.40006479e-01 -2.52079689e-01  4.36398087e+02]
 [ 1.40347830e-01  9.89961098e-01 -1.67186015e-02  3.53534261e+01]
 [ 2.51889798e-01 -1.93703594e-02  9.67562049e-01  1.13916919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.06071405700004 meters
Centerline goodness : 0.998360 with order 1
Centerline is valid?  [True, True]
Translation: X:436.46, Y:35.35, Z:113.93
[[ 9.56976677e-01 -1.43706606e-01 -2.52079452e-01  4.36458200e+02]
 [ 1.44172399e-01  9.89411284e-01 -1.67221666e-02  3.53546419e+01]
 [ 2.51813340e-01 -2.03401758e-02  9.67562049e-01  1.13928876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.12071405700004 meters
Centerline goodness : 0.998588 with order 1
Centerline is valid?  [True, True]
Translation: X:436.52, Y:35.36, Z:113.94
[[ 9.56467420e-01 -1.47057361e-01 -2.52079762e-01  4.36516160e+02]
 [ 1.47637969e-01  9.88900175e-01 -1.67174962e-02  3.53568603e+01]
 [ 2.51740151e-01 -2.12268036e-02  9.67562049e-01  1.13941496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.18071405700005 meters
Centerline goodness : 0.998691 with order 1
Centerline is valid?  [True, True]
Translation: X:436.58, Y:35.36, Z:113.96
[[ 9.55714017e-01 -1.51877064e-01 -2.52079503e-01  4.36575307e+02]
 [ 1.52620138e-01  9.88143455e-01 -1.67213990e-02  3.53582944e+01]
 [ 2.51630308e-01 -2.24915331e-02  9.67562049e-01  1.13957950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.24071405700005 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:436.63, Y:35.36, Z:113.97
[[ 9.55645001e-01 -1.52309830e-01 -2.52080043e-01  4.36634846e+02]
 [ 1.53069718e-01  9.88074050e-01 -1.67132587e-02  3.53621530e+01]
 [ 2.51619342e-01 -2.26138790e-02  9.67562049e-01  1.13973868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.30071405700005 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:436.69, Y:35.36, Z:113.99
[[ 9.55623733e-01 -1.52441183e-01 -2.52081269e-01  4.36693664e+02]
 [ 1.53210375e-01  9.88052563e-01 -1.66947401e-02  3.53644562e+01]
 [ 2.51614510e-01 -2.26675758e-02  9.67562049e-01  1.13990637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.36071405700005 meters
Centerline goodness : 0.998517 with order 1
Centerline is valid?  [True, True]
Translation: X:436.75, Y:35.36, Z:114.01
[[ 9.55358719e-01 -1.54092839e-01 -2.52081564e-01  4.36753867e+02]
 [ 1.54919252e-01  9.87786141e-01 -1.66902809e-02  3.53647954e+01]
 [ 2.51574528e-01 -2.31070821e-02  9.67562049e-01  1.14006115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.42071405700005 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:436.81, Y:35.36, Z:114.02
[[ 9.54956704e-01 -1.56562914e-01 -2.52082818e-01  4.36813175e+02]
 [ 1.57478143e-01  9.87381741e-01 -1.66713247e-02  3.53646645e+01]
 [ 2.51512083e-01 -2.37771408e-02  9.67562050e-01  1.14019373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.48071405700006 meters
Centerline goodness : 0.999184 with order 1
Centerline is valid?  [True, True]
Translation: X:436.87, Y:35.36, Z:114.03
[[ 9.54658028e-01 -1.58373843e-01 -2.52082874e-01  4.36871321e+02]
 [ 1.59350790e-01  9.87081264e-01 -1.66704806e-02  3.53645839e+01]
 [ 2.51466450e-01 -2.42549970e-02  9.67562050e-01  1.14033290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.54071405700006 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:436.93, Y:35.36, Z:114.05
[[ 9.54661457e-01 -1.58353190e-01 -2.52082863e-01  4.36932204e+02]
 [ 1.59329393e-01  9.87084715e-01 -1.66706417e-02  3.53645096e+01]
 [ 2.51466990e-01 -2.42493905e-02  9.67562050e-01  1.14048149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.60071405700006 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:436.99, Y:35.37, Z:114.06
[[ 9.55108226e-01 -1.55633788e-01 -2.52084113e-01  4.36989842e+02]
 [ 1.56522599e-01  9.87533997e-01 -1.66517218e-02  3.53672447e+01]
 [ 2.51533202e-01 -2.35526640e-02  9.67562050e-01  1.14061694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.66071405700006 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:437.05, Y:35.37, Z:114.08
[[ 9.57292536e-01 -1.41579497e-01 -2.52083809e-01  4.37048067e+02]
 [ 1.41990436e-01  9.89727883e-01 -1.66563290e-02  3.53714605e+01]
 [ 2.51852569e-01 -1.98485105e-02  9.67562050e-01  1.14077033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.72071405700007 meters
Centerline goodness : 0.998424 with order 1
Centerline is valid?  [True, True]
Translation: X:437.11, Y:35.38, Z:114.10
[[ 9.58551242e-01 -1.32790023e-01 -2.52083965e-01  4.37106233e+02]
 [ 1.32903958e-01  9.90988993e-01 -1.66539622e-02  3.53773030e+01]
 [ 2.52023915e-01 -1.75392806e-02  9.67562050e-01  1.14095230e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.78071405700007 meters
Centerline goodness : 0.998538 with order 1
Centerline is valid?  [True, True]
Translation: X:437.16, Y:35.38, Z:114.12
[[ 9.59986480e-01 -1.21981652e-01 -2.52084180e-01  4.37162195e+02]
 [ 1.21730959e-01  9.92423462e-01 -1.66507029e-02  3.53834172e+01]
 [ 2.52205335e-01 -1.47019992e-02  9.67562050e-01  1.14115562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.84071405700007 meters
Centerline goodness : 0.999123 with order 1
Centerline is valid?  [True, True]
Translation: X:437.22, Y:35.39, Z:114.13
[[ 9.60724984e-01 -1.16022523e-01 -2.52083875e-01  4.37219486e+02]
 [ 1.15569352e-01  9.93159768e-01 -1.66553213e-02  3.53858698e+01]
 [ 2.52291955e-01 -1.31319869e-02  9.67562050e-01  1.14130896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.9007140570001 meters
Centerline goodness : 0.998902 with order 1
Centerline is valid?  [True, True]
Translation: X:437.28, Y:35.39, Z:114.14
[[ 9.60840610e-01 -1.15062307e-01 -2.52083294e-01  4.37276750e+02]
 [ 1.14574420e-01  9.93274891e-01 -1.66641163e-02  3.53861184e+01]
 [ 2.52305418e-01 -1.28707374e-02  9.67562050e-01  1.14142241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 449.9607140570001 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:437.34, Y:35.39, Z:114.16
[[ 9.60779404e-01 -1.15574766e-01 -2.52082151e-01  4.37335023e+02]
 [ 1.15099658e-01  9.93213874e-01 -1.66813884e-02  3.53871028e+01]
 [ 2.52299437e-01 -1.29874350e-02  9.67562050e-01  1.14156470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.0207140570001 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:437.39, Y:35.39, Z:114.17
[[ 9.60795987e-01 -1.15438616e-01 -2.52081330e-01  4.37392872e+02]
 [ 1.14955668e-01  9.93230342e-01 -1.66937865e-02  3.53889146e+01]
 [ 2.52301933e-01 -1.29388546e-02  9.67562050e-01  1.14170645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.0807140570001 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:437.45, Y:35.39, Z:114.19
[[ 9.61068620e-01 -1.13147746e-01 -2.52080732e-01  4.37451245e+02]
 [ 1.12585115e-01  9.93501690e-01 -1.67028106e-02  3.53902082e+01]
 [ 2.52332519e-01 -1.23279909e-02  9.67562050e-01  1.14186757e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.1407140570001 meters
Centerline goodness : 0.998709 with order 1
Centerline is valid?  [True, True]
Translation: X:437.51, Y:35.39, Z:114.20
[[ 9.61502728e-01 -1.09397641e-01 -2.52080663e-01  4.37508497e+02]
 [ 1.08708215e-01  9.93933351e-01 -1.67038535e-02  3.53919433e+01]
 [ 2.52378740e-01 -1.13424382e-02  9.67562050e-01  1.14201816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.2007140570001 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:437.57, Y:35.39, Z:114.22
[[ 9.62061600e-01 -1.04373934e-01 -2.52078478e-01  4.37565009e+02]
 [ 1.03506513e-01  9.94487950e-01 -1.67367674e-02  3.53924266e+01]
 [ 2.52435891e-01 -9.98996293e-03  9.67562051e-01  1.14218476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.26071405700003 meters
Centerline goodness : 0.999044 with order 1
Centerline is valid?  [True, True]
Translation: X:437.62, Y:35.39, Z:114.24
[[ 9.62208275e-01 -1.03016029e-01 -2.52077235e-01  4.37622865e+02]
 [ 1.02097954e-01  9.94633230e-01 -1.67554589e-02  3.53917745e+01]
 [ 2.52450476e-01 -9.61432871e-03  9.67562051e-01  1.14236282e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.32071405700003 meters
Centerline goodness : 0.998823 with order 1
Centerline is valid?  [True, True]
Translation: X:437.68, Y:35.39, Z:114.25
[[ 9.62033647e-01 -1.04635011e-01 -2.52076926e-01  4.37680369e+02]
 [ 1.03770283e-01  9.94460068e-01 -1.67601093e-02  3.53923279e+01]
 [ 2.52434131e-01 -1.00343048e-02  9.67562051e-01  1.14252169e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.38071405700003 meters
Centerline goodness : 0.999157 with order 1
Centerline is valid?  [True, True]
Translation: X:437.74, Y:35.39, Z:114.27
[[ 9.61718378e-01 -1.07495566e-01 -2.52076307e-01  4.37738958e+02]
 [ 1.06724841e-01  9.94147170e-01 -1.67694117e-02  3.53891251e+01]
 [ 2.52403585e-01 -1.07753525e-02  9.67562051e-01  1.14265358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.44071405700004 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:437.80, Y:35.39, Z:114.28
[[ 9.61634599e-01 -1.08243872e-01 -2.52075709e-01  4.37796348e+02]
 [ 1.07496030e-01  9.94063926e-01 -1.67783987e-02  3.53858713e+01]
 [ 2.52395528e-01 -1.09624493e-02  9.67562051e-01  1.14279432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.50071405700004 meters
Centerline goodness : 0.999294 with order 1
Centerline is valid?  [True, True]
Translation: X:437.85, Y:35.39, Z:114.30
[[ 9.61612992e-01 -1.08445937e-01 -2.52071283e-01  4.37853658e+02]
 [ 1.07687578e-01  9.94042073e-01 -1.68446392e-02  3.53859602e+01]
 [ 2.52396194e-01 -1.09469222e-02  9.67562053e-01  1.14295039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.56071405700004 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:437.91, Y:35.38, Z:114.31
[[ 9.61655408e-01 -1.08069592e-01 -2.52071102e-01  4.37910790e+02]
 [ 1.07297832e-01  9.94084172e-01 -1.68473506e-02  3.53831691e+01]
 [ 2.52400579e-01 -1.08453370e-02  9.67562053e-01  1.14310538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.62071405700004 meters
Centerline goodness : 0.998905 with order 1
Centerline is valid?  [True, True]
Translation: X:437.97, Y:35.38, Z:114.32
[[ 9.61834602e-01 -1.06465861e-01 -2.52069868e-01  4.37968227e+02]
 [ 1.05635203e-01  9.94261912e-01 -1.68657892e-02  3.53821622e+01]
 [ 2.52419100e-01 -1.04053521e-02  9.67562053e-01  1.14323564e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.68071405700005 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:438.02, Y:35.38, Z:114.34
[[ 9.62124236e-01 -1.03818089e-01 -2.52068957e-01  4.38024557e+02]
 [ 1.02894619e-01  9.94549035e-01 -1.68794035e-02  3.53798879e+01]
 [ 2.52447325e-01 -9.69645603e-03  9.67562053e-01  1.14338085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.74071405700005 meters
Centerline goodness : 0.998733 with order 1
Centerline is valid?  [True, True]
Translation: X:438.08, Y:35.38, Z:114.36
[[ 9.62081192e-01 -1.04228203e-01 -2.52064002e-01  4.38080653e+02]
 [ 1.03299280e-01  9.94505833e-01 -1.69530820e-02  3.53791241e+01]
 [ 2.52446109e-01 -9.72778851e-03  9.67562056e-01  1.14355700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.80071405700005 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:438.14, Y:35.38, Z:114.37
[[ 9.61606563e-01 -1.08522679e-01 -2.52062783e-01  4.38139322e+02]
 [ 1.07733798e-01  9.94034913e-01 -1.69711850e-02  3.53757039e+01]
 [ 2.52400965e-01 -1.08360781e-02  9.67562056e-01  1.14371336e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.86071405700005 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:438.20, Y:35.37, Z:114.39
[[ 9.60587031e-01 -1.17205233e-01 -2.52062472e-01  4.38198637e+02]
 [ 1.16708127e-01  9.93021165e-01 -1.69758092e-02  3.53731221e+01]
 [ 2.52293023e-01 -1.31109967e-02  9.67562056e-01  1.14385002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.92071405700005 meters
Centerline goodness : 0.998245 with order 1
Centerline is valid?  [True, True]
Translation: X:438.26, Y:35.37, Z:114.40
[[ 9.59157225e-01 -1.28382211e-01 -2.52062344e-01  4.38257122e+02]
 [ 1.28262298e-01  9.91594948e-01 -1.69777101e-02  3.53715214e+01]
 [ 2.52123382e-01 -1.60458021e-02  9.67562056e-01  1.14397966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 450.98071405700006 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:438.32, Y:35.37, Z:114.41
[[ 9.57710622e-01 -1.38762553e-01 -2.52062132e-01  4.38315523e+02]
 [ 1.38993133e-01  9.90147746e-01 -1.69808488e-02  3.53720283e+01]
 [ 2.51935058e-01 -1.87721663e-02  9.67562056e-01  1.14413109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.04071405700006 meters
Centerline goodness : 0.998310 with order 1
Centerline is valid?  [True, True]
Translation: X:438.37, Y:35.38, Z:114.43
[[ 9.56764431e-01 -1.45143215e-01 -2.52062037e-01  4.38373836e+02]
 [ 1.45589635e-01  9.89199303e-01 -1.69822611e-02  3.53750495e+01]
 [ 2.51804451e-01 -2.04495965e-02  9.67562056e-01  1.14429376e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.10071405700006 meters
Centerline goodness : 0.998463 with order 1
Centerline is valid?  [True, True]
Translation: X:438.43, Y:35.38, Z:114.45
[[ 9.56358492e-01 -1.47794274e-01 -2.52062069e-01  4.38430330e+02]
 [ 1.48330706e-01  9.88792001e-01 -1.69817914e-02  3.53793368e+01]
 [ 2.51746769e-01 -2.11478643e-02  9.67562056e-01  1.14445655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.16071405700006 meters
Centerline goodness : 0.998164 with order 1
Centerline is valid?  [True, True]
Translation: X:438.49, Y:35.39, Z:114.46
[[ 9.56323768e-01 -1.48026334e-01 -2.52057644e-01  4.38488028e+02]
 [ 1.48553511e-01  9.88757426e-01 -1.70472262e-02  3.53858456e+01]
 [ 2.51747305e-01 -2.11413803e-02  9.67562058e-01  1.14461555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.22071405700007 meters
Centerline goodness : 0.997842 with order 1
Centerline is valid?  [True, True]
Translation: X:438.54, Y:35.39, Z:114.48
[[ 9.56754989e-01 -1.45213631e-01 -2.52057318e-01  4.38544641e+02]
 [ 1.45644175e-01  9.89190074e-01 -1.70520374e-02  3.53933624e+01]
 [ 2.51808785e-01 -2.03960582e-02  9.67562058e-01  1.14476700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.28071405700007 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:438.60, Y:35.40, Z:114.49
[[ 9.57339838e-01 -1.41307228e-01 -2.52056941e-01  4.38601613e+02]
 [ 1.41603919e-01  9.89776423e-01 -1.70576128e-02  3.54019500e+01]
 [ 2.51890381e-01 -1.93623183e-02  9.67562058e-01  1.14493305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.34071405700007 meters
Centerline goodness : 0.998795 with order 1
Centerline is valid?  [True, True]
Translation: X:438.66, Y:35.41, Z:114.51
[[ 9.57533308e-01 -1.39991159e-01 -2.52056421e-01  4.38657915e+02]
 [ 1.40241253e-01  9.89970286e-01 -1.70652944e-02  3.54107316e+01]
 [ 2.51917357e-01 -1.90081205e-02  9.67562058e-01  1.14507414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.4007140570001 meters
Centerline goodness : 0.998695 with order 1
Centerline is valid?  [True, True]
Translation: X:438.72, Y:35.42, Z:114.52
[[ 9.57263774e-01 -1.41824175e-01 -2.52055490e-01  4.38716469e+02]
 [ 1.42132778e-01  9.89700248e-01 -1.70790246e-02  3.54191979e+01]
 [ 2.51881600e-01 -1.94762155e-02  9.67562058e-01  1.14521217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.4607140570001 meters
Centerline goodness : 0.998995 with order 1
Centerline is valid?  [True, True]
Translation: X:438.77, Y:35.43, Z:114.54
[[ 9.56934468e-01 -1.44029349e-01 -2.52055490e-01  4.38774345e+02]
 [ 1.44412685e-01  9.89370145e-01 -1.70790246e-02  3.54266339e+01]
 [ 2.51836058e-01 -2.00565028e-02  9.67562058e-01  1.14536365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.5207140570001 meters
Centerline goodness : 0.998494 with order 1
Centerline is valid?  [True, True]
Translation: X:438.83, Y:35.44, Z:114.55
[[ 9.56797024e-01 -1.44940147e-01 -2.52055171e-01  4.38832186e+02]
 [ 1.45353124e-01  9.89232336e-01 -1.70837341e-02  3.54396843e+01]
 [ 2.51817245e-01 -2.02913406e-02  9.67562058e-01  1.14551590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.5807140570001 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:438.89, Y:35.45, Z:114.57
[[ 9.56895841e-01 -1.44286465e-01 -2.52055083e-01  4.38889826e+02]
 [ 1.44676945e-01  9.89331433e-01 -1.70850296e-02  3.54500751e+01]
 [ 2.51831155e-01 -2.01179656e-02  9.67562058e-01  1.14566836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.6407140570001 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:438.95, Y:35.46, Z:114.58
[[ 9.56981023e-01 -1.43720412e-01 -2.52055083e-01  4.38946000e+02]
 [ 1.44091705e-01  9.89416840e-01 -1.70850296e-02  3.54621534e+01]
 [ 2.51843012e-01 -1.99689977e-02  9.67562058e-01  1.14581162e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.7007140570001 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:439.00, Y:35.47, Z:114.60
[[ 9.56603840e-01 -1.46211478e-01 -2.52054157e-01  4.39003907e+02]
 [ 1.46663644e-01  9.89038629e-01 -1.70986864e-02  3.54712808e+01]
 [ 2.51791322e-01 -2.06105120e-02  9.67562058e-01  1.14597113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.76071405700003 meters
Centerline goodness : 0.998981 with order 1
Centerline is valid?  [True, True]
Translation: X:439.06, Y:35.48, Z:114.61
[[ 9.56028940e-01 -1.49924538e-01 -2.52054157e-01  4.39060376e+02]
 [ 1.50502634e-01  9.88461730e-01 -1.70986864e-02  3.54800519e+01]
 [ 2.51709401e-01 -2.15879755e-02  9.67562058e-01  1.14613494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.82071405700003 meters
Centerline goodness : 0.998558 with order 1
Centerline is valid?  [True, True]
Translation: X:439.12, Y:35.49, Z:114.63
[[ 9.55675951e-01 -1.52158895e-01 -2.52053859e-01  4.39118091e+02]
 [ 1.52811653e-01  9.88107324e-01 -1.71030812e-02  3.54898113e+01]
 [ 2.51658650e-01 -2.21717633e-02  9.67562058e-01  1.14629408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.88071405700003 meters
Centerline goodness : 0.998003 with order 1
Centerline is valid?  [True, True]
Translation: X:439.18, Y:35.50, Z:114.65
[[ 9.55613460e-01 -1.52550936e-01 -2.52053817e-01  4.39178169e+02]
 [ 1.53216837e-01  9.88044566e-01 -1.71036967e-02  3.54988984e+01]
 [ 2.51649589e-01 -2.22743658e-02  9.67562058e-01  1.14645853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 451.94071405700004 meters
Centerline goodness : 0.998536 with order 1
Centerline is valid?  [True, True]
Translation: X:439.24, Y:35.51, Z:114.66
[[ 9.56136332e-01 -1.49235619e-01 -2.52055637e-01  4.39237591e+02]
 [ 1.49796065e-01  9.88569432e-01 -1.70768283e-02  3.55068282e+01]
 [ 2.51722969e-01 -2.14291666e-02  9.67562059e-01  1.14659704e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.00071405700004 meters
Centerline goodness : 0.998375 with order 1
Centerline is valid?  [True, True]
Translation: X:439.30, Y:35.52, Z:114.67
[[ 9.56758607e-01 -1.45191628e-01 -2.52056263e-01  4.39296129e+02]
 [ 1.45617357e-01  9.89193754e-01 -1.70675862e-02  3.55150608e+01]
 [ 2.51810552e-01 -2.03742069e-02  9.67562059e-01  1.14674320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.06071405700004 meters
Centerline goodness : 0.998327 with order 1
Centerline is valid?  [True, True]
Translation: X:439.35, Y:35.52, Z:114.69
[[ 9.57612114e-01 -1.39450841e-01 -2.52056545e-01  4.39353553e+02]
 [ 1.39683120e-01  9.90049224e-01 -1.70634275e-02  3.55222808e+01]
 [ 2.51927896e-01 -1.88678998e-02  9.67562059e-01  1.14689600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.12071405700004 meters
Centerline goodness : 0.998676 with order 1
Centerline is valid?  [True, True]
Translation: X:439.41, Y:35.53, Z:114.71
[[ 9.58445826e-01 -1.33600576e-01 -2.52056511e-01  4.39410863e+02]
 [ 1.33634643e-01  9.90883749e-01 -1.70639240e-02  3.55295261e+01]
 [ 2.52038451e-01 -1.73286353e-02  9.67562059e-01  1.14706763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.18071405700005 meters
Centerline goodness : 0.998157 with order 1
Centerline is valid?  [True, True]
Translation: X:439.47, Y:35.54, Z:114.72
[[ 9.58580752e-01 -1.32629041e-01 -2.52056500e-01  4.39468563e+02]
 [ 1.32630188e-01  9.91018693e-01 -1.70640824e-02  3.55353114e+01]
 [ 2.52055897e-01 -1.70730002e-02  9.67562059e-01  1.14721643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.24071405700005 meters
Centerline goodness : 0.998501 with order 1
Centerline is valid?  [True, True]
Translation: X:439.53, Y:35.54, Z:114.74
[[ 9.58187343e-01 -1.35442003e-01 -2.52056500e-01  4.39526468e+02]
 [ 1.35538360e-01  9.90625141e-01 -1.70640824e-02  3.55397087e+01]
 [ 2.52004700e-01 -1.78127368e-02  9.67562059e-01  1.14737754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.30071405700005 meters
Centerline goodness : 0.998095 with order 1
Centerline is valid?  [True, True]
Translation: X:439.58, Y:35.54, Z:114.75
[[ 9.57252923e-01 -1.41895540e-01 -2.52056538e-01  4.39584156e+02]
 [ 1.42210615e-01  9.89689334e-01 -1.70635340e-02  3.55447736e+01]
 [ 2.51878906e-01 -1.95109975e-02  9.67562059e-01  1.14751383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.36071405700005 meters
Centerline goodness : 0.998589 with order 1
Centerline is valid?  [True, True]
Translation: X:439.64, Y:35.55, Z:114.77
[[ 9.56222182e-01 -1.48682140e-01 -2.52057055e-01  4.39642730e+02]
 [ 1.49229294e-01  9.88655509e-01 -1.70558842e-02  3.55512346e+01]
 [ 2.51733502e-01 -2.13050815e-02  9.67562059e-01  1.14765333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.42071405700005 meters
Centerline goodness : 0.998452 with order 1
Centerline is valid?  [True, True]
Translation: X:439.70, Y:35.56, Z:114.78
[[ 9.55972722e-01 -1.50277771e-01 -2.52057029e-01  4.39702709e+02]
 [ 1.50878950e-01  9.88405092e-01 -1.70562745e-02  3.55563646e+01]
 [ 2.51697630e-01 -2.17247667e-02  9.67562059e-01  1.14780622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.48071405700006 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:439.76, Y:35.57, Z:114.80
[[ 9.55472297e-01 -1.53425270e-01 -2.52058281e-01  4.39760324e+02]
 [ 1.54138103e-01  9.87902404e-01 -1.70377499e-02  3.55673413e+01]
 [ 2.51623003e-01 -2.25726874e-02  9.67562059e-01  1.14797834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.54071405700006 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:439.82, Y:35.58, Z:114.81
[[ 9.55530135e-01 -1.53064429e-01 -2.52058408e-01  4.39818175e+02]
 [ 1.53765506e-01  9.87960499e-01 -1.70358734e-02  3.55767525e+01]
 [ 2.51631337e-01 -2.24795982e-02  9.67562059e-01  1.14813241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.60071405700006 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:439.88, Y:35.59, Z:114.83
[[ 9.55372303e-01 -1.54045996e-01 -2.52058712e-01  4.39877892e+02]
 [ 1.54781568e-01  9.87801903e-01 -1.70313703e-02  3.55851073e+01]
 [ 2.51607690e-01 -2.27427431e-02  9.67562059e-01  1.14827989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.66071405700006 meters
Centerline goodness : 0.998252 with order 1
Centerline is valid?  [True, True]
Translation: X:439.94, Y:35.59, Z:114.84
[[ 9.55172453e-01 -1.55278411e-01 -2.52059914e-01  4.39936649e+02]
 [ 1.56060478e-01  9.87600965e-01 -1.70135708e-02  3.55919589e+01]
 [ 2.51576454e-01 -2.30856964e-02  9.67562059e-01  1.14842031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.72071405700007 meters
Centerline goodness : 0.998641 with order 1
Centerline is valid?  [True, True]
Translation: X:440.00, Y:35.60, Z:114.85
[[ 9.55159585e-01 -1.55357437e-01 -2.52059981e-01  4.39996478e+02]
 [ 1.56142448e-01  9.87588026e-01 -1.70125737e-02  3.55981131e+01]
 [ 2.51574449e-01 -2.31075397e-02  9.67562059e-01  1.14853962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.78071405700007 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:440.05, Y:35.61, Z:114.87
[[ 9.55622301e-01 -1.52483800e-01 -2.52060922e-01  4.40054816e+02]
 [ 1.53174920e-01  9.88052879e-01 -1.69986222e-02  3.56067156e+01]
 [ 2.51641534e-01 -2.23651490e-02  9.67562059e-01  1.14869802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.84071405700007 meters
Centerline goodness : 0.998222 with order 1
Centerline is valid?  [True, True]
Translation: X:440.11, Y:35.62, Z:114.88
[[ 9.56853438e-01 -1.44556680e-01 -2.52061232e-01  4.40112719e+02]
 [ 1.44980138e-01  9.89288615e-01 -1.69940255e-02  3.56166060e+01]
 [ 2.51817907e-01 -2.02830804e-02  9.67562059e-01  1.14883493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.9007140570001 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:440.17, Y:35.63, Z:114.91
[[ 9.58525539e-01 -1.33018164e-01 -2.52061418e-01  4.40168606e+02]
 [ 1.33051539e-01  9.90963463e-01 -1.69912629e-02  3.56281754e+01]
 [ 2.52043802e-01 -1.72506002e-02  9.67562059e-01  1.14905491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 452.9607140570001 meters
Centerline goodness : 0.998385 with order 1
Centerline is valid?  [True, True]
Translation: X:440.23, Y:35.64, Z:114.93
[[ 9.60200419e-01 -1.20333565e-01 -2.52061477e-01  4.40225741e+02]
 [ 1.19938294e-01  9.92635952e-01 -1.69903923e-02  3.56371265e+01]
 [ 2.52249798e-01 -1.39176416e-02  9.67562059e-01  1.14925393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.0207140570001 meters
Centerline goodness : 0.998241 with order 1
Centerline is valid?  [True, True]
Translation: X:440.28, Y:35.64, Z:114.94
[[ 9.61395747e-01 -1.10377457e-01 -2.52061570e-01  4.40284450e+02]
 [ 1.09646469e-01  9.93825450e-01 -1.69890139e-02  3.56435495e+01]
 [ 2.52380407e-01 -1.13044953e-02  9.67562059e-01  1.14941669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.0807140570001 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:440.34, Y:35.65, Z:114.96
[[ 9.62016976e-01 -1.04824430e-01 -2.52061852e-01  4.40343822e+02]
 [ 1.03907300e-01  9.94441949e-01 -1.69848167e-02  3.56472129e+01]
 [ 2.52441303e-01 -9.85138451e-03  9.67562059e-01  1.14956125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.1407140570001 meters
Centerline goodness : 0.998353 with order 1
Centerline is valid?  [True, True]
Translation: X:440.40, Y:35.65, Z:114.97
[[ 9.62321688e-01 -1.01987653e-01 -2.52062468e-01  4.40403131e+02]
 [ 1.00977319e-01  9.94743890e-01 -1.69756754e-02  3.56506558e+01]
 [ 2.52468909e-01 -9.11653156e-03  9.67562059e-01  1.14971286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.2007140570001 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:440.46, Y:35.65, Z:114.98
[[ 9.62430013e-01 -1.00958742e-01 -2.52063093e-01  4.40461803e+02]
 [ 9.99161732e-02  9.94851195e-01 -1.69663904e-02  3.56507369e+01]
 [ 2.52478175e-01 -8.85621629e-03  9.67562059e-01  1.14984726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.26071405700003 meters
Centerline goodness : 0.997925 with order 1
Centerline is valid?  [True, True]
Translation: X:440.52, Y:35.65, Z:115.00
[[ 9.62486677e-01 -1.00417084e-01 -2.52063100e-01  4.40520743e+02]
 [ 9.93562984e-02  9.94907268e-01 -1.69662794e-02  3.56513726e+01]
 [ 2.52483115e-01 -8.71423879e-03  9.67562059e-01  1.15000429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.32071405700003 meters
Centerline goodness : 0.998381 with order 1
Centerline is valid?  [True, True]
Translation: X:440.58, Y:35.65, Z:115.02
[[ 9.62828662e-01 -9.70832712e-02 -2.52063100e-01  4.40579717e+02]
 [ 9.59102157e-02  9.95245385e-01 -1.69662794e-02  3.56521784e+01]
 [ 2.52511779e-01 -7.83980628e-03  9.67562059e-01  1.15016006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.38071405700003 meters
Centerline goodness : 0.998157 with order 1
Centerline is valid?  [True, True]
Translation: X:440.64, Y:35.65, Z:115.03
[[ 9.63526569e-01 -8.98920945e-02 -2.52063410e-01  4.40638025e+02]
 [ 8.84782512e-02  9.95933683e-01 -1.69616802e-02  3.56517725e+01]
 [ 2.52563161e-01 -5.95910019e-03  9.67562059e-01  1.15030447e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.44071405700004 meters
Centerline goodness : 0.997911 with order 1
Centerline is valid?  [True, True]
Translation: X:440.70, Y:35.65, Z:115.05
[[ 9.63890304e-01 -8.59059655e-02 -2.52062785e-01  4.40696936e+02]
 [ 8.43556650e-02  9.96291176e-01 -1.69709616e-02  3.56512065e+01]
 [ 2.52585836e-01 -4.90477856e-03  9.67562059e-01  1.15046020e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.50071405700004 meters
Centerline goodness : 0.997838 with order 1
Centerline is valid?  [True, True]
Translation: X:440.75, Y:35.64, Z:115.06
[[ 9.63984108e-01 -8.48470342e-02 -2.52062732e-01  4.40753727e+02]
 [ 8.32609357e-02  9.96383248e-01 -1.69717457e-02  3.56422273e+01]
 [ 2.52591086e-01 -4.62648578e-03  9.67562059e-01  1.15061645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.56071405700004 meters
Centerline goodness : 0.998279 with order 1
Centerline is valid?  [True, True]
Translation: X:440.81, Y:35.64, Z:115.08
[[ 9.63750528e-01 -8.74639378e-02 -2.52061459e-01  4.40810996e+02]
 [ 8.59608716e-02  9.96153626e-01 -1.69906319e-02  3.56383616e+01]
 [ 2.52578004e-01 -5.29269223e-03  9.67562060e-01  1.15077094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.62071405700004 meters
Centerline goodness : 0.998517 with order 1
Centerline is valid?  [True, True]
Translation: X:440.87, Y:35.63, Z:115.09
[[ 9.63300386e-01 -9.22930740e-02 -2.52060222e-01  4.40869908e+02]
 [ 9.09476328e-02  9.95710411e-01 -1.70089706e-02  3.56294109e+01]
 [ 2.52548797e-01 -6.53953252e-03  9.67562060e-01  1.15089824e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.68071405700005 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:440.93, Y:35.62, Z:115.10
[[ 9.62913196e-01 -9.62503556e-02 -2.52059608e-01  4.40928786e+02]
 [ 9.50357159e-02  9.95328387e-01 -1.70180628e-02  3.56219897e+01]
 [ 2.52520078e-01 -7.56774801e-03  9.67562060e-01  1.15103901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.74071405700005 meters
Centerline goodness : 0.998706 with order 1
Centerline is valid?  [True, True]
Translation: X:440.99, Y:35.61, Z:115.12
[[ 9.62595325e-01 -9.93798455e-02 -2.52059290e-01  4.40986735e+02]
 [ 9.82693494e-02  9.95014251e-01 -1.70227654e-02  3.56141162e+01]
 [ 2.52494306e-01 -8.38366805e-03  9.67562060e-01  1.15118204e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.80071405700005 meters
Centerline goodness : 0.998625 with order 1
Centerline is valid?  [True, True]
Translation: X:441.04, Y:35.61, Z:115.13
[[ 9.62431535e-01 -1.00964779e-01 -2.52054862e-01  4.41043475e+02]
 [ 9.98905789e-02  9.94851682e-01 -1.70880951e-02  3.56079610e+01]
 [ 2.52482499e-01 -8.73178446e-03  9.67562062e-01  1.15132571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.86071405700005 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:441.10, Y:35.60, Z:115.15
[[ 9.62305042e-01 -1.02175719e-01 -2.52049855e-01  4.41101481e+02]
 [ 1.01123074e-01  9.94725893e-01 -1.71616437e-02  3.56036376e+01]
 [ 2.52474020e-01 -8.97331981e-03  9.67562065e-01  1.15149939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.92071405700005 meters
Centerline goodness : 0.998417 with order 1
Centerline is valid?  [True, True]
Translation: X:441.16, Y:35.60, Z:115.17
[[ 9.61919581e-01 -1.05743782e-01 -2.52049541e-01  4.41158397e+02]
 [ 1.04810175e-01  9.94344079e-01 -1.71662446e-02  3.55997870e+01]
 [ 2.52439193e-01 -9.90480974e-03  9.67562065e-01  1.15166799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 453.98071405700006 meters
Centerline goodness : 0.998140 with order 1
Centerline is valid?  [True, True]
Translation: X:441.22, Y:35.60, Z:115.18
[[ 9.60934001e-01 -1.14363879e-01 -2.52045134e-01  4.41216299e+02]
 [ 1.13704148e-01  9.93365224e-01 -1.72307186e-02  3.55962649e+01]
 [ 2.52343443e-01 -1.21009939e-02  9.67562067e-01  1.15183318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.04071405700006 meters
Centerline goodness : 0.998101 with order 1
Centerline is valid?  [True, True]
Translation: X:441.28, Y:35.59, Z:115.20
[[ 9.59316440e-01 -1.27221721e-01 -2.52044839e-01  4.41275643e+02]
 [ 1.26995213e-01  9.91753583e-01 -1.72350358e-02  3.55937101e+01]
 [ 2.52159043e-01 -1.54746348e-02  9.67562067e-01  1.15197980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.10071405700006 meters
Centerline goodness : 0.997062 with order 1
Centerline is valid?  [True, True]
Translation: X:441.34, Y:35.59, Z:115.21
[[ 9.57923328e-01 -1.37318478e-01 -2.52044703e-01  4.41335516e+02]
 [ 1.37433101e-01  9.90361059e-01 -1.72370236e-02  3.55928171e+01]
 [ 2.51982221e-01 -1.81275381e-02  9.67562067e-01  1.15206186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.16071405700006 meters
Centerline goodness : 0.997621 with order 1
Centerline is valid?  [True, True]
Translation: X:441.39, Y:35.59, Z:115.22
[[ 9.57101311e-01 -1.42935398e-01 -2.52044744e-01  4.41394668e+02]
 [ 1.43240457e-01  9.89537810e-01 -1.72364298e-02  3.55942599e+01]
 [ 2.51871500e-01 -1.96059946e-02  9.67562067e-01  1.15220320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.22071405700007 meters
Centerline goodness : 0.997908 with order 1
Centerline is valid?  [True, True]
Translation: X:441.45, Y:35.60, Z:115.24
[[ 9.57087443e-01 -1.43028181e-01 -2.52044768e-01  4.41451522e+02]
 [ 1.43336478e-01  9.89523912e-01 -1.72360720e-02  3.55977509e+01]
 [ 2.51869569e-01 -1.96307813e-02  9.67562067e-01  1.15238152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.28071405700007 meters
Centerline goodness : 0.997147 with order 1
Centerline is valid?  [True, True]
Translation: X:441.51, Y:35.60, Z:115.26
[[ 9.57525148e-01 -1.40069034e-01 -2.52044155e-01  4.41509502e+02]
 [ 1.40274721e-01  9.89962430e-01 -1.72450274e-02  3.56030800e+01]
 [ 2.51929739e-01 -1.88428761e-02  9.67562067e-01  1.15255703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.34071405700007 meters
Centerline goodness : 0.997716 with order 1
Centerline is valid?  [True, True]
Translation: X:441.57, Y:35.61, Z:115.27
[[ 9.57649933e-01 -1.39213546e-01 -2.52044034e-01  4.41567166e+02]
 [ 1.39389789e-01  9.90087387e-01 -1.72468050e-02  3.56082253e+01]
 [ 2.51946608e-01 -1.86159631e-02  9.67562067e-01  1.15270890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.4007140570001 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:441.62, Y:35.61, Z:115.29
[[ 9.57952746e-01 -1.37114928e-01 -2.52043714e-01  4.41623666e+02]
 [ 1.37218875e-01  9.90390512e-01 -1.72514778e-02  3.56144184e+01]
 [ 2.51987138e-01 -1.80590542e-02  9.67562067e-01  1.15287668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.4607140570001 meters
Centerline goodness : 0.998125 with order 1
Centerline is valid?  [True, True]
Translation: X:441.68, Y:35.62, Z:115.30
[[ 9.57743901e-01 -1.38573707e-01 -2.52039577e-01  4.41680943e+02]
 [ 1.38711287e-01  9.90181541e-01 -1.73117177e-02  3.56204144e+01]
 [ 2.51963885e-01 -1.83805419e-02  9.67562068e-01  1.15303598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.5207140570001 meters
Centerline goodness : 0.998458 with order 1
Centerline is valid?  [True, True]
Translation: X:441.74, Y:35.63, Z:115.32
[[ 9.57211600e-01 -1.42205209e-01 -2.52038948e-01  4.41739150e+02]
 [ 1.42463421e-01  9.89648504e-01 -1.73208651e-02  3.56259273e+01]
 [ 2.51893085e-01 -1.93265978e-02  9.67562068e-01  1.15319754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.5807140570001 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:441.80, Y:35.63, Z:115.33
[[ 9.56572234e-01 -1.46444290e-01 -2.52038948e-01  4.41797332e+02]
 [ 1.46846196e-01  9.89007676e-01 -1.73208651e-02  3.56332582e+01]
 [ 2.51804996e-01 -2.04423022e-02  9.67562068e-01  1.15334918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.6407140570001 meters
Centerline goodness : 0.998313 with order 1
Centerline is valid?  [True, True]
Translation: X:441.86, Y:35.64, Z:115.35
[[ 9.56296125e-01 -1.48236564e-01 -2.52038971e-01  4.41855260e+02]
 [ 1.48699339e-01  9.88730755e-01 -1.73205278e-02  3.56416226e+01]
 [ 2.51766218e-01 -2.09144748e-02  9.67562068e-01  1.15350333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.7007140570001 meters
Centerline goodness : 0.998098 with order 1
Centerline is valid?  [True, True]
Translation: X:441.91, Y:35.65, Z:115.37
[[ 9.56361730e-01 -1.47813041e-01 -2.52038778e-01  4.41913459e+02]
 [ 1.48260716e-01  9.88796573e-01 -1.73233424e-02  3.56503149e+01]
 [ 2.51775696e-01 -2.08000679e-02  9.67562068e-01  1.15365340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.76071405700003 meters
Centerline goodness : 0.998614 with order 1
Centerline is valid?  [True, True]
Translation: X:441.97, Y:35.66, Z:115.38
[[ 9.56436207e-01 -1.47330363e-01 -2.52038778e-01  4.41970549e+02]
 [ 1.47761668e-01  9.88871271e-01 -1.73233424e-02  3.56601479e+01]
 [ 2.51786161e-01 -2.06729984e-02  9.67562068e-01  1.15380927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.82071405700003 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:442.03, Y:35.67, Z:115.39
[[ 9.56494835e-01 -1.46950329e-01 -2.52038156e-01  4.42028227e+02]
 [ 1.47366381e-01  9.88930098e-01 -1.73323806e-02  3.56677387e+01]
 [ 2.51795118e-01 -2.05636183e-02  9.67562068e-01  1.15393622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.88071405700003 meters
Centerline goodness : 0.998591 with order 1
Centerline is valid?  [True, True]
Translation: X:442.09, Y:35.68, Z:115.41
[[ 9.56331864e-01 -1.48008248e-01 -2.52037546e-01  4.42086745e+02]
 [ 1.48457854e-01  9.88766679e-01 -1.73412550e-02  3.56755532e+01]
 [ 2.51772976e-01 -2.08329585e-02  9.67562069e-01  1.15408873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 454.94071405700004 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:442.14, Y:35.68, Z:115.42
[[ 9.55887021e-01 -1.50854570e-01 -2.52037502e-01  4.42144293e+02]
 [ 1.51400564e-01  9.88320357e-01 -1.73418972e-02  3.56817370e+01]
 [ 2.51709898e-01 -2.15817254e-02  9.67562069e-01  1.15424041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.00071405700004 meters
Centerline goodness : 0.998503 with order 1
Centerline is valid?  [True, True]
Translation: X:442.20, Y:35.69, Z:115.44
[[ 9.55577651e-01 -1.52802512e-01 -2.52037191e-01  4.42201645e+02]
 [ 1.53413429e-01  9.88009829e-01 -1.73464066e-02  3.56881414e+01]
 [ 2.51665797e-01 -2.20900513e-02  9.67562069e-01  1.15436405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.06071405700004 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:442.26, Y:35.70, Z:115.45
[[ 9.55467972e-01 -1.53488897e-01 -2.52035934e-01  4.42258012e+02]
 [ 1.54118337e-01  9.87899796e-01 -1.73646498e-02  3.56975222e+01]
 [ 2.51651529e-01 -2.22519923e-02  9.67562069e-01  1.15452526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.12071405700004 meters
Centerline goodness : 0.998831 with order 1
Centerline is valid?  [True, True]
Translation: X:442.31, Y:35.70, Z:115.47
[[ 9.55692949e-01 -1.52088581e-01 -2.52031843e-01  4.42314286e+02]
 [ 1.52655004e-01  9.88125933e-01 -1.74238315e-02  3.57044907e+01]
 [ 2.51689166e-01 -2.18220892e-02  9.67562070e-01  1.15468916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.18071405700005 meters
Centerline goodness : 0.998604 with order 1
Centerline is valid?  [True, True]
Translation: X:442.37, Y:35.71, Z:115.49
[[ 9.56249520e-01 -1.48549973e-01 -2.52031268e-01  4.42371161e+02]
 [ 1.48994163e-01  9.88684409e-01 -1.74321432e-02  3.57141753e+01]
 [ 2.51768930e-01 -2.08817093e-02  9.67562070e-01  1.15489199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.24071405700005 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:442.43, Y:35.72, Z:115.51
[[ 9.56875849e-01 -1.44460563e-01 -2.52031257e-01  4.42429103e+02]
 [ 1.44766044e-01  9.89312341e-01 -1.74323088e-02  3.57216503e+01]
 [ 2.51855914e-01 -1.98050127e-02  9.67562070e-01  1.15506000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.30071405700005 meters
Centerline goodness : 0.998358 with order 1
Centerline is valid?  [True, True]
Translation: X:442.49, Y:35.73, Z:115.52
[[ 9.57773771e-01 -1.38381965e-01 -2.52031418e-01  4.42486629e+02]
 [ 1.38482092e-01  9.90211546e-01 -1.74299852e-02  3.57302287e+01]
 [ 2.51976415e-01 -1.82078553e-02  9.67562070e-01  1.15520357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.36071405700005 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:442.54, Y:35.74, Z:115.54
[[ 9.58796167e-01 -1.31110990e-01 -2.52031384e-01  4.42544390e+02]
 [ 1.30964868e-01  9.91233768e-01 -1.74304753e-02  3.57395713e+01]
 [ 2.52107345e-01 -1.62949841e-02  9.67562070e-01  1.15536115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.42071405700005 meters
Centerline goodness : 0.998968 with order 1
Centerline is valid?  [True, True]
Translation: X:442.60, Y:35.75, Z:115.55
[[ 9.59857269e-01 -1.23102511e-01 -2.52031336e-01  4.42602821e+02]
 [ 1.22685430e-01  9.92292517e-01 -1.74311623e-02  3.57473261e+01]
 [ 2.52234629e-01 -1.41891449e-02  9.67562070e-01  1.15551724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.48071405700006 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:442.66, Y:35.76, Z:115.57
[[ 9.60674070e-01 -1.16556375e-01 -2.52031630e-01  4.42660735e+02]
 [ 1.15919306e-01  9.93105743e-01 -1.74269142e-02  3.57555638e+01]
 [ 2.52325277e-01 -1.24737471e-02  9.67562070e-01  1.15569383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.54071405700006 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:442.72, Y:35.76, Z:115.59
[[ 9.60772529e-01 -1.15741942e-01 -2.52031646e-01  4.42720563e+02]
 [ 1.15077440e-01  9.93203652e-01 -1.74266860e-02  3.57617342e+01]
 [ 2.52335749e-01 -1.22600755e-02  9.67562070e-01  1.15586969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.60071405700006 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:442.78, Y:35.76, Z:115.60
[[ 9.60348880e-01 -1.19203340e-01 -2.52032920e-01  4.42779339e+02]
 [ 1.18660534e-01  9.92782267e-01 -1.74082460e-02  3.57637219e+01]
 [ 2.52288934e-01 -1.31883714e-02  9.67562071e-01  1.15599579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.66071405700006 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:442.84, Y:35.76, Z:115.62
[[ 9.59525656e-01 -1.25657960e-01 -2.52032920e-01  4.42837180e+02]
 [ 1.25333246e-01  9.91961960e-01 -1.74082460e-02  3.57646648e+01]
 [ 2.52194554e-01 -1.48844452e-02  9.67562071e-01  1.15617370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.72071405700007 meters
Centerline goodness : 0.998610 with order 1
Centerline is valid?  [True, True]
Translation: X:442.90, Y:35.77, Z:115.63
[[ 9.58692371e-01 -1.31864804e-01 -2.52032956e-01  4.42896576e+02]
 [ 1.31750144e-01  9.91130098e-01 -1.74077184e-02  3.57665013e+01]
 [ 2.52092914e-01 -1.65167313e-02  9.67562071e-01  1.15632933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.78071405700007 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:442.95, Y:35.77, Z:115.65
[[ 9.57912639e-01 -1.37413713e-01 -2.52033427e-01  4.42954767e+02]
 [ 1.37488665e-01  9.90350481e-01 -1.74008958e-02  3.57687538e+01]
 [ 2.51992548e-01 -1.79832014e-02  9.67562071e-01  1.15645756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.84071405700007 meters
Centerline goodness : 0.998816 with order 1
Centerline is valid?  [True, True]
Translation: X:443.01, Y:35.77, Z:115.66
[[ 9.57352412e-01 -1.41261461e-01 -2.52034837e-01  4.43012174e+02]
 [ 1.41472098e-01  9.89789657e-01 -1.73804507e-02  3.57734759e+01]
 [ 2.51916663e-01 -1.90166807e-02  9.67562071e-01  1.15660915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.9007140570001 meters
Centerline goodness : 0.998367 with order 1
Centerline is valid?  [True, True]
Translation: X:443.07, Y:35.78, Z:115.68
[[ 9.57101982e-01 -1.42945935e-01 -2.52036219e-01  4.43071798e+02]
 [ 1.43218903e-01  9.89538763e-01 -1.73603927e-02  3.57796892e+01]
 [ 2.51881206e-01 -1.94806844e-02  9.67562071e-01  1.15676496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 455.9607140570001 meters
Centerline goodness : 0.998139 with order 1
Centerline is valid?  [True, True]
Translation: X:443.13, Y:35.79, Z:115.69
[[ 9.57043551e-01 -1.43334374e-01 -2.52037495e-01  4.43131240e+02]
 [ 1.43625362e-01  9.89480175e-01 -1.73418444e-02  3.57863309e+01]
 [ 2.51871787e-01 -1.96020760e-02  9.67562071e-01  1.15690262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.0207140570001 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:443.19, Y:35.80, Z:115.71
[[ 9.57154933e-01 -1.42587025e-01 -2.52038438e-01  4.43189464e+02]
 [ 1.42856274e-01  9.89591745e-01 -1.73281316e-02  3.57950631e+01]
 [ 2.51885924e-01 -1.94195655e-02  9.67562071e-01  1.15708781e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.0807140570001 meters
Centerline goodness : 0.998653 with order 1
Centerline is valid?  [True, True]
Translation: X:443.25, Y:35.80, Z:115.73
[[ 9.57215079e-01 -1.42181569e-01 -2.52039073e-01  4.43248345e+02]
 [ 1.42439498e-01  9.89651982e-01 -1.73188863e-02  3.58038051e+01]
 [ 2.51893395e-01 -1.93224200e-02  9.67562071e-01  1.15726720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.1407140570001 meters
Centerline goodness : 0.998244 with order 1
Centerline is valid?  [True, True]
Translation: X:443.31, Y:35.81, Z:115.74
[[ 9.57053389e-01 -1.43263609e-01 -2.52040373e-01  4.43307541e+02]
 [ 1.43563165e-01  9.89489934e-01 -1.72999515e-02  3.58112104e+01]
 [ 2.51869865e-01 -1.96267363e-02  9.67562071e-01  1.15740675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.2007140570001 meters
Centerline goodness : 0.998159 with order 1
Centerline is valid?  [True, True]
Translation: X:443.37, Y:35.82, Z:115.75
[[ 9.56664984e-01 -1.45833564e-01 -2.52041028e-01  4.43365659e+02]
 [ 1.46222735e-01  9.89100578e-01 -1.72904045e-02  3.58187063e+01]
 [ 2.51815448e-01 -2.03130039e-02  9.67562072e-01  1.15753658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.26071405700003 meters
Centerline goodness : 0.997947 with order 1
Centerline is valid?  [True, True]
Translation: X:443.42, Y:35.83, Z:115.77
[[ 9.56227580e-01 -1.48675037e-01 -2.52040770e-01  4.43424337e+02]
 [ 1.49159583e-01  9.88661889e-01 -1.72941671e-02  3.58255117e+01]
 [ 2.51754314e-01 -2.10571366e-02  9.67562072e-01  1.15768157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.32071405700003 meters
Centerline goodness : 0.997836 with order 1
Centerline is valid?  [True, True]
Translation: X:443.48, Y:35.83, Z:115.78
[[ 9.55816361e-01 -1.51296085e-01 -2.52040829e-01  4.43482903e+02]
 [ 1.51869779e-01  9.88249216e-01 -1.72933013e-02  3.58339762e+01]
 [ 2.51695560e-01 -2.17481646e-02  9.67562072e-01  1.15782928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.38071405700003 meters
Centerline goodness : 0.998031 with order 1
Centerline is valid?  [True, True]
Translation: X:443.54, Y:35.84, Z:115.80
[[ 9.55939504e-01 -1.50514878e-01 -2.52041538e-01  4.43541042e+02]
 [ 1.51064772e-01  9.88372771e-01 -1.72829589e-02  3.58416762e+01]
 [ 2.51712336e-01 -2.15531343e-02  9.67562072e-01  1.15799789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.44071405700004 meters
Centerline goodness : 0.997572 with order 1
Centerline is valid?  [True, True]
Translation: X:443.60, Y:35.85, Z:115.82
[[ 9.56451710e-01 -1.47224417e-01 -2.52041858e-01  4.43599277e+02]
 [ 1.47663921e-01  9.88886660e-01 -1.72782929e-02  3.58515013e+01]
 [ 2.51784618e-01 -2.06916362e-02  9.67562072e-01  1.15817946e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.50071405700004 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:443.66, Y:35.86, Z:115.83
[[ 9.57086605e-01 -1.43037801e-01 -2.52042493e-01  4.43656696e+02]
 [ 1.43337799e-01  9.89523146e-01 -1.72690213e-02  3.58595216e+01]
 [ 2.51872004e-01 -1.95992673e-02  9.67562072e-01  1.15834864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.56071405700004 meters
Centerline goodness : 0.997563 with order 1
Centerline is valid?  [True, True]
Translation: X:443.72, Y:35.87, Z:115.85
[[ 9.57556831e-01 -1.39855350e-01 -2.52042451e-01  4.43715152e+02]
 [ 1.40047355e-01  9.89994191e-01 -1.72696432e-02  3.58655131e+01]
 [ 2.51935814e-01 -1.87612137e-02  9.67562072e-01  1.15848105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.62071405700004 meters
Centerline goodness : 0.997851 with order 1
Centerline is valid?  [True, True]
Translation: X:443.77, Y:35.87, Z:115.86
[[ 9.57693552e-01 -1.38915989e-01 -2.52042474e-01  4.43773790e+02]
 [ 1.39076264e-01  9.90131084e-01 -1.72693012e-02  3.58729524e+01]
 [ 2.51954070e-01 -1.85144273e-02  9.67562072e-01  1.15864504e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.68071405700005 meters
Centerline goodness : 0.996977 with order 1
Centerline is valid?  [True, True]
Translation: X:443.83, Y:35.88, Z:115.88
[[ 9.57494647e-01 -1.40279244e-01 -2.52043120e-01  4.43832989e+02]
 [ 1.40488168e-01  9.89931903e-01 -1.72598649e-02  3.58778708e+01]
 [ 2.51926726e-01 -1.88828481e-02  9.67562072e-01  1.15875787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.74071405700005 meters
Centerline goodness : 0.997759 with order 1
Centerline is valid?  [True, True]
Translation: X:443.89, Y:35.88, Z:115.89
[[ 9.57267316e-01 -1.41821687e-01 -2.52043438e-01  4.43893155e+02]
 [ 1.42084084e-01  9.89704183e-01 -1.72552269e-02  3.58832597e+01]
 [ 2.51895610e-01 -1.92934963e-02  9.67562072e-01  1.15891935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.80071405700005 meters
Centerline goodness : 0.997603 with order 1
Centerline is valid?  [True, True]
Translation: X:443.95, Y:35.89, Z:115.91
[[ 9.57197448e-01 -1.42290260e-01 -2.52044695e-01  4.43952075e+02]
 [ 1.42573347e-01  9.89634140e-01 -1.72368454e-02  3.58895390e+01]
 [ 2.51884670e-01 -1.94357914e-02  9.67562072e-01  1.15908905e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.86071405700005 meters
Centerline goodness : 0.997151 with order 1
Centerline is valid?  [True, True]
Translation: X:444.01, Y:35.90, Z:115.93
[[ 9.57388814e-01 -1.40995811e-01 -2.52045315e-01  4.44010910e+02]
 [ 1.41237409e-01  9.89825842e-01 -1.72277814e-02  3.58958151e+01]
 [ 2.51910011e-01 -1.91045420e-02  9.67562072e-01  1.15925116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.92071405700005 meters
Centerline goodness : 0.997563 with order 1
Centerline is valid?  [True, True]
Translation: X:444.07, Y:35.90, Z:115.94
[[ 9.57517606e-01 -1.40116846e-01 -2.52046232e-01  4.44070279e+02]
 [ 1.40332180e-01  9.89954820e-01 -1.72143561e-02  3.59035611e+01]
 [ 2.51926403e-01 -1.88871481e-02  9.67562072e-01  1.15943375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 456.98071405700006 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:444.13, Y:35.91, Z:115.96
[[ 9.57617401e-01 -1.39430866e-01 -2.52047509e-01  4.44128494e+02]
 [ 1.39627865e-01  9.90054731e-01 -1.71956268e-02  3.59093078e+01]
 [ 2.51938430e-01 -1.87260243e-02  9.67562072e-01  1.15958526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.04071405700006 meters
Centerline goodness : 0.997602 with order 1
Centerline is valid?  [True, True]
Translation: X:444.19, Y:35.91, Z:115.97
[[ 9.57542202e-01 -1.39946176e-01 -2.52047613e-01  4.44188614e+02]
 [ 1.40161028e-01  9.89979418e-01 -1.71941138e-02  3.59147282e+01]
 [ 2.51928199e-01 -1.88631628e-02  9.67562072e-01  1.15971807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.10071405700006 meters
Centerline goodness : 0.997401 with order 1
Centerline is valid?  [True, True]
Translation: X:444.25, Y:35.92, Z:115.99
[[ 9.57580924e-01 -1.39676927e-01 -2.52049856e-01  4.44248438e+02]
 [ 1.39891283e-01  9.90018143e-01 -1.71611589e-02  3.59200387e+01]
 [ 2.51930949e-01 -1.88263795e-02  9.67562073e-01  1.15986401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.16071405700006 meters
Centerline goodness : 0.996814 with order 1
Centerline is valid?  [True, True]
Translation: X:444.31, Y:35.93, Z:116.00
[[ 9.57968606e-01 -1.36991045e-01 -2.52050797e-01  4.44307511e+02]
 [ 1.37118057e-01  9.90406284e-01 -1.71473292e-02  3.59260980e+01]
 [ 2.51981724e-01 -1.81341125e-02  9.67562073e-01  1.16001277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.22071405700007 meters
Centerline goodness : 0.997011 with order 1
Centerline is valid?  [True, True]
Translation: X:444.37, Y:35.93, Z:116.02
[[ 9.58664996e-01 -1.32028444e-01 -2.52051415e-01  4.44365415e+02]
 [ 1.31989856e-01  9.91102900e-01 -1.71382473e-02  3.59333657e+01]
 [ 2.52071624e-01 -1.68383922e-02  9.67562073e-01  1.16017635e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.28071405700007 meters
Centerline goodness : 0.996952 with order 1
Centerline is valid?  [True, True]
Translation: X:444.42, Y:35.94, Z:116.03
[[ 9.59245242e-01 -1.27743969e-01 -2.52051672e-01  4.44423256e+02]
 [ 1.27561442e-01  9.91682655e-01 -1.71344703e-02  3.59391504e+01]
 [ 2.52144096e-01 -1.57159156e-02  9.67562073e-01  1.16033507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.34071405700007 meters
Centerline goodness : 0.997026 with order 1
Centerline is valid?  [True, True]
Translation: X:444.48, Y:35.95, Z:116.05
[[ 9.60439353e-01 -1.18432274e-01 -2.52051674e-01  4.44480845e+02]
 [ 1.17935089e-01  9.92873469e-01 -1.71344306e-02  3.59468571e+01]
 [ 2.52284690e-01 -1.32691553e-02  9.67562073e-01  1.16050036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.4007140570001 meters
Centerline goodness : 0.997085 with order 1
Centerline is valid?  [True, True]
Translation: X:444.54, Y:35.95, Z:116.06
[[ 9.61275769e-01 -1.11439976e-01 -2.52051639e-01  4.44538453e+02]
 [ 1.10706644e-01  9.93705405e-01 -1.71349502e-02  3.59521612e+01]
 [ 2.52374595e-01 -1.14323785e-02  9.67562073e-01  1.16064023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.4607140570001 meters
Centerline goodness : 0.997149 with order 1
Centerline is valid?  [True, True]
Translation: X:444.60, Y:35.96, Z:116.08
[[ 9.61716447e-01 -1.07571177e-01 -2.52051419e-01  4.44596107e+02]
 [ 1.06706515e-01  9.94142848e-01 -1.71381924e-02  3.59560948e+01]
 [ 2.52418691e-01 -1.04134471e-02  9.67562073e-01  1.16083757e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.5207140570001 meters
Centerline goodness : 0.997080 with order 1
Centerline is valid?  [True, True]
Translation: X:444.65, Y:35.96, Z:116.10
[[ 9.61702341e-01 -1.07697205e-01 -2.52051422e-01  4.44654617e+02]
 [ 1.06836806e-01  9.94128855e-01 -1.71381411e-02  3.59592104e+01]
 [ 2.52417322e-01 -1.04465786e-02  9.67562073e-01  1.16099021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.5807140570001 meters
Centerline goodness : 0.997160 with order 1
Centerline is valid?  [True, True]
Translation: X:444.71, Y:35.96, Z:116.11
[[ 9.61120905e-01 -1.12767579e-01 -2.52051739e-01  4.44713317e+02]
 [ 1.12079422e-01  9.93551532e-01 -1.71334844e-02  3.59601094e+01]
 [ 2.52358493e-01 -1.17824632e-02  9.67562073e-01  1.16114013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.6407140570001 meters
Centerline goodness : 0.997074 with order 1
Centerline is valid?  [True, True]
Translation: X:444.77, Y:35.96, Z:116.13
[[ 9.60042674e-01 -1.21605508e-01 -2.52051909e-01  4.44772226e+02]
 [ 1.21216412e-01  9.92478267e-01 -1.71309767e-02  3.59602725e+01]
 [ 2.52239263e-01 -1.41063594e-02  9.67562073e-01  1.16129876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.7007140570001 meters
Centerline goodness : 0.998128 with order 1
Centerline is valid?  [True, True]
Translation: X:444.83, Y:35.96, Z:116.15
[[ 9.58843160e-01 -1.30727171e-01 -2.52051982e-01  4.44831027e+02]
 [ 1.30646740e-01  9.91280987e-01 -1.71299052e-02  3.59617372e+01]
 [ 2.52093681e-01 -1.65048773e-02  9.67562073e-01  1.16145325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.76071405700003 meters
Centerline goodness : 0.997136 with order 1
Centerline is valid?  [True, True]
Translation: X:444.89, Y:35.96, Z:116.16
[[ 9.58142277e-01 -1.35768724e-01 -2.52052041e-01  4.44890396e+02]
 [ 1.35859139e-01  9.90580078e-01 -1.71290352e-02  3.59642496e+01]
 [ 2.52003318e-01 -1.78315205e-02  9.67562073e-01  1.16159766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.82071405700003 meters
Centerline goodness : 0.998001 with order 1
Centerline is valid?  [True, True]
Translation: X:444.95, Y:35.97, Z:116.18
[[ 9.57986439e-01 -1.36863409e-01 -2.52052356e-01  4.44949692e+02]
 [ 1.36992103e-01  9.90424111e-01 -1.71243932e-02  3.59677296e+01]
 [ 2.51982434e-01 -1.81242459e-02  9.67562073e-01  1.16175343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.88071405700003 meters
Centerline goodness : 0.997696 with order 1
Centerline is valid?  [True, True]
Translation: X:445.01, Y:35.97, Z:116.19
[[ 9.58028597e-01 -1.36564161e-01 -2.52054435e-01  4.45008350e+02]
 [ 1.36690743e-01  9.90466276e-01 -1.70937507e-02  3.59719604e+01]
 [ 2.51985811e-01 -1.80772059e-02  9.67562073e-01  1.16191063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 457.94071405700004 meters
Centerline goodness : 0.997697 with order 1
Centerline is valid?  [True, True]
Translation: X:445.07, Y:35.98, Z:116.21
[[ 9.57967741e-01 -1.36989834e-01 -2.52054739e-01  4.45066535e+02]
 [ 1.37132006e-01  9.90405357e-01 -1.70892555e-02  3.59761488e+01]
 [ 2.51977418e-01 -1.81938165e-02  9.67562073e-01  1.16207044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.00071405700004 meters
Centerline goodness : 0.997907 with order 1
Centerline is valid?  [True, True]
Translation: X:445.12, Y:35.98, Z:116.22
[[ 9.57542580e-01 -1.39930204e-01 -2.52055043e-01  4.45124855e+02]
 [ 1.40173133e-01  9.89979597e-01 -1.70847748e-02  3.59808007e+01]
 [ 2.51920026e-01 -1.89719457e-02  9.67562073e-01  1.16222517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.06071405700004 meters
Centerline goodness : 0.997405 with order 1
Centerline is valid?  [True, True]
Translation: X:445.18, Y:35.99, Z:116.24
[[ 9.56939930e-01 -1.43993700e-01 -2.52055122e-01  4.45184022e+02]
 [ 1.44374625e-01  9.89375620e-01 -1.70836119e-02  3.59852082e+01]
 [ 2.51837125e-01 -2.00423735e-02  9.67562073e-01  1.16236661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.12071405700004 meters
Centerline goodness : 0.997926 with order 1
Centerline is valid?  [True, True]
Translation: X:445.24, Y:35.99, Z:116.25
[[ 9.56534430e-01 -1.46662400e-01 -2.52055598e-01  4.45242038e+02]
 [ 1.47135639e-01  9.88968904e-01 -1.70765854e-02  3.59888855e+01]
 [ 2.51779642e-01 -2.07520196e-02  9.67562073e-01  1.16252381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.18071405700005 meters
Centerline goodness : 0.997075 with order 1
Centerline is valid?  [True, True]
Translation: X:445.30, Y:35.99, Z:116.27
[[ 9.56330577e-01 -1.47986141e-01 -2.52055410e-01  4.45300297e+02]
 [ 1.48503545e-01  9.88764377e-01 -1.70793541e-02  3.59936134e+01]
 [ 2.51750918e-01 -2.10976134e-02  9.67562073e-01  1.16266753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.24071405700005 meters
Centerline goodness : 0.997281 with order 1
Centerline is valid?  [True, True]
Translation: X:445.36, Y:36.00, Z:116.28
[[ 9.56668191e-01 -1.45785302e-01 -2.52056777e-01  4.45358959e+02]
 [ 1.46233361e-01  9.89103022e-01 -1.70591620e-02  3.60002877e+01]
 [ 2.51797095e-01 -2.05391521e-02  9.67562074e-01  1.16282716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.30071405700005 meters
Centerline goodness : 0.997213 with order 1
Centerline is valid?  [True, True]
Translation: X:445.42, Y:36.01, Z:116.30
[[ 9.57421189e-01 -1.40754742e-01 -2.52057076e-01  4.45416959e+02]
 [ 1.41033464e-01  9.89857918e-01 -1.70547436e-02  3.60078460e+01]
 [ 2.51901228e-01 -1.92199097e-02  9.67562074e-01  1.16298697e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.36071405700005 meters
Centerline goodness : 0.997139 with order 1
Centerline is valid?  [True, True]
Translation: X:445.47, Y:36.02, Z:116.31
[[ 9.58343155e-01 -1.34334059e-01 -2.52057052e-01  4.45473555e+02]
 [ 1.34395260e-01  9.90781024e-01 -1.70551033e-02  3.60155803e+01]
 [ 2.52024425e-01 -1.75306313e-02  9.67562074e-01  1.16314343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.42071405700005 meters
Centerline goodness : 0.996534 with order 1
Centerline is valid?  [True, True]
Translation: X:445.53, Y:36.02, Z:116.33
[[ 9.59278138e-01 -1.27486617e-01 -2.52056773e-01  4.45530741e+02]
 [ 1.27315085e-01  9.91715611e-01 -1.70592128e-02  3.60239031e+01]
 [ 2.52143458e-01 -1.57260997e-02  9.67562074e-01  1.16333204e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.48071405700006 meters
Centerline goodness : 0.996710 with order 1
Centerline is valid?  [True, True]
Translation: X:445.59, Y:36.03, Z:116.35
[[ 9.60017956e-01 -1.21790534e-01 -2.52056721e-01  4.45589929e+02]
 [ 1.21426268e-01  9.92453837e-01 -1.70599899e-02  3.60315156e+01]
 [ 2.52232405e-01 -1.42284102e-02  9.67562074e-01  1.16350518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.54071405700006 meters
Centerline goodness : 0.996989 with order 1
Centerline is valid?  [True, True]
Translation: X:445.65, Y:36.04, Z:116.37
[[ 9.60563722e-01 -1.17406508e-01 -2.52057629e-01  4.45648290e+02]
 [ 1.16897681e-01  9.92997657e-01 -1.70465618e-02  3.60387991e+01]
 [ 2.52294012e-01 -1.30906436e-02  9.67562074e-01  1.16368398e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.60071405700006 meters
Centerline goodness : 0.996869 with order 1
Centerline is valid?  [True, True]
Translation: X:445.71, Y:36.05, Z:116.38
[[ 9.61026067e-01 -1.13559241e-01 -2.52057926e-01  4.45705540e+02]
 [ 1.12921692e-01  9.93457727e-01 -1.70421762e-02  3.60454810e+01]
 [ 2.52344190e-01 -1.20848320e-02  9.67562074e-01  1.16384678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.66071405700006 meters
Centerline goodness : 0.996870 with order 1
Centerline is valid?  [True, True]
Translation: X:445.76, Y:36.05, Z:116.40
[[ 9.61552012e-01 -1.09016191e-01 -2.52057926e-01  4.45763828e+02]
 [ 1.08225379e-01  9.93980297e-01 -1.70421762e-02  3.60513433e+01]
 [ 2.52398485e-01 -1.08921256e-02  9.67562074e-01  1.16400442e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.72071405700007 meters
Centerline goodness : 0.996799 with order 1
Centerline is valid?  [True, True]
Translation: X:445.82, Y:36.05, Z:116.42
[[ 9.61879159e-01 -1.06090879e-01 -2.52057948e-01  4.45824390e+02]
 [ 1.05201519e-01  9.94304891e-01 -1.70418411e-02  3.60543612e+01]
 [ 2.52430435e-01 -1.01246872e-02  9.67562074e-01  1.16415742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.78071405700007 meters
Centerline goodness : 0.997216 with order 1
Centerline is valid?  [True, True]
Translation: X:445.88, Y:36.06, Z:116.43
[[ 9.62145997e-01 -1.03639920e-01 -2.52059215e-01  4.45883620e+02]
 [ 1.02672857e-01  9.94569504e-01 -1.70230852e-02  3.60573822e+01]
 [ 2.52454680e-01 -9.50094659e-03  9.67562074e-01  1.16429332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.84071405700007 meters
Centerline goodness : 0.997217 with order 1
Centerline is valid?  [True, True]
Translation: X:445.94, Y:36.06, Z:116.45
[[ 9.62388918e-01 -1.01358607e-01 -2.52059525e-01  4.45941594e+02]
 [ 1.00315880e-01  9.94810080e-01 -1.70184884e-02  3.60604045e+01]
 [ 2.52476327e-01 -8.90716849e-03  9.67562074e-01  1.16446131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.9007140570001 meters
Centerline goodness : 0.996824 with order 1
Centerline is valid?  [True, True]
Translation: X:446.00, Y:36.06, Z:116.46
[[ 9.62400107e-01 -1.01252310e-01 -2.52059525e-01  4.46000722e+02]
 [ 1.00206002e-01  9.94821154e-01 -1.70184884e-02  3.60616581e+01]
 [ 2.52477309e-01 -8.87928228e-03  9.67562074e-01  1.16456909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 458.9607140570001 meters
Centerline goodness : 0.996299 with order 1
Centerline is valid?  [True, True]
Translation: X:446.06, Y:36.06, Z:116.48
[[ 9.61959094e-01 -1.05359843e-01 -2.52059525e-01  4.46058968e+02]
 [ 1.04451950e-01  9.94384313e-01 -1.70184884e-02  3.60612748e+01]
 [ 2.52437103e-01 -9.95701924e-03  9.67562074e-01  1.16478157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.0207140570001 meters
Centerline goodness : 0.996100 with order 1
Centerline is valid?  [True, True]
Translation: X:446.12, Y:36.06, Z:116.49
[[ 9.61285437e-01 -1.11337273e-01 -2.52060154e-01  4.46117963e+02]
 [ 1.10633386e-01  9.93715725e-01 -1.70091764e-02  3.60608741e+01]
 [ 2.52369894e-01 -1.15355948e-02  9.67562074e-01  1.16493628e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.0807140570001 meters
Centerline goodness : 0.995908 with order 1
Centerline is valid?  [True, True]
Translation: X:446.18, Y:36.06, Z:116.51
[[ 9.60597499e-01 -1.17124062e-01 -2.52060308e-01  4.46176591e+02]
 [ 1.16616081e-01  9.93031447e-01 -1.70068840e-02  3.60598804e+01]
 [ 2.52295728e-01 -1.30575151e-02  9.67562074e-01  1.16508433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.1407140570001 meters
Centerline goodness : 0.996117 with order 1
Centerline is valid?  [True, True]
Translation: X:446.24, Y:36.06, Z:116.52
[[ 9.59860147e-01 -1.23020561e-01 -2.52060390e-01  4.46235477e+02]
 [ 1.22712075e-01  9.92296606e-01 -1.70056685e-02  3.60580596e+01]
 [ 2.52210717e-01 -1.46077900e-02  9.67562074e-01  1.16524615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.2007140570001 meters
Centerline goodness : 0.996201 with order 1
Centerline is valid?  [True, True]
Translation: X:446.29, Y:36.06, Z:116.54
[[ 9.59705135e-01 -1.24223415e-01 -2.52060701e-01  4.46294260e+02]
 [ 1.23956786e-01  9.92141965e-01 -1.70010577e-02  3.60578679e+01]
 [ 2.52191929e-01 -1.49286320e-02  9.67562074e-01  1.16539937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.26071405700003 meters
Centerline goodness : 0.996926 with order 1
Centerline is valid?  [True, True]
Translation: X:446.35, Y:36.06, Z:116.55
[[ 9.59642473e-01 -1.24705997e-01 -2.52060981e-01  4.46354856e+02]
 [ 1.24456766e-01  9.92079442e-01 -1.69969075e-02  3.60601448e+01]
 [ 2.52184134e-01 -1.50597402e-02  9.67562074e-01  1.16554371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.32071405700003 meters
Centerline goodness : 0.996615 with order 1
Centerline is valid?  [True, True]
Translation: X:446.41, Y:36.06, Z:116.57
[[ 9.59737612e-01 -1.23962066e-01 -2.52065710e-01  4.46413821e+02]
 [ 1.23706116e-01  9.92174526e-01 -1.69265038e-02  3.60612013e+01]
 [ 2.52191420e-01 -1.49370677e-02  9.67562076e-01  1.16568574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.38071405700003 meters
Centerline goodness : 0.997207 with order 1
Centerline is valid?  [True, True]
Translation: X:446.47, Y:36.06, Z:116.58
[[ 9.59358163e-01 -1.26865255e-01 -2.52065710e-01  4.46473687e+02]
 [ 1.26707447e-01  9.91795703e-01 -1.69265038e-02  3.60621048e+01]
 [ 2.52145073e-01 -1.57000230e-02  9.67562076e-01  1.16580295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.44071405700004 meters
Centerline goodness : 0.997303 with order 1
Centerline is valid?  [True, True]
Translation: X:446.53, Y:36.07, Z:116.60
[[ 9.58804270e-01 -1.30985584e-01 -2.52065763e-01  4.46532592e+02]
 [ 1.30967342e-01  9.91242188e-01 -1.69257044e-02  3.60656540e+01]
 [ 2.52075242e-01 -1.67839453e-02  9.67562076e-01  1.16595620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.50071405700004 meters
Centerline goodness : 0.997353 with order 1
Centerline is valid?  [True, True]
Translation: X:446.59, Y:36.07, Z:116.61
[[ 9.58661684e-01 -1.32025038e-01 -2.52065795e-01  4.46592458e+02]
 [ 1.32042090e-01  9.91099603e-01 -1.69252252e-02  3.60701836e+01]
 [ 2.52056863e-01 -1.70577295e-02  9.67562076e-01  1.16611766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.56071405700004 meters
Centerline goodness : 0.997112 with order 1
Centerline is valid?  [True, True]
Translation: X:446.65, Y:36.08, Z:116.63
[[ 9.59014570e-01 -1.29434372e-01 -2.52067051e-01  4.46651142e+02]
 [ 1.29368679e-01  9.91452427e-01 -1.69065122e-02  3.60753553e+01]
 [ 2.52100773e-01 -1.63959897e-02  9.67562077e-01  1.16627461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.62071405700004 meters
Centerline goodness : 0.997330 with order 1
Centerline is valid?  [True, True]
Translation: X:446.71, Y:36.08, Z:116.64
[[ 9.59470557e-01 -1.26008521e-01 -2.52067657e-01  4.46709443e+02]
 [ 1.25829348e-01  9.91907985e-01 -1.68974622e-02  3.60821471e+01]
 [ 2.52157146e-01 -1.55048915e-02  9.67562077e-01  1.16643456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.68071405700005 meters
Centerline goodness : 0.997085 with order 1
Centerline is valid?  [True, True]
Translation: X:446.77, Y:36.09, Z:116.66
[[ 9.59883584e-01 -1.22822550e-01 -2.52067702e-01  4.46768187e+02]
 [ 1.22535867e-01  9.92320240e-01 -1.68967913e-02  3.60876117e+01]
 [ 2.52207190e-01 -1.46683819e-02  9.67562077e-01  1.16660297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.74071405700005 meters
Centerline goodness : 0.997568 with order 1
Centerline is valid?  [True, True]
Translation: X:446.83, Y:36.09, Z:116.67
[[ 9.60487659e-01 -1.18004287e-01 -2.52068334e-01  4.46826431e+02]
 [ 1.17557306e-01  9.92922503e-01 -1.68873650e-02  3.60940367e+01]
 [ 2.52277102e-01 -1.34123686e-02  9.67562077e-01  1.16674521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.80071405700005 meters
Centerline goodness : 0.996257 with order 1
Centerline is valid?  [True, True]
Translation: X:446.88, Y:36.10, Z:116.69
[[ 9.61265699e-01 -1.11489015e-01 -2.52068355e-01  4.46884042e+02]
 [ 1.10822204e-01  9.93696768e-01 -1.68870495e-02  3.61011888e+01]
 [ 2.52362230e-01 -1.17018291e-02  9.67562077e-01  1.16686454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.86071405700005 meters
Centerline goodness : 0.997136 with order 1
Centerline is valid?  [True, True]
Translation: X:446.94, Y:36.11, Z:116.70
[[ 9.61655995e-01 -1.08071446e-01 -2.52068068e-01  4.46942100e+02]
 [ 1.07288240e-01  9.94084461e-01 -1.68913333e-02  3.61065063e+01]
 [ 2.52402420e-01 -1.08002874e-02  9.67562077e-01  1.16701404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.92071405700005 meters
Centerline goodness : 0.996623 with order 1
Centerline is valid?  [True, True]
Translation: X:447.00, Y:36.11, Z:116.72
[[ 9.62331107e-01 -1.01884839e-01 -2.52068086e-01  4.46999438e+02]
 [ 1.00893173e-01  9.94753869e-01 -1.68910665e-02  3.61127336e+01]
 [ 2.52466647e-01 -9.17715038e-03  9.67562077e-01  1.16720368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 459.98071405700006 meters
Centerline goodness : 0.996283 with order 1
Centerline is valid?  [True, True]
Translation: X:447.06, Y:36.12, Z:116.74
[[ 9.62588673e-01 -9.94219668e-02 -2.52068086e-01  4.47057945e+02]
 [ 9.83473366e-02  9.95008791e-01 -1.68910665e-02  3.61168098e+01]
 [ 2.52489304e-01 -8.53107563e-03  9.67562077e-01  1.16737062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.04071405700006 meters
Centerline goodness : 0.996401 with order 1
Centerline is valid?  [True, True]
Translation: X:447.12, Y:36.12, Z:116.75
[[ 9.62590752e-01 -9.94010815e-02 -2.52068383e-01  4.47117666e+02]
 [ 9.83269080e-02  9.95010885e-01 -1.68866310e-02  3.61201903e+01]
 [ 2.52489334e-01 -8.53018984e-03  9.67562077e-01  1.16753820e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.10071405700006 meters
Centerline goodness : 0.996046 with order 1
Centerline is valid?  [True, True]
Translation: X:447.18, Y:36.12, Z:116.77
[[ 9.62282783e-01 -1.02336558e-01 -2.52069581e-01  4.47177320e+02]
 [ 1.01365956e-01  9.94706182e-01 -1.68687284e-02  3.61205413e+01]
 [ 2.52461458e-01 -9.31878707e-03  9.67562077e-01  1.16772249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.16071405700006 meters
Centerline goodness : 0.996148 with order 1
Centerline is valid?  [True, True]
Translation: X:447.24, Y:36.12, Z:116.78
[[ 9.61243900e-01 -1.11671314e-01 -2.52070790e-01  4.47238026e+02]
 [ 1.11020179e-01  9.93675287e-01 -1.68506430e-02  3.61170555e+01]
 [ 2.52358248e-01 -1.17873665e-02  9.67562077e-01  1.16784371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.22071405700007 meters
Centerline goodness : 0.997097 with order 1
Centerline is valid?  [True, True]
Translation: X:447.30, Y:36.12, Z:116.80
[[ 9.60735597e-01 -1.15961884e-01 -2.52071326e-01  4.47298131e+02]
 [ 1.15457654e-01  9.93169601e-01 -1.68426144e-02  3.61167736e+01]
 [ 2.52302680e-01 -1.29222647e-02  9.67562077e-01  1.16796151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.28071405700007 meters
Centerline goodness : 0.997236 with order 1
Centerline is valid?  [True, True]
Translation: X:447.36, Y:36.12, Z:116.81
[[ 9.60301602e-01 -1.19502016e-01 -2.52071619e-01  4.47357967e+02]
 [ 1.19118476e-01  9.92737258e-01 -1.68382341e-02  3.61160484e+01]
 [ 2.52253091e-01 -1.38566038e-02  9.67562077e-01  1.16809186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.34071405700007 meters
Centerline goodness : 0.997731 with order 1
Centerline is valid?  [True, True]
Translation: X:447.42, Y:36.12, Z:116.83
[[ 9.60624307e-01 -1.16879477e-01 -2.52071672e-01  4.47416281e+02]
 [ 1.16407580e-01  9.93058798e-01 -1.68374406e-02  3.61186052e+01]
 [ 2.52289943e-01 -1.31685987e-02  9.67562077e-01  1.16825492e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.4007140570001 meters
Centerline goodness : 0.997894 with order 1
Centerline is valid?  [True, True]
Translation: X:447.48, Y:36.12, Z:116.84
[[ 9.60830412e-01 -1.15172217e-01 -2.52071975e-01  4.47475256e+02]
 [ 1.14643872e-01  9.93264031e-01 -1.68328988e-02  3.61220857e+01]
 [ 2.52312709e-01 -1.27249461e-02  9.67562077e-01  1.16840845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.4607140570001 meters
Centerline goodness : 0.997643 with order 1
Centerline is valid?  [True, True]
Translation: X:447.53, Y:36.13, Z:116.86
[[ 9.60851316e-01 -1.14995720e-01 -2.52072874e-01  4.47534753e+02]
 [ 1.14464940e-01  9.93284896e-01 -1.68194368e-02  3.61258442e+01]
 [ 2.52314341e-01 -1.26925285e-02  9.67562077e-01  1.16857798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.5207140570001 meters
Centerline goodness : 0.997670 with order 1
Centerline is valid?  [True, True]
Translation: X:447.59, Y:36.13, Z:116.88
[[ 9.60627202e-01 -1.16851209e-01 -2.52073748e-01  4.47593187e+02]
 [ 1.16386502e-01  9.93061796e-01 -1.68063177e-02  3.61289666e+01]
 [ 2.52288648e-01 -1.31933760e-02  9.67562077e-01  1.16875074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.5807140570001 meters
Centerline goodness : 0.998474 with order 1
Centerline is valid?  [True, True]
Translation: X:447.65, Y:36.13, Z:116.89
[[ 9.59838927e-01 -1.23158571e-01 -2.52073799e-01  4.47651478e+02]
 [ 1.22907120e-01  9.92275876e-01 -1.68055575e-02  3.61293890e+01]
 [ 2.52196498e-01 -1.48510363e-02  9.67562077e-01  1.16892121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.6407140570001 meters
Centerline goodness : 0.997997 with order 1
Centerline is valid?  [True, True]
Translation: X:447.71, Y:36.13, Z:116.91
[[ 9.59154865e-01 -1.28375874e-01 -2.52074553e-01  4.47710632e+02]
 [ 1.28303765e-01  9.91592707e-01 -1.67942380e-02  3.61305982e+01]
 [ 2.52111264e-01 -1.62338391e-02  9.67562077e-01  1.16905552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.7007140570001 meters
Centerline goodness : 0.997958 with order 1
Centerline is valid?  [True, True]
Translation: X:447.77, Y:36.13, Z:116.92
[[ 9.58970004e-01 -1.29749491e-01 -2.52074596e-01  4.47771405e+02]
 [ 1.29724010e-01  9.91407916e-01 -1.67935904e-02  3.61342794e+01]
 [ 2.52087710e-01 -1.65955781e-02  9.67562077e-01  1.16920646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.76071405700003 meters
Centerline goodness : 0.997711 with order 1
Centerline is valid?  [True, True]
Translation: X:447.83, Y:36.14, Z:116.94
[[ 9.59073083e-01 -1.28982309e-01 -2.52076150e-01  4.47830912e+02]
 [ 1.28936993e-01  9.91510974e-01 -1.67702334e-02  3.61382813e+01]
 [ 2.52099333e-01 -1.64180612e-02  9.67562077e-01  1.16935916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.82071405700003 meters
Centerline goodness : 0.997725 with order 1
Centerline is valid?  [True, True]
Translation: X:447.89, Y:36.14, Z:116.95
[[ 9.59276633e-01 -1.27458408e-01 -2.52076767e-01  4.47890429e+02]
 [ 1.27363982e-01  9.91714418e-01 -1.67609587e-02  3.61442134e+01]
 [ 2.52124489e-01 -1.60271049e-02  9.67562078e-01  1.16950922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.88071405700003 meters
Centerline goodness : 0.997776 with order 1
Centerline is valid?  [True, True]
Translation: X:447.95, Y:36.15, Z:116.97
[[ 9.59295587e-01 -1.27313870e-01 -2.52077678e-01  4.47949081e+02]
 [ 1.27218145e-01  9.91733368e-01 -1.67472499e-02  3.61492348e+01]
 [ 2.52126002e-01 -1.60032917e-02  9.67562078e-01  1.16967283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 460.94071405700004 meters
Centerline goodness : 0.997775 with order 1
Centerline is valid?  [True, True]
Translation: X:448.01, Y:36.15, Z:116.99
[[ 9.58837937e-01 -1.30714188e-01 -2.52078583e-01  4.48007064e+02]
 [ 1.30737037e-01  9.91275851e-01 -1.67336192e-02  3.61525667e+01]
 [ 2.52066733e-01 -1.69111782e-02  9.67562078e-01  1.16985226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.00071405700004 meters
Centerline goodness : 0.997453 with order 1
Centerline is valid?  [True, True]
Translation: X:448.07, Y:36.16, Z:117.00
[[ 9.57823811e-01 -1.37948743e-01 -2.52078740e-01  4.48065952e+02]
 [ 1.38217087e-01  9.90260623e-01 -1.67312457e-02  3.61557029e+01]
 [ 2.51931705e-01 -1.88160036e-02  9.67562078e-01  1.17000159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.06071405700004 meters
Centerline goodness : 0.997894 with order 1
Centerline is valid?  [True, True]
Translation: X:448.13, Y:36.16, Z:117.01
[[ 9.56997025e-01 -1.43571742e-01 -2.52079052e-01  4.48125014e+02]
 [ 1.44031814e-01  9.89431685e-01 -1.67265517e-02  3.61575563e+01]
 [ 2.51816461e-01 -2.03001428e-02  9.67562078e-01  1.17013820e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.12071405700004 meters
Centerline goodness : 0.997645 with order 1
Centerline is valid?  [True, True]
Translation: X:448.18, Y:36.16, Z:117.03
[[ 9.56928746e-01 -1.44026039e-01 -2.52079104e-01  4.48184723e+02]
 [ 1.44501715e-01  9.89363181e-01 -1.67257634e-02  3.61615128e+01]
 [ 2.51806730e-01 -2.04204989e-02  9.67562078e-01  1.17026095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.18071405700005 meters
Centerline goodness : 0.997346 with order 1
Centerline is valid?  [True, True]
Translation: X:448.24, Y:36.17, Z:117.04
[[ 9.57689655e-01 -1.38875284e-01 -2.52079709e-01  4.48243361e+02]
 [ 1.39178831e-01  9.90126157e-01 -1.67166384e-02  3.61678658e+01]
 [ 2.51912242e-01 -1.90748074e-02  9.67562078e-01  1.17041043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.24071405700005 meters
Centerline goodness : 0.997241 with order 1
Centerline is valid?  [True, True]
Translation: X:448.30, Y:36.17, Z:117.06
[[ 9.58970533e-01 -1.29735615e-01 -2.52079724e-01  4.48300461e+02]
 [ 1.29729865e-01  9.91408455e-01 -1.67164114e-02  3.61749763e+01]
 [ 2.52082684e-01 -1.66717226e-02  9.67562078e-01  1.17057839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.30071405700005 meters
Centerline goodness : 0.996821 with order 1
Centerline is valid?  [True, True]
Translation: X:448.36, Y:36.18, Z:117.07
[[ 9.60095710e-01 -1.21127945e-01 -2.52079847e-01  4.48357545e+02]
 [ 1.20831696e-01  9.92532279e-01 -1.67145543e-02  3.61819682e+01]
 [ 2.52221985e-01 -1.44116636e-02  9.67562078e-01  1.17073688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.36071405700005 meters
Centerline goodness : 0.997473 with order 1
Centerline is valid?  [True, True]
Translation: X:448.42, Y:36.19, Z:117.09
[[ 9.60658352e-01 -1.16581519e-01 -2.52079910e-01  4.48415178e+02]
 [ 1.16131967e-01  9.93093159e-01 -1.67136064e-02  3.61868451e+01]
 [ 2.52287332e-01 -1.32184702e-02  9.67562078e-01  1.17087957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.42071405700005 meters
Centerline goodness : 0.996974 with order 1
Centerline is valid?  [True, True]
Translation: X:448.48, Y:36.19, Z:117.10
[[ 9.60285751e-01 -1.19612216e-01 -2.52079738e-01  4.48475493e+02]
 [ 1.19264334e-01  9.92721808e-01 -1.67161977e-02  3.61906109e+01]
 [ 2.52244515e-01 -1.40117956e-02  9.67562078e-01  1.17102905e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.48071405700006 meters
Centerline goodness : 0.997372 with order 1
Centerline is valid?  [True, True]
Translation: X:448.53, Y:36.19, Z:117.12
[[ 9.59851007e-01 -1.23049714e-01 -2.52080962e-01  4.48534233e+02]
 [ 1.22822807e-01  9.92288136e-01 -1.66977196e-02  3.61941305e+01]
 [ 2.52191598e-01 -1.49339683e-02  9.67562078e-01  1.17118008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.54071405700006 meters
Centerline goodness : 0.997323 with order 1
Centerline is valid?  [True, True]
Translation: X:448.59, Y:36.20, Z:117.13
[[ 9.59657921e-01 -1.24546448e-01 -2.52081054e-01  4.48594579e+02]
 [ 1.24370488e-01  9.92095365e-01 -1.66963375e-02  3.61983168e+01]
 [ 2.52167915e-01 -1.53286712e-02  9.67562078e-01  1.17134629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.60071405700006 meters
Centerline goodness : 0.997982 with order 1
Centerline is valid?  [True, True]
Translation: X:448.65, Y:36.20, Z:117.15
[[ 9.59347648e-01 -1.26910536e-01 -2.52082935e-01  4.48652780e+02]
 [ 1.26821944e-01  9.91785449e-01 -1.66678859e-02  3.62035869e+01]
 [ 2.52127517e-01 -1.59793507e-02  9.67562078e-01  1.17150779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.66071405700006 meters
Centerline goodness : 0.996960 with order 1
Centerline is valid?  [True, True]
Translation: X:448.71, Y:36.21, Z:117.17
[[ 9.59446824e-01 -1.26158450e-01 -2.52082996e-01  4.48714336e+02]
 [ 1.26044668e-01  9.91884547e-01 -1.66669721e-02  3.62065090e+01]
 [ 2.52139907e-01 -1.57826441e-02  9.67562078e-01  1.17165607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.72071405700007 meters
Centerline goodness : 0.997485 with order 1
Centerline is valid?  [True, True]
Translation: X:448.77, Y:36.21, Z:117.18
[[ 9.59976246e-01 -1.22060772e-01 -2.52084858e-01  4.48772304e+02]
 [ 1.21815877e-01  9.92413242e-01 -1.66387557e-02  3.62112077e+01]
 [ 2.52203291e-01 -1.47351279e-02  9.67562079e-01  1.17182076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.78071405700007 meters
Centerline goodness : 0.997240 with order 1
Centerline is valid?  [True, True]
Translation: X:448.83, Y:36.21, Z:117.20
[[ 9.60639022e-01 -1.16729888e-01 -2.52084911e-01  4.48830499e+02]
 [ 1.16305142e-01  9.93074163e-01 -1.66379546e-02  3.62143572e+01]
 [ 2.52281158e-01 -1.33357030e-02  9.67562079e-01  1.17198039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.84071405700007 meters
Centerline goodness : 0.997235 with order 1
Centerline is valid?  [True, True]
Translation: X:448.89, Y:36.22, Z:117.21
[[ 9.61324310e-01 -1.10944885e-01 -2.52084915e-01  4.48889244e+02]
 [ 1.10324910e-01  9.93756306e-01 -1.66378913e-02  3.62156539e+01]
 [ 2.52356863e-01 -1.18168362e-02  9.67562079e-01  1.17212457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.9007140570001 meters
Centerline goodness : 0.997784 with order 1
Centerline is valid?  [True, True]
Translation: X:448.95, Y:36.22, Z:117.23
[[ 9.61702011e-01 -1.07621808e-01 -2.52084882e-01  4.48949235e+02]
 [ 1.06889616e-01  9.94131668e-01 -1.66383987e-02  3.62171864e+01]
 [ 2.52396219e-01 -1.09440749e-02  9.67562079e-01  1.17228917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 461.9607140570001 meters
Centerline goodness : 0.997787 with order 1
Centerline is valid?  [True, True]
Translation: X:449.01, Y:36.22, Z:117.25
[[ 9.61725959e-01 -1.07404690e-01 -2.52086120e-01  4.49009290e+02]
 [ 1.06670089e-01  9.94155561e-01 -1.66196220e-02  3.62196129e+01]
 [ 2.52397843e-01 -1.09065269e-02  9.67562079e-01  1.17245094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.0207140570001 meters
Centerline goodness : 0.997821 with order 1
Centerline is valid?  [True, True]
Translation: X:449.07, Y:36.22, Z:117.26
[[ 9.61645299e-01 -1.08121626e-01 -2.52087354e-01  4.49069342e+02]
 [ 1.07416104e-01  9.94075546e-01 -1.66008839e-02  3.62167160e+01]
 [ 2.52388788e-01 -1.11140794e-02  9.67562079e-01  1.17261554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.0807140570001 meters
Centerline goodness : 0.998242 with order 1
Centerline is valid?  [True, True]
Translation: X:449.13, Y:36.21, Z:117.28
[[ 9.61117435e-01 -1.12715475e-01 -2.52088273e-01  4.49127732e+02]
 [ 1.12168579e-01  9.93550746e-01 -1.65869152e-02  3.62113851e+01]
 [ 2.52332093e-01 -1.23344100e-02  9.67562079e-01  1.17277640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.1407140570001 meters
Centerline goodness : 0.998361 with order 1
Centerline is valid?  [True, True]
Translation: X:449.19, Y:36.21, Z:117.29
[[ 9.60532850e-01 -1.17593695e-01 -2.52088014e-01  4.49187265e+02]
 [ 1.17210446e-01  9.92968507e-01 -1.65908413e-02  3.62065234e+01]
 [ 2.52266438e-01 -1.36113004e-02  9.67562079e-01  1.17291490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.2007140570001 meters
Centerline goodness : 0.998252 with order 1
Centerline is valid?  [True, True]
Translation: X:449.25, Y:36.20, Z:117.31
[[ 9.59999636e-01 -1.21870034e-01 -2.52088067e-01  4.49246779e+02]
 [ 1.21631442e-01  9.92436680e-01 -1.65900437e-02  3.62041176e+01]
 [ 2.52203273e-01 -1.47353991e-02  9.67562079e-01  1.17306329e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.26071405700003 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:449.31, Y:36.20, Z:117.32
[[ 9.59711544e-01 -1.24117705e-01 -2.52088373e-01  4.49305075e+02]
 [ 1.23956288e-01  9.92149063e-01 -1.65853903e-02  3.62047519e+01]
 [ 2.52167784e-01 -1.53307485e-02  9.67562079e-01  1.17321379e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.32071405700003 meters
Centerline goodness : 0.998196 with order 1
Centerline is valid?  [True, True]
Translation: X:449.36, Y:36.20, Z:117.34
[[ 9.59325152e-01 -1.27069562e-01 -2.52088435e-01  4.49364238e+02]
 [ 1.27008181e-01  9.91763015e-01 -1.65844528e-02  3.62030048e+01]
 [ 2.52119365e-01 -1.61074109e-02  9.67562079e-01  1.17335221e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.38071405700003 meters
Centerline goodness : 0.998526 with order 1
Centerline is valid?  [True, True]
Translation: X:449.42, Y:36.21, Z:117.35
[[ 9.58931118e-01 -1.30009158e-01 -2.52088734e-01  4.49422515e+02]
 [ 1.30048386e-01  9.91369015e-01 -1.65799007e-02  3.62053530e+01]
 [ 2.52068499e-01 -1.68847503e-02  9.67562079e-01  1.17351283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.44071405700004 meters
Centerline goodness : 0.998572 with order 1
Centerline is valid?  [True, True]
Translation: X:449.48, Y:36.21, Z:117.37
[[ 9.58465510e-01 -1.33398367e-01 -2.52088757e-01  4.49480643e+02]
 [ 1.33552359e-01  9.90903066e-01 -1.65795577e-02  3.62070617e+01]
 [ 2.52007208e-01 -1.77761141e-02  9.67562079e-01  1.17368951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.50071405700004 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:449.54, Y:36.21, Z:117.39
[[ 9.58153683e-01 -1.35619418e-01 -2.52089059e-01  4.49539905e+02]
 [ 1.35849792e-01  9.90590786e-01 -1.65749650e-02  3.62090943e+01]
 [ 2.51964986e-01 -1.83648825e-02  9.67562079e-01  1.17385740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.56071405700004 meters
Centerline goodness : 0.998136 with order 1
Centerline is valid?  [True, True]
Translation: X:449.60, Y:36.21, Z:117.40
[[ 9.58021316e-01 -1.36549633e-01 -2.52089977e-01  4.49598817e+02]
 [ 1.36815158e-01  9.90458150e-01 -1.65609870e-02  3.62125791e+01]
 [ 2.51945969e-01 -1.86239515e-02  9.67562079e-01  1.17401027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.62071405700004 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:449.66, Y:36.22, Z:117.42
[[ 9.57867251e-01 -1.37624555e-01 -2.52090880e-01  4.49658042e+02]
 [ 1.37930077e-01  9.90303733e-01 -1.65472330e-02  3.62157978e+01]
 [ 2.51923845e-01 -1.89208620e-02  9.67562079e-01  1.17415998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.68071405700005 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:449.72, Y:36.22, Z:117.43
[[ 9.57591626e-01 -1.39528888e-01 -2.52091189e-01  4.49717763e+02]
 [ 1.39900140e-01  9.90027422e-01 -1.65425176e-02  3.62198437e+01]
 [ 2.51885349e-01 -1.94266163e-02  9.67562079e-01  1.17427538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.74071405700005 meters
Centerline goodness : 0.998133 with order 1
Centerline is valid?  [True, True]
Translation: X:449.78, Y:36.22, Z:117.44
[[ 9.57175405e-01 -1.42352387e-01 -2.52093320e-01  4.49775829e+02]
 [ 1.42827808e-01  9.89609841e-01 -1.65099889e-02  3.62243369e+01]
 [ 2.51824266e-01 -2.02029810e-02  9.67562080e-01  1.17443453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.80071405700005 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:449.84, Y:36.23, Z:117.46
[[ 9.56984392e-01 -1.43630668e-01 -2.52093444e-01  4.49835379e+02]
 [ 1.44149907e-01  9.89418156e-01 -1.65080842e-02  3.62286583e+01]
 [ 2.51796898e-01 -2.05412676e-02  9.67562080e-01  1.17456217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.86071405700005 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:449.90, Y:36.24, Z:117.47
[[ 9.57163433e-01 -1.42431039e-01 -2.52094350e-01  4.49895024e+02]
 [ 1.42913247e-01  9.89597769e-01 -1.64942384e-02  3.62351424e+01]
 [ 2.51821298e-01 -2.02399403e-02  9.67562080e-01  1.17474563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.92071405700005 meters
Centerline goodness : 0.998882 with order 1
Centerline is valid?  [True, True]
Translation: X:449.95, Y:36.24, Z:117.49
[[ 9.57411829e-01 -1.40749460e-01 -2.52095574e-01  4.49953883e+02]
 [ 1.41179592e-01  9.89846897e-01 -1.64755154e-02  3.62425516e+01]
 [ 2.51854942e-01 -1.98168969e-02  9.67562080e-01  1.17491922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 462.98071405700006 meters
Centerline goodness : 0.998974 with order 1
Centerline is valid?  [True, True]
Translation: X:450.01, Y:36.25, Z:117.51
[[ 9.57656241e-01 -1.39074588e-01 -2.52096774e-01  4.50011481e+02]
 [ 1.39452797e-01  9.90091956e-01 -1.64571301e-02  3.62488054e+01]
 [ 2.51887757e-01 -1.93953269e-02  9.67562080e-01  1.17509075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.04071405700006 meters
Centerline goodness : 0.998834 with order 1
Centerline is valid?  [True, True]
Translation: X:450.07, Y:36.26, Z:117.52
[[ 9.57985916e-01 -1.36785132e-01 -2.52096831e-01  4.50071192e+02]
 [ 1.37086038e-01  9.90422440e-01 -1.64562576e-02  3.62553711e+01]
 [ 2.51933330e-01 -1.87940927e-02  9.67562080e-01  1.17524161e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.10071405700006 meters
Centerline goodness : 0.999190 with order 1
Centerline is valid?  [True, True]
Translation: X:450.13, Y:36.26, Z:117.54
[[ 9.58331330e-01 -1.34342026e-01 -2.52097762e-01  4.50130322e+02]
 [ 1.34563961e-01  9.90768490e-01 -1.64419842e-02  3.62630160e+01]
 [ 2.51979369e-01 -1.81664048e-02  9.67562080e-01  1.17538463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.16071405700006 meters
Centerline goodness : 0.998897 with order 1
Centerline is valid?  [True, True]
Translation: X:450.19, Y:36.27, Z:117.55
[[ 9.58580646e-01 -1.32550764e-01 -2.52098077e-01  4.50188646e+02]
 [ 1.32713337e-01  9.91018158e-01 -1.64371633e-02  3.62699491e+01]
 [ 2.52012530e-01 -1.77004304e-02  9.67562080e-01  1.17552340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.22071405700007 meters
Centerline goodness : 0.998312 with order 1
Centerline is valid?  [True, True]
Translation: X:450.25, Y:36.28, Z:117.57
[[ 9.58998382e-01 -1.29493266e-01 -2.52098390e-01  4.50247414e+02]
 [ 1.29553656e-01  9.91436245e-01 -1.64323573e-02  3.62772804e+01]
 [ 2.52067361e-01 -1.69016641e-02  9.67562080e-01  1.17566391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.28071405700007 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:450.30, Y:36.29, Z:117.58
[[ 9.59735323e-01 -1.23912699e-01 -2.52098696e-01  4.50304890e+02]
 [ 1.23785632e-01  9.92172994e-01 -1.64276541e-02  3.62854733e+01]
 [ 2.52161113e-01 -1.54399966e-02  9.67562080e-01  1.17579908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.34071405700007 meters
Centerline goodness : 0.998053 with order 1
Centerline is valid?  [True, True]
Translation: X:450.36, Y:36.29, Z:117.60
[[ 9.60336482e-01 -1.19164782e-01 -2.52098388e-01  4.50362036e+02]
 [ 1.18876055e-01  9.92773116e-01 -1.64323909e-02  3.62925388e+01]
 [ 2.52234664e-01 -1.41878373e-02  9.67562080e-01  1.17598290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.4007140570001 meters
Centerline goodness : 0.997846 with order 1
Centerline is valid?  [True, True]
Translation: X:450.42, Y:36.30, Z:117.62
[[ 9.60553492e-01 -1.17402695e-01 -2.52098386e-01  4.50421678e+02]
 [ 1.17054455e-01  9.92989542e-01 -1.64324083e-02  3.62988405e+01]
 [ 2.52260270e-01 -1.37250319e-02  9.67562080e-01  1.17615645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.4607140570001 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:450.48, Y:36.30, Z:117.63
[[ 9.60314707e-01 -1.19337600e-01 -2.52099585e-01  4.50481741e+02]
 [ 1.19059522e-01  9.92751434e-01 -1.64140056e-02  3.63029740e+01]
 [ 2.52231032e-01 -1.42522450e-02  9.67562081e-01  1.17631330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.5207140570001 meters
Centerline goodness : 0.997978 with order 1
Centerline is valid?  [True, True]
Translation: X:450.54, Y:36.31, Z:117.65
[[ 9.59638313e-01 -1.24657493e-01 -2.52100808e-01  4.50539795e+02]
 [ 1.24564094e-01  9.92076098e-01 -1.63951969e-02  3.63074855e+01]
 [ 2.52146970e-01 -1.56692496e-02  9.67562081e-01  1.17645028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.5807140570001 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:450.60, Y:36.31, Z:117.66
[[ 9.58975371e-01 -1.29658865e-01 -2.52100808e-01  4.50598324e+02]
 [ 1.29734581e-01  9.91413201e-01 -1.63951968e-02  3.63117551e+01]
 [ 2.52061852e-01 -1.69836028e-02  9.67562081e-01  1.17659401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.6407140570001 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:450.66, Y:36.32, Z:117.67
[[ 9.58524101e-01 -1.32953683e-01 -2.52100906e-01  4.50657924e+02]
 [ 1.33141267e-01  9.90961478e-01 -1.63936946e-02  3.63164140e+01]
 [ 2.52001888e-01 -1.78512825e-02  9.67562081e-01  1.17674655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.7007140570001 meters
Centerline goodness : 0.998613 with order 1
Centerline is valid?  [True, True]
Translation: X:450.72, Y:36.32, Z:117.69
[[ 9.58330742e-01 -1.34338673e-01 -2.52101784e-01  4.50717550e+02]
 [ 1.34576666e-01  9.90767788e-01 -1.63801819e-02  3.63235802e+01]
 [ 2.51974818e-01 -1.82293857e-02  9.67562081e-01  1.17690033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.76071405700003 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:450.78, Y:36.33, Z:117.70
[[ 9.57852394e-01 -1.37704736e-01 -2.52103546e-01  4.50775645e+02]
 [ 1.38063797e-01  9.90288325e-01 -1.63530186e-02  3.63284380e+01]
 [ 2.51907086e-01 -1.91425946e-02  9.67562081e-01  1.17702870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.82071405700003 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:450.83, Y:36.33, Z:117.72
[[ 9.57474038e-01 -1.40311758e-01 -2.52103308e-01  4.50834319e+02]
 [ 1.40758159e-01  9.89908885e-01 -1.63566829e-02  3.63339537e+01]
 [ 2.51854339e-01 -1.98244982e-02  9.67562081e-01  1.17718927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.88071405700003 meters
Centerline goodness : 0.997970 with order 1
Centerline is valid?  [True, True]
Translation: X:450.89, Y:36.34, Z:117.74
[[ 9.57100462e-01 -1.42837269e-01 -2.52103589e-01  4.50892660e+02]
 [ 1.43370370e-01  9.89534000e-01 -1.63523503e-02  3.63397967e+01]
 [ 2.51800798e-01 -2.04933429e-02  9.67562081e-01  1.17735567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 463.94071405700004 meters
Centerline goodness : 0.997400 with order 1
Centerline is valid?  [True, True]
Translation: X:450.95, Y:36.34, Z:117.75
[[ 9.56568344e-01 -1.46357929e-01 -2.52103867e-01  4.50951153e+02]
 [ 1.47011487e-01  9.88999678e-01 -1.63480612e-02  3.63439907e+01]
 [ 2.51723312e-01 -2.14241265e-02  9.67562081e-01  1.17750647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.00071405700004 meters
Centerline goodness : 0.997806 with order 1
Centerline is valid?  [True, True]
Translation: X:451.01, Y:36.35, Z:117.77
[[ 9.56151990e-01 -1.49053449e-01 -2.52104030e-01  4.51009625e+02]
 [ 1.49799071e-01  9.88581338e-01 -1.63455432e-02  3.63490237e+01]
 [ 2.51661699e-01 -2.21361260e-02  9.67562081e-01  1.17766733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.06071405700004 meters
Centerline goodness : 0.997487 with order 1
Centerline is valid?  [True, True]
Translation: X:451.07, Y:36.36, Z:117.78
[[ 9.55959021e-01 -1.50286006e-01 -2.52104081e-01  4.51070584e+02]
 [ 1.51073639e-01  9.88387376e-01 -1.63447680e-02  3.63563437e+01]
 [ 2.51632881e-01 -2.24613525e-02  9.67562081e-01  1.17782749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.12071405700004 meters
Centerline goodness : 0.998106 with order 1
Centerline is valid?  [True, True]
Translation: X:451.13, Y:36.36, Z:117.80
[[ 9.56252404e-01 -1.48404789e-01 -2.52105848e-01  4.51130202e+02]
 [ 1.49135758e-01  9.88682085e-01 -1.63174674e-02  3.63623015e+01]
 [ 2.51674126e-01 -2.19943792e-02  9.67562082e-01  1.17799871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.18071405700005 meters
Centerline goodness : 0.996869 with order 1
Centerline is valid?  [True, True]
Translation: X:451.19, Y:36.37, Z:117.82
[[ 9.56854171e-01 -1.44471899e-01 -2.52107052e-01  4.51187864e+02]
 [ 1.45074400e-01  9.89286493e-01 -1.62988458e-02  3.63708803e+01]
 [ 2.51760826e-01 -2.09786607e-02  9.67562082e-01  1.17816295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.24071405700005 meters
Centerline goodness : 0.996943 with order 1
Centerline is valid?  [True, True]
Translation: X:451.25, Y:36.38, Z:117.83
[[ 9.57605773e-01 -1.39403092e-01 -2.52107044e-01  4.51246014e+02]
 [ 1.39833815e-01  9.90040831e-01 -1.62989682e-02  3.63778295e+01]
 [ 2.51868394e-01 -1.96451037e-02  9.67562082e-01  1.17833567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.30071405700005 meters
Centerline goodness : 0.996782 with order 1
Centerline is valid?  [True, True]
Translation: X:451.30, Y:36.38, Z:117.85
[[ 9.58483454e-01 -1.33234264e-01 -2.52107316e-01  4.51304348e+02]
 [ 1.33457234e-01  9.90920606e-01 -1.62947539e-02  3.63841496e+01]
 [ 2.51989354e-01 -1.80272932e-02  9.67562082e-01  1.17849143e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.36071405700005 meters
Centerline goodness : 0.996462 with order 1
Centerline is valid?  [True, True]
Translation: X:451.36, Y:36.39, Z:117.87
[[ 9.59364712e-01 -1.26732751e-01 -2.52107436e-01  4.51362501e+02]
 [ 1.26736280e-01  9.91802630e-01 -1.62928987e-02  3.63895214e+01]
 [ 2.52105662e-01 -1.63203265e-02  9.67562082e-01  1.17866022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.42071405700005 meters
Centerline goodness : 0.996779 with order 1
Centerline is valid?  [True, True]
Translation: X:451.42, Y:36.39, Z:117.88
[[ 9.60144754e-01 -1.20680958e-01 -2.52107433e-01  4.51420930e+02]
 [ 1.20479939e-01  9.92582049e-01 -1.62929399e-02  3.63929121e+01]
 [ 2.52203560e-01 -1.47303074e-02  9.67562082e-01  1.17880217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.48071405700006 meters
Centerline goodness : 0.996721 with order 1
Centerline is valid?  [True, True]
Translation: X:451.48, Y:36.40, Z:117.89
[[ 9.60720793e-01 -1.16006374e-01 -2.52107276e-01  4.51478698e+02]
 [ 1.15646843e-01  9.93156719e-01 -1.62953763e-02  3.63966756e+01]
 [ 2.52272402e-01 -1.35001037e-02  9.67562082e-01  1.17893757e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.54071405700006 meters
Centerline goodness : 0.996747 with order 1
Centerline is valid?  [True, True]
Translation: X:451.54, Y:36.40, Z:117.91
[[ 9.60988678e-01 -1.13766511e-01 -2.52107006e-01  4.51537708e+02]
 [ 1.13330277e-01  9.93423662e-01 -1.62995519e-02  3.63988546e+01]
 [ 2.52303408e-01 -1.29076719e-02  9.67562082e-01  1.17912546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.60071405700006 meters
Centerline goodness : 0.996760 with order 1
Centerline is valid?  [True, True]
Translation: X:451.60, Y:36.40, Z:117.93
[[ 9.61062280e-01 -1.13141012e-01 -2.52107923e-01  4.51596377e+02]
 [ 1.12687383e-01  9.93497026e-01 -1.62853495e-02  3.64010640e+01]
 [ 2.52311013e-01 -1.27581469e-02  9.67562082e-01  1.17927211e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.66071405700006 meters
Centerline goodness : 0.996253 with order 1
Centerline is valid?  [True, True]
Translation: X:451.65, Y:36.40, Z:117.94
[[ 9.60849654e-01 -1.14932096e-01 -2.52108223e-01  4.51654919e+02]
 [ 1.14540135e-01  9.93285204e-01 -1.62807128e-02  3.64031024e+01]
 [ 2.52286544e-01 -1.32331926e-02  9.67562082e-01  1.17943999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.72071405700007 meters
Centerline goodness : 0.996378 with order 1
Centerline is valid?  [True, True]
Translation: X:451.71, Y:36.40, Z:117.96
[[ 9.60529046e-01 -1.17580790e-01 -2.52108526e-01  4.51714602e+02]
 [ 1.17279486e-01  9.92965565e-01 -1.62760166e-02  3.64034563e+01]
 [ 2.52248832e-01 -1.39335716e-02  9.67562082e-01  1.17958019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.78071405700007 meters
Centerline goodness : 0.996296 with order 1
Centerline is valid?  [True, True]
Translation: X:451.77, Y:36.40, Z:117.98
[[ 9.60121037e-01 -1.20863115e-01 -2.52110494e-01  4.51773928e+02]
 [ 1.20680668e-01  9.92558442e-01 -1.62454836e-02  3.64047588e+01]
 [ 2.52197878e-01 -1.48272323e-02  9.67562082e-01  1.17975254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.84071405700007 meters
Centerline goodness : 0.996475 with order 1
Centerline is valid?  [True, True]
Translation: X:451.83, Y:36.41, Z:117.99
[[ 9.59711567e-01 -1.24068593e-01 -2.52112460e-01  4.51832649e+02]
 [ 1.24002465e-01  9.92149417e-01 -1.62149176e-02  3.64054815e+01]
 [ 2.52144992e-01 -1.57009224e-02  9.67562083e-01  1.17990152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.9007140570001 meters
Centerline goodness : 0.996608 with order 1
Centerline is valid?  [True, True]
Translation: X:451.89, Y:36.41, Z:118.00
[[ 9.59131050e-01 -1.28479255e-01 -2.52112496e-01  4.51892263e+02]
 [ 1.28562398e-01  9.91568860e-01 -1.62143506e-02  3.64060257e+01]
 [ 2.52070108e-01 -1.68605001e-02  9.67562083e-01  1.18004072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 464.9607140570001 meters
Centerline goodness : 0.997245 with order 1
Centerline is valid?  [True, True]
Translation: X:451.95, Y:36.41, Z:118.02
[[ 9.58255152e-01 -1.34856232e-01 -2.52112791e-01  4.51952270e+02]
 [ 1.35156341e-01  9.90691681e-01 -1.62097574e-02  3.64063687e+01]
 [ 2.51952032e-01 -1.85415589e-02  9.67562083e-01  1.18017660e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.0207140570001 meters
Centerline goodness : 0.997616 with order 1
Centerline is valid?  [True, True]
Translation: X:452.01, Y:36.41, Z:118.03
[[ 9.57933568e-01 -1.37120969e-01 -2.52113307e-01  4.52012545e+02]
 [ 1.37499851e-01  9.90369272e-01 -1.62017318e-02  3.64089090e+01]
 [ 2.51906870e-01 -1.91453594e-02  9.67562083e-01  1.18032341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.0807140570001 meters
Centerline goodness : 0.997031 with order 1
Centerline is valid?  [True, True]
Translation: X:452.07, Y:36.41, Z:118.05
[[ 9.57488669e-01 -1.40191774e-01 -2.52114489e-01  4.52071662e+02]
 [ 1.40679470e-01  9.89922920e-01 -1.61833280e-02  3.64129415e+01]
 [ 2.51842680e-01 -1.99719794e-02  9.67562083e-01  1.18048661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.1407140570001 meters
Centerline goodness : 0.997436 with order 1
Centerline is valid?  [True, True]
Translation: X:452.13, Y:36.42, Z:118.06
[[ 9.57061327e-01 -1.43079148e-01 -2.52115001e-01  4.52130869e+02]
 [ 1.43666762e-01  9.89493921e-01 -1.61753370e-02  3.64166948e+01]
 [ 2.51780615e-01 -2.07397565e-02  9.67562083e-01  1.18064005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.2007140570001 meters
Centerline goodness : 0.996978 with order 1
Centerline is valid?  [True, True]
Translation: X:452.19, Y:36.42, Z:118.08
[[ 9.56718814e-01 -1.45350749e-01 -2.52115592e-01  4.52188898e+02]
 [ 1.46017762e-01  9.89149872e-01 -1.61661322e-02  3.64223712e+01]
 [ 2.51729864e-01 -2.13469117e-02  9.67562083e-01  1.18081451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.26071405700003 meters
Centerline goodness : 0.997041 with order 1
Centerline is valid?  [True, True]
Translation: X:452.25, Y:36.43, Z:118.10
[[ 9.56864695e-01 -1.44386949e-01 -2.52115775e-01  4.52246952e+02]
 [ 1.45022045e-01  9.89296394e-01 -1.61632633e-02  3.64293036e+01]
 [ 2.51750992e-01 -2.10962892e-02  9.67562083e-01  1.18098542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.32071405700003 meters
Centerline goodness : 0.996451 with order 1
Centerline is valid?  [True, True]
Translation: X:452.31, Y:36.44, Z:118.11
[[ 9.57030568e-01 -1.43279439e-01 -2.52118018e-01  4.52305505e+02]
 [ 1.43886172e-01  9.89462809e-01 -1.61282038e-02  3.64361333e+01]
 [ 2.51772243e-01 -2.08411125e-02  9.67562084e-01  1.18113832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.38071405700003 meters
Centerline goodness : 0.996461 with order 1
Centerline is valid?  [True, True]
Translation: X:452.36, Y:36.44, Z:118.13
[[ 9.56900249e-01 -1.44146703e-01 -2.52118308e-01  4.52363554e+02]
 [ 1.44784013e-01  9.89331904e-01 -1.61236788e-02  3.64411764e+01]
 [ 2.51752861e-01 -2.10739480e-02  9.67562084e-01  1.18126362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.44071405700004 meters
Centerline goodness : 0.996796 with order 1
Centerline is valid?  [True, True]
Translation: X:452.42, Y:36.45, Z:118.14
[[ 9.56561643e-01 -1.46376856e-01 -2.52118305e-01  4.52423354e+02]
 [ 1.47089751e-01  9.88991724e-01 -1.61237252e-02  3.64463329e+01]
 [ 2.51703057e-01 -2.16606815e-02  9.67562084e-01  1.18139791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.50071405700004 meters
Centerline goodness : 0.996640 with order 1
Centerline is valid?  [True, True]
Translation: X:452.48, Y:36.45, Z:118.15
[[ 9.56192059e-01 -1.48771043e-01 -2.52118867e-01  4.52482747e+02]
 [ 1.49567422e-01  9.88620198e-01 -1.61149275e-02  3.64514721e+01]
 [ 2.51647239e-01 -2.22998032e-02  9.67562084e-01  1.18154736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.56071405700004 meters
Centerline goodness : 0.997006 with order 1
Centerline is valid?  [True, True]
Translation: X:452.54, Y:36.46, Z:118.17
[[ 9.55870295e-01 -1.50823641e-01 -2.52119432e-01  4.52540554e+02]
 [ 1.51691952e-01  9.88296588e-01 -1.61060921e-02  3.64561611e+01]
 [ 2.51597953e-01 -2.28491537e-02  9.67562084e-01  1.18167498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.62071405700004 meters
Centerline goodness : 0.996932 with order 1
Centerline is valid?  [True, True]
Translation: X:452.60, Y:36.46, Z:118.18
[[ 9.55667749e-01 -1.52102142e-01 -2.52119201e-01  4.52599851e+02]
 [ 1.53012883e-01  9.88092878e-01 -1.61097017e-02  3.64607814e+01]
 [ 2.51567507e-01 -2.31819635e-02  9.67562084e-01  1.18184907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.68071405700005 meters
Centerline goodness : 0.996327 with order 1
Centerline is valid?  [True, True]
Translation: X:452.66, Y:36.47, Z:118.20
[[ 9.55540476e-01 -1.52898175e-01 -2.52120104e-01  4.52658519e+02]
 [ 1.53839627e-01  9.87964727e-01 -1.60955575e-02  3.64661143e+01]
 [ 2.51546751e-01 -2.34061062e-02  9.67562084e-01  1.18201533e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.74071405700005 meters
Centerline goodness : 0.996764 with order 1
Centerline is valid?  [True, True]
Translation: X:452.72, Y:36.47, Z:118.22
[[ 9.55557357e-01 -1.52791873e-01 -2.52120570e-01  4.52719588e+02]
 [ 1.53731629e-01  9.87981657e-01 -1.60882494e-02  3.64702233e+01]
 [ 2.51548653e-01 -2.33856609e-02  9.67562084e-01  1.18216954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.80071405700005 meters
Centerline goodness : 0.996823 with order 1
Centerline is valid?  [True, True]
Translation: X:452.78, Y:36.47, Z:118.23
[[ 9.55589323e-01 -1.52583926e-01 -2.52125349e-01  4.52779244e+02]
 [ 1.53536303e-01  9.88013252e-01 -1.60130252e-02  3.64737099e+01]
 [ 2.51546516e-01 -2.34085180e-02  9.67562087e-01  1.18233729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.86071405700005 meters
Centerline goodness : 0.996777 with order 1
Centerline is valid?  [True, True]
Translation: X:452.84, Y:36.48, Z:118.25
[[ 9.55464995e-01 -1.53353787e-01 -2.52129448e-01  4.52839699e+02]
 [ 1.54349235e-01  9.87887629e-01 -1.59482291e-02  3.64758900e+01]
 [ 2.51521284e-01 -2.36780127e-02  9.67562089e-01  1.18251061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.92071405700005 meters
Centerline goodness : 0.996831 with order 1
Centerline is valid?  [True, True]
Translation: X:452.90, Y:36.48, Z:118.27
[[ 9.55254855e-01 -1.54649712e-01 -2.52134150e-01  4.52898944e+02]
 [ 1.55708669e-01  9.87675473e-01 -1.58735546e-02  3.64772446e+01]
 [ 2.51481556e-01 -2.40961828e-02  9.67562091e-01  1.18265111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 465.98071405700006 meters
Centerline goodness : 0.996959 with order 1
Centerline is valid?  [True, True]
Translation: X:452.96, Y:36.48, Z:118.28
[[ 9.55125559e-01 -1.55445310e-01 -2.52134730e-01  4.52959673e+02]
 [ 1.56533681e-01  9.87545204e-01 -1.58643382e-02  3.64781162e+01]
 [ 2.51460480e-01 -2.43151425e-02  9.67562091e-01  1.18276145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.04071405700006 meters
Centerline goodness : 0.997264 with order 1
Centerline is valid?  [True, True]
Translation: X:453.02, Y:36.48, Z:118.29
[[ 9.55200619e-01 -1.54977270e-01 -2.52138499e-01  4.53020124e+02]
 [ 1.56065478e-01  9.87620268e-01 -1.58042181e-02  3.64814977e+01]
 [ 2.51466386e-01 -2.42539164e-02  9.67562093e-01  1.18292313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.10071405700006 meters
Centerline goodness : 0.996701 with order 1
Centerline is valid?  [True, True]
Translation: X:453.08, Y:36.48, Z:118.31
[[ 9.55620562e-01 -1.52364022e-01 -2.52139935e-01  4.53078239e+02]
 [ 1.53369552e-01  9.88042880e-01 -1.57812735e-02  3.64845671e+01]
 [ 2.51529565e-01 -2.35896795e-02  9.67562093e-01  1.18308258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.16071405700006 meters
Centerline goodness : 0.996843 with order 1
Centerline is valid?  [True, True]
Translation: X:453.14, Y:36.49, Z:118.32
[[ 9.56096564e-01 -1.49348076e-01 -2.52139868e-01  4.53136150e+02]
 [ 1.50251024e-01  9.88521900e-01 -1.57823371e-02  3.64880218e+01]
 [ 2.51602843e-01 -2.27948351e-02  9.67562094e-01  1.18322890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.22071405700007 meters
Centerline goodness : 0.997100 with order 1
Centerline is valid?  [True, True]
Translation: X:453.20, Y:36.49, Z:118.34
[[ 9.56484441e-01 -1.46843502e-01 -2.52139843e-01  4.53195136e+02]
 [ 1.47661416e-01  9.88912034e-01 -1.57827455e-02  3.64917640e+01]
 [ 2.51661718e-01 -2.21353758e-02  9.67562094e-01  1.18339417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.28071405700007 meters
Centerline goodness : 0.996520 with order 1
Centerline is valid?  [True, True]
Translation: X:453.25, Y:36.49, Z:118.36
[[ 9.56791367e-01 -1.44829221e-01 -2.52140393e-01  4.53253465e+02]
 [ 1.45581156e-01  9.89220557e-01 -1.57739453e-02  3.64946424e+01]
 [ 2.51706988e-01 -2.16145153e-02  9.67562094e-01  1.18355083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.34071405700007 meters
Centerline goodness : 0.996773 with order 1
Centerline is valid?  [True, True]
Translation: X:453.31, Y:36.50, Z:118.37
[[ 9.56999553e-01 -1.43446793e-01 -2.52140583e-01  4.53313090e+02]
 [ 1.44152671e-01  9.89429778e-01 -1.57709118e-02  3.64989944e+01]
 [ 2.51737688e-01 -2.12539830e-02  9.67562094e-01  1.18369073e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.4007140570001 meters
Centerline goodness : 0.996490 with order 1
Centerline is valid?  [True, True]
Translation: X:453.37, Y:36.50, Z:118.38
[[ 9.57000322e-01 -1.43440635e-01 -2.52141166e-01  4.53373460e+02]
 [ 1.44148743e-01  9.89430499e-01 -1.57615908e-02  3.65027571e+01]
 [ 2.51737012e-01 -2.12619846e-02  9.67562094e-01  1.18383157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.4607140570001 meters
Centerline goodness : 0.996577 with order 1
Centerline is valid?  [True, True]
Translation: X:453.43, Y:36.51, Z:118.40
[[ 9.57052093e-01 -1.43092786e-01 -2.52142312e-01  4.53433050e+02]
 [ 1.43793909e-01  9.89482422e-01 -1.57432326e-02  3.65071542e+01]
 [ 2.51743128e-01 -2.11894349e-02  9.67562094e-01  1.18397410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.5207140570001 meters
Centerline goodness : 0.996662 with order 1
Centerline is valid?  [True, True]
Translation: X:453.49, Y:36.51, Z:118.41
[[ 9.57510091e-01 -1.39994253e-01 -2.52142887e-01  4.53490928e+02]
 [ 1.40592813e-01  9.89942474e-01 -1.57340123e-02  3.65135801e+01]
 [ 2.51809625e-01 -2.03840023e-02  9.67562094e-01  1.18412727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.5807140570001 meters
Centerline goodness : 0.996327 with order 1
Centerline is valid?  [True, True]
Translation: X:453.55, Y:36.52, Z:118.43
[[ 9.58255416e-01 -1.34798043e-01 -2.52142908e-01  4.53548638e+02]
 [ 1.35220748e-01  9.90690568e-01 -1.57336815e-02  3.65191090e+01]
 [ 2.51916470e-01 -1.90180670e-02  9.67562094e-01  1.18429065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.6407140570001 meters
Centerline goodness : 0.996259 with order 1
Centerline is valid?  [True, True]
Translation: X:453.61, Y:36.53, Z:118.45
[[ 9.59119227e-01 -1.28507833e-01 -2.52142908e-01  4.53606206e+02]
 [ 1.28717715e-01  9.91556454e-01 -1.57336815e-02  3.65265438e+01]
 [ 2.52035829e-01 -1.73647824e-02  9.67562094e-01  1.18447471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.7007140570001 meters
Centerline goodness : 0.996394 with order 1
Centerline is valid?  [True, True]
Translation: X:453.67, Y:36.53, Z:118.46
[[ 9.59719516e-01 -1.23945212e-01 -2.52142888e-01  4.53665090e+02]
 [ 1.24000750e-01  9.92157374e-01 -1.57340023e-02  3.65317483e+01]
 [ 2.52115580e-01 -1.61656781e-02  9.67562094e-01  1.18462515e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.76071405700003 meters
Centerline goodness : 0.996391 with order 1
Centerline is valid?  [True, True]
Translation: X:453.73, Y:36.53, Z:118.48
[[ 9.59789292e-01 -1.23403589e-01 -2.52142953e-01  4.53726293e+02]
 [ 1.23441096e-01  9.92227177e-01 -1.57329523e-02  3.65346646e+01]
 [ 2.52124593e-01 -1.60244833e-02  9.67562094e-01  1.18475474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.82071405700003 meters
Centerline goodness : 0.996646 with order 1
Centerline is valid?  [True, True]
Translation: X:453.79, Y:36.54, Z:118.49
[[ 9.59550082e-01 -1.25247678e-01 -2.52144123e-01  4.53787411e+02]
 [ 1.25352425e-01  9.91987819e-01 -1.57141920e-02  3.65368619e+01]
 [ 2.52092064e-01 -1.65283230e-02  9.67562094e-01  1.18486708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.88071405700003 meters
Centerline goodness : 0.996669 with order 1
Centerline is valid?  [True, True]
Translation: X:453.85, Y:36.54, Z:118.50
[[ 9.59453285e-01 -1.25984737e-01 -2.52145276e-01  4.53846289e+02]
 [ 1.26119248e-01  9.91890912e-01 -1.56956687e-02  3.65400843e+01]
 [ 2.52078022e-01 -1.67411116e-02  9.67562094e-01  1.18501208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 466.94071405700004 meters
Centerline goodness : 0.996790 with order 1
Centerline is valid?  [True, True]
Translation: X:453.91, Y:36.55, Z:118.52
[[ 9.59522747e-01 -1.25454416e-01 -2.52145369e-01  4.53905866e+02]
 [ 1.25571391e-01  9.91960442e-01 -1.56941696e-02  3.65457826e+01]
 [ 2.52087135e-01 -1.66033319e-02  9.67562094e-01  1.18516830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.00071405700004 meters
Centerline goodness : 0.996661 with order 1
Centerline is valid?  [True, True]
Translation: X:453.96, Y:36.55, Z:118.53
[[ 9.60046222e-01 -1.21381748e-01 -2.52146233e-01  4.53964556e+02]
 [ 1.21364715e-01  9.92484123e-01 -1.56802737e-02  3.65527862e+01]
 [ 2.52154432e-01 -1.55478682e-02  9.67562094e-01  1.18531865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.06071405700004 meters
Centerline goodness : 0.996745 with order 1
Centerline is valid?  [True, True]
Translation: X:454.02, Y:36.56, Z:118.55
[[ 9.60164205e-01 -1.20444512e-01 -2.52146425e-01  4.54024311e+02]
 [ 1.20396620e-01  9.92602075e-01 -1.56771916e-02  3.65594778e+01]
 [ 2.52169296e-01 -1.53048989e-02  9.67562094e-01  1.18548338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.12071405700004 meters
Centerline goodness : 0.996372 with order 1
Centerline is valid?  [True, True]
Translation: X:454.08, Y:36.56, Z:118.56
[[ 9.60017015e-01 -1.21609701e-01 -2.52147600e-01  4.54083180e+02]
 [ 1.21606128e-01  9.92454920e-01 -1.56582670e-02  3.65632645e+01]
 [ 2.52149323e-01 -1.56304906e-02  9.67562094e-01  1.18562765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.18071405700005 meters
Centerline goodness : 0.996032 with order 1
Centerline is valid?  [True, True]
Translation: X:454.14, Y:36.57, Z:118.58
[[ 9.59666102e-01 -1.24347373e-01 -2.52148177e-01  4.54143377e+02]
 [ 1.24438752e-01  9.92103879e-01 -1.56489679e-02  3.65661138e+01]
 [ 2.52103093e-01 -1.63592205e-02  9.67562094e-01  1.18578544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.24071405700005 meters
Centerline goodness : 0.995761 with order 1
Centerline is valid?  [True, True]
Translation: X:454.20, Y:36.57, Z:118.59
[[ 9.59495005e-01 -1.25658440e-01 -2.52149346e-01  4.54202791e+02]
 [ 1.25799071e-01  9.91932605e-01 -1.56301195e-02  3.65704541e+01]
 [ 2.52079214e-01 -1.67231317e-02  9.67562095e-01  1.18591884e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.30071405700005 meters
Centerline goodness : 0.995702 with order 1
Centerline is valid?  [True, True]
Translation: X:454.26, Y:36.57, Z:118.60
[[ 9.59438008e-01 -1.26092299e-01 -2.52149640e-01  4.54262096e+02]
 [ 1.26248840e-01  9.91875536e-01 -1.56253723e-02  3.65743849e+01]
 [ 2.52071298e-01 -1.68420233e-02  9.67562095e-01  1.18604382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.36071405700005 meters
Centerline goodness : 0.995811 with order 1
Centerline is valid?  [True, True]
Translation: X:454.32, Y:36.58, Z:118.62
[[ 9.59609198e-01 -1.24781617e-01 -2.52150223e-01  4.54320713e+02]
 [ 1.24896312e-01  9.92046901e-01 -1.56159577e-02  3.65798284e+01]
 [ 2.52093431e-01 -1.65074163e-02  9.67562095e-01  1.18620068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.42071405700005 meters
Centerline goodness : 0.996162 with order 1
Centerline is valid?  [True, True]
Translation: X:454.38, Y:36.59, Z:118.64
[[ 9.59598148e-01 -1.24865429e-01 -2.52150788e-01  4.54380289e+02]
 [ 1.24985345e-01  9.92035831e-01 -1.56068283e-02  3.65862796e+01]
 [ 2.52091370e-01 -1.65388698e-02  9.67562095e-01  1.18637708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.48071405700006 meters
Centerline goodness : 0.996023 with order 1
Centerline is valid?  [True, True]
Translation: X:454.44, Y:36.59, Z:118.65
[[ 9.59318602e-01 -1.26992974e-01 -2.52151949e-01  4.54439920e+02]
 [ 1.27189732e-01  9.91755910e-01 -1.55880495e-02  3.65915430e+01]
 [ 2.52052758e-01 -1.71172328e-02  9.67562095e-01  1.18652394e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.54071405700006 meters
Centerline goodness : 0.996143 with order 1
Centerline is valid?  [True, True]
Translation: X:454.50, Y:36.60, Z:118.67
[[ 9.58880225e-01 -1.30260592e-01 -2.52152518e-01  4.54498599e+02]
 [ 1.30570271e-01  9.91316652e-01 -1.55788395e-02  3.65966313e+01]
 [ 2.51992299e-01 -1.79853814e-02  9.67562095e-01  1.18666817e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.60071405700006 meters
Centerline goodness : 0.996503 with order 1
Centerline is valid?  [True, True]
Translation: X:454.56, Y:36.60, Z:118.68
[[ 9.58454286e-01 -1.33358401e-01 -2.52152569e-01  4.54556751e+02]
 [ 1.33773107e-01  9.90889540e-01 -1.55780182e-02  3.66017058e+01]
 [ 2.51932802e-01 -1.88004142e-02  9.67562095e-01  1.18680854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.66071405700006 meters
Centerline goodness : 0.996013 with order 1
Centerline is valid?  [True, True]
Translation: X:454.62, Y:36.61, Z:118.70
[[ 9.58297112e-01 -1.34481130e-01 -2.52153663e-01  4.54616713e+02]
 [ 1.34938474e-01  9.90731793e-01 -1.55602781e-02  3.66062726e+01]
 [ 2.51909215e-01 -1.91138611e-02  9.67562095e-01  1.18696901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.72071405700007 meters
Centerline goodness : 0.996027 with order 1
Centerline is valid?  [True, True]
Translation: X:454.68, Y:36.61, Z:118.71
[[ 9.58195418e-01 -1.35201639e-01 -2.52154827e-01  4.54675346e+02]
 [ 1.35688310e-01  9.90629672e-01 -1.55413952e-02  3.66131797e+01]
 [ 2.51893276e-01 -1.93227688e-02  9.67562095e-01  1.18712142e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.78071405700007 meters
Centerline goodness : 0.996299 with order 1
Centerline is valid?  [True, True]
Translation: X:454.74, Y:36.62, Z:118.73
[[ 9.58302165e-01 -1.34441326e-01 -2.52155687e-01  4.54735069e+02]
 [ 1.34905914e-01  9.90736743e-01 -1.55274385e-02  3.66202590e+01]
 [ 2.51907433e-01 -1.91373154e-02  9.67562095e-01  1.18729050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.84071405700007 meters
Centerline goodness : 0.996063 with order 1
Centerline is valid?  [True, True]
Translation: X:454.79, Y:36.63, Z:118.75
[[ 9.58399657e-01 -1.33742459e-01 -2.52156799e-01  4.54792870e+02]
 [ 1.34188127e-01  9.90834500e-01 -1.55093489e-02  3.66264274e+01]
 [ 2.51919915e-01 -1.89722940e-02  9.67562096e-01  1.18745566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.9007140570001 meters
Centerline goodness : 0.996665 with order 1
Centerline is valid?  [True, True]
Translation: X:454.85, Y:36.63, Z:118.76
[[ 9.58349803e-01 -1.34099229e-01 -2.52156799e-01  4.54852300e+02]
 [ 1.34556972e-01  9.90784478e-01 -1.55093489e-02  3.66317178e+01]
 [ 2.51912835e-01 -1.90660738e-02  9.67562096e-01  1.18760327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 467.9607140570001 meters
Centerline goodness : 0.996659 with order 1
Centerline is valid?  [True, True]
Translation: X:454.91, Y:36.64, Z:118.77
[[ 9.58235169e-01 -1.34914864e-01 -2.52157371e-01  4.54910609e+02]
 [ 1.35402646e-01  9.90669406e-01 -1.55000459e-02  3.66371795e+01]
 [ 2.51895780e-01 -1.92900861e-02  9.67562096e-01  1.18774170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.0207140570001 meters
Centerline goodness : 0.996691 with order 1
Centerline is valid?  [True, True]
Translation: X:454.97, Y:36.64, Z:118.79
[[ 9.58251823e-01 -1.34796528e-01 -2.52157371e-01  4.54971263e+02]
 [ 1.35280304e-01  9.90686120e-01 -1.55000459e-02  3.66398721e+01]
 [ 2.51898160e-01 -1.92589786e-02  9.67562096e-01  1.18788255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.0807140570001 meters
Centerline goodness : 0.996619 with order 1
Centerline is valid?  [True, True]
Translation: X:455.03, Y:36.64, Z:118.80
[[ 9.58149099e-01 -1.35522326e-01 -2.52158686e-01  4.55031488e+02]
 [ 1.36036274e-01  9.90582932e-01 -1.54786252e-02  3.66428899e+01]
 [ 2.51881790e-01 -1.94718972e-02  9.67562096e-01  1.18804928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.1407140570001 meters
Centerline goodness : 0.996126 with order 1
Centerline is valid?  [True, True]
Translation: X:455.09, Y:36.64, Z:118.82
[[ 9.58046065e-01 -1.36246654e-01 -2.52159842e-01  4.55091370e+02]
 [ 1.36790055e-01  9.90479418e-01 -1.54597680e-02  3.66445466e+01]
 [ 2.51865475e-01 -1.96817887e-02  9.67562096e-01  1.18820619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.2007140570001 meters
Centerline goodness : 0.995763 with order 1
Centerline is valid?  [True, True]
Translation: X:455.15, Y:36.64, Z:118.84
[[ 9.57681648e-01 -1.38783404e-01 -2.52160717e-01  4.55150182e+02]
 [ 1.39416431e-01  9.90113375e-01 -1.54454971e-02  3.66444362e+01]
 [ 2.51811277e-01 -2.03634779e-02  9.67562096e-01  1.18836681e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.26071405700003 meters
Centerline goodness : 0.996068 with order 1
Centerline is valid?  [True, True]
Translation: X:455.21, Y:36.64, Z:118.85
[[ 9.57401586e-01 -1.40701928e-01 -2.52161004e-01  4.55209432e+02]
 [ 1.41401159e-01  9.89831952e-01 -1.54408104e-02  3.66446846e+01]
 [ 2.51769570e-01 -2.08728017e-02  9.67562096e-01  1.18852404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.32071405700003 meters
Centerline goodness : 0.996078 with order 1
Centerline is valid?  [True, True]
Translation: X:455.27, Y:36.65, Z:118.87
[[ 9.57486784e-01 -1.40120459e-01 -2.52161289e-01  4.55270449e+02]
 [ 1.40801216e-01  9.89917544e-01 -1.54361409e-02  3.66460276e+01]
 [ 2.51781803e-01 -2.07247152e-02  9.67562096e-01  1.18867339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.38071405700003 meters
Centerline goodness : 0.996500 with order 1
Centerline is valid?  [True, True]
Translation: X:455.33, Y:36.65, Z:118.88
[[ 9.57837157e-01 -1.37702411e-01 -2.52162698e-01  4.55331231e+02]
 [ 1.38307306e-01  9.90269421e-01 -1.54131026e-02  3.66477782e+01]
 [ 2.51831430e-01 -2.01127010e-02  9.67562096e-01  1.18882205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.44071405700004 meters
Centerline goodness : 0.996144 with order 1
Centerline is valid?  [True, True]
Translation: X:455.39, Y:36.65, Z:118.90
[[ 9.58311217e-01 -1.34361530e-01 -2.52163817e-01  4.55389843e+02]
 [ 1.34858124e-01  9.90745319e-01 -1.53947695e-02  3.66492668e+01]
 [ 2.51898586e-01 -1.92533592e-02  9.67562096e-01  1.18897225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.50071405700004 meters
Centerline goodness : 0.996414 with order 1
Centerline is valid?  [True, True]
Translation: X:455.45, Y:36.65, Z:118.91
[[ 9.59086675e-01 -1.28709295e-01 -2.52163968e-01  4.55447688e+02]
 [ 1.29015308e-01  9.91523135e-01 -1.53922910e-02  3.66506393e+01]
 [ 2.52007539e-01 -1.77704708e-02  9.67562096e-01  1.18912325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.56071405700004 meters
Centerline goodness : 0.996575 with order 1
Centerline is valid?  [True, True]
Translation: X:455.51, Y:36.65, Z:118.93
[[ 9.59669242e-01 -1.24291268e-01 -2.52163890e-01  4.55506020e+02]
 [ 1.24447569e-01  9.92106769e-01 -1.53935760e-02  3.66512994e+01]
 [ 2.52086789e-01 -1.66084417e-02  9.67562096e-01  1.18929254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.62071405700004 meters
Centerline goodness : 0.996355 with order 1
Centerline is valid?  [True, True]
Translation: X:455.56, Y:36.65, Z:118.95
[[ 9.60212873e-01 -1.20019224e-01 -2.52163885e-01  4.55564068e+02]
 [ 1.20031146e-01  9.92650774e-01 -1.53936538e-02  3.66540638e+01]
 [ 2.52158210e-01 -1.54863357e-02  9.67562096e-01  1.18946112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.68071405700005 meters
Centerline goodness : 0.996563 with order 1
Centerline is valid?  [True, True]
Translation: X:455.62, Y:36.66, Z:118.96
[[ 9.60260630e-01 -1.19636586e-01 -2.52163856e-01  4.55623033e+02]
 [ 1.19635458e-01  9.92698533e-01 -1.53941303e-02  3.66558402e+01]
 [ 2.52164391e-01 -1.53853611e-02  9.67562096e-01  1.18960796e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.74071405700005 meters
Centerline goodness : 0.996625 with order 1
Centerline is valid?  [True, True]
Translation: X:455.68, Y:36.66, Z:118.97
[[ 9.59987811e-01 -1.21804594e-01 -2.52164714e-01  4.55681427e+02]
 [ 1.21880392e-01  9.92425626e-01 -1.53800639e-02  3.66576989e+01]
 [ 2.52128087e-01 -1.59692604e-02  9.67562097e-01  1.18974797e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.80071405700005 meters
Centerline goodness : 0.996569 with order 1
Centerline is valid?  [True, True]
Translation: X:455.74, Y:36.66, Z:118.99
[[ 9.59634992e-01 -1.24554233e-01 -2.52164482e-01  4.55740817e+02]
 [ 1.24721965e-01  9.92072461e-01 -1.53838587e-02  3.66580185e+01]
 [ 2.52081563e-01 -1.66875605e-02  9.67562097e-01  1.18988351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.86071405700005 meters
Centerline goodness : 0.996062 with order 1
Centerline is valid?  [True, True]
Translation: X:455.80, Y:36.66, Z:119.00
[[ 9.59611885e-01 -1.24731565e-01 -2.52164760e-01  4.55800735e+02]
 [ 1.24906481e-01  9.92049317e-01 -1.53793113e-02  3.66618436e+01]
 [ 2.52078163e-01 -1.67388428e-02  9.67562097e-01  1.19004928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.92071405700005 meters
Centerline goodness : 0.995813 with order 1
Centerline is valid?  [True, True]
Translation: X:455.86, Y:36.66, Z:119.02
[[ 9.59887984e-01 -1.22586451e-01 -2.52165857e-01  4.55859179e+02]
 [ 1.22693580e-01  9.92325711e-01 -1.53612927e-02  3.66638037e+01]
 [ 2.52113750e-01 -1.61940116e-02  9.67562097e-01  1.19020980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 468.98071405700006 meters
Centerline goodness : 0.996583 with order 1
Centerline is valid?  [True, True]
Translation: X:455.92, Y:36.67, Z:119.04
[[ 9.59898806e-01 -1.22501132e-01 -2.52166127e-01  4.55917087e+02]
 [ 1.22606534e-01  9.92336538e-01 -1.53568730e-02  3.66675324e+01]
 [ 2.52114895e-01 -1.61761708e-02  9.67562097e-01  1.19037627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.04071405700006 meters
Centerline goodness : 0.996895 with order 1
Centerline is valid?  [True, True]
Translation: X:455.98, Y:36.67, Z:119.05
[[ 9.59508102e-01 -1.25524688e-01 -2.52166127e-01  4.55975742e+02]
 [ 1.25732285e-01  9.91945341e-01 -1.53568730e-02  3.66705083e+01]
 [ 2.52062681e-01 -1.69703791e-02  9.67562097e-01  1.19051192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.10071405700006 meters
Centerline goodness : 0.997544 with order 1
Centerline is valid?  [True, True]
Translation: X:456.03, Y:36.67, Z:119.06
[[ 9.58698971e-01 -1.31561348e-01 -2.52166401e-01  4.56034540e+02]
 [ 1.31974281e-01  9.91134246e-01 -1.53523640e-02  3.66714523e+01]
 [ 2.51950534e-01 -1.85611839e-02  9.67562097e-01  1.19063651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.16071405700006 meters
Centerline goodness : 0.997205 with order 1
Centerline is valid?  [True, True]
Translation: X:456.09, Y:36.68, Z:119.08
[[ 9.58262573e-01 -1.34703183e-01 -2.52166402e-01  4.56093050e+02]
 [ 1.35222437e-01  9.90696320e-01 -1.53523513e-02  3.66760772e+01]
 [ 2.51888337e-01 -1.93869719e-02  9.67562097e-01  1.19078980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.22071405700007 meters
Centerline goodness : 0.997144 with order 1
Centerline is valid?  [True, True]
Translation: X:456.15, Y:36.68, Z:119.09
[[ 9.58541838e-01 -1.32700814e-01 -2.52166690e-01  4.56151016e+02]
 [ 1.33153543e-01  9.90976581e-01 -1.53476169e-02  3.66799388e+01]
 [ 2.51927926e-01 -1.88655553e-02  9.67562097e-01  1.19090538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.28071405700007 meters
Centerline goodness : 0.997793 with order 1
Centerline is valid?  [True, True]
Translation: X:456.21, Y:36.68, Z:119.11
[[ 9.59031196e-01 -1.29117266e-01 -2.52166408e-01  4.56209539e+02]
 [ 1.29447554e-01  9.91467417e-01 -1.53522435e-02  3.66838520e+01]
 [ 2.51997017e-01 -1.79190442e-02  9.67562097e-01  1.19107223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.34071405700007 meters
Centerline goodness : 0.997241 with order 1
Centerline is valid?  [True, True]
Translation: X:456.27, Y:36.69, Z:119.12
[[ 9.59522627e-01 -1.25412978e-01 -2.52166440e-01  4.56267376e+02]
 [ 1.25618145e-01  9.91959881e-01 -1.53517265e-02  3.66894742e+01]
 [ 2.52064297e-01 -1.69463514e-02  9.67562097e-01  1.19123782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.4007140570001 meters
Centerline goodness : 0.997565 with order 1
Centerline is valid?  [True, True]
Translation: X:456.33, Y:36.69, Z:119.14
[[ 9.59900660e-01 -1.22485393e-01 -2.52166715e-01  4.56326832e+02]
 [ 1.22592792e-01  9.92338385e-01 -1.53472096e-02  3.66917778e+01]
 [ 2.52114519e-01 -1.61820250e-02  9.67562097e-01  1.19138178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.4607140570001 meters
Centerline goodness : 0.997449 with order 1
Centerline is valid?  [True, True]
Translation: X:456.39, Y:36.69, Z:119.15
[[ 9.59924893e-01 -1.22294203e-01 -2.52167260e-01  4.56385926e+02]
 [ 1.22397485e-01  9.92362632e-01 -1.53382511e-02  3.66936757e+01]
 [ 2.52117145e-01 -1.61410693e-02  9.67562097e-01  1.19152664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.5207140570001 meters
Centerline goodness : 0.997158 with order 1
Centerline is valid?  [True, True]
Translation: X:456.45, Y:36.69, Z:119.17
[[ 9.59701740e-01 -1.24031603e-01 -2.52168062e-01  4.56445939e+02]
 [ 1.24197057e-01  9.92139221e-01 -1.53250433e-02  3.66949942e+01]
 [ 2.52086615e-01 -1.66110606e-02  9.67562097e-01  1.19168836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.5807140570001 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:456.51, Y:36.70, Z:119.18
[[ 9.59623987e-01 -1.24629441e-01 -2.52169203e-01  4.56506574e+02]
 [ 1.24820018e-01  9.92061330e-01 -1.53062533e-02  3.66978430e+01]
 [ 2.52074925e-01 -1.67875167e-02  9.67562097e-01  1.19183776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.6407140570001 meters
Centerline goodness : 0.997222 with order 1
Centerline is valid?  [True, True]
Translation: X:456.57, Y:36.70, Z:119.20
[[ 9.59275047e-01 -1.27285154e-01 -2.52170325e-01  4.56565361e+02]
 [ 1.27570358e-01  9.91711696e-01 -1.52877436e-02  3.67006434e+01]
 [ 2.52026164e-01 -1.75043076e-02  9.67562097e-01  1.19200101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.7007140570001 meters
Centerline goodness : 0.997733 with order 1
Centerline is valid?  [True, True]
Translation: X:456.62, Y:36.70, Z:119.21
[[ 9.58625042e-01 -1.32090926e-01 -2.52170611e-01  4.56623605e+02]
 [ 1.32539914e-01  9.91059837e-01 -1.52830328e-02  3.67015711e+01]
 [ 2.51934914e-01 -1.87719730e-02  9.67562097e-01  1.19213366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.76071405700003 meters
Centerline goodness : 0.997730 with order 1
Centerline is valid?  [True, True]
Translation: X:456.68, Y:36.70, Z:119.23
[[ 9.58194878e-01 -1.35176283e-01 -2.52170475e-01  4.56682363e+02]
 [ 1.35729097e-01  9.90628070e-01 -1.52852736e-02  3.67036865e+01]
 [ 2.51873357e-01 -1.95806000e-02  9.67562097e-01  1.19229085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.82071405700003 meters
Centerline goodness : 0.997738 with order 1
Centerline is valid?  [True, True]
Translation: X:456.74, Y:36.71, Z:119.24
[[ 9.57632152e-01 -1.39106078e-01 -2.52170894e-01  4.56741246e+02]
 [ 1.39793755e-01  9.90062765e-01 -1.52783465e-02  3.67054886e+01]
 [ 2.51790324e-01 -2.06208803e-02  9.67562097e-01  1.19243150e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.88071405700003 meters
Centerline goodness : 0.997977 with order 1
Centerline is valid?  [True, True]
Translation: X:456.80, Y:36.71, Z:119.26
[[ 9.57150290e-01 -1.42383769e-01 -2.52170942e-01  4.56800073e+02]
 [ 1.43182675e-01  9.89578354e-01 -1.52775604e-02  3.67064317e+01]
 [ 2.51718182e-01 -2.14835887e-02  9.67562097e-01  1.19258135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 469.94071405700004 meters
Centerline goodness : 0.997634 with order 1
Centerline is valid?  [True, True]
Translation: X:456.86, Y:36.71, Z:119.27
[[ 9.57096792e-01 -1.42742783e-01 -2.52171032e-01  4.56859501e+02]
 [ 1.43554240e-01  9.89524543e-01 -1.52760822e-02  3.67095203e+01]
 [ 2.51709975e-01 -2.15795314e-02  9.67562097e-01  1.19274339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.00071405700004 meters
Centerline goodness : 0.997500 with order 1
Centerline is valid?  [True, True]
Translation: X:456.92, Y:36.71, Z:119.29
[[ 9.57079098e-01 -1.42859889e-01 -2.52171871e-01  4.56920533e+02]
 [ 1.43678939e-01  9.89506659e-01 -1.52622192e-02  3.67113255e+01]
 [ 2.51706104e-01 -2.16246358e-02  9.67562097e-01  1.19289493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.06071405700004 meters
Centerline goodness : 0.997794 with order 1
Centerline is valid?  [True, True]
Translation: X:456.98, Y:36.72, Z:119.30
[[ 9.57004003e-01 -1.43359060e-01 -2.52173589e-01  4.56979019e+02]
 [ 1.44202460e-01  9.89430939e-01 -1.52337815e-02  3.67150905e+01]
 [ 2.51692251e-01 -2.17852620e-02  9.67562098e-01  1.19302489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.12071405700004 meters
Centerline goodness : 0.997494 with order 1
Centerline is valid?  [True, True]
Translation: X:457.04, Y:36.72, Z:119.32
[[ 9.56947352e-01 -1.43736726e-01 -2.52173589e-01  4.57037839e+02]
 [ 1.44592924e-01  9.89373953e-01 -1.52337815e-02  3.67183518e+01]
 [ 2.51683634e-01 -2.18845895e-02  9.67562098e-01  1.19319131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.18071405700005 meters
Centerline goodness : 0.997383 with order 1
Centerline is valid?  [True, True]
Translation: X:457.10, Y:36.72, Z:119.34
[[ 9.57089869e-01 -1.42784107e-01 -2.52173910e-01  4.57097369e+02]
 [ 1.43609417e-01  9.89517271e-01 -1.52284653e-02  3.67218172e+01]
 [ 2.51704822e-01 -2.16395382e-02  9.67562098e-01  1.19335306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.24071405700005 meters
Centerline goodness : 0.997334 with order 1
Centerline is valid?  [True, True]
Translation: X:457.16, Y:36.73, Z:119.35
[[ 9.57315577e-01 -1.41261368e-01 -2.52174764e-01  4.57157415e+02]
 [ 1.42038793e-01  9.89744162e-01 -1.52143086e-02  3.67261551e+01]
 [ 2.51737694e-01 -2.12537045e-02  9.67562098e-01  1.19350340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.30071405700005 meters
Centerline goodness : 0.997683 with order 1
Centerline is valid?  [True, True]
Translation: X:457.22, Y:36.73, Z:119.37
[[ 9.57474062e-01 -1.40181128e-01 -2.52175875e-01  4.57216766e+02]
 [ 1.40926785e-01  9.89903393e-01 -1.51958735e-02  3.67295772e+01]
 [ 2.51759929e-01 -2.09886806e-02  9.67562098e-01  1.19365431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.36071405700005 meters
Centerline goodness : 0.997849 with order 1
Centerline is valid?  [True, True]
Translation: X:457.27, Y:36.73, Z:119.38
[[ 9.57591747e-01 -1.39371018e-01 -2.52178044e-01  4.57273828e+02]
 [ 1.40098678e-01  9.90021485e-01 -1.51597847e-02  3.67334849e+01]
 [ 2.51774517e-01 -2.08129258e-02  9.67562099e-01  1.19381790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.42071405700005 meters
Centerline goodness : 0.997491 with order 1
Centerline is valid?  [True, True]
Translation: X:457.33, Y:36.74, Z:119.40
[[ 9.57731303e-01 -1.38406805e-01 -2.52179118e-01  4.57333036e+02]
 [ 1.39106487e-01  9.90161657e-01 -1.51419135e-02  3.67375384e+01]
 [ 2.51793837e-01 -2.05778666e-02  9.67562099e-01  1.19397857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.48071405700006 meters
Centerline goodness : 0.997748 with order 1
Centerline is valid?  [True, True]
Translation: X:457.39, Y:36.74, Z:119.41
[[ 9.58262278e-01 -1.34680475e-01 -2.52179650e-01  4.57390151e+02]
 [ 1.35256326e-01  9.90695068e-01 -1.51330477e-02  3.67434963e+01]
 [ 2.51871261e-01 -1.96074641e-02  9.67562099e-01  1.19412245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.54071405700006 meters
Centerline goodness : 0.997441 with order 1
Centerline is valid?  [True, True]
Translation: X:457.45, Y:36.75, Z:119.43
[[ 9.58678572e-01 -1.31685094e-01 -2.52179366e-01  4.57449042e+02]
 [ 1.32158347e-01  9.91113020e-01 -1.51377792e-02  3.67503156e+01]
 [ 2.51931673e-01 -1.88153436e-02  9.67562099e-01  1.19429264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.60071405700006 meters
Centerline goodness : 0.997572 with order 1
Centerline is valid?  [True, True]
Translation: X:457.51, Y:36.76, Z:119.45
[[ 9.59118824e-01 -1.28438279e-01 -2.52179875e-01  4.57506994e+02]
 [ 1.28803930e-01  9.91554664e-01 -1.51292861e-02  3.67555676e+01]
 [ 2.51993311e-01 -1.79709758e-02  9.67562099e-01  1.19448997e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.66071405700006 meters
Centerline goodness : 0.997619 with order 1
Centerline is valid?  [True, True]
Translation: X:457.57, Y:36.76, Z:119.47
[[ 9.59503914e-01 -1.25528487e-01 -2.52180168e-01  4.57565811e+02]
 [ 1.25797030e-01  9.91940704e-01 -1.51243975e-02  3.67607674e+01]
 [ 2.52046316e-01 -1.72115977e-02  9.67562099e-01  1.19465202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.72071405700007 meters
Centerline goodness : 0.997528 with order 1
Centerline is valid?  [True, True]
Translation: X:457.63, Y:36.77, Z:119.48
[[ 9.59680677e-01 -1.24169134e-01 -2.52180538e-01  4.57626345e+02]
 [ 1.24393339e-01  9.92117804e-01 -1.51182371e-02  3.67650164e+01]
 [ 2.52070020e-01 -1.68608991e-02  9.67562099e-01  1.19480750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.78071405700007 meters
Centerline goodness : 0.997733 with order 1
Centerline is valid?  [True, True]
Translation: X:457.69, Y:36.77, Z:119.50
[[ 9.59801227e-01 -1.23231576e-01 -2.52181647e-01  4.57685610e+02]
 [ 1.23428941e-01  9.92238528e-01 -1.50997034e-02  3.67674551e+01]
 [ 2.52085107e-01 -1.66337999e-02  9.67562099e-01  1.19496205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.84071405700007 meters
Centerline goodness : 0.997729 with order 1
Centerline is valid?  [True, True]
Translation: X:457.75, Y:36.77, Z:119.51
[[ 9.60088789e-01 -1.20969663e-01 -2.52182193e-01  4.57746133e+02]
 [ 1.21092982e-01  9.92526455e-01 -1.50905809e-02  3.67694298e+01]
 [ 2.52123001e-01 -1.60491963e-02  9.67562099e-01  1.19512308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.9007140570001 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:457.80, Y:36.77, Z:119.52
[[ 9.60642209e-01 -1.16490814e-01 -2.52183338e-01  4.57804710e+02]
 [ 1.16467863e-01  9.93080102e-01 -1.50714309e-02  3.67712997e+01]
 [ 2.52193938e-01 -1.48930018e-02  9.67562099e-01  1.19524969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 470.9607140570001 meters
Centerline goodness : 0.998259 with order 1
Centerline is valid?  [True, True]
Translation: X:457.86, Y:36.77, Z:119.54
[[ 9.61113294e-01 -1.12538019e-01 -2.52183328e-01  4.57863106e+02]
 [ 1.12381584e-01  9.93550817e-01 -1.50715999e-02  3.67747781e+01]
 [ 2.52253079e-01 -1.38552469e-02  9.67562099e-01  1.19539556e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.0207140570001 meters
Centerline goodness : 0.998216 with order 1
Centerline is valid?  [True, True]
Translation: X:457.92, Y:36.78, Z:119.56
[[ 9.61255972e-01 -1.11312834e-01 -2.52183284e-01  4.57921743e+02]
 [ 1.11114863e-01  9.93693269e-01 -1.50723239e-02  3.67775264e+01]
 [ 2.52270575e-01 -1.35329497e-02  9.67562099e-01  1.19557498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.0807140570001 meters
Centerline goodness : 0.997669 with order 1
Centerline is valid?  [True, True]
Translation: X:457.98, Y:36.78, Z:119.57
[[ 9.60960604e-01 -1.13833332e-01 -2.52183842e-01  4.57979548e+02]
 [ 1.13722869e-01  9.93398317e-01 -1.50629935e-02  3.67786538e+01]
 [ 2.52233675e-01 -1.42041265e-02  9.67562099e-01  1.19572122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.1407140570001 meters
Centerline goodness : 0.997627 with order 1
Centerline is valid?  [True, True]
Translation: X:458.04, Y:36.78, Z:119.59
[[ 9.60686613e-01 -1.16122123e-01 -2.52184225e-01  4.58037311e+02]
 [ 1.16090611e-01  9.93124499e-01 -1.50565694e-02  3.67795137e+01]
 [ 2.52198733e-01 -1.48115762e-02  9.67562099e-01  1.19588902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.2007140570001 meters
Centerline goodness : 0.997065 with order 1
Centerline is valid?  [True, True]
Translation: X:458.10, Y:36.78, Z:119.61
[[ 9.60625213e-01 -1.16626539e-01 -2.52185350e-01  4.58096007e+02]
 [ 1.16616995e-01  9.93063112e-01 -1.50377032e-02  3.67813316e+01]
 [ 2.52189764e-01 -1.49635008e-02  9.67562100e-01  1.19606856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.26071405700003 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:458.15, Y:36.78, Z:119.62
[[ 9.60459713e-01 -1.17980608e-01 -2.52185877e-01  4.58154677e+02]
 [ 1.18019103e-01  9.92897590e-01 -1.50288654e-02  3.67814526e+01]
 [ 2.52167864e-01 -1.53281313e-02  9.67562100e-01  1.19623928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.32071405700003 meters
Centerline goodness : 0.997349 with order 1
Centerline is valid?  [True, True]
Translation: X:458.21, Y:36.78, Z:119.64
[[ 9.60012289e-01 -1.21566209e-01 -2.52186561e-01  4.58213253e+02]
 [ 1.21728832e-01  9.92449782e-01 -1.50173856e-02  3.67821558e+01]
 [ 2.52108104e-01 -1.62815008e-02  9.67562100e-01  1.19638501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.38071405700003 meters
Centerline goodness : 0.997556 with order 1
Centerline is valid?  [True, True]
Translation: X:458.27, Y:36.78, Z:119.65
[[ 9.59637490e-01 -1.24490168e-01 -2.52186610e-01  4.58273093e+02]
 [ 1.24751824e-01  9.92074335e-01 -1.50165521e-02  3.67838189e+01]
 [ 2.52057277e-01 -1.70502934e-02  9.67562100e-01  1.19651308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.44071405700004 meters
Centerline goodness : 0.998166 with order 1
Centerline is valid?  [True, True]
Translation: X:458.33, Y:36.79, Z:119.67
[[ 9.59082316e-01 -1.28695830e-01 -2.52187419e-01  4.58331359e+02]
 [ 1.29103235e-01  9.91517658e-01 -1.50029587e-02  3.67873645e+01]
 [ 2.51979097e-01 -1.81691394e-02  9.67562100e-01  1.19666871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.50071405700004 meters
Centerline goodness : 0.998444 with order 1
Centerline is valid?  [True, True]
Translation: X:458.39, Y:36.79, Z:119.68
[[ 9.58887873e-01 -1.30136575e-01 -2.52187468e-01  4.58390975e+02]
 [ 1.30592927e-01  9.91322563e-01 -1.50021322e-02  3.67907134e+01]
 [ 2.51951453e-01 -1.85485369e-02  9.67562100e-01  1.19682379e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.56071405700004 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:458.45, Y:36.79, Z:119.69
[[ 9.58022537e-01 -1.36358266e-01 -2.52188901e-01  4.58449522e+02]
 [ 1.37031461e-01  9.90453451e-01 -1.49780050e-02  3.67939003e+01]
 [ 2.51823742e-01 -2.02085473e-02  9.67562100e-01  1.19694989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.62071405700004 meters
Centerline goodness : 0.998052 with order 1
Centerline is valid?  [True, True]
Translation: X:458.51, Y:36.80, Z:119.71
[[ 9.57406150e-01 -1.40620962e-01 -2.52188835e-01  4.58506882e+02]
 [ 1.41438207e-01  9.89833754e-01 -1.49791137e-02  3.67991277e+01]
 [ 2.51731399e-01 -2.13280412e-02  9.67562100e-01  1.19710331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.68071405700005 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:458.57, Y:36.81, Z:119.73
[[ 9.57290355e-01 -1.41407451e-01 -2.52188637e-01  4.58566231e+02]
 [ 1.42250465e-01  9.89717299e-01 -1.49824453e-02  3.68063217e+01]
 [ 2.51714086e-01 -2.15314006e-02  9.67562100e-01  1.19726873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.74071405700005 meters
Centerline goodness : 0.998064 with order 1
Centerline is valid?  [True, True]
Translation: X:458.63, Y:36.81, Z:119.74
[[ 9.57260984e-01 -1.41604307e-01 -2.52189666e-01  4.58626118e+02]
 [ 1.42458523e-01  9.89687635e-01 -1.49651099e-02  3.68139118e+01]
 [ 2.51708118e-01 -2.16010515e-02  9.67562100e-01  1.19742886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.80071405700005 meters
Centerline goodness : 0.997858 with order 1
Centerline is valid?  [True, True]
Translation: X:458.68, Y:36.82, Z:119.76
[[ 9.56872258e-01 -1.44205898e-01 -2.52190685e-01  4.58684520e+02]
 [ 1.45152750e-01  9.89296335e-01 -1.49479206e-02  3.68198659e+01]
 [ 2.51646899e-01 -2.23029210e-02  9.67562100e-01  1.19761107e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.86071405700005 meters
Centerline goodness : 0.997875 with order 1
Centerline is valid?  [True, True]
Translation: X:458.74, Y:36.83, Z:119.78
[[ 9.56150533e-01 -1.48915228e-01 -2.52191225e-01  4.58743027e+02]
 [ 1.50024088e-01  9.88569474e-01 -1.49388135e-02  3.68258923e+01]
 [ 2.51533163e-01 -2.35510039e-02  9.67562100e-01  1.19775808e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.92071405700005 meters
Centerline goodness : 0.997660 with order 1
Centerline is valid?  [True, True]
Translation: X:458.80, Y:36.83, Z:119.79
[[ 9.55464429e-01 -1.53255471e-01 -2.52191365e-01  4.58801532e+02]
 [ 1.54512151e-01  9.87877977e-01 -1.49364357e-02  3.68314994e+01]
 [ 2.51423386e-01 -2.46953973e-02  9.67562100e-01  1.19785323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 471.98071405700006 meters
Centerline goodness : 0.998218 with order 1
Centerline is valid?  [True, True]
Translation: X:458.86, Y:36.84, Z:119.81
[[ 9.55348730e-01 -1.53973906e-01 -2.52192072e-01  4.58859695e+02]
 [ 1.55258081e-01  9.87761200e-01 -1.49244939e-02  3.68380774e+01]
 [ 2.51403526e-01 -2.48967609e-02  9.67562100e-01  1.19807266e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.04071405700006 meters
Centerline goodness : 0.997660 with order 1
Centerline is valid?  [True, True]
Translation: X:458.92, Y:36.85, Z:119.82
[[ 9.56132570e-01 -1.49027674e-01 -2.52192906e-01  4.58918310e+02]
 [ 1.50147775e-01  9.88551124e-01 -1.49103966e-02  3.68476070e+01]
 [ 2.51527642e-01 -2.36098878e-02  9.67562101e-01  1.19822563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.10071405700006 meters
Centerline goodness : 0.997678 with order 1
Centerline is valid?  [True, True]
Translation: X:458.98, Y:36.86, Z:119.84
[[ 9.57590926e-01 -1.39349315e-01 -2.52193152e-01  4.58976218e+02]
 [ 1.40142555e-01  9.90019125e-01 -1.49062271e-02  3.68563827e+01]
 [ 2.51753216e-01 -2.10689248e-02  9.67562101e-01  1.19840078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.16071405700006 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:459.03, Y:36.86, Z:119.86
[[ 9.58973238e-01 -1.29494662e-01 -2.52193303e-01  4.59034022e+02]
 [ 1.29955057e-01  9.91407870e-01 -1.49036686e-02  3.68641622e+01]
 [ 2.51956371e-01 -1.84815758e-02  9.67562101e-01  1.19858193e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.22071405700007 meters
Centerline goodness : 0.997808 with order 1
Centerline is valid?  [True, True]
Translation: X:459.09, Y:36.87, Z:119.87
[[ 9.60025044e-01 -1.21451361e-01 -2.52193341e-01  4.59091166e+02]
 [ 1.21640020e-01  9.92462395e-01 -1.49030238e-02  3.68707762e+01]
 [ 2.52102400e-01 -1.63695269e-02  9.67562101e-01  1.19873241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.28071405700007 meters
Centerline goodness : 0.997008 with order 1
Centerline is valid?  [True, True]
Translation: X:459.15, Y:36.88, Z:119.89
[[ 9.60625915e-01 -1.16604127e-01 -2.52193040e-01  4.59149471e+02]
 [ 1.16627722e-01  9.93063806e-01 -1.49081290e-02  3.68757698e+01]
 [ 2.52182129e-01 -1.50915645e-02  9.67562101e-01  1.19887178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.34071405700007 meters
Centerline goodness : 0.997936 with order 1
Centerline is valid?  [True, True]
Translation: X:459.21, Y:36.88, Z:119.90
[[ 9.60891224e-01 -1.14397099e-01 -2.52193099e-01  4.59209584e+02]
 [ 1.14346440e-01  9.93329084e-01 -1.49071271e-02  3.68800592e+01]
 [ 2.52216072e-01 -1.45132555e-02  9.67562101e-01  1.19901795e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.4007140570001 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:459.27, Y:36.88, Z:119.91
[[ 9.60607874e-01 -1.16750092e-01 -2.52194228e-01  4.59269660e+02]
 [ 1.16783880e-01  9.93045756e-01 -1.48880043e-02  3.68824797e+01]
 [ 2.52178583e-01 -1.51506863e-02  9.67562101e-01  1.19913807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.4607140570001 meters
Centerline goodness : 0.997902 with order 1
Centerline is valid?  [True, True]
Translation: X:459.33, Y:36.88, Z:119.93
[[ 9.59595802e-01 -1.24794399e-01 -2.52194875e-01  4.59328495e+02]
 [ 1.25102835e-01  9.92032235e-01 -1.48770329e-02  3.68843923e+01]
 [ 2.52042016e-01 -1.72743554e-02  9.67562101e-01  1.19925052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.5207140570001 meters
Centerline goodness : 0.997830 with order 1
Centerline is valid?  [True, True]
Translation: X:459.39, Y:36.89, Z:119.94
[[ 9.59149454e-01 -1.28180186e-01 -2.52194697e-01  4.59386748e+02]
 [ 1.28602304e-01  9.91584606e-01 -1.48800511e-02  3.68864522e+01]
 [ 2.51979707e-01 -1.81606262e-02  9.67562101e-01  1.19941558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.5807140570001 meters
Centerline goodness : 0.997225 with order 1
Centerline is valid?  [True, True]
Translation: X:459.45, Y:36.89, Z:119.96
[[ 9.59234581e-01 -1.27541463e-01 -2.52194753e-01  4.59445497e+02]
 [ 1.27942232e-01  9.91670004e-01 -1.48790949e-02  3.68893919e+01]
 [ 2.51991674e-01 -1.79938173e-02  9.67562101e-01  1.19958119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.6407140570001 meters
Centerline goodness : 0.998248 with order 1
Centerline is valid?  [True, True]
Translation: X:459.50, Y:36.89, Z:119.97
[[ 9.60055776e-01 -1.21204089e-01 -2.52195313e-01  4.59503048e+02]
 [ 1.21393136e-01  9.92493124e-01 -1.48696034e-02  3.68939829e+01]
 [ 2.52104371e-01 -1.63391313e-02  9.67562101e-01  1.19974983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.7007140570001 meters
Centerline goodness : 0.998080 with order 1
Centerline is valid?  [True, True]
Translation: X:459.56, Y:36.90, Z:119.99
[[ 9.60931634e-01 -1.14052327e-01 -2.52195285e-01  4.59561275e+02]
 [ 1.13999720e-01  9.93369490e-01 -1.48700805e-02  3.68974862e+01]
 [ 2.52219069e-01 -1.44610612e-02  9.67562101e-01  1.19991188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.76071405700003 meters
Centerline goodness : 0.998335 with order 1
Centerline is valid?  [True, True]
Translation: X:459.62, Y:36.90, Z:120.01
[[ 9.61714859e-01 -1.07247766e-01 -2.52195255e-01  4.59620451e+02]
 [ 1.06965426e-01  9.94151529e-01 -1.48705854e-02  3.68987411e+01]
 [ 2.52315136e-01 -1.26749099e-02  9.67562101e-01  1.20006870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.82071405700003 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:459.68, Y:36.90, Z:120.02
[[ 9.62094081e-01 -1.03790212e-01 -2.52195503e-01  4.59678870e+02]
 [ 1.03392382e-01  9.94529540e-01 -1.48663776e-02  3.69013173e+01]
 [ 2.52358862e-01 -1.17722399e-02  9.67562101e-01  1.20023750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.88071405700003 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:459.74, Y:36.90, Z:120.04
[[ 9.62899249e-01 -9.60336343e-02 -2.52195512e-01  4.59737429e+02]
 [ 9.53744708e-02  9.95330451e-01 -1.48662204e-02  3.69024934e+01]
 [ 2.52445530e-01 -9.73834103e-03  9.67562101e-01  1.20041051e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 472.94071405700004 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:459.80, Y:36.90, Z:120.06
[[ 9.63171141e-01 -9.32668961e-02 -2.52195638e-01  4.59795869e+02]
 [ 9.25151202e-02  9.95600327e-01 -1.48640888e-02  3.69021605e+01]
 [ 2.52472387e-01 -9.01524844e-03  9.67562101e-01  1.20055484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.00071405700004 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:459.85, Y:36.90, Z:120.07
[[ 9.63211675e-01 -9.28473421e-02 -2.52195638e-01  4.59853269e+02]
 [ 9.20814406e-02  9.95640531e-01 -1.48640888e-02  3.69020333e+01]
 [ 2.52476290e-01 -8.90527382e-03  9.67562101e-01  1.20070639e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.06071405700004 meters
Centerline goodness : 0.998177 with order 1
Centerline is valid?  [True, True]
Translation: X:459.91, Y:36.90, Z:120.09
[[ 9.63192113e-01 -9.30514578e-02 -2.52195123e-01  4.59912510e+02]
 [ 9.22901470e-02  9.95621077e-01 -1.48728133e-02  3.68999831e+01]
 [ 2.52474717e-01 -8.94974856e-03  9.67562101e-01  1.20086672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.12071405700004 meters
Centerline goodness : 0.998625 with order 1
Centerline is valid?  [True, True]
Translation: X:459.97, Y:36.90, Z:120.10
[[ 9.63058844e-01 -9.44192942e-02 -2.52195676e-01  4.59972205e+02]
 [ 9.37064921e-02  9.95488911e-01 -1.48634361e-02  3.68991747e+01]
 [ 2.52461394e-01 -9.31800849e-03  9.67562101e-01  1.20101954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.18071405700005 meters
Centerline goodness : 0.998700 with order 1
Centerline is valid?  [True, True]
Translation: X:460.03, Y:36.90, Z:120.12
[[ 9.62639917e-01 -9.85974524e-02 -2.52196219e-01  4.60031107e+02]
 [ 9.80277918e-02  9.95072813e-01 -1.48542236e-02  3.68959057e+01]
 [ 2.52418190e-01 -1.04229699e-02  9.67562101e-01  1.20118642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.24071405700005 meters
Centerline goodness : 0.998865 with order 1
Centerline is valid?  [True, True]
Translation: X:460.09, Y:36.89, Z:120.13
[[ 9.62175680e-01 -1.03028825e-01 -2.52196395e-01  4.60090406e+02]
 [ 1.02609290e-01  9.94610866e-01 -1.48512244e-02  3.68947211e+01]
 [ 2.52367379e-01 -1.15882063e-02  9.67562101e-01  1.20134387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.30071405700005 meters
Centerline goodness : 0.999424 with order 1
Centerline is valid?  [True, True]
Translation: X:460.15, Y:36.89, Z:120.15
[[ 9.61222089e-01 -1.11574803e-01 -2.52196667e-01  4.60148679e+02]
 [ 1.11444715e-01  9.93659727e-01 -1.48466154e-02  3.68929023e+01]
 [ 2.52254179e-01 -1.38350910e-02  9.67562101e-01  1.20150641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.36071405700005 meters
Centerline goodness : 0.998829 with order 1
Centerline is valid?  [True, True]
Translation: X:460.21, Y:36.90, Z:120.17
[[ 9.61129744e-01 -1.12367404e-01 -2.52196711e-01  4.60208653e+02]
 [ 1.12264263e-01  9.93567479e-01 -1.48458568e-02  3.68952945e+01]
 [ 2.52242641e-01 -1.40438833e-02  9.67562101e-01  1.20166054e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.42071405700005 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:460.27, Y:36.90, Z:120.18
[[ 9.61022062e-01 -1.13282197e-01 -2.52197821e-01  4.60265956e+02]
 [ 1.13214869e-01  9.93459890e-01 -1.48269808e-02  3.68970132e+01]
 [ 2.52228053e-01 -1.43034877e-02  9.67562101e-01  1.20183652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.48071405700006 meters
Centerline goodness : 0.999772 with order 1
Centerline is valid?  [True, True]
Translation: X:460.33, Y:36.90, Z:120.20
[[ 9.61060351e-01 -1.12957392e-01 -2.52197602e-01  4.60325179e+02]
 [ 1.12878124e-01  9.93498152e-01 -1.48307151e-02  3.69004103e+01]
 [ 2.52233090e-01 -1.42143800e-02  9.67562101e-01  1.20200532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.54071405700006 meters
Centerline goodness : 0.999386 with order 1
Centerline is valid?  [True, True]
Translation: X:460.39, Y:36.90, Z:120.22
[[ 9.61078893e-01 -1.12797143e-01 -2.52198662e-01  4.60385429e+02]
 [ 1.12717189e-01  9.93516694e-01 -1.48126630e-02  3.69036670e+01]
 [ 2.52234407e-01 -1.41909865e-02  9.67562101e-01  1.20216893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.60071405700006 meters
Centerline goodness : 0.998591 with order 1
Centerline is valid?  [True, True]
Translation: X:460.45, Y:36.91, Z:120.23
[[ 9.60828012e-01 -1.14912207e-01 -2.52199753e-01  4.60445166e+02]
 [ 1.14908513e-01  9.93265911e-01 -1.47940677e-02  3.69072953e+01]
 [ 2.52201436e-01 -1.47653439e-02  9.67562102e-01  1.20230255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.66071405700006 meters
Centerline goodness : 0.998467 with order 1
Centerline is valid?  [True, True]
Translation: X:460.50, Y:36.91, Z:120.25
[[ 9.60234707e-01 -1.19767213e-01 -2.52200559e-01  4.60504100e+02]
 [ 1.19931074e-01  9.92672192e-01 -1.47803091e-02  3.69093885e+01]
 [ 2.52122678e-01 -1.60541180e-02  9.67562102e-01  1.20246182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.72071405700007 meters
Centerline goodness : 0.998122 with order 1
Centerline is valid?  [True, True]
Translation: X:460.56, Y:36.91, Z:120.26
[[ 9.58758952e-01 -1.31057340e-01 -2.52200805e-01  4.60562221e+02]
 [ 1.31603955e-01  9.91192244e-01 -1.47761189e-02  3.69092288e+01]
 [ 2.51916000e-01 -1.90238870e-02  9.67562102e-01  1.20263953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.78071405700007 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:460.62, Y:36.91, Z:120.28
[[ 9.57878831e-01 -1.37342075e-01 -2.52200912e-01  4.60619682e+02]
 [ 1.38101856e-01  9.90307830e-01 -1.47742815e-02  3.69113090e+01]
 [ 2.51785669e-01 -2.06774426e-02  9.67562102e-01  1.20278361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.84071405700007 meters
Centerline goodness : 0.997790 with order 1
Centerline is valid?  [True, True]
Translation: X:460.68, Y:36.92, Z:120.29
[[ 9.57540719e-01 -1.39680285e-01 -2.52200694e-01  4.60678295e+02]
 [ 1.40518265e-01  9.89967791e-01 -1.47780030e-02  3.69152661e+01]
 [ 2.51734760e-01 -2.12882645e-02  9.67562102e-01  1.20293596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.9007140570001 meters
Centerline goodness : 0.997627 with order 1
Centerline is valid?  [True, True]
Translation: X:460.74, Y:36.92, Z:120.31
[[ 9.57380532e-01 -1.40774012e-01 -2.52200704e-01  4.60738660e+02]
 [ 1.41649079e-01  9.89806625e-01 -1.47778277e-02  3.69186278e+01]
 [ 2.51710262e-01 -2.15759931e-02  9.67562102e-01  1.20305395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 473.9607140570001 meters
Centerline goodness : 0.997812 with order 1
Centerline is valid?  [True, True]
Translation: X:460.80, Y:36.92, Z:120.32
[[ 9.57440274e-01 -1.40365691e-01 -2.52201498e-01  4.60796433e+02]
 [ 1.41230472e-01  9.89866642e-01 -1.47642806e-02  3.69244153e+01]
 [ 2.51718248e-01 -2.14826197e-02  9.67562102e-01  1.20324122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.0207140570001 meters
Centerline goodness : 0.998056 with order 1
Centerline is valid?  [True, True]
Translation: X:460.86, Y:36.93, Z:120.34
[[ 9.57711940e-01 -1.38499807e-01 -2.52201591e-01  4.60855915e+02]
 [ 1.39301821e-01  9.90139923e-01 -1.47626789e-02  3.69297670e+01]
 [ 2.51759492e-01 -2.09937469e-02  9.67562102e-01  1.20341837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.0807140570001 meters
Centerline goodness : 0.998622 with order 1
Centerline is valid?  [True, True]
Translation: X:460.91, Y:36.94, Z:120.36
[[ 9.57807528e-01 -1.37835211e-01 -2.52202684e-01  4.60914597e+02]
 [ 1.38619612e-01  9.90235941e-01 -1.47439835e-02  3.69356769e+01]
 [ 2.51772402e-01 -2.08383398e-02  9.67562102e-01  1.20358210e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.1407140570001 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:460.97, Y:36.94, Z:120.37
[[ 9.57776592e-01 -1.38049016e-01 -2.52203229e-01  4.60973867e+02]
 [ 1.38843092e-01  9.90204769e-01 -1.47346641e-02  3.69402640e+01]
 [ 2.51766946e-01 -2.09041598e-02  9.67562102e-01  1.20373235e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.2007140570001 meters
Centerline goodness : 0.998851 with order 1
Centerline is valid?  [True, True]
Translation: X:461.03, Y:36.94, Z:120.39
[[ 9.57872502e-01 -1.37380952e-01 -2.52203773e-01  4.61032661e+02]
 [ 1.38154847e-01  9.90301168e-01 -1.47253497e-02  3.69448859e+01]
 [ 2.51780673e-01 -2.07381660e-02  9.67562102e-01  1.20386622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.26071405700003 meters
Centerline goodness : 0.999045 with order 1
Centerline is valid?  [True, True]
Translation: X:461.09, Y:36.95, Z:120.40
[[ 9.57997701e-01 -1.36504679e-01 -2.52204039e-01  4.61091382e+02]
 [ 1.37250103e-01  9.90427033e-01 -1.47207838e-02  3.69517562e+01]
 [ 2.51799154e-01 -2.05125534e-02  9.67562102e-01  1.20403107e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.32071405700003 meters
Centerline goodness : 0.998999 with order 1
Centerline is valid?  [True, True]
Translation: X:461.15, Y:36.96, Z:120.42
[[ 9.58275590e-01 -1.34538997e-01 -2.52204583e-01  4.61151243e+02]
 [ 1.35220326e-01  9.90706332e-01 -1.47114643e-02  3.69583587e+01]
 [ 2.51839943e-01 -2.00055486e-02  9.67562102e-01  1.20417849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.38071405700003 meters
Centerline goodness : 0.999048 with order 1
Centerline is valid?  [True, True]
Translation: X:461.21, Y:36.97, Z:120.43
[[ 9.58620923e-01 -1.32054423e-01 -2.52205383e-01  4.61209458e+02]
 [ 1.32655271e-01  9.91053256e-01 -1.46977329e-02  3.69653843e+01]
 [ 2.51889867e-01 -1.93668191e-02  9.67562102e-01  1.20433338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.44071405700004 meters
Centerline goodness : 0.999222 with order 1
Centerline is valid?  [True, True]
Translation: X:461.27, Y:36.97, Z:120.45
[[ 9.59084523e-01 -1.28644215e-01 -2.52205360e-01  4.61266997e+02]
 [ 1.29129609e-01  9.91518789e-01 -1.46981313e-02  3.69722334e+01]
 [ 2.51957182e-01 -1.84704292e-02  9.67562102e-01  1.20450599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.50071405700004 meters
Centerline goodness : 0.997769 with order 1
Centerline is valid?  [True, True]
Translation: X:461.32, Y:36.98, Z:120.47
[[ 9.59642875e-01 -1.24410498e-01 -2.52205434e-01  4.61323803e+02]
 [ 1.24753086e-01  9.92078964e-01 -1.46968618e-02  3.69801686e+01]
 [ 2.52036149e-01 -1.73596674e-02  9.67562102e-01  1.20466949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.56071405700004 meters
Centerline goodness : 0.998057 with order 1
Centerline is valid?  [True, True]
Translation: X:461.38, Y:36.99, Z:120.48
[[ 9.60117102e-01 -1.20696647e-01 -2.52205215e-01  4.61382252e+02]
 [ 1.20912755e-01  9.92554280e-01 -1.47006067e-02  3.69856740e+01]
 [ 2.52101680e-01 -1.63805234e-02  9.67562102e-01  1.20483089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.62071405700004 meters
Centerline goodness : 0.997807 with order 1
Centerline is valid?  [True, True]
Translation: X:461.44, Y:36.99, Z:120.50
[[ 9.60456586e-01 -1.17964168e-01 -2.52205473e-01  4.61441207e+02]
 [ 1.18089132e-01  9.92894244e-01 -1.46961861e-02  3.69915723e+01]
 [ 2.52146986e-01 -1.56676766e-02  9.67562102e-01  1.20499193e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.68071405700005 meters
Centerline goodness : 0.997130 with order 1
Centerline is valid?  [True, True]
Translation: X:461.50, Y:37.00, Z:120.51
[[ 9.60936725e-01 -1.13985707e-01 -2.52206004e-01  4.61499329e+02]
 [ 1.13978726e-01  9.93374622e-01 -1.46870622e-02  3.69954342e+01]
 [ 2.52209160e-01 -1.46327815e-02  9.67562102e-01  1.20513214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.74071405700005 meters
Centerline goodness : 0.996531 with order 1
Centerline is valid?  [True, True]
Translation: X:461.56, Y:37.00, Z:120.53
[[ 9.61478144e-01 -1.09324857e-01 -2.52205975e-01  4.61557731e+02]
 [ 1.09160455e-01  9.93915625e-01 -1.46875689e-02  3.70000232e+01]
 [ 2.52277176e-01 -1.34091424e-02  9.67562102e-01  1.20528692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.80071405700005 meters
Centerline goodness : 0.996979 with order 1
Centerline is valid?  [True, True]
Translation: X:461.62, Y:37.00, Z:120.55
[[ 9.61969728e-01 -1.04911265e-01 -2.52206006e-01  4.61617659e+02]
 [ 1.04598140e-01  9.94406114e-01 -1.46870373e-02  3.70042734e+01]
 [ 2.52336030e-01 -1.22517937e-02  9.67562102e-01  1.20545982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.86071405700005 meters
Centerline goodness : 0.997252 with order 1
Centerline is valid?  [True, True]
Translation: X:461.68, Y:37.01, Z:120.56
[[ 9.62324643e-01 -1.01601482e-01 -2.52207097e-01  4.61675725e+02]
 [ 1.01181686e-01  9.94759824e-01 -1.46682704e-02  3.70066886e+01]
 [ 2.52375806e-01 -1.14031014e-02  9.67562102e-01  1.20558650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.92071405700005 meters
Centerline goodness : 0.997592 with order 1
Centerline is valid?  [True, True]
Translation: X:461.74, Y:37.01, Z:120.57
[[ 9.62437639e-01 -1.00526069e-01 -2.52206862e-01  4.61736328e+02]
 [ 1.00068973e-01  9.94872315e-01 -1.46723080e-02  3.70083103e+01]
 [ 2.52388575e-01 -1.11169002e-02  9.67562102e-01  1.20574657e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 474.98071405700006 meters
Centerline goodness : 0.997323 with order 1
Centerline is valid?  [True, True]
Translation: X:461.80, Y:37.01, Z:120.59
[[ 9.62509580e-01 -9.98314721e-02 -2.52208220e-01  4.61796387e+02]
 [ 9.93570816e-02  9.94944008e-01 -1.46489363e-02  3.70093547e+01]
 [ 2.52395482e-01 -1.09589312e-02  9.67562103e-01  1.20589280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.04071405700006 meters
Centerline goodness : 0.997145 with order 1
Centerline is valid?  [True, True]
Translation: X:461.86, Y:37.01, Z:120.60
[[ 9.62462626e-01 -1.00280716e-01 -2.52209183e-01  4.61855469e+02]
 [ 9.98258065e-02  9.94897333e-01 -1.46323360e-02  3.70097853e+01]
 [ 2.52389585e-01 -1.10939086e-02  9.67562103e-01  1.20603636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.10071405700006 meters
Centerline goodness : 0.997450 with order 1
Centerline is valid?  [True, True]
Translation: X:461.91, Y:37.01, Z:120.62
[[ 9.62246304e-01 -1.02334306e-01 -2.52209716e-01  4.61914511e+02]
 [ 1.01951015e-01  9.94681936e-01 -1.46231398e-02  3.70084916e+01]
 [ 2.52364898e-01 -1.16419744e-02  9.67562103e-01  1.20619764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.16071405700006 meters
Centerline goodness : 0.997470 with order 1
Centerline is valid?  [True, True]
Translation: X:461.97, Y:37.01, Z:120.63
[[ 9.61887392e-01 -1.05652807e-01 -2.52210486e-01  4.61973019e+02]
 [ 1.05384873e-01  9.94324183e-01 -1.46098598e-02  3.70071151e+01]
 [ 2.52322558e-01 -1.25261301e-02  9.67562103e-01  1.20634315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.22071405700007 meters
Centerline goodness : 0.997986 with order 1
Centerline is valid?  [True, True]
Translation: X:462.03, Y:37.01, Z:120.65
[[ 9.61431742e-01 -1.09721682e-01 -2.52210542e-01  4.62032935e+02]
 [ 1.09591247e-01  9.93869377e-01 -1.46088901e-02  3.70051075e+01]
 [ 2.52267246e-01 -1.35946171e-02  9.67562103e-01  1.20650249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.28071405700007 meters
Centerline goodness : 0.997320 with order 1
Centerline is valid?  [True, True]
Translation: X:462.09, Y:37.01, Z:120.67
[[ 9.61215546e-01 -1.11598003e-01 -2.52211339e-01  4.62091583e+02]
 [ 1.11534483e-01  9.93653381e-01 -1.45951181e-02  3.70072756e+01]
 [ 2.52239436e-01 -1.41012069e-02  9.67562103e-01  1.20665992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.34071405700007 meters
Centerline goodness : 0.997970 with order 1
Centerline is valid?  [True, True]
Translation: X:462.15, Y:37.01, Z:120.68
[[ 9.60839491e-01 -1.14790140e-01 -2.52211610e-01  4.62149887e+02]
 [ 1.14835592e-01  9.93277356e-01 -1.45904240e-02  3.70055505e+01]
 [ 2.52190918e-01 -1.49438141e-02  9.67562103e-01  1.20680534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.4007140570001 meters
Centerline goodness : 0.998015 with order 1
Centerline is valid?  [True, True]
Translation: X:462.21, Y:37.01, Z:120.69
[[ 9.60406596e-01 -1.18357400e-01 -2.52211610e-01  4.62208046e+02]
 [ 1.18523310e-01  9.92844069e-01 -1.45904240e-02  3.70050053e+01]
 [ 2.52133686e-01 -1.58802153e-02  9.67562103e-01  1.20694265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.4607140570001 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:462.27, Y:37.01, Z:120.71
[[ 9.59771592e-01 -1.23401387e-01 -2.52211398e-01  4.62266578e+02]
 [ 1.23736748e-01  9.92207755e-01 -1.45940981e-02  3.70062914e+01]
 [ 2.52047037e-01 -1.72008175e-02  9.67562103e-01  1.20709465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.5207140570001 meters
Centerline goodness : 0.998447 with order 1
Centerline is valid?  [True, True]
Translation: X:462.33, Y:37.01, Z:120.72
[[ 9.58732233e-01 -1.31232207e-01 -2.52211445e-01  4.62325465e+02]
 [ 1.31832559e-01  9.91164574e-01 -1.45932744e-02  3.70065203e+01]
 [ 2.51898157e-01 -1.92586377e-02  9.67562103e-01  1.20723676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.5807140570001 meters
Centerline goodness : 0.998136 with order 1
Centerline is valid?  [True, True]
Translation: X:462.38, Y:37.01, Z:120.74
[[ 9.58386500e-01 -1.33733590e-01 -2.52211506e-01  4.62384320e+02]
 [ 1.34418846e-01  9.90817158e-01 -1.45922306e-02  3.70088371e+01]
 [ 2.51846959e-01 -1.99169827e-02  9.67562103e-01  1.20738373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.6407140570001 meters
Centerline goodness : 0.998028 with order 1
Centerline is valid?  [True, True]
Translation: X:462.44, Y:37.01, Z:120.75
[[ 9.58372653e-01 -1.33832630e-01 -2.52211586e-01  4.62442113e+02]
 [ 1.34521601e-01  9.90803233e-01 -1.45908391e-02  3.70125960e+01]
 [ 2.51844785e-01 -1.99444453e-02  9.67562103e-01  1.20754535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.7007140570001 meters
Centerline goodness : 0.998370 with order 1
Centerline is valid?  [True, True]
Translation: X:462.50, Y:37.01, Z:120.77
[[ 9.58556702e-01 -1.32504974e-01 -2.52213167e-01  4.62502356e+02]
 [ 1.33156180e-01  9.90988061e-01 -1.45634665e-02  3.70146812e+01]
 [ 2.51869969e-01 -1.96238335e-02  9.67562103e-01  1.20769563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.76071405700003 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:462.56, Y:37.02, Z:120.78
[[ 9.58751702e-01 -1.31084520e-01 -2.52214239e-01  4.62561649e+02]
 [ 1.31692533e-01  9.91183900e-01 -1.45448800e-02  3.70186217e+01]
 [ 2.51897302e-01 -1.92698035e-02  9.67562104e-01  1.20783294e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.82071405700003 meters
Centerline goodness : 0.998545 with order 1
Centerline is valid?  [True, True]
Translation: X:462.62, Y:37.02, Z:120.80
[[ 9.58872190e-01 -1.30198708e-01 -2.52215027e-01  4.62620881e+02]
 [ 1.30780337e-01  9.91304871e-01 -1.45311933e-02  3.70225565e+01]
 [ 2.51913928e-01 -1.90512090e-02  9.67562104e-01  1.20799864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.88071405700003 meters
Centerline goodness : 0.998681 with order 1
Centerline is valid?  [True, True]
Translation: X:462.68, Y:37.03, Z:120.81
[[ 9.59190979e-01 -1.27827917e-01 -2.52215561e-01  4.62679781e+02]
 [ 1.28331792e-01  9.91624962e-01 -1.45219280e-02  3.70266963e+01]
 [ 2.51959554e-01 -1.84379726e-02  9.67562104e-01  1.20813039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 475.94071405700004 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:462.74, Y:37.03, Z:120.83
[[ 9.59566887e-01 -1.24974798e-01 -2.52215561e-01  4.62737642e+02]
 [ 1.25382215e-01  9.92002225e-01 -1.45219280e-02  3.70327571e+01]
 [ 2.52013273e-01 -1.76885845e-02  9.67562104e-01  1.20832266e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.00071405700004 meters
Centerline goodness : 0.998155 with order 1
Centerline is valid?  [True, True]
Translation: X:462.80, Y:37.04, Z:120.85
[[ 9.59740969e-01 -1.23630285e-01 -2.52215832e-01  4.62797479e+02]
 [ 1.23993491e-01  9.92176831e-01 -1.45172135e-02  3.70361508e+01]
 [ 2.52037473e-01 -1.73403570e-02  9.67562104e-01  1.20847703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.06071405700004 meters
Centerline goodness : 0.997728 with order 1
Centerline is valid?  [True, True]
Translation: X:462.85, Y:37.04, Z:120.87
[[ 9.60095007e-01 -1.20847884e-01 -2.52216905e-01  4.62854909e+02]
 [ 1.21121951e-01  9.92531745e-01 -1.44985583e-02  3.70420669e+01]
 [ 2.52085405e-01 -1.66290101e-02  9.67562104e-01  1.20865894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.12071405700004 meters
Centerline goodness : 0.997768 with order 1
Centerline is valid?  [True, True]
Translation: X:462.91, Y:37.05, Z:120.88
[[ 9.60093357e-01 -1.20860993e-01 -2.52216905e-01  4.62914966e+02]
 [ 1.21135502e-01  9.92530091e-01 -1.44985583e-02  3.70462575e+01]
 [ 2.52085178e-01 -1.66324519e-02  9.67562104e-01  1.20882019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.18071405700005 meters
Centerline goodness : 0.998133 with order 1
Centerline is valid?  [True, True]
Translation: X:462.97, Y:37.05, Z:120.90
[[ 9.59653437e-01 -1.24303543e-01 -2.52217983e-01  4.62974396e+02]
 [ 1.24699296e-01  9.92088918e-01 -1.44797747e-02  3.70499058e+01]
 [ 2.52022553e-01 -1.75558394e-02  9.67562104e-01  1.20896641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.24071405700005 meters
Centerline goodness : 0.998024 with order 1
Centerline is valid?  [True, True]
Translation: X:463.03, Y:37.05, Z:120.91
[[ 9.59209107e-01 -1.27685988e-01 -2.52218513e-01  4.63032107e+02]
 [ 1.28198505e-01  9.91642953e-01 -1.44705334e-02  3.70535017e+01]
 [ 2.51958396e-01 -1.84537690e-02  9.67562104e-01  1.20911660e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.30071405700005 meters
Centerline goodness : 0.997810 with order 1
Centerline is valid?  [True, True]
Translation: X:463.09, Y:37.06, Z:120.92
[[ 9.58442845e-01 -1.33313878e-01 -2.52219592e-01  4.63091304e+02]
 [ 1.34021680e-01  9.90873018e-01 -1.44517106e-02  3.70561353e+01]
 [ 2.51844202e-01 -1.99517548e-02  9.67562104e-01  1.20924737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.36071405700005 meters
Centerline goodness : 0.997557 with order 1
Centerline is valid?  [True, True]
Translation: X:463.15, Y:37.06, Z:120.94
[[ 9.58560937e-01 -1.32462006e-01 -2.52219641e-01  4.63150036e+02]
 [ 1.33141207e-01  9.90991721e-01 -1.44508614e-02  3.70618130e+01]
 [ 2.51861766e-01 -1.97287961e-02  9.67562104e-01  1.20938924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.42071405700005 meters
Centerline goodness : 0.997729 with order 1
Centerline is valid?  [True, True]
Translation: X:463.21, Y:37.07, Z:120.96
[[ 9.59088994e-01 -1.28579327e-01 -2.52221447e-01  4.63207982e+02]
 [ 1.29135461e-01  9.91522122e-01 -1.44192634e-02  3.70681964e+01]
 [ 2.51937164e-01 -1.87413761e-02  9.67562105e-01  1.20956463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.48071405700006 meters
Centerline goodness : 0.997645 with order 1
Centerline is valid?  [True, True]
Translation: X:463.27, Y:37.07, Z:120.97
[[ 9.59622676e-01 -1.24533791e-01 -2.52221441e-01  4.63266460e+02]
 [ 1.24953125e-01  9.92057860e-01 -1.44193664e-02  3.70731274e+01]
 [ 2.52013962e-01 -1.76787064e-02  9.67562105e-01  1.20973617e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.54071405700006 meters
Centerline goodness : 0.997161 with order 1
Centerline is valid?  [True, True]
Translation: X:463.33, Y:37.08, Z:120.99
[[ 9.59769574e-01 -1.23396236e-01 -2.52221597e-01  4.63326295e+02]
 [ 1.23777838e-01  9.92205224e-01 -1.44166398e-02  3.70782897e+01]
 [ 2.52034545e-01 -1.73827917e-02  9.67562105e-01  1.20988805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.60071405700006 meters
Centerline goodness : 0.997142 with order 1
Centerline is valid?  [True, True]
Translation: X:463.38, Y:37.08, Z:121.01
[[ 9.59685701e-01 -1.24045334e-01 -2.52222342e-01  4.63384394e+02]
 [ 1.24452282e-01  9.92121044e-01 -1.44036018e-02  3.70826479e+01]
 [ 2.52021793e-01 -1.75667154e-02  9.67562105e-01  1.21005715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.66071405700006 meters
Centerline goodness : 0.996933 with order 1
Centerline is valid?  [True, True]
Translation: X:463.44, Y:37.09, Z:121.02
[[ 9.59581378e-01 -1.24849415e-01 -2.52222526e-01  4.63444198e+02]
 [ 1.25284388e-01  9.92016357e-01 -1.44003663e-02  3.70863052e+01]
 [ 2.52006749e-01 -1.77812214e-02  9.67562105e-01  1.21018281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.72071405700007 meters
Centerline goodness : 0.996820 with order 1
Centerline is valid?  [True, True]
Translation: X:463.50, Y:37.09, Z:121.04
[[ 9.59590797e-01 -1.24775405e-01 -2.52223315e-01  4.63502316e+02]
 [ 1.25211491e-01  9.92025761e-01 -1.43865436e-02  3.70923365e+01]
 [ 2.52007113e-01 -1.77760624e-02  9.67562105e-01  1.21037208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.78071405700007 meters
Centerline goodness : 0.996432 with order 1
Centerline is valid?  [True, True]
Translation: X:463.56, Y:37.10, Z:121.05
[[ 9.59617858e-01 -1.24566037e-01 -2.52223846e-01  4.63562058e+02]
 [ 1.24997482e-01  9.92052884e-01 -1.43772294e-02  3.70968365e+01]
 [ 2.52010308e-01 -1.77306995e-02  9.67562105e-01  1.21052194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.84071405700007 meters
Centerline goodness : 0.996617 with order 1
Centerline is valid?  [True, True]
Translation: X:463.62, Y:37.10, Z:121.07
[[ 9.59702076e-01 -1.23913359e-01 -2.52224911e-01  4.63620494e+02]
 [ 1.24327637e-01  9.92137325e-01 -1.43585225e-02  3.71025918e+01]
 [ 2.52020961e-01 -1.75786233e-02  9.67562105e-01  1.21069054e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.9007140570001 meters
Centerline goodness : 0.996014 with order 1
Centerline is valid?  [True, True]
Translation: X:463.68, Y:37.11, Z:121.08
[[ 9.59645087e-01 -1.24352864e-01 -2.52225438e-01  4.63679441e+02]
 [ 1.24784422e-01  9.92080111e-01 -1.43492491e-02  3.71069910e+01]
 [ 2.52012211e-01 -1.77036191e-02  9.67562105e-01  1.21083699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 476.9607140570001 meters
Centerline goodness : 0.995608 with order 1
Centerline is valid?  [True, True]
Translation: X:463.74, Y:37.11, Z:121.10
[[ 9.59405279e-01 -1.26188660e-01 -2.52225957e-01  4.63738101e+02]
 [ 1.26684658e-01  9.91839381e-01 -1.43401329e-02  3.71116882e+01]
 [ 2.51977199e-01 -1.81951597e-02  9.67562105e-01  1.21098883e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.0207140570001 meters
Centerline goodness : 0.996144 with order 1
Centerline is valid?  [True, True]
Translation: X:463.80, Y:37.12, Z:121.11
[[ 9.59380092e-01 -1.26379543e-01 -2.52226189e-01  4.63796350e+02]
 [ 1.26883064e-01  9.91814078e-01 -1.43360392e-02  3.71175435e+01]
 [ 2.51973268e-01 -1.82495211e-02  9.67562105e-01  1.21112713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.0807140570001 meters
Centerline goodness : 0.996017 with order 1
Centerline is valid?  [True, True]
Translation: X:463.85, Y:37.12, Z:121.13
[[ 9.59699849e-01 -1.23928002e-01 -2.52226189e-01  4.63854841e+02]
 [ 1.24348655e-01  9.92135016e-01 -1.43360392e-02  3.71248725e+01]
 [ 2.52019071e-01 -1.76056928e-02  9.67562105e-01  1.21129185e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.1407140570001 meters
Centerline goodness : 0.995685 with order 1
Centerline is valid?  [True, True]
Translation: X:463.91, Y:37.13, Z:121.14
[[ 9.60311138e-01 -1.19098046e-01 -2.52226434e-01  4.63913269e+02]
 [ 1.19356637e-01  9.92748002e-01 -1.43317256e-02  3.71336997e+01]
 [ 2.52104169e-01 -1.63419832e-02  9.67562105e-01  1.21143919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.2007140570001 meters
Centerline goodness : 0.994821 with order 1
Centerline is valid?  [True, True]
Translation: X:463.97, Y:37.14, Z:121.16
[[ 9.60575607e-01 -1.16944702e-01 -2.52226962e-01  4.63971324e+02]
 [ 1.17132997e-01  9.93012955e-01 -1.43224346e-02  3.71402842e+01]
 [ 2.52139574e-01 -1.57863187e-02  9.67562105e-01  1.21160711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.2607140570001 meters
Centerline goodness : 0.995212 with order 1
Centerline is valid?  [True, True]
Translation: X:464.03, Y:37.15, Z:121.18
[[ 9.60674430e-01 -1.16129978e-01 -2.52227015e-01  4.64030548e+02]
 [ 1.16291008e-01  9.93111925e-01 -1.43214957e-02  3.71475885e+01]
 [ 2.52152812e-01 -1.55734392e-02  9.67562105e-01  1.21177222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.32071405700003 meters
Centerline goodness : 0.994680 with order 1
Centerline is valid?  [True, True]
Translation: X:464.09, Y:37.15, Z:121.19
[[ 9.60635123e-01 -1.16450564e-01 -2.52228917e-01  4.64088721e+02]
 [ 1.16631200e-01  9.93072514e-01 -1.42879225e-02  3.71543405e+01]
 [ 2.52145442e-01 -1.56922810e-02  9.67562106e-01  1.21193990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.38071405700003 meters
Centerline goodness : 0.994670 with order 1
Centerline is valid?  [True, True]
Translation: X:464.15, Y:37.16, Z:121.21
[[ 9.60537729e-01 -1.17250079e-01 -2.52229440e-01  4.64148345e+02]
 [ 1.17460129e-01  9.92974943e-01 -1.42786828e-02  3.71591349e+01]
 [ 2.52131691e-01 -1.59116892e-02  9.67562106e-01  1.21207085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.44071405700004 meters
Centerline goodness : 0.994846 with order 1
Centerline is valid?  [True, True]
Translation: X:464.21, Y:37.16, Z:121.22
[[ 9.60454832e-01 -1.17926116e-01 -2.52229947e-01  4.64208781e+02]
 [ 1.18161342e-01  9.92891874e-01 -1.42697194e-02  3.71649233e+01]
 [ 2.52119838e-01 -1.60984081e-02  9.67562106e-01  1.21219044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.50071405700004 meters
Centerline goodness : 0.994746 with order 1
Centerline is valid?  [True, True]
Translation: X:464.27, Y:37.17, Z:121.23
[[ 9.60265579e-01 -1.19453804e-01 -2.52231652e-01  4.64268476e+02]
 [ 1.19748523e-01  9.92702134e-01 -1.42395352e-02  3.71705155e+01]
 [ 2.52091865e-01 -1.65306323e-02  9.67562106e-01  1.21234024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.56071405700004 meters
Centerline goodness : 0.994646 with order 1
Centerline is valid?  [True, True]
Translation: X:464.33, Y:37.17, Z:121.25
[[ 9.59930711e-01 -1.22113992e-01 -2.52232439e-01  4.64327846e+02]
 [ 1.22502234e-01  9.92366281e-01 -1.42255743e-02  3.71741397e+01]
 [ 2.52044109e-01 -1.72434717e-02  9.67562106e-01  1.21249505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.62071405700004 meters
Centerline goodness : 0.994777 with order 1
Centerline is valid?  [True, True]
Translation: X:464.39, Y:37.18, Z:121.27
[[ 9.59594653e-01 -1.24726237e-01 -2.52232962e-01  4.64387165e+02]
 [ 1.25205185e-01  9.92029011e-01 -1.42163026e-02  3.71784628e+01]
 [ 2.51995561e-01 -1.79389866e-02  9.67562106e-01  1.21265818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.68071405700005 meters
Centerline goodness : 0.995003 with order 1
Centerline is valid?  [True, True]
Translation: X:464.45, Y:37.18, Z:121.28
[[ 9.59246083e-01 -1.27375867e-01 -2.52234693e-01  4.64445603e+02]
 [ 1.27952435e-01  9.91678852e-01 -1.41855261e-02  3.71815909e+01]
 [ 2.51942704e-01 -1.86666328e-02  9.67562107e-01  1.21282949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.74071405700005 meters
Centerline goodness : 0.995243 with order 1
Centerline is valid?  [True, True]
Translation: X:464.50, Y:37.18, Z:121.30
[[ 9.58538533e-01 -1.32595254e-01 -2.52234772e-01  4.64504424e+02]
 [ 1.33348715e-01  9.90967674e-01 -1.41841222e-02  3.71833719e+01]
 [ 2.51837252e-01 -2.00391549e-02  9.67562107e-01  1.21298510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.80071405700005 meters
Centerline goodness : 0.995219 with order 1
Centerline is valid?  [True, True]
Translation: X:464.56, Y:37.18, Z:121.31
[[ 9.57969768e-01 -1.36642859e-01 -2.52235313e-01  4.64563237e+02]
 [ 1.37535809e-01  9.90395368e-01 -1.41744953e-02  3.71849116e+01]
 [ 2.51749529e-01 -2.11126497e-02  9.67562107e-01  1.21309772e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.86071405700005 meters
Centerline goodness : 0.995636 with order 1
Centerline is valid?  [True, True]
Translation: X:464.62, Y:37.19, Z:121.32
[[ 9.57778637e-01 -1.37976430e-01 -2.52235184e-01  4.64624178e+02]
 [ 1.38913924e-01  9.90202979e-01 -1.41767824e-02  3.71870233e+01]
 [ 2.51720093e-01 -2.14607599e-02  9.67562107e-01  1.21321542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.92071405700005 meters
Centerline goodness : 0.996006 with order 1
Centerline is valid?  [True, True]
Translation: X:464.68, Y:37.19, Z:121.34
[[ 9.57851038e-01 -1.37471082e-01 -2.52236181e-01  4.64684581e+02]
 [ 1.38396114e-01  9.90275738e-01 -1.41590150e-02  3.71911354e+01]
 [ 2.51729826e-01 -2.13462802e-02  9.67562107e-01  1.21335765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 477.98071405700006 meters
Centerline goodness : 0.996304 with order 1
Centerline is valid?  [True, True]
Translation: X:464.74, Y:37.20, Z:121.35
[[ 9.58143399e-01 -1.35416517e-01 -2.52237177e-01  4.64743068e+02]
 [ 1.36276648e-01  9.90569886e-01 -1.41412653e-02  3.71972967e+01]
 [ 2.51773512e-01 -2.08246769e-02  9.67562107e-01  1.21352790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.04071405700006 meters
Centerline goodness : 0.996320 with order 1
Centerline is valid?  [True, True]
Translation: X:464.80, Y:37.20, Z:121.37
[[ 9.58617059e-01 -1.32020749e-01 -2.52237699e-01  4.64800027e+02]
 [ 1.32768420e-01  9.91046333e-01 -1.41319369e-02  3.72037716e+01]
 [ 2.51844956e-01 -1.99420850e-02  9.67562107e-01  1.21370019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.10071405700006 meters
Centerline goodness : 0.996531 with order 1
Centerline is valid?  [True, True]
Translation: X:464.86, Y:37.21, Z:121.39
[[ 9.58614769e-01 -1.32037812e-01 -2.52237471e-01  4.64859449e+02]
 [ 1.32784995e-01  9.91044055e-01 -1.41360085e-02  3.72085403e+01]
 [ 2.51844934e-01 -1.99423648e-02  9.67562107e-01  1.21386476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.16071405700006 meters
Centerline goodness : 0.996306 with order 1
Centerline is valid?  [True, True]
Translation: X:464.92, Y:37.21, Z:121.40
[[ 9.58471857e-01 -1.33069349e-01 -2.52238475e-01  4.64918590e+02]
 [ 1.33856121e-01  9.90900206e-01 -1.41180703e-02  3.72129726e+01]
 [ 2.51821839e-01 -2.02318908e-02  9.67562107e-01  1.21399581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.22071405700007 meters
Centerline goodness : 0.996736 with order 1
Centerline is valid?  [True, True]
Translation: X:464.98, Y:37.22, Z:121.41
[[ 9.58425643e-01 -1.33401324e-01 -2.52238724e-01  4.64978618e+02]
 [ 1.34200492e-01  9.90853689e-01 -1.41136185e-02  3.72159091e+01]
 [ 2.51814446e-01 -2.03237069e-02  9.67562107e-01  1.21413575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.28071405700007 meters
Centerline goodness : 0.996825 with order 1
Centerline is valid?  [True, True]
Translation: X:465.04, Y:37.22, Z:121.43
[[ 9.58774382e-01 -1.30869248e-01 -2.52239814e-01  4.65038332e+02]
 [ 1.31587858e-01  9.91204314e-01 -1.40941101e-02  3.72200272e+01]
 [ 2.51865678e-01 -1.96786251e-02  9.67562108e-01  1.21427902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.34071405700007 meters
Centerline goodness : 0.997076 with order 1
Centerline is valid?  [True, True]
Translation: X:465.10, Y:37.22, Z:121.44
[[ 9.59479898e-01 -1.25591169e-01 -2.52240328e-01  4.65096554e+02]
 [ 1.26133716e-01  9.91913253e-01 -1.40849026e-02  3.72238674e+01]
 [ 2.51969464e-01 -1.83018290e-02  9.67562108e-01  1.21443571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.4007140570001 meters
Centerline goodness : 0.996926 with order 1
Centerline is valid?  [True, True]
Translation: X:465.15, Y:37.23, Z:121.46
[[ 9.60581660e-01 -1.16866177e-01 -2.52240303e-01  4.65154556e+02]
 [ 1.17113828e-01  9.93018607e-01 -1.40853521e-02  3.72291487e+01]
 [ 2.52125416e-01 -1.60106965e-02  9.67562108e-01  1.21459420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.4607140570001 meters
Centerline goodness : 0.996812 with order 1
Centerline is valid?  [True, True]
Translation: X:465.21, Y:37.23, Z:121.47
[[ 9.61713181e-01 -1.07156633e-01 -2.52240390e-01  4.65211438e+02]
 [ 1.07077005e-01  9.94150975e-01 -1.40838048e-02  3.72347096e+01]
 [ 2.52274203e-01 -1.34645647e-02  9.67562108e-01  1.21474987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.5207140570001 meters
Centerline goodness : 0.996628 with order 1
Centerline is valid?  [True, True]
Translation: X:465.27, Y:37.24, Z:121.49
[[ 9.62515168e-01 -9.96971125e-02 -2.52240039e-01  4.65269816e+02]
 [ 9.93643511e-02  9.94951353e-01 -1.40900783e-02  3.72386631e+01]
 [ 2.52371309e-01 -1.15017537e-02  9.67562108e-01  1.21492202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.5807140570001 meters
Centerline goodness : 0.996636 with order 1
Centerline is valid?  [True, True]
Translation: X:465.33, Y:37.24, Z:121.51
[[ 9.62902166e-01 -9.58867169e-02 -2.52240275e-01  4.65329671e+02]
 [ 9.54266787e-02  9.95336796e-01 -1.40858633e-02  3.72412518e+01]
 [ 2.52414674e-01 -1.05071434e-02  9.67562108e-01  1.21508023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.6407140570001 meters
Centerline goodness : 0.996853 with order 1
Centerline is valid?  [True, True]
Translation: X:465.39, Y:37.24, Z:121.52
[[ 9.62936655e-01 -9.55377232e-02 -2.52241039e-01  4.65390403e+02]
 [ 9.50695142e-02  9.95371168e-01 -1.40721555e-02  3.72424875e+01]
 [ 2.52417880e-01 -1.04298388e-02  9.67562108e-01  1.21522621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.7007140570001 meters
Centerline goodness : 0.996812 with order 1
Centerline is valid?  [True, True]
Translation: X:465.45, Y:37.24, Z:121.54
[[ 9.62726734e-01 -9.76278156e-02 -2.52242039e-01  4.65449728e+02]
 [ 9.72347049e-02  9.95162244e-01 -1.40542242e-02  3.72426983e+01]
 [ 2.52393836e-01 -1.09963028e-02  9.67562108e-01  1.21540538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.7607140570001 meters
Centerline goodness : 0.996867 with order 1
Centerline is valid?  [True, True]
Translation: X:465.51, Y:37.24, Z:121.55
[[ 9.62196675e-01 -1.02716749e-01 -2.52243590e-01  4.65507639e+02]
 [ 1.02502441e-01  9.94633858e-01 -1.40263163e-02  3.72436823e+01]
 [ 2.52330753e-01 -1.23595088e-02  9.67562108e-01  1.21554884e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.82071405700003 meters
Centerline goodness : 0.996688 with order 1
Centerline is valid?  [True, True]
Translation: X:465.57, Y:37.24, Z:121.57
[[ 9.61426143e-01 -1.09694997e-01 -2.52243492e-01  4.65566727e+02]
 [ 1.09715573e-01  9.93864028e-01 -1.40280798e-02  3.72447061e+01]
 [ 2.52234544e-01 -1.41880766e-02  9.67562108e-01  1.21569265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.88071405700003 meters
Centerline goodness : 0.997372 with order 1
Centerline is valid?  [True, True]
Translation: X:465.63, Y:37.25, Z:121.58
[[ 9.60820847e-01 -1.14874909e-01 -2.52244040e-01  4.65625796e+02]
 [ 1.15072881e-01  9.93258134e-01 -1.40182294e-02  3.72455377e+01]
 [ 2.52153787e-01 -1.55574412e-02  9.67562108e-01  1.21583329e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 478.94071405700004 meters
Centerline goodness : 0.997329 with order 1
Centerline is valid?  [True, True]
Translation: X:465.68, Y:37.25, Z:121.60
[[ 9.60712266e-01 -1.15779352e-01 -2.52244095e-01  4.65684877e+02]
 [ 1.16008120e-01  9.93149351e-01 -1.40172352e-02  3.72493400e+01]
 [ 2.52138966e-01 -1.57958334e-02  9.67562108e-01  1.21599246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.00071405700004 meters
Centerline goodness : 0.997627 with order 1
Centerline is valid?  [True, True]
Translation: X:465.74, Y:37.25, Z:121.62
[[ 9.61076026e-01 -1.12718791e-01 -2.52244616e-01  4.65743355e+02]
 [ 1.12846695e-01  9.93513665e-01 -1.40078563e-02  3.72532544e+01]
 [ 2.52187422e-01 -1.50023563e-02  9.67562108e-01  1.21615481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.06071405700004 meters
Centerline goodness : 0.996929 with order 1
Centerline is valid?  [True, True]
Translation: X:465.80, Y:37.26, Z:121.63
[[ 9.61470500e-01 -1.09302844e-01 -2.52244654e-01  4.65802178e+02]
 [ 1.09315656e-01  9.93908389e-01 -1.40071733e-02  3.72572682e+01]
 [ 2.52239102e-01 -1.41068060e-02  9.67562108e-01  1.21630754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.12071405700004 meters
Centerline goodness : 0.997602 with order 1
Centerline is valid?  [True, True]
Translation: X:465.86, Y:37.26, Z:121.65
[[ 9.61507790e-01 -1.08973729e-01 -2.52244913e-01  4.65861540e+02]
 [ 1.08976660e-01  9.93945681e-01 -1.40025034e-02  3.72603274e+01]
 [ 2.52243647e-01 -1.40252919e-02  9.67562108e-01  1.21645434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.18071405700005 meters
Centerline goodness : 0.997459 with order 1
Centerline is valid?  [True, True]
Translation: X:465.92, Y:37.26, Z:121.66
[[ 9.61425430e-01 -1.09696794e-01 -2.52245428e-01  4.65921121e+02]
 [ 1.09726547e-01  9.93863308e-01 -1.39932216e-02  3.72633576e+01]
 [ 2.52232487e-01 -1.42245807e-02  9.67562109e-01  1.21660323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.24071405700005 meters
Centerline goodness : 0.997861 with order 1
Centerline is valid?  [True, True]
Translation: X:465.98, Y:37.27, Z:121.68
[[ 9.61329673e-01 -1.10531644e-01 -2.52245943e-01  4.65982062e+02]
 [ 1.10591995e-01  9.93767508e-01 -1.39839329e-02  3.72670250e+01]
 [ 2.52219489e-01 -1.44532124e-02  9.67562109e-01  1.21675064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.30071405700005 meters
Centerline goodness : 0.997303 with order 1
Centerline is valid?  [True, True]
Translation: X:466.04, Y:37.27, Z:121.69
[[ 9.61269180e-01 -1.11052987e-01 -2.52247494e-01  4.66042262e+02]
 [ 1.11138260e-01  9.93706959e-01 -1.39559066e-02  3.72707974e+01]
 [ 2.52209935e-01 -1.46189646e-02  9.67562109e-01  1.21690448e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.36071405700005 meters
Centerline goodness : 0.997226 with order 1
Centerline is valid?  [True, True]
Translation: X:466.10, Y:37.28, Z:121.71
[[ 9.61227257e-01 -1.11412943e-01 -2.52248522e-01  4.66102555e+02]
 [ 1.11515231e-01  9.93664986e-01 -1.39372901e-02  3.72754241e+01]
 [ 2.52203319e-01 -1.47326490e-02  9.67562109e-01  1.21705746e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.42071405700005 meters
Centerline goodness : 0.997497 with order 1
Centerline is valid?  [True, True]
Translation: X:466.16, Y:37.28, Z:121.72
[[ 9.61272095e-01 -1.11023083e-01 -2.52249550e-01  4.66162255e+02]
 [ 1.11117086e-01  9.93709849e-01 -1.39186658e-02  3.72802991e+01]
 [ 2.52208155e-01 -1.46496098e-02  9.67562109e-01  1.21723570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.48071405700006 meters
Centerline goodness : 0.996969 with order 1
Centerline is valid?  [True, True]
Translation: X:466.22, Y:37.28, Z:121.74
[[ 9.61249383e-01 -1.11217183e-01 -2.52250592e-01  4.66221766e+02]
 [ 1.11322680e-01  9.93687102e-01 -1.38997597e-02  3.72840854e+01]
 [ 2.52204052e-01 -1.47200765e-02  9.67562109e-01  1.21741700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.54071405700006 meters
Centerline goodness : 0.997227 with order 1
Centerline is valid?  [True, True]
Translation: X:466.28, Y:37.29, Z:121.76
[[ 9.61181400e-01 -1.11800868e-01 -2.52251624e-01  4.66279453e+02]
 [ 1.11930969e-01  9.93619030e-01 -1.38809993e-02  3.72882261e+01]
 [ 2.52193922e-01 -1.48926103e-02  9.67562110e-01  1.21758282e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.60071405700006 meters
Centerline goodness : 0.996985 with order 1
Centerline is valid?  [True, True]
Translation: X:466.34, Y:37.29, Z:121.77
[[ 9.60882345e-01 -1.14339843e-01 -2.52252887e-01  4.66338938e+02]
 [ 1.14561651e-01  9.93319477e-01 -1.38580183e-02  3.72895127e+01]
 [ 2.52152229e-01 -1.55825822e-02  9.67562110e-01  1.21772484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.66071405700006 meters
Centerline goodness : 0.997557 with order 1
Centerline is valid?  [True, True]
Translation: X:466.40, Y:37.29, Z:121.79
[[ 9.60336727e-01 -1.18833823e-01 -2.52253628e-01  4.66397968e+02]
 [ 1.19210909e-01  9.92772425e-01 -1.38445110e-02  3.72915707e+01]
 [ 2.52075642e-01 -1.67759920e-02  9.67562110e-01  1.21787189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.72071405700007 meters
Centerline goodness : 0.997126 with order 1
Centerline is valid?  [True, True]
Translation: X:466.46, Y:37.29, Z:121.80
[[ 9.59759009e-01 -1.23412845e-01 -2.52253670e-01  4.66457258e+02]
 [ 1.23944832e-01  9.92192537e-01 -1.38437439e-02  3.72948329e+01]
 [ 2.51992705e-01 -1.79788808e-02  9.67562110e-01  1.21800684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.78071405700007 meters
Centerline goodness : 0.997482 with order 1
Centerline is valid?  [True, True]
Translation: X:466.52, Y:37.30, Z:121.82
[[ 9.59528752e-01 -1.25189462e-01 -2.52254184e-01  4.66516531e+02]
 [ 1.25783944e-01  9.91961194e-01 -1.38343692e-02  3.72973995e+01]
 [ 2.51958279e-01 -1.84550512e-02  9.67562110e-01  1.21815330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.84071405700007 meters
Centerline goodness : 0.997310 with order 1
Centerline is valid?  [True, True]
Translation: X:466.57, Y:37.30, Z:121.83
[[ 9.59689628e-01 -1.23949334e-01 -2.52254593e-01  4.66574263e+02]
 [ 1.24503851e-01  9.92122778e-01 -1.38269162e-02  3.73036248e+01]
 [ 2.51981365e-01 -1.81371202e-02  9.67562110e-01  1.21833498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.9007140570001 meters
Centerline goodness : 0.996856 with order 1
Centerline is valid?  [True, True]
Translation: X:466.63, Y:37.31, Z:121.85
[[ 9.59925298e-01 -1.22110618e-01 -2.52254672e-01  4.66633715e+02]
 [ 1.22603378e-01  9.92359445e-01 -1.38254786e-02  3.73087563e+01]
 [ 2.52015544e-01 -1.76558481e-02  9.67562110e-01  1.21849223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 479.9607140570001 meters
Centerline goodness : 0.996900 with order 1
Centerline is valid?  [True, True]
Translation: X:466.69, Y:37.31, Z:121.86
[[ 9.59582948e-01 -1.24770330e-01 -2.52255686e-01  4.66692332e+02]
 [ 1.25357818e-01  9.92015517e-01 -1.38069395e-02  3.73116945e+01]
 [ 2.51964252e-01 -1.83733187e-02  9.67562110e-01  1.21863941e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.0207140570001 meters
Centerline goodness : 0.997298 with order 1
Centerline is valid?  [True, True]
Translation: X:466.75, Y:37.31, Z:121.88
[[ 9.59113997e-01 -1.28325317e-01 -2.52255731e-01  4.66751952e+02]
 [ 1.29033198e-01  9.91544162e-01 -1.38061218e-02  3.73138008e+01]
 [ 2.51894373e-01 -1.93077190e-02  9.67562110e-01  1.21876049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.0807140570001 meters
Centerline goodness : 0.997254 with order 1
Centerline is valid?  [True, True]
Translation: X:466.81, Y:37.32, Z:121.89
[[ 9.58962972e-01 -1.29448116e-01 -2.52256226e-01  4.66810865e+02]
 [ 1.30196326e-01  9.91392232e-01 -1.37970836e-02  3.73167063e+01]
 [ 2.51870869e-01 -1.96119416e-02  9.67562110e-01  1.21890243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.1407140570001 meters
Centerline goodness : 0.997232 with order 1
Centerline is valid?  [True, True]
Translation: X:466.87, Y:37.32, Z:121.91
[[ 9.59032666e-01 -1.28929717e-01 -2.52256760e-01  4.66869075e+02]
 [ 1.29662954e-01  9.91462268e-01 -1.37873055e-02  3.73204627e+01]
 [ 2.51880653e-01 -1.94858803e-02  9.67562110e-01  1.21906019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.2007140570001 meters
Centerline goodness : 0.997673 with order 1
Centerline is valid?  [True, True]
Translation: X:466.93, Y:37.32, Z:121.92
[[ 9.59222886e-01 -1.27506789e-01 -2.52256760e-01  4.66928959e+02]
 [ 1.28191914e-01  9.91653540e-01 -1.37873055e-02  3.73246016e+01]
 [ 2.51909284e-01 -1.91121778e-02  9.67562110e-01  1.21921737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.2607140570001 meters
Centerline goodness : 0.997555 with order 1
Centerline is valid?  [True, True]
Translation: X:466.99, Y:37.33, Z:121.94
[[ 9.59309375e-01 -1.26852370e-01 -2.52257804e-01  4.66988430e+02]
 [ 1.27520369e-01  9.91740386e-01 -1.37681870e-02  3.73285529e+01]
 [ 2.51920779e-01 -1.89600575e-02  9.67562110e-01  1.21937363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.32071405700003 meters
Centerline goodness : 0.998186 with order 1
Centerline is valid?  [True, True]
Translation: X:467.05, Y:37.33, Z:121.95
[[ 9.59430428e-01 -1.25931483e-01 -2.52258826e-01  4.67047173e+02]
 [ 1.26573255e-01  9.91861968e-01 -1.37494361e-02  3.73322891e+01]
 [ 2.51937422e-01 -1.87375933e-02  9.67562111e-01  1.21954653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.38071405700003 meters
Centerline goodness : 0.997620 with order 1
Centerline is valid?  [True, True]
Translation: X:467.11, Y:37.34, Z:121.97
[[ 9.59549887e-01 -1.25016984e-01 -2.52259325e-01  4.67106296e+02]
 [ 1.25630244e-01  9.91981979e-01 -1.37402599e-02  3.73371923e+01]
 [ 2.51954471e-01 -1.85069358e-02  9.67562111e-01  1.21971190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.44071405700004 meters
Centerline goodness : 0.997085 with order 1
Centerline is valid?  [True, True]
Translation: X:467.17, Y:37.34, Z:121.99
[[ 9.59371965e-01 -1.26374074e-01 -2.52259840e-01  4.67165993e+02]
 [ 1.27035680e-01  9.91803106e-01 -1.37308002e-02  3.73400870e+01]
 [ 2.51927310e-01 -1.88730555e-02  9.67562111e-01  1.21985138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.50071405700004 meters
Centerline goodness : 0.996989 with order 1
Centerline is valid?  [True, True]
Translation: X:467.23, Y:37.34, Z:122.00
[[ 9.58777332e-01 -1.30808053e-01 -2.52260344e-01  4.67225205e+02]
 [ 1.31622007e-01  9.91205007e-01 -1.37215406e-02  3.73420820e+01]
 [ 2.51836604e-01 -2.00471106e-02  9.67562111e-01  1.21998204e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.56071405700004 meters
Centerline goodness : 0.996973 with order 1
Centerline is valid?  [True, True]
Translation: X:467.28, Y:37.34, Z:122.01
[[ 9.58203844e-01 -1.34944712e-01 -2.52260418e-01  4.67284288e+02]
 [ 1.35898963e-01  9.90627694e-01 -1.37201883e-02  3.73436284e+01]
 [ 2.51747623e-01 -2.11351919e-02  9.67562111e-01  1.22014058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.62071405700004 meters
Centerline goodness : 0.997235 with order 1
Centerline is valid?  [True, True]
Translation: X:467.34, Y:37.35, Z:122.03
[[ 9.58330850e-01 -1.34039003e-01 -2.52260832e-01  4.67343741e+02]
 [ 1.34964600e-01  9.90755531e-01 -1.37125695e-02  3.73454430e+01]
 [ 2.51766833e-01 -2.09051038e-02  9.67562111e-01  1.22030475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.68071405700005 meters
Centerline goodness : 0.997157 with order 1
Centerline is valid?  [True, True]
Translation: X:467.40, Y:37.35, Z:122.05
[[ 9.59079121e-01 -1.28569312e-01 -2.52264092e-01  4.67402933e+02]
 [ 1.29325650e-01  9.91508190e-01 -1.36523377e-02  3.73492065e+01]
 [ 2.51877185e-01 -1.95305456e-02  9.67562113e-01  1.22045329e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.74071405700005 meters
Centerline goodness : 0.997011 with order 1
Centerline is valid?  [True, True]
Translation: X:467.46, Y:37.35, Z:122.06
[[ 9.60253248e-01 -1.19483961e-01 -2.52264311e-01  4.67461729e+02]
 [ 1.19934317e-01  9.92688009e-01 -1.36482929e-02  3.73536784e+01]
 [ 2.52050509e-01 -1.71493303e-02  9.67562113e-01  1.22059855e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.80071405700005 meters
Centerline goodness : 0.997191 with order 1
Centerline is valid?  [True, True]
Translation: X:467.52, Y:37.36, Z:122.07
[[ 9.61606554e-01 -1.08052979e-01 -2.52264523e-01  4.67519553e+02]
 [ 1.08118510e-01  9.94044375e-01 -1.36443622e-02  3.73591990e+01]
 [ 2.52236444e-01 -1.41539563e-02  9.67562113e-01  1.22073769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.86071405700005 meters
Centerline goodness : 0.997226 with order 1
Centerline is valid?  [True, True]
Translation: X:467.58, Y:37.36, Z:122.09
[[ 9.62548338e-01 -9.93148763e-02 -2.52264252e-01  4.67577698e+02]
 [ 9.90844830e-02  9.94985407e-01 -1.36493703e-02  3.73644222e+01]
 [ 2.52354835e-01 -1.18572943e-02  9.67562113e-01  1.22091705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.92071405700005 meters
Centerline goodness : 0.997391 with order 1
Centerline is valid?  [True, True]
Translation: X:467.64, Y:37.37, Z:122.11
[[ 9.62746689e-01 -9.73729689e-02 -2.52264382e-01  4.67636656e+02]
 [ 9.70777702e-02  9.95183233e-01 -1.36469691e-02  3.73661536e+01]
 [ 2.52378129e-01 -1.13506894e-02  9.67562113e-01  1.22108437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 480.98071405700006 meters
Centerline goodness : 0.997486 with order 1
Centerline is valid?  [True, True]
Translation: X:467.70, Y:37.37, Z:122.12
[[ 9.62571504e-01 -9.90885038e-02 -2.52264879e-01  4.67695512e+02]
 [ 9.88535112e-02  9.95008540e-01 -1.36377865e-02  3.73684917e+01]
 [ 2.52357056e-01 -1.18099244e-02  9.67562113e-01  1.22123517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.04071405700006 meters
Centerline goodness : 0.997272 with order 1
Centerline is valid?  [True, True]
Translation: X:467.75, Y:37.37, Z:122.14
[[ 9.61179166e-01 -1.11788522e-01 -2.52265607e-01  4.67754807e+02]
 [ 1.11985338e-01  9.93616457e-01 -1.36242964e-02  3.73661736e+01]
 [ 2.52178299e-01 -1.51546594e-02  9.67562113e-01  1.22136972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.10071405700006 meters
Centerline goodness : 0.997485 with order 1
Centerline is valid?  [True, True]
Translation: X:467.81, Y:37.37, Z:122.15
[[ 9.59881482e-01 -1.22431902e-01 -2.52265672e-01  4.67814223e+02]
 [ 1.22988437e-01  9.92314595e-01 -1.36230968e-02  3.73656494e+01]
 [ 2.51994810e-01 -1.79492024e-02  9.67562113e-01  1.22150904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.16071405700006 meters
Centerline goodness : 0.997541 with order 1
Centerline is valid?  [True, True]
Translation: X:467.87, Y:37.37, Z:122.16
[[ 9.59068930e-01 -1.28642093e-01 -2.52265733e-01  4.67873659e+02]
 [ 1.29408834e-01  9.91497754e-01 -1.36219636e-02  3.73655657e+01]
 [ 2.51873266e-01 -1.95810123e-02  9.67562113e-01  1.22163793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.22071405700007 meters
Centerline goodness : 0.997709 with order 1
Centerline is valid?  [True, True]
Translation: X:467.93, Y:37.37, Z:122.18
[[ 9.58688182e-01 -1.31449518e-01 -2.52265721e-01  4.67932178e+02]
 [ 1.32311143e-01  9.91114624e-01 -1.36221833e-02  3.73673672e+01]
 [ 2.51814875e-01 -2.03181399e-02  9.67562113e-01  1.22179899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.28071405700007 meters
Centerline goodness : 0.996947 with order 1
Centerline is valid?  [True, True]
Translation: X:467.99, Y:37.37, Z:122.19
[[ 9.58726797e-01 -1.31167486e-01 -2.52265773e-01  4.67990589e+02]
 [ 1.32019822e-01  9.91153484e-01 -1.36212271e-02  3.73702313e+01]
 [ 2.51820762e-01 -2.02450472e-02  9.67562113e-01  1.22194722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.34071405700007 meters
Centerline goodness : 0.997444 with order 1
Centerline is valid?  [True, True]
Translation: X:468.05, Y:37.37, Z:122.21
[[ 9.58999934e-01 -1.29155356e-01 -2.52265773e-01  4.68049337e+02]
 [ 1.29939644e-01  9.91428339e-01 -1.36212271e-02  3.73726810e+01]
 [ 2.51862691e-01 -1.97165689e-02  9.67562113e-01  1.22210578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.4007140570001 meters
Centerline goodness : 0.997275 with order 1
Centerline is valid?  [True, True]
Translation: X:468.11, Y:37.37, Z:122.23
[[ 9.59244839e-01 -1.27322709e-01 -2.52266263e-01  4.68109047e+02]
 [ 1.28047407e-01  9.91674630e-01 -1.36121495e-02  3.73747534e+01]
 [ 2.51899189e-01 -1.92446568e-02  9.67562113e-01  1.22226260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.4607140570001 meters
Centerline goodness : 0.997624 with order 1
Centerline is valid?  [True, True]
Translation: X:468.17, Y:37.38, Z:122.24
[[ 9.59353648e-01 -1.26498311e-01 -2.52267230e-01  4.68169034e+02]
 [ 1.27199829e-01  9.91783949e-01 -1.35942111e-02  3.73774437e+01]
 [ 2.51914234e-01 -1.90466924e-02  9.67562113e-01  1.22240693e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.5207140570001 meters
Centerline goodness : 0.997667 with order 1
Centerline is valid?  [True, True]
Translation: X:468.23, Y:37.38, Z:122.26
[[ 9.59241427e-01 -1.27345082e-01 -2.52267944e-01  4.68228895e+02]
 [ 1.28078697e-01  9.91671017e-01 -1.35809393e-02  3.73788022e+01]
 [ 2.51896274e-01 -1.92827500e-02  9.67562113e-01  1.22256097e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.5807140570001 meters
Centerline goodness : 0.997467 with order 1
Centerline is valid?  [True, True]
Translation: X:468.29, Y:37.38, Z:122.27
[[ 9.59023808e-01 -1.28971746e-01 -2.52268953e-01  4.68287972e+02]
 [ 1.29765264e-01  9.91451988e-01 -1.35621776e-02  3.73815328e+01]
 [ 2.51861692e-01 -1.97292960e-02  9.67562113e-01  1.22272228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.6407140570001 meters
Centerline goodness : 0.997696 with order 1
Centerline is valid?  [True, True]
Translation: X:468.35, Y:37.38, Z:122.29
[[ 9.58653746e-01 -1.31693748e-01 -2.52269205e-01  4.68345758e+02]
 [ 1.32580549e-01  9.91079509e-01 -1.35574807e-02  3.73836670e+01]
 [ 2.51804275e-01 -2.04490600e-02  9.67562113e-01  1.22287180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.7007140570001 meters
Centerline goodness : 0.997546 with order 1
Centerline is valid?  [True, True]
Translation: X:468.40, Y:37.39, Z:122.30
[[ 9.58359103e-01 -1.33821468e-01 -2.52268993e-01  4.68404629e+02]
 [ 1.34779216e-01  9.90782847e-01 -1.35614236e-02  3.73851144e+01]
 [ 2.51758601e-01 -2.10039032e-02  9.67562113e-01  1.22303298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.7607140570001 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:468.46, Y:37.39, Z:122.32
[[ 9.58360777e-01 -1.33808295e-01 -2.52269620e-01  4.68463728e+02]
 [ 1.34768648e-01  9.90784445e-01 -1.35497515e-02  3.73859980e+01]
 [ 2.51757885e-01 -2.10124853e-02  9.67562113e-01  1.22319417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.82071405700003 meters
Centerline goodness : 0.997938 with order 1
Centerline is valid?  [True, True]
Translation: X:468.52, Y:37.39, Z:122.33
[[ 9.58649566e-01 -1.31722907e-01 -2.52269865e-01  4.68524195e+02]
 [ 1.32613908e-01  9.91075214e-01 -1.35451897e-02  3.73862225e+01]
 [ 2.51802622e-01 -2.04694023e-02  9.67562113e-01  1.22333431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.88071405700003 meters
Centerline goodness : 0.997483 with order 1
Centerline is valid?  [True, True]
Translation: X:468.58, Y:37.39, Z:122.35
[[ 9.58965727e-01 -1.29399227e-01 -2.52270837e-01  4.68582507e+02]
 [ 1.30216381e-01  9.91393319e-01 -1.35270586e-02  3.73868412e+01]
 [ 2.51850014e-01 -1.98778100e-02  9.67562113e-01  1.22345963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 481.94071405700004 meters
Centerline goodness : 0.997519 with order 1
Centerline is valid?  [True, True]
Translation: X:468.64, Y:37.39, Z:122.36
[[ 9.59125036e-01 -1.28213537e-01 -2.52270599e-01  4.68641506e+02]
 [ 1.28989437e-01  9.91553641e-01 -1.35315056e-02  3.73865772e+01]
 [ 2.51874753e-01 -1.95618367e-02  9.67562113e-01  1.22358910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.00071405700004 meters
Centerline goodness : 0.997223 with order 1
Centerline is valid?  [True, True]
Translation: X:468.70, Y:37.39, Z:122.37
[[ 9.59311520e-01 -1.26810696e-01 -2.52270598e-01  4.68701795e+02]
 [ 1.27539165e-01  9.91741226e-01 -1.35315225e-02  3.73881307e+01]
 [ 2.51903094e-01 -1.91934359e-02  9.67562113e-01  1.22374964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.06071405700004 meters
Centerline goodness : 0.997703 with order 1
Centerline is valid?  [True, True]
Translation: X:468.76, Y:37.39, Z:122.39
[[ 9.59424887e-01 -1.25948101e-01 -2.52271604e-01  4.68762381e+02]
 [ 1.26652323e-01  9.91855128e-01 -1.35127349e-02  3.73902341e+01]
 [ 2.51918788e-01 -1.89863306e-02  9.67562114e-01  1.22390367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.12071405700004 meters
Centerline goodness : 0.997471 with order 1
Centerline is valid?  [True, True]
Translation: X:468.82, Y:37.39, Z:122.41
[[ 9.59679423e-01 -1.23991223e-01 -2.52272830e-01  4.68820730e+02]
 [ 1.24635300e-01  9.92110915e-01 -1.34898095e-02  3.73920675e+01]
 [ 2.51955246e-01 -1.84962073e-02  9.67562114e-01  1.22406381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.18071405700005 meters
Centerline goodness : 0.997338 with order 1
Centerline is valid?  [True, True]
Translation: X:468.88, Y:37.40, Z:122.42
[[ 9.59783429e-01 -1.23183547e-01 -2.52272834e-01  4.68880666e+02]
 [ 1.23800347e-01  9.92215451e-01 -1.34897494e-02  3.73956396e+01]
 [ 2.51970718e-01 -1.82842263e-02  9.67562114e-01  1.22422990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.24071405700005 meters
Centerline goodness : 0.997450 with order 1
Centerline is valid?  [True, True]
Translation: X:468.94, Y:37.40, Z:122.44
[[ 9.59623749e-01 -1.24419410e-01 -2.52273803e-01  4.68939792e+02]
 [ 1.25082718e-01  9.92054852e-01 -1.34716014e-02  3.73976949e+01]
 [ 2.51945579e-01 -1.86274244e-02  9.67562114e-01  1.22438215e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.30071405700005 meters
Centerline goodness : 0.997246 with order 1
Centerline is valid?  [True, True]
Translation: X:469.00, Y:37.40, Z:122.45
[[ 9.59276026e-01 -1.27072083e-01 -2.52274041e-01  4.68998847e+02]
 [ 1.27826219e-01  9.91705145e-01 -1.34671416e-02  3.73990206e+01]
 [ 2.51892762e-01 -1.93285308e-02  9.67562114e-01  1.22452686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.36071405700005 meters
Centerline goodness : 0.996912 with order 1
Centerline is valid?  [True, True]
Translation: X:469.06, Y:37.40, Z:122.47
[[ 9.59077879e-01 -1.28558945e-01 -2.52274095e-01  4.69058563e+02]
 [ 1.29363619e-01  9.91505783e-01 -1.34661168e-02  3.74018599e+01]
 [ 2.51862414e-01 -1.97200353e-02  9.67562114e-01  1.22467306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.42071405700005 meters
Centerline goodness : 0.997205 with order 1
Centerline is valid?  [True, True]
Translation: X:469.12, Y:37.41, Z:122.48
[[ 9.59148283e-01 -1.28031664e-01 -2.52274580e-01  4.69118146e+02]
 [ 1.28820887e-01  9.91576567e-01 -1.34570250e-02  3.74053170e+01]
 [ 2.51872488e-01 -1.95909528e-02  9.67562114e-01  1.22482852e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.48071405700006 meters
Centerline goodness : 0.997517 with order 1
Centerline is valid?  [True, True]
Translation: X:469.18, Y:37.41, Z:122.50
[[ 9.59563549e-01 -1.24879702e-01 -2.52275358e-01  4.69176304e+02]
 [ 1.25566193e-01  9.91994169e-01 -1.34424332e-02  3.74103100e+01]
 [ 2.51934371e-01 -1.87783875e-02  9.67562114e-01  1.22499367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.54071405700006 meters
Centerline goodness : 0.996973 with order 1
Centerline is valid?  [True, True]
Translation: X:469.23, Y:37.42, Z:122.52
[[ 9.60154893e-01 -1.20248132e-01 -2.52275579e-01  4.69234398e+02]
 [ 1.20779214e-01  9.92588431e-01 -1.34382859e-02  3.74188872e+01]
 [ 2.52021750e-01 -1.75668102e-02  9.67562114e-01  1.22516677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.60071405700006 meters
Centerline goodness : 0.996651 with order 1
Centerline is valid?  [True, True]
Translation: X:469.29, Y:37.43, Z:122.53
[[ 9.60693365e-01 -1.15867002e-01 -2.52275833e-01  4.69292817e+02]
 [ 1.16251378e-01  9.93128973e-01 -1.34335068e-02  3.74257914e+01]
 [ 2.52098940e-01 -1.64219325e-02  9.67562114e-01  1.22531317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.66071405700006 meters
Centerline goodness : 0.996452 with order 1
Centerline is valid?  [True, True]
Translation: X:469.35, Y:37.43, Z:122.55
[[ 9.60964320e-01 -1.13597927e-01 -2.52275815e-01  4.69353624e+02]
 [ 1.13905611e-01  9.93400747e-01 -1.34338580e-02  3.74307432e+01]
 [ 2.52137041e-01 -1.58261727e-02  9.67562114e-01  1.22545776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.72071405700007 meters
Centerline goodness : 0.996979 with order 1
Centerline is valid?  [True, True]
Translation: X:469.41, Y:37.44, Z:122.56
[[ 9.61200361e-01 -1.11580820e-01 -2.52276808e-01  4.69412997e+02]
 [ 1.11825308e-01  9.93637325e-01 -1.34151885e-02  3.74375321e+01]
 [ 2.52168530e-01 -1.53162477e-02  9.67562114e-01  1.22560667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.78071405700007 meters
Centerline goodness : 0.997299 with order 1
Centerline is valid?  [True, True]
Translation: X:469.47, Y:37.44, Z:122.58
[[ 9.61613481e-01 -1.07961466e-01 -2.52277298e-01  4.69470048e+02]
 [ 1.08086255e-01  9.94051126e-01 -1.34059508e-02  3.74421579e+01]
 [ 2.52223859e-01 -1.43763654e-02  9.67562114e-01  1.22576151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.84071405700007 meters
Centerline goodness : 0.996903 with order 1
Centerline is valid?  [True, True]
Translation: X:469.53, Y:37.45, Z:122.59
[[ 9.62390593e-01 -1.00800176e-01 -2.52276973e-01  4.69527022e+02]
 [ 1.00681892e-01  9.94828263e-01 -1.34120763e-02  3.74476182e+01]
 [ 2.52324202e-01 -1.24920669e-02  9.67562114e-01  1.22593454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.9007140570001 meters
Centerline goodness : 0.997465 with order 1
Centerline is valid?  [True, True]
Translation: X:469.58, Y:37.45, Z:122.61
[[ 9.62664955e-01 -9.81460099e-02 -2.52276724e-01  4.69584467e+02]
 [ 9.79370563e-02  9.95102167e-01 -1.34167562e-02  3.74511011e+01]
 [ 2.52357916e-01 -1.17913987e-02  9.67562114e-01  1.22609560e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 482.9607140570001 meters
Centerline goodness : 0.997428 with order 1
Centerline is valid?  [True, True]
Translation: X:469.64, Y:37.45, Z:122.63
[[ 9.63748115e-01 -8.68686608e-02 -2.52276451e-01  4.69641995e+02]
 [ 8.62786123e-02  9.96180633e-01 -1.34218930e-02  3.74539743e+01]
 [ 2.52478856e-01 -8.83073805e-03  9.67562114e-01  1.22625156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.0207140570001 meters
Centerline goodness : 0.997210 with order 1
Centerline is valid?  [True, True]
Translation: X:469.70, Y:37.46, Z:122.64
[[ 9.64206237e-01 -8.16275953e-02 -2.52276175e-01  4.69698518e+02]
 [ 8.08598691e-02  9.96635036e-01 -1.34270759e-02  3.74564961e+01]
 [ 2.52523294e-01 -7.45254818e-03  9.67562114e-01  1.22640468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.0807140570001 meters
Centerline goodness : 0.997454 with order 1
Centerline is valid?  [True, True]
Translation: X:469.76, Y:37.46, Z:122.66
[[ 9.64330897e-01 -8.01435781e-02 -2.52275501e-01  4.69756810e+02]
 [ 7.93226409e-02  9.96758392e-01 -1.34397141e-02  3.74569758e+01]
 [ 2.52534830e-01 -7.05082742e-03  9.67562115e-01  1.22656255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.1407140570001 meters
Centerline goodness : 0.997163 with order 1
Centerline is valid?  [True, True]
Translation: X:469.81, Y:37.45, Z:122.68
[[ 9.64415343e-01 -7.91216049e-02 -2.52275281e-01  4.69813239e+02]
 [ 7.82652203e-02  9.96841922e-01 -1.34438594e-02  3.74542350e+01]
 [ 2.52542275e-01 -6.77891610e-03  9.67562115e-01  1.22676122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.2007140570001 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:469.87, Y:37.45, Z:122.69
[[ 9.64610226e-01 -7.67107967e-02 -2.52274781e-01  4.69869962e+02]
 [ 7.57709154e-02  9.97034492e-01 -1.34532291e-02  3.74502441e+01]
 [ 2.52558666e-01 -6.13796877e-03  9.67562115e-01  1.22694086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.2607140570001 meters
Centerline goodness : 0.997904 with order 1
Centerline is valid?  [True, True]
Translation: X:469.93, Y:37.44, Z:122.71
[[ 9.64753403e-01 -7.48911241e-02 -2.52274039e-01  4.69927257e+02]
 [ 7.38864522e-02  9.97175726e-01 -1.34671203e-02  3.74436478e+01]
 [ 2.52570116e-01 -5.64718359e-03  9.67562115e-01  1.22708799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.32071405700003 meters
Centerline goodness : 0.998688 with order 1
Centerline is valid?  [True, True]
Translation: X:469.99, Y:37.44, Z:122.72
[[ 9.64799027e-01 -7.43044324e-02 -2.52273044e-01  4.69986296e+02]
 [ 7.32751800e-02  9.97220579e-01 -1.34857325e-02  3.74356197e+01]
 [ 2.52573921e-01 -5.47433117e-03  9.67562115e-01  1.22722832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.38071405700003 meters
Centerline goodness : 0.998579 with order 1
Centerline is valid?  [True, True]
Translation: X:470.04, Y:37.43, Z:122.74
[[ 9.64642460e-01 -7.63109440e-02 -2.52272797e-01  4.70044458e+02]
 [ 7.53479149e-02  9.97066047e-01 -1.34903695e-02  3.74273739e+01]
 [ 2.52562103e-01 -5.99484600e-03  9.67562115e-01  1.22738265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.44071405700004 meters
Centerline goodness : 0.998185 with order 1
Centerline is valid?  [True, True]
Translation: X:470.10, Y:37.42, Z:122.75
[[ 9.64078059e-01 -8.31387888e-02 -2.52272548e-01  4.70102373e+02]
 [ 8.24041304e-02  9.96507624e-01 -1.34950188e-02  3.74189129e+01]
 [ 2.52513477e-01 -7.77804843e-03  9.67562115e-01  1.22751512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.50071405700004 meters
Centerline goodness : 0.998571 with order 1
Centerline is valid?  [True, True]
Translation: X:470.16, Y:37.41, Z:122.77
[[ 9.63404019e-01 -9.06257184e-02 -2.52269053e-01  4.70160771e+02]
 [ 9.01260082e-02  9.95838053e-01 -1.35600480e-02  3.74118188e+01]
 [ 2.52448012e-01 -9.67219801e-03  9.67562117e-01  1.22767268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.56071405700004 meters
Centerline goodness : 0.998668 with order 1
Centerline is valid?  [True, True]
Translation: X:470.22, Y:37.41, Z:122.78
[[ 9.62725750e-01 -9.75679149e-02 -2.52268967e-01  4.70218683e+02]
 [ 9.73015974e-02  9.95162540e-01 -1.35616388e-02  3.74072418e+01]
 [ 2.52371807e-01 -1.14900346e-02  9.67562117e-01  1.22782906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.62071405700004 meters
Centerline goodness : 0.998522 with order 1
Centerline is valid?  [True, True]
Translation: X:470.28, Y:37.40, Z:122.80
[[ 9.62027582e-01 -1.04227169e-01 -2.52268963e-01  4.70277336e+02]
 [ 1.04185281e-01  9.94465438e-01 -1.35617286e-02  3.74040050e+01]
 [ 2.52286265e-01 -1.32359558e-02  9.67562117e-01  1.22798111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.68071405700005 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:470.34, Y:37.40, Z:122.81
[[ 9.61674864e-01 -1.07432925e-01 -2.52268948e-01  4.70335824e+02]
 [ 1.07499080e-01  9.94112680e-01 -1.35619918e-02  3.74029124e+01]
 [ 2.52240765e-01 -1.40764533e-02  9.67562117e-01  1.22813895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.74071405700005 meters
Centerline goodness : 0.998479 with order 1
Centerline is valid?  [True, True]
Translation: X:470.39, Y:37.40, Z:122.83
[[ 9.61505568e-01 -1.08938228e-01 -2.52268715e-01  4.70392915e+02]
 [ 1.09054026e-01  9.93943245e-01 -1.35663389e-02  3.74031686e+01]
 [ 2.52218678e-01 -1.44668085e-02  9.67562117e-01  1.22832957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.80071405700005 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:470.45, Y:37.40, Z:122.85
[[ 9.61752503e-01 -1.06736810e-01 -2.52268462e-01  4.70450371e+02]
 [ 1.06777123e-01  9.94190361e-01 -1.35710285e-02  3.74032748e+01]
 [ 2.52251402e-01 -1.38845301e-02  9.67562117e-01  1.22847607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.86071405700005 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:470.51, Y:37.40, Z:122.86
[[ 9.62156903e-01 -1.03028970e-01 -2.52267964e-01  4.70509077e+02]
 [ 1.02941830e-01  9.94594669e-01 -1.35802874e-02  3.74045527e+01]
 [ 2.52303535e-01 -1.29025586e-02  9.67562117e-01  1.22864266e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.92071405700005 meters
Centerline goodness : 0.998722 with order 1
Centerline is valid?  [True, True]
Translation: X:470.57, Y:37.41, Z:122.88
[[ 9.62670560e-01 -9.81122270e-02 -2.52268476e-01  4.70566420e+02]
 [ 9.78618631e-02  9.95107477e-01 -1.35707645e-02  3.74070048e+01]
 [ 2.52365705e-01 -1.16232876e-02  9.67562117e-01  1.22878122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 483.98071405700006 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:470.62, Y:37.41, Z:122.89
[[ 9.63081531e-01 -9.39932474e-02 -2.52268180e-01  4.70623284e+02]
 [ 9.36026905e-02  9.95517062e-01 -1.35762626e-02  3.74078815e+01]
 [ 2.52413355e-01 -1.05379327e-02  9.67562117e-01  1.22892540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.04071405700006 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:470.68, Y:37.41, Z:122.91
[[ 9.63582681e-01 -8.87101400e-02 -2.52267571e-01  4.70680576e+02]
 [ 8.81387495e-02  9.96015531e-01 -1.35875751e-02  3.74094760e+01]
 [ 2.52467774e-01 -9.14179620e-03  9.67562117e-01  1.22909479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.10071405700006 meters
Centerline goodness : 0.998882 with order 1
Centerline is valid?  [True, True]
Translation: X:470.74, Y:37.41, Z:122.93
[[ 9.64090278e-01 -8.30128584e-02 -2.52267321e-01  4.70736062e+02]
 [ 8.22485560e-02  9.96519155e-01 -1.35922094e-02  3.74099499e+01]
 [ 2.52517546e-01 -7.64450600e-03  9.67562117e-01  1.22926523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.16071405700006 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:470.79, Y:37.41, Z:122.94
[[ 9.64466372e-01 -7.85357390e-02 -2.52263267e-01  4.70793582e+02]
 [ 7.76013145e-02  9.96890790e-01 -1.36670580e-02  3.74099421e+01]
 [ 2.52552280e-01 -6.39454323e-03  9.67562120e-01  1.22943512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.22071405700007 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:470.85, Y:37.41, Z:122.96
[[ 9.64515436e-01 -7.79325029e-02 -2.52262759e-01  4.70851898e+02]
 [ 7.69753486e-02  9.96939191e-01 -1.36764321e-02  3.74091107e+01]
 [ 2.52556469e-01 -6.22688390e-03  9.67562120e-01  1.22958602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.28071405700007 meters
Centerline goodness : 0.998630 with order 1
Centerline is valid?  [True, True]
Translation: X:470.91, Y:37.41, Z:122.97
[[ 9.64286923e-01 -8.07115747e-02 -2.52262507e-01  4.70909757e+02]
 [ 7.98466434e-02  9.96713270e-01 -1.36810796e-02  3.74055361e+01]
 [ 2.52537609e-01 -6.94982823e-03  9.67562120e-01  1.22971716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.34071405700007 meters
Centerline goodness : 0.998626 with order 1
Centerline is valid?  [True, True]
Translation: X:470.97, Y:37.40, Z:122.99
[[ 9.64029065e-01 -8.37459694e-02 -2.52258943e-01  4.70968698e+02]
 [ 8.29659974e-02  9.96457564e-01 -1.37464770e-02  3.74040761e+01]
 [ 2.52516544e-01 -7.67691145e-03  9.67562122e-01  1.22986892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.4007140570001 meters
Centerline goodness : 0.998002 with order 1
Centerline is valid?  [True, True]
Translation: X:471.03, Y:37.40, Z:123.00
[[ 9.63575798e-01 -8.88093888e-02 -2.52258942e-01  4.71025172e+02]
 [ 8.81997858e-02  9.96007948e-01 -1.37465020e-02  3.74004429e+01]
 [ 2.52472730e-01 -9.00338804e-03  9.67562122e-01  1.23000826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.4607140570001 meters
Centerline goodness : 0.997552 with order 1
Centerline is valid?  [True, True]
Translation: X:471.08, Y:37.40, Z:123.02
[[ 9.63216757e-01 -9.26258525e-02 -2.52257666e-01  4.71083404e+02]
 [ 9.21386217e-02  9.95650976e-01 -1.37698730e-02  3.73978578e+01]
 [ 2.52436038e-01 -9.97930129e-03  9.67562122e-01  1.23015063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.5207140570001 meters
Centerline goodness : 0.997535 with order 1
Centerline is valid?  [True, True]
Translation: X:471.14, Y:37.40, Z:123.03
[[ 9.63037613e-01 -9.44716321e-02 -2.52257146e-01  4.71141677e+02]
 [ 9.40440685e-02  9.95472672e-01 -1.37794030e-02  3.73968160e+01]
 [ 2.52416858e-01 -1.04532050e-02  9.67562122e-01  1.23029044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.5807140570001 meters
Centerline goodness : 0.997373 with order 1
Centerline is valid?  [True, True]
Translation: X:471.20, Y:37.40, Z:123.05
[[ 9.62803123e-01 -9.68330161e-02 -2.52256842e-01  4.71197992e+02]
 [ 9.64835383e-02  9.95239118e-01 -1.37849723e-02  3.73956781e+01]
 [ 2.52390717e-01 -1.10664182e-02  9.67562122e-01  1.23045709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.6407140570001 meters
Centerline goodness : 0.997506 with order 1
Centerline is valid?  [True, True]
Translation: X:471.26, Y:37.40, Z:123.06
[[ 9.62344072e-01 -1.01302537e-01 -2.52253213e-01  4.71255881e+02]
 [ 1.01086389e-01  9.94781227e-01 -1.38510620e-02  3.73963290e+01]
 [ 2.52339909e-01 -1.21698791e-02  9.67562124e-01  1.23060353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.7007140570001 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:471.31, Y:37.40, Z:123.07
[[ 9.61700162e-01 -1.07244451e-01 -2.52252702e-01  4.71313781e+02]
 [ 1.07226220e-01  9.94138033e-01 -1.38603669e-02  3.73982922e+01]
 [ 2.52260452e-01 -1.37185865e-02  9.67562124e-01  1.23074990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.7607140570001 meters
Centerline goodness : 0.997120 with order 1
Centerline is valid?  [True, True]
Translation: X:471.37, Y:37.40, Z:123.09
[[ 9.61186568e-01 -1.11754527e-01 -2.52252469e-01  4.71371259e+02]
 [ 1.11887351e-01  9.93624171e-01 -1.38646030e-02  3.74017834e+01]
 [ 2.52193583e-01 -1.48973903e-02  9.67562124e-01  1.23091005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.82071405700003 meters
Centerline goodness : 0.997700 with order 1
Centerline is valid?  [True, True]
Translation: X:471.43, Y:37.41, Z:123.11
[[ 9.61113965e-01 -1.12377794e-01 -2.52252212e-01  4.71428468e+02]
 [ 1.12530430e-01  9.93551481e-01 -1.38692774e-02  3.74050791e+01]
 [ 2.52184158e-01 -1.50560936e-02  9.67562124e-01  1.23106230e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.88071405700003 meters
Centerline goodness : 0.997403 with order 1
Centerline is valid?  [True, True]
Translation: X:471.49, Y:37.41, Z:123.12
[[ 9.60789383e-01 -1.15121560e-01 -2.52251439e-01  4.71485292e+02]
 [ 1.15363139e-01  9.93226359e-01 -1.38833258e-02  3.74104714e+01]
 [ 2.52141048e-01 -1.57615657e-02  9.67562125e-01  1.23121502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 484.94071405700004 meters
Centerline goodness : 0.997908 with order 1
Centerline is valid?  [True, True]
Translation: X:471.54, Y:37.42, Z:123.14
[[ 9.60409486e-01 -1.18256724e-01 -2.52247829e-01  4.71543442e+02]
 [ 1.18587093e-01  9.92845677e-01 -1.39486161e-02  3.74162805e+01]
 [ 2.52092684e-01 -1.65169536e-02  9.67562127e-01  1.23136201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.00071405700004 meters
Centerline goodness : 0.997677 with order 1
Centerline is valid?  [True, True]
Translation: X:471.60, Y:37.42, Z:123.15
[[ 9.59819347e-01 -1.22954991e-01 -2.52247679e-01  4.71601809e+02]
 [ 1.23443371e-01  9.92253544e-01 -1.39513281e-02  3.74223431e+01]
 [ 2.52009039e-01 -1.77475491e-02  9.67562127e-01  1.23150033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.06071405700004 meters
Centerline goodness : 0.997449 with order 1
Centerline is valid?  [True, True]
Translation: X:471.66, Y:37.43, Z:123.16
[[ 9.58964660e-01 -1.29452272e-01 -2.52247678e-01  4.71659040e+02]
 [ 1.30160285e-01  9.91394805e-01 -1.39513553e-02  3.74290100e+01]
 [ 2.51883072e-01 -1.94537729e-02  9.67562127e-01  1.23163420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.12071405700004 meters
Centerline goodness : 0.998312 with order 1
Centerline is valid?  [True, True]
Translation: X:471.72, Y:37.44, Z:123.18
[[ 9.58126211e-01 -1.35517120e-01 -2.52248438e-01  4.71717308e+02]
 [ 1.36433904e-01  9.90551126e-01 -1.39375946e-02  3.74352808e+01]
 [ 2.51753757e-01 -2.10612643e-02  9.67562127e-01  1.23179458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.18071405700005 meters
Centerline goodness : 0.997920 with order 1
Centerline is valid?  [True, True]
Translation: X:471.77, Y:37.44, Z:123.19
[[ 9.57649775e-01 -1.38843880e-01 -2.52248459e-01  4.71774366e+02]
 [ 1.39873368e-01  9.90071308e-01 -1.39372219e-02  3.74437835e+01]
 [ 2.51679059e-01 -2.19358640e-02  9.67562127e-01  1.23194754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.24071405700005 meters
Centerline goodness : 0.998089 with order 1
Centerline is valid?  [True, True]
Translation: X:471.83, Y:37.45, Z:123.21
[[ 9.57633356e-01 -1.38957446e-01 -2.52248259e-01  4.71833960e+02]
 [ 1.39989834e-01  9.90054796e-01 -1.39408354e-02  3.74510065e+01]
 [ 2.51676781e-01 -2.19619828e-02  9.67562127e-01  1.23210664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.30071405700005 meters
Centerline goodness : 0.998369 with order 1
Centerline is valid?  [True, True]
Translation: X:471.89, Y:37.46, Z:123.23
[[ 9.58038150e-01 -1.36137149e-01 -2.52249044e-01  4.71892221e+02]
 [ 1.37077788e-01  9.90462382e-01 -1.39266122e-02  3.74597719e+01]
 [ 2.51739118e-01 -2.12355152e-02  9.67562127e-01  1.23226229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.36071405700005 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:471.95, Y:37.47, Z:123.24
[[ 9.58670934e-01 -1.31606732e-01 -2.52249299e-01  4.71948917e+02]
 [ 1.32395289e-01  9.91099221e-01 -1.39219969e-02  3.74714352e+01]
 [ 2.51836312e-01 -2.00500050e-02  9.67562127e-01  1.23242456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.42071405700005 meters
Centerline goodness : 0.999014 with order 1
Centerline is valid?  [True, True]
Translation: X:472.01, Y:37.48, Z:123.26
[[ 9.59339273e-01 -1.26643543e-01 -2.52249030e-01  4.72007281e+02]
 [ 1.27262989e-01  9.91771231e-01 -1.39268674e-02  3.74805313e+01]
 [ 2.51937079e-01 -1.87413747e-02  9.67562127e-01  1.23256793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.48071405700006 meters
Centerline goodness : 0.998685 with order 1
Centerline is valid?  [True, True]
Translation: X:472.06, Y:37.49, Z:123.27
[[ 9.59752449e-01 -1.23473383e-01 -2.52249004e-01  4.72064588e+02]
 [ 1.23985553e-01  9.92186279e-01 -1.39273424e-02  3.74880992e+01]
 [ 2.51997656e-01 -1.79084313e-02  9.67562127e-01  1.23270645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.54071405700006 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:472.12, Y:37.50, Z:123.29
[[ 9.60287186e-01 -1.19243737e-01 -2.52248788e-01  4.72122219e+02]
 [ 1.19611985e-01  9.92722969e-01 -1.39312465e-02  3.74990544e+01]
 [ 2.52074380e-01 -1.67939807e-02  9.67562127e-01  1.23286894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.60071405700006 meters
Centerline goodness : 0.998258 with order 1
Centerline is valid?  [True, True]
Translation: X:472.18, Y:37.51, Z:123.30
[[ 9.60879733e-01 -1.14370830e-01 -2.52248788e-01  4.72180173e+02]
 [ 1.14574532e-01  9.93316967e-01 -1.39312465e-02  3.75110710e+01]
 [ 2.52156329e-01 -1.55150345e-02  9.67562127e-01  1.23303090e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.66071405700006 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:472.24, Y:37.52, Z:123.32
[[ 9.61027427e-01 -1.13122758e-01 -2.52248937e-01  4.72237321e+02]
 [ 1.13285036e-01  9.93464894e-01 -1.39285485e-02  3.75184666e+01]
 [ 2.52176099e-01 -1.51903129e-02  9.67562127e-01  1.23316983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.72071405700007 meters
Centerline goodness : 0.998411 with order 1
Centerline is valid?  [True, True]
Translation: X:472.30, Y:37.52, Z:123.33
[[ 9.60988147e-01 -1.13456510e-01 -2.52248692e-01  4.72296088e+02]
 [ 1.13628893e-01  9.93425562e-01 -1.39329893e-02  3.75234680e+01]
 [ 2.52171087e-01 -1.52733020e-02  9.67562127e-01  1.23332077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.78071405700007 meters
Centerline goodness : 0.998030 with order 1
Centerline is valid?  [True, True]
Translation: X:472.35, Y:37.53, Z:123.35
[[ 9.60525442e-01 -1.17308762e-01 -2.52248945e-01  4.72354819e+02]
 [ 1.17612401e-01  9.92961894e-01 -1.39284098e-02  3.75281181e+01]
 [ 2.52107514e-01 -1.62890120e-02  9.67562127e-01  1.23346977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.84071405700007 meters
Centerline goodness : 0.998522 with order 1
Centerline is valid?  [True, True]
Translation: X:472.41, Y:37.53, Z:123.36
[[ 9.59897475e-01 -1.22340858e-01 -2.52248987e-01  4.72413282e+02]
 [ 1.22814681e-01  9.92331888e-01 -1.39276373e-02  3.75323829e+01]
 [ 2.52018633e-01 -1.76107751e-02  9.67562127e-01  1.23362724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.9007140570001 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:472.47, Y:37.54, Z:123.38
[[ 9.59273552e-01 -1.27140253e-01 -2.52249099e-01  4.72471583e+02]
 [ 1.27776820e-01  9.91705179e-01 -1.39256101e-02  3.75372271e+01]
 [ 2.51927244e-01 -1.88731184e-02  9.67562127e-01  1.23376428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 485.9607140570001 meters
Centerline goodness : 0.998579 with order 1
Centerline is valid?  [True, True]
Translation: X:472.53, Y:37.54, Z:123.39
[[ 9.58709158e-01 -1.31328097e-01 -2.52249243e-01  4.72530287e+02]
 [ 1.32106965e-01  9.91137679e-01 -1.39230054e-02  3.75429838e+01]
 [ 2.51842211e-01 -1.99757692e-02  9.67562127e-01  1.23390639e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.0207140570001 meters
Centerline goodness : 0.998336 with order 1
Centerline is valid?  [True, True]
Translation: X:472.59, Y:37.55, Z:123.41
[[ 9.58313186e-01 -1.34186940e-01 -2.52249286e-01  4.72588247e+02]
 [ 1.35062729e-01  9.90739235e-01 -1.39222297e-02  3.75497333e+01]
 [ 2.51781446e-01 -2.07276205e-02  9.67562127e-01  1.23405774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.0807140570001 meters
Centerline goodness : 0.998341 with order 1
Centerline is valid?  [True, True]
Translation: X:472.65, Y:37.56, Z:123.42
[[ 9.58029070e-01 -1.36200481e-01 -2.52249341e-01  4.72647588e+02]
 [ 1.37144668e-01  9.90453199e-01 -1.39212379e-02  3.75557205e+01]
 [ 2.51737246e-01 -2.12577016e-02  9.67562127e-01  1.23421720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.1407140570001 meters
Centerline goodness : 0.998040 with order 1
Centerline is valid?  [True, True]
Translation: X:472.71, Y:37.56, Z:123.44
[[ 9.57835739e-01 -1.37550116e-01 -2.52251191e-01  4.72705521e+02]
 [ 1.38548771e-01  9.90258235e-01 -1.38876246e-02  3.75628501e+01]
 [ 2.51704064e-01 -2.16470294e-02  9.67562127e-01  1.23436356e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.2007140570001 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:472.77, Y:37.57, Z:123.45
[[ 9.57944807e-01 -1.36786101e-01 -2.52252473e-01  4.72765962e+02]
 [ 1.37764994e-01  9.90367905e-01 -1.38642980e-02  3.75689007e+01]
 [ 2.51719197e-01 -2.14703283e-02  9.67562128e-01  1.23451968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.2607140570001 meters
Centerline goodness : 0.997727 with order 1
Centerline is valid?  [True, True]
Translation: X:472.83, Y:37.58, Z:123.47
[[ 9.58215415e-01 -1.34875009e-01 -2.52253742e-01  4.72825339e+02]
 [ 1.35795270e-01  9.90640231e-01 -1.38411780e-02  3.75755202e+01]
 [ 2.51759534e-01 -2.09920350e-02  9.67562128e-01  1.23465471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.32071405700003 meters
Centerline goodness : 0.997202 with order 1
Centerline is valid?  [True, True]
Translation: X:472.88, Y:37.58, Z:123.48
[[ 9.58731724e-01 -1.31153166e-01 -2.52254491e-01  4.72882665e+02]
 [ 1.31951085e-01  9.91159781e-01 -1.38275140e-02  3.75837721e+01]
 [ 2.51838028e-01 -2.00283774e-02  9.67562128e-01  1.23482444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.38071405700003 meters
Centerline goodness : 0.997368 with order 1
Centerline is valid?  [True, True]
Translation: X:472.94, Y:37.59, Z:123.50
[[ 9.59415443e-01 -1.26054176e-01 -2.52254539e-01  4.72941285e+02]
 [ 1.26679907e-01  9.91847279e-01 -1.38266406e-02  3.75917929e+01]
 [ 2.51940884e-01 -1.86900889e-02  9.67562128e-01  1.23498241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.44071405700004 meters
Centerline goodness : 0.997146 with order 1
Centerline is valid?  [True, True]
Translation: X:473.00, Y:37.60, Z:123.51
[[ 9.60275161e-01 -1.19327834e-01 -2.52254798e-01  4.72999968e+02]
 [ 1.19727514e-01  9.92710571e-01 -1.38219149e-02  3.76009961e+01]
 [ 2.52065344e-01 -1.69289982e-02  9.67562128e-01  1.23513632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.50071405700004 meters
Centerline goodness : 0.997358 with order 1
Centerline is valid?  [True, True]
Translation: X:473.06, Y:37.61, Z:123.53
[[ 9.60953721e-01 -1.13733841e-01 -2.52254950e-01  4.73057572e+02]
 [ 1.13945358e-01  9.93390903e-01 -1.38191404e-02  3.76108046e+01]
 [ 2.52159476e-01 -1.54637262e-02  9.67562128e-01  1.23530624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.56071405700004 meters
Centerline goodness : 0.996897 with order 1
Centerline is valid?  [True, True]
Translation: X:473.12, Y:37.62, Z:123.55
[[ 9.61367441e-01 -1.10181962e-01 -2.52254988e-01  4.73116224e+02]
 [ 1.10273792e-01  9.93805183e-01 -1.38184458e-02  3.76188177e+01]
 [ 2.52214858e-01 -1.45325101e-02  9.67562128e-01  1.23546525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.62071405700004 meters
Centerline goodness : 0.997123 with order 1
Centerline is valid?  [True, True]
Translation: X:473.18, Y:37.63, Z:123.56
[[ 9.61566984e-01 -1.08425549e-01 -2.52255498e-01  4.73176072e+02]
 [ 1.08460558e-01  9.94004837e-01 -1.38091255e-02  3.76255036e+01]
 [ 2.52240447e-01 -1.40813730e-02  9.67562128e-01  1.23562330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.68071405700005 meters
Centerline goodness : 0.996752 with order 1
Centerline is valid?  [True, True]
Translation: X:473.24, Y:37.63, Z:123.58
[[ 9.61641807e-01 -1.07757528e-01 -2.52256516e-01  4.73235045e+02]
 [ 1.07774872e-01  9.94079674e-01 -1.37905085e-02  3.76318889e+01]
 [ 2.52249106e-01 -1.39253841e-02  9.67562128e-01  1.23578290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.74071405700005 meters
Centerline goodness : 0.997019 with order 1
Centerline is valid?  [True, True]
Translation: X:473.30, Y:37.64, Z:123.59
[[ 9.61603852e-01 -1.08094497e-01 -2.52257033e-01  4.73295371e+02]
 [ 1.08125683e-01  9.94041709e-01 -1.37810449e-02  3.76364027e+01]
 [ 2.52243667e-01 -1.40235580e-02  9.67562128e-01  1.23593052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.80071405700005 meters
Centerline goodness : 0.997607 with order 1
Centerline is valid?  [True, True]
Translation: X:473.36, Y:37.64, Z:123.61
[[ 9.61189119e-01 -1.11719988e-01 -2.52258045e-01  4.73355224e+02]
 [ 1.11878352e-01  9.93626604e-01 -1.37624882e-02  3.76417567e+01]
 [ 2.52187850e-01 -1.49938604e-02  9.67562128e-01  1.23608767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.86071405700005 meters
Centerline goodness : 0.996636 with order 1
Centerline is valid?  [True, True]
Translation: X:473.41, Y:37.65, Z:123.62
[[ 9.60625567e-01 -1.16464042e-01 -2.52259085e-01  4.73413324e+02]
 [ 1.16787539e-01  9.93061826e-01 -1.37434024e-02  3.76468282e+01]
 [ 2.52109480e-01 -1.62584540e-02  9.67562129e-01  1.23623532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.92071405700005 meters
Centerline goodness : 0.997055 with order 1
Centerline is valid?  [True, True]
Translation: X:473.47, Y:37.65, Z:123.64
[[ 9.60280383e-01 -1.19276613e-01 -2.52259142e-01  4.73472053e+02]
 [ 1.19695368e-01  9.92715552e-01 -1.37423575e-02  3.76526783e+01]
 [ 2.52060715e-01 -1.69977344e-02  9.67562129e-01  1.23639581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 486.98071405700006 meters
Centerline goodness : 0.997021 with order 1
Centerline is valid?  [True, True]
Translation: X:473.53, Y:37.66, Z:123.66
[[ 9.60194023e-01 -1.19969178e-01 -2.52259457e-01  4.73530453e+02]
 [ 1.20412838e-01  9.92628861e-01 -1.37365778e-02  3.76588397e+01]
 [ 2.52047983e-01 -1.71854972e-02  9.67562129e-01  1.23656647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.04071405700006 meters
Centerline goodness : 0.997068 with order 1
Centerline is valid?  [True, True]
Translation: X:473.59, Y:37.66, Z:123.67
[[ 9.60252321e-01 -1.19501127e-01 -2.52259708e-01  4.73588914e+02]
 [ 1.19930185e-01  9.92687355e-01 -1.37319571e-02  3.76622885e+01]
 [ 2.52056007e-01 -1.70674098e-02  9.67562129e-01  1.23671577e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.10071405700006 meters
Centerline goodness : 0.997545 with order 1
Centerline is valid?  [True, True]
Translation: X:473.65, Y:37.67, Z:123.69
[[ 9.60334399e-01 -1.18839731e-01 -2.52259708e-01  4.73647706e+02]
 [ 1.19246449e-01  9.92769720e-01 -1.37319571e-02  3.76662206e+01]
 [ 2.52067702e-01 -1.68938036e-02  9.67562129e-01  1.23686524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.16071405700006 meters
Centerline goodness : 0.997382 with order 1
Centerline is valid?  [True, True]
Translation: X:473.71, Y:37.67, Z:123.70
[[ 9.60364209e-01 -1.18594859e-01 -2.52261462e-01  4.73706401e+02]
 [ 1.19001748e-01  9.92799528e-01 -1.36996778e-02  3.76694470e+01]
 [ 2.52069771e-01 -1.68628746e-02  9.67562129e-01  1.23702349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.22071405700007 meters
Centerline goodness : 0.997159 with order 1
Centerline is valid?  [True, True]
Translation: X:473.77, Y:37.67, Z:123.72
[[ 9.60418805e-01 -1.18150329e-01 -2.52262203e-01  4.73766391e+02]
 [ 1.18545777e-01  9.92854265e-01 -1.36860190e-02  3.76714404e+01]
 [ 2.52076612e-01 -1.67603087e-02  9.67562129e-01  1.23717809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.28071405700007 meters
Centerline goodness : 0.997146 with order 1
Centerline is valid?  [True, True]
Translation: X:473.83, Y:37.67, Z:123.73
[[ 9.60426646e-01 -1.18084504e-01 -2.52263172e-01  4.73826414e+02]
 [ 1.18482407e-01  9.92862076e-01 -1.36681279e-02  3.76742674e+01]
 [ 2.52076531e-01 -1.67615135e-02  9.67562129e-01  1.23731822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.34071405700007 meters
Centerline goodness : 0.997284 with order 1
Centerline is valid?  [True, True]
Translation: X:473.89, Y:37.68, Z:123.75
[[ 9.60454585e-01 -1.17855496e-01 -2.52263892e-01  4.73886719e+02]
 [ 1.18249144e-01  9.92890067e-01 -1.36548240e-02  3.76750425e+01]
 [ 2.52079609e-01 -1.67151510e-02  9.67562130e-01  1.23745825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.4007140570001 meters
Centerline goodness : 0.997341 with order 1
Centerline is valid?  [True, True]
Translation: X:473.94, Y:37.68, Z:123.76
[[ 9.60642259e-01 -1.16313812e-01 -2.52264836e-01  4.73944192e+02]
 [ 1.16659966e-01  9.93078282e-01 -1.36373657e-02  3.76770287e+01]
 [ 2.52104944e-01 -1.63285773e-02  9.67562130e-01  1.23764992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.4607140570001 meters
Centerline goodness : 0.996792 with order 1
Centerline is valid?  [True, True]
Translation: X:474.00, Y:37.68, Z:123.78
[[ 9.60829213e-01 -1.14759211e-01 -2.52264836e-01  4.74003622e+02]
 [ 1.15052878e-01  9.93265754e-01 -1.36373657e-02  3.76792567e+01]
 [ 2.52131036e-01 -1.59206160e-02  9.67562130e-01  1.23782382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.5207140570001 meters
Centerline goodness : 0.997029 with order 1
Centerline is valid?  [True, True]
Translation: X:474.06, Y:37.68, Z:123.80
[[ 9.61218776e-01 -1.11446910e-01 -2.52265833e-01  4.74062593e+02]
 [ 1.11633610e-01  9.93656109e-01 -1.36188934e-02  3.76774429e+01]
 [ 2.52183270e-01 -1.50706096e-02  9.67562130e-01  1.23798644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.5807140570001 meters
Centerline goodness : 0.996865 with order 1
Centerline is valid?  [True, True]
Translation: X:474.12, Y:37.68, Z:123.81
[[ 9.61640328e-01 -1.07748864e-01 -2.52265855e-01  4.74121652e+02]
 [ 1.07810900e-01  9.94078139e-01 -1.36184940e-02  3.76784235e+01]
 [ 2.52239349e-01 -1.41009159e-02  9.67562130e-01  1.23814311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.6407140570001 meters
Centerline goodness : 0.996966 with order 1
Centerline is valid?  [True, True]
Translation: X:474.18, Y:37.68, Z:123.83
[[ 9.61760918e-01 -1.06665385e-01 -2.52266590e-01  4.74182461e+02]
 [ 1.06694442e-01  9.94198775e-01 -1.36048587e-02  3.76791096e+01]
 [ 2.52254303e-01 -1.38308216e-02  9.67562130e-01  1.23829831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.7007140570001 meters
Centerline goodness : 0.997673 with order 1
Centerline is valid?  [True, True]
Translation: X:474.24, Y:37.68, Z:123.84
[[ 9.61687900e-01 -1.07318756e-01 -2.52267847e-01  4.74242707e+02]
 [ 1.07375954e-01  9.94125720e-01 -1.35815160e-02  3.76765204e+01]
 [ 2.52243507e-01 -1.40263213e-02  9.67562130e-01  1.23843244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.7607140570001 meters
Centerline goodness : 0.997639 with order 1
Centerline is valid?  [True, True]
Translation: X:474.30, Y:37.68, Z:123.86
[[ 9.61761852e-01 -1.06652763e-01 -2.52268366e-01  4.74303492e+02]
 [ 1.06690021e-01  9.94199700e-01 -1.35718688e-02  3.76760366e+01]
 [ 2.52252611e-01 -1.38616115e-02  9.67562130e-01  1.23855106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.82071405700003 meters
Centerline goodness : 0.998068 with order 1
Centerline is valid?  [True, True]
Translation: X:474.36, Y:37.67, Z:123.87
[[ 9.61996696e-01 -1.04510848e-01 -2.52269381e-01  4.74363058e+02]
 [ 1.04480810e-01  9.94434551e-01 -1.35529874e-02  3.76744445e+01]
 [ 2.52281822e-01 -1.33193802e-02  9.67562130e-01  1.23873789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.88071405700003 meters
Centerline goodness : 0.997705 with order 1
Centerline is valid?  [True, True]
Translation: X:474.42, Y:37.68, Z:123.89
[[ 9.61987429e-01 -1.04593687e-01 -2.52270383e-01  4.74422616e+02]
 [ 1.04571331e-01  9.94425291e-01 -1.35342949e-02  3.76754665e+01]
 [ 2.52279651e-01 -1.33604283e-02  9.67562131e-01  1.23890399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 487.94071405700004 meters
Centerline goodness : 0.997665 with order 1
Centerline is valid?  [True, True]
Translation: X:474.48, Y:37.67, Z:123.91
[[ 9.61753601e-01 -1.06720718e-01 -2.52271083e-01  4.74481789e+02]
 [ 1.06773505e-01  9.94191428e-01 -1.35212482e-02  3.76733106e+01]
 [ 2.52248745e-01 -1.39317586e-02  9.67562131e-01  1.23905292e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.00071405700004 meters
Centerline goodness : 0.997935 with order 1
Centerline is valid?  [True, True]
Translation: X:474.54, Y:37.67, Z:123.92
[[ 9.61456831e-01 -1.09360862e-01 -2.52271608e-01  4.74541067e+02]
 [ 1.09505272e-01  9.93894379e-01 -1.35114440e-02  3.76715265e+01]
 [ 2.52208956e-01 -1.46344011e-02  9.67562131e-01  1.23919683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.06071405700004 meters
Centerline goodness : 0.997690 with order 1
Centerline is valid?  [True, True]
Translation: X:474.60, Y:37.67, Z:123.93
[[ 9.61401983e-01 -1.09841441e-01 -2.52271847e-01  4.74598867e+02]
 [ 1.10003235e-01  9.93839449e-01 -1.35069721e-02  3.76705631e+01]
 [ 2.52201339e-01 -1.47650896e-02  9.67562131e-01  1.23933865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.12071405700004 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:474.66, Y:37.67, Z:123.95
[[ 9.61475002e-01 -1.09200983e-01 -2.52271611e-01  4.74656881e+02]
 [ 1.09340017e-01  9.93912573e-01 -1.35113751e-02  3.76722083e+01]
 [ 2.52211382e-01 -1.45925330e-02  9.67562131e-01  1.23948138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.18071405700005 meters
Centerline goodness : 0.997632 with order 1
Centerline is valid?  [True, True]
Translation: X:474.72, Y:37.67, Z:123.96
[[ 9.61876445e-01 -1.05607634e-01 -2.52271149e-01  4.74715441e+02]
 [ 1.05623207e-01  9.94314310e-01 -1.35200063e-02  3.76730954e+01]
 [ 2.52264629e-01 -1.36411121e-02  9.67562131e-01  1.23962570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.24071405700005 meters
Centerline goodness : 0.997681 with order 1
Centerline is valid?  [True, True]
Translation: X:474.77, Y:37.68, Z:123.98
[[ 9.62495640e-01 -9.98069621e-02 -2.52271112e-01  4.74772395e+02]
 [ 9.96267987e-02  9.94933009e-01 -1.35206988e-02  3.76758574e+01]
 [ 2.52342316e-01 -1.21193497e-02  9.67562131e-01  1.23979592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.30071405700005 meters
Centerline goodness : 0.997599 with order 1
Centerline is valid?  [True, True]
Translation: X:474.83, Y:37.68, Z:124.00
[[ 9.62578663e-01 -9.90038767e-02 -2.52270787e-01  4.74830268e+02]
 [ 9.87950678e-02  9.95015860e-01 -1.35267475e-02  3.76771088e+01]
 [ 2.52352635e-01 -1.19025510e-02  9.67562131e-01  1.23995480e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.36071405700005 meters
Centerline goodness : 0.997681 with order 1
Centerline is valid?  [True, True]
Translation: X:474.89, Y:37.68, Z:124.01
[[ 9.62413793e-01 -1.00594497e-01 -2.52270564e-01  4.74888473e+02]
 [ 1.00438205e-01  9.94851286e-01 -1.35309108e-02  3.76762658e+01]
 [ 2.52332830e-01 -1.23152675e-02  9.67562131e-01  1.24013156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.42071405700005 meters
Centerline goodness : 0.997751 with order 1
Centerline is valid?  [True, True]
Translation: X:474.95, Y:37.67, Z:124.03
[[ 9.62166783e-01 -1.02930287e-01 -2.52270564e-01  4.74947261e+02]
 [ 1.02852732e-01  9.94604560e-01 -1.35309108e-02  3.76745613e+01]
 [ 2.52302194e-01 -1.29277238e-02  9.67562131e-01  1.24027375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.48071405700006 meters
Centerline goodness : 0.997694 with order 1
Centerline is valid?  [True, True]
Translation: X:475.01, Y:37.67, Z:124.04
[[ 9.61894740e-01 -1.05442270e-01 -2.52270564e-01  4.75005765e+02]
 [ 1.05449414e-01  9.94332608e-01 -1.35309108e-02  3.76734392e+01]
 [ 2.52267578e-01 -1.35864713e-02  9.67562131e-01  1.24043868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.54071405700006 meters
Centerline goodness : 0.997959 with order 1
Centerline is valid?  [True, True]
Translation: X:475.07, Y:37.67, Z:124.06
[[ 9.61767977e-01 -1.06591335e-01 -2.52270976e-01  4.75065689e+02]
 [ 1.06639240e-01  9.94205811e-01 -1.35232331e-02  3.76719805e+01]
 [ 2.52250730e-01 -1.38957725e-02  9.67562131e-01  1.24059449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.60071405700006 meters
Centerline goodness : 0.998184 with order 1
Centerline is valid?  [True, True]
Translation: X:475.12, Y:37.67, Z:124.07
[[ 9.61740434e-01 -1.06838387e-01 -2.52271475e-01  4.75124008e+02]
 [ 1.06897063e-01  9.94178250e-01 -1.35139045e-02  3.76737131e+01]
 [ 2.52246618e-01 -1.39702115e-02  9.67562131e-01  1.24073167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.66071405700006 meters
Centerline goodness : 0.997769 with order 1
Centerline is valid?  [True, True]
Translation: X:475.18, Y:37.67, Z:124.09
[[ 9.61672371e-01 -1.07446428e-01 -2.52272702e-01  4.75183502e+02]
 [ 1.07531608e-01  9.94110128e-01 -1.34909800e-02  3.76716011e+01]
 [ 2.52236405e-01 -1.41533865e-02  9.67562131e-01  1.24091220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.72071405700007 meters
Centerline goodness : 0.997515 with order 1
Centerline is valid?  [True, True]
Translation: X:475.24, Y:37.67, Z:124.11
[[ 9.61466395e-01 -1.09272230e-01 -2.52273563e-01  4.75242718e+02]
 [ 1.09423218e-01  9.93903913e-01 -1.34748572e-02  3.76715448e+01]
 [ 2.52208109e-01 -1.46489627e-02  9.67562131e-01  1.24106367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.78071405700007 meters
Centerline goodness : 0.997757 with order 1
Centerline is valid?  [True, True]
Translation: X:475.30, Y:37.67, Z:124.12
[[ 9.60997223e-01 -1.13323697e-01 -2.52273814e-01  4.75301406e+02]
 [ 1.13612632e-01  9.93433805e-01 -1.34701574e-02  3.76705596e+01]
 [ 2.52143823e-01 -1.57167080e-02  9.67562131e-01  1.24120256e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.84071405700007 meters
Centerline goodness : 0.998019 with order 1
Centerline is valid?  [True, True]
Translation: X:475.36, Y:37.67, Z:124.13
[[ 9.60411695e-01 -1.18183241e-01 -2.52273856e-01  4.75360323e+02]
 [ 1.18636451e-01  9.92846397e-01 -1.34693700e-02  3.76694552e+01]
 [ 2.52061043e-01 -1.69927345e-02  9.67562131e-01  1.24134646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.9007140570001 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:475.42, Y:37.67, Z:124.14
[[ 9.59778535e-01 -1.23219296e-01 -2.52273997e-01  4.75419783e+02]
 [ 1.23843324e-01  9.92210400e-01 -1.34667210e-02  3.76689086e+01]
 [ 2.51968244e-01 -1.83173806e-02  9.67562131e-01  1.24140805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 488.9607140570001 meters
Centerline goodness : 0.998486 with order 1
Centerline is valid?  [True, True]
Translation: X:475.48, Y:37.67, Z:124.16
[[ 9.59350141e-01 -1.26510720e-01 -2.52274345e-01  4.75477072e+02]
 [ 1.27247692e-01  9.91779637e-01 -1.34602075e-02  3.76718685e+01]
 [ 2.51903418e-01 -1.91882761e-02  9.67562131e-01  1.24163593e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.0207140570001 meters
Centerline goodness : 0.998044 with order 1
Centerline is valid?  [True, True]
Translation: X:475.54, Y:37.68, Z:124.18
[[ 9.59067984e-01 -1.28631297e-01 -2.52274834e-01  4.75535216e+02]
 [ 1.29442359e-01  9.91495711e-01 -1.34510302e-02  3.76757272e+01]
 [ 2.51859639e-01 -1.97545974e-02  9.67562131e-01  1.24181976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.0807140570001 meters
Centerline goodness : 0.997771 with order 1
Centerline is valid?  [True, True]
Translation: X:475.59, Y:37.68, Z:124.20
[[ 9.58892809e-01 -1.29930554e-01 -2.52274913e-01  4.75594522e+02]
 [ 1.30785935e-01  9.91319398e-01 -1.34495569e-02  3.76796113e+01]
 [ 2.51832523e-01 -2.00973268e-02  9.67562131e-01  1.24197713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.1407140570001 meters
Centerline goodness : 0.998112 with order 1
Centerline is valid?  [True, True]
Translation: X:475.65, Y:37.68, Z:124.21
[[ 9.58666474e-01 -1.31588652e-01 -2.52275681e-01  4.75654073e+02]
 [ 1.32503880e-01  9.91091428e-01 -1.34351335e-02  3.76840877e+01]
 [ 2.51796176e-01 -2.05476945e-02  9.67562131e-01  1.24213634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.2007140570001 meters
Centerline goodness : 0.997232 with order 1
Centerline is valid?  [True, True]
Translation: X:475.71, Y:37.69, Z:124.23
[[ 9.58296335e-01 -1.34255757e-01 -2.52276687e-01  4.75712701e+02]
 [ 1.35266155e-01  9.90718463e-01 -1.34162052e-02  3.76871465e+01]
 [ 2.51736375e-01 -2.12677974e-02  9.67562132e-01  1.24226846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.2607140570001 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:475.77, Y:37.69, Z:124.24
[[ 9.57870113e-01 -1.37263788e-01 -2.52276631e-01  4.75771551e+02]
 [ 1.38375699e-01  9.90288919e-01 -1.34172603e-02  3.76907282e+01]
 [ 2.51668456e-01 -2.20569626e-02  9.67562132e-01  1.24241167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.32071405700003 meters
Centerline goodness : 0.997805 with order 1
Centerline is valid?  [True, True]
Translation: X:475.83, Y:37.70, Z:124.26
[[ 9.57942205e-01 -1.36758759e-01 -2.52277175e-01  4.75830205e+02]
 [ 1.37856254e-01  9.90361502e-01 -1.34070230e-02  3.76962856e+01]
 [ 2.51679130e-01 -2.19348331e-02  9.67562132e-01  1.24255914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.38071405700003 meters
Centerline goodness : 0.998183 with order 1
Centerline is valid?  [True, True]
Translation: X:475.89, Y:37.70, Z:124.27
[[ 9.58327603e-01 -1.34030500e-01 -2.52277687e-01  4.75887731e+02]
 [ 1.35038196e-01  9.90749815e-01 -1.33973891e-02  3.77039357e+01]
 [ 2.51739730e-01 -2.12280358e-02  9.67562132e-01  1.24272349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.44071405700004 meters
Centerline goodness : 0.997201 with order 1
Centerline is valid?  [True, True]
Translation: X:475.95, Y:37.71, Z:124.29
[[ 9.58822824e-01 -1.30440520e-01 -2.52277750e-01  4.75946992e+02]
 [ 1.31327094e-01  9.91248574e-01 -1.33962013e-02  3.77117273e+01]
 [ 2.51817367e-01 -2.02863203e-02  9.67562132e-01  1.24288484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.50071405700004 meters
Centerline goodness : 0.998277 with order 1
Centerline is valid?  [True, True]
Translation: X:476.00, Y:37.72, Z:124.31
[[ 9.59454579e-01 -1.25707834e-01 -2.52278518e-01  4.76003914e+02]
 [ 1.26438186e-01  9.91884224e-01 -1.33817218e-02  3.77188586e+01]
 [ 2.51913269e-01 -1.90584840e-02  9.67562132e-01  1.24305484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.56071405700004 meters
Centerline goodness : 0.997927 with order 1
Centerline is valid?  [True, True]
Translation: X:476.06, Y:37.72, Z:124.32
[[ 9.59832206e-01 -1.22791788e-01 -2.52278245e-01  4.76061725e+02]
 [ 1.23422246e-01  9.92263947e-01 -1.33868749e-02  3.77241983e+01]
 [ 2.51970405e-01 -1.82875940e-02  9.67562132e-01  1.24322368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.62071405700004 meters
Centerline goodness : 0.997649 with order 1
Centerline is valid?  [True, True]
Translation: X:476.12, Y:37.73, Z:124.34
[[ 9.60678115e-01 -1.15988050e-01 -2.52278283e-01  4.76120199e+02]
 [ 1.16388892e-01  9.93113506e-01 -1.33861606e-02  3.77321485e+01]
 [ 2.52093604e-01 -1.65025982e-02  9.67562132e-01  1.24338945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.68071405700005 meters
Centerline goodness : 0.997700 with order 1
Centerline is valid?  [True, True]
Translation: X:476.18, Y:37.74, Z:124.36
[[ 9.61009485e-01 -1.13209321e-01 -2.52278458e-01  4.76178790e+02]
 [ 1.13517222e-01  9.93445892e-01 -1.33828613e-02  3.77387792e+01]
 [ 2.52140062e-01 -1.57768931e-02  9.67562132e-01  1.24355011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.74071405700005 meters
Centerline goodness : 0.997909 with order 1
Centerline is valid?  [True, True]
Translation: X:476.24, Y:37.75, Z:124.37
[[ 9.61182680e-01 -1.11728698e-01 -2.52278721e-01  4.76237962e+02]
 [ 1.11987928e-01  9.93619513e-01 -1.33778928e-02  3.77454153e+01]
 [ 2.52163754e-01 -1.53935723e-02  9.67562132e-01  1.24370245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.80071405700005 meters
Centerline goodness : 0.997681 with order 1
Centerline is valid?  [True, True]
Translation: X:476.30, Y:37.75, Z:124.39
[[ 9.60902128e-01 -1.14113500e-01 -2.52280021e-01  4.76297472e+02]
 [ 1.14459640e-01  9.93338149e-01 -1.33533415e-02  3.77510155e+01]
 [ 2.52123165e-01 -1.60446259e-02  9.67562132e-01  1.24385127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.86071405700005 meters
Centerline goodness : 0.997927 with order 1
Centerline is valid?  [True, True]
Translation: X:476.36, Y:37.76, Z:124.40
[[ 9.60391669e-01 -1.18331211e-01 -2.52280732e-01  4.76356405e+02]
 [ 1.18823273e-01  9.92825804e-01 -1.33398969e-02  3.77551571e+01]
 [ 2.52049346e-01 -1.71652963e-02  9.67562132e-01  1.24400196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.92071405700005 meters
Centerline goodness : 0.997971 with order 1
Centerline is valid?  [True, True]
Translation: X:476.42, Y:37.76, Z:124.42
[[ 9.60006125e-01 -1.21419316e-01 -2.52280775e-01  4.76415361e+02]
 [ 1.22015898e-01  9.92438507e-01 -1.33390843e-02  3.77612720e+01]
 [ 2.51992778e-01 -1.79766628e-02  9.67562132e-01  1.24415908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 489.98071405700006 meters
Centerline goodness : 0.998323 with order 1
Centerline is valid?  [True, True]
Translation: X:476.47, Y:37.77, Z:124.43
[[ 9.59678730e-01 -1.23976804e-01 -2.52282554e-01  4.76472796e+02]
 [ 1.24668621e-01  9.92109219e-01 -1.33053454e-02  3.77651461e+01]
 [ 2.51941402e-01 -1.86828611e-02  9.67562133e-01  1.24430440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.04071405700006 meters
Centerline goodness : 0.997975 with order 1
Centerline is valid?  [True, True]
Translation: X:476.53, Y:37.77, Z:124.45
[[ 9.59239443e-01 -1.27331480e-01 -2.52282352e-01  4.76531950e+02]
 [ 1.28135683e-01  9.91667340e-01 -1.33091708e-02  3.77687911e+01]
 [ 2.51874846e-01 -1.95596901e-02  9.67562133e-01  1.24445631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.10071405700006 meters
Centerline goodness : 0.998087 with order 1
Centerline is valid?  [True, True]
Translation: X:476.59, Y:37.77, Z:124.46
[[ 9.58805503e-01 -1.30558420e-01 -2.52282594e-01  4.76589921e+02]
 [ 1.31472929e-01  9.91230476e-01 -1.33045911e-02  3.77734557e+01]
 [ 2.51807222e-01 -2.04118164e-02  9.67562133e-01  1.24459777e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.16071405700006 meters
Centerline goodness : 0.997992 with order 1
Centerline is valid?  [True, True]
Translation: X:476.65, Y:37.78, Z:124.48
[[ 9.58660900e-01 -1.31615192e-01 -2.52283018e-01  4.76648766e+02]
 [ 1.32567544e-01  9.91084784e-01 -1.32965498e-02  3.77770579e+01]
 [ 2.51783888e-01 -2.06976576e-02  9.67562133e-01  1.24475843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.22071405700007 meters
Centerline goodness : 0.997478 with order 1
Centerline is valid?  [True, True]
Translation: X:476.71, Y:37.78, Z:124.49
[[ 9.59001617e-01 -1.29108673e-01 -2.52283273e-01  4.76706472e+02]
 [ 1.29977526e-01  9.91427846e-01 -1.32917104e-02  3.77840828e+01]
 [ 2.51836737e-01 -2.00443839e-02  9.67562133e-01  1.24490117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.28071405700007 meters
Centerline goodness : 0.997922 with order 1
Centerline is valid?  [True, True]
Translation: X:476.76, Y:37.79, Z:124.51
[[ 9.59568164e-01 -1.24828356e-01 -2.52283213e-01  4.76764299e+02]
 [ 1.25552223e-01  9.91997954e-01 -1.32928314e-02  3.77903770e+01]
 [ 2.51923754e-01 -1.89193403e-02  9.67562133e-01  1.24506493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.34071405700007 meters
Centerline goodness : 0.998121 with order 1
Centerline is valid?  [True, True]
Translation: X:476.82, Y:37.80, Z:124.52
[[ 9.59833281e-01 -1.22772790e-01 -2.52283403e-01  4.76824819e+02]
 [ 1.23428133e-01  9.92264527e-01 -1.32892368e-02  3.77954751e+01]
 [ 2.51963428e-01 -1.83834177e-02  9.67562133e-01  1.24522500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.4007140570001 meters
Centerline goodness : 0.998100 with order 1
Centerline is valid?  [True, True]
Translation: X:476.88, Y:37.80, Z:124.54
[[ 9.60283579e-01 -1.19196962e-01 -2.52284627e-01  4.76882793e+02]
 [ 1.19737596e-01  9.92716940e-01 -1.32659538e-02  3.78022657e+01]
 [ 2.52028484e-01 -1.74688772e-02  9.67562133e-01  1.24538659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.4607140570001 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:476.94, Y:37.81, Z:124.55
[[ 9.60330563e-01 -1.18817827e-01 -2.52284627e-01  4.76943040e+02]
 [ 1.19345656e-01  9.92764136e-01 -1.32659538e-02  3.78073357e+01]
 [ 2.52035362e-01 -1.73693734e-02  9.67562133e-01  1.24554289e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.5207140570001 meters
Centerline goodness : 0.998295 with order 1
Centerline is valid?  [True, True]
Translation: X:477.00, Y:37.81, Z:124.57
[[ 9.60124660e-01 -1.20468299e-01 -2.52285606e-01  4.77003125e+02]
 [ 1.21056747e-01  9.92557189e-01 -1.32473190e-02  3.78112353e+01]
 [ 2.52003774e-01 -1.78217971e-02  9.67562133e-01  1.24568934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.5807140570001 meters
Centerline goodness : 0.998360 with order 1
Centerline is valid?  [True, True]
Translation: X:477.06, Y:37.82, Z:124.58
[[ 9.59398657e-01 -1.26117804e-01 -2.52286575e-01  4.77061928e+02]
 [ 1.26901982e-01  9.91827044e-01 -1.32288355e-02  3.78151712e+01]
 [ 2.51893040e-01 -1.93239394e-02  9.67562133e-01  1.24582478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.6407140570001 meters
Centerline goodness : 0.998806 with order 1
Centerline is valid?  [True, True]
Translation: X:477.12, Y:37.82, Z:124.60
[[ 9.58592527e-01 -1.32105395e-01 -2.52286606e-01  4.77119535e+02]
 [ 1.33092181e-01  9.91015381e-01 -1.32282419e-02  3.78189487e+01]
 [ 2.51767429e-01 -2.08968808e-02  9.67562133e-01  1.24595235e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.7007140570001 meters
Centerline goodness : 0.998465 with order 1
Centerline is valid?  [True, True]
Translation: X:477.18, Y:37.82, Z:124.61
[[ 9.58111894e-01 -1.35545869e-01 -2.52287368e-01  4.77178118e+02]
 [ 1.36652849e-01  9.90530866e-01 -1.32136888e-02  3.78245893e+01]
 [ 2.51689486e-01 -2.18155953e-02  9.67562134e-01  1.24611076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.7607140570001 meters
Centerline goodness : 0.998918 with order 1
Centerline is valid?  [True, True]
Translation: X:477.24, Y:37.83, Z:124.63
[[ 9.58050892e-01 -1.35976326e-01 -2.52287389e-01  4.77237500e+02]
 [ 1.37097975e-01  9.90469361e-01 -1.32132929e-02  3.78291592e+01]
 [ 2.51679624e-01 -2.19290832e-02  9.67562134e-01  1.24629276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.82071405700003 meters
Centerline goodness : 0.997857 with order 1
Centerline is valid?  [True, True]
Translation: X:477.30, Y:37.83, Z:124.64
[[ 9.58191602e-01 -1.34979392e-01 -2.52288361e-01  4.77296630e+02]
 [ 1.36072164e-01  9.90611057e-01 -1.31947164e-02  3.78332129e+01]
 [ 2.51700654e-01 -2.16863568e-02  9.67562134e-01  1.24644732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.88071405700003 meters
Centerline goodness : 0.998259 with order 1
Centerline is valid?  [True, True]
Translation: X:477.35, Y:37.84, Z:124.66
[[ 9.58579236e-01 -1.32197083e-01 -2.52289080e-01  4.77354678e+02]
 [ 1.33199330e-01  9.91001615e-01 -1.31809530e-02  3.78388113e+01]
 [ 2.51761369e-01 -2.09697486e-02  9.67562134e-01  1.24661289e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 490.94071405700004 meters
Centerline goodness : 0.997847 with order 1
Centerline is valid?  [True, True]
Translation: X:477.41, Y:37.84, Z:124.68
[[ 9.59035606e-01 -1.28844572e-01 -2.52289084e-01  4.77413510e+02]
 [ 1.29733469e-01  9.91461291e-01 -1.31808707e-02  3.78437451e+01]
 [ 2.51833145e-01 -2.00894138e-02  9.67562134e-01  1.24675754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.00071405700004 meters
Centerline goodness : 0.997710 with order 1
Centerline is valid?  [True, True]
Translation: X:477.47, Y:37.85, Z:124.69
[[ 9.59463154e-01 -1.25620692e-01 -2.52289314e-01  4.77473201e+02]
 [ 1.26401757e-01  9.91891615e-01 -1.31764684e-02  3.78475326e+01]
 [ 2.51898892e-01 -1.92474767e-02  9.67562134e-01  1.24689170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.06071405700004 meters
Centerline goodness : 0.997691 with order 1
Centerline is valid?  [True, True]
Translation: X:477.53, Y:37.85, Z:124.70
[[ 9.59794501e-01 -1.23063049e-01 -2.52289522e-01  4.77532441e+02]
 [ 1.23758721e-01  9.92224906e-01 -1.31724932e-02  3.78518319e+01]
 [ 2.51948994e-01 -1.85801420e-02  9.67562134e-01  1.24703014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.12071405700004 meters
Centerline goodness : 0.997642 with order 1
Centerline is valid?  [True, True]
Translation: X:477.59, Y:37.86, Z:124.72
[[ 9.60834887e-01 -1.14656882e-01 -2.52289752e-01  4.77589821e+02]
 [ 1.15069807e-01  9.93270125e-01 -1.31680764e-02  3.78581865e+01]
 [ 2.52101684e-01 -1.63785858e-02  9.67562134e-01  1.24722141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.18071405700005 meters
Centerline goodness : 0.998021 with order 1
Centerline is valid?  [True, True]
Translation: X:477.65, Y:37.86, Z:124.74
[[ 9.61558991e-01 -1.08416746e-01 -2.52289745e-01  4.77647536e+02]
 [ 1.08619059e-01  9.93996227e-01 -1.31682053e-02  3.78633286e+01]
 [ 2.52202709e-01 -1.47414686e-02  9.67562134e-01  1.24737475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.24071405700005 meters
Centerline goodness : 0.997745 with order 1
Centerline is valid?  [True, True]
Translation: X:477.71, Y:37.87, Z:124.76
[[ 9.62676299e-01 -9.80012228e-02 -2.52289721e-01  4.77705169e+02]
 [ 9.78522572e-02  9.95113823e-01 -1.31686803e-02  3.78680305e+01]
 [ 2.52347535e-01 -1.20099422e-02  9.67562134e-01  1.24756371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.30071405700005 meters
Centerline goodness : 0.997952 with order 1
Centerline is valid?  [True, True]
Translation: X:477.76, Y:37.87, Z:124.77
[[ 9.63734292e-01 -8.69834580e-02 -2.52289701e-01  4.77763329e+02]
 [ 8.64633758e-02  9.96167988e-01 -1.31690518e-02  3.78704809e+01]
 [ 2.52468414e-01 -9.12235241e-03  9.67562134e-01  1.24773888e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.36071405700005 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:477.82, Y:37.87, Z:124.79
[[ 9.64524080e-01 -7.77379730e-02 -2.52289726e-01  4.77822184e+02]
 [ 7.69070241e-02  9.96951302e-01 -1.31685770e-02  3.78715661e+01]
 [ 2.52544269e-01 -6.70144238e-03  9.67562134e-01  1.24790050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.42071405700005 meters
Centerline goodness : 0.997347 with order 1
Centerline is valid?  [True, True]
Translation: X:477.88, Y:37.87, Z:124.80
[[ 9.64930051e-01 -7.25247644e-02 -2.52289825e-01  4.77881548e+02]
 [ 7.15190915e-02  9.97352324e-01 -1.31666892e-02  3.78703923e+01]
 [ 2.52576754e-01 -5.33860498e-03  9.67562134e-01  1.24804743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.48071405700006 meters
Centerline goodness : 0.997715 with order 1
Centerline is valid?  [True, True]
Translation: X:477.94, Y:37.87, Z:124.82
[[ 9.64843627e-01 -7.36647694e-02 -2.52290065e-01  4.77939267e+02]
 [ 7.26986069e-02  9.97267102e-01 -1.31620859e-02  3.78659801e+01]
 [ 2.52570164e-01 -5.64178155e-03  9.67562134e-01  1.24818487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.54071405700006 meters
Centerline goodness : 0.997770 with order 1
Centerline is valid?  [True, True]
Translation: X:478.00, Y:37.86, Z:124.84
[[ 9.64353999e-01 -7.98213982e-02 -2.52289338e-01  4.77997178e+02]
 [ 7.90585608e-02  9.96782894e-01 -1.31760027e-02  3.78601418e+01]
 [ 2.52529423e-01 -7.23930108e-03  9.67562134e-01  1.24835242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.60071405700006 meters
Centerline goodness : 0.998227 with order 1
Centerline is valid?  [True, True]
Translation: X:478.06, Y:37.85, Z:124.85
[[ 9.63637368e-01 -8.80524570e-02 -2.52289094e-01  4.78055806e+02]
 [ 8.75653154e-02  9.96071576e-01 -1.31806709e-02  3.78536557e+01]
 [ 2.52458586e-01 -9.39038702e-03  9.67562134e-01  1.24852166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.66071405700006 meters
Centerline goodness : 0.998105 with order 1
Centerline is valid?  [True, True]
Translation: X:478.11, Y:37.85, Z:124.87
[[ 9.63183259e-01 -9.28882147e-02 -2.52289097e-01  4.78114033e+02]
 [ 9.25638934e-02  9.95619504e-01 -1.31806160e-02  3.78504738e+01]
 [ 2.52408269e-01 -1.06575124e-02  9.67562134e-01  1.24867749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.72071405700007 meters
Centerline goodness : 0.998158 with order 1
Centerline is valid?  [True, True]
Translation: X:478.17, Y:37.84, Z:124.88
[[ 9.62619324e-01 -9.85608911e-02 -2.52289097e-01  4.78172791e+02]
 [ 9.84276633e-02  9.95056916e-01 -1.31806160e-02  3.78423711e+01]
 [ 2.52341104e-01 -1.21443106e-02  9.67562134e-01  1.24883413e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.78071405700007 meters
Centerline goodness : 0.997938 with order 1
Centerline is valid?  [True, True]
Translation: X:478.23, Y:37.84, Z:124.90
[[ 9.62452798e-01 -1.00173930e-01 -2.52289110e-01  4.78232674e+02]
 [ 1.00095128e-01  9.94890569e-01 -1.31803629e-02  3.78411136e+01]
 [ 2.52320385e-01 -1.25674336e-02  9.67562134e-01  1.24899004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.84071405700007 meters
Centerline goodness : 0.997730 with order 1
Centerline is valid?  [True, True]
Translation: X:478.29, Y:37.84, Z:124.91
[[ 9.62422923e-01 -1.00459331e-01 -2.52289595e-01  4.78292183e+02]
 [ 1.00392577e-01  9.94860721e-01 -1.31710717e-02  3.78393481e+01]
 [ 2.52316165e-01 -1.26518614e-02  9.67562134e-01  1.24913791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.9007140570001 meters
Centerline goodness : 0.998231 with order 1
Centerline is valid?  [True, True]
Translation: X:478.35, Y:37.84, Z:124.93
[[ 9.62377430e-01 -1.00893024e-01 -2.52290073e-01  4.78350667e+02]
 [ 1.00843283e-01  9.94815257e-01 -1.31619146e-02  3.78383330e+01]
 [ 2.52309959e-01 -1.27750297e-02  9.67562134e-01  1.24927331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 491.9607140570001 meters
Centerline goodness : 0.998322 with order 1
Centerline is valid?  [True, True]
Translation: X:478.41, Y:37.84, Z:124.94
[[ 9.62354692e-01 -1.01110258e-01 -2.52289838e-01  4.78408546e+02]
 [ 1.01066660e-01  9.94792529e-01 -1.31664225e-02  3.78388516e+01]
 [ 2.52307306e-01 -1.28273227e-02  9.67562134e-01  1.24942650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.0207140570001 meters
Centerline goodness : 0.998389 with order 1
Centerline is valid?  [True, True]
Translation: X:478.47, Y:37.84, Z:124.96
[[ 9.62187945e-01 -1.02686087e-01 -2.52289372e-01  4.78466007e+02]
 [ 1.02693277e-01  9.94625810e-01 -1.31753442e-02  3.78400268e+01]
 [ 2.52286445e-01 -1.32312648e-02  9.67562134e-01  1.24958539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.0807140570001 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:478.52, Y:37.84, Z:124.98
[[ 9.61911640e-01 -1.05243460e-01 -2.52289143e-01  4.78524683e+02]
 [ 1.05335732e-01  9.94349374e-01 -1.31797270e-02  3.78397917e+01]
 [ 2.52250631e-01 -1.38973287e-02  9.67562134e-01  1.24975502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.1407140570001 meters
Centerline goodness : 0.998263 with order 1
Centerline is valid?  [True, True]
Translation: X:478.58, Y:37.84, Z:124.99
[[ 9.61649896e-01 -1.07607950e-01 -2.52289531e-01  4.78583680e+02]
 [ 1.07781911e-01  9.94087295e-01 -1.31722982e-02  3.78396292e+01]
 [ 2.52215261e-01 -1.45251085e-02  9.67562134e-01  1.24992090e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.2007140570001 meters
Centerline goodness : 0.998462 with order 1
Centerline is valid?  [True, True]
Translation: X:478.64, Y:37.84, Z:125.01
[[ 9.61641862e-01 -1.07678590e-01 -2.52290012e-01  4.78643348e+02]
 [ 1.07857345e-01  9.94079236e-01 -1.31630745e-02  3.78410450e+01]
 [ 2.52213643e-01 -1.45531674e-02  9.67562134e-01  1.25007542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.2607140570001 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:478.70, Y:37.84, Z:125.02
[[ 9.62052747e-01 -1.03941787e-01 -2.52290741e-01  4.78703399e+02]
 [ 1.03998178e-01  9.94490563e-01 -1.31490913e-02  3.78405452e+01]
 [ 2.52267501e-01 -1.35876579e-02  9.67562134e-01  1.25020072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.32071405700003 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:478.76, Y:37.84, Z:125.03
[[ 9.62484006e-01 -9.98689207e-02 -2.52290978e-01  4.78762808e+02]
 [ 9.97892076e-02  9.94921773e-01 -1.31445345e-02  3.78418379e+01]
 [ 2.52322518e-01 -1.25245126e-02  9.67562134e-01  1.25033712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.38071405700003 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:478.82, Y:37.84, Z:125.05
[[ 9.62774626e-01 -9.70265857e-02 -2.52291222e-01  4.78821413e+02]
 [ 9.68523177e-02  9.95212024e-01 -1.31398579e-02  3.78416749e+01]
 [ 2.52358173e-01 -1.17842678e-02  9.67562134e-01  1.25047732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.44071405700004 meters
Centerline goodness : 0.998530 with order 1
Centerline is valid?  [True, True]
Translation: X:478.88, Y:37.84, Z:125.06
[[ 9.62748812e-01 -9.72830182e-02 -2.52290981e-01  4.78879974e+02]
 [ 9.71161811e-02  9.95186249e-01 -1.31444807e-02  3.78441329e+01]
 [ 2.52355250e-01 -1.18467034e-02  9.67562134e-01  1.25063377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.50071405700004 meters
Centerline goodness : 0.998532 with order 1
Centerline is valid?  [True, True]
Translation: X:478.94, Y:37.85, Z:125.08
[[ 9.62593646e-01 -9.88065477e-02 -2.52290981e-01  4.78937756e+02]
 [ 9.86910465e-02  9.95031306e-01 -1.31444807e-02  3.78453748e+01]
 [ 2.52336185e-01 -1.22460673e-02  9.67562134e-01  1.25079655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.56071405700004 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:479.00, Y:37.84, Z:125.09
[[ 9.62354172e-01 -1.01113556e-01 -2.52290500e-01  4.78995805e+02]
 [ 1.01073393e-01  9.94792013e-01 -1.31537125e-02  3.78449995e+01]
 [ 2.52306593e-01 -1.28413267e-02  9.67562134e-01  1.25093926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.62071405700004 meters
Centerline goodness : 0.998321 with order 1
Centerline is valid?  [True, True]
Translation: X:479.05, Y:37.85, Z:125.11
[[ 9.62011087e-01 -1.04328384e-01 -2.52290026e-01  4.79054356e+02]
 [ 1.04394226e-01  9.94448886e-01 -1.31627967e-02  3.78457698e+01]
 [ 2.52262788e-01 -1.36748655e-02  9.67562134e-01  1.25107551e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.68071405700005 meters
Centerline goodness : 0.998405 with order 1
Centerline is valid?  [True, True]
Translation: X:479.11, Y:37.85, Z:125.12
[[ 9.61699678e-01 -1.07161515e-01 -2.52289791e-01  4.79109979e+02]
 [ 1.07321725e-01  9.94137148e-01 -1.31672969e-02  3.78477725e+01]
 [ 2.52221681e-01 -1.44131905e-02  9.67562134e-01  1.25121393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.74071405700005 meters
Centerline goodness : 0.998414 with order 1
Centerline is valid?  [True, True]
Translation: X:479.17, Y:37.85, Z:125.14
[[ 9.61508210e-01 -1.08869308e-01 -2.52288399e-01  4.79167954e+02]
 [ 1.09080166e-01  9.93945390e-01 -1.31939137e-02  3.78496957e+01]
 [ 2.52197303e-01 -1.48336040e-02  9.67562135e-01  1.25136529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.80071405700005 meters
Centerline goodness : 0.998282 with order 1
Centerline is valid?  [True, True]
Translation: X:479.23, Y:37.85, Z:125.15
[[ 9.61347287e-01 -1.10281240e-01 -2.52288410e-01  4.79226799e+02]
 [ 1.10539789e-01  9.93784122e-01 -1.31937072e-02  3.78511270e+01]
 [ 2.52175234e-01 -1.52041729e-02  9.67562135e-01  1.25151780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.86071405700005 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:479.29, Y:37.85, Z:125.17
[[ 9.61579027e-01 -1.08241443e-01 -2.52288654e-01  4.79286255e+02]
 [ 1.08432399e-01  9.94016330e-01 -1.31890262e-02  3.78534412e+01]
 [ 2.52206642e-01 -1.46739731e-02  9.67562135e-01  1.25165624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.92071405700005 meters
Centerline goodness : 0.998324 with order 1
Centerline is valid?  [True, True]
Translation: X:479.35, Y:37.86, Z:125.18
[[ 9.61998494e-01 -1.04446540e-01 -2.52289157e-01  4.79345833e+02]
 [ 1.04512024e-01  9.94436293e-01 -1.31794013e-02  3.78561451e+01]
 [ 2.52262037e-01 -1.36886863e-02  9.67562135e-01  1.25180640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 492.98071405700006 meters
Centerline goodness : 0.997839 with order 1
Centerline is valid?  [True, True]
Translation: X:479.40, Y:37.86, Z:125.19
[[ 9.62378712e-01 -1.00881815e-01 -2.52289662e-01  4.79404033e+02]
 [ 1.00829653e-01  9.94816536e-01 -1.31697240e-02  3.78592229e+01]
 [ 2.52310513e-01 -1.27640172e-02  9.67562135e-01  1.25194934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.04071405700006 meters
Centerline goodness : 0.998450 with order 1
Centerline is valid?  [True, True]
Translation: X:479.46, Y:37.86, Z:125.21
[[ 9.62528791e-01 -9.94396927e-02 -2.52289662e-01  4.79462097e+02]
 [ 9.93389274e-02  9.94966500e-01 -1.31697240e-02  3.78613161e+01]
 [ 2.52329356e-01 -1.23859460e-02  9.67562135e-01  1.25209741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.10071405700006 meters
Centerline goodness : 0.998047 with order 1
Centerline is valid?  [True, True]
Translation: X:479.52, Y:37.86, Z:125.22
[[ 9.62379534e-01 -1.00874591e-01 -2.52289415e-01  4.79520440e+02]
 [ 1.00820946e-01  9.94817355e-01 -1.31744689e-02  3.78610805e+01]
 [ 2.52310857e-01 -1.27572181e-02  9.67562135e-01  1.25224206e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.16071405700006 meters
Centerline goodness : 0.998937 with order 1
Centerline is valid?  [True, True]
Translation: X:479.58, Y:37.86, Z:125.24
[[ 9.62255522e-01 -1.02051389e-01 -2.52289170e-01  4.79577083e+02]
 [ 1.02036188e-01  9.94693383e-01 -1.31791435e-02  3.78622269e+01]
 [ 2.52295318e-01 -1.30609217e-02  9.67562135e-01  1.25239063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.22071405700007 meters
Centerline goodness : 0.998089 with order 1
Centerline is valid?  [True, True]
Translation: X:479.63, Y:37.86, Z:125.25
[[ 9.62287919e-01 -1.01747838e-01 -2.52288206e-01  4.79633062e+02]
 [ 1.01717582e-01  9.94725770e-01 -1.31975885e-02  3.78628210e+01]
 [ 2.52300406e-01 -1.29622663e-02  9.67562135e-01  1.25254148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.28071405700007 meters
Centerline goodness : 0.998174 with order 1
Centerline is valid?  [True, True]
Translation: X:479.69, Y:37.86, Z:125.27
[[ 9.62385866e-01 -1.00819552e-01 -2.52287263e-01  4.79691095e+02]
 [ 1.00753302e-01  9.94823663e-01 -1.32155781e-02  3.78641969e+01]
 [ 2.52313728e-01 -1.27002893e-02  9.67562135e-01  1.25269365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.34071405700007 meters
Centerline goodness : 0.997519 with order 1
Centerline is valid?  [True, True]
Translation: X:479.75, Y:37.86, Z:125.28
[[ 9.62210879e-01 -1.02476755e-01 -2.52287017e-01  4.79749606e+02]
 [ 1.02465140e-01  9.94648742e-01 -1.32202728e-02  3.78643579e+01]
 [ 2.52291735e-01 -1.31299342e-02  9.67562135e-01  1.25284397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.4007140570001 meters
Centerline goodness : 0.997729 with order 1
Centerline is valid?  [True, True]
Translation: X:479.81, Y:37.86, Z:125.30
[[ 9.61590233e-01 -1.08146333e-01 -2.52286729e-01  4.79808056e+02]
 [ 1.08324474e-01  9.94027609e-01 -1.32257619e-02  3.78631995e+01]
 [ 2.52210292e-01 -1.46110638e-02  9.67562135e-01  1.25298248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.4607140570001 meters
Centerline goodness : 0.997483 with order 1
Centerline is valid?  [True, True]
Translation: X:479.87, Y:37.86, Z:125.31
[[ 9.61248461e-01 -1.11143733e-01 -2.52286477e-01  4.79865858e+02]
 [ 1.11421744e-01  9.93685135e-01 -1.32305755e-02  3.78642038e+01]
 [ 2.52163817e-01 -1.53923289e-02  9.67562135e-01  1.25312461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.5207140570001 meters
Centerline goodness : 0.997166 with order 1
Centerline is valid?  [True, True]
Translation: X:479.92, Y:37.86, Z:125.33
[[ 9.60888248e-01 -1.14216570e-01 -2.52286248e-01  4.79924140e+02]
 [ 1.14597147e-01  9.93323880e-01 -1.32349455e-02  3.78643654e+01]
 [ 2.52113605e-01 -1.61939805e-02  9.67562135e-01  1.25325962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.5807140570001 meters
Centerline goodness : 0.997203 with order 1
Centerline is valid?  [True, True]
Translation: X:479.98, Y:37.87, Z:125.34
[[ 9.60669558e-01 -1.16042673e-01 -2.52285747e-01  4.79982952e+02]
 [ 1.16482403e-01  9.93104442e-01 -1.32444899e-02  3.78655273e+01]
 [ 2.52083022e-01 -1.66632716e-02  9.67562135e-01  1.25340176e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.6407140570001 meters
Centerline goodness : 0.997128 with order 1
Centerline is valid?  [True, True]
Translation: X:480.04, Y:37.87, Z:125.36
[[ 9.60553441e-01 -1.17000043e-01 -2.52285706e-01  4.80039591e+02]
 [ 1.17471894e-01  9.92987874e-01 -1.32452693e-02  3.78682291e+01]
 [ 2.52066344e-01 -1.69136906e-02  9.67562135e-01  1.25356688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.7007140570001 meters
Centerline goodness : 0.997058 with order 1
Centerline is valid?  [True, True]
Translation: X:480.10, Y:37.87, Z:125.37
[[ 9.60422435e-01 -1.18072178e-01 -2.52284971e-01  4.80097528e+02]
 [ 1.18576579e-01  9.92856378e-01 -1.32592429e-02  3.78696937e+01]
 [ 2.52048291e-01 -1.71806146e-02  9.67562135e-01  1.25371309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.7607140570001 meters
Centerline goodness : 0.996506 with order 1
Centerline is valid?  [True, True]
Translation: X:480.15, Y:37.87, Z:125.39
[[ 9.60363436e-01 -1.18552157e-01 -2.52284475e-01  4.80153872e+02]
 [ 1.19070300e-01  9.92797162e-01 -1.32686826e-02  3.78721779e+01]
 [ 2.52040342e-01 -1.72968305e-02  9.67562135e-01  1.25385368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.82071405700003 meters
Centerline goodness : 0.997278 with order 1
Centerline is valid?  [True, True]
Translation: X:480.21, Y:37.88, Z:125.40
[[ 9.60638865e-01 -1.16303352e-01 -2.52282581e-01  4.80211710e+02]
 [ 1.16736166e-01  9.93073842e-01 -1.33045999e-02  3.78758658e+01]
 [ 2.52082601e-01 -1.66695854e-02  9.67562136e-01  1.25400402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.88071405700003 meters
Centerline goodness : 0.996662 with order 1
Centerline is valid?  [True, True]
Translation: X:480.27, Y:37.88, Z:125.41
[[ 9.61024147e-01 -1.13076661e-01 -2.52282101e-01  4.80270783e+02]
 [ 1.13398172e-01  9.93460417e-01 -1.33136867e-02  3.78783736e+01]
 [ 2.52137749e-01 -1.58135547e-02  9.67562136e-01  1.25414520e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 493.94071405700004 meters
Centerline goodness : 0.996397 with order 1
Centerline is valid?  [True, True]
Translation: X:480.33, Y:37.88, Z:125.43
[[ 9.61250234e-01 -1.11138427e-01 -2.52282062e-01  4.80327871e+02]
 [ 1.11394330e-01  9.93687088e-01 -1.33144393e-02  3.78804663e+01]
 [ 2.52169173e-01 -1.53042834e-02  9.67562136e-01  1.25429501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.00071405700004 meters
Centerline goodness : 0.995822 with order 1
Centerline is valid?  [True, True]
Translation: X:480.38, Y:37.88, Z:125.44
[[ 9.61348593e-01 -1.10286665e-01 -2.52281063e-01  4.80384185e+02]
 [ 1.10508884e-01  9.93785695e-01 -1.33333435e-02  3.78820636e+01]
 [ 2.52183801e-01 -1.50613078e-02  9.67562136e-01  1.25443229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.06071405700004 meters
Centerline goodness : 0.995831 with order 1
Centerline is valid?  [True, True]
Translation: X:480.44, Y:37.88, Z:125.46
[[ 9.61287176e-01 -1.10823519e-01 -2.52279833e-01  4.80440810e+02]
 [ 1.11057776e-01  9.93724193e-01 -1.33565794e-02  3.78830683e+01]
 [ 2.52176796e-01 -1.51781287e-02  9.67562136e-01  1.25458004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.12071405700004 meters
Centerline goodness : 0.996594 with order 1
Centerline is valid?  [True, True]
Translation: X:480.50, Y:37.88, Z:125.47
[[ 9.61175354e-01 -1.11797048e-01 -2.52276353e-01  4.80498303e+02]
 [ 1.12047056e-01  9.93612252e-01 -1.34219813e-02  3.78826596e+01]
 [ 2.52165414e-01 -1.53659449e-02  9.67562139e-01  1.25473638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.18071405700005 meters
Centerline goodness : 0.996948 with order 1
Centerline is valid?  [True, True]
Translation: X:480.55, Y:37.88, Z:125.49
[[ 9.61197553e-01 -1.11607196e-01 -2.52275837e-01  4.80554436e+02]
 [ 1.11848259e-01  9.93634519e-01 -1.34316840e-02  3.78822493e+01]
 [ 2.52169052e-01 -1.53061114e-02  9.67562139e-01  1.25488147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.24071405700005 meters
Centerline goodness : 0.996710 with order 1
Centerline is valid?  [True, True]
Translation: X:480.61, Y:37.88, Z:125.50
[[ 9.61123508e-01 -1.12245882e-01 -2.52274581e-01  4.80611180e+02]
 [ 1.12502342e-01  9.93560355e-01 -1.34552307e-02  3.78830961e+01]
 [ 2.52160317e-01 -1.54493427e-02  9.67562139e-01  1.25503116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.30071405700005 meters
Centerline goodness : 0.995867 with order 1
Centerline is valid?  [True, True]
Translation: X:480.67, Y:37.88, Z:125.52
[[ 9.60794074e-01 -1.15032273e-01 -2.52274304e-01  4.80669551e+02]
 [ 1.15381428e-01  9.93230055e-01 -1.34604252e-02  3.78835757e+01]
 [ 2.52114804e-01 -1.61750726e-02  9.67562139e-01  1.25516934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.36071405700005 meters
Centerline goodness : 0.996802 with order 1
Centerline is valid?  [True, True]
Translation: X:480.73, Y:37.88, Z:125.53
[[ 9.60501021e-01 -1.17454622e-01 -2.52274058e-01  4.80726872e+02]
 [ 1.17884359e-01  9.92936036e-01 -1.34650345e-02  3.78847198e+01]
 [ 2.52073533e-01 -1.68059863e-02  9.67562139e-01  1.25531191e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.42071405700005 meters
Centerline goodness : 0.996631 with order 1
Centerline is valid?  [True, True]
Translation: X:480.78, Y:37.89, Z:125.55
[[ 9.60400448e-01 -1.18275724e-01 -2.52273328e-01  4.80783359e+02]
 [ 1.18729620e-01  9.92835133e-01 -1.34786906e-02  3.78874440e+01]
 [ 2.52060025e-01 -1.70073759e-02  9.67562139e-01  1.25546797e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.48071405700006 meters
Centerline goodness : 0.996824 with order 1
Centerline is valid?  [True, True]
Translation: X:480.84, Y:37.89, Z:125.56
[[ 9.60603902e-01 -1.16619167e-01 -2.52269921e-01  4.80842023e+02]
 [ 1.17000521e-01  9.93039520e-01 -1.35421789e-02  3.78903857e+01]
 [ 2.52093278e-01 -1.65070423e-02  9.67562141e-01  1.25561392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.54071405700006 meters
Centerline goodness : 0.996496 with order 1
Centerline is valid?  [True, True]
Translation: X:480.90, Y:37.89, Z:125.58
[[ 9.60672772e-01 -1.16050676e-01 -2.52269827e-01  4.80899951e+02]
 [ 1.16412378e-01  9.93108615e-01 -1.35439253e-02  3.78946253e+01]
 [ 2.52103120e-01 -1.63560502e-02  9.67562141e-01  1.25576214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.60071405700006 meters
Centerline goodness : 0.996387 with order 1
Centerline is valid?  [True, True]
Translation: X:480.96, Y:37.90, Z:125.59
[[ 9.60512244e-01 -1.17372424e-01 -2.52269583e-01  4.80956100e+02]
 [ 1.17777570e-01  9.92947573e-01 -1.35484670e-02  3.78988450e+01]
 [ 2.52080687e-01 -1.66982299e-02  9.67562141e-01  1.25591158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.66071405700006 meters
Centerline goodness : 0.996912 with order 1
Centerline is valid?  [True, True]
Translation: X:481.01, Y:37.90, Z:125.60
[[ 9.59918078e-01 -1.22139120e-01 -2.52268346e-01  4.81014705e+02]
 [ 1.22699262e-01  9.92351100e-01 -1.35714626e-02  3.79026346e+01]
 [ 2.51996377e-01 -1.79256475e-02  9.67562141e-01  1.25604989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.72071405700007 meters
Centerline goodness : 0.996867 with order 1
Centerline is valid?  [True, True]
Translation: X:481.07, Y:37.91, Z:125.62
[[ 9.59029512e-01 -1.28930747e-01 -2.52268227e-01  4.81071911e+02]
 [ 1.29719871e-01  9.91457770e-01 -1.35736703e-02  3.79052644e+01]
 [ 2.51863357e-01 -1.97066515e-02  9.67562141e-01  1.25619446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.78071405700007 meters
Centerline goodness : 0.997057 with order 1
Centerline is valid?  [True, True]
Translation: X:481.13, Y:37.91, Z:125.64
[[ 9.58550762e-01 -1.32442908e-01 -2.52268337e-01  4.81129549e+02]
 [ 1.33351348e-01  9.90975897e-01 -1.35716345e-02  3.79103147e+01]
 [ 2.51789308e-01 -2.06312221e-02  9.67562141e-01  1.25636864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.84071405700007 meters
Centerline goodness : 0.996273 with order 1
Centerline is valid?  [True, True]
Translation: X:481.19, Y:37.92, Z:125.65
[[ 9.58441159e-01 -1.33233937e-01 -2.52268237e-01  4.81187885e+02]
 [ 1.34168650e-01  9.90865548e-01 -1.35734932e-02  3.79165470e+01]
 [ 2.51772354e-01 -2.08370942e-02  9.67562141e-01  1.25651922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.9007140570001 meters
Centerline goodness : 0.996340 with order 1
Centerline is valid?  [True, True]
Translation: X:481.25, Y:37.92, Z:125.67
[[ 9.58516748e-01 -1.32689036e-01 -2.52268237e-01  4.81245452e+02]
 [ 1.33605316e-01  9.90941663e-01 -1.35734932e-02  3.79219163e+01]
 [ 2.51784160e-01 -2.06939570e-02  9.67562141e-01  1.25666804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 494.9607140570001 meters
Centerline goodness : 0.996380 with order 1
Centerline is valid?  [True, True]
Translation: X:481.30, Y:37.93, Z:125.68
[[ 9.59260711e-01 -1.27200120e-01 -2.52267751e-01  4.81302090e+02]
 [ 1.27928419e-01  9.91690393e-01 -1.35825158e-02  3.79301175e+01]
 [ 2.51899203e-01 -1.92430408e-02  9.67562141e-01  1.25683507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.0207140570001 meters
Centerline goodness : 0.996267 with order 1
Centerline is valid?  [True, True]
Translation: X:481.36, Y:37.94, Z:125.70
[[ 9.59889243e-01 -1.22367035e-01 -2.52267615e-01  4.81359750e+02]
 [ 1.22931326e-01  9.92322193e-01 -1.35850435e-02  3.79360369e+01]
 [ 2.51993114e-01 -1.79714553e-02  9.67562141e-01  1.25700875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.0807140570001 meters
Centerline goodness : 0.996494 with order 1
Centerline is valid?  [True, True]
Translation: X:481.42, Y:37.94, Z:125.72
[[ 9.60878929e-01 -1.14336159e-01 -2.52267571e-01  4.81416655e+02]
 [ 1.14629014e-01  9.93315465e-01 -1.35858572e-02  3.79422860e+01]
 [ 2.52134634e-01 -1.58628191e-02  9.67562141e-01  1.25716516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.1407140570001 meters
Centerline goodness : 0.996760 with order 1
Centerline is valid?  [True, True]
Translation: X:481.48, Y:37.95, Z:125.73
[[ 9.61669889e-01 -1.07480993e-01 -2.52267438e-01  4.81475452e+02]
 [ 1.07541881e-01  9.94107691e-01 -1.35883298e-02  3.79471514e+01]
 [ 2.52241487e-01 -1.40618272e-02  9.67562141e-01  1.25731790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.2007140570001 meters
Centerline goodness : 0.996845 with order 1
Centerline is valid?  [True, True]
Translation: X:481.53, Y:37.95, Z:125.75
[[ 9.62066729e-01 -1.03869397e-01 -2.52267234e-01  4.81532750e+02]
 [ 1.03807500e-01  9.94504529e-01 -1.35921074e-02  3.79521372e+01]
 [ 2.52292711e-01 -1.31107166e-02  9.67562141e-01  1.25745818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.2607140570001 meters
Centerline goodness : 0.997340 with order 1
Centerline is valid?  [True, True]
Translation: X:481.59, Y:37.96, Z:125.76
[[ 9.62132772e-01 -1.03263784e-01 -2.52263989e-01  4.81589269e+02]
 [ 1.03165784e-01  9.94570481e-01 -1.36520874e-02  3.79557085e+01]
 [ 2.52304083e-01 -1.28898914e-02  9.67562143e-01  1.25760722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.32071405700003 meters
Centerline goodness : 0.997187 with order 1
Centerline is valid?  [True, True]
Translation: X:481.65, Y:37.96, Z:125.78
[[ 9.62111411e-01 -1.03465100e-01 -2.52262971e-01  4.81646967e+02]
 [ 1.03368977e-01  9.94549125e-01 -1.36708623e-02  3.79586001e+01]
 [ 2.52302374e-01 -1.29232727e-02  9.67562143e-01  1.25775881e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.38071405700003 meters
Centerline goodness : 0.997347 with order 1
Centerline is valid?  [True, True]
Translation: X:481.70, Y:37.96, Z:125.79
[[ 9.61927269e-01 -1.05164525e-01 -2.52262466e-01  4.81703597e+02]
 [ 1.05123268e-01  9.94365100e-01 -1.36801763e-02  3.79619826e+01]
 [ 2.52279662e-01 -1.33593202e-02  9.67562143e-01  1.25791531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.44071405700004 meters
Centerline goodness : 0.997513 with order 1
Centerline is valid?  [True, True]
Translation: X:481.76, Y:37.96, Z:125.81
[[ 9.61607876e-01 -1.08054248e-01 -2.52258940e-01  4.81760346e+02]
 [ 1.08093525e-01  9.94045707e-01 -1.37449094e-02  3.79644534e+01]
 [ 2.52242112e-01 -1.40503449e-02  9.67562145e-01  1.25806065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.50071405700004 meters
Centerline goodness : 0.997357 with order 1
Centerline is valid?  [True, True]
Translation: X:481.82, Y:37.97, Z:125.82
[[ 9.61327696e-01 -1.10527110e-01 -2.52255464e-01  4.81817581e+02]
 [ 1.10633209e-01  9.93765375e-01 -1.38084071e-02  3.79671179e+01]
 [ 2.52208949e-01 -1.46334274e-02  9.67562147e-01  1.25821191e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.56071405700004 meters
Centerline goodness : 0.996962 with order 1
Centerline is valid?  [True, True]
Translation: X:481.88, Y:37.97, Z:125.84
[[ 9.61214844e-01 -1.11506003e-01 -2.52254702e-01  4.81875212e+02]
 [ 1.11641498e-01  9.93652414e-01 -1.38223162e-02  3.79712626e+01]
 [ 2.52194765e-01 -1.48758773e-02  9.67562147e-01  1.25836830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.62071405700004 meters
Centerline goodness : 0.997219 with order 1
Centerline is valid?  [True, True]
Translation: X:481.93, Y:37.98, Z:125.85
[[ 9.61305664e-01 -1.10721488e-01 -2.52254183e-01  4.81933757e+02]
 [ 1.10828035e-01  9.93743341e-01 -1.38317769e-02  3.79764047e+01]
 [ 2.52207390e-01 -1.46602699e-02  9.67562147e-01  1.25852015e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.68071405700005 meters
Centerline goodness : 0.998077 with order 1
Centerline is valid?  [True, True]
Translation: X:481.99, Y:37.98, Z:125.87
[[ 9.61571851e-01 -1.08385434e-01 -2.52254183e-01  4.81990593e+02]
 [ 1.08413166e-01  9.94009692e-01 -1.38317769e-02  3.79813741e+01]
 [ 2.52242266e-01 -1.40474272e-02  9.67562147e-01  1.25865762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.74071405700005 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:482.05, Y:37.99, Z:125.88
[[ 9.61907607e-01 -1.05365673e-01 -2.52253504e-01  4.82046128e+02]
 [ 1.05288316e-01  9.94345368e-01 -1.38441564e-02  3.79875158e+01]
 [ 2.52285802e-01 -1.32425471e-02  9.67562147e-01  1.25879639e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.80071405700005 meters
Centerline goodness : 0.998009 with order 1
Centerline is valid?  [True, True]
Translation: X:482.10, Y:37.99, Z:125.90
[[ 9.62260341e-01 -1.02097264e-01 -2.52252223e-01  4.82104008e+02]
 [ 1.01903616e-01  9.94697616e-01 -1.38674533e-02  3.79937482e+01]
 [ 2.52330514e-01 -1.23613135e-02  9.67562148e-01  1.25895222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.86071405700005 meters
Centerline goodness : 0.998110 with order 1
Centerline is valid?  [True, True]
Translation: X:482.16, Y:38.00, Z:125.91
[[ 9.62532193e-01 -9.95023867e-02 -2.52251962e-01  4.82160788e+02]
 [ 9.92200392e-02  9.94968817e-01 -1.38722016e-02  3.79984175e+01]
 [ 2.52363153e-01 -1.16760090e-02  9.67562148e-01  1.25908353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.92071405700005 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:482.22, Y:38.00, Z:125.92
[[ 9.62631345e-01 -9.85478753e-02 -2.52248311e-01  4.82217422e+02]
 [ 9.82160805e-02  9.95067498e-01 -1.39382900e-02  3.80038418e+01]
 [ 2.52377685e-01 -1.13574056e-02  9.67562150e-01  1.25924372e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 495.98071405700006 meters
Centerline goodness : 0.997961 with order 1
Centerline is valid?  [True, True]
Translation: X:482.28, Y:38.01, Z:125.94
[[ 9.62651182e-01 -9.83634928e-02 -2.52244576e-01  4.82275051e+02]
 [ 9.80078902e-02  9.95087080e-01 -1.40055719e-02  3.80064449e+01]
 [ 2.52382955e-01 -1.12394783e-02  9.67562152e-01  1.25939758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.04071405700006 meters
Centerline goodness : 0.997717 with order 1
Centerline is valid?  [True, True]
Translation: X:482.33, Y:38.01, Z:125.95
[[ 9.62336920e-01 -1.01393267e-01 -2.52244045e-01  4.82331145e+02]
 [ 1.01137270e-01  9.94773758e-01 -1.40151291e-02  3.80097514e+01]
 [ 2.52346796e-01 -1.20239979e-02  9.67562152e-01  1.25952749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.10071405700006 meters
Centerline goodness : 0.997772 with order 1
Centerline is valid?  [True, True]
Translation: X:482.39, Y:38.01, Z:125.97
[[ 9.61808478e-01 -1.06292309e-01 -2.52242735e-01  4.82389290e+02]
 [ 1.06195333e-01  9.94246180e-01 -1.40386623e-02  3.80143695e+01]
 [ 2.52283578e-01 -1.32844968e-02  9.67562152e-01  1.25969436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.16071405700006 meters
Centerline goodness : 0.997615 with order 1
Centerline is valid?  [True, True]
Translation: X:482.45, Y:38.02, Z:125.99
[[ 9.61335012e-01 -1.10492796e-01 -2.52242616e-01  4.82446141e+02]
 [ 1.10536959e-01  9.93772829e-01 -1.40408063e-02  3.80177141e+01]
 [ 2.52223266e-01 -1.43842130e-02  9.67562152e-01  1.25986065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.22071405700007 meters
Centerline goodness : 0.997509 with order 1
Centerline is valid?  [True, True]
Translation: X:482.50, Y:38.02, Z:126.00
[[ 9.61189712e-01 -1.11751473e-01 -2.52241841e-01  4.82504426e+02]
 [ 1.11834474e-01  9.93627453e-01 -1.40547118e-02  3.80210672e+01]
 [ 2.52205053e-01 -1.47000892e-02  9.67562152e-01  1.26001785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.28071405700007 meters
Centerline goodness : 0.997527 with order 1
Centerline is valid?  [True, True]
Translation: X:482.56, Y:38.03, Z:126.02
[[ 9.60804608e-01 -1.15015477e-01 -2.52241841e-01  4.82562658e+02]
 [ 1.15208650e-01  9.93241880e-01 -1.40547118e-02  3.80259103e+01]
 [ 2.52153670e-01 -1.55566103e-02  9.67562152e-01  1.26016409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.34071405700007 meters
Centerline goodness : 0.998071 with order 1
Centerline is valid?  [True, True]
Translation: X:482.62, Y:38.03, Z:126.03
[[ 9.60727792e-01 -1.15655350e-01 -2.52241847e-01  4.82621228e+02]
 [ 1.15870155e-01  9.93164929e-01 -1.40546045e-02  3.80319965e+01]
 [ 2.52143246e-01 -1.57246527e-02  9.67562152e-01  1.26030244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.4007140570001 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:482.68, Y:38.04, Z:126.04
[[ 9.60722109e-01 -1.15702551e-01 -2.52241847e-01  4.82679604e+02]
 [ 1.15918949e-01  9.93159235e-01 -1.40546045e-02  3.80381044e+01]
 [ 2.52142473e-01 -1.57370407e-02  9.67562152e-01  1.26043855e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.4607140570001 meters
Centerline goodness : 0.998098 with order 1
Centerline is valid?  [True, True]
Translation: X:482.74, Y:38.04, Z:126.06
[[ 9.60737528e-01 -1.15574444e-01 -2.52241847e-01  4.82736614e+02]
 [ 1.15786517e-01  9.93174683e-01 -1.40546045e-02  3.80436724e+01]
 [ 2.52144569e-01 -1.57034191e-02  9.67562152e-01  1.26058659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.5207140570001 meters
Centerline goodness : 0.998038 with order 1
Centerline is valid?  [True, True]
Translation: X:482.79, Y:38.05, Z:126.07
[[ 9.60600164e-01 -1.16718399e-01 -2.52238260e-01  4.82794690e+02]
 [ 1.16952336e-01  9.93037166e-01 -1.41186951e-02  3.80536809e+01]
 [ 2.52129879e-01 -1.59374328e-02  9.67562154e-01  1.26073507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.5807140570001 meters
Centerline goodness : 0.998514 with order 1
Centerline is valid?  [True, True]
Translation: X:482.85, Y:38.06, Z:126.09
[[ 9.60731410e-01 -1.15633122e-01 -2.52238260e-01  4.82852676e+02]
 [ 1.15830414e-01  9.93168655e-01 -1.41186951e-02  3.80602832e+01]
 [ 2.52147722e-01 -1.56525883e-02  9.67562154e-01  1.26088707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.6407140570001 meters
Centerline goodness : 0.998460 with order 1
Centerline is valid?  [True, True]
Translation: X:482.91, Y:38.07, Z:126.11
[[ 9.61207319e-01 -1.11608020e-01 -2.52238260e-01  4.82910200e+02]
 [ 1.11669445e-01  9.93645106e-01 -1.41186951e-02  3.80724253e+01]
 [ 2.52211072e-01 -1.45963136e-02  9.67562154e-01  1.26105023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.7007140570001 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:482.97, Y:38.08, Z:126.12
[[ 9.61374262e-01 -1.10160739e-01 -2.52238260e-01  4.82967975e+02]
 [ 1.10173326e-01  9.93812105e-01 -1.41186951e-02  3.80788600e+01]
 [ 2.52232762e-01 -1.42165781e-02  9.67562154e-01  1.26119875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.7607140570001 meters
Centerline goodness : 0.998082 with order 1
Centerline is valid?  [True, True]
Translation: X:483.02, Y:38.09, Z:126.14
[[ 9.61347705e-01 -1.10393000e-01 -2.52237935e-01  4.83024012e+02]
 [ 1.10411909e-01  9.93785545e-01 -1.41244932e-02  3.80864772e+01]
 [ 2.52229659e-01 -1.42715228e-02  9.67562154e-01  1.26135522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.82071405700003 meters
Centerline goodness : 0.998154 with order 1
Centerline is valid?  [True, True]
Translation: X:483.08, Y:38.09, Z:126.15
[[ 9.61434289e-01 -1.09644435e-01 -2.52234426e-01  4.83082361e+02]
 [ 1.09621766e-01  9.93872125e-01 -1.41868946e-02  3.80933226e+01]
 [ 2.52244279e-01 -1.40106163e-02  9.67562156e-01  1.26153172e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.88071405700003 meters
Centerline goodness : 0.998014 with order 1
Centerline is valid?  [True, True]
Translation: X:483.14, Y:38.10, Z:126.17
[[ 9.61313407e-01 -1.10698063e-01 -2.52234953e-01  4.83141394e+02]
 [ 1.10713395e-01  9.93751248e-01 -1.41775249e-02  3.80978534e+01]
 [ 2.52228224e-01 -1.42967433e-02  9.67562156e-01  1.26168151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 496.94071405700004 meters
Centerline goodness : 0.998227 with order 1
Centerline is valid?  [True, True]
Translation: X:483.20, Y:38.10, Z:126.18
[[ 9.61031519e-01 -1.13118587e-01 -2.52235216e-01  4.83201869e+02]
 [ 1.13216833e-01  9.93469214e-01 -1.41728393e-02  3.81022855e+01]
 [ 2.52191133e-01 -1.49367270e-02  9.67562156e-01  1.26183377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.00071405700004 meters
Centerline goodness : 0.997881 with order 1
Centerline is valid?  [True, True]
Translation: X:483.26, Y:38.11, Z:126.20
[[ 9.60596775e-01 -1.16750564e-01 -2.52236281e-01  4.83259795e+02]
 [ 1.16976390e-01  9.93033832e-01 -1.41538614e-02  3.81065218e+01]
 [ 2.52131632e-01 -1.59095360e-02  9.67562157e-01  1.26197131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.06071405700004 meters
Centerline goodness : 0.997658 with order 1
Centerline is valid?  [True, True]
Translation: X:483.32, Y:38.11, Z:126.21
[[ 9.60238796e-01 -1.19659573e-01 -2.52236082e-01  4.83317873e+02]
 [ 1.19982719e-01  9.92675030e-01 -1.41574083e-02  3.81109646e+01]
 [ 2.52082530e-01 -1.66694782e-02  9.67562157e-01  1.26212725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.12071405700004 meters
Centerline goodness : 0.997871 with order 1
Centerline is valid?  [True, True]
Translation: X:483.38, Y:38.11, Z:126.23
[[ 9.60008446e-01 -1.21493687e-01 -2.52236135e-01  4.83376789e+02]
 [ 1.21879044e-01  9.92444000e-01 -1.41564550e-02  3.81137458e+01]
 [ 2.52050159e-01 -1.71519826e-02  9.67562157e-01  1.26227238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.18071405700005 meters
Centerline goodness : 0.997867 with order 1
Centerline is valid?  [True, True]
Translation: X:483.44, Y:38.12, Z:126.24
[[ 9.59778262e-01 -1.23298372e-01 -2.52236394e-01  4.83436265e+02]
 [ 1.23745914e-01  9.92213018e-01 -1.41518491e-02  3.81174803e+01]
 [ 2.52017134e-01 -1.76305859e-02  9.67562157e-01  1.26242214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.24071405700005 meters
Centerline goodness : 0.997928 with order 1
Centerline is valid?  [True, True]
Translation: X:483.50, Y:38.12, Z:126.26
[[ 9.59817018e-01 -1.22995259e-01 -2.52236907e-01  4.83495977e+02]
 [ 1.23434953e-01  9.92251882e-01 -1.41426893e-02  3.81210968e+01]
 [ 2.52022030e-01 -1.75604571e-02  9.67562157e-01  1.26260544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.30071405700005 meters
Centerline goodness : 0.997706 with order 1
Centerline is valid?  [True, True]
Translation: X:483.55, Y:38.12, Z:126.27
[[ 9.60123652e-01 -1.20576021e-01 -2.52237976e-01  4.83553672e+02]
 [ 1.20938967e-01  9.92559464e-01 -1.41235990e-02  3.81246949e+01]
 [ 2.52064158e-01 -1.69449990e-02  9.67562157e-01  1.26274370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.36071405700005 meters
Centerline goodness : 0.997962 with order 1
Centerline is valid?  [True, True]
Translation: X:483.61, Y:38.13, Z:126.29
[[ 9.60633526e-01 -1.16444641e-01 -2.52237732e-01  4.83611970e+02]
 [ 1.16666911e-01  9.93070608e-01 -1.41279583e-02  3.81288711e+01]
 [ 2.52135003e-01 -1.58560066e-02  9.67562157e-01  1.26289752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.42071405700005 meters
Centerline goodness : 0.997503 with order 1
Centerline is valid?  [True, True]
Translation: X:483.67, Y:38.13, Z:126.31
[[ 9.60936280e-01 -1.13919150e-01 -2.52237771e-01  4.83672012e+02]
 [ 1.14056338e-01  9.93373833e-01 -1.41272647e-02  3.81338335e+01]
 [ 2.52175768e-01 -1.51939153e-02  9.67562157e-01  1.26307195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.48071405700006 meters
Centerline goodness : 0.997892 with order 1
Centerline is valid?  [True, True]
Translation: X:483.73, Y:38.14, Z:126.32
[[ 9.61397606e-01 -1.09954897e-01 -2.52239100e-01  4.83730915e+02]
 [ 1.09964513e-01  9.93835448e-01 -1.41035020e-02  3.81386348e+01]
 [ 2.52234908e-01 -1.41782767e-02  9.67562157e-01  1.26323344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.54071405700006 meters
Centerline goodness : 0.997917 with order 1
Centerline is valid?  [True, True]
Translation: X:483.79, Y:38.14, Z:126.34
[[ 9.61711565e-01 -1.07172929e-01 -2.52239627e-01  4.83790189e+02]
 [ 1.07091165e-01  9.94149305e-01 -1.40940613e-02  3.81418629e+01]
 [ 2.52274352e-01 -1.34582138e-02  9.67562157e-01  1.26337288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.60071405700006 meters
Centerline goodness : 0.997613 with order 1
Centerline is valid?  [True, True]
Translation: X:483.85, Y:38.14, Z:126.35
[[ 9.61877064e-01 -1.05677057e-01 -2.52239713e-01  4.83849096e+02]
 [ 1.05545241e-01  9.94314640e-01 -1.40925376e-02  3.81448985e+01]
 [ 2.52294897e-01 -1.30674127e-02  9.67562157e-01  1.26351733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.66071405700006 meters
Centerline goodness : 0.997500 with order 1
Centerline is valid?  [True, True]
Translation: X:483.91, Y:38.15, Z:126.37
[[ 9.61892170e-01 -1.05538871e-01 -2.52239967e-01  4.83906453e+02]
 [ 1.05403587e-01  9.94329730e-01 -1.40879824e-02  3.81466234e+01]
 [ 2.52296528e-01 -1.30358773e-02  9.67562157e-01  1.26366182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.72071405700007 meters
Centerline goodness : 0.997692 with order 1
Centerline is valid?  [True, True]
Translation: X:483.96, Y:38.15, Z:126.38
[[ 9.61812446e-01 -1.06264153e-01 -2.52239466e-01  4.83963303e+02]
 [ 1.06150985e-01  9.94250092e-01 -1.40969447e-02  3.81479323e+01]
 [ 2.52287112e-01 -1.32168508e-02  9.67562157e-01  1.26379807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.78071405700007 meters
Centerline goodness : 0.997602 with order 1
Centerline is valid?  [True, True]
Translation: X:484.02, Y:38.15, Z:126.39
[[ 9.61726420e-01 -1.07048063e-01 -2.52236011e-01  4.84020013e+02]
 [ 1.06945233e-01  9.94164098e-01 -1.41585025e-02  3.81493920e+01]
 [ 2.52279627e-01 -1.33588332e-02  9.67562159e-01  1.26394841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.84071405700007 meters
Centerline goodness : 0.997852 with order 1
Centerline is valid?  [True, True]
Translation: X:484.08, Y:38.15, Z:126.41
[[ 9.61480138e-01 -1.09239680e-01 -2.52235281e-01  4.84079216e+02]
 [ 1.09207383e-01  9.93917963e-01 -1.41714915e-02  3.81511124e+01]
 [ 2.52249266e-01 -1.39203475e-02  9.67562159e-01  1.26413786e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.9007140570001 meters
Centerline goodness : 0.997744 with order 1
Centerline is valid?  [True, True]
Translation: X:484.14, Y:38.15, Z:126.43
[[ 9.60786762e-01 -1.15176465e-01 -2.52236359e-01  4.84136976e+02]
 [ 1.15349554e-01  9.93224140e-01 -1.41522835e-02  3.81508752e+01]
 [ 2.52157251e-01 -1.54980250e-02  9.67562159e-01  1.26428582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 497.9607140570001 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:484.19, Y:38.15, Z:126.44
[[ 9.60108184e-01 -1.20701698e-01 -2.52236745e-01  4.84194603e+02]
 [ 1.21063188e-01  9.92544010e-01 -1.41453993e-02  3.81519832e+01]
 [ 2.52063444e-01 -1.69554710e-02  9.67562159e-01  1.26442880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.0207140570001 meters
Centerline goodness : 0.997948 with order 1
Centerline is valid?  [True, True]
Translation: X:484.25, Y:38.16, Z:126.46
[[ 9.59842355e-01 -1.22798138e-01 -2.52236538e-01  4.84253068e+02]
 [ 1.23229498e-01  9.92277327e-01 -1.41490888e-02  3.81553672e+01]
 [ 2.52026080e-01 -1.75020872e-02  9.67562159e-01  1.26458661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.0807140570001 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:484.31, Y:38.16, Z:126.47
[[ 9.59752144e-01 -1.23500684e-01 -2.52236801e-01  4.84314138e+02]
 [ 1.23957010e-01  9.92186775e-01 -1.41444071e-02  3.81598493e+01]
 [ 2.52012862e-01 -1.76913945e-02  9.67562159e-01  1.26471283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.1407140570001 meters
Centerline goodness : 0.998148 with order 1
Centerline is valid?  [True, True]
Translation: X:484.37, Y:38.16, Z:126.49
[[ 9.59669373e-01 -1.24140117e-01 -2.52237838e-01  4.84373649e+02]
 [ 1.24622895e-01  9.92103620e-01 -1.41258867e-02  3.81637188e+01]
 [ 2.51999662e-01 -1.78784289e-02  9.67562159e-01  1.26486929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.2007140570001 meters
Centerline goodness : 0.998259 with order 1
Centerline is valid?  [True, True]
Translation: X:484.43, Y:38.17, Z:126.50
[[ 9.59423744e-01 -1.26022811e-01 -2.52238639e-01  4.84432724e+02]
 [ 1.26572972e-01  9.91856918e-01 -1.41115663e-02  3.81684162e+01]
 [ 2.51963019e-01 -1.83876225e-02  9.67562160e-01  1.26502849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.2607140570001 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:484.49, Y:38.17, Z:126.52
[[ 9.59189669e-01 -1.27791168e-01 -2.52239165e-01  4.84491593e+02]
 [ 1.28403575e-01  9.91621728e-01 -1.41021577e-02  3.81739725e+01]
 [ 2.51927968e-01 -1.88617666e-02  9.67562160e-01  1.26518351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.32071405700003 meters
Centerline goodness : 0.998347 with order 1
Centerline is valid?  [True, True]
Translation: X:484.55, Y:38.18, Z:126.53
[[ 9.58861205e-01 -1.30232319e-01 -2.52239433e-01  4.84550677e+02]
 [ 1.30928532e-01  9.91291574e-01 -1.40973595e-02  3.81806986e+01]
 [ 2.51878757e-01 -1.95079277e-02  9.67562160e-01  1.26532846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.38071405700003 meters
Centerline goodness : 0.997884 with order 1
Centerline is valid?  [True, True]
Translation: X:484.61, Y:38.19, Z:126.55
[[ 9.58593265e-01 -1.32188573e-01 -2.52240229e-01  4.84608472e+02]
 [ 1.32954684e-01  9.91022057e-01 -1.40831126e-02  3.81878215e+01]
 [ 2.51837257e-01 -2.00365430e-02  9.67562160e-01  1.26548074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.44071405700004 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:484.67, Y:38.20, Z:126.57
[[ 9.58395429e-01 -1.33615184e-01 -2.52240332e-01  4.84667452e+02]
 [ 1.34430043e-01  9.90823032e-01 -1.40812627e-02  3.81954100e+01]
 [ 2.51807001e-01 -2.04132610e-02  9.67562160e-01  1.26565243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.50071405700004 meters
Centerline goodness : 0.998074 with order 1
Centerline is valid?  [True, True]
Translation: X:484.72, Y:38.20, Z:126.58
[[ 9.58019407e-01 -1.36283134e-01 -2.52241398e-01  4.84724866e+02]
 [ 1.37193276e-01  9.90444477e-01 -1.40621516e-02  3.82021908e+01]
 [ 2.51747533e-01 -2.11340095e-02  9.67562160e-01  1.26579429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.56071405700004 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:484.78, Y:38.21, Z:126.59
[[ 9.57617541e-01 -1.39079237e-01 -2.52241178e-01  4.84782724e+02]
 [ 1.40083002e-01  9.90039847e-01 -1.40660871e-02  3.82089397e+01]
 [ 2.51685118e-01 -2.18647698e-02  9.67562160e-01  1.26592605e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.62071405700004 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:484.84, Y:38.22, Z:126.61
[[ 9.57626879e-01 -1.39014308e-01 -2.52241516e-01  4.84842013e+02]
 [ 1.40017460e-01  9.90049204e-01 -1.40600253e-02  3.82169803e+01]
 [ 2.51686057e-01 -2.18539581e-02  9.67562160e-01  1.26609189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.68071405700005 meters
Centerline goodness : 0.998348 with order 1
Centerline is valid?  [True, True]
Translation: X:484.90, Y:38.23, Z:126.63
[[ 9.58491936e-01 -1.32916952e-01 -2.52242528e-01  4.84899525e+02]
 [ 1.33718492e-01  9.90919871e-01 -1.40418554e-02  3.82257618e+01]
 [ 2.51818534e-01 -2.02704852e-02  9.67562160e-01  1.26626100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.74071405700005 meters
Centerline goodness : 0.997865 with order 1
Centerline is valid?  [True, True]
Translation: X:484.96, Y:38.24, Z:126.64
[[ 9.60057837e-01 -1.21089053e-01 -2.52242723e-01  4.84958145e+02]
 [ 1.21491629e-01  9.92493178e-01 -1.40383365e-02  3.82354347e+01]
 [ 2.52049071e-01 -1.71677644e-02  9.67562160e-01  1.26641811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.80071405700005 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:485.02, Y:38.24, Z:126.66
[[ 9.61106571e-01 -1.12461780e-01 -2.52242954e-01  4.85016148e+02]
 [ 1.12574119e-01  9.93544216e-01 -1.40341881e-02  3.82432369e+01]
 [ 2.52192838e-01 -1.49076781e-02  9.67562160e-01  1.26657969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.86071405700005 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:485.07, Y:38.25, Z:126.67
[[ 9.62094177e-01 -1.03673582e-01 -2.52243102e-01  4.85074609e+02]
 [ 1.03490166e-01  9.94531499e-01 -1.40315333e-02  3.82508882e+01]
 [ 2.52318409e-01 -1.26050238e-02  9.67562160e-01  1.26674960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.92071405700005 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:485.13, Y:38.26, Z:126.69
[[ 9.62064021e-01 -1.03952325e-01 -2.52243402e-01  4.85133683e+02]
 [ 1.03779720e-01  9.94501401e-01 -1.40261283e-02  3.82563608e+01]
 [ 2.52314466e-01 -1.26837162e-02  9.67562160e-01  1.26691313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 498.98071405700006 meters
Centerline goodness : 0.999391 with order 1
Centerline is valid?  [True, True]
Translation: X:485.19, Y:38.26, Z:126.70
[[ 9.61515062e-01 -1.08911843e-01 -2.52243920e-01  4.85193211e+02]
 [ 1.08908941e-01  9.93952902e-01 -1.40168104e-02  3.82590012e+01]
 [ 2.52245173e-01 -1.39942439e-02  9.67562160e-01  1.26704972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.04071405700006 meters
Centerline goodness : 0.999209 with order 1
Centerline is valid?  [True, True]
Translation: X:485.25, Y:38.26, Z:126.72
[[ 9.61074553e-01 -1.12732318e-01 -2.52244182e-01  4.85251400e+02]
 [ 1.12859565e-01  9.93512144e-01 -1.40121027e-02  3.82620506e+01]
 [ 2.52187275e-01 -1.50014932e-02  9.67562160e-01  1.26718576e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.10071405700006 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:485.31, Y:38.27, Z:126.73
[[ 9.61128756e-01 -1.12266713e-01 -2.52245317e-01  4.85310960e+02]
 [ 1.12383597e-01  9.93566385e-01 -1.39916373e-02  3.82655251e+01]
 [ 2.52193263e-01 -1.49004711e-02  9.67562160e-01  1.26733922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.16071405700006 meters
Centerline goodness : 0.999004 with order 1
Centerline is valid?  [True, True]
Translation: X:485.37, Y:38.27, Z:126.75
[[ 9.61670460e-01 -1.07525370e-01 -2.52246352e-01  4.85369910e+02]
 [ 1.07487166e-01  9.94108277e-01 -1.39729592e-02  3.82691163e+01]
 [ 2.52262634e-01 -1.36758634e-02  9.67562161e-01  1.26747467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.22071405700007 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:485.43, Y:38.27, Z:126.76
[[ 9.62292037e-01 -1.01812439e-01 -2.52246434e-01  4.85428250e+02]
 [ 1.01581987e-01  9.94729058e-01 -1.39714708e-02  3.82728959e+01]
 [ 2.52339327e-01 -1.21790589e-02  9.67562161e-01  1.26762077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.28071405700007 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:485.49, Y:38.28, Z:126.78
[[ 9.62615059e-01 -9.87116247e-02 -2.52246434e-01  4.85486343e+02]
 [ 9.83766698e-02  9.95051169e-01 -1.39714708e-02  3.82766230e+01]
 [ 2.52377256e-01 -1.13660159e-02  9.67562161e-01  1.26777274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.34071405700007 meters
Centerline goodness : 0.998664 with order 1
Centerline is valid?  [True, True]
Translation: X:485.54, Y:38.28, Z:126.79
[[ 9.62631725e-01 -9.85489646e-02 -2.52246434e-01  4.85542747e+02]
 [ 9.82085288e-02  9.95067778e-01 -1.39714708e-02  3.82797028e+01]
 [ 2.52379173e-01 -1.13233701e-02  9.67562161e-01  1.26791858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.4007140570001 meters
Centerline goodness : 0.998665 with order 1
Centerline is valid?  [True, True]
Translation: X:485.60, Y:38.28, Z:126.81
[[ 9.62341555e-01 -1.01345106e-01 -2.52245716e-01  4.85600105e+02]
 [ 1.01095514e-01  9.94778434e-01 -1.39844287e-02  3.82824652e+01]
 [ 2.52345852e-01 -1.20431134e-02  9.67562161e-01  1.26806002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.4607140570001 meters
Centerline goodness : 0.998210 with order 1
Centerline is valid?  [True, True]
Translation: X:485.66, Y:38.29, Z:126.82
[[ 9.61915011e-01 -1.05324616e-01 -2.52242418e-01  4.85658385e+02]
 [ 1.05193695e-01  9.94352584e-01 -1.40436720e-02  3.82857739e+01]
 [ 2.52297044e-01 -1.30254931e-02  9.67562162e-01  1.26820564e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.5207140570001 meters
Centerline goodness : 0.997869 with order 1
Centerline is valid?  [True, True]
Translation: X:485.72, Y:38.29, Z:126.83
[[ 9.61687007e-01 -1.07386651e-01 -2.52242361e-01  4.85715957e+02]
 [ 1.07325007e-01  9.94124786e-01 -1.40446928e-02  3.82883493e+01]
 [ 2.52268596e-01 -1.35653145e-02  9.67562162e-01  1.26833290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.5807140570001 meters
Centerline goodness : 0.998100 with order 1
Centerline is valid?  [True, True]
Translation: X:485.77, Y:38.29, Z:126.85
[[ 9.61062373e-01 -1.12841806e-01 -2.52241636e-01  4.85773987e+02]
 [ 1.12960822e-01  9.93499992e-01 -1.40576987e-02  3.82930596e+01]
 [ 2.52188360e-01 -1.49830974e-02  9.67562162e-01  1.26851741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.6407140570001 meters
Centerline goodness : 0.997924 with order 1
Centerline is valid?  [True, True]
Translation: X:485.83, Y:38.30, Z:126.87
[[ 9.61206305e-01 -1.11608512e-01 -2.52241905e-01  4.85832467e+02]
 [ 1.11687169e-01  9.93644048e-01 -1.40528681e-02  3.82980376e+01]
 [ 2.52207087e-01 -1.46644789e-02  9.67562162e-01  1.26866988e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.7007140570001 meters
Centerline goodness : 0.998237 with order 1
Centerline is valid?  [True, True]
Translation: X:485.89, Y:38.30, Z:126.88
[[ 9.61605438e-01 -1.08114494e-01 -2.52242417e-01  4.85891547e+02]
 [ 1.08077667e-01  9.94043255e-01 -1.40436766e-02  3.83041070e+01]
 [ 2.52258198e-01 -1.37572961e-02  9.67562162e-01  1.26882862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.7607140570001 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:485.95, Y:38.31, Z:126.90
[[ 9.61984297e-01 -1.04688623e-01 -2.52242946e-01  4.85949647e+02]
 [ 1.04538740e-01  9.94421789e-01 -1.40341741e-02  3.83110305e+01]
 [ 2.52305100e-01 -1.28685047e-02  9.67562162e-01  1.26895983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.82071405700003 meters
Centerline goodness : 0.997617 with order 1
Centerline is valid?  [True, True]
Translation: X:486.01, Y:38.32, Z:126.91
[[ 9.61960734e-01 -1.04904924e-01 -2.52242946e-01  4.86009215e+02]
 [ 1.04762334e-01  9.94398258e-01 -1.40341741e-02  3.83166330e+01]
 [ 2.52302200e-01 -1.29252354e-02  9.67562162e-01  1.26911430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.88071405700003 meters
Centerline goodness : 0.997855 with order 1
Centerline is valid?  [True, True]
Translation: X:486.07, Y:38.32, Z:126.93
[[ 9.61549756e-01 -1.08605596e-01 -2.52243714e-01  4.86068319e+02]
 [ 1.08591438e-01  9.93987590e-01 -1.40203479e-02  3.83224128e+01]
 [ 2.52249810e-01 -1.39102455e-02  9.67562163e-01  1.26927977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 499.94071405700004 meters
Centerline goodness : 0.998110 with order 1
Centerline is valid?  [True, True]
Translation: X:486.13, Y:38.33, Z:126.95
[[ 9.60952623e-01 -1.13766889e-01 -2.52244228e-01  4.86125756e+02]
 [ 1.13929320e-01  9.93390054e-01 -1.40110922e-02  3.83266017e+01]
 [ 2.52170906e-01 -1.52740177e-02  9.67562163e-01  1.26945063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.00071405700004 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:486.18, Y:38.33, Z:126.96
[[ 9.60165796e-01 -1.20226264e-01 -2.52244505e-01  4.86182819e+02]
 [ 1.20608118e-01  9.92601386e-01 -1.40061177e-02  3.83293616e+01]
 [ 2.52062148e-01 -1.69745399e-02  9.67562163e-01  1.26961722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.06071405700004 meters
Centerline goodness : 0.998500 with order 1
Centerline is valid?  [True, True]
Translation: X:486.24, Y:38.33, Z:126.98
[[ 9.59687124e-01 -1.23988447e-01 -2.52244901e-01  4.86240546e+02]
 [ 1.24499287e-01  9.92120938e-01 -1.39989846e-02  3.83317659e+01]
 [ 2.51993160e-01 -1.79696649e-02  9.67562163e-01  1.26975891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.12071405700004 meters
Centerline goodness : 0.998462 with order 1
Centerline is valid?  [True, True]
Translation: X:486.30, Y:38.33, Z:126.99
[[ 9.59335584e-01 -1.26680094e-01 -2.52244704e-01  4.86301615e+02]
 [ 1.27280988e-01  9.91767856e-01 -1.40025279e-02  3.83339482e+01]
 [ 2.51942031e-01 -1.86728319e-02  9.67562163e-01  1.26989843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.18071405700005 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:486.36, Y:38.34, Z:127.00
[[ 9.59328168e-01 -1.26734323e-01 -2.52245668e-01  4.86362578e+02]
 [ 1.27341598e-01  9.91760320e-01 -1.39851377e-02  3.83359855e+01]
 [ 2.51939642e-01 -1.87050300e-02  9.67562163e-01  1.27002452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.24071405700005 meters
Centerline goodness : 0.998388 with order 1
Centerline is valid?  [True, True]
Translation: X:486.42, Y:38.34, Z:127.02
[[ 9.59839641e-01 -1.22798631e-01 -2.52246626e-01  4.86421321e+02]
 [ 1.23277407e-01  9.92273944e-01 -1.39678356e-02  3.83408373e+01]
 [ 2.52012986e-01 -1.76894277e-02  9.67562163e-01  1.27016922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.30071405700005 meters
Centerline goodness : 0.998429 with order 1
Centerline is valid?  [True, True]
Translation: X:486.48, Y:38.35, Z:127.03
[[ 9.60822579e-01 -1.14854265e-01 -2.52246843e-01  4.86479101e+02]
 [ 1.15065739e-01  9.93259727e-01 -1.39639232e-02  3.83453672e+01]
 [ 2.52150446e-01 -1.56081168e-02  9.67562163e-01  1.27034325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.36071405700005 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:486.54, Y:38.35, Z:127.05
[[ 9.61629475e-01 -1.07890192e-01 -2.52246822e-01  4.86537603e+02]
 [ 1.07866560e-01  9.94067303e-01 -1.39642937e-02  3.83501682e+01]
 [ 2.52256929e-01 -1.37805207e-02  9.67562163e-01  1.27049332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.42071405700005 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:486.60, Y:38.35, Z:127.06
[[ 9.61955724e-01 -1.04941553e-01 -2.52246815e-01  4.86595784e+02]
 [ 1.04818440e-01  9.94393327e-01 -1.39644274e-02  3.83548932e+01]
 [ 2.52297998e-01 -1.30069566e-02  9.67562163e-01  1.27064052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.48071405700006 meters
Centerline goodness : 0.998152 with order 1
Centerline is valid?  [True, True]
Translation: X:486.65, Y:38.36, Z:127.08
[[ 9.62237055e-01 -1.02329836e-01 -2.52246815e-01  4.86654774e+02]
 [ 1.02118667e-01  9.94674204e-01 -1.39644274e-02  3.83587846e+01]
 [ 2.52332377e-01 -1.23220191e-02  9.67562163e-01  1.27083377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.54071405700006 meters
Centerline goodness : 0.997973 with order 1
Centerline is valid?  [True, True]
Translation: X:486.71, Y:38.36, Z:127.10
[[ 9.62148746e-01 -1.03154534e-01 -2.52247760e-01  4.86714189e+02]
 [ 1.02975641e-01  9.94586090e-01 -1.39473256e-02  3.83605551e+01]
 [ 2.52320844e-01 -1.25559728e-02  9.67562163e-01  1.27099257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.60071405700006 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:486.77, Y:38.36, Z:127.11
[[ 9.61811478e-01 -1.06252001e-01 -2.52248278e-01  4.86773348e+02]
 [ 1.06180000e-01  9.94249235e-01 -1.39379673e-02  3.83610919e+01]
 [ 2.52278594e-01 -1.33780251e-02  9.67562163e-01  1.27114468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.66071405700006 meters
Centerline goodness : 0.997954 with order 1
Centerline is valid?  [True, True]
Translation: X:486.83, Y:38.36, Z:127.13
[[ 9.61415054e-01 -1.09781034e-01 -2.52248327e-01  4.86833568e+02]
 [ 1.09828308e-01  9.93852857e-01 -1.39370804e-02  3.83615725e+01]
 [ 2.52227747e-01 -1.43046880e-02  9.67562163e-01  1.27127421e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.72071405700007 meters
Centerline goodness : 0.998160 with order 1
Centerline is valid?  [True, True]
Translation: X:486.89, Y:38.36, Z:127.14
[[ 9.60965723e-01 -1.13645959e-01 -2.52248836e-01  4.86892595e+02]
 [ 1.13826075e-01  9.93403060e-01 -1.39278630e-02  3.83634688e+01]
 [ 2.52167610e-01 -1.53282959e-02  9.67562163e-01  1.27141332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.78071405700007 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:486.95, Y:38.37, Z:127.15
[[ 9.60826026e-01 -1.14820768e-01 -2.52248962e-01  4.86952773e+02]
 [ 1.15041143e-01  9.93263114e-01 -1.39255636e-02  3.83664612e+01]
 [ 2.52148534e-01 -1.56389651e-02  9.67562163e-01  1.27154905e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.84071405700007 meters
Centerline goodness : 0.998202 with order 1
Centerline is valid?  [True, True]
Translation: X:487.01, Y:38.37, Z:127.17
[[ 9.60778612e-01 -1.15214617e-01 -2.52249977e-01  4.87012119e+02]
 [ 1.15453100e-01  9.93215572e-01 -1.39071652e-02  3.83710557e+01]
 [ 2.52140914e-01 -1.57613350e-02  9.67562163e-01  1.27171673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.9007140570001 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:487.07, Y:38.38, Z:127.19
[[ 9.60586265e-01 -1.16805199e-01 -2.52251011e-01  4.87071049e+02]
 [ 1.17102298e-01  9.93022741e-01 -1.38883891e-02  3.83765460e+01]
 [ 2.52113226e-01 -1.61981773e-02  9.67562164e-01  1.27189062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 500.9607140570001 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:487.13, Y:38.38, Z:127.21
[[ 9.60294253e-01 -1.19180496e-01 -2.52251774e-01  4.87128091e+02]
 [ 1.19561443e-01  9.92729852e-01 -1.38745086e-02  3.83816288e+01]
 [ 2.52071437e-01 -1.68359754e-02  9.67562164e-01  1.27207961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.0207140570001 meters
Centerline goodness : 0.998333 with order 1
Centerline is valid?  [True, True]
Translation: X:487.19, Y:38.39, Z:127.22
[[ 9.59861113e-01 -1.22619995e-01 -2.52251821e-01  4.87185741e+02]
 [ 1.23117362e-01  9.92295136e-01 -1.38736634e-02  3.83862079e+01]
 [ 2.52009443e-01 -1.77397887e-02  9.67562164e-01  1.27221918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.0807140570001 meters
Centerline goodness : 0.997853 with order 1
Centerline is valid?  [True, True]
Translation: X:487.24, Y:38.39, Z:127.23
[[ 9.59188354e-01 -1.27776476e-01 -2.52251610e-01  4.87244185e+02]
 [ 1.28447131e-01  9.91619256e-01 -1.38775001e-02  3.83897770e+01]
 [ 2.51910772e-01 -1.90898591e-02  9.67562164e-01  1.27232720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.1407140570001 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:487.30, Y:38.40, Z:127.25
[[ 9.58634727e-01 -1.31865055e-01 -2.52251993e-01  4.87304699e+02]
 [ 1.32675802e-01  9.91062430e-01 -1.38705339e-02  3.83956142e+01]
 [ 2.51826511e-01 -2.01709601e-02  9.67562164e-01  1.27247097e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.2007140570001 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:487.36, Y:38.40, Z:127.26
[[ 9.58433262e-01 -1.33319572e-01 -2.52252997e-01  4.87363419e+02]
 [ 1.34184307e-01  9.90859570e-01 -1.38522464e-02  3.84035115e+01]
 [ 2.51794072e-01 -2.05719398e-02  9.67562164e-01  1.27261734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.2607140570001 meters
Centerline goodness : 0.998412 with order 1
Centerline is valid?  [True, True]
Translation: X:487.42, Y:38.41, Z:127.28
[[ 9.58386217e-01 -1.33656623e-01 -2.52253377e-01  4.87423082e+02]
 [ 1.34534573e-01  9.90812170e-01 -1.38453183e-02  3.84096150e+01]
 [ 2.51786234e-01 -2.06676380e-02  9.67562164e-01  1.27277337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.32071405700003 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:487.48, Y:38.42, Z:127.29
[[ 9.58596004e-01 -1.32141673e-01 -2.52254395e-01  4.87481297e+02]
 [ 1.32973224e-01  9.91023180e-01 -1.38267541e-02  3.84181741e+01]
 [ 2.51817043e-01 -2.02888090e-02  9.67562164e-01  1.27294468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.38071405700003 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:487.54, Y:38.43, Z:127.31
[[ 9.58680869e-01 -1.31524088e-01 -2.52254646e-01  4.87541012e+02]
 [ 1.32335947e-01  9.91108543e-01 -1.38221719e-02  3.84263245e+01]
 [ 2.51829683e-01 -2.01313056e-02  9.67562164e-01  1.27310923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.44071405700004 meters
Centerline goodness : 0.997939 with order 1
Centerline is valid?  [True, True]
Translation: X:487.60, Y:38.43, Z:127.33
[[ 9.58719832e-01 -1.31237812e-01 -2.52255664e-01  4.87600501e+02]
 [ 1.32044849e-01  9.91147627e-01 -1.38035745e-02  3.84333510e+01]
 [ 2.51834153e-01 -2.00753005e-02  9.67562164e-01  1.27326609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.50071405700004 meters
Centerline goodness : 0.997721 with order 1
Centerline is valid?  [True, True]
Translation: X:487.66, Y:38.44, Z:127.34
[[ 9.59249369e-01 -1.27307567e-01 -2.52256677e-01  4.87658953e+02]
 [ 1.27986545e-01  9.91680098e-01 -1.37850353e-02  3.84389578e+01]
 [ 2.51912865e-01 -1.90621742e-02  9.67562164e-01  1.27341771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.56071405700004 meters
Centerline goodness : 0.997652 with order 1
Centerline is valid?  [True, True]
Translation: X:487.72, Y:38.45, Z:127.36
[[ 9.59985750e-01 -1.21630297e-01 -2.52256676e-01  4.87716142e+02]
 [ 1.22117396e-01  9.92419928e-01 -1.37850488e-02  3.84457612e+01]
 [ 2.52021232e-01 -1.75714780e-02  9.67562164e-01  1.27356673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.62071405700004 meters
Centerline goodness : 0.997378 with order 1
Centerline is valid?  [True, True]
Translation: X:487.77, Y:38.45, Z:127.37
[[ 9.60239779e-01 -1.19608859e-01 -2.52256391e-01  4.87774555e+02]
 [ 1.20026308e-01  9.92674929e-01 -1.37902555e-02  3.84520912e+01]
 [ 2.52058032e-01 -1.70354514e-02  9.67562164e-01  1.27372461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.68071405700005 meters
Centerline goodness : 0.997457 with order 1
Centerline is valid?  [True, True]
Translation: X:487.84, Y:38.46, Z:127.39
[[ 9.60320705e-01 -1.18956822e-01 -2.52256651e-01  4.87835167e+02]
 [ 1.19353487e-01  9.92756115e-01 -1.37855120e-02  3.84558460e+01]
 [ 2.52069213e-01 -1.68691983e-02  9.67562164e-01  1.27387019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.74071405700005 meters
Centerline goodness : 0.998030 with order 1
Centerline is valid?  [True, True]
Translation: X:487.89, Y:38.46, Z:127.40
[[ 9.60298902e-01 -1.19130519e-01 -2.52257682e-01  4.87894699e+02]
 [ 1.19537994e-01  9.92734178e-01 -1.37666134e-02  3.84609511e+01]
 [ 2.52064846e-01 -1.69343134e-02  9.67562165e-01  1.27403389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.80071405700005 meters
Centerline goodness : 0.997660 with order 1
Centerline is valid?  [True, True]
Translation: X:487.95, Y:38.47, Z:127.42
[[ 9.60192791e-01 -1.19980641e-01 -2.52258695e-01  4.87954131e+02]
 [ 1.20421690e-01  9.92627628e-01 -1.37480313e-02  3.84669374e+01]
 [ 2.52048447e-01 -1.71766578e-02  9.67562165e-01  1.27421123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.86071405700005 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:488.01, Y:38.47, Z:127.44
[[ 9.59949729e-01 -1.21907971e-01 -2.52259715e-01  4.88014450e+02]
 [ 1.22419032e-01  9.92383538e-01 -1.37292882e-02  3.84702047e+01]
 [ 2.52012098e-01 -1.77019637e-02  9.67562165e-01  1.27436821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.92071405700005 meters
Centerline goodness : 0.998010 with order 1
Centerline is valid?  [True, True]
Translation: X:488.07, Y:38.47, Z:127.45
[[ 9.59760380e-01 -1.23387745e-01 -2.52260734e-01  4.88072469e+02]
 [ 1.23953711e-01  9.92193277e-01 -1.37105372e-02  3.84714437e+01]
 [ 2.51983117e-01 -1.81098238e-02  9.67562165e-01  1.27448419e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 501.98071405700006 meters
Centerline goodness : 0.997969 with order 1
Centerline is valid?  [True, True]
Translation: X:488.13, Y:38.47, Z:127.46
[[ 9.59880336e-01 -1.22449424e-01 -2.52261531e-01  4.88132436e+02]
 [ 1.22987523e-01  9.92313707e-01 -1.36958533e-02  3.84729420e+01]
 [ 2.51999625e-01 -1.78786406e-02  9.67562165e-01  1.27462635e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.04071405700006 meters
Centerline goodness : 0.997756 with order 1
Centerline is valid?  [True, True]
Translation: X:488.19, Y:38.47, Z:127.48
[[ 9.59869643e-01 -1.22531646e-01 -2.52262293e-01  4.88192732e+02]
 [ 1.23076193e-01  9.92302907e-01 -1.36818175e-02  3.84741901e+01]
 [ 2.51997062e-01 -1.79147214e-02  9.67562165e-01  1.27477771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.10071405700006 meters
Centerline goodness : 0.997687 with order 1
Centerline is valid?  [True, True]
Translation: X:488.25, Y:38.48, Z:127.49
[[ 9.59651453e-01 -1.24226866e-01 -2.52263306e-01  4.88250257e+02]
 [ 1.24833590e-01  9.92083612e-01 -1.36631156e-02  3.84753229e+01]
 [ 2.51963618e-01 -1.83791053e-02  9.67562165e-01  1.27494717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.16071405700006 meters
Centerline goodness : 0.998188 with order 1
Centerline is valid?  [True, True]
Translation: X:488.31, Y:38.47, Z:127.51
[[ 9.59208663e-01 -1.27598837e-01 -2.52264303e-01  4.88307531e+02]
 [ 1.28324360e-01  9.91638382e-01 -1.36446844e-02  3.84743206e+01]
 [ 2.51896011e-01 -1.92835557e-02  9.67562166e-01  1.27512057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.22071405700007 meters
Centerline goodness : 0.998238 with order 1
Centerline is valid?  [True, True]
Translation: X:488.37, Y:38.47, Z:127.53
[[ 9.58573520e-01 -1.32285783e-01 -2.52264303e-01  4.88366598e+02]
 [ 1.33169809e-01  9.90999306e-01 -1.36446844e-02  3.84734354e+01]
 [ 2.51798747e-01 -2.05145557e-02  9.67562166e-01  1.27527670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.28071405700007 meters
Centerline goodness : 0.997669 with order 1
Centerline is valid?  [True, True]
Translation: X:488.43, Y:38.47, Z:127.54
[[ 9.58014317e-01 -1.36276350e-01 -2.52264396e-01  4.88425688e+02]
 [ 1.37295850e-01  9.90436126e-01 -1.36429483e-02  3.84719471e+01]
 [ 2.51710983e-01 -2.15647149e-02  9.67562166e-01  1.27542054e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.34071405700007 meters
Centerline goodness : 0.997855 with order 1
Centerline is valid?  [True, True]
Translation: X:488.49, Y:38.47, Z:127.56
[[ 9.57568421e-01 -1.39374757e-01 -2.52264535e-01  4.88485278e+02]
 [ 1.40499803e-01  9.89986740e-01 -1.36403936e-02  3.84696688e+01]
 [ 2.51639671e-01 -2.23815071e-02  9.67562166e-01  1.27556730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.4007140570001 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:488.55, Y:38.47, Z:127.57
[[ 9.57345961e-01 -1.40894244e-01 -2.52264787e-01  4.88545197e+02]
 [ 1.42071958e-01  9.89762409e-01 -1.36357178e-02  3.84689126e+01]
 [ 2.51603398e-01 -2.27856529e-02  9.67562166e-01  1.27572538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.4607140570001 meters
Centerline goodness : 0.997707 with order 1
Centerline is valid?  [True, True]
Translation: X:488.60, Y:38.47, Z:127.59
[[ 9.57269822e-01 -1.41408783e-01 -2.52265819e-01  4.88603650e+02]
 [ 1.42608917e-01  9.89685448e-01 -1.36165966e-02  3.84668872e+01]
 [ 2.51589317e-01 -2.29405982e-02  9.67562166e-01  1.27586110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.5207140570001 meters
Centerline goodness : 0.997493 with order 1
Centerline is valid?  [True, True]
Translation: X:488.66, Y:38.46, Z:127.60
[[ 9.57210932e-01 -1.41806869e-01 -2.52265819e-01  4.88662972e+02]
 [ 1.43020484e-01  9.89626055e-01 -1.36165966e-02  3.84643966e+01]
 [ 2.51579755e-01 -2.30452244e-02  9.67562166e-01  1.27601312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.5807140570001 meters
Centerline goodness : 0.997819 with order 1
Centerline is valid?  [True, True]
Translation: X:488.72, Y:38.47, Z:127.62
[[ 9.57280840e-01 -1.41333732e-01 -2.52266069e-01  4.88721446e+02]
 [ 1.42532533e-01  9.89696515e-01 -1.36119739e-02  3.84652301e+01]
 [ 2.51590680e-01 -2.29256400e-02  9.67562166e-01  1.27615542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.6407140570001 meters
Centerline goodness : 0.997528 with order 1
Centerline is valid?  [True, True]
Translation: X:488.78, Y:38.46, Z:127.63
[[ 9.57889333e-01 -1.37149030e-01 -2.52266069e-01  4.88780133e+02]
 [ 1.38206162e-01  9.90309937e-01 -1.36119739e-02  3.84637930e+01]
 [ 2.51688464e-01 -2.18259606e-02  9.67562166e-01  1.27632658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.7007140570001 meters
Centerline goodness : 0.997210 with order 1
Centerline is valid?  [True, True]
Translation: X:488.84, Y:38.47, Z:127.65
[[ 9.58419295e-01 -1.33395094e-01 -2.52266136e-01  4.88838302e+02]
 [ 1.34325522e-01  9.90843783e-01 -1.36107356e-02  3.84653308e+01]
 [ 2.51771938e-01 -2.08409888e-02  9.67562166e-01  1.27648561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.7607140570001 meters
Centerline goodness : 0.997647 with order 1
Centerline is valid?  [True, True]
Translation: X:488.90, Y:38.47, Z:127.66
[[ 9.59369775e-01 -1.26378145e-01 -2.52266127e-01  4.88896655e+02]
 [ 1.27071233e-01  9.91800204e-01 -1.36109047e-02  3.84670404e+01]
 [ 2.51917717e-01 -1.89978771e-02  9.67562166e-01  1.27664827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.82071405700003 meters
Centerline goodness : 0.997124 with order 1
Centerline is valid?  [True, True]
Translation: X:488.95, Y:38.47, Z:127.68
[[ 9.60271805e-01 -1.19330688e-01 -2.52266222e-01  4.88954383e+02]
 [ 1.19786105e-01  9.92706442e-01 -1.36091268e-02  3.84671906e+01]
 [ 2.52050291e-01 -1.71495275e-02  9.67562166e-01  1.27679480e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.88071405700003 meters
Centerline goodness : 0.997667 with order 1
Centerline is valid?  [True, True]
Translation: X:489.01, Y:38.47, Z:127.70
[[ 9.61099960e-01 -1.12466686e-01 -2.52265953e-01  4.89012335e+02]
 [ 1.12689046e-01  9.93537032e-01 -1.36141221e-02  3.84689636e+01]
 [ 2.52166701e-01 -1.53430775e-02  9.67562166e-01  1.27695714e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 502.94071405700004 meters
Centerline goodness : 0.997089 with order 1
Centerline is valid?  [True, True]
Translation: X:489.07, Y:38.47, Z:127.71
[[ 9.61763566e-01 -1.06643021e-01 -2.52265949e-01  4.89071481e+02]
 [ 1.06668881e-01  9.94201390e-01 -1.36141892e-02  3.84692357e+01]
 [ 2.52255016e-01 -1.38152955e-02  9.67562166e-01  1.27711298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.00071405700004 meters
Centerline goodness : 0.997493 with order 1
Centerline is valid?  [True, True]
Translation: X:489.13, Y:38.47, Z:127.73
[[ 9.62212826e-01 -1.02509728e-01 -2.52266197e-01  4.89130152e+02]
 [ 1.02397416e-01  9.94650465e-01 -1.36095961e-02  3.84690643e+01]
 [ 2.52311806e-01 -1.27360788e-02  9.67562166e-01  1.27726782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.06071405700004 meters
Centerline goodness : 0.997842 with order 1
Centerline is valid?  [True, True]
Translation: X:489.19, Y:38.47, Z:127.74
[[ 9.62452657e-01 -1.00232991e-01 -2.52266190e-01  4.89189592e+02]
 [ 1.00043904e-01  9.94889940e-01 -1.36097243e-02  3.84685261e+01]
 [ 2.52341238e-01 -1.21389792e-02  9.67562166e-01  1.27742565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.12071405700004 meters
Centerline goodness : 0.997326 with order 1
Centerline is valid?  [True, True]
Translation: X:489.25, Y:38.47, Z:127.76
[[ 9.62716655e-01 -9.76634896e-02 -2.52266694e-01  4.89247570e+02]
 [ 9.73902587e-02  9.95153338e-01 -1.36003830e-02  3.84681116e+01]
 [ 2.52372303e-01 -1.14750033e-02  9.67562166e-01  1.27757617e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.18071405700005 meters
Centerline goodness : 0.997667 with order 1
Centerline is valid?  [True, True]
Translation: X:489.31, Y:38.47, Z:127.77
[[ 9.62987213e-01 -9.49586389e-02 -2.52266694e-01  4.89305547e+02]
 [ 9.45942878e-02  9.95423001e-01 -1.36003830e-02  3.84690522e+01]
 [ 2.52403543e-01 -1.07659933e-02  9.67562166e-01  1.27773767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.24071405700005 meters
Centerline goodness : 0.997828 with order 1
Centerline is valid?  [True, True]
Translation: X:489.36, Y:38.47, Z:127.79
[[ 9.63353531e-01 -9.11673700e-02 -2.52266694e-01  4.89363369e+02]
 [ 9.06753472e-02  9.95787633e-01 -1.36003830e-02  3.84669552e+01]
 [ 2.52443965e-01 -9.77239306e-03  9.67562166e-01  1.27790352e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.30071405700005 meters
Centerline goodness : 0.997938 with order 1
Centerline is valid?  [True, True]
Translation: X:489.42, Y:38.47, Z:127.80
[[ 9.63225844e-01 -9.25073790e-02 -2.52266443e-01  4.89420408e+02]
 [ 9.20592576e-02  9.95660583e-01 -1.36050389e-02  3.84655159e+01]
 [ 2.52430320e-01 -1.01187364e-02  9.67562166e-01  1.27804814e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.36071405700005 meters
Centerline goodness : 0.997412 with order 1
Centerline is valid?  [True, True]
Translation: X:489.48, Y:38.46, Z:127.82
[[ 9.62751696e-01 -9.73200274e-02 -2.52265701e-01  4.89478967e+02]
 [ 9.70304140e-02  9.95188237e-01 -1.36187791e-02  3.84599651e+01]
 [ 2.52377238e-01 -1.13659427e-02  9.67562166e-01  1.27822948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.42071405700005 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:489.54, Y:38.45, Z:127.84
[[ 9.62197665e-01 -1.02653040e-01 -2.52265748e-01  4.89537224e+02]
 [ 1.02543388e-01  9.94635313e-01 -1.36178995e-02  3.84547472e+01]
 [ 2.52310340e-01 -1.27650735e-02  9.67562166e-01  1.27835749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.48071405700006 meters
Centerline goodness : 0.998694 with order 1
Centerline is valid?  [True, True]
Translation: X:489.60, Y:38.45, Z:127.85
[[ 9.61793402e-01 -1.06373711e-01 -2.52265904e-01  4.89596227e+02]
 [ 1.06390271e-01  9.94231231e-01 -1.36150166e-02  3.84506259e+01]
 [ 2.52258920e-01 -1.37438049e-02  9.67562166e-01  1.27850532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.54071405700006 meters
Centerline goodness : 0.998235 with order 1
Centerline is valid?  [True, True]
Translation: X:489.65, Y:38.45, Z:127.86
[[ 9.61489808e-01 -1.09084184e-01 -2.52265715e-01  4.89654107e+02]
 [ 1.09191257e-01  9.93927465e-01 -1.36185229e-02  3.84483584e+01]
 [ 2.52219388e-01 -1.44511395e-02  9.67562166e-01  1.27863763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.60071405700006 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:489.71, Y:38.45, Z:127.88
[[ 9.61057288e-01 -1.12832391e-01 -2.52265219e-01  4.89711972e+02]
 [ 1.13063546e-01  9.93494298e-01 -1.36276917e-02  3.84468618e+01]
 [ 2.52161702e-01 -1.54250078e-02  9.67562166e-01  1.27879614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.66071405700006 meters
Centerline goodness : 0.998704 with order 1
Centerline is valid?  [True, True]
Translation: X:489.77, Y:38.45, Z:127.90
[[ 9.60762353e-01 -1.15317321e-01 -2.52264973e-01  4.89770508e+02]
 [ 1.15631164e-01  9.93198669e-01 -1.36322534e-02  3.84470430e+01]
 [ 2.52121270e-01 -1.60723366e-02  9.67562166e-01  1.27895711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.72071405700007 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:489.83, Y:38.45, Z:127.91
[[ 9.60420524e-01 -1.18130441e-01 -2.52264973e-01  4.89828747e+02]
 [ 1.18539274e-01  9.92855781e-01 -1.36322534e-02  3.84478372e+01]
 [ 2.52073121e-01 -1.68106107e-02  9.67562166e-01  1.27911539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.78071405700007 meters
Centerline goodness : 0.998370 with order 1
Centerline is valid?  [True, True]
Translation: X:489.89, Y:38.45, Z:127.93
[[ 9.60428577e-01 -1.18065588e-01 -2.52264673e-01  4.89887205e+02]
 [ 1.18470781e-01  9.92863880e-01 -1.36377989e-02  3.84510063e+01]
 [ 2.52074637e-01 -1.67878610e-02  9.67562166e-01  1.27927923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.84071405700007 meters
Centerline goodness : 0.998027 with order 1
Centerline is valid?  [True, True]
Translation: X:489.94, Y:38.45, Z:127.94
[[ 9.60402950e-01 -1.18273337e-01 -2.52264924e-01  4.89944621e+02]
 [ 1.18686758e-01  9.92838149e-01 -1.36331585e-02  3.84540341e+01]
 [ 2.52070679e-01 -1.68471804e-02  9.67562166e-01  1.27943192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.9007140570001 meters
Centerline goodness : 0.998655 with order 1
Centerline is valid?  [True, True]
Translation: X:490.00, Y:38.46, Z:127.96
[[ 9.60552269e-01 -1.17054930e-01 -2.52264705e-01  4.90004044e+02]
 [ 1.17426147e-01  9.92987979e-01 -1.36372109e-02  3.84568801e+01]
 [ 2.52092122e-01 -1.65232184e-02  9.67562166e-01  1.27960445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 503.9607140570001 meters
Centerline goodness : 0.999031 with order 1
Centerline is valid?  [True, True]
Translation: X:490.06, Y:38.46, Z:127.98
[[ 9.60826453e-01 -1.14780945e-01 -2.52265461e-01  4.90063392e+02]
 [ 1.15079044e-01  9.93262917e-01 -1.36232148e-02  3.84613798e+01]
 [ 2.52129613e-01 -1.59409229e-02  9.67562166e-01  1.27977277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.0207140570001 meters
Centerline goodness : 0.998502 with order 1
Centerline is valid?  [True, True]
Translation: X:490.12, Y:38.47, Z:127.99
[[ 9.61144671e-01 -1.12083341e-01 -2.52266221e-01  4.90121750e+02]
 [ 1.12294072e-01  9.93581820e-01 -1.36091209e-02  3.84659053e+01]
 [ 2.52172487e-01 -1.52476671e-02  9.67562166e-01  1.27991425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.0807140570001 meters
Centerline goodness : 0.998478 with order 1
Centerline is valid?  [True, True]
Translation: X:490.18, Y:38.47, Z:128.01
[[ 9.61241526e-01 -1.11249757e-01 -2.52266169e-01  4.90179819e+02]
 [ 1.11432102e-01  9.93678847e-01 -1.36100933e-02  3.84704736e+01]
 [ 2.52185675e-01 -1.50279626e-02  9.67562166e-01  1.28006804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.1407140570001 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:490.24, Y:38.47, Z:128.02
[[ 9.61302366e-01 -1.10722810e-01 -2.52266169e-01  4.90236085e+02]
 [ 1.10887374e-01  9.93739783e-01 -1.36100933e-02  3.84739354e+01]
 [ 2.52193875e-01 -1.48897180e-02  9.67562166e-01  1.28021471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.2007140570001 meters
Centerline goodness : 0.998633 with order 1
Centerline is valid?  [True, True]
Translation: X:490.29, Y:38.48, Z:128.04
[[ 9.61275009e-01 -1.10962220e-01 -2.52265225e-01  4.90293034e+02]
 [ 1.11130295e-01  9.93712407e-01 -1.36275600e-02  3.84771299e+01]
 [ 2.52191228e-01 -1.49344760e-02  9.67562166e-01  1.28035863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.2607140570001 meters
Centerline goodness : 0.998418 with order 1
Centerline is valid?  [True, True]
Translation: X:490.35, Y:38.48, Z:128.05
[[ 9.61142900e-01 -1.12108328e-01 -2.52261866e-01  4.90350772e+02]
 [ 1.12298890e-01  9.93580172e-01 -1.36894696e-02  3.84819865e+01]
 [ 2.52177092e-01 -1.51711911e-02  9.67562168e-01  1.28051954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.32071405700003 meters
Centerline goodness : 0.998414 with order 1
Centerline is valid?  [True, True]
Translation: X:490.41, Y:38.49, Z:128.07
[[ 9.60894371e-01 -1.14219449e-01 -2.52261621e-01  4.90408505e+02]
 [ 1.14480087e-01  9.93331156e-01 -1.36939830e-02  3.84852177e+01]
 [ 2.52143447e-01 -1.57204611e-02  9.67562168e-01  1.28067806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.38071405700003 meters
Centerline goodness : 0.998479 with order 1
Centerline is valid?  [True, True]
Translation: X:490.47, Y:38.49, Z:128.08
[[ 9.60031374e-01 -1.21259880e-01 -2.52261377e-01  4.90466121e+02]
 [ 1.21757102e-01  9.92465395e-01 -1.36984808e-02  3.84893584e+01]
 [ 2.52021763e-01 -1.75636427e-02  9.67562168e-01  1.28082499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.44071405700004 meters
Centerline goodness : 0.998742 with order 1
Centerline is valid?  [True, True]
Translation: X:490.52, Y:38.49, Z:128.10
[[ 9.59597783e-01 -1.24645137e-01 -2.52261144e-01  4.90524777e+02]
 [ 1.25255630e-01  9.92029869e-01 -1.37027578e-02  3.84935705e+01]
 [ 2.51958572e-01 -1.84479927e-02  9.67562168e-01  1.28097221e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.50071405700004 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:490.58, Y:38.50, Z:128.11
[[ 9.59105912e-01 -1.28375423e-01 -2.52260978e-01  4.90583107e+02]
 [ 1.29111220e-01  9.91535397e-01 -1.37058108e-02  3.84980954e+01]
 [ 2.51885179e-01 -1.94243986e-02  9.67562168e-01  1.28113175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.56071405700004 meters
Centerline goodness : 0.998172 with order 1
Centerline is valid?  [True, True]
Translation: X:490.64, Y:38.50, Z:128.13
[[ 9.58834546e-01 -1.30386687e-01 -2.52261025e-01  4.90643365e+02]
 [ 1.31190719e-01  9.91262412e-01 -1.37049630e-02  3.85035960e+01]
 [ 2.51843816e-01 -1.99535133e-02  9.67562168e-01  1.28128511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.62071405700004 meters
Centerline goodness : 0.997304 with order 1
Centerline is valid?  [True, True]
Translation: X:490.70, Y:38.51, Z:128.14
[[ 9.59052219e-01 -1.28773808e-01 -2.52262063e-01  4.90703008e+02]
 [ 1.29528303e-01  9.91481274e-01 -1.36858173e-02  3.85100959e+01]
 [ 2.51875487e-01 -1.95496635e-02  9.67562168e-01  1.28144276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.68071405700005 meters
Centerline goodness : 0.996573 with order 1
Centerline is valid?  [True, True]
Translation: X:490.76, Y:38.52, Z:128.16
[[ 9.59532029e-01 -1.25146908e-01 -2.52262832e-01  4.90761168e+02]
 [ 1.25782498e-01  9.91963633e-01 -1.36716395e-02  3.85165786e+01]
 [ 2.51946518e-01 -1.86118731e-02  9.67562169e-01  1.28160009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.74071405700005 meters
Centerline goodness : 0.996828 with order 1
Centerline is valid?  [True, True]
Translation: X:490.82, Y:38.52, Z:128.17
[[ 9.60062113e-01 -1.21013241e-01 -2.52262828e-01  4.90818771e+02]
 [ 1.21509132e-01  9.92496154e-01 -1.36717030e-02  3.85249477e+01]
 [ 2.52024344e-01 -1.75265531e-02  9.67562169e-01  1.28174940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.80071405700005 meters
Centerline goodness : 0.996419 with order 1
Centerline is valid?  [True, True]
Translation: X:490.88, Y:38.53, Z:128.19
[[ 9.60475705e-01 -1.17685731e-01 -2.52262739e-01  4.90877442e+02]
 [ 1.18068796e-01  9.92911274e-01 -1.36733586e-02  3.85307095e+01]
 [ 2.52083676e-01 -1.66514290e-02  9.67562169e-01  1.28190932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.86071405700005 meters
Centerline goodness : 0.996379 with order 1
Centerline is valid?  [True, True]
Translation: X:490.94, Y:38.54, Z:128.20
[[ 9.61077317e-01 -1.12666660e-01 -2.52262985e-01  4.90936490e+02]
 [ 1.12881470e-01  9.93514438e-01 -1.36688012e-02  3.85373253e+01]
 [ 2.52166936e-01 -1.53390419e-02  9.67562169e-01  1.28204929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.92071405700005 meters
Centerline goodness : 0.997023 with order 1
Centerline is valid?  [True, True]
Translation: X:491.00, Y:38.55, Z:128.22
[[ 9.61368978e-01 -1.10149728e-01 -2.52263207e-01  4.90995586e+02]
 [ 1.10280674e-01  9.93806545e-01 -1.36647042e-02  3.85456508e+01]
 [ 2.52205990e-01 -1.46829338e-02  9.67562169e-01  1.28221552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 504.98071405700006 meters
Centerline goodness : 0.997131 with order 1
Centerline is valid?  [True, True]
Translation: X:491.06, Y:38.55, Z:128.24
[[ 9.61511286e-01 -1.08898748e-01 -2.52263968e-01  4.91055401e+02]
 [ 1.08991161e-01  9.93948986e-01 -1.36506565e-02  3.85532743e+01]
 [ 2.52224054e-01 -1.43692825e-02  9.67562169e-01  1.28238186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.04071405700006 meters
Centerline goodness : 0.997222 with order 1
Centerline is valid?  [True, True]
Translation: X:491.11, Y:38.56, Z:128.25
[[ 9.61466953e-01 -1.09287179e-01 -2.52264963e-01  4.91114123e+02]
 [ 1.09397514e-01  9.93904596e-01 -1.36322341e-02  3.85606466e+01]
 [ 2.52217135e-01 -1.44902172e-02  9.67562169e-01  1.28254396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.10071405700006 meters
Centerline goodness : 0.997417 with order 1
Centerline is valid?  [True, True]
Translation: X:491.17, Y:38.57, Z:128.27
[[ 9.60951033e-01 -1.13733801e-01 -2.52265207e-01  4.91172468e+02]
 [ 1.13995376e-01  9.93387809e-01 -1.36277124e-02  3.85664832e+01]
 [ 2.52147113e-01 -1.56615028e-02  9.67562169e-01  1.28271408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.16071405700006 meters
Centerline goodness : 0.997847 with order 1
Centerline is valid?  [True, True]
Translation: X:491.23, Y:38.57, Z:128.29
[[ 9.60332513e-01 -1.18843209e-01 -2.52265251e-01  4.91230115e+02]
 [ 1.19277514e-01  9.92767436e-01 -1.36269004e-02  3.85696393e+01]
 [ 2.52060191e-01 -1.70032166e-02  9.67562169e-01  1.28285778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.22071405700007 meters
Centerline goodness : 0.997489 with order 1
Centerline is valid?  [True, True]
Translation: X:491.29, Y:38.57, Z:128.30
[[ 9.59846908e-01 -1.22702938e-01 -2.52265540e-01  4.91287811e+02]
 [ 1.23269028e-01  9.92279799e-01 -1.36215625e-02  3.85747226e+01]
 [ 2.51989405e-01 -1.80219133e-02  9.67562169e-01  1.28299971e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.28071405700007 meters
Centerline goodness : 0.997517 with order 1
Centerline is valid?  [True, True]
Translation: X:491.35, Y:38.58, Z:128.31
[[ 9.59729798e-01 -1.23614840e-01 -2.52265903e-01  4.91346522e+02]
 [ 1.24213503e-01  9.92162105e-01 -1.36148368e-02  3.85796895e+01]
 [ 2.51971665e-01 -1.82682670e-02  9.67562169e-01  1.28312517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.34071405700007 meters
Centerline goodness : 0.997955 with order 1
Centerline is valid?  [True, True]
Translation: X:491.41, Y:38.59, Z:128.33
[[ 9.59776049e-01 -1.23254737e-01 -2.52266141e-01  4.91406307e+02]
 [ 1.23842386e-01  9.92208557e-01 -1.36104251e-02  3.85857496e+01]
 [ 2.51978173e-01 -1.81782807e-02  9.67562169e-01  1.28327510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.4007140570001 meters
Centerline goodness : 0.997282 with order 1
Centerline is valid?  [True, True]
Translation: X:491.47, Y:38.59, Z:128.34
[[ 9.59787780e-01 -1.23161884e-01 -2.52266857e-01  4.91466047e+02]
 [ 1.23749871e-01  9.92220282e-01 -1.35971307e-02  3.85928626e+01]
 [ 2.51978940e-01 -1.81676311e-02  9.67562169e-01  1.28343069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.4607140570001 meters
Centerline goodness : 0.997495 with order 1
Centerline is valid?  [True, True]
Translation: X:491.53, Y:38.60, Z:128.36
[[ 9.59594249e-01 -1.24658842e-01 -2.52267813e-01  4.91525319e+02]
 [ 1.25302062e-01  9.92025702e-01 -1.35793700e-02  3.85991002e+01]
 [ 2.51948943e-01 -1.85789917e-02  9.67562169e-01  1.28359471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.5207140570001 meters
Centerline goodness : 0.997744 with order 1
Centerline is valid?  [True, True]
Translation: X:491.58, Y:38.61, Z:128.38
[[ 9.59217835e-01 -1.27519803e-01 -2.52269388e-01  4.91583982e+02]
 [ 1.28267396e-01  9.91647050e-01 -1.35500485e-02  3.86053217e+01]
 [ 2.51890094e-01 -1.93604893e-02  9.67562170e-01  1.28375198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.5807140570001 meters
Centerline goodness : 0.997518 with order 1
Centerline is valid?  [True, True]
Translation: X:491.64, Y:38.61, Z:128.39
[[ 9.58885384e-01 -1.29995971e-01 -2.52269433e-01  4.91642292e+02]
 [ 1.30827510e-01  9.91312555e-01 -1.35492086e-02  3.86107798e+01]
 [ 2.51839199e-01 -2.00116437e-02  9.67562170e-01  1.28389363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.6407140570001 meters
Centerline goodness : 0.997543 with order 1
Centerline is valid?  [True, True]
Translation: X:491.70, Y:38.62, Z:128.40
[[ 9.58659438e-01 -1.31651716e-01 -2.52269513e-01  4.91701203e+02]
 [ 1.32539642e-01  9.91085114e-01 -1.35477235e-02  3.86151374e+01]
 [ 2.51804140e-01 -2.04480578e-02  9.67562170e-01  1.28403997e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.7007140570001 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:491.76, Y:38.62, Z:128.42
[[ 9.58560841e-01 -1.32367219e-01 -2.52269763e-01  4.91761828e+02]
 [ 1.33280565e-01  9.90985810e-01 -1.35430648e-02  3.86202888e+01]
 [ 2.51788414e-01 -2.06408050e-02  9.67562170e-01  1.28419273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.7607140570001 meters
Centerline goodness : 0.997625 with order 1
Centerline is valid?  [True, True]
Translation: X:491.82, Y:38.63, Z:128.43
[[ 9.58666164e-01 -1.31600333e-01 -2.52270763e-01  4.91820017e+02]
 [ 1.32492614e-01  9.91091720e-01 -1.35244155e-02  3.86250690e+01]
 [ 2.51803282e-01 -2.04586133e-02  9.67562170e-01  1.28432934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.82071405700003 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:491.88, Y:38.63, Z:128.45
[[ 9.58884433e-01 -1.30000405e-01 -2.52270763e-01  4.91879405e+02]
 [ 1.30838576e-01  9.91311433e-01 -1.35244155e-02  3.86293762e+01]
 [ 2.51837071e-01 -2.00383958e-02  9.67562170e-01  1.28448561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.88071405700003 meters
Centerline goodness : 0.997617 with order 1
Centerline is valid?  [True, True]
Translation: X:491.94, Y:38.63, Z:128.47
[[ 9.59093450e-01 -1.28448305e-01 -2.52271258e-01  4.91938557e+02]
 [ 1.29236409e-01  9.91521705e-01 -1.35151693e-02  3.86348011e+01]
 [ 2.51868429e-01 -1.96403213e-02  9.67562170e-01  1.28465459e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 505.94071405700004 meters
Centerline goodness : 0.997486 with order 1
Centerline is valid?  [True, True]
Translation: X:492.00, Y:38.64, Z:128.48
[[ 9.59067340e-01 -1.28641678e-01 -2.52271990e-01  4.91998020e+02]
 [ 1.29439892e-01  9.91495347e-01 -1.35015076e-02  3.86389729e+01]
 [ 2.51863361e-01 -1.97052041e-02  9.67562170e-01  1.28481763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.00071405700004 meters
Centerline goodness : 0.997487 with order 1
Centerline is valid?  [True, True]
Translation: X:492.06, Y:38.64, Z:128.50
[[ 9.58946637e-01 -1.29536947e-01 -2.52272722e-01  4.92057783e+02]
 [ 1.30369013e-01  9.91373794e-01 -1.34878173e-02  3.86415255e+01]
 [ 2.51843736e-01 -1.99544487e-02  9.67562170e-01  1.28497620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.06071405700004 meters
Centerline goodness : 0.997209 with order 1
Centerline is valid?  [True, True]
Translation: X:492.12, Y:38.64, Z:128.51
[[ 9.58810807e-01 -1.30536592e-01 -2.52273728e-01  4.92116789e+02]
 [ 1.31407393e-01  9.91236947e-01 -1.34689596e-02  3.86445273e+01]
 [ 2.51821232e-01 -2.02364489e-02  9.67562170e-01  1.28511868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.12071405700004 meters
Centerline goodness : 0.997121 with order 1
Centerline is valid?  [True, True]
Translation: X:492.18, Y:38.65, Z:128.53
[[ 9.59150967e-01 -1.28012254e-01 -2.52274225e-01  4.92175565e+02]
 [ 1.28800130e-01  9.91579228e-01 -1.34596520e-02  3.86482294e+01]
 [ 2.51872882e-01 -1.95831147e-02  9.67562170e-01  1.28525712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.18071405700005 meters
Centerline goodness : 0.997502 with order 1
Centerline is valid?  [True, True]
Translation: X:492.23, Y:38.65, Z:128.54
[[ 9.59435023e-01 -1.25865128e-01 -2.52274465e-01  4.92234010e+02]
 [ 1.26581593e-01  9.91864940e-01 -1.34551620e-02  3.86520269e+01]
 [ 2.51915732e-01 -1.90239500e-02  9.67562170e-01  1.28539586e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.24071405700005 meters
Centerline goodness : 0.997189 with order 1
Centerline is valid?  [True, True]
Translation: X:492.29, Y:38.65, Z:128.56
[[ 9.59749010e-01 -1.23447883e-01 -2.52274570e-01  4.92293918e+02]
 [ 1.24083171e-01  9.92180618e-01 -1.34531835e-02  3.86549137e+01]
 [ 2.51962706e-01 -1.83913490e-02  9.67562170e-01  1.28555450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.30071405700005 meters
Centerline goodness : 0.997595 with order 1
Centerline is valid?  [True, True]
Translation: X:492.35, Y:38.66, Z:128.57
[[ 9.60004524e-01 -1.21443322e-01 -2.52275312e-01  4.92353289e+02]
 [ 1.22014520e-01  9.92437325e-01 -1.34392616e-02  3.86581903e+01]
 [ 2.51999544e-01 -1.78794992e-02  9.67562170e-01  1.28570893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.36071405700005 meters
Centerline goodness : 0.997588 with order 1
Centerline is valid?  [True, True]
Translation: X:492.41, Y:38.66, Z:128.59
[[ 9.60376109e-01 -1.18467908e-01 -2.52275808e-01  4.92413162e+02]
 [ 1.18941042e-01  9.92810488e-01 -1.34299318e-02  3.86606780e+01]
 [ 2.52053084e-01 -1.71081618e-02  9.67562170e-01  1.28587015e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.42071405700005 meters
Centerline goodness : 0.997749 with order 1
Centerline is valid?  [True, True]
Translation: X:492.47, Y:38.66, Z:128.60
[[ 9.60771186e-01 -1.15218321e-01 -2.52276567e-01  4.92471986e+02]
 [ 1.15585460e-01  9.93206938e-01 -1.34156604e-02  3.86638349e+01]
 [ 2.52108567e-01 -1.62701230e-02  9.67562170e-01  1.28603029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.48071405700006 meters
Centerline goodness : 0.997611 with order 1
Centerline is valid?  [True, True]
Translation: X:492.53, Y:38.67, Z:128.62
[[ 9.61294399e-01 -1.10767715e-01 -2.52276815e-01  4.92530678e+02]
 [ 1.10985858e-01  9.93731495e-01 -1.34109964e-02  3.86669189e+01]
 [ 2.52180922e-01 -1.51072431e-02  9.67562170e-01  1.28617469e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.54071405700006 meters
Centerline goodness : 0.997591 with order 1
Centerline is valid?  [True, True]
Translation: X:492.59, Y:38.67, Z:128.63
[[ 9.62061226e-01 -1.03896809e-01 -2.52276934e-01  4.92590173e+02]
 [ 1.03883778e-01  9.94499053e-01 -1.34087723e-02  3.86692069e+01]
 [ 2.52282300e-01 -1.33074210e-02  9.67562170e-01  1.28631325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.60071405700006 meters
Centerline goodness : 0.997268 with order 1
Centerline is valid?  [True, True]
Translation: X:492.65, Y:38.67, Z:128.65
[[ 9.62941107e-01 -9.53975726e-02 -2.52277087e-01  4.92648821e+02]
 [ 9.50988621e-02  9.95377561e-01 -1.34058927e-02  3.86736290e+01]
 [ 2.52389841e-01 -1.10821788e-02  9.67562170e-01  1.28647387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.66071405700006 meters
Centerline goodness : 0.997003 with order 1
Centerline is valid?  [True, True]
Translation: X:492.71, Y:38.68, Z:128.66
[[ 9.63731125e-01 -8.70544643e-02 -2.52277306e-01  4.92707745e+02]
 [ 8.64759286e-02  9.96163795e-01 -1.34017667e-02  3.86756015e+01]
 [ 2.52476202e-01 -8.90021460e-03  9.67562170e-01  1.28662136e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.72071405700007 meters
Centerline goodness : 0.997296 with order 1
Centerline is valid?  [True, True]
Translation: X:492.76, Y:38.68, Z:128.68
[[ 9.64165292e-01 -8.21063514e-02 -2.52277300e-01  4.92764630e+02]
 [ 8.13613120e-02  9.96594565e-01 -1.34018808e-02  3.86753577e+01]
 [ 2.52518565e-01 -7.60398373e-03  9.67562170e-01  1.28675716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.78071405700007 meters
Centerline goodness : 0.997729 with order 1
Centerline is valid?  [True, True]
Translation: X:492.82, Y:38.67, Z:128.69
[[ 9.64230911e-01 -8.13343971e-02 -2.52276566e-01  4.92821492e+02]
 [ 8.05597861e-02  9.96659491e-01 -1.34156844e-02  3.86747934e+01]
 [ 2.52524990e-01 -7.38752859e-03  9.67562171e-01  1.28689481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.84071405700007 meters
Centerline goodness : 0.997494 with order 1
Centerline is valid?  [True, True]
Translation: X:492.88, Y:38.67, Z:128.71
[[ 9.64182035e-01 -8.19148878e-02 -2.52275551e-01  4.92878112e+02]
 [ 8.11548197e-02  9.96610959e-01 -1.34347367e-02  3.86734761e+01]
 [ 2.52521084e-01 -7.51984505e-03  9.67562171e-01  1.28706304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.9007140570001 meters
Centerline goodness : 0.997025 with order 1
Centerline is valid?  [True, True]
Translation: X:492.94, Y:38.67, Z:128.72
[[ 9.63824348e-01 -8.60315125e-02 -2.52272085e-01  4.92935660e+02]
 [ 8.53929972e-02  9.96255890e-01 -1.34995168e-02  3.86711257e+01]
 [ 2.52488935e-01 -8.53110646e-03  9.67562173e-01  1.28720555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 506.9607140570001 meters
Centerline goodness : 0.996990 with order 1
Centerline is valid?  [True, True]
Translation: X:492.99, Y:38.67, Z:128.74
[[ 9.63229196e-01 -9.24591284e-02 -2.52271335e-01  4.92994879e+02]
 [ 9.20333098e-02  9.95664228e-01 -1.35135279e-02  3.86680368e+01]
 [ 2.52426993e-01 -1.02007413e-02  9.67562173e-01  1.28735508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.0207140570001 meters
Centerline goodness : 0.997673 with order 1
Centerline is valid?  [True, True]
Translation: X:493.05, Y:38.66, Z:128.75
[[ 9.62560103e-01 -9.91828549e-02 -2.52271302e-01  4.93053916e+02]
 [ 9.89833723e-02  9.94997317e-01 -1.35141390e-02  3.86647919e+01]
 [ 2.52349639e-01 -1.19624932e-02  9.67562173e-01  1.28750911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.0807140570001 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:493.11, Y:38.66, Z:128.77
[[ 9.62251037e-01 -1.02138025e-01 -2.52271215e-01  4.93112372e+02]
 [ 1.02037721e-01  9.94688709e-01 -1.35157579e-02  3.86639904e+01]
 [ 2.52311802e-01 -1.27356280e-02  9.67562173e-01  1.28767697e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.1407140570001 meters
Centerline goodness : 0.998191 with order 1
Centerline is valid?  [True, True]
Translation: X:493.17, Y:38.66, Z:128.78
[[ 9.62250364e-01 -1.02143740e-01 -2.52271466e-01  4.93171385e+02]
 [ 1.02044853e-01  9.94688041e-01 -1.35110775e-02  3.86645748e+01]
 [ 2.52311482e-01 -1.27419655e-02  9.67562173e-01  1.28783790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.2007140570001 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:493.23, Y:38.67, Z:128.80
[[ 9.62124490e-01 -1.03322046e-01 -2.52271719e-01  4.93229702e+02]
 [ 1.03264120e-01  9.94562266e-01 -1.35063457e-02  3.86651196e+01]
 [ 2.52295436e-01 -1.30558311e-02  9.67562173e-01  1.28798935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.2607140570001 meters
Centerline goodness : 0.998570 with order 1
Centerline is valid?  [True, True]
Translation: X:493.29, Y:38.67, Z:128.82
[[ 9.61931755e-01 -1.05101279e-01 -2.52271719e-01  4.93288500e+02]
 [ 1.05103345e-01  9.94369582e-01 -1.35063457e-02  3.86657990e+01]
 [ 2.52270858e-01 -1.35224188e-02  9.67562173e-01  1.28815188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.3207140570001 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:493.35, Y:38.67, Z:128.83
[[ 9.61816709e-01 -1.06148347e-01 -2.52271968e-01  4.93347387e+02]
 [ 1.06186942e-01  9.94254514e-01 -1.35016889e-02  3.86674354e+01]
 [ 2.52255725e-01 -1.38018390e-02  9.67562173e-01  1.28831141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.38071405700003 meters
Centerline goodness : 0.998508 with order 1
Centerline is valid?  [True, True]
Translation: X:493.41, Y:38.67, Z:128.84
[[ 9.61825695e-01 -1.06066300e-01 -2.52272220e-01  4.93406378e+02]
 [ 1.06103358e-01  9.94263501e-01 -1.34969872e-02  3.86686982e+01]
 [ 2.52256636e-01 -1.37851806e-02  9.67562173e-01  1.28844961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.44071405700004 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:493.47, Y:38.67, Z:128.86
[[ 9.62045387e-01 -1.04054800e-01 -2.52272220e-01  4.93465225e+02]
 [ 1.04024027e-01  9.94483199e-01 -1.34969872e-02  3.86712572e+01]
 [ 2.52284911e-01 -1.32576580e-02  9.67562173e-01  1.28861450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.50071405700004 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:493.52, Y:38.68, Z:128.88
[[ 9.62890893e-01 -9.59155604e-02 -2.52272342e-01  4.93522844e+02]
 [ 9.56110732e-02  9.95327291e-01 -1.34947144e-02  3.86757453e+01]
 [ 2.52387899e-01 -1.11260917e-02  9.67562173e-01  1.28878354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.56071405700004 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:493.58, Y:38.68, Z:128.89
[[ 9.63345214e-01 -9.12395824e-02 -2.52272348e-01  4.93581378e+02]
 [ 9.07776517e-02  9.95779752e-01 -1.34945918e-02  3.86791852e+01]
 [ 2.52438937e-01 -9.90074098e-03  9.67562173e-01  1.28893186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.62071405700004 meters
Centerline goodness : 0.998284 with order 1
Centerline is valid?  [True, True]
Translation: X:493.64, Y:38.68, Z:128.91
[[ 9.63578529e-01 -8.87417984e-02 -2.52272296e-01  4.93639322e+02]
 [ 8.81955300e-02  9.96011756e-01 -1.34955581e-02  3.86830162e+01]
 [ 2.52463793e-01 -9.24525887e-03  9.67562173e-01  1.28909143e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.68071405700005 meters
Centerline goodness : 0.998215 with order 1
Centerline is valid?  [True, True]
Translation: X:493.70, Y:38.69, Z:128.93
[[ 9.63464040e-01 -8.99769782e-02 -2.52272048e-01  4.93696491e+02]
 [ 8.94710737e-02  9.95897922e-01 -1.35002014e-02  3.86858276e+01]
 [ 2.52451916e-01 -9.56409242e-03  9.67562173e-01  1.28925678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.74071405700005 meters
Centerline goodness : 0.998955 with order 1
Centerline is valid?  [True, True]
Translation: X:493.75, Y:38.69, Z:128.94
[[ 9.62948199e-01 -9.53405973e-02 -2.52271554e-01  4.93754772e+02]
 [ 9.50128983e-02  9.95384370e-01 -1.35094152e-02  3.86864121e+01]
 [ 2.52395158e-01 -1.09601845e-02  9.67562173e-01  1.28942046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.80071405700005 meters
Centerline goodness : 0.998754 with order 1
Centerline is valid?  [True, True]
Translation: X:493.81, Y:38.69, Z:128.96
[[ 9.61974827e-01 -1.04706901e-01 -2.52271475e-01  4.93813083e+02]
 [ 1.04694480e-01  9.94412652e-01 -1.35108956e-02  3.86871340e+01]
 [ 2.52276631e-01 -1.34142894e-02  9.67562173e-01  1.28957661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.86071405700005 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:493.87, Y:38.69, Z:128.97
[[ 9.61310749e-01 -1.10637870e-01 -2.52271492e-01  4.93871665e+02]
 [ 1.10825590e-01  9.93748033e-01 -1.35105824e-02  3.86887652e+01]
 [ 2.52189081e-01 -1.49702689e-02  9.67562173e-01  1.28972694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.92071405700005 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:493.93, Y:38.69, Z:128.99
[[ 9.61295264e-01 -1.10772235e-01 -2.52271536e-01  4.93931406e+02]
 [ 1.10964705e-01  9.93732520e-01 -1.35097567e-02  3.86924892e+01]
 [ 2.52186935e-01 -1.50063714e-02  9.67562173e-01  1.28988890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 507.98071405700006 meters
Centerline goodness : 0.998823 with order 1
Centerline is valid?  [True, True]
Translation: X:493.99, Y:38.70, Z:129.00
[[ 9.61551971e-01 -1.08518993e-01 -2.52272541e-01  4.93990034e+02]
 [ 1.08640354e-01  9.93989571e-01 -1.34909690e-02  3.86972027e+01]
 [ 2.52220301e-01 -1.44347102e-02  9.67562173e-01  1.29003648e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.04071405700006 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:494.05, Y:38.70, Z:129.02
[[ 9.61846384e-01 -1.05877163e-01 -2.52272787e-01  4.94047393e+02]
 [ 1.05910620e-01  9.94284194e-01 -1.34863644e-02  3.87012343e+01]
 [ 2.52258743e-01 -1.37465565e-02  9.67562173e-01  1.29018723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.10071405700006 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:494.11, Y:38.71, Z:129.04
[[ 9.62096026e-01 -1.03584351e-01 -2.52272709e-01  4.94105198e+02]
 [ 1.03540112e-01  9.94533822e-01 -1.34878229e-02  3.87067016e+01]
 [ 2.52290869e-01 -1.31437639e-02  9.67562173e-01  1.29037274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.16071405700006 meters
Centerline goodness : 0.998624 with order 1
Centerline is valid?  [True, True]
Translation: X:494.17, Y:38.71, Z:129.05
[[ 9.62291025e-01 -1.01756262e-01 -2.52272960e-01  4.94165633e+02]
 [ 1.01651625e-01  9.94728683e-01 -1.34831204e-02  3.87107423e+01]
 [ 2.52315142e-01 -1.26692706e-02  9.67562173e-01  1.29052825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.22071405700007 meters
Centerline goodness : 0.998823 with order 1
Centerline is valid?  [True, True]
Translation: X:494.22, Y:38.72, Z:129.07
[[ 9.62251520e-01 -1.02126668e-01 -2.52273971e-01  4.94224411e+02]
 [ 1.02039466e-01  9.94689229e-01 -1.34641922e-02  3.87151591e+01]
 [ 2.52309255e-01 -1.27859618e-02  9.67562173e-01  1.29066361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.28071405700007 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:494.28, Y:38.72, Z:129.08
[[ 9.61978246e-01 -1.04668869e-01 -2.52274219e-01  4.94281882e+02]
 [ 1.04668592e-01  9.94416073e-01 -1.34595461e-02  3.87201719e+01]
 [ 2.52274333e-01 -1.34573968e-02  9.67562173e-01  1.29079743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.34071405700007 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:494.34, Y:38.72, Z:129.10
[[ 9.61738917e-01 -1.06845845e-01 -2.52274101e-01  4.94339669e+02]
 [ 1.06918406e-01  9.94176662e-01 -1.34617583e-02  3.87245278e+01]
 [ 2.52243356e-01 -1.40260480e-02  9.67562173e-01  1.29096981e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.4007140570001 meters
Centerline goodness : 0.998706 with order 1
Centerline is valid?  [True, True]
Translation: X:494.40, Y:38.73, Z:129.11
[[ 9.61559754e-01 -1.08446072e-01 -2.52274232e-01  4.94399144e+02]
 [ 1.08573256e-01  9.93997332e-01 -1.34592944e-02  3.87287966e+01]
 [ 2.52219521e-01 -1.44483188e-02  9.67562173e-01  1.29112954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.4607140570001 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:494.46, Y:38.73, Z:129.13
[[ 9.61635661e-01 -1.07769775e-01 -2.52274713e-01  4.94457329e+02]
 [ 1.07876502e-01  9.94073312e-01 -1.34502821e-02  3.87345313e+01]
 [ 2.52229093e-01 -1.42802426e-02  9.67562173e-01  1.29131332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.5207140570001 meters
Centerline goodness : 0.998859 with order 1
Centerline is valid?  [True, True]
Translation: X:494.52, Y:38.74, Z:129.15
[[ 9.61831260e-01 -1.06009306e-01 -2.52274959e-01  4.94516786e+02]
 [ 1.06057862e-01  9.94269050e-01 -1.34456666e-02  3.87391098e+01]
 [ 2.52254549e-01 -1.38232802e-02  9.67562173e-01  1.29149478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.5807140570001 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:494.58, Y:38.74, Z:129.16
[[ 9.61997796e-01 -1.04484808e-01 -2.52275970e-01  4.94575899e+02]
 [ 1.04486925e-01  9.94435623e-01 -1.34266614e-02  3.87443980e+01]
 [ 2.52275094e-01 -1.34431216e-02  9.67562174e-01  1.29164715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.6407140570001 meters
Centerline goodness : 0.998797 with order 1
Centerline is valid?  [True, True]
Translation: X:494.64, Y:38.75, Z:129.18
[[ 9.62132874e-01 -1.03232320e-01 -2.52276477e-01  4.94636056e+02]
 [ 1.03194701e-01  9.94570679e-01 -1.34171229e-02  3.87486138e+01]
 [ 2.52291868e-01 -1.31245406e-02  9.67562174e-01  1.29178642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.7007140570001 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:494.70, Y:38.75, Z:129.19
[[ 9.62370491e-01 -1.00990672e-01 -2.52277472e-01  4.94696544e+02]
 [ 1.00882381e-01  9.94808136e-01 -1.33984042e-02  3.87532244e+01]
 [ 2.52320795e-01 -1.25561231e-02  9.67562174e-01  1.29193138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.7607140570001 meters
Centerline goodness : 0.998768 with order 1
Centerline is valid?  [True, True]
Translation: X:494.75, Y:38.76, Z:129.21
[[ 9.62634272e-01 -9.84420471e-02 -2.52278463e-01  4.94754825e+02]
 [ 9.82527506e-02  9.95071545e-01 -1.33797189e-02  3.87571425e+01]
 [ 2.52352247e-01 -1.19072769e-02  9.67562174e-01  1.29208109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.8207140570001 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:494.81, Y:38.76, Z:129.22
[[ 9.62774880e-01 -9.70572376e-02 -2.52278463e-01  4.94813827e+02]
 [ 9.68212816e-02  9.95211848e-01 -1.33797189e-02  3.87611644e+01]
 [ 2.52369114e-01 -1.15442668e-02  9.67562174e-01  1.29223996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.88071405700003 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:494.87, Y:38.76, Z:129.24
[[ 9.62862809e-01 -9.61797107e-02 -2.52278961e-01  4.94873374e+02]
 [ 9.59166481e-02  9.95299569e-01 -1.33703237e-02  3.87639304e+01]
 [ 2.52379094e-01 -1.13239649e-02  9.67562174e-01  1.29240242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 508.94071405700004 meters
Centerline goodness : 0.998701 with order 1
Centerline is valid?  [True, True]
Translation: X:494.93, Y:38.77, Z:129.25
[[ 9.62739537e-01 -9.74046361e-02 -2.52279449e-01  4.94931303e+02]
 [ 9.71852511e-02  9.95176621e-01 -1.33611081e-02  3.87654840e+01]
 [ 2.52364043e-01 -1.16545746e-02  9.67562174e-01  1.29254613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.00071405700004 meters
Centerline goodness : 0.998435 with order 1
Centerline is valid?  [True, True]
Translation: X:494.99, Y:38.77, Z:129.27
[[ 9.62389844e-01 -1.00801729e-01 -2.52279208e-01  4.94990511e+02]
 [ 1.00695637e-01  9.94827497e-01 -1.33656439e-02  3.87657503e+01]
 [ 2.52321573e-01 -1.25404555e-02  9.67562174e-01  1.29268566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.06071405700004 meters
Centerline goodness : 0.998418 with order 1
Centerline is valid?  [True, True]
Translation: X:495.05, Y:38.77, Z:129.28
[[ 9.61946735e-01 -1.04946030e-01 -2.52279231e-01  4.95047843e+02]
 [ 1.04979765e-01  9.94384543e-01 -1.33652218e-02  3.87667007e+01]
 [ 2.52265195e-01 -1.36275827e-02  9.67562174e-01  1.29281711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.12071405700004 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:495.11, Y:38.77, Z:129.30
[[ 9.61698822e-01 -1.07195157e-01 -2.52278762e-01  4.95106670e+02]
 [ 1.07302433e-01  9.94136471e-01 -1.33740621e-02  3.87697261e+01]
 [ 2.52233153e-01 -1.42083052e-02  9.67562174e-01  1.29297979e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.18071405700005 meters
Centerline goodness : 0.998525 with order 1
Centerline is valid?  [True, True]
Translation: X:495.16, Y:38.77, Z:129.31
[[ 9.61526824e-01 -1.08726593e-01 -2.52279001e-01  4.95164005e+02]
 [ 1.08886707e-01  9.93964255e-01 -1.33695529e-02  3.87732327e+01]
 [ 2.52209935e-01 -1.46146458e-02  9.67562174e-01  1.29312557e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.24071405700005 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:495.22, Y:38.78, Z:129.33
[[ 9.61231233e-01 -1.11309442e-01 -2.52279061e-01  4.95223532e+02]
 [ 1.11556998e-01  9.93668114e-01 -1.33684222e-02  3.87778147e+01]
 [ 2.52169690e-01 -1.52933497e-02  9.67562174e-01  1.29330882e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.30071405700005 meters
Centerline goodness : 0.998347 with order 1
Centerline is valid?  [True, True]
Translation: X:495.28, Y:38.78, Z:129.35
[[ 9.61048461e-01 -1.12874389e-01 -2.52280058e-01  4.95282628e+02]
 [ 1.13179685e-01  9.93484850e-01 -1.33495821e-02  3.87831511e+01]
 [ 2.52143241e-01 -1.57233822e-02  9.67562174e-01  1.29348453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.36071405700005 meters
Centerline goodness : 0.998281 with order 1
Centerline is valid?  [True, True]
Translation: X:495.34, Y:38.79, Z:129.36
[[ 9.60911813e-01 -1.14030184e-01 -2.52280807e-01  4.95341845e+02]
 [ 1.14378197e-01  9.93347771e-01 -1.33354118e-02  3.87891991e+01]
 [ 2.52123217e-01 -1.60412690e-02  9.67562174e-01  1.29363885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.42071405700005 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:495.40, Y:38.80, Z:129.38
[[ 9.61398705e-01 -1.09848430e-01 -2.52281296e-01  4.95400498e+02]
 [ 1.10057743e-01  9.93835855e-01 -1.33261461e-02  3.87960786e+01]
 [ 2.52190054e-01 -1.49537704e-02  9.67562174e-01  1.29377840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.48071405700006 meters
Centerline goodness : 0.998071 with order 1
Centerline is valid?  [True, True]
Translation: X:495.46, Y:38.80, Z:129.39
[[ 9.62112657e-01 -1.03408822e-01 -2.52281294e-01  4.95458863e+02]
 [ 1.03400934e-01  9.94550481e-01 -1.33261830e-02  3.88027601e+01]
 [ 2.52284528e-01 -1.32648320e-02  9.67562174e-01  1.29393214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.54071405700006 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:495.52, Y:38.81, Z:129.41
[[ 9.62943243e-01 -9.53648839e-02 -2.52281289e-01  4.95517111e+02]
 [ 9.50858886e-02  9.95379869e-01 -1.33262823e-02  3.88085879e+01]
 [ 2.52386576e-01 -1.11559370e-02  9.67562174e-01  1.29408069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.60071405700006 meters
Centerline goodness : 0.998289 with order 1
Centerline is valid?  [True, True]
Translation: X:495.58, Y:38.81, Z:129.42
[[ 9.63214614e-01 -9.25838229e-02 -2.52281279e-01  4.95575748e+02]
 [ 9.22111108e-02  9.95650298e-01 -1.33264798e-02  3.88124397e+01]
 [ 2.52417747e-01 -1.04268768e-02  9.67562174e-01  1.29422900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.66071405700006 meters
Centerline goodness : 0.998421 with order 1
Centerline is valid?  [True, True]
Translation: X:495.63, Y:38.82, Z:129.44
[[ 9.63918977e-01 -8.49374045e-02 -2.52281279e-01  4.95634333e+02]
 [ 8.43073137e-02  9.96350682e-01 -1.33264798e-02  3.88166905e+01]
 [ 2.52492541e-01 -8.42351010e-03  9.67562174e-01  1.29437617e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.72071405700007 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:495.69, Y:38.82, Z:129.45
[[ 9.64324027e-01 -8.02079860e-02 -2.52281292e-01  4.95691304e+02]
 [ 7.94188787e-02  9.96752253e-01 -1.33262275e-02  3.88191813e+01]
 [ 2.52530816e-01 -7.18509594e-03  9.67562174e-01  1.29453727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.78071405700007 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:495.75, Y:38.82, Z:129.47
[[ 9.64340997e-01 -8.00022077e-02 -2.52281763e-01  4.95748341e+02]
 [ 7.92085109e-02  9.96769111e-01 -1.33173125e-02  3.88192418e+01]
 [ 2.52532083e-01 -7.14043234e-03  9.67562174e-01  1.29468263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.84071405700007 meters
Centerline goodness : 0.998274 with order 1
Centerline is valid?  [True, True]
Translation: X:495.81, Y:38.81, Z:129.48
[[ 9.63869202e-01 -8.55018228e-02 -2.52280794e-01  4.95806834e+02]
 [ 8.48883298e-02  9.96301226e-01 -1.33356332e-02  3.88138577e+01]
 [ 2.52487886e-01 -8.56188915e-03  9.67562175e-01  1.29480523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.9007140570001 meters
Centerline goodness : 0.998309 with order 1
Centerline is valid?  [True, True]
Translation: X:495.86, Y:38.81, Z:129.49
[[ 9.63555743e-01 -8.89651219e-02 -2.52280673e-01  4.95863529e+02]
 [ 8.84675823e-02  9.95989752e-01 -1.33379331e-02  3.88129850e+01]
 [ 2.52455576e-01 -9.46681914e-03  9.67562175e-01  1.29494907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 509.9607140570001 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:495.92, Y:38.81, Z:129.51
[[ 9.63014906e-01 -9.46449219e-02 -2.52278874e-01  4.95921437e+02]
 [ 9.43297555e-02  9.95451199e-01 -1.33718707e-02  3.88112183e+01]
 [ 2.52396887e-01 -1.09200937e-02  9.67562175e-01  1.29512331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.0207140570001 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:495.98, Y:38.81, Z:129.53
[[ 9.62693684e-01 -9.78583978e-02 -2.52278824e-01  4.95980127e+02]
 [ 9.76512394e-02  9.95130847e-01 -1.33728184e-02  3.88085510e+01]
 [ 2.52359082e-01 -1.17614121e-02  9.67562175e-01  1.29529662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.0807140570001 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:496.04, Y:38.81, Z:129.54
[[ 9.62192663e-01 -1.02667187e-01 -2.52279070e-01  4.96039234e+02]
 [ 1.02623312e-01  9.94630458e-01 -1.33681821e-02  3.88056940e+01]
 [ 2.52296920e-01 -1.30269471e-02  9.67562175e-01  1.29541935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.1407140570001 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:496.10, Y:38.81, Z:129.55
[[ 9.61907089e-01 -1.05309799e-01 -2.52278812e-01  4.96097832e+02]
 [ 1.05353758e-01  9.94344884e-01 -1.33730332e-02  3.88055269e+01]
 [ 2.52260458e-01 -1.37149055e-02  9.67562175e-01  1.29554259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.2007140570001 meters
Centerline goodness : 0.998806 with order 1
Centerline is valid?  [True, True]
Translation: X:496.16, Y:38.81, Z:129.57
[[ 9.61468343e-01 -1.09243525e-01 -2.52278572e-01  4.96156278e+02]
 [ 1.09418981e-01  9.93905693e-01 -1.33775709e-02  3.88070270e+01]
 [ 2.52202522e-01 -1.47419534e-02  9.67562175e-01  1.29568457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.2607140570001 meters
Centerline goodness : 0.999025 with order 1
Centerline is valid?  [True, True]
Translation: X:496.22, Y:38.81, Z:129.58
[[ 9.61034496e-01 -1.12997218e-01 -2.52278273e-01  4.96215291e+02]
 [ 1.13297866e-01  9.93470927e-01 -1.33832110e-02  3.88110111e+01]
 [ 2.52143395e-01 -1.57208624e-02  9.67562175e-01  1.29579930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.3207140570001 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:496.27, Y:38.82, Z:129.60
[[ 9.61004475e-01 -1.13252786e-01 -2.52278034e-01  4.96272320e+02]
 [ 1.13560884e-01  9.93440836e-01 -1.33877073e-02  3.88166290e+01]
 [ 2.52139496e-01 -1.57832699e-02  9.67562175e-01  1.29595766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.38071405700003 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:496.33, Y:38.82, Z:129.61
[[ 9.60999515e-01 -1.13295913e-01 -2.52277562e-01  4.96331731e+02]
 [ 1.13603143e-01  9.93435885e-01 -1.33965929e-02  3.88233153e+01]
 [ 2.52139362e-01 -1.57854048e-02  9.67562175e-01  1.29614233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.44071405700004 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:496.39, Y:38.83, Z:129.63
[[ 9.60587600e-01 -1.16734703e-01 -2.52278559e-01  4.96391049e+02]
 [ 1.17162940e-01  9.93022598e-01 -1.33777948e-02  3.88291167e+01]
 [ 2.52079963e-01 -1.67071539e-02  9.67562175e-01  1.29629747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.50071405700004 meters
Centerline goodness : 0.997750 with order 1
Centerline is valid?  [True, True]
Translation: X:496.45, Y:38.83, Z:129.64
[[ 9.59889503e-01 -1.22341411e-01 -2.52279054e-01  4.96450119e+02]
 [ 1.22961465e-01  9.92321401e-01 -1.33684540e-02  3.88322223e+01]
 [ 2.51977420e-01 -1.81883633e-02  9.67562175e-01  1.29642738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.56071405700004 meters
Centerline goodness : 0.997760 with order 1
Centerline is valid?  [True, True]
Translation: X:496.51, Y:38.84, Z:129.66
[[ 9.59506453e-01 -1.25310130e-01 -2.52279088e-01  4.96508942e+02]
 [ 1.26030674e-01  9.91936274e-01 -1.33678073e-02  3.88372417e+01]
 [ 2.51919900e-01 -1.89684062e-02  9.67562175e-01  1.29656804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.62071405700004 meters
Centerline goodness : 0.998351 with order 1
Centerline is valid?  [True, True]
Translation: X:496.57, Y:38.85, Z:129.67
[[ 9.59796690e-01 -1.23066347e-01 -2.52279584e-01  4.96568105e+02]
 [ 1.23713511e-01  9.92228058e-01 -1.33584485e-02  3.88450515e+01]
 [ 2.51962857e-01 -1.83889985e-02  9.67562176e-01  1.29671055e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.68071405700005 meters
Centerline goodness : 0.998194 with order 1
Centerline is valid?  [True, True]
Translation: X:496.63, Y:38.85, Z:129.69
[[ 9.60331588e-01 -1.18819668e-01 -2.52279861e-01  4.96625443e+02]
 [ 1.19324743e-01  9.92765480e-01 -1.33532062e-02  3.88534860e+01]
 [ 2.52041361e-01 -1.72797240e-02  9.67562176e-01  1.29685519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.74071405700005 meters
Centerline goodness : 0.998362 with order 1
Centerline is valid?  [True, True]
Translation: X:496.68, Y:38.86, Z:129.70
[[ 9.60438800e-01 -1.17950416e-01 -2.52279626e-01  4.96683546e+02]
 [ 1.18424975e-01  9.92873153e-01 -1.33576415e-02  3.88627265e+01]
 [ 2.52057208e-01 -1.70470113e-02  9.67562176e-01  1.29703454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.80071405700005 meters
Centerline goodness : 0.998476 with order 1
Centerline is valid?  [True, True]
Translation: X:496.74, Y:38.87, Z:129.72
[[ 9.60033303e-01 -1.21205586e-01 -2.52280129e-01  4.96742368e+02]
 [ 1.21792578e-01  9.92465816e-01 -1.33481387e-02  3.88686695e+01]
 [ 2.51997273e-01 -1.79111896e-02  9.67562176e-01  1.29718316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.86071405700005 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:496.80, Y:38.87, Z:129.73
[[ 9.59082735e-01 -1.28509797e-01 -2.52280675e-01  4.96801838e+02]
 [ 1.29346344e-01  9.91509771e-01 -1.33378168e-02  3.88742295e+01]
 [ 2.51852794e-01 -1.98395132e-02  9.67562176e-01  1.29731689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.92071405700005 meters
Centerline goodness : 0.998384 with order 1
Centerline is valid?  [True, True]
Translation: X:496.86, Y:38.88, Z:129.74
[[ 9.58253339e-01 -1.34554549e-01 -2.52280818e-01  4.96860907e+02]
 [ 1.35596251e-01  9.90674433e-01 -1.33351039e-02  3.88790673e+01]
 [ 2.51722456e-01 -2.14299253e-02  9.67562176e-01  1.29742072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 510.98071405700006 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:496.92, Y:38.89, Z:129.76
[[ 9.58455561e-01 -1.33106054e-01 -2.52281026e-01  4.96920417e+02]
 [ 1.34099780e-01  9.90878160e-01 -1.33311760e-02  3.88872144e+01]
 [ 2.51754219e-01 -2.10534902e-02  9.67562176e-01  1.29756451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.04071405700006 meters
Centerline goodness : 0.998666 with order 1
Centerline is valid?  [True, True]
Translation: X:496.98, Y:38.89, Z:129.77
[[ 9.59175325e-01 -1.27814770e-01 -2.52281747e-01  4.96978614e+02]
 [ 1.28633127e-01  9.91602825e-01 -1.33175161e-02  3.88949156e+01]
 [ 2.51865468e-01 -1.96779571e-02  9.67562176e-01  1.29772375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.10071405700006 meters
Centerline goodness : 0.998553 with order 1
Centerline is valid?  [True, True]
Translation: X:497.04, Y:38.90, Z:129.79
[[ 9.59619380e-01 -1.24436768e-01 -2.52281859e-01  4.97037160e+02]
 [ 1.25141500e-01  9.92049548e-01 -1.33153888e-02  3.89021764e+01]
 [ 2.51933028e-01 -1.87932252e-02  9.67562176e-01  1.29788208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.16071405700006 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:497.09, Y:38.91, Z:129.81
[[ 9.60042868e-01 -1.21125216e-01 -2.52282328e-01  4.97094946e+02]
 [ 1.21720380e-01  9.92475232e-01 -1.33064953e-02  3.89121159e+01]
 [ 2.51995715e-01 -1.79330951e-02  9.67562176e-01  1.29805930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.22071405700007 meters
Centerline goodness : 0.997629 with order 1
Centerline is valid?  [True, True]
Translation: X:497.15, Y:38.92, Z:129.82
[[ 9.59724478e-01 -1.23622144e-01 -2.52282562e-01  4.97153313e+02]
 [ 1.24302831e-01  9.92155160e-01 -1.33020628e-02  3.89163085e+01]
 [ 2.51947875e-01 -1.85931214e-02  9.67562176e-01  1.29821313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.28071405700007 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:497.21, Y:38.92, Z:129.84
[[ 9.59270518e-01 -1.27096255e-01 -2.52282807e-01  4.97212478e+02]
 [ 1.27895577e-01  9.91698493e-01 -1.32974102e-02  3.89202942e+01]
 [ 2.51878531e-01 -1.95100416e-02  9.67562176e-01  1.29835492e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.34071405700007 meters
Centerline goodness : 0.998562 with order 1
Centerline is valid?  [True, True]
Translation: X:497.27, Y:38.92, Z:129.85
[[ 9.59063235e-01 -1.28650874e-01 -2.52282904e-01  4.97271323e+02]
 [ 1.29503235e-01  9.91489859e-01 -1.32955713e-02  3.89228651e+01]
 [ 2.51846428e-01 -1.99201586e-02  9.67562176e-01  1.29847606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.4007140570001 meters
Centerline goodness : 0.997981 with order 1
Centerline is valid?  [True, True]
Translation: X:497.33, Y:38.93, Z:129.86
[[ 9.59059740e-01 -1.28677315e-01 -2.52282707e-01  4.97330609e+02]
 [ 1.29529593e-01  9.91486366e-01 -1.32993098e-02  3.89273673e+01]
 [ 2.51846184e-01 -1.99232437e-02  9.67562176e-01  1.29862188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.4607140570001 meters
Centerline goodness : 0.997971 with order 1
Centerline is valid?  [True, True]
Translation: X:497.39, Y:38.93, Z:129.88
[[ 9.59012226e-01 -1.29030013e-01 -2.52283186e-01  4.97390853e+02]
 [ 1.29896592e-01  9.91438473e-01 -1.32902196e-02  3.89310229e+01]
 [ 2.51838094e-01 -2.00252432e-02  9.67562176e-01  1.29877733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.5207140570001 meters
Centerline goodness : 0.998063 with order 1
Centerline is valid?  [True, True]
Translation: X:497.45, Y:38.93, Z:129.89
[[ 9.59048516e-01 -1.28758083e-01 -2.52284166e-01  4.97449581e+02]
 [ 1.29620336e-01  9.91474878e-01 -1.32716005e-02  3.89346253e+01]
 [ 2.51842238e-01 -1.99730495e-02  9.67562176e-01  1.29892689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.5807140570001 meters
Centerline goodness : 0.997945 with order 1
Centerline is valid?  [True, True]
Translation: X:497.51, Y:38.94, Z:129.91
[[ 9.59418814e-01 -1.25968706e-01 -2.52284412e-01  4.97506996e+02]
 [ 1.26737886e-01  9.91847517e-01 -1.32669179e-02  3.89399420e+01]
 [ 2.51898884e-01 -1.92454624e-02  9.67562176e-01  1.29907275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.6407140570001 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:497.57, Y:38.95, Z:129.92
[[ 9.59893694e-01 -1.22297973e-01 -2.52284170e-01  4.97565023e+02]
 [ 1.22941901e-01  9.92325126e-01 -1.32715230e-02  3.89459793e+01]
 [ 2.51971001e-01 -1.82770442e-02  9.67562176e-01  1.29923378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.7007140570001 meters
Centerline goodness : 0.998165 with order 1
Centerline is valid?  [True, True]
Translation: X:497.62, Y:38.95, Z:129.94
[[ 9.60202307e-01 -1.19850880e-01 -2.52284158e-01  4.97624449e+02]
 [ 1.20412086e-01  9.92635276e-01 -1.32717361e-02  3.89506608e+01]
 [ 2.52016784e-01 -1.76345101e-02  9.67562176e-01  1.29940115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.7607140570001 meters
Centerline goodness : 0.997690 with order 1
Centerline is valid?  [True, True]
Translation: X:497.68, Y:38.95, Z:129.96
[[ 9.60164081e-01 -1.20155214e-01 -2.52284884e-01  4.97684792e+02]
 [ 1.20730308e-01  9.92596806e-01 -1.32579335e-02  3.89539670e+01]
 [ 2.52010180e-01 -1.77286402e-02  9.67562176e-01  1.29955692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.8207140570001 meters
Centerline goodness : 0.998052 with order 1
Centerline is valid?  [True, True]
Translation: X:497.74, Y:38.96, Z:129.97
[[ 9.60076283e-01 -1.20852712e-01 -2.52285854e-01  4.97743501e+02]
 [ 1.21456202e-01  9.92508493e-01 -1.32394424e-02  3.89575914e+01]
 [ 2.51995875e-01 -1.79308071e-02  9.67562176e-01  1.29971432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.88071405700003 meters
Centerline goodness : 0.997964 with order 1
Centerline is valid?  [True, True]
Translation: X:497.80, Y:38.96, Z:129.99
[[ 9.60112204e-01 -1.20566009e-01 -2.52286333e-01  4.97803581e+02]
 [ 1.21162202e-01  9.92544548e-01 -1.32303081e-02  3.89608436e+01]
 [ 2.52000550e-01 -1.78649874e-02  9.67562176e-01  1.29987908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 511.94071405700004 meters
Centerline goodness : 0.997654 with order 1
Centerline is valid?  [True, True]
Translation: X:497.86, Y:38.96, Z:130.00
[[ 9.60316336e-01 -1.18927073e-01 -2.52287308e-01  4.97863460e+02]
 [ 1.19472776e-01  9.92749569e-01 -1.32116887e-02  3.89645108e+01]
 [ 2.52029344e-01 -1.74540646e-02  9.67562177e-01  1.30002094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.000714057 meters
Centerline goodness : 0.997887 with order 1
Centerline is valid?  [True, True]
Translation: X:497.92, Y:38.97, Z:130.02
[[ 9.60470102e-01 -1.17677218e-01 -2.52288041e-01  4.97924022e+02]
 [ 1.18184376e-01  9.92903960e-01 -1.31976782e-02  3.89690332e+01]
 [ 2.52050861e-01 -1.71405293e-02  9.67562177e-01  1.30017242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.060714057 meters
Centerline goodness : 0.997794 with order 1
Centerline is valid?  [True, True]
Translation: X:497.98, Y:38.97, Z:130.03
[[ 9.60308705e-01 -1.18984530e-01 -2.52289265e-01  4.97982911e+02]
 [ 1.19541966e-01  9.92741738e-01 -1.31742348e-02  3.89725985e+01]
 [ 2.52025614e-01 -1.75078226e-02  9.67562177e-01  1.30032640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.120714057 meters
Centerline goodness : 0.997593 with order 1
Centerline is valid?  [True, True]
Translation: X:498.04, Y:38.97, Z:130.05
[[ 9.60105478e-01 -1.20612915e-01 -2.52289509e-01  4.98042194e+02]
 [ 1.21226571e-01  9.92537496e-01 -1.31695757e-02  3.89748990e+01]
 [ 2.51995218e-01 -1.79400102e-02  9.67562177e-01  1.30048506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.180714057 meters
Centerline goodness : 0.997939 with order 1
Centerline is valid?  [True, True]
Translation: X:498.10, Y:38.98, Z:130.06
[[ 9.60003041e-01 -1.21424530e-01 -2.52290003e-01  4.98100752e+02]
 [ 1.22068079e-01  9.92434479e-01 -1.31601039e-02  3.89776770e+01]
 [ 2.51979257e-01 -1.81628163e-02  9.67562177e-01  1.30064391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.240714057 meters
Centerline goodness : 0.997896 with order 1
Centerline is valid?  [True, True]
Translation: X:498.16, Y:38.98, Z:130.08
[[ 9.59695578e-01 -1.23830145e-01 -2.52290493e-01  4.98161098e+02]
 [ 1.24557430e-01  9.92125247e-01 -1.31507060e-02  3.89810727e+01]
 [ 2.51932221e-01 -1.88039809e-02  9.67562177e-01  1.30079804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.300714057 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:498.22, Y:38.98, Z:130.10
[[ 9.59257645e-01 -1.27176285e-01 -2.52291425e-01  4.98220081e+02]
 [ 1.28021342e-01  9.91684459e-01 -1.31328039e-02  3.89839515e+01]
 [ 2.51863666e-01 -1.97009442e-02  9.67562177e-01  1.30095174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.360714057 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:498.28, Y:38.99, Z:130.11
[[ 9.58857001e-01 -1.30161784e-01 -2.52291820e-01  4.98278077e+02]
 [ 1.31109767e-01  9.91280968e-01 -1.31252040e-02  3.89871564e+01]
 [ 2.51800480e-01 -2.04927279e-02  9.67562177e-01  1.30109618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.420714057 meters
Centerline goodness : 0.998374 with order 1
Centerline is valid?  [True, True]
Translation: X:498.34, Y:38.99, Z:130.13
[[ 9.58927112e-01 -1.29644642e-01 -2.52291620e-01  4.98336991e+02]
 [ 1.30574133e-01  9.91351615e-01 -1.31290462e-02  3.89905288e+01]
 [ 2.51811815e-01 -2.03529613e-02  9.67562177e-01  1.30125069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.480714057 meters
Centerline goodness : 0.997823 with order 1
Centerline is valid?  [True, True]
Translation: X:498.40, Y:38.99, Z:130.14
[[ 9.59218754e-01 -1.27468357e-01 -2.52291895e-01  4.98396077e+02]
 [ 1.28325650e-01  9.91645246e-01 -1.31237690e-02  3.89949905e+01]
 [ 2.51856923e-01 -1.97869560e-02  9.67562177e-01  1.30141909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.5407140570001 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:498.45, Y:39.00, Z:130.16
[[ 9.59701645e-01 -1.23779286e-01 -2.52292371e-01  4.98454865e+02]
 [ 1.24514290e-01  9.92131140e-01 -1.31146089e-02  3.89997001e+01]
 [ 2.51930434e-01 -1.88278936e-02  9.67562177e-01  1.30157261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.600714057 meters
Centerline goodness : 0.998437 with order 1
Centerline is valid?  [True, True]
Translation: X:498.51, Y:39.00, Z:130.17
[[ 9.60277623e-01 -1.19227978e-01 -2.52292639e-01  4.98513193e+02]
 [ 1.19810577e-01  9.92710214e-01 -1.31094417e-02  3.90049737e+01]
 [ 2.52016492e-01 -1.76386231e-02  9.67562177e-01  1.30173785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.660714057 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:498.57, Y:39.01, Z:130.19
[[ 9.60802005e-01 -1.14925621e-01 -2.52292704e-01  4.98572546e+02]
 [ 1.15363270e-01  9.93236876e-01 -1.31081996e-02  3.90103696e+01]
 [ 2.52092885e-01 -1.65109269e-02  9.67562177e-01  1.30187471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.720714057 meters
Centerline goodness : 0.998540 with order 1
Centerline is valid?  [True, True]
Translation: X:498.63, Y:39.02, Z:130.20
[[ 9.61720413e-01 -1.06967736e-01 -2.52292986e-01  4.98631190e+02]
 [ 1.07138279e-01  9.94157788e-01 -1.31027730e-02  3.90180584e+01]
 [ 2.52220610e-01 -1.44290319e-02  9.67562177e-01  1.30202941e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.780714057 meters
Centerline goodness : 0.998207 with order 1
Centerline is valid?  [True, True]
Translation: X:498.69, Y:39.03, Z:130.22
[[ 9.62726577e-01 -9.74972029e-02 -2.52293150e-01  4.98687725e+02]
 [ 9.73493152e-02  9.95164063e-01 -1.30996006e-02  3.90261308e+01]
 [ 2.52350251e-01 -1.19492317e-02  9.67562177e-01  1.30223079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.840714057 meters
Centerline goodness : 0.998229 with order 1
Centerline is valid?  [True, True]
Translation: X:498.75, Y:39.03, Z:130.24
[[ 9.63386370e-01 -9.07466738e-02 -2.52292971e-01  4.98745336e+02]
 [ 9.03705187e-02  9.95822012e-01 -1.31030575e-02  3.90310564e+01]
 [ 2.52427953e-01 -1.01765397e-02  9.67562177e-01  1.30239439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.900714057 meters
Centerline goodness : 0.997296 with order 1
Centerline is valid?  [True, True]
Translation: X:498.80, Y:39.03, Z:130.25
[[ 9.64233219e-01 -8.12561118e-02 -2.52292971e-01  4.98804289e+02]
 [ 8.05605913e-02  9.96663585e-01 -1.31030575e-02  3.90343140e+01]
 [ 2.52515920e-01 -7.69046763e-03  9.67562177e-01  1.30254934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 512.960714057 meters
Centerline goodness : 0.997170 with order 1
Centerline is valid?  [True, True]
Translation: X:498.86, Y:39.04, Z:130.27
[[ 9.64386519e-01 -7.94156786e-02 -2.52293069e-01  4.98863444e+02]
 [ 7.86587607e-02  9.96815509e-01 -1.31011590e-02  3.90355727e+01]
 [ 2.52530082e-01 -7.21047902e-03  9.67562177e-01  1.30268696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.020714057 meters
Centerline goodness : 0.997187 with order 1
Centerline is valid?  [True, True]
Translation: X:498.92, Y:39.03, Z:130.28
[[ 9.64348408e-01 -7.98772564e-02 -2.52293027e-01  4.98920268e+02]
 [ 7.91356459e-02  9.96777752e-01 -1.31019789e-02  3.90332083e+01]
 [ 2.52526626e-01 -7.33049914e-03  9.67562177e-01  1.30283728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.080714057 meters
Centerline goodness : 0.997294 with order 1
Centerline is valid?  [True, True]
Translation: X:498.98, Y:39.03, Z:130.30
[[ 9.64022014e-01 -8.37346115e-02 -2.52289660e-01  4.98977977e+02]
 [ 8.31058751e-02  9.96453740e-01 -1.31665080e-02  3.90303906e+01]
 [ 2.52497467e-01 -8.27394942e-03  9.67562179e-01  1.30299785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.140714057 meters
Centerline goodness : 0.996976 with order 1
Centerline is valid?  [True, True]
Translation: X:499.04, Y:39.03, Z:130.31
[[ 9.63343292e-01 -9.12126661e-02 -2.52289421e-01  4.99035926e+02]
 [ 9.08344140e-02  9.95778907e-01 -1.31710855e-02  3.90267384e+01]
 [ 2.52425853e-01 -1.02282849e-02  9.67562179e-01  1.30314141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.200714057 meters
Centerline goodness : 0.997781 with order 1
Centerline is valid?  [True, True]
Translation: X:499.09, Y:39.02, Z:130.33
[[ 9.62525874e-01 -9.94703314e-02 -2.52288715e-01  4.99094264e+02]
 [ 9.93667097e-02  9.94963529e-01 -1.31845883e-02  3.90242363e+01]
 [ 2.52329546e-01 -1.23785921e-02  9.67562179e-01  1.30330200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.260714057 meters
Centerline goodness : 0.998091 with order 1
Centerline is valid?  [True, True]
Translation: X:499.15, Y:39.02, Z:130.35
[[ 9.61643462e-01 -1.07667258e-01 -2.52288750e-01  4.99152334e+02]
 [ 1.07840179e-01  9.94080822e-01 -1.31839164e-02  3.90236052e+01]
 [ 2.52214884e-01 -1.45286369e-02  9.67562179e-01  1.30345416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.320714057 meters
Centerline goodness : 0.998176 with order 1
Centerline is valid?  [True, True]
Translation: X:499.21, Y:39.02, Z:130.36
[[ 9.60838342e-01 -1.14630308e-01 -2.52288670e-01  4.99210662e+02]
 [ 1.15037792e-01  9.93273603e-01 -1.31854434e-02  3.90229785e+01]
 [ 2.52103128e-01 -1.63536521e-02  9.67562179e-01  1.30359045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.380714057 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:499.27, Y:39.02, Z:130.37
[[ 9.60420558e-01 -1.18079988e-01 -2.52288462e-01  4.99270508e+02]
 [ 1.18602903e-01  9.92854164e-01 -1.31894344e-02  3.90247268e+01]
 [ 2.52043058e-01 -1.72547399e-02  9.67562179e-01  1.30373480e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.440714057 meters
Centerline goodness : 0.998020 with order 1
Centerline is valid?  [True, True]
Translation: X:499.33, Y:39.03, Z:130.39
[[ 9.60093070e-01 -1.20712868e-01 -2.52288921e-01  4.99328508e+02]
 [ 1.21327008e-01  9.92525077e-01 -1.31806352e-02  3.90275743e+01]
 [ 2.51994153e-01 -1.79548236e-02  9.67562179e-01  1.30389131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.500714057 meters
Centerline goodness : 0.998663 with order 1
Centerline is valid?  [True, True]
Translation: X:499.39, Y:39.03, Z:130.41
[[ 9.60261253e-01 -1.19367475e-01 -2.52288984e-01  4.99387491e+02]
 [ 1.19936483e-01  9.92694083e-01 -1.31794459e-02  3.90329412e+01]
 [ 2.52018978e-01 -1.76029421e-02  9.67562179e-01  1.30406623e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.560714057 meters
Centerline goodness : 0.998221 with order 1
Centerline is valid?  [True, True]
Translation: X:499.45, Y:39.04, Z:130.42
[[ 9.60572272e-01 -1.16836584e-01 -2.52289758e-01  4.99445423e+02]
 [ 1.17324005e-01  9.93006431e-01 -1.31646002e-02  3.90398641e+01]
 [ 2.52063459e-01 -1.69540949e-02  9.67562180e-01  1.30423500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.620714057 meters
Centerline goodness : 0.998123 with order 1
Centerline is valid?  [True, True]
Translation: X:499.51, Y:39.05, Z:130.44
[[ 9.60677539e-01 -1.15967852e-01 -2.52289759e-01  4.99505468e+02]
 [ 1.16425946e-01  9.93112125e-01 -1.31645781e-02  3.90473304e+01]
 [ 2.52078687e-01 -1.67261594e-02  9.67562180e-01  1.30437841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.680714057 meters
Centerline goodness : 0.997769 with order 1
Centerline is valid?  [True, True]
Translation: X:499.56, Y:39.06, Z:130.45
[[ 9.60625042e-01 -1.16399813e-01 -2.52290729e-01  4.99564861e+02]
 [ 1.16877354e-01  9.93059347e-01 -1.31459781e-02  3.90558056e+01]
 [ 2.52069856e-01 -1.68587171e-02  9.67562180e-01  1.30449994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.740714057 meters
Centerline goodness : 0.997469 with order 1
Centerline is valid?  [True, True]
Translation: X:499.62, Y:39.06, Z:130.46
[[ 9.60928837e-01 -1.13863061e-01 -2.52291444e-01  4.99622961e+02]
 [ 1.14258557e-01  9.93364247e-01 -1.31322388e-02  3.90645913e+01]
 [ 2.52112577e-01 -1.62073094e-02  9.67562180e-01  1.30464214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.800714057 meters
Centerline goodness : 0.997613 with order 1
Centerline is valid?  [True, True]
Translation: X:499.68, Y:39.07, Z:130.48
[[ 9.61423307e-01 -1.09609543e-01 -2.52291444e-01  4.99681058e+02]
 [ 1.09861499e-01  9.93860149e-01 -1.31322388e-02  3.90735760e+01]
 [ 2.52181831e-01 -1.50914757e-02  9.67562180e-01  1.30481617e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.860714057 meters
Centerline goodness : 0.997815 with order 1
Centerline is valid?  [True, True]
Translation: X:499.74, Y:39.08, Z:130.50
[[ 9.61621544e-01 -1.07856262e-01 -2.52291564e-01  4.99739043e+02]
 [ 1.08049672e-01  9.94058788e-01 -1.31299371e-02  3.90824099e+01]
 [ 2.52208792e-01 -1.46339903e-02  9.67562180e-01  1.30499856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.920714057 meters
Centerline goodness : 0.997927 with order 1
Centerline is valid?  [True, True]
Translation: X:499.80, Y:39.09, Z:130.52
[[ 9.61268688e-01 -1.10956059e-01 -2.52292017e-01  4.99797424e+02]
 [ 1.11256330e-01  9.93705119e-01 -1.31212137e-02  3.90894227e+01]
 [ 2.52159747e-01 -1.54560719e-02  9.67562180e-01  1.30515749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 513.980714057 meters
Centerline goodness : 0.998156 with order 1
Centerline is valid?  [True, True]
Translation: X:499.86, Y:39.10, Z:130.53
[[ 9.60244123e-01 -1.19498685e-01 -2.52292072e-01  4.99855865e+02]
 [ 1.20087622e-01  9.92676596e-01 -1.31201683e-02  3.90950460e+01]
 [ 2.52012278e-01 -1.76985905e-02  9.67562180e-01  1.30531606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.0407140570001 meters
Centerline goodness : 0.998102 with order 1
Centerline is valid?  [True, True]
Translation: X:499.92, Y:39.10, Z:130.55
[[ 9.59297225e-01 -1.26875928e-01 -2.52292158e-01  4.99915119e+02]
 [ 1.27714569e-01  9.91724202e-01 -1.31185079e-02  3.91013253e+01]
 [ 2.51868662e-01 -1.96368360e-02  9.67562180e-01  1.30545177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.100714057 meters
Centerline goodness : 0.997674 with order 1
Centerline is valid?  [True, True]
Translation: X:499.98, Y:39.11, Z:130.55
[[ 9.59347611e-01 -1.26494188e-01 -2.52292256e-01  4.99976662e+02]
 [ 1.27320420e-01  9.91774906e-01 -1.31166159e-02  3.91076337e+01]
 [ 2.51876305e-01 -1.95385618e-02  9.67562180e-01  1.30549553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.160714057 meters
Centerline goodness : 0.997947 with order 1
Centerline is valid?  [True, True]
Translation: X:500.03, Y:39.12, Z:130.57
[[ 9.59620900e-01 -1.24402477e-01 -2.52292988e-01  5.00033620e+02]
 [ 1.25161697e-01  9.92049834e-01 -1.31025289e-02  3.91153329e+01]
 [ 2.51917204e-01 -1.90039579e-02  9.67562180e-01  1.30570756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.220714057 meters
Centerline goodness : 0.998435 with order 1
Centerline is valid?  [True, True]
Translation: X:500.09, Y:39.12, Z:130.59
[[ 9.60552576e-01 -1.16991215e-01 -2.52293091e-01  5.00091304e+02]
 [ 1.17500607e-01  9.92986396e-01 -1.31005349e-02  3.91236140e+01]
 [ 2.52056255e-01 -1.70608389e-02  9.67562180e-01  1.30588775e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.280714057 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:500.15, Y:39.13, Z:130.61
[[ 9.61433008e-01 -1.09520651e-01 -2.52293081e-01  5.00147977e+02]
 [ 1.09777843e-01  9.93869808e-01 -1.31007431e-02  3.91315705e+01]
 [ 2.52181278e-01 -1.51007032e-02  9.67562180e-01  1.30605304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.340714057 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:500.21, Y:39.14, Z:130.62
[[ 9.62001825e-01 -1.04406401e-01 -2.52293070e-01  5.00205585e+02]
 [ 1.04491041e-01  9.94439534e-01 -1.31009576e-02  3.91391471e+01]
 [ 2.52258026e-01 -1.37592203e-02  9.67562180e-01  1.30621696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.400714057 meters
Centerline goodness : 0.998635 with order 1
Centerline is valid?  [True, True]
Translation: X:500.26, Y:39.14, Z:130.63
[[ 9.62079739e-01 -1.03685733e-01 -2.52293172e-01  5.00264964e+02]
 [ 1.03746589e-01  9.94517502e-01 -1.30989864e-02  3.91427527e+01]
 [ 2.52268153e-01 -1.35722866e-02  9.67562180e-01  1.30634943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.460714057 meters
Centerline goodness : 0.998367 with order 1
Centerline is valid?  [True, True]
Translation: X:500.33, Y:39.15, Z:130.65
[[ 9.62191006e-01 -1.02646286e-01 -2.52293894e-01  5.00325240e+02]
 [ 1.02675736e-01  9.94628812e-01 -1.30850732e-02  3.91474516e+01]
 [ 2.52281910e-01 -1.33141215e-02  9.67562180e-01  1.30649120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.520714057 meters
Centerline goodness : 0.998720 with order 1
Centerline is valid?  [True, True]
Translation: X:500.38, Y:39.15, Z:130.67
[[ 9.62400969e-01 -1.00656885e-01 -2.52294602e-01  5.00384422e+02]
 [ 1.00622848e-01  9.94838771e-01 -1.30714046e-02  3.91520812e+01]
 [ 2.52308178e-01 -1.28066689e-02  9.67562180e-01  1.30665583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.580714057 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:500.44, Y:39.16, Z:130.68
[[ 9.62965414e-01 -9.51041685e-02 -2.52295082e-01  5.00442660e+02]
 [ 9.48854577e-02  9.95402497e-01 -1.30621364e-02  3.91556722e+01]
 [ 2.52377418e-01 -1.13607487e-02  9.67562180e-01  1.30681444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.640714057 meters
Centerline goodness : 0.998692 with order 1
Centerline is valid?  [True, True]
Translation: X:500.50, Y:39.16, Z:130.70
[[ 9.63455365e-01 -9.00049166e-02 -2.52295213e-01  5.00502389e+02]
 [ 8.96151514e-02  9.95890843e-01 -1.30595972e-02  3.91576922e+01]
 [ 2.52433920e-01 -1.00271347e-02  9.67562180e-01  1.30697126e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.700714057 meters
Centerline goodness : 0.998718 with order 1
Centerline is valid?  [True, True]
Translation: X:500.56, Y:39.16, Z:130.71
[[ 9.63890445e-01 -8.52172288e-02 -2.52295925e-01  5.00562040e+02]
 [ 8.46699219e-02  9.96323647e-01 -1.30458367e-02  3.91593775e+01]
 [ 2.52480126e-01 -8.78711884e-03  9.67562180e-01  1.30712167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.760714057 meters
Centerline goodness : 0.998552 with order 1
Centerline is valid?  [True, True]
Translation: X:500.62, Y:39.16, Z:130.73
[[ 9.64027263e-01 -8.36538357e-02 -2.52296398e-01  5.00621368e+02]
 [ 8.30563249e-02  9.96459579e-01 -1.30366680e-02  3.91596631e+01]
 [ 2.52493730e-01 -8.38710826e-03  9.67562180e-01  1.30725464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.820714057 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:500.68, Y:39.16, Z:130.74
[[ 9.63820072e-01 -8.60081191e-02 -2.52296398e-01  5.00680896e+02]
 [ 8.54898225e-02  9.96253751e-01 -1.30366680e-02  3.91590406e+01]
 [ 2.52472492e-01 -9.00377201e-03  9.67562180e-01  1.30741957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.880714057 meters
Centerline goodness : 0.998375 with order 1
Centerline is valid?  [True, True]
Translation: X:500.74, Y:39.16, Z:130.76
[[ 9.63414193e-01 -9.04398843e-02 -2.52296887e-01  5.00740199e+02]
 [ 9.00732323e-02  9.95849941e-01 -1.30272041e-02  3.91571715e+01]
 [ 2.52428019e-01 -1.01746028e-02  9.67562180e-01  1.30757818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 514.940714057 meters
Centerline goodness : 0.998315 with order 1
Centerline is valid?  [True, True]
Translation: X:500.80, Y:39.16, Z:130.77
[[ 9.62878202e-01 -9.59774204e-02 -2.52297250e-01  5.00799124e+02]
 [ 9.57991005e-02  9.95315532e-01 -1.30201642e-02  3.91550314e+01]
 [ 2.52365014e-01 -1.16330174e-02  9.67562180e-01  1.30774488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.000714057 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:500.86, Y:39.15, Z:130.79
[[ 9.62321271e-01 -1.01409286e-01 -2.52297300e-01  5.00856957e+02]
 [ 1.01414258e-01  9.94759091e-01 -1.30192100e-02  3.91537662e+01]
 [ 2.52295301e-01 -1.30578807e-02  9.67562180e-01  1.30789609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.060714057 meters
Centerline goodness : 0.998100 with order 1
Centerline is valid?  [True, True]
Translation: X:500.91, Y:39.15, Z:130.81
[[ 9.61817128e-01 -1.06084818e-01 -2.52297096e-01  5.00914890e+02]
 [ 1.06246399e-01  9.94254545e-01 -1.30231627e-02  3.91523887e+01]
 [ 2.52229094e-01 -1.42797569e-02  9.67562180e-01  1.30805414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.120714057 meters
Centerline goodness : 0.997944 with order 1
Centerline is valid?  [True, True]
Translation: X:500.97, Y:39.15, Z:130.82
[[ 9.61311054e-01 -1.10574859e-01 -2.52297956e-01  5.00974001e+02]
 [ 1.10892269e-01  9.93747320e-01 -1.30064715e-02  3.91513749e+01]
 [ 2.52158606e-01 -1.54746279e-02  9.67562180e-01  1.30821598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.180714057 meters
Centerline goodness : 0.997878 with order 1
Centerline is valid?  [True, True]
Translation: X:501.03, Y:39.15, Z:130.84
[[ 9.60886297e-01 -1.14205640e-01 -2.52298626e-01  5.01033103e+02]
 [ 1.14648982e-01  9.93321086e-01 -1.29934712e-02  3.91500709e+01]
 [ 2.52097473e-01 -1.64405320e-02  9.67562181e-01  1.30835065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.240714057 meters
Centerline goodness : 0.997887 with order 1
Centerline is valid?  [True, True]
Translation: X:501.09, Y:39.15, Z:130.85
[[ 9.60867593e-01 -1.14362811e-01 -2.52298667e-01  5.01092471e+02]
 [ 1.14811666e-01  9.93302306e-01 -1.29926758e-02  3.91518694e+01]
 [ 2.52094726e-01 -1.64825891e-02  9.67562181e-01  1.30850163e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.300714057 meters
Centerline goodness : 0.997746 with order 1
Centerline is valid?  [True, True]
Translation: X:501.15, Y:39.15, Z:130.87
[[ 9.61050816e-01 -1.12811649e-01 -2.52299149e-01  5.01152635e+02]
 [ 1.13210598e-01  9.93486182e-01 -1.29833047e-02  3.91522394e+01]
 [ 2.52120386e-01 -1.60853221e-02  9.67562181e-01  1.30865507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.360714057 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:501.21, Y:39.15, Z:130.88
[[ 9.61871731e-01 -1.05581364e-01 -2.52300118e-01  5.01209537e+02]
 [ 1.05741321e-01  9.94309155e-01 -1.29644370e-02  3.91545461e+01]
 [ 2.52233120e-01 -1.42084224e-02  9.67562181e-01  1.30881453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.420714057 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:501.27, Y:39.16, Z:130.90
[[ 9.62930566e-01 -9.54435811e-02 -2.52299916e-01  5.01267473e+02]
 [ 9.52608199e-02  9.95367870e-01 -1.29683707e-02  3.91586241e+01]
 [ 2.52368978e-01 -1.15466563e-02  9.67562181e-01  1.30900147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.480714057 meters
Centerline goodness : 0.997951 with order 1
Centerline is valid?  [True, True]
Translation: X:501.33, Y:39.16, Z:130.92
[[ 9.63662097e-01 -8.77496818e-02 -2.52300133e-01  5.01325641e+02]
 [ 8.73089536e-02  9.96096922e-01 -1.29641572e-02  3.91618023e+01]
 [ 2.52452986e-01 -9.53499364e-03  9.67562181e-01  1.30916341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.5407140570001 meters
Centerline goodness : 0.998113 with order 1
Centerline is valid?  [True, True]
Translation: X:501.38, Y:39.16, Z:130.93
[[ 9.63955009e-01 -8.44712760e-02 -2.52300109e-01  5.01384921e+02]
 [ 8.39201015e-02  9.96388145e-01 -1.29646229e-02  3.91619396e+01]
 [ 2.52483976e-01 -8.67573755e-03  9.67562181e-01  1.30931565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.600714057 meters
Centerline goodness : 0.998242 with order 1
Centerline is valid?  [True, True]
Translation: X:501.44, Y:39.16, Z:130.95
[[ 9.63829831e-01 -8.58870851e-02 -2.52300347e-01  5.01443578e+02]
 [ 8.53847633e-02  9.96263761e-01 -1.29599838e-02  3.91600736e+01]
 [ 2.52470788e-01 -9.05138640e-03  9.67562181e-01  1.30947874e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.660714057 meters
Centerline goodness : 0.998295 with order 1
Centerline is valid?  [True, True]
Translation: X:501.50, Y:39.16, Z:130.96
[[ 9.63448619e-01 -9.00624678e-02 -2.52300438e-01  5.01502985e+02]
 [ 8.97011466e-02  9.95884426e-01 -1.29582145e-02  3.91570295e+01]
 [ 2.52429125e-01 -1.01470647e-02  9.67562181e-01  1.30963576e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.720714057 meters
Centerline goodness : 0.997954 with order 1
Centerline is valid?  [True, True]
Translation: X:501.56, Y:39.16, Z:130.98
[[ 9.63139130e-01 -9.33127218e-02 -2.52300915e-01  5.01562283e+02]
 [ 9.30632733e-02  9.95575990e-01 -1.29489237e-02  3.91555255e+01]
 [ 2.52393032e-01 -1.10083338e-02  9.67562181e-01  1.30979325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.780714057 meters
Centerline goodness : 0.997921 with order 1
Centerline is valid?  [True, True]
Translation: X:501.62, Y:39.15, Z:130.99
[[ 9.62516847e-01 -9.95255070e-02 -2.52301394e-01  5.01621189e+02]
 [ 9.94878085e-02  9.94954644e-01 -1.29395782e-02  3.91496618e+01]
 [ 2.52316262e-01 -1.26463508e-02  9.67562181e-01  1.30994719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.840714057 meters
Centerline goodness : 0.998093 with order 1
Centerline is valid?  [True, True]
Translation: X:501.68, Y:39.15, Z:131.01
[[ 9.62232837e-01 -1.02233661e-01 -2.52301895e-01  5.01681701e+02]
 [ 1.02289799e-01  9.94670607e-01 -1.29298039e-02  3.91494403e+01]
 [ 2.52279140e-01 -1.33664283e-02  9.67562181e-01  1.31010594e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.900714057 meters
Centerline goodness : 0.998185 with order 1
Centerline is valid?  [True, True]
Translation: X:501.74, Y:39.15, Z:131.03
[[ 9.61748645e-01 -1.06690278e-01 -2.52302849e-01  5.01740763e+02]
 [ 1.06901566e-01  9.94185776e-01 -1.29111522e-02  3.91474688e+01]
 [ 2.52213399e-01 -1.45542867e-02  9.67562181e-01  1.31026903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 515.960714057 meters
Centerline goodness : 0.998758 with order 1
Centerline is valid?  [True, True]
Translation: X:501.80, Y:39.15, Z:131.04
[[ 9.61320099e-01 -1.10484463e-01 -2.52303094e-01  5.01799408e+02]
 [ 1.10824994e-01  9.93756130e-01 -1.29063729e-02  3.91472071e+01]
 [ 2.52153700e-01 -1.55543332e-02  9.67562181e-01  1.31041554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.020714057 meters
Centerline goodness : 0.998805 with order 1
Centerline is valid?  [True, True]
Translation: X:501.86, Y:39.15, Z:131.06
[[ 9.60881902e-01 -1.14232443e-01 -2.52303230e-01  5.01859399e+02]
 [ 1.14700155e-01  9.93316349e-01 -1.29037184e-02  3.91483904e+01]
 [ 2.52090946e-01 -1.65402702e-02  9.67562181e-01  1.31056121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.080714057 meters
Centerline goodness : 0.998779 with order 1
Centerline is valid?  [True, True]
Translation: X:501.92, Y:39.15, Z:131.07
[[ 9.60430583e-01 -1.17965290e-01 -2.52303954e-01  5.01918912e+02]
 [ 1.18562734e-01  9.92862900e-01 -1.28895468e-02  3.91498958e+01]
 [ 2.52023754e-01 -1.75343317e-02  9.67562181e-01  1.31068792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.140714057 meters
Centerline goodness : 0.998778 with order 1
Centerline is valid?  [True, True]
Translation: X:501.98, Y:39.15, Z:131.08
[[ 9.60126390e-01 -1.20415985e-01 -2.52303995e-01  5.01977451e+02]
 [ 1.21096406e-01  9.92557072e-01 -1.28887465e-02  3.91536388e+01]
 [ 2.51978125e-01 -1.81782813e-02  9.67562181e-01  1.31083405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.200714057 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:502.04, Y:39.16, Z:131.10
[[ 9.59990396e-01 -1.21495340e-01 -2.52304027e-01  5.02035803e+02]
 [ 1.22212386e-01  9.92420289e-01 -1.28881186e-02  3.91584066e+01]
 [ 2.51957481e-01 -1.84622069e-02  9.67562181e-01  1.31097929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.260714057 meters
Centerline goodness : 0.998667 with order 1
Centerline is valid?  [True, True]
Translation: X:502.10, Y:39.16, Z:131.11
[[ 9.59949062e-01 -1.21820990e-01 -2.52304269e-01  5.02095253e+02]
 [ 1.22550277e-01  9.92378682e-01 -1.28833716e-02  3.91642951e+01]
 [ 2.51950843e-01 -1.85525777e-02  9.67562181e-01  1.31114475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.320714057 meters
Centerline goodness : 0.998251 with order 1
Centerline is valid?  [True, True]
Translation: X:502.16, Y:39.17, Z:131.13
[[ 9.59969188e-01 -1.21660292e-01 -2.52305234e-01  5.02155984e+02]
 [ 1.22389099e-01  9.92398818e-01 -1.28644411e-02  3.91711445e+01]
 [ 2.51952508e-01 -1.85299432e-02  9.67562181e-01  1.31130312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.380714057 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:502.21, Y:39.18, Z:131.15
[[ 9.60179584e-01 -1.19985450e-01 -2.52306674e-01  5.02214904e+02]
 [ 1.20665079e-01  9.92610282e-01 -1.28361490e-02  3.91780094e+01]
 [ 2.51982350e-01 -1.81195965e-02  9.67562182e-01  1.31145955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.440714057 meters
Centerline goodness : 0.997720 with order 1
Centerline is valid?  [True, True]
Translation: X:502.28, Y:39.18, Z:131.16
[[ 9.60462394e-01 -1.17699137e-01 -2.52307159e-01  5.02275019e+02]
 [ 1.18304050e-01  9.92894572e-01 -1.28266001e-02  3.91832091e+01]
 [ 2.52024089e-01 -1.75294917e-02  9.67562182e-01  1.31161618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.500714057 meters
Centerline goodness : 0.997791 with order 1
Centerline is valid?  [True, True]
Translation: X:502.33, Y:39.19, Z:131.18
[[ 9.61247573e-01 -1.11102288e-01 -2.52308116e-01  5.02333652e+02]
 [ 1.11489452e-01  9.93683080e-01 -1.28077478e-02  3.91901561e+01]
 [ 2.52137276e-01 -1.58182770e-02  9.67562182e-01  1.31177200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.560714057 meters
Centerline goodness : 0.997987 with order 1
Centerline is valid?  [True, True]
Translation: X:502.39, Y:39.20, Z:131.19
[[ 9.62066154e-01 -1.03775299e-01 -2.52308151e-01  5.02390905e+02]
 [ 1.03915505e-01  9.94503669e-01 -1.28070588e-02  3.91953838e+01]
 [ 2.52250438e-01 -1.38974911e-02  9.67562182e-01  1.31191228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.620714057 meters
Centerline goodness : 0.997843 with order 1
Centerline is valid?  [True, True]
Translation: X:502.45, Y:39.20, Z:131.21
[[ 9.63040234e-01 -9.43092500e-02 -2.52307895e-01  5.02448827e+02]
 [ 9.41291368e-02  9.95477552e-01 -1.28121055e-02  3.92006242e+01]
 [ 2.52375146e-01 -1.14109513e-02  9.67562182e-01  1.31207877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.680714057 meters
Centerline goodness : 0.997692 with order 1
Centerline is valid?  [True, True]
Translation: X:502.51, Y:39.21, Z:131.22
[[ 9.64010880e-01 -8.38078843e-02 -2.52307873e-01  5.02506365e+02]
 [ 8.32741455e-02  9.96444306e-01 -1.28125488e-02  3.92053402e+01]
 [ 2.52484536e-01 -8.65928601e-03  9.67562182e-01  1.31223639e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.740714057 meters
Centerline goodness : 0.997539 with order 1
Centerline is valid?  [True, True]
Translation: X:502.56, Y:39.21, Z:131.24
[[ 9.64532079e-01 -7.75797653e-02 -2.52307847e-01  5.02563918e+02]
 [ 7.68364228e-02  9.96961378e-01 -1.28130581e-02  3.92085374e+01]
 [ 2.52535213e-01 -7.02782687e-03  9.67562182e-01  1.31240546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.800714057 meters
Centerline goodness : 0.997485 with order 1
Centerline is valid?  [True, True]
Translation: X:502.62, Y:39.21, Z:131.25
[[ 9.64507998e-01 -7.78793342e-02 -2.52307612e-01  5.02620956e+02]
 [ 7.71448588e-02  9.96937500e-01 -1.28176687e-02  3.92085820e+01]
 [ 2.52533152e-01 -7.10149115e-03  9.67562182e-01  1.31253784e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.860714057 meters
Centerline goodness : 0.997451 with order 1
Centerline is valid?  [True, True]
Translation: X:502.68, Y:39.21, Z:131.27
[[ 9.63994407e-01 -8.40078072e-02 -2.52304325e-01  5.02679858e+02]
 [ 8.34626202e-02  9.96427641e-01 -1.28820706e-02  3.92072475e+01]
 [ 2.52485198e-01 -8.63973597e-03  9.67562184e-01  1.31268300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.920714057 meters
Centerline goodness : 0.998214 with order 1
Centerline is valid?  [True, True]
Translation: X:502.74, Y:39.21, Z:131.28
[[ 9.63305856e-01 -9.15661294e-02 -2.52304325e-01  5.02738290e+02]
 [ 9.12753430e-02  9.95742368e-01 -1.28820706e-02  3.92051742e+01]
 [ 2.52409667e-01 -1.06197897e-02  9.67562184e-01  1.31284787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 516.980714057 meters
Centerline goodness : 0.997880 with order 1
Centerline is valid?  [True, True]
Translation: X:502.80, Y:39.20, Z:131.30
[[ 9.62677991e-01 -9.79469286e-02 -2.52304349e-01  5.02795979e+02]
 [ 9.78711951e-02  9.95115719e-01 -1.28815963e-02  3.92023742e+01]
 [ 2.52333736e-01 -1.22924989e-02  9.67562184e-01  1.31300143e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.0407140570001 meters
Centerline goodness : 0.998205 with order 1
Centerline is valid?  [True, True]
Translation: X:502.86, Y:39.20, Z:131.31
[[ 9.61658178e-01 -1.07499412e-01 -2.52304232e-01  5.02855048e+02]
 [ 1.07745120e-01  9.94095063e-01 -1.28838875e-02  3.91988784e+01]
 [ 2.52199402e-01 -1.47946540e-02  9.67562184e-01  1.31314233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.100714057 meters
Centerline goodness : 0.998213 with order 1
Centerline is valid?  [True, True]
Translation: X:502.91, Y:39.20, Z:131.33
[[ 9.61001101e-01 -1.13222966e-01 -2.52304269e-01  5.02913777e+02]
 [ 1.13661981e-01  9.93435946e-01 -1.28831566e-02  3.91986284e+01]
 [ 2.52106800e-01 -1.62966754e-02  9.67562184e-01  1.31329026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.160714057 meters
Centerline goodness : 0.998097 with order 1
Centerline is valid?  [True, True]
Translation: X:502.97, Y:39.20, Z:131.34
[[ 9.61073623e-01 -1.12605560e-01 -2.52304338e-01  5.02973577e+02]
 [ 1.13024092e-01  9.93508739e-01 -1.28818027e-02  3.92009049e+01]
 [ 2.52117128e-01 -1.61361079e-02  9.67562184e-01  1.31340549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.220714057 meters
Centerline goodness : 0.998465 with order 1
Centerline is valid?  [True, True]
Translation: X:503.03, Y:39.20, Z:131.36
[[ 9.60632875e-01 -1.16304641e-01 -2.52304797e-01  5.03031048e+02]
 [ 1.16850389e-01  9.93066099e-01 -1.28728048e-02  3.92037692e+01]
 [ 2.52052508e-01 -1.71158744e-02  9.67562184e-01  1.31360786e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.280714057 meters
Centerline goodness : 0.998025 with order 1
Centerline is valid?  [True, True]
Translation: X:503.09, Y:39.21, Z:131.38
[[ 9.60602975e-01 -1.16551253e-01 -2.52304835e-01  5.03091113e+02]
 [ 1.17105520e-01  9.93036055e-01 -1.28720721e-02  3.92070944e+01]
 [ 2.52048054e-01 -1.71813381e-02  9.67562184e-01  1.31375765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.340714057 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:503.15, Y:39.21, Z:131.39
[[ 9.60788437e-01 -1.15010326e-01 -2.52305774e-01  5.03150512e+02]
 [ 1.15517388e-01  9.93222290e-01 -1.28536467e-02  3.92115606e+01]
 [ 2.52074020e-01 -1.67960687e-02  9.67562184e-01  1.31389964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.400714057 meters
Centerline goodness : 0.998236 with order 1
Centerline is valid?  [True, True]
Translation: X:503.21, Y:39.22, Z:131.40
[[ 9.61140757e-01 -1.12026777e-01 -2.52306254e-01  5.03209234e+02]
 [ 1.12435604e-01  9.93575997e-01 -1.28442115e-02  3.92180487e+01]
 [ 2.52124333e-01 -1.60231109e-02  9.67562184e-01  1.31404725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.460714057 meters
Centerline goodness : 0.998231 with order 1
Centerline is valid?  [True, True]
Translation: X:503.27, Y:39.23, Z:131.42
[[ 9.61767502e-01 -1.06511840e-01 -2.52306361e-01  5.03268311e+02]
 [ 1.06735163e-01  9.94204549e-01 -1.28421041e-02  3.92259544e+01]
 [ 2.52211968e-01 -1.45788422e-02  9.67562184e-01  1.31421311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.520714057 meters
Centerline goodness : 0.998119 with order 1
Centerline is valid?  [True, True]
Translation: X:503.33, Y:39.23, Z:131.44
[[ 9.62247774e-01 -1.02080175e-01 -2.52307075e-01  5.03326315e+02]
 [ 1.02157742e-01  9.94685496e-01 -1.28280600e-02  3.92325544e+01]
 [ 2.52275679e-01 -1.34313489e-02  9.67562184e-01  1.31438914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.580714057 meters
Centerline goodness : 0.997904 with order 1
Centerline is valid?  [True, True]
Translation: X:503.39, Y:39.24, Z:131.46
[[ 9.62416092e-01 -1.00480349e-01 -2.52307285e-01  5.03385025e+02]
 [ 1.00505068e-01  9.94853898e-01 -1.28239340e-02  3.92385148e+01]
 [ 2.52297439e-01 -1.30162004e-02  9.67562184e-01  1.31455567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.640714057 meters
Centerline goodness : 0.997925 with order 1
Centerline is valid?  [True, True]
Translation: X:503.45, Y:39.24, Z:131.47
[[ 9.62287859e-01 -1.01699910e-01 -2.52307758e-01  5.03445160e+02]
 [ 1.01768170e-01  9.94725603e-01 -1.28146264e-02  3.92428673e+01]
 [ 2.52280233e-01 -1.33455395e-02  9.67562184e-01  1.31468282e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.700714057 meters
Centerline goodness : 0.997895 with order 1
Centerline is valid?  [True, True]
Translation: X:503.50, Y:39.25, Z:131.48
[[ 9.62005115e-01 -1.04338878e-01 -2.52308457e-01  5.03503265e+02]
 [ 1.04499713e-01  9.94442532e-01 -1.28008363e-02  3.92482870e+01]
 [ 2.52241886e-01 -1.40516914e-02  9.67562185e-01  1.31481000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.760714057 meters
Centerline goodness : 0.997759 with order 1
Centerline is valid?  [True, True]
Translation: X:503.56, Y:39.25, Z:131.50
[[ 9.61668093e-01 -1.07401271e-01 -2.52308235e-01  5.03561911e+02]
 [ 1.07664240e-01  9.94104843e-01 -1.28052082e-02  3.92526696e+01]
 [ 2.52196134e-01 -1.48502143e-02  9.67562185e-01  1.31496684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.820714057 meters
Centerline goodness : 0.997990 with order 1
Centerline is valid?  [True, True]
Translation: X:503.62, Y:39.26, Z:131.51
[[ 9.61367009e-01 -1.10063990e-01 -2.52308128e-01  5.03619057e+02]
 [ 1.10416229e-01  9.93802912e-01 -1.28073348e-02  3.92571888e+01]
 [ 2.52154178e-01 -1.55463627e-02  9.67562185e-01  1.31510725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.880714057 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:503.68, Y:39.26, Z:131.53
[[ 9.60828520e-01 -1.14671704e-01 -2.52307262e-01  5.03677085e+02]
 [ 1.15174991e-01  9.93262431e-01 -1.28243611e-02  3.92616797e+01]
 [ 2.52077916e-01 -1.67374748e-02  9.67562185e-01  1.31528147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 517.940714057 meters
Centerline goodness : 0.998118 with order 1
Centerline is valid?  [True, True]
Translation: X:503.74, Y:39.27, Z:131.54
[[ 9.60242393e-01 -1.19480212e-01 -2.52307403e-01  5.03736390e+02]
 [ 1.20146584e-01  9.92673363e-01 -1.28215815e-02  3.92664584e+01]
 [ 2.51990764e-01 -1.80020466e-02  9.67562185e-01  1.31542467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.000714057 meters
Centerline goodness : 0.998066 with order 1
Centerline is valid?  [True, True]
Translation: X:503.80, Y:39.27, Z:131.56
[[ 9.59906860e-01 -1.22145867e-01 -2.52307762e-01  5.03795004e+02]
 [ 1.22904128e-01  9.92335812e-01 -1.28145194e-02  3.92730902e+01]
 [ 2.51939269e-01 -1.87089203e-02  9.67562185e-01  1.31558642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.060714057 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:503.85, Y:39.28, Z:131.57
[[ 9.59880608e-01 -1.22351848e-01 -2.52307836e-01  5.03853787e+02]
 [ 1.23117447e-01  9.92309387e-01 -1.28130716e-02  3.92796473e+01]
 [ 2.51935137e-01 -1.87644775e-02  9.67562185e-01  1.31573418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.120714057 meters
Centerline goodness : 0.997791 with order 1
Centerline is valid?  [True, True]
Translation: X:503.91, Y:39.29, Z:131.59
[[ 9.60100996e-01 -1.20608768e-01 -2.52308545e-01  5.03911759e+02]
 [ 1.21319140e-01  9.92531032e-01 -1.27990815e-02  3.92884148e+01]
 [ 2.51967742e-01 -1.83214448e-02  9.67562185e-01  1.31589084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.180714057 meters
Centerline goodness : 0.997800 with order 1
Centerline is valid?  [True, True]
Translation: X:503.97, Y:39.30, Z:131.61
[[ 9.60736735e-01 -1.15435309e-01 -2.52308571e-01  5.03969243e+02]
 [ 1.15971112e-01  9.93170125e-01 -1.27985835e-02  3.92983598e+01]
 [ 2.52062743e-01 -1.69644363e-02  9.67562185e-01  1.31605975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.240714057 meters
Centerline goodness : 0.998381 with order 1
Centerline is valid?  [True, True]
Translation: X:504.03, Y:39.31, Z:131.62
[[ 9.61556550e-01 -1.08394644e-01 -2.52308548e-01  5.04028041e+02]
 [ 1.08692735e-01  9.93992995e-01 -1.27990312e-02  3.93068615e+01]
 [ 2.52180276e-01 -1.51171139e-02  9.67562185e-01  1.31621230e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.300714057 meters
Centerline goodness : 0.998138 with order 1
Centerline is valid?  [True, True]
Translation: X:504.09, Y:39.31, Z:131.64
[[ 9.62402629e-01 -1.00605668e-01 -2.52308697e-01  5.04086526e+02]
 [ 1.00641893e-01  9.94840424e-01 -1.27960825e-02  3.93146183e+01]
 [ 2.52294250e-01 -1.30778415e-02  9.67562185e-01  1.31637604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.360714057 meters
Centerline goodness : 0.998127 with order 1
Centerline is valid?  [True, True]
Translation: X:504.15, Y:39.32, Z:131.65
[[ 9.63008305e-01 -9.46319600e-02 -2.52308932e-01  5.04145127e+02]
 [ 9.44681131e-02  9.95445706e-01 -1.27914649e-02  3.93211045e+01]
 [ 2.52370324e-01 -1.15168618e-02  9.67562185e-01  1.31652861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.420714057 meters
Centerline goodness : 0.998103 with order 1
Centerline is valid?  [True, True]
Translation: X:504.20, Y:39.33, Z:131.67
[[ 9.63323157e-01 -9.13710458e-02 -2.52308993e-01  5.04204977e+02]
 [ 9.10976975e-02  9.95759820e-01 -1.27902480e-02  3.93257915e+01]
 [ 2.52407816e-01 -1.06636263e-02  9.67562185e-01  1.31667210e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.480714057 meters
Centerline goodness : 0.998413 with order 1
Centerline is valid?  [True, True]
Translation: X:504.27, Y:39.33, Z:131.68
[[ 9.63413802e-01 -9.04083045e-02 -2.52309701e-01  5.04265028e+02]
 [ 9.01061954e-02  9.95850210e-01 -1.27762695e-02  3.93287228e+01]
 [ 2.52417750e-01 -1.04258328e-02  9.67562185e-01  1.31682272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.5407140570001 meters
Centerline goodness : 0.998581 with order 1
Centerline is valid?  [True, True]
Translation: X:504.32, Y:39.33, Z:131.70
[[ 9.63254010e-01 -9.20925938e-02 -2.52310656e-01  5.04324274e+02]
 [ 9.18521326e-02  9.95690933e-01 -1.27573910e-02  3.93314872e+01]
 [ 2.52398293e-01 -1.08866637e-02  9.67562185e-01  1.31696005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.600714057 meters
Centerline goodness : 0.998657 with order 1
Centerline is valid?  [True, True]
Translation: X:504.38, Y:39.33, Z:131.71
[[ 9.62924275e-01 -9.54767921e-02 -2.52311361e-01  5.04382789e+02]
 [ 9.53539618e-02  9.95361857e-01 -1.27434315e-02  3.93327495e+01]
 [ 2.52357807e-01 -1.17879283e-02  9.67562185e-01  1.31712807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.660714057 meters
Centerline goodness : 0.998142 with order 1
Centerline is valid?  [True, True]
Translation: X:504.44, Y:39.33, Z:131.73
[[ 9.62601076e-01 -9.86806419e-02 -2.52311907e-01  5.04440919e+02]
 [ 9.86685882e-02  9.95038889e-01 -1.27326019e-02  3.93346850e+01]
 [ 2.52316621e-01 -1.26388433e-02  9.67562185e-01  1.31732440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.720714057 meters
Centerline goodness : 0.998124 with order 1
Centerline is valid?  [True, True]
Translation: X:504.50, Y:39.34, Z:131.75
[[ 9.62060924e-01 -1.03813258e-01 -2.52312477e-01  5.04499423e+02]
 [ 1.03977166e-01  9.94498325e-01 -1.27213003e-02  3.93363167e+01]
 [ 2.52244975e-01 -1.39960704e-02  9.67562185e-01  1.31748561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.780714057 meters
Centerline goodness : 0.997855 with order 1
Centerline is valid?  [True, True]
Translation: X:504.56, Y:39.34, Z:131.76
[[ 9.61426491e-01 -1.09533071e-01 -2.52312523e-01  5.04558151e+02]
 [ 1.09890132e-01  9.93862340e-01 -1.27203800e-02  3.93351852e+01]
 [ 2.52157217e-01 -1.54969461e-02  9.67562185e-01  1.31758628e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.840714057 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:504.62, Y:39.34, Z:131.77
[[ 9.60829528e-01 -1.14652130e-01 -2.52312321e-01  5.04617766e+02]
 [ 1.15180892e-01  9.93263033e-01 -1.27243881e-02  3.93361875e+01]
 [ 2.52071380e-01 -1.68355905e-02  9.67562185e-01  1.31773848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.900714057 meters
Centerline goodness : 0.997940 with order 1
Centerline is valid?  [True, True]
Translation: X:504.68, Y:39.34, Z:131.79
[[ 9.60872187e-01 -1.14293021e-01 -2.52312792e-01  5.04677919e+02]
 [ 1.14812102e-01  9.93305849e-01 -1.27150549e-02  3.93390315e+01]
 [ 2.52077014e-01 -1.67510193e-02  9.67562185e-01  1.31788279e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 518.960714057 meters
Centerline goodness : 0.997992 with order 1
Centerline is valid?  [True, True]
Translation: X:504.74, Y:39.34, Z:131.80
[[ 9.61475817e-01 -1.09096417e-01 -2.52313742e-01  5.04736188e+02]
 [ 1.09445074e-01  9.93911758e-01 -1.26961761e-02  3.93434973e+01]
 [ 2.52162702e-01 -1.54074298e-02  9.67562186e-01  1.31803171e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.020714057 meters
Centerline goodness : 0.998148 with order 1
Centerline is valid?  [True, True]
Translation: X:504.79, Y:39.35, Z:131.82
[[ 9.62312306e-01 -1.01453445e-01 -2.52313741e-01  5.04794356e+02]
 [ 1.01544361e-01  9.94749993e-01 -1.26962001e-02  3.93505874e+01]
 [ 2.52277165e-01 -1.34033279e-02  9.67562186e-01  1.31820058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.080714057 meters
Centerline goodness : 0.998125 with order 1
Centerline is valid?  [True, True]
Translation: X:504.85, Y:39.36, Z:131.84
[[ 9.62782474e-01 -9.68900022e-02 -2.52313763e-01  5.04852333e+02]
 [ 9.68272454e-02  9.95220228e-01 -1.26957610e-02  3.93550098e+01]
 [ 2.52337853e-01 -1.22075905e-02  9.67562186e-01  1.31836673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.140714057 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:504.91, Y:39.36, Z:131.85
[[ 9.63196302e-01 -9.26857585e-02 -2.52313763e-01  5.04910244e+02]
 [ 9.24813853e-02  9.95633472e-01 -1.26957610e-02  3.93582240e+01]
 [ 2.52388744e-01 -1.11058163e-02  9.67562186e-01  1.31852627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.200714057 meters
Centerline goodness : 0.997997 with order 1
Centerline is valid?  [True, True]
Translation: X:504.97, Y:39.36, Z:131.87
[[ 9.63322724e-01 -9.13624543e-02 -2.52313757e-01  5.04970371e+02]
 [ 9.11134918e-02  9.95759583e-01 -1.26958687e-02  3.93600532e+01]
 [ 2.52403767e-01 -1.07589687e-02  9.67562186e-01  1.31868357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.260714057 meters
Centerline goodness : 0.997813 with order 1
Centerline is valid?  [True, True]
Translation: X:505.03, Y:39.36, Z:131.88
[[ 9.63251417e-01 -9.21086192e-02 -2.52314705e-01  5.05029068e+02]
 [ 9.18897156e-02  9.95688492e-01 -1.26769999e-02  3.93614594e+01]
 [ 2.52394509e-01 -1.09739884e-02  9.67562186e-01  1.31880525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.320714057 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:505.09, Y:39.36, Z:131.89
[[ 9.63140884e-01 -9.32573172e-02 -2.52314705e-01  5.05086422e+02]
 [ 9.30770979e-02  9.95578198e-01 -1.26769999e-02  3.93610338e+01]
 [ 2.52381242e-01 -1.12749836e-02  9.67562186e-01  1.31893366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.380714057 meters
Centerline goodness : 0.998005 with order 1
Centerline is valid?  [True, True]
Translation: X:505.14, Y:39.36, Z:131.91
[[ 9.63114938e-01 -9.35266404e-02 -2.52314059e-01  5.05143790e+02]
 [ 9.33521342e-02  9.95552282e-01 -1.26898413e-02  3.93635970e+01]
 [ 2.52378676e-01 -1.13322802e-02  9.67562186e-01  1.31913560e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.440714057 meters
Centerline goodness : 0.997706 with order 1
Centerline is valid?  [True, True]
Translation: X:505.20, Y:39.37, Z:131.93
[[ 9.63139885e-01 -9.32687736e-02 -2.52314285e-01  5.05202732e+02]
 [ 9.30867572e-02  9.95577188e-01 -1.26853492e-02  3.93654843e+01]
 [ 2.52381494e-01 -1.12693528e-02  9.67562186e-01  1.31933070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.500714057 meters
Centerline goodness : 0.997990 with order 1
Centerline is valid?  [True, True]
Translation: X:505.26, Y:39.37, Z:131.95
[[ 9.63008460e-01 -9.46142452e-02 -2.52314983e-01  5.05261132e+02]
 [ 9.44811759e-02  9.95446001e-01 -1.26714644e-02  3.93663287e+01]
 [ 2.52364842e-01 -1.16362889e-02  9.67562186e-01  1.31950735e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.560714057 meters
Centerline goodness : 0.997933 with order 1
Centerline is valid?  [True, True]
Translation: X:505.32, Y:39.37, Z:131.97
[[ 9.62709233e-01 -9.76112922e-02 -2.52315218e-01  5.05319717e+02]
 [ 9.75804147e-02  9.95147032e-01 -1.26667812e-02  3.93662613e+01]
 [ 2.52327161e-01 -1.24265964e-02  9.67562186e-01  1.31965075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.620714057 meters
Centerline goodness : 0.997428 with order 1
Centerline is valid?  [True, True]
Translation: X:505.38, Y:39.36, Z:131.98
[[ 9.62415616e-01 -1.00464402e-01 -2.52315449e-01  5.05379149e+02]
 [ 1.00530878e-01  9.94853362e-01 -1.26621696e-02  3.93649547e+01]
 [ 2.52288970e-01 -1.31792240e-02  9.67562186e-01  1.31978516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.680714057 meters
Centerline goodness : 0.997968 with order 1
Centerline is valid?  [True, True]
Translation: X:505.44, Y:39.36, Z:131.99
[[ 9.62325928e-01 -1.01319341e-01 -2.52315675e-01  5.05440527e+02]
 [ 1.01415809e-01  9.94763599e-01 -1.26576757e-02  3.93645300e+01]
 [ 2.52276916e-01 -1.34079888e-02  9.67562186e-01  1.31991090e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.740714057 meters
Centerline goodness : 0.997550 with order 1
Centerline is valid?  [True, True]
Translation: X:505.50, Y:39.37, Z:132.01
[[ 9.62289923e-01 -1.01658437e-01 -2.52316599e-01  5.05500931e+02]
 [ 1.01771160e-01  9.94727541e-01 -1.26392226e-02  3.93657626e+01]
 [ 2.52271154e-01 -1.35159564e-02  9.67562186e-01  1.32005063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.800714057 meters
Centerline goodness : 0.997408 with order 1
Centerline is valid?  [True, True]
Translation: X:505.56, Y:39.37, Z:132.02
[[ 9.61985064e-01 -1.04501653e-01 -2.52317539e-01  5.05560976e+02]
 [ 1.04715145e-01  9.94422176e-01 -1.26204316e-02  3.93674359e+01]
 [ 2.52229012e-01 -1.42808009e-02  9.67562186e-01  1.32019730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.860714057 meters
Centerline goodness : 0.997832 with order 1
Centerline is valid?  [True, True]
Translation: X:505.62, Y:39.37, Z:132.04
[[ 9.61448910e-01 -1.09322402e-01 -2.52318463e-01  5.05619469e+02]
 [ 1.09703323e-01  9.93884486e-01 -1.26019304e-02  3.93684769e+01]
 [ 2.52153079e-01 -1.55640616e-02  9.67562186e-01  1.32035976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.920714057 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:505.68, Y:39.37, Z:132.05
[[ 9.61155376e-01 -1.11873783e-01 -2.52318451e-01  5.05677379e+02]
 [ 1.12340725e-01  9.93589828e-01 -1.26021731e-02  3.93705280e+01]
 [ 2.52110899e-01 -1.62329913e-02  9.67562186e-01  1.32052316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 519.980714057 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:505.74, Y:39.37, Z:132.07
[[ 9.60981344e-01 -1.13358457e-01 -2.52318681e-01  5.05736478e+02]
 [ 1.13876709e-01  9.93415017e-01 -1.25975657e-02  3.93734965e+01]
 [ 2.52085207e-01 -1.66271953e-02  9.67562186e-01  1.32070395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.0407140570001 meters
Centerline goodness : 0.997906 with order 1
Centerline is valid?  [True, True]
Translation: X:505.80, Y:39.38, Z:132.09
[[ 9.60935023e-01 -1.13747021e-01 -2.52320226e-01  5.05796984e+02]
 [ 1.14286495e-01  9.93368350e-01 -1.25665485e-02  3.93757296e+01]
 [ 2.52076334e-01 -1.67611576e-02  9.67562187e-01  1.32086118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.100714057 meters
Centerline goodness : 0.998164 with order 1
Centerline is valid?  [True, True]
Translation: X:505.86, Y:39.38, Z:132.10
[[ 9.61012538e-01 -1.13088153e-01 -2.52321168e-01  5.05857701e+02]
 [ 1.13610342e-01  9.93446147e-01 -1.25476088e-02  3.93782793e+01]
 [ 2.52086478e-01 -1.66078847e-02  9.67562187e-01  1.32101184e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.160714057 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:505.92, Y:39.38, Z:132.12
[[ 9.61231073e-01 -1.11213234e-01 -2.52322097e-01  5.05917814e+02]
 [ 1.11677044e-01  9.93665570e-01 -1.25288947e-02  3.93813489e+01]
 [ 2.52117159e-01 -1.61354230e-02  9.67562187e-01  1.32115792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.220714057 meters
Centerline goodness : 0.997748 with order 1
Centerline is valid?  [True, True]
Translation: X:505.98, Y:39.38, Z:132.13
[[ 9.61546974e-01 -1.08445748e-01 -2.52323081e-01  5.05977423e+02]
 [ 1.08821379e-01  9.93982611e-01 -1.25090396e-02  3.93847340e+01]
 [ 2.52161307e-01 -1.54301166e-02  9.67562187e-01  1.32130392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.280714057 meters
Centerline goodness : 0.997763 with order 1
Centerline is valid?  [True, True]
Translation: X:506.04, Y:39.39, Z:132.15
[[ 9.61874455e-01 -1.05500516e-01 -2.52323549e-01  5.06035629e+02]
 [ 1.05779282e-01  9.94311070e-01 -1.24995918e-02  3.93885073e+01]
 [ 2.52206812e-01 -1.46675658e-02  9.67562187e-01  1.32145688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.340714057 meters
Centerline goodness : 0.997848 with order 1
Centerline is valid?  [True, True]
Translation: X:506.10, Y:39.39, Z:132.16
[[ 9.61922940e-01 -1.05057583e-01 -2.52323527e-01  5.06095595e+02]
 [ 1.05321294e-01  9.94359680e-01 -1.25000471e-02  3.93928465e+01]
 [ 2.52213566e-01 -1.45509583e-02  9.67562187e-01  1.32163097e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.400714057 meters
Centerline goodness : 0.998037 with order 1
Centerline is valid?  [True, True]
Translation: X:506.15, Y:39.40, Z:132.18
[[ 9.61766454e-01 -1.06478433e-01 -2.52324458e-01  5.06153674e+02]
 [ 1.06794982e-01  9.94202721e-01 -1.24812196e-02  3.93954838e+01]
 [ 2.52190644e-01 -1.49429677e-02  9.67562188e-01  1.32178125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.460714057 meters
Centerline goodness : 0.998178 with order 1
Centerline is valid?  [True, True]
Translation: X:506.21, Y:39.40, Z:132.19
[[ 9.61518201e-01 -1.08697363e-01 -2.52324458e-01  5.06213468e+02]
 [ 1.09088755e-01  9.93953652e-01 -1.24812196e-02  3.93979489e+01]
 [ 2.52155492e-01 -1.55248412e-02  9.67562188e-01  1.32193347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.520714057 meters
Centerline goodness : 0.998340 with order 1
Centerline is valid?  [True, True]
Translation: X:506.27, Y:39.40, Z:132.21
[[ 9.61196765e-01 -1.11501977e-01 -2.52325361e-01  5.06272451e+02]
 [ 1.11992770e-01  9.93630864e-01 -1.24629464e-02  3.94004755e+01]
 [ 2.52107909e-01 -1.62792723e-02  9.67562188e-01  1.32208786e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.580714057 meters
Centerline goodness : 0.998132 with order 1
Centerline is valid?  [True, True]
Translation: X:506.33, Y:39.40, Z:132.22
[[ 9.61010016e-01 -1.13100119e-01 -2.52325411e-01  5.06331154e+02]
 [ 1.13645107e-01  9.93443249e-01 -1.24619357e-02  3.94017361e+01]
 [ 2.52080422e-01 -1.66995034e-02  9.67562188e-01  1.32222146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.640714057 meters
Centerline goodness : 0.998135 with order 1
Centerline is valid?  [True, True]
Translation: X:506.39, Y:39.40, Z:132.23
[[ 9.60846718e-01 -1.14479016e-01 -2.52325463e-01  5.06390893e+02]
 [ 1.15070823e-01  9.93279131e-01 -1.24608703e-02  3.94044474e+01]
 [ 2.52056125e-01 -1.70623124e-02  9.67562188e-01  1.32234609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.700714057 meters
Centerline goodness : 0.998574 with order 1
Centerline is valid?  [True, True]
Translation: X:506.45, Y:39.41, Z:132.25
[[ 9.60906507e-01 -1.13975120e-01 -2.52325894e-01  5.06450807e+02]
 [ 1.14552200e-01  9.93339186e-01 -1.24521476e-02  3.94077526e+01]
 [ 2.52064433e-01 -1.69391365e-02  9.67562188e-01  1.32249935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.760714057 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:506.51, Y:39.41, Z:132.27
[[ 9.61091707e-01 -1.12400712e-01 -2.52326795e-01  5.06508613e+02]
 [ 1.12929437e-01  9.93525209e-01 -1.24338592e-02  3.94122231e+01]
 [ 2.52090606e-01 -1.65450438e-02  9.67562188e-01  1.32266378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.820714057 meters
Centerline goodness : 0.997767 with order 1
Centerline is valid?  [True, True]
Translation: X:506.57, Y:39.42, Z:132.28
[[ 9.61073275e-01 -1.12558226e-01 -2.52326783e-01  5.06567409e+02]
 [ 1.13092201e-01  9.93506692e-01 -1.24341099e-02  3.94153931e+01]
 [ 2.52087909e-01 -1.65861004e-02  9.67562188e-01  1.32282320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.880714057 meters
Centerline goodness : 0.998805 with order 1
Centerline is valid?  [True, True]
Translation: X:506.63, Y:39.42, Z:132.30
[[ 9.60849789e-01 -1.14448831e-01 -2.52327462e-01  5.06626383e+02]
 [ 1.15050223e-01  9.93282026e-01 -1.24203061e-02  3.94164666e+01]
 [ 2.52053822e-01 -1.70962822e-02  9.67562188e-01  1.32298017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 520.940714057 meters
Centerline goodness : 0.998167 with order 1
Centerline is valid?  [True, True]
Translation: X:506.68, Y:39.42, Z:132.31
[[ 9.60614193e-01 -1.16408287e-01 -2.52328127e-01  5.06684917e+02]
 [ 1.17079359e-01  9.93045062e-01 -1.24067825e-02  3.94173996e+01]
 [ 2.52017453e-01 -1.76242841e-02  9.67562188e-01  1.32314109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.000714057 meters
Centerline goodness : 0.998097 with order 1
Centerline is valid?  [True, True]
Translation: X:506.74, Y:39.42, Z:132.33
[[ 9.60619133e-01 -1.16367416e-01 -2.52328170e-01  5.06744439e+02]
 [ 1.17037334e-01  9.93050027e-01 -1.24059186e-02  3.94194406e+01]
 [ 2.52018140e-01 -1.76144536e-02  9.67562188e-01  1.32328958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.060714057 meters
Centerline goodness : 0.998166 with order 1
Centerline is valid?  [True, True]
Translation: X:506.80, Y:39.42, Z:132.34
[[ 9.61115343e-01 -1.12194279e-01 -2.52328639e-01  5.06803091e+02]
 [ 1.12725840e-01  9.93548799e-01 -1.23963607e-02  3.94213362e+01]
 [ 2.52091617e-01 -1.65296253e-02  9.67562188e-01  1.32342252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.120714057 meters
Centerline goodness : 0.997797 with order 1
Centerline is valid?  [True, True]
Translation: X:506.86, Y:39.42, Z:132.36
[[ 9.62166994e-01 -1.02785300e-01 -2.52328868e-01  5.06861901e+02]
 [ 1.03000724e-01  9.94604090e-01 -1.23916989e-02  3.94248963e+01]
 [ 2.52241009e-01 -1.40671723e-02  9.67562188e-01  1.32357368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.180714057 meters
Centerline goodness : 0.998027 with order 1
Centerline is valid?  [True, True]
Translation: X:506.92, Y:39.43, Z:132.37
[[ 9.63379826e-01 -9.07157765e-02 -2.52329070e-01  5.06919366e+02]
 [ 9.05256345e-02  9.95817080e-01 -1.23875923e-02  3.94280164e+01]
 [ 2.52397347e-01 -1.09082927e-02  9.67562188e-01  1.32373322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.240714057 meters
Centerline goodness : 0.997555 with order 1
Centerline is valid?  [True, True]
Translation: X:506.98, Y:39.43, Z:132.39
[[ 9.64419498e-01 -7.88998692e-02 -2.52328839e-01  5.06976967e+02]
 [ 7.83108996e-02  9.96851962e-01 -1.23922855e-02  3.94303419e+01]
 [ 2.52512248e-01 -7.80873663e-03  9.67562188e-01  1.32391306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.300714057 meters
Centerline goodness : 0.997739 with order 1
Centerline is valid?  [True, True]
Translation: X:507.03, Y:39.43, Z:132.41
[[ 9.65001450e-01 -7.14309343e-02 -2.52328802e-01  5.07034533e+02]
 [ 7.05906887e-02  9.97428377e-01 -1.23930521e-02  3.94291563e+01]
 [ 2.52565154e-01 -5.85275062e-03  9.67562188e-01  1.32408297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.360714057 meters
Centerline goodness : 0.998120 with order 1
Centerline is valid?  [True, True]
Translation: X:507.09, Y:39.42, Z:132.42
[[ 9.65140544e-01 -6.95262906e-02 -2.52328804e-01  5.07091099e+02]
 [ 6.86220647e-02  9.97565750e-01 -1.23929939e-02  3.94249158e+01]
 [ 2.52576212e-01 -5.35434267e-03  9.67562188e-01  1.32421165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.420714057 meters
Centerline goodness : 0.998224 with order 1
Centerline is valid?  [True, True]
Translation: X:507.15, Y:39.42, Z:132.43
[[ 9.64629260e-01 -7.62961064e-02 -2.52327753e-01  5.07150647e+02]
 [ 7.56138161e-02  9.97059895e-01 -1.24143630e-02  3.94158244e+01]
 [ 2.52533051e-01 -7.10420655e-03  9.67562189e-01  1.32434537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.480714057 meters
Centerline goodness : 0.998078 with order 1
Centerline is valid?  [True, True]
Translation: X:507.21, Y:39.41, Z:132.45
[[ 9.63979788e-01 -8.41051329e-02 -2.52327753e-01  5.07209744e+02]
 [ 8.36854870e-02  9.96414885e-01 -1.24143630e-02  3.94096275e+01]
 [ 2.52467241e-01 -9.14897590e-03  9.67562189e-01  1.32449409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.5407140570001 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:507.27, Y:39.41, Z:132.46
[[ 9.63429150e-01 -9.01943439e-02 -2.52327671e-01  5.07268524e+02]
 [ 8.99792094e-02  9.95866248e-01 -1.24160368e-02  3.94074999e+01]
 [ 2.52404467e-01 -1.07422726e-02  9.67562189e-01  1.32463848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.600714057 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:507.33, Y:39.40, Z:132.48
[[ 9.62085076e-01 -1.03552611e-01 -2.52327494e-01  5.07326631e+02]
 [ 1.03786600e-01  9.94522043e-01 -1.24196370e-02  3.94013001e+01]
 [ 2.52231340e-01 -1.42394652e-02  9.67562189e-01  1.32476495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.660714057 meters
Centerline goodness : 0.998138 with order 1
Centerline is valid?  [True, True]
Translation: X:507.39, Y:39.40, Z:132.49
[[ 9.60935298e-01 -1.13729543e-01 -2.52327056e-01  5.07385266e+02]
 [ 1.14304510e-01  9.93368014e-01 -1.24285186e-02  3.94002167e+01]
 [ 2.52067116e-01 -1.68991184e-02  9.67562189e-01  1.32491514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.720714057 meters
Centerline goodness : 0.997800 with order 1
Centerline is valid?  [True, True]
Translation: X:507.44, Y:39.40, Z:132.51
[[ 9.60083983e-01 -1.20705822e-01 -2.52326873e-01  5.07443778e+02]
 [ 1.21515363e-01  9.92511691e-01 -1.24322280e-02  3.94005737e+01]
 [ 2.51938014e-01 -1.87256087e-02  9.67562189e-01  1.32507737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.780714057 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:507.50, Y:39.40, Z:132.52
[[ 9.59695297e-01 -1.23758060e-01 -2.52326930e-01  5.07502124e+02]
 [ 1.24671008e-01  9.92120259e-01 -1.24310879e-02  3.94041291e+01]
 [ 2.51877106e-01 -1.95277961e-02  9.67562189e-01  1.32524675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.840714057 meters
Centerline goodness : 0.997627 with order 1
Centerline is valid?  [True, True]
Translation: X:507.56, Y:39.41, Z:132.54
[[ 9.59654877e-01 -1.24071002e-01 -2.52326977e-01  5.07562609e+02]
 [ 1.24994777e-01  9.92079532e-01 -1.24301180e-02  3.94085790e+01]
 [ 2.51870647e-01 -1.96109310e-02  9.67562189e-01  1.32540615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.900714057 meters
Centerline goodness : 0.997945 with order 1
Centerline is valid?  [True, True]
Translation: X:507.62, Y:39.41, Z:132.55
[[ 9.59560624e-01 -1.24795508e-01 -2.52328140e-01  5.07622154e+02]
 [ 1.25749942e-01  9.91984391e-01 -1.24064761e-02  3.94142900e+01]
 [ 2.51853849e-01 -1.98254831e-02  9.67562189e-01  1.32554456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 521.960714057 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:507.68, Y:39.42, Z:132.57
[[ 9.59241048e-01 -1.27227259e-01 -2.52328827e-01  5.07680780e+02]
 [ 1.28267527e-01  9.91662174e-01 -1.23924907e-02  3.94201885e+01]
 [ 2.51801616e-01 -2.04782089e-02  9.67562189e-01  1.32568913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.020714057 meters
Centerline goodness : 0.998011 with order 1
Centerline is valid?  [True, True]
Translation: X:507.74, Y:39.43, Z:132.58
[[ 9.58631775e-01 -1.31739024e-01 -2.52329050e-01  5.07739294e+02]
 [ 1.32933010e-01  9.91047604e-01 -1.23879383e-02  3.94258438e+01]
 [ 2.51702076e-01 -2.16673888e-02  9.67562189e-01  1.32582469e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.080714057 meters
Centerline goodness : 0.998249 with order 1
Centerline is valid?  [True, True]
Translation: X:507.80, Y:39.43, Z:132.60
[[ 9.57823310e-01 -1.37493898e-01 -2.52329020e-01  5.07798853e+02]
 [ 1.38882379e-01  9.90231391e-01 -1.23885601e-02  3.94317486e+01]
 [ 2.51567468e-01 -2.31780030e-02  9.67562189e-01  1.32595006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.140714057 meters
Centerline goodness : 0.997724 with order 1
Centerline is valid?  [True, True]
Translation: X:507.86, Y:39.44, Z:132.61
[[ 9.57619128e-01 -1.38908191e-01 -2.52329390e-01  5.07856969e+02]
 [ 1.40346499e-01  9.90025035e-01 -1.23810158e-02  3.94387034e+01]
 [ 2.51532238e-01 -2.35572491e-02  9.67562189e-01  1.32611320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.200714057 meters
Centerline goodness : 0.997996 with order 1
Centerline is valid?  [True, True]
Translation: X:507.91, Y:39.45, Z:132.63
[[ 9.58014913e-01 -1.36151688e-01 -2.52329434e-01  5.07914930e+02]
 [ 1.37496966e-01  9.90424816e-01 -1.23801118e-02  3.94469915e+01]
 [ 2.51598907e-01 -2.28342000e-02  9.67562189e-01  1.32629392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.260714057 meters
Centerline goodness : 0.997948 with order 1
Centerline is valid?  [True, True]
Translation: X:507.97, Y:39.45, Z:132.65
[[ 9.58771263e-01 -1.30718783e-01 -2.52329675e-01  5.07972478e+02]
 [ 1.31881600e-01  9.91188225e-01 -1.23752005e-02  3.94549391e+01]
 [ 2.51723874e-01 -2.14126546e-02  9.67562189e-01  1.32647689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.320714057 meters
Centerline goodness : 0.997809 with order 1
Centerline is valid?  [True, True]
Translation: X:508.03, Y:39.46, Z:132.66
[[ 9.59724882e-01 -1.23522568e-01 -2.52329795e-01  5.08029997e+02]
 [ 1.24442804e-01  9.92149638e-01 -1.23727591e-02  3.94615739e+01]
 [ 2.51877229e-01 -1.95261824e-02  9.67562189e-01  1.32664684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.380714057 meters
Centerline goodness : 0.998526 with order 1
Centerline is valid?  [True, True]
Translation: X:508.09, Y:39.47, Z:132.68
[[ 9.60783964e-01 -1.14994846e-01 -2.52329864e-01  5.08087586e+02]
 [ 1.15627466e-01  9.93215605e-01 -1.23713497e-02  3.94690421e+01]
 [ 2.52040600e-01 -1.72900683e-02  9.67562189e-01  1.32679161e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.440714057 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:508.15, Y:39.48, Z:132.69
[[ 9.61899674e-01 -1.05255269e-01 -2.52329834e-01  5.08146451e+02]
 [ 1.05559134e-01  9.94336062e-01 -1.23719544e-02  3.94761349e+01]
 [ 2.52202867e-01 -1.47351398e-02  9.67562189e-01  1.32692382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.500714057 meters
Centerline goodness : 0.998234 with order 1
Centerline is valid?  [True, True]
Translation: X:508.21, Y:39.48, Z:132.71
[[ 9.62999472e-01 -9.46658517e-02 -2.52329929e-01  5.08205134e+02]
 [ 9.46133321e-02  9.95437241e-01 -1.23700161e-02  3.94819475e+01]
 [ 2.52349627e-01 -1.19614564e-02  9.67562189e-01  1.32706990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.560714057 meters
Centerline goodness : 0.998371 with order 1
Centerline is valid?  [True, True]
Translation: X:508.26, Y:39.49, Z:132.72
[[ 9.63885743e-01 -8.51693129e-02 -2.52330067e-01  5.08263157e+02]
 [ 8.47978019e-02  9.96321427e-01 -1.23672105e-02  3.94872848e+01]
 [ 2.52455159e-01 -9.47645713e-03  9.67562189e-01  1.32723131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.620714057 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:508.32, Y:39.49, Z:132.74
[[ 9.64500166e-01 -7.79035293e-02 -2.52330082e-01  5.08320719e+02]
 [ 7.72876895e-02  9.96932130e-01 -1.23669050e-02  3.94905450e+01]
 [ 2.52519392e-01 -7.57412707e-03  9.67562189e-01  1.32738232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.680714057 meters
Centerline goodness : 0.998371 with order 1
Centerline is valid?  [True, True]
Translation: X:508.38, Y:39.49, Z:132.75
[[ 9.64663444e-01 -7.58557931e-02 -2.52329819e-01  5.08377081e+02]
 [ 7.51697039e-02  9.97093999e-01 -1.23722621e-02  3.94913103e+01]
 [ 2.52535056e-01 -7.03248878e-03  9.67562189e-01  1.32754908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.740714057 meters
Centerline goodness : 0.998214 with order 1
Centerline is valid?  [True, True]
Translation: X:508.43, Y:39.49, Z:132.77
[[ 9.64459573e-01 -7.84157085e-02 -2.52326592e-01  5.08433058e+02]
 [ 7.77985770e-02  9.96891511e-01 -1.24377370e-02  3.94895621e+01]
 [ 2.52517552e-01 -7.63495531e-03  9.67562191e-01  1.32769274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.800714057 meters
Centerline goodness : 0.998017 with order 1
Centerline is valid?  [True, True]
Translation: X:508.49, Y:39.49, Z:132.78
[[ 9.64194459e-01 -8.16143836e-02 -2.52325458e-01  5.08489711e+02]
 [ 8.10988274e-02  9.96628171e-01 -1.24607076e-02  3.94880767e+01]
 [ 2.52491633e-01 -8.44875356e-03  9.67562191e-01  1.32784966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.860714057 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:508.55, Y:39.49, Z:132.80
[[ 9.64077163e-01 -8.29983006e-02 -2.52322225e-01  5.08547100e+02]
 [ 8.25122741e-02  9.96511329e-01 -1.25258391e-02  3.94891718e+01]
 [ 2.52481579e-01 -8.74380515e-03  9.67562193e-01  1.32799158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.920714057 meters
Centerline goodness : 0.998504 with order 1
Centerline is valid?  [True, True]
Translation: X:508.60, Y:39.49, Z:132.81
[[ 9.63537732e-01 -8.90451885e-02 -2.52321210e-01  5.08604781e+02]
 [ 8.87573215e-02  9.95974261e-01 -1.25462604e-02  3.94870358e+01]
 [ 2.52422615e-01 -1.03065595e-02  9.67562194e-01  1.32813188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 522.980714057 meters
Centerline goodness : 0.998168 with order 1
Centerline is valid?  [True, True]
Translation: X:508.66, Y:39.49, Z:132.83
[[ 9.63165477e-01 -9.29941545e-02 -2.52317958e-01  5.08663599e+02]
 [ 9.28222405e-02  9.95602825e-01 -1.26113315e-02  3.94860246e+01]
 [ 2.52381252e-01 -1.12739190e-02  9.67562196e-01  1.32829070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.0407140570001 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:508.72, Y:39.48, Z:132.84
[[ 9.62978895e-01 -9.49068386e-02 -2.52317934e-01  5.08722070e+02]
 [ 9.47992217e-02  9.95416521e-01 -1.26118081e-02  3.94843837e+01]
 [ 2.52358387e-01 -1.17746387e-02  9.67562196e-01  1.32842858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.100714057 meters
Centerline goodness : 0.998159 with order 1
Centerline is valid?  [True, True]
Translation: X:508.78, Y:39.49, Z:132.86
[[ 9.62817973e-01 -9.65262944e-02 -2.52317706e-01  5.08779370e+02]
 [ 9.64720416e-02  9.95255732e-01 -1.26163647e-02  3.94857817e+01]
 [ 2.52338455e-01 -1.21943415e-02  9.67562196e-01  1.32857040e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.160714057 meters
Centerline goodness : 0.998786 with order 1
Centerline is valid?  [True, True]
Translation: X:508.84, Y:39.49, Z:132.87
[[ 9.62711292e-01 -9.75921553e-02 -2.52314763e-01  5.08837479e+02]
 [ 9.75584906e-02  9.95149077e-01 -1.26749730e-02  3.94874215e+01]
 [ 2.52327781e-01 -1.24131077e-02  9.67562197e-01  1.32869104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.220714057 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:508.89, Y:39.49, Z:132.88
[[ 9.62574296e-01 -9.89353852e-02 -2.52314317e-01  5.08894412e+02]
 [ 9.89446651e-02  9.95012097e-01 -1.26838375e-02  3.94902779e+01]
 [ 2.52310678e-01 -1.27560196e-02  9.67562197e-01  1.32882206e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.280714057 meters
Centerline goodness : 0.997904 with order 1
Centerline is valid?  [True, True]
Translation: X:508.95, Y:39.49, Z:132.90
[[ 9.62355149e-01 -1.01052543e-01 -2.52311219e-01  5.08951597e+02]
 [ 1.01117139e-01  9.94792885e-01 -1.27451765e-02  3.94947087e+01]
 [ 2.52285338e-01 -1.32476025e-02  9.67562199e-01  1.32897749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.340714057 meters
Centerline goodness : 0.998219 with order 1
Centerline is valid?  [True, True]
Translation: X:509.01, Y:39.50, Z:132.91
[[ 9.62153201e-01 -1.02958669e-01 -2.52310783e-01  5.09007006e+02]
 [ 1.03085266e-01  9.94590754e-01 -1.27538022e-02  3.94980505e+01]
 [ 2.52259086e-01 -1.37384125e-02  9.67562199e-01  1.32914355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.400714057 meters
Centerline goodness : 0.998531 with order 1
Centerline is valid?  [True, True]
Translation: X:509.06, Y:39.50, Z:132.93
[[ 9.62167560e-01 -1.02832917e-01 -2.52307310e-01  5.09064182e+02]
 [ 1.02937402e-01  9.94605190e-01 -1.28221564e-02  3.95024096e+01]
 [ 2.52264700e-01 -1.36347961e-02  9.67562201e-01  1.32933263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.460714057 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:509.12, Y:39.51, Z:132.95
[[ 9.62064349e-01 -1.03794071e-01 -2.52307310e-01  5.09121761e+02]
 [ 1.03930962e-01  9.94501859e-01 -1.28221564e-02  3.95066977e+01]
 [ 2.52250953e-01 -1.38868018e-02  9.67562201e-01  1.32949871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.520714057 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:509.18, Y:39.51, Z:132.96
[[ 9.61696074e-01 -1.07153151e-01 -2.52307081e-01  5.09180260e+02]
 [ 1.07402142e-01  9.94132917e-01 -1.28266553e-02  3.95085293e+01]
 [ 2.52201191e-01 -1.47629770e-02  9.67562201e-01  1.32964322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.580714057 meters
Centerline goodness : 0.997984 with order 1
Centerline is valid?  [True, True]
Translation: X:509.24, Y:39.51, Z:132.98
[[ 9.61283225e-01 -1.10795652e-01 -2.52307124e-01  5.09237948e+02]
 [ 1.11167746e-01  9.93718889e-01 -1.28258105e-02  3.95115781e+01]
 [ 2.52143399e-01 -1.57191778e-02  9.67562201e-01  1.32976446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.640714057 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:509.30, Y:39.52, Z:132.99
[[ 9.61042959e-01 -1.12861709e-01 -2.52306691e-01  5.09296809e+02]
 [ 1.13301298e-01  9.93477778e-01 -1.28343220e-02  3.95150950e+01]
 [ 2.52109594e-01 -1.62523407e-02  9.67562202e-01  1.32992226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.700714057 meters
Centerline goodness : 0.998167 with order 1
Centerline is valid?  [True, True]
Translation: X:509.36, Y:39.52, Z:133.01
[[ 9.61142143e-01 -1.12013380e-01 -2.52306923e-01  5.09356839e+02]
 [ 1.12425531e-01  9.93577323e-01 -1.28297641e-02  3.95198679e+01]
 [ 2.52123542e-01 -1.60345128e-02  9.67562202e-01  1.33010122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.760714057 meters
Centerline goodness : 0.998006 with order 1
Centerline is valid?  [True, True]
Translation: X:509.42, Y:39.52, Z:133.03
[[ 9.61166002e-01 -1.11805434e-01 -2.52308267e-01  5.09415576e+02]
 [ 1.12217494e-01  9.93601183e-01 -1.28032724e-02  3.95245835e+01]
 [ 2.52125268e-01 -1.60073312e-02  9.67562202e-01  1.33026772e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.820714057 meters
Centerline goodness : 0.997988 with order 1
Centerline is valid?  [True, True]
Translation: X:509.47, Y:39.53, Z:133.04
[[ 9.60958220e-01 -1.13576352e-01 -2.52308762e-01  5.09474002e+02]
 [ 1.14050728e-01  9.93392549e-01 -1.27935226e-02  3.95282243e+01]
 [ 2.52094686e-01 -1.64819572e-02  9.67562202e-01  1.33040625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.880714057 meters
Centerline goodness : 0.998354 with order 1
Centerline is valid?  [True, True]
Translation: X:509.53, Y:39.53, Z:133.06
[[ 9.60348541e-01 -1.18619665e-01 -2.52309443e-01  5.09532764e+02]
 [ 1.19267825e-01  9.92779863e-01 -1.27800733e-02  3.95329956e+01]
 [ 2.52003702e-01 -1.78190736e-02  9.67562202e-01  1.33056518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 523.940714057 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:509.59, Y:39.54, Z:133.07
[[ 9.59420342e-01 -1.25906443e-01 -2.52309682e-01  5.09591592e+02]
 [ 1.26802010e-01  9.91845775e-01 -1.27753540e-02  3.95365002e+01]
 [ 2.51860791e-01 -1.97364404e-02  9.67562202e-01  1.33071441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.000714057 meters
Centerline goodness : 0.998038 with order 1
Centerline is valid?  [True, True]
Translation: X:509.65, Y:39.54, Z:133.08
[[ 9.58465764e-01 -1.32978116e-01 -2.52309729e-01  5.09649417e+02]
 [ 1.34113018e-01  9.90883703e-01 -1.27744245e-02  3.95381867e+01]
 [ 2.51708317e-01 -2.15941707e-02  9.67562202e-01  1.33084219e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.060714057 meters
Centerline goodness : 0.998383 with order 1
Centerline is valid?  [True, True]
Translation: X:509.71, Y:39.54, Z:133.10
[[ 9.57952531e-01 -1.36625807e-01 -2.52310004e-01  5.09708050e+02]
 [ 1.37885526e-01  9.90365859e-01 -1.27689978e-02  3.95413895e+01]
 [ 2.51623788e-01 -2.25578038e-02  9.67562202e-01  1.33099392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.120714057 meters
Centerline goodness : 0.998179 with order 1
Centerline is valid?  [True, True]
Translation: X:509.77, Y:39.55, Z:133.12
[[ 9.58165816e-01 -1.35121468e-01 -2.52310242e-01  5.09767758e+02]
 [ 1.36331521e-01  9.90581036e-01 -1.27642889e-02  3.95459565e+01]
 [ 2.51658470e-01 -2.21675338e-02  9.67562202e-01  1.33115220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.180714057 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:509.83, Y:39.55, Z:133.13
[[ 9.58614870e-01 -1.31896142e-01 -2.52311194e-01  5.09825228e+02]
 [ 1.33002024e-01  9.91033811e-01 -1.27454465e-02  3.95502688e+01]
 [ 2.51729999e-01 -2.13399249e-02  9.67562202e-01  1.33129175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.240714057 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:509.89, Y:39.55, Z:133.14
[[ 9.58854678e-01 -1.30141790e-01 -2.52310960e-01  5.09885714e+02]
 [ 1.31187139e-01  9.91275628e-01 -1.27500689e-02  3.95549101e+01]
 [ 2.51769022e-01 -2.08744898e-02  9.67562202e-01  1.33142101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.300714057 meters
Centerline goodness : 0.998736 with order 1
Centerline is valid?  [True, True]
Translation: X:509.94, Y:39.56, Z:133.16
[[ 9.58929124e-01 -1.29590722e-01 -2.52311673e-01  5.09944537e+02]
 [ 1.30621130e-01  9.91350552e-01 -1.27359470e-02  3.95591567e+01]
 [ 2.51779777e-01 -2.07443653e-02  9.67562202e-01  1.33156539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.360714057 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:510.00, Y:39.56, Z:133.17
[[ 9.58938636e-01 -1.29519864e-01 -2.52311906e-01  5.10004771e+02]
 [ 1.30549086e-01  9.91360101e-01 -1.27313203e-02  3.95642599e+01]
 [ 2.51780916e-01 -2.07305338e-02  9.67562202e-01  1.33172726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.420714057 meters
Centerline goodness : 0.998368 with order 1
Centerline is valid?  [True, True]
Translation: X:510.06, Y:39.57, Z:133.19
[[ 9.58737903e-01 -1.30995653e-01 -2.52312845e-01  5.10063670e+02]
 [ 1.32079644e-01  9.91157583e-01 -1.27126835e-02  3.95690921e+01]
 [ 2.51747096e-01 -2.11372594e-02  9.67562203e-01  1.33189584e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.480714057 meters
Centerline goodness : 0.998479 with order 1
Centerline is valid?  [True, True]
Translation: X:510.12, Y:39.57, Z:133.21
[[ 9.58031770e-01 -1.36062919e-01 -2.52313317e-01  5.10121849e+02]
 [ 1.37320752e-01  9.90445171e-01 -1.27033237e-02  3.95725524e+01]
 [ 2.51630957e-01 -2.24776668e-02  9.67562203e-01  1.33206359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.5407140570001 meters
Centerline goodness : 0.998071 with order 1
Centerline is valid?  [True, True]
Translation: X:510.18, Y:39.57, Z:133.22
[[ 9.57179711e-01 -1.41932125e-01 -2.52313836e-01  5.10180903e+02]
 [ 1.43391294e-01  9.89584673e-01 -1.26929970e-02  3.95748497e+01]
 [ 2.51487449e-01 -2.40301282e-02  9.67562203e-01  1.33221465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.600714057 meters
Centerline goodness : 0.998529 with order 1
Centerline is valid?  [True, True]
Translation: X:510.24, Y:39.58, Z:133.24
[[ 9.56803608e-01 -1.44445519e-01 -2.52313988e-01  5.10240706e+02]
 [ 1.45990576e-01  9.89204588e-01 -1.26899825e-02  3.95772187e+01]
 [ 2.51423165e-01 -2.46936435e-02  9.67562203e-01  1.33235645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.660714057 meters
Centerline goodness : 0.998458 with order 1
Centerline is valid?  [True, True]
Translation: X:510.30, Y:39.58, Z:133.25
[[ 9.56948151e-01 -1.43482095e-01 -2.52315525e-01  5.10300191e+02]
 [ 1.45002528e-01  9.89350296e-01 -1.26593569e-02  3.95800970e+01]
 [ 2.51444830e-01 -2.44720408e-02  9.67562203e-01  1.33249422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.720714057 meters
Centerline goodness : 0.998463 with order 1
Centerline is valid?  [True, True]
Translation: X:510.36, Y:39.58, Z:133.26
[[ 9.57621532e-01 -1.38915986e-01 -2.52315972e-01  5.10359201e+02]
 [ 1.40284178e-01  9.90030462e-01 -1.26504390e-02  3.95838093e+01]
 [ 2.51557846e-01 -2.32816060e-02  9.67562203e-01  1.33264218e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.780714057 meters
Centerline goodness : 0.998572 with order 1
Centerline is valid?  [True, True]
Translation: X:510.42, Y:39.59, Z:133.28
[[ 9.58165251e-01 -1.35114364e-01 -2.52316193e-01  5.10417917e+02]
 [ 1.36355076e-01  9.90579311e-01 -1.26460305e-02  3.95878495e+01]
 [ 2.51647861e-01 -2.22876066e-02  9.67562203e-01  1.33279388e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.840714057 meters
Centerline goodness : 0.998432 with order 1
Centerline is valid?  [True, True]
Translation: X:510.48, Y:39.59, Z:133.30
[[ 9.58982930e-01 -1.29183138e-01 -2.52316186e-01  5.10475382e+02]
 [ 1.30223229e-01  9.91404047e-01 -1.26461638e-02  3.95939260e+01]
 [ 2.51780959e-01 -2.07299733e-02  9.67562203e-01  1.33296758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.900714057 meters
Centerline goodness : 0.998191 with order 1
Centerline is valid?  [True, True]
Translation: X:510.53, Y:39.60, Z:133.31
[[ 9.59734560e-01 -1.23475070e-01 -2.52316234e-01  5.10533091e+02]
 [ 1.24322492e-01  9.92161286e-01 -1.26452137e-02  3.96003553e+01]
 [ 2.51899767e-01 -1.92325343e-02  9.67562203e-01  1.33312700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 524.960714057 meters
Centerline goodness : 0.998601 with order 1
Centerline is valid?  [True, True]
Translation: X:510.59, Y:39.61, Z:133.33
[[ 9.60436950e-01 -1.17887158e-01 -2.52316235e-01  5.10590779e+02]
 [ 1.18545843e-01  9.92868059e-01 -1.26451887e-02  3.96064937e+01]
 [ 2.52007436e-01 -1.77661342e-02  9.67562203e-01  1.33325347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.020714057 meters
Centerline goodness : 0.997963 with order 1
Centerline is valid?  [True, True]
Translation: X:510.65, Y:39.61, Z:133.34
[[ 9.61008195e-01 -1.13136589e-01 -2.52315996e-01  5.10648830e+02]
 [ 1.13633655e-01  9.93442183e-01 -1.26499540e-02  3.96122286e+01]
 [ 2.52092526e-01 -1.65148794e-02  9.67562203e-01  1.33340903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.080714057 meters
Centerline goodness : 0.998342 with order 1
Centerline is valid?  [True, True]
Translation: X:510.71, Y:39.62, Z:133.36
[[ 9.61417369e-01 -1.09605193e-01 -2.52315961e-01  5.10706303e+02]
 [ 1.09982916e-01  9.93852967e-01 -1.26506486e-02  3.96177569e+01]
 [ 2.52151543e-01 -1.55878918e-02  9.67562203e-01  1.33357816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.140714057 meters
Centerline goodness : 0.997651 with order 1
Centerline is valid?  [True, True]
Translation: X:510.76, Y:39.62, Z:133.37
[[ 9.61849124e-01 -1.05749324e-01 -2.52315961e-01  5.10764977e+02]
 [ 1.05996985e-01  9.94285975e-01 -1.26506563e-02  3.96227452e+01]
 [ 2.52212019e-01 -1.45767083e-02  9.67562203e-01  1.33371059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.200714057 meters
Centerline goodness : 0.997714 with order 1
Centerline is valid?  [True, True]
Translation: X:510.82, Y:39.63, Z:133.38
[[ 9.62241120e-01 -1.02120950e-01 -2.52315949e-01  5.10823346e+02]
 [ 1.02246212e-01  9.94678675e-01 -1.26508930e-02  3.96275660e+01]
 [ 2.52265215e-01 -1.36251405e-02  9.67562203e-01  1.33384887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.260714057 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:510.88, Y:39.63, Z:133.40
[[ 9.62468677e-01 -9.99509889e-02 -2.52316953e-01  5.10881674e+02]
 [ 1.00008354e-01  9.94906423e-01 -1.26308315e-02  3.96321816e+01]
 [ 2.52294222e-01 -1.30770234e-02  9.67562203e-01  1.33402225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.320714057 meters
Centerline goodness : 0.998036 with order 1
Centerline is valid?  [True, True]
Translation: X:510.94, Y:39.64, Z:133.42
[[ 9.62485480e-01 -9.97888463e-02 -2.52317038e-01  5.10941136e+02]
 [ 9.98411914e-02  9.94923234e-01 -1.26291298e-02  3.96371925e+01]
 [ 2.52296330e-01 -1.30362796e-02  9.67562203e-01  1.33418167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.380714057 meters
Centerline goodness : 0.998543 with order 1
Centerline is valid?  [True, True]
Translation: X:511.00, Y:39.64, Z:133.43
[[ 9.62124949e-01 -1.03203883e-01 -2.52318333e-01  5.10999811e+02]
 [ 1.03378118e-01  9.94562277e-01 -1.26032145e-02  3.96414547e+01]
 [ 2.52246996e-01 -1.39583273e-02  9.67562204e-01  1.33433409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.440714057 meters
Centerline goodness : 0.998521 with order 1
Centerline is valid?  [True, True]
Translation: X:511.06, Y:39.64, Z:133.45
[[ 9.61880107e-01 -1.05461359e-01 -2.52318373e-01  5.11059180e+02]
 [ 1.05711924e-01  9.94316936e-01 -1.26024056e-02  3.96446311e+01]
 [ 2.52213499e-01 -1.45510574e-02  9.67562204e-01  1.33448069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.500714057 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:511.12, Y:39.65, Z:133.46
[[ 9.61665289e-01 -1.07401497e-01 -2.52318828e-01  5.11118187e+02]
 [ 1.07719876e-01  9.94101523e-01 -1.25932992e-02  3.96476298e+01]
 [ 2.52183070e-01 -1.50692140e-02  9.67562204e-01  1.33460746e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.560714057 meters
Centerline goodness : 0.998331 with order 1
Centerline is valid?  [True, True]
Translation: X:511.18, Y:39.65, Z:133.48
[[ 9.61643815e-01 -1.07593070e-01 -2.52319052e-01  5.11176251e+02]
 [ 1.07919083e-01  9.94079973e-01 -1.25888112e-02  3.96521057e+01]
 [ 2.52179785e-01 -1.51240883e-02  9.67562204e-01  1.33475499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.620714057 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:511.24, Y:39.66, Z:133.49
[[ 9.61630627e-01 -1.07710365e-01 -2.52319272e-01  5.11235533e+02]
 [ 1.08041490e-01  9.94066733e-01 -1.25843928e-02  3.96555107e+01]
 [ 2.52177664e-01 -1.51594125e-02  9.67562204e-01  1.33493434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.680714057 meters
Centerline goodness : 0.997521 with order 1
Centerline is valid?  [True, True]
Translation: X:511.29, Y:39.66, Z:133.51
[[ 9.61450633e-01 -1.09303286e-01 -2.52320179e-01  5.11293575e+02]
 [ 1.09692905e-01  9.93886089e-01 -1.25661856e-02  3.96581401e+01]
 [ 2.52151041e-01 -1.55959663e-02  9.67562204e-01  1.33507486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.740714057 meters
Centerline goodness : 0.997624 with order 1
Centerline is valid?  [True, True]
Translation: X:511.35, Y:39.66, Z:133.52
[[ 9.61188959e-01 -1.11581396e-01 -2.52319992e-01  5.11352624e+02]
 [ 1.12046895e-01  9.93623414e-01 -1.25699461e-02  3.96600378e+01]
 [ 2.52113624e-01 -1.61895783e-02  9.67562204e-01  1.33522849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.800714057 meters
Centerline goodness : 0.997878 with order 1
Centerline is valid?  [True, True]
Translation: X:511.41, Y:39.66, Z:133.54
[[ 9.60359569e-01 -1.18506938e-01 -2.52320441e-01  5.11411763e+02]
 [ 1.19208579e-01  9.92789775e-01 -1.25609193e-02  3.96595267e+01]
 [ 2.51989710e-01 -1.80157621e-02  9.67562204e-01  1.33537081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.860714057 meters
Centerline goodness : 0.997768 with order 1
Centerline is valid?  [True, True]
Translation: X:511.47, Y:39.66, Z:133.55
[[ 9.59934518e-01 -1.21901834e-01 -2.52320559e-01  5.11470621e+02]
 [ 1.22718759e-01  9.92362025e-01 -1.25585426e-02  3.96595671e+01]
 [ 2.51924251e-01 -1.89090873e-02  9.67562204e-01  1.33552904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.920714057 meters
Centerline goodness : 0.998071 with order 1
Centerline is valid?  [True, True]
Translation: X:511.53, Y:39.66, Z:133.57
[[ 9.60135415e-01 -1.20309183e-01 -2.52320600e-01  5.11528531e+02]
 [ 1.21072525e-01  9.92564228e-01 -1.25577259e-02  3.96598178e+01]
 [ 2.51955211e-01 -1.84919748e-02  9.67562204e-01  1.33569269e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 525.980714057 meters
Centerline goodness : 0.998012 with order 1
Centerline is valid?  [True, True]
Translation: X:511.59, Y:39.66, Z:133.59
[[ 9.60864912e-01 -1.14336942e-01 -2.52320600e-01  5.11587061e+02]
 [ 1.14898633e-01  9.93297844e-01 -1.25577259e-02  3.96613807e+01]
 [ 2.52065320e-01 -1.69250138e-02  9.67562204e-01  1.33585235e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.0407140570001 meters
Centerline goodness : 0.997978 with order 1
Centerline is valid?  [True, True]
Translation: X:511.64, Y:39.66, Z:133.60
[[ 9.62019249e-01 -1.04178819e-01 -2.52320706e-01  5.11644962e+02]
 [ 1.04398377e-01  9.94456302e-01 -1.25555903e-02  3.96638015e+01]
 [ 2.52229943e-01 -1.42631526e-02  9.67562204e-01  1.33599834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.100714057 meters
Centerline goodness : 0.997605 with order 1
Centerline is valid?  [True, True]
Translation: X:511.70, Y:39.67, Z:133.62
[[ 9.63138633e-01 -9.32644956e-02 -2.52320645e-01  5.11703462e+02]
 [ 9.31159363e-02  9.95576089e-01 -1.25568249e-02  3.96668506e+01]
 [ 2.52375507e-01 -1.14011100e-02  9.67562204e-01  1.33616919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.160714057 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:511.76, Y:39.67, Z:133.64
[[ 9.63752245e-01 -8.66941695e-02 -2.52320690e-01  5.11760983e+02]
 [ 8.63246450e-02  9.96187937e-01 -1.25559081e-02  3.96688733e+01]
 [ 2.52447352e-01 -9.68070937e-03  9.67562204e-01  1.33635225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.220714057 meters
Centerline goodness : 0.997472 with order 1
Centerline is valid?  [True, True]
Translation: X:511.82, Y:39.67, Z:133.65
[[ 9.63934407e-01 -8.46447371e-02 -2.52320684e-01  5.11819882e+02]
 [ 8.42062134e-02  9.96369239e-01 -1.25560294e-02  3.96670716e+01]
 [ 2.52467370e-01 -9.14378060e-03  9.67562204e-01  1.33648887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.280714057 meters
Centerline goodness : 0.997641 with order 1
Centerline is valid?  [True, True]
Translation: X:511.88, Y:39.66, Z:133.66
[[ 9.63680982e-01 -8.74834553e-02 -2.52320452e-01  5.11879332e+02]
 [ 8.71392439e-02  9.96116952e-01 -1.25606971e-02  3.96643371e+01]
 [ 2.52439533e-01 -9.88250852e-03  9.67562204e-01  1.33662242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.340714057 meters
Centerline goodness : 0.998229 with order 1
Centerline is valid?  [True, True]
Translation: X:511.94, Y:39.66, Z:133.68
[[ 9.63191607e-01 -9.27163312e-02 -2.52320452e-01  5.11937547e+02]
 [ 9.25482985e-02  9.95628968e-01 -1.25606971e-02  3.96608831e+01]
 [ 2.52382133e-01 -1.12534705e-02  9.67562204e-01  1.33678304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.400714057 meters
Centerline goodness : 0.998048 with order 1
Centerline is valid?  [True, True]
Translation: X:512.00, Y:39.65, Z:133.69
[[ 9.62375854e-01 -1.00832597e-01 -2.52320238e-01  5.11995662e+02]
 [ 1.00936890e-01  9.94813483e-01 -1.25649899e-02  3.96549702e+01]
 [ 2.52278535e-01 -1.33761771e-02  9.67562204e-01  1.33694021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.460714057 meters
Centerline goodness : 0.998058 with order 1
Centerline is valid?  [True, True]
Translation: X:512.05, Y:39.65, Z:133.71
[[ 9.60968981e-01 -1.13460265e-01 -2.52320008e-01  5.12054337e+02]
 [ 1.13989259e-01  9.93402463e-01 -1.25696125e-02  3.96492213e+01]
 [ 2.52081469e-01 -1.66827631e-02  9.67562204e-01  1.33705452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.520714057 meters
Centerline goodness : 0.997946 with order 1
Centerline is valid?  [True, True]
Translation: X:512.11, Y:39.65, Z:133.72
[[ 9.60351915e-01 -1.18569806e-01 -2.52320037e-01  5.12112582e+02]
 [ 1.19271449e-01  9.92782122e-01 -1.25690350e-02  3.96484498e+01]
 [ 2.51989129e-01 -1.80238796e-02  9.67562204e-01  1.33720221e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.580714057 meters
Centerline goodness : 0.998270 with order 1
Centerline is valid?  [True, True]
Translation: X:512.17, Y:39.65, Z:133.74
[[ 9.59522537e-01 -1.25104553e-01 -2.52319939e-01  5.12170690e+02]
 [ 1.26026431e-01  9.91947231e-01 -1.25710018e-02  3.96474147e+01]
 [ 2.51860754e-01 -1.97368216e-02  9.67562204e-01  1.33735535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.640714057 meters
Centerline goodness : 0.998565 with order 1
Centerline is valid?  [True, True]
Translation: X:512.23, Y:39.65, Z:133.75
[[ 9.59456343e-01 -1.25611517e-01 -2.52319783e-01  5.12229071e+02]
 [ 1.26549708e-01  9.91880569e-01 -1.25741337e-02  3.96487974e+01]
 [ 2.51850545e-01 -1.98666626e-02  9.67562204e-01  1.33749642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.700714057 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:512.29, Y:39.65, Z:133.77
[[ 9.59528410e-01 -1.25058644e-01 -2.52320363e-01  5.12286596e+02]
 [ 1.25981198e-01  9.91953085e-01 -1.25624762e-02  3.96514803e+01]
 [ 2.51861009e-01 -1.97335689e-02  9.67562204e-01  1.33765100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.760714057 meters
Centerline goodness : 0.998449 with order 1
Centerline is valid?  [True, True]
Translation: X:512.34, Y:39.66, Z:133.78
[[ 9.59727361e-01 -1.23523458e-01 -2.52319932e-01  5.12342528e+02]
 [ 1.24391878e-01  9.92153530e-01 -1.25711268e-02  3.96560299e+01]
 [ 2.51892940e-01 -1.93216959e-02  9.67562204e-01  1.33781502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.820714057 meters
Centerline goodness : 0.998385 with order 1
Centerline is valid?  [True, True]
Translation: X:512.40, Y:39.66, Z:133.80
[[ 9.59697026e-01 -1.23765022e-01 -2.52316941e-01  5.12398850e+02]
 [ 1.24625983e-01  9.92123392e-01 -1.26308942e-02  3.96589934e+01]
 [ 2.51892802e-01 -1.93234152e-02  9.67562206e-01  1.33797223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.880714057 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:512.46, Y:39.66, Z:133.82
[[ 9.59536708e-01 -1.25003144e-01 -2.52316309e-01  5.12457771e+02]
 [ 1.25902648e-01  9.91962028e-01 -1.26434938e-02  3.96621655e+01]
 [ 2.51868674e-01 -1.96353950e-02  9.67562206e-01  1.33815363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 526.940714057 meters
Centerline goodness : 0.998335 with order 1
Centerline is valid?  [True, True]
Translation: X:512.52, Y:39.67, Z:133.83
[[ 9.59767789e-01 -1.23214913e-01 -2.52317017e-01  5.12517835e+02]
 [ 1.24057688e-01  9.92194633e-01 -1.26293606e-02  3.96664225e+01]
 [ 2.51903715e-01 -1.91806121e-02  9.67562206e-01  1.33828837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.000714057 meters
Centerline goodness : 0.998203 with order 1
Centerline is valid?  [True, True]
Translation: X:512.58, Y:39.67, Z:133.84
[[ 9.60290969e-01 -1.19067318e-01 -2.52317716e-01  5.12576399e+02]
 [ 1.19773647e-01  9.92721071e-01 -1.26153792e-02  3.96723321e+01]
 [ 2.51983192e-01 -1.81065782e-02  9.67562206e-01  1.33844829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.060714057 meters
Centerline goodness : 0.998557 with order 1
Centerline is valid?  [True, True]
Translation: X:512.63, Y:39.68, Z:133.86
[[ 9.60891425e-01 -1.14119720e-01 -2.52317973e-01  5.12634257e+02]
 [ 1.14660355e-01  9.93324713e-01 -1.26102252e-02  3.96764921e+01]
 [ 2.52072754e-01 -1.68138111e-02  9.67562206e-01  1.33860239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.120714057 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:512.69, Y:39.68, Z:133.88
[[ 9.61663416e-01 -1.07420728e-01 -2.52317780e-01  5.12691560e+02]
 [ 1.07734321e-01  9.94099694e-01 -1.26140820e-02  3.96799215e+01]
 [ 2.52184042e-01 -1.50527836e-02  9.67562206e-01  1.33878841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.180714057 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:512.75, Y:39.68, Z:133.90
[[ 9.62555064e-01 -9.91135683e-02 -2.52317756e-01  5.12749523e+02]
 [ 9.91469629e-02  9.94992840e-01 -1.26145687e-02  3.96832520e+01]
 [ 2.52304636e-01 -1.28743222e-02  9.67562206e-01  1.33896380e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.240714057 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:512.81, Y:39.69, Z:133.91
[[ 9.63093508e-01 -9.37369137e-02 -2.52317828e-01  5.12808330e+02]
 [ 9.35895431e-02  9.95530967e-01 -1.26131357e-02  3.96856066e+01]
 [ 2.52372527e-01 -1.14666812e-02  9.67562206e-01  1.33912135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.300714057 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:512.87, Y:39.69, Z:133.93
[[ 9.63145238e-01 -9.32032535e-02 -2.52318061e-01  5.12865972e+02]
 [ 9.30391296e-02  9.95582617e-01 -1.26084689e-02  3.96856771e+01]
 [ 2.52378626e-01 -1.13316660e-02  9.67562206e-01  1.33926316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.360714057 meters
Centerline goodness : 0.998042 with order 1
Centerline is valid?  [True, True]
Translation: X:512.92, Y:39.69, Z:133.94
[[ 9.63147712e-01 -9.31785207e-02 -2.52317754e-01  5.12924142e+02]
 [ 9.30119584e-02  9.95585078e-01 -1.26146094e-02  3.96855700e+01]
 [ 2.52379201e-01 -1.13188363e-02  9.67562206e-01  1.33941211e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.420714057 meters
Centerline goodness : 0.998403 with order 1
Centerline is valid?  [True, True]
Translation: X:512.98, Y:39.69, Z:133.96
[[ 9.63180104e-01 -9.28437207e-02 -2.52317520e-01  5.12980168e+02]
 [ 9.26646579e-02  9.95617404e-01 -1.26192954e-02  3.96860942e+01]
 [ 2.52383336e-01 -1.12262624e-02  9.67562206e-01  1.33955308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.480714057 meters
Centerline goodness : 0.998182 with order 1
Centerline is valid?  [True, True]
Translation: X:513.04, Y:39.69, Z:133.97
[[ 9.63421239e-01 -9.03104016e-02 -2.52316366e-01  5.13037227e+02]
 [ 9.00400135e-02  9.95857905e-01 -1.26423272e-02  3.96865676e+01]
 [ 2.52412981e-01 -1.05386825e-02  9.67562206e-01  1.33973138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.5407140570001 meters
Centerline goodness : 0.998366 with order 1
Centerline is valid?  [True, True]
Translation: X:513.09, Y:39.69, Z:133.99
[[ 9.63622833e-01 -8.81346852e-02 -2.52315900e-01  5.13093508e+02]
 [ 8.77886229e-02  9.96058780e-01 -1.26516227e-02  3.96870174e+01]
 [ 2.52436514e-01 -9.95907286e-03  9.67562206e-01  1.33989596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.600714057 meters
Centerline goodness : 0.998817 with order 1
Centerline is valid?  [True, True]
Translation: X:513.15, Y:39.69, Z:134.00
[[ 9.63542343e-01 -8.90129614e-02 -2.52314974e-01  5.13151325e+02]
 [ 8.86916469e-02  9.95978545e-01 -1.26700466e-02  3.96858246e+01]
 [ 2.52428100e-01 -1.01701042e-02  9.67562207e-01  1.34004681e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.660714057 meters
Centerline goodness : 0.998658 with order 1
Centerline is valid?  [True, True]
Translation: X:513.21, Y:39.68, Z:134.02
[[ 9.63129326e-01 -9.33771678e-02 -2.52314498e-01  5.13207529e+02]
 [ 9.32003233e-02  9.95566637e-01 -1.26795268e-02  3.96843794e+01]
 [ 2.52379875e-01 -1.13037687e-02  9.67562207e-01  1.34016761e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.720714057 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:513.27, Y:39.68, Z:134.03
[[ 9.62319010e-01 -1.01391458e-01 -2.52313090e-01  5.13265788e+02]
 [ 1.01477334e-01  9.94756689e-01 -1.27074793e-02  3.96819928e+01]
 [ 2.52278564e-01 -1.33754108e-02  9.67562207e-01  1.34031666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.780714057 meters
Centerline goodness : 0.997763 with order 1
Centerline is valid?  [True, True]
Translation: X:513.32, Y:39.68, Z:134.05
[[ 9.62035932e-01 -1.04043642e-01 -2.52312872e-01  5.13324321e+02]
 [ 1.04217799e-01  9.94473258e-01 -1.27118060e-02  3.96826628e+01]
 [ 2.52240987e-01 -1.40662780e-02  9.67562207e-01  1.34046773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.840714057 meters
Centerline goodness : 0.997183 with order 1
Centerline is valid?  [True, True]
Translation: X:513.38, Y:39.68, Z:134.06
[[ 9.61789967e-01 -1.06293342e-01 -2.52312872e-01  5.13382275e+02]
 [ 1.06543362e-01  9.94226796e-01 -1.27118060e-02  3.96831628e+01]
 [ 2.52207399e-01 -1.46561742e-02  9.67562207e-01  1.34063809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.900714057 meters
Centerline goodness : 0.996446 with order 1
Centerline is valid?  [True, True]
Translation: X:513.44, Y:39.68, Z:134.08
[[ 9.61519519e-01 -1.08712651e-01 -2.52312848e-01  5.13441687e+02]
 [ 1.09044147e-01  9.93955619e-01 -1.27122908e-02  3.96829619e+01]
 [ 2.52169760e-01 -1.52901235e-02  9.67562207e-01  1.34080504e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 527.960714057 meters
Centerline goodness : 0.996420 with order 1
Centerline is valid?  [True, True]
Translation: X:513.50, Y:39.68, Z:134.10
[[ 9.61041726e-01 -1.12857357e-01 -2.52313332e-01  5.13499821e+02]
 [ 1.13331219e-01  9.93476058e-01 -1.27026682e-02  3.96837378e+01]
 [ 2.52100844e-01 -1.63871833e-02  9.67562207e-01  1.34095422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.020714057 meters
Centerline goodness : 0.996652 with order 1
Centerline is valid?  [True, True]
Translation: X:513.56, Y:39.69, Z:134.11
[[ 9.60520704e-01 -1.17208659e-01 -2.52313511e-01  5.13557112e+02]
 [ 1.17830334e-01  9.92952539e-01 -1.26991210e-02  3.96851860e+01]
 [ 2.52023788e-01 -1.75324167e-02  9.67562207e-01  1.34109166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.080714057 meters
Centerline goodness : 0.996691 with order 1
Centerline is valid?  [True, True]
Translation: X:513.62, Y:39.69, Z:134.12
[[ 9.60081963e-01 -1.20750698e-01 -2.52313086e-01  5.13615648e+02]
 [ 1.21489788e-01  9.92511335e-01 -1.27075534e-02  3.96874671e+01]
 [ 2.51958044e-01 -1.84531707e-02  9.67562207e-01  1.34124162e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.140714057 meters
Centerline goodness : 0.996807 with order 1
Centerline is valid?  [True, True]
Translation: X:513.67, Y:39.69, Z:134.14
[[ 9.59882033e-01 -1.22329726e-01 -2.52313142e-01  5.13674913e+02]
 [ 1.23122445e-01  9.92310138e-01 -1.27064503e-02  3.96907485e+01]
 [ 2.51927265e-01 -1.88687176e-02  9.67562207e-01  1.34138790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.200714057 meters
Centerline goodness : 0.997437 with order 1
Centerline is valid?  [True, True]
Translation: X:513.73, Y:39.70, Z:134.16
[[ 9.59854631e-01 -1.22543589e-01 -2.52313605e-01  5.13733578e+02]
 [ 1.23345940e-01  9.92282500e-01 -1.26972430e-02  3.96956565e+01]
 [ 2.51922341e-01 -1.89343513e-02  9.67562207e-01  1.34156100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.260714057 meters
Centerline goodness : 0.997103 with order 1
Centerline is valid?  [True, True]
Translation: X:513.79, Y:39.70, Z:134.17
[[ 9.59890755e-01 -1.22259355e-01 -2.52314066e-01  5.13793748e+02]
 [ 1.23054496e-01  9.92318801e-01 -1.26880888e-02  3.97007999e+01]
 [ 2.51927229e-01 -1.88692011e-02  9.67562207e-01  1.34173128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.320714057 meters
Centerline goodness : 0.997471 with order 1
Centerline is valid?  [True, True]
Translation: X:513.85, Y:39.71, Z:134.19
[[ 9.60069544e-01 -1.20844568e-01 -2.52315401e-01  5.13852984e+02]
 [ 1.21598872e-01  9.92498565e-01 -1.26614816e-02  3.97072984e+01]
 [ 2.51952744e-01 -1.85253653e-02  9.67562208e-01  1.34189328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.380714057 meters
Centerline goodness : 0.997625 with order 1
Centerline is valid?  [True, True]
Translation: X:513.91, Y:39.71, Z:134.21
[[ 9.60057377e-01 -1.20940195e-01 -2.52315877e-01  5.13912712e+02]
 [ 1.21700212e-01  9.92486265e-01 -1.26519803e-02  3.97133484e+01]
 [ 2.51950176e-01 -1.85602688e-02  9.67562208e-01  1.34205168e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.440714057 meters
Centerline goodness : 0.997693 with order 1
Centerline is valid?  [True, True]
Translation: X:513.97, Y:39.72, Z:134.22
[[ 9.59766227e-01 -1.23227459e-01 -2.52316830e-01  5.13970757e+02]
 [ 1.24069716e-01  9.92193083e-01 -1.26329618e-02  3.97191246e+01]
 [ 2.51903741e-01 -1.91801874e-02  9.67562208e-01  1.34218603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.500714057 meters
Centerline goodness : 0.998215 with order 1
Centerline is valid?  [True, True]
Translation: X:514.03, Y:39.73, Z:134.23
[[ 9.59541045e-01 -1.24966932e-01 -2.52317755e-01  5.14030048e+02]
 [ 1.25872805e-01  9.91966185e-01 -1.26144453e-02  3.97260330e+01]
 [ 2.51867070e-01 -1.96558654e-02  9.67562208e-01  1.34234117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.560714057 meters
Centerline goodness : 0.997813 with order 1
Centerline is valid?  [True, True]
Translation: X:514.09, Y:39.73, Z:134.25
[[ 9.59629245e-01 -1.24286881e-01 -2.52318218e-01  5.14089511e+02]
 [ 1.25172197e-01  9.92054953e-01 -1.26051753e-02  3.97324684e+01]
 [ 2.51880196e-01 -1.94869309e-02  9.67562208e-01  1.34249733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.620714057 meters
Centerline goodness : 0.998100 with order 1
Centerline is valid?  [True, True]
Translation: X:514.15, Y:39.74, Z:134.27
[[ 9.59666070e-01 -1.24000821e-01 -2.52318905e-01  5.14149049e+02]
 [ 1.24880066e-01  9.92091944e-01 -1.25914217e-02  3.97368012e+01]
 [ 2.51884899e-01 -1.94260412e-02  9.67562208e-01  1.34265443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.680714057 meters
Centerline goodness : 0.998235 with order 1
Centerline is valid?  [True, True]
Translation: X:514.21, Y:39.74, Z:134.28
[[ 9.59926356e-01 -1.21968092e-01 -2.52319589e-01  5.14206816e+02]
 [ 1.22782248e-01  9.92353929e-01 -1.25776968e-02  3.97428804e+01]
 [ 2.51924413e-01 -1.89067037e-02  9.67562208e-01  1.34282272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.740714057 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:514.27, Y:39.75, Z:134.30
[[ 9.60173827e-01 -1.20004365e-01 -2.52319589e-01  5.14265659e+02]
 [ 1.20752190e-01  9.92602997e-01 -1.25776968e-02  3.97489162e+01]
 [ 2.51962559e-01 -1.83913677e-02  9.67562208e-01  1.34298591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.800714057 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:514.32, Y:39.75, Z:134.31
[[ 9.60370973e-01 -1.18415284e-01 -2.52320064e-01  5.14324951e+02]
 [ 1.19111938e-01  9.92801283e-01 -1.25681567e-02  3.97539636e+01]
 [ 2.51991945e-01 -1.79842390e-02  9.67562208e-01  1.34312911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.860714057 meters
Centerline goodness : 0.997675 with order 1
Centerline is valid?  [True, True]
Translation: X:514.38, Y:39.76, Z:134.33
[[ 9.60414996e-01 -1.18056701e-01 -2.52320533e-01  5.14383481e+02]
 [ 1.18743710e-01  9.92845511e-01 -1.25587311e-02  3.97578629e+01]
 [ 2.51997951e-01 -1.78998825e-02  9.67562208e-01  1.34327166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.920714057 meters
Centerline goodness : 0.998029 with order 1
Centerline is valid?  [True, True]
Translation: X:514.44, Y:39.76, Z:134.34
[[ 9.60516270e-01 -1.17229380e-01 -2.52320762e-01  5.14442207e+02]
 [ 1.17889655e-01  9.92947341e-01 -1.25541361e-02  3.97608203e+01]
 [ 2.52012943e-01 -1.76875557e-02  9.67562208e-01  1.34343548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 528.980714057 meters
Centerline goodness : 0.997691 with order 1
Centerline is valid?  [True, True]
Translation: X:514.50, Y:39.76, Z:134.36
[[ 9.60944565e-01 -1.13664673e-01 -2.52320996e-01  5.14501724e+02]
 [ 1.14205843e-01  9.93377842e-01 -1.25494246e-02  3.97649704e+01]
 [ 2.52076513e-01 -1.67572307e-02  9.67562208e-01  1.34360345e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.0407140570001 meters
Centerline goodness : 0.997943 with order 1
Centerline is valid?  [True, True]
Translation: X:514.56, Y:39.77, Z:134.38
[[ 9.61166236e-01 -1.11772612e-01 -2.52321919e-01  5.14560547e+02]
 [ 1.12254788e-01  9.93600443e-01 -1.25308379e-02  3.97677647e+01]
 [ 2.52107775e-01 -1.62801252e-02  9.67562208e-01  1.34376744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.100714057 meters
Centerline goodness : 0.997643 with order 1
Centerline is valid?  [True, True]
Translation: X:514.62, Y:39.77, Z:134.39
[[ 9.61174580e-01 -1.11700314e-01 -2.52322150e-01  5.14619757e+02]
 [ 1.12181266e-01  9.93608805e-01 -1.25261862e-02  3.97695414e+01]
 [ 2.52108689e-01 -1.62659665e-02  9.67562208e-01  1.34391488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.160714057 meters
Centerline goodness : 0.997800 with order 1
Centerline is valid?  [True, True]
Translation: X:514.68, Y:39.77, Z:134.41
[[ 9.61086541e-01 -1.12454266e-01 -2.52322608e-01  5.14679567e+02]
 [ 1.12963071e-01  9.93520342e-01 -1.25169661e-02  3.97719419e+01]
 [ 2.52095230e-01 -1.64732491e-02  9.67562208e-01  1.34407334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.220714057 meters
Centerline goodness : 0.997195 with order 1
Centerline is valid?  [True, True]
Translation: X:514.74, Y:39.77, Z:134.42
[[ 9.60749274e-01 -1.15298148e-01 -2.52323542e-01  5.14737753e+02]
 [ 1.15907868e-01  9.93181335e-01 -1.24981127e-02  3.97737362e+01]
 [ 2.52044041e-01 -1.72387311e-02  9.67562209e-01  1.34421436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.280714057 meters
Centerline goodness : 0.997197 with order 1
Centerline is valid?  [True, True]
Translation: X:514.80, Y:39.78, Z:134.44
[[ 9.60624061e-01 -1.16334493e-01 -2.52324591e-01  5.14797409e+02]
 [ 1.16984745e-01  9.93055334e-01 -1.24768976e-02  3.97760655e+01]
 [ 2.52023774e-01 -1.75325198e-02  9.67562209e-01  1.34437852e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.340714057 meters
Centerline goodness : 0.997470 with order 1
Centerline is valid?  [True, True]
Translation: X:514.86, Y:39.78, Z:134.45
[[ 9.60400692e-01 -1.18162871e-01 -2.52325279e-01  5.14857027e+02]
 [ 1.18878500e-01  9.92830588e-01 -1.24629554e-02  3.97788157e+01]
 [ 2.51988914e-01 -1.80266197e-02  9.67562209e-01  1.34454446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.400714057 meters
Centerline goodness : 0.997520 with order 1
Centerline is valid?  [True, True]
Translation: X:514.92, Y:39.78, Z:134.47
[[ 9.60310021e-01 -1.18895575e-01 -2.52326189e-01  5.14916073e+02]
 [ 1.19640770e-01  9.92739251e-01 -1.24445037e-02  3.97814956e+01]
 [ 2.51973709e-01 -1.82379179e-02  9.67562209e-01  1.34468683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.460714057 meters
Centerline goodness : 0.997485 with order 1
Centerline is valid?  [True, True]
Translation: X:514.97, Y:39.79, Z:134.48
[[ 9.59994801e-01 -1.21413550e-01 -2.52326638e-01  5.14974526e+02]
 [ 1.22246167e-01  9.92421904e-01 -1.24353966e-02  3.97851630e+01]
 [ 2.51924308e-01 -1.89080482e-02  9.67562209e-01  1.34484860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.520714057 meters
Centerline goodness : 0.996883 with order 1
Centerline is valid?  [True, True]
Translation: X:515.03, Y:39.79, Z:134.50
[[ 9.59599058e-01 -1.24502210e-01 -2.52326866e-01  5.15033090e+02]
 [ 1.25440384e-01  9.92023279e-01 -1.24307665e-02  3.97894664e+01]
 [ 2.51861783e-01 -1.97234271e-02  9.67562209e-01  1.34501892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.580714057 meters
Centerline goodness : 0.997312 with order 1
Centerline is valid?  [True, True]
Translation: X:515.09, Y:39.79, Z:134.52
[[ 9.59072724e-01 -1.28493419e-01 -2.52327071e-01  5.15090396e+02]
 [ 1.29567566e-01  9.91492726e-01 -1.24266169e-02  3.97946075e+01]
 [ 2.51777194e-01 -2.07753751e-02  9.67562209e-01  1.34516450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.640714057 meters
Centerline goodness : 0.997624 with order 1
Centerline is valid?  [True, True]
Translation: X:515.15, Y:39.80, Z:134.53
[[ 9.58330298e-01 -1.33917568e-01 -2.52327415e-01  5.15149481e+02]
 [ 1.35176950e-01  9.90743633e-01 -1.24196216e-02  3.97987370e+01]
 [ 2.51654985e-01 -2.22067506e-02  9.67562209e-01  1.34531486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.700714057 meters
Centerline goodness : 0.997745 with order 1
Centerline is valid?  [True, True]
Translation: X:515.21, Y:39.80, Z:134.55
[[ 9.57752851e-01 -1.37986293e-01 -2.52327685e-01  5.15208237e+02]
 [ 1.39384751e-01  9.90160482e-01 -1.24141409e-02  3.98031894e+01]
 [ 2.51557883e-01 -2.32809526e-02  9.67562209e-01  1.34546197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.760714057 meters
Centerline goodness : 0.997556 with order 1
Centerline is valid?  [True, True]
Translation: X:515.27, Y:39.81, Z:134.56
[[ 9.57731295e-01 -1.38135518e-01 -2.52327853e-01  5.15267377e+02]
 [ 1.39539919e-01  9.90138670e-01 -1.24107234e-02  3.98099203e+01]
 [ 2.51553926e-01 -2.33236699e-02  9.67562209e-01  1.34561868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.820714057 meters
Centerline goodness : 0.997680 with order 1
Centerline is valid?  [True, True]
Translation: X:515.33, Y:39.82, Z:134.58
[[ 9.58767353e-01 -1.30749645e-01 -2.52328542e-01  5.15325052e+02]
 [ 1.31907889e-01  9.91184459e-01 -1.23966865e-02  3.98183609e+01]
 [ 2.51724992e-01 -2.13985872e-02  9.67562209e-01  1.34577706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.880714057 meters
Centerline goodness : 0.997342 with order 1
Centerline is valid?  [True, True]
Translation: X:515.38, Y:39.83, Z:134.59
[[ 9.59688922e-01 -1.23804234e-01 -2.52328525e-01  5.15383342e+02]
 [ 1.24727636e-01  9.92113567e-01 -1.23970494e-02  3.98268818e+01]
 [ 2.51873360e-01 -1.95750294e-02  9.67562209e-01  1.34593631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 529.940714057 meters
Centerline goodness : 0.997667 with order 1
Centerline is valid?  [True, True]
Translation: X:515.44, Y:39.83, Z:134.61
[[ 9.60323299e-01 -1.18783192e-01 -2.52328586e-01  5.15442175e+02]
 [ 1.19537321e-01  9.92752322e-01 -1.23958030e-02  3.98347274e+01]
 [ 2.51972203e-01 -1.82587046e-02  9.67562209e-01  1.34608966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.000714057 meters
Centerline goodness : 0.997792 with order 1
Centerline is valid?  [True, True]
Translation: X:515.50, Y:39.84, Z:134.62
[[ 9.60472004e-01 -1.17574019e-01 -2.52328912e-01  5.15500988e+02]
 [ 1.18289056e-01  9.92901913e-01 -1.23891553e-02  3.98403394e+01]
 [ 2.51994502e-01 -1.79483118e-02  9.67562209e-01  1.34623526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.060714057 meters
Centerline goodness : 0.997814 with order 1
Centerline is valid?  [True, True]
Translation: X:515.56, Y:39.85, Z:134.64
[[ 9.60157206e-01 -1.20116323e-01 -2.52329565e-01  5.15559865e+02]
 [ 1.20920687e-01  9.92585022e-01 -1.23758546e-02  3.98464291e+01]
 [ 2.51945089e-01 -1.86290983e-02  9.67562209e-01  1.34639365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.120714057 meters
Centerline goodness : 0.997263 with order 1
Centerline is valid?  [True, True]
Translation: X:515.62, Y:39.85, Z:134.65
[[ 9.59633750e-01 -1.24228601e-01 -2.52329786e-01  5.15618626e+02]
 [ 1.25173063e-01  9.92057788e-01 -1.23713307e-02  3.98512235e+01]
 [ 2.51862603e-01 -1.97129457e-02  9.67562209e-01  1.34652855e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.180714057 meters
Centerline goodness : 0.997570 with order 1
Centerline is valid?  [True, True]
Translation: X:515.68, Y:39.86, Z:134.67
[[ 9.59302000e-01 -1.26764865e-01 -2.52329829e-01  5.15676796e+02]
 [ 1.27795258e-01  9.91723421e-01 -1.23704691e-02  3.98554686e+01]
 [ 2.51809542e-01 -2.03795399e-02  9.67562209e-01  1.34668698e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.240714057 meters
Centerline goodness : 0.998151 with order 1
Centerline is valid?  [True, True]
Translation: X:515.74, Y:39.86, Z:134.69
[[ 9.59250892e-01 -1.27150784e-01 -2.52329952e-01  5.15735225e+02]
 [ 1.28194880e-01  9.91671874e-01 -1.23679469e-02  3.98602819e+01]
 [ 2.51801111e-01 -2.04834439e-02  9.67562209e-01  1.34686049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.300714057 meters
Centerline goodness : 0.997861 with order 1
Centerline is valid?  [True, True]
Translation: X:515.79, Y:39.87, Z:134.70
[[ 9.59619186e-01 -1.24339805e-01 -2.52330399e-01  5.15792929e+02]
 [ 1.25291295e-01  9.92043019e-01 -1.23588185e-02  3.98650714e+01]
 [ 2.51859304e-01 -1.97550431e-02  9.67562209e-01  1.34701003e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.360714057 meters
Centerline goodness : 0.998258 with order 1
Centerline is valid?  [True, True]
Translation: X:515.85, Y:39.87, Z:134.72
[[ 9.60000602e-01 -1.21359851e-01 -2.52330399e-01  5.15850450e+02]
 [ 1.22210669e-01  9.92427233e-01 -1.23588185e-02  3.98706813e+01]
 [ 2.51919424e-01 -1.89729936e-02  9.67562209e-01  1.34717892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.420714057 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:515.91, Y:39.87, Z:134.73
[[ 9.60213844e-01 -1.19660973e-01 -2.52330389e-01  5.15911137e+02]
 [ 1.20454357e-01  9.92641931e-01 -1.23590279e-02  3.98748276e+01]
 [ 2.51952618e-01 -1.85269850e-02  9.67562209e-01  1.34731815e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.480714057 meters
Centerline goodness : 0.998118 with order 1
Centerline is valid?  [True, True]
Translation: X:515.97, Y:39.88, Z:134.75
[[ 9.60468875e-01 -1.17594456e-01 -2.52331299e-01  5.15970932e+02]
 [ 1.18322918e-01  9.92898485e-01 -1.23404327e-02  3.98782771e+01]
 [ 2.51990530e-01 -1.80039740e-02  9.67562210e-01  1.34747548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.5407140570001 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:516.03, Y:39.88, Z:134.76
[[ 9.60996797e-01 -1.13197185e-01 -2.52332229e-01  5.16028674e+02]
 [ 1.13782193e-01  9.93429311e-01 -1.23213702e-02  3.98845251e+01]
 [ 2.52068977e-01 -1.68701171e-02  9.67562210e-01  1.34761647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.600714057 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:516.09, Y:39.89, Z:134.78
[[ 9.61535781e-01 -1.08523966e-01 -2.52332103e-01  5.16086755e+02]
 [ 1.08950619e-01  9.93970765e-01 -1.23239616e-02  3.98889896e+01]
 [ 2.52148179e-01 -1.56418088e-02  9.67562210e-01  1.34779267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.660714057 meters
Centerline goodness : 0.998429 with order 1
Centerline is valid?  [True, True]
Translation: X:516.15, Y:39.89, Z:134.80
[[ 9.61899672e-01 -1.05249306e-01 -2.52332329e-01  5.16145553e+02]
 [ 1.05566725e-01  9.94335909e-01 -1.23193306e-02  3.98914710e+01]
 [ 2.52199697e-01 -1.47879376e-02  9.67562210e-01  1.34796166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.720714057 meters
Centerline goodness : 0.998452 with order 1
Centerline is valid?  [True, True]
Translation: X:516.20, Y:39.89, Z:134.81
[[ 9.62204519e-01 -1.02424335e-01 -2.52332555e-01  5.16203943e+02]
 [ 1.02647720e-01  9.94641540e-01 -1.23146933e-02  3.98942297e+01]
 [ 2.52241766e-01 -1.40521080e-02  9.67562210e-01  1.34813594e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.780714057 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:516.26, Y:39.90, Z:134.83
[[ 9.62558137e-01 -9.90459368e-02 -2.52332589e-01  5.16262282e+02]
 [ 9.91556321e-02  9.94995742e-01 -1.23140053e-02  3.98952054e+01]
 [ 2.52289504e-01 -1.31672514e-02  9.67562210e-01  1.34831033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.840714057 meters
Centerline goodness : 0.997887 with order 1
Centerline is valid?  [True, True]
Translation: X:516.32, Y:39.90, Z:134.85
[[ 9.62664114e-01 -9.80099591e-02 -2.52332821e-01  5.16322724e+02]
 [ 9.80859878e-02  9.95101815e-01 -1.23092497e-02  3.98951114e+01]
 [ 2.52303277e-01 -1.29006410e-02  9.67562210e-01  1.34845536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.900714057 meters
Centerline goodness : 0.998324 with order 1
Centerline is valid?  [True, True]
Translation: X:516.38, Y:39.90, Z:134.86
[[ 9.62748954e-01 -9.71706581e-02 -2.52333735e-01  5.16383288e+02]
 [ 9.72233159e-02  9.95186702e-01 -1.22904733e-02  3.98959506e+01]
 [ 2.52313451e-01 -1.27000821e-02  9.67562210e-01  1.34861119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 530.960714057 meters
Centerline goodness : 0.998084 with order 1
Centerline is valid?  [True, True]
Translation: X:516.44, Y:39.90, Z:134.88
[[ 9.62881920e-01 -9.58416684e-02 -2.52334666e-01  5.16441889e+02]
 [ 9.58545542e-02  9.95319707e-01 -1.22713388e-02  3.98977188e+01]
 [ 2.52329771e-01 -1.23715766e-02  9.67562210e-01  1.34875240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.020714057 meters
Centerline goodness : 0.998097 with order 1
Centerline is valid?  [True, True]
Translation: X:516.50, Y:39.90, Z:134.89
[[ 9.63115701e-01 -9.34594423e-02 -2.52336043e-01  5.16500210e+02]
 [ 9.33995022e-02  9.95553435e-01 -1.22429666e-02  3.98992821e+01]
 [ 2.52358235e-01 -1.17766674e-02  9.67562211e-01  1.34892259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.080714057 meters
Centerline goodness : 0.997822 with order 1
Centerline is valid?  [True, True]
Translation: X:516.56, Y:39.90, Z:134.91
[[ 9.63370643e-01 -9.07932363e-02 -2.52336270e-01  5.16558487e+02]
 [ 9.06447358e-02  9.95808092e-01 -1.22382803e-02  3.99004286e+01]
 [ 2.52389653e-01 -1.10829546e-02  9.67562211e-01  1.34907223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.140714057 meters
Centerline goodness : 0.998010 with order 1
Centerline is valid?  [True, True]
Translation: X:516.62, Y:39.90, Z:134.92
[[ 9.63445847e-01 -8.99917008e-02 -2.52336270e-01  5.16618081e+02]
 [ 8.98162131e-02  9.95883162e-01 -1.22382803e-02  3.99017767e+01]
 [ 2.52398786e-01 -1.08729679e-02  9.67562211e-01  1.34924513e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.200714057 meters
Centerline goodness : 0.998107 with order 1
Centerline is valid?  [True, True]
Translation: X:516.68, Y:39.90, Z:134.94
[[ 9.63169772e-01 -9.28974668e-02 -2.52337178e-01  5.16676287e+02]
 [ 9.28247271e-02  9.95607479e-01 -1.22195294e-02  3.99013726e+01]
 [ 2.52363945e-01 -1.16536483e-02  9.67562211e-01  1.34940764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.260714057 meters
Centerline goodness : 0.998728 with order 1
Centerline is valid?  [True, True]
Translation: X:516.73, Y:39.90, Z:134.96
[[ 9.62756965e-01 -9.70821929e-02 -2.52337222e-01  5.16734031e+02]
 [ 9.71506538e-02  9.95194682e-01 -1.22186233e-02  3.98997552e+01]
 [ 2.52310872e-01 -1.27511614e-02  9.67562211e-01  1.34955292e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.320714057 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:516.79, Y:39.90, Z:134.97
[[ 9.62355148e-01 -1.00986943e-01 -2.52337486e-01  5.16794367e+02]
 [ 1.01188420e-01  9.94792311e-01 -1.22131580e-02  3.98983156e+01]
 [ 2.52256761e-01 -1.37802360e-02  9.67562211e-01  1.34971422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.380714057 meters
Centerline goodness : 0.998958 with order 1
Centerline is valid?  [True, True]
Translation: X:516.85, Y:39.90, Z:134.99
[[ 9.61900423e-01 -1.05227872e-01 -2.52338408e-01  5.16853776e+02]
 [ 1.05577309e-01  9.94336329e-01 -1.21940929e-02  3.98984109e+01]
 [ 2.52192405e-01 -1.49117069e-02  9.67562211e-01  1.34986519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.440714057 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:516.91, Y:39.90, Z:135.00
[[ 9.61370014e-01 -1.09967770e-01 -2.52338634e-01  5.16912624e+02]
 [ 1.10478304e-01  9.93803785e-01 -1.21894048e-02  3.98980660e+01]
 [ 2.52115531e-01 -1.61594160e-02  9.67562211e-01  1.35002849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.500714057 meters
Centerline goodness : 0.998939 with order 1
Centerline is valid?  [True, True]
Translation: X:516.97, Y:39.90, Z:135.02
[[ 9.60982253e-01 -1.13305484e-01 -2.52339010e-01  5.16971414e+02]
 [ 1.13930676e-01  9.93414017e-01 -1.21816198e-02  3.98982425e+01]
 [ 2.52057354e-01 -1.70428337e-02  9.67562211e-01  1.35019917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.560714057 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:517.03, Y:39.90, Z:135.04
[[ 9.60978607e-01 -1.13335658e-01 -2.52339347e-01  5.17031057e+02]
 [ 1.13963697e-01  9.93410315e-01 -1.21746278e-02  3.98995952e+01]
 [ 2.52056330e-01 -1.70579680e-02  9.67562211e-01  1.35037066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.620714057 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:517.09, Y:39.90, Z:135.05
[[ 9.61275217e-01 -1.10790193e-01 -2.52340031e-01  5.17090184e+02]
 [ 1.11336045e-01  9.93708412e-01 -1.21604396e-02  3.99006939e+01]
 [ 2.52099669e-01 -1.64050119e-02  9.67562211e-01  1.35052810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.680714057 meters
Centerline goodness : 0.997868 with order 1
Centerline is valid?  [True, True]
Translation: X:517.15, Y:39.90, Z:135.07
[[ 9.61490458e-01 -1.08905366e-01 -2.52340484e-01  5.17148781e+02]
 [ 1.09390088e-01  9.93924625e-01 -1.21510392e-02  3.99020676e+01]
 [ 2.52130734e-01 -1.59204396e-02  9.67562211e-01  1.35067425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.740714057 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:517.21, Y:39.90, Z:135.08
[[ 9.61714947e-01 -1.06904825e-01 -2.52340484e-01  5.17208139e+02]
 [ 1.07322069e-01  9.94150052e-01 -1.21510392e-02  3.99020138e+01]
 [ 2.52163310e-01 -1.53958668e-02  9.67562211e-01  1.35082203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.800714057 meters
Centerline goodness : 0.998161 with order 1
Centerline is valid?  [True, True]
Translation: X:517.27, Y:39.90, Z:135.10
[[ 9.61968462e-01 -1.04597934e-01 -2.52340940e-01  5.17267974e+02]
 [ 1.04939861e-01  9.94404449e-01 -1.21415645e-02  3.99041343e+01]
 [ 2.52198936e-01 -1.48008210e-02  9.67562211e-01  1.35097768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.860714057 meters
Centerline goodness : 0.997962 with order 1
Centerline is valid?  [True, True]
Translation: X:517.33, Y:39.91, Z:135.11
[[ 9.62256919e-01 -1.01907858e-01 -2.52341851e-01  5.17326598e+02]
 [ 1.02164048e-01  9.94693696e-01 -1.21226071e-02  3.99072650e+01]
 [ 2.52238237e-01 -1.41152025e-02  9.67562211e-01  1.35113324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.920714057 meters
Centerline goodness : 0.998248 with order 1
Centerline is valid?  [True, True]
Translation: X:517.38, Y:39.91, Z:135.13
[[ 9.62387524e-01 -1.00666212e-01 -2.52342165e-01  5.17384629e+02]
 [ 1.00882261e-01  9.94824593e-01 -1.21160622e-02  3.99093063e+01]
 [ 2.52255869e-01 -1.37965011e-02  9.67562211e-01  1.35128816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 531.980714057 meters
Centerline goodness : 0.997670 with order 1
Centerline is valid?  [True, True]
Translation: X:517.44, Y:39.91, Z:135.14
[[ 9.61896079e-01 -1.05258027e-01 -2.52342388e-01  5.17443748e+02]
 [ 1.05630097e-01  9.94331734e-01 -1.21114026e-02  3.99092297e+01]
 [ 2.52186867e-01 -1.50050403e-02  9.67562211e-01  1.35144911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.0407140570001 meters
Centerline goodness : 0.998038 with order 1
Centerline is valid?  [True, True]
Translation: X:517.50, Y:39.91, Z:135.16
[[ 9.61109650e-01 -1.12211322e-01 -2.52342742e-01  5.17502522e+02]
 [ 1.12819872e-01  9.93541730e-01 -1.21040268e-02  3.99094746e+01]
 [ 2.52071254e-01 -1.68359790e-02  9.67562211e-01  1.35159683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.100714057 meters
Centerline goodness : 0.997991 with order 1
Centerline is valid?  [True, True]
Translation: X:517.56, Y:39.91, Z:135.17
[[ 9.60572120e-01 -1.16723273e-01 -2.52342783e-01  5.17560924e+02]
 [ 1.17484333e-01  9.93000979e-01 -1.21031764e-02  3.99108422e+01]
 [ 2.51989353e-01 -1.80203498e-02  9.67562211e-01  1.35172833e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.160714057 meters
Centerline goodness : 0.997478 with order 1
Centerline is valid?  [True, True]
Translation: X:517.62, Y:39.91, Z:135.19
[[ 9.59643717e-01 -1.24125545e-01 -2.52342595e-01  5.17620301e+02]
 [ 1.25135575e-01  9.92065777e-01 -1.21070976e-02  3.99101132e+01]
 [ 2.51843253e-01 -1.99585357e-02  9.67562211e-01  1.35185210e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.220714057 meters
Centerline goodness : 0.997655 with order 1
Centerline is valid?  [True, True]
Translation: X:517.68, Y:39.91, Z:135.20
[[ 9.59297481e-01 -1.26773474e-01 -2.52342682e-01  5.17679100e+02]
 [ 1.27873453e-01  9.91716614e-01 -1.21052811e-02  3.99135078e+01]
 [ 2.51787059e-01 -2.06553643e-02  9.67562211e-01  1.35199842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.280714057 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:517.74, Y:39.92, Z:135.22
[[ 9.59007067e-01 -1.28951554e-01 -2.52342907e-01  5.17738613e+02]
 [ 1.30126377e-01  9.91423573e-01 -1.21005806e-02  3.99178371e+01]
 [ 2.51739096e-01 -2.12319260e-02  9.67562211e-01  1.35215620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.340714057 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:517.80, Y:39.92, Z:135.23
[[ 9.58775983e-01 -1.30657287e-01 -2.52343590e-01  5.17797311e+02]
 [ 1.31893494e-01  9.91190207e-01 -1.20863339e-02  3.99211539e+01]
 [ 2.51699663e-01 -2.16943909e-02  9.67562212e-01  1.35230505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.400714057 meters
Centerline goodness : 0.998389 with order 1
Centerline is valid?  [True, True]
Translation: X:517.86, Y:39.92, Z:135.25
[[ 9.58716653e-01 -1.31091802e-01 -2.52343653e-01  5.17857226e+02]
 [ 1.32343042e-01  9.91130300e-01 -1.20850205e-02  3.99243661e+01]
 [ 2.51689687e-01 -2.18098163e-02  9.67562212e-01  1.35246079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.460714057 meters
Centerline goodness : 0.997628 with order 1
Centerline is valid?  [True, True]
Translation: X:517.92, Y:39.93, Z:135.26
[[ 9.58442408e-01 -1.33080317e-01 -2.52344566e-01  5.17916232e+02]
 [ 1.34403784e-01  9.90853186e-01 -1.20659200e-02  3.99279821e+01]
 [ 2.51642154e-01 -2.23515752e-02  9.67562212e-01  1.35259834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.520714057 meters
Centerline goodness : 0.998342 with order 1
Centerline is valid?  [True, True]
Translation: X:517.98, Y:39.93, Z:135.27
[[ 9.58376481e-01 -1.33554163e-01 -2.52344619e-01  5.17976602e+02]
 [ 1.34893945e-01  9.90786589e-01 -1.20648087e-02  3.99319539e+01]
 [ 2.51630970e-01 -2.24771323e-02  9.67562212e-01  1.35274763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.580714057 meters
Centerline goodness : 0.997841 with order 1
Centerline is valid?  [True, True]
Translation: X:518.04, Y:39.94, Z:135.29
[[ 9.58853336e-01 -1.30084668e-01 -2.52345515e-01  5.18035054e+02]
 [ 1.31312040e-01  9.91267896e-01 -1.20460513e-02  3.99374837e+01]
 [ 2.51709014e-01 -2.15856079e-02  9.67562212e-01  1.35289306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.640714057 meters
Centerline goodness : 0.998070 with order 1
Centerline is valid?  [True, True]
Translation: X:518.09, Y:39.94, Z:135.30
[[ 9.59464209e-01 -1.25499701e-01 -2.52345510e-01  5.18092729e+02]
 [ 1.26572088e-01  9.91884266e-01 -1.20461470e-02  3.99423595e+01]
 [ 2.51809329e-01 -2.03820512e-02  9.67562212e-01  1.35302422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.700714057 meters
Centerline goodness : 0.998132 with order 1
Centerline is valid?  [True, True]
Translation: X:518.15, Y:39.95, Z:135.32
[[ 9.59933975e-01 -1.21854883e-01 -2.52345303e-01  5.18151157e+02]
 [ 1.22803003e-01  9.92357903e-01 -1.20504777e-02  3.99475097e+01]
 [ 2.51885266e-01 -1.94210981e-02  9.67562212e-01  1.35318852e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.760714057 meters
Centerline goodness : 0.998159 with order 1
Centerline is valid?  [True, True]
Translation: X:518.21, Y:39.95, Z:135.33
[[ 9.60229046e-01 -1.19506959e-01 -2.52345529e-01  5.18209297e+02]
 [ 1.20377019e-01  9.92655163e-01 -1.20457478e-02  3.99512427e+01]
 [ 2.51931643e-01 -1.88099255e-02  9.67562212e-01  1.35333995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.820714057 meters
Centerline goodness : 0.998066 with order 1
Centerline is valid?  [True, True]
Translation: X:518.27, Y:39.96, Z:135.35
[[ 9.60420609e-01 -1.17957489e-01 -2.52345565e-01  5.18269859e+02]
 [ 1.18775424e-01  9.92848083e-01 -1.20449984e-02  3.99553083e+01]
 [ 2.51961608e-01 -1.84041867e-02  9.67562212e-01  1.35349572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.880714057 meters
Centerline goodness : 0.997887 with order 1
Centerline is valid?  [True, True]
Translation: X:518.33, Y:39.96, Z:135.36
[[ 9.60468366e-01 -1.17566059e-01 -2.52346466e-01  5.18330862e+02]
 [ 1.18375719e-01  9.92896048e-01 -1.20260932e-02  3.99586353e+01]
 [ 2.51967669e-01 -1.83210123e-02  9.67562212e-01  1.35363775e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 532.940714057 meters
Centerline goodness : 0.998428 with order 1
Centerline is valid?  [True, True]
Translation: X:518.39, Y:39.96, Z:135.38
[[ 9.60457863e-01 -1.17648977e-01 -2.52347798e-01  5.18390408e+02]
 [ 1.18468757e-01  9.92885290e-01 -1.19980804e-02  3.99620220e+01]
 [ 2.51963978e-01 -1.83716793e-02  9.67562212e-01  1.35378400e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.000714057 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:518.45, Y:39.97, Z:135.39
[[ 9.60381538e-01 -1.18269013e-01 -2.52348455e-01  5.18450043e+02]
 [ 1.19113346e-01  9.92808334e-01 -1.19842378e-02  3.99656424e+01]
 [ 2.51951014e-01 -1.85486281e-02  9.67562213e-01  1.35393254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.060714057 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:518.51, Y:39.97, Z:135.41
[[ 9.60330600e-01 -1.18680995e-01 -2.52348885e-01  5.18510402e+02]
 [ 1.19541603e-01  9.92756969e-01 -1.19751907e-02  3.99697503e+01]
 [ 2.51942341e-01 -1.86660481e-02  9.67562213e-01  1.35407741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.120714057 meters
Centerline goodness : 0.997933 with order 1
Centerline is valid?  [True, True]
Translation: X:518.57, Y:39.97, Z:135.42
[[ 9.60129942e-01 -1.20291729e-01 -2.52349747e-01  5.18570602e+02]
 [ 1.21211485e-01  9.92554687e-01 -1.19569907e-02  3.99734690e+01]
 [ 2.51909251e-01 -1.91074228e-02  9.67562213e-01  1.35423033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.180714057 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:518.63, Y:39.98, Z:135.44
[[ 9.59628202e-01 -1.24229063e-01 -2.52350657e-01  5.18627497e+02]
 [ 1.25286837e-01  9.92048738e-01 -1.19377657e-02  3.99778087e+01]
 [ 2.51827168e-01 -2.01603990e-02  9.67562213e-01  1.35438694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.240714057 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:518.69, Y:39.98, Z:135.45
[[ 9.59289648e-01 -1.26816445e-01 -2.52350868e-01  5.18686249e+02]
 [ 1.27962813e-01  9.91707172e-01 -1.19332908e-02  3.99814215e+01]
 [ 2.51771503e-01 -2.08440446e-02  9.67562213e-01  1.35452956e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.300714057 meters
Centerline goodness : 0.998350 with order 1
Centerline is valid?  [True, True]
Translation: X:518.74, Y:39.99, Z:135.47
[[ 9.59613817e-01 -1.24339624e-01 -2.52350908e-01  5.18744763e+02]
 [ 1.25402523e-01  9.92034185e-01 -1.19324473e-02  3.99878447e+01]
 [ 2.51824403e-01 -2.01948994e-02  9.67562213e-01  1.35466862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.360714057 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:518.80, Y:39.99, Z:135.48
[[ 9.60043104e-01 -1.20980439e-01 -2.52350892e-01  5.18804980e+02]
 [ 1.21929778e-01  9.92466996e-01 -1.19327902e-02  3.99941265e+01]
 [ 2.51893566e-01 -1.93130953e-02  9.67562213e-01  1.35482693e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.420714057 meters
Centerline goodness : 0.998159 with order 1
Centerline is valid?  [True, True]
Translation: X:518.86, Y:40.00, Z:135.50
[[ 9.60732047e-01 -1.15379882e-01 -2.52351770e-01  5.18862792e+02]
 [ 1.16144986e-01  9.93160810e-01 -1.19141914e-02  4.00003332e+01]
 [ 2.52000546e-01 -1.78630472e-02  9.67562213e-01  1.35498583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.480714057 meters
Centerline goodness : 0.998139 with order 1
Centerline is valid?  [True, True]
Translation: X:518.92, Y:40.01, Z:135.51
[[ 9.61160636e-01 -1.11753207e-01 -2.52351841e-01  5.18920775e+02]
 [ 1.12396312e-01  9.93592048e-01 -1.19126829e-02  4.00058226e+01]
 [ 2.52066063e-01 -1.69134144e-02  9.67562213e-01  1.35514136e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.5407140570001 meters
Centerline goodness : 0.998068 with order 1
Centerline is valid?  [True, True]
Translation: X:518.98, Y:40.01, Z:135.53
[[ 9.61031597e-01 -1.12857029e-01 -2.52352058e-01  5.18980160e+02]
 [ 1.13538579e-01  9.93462223e-01 -1.19080959e-02  4.00091712e+01]
 [ 2.52046148e-01 -1.72076377e-02  9.67562213e-01  1.35528265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.600714057 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:519.04, Y:40.01, Z:135.54
[[ 9.60833066e-01 -1.14534031e-01 -2.52352480e-01  5.19039299e+02]
 [ 1.15274520e-01  9.93262400e-01 -1.18991363e-02  4.00121178e+01]
 [ 2.52015086e-01 -1.76567273e-02  9.67562213e-01  1.35543300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.660714057 meters
Centerline goodness : 0.998236 with order 1
Centerline is valid?  [True, True]
Translation: X:519.10, Y:40.02, Z:135.56
[[ 9.60428575e-01 -1.17877268e-01 -2.52352732e-01  5.19099123e+02]
 [ 1.18732012e-01  9.92855099e-01 -1.18937843e-02  4.00163672e+01]
 [ 2.51951704e-01 -1.85392174e-02  9.67562213e-01  1.35559417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.720714057 meters
Centerline goodness : 0.998384 with order 1
Centerline is valid?  [True, True]
Translation: X:519.16, Y:40.02, Z:135.57
[[ 9.59904615e-01 -1.22068765e-01 -2.52353616e-01  5.19157216e+02]
 [ 1.23069963e-01  9.92326946e-01 -1.18750005e-02  4.00197277e+01]
 [ 2.51866860e-01 -1.96582825e-02  9.67562213e-01  1.35571354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.780714057 meters
Centerline goodness : 0.997933 with order 1
Centerline is valid?  [True, True]
Translation: X:519.22, Y:40.02, Z:135.59
[[ 9.59684144e-01 -1.23789539e-01 -2.52353907e-01  5.19215275e+02]
 [ 1.24850477e-01  9.92104576e-01 -1.18688255e-02  4.00236736e+01]
 [ 2.51830702e-01 -2.01161820e-02  9.67562213e-01  1.35588719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.840714057 meters
Centerline goodness : 0.997592 with order 1
Centerline is valid?  [True, True]
Translation: X:519.27, Y:40.03, Z:135.60
[[ 9.59769891e-01 -1.23122509e-01 -2.52354126e-01  5.19272934e+02]
 [ 1.24162135e-01  9.92191013e-01 -1.18641525e-02  4.00280149e+01]
 [ 2.51844241e-01 -1.99459708e-02  9.67562213e-01  1.35604472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.900714057 meters
Centerline goodness : 0.998381 with order 1
Centerline is valid?  [True, True]
Translation: X:519.33, Y:40.03, Z:135.62
[[ 9.59924691e-01 -1.21909921e-01 -2.52354033e-01  5.19331671e+02]
 [ 1.22908071e-01  9.92347117e-01 -1.18661329e-02  4.00317741e+01]
 [ 2.51869397e-01 -1.96257535e-02  9.67562213e-01  1.35623538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 533.960714057 meters
Centerline goodness : 0.997884 with order 1
Centerline is valid?  [True, True]
Translation: X:519.39, Y:40.04, Z:135.64
[[ 9.59998840e-01 -1.21322801e-01 -2.52354918e-01  5.19391353e+02]
 [ 1.22306047e-01  9.92421721e-01 -1.18472792e-02  4.00357423e+01]
 [ 2.51879848e-01 -1.94911582e-02  9.67562214e-01  1.35638151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.020714057 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:519.45, Y:40.04, Z:135.65
[[ 9.59797175e-01 -1.22907092e-01 -2.52355364e-01  5.19450226e+02]
 [ 1.23946330e-01  9.92218310e-01 -1.18377897e-02  4.00395156e+01]
 [ 2.51846561e-01 -1.99166440e-02  9.67562214e-01  1.35650988e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.080714057 meters
Centerline goodness : 0.998587 with order 1
Centerline is valid?  [True, True]
Translation: X:519.51, Y:40.04, Z:135.66
[[ 9.59466229e-01 -1.25464001e-01 -2.52355581e-01  5.19508870e+02]
 [ 1.26590832e-01  9.91884438e-01 -1.18331527e-02  4.00417859e+01]
 [ 2.51792208e-01 -2.05923924e-02  9.67562214e-01  1.35663802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.140714057 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:519.57, Y:40.05, Z:135.68
[[ 9.59287423e-01 -1.26822478e-01 -2.52356292e-01  5.19567737e+02]
 [ 1.27999180e-01  9.91703860e-01 -1.18179623e-02  4.00455720e+01]
 [ 2.51761493e-01 -2.09645760e-02  9.67562214e-01  1.35678778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.200714057 meters
Centerline goodness : 0.998314 with order 1
Centerline is valid?  [True, True]
Translation: X:519.63, Y:40.05, Z:135.69
[[ 9.59781251e-01 -1.23029040e-01 -2.52356503e-01  5.19625931e+02]
 [ 1.24078754e-01  9.92202048e-01 -1.18134594e-02  4.00497896e+01]
 [ 2.51842038e-01 -1.99737437e-02  9.67562214e-01  1.35693678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.260714057 meters
Centerline goodness : 0.998051 with order 1
Centerline is valid?  [True, True]
Translation: X:519.68, Y:40.05, Z:135.71
[[ 9.60532899e-01 -1.17015748e-01 -2.52356621e-01  5.19684204e+02]
 [ 1.17863056e-01  9.92959617e-01 -1.18109412e-02  4.00547964e+01]
 [ 2.51962000e-01 -1.83987251e-02  9.67562214e-01  1.35709593e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.320714057 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:519.74, Y:40.06, Z:135.73
[[ 9.60913012e-01 -1.13852189e-01 -2.52356618e-01  5.19741491e+02]
 [ 1.14592700e-01  9.93342344e-01 -1.18109980e-02  4.00583757e+01]
 [ 2.52021223e-01 -1.75688847e-02  9.67562214e-01  1.35725194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.380714057 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:519.80, Y:40.06, Z:135.74
[[ 9.61188895e-01 -1.11499541e-01 -2.52356416e-01  5.19800162e+02]
 [ 1.12159532e-01  9.93619966e-01 -1.18153264e-02  4.00604892e+01]
 [ 2.52063777e-01 -1.69474170e-02  9.67562214e-01  1.35741857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.440714057 meters
Centerline goodness : 0.998650 with order 1
Centerline is valid?  [True, True]
Translation: X:519.86, Y:40.06, Z:135.76
[[ 9.61072185e-01 -1.12500483e-01 -2.52356687e-01  5.19858624e+02]
 [ 1.13195762e-01  9.93502519e-01 -1.18095343e-02  4.00622391e+01]
 [ 2.52045582e-01 -1.72158925e-02  9.67562214e-01  1.35758461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.500714057 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:519.92, Y:40.06, Z:135.77
[[ 9.60640819e-01 -1.16125842e-01 -2.52356902e-01  5.19917989e+02]
 [ 1.16944681e-01  9.93068268e-01 -1.18049263e-02  4.00627243e+01]
 [ 2.51978489e-01 -1.81715034e-02  9.67562214e-01  1.35772590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.560714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:519.98, Y:40.06, Z:135.79
[[ 9.60390422e-01 -1.18178714e-01 -2.52356948e-01  5.19977394e+02]
 [ 1.19067111e-01  9.92816040e-01 -1.18039531e-02  4.00629577e+01]
 [ 2.51939002e-01 -1.87110093e-02  9.67562214e-01  1.35786818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.620714057 meters
Centerline goodness : 0.998571 with order 1
Centerline is valid?  [True, True]
Translation: X:520.04, Y:40.06, Z:135.80
[[ 9.60341922e-01 -1.18571735e-01 -2.52357161e-01  5.20037555e+02]
 [ 1.19474591e-01  9.92767141e-01 -1.17994027e-02  4.00637454e+01]
 [ 2.51930973e-01 -1.88188075e-02  9.67562214e-01  1.35803152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.680714057 meters
Centerline goodness : 0.998323 with order 1
Centerline is valid?  [True, True]
Translation: X:520.10, Y:40.07, Z:135.82
[[ 9.60631710e-01 -1.16198786e-01 -2.52357998e-01  5.20095688e+02]
 [ 1.17026217e-01  9.93058942e-01 -1.17814702e-02  4.00656910e+01]
 [ 2.51975359e-01 -1.82148480e-02  9.67562214e-01  1.35820023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.740714057 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:520.16, Y:40.07, Z:135.84
[[ 9.60822511e-01 -1.14609948e-01 -2.52358202e-01  5.20156119e+02]
 [ 1.15384895e-01  9.93251039e-01 -1.17770879e-02  4.00680226e+01]
 [ 2.52004818e-01 -1.78026336e-02  9.67562214e-01  1.35836405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.800714057 meters
Centerline goodness : 0.998267 with order 1
Centerline is valid?  [True, True]
Translation: X:520.21, Y:40.07, Z:135.85
[[ 9.60929259e-01 -1.13709543e-01 -2.52359068e-01  5.20214701e+02]
 [ 1.14458958e-01  9.93358387e-01 -1.17585062e-02  4.00686235e+01]
 [ 2.52020051e-01 -1.75856635e-02  9.67562214e-01  1.35848487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.860714057 meters
Centerline goodness : 0.997836 with order 1
Centerline is valid?  [True, True]
Translation: X:520.27, Y:40.07, Z:135.86
[[ 9.60959709e-01 -1.13452379e-01 -2.52358860e-01  5.20274784e+02]
 [ 1.14191951e-01  9.93389063e-01 -1.17629676e-02  4.00704556e+01]
 [ 2.52025069e-01 -1.75136126e-02  9.67562214e-01  1.35861741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.920714057 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:520.33, Y:40.07, Z:135.88
[[ 9.60796906e-01 -1.14821578e-01 -2.52359487e-01  5.20333680e+02]
 [ 1.15610876e-01  9.93225087e-01 -1.17495080e-02  4.00721628e+01]
 [ 2.51998871e-01 -1.78866105e-02  9.67562214e-01  1.35877241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 534.980714057 meters
Centerline goodness : 0.998095 with order 1
Centerline is valid?  [True, True]
Translation: X:520.39, Y:40.07, Z:135.89
[[ 9.60551074e-01 -1.16860188e-01 -2.52359528e-01  5.20392059e+02]
 [ 1.17718526e-01  9.92977501e-01 -1.17486373e-02  4.00747410e+01]
 [ 2.51960281e-01 -1.84222255e-02  9.67562214e-01  1.35891760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.0407140570001 meters
Centerline goodness : 0.998348 with order 1
Centerline is valid?  [True, True]
Translation: X:520.45, Y:40.08, Z:135.91
[[ 9.60408226e-01 -1.18027137e-01 -2.52360129e-01  5.20450653e+02]
 [ 1.18928251e-01  9.92833493e-01 -1.17357049e-02  4.00761837e+01]
 [ 2.51936720e-01 -1.87416813e-02  9.67562214e-01  1.35907116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.100714057 meters
Centerline goodness : 0.998116 with order 1
Centerline is valid?  [True, True]
Translation: X:520.51, Y:40.08, Z:135.92
[[ 9.60435285e-01 -1.17806305e-01 -2.52360333e-01  5.20510315e+02]
 [ 1.18701111e-01  9.92860727e-01 -1.17313160e-02  4.00780456e+01]
 [ 2.51940687e-01 -1.86882820e-02  9.67562214e-01  1.35922675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.160714057 meters
Centerline goodness : 0.997909 with order 1
Centerline is valid?  [True, True]
Translation: X:520.57, Y:40.08, Z:135.94
[[ 9.60446078e-01 -1.17715762e-01 -2.52361506e-01  5.20570254e+02]
 [ 1.18614119e-01  9.92871422e-01 -1.17060256e-02  4.00799447e+01]
 [ 2.51940511e-01 -1.86906313e-02  9.67562215e-01  1.35940355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.220714057 meters
Centerline goodness : 0.997916 with order 1
Centerline is valid?  [True, True]
Translation: X:520.63, Y:40.08, Z:135.96
[[ 9.60498724e-01 -1.17283510e-01 -2.52362397e-01  5.20630310e+02]
 [ 1.18172299e-01  9.92924331e-01 -1.16867997e-02  4.00801033e+01]
 [ 2.51947433e-01 -1.85970883e-02  9.67562215e-01  1.35955341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.280714057 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:520.69, Y:40.08, Z:135.97
[[ 9.60438882e-01 -1.17770668e-01 -2.52363276e-01  5.20691038e+02]
 [ 1.18680871e-01  9.92863895e-01 -1.16677879e-02  4.00808643e+01]
 [ 2.51936508e-01 -1.87444962e-02  9.67562215e-01  1.35969798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.340714057 meters
Centerline goodness : 0.998124 with order 1
Centerline is valid?  [True, True]
Translation: X:520.75, Y:40.08, Z:135.98
[[ 9.60320937e-01 -1.18726740e-01 -2.52364139e-01  5.20750578e+02]
 [ 1.19674110e-01  9.92744885e-01 -1.16490806e-02  4.00810342e+01]
 [ 2.51916266e-01 -1.90145978e-02  9.67562215e-01  1.35982997e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.400714057 meters
Centerline goodness : 0.997932 with order 1
Centerline is valid?  [True, True]
Translation: X:520.81, Y:40.08, Z:136.00
[[ 9.60342186e-01 -1.18553387e-01 -2.52364777e-01  5.20808472e+02]
 [ 1.19498522e-01  9.92766198e-01 -1.16352387e-02  4.00813929e+01]
 [ 2.51918618e-01 -1.89834073e-02  9.67562215e-01  1.35997632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.460714057 meters
Centerline goodness : 0.997654 with order 1
Centerline is valid?  [True, True]
Translation: X:520.87, Y:40.08, Z:136.01
[[ 9.60897524e-01 -1.13964854e-01 -2.52364737e-01  5.20866899e+02]
 [ 1.14754873e-01  9.93325687e-01 -1.16361092e-02  4.00823502e+01]
 [ 2.52006483e-01 -1.77789749e-02  9.67562215e-01  1.36013200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.520714057 meters
Centerline goodness : 0.997765 with order 1
Centerline is valid?  [True, True]
Translation: X:520.93, Y:40.08, Z:136.03
[[ 9.61489475e-01 -1.08857872e-01 -2.52364722e-01  5.20925560e+02]
 [ 1.09475497e-01  9.93921380e-01 -1.16364446e-02  4.00844246e+01]
 [ 2.52097411e-01 -1.64394345e-02  9.67562215e-01  1.36028549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.580714057 meters
Centerline goodness : 0.997809 with order 1
Centerline is valid?  [True, True]
Translation: X:520.98, Y:40.09, Z:136.05
[[ 9.61709028e-01 -1.06900895e-01 -2.52364705e-01  5.20983637e+02]
 [ 1.07452419e-01  9.94142124e-01 -1.16368137e-02  4.00866518e+01]
 [ 2.52130369e-01 -1.59259693e-02  9.67562215e-01  1.36045729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.640714057 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:521.04, Y:40.09, Z:136.06
[[ 9.61566998e-01 -1.08170992e-01 -2.52364705e-01  5.21042870e+02]
 [ 1.08765352e-01  9.93999337e-01 -1.16368137e-02  4.00858376e+01]
 [ 2.52109115e-01 -1.62589599e-02  9.67562215e-01  1.36060758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.700714057 meters
Centerline goodness : 0.997751 with order 1
Centerline is valid?  [True, True]
Translation: X:521.10, Y:40.09, Z:136.08
[[ 9.61170297e-01 -1.11640044e-01 -2.52365135e-01  5.21102079e+02]
 [ 1.12353869e-01  9.93600226e-01 -1.16274845e-02  4.00860622e+01]
 [ 2.52048148e-01 -1.71782065e-02  9.67562215e-01  1.36075357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.760714057 meters
Centerline goodness : 0.997453 with order 1
Centerline is valid?  [True, True]
Translation: X:521.16, Y:40.09, Z:136.09
[[ 9.60893648e-01 -1.13996569e-01 -2.52365170e-01  5.21159618e+02]
 [ 1.14790115e-01  9.93321725e-01 -1.16267088e-02  4.00867073e+01]
 [ 2.52005211e-01 -1.77969962e-02  9.67562215e-01  1.36089466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.820714057 meters
Centerline goodness : 0.997665 with order 1
Centerline is valid?  [True, True]
Translation: X:521.22, Y:40.09, Z:136.10
[[ 9.60776018e-01 -1.14984141e-01 -2.52364993e-01  5.21217970e+02]
 [ 1.15810011e-01  9.93203288e-01 -1.16305588e-02  4.00890486e+01]
 [ 2.51987071e-01 -1.80520306e-02  9.67562215e-01  1.36102710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.880714057 meters
Centerline goodness : 0.997980 with order 1
Centerline is valid?  [True, True]
Translation: X:521.28, Y:40.09, Z:136.12
[[ 9.60581235e-01 -1.16600174e-01 -2.52364993e-01  5.21276661e+02]
 [ 1.17480591e-01  9.93007070e-01 -1.16305588e-02  4.00912281e+01]
 [ 2.51956347e-01 -1.84758920e-02  9.67562215e-01  1.36116705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 535.940714057 meters
Centerline goodness : 0.998383 with order 1
Centerline is valid?  [True, True]
Translation: X:521.34, Y:40.09, Z:136.13
[[ 9.60277232e-01 -1.19077802e-01 -2.52365041e-01  5.21335619e+02]
 [ 1.20042139e-01  9.92700680e-01 -1.16295118e-02  4.00927040e+01]
 [ 2.51907765e-01 -1.91268840e-02  9.67562215e-01  1.36130323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.000714057 meters
Centerline goodness : 0.998171 with order 1
Centerline is valid?  [True, True]
Translation: X:521.39, Y:40.10, Z:136.14
[[ 9.60198614e-01 -1.19710095e-01 -2.52365041e-01  5.21394963e+02]
 [ 1.20695782e-01  9.92621420e-01 -1.16295118e-02  4.00955105e+01]
 [ 2.51895115e-01 -1.92927549e-02  9.67562215e-01  1.36144873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.060714057 meters
Centerline goodness : 0.998693 with order 1
Centerline is valid?  [True, True]
Translation: X:521.45, Y:40.10, Z:136.16
[[ 9.60259201e-01 -1.19222229e-01 -2.52365464e-01  5.21453921e+02]
 [ 1.20193842e-01  9.92682431e-01 -1.16203273e-02  4.00979116e+01]
 [ 2.51904164e-01 -1.91742485e-02  9.67562215e-01  1.36159276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.120714057 meters
Centerline goodness : 0.998781 with order 1
Centerline is valid?  [True, True]
Translation: X:521.51, Y:40.10, Z:136.17
[[ 9.60671008e-01 -1.15855357e-01 -2.52366302e-01  5.21512052e+02]
 [ 1.16718067e-01  9.93097318e-01 -1.16021083e-02  4.01018571e+01]
 [ 2.51968464e-01 -1.83098979e-02  9.67562215e-01  1.36173991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.180714057 meters
Centerline goodness : 0.997939 with order 1
Centerline is valid?  [True, True]
Translation: X:521.57, Y:40.11, Z:136.19
[[ 9.61228308e-01 -1.11136761e-01 -2.52366321e-01  5.21571948e+02]
 [ 1.11840346e-01  9.93658461e-01 -1.16016929e-02  4.01080383e+01]
 [ 2.52055305e-01 -1.70728610e-02  9.67562215e-01  1.36188311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.240714057 meters
Centerline goodness : 0.998107 with order 1
Centerline is valid?  [True, True]
Translation: X:521.63, Y:40.11, Z:136.20
[[ 9.61278071e-01 -1.10704022e-01 -2.52366976e-01  5.21629878e+02]
 [ 1.11396735e-01  9.93708458e-01 -1.15874302e-02  4.01108795e+01]
 [ 2.52061973e-01 -1.69741144e-02  9.67562216e-01  1.36202820e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.300714057 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:521.69, Y:40.12, Z:136.22
[[ 9.61240525e-01 -1.11029554e-01 -2.52366976e-01  5.21688502e+02]
 [ 1.11733250e-01  9.93670676e-01 -1.15874302e-02  4.01161119e+01]
 [ 2.52056211e-01 -1.70594748e-02  9.67562216e-01  1.36218070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.360714057 meters
Centerline goodness : 0.998594 with order 1
Centerline is valid?  [True, True]
Translation: X:521.75, Y:40.12, Z:136.23
[[ 9.61134678e-01 -1.11942131e-01 -2.52366976e-01  5.21747325e+02]
 [ 1.12676616e-01  9.93564146e-01 -1.15874302e-02  4.01201890e+01]
 [ 2.52039900e-01 -1.72987758e-02  9.67562216e-01  1.36234553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.420714057 meters
Centerline goodness : 0.998418 with order 1
Centerline is valid?  [True, True]
Translation: X:521.81, Y:40.12, Z:136.25
[[ 9.61305619e-01 -1.10463561e-01 -2.52367406e-01  5.21805793e+02]
 [ 1.11150615e-01  9.93736127e-01 -1.15780427e-02  4.01239948e+01]
 [ 2.52065561e-01 -1.69207548e-02  9.67562216e-01  1.36250078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.480714057 meters
Centerline goodness : 0.998568 with order 1
Centerline is valid?  [True, True]
Translation: X:521.86, Y:40.13, Z:136.27
[[ 9.61643646e-01 -1.07480608e-01 -2.52367623e-01  5.21864238e+02]
 [ 1.08068278e-01  9.94076107e-01 -1.15733189e-02  4.01295634e+01]
 [ 2.52116532e-01 -1.61435259e-02  9.67562216e-01  1.36266181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.5407140570001 meters
Centerline goodness : 0.998325 with order 1
Centerline is valid?  [True, True]
Translation: X:521.92, Y:40.13, Z:136.28
[[ 9.61767850e-01 -1.06362953e-01 -2.52367837e-01  5.21922684e+02]
 [ 1.06914152e-01  9.94200951e-01 -1.15686469e-02  4.01334382e+01]
 [ 2.52134819e-01 -1.58553407e-02  9.67562216e-01  1.36281319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.600714057 meters
Centerline goodness : 0.998588 with order 1
Centerline is valid?  [True, True]
Translation: X:521.98, Y:40.14, Z:136.30
[[ 9.61800074e-01 -1.06071166e-01 -2.52367837e-01  5.21981131e+02]
 [ 1.06612526e-01  9.94233341e-01 -1.15686469e-02  4.01382246e+01]
 [ 2.52139618e-01 -1.57788472e-02  9.67562216e-01  1.36295930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.660714057 meters
Centerline goodness : 0.998367 with order 1
Centerline is valid?  [True, True]
Translation: X:522.04, Y:40.14, Z:136.31
[[ 9.61796885e-01 -1.06100079e-01 -2.52367837e-01  5.22038393e+02]
 [ 1.06642414e-01  9.94230135e-01 -1.15686469e-02  4.01424015e+01]
 [ 2.52139143e-01 -1.57864270e-02  9.67562216e-01  1.36310144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.720714057 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:522.10, Y:40.15, Z:136.32
[[ 9.61659243e-01 -1.07340963e-01 -2.52367626e-01  5.22097375e+02]
 [ 1.07923940e-01  9.94091788e-01 -1.15732559e-02  4.01466997e+01]
 [ 2.52118869e-01 -1.61069800e-02  9.67562216e-01  1.36322638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.780714057 meters
Centerline goodness : 0.998430 with order 1
Centerline is valid?  [True, True]
Translation: X:522.15, Y:40.15, Z:136.34
[[ 9.61237770e-01 -1.11052399e-01 -2.52367419e-01  5.22154029e+02]
 [ 1.11759391e-01  9.93667849e-01 -1.15777652e-02  4.01516410e+01]
 [ 2.52055129e-01 -1.70754438e-02  9.67562216e-01  1.36337649e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.840714057 meters
Centerline goodness : 0.998064 with order 1
Centerline is valid?  [True, True]
Translation: X:522.21, Y:40.16, Z:136.35
[[ 9.60960333e-01 -1.13430047e-01 -2.52366524e-01  5.22211587e+02]
 [ 1.14212175e-01  9.93388687e-01 -1.15972439e-02  4.01561798e+01]
 [ 2.52013526e-01 -1.76788382e-02  9.67562216e-01  1.36354662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.900714057 meters
Centerline goodness : 0.997719 with order 1
Centerline is valid?  [True, True]
Translation: X:522.27, Y:40.16, Z:136.37
[[ 9.60905284e-01 -1.13895720e-01 -2.52366403e-01  5.22268727e+02]
 [ 1.14692872e-01  9.93333271e-01 -1.15998850e-02  4.01594087e+01]
 [ 2.52005121e-01 -1.77982368e-02  9.67562216e-01  1.36369007e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 536.960714057 meters
Centerline goodness : 0.997693 with order 1
Centerline is valid?  [True, True]
Translation: X:522.33, Y:40.16, Z:136.38
[[ 9.60684075e-01 -1.15747624e-01 -2.52365995e-01  5.22327024e+02]
 [ 1.16604965e-01  9.93110527e-01 -1.16087391e-02  4.01639738e+01]
 [ 2.51971011e-01 -1.82747973e-02  9.67562216e-01  1.36382574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.020714057 meters
Centerline goodness : 0.997638 with order 1
Centerline is valid?  [True, True]
Translation: X:522.39, Y:40.17, Z:136.40
[[ 9.60243844e-01 -1.19344850e-01 -2.52365937e-01  5.22385614e+02]
 [ 1.20323302e-01  9.92666868e-01 -1.16100024e-02  4.01669967e+01]
 [ 2.51900898e-01 -1.92170694e-02  9.67562216e-01  1.36397939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.080714057 meters
Centerline goodness : 0.997543 with order 1
Centerline is valid?  [True, True]
Translation: X:522.44, Y:40.17, Z:136.41
[[ 9.59944013e-01 -1.21732566e-01 -2.52366152e-01  5.22444867e+02]
 [ 1.22792871e-01  9.92364463e-01 -1.16053237e-02  4.01698305e+01]
 [ 2.51851947e-01 -1.98483034e-02  9.67562216e-01  1.36411394e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.140714057 meters
Centerline goodness : 0.997365 with order 1
Centerline is valid?  [True, True]
Translation: X:522.50, Y:40.18, Z:136.43
[[ 9.59817734e-01 -1.22721127e-01 -2.52367673e-01  5.22504261e+02]
 [ 1.23823482e-01  9.92236781e-01 -1.15721723e-02  4.01759087e+01]
 [ 2.51828637e-01 -2.01418678e-02  9.67562216e-01  1.36426677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.200714057 meters
Centerline goodness : 0.997867 with order 1
Centerline is valid?  [True, True]
Translation: X:522.56, Y:40.18, Z:136.44
[[ 9.59679701e-01 -1.23795035e-01 -2.52368106e-01  5.22563033e+02]
 [ 1.24936138e-01  9.92097407e-01 -1.15627067e-02  4.01824853e+01]
 [ 2.51805150e-01 -2.04334016e-02  9.67562216e-01  1.36442581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.260714057 meters
Centerline goodness : 0.997801 with order 1
Centerline is valid?  [True, True]
Translation: X:522.62, Y:40.19, Z:136.46
[[ 9.59454106e-01 -1.25530910e-01 -2.52368400e-01  5.22621939e+02]
 [ 1.26732330e-01  9.91869633e-01 -1.15562936e-02  4.01869474e+01]
 [ 2.51767224e-01 -2.08955020e-02  9.67562217e-01  1.36459377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.320714057 meters
Centerline goodness : 0.997957 with order 1
Centerline is valid?  [True, True]
Translation: X:522.68, Y:40.19, Z:136.48
[[ 9.59180049e-01 -1.27606847e-01 -2.52369028e-01  5.22682241e+02]
 [ 1.28881995e-01  9.91592759e-01 -1.15425711e-02  4.01918075e+01]
 [ 2.51720212e-01 -2.14544198e-02  9.67562217e-01  1.36475265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.380714057 meters
Centerline goodness : 0.998141 with order 1
Centerline is valid?  [True, True]
Translation: X:522.74, Y:40.20, Z:136.49
[[ 9.59270508e-01 -1.26923367e-01 -2.52369870e-01  5.22741554e+02]
 [ 1.28180240e-01  9.91683932e-01 -1.15241161e-02  4.01971794e+01]
 [ 2.51733825e-01 -2.12940858e-02  9.67562217e-01  1.36490371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.440714057 meters
Centerline goodness : 0.997978 with order 1
Centerline is valid?  [True, True]
Translation: X:522.80, Y:40.20, Z:136.51
[[ 9.59300598e-01 -1.26694498e-01 -2.52370495e-01  5.22801610e+02]
 [ 1.27947215e-01  9.91714183e-01 -1.15104205e-02  4.02012112e+01]
 [ 2.51737706e-01 -2.12481486e-02  9.67562217e-01  1.36507014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.500714057 meters
Centerline goodness : 0.998305 with order 1
Centerline is valid?  [True, True]
Translation: X:522.86, Y:40.21, Z:136.52
[[ 9.59106718e-01 -1.28152355e-01 -2.52371310e-01  5.22859599e+02]
 [ 1.29459010e-01  9.91518173e-01 -1.14925217e-02  4.02050586e+01]
 [ 2.51703534e-01 -2.16491850e-02  9.67562217e-01  1.36521651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.560714057 meters
Centerline goodness : 0.998302 with order 1
Centerline is valid?  [True, True]
Translation: X:522.92, Y:40.21, Z:136.54
[[ 9.58942814e-01 -1.29372717e-01 -2.52371511e-01  5.22918168e+02]
 [ 1.30721764e-01  9.91352532e-01 -1.14881174e-02  4.02079930e+01]
 [ 2.51675385e-01 -2.19740015e-02  9.67562217e-01  1.36536756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.620714057 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:522.98, Y:40.21, Z:136.55
[[ 9.59444976e-01 -1.25594324e-01 -2.52371558e-01  5.22977319e+02]
 [ 1.26815967e-01  9.91859747e-01 -1.14870790e-02  4.02097365e+01]
 [ 2.51759901e-01 -2.09835229e-02  9.67562217e-01  1.36547888e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.680714057 meters
Centerline goodness : 0.998525 with order 1
Centerline is valid?  [True, True]
Translation: X:523.04, Y:40.21, Z:136.56
[[ 9.60168497e-01 -1.19937746e-01 -2.52371540e-01  5.23035219e+02]
 [ 1.20968232e-01  9.92589908e-01 -1.14874714e-02  4.02136718e+01]
 [ 2.51879225e-01 -1.94990309e-02  9.67562217e-01  1.36564895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.740714057 meters
Centerline goodness : 0.998084 with order 1
Centerline is valid?  [True, True]
Translation: X:523.09, Y:40.22, Z:136.58
[[ 9.60399928e-01 -1.18070281e-01 -2.52371527e-01  5.23094597e+02]
 [ 1.19037638e-01  9.92823283e-01 -1.14877667e-02  4.02158897e+01]
 [ 2.51916692e-01 -1.90088601e-02  9.67562217e-01  1.36581512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.800714057 meters
Centerline goodness : 0.998554 with order 1
Centerline is valid?  [True, True]
Translation: X:523.15, Y:40.22, Z:136.60
[[ 9.60700749e-01 -1.15595629e-01 -2.52372187e-01  5.23153770e+02]
 [ 1.16483247e-01  9.93126386e-01 -1.14732408e-02  4.02171081e+01]
 [ 2.51963734e-01 -1.83747808e-02  9.67562217e-01  1.36595805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.860714057 meters
Centerline goodness : 0.998508 with order 1
Centerline is valid?  [True, True]
Translation: X:523.21, Y:40.22, Z:136.61
[[ 9.60865853e-01 -1.14214175e-01 -2.52372611e-01  5.23211503e+02]
 [ 1.15057607e-01  9.93292669e-01 -1.14639099e-02  4.02204765e+01]
 [ 2.51989205e-01 -1.80221091e-02  9.67562217e-01  1.36612439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.920714057 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:523.27, Y:40.22, Z:136.63
[[ 9.61102869e-01 -1.12202481e-01 -2.52372499e-01  5.23270445e+02]
 [ 1.12977384e-01  9.93531395e-01 -1.14663816e-02  4.02223436e+01]
 [ 2.52026557e-01 -1.74920124e-02  9.67562217e-01  1.36630410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 537.980714057 meters
Centerline goodness : 0.997744 with order 1
Centerline is valid?  [True, True]
Translation: X:523.33, Y:40.22, Z:136.65
[[ 9.61188313e-01 -1.11467167e-01 -2.52372935e-01  5.23330860e+02]
 [ 1.12219774e-01  9.93617363e-01 -1.14567629e-02  4.02236793e+01]
 [ 2.52039183e-01 -1.73091272e-02  9.67562217e-01  1.36645785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.0407140570001 meters
Centerline goodness : 0.998204 with order 1
Centerline is valid?  [True, True]
Translation: X:523.39, Y:40.23, Z:136.66
[[ 9.61277378e-01 -1.10694498e-01 -2.52373793e-01  5.23388764e+02]
 [ 1.11425981e-01  9.93706912e-01 -1.14378455e-02  4.02252241e+01]
 [ 2.52051689e-01 -1.71260554e-02  9.67562217e-01  1.36661245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.100714057 meters
Centerline goodness : 0.998415 with order 1
Centerline is valid?  [True, True]
Translation: X:523.45, Y:40.23, Z:136.68
[[ 9.61360961e-01 -1.09966229e-01 -2.52373793e-01  5.23447836e+02]
 [ 1.10673144e-01  9.93791040e-01 -1.14378455e-02  4.02267371e+01]
 [ 2.52064591e-01 -1.69351030e-02  9.67562217e-01  1.36677025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.160714057 meters
Centerline goodness : 0.998305 with order 1
Centerline is valid?  [True, True]
Translation: X:523.51, Y:40.23, Z:136.69
[[ 9.61728350e-01 -1.06704441e-01 -2.52374212e-01  5.23505653e+02]
 [ 1.07303763e-01  9.94160596e-01 -1.14285812e-02  4.02271437e+01]
 [ 2.52119977e-01 -1.60895121e-02  9.67562217e-01  1.36690729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.220714057 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:523.56, Y:40.23, Z:136.71
[[ 9.62366869e-01 -1.00783828e-01 -2.52373987e-01  5.23563579e+02]
 [ 1.01182251e-01  9.94802205e-01 -1.14335414e-02  4.02290542e+01]
 [ 2.52214515e-01 -1.45325067e-02  9.67562217e-01  1.36707555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.280714057 meters
Centerline goodness : 0.998029 with order 1
Centerline is valid?  [True, True]
Translation: X:523.62, Y:40.23, Z:136.72
[[ 9.63274376e-01 -9.17051172e-02 -2.52374023e-01  5.23621077e+02]
 [ 9.17978893e-02  9.95712026e-01 -1.14327673e-02  4.02289052e+01]
 [ 2.52340293e-01 -1.21545108e-02  9.67562217e-01  1.36723141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.340714057 meters
Centerline goodness : 0.997783 with order 1
Centerline is valid?  [True, True]
Translation: X:523.68, Y:40.23, Z:136.74
[[ 9.63946558e-01 -8.43475552e-02 -2.52373777e-01  5.23678278e+02]
 [ 8.41912395e-02  9.96383964e-01 -1.14381766e-02  4.02290981e+01]
 [ 2.52425967e-01 -1.02218702e-02  9.67562217e-01  1.36740800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.400714057 meters
Centerline goodness : 0.997904 with order 1
Centerline is valid?  [True, True]
Translation: X:523.74, Y:40.23, Z:136.76
[[ 9.64382269e-01 -7.92112249e-02 -2.52373573e-01  5.23735484e+02]
 [ 7.88809342e-02  9.96818370e-01 -1.14426790e-02  4.02284034e+01]
 [ 2.52477003e-01 -8.87234652e-03  9.67562217e-01  1.36756246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.460714057 meters
Centerline goodness : 0.998220 with order 1
Centerline is valid?  [True, True]
Translation: X:523.79, Y:40.23, Z:136.77
[[ 9.64648585e-01 -7.58999816e-02 -2.52373335e-01  5.23793882e+02]
 [ 7.54569666e-02  9.97083342e-01 -1.14479260e-02  4.02251508e+01]
 [ 2.52506146e-01 -8.00010069e-03  9.67562217e-01  1.36773182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.520714057 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:523.85, Y:40.22, Z:136.79
[[ 9.64769567e-01 -7.43466154e-02 -2.52373263e-01  5.23851034e+02]
 [ 7.38509561e-02  9.97203562e-01 -1.14495284e-02  4.02209506e+01]
 [ 2.52518750e-01 -7.59185015e-03  9.67562217e-01  1.36787867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.580714057 meters
Centerline goodness : 0.997962 with order 1
Centerline is valid?  [True, True]
Translation: X:523.91, Y:40.22, Z:136.80
[[ 9.64756653e-01 -7.45169179e-02 -2.52372401e-01  5.23907889e+02]
 [ 7.40220277e-02  9.97190660e-01 -1.14684920e-02  4.02155254e+01]
 [ 2.52517998e-01 -7.61681287e-03  9.67562218e-01  1.36800610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.640714057 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:523.97, Y:40.21, Z:136.82
[[ 9.64702778e-01 -7.52147341e-02 -2.52371340e-01  5.23965395e+02]
 [ 7.47372154e-02  9.97137045e-01 -1.14917900e-02  4.02098928e+01]
 [ 2.52513164e-01 -7.77536943e-03  9.67562218e-01  1.36815545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.700714057 meters
Centerline goodness : 0.998296 with order 1
Centerline is valid?  [True, True]
Translation: X:524.02, Y:40.20, Z:136.83
[[ 9.64459502e-01 -7.82744496e-02 -2.52370718e-01  5.24022887e+02]
 [ 7.78962519e-02  9.96895079e-01 -1.15054286e-02  4.02049088e+01]
 [ 2.52487708e-01 -8.56221314e-03  9.67562218e-01  1.36831597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.760714057 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:524.08, Y:40.20, Z:136.85
[[ 9.63836134e-01 -8.56110313e-02 -2.52370083e-01  5.24081942e+02]
 [ 8.54760158e-02  9.96273635e-01 -1.15193557e-02  4.01985048e+01]
 [ 2.52415843e-01 -1.04688179e-02  9.67562218e-01  1.36847200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.820714057 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:524.14, Y:40.19, Z:136.86
[[ 9.62761467e-01 -9.69520501e-02 -2.52370083e-01  5.24141067e+02]
 [ 9.71989209e-02  9.95198309e-01 -1.15193557e-02  4.01933698e+01]
 [ 2.52275105e-01 -1.34397079e-02  9.67562218e-01  1.36859644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.880714057 meters
Centerline goodness : 0.997865 with order 1
Centerline is valid?  [True, True]
Translation: X:524.20, Y:40.19, Z:136.87
[[ 9.61461969e-01 -1.09088341e-01 -2.52369999e-01  5.24199538e+02]
 [ 1.09743862e-01  9.93893127e-01 -1.15211912e-02  4.01902606e+01]
 [ 2.52085635e-01 -1.66188710e-02  9.67562218e-01  1.36871878e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 538.940714057 meters
Centerline goodness : 0.998054 with order 1
Centerline is valid?  [True, True]
Translation: X:524.26, Y:40.19, Z:136.89
[[ 9.60529947e-01 -1.17011416e-01 -2.52369868e-01  5.24256970e+02]
 [ 1.17933543e-01  9.92954619e-01 -1.15240629e-02  4.01900331e+01]
 [ 2.51940273e-01 -1.86936651e-02  9.67562218e-01  1.36887436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.000714057 meters
Centerline goodness : 0.998321 with order 1
Centerline is valid?  [True, True]
Translation: X:524.31, Y:40.19, Z:136.90
[[ 9.60075220e-01 -1.20685594e-01 -2.52369888e-01  5.24314213e+02]
 [ 1.21731887e-01  9.92496123e-01 -1.15236264e-02  4.01912392e+01]
 [ 2.51866871e-01 -1.96579145e-02  9.67562218e-01  1.36903350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.060714057 meters
Centerline goodness : 0.998062 with order 1
Centerline is valid?  [True, True]
Translation: X:524.37, Y:40.19, Z:136.92
[[ 9.60030940e-01 -1.21037724e-01 -2.52369697e-01  5.24370675e+02]
 [ 1.22094815e-01  9.92451493e-01 -1.15278095e-02  4.01931793e+01]
 [ 2.51859982e-01 -1.97459776e-02  9.67562218e-01  1.36918144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.120714057 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:524.43, Y:40.20, Z:136.94
[[ 9.60011216e-01 -1.21196151e-01 -2.52368697e-01  5.24427727e+02]
 [ 1.22252885e-01  9.92431780e-01 -1.15496555e-02  4.01962122e+01]
 [ 2.51858489e-01 -1.97650023e-02  9.67562218e-01  1.36937052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.180714057 meters
Centerline goodness : 0.997924 with order 1
Centerline is valid?  [True, True]
Translation: X:524.49, Y:40.20, Z:136.95
[[ 9.60002060e-01 -1.21269094e-01 -2.52368484e-01  5.24485777e+02]
 [ 1.22327075e-01  9.92422584e-01 -1.15543088e-02  4.01992365e+01]
 [ 2.51857363e-01 -1.97793383e-02  9.67562218e-01  1.36951416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.240714057 meters
Centerline goodness : 0.998165 with order 1
Centerline is valid?  [True, True]
Translation: X:524.54, Y:40.20, Z:136.96
[[ 9.60037960e-01 -1.20985375e-01 -2.52368094e-01  5.24543630e+02]
 [ 1.22031552e-01  9.92458866e-01 -1.15628132e-02  4.02022124e+01]
 [ 2.51863884e-01 -1.96961307e-02  9.67562218e-01  1.36962624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.300714057 meters
Centerline goodness : 0.998187 with order 1
Centerline is valid?  [True, True]
Translation: X:524.60, Y:40.21, Z:136.98
[[ 9.60398616e-01 -1.18094600e-01 -2.52365141e-01  5.24601942e+02]
 [ 1.19026418e-01  9.92823009e-01 -1.16269218e-02  4.02077291e+01]
 [ 2.51926995e-01 -1.88716391e-02  9.67562220e-01  1.36976858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.360714057 meters
Centerline goodness : 0.998331 with order 1
Centerline is valid?  [True, True]
Translation: X:524.66, Y:40.22, Z:136.99
[[ 9.61375321e-01 -1.09860455e-01 -2.52365156e-01  5.24659733e+02]
 [ 1.10514475e-01  9.93806507e-01 -1.16265896e-02  4.02159273e+01]
 [ 2.52079437e-01 -1.67124864e-02  9.67562220e-01  1.36993877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.420714057 meters
Centerline goodness : 0.998347 with order 1
Centerline is valid?  [True, True]
Translation: X:524.72, Y:40.22, Z:137.01
[[ 9.62487999e-01 -9.96429408e-02 -2.52365085e-01  5.24717600e+02]
 [ 9.99520510e-02  9.94924306e-01 -1.16281306e-02  4.02240634e+01]
 [ 2.52242818e-01 -1.40324717e-02  9.67562220e-01  1.37012331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.480714057 meters
Centerline goodness : 0.999038 with order 1
Centerline is valid?  [True, True]
Translation: X:524.77, Y:40.23, Z:137.03
[[ 9.62980994e-01 -9.47601378e-02 -2.52365057e-01  5.24773797e+02]
 [ 9.49045741e-02  9.95418452e-01 -1.16287438e-02  4.02301980e+01]
 [ 2.52310776e-01 -1.27523390e-02  9.67562220e-01  1.37027966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.5407140570001 meters
Centerline goodness : 0.998636 with order 1
Centerline is valid?  [True, True]
Translation: X:524.83, Y:40.23, Z:137.04
[[ 9.62702775e-01 -9.75477582e-02 -2.52364423e-01  5.24831560e+02]
 [ 9.77825150e-02  9.95139705e-01 -1.16424838e-02  4.02347747e+01]
 [ 2.52273556e-01 -1.34685766e-02  9.67562220e-01  1.37043806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.600714057 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:524.89, Y:40.24, Z:137.06
[[ 9.62097353e-01 -1.03348875e-01 -2.52364208e-01  5.24888633e+02]
 [ 1.03777927e-01  9.94532295e-01 -1.16471559e-02  4.02376947e+01]
 [ 2.52188075e-01 -1.49841365e-02  9.67562220e-01  1.37059402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.660714057 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:524.95, Y:40.24, Z:137.07
[[ 9.61635489e-01 -1.07564013e-01 -2.52363171e-01  5.24946665e+02]
 [ 1.08129340e-01  9.94068341e-01 -1.16695665e-02  4.02410218e+01]
 [ 2.52121465e-01 -1.60659939e-02  9.67562221e-01  1.37071716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.720714057 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:525.00, Y:40.25, Z:137.09
[[ 9.61443621e-01 -1.09266159e-01 -2.52362973e-01  5.25004769e+02]
 [ 1.09887776e-01  9.93875444e-01 -1.16738616e-02  4.02452654e+01]
 [ 2.52092919e-01 -1.65078461e-02  9.67562221e-01  1.37085916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.780714057 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:525.06, Y:40.25, Z:137.10
[[ 9.61783181e-01 -1.06236308e-01 -2.52362753e-01  5.25062542e+02]
 [ 1.06754496e-01  9.94216821e-01 -1.16786096e-02  4.02504430e+01]
 [ 2.52143986e-01 -1.57085682e-02  9.67562221e-01  1.37097394e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.840714057 meters
Centerline goodness : 0.998742 with order 1
Centerline is valid?  [True, True]
Translation: X:525.12, Y:40.26, Z:137.12
[[ 9.62243542e-01 -1.01983033e-01 -2.52362492e-01  5.25119788e+02]
 [ 1.02356348e-01  9.94679173e-01 -1.16842406e-02  4.02585083e+01]
 [ 2.52211309e-01 -1.45878179e-02  9.67562221e-01  1.37116765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.900714057 meters
Centerline goodness : 0.998559 with order 1
Centerline is valid?  [True, True]
Translation: X:525.18, Y:40.26, Z:137.13
[[ 9.62538560e-01 -9.91599358e-02 -2.52362492e-01  5.25177941e+02]
 [ 9.94381021e-02  9.94975147e-01 -1.16842406e-02  4.02638355e+01]
 [ 2.52253016e-01 -1.38479152e-02  9.67562221e-01  1.37133432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 539.960714057 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:525.23, Y:40.27, Z:137.15
[[ 9.62723063e-01 -9.73526836e-02 -2.52362355e-01  5.25234530e+02]
 [ 9.75691781e-02  9.95160120e-01 -1.16872038e-02  4.02684678e+01]
 [ 2.52278732e-01 -1.33712469e-02  9.67562221e-01  1.37147616e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.020714057 meters
Centerline goodness : 0.998586 with order 1
Centerline is valid?  [True, True]
Translation: X:525.29, Y:40.27, Z:137.16
[[ 9.62691771e-01 -9.76633123e-02 -2.52361706e-01  5.25291421e+02]
 [ 9.78866161e-02  9.95128782e-01 -1.17011934e-02  4.02726450e+01]
 [ 2.52275175e-01 -1.34381909e-02  9.67562221e-01  1.37162283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.080714057 meters
Centerline goodness : 0.998469 with order 1
Centerline is valid?  [True, True]
Translation: X:525.35, Y:40.28, Z:137.18
[[ 9.62319125e-01 -1.01276872e-01 -2.52358667e-01  5.25348883e+02]
 [ 1.01604910e-01  9.94755243e-01 -1.17663937e-02  4.02760289e+01]
 [ 2.52226771e-01 -1.43178538e-02  9.67562223e-01  1.37176411e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.140714057 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:525.41, Y:40.28, Z:137.19
[[ 9.61838772e-01 -1.05742128e-01 -2.52358434e-01  5.25406978e+02]
 [ 1.06219402e-01  9.94273038e-01 -1.17713807e-02  4.02784907e+01]
 [ 2.52157918e-01 -1.54831917e-02  9.67562223e-01  1.37191809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.200714057 meters
Centerline goodness : 0.998314 with order 1
Centerline is valid?  [True, True]
Translation: X:525.46, Y:40.28, Z:137.21
[[ 9.61361253e-01 -1.09999402e-01 -2.52358222e-01  5.25464010e+02]
 [ 1.10619079e-01  9.93793111e-01 -1.17759259e-02  4.02840966e+01]
 [ 2.52087207e-01 -1.65947152e-02  9.67562223e-01  1.37206615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.260714057 meters
Centerline goodness : 0.998221 with order 1
Centerline is valid?  [True, True]
Translation: X:525.52, Y:40.29, Z:137.23
[[ 9.60985175e-01 -1.13238809e-01 -2.52357813e-01  5.25521205e+02]
 [ 1.13965494e-01  9.93414811e-01 -1.17846952e-02  4.02892963e+01]
 [ 2.52030474e-01 -1.74351653e-02  9.67562223e-01  1.37225030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.320714057 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:525.58, Y:40.30, Z:137.24
[[ 9.60554088e-01 -1.16839580e-01 -2.52357598e-01  5.25578430e+02]
 [ 1.17686601e-01  9.92980804e-01 -1.17892812e-02  4.02953195e+01]
 [ 2.51963706e-01 -1.83748657e-02  9.67562223e-01  1.37242812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.380714057 meters
Centerline goodness : 0.998466 with order 1
Centerline is valid?  [True, True]
Translation: X:525.64, Y:40.30, Z:137.26
[[ 9.59907934e-01 -1.22034175e-01 -2.52357719e-01  5.25637078e+02]
 [ 1.23057276e-01  9.92329573e-01 -1.17867009e-02  4.03016007e+01]
 [ 2.51860408e-01 -1.97403058e-02  9.67562223e-01  1.37257760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.440714057 meters
Centerline goodness : 0.998322 with order 1
Centerline is valid?  [True, True]
Translation: X:525.70, Y:40.31, Z:137.27
[[ 9.59632562e-01 -1.24180603e-01 -2.52357929e-01  5.25696576e+02]
 [ 1.25277387e-01  9.92051791e-01 -1.17821949e-02  4.03079412e+01]
 [ 2.51815256e-01 -2.03081640e-02  9.67562223e-01  1.37269516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.500714057 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:525.76, Y:40.32, Z:137.28
[[ 9.59760118e-01 -1.23190797e-01 -2.52357968e-01  5.25755536e+02]
 [ 1.24254360e-01  9.92180454e-01 -1.17813691e-02  4.03185952e+01]
 [ 2.51835999e-01 -2.00492895e-02  9.67562223e-01  1.37282927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.560714057 meters
Centerline goodness : 0.998216 with order 1
Centerline is valid?  [True, True]
Translation: X:525.81, Y:40.33, Z:137.30
[[ 9.60149119e-01 -1.20120401e-01 -2.52358393e-01  5.25813589e+02]
 [ 1.21082644e-01  9.92572621e-01 -1.17722566e-02  4.03281871e+01]
 [ 2.51898120e-01 -1.92530996e-02  9.67562223e-01  1.37300389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.620714057 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:525.87, Y:40.34, Z:137.32
[[ 9.60550226e-01 -1.16869518e-01 -2.52358433e-01  5.25871511e+02]
 [ 1.17722222e-01  9.92976794e-01 -1.17713986e-02  4.03361199e+01]
 [ 2.51961785e-01 -1.84011760e-02  9.67562223e-01  1.37319114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.680714057 meters
Centerline goodness : 0.998018 with order 1
Centerline is valid?  [True, True]
Translation: X:525.93, Y:40.34, Z:137.34
[[ 9.60791427e-01 -1.14869276e-01 -2.52358638e-01  5.25930522e+02]
 [ 1.15655613e-01  9.93219672e-01 -1.17669945e-02  4.03444894e+01]
 [ 2.51999230e-01 -1.78810657e-02  9.67562223e-01  1.37336436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.740714057 meters
Centerline goodness : 0.997783 with order 1
Centerline is valid?  [True, True]
Translation: X:525.99, Y:40.35, Z:137.35
[[ 9.60865862e-01 -1.14243515e-01 -2.52359299e-01  5.25988738e+02]
 [ 1.15012437e-01  9.93294524e-01 -1.17528188e-02  4.03515336e+01]
 [ 2.52009793e-01 -1.77315755e-02  9.67562223e-01  1.37352783e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.800714057 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:526.05, Y:40.36, Z:137.37
[[ 9.60806641e-01 -1.14740021e-01 -2.52359519e-01  5.26049200e+02]
 [ 1.15526937e-01  9.93234871e-01 -1.17480894e-02  4.03571560e+01]
 [ 2.52000250e-01 -1.78666798e-02  9.67562223e-01  1.37367053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.860714057 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:526.11, Y:40.36, Z:137.38
[[ 9.60740706e-01 -1.15288896e-01 -2.52360388e-01  5.26110113e+02]
 [ 1.16099226e-01  9.93168360e-01 -1.17293803e-02  4.03631444e+01]
 [ 2.51988620e-01 -1.80299527e-02  9.67562223e-01  1.37380372e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.920714057 meters
Centerline goodness : 0.998788 with order 1
Centerline is valid?  [True, True]
Translation: X:526.17, Y:40.37, Z:137.39
[[ 9.60977227e-01 -1.13298548e-01 -2.52361265e-01  5.26169648e+02]
 [ 1.14046641e-01  9.93406376e-01 -1.17104921e-02  4.03702351e+01]
 [ 2.52024071e-01 -1.75274384e-02  9.67562224e-01  1.37394971e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 540.980714057 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:526.23, Y:40.38, Z:137.41
[[ 9.61335359e-01 -1.10217516e-01 -2.52361698e-01  5.26229181e+02]
 [ 1.10864095e-01  9.93766691e-01 -1.17011452e-02  4.03757063e+01]
 [ 2.52078321e-01 -1.67291268e-02  9.67562224e-01  1.37412512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.0407140570001 meters
Centerline goodness : 0.998667 with order 1
Centerline is valid?  [True, True]
Translation: X:526.29, Y:40.38, Z:137.43
[[ 9.61769515e-01 -1.06360399e-01 -2.52362569e-01  5.26286261e+02]
 [ 1.06881795e-01  9.94203100e-01 -1.16823408e-02  4.03799034e+01]
 [ 2.52142187e-01 -1.57372452e-02  9.67562224e-01  1.37428191e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.100714057 meters
Centerline goodness : 0.998874 with order 1
Centerline is valid?  [True, True]
Translation: X:526.35, Y:40.38, Z:137.44
[[ 9.61990223e-01 -1.04345840e-01 -2.52362350e-01  5.26346508e+02]
 [ 1.04798072e-01  9.94424847e-01 -1.16870666e-02  4.03839698e+01]
 [ 2.52174888e-01 -1.52042439e-02  9.67562224e-01  1.37443419e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.160714057 meters
Centerline goodness : 0.999320 with order 1
Centerline is valid?  [True, True]
Translation: X:526.41, Y:40.39, Z:137.45
[[ 9.62084368e-01 -1.03472108e-01 -2.52363214e-01  5.26408036e+02]
 [ 1.03899763e-01  9.94519325e-01 -1.16683908e-02  4.03888223e+01]
 [ 2.52187446e-01 -1.49945018e-02  9.67562224e-01  1.37454631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.220714057 meters
Centerline goodness : 0.999077 with order 1
Centerline is valid?  [True, True]
Translation: X:526.47, Y:40.39, Z:137.47
[[ 9.62238443e-01 -1.02027219e-01 -2.52364072e-01  5.26467382e+02]
 [ 1.02411027e-01  9.94673948e-01 -1.16497932e-02  4.03946212e+01]
 [ 2.52208564e-01 -1.46349851e-02  9.67562224e-01  1.37467135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.280714057 meters
Centerline goodness : 0.999385 with order 1
Centerline is valid?  [True, True]
Translation: X:526.53, Y:40.40, Z:137.49
[[ 9.62650209e-01 -9.80655081e-02 -2.52364283e-01  5.26525310e+02]
 [ 9.83169939e-02  9.95087010e-01 -1.16452236e-02  4.03991792e+01]
 [ 2.52266415e-01 -1.36014208e-02  9.67562224e-01  1.37486257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.340714057 meters
Centerline goodness : 0.999290 with order 1
Centerline is valid?  [True, True]
Translation: X:526.58, Y:40.40, Z:137.51
[[ 9.62780522e-01 -9.67778089e-02 -2.52364264e-01  5.26583543e+02]
 [ 9.69857979e-02  9.95217631e-01 -1.16456447e-02  4.04034368e+01]
 [ 2.52284405e-01 -1.32635496e-02  9.67562224e-01  1.37505286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.400714057 meters
Centerline goodness : 0.999009 with order 1
Centerline is valid?  [True, True]
Translation: X:526.64, Y:40.40, Z:137.52
[[ 9.62511826e-01 -9.94129675e-02 -2.52364909e-01  5.26641860e+02]
 [ 9.97134090e-02  9.94948210e-01 -1.16316440e-02  4.04032417e+01]
 [ 2.52246351e-01 -1.39685704e-02  9.67562224e-01  1.37521093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.460714057 meters
Centerline goodness : 0.999038 with order 1
Centerline is valid?  [True, True]
Translation: X:526.70, Y:40.40, Z:137.54
[[ 9.62107558e-01 -1.03250891e-01 -2.52365409e-01  5.26700012e+02]
 [ 1.03683535e-01  9.94542449e-01 -1.16207739e-02  4.04012008e+01]
 [ 2.52187968e-01 -1.49857035e-02  9.67562224e-01  1.37536869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.520714057 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:526.76, Y:40.40, Z:137.55
[[ 9.61816740e-01 -1.05925787e-01 -2.52365383e-01  5.26758957e+02]
 [ 1.06448468e-01  9.94250304e-01 -1.16213535e-02  4.03988881e+01]
 [ 2.52145360e-01 -1.56862960e-02  9.67562224e-01  1.37552064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.580714057 meters
Centerline goodness : 0.998907 with order 1
Centerline is valid?  [True, True]
Translation: X:526.82, Y:40.39, Z:137.56
[[ 9.62109839e-01 -1.03229202e-01 -2.52365588e-01  5.26819504e+02]
 [ 1.03662128e-01  9.94544725e-01 -1.16168979e-02  4.03940700e+01]
 [ 2.52188067e-01 -1.49840221e-02  9.67562224e-01  1.37563015e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.640714057 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:526.88, Y:40.39, Z:137.58
[[ 9.62683232e-01 -9.77363238e-02 -2.52366016e-01  5.26878402e+02]
 [ 9.79865562e-02  9.95120042e-01 -1.16075853e-02  4.03920709e+01]
 [ 2.52268963e-01 -1.35540491e-02  9.67562224e-01  1.37579130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.700714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:526.94, Y:40.39, Z:137.60
[[ 9.63165281e-01 -9.28655179e-02 -2.52366076e-01  5.26936813e+02]
 [ 9.29520111e-02  9.95602942e-01 -1.16062859e-02  4.03915483e+01]
 [ 2.52334231e-01 -1.22791626e-02  9.67562224e-01  1.37596231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.760714057 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:526.99, Y:40.39, Z:137.62
[[ 9.64112858e-01 -8.24478318e-02 -2.52366304e-01  5.26992993e+02]
 [ 8.21849515e-02  9.96549569e-01 -1.16013217e-02  4.03879644e+01]
 [ 2.52452035e-01 -9.55572899e-03  9.67562224e-01  1.37616627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.820714057 meters
Centerline goodness : 0.998042 with order 1
Centerline is valid?  [True, True]
Translation: X:527.05, Y:40.38, Z:137.64
[[ 9.64546526e-01 -7.72099813e-02 -2.52366039e-01  5.27050017e+02]
 [ 7.67694160e-02  9.96981310e-01 -1.16070876e-02  4.03843637e+01]
 [ 2.52500407e-01 -8.17841742e-03  9.67562224e-01  1.37635484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.880714057 meters
Centerline goodness : 0.998184 with order 1
Centerline is valid?  [True, True]
Translation: X:527.11, Y:40.38, Z:137.65
[[ 9.64631394e-01 -7.61437600e-02 -2.52365612e-01  5.27107165e+02]
 [ 7.56649164e-02  9.97065635e-01 -1.16163714e-02  4.03791683e+01]
 [ 2.52509593e-01 -7.88970639e-03  9.67562224e-01  1.37649754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 541.940714057 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:527.16, Y:40.38, Z:137.66
[[ 9.64624680e-01 -7.62388430e-02 -2.52362568e-01  5.27164023e+02]
 [ 7.57460066e-02  9.97058709e-01 -1.16821408e-02  4.03780321e+01]
 [ 2.52510929e-01 -7.84657536e-03  9.67562226e-01  1.37663222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.000714057 meters
Centerline goodness : 0.998326 with order 1
Centerline is valid?  [True, True]
Translation: X:527.22, Y:40.37, Z:137.67
[[ 9.64255265e-01 -8.07864398e-02 -2.52359536e-01  5.27220769e+02]
 [ 8.04295165e-02  9.96691073e-01 -1.17472820e-02  4.03652328e+01]
 [ 2.52473518e-01 -8.96977693e-03  9.67562229e-01  1.37672677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.060714057 meters
Centerline goodness : 0.998312 with order 1
Centerline is valid?  [True, True]
Translation: X:527.28, Y:40.36, Z:137.69
[[ 9.64066725e-01 -8.30133325e-02 -2.52357159e-01  5.27279498e+02]
 [ 8.27180328e-02  9.96503152e-01 -1.17981373e-02  4.03571270e+01]
 [ 2.52454107e-01 -9.50029612e-03  9.67562230e-01  1.37686919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.120714057 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:527.34, Y:40.35, Z:137.70
[[ 9.64263547e-01 -8.06955057e-02 -2.52356983e-01  5.27337391e+02]
 [ 8.03212513e-02  9.96699158e-01 -1.18018844e-02  4.03500454e+01]
 [ 2.52476352e-01 -8.88950176e-03  9.67562230e-01  1.37704665e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.180714057 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:527.40, Y:40.34, Z:137.72
[[ 9.64411587e-01 -7.89084024e-02 -2.52356406e-01  5.27395091e+02]
 [ 7.84708179e-02  9.96846405e-01 -1.18142086e-02  4.03424872e+01]
 [ 2.52492817e-01 -8.40885392e-03  9.67562230e-01  1.37721106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.240714057 meters
Centerline goodness : 0.998596 with order 1
Centerline is valid?  [True, True]
Translation: X:527.45, Y:40.34, Z:137.74
[[ 9.64251039e-01 -8.08479835e-02 -2.52355975e-01  5.27451686e+02]
 [ 8.04732286e-02  9.96686644e-01 -1.18234217e-02  4.03359754e+01]
 [ 2.52475729e-01 -8.90715338e-03  9.67562230e-01  1.37736449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.300714057 meters
Centerline goodness : 0.998715 with order 1
Centerline is valid?  [True, True]
Translation: X:527.51, Y:40.33, Z:137.75
[[ 9.63850078e-01 -8.54988205e-02 -2.52354866e-01  5.27511110e+02]
 [ 8.52743705e-02  9.96287072e-01 -1.18470506e-02  4.03281507e+01]
 [ 2.52430799e-01 -1.01006216e-02  9.67562230e-01  1.37750696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.360714057 meters
Centerline goodness : 0.998065 with order 1
Centerline is valid?  [True, True]
Translation: X:527.57, Y:40.32, Z:137.76
[[ 9.63351920e-01 -9.09401516e-02 -2.52354845e-01  5.27569071e+02]
 [ 9.08987581e-02  9.95789663e-01 -1.18474834e-02  4.03208866e+01]
 [ 2.52369758e-01 -1.15254462e-02  9.67562230e-01  1.37764158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.420714057 meters
Centerline goodness : 0.998507 with order 1
Centerline is valid?  [True, True]
Translation: X:527.63, Y:40.32, Z:137.78
[[ 9.62960187e-01 -9.49984140e-02 -2.52354867e-01  5.27626495e+02]
 [ 9.50938176e-02  9.95397817e-01 -1.18470214e-02  4.03164474e+01]
 [ 2.52318932e-01 -1.25891777e-02  9.67562230e-01  1.37778691e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.480714057 meters
Centerline goodness : 0.998317 with order 1
Centerline is valid?  [True, True]
Translation: X:527.68, Y:40.31, Z:137.79
[[ 9.62793159e-01 -9.66790885e-02 -2.52353893e-01  5.27683698e+02]
 [ 9.68256970e-02  9.95230597e-01 -1.18677317e-02  4.03131486e+01]
 [ 2.52297677e-01 -1.30081707e-02  9.67562230e-01  1.37794213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.5407140570001 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:527.74, Y:40.31, Z:137.81
[[ 9.62649451e-01 -9.81021873e-02 -2.52352920e-01  5.27739847e+02]
 [ 9.82913460e-02  9.95086668e-01 -1.18883843e-02  4.03109070e+01]
 [ 2.52279303e-01 -1.33597616e-02  9.67562231e-01  1.37809949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.600714057 meters
Centerline goodness : 0.997996 with order 1
Centerline is valid?  [True, True]
Translation: X:527.80, Y:40.31, Z:137.82
[[ 9.62244238e-01 -1.02002347e-01 -2.52352032e-01  5.27797100e+02]
 [ 1.02318029e-01  9.94680471e-01 -1.19072092e-02  4.03106986e+01]
 [ 2.52224201e-01 -1.43625191e-02  9.67562231e-01  1.37824395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.660714057 meters
Centerline goodness : 0.998499 with order 1
Centerline is valid?  [True, True]
Translation: X:527.86, Y:40.31, Z:137.84
[[ 9.61406923e-01 -1.09620900e-01 -2.52348936e-01  5.27855433e+02]
 [ 1.10176437e-01  9.93839933e-01 -1.19724660e-02  4.03108677e+01]
 [ 2.52106883e-01 -1.62924949e-02  9.67562233e-01  1.37839588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.720714057 meters
Centerline goodness : 0.997861 with order 1
Centerline is valid?  [True, True]
Translation: X:527.91, Y:40.31, Z:137.86
[[ 9.60461985e-01 -1.17613016e-01 -2.52348872e-01  5.27913313e+02]
 [ 1.18437923e-01  9.92889262e-01 -1.19738147e-02  4.03131118e+01]
 [ 2.51962762e-01 -1.83872824e-02  9.67562233e-01  1.37856258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.780714057 meters
Centerline goodness : 0.997896 with order 1
Centerline is valid?  [True, True]
Translation: X:527.97, Y:40.32, Z:137.87
[[ 9.59635530e-01 -1.24176122e-01 -2.52348848e-01  5.27971909e+02]
 [ 1.25222553e-01  9.92056414e-01 -1.19743264e-02  4.03153673e+01]
 [ 2.51831219e-01 -2.01087779e-02  9.67562233e-01  1.37870477e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.840714057 meters
Centerline goodness : 0.997518 with order 1
Centerline is valid?  [True, True]
Translation: X:528.03, Y:40.32, Z:137.88
[[ 9.59388598e-01 -1.26070130e-01 -2.52348647e-01  5.28029735e+02]
 [ 1.27179450e-01  9.91807391e-01 -1.19785545e-02  4.03215726e+01]
 [ 2.51791392e-01 -2.06014736e-02  9.67562233e-01  1.37884888e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.900714057 meters
Centerline goodness : 0.997486 with order 1
Centerline is valid?  [True, True]
Translation: X:528.09, Y:40.33, Z:137.90
[[ 9.59713750e-01 -1.23571455e-01 -2.52348200e-01  5.28086907e+02]
 [ 1.24593890e-01  9.92135399e-01 -1.19879796e-02  4.03286508e+01]
 [ 2.51844954e-01 -1.99360151e-02  9.67562233e-01  1.37898825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 542.960714057 meters
Centerline goodness : 0.997202 with order 1
Centerline is valid?  [True, True]
Translation: X:528.14, Y:40.34, Z:137.91
[[ 9.59950940e-01 -1.21716066e-01 -2.52347760e-01  5.28144637e+02]
 [ 1.22673408e-01  9.92374577e-01 -1.19972384e-02  4.03378224e+01]
 [ 2.51883758e-01 -1.94395993e-02  9.67562233e-01  1.37913404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.020714057 meters
Centerline goodness : 0.997892 with order 1
Centerline is valid?  [True, True]
Translation: X:528.20, Y:40.34, Z:137.93
[[ 9.59937087e-01 -1.21825724e-01 -2.52347543e-01  5.28201643e+02]
 [ 1.22785578e-01  9.92360649e-01 -1.20017986e-02  4.03447485e+01]
 [ 2.51881899e-01 -1.94636673e-02  9.67562233e-01  1.37929559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.080714057 meters
Centerline goodness : 0.997405 with order 1
Centerline is valid?  [True, True]
Translation: X:528.26, Y:40.35, Z:137.95
[[ 9.60144632e-01 -1.20179986e-01 -2.52347094e-01  5.28258666e+02]
 [ 1.21081793e-01  9.92569861e-01 -1.20112277e-02  4.03528543e+01]
 [ 2.51915629e-01 -1.90221229e-02  9.67562233e-01  1.37945068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.140714057 meters
Centerline goodness : 0.997752 with order 1
Centerline is valid?  [True, True]
Translation: X:528.32, Y:40.36, Z:137.96
[[ 9.60419058e-01 -1.17967793e-01 -2.52346652e-01  5.28315385e+02]
 [ 1.18792476e-01  9.92846340e-01 -1.20205020e-02  4.03621474e+01]
 [ 2.51959482e-01 -1.84321643e-02  9.67562233e-01  1.37961984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.200714057 meters
Centerline goodness : 0.997545 with order 1
Centerline is valid?  [True, True]
Translation: X:528.37, Y:40.37, Z:137.98
[[ 9.60416296e-01 -1.17991216e-01 -2.52346212e-01  5.28373535e+02]
 [ 1.18814278e-01  9.92843620e-01 -1.20297310e-02  4.03698576e+01]
 [ 2.51959729e-01 -1.84287834e-02  9.67562233e-01  1.37978037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.260714057 meters
Centerline goodness : 0.997640 with order 1
Centerline is valid?  [True, True]
Translation: X:528.43, Y:40.38, Z:137.99
[[ 9.60253358e-01 -1.19310009e-01 -2.52346212e-01  5.28430972e+02]
 [ 1.20177602e-01  9.92679520e-01 -1.20297310e-02  4.03781856e+01]
 [ 2.51934184e-01 -1.87747730e-02  9.67562233e-01  1.37991077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.320714057 meters
Centerline goodness : 0.997996 with order 1
Centerline is valid?  [True, True]
Translation: X:528.49, Y:40.38, Z:138.01
[[ 9.60322730e-01 -1.18750888e-01 -2.52345955e-01  5.28488119e+02]
 [ 1.19598191e-01  9.92749429e-01 -1.20351251e-02  4.03841754e+01]
 [ 2.51945484e-01 -1.86225155e-02  9.67562233e-01  1.38005649e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.380714057 meters
Centerline goodness : 0.998056 with order 1
Centerline is valid?  [True, True]
Translation: X:528.55, Y:40.39, Z:138.02
[[ 9.60509835e-01 -1.17228809e-01 -2.52345523e-01  5.28546191e+02]
 [ 1.18022358e-01  9.92937894e-01 -1.20441661e-02  4.03907499e+01]
 [ 2.51975356e-01 -1.82138737e-02  9.67562233e-01  1.38022711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.440714057 meters
Centerline goodness : 0.997987 with order 1
Centerline is valid?  [True, True]
Translation: X:528.60, Y:40.39, Z:138.04
[[ 9.61091171e-01 -1.12363074e-01 -2.52345597e-01  5.28604069e+02]
 [ 1.12992794e-01  9.93522825e-01 -1.20426166e-02  4.03949967e+01]
 [ 2.52064256e-01 -1.69391817e-02  9.67562233e-01  1.38035409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.500714057 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:528.66, Y:40.40, Z:138.05
[[ 9.61964575e-01 -1.04623038e-01 -2.52345352e-01  5.28661612e+02]
 [ 1.04990331e-01  9.94400262e-01 -1.20477620e-02  4.04014414e+01]
 [ 2.52192757e-01 -1.49043018e-02  9.67562233e-01  1.38050072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.560714057 meters
Centerline goodness : 0.998201 with order 1
Centerline is valid?  [True, True]
Translation: X:528.72, Y:40.41, Z:138.06
[[ 9.62789103e-01 -9.67426596e-02 -2.52345005e-01  5.28719584e+02]
 [ 9.68424499e-02  9.95226716e-01 -1.20550198e-02  4.04060570e+01]
 [ 2.52306725e-01 -1.28312668e-02  9.67562233e-01  1.38064664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.620714057 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:528.78, Y:40.41, Z:138.08
[[ 9.63160863e-01 -9.29691278e-02 -2.52344791e-01  5.28777933e+02]
 [ 9.29406383e-02  9.95598617e-01 -1.20594909e-02  4.04083979e+01]
 [ 2.52355286e-01 -1.18378563e-02  9.67562233e-01  1.38082223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.680714057 meters
Centerline goodness : 0.998601 with order 1
Centerline is valid?  [True, True]
Translation: X:528.84, Y:40.41, Z:138.10
[[ 9.63085981e-01 -9.37411730e-02 -2.52344972e-01  5.28835587e+02]
 [ 9.37396742e-02  9.95523748e-01 -1.20557099e-02  4.04097980e+01]
 [ 2.52345529e-01 -1.20440502e-02  9.67562233e-01  1.38098532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.740714057 meters
Centerline goodness : 0.998779 with order 1
Centerline is valid?  [True, True]
Translation: X:528.89, Y:40.41, Z:138.11
[[ 9.62518808e-01 -9.93965985e-02 -2.52344725e-01  5.28893287e+02]
 [ 9.95842849e-02  9.94956032e-01 -1.20608743e-02  4.04091304e+01]
 [ 2.52270716e-01 -1.35207506e-02  9.67562233e-01  1.38113450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.800714057 meters
Centerline goodness : 0.998781 with order 1
Centerline is valid?  [True, True]
Translation: X:528.95, Y:40.41, Z:138.13
[[ 9.61944482e-01 -1.04809644e-01 -2.52344512e-01  5.28950122e+02]
 [ 1.05178639e-01  9.94380150e-01 -1.20653246e-02  4.04080673e+01]
 [ 2.52190936e-01 -1.49350798e-02  9.67562233e-01  1.38128181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.860714057 meters
Centerline goodness : 0.998367 with order 1
Centerline is valid?  [True, True]
Translation: X:529.01, Y:40.41, Z:138.14
[[ 9.61847605e-01 -1.05702327e-01 -2.52341442e-01  5.29008049e+02]
 [ 1.06084724e-01  9.94283116e-01 -1.21292059e-02  4.04103758e+01]
 [ 2.52180921e-01 -1.51031245e-02  9.67562235e-01  1.38142004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.920714057 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:529.07, Y:40.41, Z:138.16
[[ 9.62028611e-01 -1.04042574e-01 -2.52341226e-01  5.29065941e+02]
 [ 1.04367830e-01  9.94464745e-01 -1.21337033e-02  4.04113512e+01]
 [ 2.52206875e-01 -1.46633365e-02  9.67562235e-01  1.38157079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 543.980714057 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:529.12, Y:40.41, Z:138.17
[[ 9.62270984e-01 -1.01777053e-01 -2.52341010e-01  5.29124367e+02]
 [ 1.02024761e-01  9.94707803e-01 -1.21381846e-02  4.04125684e+01]
 [ 2.52240961e-01 -1.40648084e-02  9.67562235e-01  1.38172122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.0407140570001 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:529.18, Y:40.41, Z:138.19
[[ 9.62722422e-01 -9.74149273e-02 -2.52340783e-01  5.29182008e+02]
 [ 9.75143889e-02  9.95160034e-01 -1.21429193e-02  4.04137895e+01]
 [ 2.52302363e-01 -1.29165965e-02  9.67562235e-01  1.38185853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.100714057 meters
Centerline goodness : 0.998563 with order 1
Centerline is valid?  [True, True]
Translation: X:529.24, Y:40.42, Z:138.20
[[ 9.63287278e-01 -9.16618002e-02 -2.52340511e-01  5.29240322e+02]
 [ 9.15660023e-02  9.95724902e-01 -1.21485520e-02  4.04156837e+01]
 [ 2.52375289e-01 -1.14032662e-02  9.67562235e-01  1.38202832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.160714057 meters
Centerline goodness : 0.998433 with order 1
Centerline is valid?  [True, True]
Translation: X:529.30, Y:40.42, Z:138.22
[[ 9.63568954e-01 -8.86518940e-02 -2.52340471e-01  5.29298243e+02]
 [ 8.84545344e-02  9.96006118e-01 -1.21494014e-02  4.04183147e+01]
 [ 2.52409720e-01 -1.06138728e-02  9.67562235e-01  1.38219627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.220714057 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:529.36, Y:40.42, Z:138.24
[[ 9.63734320e-01 -8.68363989e-02 -2.52340248e-01  5.29355215e+02]
 [ 8.65767191e-02  9.96171045e-01 -1.21540295e-02  4.04208907e+01]
 [ 2.52429460e-01 -1.01335354e-02  9.67562235e-01  1.38237078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.280714057 meters
Centerline goodness : 0.998479 with order 1
Centerline is valid?  [True, True]
Translation: X:529.41, Y:40.42, Z:138.25
[[ 9.63351549e-01 -9.09858297e-02 -2.52339795e-01  5.29412618e+02]
 [ 9.08633813e-02  9.95789083e-01 -1.21634273e-02  4.04195494e+01]
 [ 2.52383912e-01 -1.12107904e-02  9.67562235e-01  1.38251318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.340714057 meters
Centerline goodness : 0.998570 with order 1
Centerline is valid?  [True, True]
Translation: X:529.47, Y:40.42, Z:138.27
[[ 9.62664461e-01 -9.79903127e-02 -2.52339124e-01  5.29471014e+02]
 [ 9.81001682e-02  9.95102040e-01 -1.21773208e-02  4.04181573e+01]
 [ 2.52296437e-01 -1.30318366e-02  9.67562235e-01  1.38265601e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.400714057 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:529.53, Y:40.42, Z:138.28
[[ 9.62174400e-01 -1.02691149e-01 -2.52338963e-01  5.29529428e+02]
 [ 1.02958568e-01  9.94611062e-01 -1.21806574e-02  4.04187317e+01]
 [ 2.52229970e-01 -1.42605416e-02  9.67562235e-01  1.38280381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.460714057 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:529.59, Y:40.42, Z:138.29
[[ 9.61806295e-01 -1.06083512e-01 -2.52338937e-01  5.29587974e+02]
 [ 1.06465170e-01  9.94241815e-01 -1.21812075e-02  4.04203018e+01]
 [ 2.52178148e-01 -1.51493456e-02  9.67562235e-01  1.38293044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.520714057 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:529.64, Y:40.42, Z:138.31
[[ 9.61684996e-01 -1.07178645e-01 -2.52338478e-01  5.29644303e+02]
 [ 1.07594753e-01  9.94120091e-01 -1.21907109e-02  4.04234357e+01]
 [ 2.52161334e-01 -1.54266723e-02  9.67562235e-01  1.38306694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.580714057 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:529.70, Y:40.43, Z:138.32
[[ 9.61913668e-01 -1.05108728e-01 -2.52337571e-01  5.29700411e+02]
 [ 1.05450134e-01  9.94349636e-01 -1.22094394e-02  4.04293912e+01]
 [ 2.52195091e-01 -1.48646040e-02  9.67562236e-01  1.38324720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.640714057 meters
Centerline goodness : 0.998596 with order 1
Centerline is valid?  [True, True]
Translation: X:529.76, Y:40.43, Z:138.34
[[ 9.62208795e-01 -1.02379602e-01 -2.52334404e-01  5.29757934e+02]
 [ 1.02611969e-01  9.94645725e-01 -1.22745594e-02  4.04321332e+01]
 [ 2.52240001e-01 -1.40818411e-02  9.67562238e-01  1.38340199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.700714057 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:529.82, Y:40.44, Z:138.36
[[ 9.62480956e-01 -9.97896909e-02 -2.52333958e-01  5.29816043e+02]
 [ 9.99323657e-02  9.94918405e-01 -1.22837260e-02  4.04363773e+01]
 [ 2.52277488e-01 -1.33934770e-02  9.67562238e-01  1.38356490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.760714057 meters
Centerline goodness : 0.998814 with order 1
Centerline is valid?  [True, True]
Translation: X:529.87, Y:40.44, Z:138.37
[[ 9.62894133e-01 -9.57208644e-02 -2.52333916e-01  5.29873361e+02]
 [ 9.57262177e-02  9.95331895e-01 -1.22845792e-02  4.04395128e+01]
 [ 2.52331886e-01 -1.23262222e-02  9.67562238e-01  1.38370283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.820714057 meters
Centerline goodness : 0.997931 with order 1
Centerline is valid?  [True, True]
Translation: X:529.93, Y:40.44, Z:138.39
[[ 9.63309133e-01 -9.14512759e-02 -2.52333466e-01  5.29931584e+02]
 [ 9.13104107e-02  9.95746590e-01 -1.22938250e-02  4.04410320e+01]
 [ 2.52384474e-01 -1.11979185e-02  9.67562238e-01  1.38385334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.880714057 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:529.99, Y:40.44, Z:138.40
[[ 9.63555861e-01 -8.88146411e-02 -2.52333236e-01  5.29986635e+02]
 [ 8.85837704e-02  9.95992802e-01 -1.22985465e-02  4.04430782e+01]
 [ 2.52414378e-01 -1.05022928e-02  9.67562238e-01  1.38400119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 544.940714057 meters
Centerline goodness : 0.998734 with order 1
Centerline is valid?  [True, True]
Translation: X:530.04, Y:40.44, Z:138.41
[[ 9.63608361e-01 -8.82503125e-02 -2.52330753e-01  5.30043873e+02]
 [ 8.79871831e-02  9.96045055e-01 -1.23492759e-02  4.04426414e+01]
 [ 2.52422627e-01 -1.03020067e-02  9.67562239e-01  1.38414633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.000714057 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:530.10, Y:40.44, Z:138.43
[[ 9.63429645e-01 -9.01894420e-02 -2.52327533e-01  5.30101707e+02]
 [ 8.99744762e-02  9.95866692e-01 -1.24147509e-02  4.04420365e+01]
 [ 2.52404265e-01 -1.07422985e-02  9.67562241e-01  1.38429133e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.060714057 meters
Centerline goodness : 0.998995 with order 1
Centerline is valid?  [True, True]
Translation: X:530.16, Y:40.44, Z:138.44
[[ 9.63218199e-01 -9.24215707e-02 -2.52327077e-01  5.30157779e+02]
 [ 9.22793489e-02  9.95655646e-01 -1.24239956e-02  4.04408133e+01]
 [ 2.52379125e-01 -1.13175597e-02  9.67562241e-01  1.38443168e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.120714057 meters
Centerline goodness : 0.998691 with order 1
Centerline is valid?  [True, True]
Translation: X:530.21, Y:40.44, Z:138.46
[[ 9.62995040e-01 -9.47215159e-02 -2.52325955e-01  5.30214106e+02]
 [ 9.46508071e-02  9.95432722e-01 -1.24467518e-02  4.04394221e+01]
 [ 2.52352487e-01 -1.18966950e-02  9.67562241e-01  1.38458619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.180714057 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:530.27, Y:40.44, Z:138.47
[[ 9.62897471e-01 -9.57176797e-02 -2.52322386e-01  5.30272608e+02]
 [ 9.56617184e-02  9.95335179e-01 -1.25186955e-02  4.04382006e+01]
 [ 2.52343608e-01 -1.20833728e-02  9.67562244e-01  1.38472160e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.240714057 meters
Centerline goodness : 0.998326 with order 1
Centerline is valid?  [True, True]
Translation: X:530.33, Y:40.44, Z:138.49
[[ 9.62428439e-01 -1.00325164e-01 -2.52321941e-01  5.30329665e+02]
 [ 1.00422112e-01  9.94866050e-01 -1.25276571e-02  4.04372129e+01]
 [ 2.52283372e-01 -1.32817288e-02  9.67562244e-01  1.38486861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.300714057 meters
Centerline goodness : 0.998177 with order 1
Centerline is valid?  [True, True]
Translation: X:530.39, Y:40.44, Z:138.50
[[ 9.61462788e-01 -1.09192759e-01 -2.52321718e-01  5.30388311e+02]
 [ 1.09587545e-01  9.93898141e-01 -1.25321537e-02  4.04369832e+01]
 [ 2.52150507e-01 -1.56021180e-02  9.67562244e-01  1.38503021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.360714057 meters
Centerline goodness : 0.998414 with order 1
Centerline is valid?  [True, True]
Translation: X:530.45, Y:40.44, Z:138.52
[[ 9.60414677e-01 -1.18056719e-01 -2.52321736e-01  5.30447161e+02]
 [ 1.18750769e-01  9.92845008e-01 -1.25317878e-02  4.04381991e+01]
 [ 2.51995838e-01 -1.79276871e-02  9.67562244e-01  1.38516747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.420714057 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:530.51, Y:40.44, Z:138.53
[[ 9.59595010e-01 -1.24543764e-01 -2.52321753e-01  5.30506466e+02]
 [ 1.25457025e-01  9.92019908e-01 -1.25314506e-02  4.04398787e+01]
 [ 2.51868916e-01 -1.96304191e-02  9.67562244e-01  1.38530400e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.480714057 meters
Centerline goodness : 0.998806 with order 1
Centerline is valid?  [True, True]
Translation: X:530.56, Y:40.44, Z:138.54
[[ 9.58916793e-01 -1.29662308e-01 -2.52321760e-01  5.30564868e+02]
 [ 1.30748611e-01  9.91336354e-01 -1.25313061e-02  4.04428505e+01]
 [ 2.51760572e-01 -2.09742398e-02  9.67562244e-01  1.38543467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.5407140570001 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:530.62, Y:40.45, Z:138.56
[[ 9.58771066e-01 -1.30735922e-01 -2.52321545e-01  5.30621256e+02]
 [ 1.31857391e-01  9.91189430e-01 -1.25356418e-02  4.04485813e+01]
 [ 2.51737307e-01 -2.12516500e-02  9.67562244e-01  1.38558192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.600714057 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:530.68, Y:40.46, Z:138.57
[[ 9.59001288e-01 -1.29037689e-01 -2.52320835e-01  5.30678279e+02]
 [ 1.30098012e-01  9.91421710e-01 -1.25499155e-02  4.04560085e+01]
 [ 2.51775766e-01 -2.07910538e-02  9.67562244e-01  1.38574166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.660714057 meters
Centerline goodness : 0.999021 with order 1
Centerline is valid?  [True, True]
Translation: X:530.74, Y:40.46, Z:138.59
[[ 9.59306509e-01 -1.26749574e-01 -2.52320367e-01  5.30736400e+02]
 [ 1.27730097e-01  9.91729442e-01 -1.25593126e-02  4.04635423e+01]
 [ 2.51825424e-01 -2.01806747e-02  9.67562244e-01  1.38589454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.720714057 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:530.79, Y:40.47, Z:138.60
[[ 9.59291277e-01 -1.26864904e-01 -2.52320318e-01  5.30792908e+02]
 [ 1.27849067e-01  9.91714099e-01 -1.25603014e-02  4.04686174e+01]
 [ 2.51823078e-01 -2.02099297e-02  9.67562244e-01  1.38604400e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.780714057 meters
Centerline goodness : 0.998773 with order 1
Centerline is valid?  [True, True]
Translation: X:530.85, Y:40.48, Z:138.62
[[ 9.59582163e-01 -1.24652153e-01 -2.52317087e-01  5.30849707e+02]
 [ 1.25544660e-01  9.92007637e-01 -1.26248744e-02  4.04757755e+01]
 [ 2.51874195e-01 -1.95624585e-02  9.67562246e-01  1.38616858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.840714057 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:530.91, Y:40.48, Z:138.63
[[ 9.59793539e-01 -1.23015133e-01 -2.52316548e-01  5.30907931e+02]
 [ 1.23849513e-01  9.92220559e-01 -1.26356432e-02  4.04819351e+01]
 [ 2.51908042e-01 -1.91216729e-02  9.67562246e-01  1.38632076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.900714057 meters
Centerline goodness : 0.999161 with order 1
Centerline is valid?  [True, True]
Translation: X:530.96, Y:40.49, Z:138.65
[[ 9.60034267e-01 -1.21122587e-01 -2.52316320e-01  5.30964810e+02]
 [ 1.21891845e-01  9.92462898e-01 -1.26401865e-02  4.04907247e+01]
 [ 2.51945599e-01 -1.86202898e-02  9.67562246e-01  1.38646310e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 545.960714057 meters
Centerline goodness : 0.997616 with order 1
Centerline is valid?  [True, True]
Translation: X:531.02, Y:40.50, Z:138.66
[[ 9.60327776e-01 -1.18779831e-01 -2.52313127e-01  5.31023538e+02]
 [ 1.19453381e-01  9.92758534e-01 -1.27036236e-02  4.05009236e+01]
 [ 2.51994944e-01 -1.79400135e-02  9.67562248e-01  1.38659861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.020714057 meters
Centerline goodness : 0.998217 with order 1
Centerline is valid?  [True, True]
Translation: X:531.08, Y:40.51, Z:138.68
[[ 9.60346498e-01 -1.18628429e-01 -2.52313100e-01  5.31079944e+02]
 [ 1.19296725e-01  9.92777365e-01 -1.27041650e-02  4.05098685e+01]
 [ 2.51997809e-01 -1.78997261e-02  9.67562248e-01  1.38677529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.080714057 meters
Centerline goodness : 0.997687 with order 1
Centerline is valid?  [True, True]
Translation: X:531.14, Y:40.52, Z:138.69
[[ 9.60100398e-01 -1.20604981e-01 -2.52312632e-01  5.31138546e+02]
 [ 1.21337605e-01  9.92529876e-01 -1.27134478e-02  4.05159805e+01]
 [ 2.51961130e-01 -1.84088242e-02  9.67562248e-01  1.38693354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.140714057 meters
Centerline goodness : 0.998199 with order 1
Centerline is valid?  [True, True]
Translation: X:531.20, Y:40.52, Z:138.71
[[ 9.59612005e-01 -1.24431283e-01 -2.52312615e-01  5.31196790e+02]
 [ 1.25293086e-01  9.92038307e-01 -1.27137883e-02  4.05221189e+01]
 [ 2.51885772e-01 -1.94127223e-02  9.67562248e-01  1.38706658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.200714057 meters
Centerline goodness : 0.998737 with order 1
Centerline is valid?  [True, True]
Translation: X:531.26, Y:40.53, Z:138.72
[[ 9.58969741e-01 -1.29288424e-01 -2.52312383e-01  5.31255778e+02]
 [ 1.30313197e-01  9.91391302e-01 -1.27183859e-02  4.05286823e+01]
 [ 2.51784642e-01 -2.06830860e-02  9.67562248e-01  1.38720297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.260714057 meters
Centerline goodness : 0.998172 with order 1
Centerline is valid?  [True, True]
Translation: X:531.31, Y:40.53, Z:138.74
[[ 9.58344455e-01 -1.33844692e-01 -2.52312314e-01  5.31313022e+02]
 [ 1.35023183e-01  9.90760792e-01 -1.27197656e-02  4.05346640e+01]
 [ 2.51683621e-01 -2.18780950e-02  9.67562248e-01  1.38735806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.320714057 meters
Centerline goodness : 0.999047 with order 1
Centerline is valid?  [True, True]
Translation: X:531.37, Y:40.54, Z:138.75
[[ 9.58204331e-01 -1.34844569e-01 -2.52312111e-01  5.31370426e+02]
 [ 1.36055836e-01  9.90619460e-01 -1.27237733e-02  4.05409158e+01]
 [ 2.51661019e-01 -2.21365607e-02  9.67562248e-01  1.38752485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.380714057 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:531.43, Y:40.55, Z:138.77
[[ 9.58235398e-01 -1.34624456e-01 -2.52311667e-01  5.31429080e+02]
 [ 1.35825975e-01  9.90650890e-01 -1.27325842e-02  4.05488517e+01]
 [ 2.51666895e-01 -2.20696654e-02  9.67562248e-01  1.38768737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.440714057 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:531.49, Y:40.56, Z:138.78
[[ 9.58729395e-01 -1.31059744e-01 -2.52311893e-01  5.31487586e+02]
 [ 1.32141871e-01  9.91149091e-01 -1.27280937e-02  4.05558130e+01]
 [ 2.51746845e-01 -2.11381682e-02  9.67562248e-01  1.38782314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.500714057 meters
Centerline goodness : 0.998042 with order 1
Centerline is valid?  [True, True]
Translation: X:531.55, Y:40.56, Z:138.80
[[ 9.59095574e-01 -1.28352592e-01 -2.52311893e-01  5.31546128e+02]
 [ 1.29343190e-01  9.91518197e-01 -1.27280937e-02  4.05626361e+01]
 [ 2.51805517e-01 -2.04273668e-02  9.67562248e-01  1.38795937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.560714057 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:531.60, Y:40.57, Z:138.81
[[ 9.59353380e-01 -1.26411234e-01 -2.52311896e-01  5.31604193e+02]
 [ 1.27336225e-01  9.91777940e-01 -1.27280378e-02  4.05681675e+01]
 [ 2.51846340e-01 -1.99177583e-02  9.67562248e-01  1.38811379e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.620714057 meters
Centerline goodness : 0.998705 with order 1
Centerline is valid?  [True, True]
Translation: X:531.66, Y:40.58, Z:138.83
[[ 9.59702171e-01 -1.23735401e-01 -2.52311896e-01  5.31662206e+02]
 [ 1.24569967e-01  9.92129185e-01 -1.27280378e-02  4.05768030e+01]
 [ 2.51900905e-01 -1.92153590e-02  9.67562248e-01  1.38826780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.680714057 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:531.72, Y:40.59, Z:138.84
[[ 9.59855065e-01 -1.22543540e-01 -2.52311979e-01  5.31722047e+02]
 [ 1.23338265e-01  9.92283080e-01 -1.27263974e-02  4.05850724e+01]
 [ 2.51924445e-01 -1.89042247e-02  9.67562248e-01  1.38843371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.740714057 meters
Centerline goodness : 0.998074 with order 1
Centerline is valid?  [True, True]
Translation: X:531.78, Y:40.59, Z:138.86
[[ 9.59492560e-01 -1.25348372e-01 -2.52312926e-01  5.31778727e+02]
 [ 1.26242784e-01  9.91917979e-01 -1.27075988e-02  4.05943106e+01]
 [ 2.51866604e-01 -1.96598397e-02  9.67562248e-01  1.38859672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.800714057 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:531.84, Y:40.60, Z:138.87
[[ 9.59401057e-01 -1.26047202e-01 -2.52312733e-01  5.31838363e+02]
 [ 1.26964229e-01  9.91825844e-01 -1.27114331e-02  4.05999871e+01]
 [ 2.51852529e-01 -1.98393293e-02  9.67562248e-01  1.38874909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.860714057 meters
Centerline goodness : 0.999096 with order 1
Centerline is valid?  [True, True]
Translation: X:531.90, Y:40.61, Z:138.89
[[ 9.59069884e-01 -1.28541414e-01 -2.52313420e-01  5.31896344e+02]
 [ 1.29546320e-01  9.91492066e-01 -1.26977706e-02  4.06067348e+01]
 [ 2.51798944e-01 -2.05082258e-02  9.67562248e-01  1.38891527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.920714057 meters
Centerline goodness : 0.998704 with order 1
Centerline is valid?  [True, True]
Translation: X:531.96, Y:40.61, Z:138.91
[[ 9.58478038e-01 -1.32882342e-01 -2.52313564e-01  5.31955469e+02]
 [ 1.34034777e-01  9.90895311e-01 -1.26949181e-02  4.06105351e+01]
 [ 2.51703258e-01 -2.16509919e-02  9.67562248e-01  1.38905620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 546.980714057 meters
Centerline goodness : 0.998688 with order 1
Centerline is valid?  [True, True]
Translation: X:532.01, Y:40.61, Z:138.92
[[ 9.57955533e-01 -1.36598120e-01 -2.52313595e-01  5.32013995e+02]
 [ 1.37876414e-01  9.90368088e-01 -1.26943039e-02  4.06141850e+01]
 [ 2.51617350e-01 -2.26275149e-02  9.67562248e-01  1.38919386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.0407140570001 meters
Centerline goodness : 0.997926 with order 1
Centerline is valid?  [True, True]
Translation: X:532.07, Y:40.62, Z:138.93
[[ 9.57804686e-01 -1.37651885e-01 -2.52313579e-01  5.32073674e+02]
 [ 1.38965753e-01  9.90215818e-01 -1.26946203e-02  4.06198610e+01]
 [ 2.51592335e-01 -2.29039796e-02  9.67562248e-01  1.38934752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.100714057 meters
Centerline goodness : 0.998202 with order 1
Centerline is valid?  [True, True]
Translation: X:532.13, Y:40.62, Z:138.95
[[ 9.57816381e-01 -1.37568775e-01 -2.52314512e-01  5.32134019e+02]
 [ 1.38884682e-01  9.90227430e-01 -1.26760496e-02  4.06249534e+01]
 [ 2.51592579e-01 -2.29012928e-02  9.67562249e-01  1.38949486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.160714057 meters
Centerline goodness : 0.997830 with order 1
Centerline is valid?  [True, True]
Translation: X:532.19, Y:40.63, Z:138.96
[[ 9.58163726e-01 -1.35126573e-01 -2.52315446e-01  5.32191999e+02]
 [ 1.36364717e-01  9.90577838e-01 -1.26574204e-02  4.06327908e+01]
 [ 2.51648443e-01 -2.22790435e-02  9.67562249e-01  1.38962729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.220714057 meters
Centerline goodness : 0.998452 with order 1
Centerline is valid?  [True, True]
Translation: X:532.25, Y:40.64, Z:138.98
[[ 9.58395109e-01 -1.33475584e-01 -2.52315446e-01  5.32251003e+02]
 [ 1.34657881e-01  9.90811306e-01 -1.26574204e-02  4.06385063e+01]
 [ 2.51686454e-01 -2.18454536e-02  9.67562249e-01  1.38977129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.280714057 meters
Centerline goodness : 0.998607 with order 1
Centerline is valid?  [True, True]
Translation: X:532.31, Y:40.64, Z:138.99
[[ 9.58503705e-01 -1.32690824e-01 -2.52316849e-01  5.32310713e+02]
 [ 1.33853904e-01  9.90920598e-01 -1.26293901e-02  4.06446857e+01]
 [ 2.51701767e-01 -2.16682782e-02  9.67562249e-01  1.38994503e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.340714057 meters
Centerline goodness : 0.997476 with order 1
Centerline is valid?  [True, True]
Translation: X:532.37, Y:40.65, Z:139.01
[[ 9.58896373e-01 -1.29821024e-01 -2.52317751e-01  5.32368935e+02]
 [ 1.30891775e-01  9.91316447e-01 -1.26113533e-02  4.06501809e+01]
 [ 2.51763955e-01 -2.09333373e-02  9.67562249e-01  1.39011144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.400714057 meters
Centerline goodness : 0.997396 with order 1
Centerline is valid?  [True, True]
Translation: X:532.43, Y:40.65, Z:139.03
[[ 9.59290222e-01 -1.26877701e-01 -2.52317892e-01  5.32427477e+02]
 [ 1.27849689e-01  9.91713407e-01 -1.26085392e-02  4.06543354e+01]
 [ 2.51826778e-01 -2.01635157e-02  9.67562249e-01  1.39026902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.460714057 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:532.49, Y:40.66, Z:139.04
[[ 9.59645601e-01 -1.24161221e-01 -2.52317880e-01  5.32487090e+02]
 [ 1.25041349e-01  9.92071409e-01 -1.26087627e-02  4.06580565e+01]
 [ 2.51882874e-01 -1.94502245e-02  9.67562249e-01  1.39042693e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.520714057 meters
Centerline goodness : 0.997741 with order 1
Centerline is valid?  [True, True]
Translation: X:532.54, Y:40.66, Z:139.06
[[ 9.60251334e-01 -1.19385289e-01 -2.52318309e-01  5.32544577e+02]
 [ 1.20106323e-01  9.92681070e-01 -1.26001903e-02  4.06610921e+01]
 [ 2.51975886e-01 -1.82056748e-02  9.67562249e-01  1.39060572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.580714057 meters
Centerline goodness : 0.997462 with order 1
Centerline is valid?  [True, True]
Translation: X:532.60, Y:40.66, Z:139.07
[[ 9.60541634e-01 -1.17026697e-01 -2.52318293e-01  5.32603177e+02]
 [ 1.17668008e-01  9.92973045e-01 -1.26004919e-02  4.06627840e+01]
 [ 2.52019858e-01 -1.75864938e-02  9.67562249e-01  1.39074301e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.640714057 meters
Centerline goodness : 0.997738 with order 1
Centerline is valid?  [True, True]
Translation: X:532.66, Y:40.66, Z:139.09
[[ 9.60377888e-01 -1.18362967e-01 -2.52318293e-01  5.32662222e+02]
 [ 1.19049399e-01  9.92808374e-01 -1.26004919e-02  4.06649784e+01]
 [ 2.51995146e-01 -1.79371073e-02  9.67562249e-01  1.39090296e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.700714057 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:532.72, Y:40.67, Z:139.11
[[ 9.60188511e-01 -1.19889048e-01 -2.52318528e-01  5.32721644e+02]
 [ 1.20628245e-01  9.92617838e-01 -1.25957958e-02  4.06671016e+01]
 [ 2.51965970e-01 -1.83424027e-02  9.67562249e-01  1.39105659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.760714057 meters
Centerline goodness : 0.996644 with order 1
Centerline is valid?  [True, True]
Translation: X:532.78, Y:40.67, Z:139.12
[[ 9.60496441e-01 -1.17395050e-01 -2.52319221e-01  5.32780991e+02]
 [ 1.18053658e-01  9.92927505e-01 -1.25819001e-02  4.06700369e+01]
 [ 2.52011747e-01 -1.77023368e-02  9.67562249e-01  1.39121433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.820714057 meters
Centerline goodness : 0.997184 with order 1
Centerline is valid?  [True, True]
Translation: X:532.84, Y:40.67, Z:139.14
[[ 9.60300379e-01 -1.18987225e-01 -2.52319682e-01  5.32840263e+02]
 [ 1.19702016e-01  9.92730253e-01 -1.25726483e-02  4.06733367e+01]
 [ 2.51981366e-01 -1.81296555e-02  9.67562250e-01  1.39138181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.880714057 meters
Centerline goodness : 0.998181 with order 1
Centerline is valid?  [True, True]
Translation: X:532.90, Y:40.67, Z:139.15
[[ 9.60104837e-01 -1.20553424e-01 -2.52320380e-01  5.32899182e+02]
 [ 1.21324777e-01  9.92533415e-01 -1.25586213e-02  4.06749378e+01]
 [ 2.51950393e-01 -1.85551208e-02  9.67562250e-01  1.39152730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 547.940714057 meters
Centerline goodness : 0.997911 with order 1
Centerline is valid?  [True, True]
Translation: X:532.96, Y:40.68, Z:139.17
[[ 9.59668221e-01 -1.23980703e-01 -2.52320612e-01  5.32958182e+02]
 [ 1.24869057e-01  9.92093804e-01 -1.25539552e-02  4.06762983e+01]
 [ 2.51882164e-01 -1.94594050e-02  9.67562250e-01  1.39166148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.000714057 meters
Centerline goodness : 0.996832 with order 1
Centerline is valid?  [True, True]
Translation: X:533.02, Y:40.68, Z:139.18
[[ 9.60043105e-01 -1.21043093e-01 -2.52320840e-01  5.33017784e+02]
 [ 1.21833405e-01  9.92471226e-01 -1.25493664e-02  4.06753939e+01]
 [ 2.51940188e-01 -1.86931745e-02  9.67562250e-01  1.39176304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.060714057 meters
Centerline goodness : 0.998092 with order 1
Centerline is valid?  [True, True]
Translation: X:533.08, Y:40.68, Z:139.20
[[ 9.59268605e-01 -1.27035180e-01 -2.52320840e-01  5.33075445e+02]
 [ 1.28027955e-01  9.91691160e-01 -1.25493664e-02  4.06752439e+01]
 [ 2.51818558e-01 -2.02659080e-02  9.67562250e-01  1.39197006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.120714057 meters
Centerline goodness : 0.997840 with order 1
Centerline is valid?  [True, True]
Translation: X:533.14, Y:40.67, Z:139.21
[[ 9.59322805e-01 -1.26624740e-01 -2.52321087e-01  5.33135127e+02]
 [ 1.27604942e-01  9.91745742e-01 -1.25443988e-02  4.06745772e+01]
 [ 2.51826795e-01 -2.01632898e-02  9.67562250e-01  1.39212480e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.180714057 meters
Centerline goodness : 0.997599 with order 1
Centerline is valid?  [True, True]
Translation: X:533.19, Y:40.67, Z:139.23
[[ 9.59834415e-01 -1.22685483e-01 -2.52321556e-01  5.33192511e+02]
 [ 1.23535040e-01  9.92261039e-01 -1.25349640e-02  4.06732160e+01]
 [ 2.51906707e-01 -1.91390637e-02  9.67562250e-01  1.39227837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.240714057 meters
Centerline goodness : 0.998386 with order 1
Centerline is valid?  [True, True]
Translation: X:533.25, Y:40.67, Z:139.24
[[ 9.60104195e-01 -1.20556600e-01 -2.52321305e-01  5.33250917e+02]
 [ 1.21332921e-01  9.92532654e-01 -1.25400258e-02  4.06718262e+01]
 [ 2.51948917e-01 -1.85751496e-02  9.67562250e-01  1.39242284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.300714057 meters
Centerline goodness : 0.998182 with order 1
Centerline is valid?  [True, True]
Translation: X:533.31, Y:40.67, Z:139.26
[[ 9.60399525e-01 -1.18178912e-01 -2.52322209e-01  5.33309705e+02]
 [ 1.18879696e-01  9.92829705e-01 -1.25218100e-02  4.06707386e+01]
 [ 2.51992798e-01 -1.79700470e-02  9.67562250e-01  1.39259265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.360714057 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:533.37, Y:40.67, Z:139.28
[[ 9.60656088e-01 -1.16074424e-01 -2.52322430e-01  5.33368469e+02]
 [ 1.16705321e-01  9.93087702e-01 -1.25173410e-02  4.06689905e+01]
 [ 2.52031246e-01 -1.74225103e-02  9.67562250e-01  1.39276315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.420714057 meters
Centerline goodness : 0.998049 with order 1
Centerline is valid?  [True, True]
Translation: X:533.43, Y:40.67, Z:139.29
[[ 9.60644731e-01 -1.16167884e-01 -2.52322657e-01  5.33426521e+02]
 [ 1.16803132e-01  9.93076260e-01 -1.25127637e-02  4.06688809e+01]
 [ 2.52029222e-01 -1.74517562e-02  9.67562250e-01  1.39291962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.480714057 meters
Centerline goodness : 0.997634 with order 1
Centerline is valid?  [True, True]
Translation: X:533.48, Y:40.67, Z:139.31
[[ 9.60381505e-01 -1.18322701e-01 -2.52323411e-01  5.33484645e+02]
 [ 1.19034680e-01  9.92811440e-01 -1.24975545e-02  4.06672928e+01]
 [ 2.51988313e-01 -1.80328163e-02  9.67562250e-01  1.39306807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.5407140570001 meters
Centerline goodness : 0.996598 with order 1
Centerline is valid?  [True, True]
Translation: X:533.54, Y:40.67, Z:139.32
[[ 9.59832758e-01 -1.22695088e-01 -2.52323189e-01  5.33543425e+02]
 [ 1.23553579e-01  9.92259146e-01 -1.25020240e-02  4.06655354e+01]
 [ 2.51903929e-01 -1.91755809e-02  9.67562250e-01  1.39323114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.600714057 meters
Centerline goodness : 0.996393 with order 1
Centerline is valid?  [True, True]
Translation: X:533.60, Y:40.67, Z:139.34
[[ 9.59500274e-01 -1.25268653e-01 -2.52323182e-01  5.33602633e+02]
 [ 1.26214061e-01  9.91924244e-01 -1.25021736e-02  4.06651653e+01]
 [ 2.51851612e-01 -1.98508945e-02  9.67562250e-01  1.39338851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.660714057 meters
Centerline goodness : 0.995889 with order 1
Centerline is valid?  [True, True]
Translation: X:533.66, Y:40.66, Z:139.35
[[ 9.59480999e-01 -1.25415294e-01 -2.52323635e-01  5.33662230e+02]
 [ 1.26368048e-01  9.91904754e-01 -1.24930266e-02  4.06642266e+01]
 [ 2.51847829e-01 -1.98988234e-02  9.67562250e-01  1.39351749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.720714057 meters
Centerline goodness : 0.995755 with order 1
Centerline is valid?  [True, True]
Translation: X:533.72, Y:40.67, Z:139.37
[[ 9.59330823e-01 -1.26558900e-01 -2.52323635e-01  5.33720445e+02]
 [ 1.27550301e-01  9.91753419e-01 -1.24930266e-02  4.06654384e+01]
 [ 2.51823931e-01 -2.01990101e-02  9.67562250e-01  1.39366110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.780714057 meters
Centerline goodness : 0.995663 with order 1
Centerline is valid?  [True, True]
Translation: X:533.78, Y:40.67, Z:139.38
[[ 9.59266008e-01 -1.27049204e-01 -2.52323651e-01  5.33779970e+02]
 [ 1.28057264e-01  9.91688091e-01 -1.24926932e-02  4.06666581e+01]
 [ 2.51813547e-01 -2.03280604e-02  9.67562250e-01  1.39381521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.840714057 meters
Centerline goodness : 0.995880 with order 1
Centerline is valid?  [True, True]
Translation: X:533.84, Y:40.67, Z:139.39
[[ 9.59232910e-01 -1.27297955e-01 -2.52324106e-01  5.33838312e+02]
 [ 1.28316823e-01  9.91654655e-01 -1.24835093e-02  4.06690436e+01]
 [ 2.51807499e-01 -2.04028345e-02  9.67562250e-01  1.39394790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.900714057 meters
Centerline goodness : 0.996002 with order 1
Centerline is valid?  [True, True]
Translation: X:533.90, Y:40.67, Z:139.41
[[ 9.59075647e-01 -1.28477424e-01 -2.52324106e-01  5.33896532e+02]
 [ 1.29536160e-01  9.91496115e-01 -1.24835093e-02  4.06723150e+01]
 [ 2.51782219e-01 -2.07124660e-02  9.67562250e-01  1.39409004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 548.960714057 meters
Centerline goodness : 0.995486 with order 1
Centerline is valid?  [True, True]
Translation: X:533.95, Y:40.68, Z:139.42
[[ 9.58520865e-01 -1.32553082e-01 -2.52324062e-01  5.33954826e+02]
 [ 1.33749388e-01  9.90936547e-01 -1.24843978e-02  4.06754502e+01]
 [ 2.51691980e-01 -2.17816332e-02  9.67562250e-01  1.39424118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.020714057 meters
Centerline goodness : 0.996338 with order 1
Centerline is valid?  [True, True]
Translation: X:534.01, Y:40.68, Z:139.44
[[ 9.58067060e-01 -1.35794649e-01 -2.52323841e-01  5.34013259e+02]
 [ 1.37099437e-01  9.90478558e-01 -1.24888457e-02  4.06789579e+01]
 [ 2.51617273e-01 -2.26283049e-02  9.67562250e-01  1.39439096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.080714057 meters
Centerline goodness : 0.995887 with order 1
Centerline is valid?  [True, True]
Translation: X:534.07, Y:40.68, Z:139.45
[[ 9.57858737e-01 -1.37256760e-01 -2.52323644e-01  5.34072219e+02]
 [ 1.38609972e-01  9.90268249e-01 -1.24928373e-02  4.06832035e+01]
 [ 2.51582819e-01 -2.30081999e-02  9.67562250e-01  1.39454546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.140714057 meters
Centerline goodness : 0.995140 with order 1
Centerline is valid?  [True, True]
Translation: X:534.13, Y:40.69, Z:139.47
[[ 9.57896305e-01 -1.36993928e-01 -2.52323866e-01  5.34131755e+02]
 [ 1.38339421e-01  9.90306137e-01 -1.24883433e-02  4.06880596e+01]
 [ 2.51588701e-01 -2.29437998e-02  9.67562250e-01  1.39470404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.200714057 meters
Centerline goodness : 0.995399 with order 1
Centerline is valid?  [True, True]
Translation: X:534.19, Y:40.69, Z:139.49
[[ 9.58362193e-01 -1.33694537e-01 -2.52324548e-01  5.34189836e+02]
 [ 1.34932018e-01  9.90776330e-01 -1.24745627e-02  4.06944152e+01]
 [ 2.51664970e-01 -2.20915110e-02  9.67562250e-01  1.39486543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.260714057 meters
Centerline goodness : 0.995910 with order 1
Centerline is valid?  [True, True]
Translation: X:534.25, Y:40.70, Z:139.50
[[ 9.58746743e-01 -1.30908384e-01 -2.52324550e-01  5.34248313e+02]
 [ 1.32051657e-01  9.91164339e-01 -1.24745162e-02  4.07022944e+01]
 [ 2.51728114e-01 -2.13599730e-02  9.67562250e-01  1.39500535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.320714057 meters
Centerline goodness : 0.996037 with order 1
Centerline is valid?  [True, True]
Translation: X:534.31, Y:40.71, Z:139.52
[[ 9.58832151e-01 -1.30280890e-01 -2.52324781e-01  5.34306910e+02]
 [ 1.31404170e-01  9.91250446e-01 -1.24698313e-02  4.07091527e+01]
 [ 2.51741633e-01 -2.12000531e-02  9.67562250e-01  1.39518170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.380714057 meters
Centerline goodness : 0.996348 with order 1
Centerline is valid?  [True, True]
Translation: X:534.37, Y:40.71, Z:139.53
[[ 9.58612362e-01 -1.31887478e-01 -2.52325253e-01  5.34365103e+02]
 [ 1.33067576e-01  9.91028638e-01 -1.24602858e-02  4.07149773e+01]
 [ 2.51704907e-01 -2.16317256e-02  9.67562250e-01  1.39534700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.440714057 meters
Centerline goodness : 0.996473 with order 1
Centerline is valid?  [True, True]
Translation: X:534.42, Y:40.72, Z:139.55
[[ 9.57795291e-01 -1.37694998e-01 -2.52325717e-01  5.34423294e+02]
 [ 1.39073998e-01  9.90203716e-01 -1.24508866e-02  4.07183606e+01]
 [ 2.51568287e-01 -2.31665455e-02  9.67562250e-01  1.39550052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.500714057 meters
Centerline goodness : 0.996017 with order 1
Centerline is valid?  [True, True]
Translation: X:534.48, Y:40.72, Z:139.56
[[ 9.57166829e-01 -1.41998017e-01 -2.52325634e-01  5.34482628e+02]
 [ 1.43522212e-01  9.89568749e-01 -1.24525601e-02  4.07214466e+01]
 [ 2.51461801e-01 -2.42951556e-02  9.67562250e-01  1.39564638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.560714057 meters
Centerline goodness : 0.996756 with order 1
Centerline is valid?  [True, True]
Translation: X:534.54, Y:40.72, Z:139.58
[[ 9.56959625e-01 -1.43387035e-01 -2.52326046e-01  5.34542200e+02]
 [ 1.44960436e-01  9.89359194e-01 -1.24442063e-02  4.07246269e+01]
 [ 2.51425431e-01 -2.46686906e-02  9.67562250e-01  1.39581014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.620714057 meters
Centerline goodness : 0.996797 with order 1
Centerline is valid?  [True, True]
Translation: X:534.60, Y:40.73, Z:139.60
[[ 9.56891287e-01 -1.43841157e-01 -2.52326745e-01  5.34602666e+02]
 [ 1.45433639e-01  9.89289923e-01 -1.24300138e-02  4.07279014e+01]
 [ 2.51412254e-01 -2.48026249e-02  9.67562250e-01  1.39595963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.680714057 meters
Centerline goodness : 0.996594 with order 1
Centerline is valid?  [True, True]
Translation: X:534.66, Y:40.73, Z:139.61
[[ 9.57326385e-01 -1.40914629e-01 -2.52327684e-01  5.34661613e+02]
 [ 1.42413027e-01  9.89729508e-01 -1.24109167e-02  4.07321789e+01]
 [ 2.51485035e-01 -2.40534514e-02  9.67562251e-01  1.39611382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.740714057 meters
Centerline goodness : 0.996919 with order 1
Centerline is valid?  [True, True]
Translation: X:534.72, Y:40.74, Z:139.63
[[ 9.58249757e-01 -1.34491747e-01 -2.52327907e-01  5.34719830e+02]
 [ 1.35774003e-01  9.90662153e-01 -1.24063904e-02  4.07383466e+01]
 [ 2.51640265e-01 -2.23711494e-02  9.67562251e-01  1.39628258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.800714057 meters
Centerline goodness : 0.997060 with order 1
Centerline is valid?  [True, True]
Translation: X:534.78, Y:40.74, Z:139.64
[[ 9.58637179e-01 -1.31701873e-01 -2.52327914e-01  5.34778585e+02]
 [ 1.32889813e-01  9.91053168e-01 -1.24062499e-02  4.07424544e+01]
 [ 2.51704305e-01 -2.16387169e-02  9.67562251e-01  1.39643768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.860714057 meters
Centerline goodness : 0.997609 with order 1
Centerline is valid?  [True, True]
Translation: X:534.84, Y:40.75, Z:139.66
[[ 9.58539252e-01 -1.32412284e-01 -2.52328138e-01  5.34838782e+02]
 [ 1.33625440e-01  9.90954308e-01 -1.24016852e-02  4.07461186e+01]
 [ 2.51687791e-01 -2.18299564e-02  9.67562251e-01  1.39658713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.920714057 meters
Centerline goodness : 0.997261 with order 1
Centerline is valid?  [True, True]
Translation: X:534.90, Y:40.75, Z:139.67
[[ 9.58169795e-01 -1.35058116e-01 -2.52329051e-01  5.34897915e+02]
 [ 1.36365619e-01  9.90581182e-01 -1.23830804e-02  4.07479698e+01]
 [ 2.51624845e-01 -2.25439136e-02  9.67562251e-01  1.39672096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 549.980714057 meters
Centerline goodness : 0.996876 with order 1
Centerline is valid?  [True, True]
Translation: X:534.96, Y:40.75, Z:139.68
[[ 9.57924378e-01 -1.36787626e-01 -2.52329211e-01  5.34956336e+02]
 [ 1.38154486e-01  9.90333317e-01 -1.23798334e-02  4.07502543e+01]
 [ 2.51583432e-01 -2.30014681e-02  9.67562251e-01  1.39684062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.0407140570001 meters
Centerline goodness : 0.997315 with order 1
Centerline is valid?  [True, True]
Translation: X:535.01, Y:40.75, Z:139.70
[[ 9.58009572e-01 -1.36190018e-01 -2.52329028e-01  5.35014809e+02]
 [ 1.37535689e-01  9.90419397e-01 -1.23835490e-02  4.07528205e+01]
 [ 2.51598080e-01 -2.28406882e-02  9.67562251e-01  1.39701092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.100714057 meters
Centerline goodness : 0.997145 with order 1
Centerline is valid?  [True, True]
Translation: X:535.07, Y:40.76, Z:139.72
[[ 9.58253269e-01 -1.34463815e-01 -2.52329458e-01  5.35073209e+02]
 [ 1.35753384e-01  9.90665374e-01 -1.23747822e-02  4.07550287e+01]
 [ 2.51638018e-01 -2.23964023e-02  9.67562251e-01  1.39718484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.1607140570001 meters
Centerline goodness : 0.997283 with order 1
Centerline is valid?  [True, True]
Translation: X:535.13, Y:40.76, Z:139.73
[[ 9.58670784e-01 -1.31454036e-01 -2.52329477e-01  5.35131182e+02]
 [ 1.32641918e-01  9.91086775e-01 -1.23743982e-02  4.07589884e+01]
 [ 2.51707072e-01 -2.16064918e-02  9.67562251e-01  1.39734215e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.220714057 meters
Centerline goodness : 0.997005 with order 1
Centerline is valid?  [True, True]
Translation: X:535.19, Y:40.76, Z:139.75
[[ 9.59137564e-01 -1.28003728e-01 -2.52329506e-01  5.35189076e+02]
 [ 1.29075120e-01  9.91557614e-01 -1.23738011e-02  4.07637827e+01]
 [ 2.51783136e-01 -2.07012839e-02  9.67562251e-01  1.39749919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.280714057 meters
Centerline goodness : 0.996899 with order 1
Centerline is valid?  [True, True]
Translation: X:535.25, Y:40.77, Z:139.76
[[ 9.59261551e-01 -1.27071194e-01 -2.52329524e-01  5.35249068e+02]
 [ 1.28111159e-01  9.91682625e-01 -1.23734490e-02  4.07670929e+01]
 [ 2.51803113e-01 -2.04568537e-02  9.67562251e-01  1.39762917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.340714057 meters
Centerline goodness : 0.997954 with order 1
Centerline is valid?  [True, True]
Translation: X:535.31, Y:40.77, Z:139.78
[[ 9.59162914e-01 -1.27812711e-01 -2.52329975e-01  5.35307262e+02]
 [ 1.28880144e-01  9.91583095e-01 -1.23642420e-02  4.07716340e+01]
 [ 2.51786445e-01 -2.06610012e-02  9.67562251e-01  1.39776078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.400714057 meters
Centerline goodness : 0.997609 with order 1
Centerline is valid?  [True, True]
Translation: X:535.37, Y:40.78, Z:139.79
[[ 9.58984498e-01 -1.29144556e-01 -2.52329975e-01  5.35366209e+02]
 [ 1.30257010e-01  9.91403166e-01 -1.23642420e-02  4.07778214e+01]
 [ 2.51757510e-01 -2.10106316e-02  9.67562251e-01  1.39791104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.460714057 meters
Centerline goodness : 0.997332 with order 1
Centerline is valid?  [True, True]
Translation: X:535.43, Y:40.78, Z:139.81
[[ 9.58705451e-01 -1.31199587e-01 -2.52330193e-01  5.35425722e+02]
 [ 1.32382684e-01  9.91121618e-01 -1.23597808e-02  4.07831586e+01]
 [ 2.51711507e-01 -2.15547591e-02  9.67562251e-01  1.39807980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.520714057 meters
Centerline goodness : 0.997105 with order 1
Centerline is valid?  [True, True]
Translation: X:535.48, Y:40.79, Z:139.82
[[ 9.58212572e-01 -1.34750440e-01 -2.52331103e-01  5.35484296e+02]
 [ 1.36058480e-01  9.90623937e-01 -1.23411856e-02  4.07869546e+01]
 [ 2.51628211e-01 -2.25063071e-02  9.67562251e-01  1.39824014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.580714057 meters
Centerline goodness : 0.997513 with order 1
Centerline is valid?  [True, True]
Translation: X:535.54, Y:40.79, Z:139.84
[[ 9.57682130e-01 -1.38469745e-01 -2.52331267e-01  5.35543031e+02]
 [ 1.39904490e-01  9.90088133e-01 -1.23378333e-02  4.07899542e+01]
 [ 2.51538609e-01 -2.34865548e-02  9.67562251e-01  1.39839312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.640714057 meters
Centerline goodness : 0.997443 with order 1
Centerline is valid?  [True, True]
Translation: X:535.60, Y:40.79, Z:139.86
[[ 9.57342675e-01 -1.40797515e-01 -2.52331257e-01  5.35604200e+02]
 [ 1.42310986e-01  9.89745097e-01 -1.23380291e-02  4.07937248e+01]
 [ 2.51480788e-01 -2.40977882e-02  9.67562251e-01  1.39855110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.700714057 meters
Centerline goodness : 0.997489 with order 1
Centerline is valid?  [True, True]
Translation: X:535.66, Y:40.80, Z:139.87
[[ 9.57021725e-01 -1.42960309e-01 -2.52332654e-01  5.35662076e+02]
 [ 1.44554470e-01  9.89420277e-01 -1.23093900e-02  4.07961050e+01]
 [ 2.51422799e-01 -2.46954593e-02  9.67562251e-01  1.39868822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.760714057 meters
Centerline goodness : 0.997615 with order 1
Centerline is valid?  [True, True]
Translation: X:535.72, Y:40.80, Z:139.88
[[ 9.57004654e-01 -1.43074985e-01 -2.52332403e-01  5.35721991e+02]
 [ 1.44671683e-01  9.89403081e-01 -1.23145386e-02  4.08000928e+01]
 [ 2.51420359e-01 -2.47202826e-02  9.67562251e-01  1.39883531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.820714057 meters
Centerline goodness : 0.997487 with order 1
Centerline is valid?  [True, True]
Translation: X:535.78, Y:40.81, Z:139.90
[[ 9.57343627e-01 -1.40787367e-01 -2.52333304e-01  5.35781017e+02]
 [ 1.42311459e-01  9.89745551e-01 -1.22960447e-02  4.08054406e+01]
 [ 2.51476893e-01 -2.41383807e-02  9.67562252e-01  1.39898851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.880714057 meters
Centerline goodness : 0.997001 with order 1
Centerline is valid?  [True, True]
Translation: X:535.84, Y:40.81, Z:139.91
[[ 9.57827692e-01 -1.37455092e-01 -2.52333531e-01  5.35839438e+02]
 [ 1.38867638e-01  9.90234670e-01 -1.22913821e-02  4.08094327e+01]
 [ 2.51558924e-01 -2.32679355e-02  9.67562252e-01  1.39915000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 550.940714057 meters
Centerline goodness : 0.996970 with order 1
Centerline is valid?  [True, True]
Translation: X:535.90, Y:40.81, Z:139.93
[[ 9.58157724e-01 -1.35135229e-01 -2.52333599e-01  5.35896627e+02]
 [ 1.36469659e-01  9.90568013e-01 -1.22899920e-02  4.08145711e+01]
 [ 2.51614403e-01 -2.26601294e-02  9.67562252e-01  1.39930159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.000714057 meters
Centerline goodness : 0.997618 with order 1
Centerline is valid?  [True, True]
Translation: X:535.96, Y:40.82, Z:139.95
[[ 9.58157089e-01 -1.35140078e-01 -2.52333415e-01  5.35955198e+02]
 [ 1.36473683e-01  9.90567412e-01 -1.22937780e-02  4.08173448e+01]
 [ 2.51614640e-01 -2.26574998e-02  9.67562252e-01  1.39945840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.060714057 meters
Centerline goodness : 0.997024 with order 1
Centerline is valid?  [True, True]
Translation: X:536.02, Y:40.82, Z:139.96
[[ 9.57968048e-01 -1.36473272e-01 -2.52333639e-01  5.36015059e+02]
 [ 1.37853180e-01  9.90376432e-01 -1.22891660e-02  4.08182912e+01]
 [ 2.51582432e-01 -2.30123663e-02  9.67562252e-01  1.39958718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.120714057 meters
Centerline goodness : 0.997828 with order 1
Centerline is valid?  [True, True]
Translation: X:536.07, Y:40.82, Z:139.97
[[ 9.57687559e-01 -1.38425002e-01 -2.52335209e-01  5.36073196e+02]
 [ 1.39879384e-01  9.90092686e-01 -1.22568577e-02  4.08210785e+01]
 [ 2.51531900e-01 -2.35582533e-02  9.67562252e-01  1.39971500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.180714057 meters
Centerline goodness : 0.998060 with order 1
Centerline is valid?  [True, True]
Translation: X:536.13, Y:40.82, Z:139.99
[[ 9.57811555e-01 -1.37564736e-01 -2.52335031e-01  5.36132844e+02]
 [ 1.38989056e-01  9.90218018e-01 -1.22605079e-02  4.08236647e+01]
 [ 2.51553308e-01 -2.33285518e-02  9.67562252e-01  1.39986746e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.240714057 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:536.19, Y:40.83, Z:140.00
[[ 9.58453306e-01 -1.33018633e-01 -2.52335696e-01  5.36190284e+02]
 [ 1.34292757e-01  9.90866021e-01 -1.22468076e-02  4.08287530e+01]
 [ 2.51659921e-01 -2.21488631e-02  9.67562252e-01  1.40003581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.300714057 meters
Centerline goodness : 0.997325 with order 1
Centerline is valid?  [True, True]
Translation: X:536.25, Y:40.83, Z:140.02
[[ 9.59036311e-01 -1.28748031e-01 -2.52335687e-01  5.36248649e+02]
 [ 1.29877716e-01  9.91454381e-01 -1.22469968e-02  4.08349879e+01]
 [ 2.51756099e-01 -2.10274681e-02  9.67562252e-01  1.40019874e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.360714057 meters
Centerline goodness : 0.997599 with order 1
Centerline is valid?  [True, True]
Translation: X:536.31, Y:40.84, Z:140.04
[[ 9.59216684e-01 -1.27397011e-01 -2.52335799e-01  5.36307540e+02]
 [ 1.28481631e-01  9.91636293e-01 -1.22446952e-02  4.08389759e+01]
 [ 2.51785274e-01 -2.06751992e-02  9.67562252e-01  1.40036024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.420714057 meters
Centerline goodness : 0.997404 with order 1
Centerline is valid?  [True, True]
Translation: X:536.37, Y:40.85, Z:140.05
[[ 9.59394367e-01 -1.26051501e-01 -2.52336022e-01  5.36366907e+02]
 [ 1.27091848e-01  9.91815427e-01 -1.22401058e-02  4.08454744e+01]
 [ 2.51813643e-01 -2.03267628e-02  9.67562252e-01  1.40051859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.480714057 meters
Centerline goodness : 0.996348 with order 1
Centerline is valid?  [True, True]
Translation: X:536.43, Y:40.85, Z:140.07
[[ 9.59475481e-01 -1.25431253e-01 -2.52336684e-01  5.36426249e+02]
 [ 1.26454215e-01  9.91897094e-01 -1.22264294e-02  4.08494604e+01]
 [ 2.51825600e-01 -2.01780782e-02  9.67562252e-01  1.40067088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.5407140570001 meters
Centerline goodness : 0.996691 with order 1
Centerline is valid?  [True, True]
Translation: X:536.48, Y:40.85, Z:140.08
[[ 9.60069776e-01 -1.20797367e-01 -2.52337120e-01  5.36483755e+02]
 [ 1.21666136e-01  9.92495887e-01 -1.22174231e-02  4.08547642e+01]
 [ 2.51919387e-01 -1.89713038e-02  9.67562252e-01  1.40081158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.600714057 meters
Centerline goodness : 0.996304 with order 1
Centerline is valid?  [True, True]
Translation: X:536.54, Y:40.86, Z:140.10
[[ 9.60834460e-01 -1.14556654e-01 -2.52336904e-01  5.36542149e+02]
 [ 1.15213546e-01  9.93265556e-01 -1.22218894e-02  4.08600672e+01]
 [ 2.52037654e-01 -1.73294169e-02  9.67562252e-01  1.40098096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.6607140570001 meters
Centerline goodness : 0.996584 with order 1
Centerline is valid?  [True, True]
Translation: X:536.60, Y:40.87, Z:140.11
[[ 9.61447850e-01 -1.09288638e-01 -2.52337125e-01  5.36600407e+02]
 [ 1.09768962e-01  9.93882041e-01 -1.22173163e-02  4.08656080e+01]
 [ 2.52128551e-01 -1.59524718e-02  9.67562252e-01  1.40114145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.720714057 meters
Centerline goodness : 0.997079 with order 1
Centerline is valid?  [True, True]
Translation: X:536.66, Y:40.87, Z:140.13
[[ 9.61738430e-01 -1.06701107e-01 -2.52337206e-01  5.36658846e+02]
 [ 1.07094588e-01  9.94173791e-01 -1.22156498e-02  4.08691383e+01]
 [ 2.52170460e-01 -1.52756893e-02  9.67562252e-01  1.40131700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.780714057 meters
Centerline goodness : 0.996804 with order 1
Centerline is valid?  [True, True]
Translation: X:536.72, Y:40.87, Z:140.15
[[ 9.61875075e-01 -1.05461622e-01 -2.52337446e-01  5.36717044e+02]
 [ 1.05814601e-01  9.94310902e-01 -1.22106847e-02  4.08718446e+01]
 [ 2.52189632e-01 -1.49558329e-02  9.67562252e-01  1.40147095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.840714057 meters
Centerline goodness : 0.996622 with order 1
Centerline is valid?  [True, True]
Translation: X:536.77, Y:40.87, Z:140.16
[[ 9.62169069e-01 -1.02744269e-01 -2.52337667e-01  5.36774801e+02]
 [ 1.03006823e-01  9.94605754e-01 -1.22061121e-02  4.08721954e+01]
 [ 2.52230604e-01 -1.42481580e-02  9.67562252e-01  1.40157445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.900714057 meters
Centerline goodness : 0.997460 with order 1
Centerline is valid?  [True, True]
Translation: X:536.83, Y:40.87, Z:140.17
[[ 9.62347394e-01 -1.01061987e-01 -2.52337014e-01  5.36833445e+02]
 [ 1.01264306e-01  9.94784510e-01 -1.22196028e-02  4.08735324e+01]
 [ 2.52255890e-01 -1.37932297e-02  9.67562253e-01  1.40173934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 551.960714057 meters
Centerline goodness : 0.997138 with order 1
Centerline is valid?  [True, True]
Translation: X:536.89, Y:40.88, Z:140.19
[[ 9.62673292e-01 -9.79083879e-02 -2.52337234e-01  5.36891888e+02]
 [ 9.80056159e-02  9.95110894e-01 -1.22150599e-02  4.08765254e+01]
 [ 2.52299488e-01 -1.29713541e-02  9.67562253e-01  1.40186064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.020714057 meters
Centerline goodness : 0.997222 with order 1
Centerline is valid?  [True, True]
Translation: X:536.95, Y:40.88, Z:140.20
[[ 9.62937874e-01 -9.52716391e-02 -2.52337008e-01  5.36949205e+02]
 [ 9.52788135e-02  9.95375621e-01 -1.22197251e-02  4.08797350e+01]
 [ 2.52334299e-01 -1.22755346e-02  9.67562253e-01  1.40203802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.080714057 meters
Centerline goodness : 0.997317 with order 1
Centerline is valid?  [True, True]
Translation: X:537.01, Y:40.88, Z:140.22
[[ 9.62703226e-01 -9.76161043e-02 -2.52336273e-01  5.37006038e+02]
 [ 9.76983003e-02  9.95140869e-01 -1.22348877e-02  4.08822309e+01]
 [ 2.52304460e-01 -1.28742591e-02  9.67562253e-01  1.40220658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.140714057 meters
Centerline goodness : 0.997325 with order 1
Centerline is valid?  [True, True]
Translation: X:537.06, Y:40.88, Z:140.24
[[ 9.61875178e-01 -1.05464560e-01 -2.52335823e-01  5.37064535e+02]
 [ 1.05808888e-01  9.94311098e-01 -1.22441588e-02  4.08833999e+01]
 [ 2.52191634e-01 -1.49220204e-02  9.67562253e-01  1.40236371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.200714057 meters
Centerline goodness : 0.997920 with order 1
Centerline is valid?  [True, True]
Translation: X:537.12, Y:40.88, Z:140.25
[[ 9.60977332e-01 -1.13354266e-01 -2.52335845e-01  5.37123601e+02]
 [ 1.13964871e-01  9.93409331e-01 -1.22437141e-02  4.08836743e+01]
 [ 2.52060660e-01 -1.69914904e-02  9.67562253e-01  1.40251806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.260714057 meters
Centerline goodness : 0.998084 with order 1
Centerline is valid?  [True, True]
Translation: X:537.18, Y:40.89, Z:140.26
[[ 9.60298560e-01 -1.18967136e-01 -2.52336078e-01  5.37181426e+02]
 [ 1.19768480e-01  9.92726408e-01 -1.22389110e-02  4.08850107e+01]
 [ 2.51956716e-01 -1.84688999e-02  9.67562253e-01  1.40264505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.320714057 meters
Centerline goodness : 0.997877 with order 1
Centerline is valid?  [True, True]
Translation: X:537.24, Y:40.89, Z:140.28
[[ 9.60164092e-01 -1.20047970e-01 -2.52335892e-01  5.37240474e+02]
 [ 1.20884812e-01  9.92591042e-01 -1.22427444e-02  4.08866813e+01]
 [ 2.51936062e-01 -1.87485333e-02  9.67562253e-01  1.40275705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.380714057 meters
Centerline goodness : 0.997152 with order 1
Centerline is valid?  [True, True]
Translation: X:537.30, Y:40.89, Z:140.29
[[ 9.60570571e-01 -1.16750474e-01 -2.52336097e-01  5.37298347e+02]
 [ 1.17477075e-01  9.93000179e-01 -1.22385206e-02  4.08906959e+01]
 [ 2.51998642e-01 -1.78877440e-02  9.67562253e-01  1.40289625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.440714057 meters
Centerline goodness : 0.997146 with order 1
Centerline is valid?  [True, True]
Translation: X:537.36, Y:40.90, Z:140.31
[[ 9.61287876e-01 -1.10689346e-01 -2.52336062e-01  5.37356337e+02]
 [ 1.11211199e-01  9.93721425e-01 -1.22392245e-02  4.08953003e+01]
 [ 2.52106503e-01 -1.62971779e-02  9.67562253e-01  1.40307465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.500714057 meters
Centerline goodness : 0.996706 with order 1
Centerline is valid?  [True, True]
Translation: X:537.42, Y:40.90, Z:140.32
[[ 9.61795253e-01 -1.06190026e-01 -2.52336226e-01  5.37415003e+02]
 [ 1.06560987e-01  9.94230878e-01 -1.22358593e-02  4.09008123e+01]
 [ 2.52179794e-01 -1.51208060e-02  9.67562253e-01  1.40323832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.560714057 meters
Centerline goodness : 0.997325 with order 1
Centerline is valid?  [True, True]
Translation: X:537.47, Y:40.90, Z:140.34
[[ 9.61493989e-01 -1.08883541e-01 -2.52336451e-01  5.37472977e+02]
 [ 1.09346568e-01  9.93928431e-01 -1.22312073e-02  4.09042886e+01]
 [ 2.52136150e-01 -1.58318925e-02  9.67562253e-01  1.40338847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.620714057 meters
Centerline goodness : 0.997321 with order 1
Centerline is valid?  [True, True]
Translation: X:537.53, Y:40.91, Z:140.35
[[ 9.61044291e-01 -1.12784294e-01 -2.52336230e-01  5.37531533e+02]
 [ 1.13377741e-01  9.93476610e-01 -1.22357685e-02  4.09075622e+01]
 [ 2.52070145e-01 -1.68501962e-02  9.67562253e-01  1.40354730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.680714057 meters
Centerline goodness : 0.997468 with order 1
Centerline is valid?  [True, True]
Translation: X:537.59, Y:40.91, Z:140.37
[[ 9.60717966e-01 -1.15530940e-01 -2.52336267e-01  5.37589486e+02]
 [ 1.16217292e-01  9.93148451e-01 -1.22349990e-02  4.09108505e+01]
 [ 2.52020894e-01 -1.75714542e-02  9.67562253e-01  1.40369487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.740714057 meters
Centerline goodness : 0.997530 with order 1
Centerline is valid?  [True, True]
Translation: X:537.65, Y:40.91, Z:140.39
[[ 9.60670330e-01 -1.15925116e-01 -2.52336846e-01  5.37648899e+02]
 [ 1.16627898e-01  9.93100463e-01 -1.22230488e-02  4.09147302e+01]
 [ 2.52012797e-01 -1.76871956e-02  9.67562253e-01  1.40385998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.800714057 meters
Centerline goodness : 0.997555 with order 1
Centerline is valid?  [True, True]
Translation: X:537.71, Y:40.92, Z:140.40
[[ 9.60606506e-01 -1.16451300e-01 -2.52337541e-01  5.37708044e+02]
 [ 1.17175600e-01  9.93036166e-01 -1.22086826e-02  4.09190781e+01]
 [ 2.52002021e-01 -1.78400630e-02  9.67562253e-01  1.40400782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.860714057 meters
Centerline goodness : 0.997417 with order 1
Centerline is valid?  [True, True]
Translation: X:537.77, Y:40.92, Z:140.42
[[ 9.60721866e-01 -1.15494226e-01 -2.52338227e-01  5.37767441e+02]
 [ 1.16189927e-01  9.93152151e-01 -1.21944894e-02  4.09227966e+01]
 [ 2.52018646e-01 -1.76036475e-02  9.67562253e-01  1.40416049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.920714057 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:537.83, Y:40.93, Z:140.43
[[ 9.60951401e-01 -1.13567605e-01 -2.52338668e-01  5.37826840e+02]
 [ 1.14200664e-01  9.93382970e-01 -1.21853588e-02  4.09283095e+01]
 [ 2.52052798e-01 -1.71077057e-02  9.67562253e-01  1.40431350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 552.980714057 meters
Centerline goodness : 0.997305 with order 1
Centerline is valid?  [True, True]
Translation: X:537.88, Y:40.93, Z:140.45
[[ 9.61149322e-01 -1.11879179e-01 -2.52339118e-01  5.37884936e+02]
 [ 1.12457698e-01  9.93581909e-01 -1.21760305e-02  4.09339762e+01]
 [ 2.52081827e-01 -1.66744928e-02  9.67562253e-01  1.40447066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.0407140570001 meters
Centerline goodness : 0.997592 with order 1
Centerline is valid?  [True, True]
Translation: X:537.95, Y:40.94, Z:140.46
[[ 9.60947082e-01 -1.13603144e-01 -2.52339118e-01  5.37945070e+02]
 [ 1.14239841e-01  9.93378580e-01 -1.21760305e-02  4.09389672e+01]
 [ 2.52051510e-01 -1.71266596e-02  9.67562253e-01  1.40463743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.100714057 meters
Centerline goodness : 0.997385 with order 1
Centerline is valid?  [True, True]
Translation: X:538.00, Y:40.94, Z:140.48
[[ 9.60560479e-01 -1.16825003e-01 -2.52340018e-01  5.38003525e+02]
 [ 1.17575333e-01  9.92989547e-01 -1.21573584e-02  4.09425613e+01]
 [ 2.51991283e-01 -1.79910836e-02  9.67562253e-01  1.40477611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.1607140570001 meters
Centerline goodness : 0.997208 with order 1
Centerline is valid?  [True, True]
Translation: X:538.06, Y:40.95, Z:140.49
[[ 9.60267537e-01 -1.19208718e-01 -2.52340127e-01  5.38063085e+02]
 [ 1.20040127e-01  9.92694627e-01 -1.21550885e-02  4.09452927e+01]
 [ 2.51945681e-01 -1.86188040e-02  9.67562253e-01  1.40493126e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.220714057 meters
Centerline goodness : 0.997493 with order 1
Centerline is valid?  [True, True]
Translation: X:538.12, Y:40.95, Z:140.51
[[ 9.60312951e-01 -1.18840914e-01 -2.52340788e-01  5.38122661e+02]
 [ 1.19663494e-01  9.92740266e-01 -1.21413521e-02  4.09489640e+01]
 [ 2.51951751e-01 -1.85364826e-02  9.67562253e-01  1.40509851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.280714057 meters
Centerline goodness : 0.998489 with order 1
Centerline is valid?  [True, True]
Translation: X:538.18, Y:40.95, Z:140.52
[[ 9.60720305e-01 -1.15499617e-01 -2.52341702e-01  5.38180944e+02]
 [ 1.16214362e-01  9.93150176e-01 -1.21223235e-02  4.09543783e+01]
 [ 2.52013330e-01 -1.76795676e-02  9.67562254e-01  1.40524867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.340714057 meters
Centerline goodness : 0.997910 with order 1
Centerline is valid?  [True, True]
Translation: X:538.24, Y:40.96, Z:140.54
[[ 9.60884489e-01 -1.14125149e-01 -2.52341930e-01  5.38239588e+02]
 [ 1.14794739e-01  9.93315324e-01 -1.21175863e-02  4.09580159e+01]
 [ 2.52038027e-01 -1.73239252e-02  9.67562254e-01  1.40541125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.400714057 meters
Centerline goodness : 0.997792 with order 1
Centerline is valid?  [True, True]
Translation: X:538.30, Y:40.96, Z:140.55
[[ 9.61279841e-01 -1.10745231e-01 -2.52342151e-01  5.38297583e+02]
 [ 1.11301972e-01  9.93712809e-01 -1.21129696e-02  4.09625900e+01]
 [ 2.52097082e-01 -1.64422256e-02  9.67562254e-01  1.40553444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.460714057 meters
Centerline goodness : 0.998142 with order 1
Centerline is valid?  [True, True]
Translation: X:538.36, Y:40.97, Z:140.57
[[ 9.61374163e-01 -1.09923760e-01 -2.52342001e-01  5.38357517e+02]
 [ 1.10451966e-01  9.93807609e-01 -1.21161085e-02  4.09665158e+01]
 [ 2.52111249e-01 -1.62235564e-02  9.67562254e-01  1.40569452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.520714057 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:538.42, Y:40.97, Z:140.59
[[ 9.61467887e-01 -1.09098911e-01 -2.52342882e-01  5.38417284e+02]
 [ 1.09604095e-01  9.93901699e-01 -1.20977280e-02  4.09708216e+01]
 [ 2.52123868e-01 -1.60262361e-02  9.67562254e-01  1.40587131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.580714057 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:538.48, Y:40.98, Z:140.61
[[ 9.61467492e-01 -1.09100319e-01 -2.52343776e-01  5.38476275e+02]
 [ 1.09610433e-01  9.93901227e-01 -1.20790478e-02  4.09753178e+01]
 [ 2.52122617e-01 -1.60458989e-02  9.67562254e-01  1.40605118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.640714057 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:538.54, Y:40.98, Z:140.62
[[ 9.61150531e-01 -1.11856276e-01 -2.52344664e-01  5.38535046e+02]
 [ 1.12464227e-01  9.93582580e-01 -1.20604749e-02  4.09774153e+01]
 [ 2.52074302e-01 -1.67878156e-02  9.67562254e-01  1.40617660e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.700714057 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:538.60, Y:40.98, Z:140.63
[[ 9.60646938e-01 -1.16101826e-01 -2.52344657e-01  5.38595189e+02]
 [ 1.16853025e-01  9.93075985e-01 -1.20606241e-02  4.09799727e+01]
 [ 2.51997679e-01 -1.79012349e-02  9.67562254e-01  1.40629324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.760714057 meters
Centerline goodness : 0.997789 with order 1
Centerline is valid?  [True, True]
Translation: X:538.65, Y:40.98, Z:140.64
[[ 9.59938692e-01 -1.21818305e-01 -2.52345018e-01  5.38654045e+02]
 [ 1.22764510e-01  9.92362635e-01 -1.20530671e-02  4.09828102e+01]
 [ 2.51886051e-01 -1.94088070e-02  9.67562254e-01  1.40644565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.820714057 meters
Centerline goodness : 0.997810 with order 1
Centerline is valid?  [True, True]
Translation: X:538.71, Y:40.99, Z:140.66
[[ 9.59707269e-01 -1.23628166e-01 -2.52345071e-01  5.38714057e+02]
 [ 1.24635801e-01  9.92129360e-01 -1.20519456e-02  4.09859866e+01]
 [ 2.51848914e-01 -1.98848902e-02  9.67562254e-01  1.40659769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.880714057 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:538.77, Y:40.99, Z:140.68
[[ 9.59809990e-01 -1.22826328e-01 -2.52345946e-01  5.38773845e+02]
 [ 1.23811667e-01  9.92232767e-01 -1.20336068e-02  4.09914343e+01]
 [ 2.51863960e-01 -1.96933963e-02  9.67562254e-01  1.40675535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 553.940714057 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:538.83, Y:41.00, Z:140.69
[[ 9.60031943e-01 -1.21077484e-01 -2.52346808e-01  5.38833489e+02]
 [ 1.22008484e-01  9.92456325e-01 -1.20155016e-02  4.09958224e+01]
 [ 2.51897992e-01 -1.92531861e-02  9.67562254e-01  1.40691212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.000714057 meters
Centerline goodness : 0.998439 with order 1
Centerline is valid?  [True, True]
Translation: X:538.89, Y:41.00, Z:140.71
[[ 9.60452558e-01 -1.17692572e-01 -2.52347662e-01  5.38891813e+02]
 [ 1.18513962e-01  9.92879902e-01 -1.19975412e-02  4.09999818e+01]
 [ 2.51962943e-01 -1.83836520e-02  9.67562255e-01  1.40705937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.060714057 meters
Centerline goodness : 0.998581 with order 1
Centerline is valid?  [True, True]
Translation: X:538.95, Y:41.01, Z:140.72
[[ 9.60738233e-01 -1.15337317e-01 -2.52347678e-01  5.38950009e+02]
 [ 1.16079284e-01  9.93167492e-01 -1.19972082e-02  4.10050289e+01]
 [ 2.52007236e-01 -1.77661612e-02  9.67562255e-01  1.40723124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.120714057 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:539.01, Y:41.01, Z:140.74
[[ 9.60912625e-01 -1.13874816e-01 -2.52347881e-01  5.39010538e+02]
 [ 1.14568537e-01  9.93342952e-01 -1.19929381e-02  4.10085595e+01]
 [ 2.52033682e-01 -1.73869619e-02  9.67562255e-01  1.40739219e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.180714057 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:539.07, Y:41.01, Z:140.75
[[ 9.60839416e-01 -1.14488451e-01 -2.52348986e-01  5.39070610e+02]
 [ 1.15208971e-01  9.93269158e-01 -1.19696393e-02  4.10119402e+01]
 [ 2.52020850e-01 -1.75719659e-02  9.67562255e-01  1.40754441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.240714057 meters
Centerline goodness : 0.998553 with order 1
Centerline is valid?  [True, True]
Translation: X:539.13, Y:41.01, Z:140.77
[[ 9.60718823e-01 -1.15494075e-01 -2.52349878e-01  5.39129377e+02]
 [ 1.16253462e-01  9.93147678e-01 -1.19508019e-02  4.10142919e+01]
 [ 2.52000942e-01 -1.78551865e-02  9.67562255e-01  1.40765045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.300714057 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:539.19, Y:41.02, Z:140.78
[[ 9.60743040e-01 -1.15292456e-01 -2.52349878e-01  5.39188853e+02]
 [ 1.16045038e-01  9.93172053e-01 -1.19508019e-02  4.10176310e+01]
 [ 2.52004684e-01 -1.78023014e-02  9.67562255e-01  1.40781642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.360714057 meters
Centerline goodness : 0.998938 with order 1
Centerline is valid?  [True, True]
Translation: X:539.25, Y:41.02, Z:140.80
[[ 9.60927601e-01 -1.13741962e-01 -2.52350772e-01  5.39248025e+02]
 [ 1.14447155e-01  9.93357679e-01 -1.19318862e-02  4.10227341e+01]
 [ 2.52031734e-01 -1.74151492e-02  9.67562255e-01  1.40797285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.420714057 meters
Centerline goodness : 0.998793 with order 1
Centerline is valid?  [True, True]
Translation: X:539.31, Y:41.03, Z:140.81
[[ 9.61152172e-01 -1.11827406e-01 -2.52351212e-01  5.39307728e+02]
 [ 1.12470425e-01  9.93583542e-01 -1.19225790e-02  4.10268206e+01]
 [ 2.52065282e-01 -1.69226353e-02  9.67562255e-01  1.40812565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.480714057 meters
Centerline goodness : 0.998792 with order 1
Centerline is valid?  [True, True]
Translation: X:539.37, Y:41.03, Z:140.83
[[ 9.61834419e-01 -1.05797398e-01 -2.52351861e-01  5.39365829e+02]
 [ 1.06240604e-01  9.94269135e-01 -1.19088397e-02  4.10313631e+01]
 [ 2.52165591e-01 -1.53556823e-02  9.67562255e-01  1.40829147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.5407140570001 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:539.42, Y:41.04, Z:140.85
[[ 9.62340997e-01 -1.01085611e-01 -2.52351945e-01  5.39423676e+02]
 [ 1.01370434e-01  9.94777491e-01 -1.19070470e-02  4.10366053e+01]
 [ 2.52237666e-01 -1.41223866e-02  9.67562255e-01  1.40846784e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.600714057 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:539.48, Y:41.04, Z:140.86
[[ 9.62660983e-01 -9.79907579e-02 -2.52352221e-01  5.39483092e+02]
 [ 9.81728095e-02  9.95098217e-01 -1.19012038e-02  4.10400739e+01]
 [ 2.52281453e-01 -1.33173019e-02  9.67562255e-01  1.40862371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.6607140570001 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:539.54, Y:41.04, Z:140.88
[[ 9.62721698e-01 -9.73913034e-02 -2.52352661e-01  5.39541889e+02]
 [ 9.75555995e-02  9.95159027e-01 -1.18918594e-02  4.10422276e+01]
 [ 2.52289192e-01 -1.31698641e-02  9.67562255e-01  1.40876926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.720714057 meters
Centerline goodness : 0.998592 with order 1
Centerline is valid?  [True, True]
Translation: X:539.60, Y:41.04, Z:140.89
[[ 9.62388514e-01 -1.00630426e-01 -2.52352661e-01  5.39600322e+02]
 [ 1.00903877e-01  9.94825106e-01 -1.18918594e-02  4.10438480e+01]
 [ 2.52243446e-01 -1.40187730e-02  9.67562255e-01  1.40890154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.780714057 meters
Centerline goodness : 0.998887 with order 1
Centerline is valid?  [True, True]
Translation: X:539.66, Y:41.04, Z:140.90
[[ 9.62031231e-01 -1.03991125e-01 -2.52352445e-01  5.39659221e+02]
 [ 1.04376667e-01  9.94466684e-01 -1.18964391e-02  4.10439710e+01]
 [ 2.52193224e-01 -1.48949612e-02  9.67562255e-01  1.40903287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.840714057 meters
Centerline goodness : 0.999204 with order 1
Centerline is valid?  [True, True]
Translation: X:539.72, Y:41.04, Z:140.92
[[ 9.61654960e-01 -1.07415496e-01 -2.52352233e-01  5.39717594e+02]
 [ 1.07915335e-01  9.94088853e-01 -1.19009464e-02  4.10449040e+01]
 [ 2.52138888e-01 -1.57880716e-02  9.67562255e-01  1.40917928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.900714057 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:539.78, Y:41.04, Z:140.94
[[ 9.61330757e-01 -1.10279274e-01 -2.52352250e-01  5.39776080e+02]
 [ 1.10875809e-01  9.93763016e-01 -1.19005815e-02  4.10435211e+01]
 [ 2.52090720e-01 -1.65393649e-02  9.67562255e-01  1.40935532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 554.960714057 meters
Centerline goodness : 0.998160 with order 1
Centerline is valid?  [True, True]
Translation: X:539.83, Y:41.04, Z:140.95
[[ 9.61147003e-01 -1.11869326e-01 -2.52352319e-01  5.39833721e+02]
 [ 1.12519890e-01  9.93578223e-01 -1.18991198e-02  4.10445181e+01]
 [ 2.52062915e-01 -1.69578519e-02  9.67562255e-01  1.40952998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.020714057 meters
Centerline goodness : 0.998546 with order 1
Centerline is valid?  [True, True]
Translation: X:539.89, Y:41.04, Z:140.97
[[ 9.61102341e-01 -1.12251908e-01 -2.52352531e-01  5.39892603e+02]
 [ 1.12916558e-01  9.93533275e-01 -1.18946211e-02  4.10436462e+01]
 [ 2.52055830e-01 -1.70628310e-02  9.67562255e-01  1.40969338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.080714057 meters
Centerline goodness : 0.998354 with order 1
Centerline is valid?  [True, True]
Translation: X:539.95, Y:41.04, Z:140.98
[[ 9.61200012e-01 -1.11411508e-01 -2.52352952e-01  5.39951086e+02]
 [ 1.12050135e-01  9.93631470e-01 -1.18856902e-02  4.10427286e+01]
 [ 2.52070037e-01 -1.68516567e-02  9.67562256e-01  1.40982562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.140714057 meters
Centerline goodness : 0.997636 with order 1
Centerline is valid?  [True, True]
Translation: X:540.01, Y:41.04, Z:141.00
[[ 9.61660566e-01 -1.07364090e-01 -2.52352746e-01  5.40009813e+02]
 [ 1.07865043e-01  9.94094442e-01 -1.18900500e-02  4.10427713e+01]
 [ 2.52139027e-01 -1.57858477e-02  9.67562256e-01  1.40997321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.200714057 meters
Centerline goodness : 0.997837 with order 1
Centerline is valid?  [True, True]
Translation: X:540.07, Y:41.04, Z:141.01
[[ 9.62344011e-01 -1.01054999e-01 -2.52352712e-01  5.40068134e+02]
 [ 1.01343044e-01  9.94780477e-01 -1.18907743e-02  4.10419318e+01]
 [ 2.52237173e-01 -1.41311765e-02  9.67562256e-01  1.41013374e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.260714057 meters
Centerline goodness : 0.997860 with order 1
Centerline is valid?  [True, True]
Translation: X:540.13, Y:41.04, Z:141.03
[[ 9.62794738e-01 -9.66661839e-02 -2.52352812e-01  5.40126364e+02]
 [ 9.68068894e-02  9.95232177e-01 -1.18886447e-02  4.10426060e+01]
 [ 2.52298869e-01 -1.29831663e-02  9.67562256e-01  1.41030110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.320714057 meters
Centerline goodness : 0.997348 with order 1
Centerline is valid?  [True, True]
Translation: X:540.18, Y:41.04, Z:141.05
[[ 9.63460061e-01 -8.97927500e-02 -2.52352876e-01  5.40184676e+02]
 [ 8.97023143e-02  9.95897679e-01 -1.18872989e-02  4.10405029e+01]
 [ 2.52385036e-01 -1.11836992e-02  9.67562256e-01  1.41045340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.380714057 meters
Centerline goodness : 0.996703 with order 1
Centerline is valid?  [True, True]
Translation: X:540.24, Y:41.04, Z:141.06
[[ 9.63899809e-01 -8.49428984e-02 -2.52352655e-01  5.40243786e+02]
 [ 8.46879951e-02  9.96336552e-01 -1.18919780e-02  4.10373421e+01]
 [ 2.52438313e-01 -9.90856512e-03  9.67562256e-01  1.41060928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.440714057 meters
Centerline goodness : 0.996591 with order 1
Centerline is valid?  [True, True]
Translation: X:540.30, Y:41.03, Z:141.08
[[ 9.63846960e-01 -8.55399504e-02 -2.52352838e-01  5.40300993e+02]
 [ 8.53061515e-02  9.96283862e-01 -1.18881060e-02  4.10320437e+01]
 [ 2.52431968e-01 -1.00689345e-02  9.67562256e-01  1.41077691e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.500714057 meters
Centerline goodness : 0.996396 with order 1
Centerline is valid?  [True, True]
Translation: X:540.36, Y:41.02, Z:141.09
[[ 9.63426647e-01 -9.01524887e-02 -2.52352185e-01  5.40358400e+02]
 [ 9.00703362e-02  9.95864287e-01 -1.19019453e-02  4.10242780e+01]
 [ 2.52381519e-01 -1.12627949e-02  9.67562256e-01  1.41091600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.560714057 meters
Centerline goodness : 0.997140 with order 1
Centerline is valid?  [True, True]
Translation: X:540.42, Y:41.02, Z:141.10
[[ 9.62849750e-01 -9.61262826e-02 -2.52349156e-01  5.40417172e+02]
 [ 9.62286200e-02  9.95287331e-01 -1.19658358e-02  4.10170089e+01]
 [ 2.52310149e-01 -1.27619090e-02  9.67562258e-01  1.41102750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.620714057 meters
Centerline goodness : 0.996573 with order 1
Centerline is valid?  [True, True]
Translation: X:540.48, Y:41.01, Z:141.12
[[ 9.62274964e-01 -1.01719812e-01 -2.52348912e-01  5.40475841e+02]
 [ 1.02009300e-01  9.94711415e-01 -1.19709740e-02  4.10119960e+01]
 [ 2.52232029e-01 -1.42225674e-02  9.67562258e-01  1.41117599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.680714057 meters
Centerline goodness : 0.997050 with order 1
Centerline is valid?  [True, True]
Translation: X:540.53, Y:41.01, Z:141.13
[[ 9.61691815e-01 -1.07093334e-01 -2.52348708e-01  5.40534717e+02]
 [ 1.07562880e-01  9.94126159e-01 -1.19752690e-02  4.10063733e+01]
 [ 2.52148924e-01 -1.56268356e-02  9.67562258e-01  1.41133048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.740714057 meters
Centerline goodness : 0.997058 with order 1
Centerline is valid?  [True, True]
Translation: X:540.59, Y:41.00, Z:141.15
[[ 9.61376524e-01 -1.09887708e-01 -2.52348708e-01  5.40592583e+02]
 [ 1.10451511e-01  9.93809366e-01 -1.19752690e-02  4.10046341e+01]
 [ 2.52102445e-01 -1.63595537e-02  9.67562258e-01  1.41148591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.800714057 meters
Centerline goodness : 0.996772 with order 1
Centerline is valid?  [True, True]
Translation: X:540.65, Y:41.00, Z:141.16
[[ 9.61043742e-01 -1.12761369e-01 -2.52348568e-01  5.40650779e+02]
 [ 1.13421358e-01  9.93474769e-01 -1.19782300e-02  4.10042839e+01]
 [ 2.52052617e-01 -1.71101143e-02  9.67562258e-01  1.41163915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.860714057 meters
Centerline goodness : 0.996486 with order 1
Centerline is valid?  [True, True]
Translation: X:540.71, Y:41.00, Z:141.18
[[ 9.60782052e-01 -1.14970338e-01 -2.52348312e-01  5.40707240e+02]
 [ 1.15703472e-01  9.93211508e-01 -1.19836124e-02  4.10044005e+01]
 [ 2.52013008e-01 -1.76839360e-02  9.67562258e-01  1.41177471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.920714057 meters
Centerline goodness : 0.997098 with order 1
Centerline is valid?  [True, True]
Translation: X:540.77, Y:41.01, Z:141.19
[[ 9.60553657e-01 -1.16865350e-01 -2.52347304e-01  5.40766135e+02]
 [ 1.17656911e-01  9.92981740e-01 -1.20048127e-02  4.10052905e+01]
 [ 2.51979211e-01 -1.81591377e-02  9.67562258e-01  1.41192368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 555.980714057 meters
Centerline goodness : 0.996934 with order 1
Centerline is valid?  [True, True]
Translation: X:540.82, Y:41.01, Z:141.21
[[ 9.60316070e-01 -1.18801855e-01 -2.52347312e-01  5.40824055e+02]
 [ 1.19658843e-01  9.92742489e-01 -1.20046402e-02  4.10085191e+01]
 [ 2.51942072e-01 -1.86673386e-02  9.67562258e-01  1.41209426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.0407140570001 meters
Centerline goodness : 0.997022 with order 1
Centerline is valid?  [True, True]
Translation: X:540.88, Y:41.01, Z:141.22
[[ 9.60015236e-01 -1.21208831e-01 -2.52347312e-01  5.40881586e+02]
 [ 1.22147105e-01  9.92439405e-01 -1.20046402e-02  4.10103608e+01]
 [ 2.51894485e-01 -1.92988561e-02  9.67562258e-01  1.41219236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.100714057 meters
Centerline goodness : 0.997120 with order 1
Centerline is valid?  [True, True]
Translation: X:540.94, Y:41.01, Z:141.23
[[ 9.59856173e-01 -1.22463916e-01 -2.52346423e-01  5.40939493e+02]
 [ 1.23439709e-01  9.92279234e-01 -1.20232926e-02  4.10146316e+01]
 [ 2.51870535e-01 -1.96089374e-02  9.67562258e-01  1.41234133e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.1607140570001 meters
Centerline goodness : 0.996975 with order 1
Centerline is valid?  [True, True]
Translation: X:541.00, Y:41.02, Z:141.25
[[ 9.59921954e-01 -1.21947682e-01 -2.52346203e-01  5.40995878e+02]
 [ 1.22904828e-01  9.92345571e-01 -1.20279181e-02  4.10202875e+01]
 [ 2.51881413e-01 -1.94687040e-02  9.67562258e-01  1.41252212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.220714057 meters
Centerline goodness : 0.997453 with order 1
Centerline is valid?  [True, True]
Translation: X:541.05, Y:41.02, Z:141.27
[[ 9.60238153e-01 -1.19433281e-01 -2.52345758e-01  5.41054594e+02]
 [ 1.20303069e-01  9.92664231e-01 -1.20372519e-02  4.10247135e+01]
 [ 2.51932256e-01 -1.87993406e-02  9.67562258e-01  1.41268653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.280714057 meters
Centerline goodness : 0.997586 with order 1
Centerline is valid?  [True, True]
Translation: X:541.11, Y:41.03, Z:141.29
[[ 9.60647622e-01 -1.16093414e-01 -2.52345923e-01  5.41111484e+02]
 [ 1.16851344e-01  9.93076508e-01 -1.20337828e-02  4.10312629e+01]
 [ 2.51995851e-01 -1.79267355e-02  9.67562258e-01  1.41285005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.340714057 meters
Centerline goodness : 0.997124 with order 1
Centerline is valid?  [True, True]
Translation: X:541.17, Y:41.04, Z:141.30
[[ 9.60575544e-01 -1.16689239e-01 -2.52345489e-01  5.41166867e+02]
 [ 1.17464905e-01  9.93004011e-01 -1.20428812e-02  4.10386052e+01]
 [ 2.51985357e-01 -1.80736418e-02  9.67562258e-01  1.41301169e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.400714057 meters
Centerline goodness : 0.997989 with order 1
Centerline is valid?  [True, True]
Translation: X:541.23, Y:41.04, Z:141.32
[[ 9.60009471e-01 -1.21260500e-01 -2.52344419e-01  5.41225280e+02]
 [ 1.22184679e-01  9.92434045e-01 -1.20652513e-02  4.10429596e+01]
 [ 2.51898231e-01 -1.92498664e-02  9.67562258e-01  1.41317587e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.460714057 meters
Centerline goodness : 0.998077 with order 1
Centerline is valid?  [True, True]
Translation: X:541.28, Y:41.05, Z:141.33
[[ 9.59446365e-01 -1.25638091e-01 -2.52344491e-01  5.41284631e+02]
 [ 1.26710551e-01  9.91866373e-01 -1.20637462e-02  4.10460728e+01]
 [ 2.51807681e-01 -2.04001922e-02  9.67562258e-01  1.41329909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.520714057 meters
Centerline goodness : 0.997600 with order 1
Centerline is valid?  [True, True]
Translation: X:541.34, Y:41.05, Z:141.34
[[ 9.59427217e-01 -1.25784172e-01 -2.52344521e-01  5.41343168e+02]
 [ 1.26861732e-01  9.91847056e-01 -1.20631179e-02  4.10512888e+01]
 [ 2.51804520e-01 -2.04391794e-02  9.67562258e-01  1.41342545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.580714057 meters
Centerline goodness : 0.997615 with order 1
Centerline is valid?  [True, True]
Translation: X:541.40, Y:41.06, Z:141.36
[[ 9.59881304e-01 -1.22270706e-01 -2.52344521e-01  5.41401669e+02]
 [ 1.23229565e-01  9.92304870e-01 -1.20631179e-02  4.10578498e+01]
 [ 2.51877663e-01 -1.95171442e-02  9.67562258e-01  1.41358951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.640714057 meters
Centerline goodness : 0.997123 with order 1
Centerline is valid?  [True, True]
Translation: X:541.46, Y:41.06, Z:141.38
[[ 9.60462595e-01 -1.17616897e-01 -2.52344741e-01  5.41459422e+02]
 [ 1.18419796e-01  9.92890399e-01 -1.20585179e-02  4.10643038e+01]
 [ 2.51968956e-01 -1.83008573e-02  9.67562258e-01  1.41376753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.700714057 meters
Centerline goodness : 0.998140 with order 1
Centerline is valid?  [True, True]
Translation: X:541.52, Y:41.07, Z:141.39
[[ 9.60821239e-01 -1.14649957e-01 -2.52344871e-01  5.41516474e+02]
 [ 1.15353410e-01  9.93251352e-01 -1.20557963e-02  4.10699442e+01]
 [ 2.52024081e-01 -1.75253764e-02  9.67562258e-01  1.41391959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.760714057 meters
Centerline goodness : 0.997554 with order 1
Centerline is valid?  [True, True]
Translation: X:541.58, Y:41.07, Z:141.41
[[ 9.60504497e-01 -1.17274421e-01 -2.52344647e-01  5.41575231e+02]
 [ 1.18065241e-01  9.92932598e-01 -1.20604909e-02  4.10742947e+01]
 [ 2.51975613e-01 -1.82089757e-02  9.67562258e-01  1.41406603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.820714057 meters
Centerline goodness : 0.996411 with order 1
Centerline is valid?  [True, True]
Translation: X:541.63, Y:41.08, Z:141.42
[[ 9.59665323e-01 -1.23954214e-01 -2.52344647e-01  5.41632974e+02]
 [ 1.24970631e-01  9.92087136e-01 -1.20604909e-02  4.10789750e+01]
 [ 2.51842827e-01 -1.99616349e-02  9.67562258e-01  1.41422341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.880714057 meters
Centerline goodness : 0.997462 with order 1
Centerline is valid?  [True, True]
Translation: X:541.69, Y:41.08, Z:141.44
[[ 9.59054631e-01 -1.28594283e-01 -2.52344457e-01  5.41691870e+02]
 [ 1.29766464e-01  9.91471187e-01 -1.20644527e-02  4.10804749e+01]
 [ 2.51743678e-01 -2.11753787e-02  9.67562258e-01  1.41437152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 556.940714057 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:541.75, Y:41.08, Z:141.45
[[ 9.58854397e-01 -1.30078817e-01 -2.52344500e-01  5.41749682e+02]
 [ 1.31301415e-01  9.91269090e-01 -1.20635507e-02  4.10834744e+01]
 [ 2.51710516e-01 -2.15660014e-02  9.67562258e-01  1.41451760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.000714057 meters
Centerline goodness : 0.997284 with order 1
Centerline is valid?  [True, True]
Translation: X:541.81, Y:41.09, Z:141.47
[[ 9.58819388e-01 -1.30336621e-01 -2.52344500e-01  5.41809834e+02]
 [ 1.31567935e-01  9.91233751e-01 -1.20635507e-02  4.10870796e+01]
 [ 2.51704708e-01 -2.16336786e-02  9.67562258e-01  1.41469350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.060714057 meters
Centerline goodness : 0.997506 with order 1
Centerline is valid?  [True, True]
Translation: X:541.87, Y:41.09, Z:141.49
[[ 9.58841689e-01 -1.30170315e-01 -2.52345604e-01  5.41869041e+02]
 [ 1.31402050e-01  9.91256036e-01 -1.20404198e-02  4.10879297e+01]
 [ 2.51706409e-01 -2.16138732e-02  9.67562259e-01  1.41485197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.120714057 meters
Centerline goodness : 0.998438 with order 1
Centerline is valid?  [True, True]
Translation: X:541.93, Y:41.09, Z:141.50
[[ 9.59094265e-01 -1.28295227e-01 -2.52346043e-01  5.41928601e+02]
 [ 1.29465987e-01  9.91510872e-01 -1.20312065e-02  4.10910761e+01]
 [ 2.51747392e-01 -2.11311683e-02  9.67562259e-01  1.41502438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.180714057 meters
Centerline goodness : 0.997706 with order 1
Centerline is valid?  [True, True]
Translation: X:541.99, Y:41.09, Z:141.52
[[ 9.59357605e-01 -1.26309177e-01 -2.52346940e-01  5.41986505e+02]
 [ 1.27417736e-01  9.91776398e-01 -1.20123774e-02  4.10937695e+01]
 [ 2.51789012e-01 -2.06293102e-02  9.67562259e-01  1.41516272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.240714057 meters
Centerline goodness : 0.998685 with order 1
Centerline is valid?  [True, True]
Translation: X:542.04, Y:41.10, Z:141.53
[[ 9.59603831e-01 -1.24425160e-01 -2.52346721e-01  5.42044300e+02]
 [ 1.25468858e-01  9.92024777e-01 -1.20169787e-02  4.10974243e+01]
 [ 2.51829414e-01 -2.01301160e-02  9.67562259e-01  1.41533333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.300714057 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:542.10, Y:41.10, Z:141.55
[[ 9.59806141e-01 -1.22854650e-01 -2.52346797e-01  5.42103777e+02]
 [ 1.23845709e-01  9.92228739e-01 -1.20153809e-02  4.10993825e+01]
 [ 2.51861889e-01 -1.97196315e-02  9.67562259e-01  1.41546208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.360714057 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:542.16, Y:41.10, Z:141.56
[[ 9.59953462e-01 -1.21694893e-01 -2.52348377e-01  5.42163557e+02]
 [ 1.22655473e-01  9.92376977e-01 -1.19821012e-02  4.11040421e+01]
 [ 2.51882880e-01 -1.94496500e-02  9.67562259e-01  1.41560309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.420714057 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:542.22, Y:41.11, Z:141.58
[[ 9.60297066e-01 -1.18952168e-01 -2.52348819e-01  5.42222293e+02]
 [ 1.19822557e-01  9.92723127e-01 -1.19727853e-02  4.11091168e+01]
 [ 2.51936698e-01 -1.87396501e-02  9.67562259e-01  1.41577042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.480714057 meters
Centerline goodness : 0.998448 with order 1
Centerline is valid?  [True, True]
Translation: X:542.28, Y:41.12, Z:141.60
[[ 9.60682239e-01 -1.15799823e-01 -2.52349036e-01  5.42279917e+02]
 [ 1.16564979e-01  9.93110954e-01 -1.19682141e-02  4.11151474e+01]
 [ 2.51996509e-01 -1.79174094e-02  9.67562259e-01  1.41595424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.5407140570001 meters
Centerline goodness : 0.997863 with order 1
Centerline is valid?  [True, True]
Translation: X:542.34, Y:41.12, Z:141.61
[[ 9.60896456e-01 -1.14008139e-01 -2.52349254e-01  5.42337925e+02]
 [ 1.14714020e-01  9.93326515e-01 -1.19636245e-02  4.11206973e+01]
 [ 2.52029155e-01 -1.74521929e-02  9.67562259e-01  1.41611747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.600714057 meters
Centerline goodness : 0.998122 with order 1
Centerline is valid?  [True, True]
Translation: X:542.40, Y:41.12, Z:141.62
[[ 9.60849955e-01 -1.14399417e-01 -2.52349238e-01  5.42397400e+02]
 [ 1.15118421e-01  9.93279726e-01 -1.19639413e-02  4.11242929e+01]
 [ 2.52022050e-01 -1.75544935e-02  9.67562259e-01  1.41623629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.6607140570001 meters
Centerline goodness : 0.997675 with order 1
Centerline is valid?  [True, True]
Translation: X:542.46, Y:41.13, Z:141.64
[[ 9.60553961e-01 -1.16858197e-01 -2.52349458e-01  5.42456305e+02]
 [ 1.17661409e-01  9.92981756e-01 -1.19593064e-02  4.11286317e+01]
 [ 2.51975951e-01 -1.82042337e-02  9.67562260e-01  1.41637776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.720714057 meters
Centerline goodness : 0.997518 with order 1
Centerline is valid?  [True, True]
Translation: X:542.52, Y:41.13, Z:141.65
[[ 9.60261218e-01 -1.19239398e-01 -2.52349677e-01  5.42515871e+02]
 [ 1.20124218e-01  9.92686888e-01 -1.19546778e-02  4.11324936e+01]
 [ 2.51929685e-01 -1.88336943e-02  9.67562260e-01  1.41652211e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.780714057 meters
Centerline goodness : 0.997774 with order 1
Centerline is valid?  [True, True]
Translation: X:542.57, Y:41.14, Z:141.67
[[ 9.60144097e-01 -1.20177920e-01 -2.52350114e-01  5.42574778e+02]
 [ 1.21096842e-01  9.92568819e-01 -1.19454605e-02  4.11364469e+01]
 [ 2.51910435e-01 -1.90894383e-02  9.67562260e-01  1.41667915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.840714057 meters
Centerline goodness : 0.997928 with order 1
Centerline is valid?  [True, True]
Translation: X:542.63, Y:41.14, Z:141.69
[[ 9.60087623e-01 -1.20627610e-01 -2.52350421e-01  5.42634406e+02]
 [ 1.21563418e-01  9.92511862e-01 -1.19389561e-02  4.11400709e+01]
 [ 2.51900954e-01 -1.92141359e-02  9.67562260e-01  1.41686275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.900714057 meters
Centerline goodness : 0.996822 with order 1
Centerline is valid?  [True, True]
Translation: X:542.69, Y:41.14, Z:141.70
[[ 9.60171310e-01 -1.19957814e-01 -2.52351301e-01  5.42692935e+02]
 [ 1.20875867e-01  9.92596056e-01 -1.19203419e-02  4.11435843e+01]
 [ 2.51912844e-01 -1.90576119e-02  9.67562260e-01  1.41701974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 557.960714057 meters
Centerline goodness : 0.996907 with order 1
Centerline is valid?  [True, True]
Translation: X:542.75, Y:41.15, Z:141.72
[[ 9.60584358e-01 -1.16603613e-01 -2.52351519e-01  5.42752169e+02]
 [ 1.17409620e-01  9.93012083e-01 -1.19157312e-02  4.11483858e+01]
 [ 2.51977524e-01 -1.81824307e-02  9.67562260e-01  1.41716127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.020714057 meters
Centerline goodness : 0.997700 with order 1
Centerline is valid?  [True, True]
Translation: X:542.81, Y:41.15, Z:141.73
[[ 9.60917914e-01 -1.13821623e-01 -2.52351739e-01  5.42810424e+02]
 [ 1.14534946e-01  9.93347810e-01 -1.19110654e-02  4.11528843e+01]
 [ 2.52028784e-01 -1.74575368e-02  9.67562260e-01  1.41728982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.080714057 meters
Centerline goodness : 0.997447 with order 1
Centerline is valid?  [True, True]
Translation: X:542.87, Y:41.16, Z:141.75
[[ 9.61218598e-01 -1.11253793e-01 -2.52351739e-01  5.42868807e+02]
 [ 1.11880466e-01  9.93650284e-01 -1.19110654e-02  4.11569017e+01]
 [ 2.52074528e-01 -1.67840926e-02  9.67562260e-01  1.41746554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.140714057 meters
Centerline goodness : 0.997609 with order 1
Centerline is valid?  [True, True]
Translation: X:542.93, Y:41.16, Z:141.76
[[ 9.61652853e-01 -1.07434881e-01 -2.52352011e-01  5.42926503e+02]
 [ 1.07934236e-01  9.94086749e-01 -1.19052947e-02  4.11612828e+01]
 [ 2.52138834e-01 -1.57886610e-02  9.67562260e-01  1.41763779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.200714057 meters
Centerline goodness : 0.997953 with order 1
Centerline is valid?  [True, True]
Translation: X:542.98, Y:41.17, Z:141.78
[[ 9.62112262e-01 -1.03239262e-01 -2.52352233e-01  5.42984519e+02]
 [ 1.03598372e-01  9.94548015e-01 -1.19005834e-02  4.11657011e+01]
 [ 2.52205020e-01 -1.46935833e-02  9.67562260e-01  1.41782386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.260714057 meters
Centerline goodness : 0.997218 with order 1
Centerline is valid?  [True, True]
Translation: X:543.04, Y:41.17, Z:141.80
[[ 9.62435989e-01 -1.00176368e-01 -2.52352258e-01  5.43042762e+02]
 [ 1.00432374e-01  9.94872719e-01 -1.19000484e-02  4.11697803e+01]
 [ 2.52250481e-01 -1.38913015e-02  9.67562260e-01  1.41798240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.320714057 meters
Centerline goodness : 0.997358 with order 1
Centerline is valid?  [True, True]
Translation: X:543.10, Y:41.17, Z:141.81
[[ 9.62337653e-01 -1.01116751e-01 -2.52352221e-01  5.43101307e+02]
 [ 1.01404247e-01  9.94774120e-01 -1.19008346e-02  4.11720644e+01]
 [ 2.52236833e-01 -1.41369656e-02  9.67562260e-01  1.41813148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.380714057 meters
Centerline goodness : 0.997689 with order 1
Centerline is valid?  [True, True]
Translation: X:543.16, Y:41.17, Z:141.82
[[ 9.61558951e-01 -1.08271608e-01 -2.52352221e-01  5.43160283e+02]
 [ 1.08800351e-01  9.93992381e-01 -1.19008346e-02  4.11740762e+01]
 [ 2.52124708e-01 -1.60126561e-02  9.67562260e-01  1.41823083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.440714057 meters
Centerline goodness : 0.997545 with order 1
Centerline is valid?  [True, True]
Translation: X:543.22, Y:41.18, Z:141.84
[[ 9.61169786e-01 -1.11674139e-01 -2.52351994e-01  5.43218427e+02]
 [ 1.12316409e-01  9.93601167e-01 -1.19056580e-02  4.11783982e+01]
 [ 2.52066790e-01 -1.68999108e-02  9.67562260e-01  1.41837504e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.500714057 meters
Centerline goodness : 0.996966 with order 1
Centerline is valid?  [True, True]
Translation: X:543.28, Y:41.18, Z:141.86
[[ 9.61240003e-01 -1.11068602e-01 -2.52351783e-01  5.43276842e+02]
 [ 1.11689275e-01  9.93671804e-01 -1.19101141e-02  4.11845876e+01]
 [ 2.52077692e-01 -1.67365097e-02  9.67562260e-01  1.41855033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.560714057 meters
Centerline goodness : 0.997590 with order 1
Centerline is valid?  [True, True]
Translation: X:543.34, Y:41.19, Z:141.87
[[ 9.61593679e-01 -1.07962764e-01 -2.52352211e-01  5.43335317e+02]
 [ 1.08481037e-01  9.94027278e-01 -1.19010400e-02  4.11908578e+01]
 [ 2.52129851e-01 -1.59314646e-02  9.67562260e-01  1.41871017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.620714057 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:543.39, Y:41.20, Z:141.89
[[ 9.61848202e-01 -1.05670679e-01 -2.52352421e-01  5.43394235e+02]
 [ 1.06112814e-01  9.94282928e-01 -1.18965858e-02  4.11966558e+01]
 [ 2.52166825e-01 -1.53351161e-02  9.67562260e-01  1.41888896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.680714057 meters
Centerline goodness : 0.997698 with order 1
Centerline is valid?  [True, True]
Translation: X:543.45, Y:41.20, Z:141.90
[[ 9.61655954e-01 -1.07405136e-01 -2.52352856e-01  5.43452036e+02]
 [ 1.07908176e-01  9.94089793e-01 -1.18873598e-02  4.12028300e+01]
 [ 2.52138162e-01 -1.57993861e-02  9.67562260e-01  1.41904284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.740714057 meters
Centerline goodness : 0.998155 with order 1
Centerline is valid?  [True, True]
Translation: X:543.51, Y:41.21, Z:141.92
[[ 9.61151213e-01 -1.11830147e-01 -2.52353648e-01  5.43510655e+02]
 [ 1.12486866e-01  9.93582305e-01 -1.18705135e-02  4.12076351e+01]
 [ 2.52061601e-01 -1.69771126e-02  9.67562260e-01  1.41917108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.800714057 meters
Centerline goodness : 0.998437 with order 1
Centerline is valid?  [True, True]
Translation: X:543.57, Y:41.21, Z:141.92
[[ 9.60672491e-01 -1.15871042e-01 -2.52353457e-01  5.43571055e+02]
 [ 1.16663073e-01  9.93100560e-01 -1.18745810e-02  4.12128343e+01]
 [ 2.51988280e-01 -1.80327464e-02  9.67562260e-01  1.41923664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.860714057 meters
Centerline goodness : 0.998405 with order 1
Centerline is valid?  [True, True]
Translation: X:543.63, Y:41.22, Z:141.94
[[ 9.61031710e-01 -1.12853396e-01 -2.52353249e-01  5.43628957e+02]
 [ 1.13542427e-01  9.93462132e-01 -1.18789950e-02  4.12168026e+01]
 [ 2.52043982e-01 -1.72367094e-02  9.67562260e-01  1.41937274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.920714057 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:543.69, Y:41.22, Z:141.96
[[ 9.61888125e-01 -1.05305286e-01 -2.52352990e-01  5.43685659e+02]
 [ 1.05738261e-01  9.94322975e-01 -1.18844963e-02  4.12217661e+01]
 [ 2.52171876e-01 -1.52518104e-02  9.67562260e-01  1.41957216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 558.980714057 meters
Centerline goodness : 0.998127 with order 1
Centerline is valid?  [True, True]
Translation: X:543.74, Y:41.23, Z:141.97
[[ 9.62718577e-01 -9.74208511e-02 -2.52353164e-01  5.43743552e+02]
 [ 9.75890346e-02  9.95155881e-01 -1.18807956e-02  4.12260336e+01]
 [ 2.52288173e-01 -1.31890391e-02  9.67562260e-01  1.41973105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.0407140570001 meters
Centerline goodness : 0.997879 with order 1
Centerline is valid?  [True, True]
Translation: X:543.80, Y:41.23, Z:141.99
[[ 9.63657456e-01 -8.76485282e-02 -2.52353014e-01  5.43800632e+02]
 [ 8.74867743e-02  9.96094792e-01 -1.18839878e-02  4.12322265e+01]
 [ 2.52409137e-01 -1.06254578e-02  9.67562260e-01  1.41990839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.100714057 meters
Centerline goodness : 0.998598 with order 1
Centerline is valid?  [True, True]
Translation: X:543.86, Y:41.23, Z:142.01
[[ 9.63861236e-01 -8.53794721e-02 -2.52352655e-01  5.43858765e+02]
 [ 8.51393588e-02  9.96298088e-01 -1.18916012e-02  4.12342559e+01]
 [ 2.52433767e-01 -1.00232899e-02  9.67562260e-01  1.42007070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.1607140570001 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:543.91, Y:41.24, Z:142.02
[[ 9.64019927e-01 -8.35690043e-02 -2.52352535e-01  5.43914584e+02]
 [ 8.32673024e-02  9.96456264e-01 -1.18941507e-02  4.12350948e+01]
 [ 2.52452247e-01 -9.54651653e-03  9.67562260e-01  1.42021393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.220714057 meters
Centerline goodness : 0.998832 with order 1
Centerline is valid?  [True, True]
Translation: X:543.97, Y:41.24, Z:142.03
[[ 9.63727235e-01 -8.68823015e-02 -2.52351507e-01  5.43973453e+02]
 [ 8.66864091e-02  9.96164383e-01 -1.19159223e-02  4.12350358e+01]
 [ 2.52418866e-01 -1.03917472e-02  9.67562260e-01  1.42034861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.280714057 meters
Centerline goodness : 0.997987 with order 1
Centerline is valid?  [True, True]
Translation: X:544.03, Y:41.23, Z:142.05
[[ 9.63352951e-01 -9.09390678e-02 -2.52351298e-01  5.44030768e+02]
 [ 9.08785878e-02  9.95790634e-01 -1.19203517e-02  4.12344805e+01]
 [ 2.52373085e-01 -1.14498236e-02  9.67562260e-01  1.42050130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.340714057 meters
Centerline goodness : 0.998291 with order 1
Centerline is valid?  [True, True]
Translation: X:544.09, Y:41.23, Z:142.07
[[ 9.62976514e-01 -9.48439832e-02 -2.52350654e-01  5.44088252e+02]
 [ 9.49114556e-02  9.95414183e-01 -1.19339631e-02  4.12349582e+01]
 [ 2.52325285e-01 -1.24588418e-02  9.67562260e-01  1.42066364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.400714057 meters
Centerline goodness : 0.998093 with order 1
Centerline is valid?  [True, True]
Translation: X:544.15, Y:41.23, Z:142.08
[[ 9.62294504e-01 -1.01531479e-01 -2.52350246e-01  5.44146488e+02]
 [ 1.01822038e-01  9.94730942e-01 -1.19425934e-02  4.12332618e+01]
 [ 2.52233147e-01 -1.42025242e-02  9.67562260e-01  1.42080177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.460714057 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:544.21, Y:41.23, Z:142.09
[[ 9.61378107e-01 -1.09870786e-01 -2.52350046e-01  5.44205363e+02]
 [ 1.10441456e-01  9.93810826e-01 -1.19468150e-02  4.12300461e+01]
 [ 2.52100814e-01 -1.63845001e-02  9.67562260e-01  1.42094517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.520714057 meters
Centerline goodness : 0.998297 with order 1
Centerline is valid?  [True, True]
Translation: X:544.26, Y:41.23, Z:142.11
[[ 9.60552048e-01 -1.16872683e-01 -2.52350032e-01  5.44263018e+02]
 [ 1.17679573e-01  9.92979750e-01 -1.19471074e-02  4.12305178e+01]
 [ 2.51974762e-01 -1.82206256e-02  9.67562260e-01  1.42107844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.580714057 meters
Centerline goodness : 0.998150 with order 1
Centerline is valid?  [True, True]
Translation: X:544.32, Y:41.23, Z:142.12
[[ 9.59944264e-01 -1.21764373e-01 -2.52349851e-01  5.44321093e+02]
 [ 1.22735447e-01  9.92367465e-01 -1.19509246e-02  4.12309327e+01]
 [ 2.51878979e-01 -1.95000502e-02  9.67562260e-01  1.42123790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.640714057 meters
Centerline goodness : 0.998131 with order 1
Centerline is valid?  [True, True]
Translation: X:544.38, Y:41.23, Z:142.14
[[ 9.59592666e-01 -1.24505292e-01 -2.52349654e-01  5.44379128e+02]
 [ 1.25567870e-01  9.92012997e-01 -1.19550820e-02  4.12311741e+01]
 [ 2.51822608e-01 -2.02149996e-02  9.67562261e-01  1.42139588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.700714057 meters
Centerline goodness : 0.998450 with order 1
Centerline is valid?  [True, True]
Translation: X:544.44, Y:41.23, Z:142.16
[[ 9.59001943e-01 -1.28976795e-01 -2.52349479e-01  5.44438200e+02]
 [ 1.30189512e-01  9.91417005e-01 -1.19587850e-02  4.12324539e+01]
 [ 2.51725971e-01 -2.13847574e-02  9.67562261e-01  1.42156894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.760714057 meters
Centerline goodness : 0.998268 with order 1
Centerline is valid?  [True, True]
Translation: X:544.50, Y:41.23, Z:142.17
[[ 9.58650975e-01 -1.31559224e-01 -2.52349913e-01  5.44495846e+02]
 [ 1.32861634e-01  9.91062557e-01 -1.19496210e-02  4.12317156e+01]
 [ 2.51666633e-01 -2.20721059e-02  9.67562261e-01  1.42171750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.820714057 meters
Centerline goodness : 0.998099 with order 1
Centerline is valid?  [True, True]
Translation: X:544.56, Y:41.23, Z:142.19
[[ 9.58142592e-01 -1.35211641e-01 -2.52350125e-01  5.44555143e+02]
 [ 1.36638732e-01  9.90548924e-01 -1.19451385e-02  4.12328473e+01]
 [ 2.51580267e-01 -2.30356551e-02  9.67562261e-01  1.42187951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.880714057 meters
Centerline goodness : 0.998052 with order 1
Centerline is valid?  [True, True]
Translation: X:544.62, Y:41.23, Z:142.20
[[ 9.57937557e-01 -1.36656008e-01 -2.52350497e-01  5.44615429e+02]
 [ 1.38134007e-01  9.90341607e-01 -1.19372749e-02  4.12330805e+01]
 [ 2.51544497e-01 -2.34230214e-02  9.67562261e-01  1.42200454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 559.940714057 meters
Centerline goodness : 0.998363 with order 1
Centerline is valid?  [True, True]
Translation: X:544.67, Y:41.23, Z:142.21
[[ 9.57760779e-01 -1.37888336e-01 -2.52351137e-01  5.44674598e+02]
 [ 1.39411562e-01  9.90162735e-01 -1.19237267e-02  4.12328476e+01]
 [ 2.51512835e-01 -2.37605885e-02  9.67562261e-01  1.42212425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.000714057 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:544.73, Y:41.24, Z:142.23
[[ 9.57999430e-01 -1.36219746e-01 -2.52351485e-01  5.44733751e+02]
 [ 1.37688451e-01  9.90403903e-01 -1.19163582e-02  4.12351769e+01]
 [ 2.51553139e-01 -2.33300207e-02  9.67562261e-01  1.42228085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.060714057 meters
Centerline goodness : 0.997864 with order 1
Centerline is valid?  [True, True]
Translation: X:544.79, Y:41.24, Z:142.24
[[ 9.58526621e-01 -1.32458824e-01 -2.52351693e-01  5.44791987e+02]
 [ 1.33801488e-01  9.90936561e-01 -1.19119631e-02  4.12368877e+01]
 [ 2.51642363e-01 -2.23470982e-02  9.67562261e-01  1.42244802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.120714057 meters
Centerline goodness : 0.997440 with order 1
Centerline is valid?  [True, True]
Translation: X:544.85, Y:41.24, Z:142.26
[[ 9.58964085e-01 -1.29253317e-01 -2.52351864e-01  5.44850170e+02]
 [ 1.30488563e-01  9.91378297e-01 -1.19083260e-02  4.12399859e+01]
 [ 2.51715352e-01 -2.15093751e-02  9.67562261e-01  1.42262376e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.180714057 meters
Centerline goodness : 0.997091 with order 1
Centerline is valid?  [True, True]
Translation: X:544.91, Y:41.24, Z:142.28
[[ 9.59383314e-01 -1.26103904e-01 -2.52351864e-01  5.44908012e+02]
 [ 1.27232709e-01  9.91801406e-01 -1.19083355e-02  4.12441351e+01]
 [ 2.51784621e-01 -2.06827530e-02  9.67562261e-01  1.42278035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.240714057 meters
Centerline goodness : 0.997317 with order 1
Centerline is valid?  [True, True]
Translation: X:544.97, Y:41.25, Z:142.29
[[ 9.59394054e-01 -1.26022198e-01 -2.52351847e-01  5.44966760e+02]
 [ 1.27148147e-01  9.91812246e-01 -1.19087026e-02  4.12452997e+01]
 [ 2.51786413e-01 -2.06609312e-02  9.67562261e-01  1.42291713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.300714057 meters
Centerline goodness : 0.997418 with order 1
Centerline is valid?  [True, True]
Translation: X:545.03, Y:41.25, Z:142.31
[[ 9.59195437e-01 -1.27525547e-01 -2.52351639e-01  5.45025302e+02]
 [ 1.28701147e-01  9.91611866e-01 -1.19131091e-02  4.12472317e+01]
 [ 2.51754105e-01 -2.10509454e-02  9.67562261e-01  1.42306137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.360714057 meters
Centerline goodness : 0.996042 with order 1
Centerline is valid?  [True, True]
Translation: X:545.08, Y:41.25, Z:142.32
[[ 9.59203122e-01 -1.27467727e-01 -2.52351639e-01  5.45083464e+02]
 [ 1.28641373e-01  9.91619622e-01 -1.19131091e-02  4.12499480e+01]
 [ 2.51755373e-01 -2.10357698e-02  9.67562261e-01  1.42320742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.420714057 meters
Centerline goodness : 0.997131 with order 1
Centerline is valid?  [True, True]
Translation: X:545.14, Y:41.25, Z:142.34
[[ 9.59300505e-01 -1.26733175e-01 -2.52351429e-01  5.45141603e+02]
 [ 1.27880841e-01  9.91717935e-01 -1.19175363e-02  4.12513560e+01]
 [ 2.51771786e-01 -2.08384144e-02  9.67562261e-01  1.42336213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.480714057 meters
Centerline goodness : 0.997543 with order 1
Centerline is valid?  [True, True]
Translation: X:545.20, Y:41.25, Z:142.35
[[ 9.59582234e-01 -1.24583824e-01 -2.52350565e-01  5.45199544e+02]
 [ 1.25654090e-01  9.92002312e-01 -1.19358113e-02  4.12544120e+01]
 [ 2.51819353e-01 -2.02554882e-02  9.67562261e-01  1.42353350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.5407140570001 meters
Centerline goodness : 0.996645 with order 1
Centerline is valid?  [True, True]
Translation: X:545.26, Y:41.26, Z:142.37
[[ 9.59841180e-01 -1.22572884e-01 -2.52350545e-01  5.45258080e+02]
 [ 1.23575104e-01  9.92263433e-01 -1.19362418e-02  4.12562330e+01]
 [ 2.51861277e-01 -1.97273483e-02  9.67562261e-01  1.42369939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.600714057 meters
Centerline goodness : 0.997117 with order 1
Centerline is valid?  [True, True]
Translation: X:545.32, Y:41.26, Z:142.38
[[ 9.60191248e-01 -1.19799243e-01 -2.52350764e-01  5.45317991e+02]
 [ 1.20708996e-01  9.92616227e-01 -1.19316105e-02  4.12579188e+01]
 [ 2.51916861e-01 -1.90043793e-02  9.67562261e-01  1.42384363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.6607140570001 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:545.38, Y:41.26, Z:142.40
[[ 9.60632647e-01 -1.16205794e-01 -2.52351205e-01  5.45376846e+02]
 [ 1.16996659e-01  9.93060744e-01 -1.19222798e-02  4.12611485e+01]
 [ 2.51985513e-01 -1.80713167e-02  9.67562261e-01  1.42397141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.720714057 meters
Centerline goodness : 0.997158 with order 1
Centerline is valid?  [True, True]
Translation: X:545.43, Y:41.26, Z:142.41
[[ 9.61376272e-01 -1.09883981e-01 -2.52351292e-01  5.45434676e+02]
 [ 1.10461995e-01  9.93808861e-01 -1.19204195e-02  4.12633898e+01]
 [ 2.52098814e-01 -1.64152188e-02  9.67562261e-01  1.42411157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.780714057 meters
Centerline goodness : 0.997392 with order 1
Centerline is valid?  [True, True]
Translation: X:545.49, Y:41.27, Z:142.43
[[ 9.62215405e-01 -1.02275957e-01 -2.52351228e-01  5.45492407e+02]
 [ 1.02597054e-01  9.94651555e-01 -1.19217742e-02  4.12660308e+01]
 [ 2.52220853e-01 -1.44191778e-02  9.67562261e-01  1.42429719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.840714057 meters
Centerline goodness : 0.997595 with order 1
Centerline is valid?  [True, True]
Translation: X:545.55, Y:41.27, Z:142.44
[[ 9.62733906e-01 -9.72740817e-02 -2.52351303e-01  5.45549057e+02]
 [ 9.74270202e-02  9.95171284e-01 -1.19201963e-02  4.12687032e+01]
 [ 2.52292296e-01 -1.31098583e-02  9.67562261e-01  1.42444712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.900714057 meters
Centerline goodness : 0.997736 with order 1
Centerline is valid?  [True, True]
Translation: X:545.61, Y:41.27, Z:142.46
[[ 9.63243702e-01 -9.20905256e-02 -2.52350759e-01  5.45605686e+02]
 [ 9.20658538e-02  9.95681432e-01 -1.19316961e-02  4.12690765e+01]
 [ 2.52359761e-01 -1.17397570e-02  9.67562261e-01  1.42460747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 560.960714057 meters
Centerline goodness : 0.997764 with order 1
Centerline is valid?  [True, True]
Translation: X:545.66, Y:41.27, Z:142.48
[[ 9.63352972e-01 -9.09418143e-02 -2.52350228e-01  5.45662705e+02]
 [ 9.08755242e-02  9.95790643e-01 -1.19429312e-02  4.12708768e+01]
 [ 2.52374107e-01 -1.14272009e-02  9.67562261e-01  1.42475904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.020714057 meters
Centerline goodness : 0.997203 with order 1
Centerline is valid?  [True, True]
Translation: X:545.72, Y:41.27, Z:142.49
[[ 9.63177706e-01 -9.27818770e-02 -2.52349421e-01  5.45721307e+02]
 [ 9.27731017e-02  9.95615443e-01 -1.19599497e-02  4.12702765e+01]
 [ 2.52352647e-01 -1.18916816e-02  9.67562261e-01  1.42492516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.080714057 meters
Centerline goodness : 0.997123 with order 1
Centerline is valid?  [True, True]
Translation: X:545.78, Y:41.27, Z:142.51
[[ 9.62729145e-01 -9.73261056e-02 -2.52349407e-01  5.45777908e+02]
 [ 9.74703264e-02  9.95166563e-01 -1.19602504e-02  4.12701670e+01]
 [ 2.52293736e-01 -1.30820974e-02  9.67562261e-01  1.42506739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.140714057 meters
Centerline goodness : 0.996443 with order 1
Centerline is valid?  [True, True]
Translation: X:545.84, Y:41.27, Z:142.52
[[ 9.61485088e-01 -1.08940070e-01 -2.52345968e-01  5.45836990e+02]
 [ 1.09456978e-01  9.93918705e-01 -1.20323734e-02  4.12668182e+01]
 [ 2.52122186e-01 -1.60520795e-02  9.67562264e-01  1.42521348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.200714057 meters
Centerline goodness : 0.995318 with order 1
Centerline is valid?  [True, True]
Translation: X:545.90, Y:41.27, Z:142.54
[[ 9.60836780e-01 -1.14517252e-01 -2.52345957e-01  5.45896039e+02]
 [ 1.15222283e-01  9.93266853e-01 -1.20326211e-02  4.12664135e+01]
 [ 2.52024817e-01 -1.75144923e-02  9.67562264e-01  1.42536041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.260714057 meters
Centerline goodness : 0.995761 with order 1
Centerline is valid?  [True, True]
Translation: X:545.95, Y:41.27, Z:142.55
[[ 9.60140260e-01 -1.20217255e-01 -2.52345979e-01  5.45954083e+02]
 [ 1.21114852e-01  9.92565575e-01 -1.20321452e-02  4.12650591e+01]
 [ 2.51916404e-01 -1.90102988e-02  9.67562264e-01  1.42550240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.320714057 meters
Centerline goodness : 0.996588 with order 1
Centerline is valid?  [True, True]
Translation: X:546.01, Y:41.27, Z:142.57
[[ 9.59654550e-01 -1.24034823e-01 -2.52346009e-01  5.46011597e+02]
 [ 1.25061532e-01  9.92076033e-01 -1.20315235e-02  4.12668314e+01]
 [ 2.51838755e-01 -2.00126722e-02  9.67562264e-01  1.42568701e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.380714057 meters
Centerline goodness : 0.995899 with order 1
Centerline is valid?  [True, True]
Translation: X:546.07, Y:41.27, Z:142.58
[[ 9.59234554e-01 -1.27242122e-01 -2.52346018e-01  5.46068895e+02]
 [ 1.28377254e-01  9.91652423e-01 -1.20313414e-02  4.12665646e+01]
 [ 2.51770433e-01 -2.08546104e-02  9.67562264e-01  1.42583230e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.440714057 meters
Centerline goodness : 0.995498 with order 1
Centerline is valid?  [True, True]
Translation: X:546.13, Y:41.27, Z:142.60
[[ 9.58600052e-01 -1.31938045e-01 -2.52345581e-01  5.46127342e+02]
 [ 1.33229523e-01  9.91012069e-01 -1.20405006e-02  4.12678775e+01]
 [ 2.51666116e-01 -2.20778567e-02  9.67562264e-01  1.42597848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.500714057 meters
Centerline goodness : 0.995469 with order 1
Centerline is valid?  [True, True]
Translation: X:546.19, Y:41.27, Z:142.61
[[ 9.58094424e-01 -1.35561360e-01 -2.52345383e-01  5.46186649e+02]
 [ 1.36974289e-01  9.90501373e-01 -1.20446485e-02  4.12693769e+01]
 [ 2.51581237e-01 -2.30249187e-02  9.67562264e-01  1.42613604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.560714057 meters
Centerline goodness : 0.995828 with order 1
Centerline is valid?  [True, True]
Translation: X:546.25, Y:41.27, Z:142.63
[[ 9.57770893e-01 -1.37827949e-01 -2.52345741e-01  5.46246036e+02]
 [ 1.39319515e-01  9.90174318e-01 -1.20371321e-02  4.12717473e+01]
 [ 2.51525325e-01 -2.36278715e-02  9.67562264e-01  1.42630017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.620714057 meters
Centerline goodness : 0.995445 with order 1
Centerline is valid?  [True, True]
Translation: X:546.31, Y:41.28, Z:142.65
[[ 9.57703565e-01 -1.38293777e-01 -2.52346416e-01  5.46306244e+02]
 [ 1.39804800e-01  9.90106088e-01 -1.20229777e-02  4.12761161e+01]
 [ 2.51512425e-01 -2.37647915e-02  9.67562264e-01  1.42646316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.680714057 meters
Centerline goodness : 0.996489 with order 1
Centerline is valid?  [True, True]
Translation: X:546.37, Y:41.28, Z:142.66
[[ 9.57578599e-01 -1.39154820e-01 -2.52347307e-01  5.46366101e+02]
 [ 1.40699868e-01  9.89979518e-01 -1.20042460e-02  4.12805184e+01]
 [ 2.51489114e-01 -2.40102238e-02  9.67562264e-01  1.42660989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.740714057 meters
Centerline goodness : 0.996208 with order 1
Centerline is valid?  [True, True]
Translation: X:546.43, Y:41.28, Z:142.68
[[ 9.57680173e-01 -1.38452820e-01 -2.52347980e-01  5.46425551e+02]
 [ 1.39977816e-01  9.90082042e-01 -1.19900779e-02  4.12848045e+01]
 [ 2.51505263e-01 -2.38404591e-02  9.67562264e-01  1.42675816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.800714057 meters
Centerline goodness : 0.996804 with order 1
Centerline is valid?  [True, True]
Translation: X:546.48, Y:41.29, Z:142.69
[[ 9.57998833e-01 -1.36229213e-01 -2.52348642e-01  5.46482673e+02]
 [ 1.37682630e-01  9.90403991e-01 -1.19761222e-02  4.12905826e+01]
 [ 2.51558600e-01 -2.32709135e-02  9.67562264e-01  1.42691427e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.860714057 meters
Centerline goodness : 0.996326 with order 1
Centerline is valid?  [True, True]
Translation: X:546.54, Y:41.30, Z:142.71
[[ 9.58529255e-01 -1.32445978e-01 -2.52348430e-01  5.46540753e+02]
 [ 1.33770277e-01  9.90939947e-01 -1.19806016e-02  4.12967027e+01]
 [ 2.51648922e-01 -2.22729622e-02  9.67562264e-01  1.42708702e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.920714057 meters
Centerline goodness : 0.996194 with order 1
Centerline is valid?  [True, True]
Translation: X:546.60, Y:41.30, Z:142.72
[[ 9.59067191e-01 -1.28492387e-01 -2.52348629e-01  5.46598710e+02]
 [ 1.29684127e-01  9.91483027e-01 -1.19764035e-02  4.13023673e+01]
 [ 2.51738259e-01 -2.12394361e-02  9.67562264e-01  1.42722890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 561.980714057 meters
Centerline goodness : 0.996885 with order 1
Centerline is valid?  [True, True]
Translation: X:546.66, Y:41.31, Z:142.74
[[ 9.59265276e-01 -1.27004962e-01 -2.52348708e-01  5.46656135e+02]
 [ 1.28146867e-01  9.91682906e-01 -1.19747415e-02  4.13081781e+01]
 [ 2.51770751e-01 -2.08507426e-02  9.67562264e-01  1.42741080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.0407140570001 meters
Centerline goodness : 0.997022 with order 1
Centerline is valid?  [True, True]
Translation: X:546.71, Y:41.31, Z:142.76
[[ 9.59229594e-01 -1.27274011e-01 -2.52348790e-01  5.46714945e+02]
 [ 1.28425462e-01  9.91646887e-01 -1.19730042e-02  4.13118840e+01]
 [ 2.51764744e-01 -2.09231499e-02  9.67562264e-01  1.42756366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.100714057 meters
Centerline goodness : 0.997372 with order 1
Centerline is valid?  [True, True]
Translation: X:546.77, Y:41.31, Z:142.77
[[ 9.58733373e-01 -1.30959442e-01 -2.52348853e-01  5.46773889e+02]
 [ 1.32235813e-01  9.91145988e-01 -1.19716775e-02  4.13149992e+01]
 [ 2.51682357e-01 -2.18919089e-02  9.67562264e-01  1.42771131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.1607140570001 meters
Centerline goodness : 0.996878 with order 1
Centerline is valid?  [True, True]
Translation: X:546.83, Y:41.32, Z:142.79
[[ 9.58486765e-01 -1.32752337e-01 -2.52348843e-01  5.46833309e+02]
 [ 1.34089270e-01  9.90896938e-01 -1.19718944e-02  4.13172139e+01]
 [ 2.51640993e-01 -2.23623697e-02  9.67562264e-01  1.42785349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.220714057 meters
Centerline goodness : 0.996588 with order 1
Centerline is valid?  [True, True]
Translation: X:546.89, Y:41.32, Z:142.80
[[ 9.57976845e-01 -1.36381254e-01 -2.52349991e-01  5.46891762e+02]
 [ 1.37847249e-01  9.90381436e-01 -1.19476478e-02  4.13191980e+01]
 [ 2.51552182e-01 -2.33401821e-02  9.67562265e-01  1.42800416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.280714057 meters
Centerline goodness : 0.996628 with order 1
Centerline is valid?  [True, True]
Translation: X:546.95, Y:41.32, Z:142.82
[[ 9.57723843e-01 -1.38146676e-01 -2.52350028e-01  5.46951306e+02]
 [ 1.39672599e-01  9.90125668e-01 -1.19468654e-02  4.13200929e+01]
 [ 2.51508660e-01 -2.38045863e-02  9.67562265e-01  1.42815755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.340714057 meters
Centerline goodness : 0.996386 with order 1
Centerline is valid?  [True, True]
Translation: X:547.01, Y:41.32, Z:142.83
[[ 9.57819054e-01 -1.37484185e-01 -2.52350467e-01  5.47011265e+02]
 [ 1.38990121e-01  9.90221814e-01 -1.19375768e-02  4.13228456e+01]
 [ 2.51524166e-01 -2.36401835e-02  9.67562265e-01  1.42832487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.400714057 meters
Centerline goodness : 0.996968 with order 1
Centerline is valid?  [True, True]
Translation: X:547.07, Y:41.33, Z:142.85
[[ 9.57991402e-01 -1.36276431e-01 -2.52351358e-01  5.47069030e+02]
 [ 1.37746438e-01  9.90395811e-01 -1.19187153e-02  4.13260322e+01]
 [ 2.51551968e-01 -2.33424738e-02  9.67562265e-01  1.42848714e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.460714057 meters
Centerline goodness : 0.996310 with order 1
Centerline is valid?  [True, True]
Translation: X:547.13, Y:41.33, Z:142.86
[[ 9.57997013e-01 -1.36236574e-01 -2.52351580e-01  5.47128209e+02]
 [ 1.37706456e-01  9.90401428e-01 -1.19140280e-02  4.13291613e+01]
 [ 2.51552491e-01 -2.33368385e-02  9.67562265e-01  1.42864363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.520714057 meters
Centerline goodness : 0.996921 with order 1
Centerline is valid?  [True, True]
Translation: X:547.19, Y:41.33, Z:142.88
[[ 9.58036332e-01 -1.35958991e-01 -2.52352015e-01  5.47187181e+02]
 [ 1.37421895e-01  9.90441063e-01 -1.19047982e-02  4.13319404e+01]
 [ 2.51558362e-01 -2.32734628e-02  9.67562265e-01  1.42878522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.580714057 meters
Centerline goodness : 0.997689 with order 1
Centerline is valid?  [True, True]
Translation: X:547.25, Y:41.34, Z:142.89
[[ 9.58138461e-01 -1.35236984e-01 -2.52352232e-01  5.47246075e+02]
 [ 1.36676666e-01  9.90544231e-01 -1.19002062e-02  4.13357056e+01]
 [ 2.51575395e-01 -2.30886164e-02  9.67562265e-01  1.42892540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.640714057 meters
Centerline goodness : 0.997590 with order 1
Centerline is valid?  [True, True]
Translation: X:547.30, Y:41.34, Z:142.91
[[ 9.58139151e-01 -1.35231295e-01 -2.52352660e-01  5.47303990e+02]
 [ 1.36673157e-01  9.90544824e-01 -1.18911224e-02  4.13402648e+01]
 [ 2.51574673e-01 -2.30964848e-02  9.67562265e-01  1.42909104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.700714057 meters
Centerline goodness : 0.998387 with order 1
Centerline is valid?  [True, True]
Translation: X:547.36, Y:41.34, Z:142.93
[[ 9.58147614e-01 -1.35170930e-01 -2.52352866e-01  5.47364402e+02]
 [ 1.36611897e-01  9.90553328e-01 -1.18867319e-02  4.13426234e+01]
 [ 2.51575712e-01 -2.30851600e-02  9.67562265e-01  1.42925707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.760714057 meters
Centerline goodness : 0.997950 with order 1
Centerline is valid?  [True, True]
Translation: X:547.42, Y:41.34, Z:142.94
[[ 9.57857074e-01 -1.37212657e-01 -2.52353944e-01  5.47423128e+02]
 [ 1.38728669e-01  9.90259363e-01 -1.18638200e-02  4.13448177e+01]
 [ 2.51523722e-01 -2.36448827e-02  9.67562265e-01  1.42940184e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.820714057 meters
Centerline goodness : 0.998294 with order 1
Centerline is valid?  [True, True]
Translation: X:547.48, Y:41.35, Z:142.96
[[ 9.57314256e-01 -1.40949619e-01 -2.52354155e-01  5.47482214e+02]
 [ 1.42593241e-01  9.89710323e-01 -1.18593290e-02  4.13456776e+01]
 [ 2.51429080e-01 -2.46308920e-02  9.67562265e-01  1.42955710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.880714057 meters
Centerline goodness : 0.998224 with order 1
Centerline is valid?  [True, True]
Translation: X:547.54, Y:41.35, Z:142.97
[[ 9.57076938e-01 -1.42551597e-01 -2.52354468e-01  5.47540709e+02]
 [ 1.44251178e-01  9.89470117e-01 -1.18526517e-02  4.13480976e+01]
 [ 2.51386820e-01 -2.50585296e-02  9.67562265e-01  1.42971404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 562.940714057 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:547.60, Y:41.35, Z:142.99
[[ 9.56753243e-01 -1.44708104e-01 -2.52354506e-01  5.47600324e+02]
 [ 1.46480893e-01  9.89142498e-01 -1.18518413e-02  4.13502888e+01]
 [ 2.51329624e-01 -2.56258259e-02  9.67562265e-01  1.42985798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.000714057 meters
Centerline goodness : 0.998110 with order 1
Centerline is valid?  [True, True]
Translation: X:547.66, Y:41.35, Z:143.00
[[ 9.56709634e-01 -1.44995365e-01 -2.52354949e-01  5.47659590e+02]
 [ 1.46780340e-01  9.89098220e-01 -1.18424163e-02  4.13528339e+01]
 [ 2.51320926e-01 -2.57109913e-02  9.67562265e-01  1.43000342e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.060714057 meters
Centerline goodness : 0.998181 with order 1
Centerline is valid?  [True, True]
Translation: X:547.72, Y:41.36, Z:143.02
[[ 9.56849138e-01 -1.44070731e-01 -2.52355605e-01  5.47718932e+02]
 [ 1.45828057e-01  9.89239236e-01 -1.18284221e-02  4.13557229e+01]
 [ 2.51344195e-01 -2.54825121e-02  9.67562265e-01  1.43017979e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.120714057 meters
Centerline goodness : 0.997967 with order 1
Centerline is valid?  [True, True]
Translation: X:547.78, Y:41.36, Z:143.03
[[ 9.56991014e-01 -1.43123759e-01 -2.52356472e-01  5.47777337e+02]
 [ 1.44853869e-01  9.89382577e-01 -1.18098910e-02  4.13583826e+01]
 [ 2.51367372e-01 -2.52528518e-02  9.67562266e-01  1.43033911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.180714057 meters
Centerline goodness : 0.998252 with order 1
Centerline is valid?  [True, True]
Translation: X:547.84, Y:41.36, Z:143.05
[[ 9.57058801e-01 -1.42669384e-01 -2.52356689e-01  5.47837296e+02]
 [ 1.44385328e-01  9.89451117e-01 -1.18052450e-02  4.13603286e+01]
 [ 2.51378855e-01 -2.51382897e-02  9.67562266e-01  1.43049676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.240714057 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:547.90, Y:41.36, Z:143.06
[[ 9.57119030e-01 -1.42263221e-01 -2.52357559e-01  5.47897579e+02]
 [ 1.43970280e-01  9.89511816e-01 -1.17866225e-02  4.13619003e+01]
 [ 2.51387589e-01 -2.50507878e-02  9.67562266e-01  1.43064641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.300714057 meters
Centerline goodness : 0.997900 with order 1
Centerline is valid?  [True, True]
Translation: X:547.96, Y:41.36, Z:143.08
[[ 9.56910074e-01 -1.43660500e-01 -2.52358416e-01  5.47955751e+02]
 [ 1.45419650e-01  9.89300073e-01 -1.17682410e-02  4.13641455e+01]
 [ 2.51348831e-01 -2.54367243e-02  9.67562266e-01  1.43081082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.360714057 meters
Centerline goodness : 0.998211 with order 1
Centerline is valid?  [True, True]
Translation: X:548.02, Y:41.36, Z:143.09
[[ 9.56614816e-01 -1.45613542e-01 -2.52358455e-01  5.48015823e+02]
 [ 1.47439023e-01  9.89001144e-01 -1.17674102e-02  4.13642290e+01]
 [ 2.51296295e-01 -2.59506052e-02  9.67562266e-01  1.43093491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.420714057 meters
Centerline goodness : 0.998675 with order 1
Centerline is valid?  [True, True]
Translation: X:548.07, Y:41.37, Z:143.11
[[ 9.56570834e-01 -1.45901071e-01 -2.52359102e-01  5.48074434e+02]
 [ 1.47739911e-01  9.88956406e-01 -1.17535238e-02  4.13666419e+01]
 [ 2.51287002e-01 -2.60404332e-02  9.67562266e-01  1.43108161e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.480714057 meters
Centerline goodness : 0.998325 with order 1
Centerline is valid?  [True, True]
Translation: X:548.13, Y:41.37, Z:143.12
[[ 9.57237309e-01 -1.41462360e-01 -2.52359140e-01  5.48132899e+02]
 [ 1.43151173e-01  9.89631050e-01 -1.17526937e-02  4.13689742e+01]
 [ 2.51405005e-01 -2.48753902e-02  9.67562266e-01  1.43124934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.5407140570001 meters
Centerline goodness : 0.997463 with order 1
Centerline is valid?  [True, True]
Translation: X:548.19, Y:41.37, Z:143.14
[[ 9.58249875e-01 -1.34432045e-01 -2.52359271e-01  5.48190943e+02]
 [ 1.35883765e-01  9.90655108e-01 -1.17498826e-02  4.13739533e+01]
 [ 2.51580562e-01 -2.30322043e-02  9.67562266e-01  1.43142200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.600714057 meters
Centerline goodness : 0.998057 with order 1
Centerline is valid?  [True, True]
Translation: X:548.25, Y:41.38, Z:143.16
[[ 9.59428558e-01 -1.25744062e-01 -2.52359413e-01  5.48247807e+02]
 [ 1.26902903e-01  9.91845585e-01 -1.17468349e-02  4.13812445e+01]
 [ 2.51778665e-01 -2.07548932e-02  9.67562266e-01  1.43157636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.6607140570001 meters
Centerline goodness : 0.997743 with order 1
Centerline is valid?  [True, True]
Translation: X:548.30, Y:41.39, Z:143.17
[[ 9.60526740e-01 -1.17060801e-01 -2.52359172e-01  5.48304763e+02]
 [ 1.17925023e-01  9.92952959e-01 -1.17520208e-02  4.13875304e+01]
 [ 2.51956487e-01 -1.84713309e-02  9.67562266e-01  1.43172579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.720714057 meters
Centerline goodness : 0.997409 with order 1
Centerline is valid?  [True, True]
Translation: X:548.36, Y:41.39, Z:143.19
[[ 9.61069408e-01 -1.12518688e-01 -2.52359145e-01  5.48363516e+02]
 [ 1.13229459e-01  9.93499354e-01 -1.17525940e-02  4.13919895e+01]
 [ 2.52041034e-01 -1.72794309e-02  9.67562266e-01  1.43188300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.780714057 meters
Centerline goodness : 0.996492 with order 1
Centerline is valid?  [True, True]
Translation: X:548.42, Y:41.40, Z:143.20
[[ 9.61712704e-01 -1.06880453e-01 -2.52359356e-01  5.48421777e+02]
 [ 1.07402206e-01  9.94146241e-01 -1.17480651e-02  4.13984525e+01]
 [ 2.52137744e-01 -1.58056881e-02  9.67562266e-01  1.43203530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.840714057 meters
Centerline goodness : 0.997102 with order 1
Centerline is valid?  [True, True]
Translation: X:548.48, Y:41.40, Z:143.22
[[ 9.61910088e-01 -1.05089481e-01 -2.52359236e-01  5.48479644e+02]
 [ 1.05550166e-01  9.94344550e-01 -1.17506448e-02  4.14036444e+01]
 [ 2.52166900e-01 -1.53334954e-02  9.67562266e-01  1.43219142e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.900714057 meters
Centerline goodness : 0.997358 with order 1
Centerline is valid?  [True, True]
Translation: X:548.54, Y:41.41, Z:143.24
[[ 9.62102171e-01 -1.03316668e-01 -2.52359028e-01  5.48537678e+02]
 [ 1.03716414e-01  9.94537442e-01 -1.17551094e-02  4.14087826e+01]
 [ 2.52195001e-01 -1.48641572e-02  9.67562266e-01  1.43235396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 563.960714057 meters
Centerline goodness : 0.997906 with order 1
Centerline is valid?  [True, True]
Translation: X:548.60, Y:41.41, Z:143.25
[[ 9.62038156e-01 -1.03911060e-01 -2.52359028e-01  5.48596534e+02]
 [ 1.04330844e-01  9.94473173e-01 -1.17551094e-02  4.14127028e+01]
 [ 2.52185769e-01 -1.50199667e-02  9.67562266e-01  1.43250397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.020714057 meters
Centerline goodness : 0.997789 with order 1
Centerline is valid?  [True, True]
Translation: X:548.66, Y:41.42, Z:143.27
[[ 9.61982670e-01 -1.04422964e-01 -2.52359244e-01  5.48655017e+02]
 [ 1.04861223e-01  9.94417443e-01 -1.17504629e-02  4.14159117e+01]
 [ 2.52177452e-01 -1.51589572e-02  9.67562266e-01  1.43265868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.080714057 meters
Centerline goodness : 0.997737 with order 1
Centerline is valid?  [True, True]
Translation: X:548.71, Y:41.42, Z:143.28
[[ 9.62273624e-01 -1.01706855e-01 -2.52359244e-01  5.48712547e+02]
 [ 1.02053548e-01  9.94709505e-01 -1.17504629e-02  4.14191292e+01]
 [ 2.52219241e-01 -1.44469957e-02  9.67562266e-01  1.43282139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.140714057 meters
Centerline goodness : 0.997562 with order 1
Centerline is valid?  [True, True]
Translation: X:548.77, Y:41.42, Z:143.30
[[ 9.62896563e-01 -9.56307172e-02 -2.52358821e-01  5.48770387e+02]
 [ 9.57702836e-02  9.95333997e-01 -1.17595534e-02  4.14233510e+01]
 [ 2.52305888e-01 -1.28452423e-02  9.67562266e-01  1.43298758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.200714057 meters
Centerline goodness : 0.998063 with order 1
Centerline is valid?  [True, True]
Translation: X:548.83, Y:41.43, Z:143.31
[[ 9.63624398e-01 -8.79949724e-02 -2.52358682e-01  5.48828224e+02]
 [ 8.78766332e-02  9.96061916e-01 -1.17625164e-02  4.14252271e+01]
 [ 2.52399915e-01 -1.08417836e-02  9.67562266e-01  1.43314640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.260714057 meters
Centerline goodness : 0.997872 with order 1
Centerline is valid?  [True, True]
Translation: X:548.89, Y:41.43, Z:143.33
[[ 9.64276941e-01 -8.05302507e-02 -2.52358594e-01  5.48886270e+02]
 [ 8.01602305e-02  9.96712564e-01 -1.17644135e-02  4.14278349e+01]
 [ 2.52476373e-01 -8.88497043e-03  9.67562266e-01  1.43330562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.320714057 meters
Centerline goodness : 0.997988 with order 1
Centerline is valid?  [True, True]
Translation: X:548.94, Y:41.43, Z:143.35
[[ 9.64701570e-01 -7.52732407e-02 -2.52358517e-01  5.48943224e+02]
 [ 7.47260010e-02  9.97134687e-01 -1.17660734e-02  4.14299862e+01]
 [ 2.52521101e-01 -7.50699324e-03  9.67562266e-01  1.43346430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.380714057 meters
Centerline goodness : 0.997804 with order 1
Centerline is valid?  [True, True]
Translation: X:549.00, Y:41.43, Z:143.36
[[ 9.64736275e-01 -7.48366566e-02 -2.52355690e-01  5.49000895e+02]
 [ 7.42589721e-02  9.97168863e-01 -1.18264013e-02  4.14286654e+01]
 [ 2.52526285e-01 -7.33031574e-03  9.67562268e-01  1.43357764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.440714057 meters
Centerline goodness : 0.998051 with order 1
Centerline is valid?  [True, True]
Translation: X:549.06, Y:41.43, Z:143.37
[[ 9.64416517e-01 -7.88524793e-02 -2.52355045e-01  5.49057448e+02]
 [ 7.84062361e-02  9.96851179e-01 -1.18401351e-02  4.14252783e+01]
 [ 2.52494049e-01 -8.36738741e-03  9.67562268e-01  1.43374183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.500714057 meters
Centerline goodness : 0.997291 with order 1
Centerline is valid?  [True, True]
Translation: X:549.12, Y:41.42, Z:143.39
[[ 9.63851039e-01 -8.54965154e-02 -2.52351978e-01  5.49115741e+02]
 [ 8.52567934e-02  9.96287883e-01 -1.19051710e-02  4.14208588e+01]
 [ 2.52433068e-01 -1.00399090e-02  9.67562270e-01  1.43388433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.560714057 meters
Centerline goodness : 0.997475 with order 1
Centerline is valid?  [True, True]
Translation: X:549.17, Y:41.42, Z:143.40
[[ 9.63144378e-01 -9.31208671e-02 -2.52351760e-01  5.49173217e+02]
 [ 9.31366209e-02  9.95582105e-01 -1.19097880e-02  4.14161153e+01]
 [ 2.52345946e-01 -1.20323449e-02  9.67562270e-01  1.43403973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.620714057 meters
Centerline goodness : 0.997191 with order 1
Centerline is valid?  [True, True]
Translation: X:549.23, Y:41.41, Z:143.42
[[ 9.62294280e-01 -1.01530094e-01 -2.52351656e-01  5.49230859e+02]
 [ 1.01828605e-01  9.94730637e-01 -1.19119900e-02  4.14136086e+01]
 [ 2.52231349e-01 -1.42337772e-02  9.67562270e-01  1.43420684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.680714057 meters
Centerline goodness : 0.997581 with order 1
Centerline is valid?  [True, True]
Translation: X:549.29, Y:41.41, Z:143.43
[[ 9.61432624e-01 -1.09389491e-01 -2.52351437e-01  5.49288166e+02]
 [ 1.09951815e-01  9.93865480e-01 -1.19166210e-02  4.14099902e+01]
 [ 2.52106935e-01 -1.62894704e-02  9.67562270e-01  1.43434893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.740714057 meters
Centerline goodness : 0.997863 with order 1
Centerline is valid?  [True, True]
Translation: X:549.35, Y:41.41, Z:143.45
[[ 9.60522132e-01 -1.17115408e-01 -2.52351371e-01  5.49346891e+02]
 [ 1.17938092e-01  9.92949428e-01 -1.19180219e-02  4.14084960e+01]
 [ 2.51967934e-01 -1.83143155e-02  9.67562270e-01  1.43449738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.800714057 meters
Centerline goodness : 0.997686 with order 1
Centerline is valid?  [True, True]
Translation: X:549.40, Y:41.41, Z:143.46
[[ 9.60243806e-01 -1.19376096e-01 -2.52351306e-01  5.49404265e+02]
 [ 1.20274748e-01  9.92669085e-01 -1.19194085e-02  4.14099528e+01]
 [ 2.51924232e-01 -1.89059516e-02  9.67562270e-01  1.43464237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.860714057 meters
Centerline goodness : 0.998077 with order 1
Centerline is valid?  [True, True]
Translation: X:549.46, Y:41.41, Z:143.48
[[ 9.59744953e-01 -1.23322966e-01 -2.52351087e-01  5.49462003e+02]
 [ 1.24353712e-01  9.92166302e-01 -1.19240360e-02  4.14103605e+01]
 [ 2.51844752e-01 -1.99367611e-02  9.67562270e-01  1.43477842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.920714057 meters
Centerline goodness : 0.997572 with order 1
Centerline is valid?  [True, True]
Translation: X:549.52, Y:41.41, Z:143.49
[[ 9.59658248e-01 -1.23995946e-01 -2.52351050e-01  5.49520409e+02]
 [ 1.25049221e-01  9.92078873e-01 -1.19248267e-02  4.14126587e+01]
 [ 2.51830775e-01 -2.01125437e-02  9.67562270e-01  1.43492314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 564.980714057 meters
Centerline goodness : 0.997913 with order 1
Centerline is valid?  [True, True]
Translation: X:549.58, Y:41.42, Z:143.51
[[ 9.60002989e-01 -1.21298462e-01 -2.52350834e-01  5.49578956e+02]
 [ 1.22259428e-01  9.92426482e-01 -1.19293823e-02  4.14166400e+01]
 [ 2.51886666e-01 -1.94000259e-02  9.67562270e-01  1.43507334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.0407140570001 meters
Centerline goodness : 0.997794 with order 1
Centerline is valid?  [True, True]
Translation: X:549.64, Y:41.42, Z:143.52
[[ 9.60339097e-01 -1.18608158e-01 -2.52350795e-01  5.49636652e+02]
 [ 1.19478057e-01  9.92765161e-01 -1.19302091e-02  4.14228424e+01]
 [ 2.51940098e-01 -1.86933365e-02  9.67562270e-01  1.43523707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.100714057 meters
Centerline goodness : 0.997793 with order 1
Centerline is valid?  [True, True]
Translation: X:549.70, Y:41.43, Z:143.54
[[ 9.60326032e-01 -1.18715227e-01 -2.52350167e-01  5.49695490e+02]
 [ 1.19585271e-01  9.92752092e-01 -1.19434905e-02  4.14277220e+01]
 [ 2.51939030e-01 -1.87077181e-02  9.67562270e-01  1.43542260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.1607140570001 meters
Centerline goodness : 0.997657 with order 1
Centerline is valid?  [True, True]
Translation: X:549.75, Y:41.43, Z:143.56
[[ 9.59804933e-01 -1.22855315e-01 -2.52351070e-01  5.49753781e+02]
 [ 1.23870178e-01  9.92226783e-01 -1.19243649e-02  4.14321744e+01]
 [ 2.51854462e-01 -1.98137078e-02  9.67562270e-01  1.43557603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.220714057 meters
Centerline goodness : 0.997316 with order 1
Centerline is valid?  [True, True]
Translation: X:549.81, Y:41.44, Z:143.57
[[ 9.58982507e-01 -1.29117821e-01 -2.52351223e-01  5.49812632e+02]
 [ 1.30345142e-01  9.91397010e-01 -1.19211247e-02  4.14356738e+01]
 [ 2.51719478e-01 -2.14606060e-02  9.67562270e-01  1.43570264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.280714057 meters
Centerline goodness : 0.997817 with order 1
Centerline is valid?  [True, True]
Translation: X:549.87, Y:41.44, Z:143.58
[[ 9.58259286e-01 -1.34379902e-01 -2.52351309e-01  5.49871662e+02]
 [ 1.35785606e-01  9.90666543e-01 -1.19193143e-02  4.14385252e+01]
 [ 2.51597715e-01 -2.28438818e-02  9.67562270e-01  1.43583004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.340714057 meters
Centerline goodness : 0.997906 with order 1
Centerline is valid?  [True, True]
Translation: X:549.93, Y:41.44, Z:143.60
[[ 9.57806991e-01 -1.37566587e-01 -2.52351347e-01  5.49930195e+02]
 [ 1.39080290e-01  9.90209383e-01 -1.19185064e-02  4.14442655e+01]
 [ 2.51520260e-01 -2.36814699e-02  9.67562270e-01  1.43598082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.400714057 meters
Centerline goodness : 0.997534 with order 1
Centerline is valid?  [True, True]
Translation: X:549.99, Y:41.45, Z:143.62
[[ 9.57950723e-01 -1.36562035e-01 -2.52351387e-01  5.49989621e+02]
 [ 1.38041977e-01  9.90354675e-01 -1.19176584e-02  4.14497812e+01]
 [ 2.51544876e-01 -2.34185550e-02  9.67562270e-01  1.43615268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.460714057 meters
Centerline goodness : 0.997893 with order 1
Centerline is valid?  [True, True]
Translation: X:550.05, Y:41.46, Z:143.63
[[ 9.58376098e-01 -1.33542451e-01 -2.52352269e-01  5.50048664e+02]
 [ 1.34925152e-01  9.90784345e-01 -1.18989598e-02  4.14552999e+01]
 [ 2.51615694e-01 -2.26449895e-02  9.67562270e-01  1.43630070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.520714057 meters
Centerline goodness : 0.997496 with order 1
Centerline is valid?  [True, True]
Translation: X:550.11, Y:41.46, Z:143.65
[[ 9.59006062e-01 -1.28940296e-01 -2.52352477e-01  5.50107253e+02]
 [ 1.30168559e-01  9.91420529e-01 -1.18945515e-02  4.14617943e+01]
 [ 2.51721113e-01 -2.14414112e-02  9.67562270e-01  1.43645363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.580714057 meters
Centerline goodness : 0.997416 with order 1
Centerline is valid?  [True, True]
Translation: X:550.16, Y:41.47, Z:143.66
[[ 9.59539516e-01 -1.24908102e-01 -2.52352694e-01  5.50164864e+02]
 [ 1.26001311e-01  9.91958819e-01 -1.18899327e-02  4.14689932e+01]
 [ 2.51808630e-01 -2.03879101e-02  9.67562270e-01  1.43662325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.640714057 meters
Centerline goodness : 0.997173 with order 1
Centerline is valid?  [True, True]
Translation: X:550.22, Y:41.48, Z:143.68
[[ 9.59963771e-01 -1.21604429e-01 -2.52352773e-01  5.50224350e+02]
 [ 1.22586474e-01  9.92386631e-01 -1.18882638e-02  4.14751923e+01]
 [ 2.51877184e-01 -1.95227341e-02  9.67562270e-01  1.43679159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.700714057 meters
Centerline goodness : 0.996628 with order 1
Centerline is valid?  [True, True]
Translation: X:550.28, Y:41.48, Z:143.69
[[ 9.60017748e-01 -1.21175727e-01 -2.52353652e-01  5.50282787e+02]
 [ 1.22148178e-01  9.92440898e-01 -1.18695651e-02  4.14803080e+01]
 [ 2.51884389e-01 -1.94295458e-02  9.67562271e-01  1.43691903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.760714057 meters
Centerline goodness : 0.997286 with order 1
Centerline is valid?  [True, True]
Translation: X:550.34, Y:41.48, Z:143.71
[[ 9.59629530e-01 -1.24212717e-01 -2.52353652e-01  5.50340909e+02]
 [ 1.25287754e-01  9.92049440e-01 -1.18695651e-02  4.14845958e+01]
 [ 2.51821651e-01 -2.02264372e-02  9.67562271e-01  1.43707367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.820714057 meters
Centerline goodness : 0.997333 with order 1
Centerline is valid?  [True, True]
Translation: X:550.40, Y:41.49, Z:143.72
[[ 9.59114120e-01 -1.28131627e-01 -2.52353703e-01  5.50399334e+02]
 [ 1.29339365e-01  9.91529358e-01 -1.18684950e-02  4.14880678e+01]
 [ 2.51736834e-01 -2.12560266e-02  9.67562271e-01  1.43722429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.880714057 meters
Centerline goodness : 0.997547 with order 1
Centerline is valid?  [True, True]
Translation: X:550.46, Y:41.49, Z:143.74
[[ 9.58690388e-01 -1.31264302e-01 -2.52353765e-01  5.50457389e+02]
 [ 1.32578276e-01  9.91101494e-01 -1.18671748e-02  4.14911524e+01]
 [ 2.51665930e-01 -2.20796808e-02  9.67562271e-01  1.43736965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 565.940714057 meters
Centerline goodness : 0.997686 with order 1
Centerline is valid?  [True, True]
Translation: X:550.52, Y:41.49, Z:143.75
[[ 9.58444900e-01 -1.33044676e-01 -2.52353894e-01  5.50516403e+02]
 [ 1.34419566e-01  9.90853479e-01 -1.18644224e-02  4.14933387e+01]
 [ 2.51624232e-01 -2.25499057e-02  9.67562271e-01  1.43752119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.000714057 meters
Centerline goodness : 0.997174 with order 1
Centerline is valid?  [True, True]
Translation: X:550.58, Y:41.50, Z:143.77
[[ 9.58482944e-01 -1.32769908e-01 -2.52354113e-01  5.50576753e+02]
 [ 1.34136723e-01  9.90891864e-01 -1.18597622e-02  4.14963839e+01]
 [ 2.51630257e-01 -2.24825741e-02  9.67562271e-01  1.43766643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.060714057 meters
Centerline goodness : 0.997545 with order 1
Centerline is valid?  [True, True]
Translation: X:550.64, Y:41.50, Z:143.78
[[ 9.58654411e-01 -1.31524452e-01 -2.52354984e-01  5.50635174e+02]
 [ 1.32854005e-01  9.91064881e-01 -1.18412060e-02  4.14991745e+01]
 [ 2.51657571e-01 -2.21747459e-02  9.67562271e-01  1.43781751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.120714057 meters
Centerline goodness : 0.997629 with order 1
Centerline is valid?  [True, True]
Translation: X:550.69, Y:41.50, Z:143.80
[[ 9.58896662e-01 -1.29746398e-01 -2.52355037e-01  5.50694885e+02]
 [ 1.31016139e-01  9.91309530e-01 -1.18400724e-02  4.15037988e+01]
 [ 2.51698160e-01 -2.17091768e-02  9.67562271e-01  1.43799180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.180714057 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:550.75, Y:41.51, Z:143.81
[[ 9.59275756e-01 -1.26911473e-01 -2.52355902e-01  5.50753720e+02]
 [ 1.28090225e-01  9.91692061e-01 -1.18216089e-02  4.15085509e+01]
 [ 2.51759643e-01 -2.09841414e-02  9.67562271e-01  1.43814215e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.240714057 meters
Centerline goodness : 0.997782 with order 1
Centerline is valid?  [True, True]
Translation: X:550.81, Y:41.51, Z:143.83
[[ 9.59530120e-01 -1.24973760e-01 -2.52355914e-01  5.50812734e+02]
 [ 1.26087105e-01  9.91948737e-01 -1.18213526e-02  4.15140633e+01]
 [ 2.51801489e-01 -2.04758829e-02  9.67562271e-01  1.43829875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.300714057 meters
Centerline goodness : 0.997991 with order 1
Centerline is valid?  [True, True]
Translation: X:550.87, Y:41.52, Z:143.84
[[ 9.59543465e-01 -1.24870380e-01 -2.52356350e-01  5.50872761e+02]
 [ 1.25982666e-01  9.91962118e-01 -1.18120403e-02  4.15176992e+01]
 [ 2.51802914e-01 -2.04583596e-02  9.67562271e-01  1.43844677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.360714057 meters
Centerline goodness : 0.997870 with order 1
Centerline is valid?  [True, True]
Translation: X:550.93, Y:41.52, Z:143.86
[[ 9.59276857e-01 -1.26900540e-01 -2.52357218e-01  5.50931658e+02]
 [ 1.28086272e-01  9.91692907e-01 -1.17934762e-02  4.15233461e+01]
 [ 2.51757461e-01 -2.10102865e-02  9.67562271e-01  1.43859607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.420714057 meters
Centerline goodness : 0.997506 with order 1
Centerline is valid?  [True, True]
Translation: X:550.99, Y:41.53, Z:143.88
[[ 9.59000328e-01 -1.28973243e-01 -2.52357433e-01  5.50989899e+02]
 [ 1.30230229e-01  9.91413693e-01 -1.17888638e-02  4.15286251e+01]
 [ 2.51711063e-01 -2.15590420e-02  9.67562271e-01  1.43875896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.480714057 meters
Centerline goodness : 0.998053 with order 1
Centerline is valid?  [True, True]
Translation: X:551.05, Y:41.53, Z:143.89
[[ 9.58476848e-01 -1.32807198e-01 -2.52357644e-01  5.51047688e+02]
 [ 1.34194972e-01  9.90884877e-01 -1.17843452e-02  4.15332318e+01]
 [ 2.51622419e-01 -2.25701051e-02  9.67562271e-01  1.43889591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.5407140570001 meters
Centerline goodness : 0.998527 with order 1
Centerline is valid?  [True, True]
Translation: X:551.11, Y:41.54, Z:143.90
[[ 9.57937446e-01 -1.36643342e-01 -2.52357775e-01  5.51106597e+02]
 [ 1.38161579e-01  9.90339625e-01 -1.17815475e-02  4.15380952e+01]
 [ 2.51529774e-01 -2.35801632e-02  9.67562271e-01  1.43904579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.600714057 meters
Centerline goodness : 0.998740 with order 1
Centerline is valid?  [True, True]
Translation: X:551.16, Y:41.54, Z:143.92
[[ 9.57988555e-01 -1.36284502e-01 -2.52357809e-01  5.51164797e+02]
 [ 1.37790795e-01  9.90391291e-01 -1.17808117e-02  4.15427130e+01]
 [ 2.51538518e-01 -2.34867003e-02  9.67562271e-01  1.43920604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.6607140570001 meters
Centerline goodness : 0.998443 with order 1
Centerline is valid?  [True, True]
Translation: X:551.22, Y:41.55, Z:143.94
[[ 9.58692409e-01 -1.31241601e-01 -2.52357894e-01  5.51221385e+02]
 [ 1.32577839e-01  9.91102604e-01 -1.17790027e-02  4.15508132e+01]
 [ 2.51658461e-01 -2.21646238e-02  9.67562271e-01  1.43937276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.720714057 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:551.28, Y:41.56, Z:143.95
[[ 9.59556682e-01 -1.24766120e-01 -2.52357662e-01  5.51278887e+02]
 [ 1.25882217e-01  9.91975204e-01 -1.17839674e-02  4.15574186e+01]
 [ 2.51802783e-01 -2.04599573e-02  9.67562271e-01  1.43954490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.780714057 meters
Centerline goodness : 0.998860 with order 1
Centerline is valid?  [True, True]
Translation: X:551.34, Y:41.57, Z:143.97
[[ 9.60835545e-01 -1.14501682e-01 -2.52357721e-01  5.51335985e+02]
 [ 1.15271508e-01  9.93264138e-01 -1.17826886e-02  4.15653983e+01]
 [ 2.52007012e-01 -1.77684291e-02  9.67562271e-01  1.43969723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.840714057 meters
Centerline goodness : 0.998810 with order 1
Centerline is valid?  [True, True]
Translation: X:551.39, Y:41.57, Z:143.98
[[ 9.61475992e-01 -1.08993671e-01 -2.52357478e-01  5.51394216e+02]
 [ 1.09576285e-01  9.93908488e-01 -1.17879118e-02  4.15703938e+01]
 [ 2.52105047e-01 -1.63186008e-02  9.67562271e-01  1.43984927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.900714057 meters
Centerline goodness : 0.998780 with order 1
Centerline is valid?  [True, True]
Translation: X:551.45, Y:41.58, Z:144.00
[[ 9.62324088e-01 -1.01232456e-01 -2.52357563e-01  5.51452159e+02]
 [ 1.01553848e-01  9.94760225e-01 -1.17860774e-02  4.15753204e+01]
 [ 2.52228400e-01 -1.42858555e-02  9.67562271e-01  1.44000640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 566.960714057 meters
Centerline goodness : 0.999633 with order 1
Centerline is valid?  [True, True]
Translation: X:551.51, Y:41.58, Z:144.02
[[ 9.62779684e-01 -9.68032755e-02 -2.52357693e-01  5.51510644e+02]
 [ 9.69761360e-02  9.95216953e-01 -1.17833034e-02  4.15801666e+01]
 [ 2.52291316e-01 -1.31279488e-02  9.67562271e-01  1.44016836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.020714057 meters
Centerline goodness : 0.999142 with order 1
Centerline is valid?  [True, True]
Translation: X:551.57, Y:41.58, Z:144.03
[[ 9.62843651e-01 -9.61648157e-02 -2.52357746e-01  5.51569955e+02]
 [ 9.63164651e-02  9.95281025e-01 -1.17821603e-02  4.15835464e+01]
 [ 2.52299906e-01 -1.29618278e-02  9.67562271e-01  1.44031893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.080714057 meters
Centerline goodness : 0.999339 with order 1
Centerline is valid?  [True, True]
Translation: X:551.63, Y:41.58, Z:144.05
[[ 9.62543245e-01 -9.91254380e-02 -2.52358178e-01  5.51629645e+02]
 [ 9.93792624e-02  9.94979980e-01 -1.17729043e-02  4.15848997e+01]
 [ 2.52258329e-01 -1.37472400e-02  9.67562271e-01  1.44047429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.140714057 meters
Centerline goodness : 0.998929 with order 1
Centerline is valid?  [True, True]
Translation: X:551.69, Y:41.58, Z:144.06
[[ 9.61545691e-01 -1.08374418e-01 -2.52358613e-01  5.51688096e+02]
 [ 1.08942509e-01  9.93978445e-01 -1.17635606e-02  4.15840818e+01]
 [ 2.52113891e-01 -1.61813794e-02  9.67562271e-01  1.44061548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.200714057 meters
Centerline goodness : 0.998931 with order 1
Centerline is valid?  [True, True]
Translation: X:551.75, Y:41.59, Z:144.08
[[ 9.60964934e-01 -1.13408522e-01 -2.52358679e-01  5.51746796e+02]
 [ 1.14146819e-01  9.93394260e-01 -1.17621652e-02  4.15851845e+01]
 [ 2.52025592e-01 -1.75029122e-02  9.67562271e-01  1.44078858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.260714057 meters
Centerline goodness : 0.998722 with order 1
Centerline is valid?  [True, True]
Translation: X:551.80, Y:41.59, Z:144.09
[[ 9.59932032e-01 -1.21841700e-01 -2.52359058e-01  5.51804286e+02]
 [ 1.22866835e-01  9.92353558e-01 -1.17540240e-02  4.15855632e+01]
 [ 2.51861539e-01 -1.97234945e-02  9.67562271e-01  1.44094359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.320714057 meters
Centerline goodness : 0.999085 with order 1
Centerline is valid?  [True, True]
Translation: X:551.86, Y:41.59, Z:144.11
[[ 9.58969682e-01 -1.29197024e-01 -2.52359422e-01  5.51863574e+02]
 [ 1.30472718e-01  9.91382316e-01 -1.17461979e-02  4.15856557e+01]
 [ 2.51702242e-01 -2.16617721e-02  9.67562271e-01  1.44107864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.380714057 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:551.92, Y:41.59, Z:144.12
[[ 9.58489948e-01 -1.32709324e-01 -2.52359376e-01  5.51923131e+02]
 [ 1.34103493e-01  9.90897702e-01 -1.17471903e-02  4.15868726e+01]
 [ 2.51621287e-01 -2.25827100e-02  9.67562271e-01  1.44121759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.440714057 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:551.98, Y:41.59, Z:144.14
[[ 9.58532130e-01 -1.32403911e-01 -2.52359584e-01  5.51983411e+02]
 [ 1.33788923e-01  9.90940277e-01 -1.17427174e-02  4.15907484e+01]
 [ 2.51628058e-01 -2.25071450e-02  9.67562271e-01  1.44138035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.500714057 meters
Centerline goodness : 0.998873 with order 1
Centerline is valid?  [True, True]
Translation: X:552.04, Y:41.59, Z:144.15
[[ 9.58970088e-01 -1.29192085e-01 -2.52360407e-01  5.52041290e+02]
 [ 1.30473148e-01  9.91382510e-01 -1.17250051e-02  4.15948376e+01]
 [ 2.51700472e-01 -2.16823276e-02  9.67562272e-01  1.44154461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.560714057 meters
Centerline goodness : 0.998530 with order 1
Centerline is valid?  [True, True]
Translation: X:552.10, Y:41.60, Z:144.17
[[ 9.59453582e-01 -1.25550894e-01 -2.52360452e-01  5.52099066e+02]
 [ 1.26709163e-01  9.91870624e-01 -1.17240371e-02  4.15998427e+01]
 [ 2.51780882e-01 -2.07277123e-02  9.67562272e-01  1.44172731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.620714057 meters
Centerline goodness : 0.998166 with order 1
Centerline is valid?  [True, True]
Translation: X:552.16, Y:41.61, Z:144.19
[[ 9.59785854e-01 -1.22985058e-01 -2.52360438e-01  5.52158009e+02]
 [ 1.24056569e-01  9.92205880e-01 -1.17243291e-02  4.16054445e+01]
 [ 2.51835428e-01 -2.00541250e-02  9.67562272e-01  1.44188130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.680714057 meters
Centerline goodness : 0.998618 with order 1
Centerline is valid?  [True, True]
Translation: X:552.22, Y:41.61, Z:144.20
[[ 9.59962338e-01 -1.21598509e-01 -2.52361077e-01  5.52216153e+02]
 [ 1.22626786e-01  9.92383764e-01 -1.17105603e-02  4.16100776e+01]
 [ 2.51863022e-01 -1.97045309e-02  9.67562272e-01  1.44203859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.740714057 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:552.28, Y:41.61, Z:144.22
[[ 9.60049059e-01 -1.20911911e-01 -2.52361077e-01  5.52276354e+02]
 [ 1.21917000e-01  9.92471213e-01 -1.17105603e-02  4.16143983e+01]
 [ 2.51877051e-01 -1.95243931e-02  9.67562272e-01  1.44217956e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.800714057 meters
Centerline goodness : 0.998760 with order 1
Centerline is valid?  [True, True]
Translation: X:552.33, Y:41.62, Z:144.23
[[ 9.60326330e-01 -1.18687802e-01 -2.52361933e-01  5.52333851e+02]
 [ 1.19622613e-01  9.92750586e-01 -1.16920963e-02  4.16189615e+01]
 [ 2.51920166e-01 -1.89599658e-02  9.67562272e-01  1.44232934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.860714057 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:552.39, Y:41.62, Z:144.25
[[ 9.60848570e-01 -1.14383537e-01 -2.52361709e-01  5.52392591e+02]
 [ 1.15171791e-01  9.93276719e-01 -1.16969171e-02  4.16247187e+01]
 [ 2.52002945e-01 -1.78259839e-02  9.67562272e-01  1.44248935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.920714057 meters
Centerline goodness : 0.999680 with order 1
Centerline is valid?  [True, True]
Translation: X:552.45, Y:41.63, Z:144.26
[[ 9.61385225e-01 -1.09781239e-01 -2.52361901e-01  5.52449573e+02]
 [ 1.10415287e-01  9.93816756e-01 -1.16927693e-02  4.16294743e+01]
 [ 2.52085133e-01 -1.66233562e-02  9.67562272e-01  1.44263855e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 567.980714057 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:552.51, Y:41.64, Z:144.28
[[ 9.61759572e-01 -1.06452325e-01 -2.52361702e-01  5.52507907e+02]
 [ 1.06972966e-01  9.94193121e-01 -1.16970814e-02  4.16350071e+01]
 [ 2.52141449e-01 -1.57460998e-02  9.67562272e-01  1.44279185e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.0407140570001 meters
Centerline goodness : 0.999555 with order 1
Centerline is valid?  [True, True]
Translation: X:552.57, Y:41.64, Z:144.29
[[ 9.62131571e-01 -1.03033954e-01 -2.52362525e-01  5.52566212e+02]
 [ 1.03443984e-01  9.94566708e-01 -1.16792987e-02  4.16384785e+01]
 [ 2.52194730e-01 -1.48683630e-02  9.67562272e-01  1.44294630e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.100714057 meters
Centerline goodness : 0.999678 with order 1
Centerline is valid?  [True, True]
Translation: X:552.62, Y:41.64, Z:144.31
[[ 9.62242399e-01 -1.01993627e-01 -2.52362569e-01  5.52624456e+02]
 [ 1.02368836e-01  9.94677957e-01 -1.16783483e-02  4.16412267e+01]
 [ 2.52210601e-01 -1.45966606e-02  9.67562272e-01  1.44310575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.1607140570001 meters
Centerline goodness : 0.999404 with order 1
Centerline is valid?  [True, True]
Translation: X:552.68, Y:41.64, Z:144.33
[[ 9.62368453e-01 -1.00797292e-01 -2.52362569e-01  5.52684679e+02]
 [ 1.01132177e-01  9.94804453e-01 -1.16783483e-02  4.16421525e+01]
 [ 2.52228553e-01 -1.42831019e-02  9.67562272e-01  1.44327230e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.220714057 meters
Centerline goodness : 0.999555 with order 1
Centerline is valid?  [True, True]
Translation: X:552.74, Y:41.64, Z:144.34
[[ 9.62308132e-01 -1.01369419e-01 -2.52363428e-01  5.52743552e+02]
 [ 1.01728452e-01  9.94743873e-01 -1.16597430e-02  4.16436228e+01]
 [ 2.52218915e-01 -1.44522753e-02  9.67562272e-01  1.44341591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.280714057 meters
Centerline goodness : 0.999457 with order 1
Centerline is valid?  [True, True]
Translation: X:552.80, Y:41.64, Z:144.36
[[ 9.62174239e-01 -1.02632001e-01 -2.52363640e-01  5.52802306e+02]
 [ 1.03034789e-01  9.94609466e-01 -1.16551657e-02  4.16445292e+01]
 [ 2.52199458e-01 -1.47879341e-02  9.67562272e-01  1.44357058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.340714057 meters
Centerline goodness : 0.999409 with order 1
Centerline is valid?  [True, True]
Translation: X:552.86, Y:41.64, Z:144.37
[[ 9.62161801e-01 -1.02748541e-01 -2.52363640e-01  5.52863479e+02]
 [ 1.03155258e-01  9.94596979e-01 -1.16551657e-02  4.16446762e+01]
 [ 2.52197665e-01 -1.48184812e-02  9.67562272e-01  1.44370212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.400714057 meters
Centerline goodness : 0.999313 with order 1
Centerline is valid?  [True, True]
Translation: X:552.92, Y:41.64, Z:144.38
[[ 9.62193924e-01 -1.02445153e-01 -2.52364506e-01  5.52924780e+02]
 [ 1.02846552e-01  9.94629168e-01 -1.16363811e-02  4.16449219e+01]
 [ 2.52201189e-01 -1.47583641e-02  9.67562272e-01  1.44382724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.460714057 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:552.98, Y:41.65, Z:144.40
[[ 9.62248380e-01 -1.01930248e-01 -2.52365371e-01  5.52984370e+02]
 [ 1.02319200e-01  9.94683775e-01 -1.16175965e-02  4.16471994e+01]
 [ 2.52207924e-01 -1.46428095e-02  9.67562273e-01  1.44396957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.520714057 meters
Centerline goodness : 0.999291 with order 1
Centerline is valid?  [True, True]
Translation: X:553.04, Y:41.65, Z:144.41
[[ 9.61744463e-01 -1.06579046e-01 -2.52365796e-01  5.53043076e+02]
 [ 1.07127150e-01  9.94177560e-01 -1.16083575e-02  4.16473573e+01]
 [ 2.52133618e-01 -1.58709548e-02  9.67562273e-01  1.44413701e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.580714057 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:553.10, Y:41.65, Z:144.43
[[ 9.61569473e-01 -1.08145290e-01 -2.52366292e-01  5.53101773e+02]
 [ 1.08749042e-01  9.94001581e-01 -1.15975481e-02  4.16497579e+01]
 [ 2.52106714e-01 -1.62927444e-02  9.67562273e-01  1.44429712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.640714057 meters
Centerline goodness : 0.999001 with order 1
Centerline is valid?  [True, True]
Translation: X:553.16, Y:41.65, Z:144.45
[[ 9.61192446e-01 -1.11445827e-01 -2.52366617e-01  5.53160215e+02]
 [ 1.12162769e-01  9.93622249e-01 -1.15904699e-02  4.16513215e+01]
 [ 2.52048796e-01 -1.71654664e-02  9.67562273e-01  1.44445404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.700714057 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:553.22, Y:41.65, Z:144.46
[[ 9.61006137e-01 -1.13041036e-01 -2.52366656e-01  5.53219576e+02]
 [ 1.13812021e-01  9.93434701e-01 -1.15896324e-02  4.16519936e+01]
 [ 2.52019897e-01 -1.75846514e-02  9.67562273e-01  1.44459399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.760714057 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:553.28, Y:41.65, Z:144.47
[[ 9.61083456e-01 -1.12381287e-01 -2.52366872e-01  5.53278052e+02]
 [ 1.13131239e-01  9.93512512e-01 -1.15849314e-02  4.16534327e+01]
 [ 2.52031574e-01 -1.74164909e-02  9.67562273e-01  1.44471653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.820714057 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:553.34, Y:41.66, Z:144.49
[[ 9.61509565e-01 -1.08675377e-01 -2.52366834e-01  5.53335866e+02]
 [ 1.09300094e-01  9.93941276e-01 -1.15857434e-02  4.16577832e+01]
 [ 2.52096899e-01 -1.64439156e-02  9.67562273e-01  1.44487067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.880714057 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:553.39, Y:41.66, Z:144.50
[[ 9.62288856e-01 -1.01544180e-01 -2.52366671e-01  5.53394002e+02]
 [ 1.01927517e-01  9.94724318e-01 -1.15892943e-02  4.16634460e+01]
 [ 2.52212091e-01 -1.45708594e-02  9.67562273e-01  1.44504043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 568.940714057 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:553.45, Y:41.67, Z:144.52
[[ 9.62913172e-01 -9.54420853e-02 -2.52366859e-01  5.53450784e+02]
 [ 9.56208722e-02  9.95350407e-01 -1.15852022e-02  4.16684239e+01]
 [ 2.52299172e-01 -1.29759954e-02  9.67562273e-01  1.44519753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.000714057 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:553.51, Y:41.67, Z:144.54
[[ 9.63103101e-01 -9.35067380e-02 -2.52366613e-01  5.53506850e+02]
 [ 9.36189330e-02  9.95540634e-01 -1.15905688e-02  4.16724445e+01]
 [ 2.52325014e-01 -1.24633803e-02  9.67562273e-01  1.44535201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.060714057 meters
Centerline goodness : 0.999410 with order 1
Centerline is valid?  [True, True]
Translation: X:553.56, Y:41.68, Z:144.55
[[ 9.62682743e-01 -9.77479553e-02 -2.52363377e-01  5.53563994e+02]
 [ 9.79847139e-02  9.95119604e-01 -1.16606202e-02  4.16753216e+01]
 [ 2.52271545e-01 -1.35022755e-02  9.67562275e-01  1.44548456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.120714057 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:553.62, Y:41.68, Z:144.56
[[ 9.62175121e-01 -1.02631285e-01 -2.52360566e-01  5.53622383e+02]
 [ 1.03016803e-01  9.94610553e-01 -1.17211423e-02  4.16770127e+01]
 [ 2.52203438e-01 -1.47195873e-02  9.67562277e-01  1.44563011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.180714057 meters
Centerline goodness : 0.999145 with order 1
Centerline is valid?  [True, True]
Translation: X:553.68, Y:41.68, Z:144.58
[[ 9.61078727e-01 -1.12436299e-01 -2.52360377e-01  5.53681063e+02]
 [ 1.13151443e-01  9.93508566e-01 -1.17252202e-02  4.16782398e+01]
 [ 2.52040536e-01 -1.72860812e-02  9.67562277e-01  1.44577116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.240714057 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:553.74, Y:41.68, Z:144.59
[[ 9.59964494e-01 -1.21582831e-01 -2.52360429e-01  5.53739346e+02]
 [ 1.22607040e-01  9.92386043e-01 -1.17240990e-02  4.16793629e+01]
 [ 2.51864417e-01 -1.96864466e-02  9.67562277e-01  1.44590807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.300714057 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:553.80, Y:41.68, Z:144.61
[[ 9.59336510e-01 -1.26442651e-01 -2.52360290e-01  5.53798680e+02]
 [ 1.27630252e-01  9.91752486e-01 -1.17270948e-02  4.16823436e+01]
 [ 2.51761750e-01 -2.09585771e-02  9.67562277e-01  1.44605386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.360714057 meters
Centerline goodness : 0.999295 with order 1
Centerline is valid?  [True, True]
Translation: X:553.86, Y:41.69, Z:144.62
[[ 9.59495933e-01 -1.25226399e-01 -2.52360663e-01  5.53857571e+02]
 [ 1.26375005e-01  9.91913314e-01 -1.17190563e-02  4.16865370e+01]
 [ 2.51787436e-01 -2.06476933e-02  9.67562277e-01  1.44621158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.420714057 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:553.92, Y:41.69, Z:144.64
[[ 9.60306446e-01 -1.18850365e-01 -2.52361091e-01  5.53915332e+02]
 [ 1.19786032e-01  9.92730672e-01 -1.17098242e-02  4.16916457e+01]
 [ 2.51918312e-01 -1.89843140e-02  9.67562277e-01  1.44639569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.480714057 meters
Centerline goodness : 0.998754 with order 1
Centerline is valid?  [True, True]
Translation: X:553.97, Y:41.70, Z:144.66
[[ 9.60864670e-01 -1.14249347e-01 -2.52361193e-01  5.53973900e+02]
 [ 1.15030275e-01  9.93292992e-01 -1.17076214e-02  4.16960352e+01]
 [ 2.52006193e-01 -1.77797376e-02  9.67562277e-01  1.44655945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.5407140570001 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:554.03, Y:41.70, Z:144.67
[[ 9.61557292e-01 -1.08265443e-01 -2.52361186e-01  5.54031729e+02]
 [ 1.08844438e-01  9.93989847e-01 -1.17077743e-02  4.17012989e+01]
 [ 2.52112004e-01 -1.62104157e-02  9.67562277e-01  1.44669862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.600714057 meters
Centerline goodness : 0.998772 with order 1
Centerline is valid?  [True, True]
Translation: X:554.09, Y:41.70, Z:144.68
[[ 9.61739881e-01 -1.06631820e-01 -2.52360963e-01  5.54091062e+02]
 [ 1.07154459e-01  9.94173394e-01 -1.17125948e-02  4.17042564e+01]
 [ 2.52139490e-01 -1.57771330e-02  9.67562277e-01  1.44682819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.6607140570001 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:554.15, Y:41.71, Z:144.70
[[ 9.61750450e-01 -1.06535928e-01 -2.52361184e-01  5.54151955e+02]
 [ 1.07056581e-01  9.94183995e-01 -1.17078203e-02  4.17060179e+01]
 [ 2.52140754e-01 -1.57569242e-02  9.67562277e-01  1.44697423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.720714057 meters
Centerline goodness : 0.999020 with order 1
Centerline is valid?  [True, True]
Translation: X:554.21, Y:41.71, Z:144.71
[[ 9.61684631e-01 -1.07126399e-01 -2.52362051e-01  5.54210296e+02]
 [ 1.07671857e-01  9.94117768e-01 -1.16891032e-02  4.17093520e+01]
 [ 2.52129810e-01 -1.59310599e-02  9.67562277e-01  1.44714317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.780714057 meters
Centerline goodness : 0.999070 with order 1
Centerline is valid?  [True, True]
Translation: X:554.27, Y:41.71, Z:144.73
[[ 9.61660812e-01 -1.07339510e-01 -2.52362266e-01  5.54270072e+02]
 [ 1.07893367e-01  9.94093806e-01 -1.16844657e-02  4.17110328e+01]
 [ 2.52125970e-01 -1.59917219e-02  9.67562277e-01  1.44730431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.840714057 meters
Centerline goodness : 0.998584 with order 1
Centerline is valid?  [True, True]
Translation: X:554.33, Y:41.71, Z:144.75
[[ 9.61429862e-01 -1.09386787e-01 -2.52363133e-01  5.54329662e+02]
 [ 1.10014604e-01  9.93861509e-01 -1.16656970e-02  4.17134585e+01]
 [ 2.52090078e-01 -1.65478806e-02  9.67562277e-01  1.44745429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.900714057 meters
Centerline goodness : 0.999004 with order 1
Centerline is valid?  [True, True]
Translation: X:554.39, Y:41.72, Z:144.76
[[ 9.60801195e-01 -1.14776720e-01 -2.52363563e-01  5.54387170e+02]
 [ 1.15588830e-01  9.93228750e-01 -1.16564055e-02  4.17150126e+01]
 [ 2.51992630e-01 -1.79709207e-02  9.67562277e-01  1.44759042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 569.960714057 meters
Centerline goodness : 0.999172 with order 1
Centerline is valid?  [True, True]
Translation: X:554.45, Y:41.72, Z:144.77
[[ 9.60524650e-01 -1.17068855e-01 -2.52363390e-01  5.54445625e+02]
 [ 1.17957361e-01  9.92950201e-01 -1.16601340e-02  4.17172380e+01]
 [ 2.51949318e-01 -1.85682733e-02  9.67562277e-01  1.44774953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.020714057 meters
Centerline goodness : 0.999200 with order 1
Centerline is valid?  [True, True]
Translation: X:554.50, Y:41.72, Z:144.79
[[ 9.60136304e-01 -1.20212297e-01 -2.52363390e-01  5.54503944e+02]
 [ 1.21206936e-01  9.92558774e-01 -1.16601340e-02  4.17183587e+01]
 [ 2.51887189e-01 -1.93928752e-02  9.67562277e-01  1.44792520e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.080714057 meters
Centerline goodness : 0.998933 with order 1
Centerline is valid?  [True, True]
Translation: X:554.56, Y:41.72, Z:144.81
[[ 9.59864817e-01 -1.22361081e-01 -2.52363425e-01  5.54562592e+02]
 [ 1.23428486e-01  9.92284973e-01 -1.16593796e-02  4.17205338e+01]
 [ 2.51843089e-01 -1.99574072e-02  9.67562277e-01  1.44810459e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.140714057 meters
Centerline goodness : 0.998909 with order 1
Centerline is valid?  [True, True]
Translation: X:554.62, Y:41.72, Z:144.83
[[ 9.59777360e-01 -1.23044330e-01 -2.52363849e-01  5.54623044e+02]
 [ 1.24137209e-01  9.92196667e-01 -1.16502075e-02  4.17228969e+01]
 [ 2.51828061e-01 -2.01461385e-02  9.67562277e-01  1.44826529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.200714057 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:554.68, Y:41.72, Z:144.84
[[ 9.59846701e-01 -1.22500502e-01 -2.52364691e-01  5.54683217e+02]
 [ 1.23579789e-01  9.92266463e-01 -1.16319239e-02  4.17241915e+01]
 [ 2.51837936e-01 -2.00223116e-02  9.67562278e-01  1.44839482e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.260714057 meters
Centerline goodness : 0.999105 with order 1
Centerline is valid?  [True, True]
Translation: X:554.74, Y:41.73, Z:144.85
[[ 9.60121826e-01 -1.20324275e-01 -2.52365107e-01  5.54742862e+02]
 [ 1.21332424e-01  9.92543879e-01 -1.16228981e-02  4.17260101e+01]
 [ 2.51881959e-01 -1.94606719e-02  9.67562278e-01  1.44851870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.320714057 meters
Centerline goodness : 0.998859 with order 1
Centerline is valid?  [True, True]
Translation: X:554.80, Y:41.73, Z:144.87
[[ 9.60612179e-01 -1.16343841e-01 -2.52365513e-01  5.54801933e+02]
 [ 1.17219910e-01  9.93038069e-01 -1.16140691e-02  4.17291191e+01]
 [ 2.51959788e-01 -1.84256464e-02  9.67562278e-01  1.44866547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.380714057 meters
Centerline goodness : 0.998859 with order 1
Centerline is valid?  [True, True]
Translation: X:554.86, Y:41.73, Z:144.88
[[ 9.61238717e-01 -1.11048081e-01 -2.52365714e-01  5.54860729e+02]
 [ 1.11746574e-01  9.93668918e-01 -1.16097130e-02  4.17329558e+01]
 [ 2.52057202e-01 -1.70412982e-02  9.67562278e-01  1.44882514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.440714057 meters
Centerline goodness : 0.998929 with order 1
Centerline is valid?  [True, True]
Translation: X:554.92, Y:41.74, Z:144.90
[[ 9.61903931e-01 -1.05130109e-01 -2.52365782e-01  5.54917717e+02]
 [ 1.05629385e-01  9.94337811e-01 -1.16082344e-02  4.17361811e+01]
 [ 2.52157214e-01 -1.54912361e-02  9.67562278e-01  1.44899443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.500714057 meters
Centerline goodness : 0.999026 with order 1
Centerline is valid?  [True, True]
Translation: X:554.98, Y:41.74, Z:144.92
[[ 9.62087726e-01 -1.03435344e-01 -2.52365483e-01  5.54976368e+02]
 [ 1.03875782e-01  9.94522458e-01 -1.16147349e-02  4.17390599e+01]
 [ 2.52184514e-01 -1.50402679e-02  9.67562278e-01  1.44916256e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.560714057 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:555.03, Y:41.74, Z:144.93
[[ 9.62422745e-01 -1.00269181e-01 -2.52365908e-01  5.55034791e+02]
 [ 1.00605312e-01  9.94858726e-01 -1.16054864e-02  4.17424792e+01]
 [ 2.52232098e-01 -1.42199667e-02  9.67562278e-01  1.44933619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.620714057 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:555.09, Y:41.74, Z:144.95
[[ 9.62538606e-01 -9.91502760e-02 -2.52366114e-01  5.55094046e+02]
 [ 9.94498682e-02  9.94974945e-01 -1.16010142e-02  4.17449684e+01]
 [ 2.52248204e-01 -1.39313527e-02  9.67562278e-01  1.44949891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.680714057 meters
Centerline goodness : 0.999026 with order 1
Centerline is valid?  [True, True]
Translation: X:555.15, Y:41.75, Z:144.96
[[ 9.62152949e-01 -1.02824281e-01 -2.52366538e-01  5.55153363e+02]
 [ 1.03250117e-01  9.94587876e-01 -1.15917829e-02  4.17456960e+01]
 [ 2.52192615e-01 -1.49038065e-02  9.67562278e-01  1.44964101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.740714057 meters
Centerline goodness : 0.998570 with order 1
Centerline is valid?  [True, True]
Translation: X:555.21, Y:41.74, Z:144.98
[[ 9.61384515e-01 -1.09776566e-01 -2.52366638e-01  5.55211505e+02]
 [ 1.10437420e-01  9.93815505e-01 -1.15895980e-02  4.17448003e+01]
 [ 2.52078144e-01 -1.67286604e-02  9.67562278e-01  1.44977430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.800714057 meters
Centerline goodness : 0.999061 with order 1
Centerline is valid?  [True, True]
Translation: X:555.27, Y:41.74, Z:144.99
[[ 9.60747342e-01 -1.15220282e-01 -2.52366461e-01  5.55270066e+02]
 [ 1.16063815e-01  9.93174095e-01 -1.15934493e-02  4.17449632e+01]
 [ 2.51979632e-01 -1.81522385e-02  9.67562278e-01  1.44992165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.860714057 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:555.33, Y:41.75, Z:145.01
[[ 9.60498162e-01 -1.17279417e-01 -2.52366439e-01  5.55326833e+02]
 [ 1.18192333e-01  9.92923035e-01 -1.15939181e-02  4.17472367e+01]
 [ 2.51940179e-01 -1.86918413e-02  9.67562278e-01  1.45007175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.920714057 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:555.39, Y:41.75, Z:145.02
[[ 9.60556307e-01 -1.16803514e-01 -2.52365846e-01  5.55385711e+02]
 [ 1.17696994e-01  9.92981722e-01 -1.16068219e-02  4.17498879e+01]
 [ 2.51950390e-01 -1.85536954e-02  9.67562278e-01  1.45023838e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 570.980714057 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:555.45, Y:41.75, Z:145.04
[[ 9.60643904e-01 -1.16079994e-01 -2.52366252e-01  5.55445461e+02]
 [ 1.16951357e-01  9.93069920e-01 -1.15979963e-02  4.17521811e+01]
 [ 2.51963629e-01 -1.83730310e-02  9.67562278e-01  1.45041656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.0407140570001 meters
Centerline goodness : 0.998528 with order 1
Centerline is valid?  [True, True]
Translation: X:555.50, Y:41.76, Z:145.06
[[ 9.60541068e-01 -1.16926057e-01 -2.52367101e-01  5.55504250e+02]
 [ 1.17830814e-01  9.92966170e-01 -1.15794915e-02  4.17551260e+01]
 [ 2.51945938e-01 -1.86140437e-02  9.67562278e-01  1.45056207e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.100714057 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:555.56, Y:41.76, Z:145.07
[[ 9.60144235e-01 -1.20140266e-01 -2.52367520e-01  5.55562824e+02]
 [ 1.21155930e-01  9.92566052e-01 -1.15703549e-02  4.17567939e+01]
 [ 2.51881498e-01 -1.94666120e-02  9.67562278e-01  1.45069187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.1607140570001 meters
Centerline goodness : 0.999111 with order 1
Centerline is valid?  [True, True]
Translation: X:555.62, Y:41.76, Z:145.08
[[ 9.59894911e-01 -1.22116334e-01 -2.52367512e-01  5.55622185e+02]
 [ 1.23198687e-01  9.92314570e-01 -1.15705258e-02  4.17590412e+01]
 [ 2.51840909e-01 -1.99848573e-02  9.67562278e-01  1.45084019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.220714057 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:555.68, Y:41.76, Z:145.10
[[ 9.59437383e-01 -1.25659636e-01 -2.52367915e-01  5.55680106e+02]
 [ 1.26863979e-01  9.91852740e-01 -1.15617343e-02  4.17620361e+01]
 [ 2.51764651e-01 -2.09236377e-02  9.67562278e-01  1.45101934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.280714057 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:555.74, Y:41.76, Z:145.12
[[ 9.59234492e-01 -1.27198291e-01 -2.52368349e-01  5.55738920e+02]
 [ 1.28457102e-01  9.91647780e-01 -1.15522387e-02  4.17639835e+01]
 [ 2.51729938e-01 -2.13372010e-02  9.67562278e-01  1.45117899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.340714057 meters
Centerline goodness : 0.998685 with order 1
Centerline is valid?  [True, True]
Translation: X:555.80, Y:41.77, Z:145.13
[[ 9.59245999e-01 -1.27110256e-01 -2.52368967e-01  5.55798338e+02]
 [ 1.28369624e-01  9.91659265e-01 -1.15387184e-02  4.17657630e+01]
 [ 2.51730714e-01 -2.13280401e-02  9.67562278e-01  1.45134907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.400714057 meters
Centerline goodness : 0.999018 with order 1
Centerline is valid?  [True, True]
Translation: X:555.86, Y:41.77, Z:145.15
[[ 9.59468066e-01 -1.25421427e-01 -2.52369762e-01  5.55857720e+02]
 [ 1.26628279e-01  9.91883329e-01 -1.15213196e-02  4.17677140e+01]
 [ 2.51766380e-01 -2.09028104e-02  9.67562278e-01  1.45151598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.460714057 meters
Centerline goodness : 0.998515 with order 1
Centerline is valid?  [True, True]
Translation: X:555.92, Y:41.77, Z:145.17
[[ 9.59772494e-01 -1.23068852e-01 -2.52370399e-01  5.55915191e+02]
 [ 1.24199881e-01  9.92190491e-01 -1.15073511e-02  4.17707067e+01]
 [ 2.51815706e-01 -2.02999345e-02  9.67562278e-01  1.45165929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.520714057 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:555.97, Y:41.77, Z:145.18
[[ 9.60248933e-01 -1.19294852e-01 -2.52370213e-01  5.55973293e+02]
 [ 1.20297368e-01  9.92671159e-01 -1.15114224e-02  4.17732532e+01]
 [ 2.51893885e-01 -1.93056414e-02  9.67562278e-01  1.45182907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.580714057 meters
Centerline goodness : 0.998802 with order 1
Centerline is valid?  [True, True]
Translation: X:556.03, Y:41.78, Z:145.20
[[ 9.60759665e-01 -1.15108810e-01 -2.52370417e-01  5.56031715e+02]
 [ 1.15971182e-01  9.93185922e-01 -1.15069549e-02  4.17759233e+01]
 [ 2.51975297e-01 -1.82122775e-02  9.67562279e-01  1.45198968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.640714057 meters
Centerline goodness : 0.998828 with order 1
Centerline is valid?  [True, True]
Translation: X:556.09, Y:41.78, Z:145.21
[[ 9.60899389e-01 -1.13936058e-01 -2.52370640e-01  5.56091787e+02]
 [ 1.14760130e-01  9.93326641e-01 -1.15020645e-02  4.17772033e+01]
 [ 2.51996980e-01 -1.79097606e-02  9.67562279e-01  1.45214598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.700714057 meters
Centerline goodness : 0.999403 with order 1
Centerline is valid?  [True, True]
Translation: X:556.15, Y:41.78, Z:145.23
[[ 9.60817529e-01 -1.14622442e-01 -2.52371497e-01  5.56150681e+02]
 [ 1.15474600e-01  9.93244055e-01 -1.14832276e-02  4.17786135e+01]
 [ 2.51982724e-01 -1.81092112e-02  9.67562279e-01  1.45228389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.760714057 meters
Centerline goodness : 0.999048 with order 1
Centerline is valid?  [True, True]
Translation: X:556.21, Y:41.78, Z:145.24
[[ 9.60560246e-01 -1.16758447e-01 -2.52371707e-01  5.56209662e+02]
 [ 1.17683906e-01  9.92984763e-01 -1.14786130e-02  4.17780512e+01]
 [ 2.51941484e-01 -1.86741888e-02  9.67562279e-01  1.45244391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.820714057 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:556.27, Y:41.78, Z:145.26
[[ 9.60208545e-01 -1.19615903e-01 -2.52371920e-01  5.56269841e+02]
 [ 1.20639057e-01  9.92630126e-01 -1.14739204e-02  4.17761269e+01]
 [ 2.51884434e-01 -1.94285540e-02  9.67562279e-01  1.45255413e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.880714057 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:556.33, Y:41.78, Z:145.27
[[ 9.59926870e-01 -1.21854420e-01 -2.52372552e-01  5.56328681e+02]
 [ 1.22956802e-01  9.92345854e-01 -1.14600028e-02  4.17752354e+01]
 [ 2.51837308e-01 -2.00301572e-02  9.67562279e-01  1.45273332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 571.940714057 meters
Centerline goodness : 0.998869 with order 1
Centerline is valid?  [True, True]
Translation: X:556.39, Y:41.78, Z:145.29
[[ 9.59646758e-01 -1.24040253e-01 -2.52372969e-01  5.56387032e+02]
 [ 1.25218862e-01  9.92063060e-01 -1.14508219e-02  4.17755842e+01]
 [ 2.51790262e-01 -2.06131119e-02  9.67562279e-01  1.45289921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.000714057 meters
Centerline goodness : 0.998478 with order 1
Centerline is valid?  [True, True]
Translation: X:556.45, Y:41.78, Z:145.31
[[ 9.59463587e-01 -1.25448965e-01 -2.52373104e-01  5.56445288e+02]
 [ 1.26675941e-01  9.91878094e-01 -1.14478416e-02  4.17751617e+01]
 [ 2.51759473e-01 -2.09858132e-02  9.67562279e-01  1.45305769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.060714057 meters
Centerline goodness : 0.998106 with order 1
Centerline is valid?  [True, True]
Translation: X:556.50, Y:41.77, Z:145.32
[[ 9.59386091e-01 -1.26039837e-01 -2.52373310e-01  5.56504734e+02]
 [ 1.27287964e-01  9.91799791e-01 -1.14432965e-02  4.17747566e+01]
 [ 2.51746107e-01 -2.11455452e-02  9.67562279e-01  1.45322959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.120714057 meters
Centerline goodness : 0.997688 with order 1
Centerline is valid?  [True, True]
Translation: X:556.56, Y:41.78, Z:145.34
[[ 9.59280296e-01 -1.26841049e-01 -2.52374053e-01  5.56563699e+02]
 [ 1.28120533e-01  9.91692773e-01 -1.14268823e-02  4.17753372e+01]
 [ 2.51726922e-01 -2.13727151e-02  9.67562279e-01  1.45337975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.180714057 meters
Centerline goodness : 0.997503 with order 1
Centerline is valid?  [True, True]
Translation: X:556.62, Y:41.78, Z:145.35
[[ 9.59401472e-01 -1.25921144e-01 -2.52374090e-01  5.56622499e+02]
 [ 1.27169761e-01  9.91815153e-01 -1.14260639e-02  4.17750090e+01]
 [ 2.51747230e-01 -2.11321702e-02  9.67562279e-01  1.45351135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.240714057 meters
Centerline goodness : 0.997671 with order 1
Centerline is valid?  [True, True]
Translation: X:556.68, Y:41.78, Z:145.36
[[ 9.59550108e-01 -1.24783037e-01 -2.52374295e-01  5.56681295e+02]
 [ 1.25994389e-01  9.91965202e-01 -1.14215313e-02  4.17763872e+01]
 [ 2.51771732e-01 -2.08382136e-02  9.67562279e-01  1.45364977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.300714057 meters
Centerline goodness : 0.997555 with order 1
Centerline is valid?  [True, True]
Translation: X:556.74, Y:41.78, Z:145.38
[[ 9.59705707e-01 -1.23580214e-01 -2.52374496e-01  5.56740775e+02]
 [ 1.24752096e-01  9.92122253e-01 -1.14170908e-02  4.17776203e+01]
 [ 2.51797280e-01 -2.05272001e-02  9.67562279e-01  1.45382055e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.360714057 meters
Centerline goodness : 0.998092 with order 1
Centerline is valid?  [True, True]
Translation: X:556.80, Y:41.78, Z:145.40
[[ 9.59935237e-01 -1.21783171e-01 -2.52375118e-01  5.56799414e+02]
 [ 1.22897955e-01  9.92353796e-01 -1.14033203e-02  4.17796977e+01]
 [ 2.51834139e-01 -2.00699370e-02  9.67562279e-01  1.45397785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.420714057 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:556.86, Y:41.78, Z:145.41
[[ 9.60071536e-01 -1.20703981e-01 -2.52375109e-01  5.56857706e+02]
 [ 1.21782265e-01  9.92491330e-01 -1.14035331e-02  4.17824007e+01]
 [ 2.51856559e-01 -1.97866049e-02  9.67562279e-01  1.45412543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.480714057 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:556.92, Y:41.79, Z:145.43
[[ 9.60289514e-01 -1.18956934e-01 -2.52375312e-01  5.56916113e+02]
 [ 1.19977405e-01  9.92711179e-01 -1.13990304e-02  4.17862875e+01]
 [ 2.51891787e-01 -1.93329657e-02  9.67562279e-01  1.45428883e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.5407140570001 meters
Centerline goodness : 0.998577 with order 1
Centerline is valid?  [True, True]
Translation: X:556.98, Y:41.79, Z:145.44
[[ 9.60202631e-01 -1.19655775e-01 -2.52375519e-01  5.56975830e+02]
 [ 1.20701040e-01  9.92623506e-01 -1.13944422e-02  4.17893748e+01]
 [ 2.51877284e-01 -1.95210144e-02  9.67562279e-01  1.45442669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.600714057 meters
Centerline goodness : 0.998341 with order 1
Centerline is valid?  [True, True]
Translation: X:557.03, Y:41.79, Z:145.46
[[ 9.59597732e-01 -1.24412941e-01 -2.52375937e-01  5.57034209e+02]
 [ 1.25621286e-01  9.92012938e-01 -1.13851826e-02  4.17925040e+01]
 [ 2.51776659e-01 -2.07785945e-02  9.67562279e-01  1.45456507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.6607140570001 meters
Centerline goodness : 0.998133 with order 1
Centerline is valid?  [True, True]
Translation: X:557.09, Y:41.79, Z:145.47
[[ 9.58937042e-01 -1.29406651e-01 -2.52376047e-01  5.57091813e+02]
 [ 1.30784360e-01  9.91345492e-01 -1.13827465e-02  4.17945774e+01]
 [ 2.51664859e-01 -2.20915026e-02  9.67562279e-01  1.45471299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.720714057 meters
Centerline goodness : 0.998060 with order 1
Centerline is valid?  [True, True]
Translation: X:557.15, Y:41.80, Z:145.49
[[ 9.58839514e-01 -1.30127666e-01 -2.52375863e-01  5.57150287e+02]
 [ 1.31528679e-01  9.91246966e-01 -1.13868229e-02  4.17995932e+01]
 [ 2.51648549e-01 -2.22765281e-02  9.67562279e-01  1.45488396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.780714057 meters
Centerline goodness : 0.998057 with order 1
Centerline is valid?  [True, True]
Translation: X:557.21, Y:41.80, Z:145.50
[[ 9.59046546e-01 -1.28592175e-01 -2.52376259e-01  5.57209501e+02]
 [ 1.29943589e-01  9.91456103e-01 -1.13780389e-02  4.18032935e+01]
 [ 2.51683109e-01 -2.18826079e-02  9.67562279e-01  1.45504715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.840714057 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:557.27, Y:41.81, Z:145.52
[[ 9.59251014e-01 -1.27057121e-01 -2.52376663e-01  5.57267985e+02]
 [ 1.28359009e-01  9.91662599e-01 -1.13690612e-02  4.18073813e+01]
 [ 2.51717018e-01 -2.14890349e-02  9.67562279e-01  1.45521755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.900714057 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:557.33, Y:41.81, Z:145.54
[[ 9.59352784e-01 -1.26285596e-01 -2.52377066e-01  5.57326560e+02]
 [ 1.27563755e-01  9.91765313e-01 -1.13601088e-02  4.18106036e+01]
 [ 2.51733438e-01 -2.12958142e-02  9.67562279e-01  1.45535299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 572.960714057 meters
Centerline goodness : 0.998663 with order 1
Centerline is valid?  [True, True]
Translation: X:557.39, Y:41.82, Z:145.55
[[ 9.59489834e-01 -1.25239664e-01 -2.52377267e-01  5.57385967e+02]
 [ 1.26483652e-01  9.91903692e-01 -1.13556435e-02  4.18155200e+01]
 [ 2.51756120e-01 -2.10259740e-02  9.67562279e-01  1.45549568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.020714057 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:557.44, Y:41.82, Z:145.57
[[ 9.59930234e-01 -1.21817315e-01 -2.52377670e-01  5.57444818e+02]
 [ 1.22948049e-01  9.92348240e-01 -1.13466785e-02  4.18200816e+01]
 [ 2.51828759e-01 -2.01373224e-02  9.67562279e-01  1.45565402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.080714057 meters
Centerline goodness : 0.998395 with order 1
Centerline is valid?  [True, True]
Translation: X:557.50, Y:41.83, Z:145.58
[[ 9.60788273e-01 -1.14853691e-01 -2.52377740e-01  5.57502675e+02]
 [ 1.15749740e-01  9.93213615e-01 -1.13451257e-02  4.18257349e+01]
 [ 2.51968037e-01 -1.83123940e-02  9.67562279e-01  1.45582540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.140714057 meters
Centerline goodness : 0.999027 with order 1
Centerline is valid?  [True, True]
Translation: X:557.56, Y:41.83, Z:145.60
[[ 9.61824230e-01 -1.05827828e-01 -2.52377934e-01  5.57560666e+02]
 [ 1.06420525e-01  9.94256535e-01 -1.13408093e-02  4.18319143e+01]
 [ 2.52128584e-01 -1.59503270e-02  9.67562279e-01  1.45599976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.200714057 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:557.62, Y:41.84, Z:145.62
[[ 9.62545667e-01 -9.90514086e-02 -2.52378007e-01  5.57618738e+02]
 [ 9.94161025e-02  9.94981337e-01 -1.13391984e-02  4.18372002e+01]
 [ 2.52234570e-01 -1.41759415e-02  9.67562279e-01  1.45617303e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.260714057 meters
Centerline goodness : 0.998650 with order 1
Centerline is valid?  [True, True]
Translation: X:557.68, Y:41.84, Z:145.63
[[ 9.63016339e-01 -9.43654824e-02 -2.52378062e-01  5.57676832e+02]
 [ 9.45726278e-02  9.95453399e-01 -1.13379678e-02  4.18379562e+01]
 [ 2.52300512e-01 -1.29494083e-02  9.67562279e-01  1.45630408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.320714057 meters
Centerline goodness : 0.998741 with order 1
Centerline is valid?  [True, True]
Translation: X:557.74, Y:41.84, Z:145.64
[[ 9.62398445e-01 -1.00472233e-01 -2.52377819e-01  5.57735699e+02]
 [ 1.00883718e-01  9.94833556e-01 -1.13433727e-02  4.18399768e+01]
 [ 2.52213617e-01 -1.45439684e-02  9.67562279e-01  1.45644422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.380714057 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:557.79, Y:41.84, Z:145.66
[[ 9.62019191e-01 -1.04040877e-01 -2.52377837e-01  5.57792697e+02]
 [ 1.04572759e-01  9.94452550e-01 -1.13429681e-02  4.18411951e+01]
 [ 2.52157916e-01 -1.54796939e-02  9.67562279e-01  1.45655364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.440714057 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:557.85, Y:41.84, Z:145.67
[[ 9.61695299e-01 -1.07000868e-01 -2.52374653e-01  5.57851734e+02]
 [ 1.07614154e-01  9.94127219e-01 -1.14133838e-02  4.18438196e+01]
 [ 2.52113754e-01 -1.61828873e-02  9.67562282e-01  1.45672465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.500714057 meters
Centerline goodness : 0.998626 with order 1
Centerline is valid?  [True, True]
Translation: X:557.91, Y:41.85, Z:145.69
[[ 9.61332412e-01 -1.10212596e-01 -2.52375075e-01  5.57909984e+02]
 [ 1.10936647e-01  9.93762048e-01 -1.14040601e-02  4.18457899e+01]
 [ 2.52057642e-01 -1.70345519e-02  9.67562282e-01  1.45689898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.560714057 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:557.97, Y:41.85, Z:145.71
[[ 9.60767477e-01 -1.15033245e-01 -2.52375131e-01  5.57967659e+02]
 [ 1.15920282e-01  9.93193065e-01 -1.14028055e-02  4.18480875e+01]
 [ 2.51968932e-01 -1.82999517e-02  9.67562282e-01  1.45705203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.620714057 meters
Centerline goodness : 0.998038 with order 1
Centerline is valid?  [True, True]
Translation: X:558.03, Y:41.85, Z:145.72
[[ 9.60085199e-01 -1.20595402e-01 -2.52375039e-01  5.58026108e+02]
 [ 1.21669676e-01  9.92505123e-01 -1.14048483e-02  4.18508228e+01]
 [ 2.51858891e-01 -1.97567633e-02  9.67562282e-01  1.45721426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.680714057 meters
Centerline goodness : 0.998374 with order 1
Centerline is valid?  [True, True]
Translation: X:558.08, Y:41.85, Z:145.74
[[ 9.59576064e-01 -1.24581834e-01 -2.52375009e-01  5.58084681e+02]
 [ 1.25790572e-01  9.91991253e-01 -1.14055189e-02  4.18537174e+01]
 [ 2.51774722e-01 -2.08019337e-02  9.67562282e-01  1.45735579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.740714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:558.14, Y:41.86, Z:145.75
[[ 9.59380812e-01 -1.26076658e-01 -2.52374986e-01  5.58144225e+02]
 [ 1.27335762e-01  9.91794085e-01 -1.14060310e-02  4.18567821e+01]
 [ 2.51742052e-01 -2.11936338e-02  9.67562282e-01  1.45749661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.800714057 meters
Centerline goodness : 0.997875 with order 1
Centerline is valid?  [True, True]
Translation: X:558.20, Y:41.86, Z:145.77
[[ 9.59260689e-01 -1.26986164e-01 -2.52375602e-01  5.58202570e+02]
 [ 1.28279565e-01  9.91672611e-01 -1.13923731e-02  4.18626046e+01]
 [ 2.51720646e-01 -2.14463767e-02  9.67562282e-01  1.45765911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.860714057 meters
Centerline goodness : 0.997540 with order 1
Centerline is valid?  [True, True]
Translation: X:558.26, Y:41.87, Z:145.78
[[ 9.59431091e-01 -1.25691804e-01 -2.52375814e-01  5.58260568e+02]
 [ 1.26942698e-01  9.91844681e-01 -1.13876844e-02  4.18683287e+01]
 [ 2.51748947e-01 -2.11115683e-02  9.67562282e-01  1.45780528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.920714057 meters
Centerline goodness : 0.998317 with order 1
Centerline is valid?  [True, True]
Translation: X:558.32, Y:41.87, Z:145.80
[[ 9.59784929e-01 -1.22960594e-01 -2.52375876e-01  5.58320691e+02]
 [ 1.24119589e-01  9.92201935e-01 -1.13863025e-02  4.18734532e+01]
 [ 2.51807899e-01 -2.03963886e-02  9.67562282e-01  1.45797616e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 573.980714057 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:558.38, Y:41.88, Z:145.81
[[ 9.60009766e-01 -1.21190947e-01 -2.52376710e-01  5.58379222e+02]
 [ 1.22295016e-01  9.92428689e-01 -1.13677797e-02  4.18789547e+01]
 [ 2.51843560e-01 -1.99512343e-02  9.67562282e-01  1.45812214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.0407140570001 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:558.44, Y:41.89, Z:145.83
[[ 9.60157290e-01 -1.20016585e-01 -2.52376696e-01  5.58438183e+02]
 [ 1.21080918e-01  9.92577542e-01 -1.13680876e-02  4.18852713e+01]
 [ 2.51867800e-01 -1.96428500e-02  9.67562282e-01  1.45827338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.100714057 meters
Centerline goodness : 0.999162 with order 1
Centerline is valid?  [True, True]
Translation: X:558.50, Y:41.89, Z:145.84
[[ 9.60052066e-01 -1.20852983e-01 -2.52377866e-01  5.58496588e+02]
 [ 1.21952359e-01  9.92471148e-01 -1.13420563e-02  4.18892516e+01]
 [ 2.51848472e-01 -1.98891116e-02  9.67562282e-01  1.45842912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.1607140570001 meters
Centerline goodness : 0.999093 with order 1
Centerline is valid?  [True, True]
Translation: X:558.56, Y:41.89, Z:145.86
[[ 9.59968979e-01 -1.21508691e-01 -2.52379075e-01  5.58556192e+02]
 [ 1.22637253e-01  9.92387058e-01 -1.13150983e-02  4.18930123e+01]
 [ 2.51832611e-01 -2.00889330e-02  9.67562283e-01  1.45858843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.220714057 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:558.62, Y:41.90, Z:145.88
[[ 9.60094905e-01 -1.20507451e-01 -2.52380126e-01  5.58615839e+02]
 [ 1.21608338e-01  9.92513935e-01 -1.12916141e-02  4.18993450e+01]
 [ 2.51851516e-01 -1.98505065e-02  9.67562283e-01  1.45876080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.280714057 meters
Centerline goodness : 0.999399 with order 1
Centerline is valid?  [True, True]
Translation: X:558.68, Y:41.90, Z:145.89
[[ 9.60439648e-01 -1.17726561e-01 -2.52380939e-01  5.58675908e+02]
 [ 1.18738317e-01  9.92861583e-01 -1.12734044e-02  4.19047560e+01]
 [ 2.51906518e-01 -1.91398634e-02  9.67562283e-01  1.45893164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.340714057 meters
Centerline goodness : 0.998479 with order 1
Centerline is valid?  [True, True]
Translation: X:558.73, Y:41.91, Z:145.91
[[ 9.60542772e-01 -1.16879955e-01 -2.52381970e-01  5.58734849e+02]
 [ 1.17869172e-01  9.92965402e-01 -1.12502919e-02  4.19088449e+01]
 [ 2.51921498e-01 -1.89416672e-02  9.67562283e-01  1.45908620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.400714057 meters
Centerline goodness : 0.998911 with order 1
Centerline is valid?  [True, True]
Translation: X:558.79, Y:41.91, Z:145.92
[[ 9.60704065e-01 -1.15546088e-01 -2.52382253e-01  5.58794255e+02]
 [ 1.16491943e-01  9.93127988e-01 -1.12439389e-02  4.19139542e+01]
 [ 2.51947072e-01 -1.85984012e-02  9.67562283e-01  1.45922303e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.460714057 meters
Centerline goodness : 0.999103 with order 1
Centerline is valid?  [True, True]
Translation: X:558.85, Y:41.92, Z:145.94
[[ 9.60466243e-01 -1.17504140e-01 -2.52383384e-01  5.58854291e+02]
 [ 1.18522734e-01  9.92887963e-01 -1.12184911e-02  4.19180743e+01]
 [ 2.51906643e-01 -1.91381867e-02  9.67562284e-01  1.45936068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.520714057 meters
Centerline goodness : 0.999319 with order 1
Centerline is valid?  [True, True]
Translation: X:558.91, Y:41.92, Z:145.95
[[ 9.60164058e-01 -1.19947113e-01 -2.52383975e-01  5.58912532e+02]
 [ 1.21051661e-01  9.92582963e-01 -1.12051737e-02  4.19226571e+01]
 [ 2.51856062e-01 -1.97926944e-02  9.67562284e-01  1.45950445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.580714057 meters
Centerline goodness : 0.999297 with order 1
Centerline is valid?  [True, True]
Translation: X:558.97, Y:41.93, Z:145.97
[[ 9.60009563e-01 -1.21177428e-01 -2.52383975e-01  5.58972528e+02]
 [ 1.22323519e-01  9.92427025e-01 -1.12051737e-02  4.19264218e+01]
 [ 2.51830492e-01 -2.01154221e-02  9.67562284e-01  1.45967836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.640714057 meters
Centerline goodness : 0.999658 with order 1
Centerline is valid?  [True, True]
Translation: X:559.03, Y:41.93, Z:145.98
[[ 9.59805832e-01 -1.22779087e-01 -2.52384747e-01  5.59030520e+02]
 [ 1.23983817e-01  9.92221169e-01 -1.11877535e-02  4.19298766e+01]
 [ 2.51795111e-01 -2.05535533e-02  9.67562284e-01  1.45984267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.700714057 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:559.09, Y:41.93, Z:146.00
[[ 9.59671227e-01 -1.23826693e-01 -2.52384798e-01  5.59090821e+02]
 [ 1.25067105e-01  9.92085218e-01 -1.11866070e-02  4.19339761e+01]
 [ 2.51772428e-01 -2.08295712e-02  9.67562284e-01  1.45999685e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.760714057 meters
Centerline goodness : 0.999391 with order 1
Centerline is valid?  [True, True]
Translation: X:559.15, Y:41.94, Z:146.02
[[ 9.59685100e-01 -1.23717541e-01 -2.52385577e-01  5.59150979e+02]
 [ 1.24958859e-01  9.92099056e-01 -1.11690210e-02  4.19379186e+01]
 [ 2.51773296e-01 -2.08190707e-02  9.67562284e-01  1.46016688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.820714057 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:559.21, Y:41.94, Z:146.03
[[ 9.59996876e-01 -1.21272879e-01 -2.52386384e-01  5.59209474e+02]
 [ 1.22436413e-01  9.92413717e-01 -1.11507359e-02  4.19416178e+01]
 [ 2.51823992e-01 -2.01966121e-02  9.67562284e-01  1.46032838e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.880714057 meters
Centerline goodness : 0.999042 with order 1
Centerline is valid?  [True, True]
Translation: X:559.27, Y:41.95, Z:146.05
[[ 9.60271640e-01 -1.19077230e-01 -2.52386588e-01  5.59268274e+02]
 [ 1.20167837e-01  9.92691017e-01 -1.11461184e-02  4.19451127e+01]
 [ 2.51869148e-01 -1.96254490e-02  9.67562284e-01  1.46047214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 574.940714057 meters
Centerline goodness : 0.999141 with order 1
Centerline is valid?  [True, True]
Translation: X:559.33, Y:41.95, Z:146.06
[[ 9.60146376e-01 -1.20080569e-01 -2.52387783e-01  5.59326391e+02]
 [ 1.21212135e-01  9.92564349e-01 -1.11189991e-02  4.19478569e+01]
 [ 2.51846291e-01 -1.99165954e-02  9.67562285e-01  1.46062570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.000714057 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:559.39, Y:41.95, Z:146.08
[[ 9.59865744e-01 -1.22303561e-01 -2.52387783e-01  5.59387072e+02]
 [ 1.23510191e-01  9.92281009e-01 -1.11189991e-02  4.19492359e+01]
 [ 2.51799497e-01 -2.04997169e-02  9.67562285e-01  1.46077453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.060714057 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:559.45, Y:41.95, Z:146.09
[[ 9.59871666e-01 -1.22255448e-01 -2.52388571e-01  5.59446548e+02]
 [ 1.23465130e-01  9.92286817e-01 -1.11010973e-02  4.19516403e+01]
 [ 2.51799021e-01 -2.05055589e-02  9.67562285e-01  1.46092111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.120714057 meters
Centerline goodness : 0.999164 with order 1
Centerline is valid?  [True, True]
Translation: X:559.50, Y:41.96, Z:146.11
[[ 9.60292427e-01 -1.18904033e-01 -2.52389154e-01  5.59504849e+02]
 [ 1.20004025e-01  9.92711486e-01 -1.10878093e-02  4.19557842e+01]
 [ 2.51867998e-01 -1.96401751e-02  9.67562285e-01  1.46109971e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.180714057 meters
Centerline goodness : 0.999211 with order 1
Centerline is valid?  [True, True]
Translation: X:559.56, Y:41.96, Z:146.13
[[ 9.60824304e-01 -1.14526771e-01 -2.52389134e-01  5.59563286e+02]
 [ 1.15478897e-01  9.93248043e-01 -1.10882755e-02  4.19593674e+01]
 [ 2.51954918e-01 -1.84917343e-02  9.67562285e-01  1.46125542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.240714057 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:559.62, Y:41.96, Z:146.14
[[ 9.61264483e-01 -1.10771019e-01 -2.52389331e-01  5.59621585e+02]
 [ 1.11597600e-01  9.93691665e-01 -1.10837836e-02  4.19627136e+01]
 [ 2.52024937e-01 -1.75115962e-02  9.67562285e-01  1.46141948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.300714057 meters
Centerline goodness : 0.998546 with order 1
Centerline is valid?  [True, True]
Translation: X:559.68, Y:41.96, Z:146.15
[[ 9.62127017e-01 -1.03010375e-01 -2.52389512e-01  5.59680854e+02]
 [ 1.03576328e-01  9.94559795e-01 -1.10796760e-02  4.19646516e+01]
 [ 2.52157782e-01 -1.54815232e-02  9.67562285e-01  1.46150473e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.360714057 meters
Centerline goodness : 0.999133 with order 1
Centerline is valid?  [True, True]
Translation: X:559.74, Y:41.97, Z:146.17
[[ 9.61752833e-01 -1.06447765e-01 -2.52389307e-01  5.59737743e+02]
 [ 1.07128391e-01  9.94183406e-01 -1.10843358e-02  4.19696652e+01]
 [ 2.52101164e-01 -1.63776690e-02  9.67562285e-01  1.46173081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.420714057 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:559.80, Y:41.97, Z:146.19
[[ 9.61728174e-01 -1.06670133e-01 -2.52389386e-01  5.59795171e+02]
 [ 1.07358729e-01  9.94158579e-01 -1.10825315e-02  4.19730780e+01]
 [ 2.52097249e-01 -1.64378210e-02  9.67562285e-01  1.46187614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.480714057 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:559.85, Y:41.98, Z:146.20
[[ 9.61757615e-01 -1.06404839e-01 -2.52389184e-01  5.59854084e+02]
 [ 1.07083287e-01  9.94188234e-01 -1.10871324e-02  4.19754234e+01]
 [ 2.52102082e-01 -1.63635295e-02  9.67562285e-01  1.46202636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.5407140570001 meters
Centerline goodness : 0.998811 with order 1
Centerline is valid?  [True, True]
Translation: X:559.91, Y:41.98, Z:146.22
[[ 9.61721452e-01 -1.06730715e-01 -2.52389389e-01  5.59914006e+02]
 [ 1.07421374e-01  9.94151813e-01 -1.10824567e-02  4.19780039e+01]
 [ 2.52096208e-01 -1.64537785e-02  9.67562285e-01  1.46218447e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.600714057 meters
Centerline goodness : 0.999009 with order 1
Centerline is valid?  [True, True]
Translation: X:559.97, Y:41.98, Z:146.24
[[ 9.61646059e-01 -1.07405963e-01 -2.52390208e-01  5.59972890e+02]
 [ 1.08124275e-01  9.94075819e-01 -1.10637730e-02  4.19795500e+01]
 [ 2.52083318e-01 -1.66500745e-02  9.67562285e-01  1.46235284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.6607140570001 meters
Centerline goodness : 0.999087 with order 1
Centerline is valid?  [True, True]
Translation: X:560.03, Y:41.98, Z:146.25
[[ 9.61396856e-01 -1.09612790e-01 -2.52390810e-01  5.60031685e+02]
 [ 1.10409123e-01  9.93824795e-01 -1.10500244e-02  4.19794934e+01]
 [ 2.52043469e-01 -1.72427893e-02  9.67562285e-01  1.46251435e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.720714057 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:560.09, Y:41.98, Z:146.27
[[ 9.60769231e-01 -1.14984016e-01 -2.52390890e-01  5.60090768e+02]
 [ 1.15962039e-01  9.93192198e-01 -1.10482147e-02  4.19794803e+01]
 [ 2.51943031e-01 -1.86529774e-02  9.67562285e-01  1.46265744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.780714057 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:560.15, Y:41.98, Z:146.28
[[ 9.60243118e-01 -1.19297837e-01 -2.52390927e-01  5.60150217e+02]
 [ 1.20421692e-01  9.92661358e-01 -1.10473539e-02  4.19795658e+01]
 [ 2.51856646e-01 -1.97851969e-02  9.67562285e-01  1.46279513e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.840714057 meters
Centerline goodness : 0.999008 with order 1
Centerline is valid?  [True, True]
Translation: X:560.21, Y:41.98, Z:146.29
[[ 9.59660176e-01 -1.23899024e-01 -2.52391320e-01  5.60209096e+02]
 [ 1.25180597e-01  9.92072564e-01 -1.10383703e-02  4.19789766e+01]
 [ 2.51758147e-01 -2.10014118e-02  9.67562285e-01  1.46293076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.900714057 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:560.27, Y:41.98, Z:146.31
[[ 9.59303479e-01 -1.26631108e-01 -2.52391357e-01  5.60268956e+02]
 [ 1.28005190e-01  9.91712077e-01 -1.10375216e-02  4.19799547e+01]
 [ 2.51697251e-01 -2.17190707e-02  9.67562285e-01  1.46309990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 575.960714057 meters
Centerline goodness : 0.998499 with order 1
Centerline is valid?  [True, True]
Translation: X:560.33, Y:41.98, Z:146.33
[[ 9.59433086e-01 -1.25643782e-01 -2.52392141e-01  5.60327962e+02]
 [ 1.26989198e-01  9.91842887e-01 -1.10195718e-02  4.19812171e+01]
 [ 2.51717891e-01 -2.14785338e-02  9.67562285e-01  1.46326600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.020714057 meters
Centerline goodness : 0.998425 with order 1
Centerline is valid?  [True, True]
Translation: X:560.39, Y:41.98, Z:146.34
[[ 9.59812324e-01 -1.22712317e-01 -2.52392533e-01  5.60387117e+02]
 [ 1.23961069e-01  9.92225993e-01 -1.10105853e-02  4.19836310e+01]
 [ 2.51781566e-01 -2.07187527e-02  9.67562285e-01  1.46342806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.080714057 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:560.45, Y:41.99, Z:146.36
[[ 9.60129514e-01 -1.20204510e-01 -2.52392932e-01  5.60445123e+02]
 [ 1.21370971e-01  9.92546249e-01 -1.10014339e-02  4.19865038e+01]
 [ 2.51834080e-01 -2.00703737e-02  9.67562286e-01  1.46359130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.140714057 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:560.51, Y:41.99, Z:146.37
[[ 9.60133692e-01 -1.20171159e-01 -2.52392920e-01  5.60505825e+02]
 [ 1.21336424e-01  9.92550470e-01 -1.10017001e-02  4.19879838e+01]
 [ 2.51834799e-01 -2.00613515e-02  9.67562286e-01  1.46373274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.200714057 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:560.57, Y:41.99, Z:146.39
[[ 9.60103154e-01 -1.20413178e-01 -2.52393740e-01  5.60565881e+02]
 [ 1.21591533e-01  9.92519459e-01 -1.09828695e-02  4.19898323e+01]
 [ 2.51828180e-01 -2.01442541e-02  9.67562286e-01  1.46386573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.260714057 meters
Centerline goodness : 0.998892 with order 1
Centerline is valid?  [True, True]
Translation: X:560.63, Y:41.99, Z:146.40
[[ 9.60061303e-01 -1.20745131e-01 -2.52394351e-01  5.60625864e+02]
 [ 1.21938365e-01  9.92477063e-01 -1.09688171e-02  4.19919278e+01]
 [ 2.51820035e-01 -2.02458177e-02  9.67562286e-01  1.46400673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.320714057 meters
Centerline goodness : 0.998671 with order 1
Centerline is valid?  [True, True]
Translation: X:560.68, Y:41.99, Z:146.42
[[ 9.59971381e-01 -1.21455289e-01 -2.52395642e-01  5.60684972e+02]
 [ 1.22680283e-01  9.92385956e-01 -1.09390252e-02  4.19945745e+01]
 [ 2.51802493e-01 -2.04628175e-02  9.67562286e-01  1.46416441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.380714057 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:560.74, Y:42.00, Z:146.43
[[ 9.60089645e-01 -1.20516042e-01 -2.52396034e-01  5.60743648e+02]
 [ 1.21711685e-01  9.92505316e-01 -1.09299810e-02  4.19988825e+01]
 [ 2.51821643e-01 -2.02257849e-02  9.67562286e-01  1.46433029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.440714057 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:560.80, Y:42.00, Z:146.45
[[ 9.60578435e-01 -1.16553704e-01 -2.52397117e-01  5.60800796e+02]
 [ 1.17622142e-01  9.92998547e-01 -1.09048995e-02  4.20028599e+01]
 [ 2.51900977e-01 -1.92124784e-02  9.67562287e-01  1.46452514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.500714057 meters
Centerline goodness : 0.998860 with order 1
Centerline is valid?  [True, True]
Translation: X:560.86, Y:42.01, Z:146.47
[[ 9.61346634e-01 -1.10037755e-01 -2.52397192e-01  5.60858851e+02]
 [ 1.10886795e-01  9.93773234e-01 -1.09031669e-02  4.20075353e+01]
 [ 2.52025334e-01 -1.75057928e-02  9.67562287e-01  1.46469321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.560714057 meters
Centerline goodness : 0.999172 with order 1
Centerline is valid?  [True, True]
Translation: X:560.92, Y:42.01, Z:146.49
[[ 9.61949457e-01 -1.04636717e-01 -2.52397306e-01  5.60917458e+02]
 [ 1.05304310e-01  9.94380300e-01 -1.09005351e-02  4.20122260e+01]
 [ 2.52119505e-01 -1.60927604e-02  9.67562287e-01  1.46485308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.620714057 meters
Centerline goodness : 0.999047 with order 1
Centerline is valid?  [True, True]
Translation: X:560.98, Y:42.02, Z:146.50
[[ 9.62750978e-01 -9.69848862e-02 -2.52397475e-01  5.60975320e+02]
 [ 9.73956260e-02  9.95186091e-01 -1.08966050e-02  4.20153993e+01]
 [ 2.52239263e-01 -1.40916930e-02  9.67562287e-01  1.46498462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.680714057 meters
Centerline goodness : 0.999261 with order 1
Centerline is valid?  [True, True]
Translation: X:561.03, Y:42.02, Z:146.51
[[ 9.63563519e-01 -8.85491970e-02 -2.52397276e-01  5.61034158e+02]
 [ 8.86746391e-02  9.96000990e-01 -1.09012295e-02  4.20193130e+01]
 [ 2.52353232e-01 -1.18772103e-02  9.67562287e-01  1.46514116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.740714057 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:561.09, Y:42.02, Z:146.53
[[ 9.63951538e-01 -8.42196796e-02 -2.52397461e-01  5.61091950e+02]
 [ 8.42005218e-02  9.96389246e-01 -1.08969424e-02  4.20224504e+01]
 [ 2.52403853e-01 -1.07478735e-02  9.67562287e-01  1.46529939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.800714057 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:561.15, Y:42.02, Z:146.55
[[ 9.64320710e-01 -7.98817226e-02 -2.52397462e-01  5.61151228e+02]
 [ 7.97166230e-02  9.96758003e-01 -1.08969232e-02  4.20242637e+01]
 [ 2.52449655e-01 -9.61214463e-03  9.67562287e-01  1.46547347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.860714057 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:561.21, Y:42.02, Z:146.56
[[ 9.64571775e-01 -7.67893851e-02 -2.52397862e-01  5.61208329e+02]
 [ 7.65227066e-02  9.97008392e-01 -1.08876454e-02  4.20239341e+01]
 [ 2.52478842e-01 -8.81225210e-03  9.67562287e-01  1.46562537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.920714057 meters
Centerline goodness : 0.999018 with order 1
Centerline is valid?  [True, True]
Translation: X:561.27, Y:42.02, Z:146.58
[[ 9.64692227e-01 -7.52627167e-02 -2.52397367e-01  5.61265414e+02]
 [ 7.49417100e-02  9.97128352e-01 -1.08990975e-02  4.20225631e+01]
 [ 2.52492867e-01 -8.40081566e-03  9.67562287e-01  1.46576722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 576.980714057 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:561.32, Y:42.02, Z:146.59
[[ 9.64716326e-01 -7.49623598e-02 -2.52394640e-01  5.61323660e+02]
 [ 7.46148390e-02  9.97152176e-01 -1.09619080e-02  4.20201106e+01]
 [ 2.52497595e-01 -8.25725381e-03  9.67562289e-01  1.46591334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.0407140570001 meters
Centerline goodness : 0.998905 with order 1
Centerline is valid?  [True, True]
Translation: X:561.38, Y:42.02, Z:146.61
[[ 9.64718708e-01 -7.49323722e-02 -2.52394441e-01  5.61380816e+02]
 [ 7.45826492e-02  9.97154534e-01 -1.09664763e-02  4.20174206e+01]
 [ 2.52498006e-01 -8.24468126e-03  9.67562289e-01  1.46606380e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.100714057 meters
Centerline goodness : 0.998528 with order 1
Centerline is valid?  [True, True]
Translation: X:561.44, Y:42.01, Z:146.62
[[ 9.64457301e-01 -7.82339269e-02 -2.52391692e-01  5.61438046e+02]
 [ 7.79787813e-02  9.96894007e-01 -1.10293961e-02  4.20134007e+01]
 [ 2.52470639e-01 -9.04381498e-03  9.67562291e-01  1.46622720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.1607140570001 meters
Centerline goodness : 0.998542 with order 1
Centerline is valid?  [True, True]
Translation: X:561.49, Y:42.01, Z:146.64
[[ 9.63947246e-01 -8.42879054e-02 -2.52391079e-01  5.61494068e+02]
 [ 8.42327592e-02  9.96384908e-01 -1.10434197e-02  4.20080948e+01]
 [ 2.52409489e-01 -1.06143229e-02  9.67562291e-01  1.46637052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.220714057 meters
Centerline goodness : 0.998348 with order 1
Centerline is valid?  [True, True]
Translation: X:561.55, Y:42.00, Z:146.65
[[ 9.63162693e-01 -9.28285419e-02 -2.52389556e-01  5.61552095e+02]
 [ 9.30518407e-02  9.95599634e-01 -1.10781159e-02  4.20025957e+01]
 [ 2.52307315e-01 -1.28152848e-02  9.67562291e-01  1.46652183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.280714057 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:561.61, Y:41.99, Z:146.67
[[ 9.62402106e-01 -1.00408184e-01 -2.52389346e-01  5.61611483e+02]
 [ 1.00885588e-01  9.94836302e-01 -1.10828917e-02  4.19943606e+01]
 [ 2.52198897e-01 -1.47962492e-02  9.67562291e-01  1.46666705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.340714057 meters
Centerline goodness : 0.997756 with order 1
Centerline is valid?  [True, True]
Translation: X:561.67, Y:41.99, Z:146.68
[[ 9.62167598e-01 -1.02631020e-01 -2.52389356e-01  5.61669992e+02]
 [ 1.03183401e-01  9.94600603e-01 -1.10826781e-02  4.19879548e+01]
 [ 2.52164032e-01 -1.53789982e-02  9.67562291e-01  1.46681355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.400714057 meters
Centerline goodness : 0.997682 with order 1
Centerline is valid?  [True, True]
Translation: X:561.73, Y:41.98, Z:146.70
[[ 9.62122662e-01 -1.03051916e-01 -2.52389157e-01  5.61728046e+02]
 [ 1.03617303e-01  9.94555443e-01 -1.10871998e-02  4.19799614e+01]
 [ 2.52157567e-01 -1.54846375e-02  9.67562291e-01  1.46695127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.460714057 meters
Centerline goodness : 0.997831 with order 1
Centerline is valid?  [True, True]
Translation: X:561.79, Y:41.98, Z:146.71
[[ 9.62173398e-01 -1.02578092e-01 -2.52388761e-01  5.61787201e+02]
 [ 1.03125153e-01  9.94606494e-01 -1.10962065e-02  4.19810092e+01]
 [ 2.52165728e-01 -1.53511548e-02  9.67562291e-01  1.46711467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.520714057 meters
Centerline goodness : 0.997661 with order 1
Centerline is valid?  [True, True]
Translation: X:561.84, Y:41.98, Z:146.73
[[ 9.62123919e-01 -1.03040132e-01 -2.52389175e-01  5.61844898e+02]
 [ 1.03605231e-01  9.94556705e-01 -1.10867803e-02  4.19818694e+01]
 [ 2.52157730e-01 -1.54819824e-02  9.67562291e-01  1.46726203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.580714057 meters
Centerline goodness : 0.997922 with order 1
Centerline is valid?  [True, True]
Translation: X:561.90, Y:41.98, Z:146.74
[[ 9.62034349e-01 -1.03873548e-01 -2.52388979e-01  5.61903657e+02]
 [ 1.04465574e-01  9.94466655e-01 -1.10912482e-02  4.19788864e+01]
 [ 2.52144511e-01 -1.56957979e-02  9.67562291e-01  1.46741487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.640714057 meters
Centerline goodness : 0.998315 with order 1
Centerline is valid?  [True, True]
Translation: X:561.96, Y:41.98, Z:146.76
[[ 9.61809055e-01 -1.05939346e-01 -2.52388979e-01  5.61962859e+02]
 [ 1.06601022e-01  9.94240015e-01 -1.10912482e-02  4.19767763e+01]
 [ 2.52110222e-01 -1.62372600e-02  9.67562291e-01  1.46755977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.700714057 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:562.02, Y:41.97, Z:146.77
[[ 9.61254942e-01 -1.10854592e-01 -2.52388979e-01  5.62022098e+02]
 [ 1.11682042e-01  9.93682095e-01 -1.10912482e-02  4.19744205e+01]
 [ 2.52023925e-01 -1.75257994e-02  9.67562291e-01  1.46770083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.760714057 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:562.08, Y:41.97, Z:146.78
[[ 9.60739006e-01 -1.15240690e-01 -2.52388878e-01  5.62081441e+02]
 [ 1.16215532e-01  9.93162063e-01 -1.10935403e-02  4.19722605e+01]
 [ 2.51941486e-01 -1.86735109e-02  9.67562291e-01  1.46784431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.820714057 meters
Centerline goodness : 0.998208 with order 1
Centerline is valid?  [True, True]
Translation: X:562.14, Y:41.97, Z:146.80
[[ 9.60607768e-01 -1.16329726e-01 -2.52388809e-01  5.62140404e+02]
 [ 1.17340912e-01  9.93029712e-01 -1.10951152e-02  4.19727299e+01]
 [ 2.51920278e-01 -1.89574792e-02  9.67562291e-01  1.46799902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.880714057 meters
Centerline goodness : 0.998044 with order 1
Centerline is valid?  [True, True]
Translation: X:562.20, Y:41.97, Z:146.82
[[ 9.60458587e-01 -1.17554991e-01 -2.52388841e-01  5.62196970e+02]
 [ 1.18607728e-01  9.92879208e-01 -1.10943742e-02  4.19748558e+01]
 [ 2.51895832e-01 -1.92795800e-02  9.67562291e-01  1.46815985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 577.940714057 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:562.25, Y:41.98, Z:146.83
[[ 9.60220496e-01 -1.19485049e-01 -2.52388435e-01  5.62254063e+02]
 [ 1.20600529e-01  9.92639019e-01 -1.11036093e-02  4.19775875e+01]
 [ 2.51857324e-01 -1.97762655e-02  9.67562291e-01  1.46830087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.000714057 meters
Centerline goodness : 0.998335 with order 1
Centerline is valid?  [True, True]
Translation: X:562.31, Y:41.98, Z:146.85
[[ 9.59757801e-01 -1.23147650e-01 -2.52387837e-01  5.62312181e+02]
 [ 1.24383261e-01  9.92171967e-01 -1.11171811e-02  4.19821772e+01]
 [ 2.51781192e-01 -2.07230209e-02  9.67562291e-01  1.46845232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.060714057 meters
Centerline goodness : 0.998174 with order 1
Centerline is valid?  [True, True]
Translation: X:562.37, Y:41.99, Z:146.86
[[ 9.59070411e-01 -1.28391345e-01 -2.52387813e-01  5.62371150e+02]
 [ 1.29803955e-01  9.91477347e-01 -1.11177241e-02  4.19862380e+01]
 [ 2.51664219e-01 -2.20982560e-02  9.67562291e-01  1.46860025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.120714057 meters
Centerline goodness : 0.998442 with order 1
Centerline is valid?  [True, True]
Translation: X:562.43, Y:41.99, Z:146.88
[[ 9.58634650e-01 -1.31605308e-01 -2.52387898e-01  5.62430063e+02]
 [ 1.33127033e-01  9.91036645e-01 -1.11158086e-02  4.19907726e+01]
 [ 2.51588555e-01 -2.29436528e-02  9.67562291e-01  1.46875295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.180714057 meters
Centerline goodness : 0.998711 with order 1
Centerline is valid?  [True, True]
Translation: X:562.49, Y:42.00, Z:146.89
[[ 9.57936882e-01 -1.36591266e-01 -2.52388106e-01  5.62488457e+02]
 [ 1.38282791e-01  9.90330457e-01 -1.11110852e-02  4.19956145e+01]
 [ 2.51465305e-01 -2.42572133e-02  9.67562291e-01  1.46888559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.240714057 meters
Centerline goodness : 0.998193 with order 1
Centerline is valid?  [True, True]
Translation: X:562.55, Y:42.00, Z:146.90
[[ 9.58460408e-01 -1.32868027e-01 -2.52388060e-01  5.62547446e+02]
 [ 1.34433400e-01  9.90860324e-01 -1.11121162e-02  4.19986171e+01]
 [ 2.51557760e-01 -2.32788615e-02  9.67562291e-01  1.46899661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.300714057 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:562.61, Y:42.01, Z:146.92
[[ 9.58316806e-01 -1.33899836e-01 -2.52388060e-01  5.62606140e+02]
 [ 1.35500090e-01  9.90715018e-01 -1.11121162e-02  4.20076901e+01]
 [ 2.51532552e-01 -2.35496771e-02  9.67562291e-01  1.46920744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.360714057 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:562.66, Y:42.01, Z:146.94
[[ 9.59143289e-01 -1.27843639e-01 -2.52388895e-01  5.62664933e+02]
 [ 1.29244166e-01  9.91550749e-01 -1.10931268e-02  4.20148242e+01]
 [ 2.51674584e-01 -2.19798940e-02  9.67562292e-01  1.46936471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.420714057 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:562.72, Y:42.02, Z:146.95
[[ 9.60402900e-01 -1.18008645e-01 -2.52389043e-01  5.62723267e+02]
 [ 1.19077899e-01  9.92822981e-01 -1.10897669e-02  4.20222756e+01]
 [ 2.51886330e-01 -1.94033125e-02  9.67562292e-01  1.46952675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.480714057 meters
Centerline goodness : 0.998760 with order 1
Centerline is valid?  [True, True]
Translation: X:562.78, Y:42.03, Z:146.97
[[ 9.61756596e-01 -1.06414254e-01 -2.52389098e-01  5.62781232e+02]
 [ 1.07092657e-01  9.94187210e-01 -1.10885173e-02  4.20288983e+01]
 [ 2.52101989e-01 -1.63645644e-02  9.67562292e-01  1.46969020e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.5407140570001 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:562.84, Y:42.04, Z:146.98
[[ 9.63017744e-01 -9.43213466e-02 -2.52389200e-01  5.62839003e+02]
 [ 9.45928127e-02  9.95454316e-01 -1.10861896e-02  4.20363485e+01]
 [ 2.52287583e-01 -1.31980070e-02  9.67562292e-01  1.46984452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.600714057 meters
Centerline goodness : 0.998263 with order 1
Centerline is valid?  [True, True]
Translation: X:562.90, Y:42.04, Z:147.00
[[ 9.63986923e-01 -8.38384880e-02 -2.52389224e-01  5.62896929e+02]
 [ 8.37571859e-02  9.96424529e-01 -1.10856317e-02  4.20404261e+01]
 [ 2.52416217e-01 -1.04530072e-02  9.67562292e-01  1.47001038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.6607140570001 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:562.95, Y:42.04, Z:147.02
[[ 9.64507172e-01 -7.76249582e-02 -2.52389146e-01  5.62954006e+02]
 [ 7.73341680e-02  9.96943577e-01 -1.10874174e-02  4.20426620e+01]
 [ 2.52478398e-01 -8.82441096e-03  9.67562292e-01  1.47015091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.720714057 meters
Centerline goodness : 0.997847 with order 1
Centerline is valid?  [True, True]
Translation: X:563.01, Y:42.04, Z:147.03
[[ 9.64722950e-01 -7.48969397e-02 -2.52388744e-01  5.63011473e+02]
 [ 7.45120302e-02  9.97158375e-01 -1.10965530e-02  4.20428494e+01]
 [ 2.52502648e-01 -8.10089837e-03  9.67562292e-01  1.47028807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.780714057 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:563.07, Y:42.04, Z:147.04
[[ 9.64722153e-01 -7.49170087e-02 -2.52385834e-01  5.63067818e+02]
 [ 7.45155757e-02  9.97157375e-01 -1.11623585e-02  4.20424371e+01]
 [ 2.52504647e-01 -8.03810119e-03  9.67562294e-01  1.47042504e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.840714057 meters
Centerline goodness : 0.997995 with order 1
Centerline is valid?  [True, True]
Translation: X:563.13, Y:42.04, Z:147.06
[[ 9.64677534e-01 -7.54927996e-02 -2.52384811e-01  5.63125303e+02]
 [ 7.51046917e-02  9.97112918e-01 -1.11854469e-02  4.20380269e+01]
 [ 2.52500576e-01 -8.16493409e-03  9.67562294e-01  1.47057991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.900714057 meters
Centerline goodness : 0.998056 with order 1
Centerline is valid?  [True, True]
Translation: X:563.18, Y:42.03, Z:147.07
[[ 9.64752257e-01 -7.45338828e-02 -2.52384198e-01  5.63181434e+02]
 [ 7.41099226e-02  9.97187192e-01 -1.11992678e-02  4.20340701e+01]
 [ 2.52509015e-01 -7.89965445e-03  9.67562294e-01  1.47073104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 578.960714057 meters
Centerline goodness : 0.998361 with order 1
Centerline is valid?  [True, True]
Translation: X:563.24, Y:42.03, Z:147.09
[[ 9.64938914e-01 -7.20806286e-02 -2.52383190e-01  5.63238681e+02]
 [ 7.15682778e-02  9.97372573e-01 -1.12219270e-02  4.20289654e+01]
 [ 2.52528956e-01 -7.23415619e-03  9.67562294e-01  1.47087520e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.020714057 meters
Centerline goodness : 0.997931 with order 1
Centerline is valid?  [True, True]
Translation: X:563.30, Y:42.02, Z:147.10
[[ 9.65004173e-01 -7.12033003e-02 -2.52382717e-01  5.63295124e+02]
 [ 7.06586802e-02  9.97437306e-01 -1.12325712e-02  4.20229090e+01]
 [ 2.52535733e-01 -6.99355156e-03  9.67562294e-01  1.47100687e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.080714057 meters
Centerline goodness : 0.997948 with order 1
Centerline is valid?  [True, True]
Translation: X:563.35, Y:42.02, Z:147.12
[[ 9.64842930e-01 -7.33592230e-02 -2.52381743e-01  5.63351921e+02]
 [ 7.28813596e-02  9.97277116e-01 -1.12544183e-02  4.20151253e+01]
 [ 2.52520152e-01 -7.53517858e-03  9.67562295e-01  1.47115413e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.140714057 meters
Centerline goodness : 0.997890 with order 1
Centerline is valid?  [True, True]
Translation: X:563.41, Y:42.01, Z:147.13
[[ 9.64418521e-01 -7.87450433e-02 -2.52380932e-01  5.63410888e+02]
 [ 7.84435313e-02  9.96854825e-01 -1.12725705e-02  4.20086502e+01]
 [ 2.52474809e-01 -8.92617574e-03  9.67562295e-01  1.47130659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.200714057 meters
Centerline goodness : 0.997654 with order 1
Centerline is valid?  [True, True]
Translation: X:563.47, Y:42.00, Z:147.15
[[ 9.63675052e-01 -8.73742526e-02 -2.52380932e-01  5.63468797e+02]
 [ 8.73630852e-02  9.96112755e-01 -1.12725705e-02  4.20012989e+01]
 [ 2.52384798e-01 -1.11856819e-02  9.67562295e-01  1.47147802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.260714057 meters
Centerline goodness : 0.997894 with order 1
Centerline is valid?  [True, True]
Translation: X:563.53, Y:41.99, Z:147.16
[[ 9.62571093e-01 -9.87970117e-02 -2.52380745e-01  5.63526397e+02]
 [ 9.91694546e-02  9.95006660e-01 -1.12767489e-02  4.19943161e+01]
 [ 2.52234631e-01 -1.41737883e-02  9.67562295e-01  1.47162420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.320714057 meters
Centerline goodness : 0.997568 with order 1
Centerline is valid?  [True, True]
Translation: X:563.59, Y:41.99, Z:147.18
[[ 9.61426387e-01 -1.09376018e-01 -2.52381040e-01  5.63585346e+02]
 [ 1.10106843e-01  9.93855858e-01 -1.12701502e-02  4.19910308e+01]
 [ 2.52063059e-01 -1.69534596e-02  9.67562295e-01  1.47176759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.380714057 meters
Centerline goodness : 0.997134 with order 1
Centerline is valid?  [True, True]
Translation: X:563.64, Y:41.99, Z:147.19
[[ 9.60474768e-01 -1.17439629e-01 -2.52380969e-01  5.63644111e+02]
 [ 1.18442133e-01  9.92896978e-01 -1.12717415e-02  4.19897598e+01]
 [ 2.51912050e-01 -1.90663169e-02  9.67562295e-01  1.47191195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.440714057 meters
Centerline goodness : 0.997706 with order 1
Centerline is valid?  [True, True]
Translation: X:563.70, Y:41.99, Z:147.20
[[ 9.60129494e-01 -1.20229738e-01 -2.52380993e-01  5.63702465e+02]
 [ 1.21326581e-01  9.92548649e-01 -1.12711958e-02  4.19907675e+01]
 [ 2.51855547e-01 -1.97987154e-02  9.67562295e-01  1.47204678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.500714057 meters
Centerline goodness : 0.997636 with order 1
Centerline is valid?  [True, True]
Translation: X:563.76, Y:41.99, Z:147.22
[[ 9.60162847e-01 -1.19963517e-01 -2.52380787e-01  5.63760496e+02]
 [ 1.21050167e-01  9.92582346e-01 -1.12758032e-02  4.19947033e+01]
 [ 2.51861399e-01 -1.97241290e-02  9.67562295e-01  1.47220149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.560714057 meters
Centerline goodness : 0.997970 with order 1
Centerline is valid?  [True, True]
Translation: X:563.82, Y:42.00, Z:147.23
[[ 9.60583553e-01 -1.16546972e-01 -2.52380748e-01  5.63817728e+02]
 [ 1.17518052e-01  9.93006719e-01 -1.12766883e-02  4.20009609e+01]
 [ 2.51930042e-01 -1.88270925e-02  9.67562295e-01  1.47234872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.620714057 meters
Centerline goodness : 0.997482 with order 1
Centerline is valid?  [True, True]
Translation: X:563.88, Y:42.01, Z:147.25
[[ 9.60841523e-01 -1.14406645e-01 -2.52378064e-01  5.63876322e+02]
 [ 1.15289871e-01  9.93267200e-01 -1.13364530e-02  4.20061369e+01]
 [ 2.51975818e-01 -1.82040996e-02  9.67562297e-01  1.47249936e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.680714057 meters
Centerline goodness : 0.997784 with order 1
Centerline is valid?  [True, True]
Translation: X:563.93, Y:42.01, Z:147.27
[[ 9.61138655e-01 -1.11883049e-01 -2.52378030e-01  5.63932904e+02]
 [ 1.12680925e-01  9.93566544e-01 -1.13372069e-02  4.20146252e+01]
 [ 2.52022808e-01 -1.75415621e-02  9.67562297e-01  1.47265239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.740714057 meters
Centerline goodness : 0.997757 with order 1
Centerline is valid?  [True, True]
Translation: X:563.99, Y:42.02, Z:147.28
[[ 9.61279082e-01 -1.10670991e-01 -2.52377613e-01  5.63989215e+02]
 [ 1.11425550e-01  9.93708007e-01 -1.13464872e-02  4.20220799e+01]
 [ 2.52045381e-01 -1.72141734e-02  9.67562297e-01  1.47280997e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.800714057 meters
Centerline goodness : 0.997682 with order 1
Centerline is valid?  [True, True]
Translation: X:564.05, Y:42.03, Z:147.30
[[ 9.61281811e-01 -1.10653941e-01 -2.52374692e-01  5.64045861e+02]
 [ 1.11391045e-01  9.93711136e-01 -1.14110813e-02  4.20297371e+01]
 [ 2.52050224e-01 -1.71430157e-02  9.67562299e-01  1.47296592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.860714057 meters
Centerline goodness : 0.998127 with order 1
Centerline is valid?  [True, True]
Translation: X:564.10, Y:42.04, Z:147.31
[[ 9.61343810e-01 -1.10115916e-01 -2.52373859e-01  5.64101325e+02]
 [ 1.10830058e-01  9.93773649e-01 -1.14294908e-02  4.20379120e+01]
 [ 2.52061059e-01 -1.69829392e-02  9.67562299e-01  1.47310392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.920714057 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:564.16, Y:42.05, Z:147.32
[[ 9.61780998e-01 -1.06232157e-01 -2.52372822e-01  5.64159314e+02]
 [ 1.06809338e-01  9.94213563e-01 -1.14523427e-02  4.20460836e+01]
 [ 2.52129090e-01 -1.59411283e-02  9.67562299e-01  1.47324004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 579.980714057 meters
Centerline goodness : 0.997982 with order 1
Centerline is valid?  [True, True]
Translation: X:564.22, Y:42.05, Z:147.34
[[ 9.62368598e-01 -1.00770755e-01 -2.52372614e-01  5.64216850e+02]
 [ 1.01162624e-01  9.94803932e-01 -1.14569114e-02  4.20546053e+01]
 [ 2.52215791e-01 -1.45049042e-02  9.67562299e-01  1.47341349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.0407140570001 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:564.27, Y:42.06, Z:147.36
[[ 9.62616320e-01 -9.83775074e-02 -2.52372117e-01  5.64274666e+02]
 [ 9.86858651e-02  9.95052556e-01 -1.14678509e-02  4.20584377e+01]
 [ 2.52251699e-01 -1.38664203e-02  9.67562299e-01  1.47356823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.100714057 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:564.33, Y:42.06, Z:147.37
[[ 9.63161167e-01 -9.28918937e-02 -2.52372071e-01  5.64331643e+02]
 [ 9.30151892e-02  9.95598634e-01 -1.14688771e-02  4.20645308e+01]
 [ 2.52326655e-01 -1.24280588e-02  9.67562299e-01  1.47371408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.1607140570001 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:564.39, Y:42.07, Z:147.39
[[ 9.63450239e-01 -8.98448663e-02 -2.52371824e-01  5.64386908e+02]
 [ 8.98641388e-02  9.95887934e-01 -1.14743089e-02  4.20708906e+01]
 [ 2.52364962e-01 -1.16242510e-02  9.67562299e-01  1.47386708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.220714057 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:564.44, Y:42.07, Z:147.40
[[ 9.63726051e-01 -8.68393986e-02 -2.52370794e-01  5.64444778e+02]
 [ 8.67515869e-02  9.96163633e-01 -1.14969184e-02  4.20734035e+01]
 [ 2.52400992e-01 -1.08136871e-02  9.67562299e-01  1.47401103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.280714057 meters
Centerline goodness : 0.998319 with order 1
Centerline is valid?  [True, True]
Translation: X:564.50, Y:42.08, Z:147.41
[[ 9.64270337e-01 -8.05724073e-02 -2.52370370e-01  5.64503637e+02]
 [ 8.02712895e-02  9.96706640e-01 -1.15062238e-02  4.20757468e+01]
 [ 2.52466307e-01 -9.16298470e-03  9.67562299e-01  1.47414624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.340714057 meters
Centerline goodness : 0.998543 with order 1
Centerline is valid?  [True, True]
Translation: X:564.56, Y:42.08, Z:147.43
[[ 9.64866519e-01 -7.30877564e-02 -2.52370323e-01  5.64561694e+02]
 [ 7.25346896e-02  9.97299505e-01 -1.15072552e-02  4.20777538e+01]
 [ 2.52529837e-01 -7.20263773e-03  9.67562299e-01  1.47429004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.400714057 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:564.62, Y:42.08, Z:147.44
[[ 9.64972739e-01 -7.16729986e-02 -2.52369954e-01  5.64618130e+02]
 [ 7.10702682e-02  9.97404840e-01 -1.15153337e-02  4.20757478e+01]
 [ 2.52540352e-01 -6.82401724e-03  9.67562300e-01  1.47442806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.460714057 meters
Centerline goodness : 0.997944 with order 1
Centerline is valid?  [True, True]
Translation: X:564.68, Y:42.07, Z:147.46
[[ 9.64538801e-01 -7.72970604e-02 -2.52368910e-01  5.64676313e+02]
 [ 7.68774327e-02  9.96973786e-01 -1.15381735e-02  4.20726117e+01]
 [ 2.52497055e-01 -8.27245785e-03  9.67562300e-01  1.47459348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.520714057 meters
Centerline goodness : 0.998381 with order 1
Centerline is valid?  [True, True]
Translation: X:564.74, Y:42.07, Z:147.48
[[ 9.63734974e-01 -8.67464139e-02 -2.52368696e-01  5.64735252e+02]
 [ 8.66434666e-02  9.96172511e-01 -1.15428496e-02  4.20683939e+01]
 [ 2.52404058e-01 -1.07418508e-02  9.67562300e-01  1.47475236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.580714057 meters
Centerline goodness : 0.998374 with order 1
Centerline is valid?  [True, True]
Translation: X:564.79, Y:42.06, Z:147.49
[[ 9.62706923e-01 -9.74960219e-02 -2.52368590e-01  5.64794310e+02]
 [ 9.77544711e-02  9.95143594e-01 -1.15451592e-02  4.20637830e+01]
 [ 2.52268593e-01 -1.35555534e-02  9.67562300e-01  1.47488598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.640714057 meters
Centerline goodness : 0.998373 with order 1
Centerline is valid?  [True, True]
Translation: X:564.85, Y:42.06, Z:147.50
[[ 9.62057853e-01 -1.03705621e-01 -2.52368445e-01  5.64853550e+02]
 [ 1.04172526e-01  9.94492193e-01 -1.15483295e-02  4.20616507e+01]
 [ 2.52176075e-01 -1.51796972e-02  9.67562300e-01  1.47501950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.700714057 meters
Centerline goodness : 0.998463 with order 1
Centerline is valid?  [True, True]
Translation: X:564.91, Y:42.06, Z:147.52
[[ 9.62112645e-01 -1.03196015e-01 -2.52368462e-01  5.64910785e+02]
 [ 1.03645837e-01  9.94547226e-01 -1.15479567e-02  4.20616691e+01]
 [ 2.52184057e-01 -1.50465054e-02  9.67562300e-01  1.47516328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.760714057 meters
Centerline goodness : 0.997680 with order 1
Centerline is valid?  [True, True]
Translation: X:564.97, Y:42.06, Z:147.53
[[ 9.62913363e-01 -9.54437254e-02 -2.52365508e-01  5.64968405e+02]
 [ 9.56155179e-02  9.95350607e-01 -1.16121657e-02  4.20649963e+01]
 [ 2.52300470e-01 -1.29485492e-02  9.67562302e-01  1.47532517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.820714057 meters
Centerline goodness : 0.998415 with order 1
Centerline is valid?  [True, True]
Translation: X:565.03, Y:42.07, Z:147.55
[[ 9.63617749e-01 -8.80485674e-02 -2.52365376e-01  5.65026010e+02]
 [ 8.79705828e-02  9.96055354e-01 -1.16150319e-02  4.20697580e+01]
 [ 2.52392571e-01 -1.10082784e-02  9.67562302e-01  1.47547799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.880714057 meters
Centerline goodness : 0.998010 with order 1
Centerline is valid?  [True, True]
Translation: X:565.08, Y:42.07, Z:147.57
[[ 9.64291688e-01 -8.03329576e-02 -2.52365124e-01  5.65083685e+02]
 [ 7.99939105e-02  9.96727615e-01 -1.16205209e-02  4.20743836e+01]
 [ 2.52472799e-01 -8.98210138e-03  9.67562302e-01  1.47565169e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 580.940714057 meters
Centerline goodness : 0.997878 with order 1
Centerline is valid?  [True, True]
Translation: X:565.14, Y:42.08, Z:147.58
[[ 9.64412585e-01 -7.88683558e-02 -2.52365108e-01  5.65141885e+02]
 [ 7.84799588e-02  9.96847958e-01 -1.16208597e-02  4.20752022e+01]
 [ 2.52486161e-01 -8.59829989e-03  9.67562302e-01  1.47581823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.000714057 meters
Centerline goodness : 0.998527 with order 1
Centerline is valid?  [True, True]
Translation: X:565.20, Y:42.07, Z:147.60
[[ 9.64197934e-01 -8.14505731e-02 -2.52365108e-01  5.65199325e+02]
 [ 8.11490327e-02  9.96634231e-01 -1.16208597e-02  4.20746576e+01]
 [ 2.52462231e-01 -9.27437545e-03  9.67562302e-01  1.47596722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.060714057 meters
Centerline goodness : 0.997555 with order 1
Centerline is valid?  [True, True]
Translation: X:565.26, Y:42.07, Z:147.61
[[ 9.63641609e-01 -8.77890118e-02 -2.52364696e-01  5.65258551e+02]
 [ 8.76984287e-02  9.96079180e-01 -1.16298039e-02  4.20725270e+01]
 [ 2.52396188e-01 -1.09250244e-02  9.67562302e-01  1.47609919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.120714057 meters
Centerline goodness : 0.997963 with order 1
Centerline is valid?  [True, True]
Translation: X:565.32, Y:42.07, Z:147.62
[[ 9.63049793e-01 -9.40593948e-02 -2.52364671e-01  5.65316908e+02]
 [ 9.41798075e-02  9.95487267e-01 -1.16303352e-02  4.20700698e+01]
 [ 2.52319759e-01 -1.25670643e-02  9.67562302e-01  1.47622858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.180714057 meters
Centerline goodness : 0.998009 with order 1
Centerline is valid?  [True, True]
Translation: X:565.37, Y:42.07, Z:147.64
[[ 9.62897102e-01 -9.56099580e-02 -2.52364629e-01  5.65374682e+02]
 [ 9.57823629e-02  9.95334342e-01 -1.16312457e-02  4.20696549e+01]
 [ 2.52299245e-01 -1.29723878e-02  9.67562302e-01  1.47638940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.240714057 meters
Centerline goodness : 0.997772 with order 1
Centerline is valid?  [True, True]
Translation: X:565.43, Y:42.07, Z:147.66
[[ 9.62907864e-01 -9.55026540e-02 -2.52364197e-01  5.65432574e+02]
 [ 9.56689931e-02  9.95345136e-01 -1.16406226e-02  4.20694014e+01]
 [ 2.52301186e-01 -1.29345816e-02  9.67562302e-01  1.47655299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.300714057 meters
Centerline goodness : 0.997566 with order 1
Centerline is valid?  [True, True]
Translation: X:565.49, Y:42.07, Z:147.67
[[ 9.62913185e-01 -9.54504508e-02 -2.52363645e-01  5.65489407e+02]
 [ 9.56119077e-02  9.95350481e-01 -1.16525718e-02  4.20693068e+01]
 [ 2.52302519e-01 -1.29085546e-02  9.67562302e-01  1.47670410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.360714057 meters
Centerline goodness : 0.997502 with order 1
Centerline is valid?  [True, True]
Translation: X:565.55, Y:42.07, Z:147.69
[[ 9.62511808e-01 -9.94179482e-02 -2.52363015e-01  5.65547382e+02]
 [ 9.97095180e-02  9.94948195e-01 -1.16662089e-02  4.20657509e+01]
 [ 2.52247957e-01 -1.39341308e-02  9.67562302e-01  1.47685170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.420714057 meters
Centerline goodness : 0.997280 with order 1
Centerline is valid?  [True, True]
Translation: X:565.61, Y:42.07, Z:147.70
[[ 9.62188734e-01 -1.02498623e-01 -2.52362582e-01  5.65605831e+02]
 [ 1.02891580e-01  9.94624052e-01 -1.16755699e-02  4.20657432e+01]
 [ 2.52202623e-01 -1.47318830e-02  9.67562302e-01  1.47700103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.480714057 meters
Centerline goodness : 0.997229 with order 1
Centerline is valid?  [True, True]
Translation: X:565.66, Y:42.07, Z:147.71
[[ 9.61783553e-01 -1.06233814e-01 -2.52362386e-01  5.65662997e+02]
 [ 1.06751600e-01  9.94217118e-01 -1.16798031e-02  4.20658284e+01]
 [ 2.52143794e-01 -1.57066460e-02  9.67562302e-01  1.47714384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.5407140570001 meters
Centerline goodness : 0.997386 with order 1
Centerline is valid?  [True, True]
Translation: X:565.72, Y:42.07, Z:147.73
[[ 9.61815268e-01 -1.05947314e-01 -2.52361957e-01  5.65720076e+02]
 [ 1.06453020e-01  9.94249023e-01 -1.16890585e-02  4.20677580e+01]
 [ 2.52149054e-01 -1.56219776e-02  9.67562302e-01  1.47728767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.600714057 meters
Centerline goodness : 0.997626 with order 1
Centerline is valid?  [True, True]
Translation: X:565.78, Y:42.07, Z:147.75
[[ 9.62534313e-01 -9.92102520e-02 -2.52358916e-01  5.65777911e+02]
 [ 9.94717794e-02  9.94970954e-01 -1.17543628e-02  4.20725500e+01]
 [ 2.52255945e-01 -1.37886129e-02  9.67562304e-01  1.47745597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.6607140570001 meters
Centerline goodness : 0.997569 with order 1
Centerline is valid?  [True, True]
Translation: X:565.83, Y:42.08, Z:147.76
[[ 9.63325057e-01 -9.12130534e-02 -2.52358899e-01  5.65834457e+02]
 [ 9.12050939e-02  9.95762752e-01 -1.17547225e-02  4.20765163e+01]
 [ 2.52361776e-01 -1.16927983e-02  9.67562304e-01  1.47761276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.720714057 meters
Centerline goodness : 0.997850 with order 1
Centerline is valid?  [True, True]
Translation: X:565.89, Y:42.08, Z:147.78
[[ 9.64003249e-01 -8.37436013e-02 -2.52358368e-01  5.65891003e+02]
 [ 8.34812371e-02  9.96439883e-01 -1.17661268e-02  4.20804302e+01]
 [ 2.52445280e-01 -9.72460431e-03  9.67562304e-01  1.47776859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.780714057 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:565.95, Y:42.08, Z:147.79
[[ 9.64022955e-01 -8.35180897e-02 -2.52357824e-01  5.65948968e+02]
 [ 8.32450944e-02  9.96459502e-01 -1.17777692e-02  4.20816731e+01]
 [ 2.52448008e-01 -9.65351107e-03  9.67562304e-01  1.47790519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.840714057 meters
Centerline goodness : 0.997525 with order 1
Centerline is valid?  [True, True]
Translation: X:566.01, Y:42.08, Z:147.80
[[ 9.63298643e-01 -9.14957369e-02 -2.52357395e-01  5.66008071e+02]
 [ 9.14888720e-02  9.95736338e-01 -1.17869489e-02  4.20812806e+01]
 [ 2.52359884e-01 -1.17335415e-02  9.67562304e-01  1.47804344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.900714057 meters
Centerline goodness : 0.997618 with order 1
Centerline is valid?  [True, True]
Translation: X:566.07, Y:42.08, Z:147.82
[[ 9.62543861e-01 -9.91217262e-02 -2.52357286e-01  5.66065736e+02]
 [ 9.93711426e-02  9.94980597e-01 -1.17892815e-02  4.20819051e+01]
 [ 2.52259178e-01 -1.37293313e-02  9.67562304e-01  1.47821440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 581.960714057 meters
Centerline goodness : 0.997098 with order 1
Centerline is valid?  [True, True]
Translation: X:566.12, Y:42.08, Z:147.84
[[ 9.62359142e-01 -1.00899411e-01 -2.52357266e-01  5.66120788e+02]
 [ 1.01208626e-01  9.94795364e-01 -1.17897129e-02  4.20840088e+01]
 [ 2.52233414e-01 -1.41947942e-02  9.67562304e-01  1.47837238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.020714057 meters
Centerline goodness : 0.997625 with order 1
Centerline is valid?  [True, True]
Translation: X:566.18, Y:42.09, Z:147.85
[[ 9.62020891e-01 -1.04078216e-01 -2.52355960e-01  5.66178280e+02]
 [ 1.04487298e-01  9.94456006e-01 -1.18176058e-02  4.20851884e+01]
 [ 2.52186856e-01 -1.49992087e-02  9.67562305e-01  1.47852596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.080714057 meters
Centerline goodness : 0.997024 with order 1
Centerline is valid?  [True, True]
Translation: X:566.23, Y:42.09, Z:147.87
[[ 9.62217620e-01 -1.02244500e-01 -2.52355530e-01  5.66234121e+02]
 [ 1.02589365e-01  9.94653482e-01 -1.18267808e-02  4.20875937e+01]
 [ 2.52215530e-01 -1.45090567e-02  9.67562305e-01  1.47866276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.140714057 meters
Centerline goodness : 0.997279 with order 1
Centerline is valid?  [True, True]
Translation: X:566.29, Y:42.09, Z:147.88
[[ 9.61855207e-01 -1.05602001e-01 -2.52354470e-01  5.66292761e+02]
 [ 1.06054163e-01  9.94289750e-01 -1.18493590e-02  4.20909738e+01]
 [ 2.52164779e-01 -1.53658744e-02  9.67562305e-01  1.47881047e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.200714057 meters
Centerline goodness : 0.997278 with order 1
Centerline is valid?  [True, True]
Translation: X:566.35, Y:42.09, Z:147.90
[[ 9.61658906e-01 -1.07374980e-01 -2.52354438e-01  5.66350491e+02]
 [ 1.07886754e-01  9.94092563e-01 -1.18500464e-02  4.20923067e+01]
 [ 2.52136069e-01 -1.58299985e-02  9.67562305e-01  1.47895921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.260714057 meters
Centerline goodness : 0.997469 with order 1
Centerline is valid?  [True, True]
Translation: X:566.41, Y:42.09, Z:147.91
[[ 9.61309895e-01 -1.10456993e-01 -2.52353994e-01  5.66408237e+02]
 [ 1.11070258e-01  9.93741792e-01 -1.18594978e-02  4.20947653e+01]
 [ 2.52084674e-01 -1.66283707e-02  9.67562305e-01  1.47909924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.320714057 meters
Centerline goodness : 0.997051 with order 1
Centerline is valid?  [True, True]
Translation: X:566.47, Y:42.10, Z:147.92
[[ 9.60882995e-01 -1.14112029e-01 -2.52353552e-01  5.66466978e+02]
 [ 1.14846174e-01  9.93312381e-01 -1.18688832e-02  4.20977812e+01]
 [ 2.52020290e-01 -1.75772320e-02  9.67562305e-01  1.47923326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.380714057 meters
Centerline goodness : 0.996942 with order 1
Centerline is valid?  [True, True]
Translation: X:566.52, Y:42.10, Z:147.94
[[ 9.60398791e-01 -1.18118078e-01 -2.52353485e-01  5.66524943e+02]
 [ 1.18987080e-01  9.92824844e-01 -1.18703109e-02  4.21025013e+01]
 [ 2.51944908e-01 -1.86265721e-02  9.67562305e-01  1.47938889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.440714057 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:566.58, Y:42.11, Z:147.95
[[ 9.59960183e-01 -1.21631370e-01 -2.52353437e-01  5.66582886e+02]
 [ 1.22618747e-01  9.92382847e-01 -1.18713275e-02  4.21068021e+01]
 [ 2.51875148e-01 -1.95472605e-02  9.67562305e-01  1.47954521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.500714057 meters
Centerline goodness : 0.997858 with order 1
Centerline is valid?  [True, True]
Translation: X:566.64, Y:42.11, Z:147.97
[[ 9.59712332e-01 -1.23571894e-01 -2.52353376e-01  5.66639799e+02]
 [ 1.24624481e-01  9.92132945e-01 -1.18726213e-02  4.21113096e+01]
 [ 2.51835221e-01 -2.00551074e-02  9.67562305e-01  1.47970302e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.560714057 meters
Centerline goodness : 0.997982 with order 1
Centerline is valid?  [True, True]
Translation: X:566.70, Y:42.12, Z:147.99
[[ 9.59551967e-01 -1.24812373e-01 -2.52352718e-01  5.66698163e+02]
 [ 1.25903216e-01  9.91971315e-01 -1.18865987e-02  4.21189363e+01]
 [ 2.51810252e-01 -2.03662095e-02  9.67562305e-01  1.47985690e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.620714057 meters
Centerline goodness : 0.997626 with order 1
Centerline is valid?  [True, True]
Translation: X:566.76, Y:42.12, Z:148.00
[[ 9.59743505e-01 -1.23330899e-01 -2.52352718e-01  5.66755151e+02]
 [ 1.24371692e-01  9.92164498e-01 -1.18865987e-02  4.21249232e+01]
 [ 2.51841393e-01 -1.99774487e-02  9.67562305e-01  1.48002145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.680714057 meters
Centerline goodness : 0.998173 with order 1
Centerline is valid?  [True, True]
Translation: X:566.81, Y:42.13, Z:148.02
[[ 9.60345962e-01 -1.18549006e-01 -2.52352465e-01  5.66813226e+02]
 [ 1.19426899e-01  9.92771775e-01 -1.18919628e-02  4.21334406e+01]
 [ 2.51938185e-01 -1.87172740e-02  9.67562305e-01  1.48018521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.740714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:566.87, Y:42.14, Z:148.03
[[ 9.61002975e-01 -1.13099726e-01 -2.52352399e-01  5.66871299e+02]
 [ 1.13793307e-01  9.93433254e-01 -1.18933793e-02  4.21424464e+01]
 [ 2.52040402e-01 -1.72864410e-02  9.67562305e-01  1.48033214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.800714057 meters
Centerline goodness : 0.998080 with order 1
Centerline is valid?  [True, True]
Translation: X:566.93, Y:42.15, Z:148.05
[[ 9.61445795e-01 -1.09271499e-01 -2.52352378e-01  5.66929177e+02]
 [ 1.09835800e-01  9.93878581e-01 -1.18938229e-02  4.21525221e+01]
 [ 2.52107279e-01 -1.62820593e-02  9.67562305e-01  1.48048001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.860714057 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:566.99, Y:42.16, Z:148.06
[[ 9.61702298e-01 -1.06991014e-01 -2.52352161e-01  5.66986652e+02]
 [ 1.07477196e-01  9.94136349e-01 -1.18984073e-02  4.21624975e+01]
 [ 2.52145479e-01 -1.56793772e-02  9.67562305e-01  1.48063026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.920714057 meters
Centerline goodness : 0.997838 with order 1
Centerline is valid?  [True, True]
Translation: X:567.04, Y:42.17, Z:148.08
[[ 9.62281897e-01 -1.01647294e-01 -2.52351696e-01  5.67044581e+02]
 [ 1.01950724e-01  9.94718173e-01 -1.19082772e-02  4.21713889e+01]
 [ 2.52229262e-01 -1.42683186e-02  9.67562305e-01  1.48078543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 582.980714057 meters
Centerline goodness : 0.998343 with order 1
Centerline is valid?  [True, True]
Translation: X:567.10, Y:42.18, Z:148.09
[[ 9.63142938e-01 -9.31358490e-02 -2.52351728e-01  5.67102160e+02]
 [ 9.31526815e-02  9.95580628e-01 -1.19075853e-02  4.21800907e+01]
 [ 2.52345515e-01 -1.20385335e-02  9.67562305e-01  1.48094998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.0407140570001 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:567.16, Y:42.19, Z:148.11
[[ 9.63907676e-01 -8.48564662e-02 -2.52351683e-01  5.67159592e+02]
 [ 8.45943231e-02  9.96344312e-01 -1.19085398e-02  4.21865751e+01]
 [ 2.52439681e-01 -9.86878685e-03  9.67562305e-01  1.48112276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.100714057 meters
Centerline goodness : 0.997484 with order 1
Centerline is valid?  [True, True]
Translation: X:567.22, Y:42.19, Z:148.13
[[ 9.64177723e-01 -8.17310755e-02 -2.52351638e-01  5.67217606e+02]
 [ 8.13635253e-02  9.96613336e-01 -1.19094977e-02  4.21896782e+01]
 [ 2.52470384e-01 -9.04934648e-03  9.67562305e-01  1.48128539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.1607140570001 meters
Centerline goodness : 0.997798 with order 1
Centerline is valid?  [True, True]
Translation: X:567.27, Y:42.19, Z:148.14
[[ 9.64235221e-01 -8.10519359e-02 -2.52350991e-01  5.67274609e+02]
 [ 8.06579611e-02  9.96670523e-01 -1.19231884e-02  4.21913820e+01]
 [ 2.52477192e-01 -8.85735827e-03  9.67562305e-01  1.48142213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.220714057 meters
Centerline goodness : 0.997644 with order 1
Centerline is valid?  [True, True]
Translation: X:567.33, Y:42.19, Z:148.15
[[ 9.63940604e-01 -8.44856045e-02 -2.52350340e-01  5.67332375e+02]
 [ 8.42035529e-02  9.96377073e-01 -1.19369588e-02  4.21917944e+01]
 [ 2.52444594e-01 -9.74227590e-03  9.67562305e-01  1.48153489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.280714057 meters
Centerline goodness : 0.997737 with order 1
Centerline is valid?  [True, True]
Translation: X:567.39, Y:42.19, Z:148.17
[[ 9.63692233e-01 -8.72819553e-02 -2.52347261e-01  5.67391040e+02]
 [ 8.70770859e-02  9.96129279e-01 -1.20017146e-02  4.21920656e+01]
 [ 2.52418028e-01 -1.04077050e-02  9.67562308e-01  1.48166129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.340714057 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:567.45, Y:42.19, Z:148.18
[[ 9.63768516e-01 -8.64368751e-02 -2.52346815e-01  5.67447626e+02]
 [ 8.62011154e-02  9.96205351e-01 -1.20110750e-02  4.21925302e+01]
 [ 2.52427447e-01 -1.01766811e-02  9.67562308e-01  1.48183001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.400714057 meters
Centerline goodness : 0.998328 with order 1
Centerline is valid?  [True, True]
Translation: X:567.51, Y:42.19, Z:148.20
[[ 9.64075480e-01 -8.29525444e-02 -2.52343703e-01  5.67505360e+02]
 [ 8.25825321e-02  9.96511060e-01 -1.20761234e-02  4.21914462e+01]
 [ 2.52465036e-01 -9.19688748e-03  9.67562310e-01  1.48200503e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.460714057 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:567.56, Y:42.19, Z:148.22
[[ 9.64230741e-01 -8.11285817e-02 -2.52343478e-01  5.67562271e+02]
 [ 8.06959847e-02  9.96665547e-01 -1.20808082e-02  4.21892882e+01]
 [ 2.52482150e-01 -8.71441882e-03  9.67562310e-01  1.48216566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.520714057 meters
Centerline goodness : 0.998356 with order 1
Centerline is valid?  [True, True]
Translation: X:567.62, Y:42.19, Z:148.23
[[ 9.64081276e-01 -8.28954669e-02 -2.52340315e-01  5.67618933e+02]
 [ 8.25051268e-02  9.96516616e-01 -1.21465419e-02  4.21856214e+01]
 [ 2.52468210e-01 -9.10911608e-03  9.67562312e-01  1.48231286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.580714057 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:567.68, Y:42.18, Z:148.25
[[ 9.63724327e-01 -8.69562694e-02 -2.52337133e-01  5.67676914e+02]
 [ 8.66853868e-02  9.96160882e-01 -1.22123047e-02  4.21815995e+01]
 [ 2.52430317e-01 -1.01046468e-02  9.67562314e-01  1.48246233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.640714057 meters
Centerline goodness : 0.997330 with order 1
Centerline is valid?  [True, True]
Translation: X:567.73, Y:42.18, Z:148.26
[[ 9.63501842e-01 -8.93886317e-02 -2.52336825e-01  5.67733679e+02]
 [ 8.91979630e-02  9.95938968e-01 -1.22186683e-02  4.21785884e+01]
 [ 2.52404287e-01 -1.07352213e-02  9.67562314e-01  1.48260875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.700714057 meters
Centerline goodness : 0.997012 with order 1
Centerline is valid?  [True, True]
Translation: X:567.79, Y:42.18, Z:148.28
[[ 9.63403285e-01 -9.04532366e-02 -2.52333754e-01  5.67791754e+02]
 [ 9.02819149e-02  9.95840516e-01 -1.22817673e-02  4.21759519e+01]
 [ 2.52395101e-01 -1.09488795e-02  9.67562316e-01  1.48275807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.760714057 meters
Centerline goodness : 0.997302 with order 1
Centerline is valid?  [True, True]
Translation: X:567.85, Y:42.17, Z:148.29
[[ 9.63325566e-01 -9.12778214e-02 -2.52333536e-01  5.67848509e+02]
 [ 9.11330963e-02  9.95762927e-01 -1.22862348e-02  4.21749386e+01]
 [ 2.52385842e-01 -1.11602924e-02  9.67562316e-01  1.48292347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.820714057 meters
Centerline goodness : 0.997373 with order 1
Centerline is valid?  [True, True]
Translation: X:567.91, Y:42.17, Z:148.31
[[ 9.63295806e-01 -9.15999841e-02 -2.52330403e-01  5.67905393e+02]
 [ 9.14493682e-02  9.95733139e-01 -1.23502629e-02  4.21747750e+01]
 [ 2.52385028e-01 -1.11784995e-02  9.67562318e-01  1.48308612e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.880714057 meters
Centerline goodness : 0.997072 with order 1
Centerline is valid?  [True, True]
Translation: X:567.96, Y:42.17, Z:148.32
[[ 9.63358786e-01 -9.09439696e-02 -2.52327255e-01  5.67961488e+02]
 [ 9.07545329e-02  9.95795913e-01 -1.24142618e-02  4.21725356e+01]
 [ 2.52395451e-01 -1.09404540e-02  9.67562320e-01  1.48322284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 583.940714057 meters
Centerline goodness : 0.996599 with order 1
Centerline is valid?  [True, True]
Translation: X:568.02, Y:42.17, Z:148.34
[[ 9.63702295e-01 -8.72318834e-02 -2.52326147e-01  5.68019532e+02]
 [ 8.69116038e-02  9.96138394e-01 -1.24367460e-02  4.21699541e+01]
 [ 2.52436643e-01 -9.94474944e-03  9.67562320e-01  1.48336848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.000714057 meters
Centerline goodness : 0.996345 with order 1
Centerline is valid?  [True, True]
Translation: X:568.08, Y:42.17, Z:148.35
[[ 9.63985749e-01 -8.40429458e-02 -2.52325700e-01  5.68077688e+02]
 [ 8.36129826e-02  9.96420579e-01 -1.24458074e-02  4.21695552e+01]
 [ 2.52468502e-01 -9.10012333e-03  9.67562320e-01  1.48351529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.060714057 meters
Centerline goodness : 0.996223 with order 1
Centerline is valid?  [True, True]
Translation: X:568.14, Y:42.16, Z:148.37
[[ 9.64624494e-01 -7.63653179e-02 -2.52325036e-01  5.68135221e+02]
 [ 7.56736188e-02  9.97054798e-01 -1.24592486e-02  4.21640675e+01]
 [ 2.52533342e-01 -7.07585222e-03  9.67562320e-01  1.48365392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.120714057 meters
Centerline goodness : 0.996639 with order 1
Centerline is valid?  [True, True]
Translation: X:568.19, Y:42.16, Z:148.38
[[ 9.64968057e-01 -7.18958732e-02 -2.52324459e-01  5.68191957e+02]
 [ 7.10508989e-02  9.97394729e-01 -1.24709159e-02  4.21623961e+01]
 [ 2.52563693e-01 -5.89384423e-03  9.67562320e-01  1.48380013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.180714057 meters
Centerline goodness : 0.996084 with order 1
Centerline is valid?  [True, True]
Translation: X:568.25, Y:42.16, Z:148.39
[[ 9.65194836e-01 -6.87885439e-02 -2.52323332e-01  5.68250017e+02]
 [ 6.78332192e-02  9.97618445e-01 -1.24936812e-02  4.21570833e+01]
 [ 2.52581833e-01 -5.05706732e-03  9.67562320e-01  1.48393156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.240714057 meters
Centerline goodness : 0.996231 with order 1
Centerline is valid?  [True, True]
Translation: X:568.31, Y:42.15, Z:148.41
[[ 9.65144797e-01 -6.94886844e-02 -2.52322897e-01  5.68306760e+02]
 [ 6.85545862e-02  9.97569024e-01 -1.25024600e-02  4.21495525e+01]
 [ 2.52578286e-01 -5.23120756e-03  9.67562320e-01  1.48407766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.300714057 meters
Centerline goodness : 0.995472 with order 1
Centerline is valid?  [True, True]
Translation: X:568.36, Y:42.14, Z:148.43
[[ 9.65072179e-01 -7.04939405e-02 -2.52321807e-01  5.68364882e+02]
 [ 6.95878734e-02  9.97497201e-01 -1.25244339e-02  4.21410126e+01]
 [ 2.52573193e-01 -5.47155524e-03  9.67562321e-01  1.48425356e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.360714057 meters
Centerline goodness : 0.995719 with order 1
Centerline is valid?  [True, True]
Translation: X:568.42, Y:42.13, Z:148.44
[[ 9.65035517e-01 -7.09949850e-02 -2.52321547e-01  5.68422978e+02]
 [ 7.01043843e-02  9.97460968e-01 -1.25296700e-02  4.21317158e+01]
 [ 2.52570438e-01 -5.59727007e-03  9.67562321e-01  1.48439633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.420714057 meters
Centerline goodness : 0.995049 with order 1
Centerline is valid?  [True, True]
Translation: X:568.48, Y:42.12, Z:148.45
[[ 9.65199798e-01 -6.87367120e-02 -2.52318476e-01  5.68481264e+02]
 [ 6.77541615e-02  9.97622592e-01 -1.25912051e-02  4.21210772e+01]
 [ 2.52584090e-01 -4.94259814e-03  9.67562323e-01  1.48452572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.480714057 meters
Centerline goodness : 0.994165 with order 1
Centerline is valid?  [True, True]
Translation: X:568.54, Y:42.11, Z:148.47
[[ 9.65536725e-01 -6.38426284e-02 -2.52315184e-01  5.68539806e+02]
 [ 6.26785703e-02  9.97953507e-01 -1.26568420e-02  4.21099500e+01]
 [ 2.52606869e-01 -3.59410927e-03  9.67562325e-01  1.48466527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.5407140570001 meters
Centerline goodness : 0.994500 with order 1
Centerline is valid?  [True, True]
Translation: X:568.60, Y:42.10, Z:148.48
[[ 9.65973297e-01 -5.68583374e-02 -2.52314720e-01  5.68598151e+02]
 [ 5.54574616e-02  9.98380709e-01 -1.26660871e-02  4.20985066e+01]
 [ 2.52626322e-01 -1.75763196e-03  9.67562325e-01  1.48480462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.600714057 meters
Centerline goodness : 0.995160 with order 1
Centerline is valid?  [True, True]
Translation: X:568.65, Y:42.09, Z:148.49
[[ 9.66211299e-01 -5.26740721e-02 -2.52311648e-01  5.68654913e+02]
 [ 5.11169414e-02  9.98611577e-01 -1.27270060e-02  4.20897355e+01]
 [ 2.52631716e-01 -6.00422687e-04  9.67562326e-01  1.48494312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.6607140570001 meters
Centerline goodness : 0.994650 with order 1
Centerline is valid?  [True, True]
Translation: X:568.71, Y:42.07, Z:148.51
[[ 9.66509135e-01 -4.69130465e-02 -2.52307863e-01  5.68712773e+02]
 [ 4.51433113e-02  9.98898493e-01 -1.28016173e-02  4.20667887e+01]
 [ 2.52630507e-01  9.82867671e-04  9.67562329e-01  1.48510132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.720714057 meters
Centerline goodness : 0.995638 with order 1
Centerline is valid?  [True, True]
Translation: X:568.77, Y:42.06, Z:148.52
[[ 9.66557969e-01 -4.59139964e-02 -2.52304575e-01  5.68769444e+02]
 [ 4.40939475e-02  9.98944536e-01 -1.28661144e-02  4.20552279e+01]
 [ 2.52629011e-01  1.31074073e-03  9.67562331e-01  1.48524465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.780714057 meters
Centerline goodness : 0.996136 with order 1
Centerline is valid?  [True, True]
Translation: X:568.83, Y:42.03, Z:148.54
[[ 9.66561398e-01 -4.58481005e-02 -2.52303420e-01  5.68827464e+02]
 [ 4.40199412e-02  9.98947509e-01 -1.28887272e-02  4.20348991e+01]
 [ 2.52628796e-01  1.35136447e-03  9.67562331e-01  1.48538295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.840714057 meters
Centerline goodness : 0.997066 with order 1
Centerline is valid?  [True, True]
Translation: X:568.88, Y:42.01, Z:148.55
[[ 9.66468622e-01 -4.77809587e-02 -2.52300184e-01  5.68884882e+02]
 [ 4.60011139e-02  9.98857422e-01 -1.29517626e-02  4.20140603e+01]
 [ 2.52630759e-01  9.11382670e-04  9.67562333e-01  1.48554815e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.900714057 meters
Centerline goodness : 0.998442 with order 1
Centerline is valid?  [True, True]
Translation: X:568.94, Y:41.99, Z:148.57
[[ 9.66265815e-01 -5.17368260e-02 -2.52296801e-01  5.68940825e+02]
 [ 5.00724554e-02  9.98660752e-01 -1.30173494e-02  4.19918670e+01]
 [ 2.52632389e-01 -5.49006033e-05  9.67562335e-01  1.48573012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 584.960714057 meters
Centerline goodness : 0.998443 with order 1
Centerline is valid?  [True, True]
Translation: X:569.00, Y:41.97, Z:148.59
[[ 9.66008128e-01 -5.63490617e-02 -2.52295619e-01  5.68997880e+02]
 [ 5.48333880e-02  9.98410363e-01 -1.30402131e-02  4.19738033e+01]
 [ 2.52629364e-01 -1.23727166e-03  9.67562336e-01  1.48589414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.020714057 meters
Centerline goodness : 0.999515 with order 1
Centerline is valid?  [True, True]
Translation: X:569.06, Y:41.96, Z:148.60
[[ 9.65861446e-01 -5.88137192e-02 -2.52294697e-01  5.69056173e+02]
 [ 5.73760745e-02  9.98267236e-01 -1.30580255e-02  4.19566477e+01]
 [ 2.52625521e-01 -1.86343600e-03  9.67562336e-01  1.48602501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.080714057 meters
Centerline goodness : 0.999768 with order 1
Centerline is valid?  [True, True]
Translation: X:569.11, Y:41.94, Z:148.62
[[ 9.65924929e-01 -5.77764388e-02 -2.52291329e-01  5.69114303e+02]
 [ 5.62870772e-02  9.98328381e-01 -1.31227959e-02  4.19419777e+01]
 [ 2.52627782e-01 -1.52510578e-03  9.67562338e-01  1.48617905e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.140714057 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:569.17, Y:41.93, Z:148.64
[[ 9.66060407e-01 -5.54698567e-02 -2.52290281e-01  5.69171689e+02]
 [ 5.38978748e-02  9.98459956e-01 -1.31429077e-02  4.19304917e+01]
 [ 2.52630778e-01 -9.01067213e-04  9.67562338e-01  1.48635733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.200714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:569.23, Y:41.92, Z:148.65
[[ 9.65938426e-01 -5.75570467e-02 -2.52289802e-01  5.69228602e+02]
 [ 5.60526734e-02  9.98341184e-01 -1.31520936e-02  4.19209887e+01]
 [ 2.52628296e-01 -1.43740533e-03  9.67562338e-01  1.48652159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.260714057 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:569.29, Y:41.92, Z:148.67
[[ 9.65712183e-01 -6.12499595e-02 -2.52286389e-01  5.69286491e+02]
 [ 5.98524723e-02  9.98119725e-01 -1.32172453e-02  4.19158454e+01]
 [ 2.52621577e-01 -2.33590934e-03  9.67562340e-01  1.48666992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.320714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:569.34, Y:41.91, Z:148.68
[[ 9.65373467e-01 -6.63768642e-02 -2.52285910e-01  5.69344154e+02]
 [ 6.51490850e-02  9.97787883e-01 -1.32263931e-02  4.19067423e+01]
 [ 2.52605750e-01 -3.66778718e-03  9.67562340e-01  1.48679586e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.380714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:569.40, Y:41.90, Z:148.69
[[ 9.65057521e-01 -7.08342801e-02 -2.52282554e-01  5.69402493e+02]
 [ 6.97395538e-02  9.97476700e-01 -1.32901106e-02  4.19014238e+01]
 [ 2.52587365e-01 -4.76835158e-03  9.67562342e-01  1.48693574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.440714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:569.46, Y:41.90, Z:148.71
[[ 9.64648949e-01 -7.61982231e-02 -2.52282058e-01  5.69459755e+02]
 [ 7.52812824e-02  9.97073644e-01 -1.32995192e-02  4.18974179e+01]
 [ 2.52557190e-01 -6.16274961e-03  9.67562342e-01  1.48710707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.500714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:569.52, Y:41.90, Z:148.73
[[ 9.64079153e-01 -8.30975342e-02 -2.52281960e-01  5.69517821e+02]
 [ 8.24121053e-02  9.96509568e-01 -1.33013683e-02  4.18951833e+01]
 [ 2.52506698e-01 -7.96751562e-03  9.67562342e-01  1.48725867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.560714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:569.58, Y:41.90, Z:148.74
[[ 9.63250054e-01 -9.22138331e-02 -2.52281476e-01  5.69576833e+02]
 [ 9.18328223e-02  9.95685474e-01 -1.33105415e-02  4.18959652e+01]
 [ 2.52420417e-01 -1.03463402e-02  9.67562342e-01  1.48739419e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.620714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:569.64, Y:41.90, Z:148.75
[[ 9.62515843e-01 -9.95856891e-02 -2.52281476e-01  5.69635060e+02]
 [ 9.94530122e-02  9.94953229e-01 -1.33105415e-02  4.19002051e+01]
 [ 2.52333809e-01 -1.22785457e-02  9.67562342e-01  1.48752880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.680714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:569.69, Y:41.91, Z:148.77
[[ 9.62247694e-01 -1.02144645e-01 -2.52281286e-01  5.69690297e+02]
 [ 1.02097275e-01  9.94685317e-01 -1.33141520e-02  4.19083869e+01]
 [ 2.52300460e-01 -1.29457196e-02  9.67562342e-01  1.48769232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.740714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:569.75, Y:41.91, Z:148.78
[[ 9.62298468e-01 -1.01668265e-01 -2.52280048e-01  5.69746619e+02]
 [ 1.01598715e-01  9.94736051e-01 -1.33375596e-02  4.19135749e+01]
 [ 2.52308065e-01 -1.27966156e-02  9.67562343e-01  1.48784641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.800714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:569.80, Y:41.93, Z:148.80
[[ 9.62697421e-01 -9.78203484e-02 -2.52279321e-01  5.69804118e+02]
 [ 9.76175280e-02  9.95134444e-01 -1.33512949e-02  4.19252646e+01]
 [ 2.52357871e-01 -1.17736266e-02  9.67562343e-01  1.48800615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.860714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:569.86, Y:41.94, Z:148.82
[[ 9.63381870e-01 -9.08330431e-02 -2.52279075e-01  5.69862157e+02]
 [ 9.03936678e-02  9.95816551e-01 -1.33559510e-02  4.19394633e+01]
 [ 2.52436840e-01 -9.93754987e-03  9.67562343e-01  1.48816156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.920714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:569.92, Y:41.95, Z:148.83
[[ 9.63960804e-01 -8.44683183e-02 -2.52278956e-01  5.69919075e+02]
 [ 8.38141464e-02  9.96391864e-01 -1.33582016e-02  4.19517486e+01]
 [ 2.52497044e-01 -8.26776262e-03  9.67562343e-01  1.48831774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 585.980714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:569.98, Y:41.96, Z:148.85
[[ 9.64141399e-01 -8.23828414e-02 -2.52278479e-01  5.69976591e+02]
 [ 8.16561612e-02  9.96570915e-01 -1.33672052e-02  4.19626495e+01]
 [ 2.52514623e-01 -7.71221623e-03  9.67562343e-01  1.48845727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.0407140570001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:570.03, Y:41.97, Z:148.86
[[ 9.64107544e-01 -8.27795877e-02 -2.52277988e-01  5.70033528e+02]
 [ 8.20638341e-02  9.96537304e-01 -1.33764567e-02  4.19738502e+01]
 [ 2.52511724e-01 -7.80655618e-03  9.67562343e-01  1.48858781e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.100714057 meters
Centerline goodness : 0.999515 with order 1
Centerline is valid?  [True, True]
Translation: X:570.09, Y:41.98, Z:148.87
[[ 9.64423010e-01 -7.90225777e-02 -2.52277011e-01  5.70089783e+02]
 [ 7.81756644e-02  9.96849609e-01 -1.33948633e-02  4.19826795e+01]
 [ 2.52540736e-01 -6.80360856e-03  9.67562343e-01  1.48872643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.1607140570001 meters
Centerline goodness : 0.999747 with order 1
Centerline is valid?  [True, True]
Translation: X:570.15, Y:41.99, Z:148.89
[[ 9.65000094e-01 -7.16438376e-02 -2.52273620e-01  5.70147440e+02]
 [ 7.05323193e-02  9.97418700e-01 -1.34584370e-02  4.19908457e+01]
 [ 2.52586640e-01 -4.80605052e-03  9.67562345e-01  1.48888537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.220714057 meters
Centerline goodness : 0.999789 with order 1
Centerline is valid?  [True, True]
Translation: X:570.21, Y:42.00, Z:148.90
[[ 9.65323150e-01 -6.71517763e-02 -2.52273375e-01  5.70205185e+02]
 [ 6.58881878e-02  9.97736184e-01 -1.34630303e-02  4.19976628e+01]
 [ 2.52606341e-01 -3.62566064e-03  9.67562345e-01  1.48903119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.280714057 meters
Centerline goodness : 0.999768 with order 1
Centerline is valid?  [True, True]
Translation: X:570.26, Y:42.00, Z:148.92
[[ 9.65264918e-01 -6.79846260e-02 -2.52273123e-01  5.70262775e+02]
 [ 6.67477697e-02  9.97678984e-01 -1.34677532e-02  4.20008200e+01]
 [ 2.52603193e-01 -3.83871857e-03  9.67562345e-01  1.48916840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.340714057 meters
Centerline goodness : 0.999683 with order 1
Centerline is valid?  [True, True]
Translation: X:570.32, Y:42.00, Z:148.93
[[ 9.65072102e-01 -7.06728841e-02 -2.52272040e-01  5.70319588e+02]
 [ 6.95210249e-02  9.97489299e-01 -1.34879948e-02  4.20032788e+01]
 [ 2.52591896e-01 -4.52132335e-03  9.67562345e-01  1.48933214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.400714057 meters
Centerline goodness : 0.999831 with order 1
Centerline is valid?  [True, True]
Translation: X:570.38, Y:42.01, Z:148.95
[[ 9.65063794e-01 -7.07924326e-02 -2.52270303e-01  5.70376542e+02]
 [ 6.96361167e-02  9.97480832e-01 -1.35204166e-02  4.20057194e+01]
 [ 2.52591935e-01 -4.51905968e-03  9.67562346e-01  1.48950484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.460714057 meters
Centerline goodness : 0.999369 with order 1
Centerline is valid?  [True, True]
Translation: X:570.43, Y:42.01, Z:148.97
[[ 9.65148467e-01 -6.96302991e-02 -2.52269811e-01  5.70432934e+02]
 [ 6.84325531e-02  9.97564001e-01 -1.35295856e-02  4.20067695e+01]
 [ 2.52597351e-01 -4.20540845e-03  9.67562346e-01  1.48968135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.520714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:570.49, Y:42.01, Z:148.98
[[ 9.65156617e-01 -6.95297805e-02 -2.52266356e-01  5.70489457e+02]
 [ 6.83119019e-02  9.97571398e-01 -1.35937124e-02  4.20076385e+01]
 [ 2.52598869e-01 -4.11273313e-03  9.67562348e-01  1.48982826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.580714057 meters
Centerline goodness : 0.999642 with order 1
Centerline is valid?  [True, True]
Translation: X:570.55, Y:42.01, Z:149.00
[[ 9.65026263e-01 -7.13206773e-02 -2.52265083e-01  5.70546996e+02]
 [ 7.01567906e-02  9.97443028e-01 -1.36172902e-02  4.20065185e+01]
 [ 2.52591243e-01 -4.55706599e-03  9.67562348e-01  1.48996873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.640714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:570.60, Y:42.01, Z:149.01
[[ 9.64887158e-01 -7.31802832e-02 -2.52264582e-01  5.70604951e+02]
 [ 7.20764450e-02  9.97306023e-01 -1.36265702e-02  4.20058096e+01]
 [ 2.52582183e-01 -5.03423164e-03  9.67562348e-01  1.49011841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.700714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:570.66, Y:42.01, Z:149.03
[[ 9.65032197e-01 -7.12439045e-02 -2.52264076e-01  5.70661660e+02]
 [ 7.00725685e-02  9.97448694e-01 -1.36359276e-02  4.20055067e+01]
 [ 2.52591950e-01 -4.51768264e-03  9.67562348e-01  1.49026003e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.760714057 meters
Centerline goodness : 0.999747 with order 1
Centerline is valid?  [True, True]
Translation: X:570.72, Y:42.00, Z:149.04
[[ 9.65549581e-01 -6.38662472e-02 -2.52260003e-01  5.70720191e+02]
 [ 6.24276119e-02  9.97955312e-01 -1.37108780e-02  4.20042835e+01]
 [ 2.52619873e-01 -2.50945709e-03  9.67562351e-01  1.49041664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.820714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:570.78, Y:42.00, Z:149.06
[[ 9.66160259e-01 -5.38453188e-02 -2.52259857e-01  5.70778222e+02]
 [ 5.20698495e-02  9.98549282e-01 -1.37135779e-02  4.20031938e+01]
 [ 2.52632311e-01  1.14381191e-04  9.67562351e-01  1.49056428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.880714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:570.84, Y:42.00, Z:149.07
[[ 9.66527996e-01 -4.67838093e-02 -2.52259605e-01  5.70836423e+02]
 [ 4.47705010e-02  9.98903105e-01 -1.37182080e-02  4.20005383e+01]
 [ 2.52624693e-01  1.96524323e-03  9.67562351e-01  1.49072630e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 586.940714057 meters
Centerline goodness : 0.999792 with order 1
Centerline is valid?  [True, True]
Translation: X:570.89, Y:41.99, Z:149.09
[[ 9.66522507e-01 -4.68984194e-02 -2.52259353e-01  5.70894029e+02]
 [ 4.48877412e-02  9.98897780e-01 -1.37228404e-02  4.19941044e+01]
 [ 2.52624887e-01  1.94008161e-03  9.67562351e-01  1.49087511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.000714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:570.95, Y:41.99, Z:149.10
[[ 9.66143631e-01 -5.41487464e-02 -2.52258593e-01  5.70951305e+02]
 [ 5.23773895e-02  9.98532879e-01 -1.37367862e-02  4.19857308e+01]
 [ 2.52632329e-01  5.90619062e-05  9.67562351e-01  1.49100747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.060714057 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:571.01, Y:41.98, Z:149.11
[[ 9.65455533e-01 -6.52915634e-02 -2.52255081e-01  5.71008669e+02]
 [ 6.38772250e-02  9.97862332e-01 -1.38009963e-02  4.19770352e+01]
 [ 2.52616932e-01 -2.78910633e-03  9.67562353e-01  1.49114035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.120714057 meters
Centerline goodness : 0.999750 with order 1
Centerline is valid?  [True, True]
Translation: X:571.07, Y:41.97, Z:149.13
[[ 9.64459637e-01 -7.86478126e-02 -2.52254099e-01  5.71065946e+02]
 [ 7.76774518e-02  9.96882767e-01 -1.38189314e-02  4.19694078e+01]
 [ 2.52554592e-01 -6.26665402e-03  9.67562353e-01  1.49130162e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.180714057 meters
Centerline goodness : 0.999602 with order 1
Centerline is valid?  [True, True]
Translation: X:571.12, Y:41.96, Z:149.15
[[ 9.63340771e-01 -9.13371433e-02 -2.52254010e-01  5.71124863e+02]
 [ 9.07932600e-02  9.95773858e-01 -1.38205554e-02  4.19639577e+01]
 [ 2.52450278e-01 -9.58905942e-03  9.67562353e-01  1.49146481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.240714057 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:571.18, Y:41.96, Z:149.16
[[ 9.62441136e-01 -1.00374443e-01 -2.52253903e-01  5.71184184e+02]
 [ 1.00134474e-01  9.94877895e-01 -1.38224940e-02  4.19627398e+01]
 [ 2.52349257e-01 -1.19559750e-02  9.67562353e-01  1.49160099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.300714057 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:571.24, Y:41.96, Z:149.17
[[ 9.61806608e-01 -1.06282807e-01 -2.52253869e-01  5.71242874e+02]
 [ 1.06241869e-01  9.94244229e-01 -1.38231213e-02  4.19648194e+01]
 [ 2.52271114e-01 -1.35047530e-02  9.67562353e-01  1.49173698e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.360714057 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:571.30, Y:41.97, Z:149.19
[[ 9.61550075e-01 -1.08579774e-01 -2.52253614e-01  5.71300005e+02]
 [ 1.08615096e-01  9.93987703e-01 -1.38277742e-02  4.19683737e+01]
 [ 2.52238407e-01 -1.41024533e-02  9.67562353e-01  1.49188558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.420714057 meters
Centerline goodness : 0.999620 with order 1
Centerline is valid?  [True, True]
Translation: X:571.36, Y:41.97, Z:149.20
[[ 9.61595698e-01 -1.08175637e-01 -2.52253334e-01  5.71356988e+02]
 [ 1.08195990e-01  9.94033339e-01 -1.38328804e-02  4.19747757e+01]
 [ 2.52244604e-01 -1.39911610e-02  9.67562353e-01  1.49204159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.480714057 meters
Centerline goodness : 0.999642 with order 1
Centerline is valid?  [True, True]
Translation: X:571.41, Y:41.98, Z:149.22
[[ 9.61958452e-01 -1.04908861e-01 -2.52250008e-01  5.71414705e+02]
 [ 1.04803246e-01  9.94395926e-01 -1.38932654e-02  4.19840450e+01]
 [ 2.52293907e-01 -1.30718756e-02  9.67562355e-01  1.49219767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.5407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:571.47, Y:42.00, Z:149.23
[[ 9.62250369e-01 -1.02197290e-01 -2.52249760e-01  5.71471444e+02]
 [ 1.01999073e-01  9.94687409e-01 -1.38977811e-02  4.19950393e+01]
 [ 2.52329975e-01 -1.23560967e-02  9.67562355e-01  1.49232933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.600714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:571.53, Y:42.01, Z:149.25
[[ 9.62551537e-01 -9.93299161e-02 -2.52246125e-01  5.71528792e+02]
 [ 9.90178816e-02  9.94987679e-01 -1.39634598e-02  4.20066281e+01]
 [ 2.52368775e-01 -1.15363272e-02  9.67562357e-01  1.49247528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.6607140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:571.59, Y:42.01, Z:149.26
[[ 9.62610983e-01 -9.87527257e-02 -2.52245903e-01  5.71585747e+02]
 [ 9.84201933e-02  9.95046921e-01 -1.39674686e-02  4.20129179e+01]
 [ 2.52375834e-01 -1.13808518e-02  9.67562357e-01  1.49262332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.720714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:571.64, Y:42.03, Z:149.28
[[ 9.62614675e-01 -9.87259625e-02 -2.52242287e-01  5.71640559e+02]
 [ 9.83755280e-02  9.95050423e-01 -1.40324762e-02  4.20250581e+01]
 [ 2.52379164e-01 -1.13066006e-02  9.67562359e-01  1.49278684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.780714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:571.70, Y:42.04, Z:149.29
[[ 9.62345823e-01 -1.01323519e-01 -2.52238106e-01  5.71695978e+02]
 [ 1.01041073e-01  9.94782231e-01 -1.41072337e-02  4.20353150e+01]
 [ 2.52351381e-01 -1.19103715e-02  9.67562362e-01  1.49294068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.840714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:571.75, Y:42.05, Z:149.31
[[ 9.62042171e-01 -1.04177224e-01 -2.52233953e-01  5.71753414e+02]
 [ 1.03971657e-01  9.94479155e-01 -1.41811165e-02  4.20463696e+01]
 [ 2.52318758e-01 -1.25823500e-02  9.67562364e-01  1.49306436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.900714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:571.81, Y:42.06, Z:149.32
[[ 9.62016254e-01 -1.04425071e-01 -2.52230315e-01  5.71811720e+02]
 [ 1.04211008e-01  9.94453181e-01 -1.42455509e-02  4.20586503e+01]
 [ 2.52318831e-01 -1.25807239e-02  9.67562366e-01  1.49320323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 587.960714057 meters
Centerline goodness : 0.999852 with order 1
Centerline is valid?  [True, True]
Translation: X:571.87, Y:42.07, Z:149.33
[[ 9.62112636e-01 -1.03533301e-01 -2.52230315e-01  5.71866965e+02]
 [ 1.03289172e-01  9.94549351e-01 -1.42455509e-02  4.20711280e+01]
 [ 2.52330384e-01 -1.23468359e-02  9.67562366e-01  1.49334017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.020714057 meters
Centerline goodness : 0.999810 with order 1
Centerline is valid?  [True, True]
Translation: X:571.92, Y:42.08, Z:149.35
[[ 9.61998227e-01 -1.04594056e-01 -2.52229053e-01  5.71921513e+02]
 [ 1.04379859e-01  9.94435153e-01 -1.42678524e-02  4.20835721e+01]
 [ 2.52317769e-01 -1.26019844e-02  9.67562367e-01  1.49349831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.080714057 meters
Centerline goodness : 0.999706 with order 1
Centerline is valid?  [True, True]
Translation: X:571.98, Y:42.10, Z:149.37
[[ 9.61705354e-01 -1.07256456e-01 -2.52227804e-01  5.71977779e+02]
 [ 1.07126280e-01  9.94142726e-01 -1.42898944e-02  4.20957267e+01]
 [ 2.52283120e-01 -1.32775584e-02  9.67562367e-01  1.49366277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.140714057 meters
Centerline goodness : 0.999539 with order 1
Centerline is valid?  [True, True]
Translation: X:572.04, Y:42.11, Z:149.38
[[ 9.61347573e-01 -1.10424481e-01 -2.52224659e-01  5.72035196e+02]
 [ 1.10386713e-01  9.93785182e-01 -1.43452055e-02  4.21075761e+01]
 [ 2.52241191e-01 -1.40515225e-02  9.67562368e-01  1.49379906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.200714057 meters
Centerline goodness : 0.999493 with order 1
Centerline is valid?  [True, True]
Translation: X:572.09, Y:42.12, Z:149.39
[[ 9.61165344e-01 -1.12000111e-01 -2.52224417e-01  5.72093351e+02]
 [ 1.12014400e-01  9.93602973e-01 -1.43494562e-02  4.21159802e+01]
 [ 2.52218071e-01 -1.44605668e-02  9.67562368e-01  1.49392194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.260714057 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:572.15, Y:42.13, Z:149.41
[[ 9.61029014e-01 -1.13164507e-01 -2.52224164e-01  5.72150720e+02]
 [ 1.13216932e-01  9.93466603e-01 -1.43539046e-02  4.21258574e+01]
 [ 2.52200636e-01 -1.47615272e-02  9.67562368e-01  1.49406174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.320714057 meters
Centerline goodness : 0.999200 with order 1
Centerline is valid?  [True, True]
Translation: X:572.21, Y:42.14, Z:149.42
[[ 9.61459664e-01 -1.09446634e-01 -2.52223610e-01  5.72206825e+02]
 [ 1.09371056e-01  9.93897207e-01 -1.43636244e-02  4.21387835e+01]
 [ 2.52256392e-01 -1.37759172e-02  9.67562368e-01  1.49423022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.380714057 meters
Centerline goodness : 0.999083 with order 1
Centerline is valid?  [True, True]
Translation: X:572.26, Y:42.15, Z:149.44
[[ 9.62270231e-01 -1.02076087e-01 -2.52223066e-01  5.72264322e+02]
 [ 1.01749454e-01  9.94706218e-01 -1.43731807e-02  4.21523163e+01]
 [ 2.52355010e-01 -1.18326753e-02  9.67562368e-01  1.49439518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.440714057 meters
Centerline goodness : 0.999290 with order 1
Centerline is valid?  [True, True]
Translation: X:572.32, Y:42.17, Z:149.46
[[ 9.63361063e-01 -9.12089703e-02 -2.52222889e-01  5.72320673e+02]
 [ 9.05154594e-02  9.95791280e-01 -1.43762850e-02  4.21655010e+01]
 [ 2.52472600e-01 -8.98051746e-03  9.67562368e-01  1.49455925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.500714057 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:572.38, Y:42.18, Z:149.47
[[ 9.64440224e-01 -7.89864205e-02 -2.52222521e-01  5.72378710e+02]
 [ 7.78800723e-02  9.96858983e-01 -1.43827298e-02  4.21791215e+01]
 [ 2.52566326e-01 -5.77182507e-03  9.67562368e-01  1.49467155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.560714057 meters
Centerline goodness : 0.998404 with order 1
Centerline is valid?  [True, True]
Translation: X:572.44, Y:42.19, Z:149.48
[[ 9.65228853e-01 -6.86823198e-02 -2.52222126e-01  5.72435616e+02]
 [ 6.72280120e-02  9.97633867e-01 -1.43896626e-02  4.21877535e+01]
 [ 2.52613650e-01 -3.06707455e-03  9.67562368e-01  1.49483244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.620714057 meters
Centerline goodness : 0.998274 with order 1
Centerline is valid?  [True, True]
Translation: X:572.49, Y:42.19, Z:149.50
[[ 9.65629203e-01 -6.28052642e-02 -2.52221612e-01  5.72491768e+02]
 [ 6.11513664e-02  9.98024643e-01 -1.43986716e-02  4.21922458e+01]
 [ 2.52627696e-01 -1.51991837e-03  9.67562369e-01  1.49499185e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.680714057 meters
Centerline goodness : 0.997857 with order 1
Centerline is valid?  [True, True]
Translation: X:572.55, Y:42.19, Z:149.51
[[ 9.65997069e-01 -5.68843204e-02 -2.52217836e-01  5.72549905e+02]
 [ 5.50146644e-02  9.98380771e-01 -1.44645090e-02  4.21940427e+01]
 [ 2.52632242e-01  9.69936538e-05  9.67562371e-01  1.49513244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.740714057 meters
Centerline goodness : 0.998525 with order 1
Centerline is valid?  [True, True]
Translation: X:572.61, Y:42.19, Z:149.52
[[ 9.66555603e-01 -4.64387790e-02 -2.52217576e-01  5.72608564e+02]
 [ 4.42179886e-02  9.98917122e-01 -1.44690423e-02  4.21887631e+01]
 [ 2.52616380e-01  2.83258001e-03  9.67562371e-01  1.49524516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.800714057 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:572.67, Y:42.18, Z:149.54
[[ 9.66682674e-01 -4.37184815e-02 -2.52216777e-01  5.72665636e+02]
 [ 4.14029947e-02  9.99037555e-01 -1.44829668e-02  4.21836231e+01]
 [ 2.52607205e-01  3.55790321e-03  9.67562371e-01  1.49539156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.860714057 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:572.72, Y:42.17, Z:149.56
[[ 9.66840502e-01 -4.01003486e-02 -2.52213016e-01  5.72724105e+02]
 [ 3.76467846e-02  9.99185203e-01 -1.45481738e-02  4.21731788e+01]
 [ 2.52590901e-01  4.57075453e-03  9.67562373e-01  1.49555426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.920714057 meters
Centerline goodness : 0.999539 with order 1
Centerline is valid?  [True, True]
Translation: X:572.78, Y:42.16, Z:149.57
[[ 9.67033512e-01 -3.51413485e-02 -2.52212750e-01  5.72779205e+02]
 [ 3.25207358e-02  9.99365108e-01 -1.45527781e-02  4.21595963e+01]
 [ 2.52564027e-01  5.87087989e-03  9.67562373e-01  1.49572339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 588.980714057 meters
Centerline goodness : 0.999625 with order 1
Centerline is valid?  [True, True]
Translation: X:572.84, Y:42.14, Z:149.59
[[ 9.67158913e-01 -3.15164276e-02 -2.52210929e-01  5.72836198e+02]
 [ 2.87664367e-02  9.99479760e-01 -1.45842843e-02  4.21430109e+01]
 [ 2.52539363e-01  6.85011084e-03  9.67562373e-01  1.49588582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.0407140570001 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:572.89, Y:42.12, Z:149.60
[[ 9.67147653e-01 -3.18702983e-02 -2.52209636e-01  5.72894629e+02]
 [ 2.91263176e-02  9.99469011e-01 -1.46066021e-02  4.21241633e+01]
 [ 2.52541233e-01  6.78080295e-03  9.67562374e-01  1.49602989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.100714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:572.95, Y:42.11, Z:149.62
[[ 9.67046832e-01 -3.48222446e-02 -2.52205940e-01  5.72953559e+02]
 [ 3.21603674e-02  9.99375053e-01 -1.46701587e-02  4.21063448e+01]
 [ 2.52559172e-01  6.07569482e-03  9.67562375e-01  1.49618782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.1607140570001 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:573.01, Y:42.09, Z:149.63
[[ 9.66905698e-01 -3.85461011e-02 -2.52205412e-01  5.73012716e+02]
 [ 3.60063780e-02  9.99243745e-01 -1.46792187e-02  4.20886638e+01]
 [ 2.52580507e-01  5.11241676e-03  9.67562376e-01  1.49633676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.220714057 meters
Centerline goodness : 0.999644 with order 1
Centerline is valid?  [True, True]
Translation: X:573.07, Y:42.07, Z:149.65
[[ 9.66748133e-01 -4.23156485e-02 -2.52205141e-01  5.73071006e+02]
 [ 3.99008086e-02  9.99095746e-01 -1.46838886e-02  4.20709791e+01]
 [ 2.52598441e-01  4.13243283e-03  9.67562376e-01  1.49649220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.280714057 meters
Centerline goodness : 0.999351 with order 1
Centerline is valid?  [True, True]
Translation: X:573.13, Y:42.06, Z:149.66
[[ 9.66481799e-01 -4.80184333e-02 -2.52204604e-01  5.73129717e+02]
 [ 4.57920721e-02  9.98842930e-01 -1.46931038e-02  4.20551647e+01]
 [ 2.52618325e-01  2.65164598e-03  9.67562376e-01  1.49664515e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.340714057 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:573.19, Y:42.05, Z:149.68
[[ 9.66212398e-01 -5.31668307e-02 -2.52204066e-01  5.73188334e+02]
 [ 5.11105024e-02  9.98584778e-01 -1.47023276e-02  4.20467807e+01]
 [ 2.52628817e-01  1.31529467e-03  9.67562376e-01  1.49679657e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.400714057 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:573.25, Y:42.03, Z:149.69
[[ 9.65287172e-01 -6.79274081e-02 -2.52203377e-01  5.73247295e+02]
 [ 6.63629853e-02  9.97687049e-01 -1.47141445e-02  4.20280013e+01]
 [ 2.52619536e-01 -2.53359409e-03  9.67562376e-01  1.49692519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.460714057 meters
Centerline goodness : 0.997549 with order 1
Centerline is valid?  [True, True]
Translation: X:573.31, Y:42.02, Z:149.71
[[ 9.64697293e-01 -7.58586441e-02 -2.52199524e-01  5.73305049e+02]
 [ 7.45433780e-02  9.97108239e-01 -1.47799014e-02  4.20219400e+01]
 [ 2.52591406e-01 -4.54167355e-03  9.67562378e-01  1.49707435e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.520714057 meters
Centerline goodness : 0.997894 with order 1
Centerline is valid?  [True, True]
Translation: X:573.36, Y:42.01, Z:149.72
[[ 9.63821651e-01 -8.62765299e-02 -2.52198703e-01  5.73364009e+02]
 [ 8.53078439e-02  9.96244806e-01 -1.47938819e-02  4.20114622e+01]
 [ 2.52528013e-01 -7.25586392e-03  9.67562378e-01  1.49721964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.580714057 meters
Centerline goodness : 0.997882 with order 1
Centerline is valid?  [True, True]
Translation: X:573.42, Y:42.01, Z:149.74
[[ 9.63675117e-01 -8.78989813e-02 -2.52198410e-01  5.73421217e+02]
 [ 8.69835729e-02  9.96099820e-01 -1.47988827e-02  4.20125495e+01]
 [ 2.52515598e-01 -7.67580375e-03  9.67562378e-01  1.49736559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.640714057 meters
Centerline goodness : 0.997783 with order 1
Centerline is valid?  [True, True]
Translation: X:573.48, Y:42.01, Z:149.75
[[ 9.63532010e-01 -8.94647348e-02 -2.52194620e-01  5.73478577e+02]
 [ 8.85851951e-02  9.95957704e-01 -1.48632068e-02  4.20116663e+01]
 [ 2.52504907e-01 -8.01953403e-03  9.67562380e-01  1.49750044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.700714057 meters
Centerline goodness : 0.998131 with order 1
Centerline is valid?  [True, True]
Translation: X:573.54, Y:42.01, Z:149.76
[[ 9.63861859e-01 -8.58493560e-02 -2.52190812e-01  5.73535177e+02]
 [ 8.48313547e-02  9.96283499e-01 -1.49275443e-02  4.20136875e+01]
 [ 2.52535064e-01 -7.00559763e-03  9.67562382e-01  1.49763017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.760714057 meters
Centerline goodness : 0.997462 with order 1
Centerline is valid?  [True, True]
Translation: X:573.59, Y:42.02, Z:149.78
[[ 9.64639300e-01 -7.66256481e-02 -2.52189473e-01  5.73592735e+02]
 [ 7.52916639e-02  9.97049477e-01 -1.49501261e-02  4.20185975e+01]
 [ 2.52590945e-01 -4.56628582e-03  9.67562382e-01  1.49779248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.820714057 meters
Centerline goodness : 0.997934 with order 1
Centerline is valid?  [True, True]
Translation: X:573.65, Y:42.02, Z:149.79
[[ 9.65099207e-01 -7.05993196e-02 -2.52188932e-01  5.73648685e+02]
 [ 6.90605539e-02  9.97500306e-01 -1.49592495e-02  4.20238590e+01]
 [ 2.52614650e-01 -2.97914757e-03  9.67562382e-01  1.49794920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.880714057 meters
Centerline goodness : 0.998333 with order 1
Centerline is valid?  [True, True]
Translation: X:573.71, Y:42.03, Z:149.81
[[ 9.65464450e-01 -6.54296889e-02 -2.52185154e-01  5.73705276e+02]
 [ 6.37008500e-02  9.97855962e-01 -1.50226885e-02  4.20292139e+01]
 [ 2.52627389e-01 -1.56053698e-03  9.67562384e-01  1.49811795e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 589.940714057 meters
Centerline goodness : 0.998083 with order 1
Centerline is valid?  [True, True]
Translation: X:573.76, Y:42.03, Z:149.83
[[ 9.65429717e-01 -6.59538499e-02 -2.52181583e-01  5.73763228e+02]
 [ 6.42270020e-02  9.97821334e-01 -1.50823943e-02  4.20332074e+01]
 [ 2.52626906e-01 -1.63587541e-03  9.67562386e-01  1.49828069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.000714057 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:573.82, Y:42.04, Z:149.84
[[ 9.65275372e-01 -6.81767018e-02 -2.52181270e-01  5.73819724e+02]
 [ 6.65230766e-02  9.97670809e-01 -1.50876303e-02  4.20371518e+01]
 [ 2.52622516e-01 -2.21215600e-03  9.67562386e-01  1.49842837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.060714057 meters
Centerline goodness : 0.998040 with order 1
Centerline is valid?  [True, True]
Translation: X:573.88, Y:42.04, Z:149.86
[[ 9.65066748e-01 -7.10726715e-02 -2.52180187e-01  5.73876590e+02]
 [ 6.95115313e-02  9.97466774e-01 -1.51057103e-02  4.20397095e+01]
 [ 2.52614961e-01 -2.95141225e-03  9.67562386e-01  1.49856637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.120714057 meters
Centerline goodness : 0.998016 with order 1
Centerline is valid?  [True, True]
Translation: X:573.94, Y:42.04, Z:149.87
[[ 9.64893957e-01 -7.33944605e-02 -2.52176338e-01  5.73935301e+02]
 [ 7.18945603e-02  9.97296873e-01 -1.51696993e-02  4.20420873e+01]
 [ 2.52608045e-01 -3.49295577e-03  9.67562388e-01  1.49870792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.180714057 meters
Centerline goodness : 0.997978 with order 1
Centerline is valid?  [True, True]
Translation: X:573.99, Y:42.05, Z:149.89
[[ 9.64752796e-01 -7.52272383e-02 -2.52176338e-01  5.73992426e+02]
 [ 7.37888933e-02  9.97158503e-01 -1.51696993e-02  4.20455796e+01]
 [ 2.52600954e-01 -3.97280309e-03  9.67562388e-01  1.49885603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.240714057 meters
Centerline goodness : 0.997953 with order 1
Centerline is valid?  [True, True]
Translation: X:574.05, Y:42.05, Z:149.90
[[ 9.64459795e-01 -7.89071990e-02 -2.52172475e-01  5.74048594e+02]
 [ 7.75757743e-02  9.96870069e-01 -1.52336589e-02  4.20498302e+01]
 [ 2.52585238e-01 -4.87022341e-03  9.67562390e-01  1.49902159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.300714057 meters
Centerline goodness : 0.997548 with order 1
Centerline is valid?  [True, True]
Translation: X:574.10, Y:42.05, Z:149.92
[[ 9.64095385e-01 -8.32438679e-02 -2.52171661e-01  5.74104943e+02]
 [ 8.20546972e-02  9.96511190e-01 -1.52471176e-02  4.20540807e+01]
 [ 2.52561111e-01 -5.99219361e-03  9.67562390e-01  1.49916895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.360714057 meters
Centerline goodness : 0.997361 with order 1
Centerline is valid?  [True, True]
Translation: X:574.16, Y:42.06, Z:149.93
[[ 9.63623490e-01 -8.85505946e-02 -2.52167727e-01  5.74163016e+02]
 [ 8.75229701e-02  9.96044816e-01 -1.53119150e-02  4.20603557e+01]
 [ 2.52526237e-01 -7.31554743e-03  9.67562392e-01  1.49932769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.420714057 meters
Centerline goodness : 0.998173 with order 1
Centerline is valid?  [True, True]
Translation: X:574.22, Y:42.07, Z:149.95
[[ 9.63023944e-01 -9.48493061e-02 -2.52167588e-01  5.74219358e+02]
 [ 9.40330909e-02  9.95451281e-01 -1.53142014e-02  4.20674854e+01]
 [ 2.52473090e-01 -8.96415516e-03  9.67562392e-01  1.49949418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.480714057 meters
Centerline goodness : 0.997310 with order 1
Centerline is valid?  [True, True]
Translation: X:574.28, Y:42.08, Z:149.97
[[ 9.62739924e-01 -9.77002552e-02 -2.52163636e-01  5.74276833e+02]
 [ 9.69631052e-02  9.95169153e-01 -1.53790123e-02  4.20755077e+01]
 [ 2.52448006e-01 -9.64457999e-03  9.67562394e-01  1.49965762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.5407140570001 meters
Centerline goodness : 0.998172 with order 1
Centerline is valid?  [True, True]
Translation: X:574.33, Y:42.08, Z:149.98
[[ 9.62929072e-01 -9.58188156e-02 -2.52163354e-01  5.74334714e+02]
 [ 9.50170885e-02  9.95356769e-01 -1.53836383e-02  4.20828259e+01]
 [ 2.52466543e-01 -9.14647511e-03  9.67562394e-01  1.49979737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.600714057 meters
Centerline goodness : 0.998571 with order 1
Centerline is valid?  [True, True]
Translation: X:574.39, Y:42.09, Z:149.99
[[ 9.63826682e-01 -8.63242277e-02 -2.52163153e-01  5.74393246e+02]
 [ 8.52020952e-02  9.96244872e-01 -1.53869291e-02  4.20937664e+01]
 [ 2.52544513e-01 -6.65449613e-03  9.67562394e-01  1.49992098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.6607140570001 meters
Centerline goodness : 0.999009 with order 1
Centerline is valid?  [True, True]
Translation: X:574.45, Y:42.10, Z:150.01
[[ 9.64993491e-01 -7.21210557e-02 -2.52162874e-01  5.74450106e+02]
 [ 7.05204423e-02  9.97391583e-01 -1.53915043e-02  4.21047059e+01]
 [ 2.52615179e-01 -2.92993592e-03  9.67562394e-01  1.50007879e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.720714057 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:574.51, Y:42.11, Z:150.02
[[ 9.65883706e-01 -5.90155505e-02 -2.52162310e-01  5.74507468e+02]
 [ 5.69729030e-02  9.98256934e-01 -1.54007304e-02  4.21127822e+01]
 [ 2.52631657e-01  5.08895739e-04  9.67562394e-01  1.50024461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.780714057 meters
Centerline goodness : 0.999159 with order 1
Centerline is valid?  [True, True]
Translation: X:574.56, Y:42.12, Z:150.04
[[ 9.66415475e-01 -4.95520377e-02 -2.52162103e-01  5.74563672e+02]
 [ 4.71915116e-02  9.98767077e-01 -1.54041258e-02  4.21185610e+01]
 [ 2.52614512e-01  2.98687477e-03  9.67562394e-01  1.50039303e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.840714057 meters
Centerline goodness : 0.999352 with order 1
Centerline is valid?  [True, True]
Translation: X:574.62, Y:42.12, Z:150.06
[[ 9.66748218e-01 -4.25779813e-02 -2.52160659e-01  5.74620683e+02]
 [ 3.99779436e-02  9.99081453e-01 -1.54277265e-02  4.21185362e+01]
 [ 2.52585919e-01  4.83386251e-03  9.67562395e-01  1.50055120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.900714057 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:574.68, Y:42.11, Z:150.07
[[ 9.66794255e-01 -4.15438979e-02 -2.52156643e-01  5.74678394e+02]
 [ 3.88922343e-02  9.99123295e-01 -1.54930974e-02  4.21125784e+01]
 [ 2.52579220e-01  5.17170227e-03  9.67562397e-01  1.50069940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 590.960714057 meters
Centerline goodness : 0.998778 with order 1
Centerline is valid?  [True, True]
Translation: X:574.74, Y:42.11, Z:150.09
[[ 9.66541358e-01 -4.70686562e-02 -2.52155398e-01  5.74735290e+02]
 [ 4.45965228e-02  9.98884621e-01 -1.55133425e-02  4.21084501e+01]
 [ 2.52604341e-01  3.74903318e-03  9.67562397e-01  1.50085179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.020714057 meters
Centerline goodness : 0.998232 with order 1
Centerline is valid?  [True, True]
Translation: X:574.79, Y:42.10, Z:150.10
[[ 9.65796648e-01 -6.04559242e-02 -2.52154548e-01  5.74791779e+02]
 [ 5.84285553e-02  9.98170833e-01 -1.55271336e-02  4.20996166e+01]
 [ 2.52632023e-01  2.63027622e-04  9.67562397e-01  1.50100643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.080714057 meters
Centerline goodness : 0.997239 with order 1
Centerline is valid?  [True, True]
Translation: X:574.85, Y:42.09, Z:150.12
[[ 9.65038193e-01 -7.15660320e-02 -2.52149935e-01  5.74850512e+02]
 [ 6.98918695e-02  9.97432561e-01 -1.56016982e-02  4.20928973e+01]
 [ 2.52619108e-01 -2.56699575e-03  9.67562400e-01  1.50116340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.140714057 meters
Centerline goodness : 0.997882 with order 1
Centerline is valid?  [True, True]
Translation: X:574.91, Y:42.09, Z:150.13
[[ 9.64457040e-01 -7.90137571e-02 -2.52149647e-01  5.74907934e+02]
 [ 7.75885009e-02  9.96863314e-01 -1.56063663e-02  4.20876218e+01]
 [ 2.52591850e-01 -4.51224323e-03  9.67562400e-01  1.50131274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.200714057 meters
Centerline goodness : 0.997509 with order 1
Centerline is valid?  [True, True]
Translation: X:574.97, Y:42.09, Z:150.14
[[ 9.64100203e-01 -8.32668778e-02 -2.52145644e-01  5.74966420e+02]
 [ 8.19677305e-02  9.96511775e-01 -1.56707790e-02  4.20861350e+01]
 [ 2.52570960e-01 -5.55960492e-03  9.67562402e-01  1.50144992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.260714057 meters
Centerline goodness : 0.997845 with order 1
Centerline is valid?  [True, True]
Translation: X:575.02, Y:42.09, Z:150.16
[[ 9.64062361e-01 -8.37047248e-02 -2.52145360e-01  5.75024231e+02]
 [ 8.24191034e-02  9.96474473e-01 -1.56753470e-02  4.20885523e+01]
 [ 2.52568515e-01 -5.66958241e-03  9.67562402e-01  1.50159761e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.320714057 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:575.08, Y:42.09, Z:150.18
[[ 9.64354860e-01 -8.02664594e-02 -2.52144797e-01  5.75082184e+02]
 [ 7.88629040e-02  9.96762079e-01 -1.56843937e-02  4.20915989e+01]
 [ 2.52587303e-01 -4.75954962e-03  9.67562402e-01  1.50176892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.380714057 meters
Centerline goodness : 0.997997 with order 1
Centerline is valid?  [True, True]
Translation: X:575.14, Y:42.10, Z:150.19
[[ 9.64873572e-01 -7.37698501e-02 -2.52144797e-01  5.75139578e+02]
 [ 7.21480685e-02  9.97270603e-01 -1.56843937e-02  4.20972036e+01]
 [ 2.52613629e-01 -3.05830312e-03  9.67562402e-01  1.50192022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.440714057 meters
Centerline goodness : 0.998063 with order 1
Centerline is valid?  [True, True]
Translation: X:575.20, Y:42.10, Z:150.21
[[ 9.65097127e-01 -7.07872025e-02 -2.52144218e-01  5.75196426e+02]
 [ 6.90628630e-02  9.97488862e-01 -1.56936985e-02  4.21015272e+01]
 [ 2.52621962e-01 -2.26785819e-03  9.67562402e-01  1.50207473e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.500714057 meters
Centerline goodness : 0.998165 with order 1
Centerline is valid?  [True, True]
Translation: X:575.25, Y:42.11, Z:150.22
[[ 9.65667631e-01 -6.25291668e-02 -2.52143072e-01  5.75253542e+02]
 [ 6.05230104e-02  9.98043133e-01 -1.57120851e-02  4.21071853e+01]
 [ 2.52632125e-01 -8.78058136e-05  9.67562402e-01  1.50220710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.560714057 meters
Centerline goodness : 0.998145 with order 1
Centerline is valid?  [True, True]
Translation: X:575.31, Y:42.11, Z:150.24
[[ 9.66033109e-01 -5.66212768e-02 -2.52138978e-01  5.75310666e+02]
 [ 5.44000461e-02  9.98394564e-01 -1.57775261e-02  4.21100812e+01]
 [ 2.52627528e-01  1.52524056e-03  9.67562404e-01  1.50236122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.620714057 meters
Centerline goodness : 0.997851 with order 1
Centerline is valid?  [True, True]
Translation: X:575.37, Y:42.11, Z:150.25
[[ 9.66226924e-01 -5.32296044e-02 -2.52135163e-01  5.75367710e+02]
 [ 5.08789337e-02  9.98579233e-01 -1.58382585e-02  4.21122744e+01]
 [ 2.52620002e-01  2.47498354e-03  9.67562406e-01  1.50249987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.680714057 meters
Centerline goodness : 0.997554 with order 1
Centerline is valid?  [True, True]
Translation: X:575.43, Y:42.11, Z:150.26
[[ 9.66297891e-01 -5.19295971e-02 -2.52134296e-01  5.75425891e+02]
 [ 4.95318011e-02  9.98646741e-01 -1.58520600e-02  4.21108081e+01]
 [ 2.52616284e-01  2.82914638e-03  9.67562406e-01  1.50263904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.740714057 meters
Centerline goodness : 0.997596 with order 1
Centerline is valid?  [True, True]
Translation: X:575.48, Y:42.11, Z:150.28
[[ 9.66230941e-01 -5.31635038e-02 -2.52133717e-01  5.75484731e+02]
 [ 5.08046202e-02  9.98582651e-01 -1.58612526e-02  4.21061311e+01]
 [ 2.52619596e-01  2.51607521e-03  9.67562406e-01  1.50278499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.800714057 meters
Centerline goodness : 0.996882 with order 1
Centerline is valid?  [True, True]
Translation: X:575.54, Y:42.10, Z:150.29
[[ 9.65987520e-01 -5.74181972e-02 -2.52133422e-01  5.75542279e+02]
 [ 5.52005865e-02  9.98349221e-01 -1.58659444e-02  4.21003708e+01]
 [ 2.52628200e-01  1.40839148e-03  9.67562406e-01  1.50293792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.860714057 meters
Centerline goodness : 0.996845 with order 1
Centerline is valid?  [True, True]
Translation: X:575.60, Y:42.09, Z:150.31
[[ 9.65718941e-01 -6.17746533e-02 -2.52132544e-01  5.75599806e+02]
 [ 5.96993899e-02  9.98090082e-01 -1.58798904e-02  4.20946625e+01]
 [ 2.52631966e-01  2.83351929e-04  9.67562406e-01  1.50311137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.920714057 meters
Centerline goodness : 0.996593 with order 1
Centerline is valid?  [True, True]
Translation: X:575.66, Y:42.09, Z:150.33
[[ 9.65657653e-01 -6.27273218e-02 -2.52132068e-01  5.75657460e+02]
 [ 6.06820230e-02  9.98030702e-01 -1.58874397e-02  4.20915403e+01]
 [ 2.52632121e-01  4.19438113e-05  9.67562406e-01  1.50328050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 591.980714057 meters
Centerline goodness : 0.996638 with order 1
Centerline is valid?  [True, True]
Translation: X:575.72, Y:42.09, Z:150.34
[[ 9.65736479e-01 -6.15030145e-02 -2.52131777e-01  5.75715385e+02]
 [ 5.94154711e-02  9.98106830e-01 -1.58920507e-02  4.20864750e+01]
 [ 2.52631858e-01  3.67004758e-04  9.67562406e-01  1.50342558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.0407140570001 meters
Centerline goodness : 0.996656 with order 1
Centerline is valid?  [True, True]
Translation: X:575.77, Y:42.08, Z:150.36
[[ 9.65827814e-01 -6.00689384e-02 -2.52127660e-01  5.75773210e+02]
 [ 5.79163455e-02  9.98193903e-01 -1.59571174e-02  4.20834473e+01]
 [ 2.52630820e-01  8.09515101e-04  9.67562408e-01  1.50356228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.100714057 meters
Centerline goodness : 0.996325 with order 1
Centerline is valid?  [True, True]
Translation: X:575.83, Y:42.08, Z:150.37
[[ 9.65793158e-01 -6.06409092e-02 -2.52123494e-01  5.75829683e+02]
 [ 5.84903708e-02  9.98159381e-01 -1.60226740e-02  4.20792339e+01]
 [ 2.52631061e-01  7.27792217e-04  9.67562410e-01  1.50372527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.1607140570001 meters
Centerline goodness : 0.996672 with order 1
Centerline is valid?  [True, True]
Translation: X:575.89, Y:42.08, Z:150.39
[[ 9.65546285e-01 -6.44582183e-02 -2.52122013e-01  5.75887513e+02]
 [ 6.24295629e-02  9.97920376e-01 -1.60459490e-02  4.20754929e+01]
 [ 2.52631987e-01 -2.46760672e-04  9.67562410e-01  1.50387839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.220714057 meters
Centerline goodness : 0.995663 with order 1
Centerline is valid?  [True, True]
Translation: X:575.94, Y:42.07, Z:150.40
[[ 9.65247447e-01 -6.88024791e-02 -2.52118196e-01  5.75944859e+02]
 [ 6.69039177e-02  9.97629426e-01 -1.61057078e-02  4.20731786e+01]
 [ 2.52628644e-01 -1.32170174e-03  9.67562412e-01  1.50402359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.280714057 meters
Centerline goodness : 0.995601 with order 1
Centerline is valid?  [True, True]
Translation: X:576.00, Y:42.07, Z:150.42
[[ 9.65035458e-01 -7.17293382e-02 -2.52113995e-01  5.76002361e+02]
 [ 6.99118727e-02  9.97422088e-01 -1.61712172e-02  4.20723854e+01]
 [ 2.52624018e-01 -2.01996352e-03  9.67562414e-01  1.50416543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.340714057 meters
Centerline goodness : 0.995825 with order 1
Centerline is valid?  [True, True]
Translation: X:576.06, Y:42.07, Z:150.43
[[ 9.64797821e-01 -7.48719723e-02 -2.52109802e-01  5.76058666e+02]
 [ 7.31429853e-02  9.97189293e-01 -1.62363233e-02  4.20747024e+01]
 [ 2.52616841e-01 -2.77529422e-03  9.67562416e-01  1.50430466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.400714057 meters
Centerline goodness : 0.995445 with order 1
Centerline is valid?  [True, True]
Translation: X:576.11, Y:42.08, Z:150.44
[[ 9.64682887e-01 -7.63458135e-02 -2.52107603e-01  5.76114822e+02]
 [ 7.46574095e-02  9.97076499e-01 -1.62703983e-02  4.20783926e+01]
 [ 2.52612743e-01 -3.12592580e-03  9.67562417e-01  1.50443709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.460714057 meters
Centerline goodness : 0.995209 with order 1
Centerline is valid?  [True, True]
Translation: X:576.17, Y:42.09, Z:150.46
[[ 9.64572840e-01 -7.77390451e-02 -2.52102908e-01  5.76172262e+02]
 [ 7.60785009e-02  9.96967890e-01 -1.63428344e-02  4.20851465e+01]
 [ 2.52608981e-01 -3.41575711e-03  9.67562419e-01  1.50455719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.520714057 meters
Centerline goodness : 0.995887 with order 1
Centerline is valid?  [True, True]
Translation: X:576.23, Y:42.09, Z:150.47
[[ 9.64340241e-01 -8.05749001e-02 -2.52102332e-01  5.76230406e+02]
 [ 7.90072923e-02  9.96739920e-01 -1.63517259e-02  4.20921059e+01]
 [ 2.52597997e-01 -4.14929530e-03  9.67562419e-01  1.50470725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.580714057 meters
Centerline goodness : 0.996582 with order 1
Centerline is valid?  [True, True]
Translation: X:576.29, Y:42.10, Z:150.48
[[ 9.63788183e-01 -8.69304304e-02 -2.52102038e-01  5.76287785e+02]
 [ 8.55752655e-02  9.96197444e-01 -1.63562454e-02  4.20999385e+01]
 [ 2.52565262e-01 -5.80974279e-03  9.67562419e-01  1.50484945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.640714057 meters
Centerline goodness : 0.996509 with order 1
Centerline is valid?  [True, True]
Translation: X:576.35, Y:42.11, Z:150.50
[[ 9.63429260e-01 -9.08243328e-02 -2.52101174e-01  5.76345547e+02]
 [ 8.95966637e-02  9.95843600e-01 -1.63695515e-02  4.21078232e+01]
 [ 2.52540095e-01 -6.81651925e-03  9.67562420e-01  1.50499789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.700714057 meters
Centerline goodness : 0.996726 with order 1
Centerline is valid?  [True, True]
Translation: X:576.40, Y:42.12, Z:150.51
[[ 9.63437177e-01 -9.07413664e-02 -2.52100795e-01  5.76401866e+02]
 [ 8.95093797e-02  9.95851353e-01 -1.63753884e-02  4.21174577e+01]
 [ 2.52540843e-01 -6.78872786e-03  9.67562420e-01  1.50514672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.760714057 meters
Centerline goodness : 0.997043 with order 1
Centerline is valid?  [True, True]
Translation: X:576.46, Y:42.13, Z:150.53
[[ 9.63219304e-01 -9.30369712e-02 -2.52096599e-01  5.76457892e+02]
 [ 9.18654012e-02  9.95635718e-01 -1.64397454e-02  4.21268727e+01]
 [ 2.52525882e-01 -7.32387505e-03  9.67562422e-01  1.50530190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.820714057 meters
Centerline goodness : 0.997697 with order 1
Centerline is valid?  [True, True]
Translation: X:576.51, Y:42.14, Z:150.55
[[ 9.62727468e-01 -9.80062856e-02 -2.52092425e-01  5.76513872e+02]
 [ 9.69853326e-02  9.95148973e-01 -1.65035140e-02  4.21371059e+01]
 [ 2.52486966e-01 -8.56088145e-03  9.67562424e-01  1.50545379e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.880714057 meters
Centerline goodness : 0.997910 with order 1
Centerline is valid?  [True, True]
Translation: X:576.57, Y:42.15, Z:150.56
[[ 9.62578770e-01 -9.94669250e-02 -2.52088166e-01  5.76571880e+02]
 [ 9.84782155e-02  9.95001272e-01 -1.65683201e-02  4.21465726e+01]
 [ 2.52476046e-01 -8.87687953e-03  9.67562426e-01  1.50559425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 592.940714057 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:576.63, Y:42.16, Z:150.57
[[ 9.63253069e-01 -9.27104792e-02 -2.52087864e-01  5.76630020e+02]
 [ 9.14931004e-02  9.95667792e-01 -1.65729055e-02  4.21635892e+01]
 [ 2.52532249e-01 -7.10039819e-03  9.67562426e-01  1.50571093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.000714057 meters
Centerline goodness : 0.998501 with order 1
Centerline is valid?  [True, True]
Translation: X:576.69, Y:42.18, Z:150.59
[[ 9.64080489e-01 -8.36696560e-02 -2.52087682e-01  5.76686879e+02]
 [ 8.21475069e-02  9.96482330e-01 -1.65756816e-02  4.21782943e+01]
 [ 2.52587802e-01 -4.72808341e-03  9.67562426e-01  1.50585029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.060714057 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:576.74, Y:42.19, Z:150.60
[[ 9.64581200e-01 -7.76976222e-02 -2.52083692e-01  5.76744261e+02]
 [ 7.59590404e-02  9.96972147e-01 -1.66361531e-02  4.21870839e+01]
 [ 2.52613009e-01 -3.10111478e-03  9.67562427e-01  1.50600202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.120714057 meters
Centerline goodness : 0.997871 with order 1
Centerline is valid?  [True, True]
Translation: X:576.80, Y:42.20, Z:150.62
[[ 9.65300116e-01 -6.81883652e-02 -2.52083387e-01  5.76799485e+02]
 [ 6.61294649e-02  9.97672280e-01 -1.66407702e-02  4.22002831e+01]
 [ 2.52631314e-01 -6.06802061e-04  9.67562427e-01  1.50615137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.180714057 meters
Centerline goodness : 0.998146 with order 1
Centerline is valid?  [True, True]
Translation: X:576.86, Y:42.21, Z:150.63
[[ 9.65646080e-01 -6.31060535e-02 -2.52081881e-01  5.76856141e+02]
 [ 6.08708262e-02  9.98006547e-01 -1.66635536e-02  4.22072981e+01]
 [ 2.52630939e-01  7.46662822e-04  9.67562428e-01  1.50630171e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.240714057 meters
Centerline goodness : 0.997723 with order 1
Centerline is valid?  [True, True]
Translation: X:576.91, Y:42.21, Z:150.65
[[ 9.66085487e-01 -5.59977346e-02 -2.52077537e-01  5.76912154e+02]
 [ 5.35073359e-02  9.98427316e-01 -1.67290084e-02  4.22126225e+01]
 [ 2.52617886e-01  2.67365473e-03  9.67562430e-01  1.50647998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.300714057 meters
Centerline goodness : 0.997686 with order 1
Centerline is valid?  [True, True]
Translation: X:576.97, Y:42.22, Z:150.66
[[ 9.66087071e-01 -5.59731564e-02 -2.52076926e-01  5.76970723e+02]
 [ 5.34795339e-02  9.98428651e-01 -1.67382111e-02  4.22162044e+01]
 [ 2.52617716e-01  2.68961278e-03  9.67562430e-01  1.50662134e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.360714057 meters
Centerline goodness : 0.997874 with order 1
Centerline is valid?  [True, True]
Translation: X:577.03, Y:42.22, Z:150.67
[[ 9.65870728e-01 -5.95912289e-02 -2.52076619e-01  5.77028423e+02]
 [ 5.72175496e-02  9.98221333e-01 -1.67428445e-02  4.22176298e+01]
 [ 2.52625985e-01  1.74821693e-03  9.67562430e-01  1.50674556e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.420714057 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:577.09, Y:42.22, Z:150.69
[[ 9.65350687e-01 -6.74984637e-02 -2.52075402e-01  5.77086198e+02]
 [ 6.53849966e-02  9.97719333e-01 -1.67611384e-02  4.22172246e+01]
 [ 2.52631853e-01 -3.01572905e-04  9.67562430e-01  1.50687127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.480714057 meters
Centerline goodness : 0.997388 with order 1
Centerline is valid?  [True, True]
Translation: X:577.14, Y:42.22, Z:150.70
[[ 9.65056965e-01 -7.15905773e-02 -2.52071108e-01  5.77143521e+02]
 [ 6.95975559e-02  9.97433248e-01 -1.68254745e-02  4.22155408e+01]
 [ 2.52628650e-01 -1.30599166e-03  9.67562432e-01  1.50701863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.5407140570001 meters
Centerline goodness : 0.997074 with order 1
Centerline is valid?  [True, True]
Translation: X:577.20, Y:42.21, Z:150.72
[[ 9.65063716e-01 -7.15148392e-02 -2.52066761e-01  5.77201334e+02]
 [ 6.95023287e-02  9.97438791e-01 -1.68903633e-02  4.22148314e+01]
 [ 2.52629077e-01 -1.21895014e-03  9.67562434e-01  1.50716351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.600714057 meters
Centerline goodness : 0.997809 with order 1
Centerline is valid?  [True, True]
Translation: X:577.26, Y:42.21, Z:150.73
[[ 9.65517042e-01 -6.51126189e-02 -2.52065842e-01  5.77258224e+02]
 [ 6.28818516e-02  9.97877811e-01 -1.69040686e-02  4.22132599e+01]
 [ 2.52631579e-01  4.70799447e-04  9.67562434e-01  1.50731902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.6607140570001 meters
Centerline goodness : 0.997660 with order 1
Centerline is valid?  [True, True]
Translation: X:577.31, Y:42.21, Z:150.75
[[ 9.66209419e-01 -5.38913443e-02 -2.52061661e-01  5.77314837e+02]
 [ 5.12685722e-02  9.98540776e-01 -1.69661956e-02  4.22129536e+01]
 [ 2.52608177e-01  3.47005653e-03  9.67562436e-01  1.50748081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.720714057 meters
Centerline goodness : 0.998441 with order 1
Centerline is valid?  [True, True]
Translation: X:577.37, Y:42.21, Z:150.76
[[ 9.66791815e-01 -4.21983791e-02 -2.52057303e-01  5.77371897e+02]
 [ 3.91678536e-02  9.99087501e-01 -1.70307021e-02  4.22114771e+01]
 [ 2.52545969e-01  6.59259985e-03  9.67562438e-01  1.50763623e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.780714057 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:577.43, Y:42.21, Z:150.78
[[ 9.67132379e-01 -3.34982511e-02 -2.52057194e-01  5.77430560e+02]
 [ 3.01768609e-02  9.99399449e-01 -1.70323024e-02  4.22054959e+01]
 [ 2.52476374e-01  8.86619623e-03  9.67562438e-01  1.50779658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.840714057 meters
Centerline goodness : 0.997522 with order 1
Centerline is valid?  [True, True]
Translation: X:577.49, Y:42.20, Z:150.79
[[ 9.67298324e-01 -2.83070003e-02 -2.52056872e-01  5.77489727e+02]
 [ 2.48112342e-02  9.99546968e-01 -1.70370718e-02  4.21995622e+01]
 [ 2.52424951e-01  1.02260889e-02  9.67562438e-01  1.50793461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.900714057 meters
Centerline goodness : 0.997837 with order 1
Centerline is valid?  [True, True]
Translation: X:577.55, Y:42.19, Z:150.81
[[ 9.67355398e-01 -2.62873707e-02 -2.52056556e-01  5.77547239e+02]
 [ 2.27230680e-02  9.99596539e-01 -1.70417401e-02  4.21908786e+01]
 [ 2.52402844e-01  1.07579211e-02  9.67562438e-01  1.50807925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 593.960714057 meters
Centerline goodness : 0.997708 with order 1
Centerline is valid?  [True, True]
Translation: X:577.60, Y:42.18, Z:150.82
[[ 9.67328221e-01 -2.72777503e-02 -2.52055623e-01  5.77604736e+02]
 [ 2.37428695e-02  9.99572601e-01 -1.70555373e-02  4.21805032e+01]
 [ 2.52413131e-01  1.05137788e-02  9.67562438e-01  1.50822839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.020714057 meters
Centerline goodness : 0.998215 with order 1
Centerline is valid?  [True, True]
Translation: X:577.66, Y:42.17, Z:150.84
[[ 9.67265651e-01 -2.94498933e-02 -2.52051314e-01  5.77662941e+02]
 [ 2.59709214e-02  9.99516109e-01 -1.71189846e-02  4.21707292e+01]
 [ 2.52433501e-01  1.00126009e-02  9.67562440e-01  1.50837246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.080714057 meters
Centerline goodness : 0.997290 with order 1
Centerline is valid?  [True, True]
Translation: X:577.72, Y:42.16, Z:150.85
[[ 9.67208256e-01 -3.13125305e-02 -2.52047050e-01  5.77721443e+02]
 [ 2.78793915e-02  9.99463623e-01 -1.71815442e-02  4.21601188e+01]
 [ 2.52449856e-01  9.59121296e-03  9.67562442e-01  1.50853441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.140714057 meters
Centerline goodness : 0.996751 with order 1
Centerline is valid?  [True, True]
Translation: X:577.78, Y:42.15, Z:150.87
[[ 9.67021417e-01 -3.66335327e-02 -2.52046749e-01  5.77780281e+02]
 [ 3.33767632e-02  9.99295069e-01 -1.71859535e-02  4.21507678e+01]
 [ 2.52498656e-01  8.20668041e-03  9.67562442e-01  1.50869397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.200714057 meters
Centerline goodness : 0.996957 with order 1
Centerline is valid?  [True, True]
Translation: X:577.84, Y:42.14, Z:150.88
[[ 9.66510808e-01 -4.82643157e-02 -2.52046452e-01  5.77838875e+02]
 [ 4.53949038e-02  9.98821203e-01 -1.71903103e-02  4.21418270e+01]
 [ 2.52579019e-01  5.17299627e-03  9.67562442e-01  1.50884819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.260714057 meters
Centerline goodness : 0.997900 with order 1
Centerline is valid?  [True, True]
Translation: X:577.90, Y:42.13, Z:150.90
[[ 9.65475735e-01 -6.57984618e-02 -2.52045964e-01  5.77895438e+02]
 [ 6.35140844e-02  9.97832756e-01 -1.71974711e-02  4.21337427e+01]
 [ 2.52631286e-01  5.95272430e-04  9.67562442e-01  1.50901932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.320714057 meters
Centerline goodness : 0.998630 with order 1
Centerline is valid?  [True, True]
Translation: X:577.95, Y:42.13, Z:150.92
[[ 9.63929690e-01 -8.55271759e-02 -2.52040977e-01  5.77952074e+02]
 [ 8.38859008e-02  9.96325697e-01 -1.72702582e-02  4.21279629e+01]
 [ 2.52591978e-01 -4.49536972e-03  9.67562445e-01  1.50919020e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.380714057 meters
Centerline goodness : 0.998781 with order 1
Centerline is valid?  [True, True]
Translation: X:578.01, Y:42.13, Z:150.94
[[ 9.62338732e-01 -1.01890614e-01 -2.52036641e-01  5.78010336e+02]
 [ 1.00783444e-01  9.94757384e-01 -1.73333110e-02  4.21283296e+01]
 [ 2.52481412e-01 -8.72060406e-03  9.67562447e-01  1.50935134e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.440714057 meters
Centerline goodness : 0.998624 with order 1
Centerline is valid?  [True, True]
Translation: X:578.07, Y:42.13, Z:150.95
[[ 9.61133762e-01 -1.12692316e-01 -2.52036373e-01  5.78067469e+02]
 [ 1.11948291e-01  9.93562782e-01 -1.73372149e-02  4.21330012e+01]
 [ 2.52367730e-01 -1.15516585e-02  9.67562447e-01  1.50951170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.500714057 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:578.13, Y:42.14, Z:150.96
[[ 9.60231329e-01 -1.20140153e-01 -2.52035985e-01  5.78125749e+02]
 [ 1.19646084e-01  9.92665120e-01 -1.73428430e-02  4.21444459e+01]
 [ 2.52270903e-01 -1.35019775e-02  9.67562447e-01  1.50963891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.560714057 meters
Centerline goodness : 0.999350 with order 1
Centerline is valid?  [True, True]
Translation: X:578.18, Y:42.16, Z:150.98
[[ 9.59861105e-01 -1.23063848e-01 -2.52035611e-01  5.78183140e+02]
 [ 1.22667129e-01  9.92296232e-01 -1.73482872e-02  4.21597484e+01]
 [ 2.52228934e-01 -1.42645387e-02  9.67562447e-01  1.50978597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.620714057 meters
Centerline goodness : 0.999612 with order 1
Centerline is valid?  [True, True]
Translation: X:578.24, Y:42.18, Z:150.99
[[ 9.59507571e-01 -1.25791225e-01 -2.52035292e-01  5.78239509e+02]
 [ 1.25485475e-01  9.91943684e-01 -1.73529171e-02  4.21771295e+01]
 [ 2.52187660e-01 -1.49765129e-02  9.67562447e-01  1.50992600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.680714057 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:578.30, Y:42.20, Z:151.00
[[ 9.59200269e-01 -1.28114033e-01 -2.52034995e-01  5.78295029e+02]
 [ 1.27885691e-01  9.91637019e-01 -1.73572276e-02  4.21974774e+01]
 [ 2.52150935e-01 -1.55826120e-02  9.67562447e-01  1.51003167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.740714057 meters
Centerline goodness : 0.997351 with order 1
Centerline is valid?  [True, True]
Translation: X:578.35, Y:42.22, Z:151.02
[[ 9.59113871e-01 -1.28769054e-01 -2.52029985e-01  5.78352545e+02]
 [ 1.28543899e-01  9.91550640e-01 -1.74296780e-02  4.22206423e+01]
 [ 2.52144896e-01 -1.56798709e-02  9.67562449e-01  1.51016281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.800714057 meters
Centerline goodness : 0.997794 with order 1
Centerline is valid?  [True, True]
Translation: X:578.41, Y:42.24, Z:151.03
[[ 9.59281664e-01 -1.27513663e-01 -2.52029671e-01  5.78409445e+02]
 [ 1.27244866e-01  9.91718101e-01 -1.74342177e-02  4.22430966e+01]
 [ 2.52165488e-01 -1.53451564e-02  9.67562449e-01  1.51029809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.860714057 meters
Centerline goodness : 0.996883 with order 1
Centerline is valid?  [True, True]
Translation: X:578.47, Y:42.27, Z:151.04
[[ 9.60017197e-01 -1.21853791e-01 -2.52029036e-01  5.78465997e+02]
 [ 1.21391294e-01  9.92451451e-01 -1.74433932e-02  4.22687633e+01]
 [ 2.52252126e-01 -1.38481734e-02  9.67562449e-01  1.51042764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.920714057 meters
Centerline goodness : 0.997530 with order 1
Centerline is valid?  [True, True]
Translation: X:578.52, Y:42.30, Z:151.06
[[ 9.61105006e-01 -1.12954767e-01 -2.52028546e-01  5.78522225e+02]
 [ 1.12189960e-01  9.93533539e-01 -1.74504701e-02  4.22955984e+01]
 [ 2.52369927e-01 -1.15033384e-02  9.67562449e-01  1.51058484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 594.980714057 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:578.58, Y:42.32, Z:151.07
[[ 9.61930597e-01 -1.05694162e-01 -2.52028313e-01  5.78577294e+02]
 [ 1.04683625e-01  9.94352403e-01 -1.74538398e-02  4.23198882e+01]
 [ 2.52449727e-01 -9.59385484e-03  9.67562449e-01  1.51074827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.0407140570001 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:578.63, Y:42.34, Z:151.09
[[ 9.62235513e-01 -1.02883206e-01 -2.52027507e-01  5.78633299e+02]
 [ 1.01774905e-01  9.94654124e-01 -1.74654639e-02  4.23423736e+01]
 [ 2.52477102e-01 -8.84418585e-03  9.67562449e-01  1.51089091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.100714057 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:578.69, Y:42.36, Z:151.10
[[ 9.62170460e-01 -1.03492091e-01 -2.52026571e-01  5.78688083e+02]
 [ 1.02400774e-01  9.94589648e-01 -1.74789626e-02  4.23626229e+01]
 [ 2.52471953e-01 -8.98997444e-03  9.67562449e-01  1.51102556e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.1607140570001 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:578.74, Y:42.38, Z:151.12
[[ 9.61906985e-01 -1.05916641e-01 -2.52025032e-01  5.78744277e+02]
 [ 1.04901234e-01  9.94328639e-01 -1.75011191e-02  4.23800761e+01]
 [ 2.52449367e-01 -9.60328811e-03  9.67562450e-01  1.51117446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.220714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:578.80, Y:42.40, Z:151.13
[[ 9.61629328e-01 -1.08418762e-01 -2.52020648e-01  5.78799491e+02]
 [ 1.07471241e-01  9.94053035e-01 -1.75640429e-02  4.23973877e+01]
 [ 2.52426161e-01 -1.01948730e-02  9.67562452e-01  1.51133624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.280714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:578.85, Y:42.41, Z:151.15
[[ 9.61641481e-01 -1.08321054e-01 -2.52016292e-01  5.78854444e+02]
 [ 1.07353944e-01  9.94064607e-01 -1.76263225e-02  4.24097277e+01]
 [ 2.52429778e-01 -1.01047401e-02  9.67562453e-01  1.51148273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.340714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:578.91, Y:42.43, Z:151.16
[[ 9.62118075e-01 -1.04006594e-01 -2.52014759e-01  5.78911296e+02]
 [ 1.02888335e-01  9.94536340e-01 -1.76482132e-02  4.24256107e+01]
 [ 2.52473367e-01 -8.94971402e-03  9.67562454e-01  1.51163405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.400714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:578.97, Y:42.44, Z:151.18
[[ 9.62629616e-01 -9.91619348e-02 -2.52014154e-01  5.78967277e+02]
 [ 9.78782363e-02  9.95041751e-01 -1.76568508e-02  4.24408368e+01]
 [ 2.52515493e-01 -7.66969347e-03  9.67562454e-01  1.51176554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.460714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:579.02, Y:42.45, Z:151.19
[[ 9.62691873e-01 -9.85664514e-02 -2.52009947e-01  5.79023457e+02]
 [ 9.72470481e-02  9.95102573e-01 -1.77167075e-02  4.24530908e+01]
 [ 2.52522019e-01 -7.45149306e-03  9.67562455e-01  1.51193131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.520714057 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:579.08, Y:42.46, Z:151.21
[[ 9.62363364e-01 -1.01734062e-01 -2.52005827e-01  5.79079988e+02]
 [ 1.00506045e-01  9.94777653e-01 -1.77751255e-02  4.24632334e+01]
 [ 2.52498100e-01 -8.22197940e-03  9.67562457e-01  1.51210588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.580714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:579.14, Y:42.47, Z:151.23
[[ 9.61786165e-01 -1.07054907e-01 -2.52005198e-01  5.79136366e+02]
 [ 1.06003848e-01  9.94206675e-01 -1.77840304e-02  4.24728357e+01]
 [ 2.52449118e-01 -9.60908639e-03  9.67562457e-01  1.51227265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.640714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:579.19, Y:42.48, Z:151.24
[[ 9.61256169e-01 -1.11714749e-01 -2.52004745e-01  5.79193070e+02]
 [ 1.10819145e-01  9.93681346e-01 -1.77904421e-02  4.24809301e+01]
 [ 2.52399869e-01 -1.08257781e-02  9.67562457e-01  1.51242357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.700714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:579.25, Y:42.49, Z:151.26
[[ 9.61183923e-01 -1.12344988e-01 -2.52000137e-01  5.79249246e+02]
 [ 1.11453622e-01  9.93609215e-01 -1.78554905e-02  4.24899824e+01]
 [ 2.52395633e-01 -1.09239175e-02  9.67562459e-01  1.51256876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.760714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:579.31, Y:42.50, Z:151.27
[[ 9.61592831e-01 -1.08791772e-01 -2.51999162e-01  5.79307099e+02]
 [ 1.07776975e-01  9.94014494e-01 -1.78692347e-02  4.24998732e+01]
 [ 2.52434846e-01 -9.97677937e-03  9.67562459e-01  1.51270639e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.820714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:579.36, Y:42.51, Z:151.29
[[ 9.62467500e-01 -1.00760773e-01 -2.51999162e-01  5.79364880e+02]
 [ 9.94753601e-02  9.94879562e-01 -1.78692347e-02  4.25099618e+01]
 [ 2.52509334e-01 -7.86914976e-03  9.67562459e-01  1.51285402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.880714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:579.42, Y:42.52, Z:151.30
[[ 9.63501745e-01 -9.03391822e-02 -2.51998452e-01  5.79420883e+02]
 [ 8.87004666e-02  9.95897866e-01 -1.78792544e-02  4.25195581e+01]
 [ 2.52579917e-01 -5.12568743e-03  9.67562459e-01  1.51300425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 595.940714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:579.48, Y:42.53, Z:151.32
[[ 9.64328721e-01 -8.10393667e-02 -2.51997497e-01  5.79478428e+02]
 [ 7.90846671e-02  9.96707313e-01 -1.78926915e-02  4.25275373e+01]
 [ 2.52617761e-01 -2.67470189e-03  9.67562459e-01  1.51315274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.000714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:579.54, Y:42.53, Z:151.33
[[ 9.64492350e-01 -7.90701163e-02 -2.51996873e-01  5.79535602e+02]
 [ 7.70470115e-02  9.96866739e-01 -1.79014757e-02  4.25327536e+01]
 [ 2.52622773e-01 -2.14976963e-03  9.67562459e-01  1.51331552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.060714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:579.59, Y:42.54, Z:151.35
[[ 9.64594035e-01 -7.78218400e-02 -2.51996247e-01  5.79592406e+02]
 [ 7.57545362e-02  9.96965632e-01 -1.79102913e-02  4.25364570e+01]
 [ 2.52625409e-01 -1.81369864e-03  9.67562460e-01  1.51347826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.120714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:579.65, Y:42.54, Z:151.36
[[ 9.64931945e-01 -7.35283979e-02 -2.51991898e-01  5.79649059e+02]
 [ 7.13011265e-02  9.97292927e-01 -1.79712784e-02  4.25397681e+01]
 [ 2.52631137e-01 -6.26245582e-04  9.67562461e-01  1.51364636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.180714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:579.71, Y:42.54, Z:151.38
[[ 9.65468312e-01 -6.61309015e-02 -2.51987387e-01  5.79706287e+02]
 [ 6.36392244e-02  9.97810008e-01 -1.80343189e-02  4.25409095e+01]
 [ 2.52628162e-01  1.37528153e-03  9.67562463e-01  1.51379732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.240714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:579.77, Y:42.54, Z:151.39
[[ 9.65978817e-01 -5.82059374e-02 -2.51986098e-01  5.79765896e+02]
 [ 5.54442534e-02  9.98298577e-01 -1.80523061e-02  4.25403494e+01]
 [ 2.52608115e-01  3.46696422e-03  9.67562463e-01  1.51392359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.300714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:579.82, Y:42.54, Z:151.41
[[ 9.66298495e-01 -5.26329295e-02 -2.51986098e-01  5.79824397e+02]
 [ 4.96848619e-02  9.98601787e-01 -1.80523061e-02  4.25379668e+01]
 [ 2.52583914e-01  4.92402175e-03  9.67562463e-01  1.51405712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.360714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:579.88, Y:42.53, Z:151.42
[[ 9.66439763e-01 -4.99736384e-02 -2.51985753e-01  5.79882098e+02]
 [ 4.69354348e-02  9.98734702e-01 -1.80571177e-02  4.25339441e+01]
 [ 2.52569296e-01  5.62405564e-03  9.67562463e-01  1.51419257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.420714057 meters
Centerline goodness : 0.999873 with order 1
Centerline is valid?  [True, True]
Translation: X:579.94, Y:42.53, Z:151.44
[[ 9.66448287e-01 -4.98152290e-02 -2.51984429e-01  5.79938418e+02]
 [ 4.67669200e-02  9.98742273e-01 -1.80755827e-02  4.25274408e+01]
 [ 2.52567941e-01  5.68458026e-03  9.67562464e-01  1.51435091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.480714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:579.99, Y:42.52, Z:151.45
[[ 9.66399345e-01 -5.07639271e-02 -2.51982795e-01  5.79994810e+02]
 [ 4.77413912e-02  9.98695754e-01 -1.80983360e-02  4.25212567e+01]
 [ 2.52572890e-01  5.46021092e-03  9.67562464e-01  1.51453110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.5407140570001 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:580.05, Y:42.51, Z:151.47
[[ 9.66481793e-01 -4.91929952e-02 -2.51978160e-01  5.80052277e+02]
 [ 4.61012078e-02  9.98771644e-01 -1.81626485e-02  4.25096740e+01]
 [ 2.52562116e-01  5.93737160e-03  9.67562466e-01  1.51469943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.600714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:580.11, Y:42.50, Z:151.49
[[ 9.66695775e-01 -4.48180060e-02 -2.51973462e-01  5.80110681e+02]
 [ 4.15631832e-02  9.98969597e-01 -1.82276015e-02  4.25016233e+01]
 [ 2.52530752e-01  7.14772621e-03  9.67562468e-01  1.51486153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.6607140570001 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:580.17, Y:42.49, Z:151.50
[[ 9.66911598e-01 -3.98958461e-02 -2.51972781e-01  5.80169013e+02]
 [ 3.64743066e-02  9.99168172e-01 -1.82370076e-02  4.24911619e+01]
 [ 2.52490764e-01  8.44304167e-03  9.67562468e-01  1.51500524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.720714057 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:580.23, Y:42.48, Z:151.51
[[ 9.67076096e-01 -3.57177094e-02 -2.51968389e-01  5.80228673e+02]
 [ 3.21410941e-02  9.99315842e-01 -1.82974897e-02  4.24784352e+01]
 [ 2.52449547e-01  9.59652523e-03  9.67562470e-01  1.51514274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.780714057 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:580.29, Y:42.46, Z:151.53
[[ 9.67130374e-01 -3.42174355e-02 -2.51968266e-01  5.80286257e+02]
 [ 3.05903682e-02  9.99364483e-01 -1.82991912e-02  4.24648526e+01]
 [ 2.52434287e-01  9.98990157e-03  9.67562470e-01  1.51526483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.840714057 meters
Centerline goodness : 0.998865 with order 1
Centerline is valid?  [True, True]
Translation: X:580.35, Y:42.45, Z:151.54
[[ 9.67147214e-01 -3.37503951e-02 -2.51966618e-01  5.80345430e+02]
 [ 3.01018672e-02  9.99378901e-01 -1.83218546e-02  4.24492707e+01]
 [ 2.52428491e-01  1.01352649e-02  9.67562470e-01  1.51543327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.900714057 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:580.40, Y:42.43, Z:151.56
[[ 9.67227375e-01 -3.13715414e-02 -2.51966328e-01  5.80403417e+02]
 [ 2.76427149e-02  9.99449871e-01 -1.83258314e-02  4.24270050e+01]
 [ 2.52402624e-01  1.07602125e-02  9.67562470e-01  1.51561857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 596.960714057 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:580.46, Y:42.41, Z:151.58
[[ 9.67211394e-01 -3.18685172e-02 -2.51965307e-01  5.80459710e+02]
 [ 2.81526002e-02  9.99435381e-01 -1.83398580e-02  4.24120649e+01]
 [ 2.52407507e-01  1.06450410e-02  9.67562470e-01  1.51579246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.020714057 meters
Centerline goodness : 0.998871 with order 1
Centerline is valid?  [True, True]
Translation: X:580.52, Y:42.40, Z:151.59
[[ 9.67172041e-01 -3.30540638e-02 -2.51963631e-01  5.80519132e+02]
 [ 2.93716668e-02  9.99399875e-01 -1.83628575e-02  4.23978042e+01]
 [ 2.52419389e-01  1.03594505e-02  9.67562470e-01  1.51594434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.080714057 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:580.58, Y:42.38, Z:151.61
[[ 9.67118704e-01 -3.45841881e-02 -2.51962986e-01  5.80576076e+02]
 [ 3.09504820e-02  9.99352064e-01 -1.83717052e-02  4.23849332e+01]
 [ 2.52435101e-01  9.96924388e-03  9.67562470e-01  1.51608810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.140714057 meters
Centerline goodness : 0.998500 with order 1
Centerline is valid?  [True, True]
Translation: X:580.63, Y:42.37, Z:151.63
[[ 9.67050259e-01 -3.64593690e-02 -2.51961328e-01  5.80633437e+02]
 [ 3.28822613e-02  9.99289949e-01 -1.83944170e-02  4.23729292e+01]
 [ 2.52453072e-01  9.50326749e-03  9.67562471e-01  1.51625274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.200714057 meters
Centerline goodness : 0.998581 with order 1
Centerline is valid?  [True, True]
Translation: X:580.69, Y:42.37, Z:151.64
[[ 9.67046704e-01 -3.65863405e-02 -2.51956568e-01  5.80691138e+02]
 [ 3.29965603e-02  9.99284983e-01 -1.84593949e-02  4.23717510e+01]
 [ 2.52451777e-01  9.53739692e-03  9.67562473e-01  1.51640347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.260714057 meters
Centerline goodness : 0.998766 with order 1
Centerline is valid?  [True, True]
Translation: X:580.75, Y:42.36, Z:151.66
[[ 9.67070827e-01 -3.59590340e-02 -2.51954288e-01  5.80749337e+02]
 [ 3.23402594e-02  9.99305864e-01 -1.84904661e-02  4.23561513e+01]
 [ 2.52444297e-01  9.73332330e-03  9.67562473e-01  1.51655377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.320714057 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:580.81, Y:42.35, Z:151.67
[[ 9.67130721e-01 -3.43452782e-02 -2.51949539e-01  5.80807732e+02]
 [ 3.06559455e-02  9.99357757e-01 -1.85549595e-02  4.23512633e+01]
 [ 2.52425001e-01  1.02213200e-02  9.67562475e-01  1.51669424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.380714057 meters
Centerline goodness : 0.998258 with order 1
Centerline is valid?  [True, True]
Translation: X:580.87, Y:42.34, Z:151.69
[[ 9.67263634e-01 -3.03743325e-02 -2.51949323e-01  5.80865091e+02]
 [ 2.65519576e-02  9.99475161e-01 -1.85578900e-02  4.23385127e+01]
 [ 2.52380774e-01  1.12606244e-02  9.67562475e-01  1.51687325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.440714057 meters
Centerline goodness : 0.998052 with order 1
Centerline is valid?  [True, True]
Translation: X:580.92, Y:42.33, Z:151.70
[[ 9.67368454e-01 -2.68746803e-02 -2.51944490e-01  5.80924023e+02]
 [ 2.29188021e-02  9.99563856e-01 -1.86232806e-02  4.23309422e+01]
 [ 2.52335101e-01  1.22413082e-02  9.67562477e-01  1.51702752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.500714057 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:580.98, Y:42.32, Z:151.72
[[ 9.67463824e-01 -2.31918522e-02 -2.51944214e-01  5.80981229e+02]
 [ 1.91124711e-02  9.99643811e-01 -1.86270090e-02  4.23244391e+01]
 [ 2.52286469e-01  1.32056808e-02  9.67562477e-01  1.51717691e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.560714057 meters
Centerline goodness : 0.998332 with order 1
Centerline is valid?  [True, True]
Translation: X:581.04, Y:42.32, Z:151.73
[[ 9.67533369e-01 -2.01426458e-02 -2.51939383e-01  5.81040271e+02]
 [ 1.59449608e-02  9.99698136e-01 -1.86921305e-02  4.23177118e+01]
 [ 2.52239841e-01  1.40680964e-02  9.67562479e-01  1.51734081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.620714057 meters
Centerline goodness : 0.998734 with order 1
Centerline is valid?  [True, True]
Translation: X:581.10, Y:42.31, Z:151.75
[[ 9.67503953e-01 -2.15113730e-02 -2.51939202e-01  5.81098443e+02]
 [ 1.73585599e-02  9.99674544e-01 -1.86945766e-02  4.23103433e+01]
 [ 2.52259353e-01  1.37137751e-02  9.67562479e-01  1.51749694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.680714057 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:581.16, Y:42.30, Z:151.76
[[ 9.67349038e-01 -2.76194134e-02 -2.51938499e-01  5.81156375e+02]
 [ 2.36673347e-02  9.99544904e-01 -1.87040508e-02  4.23025853e+01]
 [ 2.52340437e-01  1.21306328e-02  9.67562479e-01  1.51764592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.740714057 meters
Centerline goodness : 0.998407 with order 1
Centerline is valid?  [True, True]
Translation: X:581.21, Y:42.29, Z:151.78
[[ 9.67003583e-01 -3.78340126e-02 -2.51937807e-01  5.81214770e+02]
 [ 3.42197503e-02  9.99239120e-01 -1.87133656e-02  4.22947614e+01]
 [ 2.52454114e-01  9.47464274e-03  9.67562479e-01  1.51780967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.800714057 meters
Centerline goodness : 0.998223 with order 1
Centerline is valid?  [True, True]
Translation: X:581.27, Y:42.29, Z:151.80
[[ 9.66273278e-01 -5.33238666e-02 -2.51937527e-01  5.81273088e+02]
 [ 5.02256098e-02  9.98562495e-01 -1.87171351e-02  4.22850401e+01]
 [ 2.52573435e-01  5.43215158e-03  9.67562479e-01  1.51797859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.860714057 meters
Centerline goodness : 0.998236 with order 1
Centerline is valid?  [True, True]
Translation: X:581.33, Y:42.28, Z:151.81
[[ 9.65866092e-01 -6.02526433e-02 -2.51937118e-01  5.81329368e+02]
 [ 5.73846103e-02  9.98176572e-01 -1.87226389e-02  4.22820108e+01]
 [ 2.52605817e-01  3.62624873e-03  9.67562479e-01  1.51813341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.920714057 meters
Centerline goodness : 0.997953 with order 1
Centerline is valid?  [True, True]
Translation: X:581.39, Y:42.28, Z:151.83
[[ 9.65797861e-01 -6.13435496e-02 -2.51935429e-01  5.81385706e+02]
 [ 5.85060950e-02  9.98111041e-01 -1.87453296e-02  4.22826269e+01]
 [ 2.52609439e-01  3.36444110e-03  9.67562480e-01  1.51829988e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 597.980714057 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:581.44, Y:42.29, Z:151.84
[[ 9.66155565e-01 -5.54471423e-02 -2.51930623e-01  5.81443612e+02]
 [ 5.23957168e-02  9.98449239e-01 -1.88097167e-02  4.22866342e+01]
 [ 2.52582884e-01  4.97302695e-03  9.67562482e-01  1.51843173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.0407140570001 meters
Centerline goodness : 0.997860 with order 1
Centerline is valid?  [True, True]
Translation: X:581.50, Y:42.29, Z:151.85
[[ 9.66642384e-01 -4.61931568e-02 -2.51929937e-01  5.81500700e+02]
 [ 4.28302507e-02  9.98905110e-01 -1.88189019e-02  4.22902940e+01]
 [ 2.52523405e-01  7.40092582e-03  9.67562482e-01  1.51854059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.100714057 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:581.56, Y:42.30, Z:151.87
[[ 9.67053253e-01 -3.66074800e-02 -2.51928358e-01  5.81559285e+02]
 [ 3.29193937e-02  9.99280425e-01 -1.88400045e-02  4.22952984e+01]
 [ 2.52436762e-01  9.92595879e-03  9.67562482e-01  1.51866251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.1607140570001 meters
Centerline goodness : 0.998310 with order 1
Centerline is valid?  [True, True]
Translation: X:581.62, Y:42.30, Z:151.88
[[ 9.67311298e-01 -2.90021067e-02 -2.51928028e-01  5.81617288e+02]
 [ 2.50595740e-02  9.99508332e-01 -1.88444225e-02  4.22978775e+01]
 [ 2.52350691e-01  1.19152137e-02  9.67562482e-01  1.51882110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.220714057 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:581.67, Y:42.30, Z:151.90
[[ 9.67356730e-01 -2.74476531e-02 -2.51927733e-01  5.81674512e+02]
 [ 2.34523627e-02  9.99547260e-01 -1.88483635e-02  4.22987766e+01]
 [ 2.52331019e-01  1.23247907e-02  9.67562482e-01  1.51898965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.280714057 meters
Centerline goodness : 0.997967 with order 1
Centerline is valid?  [True, True]
Translation: X:581.73, Y:42.30, Z:151.91
[[ 9.67244292e-01 -3.11648000e-02 -2.51927043e-01  5.81730492e+02]
 [ 2.72908435e-02  9.99449649e-01 -1.88575858e-02  4.22970442e+01]
 [ 2.52376087e-01  1.13645907e-02  9.67562482e-01  1.51914591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.340714057 meters
Centerline goodness : 0.998165 with order 1
Centerline is valid?  [True, True]
Translation: X:581.79, Y:42.30, Z:151.93
[[ 9.67207868e-01 -3.22887044e-02 -2.51925347e-01  5.81787698e+02]
 [ 2.84462899e-02  9.99417003e-01 -1.88802154e-02  4.22969359e+01]
 [ 2.52388093e-01  1.10947514e-02  9.67562482e-01  1.51929412e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.400714057 meters
Centerline goodness : 0.998091 with order 1
Centerline is valid?  [True, True]
Translation: X:581.84, Y:42.30, Z:151.94
[[ 9.67217574e-01 -3.20351726e-02 -2.51920449e-01  5.81844575e+02]
 [ 2.81673847e-02  9.99423670e-01 -1.89453467e-02  4.22970195e+01]
 [ 2.52382178e-01  1.12283320e-02  9.67562484e-01  1.51940969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.460714057 meters
Centerline goodness : 0.998030 with order 1
Centerline is valid?  [True, True]
Translation: X:581.90, Y:42.30, Z:151.96
[[ 9.67170387e-01 -3.34424432e-02 -2.51918727e-01  5.81902510e+02]
 [ 2.96155731e-02  9.99381371e-01 -1.89682187e-02  4.22964927e+01]
 [ 2.52397227e-01  1.08847819e-02  9.67562485e-01  1.51957982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.520714057 meters
Centerline goodness : 0.998187 with order 1
Centerline is valid?  [True, True]
Translation: X:581.96, Y:42.29, Z:151.97
[[ 9.67102082e-01 -3.53651168e-02 -2.51918383e-01  5.81959950e+02]
 [ 3.16010996e-02  9.99320471e-01 -1.89727956e-02  4.22940758e+01]
 [ 2.52418172e-01  1.03877322e-02  9.67562485e-01  1.51973123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.580714057 meters
Centerline goodness : 0.998278 with order 1
Centerline is valid?  [True, True]
Translation: X:582.02, Y:42.30, Z:151.99
[[ 9.67090081e-01 -3.57259590e-02 -2.51913540e-01  5.82018256e+02]
 [ 3.19572957e-02  9.99307925e-01 -1.90368897e-02  4.22964436e+01]
 [ 2.52419308e-01  1.03599117e-02  9.67562487e-01  1.51987872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.640714057 meters
Centerline goodness : 0.997954 with order 1
Centerline is valid?  [True, True]
Translation: X:582.08, Y:42.30, Z:152.00
[[ 9.67044187e-01 -3.69497599e-02 -2.51913189e-01  5.82076029e+02]
 [ 3.32206656e-02  9.99266635e-01 -1.90415225e-02  4.22953907e+01]
 [ 2.52432025e-01  1.00452698e-02  9.67562487e-01  1.52003130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.700714057 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:582.13, Y:42.30, Z:152.02
[[ 9.66944601e-01 -3.94744439e-02 -2.51912498e-01  5.82134144e+02]
 [ 3.58271105e-02  9.99176406e-01 -1.90506700e-02  4.22965077e+01]
 [ 2.52457039e-01  9.39564556e-03  9.67562487e-01  1.52017924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.760714057 meters
Centerline goodness : 0.998572 with order 1
Centerline is valid?  [True, True]
Translation: X:582.19, Y:42.30, Z:152.03
[[ 9.66719773e-01 -4.46466577e-02 -2.51911802e-01  5.82192094e+02]
 [ 4.11694091e-02  9.98970370e-01 -1.90598706e-02  4.22983090e+01]
 [ 2.52503385e-01  8.05449381e-03  9.67562487e-01  1.52032520e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.820714057 meters
Centerline goodness : 0.997880 with order 1
Centerline is valid?  [True, True]
Translation: X:582.25, Y:42.30, Z:152.05
[[ 9.66296249e-01 -5.30301309e-02 -2.51911421e-01  5.82250475e+02]
 [ 4.98314404e-02  9.98575664e-01 -1.90648928e-02  4.22993192e+01]
 [ 2.52563629e-01  5.86922544e-03  9.67562487e-01  1.52047700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.880714057 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:582.31, Y:42.30, Z:152.06
[[ 9.65726991e-01 -6.25475124e-02 -2.51911071e-01  5.82307109e+02]
 [ 5.96657864e-02  9.98036245e-01 -1.90695232e-02  4.23010842e+01]
 [ 2.52609131e-01  3.38548109e-03  9.67562487e-01  1.52061371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 598.940714057 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:582.36, Y:42.30, Z:152.08
[[ 9.65097693e-01 -7.16109593e-02 -2.51909336e-01  5.82364015e+02]
 [ 6.90267036e-02  9.97432100e-01 -1.90924133e-02  4.23035394e+01]
 [ 2.52629684e-01  1.03757294e-03  9.67562487e-01  1.52078102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.000714057 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:582.42, Y:42.31, Z:152.09
[[ 9.64906516e-01 -7.41509182e-02 -2.51906843e-01  5.82420199e+02]
 [ 7.16432035e-02  9.97246948e-01 -1.91252567e-02  4.23073538e+01]
 [ 2.52631486e-01  4.06671631e-04  9.67562487e-01  1.52094711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.060714057 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:582.48, Y:42.31, Z:152.11
[[ 9.65364882e-01 -6.79283382e-02 -2.51905510e-01  5.82477651e+02]
 [ 6.52075920e-02  9.97688089e-01 -1.91427916e-02  4.23132126e+01]
 [ 2.52623465e-01  2.05362701e-03  9.67562488e-01  1.52108189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.120714057 meters
Centerline goodness : 0.998259 with order 1
Centerline is valid?  [True, True]
Translation: X:582.53, Y:42.32, Z:152.12
[[ 9.65498212e-01 -6.60100020e-02 -2.51904511e-01  5.82533684e+02]
 [ 6.32216044e-02  9.97815654e-01 -1.91559386e-02  4.23186464e+01]
 [ 2.52618747e-01  2.56921711e-03  9.67562488e-01  1.52120568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.180714057 meters
Centerline goodness : 0.998579 with order 1
Centerline is valid?  [True, True]
Translation: X:582.59, Y:42.33, Z:152.13
[[ 9.65946368e-01 -5.90980021e-02 -2.51902838e-01  5.82591710e+02]
 [ 5.60726455e-02  9.98242489e-01 -1.91779042e-02  4.23260394e+01]
 [ 2.52593492e-01  4.39996836e-03  9.67562488e-01  1.52132274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.240714057 meters
Centerline goodness : 0.998704 with order 1
Centerline is valid?  [True, True]
Translation: X:582.65, Y:42.33, Z:152.15
[[ 9.66346931e-01 -5.21432639e-02 -2.51902143e-01  5.82649915e+02]
 [ 4.88831307e-02  9.98620197e-01 -1.91870268e-02  4.23324644e+01]
 [ 2.52555042e-01  6.22755907e-03  9.67562488e-01  1.52146646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.300714057 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:582.71, Y:42.34, Z:152.16
[[ 9.66635532e-01 -4.64890707e-02 -2.51901795e-01  5.82707106e+02]
 [ 4.30389965e-02  9.98889046e-01 -1.91916069e-02  4.23394219e+01]
 [ 2.52514143e-01  7.70968872e-03  9.67562488e-01  1.52162725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.360714057 meters
Centerline goodness : 0.998120 with order 1
Centerline is valid?  [True, True]
Translation: X:582.76, Y:42.34, Z:152.18
[[ 9.66675608e-01 -4.56500620e-02 -2.51901449e-01  5.82763795e+02]
 [ 4.21708141e-02  9.98925989e-01 -1.91961420e-02  4.23442802e+01]
 [ 2.52507209e-01  7.93355309e-03  9.67562488e-01  1.52178494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.420714057 meters
Centerline goodness : 0.998514 with order 1
Centerline is valid?  [True, True]
Translation: X:582.82, Y:42.35, Z:152.19
[[ 9.66683040e-01 -4.55196875e-02 -2.51896524e-01  5.82820368e+02]
 [ 4.20193200e-02  9.98931132e-01 -1.92605636e-02  4.23481263e+01]
 [ 2.52504014e-01  8.03433953e-03  9.67562490e-01  1.52194443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.480714057 meters
Centerline goodness : 0.998052 with order 1
Centerline is valid?  [True, True]
Translation: X:582.88, Y:42.35, Z:152.21
[[ 9.66692915e-01 -4.53364117e-02 -2.51891679e-01  5.82876851e+02]
 [ 4.18134900e-02  9.98938550e-01 -1.93237223e-02  4.23541317e+01]
 [ 2.52500377e-01  8.14763524e-03  9.67562492e-01  1.52209378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.5407140570001 meters
Centerline goodness : 0.998152 with order 1
Centerline is valid?  [True, True]
Translation: X:582.93, Y:42.36, Z:152.22
[[ 9.66802453e-01 -4.29662584e-02 -2.51886715e-01  5.82933799e+02]
 [ 3.93475094e-02  9.99037472e-01 -1.93882140e-02  4.23590510e+01]
 [ 2.52477306e-01  8.83345799e-03  9.67562494e-01  1.52224478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.600714057 meters
Centerline goodness : 0.998327 with order 1
Centerline is valid?  [True, True]
Translation: X:582.99, Y:42.37, Z:152.24
[[ 9.66868552e-01 -4.14828525e-02 -2.51881672e-01  5.82991142e+02]
 [ 3.77976575e-02  9.99096040e-01 -1.94535284e-02  4.23652730e+01]
 [ 2.52460968e-01  9.28846771e-03  9.67562496e-01  1.52236281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.6607140570001 meters
Centerline goodness : 0.998131 with order 1
Centerline is valid?  [True, True]
Translation: X:583.05, Y:42.37, Z:152.25
[[ 9.66888100e-01 -4.10339908e-02 -2.51880156e-01  5.83047595e+02]
 [ 3.73287342e-02  9.99113288e-01 -1.94731362e-02  4.23685552e+01]
 [ 2.52455871e-01  9.42597628e-03  9.67562496e-01  1.52250053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.720714057 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:583.10, Y:42.37, Z:152.27
[[ 9.66807945e-01 -4.28910901e-02 -2.51878447e-01  5.83104266e+02]
 [ 3.92419932e-02  9.99039540e-01 -1.94952135e-02  4.23707913e+01]
 [ 2.52472699e-01  8.96391504e-03  9.67562496e-01  1.52268837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.780714057 meters
Centerline goodness : 0.997907 with order 1
Centerline is valid?  [True, True]
Translation: X:583.16, Y:42.37, Z:152.28
[[ 9.66714045e-01 -4.49617902e-02 -2.51877733e-01  5.83161606e+02]
 [ 4.13793389e-02  9.98953116e-01 -1.95044331e-02  4.23737636e+01]
 [ 2.52491000e-01  8.43267536e-03  9.67562497e-01  1.52283963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.840714057 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:583.22, Y:42.38, Z:152.30
[[ 9.66580571e-01 -4.77508944e-02 -2.51876660e-01  5.83219387e+02]
 [ 4.42578724e-02  9.98829454e-01 -1.95182837e-02  4.23756145e+01]
 [ 2.52513842e-01  7.71846872e-03  9.67562497e-01  1.52300614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.900714057 meters
Centerline goodness : 0.998514 with order 1
Centerline is valid?  [True, True]
Translation: X:583.28, Y:42.38, Z:152.32
[[ 9.66401682e-01 -5.12456513e-02 -2.51876305e-01  5.83276599e+02]
 [ 4.78680706e-02  9.98662859e-01 -1.95228556e-02  4.23788351e+01]
 [ 2.52539973e-01  6.81008770e-03  9.67562497e-01  1.52315135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 599.960714057 meters
Centerline goodness : 0.998370 with order 1
Centerline is valid?  [True, True]
Translation: X:583.33, Y:42.38, Z:152.33
[[ 9.66262792e-01 -5.38042226e-02 -2.51875608e-01  5.83333636e+02]
 [ 5.05097272e-02  9.98532560e-01 -1.95318559e-02  4.23827997e+01]
 [ 2.52556892e-01  6.15073738e-03  9.67562497e-01  1.52333538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.020714057 meters
Centerline goodness : 0.998370 with order 1
Centerline is valid?  [True, True]
Translation: X:583.39, Y:42.39, Z:152.35
[[ 9.66132624e-01 -5.60946433e-02 -2.51875253e-01  5.83390515e+02]
 [ 5.28754635e-02  9.98409993e-01 -1.95364254e-02  4.23874131e+01]
 [ 2.52570658e-01  5.55675721e-03  9.67562497e-01  1.52345625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.080714057 meters
Centerline goodness : 0.998026 with order 1
Centerline is valid?  [True, True]
Translation: X:583.45, Y:42.39, Z:152.36
[[ 9.65791173e-01 -6.17055163e-02 -2.51872666e-01  5.83446509e+02]
 [ 5.86651926e-02  9.98085879e-01 -1.95697267e-02  4.23914113e+01]
 [ 2.52598111e-01  4.12411086e-03  9.67562497e-01  1.52362457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.140714057 meters
Centerline goodness : 0.997684 with order 1
Centerline is valid?  [True, True]
Translation: X:583.50, Y:42.39, Z:152.38
[[ 9.65194953e-01 -7.04371825e-02 -2.51867635e-01  5.83504217e+02]
 [ 6.76721999e-02  9.97514395e-01 -1.96342719e-02  4.23946146e+01]
 [ 2.52624574e-01  1.90646324e-03  9.67562499e-01  1.52377812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.200714057 meters
Centerline goodness : 0.997953 with order 1
Centerline is valid?  [True, True]
Translation: X:583.56, Y:42.40, Z:152.39
[[ 9.64482644e-01 -7.96007710e-02 -2.51866922e-01  5.83560697e+02]
 [ 7.71404732e-02  9.96826707e-01 -1.96434168e-02  4.23997658e+01]
 [ 2.52631305e-01 -4.83398874e-04  9.67562499e-01  1.52393231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.260714057 meters
Centerline goodness : 0.997169 with order 1
Centerline is valid?  [True, True]
Translation: X:583.62, Y:42.41, Z:152.41
[[ 9.64169673e-01 -8.33209906e-02 -2.51861976e-01  5.83617289e+02]
 [ 8.09689755e-02  9.96521788e-01 -1.97066345e-02  4.24073192e+01]
 [ 2.52627923e-01 -1.39246683e-03  9.67562501e-01  1.52408668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.320714057 meters
Centerline goodness : 0.997417 with order 1
Centerline is valid?  [True, True]
Translation: X:583.67, Y:42.42, Z:152.43
[[ 9.63946816e-01 -8.58753274e-02 -2.51857029e-01  5.83673829e+02]
 [ 8.35925744e-02  9.96303891e-01 -1.97696561e-02  4.24152526e+01]
 [ 2.52623864e-01 -1.99648038e-03  9.67562503e-01  1.52425096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.380714057 meters
Centerline goodness : 0.997503 with order 1
Centerline is valid?  [True, True]
Translation: X:583.73, Y:42.42, Z:152.44
[[ 9.64170120e-01 -8.33457351e-02 -2.51852077e-01  5.83730608e+02]
 [ 8.09616596e-02  9.96519884e-01 -1.98325516e-02  4.24240777e+01]
 [ 2.52628561e-01 -1.26840843e-03  9.67562505e-01  1.52441285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.440714057 meters
Centerline goodness : 0.997470 with order 1
Centerline is valid?  [True, True]
Translation: X:583.79, Y:42.43, Z:152.46
[[ 9.64725401e-01 -7.66536649e-02 -2.51851378e-01  5.83787682e+02]
 [ 7.40428672e-02  9.97057657e-01 -1.98414195e-02  4.24349220e+01]
 [ 2.52631263e-01  4.93723217e-04  9.67562505e-01  1.52455725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.500714057 meters
Centerline goodness : 0.997477 with order 1
Centerline is valid?  [True, True]
Translation: X:583.84, Y:42.45, Z:152.47
[[ 9.65393116e-01 -6.77450423e-02 -2.51846663e-01  5.83844147e+02]
 [ 6.48203299e-02  9.97698487e-01 -1.99011015e-02  4.24462316e+01]
 [ 2.52615235e-01  2.88760262e-03  9.67562507e-01  1.52469619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.560714057 meters
Centerline goodness : 0.997825 with order 1
Centerline is valid?  [True, True]
Translation: X:583.90, Y:42.46, Z:152.48
[[ 9.65807154e-01 -6.15819652e-02 -2.51841622e-01  5.83900226e+02]
 [ 5.84345439e-02  9.98091587e-01 -1.99646935e-02  4.24582060e+01]
 [ 2.52590469e-01  4.56579352e-03  9.67562509e-01  1.52482798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.620714057 meters
Centerline goodness : 0.998020 with order 1
Centerline is valid?  [True, True]
Translation: X:583.96, Y:42.47, Z:152.50
[[ 9.66013650e-01 -5.82609473e-02 -2.51839812e-01  5.83956655e+02]
 [ 5.49966017e-02  9.98286469e-01 -1.99874971e-02  4.24666480e+01]
 [ 2.52572767e-01  5.45786121e-03  9.67562509e-01  1.52495346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.680714057 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:584.01, Y:42.47, Z:152.51
[[ 9.66070755e-01 -5.73124995e-02 -2.51838387e-01  5.84013136e+02]
 [ 5.40117966e-02  9.98339876e-01 -2.00054353e-02  4.24746603e+01]
 [ 2.52566866e-01  5.72442220e-03  9.67562509e-01  1.52513423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.740714057 meters
Centerline goodness : 0.998267 with order 1
Centerline is valid?  [True, True]
Translation: X:584.07, Y:42.48, Z:152.53
[[ 9.66045570e-01 -5.77386640e-02 -2.51837652e-01  5.84070881e+02]
 [ 5.44497869e-02  9.98315899e-01 -2.00146832e-02  4.24839916e+01]
 [ 2.52569153e-01  5.62258951e-03  9.67562509e-01  1.52527121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.800714057 meters
Centerline goodness : 0.997562 with order 1
Centerline is valid?  [True, True]
Translation: X:584.13, Y:42.49, Z:152.54
[[ 9.65881724e-01 -6.04206770e-02 -2.51836925e-01  5.84127624e+02]
 [ 5.72190291e-02  9.98160823e-01 -2.00238241e-02  4.24913170e+01]
 [ 2.52583606e-01  4.93078141e-03  9.67562509e-01  1.52542529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.860714057 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:584.19, Y:42.50, Z:152.56
[[ 9.65778665e-01 -6.20673880e-02 -2.51831711e-01  5.84185389e+02]
 [ 5.89037378e-02  9.98061508e-01 -2.00892002e-02  4.24986013e+01]
 [ 2.52590421e-01  4.56789191e-03  9.67562511e-01  1.52556684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.920714057 meters
Centerline goodness : 0.997825 with order 1
Centerline is valid?  [True, True]
Translation: X:584.24, Y:42.50, Z:152.57
[[ 9.65629533e-01 -6.43493934e-02 -2.51830817e-01  5.84240510e+02]
 [ 6.12591182e-02  9.97919483e-01 -2.01003981e-02  4.25045964e+01]
 [ 2.52600327e-01  3.98260420e-03  9.67562511e-01  1.52572591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 600.980714057 meters
Centerline goodness : 0.997813 with order 1
Centerline is valid?  [True, True]
Translation: X:584.30, Y:42.51, Z:152.59
[[ 9.65566799e-01 -6.53068404e-02 -2.51824887e-01  5.84296586e+02]
 [ 6.22292817e-02  9.97857960e-01 -2.01744249e-02  4.25107165e+01]
 [ 2.52602996e-01  3.80887303e-03  9.67562514e-01  1.52586009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.0407140570001 meters
Centerline goodness : 0.997977 with order 1
Centerline is valid?  [True, True]
Translation: X:584.35, Y:42.52, Z:152.60
[[ 9.65555664e-01 -6.54782786e-02 -2.51823064e-01  5.84353470e+02]
 [ 6.24005266e-02  9.97846807e-01 -2.01971545e-02  4.25175805e+01]
 [ 2.52603315e-01  3.78758509e-03  9.67562514e-01  1.52603014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.100714057 meters
Centerline goodness : 0.998239 with order 1
Centerline is valid?  [True, True]
Translation: X:584.41, Y:42.52, Z:152.62
[[ 9.65693049e-01 -6.34227855e-02 -2.51822327e-01  5.84409870e+02]
 [ 6.02739090e-02  9.97977334e-01 -2.02063395e-02  4.25239005e+01]
 [ 2.52594517e-01  4.33480557e-03  9.67562514e-01  1.52618102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.1607140570001 meters
Centerline goodness : 0.997963 with order 1
Centerline is valid?  [True, True]
Translation: X:584.47, Y:42.53, Z:152.63
[[ 9.65916151e-01 -5.99353535e-02 -2.51820853e-01  5.84466304e+02]
 [ 5.66651390e-02  9.98188371e-01 -2.02246949e-02  4.25302648e+01]
 [ 2.52576821e-01  5.26589581e-03  9.67562515e-01  1.52631529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.220714057 meters
Centerline goodness : 0.997783 with order 1
Centerline is valid?  [True, True]
Translation: X:584.52, Y:42.54, Z:152.65
[[ 9.66095008e-01 -5.69874127e-02 -2.51819124e-01  5.84523098e+02]
 [ 5.36131254e-02  9.98356511e-01 -2.02462057e-02  4.25357235e+01]
 [ 2.52559041e-01  6.05894795e-03  9.67562515e-01  1.52647020e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.280714057 meters
Centerline goodness : 0.997440 with order 1
Centerline is valid?  [True, True]
Translation: X:584.58, Y:42.54, Z:152.66
[[ 9.66367876e-01 -5.21812424e-02 -2.51813912e-01  5.84580005e+02]
 [ 4.86297004e-02  9.98610346e-01 -2.03108245e-02  4.25407986e+01]
 [ 2.52523822e-01  7.38209325e-03  9.67562517e-01  1.52662158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.340714057 meters
Centerline goodness : 0.997835 with order 1
Centerline is valid?  [True, True]
Translation: X:584.64, Y:42.55, Z:152.68
[[ 9.66783284e-01 -4.38223124e-02 -2.51812800e-01  5.84637658e+02]
 [ 3.99884910e-02  9.98993409e-01 -2.03246084e-02  4.25464115e+01]
 [ 2.52449999e-01  9.57987781e-03  9.67562517e-01  1.52677533e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.400714057 meters
Centerline goodness : 0.997426 with order 1
Centerline is valid?  [True, True]
Translation: X:584.69, Y:42.55, Z:152.69
[[ 9.66983357e-01 -3.91623231e-02 -2.51812430e-01  5.84694807e+02]
 [ 3.51721178e-02  9.99174482e-01 -2.03291846e-02  4.25506603e+01]
 [ 2.52400693e-01  1.08012067e-02  9.67562517e-01  1.52691059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.460714057 meters
Centerline goodness : 0.997949 with order 1
Centerline is valid?  [True, True]
Translation: X:584.75, Y:42.55, Z:152.71
[[ 9.67091447e-01 -3.64030821e-02 -2.51811335e-01  5.84753599e+02]
 [ 3.23175210e-02  9.99270609e-01 -2.03427377e-02  4.25540681e+01]
 [ 2.52368205e-01  1.15353695e-02  9.67562517e-01  1.52705846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.520714057 meters
Centerline goodness : 0.996909 with order 1
Centerline is valid?  [True, True]
Translation: X:584.81, Y:42.56, Z:152.72
[[ 9.67093082e-01 -3.63611265e-02 -2.51811117e-01  5.84809870e+02]
 [ 3.22734658e-02  9.99271978e-01 -2.03454451e-02  4.25558791e+01]
 [ 2.52367576e-01  1.15491218e-02  9.67562517e-01  1.52723056e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.580714057 meters
Centerline goodness : 0.997294 with order 1
Centerline is valid?  [True, True]
Translation: X:584.87, Y:42.56, Z:152.74
[[ 9.67064010e-01 -3.71616212e-02 -2.51805907e-01  5.84867166e+02]
 [ 3.30838939e-02  9.99244164e-01 -2.04097280e-02  4.25567809e+01]
 [ 2.52374041e-01  1.14067935e-02  9.67562519e-01  1.52737581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.640714057 meters
Centerline goodness : 0.997423 with order 1
Centerline is valid?  [True, True]
Translation: X:584.92, Y:42.56, Z:152.75
[[ 9.67008907e-01 -3.86026437e-02 -2.51800735e-01  5.84924668e+02]
 [ 3.45563424e-02  9.99193025e-01 -2.04733378e-02  4.25582393e+01]
 [ 2.52387864e-01  1.10965876e-02  9.67562521e-01  1.52752816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.700714057 meters
Centerline goodness : 0.997596 with order 1
Centerline is valid?  [True, True]
Translation: X:584.98, Y:42.56, Z:152.77
[[ 9.66891709e-01 -4.14643734e-02 -2.51795807e-01  5.84983050e+02]
 [ 3.74976267e-02  9.99085728e-01 -2.05337785e-02  4.25595821e+01]
 [ 2.52417017e-01  1.04121950e-02  9.67562523e-01  1.52767593e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.760714057 meters
Centerline goodness : 0.997826 with order 1
Centerline is valid?  [True, True]
Translation: X:585.04, Y:42.56, Z:152.78
[[ 9.66752558e-01 -4.45931966e-02 -2.51795430e-01  5.85039818e+02]
 [ 4.07294533e-02  9.98959101e-01 -2.05384048e-02  4.25576341e+01]
 [ 2.52449209e-01  9.60006521e-03  9.67562523e-01  1.52784584e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.820714057 meters
Centerline goodness : 0.997183 with order 1
Centerline is valid?  [True, True]
Translation: X:585.10, Y:42.56, Z:152.80
[[ 9.66657354e-01 -4.66402477e-02 -2.51790088e-01  5.85097157e+02]
 [ 4.28277276e-02  9.98869998e-01 -2.06036955e-02  4.25604143e+01]
 [ 2.52466526e-01  9.13311643e-03  9.67562525e-01  1.52799842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.880714057 meters
Centerline goodness : 0.997664 with order 1
Centerline is valid?  [True, True]
Translation: X:585.16, Y:42.56, Z:152.81
[[ 9.66415167e-01 -5.14393326e-02 -2.51785066e-01  5.85156207e+02]
 [ 4.77708757e-02  9.98644534e-01 -2.06648853e-02  4.25594316e+01]
 [ 2.52506768e-01  7.94286549e-03  9.67562527e-01  1.52814275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 601.940714057 meters
Centerline goodness : 0.997228 with order 1
Centerline is valid?  [True, True]
Translation: X:585.21, Y:42.56, Z:152.83
[[ 9.66036682e-01 -5.81167502e-02 -2.51784772e-01  5.85213805e+02]
 [ 5.46701779e-02  9.98290532e-01 -2.06684629e-02  4.25591212e+01]
 [ 2.52555538e-01  6.20137501e-03  9.67562527e-01  1.52830109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.000714057 meters
Centerline goodness : 0.997664 with order 1
Centerline is valid?  [True, True]
Translation: X:585.27, Y:42.56, Z:152.85
[[ 9.65519670e-01 -6.61717850e-02 -2.51779787e-01  5.85271688e+02]
 [ 6.29785508e-02  9.97799584e-01 -2.07290267e-02  4.25591182e+01]
 [ 2.52597443e-01  4.15755699e-03  9.67562529e-01  1.52847342e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.060714057 meters
Centerline goodness : 0.997747 with order 1
Centerline is valid?  [True, True]
Translation: X:585.33, Y:42.56, Z:152.86
[[ 9.65000417e-01 -7.33571817e-02 -2.51779505e-01  5.85329159e+02]
 [ 7.04034319e-02  9.97303125e-01 -2.07324477e-02  4.25589152e+01]
 [ 2.52621361e-01  2.28067947e-03  9.67562529e-01  1.52862652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.120714057 meters
Centerline goodness : 0.998084 with order 1
Centerline is valid?  [True, True]
Translation: X:585.39, Y:42.56, Z:152.88
[[ 9.64574276e-01 -7.87650381e-02 -2.51778741e-01  5.85386656e+02]
 [ 7.59899765e-02  9.96892825e-01 -2.07417225e-02  4.25612665e+01]
 [ 2.52630143e-01  8.74271385e-04  9.67562529e-01  1.52876447e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.180714057 meters
Centerline goodness : 0.998203 with order 1
Centerline is valid?  [True, True]
Translation: X:585.44, Y:42.56, Z:152.89
[[ 9.64337208e-01 -8.16185363e-02 -2.51778006e-01  5.85444988e+02]
 [ 7.89367786e-02  9.96663632e-01 -2.07506378e-02  4.25642525e+01]
 [ 2.52631619e-01  1.36067374e-04  9.67562529e-01  1.52892203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.240714057 meters
Centerline goodness : 0.998416 with order 1
Centerline is valid?  [True, True]
Translation: X:585.50, Y:42.57, Z:152.90
[[ 9.64304456e-01 -8.20045797e-02 -2.51778006e-01  5.85500214e+02]
 [ 7.93357634e-02  9.96631952e-01 -2.07506378e-02  4.25694892e+01]
 [ 2.52631653e-01  3.49321690e-05  9.67562529e-01  1.52904668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.300714057 meters
Centerline goodness : 0.997752 with order 1
Centerline is valid?  [True, True]
Translation: X:585.56, Y:42.58, Z:152.92
[[ 9.64383260e-01 -8.10805855e-02 -2.51775430e-01  5.85556456e+02]
 [ 7.83726487e-02  9.96707501e-01 -2.07818426e-02  4.25764533e+01]
 [ 2.52631464e-01  3.09353747e-04  9.67562529e-01  1.52920393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.360714057 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:585.61, Y:42.58, Z:152.94
[[ 9.64655194e-01 -7.77833147e-02 -2.51773932e-01  5.85612511e+02]
 [ 7.49601572e-02  9.96969576e-01 -2.07999822e-02  4.25828579e+01]
 [ 2.52628842e-01  1.19179736e-03  9.67562529e-01  1.52935479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.420714057 meters
Centerline goodness : 0.997605 with order 1
Centerline is valid?  [True, True]
Translation: X:585.67, Y:42.59, Z:152.95
[[ 9.65069883e-01 -7.24779398e-02 -2.51767889e-01  5.85668754e+02]
 [ 6.94581258e-02  9.97366478e-01 -2.08728850e-02  4.25893464e+01]
 [ 2.52617676e-01  2.65646703e-03  9.67562532e-01  1.52949483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.480714057 meters
Centerline goodness : 0.997404 with order 1
Centerline is valid?  [True, True]
Translation: X:585.73, Y:42.60, Z:152.96
[[ 9.65540960e-01 -6.59289944e-02 -2.51761836e-01  5.85727074e+02]
 [ 6.26711754e-02  9.97814413e-01 -2.09456449e-02  4.25963563e+01]
 [ 2.52592514e-01  4.44566795e-03  9.67562534e-01  1.52964448e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.5407140570001 meters
Centerline goodness : 0.997556 with order 1
Centerline is valid?  [True, True]
Translation: X:585.78, Y:42.60, Z:152.98
[[ 9.66016304e-01 -5.85532154e-02 -2.51761836e-01  5.85782885e+02]
 [ 5.50490183e-02  9.98263936e-01 -2.09456449e-02  4.26023685e+01]
 [ 2.52551196e-01  6.37459259e-03  9.67562534e-01  1.52977403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.600714057 meters
Centerline goodness : 0.998037 with order 1
Centerline is valid?  [True, True]
Translation: X:585.84, Y:42.61, Z:152.99
[[ 9.66415406e-01 -5.15575968e-02 -2.51759958e-01  5.85840909e+02]
 [ 4.78141476e-02  9.98636141e-01 -2.09681900e-02  4.26089388e+01]
 [ 2.52497663e-01  8.22629410e-03  9.67562535e-01  1.52990985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.6607140570001 meters
Centerline goodness : 0.998038 with order 1
Centerline is valid?  [True, True]
Translation: X:585.90, Y:42.62, Z:153.01
[[ 9.66658679e-01 -4.67776005e-02 -2.51759516e-01  5.85897032e+02]
 [ 4.28734705e-02  9.98860340e-01 -2.09734972e-02  4.26151776e+01]
 [ 2.52453686e-01  9.48040895e-03  9.67562535e-01  1.53008832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.720714057 meters
Centerline goodness : 0.998106 with order 1
Centerline is valid?  [True, True]
Translation: X:585.95, Y:42.62, Z:153.03
[[ 9.66798222e-01 -4.38302065e-02 -2.51754069e-01  5.85954760e+02]
 [ 3.98109695e-02  9.98985716e-01 -2.10386893e-02  4.26182044e+01]
 [ 2.52420849e-01  1.03175938e-02  9.67562537e-01  1.53025409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.780714057 meters
Centerline goodness : 0.998053 with order 1
Centerline is valid?  [True, True]
Translation: X:586.01, Y:42.62, Z:153.04
[[ 9.66883070e-01 -4.19191312e-02 -2.51753682e-01  5.86012140e+02]
 [ 3.78350767e-02  9.99062403e-01 -2.10433184e-02  4.26192657e+01]
 [ 2.52399756e-01  1.08213084e-02  9.67562537e-01  1.53040640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.840714057 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:586.07, Y:42.62, Z:153.05
[[ 9.66923871e-01 -4.09742979e-02 -2.51752526e-01  5.86069307e+02]
 [ 3.68552113e-02  9.99098739e-01 -2.10571305e-02  4.26199963e+01]
 [ 2.52388433e-01  1.10822496e-02  9.67562537e-01  1.53052540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.900714057 meters
Centerline goodness : 0.998135 with order 1
Centerline is valid?  [True, True]
Translation: X:586.13, Y:42.62, Z:153.07
[[ 9.66926673e-01 -4.09176582e-02 -2.51750979e-01  5.86126937e+02]
 [ 3.67918825e-02  9.99100683e-01 -2.10756190e-02  4.26234467e+01]
 [ 2.52386940e-01  1.11161858e-02  9.67562537e-01  1.53070068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 602.960714057 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:586.18, Y:42.62, Z:153.08
[[ 9.66907559e-01 -4.13692412e-02 -2.51750587e-01  5.86183396e+02]
 [ 3.72572761e-02  9.99083338e-01 -2.10802993e-02  4.26237324e+01]
 [ 2.52391893e-01  1.10031596e-02  9.67562537e-01  1.53083212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.020714057 meters
Centerline goodness : 0.997917 with order 1
Centerline is valid?  [True, True]
Translation: X:586.24, Y:42.62, Z:153.10
[[ 9.66827463e-01 -4.32119303e-02 -2.51748657e-01  5.86241111e+02]
 [ 3.91553106e-02  9.99010266e-01 -2.11033199e-02  4.26226512e+01]
 [ 2.52411408e-01  1.05459723e-02  9.67562537e-01  1.53098186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.080714057 meters
Centerline goodness : 0.998217 with order 1
Centerline is valid?  [True, True]
Translation: X:586.30, Y:42.62, Z:153.12
[[ 9.66624508e-01 -4.75643353e-02 -2.51743309e-01  5.86297869e+02]
 [ 4.36361069e-02  9.98823233e-01 -2.11669292e-02  4.26191406e+01]
 [ 2.52453857e-01  9.47537458e-03  9.67562539e-01  1.53115089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.140714057 meters
Centerline goodness : 0.997858 with order 1
Centerline is valid?  [True, True]
Translation: X:586.35, Y:42.62, Z:153.13
[[ 9.66501927e-01 -4.99970294e-02 -2.51742573e-01  5.86354666e+02]
 [ 4.61475745e-02  9.98710164e-01 -2.11756863e-02  4.26179217e+01]
 [ 2.52476588e-01  8.84903248e-03  9.67562539e-01  1.53133771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.200714057 meters
Centerline goodness : 0.997647 with order 1
Centerline is valid?  [True, True]
Translation: X:586.41, Y:42.62, Z:153.15
[[ 9.66396177e-01 -5.20255133e-02 -2.51737512e-01  5.86410792e+02]
 [ 4.82280586e-02  9.98610585e-01 -2.12356783e-02  4.26185309e+01]
 [ 2.52492542e-01  8.38126683e-03  9.67562541e-01  1.53146931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.260714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:586.47, Y:42.62, Z:153.16
[[ 9.66278855e-01 -5.41698060e-02 -2.51735590e-01  5.86469077e+02]
 [ 5.04379199e-02  9.98500924e-01 -2.12584397e-02  4.26187009e+01]
 [ 2.52509785e-01  7.84456126e-03  9.67562541e-01  1.53159245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.320714057 meters
Centerline goodness : 0.998149 with order 1
Centerline is valid?  [True, True]
Translation: X:586.53, Y:42.62, Z:153.18
[[ 9.66050411e-01 -5.81048184e-02 -2.51734849e-01  5.86525947e+02]
 [ 5.45019131e-02  9.98287157e-01 -2.12672122e-02  4.26196373e+01]
 [ 2.52539394e-01  6.82516816e-03  9.67562541e-01  1.53175753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.380714057 meters
Centerline goodness : 0.997561 with order 1
Centerline is valid?  [True, True]
Translation: X:586.58, Y:42.62, Z:153.19
[[ 9.65826929e-01 -6.17303508e-02 -2.51729432e-01  5.86581815e+02]
 [ 5.82318131e-02  9.98075167e-01 -2.13311451e-02  4.26210925e+01]
 [ 2.52561674e-01  5.94353308e-03  9.67562543e-01  1.53190772e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.440714057 meters
Centerline goodness : 0.998263 with order 1
Centerline is valid?  [True, True]
Translation: X:586.64, Y:42.63, Z:153.21
[[ 9.65583667e-01 -6.54363148e-02 -2.51726580e-01  5.86640203e+02]
 [ 6.20527997e-02  9.97844175e-01 -2.13647510e-02  4.26252443e+01]
 [ 2.52581932e-01  5.00911552e-03  9.67562544e-01  1.53206716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.500714057 meters
Centerline goodness : 0.997589 with order 1
Centerline is valid?  [True, True]
Translation: X:586.70, Y:42.63, Z:153.22
[[ 9.65542157e-01 -6.60457110e-02 -2.51726650e-01  5.86697587e+02]
 [ 6.26827721e-02  9.97804817e-01 -2.13639259e-02  4.26319726e+01]
 [ 2.52585060e-01  4.84884681e-03  9.67562544e-01  1.53223124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.560714057 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:586.75, Y:42.64, Z:153.24
[[ 9.65730225e-01 -6.32378045e-02 -2.51726266e-01  5.86754884e+02]
 [ 5.97798882e-02  9.97982843e-01 -2.13684458e-02  4.26412028e+01]
 [ 2.52569789e-01  5.58798586e-03  9.67562544e-01  1.53236554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.620714057 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:586.81, Y:42.65, Z:153.25
[[ 9.65946148e-01 -5.98613100e-02 -2.51723385e-01  5.86811396e+02]
 [ 5.62818375e-02  9.98185501e-01 -2.14023326e-02  4.26501042e+01]
 [ 2.52547805e-01  6.50604607e-03  9.67562544e-01  1.53250473e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.680714057 meters
Centerline goodness : 0.997776 with order 1
Centerline is valid?  [True, True]
Translation: X:586.87, Y:42.66, Z:153.26
[[ 9.66136803e-01 -5.67246307e-02 -2.51718086e-01  5.86868210e+02]
 [ 5.30243185e-02  9.98362508e-01 -2.14644847e-02  4.26594953e+01]
 [ 2.52523465e-01  7.39044866e-03  9.67562546e-01  1.53260852e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.740714057 meters
Centerline goodness : 0.997834 with order 1
Centerline is valid?  [True, True]
Translation: X:586.92, Y:42.67, Z:153.28
[[ 9.66214785e-01 -5.53889123e-02 -2.51716225e-01  5.86923822e+02]
 [ 5.16383760e-02  9.98434684e-01 -2.14862935e-02  4.26666402e+01]
 [ 2.52512311e-01  7.76215740e-03  9.67562547e-01  1.53277850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.800714057 meters
Centerline goodness : 0.998083 with order 1
Centerline is valid?  [True, True]
Translation: X:586.98, Y:42.67, Z:153.29
[[ 9.66220929e-01 -5.53059926e-02 -2.51710873e-01  5.86980829e+02]
 [ 5.15364205e-02  9.98438604e-01 -2.15488104e-02  4.26727897e+01]
 [ 2.52509631e-01  7.84863416e-03  9.67562548e-01  1.53294715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.860714057 meters
Centerline goodness : 0.997741 with order 1
Centerline is valid?  [True, True]
Translation: X:587.04, Y:42.68, Z:153.31
[[ 9.66200989e-01 -5.56549769e-02 -2.51710495e-01  5.87037790e+02]
 [ 5.18958934e-02  9.98419889e-01 -2.15532228e-02  4.26792765e+01]
 [ 2.52512309e-01  7.76200412e-03  9.67562548e-01  1.53313620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.920714057 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:587.09, Y:42.69, Z:153.33
[[ 9.66209416e-01 -5.55102902e-02 -2.51710096e-01  5.87094471e+02]
 [ 5.17451679e-02  9.98427611e-01 -2.15578875e-02  4.26852205e+01]
 [ 2.52510994e-01  7.80465267e-03  9.67562548e-01  1.53328857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 603.980714057 meters
Centerline goodness : 0.997612 with order 1
Centerline is valid?  [True, True]
Translation: X:587.15, Y:42.69, Z:153.34
[[ 9.66305610e-01 -5.38114785e-02 -2.51709738e-01  5.87150653e+02]
 [ 4.99886326e-02  9.98517007e-01 -2.15620597e-02  4.26930937e+01]
 [ 2.52496741e-01  8.25291365e-03  9.67562548e-01  1.53342981e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.0407140570001 meters
Centerline goodness : 0.997552 with order 1
Centerline is valid?  [True, True]
Translation: X:587.21, Y:42.70, Z:153.35
[[ 9.66458303e-01 -5.10053550e-02 -2.51707773e-01  5.87207740e+02]
 [ 4.70830290e-02  9.98657738e-01 -2.15849836e-02  4.27021603e+01]
 [ 2.52470864e-01  9.00982225e-03  9.67562549e-01  1.53354453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.100714057 meters
Centerline goodness : 0.997334 with order 1
Centerline is valid?  [True, True]
Translation: X:587.26, Y:42.71, Z:153.37
[[ 9.66442883e-01 -5.13238407e-02 -2.51702240e-01  5.87264428e+02]
 [ 4.73953931e-02  9.98641569e-01 -2.16493123e-02  4.27087867e+01]
 [ 2.52471446e-01  8.99329719e-03  9.67562551e-01  1.53370706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.1607140570001 meters
Centerline goodness : 0.997109 with order 1
Centerline is valid?  [True, True]
Translation: X:587.32, Y:42.71, Z:153.39
[[ 9.66292829e-01 -5.40809367e-02 -2.51701056e-01  5.87321659e+02]
 [ 5.02407902e-02  9.98502166e-01 -2.16630682e-02  4.27130892e+01]
 [ 2.52495609e-01  8.28720750e-03  9.67562551e-01  1.53387510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.220714057 meters
Centerline goodness : 0.997279 with order 1
Centerline is valid?  [True, True]
Translation: X:587.38, Y:42.72, Z:153.40
[[ 9.66054679e-01 -5.81825056e-02 -2.51700525e-01  5.87378858e+02]
 [ 5.44775193e-02  9.98279842e-01 -2.16692439e-02  4.27171818e+01]
 [ 2.52528331e-01  7.22165425e-03  9.67562551e-01  1.53401000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.280714057 meters
Centerline goodness : 0.997201 with order 1
Centerline is valid?  [True, True]
Translation: X:587.44, Y:42.72, Z:153.41
[[ 9.65825154e-01 -6.18985762e-02 -2.51694931e-01  5.87436192e+02]
 [ 5.83007196e-02  9.98062452e-01 -2.17340223e-02  4.27215310e+01]
 [ 2.52552565e-01  6.31726983e-03  9.67562553e-01  1.53412320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.340714057 meters
Centerline goodness : 0.997417 with order 1
Centerline is valid?  [True, True]
Translation: X:587.49, Y:42.72, Z:153.43
[[ 9.65575311e-01 -6.56841690e-02 -2.51694080e-01  5.87492845e+02]
 [ 6.22101425e-02  9.97826188e-01 -2.17438817e-02  4.27239361e+01]
 [ 2.52575173e-01  5.33743076e-03  9.67562553e-01  1.53430182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.400714057 meters
Centerline goodness : 0.997776 with order 1
Centerline is valid?  [True, True]
Translation: X:587.55, Y:42.73, Z:153.45
[[ 9.65365402e-01 -6.87209909e-02 -2.51688430e-01  5.87549074e+02]
 [ 6.53314297e-02  9.97625264e-01 -2.18090868e-02  4.27272927e+01]
 [ 2.52589479e-01  4.61057289e-03  9.67562555e-01  1.53446776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.460714057 meters
Centerline goodness : 0.997214 with order 1
Centerline is valid?  [True, True]
Translation: X:587.61, Y:42.73, Z:153.46
[[ 9.65356325e-01 -6.88497396e-02 -2.51688058e-01  5.87606226e+02]
 [ 6.54633630e-02  9.97616522e-01 -2.18133756e-02  4.27316282e+01]
 [ 2.52590011e-01  4.58133340e-03  9.67562555e-01  1.53463647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.520714057 meters
Centerline goodness : 0.997651 with order 1
Centerline is valid?  [True, True]
Translation: X:587.66, Y:42.74, Z:153.48
[[ 9.65355958e-01 -6.88576911e-02 -2.51687293e-01  5.87663009e+02]
 [ 6.54692795e-02  9.97615941e-01 -2.18222032e-02  4.27360030e+01]
 [ 2.52589882e-01  4.58840819e-03  9.67562555e-01  1.53480083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.580714057 meters
Centerline goodness : 0.998238 with order 1
Centerline is valid?  [True, True]
Translation: X:587.72, Y:42.74, Z:153.50
[[ 9.65195174e-01 -7.10813885e-02 -2.51685743e-01  5.87720209e+02]
 [ 6.77626460e-02  9.97462398e-01 -2.18400663e-02  4.27403546e+01]
 [ 2.52599487e-01  4.02503467e-03  9.67562555e-01  1.53495694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.640714057 meters
Centerline goodness : 0.997827 with order 1
Centerline is valid?  [True, True]
Translation: X:587.78, Y:42.74, Z:153.51
[[ 9.65017174e-01 -7.34763307e-02 -2.51680516e-01  5.87775937e+02]
 [ 7.02220062e-02  9.97290957e-01 -2.19001387e-02  4.27449640e+01]
 [ 2.52607845e-01  3.46049920e-03  9.67562557e-01  1.53508960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.700714057 meters
Centerline goodness : 0.998113 with order 1
Centerline is valid?  [True, True]
Translation: X:587.83, Y:42.75, Z:153.52
[[ 9.64874525e-01 -7.53330398e-02 -2.51678533e-01  5.87832683e+02]
 [ 7.21348831e-02  9.97153922e-01 -2.19229066e-02  4.27506220e+01]
 [ 2.52613756e-01  2.99805256e-03  9.67562557e-01  1.53523707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.760714057 meters
Centerline goodness : 0.998660 with order 1
Centerline is valid?  [True, True]
Translation: X:587.89, Y:42.76, Z:153.54
[[ 9.64750183e-01 -7.69273100e-02 -2.51672948e-01  5.87888991e+02]
 [ 7.37658203e-02  9.97033190e-01 -2.19868394e-02  4.27572480e+01]
 [ 2.52617671e-01  2.64694586e-03  9.67562559e-01  1.53538526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.820714057 meters
Centerline goodness : 0.997412 with order 1
Centerline is valid?  [True, True]
Translation: X:587.95, Y:42.76, Z:153.55
[[ 9.64639737e-01 -7.83180961e-02 -2.51667348e-01  5.87946052e+02]
 [ 7.51864773e-02  9.96925653e-01 -2.20507565e-02  4.27624755e+01]
 [ 2.52620609e-01  2.34905456e-03  9.67562561e-01  1.53554152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.880714057 meters
Centerline goodness : 0.997377 with order 1
Centerline is valid?  [True, True]
Translation: X:588.00, Y:42.77, Z:153.57
[[ 9.64496397e-01 -8.00804017e-02 -2.51662135e-01  5.88002780e+02]
 [ 7.69922924e-02  9.96786502e-01 -2.21100997e-02  4.27694374e+01]
 [ 2.52624005e-01  1.94906673e-03  9.67562563e-01  1.53568155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 604.940714057 meters
Centerline goodness : 0.997551 with order 1
Centerline is valid?  [True, True]
Translation: X:588.06, Y:42.78, Z:153.58
[[ 9.64463532e-01 -8.04789342e-02 -2.51660954e-01  5.88059114e+02]
 [ 7.74006619e-02  9.96754577e-01 -2.21235365e-02  4.27761985e+01]
 [ 2.52624686e-01  1.85861974e-03  9.67562563e-01  1.53581135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.000714057 meters
Centerline goodness : 0.997547 with order 1
Centerline is valid?  [True, True]
Translation: X:588.12, Y:42.78, Z:153.60
[[ 9.64519250e-01 -7.98144651e-02 -2.51659029e-01  5.88116357e+02]
 [ 7.67082388e-02  9.96807618e-01 -2.21454157e-02  4.27832283e+01]
 [ 2.52623161e-01  2.05535892e-03  9.67562563e-01  1.53596384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.060714057 meters
Centerline goodness : 0.997773 with order 1
Centerline is valid?  [True, True]
Translation: X:588.17, Y:42.79, Z:153.61
[[ 9.64430418e-01 -8.08832390e-02 -2.51658241e-01  5.88172369e+02]
 [ 7.78104606e-02  9.96721986e-01 -2.21543610e-02  4.27898901e+01]
 [ 2.52625218e-01  1.78469598e-03  9.67562563e-01  1.53612738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.120714057 meters
Centerline goodness : 0.997279 with order 1
Centerline is valid?  [True, True]
Translation: X:588.23, Y:42.80, Z:153.63
[[ 9.64257803e-01 -8.29327278e-02 -2.51652642e-01  5.88228372e+02]
 [ 7.99120304e-02  9.96554282e-01 -2.22177922e-02  4.27968354e+01]
 [ 2.52628100e-01  1.31360595e-03  9.67562565e-01  1.53628012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.180714057 meters
Centerline goodness : 0.997164 with order 1
Centerline is valid?  [True, True]
Translation: X:588.29, Y:42.80, Z:153.64
[[ 9.64091687e-01 -8.48610900e-02 -2.51646210e-01  5.88285377e+02]
 [ 8.18860390e-02  9.96392400e-01 -2.22904040e-02  4.28035770e+01]
 [ 2.52629960e-01  8.83681784e-04  9.67562568e-01  1.53643318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.240714057 meters
Centerline goodness : 0.997289 with order 1
Centerline is valid?  [True, True]
Translation: X:588.34, Y:42.81, Z:153.66
[[ 9.63926958e-01 -8.67276316e-02 -2.51640891e-01  5.88341830e+02]
 [ 8.37994901e-02  9.96231956e-01 -2.23503043e-02  4.28093152e+01]
 [ 2.52631086e-01  4.56682554e-04  9.67562570e-01  1.53657100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.300714057 meters
Centerline goodness : 0.997438 with order 1
Centerline is valid?  [True, True]
Translation: X:588.40, Y:42.82, Z:153.67
[[ 9.63819294e-01 -8.79195012e-02 -2.51639683e-01  5.88399255e+02]
 [ 8.50277614e-02  9.96127570e-01 -2.23638899e-02  4.28162080e+01]
 [ 2.52631448e-01  1.58389585e-04  9.67562570e-01  1.53673101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.360714057 meters
Centerline goodness : 0.997328 with order 1
Centerline is valid?  [True, True]
Translation: X:588.46, Y:42.82, Z:153.69
[[ 9.63721646e-01 -8.89845837e-02 -2.51639293e-01  5.88455784e+02]
 [ 8.61274022e-02  9.96032997e-01 -2.23682864e-02  4.28234100e+01]
 [ 2.52631471e-01 -1.16236797e-04  9.67562570e-01  1.53688625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.420714057 meters
Centerline goodness : 0.997500 with order 1
Centerline is valid?  [True, True]
Translation: X:588.51, Y:42.83, Z:153.70
[[ 9.63871775e-01 -8.73468906e-02 -2.51638077e-01  5.88513898e+02]
 [ 8.44312422e-02  9.96177903e-01 -2.23819501e-02  4.28316503e+01]
 [ 2.52631286e-01  3.27214547e-04  9.67562570e-01  1.53702929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.480714057 meters
Centerline goodness : 0.997782 with order 1
Centerline is valid?  [True, True]
Translation: X:588.57, Y:42.84, Z:153.72
[[ 9.64343386e-01 -8.19797099e-02 -2.51636965e-01  5.88571162e+02]
 [ 7.88809981e-02  9.96632468e-01 -2.23944516e-02  4.28398343e+01]
 [ 2.52625460e-01  1.74656636e-03  9.67562570e-01  1.53715790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.5407140570001 meters
Centerline goodness : 0.997935 with order 1
Centerline is valid?  [True, True]
Translation: X:588.63, Y:42.85, Z:153.73
[[ 9.64870379e-01 -7.55302942e-02 -2.51635304e-01  5.88627877e+02]
 [ 7.22109050e-02  9.97137522e-01 -2.24130996e-02  4.28481600e+01]
 [ 2.52607871e-01  3.45492290e-03  9.67562570e-01  1.53729074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.600714057 meters
Centerline goodness : 0.997941 with order 1
Centerline is valid?  [True, True]
Translation: X:588.68, Y:42.85, Z:153.74
[[ 9.65347460e-01 -6.91865906e-02 -2.51629684e-01  5.88684850e+02]
 [ 6.56387870e-02  9.97590286e-01 -2.24760226e-02  4.28548300e+01]
 [ 2.52578368e-01  5.18050407e-03  9.67562572e-01  1.53744448e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.6607140570001 meters
Centerline goodness : 0.997779 with order 1
Centerline is valid?  [True, True]
Translation: X:588.74, Y:42.86, Z:153.76
[[ 9.65797302e-01 -6.25994381e-02 -2.51628461e-01  5.88742578e+02]
 [ 5.88281950e-02  9.98014758e-01 -2.24897098e-02  4.28608789e+01]
 [ 2.52536760e-01  6.91765287e-03  9.67562572e-01  1.53759910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.720714057 meters
Centerline goodness : 0.998152 with order 1
Centerline is valid?  [True, True]
Translation: X:588.80, Y:42.87, Z:153.77
[[ 9.66087624e-01 -5.79489470e-02 -2.51627945e-01  5.88799359e+02]
 [ 5.40211386e-02  9.98286367e-01 -2.24954755e-02  4.28658525e+01]
 [ 2.52500336e-01  8.13937234e-03  9.67562572e-01  1.53770125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.780714057 meters
Centerline goodness : 0.998525 with order 1
Centerline is valid?  [True, True]
Translation: X:588.86, Y:42.87, Z:153.79
[[ 9.66177545e-01 -5.64388766e-02 -2.51625921e-01  5.88856096e+02]
 [ 5.24548617e-02  9.98369382e-01 -2.25180967e-02  4.28676567e+01]
 [ 2.52486511e-01  8.55747653e-03  9.67562572e-01  1.53787437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.840714057 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:588.91, Y:42.87, Z:153.80
[[ 9.66095397e-01 -5.78352415e-02 -2.51624262e-01  5.88914166e+02]
 [ 5.38929397e-02  9.98292368e-01 -2.25366156e-02  4.28683278e+01]
 [ 2.52497991e-01  8.21174940e-03  9.67562572e-01  1.53803568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.900714057 meters
Centerline goodness : 0.997839 with order 1
Centerline is valid?  [True, True]
Translation: X:588.97, Y:42.87, Z:153.82
[[ 9.65921260e-01 -6.06757867e-02 -2.51623863e-01  5.88971442e+02]
 [ 5.68270181e-02  9.98129546e-01 -2.25410676e-02  4.28691484e+01]
 [ 2.52520909e-01  7.47386253e-03  9.67562572e-01  1.53820841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 605.960714057 meters
Centerline goodness : 0.998216 with order 1
Centerline is valid?  [True, True]
Translation: X:589.03, Y:42.87, Z:153.84
[[ 9.65669602e-01 -6.45605176e-02 -2.51623050e-01  5.89029291e+02]
 [ 6.08389680e-02  9.97892835e-01 -2.25501436e-02  4.28698083e+01]
 [ 2.52548688e-01  6.46750152e-03  9.67562573e-01  1.53836960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.020714057 meters
Centerline goodness : 0.997934 with order 1
Centerline is valid?  [True, True]
Translation: X:589.09, Y:42.87, Z:153.85
[[ 9.65309317e-01 -6.97421423e-02 -2.51622645e-01  5.89087336e+02]
 [ 6.61924057e-02  9.97551930e-01 -2.25546581e-02  4.28704293e+01]
 [ 2.52579666e-01  5.11671336e-03  9.67562573e-01  1.53849154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.080714057 meters
Centerline goodness : 0.998069 with order 1
Centerline is valid?  [True, True]
Translation: X:589.15, Y:42.87, Z:153.87
[[ 9.64885230e-01 -7.53852967e-02 -2.51621838e-01  5.89145627e+02]
 [ 7.20218019e-02  9.97147803e-01 -2.25636621e-02  4.28707803e+01]
 [ 2.52605131e-01  3.64908613e-03  9.67562573e-01  1.53865214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.140714057 meters
Centerline goodness : 0.997918 with order 1
Centerline is valid?  [True, True]
Translation: X:589.20, Y:42.87, Z:153.88
[[ 9.64451186e-01 -8.07499956e-02 -2.51621437e-01  5.89201998e+02]
 [ 7.75648026e-02  9.96731850e-01 -2.25681352e-02  4.28727853e+01]
 [ 2.52621477e-01  2.24889766e-03  9.67562573e-01  1.53878844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.200714057 meters
Centerline goodness : 0.998543 with order 1
Centerline is valid?  [True, True]
Translation: X:589.26, Y:42.87, Z:153.90
[[ 9.64227299e-01 -8.33868273e-02 -2.51619460e-01  5.89259473e+02]
 [ 8.02841671e-02  9.96516000e-01 -2.25901525e-02  4.28732192e+01]
 [ 2.52626539e-01  1.58098294e-03  9.67562573e-01  1.53897956e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.260714057 meters
Centerline goodness : 0.998246 with order 1
Centerline is valid?  [True, True]
Translation: X:589.32, Y:42.88, Z:153.91
[[ 9.64316607e-01 -8.23510720e-02 -2.51618325e-01  5.89315621e+02]
 [ 7.92104345e-02  9.96601636e-01 -2.26027879e-02  4.28758230e+01]
 [ 2.52624598e-01  1.86544692e-03  9.67562573e-01  1.53912423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.320714057 meters
Centerline goodness : 0.998687 with order 1
Centerline is valid?  [True, True]
Translation: X:589.37, Y:42.88, Z:153.93
[[ 9.64542910e-01 -7.96774816e-02 -2.51611751e-01  5.89373290e+02]
 [ 7.64283264e-02  9.96817196e-01 -2.26757431e-02  4.28796130e+01]
 [ 2.52617666e-01  2.64146226e-03  9.67562576e-01  1.53925336e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.380714057 meters
Centerline goodness : 0.998661 with order 1
Centerline is valid?  [True, True]
Translation: X:589.43, Y:42.88, Z:153.94
[[ 9.64744589e-01 -7.71982279e-02 -2.51611429e-01  5.89429847e+02]
 [ 7.38652035e-02  9.97010321e-01 -2.26793139e-02  4.28823974e+01]
 [ 2.52609995e-01  3.29441595e-03  9.67562576e-01  1.53941079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.440714057 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:589.49, Y:42.89, Z:153.96
[[ 9.64806119e-01 -7.64438784e-02 -2.51605814e-01  5.89487557e+02]
 [ 7.30694287e-02  9.97067543e-01 -2.27414383e-02  4.28860694e+01]
 [ 2.52606435e-01  3.55638570e-03  9.67562577e-01  1.53957117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.500714057 meters
Centerline goodness : 0.998778 with order 1
Centerline is valid?  [True, True]
Translation: X:589.54, Y:42.89, Z:153.97
[[ 9.64750985e-01 -7.71401996e-02 -2.51604703e-01  5.89543467e+02]
 [ 7.37858312e-02  9.97014503e-01 -2.27537258e-02  4.28888412e+01]
 [ 2.52608765e-01  3.38681722e-03  9.67562577e-01  1.53972072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.560714057 meters
Centerline goodness : 0.998353 with order 1
Centerline is valid?  [True, True]
Translation: X:589.60, Y:42.89, Z:153.99
[[ 9.64481806e-01 -8.04562356e-02 -2.51598173e-01  5.89598854e+02]
 [ 7.71940212e-02  9.96754769e-01 -2.28257127e-02  4.28924406e+01]
 [ 2.52618150e-01  2.59310995e-03  9.67562580e-01  1.53989577e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.620714057 meters
Centerline goodness : 0.998305 with order 1
Centerline is valid?  [True, True]
Translation: X:589.66, Y:42.90, Z:154.00
[[ 9.64342276e-01 -8.21320340e-02 -2.51591543e-01  5.89655145e+02]
 [ 7.89068978e-02  9.96618963e-01 -2.28985645e-02  4.28969841e+01]
 [ 2.52621608e-01  2.22974561e-03  9.67562583e-01  1.54004590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.680714057 meters
Centerline goodness : 0.997784 with order 1
Centerline is valid?  [True, True]
Translation: X:589.71, Y:42.90, Z:154.02
[[ 9.64400141e-01 -8.14547307e-02 -2.51589933e-01  5.89713344e+02]
 [ 7.82023143e-02  9.96674091e-01 -2.29162458e-02  4.29016113e+01]
 [ 2.52619804e-01  2.42551574e-03  9.67562583e-01  1.54016923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.740714057 meters
Centerline goodness : 0.997355 with order 1
Centerline is valid?  [True, True]
Translation: X:589.77, Y:42.91, Z:154.03
[[ 9.64412640e-01 -8.13230718e-02 -2.51584614e-01  5.89769472e+02]
 [ 7.80510568e-02  9.96684607e-01 -2.29744894e-02  4.29078402e+01]
 [ 2.52618868e-01  2.52044297e-03  9.67562584e-01  1.54029300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.800714057 meters
Centerline goodness : 0.997750 with order 1
Centerline is valid?  [True, True]
Translation: X:589.83, Y:42.91, Z:154.04
[[ 9.64576375e-01 -7.93638190e-02 -2.51582592e-01  5.89826132e+02]
 [ 7.60204841e-02  9.96841031e-01 -2.29966159e-02  4.29139402e+01]
 [ 2.52612950e-01  3.05656199e-03  9.67562585e-01  1.54042280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.860714057 meters
Centerline goodness : 0.997504 with order 1
Centerline is valid?  [True, True]
Translation: X:589.88, Y:42.92, Z:154.06
[[ 9.64637766e-01 -7.86240853e-02 -2.51579476e-01  5.89882000e+02]
 [ 7.52471337e-02  9.96898921e-01 -2.30306499e-02  4.29195067e+01]
 [ 2.52610072e-01  3.28560015e-03  9.67562585e-01  1.54056753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.920714057 meters
Centerline goodness : 0.997856 with order 1
Centerline is valid?  [True, True]
Translation: X:589.94, Y:42.93, Z:154.07
[[ 9.64731900e-01 -7.74671182e-02 -2.51577438e-01  5.89939181e+02]
 [ 7.40456786e-02  9.96988366e-01 -2.30528916e-02  4.29260465e+01]
 [ 2.52605620e-01  3.61163773e-03  9.67562585e-01  1.54074840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 606.980714057 meters
Centerline goodness : 0.997569 with order 1
Centerline is valid?  [True, True]
Translation: X:589.99, Y:42.93, Z:154.09
[[ 9.64828973e-01 -7.62499614e-02 -2.51577018e-01  5.89994919e+02]
 [ 7.27866344e-02  9.97080969e-01 -2.30574784e-02  4.29313223e+01]
 [ 2.52600789e-01  3.93507875e-03  9.67562585e-01  1.54092392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.0407140570001 meters
Centerline goodness : 0.997437 with order 1
Centerline is valid?  [True, True]
Translation: X:590.05, Y:42.94, Z:154.11
[[ 9.64981045e-01 -7.43048646e-02 -2.51575775e-01  5.90052092e+02]
 [ 7.07729964e-02  9.97225607e-01 -2.30710355e-02  4.29376001e+01]
 [ 2.52592095e-01  4.45834055e-03  9.67562586e-01  1.54106774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.100714057 meters
Centerline goodness : 0.997443 with order 1
Centerline is valid?  [True, True]
Translation: X:590.11, Y:42.94, Z:154.12
[[ 9.65015647e-01 -7.38743479e-02 -2.51569834e-01  5.90109517e+02]
 [ 7.03112597e-02  9.97256772e-01 -2.31356353e-02  4.29443609e+01]
 [ 2.52588851e-01  4.63805808e-03  9.67562588e-01  1.54118367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.1607140570001 meters
Centerline goodness : 0.996994 with order 1
Centerline is valid?  [True, True]
Translation: X:590.17, Y:42.95, Z:154.13
[[ 9.64748278e-01 -7.73068909e-02 -2.51563916e-01  5.90166465e+02]
 [ 7.38417909e-02  9.97000080e-01 -2.31998128e-02  4.29492827e+01]
 [ 2.52602750e-01  3.80604937e-03  9.67562590e-01  1.54130968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.220714057 meters
Centerline goodness : 0.997118 with order 1
Centerline is valid?  [True, True]
Translation: X:590.22, Y:42.95, Z:154.15
[[ 9.63935125e-01 -8.68648904e-02 -2.51562249e-01  5.90222426e+02]
 [ 8.37148987e-02  9.96219226e-01 -2.32178816e-02  4.29541766e+01]
 [ 2.52627967e-01  1.32102347e-03  9.67562590e-01  1.54149089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.2807140570001 meters
Centerline goodness : 0.997416 with order 1
Centerline is valid?  [True, True]
Translation: X:590.28, Y:42.96, Z:154.17
[[ 9.63361106e-01 -9.30304463e-02 -2.51556585e-01  5.90279869e+02]
 [ 9.00710924e-02  9.95663237e-01 -2.32790892e-02  4.29597057e+01]
 [ 2.52631308e-01 -2.31807323e-04  9.67562592e-01  1.54166989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.340714057 meters
Centerline goodness : 0.997151 with order 1
Centerline is valid?  [True, True]
Translation: X:590.34, Y:42.97, Z:154.18
[[ 9.63038720e-01 -9.63127033e-02 -2.51555735e-01  5.90336503e+02]
 [ 9.34610416e-02  9.95350536e-01 -2.32882743e-02  4.29664462e+01]
 [ 2.52629092e-01 -1.08315113e-03  9.67562592e-01  1.54181125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.400714057 meters
Centerline goodness : 0.997453 with order 1
Centerline is valid?  [True, True]
Translation: X:590.39, Y:42.98, Z:154.19
[[ 9.62916620e-01 -9.75279987e-02 -2.51554909e-01  5.90393835e+02]
 [ 9.47147894e-02  9.95231807e-01 -2.32971860e-02  4.29759384e+01]
 [ 2.52627575e-01 -1.39272269e-03  9.67562592e-01  1.54192987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.460714057 meters
Centerline goodness : 0.997243 with order 1
Centerline is valid?  [True, True]
Translation: X:590.45, Y:42.98, Z:154.21
[[ 9.62716425e-01 -9.94889044e-02 -2.51553263e-01  5.90450566e+02]
 [ 9.67368729e-02  9.95036879e-01 -2.33149531e-02  4.29844116e+01]
 [ 2.52624352e-01 -1.88878772e-03  9.67562592e-01  1.54207119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.520714057 meters
Centerline goodness : 0.997109 with order 1
Centerline is valid?  [True, True]
Translation: X:590.51, Y:42.99, Z:154.22
[[ 9.62394993e-01 -1.02554737e-01 -2.51551989e-01  5.90506122e+02]
 [ 9.99020721e-02  9.94723755e-01 -2.33286914e-02  4.29916354e+01]
 [ 2.52617206e-01 -2.67914914e-03  9.67562592e-01  1.54221267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.580714057 meters
Centerline goodness : 0.997210 with order 1
Centerline is valid?  [True, True]
Translation: X:590.56, Y:43.00, Z:154.24
[[ 9.62238445e-01 -1.04018375e-01 -2.51549901e-01  5.90561792e+02]
 [ 1.01409007e-01  9.94570729e-01 -2.33511770e-02  4.29988253e+01]
 [ 2.52613120e-01 -3.04002543e-03  9.67562592e-01  1.54236668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.640714057 meters
Centerline goodness : 0.997803 with order 1
Centerline is valid?  [True, True]
Translation: X:590.62, Y:43.01, Z:154.25
[[ 9.61894448e-01 -1.07157568e-01 -2.51547862e-01  5.90619600e+02]
 [ 1.04647976e-01  9.94234629e-01 -2.33731204e-02  4.30065406e+01]
 [ 2.52602203e-01 -3.84149983e-03  9.67562592e-01  1.54253768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.700714057 meters
Centerline goodness : 0.997595 with order 1
Centerline is valid?  [True, True]
Translation: X:590.68, Y:43.01, Z:154.27
[[ 9.60974478e-01 -1.15116144e-01 -2.51547862e-01  5.90675714e+02]
 [ 1.12874338e-01  9.93334325e-01 -2.33731204e-02  4.30134191e+01]
 [ 2.52561750e-01 -5.93232636e-03  9.67562592e-01  1.54270633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.760714057 meters
Centerline goodness : 0.997566 with order 1
Centerline is valid?  [True, True]
Translation: X:590.73, Y:43.02, Z:154.29
[[ 9.60025338e-01 -1.22792578e-01 -2.51541911e-01  5.90731346e+02]
 [ 1.20792742e-01  9.92401038e-01 -2.34370057e-02  4.30217190e+01]
 [ 2.52508344e-01 -7.88431775e-03  9.67562594e-01  1.54286500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.820714057 meters
Centerline goodness : 0.997885 with order 1
Centerline is valid?  [True, True]
Translation: X:590.79, Y:43.03, Z:154.30
[[ 9.59602946e-01 -1.26054883e-01 -2.51539964e-01  5.90788409e+02]
 [ 1.24159634e-01  9.91984936e-01 -2.34578821e-02  4.30348524e+01]
 [ 2.52480835e-01 -8.72085703e-03  9.67562595e-01  1.54300531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.880714057 meters
Centerline goodness : 0.997854 with order 1
Centerline is valid?  [True, True]
Translation: X:590.84, Y:43.05, Z:154.32
[[ 9.60017767e-01 -1.22857456e-01 -2.51539128e-01  5.90844886e+02]
 [ 1.20851999e-01  9.92393119e-01 -2.34668394e-02  4.30476417e+01]
 [ 2.52508776e-01 -7.87042369e-03  9.67562595e-01  1.54315949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 607.940714057 meters
Centerline goodness : 0.997472 with order 1
Centerline is valid?  [True, True]
Translation: X:590.90, Y:43.06, Z:154.33
[[ 9.60859171e-01 -1.16105493e-01 -2.51533632e-01  5.90901331e+02]
 [ 1.13857109e-01  9.93218558e-01 -2.35256128e-02  4.30614023e+01]
 [ 2.52559324e-01 -6.03409136e-03  9.67562596e-01  1.54332897e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.000714057 meters
Centerline goodness : 0.997734 with order 1
Centerline is valid?  [True, True]
Translation: X:590.96, Y:43.08, Z:154.34
[[ 9.62501655e-01 -1.01595752e-01 -2.51533034e-01  5.90957181e+02]
 [ 9.88577472e-02  9.94823296e-01 -2.35320021e-02  4.30781428e+01]
 [ 2.52621673e-01 -2.21639808e-03  9.67562596e-01  1.54344642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.060714057 meters
Centerline goodness : 0.997008 with order 1
Centerline is valid?  [True, True]
Translation: X:591.01, Y:43.09, Z:154.35
[[ 9.63584807e-01 -9.07552679e-02 -2.51530916e-01  5.91014110e+02]
 [ 8.76477168e-02  9.95873013e-01 -2.35546148e-02  4.30909014e+01]
 [ 2.52630557e-01  6.50758452e-04  9.67562597e-01  1.54354915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.120714057 meters
Centerline goodness : 0.997250 with order 1
Centerline is valid?  [True, True]
Translation: X:591.07, Y:43.10, Z:154.37
[[ 9.64223896e-01 -8.36963901e-02 -2.51529706e-01  5.91071107e+02]
 [ 8.03491017e-02  9.96488130e-01 -2.35675359e-02  4.31018709e+01]
 [ 2.52618884e-01  2.51419541e-03  9.67562597e-01  1.54368430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.180714057 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:591.13, Y:43.11, Z:154.38
[[ 9.64509186e-01 -8.03600530e-02 -2.51523938e-01  5.91128296e+02]
 [ 7.68851548e-02  9.96759924e-01 -2.36289330e-02  4.31100191e+01]
 [ 2.52607804e-01  3.45186598e-03  9.67562599e-01  1.54384283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.240714057 meters
Centerline goodness : 0.997538 with order 1
Centerline is valid?  [True, True]
Translation: X:591.19, Y:43.12, Z:154.40
[[ 9.64527017e-01 -8.01473201e-02 -2.51523438e-01  5.91185917e+02]
 [ 7.66639203e-02  9.96776838e-01 -2.36342584e-02  4.31153368e+01]
 [ 2.52606960e-01  3.51310795e-03  9.67562599e-01  1.54400377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.300714057 meters
Centerline goodness : 0.998015 with order 1
Centerline is valid?  [True, True]
Translation: X:591.24, Y:43.12, Z:154.42
[[ 9.64465913e-01 -8.08806529e-02 -2.51523007e-01  5.91241554e+02]
 [ 7.74205788e-02  9.96718245e-01 -2.36388442e-02  4.31187425e+01]
 [ 2.52609495e-01  3.32580267e-03  9.67562599e-01  1.54415634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.360714057 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:591.30, Y:43.12, Z:154.43
[[ 9.64785031e-01 -7.69875996e-02 -2.51520882e-01  5.91299486e+02]
 [ 7.33915018e-02  9.97022479e-01 -2.36614352e-02  4.31205363e+01]
 [ 2.52593610e-01  4.36870327e-03  9.67562599e-01  1.54430420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.420714057 meters
Centerline goodness : 0.997589 with order 1
Centerline is valid?  [True, True]
Translation: X:591.36, Y:43.12, Z:154.44
[[ 9.65339153e-01 -6.96978023e-02 -2.51520448e-01  5.91357765e+02]
 [ 6.58570984e-02  9.97548375e-01 -2.36660432e-02  4.31230604e+01]
 [ 2.52553286e-01  6.28135118e-03  9.67562599e-01  1.54442434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.480714057 meters
Centerline goodness : 0.997699 with order 1
Centerline is valid?  [True, True]
Translation: X:591.42, Y:43.12, Z:154.45
[[ 9.65778639e-01 -6.33207701e-02 -2.51519585e-01  5.91415908e+02]
 [ 5.92650398e-02  9.97961492e-01 -2.36752172e-02  4.31249759e+01]
 [ 2.52505993e-01  7.95870080e-03  9.67562599e-01  1.54452938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.5407140570001 meters
Centerline goodness : 0.998036 with order 1
Centerline is valid?  [True, True]
Translation: X:591.47, Y:43.12, Z:154.47
[[ 9.66053342e-01 -5.89871289e-02 -2.51518306e-01  5.91473187e+02]
 [ 5.47835204e-02  9.98217214e-01 -2.36887906e-02  4.31237647e+01]
 [ 2.52467237e-01  9.10557702e-03  9.67562599e-01  1.54469816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.600714057 meters
Centerline goodness : 0.997916 with order 1
Centerline is valid?  [True, True]
Translation: X:591.53, Y:43.12, Z:154.49
[[ 9.66139650e-01 -5.75616736e-02 -2.51517057e-01  5.91529652e+02]
 [ 5.33071666e-02  9.98296829e-01 -2.37020466e-02  4.31247740e+01]
 [ 2.52453010e-01  9.49182535e-03  9.67562599e-01  1.54488358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.6607140570001 meters
Centerline goodness : 0.998263 with order 1
Centerline is valid?  [True, True]
Translation: X:591.59, Y:43.12, Z:154.51
[[ 9.66206388e-01 -5.64362239e-02 -2.51515743e-01  5.91585065e+02]
 [ 5.21406389e-02  9.98358105e-01 -2.37159834e-02  4.31230644e+01]
 [ 2.52441221e-01  9.80034311e-03  9.67562599e-01  1.54506684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.720714057 meters
Centerline goodness : 0.998160 with order 1
Centerline is valid?  [True, True]
Translation: X:591.64, Y:43.12, Z:154.52
[[ 9.66346089e-01 -5.40014354e-02 -2.51513582e-01  5.91642938e+02]
 [ 4.96189008e-02  9.98486069e-01 -2.37388778e-02  4.31235546e+01]
 [ 2.52414742e-01  1.04601442e-02  9.67562599e-01  1.54524555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.7807140570001 meters
Centerline goodness : 0.997794 with order 1
Centerline is valid?  [True, True]
Translation: X:591.70, Y:43.12, Z:154.54
[[ 9.66430266e-01 -5.24757793e-02 -2.51513089e-01  5.91700074e+02]
 [ 4.80411520e-02  9.98563100e-01 -2.37441066e-02  4.31245653e+01]
 [ 2.52397680e-01  1.08640447e-02  9.67562599e-01  1.54537887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.840714057 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:591.76, Y:43.12, Z:154.55
[[ 9.66485342e-01 -5.14862625e-02 -2.51505960e-01  5.91758057e+02]
 [ 4.69991862e-02  9.98610892e-01 -2.38193875e-02  4.31225127e+01]
 [ 2.52382962e-01  1.12005135e-02  9.67562602e-01  1.54545863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.900714057 meters
Centerline goodness : 0.998633 with order 1
Centerline is valid?  [True, True]
Translation: X:591.81, Y:43.12, Z:154.56
[[ 9.66302154e-01 -5.48270164e-02 -2.51503768e-01  5.91814249e+02]
 [ 5.04450141e-02  9.98442204e-01 -2.38425108e-02  4.31228696e+01]
 [ 2.52419190e-01  1.03519584e-02  9.67562602e-01  1.54556534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 608.960714057 meters
Centerline goodness : 0.998379 with order 1
Centerline is valid?  [True, True]
Translation: X:591.87, Y:43.12, Z:154.58
[[ 9.65981013e-01 -6.02396748e-02 -2.51499232e-01  5.91871901e+02]
 [ 5.60253836e-02  9.98143483e-01 -2.38902596e-02  4.31217348e+01]
 [ 2.52471461e-01  8.98719620e-03  9.67562604e-01  1.54575085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.020714057 meters
Centerline goodness : 0.998515 with order 1
Centerline is valid?  [True, True]
Translation: X:591.93, Y:43.12, Z:154.59
[[ 9.65474427e-01 -6.78797499e-02 -2.51498448e-01  5.91929070e+02]
 [ 6.39178835e-02  9.97668966e-01 -2.38985090e-02  4.31214240e+01]
 [ 2.52534422e-01  6.99815073e-03  9.67562604e-01  1.54590712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.080714057 meters
Centerline goodness : 0.997844 with order 1
Centerline is valid?  [True, True]
Translation: X:591.99, Y:43.12, Z:154.61
[[ 9.64990571e-01 -7.44457048e-02 -2.51497583e-01  5.91987212e+02]
 [ 7.07005581e-02  9.97211039e-01 -2.39076123e-02  4.31225041e+01]
 [ 2.52575985e-01  5.28960094e-03  9.67562604e-01  1.54607416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.140714057 meters
Centerline goodness : 0.998403 with order 1
Centerline is valid?  [True, True]
Translation: X:592.04, Y:43.13, Z:154.62
[[ 9.64586943e-01 -7.95060159e-02 -2.51497162e-01  5.92044737e+02]
 [ 7.59287614e-02  9.96826483e-01 -2.39120406e-02  4.31251743e+01]
 [ 2.52600183e-01  3.96937417e-03  9.67562604e-01  1.54621651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.200714057 meters
Centerline goodness : 0.997888 with order 1
Centerline is valid?  [True, True]
Translation: X:592.10, Y:43.13, Z:154.63
[[ 9.64497076e-01 -8.05927954e-02 -2.51495908e-01  5.92102137e+02]
 [ 7.70484325e-02  9.96740248e-01 -2.39252205e-02  4.31304352e+01]
 [ 2.52604294e-01  3.69843975e-03  9.67562604e-01  1.54634674e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.260714057 meters
Centerline goodness : 0.998107 with order 1
Centerline is valid?  [True, True]
Translation: X:592.16, Y:43.14, Z:154.65
[[ 9.64461847e-01 -8.10313203e-02 -2.51490102e-01  5.92158610e+02]
 [ 7.74857465e-02  9.96704884e-01 -2.39860991e-02  4.31356969e+01]
 [ 2.52605039e-01  3.64677906e-03  9.67562605e-01  1.54646399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.320714057 meters
Centerline goodness : 0.998161 with order 1
Centerline is valid?  [True, True]
Translation: X:592.21, Y:43.14, Z:154.66
[[ 9.64461982e-01 -8.10392364e-02 -2.51487031e-01  5.92214158e+02]
 [ 7.74855424e-02  9.96704126e-01 -2.40182623e-02  4.31417576e+01]
 [ 2.52604583e-01  3.67809191e-03  9.67562606e-01  1.54664040e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.380714057 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:592.27, Y:43.15, Z:154.68
[[ 9.64501498e-01 -8.05729374e-02 -2.51485311e-01  5.92270985e+02]
 [ 7.69989656e-02  9.96741400e-01 -2.40362540e-02  4.31482928e+01]
 [ 2.52602493e-01  3.81889413e-03  9.67562606e-01  1.54678826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.440714057 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:592.33, Y:43.15, Z:154.69
[[ 9.64272977e-01 -8.32812306e-02 -2.51479349e-01  5.92328320e+02]
 [ 7.97815856e-02  9.96521029e-01 -2.40984820e-02  4.31530765e+01]
 [ 2.52611410e-01  3.17409381e-03  9.67562608e-01  1.54693468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.500714057 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:592.38, Y:43.16, Z:154.71
[[ 9.63963661e-01 -8.68046264e-02 -2.51473690e-01  5.92384721e+02]
 [ 8.34074905e-02  9.96222672e-01 -2.41573858e-02  4.31566899e+01]
 [ 2.52620765e-01  2.31205262e-03  9.67562610e-01  1.54708436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.560714057 meters
Centerline goodness : 0.997760 with order 1
Centerline is valid?  [True, True]
Translation: X:592.44, Y:43.16, Z:154.72
[[ 9.63945918e-01 -8.70183429e-02 -2.51467843e-01  5.92441178e+02]
 [ 8.36125187e-02  9.96204010e-01 -2.42181110e-02  4.31629126e+01]
 [ 2.52620693e-01  2.31908949e-03  9.67562612e-01  1.54723569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.620714057 meters
Centerline goodness : 0.998058 with order 1
Centerline is valid?  [True, True]
Translation: X:592.50, Y:43.17, Z:154.74
[[ 9.64060244e-01 -8.57602146e-02 -2.51461789e-01  5.92497125e+02]
 [ 8.22959397e-02  9.96312110e-01 -2.42808126e-02  4.31704211e+01]
 [ 2.52616753e-01  2.71388193e-03  9.67562613e-01  1.54735808e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.680714057 meters
Centerline goodness : 0.998547 with order 1
Centerline is valid?  [True, True]
Translation: X:592.55, Y:43.18, Z:154.75
[[ 9.63820434e-01 -8.84206550e-02 -2.51459656e-01  5.92554711e+02]
 [ 8.50396497e-02  9.96081135e-01 -2.43028819e-02  4.31753821e+01]
 [ 2.52623096e-01  2.03957311e-03  9.67562614e-01  1.54751478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.740714057 meters
Centerline goodness : 0.998495 with order 1
Centerline is valid?  [True, True]
Translation: X:592.61, Y:43.18, Z:154.77
[[ 9.63477735e-01 -9.20821664e-02 -2.51458800e-01  5.92611303e+02]
 [ 8.88214533e-02  9.95750817e-01 -2.43117351e-02  4.31804624e+01]
 [ 2.52628983e-01  1.08887936e-03  9.67562614e-01  1.54766434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.800714057 meters
Centerline goodness : 0.998128 with order 1
Centerline is valid?  [True, True]
Translation: X:592.67, Y:43.19, Z:154.78
[[ 9.62952954e-01 -9.74192490e-02 -2.51457947e-01  5.92667276e+02]
 [ 9.43351038e-02  9.95243387e-01 -2.43205535e-02  4.31873359e+01]
 [ 2.52631149e-01 -3.01762704e-04  9.67562614e-01  1.54782662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.860714057 meters
Centerline goodness : 0.997843 with order 1
Centerline is valid?  [True, True]
Translation: X:592.72, Y:43.20, Z:154.80
[[ 9.62503610e-01 -1.01777871e-01 -2.51451915e-01  5.92723376e+02]
 [ 9.88236964e-02  9.94806191e-01 -2.43827613e-02  4.31951090e+01]
 [ 2.52627548e-01 -1.38091196e-03  9.67562616e-01  1.54797880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.920714057 meters
Centerline goodness : 0.998155 with order 1
Centerline is valid?  [True, True]
Translation: X:592.78, Y:43.20, Z:154.81
[[ 9.61982455e-01 -1.06605728e-01 -2.51445768e-01  5.92780123e+02]
 [ 1.03797133e-01  9.94298018e-01 -2.44460004e-02  4.32035541e+01]
 [ 2.52618112e-01 -2.58272629e-03  9.67562618e-01  1.54812053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 609.980714057 meters
Centerline goodness : 0.998014 with order 1
Centerline is valid?  [True, True]
Translation: X:592.84, Y:43.21, Z:154.83
[[ 9.61638308e-01 -1.09669696e-01 -2.51444471e-01  5.92836385e+02]
 [ 1.06960574e-01  9.93962362e-01 -2.44593326e-02  4.32119189e+01]
 [ 2.52608788e-01 -3.37361378e-03  9.67562618e-01  1.54828891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.0407140570001 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:592.89, Y:43.22, Z:154.84
[[ 9.61895741e-01 -1.07402839e-01 -2.51438290e-01  5.92893013e+02]
 [ 1.04600974e-01  9.94211885e-01 -2.45227098e-02  4.32225627e+01]
 [ 2.52616745e-01 -2.71239987e-03  9.67562620e-01  1.54844206e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.100714057 meters
Centerline goodness : 0.998119 with order 1
Centerline is valid?  [True, True]
Translation: X:592.95, Y:43.24, Z:154.86
[[ 9.63006498e-01 -9.69545161e-02 -2.51432511e-01  5.92950373e+02]
 [ 9.37865677e-02  9.95288809e-01 -2.45818280e-02  4.32360331e+01]
 [ 2.52631284e-01  9.14678569e-05  9.67562621e-01  1.54855785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.1607140570001 meters
Centerline goodness : 0.998199 with order 1
Centerline is valid?  [True, True]
Translation: X:593.01, Y:43.25, Z:154.87
[[ 9.63767228e-01 -8.90778520e-02 -2.51431636e-01  5.93007167e+02]
 [ 8.56437388e-02  9.96022311e-01 -2.45907770e-02  4.32474319e+01]
 [ 2.52622012e-01  2.16623961e-03  9.67562621e-01  1.54870973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.220714057 meters
Centerline goodness : 0.998275 with order 1
Centerline is valid?  [True, True]
Translation: X:593.06, Y:43.26, Z:154.89
[[ 9.64115015e-01 -8.52339074e-02 -2.51430742e-01  5.93063392e+02]
 [ 8.16688166e-02  9.96355885e-01 -2.45999070e-02  4.32572164e+01]
 [ 2.52611246e-01  3.18308848e-03  9.67562621e-01  1.54885025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.2807140570001 meters
Centerline goodness : 0.998133 with order 1
Centerline is valid?  [True, True]
Translation: X:593.12, Y:43.26, Z:154.90
[[ 9.64017219e-01 -8.63512955e-02 -2.51424451e-01  5.93119906e+02]
 [ 8.28068487e-02  9.96260363e-01 -2.46640489e-02  4.32635801e+01]
 [ 2.52613987e-01  2.95690143e-03  9.67562623e-01  1.54901057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.340714057 meters
Centerline goodness : 0.997639 with order 1
Centerline is valid?  [True, True]
Translation: X:593.18, Y:43.27, Z:154.92
[[ 9.63673866e-01 -9.01196554e-02 -2.51418234e-01  5.93176358e+02]
 [ 8.66848064e-02  9.95928866e-01 -2.47272591e-02  4.32696253e+01]
 [ 2.52623089e-01  2.03487243e-03  9.67562625e-01  1.54917143e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.400714057 meters
Centerline goodness : 0.998307 with order 1
Centerline is valid?  [True, True]
Translation: X:593.23, Y:43.27, Z:154.93
[[ 9.63426083e-01 -9.27334507e-02 -2.51417360e-01  5.93230752e+02]
 [ 8.93837922e-02  9.95690043e-01 -2.47361464e-02  4.32749636e+01]
 [ 2.52627630e-01  1.35881158e-03  9.67562625e-01  1.54932175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.460714057 meters
Centerline goodness : 0.997641 with order 1
Centerline is valid?  [True, True]
Translation: X:593.29, Y:43.28, Z:154.95
[[ 9.63454851e-01 -9.24469803e-02 -2.51412622e-01  5.93287653e+02]
 [ 8.90751858e-02  9.95716503e-01 -2.47842134e-02  4.32808086e+01]
 [ 2.52626922e-01  1.48384460e-03  9.67562627e-01  1.54947945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.520714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:593.34, Y:43.29, Z:154.96
[[ 9.63582651e-01 -9.11103415e-02 -2.51410780e-01  5.93344179e+02]
 [ 8.76889252e-02  9.95839078e-01 -2.48028800e-02  4.32876537e+01]
 [ 2.52624479e-01  1.85368378e-03  9.67562627e-01  1.54962923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.580714057 meters
Centerline goodness : 0.998168 with order 1
Centerline is valid?  [True, True]
Translation: X:593.40, Y:43.29, Z:154.98
[[ 9.64003474e-01 -8.65495360e-02 -2.51408990e-01  5.93401942e+02]
 [ 8.29707878e-02  9.96242825e-01 -2.48210157e-02  4.32947241e+01]
 [ 2.52612650e-01  3.06794341e-03  9.67562627e-01  1.54975991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.640714057 meters
Centerline goodness : 0.998341 with order 1
Centerline is valid?  [True, True]
Translation: X:593.46, Y:43.30, Z:154.99
[[ 9.64298727e-01 -8.31967939e-02 -2.51408549e-01  5.93457968e+02]
 [ 7.95047947e-02  9.96525305e-01 -2.48254807e-02  4.33014689e+01]
 [ 2.52600381e-01  3.95099432e-03  9.67562627e-01  1.54992725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.700714057 meters
Centerline goodness : 0.998317 with order 1
Centerline is valid?  [True, True]
Translation: X:593.51, Y:43.31, Z:155.01
[[ 9.64357076e-01 -8.25367599e-02 -2.51402293e-01  5.93514752e+02]
 [ 7.88062325e-02  9.96579215e-01 -2.48886806e-02  4.33075213e+01]
 [ 2.52596531e-01  4.18950766e-03  9.67562629e-01  1.55005780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.760714057 meters
Centerline goodness : 0.998144 with order 1
Centerline is valid?  [True, True]
Translation: X:593.57, Y:43.31, Z:155.02
[[ 9.64413756e-01 -8.18908996e-02 -2.51396076e-01  5.93572825e+02]
 [ 7.81224686e-02  9.96631482e-01 -2.49513249e-02  4.33124361e+01]
 [ 2.52592530e-01  4.42371888e-03  9.67562631e-01  1.55020124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.820714057 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:593.63, Y:43.32, Z:155.04
[[ 9.64528042e-01 -8.05350554e-02 -2.51395627e-01  5.93629840e+02]
 [ 7.67201592e-02  9.96740299e-01 -2.49558448e-02  4.33174369e+01]
 [ 2.52585973e-01  4.78349962e-03  9.67562631e-01  1.55036409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.880714057 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:593.69, Y:43.32, Z:155.05
[[ 9.64603791e-01 -7.96255253e-02 -2.51394712e-01  5.93687924e+02]
 [ 7.57778557e-02  9.96812150e-01 -2.49650601e-02  4.33241080e+01]
 [ 2.52581159e-01  5.03123940e-03  9.67562631e-01  1.55051685e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 610.940714057 meters
Centerline goodness : 0.998146 with order 1
Centerline is valid?  [True, True]
Translation: X:593.74, Y:43.33, Z:155.07
[[ 9.64721644e-01 -7.81847014e-02 -2.51394712e-01  5.93743921e+02]
 [ 7.42889296e-02  9.96924220e-01 -2.49650601e-02  4.33297782e+01]
 [ 2.52573363e-01  5.40848976e-03  9.67562631e-01  1.55066215e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.000714057 meters
Centerline goodness : 0.997771 with order 1
Centerline is valid?  [True, True]
Translation: X:593.80, Y:43.34, Z:155.08
[[ 9.64954094e-01 -7.52725335e-02 -2.51391413e-01  5.93800843e+02]
 [ 7.12709436e-02  9.97143691e-01 -2.49982407e-02  4.33358698e+01]
 [ 2.52555042e-01  6.20525149e-03  9.67562631e-01  1.55081435e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.060714057 meters
Centerline goodness : 0.997772 with order 1
Centerline is valid?  [True, True]
Translation: X:593.86, Y:43.34, Z:155.09
[[ 9.65106289e-01 -7.33019425e-02 -2.51389492e-01  5.93857448e+02]
 [ 6.92296071e-02  9.97287012e-01 -2.50175374e-02  4.33406276e+01]
 [ 2.52541310e-01  6.74098688e-03  9.67562632e-01  1.55094844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.120714057 meters
Centerline goodness : 0.997552 with order 1
Centerline is valid?  [True, True]
Translation: X:593.91, Y:43.35, Z:155.11
[[ 9.65118373e-01 -7.31486424e-02 -2.51387752e-01  5.93914485e+02]
 [ 6.90666453e-02  9.97297872e-01 -2.50350190e-02  4.33456500e+01]
 [ 2.52539747e-01  6.79924815e-03  9.67562632e-01  1.55108260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.180714057 meters
Centerline goodness : 0.998141 with order 1
Centerline is valid?  [True, True]
Translation: X:593.97, Y:43.35, Z:155.12
[[ 9.64968992e-01 -7.51136325e-02 -2.51381754e-01  5.93971024e+02]
 [ 7.10815239e-02  9.97154779e-01 -2.50951033e-02  4.33485831e+01]
 [ 2.52551501e-01  6.34739842e-03  9.67562633e-01  1.55123767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.240714057 meters
Centerline goodness : 0.997940 with order 1
Centerline is valid?  [True, True]
Translation: X:594.03, Y:43.35, Z:155.14
[[ 9.64933009e-01 -7.55945136e-02 -2.51375732e-01  5.94027759e+02]
 [ 7.15627761e-02  9.97118840e-01 -2.51552878e-02  4.33503353e+01]
 [ 2.52553080e-01  6.28402232e-03  9.67562635e-01  1.55141248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.300714057 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:594.09, Y:43.35, Z:155.15
[[ 9.64955302e-01 -7.53140069e-02 -2.51374354e-01  5.94085149e+02]
 [ 7.12693310e-02  9.97139510e-01 -2.51690477e-02  4.33535157e+01]
 [ 2.52550882e-01  6.37172395e-03  9.67562635e-01  1.55153810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.360714057 meters
Centerline goodness : 0.998316 with order 1
Centerline is valid?  [True, True]
Translation: X:594.14, Y:43.36, Z:155.17
[[ 9.65112201e-01 -7.32806631e-02 -2.51372997e-01  5.94143517e+02]
 [ 6.91646579e-02  9.97287364e-01 -2.51825939e-02  4.33568151e+01]
 [ 2.52536511e-01  6.91790127e-03  9.67562635e-01  1.55166770e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.420714057 meters
Centerline goodness : 0.998331 with order 1
Centerline is valid?  [True, True]
Translation: X:594.20, Y:43.36, Z:155.18
[[ 9.65242013e-01 -7.15536729e-02 -2.51372089e-01  5.94200710e+02]
 [ 6.73777473e-02  9.97409455e-01 -2.51916488e-02  4.33590570e+01]
 [ 2.52523454e-01  7.37915272e-03  9.67562635e-01  1.55181086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.480714057 meters
Centerline goodness : 0.997987 with order 1
Centerline is valid?  [True, True]
Translation: X:594.26, Y:43.36, Z:155.20
[[ 9.65399930e-01 -6.94134629e-02 -2.51365762e-01  5.94256528e+02]
 [ 6.51498467e-02  9.97555864e-01 -2.52546308e-02  4.33618543e+01]
 [ 2.52504401e-01  8.00437791e-03  9.67562637e-01  1.55195079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.5407140570001 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:594.31, Y:43.36, Z:155.21
[[ 9.65434761e-01 -6.89354096e-02 -2.51363543e-01  5.94312698e+02]
 [ 6.46501309e-02  9.97587815e-01 -2.52767004e-02  4.33648019e+01]
 [ 2.52499667e-01  8.15231928e-03  9.67562638e-01  1.55212054e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.600714057 meters
Centerline goodness : 0.997613 with order 1
Centerline is valid?  [True, True]
Translation: X:594.37, Y:43.37, Z:155.23
[[ 9.65133888e-01 -7.30486489e-02 -2.51357261e-01  5.94369236e+02]
 [ 6.88842005e-02  9.97302813e-01 -2.53390206e-02  4.33693396e+01]
 [ 2.52530285e-01  7.14100356e-03  9.67562640e-01  1.55225959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.6607140570001 meters
Centerline goodness : 0.997784 with order 1
Centerline is valid?  [True, True]
Translation: X:594.43, Y:43.38, Z:155.24
[[ 9.64940890e-01 -7.55626710e-02 -2.51355051e-01  5.94427264e+02]
 [ 7.14763367e-02  9.97119831e-01 -2.53609298e-02  4.33757877e+01]
 [ 2.52547445e-01  6.50585996e-03  9.67562640e-01  1.55239282e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.720714057 meters
Centerline goodness : 0.997604 with order 1
Centerline is valid?  [True, True]
Translation: X:594.48, Y:43.39, Z:155.25
[[ 9.65071949e-01 -7.38714576e-02 -2.51354611e-01  5.94484863e+02]
 [ 6.97276005e-02  9.97243533e-01 -2.53652876e-02  4.33869038e+01]
 [ 2.52535531e-01  6.95297362e-03  9.67562640e-01  1.55252613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.7807140570001 meters
Centerline goodness : 0.996646 with order 1
Centerline is valid?  [True, True]
Translation: X:594.54, Y:43.40, Z:155.27
[[ 9.65044412e-01 -7.42334681e-02 -2.51353684e-01  5.94541567e+02]
 [ 7.00992890e-02  9.97217241e-01 -2.53744726e-02  4.33961148e+01]
 [ 2.52537862e-01  6.86777849e-03  9.67562640e-01  1.55266562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.840714057 meters
Centerline goodness : 0.997255 with order 1
Centerline is valid?  [True, True]
Translation: X:594.60, Y:43.40, Z:155.29
[[ 9.64913591e-01 -7.59363071e-02 -2.51347248e-01  5.94596253e+02]
 [ 7.18423531e-02  9.97091561e-01 -2.54380667e-02  4.34013409e+01]
 [ 2.52547893e-01  6.48815855e-03  9.67562642e-01  1.55285752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.900714057 meters
Centerline goodness : 0.997245 with order 1
Centerline is valid?  [True, True]
Translation: X:594.65, Y:43.41, Z:155.30
[[ 9.64917041e-01 -7.59167153e-02 -2.51339923e-01  5.94652593e+02]
 [ 7.18033207e-02  9.97092529e-01 -2.55102405e-02  4.34131244e+01]
 [ 2.52545813e-01  6.56822468e-03  9.67562644e-01  1.55301548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 611.960714057 meters
Centerline goodness : 0.997542 with order 1
Centerline is valid?  [True, True]
Translation: X:594.71, Y:43.42, Z:155.32
[[ 9.65039012e-01 -7.43723040e-02 -2.51333376e-01  5.94709061e+02]
 [ 7.01906726e-02  9.97205701e-01 -2.55745906e-02  4.34215477e+01]
 [ 2.52533116e-01  7.03921895e-03  9.67562646e-01  1.55317331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.020714057 meters
Centerline goodness : 0.996973 with order 1
Centerline is valid?  [True, True]
Translation: X:594.77, Y:43.43, Z:155.33
[[ 9.65294454e-01 -7.10032072e-02 -2.51326804e-01  5.94766829e+02]
 [ 6.66925614e-02  9.97444105e-01 -2.56390116e-02  4.34277943e+01]
 [ 2.52504892e-01  7.98756738e-03  9.67562648e-01  1.55333391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.080714057 meters
Centerline goodness : 0.997509 with order 1
Centerline is valid?  [True, True]
Translation: X:594.82, Y:43.44, Z:155.35
[[ 9.65550712e-01 -6.74306865e-02 -2.51326330e-01  5.94824049e+02]
 [ 6.29998942e-02  9.97684026e-01 -2.56436562e-02  4.34372361e+01]
 [ 2.52473435e-01  8.92671825e-03  9.67562648e-01  1.55346368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.140714057 meters
Centerline goodness : 0.996801 with order 1
Centerline is valid?  [True, True]
Translation: X:594.88, Y:43.44, Z:155.36
[[ 9.65717670e-01 -6.50012726e-02 -2.51324921e-01  5.94880806e+02]
 [ 6.04860637e-02  9.97839231e-01 -2.56574610e-02  4.34433378e+01]
 [ 2.52449634e-01  9.57620826e-03  9.67562648e-01  1.55362495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.200714057 meters
Centerline goodness : 0.997182 with order 1
Centerline is valid?  [True, True]
Translation: X:594.94, Y:43.45, Z:155.38
[[ 9.65798347e-01 -6.38177053e-02 -2.51318233e-01  5.94937435e+02]
 [ 5.92461555e-02  9.97911935e-01 -2.57228082e-02  4.34512423e+01]
 [ 2.52435035e-01  9.95340650e-03  9.67562651e-01  1.55376914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.260714057 meters
Centerline goodness : 0.997015 with order 1
Centerline is valid?  [True, True]
Translation: X:594.99, Y:43.46, Z:155.39
[[ 9.65738076e-01 -6.47495530e-02 -2.51311489e-01  5.94992927e+02]
 [ 6.01919121e-02  9.97853639e-01 -2.57885373e-02  4.34574997e+01]
 [ 2.52441880e-01  9.77805335e-03  9.67562653e-01  1.55391113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.320714057 meters
Centerline goodness : 0.997190 with order 1
Centerline is valid?  [True, True]
Translation: X:595.05, Y:43.47, Z:155.41
[[ 9.65638150e-01 -6.62321067e-02 -2.51309116e-01  5.95050485e+02]
 [ 6.17177712e-02  9.97759829e-01 -2.58116426e-02  4.34663353e+01]
 [ 2.52455700e-01  9.41446834e-03  9.67562653e-01  1.55406062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.380714057 meters
Centerline goodness : 0.997594 with order 1
Centerline is valid?  [True, True]
Translation: X:595.11, Y:43.47, Z:155.42
[[ 9.65502631e-01 -6.81817315e-02 -2.51308418e-01  5.95105918e+02]
 [ 6.37304973e-02  9.97633115e-01 -2.58184362e-02  4.34741853e+01]
 [ 2.52473946e-01  8.91175764e-03  9.67562653e-01  1.55420825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.440714057 meters
Centerline goodness : 0.997572 with order 1
Centerline is valid?  [True, True]
Translation: X:595.16, Y:43.48, Z:155.44
[[ 9.65477034e-01 -6.85515173e-02 -2.51306160e-01  5.95162886e+02]
 [ 6.41068799e-02  9.97608431e-01 -2.58403987e-02  4.34802218e+01]
 [ 2.52476542e-01  8.83785773e-03  9.67562653e-01  1.55435469e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.500714057 meters
Centerline goodness : 0.997594 with order 1
Centerline is valid?  [True, True]
Translation: X:595.22, Y:43.49, Z:155.45
[[ 9.65386221e-01 -6.98196595e-02 -2.51305908e-01  5.95220970e+02]
 [ 6.54165959e-02  9.97523341e-01 -2.58428452e-02  4.34891849e+01]
 [ 2.52487848e-01  8.50874957e-03  9.67562653e-01  1.55448984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.560714057 meters
Centerline goodness : 0.997218 with order 1
Centerline is valid?  [True, True]
Translation: X:595.28, Y:43.49, Z:155.46
[[ 9.65356815e-01 -7.02267724e-02 -2.51305432e-01  5.95276422e+02]
 [ 6.58360581e-02  9.97495625e-01 -2.58474750e-02  4.34948470e+01]
 [ 2.52491254e-01  8.40707713e-03  9.67562653e-01  1.55463329e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.620714057 meters
Centerline goodness : 0.996575 with order 1
Centerline is valid?  [True, True]
Translation: X:595.33, Y:43.50, Z:155.48
[[ 9.65204617e-01 -7.22966597e-02 -2.51303085e-01  5.95332518e+02]
 [ 6.79689403e-02  9.97351970e-01 -2.58702794e-02  4.35007813e+01]
 [ 2.52507961e-01  7.88930877e-03  9.67562653e-01  1.55481308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.680714057 meters
Centerline goodness : 0.997838 with order 1
Centerline is valid?  [True, True]
Translation: X:595.39, Y:43.51, Z:155.50
[[ 9.65058299e-01 -7.42466179e-02 -2.51296478e-01  5.95389227e+02]
 [ 6.99672015e-02  9.97212115e-01 -2.59343006e-02  4.35089533e+01]
 [ 2.52521426e-01  7.44560070e-03  9.67562655e-01  1.55498195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.740714057 meters
Centerline goodness : 0.997732 with order 1
Centerline is valid?  [True, True]
Translation: X:595.45, Y:43.52, Z:155.51
[[ 9.64963517e-01 -7.54716198e-02 -2.51295533e-01  5.95445967e+02]
 [ 7.12306411e-02  9.97122426e-01 -2.59434563e-02  4.35162860e+01]
 [ 2.52530406e-01  7.13454695e-03  9.67562656e-01  1.55513299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.800714057 meters
Centerline goodness : 0.997415 with order 1
Centerline is valid?  [True, True]
Translation: X:595.50, Y:43.52, Z:155.53
[[ 9.64804780e-01 -7.74790634e-02 -2.51294112e-01  5.95503229e+02]
 [ 7.33014217e-02  9.96971978e-01 -2.59572061e-02  4.35248817e+01]
 [ 2.52544328e-01  6.62342080e-03  9.67562656e-01  1.55525049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.860714057 meters
Centerline goodness : 0.998099 with order 1
Centerline is valid?  [True, True]
Translation: X:595.56, Y:43.53, Z:155.54
[[ 9.64462144e-01 -8.16394381e-02 -2.51292211e-01  5.95561307e+02]
 [ 7.75957792e-02  9.96646459e-01 -2.59755973e-02  4.35320185e+01]
 [ 2.52570126e-01  5.55326526e-03  9.67562656e-01  1.55538270e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.920714057 meters
Centerline goodness : 0.998068 with order 1
Centerline is valid?  [True, True]
Translation: X:595.62, Y:43.54, Z:155.55
[[ 9.63783129e-01 -8.93003002e-02 -2.51291737e-01  5.95617466e+02]
 [ 8.55113032e-02  9.95998417e-01 -2.59801868e-02  4.35360218e+01]
 [ 2.52606211e-01  3.55098184e-03  9.67562656e-01  1.55554828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 612.980714057 meters
Centerline goodness : 0.998115 with order 1
Centerline is valid?  [True, True]
Translation: X:595.67, Y:43.54, Z:155.57
[[ 9.63227823e-01 -9.51082240e-02 -2.51289845e-01  5.95674690e+02]
 [ 9.15087157e-02  9.95464833e-01 -2.59984695e-02  4.35417080e+01]
 [ 2.52622872e-01  2.04723814e-03  9.67562656e-01  1.55569984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.0407140570001 meters
Centerline goodness : 0.998164 with order 1
Centerline is valid?  [True, True]
Translation: X:595.73, Y:43.55, Z:155.58
[[ 9.62876551e-01 -9.86169993e-02 -2.51283576e-01  5.95731020e+02]
 [ 9.51191891e-02  9.95124752e-01 -2.60589268e-02  4.35468243e+01]
 [ 2.52628360e-01  1.18963951e-03  9.67562658e-01  1.55583875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.100714057 meters
Centerline goodness : 0.997772 with order 1
Centerline is valid?  [True, True]
Translation: X:595.79, Y:43.55, Z:155.60
[[ 9.62808517e-01 -9.92850258e-02 -2.51281205e-01  5.95787994e+02]
 [ 9.58036289e-02  9.95058494e-01 -2.60817693e-02  4.35544521e+01]
 [ 2.52629027e-01  1.03809823e-03  9.67562658e-01  1.55598921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.1607140570001 meters
Centerline goodness : 0.997772 with order 1
Centerline is valid?  [True, True]
Translation: X:595.84, Y:43.56, Z:155.61
[[ 9.62867859e-01 -9.87102643e-02 -2.51280261e-01  5.95843583e+02]
 [ 9.52072428e-02  9.95115495e-01 -2.60908656e-02  4.35611640e+01]
 [ 2.52628317e-01  1.19835512e-03  9.67562658e-01  1.55614220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.220714057 meters
Centerline goodness : 0.997403 with order 1
Centerline is valid?  [True, True]
Translation: X:595.90, Y:43.57, Z:155.63
[[ 9.62777533e-01 -9.96064580e-02 -2.51272710e-01  5.95899999e+02]
 [ 9.61145267e-02  9.95026369e-01 -2.61633873e-02  4.35691999e+01]
 [ 2.52629015e-01  1.03856388e-03  9.67562661e-01  1.55628383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.2807140570001 meters
Centerline goodness : 0.998314 with order 1
Centerline is valid?  [True, True]
Translation: X:595.96, Y:43.58, Z:155.64
[[ 9.62493179e-01 -1.02333780e-01 -2.51266148e-01  5.95957130e+02]
 [ 9.89168156e-02  9.94750042e-01 -2.62262612e-02  4.35776374e+01]
 [ 2.52630844e-01  3.88150205e-04  9.67562663e-01  1.55641774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.340714057 meters
Centerline goodness : 0.997519 with order 1
Centerline is valid?  [True, True]
Translation: X:596.01, Y:43.58, Z:155.66
[[ 9.62013460e-01 -1.06765103e-01 -2.51259457e-01  5.96013707e+02]
 [ 1.03480018e-01  9.94284019e-01 -2.62902178e-02  4.35834710e+01]
 [ 2.52630140e-01 -7.08789754e-04  9.67562665e-01  1.55655267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.400714057 meters
Centerline goodness : 0.996979 with order 1
Centerline is valid?  [True, True]
Translation: X:596.07, Y:43.59, Z:155.67
[[ 9.61384153e-01 -1.12294894e-01 -2.51257570e-01  5.96070265e+02]
 [ 1.09190709e-01  9.93672615e-01 -2.63082390e-02  4.35894637e+01]
 [ 2.52622048e-01 -2.14266803e-03  9.67562665e-01  1.55671782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.460714057 meters
Centerline goodness : 0.997220 with order 1
Centerline is valid?  [True, True]
Translation: X:596.13, Y:43.60, Z:155.69
[[ 9.60898211e-01 -1.16394297e-01 -2.51250861e-01  5.96125953e+02]
 [ 1.13411142e-01  9.93198078e-01 -2.63721645e-02  4.35972196e+01]
 [ 2.52611441e-01 -3.15368127e-03  9.67562667e-01  1.55686706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.520714057 meters
Centerline goodness : 0.997287 with order 1
Centerline is valid?  [True, True]
Translation: X:596.18, Y:43.61, Z:155.70
[[ 9.61005365e-01 -1.15513822e-01 -2.51247379e-01  5.96182349e+02]
 [ 1.12492413e-01  9.93301675e-01 -2.64052936e-02  4.36106037e+01]
 [ 2.52614619e-01 -2.88779498e-03  9.67562667e-01  1.55701764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.580714057 meters
Centerline goodness : 0.997134 with order 1
Centerline is valid?  [True, True]
Translation: X:596.24, Y:43.62, Z:155.72
[[ 9.61108870e-01 -1.14651500e-01 -2.51246440e-01  5.96238040e+02]
 [ 1.11598780e-01  9.93402235e-01 -2.64142215e-02  4.36218151e+01]
 [ 2.52617206e-01 -2.65185368e-03  9.67562667e-01  1.55717205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.640714057 meters
Centerline goodness : 0.997806 with order 1
Centerline is valid?  [True, True]
Translation: X:596.29, Y:43.64, Z:155.73
[[ 9.61553263e-01 -1.10877674e-01 -2.51239855e-01  5.96293855e+02]
 [ 1.07681878e-01  9.93832781e-01 -2.64767169e-02  4.36374992e+01]
 [ 2.52626081e-01 -1.59520585e-03  9.67562669e-01  1.55732731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.700714057 meters
Centerline goodness : 0.998066 with order 1
Centerline is valid?  [True, True]
Translation: X:596.35, Y:43.65, Z:155.75
[[ 9.62053412e-01 -1.06454077e-01 -2.51238457e-01  5.96351318e+02]
 [ 1.03106391e-01  9.94317532e-01 -2.64899755e-02  4.36510278e+01]
 [ 2.52630768e-01 -4.19519172e-04  9.67562669e-01  1.55746813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.760714057 meters
Centerline goodness : 0.997892 with order 1
Centerline is valid?  [True, True]
Translation: X:596.41, Y:43.66, Z:155.76
[[ 9.62613961e-01 -1.01261256e-01 -2.51237975e-01  5.96407124e+02]
 [ 9.77383261e-02  9.94859416e-01 -2.64945500e-02  4.36637281e+01]
 [ 2.52629336e-01  9.48444594e-04  9.67562669e-01  1.55759087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.820714057 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:596.46, Y:43.67, Z:155.77
[[ 9.63217434e-01 -9.53559727e-02 -2.51235772e-01  5.96463861e+02]
 [ 9.16299167e-02  9.95440049e-01 -2.65154156e-02  4.36748263e+01]
 [ 2.52618553e-01  2.51939771e-03  9.67562669e-01  1.55773725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.880714057 meters
Centerline goodness : 0.998265 with order 1
Centerline is valid?  [True, True]
Translation: X:596.52, Y:43.68, Z:155.79
[[ 9.63771662e-01 -8.95852152e-02 -2.51234298e-01  5.96520828e+02]
 [ 8.56625935e-02  9.95970939e-01 -2.65293823e-02  4.36842636e+01]
 [ 2.52598700e-01  4.04688535e-03  9.67562670e-01  1.55785837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 613.940714057 meters
Centerline goodness : 0.998360 with order 1
Centerline is valid?  [True, True]
Translation: X:596.58, Y:43.69, Z:155.80
[[ 9.64212595e-01 -8.47109074e-02 -2.51233228e-01  5.96577588e+02]
 [ 8.06228868e-02  9.96391291e-01 -2.65395129e-02  4.36911101e+01]
 [ 2.52574786e-01  5.33458451e-03  9.67562670e-01  1.55802104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.000714057 meters
Centerline goodness : 0.998310 with order 1
Centerline is valid?  [True, True]
Translation: X:596.64, Y:43.69, Z:155.82
[[ 9.64704097e-01 -7.89199141e-02 -2.51232269e-01  5.96635310e+02]
 [ 7.46363938e-02  9.96857353e-01 -2.65485870e-02  4.36948330e+01]
 [ 2.52537946e-01  6.86046006e-03  9.67562670e-01  1.55818927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.060714057 meters
Centerline goodness : 0.998239 with order 1
Centerline is valid?  [True, True]
Translation: X:596.69, Y:43.70, Z:155.83
[[ 9.65293220e-01 -7.13559066e-02 -2.51231635e-01  5.96692105e+02]
 [ 6.68189337e-02  9.97411692e-01 -2.65545852e-02  4.36958166e+01]
 [ 2.52476196e-01  8.84593109e-03  9.67562670e-01  1.55834434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.120714057 meters
Centerline goodness : 0.997503 with order 1
Centerline is valid?  [True, True]
Translation: X:596.75, Y:43.70, Z:155.85
[[ 9.65511085e-01 -6.83501174e-02 -2.51230184e-01  5.96749813e+02]
 [ 6.37096019e-02  9.97614761e-01 -2.65683012e-02  4.36961393e+01]
 [ 2.52446887e-01  9.64621432e-03  9.67562670e-01  1.55851265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.180714057 meters
Centerline goodness : 0.997723 with order 1
Centerline is valid?  [True, True]
Translation: X:596.81, Y:43.70, Z:155.86
[[ 9.65487420e-01 -6.86848559e-02 -2.51229841e-01  5.96806587e+02]
 [ 6.40546271e-02  9.97592581e-01 -2.65715491e-02  4.36958300e+01]
 [ 2.52450088e-01  9.56206267e-03  9.67562670e-01  1.55862806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.240714057 meters
Centerline goodness : 0.997778 with order 1
Centerline is valid?  [True, True]
Translation: X:596.86, Y:43.69, Z:155.88
[[ 9.65345104e-01 -7.06653889e-02 -2.51227452e-01  5.96864544e+02]
 [ 6.60951675e-02  9.97458862e-01 -2.65941160e-02  4.36947695e+01]
 [ 2.52468332e-01  9.06757920e-03  9.67562670e-01  1.55879166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.300714057 meters
Centerline goodness : 0.997734 with order 1
Centerline is valid?  [True, True]
Translation: X:596.92, Y:43.69, Z:155.89
[[ 9.65188665e-01 -7.27743222e-02 -2.51226469e-01  5.96921709e+02]
 [ 6.82718615e-02  9.97311993e-01 -2.66033967e-02  4.36946181e+01]
 [ 2.52487215e-01  8.52559824e-03  9.67562670e-01  1.55893408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.360714057 meters
Centerline goodness : 0.998239 with order 1
Centerline is valid?  [True, True]
Translation: X:596.98, Y:43.70, Z:155.91
[[ 9.65003634e-01 -7.52110186e-02 -2.51219605e-01  5.96980395e+02]
 [ 7.07728588e-02  9.97135907e-01 -2.66680673e-02  4.36958840e+01]
 [ 2.52505821e-01  7.95525229e-03  9.67562672e-01  1.55908645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.420714057 meters
Centerline goodness : 0.998039 with order 1
Centerline is valid?  [True, True]
Translation: X:597.04, Y:43.69, Z:155.92
[[ 9.64548861e-01 -8.08359366e-02 -2.51219119e-01  5.97039534e+02]
 [ 7.65840013e-02  9.96706306e-01 -2.66726377e-02  4.36936148e+01]
 [ 2.52547788e-01  6.48769693e-03  9.67562672e-01  1.55923711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.480714057 meters
Centerline goodness : 0.998164 with order 1
Centerline is valid?  [True, True]
Translation: X:597.10, Y:43.69, Z:155.94
[[ 9.64094723e-01 -8.60842995e-02 -2.51218746e-01  5.97096884e+02]
 [ 8.20065289e-02  9.96274717e-01 -2.66761516e-02  4.36910818e+01]
 [ 2.52579283e-01  5.11675958e-03  9.67562672e-01  1.55940241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.5407140570001 meters
Centerline goodness : 0.997825 with order 1
Centerline is valid?  [True, True]
Translation: X:597.15, Y:43.69, Z:155.96
[[ 9.63946209e-01 -8.77506631e-02 -2.51212117e-01  5.97154797e+02]
 [ 8.37122973e-02  9.96131170e-01 -2.67384358e-02  4.36897439e+01]
 [ 2.52586536e-01  4.74487038e-03  9.67562674e-01  1.55958563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.600714057 meters
Centerline goodness : 0.997986 with order 1
Centerline is valid?  [True, True]
Translation: X:597.21, Y:43.69, Z:155.97
[[ 9.64129398e-01 -8.57157674e-02 -2.51211687e-01  5.97211028e+02]
 [ 8.16084208e-02  9.96305628e-01 -2.67424817e-02  4.36912759e+01]
 [ 2.52575870e-01  5.28222375e-03  9.67562674e-01  1.55973303e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.6607140570001 meters
Centerline goodness : 0.997885 with order 1
Centerline is valid?  [True, True]
Translation: X:597.27, Y:43.69, Z:155.99
[[ 9.64350824e-01 -8.31932292e-02 -2.51209822e-01  5.97267875e+02]
 [ 7.89971643e-02  9.96515605e-01 -2.67599834e-02  4.36930660e+01]
 [ 2.52560758e-01  5.96114847e-03  9.67562674e-01  1.55988168e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.720714057 meters
Centerline goodness : 0.996964 with order 1
Centerline is valid?  [True, True]
Translation: X:597.33, Y:43.69, Z:156.00
[[ 9.64315152e-01 -8.36261505e-02 -2.51203016e-01  5.97326345e+02]
 [ 7.94279300e-02  9.96479649e-01 -2.68237255e-02  4.36948149e+01]
 [ 2.52561859e-01  5.91398927e-03  9.67562676e-01  1.56001869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.7807140570001 meters
Centerline goodness : 0.997223 with order 1
Centerline is valid?  [True, True]
Translation: X:597.39, Y:43.69, Z:156.02
[[ 9.63934030e-01 -8.79131186e-02 -2.51202049e-01  5.97385107e+02]
 [ 8.38555976e-02  9.96116580e-01 -2.68327863e-02  4.36949706e+01]
 [ 2.52585479e-01  4.80033800e-03  9.67562676e-01  1.56016248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.840714057 meters
Centerline goodness : 0.997096 with order 1
Centerline is valid?  [True, True]
Translation: X:597.44, Y:43.69, Z:156.03
[[ 9.62988751e-01 -9.77262429e-02 -2.51201605e-01  5.97441060e+02]
 [ 9.39956287e-02  9.95210832e-01 -2.68369402e-02  4.36939166e+01]
 [ 2.52621231e-01  2.23181877e-03  9.67562676e-01  1.56031703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.900714057 meters
Centerline goodness : 0.997272 with order 1
Centerline is valid?  [True, True]
Translation: X:597.50, Y:43.69, Z:156.05
[[ 9.61857995e-01 -1.08296633e-01 -2.51199196e-01  5.97496261e+02]
 [ 1.04914247e-01  9.94118489e-01 -2.68594724e-02  4.36932923e+01]
 [ 2.52630555e-01 -5.19376255e-04  9.67562676e-01  1.56049289e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 614.960714057 meters
Centerline goodness : 0.997289 with order 1
Centerline is valid?  [True, True]
Translation: X:597.55, Y:43.69, Z:156.07
[[ 9.61137000e-01 -1.14524313e-01 -2.51196834e-01  5.97552482e+02]
 [ 1.11345183e-01  9.93418156e-01 -2.68815363e-02  4.36947765e+01]
 [ 2.52622086e-01 -2.13271850e-03  9.67562677e-01  1.56068057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.020714057 meters
Centerline goodness : 0.997439 with order 1
Centerline is valid?  [True, True]
Translation: X:597.61, Y:43.70, Z:156.08
[[ 9.60982600e-01 -1.15827471e-01 -2.51190046e-01  5.97609644e+02]
 [ 1.12675575e-01  9.93266425e-01 -2.69448230e-02  4.37003380e+01]
 [ 2.52619590e-01 -2.40947687e-03  9.67562679e-01  1.56081193e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.080714057 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:597.67, Y:43.71, Z:156.09
[[ 9.61456398e-01 -1.11829668e-01 -2.51188616e-01  5.97667855e+02]
 [ 1.08540045e-01  9.93726480e-01 -2.69581536e-02  4.37068592e+01]
 [ 2.52627500e-01 -1.34493439e-03  9.67562679e-01  1.56092995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.140714057 meters
Centerline goodness : 0.997555 with order 1
Centerline is valid?  [True, True]
Translation: X:597.73, Y:43.71, Z:156.10
[[ 9.61981453e-01 -1.07220437e-01 -2.51188100e-01  5.97725102e+02]
 [ 1.03774938e-01  9.94235265e-01 -2.69629575e-02  4.37132648e+01]
 [ 2.52631047e-01 -1.29164492e-04  9.67562679e-01  1.56104816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.200714057 meters
Centerline goodness : 0.997781 with order 1
Centerline is valid?  [True, True]
Translation: X:597.78, Y:43.72, Z:156.12
[[ 9.62312594e-01 -1.04222600e-01 -2.51181452e-01  5.97782729e+02]
 [ 1.00660493e-01  9.94553733e-01 -2.70247488e-02  4.37199502e+01]
 [ 2.52630041e-01  7.22207288e-04  9.67562681e-01  1.56117268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.260714057 meters
Centerline goodness : 0.997634 with order 1
Centerline is valid?  [True, True]
Translation: X:597.84, Y:43.73, Z:156.13
[[ 9.62840670e-01 -9.92279785e-02 -2.51180516e-01  5.97839351e+02]
 [ 9.54963591e-02  9.95062630e-01 -2.70334457e-02  4.37259512e+01]
 [ 2.52622819e-01  2.04207620e-03  9.67562681e-01  1.56131056e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.320714057 meters
Centerline goodness : 0.997609 with order 1
Centerline is valid?  [True, True]
Translation: X:597.90, Y:43.73, Z:156.15
[[ 9.63003421e-01 -9.76406463e-02 -2.51178652e-01  5.97895274e+02]
 [ 9.38514007e-02  9.95218655e-01 -2.70507570e-02  4.37309564e+01]
 [ 2.52618934e-01  2.47650326e-03  9.67562681e-01  1.56149422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.380714057 meters
Centerline goodness : 0.996820 with order 1
Centerline is valid?  [True, True]
Translation: X:597.95, Y:43.74, Z:156.16
[[ 9.63310010e-01 -9.45862901e-02 -2.51171769e-01  5.97950948e+02]
 [ 9.06782803e-02  9.95511051e-01 -2.71145200e-02  4.37359340e+01]
 [ 2.52608934e-01  3.34386444e-03  9.67562683e-01  1.56164117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.440714057 meters
Centerline goodness : 0.997566 with order 1
Centerline is valid?  [True, True]
Translation: X:598.01, Y:43.74, Z:156.18
[[ 9.63757735e-01 -8.99165540e-02 -2.51169348e-01  5.98007529e+02]
 [ 8.58466910e-02  9.95938719e-01 -2.71369306e-02  4.37428598e+01]
 [ 2.52589338e-01  4.59136942e-03  9.67562683e-01  1.56180102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.500714057 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:598.07, Y:43.75, Z:156.19
[[ 9.64053399e-01 -8.67093636e-02 -2.51162359e-01  5.98065666e+02]
 [ 8.25156415e-02  9.96218475e-01 -2.72014698e-02  4.37516000e+01]
 [ 2.52571204e-01  5.49884623e-03  9.67562685e-01  1.56192606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.560714057 meters
Centerline goodness : 0.997743 with order 1
Centerline is valid?  [True, True]
Translation: X:598.12, Y:43.76, Z:156.21
[[ 9.64237660e-01 -8.46371807e-02 -2.51161866e-01  5.98122523e+02]
 [ 8.03731538e-02  9.96393491e-01 -2.72060181e-02  4.37596673e+01]
 [ 2.52558689e-01  6.04639592e-03  9.67562685e-01  1.56206079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.620714057 meters
Centerline goodness : 0.998087 with order 1
Centerline is valid?  [True, True]
Translation: X:598.18, Y:43.77, Z:156.22
[[ 9.64254658e-01 -8.44637299e-02 -2.51154998e-01  5.98178643e+02]
 [ 8.01774503e-02  9.96407528e-01 -2.72692820e-02  4.37666934e+01]
 [ 2.52555996e-01  6.15756484e-03  9.67562687e-01  1.56222677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.680714057 meters
Centerline goodness : 0.997697 with order 1
Centerline is valid?  [True, True]
Translation: X:598.23, Y:43.77, Z:156.24
[[ 9.64245840e-01 -8.45853613e-02 -2.51147917e-01  5.98234484e+02]
 [ 8.02862006e-02  9.96396989e-01 -2.73343471e-02  4.37733311e+01]
 [ 2.52555114e-01  6.19331846e-03  9.67562689e-01  1.56236934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.740714057 meters
Centerline goodness : 0.998422 with order 1
Centerline is valid?  [True, True]
Translation: X:598.29, Y:43.78, Z:156.25
[[ 9.64216020e-01 -8.49318909e-02 -2.51145457e-01  5.98292217e+02]
 [ 8.06384078e-02  9.96367927e-01 -2.73569251e-02  4.37796943e+01]
 [ 2.52556754e-01  6.12601566e-03  9.67562689e-01  1.56251369e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.800714057 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:598.35, Y:43.79, Z:156.27
[[ 9.64114372e-01 -8.60809125e-02 -2.51144489e-01  5.98348873e+02]
 [ 8.18234356e-02  9.96271066e-01 -2.73658099e-02  4.37855512e+01]
 [ 2.52563662e-01  5.83426572e-03  9.67562689e-01  1.56265036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.860714057 meters
Centerline goodness : 0.998215 with order 1
Centerline is valid?  [True, True]
Translation: X:598.41, Y:43.79, Z:156.28
[[ 9.63904633e-01 -8.84181037e-02 -2.51137605e-01  5.98406419e+02]
 [ 8.42221850e-02  9.96069416e-01 -2.74288457e-02  4.37910633e+01]
 [ 2.52575694e-01  5.28743366e-03  9.67562691e-01  1.56278580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.920714057 meters
Centerline goodness : 0.998380 with order 1
Centerline is valid?  [True, True]
Translation: X:598.46, Y:43.80, Z:156.30
[[ 9.63410412e-01 -9.36586201e-02 -2.51134310e-01  5.98463269e+02]
 [ 8.96298258e-02  9.95596554e-01 -2.74589803e-02  4.37952626e+01]
 [ 2.52600224e-01  3.94514306e-03  9.67562692e-01  1.56295005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 615.980714057 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:598.52, Y:43.80, Z:156.31
[[ 9.62501181e-01 -1.02585582e-01 -2.51132784e-01  5.98519469e+02]
 [ 9.88516912e-02  9.94722866e-01 -2.74729340e-02  4.38003528e+01]
 [ 2.52625850e-01  1.61783104e-03  9.67562692e-01  1.56311162e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.0407140570001 meters
Centerline goodness : 0.997986 with order 1
Centerline is valid?  [True, True]
Translation: X:598.58, Y:43.80, Z:156.33
[[ 9.61460185e-01 -1.11925673e-01 -2.51131352e-01  5.98575246e+02]
 [ 1.08501383e-01  9.93716242e-01 -2.74860130e-02  4.38049967e+01]
 [ 2.52629694e-01 -8.21391813e-04  9.67562692e-01  1.56329075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.100714057 meters
Centerline goodness : 0.997815 with order 1
Centerline is valid?  [True, True]
Translation: X:598.63, Y:43.81, Z:156.35
[[ 9.60794932e-01 -1.17514203e-01 -2.51124491e-01  5.98631184e+02]
 [ 1.14261176e-01  9.93068709e-01 -2.75485619e-02  4.38110147e+01]
 [ 2.52621222e-01 -2.22526105e-03  9.67562694e-01  1.56345237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.1607140570001 meters
Centerline goodness : 0.997996 with order 1
Centerline is valid?  [True, True]
Translation: X:598.69, Y:43.82, Z:156.36
[[ 9.59903530e-01 -1.24590048e-01 -2.51122545e-01  5.98687360e+02]
 [ 1.21570262e-01  9.92199965e-01 -2.75662914e-02  4.38198052e+01]
 [ 2.52598266e-01 -4.06805325e-03  9.67562694e-01  1.56358642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.220714057 meters
Centerline goodness : 0.998097 with order 1
Centerline is valid?  [True, True]
Translation: X:598.74, Y:43.83, Z:156.37
[[ 9.59509297e-01 -1.27595475e-01 -2.51120099e-01  5.98744939e+02]
 [ 1.24671019e-01  9.91814503e-01 -2.75885530e-02  4.38278491e+01]
 [ 2.52584731e-01 -4.83592566e-03  9.67562694e-01  1.56371999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.2807140570001 meters
Centerline goodness : 0.998416 with order 1
Centerline is valid?  [True, True]
Translation: X:598.80, Y:43.84, Z:156.38
[[ 9.59325606e-01 -1.28970347e-01 -2.51119557e-01  5.98801664e+02]
 [ 1.26090897e-01  9.91634855e-01 -2.75934926e-02  4.38351247e+01]
 [ 2.52577647e-01 -5.19274605e-03  9.67562694e-01  1.56384649e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.340714057 meters
Centerline goodness : 0.998540 with order 1
Centerline is valid?  [True, True]
Translation: X:598.86, Y:43.85, Z:156.40
[[ 9.59028027e-01 -1.31177557e-01 -2.51112907e-01  5.98858570e+02]
 [ 1.28356659e-01  9.91342439e-01 -2.76538778e-02  4.38458748e+01]
 [ 2.52566450e-01 -5.71117000e-03  9.67562696e-01  1.56395706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.400714057 meters
Centerline goodness : 0.998837 with order 1
Centerline is valid?  [True, True]
Translation: X:598.91, Y:43.86, Z:156.41
[[ 9.58864425e-01 -1.32380984e-01 -2.51106132e-01  5.98914335e+02]
 [ 1.29584574e-01  9.91180963e-01 -2.77152651e-02  4.38563942e+01]
 [ 2.52560592e-01 -5.96429945e-03  9.67562698e-01  1.56414279e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.460714057 meters
Centerline goodness : 0.998269 with order 1
Centerline is valid?  [True, True]
Translation: X:598.97, Y:43.87, Z:156.43
[[ 9.59067426e-01 -1.30906324e-01 -2.51103978e-01  5.98970244e+02]
 [ 1.28055117e-01  9.91379175e-01 -2.77347723e-02  4.38680617e+01]
 [ 2.52569911e-01 -5.55563263e-03  9.67562698e-01  1.56431927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.520714057 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:599.03, Y:43.88, Z:156.45
[[ 9.59575158e-01 -1.27143926e-01 -2.51097469e-01  5.99027585e+02]
 [ 1.24150634e-01  9.91874053e-01 -2.77935758e-02  4.38826339e+01]
 [ 2.52590849e-01 -4.50388518e-03  9.67562700e-01  1.56445824e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.580714057 meters
Centerline goodness : 0.997681 with order 1
Centerline is valid?  [True, True]
Translation: X:599.08, Y:43.90, Z:156.46
[[ 9.60221960e-01 -1.22164233e-01 -2.51096971e-01  5.99083434e+02]
 [ 1.19002248e-01  9.92504777e-01 -2.77980773e-02  4.38956823e+01]
 [ 2.52610874e-01 -3.18877965e-03  9.67562700e-01  1.56460876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.640714057 meters
Centerline goodness : 0.998393 with order 1
Centerline is valid?  [True, True]
Translation: X:599.14, Y:43.91, Z:156.47
[[ 9.60504903e-01 -1.19934289e-01 -2.51089820e-01  5.99138872e+02]
 [ 1.16680506e-01  9.92778595e-01 -2.78625249e-02  4.39057340e+01]
 [ 2.52618271e-01 -2.53519555e-03  9.67562702e-01  1.56473980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.700714057 meters
Centerline goodness : 0.998141 with order 1
Centerline is valid?  [True, True]
Translation: X:599.20, Y:43.92, Z:156.49
[[ 9.60572110e-01 -1.19400105e-01 -2.51087310e-01  5.99196589e+02]
 [ 1.16122467e-01  9.92843388e-01 -2.78851277e-02  4.39201056e+01]
 [ 2.52619862e-01 -2.37120186e-03  9.67562702e-01  1.56486787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.760714057 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:599.25, Y:43.93, Z:156.50
[[ 9.60319476e-01 -1.21416309e-01 -2.51086806e-01  5.99253369e+02]
 [ 1.18205237e-01  9.92597445e-01 -2.78896651e-02  4.39329711e+01]
 [ 2.52614382e-01 -2.89678669e-03  9.67562702e-01  1.56501987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.820714057 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:599.31, Y:43.94, Z:156.52
[[ 9.60180837e-01 -1.22509933e-01 -2.51085795e-01  5.99308866e+02]
 [ 1.19333245e-01  9.92462209e-01 -2.78987657e-02  4.39437142e+01]
 [ 2.52611038e-01 -3.17502236e-03  9.67562702e-01  1.56517136e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.880714057 meters
Centerline goodness : 0.997684 with order 1
Centerline is valid?  [True, True]
Translation: X:599.37, Y:43.96, Z:156.53
[[ 9.60299069e-01 -1.21584958e-01 -2.51083245e-01  5.99365173e+02]
 [ 1.18371181e-01  9.92576769e-01 -2.79216945e-02  4.39581446e+01]
 [ 2.52614254e-01 -2.90784308e-03  9.67562702e-01  1.56530668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 616.940714057 meters
Centerline goodness : 0.997600 with order 1
Centerline is valid?  [True, True]
Translation: X:599.42, Y:43.97, Z:156.55
[[ 9.60640117e-01 -1.18862415e-01 -2.51082242e-01  5.99421334e+02]
 [ 1.15554800e-01  9.92908336e-01 -2.79307113e-02  4.39703269e+01]
 [ 2.52621563e-01 -2.18239662e-03  9.67562702e-01  1.56546655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.000714057 meters
Centerline goodness : 0.997907 with order 1
Centerline is valid?  [True, True]
Translation: X:599.48, Y:43.98, Z:156.56
[[ 9.60812685e-01 -1.17473480e-01 -2.51075618e-01  5.99476098e+02]
 [ 1.14103692e-01  9.93074469e-01 -2.79901305e-02  4.39803875e+01]
 [ 2.52624884e-01 -1.75538262e-03  9.67562704e-01  1.56560983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.060714057 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:599.53, Y:43.99, Z:156.58
[[ 9.61122450e-01 -1.14918149e-01 -2.51072609e-01  5.99531750e+02]
 [ 1.11455540e-01  9.93374403e-01 -2.80170990e-02  4.39918953e+01]
 [ 2.52628776e-01 -1.05557040e-03  9.67562705e-01  1.56576365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.120714057 meters
Centerline goodness : 0.997696 with order 1
Centerline is valid?  [True, True]
Translation: X:599.59, Y:44.00, Z:156.59
[[ 9.61224256e-01 -1.14079252e-01 -2.51065439e-01  5.99587477e+02]
 [ 1.10571751e-01  9.93471355e-01 -2.80812071e-02  4.40017672e+01]
 [ 2.52629805e-01 -7.68407806e-04  9.67562707e-01  1.56591886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.180714057 meters
Centerline goodness : 0.998133 with order 1
Centerline is valid?  [True, True]
Translation: X:599.65, Y:44.01, Z:156.61
[[ 9.61130365e-01 -1.14883314e-01 -2.51058253e-01  5.99645238e+02]
 [ 1.11386044e-01  9.93378574e-01 -2.81453134e-02  4.40104406e+01]
 [ 2.52629316e-01 -9.13070214e-04  9.67562709e-01  1.56607217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.240714057 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:599.70, Y:44.02, Z:156.62
[[ 9.60504377e-01 -1.20005644e-01 -2.51057737e-01  5.99702793e+02]
 [ 1.16679143e-01  9.92770648e-01 -2.81499129e-02  4.40193082e+01]
 [ 2.52620901e-01 -2.25508710e-03  9.67562709e-01  1.56623246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.300714057 meters
Centerline goodness : 0.997893 with order 1
Centerline is valid?  [True, True]
Translation: X:599.76, Y:44.03, Z:156.64
[[ 9.59716787e-01 -1.26151920e-01 -2.51056532e-01  5.99760003e+02]
 [ 1.23029233e-01  9.92003420e-01 -2.81606533e-02  4.40258222e+01]
 [ 2.52601459e-01 -3.86104104e-03  9.67562709e-01  1.56639562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.360714057 meters
Centerline goodness : 0.997885 with order 1
Centerline is valid?  [True, True]
Translation: X:599.82, Y:44.03, Z:156.65
[[ 9.58543283e-01 -1.34780545e-01 -2.51055728e-01  5.99817676e+02]
 [ 1.31946563e-01  9.90856538e-01 -2.81678194e-02  4.40346693e+01]
 [ 2.52556684e-01 -6.12586646e-03  9.67562709e-01  1.56653062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.420714057 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:599.88, Y:44.04, Z:156.67
[[ 9.57601394e-01 -1.41318390e-01 -2.51055140e-01  5.99875326e+02]
 [ 1.38703603e-01  9.89933124e-01 -2.81730600e-02  4.40445947e+01]
 [ 2.52509171e-01 -7.84369106e-03  9.67562709e-01  1.56665858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.480714057 meters
Centerline goodness : 0.998188 with order 1
Centerline is valid?  [True, True]
Translation: X:599.93, Y:44.06, Z:156.68
[[ 9.56383768e-01 -1.49337407e-01 -2.51054628e-01  5.99931309e+02]
 [ 1.46992432e-01  9.88736187e-01 -2.81776247e-02  4.40551841e+01]
 [ 2.52434769e-01 -9.95450730e-03  9.67562709e-01  1.56680618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.5407140570001 meters
Centerline goodness : 0.998712 with order 1
Centerline is valid?  [True, True]
Translation: X:599.99, Y:44.07, Z:156.70
[[ 9.55501554e-01 -1.54883067e-01 -2.51053813e-01  5.99987909e+02]
 [ 1.52723909e-01  9.87866904e-01 -2.81848860e-02  4.40669699e+01]
 [ 2.52373114e-01 -1.14112174e-02  9.67562709e-01  1.56696868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.600714057 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:600.04, Y:44.08, Z:156.71
[[ 9.54298241e-01 -1.62133055e-01 -2.51053261e-01  6.00044295e+02]
 [ 1.60218398e-01  9.86678975e-01 -2.81898017e-02  4.40844005e+01]
 [ 2.52279473e-01 -1.33218730e-02  9.67562709e-01  1.56712031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.6607140570001 meters
Centerline goodness : 0.999316 with order 1
Centerline is valid?  [True, True]
Translation: X:600.10, Y:44.11, Z:156.73
[[ 9.53518288e-01 -1.66659552e-01 -2.51052722e-01  6.00100131e+02]
 [ 1.64897310e-01  9.85907674e-01 -2.81945991e-02  4.41050517e+01]
 [ 2.52213704e-01 -1.45138526e-02  9.67562709e-01  1.56726334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.720714057 meters
Centerline goodness : 0.999497 with order 1
Centerline is valid?  [True, True]
Translation: X:600.16, Y:44.12, Z:156.74
[[ 9.53271065e-01 -1.68068863e-01 -2.51052054e-01  6.00156036e+02]
 [ 1.66352941e-01  9.85662939e-01 -2.82005437e-02  4.41235744e+01]
 [ 2.52192339e-01 -1.48804852e-02  9.67562709e-01  1.56740555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.7807140570001 meters
Centerline goodness : 0.999741 with order 1
Centerline is valid?  [True, True]
Translation: X:600.21, Y:44.15, Z:156.75
[[ 9.53096076e-01 -1.69068221e-01 -2.51045428e-01  6.00211315e+02]
 [ 1.67370810e-01  9.85488923e-01 -2.82594134e-02  4.41479012e+01]
 [ 2.52180257e-01 -1.50837407e-02  9.67562710e-01  1.56752218e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.840714057 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:600.27, Y:44.17, Z:156.76
[[ 9.52459026e-01 -1.72631483e-01 -2.51038195e-01  6.00267648e+02]
 [ 1.71038399e-01  9.84857169e-01 -2.83235289e-02  4.41722105e+01]
 [ 2.52126299e-01 -1.59601700e-02  9.67562712e-01  1.56764229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.900714057 meters
Centerline goodness : 0.999258 with order 1
Centerline is valid?  [True, True]
Translation: X:600.32, Y:44.19, Z:156.78
[[ 9.51918196e-01 -1.75590070e-01 -2.51037598e-01  6.00322846e+02]
 [ 1.74096270e-01  9.84321069e-01 -2.83288144e-02  4.41897145e+01]
 [ 2.52075855e-01 -1.67379957e-02  9.67562713e-01  1.56777956e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 617.960714057 meters
Centerline goodness : 0.999367 with order 1
Centerline is valid?  [True, True]
Translation: X:600.38, Y:44.21, Z:156.79
[[ 9.51254017e-01 -1.79156914e-01 -2.51035047e-01  6.00379181e+02]
 [ 1.77778649e-01  9.83662010e-01 -2.83514032e-02  4.42130601e+01]
 [ 2.52012989e-01 -1.76592854e-02  9.67562713e-01  1.56792540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.020714057 meters
Centerline goodness : 0.999348 with order 1
Centerline is valid?  [True, True]
Translation: X:600.43, Y:44.24, Z:156.81
[[ 9.51571399e-01 -1.77464692e-01 -2.51034171e-01  6.00433753e+02]
 [ 1.76026752e-01  9.83976799e-01 -2.83591566e-02  4.42379641e+01]
 [ 2.52044549e-01 -1.72029673e-02  9.67562713e-01  1.56805496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.080714057 meters
Centerline goodness : 0.999263 with order 1
Centerline is valid?  [True, True]
Translation: X:600.49, Y:44.26, Z:156.82
[[ 9.52092853e-01 -1.74648400e-01 -2.51032142e-01  6.00488850e+02]
 [ 1.73109872e-01  9.84493632e-01 -2.83771067e-02  4.42569293e+01]
 [ 2.52095562e-01 -1.64385016e-02  9.67562713e-01  1.56819926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.140714057 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:600.54, Y:44.28, Z:156.84
[[ 9.52691299e-01 -1.71355272e-01 -2.51031192e-01  6.00544440e+02]
 [ 1.69702515e-01  9.85086453e-01 -2.83855079e-02  4.42760325e+01]
 [ 2.52151433e-01 -1.55579982e-02  9.67562713e-01  1.56835415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.200714057 meters
Centerline goodness : 0.998633 with order 1
Centerline is valid?  [True, True]
Translation: X:600.60, Y:44.30, Z:156.85
[[ 9.53375447e-01 -1.67508066e-01 -2.51030487e-01  6.00601137e+02]
 [ 1.65722914e-01  9.85763575e-01 -2.83917385e-02  4.42952067e+01]
 [ 2.52212556e-01 -1.45335176e-02  9.67562713e-01  1.56849339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.260714057 meters
Centerline goodness : 0.998798 with order 1
Centerline is valid?  [True, True]
Translation: X:600.66, Y:44.32, Z:156.87
[[ 9.54331071e-01 -1.61975710e-01 -2.51030031e-01  6.00656472e+02]
 [ 1.60001680e-01  9.86708236e-01 -2.83957761e-02  4.43182498e+01]
 [ 2.52292825e-01 -1.30662551e-02  9.67562713e-01  1.56865068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.320714057 meters
Centerline goodness : 0.999324 with order 1
Centerline is valid?  [True, True]
Translation: X:600.71, Y:44.34, Z:156.88
[[ 9.54928552e-01 -1.58416881e-01 -2.51028987e-01  6.00711656e+02]
 [ 1.56319745e-01  9.87297976e-01 -2.84049991e-02  4.43404686e+01]
 [ 2.52340242e-01 -1.21160426e-02  9.67562713e-01  1.56880024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.380714057 meters
Centerline goodness : 0.999261 with order 1
Centerline is valid?  [True, True]
Translation: X:600.77, Y:44.36, Z:156.89
[[ 9.55249450e-01 -1.56472206e-01 -2.51027763e-01  6.00767248e+02]
 [ 1.54306331e-01  9.87614347e-01 -2.84158117e-02  4.43571060e+01]
 [ 2.52364905e-01 -1.15909847e-02  9.67562713e-01  1.56894893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.440714057 meters
Centerline goodness : 0.999539 with order 1
Centerline is valid?  [True, True]
Translation: X:600.82, Y:44.38, Z:156.91
[[ 9.55871103e-01 -1.52632100e-01 -2.51025651e-01  6.00822731e+02]
 [ 1.50331290e-01  9.88226687e-01 -2.84344609e-02  4.43775882e+01]
 [ 2.52410259e-01 -1.05573304e-02  9.67562713e-01  1.56909604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.500714057 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:600.88, Y:44.39, Z:156.92
[[ 9.56533395e-01 -1.48426777e-01 -2.51024612e-01  6.00878936e+02]
 [ 1.45981288e-01  9.88878366e-01 -2.84436330e-02  4.43948406e+01]
 [ 2.52454604e-01 -9.43761120e-03  9.67562713e-01  1.56924481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.560714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:600.93, Y:44.41, Z:156.94
[[ 9.56940791e-01 -1.45778908e-01 -2.51023569e-01  6.00933258e+02]
 [ 1.43241499e-01  9.89278681e-01 -2.84528337e-02  4.44125010e+01]
 [ 2.52480088e-01 -8.72931513e-03  9.67562713e-01  1.56938258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.620714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:600.99, Y:44.43, Z:156.95
[[ 9.57167340e-01 -1.44288401e-01 -2.51020997e-01  6.00989373e+02]
 [ 1.41694695e-01  9.89500763e-01 -2.84755002e-02  4.44255691e+01]
 [ 2.52494153e-01 -8.31252480e-03  9.67562714e-01  1.56953012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.680714057 meters
Centerline goodness : 0.999767 with order 1
Centerline is valid?  [True, True]
Translation: X:601.04, Y:44.44, Z:156.97
[[ 9.57293736e-01 -1.43451047e-01 -2.51018923e-01  6.01044321e+02]
 [ 1.40824271e-01  9.89624489e-01 -2.84937726e-02  4.44399521e+01]
 [ 2.52501935e-01 -8.07264698e-03  9.67562714e-01  1.56969117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.740714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:601.10, Y:44.45, Z:156.99
[[ 9.56887115e-01 -1.46153592e-01 -2.51010311e-01  6.01099248e+02]
 [ 1.43598293e-01  9.89223593e-01 -2.85694476e-02  4.44511355e+01]
 [ 2.52480849e-01 -8.70691577e-03  9.67562717e-01  1.56985365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.800714057 meters
Centerline goodness : 0.999706 with order 1
Centerline is valid?  [True, True]
Translation: X:601.16, Y:44.46, Z:157.00
[[ 9.55195953e-01 -1.56829849e-01 -2.51008145e-01  6.01156254e+02]
 [ 1.54630817e-01  9.87558611e-01 -2.85884645e-02  4.44640375e+01]
 [ 2.52368780e-01 -1.15060090e-02  9.67562717e-01  1.57002106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.860714057 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:601.21, Y:44.48, Z:157.02
[[ 9.52694640e-01 -1.71371195e-01 -2.51007644e-01  6.01213351e+02]
 [ 1.69664550e-01  9.85086995e-01 -2.85928672e-02  4.44776165e+01]
 [ 2.52164359e-01 -1.53468277e-02  9.67562717e-01  1.57017730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.920714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:601.27, Y:44.49, Z:157.03
[[ 9.49996646e-01 -1.85746743e-01 -2.51007013e-01  6.01269793e+02]
 [ 1.84528284e-01  9.82411036e-01 -2.85983984e-02  4.44941176e+01]
 [ 2.51904119e-01 -1.91495110e-02  9.67562717e-01  1.57032887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 618.980714057 meters
Centerline goodness : 0.999831 with order 1
Centerline is valid?  [True, True]
Translation: X:601.33, Y:44.51, Z:157.05
[[ 9.48964357e-01 -1.90951386e-01 -2.51006409e-01  6.01326638e+02]
 [ 1.89909233e-01  9.81384895e-01 -2.86037023e-02  4.45088474e+01]
 [ 2.51795815e-01 -2.05245407e-02  9.67562717e-01  1.57048510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.0407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:601.38, Y:44.53, Z:157.06
[[ 9.48867416e-01 -1.91433055e-01 -2.51006000e-01  6.01379082e+02]
 [ 1.90406418e-01  9.81288449e-01 -2.86072865e-02  4.45290898e+01]
 [ 2.51785669e-01 -2.06486313e-02  9.67562717e-01  1.57063960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.100714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:601.44, Y:44.55, Z:157.08
[[ 9.49424620e-01 -1.88655016e-01 -2.51002340e-01  6.01435623e+02]
 [ 1.87525063e-01  9.81842216e-01 -2.86393643e-02  4.45457580e+01]
 [ 2.51847654e-01 -1.98783122e-02  9.67562717e-01  1.57079124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.1607140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:601.49, Y:44.57, Z:157.09
[[ 9.50395911e-01 -1.83700432e-01 -2.51001522e-01  6.01491289e+02]
 [ 1.82399526e-01  9.82807096e-01 -2.86465357e-02  4.45683049e+01]
 [ 2.51948458e-01 -1.85570084e-02  9.67562717e-01  1.57094046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.220714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:601.55, Y:44.59, Z:157.11
[[ 9.51084548e-01 -1.80102086e-01 -2.51000841e-01  6.01547256e+02]
 [ 1.78676953e-01  9.83490509e-01 -2.86525046e-02  4.45913000e+01]
 [ 2.52017320e-01 -1.75971110e-02  9.67562717e-01  1.57110718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.2807140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:601.60, Y:44.62, Z:157.13
[[ 9.52350665e-01 -1.73282868e-01 -2.51000514e-01  6.01602875e+02]
 [ 1.71624831e-01  9.84745545e-01 -2.86553635e-02  4.46155337e+01]
 [ 2.52137122e-01 -1.57879662e-02  9.67562717e-01  1.57126319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.340714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:601.66, Y:44.63, Z:157.14
[[ 9.53386522e-01 -1.67490424e-01 -2.51000193e-01  6.01659140e+02]
 [ 1.65634753e-01  9.85770682e-01 -2.86581791e-02  4.46344956e+01]
 [ 2.52228602e-01 -1.42520332e-02  9.67562717e-01  1.57141324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.400714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:601.71, Y:44.66, Z:157.16
[[ 9.54709674e-01 -1.59779141e-01 -2.50998138e-01  6.01714612e+02]
 [ 1.57657066e-01  9.87077468e-01 -2.86761645e-02  4.46575490e+01]
 [ 2.52336459e-01 -1.21942184e-02  9.67562718e-01  1.57156877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.460714057 meters
Centerline goodness : 0.999393 with order 1
Centerline is valid?  [True, True]
Translation: X:601.77, Y:44.68, Z:157.17
[[ 9.55325696e-01 -1.56054576e-01 -2.50997578e-01  6.01770109e+02]
 [ 1.53804999e-01  9.87684878e-01 -2.86810635e-02  4.46791404e+01]
 [ 2.52382324e-01 -1.12049254e-02  9.67562718e-01  1.57171501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.520714057 meters
Centerline goodness : 0.999645 with order 1
Centerline is valid?  [True, True]
Translation: X:601.83, Y:44.69, Z:157.19
[[ 9.55412589e-01 -1.55523397e-01 -2.50996531e-01  6.01826206e+02]
 [ 1.53253426e-01  9.87770347e-01 -2.86902269e-02  4.46934002e+01]
 [ 2.52388932e-01 -1.10550742e-02  9.67562718e-01  1.57185811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.580714057 meters
Centerline goodness : 0.999498 with order 1
Centerline is valid?  [True, True]
Translation: X:601.88, Y:44.71, Z:157.20
[[ 9.55186871e-01 -1.56915103e-01 -2.50989427e-01  6.01881643e+02]
 [ 1.54676012e-01  9.87546779e-01 -2.87522393e-02  4.47088408e+01]
 [ 2.52375461e-01 -1.13582823e-02  9.67562719e-01  1.57200699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.640714057 meters
Centerline goodness : 0.999498 with order 1
Centerline is valid?  [True, True]
Translation: X:601.94, Y:44.72, Z:157.22
[[ 9.55130508e-01 -1.57269225e-01 -2.50982279e-01  6.01937120e+02]
 [ 1.55025803e-01  9.87490114e-01 -2.88145071e-02  4.47230796e+01]
 [ 2.52374155e-01 -1.13871147e-02  9.67562721e-01  1.57215831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.700714057 meters
Centerline goodness : 0.999304 with order 1
Centerline is valid?  [True, True]
Translation: X:601.99, Y:44.73, Z:157.23
[[ 9.55297274e-01 -1.56264561e-01 -2.50975109e-01  6.01993332e+02]
 [ 1.53970764e-01  9.87653346e-01 -2.88768277e-02  4.47341824e+01]
 [ 2.52388831e-01 -1.10568746e-02  9.67562723e-01  1.57231720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.760714057 meters
Centerline goodness : 0.998935 with order 1
Centerline is valid?  [True, True]
Translation: X:602.05, Y:44.75, Z:157.25
[[ 9.55830338e-01 -1.52981654e-01 -2.50968081e-01  6.02049291e+02]
 [ 1.50560731e-01  9.88177146e-01 -2.89377830e-02  4.47467968e+01]
 [ 2.52427872e-01 -1.01263268e-02  9.67562725e-01  1.57247765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.820714057 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:602.11, Y:44.76, Z:157.26
[[ 9.56392188e-01 -1.49430710e-01 -2.50967020e-01  6.02105768e+02]
 [ 1.46887257e-01  9.88729592e-01 -2.89469864e-02  4.47554333e+01]
 [ 2.52464088e-01 -9.17918555e-03  9.67562725e-01  1.57262121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.880714057 meters
Centerline goodness : 0.999271 with order 1
Centerline is valid?  [True, True]
Translation: X:602.16, Y:44.76, Z:157.28
[[ 9.57411679e-01 -1.42754397e-01 -2.50966252e-01  6.02161936e+02]
 [ 1.39983649e-01  9.89730400e-01 -2.89536393e-02  4.47629958e+01]
 [ 2.52522188e-01 -7.41061932e-03  9.67562725e-01  1.57277117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 619.940714057 meters
Centerline goodness : 0.999497 with order 1
Centerline is valid?  [True, True]
Translation: X:602.22, Y:44.77, Z:157.29
[[ 9.58001574e-01 -1.38743244e-01 -2.50964732e-01  6.02217055e+02]
 [ 1.35833712e-01  9.90308097e-01 -2.89668136e-02  4.47688005e+01]
 [ 2.52551355e-01 -6.33921792e-03  9.67562725e-01  1.57293146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.000714057 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:602.27, Y:44.77, Z:157.31
[[ 9.57872228e-01 -1.39648681e-01 -2.50956251e-01  6.02274076e+02]
 [ 1.36750497e-01  9.90179769e-01 -2.90401057e-02  4.47728795e+01]
 [ 2.52547215e-01 -6.50168123e-03  9.67562728e-01  1.57307415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.060714057 meters
Centerline goodness : 0.999326 with order 1
Centerline is valid?  [True, True]
Translation: X:602.33, Y:44.78, Z:157.32
[[ 9.57736168e-01 -1.40591878e-01 -2.50948913e-01  6.02331482e+02]
 [ 1.37708939e-01  9.90045070e-01 -2.91033879e-02  4.47783206e+01]
 [ 2.52542434e-01 -6.68454138e-03  9.67562730e-01  1.57321679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.120714057 meters
Centerline goodness : 0.999329 with order 1
Centerline is valid?  [True, True]
Translation: X:602.39, Y:44.78, Z:157.34
[[ 9.57450407e-01 -1.42536928e-01 -2.50942108e-01  6.02388245e+02]
 [ 1.39704286e-01  9.89763756e-01 -2.91619453e-02  4.47803175e+01]
 [ 2.52530058e-01 -7.13657153e-03  9.67562732e-01  1.57335916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.180714057 meters
Centerline goodness : 0.999287 with order 1
Centerline is valid?  [True, True]
Translation: X:602.44, Y:44.78, Z:157.35
[[ 9.57212112e-01 -1.44133190e-01 -2.50939426e-01  6.02443665e+02]
 [ 1.41348392e-01  9.89529619e-01 -2.91850046e-02  4.47835774e+01]
 [ 2.52518523e-01 -7.53364441e-03  9.67562732e-01  1.57351065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.240714057 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:602.50, Y:44.78, Z:157.37
[[ 9.57035197e-01 -1.45308730e-01 -2.50936257e-01  6.02500929e+02]
 [ 1.42556494e-01  9.89355493e-01 -2.92122329e-02  4.47849130e+01]
 [ 2.52509956e-01 -7.81545775e-03  9.67562732e-01  1.57367207e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.300714057 meters
Centerline goodness : 0.999539 with order 1
Centerline is valid?  [True, True]
Translation: X:602.56, Y:44.79, Z:157.38
[[ 9.57118543e-01 -1.44771005e-01 -2.50929174e-01  6.02557258e+02]
 [ 1.41984707e-01  9.89435919e-01 -2.92729501e-02  4.47878177e+01]
 [ 2.52516212e-01 -7.61042178e-03  9.67562734e-01  1.57382343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.360714057 meters
Centerline goodness : 0.999600 with order 1
Centerline is valid?  [True, True]
Translation: X:602.61, Y:44.79, Z:157.40
[[ 9.57344259e-01 -1.43275615e-01 -2.50926419e-01  6.02612796e+02]
 [ 1.40432654e-01  9.89656699e-01 -2.92965433e-02  4.47900011e+01]
 [ 2.52528492e-01 -7.19138559e-03  9.67562734e-01  1.57398467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.420714057 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:602.67, Y:44.79, Z:157.41
[[ 9.57879615e-01 -1.39656487e-01 -2.50923713e-01  6.02670048e+02]
 [ 1.36685364e-01  9.90180522e-01 -2.93197076e-02  4.47910473e+01]
 [ 2.52554460e-01 -6.21284870e-03  9.67562734e-01  1.57414019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.480714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:602.73, Y:44.79, Z:157.43
[[ 9.58771947e-01 -1.33406682e-01 -2.50916343e-01  6.02727485e+02]
 [ 1.30208504e-01  9.91051162e-01 -2.93826464e-02  4.47939878e+01]
 [ 2.52590775e-01 -4.50018456e-03  9.67562736e-01  1.57430806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.5407140570001 meters
Centerline goodness : 0.999747 with order 1
Centerline is valid?  [True, True]
Translation: X:602.78, Y:44.80, Z:157.45
[[ 9.59396636e-01 -1.28839605e-01 -2.50915228e-01  6.02783934e+02]
 [ 1.25485263e-01  9.91659997e-01 -2.93921695e-02  4.47977417e+01]
 [ 2.52609469e-01 -3.28741483e-03  9.67562736e-01  1.57446602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.600714057 meters
Centerline goodness : 0.999768 with order 1
Centerline is valid?  [True, True]
Translation: X:602.84, Y:44.80, Z:157.46
[[ 9.60415796e-01 -1.21024272e-01 -2.50907600e-01  6.02842189e+02]
 [ 1.17390391e-01  9.92648867e-01 -2.94571424e-02  4.47997542e+01]
 [ 2.52628174e-01 -1.16303641e-03  9.67562739e-01  1.57460890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.6607140570001 meters
Centerline goodness : 0.999789 with order 1
Centerline is valid?  [True, True]
Translation: X:602.90, Y:44.80, Z:157.47
[[ 9.60911427e-01 -1.17025675e-01 -2.50906796e-01  6.02899030e+02]
 [ 1.13255872e-01  9.93128884e-01 -2.94639932e-02  4.48018960e+01]
 [ 2.52630830e-01 -1.04380124e-04  9.67562739e-01  1.57474582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.720714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:602.96, Y:44.80, Z:157.49
[[ 9.61516304e-01 -1.11953111e-01 -2.50904161e-01  6.02957051e+02]
 [ 1.08007493e-01  9.93712701e-01 -2.94864120e-02  4.48002729e+01]
 [ 2.52627747e-01  1.25213646e-03  9.67562739e-01  1.57488173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.7807140570001 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:603.02, Y:44.80, Z:157.50
[[ 9.62018919e-01 -1.07551020e-01 -2.50903124e-01  6.03015432e+02]
 [ 1.03455778e-01  9.94196627e-01 -2.94952313e-02  4.47971088e+01]
 [ 2.52619282e-01  2.41759267e-03  9.67562739e-01  1.57503767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.840714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:603.07, Y:44.80, Z:157.52
[[ 9.62254132e-01 -1.05428413e-01 -2.50902042e-01  6.03073898e+02]
 [ 1.01259792e-01  9.94422417e-01 -2.95044362e-02  4.47967563e+01]
 [ 2.52613221e-01  2.98447695e-03  9.67562739e-01  1.57519444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.900714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:603.13, Y:44.79, Z:157.53
[[ 9.62615314e-01 -1.02079362e-01 -2.50901496e-01  6.03131121e+02]
 [ 9.77976196e-02  9.94768737e-01 -2.95090788e-02  4.47904460e+01]
 [ 2.52601232e-01  3.86832208e-03  9.67562739e-01  1.57533962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 620.960714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:603.19, Y:44.78, Z:157.55
[[ 9.62986936e-01 -9.85343770e-02 -2.50892683e-01  6.03187677e+02]
 [ 9.41148083e-02  9.95121701e-01 -2.95838282e-02  4.47844415e+01]
 [ 2.52583777e-01  4.87612331e-03  9.67562742e-01  1.57548178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.020714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:603.25, Y:44.78, Z:157.56
[[ 9.63197943e-01 -9.64583440e-02 -2.50889439e-01  6.03245127e+02]
 [ 9.19623616e-02  9.95322106e-01 -2.96113086e-02  4.47813652e+01]
 [ 2.52572063e-01  5.44916615e-03  9.67562742e-01  1.57564253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.080714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:603.30, Y:44.77, Z:157.58
[[ 9.63283512e-01 -9.56204524e-02 -2.50881656e-01  6.03304114e+02]
 [ 9.10793976e-02  9.95401332e-01 -2.96771148e-02  4.47712991e+01]
 [ 2.52565673e-01  5.73732533e-03  9.67562744e-01  1.57579120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.140714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:603.36, Y:44.76, Z:157.59
[[ 9.62901595e-01 -9.94114217e-02 -2.50874247e-01  6.03362432e+02]
 [ 9.49805483e-02  9.95034799e-01 -2.97396111e-02  4.47600739e+01]
 [ 2.52585063e-01  4.80814543e-03  9.67562746e-01  1.57593453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.200714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:603.42, Y:44.75, Z:157.61
[[ 9.62435781e-01 -1.03830697e-01 -2.50871589e-01  6.03421642e+02]
 [ 9.95415423e-02  9.94588208e-01 -2.97620174e-02  4.47548636e+01]
 [ 2.52604136e-01  3.67188551e-03  9.67562746e-01  1.57608712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.260714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:603.48, Y:44.74, Z:157.62
[[ 9.61650232e-01 -1.10871679e-01 -2.50871086e-01  6.03480384e+02]
 [ 1.06816846e-01  9.93833050e-01 -2.97662610e-02  4.47443060e+01]
 [ 2.52624212e-01  1.82747374e-03  9.67562746e-01  1.57624417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.320714057 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:603.54, Y:44.74, Z:157.64
[[ 9.61117559e-01 -1.15415224e-01 -2.50863238e-01  6.03538051e+02]
 [ 1.11495306e-01  9.93317086e-01 -2.98322604e-02  4.47354824e+01]
 [ 2.52629837e-01  7.02235837e-04  9.67562748e-01  1.57638742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.380714057 meters
Centerline goodness : 0.999389 with order 1
Centerline is valid?  [True, True]
Translation: X:603.60, Y:44.73, Z:157.65
[[ 9.60782790e-01 -1.18188487e-01 -2.50854365e-01  6.03596243e+02]
 [ 1.14342078e-01  9.92991178e-01 -2.99066910e-02  4.47323516e+01]
 [ 2.52630798e-01  5.06246817e-05  9.67562751e-01  1.57653441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.440714057 meters
Centerline goodness : 0.999326 with order 1
Centerline is valid?  [True, True]
Translation: X:603.65, Y:44.73, Z:157.67
[[ 9.60269830e-01 -1.22301199e-01 -2.50847107e-01  6.03653578e+02]
 [ 1.18576861e-01  9.92492559e-01 -2.99674460e-02  4.47268606e+01]
 [ 2.52628942e-01 -9.67828381e-04  9.67562753e-01  1.57667968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.500714057 meters
Centerline goodness : 0.999389 with order 1
Centerline is valid?  [True, True]
Translation: X:603.71, Y:44.73, Z:157.68
[[ 9.59804909e-01 -1.25902212e-01 -2.50844913e-01  6.03711628e+02]
 [ 1.22293968e-01  9.92040844e-01 -2.99858042e-02  4.47265338e+01]
 [ 2.52623678e-01 -1.89629769e-03  9.67562753e-01  1.57683285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.560714057 meters
Centerline goodness : 0.999262 with order 1
Centerline is valid?  [True, True]
Translation: X:603.77, Y:44.72, Z:157.70
[[ 9.59017926e-01 -1.31764904e-01 -2.50843830e-01  6.03769544e+02]
 [ 1.28351341e-01  9.91275058e-01 -2.99948642e-02  4.47232851e+01]
 [ 2.52607502e-01 -3.43052938e-03  9.67562753e-01  1.57699203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.620714057 meters
Centerline goodness : 0.999136 with order 1
Centerline is valid?  [True, True]
Translation: X:603.83, Y:44.72, Z:157.72
[[ 9.58217369e-01 -1.37468806e-01 -2.50842183e-01  6.03827542e+02]
 [ 1.34243634e-01  9.90493881e-01 -3.00086264e-02  4.47237272e+01]
 [ 2.52582898e-01 -4.91917916e-03  9.67562753e-01  1.57715153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.680714057 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:603.88, Y:44.73, Z:157.73
[[ 9.58133044e-01 -1.38057294e-01 -2.50841094e-01  6.03883484e+02]
 [ 1.34849564e-01  9.90411294e-01 -3.00177312e-02  4.47268939e+01]
 [ 2.52580019e-01 -5.06483187e-03  9.67562753e-01  1.57729611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.740714057 meters
Centerline goodness : 0.999326 with order 1
Centerline is valid?  [True, True]
Translation: X:603.94, Y:44.73, Z:157.75
[[ 9.58503667e-01 -1.35465158e-01 -2.50838417e-01  6.03940996e+02]
 [ 1.32164282e-01  9.90772525e-01 -3.00400850e-02  4.47325286e+01]
 [ 2.52593196e-01 -4.35834760e-03  9.67562754e-01  1.57745912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.800714057 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:604.00, Y:44.74, Z:157.76
[[ 9.59257139e-01 -1.30023491e-01 -2.50837863e-01  6.03997433e+02]
 [ 1.26538334e-01  9.91506614e-01 -3.00447099e-02  4.47395467e+01]
 [ 2.52613918e-01 -2.92000278e-03  9.67562754e-01  1.57760833e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.860714057 meters
Centerline goodness : 0.999305 with order 1
Centerline is valid?  [True, True]
Translation: X:604.06, Y:44.75, Z:157.78
[[ 9.59324848e-01 -1.29525322e-01 -2.50836654e-01  6.04055333e+02]
 [ 1.26020780e-01  9.91572222e-01 -3.00548008e-02  4.47465968e+01]
 [ 2.52615516e-01 -2.77831361e-03  9.67562754e-01  1.57775890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.920714057 meters
Centerline goodness : 0.999241 with order 1
Centerline is valid?  [True, True]
Translation: X:604.11, Y:44.75, Z:157.79
[[ 9.58891598e-01 -1.32695722e-01 -2.50836100e-01  6.04112306e+02]
 [ 1.29296585e-01  9.91150253e-01 -3.00594236e-02  4.47533330e+01]
 [ 2.52605021e-01 -3.60852243e-03  9.67562754e-01  1.57790432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 621.980714057 meters
Centerline goodness : 0.999176 with order 1
Centerline is valid?  [True, True]
Translation: X:604.17, Y:44.76, Z:157.80
[[ 9.58285523e-01 -1.37018313e-01 -2.50828305e-01  6.04170088e+02]
 [ 1.33747691e-01  9.90557459e-01 -3.01243318e-02  4.47605550e+01]
 [ 2.52587433e-01 -4.67999562e-03  9.67562756e-01  1.57804774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.0407140570001 meters
Centerline goodness : 0.999177 with order 1
Centerline is valid?  [True, True]
Translation: X:604.23, Y:44.77, Z:157.82
[[ 9.57125608e-01 -1.44899997e-01 -2.50827752e-01  6.04227389e+02]
 [ 1.41893868e-01  9.89423255e-01 -3.01289333e-02  4.47669679e+01]
 [ 2.52540493e-01 -6.75374625e-03  9.67562756e-01  1.57821424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.100714057 meters
Centerline goodness : 0.999072 with order 1
Centerline is valid?  [True, True]
Translation: X:604.28, Y:44.77, Z:157.84
[[ 9.56257586e-01 -1.50523847e-01 -2.50826635e-01  6.04283766e+02]
 [ 1.47705192e-01  9.88572134e-01 -3.01382276e-02  4.47734310e+01]
 [ 2.52496744e-01 -8.22848751e-03  9.67562756e-01  1.57838146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.1607140570001 meters
Centerline goodness : 0.999409 with order 1
Centerline is valid?  [True, True]
Translation: X:604.34, Y:44.78, Z:157.85
[[ 9.55626449e-01 -1.54492924e-01 -2.50818712e-01  6.04341747e+02]
 [ 1.51791214e-01  9.87950982e-01 -3.02040324e-02  4.47812695e+01]
 [ 2.52462902e-01 -9.20830449e-03  9.67562758e-01  1.57853650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.220714057 meters
Centerline goodness : 0.999388 with order 1
Centerline is valid?  [True, True]
Translation: X:604.40, Y:44.79, Z:157.87
[[ 9.55912270e-01 -1.52715272e-01 -2.50818217e-01  6.04398612e+02]
 [ 1.49952371e-01  9.88231630e-01 -3.02081361e-02  4.47903788e+01]
 [ 2.52479739e-01 -8.73445850e-03  9.67562758e-01  1.57867212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.2807140570001 meters
Centerline goodness : 0.999599 with order 1
Centerline is valid?  [True, True]
Translation: X:604.46, Y:44.80, Z:157.88
[[ 9.57494578e-01 -1.42471925e-01 -2.50810454e-01  6.04455627e+02]
 [ 1.39346312e-01  9.89780877e-01 -3.02724571e-02  4.48020599e+01]
 [ 2.52560367e-01 -5.96379822e-03  9.67562760e-01  1.57881981e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.340714057 meters
Centerline goodness : 0.999747 with order 1
Centerline is valid?  [True, True]
Translation: X:604.51, Y:44.81, Z:157.90
[[ 9.59219280e-01 -1.30357190e-01 -2.50809443e-01  6.04510139e+02]
 [ 1.26821516e-01  9.91463249e-01 -3.02808372e-02  4.48122836e+01]
 [ 2.52615670e-01 -2.76207101e-03  9.67562760e-01  1.57898966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.400714057 meters
Centerline goodness : 0.999601 with order 1
Centerline is valid?  [True, True]
Translation: X:604.57, Y:44.82, Z:157.92
[[ 9.59980406e-01 -1.24633934e-01 -2.50806703e-01  6.04566252e+02]
 [ 1.20900090e-01  9.92202028e-01 -3.03035146e-02  4.48205849e+01]
 [ 2.52627765e-01 -1.23177275e-03  9.67562760e-01  1.57915036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.460714057 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:604.62, Y:44.83, Z:157.93
[[ 9.60541221e-01 -1.20239973e-01 -2.50804530e-01  6.04623578e+02]
 [ 1.16354036e-01  9.92744854e-01 -3.03214869e-02  4.48263302e+01]
 [ 2.52630761e-01 -5.70813104e-05  9.67562760e-01  1.57931266e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.520714057 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:604.68, Y:44.83, Z:157.95
[[ 9.60748034e-01 -1.18578512e-01 -2.50803412e-01  6.04680508e+02]
 [ 1.14634470e-01  9.92944603e-01 -3.03307345e-02  4.48297015e+01]
 [ 2.52630467e-01  3.89477434e-04  9.67562760e-01  1.57945176e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.580714057 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:604.74, Y:44.83, Z:157.96
[[ 9.60947500e-01 -1.16967830e-01 -2.50795591e-01  6.04737012e+02]
 [ 1.12952980e-01  9.93135314e-01 -3.03952669e-02  4.48343275e+01]
 [ 2.52629227e-01  8.80146423e-04  9.67562762e-01  1.57958515e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.640714057 meters
Centerline goodness : 0.999685 with order 1
Centerline is valid?  [True, True]
Translation: X:604.79, Y:44.84, Z:157.97
[[ 9.61239683e-01 -1.14547898e-01 -2.50792843e-01  6.04794947e+02]
 [ 1.10446103e-01  9.93416533e-01 -3.04179244e-02  4.48353435e+01]
 [ 2.52626066e-01  1.53982374e-03  9.67562763e-01  1.57974873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.700714057 meters
Centerline goodness : 0.999369 with order 1
Centerline is valid?  [True, True]
Translation: X:604.85, Y:44.83, Z:157.99
[[ 9.61255430e-01 -1.14418749e-01 -2.50791443e-01  6.04852907e+02]
 [ 1.10309621e-01  9.93431344e-01 -3.04294624e-02  4.48332948e+01]
 [ 2.52625782e-01  1.58577680e-03  9.67562763e-01  1.57990814e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.760714057 meters
Centerline goodness : 0.999537 with order 1
Centerline is valid?  [True, True]
Translation: X:604.91, Y:44.83, Z:158.00
[[ 9.60897519e-01 -1.17388916e-01 -2.50790352e-01  6.04909075e+02]
 [ 1.13376899e-01  9.93085686e-01 -3.04384559e-02  4.48310276e+01]
 [ 2.52629446e-01  8.14404280e-04  9.67562763e-01  1.58004600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.820714057 meters
Centerline goodness : 0.999180 with order 1
Centerline is valid?  [True, True]
Translation: X:604.97, Y:44.83, Z:158.02
[[ 9.60600211e-01 -1.19805357e-01 -2.50786585e-01  6.04966738e+02]
 [ 1.15866217e-01  9.92797377e-01 -3.04694600e-02  4.48310768e+01]
 [ 2.52630668e-01  2.11276777e-04  9.67562763e-01  1.58019001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.880714057 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:605.02, Y:44.83, Z:158.03
[[ 9.60270848e-01 -1.22433307e-01 -2.50778754e-01  6.05023915e+02]
 [ 1.18565481e-01  9.92476657e-01 -3.05337838e-02  4.48274736e+01]
 [ 2.52630411e-01 -4.13001061e-04  9.67562765e-01  1.58034098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 622.940714057 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:605.08, Y:44.82, Z:158.05
[[ 9.59970166e-01 -1.24777490e-01 -2.50774517e-01  6.05081075e+02]
 [ 1.20979227e-01  9.92184252e-01 -3.05685439e-02  4.48246059e+01]
 [ 2.52628793e-01 -9.93616977e-04  9.67562766e-01  1.58049894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.000714057 meters
Centerline goodness : 0.998191 with order 1
Centerline is valid?  [True, True]
Translation: X:605.14, Y:44.83, Z:158.06
[[ 9.59719886e-01 -1.26703696e-01 -2.50766651e-01  6.05137990e+02]
 [ 1.22953263e-01  9.91939574e-01 -3.06329374e-02  4.48267416e+01]
 [ 2.52626671e-01 -1.43353872e-03  9.67562768e-01  1.58064982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.060714057 meters
Centerline goodness : 0.997983 with order 1
Centerline is valid?  [True, True]
Translation: X:605.20, Y:44.83, Z:158.08
[[ 9.59715437e-01 -1.26752806e-01 -2.50758862e-01  6.05196706e+02]
 [ 1.22987396e-01  9.91933375e-01 -3.06965667e-02  4.48269817e+01]
 [ 2.52626961e-01 -1.38021060e-03  9.67562770e-01  1.58079356e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.120714057 meters
Centerline goodness : 0.997711 with order 1
Centerline is valid?  [True, True]
Translation: X:605.25, Y:44.83, Z:158.09
[[ 9.59910869e-01 -1.25267134e-01 -2.50757390e-01  6.05254619e+02]
 [ 1.21448718e-01  9.92122569e-01 -3.07085906e-02  4.48283017e+01]
 [ 2.52628843e-01 -9.76653621e-04  9.67562770e-01  1.58091547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.180714057 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:605.31, Y:44.83, Z:158.11
[[ 9.59936237e-01 -1.25088528e-01 -2.50749438e-01  6.05311148e+02]
 [ 1.21247193e-01  9.92145210e-01 -3.07733899e-02  4.48322486e+01]
 [ 2.52629252e-01 -8.62173328e-04  9.67562772e-01  1.58105194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.240714057 meters
Centerline goodness : 0.997896 with order 1
Centerline is valid?  [True, True]
Translation: X:605.37, Y:44.83, Z:158.12
[[ 9.59413845e-01 -1.29051942e-01 -2.50740243e-01  6.05367538e+02]
 [ 1.25324127e-01  9.91636151e-01 -3.08481316e-02  4.48336791e+01]
 [ 2.52624101e-01 -1.82767756e-03  9.67562775e-01  1.58122086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.300714057 meters
Centerline goodness : 0.998399 with order 1
Centerline is valid?  [True, True]
Translation: X:605.42, Y:44.84, Z:158.14
[[ 9.58486213e-01 -1.35784724e-01 -2.50732304e-01  6.05422647e+02]
 [ 1.32266388e-01  9.90732062e-01 -3.09125307e-02  4.48358601e+01]
 [ 2.52605982e-01 -3.53422170e-03  9.67562777e-01  1.58139612e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.360714057 meters
Centerline goodness : 0.998338 with order 1
Centerline is valid?  [True, True]
Translation: X:605.48, Y:44.84, Z:158.16
[[ 9.57931178e-01 -1.39663401e-01 -2.50722939e-01  6.05479383e+02]
 [ 1.36255791e-01  9.90188913e-01 -3.09883109e-02  4.48407892e+01]
 [ 2.52591007e-01 -4.47778331e-03  9.67562780e-01  1.58156213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.420714057 meters
Centerline goodness : 0.998128 with order 1
Centerline is valid?  [True, True]
Translation: X:605.54, Y:44.85, Z:158.17
[[ 9.57933390e-01 -1.39650026e-01 -2.50721939e-01  6.05535709e+02]
 [ 1.36239850e-01  9.90190854e-01 -3.09963948e-02  4.48468603e+01]
 [ 2.52591219e-01 -4.46583794e-03  9.67562780e-01  1.58170995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.480714057 meters
Centerline goodness : 0.998048 with order 1
Centerline is valid?  [True, True]
Translation: X:605.59, Y:44.85, Z:158.19
[[ 9.58616093e-01 -1.34898911e-01 -2.50713922e-01  6.05593744e+02]
 [ 1.31311923e-01  9.90854372e-01 -3.10611113e-02  4.48547926e+01]
 [ 2.52611096e-01 -3.14604606e-03  9.67562782e-01  1.58185198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.5407140570001 meters
Centerline goodness : 0.998090 with order 1
Centerline is valid?  [True, True]
Translation: X:605.65, Y:44.86, Z:158.20
[[ 9.59736783e-01 -1.26681179e-01 -2.50713355e-01  6.05650931e+02]
 [ 1.22816932e-01  9.91943005e-01 -3.10656866e-02  4.48628290e+01]
 [ 2.52628797e-01 -9.76963022e-04  9.67562782e-01  1.58199104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.600714057 meters
Centerline goodness : 0.998193 with order 1
Centerline is valid?  [True, True]
Translation: X:605.71, Y:44.87, Z:158.21
[[ 9.60422015e-01 -1.21379265e-01 -2.50712238e-01  6.05708048e+02]
 [ 1.17334871e-01  9.92606111e-01 -3.10746975e-02  4.48703222e+01]
 [ 2.52630324e-01  4.27535458e-04  9.67562782e-01  1.58213922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.6607140570001 meters
Centerline goodness : 0.997817 with order 1
Centerline is valid?  [True, True]
Translation: X:605.76, Y:44.88, Z:158.23
[[ 9.61126216e-01 -1.15673347e-01 -2.50711135e-01  6.05764157e+02]
 [ 1.11435567e-01  9.93285419e-01 -3.10835983e-02  4.48755055e+01]
 [ 2.52623259e-01  1.93712369e-03  9.67562782e-01  1.58227400e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.720714057 meters
Centerline goodness : 0.997899 with order 1
Centerline is valid?  [True, True]
Translation: X:605.82, Y:44.88, Z:158.24
[[ 9.61195094e-01 -1.15105522e-01 -2.50708415e-01  6.05821721e+02]
 [ 1.10843026e-01  9.93351031e-01 -3.11055250e-02  4.48795528e+01]
 [ 2.52621880e-01  2.10919882e-03  9.67562782e-01  1.58241847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.7807140570001 meters
Centerline goodness : 0.998278 with order 1
Centerline is valid?  [True, True]
Translation: X:605.88, Y:44.88, Z:158.26
[[ 9.60987289e-01 -1.16843877e-01 -2.50700896e-01  6.05878954e+02]
 [ 1.12623771e-01  9.93148814e-01 -3.11660076e-02  4.48818302e+01]
 [ 2.52624855e-01  1.71525686e-03  9.67562784e-01  1.58258326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.840714057 meters
Centerline goodness : 0.997563 with order 1
Centerline is valid?  [True, True]
Translation: X:605.94, Y:44.89, Z:158.27
[[ 9.60872994e-01 -1.17796341e-01 -2.50693260e-01  6.05935222e+02]
 [ 1.13592120e-01  9.93036598e-01 -3.12273164e-02  4.48870627e+01]
 [ 2.52626045e-01  1.52870623e-03  9.67562786e-01  1.58273215e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.900714057 meters
Centerline goodness : 0.998193 with order 1
Centerline is valid?  [True, True]
Translation: X:605.99, Y:44.89, Z:158.29
[[ 9.60630963e-01 -1.19771084e-01 -2.50685142e-01  6.05992971e+02]
 [ 1.15616010e-01  9.92800950e-01 -3.12923506e-02  4.48906858e+01]
 [ 2.52628366e-01  1.07718507e-03  9.67562788e-01  1.58290068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 623.960714057 meters
Centerline goodness : 0.998089 with order 1
Centerline is valid?  [True, True]
Translation: X:606.05, Y:44.89, Z:158.31
[[ 9.59919007e-01 -1.25350506e-01 -2.50684565e-01  6.06049439e+02]
 [ 1.21381208e-01  9.92112444e-01 -3.12969706e-02  4.48925880e+01]
 [ 2.52630368e-01 -3.85838520e-04  9.67562788e-01  1.58306105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.020714057 meters
Centerline goodness : 0.998190 with order 1
Centerline is valid?  [True, True]
Translation: X:606.11, Y:44.89, Z:158.32
[[ 9.58656045e-01 -1.34670792e-01 -2.50683794e-01  6.06106378e+02]
 [ 1.31012845e-01  9.90886344e-01 -3.13031514e-02  4.48930615e+01]
 [ 2.52614768e-01 -2.83384163e-03  9.67562788e-01  1.58321916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.080714057 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:606.16, Y:44.90, Z:158.34
[[ 9.57439546e-01 -1.43064660e-01 -2.50683106e-01  6.06163570e+02]
 [ 1.39687791e-01  9.89700505e-01 -3.13086551e-02  4.48963312e+01]
 [ 2.52580359e-01 -5.04122482e-03  9.67562788e-01  1.58335750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.140714057 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:606.22, Y:44.90, Z:158.35
[[ 9.56897340e-01 -1.46661402e-01 -2.50674915e-01  6.06219657e+02]
 [ 1.43388647e-01  9.89169026e-01 -3.13741046e-02  4.49005388e+01]
 [ 2.52561232e-01 -5.92213980e-03  9.67562790e-01  1.58349873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.200714057 meters
Centerline goodness : 0.998418 with order 1
Centerline is valid?  [True, True]
Translation: X:606.28, Y:44.91, Z:158.37
[[ 9.56852099e-01 -1.46961176e-01 -2.50672042e-01  6.06276206e+02]
 [ 1.43692525e-01  9.89124200e-01 -3.13970459e-02  4.49064311e+01]
 [ 2.52559930e-01 -5.97736942e-03  9.67562790e-01  1.58366497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.260714057 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:606.33, Y:44.92, Z:158.38
[[ 9.57466334e-01 -1.42918652e-01 -2.50664075e-01  6.06333250e+02]
 [ 1.39497118e-01  9.89722582e-01 -3.14605238e-02  4.49150161e+01]
 [ 2.52584192e-01 -4.84452362e-03  9.67562792e-01  1.58381150e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.320714057 meters
Centerline goodness : 0.998462 with order 1
Centerline is valid?  [True, True]
Translation: X:606.39, Y:44.92, Z:158.40
[[ 9.58189345e-01 -1.37990095e-01 -2.50662948e-01  6.06388943e+02]
 [ 1.34400283e-01  9.90427299e-01 -3.14695009e-02  4.49247777e+01]
 [ 2.52605906e-01 -3.53543081e-03  9.67562792e-01  1.58396442e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.380714057 meters
Centerline goodness : 0.998778 with order 1
Centerline is valid?  [True, True]
Translation: X:606.44, Y:44.93, Z:158.41
[[ 9.58394932e-01 -1.36559229e-01 -2.50660591e-01  6.06444484e+02]
 [ 1.32916378e-01  9.90626936e-01 -3.14882676e-02  4.49332109e+01]
 [ 2.52611147e-01 -3.13870182e-03  9.67562792e-01  1.58410867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.440714057 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:606.50, Y:44.94, Z:158.43
[[ 9.58530888e-01 -1.35607012e-01 -2.50657685e-01  6.06501272e+02]
 [ 1.31926096e-01  9.90758567e-01 -3.15113856e-02  4.49434941e+01]
 [ 2.52614413e-01 -2.86365324e-03  9.67562793e-01  1.58426023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.500714057 meters
Centerline goodness : 0.998758 with order 1
Centerline is valid?  [True, True]
Translation: X:606.56, Y:44.95, Z:158.44
[[ 9.58468882e-01 -1.36046681e-01 -2.50656543e-01  6.06556948e+02]
 [ 1.32378175e-01  9.90697976e-01 -3.15204631e-02  4.49539899e+01]
 [ 2.52613184e-01 -2.97007271e-03  9.67562793e-01  1.58440333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.560714057 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:606.61, Y:44.96, Z:158.45
[[ 9.58097201e-01 -1.38656626e-01 -2.50647350e-01  6.06614198e+02]
 [ 1.35056832e-01  9.90334039e-01 -3.15934058e-02  4.49637256e+01]
 [ 2.52605237e-01 -3.58208331e-03  9.67562795e-01  1.58454506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.620714057 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:606.67, Y:44.97, Z:158.47
[[ 9.57617541e-01 -1.41932843e-01 -2.50646590e-01  6.06670925e+02]
 [ 1.38441754e-01  9.89866333e-01 -3.15994352e-02  4.49718972e+01]
 [ 2.52591618e-01 -4.43977998e-03  9.67562795e-01  1.58469055e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.680714057 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:606.73, Y:44.98, Z:158.49
[[ 9.57052251e-01 -1.45710009e-01 -2.50638351e-01  6.06728538e+02]
 [ 1.42329114e-01  9.89312778e-01 -3.16646507e-02  4.49809088e+01]
 [ 2.52573580e-01 -5.36840916e-03  9.67562797e-01  1.58485053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.740714057 meters
Centerline goodness : 0.998883 with order 1
Centerline is valid?  [True, True]
Translation: X:606.79, Y:44.99, Z:158.50
[[ 9.56980980e-01 -1.46177362e-01 -2.50638351e-01  6.06785026e+02]
 [ 1.42812221e-01  9.89243155e-01 -3.16646507e-02  4.49909192e+01]
 [ 2.52570928e-01 -5.49175118e-03  9.67562797e-01  1.58500345e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.800714057 meters
Centerline goodness : 0.998421 with order 1
Centerline is valid?  [True, True]
Translation: X:606.84, Y:45.00, Z:158.51
[[ 9.57874742e-01 -1.40215967e-01 -2.50630129e-01  6.06840692e+02]
 [ 1.36633024e-01  9.90113453e-01 -3.17295963e-02  4.50032252e+01]
 [ 2.52601259e-01 -3.85137350e-03  9.67562799e-01  1.58514600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.860714057 meters
Centerline goodness : 0.998572 with order 1
Centerline is valid?  [True, True]
Translation: X:606.90, Y:45.01, Z:158.53
[[ 9.58654794e-01 -1.34783999e-01 -2.50627730e-01  6.06897493e+02]
 [ 1.31013418e-01  9.90872098e-01 -3.17485360e-02  4.50139850e+01]
 [ 2.52619220e-01 -2.39970926e-03  9.67562800e-01  1.58530102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.920714057 meters
Centerline goodness : 0.998048 with order 1
Centerline is valid?  [True, True]
Translation: X:606.95, Y:45.02, Z:158.54
[[ 9.59588090e-01 -1.27971412e-01 -2.50627243e-01  6.06952047e+02]
 [ 1.23971086e-01  9.91777675e-01 -3.17523810e-02  4.50247950e+01]
 [ 2.52629902e-01 -6.01324959e-04  9.67562800e-01  1.58544915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 624.980714057 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:607.01, Y:45.03, Z:158.56
[[ 9.59840230e-01 -1.26072183e-01 -2.50624294e-01  6.07008206e+02]
 [ 1.22002089e-01  9.92021068e-01 -3.17756448e-02  4.50329510e+01]
 [ 2.52630604e-01 -7.71452187e-05  9.67562800e-01  1.58560328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.0407140570001 meters
Centerline goodness : 0.998046 with order 1
Centerline is valid?  [True, True]
Translation: X:607.06, Y:45.04, Z:158.58
[[ 9.59167369e-01 -1.31109134e-01 -2.50615948e-01  6.07063847e+02]
 [ 1.27190866e-01  9.91367043e-01 -3.18413356e-02  4.50417486e+01]
 [ 2.52627081e-01 -1.33488936e-03  9.67562802e-01  1.58576285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.100714057 meters
Centerline goodness : 0.997853 with order 1
Centerline is valid?  [True, True]
Translation: X:607.12, Y:45.05, Z:158.59
[[ 9.58293556e-01 -1.37365327e-01 -2.50607715e-01  6.07119864e+02]
 [ 1.33640348e-01  9.90516160e-01 -3.19060100e-02  4.50495860e+01]
 [ 2.52613771e-01 -2.91597836e-03  9.67562804e-01  1.58591307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.1607140570001 meters
Centerline goodness : 0.997946 with order 1
Centerline is valid?  [True, True]
Translation: X:607.18, Y:45.06, Z:158.61
[[ 9.56698347e-01 -1.48072788e-01 -2.50604714e-01  6.07176792e+02]
 [ 1.44702202e-01  9.88959946e-01 -3.19295628e-02  4.50575446e+01]
 [ 2.52565924e-01 -5.71609407e-03  9.67562804e-01  1.58605010e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.220714057 meters
Centerline goodness : 0.997602 with order 1
Centerline is valid?  [True, True]
Translation: X:607.23, Y:45.07, Z:158.62
[[ 9.55758741e-01 -1.54023039e-01 -2.50603535e-01  6.07233682e+02]
 [ 1.50850844e-01  9.88040452e-01 -3.19388164e-02  4.50663952e+01]
 [ 2.52525743e-01 -7.27795180e-03  9.67562804e-01  1.58618611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.2807140570001 meters
Centerline goodness : 0.997899 with order 1
Centerline is valid?  [True, True]
Translation: X:607.29, Y:45.08, Z:158.63
[[ 9.54779537e-01 -1.59983687e-01 -2.50601786e-01  6.07289596e+02]
 [ 1.57009386e-01  9.87080082e-01 -3.19525340e-02  4.50781027e+01]
 [ 2.52475915e-01 -8.83920689e-03  9.67562805e-01  1.58632318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.340714057 meters
Centerline goodness : 0.997644 with order 1
Centerline is valid?  [True, True]
Translation: X:607.35, Y:45.09, Z:158.65
[[ 9.54240720e-01 -1.63170297e-01 -2.50599485e-01  6.07347106e+02]
 [ 1.60299118e-01  9.86550595e-01 -3.19705693e-02  4.50892178e+01]
 [ 2.52445718e-01 -9.66325724e-03  9.67562805e-01  1.58646895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.400714057 meters
Centerline goodness : 0.997311 with order 1
Centerline is valid?  [True, True]
Translation: X:607.40, Y:45.10, Z:158.66
[[ 9.53091228e-01 -1.69756496e-01 -2.50598969e-01  6.07401691e+02]
 [ 1.67107460e-01  9.85420073e-01 -3.19746135e-02  4.51045487e+01]
 [ 2.52373152e-01 -1.14022334e-02  9.67562805e-01  1.58662984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.460714057 meters
Centerline goodness : 0.997669 with order 1
Centerline is valid?  [True, True]
Translation: X:607.46, Y:45.12, Z:158.68
[[ 9.52335329e-01 -1.73953470e-01 -2.50594516e-01  6.07458906e+02]
 [ 1.71437726e-01  9.84674819e-01 -3.20094757e-02  4.51170045e+01]
 [ 2.52322269e-01 -1.24775993e-02  9.67562805e-01  1.58679193e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.520714057 meters
Centerline goodness : 0.997336 with order 1
Centerline is valid?  [True, True]
Translation: X:607.51, Y:45.13, Z:158.69
[[ 9.51240686e-01 -1.79843421e-01 -2.50594295e-01  6.07514210e+02]
 [ 1.77527395e-01  9.83595093e-01 -3.20112029e-02  4.51336525e+01]
 [ 2.52240323e-01 -1.40369940e-02  9.67562805e-01  1.58693771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.580714057 meters
Centerline goodness : 0.997137 with order 1
Centerline is valid?  [True, True]
Translation: X:607.57, Y:45.15, Z:158.71
[[ 9.50719189e-01 -1.82582560e-01 -2.50592563e-01  6.07570469e+02]
 [ 1.80356175e-01  9.83079887e-01 -3.20247560e-02  4.51481050e+01]
 [ 2.52199671e-01 -1.47493662e-02  9.67562805e-01  1.58709141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.640714057 meters
Centerline goodness : 0.997824 with order 1
Centerline is valid?  [True, True]
Translation: X:607.62, Y:45.17, Z:158.73
[[ 9.50085390e-01 -1.85853123e-01 -2.50592035e-01  6.07624864e+02]
 [ 1.83737026e-01  9.82453488e-01 -3.20288918e-02  4.51676741e+01]
 [ 2.52147688e-01 -1.56128529e-02  9.67562805e-01  1.58725409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.700714057 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:607.68, Y:45.19, Z:158.74
[[ 9.50495757e-01 -1.83754011e-01 -2.50583877e-01  6.07678859e+02]
 [ 1.81549687e-01  9.82857964e-01 -3.20925909e-02  4.51902991e+01]
 [ 2.52185501e-01 -1.49895530e-02  9.67562807e-01  1.58739389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.760714057 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:607.74, Y:45.20, Z:158.75
[[ 9.50791807e-01 -1.82219908e-01 -2.50581015e-01  6.07735626e+02]
 [ 1.79957498e-01  9.83150004e-01 -3.21149196e-02  4.52033362e+01]
 [ 2.52210704e-01 -1.45593301e-02  9.67562808e-01  1.58753922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.820714057 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:607.79, Y:45.23, Z:158.77
[[ 9.51718017e-01 -1.77320432e-01 -2.50579889e-01  6.07791470e+02]
 [ 1.74889084e-01  9.84063959e-01 -3.21237040e-02  4.52270445e+01]
 [ 2.52282827e-01 -1.32509793e-02  9.67562808e-01  1.58767845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.880714057 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:607.85, Y:45.25, Z:158.78
[[ 9.52548844e-01 -1.72802788e-01 -2.50579122e-01  6.07847117e+02]
 [ 1.70216424e-01  9.84882761e-01 -3.21296893e-02  4.52506949e+01]
 [ 2.52343157e-01 -1.20475837e-02  9.67562808e-01  1.58781233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 625.940714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:607.90, Y:45.27, Z:158.80
[[ 9.53508924e-01 -1.67425041e-01 -2.50578506e-01  6.07901096e+02]
 [ 1.64655006e-01  9.85827624e-01 -3.21344909e-02  4.52745727e+01]
 [ 2.52407332e-01 -1.06184815e-02  9.67562808e-01  1.58796129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.000714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:607.96, Y:45.29, Z:158.81
[[ 9.54467490e-01 -1.61873618e-01 -2.50576821e-01  6.07956967e+02]
 [ 1.58912118e-01  9.86769207e-01 -3.21476292e-02  4.52927892e+01]
 [ 2.52465344e-01 -9.13582648e-03  9.67562808e-01  1.58812239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.060714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:608.01, Y:45.32, Z:158.83
[[ 9.56238254e-01 -1.51063768e-01 -2.50575616e-01  6.08012160e+02]
 [ 1.47734516e-01  9.88504142e-01 -3.21570156e-02  4.53157532e+01]
 [ 2.52552794e-01 -6.26889894e-03  9.67562808e-01  1.58826399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.120714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:608.07, Y:45.33, Z:158.84
[[ 9.57894297e-01 -1.40181208e-01 -2.50574828e-01  6.08068056e+02]
 [ 1.36483691e-01  9.90120060e-01 -3.21631547e-02  4.53347890e+01]
 [ 2.52607834e-01 -3.39047497e-03  9.67562808e-01  1.58840768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.180714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:608.12, Y:45.35, Z:158.86
[[ 9.58756255e-01 -1.34161401e-01 -2.50573668e-01  6.08123365e+02]
 [ 1.30259167e-01  9.90957870e-01 -3.21721929e-02  4.53468806e+01]
 [ 2.52624214e-01 -1.79422614e-03  9.67562808e-01  1.58855587e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.240714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:608.18, Y:45.36, Z:158.87
[[ 9.59925498e-01 -1.25526999e-01 -2.50571368e-01  6.08180459e+02]
 [ 1.21330431e-01  9.92090079e-01 -3.21900952e-02  4.53587132e+01]
 [ 2.52630094e-01  4.98161218e-04  9.67562808e-01  1.58871302e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:608.24, Y:45.37, Z:158.89
[[ 9.60787545e-01 -1.18750054e-01 -2.50570784e-01  6.08236384e+02]
 [ 1.14325433e-01  9.92921548e-01 -3.21946373e-02  4.53686057e+01]
 [ 2.52620246e-01  2.28559308e-03  9.67562808e-01  1.58886178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.360714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:608.29, Y:45.37, Z:158.90
[[ 9.61307070e-01 -1.14486318e-01 -2.50562568e-01  6.08293080e+02]
 [ 1.09902544e-01  9.93418755e-01 -3.22584592e-02  4.53732915e+01]
 [ 2.52606706e-01  3.47282114e-03  9.67562810e-01  1.58902391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.420714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:608.35, Y:45.37, Z:158.92
[[ 9.61643680e-01 -1.11642479e-01 -2.50554166e-01  6.08352102e+02]
 [ 1.06946781e-01  9.93739187e-01 -3.23235929e-02  4.53743617e+01]
 [ 2.52594179e-01  4.28781738e-03  9.67562812e-01  1.58917573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.480714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:608.41, Y:45.38, Z:158.93
[[ 9.61536928e-01 -1.12558188e-01 -2.50554166e-01  6.08409820e+02]
 [ 1.07893055e-01  9.93636892e-01 -3.23235929e-02  4.53771541e+01]
 [ 2.52598148e-01  4.04727376e-03  9.67562812e-01  1.58931741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.5407140570001 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:608.47, Y:45.38, Z:158.95
[[ 9.61199469e-01 -1.15407092e-01 -2.50552955e-01  6.08467257e+02]
 [ 1.10834661e-01  9.93312769e-01 -3.23329719e-02  4.53750595e+01]
 [ 2.52608904e-01  3.30848362e-03  9.67562812e-01  1.58946414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.600714057 meters
Centerline goodness : 0.999791 with order 1
Centerline is valid?  [True, True]
Translation: X:608.53, Y:45.37, Z:158.96
[[ 9.60776782e-01 -1.18892368e-01 -2.50544566e-01  6.08525891e+02]
 [ 1.14419516e-01  9.92904101e-01 -3.23978507e-02  4.53724662e+01]
 [ 2.52618585e-01  2.45991473e-03  9.67562814e-01  1.58961299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.6607140570001 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:608.58, Y:45.37, Z:158.98
[[ 9.60271744e-01 -1.22907266e-01 -2.50543373e-01  6.08583168e+02]
 [ 1.18566333e-01  9.92417153e-01 -3.24070809e-02  4.53731323e+01]
 [ 2.52626606e-01  1.41359509e-03  9.67562814e-01  1.58975748e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.720714057 meters
Centerline goodness : 0.999791 with order 1
Centerline is valid?  [True, True]
Translation: X:608.64, Y:45.37, Z:158.99
[[ 9.59030415e-01 -1.32260817e-01 -2.50534908e-01  6.08640875e+02]
 [ 1.28216338e-01  9.91214464e-01 -3.24723889e-02  4.53698461e+01]
 [ 2.52628650e-01 -9.80659946e-04  9.67562816e-01  1.58989710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.7807140570001 meters
Centerline goodness : 0.999727 with order 1
Centerline is valid?  [True, True]
Translation: X:608.70, Y:45.37, Z:159.00
[[ 9.57599024e-01 -1.42258770e-01 -2.50532537e-01  6.08698769e+02]
 [ 1.38545490e-01  9.89822966e-01 -3.24906751e-02  4.53674179e+01]
 [ 2.52604942e-01 -3.59711446e-03  9.67562817e-01  1.59004904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.840714057 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:608.76, Y:45.37, Z:159.02
[[ 9.56920970e-01 -1.46765002e-01 -2.50524033e-01  6.08755626e+02]
 [ 1.43186328e-01  9.89160136e-01 -3.25561156e-02  4.53695655e+01]
 [ 2.52586485e-01 -4.71798667e-03  9.67562819e-01  1.59019344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.900714057 meters
Centerline goodness : 0.999602 with order 1
Centerline is valid?  [True, True]
Translation: X:608.81, Y:45.37, Z:159.03
[[ 9.56923833e-01 -1.46760662e-01 -2.50515638e-01  6.08813334e+02]
 [ 1.43164969e-01  9.89161104e-01 -3.26205906e-02  4.53739853e+01]
 [ 2.52587745e-01 -4.64964295e-03  9.67562821e-01  1.59034360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 626.960714057 meters
Centerline goodness : 0.999685 with order 1
Centerline is valid?  [True, True]
Translation: X:608.87, Y:45.38, Z:159.05
[[ 9.56878829e-01 -1.47055830e-01 -2.50514448e-01  6.08869016e+02]
 [ 1.43467689e-01  9.89116941e-01 -3.26297279e-02  4.53774835e+01]
 [ 2.52586477e-01 -4.71803311e-03  9.67562821e-01  1.59050251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.020714057 meters
Centerline goodness : 0.999537 with order 1
Centerline is valid?  [True, True]
Translation: X:608.93, Y:45.38, Z:159.06
[[ 9.56253121e-01 -1.51075967e-01 -2.50511517e-01  6.08925451e+02]
 [ 1.47617455e-01  9.88505397e-01 -3.26522190e-02  4.53840440e+01]
 [ 2.52564952e-01 -5.75608620e-03  9.67562821e-01  1.59064402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.080714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:608.98, Y:45.39, Z:159.08
[[ 9.55754187e-01 -1.54214556e-01 -2.50503103e-01  6.08982226e+02]
 [ 1.50845072e-01  9.88015883e-01 -3.27166467e-02  4.53912699e+01]
 [ 2.52546428e-01 -6.51808662e-03  9.67562823e-01  1.59079008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.140714057 meters
Centerline goodness : 0.999578 with order 1
Centerline is valid?  [True, True]
Translation: X:609.04, Y:45.40, Z:159.09
[[ 9.55570892e-01 -1.55349162e-01 -2.50501313e-01  6.09039150e+02]
 [ 1.52014395e-01  9.87836195e-01 -3.27303460e-02  4.53992902e+01]
 [ 2.52538896e-01 -6.80363951e-03  9.67562823e-01  1.59093804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.200714057 meters
Centerline goodness : 0.999642 with order 1
Centerline is valid?  [True, True]
Translation: X:609.10, Y:45.41, Z:159.11
[[ 9.56346938e-01 -1.50500878e-01 -2.50499541e-01  6.09095579e+02]
 [ 1.46998968e-01  9.88594528e-01 -3.27438991e-02  4.54097953e+01]
 [ 2.52570461e-01 -5.50864646e-03  9.67562823e-01  1.59107973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.260714057 meters
Centerline goodness : 0.999579 with order 1
Centerline is valid?  [True, True]
Translation: X:609.15, Y:45.42, Z:159.12
[[ 9.57477334e-01 -1.43135312e-01 -2.50498380e-01  6.09152147e+02]
 [ 1.39382969e-01  9.89696743e-01 -3.27527807e-02  4.54209831e+01]
 [ 2.52605510e-01 -3.55516275e-03  9.67562823e-01  1.59123788e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.320714057 meters
Centerline goodness : 0.999558 with order 1
Centerline is valid?  [True, True]
Translation: X:609.21, Y:45.43, Z:159.14
[[ 9.58542724e-01 -1.35819794e-01 -2.50497167e-01  6.09208318e+02]
 [ 1.31819108e-01  9.90732240e-01 -3.27620549e-02  4.54313742e+01]
 [ 2.52625355e-01 -1.61648384e-03  9.67562823e-01  1.59139476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.380714057 meters
Centerline goodness : 0.999579 with order 1
Centerline is valid?  [True, True]
Translation: X:609.27, Y:45.44, Z:159.15
[[ 9.59198283e-01 -1.31126178e-01 -2.50488681e-01  6.09265142e+02]
 [ 1.26951063e-01  9.91365638e-01 -3.28268160e-02  4.54407112e+01]
 [ 2.52630326e-01 -3.12378684e-04  9.67562825e-01  1.59154084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.440714057 meters
Centerline goodness : 0.999622 with order 1
Centerline is valid?  [True, True]
Translation: X:609.32, Y:45.45, Z:159.17
[[ 9.59921599e-01 -1.25737897e-01 -2.50480548e-01  6.09320676e+02]
 [ 1.21366053e-01  9.92062806e-01 -3.28887620e-02  4.54506108e+01]
 [ 2.52627799e-01  1.17079761e-03  9.67562827e-01  1.59168836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.500714057 meters
Centerline goodness : 0.999538 with order 1
Centerline is valid?  [True, True]
Translation: X:609.38, Y:45.46, Z:159.18
[[ 9.60132731e-01 -1.24120383e-01 -2.50478084e-01  6.09378167e+02]
 [ 1.19689499e-01  9.92265851e-01 -3.29075167e-02  4.54579265e+01]
 [ 2.52625342e-01  1.61598748e-03  9.67562827e-01  1.59184555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.560714057 meters
Centerline goodness : 0.999621 with order 1
Centerline is valid?  [True, True]
Translation: X:609.43, Y:45.46, Z:159.20
[[ 9.59844279e-01 -1.26332894e-01 -2.50477465e-01  6.09434526e+02]
 [ 1.21974851e-01  9.91987359e-01 -3.29122255e-02  4.54628414e+01]
 [ 2.52628376e-01  1.03865975e-03  9.67562827e-01  1.59198072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.620714057 meters
Centerline goodness : 0.999516 with order 1
Centerline is valid?  [True, True]
Translation: X:609.49, Y:45.47, Z:159.21
[[ 9.59408244e-01 -1.29608592e-01 -2.50474417e-01  6.09491585e+02]
 [ 1.25354244e-01  9.91565214e-01 -3.29354019e-02  4.54651742e+01]
 [ 2.52630430e-01  2.00464823e-04  9.67562828e-01  1.59212194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.680714057 meters
Centerline goodness : 0.999475 with order 1
Centerline is valid?  [True, True]
Translation: X:609.55, Y:45.47, Z:159.23
[[ 9.59263949e-01 -1.30688716e-01 -2.50465837e-01  6.09548473e+02]
 [ 1.26453573e-01  9.91423451e-01 -3.30005274e-02  4.54705933e+01]
 [ 2.52630501e-01 -1.60836856e-05  9.67562830e-01  1.59226862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.740714057 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:609.60, Y:45.47, Z:159.24
[[ 9.58805526e-01 -1.34011208e-01 -2.50465485e-01  6.09604313e+02]
 [ 1.29886804e-01  9.90979418e-01 -3.30032036e-02  4.54736607e+01]
 [ 2.52628939e-01 -8.88507309e-04  9.67562830e-01  1.59240929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.800714057 meters
Centerline goodness : 0.999389 with order 1
Centerline is valid?  [True, True]
Translation: X:609.66, Y:45.48, Z:159.26
[[ 9.58058946e-01 -1.39253660e-01 -2.50462522e-01  6.09661736e+02]
 [ 1.35299429e-01  9.90254195e-01 -3.30256698e-02  4.54751602e+01]
 [ 2.52620509e-01 -2.24689788e-03  9.67562830e-01  1.59256938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.860714057 meters
Centerline goodness : 0.999284 with order 1
Centerline is valid?  [True, True]
Translation: X:609.72, Y:45.48, Z:159.27
[[ 9.57367910e-01 -1.43941971e-01 -2.50454374e-01  6.09717981e+02]
 [ 1.40129260e-01  9.89580223e-01 -3.30873490e-02  4.54773689e+01]
 [ 2.52607354e-01 -3.41921992e-03  9.67562832e-01  1.59274146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.920714057 meters
Centerline goodness : 0.999178 with order 1
Centerline is valid?  [True, True]
Translation: X:609.78, Y:45.48, Z:159.29
[[ 9.56465296e-01 -1.49836470e-01 -2.50445942e-01  6.09775786e+02]
 [ 1.46205578e-01  9.88698607e-01 -3.31510555e-02  4.54810853e+01]
 [ 2.52582791e-01 -4.90875973e-03  9.67562834e-01  1.59289739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 627.980714057 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:609.83, Y:45.49, Z:159.30
[[ 9.55740991e-01 -1.54390074e-01 -2.50445330e-01  6.09832179e+02]
 [ 1.50911528e-01  9.87991099e-01 -3.31556814e-02  4.54875574e+01]
 [ 2.52556665e-01 -6.10684368e-03  9.67562834e-01  1.59304013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.0407140570001 meters
Centerline goodness : 0.999283 with order 1
Centerline is valid?  [True, True]
Translation: X:609.89, Y:45.49, Z:159.32
[[ 9.54740137e-01 -1.60476561e-01 -2.50436706e-01  6.09889718e+02]
 [ 1.57186534e-01  9.87010020e-01 -3.32206953e-02  4.54943094e+01]
 [ 2.52514681e-01 -7.64814649e-03  9.67562836e-01  1.59319740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.100714057 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:609.95, Y:45.50, Z:159.33
[[ 9.54145361e-01 -1.63977038e-01 -2.50435941e-01  6.09945203e+02]
 [ 1.60803872e-01  9.86426945e-01 -3.32264605e-02  4.55027716e+01]
 [ 2.52485137e-01 -8.56819596e-03  9.67562836e-01  1.59334846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.1607140570001 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:610.00, Y:45.52, Z:159.35
[[ 9.53262954e-01 -1.69035851e-01 -2.50432869e-01  6.10001447e+02]
 [ 1.66027892e-01  9.85560350e-01 -3.32496014e-02  4.55150801e+01]
 [ 2.52437081e-01 -9.88322811e-03  9.67562836e-01  1.59348727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.220714057 meters
Centerline goodness : 0.999203 with order 1
Centerline is valid?  [True, True]
Translation: X:610.06, Y:45.52, Z:159.36
[[ 9.52912338e-01 -1.71004033e-01 -2.50431021e-01  6.10057826e+02]
 [ 1.68059126e-01  9.85215544e-01 -3.32635161e-02  4.55249167e+01]
 [ 2.52416730e-01 -1.03900036e-02  9.67562836e-01  1.59363730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.2807140570001 meters
Centerline goodness : 0.999328 with order 1
Centerline is valid?  [True, True]
Translation: X:610.11, Y:45.54, Z:159.38
[[ 9.52295979e-01 -1.74405236e-01 -2.50429995e-01  6.10113971e+02]
 [ 1.71573658e-01  9.84609316e-01 -3.32712354e-02  4.55378341e+01]
 [ 2.52378384e-01 -1.12831267e-02  9.67562836e-01  1.59377033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.340714057 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:610.17, Y:45.55, Z:159.39
[[ 9.52055784e-01 -1.75723796e-01 -2.50421509e-01  6.10170260e+02]
 [ 1.72920233e-01  9.84371562e-01 -3.33349929e-02  4.55538249e+01]
 [ 2.52365563e-01 -1.15661728e-02  9.67562838e-01  1.59391127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.400714057 meters
Centerline goodness : 0.999309 with order 1
Centerline is valid?  [True, True]
Translation: X:610.23, Y:45.57, Z:159.41
[[ 9.52195102e-01 -1.74968088e-01 -2.50420958e-01  6.10226187e+02]
 [ 1.72137791e-01  9.84508549e-01 -3.33391304e-02  4.55669940e+01]
 [ 2.52374858e-01 -1.13615538e-02  9.67562838e-01  1.59405916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.460714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:610.28, Y:45.58, Z:159.42
[[ 9.52573885e-01 -1.72906391e-01 -2.50412406e-01  6.10282571e+02]
 [ 1.69989326e-01  9.84879613e-01 -3.34032447e-02  4.55825150e+01]
 [ 2.52401708e-01 -1.07483776e-02  9.67562840e-01  1.59421696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.520714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:610.34, Y:45.60, Z:159.43
[[ 9.52972050e-01 -1.70700175e-01 -2.50411107e-01  6.10338043e+02]
 [ 1.67705758e-01  9.85270700e-01 -3.34129790e-02  4.55989404e+01]
 [ 2.52426328e-01 -1.01537496e-02  9.67562840e-01  1.59434634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.580714057 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:610.39, Y:45.61, Z:159.45
[[ 9.53530569e-01 -1.67564930e-01 -2.50402571e-01  6.10394636e+02]
 [ 1.64447554e-01  9.85817581e-01 -3.34768319e-02  4.56140970e+01]
 [ 2.52460800e-01 -9.25690770e-03  9.67562843e-01  1.59449197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.640714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:610.45, Y:45.63, Z:159.47
[[ 9.53845557e-01 -1.65763594e-01 -2.50401845e-01  6.10450312e+02]
 [ 1.62583815e-01  9.86126483e-01 -3.34822623e-02  4.56267146e+01]
 [ 2.52478031e-01 -8.77438017e-03  9.67562843e-01  1.59465678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.700714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:610.51, Y:45.64, Z:159.48
[[ 9.54622610e-01 -1.61241856e-01 -2.50393162e-01  6.10505166e+02]
 [ 1.57892163e-01  9.86886345e-01 -3.35470725e-02  4.56412719e+01]
 [ 2.52518785e-01 -7.51032406e-03  9.67562845e-01  1.59481380e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.760714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:610.56, Y:45.65, Z:159.49
[[ 9.55308301e-01 -1.57130259e-01 -2.50391956e-01  6.10561505e+02]
 [ 1.53639328e-01  9.87557060e-01 -3.35560769e-02  4.56548991e+01]
 [ 2.52549019e-01 -6.41365291e-03  9.67562845e-01  1.59494990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.820714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:610.62, Y:45.67, Z:159.51
[[ 9.55577933e-01 -1.55495055e-01 -2.50383909e-01  6.10617317e+02]
 [ 1.51933239e-01  9.87818938e-01 -3.36160152e-02  4.56665185e+01]
 [ 2.52561091e-01 -5.91891606e-03  9.67562846e-01  1.59509825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.880714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:610.67, Y:45.68, Z:159.53
[[ 9.55854788e-01 -1.53786986e-01 -2.50382083e-01  6.10671429e+02]
 [ 1.50163995e-01  9.88088976e-01 -3.36296107e-02  4.56787508e+01]
 [ 2.52571572e-01 -5.45334936e-03  9.67562846e-01  1.59525978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 628.940714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:610.73, Y:45.69, Z:159.54
[[ 9.56199311e-01 -1.51637114e-01 -2.50377842e-01  6.10726734e+02]
 [ 1.47933388e-01  9.88424322e-01 -3.36611539e-02  4.56892395e+01]
 [ 2.52583829e-01 -4.85247046e-03  9.67562847e-01  1.59542005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.000714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:610.78, Y:45.70, Z:159.56
[[ 9.56332862e-01 -1.50795492e-01 -2.50376071e-01  6.10783292e+02]
 [ 1.47059959e-01  9.88554201e-01 -3.36743261e-02  4.56971744e+01]
 [ 2.52588253e-01 -4.61642996e-03  9.67562847e-01  1.59557338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.060714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:610.84, Y:45.70, Z:159.57
[[ 9.56613773e-01 -1.49017400e-01 -2.50367539e-01  6.10839035e+02]
 [ 1.45205407e-01  9.88826153e-01 -3.37376443e-02  4.57045373e+01]
 [ 2.52597467e-01 -4.08082507e-03  9.67562849e-01  1.59570915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.120714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:610.90, Y:45.71, Z:159.59
[[ 9.56973207e-01 -1.46696548e-01 -2.50364543e-01  6.10895768e+02]
 [ 1.42800617e-01  9.89175543e-01 -3.37598659e-02  4.57102549e+01]
 [ 2.52606938e-01 -3.44492393e-03  9.67562849e-01  1.59585048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.180714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:610.95, Y:45.72, Z:159.60
[[ 9.57212408e-01 -1.45129539e-01 -2.50363382e-01  6.10952100e+02]
 [ 1.41178639e-01  9.89408046e-01 -3.37684679e-02  4.57156716e+01]
 [ 2.52612347e-01 -3.02236526e-03  9.67562849e-01  1.59601737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.240714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:611.01, Y:45.72, Z:159.62
[[ 9.57177402e-01 -1.45363264e-01 -2.50361623e-01  6.11008870e+02]
 [ 1.41416817e-01  9.89373587e-01 -3.37815049e-02  4.57218461e+01]
 [ 2.52611767e-01 -3.07045085e-03  9.67562849e-01  1.59617462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:611.06, Y:45.73, Z:159.63
[[ 9.57211315e-01 -1.45153323e-01 -2.50353772e-01  6.11064754e+02]
 [ 1.41184624e-01  9.89404762e-01 -3.38395929e-02  4.57270645e+01]
 [ 2.52613144e-01 -2.95446194e-03  9.67562851e-01  1.59631615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.360714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:611.12, Y:45.73, Z:159.64
[[ 9.56750253e-01 -1.48166899e-01 -2.50350800e-01  6.11123163e+02]
 [ 1.44293850e-01  9.88955348e-01 -3.38615648e-02  4.57310610e+01]
 [ 2.52602926e-01 -3.72702010e-03  9.67562851e-01  1.59644805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.420714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:611.18, Y:45.73, Z:159.66
[[ 9.55754344e-01 -1.54462762e-01 -2.50349533e-01  6.11179859e+02]
 [ 1.50799377e-01  9.87983961e-01 -3.38709311e-02  4.57329002e+01]
 [ 2.52573121e-01 -5.38026393e-03  9.67562851e-01  1.59659313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.480714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:611.24, Y:45.74, Z:159.67
[[ 9.54831883e-01 -1.60070124e-01 -2.50347019e-01  6.11236366e+02]
 [ 1.56591115e-01  9.87081924e-01 -3.38895044e-02  4.57375768e+01]
 [ 2.52537714e-01 -6.84333956e-03  9.67562852e-01  1.59673773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.5407140570001 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:611.29, Y:45.74, Z:159.69
[[ 9.53149924e-01 -1.69813267e-01 -2.50337128e-01  6.11294813e+02]
 [ 1.66644678e-01  9.85431938e-01 -3.39624189e-02  4.57425335e+01]
 [ 2.52457470e-01 -9.34607308e-03  9.67562854e-01  1.59688056e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.600714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:611.35, Y:45.75, Z:159.70
[[ 9.52487070e-01 -1.73493500e-01 -2.50336548e-01  6.11349723e+02]
 [ 1.70448503e-01  9.84780977e-01 -3.39666875e-02  4.57495158e+01]
 [ 2.52419670e-01 -1.03166593e-02  9.67562854e-01  1.59703280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.6607140570001 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:611.41, Y:45.76, Z:159.72
[[ 9.51066023e-01 -1.81125793e-01 -2.50333512e-01  6.11407764e+02]
 [ 1.78333982e-01  9.83382802e-01 -3.39890531e-02  4.57571245e+01]
 [ 2.52329964e-01 -1.23171384e-02  9.67562854e-01  1.59717307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.720714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:611.46, Y:45.77, Z:159.73
[[ 9.51239012e-01 -1.80216110e-01 -2.50332771e-01  6.11463565e+02]
 [ 1.77391961e-01  9.83552981e-01 -3.39945056e-02  4.57676365e+01]
 [ 2.52341901e-01 -1.20701212e-02  9.67562854e-01  1.59729519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.7807140570001 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:611.52, Y:45.78, Z:159.75
[[ 9.52259095e-01 -1.74750113e-01 -2.50329810e-01  6.11520938e+02]
 [ 1.71734711e-01  9.84555778e-01 -3.40162973e-02  4.57786403e+01]
 [ 2.52408013e-01 -1.05979892e-02  9.67562855e-01  1.59745487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.840714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:611.58, Y:45.79, Z:159.76
[[ 9.53906895e-01 -1.65521383e-01 -2.50328401e-01  6.11577119e+02]
 [ 1.62190682e-01  9.86172586e-01 -3.40266622e-02  4.57922853e+01]
 [ 2.52499147e-01 -8.14266653e-03  9.67562855e-01  1.59763081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.900714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:611.63, Y:45.80, Z:159.78
[[ 9.54880347e-01 -1.59810905e-01 -2.50327780e-01  6.11633361e+02]
 [ 1.56286012e-01  9.87125401e-01 -3.40312324e-02  4.58029730e+01]
 [ 2.52543472e-01 -6.62697541e-03  9.67562855e-01  1.59779129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 629.960714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:611.69, Y:45.81, Z:159.79
[[ 9.56084573e-01 -1.52442404e-01 -2.50326992e-01  6.11691242e+02]
 [ 1.48667435e-01  9.88301308e-01 -3.40370251e-02  4.58138869e+01]
 [ 2.52587180e-01 -4.67319730e-03  9.67562855e-01  1.59793647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.020714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:611.75, Y:45.82, Z:159.81
[[ 9.57166415e-01 -1.45495906e-01 -2.50326576e-01  6.11747813e+02]
 [ 1.41486298e-01  9.89354790e-01 -3.40400888e-02  4.58234152e+01]
 [ 2.52614490e-01 -2.83575075e-03  9.67562855e-01  1.59807604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.080714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:611.81, Y:45.83, Z:159.82
[[ 9.57793175e-01 -1.41314449e-01 -2.50324709e-01  6.11805019e+02]
 [ 1.37160722e-01  9.89963269e-01 -3.40538097e-02  4.58312420e+01]
 [ 2.52624563e-01 -1.71821141e-03  9.67562855e-01  1.59822999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.140714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:611.86, Y:45.84, Z:159.84
[[ 9.57877504e-01 -1.40743907e-01 -2.50323471e-01  6.11861317e+02]
 [ 1.36568641e-01  9.90044809e-01 -3.40629117e-02  4.58362667e+01]
 [ 2.52625600e-01 -1.55823932e-03  9.67562855e-01  1.59838272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.200714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:611.92, Y:45.84, Z:159.85
[[ 9.57848543e-01 -1.40956574e-01 -2.50314628e-01  6.11918224e+02]
 [ 1.36771499e-01  9.90014572e-01 -3.41277756e-02  4.58417387e+01]
 [ 2.52625663e-01 -1.54666669e-03  9.67562857e-01  1.59852273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.260714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:611.98, Y:45.85, Z:159.86
[[ 9.58084430e-01 -1.39360290e-01 -2.50305682e-01  6.11975983e+02]
 [ 1.35104512e-01  9.90241178e-01 -3.41932644e-02  4.58454954e+01]
 [ 2.52628177e-01 -1.05739277e-03  9.67562859e-01  1.59864157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.320714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:612.03, Y:45.85, Z:159.88
[[ 9.58208936e-01 -1.38503892e-01 -2.50304427e-01  6.12034303e+02]
 [ 1.34216975e-01  9.90361548e-01 -3.42024513e-02  4.58498905e+01]
 [ 2.52629052e-01 -8.22008432e-04  9.67562859e-01  1.59878297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.380714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:612.09, Y:45.85, Z:159.89
[[ 9.58455631e-01 -1.36787636e-01 -2.50303709e-01  6.12091140e+02]
 [ 1.32441772e-01  9.90600328e-01 -3.42077048e-02  4.58520767e+01]
 [ 2.52630127e-01 -3.64099483e-04  9.67562859e-01  1.59894165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.440714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:612.15, Y:45.85, Z:159.91
[[ 9.58625598e-01 -1.35608031e-01 -2.50294676e-01  6.12148129e+02]
 [ 1.31205386e-01  9.90762566e-01 -3.42736766e-02  4.58540515e+01]
 [ 2.52630381e-01  1.56141514e-05  9.67562861e-01  1.59911064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.500714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:612.21, Y:45.86, Z:159.93
[[ 9.58773499e-01 -1.34560720e-01 -2.50293408e-01  6.12205338e+02]
 [ 1.30120553e-01  9.90905304e-01 -3.42829355e-02  4.58556311e+01]
 [ 2.52630202e-01  3.01253322e-04  9.67562861e-01  1.59927472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.560714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:612.26, Y:45.86, Z:159.94
[[ 9.59144492e-01 -1.31895206e-01 -2.50290827e-01  6.12262310e+02]
 [ 1.27360831e-01  9.91263138e-01 -3.43017627e-02  4.58582821e+01]
 [ 2.52628309e-01  1.02309903e-03  9.67562861e-01  1.59942787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.620714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:612.32, Y:45.86, Z:159.96
[[ 9.59460197e-01 -1.29583928e-01 -2.50288107e-01  6.12319374e+02]
 [ 1.24967006e-01  9.91567080e-01 -3.43216035e-02  4.58624652e+01]
 [ 2.52624975e-01  1.65245717e-03  9.67562862e-01  1.59957348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.680714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:612.38, Y:45.86, Z:159.97
[[ 9.59800798e-01 -1.27054139e-01 -2.50279193e-01  6.12377155e+02]
 [ 1.22335675e-01  9.91892914e-01 -3.43864877e-02  4.58622874e+01]
 [ 2.52619103e-01  2.38610438e-03  9.67562864e-01  1.59973027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.740714057 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:612.43, Y:45.86, Z:159.99
[[ 9.60031398e-01 -1.25316380e-01 -2.50270892e-01  6.12434287e+02]
 [ 1.20524105e-01  9.92112573e-01 -3.44467966e-02  4.58616814e+01]
 [ 2.52613647e-01  2.90633092e-03  9.67562866e-01  1.59987582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.800714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:612.49, Y:45.86, Z:160.00
[[ 9.60219061e-01 -1.23888047e-01 -2.50262077e-01  6.12491972e+02]
 [ 1.19031392e-01  9.92290551e-01 -3.45107282e-02  4.58634588e+01]
 [ 2.52608161e-01  3.34881559e-03  9.67562868e-01  1.60001681e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.860714057 meters
Centerline goodness : 0.999748 with order 1
Centerline is valid?  [True, True]
Translation: X:612.55, Y:45.86, Z:160.02
[[ 9.60431149e-01 -1.22251093e-01 -2.50253228e-01  6.12549618e+02]
 [ 1.17323091e-01  9.92491752e-01 -3.45747778e-02  4.58599522e+01]
 [ 2.52601069e-01  3.84621127e-03  9.67562870e-01  1.60016551e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.920714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:612.61, Y:45.86, Z:160.03
[[ 9.60407643e-01 -1.22439444e-01 -2.50251358e-01  6.12608582e+02]
 [ 1.17514205e-01  9.92468670e-01 -3.45883119e-02  4.58562993e+01]
 [ 2.52601606e-01  3.81078980e-03  9.67562870e-01  1.60031208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 630.980714057 meters
Centerline goodness : 0.999539 with order 1
Centerline is valid?  [True, True]
Translation: X:612.67, Y:45.86, Z:160.05
[[ 9.60222353e-01 -1.23886744e-01 -2.50250088e-01  6.12665855e+02]
 [ 1.19007437e-01  9.92290403e-01 -3.45974938e-02  4.58573046e+01]
 [ 2.52606932e-01  3.43966540e-03  9.67562870e-01  1.60045149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.0407140570001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:612.72, Y:45.86, Z:160.06
[[ 9.59662069e-01 -1.28172458e-01 -2.50240952e-01  6.12723086e+02]
 [ 1.23419171e-01  9.91749038e-01 -3.46634515e-02  4.58550423e+01]
 [ 2.52619123e-01  2.38066876e-03  9.67562872e-01  1.60059362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.100714057 meters
Centerline goodness : 0.999496 with order 1
Centerline is valid?  [True, True]
Translation: X:612.78, Y:45.85, Z:160.07
[[ 9.58915259e-01 -1.33649825e-01 -2.50238387e-01  6.12780905e+02]
 [ 1.29074995e-01  9.91028157e-01 -3.46819578e-02  4.58524655e+01]
 [ 2.52628525e-01  9.57539928e-04  9.67562872e-01  1.60072666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.1607140570001 meters
Centerline goodness : 0.999243 with order 1
Centerline is valid?  [True, True]
Translation: X:612.84, Y:45.85, Z:160.09
[[ 9.58022505e-01 -1.39910259e-01 -2.50235888e-01  6.12839166e+02]
 [ 1.35540568e-01  9.90163959e-01 -3.46999848e-02  4.58524397e+01]
 [ 2.52629441e-01 -6.73747980e-04  9.67562872e-01  1.60087044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.220714057 meters
Centerline goodness : 0.998925 with order 1
Centerline is valid?  [True, True]
Translation: X:612.90, Y:45.85, Z:160.10
[[ 9.56841722e-01 -1.47772027e-01 -2.50234583e-01  6.12896314e+02]
 [ 1.43663942e-01  9.89017659e-01 -3.47093949e-02  4.58530849e+01]
 [ 2.52615499e-01 -2.73828936e-03  9.67562872e-01  1.60101285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.2807140570001 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:612.95, Y:45.86, Z:160.12
[[ 9.55816339e-01 -1.54270253e-01 -2.50231522e-01  6.12954270e+02]
 [ 1.50375122e-01  9.88018749e-01 -3.47314485e-02  4.58578868e+01]
 [ 2.52591464e-01 -4.43170976e-03  9.67562872e-01  1.60117079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.340714057 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:613.01, Y:45.86, Z:160.13
[[ 9.54121733e-01 -1.64426649e-01 -2.50231084e-01  6.13012124e+02]
 [ 1.60873387e-01  9.86363656e-01 -3.47345990e-02  4.58636880e+01]
 [ 2.52530141e-01 -7.11448623e-03  9.67562872e-01  1.60133479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.400714057 meters
Centerline goodness : 0.998020 with order 1
Centerline is valid?  [True, True]
Translation: X:613.07, Y:45.87, Z:160.15
[[ 9.52622026e-01 -1.72904419e-01 -2.50230571e-01  6.13070085e+02]
 [ 1.69637029e-01  9.84894172e-01 -3.47382985e-02  4.58717010e+01]
 [ 2.52457036e-01 -9.35590225e-03  9.67562872e-01  1.60148913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.460714057 meters
Centerline goodness : 0.997933 with order 1
Centerline is valid?  [True, True]
Translation: X:613.13, Y:45.88, Z:160.16
[[ 9.52127478e-01 -1.75608181e-01 -2.50229959e-01  6.13125997e+02]
 [ 1.72431267e-01  9.84408656e-01 -3.47427061e-02  4.58802978e+01]
 [ 2.52429641e-01 -1.00679837e-02  9.67562872e-01  1.60163357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.520714057 meters
Centerline goodness : 0.998043 with order 1
Centerline is valid?  [True, True]
Translation: X:613.18, Y:45.89, Z:160.18
[[ 9.50951192e-01 -1.81882639e-01 -2.50220975e-01  6.13183135e+02]
 [ 1.78901696e-01  9.83251054e-01 -3.48072953e-02  4.58923746e+01]
 [ 2.52360880e-01 -1.16649178e-02  9.67562875e-01  1.60177780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.580714057 meters
Centerline goodness : 0.997877 with order 1
Centerline is valid?  [True, True]
Translation: X:613.24, Y:45.90, Z:160.19
[[ 9.50482112e-01 -1.84319604e-01 -2.50219980e-01  6.13238884e+02]
 [ 1.81419588e-01  9.82789341e-01 -3.48144419e-02  4.59044971e+01]
 [ 2.52330513e-01 -1.23043013e-02  9.67562875e-01  1.60192691e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.640714057 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:613.30, Y:45.92, Z:160.21
[[ 9.50263967e-01 -1.85452924e-01 -2.50211123e-01  6.13295008e+02]
 [ 1.82574746e-01  9.82573146e-01 -3.48779892e-02  4.59217559e+01]
 [ 2.52318955e-01 -1.25389358e-02  9.67562877e-01  1.60206845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.700714057 meters
Centerline goodness : 0.998531 with order 1
Centerline is valid?  [True, True]
Translation: X:613.35, Y:45.94, Z:160.22
[[ 9.50309074e-01 -1.85223350e-01 -2.50209863e-01  6.13351152e+02]
 [ 1.82334993e-01  9.82617345e-01 -3.48870264e-02  4.59369539e+01]
 [ 2.52322443e-01 -1.24685558e-02  9.67562877e-01  1.60220911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.760714057 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:613.41, Y:45.96, Z:160.24
[[ 9.50492539e-01 -1.84282162e-01 -2.50207950e-01  6.13406431e+02]
 [ 1.81358211e-01  9.82797608e-01 -3.49007352e-02  4.59566644e+01]
 [ 2.52335358e-01 -1.22043778e-02  9.67562877e-01  1.60236397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.820714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:613.46, Y:45.98, Z:160.25
[[ 9.50965361e-01 -1.81828216e-01 -2.50206677e-01  6.13462199e+02]
 [ 1.78818496e-01  9.83262552e-01 -3.49098613e-02  4.59788442e+01]
 [ 2.52366454e-01 -1.15435129e-02  9.67562877e-01  1.60251682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.880714057 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:613.52, Y:46.00, Z:160.27
[[ 9.51010514e-01 -1.81594258e-01 -2.50204972e-01  6.13517310e+02]
 [ 1.78573384e-01  9.83306664e-01 -3.49220794e-02  4.60006848e+01]
 [ 2.52369865e-01 -1.14686839e-02  9.67562877e-01  1.60265262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 631.940714057 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:613.57, Y:46.02, Z:160.28
[[ 9.50917670e-01 -1.82092006e-01 -2.50196097e-01  6.13574067e+02]
 [ 1.79071372e-01  9.83213840e-01 -3.49855519e-02  4.60171589e+01]
 [ 2.52366854e-01 -1.15345788e-02  9.67562879e-01  1.60279947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.000714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:613.63, Y:46.04, Z:160.29
[[ 9.50358112e-01 -1.84992340e-01 -2.50194510e-01  6.13629888e+02]
 [ 1.82067274e-01  9.82663078e-01 -3.49968970e-02  4.60387017e+01]
 [ 2.52331065e-01 -1.22926475e-02  9.67562879e-01  1.60294487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.060714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:613.69, Y:46.06, Z:160.31
[[ 9.49021139e-01 -1.91733728e-01 -2.50194034e-01  6.13686184e+02]
 [ 1.89037156e-01  9.81345980e-01 -3.50002992e-02  4.60599691e+01]
 [ 2.52237647e-01 -1.40799449e-02  9.67562879e-01  1.60308703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.120714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:613.74, Y:46.08, Z:160.32
[[ 9.47723529e-01 -1.98048931e-01 -2.50193394e-01  6.13742633e+02]
 [ 1.95566464e-01  9.80065517e-01 -3.50048749e-02  4.60758470e+01]
 [ 2.52138596e-01 -1.57544937e-02  9.67562879e-01  1.60323592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.180714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:613.80, Y:46.10, Z:160.34
[[ 9.46106153e-01 -2.05637277e-01 -2.50192842e-01  6.13798300e+02]
 [ 2.03413030e-01  9.78466924e-01 -3.50088155e-02  4.60975665e+01]
 [ 2.52004538e-01 -1.77704284e-02  9.67562879e-01  1.60339028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.240714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:613.85, Y:46.12, Z:160.35
[[ 9.45445739e-01 -2.08653528e-01 -2.50192045e-01  6.13853140e+02]
 [ 2.06530997e-01  9.77813342e-01 -3.50145130e-02  4.61162657e+01]
 [ 2.51947021e-01 -1.85680903e-02  9.67562879e-01  1.60354791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:613.91, Y:46.14, Z:160.37
[[ 9.44656694e-01 -2.12199502e-01 -2.50190134e-01  6.13908410e+02]
 [ 2.10194839e-01  9.77031810e-01 -3.50281656e-02  4.61397599e+01]
 [ 2.51876678e-01 -1.94990838e-02  9.67562879e-01  1.60371212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.360714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:613.96, Y:46.16, Z:160.39
[[ 9.44424643e-01 -2.13229729e-01 -2.50190280e-01  6.13963849e+02]
 [ 2.11260655e-01  9.76801943e-01 -3.50271227e-02  4.61584170e+01]
 [ 2.51855175e-01 -1.97748844e-02  9.67562879e-01  1.60386021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.420714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:614.02, Y:46.19, Z:160.40
[[ 9.44767098e-01 -2.11710653e-01 -2.50187391e-01  6.14017279e+02]
 [ 2.09684084e-01  9.77140850e-01 -3.50477443e-02  4.61856215e+01]
 [ 2.51888300e-01 -1.93483583e-02  9.67562879e-01  1.60400938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.480714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:614.07, Y:46.21, Z:160.42
[[ 9.45579645e-01 -2.08054555e-01 -2.50184806e-01  6.14072173e+02]
 [ 2.05897922e-01  9.77944993e-01 -3.50661868e-02  4.62126120e+01]
 [ 2.51962658e-01 -1.83546590e-02  9.67562879e-01  1.60417138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.5407140570001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:614.13, Y:46.24, Z:160.43
[[ 9.46190090e-01 -2.05262290e-01 -2.50183343e-01  6.14127558e+02]
 [ 2.03007377e-01  9.78548739e-01 -3.50766231e-02  4.62388130e+01]
 [ 2.52016503e-01 -1.75999111e-02  9.67562879e-01  1.60431845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.600714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:614.18, Y:46.26, Z:160.45
[[ 9.46253182e-01 -2.04972032e-01 -2.50182698e-01  6.14181853e+02]
 [ 2.02705984e-01  9.78611053e-01 -3.50812174e-02  4.62591720e+01]
 [ 2.52022222e-01 -1.75178164e-02  9.67562879e-01  1.60446255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.6607140570001 meters
Centerline goodness : 0.999792 with order 1
Centerline is valid?  [True, True]
Translation: X:614.23, Y:46.28, Z:160.46
[[ 9.46009061e-01 -2.06106139e-01 -2.50174170e-01  6.14234577e+02]
 [ 2.03862904e-01  9.78368520e-01 -3.51419318e-02  4.62839078e+01]
 [ 2.52005501e-01 -1.77566470e-02  9.67562881e-01  1.60460135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.720714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:614.29, Y:46.30, Z:160.47
[[ 9.45355698e-01 -2.09089399e-01 -2.50168398e-01  6.14291204e+02]
 [ 2.06937453e-01  9.77721355e-01 -3.51829793e-02  4.63022784e+01]
 [ 2.51951373e-01 -1.85087812e-02  9.67562882e-01  1.60474985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.7807140570001 meters
Centerline goodness : 0.999620 with order 1
Centerline is valid?  [True, True]
Translation: X:614.35, Y:46.32, Z:160.49
[[ 9.44261892e-01 -2.13975499e-01 -2.50167873e-01  6.14347419e+02]
 [ 2.11989980e-01  9.76638185e-01 -3.51867074e-02  4.63240188e+01]
 [ 2.51852591e-01 -1.98076155e-02  9.67562882e-01  1.60489244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.840714057 meters
Centerline goodness : 0.999537 with order 1
Centerline is valid?  [True, True]
Translation: X:614.40, Y:46.34, Z:160.50
[[ 9.43441790e-01 -2.17563028e-01 -2.50167779e-01  6.14403994e+02]
 [ 2.15700407e-01  9.75825386e-01 -3.51873791e-02  4.63407505e+01]
 [ 2.51775542e-01 -2.07640477e-02  9.67562882e-01  1.60503905e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.900714057 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:614.46, Y:46.36, Z:160.52
[[ 9.42586770e-01 -2.21238164e-01 -2.50167654e-01  6.14458352e+02]
 [ 2.19501527e-01  9.74977367e-01 -3.51882686e-02  4.63616948e+01]
 [ 2.51692788e-01 -2.17441857e-02  9.67562882e-01  1.60519727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 632.960714057 meters
Centerline goodness : 0.999159 with order 1
Centerline is valid?  [True, True]
Translation: X:614.51, Y:46.38, Z:160.53
[[ 9.41999084e-01 -2.23726569e-01 -2.50168238e-01  6.14514426e+02]
 [ 2.22076570e-01  9.74394209e-01 -3.51841156e-02  4.63843471e+01]
 [ 2.51634104e-01 -2.24130994e-02  9.67562882e-01  1.60534319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.020714057 meters
Centerline goodness : 0.999159 with order 1
Centerline is valid?  [True, True]
Translation: X:614.57, Y:46.40, Z:160.55
[[ 9.41732019e-01 -2.24848274e-01 -2.50168059e-01  6.14569657e+02]
 [ 2.23236522e-01  9.74129069e-01 -3.51853848e-02  4.64020807e+01]
 [ 2.51607352e-01 -2.27114441e-02  9.67562882e-01  1.60548653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.080714057 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:614.63, Y:46.43, Z:160.56
[[ 9.41166853e-01 -2.27205056e-01 -2.50165580e-01  6.14625385e+02]
 [ 2.25669768e-01  9.73567617e-01 -3.52030025e-02  4.64263444e+01]
 [ 2.51551408e-01 -2.33229093e-02  9.67562882e-01  1.60563492e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.140714057 meters
Centerline goodness : 0.997849 with order 1
Centerline is valid?  [True, True]
Translation: X:614.68, Y:46.45, Z:160.58
[[ 9.40589230e-01 -2.29584918e-01 -2.50165278e-01  6.14679268e+02]
 [ 2.28131023e-01  9.72993748e-01 -3.52051508e-02  4.64527959e+01]
 [ 2.51491823e-01 -2.39568751e-02  9.67562882e-01  1.60577849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.200714057 meters
Centerline goodness : 0.996901 with order 1
Centerline is valid?  [True, True]
Translation: X:614.73, Y:46.47, Z:160.59
[[ 9.40338726e-01 -2.30609185e-01 -2.50164914e-01  6.14734000e+02]
 [ 2.29189902e-01  9.72744779e-01 -3.52077377e-02  4.64728754e+01]
 [ 2.51465842e-01 -2.42280728e-02  9.67562882e-01  1.60593607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.260714057 meters
Centerline goodness : 0.994693 with order 1
Centerline is valid?  [True, True]
Translation: X:614.79, Y:46.50, Z:160.61
[[ 9.39794974e-01 -2.32817329e-01 -2.50162943e-01  6.14788760e+02]
 [ 2.31470478e-01  9.72204118e-01 -3.52217393e-02  4.64991140e+01]
 [ 2.51409674e-01 -2.48041224e-02  9.67562882e-01  1.60609309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.320714057 meters
Centerline goodness : 0.993484 with order 1
Centerline is valid?  [True, True]
Translation: X:614.84, Y:46.52, Z:160.62
[[ 9.39275491e-01 -2.34905067e-01 -2.50162270e-01  6.14843565e+02]
 [ 2.33628977e-01  9.71687498e-01 -3.52265143e-02  4.65191022e+01]
 [ 2.51354437e-01 -2.53577538e-02  9.67562882e-01  1.60624371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.380714057 meters
Centerline goodness : 0.993715 with order 1
Centerline is valid?  [True, True]
Translation: X:614.90, Y:46.53, Z:160.64
[[ 9.39130593e-01 -2.35484271e-01 -2.50161722e-01  6.14899625e+02]
 [ 2.34227144e-01  9.71543341e-01 -3.52304076e-02  4.65326768e+01]
 [ 2.51339162e-01 -2.55087120e-02  9.67562882e-01  1.60639092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.440714057 meters
Centerline goodness : 0.991964 with order 1
Centerline is valid?  [True, True]
Translation: X:614.95, Y:46.56, Z:160.65
[[ 9.39115772e-01 -2.35545530e-01 -2.50159688e-01  6.14952458e+02]
 [ 2.34286712e-01  9.71528454e-01 -3.52448408e-02  4.65573474e+01]
 [ 2.51339020e-01 -2.55101051e-02  9.67562882e-01  1.60654261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.500714057 meters
Centerline goodness : 0.992248 with order 1
Centerline is valid?  [True, True]
Translation: X:615.01, Y:46.58, Z:160.67
[[ 9.39815861e-01 -2.32748270e-01 -2.50148738e-01  6.15008179e+02]
 [ 2.31372507e-01  9.72223787e-01 -3.53223968e-02  4.65828524e+01]
 [ 2.51421780e-01 -2.46809919e-02  9.67562885e-01  1.60670018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.560714057 meters
Centerline goodness : 0.992598 with order 1
Centerline is valid?  [True, True]
Translation: X:615.06, Y:46.61, Z:160.69
[[ 9.41721254e-01 -2.24914934e-01 -2.50148661e-01  6.15064194e+02]
 [ 2.23269235e-01  9.74116594e-01 -3.53229382e-02  4.66075592e+01]
 [ 2.51618618e-01 -2.25861387e-02  9.67562885e-01  1.60685222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.620714057 meters
Centerline goodness : 0.992970 with order 1
Centerline is valid?  [True, True]
Translation: X:615.12, Y:46.63, Z:160.70
[[ 9.43362741e-01 -2.17927364e-01 -2.50148763e-01  6.15119073e+02]
 [ 2.16041738e-01  9.75745002e-01 -3.53222213e-02  4.66268215e+01]
 [ 2.51779083e-01 -2.07209060e-02  9.67562885e-01  1.60700996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.680714057 meters
Centerline goodness : 0.994168 with order 1
Centerline is valid?  [True, True]
Translation: X:615.17, Y:46.65, Z:160.72
[[ 9.45472205e-01 -2.08586393e-01 -2.50148007e-01  6.15174324e+02]
 [ 2.06379175e-01  9.77834137e-01 -3.53275727e-02  4.66507376e+01]
 [ 2.51972111e-01 -1.82241012e-02  9.67562885e-01  1.60717918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.740714057 meters
Centerline goodness : 0.994204 with order 1
Centerline is valid?  [True, True]
Translation: X:615.23, Y:46.67, Z:160.73
[[ 9.45803676e-01 -2.07078276e-01 -2.50147945e-01  6.15229374e+02]
 [ 2.04819333e-01  9.78162038e-01 -3.53280123e-02  4.66675805e+01]
 [ 2.52000887e-01 -1.78217714e-02  9.67562885e-01  1.60733180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.800714057 meters
Centerline goodness : 0.995189 with order 1
Centerline is valid?  [True, True]
Translation: X:615.29, Y:46.69, Z:160.75
[[ 9.45065015e-01 -2.10434408e-01 -2.50138916e-01  6.15285823e+02]
 [ 2.08273550e-01  9.77430073e-01 -3.53918263e-02  4.66855022e+01]
 [ 2.51940957e-01 -1.86497434e-02  9.67562887e-01  1.60748972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.860714057 meters
Centerline goodness : 0.995886 with order 1
Centerline is valid?  [True, True]
Translation: X:615.34, Y:46.70, Z:160.76
[[ 9.44394184e-01 -2.13424805e-01 -2.50138916e-01  6.15342673e+02]
 [ 2.11366405e-01  9.76765920e-01 -3.53918263e-02  4.67033037e+01]
 [ 2.51880662e-01 -1.94471285e-02  9.67562887e-01  1.60764053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.920714057 meters
Centerline goodness : 0.996374 with order 1
Centerline is valid?  [True, True]
Translation: X:615.40, Y:46.72, Z:160.78
[[ 9.44799667e-01 -2.11621401e-01 -2.50139905e-01  6.15399997e+02]
 [ 2.09503041e-01  9.77167534e-01 -3.53848369e-02  4.67224427e+01]
 [ 2.51916783e-01 -1.89734886e-02  9.67562887e-01  1.60779385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 633.980714057 meters
Centerline goodness : 0.996985 with order 1
Centerline is valid?  [True, True]
Translation: X:615.46, Y:46.74, Z:160.80
[[ 9.46348538e-01 -2.04581281e-01 -2.50141850e-01  6.15456013e+02]
 [ 2.02225611e-01  9.78699999e-01 -3.53710855e-02  4.67408610e+01]
 [ 2.52050090e-01 -1.71117133e-02  9.67562888e-01  1.60795429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.0407140570001 meters
Centerline goodness : 0.996879 with order 1
Centerline is valid?  [True, True]
Translation: X:615.51, Y:46.76, Z:160.81
[[ 9.47596310e-01 -1.98721043e-01 -2.50142319e-01  6.15513014e+02]
 [ 1.96166089e-01  9.79932644e-01 -3.53677671e-02  4.67554341e+01]
 [ 2.52150943e-01 -1.55550747e-02  9.67562888e-01  1.60811085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.100714057 meters
Centerline goodness : 0.997559 with order 1
Centerline is valid?  [True, True]
Translation: X:615.57, Y:46.77, Z:160.83
[[ 9.49628913e-01 -1.88769104e-01 -2.50142266e-01  6.15569298e+02]
 [ 1.85874960e-01  9.81936655e-01 -3.53681381e-02  4.67713997e+01]
 [ 2.52300272e-01 -1.29085772e-02  9.67562888e-01  1.60826724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.1607140570001 meters
Centerline goodness : 0.997533 with order 1
Centerline is valid?  [True, True]
Translation: X:615.63, Y:46.78, Z:160.84
[[ 9.50856680e-01 -1.82484141e-01 -2.50142184e-01  6.15626316e+02]
 [ 1.79376224e-01  9.83144559e-01 -3.53687209e-02  4.67840491e+01]
 [ 2.52380158e-01 -1.12389760e-02  9.67562888e-01  1.60842326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.220714057 meters
Centerline goodness : 0.998336 with order 1
Centerline is valid?  [True, True]
Translation: X:615.68, Y:46.80, Z:160.86
[[ 9.52401072e-01 -1.74246211e-01 -2.50140874e-01  6.15684298e+02]
 [ 1.70856481e-01  9.84660582e-01 -3.53779837e-02  4.67962698e+01]
 [ 2.52468338e-01 -9.04415979e-03  9.67562888e-01  1.60857219e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.2807140570001 meters
Centerline goodness : 0.998249 with order 1
Centerline is valid?  [True, True]
Translation: X:615.74, Y:46.81, Z:160.87
[[ 9.53643812e-01 -1.67310259e-01 -2.50141476e-01  6.15740717e+02]
 [ 1.63686958e-01  9.85877923e-01 -3.53737292e-02  4.68059970e+01]
 [ 2.52527346e-01 -7.21095913e-03  9.67562888e-01  1.60873006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.340714057 meters
Centerline goodness : 0.998356 with order 1
Centerline is valid?  [True, True]
Translation: X:615.80, Y:46.81, Z:160.89
[[ 9.53964920e-01 -1.65470499e-01 -2.50140852e-01  6.15798113e+02]
 [ 1.61783873e-01  9.86191850e-01 -3.53781409e-02  4.68137147e+01]
 [ 2.52540908e-01 -6.71925031e-03  9.67562888e-01  1.60889317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.400714057 meters
Centerline goodness : 0.997768 with order 1
Centerline is valid?  [True, True]
Translation: X:615.86, Y:46.82, Z:160.91
[[ 9.53837828e-01 -1.66201544e-01 -2.50140852e-01  6.15857926e+02]
 [ 1.62539617e-01  9.86067574e-01 -3.53781409e-02  4.68170055e+01]
 [ 2.52535684e-01 -6.91278907e-03  9.67562888e-01  1.60905464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.460714057 meters
Centerline goodness : 0.997242 with order 1
Centerline is valid?  [True, True]
Translation: X:615.92, Y:46.82, Z:160.92
[[ 9.53185761e-01 -1.69897506e-01 -2.50143443e-01  6.15917446e+02]
 [ 1.66365340e-01  9.85429986e-01 -3.53598068e-02  4.68186228e+01]
 [ 2.52506393e-01 -7.91073452e-03  9.67562888e-01  1.60919552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.520714057 meters
Centerline goodness : 0.996624 with order 1
Centerline is valid?  [True, True]
Translation: X:615.98, Y:46.82, Z:160.94
[[ 9.52894913e-01 -1.71519369e-01 -2.50144742e-01  6.15978070e+02]
 [ 1.68044489e-01  9.85145362e-01 -3.53506191e-02  4.68206417e+01]
 [ 2.52492248e-01 -8.35002033e-03  9.67562888e-01  1.60935119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.580714057 meters
Centerline goodness : 0.996962 with order 1
Centerline is valid?  [True, True]
Translation: X:616.04, Y:46.82, Z:160.95
[[ 9.52837968e-01 -1.71831641e-01 -2.50147343e-01  6.16037330e+02]
 [ 1.68372161e-01  9.85090073e-01 -3.53322002e-02  4.68245672e+01]
 [ 2.52488855e-01 -8.45198683e-03  9.67562888e-01  1.60950727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.640714057 meters
Centerline goodness : 0.996637 with order 1
Centerline is valid?  [True, True]
Translation: X:616.10, Y:46.83, Z:160.97
[[ 9.52544277e-01 -1.73450431e-01 -2.50148652e-01  6.16095524e+02]
 [ 1.70048188e-01  9.84802470e-01 -3.53229364e-02  4.68258374e+01]
 [ 2.52473788e-01 -8.89066393e-03  9.67562888e-01  1.60965952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.700714057 meters
Centerline goodness : 0.996135 with order 1
Centerline is valid?  [True, True]
Translation: X:616.15, Y:46.83, Z:160.98
[[ 9.52081360e-01 -1.75970598e-01 -2.50150822e-01  6.16153711e+02]
 [ 1.72657766e-01  9.84348857e-01 -3.53075627e-02  4.68299240e+01]
 [ 2.52448768e-01 -9.57480979e-03  9.67562888e-01  1.60980922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.760714057 meters
Centerline goodness : 0.995362 with order 1
Centerline is valid?  [True, True]
Translation: X:616.21, Y:46.83, Z:161.00
[[ 9.51220203e-01 -1.80568517e-01 -2.50150227e-01  6.16211857e+02]
 [ 1.77410519e-01  9.83503221e-01 -3.53117710e-02  4.68316479e+01]
 [ 2.52399749e-01 -1.07900118e-02  9.67562888e-01  1.60996043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.820714057 meters
Centerline goodness : 0.995350 with order 1
Centerline is valid?  [True, True]
Translation: X:616.27, Y:46.83, Z:161.01
[[ 9.49992127e-01 -1.86922805e-01 -2.50149602e-01  6.16270441e+02]
 [ 1.83979507e-01  9.82295428e-01 -3.53162002e-02  4.68333004e+01]
 [ 2.52322214e-01 -1.24722884e-02  9.67562888e-01  1.61010930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.880714057 meters
Centerline goodness : 0.994712 with order 1
Centerline is valid?  [True, True]
Translation: X:616.33, Y:46.84, Z:161.03
[[ 9.48903971e-01 -1.92371341e-01 -2.50148998e-01  6.16329572e+02]
 [ 1.89612341e-01  9.81223534e-01 -3.53204825e-02  4.68377261e+01]
 [ 2.52246732e-01 -1.39155910e-02  9.67562888e-01  1.61026166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 634.940714057 meters
Centerline goodness : 0.994881 with order 1
Centerline is valid?  [True, True]
Translation: X:616.39, Y:46.84, Z:161.04
[[ 9.47544370e-01 -1.98959334e-01 -2.50149654e-01  6.16387959e+02]
 [ 1.96426169e-01  9.79882418e-01 -3.53158312e-02  4.68399436e+01]
 [ 2.52143662e-01 -1.56726211e-02  9.67562888e-01  1.61039935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.000714057 meters
Centerline goodness : 0.994565 with order 1
Centerline is valid?  [True, True]
Translation: X:616.45, Y:46.85, Z:161.05
[[ 9.47451186e-01 -1.99402514e-01 -2.50149728e-01  6.16446046e+02]
 [ 1.96884613e-01  9.79790426e-01 -3.53153050e-02  4.68452056e+01]
 [ 2.52136270e-01 -1.57911049e-02  9.67562888e-01  1.61054539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.060714057 meters
Centerline goodness : 0.995546 with order 1
Centerline is valid?  [True, True]
Translation: X:616.50, Y:46.85, Z:161.07
[[ 9.48390958e-01 -1.94884661e-01 -2.50149076e-01  6.16504220e+02]
 [ 1.92211443e-01  9.80717729e-01 -3.53199273e-02  4.68529184e+01]
 [ 2.52208946e-01 -1.45844152e-02  9.67562888e-01  1.61069449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.120714057 meters
Centerline goodness : 0.995351 with order 1
Centerline is valid?  [True, True]
Translation: X:616.56, Y:46.86, Z:161.09
[[ 9.50576303e-01 -1.83929847e-01 -2.50148964e-01  6.16562001e+02]
 [ 1.80883636e-01  9.82870061e-01 -3.53207221e-02  4.68624967e+01]
 [ 2.52360462e-01 -1.16728126e-02  9.67562888e-01  1.61085389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.180714057 meters
Centerline goodness : 0.995535 with order 1
Centerline is valid?  [True, True]
Translation: X:616.62, Y:46.87, Z:161.10
[[ 9.52105165e-01 -1.75844563e-01 -2.50148844e-01  6.16619951e+02]
 [ 1.72523785e-01  9.84371846e-01 -3.53215711e-02  4.68712574e+01]
 [ 2.52450585e-01 -9.52677502e-03  9.67562888e-01  1.61101820e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.240714057 meters
Centerline goodness : 0.995373 with order 1
Centerline is valid?  [True, True]
Translation: X:616.68, Y:46.88, Z:161.12
[[ 9.52155976e-01 -1.75568750e-01 -2.50149177e-01  6.16677209e+02]
 [ 1.72239244e-01  9.84421757e-01 -3.53192122e-02  4.68778539e+01]
 [ 2.52453242e-01 -9.45610609e-03  9.67562888e-01  1.61117385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.300714057 meters
Centerline goodness : 0.995194 with order 1
Centerline is valid?  [True, True]
Translation: X:616.73, Y:46.88, Z:161.13
[[ 9.51680711e-01 -1.78128790e-01 -2.50147873e-01  6.16734227e+02]
 [ 1.74883648e-01  9.83955086e-01 -3.53284404e-02  4.68829967e+01]
 [ 2.52427285e-01 -1.01253773e-02  9.67562888e-01  1.61132460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.360714057 meters
Centerline goodness : 0.995561 with order 1
Centerline is valid?  [True, True]
Translation: X:616.79, Y:46.89, Z:161.15
[[ 9.50926968e-01 -1.82112409e-01 -2.50145900e-01  6.16792835e+02]
 [ 1.78998778e-01  9.83214296e-01 -3.53424098e-02  4.68869158e+01]
 [ 2.52383316e-01 -1.11677598e-02  9.67562888e-01  1.61147945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.420714057 meters
Centerline goodness : 0.995004 with order 1
Centerline is valid?  [True, True]
Translation: X:616.85, Y:46.89, Z:161.16
[[ 9.50680494e-01 -1.83394729e-01 -2.50145900e-01  6.16849928e+02]
 [ 1.80324646e-01  9.82971992e-01 -3.53424098e-02  4.68930926e+01]
 [ 2.52368025e-01 -1.15081311e-02  9.67562888e-01  1.61164209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.480714057 meters
Centerline goodness : 0.995089 with order 1
Centerline is valid?  [True, True]
Translation: X:616.91, Y:46.90, Z:161.18
[[ 9.50718480e-01 -1.83199512e-01 -2.50144578e-01  6.16905930e+02]
 [ 1.80120342e-01  9.83009113e-01 -3.53517605e-02  4.68978521e+01]
 [ 2.52370825e-01 -1.14465550e-02  9.67562888e-01  1.61179878e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.5407140570001 meters
Centerline goodness : 0.994822 with order 1
Centerline is valid?  [True, True]
Translation: X:616.96, Y:46.90, Z:161.19
[[ 9.50509638e-01 -1.84283533e-01 -2.50141976e-01  6.16963785e+02]
 [ 1.81236355e-01  9.82803304e-01 -3.53701653e-02  4.69036652e+01]
 [ 2.52358500e-01 -1.17151371e-02  9.67562889e-01  1.61194583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.600714057 meters
Centerline goodness : 0.994788 with order 1
Centerline is valid?  [True, True]
Translation: X:617.02, Y:46.91, Z:161.21
[[ 9.49790678e-01 -1.87955644e-01 -2.50140649e-01  6.17022005e+02]
 [ 1.85030831e-01  9.82095657e-01 -3.53795458e-02  4.69082533e+01]
 [ 2.52311830e-01 -1.26805695e-02  9.67562889e-01  1.61208326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.6607140570001 meters
Centerline goodness : 0.993692 with order 1
Centerline is valid?  [True, True]
Translation: X:617.08, Y:46.91, Z:161.22
[[ 9.48865944e-01 -1.92570522e-01 -2.50139989e-01  6.17080822e+02]
 [ 1.89801557e-01  9.81184655e-01 -3.53842150e-02  4.69132056e+01]
 [ 2.52247475e-01 -1.39020827e-02  9.67562889e-01  1.61221527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.720714057 meters
Centerline goodness : 0.993911 with order 1
Centerline is valid?  [True, True]
Translation: X:617.14, Y:46.92, Z:161.24
[[ 9.47773811e-01 -1.97876124e-01 -2.50139644e-01  6.17138742e+02]
 [ 1.95287377e-01  9.80107456e-01 -3.53866482e-02  4.69198957e+01]
 [ 2.52165903e-01 -1.53105765e-02  9.67562889e-01  1.61236062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.7807140570001 meters
Centerline goodness : 0.993469 with order 1
Centerline is valid?  [True, True]
Translation: X:617.20, Y:46.93, Z:161.25
[[ 9.47037182e-01 -2.01372968e-01 -2.50138967e-01  6.17195412e+02]
 [ 1.98902322e-01  9.79380066e-01 -3.53914343e-02  4.69274811e+01]
 [ 2.52107996e-01 -1.62362171e-02  9.67562889e-01  1.61251451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.840714057 meters
Centerline goodness : 0.993137 with order 1
Centerline is valid?  [True, True]
Translation: X:617.25, Y:46.94, Z:161.27
[[ 9.45947751e-01 -2.06431576e-01 -2.50137675e-01  6.17252511e+02]
 [ 2.04131420e-01  9.78303206e-01 -3.54005634e-02  4.69366437e+01]
 [ 2.52018284e-01 -1.75738755e-02  9.67562889e-01  1.61267544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.900714057 meters
Centerline goodness : 0.993405 with order 1
Centerline is valid?  [True, True]
Translation: X:617.31, Y:46.95, Z:161.28
[[ 9.45190315e-01 -2.09873173e-01 -2.50137001e-01  6.17310242e+02]
 [ 2.07689543e-01  9.77553843e-01 -3.54053246e-02  4.69465975e+01]
 [ 2.51953015e-01 -1.84860696e-02  9.67562889e-01  1.61283856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 635.960714057 meters
Centerline goodness : 0.993636 with order 1
Centerline is valid?  [True, True]
Translation: X:617.37, Y:46.96, Z:161.30
[[ 9.44643402e-01 -2.12321229e-01 -2.50137041e-01  6.17367041e+02]
 [ 2.10221526e-01  9.77012483e-01 -3.54050480e-02  4.69575239e+01]
 [ 2.51904254e-01 -1.91390454e-02  9.67562889e-01  1.61299061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.020714057 meters
Centerline goodness : 0.993794 with order 1
Centerline is valid?  [True, True]
Translation: X:617.42, Y:46.97, Z:161.31
[[ 9.44890592e-01 -2.11220013e-01 -2.50135713e-01  6.17423968e+02]
 [ 2.09080114e-01  9.77257041e-01 -3.54144243e-02  4.69709116e+01]
 [ 2.51927122e-01 -1.88356471e-02  9.67562889e-01  1.61313102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.080714057 meters
Centerline goodness : 0.993956 with order 1
Centerline is valid?  [True, True]
Translation: X:617.48, Y:46.98, Z:161.33
[[ 9.45644955e-01 -2.07818204e-01 -2.50134388e-01  6.17481508e+02]
 [ 2.05559378e-01  9.78003322e-01 -3.54237786e-02  4.69849489e+01]
 [ 2.51993969e-01 -1.79191518e-02  9.67562889e-01  1.61327695e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.140714057 meters
Centerline goodness : 0.994992 with order 1
Centerline is valid?  [True, True]
Translation: X:617.54, Y:47.00, Z:161.34
[[ 9.46292886e-01 -2.04847653e-01 -2.50134388e-01  6.17539339e+02]
 [ 2.02487226e-01  9.78644000e-01 -3.54237786e-02  4.69976674e+01]
 [ 2.52048996e-01 -1.71277487e-02  9.67562889e-01  1.61342955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.200714057 meters
Centerline goodness : 0.995948 with order 1
Centerline is valid?  [True, True]
Translation: X:617.60, Y:47.01, Z:161.36
[[ 9.47580900e-01 -1.98804062e-01 -2.50134731e-01  6.17596554e+02]
 [ 1.96237848e-01  9.79916341e-01 -3.54213590e-02  4.70129923e+01]
 [ 2.52153020e-01 -1.55212981e-02  9.67562889e-01  1.61357835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.260714057 meters
Centerline goodness : 0.995299 with order 1
Centerline is valid?  [True, True]
Translation: X:617.65, Y:47.03, Z:161.37
[[ 9.49380866e-01 -1.90021838e-01 -2.50135310e-01  6.17652235e+02]
 [ 1.87157412e-01  9.81691255e-01 -3.54172730e-02  4.70275331e+01]
 [ 2.52285701e-01 -1.31901959e-02  9.67562889e-01  1.61374072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.320714057 meters
Centerline goodness : 0.995657 with order 1
Centerline is valid?  [True, True]
Translation: X:617.71, Y:47.04, Z:161.39
[[ 9.50573190e-01 -1.83965460e-01 -2.50134602e-01  6.17709495e+02]
 [ 1.80893795e-01  9.82864537e-01 -3.54222656e-02  4.70395259e+01]
 [ 2.52364904e-01 -1.15763415e-02  9.67562889e-01  1.61390358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.380714057 meters
Centerline goodness : 0.995914 with order 1
Centerline is valid?  [True, True]
Translation: X:617.77, Y:47.05, Z:161.41
[[ 9.51362805e-01 -1.79837456e-01 -2.50134568e-01  6.17765610e+02]
 [ 1.76625586e-01  9.83640508e-01 -3.54225065e-02  4.70520177e+01]
 [ 2.52412787e-01 -1.04805096e-02  9.67562889e-01  1.61407017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.440714057 meters
Centerline goodness : 0.996127 with order 1
Centerline is valid?  [True, True]
Translation: X:617.82, Y:47.06, Z:161.42
[[ 9.51256635e-01 -1.80398203e-01 -2.50134568e-01  6.17821594e+02]
 [ 1.77205360e-01  9.83536225e-01 -3.54225065e-02  4.70611906e+01]
 [ 2.52406566e-01 -1.06292919e-02  9.67562889e-01  1.61423364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.500714057 meters
Centerline goodness : 0.995850 with order 1
Centerline is valid?  [True, True]
Translation: X:617.88, Y:47.07, Z:161.44
[[ 9.51510358e-01 -1.79056896e-01 -2.50133299e-01  6.17880610e+02]
 [ 1.75816196e-01  9.83785178e-01 -3.54314653e-02  4.70697758e+01]
 [ 2.52421681e-01 -1.02640788e-02  9.67562889e-01  1.61436999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.560714057 meters
Centerline goodness : 0.996488 with order 1
Centerline is valid?  [True, True]
Translation: X:617.94, Y:47.08, Z:161.45
[[ 9.52201174e-01 -1.75344243e-01 -2.50134605e-01  6.17938116e+02]
 [ 1.71980100e-01  9.84463361e-01 -3.54222457e-02  4.70775901e+01]
 [ 2.52459441e-01 -9.28907047e-03  9.67562889e-01  1.61450744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.620714057 meters
Centerline goodness : 0.996043 with order 1
Centerline is valid?  [True, True]
Translation: X:618.00, Y:47.08, Z:161.47
[[ 9.52644021e-01 -1.72922382e-01 -2.50134402e-01  6.17997152e+02]
 [ 1.69475837e-01  9.84897509e-01 -3.54236764e-02  4.70835330e+01]
 [ 2.52482296e-01 -8.64558380e-03  9.67562889e-01  1.61466087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.680714057 meters
Centerline goodness : 0.996667 with order 1
Centerline is valid?  [True, True]
Translation: X:618.06, Y:47.09, Z:161.48
[[ 9.52272168e-01 -1.74956670e-01 -2.50135725e-01  6.18056598e+02]
 [ 1.71581471e-01  9.84533201e-01 -3.54143373e-02  4.70875034e+01]
 [ 2.52462900e-01 -9.19456781e-03  9.67562889e-01  1.61479983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.740714057 meters
Centerline goodness : 0.996024 with order 1
Centerline is valid?  [True, True]
Translation: X:618.12, Y:47.09, Z:161.49
[[ 9.51607533e-01 -1.78534486e-01 -2.50137045e-01  6.18116123e+02]
 [ 1.75283009e-01  9.83881269e-01 -3.54050111e-02  4.70930211e+01]
 [ 2.52426168e-01 -1.01530985e-02  9.67562889e-01  1.61494756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.800714057 meters
Centerline goodness : 0.995924 with order 1
Centerline is valid?  [True, True]
Translation: X:618.17, Y:47.10, Z:161.51
[[ 9.50255700e-01 -1.85593383e-01 -2.50138363e-01  6.18173613e+02]
 [ 1.82584010e-01  9.82552911e-01 -3.53956977e-02  4.70963060e+01]
 [ 2.52343384e-01 -1.20363019e-02  9.67562889e-01  1.61509590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.860714057 meters
Centerline goodness : 0.995264 with order 1
Centerline is valid?  [True, True]
Translation: X:618.23, Y:47.10, Z:161.52
[[ 9.49157702e-01 -1.91129504e-01 -2.50138302e-01  6.18231541e+02]
 [ 1.88308339e-01  9.81471897e-01 -3.53961242e-02  4.71016845e+01]
 [ 2.52268958e-01 -1.35066242e-02  9.67562889e-01  1.61524621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.920714057 meters
Centerline goodness : 0.995167 with order 1
Centerline is valid?  [True, True]
Translation: X:618.29, Y:47.11, Z:161.54
[[ 9.47970538e-01 -1.96934029e-01 -2.50137658e-01  6.18289408e+02]
 [ 1.94309459e-01  9.80301294e-01 -3.54006741e-02  4.71052345e+01]
 [ 2.52181867e-01 -1.50453169e-02  9.67562889e-01  1.61540451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 636.980714057 meters
Centerline goodness : 0.995487 with order 1
Centerline is valid?  [True, True]
Translation: X:618.35, Y:47.11, Z:161.56
[[ 9.47369204e-01 -1.99807498e-01 -2.50137072e-01  6.18347250e+02]
 [ 1.97279881e-01  9.79707685e-01 -3.54048174e-02  4.71112047e+01]
 [ 2.52135360e-01 -1.58055781e-02  9.67562889e-01  1.61555692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.0407140570001 meters
Centerline goodness : 0.994721 with order 1
Centerline is valid?  [True, True]
Translation: X:618.40, Y:47.12, Z:161.57
[[ 9.47327234e-01 -2.00005819e-01 -2.50137532e-01  6.18404097e+02]
 [ 1.97485827e-01  9.79666309e-01 -3.54015641e-02  4.71185390e+01]
 [ 2.52131832e-01 -1.58617518e-02  9.67562889e-01  1.61570649e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.100714057 meters
Centerline goodness : 0.994994 with order 1
Centerline is valid?  [True, True]
Translation: X:618.46, Y:47.13, Z:161.58
[[ 9.47520986e-01 -1.99086732e-01 -2.50136872e-01  6.18461944e+02]
 [ 1.96534144e-01  9.79857505e-01 -3.54062268e-02  4.71262157e+01]
 [ 2.52147402e-01 -1.56122932e-02  9.67562889e-01  1.61584887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.1607140570001 meters
Centerline goodness : 0.994935 with order 1
Centerline is valid?  [True, True]
Translation: X:618.52, Y:47.14, Z:161.60
[[ 9.47874402e-01 -1.97398054e-01 -2.50136216e-01  6.18519868e+02]
 [ 1.94786631e-01  9.80206223e-01 -3.54108640e-02  4.71360075e+01]
 [ 2.52175111e-01 -1.51581392e-02  9.67562889e-01  1.61599626e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.220714057 meters
Centerline goodness : 0.995332 with order 1
Centerline is valid?  [True, True]
Translation: X:618.58, Y:47.14, Z:161.61
[[ 9.47921131e-01 -1.97173001e-01 -2.50136635e-01  6.18576943e+02]
 [ 1.94554681e-01  9.80252395e-01 -3.54079000e-02  4.71448419e+01]
 [ 2.52178518e-01 -1.51013566e-02  9.67562889e-01  1.61614252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.2807140570001 meters
Centerline goodness : 0.995374 with order 1
Centerline is valid?  [True, True]
Translation: X:618.63, Y:47.15, Z:161.63
[[ 9.48604986e-01 -1.93857090e-01 -2.50135981e-01  6.18634572e+02]
 [ 1.91124514e-01  9.80926793e-01 -3.54125245e-02  4.71542463e+01]
 [ 2.52230054e-01 -1.42146205e-02  9.67562889e-01  1.61629299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.340714057 meters
Centerline goodness : 0.995773 with order 1
Centerline is valid?  [True, True]
Translation: X:618.69, Y:47.16, Z:161.65
[[ 9.49781226e-01 -1.88009476e-01 -2.50136082e-01  6.18692105e+02]
 [ 1.85078020e-01  9.82085602e-01 -3.54118075e-02  4.71643297e+01]
 [ 2.52312800e-01 -1.26612210e-02  9.67562889e-01  1.61645337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.400714057 meters
Centerline goodness : 0.995855 with order 1
Centerline is valid?  [True, True]
Translation: X:618.75, Y:47.17, Z:161.66
[[ 9.50318565e-01 -1.85274298e-01 -2.50136082e-01  6.18748570e+02]
 [ 1.82249850e-01  9.82614368e-01 -3.54118075e-02  4.71738987e+01]
 [ 2.52348206e-01 -1.19347655e-02  9.67562889e-01  1.61660468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.460714057 meters
Centerline goodness : 0.995448 with order 1
Centerline is valid?  [True, True]
Translation: X:618.81, Y:47.18, Z:161.68
[[ 9.50013428e-01 -1.86833630e-01 -2.50135325e-01  6.18806941e+02]
 [ 1.83860783e-01  9.82314022e-01 -3.54171563e-02  4.71843447e+01]
 [ 2.52328553e-01 -1.23433027e-02  9.67562889e-01  1.61675384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.520714057 meters
Centerline goodness : 0.995772 with order 1
Centerline is valid?  [True, True]
Translation: X:618.86, Y:47.19, Z:161.69
[[ 9.48489426e-01 -1.94420801e-01 -2.50136683e-01  6.18863301e+02]
 [ 1.91708739e-01  9.80812961e-01 -3.54075616e-02  4.71948412e+01]
 [ 2.52221267e-01 -1.43696903e-02  9.67562889e-01  1.61691102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.580714057 meters
Centerline goodness : 0.995714 with order 1
Centerline is valid?  [True, True]
Translation: X:618.92, Y:47.21, Z:161.71
[[ 9.47180143e-01 -2.00702976e-01 -2.50136147e-01  6.18921050e+02]
 [ 1.98204213e-01  9.79520866e-01 -3.54113461e-02  4.72052107e+01]
 [ 2.52120738e-01 -1.60371144e-02  9.67562889e-01  1.61706743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.640714057 meters
Centerline goodness : 0.995446 with order 1
Centerline is valid?  [True, True]
Translation: X:618.98, Y:47.22, Z:161.72
[[ 9.44911885e-01 -2.11123466e-01 -2.50136785e-01  6.18977737e+02]
 [ 2.08982256e-01  9.77278247e-01 -3.54068393e-02  4.72166773e+01]
 [ 2.51928454e-01 -1.88178064e-02  9.67562889e-01  1.61722108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.700714057 meters
Centerline goodness : 0.995697 with order 1
Centerline is valid?  [True, True]
Translation: X:619.04, Y:47.23, Z:161.74
[[ 9.42657922e-01 -2.20969489e-01 -2.50137017e-01  6.19035457e+02]
 [ 2.19166480e-01  9.75044884e-01 -3.54052022e-02  4.72272756e+01]
 [ 2.51718288e-01 -2.14466551e-02  9.67562889e-01  1.61736867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.760714057 meters
Centerline goodness : 0.995720 with order 1
Centerline is valid?  [True, True]
Translation: X:619.09, Y:47.24, Z:161.75
[[ 9.40934018e-01 -2.28198609e-01 -2.50137101e-01  6.19093029e+02]
 [ 2.26644405e-01  9.73333873e-01 -3.54046061e-02  4.72394201e+01]
 [ 2.51546195e-01 -2.33787761e-02  9.67562889e-01  1.61749426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.820714057 meters
Centerline goodness : 0.996081 with order 1
Centerline is valid?  [True, True]
Translation: X:619.15, Y:47.25, Z:161.76
[[ 9.40205437e-01 -2.31182660e-01 -2.50136592e-01  6.19150135e+02]
 [ 2.29730307e-01  9.72610017e-01 -3.54082057e-02  4.72517186e+01]
 [ 2.51471118e-01 -2.41729685e-02  9.67562889e-01  1.61763618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.880714057 meters
Centerline goodness : 0.996114 with order 1
Centerline is valid?  [True, True]
Translation: X:619.21, Y:47.27, Z:161.78
[[ 9.40083730e-01 -2.31677679e-01 -2.50136031e-01  6.19207602e+02]
 [ 2.30241343e-01  9.72489024e-01 -3.54121690e-02  4.72672396e+01]
 [ 2.51458754e-01 -2.43012518e-02  9.67562889e-01  1.61778983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 637.940714057 meters
Centerline goodness : 0.996817 with order 1
Centerline is valid?  [True, True]
Translation: X:619.26, Y:47.28, Z:161.79
[[ 9.40673926e-01 -2.29268827e-01 -2.50136701e-01  6.19264666e+02]
 [ 2.27750736e-01  9.73075494e-01 -3.54074307e-02  4.72813169e+01]
 [ 2.51519714e-01 -2.36619710e-02  9.67562889e-01  1.61794876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.000714057 meters
Centerline goodness : 0.997262 with order 1
Centerline is valid?  [True, True]
Translation: X:619.32, Y:47.30, Z:161.81
[[ 9.42339217e-01 -2.22324806e-01 -2.50136923e-01  6.19320550e+02]
 [ 2.20568196e-01  9.74728729e-01 -3.54058628e-02  4.73000076e+01]
 [ 2.51687247e-01 -2.18079170e-02  9.67562889e-01  1.61811498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.060714057 meters
Centerline goodness : 0.997600 with order 1
Centerline is valid?  [True, True]
Translation: X:619.38, Y:47.32, Z:161.83
[[ 9.43328073e-01 -2.18091066e-01 -2.50136829e-01  6.19376790e+02]
 [ 2.16188857e-01  9.75709360e-01 -3.54065291e-02  4.73152064e+01]
 [ 2.51782693e-01 -2.06768223e-02  9.67562889e-01  1.61826907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.120714057 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:619.43, Y:47.33, Z:161.84
[[ 9.44163040e-01 -2.14447547e-01 -2.50136769e-01  6.19434010e+02]
 [ 2.12420226e-01  9.76536735e-01 -3.54069550e-02  4.73321941e+01]
 [ 2.51860678e-01 -1.97041706e-02  9.67562889e-01  1.61841552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.180714057 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:619.49, Y:47.35, Z:161.86
[[ 9.44257134e-01 -2.14032082e-01 -2.50137427e-01  6.19491781e+02]
 [ 2.11991741e-01  9.76630011e-01 -3.54023031e-02  4.73465076e+01]
 [ 2.51868947e-01 -1.95981914e-02  9.67562889e-01  1.61857242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.240714057 meters
Centerline goodness : 0.998793 with order 1
Centerline is valid?  [True, True]
Translation: X:619.55, Y:47.36, Z:161.87
[[ 9.43960284e-01 -2.15336761e-01 -2.50138086e-01  6.19548317e+02]
 [ 2.13342385e-01  9.76336025e-01 -3.53976468e-02  4.73620490e+01]
 [ 2.51841239e-01 -1.99510830e-02  9.67562889e-01  1.61872221e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.300714057 meters
Centerline goodness : 0.998208 with order 1
Centerline is valid?  [True, True]
Translation: X:619.61, Y:47.38, Z:161.89
[[ 9.43459998e-01 -2.17517093e-01 -2.50139056e-01  6.19607414e+02]
 [ 2.15599327e-01  9.75840367e-01 -3.53907904e-02  4.73757468e+01]
 [ 2.51793890e-01 -2.05400172e-02  9.67562889e-01  1.61887959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.360714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:619.66, Y:47.39, Z:161.90
[[ 9.42551242e-01 -2.21418854e-01 -2.50141656e-01  6.19663961e+02]
 [ 2.19639923e-01  9.74939535e-01 -3.53724047e-02  4.73903692e+01]
 [ 2.51705107e-01 -2.16007902e-02  9.67562889e-01  1.61901692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.420714057 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:619.72, Y:47.40, Z:161.92
[[ 9.41819229e-01 -2.24512703e-01 -2.50141133e-01  6.19722115e+02]
 [ 2.22839162e-01  9.74213139e-01 -3.53761014e-02  4.74043571e+01]
 [ 2.51633163e-01 -2.24233479e-02  9.67562889e-01  1.61916313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.480714057 meters
Centerline goodness : 0.998862 with order 1
Centerline is valid?  [True, True]
Translation: X:619.78, Y:47.42, Z:161.93
[[ 9.41240659e-01 -2.26924730e-01 -2.50142338e-01  6.19779350e+02]
 [ 2.25336426e-01  9.73638860e-01 -3.53675826e-02  4.74170457e+01]
 [ 2.51574080e-01 -2.30767736e-02  9.67562889e-01  1.61930524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.5407140570001 meters
Centerline goodness : 0.998678 with order 1
Centerline is valid?  [True, True]
Translation: X:619.84, Y:47.43, Z:161.95
[[ 9.40690681e-01 -2.29191330e-01 -2.50144714e-01  6.19836722e+02]
 [ 2.27685501e-01  9.73092820e-01 -3.53507712e-02  4.74323869e+01]
 [ 2.51516115e-01 -2.37001834e-02  9.67562890e-01  1.61946791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.600714057 meters
Centerline goodness : 0.998449 with order 1
Centerline is valid?  [True, True]
Translation: X:619.89, Y:47.45, Z:161.96
[[ 9.40527782e-01 -2.29858197e-01 -2.50145359e-01  6.19894359e+02]
 [ 2.28376544e-01  9.72931035e-01 -3.53462054e-02  4.74450758e+01]
 [ 2.51498798e-01 -2.38832445e-02  9.67562890e-01  1.61964199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.6607140570001 meters
Centerline goodness : 0.998628 with order 1
Centerline is valid?  [True, True]
Translation: X:619.95, Y:47.46, Z:161.98
[[ 9.40799796e-01 -2.28740865e-01 -2.50146677e-01  6.19951468e+02]
 [ 2.27223183e-01  9.73201382e-01 -3.53368758e-02  4.74607356e+01]
 [ 2.51526079e-01 -2.35941985e-02  9.67562890e-01  1.61981767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.720714057 meters
Centerline goodness : 0.998629 with order 1
Centerline is valid?  [True, True]
Translation: X:620.01, Y:47.47, Z:162.00
[[ 9.41126073e-01 -2.27393249e-01 -2.50148007e-01  6.20008781e+02]
 [ 2.25831646e-01  9.73525572e-01 -3.53274562e-02  4.74731422e+01]
 [ 2.51558707e-01 -2.32437461e-02  9.67562890e-01  1.61997113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.7807140570001 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:620.07, Y:47.49, Z:162.01
[[ 9.41410592e-01 -2.26212250e-01 -2.50148186e-01  6.20066644e+02]
 [ 2.24610330e-01  9.73808123e-01 -3.53261892e-02  4.74857640e+01]
 [ 2.51587552e-01 -2.29294180e-02  9.67562890e-01  1.62009600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.840714057 meters
Centerline goodness : 0.998568 with order 1
Centerline is valid?  [True, True]
Translation: X:620.13, Y:47.50, Z:162.02
[[ 9.41860833e-01 -2.24325926e-01 -2.50152053e-01  6.20126000e+02]
 [ 2.22666329e-01  9.74255460e-01 -3.52987838e-02  4.74993793e+01]
 [ 2.51630436e-01 -2.24538976e-02  9.67562890e-01  1.62023996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.900714057 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:620.19, Y:47.51, Z:162.04
[[ 9.42149523e-01 -2.23100090e-01 -2.50161200e-01  6.20185951e+02]
 [ 2.21415446e-01  9.74542855e-01 -3.52338477e-02  4.75105480e+01]
 [ 2.51653484e-01 -2.21940009e-02  9.67562892e-01  1.62038917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 638.960714057 meters
Centerline goodness : 0.998631 with order 1
Centerline is valid?  [True, True]
Translation: X:620.24, Y:47.52, Z:162.05
[[ 9.42562507e-01 -2.21345146e-01 -2.50164440e-01  6.20243543e+02]
 [ 2.19606243e-01  9.74952971e-01 -3.52108256e-02  4.75212593e+01]
 [ 2.51692309e-01 -2.17492688e-02  9.67562892e-01  1.62053719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.020714057 meters
Centerline goodness : 0.998493 with order 1
Centerline is valid?  [True, True]
Translation: X:620.30, Y:47.53, Z:162.07
[[ 9.43531855e-01 -2.17175944e-01 -2.50164440e-01  6.20299759e+02]
 [ 2.15293861e-01  9.75914315e-01 -3.52108256e-02  4.75336779e+01]
 [ 2.51786003e-01 -2.06363327e-02  9.67562892e-01  1.62068818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.080714057 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:620.36, Y:47.54, Z:162.08
[[ 9.43917792e-01 -2.15493163e-01 -2.50163745e-01  6.20358899e+02]
 [ 2.13552041e-01  9.76296766e-01 -3.52157616e-02  4.75435037e+01]
 [ 2.51822811e-01 -2.01821945e-02  9.67562892e-01  1.62084858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.140714057 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:620.42, Y:47.55, Z:162.10
[[ 9.44716587e-01 -2.11960898e-01 -2.50166240e-01  6.20415338e+02]
 [ 2.09903342e-01  9.77088371e-01 -3.51980335e-02  4.75542362e+01]
 [ 2.51895130e-01 -1.92585636e-02  9.67562893e-01  1.62100331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.200714057 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:620.47, Y:47.57, Z:162.12
[[ 9.45550271e-01 -2.08210311e-01 -2.50166248e-01  6.20473721e+02]
 [ 2.06024326e-01  9.77913636e-01 -3.51979717e-02  4.75661498e+01]
 [ 2.51969566e-01 -1.82588810e-02  9.67562893e-01  1.62116821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.260714057 meters
Centerline goodness : 0.998436 with order 1
Centerline is valid?  [True, True]
Translation: X:620.53, Y:47.58, Z:162.13
[[ 9.45859844e-01 -2.06797182e-01 -2.50168107e-01  6.20532417e+02]
 [ 2.04566319e-01  9.78220146e-01 -3.51847537e-02  4.75760533e+01]
 [ 2.51995590e-01 -1.78961231e-02  9.67562893e-01  1.62132949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.320714057 meters
Centerline goodness : 0.998504 with order 1
Centerline is valid?  [True, True]
Translation: X:620.59, Y:47.59, Z:162.15
[[ 9.45936226e-01 -2.06445244e-01 -2.50169978e-01  6.20590918e+02]
 [ 2.04205842e-01  9.78295939e-01 -3.51714489e-02  4.75861699e+01]
 [ 2.52001252e-01 -1.78162233e-02  9.67562893e-01  1.62148297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.380714057 meters
Centerline goodness : 0.998047 with order 1
Centerline is valid?  [True, True]
Translation: X:620.65, Y:47.60, Z:162.16
[[ 9.45690758e-01 -2.07565230e-01 -2.50171274e-01  6.20649403e+02]
 [ 2.05366575e-01  9.78053264e-01 -3.51622260e-02  4.75963377e+01]
 [ 2.51979287e-01 -1.81242255e-02  9.67562893e-01  1.62163293e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.440714057 meters
Centerline goodness : 0.998017 with order 1
Centerline is valid?  [True, True]
Translation: X:620.71, Y:47.61, Z:162.18
[[ 9.45679675e-01 -2.07614147e-01 -2.50172578e-01  6.20709310e+02]
 [ 2.05419607e-01  9.78042461e-01 -3.51529496e-02  4.76055025e+01]
 [ 2.51977653e-01 -1.81469226e-02  9.67562893e-01  1.62178421e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.500714057 meters
Centerline goodness : 0.998173 with order 1
Centerline is valid?  [True, True]
Translation: X:620.77, Y:47.62, Z:162.19
[[ 9.45939072e-01 -2.06418027e-01 -2.50181674e-01  6.20769637e+02]
 [ 2.04199626e-01  9.78300229e-01 -3.50880970e-02  4.76156399e+01]
 [ 2.51995605e-01 -1.78958022e-02  9.67562895e-01  1.62192712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.560714057 meters
Centerline goodness : 0.998359 with order 1
Centerline is valid?  [True, True]
Translation: X:620.83, Y:47.62, Z:162.21
[[ 9.46188158e-01 -2.05269304e-01 -2.50184897e-01  6.20829338e+02]
 [ 2.03017660e-01  9.78547019e-01 -3.50651018e-02  4.76249827e+01]
 [ 2.52015474e-01 -1.76137683e-02  9.67562895e-01  1.62206902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.620714057 meters
Centerline goodness : 0.998701 with order 1
Centerline is valid?  [True, True]
Translation: X:620.89, Y:47.63, Z:162.22
[[ 9.46509846e-01 -2.03773044e-01 -2.50191242e-01  6.20887818e+02]
 [ 2.01482166e-01  9.78865952e-01 -3.50197752e-02  4.76347592e+01]
 [ 2.52039774e-01 -1.72625113e-02  9.67562896e-01  1.62220839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.680714057 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:620.95, Y:47.64, Z:162.24
[[ 9.46739009e-01 -2.02704138e-01 -2.50192489e-01  6.20947095e+02]
 [ 2.00379071e-01  9.79092676e-01 -3.50108589e-02  4.76444116e+01]
 [ 2.52058480e-01 -1.69871926e-02  9.67562896e-01  1.62236761e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.740714057 meters
Centerline goodness : 0.998748 with order 1
Centerline is valid?  [True, True]
Translation: X:621.01, Y:47.65, Z:162.25
[[ 9.46904518e-01 -2.01926536e-01 -2.50194939e-01  6.21006187e+02]
 [ 1.99579506e-01  9.79256599e-01 -3.49933441e-02  4.76533898e+01]
 [ 2.52071130e-01 -1.67984266e-02  9.67562896e-01  1.62252807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.800714057 meters
Centerline goodness : 0.998375 with order 1
Centerline is valid?  [True, True]
Translation: X:621.06, Y:47.66, Z:162.27
[[ 9.47099740e-01 -2.01006629e-01 -2.50196758e-01  6.21063648e+02]
 [ 1.98631595e-01  9.79449777e-01 -3.49803330e-02  4.76630729e+01]
 [ 2.52086438e-01 -1.65671168e-02  9.67562896e-01  1.62268178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.860714057 meters
Centerline goodness : 0.998492 with order 1
Centerline is valid?  [True, True]
Translation: X:621.12, Y:47.67, Z:162.28
[[ 9.47197169e-01 -2.00547017e-01 -2.50196758e-01  6.21122250e+02]
 [ 1.98156286e-01  9.79546049e-01 -3.49803330e-02  4.76723099e+01]
 [ 2.52094447e-01 -1.64447879e-02  9.67562896e-01  1.62284565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.920714057 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:621.18, Y:47.68, Z:162.30
[[ 9.47654642e-01 -1.98372399e-01 -2.50198063e-01  6.21181630e+02]
 [ 1.95909878e-01  9.79998137e-01 -3.49709995e-02  4.76808251e+01]
 [ 2.52130917e-01 -1.58758419e-02  9.67562896e-01  1.62299619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 639.980714057 meters
Centerline goodness : 0.998795 with order 1
Centerline is valid?  [True, True]
Translation: X:621.24, Y:47.69, Z:162.31
[[ 9.48152683e-01 -1.95967387e-01 -2.50206459e-01  6.21240398e+02]
 [ 1.93438632e-01  9.80491066e-01 -3.49108254e-02  4.76894774e+01]
 [ 2.52166581e-01 -1.52988024e-02  9.67562898e-01  1.62314408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.0407140570001 meters
Centerline goodness : 0.998635 with order 1
Centerline is valid?  [True, True]
Translation: X:621.30, Y:47.70, Z:162.33
[[ 9.48644624e-01 -1.93570289e-01 -2.50207755e-01  6.21297273e+02]
 [ 1.90962248e-01  9.80976708e-01 -3.49015378e-02  4.76979138e+01]
 [ 2.52203880e-01 -1.46710791e-02  9.67562898e-01  1.62328217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.100714057 meters
Centerline goodness : 0.998544 with order 1
Centerline is valid?  [True, True]
Translation: X:621.36, Y:47.71, Z:162.34
[[ 9.48933234e-01 -1.92151083e-01 -2.50207272e-01  6.21356469e+02]
 [ 1.89493773e-01  9.81261306e-01 -3.49049949e-02  4.77057154e+01]
 [ 2.52225748e-01 -1.42902105e-02  9.67562898e-01  1.62342778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.1607140570001 meters
Centerline goodness : 0.998909 with order 1
Centerline is valid?  [True, True]
Translation: X:621.41, Y:47.71, Z:162.36
[[ 9.49471151e-01 -1.89469236e-01 -2.50211794e-01  6.21414892e+02]
 [ 1.86729123e-01  9.81792310e-01 -3.48725520e-02  4.77140733e+01]
 [ 2.52263291e-01 -1.36113468e-02  9.67562899e-01  1.62358033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.220714057 meters
Centerline goodness : 0.998794 with order 1
Centerline is valid?  [True, True]
Translation: X:621.47, Y:47.72, Z:162.37
[[ 9.50160195e-01 -1.85982089e-01 -2.50212441e-01  6.21472723e+02]
 [ 1.83124550e-01  9.82471184e-01 -3.48679110e-02  4.77225884e+01]
 [ 2.52311320e-01 -1.26899396e-02  9.67562899e-01  1.62373588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.2807140570001 meters
Centerline goodness : 0.998740 with order 1
Centerline is valid?  [True, True]
Translation: X:621.53, Y:47.73, Z:162.39
[[ 9.50610780e-01 -1.83664272e-01 -2.50213069e-01  6.21531633e+02]
 [ 1.80729124e-01  9.82914812e-01 -3.48634039e-02  4.77304094e+01]
 [ 2.52341293e-01 -1.20792612e-02  9.67562899e-01  1.62388831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.340714057 meters
Centerline goodness : 0.998794 with order 1
Centerline is valid?  [True, True]
Translation: X:621.59, Y:47.74, Z:162.40
[[ 9.50869441e-01 -1.82318694e-01 -2.50214307e-01  6.21591876e+02]
 [ 1.79340164e-01  9.83169501e-01 -3.48545148e-02  4.77375548e+01]
 [ 2.52357705e-01 -1.17313819e-02  9.67562899e-01  1.62404996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.400714057 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:621.65, Y:47.74, Z:162.42
[[ 9.50606568e-01 -1.83680060e-01 -2.50217483e-01  6.21649228e+02]
 [ 1.80753774e-01  9.82911403e-01 -3.48317027e-02  4.77441757e+01]
 [ 2.52339506e-01 -1.21165091e-02  9.67562899e-01  1.62420983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.460714057 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:621.71, Y:47.75, Z:162.44
[[ 9.50004099e-01 -1.86771045e-01 -2.50217483e-01  6.21709227e+02]
 [ 1.83949849e-01  9.82318281e-01 -3.48317027e-02  4.77493372e+01]
 [ 2.52298761e-01 -1.29372080e-02  9.67562899e-01  1.62438165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.520714057 meters
Centerline goodness : 0.998415 with order 1
Centerline is valid?  [True, True]
Translation: X:621.77, Y:47.75, Z:162.45
[[ 9.49724012e-01 -1.88186740e-01 -2.50220005e-01  6.21766911e+02]
 [ 1.85418472e-01  9.82042772e-01 -3.48135745e-02  4.77536653e+01]
 [ 2.52278200e-01 -1.33321234e-02  9.67562899e-01  1.62453511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.580714057 meters
Centerline goodness : 0.998231 with order 1
Centerline is valid?  [True, True]
Translation: X:621.83, Y:47.76, Z:162.47
[[ 9.49505713e-01 -1.89283753e-01 -2.50221026e-01  6.21826111e+02]
 [ 1.86554750e-01  9.81827811e-01 -3.48062355e-02  4.77605617e+01]
 [ 2.52262217e-01 -1.36312014e-02  9.67562899e-01  1.62469012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.640714057 meters
Centerline goodness : 0.997975 with order 1
Centerline is valid?  [True, True]
Translation: X:621.89, Y:47.77, Z:162.48
[[ 9.49366927e-01 -1.89977036e-01 -2.50222227e-01  6.21885128e+02]
 [ 1.87273905e-01  9.81691200e-01 -3.47975991e-02  4.77664127e+01]
 [ 2.52251703e-01 -1.38244039e-02  9.67562899e-01  1.62483906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.700714057 meters
Centerline goodness : 0.997880 with order 1
Centerline is valid?  [True, True]
Translation: X:621.94, Y:47.77, Z:162.50
[[ 9.49343982e-01 -1.90090122e-01 -2.50223398e-01  6.21944603e+02]
 [ 1.87393055e-01  9.81668761e-01 -3.47891744e-02  4.77705078e+01]
 [ 2.52249572e-01 -1.38632336e-02  9.67562899e-01  1.62498224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.760714057 meters
Centerline goodness : 0.998488 with order 1
Centerline is valid?  [True, True]
Translation: X:622.01, Y:47.77, Z:162.51
[[ 9.49544794e-01 -1.89082151e-01 -2.50225147e-01  6.22005200e+02]
 [ 1.86354073e-01  9.81866971e-01 -3.47765942e-02  4.77749660e+01]
 [ 2.52263440e-01 -1.36085413e-02  9.67562899e-01  1.62513608e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.820714057 meters
Centerline goodness : 0.998087 with order 1
Centerline is valid?  [True, True]
Translation: X:622.06, Y:47.78, Z:162.53
[[ 9.50066684e-01 -1.86438683e-01 -2.50227723e-01  6.22064656e+02]
 [ 1.83625529e-01  9.82381567e-01 -3.47580510e-02  4.77813075e+01]
 [ 2.52299347e-01 -1.29257317e-02  9.67562900e-01  1.62528194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.880714057 meters
Centerline goodness : 0.998081 with order 1
Centerline is valid?  [True, True]
Translation: X:622.12, Y:47.79, Z:162.54
[[ 9.50729667e-01 -1.83016656e-01 -2.50235897e-01  6.22122630e+02]
 [ 1.80102646e-01  9.83035609e-01 -3.46991029e-02  4.77870779e+01]
 [ 2.52341311e-01 -1.20786808e-02  9.67562901e-01  1.62543260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 640.940714057 meters
Centerline goodness : 0.998269 with order 1
Centerline is valid?  [True, True]
Translation: X:622.18, Y:47.79, Z:162.56
[[ 9.51808380e-01 -1.77321146e-01 -2.50235926e-01  6.22181158e+02]
 [ 1.74213820e-01  9.84096302e-01 -3.46988971e-02  4.77926925e+01]
 [ 2.52409097e-01 -1.05678554e-02  9.67562901e-01  1.62558094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.000714057 meters
Centerline goodness : 0.997818 with order 1
Centerline is valid?  [True, True]
Translation: X:622.24, Y:47.80, Z:162.57
[[ 9.52212518e-01 -1.75137664e-01 -2.50236129e-01  6.22240933e+02]
 [ 1.71956675e-01  9.84493266e-01 -3.46974340e-02  4.78000432e+01]
 [ 2.52432611e-01 -9.99044171e-03  9.67562901e-01  1.62574119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.060714057 meters
Centerline goodness : 0.998169 with order 1
Centerline is valid?  [True, True]
Translation: X:622.30, Y:47.80, Z:162.59
[[ 9.52930590e-01 -1.71183871e-01 -2.50238633e-01  6.22300364e+02]
 [ 1.67873665e-01  9.85198343e-01 -3.46793603e-02  4.78049454e+01]
 [ 2.52471234e-01 -8.96145310e-03  9.67562902e-01  1.62591098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.120714057 meters
Centerline goodness : 0.998091 with order 1
Centerline is valid?  [True, True]
Translation: X:622.36, Y:47.81, Z:162.61
[[ 9.53262774e-01 -1.69320619e-01 -2.50241108e-01  6.22359292e+02]
 [ 1.65952021e-01  9.85524483e-01 -3.46614956e-02  4.78094057e+01]
 [ 2.52487644e-01 -8.48650418e-03  9.67562902e-01  1.62606486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.180714057 meters
Centerline goodness : 0.998065 with order 1
Centerline is valid?  [True, True]
Translation: X:622.42, Y:47.81, Z:162.62
[[ 9.53221897e-01 -1.69547894e-01 -2.50242935e-01  6.22418811e+02]
 [ 1.66190450e-01  9.85484769e-01 -3.46482983e-02  4.78118334e+01]
 [ 2.52485147e-01 -8.56046930e-03  9.67562902e-01  1.62622020e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.240714057 meters
Centerline goodness : 0.997934 with order 1
Centerline is valid?  [True, True]
Translation: X:622.48, Y:47.82, Z:162.64
[[ 9.53065143e-01 -1.70425958e-01 -2.50243532e-01  6.22477142e+02]
 [ 1.67099366e-01  9.85331211e-01 -3.46439902e-02  4.78161416e+01]
 [ 2.52476997e-01 -8.79755600e-03  9.67562902e-01  1.62638463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.300714057 meters
Centerline goodness : 0.998054 with order 1
Centerline is valid?  [True, True]
Translation: X:622.54, Y:47.82, Z:162.65
[[ 9.52823592e-01 -1.71771060e-01 -2.50243691e-01  6.22537607e+02]
 [ 1.68490317e-01  9.85094354e-01 -3.46428415e-02  4.78176471e+01]
 [ 2.52464284e-01 -9.15512213e-03  9.67562902e-01  1.62653812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.360714057 meters
Centerline goodness : 0.998626 with order 1
Centerline is valid?  [True, True]
Translation: X:622.60, Y:47.82, Z:162.67
[[ 9.52761723e-01 -1.72110158e-01 -2.50246265e-01  6.22597117e+02]
 [ 1.68845780e-01  9.85034144e-01 -3.46242382e-02  4.78207958e+01]
 [ 2.52460298e-01 -9.26437681e-03  9.67562902e-01  1.62668801e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.420714057 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:622.66, Y:47.82, Z:162.68
[[ 9.52725268e-01 -1.72309971e-01 -2.50247552e-01  6.22656117e+02]
 [ 1.69054802e-01  9.84998619e-01 -3.46149325e-02  4.78227156e+01]
 [ 2.52457991e-01 -9.32702960e-03  9.67562902e-01  1.62684009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.480714057 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:622.72, Y:47.83, Z:162.70
[[ 9.52473256e-01 -1.73696686e-01 -2.50248193e-01  6.22716570e+02]
 [ 1.70489717e-01  9.84751432e-01 -3.46102965e-02  4.78264968e+01]
 [ 2.52443960e-01 -9.69936187e-03  9.67562902e-01  1.62699462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.5407140570001 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:622.78, Y:47.83, Z:162.71
[[ 9.51826456e-01 -1.77203148e-01 -2.50250757e-01  6.22778187e+02]
 [ 1.74119940e-01  9.84116689e-01 -3.45917458e-02  4.78277635e+01]
 [ 2.52405713e-01 -1.06483080e-02  9.67562902e-01  1.62714237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.600714057 meters
Centerline goodness : 0.998142 with order 1
Centerline is valid?  [True, True]
Translation: X:622.84, Y:47.83, Z:162.73
[[ 9.50942219e-01 -1.81883337e-01 -2.50254567e-01  6.22836245e+02]
 [ 1.78966253e-01  9.83247883e-01 -3.45641643e-02  4.78292773e+01]
 [ 2.52348918e-01 -1.19185990e-02  9.67562903e-01  1.62727588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.6607140570001 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:622.90, Y:47.83, Z:162.74
[[ 9.50343521e-01 -1.84985688e-01 -2.50254845e-01  6.22895666e+02]
 [ 1.82174577e-01  9.82658578e-01 -3.45621466e-02  4.78331799e+01]
 [ 2.52308573e-01 -1.27441584e-02  9.67562903e-01  1.62744152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.720714057 meters
Centerline goodness : 0.998154 with order 1
Centerline is valid?  [True, True]
Translation: X:622.95, Y:47.84, Z:162.76
[[ 9.49634756e-01 -1.88587802e-01 -2.50256809e-01  6.22954173e+02]
 [ 1.85902977e-01  9.81960551e-01 -3.45479266e-02  4.78353323e+01]
 [ 2.52257631e-01 -1.37155739e-02  9.67562903e-01  1.62758607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.7807140570001 meters
Centerline goodness : 0.998526 with order 1
Centerline is valid?  [True, True]
Translation: X:623.01, Y:47.84, Z:162.77
[[ 9.49059436e-01 -1.91462757e-01 -2.50256268e-01  6.23013161e+02]
 [ 1.88874809e-01  9.81393131e-01 -3.45518413e-02  4.78389217e+01]
 [ 2.52215173e-01 -1.44753538e-02  9.67562903e-01  1.62774527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.840714057 meters
Centerline goodness : 0.998157 with order 1
Centerline is valid?  [True, True]
Translation: X:623.07, Y:47.84, Z:162.79
[[ 9.48644714e-01 -1.93506314e-01 -2.50256893e-01  6.23072702e+02]
 [ 1.90989200e-01  9.80984000e-01 -3.45473115e-02  4.78444986e+01]
 [ 2.52183131e-01 -1.50232395e-02  9.67562903e-01  1.62790133e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.900714057 meters
Centerline goodness : 0.998291 with order 1
Centerline is valid?  [True, True]
Translation: X:623.13, Y:47.85, Z:162.81
[[ 9.48263925e-01 -1.95361351e-01 -2.50258808e-01  6.23132601e+02]
 [ 1.92911141e-01  9.80608349e-01 -3.45334335e-02  4.78502002e+01]
 [ 2.52152375e-01 -1.55309031e-02  9.67562903e-01  1.62806570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 641.960714057 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:623.19, Y:47.86, Z:162.82
[[ 9.47963568e-01 -1.96810376e-01 -2.50261361e-01  6.23192880e+02]
 [ 1.94414469e-01  9.80312060e-01 -3.45149230e-02  4.78558438e+01]
 [ 2.52127126e-01 -1.59355401e-02  9.67562903e-01  1.62822540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.020714057 meters
Centerline goodness : 0.998840 with order 1
Centerline is valid?  [True, True]
Translation: X:623.25, Y:47.86, Z:162.84
[[ 9.48116338e-01 -1.96069878e-01 -2.50263885e-01  6.23251974e+02]
 [ 1.93653518e-01  9.80463308e-01 -3.44966125e-02  4.78632148e+01]
 [ 2.52138304e-01 -1.57576800e-02  9.67562903e-01  1.62837615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.080714057 meters
Centerline goodness : 0.998360 with order 1
Centerline is valid?  [True, True]
Translation: X:623.31, Y:47.87, Z:162.85
[[ 9.48616169e-01 -1.93635534e-01 -2.50265148e-01  6.23309820e+02]
 [ 1.91138561e-01  9.80957016e-01 -3.44874466e-02  4.78702894e+01]
 [ 2.52177348e-01 -1.51199710e-02  9.67562903e-01  1.62852538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.140714057 meters
Centerline goodness : 0.998513 with order 1
Centerline is valid?  [True, True]
Translation: X:623.37, Y:47.88, Z:162.87
[[ 9.49050947e-01 -1.91493225e-01 -2.50265151e-01  6.23367149e+02]
 [ 1.88923243e-01  9.81386074e-01 -3.44874314e-02  4.78778243e+01]
 [ 2.52210843e-01 -1.45505744e-02  9.67562903e-01  1.62866797e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.200714057 meters
Centerline goodness : 0.998279 with order 1
Centerline is valid?  [True, True]
Translation: X:623.43, Y:47.89, Z:162.88
[[ 9.49426965e-01 -1.89620956e-01 -2.50264521e-01  6.23425674e+02]
 [ 1.86986001e-01  9.81756863e-01 -3.44919997e-02  4.78856661e+01]
 [ 2.52239317e-01 -1.40483274e-02  9.67562903e-01  1.62882373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.260714057 meters
Centerline goodness : 0.997966 with order 1
Centerline is valid?  [True, True]
Translation: X:623.48, Y:47.89, Z:162.90
[[ 9.49325994e-01 -1.90124204e-01 -2.50265746e-01  6.23482666e+02]
 [ 1.87508723e-01  9.81657473e-01 -3.44831105e-02  4.78933007e+01]
 [ 2.52231314e-01 -1.41912971e-02  9.67562903e-01  1.62897765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.320714057 meters
Centerline goodness : 0.998230 with order 1
Centerline is valid?  [True, True]
Translation: X:623.54, Y:47.90, Z:162.91
[[ 9.49149711e-01 -1.91003102e-01 -2.50265143e-01  6.23542131e+02]
 [ 1.88416407e-01  9.81483505e-01 -3.44874863e-02  4.79000681e+01]
 [ 2.52218326e-01 -1.44202713e-02  9.67562903e-01  1.62913999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.380714057 meters
Centerline goodness : 0.998096 with order 1
Centerline is valid?  [True, True]
Translation: X:623.60, Y:47.91, Z:162.93
[[ 9.48826726e-01 -1.92597842e-01 -2.50267688e-01  6.23601241e+02]
 [ 1.90070343e-01  9.81165201e-01 -3.44690103e-02  4.79077044e+01]
 [ 2.52192603e-01 -1.48633470e-02  9.67562903e-01  1.62930001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.440714057 meters
Centerline goodness : 0.997281 with order 1
Centerline is valid?  [True, True]
Translation: X:623.66, Y:47.91, Z:162.94
[[ 9.48610603e-01 -1.93656939e-01 -2.50269682e-01  6.23658474e+02]
 [ 1.91169350e-01  9.80952173e-01 -3.44545259e-02  4.79132180e+01]
 [ 2.52174946e-01 -1.51599638e-02  9.67562903e-01  1.62944925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.500714057 meters
Centerline goodness : 0.997406 with order 1
Centerline is valid?  [True, True]
Translation: X:623.72, Y:47.92, Z:162.96
[[ 9.48634760e-01 -1.93539229e-01 -2.50269174e-01  6.23716957e+02]
 [ 1.91046657e-01  9.80975946e-01 -3.44582144e-02  4.79196837e+01]
 [ 2.52177056e-01 -1.51248290e-02  9.67562903e-01  1.62960768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.560714057 meters
Centerline goodness : 0.997145 with order 1
Centerline is valid?  [True, True]
Translation: X:623.78, Y:47.93, Z:162.98
[[ 9.49012634e-01 -1.91676956e-01 -2.50269784e-01  6.23776629e+02]
 [ 1.89122077e-01  9.81348958e-01 -3.44537824e-02  4.79253724e+01]
 [ 2.52205988e-01 -1.46344666e-02  9.67562903e-01  1.62976173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.620714057 meters
Centerline goodness : 0.997649 with order 1
Centerline is valid?  [True, True]
Translation: X:623.84, Y:47.93, Z:162.99
[[ 9.49333950e-01 -1.90075762e-01 -2.50272365e-01  6.23836651e+02]
 [ 1.87471266e-01  9.81666315e-01 -3.44350225e-02  4.79307881e+01]
 [ 2.52229213e-01 -1.42285413e-02  9.67562904e-01  1.62989293e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.680714057 meters
Centerline goodness : 0.998068 with order 1
Centerline is valid?  [True, True]
Translation: X:623.89, Y:47.94, Z:163.00
[[ 9.49684570e-01 -1.88310587e-01 -2.50276528e-01  6.23894266e+02]
 [ 1.85653946e-01  9.82012692e-01 -3.44047387e-02  4.79365740e+01]
 [ 2.52253504e-01 -1.37911755e-02  9.67562904e-01  1.63002877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.740714057 meters
Centerline goodness : 0.997734 with order 1
Centerline is valid?  [True, True]
Translation: X:623.95, Y:47.94, Z:163.02
[[ 9.50165946e-01 -1.85867276e-01 -2.50275911e-01  6.23952795e+02]
 [ 1.83126313e-01  9.82487027e-01 -3.44092289e-02  4.79437936e+01]
 [ 2.52288385e-01 -1.31376274e-02  9.67562904e-01  1.63016951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.800714057 meters
Centerline goodness : 0.998041 with order 1
Centerline is valid?  [True, True]
Translation: X:624.01, Y:47.95, Z:163.03
[[ 9.50467264e-01 -1.84320002e-01 -2.50276080e-01  6.24011339e+02]
 [ 1.81526742e-01  9.82783868e-01 -3.44079961e-02  4.79517060e+01]
 [ 2.52309376e-01 -1.27281276e-02  9.67562904e-01  1.63031196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.860714057 meters
Centerline goodness : 0.997756 with order 1
Centerline is valid?  [True, True]
Translation: X:624.07, Y:47.96, Z:163.04
[[ 9.50734571e-01 -1.82935334e-01 -2.50276724e-01  6.24069609e+02]
 [ 1.80096233e-01  9.83047180e-01 -3.44033167e-02  4.79578373e+01]
 [ 2.52327410e-01 -1.23654725e-02  9.67562904e-01  1.63044883e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.920714057 meters
Centerline goodness : 0.998283 with order 1
Centerline is valid?  [True, True]
Translation: X:624.13, Y:47.97, Z:163.06
[[ 9.50770569e-01 -1.82748113e-01 -2.50276751e-01  6.24127346e+02]
 [ 1.79902702e-01  9.83082623e-01 -3.44031160e-02  4.79653836e+01]
 [ 2.52329830e-01 -1.23159937e-02  9.67562904e-01  1.63060401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 642.980714057 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:624.18, Y:47.97, Z:163.08
[[ 9.50881047e-01 -1.82172398e-01 -2.50276751e-01  6.24184544e+02]
 [ 1.79307423e-01  9.83191372e-01 -3.44031160e-02  4.79719817e+01]
 [ 2.52337241e-01 -1.21632084e-02  9.67562904e-01  1.63076460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.0407140570001 meters
Centerline goodness : 0.997756 with order 1
Centerline is valid?  [True, True]
Translation: X:624.24, Y:47.98, Z:163.09
[[ 9.51068945e-01 -1.81188880e-01 -2.50276751e-01  6.24242837e+02]
 [ 1.78290490e-01  9.83376289e-01 -3.44031160e-02  4.79793017e+01]
 [ 2.52349685e-01 -1.19022295e-02  9.67562904e-01  1.63090334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.100714057 meters
Centerline goodness : 0.997596 with order 1
Centerline is valid?  [True, True]
Translation: X:624.30, Y:47.99, Z:163.10
[[ 9.51422254e-01 -1.79324406e-01 -2.50276751e-01  6.24301085e+02]
 [ 1.76362699e-01  9.83723856e-01 -3.44031160e-02  4.79862216e+01]
 [ 2.52372529e-01 -1.14075931e-02  9.67562904e-01  1.63104112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.1607140570001 meters
Centerline goodness : 0.997420 with order 1
Centerline is valid?  [True, True]
Translation: X:624.36, Y:47.99, Z:163.12
[[ 9.51652134e-01 -1.78100431e-01 -2.50276751e-01  6.24359032e+02]
 [ 1.75097176e-01  9.83949899e-01 -3.44031160e-02  4.79935526e+01]
 [ 2.52386994e-01 -1.10829536e-02  9.67562904e-01  1.63119156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.220714057 meters
Centerline goodness : 0.997363 with order 1
Centerline is valid?  [True, True]
Translation: X:624.42, Y:48.00, Z:163.14
[[ 9.51848347e-01 -1.77048782e-01 -2.50276751e-01  6.24417763e+02]
 [ 1.74009841e-01  9.84142775e-01 -3.44031160e-02  4.80013869e+01]
 [ 2.52399086e-01 -1.08040687e-02  9.67562904e-01  1.63135234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.2807140570001 meters
Centerline goodness : 0.997776 with order 1
Centerline is valid?  [True, True]
Translation: X:624.48, Y:48.01, Z:163.15
[[ 9.52031325e-01 -1.76060404e-01 -2.50278028e-01  6.24475312e+02]
 [ 1.72990372e-01  9.84322811e-01 -3.43938278e-02  4.80087145e+01]
 [ 2.52409763e-01 -1.05516876e-02  9.67562904e-01  1.63149776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.340714057 meters
Centerline goodness : 0.997955 with order 1
Centerline is valid?  [True, True]
Translation: X:624.53, Y:48.01, Z:163.16
[[ 9.52289430e-01 -1.74659863e-01 -2.50277394e-01  6.24534045e+02]
 [ 1.71541126e-01  9.84576249e-01 -3.43984387e-02  4.80147195e+01]
 [ 2.52425204e-01 -1.01755964e-02  9.67562904e-01  1.63164762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.400714057 meters
Centerline goodness : 0.997706 with order 1
Centerline is valid?  [True, True]
Translation: X:624.59, Y:48.02, Z:163.18
[[ 9.52480392e-01 -1.73615465e-01 -2.50277394e-01  6.24590794e+02]
 [ 1.70461324e-01  9.84763771e-01 -3.43984387e-02  4.80207673e+01]
 [ 2.52436211e-01 -9.89877761e-03  9.67562904e-01  1.63181325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.460714057 meters
Centerline goodness : 0.997419 with order 1
Centerline is valid?  [True, True]
Translation: X:624.65, Y:48.03, Z:163.20
[[ 9.52649856e-01 -1.72685925e-01 -2.50275497e-01  6.24646152e+02]
 [ 1.69496662e-01  9.84929784e-01 -3.44122372e-02  4.80264421e+01]
 [ 2.52446300e-01 -9.63804851e-03  9.67562904e-01  1.63196003e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.520714057 meters
Centerline goodness : 0.997072 with order 1
Centerline is valid?  [True, True]
Translation: X:624.70, Y:48.03, Z:163.21
[[ 9.52847676e-01 -1.71595546e-01 -2.50272400e-01  6.24704547e+02]
 [ 1.68363440e-01  9.85123343e-01 -3.44347431e-02  4.80303942e+01]
 [ 2.52458032e-01 -9.32565728e-03  9.67562905e-01  1.63210988e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.580714057 meters
Centerline goodness : 0.996796 with order 1
Centerline is valid?  [True, True]
Translation: X:624.76, Y:48.04, Z:163.23
[[ 9.52932921e-01 -1.71121518e-01 -2.50272400e-01  6.24762508e+02]
 [ 1.67873356e-01  9.85206976e-01 -3.44347431e-02  4.80352748e+01]
 [ 2.52462640e-01 -9.20006739e-03  9.67562905e-01  1.63225948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.640714057 meters
Centerline goodness : 0.996627 with order 1
Centerline is valid?  [True, True]
Translation: X:624.82, Y:48.04, Z:163.24
[[ 9.52930510e-01 -1.71135893e-01 -2.50271750e-01  6.24819166e+02]
 [ 1.67886979e-01  9.85204489e-01 -3.44394672e-02  4.80379811e+01]
 [ 2.52462681e-01 -9.19894891e-03  9.67562905e-01  1.63240418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.700714057 meters
Centerline goodness : 0.996585 with order 1
Centerline is valid?  [True, True]
Translation: X:624.88, Y:48.04, Z:163.26
[[ 9.53061962e-01 -1.70406004e-01 -2.50269236e-01  6.24875655e+02]
 [ 1.67127584e-01  9.85332957e-01 -3.44577260e-02  4.80433179e+01]
 [ 2.52470330e-01 -8.98654485e-03  9.67562905e-01  1.63255172e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.760714057 meters
Centerline goodness : 0.996807 with order 1
Centerline is valid?  [True, True]
Translation: X:624.93, Y:48.05, Z:163.27
[[ 9.53300957e-01 -1.69067640e-01 -2.50266696e-01  6.24933826e+02]
 [ 1.65739076e-01  9.85566818e-01 -3.44761668e-02  4.80468272e+01]
 [ 2.52483355e-01 -8.61280816e-03  9.67562905e-01  1.63269543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.820714057 meters
Centerline goodness : 0.996125 with order 1
Centerline is valid?  [True, True]
Translation: X:624.99, Y:48.05, Z:163.28
[[ 9.53050886e-01 -1.70473592e-01 -2.50265386e-01  6.24989757e+02]
 [ 1.67190132e-01  9.85321368e-01 -3.44856715e-02  4.80516329e+01]
 [ 2.52470729e-01 -8.97530304e-03  9.67562905e-01  1.63283447e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.880714057 meters
Centerline goodness : 0.996368 with order 1
Centerline is valid?  [True, True]
Translation: X:625.05, Y:48.05, Z:163.30
[[ 9.52129783e-01 -1.75549786e-01 -2.50262162e-01  6.25046527e+02]
 [ 1.72432200e-01  9.84416711e-01 -3.45090522e-02  4.80546384e+01]
 [ 2.52420312e-01 -1.02961589e-02  9.67562905e-01  1.63298942e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 643.940714057 meters
Centerline goodness : 0.996411 with order 1
Centerline is valid?  [True, True]
Translation: X:625.10, Y:48.06, Z:163.32
[[ 9.51173359e-01 -1.80672494e-01 -2.50253255e-01  6.25103718e+02]
 [ 1.77711822e-01  9.83475053e-01 -3.45735327e-02  4.80580863e+01]
 [ 2.52364319e-01 -1.15875388e-02  9.67562907e-01  1.63315407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.000714057 meters
Centerline goodness : 0.995766 with order 1
Centerline is valid?  [True, True]
Translation: X:625.16, Y:48.06, Z:163.33
[[ 9.50665314e-01 -1.83327801e-01 -2.50252628e-01  6.25161140e+02]
 [ 1.80456149e-01  9.82975043e-01 -3.45780645e-02  4.80639219e+01]
 [ 2.52331209e-01 -1.22874591e-02  9.67562907e-01  1.63330558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.060714057 meters
Centerline goodness : 0.996146 with order 1
Centerline is valid?  [True, True]
Translation: X:625.22, Y:48.07, Z:163.35
[[ 9.50499959e-01 -1.84184943e-01 -2.50251343e-01  6.25219259e+02]
 [ 1.81339984e-01  9.82812049e-01 -3.45873629e-02  4.80694295e+01]
 [ 2.52320507e-01 -1.25052876e-02  9.67562907e-01  1.63345722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.120714057 meters
Centerline goodness : 0.995823 with order 1
Centerline is valid?  [True, True]
Translation: X:625.28, Y:48.08, Z:163.36
[[ 9.50754885e-01 -1.82865347e-01 -2.50250702e-01  6.25275961e+02]
 [ 1.79974319e-01  9.83062886e-01 -3.45920022e-02  4.80761596e+01]
 [ 2.52337856e-01 -1.21501847e-02  9.67562907e-01  1.63360468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.180714057 meters
Centerline goodness : 0.996405 with order 1
Centerline is valid?  [True, True]
Translation: X:625.33, Y:48.08, Z:163.38
[[ 9.51190912e-01 -1.80596248e-01 -2.50241572e-01  6.25332485e+02]
 [ 1.77610831e-01  9.83490326e-01 -3.46579296e-02  4.80830450e+01]
 [ 2.52369257e-01 -1.14793057e-02  9.67562909e-01  1.63375498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.240714057 meters
Centerline goodness : 0.996033 with order 1
Centerline is valid?  [True, True]
Translation: X:625.39, Y:48.09, Z:163.39
[[ 9.51575064e-01 -1.78562860e-01 -2.50240291e-01  6.25389622e+02]
 [ 1.75505988e-01  9.83867793e-01 -3.46671778e-02  4.80905460e+01]
 [ 2.52393633e-01 -1.09302476e-02  9.67562909e-01  1.63389992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.300714057 meters
Centerline goodness : 0.995207 with order 1
Centerline is valid?  [True, True]
Translation: X:625.45, Y:48.10, Z:163.40
[[ 9.52035160e-01 -1.76095125e-01 -2.50239006e-01  6.25446319e+02]
 [ 1.72952107e-01  9.84319619e-01 -3.46764463e-02  4.80970080e+01]
 [ 2.52421516e-01 -1.02661672e-02  9.67562910e-01  1.63404041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.360714057 meters
Centerline goodness : 0.995791 with order 1
Centerline is valid?  [True, True]
Translation: X:625.50, Y:48.10, Z:163.42
[[ 9.52558837e-01 -1.73241835e-01 -2.50237744e-01  6.25502653e+02]
 [ 1.69999711e-01  9.84833494e-01 -3.46855537e-02  4.81039876e+01]
 [ 2.52451501e-01 -9.50031349e-03  9.67562910e-01  1.63419625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.420714057 meters
Centerline goodness : 0.996111 with order 1
Centerline is valid?  [True, True]
Translation: X:625.56, Y:48.11, Z:163.44
[[ 9.52922979e-01 -1.71240688e-01 -2.50228740e-01  6.25559923e+02]
 [ 1.67913775e-01  9.85189004e-01 -3.47503953e-02  4.81113884e+01]
 [ 2.52473284e-01 -8.90240211e-03  9.67562912e-01  1.63435516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.480714057 meters
Centerline goodness : 0.995611 with order 1
Centerline is valid?  [True, True]
Translation: X:625.62, Y:48.12, Z:163.45
[[ 9.53664787e-01 -1.67060985e-01 -2.50228098e-01  6.25617022e+02]
 [ 1.63591425e-01  9.85915785e-01 -3.47550116e-02  4.81166105e+01]
 [ 2.52510038e-01 -7.79054053e-03  9.67562912e-01  1.63450382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.5407140570001 meters
Centerline goodness : 0.996024 with order 1
Centerline is valid?  [True, True]
Translation: X:625.67, Y:48.12, Z:163.47
[[ 9.52936905e-01 -1.71165962e-01 -2.50226836e-01  6.25672022e+02]
 [ 1.67832925e-01  9.85202297e-01 -3.47640979e-02  4.81235992e+01]
 [ 2.52474484e-01 -8.86831005e-03  9.67562912e-01  1.63465938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.600714057 meters
Centerline goodness : 0.995622 with order 1
Centerline is valid?  [True, True]
Translation: X:625.73, Y:48.13, Z:163.48
[[ 9.52322228e-01 -1.74568202e-01 -2.50216540e-01  6.25730260e+02]
 [ 1.71331018e-01  9.84597376e-01 -3.48380537e-02  4.81301353e+01]
 [ 2.52444165e-01 -9.69280152e-03  9.67562914e-01  1.63481056e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.6607140570001 meters
Centerline goodness : 0.995154 with order 1
Centerline is valid?  [True, True]
Translation: X:625.79, Y:48.14, Z:163.50
[[ 9.51808202e-01 -1.77349547e-01 -2.50216477e-01  6.25787068e+02]
 [ 1.74206545e-01  9.84092657e-01 -3.48385066e-02  4.81361666e+01]
 [ 2.52414791e-01 -1.04297716e-02  9.67562914e-01  1.63496548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.720714057 meters
Centerline goodness : 0.995457 with order 1
Centerline is valid?  [True, True]
Translation: X:625.84, Y:48.14, Z:163.51
[[ 9.51340848e-01 -1.79851888e-01 -2.50207692e-01  6.25842960e+02]
 [ 1.76777262e-01  9.83631885e-01 -3.49014898e-02  4.81418614e+01]
 [ 2.52389362e-01 -1.10278177e-02  9.67562916e-01  1.63512932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.7807140570001 meters
Centerline goodness : 0.995266 with order 1
Centerline is valid?  [True, True]
Translation: X:625.90, Y:48.15, Z:163.53
[[ 9.51248643e-01 -1.80351387e-01 -2.50198713e-01  6.25899367e+02]
 [ 1.77276851e-01  9.83539687e-01 -3.49657375e-02  4.81485897e+01]
 [ 2.52386484e-01 -1.10933298e-02  9.67562918e-01  1.63528472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.840714057 meters
Centerline goodness : 0.995767 with order 1
Centerline is valid?  [True, True]
Translation: X:625.96, Y:48.16, Z:163.54
[[ 9.51135862e-01 -1.80957759e-01 -2.50189651e-01  6.25955924e+02]
 [ 1.77886817e-01  9.83427245e-01 -3.50304658e-02  4.81560985e+01]
 [ 2.52382354e-01 -1.11867083e-02  9.67562920e-01  1.63543050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.900714057 meters
Centerline goodness : 0.995021 with order 1
Centerline is valid?  [True, True]
Translation: X:626.01, Y:48.16, Z:163.56
[[ 9.51185446e-01 -1.80709507e-01 -2.50180576e-01  6.26012679e+02]
 [ 1.77613153e-01  9.83474401e-01 -3.50951619e-02  4.81628174e+01]
 [ 2.52388222e-01 -1.10533536e-02  9.67562923e-01  1.63557543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 644.960714057 meters
Centerline goodness : 0.995453 with order 1
Centerline is valid?  [True, True]
Translation: X:626.07, Y:48.17, Z:163.57
[[ 9.51439314e-01 -1.79380579e-01 -2.50171622e-01  6.26069532e+02]
 [ 1.76222399e-01  9.83722278e-01 -3.51588796e-02  4.81684015e+01]
 [ 2.52406218e-01 -1.06343030e-02  9.67562925e-01  1.63571232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.020714057 meters
Centerline goodness : 0.995456 with order 1
Centerline is valid?  [True, True]
Translation: X:626.13, Y:48.18, Z:163.59
[[ 9.51426938e-01 -1.79448847e-01 -2.50169730e-01  6.26125871e+02]
 [ 1.76289450e-01  9.83709783e-01 -3.51723376e-02  4.81757433e+01]
 [ 2.52406046e-01 -1.06383747e-02  9.67562925e-01  1.63585543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.080714057 meters
Centerline goodness : 0.994910 with order 1
Centerline is valid?  [True, True]
Translation: X:626.18, Y:48.18, Z:163.60
[[ 9.51149973e-01 -1.80923054e-01 -2.50161102e-01  6.26183068e+02]
 [ 1.77797608e-01  9.83436121e-01 -3.52336002e-02  4.81821721e+01]
 [ 2.52392034e-01 -1.09656075e-02  9.67562926e-01  1.63600942e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.140714057 meters
Centerline goodness : 0.995307 with order 1
Centerline is valid?  [True, True]
Translation: X:626.24, Y:48.19, Z:163.62
[[ 9.50728571e-01 -1.83126350e-01 -2.50159798e-01  6.26239175e+02]
 [ 1.80073289e-01  9.83021644e-01 -3.52428531e-02  4.81885601e+01]
 [ 2.52366391e-01 -1.15407103e-02  9.67562926e-01  1.63616158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.200714057 meters
Centerline goodness : 0.994577 with order 1
Centerline is valid?  [True, True]
Translation: X:626.29, Y:48.20, Z:163.63
[[ 9.50412600e-01 -1.84771727e-01 -2.50150551e-01  6.26294932e+02]
 [ 1.81757361e-01  9.82709306e-01 -3.53083729e-02  4.81956510e+01]
 [ 2.52349263e-01 -1.19091816e-02  9.67562929e-01  1.63630939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.260714057 meters
Centerline goodness : 0.994873 with order 1
Centerline is valid?  [True, True]
Translation: X:626.35, Y:48.20, Z:163.65
[[ 9.49821258e-01 -1.87792200e-01 -2.50147294e-01  6.26351577e+02]
 [ 1.84874464e-01  9.82126836e-01 -3.53314341e-02  4.82033847e+01]
 [ 2.52311338e-01 -1.26872998e-02  9.67562929e-01  1.63646352e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.320714057 meters
Centerline goodness : 0.994737 with order 1
Centerline is valid?  [True, True]
Translation: X:626.41, Y:48.21, Z:163.66
[[ 9.49261222e-01 -1.90606617e-01 -2.50144460e-01  6.26407681e+02]
 [ 1.87779379e-01  9.81574845e-01 -3.53514871e-02  4.82105460e+01]
 [ 2.52273737e-01 -1.34141754e-02  9.67562929e-01  1.63661084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.380714057 meters
Centerline goodness : 0.994431 with order 1
Centerline is valid?  [True, True]
Translation: X:626.46, Y:48.22, Z:163.68
[[ 9.48189666e-01 -1.95879733e-01 -2.50134937e-01  6.26464295e+02]
 [ 1.93214459e-01  9.80517050e-01 -3.54187427e-02  4.82183326e+01]
 [ 2.52199384e-01 -1.47460007e-02  9.67562931e-01  1.63676725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.440714057 meters
Centerline goodness : 0.994213 with order 1
Centerline is valid?  [True, True]
Translation: X:626.52, Y:48.23, Z:163.69
[[ 9.47234434e-01 -2.00447670e-01 -2.50135280e-01  6.26521616e+02]
 [ 1.97938879e-01  9.79574338e-01 -3.54163220e-02  4.82269786e+01]
 [ 2.52125220e-01 -1.59639371e-02  9.67562931e-01  1.63692723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.500714057 meters
Centerline goodness : 0.993638 with order 1
Centerline is valid?  [True, True]
Translation: X:626.58, Y:48.24, Z:163.71
[[ 9.46831788e-01 -2.02342021e-01 -2.50134509e-01  6.26578880e+02]
 [ 1.99896494e-01  9.79176537e-01 -3.54217616e-02  4.82361357e+01]
 [ 2.52093154e-01 -1.64625615e-02  9.67562931e-01  1.63708013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.560714057 meters
Centerline goodness : 0.994214 with order 1
Centerline is valid?  [True, True]
Translation: X:626.64, Y:48.25, Z:163.72
[[ 9.46586136e-01 -2.03489740e-01 -2.50133191e-01  6.26636634e+02]
 [ 2.01080978e-01  9.78933644e-01 -3.54310684e-02  4.82450106e+01]
 [ 2.52073655e-01 -1.67584686e-02  9.67562931e-01  1.63722030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.620714057 meters
Centerline goodness : 0.993744 with order 1
Centerline is valid?  [True, True]
Translation: X:626.69, Y:48.25, Z:163.74
[[ 9.46562592e-01 -2.03600174e-01 -2.50132422e-01  6.26692973e+02]
 [ 2.01193758e-01  9.78910275e-01 -3.54364996e-02  4.82536656e+01]
 [ 2.52072075e-01 -1.67822170e-02  9.67562931e-01  1.63736508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.680714057 meters
Centerline goodness : 0.993773 with order 1
Centerline is valid?  [True, True]
Translation: X:626.75, Y:48.26, Z:163.75
[[ 9.46473589e-01 -2.04024802e-01 -2.50123223e-01  6.26749325e+02]
 [ 2.01615847e-01  9.78821080e-01 -3.55013140e-02  4.82638914e+01]
 [ 2.52069032e-01 -1.68277493e-02  9.67562933e-01  1.63751319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.740714057 meters
Centerline goodness : 0.993535 with order 1
Centerline is valid?  [True, True]
Translation: X:626.81, Y:48.27, Z:163.77
[[ 9.46483679e-01 -2.03980461e-01 -2.50121204e-01  6.26805542e+02]
 [ 2.01566251e-01  9.78830779e-01 -3.55155288e-02  4.82737735e+01]
 [ 2.52070807e-01 -1.68011250e-02  9.67562934e-01  1.63766255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.800714057 meters
Centerline goodness : 0.994555 with order 1
Centerline is valid?  [True, True]
Translation: X:626.86, Y:48.28, Z:163.78
[[ 9.46253299e-01 -2.05048130e-01 -2.50119888e-01  6.26862138e+02]
 [ 2.02667976e-01  9.78602923e-01 -3.55247994e-02  4.82831030e+01]
 [ 2.52052347e-01 -1.70758328e-02  9.67562934e-01  1.63780830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.860714057 meters
Centerline goodness : 0.995148 with order 1
Centerline is valid?  [True, True]
Translation: X:626.92, Y:48.29, Z:163.80
[[ 9.46094828e-01 -2.05780514e-01 -2.50117887e-01  6.26919013e+02]
 [ 2.03421696e-01  9.78446014e-01 -3.55388775e-02  4.82929792e+01]
 [ 2.52040058e-01 -1.72562566e-02  9.67562934e-01  1.63797018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.920714057 meters
Centerline goodness : 0.995132 with order 1
Centerline is valid?  [True, True]
Translation: X:626.97, Y:48.30, Z:163.81
[[ 9.46053617e-01 -2.05971494e-01 -2.50116567e-01  6.26974579e+02]
 [ 2.03616763e-01  9.78405101e-01 -3.55481670e-02  4.83025218e+01]
 [ 2.52037234e-01 -1.72974537e-02  9.67562934e-01  1.63812197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 645.980714057 meters
Centerline goodness : 0.996127 with order 1
Centerline is valid?  [True, True]
Translation: X:627.03, Y:48.31, Z:163.83
[[ 9.46196971e-01 -2.05323224e-01 -2.50107308e-01  6.27031368e+02]
 [ 2.02929217e-01  9.78545570e-01 -3.56131993e-02  4.83124580e+01]
 [ 2.52053615e-01 -1.70569787e-02  9.67562936e-01  1.63827550e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.0407140570001 meters
Centerline goodness : 0.995695 with order 1
Centerline is valid?  [True, True]
Translation: X:627.09, Y:48.32, Z:163.84
[[ 9.45964518e-01 -2.06393160e-01 -2.50105965e-01  6.27086868e+02]
 [ 2.04033257e-01  9.78315623e-01 -3.56226268e-02  4.83222357e+01]
 [ 2.52034839e-01 -1.73321936e-02  9.67562936e-01  1.63842709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.100714057 meters
Centerline goodness : 0.996575 with order 1
Centerline is valid?  [True, True]
Translation: X:627.14, Y:48.33, Z:163.86
[[ 9.45507417e-01 -2.08481205e-01 -2.50102603e-01  6.27144604e+02]
 [ 2.06186525e-01  9.77863213e-01 -3.56462182e-02  4.83323783e+01]
 [ 2.51997701e-01 -1.78640229e-02  9.67562936e-01  1.63856962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.1607140570001 meters
Centerline goodness : 0.995975 with order 1
Centerline is valid?  [True, True]
Translation: X:627.20, Y:48.34, Z:163.87
[[ 9.44927252e-01 -2.11095295e-01 -2.50102508e-01  6.27201728e+02]
 [ 2.08889933e-01  9.77289259e-01 -3.56468807e-02  4.83414623e+01]
 [ 2.51947384e-01 -1.85601872e-02  9.67562936e-01  1.63871846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.220714057 meters
Centerline goodness : 0.996233 with order 1
Centerline is valid?  [True, True]
Translation: X:627.26, Y:48.35, Z:163.89
[[ 9.44301319e-01 -2.13879467e-01 -2.50101167e-01  6.27257738e+02]
 [ 2.11767021e-01  9.76669523e-01 -3.56562898e-02  4.83513123e+01]
 [ 2.51892335e-01 -1.92928975e-02  9.67562936e-01  1.63887377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.2807140570001 meters
Centerline goodness : 0.995675 with order 1
Centerline is valid?  [True, True]
Translation: X:627.32, Y:48.36, Z:163.90
[[ 9.44155190e-01 -2.14525156e-01 -2.50099847e-01  6.27315246e+02]
 [ 2.12432410e-01  9.76524675e-01 -3.56655413e-02  4.83622187e+01]
 [ 2.51879828e-01 -1.94555072e-02  9.67562936e-01  1.63903440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.340714057 meters
Centerline goodness : 0.995754 with order 1
Centerline is valid?  [True, True]
Translation: X:627.37, Y:48.37, Z:163.92
[[ 9.44397837e-01 -2.13454559e-01 -2.50099734e-01  6.27373199e+02]
 [ 2.11324904e-01  9.76764914e-01 -3.56663385e-02  4.83736946e+01]
 [ 2.51901787e-01 -1.91690892e-02  9.67562936e-01  1.63917911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.400714057 meters
Centerline goodness : 0.996577 with order 1
Centerline is valid?  [True, True]
Translation: X:627.43, Y:48.38, Z:163.93
[[ 9.44599346e-01 -2.12561046e-01 -2.50099736e-01  6.27430146e+02]
 [ 2.10400777e-01  9.76964394e-01 -3.56663202e-02  4.83838108e+01]
 [ 2.51919808e-01 -1.89307961e-02  9.67562936e-01  1.63932829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.460714057 meters
Centerline goodness : 0.997036 with order 1
Centerline is valid?  [True, True]
Translation: X:627.49, Y:48.40, Z:163.95
[[ 9.44834451e-01 -2.11515089e-01 -2.50098436e-01  6.27487462e+02]
 [ 2.09316589e-01  9.77196924e-01 -3.56754338e-02  4.83964656e+01]
 [ 2.51941315e-01 -1.86423726e-02  9.67562936e-01  1.63949443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.520714057 meters
Centerline goodness : 0.996404 with order 1
Centerline is valid?  [True, True]
Translation: X:627.54, Y:48.41, Z:163.97
[[ 9.45019793e-01 -2.10685675e-01 -2.50098255e-01  6.27544615e+02]
 [ 2.08458435e-01  9.77380301e-01 -3.56767035e-02  4.84078999e+01]
 [ 2.51957678e-01 -1.84198999e-02  9.67562936e-01  1.63965159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.580714057 meters
Centerline goodness : 0.996235 with order 1
Centerline is valid?  [True, True]
Translation: X:627.60, Y:48.42, Z:163.98
[[ 9.45190487e-01 -2.09918570e-01 -2.50098255e-01  6.27600672e+02]
 [ 2.07665065e-01  9.77549177e-01 -3.56767035e-02  4.84184385e+01]
 [ 2.51972546e-01 -1.82153897e-02  9.67562936e-01  1.63980217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.640714057 meters
Centerline goodness : 0.996838 with order 1
Centerline is valid?  [True, True]
Translation: X:627.66, Y:48.43, Z:164.00
[[ 9.45289312e-01 -2.09475942e-01 -2.50095873e-01  6.27657661e+02]
 [ 2.07202892e-01  9.77646635e-01 -3.56933954e-02  4.84309988e+01]
 [ 2.51982296e-01 -1.80800029e-02  9.67562936e-01  1.63995338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.700714057 meters
Centerline goodness : 0.997542 with order 1
Centerline is valid?  [True, True]
Translation: X:627.72, Y:48.44, Z:164.01
[[ 9.45419706e-01 -2.08887449e-01 -2.50095208e-01  6.27715253e+02]
 [ 2.06593031e-01  9.77775521e-01 -3.56980529e-02  4.84426027e+01]
 [ 2.51993848e-01 -1.79182844e-02  9.67562936e-01  1.64010187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.760714057 meters
Centerline goodness : 0.997503 with order 1
Centerline is valid?  [True, True]
Translation: X:627.77, Y:48.45, Z:164.03
[[ 9.45578711e-01 -2.08166493e-01 -2.50095208e-01  6.27773049e+02]
 [ 2.05847403e-01  9.77932766e-01 -3.56980529e-02  4.84543117e+01]
 [ 2.52007437e-01 -1.77261303e-02  9.67562936e-01  1.64026496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.820714057 meters
Centerline goodness : 0.997627 with order 1
Centerline is valid?  [True, True]
Translation: X:627.83, Y:48.47, Z:164.04
[[ 9.45849263e-01 -2.06932907e-01 -2.50095868e-01  6.27831004e+02]
 [ 2.04572833e-01  9.78200355e-01 -3.56934316e-02  4.84682065e+01]
 [ 2.52030012e-01 -1.74022142e-02  9.67562936e-01  1.64043809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.880714057 meters
Centerline goodness : 0.998031 with order 1
Centerline is valid?  [True, True]
Translation: X:627.89, Y:48.48, Z:164.06
[[ 9.46028889e-01 -2.06108564e-01 -2.50097183e-01  6.27889162e+02]
 [ 2.03722723e-01  9.78378091e-01 -3.56842134e-02  4.84812257e+01]
 [ 2.52044426e-01 -1.71921825e-02  9.67562936e-01  1.64060919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 646.940714057 meters
Centerline goodness : 0.997508 with order 1
Centerline is valid?  [True, True]
Translation: X:627.95, Y:48.49, Z:164.08
[[ 9.46300420e-01 -2.04856167e-01 -2.50098913e-01  6.27945548e+02]
 [ 2.02430701e-01  9.78646675e-01 -3.56720842e-02  4.84945519e+01]
 [ 2.52066116e-01 -1.68711900e-02  9.67562937e-01  1.64076262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.000714057 meters
Centerline goodness : 0.998393 with order 1
Centerline is valid?  [True, True]
Translation: X:628.00, Y:48.51, Z:164.09
[[ 9.46061468e-01 -2.05956871e-01 -2.50098913e-01  6.28002613e+02]
 [ 2.03569035e-01  9.78410522e-01 -3.56720842e-02  4.85054241e+01]
 [ 2.52046319e-01 -1.71644101e-02  9.67562937e-01  1.64091361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.060714057 meters
Centerline goodness : 0.997804 with order 1
Centerline is valid?  [True, True]
Translation: X:628.06, Y:48.52, Z:164.11
[[ 9.45301173e-01 -2.09419392e-01 -2.50098402e-01  6.28060015e+02]
 [ 2.07149072e-01  9.77658687e-01 -3.56756677e-02  4.85173650e+01]
 [ 2.51982052e-01 -1.80834013e-02  9.67562937e-01  1.64106547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.120714057 meters
Centerline goodness : 0.998282 with order 1
Centerline is valid?  [True, True]
Translation: X:628.12, Y:48.53, Z:164.12
[[ 9.44654371e-01 -2.12317814e-01 -2.50098512e-01  6.28118031e+02]
 [ 2.10146955e-01  9.77018710e-01 -3.56748942e-02  4.85275582e+01]
 [ 2.51925341e-01 -1.88569959e-02  9.67562937e-01  1.64121684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.180714057 meters
Centerline goodness : 0.997980 with order 1
Centerline is valid?  [True, True]
Translation: X:628.18, Y:48.54, Z:164.14
[[ 9.44089411e-01 -2.14815246e-01 -2.50099171e-01  6.28175026e+02]
 [ 2.12731198e-01  9.76459456e-01 -3.56702775e-02  4.85395959e+01]
 [ 2.51874219e-01 -1.95279649e-02  9.67562937e-01  1.64137493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.240714057 meters
Centerline goodness : 0.997982 with order 1
Centerline is valid?  [True, True]
Translation: X:628.23, Y:48.55, Z:164.15
[[ 9.44178798e-01 -2.14421876e-01 -2.50099293e-01  6.28233074e+02]
 [ 2.12324567e-01  9.76547987e-01 -3.56694212e-02  4.85501338e+01]
 [ 2.51882265e-01 -1.94239129e-02  9.67562937e-01  1.64154126e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.300714057 meters
Centerline goodness : 0.998054 with order 1
Centerline is valid?  [True, True]
Translation: X:628.29, Y:48.56, Z:164.17
[[ 9.45085630e-01 -2.10387330e-01 -2.50100627e-01  6.28290079e+02]
 [ 2.08154254e-01  9.77445736e-01 -3.56600645e-02  4.85636908e+01]
 [ 2.51962217e-01 -1.83576948e-02  9.67562937e-01  1.64170992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.360714057 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:628.35, Y:48.58, Z:164.19
[[ 9.46361189e-01 -2.04572349e-01 -2.50101287e-01  6.28347066e+02]
 [ 2.02141563e-01  9.78707044e-01 -3.56554323e-02  4.85771327e+01]
 [ 2.52070007e-01 -1.68129478e-02  9.67562937e-01  1.64187955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.420714057 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:628.40, Y:48.59, Z:164.20
[[ 9.47230525e-01 -2.00508334e-01 -2.50101459e-01  6.28404997e+02]
 [ 1.97939047e-01  9.79565674e-01 -3.56542282e-02  4.85881001e+01]
 [ 2.52139774e-01 -1.57320710e-02  9.67562937e-01  1.64204038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.480714057 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:628.46, Y:48.60, Z:164.22
[[ 9.48167884e-01 -1.96027976e-01 -2.50101373e-01  6.28462243e+02]
 [ 1.93305691e-01  9.80490511e-01 -3.56548315e-02  4.85991756e+01]
 [ 2.52211367e-01 -1.45392525e-02  9.67562937e-01  1.64218370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.5407140570001 meters
Centerline goodness : 0.998103 with order 1
Centerline is valid?  [True, True]
Translation: X:628.52, Y:48.61, Z:164.23
[[ 9.48506737e-01 -1.94382292e-01 -2.50100968e-01  6.28519767e+02]
 [ 1.91603174e-01  9.80824528e-01 -3.56576721e-02  4.86094641e+01]
 [ 2.52236384e-01 -1.40985970e-02  9.67562937e-01  1.64234893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.600714057 meters
Centerline goodness : 0.997966 with order 1
Centerline is valid?  [True, True]
Translation: X:628.58, Y:48.62, Z:164.25
[[ 9.49070429e-01 -1.91610267e-01 -2.50101634e-01  6.28577778e+02]
 [ 1.88737968e-01  9.81380071e-01 -3.56529977e-02  4.86195376e+01]
 [ 2.52276240e-01 -1.33664685e-02  9.67562937e-01  1.64249966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.6607140570001 meters
Centerline goodness : 0.998164 with order 1
Centerline is valid?  [True, True]
Translation: X:628.64, Y:48.63, Z:164.27
[[ 9.49435793e-01 -1.89790724e-01 -2.50102291e-01  6.28636198e+02]
 [ 1.86857710e-01  9.81739980e-01 -3.56483889e-02  4.86290780e+01]
 [ 2.52301152e-01 -1.28876851e-02  9.67562937e-01  1.64265585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.720714057 meters
Centerline goodness : 0.997700 with order 1
Centerline is valid?  [True, True]
Translation: X:628.70, Y:48.64, Z:164.28
[[ 9.49544825e-01 -1.89242732e-01 -2.50103607e-01  6.28695643e+02]
 [ 1.86293500e-01  9.81847535e-01 -3.56391558e-02  4.86385616e+01]
 [ 2.52308061e-01 -1.27517002e-02  9.67562937e-01  1.64281842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.7807140570001 meters
Centerline goodness : 0.997947 with order 1
Centerline is valid?  [True, True]
Translation: X:628.75, Y:48.65, Z:164.30
[[ 9.49114394e-01 -1.91386344e-01 -2.50106246e-01  6.28754452e+02]
 [ 1.88514929e-01  9.81424115e-01 -3.56206237e-02  4.86459621e+01]
 [ 2.52277602e-01 -1.33407146e-02  9.67562937e-01  1.64297435e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.840714057 meters
Centerline goodness : 0.998212 with order 1
Centerline is valid?  [True, True]
Translation: X:628.81, Y:48.65, Z:164.31
[[ 9.48551594e-01 -1.94154790e-01 -2.50107560e-01  6.28813610e+02]
 [ 1.91380084e-01  9.80869763e-01 -3.56113964e-02  4.86534237e+01]
 [ 2.52237066e-01 -1.40863591e-02  9.67562937e-01  1.64312696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.900714057 meters
Centerline goodness : 0.998284 with order 1
Centerline is valid?  [True, True]
Translation: X:628.87, Y:48.66, Z:164.33
[[ 9.47508338e-01 -1.99182093e-01 -2.50108861e-01  6.28872619e+02]
 [ 1.96581208e-01  9.79840961e-01 -3.56022572e-02  4.86600758e+01]
 [ 2.52158239e-01 -1.54332665e-02  9.67562937e-01  1.64328778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 647.960714057 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:628.93, Y:48.67, Z:164.35
[[ 9.46920794e-01 -2.01955224e-01 -2.50110170e-01  6.28931168e+02]
 [ 1.99451428e-01  9.79261080e-01 -3.55930587e-02  4.86673762e+01]
 [ 2.52111359e-01 -1.61810232e-02  9.67562937e-01  1.64345183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.020714057 meters
Centerline goodness : 0.998281 with order 1
Centerline is valid?  [True, True]
Translation: X:628.99, Y:48.67, Z:164.36
[[ 9.46415310e-01 -2.04309435e-01 -2.50111409e-01  6.28989765e+02]
 [ 2.01888362e-01  9.78761893e-01 -3.55843540e-02  4.86744565e+01]
 [ 2.52069735e-01 -1.68170052e-02  9.67562937e-01  1.64360990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.080714057 meters
Centerline goodness : 0.998284 with order 1
Centerline is valid?  [True, True]
Translation: X:629.05, Y:48.68, Z:164.38
[[ 9.46265043e-01 -2.05003135e-01 -2.50112341e-01  6.29048450e+02]
 [ 2.02607498e-01  9.78613520e-01 -3.55777989e-02  4.86823001e+01]
 [ 2.52056879e-01 -1.70086082e-02  9.67562937e-01  1.64376168e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.140714057 meters
Centerline goodness : 0.998327 with order 1
Centerline is valid?  [True, True]
Translation: X:629.11, Y:48.69, Z:164.39
[[ 9.46167789e-01 -2.05449978e-01 -2.50113618e-01  6.29107578e+02]
 [ 2.03071979e-01  9.78517568e-01 -3.55688227e-02  4.86909340e+01]
 [ 2.52048183e-01 -1.71369930e-02  9.67562937e-01  1.64391498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.200714057 meters
Centerline goodness : 0.998172 with order 1
Centerline is valid?  [True, True]
Translation: X:629.17, Y:48.70, Z:164.41
[[ 9.46063938e-01 -2.05925376e-01 -2.50115504e-01  6.29165869e+02]
 [ 2.03567125e-01  9.78415162e-01 -3.55555511e-02  4.87004234e+01]
 [ 2.52038592e-01 -1.72774693e-02  9.67562937e-01  1.64406153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.260714057 meters
Centerline goodness : 0.998701 with order 1
Centerline is valid?  [True, True]
Translation: X:629.23, Y:48.71, Z:164.42
[[ 9.45963990e-01 -2.06381770e-01 -2.50117362e-01  6.29225395e+02]
 [ 2.04042566e-01  9.78316597e-01 -3.55424793e-02  4.87097370e+01]
 [ 2.52029286e-01 -1.74126828e-02  9.67562937e-01  1.64422022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.320714057 meters
Centerline goodness : 0.998414 with order 1
Centerline is valid?  [True, True]
Translation: X:629.28, Y:48.72, Z:164.44
[[ 9.45606115e-01 -2.08012223e-01 -2.50119953e-01  6.29282697e+02]
 [ 2.05733596e-01  9.77963044e-01 -3.55242382e-02  4.87194325e+01]
 [ 2.51997546e-01 -1.78661403e-02  9.67562937e-01  1.64435506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.380714057 meters
Centerline goodness : 0.998145 with order 1
Centerline is valid?  [True, True]
Translation: X:629.34, Y:48.73, Z:164.45
[[ 9.45369931e-01 -2.09080517e-01 -2.50122031e-01  6.29341232e+02]
 [ 2.06842304e-01  9.77729681e-01 -3.55095976e-02  4.87300997e+01]
 [ 2.51976099e-01 -1.81661114e-02  9.67562938e-01  1.64453518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.440714057 meters
Centerline goodness : 0.998188 with order 1
Centerline is valid?  [True, True]
Translation: X:629.40, Y:48.74, Z:164.47
[[ 9.45236077e-01 -2.09681717e-01 -2.50124641e-01  6.29400786e+02]
 [ 2.07468925e-01  9.77597575e-01 -3.54912054e-02  4.87418613e+01]
 [ 2.51963099e-01 -1.83455226e-02  9.67562938e-01  1.64469759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.500714057 meters
Centerline goodness : 0.998009 with order 1
Centerline is valid?  [True, True]
Translation: X:629.46, Y:48.75, Z:164.49
[[ 9.45368848e-01 -2.09076588e-01 -2.50129410e-01  6.29458707e+02]
 [ 2.06851934e-01  9.77729532e-01 -3.54575648e-02  4.87522369e+01]
 [ 2.51972258e-01 -1.82192750e-02  9.67562938e-01  1.64485669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.560714057 meters
Centerline goodness : 0.997850 with order 1
Centerline is valid?  [True, True]
Translation: X:629.52, Y:48.76, Z:164.50
[[ 9.45673005e-01 -2.07690330e-01 -2.50134553e-01  6.29516841e+02]
 [ 2.05427790e-01  9.78031062e-01 -3.54212492e-02  4.87629663e+01]
 [ 2.51996013e-01 -1.78876691e-02  9.67562939e-01  1.64501667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.620714057 meters
Centerline goodness : 0.997965 with order 1
Centerline is valid?  [True, True]
Translation: X:629.58, Y:48.77, Z:164.52
[[ 9.45797141e-01 -2.07121984e-01 -2.50136465e-01  6.29576451e+02]
 [ 2.04843553e-01  9.78154083e-01 -3.54077415e-02  4.87723638e+01]
 [ 2.52005726e-01 -1.77503015e-02  9.67562939e-01  1.64517310e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.680714057 meters
Centerline goodness : 0.998333 with order 1
Centerline is valid?  [True, True]
Translation: X:629.63, Y:48.78, Z:164.53
[[ 9.46042733e-01 -2.05994255e-01 -2.50138990e-01  6.29633975e+02]
 [ 2.03681946e-01  9.78397271e-01 -3.53898913e-02  4.87827511e+01]
 [ 2.52025420e-01 -1.74684468e-02  9.67562939e-01  1.64531845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.740714057 meters
Centerline goodness : 0.998335 with order 1
Centerline is valid?  [True, True]
Translation: X:629.69, Y:48.79, Z:164.55
[[ 9.46419581e-01 -2.04255875e-01 -2.50138990e-01  6.29691299e+02]
 [ 2.01884130e-01  9.78769817e-01 -3.53898913e-02  4.87921408e+01]
 [ 2.52057087e-01 -1.70054063e-02  9.67562939e-01  1.64548571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.800714057 meters
Centerline goodness : 0.998171 with order 1
Centerline is valid?  [True, True]
Translation: X:629.75, Y:48.80, Z:164.56
[[ 9.47481365e-01 -1.99272549e-01 -2.50138990e-01  6.29748587e+02]
 [ 1.96730594e-01  9.79818671e-01 -3.53898913e-02  4.88029653e+01]
 [ 2.52143087e-01 -1.56787297e-02  9.67562939e-01  1.64562933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.860714057 meters
Centerline goodness : 0.997831 with order 1
Centerline is valid?  [True, True]
Translation: X:629.81, Y:48.81, Z:164.58
[[ 9.48425693e-01 -1.94728462e-01 -2.50139023e-01  6.29805798e+02]
 [ 1.92031587e-01  9.80750448e-01 -3.53896599e-02  4.88135569e+01]
 [ 2.52215333e-01 -1.44701308e-02  9.67562939e-01  1.64580521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.920714057 meters
Centerline goodness : 0.998277 with order 1
Centerline is valid?  [True, True]
Translation: X:629.86, Y:48.82, Z:164.60
[[ 9.49784964e-01 -1.87985558e-01 -2.50139867e-01  6.29863120e+02]
 [ 1.85060670e-01  9.82089885e-01 -3.53836968e-02  4.88240458e+01]
 [ 2.52311457e-01 -1.26841483e-02  9.67562939e-01  1.64597582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 648.980714057 meters
Centerline goodness : 0.998342 with order 1
Centerline is valid?  [True, True]
Translation: X:629.92, Y:48.83, Z:164.61
[[ 9.50489716e-01 -1.84388331e-01 -2.50140447e-01  6.29921075e+02]
 [ 1.81342236e-01  9.82783434e-01 -3.53795921e-02  4.88331815e+01]
 [ 2.52357471e-01 -1.17330894e-02  9.67562939e-01  1.64613430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.0407140570001 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:629.98, Y:48.84, Z:164.63
[[ 9.50811097e-01 -1.82723399e-01 -2.50140794e-01  6.29979973e+02]
 [ 1.79621395e-01  9.83099493e-01 -3.53771370e-02  4.88412881e+01]
 [ 2.52377519e-01 -1.12936639e-02  9.67562939e-01  1.64629089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.100714057 meters
Centerline goodness : 0.998167 with order 1
Centerline is valid?  [True, True]
Translation: X:630.04, Y:48.85, Z:164.64
[[ 9.50284405e-01 -1.85441311e-01 -2.50142098e-01  6.30039190e+02]
 [ 1.82434063e-01  9.82581764e-01 -3.53679190e-02  4.88473393e+01]
 [ 2.52343737e-01 -1.20248574e-02  9.67562939e-01  1.64642969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.1607140570001 meters
Centerline goodness : 0.997880 with order 1
Centerline is valid?  [True, True]
Translation: X:630.10, Y:48.85, Z:164.66
[[ 9.49843368e-01 -1.87687047e-01 -2.50142258e-01  6.30098454e+02]
 [ 1.84756450e-01  9.82147771e-01 -3.53667831e-02  4.88548034e+01]
 [ 2.52314549e-01 -1.26224912e-02  9.67562939e-01  1.64656749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.220714057 meters
Centerline goodness : 0.997580 with order 1
Centerline is valid?  [True, True]
Translation: X:630.16, Y:48.86, Z:164.67
[[ 9.49523943e-01 -1.89293866e-01 -2.50144185e-01  6.30156004e+02]
 [ 1.86421512e-01  9.81833578e-01 -3.53531480e-02  4.88618368e+01]
 [ 2.52292095e-01 -1.30635968e-02  9.67562939e-01  1.64671187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.2807140570001 meters
Centerline goodness : 0.997886 with order 1
Centerline is valid?  [True, True]
Translation: X:630.22, Y:48.87, Z:164.69
[[ 9.49461478e-01 -1.89606931e-01 -2.50144185e-01  6.30215764e+02]
 [ 1.86745231e-01  9.81772058e-01 -3.53531480e-02  4.88688513e+01]
 [ 2.52287774e-01 -1.31467815e-02  9.67562939e-01  1.64687486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.340714057 meters
Centerline goodness : 0.997548 with order 1
Centerline is valid?  [True, True]
Translation: X:630.28, Y:48.88, Z:164.71
[[ 9.49417694e-01 -1.89822622e-01 -2.50146785e-01  6.30275003e+02]
 [ 1.86973096e-01  9.81729350e-01 -3.53347465e-02  4.88763763e+01]
 [ 2.52283775e-01 -1.32232852e-02  9.67562939e-01  1.64705120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.400714057 meters
Centerline goodness : 0.997623 with order 1
Centerline is valid?  [True, True]
Translation: X:630.33, Y:48.88, Z:164.72
[[ 9.49451520e-01 -1.89649969e-01 -2.50149357e-01  6.30334582e+02]
 [ 1.86799355e-01  9.81763079e-01 -3.53165259e-02  4.88822378e+01]
 [ 2.52285181e-01 -1.31964095e-02  9.67562940e-01  1.64722051e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.460714057 meters
Centerline goodness : 0.997564 with order 1
Centerline is valid?  [True, True]
Translation: X:630.39, Y:48.89, Z:164.74
[[ 9.49447954e-01 -1.89664351e-01 -2.50151987e-01  6.30394855e+02]
 [ 1.86819123e-01  9.81759988e-01 -3.52978882e-02  4.88881844e+01]
 [ 2.52283963e-01 -1.32196671e-02  9.67562940e-01  1.64737437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.520714057 meters
Centerline goodness : 0.997811 with order 1
Centerline is valid?  [True, True]
Translation: X:630.45, Y:48.89, Z:164.75
[[ 9.49316107e-01 -1.90319679e-01 -2.50154649e-01  6.30454017e+02]
 [ 1.87501714e-01  9.81630530e-01 -3.52790165e-02  4.88930860e+01]
 [ 2.52273731e-01 -1.34134867e-02  9.67562940e-01  1.64751306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.580714057 meters
Centerline goodness : 0.997533 with order 1
Centerline is valid?  [True, True]
Translation: X:630.51, Y:48.90, Z:164.77
[[ 9.49207324e-01 -1.90858911e-01 -2.50156615e-01  6.30513263e+02]
 [ 1.88062968e-01  9.81523660e-01 -3.52650680e-02  4.88995232e+01]
 [ 2.52265289e-01 -1.35713346e-02  9.67562940e-01  1.64766729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.640714057 meters
Centerline goodness : 0.997531 with order 1
Centerline is valid?  [True, True]
Translation: X:630.57, Y:48.91, Z:164.78
[[ 9.49084954e-01 -1.91464822e-01 -2.50157896e-01  6.30573073e+02]
 [ 1.88691898e-01  9.81403273e-01 -3.52559799e-02  4.89054008e+01]
 [ 2.52256058e-01 -1.37418481e-02  9.67562940e-01  1.64783221e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.700714057 meters
Centerline goodness : 0.997377 with order 1
Centerline is valid?  [True, True]
Translation: X:630.63, Y:48.91, Z:164.80
[[ 9.49104883e-01 -1.91362604e-01 -2.50160499e-01  6.30631039e+02]
 [ 1.88591055e-01  9.81423320e-01 -3.52375021e-02  4.89121834e+01]
 [ 2.52256487e-01 -1.37339471e-02  9.67562940e-01  1.64798587e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.760714057 meters
Centerline goodness : 0.997555 with order 1
Centerline is valid?  [True, True]
Translation: X:630.69, Y:48.92, Z:164.81
[[ 9.49325656e-01 -1.90263816e-01 -2.50160906e-01  6.30690772e+02]
 [ 1.87455618e-01  9.81640929e-01 -3.52346105e-02  4.89185263e+01]
 [ 2.52272056e-01 -1.34449474e-02  9.67562940e-01  1.64813338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.820714057 meters
Centerline goodness : 0.997605 with order 1
Centerline is valid?  [True, True]
Translation: X:630.75, Y:48.92, Z:164.83
[[ 9.49472509e-01 -1.89525389e-01 -2.50164109e-01  6.30749939e+02]
 [ 1.86698036e-01  9.81786111e-01 -3.52118558e-02  4.89245686e+01]
 [ 2.52281188e-01 -1.32724587e-02  9.67562941e-01  1.64827990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.880714057 meters
Centerline goodness : 0.997518 with order 1
Centerline is valid?  [True, True]
Translation: X:630.81, Y:48.93, Z:164.84
[[ 9.49277714e-01 -1.90497005e-01 -2.50165370e-01  6.30808066e+02]
 [ 1.87705078e-01  9.81594397e-01 -3.52028952e-02  4.89303462e+01]
 [ 2.52266971e-01 -1.35399863e-02  9.67562941e-01  1.64842999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 649.940714057 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:630.87, Y:48.94, Z:164.86
[[ 9.48989078e-01 -1.91928898e-01 -2.50165999e-01  6.30868230e+02]
 [ 1.89186904e-01  9.81310036e-01 -3.51984223e-02  4.89366725e+01]
 [ 2.52246000e-01 -1.39252125e-02  9.67562941e-01  1.64859495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.000714057 meters
Centerline goodness : 0.997859 with order 1
Centerline is valid?  [True, True]
Translation: X:630.93, Y:48.94, Z:164.88
[[ 9.48982581e-01 -1.91957656e-01 -2.50168581e-01  6.30926773e+02]
 [ 1.89221467e-01  9.81304030e-01 -3.51800595e-02  4.89431774e+01]
 [ 2.52244519e-01 -1.39520022e-02  9.67562941e-01  1.64875538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.060714057 meters
Centerline goodness : 0.998339 with order 1
Centerline is valid?  [True, True]
Translation: X:630.99, Y:48.95, Z:164.89
[[ 9.49317196e-01 -1.90295090e-01 -2.50169222e-01  6.30985564e+02]
 [ 1.87503486e-01  9.81633907e-01 -3.51755056e-02  4.89495526e+01]
 [ 2.52268316e-01 -1.35148887e-02  9.67562941e-01  1.64891535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.120714057 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:631.04, Y:48.96, Z:164.91
[[ 9.49808532e-01 -1.87824819e-01 -2.50171120e-01  6.31044135e+02]
 [ 1.84952701e-01  9.82118186e-01 -3.51620015e-02  4.89567727e+01]
 [ 2.52301903e-01 -1.28726552e-02  9.67562941e-01  1.64907532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.180714057 meters
Centerline goodness : 0.998036 with order 1
Centerline is valid?  [True, True]
Translation: X:631.10, Y:48.96, Z:164.92
[[ 9.50515096e-01 -1.84214010e-01 -2.50172444e-01  6.31102029e+02]
 [ 1.81221605e-01  9.82813831e-01 -3.51525781e-02  4.89644738e+01]
 [ 2.52348535e-01 -1.19235956e-02  9.67562941e-01  1.64923388e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.240714057 meters
Centerline goodness : 0.997800 with order 1
Centerline is valid?  [True, True]
Translation: X:631.16, Y:48.97, Z:164.94
[[ 9.50875981e-01 -1.82342045e-01 -2.50172435e-01  6.31160733e+02]
 [ 1.79286030e-01  9.83168760e-01 -3.51526443e-02  4.89717114e+01]
 [ 2.52371527e-01 -1.14266174e-02  9.67562941e-01  1.64938909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.300714057 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:631.22, Y:48.98, Z:164.95
[[ 9.50795274e-01 -1.82759721e-01 -2.50174404e-01  6.31221168e+02]
 [ 1.79721572e-01  9.83089738e-01 -3.51386252e-02  4.89783702e+01]
 [ 2.52365814e-01 -1.15520985e-02  9.67562941e-01  1.64953248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.360714057 meters
Centerline goodness : 0.998278 with order 1
Centerline is valid?  [True, True]
Translation: X:631.28, Y:48.98, Z:164.97
[[ 9.50170444e-01 -1.85977423e-01 -2.50176989e-01  6.31279696e+02]
 [ 1.83053455e-01  9.82475447e-01 -3.51202119e-02  4.89847931e+01]
 [ 2.52324315e-01 -1.24255749e-02  9.67562941e-01  1.64967684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.420714057 meters
Centerline goodness : 0.997711 with order 1
Centerline is valid?  [True, True]
Translation: X:631.34, Y:48.99, Z:164.98
[[ 9.49499820e-01 -1.89370657e-01 -2.50177630e-01  6.31339371e+02]
 [ 1.86563315e-01  9.81815166e-01 -3.51156455e-02  4.89912454e+01]
 [ 2.52278064e-01 -1.33316688e-02  9.67562941e-01  1.64983937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.480714057 meters
Centerline goodness : 0.998042 with order 1
Centerline is valid?  [True, True]
Translation: X:631.40, Y:49.00, Z:165.00
[[ 9.48905057e-01 -1.92325427e-01 -2.50180182e-01  6.31396889e+02]
 [ 1.89623476e-01  9.81229385e-01 -3.50974490e-02  4.89966275e+01]
 [ 2.52234278e-01 -1.41358888e-02  9.67562941e-01  1.64999858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.5407140570001 meters
Centerline goodness : 0.997544 with order 1
Centerline is valid?  [True, True]
Translation: X:631.46, Y:49.00, Z:165.02
[[ 9.48829799e-01 -1.92692657e-01 -2.50183038e-01  6.31455505e+02]
 [ 1.90008567e-01  9.81155616e-01 -3.50770855e-02  4.90038294e+01]
 [ 2.52227589e-01 -1.42547364e-02  9.67562942e-01  1.65015486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.600714057 meters
Centerline goodness : 0.997330 with order 1
Centerline is valid?  [True, True]
Translation: X:631.51, Y:49.01, Z:165.03
[[ 9.48553893e-01 -1.94044595e-01 -2.50184348e-01  6.31514507e+02]
 [ 1.91409032e-01  9.80883702e-01 -3.50677346e-02  4.90095502e+01]
 [ 2.52206454e-01 -1.46239076e-02  9.67562942e-01  1.65030940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.6607140570001 meters
Centerline goodness : 0.997314 with order 1
Centerline is valid?  [True, True]
Translation: X:631.57, Y:49.02, Z:165.05
[[ 9.47899793e-01 -1.97214212e-01 -2.50185004e-01  6.31573043e+02]
 [ 1.94687963e-01  9.80238328e-01 -3.50630545e-02  4.90159825e+01]
 [ 2.52155863e-01 -1.54717466e-02  9.67562942e-01  1.65047613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.720714057 meters
Centerline goodness : 0.997206 with order 1
Centerline is valid?  [True, True]
Translation: X:631.63, Y:49.02, Z:165.06
[[ 9.47423575e-01 -1.99487697e-01 -2.50186389e-01  6.31630760e+02]
 [ 1.97041635e-01  9.79768273e-01 -3.50531715e-02  4.90229121e+01]
 [ 2.52117363e-01 -1.60869341e-02  9.67562942e-01  1.65063753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.7807140570001 meters
Centerline goodness : 0.997398 with order 1
Centerline is valid?  [True, True]
Translation: X:631.69, Y:49.03, Z:165.08
[[ 9.47094805e-01 -2.01041992e-01 -2.50187027e-01  6.31689661e+02]
 [ 1.98650204e-01  9.79443562e-01 -3.50486154e-02  4.90305736e+01]
 [ 2.52090316e-01 -1.65053424e-02  9.67562942e-01  1.65078853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.840714057 meters
Centerline goodness : 0.998198 with order 1
Centerline is valid?  [True, True]
Translation: X:631.75, Y:49.04, Z:165.09
[[ 9.46578975e-01 -2.03455307e-01 -2.50188292e-01  6.31750016e+02]
 [ 2.01148354e-01  9.78933893e-01 -3.50395831e-02  4.90392305e+01]
 [ 2.52046788e-01 -1.71572305e-02  9.67562942e-01  1.65092151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.900714057 meters
Centerline goodness : 0.998067 with order 1
Centerline is valid?  [True, True]
Translation: X:631.81, Y:49.05, Z:165.11
[[ 9.46546079e-01 -2.03605225e-01 -2.50190794e-01  6.31809154e+02]
 [ 2.01308097e-01  9.78901696e-01 -3.50217128e-02  4.90491560e+01]
 [ 2.52042796e-01 -1.72157675e-02  9.67562942e-01  1.65106336e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 650.960714057 meters
Centerline goodness : 0.997912 with order 1
Centerline is valid?  [True, True]
Translation: X:631.87, Y:49.06, Z:165.12
[[ 9.46752250e-01 -2.02642850e-01 -2.50192031e-01  6.31868445e+02]
 [ 2.00315157e-01  9.79105682e-01 -3.50128683e-02  4.90591210e+01]
 [ 2.52059547e-01 -1.69687441e-02  9.67562942e-01  1.65123156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.020714057 meters
Centerline goodness : 0.998482 with order 1
Centerline is valid?  [True, True]
Translation: X:631.93, Y:49.07, Z:165.14
[[ 9.47109398e-01 -2.00963726e-01 -2.50194663e-01  6.31926278e+02]
 [ 1.98583615e-01  9.79459016e-01 -3.49940541e-02  4.90704758e+01]
 [ 2.52087954e-01 -1.65413631e-02  9.67562942e-01  1.65140324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.080714057 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:631.99, Y:49.08, Z:165.16
[[ 9.47371573e-01 -1.99719237e-01 -2.50198579e-01  6.31985106e+02]
 [ 1.97303995e-01  9.79718587e-01 -3.49660339e-02  4.90797361e+01]
 [ 2.52107588e-01 -1.62393526e-02  9.67562942e-01  1.65156345e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.140714057 meters
Centerline goodness : 0.998734 with order 1
Centerline is valid?  [True, True]
Translation: X:632.04, Y:49.09, Z:165.17
[[ 9.47736492e-01 -1.97977912e-01 -2.50200496e-01  6.32043143e+02]
 [ 1.95506838e-01  9.80079289e-01 -3.49523140e-02  4.90911497e+01]
 [ 2.52136110e-01 -1.57903242e-02  9.67562943e-01  1.65170609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.200714057 meters
Centerline goodness : 0.998824 with order 1
Centerline is valid?  [True, True]
Translation: X:632.10, Y:49.10, Z:165.19
[[ 9.47982724e-01 -1.96793889e-01 -2.50201757e-01  6.32102420e+02]
 [ 1.94284791e-01  9.80322593e-01 -3.49432794e-02  4.91011304e+01]
 [ 2.52155060e-01 -1.54847710e-02  9.67562943e-01  1.65185353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.260714057 meters
Centerline goodness : 0.999148 with order 1
Centerline is valid?  [True, True]
Translation: X:632.16, Y:49.11, Z:165.20
[[ 9.48422954e-01 -1.94657848e-01 -2.50204363e-01  6.32160151e+02]
 [ 1.92080811e-01  9.80757480e-01 -3.49246101e-02  4.91101836e+01]
 [ 2.52188150e-01 -1.49361552e-02  9.67562943e-01  1.65199937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.320714057 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:632.22, Y:49.12, Z:165.22
[[ 9.49599512e-01 -1.88834700e-01 -2.50204363e-01  6.32217949e+02]
 [ 1.86059308e-01  9.81917616e-01 -3.49246101e-02  4.91220472e+01]
 [ 2.52275050e-01 -1.33884581e-02  9.67562943e-01  1.65216315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.380714057 meters
Centerline goodness : 0.998681 with order 1
Centerline is valid?  [True, True]
Translation: X:632.28, Y:49.13, Z:165.23
[[ 9.51164857e-01 -1.80784172e-01 -2.50204911e-01  6.32275740e+02]
 [ 1.77736154e-01  9.83458390e-01 -3.49206874e-02  4.91343150e+01]
 [ 2.52379226e-01 -1.12551279e-02  9.67562943e-01  1.65231871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.440714057 meters
Centerline goodness : 0.999011 with order 1
Centerline is valid?  [True, True]
Translation: X:632.33, Y:49.14, Z:165.25
[[ 9.52027517e-01 -1.76183978e-01 -2.50205543e-01  6.32334832e+02]
 [ 1.72981072e-01  9.84306055e-01 -3.49161582e-02  4.91431161e+01]
 [ 2.52430499e-01 -1.00396795e-02  9.67562943e-01  1.65245764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.500714057 meters
Centerline goodness : 0.998926 with order 1
Centerline is valid?  [True, True]
Translation: X:632.39, Y:49.15, Z:165.26
[[ 9.52612425e-01 -1.72992597e-01 -2.50206173e-01  6.32393587e+02]
 [ 1.69682723e-01  9.84880171e-01 -3.49116398e-02  4.91517405e+01]
 [ 2.52462554e-01 -9.19840297e-03  9.67562943e-01  1.65261245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.560714057 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:632.45, Y:49.16, Z:165.28
[[ 9.52541984e-01 -1.73378238e-01 -2.50207423e-01  6.32453043e+02]
 [ 1.70083778e-01  9.84811307e-01 -3.49026794e-02  4.91602980e+01]
 [ 2.52458465e-01 -9.30995644e-03  9.67562943e-01  1.65277760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.620714057 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:632.51, Y:49.17, Z:165.29
[[ 9.51733063e-01 -1.77761417e-01 -2.50210023e-01  6.32512798e+02]
 [ 1.74620437e-01  9.84017686e-01 -3.48840354e-02  4.91656996e+01]
 [ 2.52412123e-01 -1.04914936e-02  9.67562943e-01  1.65291228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.680714057 meters
Centerline goodness : 0.998926 with order 1
Centerline is valid?  [True, True]
Translation: X:632.57, Y:49.17, Z:165.31
[[ 9.50755188e-01 -1.82916801e-01 -2.50211944e-01  6.32571324e+02]
 [ 1.79954456e-01  9.83056692e-01 -3.48702485e-02  4.91714532e+01]
 [ 2.52350880e-01 -1.18736848e-02  9.67562943e-01  1.65305876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.740714057 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:632.63, Y:49.18, Z:165.32
[[ 9.49381366e-01 -1.89918273e-01 -2.50212054e-01  6.32629866e+02]
 [ 1.87194256e-01  9.81703841e-01 -3.48694601e-02  4.91773159e+01]
 [ 2.52256482e-01 -1.37338436e-02  9.67562943e-01  1.65321861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.800714057 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:632.69, Y:49.18, Z:165.34
[[ 9.48658173e-01 -1.93498145e-01 -2.50212189e-01  6.32687956e+02]
 [ 1.90896329e-01  9.80990714e-01 -3.48684877e-02  4.91849876e+01]
 [ 2.52202822e-01 -1.46863126e-02  9.67562943e-01  1.65338358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.860714057 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:632.74, Y:49.19, Z:165.35
[[ 9.48212981e-01 -1.95667950e-01 -2.50212301e-01  6.32744945e+02]
 [ 1.93140321e-01  9.80551407e-01 -3.48676857e-02  4.91929395e+01]
 [ 2.52168512e-01 -1.52640920e-02  9.67562943e-01  1.65354960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.920714057 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:632.80, Y:49.20, Z:165.37
[[ 9.48223130e-01 -1.95618761e-01 -2.50212301e-01  6.32803847e+02]
 [ 1.93089455e-01  9.80561424e-01 -3.48676857e-02  4.92027287e+01]
 [ 2.52169304e-01 -1.52510107e-02  9.67562943e-01  1.65371635e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 651.980714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:632.86, Y:49.21, Z:165.39
[[ 9.48159344e-01 -1.95924358e-01 -2.50214918e-01  6.32861536e+02]
 [ 1.93410414e-01  9.80498835e-01 -3.48488961e-02  4.92125729e+01]
 [ 2.52163183e-01 -1.53518645e-02  9.67562943e-01  1.65387735e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.0407140570001 meters
Centerline goodness : 0.998207 with order 1
Centerline is valid?  [True, True]
Translation: X:632.92, Y:49.22, Z:165.40
[[ 9.47826756e-01 -1.97525448e-01 -2.50216183e-01  6.32919981e+02]
 [ 1.95068514e-01  9.80170629e-01 -3.48398137e-02  4.92210266e+01]
 [ 2.52136303e-01 -1.57871915e-02  9.67562943e-01  1.65402301e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.100714057 meters
Centerline goodness : 0.998363 with order 1
Centerline is valid?  [True, True]
Translation: X:632.98, Y:49.23, Z:165.41
[[ 9.47306249e-01 -2.00006037e-01 -2.50216816e-01  6.32979458e+02]
 [ 1.97634979e-01  9.79656531e-01 -3.48352650e-02  4.92293931e+01]
 [ 2.52093801e-01 -1.64519311e-02  9.67562943e-01  1.65414813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.1607140570001 meters
Centerline goodness : 0.998465 with order 1
Centerline is valid?  [True, True]
Translation: X:633.04, Y:49.24, Z:165.43
[[ 9.47064118e-01 -2.01147856e-01 -2.50218100e-01  6.33039554e+02]
 [ 1.98818224e-01  9.79417409e-01 -3.48260423e-02  4.92386961e+01]
 [ 2.52073147e-01 -1.67654231e-02  9.67562943e-01  1.65429326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.220714057 meters
Centerline goodness : 0.998001 with order 1
Centerline is valid?  [True, True]
Translation: X:633.10, Y:49.25, Z:165.44
[[ 9.47046598e-01 -2.01227147e-01 -2.50220656e-01  6.33099112e+02]
 [ 1.98905056e-01  9.79400431e-01 -3.48076700e-02  4.92483122e+01]
 [ 2.52070466e-01 -1.68056679e-02  9.67562944e-01  1.65444930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.2807140570001 meters
Centerline goodness : 0.998217 with order 1
Centerline is valid?  [True, True]
Translation: X:633.16, Y:49.26, Z:165.46
[[ 9.47334565e-01 -1.99863813e-01 -2.50223256e-01  6.33156853e+02]
 [ 1.97500075e-01  9.79685382e-01 -3.47889677e-02  4.92581053e+01]
 [ 2.52093122e-01 -1.64623201e-02  9.67562944e-01  1.65462639e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.340714057 meters
Centerline goodness : 0.998154 with order 1
Centerline is valid?  [True, True]
Translation: X:633.21, Y:49.27, Z:165.48
[[ 9.47541647e-01 -1.98877322e-01 -2.50225176e-01  6.33213832e+02]
 [ 1.96483535e-01  9.79890254e-01 -3.47751498e-02  4.92671312e+01]
 [ 2.52109200e-01 -1.62142244e-02  9.67562944e-01  1.65479430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.400714057 meters
Centerline goodness : 0.998130 with order 1
Centerline is valid?  [True, True]
Translation: X:633.27, Y:49.28, Z:165.50
[[ 9.47546333e-01 -1.98850280e-01 -2.50228922e-01  6.33272000e+02]
 [ 1.96462663e-01  9.79895396e-01 -3.47481729e-02  4.92755002e+01]
 [ 2.52107853e-01 -1.62351365e-02  9.67562944e-01  1.65495533e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.460714057 meters
Centerline goodness : 0.998330 with order 1
Centerline is valid?  [True, True]
Translation: X:633.33, Y:49.28, Z:165.51
[[ 9.47259204e-01 -2.00212831e-01 -2.50229540e-01  6.33330971e+02]
 [ 1.97872910e-01  9.79611752e-01 -3.47437279e-02  4.92836812e+01]
 [ 2.52083938e-01 -1.66023311e-02  9.67562944e-01  1.65510809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.520714057 meters
Centerline goodness : 0.998219 with order 1
Centerline is valid?  [True, True]
Translation: X:633.39, Y:49.29, Z:165.53
[[ 9.46778219e-01 -2.02473618e-01 -2.50230771e-01  6.33388770e+02]
 [ 2.00213270e-01  9.79136424e-01 -3.47348588e-02  4.92922233e+01]
 [ 2.52042954e-01 -1.72133131e-02  9.67562944e-01  1.65525612e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.580714057 meters
Centerline goodness : 0.997872 with order 1
Centerline is valid?  [True, True]
Translation: X:633.45, Y:49.30, Z:165.54
[[ 9.46276808e-01 -2.04803469e-01 -2.50231377e-01  6.33448412e+02]
 [ 2.02623927e-01  9.78640556e-01 -3.47304918e-02  4.93011116e+01]
 [ 2.51999499e-01 -1.78382052e-02  9.67562944e-01  1.65540194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.640714057 meters
Centerline goodness : 0.997890 with order 1
Centerline is valid?  [True, True]
Translation: X:633.51, Y:49.31, Z:165.56
[[ 9.46174585e-01 -2.05272069e-01 -2.50233956e-01  6.33508022e+02]
 [ 2.03113445e-01  9.78539735e-01 -3.47118993e-02  4.93101032e+01]
 [ 2.51989252e-01 -1.79823641e-02  9.67562944e-01  1.65556025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.700714057 meters
Centerline goodness : 0.998352 with order 1
Centerline is valid?  [True, True]
Translation: X:633.57, Y:49.32, Z:165.57
[[ 9.46542497e-01 -2.03565650e-01 -2.50236542e-01  6.33567278e+02]
 [ 2.01353578e-01  9.78904038e-01 -3.46932454e-02  4.93190899e+01]
 [ 2.52019915e-01 -1.75473920e-02  9.67562945e-01  1.65571418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.760714057 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:633.62, Y:49.33, Z:165.59
[[ 9.47429658e-01 -1.99392666e-01 -2.50239100e-01  6.33624344e+02]
 [ 1.97042866e-01  9.79781490e-01 -3.46747870e-02  4.93296168e+01]
 [ 2.52093536e-01 -1.64559080e-02  9.67562945e-01  1.65585072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.820714057 meters
Centerline goodness : 0.998411 with order 1
Centerline is valid?  [True, True]
Translation: X:633.68, Y:49.34, Z:165.60
[[ 9.48551675e-01 -1.93985725e-01 -2.50238404e-01  6.33682031e+02]
 [ 1.91450124e-01  9.80889474e-01 -3.46798105e-02  4.93412496e+01]
 [ 2.52183605e-01 -1.50125810e-02  9.67562945e-01  1.65599825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.880714057 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:633.74, Y:49.35, Z:165.62
[[ 9.49083645e-01 -1.91366154e-01 -2.50238345e-01  6.33740324e+02]
 [ 1.88741171e-01  9.81414312e-01 -3.46802336e-02  4.93506259e+01]
 [ 2.52224116e-01 -1.43158357e-02  9.67562945e-01  1.65615393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 652.940714057 meters
Centerline goodness : 0.998314 with order 1
Centerline is valid?  [True, True]
Translation: X:633.80, Y:49.36, Z:165.63
[[ 9.49470677e-01 -1.89434834e-01 -2.50239638e-01  6.33799557e+02]
 [ 1.86746531e-01  9.81796141e-01 -3.46709015e-02  4.93610163e+01]
 [ 2.52252187e-01 -1.38123800e-02  9.67562945e-01  1.65631990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.000714057 meters
Centerline goodness : 0.998100 with order 1
Centerline is valid?  [True, True]
Translation: X:633.86, Y:49.37, Z:165.65
[[ 9.49859141e-01 -1.87473788e-01 -2.50242263e-01  6.33857783e+02]
 [ 1.84723720e-01  9.82179408e-01 -3.46519439e-02  4.93702393e+01]
 [ 2.52279129e-01 -1.33112161e-02  9.67562945e-01  1.65647648e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.060714057 meters
Centerline goodness : 0.998357 with order 1
Centerline is valid?  [True, True]
Translation: X:633.92, Y:49.38, Z:165.66
[[ 9.50349691e-01 -1.84969831e-01 -2.50243133e-01  6.33917392e+02]
 [ 1.82136244e-01  9.82662743e-01 -3.46456596e-02  4.93793132e+01]
 [ 2.52313006e-01 -1.26528525e-02  9.67562945e-01  1.65660989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.120714057 meters
Centerline goodness : 0.998265 with order 1
Centerline is valid?  [True, True]
Translation: X:633.98, Y:49.39, Z:165.68
[[ 9.50604720e-01 -1.83651965e-01 -2.50245125e-01  6.33976024e+02]
 [ 1.80777356e-01  9.82914148e-01 -3.46312703e-02  4.93885314e+01]
 [ 2.52329574e-01 -1.23180031e-02  9.67562945e-01  1.65675649e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.180714057 meters
Centerline goodness : 0.998463 with order 1
Centerline is valid?  [True, True]
Translation: X:634.04, Y:49.40, Z:165.69
[[ 9.50629251e-01 -1.83522275e-01 -2.50247082e-01  6.34036596e+02]
 [ 1.80646974e-01  9.82938617e-01 -3.46171223e-02  4.93975116e+01]
 [ 2.52330534e-01 -1.22983290e-02  9.67562945e-01  1.65691401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.240714057 meters
Centerline goodness : 0.998131 with order 1
Centerline is valid?  [True, True]
Translation: X:634.10, Y:49.41, Z:165.71
[[ 9.50786594e-01 -1.82700111e-01 -2.50250919e-01  6.34095230e+02]
 [ 1.79804159e-01  9.83094116e-01 -3.45893643e-02  4.94055105e+01]
 [ 2.52339686e-01 -1.21090520e-02  9.67562946e-01  1.65707378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.300714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:634.16, Y:49.41, Z:165.72
[[ 9.51033642e-01 -1.81408718e-01 -2.50251651e-01  6.34155404e+02]
 [ 1.78470284e-01  9.83337328e-01 -3.45840653e-02  4.94135264e+01]
 [ 2.52355641e-01 -1.17718737e-02  9.67562946e-01  1.65723158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.360714057 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:634.21, Y:49.42, Z:165.74
[[ 9.51328485e-01 -1.79851730e-01 -2.50254808e-01  6.34214541e+02]
 [ 1.76866422e-01  9.83627872e-01 -3.45612095e-02  4.94203815e+01]
 [ 2.52373497e-01 -1.13826094e-02  9.67562946e-01  1.65737132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.420714057 meters
Centerline goodness : 0.998222 with order 1
Centerline is valid?  [True, True]
Translation: X:634.27, Y:49.43, Z:165.75
[[ 9.51328398e-01 -1.79849591e-01 -2.50256675e-01  6.34273522e+02]
 [ 1.76867761e-01  9.83628107e-01 -3.45476843e-02  4.94273296e+01]
 [ 2.52372886e-01 -1.13961446e-02  9.67562946e-01  1.65751077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.480714057 meters
Centerline goodness : 0.998290 with order 1
Centerline is valid?  [True, True]
Translation: X:634.33, Y:49.43, Z:165.77
[[ 9.51510206e-01 -1.78883513e-01 -2.50257899e-01  6.34331881e+02]
 [ 1.75871216e-01  9.83807088e-01 -3.45388134e-02  4.94320119e+01]
 [ 2.52383919e-01 -1.11491276e-02  9.67562946e-01  1.65765753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.5407140570001 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:634.39, Y:49.44, Z:165.78
[[ 9.51664870e-01 -1.78058027e-01 -2.50258496e-01  6.34391318e+02]
 [ 1.75018849e-01  9.83959233e-01 -3.45344905e-02  4.94386823e+01]
 [ 2.52393301e-01 -1.09346923e-02  9.67562946e-01  1.65782039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.600714057 meters
Centerline goodness : 0.997881 with order 1
Centerline is valid?  [True, True]
Translation: X:634.45, Y:49.44, Z:165.80
[[ 9.52035669e-01 -1.76061097e-01 -2.50261012e-01  6.34449642e+02]
 [ 1.72958962e-01  9.84324045e-01 -3.45162447e-02  4.94448807e+01]
 [ 2.52414900e-01 -1.04241888e-02  9.67562946e-01  1.65798735e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.6607140570001 meters
Centerline goodness : 0.998197 with order 1
Centerline is valid?  [True, True]
Translation: X:634.51, Y:49.45, Z:165.81
[[ 9.52197933e-01 -1.75180481e-01 -2.50261655e-01  6.34509287e+02]
 [ 1.72049707e-01  9.84483544e-01 -3.45115797e-02  4.94505636e+01]
 [ 2.52424237e-01 -1.01955897e-02  9.67562946e-01  1.65814961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.720714057 meters
Centerline goodness : 0.998194 with order 1
Centerline is valid?  [True, True]
Translation: X:634.57, Y:49.46, Z:165.83
[[ 9.51914971e-01 -1.76707964e-01 -2.50264226e-01  6.34569247e+02]
 [ 1.73633889e-01  9.84206031e-01 -3.44929258e-02  4.94558715e+01]
 [ 2.52406736e-01 -1.06200183e-02  9.67562946e-01  1.65830165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.7807140570001 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:634.63, Y:49.46, Z:165.84
[[ 9.51092141e-01 -1.81080870e-01 -2.50266772e-01  6.34629453e+02]
 [ 1.78160080e-01  9.83397426e-01 -3.44744479e-02  4.94588649e+01]
 [ 2.52354362e-01 -1.17991717e-02  9.67562946e-01  1.65844117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.840714057 meters
Centerline goodness : 0.998294 with order 1
Centerline is valid?  [True, True]
Translation: X:634.69, Y:49.46, Z:165.86
[[ 9.50380076e-01 -1.84779067e-01 -2.50268670e-01  6.34687863e+02]
 [ 1.81987582e-01  9.82696791e-01 -3.44606636e-02  4.94634101e+01]
 [ 2.52305828e-01 -1.27950619e-02  9.67562947e-01  1.65858986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.900714057 meters
Centerline goodness : 0.998215 with order 1
Centerline is valid?  [True, True]
Translation: X:634.75, Y:49.47, Z:165.87
[[ 9.49536740e-01 -1.89065002e-01 -2.50268665e-01  6.34746587e+02]
 [ 1.86419339e-01  9.81865719e-01 -3.44606975e-02  4.94669445e+01]
 [ 2.52245535e-01 -1.39332209e-02  9.67562947e-01  1.65874587e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 653.960714057 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:634.81, Y:49.47, Z:165.89
[[ 9.49168282e-01 -1.90900388e-01 -2.50273078e-01  6.34805796e+02]
 [ 1.88325661e-01  9.81502988e-01 -3.44286222e-02  4.94698825e+01]
 [ 2.52216211e-01 -1.44542867e-02  9.67562947e-01  1.65888932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.020714057 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:634.87, Y:49.48, Z:165.91
[[ 9.49349606e-01 -1.89995803e-01 -2.50273693e-01  6.34865856e+02]
 [ 1.87391439e-01  9.81681938e-01 -3.44241506e-02  4.94761585e+01]
 [ 2.52229608e-01 -1.42185936e-02  9.67562947e-01  1.65905140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.080714057 meters
Centerline goodness : 0.998022 with order 1
Centerline is valid?  [True, True]
Translation: X:634.92, Y:49.48, Z:165.92
[[ 9.49939180e-01 -1.87022365e-01 -2.50276225e-01  6.34924414e+02]
 [ 1.84321617e-01  9.82263604e-01 -3.44057319e-02  4.94829016e+01]
 [ 2.52271868e-01 -1.34479656e-02  9.67562947e-01  1.65921121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.140714057 meters
Centerline goodness : 0.998521 with order 1
Centerline is valid?  [True, True]
Translation: X:634.98, Y:49.49, Z:165.94
[[ 9.50343098e-01 -1.84958048e-01 -2.50276882e-01  6.34982082e+02]
 [ 1.82188332e-01  9.82661685e-01 -3.44009527e-02  4.94892325e+01]
 [ 2.52300235e-01 -1.29048197e-02  9.67562947e-01  1.65936156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.200714057 meters
Centerline goodness : 0.998828 with order 1
Centerline is valid?  [True, True]
Translation: X:635.04, Y:49.50, Z:165.95
[[ 9.50642186e-01 -1.83414605e-01 -2.50276882e-01  6.35040882e+02]
 [ 1.80592413e-01  9.82956232e-01 -3.44009527e-02  4.94956759e+01]
 [ 2.52320858e-01 -1.24951092e-02  9.67562947e-01  1.65952092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.260714057 meters
Centerline goodness : 0.998957 with order 1
Centerline is valid?  [True, True]
Translation: X:635.10, Y:49.50, Z:165.97
[[ 9.50795777e-01 -1.82614975e-01 -2.50278168e-01  6.35097929e+02]
 [ 1.79768063e-01  9.83107655e-01 -3.43915924e-02  4.95032693e+01]
 [ 2.52330803e-01 -1.22926406e-02  9.67562947e-01  1.65967365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.320714057 meters
Centerline goodness : 0.998934 with order 1
Centerline is valid?  [True, True]
Translation: X:635.16, Y:49.51, Z:165.98
[[ 9.50844557e-01 -1.82361276e-01 -2.50277831e-01  6.35156867e+02]
 [ 1.79505099e-01  9.83155618e-01 -3.43940427e-02  4.95109042e+01]
 [ 2.52334197e-01 -1.22227586e-02  9.67562947e-01  1.65983290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.380714057 meters
Centerline goodness : 0.998546 with order 1
Centerline is valid?  [True, True]
Translation: X:635.22, Y:49.52, Z:166.00
[[ 9.50969768e-01 -1.81705432e-01 -2.50279119e-01  6.35215789e+02]
 [ 1.78829431e-01  9.83279070e-01 -3.43846734e-02  4.95185690e+01]
 [ 2.52342101e-01 -1.20584876e-02  9.67562947e-01  1.65998881e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.440714057 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:635.28, Y:49.53, Z:166.01
[[ 9.51458366e-01 -1.79127612e-01 -2.50280394e-01  6.35275356e+02]
 [ 1.76166500e-01  9.83759979e-01 -3.43753904e-02  4.95265982e+01]
 [ 2.52373416e-01 -1.13842681e-02  9.67562947e-01  1.66014743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.500714057 meters
Centerline goodness : 0.998545 with order 1
Centerline is valid?  [True, True]
Translation: X:635.33, Y:49.53, Z:166.03
[[ 9.51891505e-01 -1.76807820e-01 -2.50282953e-01  6.35333798e+02]
 [ 1.73772872e-01  9.84186264e-01 -3.43567430e-02  4.95349233e+01]
 [ 2.52399586e-01 -1.07884959e-02  9.67562948e-01  1.66030478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.560714057 meters
Centerline goodness : 0.998443 with order 1
Centerline is valid?  [True, True]
Translation: X:635.39, Y:49.54, Z:166.05
[[ 9.52261804e-01 -1.74800614e-01 -2.50284241e-01  6.35392370e+02]
 [ 1.71700050e-01  9.84550330e-01 -3.43473585e-02  4.95420901e+01]
 [ 2.52421372e-01 -1.02661391e-02  9.67562948e-01  1.66046170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.620714057 meters
Centerline goodness : 0.998176 with order 1
Centerline is valid?  [True, True]
Translation: X:635.45, Y:49.55, Z:166.06
[[ 9.52243174e-01 -1.74899366e-01 -2.50286136e-01  6.35450944e+02]
 [ 1.71805774e-01  9.84532368e-01 -3.43335487e-02  4.95483322e+01]
 [ 2.52419718e-01 -1.03067158e-02  9.67562948e-01  1.66061305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.680714057 meters
Centerline goodness : 0.998220 with order 1
Centerline is valid?  [True, True]
Translation: X:635.51, Y:49.55, Z:166.08
[[ 9.52119636e-01 -1.75569760e-01 -2.50286753e-01  6.35508784e+02]
 [ 1.72500084e-01  9.84411112e-01 -3.43290446e-02  4.95538141e+01]
 [ 2.52412203e-01 -1.04891286e-02  9.67562948e-01  1.66076485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.740714057 meters
Centerline goodness : 0.998135 with order 1
Centerline is valid?  [True, True]
Translation: X:635.57, Y:49.56, Z:166.09
[[ 9.52083481e-01 -1.75766582e-01 -2.50286144e-01  6.35565832e+02]
 [ 1.72702416e-01  9.84375481e-01 -3.43334874e-02  4.95600653e+01]
 [ 2.52410223e-01 -1.05366755e-02  9.67562948e-01  1.66091414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.800714057 meters
Centerline goodness : 0.998011 with order 1
Centerline is valid?  [True, True]
Translation: X:635.62, Y:49.56, Z:166.11
[[ 9.51842435e-01 -1.77068996e-01 -2.50284936e-01  6.35622758e+02]
 [ 1.74046702e-01  9.84138381e-01 -3.43422914e-02  4.95641631e+01]
 [ 2.52395967e-01 -1.08728175e-02  9.67562948e-01  1.66105875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.860714057 meters
Centerline goodness : 0.997989 with order 1
Centerline is valid?  [True, True]
Translation: X:635.68, Y:49.57, Z:166.12
[[ 9.51417778e-01 -1.79338388e-01 -2.50283747e-01  6.35680532e+02]
 [ 1.76390846e-01  9.83720632e-01 -3.43509538e-02  4.95695717e+01]
 [ 2.52369730e-01 -1.14656537e-02  9.67562948e-01  1.66120827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.920714057 meters
Centerline goodness : 0.997517 with order 1
Centerline is valid?  [True, True]
Translation: X:635.74, Y:49.57, Z:166.14
[[ 9.50667848e-01 -1.83273769e-01 -2.50282578e-01  6.35738940e+02]
 [ 1.80457684e-01  9.82982427e-01 -3.43594673e-02  4.95742956e+01]
 [ 2.52320565e-01 -1.25009737e-02  9.67562948e-01  1.66137306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 654.980714057 meters
Centerline goodness : 0.997782 with order 1
Centerline is valid?  [True, True]
Translation: X:635.80, Y:49.58, Z:166.15
[[ 9.50176082e-01 -1.85805606e-01 -2.50283219e-01  6.35797685e+02]
 [ 1.83076841e-01  9.82498152e-01 -3.43547962e-02  4.95791685e+01]
 [ 2.52286114e-01 -1.31779555e-02  9.67562948e-01  1.66152271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.0407140570001 meters
Centerline goodness : 0.997875 with order 1
Centerline is valid?  [True, True]
Translation: X:635.86, Y:49.58, Z:166.17
[[ 9.49220553e-01 -1.90626165e-01 -2.50283851e-01  6.35856477e+02]
 [ 1.88062707e-01  9.81556153e-01 -3.43501931e-02  4.95829520e+01]
 [ 2.52215700e-01 -1.44631494e-02  9.67562948e-01  1.66165627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.100714057 meters
Centerline goodness : 0.997419 with order 1
Centerline is valid?  [True, True]
Translation: X:635.91, Y:49.59, Z:166.18
[[ 9.48166753e-01 -1.95800490e-01 -2.50283791e-01  6.35914320e+02]
 [ 1.93413316e-01  9.80515845e-01 -3.43506330e-02  4.95888945e+01]
 [ 2.52133094e-01 -1.58380899e-02  9.67562948e-01  1.66179239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.1607140570001 meters
Centerline goodness : 0.997594 with order 1
Centerline is valid?  [True, True]
Translation: X:635.97, Y:49.59, Z:166.19
[[ 9.46772746e-01 -2.02431151e-01 -2.50285831e-01  6.35972698e+02]
 [ 2.00274332e-01  9.79138012e-01 -3.43357635e-02  4.95939869e+01]
 [ 2.52014999e-01 -1.76176626e-02  9.67562948e-01  1.66193305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.220714057 meters
Centerline goodness : 0.997110 with order 1
Centerline is valid?  [True, True]
Translation: X:636.03, Y:49.60, Z:166.21
[[ 9.46262839e-01 -2.04802066e-01 -2.50285342e-01  6.36030713e+02]
 [ 2.02725388e-01  9.78633347e-01 -3.43393260e-02  4.96017382e+01]
 [ 2.51970347e-01 -1.82451650e-02  9.67562948e-01  1.66209434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.2807140570001 meters
Centerline goodness : 0.997424 with order 1
Centerline is valid?  [True, True]
Translation: X:636.09, Y:49.61, Z:166.23
[[ 9.46364426e-01 -2.04332132e-01 -2.50285342e-01  6.36089916e+02]
 [ 2.02239379e-01  9.78733899e-01 -3.43393260e-02  4.96120448e+01]
 [ 2.51979376e-01 -1.81200357e-02  9.67562948e-01  1.66226108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.340714057 meters
Centerline goodness : 0.997719 with order 1
Centerline is valid?  [True, True]
Translation: X:636.15, Y:49.62, Z:166.24
[[ 9.46551821e-01 -2.03459079e-01 -2.50287942e-01  6.36148945e+02]
 [ 2.01341457e-01  9.78919675e-01 -3.43203628e-02  4.96226254e+01]
 [ 2.51994581e-01 -1.79073371e-02  9.67562948e-01  1.66241327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.400714057 meters
Centerline goodness : 0.997710 with order 1
Centerline is valid?  [True, True]
Translation: X:636.21, Y:49.63, Z:166.26
[[ 9.46361627e-01 -2.04339539e-01 -2.50289879e-01  6.36206630e+02]
 [ 2.02255745e-01  9.78731677e-01 -3.43062372e-02  4.96343144e+01]
 [ 2.51976753e-01 -1.81564593e-02  9.67562948e-01  1.66257012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.460714057 meters
Centerline goodness : 0.997455 with order 1
Centerline is valid?  [True, True]
Translation: X:636.26, Y:49.64, Z:166.27
[[ 9.45610542e-01 -2.07786058e-01 -2.50291143e-01  6.36264534e+02]
 [ 2.05822639e-01  9.77988117e-01 -3.42970118e-02  4.96435435e+01]
 [ 2.51908204e-01 -1.90839676e-02  9.67562948e-01  1.66272899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.520714057 meters
Centerline goodness : 0.997497 with order 1
Centerline is valid?  [True, True]
Translation: X:636.32, Y:49.65, Z:166.29
[[ 9.44346440e-01 -2.13457088e-01 -2.50291575e-01  6.36321763e+02]
 [ 2.11688839e-01  9.76735260e-01 -3.42938539e-02  4.96548796e+01]
 [ 2.51788873e-01 -2.05986541e-02  9.67562948e-01  1.66289202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.580714057 meters
Centerline goodness : 0.998312 with order 1
Centerline is valid?  [True, True]
Translation: X:636.38, Y:49.67, Z:166.31
[[ 9.43819610e-01 -2.15774267e-01 -2.50291847e-01  6.36380551e+02]
 [ 2.14086041e-01  9.76212700e-01 -3.42918696e-02  4.96680244e+01]
 [ 2.51737383e-01 -2.12186517e-02  9.67562948e-01  1.66305491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.640714057 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:636.44, Y:49.68, Z:166.32
[[ 9.43928008e-01 -2.15296573e-01 -2.50294428e-01  6.36439500e+02]
 [ 2.13596916e-01  9.76320499e-01 -3.42730217e-02  4.96791308e+01]
 [ 2.51746445e-01 -2.11108528e-02  9.67562948e-01  1.66320704e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.700714057 meters
Centerline goodness : 0.998416 with order 1
Centerline is valid?  [True, True]
Translation: X:636.50, Y:49.69, Z:166.34
[[ 9.44121352e-01 -2.14444168e-01 -2.50296967e-01  6.36498423e+02]
 [ 2.12720147e-01  9.76512555e-01 -3.42544676e-02  4.96912798e+01]
 [ 2.51763802e-01 -2.09028335e-02  9.67562949e-01  1.66335942e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.760714057 meters
Centerline goodness : 0.998421 with order 1
Centerline is valid?  [True, True]
Translation: X:636.56, Y:49.70, Z:166.35
[[ 9.44288478e-01 -2.13703942e-01 -2.50299613e-01  6.36555623e+02]
 [ 2.11959620e-01  9.76678594e-01 -3.42351266e-02  4.97021520e+01]
 [ 2.51778455e-01 -2.07255753e-02  9.67562949e-01  1.66351572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.820714057 meters
Centerline goodness : 0.998410 with order 1
Centerline is valid?  [True, True]
Translation: X:636.61, Y:49.71, Z:166.37
[[ 9.44345889e-01 -2.13449330e-01 -2.50300272e-01  6.36613859e+02]
 [ 2.11697543e-01  9.76735602e-01 -3.42303074e-02  4.97136071e+01]
 [ 2.51783623e-01 -2.06627025e-02  9.67562949e-01  1.66366859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.880714057 meters
Centerline goodness : 0.998265 with order 1
Centerline is valid?  [True, True]
Translation: X:636.67, Y:49.72, Z:166.38
[[ 9.44175781e-01 -2.14199042e-01 -2.50301550e-01  6.36672020e+02]
 [ 2.12475433e-01  9.76567006e-01 -3.42209622e-02  4.97229209e+01]
 [ 2.51766332e-01 -2.08723264e-02  9.67562949e-01  1.66382077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 655.940714057 meters
Centerline goodness : 0.999042 with order 1
Centerline is valid?  [True, True]
Translation: X:636.73, Y:49.73, Z:166.40
[[ 9.43985890e-01 -2.15032146e-01 -2.50303447e-01  6.36732152e+02]
 [ 2.13340775e-01  9.76378814e-01 -3.42070817e-02  4.97337383e+01]
 [ 2.51746605e-01 -2.11089288e-02  9.67562949e-01  1.66396866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.000714057 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:636.79, Y:49.74, Z:166.41
[[ 9.44191730e-01 -2.14122269e-01 -2.50307072e-01  6.36791423e+02]
 [ 2.12406669e-01  9.76583380e-01 -3.41805347e-02  4.97446500e+01]
 [ 2.51764540e-01 -2.08939130e-02  9.67562949e-01  1.66412365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.060714057 meters
Centerline goodness : 0.998646 with order 1
Centerline is valid?  [True, True]
Translation: X:636.85, Y:49.76, Z:166.43
[[ 9.45400655e-01 -2.08716810e-01 -2.50309600e-01  6.36848991e+02]
 [ 2.06820791e-01  9.77782244e-01 -3.41620129e-02  4.97563654e+01]
 [ 2.51878468e-01 -1.94724400e-02  9.67562950e-01  1.66428875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.120714057 meters
Centerline goodness : 0.999212 with order 1
Centerline is valid?  [True, True]
Translation: X:636.91, Y:49.77, Z:166.45
[[ 9.46393449e-01 -2.04167232e-01 -2.50310171e-01  6.36906746e+02]
 [ 2.02116587e-01  9.78765614e-01 -3.41578272e-02  4.97677308e+01]
 [ 2.51968897e-01 -1.82650936e-02  9.67562950e-01  1.66445139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.180714057 meters
Centerline goodness : 0.998967 with order 1
Centerline is valid?  [True, True]
Translation: X:636.96, Y:49.78, Z:166.46
[[ 9.48093173e-01 -1.96122587e-01 -2.50310341e-01  6.36963945e+02]
 [ 1.93797423e-01  9.80446779e-01 -3.41565814e-02  4.97806860e+01]
 [ 2.52114845e-01 -1.61258773e-02  9.67562950e-01  1.66460886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.240714057 meters
Centerline goodness : 0.998858 with order 1
Centerline is valid?  [True, True]
Translation: X:637.02, Y:49.79, Z:166.48
[[ 9.48653000e-01 -1.93396677e-01 -2.50310229e-01  6.37022821e+02]
 [ 1.90978313e-01  9.80999774e-01 -3.41574020e-02  4.97901983e+01]
 [ 2.52160206e-01 -1.54003033e-02  9.67562950e-01  1.66477205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.300714057 meters
Centerline goodness : 0.999052 with order 1
Centerline is valid?  [True, True]
Translation: X:637.08, Y:49.80, Z:166.49
[[ 9.50266193e-01 -1.85305199e-01 -2.50312095e-01  6.37079510e+02]
 [ 1.82614856e-01  9.82591482e-01 -3.41437186e-02  4.98006429e+01]
 [ 2.52281541e-01 -1.32650857e-02  9.67562950e-01  1.66492165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.360714057 meters
Centerline goodness : 0.998986 with order 1
Centerline is valid?  [True, True]
Translation: X:637.14, Y:49.81, Z:166.51
[[ 9.50930818e-01 -1.81864631e-01 -2.50311478e-01  6.37137268e+02]
 [ 1.79056121e-01  9.83246054e-01 -3.41482410e-02  4.98105267e+01]
 [ 2.52328131e-01 -1.23471877e-02  9.67562950e-01  1.66506461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.420714057 meters
Centerline goodness : 0.999071 with order 1
Centerline is valid?  [True, True]
Translation: X:637.20, Y:49.82, Z:166.52
[[ 9.51802188e-01 -1.77247731e-01 -2.50311478e-01  6.37195885e+02]
 [ 1.74282432e-01  9.84103415e-01 -3.41482410e-02  4.98191303e+01]
 [ 2.52385079e-01 -1.11225228e-02  9.67562950e-01  1.66518931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.480714057 meters
Centerline goodness : 0.998981 with order 1
Centerline is valid?  [True, True]
Translation: X:637.26, Y:49.83, Z:166.53
[[ 9.52199464e-01 -1.75101021e-01 -2.50311431e-01  6.37255900e+02]
 [ 1.72062801e-01  9.84493914e-01 -3.41485888e-02  4.98273046e+01]
 [ 2.52409533e-01 -1.05530181e-02  9.67562950e-01  1.66534082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.5407140570001 meters
Centerline goodness : 0.999069 with order 1
Centerline is valid?  [True, True]
Translation: X:637.31, Y:49.84, Z:166.55
[[ 9.52786629e-01 -1.71873662e-01 -2.50313970e-01  6.37313609e+02]
 [ 1.68730921e-01  9.85071074e-01 -3.41299647e-02  4.98354020e+01]
 [ 2.52443094e-01 -9.71713280e-03  9.67562950e-01  1.66547860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.600714057 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:637.37, Y:49.84, Z:166.56
[[ 9.53159828e-01 -1.69791812e-01 -2.50313970e-01  6.37371721e+02]
 [ 1.66578551e-01  9.85437330e-01 -3.41299647e-02  4.98426854e+01]
 [ 2.52463719e-01 -9.16562723e-03  9.67562950e-01  1.66564763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.6607140570001 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:637.43, Y:49.85, Z:166.58
[[ 9.53415357e-01 -1.68350097e-01 -2.50314605e-01  6.37431161e+02]
 [ 1.65089245e-01  9.85688087e-01 -3.41253095e-02  4.98498910e+01]
 [ 2.52477123e-01 -8.78865488e-03  9.67562950e-01  1.66581129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.720714057 meters
Centerline goodness : 0.999159 with order 1
Centerline is valid?  [True, True]
Translation: X:637.49, Y:49.86, Z:166.60
[[ 9.53410974e-01 -1.68371174e-01 -2.50317122e-01  6.37491183e+02]
 [ 1.65115880e-01  9.85684265e-01 -3.41068376e-02  4.98566759e+01]
 [ 2.52476257e-01 -8.81349849e-03  9.67562950e-01  1.66598048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.7807140570001 meters
Centerline goodness : 0.999383 with order 1
Centerline is valid?  [True, True]
Translation: X:637.55, Y:49.86, Z:166.61
[[ 9.53032825e-01 -1.70493946e-01 -2.50320293e-01  6.37551208e+02]
 [ 1.67316639e-01  9.85313886e-01 -3.40835477e-02  4.98624967e+01]
 [ 2.52455099e-01 -9.40001028e-03  9.67562950e-01  1.66614445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.840714057 meters
Centerline goodness : 0.999341 with order 1
Centerline is valid?  [True, True]
Translation: X:637.61, Y:49.87, Z:166.63
[[ 9.52830211e-01 -1.71619011e-01 -2.50322801e-01  6.37609405e+02]
 [ 1.68484652e-01  9.85115470e-01 -3.40651179e-02  4.98669038e+01]
 [ 2.52443086e-01 -9.71727666e-03  9.67562950e-01  1.66629177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.900714057 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:637.67, Y:49.87, Z:166.64
[[ 9.52403252e-01 -1.73971918e-01 -2.50323425e-01  6.37668468e+02]
 [ 1.70918514e-01  9.84696269e-01 -3.40605350e-02  4.98705954e+01]
 [ 2.52418119e-01 -1.03455434e-02  9.67562950e-01  1.66643360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 656.960714057 meters
Centerline goodness : 0.999365 with order 1
Centerline is valid?  [True, True]
Translation: X:637.73, Y:49.88, Z:166.66
[[ 9.52111634e-01 -1.75560710e-01 -2.50323539e-01  6.37727661e+02]
 [ 1.72561411e-01  9.84409720e-01 -3.40596944e-02  4.98764469e+01]
 [ 2.52400469e-01 -1.07675517e-02  9.67562950e-01  1.66657631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.020714057 meters
Centerline goodness : 0.999277 with order 1
Centerline is valid?  [True, True]
Translation: X:637.79, Y:49.88, Z:166.67
[[ 9.51763483e-01 -1.77435832e-01 -2.50325386e-01  6.37786550e+02]
 [ 1.74503722e-01  9.84067738e-01 -3.40461168e-02  4.98815613e+01]
 [ 2.52378137e-01 -1.12788609e-02  9.67562950e-01  1.66671682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.080714057 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:637.85, Y:49.89, Z:166.69
[[ 9.51482254e-01 -1.78937756e-01 -2.50325386e-01  6.37845681e+02]
 [ 1.76056635e-01  9.83791097e-01 -3.40461168e-02  4.98886491e+01]
 [ 2.52360022e-01 -1.16771692e-02  9.67562950e-01  1.66687028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.140714057 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:637.90, Y:49.89, Z:166.70
[[ 9.51125808e-01 -1.80821082e-01 -2.50326653e-01  6.37903005e+02]
 [ 1.78006377e-01  9.83440505e-01 -3.40367963e-02  4.98945344e+01]
 [ 2.52335940e-01 -1.21864652e-02  9.67562951e-01  1.66703449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.200714057 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:637.96, Y:49.90, Z:166.72
[[ 9.50579922e-01 -1.83669210e-01 -2.50326653e-01  6.37961630e+02]
 [ 1.80951311e-01  9.82902905e-01 -3.40367964e-02  4.99020242e+01]
 [ 2.52298306e-01 -1.29422407e-02  9.67562951e-01  1.66720195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.260714057 meters
Centerline goodness : 0.998389 with order 1
Centerline is valid?  [True, True]
Translation: X:638.02, Y:49.91, Z:166.73
[[ 9.50080737e-01 -1.86232499e-01 -2.50327886e-01  6.38019954e+02]
 [ 1.83604174e-01  9.82411126e-01 -3.40277302e-02  4.99087074e+01]
 [ 2.52261969e-01 -1.36321538e-02  9.67562951e-01  1.66734245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.320714057 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:638.08, Y:49.91, Z:166.75
[[ 9.49273618e-01 -1.90303644e-01 -2.50328027e-01  6.38078536e+02]
 [ 1.87814213e-01  9.81614999e-01 -3.40266876e-02  4.99144492e+01]
 [ 2.52201149e-01 -1.47145247e-02  9.67562951e-01  1.66748562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.380714057 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:638.14, Y:49.92, Z:166.76
[[ 9.48922056e-01 -1.92048157e-01 -2.50328659e-01  6.38138128e+02]
 [ 1.89619398e-01  9.81268049e-01 -3.40220405e-02  4.99223970e+01]
 [ 2.52173385e-01 -1.51829050e-02  9.67562951e-01  1.66764147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.440714057 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:638.20, Y:49.93, Z:166.78
[[ 9.48964413e-01 -1.91835418e-01 -2.50331211e-01  6.38195461e+02]
 [ 1.89404346e-01  9.81310233e-01 -3.40032502e-02  4.99304925e+01]
 [ 2.52175607e-01 -1.51459450e-02  9.67562951e-01  1.66778993e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.500714057 meters
Centerline goodness : 0.998384 with order 1
Centerline is valid?  [True, True]
Translation: X:638.26, Y:49.94, Z:166.79
[[ 9.49549060e-01 -1.88920266e-01 -2.50331211e-01  6.38255196e+02]
 [ 1.86389872e-01  9.81887262e-01 -3.40032502e-02  4.99391358e+01]
 [ 2.52220931e-01 -1.43714482e-02  9.67562951e-01  1.66792882e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.560714057 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:638.31, Y:49.95, Z:166.81
[[ 9.49973748e-01 -1.86770521e-01 -2.50333081e-01  6.38314190e+02]
 [ 1.84170555e-01  9.82306430e-01 -3.39894801e-02  4.99480044e+01]
 [ 2.52252028e-01 -1.38148687e-02  9.67562951e-01  1.66809021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.620714057 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:638.37, Y:49.96, Z:166.82
[[ 9.50393382e-01 -1.84620738e-01 -2.50334980e-01  6.38371731e+02]
 [ 1.81951302e-01  9.82720403e-01 -3.39754882e-02  4.99561814e+01]
 [ 2.52281872e-01 -1.32586964e-02  9.67562951e-01  1.66824604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.680714057 meters
Centerline goodness : 0.998578 with order 1
Centerline is valid?  [True, True]
Translation: X:638.43, Y:49.96, Z:166.84
[[ 9.50747555e-01 -1.82788094e-01 -2.50334973e-01  6.38430806e+02]
 [ 1.80056325e-01  9.83069368e-01 -3.39755361e-02  4.99639821e+01]
 [ 2.52306968e-01 -1.27722375e-02  9.67562951e-01  1.66839617e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.740714057 meters
Centerline goodness : 0.998816 with order 1
Centerline is valid?  [True, True]
Translation: X:638.49, Y:49.97, Z:166.85
[[ 9.50573674e-01 -1.83687639e-01 -2.50336857e-01  6.38488446e+02]
 [ 1.80990102e-01  9.82898362e-01 -3.39616538e-02  4.99726176e+01]
 [ 2.52294022e-01 -1.30254392e-02  9.67562951e-01  1.66854767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.800714057 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:638.55, Y:49.98, Z:166.87
[[ 9.50224806e-01 -1.85483578e-01 -2.50337093e-01  6.38546777e+02]
 [ 1.82847585e-01  9.82554571e-01 -3.39599136e-02  4.99804181e+01]
 [ 2.52268861e-01 -1.35039806e-02  9.67562951e-01  1.66869762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.860714057 meters
Centerline goodness : 0.998371 with order 1
Centerline is valid?  [True, True]
Translation: X:638.61, Y:49.99, Z:166.89
[[ 9.49285451e-01 -1.90230246e-01 -2.50338943e-01  6.38605156e+02]
 [ 1.87759448e-01  9.81628260e-01 -3.39462679e-02  4.99862979e+01]
 [ 2.52197388e-01 -1.47788035e-02  9.67562951e-01  1.66885732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.920714057 meters
Centerline goodness : 0.998517 with order 1
Centerline is valid?  [True, True]
Translation: X:638.66, Y:49.99, Z:166.90
[[ 9.48598718e-01 -1.93625506e-01 -2.50339042e-01  6.38663883e+02]
 [ 1.91270636e-01  9.80950174e-01 -3.39455383e-02  4.99933488e+01]
 [ 2.52142849e-01 -1.56818137e-02  9.67562951e-01  1.66901945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 657.980714057 meters
Centerline goodness : 0.997973 with order 1
Centerline is valid?  [True, True]
Translation: X:638.72, Y:50.00, Z:166.92
[[ 9.47943599e-01 -1.96806164e-01 -2.50340302e-01  6.38722555e+02]
 [ 1.94562263e-01  9.80302942e-01 -3.39362439e-02  5.00005871e+01]
 [ 2.52088197e-01 -1.65371305e-02  9.67562951e-01  1.66916491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.0407140570001 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:638.78, Y:50.01, Z:166.93
[[ 9.47627581e-01 -1.98321432e-01 -2.50340924e-01  6.38782169e+02]
 [ 1.96130475e-01  9.79990551e-01 -3.39316564e-02  5.00078457e+01]
 [ 2.52061115e-01 -1.69449107e-02  9.67562951e-01  1.66932087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.100714057 meters
Centerline goodness : 0.998019 with order 1
Centerline is valid?  [True, True]
Translation: X:638.84, Y:50.02, Z:166.95
[[ 9.47419903e-01 -1.99308092e-01 -2.50343387e-01  6.38839999e+02]
 [ 1.97155618e-01  9.79785455e-01 -3.39134725e-02  5.00157907e+01]
 [ 2.52042039e-01 -1.72263064e-02  9.67562951e-01  1.66948040e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.1607140570001 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:638.90, Y:50.02, Z:166.96
[[ 9.47447654e-01 -1.99175015e-01 -2.50344275e-01  6.38898950e+02]
 [ 1.97019718e-01  9.79813019e-01 -3.39069196e-02  5.00234951e+01]
 [ 2.52043991e-01 -1.71977270e-02  9.67562951e-01  1.66963943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.220714057 meters
Centerline goodness : 0.997849 with order 1
Centerline is valid?  [True, True]
Translation: X:638.96, Y:50.03, Z:166.98
[[ 9.48151701e-01 -1.95794509e-01 -2.50345484e-01  6.38956923e+02]
 [ 1.93526137e-01  9.80509337e-01 -3.38979879e-02  5.00326238e+01]
 [ 2.52103125e-01 -1.63079595e-02  9.67562951e-01  1.66980719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.2807140570001 meters
Centerline goodness : 0.997803 with order 1
Centerline is valid?  [True, True]
Translation: X:639.02, Y:50.04, Z:167.00
[[ 9.49179607e-01 -1.90749059e-01 -2.50345501e-01  6.39015300e+02]
 [ 1.88308660e-01  9.81524724e-01 -3.38978626e-02  5.00413326e+01]
 [ 2.52186284e-01 -1.49670659e-02  9.67562951e-01  1.66995581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.340714057 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:639.07, Y:50.05, Z:167.01
[[ 9.50980365e-01 -1.81557891e-01 -2.50345916e-01  6.39073160e+02]
 [ 1.78805508e-01  9.83300429e-01 -3.38948005e-02  5.00505817e+01]
 [ 2.52319115e-01 -1.25299389e-02  9.67562951e-01  1.67010315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.400714057 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:639.13, Y:50.06, Z:167.03
[[ 9.53126858e-01 -1.69929253e-01 -2.50346243e-01  6.39130623e+02]
 [ 1.66782958e-01  9.85410956e-01 -3.38923845e-02  5.00590004e+01]
 [ 2.52453238e-01 -9.44974495e-03  9.67562951e-01  1.67026118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.460714057 meters
Centerline goodness : 0.998542 with order 1
Centerline is valid?  [True, True]
Translation: X:639.19, Y:50.07, Z:167.04
[[ 9.54762476e-01 -1.60484562e-01 -2.50346398e-01  6.39188831e+02]
 [ 1.57019095e-01  9.87013874e-01 -3.38912380e-02  5.00666411e+01]
 [ 2.52534389e-01 -6.95108253e-03  9.67562951e-01  1.67041181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.520714057 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:639.25, Y:50.07, Z:167.06
[[ 9.56853026e-01 -1.47509290e-01 -2.50346353e-01  6.39247870e+02]
 [ 1.43606257e-01  9.89054399e-01 -3.38915693e-02  5.00727357e+01]
 [ 2.52605483e-01 -3.52205213e-03  9.67562951e-01  1.67056486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.580714057 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:639.31, Y:50.08, Z:167.07
[[ 9.57890963e-01 -1.40610441e-01 -2.50346975e-01  6.39305812e+02]
 [ 1.36476668e-01  9.90063529e-01 -3.38869791e-02  5.00764072e+01]
 [ 2.52624272e-01 -1.70648978e-03  9.67562951e-01  1.67071243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.640714057 meters
Centerline goodness : 0.998629 with order 1
Centerline is valid?  [True, True]
Translation: X:639.36, Y:50.08, Z:167.09
[[ 9.58789388e-01 -1.34349974e-01 -2.50345749e-01  6.39364671e+02]
 [ 1.30003756e-01  9.90933945e-01 -3.38960324e-02  5.00757982e+01]
 [ 2.52630031e-01 -4.67315810e-05  9.67562951e-01  1.67086702e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.700714057 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:639.42, Y:50.07, Z:167.10
[[ 9.59140919e-01 -1.31818122e-01 -2.50345122e-01  6.39422088e+02]
 [ 1.27385844e-01  9.91273722e-01 -3.39006634e-02  5.00723160e+01]
 [ 2.52629262e-01  6.25088959e-04  9.67562951e-01  1.67101244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.760714057 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:639.48, Y:50.07, Z:167.12
[[ 9.59269212e-01 -1.30885964e-01 -2.50342653e-01  6.39480618e+02]
 [ 1.26417704e-01  9.91397031e-01 -3.39188862e-02  5.00703804e+01]
 [ 2.52628469e-01  8.89599781e-04  9.67562952e-01  1.67115834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.820714057 meters
Centerline goodness : 0.997488 with order 1
Centerline is valid?  [True, True]
Translation: X:639.54, Y:50.07, Z:167.13
[[ 9.59363115e-01 -1.30198097e-01 -2.50341505e-01  6.39537154e+02]
 [ 1.25704592e-01  9.91487413e-01 -3.39273550e-02  5.00679420e+01]
 [ 2.52627728e-01  1.07957620e-03  9.67562952e-01  1.67130451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.880714057 meters
Centerline goodness : 0.996650 with order 1
Centerline is valid?  [True, True]
Translation: X:639.60, Y:50.06, Z:167.15
[[ 9.59559444e-01 -1.28762687e-01 -2.50331467e-01  6.39596242e+02]
 [ 1.24201847e-01  9.91674249e-01 -3.40012624e-02  5.00578867e+01]
 [ 2.52625364e-01  1.53460184e-03  9.67562954e-01  1.67146903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 658.940714057 meters
Centerline goodness : 0.997319 with order 1
Centerline is valid?  [True, True]
Translation: X:639.66, Y:50.05, Z:167.16
[[ 9.59641589e-01 -1.28151474e-01 -2.50330222e-01  6.39655218e+02]
 [ 1.23567789e-01  9.91753141e-01 -3.40104253e-02  5.00459430e+01]
 [ 2.52624270e-01  1.70506647e-03  9.67562954e-01  1.67161213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.000714057 meters
Centerline goodness : 0.996008 with order 1
Centerline is valid?  [True, True]
Translation: X:639.71, Y:50.04, Z:167.18
[[ 9.59709235e-01 -1.27648832e-01 -2.50327706e-01  6.39713906e+02]
 [ 1.23043500e-01  9.91817689e-01 -3.40289366e-02  5.00408140e+01]
 [ 2.52623201e-01  1.85668752e-03  9.67562955e-01  1.67175037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.060714057 meters
Centerline goodness : 0.995766 with order 1
Centerline is valid?  [True, True]
Translation: X:639.77, Y:50.03, Z:167.19
[[ 9.60025899e-01 -1.25262579e-01 -2.50318914e-01  6.39773315e+02]
 [ 1.20560608e-01  9.92120342e-01 -3.40934922e-02  5.00270486e+01]
 [ 2.52617126e-01  2.55203499e-03  9.67562957e-01  1.67187607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.120714057 meters
Centerline goodness : 0.995770 with order 1
Centerline is valid?  [True, True]
Translation: X:639.83, Y:50.02, Z:167.20
[[ 9.60360243e-01 -1.22679331e-01 -2.50315773e-01  6.39832407e+02]
 [ 1.17885027e-01  9.92441022e-01 -3.41165376e-02  5.00190902e+01]
 [ 2.52609036e-01  3.25568471e-03  9.67562957e-01  1.67202182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.180714057 meters
Centerline goodness : 0.996182 with order 1
Centerline is valid?  [True, True]
Translation: X:639.89, Y:50.00, Z:167.22
[[ 9.60759667e-01 -1.19520603e-01 -2.50311184e-01  6.39893271e+02]
 [ 1.14612067e-01  9.92823166e-01 -3.41501792e-02  5.00018321e+01]
 [ 2.52596392e-01  4.12143263e-03  9.67562957e-01  1.67218052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.240714057 meters
Centerline goodness : 0.997509 with order 1
Centerline is valid?  [True, True]
Translation: X:639.95, Y:49.98, Z:167.23
[[ 9.60803468e-01 -1.19168154e-01 -2.50311101e-01  6.39954362e+02]
 [ 1.14247700e-01  9.92865140e-01 -3.41507826e-02  4.99824061e+01]
 [ 2.52594852e-01  4.21472277e-03  9.67562957e-01  1.67234292e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.300714057 meters
Centerline goodness : 0.997534 with order 1
Centerline is valid?  [True, True]
Translation: X:640.01, Y:49.97, Z:167.25
[[ 9.60501694e-01 -1.21577784e-01 -2.50310486e-01  6.40012822e+02]
 [ 1.16736590e-01  9.92575430e-01 -3.41552939e-02  4.99716198e+01]
 [ 2.52604563e-01  3.58582499e-03  9.67562957e-01  1.67250034e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.360714057 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:640.07, Y:49.95, Z:167.27
[[ 9.59719263e-01 -1.27611999e-01 -2.50308039e-01  6.40072993e+02]
 [ 1.22967807e-01  9.91822116e-01 -3.41732136e-02  4.99528428e+01]
 [ 2.52621961e-01  2.01686077e-03  9.67562958e-01  1.67265477e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.420714057 meters
Centerline goodness : 0.999558 with order 1
Centerline is valid?  [True, True]
Translation: X:640.13, Y:49.95, Z:167.28
[[ 9.59155338e-01 -1.31787231e-01 -2.50306139e-01  6.40132684e+02]
 [ 1.27279154e-01  9.91277588e-01 -3.41871286e-02  4.99451649e+01]
 [ 2.52628293e-01  9.32013330e-04  9.67562958e-01  1.67280880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.480714057 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:640.19, Y:49.93, Z:167.30
[[ 9.58245595e-01 -1.38248097e-01 -2.50305502e-01  6.40190267e+02]
 [ 1.33955380e-01  9.90397333e-01 -3.41917929e-02  4.99318239e+01]
 [ 2.52628852e-01 -7.65633673e-04  9.67562958e-01  1.67296915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.5407140570001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:640.25, Y:49.93, Z:167.31
[[ 9.57537743e-01 -1.43076749e-01 -2.50300847e-01  6.40249149e+02]
 [ 1.38937263e-01  9.89709568e-01 -3.42258319e-02  4.99266390e+01]
 [ 2.52622064e-01 -2.00358881e-03  9.67562958e-01  1.67313587e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.600714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:640.31, Y:49.92, Z:167.33
[[ 9.56245790e-01 -1.51472499e-01 -2.50299962e-01  6.40308733e+02]
 [ 1.47613747e-01  9.88452493e-01 -3.42323054e-02  4.99191208e+01]
 [ 2.52594874e-01 -4.21321749e-03  9.67562958e-01  1.67328267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.6607140570001 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:640.37, Y:49.91, Z:167.34
[[ 9.54790349e-01 -1.60393140e-01 -2.50298683e-01  6.40367442e+02]
 [ 1.56832780e-01  9.87031402e-01 -3.42416529e-02  4.99147144e+01]
 [ 2.52544786e-01 -6.56143869e-03  9.67562958e-01  1.67341223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.720714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:640.43, Y:49.92, Z:167.36
[[ 9.53839651e-01 -1.65954042e-01 -2.50298175e-01  6.40425826e+02]
 [ 1.62580639e-01  9.86100801e-01 -3.42453693e-02  4.99154551e+01]
 [ 2.52502388e-01 -8.02904622e-03  9.67562958e-01  1.67356028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.7807140570001 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:640.48, Y:49.92, Z:167.37
[[ 9.52763097e-01 -1.72028887e-01 -2.50296910e-01  6.40482931e+02]
 [ 1.68858708e-01  9.85044851e-01 -3.42546147e-02  4.99175577e+01]
 [ 2.52446465e-01 -9.62827988e-03  9.67562958e-01  1.67371773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.840714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:640.54, Y:49.92, Z:167.39
[[ 9.52490678e-01 -1.73533569e-01 -2.50295042e-01  6.40539998e+02]
 [ 1.70410804e-01  9.84777053e-01 -3.42682546e-02  4.99244166e+01]
 [ 2.52431506e-01 -1.00127862e-02  9.67562959e-01  1.67388382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.900714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:640.60, Y:49.93, Z:167.40
[[ 9.52694352e-01 -1.72412800e-01 -2.50294424e-01  6.40595344e+02]
 [ 1.69250868e-01  9.84976914e-01 -3.42727668e-02  4.99330203e+01]
 [ 2.52443293e-01 -9.71107710e-03  9.67562959e-01  1.67403273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 659.960714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:640.65, Y:49.94, Z:167.42
[[ 9.53033874e-01 -1.70532763e-01 -2.50289856e-01  6.40653296e+02]
 [ 1.67298401e-01  9.85309260e-01 -3.43060937e-02  4.99424071e+01]
 [ 2.52463226e-01 -9.17822340e-03  9.67562959e-01  1.67418278e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.020714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:640.71, Y:49.95, Z:167.43
[[ 9.53284266e-01 -1.69128002e-01 -2.50289489e-01  6.40710445e+02]
 [ 1.65845373e-01  9.85554778e-01 -3.43087756e-02  4.99529522e+01]
 [ 2.52476576e-01 -8.80333763e-03  9.67562959e-01  1.67432871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.080714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:640.77, Y:49.96, Z:167.45
[[ 9.53676351e-01 -1.66904749e-01 -2.50288277e-01  6.40767373e+02]
 [ 1.63544567e-01  9.85938881e-01 -3.43176114e-02  4.99631916e+01]
 [ 2.52496716e-01 -8.20539342e-03  9.67562959e-01  1.67447225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.140714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:640.82, Y:49.97, Z:167.46
[[ 9.54120732e-01 -1.64347282e-01 -2.50287036e-01  6.40823520e+02]
 [ 1.60898242e-01  9.86373883e-01 -3.43266588e-02  4.99746978e+01]
 [ 2.52518089e-01 -7.51896739e-03  9.67562959e-01  1.67460902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.200714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:640.88, Y:49.99, Z:167.47
[[ 9.54210217e-01 -1.63830876e-01 -2.50284449e-01  6.40879608e+02]
 [ 1.60359440e-01  9.86460965e-01 -3.43455117e-02  4.99850048e+01]
 [ 2.52522695e-01 -7.36263601e-03  9.67562959e-01  1.67474988e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.260714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:640.94, Y:49.99, Z:167.49
[[ 9.53787774e-01 -1.66275464e-01 -2.50282545e-01  6.40935902e+02]
 [ 1.62883044e-01  9.86046929e-01 -3.43593860e-02  4.99949962e+01]
 [ 2.52503457e-01 -7.99522052e-03  9.67562959e-01  1.67489861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.320714057 meters
Centerline goodness : 0.999852 with order 1
Centerline is valid?  [True, True]
Translation: X:640.99, Y:50.01, Z:167.50
[[ 9.52994738e-01 -1.70774631e-01 -2.50273960e-01  6.40993839e+02]
 [ 1.67518112e-01  9.85267893e-01 -3.44218051e-02  5.00055987e+01]
 [ 2.52465269e-01 -9.12162207e-03  9.67562961e-01  1.67504669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.380714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:641.05, Y:50.01, Z:167.52
[[ 9.52638327e-01 -1.72752357e-01 -2.50273533e-01  6.41050365e+02]
 [ 1.69562018e-01  9.84918092e-01 -3.44249141e-02  5.00146373e+01]
 [ 2.52445915e-01 -9.64239258e-03  9.67562961e-01  1.67519845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.440714057 meters
Centerline goodness : 0.999810 with order 1
Centerline is valid?  [True, True]
Translation: X:641.11, Y:50.03, Z:167.54
[[ 9.52237263e-01 -1.74961217e-01 -2.50265394e-01  6.41106611e+02]
 [ 1.71830249e-01  9.84522839e-01 -3.44839826e-02  5.00251518e+01]
 [ 2.52425356e-01 -1.01662318e-02  9.67562963e-01  1.67536919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.500714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:641.16, Y:50.03, Z:167.55
[[ 9.51824438e-01 -1.77195116e-01 -2.50264121e-01  6.41161098e+02]
 [ 1.74137490e-01  9.84117042e-01 -3.44932190e-02  5.00347921e+01]
 [ 2.52401217e-01 -1.07488770e-02  9.67562963e-01  1.67552333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.560714057 meters
Centerline goodness : 0.999791 with order 1
Centerline is valid?  [True, True]
Translation: X:641.22, Y:50.04, Z:167.57
[[ 9.51319757e-01 -1.79889313e-01 -2.50260973e-01  6.41217908e+02]
 [ 1.76917138e-01  9.83620338e-01 -3.45160418e-02  5.00438372e+01]
 [ 2.52370850e-01 -1.14396627e-02  9.67562963e-01  1.67568707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.620714057 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:641.28, Y:50.06, Z:167.58
[[ 9.50543157e-01 -1.83950427e-01 -2.50259757e-01  6.41275118e+02]
 [ 1.81113909e-01  9.82855934e-01 -3.45248572e-02  5.00550489e+01]
 [ 2.52320150e-01 -1.25081560e-02  9.67562963e-01  1.67584742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.680714057 meters
Centerline goodness : 0.999603 with order 1
Centerline is valid?  [True, True]
Translation: X:641.33, Y:50.07, Z:167.60
[[ 9.50061480e-01 -1.86422865e-01 -2.50259265e-01  6.41332614e+02]
 [ 1.83669487e-01  9.82381447e-01 -3.45284284e-02  5.00651641e+01]
 [ 2.52286947e-01 -1.31608610e-02  9.67562963e-01  1.67598330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.740714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:641.39, Y:50.08, Z:167.61
[[ 9.49432237e-01 -1.89602340e-01 -2.50258625e-01  6.41388022e+02]
 [ 1.86955958e-01  9.81761141e-01 -3.45330615e-02  5.00767177e+01]
 [ 2.52241743e-01 -1.40005392e-02  9.67562963e-01  1.67612318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.800714057 meters
Centerline goodness : 0.999622 with order 1
Centerline is valid?  [True, True]
Translation: X:641.44, Y:50.09, Z:167.63
[[ 9.49699035e-01 -1.88275271e-01 -2.50248207e-01  6.41442867e+02]
 [ 1.85563916e-01  9.82022552e-01 -3.46084018e-02  5.00912872e+01]
 [ 2.52265289e-01 -1.35694713e-02  9.67562966e-01  1.67627824e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.860714057 meters
Centerline goodness : 0.999747 with order 1
Centerline is valid?  [True, True]
Translation: X:641.50, Y:50.11, Z:167.64
[[ 9.50930226e-01 -1.81959207e-01 -2.50244983e-01  6.41498298e+02]
 [ 1.79026966e-01  9.83234454e-01 -3.46316942e-02  5.01075650e+01]
 [ 2.52351045e-01 -1.18682754e-02  9.67562966e-01  1.67643699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.920714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:641.55, Y:50.12, Z:167.66
[[ 9.52111744e-01 -1.75673556e-01 -2.50243937e-01  6.41554643e+02]
 [ 1.72526001e-01  9.84395704e-01 -3.46392511e-02  5.01207112e+01]
 [ 2.52424257e-01 -1.01931479e-02  9.67562967e-01  1.67658989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 660.980714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:641.61, Y:50.14, Z:167.67
[[ 9.53817105e-01 -1.66166736e-01 -2.50242976e-01  6.41611222e+02]
 [ 1.62695459e-01  9.86067862e-01 -3.46461931e-02  5.01375462e+01]
 [ 2.52513601e-01 -7.66726425e-03  9.67562967e-01  1.67673006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.0407140570001 meters
Centerline goodness : 0.999206 with order 1
Centerline is valid?  [True, True]
Translation: X:641.67, Y:50.15, Z:167.69
[[ 9.54759725e-01 -1.60663918e-01 -2.50241830e-01  6.41667280e+02]
 [ 1.57004562e-01  9.86989684e-01 -3.46544700e-02  5.01505896e+01]
 [ 2.52553828e-01 -6.20241654e-03  9.67562967e-01  1.67687164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.100714057 meters
Centerline goodness : 0.999292 with order 1
Centerline is valid?  [True, True]
Translation: X:641.72, Y:50.16, Z:167.70
[[ 9.55189069e-01 -1.58093346e-01 -2.50240558e-01  6.41722069e+02]
 [ 1.54344841e-01  9.87408781e-01 -3.46636545e-02  5.01631758e+01]
 [ 2.52569817e-01 -5.51299533e-03  9.67562967e-01  1.67701048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.1607140570001 meters
Centerline goodness : 0.999538 with order 1
Centerline is valid?  [True, True]
Translation: X:641.78, Y:50.17, Z:167.72
[[ 9.54947646e-01 -1.59552395e-01 -2.50235942e-01  6.41777215e+02]
 [ 1.55844398e-01  9.87172045e-01 -3.46969450e-02  5.01732887e+01]
 [ 2.52561907e-01 -5.86410374e-03  9.67562967e-01  1.67717201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.220714057 meters
Centerline goodness : 0.999410 with order 1
Centerline is valid?  [True, True]
Translation: X:641.83, Y:50.18, Z:167.73
[[ 9.54486052e-01 -1.62295876e-01 -2.50232743e-01  6.41833178e+02]
 [ 1.58674455e-01  9.86720294e-01 -3.47200021e-02  5.01834784e+01]
 [ 2.52544639e-01 -6.56578628e-03  9.67562967e-01  1.67731066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.2807140570001 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:641.89, Y:50.19, Z:167.75
[[ 9.54477394e-01 -1.62360857e-01 -2.50223613e-01  6.41890623e+02]
 [ 1.58724423e-01  9.86709944e-01 -3.47856809e-02  5.01933334e+01]
 [ 2.52545960e-01 -6.51445247e-03  9.67562970e-01  1.67746381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.340714057 meters
Centerline goodness : 0.999496 with order 1
Centerline is valid?  [True, True]
Translation: X:641.95, Y:50.20, Z:167.76
[[ 9.54550602e-01 -1.61930876e-01 -2.50222979e-01  6.41947603e+02]
 [ 1.58278728e-01  9.86781376e-01 -3.47902388e-02  5.02015029e+01]
 [ 2.52548989e-01 -6.39593156e-03  9.67562970e-01  1.67763139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.400714057 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:642.00, Y:50.21, Z:167.78
[[ 9.54366134e-01 -1.63017310e-01 -2.50221179e-01  6.42003569e+02]
 [ 1.59398462e-01  9.86600663e-01 -3.48031790e-02  5.02100848e+01]
 [ 2.52541902e-01 -6.66989566e-03  9.67562970e-01  1.67778768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.460714057 meters
Centerline goodness : 0.999291 with order 1
Centerline is valid?  [True, True]
Translation: X:642.06, Y:50.22, Z:167.79
[[ 9.53949170e-01 -1.65453520e-01 -2.50212138e-01  6.42059406e+02]
 [ 1.61899983e-01  9.86190962e-01 -3.48680605e-02  5.02175743e+01]
 [ 2.52525993e-01 -7.24698349e-03  9.67562972e-01  1.67794318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.520714057 meters
Centerline goodness : 0.999476 with order 1
Centerline is valid?  [True, True]
Translation: X:642.12, Y:50.22, Z:167.81
[[ 9.52697435e-01 -1.72528301e-01 -2.50203083e-01  6.42116837e+02]
 [ 1.69197118e-01  9.84962957e-01 -3.49329249e-02  5.02243429e+01]
 [ 2.52467686e-01 -9.05313244e-03  9.67562974e-01  1.67810153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.580714057 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:642.18, Y:50.23, Z:167.82
[[ 9.50589910e-01 -1.83786139e-01 -2.50202874e-01  6.42175450e+02]
 [ 1.80836480e-01  9.82892544e-01 -3.49344209e-02  5.02313559e+01]
 [ 2.52343002e-01 -1.20374988e-02  9.67562974e-01  1.67824633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.640714057 meters
Centerline goodness : 0.999241 with order 1
Centerline is valid?  [True, True]
Translation: X:642.23, Y:50.24, Z:167.84
[[ 9.47826309e-01 -1.97544750e-01 -2.50202638e-01  6.42234163e+02]
 [ 1.95063153e-01  9.80168269e-01 -3.49361124e-02  5.02382894e+01]
 [ 2.52142132e-01 -1.56919488e-02  9.67562974e-01  1.67839103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.700714057 meters
Centerline goodness : 0.999309 with order 1
Centerline is valid?  [True, True]
Translation: X:642.29, Y:50.25, Z:167.85
[[ 9.46287774e-01 -2.04788398e-01 -2.50202242e-01  6.42290971e+02]
 [ 2.02553494e-01  9.78647716e-01 -3.49389473e-02  5.02471676e+01]
 [ 2.52014943e-01 -1.76170397e-02  9.67562974e-01  1.67853973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.760714057 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:642.35, Y:50.26, Z:167.87
[[ 9.45010337e-01 -2.10604850e-01 -2.50202040e-01  6.42347949e+02]
 [ 2.08568644e-01  9.77383389e-01 -3.49403944e-02  5.02593878e+01]
 [ 2.51901934e-01 -1.91652661e-02  9.67562974e-01  1.67870198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.820714057 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:642.40, Y:50.28, Z:167.89
[[ 9.45114180e-01 -2.10139050e-01 -2.50201451e-01  6.42402768e+02]
 [ 2.08085779e-01  9.77486155e-01 -3.49446101e-02  5.02750468e+01]
 [ 2.51911681e-01 -1.90367172e-02  9.67562974e-01  1.67885416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.880714057 meters
Centerline goodness : 0.998862 with order 1
Centerline is valid?  [True, True]
Translation: X:642.46, Y:50.29, Z:167.90
[[ 9.45630143e-01 -2.07816035e-01 -2.50192185e-01  6.42459913e+02]
 [ 2.05665797e-01  9.77995819e-01 -3.50108313e-02  5.02902779e+01]
 [ 2.51962723e-01 -1.83486776e-02  9.67562976e-01  1.67900690e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 661.940714057 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:642.52, Y:50.30, Z:167.92
[[ 9.45996389e-01 -2.06142745e-01 -2.50191926e-01  6.42515062e+02]
 [ 2.03934765e-01  9.78358178e-01 -3.50126793e-02  5.03016681e+01]
 [ 2.51994927e-01 -1.79009634e-02  9.67562976e-01  1.67915745e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.000714057 meters
Centerline goodness : 0.998125 with order 1
Centerline is valid?  [True, True]
Translation: X:642.57, Y:50.32, Z:167.93
[[ 9.47642018e-01 -1.98443695e-01 -2.50189340e-01  6.42570704e+02]
 [ 1.95967786e-01  9.79984411e-01 -3.50311474e-02  5.03212324e+01]
 [ 2.52133364e-01 -1.58320639e-02  9.67562976e-01  1.67931791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.060714057 meters
Centerline goodness : 0.997125 with order 1
Centerline is valid?  [True, True]
Translation: X:642.63, Y:50.34, Z:167.95
[[ 9.49266525e-01 -1.90521802e-01 -2.50188945e-01  6.42626667e+02]
 [ 1.87775105e-01  9.81587047e-01 -3.50339671e-02  5.03410700e+01]
 [ 2.52256963e-01 -1.37226833e-02  9.67562976e-01  1.67946999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.120714057 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:642.68, Y:50.36, Z:167.96
[[ 9.49955631e-01 -1.87057166e-01 -2.50187760e-01  6.42683329e+02]
 [ 1.84190344e-01  9.82265720e-01 -3.50424302e-02  5.03569134e+01]
 [ 2.52305798e-01 -1.27934158e-02  9.67562976e-01  1.67962559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.180714057 meters
Centerline goodness : 0.996610 with order 1
Centerline is valid?  [True, True]
Translation: X:642.74, Y:50.37, Z:167.98
[[ 9.50426340e-01 -1.84651520e-01 -2.50187106e-01  6.42737796e+02]
 [ 1.81701680e-01  9.82728956e-01 -3.50471011e-02  5.03742904e+01]
 [ 2.52337614e-01 -1.21497293e-02  9.67562976e-01  1.67976445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.240714057 meters
Centerline goodness : 0.995737 with order 1
Centerline is valid?  [True, True]
Translation: X:642.80, Y:50.39, Z:167.99
[[ 9.50653545e-01 -1.83482592e-01 -2.50183884e-01  6.42795051e+02]
 [ 1.80486996e-01  9.82951949e-01 -3.50700814e-02  5.03895518e+01]
 [ 2.52353486e-01 -1.18154405e-02  9.67562976e-01  1.67990042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.300714057 meters
Centerline goodness : 0.995703 with order 1
Centerline is valid?  [True, True]
Translation: X:642.85, Y:50.40, Z:168.00
[[ 9.51049753e-01 -1.81418270e-01 -2.50183490e-01  6.42849835e+02]
 [ 1.78351821e-01  9.83341507e-01 -3.50728976e-02  5.04020077e+01]
 [ 2.52378674e-01 -1.12646104e-02  9.67562976e-01  1.68004886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.360714057 meters
Centerline goodness : 0.995412 with order 1
Centerline is valid?  [True, True]
Translation: X:642.91, Y:50.42, Z:168.02
[[ 9.51856734e-01 -1.77139992e-01 -2.50180299e-01  6.42905968e+02]
 [ 1.73922403e-01  9.84133778e-01 -3.50956423e-02  5.04158648e+01]
 [ 2.52427725e-01 -1.01059355e-02  9.67562977e-01  1.68020505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.420714057 meters
Centerline goodness : 0.994697 with order 1
Centerline is valid?  [True, True]
Translation: X:642.96, Y:50.43, Z:168.04
[[ 9.52387728e-01 -1.74263911e-01 -2.50179346e-01  6.42962220e+02]
 [ 1.70947056e-01  9.84654723e-01 -3.51024335e-02  5.04262243e+01]
 [ 2.52457362e-01 -9.33629596e-03  9.67562977e-01  1.68035631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.480714057 meters
Centerline goodness : 0.995389 with order 1
Centerline is valid?  [True, True]
Translation: X:643.02, Y:50.44, Z:168.05
[[ 9.52775034e-01 -1.72146035e-01 -2.50170897e-01  6.43017087e+02]
 [ 1.68741683e-01  9.85032913e-01 -3.51625535e-02  5.04360674e+01]
 [ 2.52479661e-01 -8.71225509e-03  9.67562979e-01  1.68050351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.5407140570001 meters
Centerline goodness : 0.995195 with order 1
Centerline is valid?  [True, True]
Translation: X:643.07, Y:50.44, Z:168.06
[[ 9.52454127e-01 -1.73928111e-01 -2.50160247e-01  6.43073823e+02]
 [ 1.70564278e-01  9.84716253e-01 -3.52381636e-02  5.04440123e+01]
 [ 2.52465768e-01 -9.10566745e-03  9.67562981e-01  1.68064789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.600714057 meters
Centerline goodness : 0.994919 with order 1
Centerline is valid?  [True, True]
Translation: X:643.13, Y:50.45, Z:168.08
[[ 9.51679149e-01 -1.78123716e-01 -2.50157430e-01  6.43129520e+02]
 [ 1.74896845e-01  9.83955262e-01 -3.52581469e-02  5.04511172e+01]
 [ 2.52424032e-01 -1.01973020e-02  9.67562982e-01  1.68078078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.6607140570001 meters
Centerline goodness : 0.994099 with order 1
Centerline is valid?  [True, True]
Translation: X:643.19, Y:50.46, Z:168.09
[[ 9.51050961e-01 -1.81452359e-01 -2.50154175e-01  6.43186172e+02]
 [ 1.78332376e-01  9.83337581e-01 -3.52812281e-02  5.04583579e+01]
 [ 2.52387863e-01 -1.10563424e-02  9.67562982e-01  1.68093385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.720714057 meters
Centerline goodness : 0.995052 with order 1
Centerline is valid?  [True, True]
Translation: X:643.24, Y:50.46, Z:168.11
[[ 9.50131382e-01 -1.86211290e-01 -2.50151379e-01  6.43244092e+02]
 [ 1.83247776e-01  9.82432740e-01 -3.53010444e-02  5.04648279e+01]
 [ 2.52330357e-01 -1.22990536e-02  9.67562982e-01  1.68110950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.7807140570001 meters
Centerline goodness : 0.995285 with order 1
Centerline is valid?  [True, True]
Translation: X:643.30, Y:50.47, Z:168.13
[[ 9.49559603e-01 -1.89105383e-01 -2.50151383e-01  6.43300504e+02]
 [ 1.86240310e-01  9.81869841e-01 -3.53010129e-02  5.04708906e+01]
 [ 2.52291710e-01 -1.30678553e-02  9.67562982e-01  1.68127585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.840714057 meters
Centerline goodness : 0.995279 with order 1
Centerline is valid?  [True, True]
Translation: X:643.36, Y:50.48, Z:168.14
[[ 9.49250276e-01 -1.90664343e-01 -2.50142003e-01  6.43358335e+02]
 [ 1.87834896e-01  9.81563651e-01 -3.53673603e-02  5.04774854e+01]
 [ 2.52273592e-01 -1.34129205e-02  9.67562984e-01  1.68143115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.900714057 meters
Centerline goodness : 0.995030 with order 1
Centerline is valid?  [True, True]
Translation: X:643.42, Y:50.48, Z:168.16
[[ 9.48412231e-01 -1.94790259e-01 -2.50141951e-01  6.43416404e+02]
 [ 1.92101253e-01  9.80737596e-01 -3.53677296e-02  5.04849918e+01]
 [ 2.52212904e-01 -1.45093947e-02  9.67562984e-01  1.68157371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 662.960714057 meters
Centerline goodness : 0.995270 with order 1
Centerline is valid?  [True, True]
Translation: X:643.47, Y:50.49, Z:168.17
[[ 9.47329283e-01 -1.99991459e-01 -2.50141252e-01  6.43474502e+02]
 [ 1.97478571e-01  9.79668816e-01 -3.53726662e-02  5.04918469e+01]
 [ 2.52129816e-01 -1.58879746e-02  9.67562984e-01  1.68172608e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.020714057 meters
Centerline goodness : 0.995184 with order 1
Centerline is valid?  [True, True]
Translation: X:643.53, Y:50.50, Z:168.19
[[ 9.46187648e-01 -2.05325636e-01 -2.50140595e-01  6.43532494e+02]
 [ 2.02993769e-01  9.78540738e-01 -3.53773133e-02  5.04996453e+01]
 [ 2.52036632e-01 -1.73034054e-02  9.67562984e-01  1.68188552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.080714057 meters
Centerline goodness : 0.995441 with order 1
Centerline is valid?  [True, True]
Translation: X:643.59, Y:50.51, Z:168.20
[[ 9.44145777e-01 -2.14519022e-01 -2.50140644e-01  6.43590501e+02]
 [ 2.12502039e-01  9.76520022e-01 -3.53769688e-02  5.05084961e+01]
 [ 2.51856380e-01 -1.97543811e-02  9.67562984e-01  1.68204303e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.140714057 meters
Centerline goodness : 0.995276 with order 1
Centerline is valid?  [True, True]
Translation: X:643.65, Y:50.52, Z:168.22
[[ 9.42448952e-01 -2.21855424e-01 -2.50140249e-01  6.43648775e+02]
 [ 2.20089549e-01  9.74837865e-01 -3.53797644e-02  5.05175572e+01]
 [ 2.51695378e-01 -2.17096325e-02  9.67562984e-01  1.68218420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.200714057 meters
Centerline goodness : 0.994662 with order 1
Centerline is valid?  [True, True]
Translation: X:643.71, Y:50.53, Z:168.23
[[ 9.41556419e-01 -2.25613754e-01 -2.50139850e-01  6.43706655e+02]
 [ 2.23976373e-01  9.73952082e-01 -3.53825820e-02  5.05285141e+01]
 [ 2.51607025e-01 -2.27107192e-02  9.67562984e-01  1.68233506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.260714057 meters
Centerline goodness : 0.994763 with order 1
Centerline is valid?  [True, True]
Translation: X:643.76, Y:50.54, Z:168.25
[[ 9.40484146e-01 -2.30042887e-01 -2.50139643e-01  6.43763745e+02]
 [ 2.28557616e-01  9.72887139e-01 -3.53840430e-02  5.05407808e+01]
 [ 2.51497489e-01 -2.38931890e-02  9.67562984e-01  1.68248731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.320714057 meters
Centerline goodness : 0.993777 with order 1
Centerline is valid?  [True, True]
Translation: X:643.82, Y:50.56, Z:168.26
[[ 9.39410225e-01 -2.34389886e-01 -2.50139580e-01  6.43819494e+02]
 [ 2.33054368e-01  9.71819736e-01 -3.53844886e-02  5.05555464e+01]
 [ 2.51384347e-01 -2.50555713e-02  9.67562984e-01  1.68264386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.380714057 meters
Centerline goodness : 0.994553 with order 1
Centerline is valid?  [True, True]
Translation: X:643.87, Y:50.57, Z:168.28
[[ 9.39237106e-01 -2.35083002e-01 -2.50139244e-01  6.43874991e+02]
 [ 2.33770773e-01  9.71647568e-01 -3.53868650e-02  5.05677870e+01]
 [ 2.51366039e-01 -2.52385877e-02  9.67562984e-01  1.68279942e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.440714057 meters
Centerline goodness : 0.994326 with order 1
Centerline is valid?  [True, True]
Translation: X:643.93, Y:50.59, Z:168.30
[[ 9.39873975e-01 -2.32533799e-01 -2.50129852e-01  6.43931910e+02]
 [ 2.31116171e-01  9.72279996e-01 -3.54531317e-02  5.05851869e+01]
 [ 2.51440303e-01 -2.44875778e-02  9.67562986e-01  1.68295624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.500714057 meters
Centerline goodness : 0.993157 with order 1
Centerline is valid?  [True, True]
Translation: X:643.99, Y:50.61, Z:168.31
[[ 9.41049069e-01 -2.27731791e-01 -2.50129728e-01  6.43988670e+02]
 [ 2.26148486e-01  9.73447418e-01 -3.54540084e-02  5.06053740e+01]
 [ 2.51562143e-01 -2.32024977e-02  9.67562986e-01  1.68309738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.560714057 meters
Centerline goodness : 0.993293 with order 1
Centerline is valid?  [True, True]
Translation: X:644.05, Y:50.62, Z:168.32
[[ 9.41770973e-01 -2.24727868e-01 -2.50129608e-01  6.44046044e+02]
 [ 2.23040969e-01  9.74164093e-01 -3.54548564e-02  5.06207995e+01]
 [ 2.51634977e-01 -2.23987955e-02  9.67562986e-01  1.68324901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.620714057 meters
Centerline goodness : 0.993226 with order 1
Centerline is valid?  [True, True]
Translation: X:644.10, Y:50.64, Z:168.34
[[ 9.42566761e-01 -2.21366542e-01 -2.50129475e-01  6.44101968e+02]
 [ 2.19563841e-01  9.74953643e-01 -3.54557887e-02  5.06398959e+01]
 [ 2.51713369e-01 -2.14999406e-02  9.67562986e-01  1.68341423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.680714057 meters
Centerline goodness : 0.993700 with order 1
Centerline is valid?  [True, True]
Translation: X:644.16, Y:50.66, Z:168.36
[[ 9.43796107e-01 -2.16065315e-01 -2.50129342e-01  6.44158201e+02]
 [ 2.14080363e-01  9.76172330e-01 -3.54567314e-02  5.06593553e+01]
 [ 2.51830312e-01 -2.00838551e-02  9.67562986e-01  1.68358900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.740714057 meters
Centerline goodness : 0.994764 with order 1
Centerline is valid?  [True, True]
Translation: X:644.21, Y:50.67, Z:168.38
[[ 9.44711565e-01 -2.12027350e-01 -2.50128891e-01  6.44214364e+02]
 [ 2.09903128e-01  9.77078949e-01 -3.54599097e-02  5.06743834e+01]
 [ 2.51914145e-01 -1.90034499e-02  9.67562986e-01  1.68375320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.800714057 meters
Centerline goodness : 0.995372 with order 1
Centerline is valid?  [True, True]
Translation: X:644.27, Y:50.69, Z:168.39
[[ 9.46008577e-01 -2.06164561e-01 -2.50127860e-01  6.44271555e+02]
 [ 2.03837736e-01  9.78362027e-01 -3.54671838e-02  5.06908921e+01]
 [ 2.52027676e-01 -1.74332366e-02  9.67562986e-01  1.68390016e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.860714057 meters
Centerline goodness : 0.995709 with order 1
Centerline is valid?  [True, True]
Translation: X:644.33, Y:50.70, Z:168.40
[[ 9.46394624e-01 -2.04385243e-01 -2.50127742e-01  6.44328166e+02]
 [ 2.01997364e-01  9.78743626e-01 -3.54680154e-02  5.07010926e+01]
 [ 2.52060072e-01 -1.69584054e-02  9.67562986e-01  1.68404116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.920714057 meters
Centerline goodness : 0.995709 with order 1
Centerline is valid?  [True, True]
Translation: X:644.38, Y:50.72, Z:168.42
[[ 9.47223843e-01 -2.00518630e-01 -2.50118512e-01  6.44384944e+02]
 [ 1.97981574e-01  9.79561485e-01 -3.55329916e-02  5.07160508e+01]
 [ 2.52131487e-01 -1.58611599e-02  9.67562988e-01  1.68418835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 663.980714057 meters
Centerline goodness : 0.996163 with order 1
Centerline is valid?  [True, True]
Translation: X:644.44, Y:50.73, Z:168.43
[[ 9.47185817e-01 -2.00698327e-01 -2.50118393e-01  6.44440337e+02]
 [ 1.98167187e-01  9.79523922e-01 -3.55338282e-02  5.07291259e+01]
 [ 2.52128529e-01 -1.59081201e-02  9.67562988e-01  1.68433078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.0407140570001 meters
Centerline goodness : 0.995702 with order 1
Centerline is valid?  [True, True]
Translation: X:644.50, Y:50.74, Z:168.45
[[ 9.46753431e-01 -2.02739433e-01 -2.50109302e-01  6.44496726e+02]
 [ 2.00261197e-01  9.79095632e-01 -3.55977064e-02  5.07395180e+01]
 [ 2.52097984e-01 -1.63849375e-02  9.67562991e-01  1.68448216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.100714057 meters
Centerline goodness : 0.996425 with order 1
Centerline is valid?  [True, True]
Translation: X:644.55, Y:50.75, Z:168.46
[[ 9.45948946e-01 -2.06462083e-01 -2.50107975e-01  6.44552991e+02]
 [ 2.04108639e-01  9.78300467e-01 -3.56070221e-02  5.07505728e+01]
 [ 2.52032249e-01 -1.73667735e-02  9.67562991e-01  1.68463280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.1607140570001 meters
Centerline goodness : 0.995868 with order 1
Centerline is valid?  [True, True]
Translation: X:644.61, Y:50.76, Z:168.48
[[ 9.45754610e-01 -2.07351459e-01 -2.50107156e-01  6.44610966e+02]
 [ 2.05026921e-01  9.78108221e-01 -3.56127783e-02  5.07614549e+01]
 [ 2.52016227e-01 -1.75977509e-02  9.67562991e-01  1.68478570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.220714057 meters
Centerline goodness : 0.996382 with order 1
Centerline is valid?  [True, True]
Translation: X:644.67, Y:50.77, Z:168.49
[[ 9.46062262e-01 -2.05942396e-01 -2.50107830e-01  6.44667609e+02]
 [ 2.03570912e-01  9.78412465e-01 -3.56080431e-02  5.07726982e+01]
 [ 2.52041824e-01 -1.72272532e-02  9.67562991e-01  1.68494793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.2807140570001 meters
Centerline goodness : 0.996569 with order 1
Centerline is valid?  [True, True]
Translation: X:644.72, Y:50.78, Z:168.51
[[ 9.46543148e-01 -2.03720744e-01 -2.50107830e-01  6.44723736e+02]
 [ 2.01273317e-01  9.78887695e-01 -3.56080431e-02  5.07837483e+01]
 [ 2.52081574e-01 -1.66354833e-02  9.67562991e-01  1.68512051e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.340714057 meters
Centerline goodness : 0.996274 with order 1
Centerline is valid?  [True, True]
Translation: X:644.78, Y:50.79, Z:168.53
[[ 9.46895337e-01 -2.02079044e-01 -2.50106540e-01  6.44780804e+02]
 [ 1.99573149e-01  9.79235406e-01 -3.56171045e-02  5.07937025e+01]
 [ 2.52110649e-01 -1.61888796e-02  9.67562991e-01  1.68528004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.400714057 meters
Centerline goodness : 0.997122 with order 1
Centerline is valid?  [True, True]
Translation: X:644.84, Y:50.80, Z:168.54
[[ 9.47073374e-01 -2.01243717e-01 -2.50105960e-01  6.44837698e+02]
 [ 1.98708226e-01  9.79411136e-01 -3.56211731e-02  5.08031870e+01]
 [ 2.52125100e-01 -1.59622470e-02  9.67562991e-01  1.68543759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.460714057 meters
Centerline goodness : 0.996826 with order 1
Centerline is valid?  [True, True]
Translation: X:644.90, Y:50.81, Z:168.56
[[ 9.47075280e-01 -2.01236338e-01 -2.50104677e-01  6.44895929e+02]
 [ 1.98698227e-01  9.79412837e-01 -3.56301778e-02  5.08127749e+01]
 [ 2.52125818e-01 -1.59508952e-02  9.67562991e-01  1.68558254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.520714057 meters
Centerline goodness : 0.997091 with order 1
Centerline is valid?  [True, True]
Translation: X:644.95, Y:50.82, Z:168.57
[[ 9.47124300e-01 -2.01004671e-01 -2.50105343e-01  6.44952965e+02]
 [ 1.98459880e-01  9.79461331e-01 -3.56255016e-02  5.08217204e+01]
 [ 2.52129405e-01 -1.58940981e-02  9.67562991e-01  1.68571524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.580714057 meters
Centerline goodness : 0.996917 with order 1
Centerline is valid?  [True, True]
Translation: X:645.01, Y:50.83, Z:168.59
[[ 9.47570871e-01 -1.98889642e-01 -2.50104688e-01  6.45010203e+02]
 [ 1.96271452e-01  9.79902043e-01 -3.56301023e-02  5.08314953e+01]
 [ 2.52164553e-01 -1.53263631e-02  9.67562991e-01  1.68587387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.640714057 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:645.07, Y:50.84, Z:168.60
[[ 9.48053170e-01 -1.96577802e-01 -2.50104688e-01  6.45067660e+02]
 [ 1.93880760e-01  9.80377859e-01 -3.56301023e-02  5.08408143e+01]
 [ 2.52201186e-01 -1.47112555e-02  9.67562991e-01  1.68602316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.700714057 meters
Centerline goodness : 0.997607 with order 1
Centerline is valid?  [True, True]
Translation: X:645.12, Y:50.85, Z:168.62
[[ 9.49255525e-01 -1.90688011e-01 -2.50104041e-01  6.45124130e+02]
 [ 1.87789140e-01  9.81562739e-01 -3.56346439e-02  5.08515107e+01]
 [ 2.52287907e-01 -1.31404400e-02  9.67562991e-01  1.68618670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.760714057 meters
Centerline goodness : 0.997143 with order 1
Centerline is valid?  [True, True]
Translation: X:645.18, Y:50.86, Z:168.64
[[ 9.50225880e-01 -1.85793514e-01 -2.50103072e-01  6.45181885e+02]
 [ 1.82726401e-01  9.82517557e-01 -3.56414443e-02  5.08606313e+01]
 [ 2.52352608e-01 -1.18330114e-02  9.67562991e-01  1.68635385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.820714057 meters
Centerline goodness : 0.997271 with order 1
Centerline is valid?  [True, True]
Translation: X:645.24, Y:50.87, Z:168.65
[[ 9.50485140e-01 -1.84462747e-01 -2.50102966e-01  6.45239216e+02]
 [ 1.81350223e-01  9.82772472e-01 -3.56421889e-02  5.08676396e+01]
 [ 2.52368966e-01 -1.14788578e-02  9.67562991e-01  1.68650038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.880714057 meters
Centerline goodness : 0.997483 with order 1
Centerline is valid?  [True, True]
Translation: X:645.30, Y:50.87, Z:168.66
[[ 9.50156195e-01 -1.86151371e-01 -2.50101723e-01  6.45295816e+02]
 [ 1.83093934e-01  9.82448790e-01 -3.56509079e-02  5.08739036e+01]
 [ 2.52348600e-01 -1.19181774e-02  9.67562991e-01  1.68663914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 664.940714057 meters
Centerline goodness : 0.997205 with order 1
Centerline is valid?  [True, True]
Translation: X:645.35, Y:50.88, Z:168.68
[[ 9.49371608e-01 -1.90123601e-01 -2.50093117e-01  6.45352403e+02]
 [ 1.87185413e-01  9.81675269e-01 -3.57111789e-02  5.08797003e+01]
 [ 2.52299766e-01 -1.29106042e-02  9.67562993e-01  1.68678826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.000714057 meters
Centerline goodness : 0.997358 with order 1
Centerline is valid?  [True, True]
Translation: X:645.41, Y:50.89, Z:168.69
[[ 9.48324045e-01 -1.95284012e-01 -2.50091305e-01  6.45410919e+02]
 [ 1.92518219e-01  9.80642922e-01 -3.57238655e-02  5.08860786e+01]
 [ 2.52226568e-01 -1.42693320e-02  9.67562993e-01  1.68694119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.060714057 meters
Centerline goodness : 0.997107 with order 1
Centerline is valid?  [True, True]
Translation: X:645.47, Y:50.89, Z:168.71
[[ 9.47220585e-01 -2.00567884e-01 -2.50091358e-01  6.45469509e+02]
 [ 1.97982410e-01  9.79554387e-01 -3.57234907e-02  5.08924002e+01]
 [ 2.52143072e-01 -1.56756642e-02  9.67562993e-01  1.68708881e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.120714057 meters
Centerline goodness : 0.997487 with order 1
Centerline is valid?  [True, True]
Translation: X:645.53, Y:50.90, Z:168.72
[[ 9.46567708e-01 -2.03626703e-01 -2.50091464e-01  6.45527195e+02]
 [ 2.01145887e-01  9.78909708e-01 -3.57227511e-02  5.08999360e+01]
 [ 2.52091068e-01 -1.64908668e-02  9.67562993e-01  1.68724629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.180714057 meters
Centerline goodness : 0.996997 with order 1
Centerline is valid?  [True, True]
Translation: X:645.59, Y:50.91, Z:168.74
[[ 9.46313043e-01 -2.04807158e-01 -2.50091288e-01  6.45586597e+02]
 [ 2.02366359e-01  9.78658088e-01 -3.57239825e-02  5.09087944e+01]
 [ 2.52070389e-01 -1.68039927e-02  9.67562993e-01  1.68741464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.240714057 meters
Centerline goodness : 0.997208 with order 1
Centerline is valid?  [True, True]
Translation: X:645.64, Y:50.92, Z:168.76
[[ 9.46663727e-01 -2.03176690e-01 -2.50094024e-01  6.45644217e+02]
 [ 2.00685216e-01  9.79004908e-01 -3.57048194e-02  5.09162936e+01]
 [ 2.52097664e-01 -1.63897159e-02  9.67562993e-01  1.68757112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.300714057 meters
Centerline goodness : 0.997208 with order 1
Centerline is valid?  [True, True]
Translation: X:645.70, Y:50.92, Z:168.77
[[ 9.46982791e-01 -2.01684340e-01 -2.50094024e-01  6.45702436e+02]
 [ 1.99141894e-01  9.79320005e-01 -3.57048194e-02  5.09243150e+01]
 [ 2.52123184e-01 -1.59923482e-02  9.67562993e-01  1.68772885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.360714057 meters
Centerline goodness : 0.996554 with order 1
Centerline is valid?  [True, True]
Translation: X:645.76, Y:50.93, Z:168.79
[[ 9.47127426e-01 -2.01003194e-01 -2.50094692e-01  6.45760981e+02]
 [ 1.98438722e-01  9.79462901e-01 -3.57001390e-02  5.09323859e+01]
 [ 2.52134315e-01 -1.58158904e-02  9.67562993e-01  1.68788355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.420714057 meters
Centerline goodness : 0.997322 with order 1
Centerline is valid?  [True, True]
Translation: X:645.82, Y:50.94, Z:168.80
[[ 9.46958559e-01 -2.01796427e-01 -2.50095363e-01  6.45819419e+02]
 [ 1.99260275e-01  9.79296267e-01 -3.56954407e-02  5.09391879e+01]
 [ 2.52120667e-01 -1.60319678e-02  9.67562993e-01  1.68801411e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.480714057 meters
Centerline goodness : 0.996916 with order 1
Centerline is valid?  [True, True]
Translation: X:645.88, Y:50.95, Z:168.82
[[ 9.46600898e-01 -2.03466742e-01 -2.50096031e-01  6.45877661e+02]
 [ 2.00988876e-01  9.78943125e-01 -3.56907602e-02  5.09466442e+01]
 [ 2.52091672e-01 -1.64816144e-02  9.67562993e-01  1.68815588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.5407140570001 meters
Centerline goodness : 0.997115 with order 1
Centerline is valid?  [True, True]
Translation: X:645.93, Y:50.96, Z:168.83
[[ 9.45619352e-01 -2.07980809e-01 -2.50096031e-01  6.45934342e+02]
 [ 2.05657281e-01  9.77973033e-01 -3.56907602e-02  5.09551063e+01]
 [ 2.52010167e-01 -1.76841961e-02  9.67562993e-01  1.68830917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.600714057 meters
Centerline goodness : 0.997338 with order 1
Centerline is valid?  [True, True]
Translation: X:645.99, Y:50.96, Z:168.85
[[ 9.44203845e-01 -2.14315922e-01 -2.50095550e-01  6.45992393e+02]
 [ 2.12208471e-01  9.76572319e-01 -3.56941304e-02  5.09634104e+01]
 [ 2.51886211e-01 -1.93698590e-02  9.67562993e-01  1.68846280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.6607140570001 meters
Centerline goodness : 0.996804 with order 1
Centerline is valid?  [True, True]
Translation: X:646.05, Y:50.97, Z:168.86
[[ 9.43300340e-01 -2.18257964e-01 -2.50095840e-01  6.46049844e+02]
 [ 2.16286269e-01  9.75677367e-01 -3.56920970e-02  5.09725908e+01]
 [ 2.51802935e-01 -2.04239288e-02  9.67562993e-01  1.68861788e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.720714057 meters
Centerline goodness : 0.997026 with order 1
Centerline is valid?  [True, True]
Translation: X:646.11, Y:50.98, Z:168.88
[[ 9.42551275e-01 -2.21470357e-01 -2.50095933e-01  6.46105917e+02]
 [ 2.19609148e-01  9.74934840e-01 -3.56914440e-02  5.09833144e+01]
 [ 2.51731835e-01 -2.12823388e-02  9.67562993e-01  1.68878558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.7807140570001 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:646.17, Y:50.99, Z:168.89
[[ 9.42257782e-01 -2.22716358e-01 -2.50095373e-01  6.46165428e+02]
 [ 2.20896932e-01  9.74643723e-01 -3.56953694e-02  5.09938703e+01]
 [ 2.51703828e-01 -2.16110610e-02  9.67562993e-01  1.68894424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.840714057 meters
Centerline goodness : 0.997587 with order 1
Centerline is valid?  [True, True]
Translation: X:646.22, Y:51.01, Z:168.91
[[ 9.41856704e-01 -2.24403418e-01 -2.50098091e-01  6.46224009e+02]
 [ 2.22647012e-01  9.74246123e-01 -3.56763161e-02  5.10053152e+01]
 [ 2.51662983e-01 -2.20816153e-02  9.67562993e-01  1.68908989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.9007140570001 meters
Centerline goodness : 0.997519 with order 1
Centerline is valid?  [True, True]
Translation: X:646.28, Y:51.02, Z:168.92
[[ 9.41169163e-01 -2.27268304e-01 -2.50099430e-01  6.46281558e+02]
 [ 2.25612938e-01  9.73563903e-01 -3.56669225e-02  5.10187550e+01]
 [ 2.51593739e-01 -2.28570597e-02  9.67562993e-01  1.68924730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 665.960714057 meters
Centerline goodness : 0.997923 with order 1
Centerline is valid?  [True, True]
Translation: X:646.34, Y:51.03, Z:168.94
[[ 9.40965288e-01 -2.28108764e-01 -2.50101416e-01  6.46337886e+02]
 [ 2.26486000e-01  9.73361678e-01 -3.56529962e-02  5.10333744e+01]
 [ 2.51571895e-01 -2.30962375e-02  9.67562993e-01  1.68940386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.020714057 meters
Centerline goodness : 0.998171 with order 1
Centerline is valid?  [True, True]
Translation: X:646.40, Y:51.05, Z:168.96
[[ 9.41226113e-01 -2.27029590e-01 -2.50101917e-01  6.46395114e+02]
 [ 2.25370604e-01  9.73620668e-01 -3.56494802e-02  5.10465556e+01]
 [ 2.51597882e-01 -2.28113984e-02  9.67562993e-01  1.68955944e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.080714057 meters
Centerline goodness : 0.998361 with order 1
Centerline is valid?  [True, True]
Translation: X:646.45, Y:51.06, Z:168.97
[[ 9.41784946e-01 -2.24700124e-01 -2.50101920e-01  6.46452315e+02]
 [ 2.22960999e-01  9.74175297e-01 -3.56494579e-02  5.10628928e+01]
 [ 2.51653550e-01 -2.21888511e-02  9.67562993e-01  1.68970912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.140714057 meters
Centerline goodness : 0.998791 with order 1
Centerline is valid?  [True, True]
Translation: X:646.51, Y:51.08, Z:168.99
[[ 9.42625244e-01 -2.21147775e-01 -2.50102600e-01  6.46509540e+02]
 [ 2.19287801e-01  9.75008880e-01 -3.56446846e-02  5.10780407e+01]
 [ 2.51734999e-01 -2.12448697e-02  9.67562993e-01  1.68985652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.200714057 meters
Centerline goodness : 0.998399 with order 1
Centerline is valid?  [True, True]
Translation: X:646.57, Y:51.09, Z:169.00
[[ 9.43426475e-01 -2.17704026e-01 -2.50102866e-01  6.46565452e+02]
 [ 2.15726297e-01  9.75803133e-01 -3.56428173e-02  5.10933017e+01]
 [ 2.51810746e-01 -2.03273878e-02  9.67562993e-01  1.69001615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.260714057 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:646.62, Y:51.11, Z:169.02
[[ 9.44000984e-01 -2.15199204e-01 -2.50102866e-01  6.46622468e+02]
 [ 2.13135548e-01  9.76372279e-01 -3.56428173e-02  5.11056061e+01]
 [ 2.51863812e-01 -1.96589568e-02  9.67562993e-01  1.69017802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.320714057 meters
Centerline goodness : 0.998696 with order 1
Centerline is valid?  [True, True]
Translation: X:646.68, Y:51.12, Z:169.03
[[ 9.45249780e-01 -2.09645913e-01 -2.50102866e-01  6.46679330e+02]
 [ 2.07391988e-01  9.77608384e-01 -3.56428173e-02  5.11189558e+01]
 [ 2.51975030e-01 -1.81779654e-02  9.67562993e-01  1.69033519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.380714057 meters
Centerline goodness : 0.998780 with order 1
Centerline is valid?  [True, True]
Translation: X:646.74, Y:51.13, Z:169.05
[[ 9.46004028e-01 -2.06215481e-01 -2.50103088e-01  6.46737534e+02]
 [ 2.03844594e-01  9.78354272e-01 -3.56412595e-02  5.11335299e+01]
 [ 2.52039205e-01 -1.72653876e-02  9.67562993e-01  1.69048734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.440714057 meters
Centerline goodness : 0.998734 with order 1
Centerline is valid?  [True, True]
Translation: X:646.80, Y:51.14, Z:169.06
[[ 9.46205134e-01 -2.05288361e-01 -2.50105044e-01  6.46795590e+02]
 [ 2.02889386e-01  9.78553308e-01 -3.56275344e-02  5.11444182e+01]
 [ 2.52055036e-01 -1.70327027e-02  9.67562993e-01  1.69064536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.500714057 meters
Centerline goodness : 0.998474 with order 1
Centerline is valid?  [True, True]
Translation: X:646.85, Y:51.16, Z:169.08
[[ 9.46407654e-01 -2.04351108e-01 -2.50106332e-01  6.46853345e+02]
 [ 2.01922474e-01  9.78753614e-01 -3.56184911e-02  5.11573857e+01]
 [ 2.52071154e-01 -1.67924766e-02  9.67562993e-01  1.69081510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.560714057 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:646.91, Y:51.17, Z:169.10
[[ 9.46882643e-01 -2.02137132e-01 -2.50107659e-01  6.46911183e+02]
 [ 1.99635308e-01  9.79223024e-01 -3.56091689e-02  5.11710657e+01]
 [ 2.52109113e-01 -1.62126155e-02  9.67562993e-01  1.69098939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.620714057 meters
Centerline goodness : 0.998837 with order 1
Centerline is valid?  [True, True]
Translation: X:646.97, Y:51.18, Z:169.11
[[ 9.47372849e-01 -1.99824576e-01 -2.50109623e-01  6.46970575e+02]
 [ 1.97247425e-01  9.79707315e-01 -3.55953680e-02  5.11817615e+01]
 [ 2.52147057e-01 -1.56113939e-02  9.67562993e-01  1.69114543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.680714057 meters
Centerline goodness : 0.998900 with order 1
Centerline is valid?  [True, True]
Translation: X:647.03, Y:51.19, Z:169.13
[[ 9.48002069e-01 -1.96814405e-01 -2.50112308e-01  6.47028612e+02]
 [ 1.94139524e-01  9.80328597e-01 -3.55764914e-02  5.11922732e+01]
 [ 2.52194214e-01 -1.48300971e-02  9.67562994e-01  1.69128112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.740714057 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:647.09, Y:51.20, Z:169.14
[[ 9.48262466e-01 -1.95555948e-01 -2.50112308e-01  6.47087654e+02]
 [ 1.92838163e-01  9.80585415e-01 -3.55764914e-02  5.12034408e+01]
 [ 2.52213676e-01 -1.44953464e-02  9.67562994e-01  1.69142619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.800714057 meters
Centerline goodness : 0.999206 with order 1
Centerline is valid?  [True, True]
Translation: X:647.15, Y:51.21, Z:169.16
[[ 9.48198938e-01 -1.95860428e-01 -2.50114907e-01  6.47146253e+02]
 [ 1.93157828e-01  9.80523160e-01 -3.55582089e-02  5.12125421e+01]
 [ 2.52207905e-01 -1.45953963e-02  9.67562994e-01  1.69158063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.860714057 meters
Centerline goodness : 0.999009 with order 1
Centerline is valid?  [True, True]
Translation: X:647.21, Y:51.22, Z:169.17
[[ 9.47963081e-01 -1.96997236e-01 -2.50116145e-01  6.47205059e+02]
 [ 1.94335688e-01  9.80290709e-01 -3.55494984e-02  5.12204163e+01]
 [ 2.52189686e-01 -1.49068811e-02  9.67562994e-01  1.69173614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.920714057 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:647.26, Y:51.23, Z:169.19
[[ 9.47634424e-01 -1.98570637e-01 -2.50117375e-01  6.47264788e+02]
 [ 1.95965032e-01  9.79966609e-01 -3.55408482e-02  5.12296854e+01]
 [ 2.52164044e-01 -1.53345280e-02  9.67562994e-01  1.69189501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 666.980714057 meters
Centerline goodness : 0.999073 with order 1
Centerline is valid?  [True, True]
Translation: X:647.32, Y:51.24, Z:169.21
[[ 9.47371658e-01 -1.99817406e-01 -2.50119864e-01  6.47323994e+02]
 [ 1.97258956e-01  9.79707608e-01 -3.55233229e-02  5.12390120e+01]
 [ 2.52142512e-01 -1.56845938e-02  9.67562994e-01  1.69206145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.0407140570001 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:647.38, Y:51.25, Z:169.22
[[ 9.46653970e-01 -2.03187056e-01 -2.50122532e-01  6.47382306e+02]
 [ 2.00748625e-01  9.78999192e-01 -3.55045230e-02  5.12479030e+01]
 [ 2.52083817e-01 -1.66012567e-02  9.67562994e-01  1.69220458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.100714057 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:647.44, Y:51.26, Z:169.24
[[ 9.46293417e-01 -2.04858056e-01 -2.50123863e-01  6.47440208e+02]
 [ 2.02479201e-01  9.78643075e-01 -3.54951452e-02  5.12573253e+01]
 [ 2.52053453e-01 -1.70560577e-02  9.67562994e-01  1.69236959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.1607140570001 meters
Centerline goodness : 0.999230 with order 1
Centerline is valid?  [True, True]
Translation: X:647.50, Y:51.27, Z:169.25
[[ 9.46384397e-01 -2.04436541e-01 -2.50124518e-01  6.47499158e+02]
 [ 2.02044492e-01  9.78733082e-01 -3.54905281e-02  5.12672240e+01]
 [ 2.52060701e-01 -1.69485993e-02  9.67562994e-01  1.69253499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.220714057 meters
Centerline goodness : 0.999027 with order 1
Centerline is valid?  [True, True]
Translation: X:647.56, Y:51.28, Z:169.27
[[ 9.47322356e-01 -2.00041894e-01 -2.50127156e-01  6.47557174e+02]
 [ 1.97504623e-01  9.79659975e-01 -3.54719258e-02  5.12770596e+01]
 [ 2.52135435e-01 -1.57979215e-02  9.67562994e-01  1.69269002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.2807140570001 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:647.61, Y:51.29, Z:169.28
[[ 9.48723831e-01 -1.93285965e-01 -2.50127223e-01  6.47613895e+02]
 [ 1.90518436e-01  9.81042558e-01 -3.54714575e-02  5.12873284e+01]
 [ 2.52241585e-01 -1.40012302e-02  9.67562994e-01  1.69283262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.340714057 meters
Centerline goodness : 0.998531 with order 1
Centerline is valid?  [True, True]
Translation: X:647.67, Y:51.30, Z:169.30
[[ 9.49995814e-01 -1.86934684e-01 -2.50126722e-01  6.47671696e+02]
 [ 1.83950077e-01  9.82295218e-01 -3.54749909e-02  5.12973950e+01]
 [ 2.52329789e-01 -1.23097367e-02  9.67562994e-01  1.69299102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.4007140570001 meters
Centerline goodness : 0.998418 with order 1
Centerline is valid?  [True, True]
Translation: X:647.73, Y:51.31, Z:169.32
[[ 9.50652629e-01 -1.83564374e-01 -2.50127368e-01  6.47729935e+02]
 [ 1.80466433e-01  9.82941359e-01 -3.54704333e-02  5.13067009e+01]
 [ 2.52371643e-01 -1.14195333e-02  9.67562994e-01  1.69315844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.460714057 meters
Centerline goodness : 0.998375 with order 1
Centerline is valid?  [True, True]
Translation: X:647.79, Y:51.32, Z:169.33
[[ 9.50734118e-01 -1.83140017e-01 -2.50128708e-01  6.47788312e+02]
 [ 1.80030146e-01  9.83021701e-01 -3.54609800e-02  5.13152637e+01]
 [ 2.52376273e-01 -1.13167442e-02  9.67562994e-01  1.69330243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.520714057 meters
Centerline goodness : 0.998489 with order 1
Centerline is valid?  [True, True]
Translation: X:647.85, Y:51.32, Z:169.34
[[ 9.50577168e-01 -1.83951135e-01 -2.50130024e-01  6.47847293e+02]
 [ 1.80871250e-01  9.82867625e-01 -3.54516992e-02  5.13221350e+01]
 [ 2.52366082e-01 -1.15417542e-02  9.67562995e-01  1.69344943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.580714057 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:647.91, Y:51.33, Z:169.36
[[ 9.50349157e-01 -1.85122965e-01 -2.50131899e-01  6.47906679e+02]
 [ 1.82086370e-01  9.82643714e-01 -3.54384614e-02  5.13289521e+01]
 [ 2.52351011e-01 -1.18666975e-02  9.67562995e-01  1.69363487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.640714057 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:647.97, Y:51.34, Z:169.38
[[ 9.49987579e-01 -1.86966074e-01 -2.50134538e-01  6.47966482e+02]
 [ 1.83997024e-01  9.82288416e-01 -3.54198251e-02  5.13354123e+01]
 [ 2.52326565e-01 -1.23756166e-02  9.67562995e-01  1.69379470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.700714057 meters
Centerline goodness : 0.998736 with order 1
Centerline is valid?  [True, True]
Translation: X:648.03, Y:51.34, Z:169.40
[[ 9.49256011e-01 -1.90642142e-01 -2.50137161e-01  6.48025516e+02]
 [ 1.87803021e-01  9.81568527e-01 -3.54012961e-02  5.13404318e+01]
 [ 2.52275743e-01 -1.33716213e-02  9.67562995e-01  1.69395348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.760714057 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:648.08, Y:51.35, Z:169.41
[[ 9.48600875e-01 -1.93874005e-01 -2.50138463e-01  6.48083131e+02]
 [ 1.91147371e-01  9.80923077e-01 -3.53920889e-02  5.13458857e+01]
 [ 2.52228197e-01 -1.42403431e-02  9.67562995e-01  1.69409464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.820714057 meters
Centerline goodness : 0.998102 with order 1
Centerline is valid?  [True, True]
Translation: X:648.14, Y:51.35, Z:169.42
[[ 9.47597417e-01 -1.98720139e-01 -2.50138845e-01  6.48141415e+02]
 [ 1.96159461e-01  9.79933190e-01 -3.53893875e-02  5.13503493e+01]
 [ 2.52151941e-01 -1.55322090e-02  9.67562995e-01  1.69424508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.880714057 meters
Centerline goodness : 0.998178 with order 1
Centerline is valid?  [True, True]
Translation: X:648.20, Y:51.36, Z:169.44
[[ 9.46665651e-01 -2.03112361e-01 -2.50138989e-01  6.48199828e+02]
 [ 2.00701932e-01  9.79012971e-01 -3.53883708e-02  5.13555105e+01]
 [ 2.52077131e-01 -1.67024234e-02  9.67562995e-01  1.69438994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 667.940714057 meters
Centerline goodness : 0.997847 with order 1
Centerline is valid?  [True, True]
Translation: X:648.26, Y:51.36, Z:169.46
[[ 9.46037155e-01 -2.06019107e-01 -2.50139618e-01  6.48257831e+02]
 [ 2.03709214e-01  9.78391810e-01 -3.53839263e-02  5.13632267e+01]
 [ 2.52024318e-01 -1.74812360e-02  9.67562995e-01  1.69455843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.000714057 meters
Centerline goodness : 0.997692 with order 1
Centerline is valid?  [True, True]
Translation: X:648.32, Y:51.37, Z:169.47
[[ 9.45834371e-01 -2.06947949e-01 -2.50139738e-01  6.48317128e+02]
 [ 2.04670051e-01  9.78191294e-01 -3.53830768e-02  5.13714901e+01]
 [ 2.52006969e-01 -1.77295827e-02  9.67562995e-01  1.69471686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.060714057 meters
Centerline goodness : 0.997741 with order 1
Centerline is valid?  [True, True]
Translation: X:648.38, Y:51.38, Z:169.49
[[ 9.45763736e-01 -2.07267331e-01 -2.50142379e-01  6.48375008e+02]
 [ 2.05005274e-01  9.78121770e-01 -3.53643963e-02  5.13805239e+01]
 [ 2.51999591e-01 -1.78341436e-02  9.67562995e-01  1.69487864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.120714057 meters
Centerline goodness : 0.997846 with order 1
Centerline is valid?  [True, True]
Translation: X:648.43, Y:51.39, Z:169.51
[[ 9.46057279e-01 -2.05922535e-01 -2.50143029e-01  6.48433034e+02]
 [ 2.03615687e-01  9.78412151e-01 -3.53597996e-02  5.13907281e+01]
 [ 2.52024359e-01 -1.74806489e-02  9.67562995e-01  1.69505117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.180714057 meters
Centerline goodness : 0.997473 with order 1
Centerline is valid?  [True, True]
Translation: X:648.49, Y:51.40, Z:169.52
[[ 9.46596326e-01 -2.03428603e-01 -2.50144355e-01  6.48490638e+02]
 [ 2.01038965e-01  9.78945189e-01 -3.53504153e-02  5.14003835e+01]
 [ 2.52068899e-01 -1.68261890e-02  9.67562995e-01  1.69519239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.240714057 meters
Centerline goodness : 0.997576 with order 1
Centerline is valid?  [True, True]
Translation: X:648.55, Y:51.41, Z:169.53
[[ 9.47296430e-01 -2.00143137e-01 -2.50144355e-01  6.48549071e+02]
 [ 1.97641277e-01  9.79636807e-01 -3.53504153e-02  5.14117018e+01]
 [ 2.52125760e-01 -1.59515277e-02  9.67562995e-01  1.69534986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.300714057 meters
Centerline goodness : 0.997660 with order 1
Centerline is valid?  [True, True]
Translation: X:648.61, Y:51.42, Z:169.55
[[ 9.47565157e-01 -1.98865347e-01 -2.50145651e-01  6.48607227e+02]
 [ 1.96322285e-01  9.79902320e-01 -3.53412433e-02  5.14218814e+01]
 [ 2.52146452e-01 -1.56210351e-02  9.67562995e-01  1.69548342e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.360714057 meters
Centerline goodness : 0.998218 with order 1
Centerline is valid?  [True, True]
Translation: X:648.67, Y:51.43, Z:169.56
[[ 9.47450528e-01 -1.99410588e-01 -2.50145787e-01  6.48665771e+02]
 [ 1.96886389e-01  9.79789169e-01 -3.53402786e-02  5.14316802e+01]
 [ 2.52137359e-01 -1.57671351e-02  9.67562995e-01  1.69562730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.420714057 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:648.72, Y:51.44, Z:169.58
[[ 9.47256105e-01 -2.00331297e-01 -2.50146443e-01  6.48724939e+02]
 [ 1.97839749e-01  9.79597278e-01 -3.53356357e-02  5.14429636e+01]
 [ 2.52121609e-01 -1.60170129e-02  9.67562995e-01  1.69578122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.480714057 meters
Centerline goodness : 0.998029 with order 1
Centerline is valid?  [True, True]
Translation: X:648.78, Y:51.45, Z:169.59
[[ 9.47634119e-01 -1.98532205e-01 -2.50149036e-01  6.48782796e+02]
 [ 1.95984078e-01  9.79970883e-01 -3.53172709e-02  5.14548128e+01]
 [ 2.52150387e-01 -1.55573773e-02  9.67562995e-01  1.69594389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.5407140570001 meters
Centerline goodness : 0.998071 with order 1
Centerline is valid?  [True, True]
Translation: X:648.84, Y:51.47, Z:169.61
[[ 9.48557186e-01 -1.94072335e-01 -2.50150340e-01  6.48839928e+02]
 [ 1.91374553e-01  9.80881809e-01 -3.53080322e-02  5.14675322e+01]
 [ 2.52220230e-01 -1.43807217e-02  9.67562996e-01  1.69611516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.600714057 meters
Centerline goodness : 0.998040 with order 1
Centerline is valid?  [True, True]
Translation: X:648.90, Y:51.48, Z:169.63
[[ 9.49007121e-01 -1.91859842e-01 -2.50150527e-01  6.48897750e+02]
 [ 1.89087035e-01  9.81325394e-01 -3.53067097e-02  5.14787074e+01]
 [ 2.52253004e-01 -1.37939026e-02  9.67562996e-01  1.69628265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.6607140570001 meters
Centerline goodness : 0.997890 with order 1
Centerline is valid?  [True, True]
Translation: X:648.96, Y:51.49, Z:169.64
[[ 9.48892181e-01 -1.92426647e-01 -2.50151184e-01  6.48957054e+02]
 [ 1.89674369e-01  9.81212209e-01 -3.53020492e-02  5.14896427e+01]
 [ 2.52244451e-01 -1.39494297e-02  9.67562996e-01  1.69644351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.720714057 meters
Centerline goodness : 0.997506 with order 1
Centerline is valid?  [True, True]
Translation: X:649.01, Y:51.50, Z:169.66
[[ 9.47940706e-01 -1.97057048e-01 -2.50153827e-01  6.49014932e+02]
 [ 1.94467522e-01  9.80274181e-01 -3.52833162e-02  5.14987911e+01]
 [ 2.52172164e-01 -1.52003030e-02  9.67562996e-01  1.69658602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.7807140570001 meters
Centerline goodness : 0.997976 with order 1
Centerline is valid?  [True, True]
Translation: X:649.07, Y:51.51, Z:169.67
[[ 9.47326818e-01 -1.99987099e-01 -2.50154072e-01  6.49073770e+02]
 [ 1.97498015e-01  9.79668181e-01 -3.52815784e-02  5.15069140e+01]
 [ 2.52123845e-01 -1.59817473e-02  9.67562996e-01  1.69673615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.840714057 meters
Centerline goodness : 0.997683 with order 1
Centerline is valid?  [True, True]
Translation: X:649.13, Y:51.52, Z:169.69
[[ 9.46825648e-01 -2.02336203e-01 -2.50162453e-01  6.49131611e+02]
 [ 1.99943004e-01  9.79174245e-01 -3.52220520e-02  5.15153853e+01]
 [ 2.52079328e-01 -1.66690901e-02  9.67562997e-01  1.69688405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.9007140570001 meters
Centerline goodness : 0.998327 with order 1
Centerline is valid?  [True, True]
Translation: X:649.19, Y:51.53, Z:169.70
[[ 9.47039087e-01 -2.01334534e-01 -2.50162693e-01  6.49189616e+02]
 [ 1.98907565e-01  9.79385168e-01 -3.52203501e-02  5.15255099e+01]
 [ 2.52096704e-01 -1.64042038e-02  9.67562997e-01  1.69702951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 668.960714057 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:649.25, Y:51.54, Z:169.72
[[ 9.47784011e-01 -1.97797984e-01 -2.50162798e-01  6.49248475e+02]
 [ 1.95250486e-01  9.80120823e-01 -3.52196028e-02  5.15355658e+01]
 [ 2.52156134e-01 -1.54638313e-02  9.67562997e-01  1.69718638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.020714057 meters
Centerline goodness : 0.997831 with order 1
Centerline is valid?  [True, True]
Translation: X:649.31, Y:51.55, Z:169.73
[[ 9.48276438e-01 -1.95412775e-01 -2.50171230e-01  6.49305816e+02]
 [ 1.92799696e-01  9.80608015e-01 -3.51596139e-02  5.15451041e+01]
 [ 2.52190551e-01 -1.48919036e-02  9.67562999e-01  1.69734866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.080714057 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:649.36, Y:51.56, Z:169.75
[[ 9.48719263e-01 -1.93251498e-01 -2.50171179e-01  6.49364351e+02]
 [ 1.90564660e-01  9.81044793e-01 -3.51599711e-02  5.15550891e+01]
 [ 2.52223850e-01 -1.43168440e-02  9.67562999e-01  1.69749703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.140714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:649.42, Y:51.56, Z:169.76
[[ 9.48945775e-01 -1.92134491e-01 -2.50172447e-01  6.49423513e+02]
 [ 1.89411971e-01  9.81268320e-01 -3.51509533e-02  5.15636683e+01]
 [ 2.52240007e-01 -1.40293075e-02  9.67562999e-01  1.69763907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.200714057 meters
Centerline goodness : 0.998052 with order 1
Centerline is valid?  [True, True]
Translation: X:649.48, Y:51.57, Z:169.78
[[ 9.49034480e-01 -1.91693422e-01 -2.50174313e-01  6.49482559e+02]
 [ 1.88959372e-01  9.81356052e-01 -3.51376626e-02  5.15713308e+01]
 [ 2.52245735e-01 -1.39259278e-02  9.67562999e-01  1.69780424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.260714057 meters
Centerline goodness : 0.997789 with order 1
Centerline is valid?  [True, True]
Translation: X:649.54, Y:51.58, Z:169.80
[[ 9.49288915e-01 -1.90418351e-01 -2.50182748e-01  6.49541488e+02]
 [ 1.87656690e-01  9.81608137e-01 -3.50775069e-02  5.15788282e+01]
 [ 2.52260822e-01 -1.36497780e-02  9.67563001e-01  1.69796638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.320714057 meters
Centerline goodness : 0.998222 with order 1
Centerline is valid?  [True, True]
Translation: X:649.60, Y:51.59, Z:169.81
[[ 9.49882097e-01 -1.87425849e-01 -2.50191034e-01  6.49600204e+02]
 [ 1.84577903e-01  9.82193828e-01 -3.50183079e-02  5.15860332e+01]
 [ 2.52299426e-01 -1.29164726e-02  9.67563003e-01  1.69810955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.380714057 meters
Centerline goodness : 0.998012 with order 1
Centerline is valid?  [True, True]
Translation: X:649.66, Y:51.59, Z:169.83
[[ 9.50390158e-01 -1.84832158e-01 -2.50191169e-01  6.49659466e+02]
 [ 1.81896270e-01  9.82694018e-01 -3.50173478e-02  5.15943227e+01]
 [ 2.52333697e-01 -1.22286978e-02  9.67563003e-01  1.69825696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.440714057 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:649.72, Y:51.60, Z:169.84
[[ 9.50723373e-01 -1.83106996e-01 -2.50193718e-01  6.49718814e+02]
 [ 1.80117269e-01  9.83022294e-01 -3.49991259e-02  5.16019886e+01]
 [ 2.52354587e-01 -1.17897223e-02  9.67563003e-01  1.69840584e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.500714057 meters
Centerline goodness : 0.998216 with order 1
Centerline is valid?  [True, True]
Translation: X:649.78, Y:51.61, Z:169.86
[[ 9.50892924e-01 -1.82221766e-01 -2.50195672e-01  6.49777765e+02]
 [ 1.79205640e-01  9.83189391e-01 -3.49851476e-02  5.16091564e+01]
 [ 2.52364786e-01 -1.15693462e-02  9.67563003e-01  1.69855607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.560714057 meters
Centerline goodness : 0.997794 with order 1
Centerline is valid?  [True, True]
Translation: X:649.84, Y:51.62, Z:169.87
[[ 9.51122890e-01 -1.81010547e-01 -2.50200781e-01  6.49837031e+02]
 [ 1.77962890e-01  9.83416395e-01 -3.49485764e-02  5.16164099e+01]
 [ 2.52377611e-01 -1.12860631e-02  9.67563004e-01  1.69871511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.620714057 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:649.90, Y:51.62, Z:169.89
[[ 9.51305082e-01 -1.80047979e-01 -2.50202649e-01  6.49896014e+02]
 [ 1.76971157e-01  9.83595822e-01 -3.49351966e-02  5.16241244e+01]
 [ 2.52388292e-01 -1.10446223e-02  9.67563004e-01  1.69886754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.680714057 meters
Centerline goodness : 0.997952 with order 1
Centerline is valid?  [True, True]
Translation: X:649.96, Y:51.63, Z:169.90
[[ 9.51526894e-01 -1.78869460e-01 -2.50204488e-01  6.49955284e+02]
 [ 1.75756099e-01  9.83814132e-01 -3.49220250e-02  5.16311726e+01]
 [ 2.52401194e-01 -1.07457187e-02  9.67563004e-01  1.69902571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.740714057 meters
Centerline goodness : 0.997765 with order 1
Centerline is valid?  [True, True]
Translation: X:650.01, Y:51.64, Z:169.92
[[ 9.51577559e-01 -1.78596367e-01 -2.50206888e-01  6.50013858e+02]
 [ 1.75478256e-01  9.83864338e-01 -3.49048193e-02  5.16379656e+01]
 [ 2.52403508e-01 -1.06912257e-02  9.67563004e-01  1.69920610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.800714057 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:650.07, Y:51.64, Z:169.94
[[ 9.51473555e-01 -1.79147832e-01 -2.50208168e-01  6.50073132e+02]
 [ 1.76050843e-01  9.83762367e-01 -3.48956374e-02  5.16430969e+01]
 [ 2.52396858e-01 -1.08470830e-02  9.67563004e-01  1.69936843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.860714057 meters
Centerline goodness : 0.997787 with order 1
Centerline is valid?  [True, True]
Translation: X:650.13, Y:51.65, Z:169.95
[[ 9.52152426e-01 -1.75502093e-01 -2.50209458e-01  6.50133375e+02]
 [ 1.72283879e-01  9.84429380e-01 -3.48863878e-02  5.16472214e+01]
 [ 2.52436176e-01 -9.88989713e-03  9.67563004e-01  1.69949117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.920714057 meters
Centerline goodness : 0.997582 with order 1
Centerline is valid?  [True, True]
Translation: X:650.19, Y:51.65, Z:169.96
[[ 9.50904703e-01 -1.82138744e-01 -2.50211357e-01  6.50191541e+02]
 [ 1.79149305e-01  9.83203650e-01 -3.48727617e-02  5.16548909e+01]
 [ 2.52360401e-01 -1.16645176e-02  9.67563004e-01  1.69963989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 669.980714057 meters
Centerline goodness : 0.998449 with order 1
Centerline is valid?  [True, True]
Translation: X:650.25, Y:51.66, Z:169.98
[[ 9.50181903e-01 -1.85872418e-01 -2.50211500e-01  6.50250301e+02]
 [ 1.83010139e-01  9.82492367e-01 -3.48717340e-02  5.16600698e+01]
 [ 2.52312583e-01 -1.26567509e-02  9.67563004e-01  1.69977370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.0407140570001 meters
Centerline goodness : 0.998009 with order 1
Centerline is valid?  [True, True]
Translation: X:650.31, Y:51.67, Z:169.99
[[ 9.49762270e-01 -1.88004334e-01 -2.50211912e-01  6.50308367e+02]
 [ 1.85215348e-01  9.82079143e-01 -3.48687841e-02  5.16669292e+01]
 [ 2.52283382e-01 -1.32260308e-02  9.67563004e-01  1.69992943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.100714057 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:650.37, Y:51.68, Z:170.01
[[ 9.49754841e-01 -1.88041030e-01 -2.50212536e-01  6.50367270e+02]
 [ 1.85254470e-01  9.82071923e-01 -3.48643059e-02  5.16752159e+01]
 [ 2.52282626e-01 -1.32404474e-02  9.67563004e-01  1.70010195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.1607140570001 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:650.43, Y:51.68, Z:170.03
[[ 9.49807847e-01 -1.87769606e-01 -2.50215165e-01  6.50425658e+02]
 [ 1.84978771e-01  9.82124560e-01 -3.48454215e-02  5.16820134e+01]
 [ 2.52285370e-01 -1.31880391e-02  9.67563004e-01  1.70025659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.220714057 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:650.48, Y:51.69, Z:170.04
[[ 9.49348111e-01 -1.90078633e-01 -2.50216463e-01  6.50484501e+02]
 [ 1.87368837e-01  9.81671719e-01 -3.48361031e-02  5.16893276e+01]
 [ 2.52252024e-01 -1.38111791e-02  9.67563005e-01  1.70041268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.2807140570001 meters
Centerline goodness : 0.998145 with order 1
Centerline is valid?  [True, True]
Translation: X:650.54, Y:51.70, Z:170.06
[[ 9.49016004e-01 -1.91728173e-01 -2.50217770e-01  6.50541973e+02]
 [ 1.89077023e-01  9.81344475e-01 -3.48267101e-02  5.16969858e+01]
 [ 2.52227088e-01 -1.42593260e-02  9.67563005e-01  1.70055559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.340714057 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:650.60, Y:51.70, Z:170.07
[[ 9.49185175e-01 -1.90888895e-01 -2.50217770e-01  6.50601609e+02]
 [ 1.88209159e-01  9.81511290e-01 -3.48267101e-02  5.17047689e+01]
 [ 2.52239599e-01 -1.40362792e-02  9.67563005e-01  1.70070974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.4007140570001 meters
Centerline goodness : 0.998036 with order 1
Centerline is valid?  [True, True]
Translation: X:650.66, Y:51.71, Z:170.08
[[ 9.49762752e-01 -1.87990623e-01 -2.50220383e-01  6.50660608e+02]
 [ 1.85217158e-01  9.82080960e-01 -3.48079281e-02  5.17130408e+01]
 [ 2.52280238e-01 -1.32858348e-02  9.67563005e-01  1.70084638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.460714057 meters
Centerline goodness : 0.998387 with order 1
Centerline is valid?  [True, True]
Translation: X:650.72, Y:51.72, Z:170.10
[[ 9.50868100e-01 -1.82314706e-01 -2.50222309e-01  6.50719014e+02]
 [ 1.79351903e-01  9.83169501e-01 -3.47940784e-02  5.17220313e+01]
 [ 2.52354415e-01 -1.17932681e-02  9.67563005e-01  1.70099827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.520714057 meters
Centerline goodness : 0.998165 with order 1
Centerline is valid?  [True, True]
Translation: X:650.78, Y:51.73, Z:170.12
[[ 9.51597363e-01 -1.78468715e-01 -2.50222653e-01  6.50778724e+02]
 [ 1.75375987e-01  9.83886583e-01 -3.47916036e-02  5.17305729e+01]
 [ 2.52399924e-01 -1.07754464e-02  9.67563005e-01  1.70115862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.580714057 meters
Centerline goodness : 0.998275 with order 1
Centerline is valid?  [True, True]
Translation: X:650.84, Y:51.74, Z:170.13
[[ 9.51899646e-01 -1.76845670e-01 -2.50225244e-01  6.50838034e+02]
 [ 1.73702776e-01  9.84184021e-01 -3.47729577e-02  5.17384933e+01]
 [ 2.52417134e-01 -1.03644534e-02  9.67563005e-01  1.70130459e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.640714057 meters
Centerline goodness : 0.998187 with order 1
Centerline is valid?  [True, True]
Translation: X:650.90, Y:51.75, Z:170.15
[[ 9.52004776e-01 -1.76276117e-01 -2.50227171e-01  6.50898230e+02]
 [ 1.73117546e-01  9.84287621e-01 -3.47590888e-02  5.17455029e+01]
 [ 2.52422704e-01 -1.02278953e-02  9.67563005e-01  1.70147580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.700714057 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:650.96, Y:51.75, Z:170.16
[[ 9.51316436e-01 -1.79948703e-01 -2.50230901e-01  6.50956775e+02]
 [ 1.76921793e-01  9.83611891e-01 -3.47322174e-02  5.17502445e+01]
 [ 2.52380107e-01 -1.12299704e-02  9.67563005e-01  1.70163288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.760714057 meters
Centerline goodness : 0.998503 with order 1
Centerline is valid?  [True, True]
Translation: X:651.01, Y:51.76, Z:170.18
[[ 9.50577813e-01 -1.83809680e-01 -2.50231539e-01  6.51014320e+02]
 [ 1.80915127e-01  9.82885400e-01 -3.47276151e-02  5.17552595e+01]
 [ 2.52332198e-01 -1.22593703e-02  9.67563005e-01  1.70178063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.820714057 meters
Centerline goodness : 0.998307 with order 1
Centerline is valid?  [True, True]
Translation: X:651.07, Y:51.76, Z:170.19
[[ 9.49821774e-01 -1.87677320e-01 -2.50231536e-01  6.51073508e+02]
 [ 1.84914288e-01  9.82140874e-01 -3.47276370e-02  5.17600283e+01]
 [ 2.52280210e-01 -1.32863207e-02  9.67563005e-01  1.70194936e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.880714057 meters
Centerline goodness : 0.998398 with order 1
Centerline is valid?  [True, True]
Translation: X:651.13, Y:51.76, Z:170.21
[[ 9.49700616e-01 -1.88286883e-01 -2.50233472e-01  6.51133081e+02]
 [ 1.85548260e-01  9.82021794e-01 -3.47136842e-02  5.17647216e+01]
 [ 2.52270854e-01 -1.34627781e-02  9.67563006e-01  1.70210543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 670.940714057 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:651.19, Y:51.77, Z:170.22
[[ 9.49891148e-01 -1.87319907e-01 -2.50236008e-01  6.51192465e+02]
 [ 1.84553185e-01  9.82209933e-01 -3.46953909e-02  5.17705476e+01]
 [ 2.52283430e-01 -1.32250077e-02  9.67563006e-01  1.70223574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.000714057 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:651.25, Y:51.78, Z:170.24
[[ 9.50082185e-01 -1.86346834e-01 -2.50237285e-01  6.51252943e+02]
 [ 1.83549428e-01  9.82398329e-01 -3.46861819e-02  5.17758512e+01]
 [ 2.52296351e-01 -1.29761871e-02  9.67563006e-01  1.70236932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.060714057 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:651.31, Y:51.78, Z:170.25
[[ 9.50074128e-01 -1.86384535e-01 -2.50239799e-01  6.51312971e+02]
 [ 1.83593178e-01  9.82390794e-01 -3.46680374e-02  5.17826570e+01]
 [ 2.52294860e-01 -1.30051145e-02  9.67563006e-01  1.70251780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.120714057 meters
Centerline goodness : 0.998683 with order 1
Centerline is valid?  [True, True]
Translation: X:651.37, Y:51.79, Z:170.27
[[ 9.50399569e-01 -1.84714527e-01 -2.50242288e-01  6.51371172e+02]
 [ 1.81871101e-01  9.82711695e-01 -3.46500594e-02  5.17891466e+01]
 [ 2.52316392e-01 -1.25804388e-02  9.67563006e-01  1.70266216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.180714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:651.43, Y:51.79, Z:170.28
[[ 9.51066198e-01 -1.81250891e-01 -2.50242288e-01  6.51429873e+02]
 [ 1.78289767e-01  9.83367750e-01 -3.46500594e-02  5.17944227e+01]
 [ 2.52360550e-01 -1.16611389e-02  9.67563006e-01  1.70282614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.240714057 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:651.49, Y:51.80, Z:170.30
[[ 9.51578923e-01 -1.78538591e-01 -2.50242933e-01  6.51487640e+02]
 [ 1.75486607e-01  9.83872018e-01 -3.46454036e-02  5.18015295e+01]
 [ 2.52392560e-01 -1.09464473e-02  9.67563006e-01  1.70299927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.300714057 meters
Centerline goodness : 0.998428 with order 1
Centerline is valid?  [True, True]
Translation: X:651.55, Y:51.81, Z:170.32
[[ 9.52196986e-01 -1.75210545e-01 -2.50244210e-01  6.51546059e+02]
 [ 1.72048098e-01  9.84479450e-01 -3.46361709e-02  5.18066603e+01]
 [ 2.52428905e-01 -1.00735829e-02  9.67563006e-01  1.70315976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.360714057 meters
Centerline goodness : 0.998502 with order 1
Centerline is valid?  [True, True]
Translation: X:651.61, Y:51.81, Z:170.33
[[ 9.52703454e-01 -1.72434472e-01 -2.50244844e-01  6.51605888e+02]
 [ 1.69179146e-01  9.84976685e-01 -3.46315949e-02  5.18099434e+01]
 [ 2.52457017e-01 -9.34256878e-03  9.67563006e-01  1.70329757e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.420714057 meters
Centerline goodness : 0.998201 with order 1
Centerline is valid?  [True, True]
Translation: X:651.67, Y:51.81, Z:170.34
[[ 9.52919673e-01 -1.71234609e-01 -2.50245489e-01  6.51665175e+02]
 [ 1.67939868e-01  9.85188904e-01 -3.46269307e-02  5.18139976e+01]
 [ 2.52468408e-01 -9.02951087e-03  9.67563006e-01  1.70344233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.480714057 meters
Centerline goodness : 0.998043 with order 1
Centerline is valid?  [True, True]
Translation: X:651.73, Y:51.82, Z:170.36
[[ 9.52999771e-01 -1.70783075e-01 -2.50249033e-01  6.51725678e+02]
 [ 1.67479765e-01  9.85268125e-01 -3.46013034e-02  5.18207227e+01]
 [ 2.52471712e-01 -8.93661490e-03  9.67563006e-01  1.70358652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.5407140570001 meters
Centerline goodness : 0.998086 with order 1
Centerline is valid?  [True, True]
Translation: X:651.78, Y:51.83, Z:170.37
[[ 9.53275611e-01 -1.69232788e-01 -2.50251618e-01  6.51784148e+02]
 [ 1.65881902e-01  9.85539060e-01 -3.45825969e-02  5.18250241e+01]
 [ 2.52485253e-01 -8.54546817e-03  9.67563007e-01  1.70372445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.600714057 meters
Centerline goodness : 0.997659 with order 1
Centerline is valid?  [True, True]
Translation: X:651.84, Y:51.83, Z:170.39
[[ 9.54128977e-01 -1.64353347e-01 -2.50251618e-01  6.51844006e+02]
 [ 1.60837437e-01  9.86374859e-01 -3.45825969e-02  5.18281039e+01]
 [ 2.52525670e-01 -7.25357092e-03  9.67563007e-01  1.70387339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.6607140570001 meters
Centerline goodness : 0.997554 with order 1
Centerline is valid?  [True, True]
Translation: X:651.90, Y:51.83, Z:170.40
[[ 9.55125466e-01 -1.58457651e-01 -2.50252906e-01  6.51902461e+02]
 [ 1.54745103e-01  9.87349301e-01 -3.45732742e-02  5.18314925e+01]
 [ 2.52565431e-01 -5.70359692e-03  9.67563007e-01  1.70403863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.720714057 meters
Centerline goodness : 0.997283 with order 1
Centerline is valid?  [True, True]
Translation: X:651.96, Y:51.83, Z:170.42
[[ 9.55998050e-01 -1.53104164e-01 -2.50253557e-01  6.51962421e+02]
 [ 1.49212376e-01  9.88200729e-01 -3.45685619e-02  5.18337535e+01]
 [ 2.52593338e-01 -4.29345000e-03  9.67563007e-01  1.70419432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.7807140570001 meters
Centerline goodness : 0.997398 with order 1
Centerline is valid?  [True, True]
Translation: X:652.02, Y:51.83, Z:170.43
[[ 9.56123178e-01 -1.52318676e-01 -2.50254849e-01  6.52021133e+02]
 [ 1.48402882e-01  9.88322946e-01 -3.45592025e-02  5.18341863e+01]
 [ 2.52596622e-01 -4.09568623e-03  9.67563007e-01  1.70433575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.840714057 meters
Centerline goodness : 0.997184 with order 1
Centerline is valid?  [True, True]
Translation: X:652.08, Y:51.84, Z:170.45
[[ 9.55536945e-01 -1.55954024e-01 -2.50254849e-01  6.52080154e+02]
 [ 1.52160724e-01  9.87751373e-01 -3.45592025e-02  5.18368239e+01]
 [ 2.52579218e-01 -5.05636427e-03  9.67563007e-01  1.70447823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.9007140570001 meters
Centerline goodness : 0.997208 with order 1
Centerline is valid?  [True, True]
Translation: X:652.14, Y:51.84, Z:170.46
[[ 9.54022081e-01 -1.64967813e-01 -2.50254849e-01  6.52136977e+02]
 [ 1.61478802e-01  9.86270885e-01 -3.45592025e-02  5.18353178e+01]
 [ 2.52520228e-01 -7.44061106e-03  9.67563007e-01  1.70463121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 671.960714057 meters
Centerline goodness : 0.996774 with order 1
Centerline is valid?  [True, True]
Translation: X:652.20, Y:51.84, Z:170.48
[[ 9.51917044e-01 -1.76714282e-01 -2.50251880e-01  6.52196581e+02]
 [ 1.73617386e-01  9.84205862e-01 -3.45806902e-02  5.18350532e+01]
 [ 2.52410269e-01 -1.05301289e-02  9.67563007e-01  1.70476747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.020714057 meters
Centerline goodness : 0.996288 with order 1
Centerline is valid?  [True, True]
Translation: X:652.26, Y:51.84, Z:170.49
[[ 9.50461085e-01 -1.84384627e-01 -2.50251943e-01  6.52255608e+02]
 [ 1.81548324e-01  9.82773836e-01 -3.45802340e-02  5.18386663e+01]
 [ 2.52317126e-01 -1.25656541e-02  9.67563007e-01  1.70490366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.080714057 meters
Centerline goodness : 0.996421 with order 1
Centerline is valid?  [True, True]
Translation: X:652.31, Y:51.84, Z:170.51
[[ 9.48433954e-01 -1.94543436e-01 -2.50251648e-01  6.52313982e+02]
 [ 1.92052460e-01  9.80775159e-01 -3.45823684e-02  5.18419971e+01]
 [ 2.52168373e-01 -1.52623523e-02  9.67563007e-01  1.70506034e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.140714057 meters
Centerline goodness : 0.996107 with order 1
Centerline is valid?  [True, True]
Translation: X:652.37, Y:51.85, Z:170.52
[[ 9.46705303e-01 -2.02788825e-01 -2.50251398e-01  6.52372126e+02]
 [ 2.00578885e-01  9.79066926e-01 -3.45841749e-02  5.18476709e+01]
 [ 2.52026152e-01 -1.74541246e-02  9.67563007e-01  1.70520973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.200714057 meters
Centerline goodness : 0.996321 with order 1
Centerline is valid?  [True, True]
Translation: X:652.43, Y:51.86, Z:170.53
[[ 9.44968095e-01 -2.10736015e-01 -2.50251137e-01  6.52430460e+02]
 [ 2.08797562e-01  9.77347115e-01 -3.45860645e-02  5.18564192e+01]
 [ 2.51870756e-01 -1.95690999e-02  9.67563007e-01  1.70534382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.260714057 meters
Centerline goodness : 0.996514 with order 1
Centerline is valid?  [True, True]
Translation: X:652.49, Y:51.87, Z:170.55
[[ 9.44092415e-01 -2.14625211e-01 -2.50250937e-01  6.52488665e+02]
 [ 2.12819716e-01  9.76479120e-01 -3.45875139e-02  5.18658919e+01]
 [ 2.51788167e-01 -2.06045238e-02  9.67563007e-01  1.70549344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.320714057 meters
Centerline goodness : 0.996146 with order 1
Centerline is valid?  [True, True]
Translation: X:652.55, Y:51.88, Z:170.56
[[ 9.43400447e-01 -2.17646604e-01 -2.50250979e-01  6.52545943e+02]
 [ 2.15944883e-01  9.75792771e-01 -3.45872097e-02  5.18782827e+01]
 [ 2.51720885e-01 -2.14108293e-02  9.67563007e-01  1.70564986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.380714057 meters
Centerline goodness : 0.997033 with order 1
Centerline is valid?  [True, True]
Translation: X:652.60, Y:51.89, Z:170.58
[[ 9.43530548e-01 -2.17081874e-01 -2.50251006e-01  6.52603191e+02]
 [ 2.15360816e-01  9.75921850e-01 -3.45870178e-02  5.18932254e+01]
 [ 2.51733639e-01 -2.12603528e-02  9.67563007e-01  1.70580650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.440714057 meters
Centerline goodness : 0.996814 with order 1
Centerline is valid?  [True, True]
Translation: X:652.66, Y:51.91, Z:170.60
[[ 9.43736450e-01 -2.16184229e-01 -2.50251659e-01  6.52658972e+02]
 [ 2.14433603e-01  9.76126168e-01 -3.45822904e-02  5.19099938e+01]
 [ 2.51753338e-01 -2.10257971e-02  9.67563007e-01  1.70595702e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.500714057 meters
Centerline goodness : 0.997395 with order 1
Centerline is valid?  [True, True]
Translation: X:652.72, Y:51.92, Z:170.61
[[ 9.44170171e-01 -2.14282800e-01 -2.50251015e-01  6.52715794e+02]
 [ 2.12465708e-01  9.76556228e-01 -3.45869464e-02  5.19236079e+01]
 [ 2.51795575e-01 -2.05137962e-02  9.67563007e-01  1.70610706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.560714057 meters
Centerline goodness : 0.997572 with order 1
Centerline is valid?  [True, True]
Translation: X:652.77, Y:51.94, Z:170.63
[[ 9.44097933e-01 -2.14600843e-01 -2.50251015e-01  6.52772290e+02]
 [ 2.12794661e-01  9.76484601e-01 -3.45869464e-02  5.19410979e+01]
 [ 2.51788651e-01 -2.05986155e-02  9.67563007e-01  1.70627661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.620714057 meters
Centerline goodness : 0.997760 with order 1
Centerline is valid?  [True, True]
Translation: X:652.83, Y:51.96, Z:170.64
[[ 9.43816496e-01 -2.15835026e-01 -2.50251201e-01  6.52828266e+02]
 [ 2.14071544e-01  9.76205516e-01 -3.45855995e-02  5.19584700e+01]
 [ 2.51761387e-01 -2.09292019e-02  9.67563007e-01  1.70643523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.680714057 meters
Centerline goodness : 0.998466 with order 1
Centerline is valid?  [True, True]
Translation: X:652.89, Y:51.97, Z:170.66
[[ 9.43594427e-01 -2.16803098e-01 -2.50251821e-01  6.52885808e+02]
 [ 2.15074024e-01  9.75985303e-01 -3.45811128e-02  5.19723134e+01]
 [ 2.51739392e-01 -2.11921209e-02  9.67563007e-01  1.70657887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.740714057 meters
Centerline goodness : 0.998179 with order 1
Centerline is valid?  [True, True]
Translation: X:652.94, Y:51.99, Z:170.67
[[ 9.43586509e-01 -2.16837415e-01 -2.50251946e-01  6.52943069e+02]
 [ 2.15109756e-01  9.75977460e-01 -3.45802112e-02  5.19907273e+01]
 [ 2.51738542e-01 -2.12022145e-02  9.67563007e-01  1.70673049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.800714057 meters
Centerline goodness : 0.998084 with order 1
Centerline is valid?  [True, True]
Translation: X:653.00, Y:52.01, Z:170.69
[[ 9.44044679e-01 -2.14833152e-01 -2.50252592e-01  6.53000024e+02]
 [ 2.13037945e-01  9.76431957e-01 -3.45755350e-02  5.20093418e+01]
 [ 2.51782599e-01 -2.06724480e-02  9.67563007e-01  1.70688948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.860714057 meters
Centerline goodness : 0.998183 with order 1
Centerline is valid?  [True, True]
Translation: X:653.06, Y:52.03, Z:170.70
[[ 9.44295140e-01 -2.13727285e-01 -2.50254542e-01  6.53057359e+02]
 [ 2.11897862e-01  9.76680503e-01 -3.45614139e-02  5.20263925e+01]
 [ 2.51805449e-01 -2.03922272e-02  9.67563007e-01  1.70704982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.920714057 meters
Centerline goodness : 0.998117 with order 1
Centerline is valid?  [True, True]
Translation: X:653.12, Y:52.04, Z:170.72
[[ 9.43987598e-01 -2.15080041e-01 -2.50255850e-01  6.53115808e+02]
 [ 2.13299515e-01  9.76375686e-01 -3.45519427e-02  5.20403177e+01]
 [ 2.51775160e-01 -2.07628460e-02  9.67563007e-01  1.70720908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 672.980714057 meters
Centerline goodness : 0.998239 with order 1
Centerline is valid?  [True, True]
Translation: X:653.17, Y:52.06, Z:170.74
[[ 9.43231758e-01 -2.18367966e-01 -2.50258430e-01  6.53173083e+02]
 [ 2.16705228e-01  9.75626106e-01 -3.45332456e-02  5.20572298e+01]
 [ 2.51699612e-01 -2.16594561e-02  9.67563007e-01  1.70736732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.0407140570001 meters
Centerline goodness : 0.998521 with order 1
Centerline is valid?  [True, True]
Translation: X:653.23, Y:52.07, Z:170.75
[[ 9.42367848e-01 -2.22065477e-01 -2.50259392e-01  6.53229984e+02]
 [ 2.20531632e-01  9.74768555e-01 -3.45262738e-02  5.20730238e+01]
 [ 2.51612079e-01 -2.26536618e-02  9.67563007e-01  1.70752374e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.100714057 meters
Centerline goodness : 0.998136 with order 1
Centerline is valid?  [True, True]
Translation: X:653.29, Y:52.09, Z:170.77
[[ 9.41908263e-01 -2.24006684e-01 -2.50259524e-01  6.53286578e+02]
 [ 2.22539855e-01  9.74312073e-01 -3.45253150e-02  5.20903105e+01]
 [ 2.51564777e-01 -2.31730387e-02  9.67563007e-01  1.70768391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.1607140570001 meters
Centerline goodness : 0.998243 with order 1
Centerline is valid?  [True, True]
Translation: X:653.35, Y:52.10, Z:170.78
[[ 9.41676613e-01 -2.24976916e-01 -2.50260951e-01  6.53345167e+02]
 [ 2.23546195e-01  9.74082037e-01 -3.45149699e-02  5.21046416e+01]
 [ 2.51539768e-01 -2.34429434e-02  9.67563007e-01  1.70783912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.220714057 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:653.40, Y:52.12, Z:170.80
[[ 9.41609132e-01 -2.25257112e-01 -2.50262812e-01  6.53402909e+02]
 [ 2.23839590e-01  9.74015137e-01 -3.45014710e-02  5.21194803e+01]
 [ 2.51531469e-01 -2.35318250e-02  9.67563008e-01  1.70798879e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.2807140570001 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:653.46, Y:52.14, Z:170.82
[[ 9.41713227e-01 -2.24819761e-01 -2.50264408e-01  6.53459737e+02]
 [ 2.23390238e-01  9.74118704e-01 -3.44898891e-02  5.21355687e+01]
 [ 2.51541249e-01 -2.34270410e-02  9.67563008e-01  1.70815189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.340714057 meters
Centerline goodness : 0.998403 with order 1
Centerline is valid?  [True, True]
Translation: X:653.52, Y:52.15, Z:170.83
[[ 9.41783077e-01 -2.24525566e-01 -2.50265671e-01  6.53518016e+02]
 [ 2.23088334e-01  9.74188213e-01 -3.44807251e-02  5.21508175e+01]
 [ 2.51547671e-01 -2.33579882e-02  9.67563008e-01  1.70831439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.4007140570001 meters
Centerline goodness : 0.998424 with order 1
Centerline is valid?  [True, True]
Translation: X:653.58, Y:52.16, Z:170.85
[[ 9.41813802e-01 -2.24394497e-01 -2.50267601e-01  6.53576773e+02]
 [ 2.22956449e-01  9.74218902e-01 -3.44667058e-02  5.21604814e+01]
 [ 2.51549567e-01 -2.33375565e-02  9.67563008e-01  1.70846399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.460714057 meters
Centerline goodness : 0.998062 with order 1
Centerline is valid?  [True, True]
Translation: X:653.64, Y:52.17, Z:170.86
[[ 9.41622055e-01 -2.25196359e-01 -2.50268868e-01  6.53636548e+02]
 [ 2.23788326e-01  9.74028472e-01 -3.44575098e-02  5.21724018e+01]
 [ 2.51528709e-01 -2.35612999e-02  9.67563008e-01  1.70861840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.520714057 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:653.69, Y:52.19, Z:170.88
[[ 9.41154788e-01 -2.27129901e-01 -2.50279193e-01  6.53693857e+02]
 [ 2.25808230e-01  9.73564840e-01 -3.43823564e-02  5.21856020e+01]
 [ 2.51472283e-01 -2.41559822e-02  9.67563011e-01  1.70875719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.580714057 meters
Centerline goodness : 0.998279 with order 1
Centerline is valid?  [True, True]
Translation: X:653.75, Y:52.20, Z:170.89
[[ 9.40758701e-01 -2.28764927e-01 -2.50279193e-01  6.53751605e+02]
 [ 2.27499575e-01  9.73171001e-01 -3.43823564e-02  5.21982856e+01]
 [ 2.51429930e-01 -2.45929090e-02  9.67563011e-01  1.70891320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.640714057 meters
Centerline goodness : 0.998092 with order 1
Centerline is valid?  [True, True]
Translation: X:653.81, Y:52.21, Z:170.91
[[ 9.40764364e-01 -2.28740917e-01 -2.50279852e-01  6.53808818e+02]
 [ 2.27476002e-01  9.73176681e-01 -3.43775548e-02  5.22112522e+01]
 [ 2.51430069e-01 -2.45914818e-02  9.67563011e-01  1.70906522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.700714057 meters
Centerline goodness : 0.998345 with order 1
Centerline is valid?  [True, True]
Translation: X:653.87, Y:52.22, Z:170.92
[[ 9.41164490e-01 -2.27088257e-01 -2.50280497e-01  6.53866260e+02]
 [ 2.25767655e-01  9.73574585e-01 -3.43728582e-02  5.22227105e+01]
 [ 2.51472404e-01 -2.41547273e-02  9.67563011e-01  1.70920785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.760714057 meters
Centerline goodness : 0.998605 with order 1
Centerline is valid?  [True, True]
Translation: X:653.92, Y:52.24, Z:170.94
[[ 9.42038024e-01 -2.23432712e-01 -2.50284210e-01  6.53923274e+02]
 [ 2.21993421e-01  9.74443065e-01 -3.43458036e-02  5.22362184e+01]
 [ 2.51561689e-01 -2.32063952e-02  9.67563011e-01  1.70938094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.820714057 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:653.98, Y:52.25, Z:170.95
[[ 9.42436866e-01 -2.21744218e-01 -2.50284349e-01  6.53982471e+02]
 [ 2.20247128e-01  9.74839288e-01 -3.43447898e-02  5.22488990e+01]
 [ 2.51602775e-01 -2.27566129e-02  9.67563011e-01  1.70954249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.880714057 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:654.04, Y:52.26, Z:170.97
[[ 9.42547525e-01 -2.21263315e-01 -2.50293244e-01  6.54042353e+02]
 [ 2.19766794e-01  9.74949972e-01 -3.42798489e-02  5.22602473e+01]
 [ 2.51608264e-01 -2.26957571e-02  9.67563013e-01  1.70969503e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 673.940714057 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:654.10, Y:52.27, Z:170.98
[[ 9.42440929e-01 -2.21713303e-01 -2.50296436e-01  6.54100687e+02]
 [ 2.20238396e-01  9.74844367e-01 -3.42565266e-02  5.22697049e+01]
 [ 2.51595198e-01 -2.28401327e-02  9.67563013e-01  1.70983762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.000714057 meters
Centerline goodness : 0.998458 with order 1
Centerline is valid?  [True, True]
Translation: X:654.16, Y:52.28, Z:171.00
[[ 9.42232904e-01 -2.22594993e-01 -2.50297071e-01  6.54158809e+02]
 [ 2.21151626e-01  9.74637762e-01 -3.42518870e-02  5.22793348e+01]
 [ 2.51573275e-01 -2.30803492e-02  9.67563013e-01  1.70998017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.060714057 meters
Centerline goodness : 0.998800 with order 1
Centerline is valid?  [True, True]
Translation: X:654.22, Y:52.29, Z:171.01
[[ 9.42898409e-01 -2.19758253e-01 -2.50297625e-01  6.54216774e+02]
 [ 2.18218433e-01  9.75298827e-01 -3.42478395e-02  5.22891409e+01]
 [ 2.51641225e-01 -2.23273219e-02  9.67563013e-01  1.71013716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.120714057 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:654.27, Y:52.30, Z:171.03
[[ 9.44705688e-01 -2.11853997e-01 -2.50297917e-01  6.54274456e+02]
 [ 2.10043449e-01  9.77092105e-01 -3.42457000e-02  5.23003573e+01]
 [ 2.51819207e-01 -2.02213302e-02  9.67563013e-01  1.71030514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.180714057 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:654.33, Y:52.31, Z:171.05
[[ 9.45507737e-01 -2.08244570e-01 -2.50298457e-01  6.54332474e+02]
 [ 2.06311387e-01  9.77887066e-01 -3.42417582e-02  5.23088973e+01]
 [ 2.51894284e-01 -1.92635744e-02  9.67563013e-01  1.71045965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.240714057 meters
Centerline goodness : 0.998516 with order 1
Centerline is valid?  [True, True]
Translation: X:654.39, Y:52.32, Z:171.06
[[ 9.46179303e-01 -2.05171578e-01 -2.50298523e-01  6.54391132e+02]
 [ 2.03133334e-01  9.78552188e-01 -3.42412742e-02  5.23162899e+01]
 [ 2.51955503e-01 -1.84455884e-02  9.67563013e-01  1.71059667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.300714057 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:654.45, Y:52.33, Z:171.08
[[ 9.46167399e-01 -2.05225811e-01 -2.50299061e-01  6.54449869e+02]
 [ 2.03190458e-01  9.78540465e-01 -3.42373366e-02  5.23251115e+01]
 [ 2.51954145e-01 -1.84641293e-02  9.67563013e-01  1.71075105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.360714057 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:654.51, Y:52.33, Z:171.09
[[ 9.45431262e-01 -2.08589374e-01 -2.50300224e-01  6.54506615e+02]
 [ 2.06671400e-01  9.77811495e-01 -3.42288352e-02  5.23339015e+01]
 [ 2.51886207e-01 -1.93688867e-02  9.67563013e-01  1.71090755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.420714057 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:654.57, Y:52.34, Z:171.11
[[ 9.44123992e-01 -2.14429237e-01 -2.50299799e-01  6.54565120e+02]
 [ 2.12710628e-01  9.76515419e-01 -3.42319424e-02  5.23392758e+01]
 [ 2.51761942e-01 -2.09222294e-02  9.67563013e-01  1.71105028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.480714057 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:654.62, Y:52.35, Z:171.12
[[ 9.43155125e-01 -2.18651113e-01 -2.50300022e-01  6.54623540e+02]
 [ 2.17077870e-01  9.75553937e-01 -3.42303127e-02  5.23458169e+01]
 [ 2.51665668e-01 -2.20501009e-02  9.67563013e-01  1.71121899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.5407140570001 meters
Centerline goodness : 0.998452 with order 1
Centerline is valid?  [True, True]
Translation: X:654.68, Y:52.35, Z:171.14
[[ 9.42265732e-01 -2.22451568e-01 -2.50300998e-01  6.54681776e+02]
 [ 2.21010831e-01  9.74670707e-01 -3.42231718e-02  5.23529364e+01]
 [ 2.51574049e-01 -2.30719096e-02  9.67563013e-01  1.71136785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.600714057 meters
Centerline goodness : 0.998199 with order 1
Centerline is valid?  [True, True]
Translation: X:654.74, Y:52.36, Z:171.15
[[ 9.42674655e-01 -2.20711790e-01 -2.50301420e-01  6.54741968e+02]
 [ 2.19212050e-01  9.75076952e-01 -3.42200851e-02  5.23603972e+01]
 [ 2.51615922e-01 -2.26106804e-02  9.67563013e-01  1.71152659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.6607140570001 meters
Centerline goodness : 0.998243 with order 1
Centerline is valid?  [True, True]
Translation: X:654.80, Y:52.37, Z:171.17
[[ 9.43938925e-01 -2.15236872e-01 -2.50304604e-01  6.54798609e+02]
 [ 2.13555232e-01  9.76332291e-01 -3.41967843e-02  5.23693690e+01]
 [ 2.51740876e-01 -2.11741818e-02  9.67563014e-01  1.71169767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.720714057 meters
Centerline goodness : 0.998452 with order 1
Centerline is valid?  [True, True]
Translation: X:654.86, Y:52.38, Z:171.19
[[ 9.45813001e-01 -2.06846989e-01 -2.50303998e-01  6.54856781e+02]
 [ 2.04876622e-01  9.78190087e-01 -3.42012182e-02  5.23786625e+01]
 [ 2.51919308e-01 -1.89334807e-02  9.67563014e-01  1.71185527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.7807140570001 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:654.92, Y:52.39, Z:171.20
[[ 9.46972525e-01 -2.01471246e-01 -2.50304562e-01  6.54915526e+02]
 [ 1.99318088e-01  9.79337970e-01 -3.41970921e-02  5.23871611e+01]
 [ 2.52022492e-01 -1.75065200e-02  9.67563014e-01  1.71199874e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.840714057 meters
Centerline goodness : 0.998091 with order 1
Centerline is valid?  [True, True]
Translation: X:654.97, Y:52.40, Z:171.21
[[ 9.48321609e-01 -1.95021601e-01 -2.50305218e-01  6.54973917e+02]
 [ 1.92649480e-01  9.80671742e-01 -3.41922901e-02  5.23961390e+01]
 [ 2.52135489e-01 -1.57958824e-02  9.67563014e-01  1.71214619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.9007140570001 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:655.03, Y:52.41, Z:171.23
[[ 9.49162111e-01 -1.90888190e-01 -2.50305787e-01  6.55032474e+02]
 [ 1.88376246e-01  9.81501687e-01 -3.41881226e-02  5.24058565e+01]
 [ 2.52201661e-01 -1.47015939e-02  9.67563014e-01  1.71230194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 674.960714057 meters
Centerline goodness : 0.998092 with order 1
Centerline is valid?  [True, True]
Translation: X:655.09, Y:52.41, Z:171.24
[[ 9.49564668e-01 -1.88874313e-01 -2.50306682e-01  6.55091063e+02]
 [ 1.86295495e-01  9.81898981e-01 -3.41815686e-02  5.24149383e+01]
 [ 2.52231896e-01 -1.41733975e-02  9.67563014e-01  1.71244057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.020714057 meters
Centerline goodness : 0.998149 with order 1
Centerline is valid?  [True, True]
Translation: X:655.15, Y:52.42, Z:171.26
[[ 9.49740842e-01 -1.87984776e-01 -2.50307926e-01  6.55149433e+02]
 [ 1.85378067e-01  9.82072918e-01 -3.41724561e-02  5.24242247e+01]
 [ 2.52244537e-01 -1.39466222e-02  9.67563014e-01  1.71261349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.080714057 meters
Centerline goodness : 0.998032 with order 1
Centerline is valid?  [True, True]
Translation: X:655.21, Y:52.43, Z:171.28
[[ 9.49640768e-01 -1.88487972e-01 -2.50309201e-01  6.55209136e+02]
 [ 1.85900849e-01  9.81974417e-01 -3.41631135e-02  5.24319318e+01]
 [ 2.52236568e-01 -1.40900075e-02  9.67563014e-01  1.71277497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.140714057 meters
Centerline goodness : 0.997918 with order 1
Centerline is valid?  [True, True]
Translation: X:655.27, Y:52.44, Z:171.29
[[ 9.49823612e-01 -1.87561058e-01 -2.50311718e-01  6.55268607e+02]
 [ 1.84947226e-01  9.82155113e-01 -3.41446652e-02  5.24402271e+01]
 [ 2.52249143e-01 -1.38630487e-02  9.67563014e-01  1.71294529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.200714057 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:655.33, Y:52.45, Z:171.31
[[ 9.49942490e-01 -1.86946103e-01 -2.50320634e-01  6.55327067e+02]
 [ 1.84328545e-01  9.82273688e-01 -3.40791789e-02  5.24485207e+01]
 [ 2.52254341e-01 -1.37679780e-02  9.67563016e-01  1.71310713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.260714057 meters
Centerline goodness : 0.998272 with order 1
Centerline is valid?  [True, True]
Translation: X:655.39, Y:52.46, Z:171.33
[[ 9.49874137e-01 -1.87291412e-01 -2.50321896e-01  6.55386735e+02]
 [ 1.84688044e-01  9.82206479e-01 -3.40699037e-02  5.24568498e+01]
 [ 2.52248788e-01 -1.38693409e-02  9.67563016e-01  1.71326731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.320714057 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:655.45, Y:52.46, Z:171.34
[[ 9.49562005e-01 -1.88855765e-01 -2.50330780e-01  6.55445159e+02]
 [ 1.86322841e-01  9.81899940e-01 -3.40045051e-02  5.24647327e+01]
 [ 2.52221725e-01 -1.43529561e-02  9.67563018e-01  1.71340783e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.380714057 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:655.51, Y:52.47, Z:171.35
[[ 9.49023548e-01 -1.91542392e-01 -2.50331414e-01  6.55505354e+02]
 [ 1.89102225e-01  9.81368616e-01 -3.39998375e-02  5.24719652e+01]
 [ 2.52179803e-01 -1.50715809e-02  9.67563018e-01  1.71354129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.440714057 meters
Centerline goodness : 0.998110 with order 1
Centerline is valid?  [True, True]
Translation: X:655.56, Y:52.48, Z:171.37
[[ 9.48614451e-01 -1.93546852e-01 -2.50340249e-01  6.55562840e+02]
 [ 1.91192154e-01  9.80965850e-01 -3.39346614e-02  5.24795039e+01]
 [ 2.52143183e-01 -1.56721813e-02  9.67563020e-01  1.71368623e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.500714057 meters
Centerline goodness : 0.998364 with order 1
Centerline is valid?  [True, True]
Translation: X:655.62, Y:52.49, Z:171.39
[[ 9.48396645e-01 -1.94611330e-01 -2.50340236e-01  6.55621629e+02]
 [ 1.92292916e-01  9.80750665e-01 -3.39347579e-02  5.24867540e+01]
 [ 2.52125442e-01 -1.59550434e-02  9.67563020e-01  1.71385229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.560714057 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:655.68, Y:52.49, Z:171.40
[[ 9.47904675e-01 -1.96992128e-01 -2.50341425e-01  6.55680074e+02]
 [ 1.94757267e-01  9.80264574e-01 -3.39259909e-02  5.24923328e+01]
 [ 2.52083983e-01 -1.65972062e-02  9.67563020e-01  1.71401053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.620714057 meters
Centerline goodness : 0.998605 with order 1
Centerline is valid?  [True, True]
Translation: X:655.74, Y:52.50, Z:171.42
[[ 9.47353287e-01 -1.99626185e-01 -2.50342038e-01  6.55739028e+02]
 [ 1.97482472e-01  9.79719352e-01 -3.39214624e-02  5.24975257e+01]
 [ 2.52036551e-01 -1.73025556e-02  9.67563020e-01  1.71415809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.680714057 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:655.80, Y:52.50, Z:171.43
[[ 9.46971508e-01 -2.01428673e-01 -2.50342669e-01  6.55798745e+02]
 [ 1.99347782e-01  9.79341673e-01 -3.39168045e-02  5.25027491e+01]
 [ 2.52002825e-01 -1.77870084e-02  9.67563020e-01  1.71431936e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.740714057 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:655.86, Y:52.51, Z:171.45
[[ 9.46720722e-01 -2.02593477e-01 -2.50351269e-01  6.55858269e+02]
 [ 2.00569137e-01  9.79094470e-01 -3.38532135e-02  5.25087778e+01]
 [ 2.51975983e-01 -1.81631991e-02  9.67563022e-01  1.71447103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.800714057 meters
Centerline goodness : 0.998665 with order 1
Centerline is valid?  [True, True]
Translation: X:655.92, Y:52.51, Z:171.46
[[ 9.46338301e-01 -2.04362737e-01 -2.50359125e-01  6.55917309e+02]
 [ 2.02414224e-01  9.78716700e-01 -3.37950170e-02  5.25128151e+01]
 [ 2.51937099e-01 -1.86947289e-02  9.67563024e-01  1.71461294e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.860714057 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:655.98, Y:52.52, Z:171.48
[[ 9.46371445e-01 -2.04207379e-01 -2.50360610e-01  6.55977259e+02]
 [ 2.02256446e-01  9.78749698e-01 -3.37840124e-02  5.25179676e+01]
 [ 2.51939316e-01 -1.86648225e-02  9.67563024e-01  1.71476573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.920714057 meters
Centerline goodness : 0.998761 with order 1
Centerline is valid?  [True, True]
Translation: X:656.04, Y:52.52, Z:171.49
[[ 9.46773858e-01 -2.02322623e-01 -2.50369363e-01  6.56036276e+02]
 [ 2.00324319e-01  9.79149220e-01 -3.37190222e-02  5.25229818e+01]
 [ 2.51971088e-01 -1.82307834e-02  9.67563026e-01  1.71492071e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 675.980714057 meters
Centerline goodness : 0.998474 with order 1
Centerline is valid?  [True, True]
Translation: X:656.10, Y:52.53, Z:171.51
[[ 9.47300263e-01 -1.99841844e-01 -2.50370622e-01  6.56096591e+02]
 [ 1.97761199e-01  9.79670438e-01 -3.37096695e-02  5.25288580e+01]
 [ 2.52017300e-01 -1.75804158e-02  9.67563026e-01  1.71508200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.0407140570001 meters
Centerline goodness : 0.998673 with order 1
Centerline is valid?  [True, True]
Translation: X:656.15, Y:52.53, Z:171.52
[[ 9.47770050e-01 -1.97590719e-01 -2.50379390e-01  6.56154707e+02]
 [ 1.95450333e-01  9.80136327e-01 -3.36444232e-02  5.25339720e+01]
 [ 2.52053762e-01 -1.70495585e-02  9.67563028e-01  1.71523249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.100714057 meters
Centerline goodness : 0.998768 with order 1
Centerline is valid?  [True, True]
Translation: X:656.21, Y:52.54, Z:171.54
[[ 9.48208972e-01 -1.95473976e-01 -2.50379055e-01  6.56214259e+02]
 [ 1.93260669e-01  9.80570344e-01 -3.36469211e-02  5.25381218e+01]
 [ 2.52091373e-01 -1.64841110e-02  9.67563028e-01  1.71538585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.1607140570001 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:656.27, Y:52.54, Z:171.55
[[ 9.48448484e-01 -1.94302557e-01 -2.50383683e-01  6.56272415e+02]
 [ 1.92058341e-01  9.80807727e-01 -3.36124418e-02  5.25414636e+01]
 [ 2.52109235e-01 -1.62086054e-02  9.67563029e-01  1.71553220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.220714057 meters
Centerline goodness : 0.998749 with order 1
Centerline is valid?  [True, True]
Translation: X:656.33, Y:52.55, Z:171.57
[[ 9.48561305e-01 -1.93751548e-01 -2.50383282e-01  6.56332393e+02]
 [ 1.91487748e-01  9.80919184e-01 -3.36154306e-02  5.25475338e+01]
 [ 2.52118806e-01 -1.60590342e-02  9.67563029e-01  1.71568647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.2807140570001 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:656.39, Y:52.55, Z:171.58
[[ 9.48768976e-01 -1.92729018e-01 -2.50385612e-01  6.56390817e+02]
 [ 1.90434907e-01  9.81124720e-01 -3.35980656e-02  5.25531714e+01]
 [ 2.52134836e-01 -1.58053585e-02  9.67563029e-01  1.71582884e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.340714057 meters
Centerline goodness : 0.998498 with order 1
Centerline is valid?  [True, True]
Translation: X:656.45, Y:52.56, Z:171.60
[[ 9.48527298e-01 -1.93914955e-01 -2.50385612e-01  6.56450019e+02]
 [ 1.91661295e-01  9.80885884e-01 -3.35980656e-02  5.25594948e+01]
 [ 2.52114880e-01 -1.61205483e-02  9.67563029e-01  1.71596920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.4007140570001 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:656.51, Y:52.57, Z:171.61
[[ 9.48092298e-01 -1.96029267e-01 -2.50386742e-01  6.56509684e+02]
 [ 1.93849973e-01  9.80455978e-01 -3.35896407e-02  5.25661530e+01]
 [ 2.52077731e-01 -1.66913836e-02  9.67563029e-01  1.71614415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.460714057 meters
Centerline goodness : 0.998591 with order 1
Centerline is valid?  [True, True]
Translation: X:656.57, Y:52.57, Z:171.63
[[ 9.47547910e-01 -1.98640860e-01 -2.50389232e-01  6.56567951e+02]
 [ 1.96555631e-01  9.79917786e-01 -3.35710700e-02  5.25739357e+01]
 [ 2.52029448e-01 -1.74052165e-02  9.67563029e-01  1.71630583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.520714057 meters
Centerline goodness : 0.998078 with order 1
Centerline is valid?  [True, True]
Translation: X:656.63, Y:52.58, Z:171.65
[[ 9.47361916e-01 -1.99525249e-01 -2.50389845e-01  6.56625866e+02]
 [ 1.97471437e-01  9.79733801e-01 -3.35665040e-02  5.25823568e+01]
 [ 2.52012759e-01 -1.76452148e-02  9.67563029e-01  1.71647741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.580714057 meters
Centerline goodness : 0.998373 with order 1
Centerline is valid?  [True, True]
Translation: X:656.68, Y:52.59, Z:171.67
[[ 9.47538153e-01 -1.98686288e-01 -2.50390112e-01  6.56684890e+02]
 [ 1.96604336e-01  9.79908240e-01 -3.35645082e-02  5.25922219e+01]
 [ 2.52028142e-01 -1.74241298e-02  9.67563029e-01  1.71665122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.640714057 meters
Centerline goodness : 0.998100 with order 1
Centerline is valid?  [True, True]
Translation: X:656.74, Y:52.60, Z:171.68
[[ 9.47749936e-01 -1.97670513e-01 -2.50392545e-01  6.56744749e+02]
 [ 1.95558639e-01  9.80118085e-01 -3.35463526e-02  5.26013637e+01]
 [ 2.52045386e-01 -1.71728718e-02  9.67563029e-01  1.71681325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.700714057 meters
Centerline goodness : 0.998043 with order 1
Centerline is valid?  [True, True]
Translation: X:656.80, Y:52.61, Z:171.70
[[ 9.48202525e-01 -1.95484142e-01 -2.50395532e-01  6.56802973e+02]
 [ 1.93303489e-01  9.80566112e-01 -3.35240355e-02  5.26112710e+01]
 [ 2.52082791e-01 -1.66147549e-02  9.67563030e-01  1.71696214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.760714057 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:656.86, Y:52.62, Z:171.71
[[ 9.48657679e-01 -1.93262485e-01 -2.50396128e-01  6.56862346e+02]
 [ 1.91007197e-01  9.81016151e-01 -3.35195891e-02  5.26205263e+01]
 [ 2.52120724e-01 -1.60288469e-02  9.67563030e-01  1.71712029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.820714057 meters
Centerline goodness : 0.998086 with order 1
Centerline is valid?  [True, True]
Translation: X:656.92, Y:52.63, Z:171.73
[[ 9.49030632e-01 -1.91411176e-01 -2.50404917e-01  6.56921326e+02]
 [ 1.89110046e-01  9.81385874e-01 -3.34538081e-02  5.26302434e+01]
 [ 2.52147281e-01 -1.56053966e-02  9.67563032e-01  1.71727531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.880714057 meters
Centerline goodness : 0.998432 with order 1
Centerline is valid?  [True, True]
Translation: X:656.98, Y:52.64, Z:171.74
[[ 9.49176101e-01 -1.90686066e-01 -2.50406775e-01  6.56980352e+02]
 [ 1.88363876e-01  9.81529839e-01 -3.34398888e-02  5.26396099e+01]
 [ 2.52158243e-01 -1.54272474e-02  9.67563032e-01  1.71743982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 676.940714057 meters
Centerline goodness : 0.997969 with order 1
Centerline is valid?  [True, True]
Translation: X:657.04, Y:52.65, Z:171.76
[[ 9.49244950e-01 -1.90340588e-01 -2.50408637e-01  6.57039900e+02]
 [ 1.88010286e-01  9.81598104e-01 -3.34259445e-02  5.26486853e+01]
 [ 2.52162957e-01 -1.53499905e-02  9.67563032e-01  1.71760276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.000714057 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:657.10, Y:52.66, Z:171.78
[[ 9.49209215e-01 -1.90507382e-01 -2.50417260e-01  6.57100216e+02]
 [ 1.88199775e-01  9.81563994e-01 -3.33612227e-02  5.26567792e+01]
 [ 2.52156125e-01 -1.54616921e-02  9.67563034e-01  1.71776016e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.060714057 meters
Centerline goodness : 0.998584 with order 1
Centerline is valid?  [True, True]
Translation: X:657.16, Y:52.66, Z:171.79
[[ 9.49313760e-01 -1.89972610e-01 -2.50427222e-01  6.57159140e+02]
 [ 1.87666471e-01  9.81668640e-01 -3.32862796e-02  5.26642342e+01]
 [ 2.52160032e-01 -1.53976697e-02  9.67563037e-01  1.71790246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.120714057 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:657.22, Y:52.67, Z:171.81
[[ 9.49507956e-01 -1.88993785e-01 -2.50431610e-01  6.57218289e+02]
 [ 1.86662974e-01  9.81861068e-01 -3.32532318e-02  5.26708213e+01]
 [ 2.52173702e-01 -1.51721010e-02  9.67563037e-01  1.71805255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.180714057 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:657.28, Y:52.68, Z:171.82
[[ 9.49738717e-01 -1.87820771e-01 -2.50439071e-01  6.57276900e+02]
 [ 1.85464787e-01  9.82090004e-01 -3.31969508e-02  5.26776270e+01]
 [ 2.52188785e-01 -1.49191994e-02  9.67563039e-01  1.71822481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.240714057 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:657.34, Y:52.69, Z:171.84
[[ 9.49985346e-01 -1.86567696e-01 -2.50440285e-01  6.57336597e+02]
 [ 1.84171443e-01  9.82333676e-01 -3.31877847e-02  5.26851378e+01]
 [ 2.52207695e-01 -1.45960397e-02  9.67563039e-01  1.71838476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.300714057 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:657.40, Y:52.69, Z:171.85
[[ 9.50595618e-01 -1.83421149e-01 -2.50448904e-01  6.57396107e+02]
 [ 1.80934915e-01  9.82937154e-01 -3.31226248e-02  5.26926023e+01]
 [ 2.52250922e-01 -1.38287291e-02  9.67563041e-01  1.71854425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.360714057 meters
Centerline goodness : 0.998949 with order 1
Centerline is valid?  [True, True]
Translation: X:657.45, Y:52.70, Z:171.87
[[ 9.51453089e-01 -1.78916288e-01 -2.50451554e-01  6.57454816e+02]
 [ 1.76282150e-01  9.83782915e-01 -3.31025740e-02  5.26994817e+01]
 [ 2.52312549e-01 -1.26545921e-02  9.67563041e-01  1.71867732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.420714057 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:657.51, Y:52.71, Z:171.88
[[ 9.51822688e-01 -1.76939576e-01 -2.50451507e-01  6.57514253e+02]
 [ 1.74238196e-01  9.84146964e-01 -3.31029261e-02  5.27080981e+01]
 [ 2.52338308e-01 -1.21301028e-02  9.67563041e-01  1.71883695e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.480714057 meters
Centerline goodness : 0.998745 with order 1
Centerline is valid?  [True, True]
Translation: X:657.57, Y:52.71, Z:171.90
[[ 9.52381060e-01 -1.73905530e-01 -2.50453955e-01  6.57572586e+02]
 [ 1.71106021e-01  9.84696985e-01 -3.30843935e-02  5.27145399e+01]
 [ 2.52374814e-01 -1.13452301e-02  9.67563041e-01  1.71898958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.5407140570001 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:657.63, Y:52.72, Z:171.91
[[ 9.52826669e-01 -1.71447076e-01 -2.50454066e-01  6.57631720e+02]
 [ 1.68564396e-01  9.85135281e-01 -3.30835597e-02  5.27216317e+01]
 [ 2.52403216e-01 -1.06947403e-02  9.67563041e-01  1.71914483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.600714057 meters
Centerline goodness : 0.998881 with order 1
Centerline is valid?  [True, True]
Translation: X:657.69, Y:52.73, Z:171.93
[[ 9.53536149e-01 -1.67454340e-01 -2.50455299e-01  6.57691620e+02]
 [ 1.64438800e-01  9.85832631e-01 -3.30742167e-02  5.27288566e+01]
 [ 2.52445428e-01 -9.64710765e-03  9.67563041e-01  1.71931182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.6607140570001 meters
Centerline goodness : 0.998953 with order 1
Centerline is valid?  [True, True]
Translation: X:657.75, Y:52.74, Z:171.95
[[ 9.53865652e-01 -1.65554114e-01 -2.50463878e-01  6.57751682e+02]
 [ 1.62491298e-01  9.86157683e-01 -3.30091276e-02  5.27351849e+01]
 [ 2.52461675e-01 -9.21192758e-03  9.67563044e-01  1.71947432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.720714057 meters
Centerline goodness : 0.998772 with order 1
Centerline is valid?  [True, True]
Translation: X:657.81, Y:52.74, Z:171.96
[[ 9.53556595e-01 -1.67321391e-01 -2.50466310e-01  6.57811204e+02]
 [ 1.64323262e-01  9.85854696e-01 -3.29906621e-02  5.27404672e+01]
 [ 2.52443432e-01 -9.69897767e-03  9.67563044e-01  1.71962991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.7807140570001 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:657.87, Y:52.75, Z:171.98
[[ 9.52847906e-01 -1.71307240e-01 -2.50468957e-01  6.57869736e+02]
 [ 1.68449466e-01  9.85158728e-01 -3.29705604e-02  5.27454722e+01]
 [ 2.52399774e-01 -1.07754326e-02  9.67563044e-01  1.71977354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.840714057 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:657.93, Y:52.75, Z:171.99
[[ 9.51595867e-01 -1.78130697e-01 -2.50469082e-01  6.57927518e+02]
 [ 1.75504778e-01  9.83926358e-01 -3.29696061e-02  5.27486616e+01]
 [ 2.52316031e-01 -1.25847798e-02  9.67563044e-01  1.71991940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.9007140570001 meters
Centerline goodness : 0.998598 with order 1
Centerline is valid?  [True, True]
Translation: X:657.99, Y:52.75, Z:172.01
[[ 9.50598523e-01 -1.83379104e-01 -2.50468665e-01  6.57986185e+02]
 [ 1.80930800e-01  9.82942949e-01 -3.29727727e-02  5.27525660e+01]
 [ 2.52242926e-01 -1.39736271e-02  9.67563044e-01  1.72008048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 677.960714057 meters
Centerline goodness : 0.998562 with order 1
Centerline is valid?  [True, True]
Translation: X:658.05, Y:52.76, Z:172.02
[[ 9.50590796e-01 -1.83419011e-01 -2.50468771e-01  6.58046550e+02]
 [ 1.80972276e-01  9.82935341e-01 -3.29719677e-02  5.27579183e+01]
 [ 2.52242293e-01 -1.39850547e-02  9.67563044e-01  1.72023777e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.020714057 meters
Centerline goodness : 0.998828 with order 1
Centerline is valid?  [True, True]
Translation: X:658.10, Y:52.76, Z:172.04
[[ 9.51002512e-01 -1.81269035e-01 -2.50471075e-01  6.58104475e+02]
 [ 1.78753765e-01  9.83341800e-01 -3.29544613e-02  5.27636056e+01]
 [ 2.52272301e-01 -1.34328722e-02  9.67563044e-01  1.72041628e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.080714057 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:658.16, Y:52.77, Z:172.06
[[ 9.51954755e-01 -1.76199763e-01 -2.50471133e-01  6.58162873e+02]
 [ 1.73512350e-01  9.84280192e-01 -3.29540199e-02  5.27694097e+01]
 [ 2.52340265e-01 -1.20890988e-02  9.67563044e-01  1.72056832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.140714057 meters
Centerline goodness : 0.998692 with order 1
Centerline is valid?  [True, True]
Translation: X:658.22, Y:52.78, Z:172.07
[[ 9.52509249e-01 -1.73176306e-01 -2.50471751e-01  6.58220707e+02]
 [ 1.70387502e-01  9.84826097e-01 -3.29493231e-02  5.27760833e+01]
 [ 2.52377159e-01 -1.12927209e-02  9.67563044e-01  1.72071708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.200714057 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:658.28, Y:52.78, Z:172.09
[[ 9.52936215e-01 -1.70810315e-01 -2.50472367e-01  6.58279066e+02]
 [ 1.67942492e-01  9.85246147e-01 -3.29446405e-02  5.27806162e+01]
 [ 2.52404218e-01 -1.06708125e-02  9.67563044e-01  1.72085315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.260714057 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:658.34, Y:52.78, Z:172.10
[[ 9.53119533e-01 -1.69784418e-01 -2.50472367e-01  6.58339597e+02]
 [ 1.66881816e-01  9.85426360e-01 -3.29446405e-02  5.27839978e+01]
 [ 2.52415559e-01 -1.03991031e-02  9.67563044e-01  1.72100577e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.320714057 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:658.40, Y:52.79, Z:172.12
[[ 9.53445026e-01 -1.67943419e-01 -2.50474730e-01  6.58399422e+02]
 [ 1.64983147e-01  9.85746619e-01 -3.29266642e-02  5.27885326e+01]
 [ 2.52434434e-01 -9.93034482e-03  9.67563044e-01  1.72116804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.380714057 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:658.46, Y:52.79, Z:172.13
[[ 9.53724241e-01 -1.66346802e-01 -2.50477172e-01  6.58457860e+02]
 [ 1.63337325e-01  9.86021286e-01 -3.29080713e-02  5.27935643e+01]
 [ 2.52449976e-01 -9.52704613e-03  9.67563044e-01  1.72132348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.440714057 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:658.52, Y:52.80, Z:172.15
[[ 9.54000047e-01 -1.64756632e-01 -2.50477869e-01  6.58517323e+02]
 [ 1.61694709e-01  9.86292162e-01 -3.29027675e-02  5.27974852e+01]
 [ 2.52465308e-01 -9.11170443e-03  9.67563044e-01  1.72149059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.500714057 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:658.58, Y:52.80, Z:172.16
[[ 9.54066347e-01 -1.64369530e-01 -2.50479667e-01  6.58576213e+02]
 [ 1.61298094e-01  9.86357559e-01 -3.28890773e-02  5.27994358e+01]
 [ 2.52468475e-01 -9.02353088e-03  9.67563045e-01  1.72164352e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.560714057 meters
Centerline goodness : 0.998418 with order 1
Centerline is valid?  [True, True]
Translation: X:658.64, Y:52.80, Z:172.18
[[ 9.54035356e-01 -1.64548379e-01 -2.50480280e-01  6.58635181e+02]
 [ 1.61484221e-01  9.86327259e-01 -3.28844083e-02  5.28028790e+01]
 [ 2.52466604e-01 -9.07572463e-03  9.67563045e-01  1.72178253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.620714057 meters
Centerline goodness : 0.999088 with order 1
Centerline is valid?  [True, True]
Translation: X:658.70, Y:52.81, Z:172.19
[[ 9.54047050e-01 -1.64479646e-01 -2.50480883e-01  6.58695580e+02]
 [ 1.61414366e-01  9.86338847e-01 -3.28798139e-02  5.28055605e+01]
 [ 2.52467085e-01 -9.06232328e-03  9.67563045e-01  1.72193607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.680714057 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:658.75, Y:52.81, Z:172.21
[[ 9.54300340e-01 -1.62999935e-01 -2.50483298e-01  6.58754804e+02]
 [ 1.59889407e-01  9.86587809e-01 -3.28614051e-02  5.28098275e+01]
 [ 2.52480175e-01 -8.68997593e-03  9.67563045e-01  1.72210375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.740714057 meters
Centerline goodness : 0.998784 with order 1
Centerline is valid?  [True, True]
Translation: X:658.81, Y:52.81, Z:172.23
[[ 9.54410228e-01 -1.62353373e-01 -2.50484528e-01  6.58813293e+02]
 [ 1.59223430e-01  9.86695821e-01 -3.28520261e-02  5.28129310e+01]
 [ 2.52485674e-01 -8.52869610e-03  9.67563045e-01  1.72225285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.800714057 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:658.87, Y:52.82, Z:172.24
[[ 9.54371237e-01 -1.62582422e-01 -2.50484528e-01  6.58872174e+02]
 [ 1.59460228e-01  9.86657580e-01 -3.28520261e-02  5.28153100e+01]
 [ 2.52483620e-01 -8.58929118e-03  9.67563045e-01  1.72240868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.860714057 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:658.93, Y:52.82, Z:172.26
[[ 9.54394821e-01 -1.62443667e-01 -2.50484691e-01  6.58929550e+02]
 [ 1.59317104e-01  9.86680742e-01 -3.28507832e-02  5.28202468e+01]
 [ 2.52484823e-01 -8.55387832e-03  9.67563045e-01  1.72255306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.920714057 meters
Centerline goodness : 0.998354 with order 1
Centerline is valid?  [True, True]
Translation: X:658.99, Y:52.82, Z:172.27
[[ 9.54467688e-01 -1.62015897e-01 -2.50484096e-01  6.58988036e+02]
 [ 1.58873675e-01  9.86752088e-01 -3.28553230e-02  5.28238128e+01]
 [ 2.52488789e-01 -8.43598468e-03  9.67563045e-01  1.72271526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 678.980714057 meters
Centerline goodness : 0.998579 with order 1
Centerline is valid?  [True, True]
Translation: X:659.05, Y:52.83, Z:172.29
[[ 9.54377380e-01 -1.62546094e-01 -2.50484699e-01  6.59046293e+02]
 [ 1.59423013e-01  9.86663637e-01 -3.28507204e-02  5.28265614e+01]
 [ 2.52483901e-01 -8.58104100e-03  9.67563045e-01  1.72285631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.0407140570001 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:659.11, Y:52.83, Z:172.30
[[ 9.54205046e-01 -1.63554720e-01 -2.50484699e-01  6.59105102e+02]
 [ 1.60465766e-01  9.86494586e-01 -3.28507204e-02  5.28313632e+01]
 [ 2.52474690e-01 -8.84789590e-03  9.67563045e-01  1.72300491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.100714057 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:659.17, Y:52.84, Z:172.32
[[ 9.54042796e-01 -1.64497605e-01 -2.50485291e-01  6.59165096e+02]
 [ 1.61441745e-01  9.86335485e-01 -3.28462074e-02  5.28361560e+01]
 [ 2.52465654e-01 -9.10209482e-03  9.67563045e-01  1.72316440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.1607140570001 meters
Centerline goodness : 0.998381 with order 1
Centerline is valid?  [True, True]
Translation: X:659.23, Y:52.84, Z:172.33
[[ 9.54191482e-01 -1.63629253e-01 -2.50487691e-01  6.59225401e+02]
 [ 1.60548804e-01  9.86481835e-01 -3.28278958e-02  5.28392672e+01]
 [ 2.52473161e-01 -8.89140075e-03  9.67563045e-01  1.72333035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.220714057 meters
Centerline goodness : 0.998104 with order 1
Centerline is valid?  [True, True]
Translation: X:659.28, Y:52.84, Z:172.35
[[ 9.54601318e-01 -1.61217408e-01 -2.50490061e-01  6.59284097e+02]
 [ 1.58060112e-01  9.86884247e-01 -3.28098039e-02  5.28443306e+01]
 [ 2.52494207e-01 -8.27220489e-03  9.67563045e-01  1.72349132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.2807140570001 meters
Centerline goodness : 0.998389 with order 1
Centerline is valid?  [True, True]
Translation: X:659.34, Y:52.85, Z:172.36
[[ 9.55315891e-01 -1.56926690e-01 -2.50490645e-01  6.59343398e+02]
 [ 1.53625544e-01  9.87584428e-01 -3.28053458e-02  5.28482387e+01]
 [ 2.52528694e-01 -7.14229330e-03  9.67563045e-01  1.72363721e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.340714057 meters
Centerline goodness : 0.997965 with order 1
Centerline is valid?  [True, True]
Translation: X:659.40, Y:52.85, Z:172.38
[[ 9.55615935e-01 -1.55088147e-01 -2.50491220e-01  6.59399780e+02]
 [ 1.51726065e-01  9.87878180e-01 -3.28009531e-02  5.28494949e+01]
 [ 2.52541849e-01 -6.66093355e-03  9.67563045e-01  1.72378088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.4007140570001 meters
Centerline goodness : 0.997770 with order 1
Centerline is valid?  [True, True]
Translation: X:659.46, Y:52.85, Z:172.39
[[ 9.55495462e-01 -1.55833214e-01 -2.50488388e-01  6.59456742e+02]
 [ 1.52490627e-01  9.87759732e-01 -3.28225639e-02  5.28497828e+01]
 [ 2.52537189e-01 -6.83532056e-03  9.67563045e-01  1.72393922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.460714057 meters
Centerline goodness : 0.997566 with order 1
Centerline is valid?  [True, True]
Translation: X:659.52, Y:52.85, Z:172.41
[[ 9.55260371e-01 -1.57271462e-01 -2.50486148e-01  6.59515157e+02]
 [ 1.53972973e-01  9.87529180e-01 -3.28396534e-02  5.28523325e+01]
 [ 2.52527120e-01 -7.19767743e-03  9.67563046e-01  1.72409636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.520714057 meters
Centerline goodness : 0.997394 with order 1
Centerline is valid?  [True, True]
Translation: X:659.57, Y:52.85, Z:172.42
[[ 9.54454291e-01 -1.62092542e-01 -2.50485558e-01  6.59574651e+02]
 [ 1.58955841e-01  9.86739227e-01 -3.28441469e-02  5.28490686e+01]
 [ 2.52487718e-01 -8.46790575e-03  9.67563046e-01  1.72424099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.580714057 meters
Centerline goodness : 0.997389 with order 1
Centerline is valid?  [True, True]
Translation: X:659.63, Y:52.85, Z:172.44
[[ 9.54236979e-01 -1.63366989e-01 -2.50485558e-01  6.59631510e+02]
 [ 1.60273405e-01  9.86526076e-01 -3.28441469e-02  5.28501012e+01]
 [ 2.52476184e-01 -8.80507389e-03  9.67563046e-01  1.72438151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.640714057 meters
Centerline goodness : 0.997405 with order 1
Centerline is valid?  [True, True]
Translation: X:659.69, Y:52.85, Z:172.45
[[ 9.54140637e-01 -1.63931902e-01 -2.50483486e-01  6.59689749e+02]
 [ 1.60853294e-01  9.86431164e-01 -3.28599442e-02  5.28510398e+01]
 [ 2.52471510e-01 -8.93808568e-03  9.67563046e-01  1.72453590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.700714057 meters
Centerline goodness : 0.996714 with order 1
Centerline is valid?  [True, True]
Translation: X:659.75, Y:52.85, Z:172.47
[[ 9.54343119e-01 -1.62750395e-01 -2.50482573e-01  6.59747855e+02]
 [ 1.59629983e-01  9.86629634e-01 -3.28669061e-02  5.28532371e+01]
 [ 2.52482631e-01 -8.61822310e-03  9.67563046e-01  1.72469729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.760714057 meters
Centerline goodness : 0.997673 with order 1
Centerline is valid?  [True, True]
Translation: X:659.81, Y:52.86, Z:172.48
[[ 9.54582906e-01 -1.61339907e-01 -2.50481355e-01  6.59806150e+02]
 [ 1.58169355e-01  9.86864536e-01 -3.28761797e-02  5.28564800e+01]
 [ 2.52495406e-01 -8.23543515e-03  9.67563046e-01  1.72484197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.820714057 meters
Centerline goodness : 0.996732 with order 1
Centerline is valid?  [True, True]
Translation: X:659.86, Y:52.86, Z:172.50
[[ 9.54796149e-01 -1.60073998e-01 -2.50480797e-01  6.59862348e+02]
 [ 1.56859528e-01  9.87073435e-01 -3.28804356e-02  5.28595594e+01]
 [ 2.52506243e-01 -7.89618634e-03  9.67563046e-01  1.72497317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.880714057 meters
Centerline goodness : 0.996885 with order 1
Centerline is valid?  [True, True]
Translation: X:659.92, Y:52.86, Z:172.51
[[ 9.54756905e-01 -1.60312589e-01 -2.50477797e-01  6.59919318e+02]
 [ 1.57100200e-01  9.87034398e-01 -3.29032683e-02  5.28641525e+01]
 [ 2.52505010e-01 -7.93548960e-03  9.67563046e-01  1.72511117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 679.940714057 meters
Centerline goodness : 0.997080 with order 1
Centerline is valid?  [True, True]
Translation: X:659.98, Y:52.87, Z:172.53
[[ 9.54454364e-01 -1.62117432e-01 -2.50469170e-01  6.59976331e+02]
 [ 1.58948894e-01  9.86736189e-01 -3.29688149e-02  5.28664989e+01]
 [ 2.52491814e-01 -8.34456828e-03  9.67563048e-01  1.72525109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.000714057 meters
Centerline goodness : 0.997051 with order 1
Centerline is valid?  [True, True]
Translation: X:660.03, Y:52.87, Z:172.54
[[ 9.53830446e-01 -1.65751577e-01 -2.50467353e-01  6.60033887e+02]
 [ 1.62702397e-01  9.86123764e-01 -3.29826182e-02  5.28701442e+01]
 [ 2.52458729e-01 -9.29181320e-03  9.67563048e-01  1.72541799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.060714057 meters
Centerline goodness : 0.996148 with order 1
Centerline is valid?  [True, True]
Translation: X:660.09, Y:52.87, Z:172.56
[[ 9.53072180e-01 -1.70058280e-01 -2.50466767e-01  6.60091754e+02]
 [ 1.67153831e-01  9.85378836e-01 -3.29870669e-02  5.28731318e+01]
 [ 2.52414375e-01 -1.04274237e-02  9.67563048e-01  1.72557895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.120714057 meters
Centerline goodness : 0.996498 with order 1
Centerline is valid?  [True, True]
Translation: X:660.15, Y:52.88, Z:172.57
[[ 9.52506759e-01 -1.73198912e-01 -2.50465588e-01  6.60149389e+02]
 [ 1.70398621e-01  9.84822610e-01 -3.29960141e-02  5.28755002e+01]
 [ 2.52379048e-01 -1.12500645e-02  9.67563048e-01  1.72572595e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.180714057 meters
Centerline goodness : 0.995278 with order 1
Centerline is valid?  [True, True]
Translation: X:660.21, Y:52.88, Z:172.59
[[ 9.52027084e-01 -1.75820428e-01 -2.50462787e-01  6.60206239e+02]
 [ 1.73103534e-01  9.84350053e-01 -3.30172613e-02  5.28809218e+01]
 [ 2.52348167e-01 -1.19226665e-02  9.67563048e-01  1.72587271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.240714057 meters
Centerline goodness : 0.995672 with order 1
Centerline is valid?  [True, True]
Translation: X:660.26, Y:52.89, Z:172.60
[[ 9.51081608e-01 -1.80867556e-01 -2.50460979e-01  6.60264047e+02]
 [ 1.78318543e-01  9.83418249e-01 -3.30309712e-02  5.28858395e+01]
 [ 2.52282129e-01 -1.32466876e-02  9.67563049e-01  1.72602409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.300714057 meters
Centerline goodness : 0.995724 with order 1
Centerline is valid?  [True, True]
Translation: X:660.32, Y:52.89, Z:172.62
[[ 9.50504539e-01 -1.83876782e-01 -2.50460475e-01  6.60320597e+02]
 [ 1.81429122e-01  9.82849010e-01 -3.30347898e-02  5.28909196e+01]
 [ 2.52239161e-01 -1.40411064e-02  9.67563049e-01  1.72618404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.360714057 meters
Centerline goodness : 0.995721 with order 1
Centerline is valid?  [True, True]
Translation: X:660.38, Y:52.90, Z:172.63
[[ 9.50364876e-01 -1.84598919e-01 -2.50459261e-01  6.60377544e+02]
 [ 1.82173415e-01  9.82711016e-01 -3.30439985e-02  5.28978495e+01]
 [ 2.52228961e-01 -1.42231634e-02  9.67563049e-01  1.72632660e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.420714057 meters
Centerline goodness : 0.994899 with order 1
Centerline is valid?  [True, True]
Translation: X:660.43, Y:52.91, Z:172.65
[[ 9.50407009e-01 -1.84393893e-01 -2.50450415e-01  6.60434775e+02]
 [ 1.81943835e-01  9.82751295e-01 -3.31109117e-02  5.29053712e+01]
 [ 2.52235919e-01 -1.40990664e-02  9.67563051e-01  1.72645569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.480714057 meters
Centerline goodness : 0.995130 with order 1
Centerline is valid?  [True, True]
Translation: X:660.49, Y:52.91, Z:172.66
[[ 9.50596125e-01 -1.83428383e-01 -2.50441681e-01  6.60491657e+02]
 [ 1.80928152e-01  9.82936570e-01 -3.31768457e-02  5.29125545e+01]
 [ 2.52253862e-01 -1.37741696e-02  9.67563053e-01  1.72658899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.5407140570001 meters
Centerline goodness : 0.995062 with order 1
Centerline is valid?  [True, True]
Translation: X:660.55, Y:52.92, Z:172.67
[[ 9.50945432e-01 -1.81612221e-01 -2.50439186e-01  6.60547296e+02]
 [ 1.79045276e-01  9.83280650e-01 -3.31956660e-02  5.29209413e+01]
 [ 2.52280745e-01 -1.32726863e-02  9.67563053e-01  1.72673812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.600714057 meters
Centerline goodness : 0.995382 with order 1
Centerline is valid?  [True, True]
Translation: X:660.61, Y:52.93, Z:172.69
[[ 9.51150885e-01 -1.80536526e-01 -2.50436732e-01  6.60605019e+02]
 [ 1.77928150e-01  9.83482787e-01 -3.32141697e-02  5.29289172e+01]
 [ 2.52296586e-01 -1.29680576e-02  9.67563053e-01  1.72689552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.6607140570001 meters
Centerline goodness : 0.995363 with order 1
Centerline is valid?  [True, True]
Translation: X:660.66, Y:52.94, Z:172.70
[[ 9.51404283e-01 -1.79197201e-01 -2.50436125e-01  6.60660678e+02]
 [ 1.76542106e-01  9.83732382e-01 -3.32187443e-02  5.29368607e+01]
 [ 2.52314832e-01 -1.26080655e-02  9.67563053e-01  1.72704855e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.720714057 meters
Centerline goodness : 0.994980 with order 1
Centerline is valid?  [True, True]
Translation: X:660.72, Y:52.94, Z:172.72
[[ 9.51085888e-01 -1.80883610e-01 -2.50433133e-01  6.60717410e+02]
 [ 1.78279911e-01  9.83418166e-01 -3.32412882e-02  5.29445474e+01]
 [ 2.52293297e-01 -1.30318767e-02  9.67563054e-01  1.72719366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.7807140570001 meters
Centerline goodness : 0.995813 with order 1
Centerline is valid?  [True, True]
Translation: X:660.77, Y:52.95, Z:172.73
[[ 9.50740869e-01 -1.82700053e-01 -2.50424622e-01  6.60773614e+02]
 [ 1.80141311e-01  9.83076734e-01 -3.33052904e-02  5.29519940e+01]
 [ 2.52271498e-01 -1.34471190e-02  9.67563056e-01  1.72734431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.840714057 meters
Centerline goodness : 0.995006 with order 1
Centerline is valid?  [True, True]
Translation: X:660.83, Y:52.96, Z:172.75
[[ 9.50388360e-01 -1.84536672e-01 -2.50416016e-01  6.60831535e+02]
 [ 1.82023448e-01  9.82727793e-01 -3.33698711e-02  5.29611550e+01]
 [ 2.52248744e-01 -1.38672497e-02  9.67563058e-01  1.72749813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.9007140570001 meters
Centerline goodness : 0.995948 with order 1
Centerline is valid?  [True, True]
Translation: X:660.89, Y:52.97, Z:172.76
[[ 9.50123655e-01 -1.85894819e-01 -2.50415968e-01  6.60887573e+02]
 [ 1.83427724e-01  9.82466640e-01 -3.33702323e-02  5.29694393e+01]
 [ 2.52228688e-01 -1.42273839e-02  9.67563058e-01  1.72764835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 680.960714057 meters
Centerline goodness : 0.995764 with order 1
Centerline is valid?  [True, True]
Translation: X:660.94, Y:52.98, Z:172.78
[[ 9.49983702e-01 -1.86620420e-01 -2.50407240e-01  6.60944918e+02]
 [ 1.84160852e-01  9.82327258e-01 -3.34356061e-02  5.29784139e+01]
 [ 2.52221624e-01 -1.43519297e-02  9.67563060e-01  1.72780608e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.020714057 meters
Centerline goodness : 0.995365 with order 1
Centerline is valid?  [True, True]
Translation: X:661.00, Y:52.99, Z:172.80
[[ 9.50079227e-01 -1.86134323e-01 -2.50406622e-01  6.61002259e+02]
 [ 1.83656990e-01  9.82421427e-01 -3.34402340e-02  5.29869587e+01]
 [ 2.52229206e-01 -1.42180547e-02  9.67563060e-01  1.72795041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.080714057 meters
Centerline goodness : 0.996295 with order 1
Centerline is valid?  [True, True]
Translation: X:661.06, Y:53.00, Z:172.81
[[ 9.50383780e-01 -1.84574670e-01 -2.50405396e-01  6.61060392e+02]
 [ 1.82041846e-01  9.82721682e-01 -3.34494082e-02  5.29956266e+01]
 [ 2.52252726e-01 -1.37944855e-02  9.67563060e-01  1.72808912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.140714057 meters
Centerline goodness : 0.995403 with order 1
Centerline is valid?  [True, True]
Translation: X:661.12, Y:53.00, Z:172.82
[[ 9.50773795e-01 -1.82555854e-01 -2.50404773e-01  6.61117053e+02]
 [ 1.79953132e-01  9.83106147e-01 -3.34540743e-02  5.30045370e+01]
 [ 2.52281708e-01 -1.32538659e-02  9.67563060e-01  1.72823369e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.200714057 meters
Centerline goodness : 0.996054 with order 1
Centerline is valid?  [True, True]
Translation: X:661.17, Y:53.01, Z:172.84
[[ 9.51632155e-01 -1.78039487e-01 -2.50396052e-01  6.61174335e+02]
 [ 1.75266175e-01  9.83950318e-01 -3.35192267e-02  5.30141742e+01]
 [ 2.52345021e-01 -1.19879844e-02  9.67563062e-01  1.72838523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.260714057 meters
Centerline goodness : 0.996371 with order 1
Centerline is valid?  [True, True]
Translation: X:661.23, Y:53.02, Z:172.85
[[ 9.52581365e-01 -1.72889791e-01 -2.50395415e-01  6.61231041e+02]
 [ 1.69940472e-01  9.84883942e-01 -3.35239843e-02  5.30222630e+01]
 [ 2.52406378e-01 -1.06179923e-02  9.67563062e-01  1.72854517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.320714057 meters
Centerline goodness : 0.996287 with order 1
Centerline is valid?  [True, True]
Translation: X:661.29, Y:53.03, Z:172.87
[[ 9.53301290e-01 -1.68876934e-01 -2.50394153e-01  6.61287814e+02]
 [ 1.65789143e-01  9.85590925e-01 -3.35334095e-02  5.30298849e+01]
 [ 2.52449224e-01 -9.54518948e-03  9.67563062e-01  1.72869691e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.380714057 meters
Centerline goodness : 0.995434 with order 1
Centerline is valid?  [True, True]
Translation: X:661.34, Y:53.04, Z:172.88
[[ 9.54432755e-01 -1.62361821e-01 -2.50393202e-01  6.61344611e+02]
 [ 1.59051700e-01  9.86700355e-01 -3.35405036e-02  5.30373937e+01]
 [ 2.52508759e-01 -7.81330921e-03  9.67563062e-01  1.72884415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.440714057 meters
Centerline goodness : 0.996046 with order 1
Centerline is valid?  [True, True]
Translation: X:661.40, Y:53.04, Z:172.90
[[ 9.55606803e-01 -1.55303837e-01 -2.50392406e-01  6.61402843e+02]
 [ 1.51753782e-01  9.87848888e-01 -3.35464475e-02  5.30420326e+01]
 [ 2.52559752e-01 -5.94078119e-03  9.67563062e-01  1.72899349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.500714057 meters
Centerline goodness : 0.995075 with order 1
Centerline is valid?  [True, True]
Translation: X:661.46, Y:53.05, Z:172.91
[[ 9.56328671e-01 -1.50797946e-01 -2.50390601e-01  6.61461304e+02]
 [ 1.47092436e-01  9.88553260e-01 -3.35599168e-02  5.30471527e+01]
 [ 2.52585211e-01 -4.73625283e-03  9.67563062e-01  1.72914628e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.560714057 meters
Centerline goodness : 0.994805 with order 1
Centerline is valid?  [True, True]
Translation: X:661.52, Y:53.05, Z:172.93
[[ 9.57135665e-01 -1.45588191e-01 -2.50390491e-01  6.61516956e+02]
 [ 1.41707048e-01  9.89339572e-01 -3.35607373e-02  5.30490703e+01]
 [ 2.52607268e-01 -3.35991867e-03  9.67563062e-01  1.72930202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.620714057 meters
Centerline goodness : 0.994453 with order 1
Centerline is valid?  [True, True]
Translation: X:661.57, Y:53.05, Z:172.94
[[ 9.57517696e-01 -1.43059470e-01 -2.50387401e-01  6.61574216e+02]
 [ 1.39087252e-01  9.89710496e-01 -3.35837772e-02  5.30480538e+01]
 [ 2.52615516e-01 -2.66863437e-03  9.67563062e-01  1.72944726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.680714057 meters
Centerline goodness : 0.994497 with order 1
Centerline is valid?  [True, True]
Translation: X:661.63, Y:53.05, Z:172.96
[[ 9.57566591e-01 -1.42747185e-01 -2.50378642e-01  6.61631858e+02]
 [ 1.38747427e-01  9.89755980e-01 -3.36489548e-02  5.30484990e+01]
 [ 2.52617051e-01 -2.51827725e-03  9.67563064e-01  1.72958536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.740714057 meters
Centerline goodness : 0.993833 with order 1
Centerline is valid?  [True, True]
Translation: X:661.69, Y:53.05, Z:172.97
[[ 9.57396620e-01 -1.43898180e-01 -2.50369779e-01  6.61688582e+02]
 [ 1.39919907e-01  9.89588669e-01 -3.37147784e-02  5.30456723e+01]
 [ 2.52614591e-01 -2.75330138e-03  9.67563067e-01  1.72972955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.800714057 meters
Centerline goodness : 0.993980 with order 1
Centerline is valid?  [True, True]
Translation: X:661.75, Y:53.04, Z:172.99
[[ 9.57349937e-01 -1.44213827e-01 -2.50366670e-01  6.61745166e+02]
 [ 1.40240137e-01  9.89542552e-01 -3.37378478e-02  5.30410154e+01]
 [ 2.52613938e-01 -2.81252962e-03  9.67563067e-01  1.72988098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.860714057 meters
Centerline goodness : 0.993981 with order 1
Centerline is valid?  [True, True]
Translation: X:661.80, Y:53.04, Z:173.00
[[ 9.57684988e-01 -1.41979650e-01 -2.50362222e-01  6.61802559e+02]
 [ 1.37922236e-01  9.89867157e-01 -3.37708226e-02  5.30397743e+01]
 [ 2.52620111e-01 -2.18870757e-03  9.67563067e-01  1.73002930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.920714057 meters
Centerline goodness : 0.994166 with order 1
Centerline is valid?  [True, True]
Translation: X:661.86, Y:53.03, Z:173.02
[[ 9.58626909e-01 -1.35490407e-01 -2.50353347e-01  6.61861341e+02]
 [ 1.31197980e-01  9.90778574e-01 -3.38364903e-02  5.30339256e+01]
 [ 2.52629252e-01 -4.09283295e-04  9.67563069e-01  1.73017697e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 681.980714057 meters
Centerline goodness : 0.994832 with order 1
Centerline is valid?  [True, True]
Translation: X:661.92, Y:53.03, Z:173.03
[[ 9.59841181e-01 -1.26618423e-01 -2.50345127e-01  6.61920595e+02]
 [ 1.22012978e-01  9.91949501e-01 -3.38972078e-02  5.30264799e+01]
 [ 2.52621734e-01  1.99058150e-03  9.67563071e-01  1.73031685e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.0407140570001 meters
Centerline goodness : 0.996184 with order 1
Centerline is valid?  [True, True]
Translation: X:661.98, Y:53.02, Z:173.05
[[ 9.60570172e-01 -1.20967754e-01 -2.50343258e-01  6.61979228e+02]
 [ 1.16169843e-01  9.92650297e-01 -3.39110043e-02  5.30156239e+01]
 [ 2.52605447e-01  3.49156239e-03  9.67563071e-01  1.73045650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.100714057 meters
Centerline goodness : 0.997143 with order 1
Centerline is valid?  [True, True]
Translation: X:662.04, Y:53.01, Z:173.06
[[ 9.60523374e-01 -1.21345258e-01 -2.50340123e-01  6.62036789e+02]
 [ 1.16553927e-01  9.92604481e-01 -3.39341343e-02  5.30092721e+01]
 [ 2.52606474e-01  3.41640475e-03  9.67563072e-01  1.73061576e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.1607140570001 meters
Centerline goodness : 0.997752 with order 1
Centerline is valid?  [True, True]
Translation: X:662.10, Y:53.00, Z:173.08
[[ 9.60222172e-01 -1.23709855e-01 -2.50338276e-01  6.62095350e+02]
 [ 1.18993978e-01  9.92314458e-01 -3.39477527e-02  5.29953610e+01]
 [ 2.52613962e-01  2.80863746e-03  9.67563072e-01  1.73077287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.220714057 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:662.15, Y:52.98, Z:173.09
[[ 9.60134145e-01 -1.24397633e-01 -2.50335080e-01  6.62153368e+02]
 [ 1.19698605e-01  9.92228902e-01 -3.39713027e-02  5.29835892e+01]
 [ 2.52615651e-01  2.65224789e-03  9.67563072e-01  1.73092019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.2807140570001 meters
Centerline goodness : 0.999285 with order 1
Centerline is valid?  [True, True]
Translation: X:662.21, Y:52.97, Z:173.11
[[ 9.60413260e-01 -1.22230480e-01 -2.50331938e-01  6.62213536e+02]
 [ 1.17453002e-01  9.92496433e-01 -3.39944441e-02  5.29722723e+01]
 [ 2.52608712e-01  3.24647722e-03  9.67563072e-01  1.73107415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.340714057 meters
Centerline goodness : 0.999496 with order 1
Centerline is valid?  [True, True]
Translation: X:662.27, Y:52.97, Z:173.12
[[ 9.60604345e-01 -1.20720837e-01 -2.50331325e-01  6.62271665e+02]
 [ 1.15891764e-01  9.92679792e-01 -3.39989550e-02  5.29677676e+01]
 [ 2.52603230e-01  3.64820503e-03  9.67563072e-01  1.73124066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.4007140570001 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:662.33, Y:52.96, Z:173.14
[[ 9.60745912e-01 -1.19606359e-01 -2.50323015e-01  6.62329998e+02]
 [ 1.14724169e-01  9.92813316e-01 -3.40600297e-02  5.29580206e+01]
 [ 2.52597819e-01  4.00493444e-03  9.67563074e-01  1.73139460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.460714057 meters
Centerline goodness : 0.999706 with order 1
Centerline is valid?  [True, True]
Translation: X:662.39, Y:52.95, Z:173.15
[[ 9.60601376e-01 -1.20780134e-01 -2.50314114e-01  6.62386973e+02]
 [ 1.15920117e-01  9.92672146e-01 -3.41253254e-02  5.29541723e+01]
 [ 2.52601510e-01  3.76439314e-03  9.67563076e-01  1.73154207e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.520714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.44, Y:52.94, Z:173.17
[[ 9.60210825e-01 -1.23867455e-01 -2.50303864e-01  6.62444986e+02]
 [ 1.19091003e-01  9.92294144e-01 -3.42003502e-02  5.29447229e+01]
 [ 2.52611369e-01  3.03060824e-03  9.67563079e-01  1.73168605e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.580714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.50, Y:52.94, Z:173.18
[[ 9.59489602e-01 -1.29355338e-01 -2.50293628e-01  6.62504853e+02]
 [ 1.24742899e-01  9.91596907e-01 -3.42750995e-02  5.29373817e+01]
 [ 2.52624055e-01  1.66424874e-03  9.67563082e-01  1.73182516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.640714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.56, Y:52.93, Z:173.20
[[ 9.58427140e-01 -1.37006695e-01 -2.50292994e-01  6.62563728e+02]
 [ 1.32649366e-01  9.90570061e-01 -3.42797335e-02  5.29302377e+01]
 [ 2.52629299e-01 -3.46580031e-04  9.67563082e-01  1.73197374e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.700714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.62, Y:52.93, Z:173.21
[[ 9.57602625e-01 -1.42669892e-01 -2.50284868e-01  6.62621335e+02]
 [ 1.38487167e-01  9.89768731e-01 -3.43389656e-02  5.29297161e+01]
 [ 2.52623272e-01 -1.77815866e-03  9.67563084e-01  1.73213119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.760714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.68, Y:52.93, Z:173.23
[[ 9.56745752e-01 -1.48322368e-01 -2.50275929e-01  6.62680573e+02]
 [ 1.44312658e-01  9.88933881e-01 -3.44039974e-02  5.29275865e+01]
 [ 2.52609228e-01 -3.20210622e-03  9.67563086e-01  1.73228838e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.820714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.74, Y:52.93, Z:173.24
[[ 9.56290763e-01 -1.51228094e-01 -2.50275929e-01  6.62737119e+02]
 [ 1.47316184e-01  9.88490924e-01 -3.44039974e-02  5.29303102e+01]
 [ 2.52598335e-01 -3.96946995e-03  9.67563086e-01  1.73243618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.880714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.79, Y:52.93, Z:173.26
[[ 9.55763255e-01 -1.54541197e-01 -2.50267096e-01  6.62794346e+02]
 [ 1.50724112e-01  9.87974792e-01 -3.44681324e-02  5.29345880e+01]
 [ 2.52584329e-01 -4.77791144e-03  9.67563088e-01  1.73257676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 682.940714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.85, Y:52.94, Z:173.27
[[ 9.54919887e-01 -1.59683919e-01 -2.50257979e-01  6.62850770e+02]
 [ 1.56022982e-01  9.87149542e-01 -3.45342017e-02  5.29372827e+01]
 [ 2.52556606e-01 -6.06860020e-03  9.67563090e-01  1.73271629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.000714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.91, Y:52.94, Z:173.29
[[ 9.54205554e-01 -1.63905841e-01 -2.50253144e-01  6.62907370e+02]
 [ 1.60378314e-01  9.86450083e-01 -3.45692066e-02  5.29416162e+01]
 [ 2.52528330e-01 -7.14904843e-03  9.67563090e-01  1.73285589e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.060714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:662.97, Y:52.95, Z:173.30
[[ 9.52815628e-01 -1.71808420e-01 -2.50248370e-01  6.62965986e+02]
 [ 1.68539192e-01  9.85087368e-01 -3.46037365e-02  5.29464962e+01]
 [ 2.52461721e-01 -9.20567697e-03  9.67563091e-01  1.73299954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.120714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.02, Y:52.95, Z:173.32
[[ 9.51856442e-01 -1.77045853e-01 -2.50248038e-01  6.63022765e+02]
 [ 1.73953523e-01  9.84145613e-01 -3.46061363e-02  5.29532256e+01]
 [ 2.52407381e-01 -1.05914540e-02  9.67563091e-01  1.73315262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.180714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.08, Y:52.96, Z:173.33
[[ 9.50702601e-01 -1.83141405e-01 -2.50247460e-01  6.63081045e+02]
 [ 1.80254940e-01  9.83010825e-01 -3.46103159e-02  5.29616353e+01]
 [ 2.52334544e-01 -1.22042234e-02  9.67563091e-01  1.73329930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.240714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.14, Y:52.97, Z:173.34
[[ 9.50982116e-01 -1.81684452e-01 -2.50247429e-01  6.63137978e+02]
 [ 1.78748427e-01  9.83285874e-01 -3.46105356e-02  5.29747426e+01]
 [ 2.52352958e-01 -1.18173341e-02  9.67563091e-01  1.73344814e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.19, Y:52.99, Z:173.36
[[ 9.52404743e-01 -1.74075310e-01 -2.50245863e-01  6.63193152e+02]
 [ 1.70878132e-01  9.84683701e-01 -3.46218596e-02  5.29895497e+01]
 [ 2.52439833e-01 -9.78752211e-03  9.67563091e-01  1.73360065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.360714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.25, Y:53.00, Z:173.37
[[ 9.53322239e-01 -1.68980594e-01 -2.50244415e-01  6.63249743e+02]
 [ 1.65608133e-01  9.85583355e-01 -3.46323222e-02  5.30027432e+01]
 [ 2.52488920e-01 -8.42674729e-03  9.67563091e-01  1.73374916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.420714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.31, Y:53.02, Z:173.39
[[ 9.54426593e-01 -1.62628145e-01 -2.50243812e-01  6.63306457e+02]
 [ 1.59039772e-01  9.86664407e-01 -3.46366775e-02  5.30173597e+01]
 [ 2.52539561e-01 -6.74055262e-03  9.67563091e-01  1.73390161e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.480714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.36, Y:53.03, Z:173.41
[[ 9.54892077e-01 -1.59873298e-01 -2.50243180e-01  6.63362438e+02]
 [ 1.56190717e-01  9.87119265e-01 -3.46412419e-02  5.30304146e+01]
 [ 2.52558074e-01 -6.00701432e-03  9.67563091e-01  1.73405626e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.5407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.42, Y:53.04, Z:173.42
[[ 9.54403817e-01 -1.62764626e-01 -2.50241943e-01  6.63417798e+02]
 [ 1.59177326e-01  9.86641751e-01 -3.46501773e-02  5.30422921e+01]
 [ 2.52538972e-01 -6.76258177e-03  9.67563091e-01  1.73419618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.600714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.47, Y:53.05, Z:173.43
[[ 9.53934941e-01 -1.65506188e-01 -2.50231552e-01  6.63473994e+02]
 [ 1.61991905e-01  9.86180913e-01 -3.47250578e-02  5.30523050e+01]
 [ 2.52520793e-01 -7.41003978e-03  9.67563094e-01  1.73433900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.6607140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.53, Y:53.06, Z:173.45
[[ 9.53501315e-01 -1.67999646e-01 -2.50222623e-01  6.63529762e+02]
 [ 1.64552843e-01  9.85754568e-01 -3.47892827e-02  5.30631903e+01]
 [ 2.52502681e-01 -8.00321731e-03  9.67563096e-01  1.73449101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.720714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.59, Y:53.07, Z:173.46
[[ 9.53352759e-01 -1.68853913e-01 -2.50213654e-01  6.63586143e+02]
 [ 1.65419127e-01  9.85607292e-01 -3.48536799e-02  5.30732325e+01]
 [ 2.52497582e-01 -8.16227234e-03  9.67563098e-01  1.73464621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.7807140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.64, Y:53.08, Z:173.48
[[ 9.53137777e-01 -1.70067308e-01 -2.50210888e-01  6.63642607e+02]
 [ 1.66668380e-01  9.85396108e-01 -3.48735215e-02  5.30836790e+01]
 [ 2.52487681e-01 -8.46297250e-03  9.67563098e-01  1.73480026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.840714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.70, Y:53.09, Z:173.50
[[ 9.52764899e-01 -1.72156187e-01 -2.50202509e-01  6.63699814e+02]
 [ 1.68812236e-01  9.85028973e-01 -3.49335418e-02  5.30938640e+01]
 [ 2.52470745e-01 -8.95379245e-03  9.67563100e-01  1.73496129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.9007140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.76, Y:53.10, Z:173.51
[[ 9.52035706e-01 -1.76145195e-01 -2.50201688e-01  6.63756636e+02]
 [ 1.72934865e-01  9.84313349e-01 -3.49394146e-02  5.31041611e+01]
 [ 2.52431272e-01 -1.00050249e-02  9.67563100e-01  1.73512123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 683.960714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.81, Y:53.11, Z:173.53
[[ 9.51275451e-01 -1.80205804e-01 -2.50201688e-01  6.63813715e+02]
 [ 1.77133228e-01  9.83566499e-01 -3.49394146e-02  5.31133637e+01]
 [ 2.52386284e-01 -1.10820253e-02  9.67563100e-01  1.73527429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.020714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.87, Y:53.12, Z:173.54
[[ 9.50110607e-01 -1.86251483e-01 -2.50200359e-01  6.63870149e+02]
 [ 1.83381813e-01  9.82420319e-01 -3.49489343e-02  5.31243812e+01]
 [ 2.52311207e-01 -1.26768421e-02  9.67563100e-01  1.73542238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.080714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.92, Y:53.14, Z:173.56
[[ 9.49353582e-01 -1.90072259e-01 -2.50200544e-01  6.63924856e+02]
 [ 1.87332942e-01  9.81674607e-01 -3.49476088e-02  5.31371321e+01]
 [ 2.52258091e-01 -1.36931664e-02  9.67563100e-01  1.73556762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.140714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:663.98, Y:53.15, Z:173.57
[[ 9.49161754e-01 -1.91041370e-01 -2.50190247e-01  6.63981855e+02]
 [ 1.88315720e-01  9.81483931e-01 -3.50211734e-02  5.31493601e+01]
 [ 2.52248200e-01 -1.38739980e-02  9.67563103e-01  1.73571401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.200714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:664.04, Y:53.17, Z:173.59
[[ 9.49357528e-01 -1.90066943e-01 -2.50189613e-01  6.64038816e+02]
 [ 1.87306924e-01  9.81676788e-01 -3.50257060e-02  5.31653144e+01]
 [ 2.52262564e-01 -1.36103290e-02  9.67563103e-01  1.73585640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.260714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:664.09, Y:53.18, Z:173.60
[[ 9.49747707e-01 -1.88107516e-01 -2.50189640e-01  6.64094883e+02]
 [ 1.85280862e-01  9.82061208e-01 -3.50255133e-02  5.31817077e+01]
 [ 2.52290102e-01 -1.30899511e-02  9.67563103e-01  1.73600973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.320714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:664.15, Y:53.19, Z:173.62
[[ 9.49996206e-01 -1.86850256e-01 -2.50188310e-01  6.64151525e+02]
 [ 1.83978341e-01  9.82305715e-01 -3.50350049e-02  5.31947094e+01]
 [ 2.52307707e-01 -1.27461085e-02  9.67563103e-01  1.73616033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.380714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:664.21, Y:53.21, Z:173.63
[[ 9.50260089e-01 -1.85505334e-01 -2.50187000e-01  6.64206960e+02]
 [ 1.82585230e-01  9.82565279e-01 -3.50443612e-02  5.32108876e+01]
 [ 2.52325975e-01 -1.23791931e-02  9.67563103e-01  1.73631240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.440714057 meters
Centerline goodness : 0.999813 with order 1
Centerline is valid?  [True, True]
Translation: X:664.26, Y:53.23, Z:173.64
[[ 9.50896682e-01 -1.82227147e-01 -2.50177472e-01  6.64262320e+02]
 [ 1.79177827e-01  9.83189929e-01 -3.51122550e-02  5.32269101e+01]
 [ 2.52370377e-01 -1.14381289e-02  9.67563105e-01  1.73644546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.500714057 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:664.32, Y:53.24, Z:173.66
[[ 9.51533251e-01 -1.78876228e-01 -2.50175474e-01  6.64318318e+02]
 [ 1.75709431e-01  9.83815189e-01 -3.51264806e-02  5.32407603e+01]
 [ 2.52409724e-01 -1.05341760e-02  9.67563105e-01  1.73658862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.560714057 meters
Centerline goodness : 0.999477 with order 1
Centerline is valid?  [True, True]
Translation: X:664.37, Y:53.26, Z:173.67
[[ 9.53124520e-01 -1.70195154e-01 -2.50174458e-01  6.64374768e+02]
 [ 1.66732327e-01  9.85376047e-01 -3.51337181e-02  5.32572474e+01]
 [ 2.52495507e-01 -8.22536122e-03  9.67563105e-01  1.73674898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.620714057 meters
Centerline goodness : 0.999584 with order 1
Centerline is valid?  [True, True]
Translation: X:664.43, Y:53.27, Z:173.69
[[ 9.54897570e-01 -1.59949058e-01 -2.50173798e-01  6.64430733e+02]
 [ 1.56138828e-01  9.87109902e-01 -3.51384173e-02  5.32732030e+01]
 [ 2.52569390e-01 -5.50825436e-03  9.67563105e-01  1.73689997e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.680714057 meters
Centerline goodness : 0.999476 with order 1
Centerline is valid?  [True, True]
Translation: X:664.49, Y:53.29, Z:173.70
[[ 9.55928166e-01 -1.53671364e-01 -2.50172847e-01  6.64488050e+02]
 [ 1.49647792e-01  9.88114545e-01 -3.51451823e-02  5.32853211e+01]
 [ 2.52600238e-01 -3.84154466e-03  9.67563105e-01  1.73704696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.740714057 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:664.54, Y:53.30, Z:173.72
[[ 9.57183451e-01 -1.45649289e-01 -2.50172193e-01  6.64543127e+02]
 [ 1.41354718e-01  9.89334793e-01 -3.51498396e-02  5.32962026e+01]
 [ 2.52623604e-01 -1.71817510e-03  9.67563105e-01  1.73718846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.800714057 meters
Centerline goodness : 0.999748 with order 1
Centerline is valid?  [True, True]
Translation: X:664.60, Y:53.30, Z:173.73
[[ 9.57613211e-01 -1.42802030e-01 -2.50168980e-01  6.64600899e+02]
 [ 1.38405891e-01  9.89750823e-01 -3.51726944e-02  5.33033020e+01]
 [ 2.52627686e-01 -9.43023674e-04  9.67563105e-01  1.73734803e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.860714057 meters
Centerline goodness : 0.999579 with order 1
Centerline is valid?  [True, True]
Translation: X:664.66, Y:53.31, Z:173.75
[[ 9.57579366e-01 -1.43031610e-01 -2.50167379e-01  6.64657680e+02]
 [ 1.38640202e-01  9.89717624e-01 -3.51840788e-02  5.33104413e+01]
 [ 2.52627499e-01 -9.91707923e-04  9.67563106e-01  1.73749642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.920714057 meters
Centerline goodness : 0.999770 with order 1
Centerline is valid?  [True, True]
Translation: X:664.71, Y:53.31, Z:173.76
[[ 9.57252401e-01 -1.45207026e-01 -2.50165465e-01  6.64714755e+02]
 [ 1.40885099e-01  9.89400077e-01 -3.51976808e-02  5.33130949e+01]
 [ 2.52624681e-01 -1.55152173e-03  9.67563106e-01  1.73764087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 684.980714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:664.77, Y:53.31, Z:173.78
[[ 9.56618481e-01 -1.49341062e-01 -2.50156607e-01  6.64773592e+02]
 [ 1.45141622e-01  9.88782385e-01 -3.52605261e-02  5.33143074e+01]
 [ 2.52616291e-01 -2.57726477e-03  9.67563108e-01  1.73777304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.0407140570001 meters
Centerline goodness : 0.999727 with order 1
Centerline is valid?  [True, True]
Translation: X:664.83, Y:53.32, Z:173.79
[[ 9.56081810e-01 -1.52740216e-01 -2.50155952e-01  6.64830292e+02]
 [ 1.48653905e-01  9.88260281e-01 -3.52651771e-02  5.33169722e+01]
 [ 2.52605602e-01 -3.47026471e-03  9.67563108e-01  1.73792446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.100714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:664.89, Y:53.32, Z:173.81
[[ 9.55386519e-01 -1.57045177e-01 -2.50146780e-01  6.64887650e+02]
 [ 1.53086853e-01  9.87580983e-01 -3.53301158e-02  5.33185042e+01]
 [ 2.52588628e-01 -4.54026699e-03  9.67563110e-01  1.73808571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.1607140570001 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:664.94, Y:53.32, Z:173.82
[[ 9.54987633e-01 -1.59454413e-01 -2.50145779e-01  6.64944491e+02]
 [ 1.55575448e-01  9.87191755e-01 -3.53372079e-02  5.33213509e+01]
 [ 2.52576524e-01 -5.16994486e-03  9.67563110e-01  1.73823511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.220714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:665.00, Y:53.32, Z:173.84
[[ 9.54714692e-01 -1.61094716e-01 -2.50136662e-01  6.65002604e+02]
 [ 1.57254208e-01  9.86923421e-01 -3.54016288e-02  5.33213016e+01]
 [ 2.52568745e-01 -5.53658750e-03  9.67563112e-01  1.73838770e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.2807140570001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:665.06, Y:53.32, Z:173.85
[[ 9.54660857e-01 -1.61415474e-01 -2.50135349e-01  6.65060621e+02]
 [ 1.57583360e-01  9.86870586e-01 -3.54109023e-02  5.33218666e+01]
 [ 2.52567086e-01 -5.61176632e-03  9.67563112e-01  1.73853395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.340714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.12, Y:53.32, Z:173.87
[[ 9.54771887e-01 -1.60760499e-01 -2.50133377e-01  6.65118452e+02]
 [ 1.56902642e-01  9.86978542e-01 -3.54248268e-02  5.33242389e+01]
 [ 2.52571188e-01 -5.42395886e-03  9.67563112e-01  1.73868867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.4007140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.18, Y:53.33, Z:173.88
[[ 9.55165871e-01 -1.58404881e-01 -2.50132070e-01  6.65175670e+02]
 [ 1.54465176e-01  9.87362617e-01 -3.54340545e-02  5.33255696e+01]
 [ 2.52583982e-01 -4.79129460e-03  9.67563112e-01  1.73883200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.460714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.23, Y:53.33, Z:173.90
[[ 9.55841652e-01 -1.54278894e-01 -2.50129485e-01  6.65232749e+02]
 [ 1.50195425e-01  9.88020480e-01 -3.54522923e-02  5.33266288e+01]
 [ 2.52602594e-01 -3.68152656e-03  9.67563112e-01  1.73895709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.520714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.29, Y:53.33, Z:173.91
[[ 9.56450372e-01 -1.50466901e-01 -2.50124764e-01  6.65289882e+02]
 [ 1.46246473e-01  9.88611523e-01 -3.54855645e-02  5.33290932e+01]
 [ 2.52615627e-01 -2.63968331e-03  9.67563113e-01  1.73910044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.580714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.35, Y:53.33, Z:173.93
[[ 9.57646631e-01 -1.42659664e-01 -2.50122272e-01  6.65346805e+02]
 [ 1.38172436e-01  9.89771643e-01 -3.55031247e-02  5.33310026e+01]
 [ 2.52628796e-01 -5.60555741e-04  9.67563113e-01  1.73925694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.640714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.40, Y:53.33, Z:173.94
[[ 9.58913013e-01 -1.33899990e-01 -2.50113225e-01  6.65403704e+02]
 [ 1.29102705e-01  9.90993188e-01 -3.55667466e-02  5.33315181e+01]
 [ 2.52622889e-01  1.81512221e-03  9.67563115e-01  1.73941992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.700714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.46, Y:53.33, Z:173.96
[[ 9.59730149e-01 -1.27929283e-01 -2.50104257e-01  6.65461806e+02]
 [ 1.22916026e-01  9.91777281e-01 -3.56297037e-02  5.33290147e+01]
 [ 2.52605802e-01  3.45307943e-03  9.67563117e-01  1.73957304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.760714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.52, Y:53.33, Z:173.97
[[ 9.60004237e-01 -1.25874540e-01 -2.50094912e-01  6.65519776e+02]
 [ 1.20775639e-01  9.92037852e-01 -3.56951823e-02  5.33291075e+01]
 [ 2.52596734e-01  4.06215350e-03  9.67563119e-01  1.73971752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.820714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.58, Y:53.32, Z:173.98
[[ 9.60182489e-01 -1.24526158e-01 -2.50085631e-01  6.65578935e+02]
 [ 1.19365372e-01  9.92206190e-01 -3.57600904e-02  5.33238902e+01]
 [ 2.52589578e-01  4.48464826e-03  9.67563121e-01  1.73984961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.880714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.64, Y:53.32, Z:174.00
[[ 9.60389295e-01 -1.22925117e-01 -2.50083623e-01  6.65637539e+02]
 [ 1.17707293e-01  9.92403751e-01 -3.57741263e-02  5.33174353e+01]
 [ 2.52581465e-01  4.92042157e-03  9.67563121e-01  1.73998367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 685.940714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.70, Y:53.32, Z:174.01
[[ 9.60615035e-01 -1.21167982e-01 -2.50074138e-01  6.65695712e+02]
 [ 1.15874377e-01  9.92617046e-01 -3.58403163e-02  5.33155356e+01]
 [ 2.52570551e-01  5.45156180e-03  9.67563123e-01  1.74013486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.000714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:665.75, Y:53.31, Z:174.03
[[ 9.60708968e-01 -1.20425123e-01 -2.50072128e-01  6.65753757e+02]
 [ 1.15103126e-01  9.92706269e-01 -3.58543321e-02  5.33081477e+01]
 [ 2.52565932e-01  5.66149467e-03  9.67563123e-01  1.74030282e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.060714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:665.81, Y:53.30, Z:174.04
[[ 9.60540777e-01 -1.21778490e-01 -2.50062823e-01  6.65812015e+02]
 [ 1.16484720e-01  9.92542758e-01 -3.59191161e-02  5.33008753e+01]
 [ 2.52572220e-01  5.37327783e-03  9.67563125e-01  1.74044823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.120714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:665.87, Y:53.30, Z:174.06
[[ 9.60223960e-01 -1.24270466e-01 -2.50053590e-01  6.65870876e+02]
 [ 1.19043047e-01  9.92236845e-01 -3.59832832e-02  5.33004571e+01]
 [ 2.52584045e-01  4.78486956e-03  9.67563127e-01  1.74059461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.180714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:665.93, Y:53.29, Z:174.07
[[ 9.59466518e-01 -1.29990494e-01 -2.50052941e-01  6.65928284e+02]
 [ 1.24952765e-01  9.91509801e-01 -3.59877955e-02  5.32949581e+01]
 [ 2.52608013e-01  3.28427840e-03  9.67563127e-01  1.74074181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.240714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:665.99, Y:53.29, Z:174.09
[[ 9.58373010e-01 -1.37840744e-01 -2.50042201e-01  6.65986107e+02]
 [ 1.33046075e-01  9.90453560e-01 -3.60622641e-02  5.32915143e+01]
 [ 2.52626038e-01  1.29396713e-03  9.67563130e-01  1.74089719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:666.04, Y:53.29, Z:174.10
[[ 9.57053278e-01 -1.46739920e-01 -2.50032838e-01  6.66043860e+02]
 [ 1.42226617e-01  9.89174618e-01 -3.61270697e-02  5.32897962e+01]
 [ 2.52627420e-01 -9.85794336e-04  9.67563132e-01  1.74104200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.360714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:666.10, Y:53.29, Z:174.12
[[ 9.56008637e-01 -1.53413799e-01 -2.50023384e-01  6.66101237e+02]
 [ 1.49107641e-01  9.88158400e-01 -3.61923795e-02  5.32932911e+01]
 [ 2.52615118e-01 -2.68016971e-03  9.67563134e-01  1.74117276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.420714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:666.16, Y:53.30, Z:174.13
[[ 9.54700516e-01 -1.61368903e-01 -2.50014005e-01  6.66159511e+02]
 [ 1.57313663e-01  9.86882889e-01 -3.62570623e-02  5.32962783e+01]
 [ 2.52585306e-01 -4.71598285e-03  9.67563136e-01  1.74131286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.480714057 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:666.22, Y:53.30, Z:174.15
[[ 9.54066328e-01 -1.65078096e-01 -2.50013326e-01  6.66215708e+02]
 [ 1.61146737e-01  9.86264070e-01 -3.62617396e-02  5.33022194e+01]
 [ 2.52565180e-01 -5.69272709e-03  9.67563136e-01  1.74146047e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.5407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:666.27, Y:53.31, Z:174.16
[[ 9.53495385e-01 -1.68348508e-01 -2.50010661e-01  6.66273125e+02]
 [ 1.64522762e-01  9.85705846e-01 -3.62801097e-02  5.33102249e+01]
 [ 2.52544672e-01 -6.53952721e-03  9.67563137e-01  1.74162261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.600714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:666.33, Y:53.32, Z:174.18
[[ 9.52965500e-01 -1.71323436e-01 -2.50010072e-01  6.66328632e+02]
 [ 1.67597170e-01  9.85187621e-01 -3.62841678e-02  5.33196680e+01]
 [ 2.52523156e-01 -7.32342039e-03  9.67563137e-01  1.74177708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.6607140570001 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:666.39, Y:53.33, Z:174.19
[[ 9.51960537e-01 -1.76825818e-01 -2.50007532e-01  6.66385084e+02]
 [ 1.73281171e-01  9.84203142e-01 -3.63016603e-02  5.33301777e+01]
 [ 2.52477269e-01 -8.76384985e-03  9.67563137e-01  1.74191697e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.720714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:666.44, Y:53.34, Z:174.21
[[ 9.51676543e-01 -1.78361051e-01 -2.49998185e-01  6.66441806e+02]
 [ 1.74851558e-01  9.83922991e-01 -3.63659147e-02  5.33396647e+01]
 [ 2.52465225e-01 -9.10398421e-03  9.67563139e-01  1.74206867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.7807140570001 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:666.50, Y:53.35, Z:174.22
[[ 9.51229489e-01 -1.80732839e-01 -2.49996199e-01  6.66497065e+02]
 [ 1.77300159e-01  9.83484205e-01 -3.63795639e-02  5.33516754e+01]
 [ 2.52442295e-01 -9.71905180e-03  9.67563139e-01  1.74222087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.840714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:666.55, Y:53.37, Z:174.24
[[ 9.51196137e-01 -1.80911007e-01 -2.49994233e-01  6.66553763e+02]
 [ 1.77480824e-01  9.83451118e-01 -3.63930717e-02  5.33659689e+01]
 [ 2.52441015e-01 -9.75223312e-03  9.67563139e-01  1.74236349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.9007140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:666.61, Y:53.38, Z:174.25
[[ 9.51753740e-01 -1.77955155e-01 -2.49993565e-01  6.66609164e+02]
 [ 1.74423581e-01  9.83997777e-01 -3.63976625e-02  5.33809175e+01]
 [ 2.52470263e-01 -8.96316129e-03  9.67563139e-01  1.74250036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 686.960714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:666.67, Y:53.40, Z:174.26
[[ 9.53073286e-01 -1.70750841e-01 -2.49990923e-01  6.66665429e+02]
 [ 1.66970716e-01  9.85289130e-01 -3.64157971e-02  5.33986692e+01]
 [ 2.52531367e-01 -7.03423989e-03  9.67563139e-01  1.74264325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.020714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:666.72, Y:53.41, Z:174.28
[[ 9.54017623e-01 -1.65394222e-01 -2.49990252e-01  6.66721259e+02]
 [ 1.61431976e-01  9.86211575e-01 -3.64204047e-02  5.34130681e+01]
 [ 2.52567004e-01 -5.61071248e-03  9.67563139e-01  1.74278532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.080714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:666.78, Y:53.43, Z:174.29
[[ 9.55055498e-01 -1.59306660e-01 -2.49980768e-01  6.66776695e+02]
 [ 1.55122174e-01  9.87221316e-01 -3.64853894e-02  5.34289507e+01]
 [ 2.52598708e-01 -3.93198846e-03  9.67563141e-01  1.74294053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.140714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:666.83, Y:53.45, Z:174.31
[[ 9.54856911e-01 -1.60494738e-01 -2.49979435e-01  6.66831302e+02]
 [ 1.56347884e-01  9.87027603e-01 -3.64945147e-02  5.34451579e+01]
 [ 2.52593780e-01 -4.23671624e-03  9.67563141e-01  1.74311563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.200714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:666.89, Y:53.46, Z:174.33
[[ 9.53908999e-01 -1.66049876e-01 -2.49970118e-01  6.66885279e+02]
 [ 1.62073659e-01  9.86101225e-01 -3.65582288e-02  5.34609565e+01]
 [ 2.52566328e-01 -5.64034805e-03  9.67563143e-01  1.74327476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.260714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:666.94, Y:53.47, Z:174.34
[[ 9.53159566e-01 -1.70303902e-01 -2.49966843e-01  6.66940799e+02]
 [ 1.66465480e-01  9.85368512e-01 -3.65806025e-02  5.34727846e+01]
 [ 2.52539276e-01 -6.74369934e-03  9.67563144e-01  1.74342432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.320714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.00, Y:53.49, Z:174.36
[[ 9.51985367e-01 -1.76762430e-01 -2.49957806e-01  6.66996147e+02]
 [ 1.73126304e-01  9.84217775e-01 -3.66422529e-02  5.34889815e+01]
 [ 2.52489890e-01 -8.39138271e-03  9.67563145e-01  1.74356592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.380714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.05, Y:53.50, Z:174.37
[[ 9.51165904e-01 -1.81121777e-01 -2.49956646e-01  6.67051742e+02]
 [ 1.77631274e-01  9.83414407e-01 -3.66501695e-02  5.35029529e+01]
 [ 2.52449110e-01 -9.53972591e-03  9.67563145e-01  1.74371970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.440714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.11, Y:53.52, Z:174.39
[[ 9.50048688e-01 -1.86895955e-01 -2.49954782e-01  6.67107892e+02]
 [ 1.83598063e-01  9.82317456e-01 -3.66628748e-02  5.35192474e+01]
 [ 2.52387089e-01 -1.10596976e-02  9.67563146e-01  1.74387297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.500714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.16, Y:53.54, Z:174.40
[[ 9.49103226e-01 -1.91640454e-01 -2.49954000e-01  6.67162507e+02]
 [ 1.88502430e-01  9.81387934e-01 -3.66682048e-02  5.35374670e+01]
 [ 2.52328951e-01 -1.23150249e-02  9.67563146e-01  1.74401122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.560714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.22, Y:53.56, Z:174.42
[[ 9.48772355e-01 -1.93274994e-01 -2.49951584e-01  6.67217694e+02]
 [ 1.90188260e-01  9.81062007e-01 -3.66846652e-02  5.35564588e+01]
 [ 2.52308231e-01 -1.27324608e-02  9.67563146e-01  1.74417759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.620714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.27, Y:53.57, Z:174.43
[[ 9.48856081e-01 -1.92864408e-01 -2.49950909e-01  6.67271842e+02]
 [ 1.89762493e-01  9.81144278e-01 -3.66892658e-02  5.35721089e+01]
 [ 2.52313958e-01 -1.26184747e-02  9.67563146e-01  1.74432326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.680714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.33, Y:53.59, Z:174.45
[[ 9.49894097e-01 -1.87699850e-01 -2.49939933e-01  6.67325995e+02]
 [ 1.84402738e-01  9.82162943e-01 -3.67638905e-02  5.35908781e+01]
 [ 2.52382317e-01 -1.11678054e-02  9.67563148e-01  1.74446393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.740714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.38, Y:53.61, Z:174.46
[[ 9.51637279e-01 -1.78658441e-01 -2.49935294e-01  6.67381428e+02]
 [ 1.75046355e-01  9.83872386e-01 -3.67954022e-02  5.36104119e+01]
 [ 2.52478243e-01 -8.73438585e-03  9.67563149e-01  1.74462613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.800714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.44, Y:53.63, Z:174.48
[[ 9.52992268e-01 -1.71284248e-01 -2.49934877e-01  6.67436340e+02]
 [ 1.67421922e-01  9.85198351e-01 -3.67982336e-02  5.36295268e+01]
 [ 2.52538387e-01 -6.77614536e-03  9.67563149e-01  1.74477383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.860714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.49, Y:53.64, Z:174.49
[[ 9.53247558e-01 -1.69859727e-01 -2.49933524e-01  6.67492821e+02]
 [ 1.65946862e-01  9.85447539e-01 -3.68074241e-02  5.36435682e+01]
 [ 2.52548475e-01 -6.38909687e-03  9.67563149e-01  1.74492308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.920714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.55, Y:53.66, Z:174.51
[[ 9.53398626e-01 -1.69010734e-01 -2.49932855e-01  6.67547747e+02]
 [ 1.65068005e-01  9.85594964e-01 -3.68119638e-02  5.36587966e+01]
 [ 2.52554180e-01 -6.15944216e-03  9.67563149e-01  1.74506567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 687.980714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.60, Y:53.67, Z:174.52
[[ 9.53800533e-01 -1.66741906e-01 -2.49923350e-01  6.67603092e+02]
 [ 1.62705713e-01  9.85985285e-01 -3.68763883e-02  5.36724712e+01]
 [ 2.52569585e-01 -5.49123790e-03  9.67563151e-01  1.74521406e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.0407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.66, Y:53.68, Z:174.54
[[ 9.54231548e-01 -1.64272028e-01 -2.49913692e-01  6.67658527e+02]
 [ 1.60135417e-01  9.86403547e-01 -3.69417292e-02  5.36830361e+01]
 [ 2.52584245e-01 -4.76906988e-03  9.67563153e-01  1.74536045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.100714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.72, Y:53.69, Z:174.55
[[ 9.55019248e-01 -1.59643800e-01 -2.49904168e-01  6.67715561e+02]
 [ 1.55334434e-01  9.87168560e-01 -3.70060467e-02  5.36934031e+01]
 [ 2.52605324e-01 -3.47723569e-03  9.67563155e-01  1.74549290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.1607140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.77, Y:53.70, Z:174.56
[[ 9.55671194e-01 -1.55695660e-01 -2.49902843e-01  6.67771707e+02]
 [ 1.51251130e-01  9.87802099e-01 -3.70149928e-02  5.37019012e+01]
 [ 2.52617627e-01 -2.42392490e-03  9.67563155e-01  1.74563910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.220714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.83, Y:53.71, Z:174.58
[[ 9.55725162e-01 -1.55379571e-01 -2.49893184e-01  6.67827901e+02]
 [ 1.50907394e-01  9.87852229e-01 -3.70800890e-02  5.37093938e+01]
 [ 2.52619027e-01 -2.27235519e-03  9.67563157e-01  1.74578719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.2807140570001 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:667.88, Y:53.72, Z:174.59
[[ 9.55202566e-01 -1.58575869e-01 -2.49883475e-01  6.67883967e+02]
 [ 1.54194106e-01  9.87342087e-01 -3.71454070e-02  5.37156428e+01]
 [ 2.52610837e-01 -3.04917096e-03  9.67563159e-01  1.74593962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.340714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:667.94, Y:53.72, Z:174.61
[[ 9.54389561e-01 -1.63402956e-01 -2.49880051e-01  6.67941912e+02]
 [ 1.59177707e-01  9.86550032e-01 -3.71684316e-02  5.37211864e+01]
 [ 2.52592604e-01 -4.30217027e-03  9.67563160e-01  1.74610431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.4007140570001 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:668.00, Y:53.73, Z:174.63
[[ 9.53575288e-01 -1.68090471e-01 -2.49879497e-01  6.67998128e+02]
 [ 1.64022322e-01  9.85756009e-01 -3.71721510e-02  5.37273612e+01]
 [ 2.52568500e-01 -5.53937088e-03  9.67563160e-01  1.74625779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.460714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:668.05, Y:53.73, Z:174.64
[[ 9.53052227e-01 -1.71035249e-01 -2.49876762e-01  6.68054940e+02]
 [ 1.67061711e-01  9.85244766e-01 -3.71905285e-02  5.37345329e+01]
 [ 2.52550664e-01 -6.30032338e-03  9.67563160e-01  1.74640572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.520714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:668.11, Y:53.74, Z:174.66
[[ 9.52036591e-01 -1.76614611e-01 -2.49867183e-01  6.68112757e+02]
 [ 1.72812855e-01  9.84249866e-01 -3.72547781e-02  5.37407347e+01]
 [ 2.52511480e-01 -7.71234932e-03  9.67563162e-01  1.74655225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.580714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:668.17, Y:53.75, Z:174.67
[[ 9.50894773e-01 -1.82663115e-01 -2.49866600e-01  6.68170146e+02]
 [ 1.79065187e-01  9.83131450e-01 -3.72586912e-02  5.37484692e+01]
 [ 2.52457501e-01 -9.31331477e-03  9.67563162e-01  1.74671059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.640714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:668.23, Y:53.76, Z:174.69
[[ 9.50444675e-01 -1.84991833e-01 -2.49865846e-01  6.68226824e+02]
 [ 1.81471556e-01  9.82689925e-01 -3.72637445e-02  5.37573099e+01]
 [ 2.52434138e-01 -9.92641629e-03  9.67563162e-01  1.74685911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.700714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:668.28, Y:53.77, Z:174.70
[[ 9.49412019e-01 -1.90222393e-01 -2.49864482e-01  6.68284197e+02]
 [ 1.86877317e-01  9.81675914e-01 -3.72728903e-02  5.37683260e+01]
 [ 2.52376082e-01 -1.13066738e-02  9.67563162e-01  1.74700258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.760714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:668.34, Y:53.78, Z:174.72
[[ 9.48920674e-01 -1.92659375e-01 -2.49863803e-01  6.68340651e+02]
 [ 1.89395951e-01  9.81192930e-01 -3.72774437e-02  5.37786805e+01]
 [ 2.52346446e-01 -1.19498554e-02  9.67563162e-01  1.74715380e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.820714057 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:668.40, Y:53.79, Z:174.73
[[ 9.48035177e-01 -1.96971255e-01 -2.49863218e-01  6.68396367e+02]
 [ 1.93853547e-01  9.80321836e-01 -3.72813592e-02  5.37924304e+01]
 [ 2.52289725e-01 -1.30928312e-02  9.67563162e-01  1.74730333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.880714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:668.45, Y:53.81, Z:174.75
[[ 9.47394946e-01 -2.00028880e-01 -2.49862489e-01  6.68453389e+02]
 [ 1.97014069e-01  9.79691376e-01 -3.72862491e-02  5.38071328e+01]
 [ 2.52246452e-01 -1.39016217e-02  9.67563162e-01  1.74745784e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 688.940714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:668.51, Y:53.82, Z:174.76
[[ 9.47143208e-01 -2.01217495e-01 -2.49862489e-01  6.68508990e+02]
 [ 1.98243212e-01  9.79443395e-01 -3.72862491e-02  5.38204181e+01]
 [ 2.52228810e-01 -1.42181247e-02  9.67563162e-01  1.74759372e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.000714057 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:668.56, Y:53.84, Z:174.77
[[ 9.47340683e-01 -2.00297287e-01 -2.49853211e-01  6.68563277e+02]
 [ 1.97275307e-01  9.79636441e-01 -3.73483180e-02  5.38384744e+01]
 [ 2.52246077e-01 -1.39082877e-02  9.67563164e-01  1.74773423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.060714057 meters
Centerline goodness : 0.999792 with order 1
Centerline is valid?  [True, True]
Translation: X:668.62, Y:53.86, Z:174.79
[[ 9.48168823e-01 -1.96343771e-01 -2.49849968e-01  6.68618214e+02]
 [ 1.93181399e-01  9.80451136e-01 -3.73700014e-02  5.38576967e+01]
 [ 2.52303052e-01 -1.28332960e-02  9.67563164e-01  1.74789418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.120714057 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:668.67, Y:53.88, Z:174.80
[[ 9.48973825e-01 -1.92417202e-01 -2.49848552e-01  6.68672319e+02]
 [ 1.89118741e-01  9.81242517e-01 -3.73794620e-02  5.38772496e+01]
 [ 2.52354474e-01 -1.17789128e-02  9.67563164e-01  1.74804770e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.180714057 meters
Centerline goodness : 0.999645 with order 1
Centerline is valid?  [True, True]
Translation: X:668.73, Y:53.89, Z:174.82
[[ 9.49698686e-01 -1.88819668e-01 -2.49839026e-01  6.68728317e+02]
 [ 1.85382256e-01  9.81952870e-01 -3.74430283e-02  5.38938659e+01]
 [ 2.52400129e-01 -1.07561276e-02  9.67563166e-01  1.74818994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.240714057 meters
Centerline goodness : 0.999478 with order 1
Centerline is valid?  [True, True]
Translation: X:668.78, Y:53.91, Z:174.83
[[ 9.51049492e-01 -1.81895143e-01 -2.49837988e-01  6.68784365e+02]
 [ 1.78221001e-01  9.83277568e-01 -3.74499533e-02  5.39135384e+01]
 [ 2.52472054e-01 -8.90961735e-03  9.67563166e-01  1.74833564e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.300714057 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:668.84, Y:53.93, Z:174.85
[[ 9.51964534e-01 -1.77045285e-01 -2.49836934e-01  6.68839040e+02]
 [ 1.73205080e-01  9.84173244e-01 -3.74569889e-02  5.39324751e+01]
 [ 2.52514409e-01 -7.61530110e-03  9.67563166e-01  1.74849741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.360714057 meters
Centerline goodness : 0.999709 with order 1
Centerline is valid?  [True, True]
Translation: X:668.90, Y:53.95, Z:174.87
[[ 9.52242718e-01 -1.75549608e-01 -2.49832227e-01  6.68895374e+02]
 [ 1.71650587e-01  9.84444361e-01 -3.74883566e-02  5.39469593e+01]
 [ 2.52526993e-01 -7.18583381e-03  9.67563167e-01  1.74865531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.420714057 meters
Centerline goodness : 0.999644 with order 1
Centerline is valid?  [True, True]
Translation: X:668.95, Y:53.96, Z:174.88
[[ 9.51864877e-01 -1.77587901e-01 -2.49831529e-01  6.68950954e+02]
 [ 1.73756612e-01  9.84074649e-01 -3.74930056e-02  5.39617862e+01]
 [ 2.52511178e-01 -7.72160504e-03  9.67563167e-01  1.74880571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.480714057 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:669.01, Y:53.98, Z:174.89
[[ 9.50978792e-01 -1.82286724e-01 -2.49821712e-01  6.69008107e+02]
 [ 1.78597424e-01  9.83205133e-01 -3.75583074e-02  5.39756196e+01]
 [ 2.52472371e-01 -8.90036031e-03  9.67563169e-01  1.74894194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.5407140570001 meters
Centerline goodness : 0.999012 with order 1
Centerline is valid?  [True, True]
Translation: X:669.06, Y:53.99, Z:174.91
[[ 9.50396926e-01 -1.85296989e-01 -2.49821354e-01  6.69064750e+02]
 [ 1.81709123e-01  9.82634718e-01 -3.75606918e-02  5.39871465e+01]
 [ 2.52443019e-01 -9.69725298e-03  9.67563169e-01  1.74907723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.600714057 meters
Centerline goodness : 0.999243 with order 1
Centerline is valid?  [True, True]
Translation: X:669.12, Y:54.00, Z:174.92
[[ 9.49852876e-01 -1.88072922e-01 -2.49816114e-01  6.69121915e+02]
 [ 1.84570116e-01  9.82100020e-01 -3.75955117e-02  5.39991476e+01]
 [ 2.52415108e-01 -1.03983842e-02  9.67563169e-01  1.74923525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.6607140570001 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:669.18, Y:54.01, Z:174.94
[[ 9.49497584e-01 -1.89858904e-01 -2.49815802e-01  6.69176462e+02]
 [ 1.86416205e-01  9.81751201e-01 -3.75975831e-02  5.40120267e+01]
 [ 2.52395200e-01 -1.08708994e-02  9.67563169e-01  1.74940409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.720714057 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:669.23, Y:54.03, Z:174.96
[[ 9.49113642e-01 -1.91772704e-01 -2.49812979e-01  6.69233331e+02]
 [ 1.88390112e-01  9.81373618e-01 -3.76163299e-02  5.40250489e+01]
 [ 2.52373652e-01 -1.13601232e-02  9.67563170e-01  1.74955826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.7807140570001 meters
Centerline goodness : 0.998907 with order 1
Centerline is valid?  [True, True]
Translation: X:669.29, Y:54.04, Z:174.97
[[ 9.48968549e-01 -1.92490301e-01 -2.49812283e-01  6.69290721e+02]
 [ 1.89130887e-01  9.81230947e-01 -3.76209531e-02  5.40376283e+01]
 [ 2.52365212e-01 -1.15461175e-02  9.67563170e-01  1.74970057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.840714057 meters
Centerline goodness : 0.998592 with order 1
Centerline is valid?  [True, True]
Translation: X:669.35, Y:54.05, Z:174.98
[[ 9.49195462e-01 -1.91369157e-01 -2.49811572e-01  6.69345710e+02]
 [ 1.87970395e-01  9.81453738e-01 -3.76256749e-02  5.40525538e+01]
 [ 2.52378895e-01 -1.12430599e-02  9.67563170e-01  1.74983994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.9007140570001 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:669.40, Y:54.07, Z:175.00
[[ 9.49459378e-01 -1.90059113e-01 -2.49808774e-01  6.69401249e+02]
 [ 1.86610963e-01  9.81712412e-01 -3.76442396e-02  5.40663743e+01]
 [ 2.52395005e-01 -1.08753797e-02  9.67563170e-01  1.74998008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 689.960714057 meters
Centerline goodness : 0.998296 with order 1
Centerline is valid?  [True, True]
Translation: X:669.45, Y:54.08, Z:175.01
[[ 9.50047769e-01 -1.87099522e-01 -2.49805938e-01  6.69454711e+02]
 [ 1.83545944e-01  9.82289357e-01 -3.76630546e-02  5.40818856e+01]
 [ 2.52428453e-01 -1.00691656e-02  9.67563170e-01  1.75014098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.020714057 meters
Centerline goodness : 0.998002 with order 1
Centerline is valid?  [True, True]
Translation: X:669.51, Y:54.09, Z:175.03
[[ 9.50682054e-01 -1.83854269e-01 -2.49802401e-01  6.69509742e+02]
 [ 1.80184463e-01  9.82910620e-01 -3.76864994e-02  5.40945282e+01]
 [ 2.52462256e-01 -9.18263284e-03  9.67563170e-01  1.75029977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.080714057 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:669.57, Y:54.11, Z:175.04
[[ 9.51713327e-01 -1.78442984e-01 -2.49799609e-01  6.69566149e+02]
 [ 1.74585042e-01  9.83919914e-01 -3.77049969e-02  5.41086091e+01]
 [ 2.52511002e-01 -7.72692719e-03  9.67563170e-01  1.75043836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.140714057 meters
Centerline goodness : 0.998125 with order 1
Centerline is valid?  [True, True]
Translation: X:669.62, Y:54.12, Z:175.06
[[ 9.52358673e-01 -1.74967967e-01 -2.49798254e-01  6.69622533e+02]
 [ 1.70990143e-01  9.84550673e-01 -3.77139710e-02  5.41230966e+01]
 [ 2.52537776e-01 -6.79581171e-03  9.67563170e-01  1.75058569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.200714057 meters
Centerline goodness : 0.996908 with order 1
Centerline is valid?  [True, True]
Translation: X:669.68, Y:54.14, Z:175.07
[[ 9.52826716e-01 -1.72401963e-01 -2.49797543e-01  6.69677419e+02]
 [ 1.68336204e-01  9.85007728e-01 -3.77186801e-02  5.41370389e+01]
 [ 2.52555284e-01 -6.11060391e-03  9.67563170e-01  1.75073830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.260714057 meters
Centerline goodness : 0.997198 with order 1
Centerline is valid?  [True, True]
Translation: X:669.73, Y:54.15, Z:175.09
[[ 9.53190155e-01 -1.70395504e-01 -2.49787710e-01  6.69733468e+02]
 [ 1.66244972e-01  9.85360341e-01 -3.77836891e-02  5.41468321e+01]
 [ 2.52569074e-01 -5.51091050e-03  9.67563173e-01  1.75088785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.320714057 meters
Centerline goodness : 0.996897 with order 1
Centerline is valid?  [True, True]
Translation: X:669.79, Y:54.16, Z:175.10
[[ 9.53650853e-01 -1.67812504e-01 -2.49777930e-01  6.69788287e+02]
 [ 1.63557931e-01  9.85807443e-01 -3.78482373e-02  5.41562745e+01]
 [ 2.52584349e-01 -4.75915770e-03  9.67563175e-01  1.75102904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.380714057 meters
Centerline goodness : 0.997009 with order 1
Centerline is valid?  [True, True]
Translation: X:669.84, Y:54.17, Z:175.12
[[ 9.53766701e-01 -1.67158970e-01 -2.49773814e-01  6.69844421e+02]
 [ 1.62875259e-01  9.85919422e-01 -3.78753757e-02  5.41653295e+01]
 [ 2.52588063e-01 -4.55770254e-03  9.67563175e-01  1.75117399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.440714057 meters
Centerline goodness : 0.997134 with order 1
Centerline is valid?  [True, True]
Translation: X:669.90, Y:54.17, Z:175.13
[[ 9.53684302e-01 -1.67630433e-01 -2.49772479e-01  6.69900066e+02]
 [ 1.63360311e-01  9.85838829e-01 -3.78841823e-02  5.41711939e+01]
 [ 2.52585950e-01 -4.67335977e-03  9.67563175e-01  1.75131400e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.500714057 meters
Centerline goodness : 0.997461 with order 1
Centerline is valid?  [True, True]
Translation: X:669.96, Y:54.18, Z:175.15
[[ 9.53643764e-01 -1.67865826e-01 -2.49769164e-01  6.69957504e+02]
 [ 1.63597921e-01  9.85798587e-01 -3.79060269e-02  5.41787392e+01]
 [ 2.52585215e-01 -4.71286981e-03  9.67563175e-01  1.75146763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.560714057 meters
Centerline goodness : 0.997593 with order 1
Centerline is valid?  [True, True]
Translation: X:670.01, Y:54.18, Z:175.16
[[ 9.53693851e-01 -1.67582012e-01 -2.49768507e-01  6.70014826e+02]
 [ 1.63303406e-01  9.85847251e-01 -3.79103492e-02  5.41847281e+01]
 [ 2.52586689e-01 -4.63318110e-03  9.67563175e-01  1.75162724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.620714057 meters
Centerline goodness : 0.998439 with order 1
Centerline is valid?  [True, True]
Translation: X:670.07, Y:54.19, Z:175.18
[[ 9.53690328e-01 -1.67603998e-01 -2.49767206e-01  6.70071415e+02]
 [ 1.63323890e-01  9.85843528e-01 -3.79189206e-02  5.41894915e+01]
 [ 2.52586747e-01 -4.63004389e-03  9.67563175e-01  1.75179397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.680714057 meters
Centerline goodness : 0.997867 with order 1
Centerline is valid?  [True, True]
Translation: X:670.13, Y:54.19, Z:175.19
[[ 9.54307221e-01 -1.64068858e-01 -2.49758160e-01  6.70128554e+02]
 [ 1.59654065e-01  9.86442203e-01 -3.79784169e-02  5.41922836e+01]
 [ 2.52603065e-01 -3.63182788e-03  9.67563177e-01  1.75194019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.740714057 meters
Centerline goodness : 0.997839 with order 1
Centerline is valid?  [True, True]
Translation: X:670.19, Y:54.20, Z:175.21
[[ 9.55207215e-01 -1.58748199e-01 -2.49756253e-01  6.70185762e+02]
 [ 1.54151116e-01  9.87316627e-01 -3.79909503e-02  5.41961165e+01]
 [ 2.52619496e-01 -2.21097539e-03  9.67563177e-01  1.75208450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.800714057 meters
Centerline goodness : 0.997977 with order 1
Centerline is valid?  [True, True]
Translation: X:670.24, Y:54.20, Z:175.22
[[ 9.55701175e-01 -1.55762201e-01 -2.49746675e-01  6.70241959e+02]
 [ 1.51048364e-01  9.87793652e-01 -3.80538175e-02  5.42004269e+01]
 [ 2.52625526e-01 -1.35574858e-03  9.67563179e-01  1.75223039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.860714057 meters
Centerline goodness : 0.998705 with order 1
Centerline is valid?  [True, True]
Translation: X:670.30, Y:54.20, Z:175.24
[[ 9.56044485e-01 -1.53649193e-01 -2.49741604e-01  6.70299417e+02]
 [ 1.48855739e-01  9.88125166e-01 -3.80870697e-02  5.41995926e+01]
 [ 2.52628011e-01 -7.62538143e-04  9.67563180e-01  1.75237393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.920714057 meters
Centerline goodness : 0.998577 with order 1
Centerline is valid?  [True, True]
Translation: X:670.36, Y:54.20, Z:175.25
[[ 9.56229360e-01 -1.52510283e-01 -2.49731904e-01  6.70357222e+02]
 [ 1.47662037e-01  9.88301805e-01 -3.81505663e-02  5.41987287e+01]
 [ 2.52628845e-01 -3.95229961e-04  9.67563182e-01  1.75252686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 690.980714057 meters
Centerline goodness : 0.998709 with order 1
Centerline is valid?  [True, True]
Translation: X:670.42, Y:54.20, Z:175.27
[[ 9.56654574e-01 -1.49835819e-01 -2.49722351e-01  6.70416378e+02]
 [ 1.44881611e-01  9.88710820e-01 -3.82129986e-02  5.41964686e+01]
 [ 2.52628866e-01  3.76463461e-04  9.67563184e-01  1.75268874e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.0407140570001 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:670.47, Y:54.20, Z:175.28
[[ 9.57102282e-01 -1.46950030e-01 -2.49721667e-01  6.70473300e+02]
 [ 1.41898002e-01  9.89143257e-01 -3.82174695e-02  5.41962490e+01]
 [ 2.52626561e-01  1.14302183e-03  9.67563184e-01  1.75284245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.100714057 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:670.53, Y:54.19, Z:175.30
[[ 9.57774148e-01 -1.42525235e-01 -2.49710310e-01  6.70532718e+02]
 [ 1.37305876e-01  9.89788288e-01 -3.82915336e-02  5.41917398e+01]
 [ 2.52617850e-01  2.38794819e-03  9.67563186e-01  1.75300562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.1607140570001 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:670.59, Y:54.19, Z:175.32
[[ 9.58103458e-01 -1.40295708e-01 -2.49709587e-01  6.70592010e+02]
 [ 1.35000624e-01  9.90105161e-01 -3.82962469e-02  5.41858410e+01]
 [ 2.52611550e-01  2.98081642e-03  9.67563186e-01  1.75317070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.220714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:670.65, Y:54.18, Z:175.33
[[ 9.58148080e-01 -1.39994396e-01 -2.49707480e-01  6.70649834e+02]
 [ 1.34685670e-01  9.90147522e-01 -3.83099805e-02  5.41833717e+01]
 [ 2.52610426e-01  3.07461505e-03  9.67563186e-01  1.75331721e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.2807140570001 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:670.71, Y:54.18, Z:175.35
[[ 9.58148122e-01 -1.40011927e-01 -2.49697489e-01  6.70709730e+02]
 [ 1.34686845e-01  9.90144845e-01 -3.83749956e-02  5.41752278e+01]
 [ 2.52609639e-01  3.13796306e-03  9.67563189e-01  1.75345713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.340714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:670.77, Y:54.17, Z:175.36
[[ 9.58277786e-01 -1.39124240e-01 -2.49696078e-01  6.70769551e+02]
 [ 1.33767126e-01  9.90269161e-01 -3.83841773e-02  5.41654057e+01]
 [ 2.52606495e-01  3.38157772e-03  9.67563189e-01  1.75359427e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.4007140570001 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:670.83, Y:54.16, Z:175.38
[[ 9.58436736e-01 -1.38042666e-01 -2.49686296e-01  6.70828084e+02]
 [ 1.32632904e-01  9.90419248e-01 -3.84477047e-02  5.41575370e+01]
 [ 2.52601537e-01  3.73307395e-03  9.67563191e-01  1.75375545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.460714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:670.89, Y:54.15, Z:175.39
[[ 9.58432055e-01 -1.38092824e-01 -2.49676527e-01  6.70886471e+02]
 [ 1.32668239e-01  9.90412055e-01 -3.85110453e-02  5.41499618e+01]
 [ 2.52600741e-01  3.78607517e-03  9.67563193e-01  1.75391019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.520714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:670.95, Y:54.15, Z:175.41
[[ 9.58042236e-01 -1.40776924e-01 -2.49673650e-01  6.70945618e+02]
 [ 1.35437082e-01  9.90036494e-01 -3.85296866e-02  5.41480879e+01]
 [ 2.52610116e-01  3.09799662e-03  9.67563193e-01  1.75406231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.580714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.01, Y:54.14, Z:175.42
[[ 9.57005684e-01 -1.47660579e-01 -2.49672736e-01  6.71005242e+02]
 [ 1.42549335e-01  9.89037256e-01 -3.85356057e-02  5.41412418e+01]
 [ 2.52625828e-01  1.28811129e-03  9.67563193e-01  1.75421888e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.640714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.06, Y:54.14, Z:175.44
[[ 9.55451893e-01 -1.57404347e-01 -2.49670889e-01  6.71063454e+02]
 [ 1.52616628e-01  9.87533417e-01 -3.85475738e-02  5.41357258e+01]
 [ 2.52625901e-01 -1.27357682e-03  9.67563193e-01  1.75436619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.700714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.12, Y:54.13, Z:175.45
[[ 9.53638545e-01 -1.68056538e-01 -2.49660821e-01  6.71121846e+02]
 [ 1.63610080e-01  9.85769143e-01 -3.86126688e-02  5.41316380e+01]
 [ 2.52597045e-01 -4.02449783e-03  9.67563195e-01  1.75451252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.760714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.18, Y:54.13, Z:175.47
[[ 9.51540931e-01 -1.79567041e-01 -2.49650825e-01  6.71181296e+02]
 [ 1.75492224e-01  9.83720770e-01 -3.86771987e-02  5.41306104e+01]
 [ 2.52531852e-01 -7.00884069e-03  9.67563197e-01  1.75466060e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.820714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.24, Y:54.14, Z:175.48
[[ 9.50351983e-01 -1.85756897e-01 -2.49650723e-01  6.71238928e+02]
 [ 1.81891454e-01  9.82557643e-01 -3.86778574e-02  5.41351810e+01]
 [ 2.52480904e-01 -8.65175439e-03  9.67563197e-01  1.75480459e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.880714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.30, Y:54.14, Z:175.50
[[ 9.48980804e-01 -1.92642172e-01 -2.49648606e-01  6.71296200e+02]
 [ 1.89006739e-01  9.81213239e-01 -3.86915115e-02  5.41413108e+01]
 [ 2.52412134e-01 -1.04677675e-02  9.67563197e-01  1.75497559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 691.940714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.35, Y:54.15, Z:175.51
[[ 9.47880254e-01 -1.97987462e-01 -2.49647732e-01  6.71351028e+02]
 [ 1.94532262e-01  9.80132506e-01 -3.86971557e-02  5.41513968e+01]
 [ 2.52349408e-01 -1.18842682e-02  9.67563197e-01  1.75514644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.000714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.41, Y:54.17, Z:175.53
[[ 9.47052804e-01 -2.01912486e-01 -2.49644415e-01  6.71407540e+02]
 [ 1.98585303e-01  9.79318514e-01 -3.87185403e-02  5.41652544e+01]
 [ 2.52299154e-01 -1.29072096e-02  9.67563197e-01  1.75531361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.060714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.46, Y:54.18, Z:175.55
[[ 9.46586435e-01 -2.04087831e-01 -2.49644302e-01  6.71462578e+02]
 [ 2.00834597e-01  9.78859685e-01 -3.87192668e-02  5.41815082e+01]
 [ 2.52268874e-01 -1.34860802e-02  9.67563197e-01  1.75546534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.120714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.52, Y:54.20, Z:175.56
[[ 9.46569176e-01 -2.04178657e-01 -2.49635477e-01  6.71517238e+02]
 [ 2.00913579e-01  9.78841228e-01 -3.87760867e-02  5.41964497e+01]
 [ 2.52270746e-01 -1.34509086e-02  9.67563199e-01  1.75561729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.180714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.57, Y:54.22, Z:175.58
[[ 9.47327523e-01 -2.00635193e-01 -2.49631897e-01  6.71572392e+02]
 [ 1.97243322e-01  9.79586495e-01 -3.87991198e-02  5.42159348e+01]
 [ 2.52320504e-01 -1.24827505e-02  9.67563199e-01  1.75575389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.240714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.63, Y:54.23, Z:175.59
[[ 9.48111100e-01 -1.96900855e-01 -2.49630516e-01  6.71628858e+02]
 [ 1.93379565e-01  9.80356202e-01 -3.88080011e-02  5.42327258e+01]
 [ 2.52368153e-01 -1.14791442e-02  9.67563199e-01  1.75589650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.68, Y:54.25, Z:175.60
[[ 9.49243982e-01 -1.91366422e-01 -2.49629237e-01  6.71684971e+02]
 [ 1.87654921e-01  9.81467743e-01 -3.88162297e-02  5.42527856e+01]
 [ 2.52431167e-01 -9.99808230e-03  9.67563199e-01  1.75602821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.360714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.74, Y:54.27, Z:175.62
[[ 9.50291745e-01 -1.86094589e-01 -2.49628532e-01  6.71741204e+02]
 [ 1.82203095e-01  9.82494265e-01 -3.88207608e-02  5.42723557e+01]
 [ 2.52482935e-01 -8.59204267e-03  9.67563199e-01  1.75617929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.420714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.80, Y:54.29, Z:175.63
[[ 9.51805128e-01 -1.78193405e-01 -2.49627942e-01  6.71796367e+02]
 [ 1.74033521e-01  9.83974079e-01 -3.88245539e-02  5.42918038e+01]
 [ 2.52545704e-01 -6.49022027e-03  9.67563199e-01  1.75633633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.480714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.85, Y:54.30, Z:175.65
[[ 9.52357971e-01 -1.75216755e-01 -2.49626489e-01  6.71852605e+02]
 [ 1.70953869e-01  9.84513435e-01 -3.88338955e-02  5.43038075e+01]
 [ 2.52564981e-01 -5.69084418e-03  9.67563199e-01  1.75649352e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.5407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:671.91, Y:54.32, Z:175.67
[[ 9.53854416e-01 -1.66880441e-01 -2.49625063e-01  6.71906736e+02]
 [ 1.62334080e-01  9.85971026e-01 -3.88430574e-02  5.43207249e+01]
 [ 2.52605226e-01 -3.47203313e-03  9.67563199e-01  1.75666381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.600714057 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:671.96, Y:54.34, Z:175.68
[[ 9.54834288e-01 -1.61194839e-01 -2.49615118e-01  6.71963158e+02]
 [ 1.56440541e-01  9.86920773e-01 -3.89068670e-02  5.43370787e+01]
 [ 2.52621932e-01 -1.90031349e-03  9.67563201e-01  1.75682095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.6607140570001 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:672.02, Y:54.35, Z:175.70
[[ 9.55291626e-01 -1.58464860e-01 -2.49613297e-01  6.72019562e+02]
 [ 1.53615813e-01  9.87363929e-01 -3.89185499e-02  5.43490347e+01]
 [ 2.52626388e-01 -1.16598464e-03  9.67563201e-01  1.75697532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.720714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.08, Y:54.36, Z:175.71
[[ 9.55850428e-01 -1.55060902e-01 -2.49611852e-01  6.72075778e+02]
 [ 1.50095218e-01  9.87904880e-01 -3.89278118e-02  5.43620409e+01]
 [ 2.52628948e-01 -2.56379816e-04  9.67563201e-01  1.75711774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.7807140570001 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:672.13, Y:54.37, Z:175.72
[[ 9.56338926e-01 -1.52034592e-01 -2.49602368e-01  6.72132784e+02]
 [ 1.46951624e-01  9.88374987e-01 -3.89885291e-02  5.43731769e+01]
 [ 2.52628343e-01  6.06774617e-04  9.67563203e-01  1.75724928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.840714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:672.19, Y:54.38, Z:175.74
[[ 9.56427877e-01 -1.51477584e-01 -2.49600197e-01  6.72190599e+02]
 [ 1.46372334e-01  9.88460394e-01 -3.90024225e-02  5.43813768e+01]
 [ 2.52627902e-01  7.68440805e-04  9.67563203e-01  1.75738764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.9007140570001 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:672.25, Y:54.39, Z:175.75
[[ 9.56326626e-01 -1.52116676e-01 -2.49599483e-01  6.72246405e+02]
 [ 1.47031639e-01  9.88362358e-01 -3.90069960e-02  5.43880355e+01]
 [ 2.52628348e-01  6.04407972e-04  9.67563203e-01  1.75752785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 692.960714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:672.30, Y:54.39, Z:175.77
[[ 9.55529419e-01 -1.57054994e-01 -2.49594187e-01  6.72302830e+02]
 [ 1.52126676e-01  9.87589635e-01 -3.90408521e-02  5.43924054e+01]
 [ 2.52628193e-01 -6.65251270e-04  9.67563204e-01  1.75767634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.020714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:672.36, Y:54.39, Z:175.78
[[ 9.54232984e-01 -1.64754167e-01 -2.49590617e-01  6.72360905e+02]
 [ 1.60078540e-01  9.86331025e-01 -3.90636635e-02  5.43936910e+01]
 [ 2.52614871e-01 -2.67826531e-03  9.67563204e-01  1.75783594e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.080714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.42, Y:54.40, Z:175.80
[[ 9.53217686e-01 -1.70532420e-01 -2.49589137e-01  6.72418782e+02]
 [ 1.66048872e-01  9.85343120e-01 -3.90731150e-02  5.43975498e+01]
 [ 2.52594172e-01 -4.19881045e-03  9.67563204e-01  1.75798777e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.140714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.48, Y:54.40, Z:175.82
[[ 9.52803640e-01 -1.72832938e-01 -2.49587659e-01  6.72476836e+02]
 [ 1.68424481e-01  9.84939464e-01 -3.90825533e-02  5.44010910e+01]
 [ 2.52583488e-01 -4.79867302e-03  9.67563204e-01  1.75815262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.200714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.53, Y:54.41, Z:175.83
[[ 9.52668627e-01 -1.73576160e-01 -2.49587266e-01  6.72534748e+02]
 [ 1.69192114e-01  9.84807791e-01 -3.90850664e-02  5.44062164e+01]
 [ 2.52579720e-01 -4.99308067e-03  9.67563204e-01  1.75830651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.260714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.59, Y:54.41, Z:175.85
[[ 9.52234552e-01 -1.75942924e-01 -2.49586549e-01  6.72591406e+02]
 [ 1.71637557e-01  9.84384350e-01 -3.90896435e-02  5.44115761e+01]
 [ 2.52566639e-01 -5.61591624e-03  9.67563204e-01  1.75845698e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.320714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.65, Y:54.42, Z:175.86
[[ 9.51442512e-01 -1.80190752e-01 -2.49576521e-01  6.72648107e+02]
 [ 1.76012147e-01  9.83609029e-01 -3.91535679e-02  5.44171279e+01]
 [ 2.52540831e-01 -6.67613048e-03  9.67563206e-01  1.75858911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.380714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.70, Y:54.42, Z:175.87
[[ 9.50482165e-01 -1.85204939e-01 -2.49565191e-01  6.72704903e+02]
 [ 1.81177088e-01  9.82667905e-01 -3.92256576e-02  5.44248625e+01]
 [ 2.52504489e-01 -7.93220663e-03  9.67563209e-01  1.75872008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.440714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.76, Y:54.43, Z:175.89
[[ 9.49474585e-01 -1.90306962e-01 -2.49562160e-01  6.72762133e+02]
 [ 1.86446968e-01  9.81680887e-01 -3.92449304e-02  5.44333664e+01]
 [ 2.52458986e-01 -9.26804408e-03  9.67563209e-01  1.75887488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.500714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.82, Y:54.44, Z:175.90
[[ 9.48695139e-01 -1.94156516e-01 -2.49561178e-01  6.72817478e+02]
 [ 1.90425544e-01  9.80916641e-01 -3.92511779e-02  5.44427663e+01]
 [ 2.52419584e-01 -1.02854213e-02  9.67563209e-01  1.75902758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.560714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.87, Y:54.46, Z:175.92
[[ 9.47422718e-01 -2.00277744e-01 -2.49557647e-01  6.72874281e+02]
 [ 1.96748991e-01  9.79666993e-01 -3.92736142e-02  5.44554871e+01]
 [ 2.52349020e-01 -1.18915010e-02  9.67563209e-01  1.75917596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.620714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:672.93, Y:54.47, Z:175.93
[[ 9.46381557e-01 -2.05141731e-01 -2.49557246e-01  6.72929764e+02]
 [ 2.01777984e-01  9.78643463e-01 -3.92761651e-02  5.44695324e+01]
 [ 2.52284747e-01 -1.31849197e-02  9.67563209e-01  1.75932993e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.680714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:672.99, Y:54.48, Z:175.95
[[ 9.45962806e-01 -2.07065788e-01 -2.49555863e-01  6.72985564e+02]
 [ 2.03765343e-01  9.78231250e-01 -3.92849468e-02  5.44844136e+01]
 [ 2.52257912e-01 -1.36887376e-02  9.67563209e-01  1.75947373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.740714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:673.04, Y:54.50, Z:175.96
[[ 9.46289380e-01 -2.05570823e-01 -2.49553694e-01  6.73041878e+02]
 [ 2.02215774e-01  9.78552192e-01 -3.92987185e-02  5.44987409e+01]
 [ 2.52279984e-01 -1.32757335e-02  9.67563210e-01  1.75962440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.800714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:673.10, Y:54.52, Z:175.98
[[ 9.47240701e-01 -2.01143985e-01 -2.49551902e-01  6.73097064e+02]
 [ 1.97635129e-01  9.79487147e-01 -3.93100962e-02  5.45166570e+01]
 [ 2.52339870e-01 -1.20840994e-02  9.67563210e-01  1.75976738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.860714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:673.15, Y:54.54, Z:175.99
[[ 9.48934396e-01 -1.92997705e-01 -2.49550393e-01  6.73153023e+02]
 [ 1.89209397e-01  9.81149207e-01 -3.93196755e-02  5.45350564e+01]
 [ 2.52434777e-01 -9.90548696e-03  9.67563210e-01  1.75990762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.920714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:673.21, Y:54.55, Z:176.01
[[ 9.51006766e-01 -1.82513276e-01 -2.49549666e-01  6.73209599e+02]
 [ 1.78368459e-01  9.83177651e-01 -3.93242895e-02  5.45527116e+01]
 [ 2.52528859e-01 -7.11412388e-03  9.67563210e-01  1.76005740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 693.980714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:673.26, Y:54.57, Z:176.02
[[ 9.52401880e-01 -1.75087960e-01 -2.49549323e-01  6.73264821e+02]
 [ 1.70691701e-01  9.84539371e-01 -3.93264652e-02  5.45688395e+01]
 [ 2.52576724e-01 -5.14139906e-03  9.67563210e-01  1.76021663e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.0407140570001 meters
Centerline goodness : 0.999748 with order 1
Centerline is valid?  [True, True]
Translation: X:673.32, Y:54.58, Z:176.04
[[ 9.52938406e-01 -1.72145490e-01 -2.49548241e-01  6.73319580e+02]
 [ 1.67648195e-01  9.85061913e-01 -3.93333274e-02  5.45831076e+01]
 [ 2.52591523e-01 -4.35407382e-03  9.67563210e-01  1.76037736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.100714057 meters
Centerline goodness : 0.999791 with order 1
Centerline is valid?  [True, True]
Translation: X:673.37, Y:54.59, Z:176.05
[[ 9.53080093e-01 -1.71374334e-01 -2.49537920e-01  6.73373991e+02]
 [ 1.66833932e-01  9.85197534e-01 -3.93987056e-02  5.45939324e+01]
 [ 2.52596070e-01 -4.08127031e-03  9.67563212e-01  1.76052951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.1607140570001 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:673.43, Y:54.60, Z:176.07
[[ 9.53188061e-01 -1.70778143e-01 -2.49534260e-01  6.73429729e+02]
 [ 1.66211591e-01  9.85301793e-01 -3.94218682e-02  5.46045022e+01]
 [ 2.52598948e-01 -3.89903228e-03  9.67563212e-01  1.76067343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.220714057 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:673.49, Y:54.61, Z:176.08
[[ 9.53350748e-01 -1.69882793e-01 -2.49523923e-01  6.73485569e+02]
 [ 1.65268984e-01  9.85457723e-01 -3.94871973e-02  5.46132986e+01]
 [ 2.52603472e-01 -3.59341613e-03  9.67563214e-01  1.76081032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.2807140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:673.54, Y:54.62, Z:176.09
[[ 9.53326141e-01 -1.70026155e-01 -2.49520292e-01  6.73543085e+02]
 [ 1.65411175e-01  9.85432947e-01 -3.95101262e-02  5.46193750e+01]
 [ 2.52603272e-01 -3.60740849e-03  9.67563214e-01  1.76094966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.340714057 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:673.60, Y:54.63, Z:176.11
[[ 9.53179075e-01 -1.70853208e-01 -2.49517197e-01  6.73599607e+02]
 [ 1.66260972e-01  9.85289143e-01 -3.95296650e-02  5.46271879e+01]
 [ 2.52600355e-01 -3.80612226e-03  9.67563215e-01  1.76109692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.4007140570001 meters
Centerline goodness : 0.999748 with order 1
Centerline is valid?  [True, True]
Translation: X:673.66, Y:54.63, Z:176.12
[[ 9.52434644e-01 -1.74959588e-01 -2.49514312e-01  6.73656462e+02]
 [ 1.70501014e-01  9.84563543e-01 -3.95478674e-02  5.46316179e+01]
 [ 2.52581973e-01 -4.87568415e-03  9.67563215e-01  1.76123764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.460714057 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:673.71, Y:54.64, Z:176.14
[[ 9.51500969e-01 -1.79971027e-01 -2.49512195e-01  6.73712331e+02]
 [ 1.75678152e-01  9.83652427e-01 -3.95612137e-02  5.46365135e+01]
 [ 2.52553149e-01 -6.19130830e-03  9.67563215e-01  1.76137924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.520714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:673.77, Y:54.64, Z:176.15
[[ 9.50391395e-01 -1.85746032e-01 -2.49508734e-01  6.73769906e+02]
 [ 1.81642764e-01  9.82567600e-01 -3.95830356e-02  5.46410239e+01]
 [ 2.52511589e-01 -7.70207974e-03  9.67563215e-01  1.76152816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.580714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:673.83, Y:54.65, Z:176.17
[[ 9.49489052e-01 -1.90306772e-01 -2.49507261e-01  6.73828173e+02]
 [ 1.86355596e-01  9.81684288e-01 -3.95923161e-02  5.46471946e+01]
 [ 2.52472044e-01 -8.90460359e-03  9.67563215e-01  1.76168591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.640714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:673.89, Y:54.65, Z:176.18
[[ 9.47858600e-01 -1.98268126e-01 -2.49507165e-01  6.73886352e+02]
 [ 1.94587110e-01  9.80085842e-01 -3.95929202e-02  5.46523732e+01]
 [ 2.52388454e-01 -1.10223883e-02  9.67563215e-01  1.76183694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.700714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:673.94, Y:54.66, Z:176.20
[[ 9.45877938e-01 -2.07511999e-01 -2.49506907e-01  6.73944312e+02]
 [ 2.04145344e-01  9.78139535e-01 -3.95945488e-02  5.46590172e+01]
 [ 2.52268914e-01 -1.34840630e-02  9.67563215e-01  1.76197236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.760714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:674.00, Y:54.67, Z:176.21
[[ 9.44730867e-01 -2.12672873e-01 -2.49507190e-01  6.74002276e+02]
 [ 2.09482868e-01  9.77010410e-01 -3.95927638e-02  5.46671373e+01]
 [ 2.52191429e-01 -1.48629757e-02  9.67563215e-01  1.76210960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.820714057 meters
Centerline goodness : 0.999855 with order 1
Centerline is valid?  [True, True]
Translation: X:674.06, Y:54.68, Z:176.23
[[ 9.43442244e-01 -2.18319178e-01 -2.49506450e-01  6.74059268e+02]
 [ 2.15321056e-01  9.75740174e-01 -3.95974232e-02  5.46762129e+01]
 [ 2.52098344e-01 -1.63661106e-02  9.67563215e-01  1.76225238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.880714057 meters
Centerline goodness : 0.999855 with order 1
Centerline is valid?  [True, True]
Translation: X:674.12, Y:54.69, Z:176.24
[[ 9.42818833e-01 -2.20996637e-01 -2.49505782e-01  6.74115890e+02]
 [ 2.18089109e-01  9.75125044e-01 -3.96016340e-02  5.46883024e+01]
 [ 2.52051165e-01 -1.70773274e-02  9.67563215e-01  1.76240159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 694.940714057 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:674.17, Y:54.70, Z:176.26
[[ 9.42277869e-01 -2.23292729e-01 -2.49505061e-01  6.74170253e+02]
 [ 2.20462712e-01  9.74590962e-01 -3.96061761e-02  5.47008910e+01]
 [ 2.52009149e-01 -1.76865391e-02  9.67563215e-01  1.76255679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.000714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:674.23, Y:54.71, Z:176.27
[[ 9.42020092e-01 -2.24381691e-01 -2.49501509e-01  6.74227733e+02]
 [ 2.21583132e-01  9.74335925e-01 -3.96285378e-02  5.47138284e+01]
 [ 2.51990202e-01 -1.79544472e-02  9.67563215e-01  1.76269549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.060714057 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:674.28, Y:54.73, Z:176.28
[[ 9.41674776e-01 -2.25827604e-01 -2.49500520e-01  6.74282635e+02]
 [ 2.23077017e-01  9.73994728e-01 -3.96347682e-02  5.47305339e+01]
 [ 2.51962816e-01 -1.83347702e-02  9.67563215e-01  1.76284267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.120714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:674.34, Y:54.75, Z:176.30
[[ 9.41617121e-01 -2.26070222e-01 -2.49498403e-01  6.74338172e+02]
 [ 2.23324453e-01  9.73937482e-01 -3.96480871e-02  5.47476502e+01]
 [ 2.51959098e-01 -1.83857768e-02  9.67563216e-01  1.76299524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.180714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:674.39, Y:54.77, Z:176.32
[[ 9.41618269e-01 -2.26067076e-01 -2.49496918e-01  6.74392841e+02]
 [ 2.23318736e-01  9.73938412e-01 -3.96574314e-02  5.47667754e+01]
 [ 2.51959872e-01 -1.83751744e-02  9.67563216e-01  1.76315770e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.240714057 meters
Centerline goodness : 0.999603 with order 1
Centerline is valid?  [True, True]
Translation: X:674.45, Y:54.79, Z:176.33
[[ 9.41862712e-01 -2.25048960e-01 -2.49494685e-01  6.74448835e+02]
 [ 2.22261980e-01  9.74179545e-01 -3.96714745e-02  5.47883060e+01]
 [ 2.51980643e-01 -1.80881003e-02  9.67563216e-01  1.76330137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.300714057 meters
Centerline goodness : 0.999438 with order 1
Centerline is valid?  [True, True]
Translation: X:674.50, Y:54.81, Z:176.35
[[ 9.42041639e-01 -2.24299631e-01 -2.49493939e-01  6.74502480e+02]
 [ 2.21485708e-01  9.74356138e-01 -3.96761648e-02  5.48052409e+01]
 [ 2.51995300e-01 -1.78827423e-02  9.67563216e-01  1.76345202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.360714057 meters
Centerline goodness : 0.999476 with order 1
Centerline is valid?  [True, True]
Translation: X:674.56, Y:54.83, Z:176.36
[[ 9.42641246e-01 -2.21770355e-01 -2.49490261e-01  6.74556250e+02]
 [ 2.18863620e-01  9.74947528e-01 -3.96992817e-02  5.48284259e+01]
 [ 2.52044037e-01 -1.71821612e-02  9.67563216e-01  1.76358003e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.420714057 meters
Centerline goodness : 0.999078 with order 1
Centerline is valid?  [True, True]
Translation: X:674.61, Y:54.85, Z:176.37
[[ 9.43177495e-01 -2.19491535e-01 -2.49478813e-01  6.74611732e+02]
 [ 2.16487818e-01  9.75474902e-01 -3.97710942e-02  5.48479316e+01]
 [ 2.52089740e-01 -1.64979229e-02  9.67563218e-01  1.76372321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.480714057 meters
Centerline goodness : 0.998676 with order 1
Centerline is valid?  [True, True]
Translation: X:674.66, Y:54.87, Z:176.39
[[ 9.43603777e-01 -2.17653016e-01 -2.49477607e-01  6.74664132e+02]
 [ 2.14584371e-01  9.75895079e-01 -3.97786580e-02  5.48722710e+01]
 [ 2.52121914e-01 -1.59987036e-02  9.67563219e-01  1.76387708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.5407140570001 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:674.72, Y:54.90, Z:176.40
[[ 9.43468874e-01 -2.18250458e-01 -2.49465874e-01  6.74716840e+02]
 [ 2.15182919e-01  9.75760278e-01 -3.98521094e-02  5.48967528e+01]
 [ 2.52116632e-01 -1.60815702e-02  9.67563221e-01  1.76402401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.600714057 meters
Centerline goodness : 0.997981 with order 1
Centerline is valid?  [True, True]
Translation: X:674.77, Y:54.92, Z:176.41
[[ 9.43156851e-01 -2.19599010e-01 -2.49462281e-01  6.74771199e+02]
 [ 2.16571718e-01  9.75452053e-01 -3.98745874e-02  5.49213392e+01]
 [ 2.52094914e-01 -1.64184846e-02  9.67563221e-01  1.76414322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.6607140570001 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:674.83, Y:54.94, Z:176.43
[[ 9.43076604e-01 -2.19955042e-01 -2.49451998e-01  6.74825000e+02]
 [ 2.16923026e-01  9.75371361e-01 -3.99388175e-02  5.49394329e+01]
 [ 2.52093079e-01 -1.64465179e-02  9.67563223e-01  1.76429597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.720714057 meters
Centerline goodness : 0.998221 with order 1
Centerline is valid?  [True, True]
Translation: X:674.88, Y:54.96, Z:176.45
[[ 9.43364592e-01 -2.18719892e-01 -2.49449105e-01  6.74879120e+02]
 [ 2.15640833e-01  9.75654898e-01 -3.99568780e-02  5.49636303e+01]
 [ 2.52115605e-01 -1.60975090e-02  9.67563224e-01  1.76445475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.7807140570001 meters
Centerline goodness : 0.998016 with order 1
Centerline is valid?  [True, True]
Translation: X:674.93, Y:54.99, Z:176.46
[[ 9.44222297e-01 -2.14988687e-01 -2.49447626e-01  6.74934383e+02]
 [ 2.11779565e-01  9.76499936e-01 -3.99661134e-02  5.49860256e+01]
 [ 2.52177853e-01 -1.50910142e-02  9.67563224e-01  1.76460847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.840714057 meters
Centerline goodness : 0.997801 with order 1
Centerline is valid?  [True, True]
Translation: X:674.99, Y:55.01, Z:176.48
[[ 9.45072278e-01 -2.11221220e-01 -2.49447360e-01  6.74989111e+02]
 [ 2.07882957e-01  9.77336817e-01 -3.99677696e-02  5.50063237e+01]
 [ 2.52236130e-01 -1.40834239e-02  9.67563224e-01  1.76478205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.9007140570001 meters
Centerline goodness : 0.997425 with order 1
Centerline is valid?  [True, True]
Translation: X:675.05, Y:55.02, Z:176.49
[[ 9.44362593e-01 -2.14372945e-01 -2.49446452e-01  6.75045892e+02]
 [ 2.11140849e-01  9.76637940e-01 -3.99734353e-02  5.50233911e+01]
 [ 2.52188093e-01 -1.49189187e-02  9.67563224e-01  1.76491169e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 695.960714057 meters
Centerline goodness : 0.997289 with order 1
Centerline is valid?  [True, True]
Translation: X:675.10, Y:55.04, Z:176.50
[[ 9.43604930e-01 -2.17684711e-01 -2.49445591e-01  6.75101672e+02]
 [ 2.14564450e-01  9.75891281e-01 -3.99788119e-02  5.50395713e+01]
 [ 2.52134553e-01 -1.57979521e-02  9.67563224e-01  1.76504908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.020714057 meters
Centerline goodness : 0.997574 with order 1
Centerline is valid?  [True, True]
Translation: X:675.16, Y:55.06, Z:176.52
[[ 9.42850735e-01 -2.20930039e-01 -2.49444200e-01  6.75158265e+02]
 [ 2.17918597e-01  9.75147417e-01 -3.99874902e-02  5.50553313e+01]
 [ 2.52079305e-01 -1.66562955e-02  9.67563224e-01  1.76518529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.080714057 meters
Centerline goodness : 0.997281 with order 1
Centerline is valid?  [True, True]
Translation: X:675.21, Y:55.07, Z:176.53
[[ 9.42506530e-01 -2.22395543e-01 -2.49442704e-01  6.75211599e+02]
 [ 2.19431857e-01  9.74807630e-01 -3.99968147e-02  5.50724291e+01]
 [ 2.52053765e-01 -1.70384169e-02  9.67563224e-01  1.76533127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.140714057 meters
Centerline goodness : 0.997627 with order 1
Centerline is valid?  [True, True]
Translation: X:675.27, Y:55.09, Z:176.55
[[ 9.42906568e-01 -2.20698319e-01 -2.49438281e-01  6.75268507e+02]
 [ 2.17669222e-01  9.75201599e-01 -4.00243850e-02  5.50859155e+01]
 [ 2.52085925e-01 -1.65557810e-02  9.67563224e-01  1.76548122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.200714057 meters
Centerline goodness : 0.997593 with order 1
Centerline is valid?  [True, True]
Translation: X:675.32, Y:55.10, Z:176.56
[[ 9.44164463e-01 -2.15255070e-01 -2.49436808e-01  6.75324116e+02]
 [ 2.12037300e-01  9.76441241e-01 -4.00335611e-02  5.51037352e+01]
 [ 2.52177813e-01 -1.50916417e-02  9.67563224e-01  1.76563811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.260714057 meters
Centerline goodness : 0.997773 with order 1
Centerline is valid?  [True, True]
Translation: X:675.38, Y:55.12, Z:176.58
[[ 9.45400202e-01 -2.09762513e-01 -2.49435656e-01  6.75380002e+02]
 [ 2.06355268e-01  9.77657528e-01 -4.00407366e-02  5.51179712e+01]
 [ 2.52261693e-01 -1.36178414e-02  9.67563224e-01  1.76580689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.320714057 meters
Centerline goodness : 0.997620 with order 1
Centerline is valid?  [True, True]
Translation: X:675.44, Y:55.13, Z:176.60
[[ 9.47121748e-01 -2.01848917e-01 -2.49434178e-01  6.75436492e+02]
 [ 1.98169608e-01  9.79349176e-01 -4.00499452e-02  5.51334018e+01]
 [ 2.52367194e-01 -1.14980990e-02  9.67563224e-01  1.76596530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.380714057 meters
Centerline goodness : 0.998094 with order 1
Centerline is valid?  [True, True]
Translation: X:675.49, Y:55.15, Z:176.61
[[ 9.47974998e-01 -1.97802913e-01 -2.49434182e-01  6.75493130e+02]
 [ 1.93986036e-01  9.80186422e-01 -4.00499153e-02  5.51458304e+01]
 [ 2.52413989e-01 -1.04204299e-02  9.67563224e-01  1.76611836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.440714057 meters
Centerline goodness : 0.997724 with order 1
Centerline is valid?  [True, True]
Translation: X:675.55, Y:55.16, Z:176.63
[[ 9.48668889e-01 -1.94448938e-01 -2.49433256e-01  6.75549644e+02]
 [ 1.90516647e-01  9.80866428e-01 -4.00556838e-02  5.51582151e+01]
 [ 2.52449492e-01 -9.52160638e-03  9.67563224e-01  1.76625740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.500714057 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:675.61, Y:55.17, Z:176.64
[[ 9.49080926e-01 -1.92440076e-01 -2.49423761e-01  6.75607050e+02]
 [ 1.88424132e-01  9.81268136e-01 -4.01147244e-02  5.51681365e+01]
 [ 2.52471270e-01 -8.92533584e-03  9.67563226e-01  1.76640145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.560714057 meters
Centerline goodness : 0.998394 with order 1
Centerline is valid?  [True, True]
Translation: X:675.66, Y:55.18, Z:176.65
[[ 9.49804873e-01 -1.88835513e-01 -2.49423039e-01  6.75663163e+02]
 [ 1.84696222e-01  9.81976453e-01 -4.01192137e-02  5.51763340e+01]
 [ 2.52503483e-01 -7.96206819e-03  9.67563226e-01  1.76653021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.620714057 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:675.72, Y:55.19, Z:176.67
[[ 9.49937208e-01 -1.88172443e-01 -2.49420193e-01  6.75719810e+02]
 [ 1.84006055e-01  9.82105290e-01 -4.01368994e-02  5.51852974e+01]
 [ 2.52509549e-01 -7.76729166e-03  9.67563226e-01  1.76665572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.680714057 meters
Centerline goodness : 0.997880 with order 1
Centerline is valid?  [True, True]
Translation: X:675.78, Y:55.19, Z:176.68
[[ 9.49896382e-01 -1.88391974e-01 -2.49409958e-01  6.75776718e+02]
 [ 1.84216363e-01  9.82063267e-01 -4.02004020e-02  5.51932236e+01]
 [ 2.52509791e-01 -7.75917886e-03  9.67563228e-01  1.76679424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.740714057 meters
Centerline goodness : 0.998120 with order 1
Centerline is valid?  [True, True]
Translation: X:675.83, Y:55.20, Z:176.69
[[ 9.49702462e-01 -1.89380478e-01 -2.49399814e-01  6.75832956e+02]
 [ 1.85221862e-01  9.81871546e-01 -4.02632376e-02  5.51996655e+01]
 [ 2.52503652e-01 -7.95620218e-03  9.67563230e-01  1.76693508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.800714057 meters
Centerline goodness : 0.997861 with order 1
Centerline is valid?  [True, True]
Translation: X:675.89, Y:55.21, Z:176.71
[[ 9.49275679e-01 -1.91511983e-01 -2.49396964e-01  6.75888879e+02]
 [ 1.87420963e-01  9.81453429e-01 -4.02808843e-02  5.52066360e+01]
 [ 2.52485778e-01 -8.50455550e-03  9.67563230e-01  1.76708350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.860714057 meters
Centerline goodness : 0.997620 with order 1
Centerline is valid?  [True, True]
Translation: X:675.95, Y:55.21, Z:176.72
[[ 9.48180354e-01 -1.96877979e-01 -2.49385401e-01  6.75945734e+02]
 [ 1.92950253e-01  9.80378441e-01 -4.03523499e-02  5.52134740e+01]
 [ 2.52436560e-01 -9.85767086e-03  9.67563233e-01  1.76723801e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.920714057 meters
Centerline goodness : 0.997604 with order 1
Centerline is valid?  [True, True]
Translation: X:676.00, Y:55.22, Z:176.74
[[ 9.47385598e-01 -2.00670272e-01 -2.49383180e-01  6.76002112e+02]
 [ 1.96867803e-01  9.79598718e-01 -4.03660748e-02  5.52197328e+01]
 [ 2.52395714e-01 -1.08532808e-02  9.67563233e-01  1.76739150e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 696.980714057 meters
Centerline goodness : 0.998027 with order 1
Centerline is valid?  [True, True]
Translation: X:676.06, Y:55.23, Z:176.75
[[ 9.45817193e-01 -2.07938921e-01 -2.49381719e-01  6.76061403e+02]
 [ 2.04381543e-01  9.78058299e-01 -4.03750939e-02  5.52261027e+01]
 [ 2.52305414e-01 -1.27815625e-02  9.67563233e-01  1.76750852e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.0407140570001 meters
Centerline goodness : 0.998196 with order 1
Centerline is valid?  [True, True]
Translation: X:676.12, Y:55.23, Z:176.77
[[ 9.44297318e-01 -2.14735418e-01 -2.49381788e-01  6.76119072e+02]
 [ 2.11410105e-01  9.76563184e-01 -4.03746735e-02  5.52347894e+01]
 [ 2.52206945e-01 -1.45961340e-02  9.67563233e-01  1.76765490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.100714057 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:676.18, Y:55.24, Z:176.78
[[ 9.43549930e-01 -2.17996132e-01 -2.49381668e-01  6.76175768e+02]
 [ 2.14782104e-01  9.75827072e-01 -4.03754110e-02  5.52441906e+01]
 [ 2.52155066e-01 -1.54665032e-02  9.67563233e-01  1.76781580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.1607140570001 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:676.23, Y:55.26, Z:176.80
[[ 9.42707399e-01 -2.21612095e-01 -2.49380912e-01  6.76232348e+02]
 [ 2.18520611e-01  9.74996508e-01 -4.03800815e-02  5.52553992e+01]
 [ 2.52094233e-01 -1.64282677e-02  9.67563233e-01  1.76796480e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.220714057 meters
Centerline goodness : 0.998235 with order 1
Centerline is valid?  [True, True]
Translation: X:676.29, Y:55.27, Z:176.81
[[ 9.42378959e-01 -2.23006293e-01 -2.49379410e-01  6.76288641e+02]
 [ 2.19960133e-01  9.74672376e-01 -4.03893523e-02  5.52684775e+01]
 [ 2.52070302e-01 -1.67914524e-02  9.67563233e-01  1.76811019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.2807140570001 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:676.34, Y:55.28, Z:176.83
[[ 9.42124469e-01 -2.24080672e-01 -2.49377902e-01  6.76343975e+02]
 [ 2.21068883e-01  9.74421109e-01 -4.03986615e-02  5.52819870e+01]
 [ 2.52051651e-01 -1.70691267e-02  9.67563233e-01  1.76827938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.340714057 meters
Centerline goodness : 0.998678 with order 1
Centerline is valid?  [True, True]
Translation: X:676.40, Y:55.30, Z:176.84
[[ 9.41791249e-01 -2.25480713e-01 -2.49374602e-01  6.76396910e+02]
 [ 2.22511564e-01  9.74091837e-01 -4.04190248e-02  5.52955936e+01]
 [ 2.52027474e-01 -1.74224488e-02  9.67563233e-01  1.76843004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.4007140570001 meters
Centerline goodness : 0.998658 with order 1
Centerline is valid?  [True, True]
Translation: X:676.45, Y:55.31, Z:176.86
[[ 9.41835899e-01 -2.25299895e-01 -2.49369398e-01  6.76453835e+02]
 [ 2.22316091e-01  9.74135136e-01 -4.04511072e-02  5.53078441e+01]
 [ 2.52033122e-01 -1.73405249e-02  9.67563234e-01  1.76857345e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.460714057 meters
Centerline goodness : 0.998531 with order 1
Centerline is valid?  [True, True]
Translation: X:676.51, Y:55.32, Z:176.87
[[ 9.41761750e-01 -2.25611257e-01 -2.49367936e-01  6.76508267e+02]
 [ 2.22635757e-01  9.74061753e-01 -4.04601176e-02  5.53233840e+01]
 [ 2.52028027e-01 -1.74144280e-02  9.67563234e-01  1.76873291e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.520714057 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:676.56, Y:55.34, Z:176.89
[[ 9.42209413e-01 -2.23736750e-01 -2.49365774e-01  6.76563097e+02]
 [ 2.20693471e-01  9.74503100e-01 -4.04734386e-02  5.53375823e+01]
 [ 2.52063115e-01 -1.68989434e-02  9.67563234e-01  1.76886800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.580714057 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:676.62, Y:55.35, Z:176.90
[[ 9.42771549e-01 -2.21369287e-01 -2.49354054e-01  6.76620164e+02]
 [ 2.18225914e-01  9.75055645e-01 -4.05455203e-02  5.53511837e+01]
 [ 2.52109611e-01 -1.61903534e-02  9.67563237e-01  1.76899542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.640714057 meters
Centerline goodness : 0.998692 with order 1
Centerline is valid?  [True, True]
Translation: X:676.68, Y:55.37, Z:176.92
[[ 9.43723363e-01 -2.17276680e-01 -2.49353282e-01  6.76675271e+02]
 [ 2.13992012e-01  9.75993389e-01 -4.05502669e-02  5.53667226e+01]
 [ 2.52177782e-01 -1.50913763e-02  9.67563237e-01  1.76915049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.700714057 meters
Centerline goodness : 0.998711 with order 1
Centerline is valid?  [True, True]
Translation: X:676.73, Y:55.38, Z:176.93
[[ 9.44285460e-01 -2.14822918e-01 -2.49351325e-01  6.76729376e+02]
 [ 2.11451215e-01  9.76546509e-01 -4.05622976e-02  5.53790103e+01]
 [ 2.52216877e-01 -1.44232527e-02  9.67563237e-01  1.76930611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.760714057 meters
Centerline goodness : 0.998173 with order 1
Centerline is valid?  [True, True]
Translation: X:676.79, Y:55.39, Z:176.95
[[ 9.45142946e-01 -2.11024714e-01 -2.49345908e-01  6.76785911e+02]
 [ 2.07514580e-01  9.77389226e-01 -4.05955722e-02  5.53934225e+01]
 [ 2.52274673e-01 -1.33742926e-02  9.67563237e-01  1.76946615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.820714057 meters
Centerline goodness : 0.998212 with order 1
Centerline is valid?  [True, True]
Translation: X:676.84, Y:55.41, Z:176.96
[[ 9.46019040e-01 -2.07062672e-01 -2.49345195e-01  6.76842213e+02]
 [ 2.03416306e-01  9.78250199e-01 -4.05999466e-02  5.54069566e+01]
 [ 2.52328720e-01 -1.23125559e-02  9.67563237e-01  1.76961880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.880714057 meters
Centerline goodness : 0.997761 with order 1
Centerline is valid?  [True, True]
Translation: X:676.90, Y:55.42, Z:176.98
[[ 9.46833146e-01 -2.03309410e-01 -2.49343693e-01  6.76897643e+02]
 [ 1.99532828e-01  9.79049307e-01 -4.06091733e-02  5.54202093e+01]
 [ 2.52375997e-01 -1.13021409e-02  9.67563237e-01  1.76977647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 697.940714057 meters
Centerline goodness : 0.998169 with order 1
Centerline is valid?  [True, True]
Translation: X:676.95, Y:55.43, Z:176.99
[[ 9.47389063e-01 -2.00704094e-01 -2.49342794e-01  6.76954612e+02]
 [ 1.96837458e-01  9.79594540e-01 -4.06146881e-02  5.54315743e+01]
 [ 2.52406374e-01 -1.06020906e-02  9.67563237e-01  1.76993253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.000714057 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:677.01, Y:55.44, Z:177.01
[[ 9.48544699e-01 -1.95170428e-01 -2.49342051e-01  6.77011968e+02]
 [ 1.91114665e-01  9.80726905e-01 -4.06192507e-02  5.54432272e+01]
 [ 2.52464135e-01 -9.12374764e-03  9.67563237e-01  1.77008671e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.060714057 meters
Centerline goodness : 0.997734 with order 1
Centerline is valid?  [True, True]
Translation: X:677.07, Y:55.45, Z:177.02
[[ 9.49285999e-01 -1.91532361e-01 -2.49342027e-01  6.77068950e+02]
 [ 1.87353205e-01  9.81452414e-01 -4.06193996e-02  5.54537157e+01]
 [ 2.52497264e-01 -8.15560065e-03  9.67563237e-01  1.77023795e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.120714057 meters
Centerline goodness : 0.997860 with order 1
Centerline is valid?  [True, True]
Translation: X:677.13, Y:55.46, Z:177.04
[[ 9.49850395e-01 -1.88713491e-01 -2.49342027e-01  6.77125214e+02]
 [ 1.84438865e-01  9.82004261e-01 -4.06193996e-02  5.54638711e+01]
 [ 2.52520362e-01 -7.40600768e-03  9.67563237e-01  1.77039256e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.180714057 meters
Centerline goodness : 0.997905 with order 1
Centerline is valid?  [True, True]
Translation: X:677.18, Y:55.47, Z:177.05
[[ 9.50438334e-01 -1.85742126e-01 -2.49332783e-01  6.77182585e+02]
 [ 1.81352112e-01  9.82576648e-01 -4.06760660e-02  5.54723218e+01]
 [ 2.52543829e-01 -6.55693440e-03  9.67563239e-01  1.77053384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.240714057 meters
Centerline goodness : 0.998405 with order 1
Centerline is valid?  [True, True]
Translation: X:677.24, Y:55.48, Z:177.07
[[ 9.50715875e-01 -1.84318288e-01 -2.49331292e-01  6.77240484e+02]
 [ 1.79877745e-01  9.82847247e-01 -4.06852047e-02  5.54799267e+01]
 [ 2.52553601e-01 -6.16908040e-03  9.67563239e-01  1.77067496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.300714057 meters
Centerline goodness : 0.998641 with order 1
Centerline is valid?  [True, True]
Translation: X:677.30, Y:55.49, Z:177.08
[[ 9.50987298e-01 -1.82913744e-01 -2.49330545e-01  6.77296074e+02]
 [ 1.78424544e-01  9.83111908e-01 -4.06897776e-02  5.54856316e+01]
 [ 2.52562548e-01 -5.79122723e-03  9.67563239e-01  1.77082199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.360714057 meters
Centerline goodness : 0.997961 with order 1
Centerline is valid?  [True, True]
Translation: X:677.35, Y:55.49, Z:177.10
[[ 9.51253712e-01 -1.81528203e-01 -2.49326869e-01  6.77352305e+02]
 [ 1.76986312e-01  9.83370914e-01 -4.07122933e-02  5.54910881e+01]
 [ 2.52571220e-01 -5.39972297e-03  9.67563239e-01  1.77096588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.420714057 meters
Centerline goodness : 0.998151 with order 1
Centerline is valid?  [True, True]
Translation: X:677.41, Y:55.50, Z:177.11
[[ 9.51414918e-01 -1.80686349e-01 -2.49323277e-01  6.77407755e+02]
 [ 1.76110280e-01  9.83527268e-01 -4.07342804e-02  5.54974750e+01]
 [ 2.52576370e-01 -5.15318995e-03  9.67563239e-01  1.77111425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.480714057 meters
Centerline goodness : 0.998500 with order 1
Centerline is valid?  [True, True]
Translation: X:677.46, Y:55.50, Z:177.13
[[ 9.51267488e-01 -1.81476524e-01 -2.49311930e-01  6.77464727e+02]
 [ 1.76908965e-01  9.83381047e-01 -4.08036137e-02  5.55025121e+01]
 [ 2.52573525e-01 -5.29036442e-03  9.67563242e-01  1.77126810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.5407140570001 meters
Centerline goodness : 0.998353 with order 1
Centerline is valid?  [True, True]
Translation: X:677.52, Y:55.51, Z:177.14
[[ 9.50958067e-01 -1.83105001e-01 -2.49301650e-01  6.77520649e+02]
 [ 1.78576000e-01  9.83077085e-01 -4.08663273e-02  5.55091932e+01]
 [ 2.52565568e-01 -5.65712775e-03  9.67563244e-01  1.77142347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.600714057 meters
Centerline goodness : 0.997718 with order 1
Centerline is valid?  [True, True]
Translation: X:677.58, Y:55.51, Z:177.16
[[ 9.50472232e-01 -1.85624879e-01 -2.49290877e-01  6.77578093e+02]
 [ 1.81163826e-01  9.82600755e-01 -4.09319432e-02  5.55138351e+01]
 [ 2.52551391e-01 -6.25781368e-03  9.67563246e-01  1.77158528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.6607140570001 meters
Centerline goodness : 0.997783 with order 1
Centerline is valid?  [True, True]
Translation: X:677.63, Y:55.52, Z:177.17
[[ 9.49632347e-01 -1.89875868e-01 -2.49290112e-01  6.77634978e+02]
 [ 1.85557396e-01  9.81780346e-01 -4.09366011e-02  5.55169014e+01]
 [ 2.52521005e-01 -7.38290353e-03  9.67563246e-01  1.77171896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.720714057 meters
Centerline goodness : 0.997855 with order 1
Centerline is valid?  [True, True]
Translation: X:677.69, Y:55.52, Z:177.19
[[ 9.48056282e-01 -1.97598642e-01 -2.49287109e-01  6.77692765e+02]
 [ 1.93537167e-01  9.80237758e-01 -4.09548782e-02  5.55208903e+01]
 [ 2.52453266e-01 -9.41879127e-03  9.67563246e-01  1.77187275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.7807140570001 meters
Centerline goodness : 0.997687 with order 1
Centerline is valid?  [True, True]
Translation: X:677.75, Y:55.53, Z:177.20
[[ 9.46709690e-01 -2.03952606e-01 -2.49287177e-01  6.77750868e+02]
 [ 2.00107165e-01  9.78917695e-01 -4.09544652e-02  5.55261259e+01]
 [ 2.52384399e-01 -1.11121612e-02  9.67563246e-01  1.77203095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.840714057 meters
Centerline goodness : 0.997034 with order 1
Centerline is valid?  [True, True]
Translation: X:677.81, Y:55.53, Z:177.22
[[ 9.44497965e-01 -2.13961720e-01 -2.49286935e-01  6.77808254e+02]
 [ 2.10457016e-01  9.76744826e-01 -4.09559379e-02  5.55301078e+01]
 [ 2.52252727e-01 -1.37813845e-02  9.67563246e-01  1.77218425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.9007140570001 meters
Centerline goodness : 0.997992 with order 1
Centerline is valid?  [True, True]
Translation: X:677.87, Y:55.54, Z:177.23
[[ 9.42639621e-01 -2.22006635e-01 -2.49286181e-01  6.77865364e+02]
 [ 2.18775781e-01  9.74915069e-01 -4.09605293e-02  5.55360602e+01]
 [ 2.52126364e-01 -1.59267613e-02  9.67563246e-01  1.77232887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 698.960714057 meters
Centerline goodness : 0.997432 with order 1
Centerline is valid?  [True, True]
Translation: X:677.92, Y:55.55, Z:177.25
[[ 9.41962885e-01 -2.24859987e-01 -2.49286802e-01  6.77923284e+02]
 [ 2.21727876e-01  9.74248066e-01 -4.09567504e-02  5.55460696e+01]
 [ 2.52076719e-01 -1.66940943e-02  9.67563246e-01  1.77246856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.020714057 meters
Centerline goodness : 0.997454 with order 1
Centerline is valid?  [True, True]
Translation: X:677.98, Y:55.56, Z:177.26
[[ 9.41973120e-01 -2.24817946e-01 -2.49286045e-01  6.77978730e+02]
 [ 2.21683180e-01  9.74258043e-01 -4.09613592e-02  5.55580706e+01]
 [ 2.52077783e-01 -1.66780237e-02  9.67563246e-01  1.77262155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.080714057 meters
Centerline goodness : 0.997538 with order 1
Centerline is valid?  [True, True]
Translation: X:678.03, Y:55.57, Z:177.28
[[ 9.42131431e-01 -2.24156086e-01 -2.49283808e-01  6.78033583e+02]
 [ 2.20995053e-01  9.74413792e-01 -4.09749680e-02  5.55713913e+01]
 [ 2.52090369e-01 -1.64866832e-02  9.67563246e-01  1.77276754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.140714057 meters
Centerline goodness : 0.997110 with order 1
Centerline is valid?  [True, True]
Translation: X:678.09, Y:55.58, Z:177.29
[[ 9.42237496e-01 -2.23721284e-01 -2.49273521e-01  6.78089340e+02]
 [ 2.20528894e-01  9.74516770e-01 -4.10374530e-02  5.55835954e+01]
 [ 2.52102179e-01 -1.63049869e-02  9.67563248e-01  1.77291315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.200714057 meters
Centerline goodness : 0.997614 with order 1
Centerline is valid?  [True, True]
Translation: X:678.14, Y:55.60, Z:177.31
[[ 9.42846766e-01 -2.21150898e-01 -2.49263427e-01  6.78143505e+02]
 [ 2.17854368e-01  9.75115569e-01 -4.10986798e-02  5.55987096e+01]
 [ 2.52149658e-01 -1.55533690e-02  9.67563250e-01  1.77305972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.260714057 meters
Centerline goodness : 0.997059 with order 1
Centerline is valid?  [True, True]
Translation: X:678.20, Y:55.61, Z:177.32
[[ 9.44139165e-01 -2.15580739e-01 -2.49251242e-01  6.78199781e+02]
 [ 2.12074346e-01  9.76385836e-01 -4.11724510e-02  5.56147129e+01]
 [ 2.52241369e-01 -1.39872704e-02  9.67563253e-01  1.77322062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.320714057 meters
Centerline goodness : 0.998139 with order 1
Centerline is valid?  [True, True]
Translation: X:678.26, Y:55.63, Z:177.34
[[ 9.45253998e-01 -2.10639123e-01 -2.49250958e-01  6.78256312e+02]
 [ 2.06963647e-01  9.77481834e-01 -4.11741696e-02  5.56275294e+01]
 [ 2.52311174e-01 -1.26658389e-02  9.67563253e-01  1.77337758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.380714057 meters
Centerline goodness : 0.997555 with order 1
Centerline is valid?  [True, True]
Translation: X:678.31, Y:55.64, Z:177.35
[[ 9.46707585e-01 -2.04007547e-01 -2.49250213e-01  6.78313804e+02]
 [ 2.00105055e-01  9.78908721e-01 -4.11786775e-02  5.56431602e+01]
 [ 2.52393968e-01 -1.08920611e-02  9.67563253e-01  1.77352822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.440714057 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:678.37, Y:55.66, Z:177.37
[[ 9.48381774e-01 -1.96076521e-01 -2.49250896e-01  6.78369925e+02]
 [ 1.91905729e-01  9.80549259e-01 -4.11745424e-02  5.56577286e+01]
 [ 2.52476142e-01 -8.78348930e-03  9.67563253e-01  1.77368090e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.500714057 meters
Centerline goodness : 0.997575 with order 1
Centerline is valid?  [True, True]
Translation: X:678.43, Y:55.67, Z:177.38
[[ 9.50114426e-01 -1.87501943e-01 -2.49250074e-01  6.78426691e+02]
 [ 1.83039453e-01  9.82242743e-01 -4.11795170e-02  5.56705238e+01]
 [ 2.52545316e-01 -6.49734425e-03  9.67563253e-01  1.77382111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.560714057 meters
Centerline goodness : 0.997580 with order 1
Centerline is valid?  [True, True]
Translation: X:678.48, Y:55.68, Z:177.40
[[ 9.51262166e-01 -1.81591419e-01 -2.49248565e-01  6.78483940e+02]
 [ 1.76926881e-01  9.83361772e-01 -4.11886488e-02  5.56817813e+01]
 [ 2.52581016e-01 -4.91756789e-03  9.67563253e-01  1.77396724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.620714057 meters
Centerline goodness : 0.997764 with order 1
Centerline is valid?  [True, True]
Translation: X:678.54, Y:55.69, Z:177.41
[[ 9.52896520e-01 -1.72810464e-01 -2.49248401e-01  6.78540727e+02]
 [ 1.67849818e-01  9.84951700e-01 -4.11896411e-02  5.56919231e+01]
 [ 2.52615638e-01 -2.58683316e-03  9.67563253e-01  1.77413131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.680714057 meters
Centerline goodness : 0.997751 with order 1
Centerline is valid?  [True, True]
Translation: X:678.60, Y:55.70, Z:177.43
[[ 9.53993299e-01 -1.66651654e-01 -2.49246889e-01  6.78597062e+02]
 [ 1.61481663e-01  9.86015381e-01 -4.11987900e-02  5.56981564e+01]
 [ 2.52627113e-01 -9.45432447e-04  9.67563253e-01  1.77427876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.740714057 meters
Centerline goodness : 0.997662 with order 1
Centerline is valid?  [True, True]
Translation: X:678.65, Y:55.70, Z:177.44
[[ 9.54413769e-01 -1.64242241e-01 -2.49236523e-01  6.78653746e+02]
 [ 1.58975056e-01  9.86420006e-01 -4.12614057e-02  5.57034416e+01]
 [ 2.52628759e-01 -2.41936596e-04  9.67563255e-01  1.77441789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.800714057 meters
Centerline goodness : 0.996877 with order 1
Centerline is valid?  [True, True]
Translation: X:678.71, Y:55.71, Z:177.46
[[ 9.54751197e-01 -1.62285356e-01 -2.49226033e-01  6.78712054e+02]
 [ 1.56936054e-01  9.86743810e-01 -4.13246747e-02  5.57051330e+01]
 [ 2.52628635e-01  3.42232427e-04  9.67563257e-01  1.77457939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.860714057 meters
Centerline goodness : 0.996631 with order 1
Centerline is valid?  [True, True]
Translation: X:678.77, Y:55.70, Z:177.47
[[ 9.54514845e-01 -1.63670904e-01 -2.49225293e-01  6.78769778e+02]
 [ 1.58366877e-01  9.86514995e-01 -4.13291367e-02  5.57034066e+01]
 [ 2.52628866e-01 -1.97567139e-05  9.67563257e-01  1.77472453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.920714057 meters
Centerline goodness : 0.996312 with order 1
Centerline is valid?  [True, True]
Translation: X:678.83, Y:55.70, Z:177.49
[[ 9.53983330e-01 -1.66744263e-01 -2.49223108e-01  6.78827451e+02]
 [ 1.61539885e-01  9.85999837e-01 -4.13423114e-02  5.57000704e+01]
 [ 2.52627537e-01 -8.19596230e-04  9.67563257e-01  1.77486235e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 699.980714057 meters
Centerline goodness : 0.996752 with order 1
Centerline is valid?  [True, True]
Translation: X:678.89, Y:55.70, Z:177.50
[[ 9.53868570e-01 -1.67417347e-01 -2.49211124e-01  6.78885483e+02]
 [ 1.62216718e-01  9.85885684e-01 -4.14144304e-02  5.57003582e+01]
 [ 2.52627173e-01 -9.22286973e-04  9.67563259e-01  1.77500894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.0407140570001 meters
Centerline goodness : 0.995483 with order 1
Centerline is valid?  [True, True]
Translation: X:678.94, Y:55.70, Z:177.51
[[ 9.53726722e-01 -1.68226839e-01 -2.49208888e-01  6.78944350e+02]
 [ 1.63049871e-01  9.85747671e-01 -4.14278779e-02  5.56965511e+01]
 [ 2.52626362e-01 -1.12260291e-03  9.67563259e-01  1.77514671e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.100714057 meters
Centerline goodness : 0.995218 with order 1
Centerline is valid?  [True, True]
Translation: X:679.00, Y:55.70, Z:177.53
[[ 9.53715419e-01 -1.68292686e-01 -2.49207686e-01  6.79003111e+02]
 [ 1.63116040e-01  9.85736420e-01 -4.14351096e-02  5.56964509e+01]
 [ 2.52626318e-01 -1.13246775e-03  9.67563260e-01  1.77528843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.1607140570001 meters
Centerline goodness : 0.996275 with order 1
Centerline is valid?  [True, True]
Translation: X:679.06, Y:55.70, Z:177.54
[[ 9.53644849e-01 -1.68694315e-01 -2.49206201e-01  6.79060218e+02]
 [ 1.63528821e-01  9.85667650e-01 -4.14440381e-02  5.56957397e+01]
 [ 2.52625864e-01 -1.22950284e-03  9.67563260e-01  1.77543885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.220714057 meters
Centerline goodness : 0.995672 with order 1
Centerline is valid?  [True, True]
Translation: X:679.12, Y:55.69, Z:177.56
[[ 9.53624567e-01 -1.68813247e-01 -2.49203276e-01  6.79119522e+02]
 [ 1.63647152e-01  9.85647271e-01 -4.14616177e-02  5.56902969e+01]
 [ 2.52625799e-01 -1.24258925e-03  9.67563260e-01  1.77559319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.2807140570001 meters
Centerline goodness : 0.996243 with order 1
Centerline is valid?  [True, True]
Translation: X:679.18, Y:55.68, Z:177.57
[[ 9.53699433e-01 -1.68391881e-01 -2.49201860e-01  6.79178176e+02]
 [ 1.63209415e-01  9.85719491e-01 -4.14701298e-02  5.56841622e+01]
 [ 2.52626363e-01 -1.12205030e-03  9.67563260e-01  1.77573181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.340714057 meters
Centerline goodness : 0.996409 with order 1
Centerline is valid?  [True, True]
Translation: X:679.24, Y:55.68, Z:177.59
[[ 9.53552973e-01 -1.69235112e-01 -2.49191100e-01  6.79235693e+02]
 [ 1.64064090e-01  9.85574880e-01 -4.15346880e-02  5.56832125e+01]
 [ 2.52625616e-01 -1.27778584e-03  9.67563262e-01  1.77588724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.4007140570001 meters
Centerline goodness : 0.996526 with order 1
Centerline is valid?  [True, True]
Translation: X:679.29, Y:55.68, Z:177.60
[[ 9.53393326e-01 -1.70147934e-01 -2.49180350e-01  6.79293297e+02]
 [ 1.64990741e-01  9.85417461e-01 -4.15990817e-02  5.56778773e+01]
 [ 2.52624666e-01 -1.45216382e-03  9.67563264e-01  1.77604226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.460714057 meters
Centerline goodness : 0.997317 with order 1
Centerline is valid?  [True, True]
Translation: X:679.35, Y:55.67, Z:177.62
[[ 9.53404521e-01 -1.70089618e-01 -2.49177329e-01  6.79351815e+02]
 [ 1.64925738e-01  9.85427578e-01 -4.16171710e-02  5.56729190e+01]
 [ 2.52624860e-01 -1.41775589e-03  9.67563264e-01  1.77619304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.520714057 meters
Centerline goodness : 0.997900 with order 1
Centerline is valid?  [True, True]
Translation: X:679.41, Y:55.67, Z:177.63
[[ 9.53557002e-01 -1.69248528e-01 -2.49166570e-01  6.79410699e+02]
 [ 1.64039596e-01  9.85572760e-01 -4.16814880e-02  5.56686070e+01]
 [ 2.52626315e-01 -1.12750870e-03  9.67563266e-01  1.77633411e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.580714057 meters
Centerline goodness : 0.998181 with order 1
Centerline is valid?  [True, True]
Translation: X:679.47, Y:55.67, Z:177.65
[[ 9.53765041e-01 -1.68087204e-01 -2.49156454e-01  6.79466957e+02]
 [ 1.62823514e-01  9.85771839e-01 -4.17418721e-02  5.56704989e+01]
 [ 2.52627691e-01 -7.56591092e-04  9.67563268e-01  1.77648080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.640714057 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:679.52, Y:55.67, Z:177.66
[[ 9.54078960e-01 -1.66314611e-01 -2.49144110e-01  6.79524891e+02]
 [ 1.60972246e-01  9.86072718e-01 -4.18154289e-02  5.56710520e+01]
 [ 2.52628726e-01 -2.10065911e-04  9.67563271e-01  1.77662953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.700714057 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:679.58, Y:55.67, Z:177.68
[[ 9.54391272e-01 -1.64529306e-01 -2.49133312e-01  6.79583084e+02]
 [ 1.59110324e-01  9.86372140e-01 -4.18796643e-02  5.56712412e+01]
 [ 2.52628590e-01  3.29904181e-04  9.67563273e-01  1.77678141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.760714057 meters
Centerline goodness : 0.998888 with order 1
Centerline is valid?  [True, True]
Translation: X:679.64, Y:55.67, Z:177.69
[[ 9.54989864e-01 -1.61033783e-01 -2.49123423e-01  6.79641636e+02]
 [ 1.55482417e-01  9.86948017e-01 -4.19384088e-02  5.56714973e+01]
 [ 2.52625369e-01  1.31644332e-03  9.67563274e-01  1.77694220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.820714057 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:679.70, Y:55.68, Z:177.71
[[ 9.55396661e-01 -1.58603662e-01 -2.49122659e-01  6.79698672e+02]
 [ 1.52969826e-01  9.87340378e-01 -4.19429482e-02  5.56750836e+01]
 [ 2.52621165e-01  1.96390283e-03  9.67563274e-01  1.77708738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.880714057 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:679.76, Y:55.68, Z:177.72
[[ 9.55793179e-01 -1.56214277e-01 -2.49111417e-01  6.79756174e+02]
 [ 1.50483213e-01  9.87719593e-01 -4.20096134e-02  5.56754061e+01]
 [ 2.52614729e-01  2.66541553e-03  9.67563277e-01  1.77724070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 700.940714057 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:679.81, Y:55.67, Z:177.74
[[ 9.55705054e-01 -1.56756275e-01 -2.49109052e-01  6.79814459e+02]
 [ 1.51039663e-01  9.87634059e-01 -4.20236333e-02  5.56737967e+01]
 [ 2.52616053e-01  2.53685152e-03  9.67563277e-01  1.77738792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.000714057 meters
Centerline goodness : 0.999747 with order 1
Centerline is valid?  [True, True]
Translation: X:679.87, Y:55.67, Z:177.75
[[ 9.55353795e-01 -1.58900054e-01 -2.49098171e-01  6.79873540e+02]
 [ 1.53238299e-01  9.87292571e-01 -4.20880349e-02  5.56723383e+01]
 [ 2.52620565e-01  2.03758379e-03  9.67563279e-01  1.77753968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.060714057 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:679.93, Y:55.67, Z:177.77
[[ 9.54983565e-01 -1.61111379e-01 -2.49097397e-01  6.79930607e+02]
 [ 1.55522386e-01  9.86935154e-01 -4.20926155e-02  5.56743085e+01]
 [ 2.52624578e-01  1.45753435e-03  9.67563279e-01  1.77768355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.120714057 meters
Centerline goodness : 0.999665 with order 1
Centerline is valid?  [True, True]
Translation: X:679.99, Y:55.67, Z:177.78
[[ 9.54637412e-01 -1.63155838e-01 -2.49093524e-01  6.79988979e+02]
 [ 1.57629295e-01  9.86599862e-01 -4.21155267e-02  5.56726998e+01]
 [ 2.52627030e-01  9.40620802e-04  9.67563279e-01  1.77783063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.180714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.05, Y:55.67, Z:177.80
[[ 9.54282156e-01 -1.65237390e-01 -2.49082661e-01  6.80047561e+02]
 [ 1.59763822e-01  9.86253718e-01 -4.21796761e-02  5.56713501e+01]
 [ 2.52628360e-01  4.56914369e-04  9.67563281e-01  1.77797808e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.240714057 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:680.11, Y:55.67, Z:177.81
[[ 9.53598348e-01 -1.69153875e-01 -2.49072594e-01  6.80106663e+02]
 [ 1.63796108e-01  9.85589518e-01 -4.22390438e-02  5.56701638e+01]
 [ 2.52628236e-01 -5.18039005e-04  9.67563283e-01  1.77813201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.16, Y:55.67, Z:177.83
[[ 9.52769730e-01 -1.73761537e-01 -2.49071818e-01  6.80163897e+02]
 [ 1.68557280e-01  9.84786231e-01 -4.22436193e-02  5.56727163e+01]
 [ 2.52622813e-01 -1.73442640e-03  9.67563283e-01  1.77828624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.360714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.22, Y:55.67, Z:177.84
[[ 9.50812969e-01 -1.84172358e-01 -2.49068749e-01  6.80222214e+02]
 [ 1.79313866e-01  9.82883760e-01 -4.22617080e-02  5.56737240e+01]
 [ 2.52589066e-01 -4.47850013e-03  9.67563283e-01  1.77844224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.420714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.28, Y:55.68, Z:177.86
[[ 9.49347328e-01 -1.91585417e-01 -2.49067617e-01  6.80279794e+02]
 [ 1.86975556e-01  9.81454801e-01 -4.22683734e-02  5.56781061e+01]
 [ 2.52546613e-01 -6.44218887e-03  9.67563283e-01  1.77859323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.480714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.34, Y:55.68, Z:177.87
[[ 9.47405896e-01 -2.00967268e-01 -2.49066709e-01  6.80336466e+02]
 [ 1.96673844e-01  9.79557212e-01 -4.22737267e-02  5.56822104e+01]
 [ 2.52470726e-01 -8.93452903e-03  9.67563283e-01  1.77873724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.5407140570001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:680.39, Y:55.69, Z:177.89
[[ 9.46313296e-01 -2.06057927e-01 -2.49060791e-01  6.80393625e+02]
 [ 2.01928266e-01  9.78486055e-01 -4.23085647e-02  5.56898371e+01]
 [ 2.52420526e-01 -1.02552564e-02  9.67563284e-01  1.77888442e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.600714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.45, Y:55.70, Z:177.90
[[ 9.45680548e-01 -2.08943655e-01 -2.49059935e-01  6.80450352e+02]
 [ 2.04910831e-01  9.77865589e-01 -4.23136037e-02  5.56985856e+01]
 [ 2.52388299e-01 -1.10199263e-02  9.67563284e-01  1.77902955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.6607140570001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:680.51, Y:55.71, Z:177.92
[[ 9.45126067e-01 -2.11441344e-01 -2.49056773e-01  6.80505201e+02]
 [ 2.07488673e-01  9.77321050e-01 -4.23322086e-02  5.57086479e+01]
 [ 2.52359206e-01 -1.16671854e-02  9.67563284e-01  1.77917273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.720714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.56, Y:55.72, Z:177.93
[[ 9.44494280e-01 -2.14250351e-01 -2.49052891e-01  6.80560539e+02]
 [ 2.10387411e-01  9.76700153e-01 -4.23550349e-02  5.57223231e+01]
 [ 2.52324577e-01 -1.23935047e-02  9.67563284e-01  1.77933598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.7807140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.62, Y:55.74, Z:177.95
[[ 9.43494935e-01 -2.18610649e-01 -2.49051585e-01  6.80616614e+02]
 [ 2.14894489e-01  9.75718074e-01 -4.23627084e-02  5.57366975e+01]
 [ 2.52265072e-01 -1.35508124e-02  9.67563284e-01  1.77949413e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.840714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:680.67, Y:55.75, Z:177.96
[[ 9.42677359e-01 -2.22110543e-01 -2.49050804e-01  6.80671496e+02]
 [ 2.18512782e-01  9.74913933e-01 -4.23673042e-02  5.57503857e+01]
 [ 2.52213323e-01 -1.44820855e-02  9.67563284e-01  1.77963615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.9007140570001 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:680.73, Y:55.77, Z:177.98
[[ 9.41576092e-01 -2.26737738e-01 -2.49047106e-01  6.80727607e+02]
 [ 2.23292623e-01  9.73829335e-01 -4.23890292e-02  5.57676736e+01]
 [ 2.52140570e-01 -1.56978852e-02  9.67563284e-01  1.77978871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 701.960714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.78, Y:55.78, Z:177.99
[[ 9.41181673e-01 -2.28369525e-01 -2.49047022e-01  6.80783168e+02]
 [ 2.24980193e-01  9.73440826e-01 -4.23895229e-02  5.57826037e+01]
 [ 2.52113014e-01 -1.61344051e-02  9.67563284e-01  1.77994078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.020714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:680.84, Y:55.80, Z:178.01
[[ 9.41151434e-01 -2.28505528e-01 -2.49036549e-01  6.80836152e+02]
 [ 2.25104668e-01  9.73409371e-01 -4.24509656e-02  5.58024976e+01]
 [ 2.52114791e-01 -1.61065024e-02  9.67563286e-01  1.78008464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.080714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:680.89, Y:55.82, Z:178.02
[[ 9.41607047e-01 -2.26625958e-01 -2.49031813e-01  6.80891676e+02]
 [ 2.23153383e-01  9.73857343e-01 -4.24787296e-02  5.58207026e+01]
 [ 2.52148243e-01 -1.55740204e-02  9.67563287e-01  1.78023650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.140714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:680.95, Y:55.84, Z:178.04
[[ 9.42924708e-01 -2.21080386e-01 -2.49031038e-01  6.80946556e+02]
 [ 2.17416872e-01  9.75153873e-01 -4.24832719e-02  5.58420599e+01]
 [ 2.52235800e-01 -1.40850227e-02  9.67563287e-01  1.78039463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.200714057 meters
Centerline goodness : 0.999687 with order 1
Centerline is valid?  [True, True]
Translation: X:681.00, Y:55.86, Z:178.05
[[ 9.44344815e-01 -2.14935352e-01 -2.49029444e-01  6.81001618e+02]
 [ 2.11059582e-01  9.76549144e-01 -4.24926148e-02  5.58635796e+01]
 [ 2.52322656e-01 -1.24323698e-02  9.67563287e-01  1.78054032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.260714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:681.06, Y:55.88, Z:178.07
[[ 9.45248542e-01 -2.10926872e-01 -2.49028207e-01  6.81056852e+02]
 [ 2.06912598e-01  9.77435900e-01 -4.24998636e-02  5.58807247e+01]
 [ 2.52373473e-01 -1.13541392e-02  9.67563287e-01  1.78069680e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.320714057 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:681.11, Y:55.90, Z:178.08
[[ 9.46334502e-01 -2.06001847e-01 -2.49026604e-01  6.81111582e+02]
 [ 2.01817553e-01  9.78500199e-01 -4.25092544e-02  5.58998609e+01]
 [ 2.52429566e-01 -1.00299657e-02  9.67563287e-01  1.78084892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.380714057 meters
Centerline goodness : 0.999604 with order 1
Centerline is valid?  [True, True]
Translation: X:681.17, Y:55.92, Z:178.10
[[ 9.47024579e-01 -2.02818457e-01 -2.49016304e-01  6.81168015e+02]
 [ 1.98510201e-01  9.79173905e-01 -4.25695087e-02  5.59154271e+01]
 [ 2.52464149e-01 -9.11790546e-03  9.67563289e-01  1.78099280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.440714057 meters
Centerline goodness : 0.999327 with order 1
Centerline is valid?  [True, True]
Translation: X:681.22, Y:55.93, Z:178.11
[[ 9.47360713e-01 -2.01243143e-01 -2.49015818e-01  6.81223189e+02]
 [ 1.96880677e-01  9.79502728e-01 -4.25723512e-02  5.59331522e+01]
 [ 2.52479067e-01 -8.69502978e-03  9.67563289e-01  1.78113663e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.500714057 meters
Centerline goodness : 0.999621 with order 1
Centerline is valid?  [True, True]
Translation: X:681.28, Y:55.95, Z:178.13
[[ 9.47651001e-01 -1.99874707e-01 -2.49013418e-01  6.81280390e+02]
 [ 1.95462141e-01  9.79786176e-01 -4.25863852e-02  5.59484698e+01]
 [ 2.52491846e-01 -8.31566523e-03  9.67563289e-01  1.78127842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.560714057 meters
Centerline goodness : 0.999411 with order 1
Centerline is valid?  [True, True]
Translation: X:681.34, Y:55.96, Z:178.14
[[ 9.47895452e-01 -1.98712616e-01 -2.49013070e-01  6.81336308e+02]
 [ 1.94260118e-01  9.80025119e-01 -4.25884181e-02  5.59634710e+01]
 [ 2.52501920e-01 -8.00394070e-03  9.67563289e-01  1.78142220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.620714057 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:681.39, Y:55.98, Z:178.16
[[ 9.48125221e-01 -1.97615440e-01 -2.49011453e-01  6.81393137e+02]
 [ 1.93123279e-01  9.80249366e-01 -4.25978742e-02  5.59767807e+01]
 [ 2.52511316e-01 -7.70178935e-03  9.67563289e-01  1.78157356e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.680714057 meters
Centerline goodness : 0.999018 with order 1
Centerline is valid?  [True, True]
Translation: X:681.45, Y:55.99, Z:178.17
[[ 9.49048940e-01 -1.93132787e-01 -2.49009713e-01  6.81448173e+02]
 [ 1.88486204e-01  9.81151113e-01 -4.26080419e-02  5.59897737e+01]
 [ 2.52545167e-01 -6.49777862e-03  9.67563289e-01  1.78172082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.740714057 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:681.50, Y:56.00, Z:178.19
[[ 9.50275535e-01 -1.87008404e-01 -2.49006555e-01  6.81502145e+02]
 [ 1.82150061e-01  9.82346343e-01 -4.26264885e-02  5.60024229e+01]
 [ 2.52582190e-01 -4.84965019e-03  9.67563289e-01  1.78187730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.800714057 meters
Centerline goodness : 0.998938 with order 1
Centerline is valid?  [True, True]
Translation: X:681.56, Y:56.01, Z:178.20
[[ 9.51236841e-01 -1.82060785e-01 -2.49002697e-01  6.81557293e+02]
 [ 1.77029721e-01  9.83281007e-01 -4.26490143e-02  5.60142426e+01]
 [ 2.52604336e-01 -3.51156436e-03  9.67563289e-01  1.78203880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.860714057 meters
Centerline goodness : 0.998728 with order 1
Centerline is valid?  [True, True]
Translation: X:681.61, Y:56.03, Z:178.22
[[ 9.52647068e-01 -1.74546656e-01 -2.48992024e-01  6.81613399e+02]
 [ 1.69246549e-01  9.84647833e-01 -4.27112368e-02  5.60250649e+01]
 [ 2.52624561e-01 -1.45230634e-03  9.67563291e-01  1.78218471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.920714057 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:681.67, Y:56.03, Z:178.23
[[ 9.53423492e-01 -1.70270682e-01 -2.48981003e-01  6.81670948e+02]
 [ 1.64810299e-01  9.85397296e-01 -4.27753895e-02  5.60341150e+01]
 [ 2.52628602e-01 -2.51572291e-04  9.67563293e-01  1.78232848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 702.980714057 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:681.73, Y:56.04, Z:178.25
[[ 9.53420033e-01 -1.70291189e-01 -2.48980223e-01  6.81726969e+02]
 [ 1.64830307e-01  9.85393752e-01 -4.27799313e-02  5.60418692e+01]
 [ 2.52628601e-01 -2.52242996e-04  9.67563293e-01  1.78247383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.0407140570001 meters
Centerline goodness : 0.998519 with order 1
Centerline is valid?  [True, True]
Translation: X:681.78, Y:56.05, Z:178.26
[[ 9.53153859e-01 -1.71780400e-01 -2.48976337e-01  6.81782676e+02]
 [ 1.66363569e-01  9.85135070e-01 -4.28025362e-02  5.60474650e+01]
 [ 2.52627958e-01 -6.23189344e-04  9.67563293e-01  1.78261420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.100714057 meters
Centerline goodness : 0.998974 with order 1
Centerline is valid?  [True, True]
Translation: X:681.84, Y:56.05, Z:178.28
[[ 9.52952472e-01 -1.72912152e-01 -2.48963802e-01  6.81840150e+02]
 [ 1.67514285e-01  9.84936887e-01 -4.28753265e-02  5.60520455e+01]
 [ 2.52627297e-01 -8.46844840e-04  9.67563296e-01  1.78275458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.1607140570001 meters
Centerline goodness : 0.999206 with order 1
Centerline is valid?  [True, True]
Translation: X:681.90, Y:56.06, Z:178.29
[[ 9.53252369e-01 -1.71267253e-01 -2.48952703e-01  6.81897058e+02]
 [ 1.65797389e-01  9.85224548e-01 -4.29396760e-02  5.60557364e+01]
 [ 2.52628475e-01 -3.43360302e-04  9.67563298e-01  1.78291903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.220714057 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:681.95, Y:56.06, Z:178.31
[[ 9.53494677e-01 -1.69917681e-01 -2.48949559e-01  6.81953974e+02]
 [ 1.64397806e-01  9.85458259e-01 -4.29578956e-02  5.60596151e+01]
 [ 2.52628705e-01  3.33635270e-05  9.67563298e-01  1.78308315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.2807140570001 meters
Centerline goodness : 0.999453 with order 1
Centerline is valid?  [True, True]
Translation: X:682.01, Y:56.06, Z:178.33
[[ 9.53453820e-01 -1.70149053e-01 -2.48948012e-01  6.82011677e+02]
 [ 1.64634593e-01  9.85418337e-01 -4.29668633e-02  5.60622087e+01]
 [ 2.52628707e-01 -1.85347599e-05  9.67563298e-01  1.78325439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.340714057 meters
Centerline goodness : 0.999537 with order 1
Centerline is valid?  [True, True]
Translation: X:682.07, Y:56.06, Z:178.34
[[ 9.53187154e-01 -1.71638208e-01 -2.48946931e-01  6.82068784e+02]
 [ 1.66172051e-01  9.85159967e-01 -4.29731228e-02  5.60647278e+01]
 [ 2.52628380e-01 -4.06593611e-04  9.67563298e-01  1.78340908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.4007140570001 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:682.13, Y:56.07, Z:178.36
[[ 9.53152053e-01 -1.71849199e-01 -2.48935767e-01  6.82126105e+02]
 [ 1.66373253e-01  9.85123189e-01 -4.30377031e-02  5.60694245e+01]
 [ 2.52628391e-01 -3.94778123e-04  9.67563300e-01  1.78355545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.460714057 meters
Centerline goodness : 0.999410 with order 1
Centerline is valid?  [True, True]
Translation: X:682.18, Y:56.07, Z:178.37
[[ 9.53041917e-01 -1.72461201e-01 -2.48934205e-01  6.82184823e+02]
 [ 1.67003427e-01  9.85016160e-01 -4.30467303e-02  5.60733768e+01]
 [ 2.52628106e-01 -5.47526936e-04  9.67563300e-01  1.78368645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.520714057 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:682.24, Y:56.08, Z:178.38
[[ 9.52885835e-01 -1.73323853e-01 -2.48932577e-01  6.82241267e+02]
 [ 1.67892565e-01  9.84864587e-01 -4.30561478e-02  5.60775266e+01]
 [ 2.52627537e-01 -7.66335403e-04  9.67563301e-01  1.78383426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.580714057 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:682.30, Y:56.08, Z:178.40
[[ 9.52711453e-01 -1.74285549e-01 -2.48928575e-01  6.82298075e+02]
 [ 1.68880499e-01  9.84694650e-01 -4.30792737e-02  5.60823536e+01]
 [ 2.52626730e-01 -9.97064339e-04  9.67563301e-01  1.78398701e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.640714057 meters
Centerline goodness : 0.999727 with order 1
Centerline is valid?  [True, True]
Translation: X:682.35, Y:56.09, Z:178.42
[[ 9.52304814e-01 -1.76498462e-01 -2.48925360e-01  6.82354964e+02]
 [ 1.71162878e-01  9.84299672e-01 -4.30978433e-02  5.60857580e+01]
 [ 2.52623853e-01 -1.56449725e-03  9.67563301e-01  1.78415286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.700714057 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:682.41, Y:56.09, Z:178.43
[[ 9.51977564e-01 -1.78258544e-01 -2.48922899e-01  6.82411041e+02]
 [ 1.72978398e-01  9.83981618e-01 -4.31120513e-02  5.60883365e+01]
 [ 2.52620648e-01 -2.01657872e-03  9.67563301e-01  1.78430557e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.760714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:682.47, Y:56.09, Z:178.45
[[ 9.51608117e-01 -1.80225939e-01 -2.48918869e-01  6.82467394e+02]
 [ 1.75005876e-01  9.83622025e-01 -4.31353040e-02  5.60920305e+01]
 [ 2.52616183e-01 -2.51435940e-03  9.67563301e-01  1.78446887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.820714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:682.52, Y:56.10, Z:178.46
[[ 9.51162606e-01 -1.82577911e-01 -2.48907622e-01  6.82524759e+02]
 [ 1.77420049e-01  9.83186593e-01 -4.32001134e-02  5.60978579e+01]
 [ 2.52610023e-01 -3.07087009e-03  9.67563303e-01  1.78462682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.880714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:682.58, Y:56.10, Z:178.48
[[ 9.50478856e-01 -1.86106797e-01 -2.48906015e-01  6.82581969e+02]
 [ 1.81065403e-01  9.82521384e-01 -4.32093667e-02  5.61036479e+01]
 [ 2.52597040e-01 -3.99867856e-03  9.67563303e-01  1.78477774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 703.940714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:682.64, Y:56.11, Z:178.49
[[ 9.49477452e-01 -1.91157424e-01 -2.48900397e-01  6.82639267e+02]
 [ 1.86277982e-01  9.81545041e-01 -4.32417061e-02  5.61077461e+01]
 [ 2.52572924e-01 -5.30763880e-03  9.67563304e-01  1.78492271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.000714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:682.70, Y:56.12, Z:178.50
[[ 9.48830414e-01 -1.94358167e-01 -2.48889030e-01  6.82695967e+02]
 [ 1.89569764e-01  9.80911721e-01 -4.33070347e-02  5.61159174e+01]
 [ 2.52555243e-01 -6.09080326e-03  9.67563306e-01  1.78504938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.060714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:682.75, Y:56.12, Z:178.52
[[ 9.47897967e-01 -1.98870112e-01 -2.48877726e-01  6.82752999e+02]
 [ 1.94217376e-01  9.79999229e-01 -4.33719043e-02  5.61235841e+01]
 [ 2.52525355e-01 -7.22423889e-03  9.67563308e-01  1.78518600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.120714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:682.81, Y:56.13, Z:178.54
[[ 9.46532041e-01 -2.05286909e-01 -2.48866189e-01  6.82809814e+02]
 [ 2.00834385e-01  9.78661683e-01 -4.34380059e-02  5.61310996e+01]
 [ 2.52473057e-01 -8.86542369e-03  9.67563310e-01  1.78535527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.180714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:682.87, Y:56.14, Z:178.55
[[ 9.45486646e-01 -2.10049820e-01 -2.48865578e-01  6.82867567e+02]
 [ 2.05758196e-01  9.77638174e-01 -4.34415089e-02  5.61407132e+01]
 [ 2.52425370e-01 -1.01327659e-02  9.67563310e-01  1.78550854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.240714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:682.92, Y:56.15, Z:178.56
[[ 9.43612237e-01 -2.18316862e-01 -2.48864809e-01  6.82923579e+02]
 [ 2.14305641e-01  9.75799951e-01 -4.34459115e-02  5.61528090e+01]
 [ 2.52327244e-01 -1.23370386e-02  9.67563310e-01  1.78564886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:682.98, Y:56.17, Z:178.58
[[ 9.41612903e-01 -2.26785894e-01 -2.48864016e-01  6.82979489e+02]
 [ 2.23062828e-01  9.73835219e-01 -4.34504524e-02  5.61672600e+01]
 [ 2.52206493e-01 -1.45988046e-02  9.67563310e-01  1.78579967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.360714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:683.04, Y:56.18, Z:178.60
[[ 9.40576859e-01 -2.31045929e-01 -2.48863319e-01  6.83036454e+02]
 [ 2.27467707e-01  9.72815580e-01 -4.34544470e-02  5.61807707e+01]
 [ 2.52138087e-01 -1.57361212e-02  9.67563310e-01  1.78595615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.420714057 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:683.09, Y:56.20, Z:178.61
[[ 9.39766692e-01 -2.34319419e-01 -2.48863366e-01  6.83090861e+02]
 [ 2.30853538e-01  9.72017684e-01 -4.34541795e-02  5.61992425e+01]
 [ 2.52081750e-01 -1.66141980e-02  9.67563310e-01  1.78611359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.480714057 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:683.14, Y:56.22, Z:178.63
[[ 9.39896299e-01 -2.33811114e-01 -2.48851982e-01  6.83144419e+02]
 [ 2.30310631e-01  9.72143552e-01 -4.35192730e-02  5.62205373e+01]
 [ 2.52095140e-01 -1.64096534e-02  9.67563313e-01  1.78626863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.5407140570001 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:683.20, Y:56.24, Z:178.64
[[ 9.41217230e-01 -2.28448222e-01 -2.48840382e-01  6.83199032e+02]
 [ 2.24746480e-01  9.73441998e-01 -4.35855068e-02  5.62412076e+01]
 [ 2.52188710e-01 -1.49025700e-02  9.67563315e-01  1.78641053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.600714057 meters
Centerline goodness : 0.999726 with order 1
Centerline is valid?  [True, True]
Translation: X:683.26, Y:56.26, Z:178.66
[[ 9.42188655e-01 -2.24409375e-01 -2.48839247e-01  6.83255438e+02]
 [ 2.20567755e-01  9.74397047e-01 -4.35919835e-02  5.62589517e+01]
 [ 2.52250677e-01 -1.38140418e-02  9.67563315e-01  1.78655198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.6607140570001 meters
Centerline goodness : 0.999433 with order 1
Centerline is valid?  [True, True]
Translation: X:683.31, Y:56.28, Z:178.67
[[ 9.43763380e-01 -2.17692468e-01 -2.48838649e-01  6.83310752e+02]
 [ 2.13620625e-01  9.75943477e-01 -4.35953996e-02  5.62792185e+01]
 [ 2.52342846e-01 -1.20133261e-02  9.67563315e-01  1.78668129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.720714057 meters
Centerline goodness : 0.999621 with order 1
Centerline is valid?  [True, True]
Translation: X:683.37, Y:56.30, Z:178.68
[[ 9.44837319e-01 -2.12984552e-01 -2.48837340e-01  6.83366272e+02]
 [ 2.08750361e-01  9.76996457e-01 -4.36028669e-02  5.62972191e+01]
 [ 2.52399937e-01 -1.07472688e-02  9.67563315e-01  1.78682546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.7807140570001 meters
Centerline goodness : 0.999309 with order 1
Centerline is valid?  [True, True]
Translation: X:683.42, Y:56.31, Z:178.70
[[ 9.45774912e-01 -2.08783552e-01 -2.48835779e-01  6.83422038e+02]
 [ 2.04404145e-01  9.77914597e-01 -4.36117785e-02  5.63148881e+01]
 [ 2.52445562e-01 -9.61613862e-03  9.67563315e-01  1.78697620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.840714057 meters
Centerline goodness : 0.999221 with order 1
Centerline is valid?  [True, True]
Translation: X:683.48, Y:56.33, Z:178.71
[[ 9.46664137e-01 -2.04716309e-01 -2.48833769e-01  6.83478498e+02]
 [ 2.00195784e-01  9.78784277e-01 -4.36232403e-02  5.63295935e+01]
 [ 2.52484970e-01 -8.51891436e-03  9.67563315e-01  1.78712186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.9007140570001 meters
Centerline goodness : 0.999220 with order 1
Centerline is valid?  [True, True]
Translation: X:683.53, Y:56.34, Z:178.73
[[ 9.47613657e-01 -2.00276898e-01 -2.48832314e-01  6.83534391e+02]
 [ 1.95603693e-01  9.79711939e-01 -4.36315401e-02  5.63432312e+01]
 [ 2.52522378e-01 -7.32667628e-03  9.67563315e-01  1.78726775e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 704.960714057 meters
Centerline goodness : 0.998786 with order 1
Centerline is valid?  [True, True]
Translation: X:683.59, Y:56.36, Z:178.74
[[ 9.48883640e-01 -1.94184832e-01 -2.48821399e-01  6.83589000e+02]
 [ 1.89289216e-01  9.80948752e-01 -4.36937011e-02  5.63579370e+01]
 [ 2.52565694e-01 -5.63896930e-03  9.67563317e-01  1.78742545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.020714057 meters
Centerline goodness : 0.998658 with order 1
Centerline is valid?  [True, True]
Translation: X:683.64, Y:56.37, Z:178.76
[[ 9.49843411e-01 -1.89437682e-01 -2.48818930e-01  6.83644780e+02]
 [ 1.84378111e-01  9.81883060e-01 -4.37077572e-02  5.63707930e+01]
 [ 2.52590988e-01 -4.36123909e-03  9.67563317e-01  1.78757538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.080714057 meters
Centerline goodness : 0.998766 with order 1
Centerline is valid?  [True, True]
Translation: X:683.70, Y:56.38, Z:178.77
[[ 9.50317219e-01 -1.87061641e-01 -2.48807409e-01  6.83701661e+02]
 [ 1.81904815e-01  9.82341357e-01 -4.37732458e-02  5.63808107e+01]
 [ 2.52602103e-01 -3.66079648e-03  9.67563319e-01  1.78772768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.140714057 meters
Centerline goodness : 0.998848 with order 1
Centerline is valid?  [True, True]
Translation: X:683.76, Y:56.39, Z:178.79
[[ 9.50632952e-01 -1.85452608e-01 -2.48805789e-01  6.83757820e+02]
 [ 1.80239168e-01  9.82647922e-01 -4.37824526e-02  5.63893966e+01]
 [ 2.52608061e-01 -3.22350617e-03  9.67563319e-01  1.78788538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.200714057 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:683.81, Y:56.40, Z:178.80
[[ 9.50643190e-01 -1.85415418e-01 -2.48794388e-01  6.83814302e+02]
 [ 1.80183798e-01  9.82655192e-01 -4.38471436e-02  5.63971836e+01]
 [ 2.52609034e-01 -3.14572929e-03  9.67563321e-01  1.78802300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.260714057 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:683.87, Y:56.40, Z:178.82
[[ 9.50739681e-01 -1.84935226e-01 -2.48783080e-01  6.83871494e+02]
 [ 1.79670673e-01  9.82746282e-01 -4.39112158e-02  5.64020978e+01]
 [ 2.52611377e-01 -2.95088800e-03  9.67563323e-01  1.78815885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.320714057 meters
Centerline goodness : 0.999540 with order 1
Centerline is valid?  [True, True]
Translation: X:683.93, Y:56.41, Z:178.83
[[ 9.51191466e-01 -1.82599919e-01 -2.48781159e-01  6.83929495e+02]
 [ 1.77253937e-01  9.83184566e-01 -4.39220960e-02  5.64065045e+01]
 [ 2.52617967e-01 -2.31911696e-03  9.67563323e-01  1.78831796e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.380714057 meters
Centerline goodness : 0.999474 with order 1
Centerline is valid?  [True, True]
Translation: X:683.99, Y:56.41, Z:178.85
[[ 9.51632790e-01 -1.80286885e-01 -2.48780370e-01  6.83985843e+02]
 [ 1.74861971e-01  9.83612601e-01 -4.39265630e-02  5.64130106e+01]
 [ 2.52622890e-01 -1.70026821e-03  9.67563323e-01  1.78846306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.440714057 meters
Centerline goodness : 0.999348 with order 1
Centerline is valid?  [True, True]
Translation: X:684.04, Y:56.42, Z:178.86
[[ 9.52721803e-01 -1.74457188e-01 -2.48768677e-01  6.84042302e+02]
 [ 1.68819315e-01  9.84664756e-01 -4.39926848e-02  5.64169863e+01]
 [ 2.52628589e-01 -8.41677633e-05  9.67563325e-01  1.78862952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.500714057 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:684.10, Y:56.42, Z:178.88
[[ 9.53323066e-01 -1.71144660e-01 -2.48766231e-01  6.84099561e+02]
 [ 1.65392186e-01  9.85245579e-01 -4.40065128e-02  5.64218453e+01]
 [ 2.52627309e-01  8.08432922e-04  9.67563326e-01  1.78877566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.560714057 meters
Centerline goodness : 0.999621 with order 1
Centerline is valid?  [True, True]
Translation: X:684.16, Y:56.42, Z:178.89
[[ 9.54325641e-01 -1.65479979e-01 -2.48754794e-01  6.84158838e+02]
 [ 1.59521194e-01  9.86210286e-01 -4.40710755e-02  5.64229285e+01]
 [ 2.52617417e-01  2.37649567e-03  9.67563328e-01  1.78892021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.620714057 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:684.22, Y:56.42, Z:178.91
[[ 9.54939727e-01 -1.61899504e-01 -2.48754231e-01  6.84217068e+02]
 [ 1.55820348e-01  9.86801642e-01 -4.40742507e-02  5.64210605e+01]
 [ 2.52606683e-01  3.32728219e-03  9.67563328e-01  1.78908841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.680714057 meters
Centerline goodness : 0.999726 with order 1
Centerline is valid?  [True, True]
Translation: X:684.27, Y:56.42, Z:178.93
[[ 9.55190455e-01 -1.60422195e-01 -2.48748696e-01  6.84273438e+02]
 [ 1.54285633e-01  9.87041362e-01 -4.41054692e-02  5.64221693e+01]
 [ 2.52600748e-01  3.75077320e-03  9.67563328e-01  1.78925011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.740714057 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:684.33, Y:56.43, Z:178.94
[[ 9.55178532e-01 -1.60499457e-01 -2.48744640e-01  6.84329499e+02]
 [ 1.54359520e-01  9.87028788e-01 -4.41283292e-02  5.64275568e+01]
 [ 2.52600694e-01  3.75432940e-03  9.67563328e-01  1.78940290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.800714057 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:684.39, Y:56.42, Z:178.95
[[ 9.55211546e-01 -1.60323138e-01 -2.48731570e-01  6.84388402e+02]
 [ 1.54158172e-01  9.87056965e-01 -4.42018829e-02  5.64222956e+01]
 [ 2.52598813e-01  3.87814469e-03  9.67563331e-01  1.78954985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.860714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:684.45, Y:56.42, Z:178.97
[[ 9.55020145e-01 -1.61464289e-01 -2.48728377e-01  6.84447681e+02]
 [ 1.55332699e-01  9.86872007e-01 -4.42198437e-02  5.64180028e+01]
 [ 2.52602998e-01  3.59519141e-03  9.67563331e-01  1.78968498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.920714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:684.51, Y:56.42, Z:178.98
[[ 9.54896302e-01 -1.62198863e-01 -2.48725914e-01  6.84506690e+02]
 [ 1.56088170e-01  9.86752180e-01 -4.42336899e-02  5.64183717e+01]
 [ 2.52605492e-01  3.41541403e-03  9.67563331e-01  1.78983292e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 705.980714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:684.57, Y:56.41, Z:179.00
[[ 9.54659995e-01 -1.63585202e-01 -2.48725102e-01  6.84565303e+02]
 [ 1.57519581e-01  9.86524484e-01 -4.42382554e-02  5.64138701e+01]
 [ 2.52610127e-01  3.05341883e-03  9.67563331e-01  1.78999566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.0407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:684.62, Y:56.41, Z:179.02
[[ 9.54452174e-01 -1.64811029e-01 -2.48713434e-01  6.84622825e+02]
 [ 1.58769264e-01  9.86321194e-01 -4.43037652e-02  5.64146693e+01]
 [ 2.52613080e-01  2.79777623e-03  9.67563334e-01  1.79015713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.100714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:684.68, Y:56.41, Z:179.03
[[ 9.53879347e-01 -1.68111789e-01 -2.48701866e-01  6.84682708e+02]
 [ 1.62163399e-01  9.85765925e-01 -4.43686101e-02  5.64103306e+01]
 [ 2.52620711e-01  1.99196091e-03  9.67563336e-01  1.79031187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.1607140570001 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:684.74, Y:56.41, Z:179.04
[[ 9.53084145e-01 -1.72564192e-01 -2.48701051e-01  6.84739986e+02]
 [ 1.66763573e-01  9.84997935e-01 -4.43731772e-02  5.64072728e+01]
 [ 2.52627243e-01  8.17095808e-04  9.67563336e-01  1.79044862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.220714057 meters
Centerline goodness : 0.999351 with order 1
Centerline is valid?  [True, True]
Translation: X:684.80, Y:56.41, Z:179.06
[[ 9.52636017e-01 -1.75026850e-01 -2.48697045e-01  6.84797486e+02]
 [ 1.69302873e-01  9.84563643e-01 -4.43956154e-02  5.64095451e+01]
 [ 2.52628494e-01  1.87737783e-04  9.67563336e-01  1.79058933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.2807140570001 meters
Centerline goodness : 0.999645 with order 1
Centerline is valid?  [True, True]
Translation: X:684.85, Y:56.41, Z:179.07
[[ 9.52218905e-01 -1.77286473e-01 -2.48693914e-01  6.84854475e+02]
 [ 1.71633680e-01  9.84159211e-01 -4.44131506e-02  5.64127373e+01]
 [ 2.52628257e-01 -3.93210015e-04  9.67563336e-01  1.79074143e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.340714057 meters
Centerline goodness : 0.998618 with order 1
Centerline is valid?  [True, True]
Translation: X:684.91, Y:56.41, Z:179.09
[[ 9.51863460e-01 -1.79189501e-01 -2.48690726e-01  6.84910707e+02]
 [ 1.73595903e-01  9.83814184e-01 -4.44309950e-02  5.64133537e+01]
 [ 2.52627032e-01 -8.79450411e-04  9.67563336e-01  1.79089613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.4007140570001 meters
Centerline goodness : 0.999062 with order 1
Centerline is valid?  [True, True]
Translation: X:684.97, Y:56.42, Z:179.10
[[ 9.51896190e-01 -1.79021000e-01 -2.48686801e-01  6.84968168e+02]
 [ 1.73416009e-01  9.83844918e-01 -4.44529524e-02  5.64190100e+01]
 [ 2.52627257e-01 -8.11676592e-04  9.67563336e-01  1.79104870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.460714057 meters
Centerline goodness : 0.998896 with order 1
Centerline is valid?  [True, True]
Translation: X:685.03, Y:56.42, Z:179.12
[[ 9.52439066e-01 -1.76112215e-01 -2.48685169e-01  6.85026034e+02]
 [ 1.70407267e-01  9.84370096e-01 -4.44620798e-02  5.64223364e+01]
 [ 2.52628559e-01 -3.03382833e-05  9.67563336e-01  1.79120455e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.520714057 meters
Centerline goodness : 0.998313 with order 1
Centerline is valid?  [True, True]
Translation: X:685.08, Y:56.43, Z:179.14
[[ 9.53035439e-01 -1.72858208e-01 -2.48683520e-01  6.85082514e+02]
 [ 1.67041828e-01  9.84946359e-01 -4.44713043e-02  5.64278958e+01]
 [ 2.52627157e-01  8.42179321e-04  9.67563337e-01  1.79135680e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.580714057 meters
Centerline goodness : 0.998220 with order 1
Centerline is valid?  [True, True]
Translation: X:685.14, Y:56.43, Z:179.15
[[ 9.53384251e-01 -1.70927430e-01 -2.48681087e-01  6.85139327e+02]
 [ 1.65042878e-01  9.85282671e-01 -4.44849054e-02  5.64342000e+01]
 [ 2.52624856e-01  1.36816613e-03  9.67563337e-01  1.79151725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.640714057 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:685.20, Y:56.44, Z:179.17
[[ 9.53644733e-01 -1.69473120e-01 -2.48677672e-01  6.85195988e+02]
 [ 1.63534948e-01  9.85533214e-01 -4.45039839e-02  5.64390541e+01]
 [ 2.52622335e-01  1.77349963e-03  9.67563337e-01  1.79167812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.700714057 meters
Centerline goodness : 0.998118 with order 1
Centerline is valid?  [True, True]
Translation: X:685.25, Y:56.44, Z:179.18
[[ 9.53993844e-01 -1.67501440e-01 -2.48674511e-01  6.85253273e+02]
 [ 1.61492760e-01  9.85869115e-01 -4.45216416e-02  5.64416410e+01]
 [ 2.52617959e-01  2.31423884e-03  9.67563337e-01  1.79183525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.760714057 meters
Centerline goodness : 0.997816 with order 1
Centerline is valid?  [True, True]
Translation: X:685.31, Y:56.45, Z:179.20
[[ 9.54215986e-01 -1.66248528e-01 -2.48662984e-01  6.85310434e+02]
 [ 1.60181244e-01  9.86080151e-01 -4.45859307e-02  5.64458259e+01]
 [ 2.52613979e-01  2.71346171e-03  9.67563339e-01  1.79198399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.820714057 meters
Centerline goodness : 0.997791 with order 1
Centerline is valid?  [True, True]
Translation: X:685.37, Y:56.45, Z:179.21
[[ 9.54052605e-01 -1.67200513e-01 -2.48651594e-01  6.85369128e+02]
 [ 1.61148492e-01  9.85919671e-01 -4.46493653e-02  5.64511140e+01]
 [ 2.52615895e-01  2.52801381e-03  9.67563341e-01  1.79212508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.880714057 meters
Centerline goodness : 0.997856 with order 1
Centerline is valid?  [True, True]
Translation: X:685.43, Y:56.45, Z:179.23
[[ 9.53252990e-01 -1.71701851e-01 -2.48650781e-01  6.85426389e+02]
 [ 1.65799132e-01  9.85148049e-01 -4.46538946e-02  5.64528074e+01]
 [ 2.52624988e-01  1.34037498e-03  9.67563341e-01  1.79227069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 706.940714057 meters
Centerline goodness : 0.997740 with order 1
Centerline is valid?  [True, True]
Translation: X:685.48, Y:56.46, Z:179.24
[[ 9.52508168e-01 -1.75803161e-01 -2.48639172e-01  6.85484265e+02]
 [ 1.70020926e-01  9.84425287e-01 -4.47184419e-02  5.64590078e+01]
 [ 2.52628332e-01  3.20818720e-04  9.67563343e-01  1.79242476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.000714057 meters
Centerline goodness : 0.997876 with order 1
Centerline is valid?  [True, True]
Translation: X:685.54, Y:56.46, Z:179.26
[[ 9.51145154e-01 -1.83035150e-01 -2.48638352e-01  6.85541766e+02]
 [ 1.77494393e-01  9.83105078e-01 -4.47230051e-02  5.64618744e+01]
 [ 2.52623508e-01 -1.59384364e-03  9.67563343e-01  1.79259892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.060714057 meters
Centerline goodness : 0.998021 with order 1
Centerline is valid?  [True, True]
Translation: X:685.60, Y:56.47, Z:179.28
[[ 9.49846468e-01 -1.89661452e-01 -2.48636724e-01  6.85599519e+02]
 [ 1.84341265e-01  9.81843848e-01 -4.47320533e-02  5.64660772e+01]
 [ 2.52606384e-01 -3.34542524e-03  9.67563343e-01  1.79276627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.120714057 meters
Centerline goodness : 0.997771 with order 1
Centerline is valid?  [True, True]
Translation: X:685.66, Y:56.47, Z:179.29
[[ 9.49052845e-01 -1.93596265e-01 -2.48634637e-01  6.85657016e+02]
 [ 1.88405693e-01  9.81071506e-01 -4.47436473e-02  5.64742876e+01]
 [ 2.52590561e-01 -4.38009546e-03  9.67563343e-01  1.79291348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.180714057 meters
Centerline goodness : 0.997491 with order 1
Centerline is valid?  [True, True]
Translation: X:685.71, Y:56.48, Z:179.31
[[ 9.48093784e-01 -1.98241743e-01 -2.48633037e-01  6.85714431e+02]
 [ 1.93205709e-01  9.80137115e-01 -4.47525362e-02  5.64823107e+01]
 [ 2.52566289e-01 -5.60772081e-03  9.67563343e-01  1.79306734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.240714057 meters
Centerline goodness : 0.997844 with order 1
Centerline is valid?  [True, True]
Translation: X:685.77, Y:56.49, Z:179.32
[[ 9.47828603e-01 -1.99507821e-01 -2.48631391e-01  6.85771264e+02]
 [ 1.94512189e-01  9.79878258e-01 -4.47616835e-02  5.64913474e+01]
 [ 2.52558800e-01 -5.93543208e-03  9.67563343e-01  1.79321340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.300714057 meters
Centerline goodness : 0.997420 with order 1
Centerline is valid?  [True, True]
Translation: X:685.83, Y:56.50, Z:179.34
[[ 9.47837739e-01 -1.99477599e-01 -2.48620812e-01  6.85827963e+02]
 [ 1.94465561e-01  9.79884830e-01 -4.48203638e-02  5.65036660e+01]
 [ 2.52560421e-01 -5.86575356e-03  9.67563345e-01  1.79335763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.360714057 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:685.88, Y:56.52, Z:179.35
[[ 9.48070026e-01 -1.98372705e-01 -2.48619180e-01  6.85881947e+02]
 [ 1.93320944e-01  9.80110879e-01 -4.48294198e-02  5.65160541e+01]
 [ 2.52567296e-01 -5.56186543e-03  9.67563345e-01  1.79351209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.420714057 meters
Centerline goodness : 0.997701 with order 1
Centerline is valid?  [True, True]
Translation: X:685.94, Y:56.53, Z:179.37
[[ 9.48230859e-01 -1.97608550e-01 -2.48614358e-01  6.85937602e+02]
 [ 1.92523964e-01  9.80266520e-01 -4.48561460e-02  5.65280891e+01]
 [ 2.52572289e-01 -5.33023967e-03  9.67563345e-01  1.79367403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.480714057 meters
Centerline goodness : 0.997722 with order 1
Centerline is valid?  [True, True]
Translation: X:685.99, Y:56.54, Z:179.38
[[ 9.48358304e-01 -1.96999063e-01 -2.48611942e-01  6.85992224e+02]
 [ 1.91890380e-01  9.80390130e-01 -4.48695325e-02  5.65405138e+01]
 [ 2.52575950e-01 -5.15384617e-03  9.67563346e-01  1.79383174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.5407140570001 meters
Centerline goodness : 0.997630 with order 1
Centerline is valid?  [True, True]
Translation: X:686.05, Y:56.55, Z:179.40
[[ 9.48612958e-01 -1.95774192e-01 -2.48607969e-01  6.86046891e+02]
 [ 1.90618385e-01  9.80637233e-01 -4.48915315e-02  5.65544115e+01]
 [ 2.52582834e-01 -4.80456104e-03  9.67563346e-01  1.79398556e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.600714057 meters
Centerline goodness : 0.997408 with order 1
Centerline is valid?  [True, True]
Translation: X:686.10, Y:56.57, Z:179.41
[[ 9.49161541e-01 -1.93110853e-01 -2.48597201e-01  6.86101342e+02]
 [ 1.87849585e-01  9.81168657e-01 -4.49510882e-02  5.65660658e+01]
 [ 2.52596325e-01 -4.03303679e-03  9.67563348e-01  1.79414205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.6607140570001 meters
Centerline goodness : 0.997050 with order 1
Centerline is valid?  [True, True]
Translation: X:686.16, Y:56.58, Z:179.43
[[ 9.49638242e-01 -1.90757752e-01 -2.48593421e-01  6.86157944e+02]
 [ 1.85411701e-01  9.81631306e-01 -4.49719840e-02  5.65783465e+01]
 [ 2.52605839e-01 -3.38501313e-03  9.67563348e-01  1.79429161e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.720714057 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:686.21, Y:56.59, Z:179.44
[[ 9.50202653e-01 -1.87927064e-01 -2.48592714e-01  6.86214224e+02]
 [ 1.82484678e-01  9.82179470e-01 -4.49758901e-02  5.65901017e+01]
 [ 2.52614847e-01 -2.62815133e-03  9.67563348e-01  1.79442900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.7807140570001 meters
Centerline goodness : 0.997337 with order 1
Centerline is valid?  [True, True]
Translation: X:686.27, Y:56.60, Z:179.46
[[ 9.50588126e-01 -1.85970702e-01 -2.48590250e-01  6.86269215e+02]
 [ 1.80458944e-01  9.82553059e-01 -4.49895046e-02  5.66004432e+01]
 [ 2.52619840e-01 -2.09384513e-03  9.67563348e-01  1.79456921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.840714057 meters
Centerline goodness : 0.997536 with order 1
Centerline is valid?  [True, True]
Translation: X:686.33, Y:56.61, Z:179.47
[[ 9.50821482e-01 -1.84791498e-01 -2.48577175e-01  6.86326651e+02]
 [ 1.79221240e-01  9.82776270e-01 -4.50616331e-02  5.66100153e+01]
 [ 2.52622756e-01 -1.70474093e-03  9.67563350e-01  1.79471231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.9007140570001 meters
Centerline goodness : 0.997895 with order 1
Centerline is valid?  [True, True]
Translation: X:686.38, Y:56.62, Z:179.49
[[ 9.50614647e-01 -1.85853657e-01 -2.48576371e-01  6.86381658e+02]
 [ 1.80317943e-01  9.82575437e-01 -4.50660713e-02  5.66191750e+01]
 [ 2.52620730e-01 -1.98231239e-03  9.67563350e-01  1.79486175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 707.960714057 meters
Centerline goodness : 0.998103 with order 1
Centerline is valid?  [True, True]
Translation: X:686.44, Y:56.63, Z:179.50
[[ 9.49594872e-01 -1.91000887e-01 -2.48572403e-01  6.86438656e+02]
 [ 1.85632677e-01  9.81584223e-01 -4.50879439e-02  5.66272582e+01]
 [ 2.52606587e-01 -3.32788029e-03  9.67563351e-01  1.79503002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.020714057 meters
Centerline goodness : 0.997925 with order 1
Centerline is valid?  [True, True]
Translation: X:686.49, Y:56.64, Z:179.52
[[ 9.48553254e-01 -1.96110463e-01 -2.48570737e-01  6.86493733e+02]
 [ 1.90912147e-01  9.80570651e-01 -4.50971265e-02  5.66362409e+01]
 [ 2.52585188e-01 -4.67814712e-03  9.67563351e-01  1.79518696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.080714057 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:686.55, Y:56.64, Z:179.54
[[ 9.46906259e-01 -2.03919504e-01 -2.48566638e-01  6.86551174e+02]
 [ 1.98979251e-01  9.78964488e-01 -4.51197128e-02  5.66440086e+01]
 [ 2.52538701e-01 -6.73546489e-03  9.67563351e-01  1.79535761e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.140714057 meters
Centerline goodness : 0.997802 with order 1
Centerline is valid?  [True, True]
Translation: X:686.61, Y:56.65, Z:179.55
[[ 9.45752567e-01 -2.09205725e-01 -2.48565979e-01  6.86606983e+02]
 [ 2.04443673e-01  9.77837752e-01 -4.51233397e-02  5.66536211e+01]
 [ 2.52497259e-01 -8.14222751e-03  9.67563351e-01  1.79551068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.200714057 meters
Centerline goodness : 0.997486 with order 1
Centerline is valid?  [True, True]
Translation: X:686.66, Y:56.66, Z:179.56
[[ 9.44398199e-01 -2.15239891e-01 -2.48563537e-01  6.86663212e+02]
 [ 2.10679259e-01  9.76512632e-01 -4.51367881e-02  5.66646491e+01]
 [ 2.52440671e-01 -9.74008037e-03  9.67563351e-01  1.79563905e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.260714057 meters
Centerline goodness : 0.997970 with order 1
Centerline is valid?  [True, True]
Translation: X:686.72, Y:56.68, Z:179.58
[[ 9.43579382e-01 -2.18804228e-01 -2.48561179e-01  6.86720593e+02]
 [ 2.14361474e-01  9.75710335e-01 -4.51497691e-02  5.66762516e+01]
 [ 2.52402672e-01 -1.06795495e-02  9.67563351e-01  1.79577599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.320714057 meters
Centerline goodness : 0.997549 with order 1
Centerline is valid?  [True, True]
Translation: X:686.78, Y:56.69, Z:179.59
[[ 9.43064186e-01 -2.21015123e-01 -2.48560366e-01  6.86776522e+02]
 [ 2.16646510e-01  9.75205304e-01 -4.51542447e-02  5.66886062e+01]
 [ 2.52377158e-01 -1.12663848e-02  9.67563351e-01  1.79592364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.380714057 meters
Centerline goodness : 0.997903 with order 1
Centerline is valid?  [True, True]
Translation: X:686.83, Y:56.70, Z:179.61
[[ 9.42849432e-01 -2.21932133e-01 -2.48557995e-01  6.86831541e+02]
 [ 2.17591346e-01  9.74994319e-01 -4.51672961e-02  5.67023739e+01]
 [ 2.52366707e-01 -1.14981090e-02  9.67563351e-01  1.79607850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.440714057 meters
Centerline goodness : 0.997512 with order 1
Centerline is valid?  [True, True]
Translation: X:686.89, Y:56.72, Z:179.62
[[ 9.43365329e-01 -2.19741468e-01 -2.48546864e-01  6.86887283e+02]
 [ 2.15309940e-01  9.75497830e-01 -4.52284656e-02  5.67161089e+01]
 [ 2.52395496e-01 -1.08476440e-02  9.67563353e-01  1.79623682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.500714057 meters
Centerline goodness : 0.997798 with order 1
Centerline is valid?  [True, True]
Translation: X:686.94, Y:56.73, Z:179.64
[[ 9.45028026e-01 -2.12478864e-01 -2.48545293e-01  6.86943053e+02]
 [ 2.07798046e-01  9.77125160e-01 -4.52370961e-02  5.67338118e+01]
 [ 2.52471786e-01 -8.89690252e-03  9.67563353e-01  1.79638139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.560714057 meters
Centerline goodness : 0.997988 with order 1
Centerline is valid?  [True, True]
Translation: X:687.00, Y:56.75, Z:179.65
[[ 9.46240045e-01 -2.07016481e-01 -2.48543666e-01  6.86999557e+02]
 [ 2.02147991e-01  9.78309249e-01 -4.52460327e-02  5.67502863e+01]
 [ 2.52519242e-01 -7.42899466e-03  9.67563353e-01  1.79653321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.620714057 meters
Centerline goodness : 0.997864 with order 1
Centerline is valid?  [True, True]
Translation: X:687.06, Y:56.77, Z:179.67
[[ 9.47409968e-01 -2.01595258e-01 -2.48543163e-01  6.87055685e+02]
 [ 1.96542505e-01  9.79450657e-01 -4.52487966e-02  5.67676380e+01]
 [ 2.52557707e-01 -5.98013492e-03  9.67563353e-01  1.79668726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.680714057 meters
Centerline goodness : 0.997798 with order 1
Centerline is valid?  [True, True]
Translation: X:687.11, Y:56.78, Z:179.68
[[ 9.47902520e-01 -1.99269000e-01 -2.48541098e-01  6.87110969e+02]
 [ 1.94134639e-01  9.79930233e-01 -4.52601386e-02  5.67826435e+01]
 [ 2.52571878e-01 -5.34823682e-03  9.67563353e-01  1.79682781e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.740714057 meters
Centerline goodness : 0.997904 with order 1
Centerline is valid?  [True, True]
Translation: X:687.17, Y:56.80, Z:179.70
[[ 9.48200841e-01 -1.97859408e-01 -2.48529313e-01  6.87165171e+02]
 [ 1.92660500e-01  9.80218138e-01 -4.53247606e-02  5.67993538e+01]
 [ 2.52580871e-01 -4.90480566e-03  9.67563355e-01  1.79696141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.800714057 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:687.22, Y:56.81, Z:179.71
[[ 9.47728914e-01 -2.00112803e-01 -2.48525191e-01  6.87219950e+02]
 [ 1.94984098e-01  9.79757531e-01 -4.53473501e-02  5.68148900e+01]
 [ 2.52569013e-01 -5.48146531e-03  9.67563356e-01  1.79709730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.860714057 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:687.27, Y:56.83, Z:179.73
[[ 9.47115936e-01 -2.02999414e-01 -2.48520908e-01  6.87274453e+02]
 [ 1.97962164e-01  9.79159063e-01 -4.53708149e-02  5.68278576e+01]
 [ 2.52551748e-01 -6.22631478e-03  9.67563356e-01  1.79725506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.920714057 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:687.33, Y:56.84, Z:179.74
[[ 9.46196403e-01 -2.07248207e-01 -2.48516696e-01  6.87328996e+02]
 [ 2.02348772e-01  9.78260891e-01 -4.53938732e-02  5.68437412e+01]
 [ 2.52521963e-01 -7.33552857e-03  9.67563356e-01  1.79740039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 708.980714057 meters
Centerline goodness : 0.998699 with order 1
Centerline is valid?  [True, True]
Translation: X:687.38, Y:56.86, Z:179.75
[[ 9.45663511e-01 -2.09682115e-01 -2.48503389e-01  6.87384988e+02]
 [ 2.04846105e-01  9.77737624e-01 -4.54666092e-02  5.68585227e+01]
 [ 2.52504647e-01 -7.90883780e-03  9.67563359e-01  1.79754867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.0407140570001 meters
Centerline goodness : 0.998678 with order 1
Centerline is valid?  [True, True]
Translation: X:687.44, Y:56.87, Z:179.77
[[ 9.44881036e-01 -2.13181631e-01 -2.48502355e-01  6.87439254e+02]
 [ 2.08462912e-01  9.76972614e-01 -4.54722573e-02  5.68728575e+01]
 [ 2.52473845e-01 -8.83765099e-03  9.67563359e-01  1.79768927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.100714057 meters
Centerline goodness : 0.999126 with order 1
Centerline is valid?  [True, True]
Translation: X:687.49, Y:56.89, Z:179.78
[[ 9.43266659e-01 -2.20229934e-01 -2.48489007e-01  6.87494528e+02]
 [ 2.15731782e-01  9.75389893e-01 -4.55450876e-02  5.68906352e+01]
 [ 2.52404057e-01 -1.06458138e-02  9.67563361e-01  1.79784002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.1607140570001 meters
Centerline goodness : 0.999200 with order 1
Centerline is valid?  [True, True]
Translation: X:687.55, Y:56.91, Z:179.80
[[ 9.41258542e-01 -2.28661573e-01 -2.48487910e-01  6.87548696e+02]
 [ 2.24449469e-01  9.73420534e-01 -4.55510704e-02  5.69092822e+01]
 [ 2.52299014e-01 -1.28976454e-02  9.67563362e-01  1.79800302e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.220714057 meters
Centerline goodness : 0.999516 with order 1
Centerline is valid?  [True, True]
Translation: X:687.60, Y:56.93, Z:179.82
[[ 9.40344373e-01 -2.32393624e-01 -2.48486747e-01  6.87604926e+02]
 [ 2.28307464e-01  9.72522608e-01 -4.55574162e-02  5.69252113e+01]
 [ 2.52246232e-01 -1.38917191e-02  9.67563362e-01  1.79815238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.2807140570001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:687.66, Y:56.95, Z:179.83
[[ 9.39889231e-01 -2.34228637e-01 -2.48485773e-01  6.87659434e+02]
 [ 2.30203894e-01  9.72075206e-01 -4.55627288e-02  5.69461474e+01]
 [ 2.52218954e-01 -1.43784742e-02  9.67563362e-01  1.79829637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.340714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:687.72, Y:56.96, Z:179.85
[[ 9.40310808e-01 -2.32542438e-01 -2.48474542e-01  6.87715693e+02]
 [ 2.28443859e-01  9.72487462e-01 -4.56238937e-02  5.69638666e+01]
 [ 2.52247868e-01 -1.38618429e-02  9.67563363e-01  1.79845361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.4007140570001 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:687.77, Y:56.98, Z:179.86
[[ 9.42636965e-01 -2.22926655e-01 -2.48473858e-01  6.87770809e+02]
 [ 2.18498680e-01  9.74769946e-01 -4.56276190e-02  5.69849097e+01]
 [ 2.52376462e-01 -1.12809297e-02  9.67563363e-01  1.79860741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.460714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:687.83, Y:57.00, Z:179.88
[[ 9.44765407e-01 -2.13727751e-01 -2.48472885e-01  6.87826311e+02]
 [ 2.08985380e-01  9.76853494e-01 -4.56329180e-02  5.70036948e+01]
 [ 2.52474627e-01 -8.81479780e-03  9.67563363e-01  1.79876043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.520714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:687.88, Y:57.03, Z:179.89
[[ 9.47523232e-01 -2.01149848e-01 -2.48472258e-01  6.87881541e+02]
 [ 1.95980447e-01  9.79545298e-01 -4.56363293e-02  5.70250125e+01]
 [ 2.52569573e-01 -5.45422197e-03  9.67563363e-01  1.79891012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.580714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:687.94, Y:57.04, Z:179.91
[[ 9.48197725e-01 -1.97947076e-01 -2.48471387e-01  6.87938363e+02]
 [ 1.92668261e-01  9.80201935e-01 -4.56410729e-02  5.70380411e+01]
 [ 2.52586651e-01 -4.59578849e-03  9.67563363e-01  1.79906202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.640714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:687.99, Y:57.05, Z:179.92
[[ 9.49409925e-01 -1.92049968e-01 -2.48470530e-01  6.87992694e+02]
 [ 1.86571119e-01  9.81380499e-01 -4.56457374e-02  5.70530997e+01]
 [ 2.52610395e-01 -3.02090883e-03  9.67563363e-01  1.79920592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.700714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.05, Y:57.07, Z:179.94
[[ 9.50057692e-01 -1.88825063e-01 -2.48466252e-01  6.88046777e+02]
 [ 1.83231601e-01  9.82008412e-01 -4.56690122e-02  5.70669660e+01]
 [ 2.52619404e-01 -2.13867288e-03  9.67563364e-01  1.79935358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.760714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.10, Y:57.08, Z:179.95
[[ 9.50380396e-01 -1.87199662e-01 -2.48462048e-01  6.88101683e+02]
 [ 1.81545578e-01  9.82320445e-01 -4.56918750e-02  5.70773247e+01]
 [ 2.52622853e-01 -1.68252390e-03  9.67563364e-01  1.79949901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.820714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.16, Y:57.09, Z:179.96
[[ 9.50925026e-01 -1.84431196e-01 -2.48448644e-01  6.88158113e+02]
 [ 1.78665107e-01  9.82845042e-01 -4.57646490e-02  5.70852264e+01]
 [ 2.52626946e-01 -8.70353287e-04  9.67563367e-01  1.79964734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.880714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.21, Y:57.09, Z:179.98
[[ 9.50905464e-01 -1.84536576e-01 -2.48445269e-01  6.88213999e+02]
 [ 1.78769239e-01  9.82825254e-01 -4.57829634e-02  5.70942047e+01]
 [ 2.52626915e-01 -8.79101630e-04  9.67563367e-01  1.79980346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 709.940714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.27, Y:57.10, Z:180.00
[[ 9.50093465e-01 -1.88688258e-01 -2.48433389e-01  6.88268985e+02]
 [ 1.83043565e-01  9.82035170e-01 -4.58473398e-02  5.70996096e+01]
 [ 2.52621180e-01 -1.91487536e-03  9.67563369e-01  1.79996802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.000714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:688.33, Y:57.10, Z:180.01
[[ 9.47956974e-01 -1.99149381e-01 -2.48429267e-01  6.88326517e+02]
 [ 1.93851266e-01  9.79957989e-01 -4.58696645e-02  5.71028359e+01]
 [ 2.52585160e-01 -4.67585961e-03  9.67563369e-01  1.80011595e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.060714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.38, Y:57.11, Z:180.03
[[ 9.45884916e-01 -2.08770104e-01 -2.48428602e-01  6.88384070e+02]
 [ 2.03796440e-01  9.77937961e-01 -4.58732640e-02  5.71093955e+01]
 [ 2.52524727e-01 -7.23803627e-03  9.67563369e-01  1.80026554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.120714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:688.44, Y:57.12, Z:180.04
[[ 9.42647955e-01 -2.22931881e-01 -2.48427472e-01  6.88441764e+02]
 [ 2.18437861e-01  9.74771759e-01 -4.58793833e-02  5.71150323e+01]
 [ 2.52388061e-01 -1.10178588e-02  9.67563369e-01  1.80041583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.180714057 meters
Centerline goodness : 0.999810 with order 1
Centerline is valid?  [True, True]
Translation: X:688.50, Y:57.12, Z:180.06
[[ 9.41034650e-01 -2.29647436e-01 -2.48426736e-01  6.88500429e+02]
 [ 2.25381528e-01  9.73189541e-01 -4.58833687e-02  5.71224314e+01]
 [ 2.52303299e-01 -1.28129576e-02  9.67563369e-01  1.80055349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.240714057 meters
Centerline goodness : 0.999768 with order 1
Centerline is valid?  [True, True]
Translation: X:688.56, Y:57.13, Z:180.07
[[ 9.39887004e-01 -2.34300113e-01 -2.48426805e-01  6.88558158e+02]
 [ 2.30193433e-01  9.72062618e-01 -4.58829964e-02  5.71331121e+01]
 [ 2.52236802e-01 -1.40613869e-02  9.67563369e-01  1.80070028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.300714057 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:688.61, Y:57.15, Z:180.09
[[ 9.40380423e-01 -2.32312347e-01 -2.48426315e-01  6.88614223e+02]
 [ 2.28136946e-01  9.72547192e-01 -4.58856507e-02  5.71462508e+01]
 [ 2.52266118e-01 -1.35252530e-02  9.67563369e-01  1.80086123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.360714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:688.67, Y:57.16, Z:180.10
[[ 9.41135685e-01 -2.29234348e-01 -2.48425514e-01  6.88670649e+02]
 [ 2.24952586e-01  9.73288469e-01 -4.58899819e-02  5.71592338e+01]
 [ 2.52309249e-01 -1.26952623e-02  9.67563369e-01  1.80101927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.420714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:688.73, Y:57.18, Z:180.12
[[ 9.42211385e-01 -2.24772787e-01 -2.48424837e-01  6.88725333e+02]
 [ 2.20337772e-01  9.74343389e-01 -4.58936471e-02  5.71754206e+01]
 [ 2.52366741e-01 -1.14958583e-02  9.67563369e-01  1.80116586e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.480714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.78, Y:57.19, Z:180.13
[[ 9.42838675e-01 -2.22140240e-01 -2.48412855e-01  6.88782064e+02]
 [ 2.17598461e-01  9.74955760e-01 -4.59584167e-02  5.71899767e+01]
 [ 2.52400758e-01 -1.07228822e-02  9.67563371e-01  1.80132295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.5407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.84, Y:57.21, Z:180.15
[[ 9.42695502e-01 -2.22749203e-01 -2.48410917e-01  6.88836531e+02]
 [ 2.18225416e-01  9.74815125e-01 -4.59688920e-02  5.72053972e+01]
 [ 2.52394253e-01 -1.08749079e-02  9.67563371e-01  1.80147116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.600714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.89, Y:57.22, Z:180.16
[[ 9.41716715e-01 -2.26856196e-01 -2.48406713e-01  6.88893092e+02]
 [ 2.22466482e-01  9.73854937e-01 -4.59915975e-02  5.72201161e+01]
 [ 2.52345582e-01 -1.19511113e-02  9.67563372e-01  1.80162065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.6607140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:688.95, Y:57.23, Z:180.18
[[ 9.41383319e-01 -2.28235914e-01 -2.48406551e-01  6.88948691e+02]
 [ 2.23893069e-01  9.73527907e-01 -4.59924706e-02  5.72334703e+01]
 [ 2.52327843e-01 -1.23199605e-02  9.67563372e-01  1.80176544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.720714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:689.01, Y:57.25, Z:180.19
[[ 9.42572940e-01 -2.23278214e-01 -2.48401072e-01  6.89005178e+02]
 [ 2.18758473e-01  9.74693132e-01 -4.60220457e-02  5.72498306e+01]
 [ 2.52390539e-01 -1.09607042e-02  9.67563372e-01  1.80191141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.7807140570001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:689.06, Y:57.27, Z:180.21
[[ 9.45388419e-01 -2.11041330e-01 -2.48399464e-01  6.89061468e+02]
 [ 2.06103332e-01  9.77446975e-01 -4.60307218e-02  5.72664340e+01]
 [ 2.52511689e-01 -7.67904579e-03  9.67563372e-01  1.80206900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.840714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:689.12, Y:57.28, Z:180.22
[[ 9.47207579e-01 -2.02720891e-01 -2.48398960e-01  6.89117725e+02]
 [ 1.97500498e-01  9.79221362e-01 -4.60334398e-02  5.72804324e+01]
 [ 2.52569508e-01 -5.45569539e-03  9.67563372e-01  1.80223618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.9007140570001 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:689.17, Y:57.29, Z:180.24
[[ 9.48687407e-01 -1.95679804e-01 -2.48398105e-01  6.89172177e+02]
 [ 1.90220560e-01  9.80661326e-01 -4.60380557e-02  5.72928818e+01]
 [ 2.52603132e-01 -3.57470302e-03  9.67563372e-01  1.80240730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 710.960714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:689.23, Y:57.30, Z:180.26
[[ 9.48914067e-01 -1.94581991e-01 -2.48394731e-01  6.89229116e+02]
 [ 1.89080994e-01  9.80880829e-01 -4.60562500e-02  5.73032062e+01]
 [ 2.52607347e-01 -3.26329906e-03  9.67563372e-01  1.80255002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.020714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:689.29, Y:57.31, Z:180.27
[[ 9.48514226e-01 -1.96523872e-01 -2.48393098e-01  6.89286096e+02]
 [ 1.91086012e-01  9.80491788e-01 -4.60650582e-02  5.73110793e+01]
 [ 2.52600276e-01 -3.77108345e-03  9.67563372e-01  1.80267037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.080714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:689.34, Y:57.32, Z:180.28
[[ 9.47884983e-01 -1.99540994e-01 -2.48389716e-01  6.89342703e+02]
 [ 1.94200137e-01  9.79878889e-01 -4.60832844e-02  5.73189127e+01]
 [ 2.52587344e-01 -4.55566373e-03  9.67563372e-01  1.80280862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.140714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:689.40, Y:57.33, Z:180.30
[[ 9.46125169e-01 -2.07729226e-01 -2.48386259e-01  6.89400445e+02]
 [ 2.02660310e-01  9.78163285e-01 -4.61019146e-02  5.73257777e+01]
 [ 2.52539034e-01 -6.71985448e-03  9.67563373e-01  1.80297926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.200714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:689.46, Y:57.33, Z:180.32
[[ 9.44039345e-01 -2.17012885e-01 -2.48385031e-01  6.89457135e+02]
 [ 2.12257183e-01  9.76125449e-01 -4.61085282e-02  5.73334466e+01]
 [ 2.52461095e-01 -9.19324222e-03  9.67563373e-01  1.80316359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.260714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:689.51, Y:57.34, Z:180.33
[[ 9.42744878e-01 -2.22569682e-01 -2.48384444e-01  6.89514550e+02]
 [ 2.18002223e-01  9.74858319e-01 -4.61116903e-02  5.73433713e+01]
 [ 2.52402706e-01 -1.06768012e-02  9.67563373e-01  1.80333084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.320714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:689.57, Y:57.35, Z:180.35
[[ 9.41063160e-01 -2.29576859e-01 -2.48383967e-01  6.89572118e+02]
 [ 2.25247752e-01  9.73209600e-01 -4.61142574e-02  5.73548103e+01]
 [ 2.52316428e-01 -1.25515014e-02  9.67563373e-01  1.80347093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.380714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:689.63, Y:57.37, Z:180.36
[[ 9.39780037e-01 -2.34773846e-01 -2.48384224e-01  6.89628958e+02]
 [ 2.30622817e-01  9.71949957e-01 -4.61128748e-02  5.73671819e+01]
 [ 2.52243133e-01 -1.39471101e-02  9.67563373e-01  1.80360306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.440714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:689.69, Y:57.38, Z:180.38
[[ 9.39097104e-01 -2.37491689e-01 -2.48383427e-01  6.89686230e+02]
 [ 2.33432614e-01  9.71278756e-01 -4.61171666e-02  5.73799060e+01]
 [ 2.52201990e-01 -1.46722951e-02  9.67563373e-01  1.80375467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.500714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:689.74, Y:57.39, Z:180.39
[[ 9.38889011e-01 -2.38313738e-01 -2.48382743e-01  6.89740776e+02]
 [ 2.34281867e-01  9.71074083e-01 -4.61208526e-02  5.73914785e+01]
 [ 2.52189277e-01 -1.48892110e-02  9.67563373e-01  1.80390120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.560714057 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:689.80, Y:57.41, Z:180.41
[[ 9.39244784e-01 -2.36912066e-01 -2.48378559e-01  6.89795534e+02]
 [ 2.32826225e-01  9.71423048e-01 -4.61433707e-02  5.74064869e+01]
 [ 2.52212578e-01 -1.44891222e-02  9.67563373e-01  1.80407457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.620714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:689.85, Y:57.42, Z:180.42
[[ 9.40759853e-01 -2.30835468e-01 -2.48366434e-01  6.89851337e+02]
 [ 2.26524537e-01  9.72908734e-01 -4.62085471e-02  5.74238871e+01]
 [ 2.52304444e-01 -1.27899456e-02  9.67563375e-01  1.80423748e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.680714057 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:689.91, Y:57.44, Z:180.44
[[ 9.42122501e-01 -2.25210705e-01 -2.48365319e-01  6.89906672e+02]
 [ 2.20706200e-01  9.74244831e-01 -4.62145377e-02  5.74396728e+01]
 [ 2.52376637e-01 -1.12760099e-02  9.67563375e-01  1.80438010e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.740714057 meters
Centerline goodness : 0.999791 with order 1
Centerline is valid?  [True, True]
Translation: X:689.96, Y:57.46, Z:180.45
[[ 9.43971291e-01 -2.17332804e-01 -2.48363957e-01  6.89962706e+02]
 [ 2.12558198e-01  9.76054585e-01 -4.62218573e-02  5.74570664e+01]
 [ 2.52462305e-01 -9.15968875e-03  9.67563375e-01  1.80452022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.800714057 meters
Centerline goodness : 0.999770 with order 1
Centerline is valid?  [True, True]
Translation: X:690.02, Y:57.47, Z:180.47
[[ 9.44626360e-01 -2.14469023e-01 -2.48362797e-01  6.90016712e+02]
 [ 2.09595503e-01  9.76694778e-01 -4.62280893e-02  5.74712792e+01]
 [ 2.52489140e-01 -8.38745362e-03  9.67563375e-01  1.80467900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.860714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:690.07, Y:57.49, Z:180.49
[[ 9.44824139e-01 -2.13601051e-01 -2.48358486e-01  6.90071410e+02]
 [ 2.08691992e-01  9.76887135e-01 -4.62512380e-02  5.74865442e+01]
 [ 2.52497523e-01 -8.13114109e-03  9.67563375e-01  1.80485575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.920714057 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:690.13, Y:57.50, Z:180.50
[[ 9.44670812e-01 -2.14292488e-01 -2.48346103e-01  6.90125856e+02]
 [ 2.09389460e-01  9.76734729e-01 -4.63176356e-02  5.74994624e+01]
 [ 2.52493785e-01 -8.24613791e-03  9.67563378e-01  1.80499902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 711.980714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:690.18, Y:57.51, Z:180.51
[[ 9.44367658e-01 -2.15629571e-01 -2.48341728e-01  6.90182026e+02]
 [ 2.10765780e-01  9.76437551e-01 -4.63410835e-02  5.75105443e+01]
 [ 2.52482696e-01 -8.57891736e-03  9.67563378e-01  1.80514027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.0407140570001 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:690.24, Y:57.52, Z:180.53
[[ 9.44073761e-01 -2.16926609e-01 -2.48329579e-01  6.90238152e+02]
 [ 2.12089794e-01  9.76147731e-01 -4.64061000e-02  5.75229333e+01]
 [ 2.52473073e-01 -8.85738786e-03  9.67563380e-01  1.80529229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.100714057 meters
Centerline goodness : 0.999522 with order 1
Centerline is valid?  [True, True]
Translation: X:690.29, Y:57.53, Z:180.54
[[ 9.43995800e-01 -2.17267605e-01 -2.48327842e-01  6.90293147e+02]
 [ 2.12439936e-01  9.76071148e-01 -4.64153907e-02  5.75346402e+01]
 [ 2.52470203e-01 -8.93881693e-03  9.67563380e-01  1.80544731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.1607140570001 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:690.35, Y:57.55, Z:180.56
[[ 9.44457378e-01 -2.15266139e-01 -2.48315829e-01  6.90348772e+02]
 [ 2.10353633e-01  9.76519840e-01 -4.64795756e-02  5.75466110e+01]
 [ 2.52490812e-01 -8.33615871e-03  9.67563382e-01  1.80561749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.220714057 meters
Centerline goodness : 0.999580 with order 1
Centerline is valid?  [True, True]
Translation: X:690.41, Y:57.56, Z:180.58
[[ 9.44909900e-01 -2.13274013e-01 -2.48313263e-01  6.90405777e+02]
 [ 2.08290309e-01  9.76961372e-01 -4.64932788e-02  5.75590834e+01]
 [ 2.52508274e-01 -7.78928685e-03  9.67563382e-01  1.80577364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.2807140570001 meters
Centerline goodness : 0.999247 with order 1
Centerline is valid?  [True, True]
Translation: X:690.46, Y:57.57, Z:180.59
[[ 9.45120997e-01 -2.12337591e-01 -2.48312401e-01  6.90460766e+02]
 [ 2.07320921e-01  9.77167326e-01 -4.64978824e-02  5.75703816e+01]
 [ 2.52516013e-01 -7.53423064e-03  9.67563382e-01  1.80590890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.340714057 meters
Centerline goodness : 0.999314 with order 1
Centerline is valid?  [True, True]
Translation: X:690.52, Y:57.58, Z:180.60
[[ 9.45196890e-01 -2.12006768e-01 -2.48306202e-01  6.90516782e+02]
 [ 2.06970199e-01  9.77240097e-01 -4.65309615e-02  5.75816351e+01]
 [ 2.52519656e-01 -7.41106390e-03  9.67563383e-01  1.80603349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.4007140570001 meters
Centerline goodness : 0.999583 with order 1
Centerline is valid?  [True, True]
Translation: X:690.58, Y:57.59, Z:180.62
[[ 9.44737165e-01 -2.14059756e-01 -2.48294401e-01  6.90575092e+02]
 [ 2.09076302e-01  9.76788674e-01 -4.65938533e-02  5.75909619e+01]
 [ 2.52505027e-01 -7.89353013e-03  9.67563385e-01  1.80616750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.460714057 meters
Centerline goodness : 0.999583 with order 1
Centerline is valid?  [True, True]
Translation: X:690.63, Y:57.60, Z:180.63
[[ 9.44146287e-01 -2.16651500e-01 -2.48294012e-01  6.90630725e+02]
 [ 2.11755477e-01  9.76211267e-01 -4.65959230e-02  5.76007020e+01]
 [ 2.52482489e-01 -8.58424928e-03  9.67563385e-01  1.80631981e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.520714057 meters
Centerline goodness : 0.999791 with order 1
Centerline is valid?  [True, True]
Translation: X:690.69, Y:57.61, Z:180.65
[[ 9.43538614e-01 -2.19296577e-01 -2.48281886e-01  6.90688365e+02]
 [ 2.14473476e-01  9.75614642e-01 -4.66604513e-02  5.76106205e+01]
 [ 2.52459920e-01 -9.22394150e-03  9.67563387e-01  1.80648394e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.580714057 meters
Centerline goodness : 0.999583 with order 1
Centerline is valid?  [True, True]
Translation: X:690.74, Y:57.62, Z:180.66
[[ 9.43504975e-01 -2.19440880e-01 -2.48282222e-01  6.90744070e+02]
 [ 2.14623155e-01  9.75581811e-01 -4.66586634e-02  5.76204726e+01]
 [ 2.52458438e-01 -9.26443271e-03  9.67563387e-01  1.80664853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.640714057 meters
Centerline goodness : 0.999625 with order 1
Centerline is valid?  [True, True]
Translation: X:690.80, Y:57.63, Z:180.68
[[ 9.43803967e-01 -2.18155251e-01 -2.48278792e-01  6.90798617e+02]
 [ 2.13289036e-01  9.75873482e-01 -4.66769063e-02  5.76316822e+01]
 [ 2.52471502e-01 -8.90129506e-03  9.67563387e-01  1.80679578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.700714057 meters
Centerline goodness : 0.999460 with order 1
Centerline is valid?  [True, True]
Translation: X:690.86, Y:57.64, Z:180.69
[[ 9.44527824e-01 -2.15015309e-01 -2.48265195e-01  6.90855547e+02]
 [ 2.10023509e-01  9.76578028e-01 -4.67491201e-02  5.76446199e+01]
 [ 2.52502111e-01 -7.98568261e-03  9.67563390e-01  1.80694967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.760714057 meters
Centerline goodness : 0.999625 with order 1
Centerline is valid?  [True, True]
Translation: X:690.91, Y:57.66, Z:180.71
[[ 9.45126750e-01 -2.12368119e-01 -2.48264394e-01  6.90911711e+02]
 [ 2.07285425e-01  9.77162666e-01 -4.67533719e-02  5.76560463e+01]
 [ 2.52523623e-01 -7.27372800e-03  9.67563390e-01  1.80710186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.820714057 meters
Centerline goodness : 0.999770 with order 1
Centerline is valid?  [True, True]
Translation: X:690.97, Y:57.67, Z:180.72
[[ 9.46833529e-01 -2.04637746e-01 -2.48253219e-01  6.90967705e+02]
 [ 1.99277901e-01  9.78824241e-01 -4.68126387e-02  5.76673411e+01]
 [ 2.52575901e-01 -5.14760440e-03  9.67563391e-01  1.80724087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.880714057 meters
Centerline goodness : 0.999497 with order 1
Centerline is valid?  [True, True]
Translation: X:691.02, Y:57.68, Z:180.74
[[ 9.48805120e-01 -1.95296992e-01 -2.48249730e-01  6.91023370e+02]
 [ 1.89617309e-01  9.80740598e-01 -4.68311324e-02  5.76783269e+01]
 [ 2.52614568e-01 -2.63882746e-03  9.67563392e-01  1.80738140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 712.940714057 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:691.08, Y:57.69, Z:180.75
[[ 9.50197352e-01 -1.88423077e-01 -2.48237257e-01  6.91080544e+02]
 [ 1.82495098e-01  9.82087672e-01 -4.68971595e-02  5.76877871e+01]
 [ 2.52627257e-01 -7.40525595e-04  9.67563394e-01  1.80753287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.000714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:691.14, Y:57.70, Z:180.77
[[ 9.51199144e-01 -1.83299436e-01 -2.48236793e-01  6.91137911e+02]
 [ 1.77199036e-01  9.83056930e-01 -4.68996132e-02  5.76950253e+01]
 [ 2.52627572e-01  6.23551560e-04  9.67563394e-01  1.80768777e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.060714057 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:691.19, Y:57.70, Z:180.78
[[ 9.52327917e-01 -1.77344054e-01 -2.48235019e-01  6.91194566e+02]
 [ 1.71041987e-01  9.84146424e-01 -4.69090013e-02  5.76982427e+01]
 [ 2.52618639e-01  2.21414055e-03  9.67563394e-01  1.80784048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.120714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:691.25, Y:57.70, Z:180.80
[[ 9.53235868e-01 -1.72414704e-01 -2.48222783e-01  6.91251189e+02]
 [ 1.65931271e-01  9.85017913e-01 -4.69736623e-02  5.76994267e+01]
 [ 2.52602838e-01  3.58905792e-03  9.67563396e-01  1.80799705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.180714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:691.31, Y:57.70, Z:180.81
[[ 9.53711942e-01 -1.69765302e-01 -2.48220214e-01  6.91307683e+02]
 [ 1.63190049e-01  9.85475118e-01 -4.69872369e-02  5.77028341e+01]
 [ 2.52591647e-01  4.30522012e-03  9.67563396e-01  1.80814553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.240714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:691.37, Y:57.70, Z:180.83
[[ 9.53766152e-01 -1.69480436e-01 -2.48206584e-01  6.91366591e+02]
 [ 1.62876994e-01  9.85523477e-01 -4.70591261e-02  5.76994715e+01]
 [ 2.52589017e-01  4.45625939e-03  9.67563399e-01  1.80829996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:691.43, Y:57.70, Z:180.84
[[ 9.52467108e-01 -1.76638483e-01 -2.48204056e-01  6.91425433e+02]
 [ 1.70270253e-01  9.84272434e-01 -4.70724552e-02  5.76950148e+01]
 [ 2.52615218e-01  2.57319780e-03  9.67563399e-01  1.80844499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.360714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:691.48, Y:57.70, Z:180.86
[[ 9.51771387e-01 -1.80353012e-01 -2.48201568e-01  6.91482726e+02]
 [ 1.74105492e-01  9.83600644e-01 -4.70855706e-02  5.76999158e+01]
 [ 2.52623247e-01  1.60144254e-03  9.67563399e-01  1.80858895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.420714057 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:691.54, Y:57.69, Z:180.87
[[ 9.49727818e-01 -1.90826455e-01 -2.48198179e-01  6.91541894e+02]
 [ 1.84925267e-01  9.81623101e-01 -4.71034309e-02  5.76937496e+01]
 [ 2.52625647e-01 -1.16267590e-03  9.67563399e-01  1.80873100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.480714057 meters
Centerline goodness : 0.999560 with order 1
Centerline is valid?  [True, True]
Translation: X:691.60, Y:57.69, Z:180.89
[[ 9.48575788e-01 -1.96488409e-01 -2.48185976e-01  6.91599913e+02]
 [ 1.90760791e-01  9.80502695e-01 -4.71676408e-02  5.76938783e+01]
 [ 2.52614913e-01 -2.60207102e-03  9.67563401e-01  1.80887858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.5407140570001 meters
Centerline goodness : 0.999374 with order 1
Centerline is valid?  [True, True]
Translation: X:691.66, Y:57.69, Z:180.90
[[ 9.47261287e-01 -2.02745603e-01 -2.48173879e-01  6.91658692e+02]
 [ 1.97212206e-01  9.79222425e-01 -4.72312104e-02  5.76913423e+01]
 [ 2.52593348e-01 -4.20262100e-03  9.67563403e-01  1.80903426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.600714057 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:691.72, Y:57.69, Z:180.92
[[ 9.46376040e-01 -2.06840421e-01 -2.48172182e-01  6.91715694e+02]
 [ 2.01442965e-01  9.78360415e-01 -4.72401226e-02  5.76945094e+01]
 [ 2.52573006e-01 -5.28562023e-03  9.67563403e-01  1.80919287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.6607140570001 meters
Centerline goodness : 0.999416 with order 1
Centerline is valid?  [True, True]
Translation: X:691.77, Y:57.70, Z:180.93
[[ 9.44843078e-01 -2.13747372e-01 -2.48160470e-01  6.91774925e+02]
 [ 2.08567553e-01  9.76863418e-01 -4.73015697e-02  5.76973342e+01]
 [ 2.52529471e-01 -7.06566122e-03  9.67563405e-01  1.80932479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.720714057 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:691.83, Y:57.70, Z:180.95
[[ 9.43496910e-01 -2.19614192e-01 -2.48159600e-01  6.91833830e+02]
 [ 2.14632237e-01  9.75548631e-01 -4.73061366e-02  5.77018328e+01]
 [ 2.52480857e-01 -8.62985638e-03  9.67563405e-01  1.80945642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.7807140570001 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:691.89, Y:57.71, Z:180.96
[[ 9.43203335e-01 -2.20872612e-01 -2.48158736e-01  6.91890307e+02]
 [ 2.15932227e-01  9.75261490e-01 -4.73106675e-02  5.77097832e+01]
 [ 2.52469289e-01 -8.96188924e-03  9.67563405e-01  1.80958839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.840714057 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:691.95, Y:57.72, Z:180.97
[[ 9.43774540e-01 -2.18422944e-01 -2.48155265e-01  6.91946182e+02]
 [ 2.13394561e-01  9.75819010e-01 -4.73288689e-02  5.77184770e+01]
 [ 2.52492335e-01 -8.28720220e-03  9.67563405e-01  1.80973495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.9007140570001 meters
Centerline goodness : 0.998811 with order 1
Centerline is valid?  [True, True]
Translation: X:692.00, Y:57.73, Z:180.99
[[ 9.44636191e-01 -2.14669806e-01 -2.48151849e-01  6.92003163e+02]
 [ 2.09509390e-01  9.76659664e-01 -4.73467711e-02  5.77291732e+01]
 [ 2.52523824e-01 -7.26466893e-03  9.67563405e-01  1.80988530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 713.960714057 meters
Centerline goodness : 0.998889 with order 1
Centerline is valid?  [True, True]
Translation: X:692.06, Y:57.74, Z:181.00
[[ 9.46066727e-01 -2.08275876e-01 -2.48150979e-01  6.92060411e+02]
 [ 2.02897793e-01  9.78054363e-01 -4.73513304e-02  5.77403659e+01]
 [ 2.52567287e-01 -5.55176769e-03  9.67563405e-01  1.81003119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.020714057 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:692.11, Y:57.75, Z:181.02
[[ 9.46556669e-01 -2.06039766e-01 -2.48149323e-01  6.92114956e+02]
 [ 2.00583838e-01  9.78531120e-01 -4.73600065e-02  5.77510124e+01]
 [ 2.52579880e-01 -4.94581372e-03  9.67563405e-01  1.81017329e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.080714057 meters
Centerline goodness : 0.999225 with order 1
Centerline is valid?  [True, True]
Translation: X:692.17, Y:57.76, Z:181.03
[[ 9.46850751e-01 -2.04689324e-01 -2.48144992e-01  6.92172367e+02]
 [ 1.99181848e-01  9.78816363e-01 -4.73826881e-02  5.77626069e+01]
 [ 2.52587109e-01 -4.56164439e-03  9.67563406e-01  1.81031701e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.140714057 meters
Centerline goodness : 0.998974 with order 1
Centerline is valid?  [True, True]
Translation: X:692.23, Y:57.77, Z:181.05
[[ 9.47221910e-01 -2.02965851e-01 -2.48144145e-01  6.92227369e+02]
 [ 1.97399050e-01  9.79177244e-01 -4.73871267e-02  5.77738919e+01]
 [ 2.52595068e-01 -4.09729362e-03  9.67563406e-01  1.81047147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.200714057 meters
Centerline goodness : 0.999414 with order 1
Centerline is valid?  [True, True]
Translation: X:692.28, Y:57.78, Z:181.06
[[ 9.47466099e-01 -2.01840089e-01 -2.48130145e-01  6.92283001e+02]
 [ 1.96216153e-01  9.79411425e-01 -4.74603209e-02  5.77839968e+01]
 [ 2.52600895e-01 -3.72009729e-03  9.67563408e-01  1.81063107e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.260714057 meters
Centerline goodness : 0.999561 with order 1
Centerline is valid?  [True, True]
Translation: X:692.34, Y:57.79, Z:181.08
[[ 9.47479959e-01 -2.01779364e-01 -2.48126612e-01  6.92337942e+02]
 [ 1.96148546e-01  9.79424072e-01 -4.74787860e-02  5.77941704e+01]
 [ 2.52601416e-01 -3.68447600e-03  9.67563408e-01  1.81078076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.320714057 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:692.39, Y:57.81, Z:181.09
[[ 9.47353609e-01 -2.02377080e-01 -2.48122264e-01  6.92393420e+02]
 [ 1.96760469e-01  9.79300222e-01 -4.75014961e-02  5.78054427e+01]
 [ 2.52599403e-01 -3.81993935e-03  9.67563409e-01  1.81091860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.380714057 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:692.45, Y:57.82, Z:181.11
[[ 9.47014176e-01 -2.03974138e-01 -2.48110263e-01  6.92450225e+02]
 [ 1.98395002e-01  9.78967353e-01 -4.75641040e-02  5.78156821e+01]
 [ 2.52593694e-01 -4.17995536e-03  9.67563411e-01  1.81105189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.440714057 meters
Centerline goodness : 0.999101 with order 1
Centerline is valid?  [True, True]
Translation: X:692.51, Y:57.83, Z:181.12
[[ 9.46590455e-01 -2.05946237e-01 -2.48098083e-01  6.92507838e+02]
 [ 2.00417044e-01  9.78552311e-01 -4.76275541e-02  5.78253389e+01]
 [ 2.52585668e-01 -4.63929627e-03  9.67563413e-01  1.81120456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.500714057 meters
Centerline goodness : 0.999143 with order 1
Centerline is valid?  [True, True]
Translation: X:692.56, Y:57.84, Z:181.13
[[ 9.46134915e-01 -2.08029167e-01 -2.48097942e-01  6.92564526e+02]
 [ 2.02570143e-01  9.78108830e-01 -4.76282846e-02  5.78354486e+01]
 [ 2.52574861e-01 -5.19445277e-03  9.67563413e-01  1.81134598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.560714057 meters
Centerline goodness : 0.999353 with order 1
Centerline is valid?  [True, True]
Translation: X:692.62, Y:57.85, Z:181.15
[[ 9.46104228e-01 -2.08182228e-01 -2.48086576e-01  6.92620328e+02]
 [ 2.02712877e-01  9.78076377e-01 -4.76874189e-02  5.78457106e+01]
 [ 2.52575293e-01 -5.17307499e-03  9.67563414e-01  1.81149454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.620714057 meters
Centerline goodness : 0.999063 with order 1
Centerline is valid?  [True, True]
Translation: X:692.68, Y:57.86, Z:181.16
[[ 9.46345375e-01 -2.07097821e-01 -2.48074433e-01  6.92676258e+02]
 [ 2.01575300e-01  9.78308380e-01 -4.77505081e-02  5.78564948e+01]
 [ 2.52582323e-01 -4.81720581e-03  9.67563416e-01  1.81164005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.680714057 meters
Centerline goodness : 0.999372 with order 1
Centerline is valid?  [True, True]
Translation: X:692.73, Y:57.87, Z:181.18
[[ 9.46980645e-01 -2.04177417e-01 -2.48071038e-01  6.92732762e+02]
 [ 1.98551702e-01  9.78925649e-01 -4.77681367e-02  5.78671776e+01]
 [ 2.52596277e-01 -4.01942595e-03  9.67563417e-01  1.81178529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.740714057 meters
Centerline goodness : 0.999269 with order 1
Centerline is valid?  [True, True]
Translation: X:692.79, Y:57.88, Z:181.19
[[ 9.47979299e-01 -1.99491461e-01 -2.48069356e-01  6.92788803e+02]
 [ 1.93705541e-01  9.79895675e-01 -4.77768706e-02  5.78787522e+01]
 [ 2.52613167e-01 -2.76092445e-03  9.67563417e-01  1.81192379e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.800714057 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:692.84, Y:57.89, Z:181.21
[[ 9.48334034e-01 -1.97813169e-01 -2.48057473e-01  6.92844369e+02]
 [ 1.91954646e-01  9.80237161e-01 -4.78384934e-02  5.78894516e+01]
 [ 2.52618237e-01 -2.24891282e-03  9.67563419e-01  1.81207513e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.860714057 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:692.90, Y:57.90, Z:181.22
[[ 9.48293836e-01 -1.98020644e-01 -2.48045610e-01  6.92899985e+02]
 [ 1.92153033e-01  9.80195291e-01 -4.78999255e-02  5.78992657e+01]
 [ 2.52618313e-01 -2.23951206e-03  9.67563420e-01  1.81223958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.920714057 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:692.96, Y:57.91, Z:181.24
[[ 9.47383875e-01 -2.02332426e-01 -2.48043106e-01  6.92955723e+02]
 [ 1.96606603e-01  9.79311084e-01 -4.79128910e-02  5.79071995e+01]
 [ 2.52605694e-01 -3.37501210e-03  9.67563421e-01  1.81240366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 714.980714057 meters
Centerline goodness : 0.998998 with order 1
Centerline is valid?  [True, True]
Translation: X:693.01, Y:57.92, Z:181.25
[[ 9.45941634e-01 -2.08973508e-01 -2.48041324e-01  6.93013638e+02]
 [ 2.03469384e-01  9.77907808e-01 -4.79221118e-02  5.79160518e+01]
 [ 2.52575999e-01 -5.13729469e-03  9.67563421e-01  1.81253962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.0407140570001 meters
Centerline goodness : 0.998971 with order 1
Centerline is valid?  [True, True]
Translation: X:693.07, Y:57.93, Z:181.27
[[ 9.45130806e-01 -2.12611502e-01 -2.48040537e-01  6.93069045e+02]
 [ 2.07229341e-01  9.77117742e-01 -4.79261841e-02  5.79256720e+01]
 [ 2.52554468e-01 -6.10476416e-03  9.67563421e-01  1.81267872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.100714057 meters
Centerline goodness : 0.999475 with order 1
Centerline is valid?  [True, True]
Translation: X:693.13, Y:57.93, Z:181.28
[[ 9.44845336e-01 -2.13892489e-01 -2.48026802e-01  6.93125133e+02]
 [ 2.08535071e-01  9.76836422e-01 -4.79971664e-02  5.79344643e+01]
 [ 2.52547847e-01 -6.37238802e-03  9.67563423e-01  1.81282066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.1607140570001 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:693.18, Y:57.95, Z:181.30
[[ 9.45896516e-01 -2.09202517e-01 -2.48020339e-01  6.93181659e+02]
 [ 2.03677712e-01  9.77859119e-01 -4.80305408e-02  5.79465034e+01]
 [ 2.52577060e-01 -5.08429376e-03  9.67563424e-01  1.81296634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.220714057 meters
Centerline goodness : 0.999141 with order 1
Centerline is valid?  [True, True]
Translation: X:693.24, Y:57.96, Z:181.31
[[ 9.47032288e-01 -2.04001490e-01 -2.48018621e-01  6.93235805e+02]
 [ 1.98298807e-01  9.78963635e-01 -4.80394072e-02  5.79576951e+01]
 [ 2.52601322e-01 -3.68692699e-03  9.67563424e-01  1.81312459e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.2807140570001 meters
Centerline goodness : 0.999101 with order 1
Centerline is valid?  [True, True]
Translation: X:693.29, Y:57.97, Z:181.32
[[ 9.48392594e-01 -1.97586347e-01 -2.48014361e-01  6.93292276e+02]
 [ 1.91661901e-01  9.80283540e-01 -4.80613935e-02  5.79686482e+01]
 [ 2.52620671e-01 -1.95383430e-03  9.67563424e-01  1.81324146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.340714057 meters
Centerline goodness : 0.998896 with order 1
Centerline is valid?  [True, True]
Translation: X:693.35, Y:57.98, Z:181.34
[[ 9.48606086e-01 -1.96574432e-01 -2.48001990e-01  6.93348552e+02]
 [ 1.90599299e-01  9.80487571e-01 -4.81251492e-02  5.79797527e+01]
 [ 2.52623042e-01 -1.61719588e-03  9.67563426e-01  1.81338366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.4007140570001 meters
Centerline goodness : 0.998675 with order 1
Centerline is valid?  [True, True]
Translation: X:693.41, Y:57.99, Z:181.35
[[ 9.48891670e-01 -1.95206973e-01 -2.47989588e-01  6.93406354e+02]
 [ 1.89169214e-01  9.80761353e-01 -4.81889740e-02  5.79889833e+01]
 [ 2.52625427e-01 -1.18587937e-03  9.67563428e-01  1.81351869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.460714057 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:693.46, Y:58.00, Z:181.37
[[ 9.48518448e-01 -1.97013601e-01 -2.47988697e-01  6.93463137e+02]
 [ 1.91035345e-01  9.80399346e-01 -4.81935571e-02  5.79983736e+01]
 [ 2.52622743e-01 -1.66212815e-03  9.67563428e-01  1.81366924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.520714057 meters
Centerline goodness : 0.998475 with order 1
Centerline is valid?  [True, True]
Translation: X:693.52, Y:58.01, Z:181.38
[[ 9.47825637e-01 -2.00323475e-01 -2.47986023e-01  6.93518962e+02]
 [ 1.94452946e-01  9.79726547e-01 -4.82073108e-02  5.80060157e+01]
 [ 2.52615546e-01 -2.52948785e-03  9.67563428e-01  1.81383280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.580714057 meters
Centerline goodness : 0.998312 with order 1
Centerline is valid?  [True, True]
Translation: X:693.58, Y:58.01, Z:181.40
[[ 9.47160290e-01 -2.03461325e-01 -2.47973535e-01  6.93575506e+02]
 [ 1.97679681e-01  9.79077428e-01 -4.82714657e-02  5.80147986e+01]
 [ 2.52606667e-01 -3.29851393e-03  9.67563430e-01  1.81397331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.640714057 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:693.63, Y:58.02, Z:181.41
[[ 9.45947809e-01 -2.09041030e-01 -2.47960863e-01  6.93632353e+02]
 [ 2.03430595e-01  9.77895484e-01 -4.83364755e-02  5.80229304e+01]
 [ 2.52584115e-01 -4.71904272e-03  9.67563432e-01  1.81413014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.700714057 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:693.69, Y:58.03, Z:181.43
[[ 9.44678896e-01 -2.14703914e-01 -2.47959701e-01  6.93689409e+02]
 [ 2.09283395e-01  9.76659341e-01 -4.83424375e-02  5.80328688e+01]
 [ 2.52551469e-01 -6.22576758e-03  9.67563432e-01  1.81427368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.760714057 meters
Centerline goodness : 0.998482 with order 1
Centerline is valid?  [True, True]
Translation: X:693.75, Y:58.04, Z:181.44
[[ 9.42089075e-01 -2.25798147e-01 -2.47958408e-01  6.93745360e+02]
 [ 2.20752340e-01  9.74130778e-01 -4.83490667e-02  5.80430386e+01]
 [ 2.52461047e-01 -9.18827124e-03  9.67563432e-01  1.81443219e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.820714057 meters
Centerline goodness : 0.998636 with order 1
Centerline is valid?  [True, True]
Translation: X:693.80, Y:58.05, Z:181.46
[[ 9.40273812e-01 -2.33243787e-01 -2.47956639e-01  6.93802675e+02]
 [ 2.28449226e-01  9.72354072e-01 -4.83581397e-02  5.80548433e+01]
 [ 2.52380883e-01 -1.11756099e-02  9.67563432e-01  1.81458193e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.880714057 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:693.86, Y:58.07, Z:181.47
[[ 9.38738840e-01 -2.39347256e-01 -2.47956209e-01  6.93858080e+02]
 [ 2.34760621e-01  9.70849488e-01 -4.83603450e-02  5.80692445e+01]
 [ 2.52303074e-01 -1.28126192e-02  9.67563432e-01  1.81474909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 715.940714057 meters
Centerline goodness : 0.999247 with order 1
Centerline is valid?  [True, True]
Translation: X:693.91, Y:58.09, Z:181.49
[[ 9.39114501e-01 -2.37870706e-01 -2.47954596e-01  6.93912556e+02]
 [ 2.33231402e-01  9.71217581e-01 -4.83686137e-02  5.80869129e+01]
 [ 2.52323339e-01 -1.24071314e-02  9.67563432e-01  1.81491237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.000714057 meters
Centerline goodness : 0.999208 with order 1
Centerline is valid?  [True, True]
Translation: X:693.97, Y:58.10, Z:181.51
[[ 9.40190317e-01 -2.33584072e-01 -2.47952919e-01  6.93965857e+02]
 [ 2.28796102e-01  9.72271562e-01 -4.83772092e-02  5.81040844e+01]
 [ 2.52377717e-01 -1.12468776e-02  9.67563432e-01  1.81506216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.060714057 meters
Centerline goodness : 0.999541 with order 1
Centerline is valid?  [True, True]
Translation: X:694.02, Y:58.12, Z:181.52
[[ 9.42519785e-01 -2.24004127e-01 -2.47948798e-01  6.94020955e+02]
 [ 2.18884384e-01  9.74549757e-01 -4.83983213e-02  5.81242244e+01]
 [ 2.52479864e-01 -8.65574435e-03  9.67563433e-01  1.81521541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.120714057 meters
Centerline goodness : 0.999477 with order 1
Centerline is valid?  [True, True]
Translation: X:694.08, Y:58.14, Z:181.54
[[ 9.43976212e-01 -2.17786640e-01 -2.47947355e-01  6.94077234e+02]
 [ 2.12453942e-01  9.75971418e-01 -4.84057119e-02  5.81410389e+01]
 [ 2.52531649e-01 -6.98355250e-03  9.67563433e-01  1.81537155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.180714057 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:694.13, Y:58.16, Z:181.55
[[ 9.45516043e-01 -2.11001640e-01 -2.47947010e-01  6.94132526e+02]
 [ 2.05438836e-01  9.77472046e-01 -4.84074775e-02  5.81599695e+01]
 [ 2.52575328e-01 -5.16789860e-03  9.67563433e-01  1.81551957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.240714057 meters
Centerline goodness : 0.999582 with order 1
Centerline is valid?  [True, True]
Translation: X:694.19, Y:58.18, Z:181.57
[[ 9.46046167e-01 -2.08612796e-01 -2.47946266e-01  6.94187907e+02]
 [ 2.02968297e-01  9.77987841e-01 -4.84112902e-02  5.81751796e+01]
 [ 2.52587648e-01 -4.52591562e-03  9.67563433e-01  1.81566127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.300714057 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:694.24, Y:58.19, Z:181.58
[[ 9.46140938e-01 -2.08196980e-01 -2.47934150e-01  6.94243905e+02]
 [ 2.02522207e-01  9.78077246e-01 -4.84732620e-02  5.81890155e+01]
 [ 2.52590737e-01 -4.34963386e-03  9.67563435e-01  1.81579942e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.360714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:694.30, Y:58.20, Z:181.59
[[ 9.45840992e-01 -2.09570358e-01 -2.47921524e-01  6.94298853e+02]
 [ 2.03925058e-01  9.77782520e-01 -4.85377558e-02  5.82038791e+01]
 [ 2.52585408e-01 -4.64841197e-03  9.67563437e-01  1.81593005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.420714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:694.35, Y:58.22, Z:181.61
[[ 9.45591040e-01 -2.10709928e-01 -2.47909078e-01  6.94354988e+02]
 [ 2.05086482e-01  9.77536421e-01 -4.86012434e-02  5.82162968e+01]
 [ 2.52580918e-01 -4.88590040e-03  9.67563439e-01  1.81606740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.480714057 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:694.41, Y:58.23, Z:181.62
[[ 9.45167920e-01 -2.12601873e-01 -2.47907334e-01  6.94411224e+02]
 [ 2.07040037e-01  9.77124085e-01 -4.86101379e-02  5.82290326e+01]
 [ 2.52570834e-01 -5.38200086e-03  9.67563439e-01  1.81619994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.5407140570001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:694.47, Y:58.24, Z:181.63
[[ 9.44701858e-01 -2.14667467e-01 -2.47903766e-01  6.94467428e+02]
 [ 2.09170729e-01  9.76669285e-01 -4.86283284e-02  5.82398134e+01]
 [ 2.52558914e-01 -5.91493914e-03  9.67563439e-01  1.81634841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.600714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:694.52, Y:58.25, Z:181.65
[[ 9.44126994e-01 -2.17195953e-01 -2.47891381e-01  6.94524273e+02]
 [ 2.11768275e-01  9.76106217e-01 -4.86913851e-02  5.82501863e+01]
 [ 2.52543890e-01 -6.52467916e-03  9.67563441e-01  1.81650848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.6607140570001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:694.58, Y:58.26, Z:181.67
[[ 9.43813350e-01 -2.18556831e-01 -2.47889637e-01  6.94580876e+02]
 [ 2.13172932e-01  9.75799972e-01 -4.87002637e-02  5.82611307e+01]
 [ 2.52534476e-01 -6.87940155e-03  9.67563441e-01  1.81666985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.720714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:694.64, Y:58.27, Z:181.68
[[ 9.42586167e-01 -2.23792088e-01 -2.47887916e-01  6.94636015e+02]
 [ 2.18583513e-01  9.74601806e-01 -4.87090183e-02  5.82716129e+01]
 [ 2.52492704e-01 -8.27176476e-03  9.67563441e-01  1.81683066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.7807140570001 meters
Centerline goodness : 0.999747 with order 1
Centerline is valid?  [True, True]
Translation: X:694.69, Y:58.28, Z:181.70
[[ 9.41115975e-01 -2.29909097e-01 -2.47876035e-01  6.94693013e+02]
 [ 2.24892681e-01  9.73162282e-01 -4.87694079e-02  5.82820036e+01]
 [ 2.52436139e-01 -9.84783724e-03  9.67563443e-01  1.81698643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.840714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:694.75, Y:58.29, Z:181.71
[[ 9.38272025e-01 -2.41254055e-01 -2.47875148e-01  6.94750204e+02]
 [ 2.36623698e-01  9.70376386e-01 -4.87739185e-02  5.82940598e+01]
 [ 2.52299096e-01 -1.28899308e-02  9.67563443e-01  1.81714767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.9007140570001 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:694.81, Y:58.31, Z:181.73
[[ 9.35750496e-01 -2.50857038e-01 -2.47874477e-01  6.94806396e+02]
 [ 2.46555038e-01  9.67900504e-01 -4.87773269e-02  5.83087215e+01]
 [ 2.52153967e-01 -1.54712934e-02  9.67563443e-01  1.81732238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 716.960714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:694.86, Y:58.32, Z:181.75
[[ 9.34876273e-01 -2.54095585e-01 -2.47874539e-01  6.94861570e+02]
 [ 2.49905014e-01  9.67040996e-01 -4.87770110e-02  5.83224449e+01]
 [ 2.52098864e-01 -1.63446199e-02  9.67563443e-01  1.81747403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.020714057 meters
Centerline goodness : 0.999789 with order 1
Centerline is valid?  [True, True]
Translation: X:694.92, Y:58.34, Z:181.76
[[ 9.34426539e-01 -2.55745984e-01 -2.47873022e-01  6.94916639e+02]
 [ 2.51610180e-01  9.66598349e-01 -4.87847203e-02  5.83371515e+01]
 [ 2.52070150e-01 -1.67816384e-02  9.67563443e-01  1.81761034e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.080714057 meters
Centerline goodness : 0.999642 with order 1
Centerline is valid?  [True, True]
Translation: X:694.97, Y:58.35, Z:181.77
[[ 9.34221345e-01 -2.56497904e-01 -2.47869529e-01  6.94971271e+02]
 [ 2.52383307e-01  9.66395874e-01 -4.88024605e-02  5.83546410e+01]
 [ 2.52057819e-01 -1.69658313e-02  9.67563443e-01  1.81774475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.140714057 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:695.03, Y:58.37, Z:181.79
[[ 9.34310767e-01 -2.56183693e-01 -2.47857431e-01  6.95026070e+02]
 [ 2.52042069e-01  9.66481827e-01 -4.88638326e-02  5.83713949e+01]
 [ 2.52067819e-01 -1.68164948e-02  9.67563445e-01  1.81788705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.200714057 meters
Centerline goodness : 0.999685 with order 1
Centerline is valid?  [True, True]
Translation: X:695.08, Y:58.39, Z:181.80
[[ 9.34664166e-01 -2.54902908e-01 -2.47845525e-01  6.95079564e+02]
 [ 2.50701271e-01  9.66827441e-01 -4.89241484e-02  5.83894859e+01]
 [ 2.52094762e-01 -1.64075398e-02  9.67563447e-01  1.81803350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.260714057 meters
Centerline goodness : 0.999789 with order 1
Centerline is valid?  [True, True]
Translation: X:695.13, Y:58.41, Z:181.82
[[ 9.34985882e-01 -2.53724783e-01 -2.47840946e-01  6.95134692e+02]
 [ 2.49476496e-01  9.67143028e-01 -4.89473325e-02  5.84074362e+01]
 [ 2.52116794e-01 -1.60654260e-02  9.67563447e-01  1.81819046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.320714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:695.19, Y:58.43, Z:181.84
[[ 9.34817826e-01 -2.54344984e-01 -2.47839185e-01  6.95188045e+02]
 [ 2.50115677e-01  9.66977473e-01 -4.89562483e-02  5.84295764e+01]
 [ 2.52106685e-01 -1.62232920e-02  9.67563447e-01  1.81835668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.380714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:695.24, Y:58.45, Z:181.85
[[ 9.34035671e-01 -2.57213978e-01 -2.47827229e-01  6.95243666e+02]
 [ 2.53067466e-01  9.66206096e-01 -4.90167010e-02  5.84493251e+01]
 [ 2.52059960e-01 -1.69336615e-02  9.67563449e-01  1.81851207e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.440714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:695.30, Y:58.47, Z:181.87
[[ 9.31573904e-01 -2.65992352e-01 -2.47826816e-01  6.95298274e+02]
 [ 2.62148212e-01  9.63781860e-01 -4.90187893e-02  5.84738440e+01]
 [ 2.51889612e-01 -1.93027317e-02  9.67563449e-01  1.81865907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.500714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:695.35, Y:58.49, Z:181.88
[[ 9.29607980e-01 -2.72784405e-01 -2.47825891e-01  6.95353548e+02]
 [ 2.69174202e-01  9.61842996e-01 -4.90234642e-02  5.84938569e+01]
 [ 2.51742434e-01 -2.11357328e-02  9.67563449e-01  1.81881827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.560714057 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:695.41, Y:58.52, Z:181.90
[[ 9.27357994e-01 -2.80338921e-01 -2.47825020e-01  6.95406965e+02]
 [ 2.76989944e-01  9.59621196e-01 -4.90278683e-02  5.85197089e+01]
 [ 2.51562561e-01 -2.31786527e-02  9.67563449e-01  1.81898468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.620714057 meters
Centerline goodness : 0.999791 with order 1
Centerline is valid?  [True, True]
Translation: X:695.46, Y:58.54, Z:181.91
[[ 9.26584834e-01 -2.82884627e-01 -2.47824199e-01  6.95460385e+02]
 [ 2.79623166e-01  9.58857000e-01 -4.90320171e-02  5.85409538e+01]
 [ 2.51498372e-01 -2.38650636e-02  9.67563449e-01  1.81913582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.680714057 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:695.51, Y:58.57, Z:181.93
[[ 9.26525237e-01 -2.83091139e-01 -2.47811204e-01  6.95513964e+02]
 [ 2.79819490e-01  9.58796369e-01 -4.90976082e-02  5.85679986e+01]
 [ 2.51499581e-01 -2.38522317e-02  9.67563451e-01  1.81927935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.740714057 meters
Centerline goodness : 0.998970 with order 1
Centerline is valid?  [True, True]
Translation: X:695.57, Y:58.60, Z:181.94
[[ 9.27101497e-01 -2.81198994e-01 -2.47810291e-01  6.95567449e+02]
 [ 2.77860247e-01  9.59365757e-01 -4.91022188e-02  5.85966107e+01]
 [ 2.51548202e-01 -2.33338879e-02  9.67563451e-01  1.81941397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.800714057 meters
Centerline goodness : 0.999033 with order 1
Centerline is valid?  [True, True]
Translation: X:695.62, Y:58.62, Z:181.96
[[ 9.27791560e-01 -2.78915442e-01 -2.47808387e-01  6.95622503e+02]
 [ 2.75494720e-01  9.60047232e-01 -4.91118231e-02  5.86191112e+01]
 [ 2.51605802e-01 -2.27043673e-02  9.67563451e-01  1.81955754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.860714057 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:695.68, Y:58.65, Z:181.97
[[ 9.28776816e-01 -2.75617409e-01 -2.47807730e-01  6.95675019e+02]
 [ 2.72081232e-01  9.61020034e-01 -4.91151407e-02  5.86483440e+01]
 [ 2.51685181e-01 -2.18068283e-02  9.67563451e-01  1.81970963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.920714057 meters
Centerline goodness : 0.997710 with order 1
Centerline is valid?  [True, True]
Translation: X:695.73, Y:58.67, Z:181.99
[[ 9.29605064e-01 -2.72812378e-01 -2.47806035e-01  6.95729669e+02]
 [ 2.69176620e-01  9.61837206e-01 -4.91236894e-02  5.86716728e+01]
 [ 2.51750615e-01 -2.10379604e-02  9.67563451e-01  1.81986537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 717.980714057 meters
Centerline goodness : 0.996732 with order 1
Centerline is valid?  [True, True]
Translation: X:695.78, Y:58.70, Z:182.00
[[ 9.31413630e-01 -2.66573195e-01 -2.47805127e-01  6.95783419e+02]
 [ 2.62720189e-01  9.63620525e-01 -4.91282692e-02  5.87013778e+01]
 [ 2.51886386e-01 -1.93446702e-02  9.67563451e-01  1.82000546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.0407140570001 meters
Centerline goodness : 0.996222 with order 1
Centerline is valid?  [True, True]
Translation: X:695.84, Y:58.72, Z:182.02
[[ 9.32627901e-01 -2.62293643e-01 -2.47804850e-01  6.95837909e+02]
 [ 2.58292425e-01  9.64816718e-01 -4.91296647e-02  5.87247010e+01]
 [ 2.51972661e-01 -1.81864197e-02  9.67563451e-01  1.82015154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.100714057 meters
Centerline goodness : 0.994152 with order 1
Centerline is valid?  [True, True]
Translation: X:695.89, Y:58.75, Z:182.03
[[ 9.34216287e-01 -2.56579990e-01 -2.47803626e-01  6.95892007e+02]
 [ 2.52380185e-01  9.66379797e-01 -4.91358376e-02  5.87521946e+01]
 [ 2.52079691e-01 -1.66372253e-02  9.67563451e-01  1.82030610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.1607140570001 meters
Centerline goodness : 0.994005 with order 1
Centerline is valid?  [True, True]
Translation: X:695.95, Y:58.78, Z:182.05
[[ 9.35870024e-01 -2.50481791e-01 -2.47802686e-01  6.95945733e+02]
 [ 2.46071062e-01  9.68005287e-01 -4.91405813e-02  5.87762601e+01]
 [ 2.52183131e-01 -1.49878729e-02  9.67563451e-01  1.82047732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.220714057 meters
Centerline goodness : 0.994931 with order 1
Centerline is valid?  [True, True]
Translation: X:696.00, Y:58.79, Z:182.07
[[ 9.36799026e-01 -2.46984863e-01 -2.47802465e-01  6.95998521e+02]
 [ 2.42453856e-01  9.68917552e-01 -4.91416941e-02  5.87947834e+01]
 [ 2.52237412e-01 -1.40447720e-02  9.67563451e-01  1.82065501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.2807140570001 meters
Centerline goodness : 0.993830 with order 1
Centerline is valid?  [True, True]
Translation: X:696.05, Y:58.82, Z:182.08
[[ 9.37584335e-01 -2.43991366e-01 -2.47797957e-01  6.96053689e+02]
 [ 2.39351804e-01  9.69687359e-01 -4.91644148e-02  5.88156449e+01]
 [ 2.52282239e-01 -1.32151029e-02  9.67563452e-01  1.82080543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.340714057 meters
Centerline goodness : 0.993894 with order 1
Centerline is valid?  [True, True]
Translation: X:696.11, Y:58.83, Z:182.09
[[ 9.38416839e-01 -2.40771580e-01 -2.47796052e-01  6.96109723e+02]
 [ 2.36019320e-01  9.70503373e-01 -4.91740142e-02  5.88339147e+01]
 [ 2.52326610e-01 -1.23389327e-02  9.67563452e-01  1.82093144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.4007140570001 meters
Centerline goodness : 0.994615 with order 1
Centerline is valid?  [True, True]
Translation: X:696.17, Y:58.85, Z:182.11
[[ 9.39093601e-01 -2.38119224e-01 -2.47795163e-01  6.96165524e+02]
 [ 2.33275146e-01  9.71166403e-01 -4.91784939e-02  5.88499200e+01]
 [ 2.52360682e-01 -1.16212440e-02  9.67563452e-01  1.82107819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.460714057 meters
Centerline goodness : 0.996155 with order 1
Centerline is valid?  [True, True]
Translation: X:696.22, Y:58.87, Z:182.12
[[ 9.40498545e-01 -2.32510108e-01 -2.47793333e-01  6.96220608e+02]
 [ 2.27472268e-01  9.72541483e-01 -4.91877146e-02  5.88660618e+01]
 [ 2.52425936e-01 -1.01051374e-02  9.67563452e-01  1.82123636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.520714057 meters
Centerline goodness : 0.994729 with order 1
Centerline is valid?  [True, True]
Translation: X:696.28, Y:58.88, Z:182.14
[[ 9.41063755e-01 -2.30213738e-01 -2.47791533e-01  6.96275843e+02]
 [ 2.25095315e-01  9.73093919e-01 -4.91967817e-02  5.88780618e+01]
 [ 2.52450209e-01 -9.47940499e-03  9.67563452e-01  1.82138911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.580714057 meters
Centerline goodness : 0.994984 with order 1
Centerline is valid?  [True, True]
Translation: X:696.33, Y:58.89, Z:182.15
[[ 9.41185896e-01 -2.29727748e-01 -2.47778674e-01  6.96332099e+02]
 [ 2.24575781e-01  9.73210680e-01 -4.92614603e-02  5.88897602e+01]
 [ 2.52457576e-01 -9.28089782e-03  9.67563454e-01  1.82154510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.640714057 meters
Centerline goodness : 0.994801 with order 1
Centerline is valid?  [True, True]
Translation: X:696.39, Y:58.90, Z:182.17
[[ 9.40453311e-01 -2.32710552e-01 -2.47776851e-01  6.96388102e+02]
 [ 2.27657732e-01  9.72493888e-01 -4.92706299e-02  5.88979373e+01]
 [ 2.52427269e-01 -1.00715890e-02  9.67563454e-01  1.82166937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.700714057 meters
Centerline goodness : 0.994086 with order 1
Centerline is valid?  [True, True]
Translation: X:696.45, Y:58.91, Z:182.18
[[ 9.39518900e-01 -2.36470204e-01 -2.47762143e-01  6.96446448e+02]
 [ 2.31526138e-01  9.71576435e-01 -4.93444838e-02  5.89064602e+01]
 [ 2.52388360e-01 -1.10033370e-02  9.67563457e-01  1.82180711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.760714057 meters
Centerline goodness : 0.994073 with order 1
Centerline is valid?  [True, True]
Translation: X:696.50, Y:58.91, Z:182.19
[[ 9.37679573e-01 -2.43661527e-01 -2.47762143e-01  6.96504417e+02]
 [ 2.38963220e-01  9.69774047e-01 -4.93444838e-02  5.89145204e+01]
 [ 2.52296648e-01 -1.29367250e-02  9.67563457e-01  1.82194751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.820714057 meters
Centerline goodness : 0.994195 with order 1
Centerline is valid?  [True, True]
Translation: X:696.56, Y:58.92, Z:182.21
[[ 9.36230908e-01 -2.49170690e-01 -2.47761284e-01  6.96561913e+02]
 [ 2.44660036e-01  9.68352293e-01 -4.93487968e-02  5.89226861e+01]
 [ 2.52216481e-01 -1.44154157e-02  9.67563457e-01  1.82209967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.880714057 meters
Centerline goodness : 0.994630 with order 1
Centerline is valid?  [True, True]
Translation: X:696.62, Y:58.93, Z:182.23
[[ 9.33841116e-01 -2.57983408e-01 -2.47760632e-01  6.96619149e+02]
 [ 2.53774828e-01  9.66003473e-01 -4.93520701e-02  5.89298132e+01]
 [ 2.52069646e-01 -1.67884195e-02  9.67563457e-01  1.82225716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 718.940714057 meters
Centerline goodness : 0.994693 with order 1
Centerline is valid?  [True, True]
Translation: X:696.68, Y:58.94, Z:182.24
[[ 9.31781823e-01 -2.65325739e-01 -2.47759736e-01  6.96677963e+02]
 [ 2.61369251e-01  9.63976163e-01 -4.93565693e-02  5.89387583e+01]
 [ 2.51930048e-01 -1.87672225e-02  9.67563457e-01  1.82238690e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.000714057 meters
Centerline goodness : 0.994355 with order 1
Centerline is valid?  [True, True]
Translation: X:696.74, Y:58.95, Z:182.25
[[ 9.30690710e-01 -2.69128070e-01 -2.47759729e-01  6.96736151e+02]
 [ 2.65303059e-01  9.62900936e-01 -4.93566000e-02  5.89520609e+01]
 [ 2.51851322e-01 -1.97956851e-02  9.67563457e-01  1.82251067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.060714057 meters
Centerline goodness : 0.994270 with order 1
Centerline is valid?  [True, True]
Translation: X:696.79, Y:58.97, Z:182.27
[[ 9.29790814e-01 -2.72221018e-01 -2.47759480e-01  6.96791344e+02]
 [ 2.68502792e-01  9.62013541e-01 -4.93578536e-02  5.89680122e+01]
 [ 2.51784220e-01 -2.06316330e-02  9.67563457e-01  1.82267160e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.120714057 meters
Centerline goodness : 0.994013 with order 1
Centerline is valid?  [True, True]
Translation: X:696.85, Y:58.98, Z:182.28
[[ 9.29491284e-01 -2.73243664e-01 -2.47757650e-01  6.96849374e+02]
 [ 2.69558456e-01  9.61717804e-01 -4.93670349e-02  5.89819551e+01]
 [ 2.51762173e-01 -2.08989411e-02  9.67563457e-01  1.82275243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.180714057 meters
Centerline goodness : 0.997932 with order 1
Centerline is valid?  [True, True]
Translation: X:696.90, Y:59.00, Z:182.29
[[ 9.29221710e-01 -2.74160674e-01 -2.47755804e-01  6.96904213e+02]
 [ 2.70504814e-01  9.61451573e-01 -4.93763012e-02  5.89965033e+01]
 [ 2.51742247e-01 -2.11376064e-02  9.67563457e-01  1.82294237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.240714057 meters
Centerline goodness : 0.997238 with order 1
Centerline is valid?  [True, True]
Translation: X:696.96, Y:59.02, Z:182.30
[[ 9.31836005e-01 -2.65144845e-01 -2.47749615e-01  6.96961371e+02]
 [ 2.61168686e-01  9.64027921e-01 -4.94073359e-02  5.90151705e+01]
 [ 2.51937646e-01 -1.86649068e-02  9.67563457e-01  1.82303124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.300714057 meters
Centerline goodness : 0.995176 with order 1
Centerline is valid?  [True, True]
Translation: X:697.01, Y:59.03, Z:182.32
[[ 9.31535946e-01 -2.66198292e-01 -2.47748363e-01  6.97013172e+02]
 [ 2.62256875e-01  9.63732134e-01 -4.94136131e-02  5.90324076e+01]
 [ 2.51916878e-01 -1.89431545e-02  9.67563457e-01  1.82323290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.360714057 meters
Centerline goodness : 0.995911 with order 1
Centerline is valid?  [True, True]
Translation: X:697.07, Y:59.04, Z:182.34
[[ 9.33212569e-01 -2.60266065e-01 -2.47741553e-01  6.97069677e+02]
 [ 2.56110868e-01  9.65381865e-01 -4.94477322e-02  5.90445699e+01]
 [ 2.52034769e-01 -1.73040590e-02  9.67563458e-01  1.82339667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.420714057 meters
Centerline goodness : 0.995534 with order 1
Centerline is valid?  [True, True]
Translation: X:697.13, Y:59.06, Z:182.35
[[ 9.33747681e-01 -2.58339882e-01 -2.47741344e-01  6.97125448e+02]
 [ 2.54118038e-01  9.65908299e-01 -4.94487782e-02  5.90646832e+01]
 [ 2.52070012e-01 -1.67828623e-02  9.67563458e-01  1.82350725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.480714057 meters
Centerline goodness : 0.997092 with order 1
Centerline is valid?  [True, True]
Translation: X:697.18, Y:59.08, Z:182.37
[[ 9.34925847e-01 -2.54044171e-01 -2.47740225e-01  6.97181236e+02]
 [ 2.49673032e-01  9.67066513e-01 -4.94543825e-02  5.90804205e+01]
 [ 2.52144874e-01 -1.56178727e-02  9.67563458e-01  1.82366353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.5407140570001 meters
Centerline goodness : 0.996216 with order 1
Centerline is valid?  [True, True]
Translation: X:697.24, Y:59.10, Z:182.38
[[ 9.37188692e-01 -2.45566753e-01 -2.47738420e-01  6.97235045e+02]
 [ 2.40902333e-01  9.69288108e-01 -4.94634223e-02  5.90984610e+01]
 [ 2.52276477e-01 -1.33242035e-02  9.67563458e-01  1.82384900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.600714057 meters
Centerline goodness : 0.996121 with order 1
Centerline is valid?  [True, True]
Translation: X:697.29, Y:59.11, Z:182.40
[[ 9.40007481e-01 -2.34546677e-01 -2.47737345e-01  6.97290914e+02]
 [ 2.29504296e-01  9.72049698e-01 -4.94688089e-02  5.91148146e+01]
 [ 2.52415756e-01 -1.03557345e-02  9.67563458e-01  1.82402187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.6607140570001 meters
Centerline goodness : 0.996229 with order 1
Centerline is valid?  [True, True]
Translation: X:697.35, Y:59.13, Z:182.41
[[ 9.41345051e-01 -2.29119610e-01 -2.47737156e-01  6.97348410e+02]
 [ 2.23892204e-01  9.73357604e-01 -4.94697534e-02  5.91290496e+01]
 [ 2.52471335e-01 -8.89831037e-03  9.67563458e-01  1.82414718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.720714057 meters
Centerline goodness : 0.996956 with order 1
Centerline is valid?  [True, True]
Translation: X:697.41, Y:59.14, Z:182.43
[[ 9.42282720e-01 -2.25233253e-01 -2.47736267e-01  6.97405392e+02]
 [ 2.19872624e-01  9.74273233e-01 -4.94742060e-02  5.91407377e+01]
 [ 2.52506050e-01 -7.85173368e-03  9.67563458e-01  1.82428913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.7807140570001 meters
Centerline goodness : 0.996472 with order 1
Centerline is valid?  [True, True]
Translation: X:697.46, Y:59.15, Z:182.45
[[ 9.41600809e-01 -2.28068195e-01 -2.47735372e-01  6.97462386e+02]
 [ 2.22802694e-01  9.73607117e-01 -4.94786884e-02  5.91493438e+01]
 [ 2.52481436e-01 -8.60693521e-03  9.67563458e-01  1.82445943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.840714057 meters
Centerline goodness : 0.997007 with order 1
Centerline is valid?  [True, True]
Translation: X:697.52, Y:59.16, Z:182.46
[[ 9.40704854e-01 -2.31736940e-01 -2.47734472e-01  6.97520522e+02]
 [ 2.26595059e-01  9.72731254e-01 -4.94831946e-02  5.91579189e+01]
 [ 2.52446147e-01 -9.58632585e-03  9.67563458e-01  1.82461019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.9007140570001 meters
Centerline goodness : 0.996586 with order 1
Centerline is valid?  [True, True]
Translation: X:697.58, Y:59.16, Z:182.48
[[ 9.40177232e-01 -2.33868349e-01 -2.47734472e-01  6.97576670e+02]
 [ 2.28799065e-01  9.72215203e-01 -4.94831946e-02  5.91648719e+01]
 [ 2.52423773e-01 -1.01584426e-02  9.67563458e-01  1.82476327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 719.960714057 meters
Centerline goodness : 0.996738 with order 1
Centerline is valid?  [True, True]
Translation: X:697.63, Y:59.17, Z:182.49
[[ 9.39893323e-01 -2.35010586e-01 -2.47730835e-01  6.97633552e+02]
 [ 2.29975445e-01  9.71936678e-01 -4.95013971e-02  5.91736823e+01]
 [ 2.52412037e-01 -1.04459764e-02  9.67563458e-01  1.82490487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.020714057 meters
Centerline goodness : 0.997446 with order 1
Centerline is valid?  [True, True]
Translation: X:697.69, Y:59.18, Z:182.51
[[ 9.39879853e-01 -2.35067290e-01 -2.47728138e-01  6.97689781e+02]
 [ 2.30030533e-01  9.71922955e-01 -4.95148903e-02  5.91804793e+01]
 [ 2.52411994e-01 -1.04469878e-02  9.67563458e-01  1.82505899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.080714057 meters
Centerline goodness : 0.996074 with order 1
Centerline is valid?  [True, True]
Translation: X:697.75, Y:59.19, Z:182.52
[[ 9.40163801e-01 -2.33942554e-01 -2.47715378e-01  6.97745586e+02]
 [ 2.28850690e-01  9.72198190e-01 -4.95786445e-02  5.91892489e+01]
 [ 2.52426997e-01 -1.00777883e-02  9.67563460e-01  1.82521880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.140714057 meters
Centerline goodness : 0.996168 with order 1
Centerline is valid?  [True, True]
Translation: X:697.80, Y:59.20, Z:182.54
[[ 9.40473767e-01 -2.32697213e-01 -2.47711729e-01  6.97802572e+02]
 [ 2.27558135e-01  9.72500615e-01 -4.95968704e-02  5.91953516e+01]
 [ 2.52440862e-01 -9.72426346e-03  9.67563460e-01  1.82536174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.200714057 meters
Centerline goodness : 0.996032 with order 1
Centerline is valid?  [True, True]
Translation: X:697.86, Y:59.20, Z:182.55
[[ 9.40628395e-01 -2.32074246e-01 -2.47709036e-01  6.97857895e+02]
 [ 2.26910420e-01  9.72651262e-01 -4.96103152e-02  5.92023987e+01]
 [ 2.52447783e-01 -9.54289038e-03  9.67563460e-01  1.82550502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.260714057 meters
Centerline goodness : 0.996333 with order 1
Centerline is valid?  [True, True]
Translation: X:697.92, Y:59.21, Z:182.57
[[ 9.41826329e-01 -2.27179361e-01 -2.47694781e-01  6.97915935e+02]
 [ 2.21830398e-01  9.73818789e-01 -4.96813905e-02  5.92081218e+01]
 [ 2.52496418e-01 -8.15499020e-03  9.67563463e-01  1.82566129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.320714057 meters
Centerline goodness : 0.996063 with order 1
Centerline is valid?  [True, True]
Translation: X:697.97, Y:59.21, Z:182.58
[[ 9.42494191e-01 -2.24393485e-01 -2.47693890e-01  6.97974060e+02]
 [ 2.18948781e-01  9.74470497e-01 -4.96858305e-02  5.92123585e+01]
 [ 2.52519565e-01 -7.40366876e-03  9.67563463e-01  1.82579021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.380714057 meters
Centerline goodness : 0.995725 with order 1
Centerline is valid?  [True, True]
Translation: X:698.03, Y:59.22, Z:182.59
[[ 9.42389679e-01 -2.24846225e-01 -2.47680979e-01  6.98031770e+02]
 [ 2.19400003e-01  9.74365724e-01 -4.97501145e-02  5.92184163e+01]
 [ 2.52517982e-01 -7.45721292e-03  9.67563465e-01  1.82594098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.440714057 meters
Centerline goodness : 0.995968 with order 1
Centerline is valid?  [True, True]
Translation: X:698.09, Y:59.22, Z:182.61
[[ 9.41912555e-01 -2.26838669e-01 -2.47679142e-01  6.98089718e+02]
 [ 2.21457680e-01  9.73899642e-01 -4.97592555e-02  5.92206119e+01]
 [ 2.52501951e-01 -7.98158065e-03  9.67563465e-01  1.82610115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.500714057 meters
Centerline goodness : 0.995963 with order 1
Centerline is valid?  [True, True]
Translation: X:698.15, Y:59.22, Z:182.63
[[ 9.41856282e-01 -2.27075274e-01 -2.47676331e-01  6.98145001e+02]
 [ 2.21698645e-01  9.73844102e-01 -4.97732470e-02  5.92241401e+01]
 [ 2.52500407e-01 -8.03026141e-03  9.67563465e-01  1.82625953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.560714057 meters
Centerline goodness : 0.996005 with order 1
Centerline is valid?  [True, True]
Translation: X:698.20, Y:59.23, Z:182.64
[[ 9.42316142e-01 -2.25170626e-01 -2.47666063e-01  6.98202536e+02]
 [ 2.19715934e-01  9.74290741e-01 -4.98242873e-02  5.92262339e+01]
 [ 2.52517718e-01 -7.46595009e-03  9.67563467e-01  1.82641909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.620714057 meters
Centerline goodness : 0.995829 with order 1
Centerline is valid?  [True, True]
Translation: X:698.26, Y:59.23, Z:182.65
[[ 9.43429897e-01 -2.20471273e-01 -2.47653886e-01  6.98262033e+02]
 [ 2.14841426e-01  9.75374120e-01 -4.98847397e-02  5.92280412e+01]
 [ 2.52553344e-01 -6.14355934e-03  9.67563468e-01  1.82654793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.680714057 meters
Centerline goodness : 0.996083 with order 1
Centerline is valid?  [True, True]
Translation: X:698.32, Y:59.23, Z:182.67
[[ 9.44164879e-01 -2.17303789e-01 -2.47652469e-01  6.98318708e+02]
 [ 2.11564921e-01  9.76089696e-01 -4.98917749e-02  5.92321334e+01]
 [ 2.52572695e-01 -5.28851353e-03  9.67563468e-01  1.82669621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.740714057 meters
Centerline goodness : 0.996193 with order 1
Centerline is valid?  [True, True]
Translation: X:698.38, Y:59.23, Z:182.69
[[ 9.44298663e-01 -2.16726804e-01 -2.47647992e-01  6.98376086e+02]
 [ 2.10962606e-01  9.76218916e-01 -4.99139886e-02  5.92325488e+01]
 [ 2.52576354e-01 -5.11075322e-03  9.67563469e-01  1.82685898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.800714057 meters
Centerline goodness : 0.995595 with order 1
Centerline is valid?  [True, True]
Translation: X:698.44, Y:59.23, Z:182.70
[[ 9.43305567e-01 -2.21023629e-01 -2.47635139e-01  6.98435301e+02]
 [ 2.15388103e-01  9.75248787e-01 -4.99776786e-02  5.92326936e+01]
 [ 2.52552116e-01 -6.19344034e-03  9.67563471e-01  1.82701977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.860714057 meters
Centerline goodness : 0.995933 with order 1
Centerline is valid?  [True, True]
Translation: X:698.49, Y:59.24, Z:182.72
[[ 9.42018372e-01 -2.26447958e-01 -2.47634223e-01  6.98491288e+02]
 [ 2.20995143e-01  9.73993288e-01 -4.99822135e-02  5.92361973e+01]
 [ 2.52512442e-01 -7.64179726e-03  9.67563471e-01  1.82716265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.920714057 meters
Centerline goodness : 0.996183 with order 1
Centerline is valid?  [True, True]
Translation: X:698.55, Y:59.24, Z:182.73
[[ 9.40512401e-01 -2.32629316e-01 -2.47628804e-01  6.98550134e+02]
 [ 2.27379542e-01  9.72521279e-01 -5.00090470e-02  5.92414699e+01]
 [ 2.52457852e-01 -9.27159529e-03  9.67563471e-01  1.82731583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 720.980714057 meters
Centerline goodness : 0.996636 with order 1
Centerline is valid?  [True, True]
Translation: X:698.61, Y:59.25, Z:182.75
[[ 9.39015836e-01 -2.38598645e-01 -2.47628646e-01  6.98609086e+02]
 [ 2.33552087e-01  9.71057382e-01 -5.00098325e-02  5.92472666e+01]
 [ 2.52393903e-01 -1.08741624e-02  9.67563471e-01  1.82746222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.0407140570001 meters
Centerline goodness : 0.997189 with order 1
Centerline is valid?  [True, True]
Translation: X:698.67, Y:59.25, Z:182.76
[[ 9.37724030e-01 -2.43625919e-01 -2.47628866e-01  6.98666928e+02]
 [ 2.38751381e-01  9.69792196e-01 -5.00087430e-02  5.92533029e+01]
 [ 2.52331968e-01 -1.22273336e-02  9.67563471e-01  1.82761514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.100714057 meters
Centerline goodness : 0.997346 with order 1
Centerline is valid?  [True, True]
Translation: X:698.73, Y:59.26, Z:182.78
[[ 9.36099181e-01 -2.49798099e-01 -2.47627208e-01  6.98725108e+02]
 [ 2.45132758e-01  9.68198448e-01 -5.00169526e-02  5.92590329e+01]
 [ 2.52246418e-01 -1.38807120e-02  9.67563471e-01  1.82778111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.1607140570001 meters
Centerline goodness : 0.997767 with order 1
Centerline is valid?  [True, True]
Translation: X:698.78, Y:59.27, Z:182.79
[[ 9.34974057e-01 -2.53977369e-01 -2.47626752e-01  6.98782041e+02]
 [ 2.49454874e-01  9.67093762e-01 -5.00192066e-02  5.92666112e+01]
 [ 2.52182034e-01 -1.50050398e-02  9.67563471e-01  1.82792791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.220714057 meters
Centerline goodness : 0.997141 with order 1
Centerline is valid?  [True, True]
Translation: X:698.84, Y:59.28, Z:182.81
[[ 9.34963608e-01 -2.54028569e-01 -2.47613688e-01  6.98836986e+02]
 [ 2.49490789e-01  9.67081155e-01 -5.00837979e-02  5.92760227e+01]
 [ 2.52185247e-01 -1.49508060e-02  9.67563473e-01  1.82807755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.2807140570001 meters
Centerline goodness : 0.997494 with order 1
Centerline is valid?  [True, True]
Translation: X:698.89, Y:59.29, Z:182.82
[[ 9.35848955e-01 -2.50751808e-01 -2.47609094e-01  6.98893314e+02]
 [ 2.46095559e-01  9.67949541e-01 -5.01065013e-02  5.92864696e+01]
 [ 2.52237405e-01 -1.40433816e-02  9.67563473e-01  1.82822811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.340714057 meters
Centerline goodness : 0.997770 with order 1
Centerline is valid?  [True, True]
Translation: X:698.95, Y:59.30, Z:182.84
[[ 9.37359094e-01 -2.45058197e-01 -2.47597270e-01  6.98950080e+02]
 [ 2.40191520e-01  9.69428450e-01 -5.01648617e-02  5.92995552e+01]
 [ 2.52321149e-01 -1.24482753e-02  9.67563475e-01  1.82838789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.4007140570001 meters
Centerline goodness : 0.996752 with order 1
Centerline is valid?  [True, True]
Translation: X:699.01, Y:59.31, Z:182.85
[[ 9.40965497e-01 -2.30824248e-01 -2.47596649e-01  6.99005353e+02]
 [ 2.25471308e-01  9.72957280e-01 -5.01679276e-02  5.93139277e+01]
 [ 2.52480936e-01 -8.61965145e-03  9.67563475e-01  1.82853915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.460714057 meters
Centerline goodness : 0.997421 with order 1
Centerline is valid?  [True, True]
Translation: X:699.06, Y:59.33, Z:182.87
[[ 9.43483734e-01 -2.20306625e-01 -2.47595304e-01  6.99061840e+02]
 [ 2.14595180e-01  9.75413462e-01 -5.01745641e-02  5.93269351e+01]
 [ 2.52561582e-01 -5.79387381e-03  9.67563475e-01  1.82870059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.520714057 meters
Centerline goodness : 0.997145 with order 1
Centerline is valid?  [True, True]
Translation: X:699.12, Y:59.34, Z:182.89
[[ 9.46493630e-01 -2.06994320e-01 -2.47594749e-01  6.99116577e+02]
 [ 2.00832945e-01  9.78339597e-01 -5.01773018e-02  5.93393592e+01]
 [ 2.52618164e-01 -2.23268609e-03  9.67563475e-01  1.82887688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.580714057 meters
Centerline goodness : 0.996939 with order 1
Centerline is valid?  [True, True]
Translation: X:699.17, Y:59.35, Z:182.90
[[ 9.47905348e-01 -2.00445879e-01 -2.47582109e-01  6.99172149e+02]
 [ 1.94048216e-01  9.79704687e-01 -5.02395966e-02  5.93486645e+01]
 [ 2.52627673e-01 -4.20484159e-04  9.67563477e-01  1.82903786e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.640714057 meters
Centerline goodness : 0.996707 with order 1
Centerline is valid?  [True, True]
Translation: X:699.23, Y:59.36, Z:182.92
[[ 9.49143151e-01 -1.94505024e-01 -2.47578421e-01  6.99228742e+02]
 [ 1.87903582e-01  9.80900811e-01 -5.02577633e-02  5.93553536e+01]
 [ 2.52625262e-01  1.18093957e-03  9.67563477e-01  1.82917305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.700714057 meters
Centerline goodness : 0.997226 with order 1
Centerline is valid?  [True, True]
Translation: X:699.29, Y:59.36, Z:182.93
[[ 9.49944005e-01 -1.90561250e-01 -2.47573822e-01  6.99287123e+02]
 [ 1.83822064e-01  9.81672720e-01 -5.02804116e-02  5.93607921e+01]
 [ 2.52617965e-01  2.25404481e-03  9.67563478e-01  1.82932250e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.760714057 meters
Centerline goodness : 0.997088 with order 1
Centerline is valid?  [True, True]
Translation: X:699.34, Y:59.36, Z:182.95
[[ 9.50629834e-01 -1.87111135e-01 -2.47572900e-01  6.99344183e+02]
 [ 1.80255618e-01  9.82333618e-01 -5.02849480e-02  5.93649160e+01]
 [ 2.52608056e-01  3.17596568e-03  9.67563478e-01  1.82948729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.820714057 meters
Centerline goodness : 0.997634 with order 1
Centerline is valid?  [True, True]
Translation: X:699.40, Y:59.36, Z:182.97
[[ 9.51529630e-01 -1.82483931e-01 -2.47570147e-01  6.99403314e+02]
 [ 1.75470726e-01  9.83198904e-01 -5.02984996e-02  5.93630585e+01]
 [ 2.52589365e-01  4.41919944e-03  9.67563478e-01  1.82966119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.880714057 meters
Centerline goodness : 0.998934 with order 1
Centerline is valid?  [True, True]
Translation: X:699.46, Y:59.36, Z:182.98
[[ 9.51656654e-01 -1.81821578e-01 -2.47569238e-01  6.99461117e+02]
 [ 1.74785167e-01  9.83320780e-01 -5.03029746e-02  5.93588894e+01]
 [ 2.52586142e-01  4.59972997e-03  9.67563478e-01  1.82983122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 721.940714057 meters
Centerline goodness : 0.999204 with order 1
Centerline is valid?  [True, True]
Translation: X:699.52, Y:59.36, Z:183.00
[[ 9.51377464e-01 -1.83281666e-01 -2.47565650e-01  6.99517981e+02]
 [ 1.76289260e-01  9.83051337e-01 -5.03206230e-02  5.93594158e+01]
 [ 2.52592591e-01  4.23074150e-03  9.67563478e-01  1.82997056e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.000714057 meters
Centerline goodness : 0.999519 with order 1
Centerline is valid?  [True, True]
Translation: X:699.58, Y:59.35, Z:183.01
[[ 9.50690404e-01 -1.86832285e-01 -2.47550910e-01  6.99577729e+02]
 [ 1.79939327e-01  9.82386065e-01 -5.03930361e-02  5.93548593e+01]
 [ 2.52605611e-01  3.36403159e-03  9.67563480e-01  1.83011125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.060714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:699.64, Y:59.36, Z:183.03
[[ 9.49934526e-01 -1.90640598e-01 -2.47549103e-01  6.99635796e+02]
 [ 1.83872400e-01  9.81657062e-01 -5.04019142e-02  5.93550133e+01]
 [ 2.52616976e-01  2.36107090e-03  9.67563481e-01  1.83025511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.120714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:699.69, Y:59.35, Z:183.04
[[ 9.48419790e-01 -1.98054208e-01 -2.47536729e-01  6.99694764e+02]
 [ 1.91518142e-01  9.80190964e-01 -5.04626116e-02  5.93495423e+01]
 [ 2.52627598e-01  4.51965054e-04  9.67563482e-01  1.83041518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.180714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:699.75, Y:59.35, Z:183.06
[[ 9.47161855e-01 -2.03989538e-01 -2.47533208e-01  6.99753361e+02]
 [ 1.97648044e-01  9.78972437e-01 -5.04798804e-02  5.93506769e+01]
 [ 2.52625555e-01 -1.11183717e-03  9.67563483e-01  1.83058063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.240714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:699.81, Y:59.35, Z:183.07
[[ 9.44828257e-01 -2.14540906e-01 -2.47531342e-01  6.99812463e+02]
 [ 2.08552206e-01  9.76707139e-01 -5.04890275e-02  5.93455706e+01]
 [ 2.52597591e-01 -3.91974770e-03  9.67563483e-01  1.83073906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.300714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:699.87, Y:59.35, Z:183.09
[[ 9.42938067e-01 -2.22703713e-01 -2.47529510e-01  6.99871242e+02]
 [ 2.16988568e-01  9.74867126e-01 -5.04980083e-02  5.93482293e+01]
 [ 2.52554476e-01 -6.09457964e-03  9.67563483e-01  1.83087579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.360714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:699.93, Y:59.35, Z:183.10
[[ 9.40425405e-01 -2.33088202e-01 -2.47527671e-01  6.99929950e+02]
 [ 2.27723126e-01  9.72415147e-01 -5.05070207e-02  5.93497927e+01]
 [ 2.52472247e-01 -8.86968957e-03  9.67563483e-01  1.83100200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.420714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:699.99, Y:59.35, Z:183.12
[[ 9.38659521e-01 -2.40103562e-01 -2.47524916e-01  6.99988703e+02]
 [ 2.34973940e-01  9.70687862e-01 -5.05205188e-02  5.93544434e+01]
 [ 2.52399588e-01 -1.07403389e-02  9.67563483e-01  1.83116494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.480714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:700.04, Y:59.36, Z:183.13
[[ 9.37881293e-01 -2.43125729e-01 -2.47524867e-01  7.00043922e+02]
 [ 2.38099234e-01  9.69925981e-01 -5.05207570e-02  5.93633152e+01]
 [ 2.52363696e-01 -1.15530085e-02  9.67563483e-01  1.83132651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.5407140570001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:700.10, Y:59.37, Z:183.15
[[ 9.36989393e-01 -2.46545012e-01 -2.47520576e-01  7.00100076e+02]
 [ 2.41629895e-01  9.69051352e-01 -5.05417729e-02  5.93731646e+01]
 [ 2.52320971e-01 -1.24512657e-02  9.67563483e-01  1.83148230e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.600714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.16, Y:59.39, Z:183.16
[[ 9.36664684e-01 -2.47788108e-01 -2.47508227e-01  7.00157137e+02]
 [ 2.42899619e-01  9.68730713e-01 -5.06021768e-02  5.93858046e+01]
 [ 2.52307439e-01 -1.27223823e-02  9.67563485e-01  1.83161613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.6607140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.21, Y:59.40, Z:183.18
[[ 9.36409722e-01 -2.48750695e-01 -2.47507425e-01  7.00212354e+02]
 [ 2.43894132e-01  9.68480601e-01 -5.06061025e-02  5.94000928e+01]
 [ 2.52294443e-01 -1.29775622e-02  9.67563485e-01  1.83175030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.720714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:700.27, Y:59.41, Z:183.19
[[ 9.36361926e-01 -2.48943504e-01 -2.47494396e-01  7.00267733e+02]
 [ 2.44076770e-01  9.68431261e-01 -5.06697420e-02  5.94146416e+01]
 [ 2.52295213e-01 -1.29624157e-02  9.67563487e-01  1.83190227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.7807140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.32, Y:59.43, Z:183.20
[[ 9.36632803e-01 -2.47924225e-01 -2.47492567e-01  7.00323032e+02]
 [ 2.43020236e-01  9.68696463e-01 -5.06786749e-02  5.94318743e+01]
 [ 2.52309646e-01 -1.26783928e-02  9.67563487e-01  1.83204373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.840714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.38, Y:59.45, Z:183.22
[[ 9.36884800e-01 -2.46982461e-01 -2.47480374e-01  7.00377967e+02]
 [ 2.42030568e-01  9.68941094e-01 -5.07381483e-02  5.94491586e+01]
 [ 2.52325338e-01 -1.23620156e-02  9.67563489e-01  1.83218903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.9007140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.43, Y:59.47, Z:183.23
[[ 9.37199454e-01 -2.45798784e-01 -2.47467455e-01  7.00431931e+02]
 [ 2.40789821e-01  9.69246879e-01 -5.08010832e-02  5.94688541e+01]
 [ 2.52343903e-01 -1.19768969e-02  9.67563491e-01  1.83233151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 722.960714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.49, Y:59.48, Z:183.25
[[ 9.37326467e-01 -2.45327008e-01 -2.47454549e-01  7.00486531e+02]
 [ 2.40285375e-01  9.69368766e-01 -5.08638741e-02  5.94826479e+01]
 [ 2.52352993e-01 -1.17836538e-02  9.67563493e-01  1.83247644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.0207140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.54, Y:59.50, Z:183.26
[[ 9.37900332e-01 -2.43127548e-01 -2.47450929e-01  7.00541881e+02]
 [ 2.38006128e-01  9.69929976e-01 -5.08814816e-02  5.95027781e+01]
 [ 2.52380763e-01 -1.11730791e-02  9.67563493e-01  1.83262701e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.080714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:700.60, Y:59.52, Z:183.28
[[ 9.38477981e-01 -2.40889078e-01 -2.47450060e-01  7.00596306e+02]
 [ 2.35690140e-01  9.70495133e-01 -5.08857067e-02  5.95206723e+01]
 [ 2.52406890e-01 -1.05664240e-02  9.67563493e-01  1.83276589e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.140714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:700.65, Y:59.54, Z:183.29
[[ 9.40276193e-01 -2.33785500e-01 -2.47436903e-01  7.00650404e+02]
 [ 2.28327804e-01  9.72250252e-01 -5.09496060e-02  5.95410317e+01]
 [ 2.52481870e-01 -8.59002310e-03  9.67563495e-01  1.83292541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.200714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:700.71, Y:59.56, Z:183.31
[[ 9.41751621e-01 -2.27770878e-01 -2.47435468e-01  7.00705174e+02]
 [ 2.22107100e-01  9.73689819e-01 -5.09565745e-02  5.95575718e+01]
 [ 2.52531820e-01 -6.96873756e-03  9.67563495e-01  1.83308702e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.260714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.76, Y:59.58, Z:183.32
[[ 9.43007323e-01 -2.22516901e-01 -2.47433664e-01  7.00760900e+02]
 [ 2.16672853e-01  9.74913027e-01 -5.09653315e-02  5.95757205e+01]
 [ 2.52566950e-01 -5.55147709e-03  9.67563495e-01  1.83322561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.320714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:700.82, Y:59.59, Z:183.34
[[ 9.42682222e-01 -2.23890792e-01 -2.47433104e-01  7.00815449e+02]
 [ 2.18092529e-01  9.74596279e-01 -5.09680523e-02  5.95904288e+01]
 [ 2.52558660e-01 -5.91663447e-03  9.67563495e-01  1.83336175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.380714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:700.87, Y:59.60, Z:183.35
[[ 9.41772543e-01 -2.27692029e-01 -2.47428408e-01  7.00871796e+02]
 [ 2.22016581e-01  9.73708669e-01 -5.09908414e-02  5.96035860e+01]
 [ 2.52533393e-01 -6.91143456e-03  9.67563495e-01  1.83349729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.440714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.93, Y:59.62, Z:183.37
[[ 9.40126100e-01 -2.34401616e-01 -2.47424330e-01  7.00929233e+02]
 [ 2.28948836e-01  9.72100996e-01 -5.10106190e-02  5.96161049e+01]
 [ 2.52478409e-01 -8.69109813e-03  9.67563495e-01  1.83365131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.500714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:700.98, Y:59.63, Z:183.38
[[ 9.39387347e-01 -2.37345118e-01 -2.47424144e-01  7.00983020e+02]
 [ 2.31992279e-01  9.71379126e-01 -5.10115216e-02  5.96276124e+01]
 [ 2.52449984e-01 -9.48091309e-03  9.67563495e-01  1.83379450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.560714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:701.04, Y:59.64, Z:183.39
[[ 9.39286408e-01 -2.37759942e-01 -2.47409083e-01  7.01038795e+02]
 [ 2.32402045e-01  9.71277338e-01 -5.10844667e-02  5.96400200e+01]
 [ 2.52448675e-01 -9.51543181e-03  9.67563498e-01  1.83394128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.620714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:701.09, Y:59.65, Z:183.41
[[ 9.40230003e-01 -2.34014743e-01 -2.47395717e-01  7.01094355e+02]
 [ 2.28512404e-01  9.72196404e-01 -5.11491196e-02  5.96541186e+01]
 [ 2.52486874e-01 -8.44105316e-03  9.67563500e-01  1.83409535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.680714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:701.15, Y:59.67, Z:183.42
[[ 9.42622913e-01 -2.24195318e-01 -2.47383312e-01  7.01150585e+02]
 [ 2.18344146e-01  9.74527305e-01 -5.12090485e-02  5.96680075e+01]
 [ 2.52562621e-01 -5.74387548e-03  9.67563502e-01  1.83424009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.740714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:701.21, Y:59.68, Z:183.44
[[ 9.44042331e-01 -2.18142862e-01 -2.47381827e-01  7.01207429e+02]
 [ 2.12085234e-01  9.75908168e-01 -5.12162192e-02  5.96800925e+01]
 [ 2.52594398e-01 -4.11575371e-03  9.67563502e-01  1.83439037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.800714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:701.26, Y:59.69, Z:183.46
[[ 9.45477053e-01 -2.11839192e-01 -2.47380879e-01  7.01263175e+02]
 [ 2.05567887e-01  9.77301527e-01 -5.12207993e-02  5.96890961e+01]
 [ 2.52616283e-01 -2.42547406e-03  9.67563502e-01  1.83455352e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.860714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:701.32, Y:59.70, Z:183.47
[[ 9.45996321e-01 -2.09523839e-01 -2.47367584e-01  7.01318929e+02]
 [ 2.03157870e-01  9.77801992e-01 -5.12849287e-02  5.96984614e+01]
 [ 2.52621932e-01 -1.73931770e-03  9.67563504e-01  1.83469633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.920714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:701.38, Y:59.71, Z:183.48
[[ 9.46472504e-01 -2.07367790e-01 -2.47362890e-01  7.01376473e+02]
 [ 2.00923454e-01  9.78262388e-01 -5.13075576e-02  5.97052523e+01]
 [ 2.52625347e-01 -1.13981371e-03  9.67563504e-01  1.83482910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 723.980714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:701.43, Y:59.71, Z:183.50
[[ 9.46957931e-01 -2.05154926e-01 -2.47350223e-01  7.01433924e+02]
 [ 1.98620366e-01  9.78729391e-01 -5.13685578e-02  5.97129559e+01]
 [ 2.52627445e-01 -4.84928578e-04  9.67563506e-01  1.83497705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.0407140570001 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:701.49, Y:59.72, Z:183.51
[[ 9.48303742e-01 -1.98843735e-01 -2.47348301e-01  7.01491350e+02]
 [ 1.92095313e-01  9.80030465e-01 -5.13778080e-02  5.97173386e+01]
 [ 2.52625026e-01  1.20731822e-03  9.67563506e-01  1.83512638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.100714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:701.55, Y:59.72, Z:183.53
[[ 9.49972579e-01 -1.90713907e-01 -2.47346530e-01  7.01550235e+02]
 [ 1.83691763e-01  9.81639843e-01 -5.13863354e-02  5.97218583e+01]
 [ 2.52605297e-01  3.38008934e-03  9.67563506e-01  1.83528718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.1607140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:701.61, Y:59.73, Z:183.54
[[ 9.50866966e-01 -1.86203867e-01 -2.47346182e-01  7.01606543e+02]
 [ 1.79031097e-01  9.82500452e-01 -5.13880072e-02  5.97276383e+01]
 [ 2.52586382e-01  4.58050011e-03  9.67563506e-01  1.83544153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.220714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:701.66, Y:59.73, Z:183.56
[[ 9.51371497e-01 -1.83626448e-01 -2.47332977e-01  7.01663651e+02]
 [ 1.76351485e-01  9.82981637e-01 -5.14514904e-02  5.97318829e+01]
 [ 2.52571629e-01  5.33194375e-03  9.67563508e-01  1.83559070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.2807140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:701.72, Y:59.73, Z:183.57
[[ 9.51252415e-01 -1.84260075e-01 -2.47319770e-01  7.01719955e+02]
 [ 1.76989689e-01  9.82863605e-01 -5.15148986e-02  5.97307853e+01]
 [ 2.52573740e-01  5.23062252e-03  9.67563510e-01  1.83573432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.340714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:701.78, Y:59.73, Z:183.59
[[ 9.50002169e-01 -1.90614389e-01 -2.47309591e-01  7.01779641e+02]
 [ 1.83542755e-01  9.81658413e-01 -5.15637207e-02  5.97281182e+01]
 [ 2.52602328e-01  3.59376285e-03  9.67563512e-01  1.83588790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.4007140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:701.84, Y:59.73, Z:183.60
[[ 9.48822604e-01 -1.96405232e-01 -2.47306796e-01  7.01835968e+02]
 [ 1.89523320e-01  9.80520633e-01 -5.15771207e-02  5.97305586e+01]
 [ 2.52619433e-01  2.06713276e-03  9.67563512e-01  1.83603319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.460714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:701.89, Y:59.73, Z:183.62
[[ 9.47407827e-01 -2.03125886e-01 -2.47302009e-01  7.01893882e+02]
 [ 1.96462845e-01  9.79152585e-01 -5.16000640e-02  5.97306124e+01]
 [ 2.52627710e-01  3.00648250e-04  9.67563512e-01  1.83617614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.5207140570001 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:701.95, Y:59.73, Z:183.63
[[ 9.46645845e-01 -2.06663897e-01 -2.47288653e-01  7.01951998e+02]
 [ 2.00102797e-01  9.78411826e-01 -5.16639978e-02  5.97348466e+01]
 [ 2.52627225e-01 -5.75642101e-04  9.67563514e-01  1.83631493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.580714057 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:702.01, Y:59.74, Z:183.65
[[ 9.45450157e-01 -2.12081415e-01 -2.47276108e-01  7.02009339e+02]
 [ 2.05686643e-01  9.77250038e-01 -5.17239705e-02  5.97374372e+01]
 [ 2.52620279e-01 -1.95895654e-03  9.67563516e-01  1.83646907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.640714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:702.07, Y:59.74, Z:183.66
[[ 9.44846113e-01 -2.14759759e-01 -2.47273267e-01  7.02065832e+02]
 [ 2.08451574e-01  9.76663283e-01 -5.17375482e-02  5.97438194e+01]
 [ 2.52613864e-01 -2.66048042e-03  9.67563516e-01  1.83663610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.700714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:702.12, Y:59.75, Z:183.68
[[ 9.44065790e-01 -2.18179603e-01 -2.47259875e-01  7.02121750e+02]
 [ 2.11969927e-01  9.75902330e-01 -5.18014746e-02  5.97480576e+01]
 [ 2.52603513e-01 -3.50765781e-03  9.67563518e-01  1.83679238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.760714057 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:702.18, Y:59.76, Z:183.70
[[ 9.43764517e-01 -2.19484429e-01 -2.47255177e-01  7.02178349e+02]
 [ 2.13312897e-01  9.75608473e-01 -5.18238908e-02  5.97552807e+01]
 [ 2.52598783e-01 -3.83316887e-03  9.67563518e-01  1.83695076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.820714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:702.23, Y:59.76, Z:183.71
[[ 9.43858510e-01 -2.19094712e-01 -2.47242029e-01  7.02234619e+02]
 [ 2.12893623e-01  9.75696721e-01 -5.18865438e-02  5.97633543e+01]
 [ 2.52601304e-01 -3.66269536e-03  9.67563520e-01  1.83709807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.880714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:702.29, Y:59.77, Z:183.72
[[ 9.44294863e-01 -2.17221241e-01 -2.47228929e-01  7.02290256e+02]
 [ 2.10940662e-01  9.76117488e-01 -5.19488880e-02  5.97737263e+01]
 [ 2.52608883e-01 -3.09556599e-03  9.67563522e-01  1.83724186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 724.940714057 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:702.35, Y:59.78, Z:183.74
[[ 9.45129883e-01 -2.13564355e-01 -2.47224132e-01  7.02346131e+02]
 [ 2.07154673e-01  9.76926754e-01 -5.19717108e-02  5.97845366e+01]
 [ 2.52619173e-01 -2.09361714e-03  9.67563522e-01  1.83739114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.000714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:702.40, Y:59.79, Z:183.75
[[ 9.45564434e-01 -2.11635373e-01 -2.47221296e-01  7.02403435e+02]
 [ 2.05157297e-01  9.77347442e-01 -5.19851944e-02  5.97941859e+01]
 [ 2.52623008e-01 -1.56390192e-03  9.67563523e-01  1.83753720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.060714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:702.46, Y:59.80, Z:183.77
[[ 9.46145823e-01 -2.09022682e-01 -2.47219741e-01  7.02461591e+02]
 [ 2.02454906e-01  9.77910416e-01 -5.19925890e-02  5.98030671e+01]
 [ 2.52626390e-01 -8.58278579e-04  9.67563523e-01  1.83767939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.120714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:702.52, Y:59.81, Z:183.78
[[ 9.46088928e-01 -2.09281193e-01 -2.47218774e-01  7.02518820e+02]
 [ 2.02720895e-01  9.77855067e-01 -5.19971874e-02  5.98137095e+01]
 [ 2.52626164e-01 -9.22447791e-04  9.67563523e-01  1.83782769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.180714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:702.57, Y:59.82, Z:183.80
[[ 9.45722878e-01 -2.10930401e-01 -2.47217726e-01  7.02574906e+02]
 [ 2.04424195e-01  9.77500140e-01 -5.20021723e-02  5.98213688e+01]
 [ 2.52624200e-01 -1.35764037e-03  9.67563523e-01  1.83796551e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.240714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:702.63, Y:59.83, Z:183.81
[[ 9.45607510e-01 -2.11452556e-01 -2.47212973e-01  7.02630869e+02]
 [ 2.04957993e-01  9.77387153e-01 -5.20247570e-02  5.98303354e+01]
 [ 2.52623551e-01 -1.47327374e-03  9.67563523e-01  1.83812026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.300714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:702.69, Y:59.84, Z:183.83
[[ 9.45744761e-01 -2.10853317e-01 -2.47199768e-01  7.02687441e+02]
 [ 2.04322236e-01  9.77516917e-01 -5.20874276e-02  5.98391276e+01]
 [ 2.52624762e-01 -1.24699749e-03  9.67563525e-01  1.83828235e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.360714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:702.74, Y:59.85, Z:183.84
[[ 9.45576870e-01 -2.11607177e-01 -2.47197866e-01  7.02744907e+02]
 [ 2.05099067e-01  9.77353740e-01 -5.20964524e-02  5.98477836e+01]
 [ 2.52623742e-01 -1.43885143e-03  9.67563525e-01  1.83843652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.420714057 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:702.80, Y:59.86, Z:183.86
[[ 9.45187781e-01 -2.13339501e-01 -2.47196917e-01  7.02801523e+02]
 [ 2.06888452e-01  9.76976284e-01 -5.21009567e-02  5.98566565e+01]
 [ 2.52620717e-01 -1.89699977e-03  9.67563525e-01  1.83859057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.480714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:702.86, Y:59.87, Z:183.87
[[ 9.44832396e-01 -2.14922024e-01 -2.47184681e-01  7.02857602e+02]
 [ 2.08509048e-01  9.76628600e-01 -5.21589451e-02  5.98657757e+01]
 [ 2.52617735e-01 -2.25878134e-03  9.67563527e-01  1.83872591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.5407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:702.91, Y:59.87, Z:183.89
[[ 9.44194977e-01 -2.17710528e-01 -2.47180037e-01  7.02913564e+02]
 [ 2.11385694e-01  9.76008831e-01 -5.21809439e-02  5.98738043e+01]
 [ 2.52610240e-01 -2.98133856e-03  9.67563527e-01  1.83886650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.600714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:702.97, Y:59.88, Z:183.90
[[ 9.43662607e-01 -2.20011754e-01 -2.47175470e-01  7.02968613e+02]
 [ 2.13758835e-01  9.75490673e-01 -5.22025702e-02  5.98810693e+01]
 [ 2.52602544e-01 -3.57432687e-03  9.67563527e-01  1.83903505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.6607140570001 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:703.03, Y:59.89, Z:183.92
[[ 9.43432957e-01 -2.20999454e-01 -2.47170989e-01  7.03025444e+02]
 [ 2.14774301e-01  9.75266465e-01 -5.22237763e-02  5.98911748e+01]
 [ 2.52599003e-01 -3.81634478e-03  9.67563527e-01  1.83918951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.720714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:703.08, Y:59.90, Z:183.93
[[ 9.42618765e-01 -2.24448733e-01 -2.47169234e-01  7.03082811e+02]
 [ 2.18337881e-01  9.74474412e-01 -5.22320795e-02  5.99024092e+01]
 [ 2.52583518e-01 -4.73146875e-03  9.67563527e-01  1.83932319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.7807140570001 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:703.14, Y:59.91, Z:183.95
[[ 9.41384361e-01 -2.29572549e-01 -2.47167817e-01  7.03139789e+02]
 [ 2.23633299e-01  9.73272447e-01 -5.22387876e-02  5.99146333e+01]
 [ 2.52554217e-01 -6.09817649e-03  9.67563527e-01  1.83945812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.840714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:703.20, Y:59.93, Z:183.96
[[ 9.40455971e-01 -2.33348622e-01 -2.47165909e-01  7.03195965e+02]
 [ 2.27535021e-01  9.72367205e-01 -5.22478103e-02  5.99269506e+01]
 [ 2.52527979e-01 -7.10213533e-03  9.67563527e-01  1.83960419e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.9007140570001 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:703.25, Y:59.94, Z:183.98
[[ 9.39276046e-01 -2.38066518e-01 -2.47153478e-01  7.03251141e+02]
 [ 2.32397737e-01  9.71213322e-01 -5.23065506e-02  5.99411115e+01]
 [ 2.52491189e-01 -8.30761908e-03  9.67563529e-01  1.83976704e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 725.960714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:703.31, Y:59.96, Z:183.99
[[ 9.38649193e-01 -2.40528133e-01 -2.47151591e-01  7.03306846e+02]
 [ 2.34940756e-01  9.70600811e-01 -5.23154649e-02  5.99555059e+01]
 [ 2.52468876e-01 -8.96011275e-03  9.67563529e-01  1.83991259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.0207140570001 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:703.36, Y:59.97, Z:184.01
[[ 9.38538475e-01 -2.40973422e-01 -2.47138304e-01  7.03361508e+02]
 [ 2.35384715e-01  9.70489858e-01 -5.23781616e-02  5.99727667e+01]
 [ 2.52466962e-01 -9.01365950e-03  9.67563531e-01  1.84006978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.080714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:703.42, Y:59.99, Z:184.02
[[ 9.38823194e-01 -2.39864740e-01 -2.47135421e-01  7.03417084e+02]
 [ 2.34234724e-01  9.70767324e-01 -5.23917628e-02  5.99884799e+01]
 [ 2.52477928e-01 -8.70109482e-03  9.67563531e-01  1.84022869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.140714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:703.47, Y:60.01, Z:184.04
[[ 9.38956893e-01 -2.39342832e-01 -2.47133490e-01  7.03472559e+02]
 [ 2.33692665e-01  9.70897465e-01 -5.24008703e-02  6.00067762e+01]
 [ 2.52483051e-01 -8.55112553e-03  9.67563531e-01  1.84037814e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.200714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:703.53, Y:60.02, Z:184.05
[[ 9.38888296e-01 -2.39613777e-01 -2.47131556e-01  7.03527048e+02]
 [ 2.33970430e-01  9.70830073e-01 -5.24099902e-02  6.00240006e+01]
 [ 2.52480902e-01 -8.61434990e-03  9.67563531e-01  1.84051424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.260714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:703.58, Y:60.04, Z:184.07
[[ 9.39182184e-01 -2.38473299e-01 -2.47118008e-01  7.03580492e+02]
 [ 2.32774393e-01  9.71114094e-01 -5.24737928e-02  6.00448000e+01]
 [ 2.52493379e-01 -8.24029300e-03  9.67563533e-01  1.84065549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.320714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:703.64, Y:60.06, Z:184.08
[[ 9.39426305e-01 -2.37513747e-01 -2.47114221e-01  7.03635427e+02]
 [ 2.31777538e-01  9.71351534e-01 -5.24916229e-02  6.00608407e+01]
 [ 2.52502259e-01 -7.96351423e-03  9.67563534e-01  1.84081190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.380714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:703.69, Y:60.08, Z:184.10
[[ 9.39557325e-01 -2.37008643e-01 -2.47101065e-01  7.03689359e+02]
 [ 2.31239018e-01  9.71476530e-01 -5.25534816e-02  6.00808068e+01]
 [ 2.52508515e-01 -7.76239905e-03  9.67563536e-01  1.84097459e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.440714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:703.74, Y:60.10, Z:184.11
[[ 9.38531267e-01 -2.41053502e-01 -2.47087576e-01  7.03743339e+02]
 [ 2.35404762e-01  9.70472085e-01 -5.26168302e-02  6.00999979e+01]
 [ 2.52475066e-01 -8.78305146e-03  9.67563538e-01  1.84113035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.500714057 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:703.80, Y:60.12, Z:184.13
[[ 9.36771560e-01 -2.47806733e-01 -2.47084739e-01  7.03799385e+02]
 [ 2.42384677e-01  9.68751638e-01 -5.26301467e-02  6.01175735e+01]
 [ 2.52405850e-01 -1.05871302e-02  9.67563538e-01  1.84128668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.560714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:703.85, Y:60.14, Z:184.14
[[ 9.33756253e-01 -2.58938422e-01 -2.47083292e-01  7.03854255e+02]
 [ 2.53895578e-01  9.65798316e-01 -5.26369383e-02  6.01377135e+01]
 [ 2.52262354e-01 -1.35832851e-02  9.67563538e-01  1.84144100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.620714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:703.91, Y:60.16, Z:184.16
[[ 9.32296092e-01 -2.64148470e-01 -2.47082136e-01  7.03907547e+02]
 [ 2.59283195e-01  9.64365598e-01 -5.26423642e-02  6.01560021e+01]
 [ 2.52182912e-01 -1.49859752e-02  9.67563538e-01  1.84158914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.680714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:703.96, Y:60.18, Z:184.18
[[ 9.31805803e-01 -2.65877261e-01 -2.47077372e-01  7.03960395e+02]
 [ 2.61065574e-01  9.63883392e-01 -5.26647159e-02  6.01802121e+01]
 [ 2.52156126e-01 -1.54301081e-02  9.67563538e-01  1.84175423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.740714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:704.02, Y:60.20, Z:184.19
[[ 9.31977078e-01 -2.65277785e-01 -2.47075745e-01  7.04015974e+02]
 [ 2.60443448e-01  9.64051261e-01 -5.26723505e-02  6.01968417e+01]
 [ 2.52166488e-01 -1.52598354e-02  9.67563538e-01  1.84190751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.800714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:704.07, Y:60.22, Z:184.21
[[ 9.32940847e-01 -2.61869898e-01 -2.47073942e-01  7.04069979e+02]
 [ 2.56916139e-01  9.64996803e-01 -5.26808039e-02  6.02220602e+01]
 [ 2.52221081e-01 -1.43292095e-02  9.67563538e-01  1.84206261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.860714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:704.12, Y:60.24, Z:184.22
[[ 9.34043768e-01 -2.57909275e-01 -2.47072956e-01  7.04124425e+02]
 [ 2.52818334e-01  9.66078224e-01 -5.26854295e-02  6.02421773e+01]
 [ 2.52279863e-01 -1.32540760e-02  9.67563538e-01  1.84219751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.920714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:704.18, Y:60.27, Z:184.23
[[ 9.36155520e-01 -2.50137197e-01 -2.47071297e-01  7.04178109e+02]
 [ 2.44778134e-01  9.68146214e-01 -5.26932058e-02  6.02668727e+01]
 [ 2.52381672e-01 -1.11486157e-02  9.67563538e-01  1.84233698e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 726.980714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:704.23, Y:60.29, Z:184.25
[[ 9.37552682e-01 -2.44850007e-01 -2.47069711e-01  7.04231928e+02]
 [ 2.39308533e-01  9.69512284e-01 -5.27006443e-02  6.02915184e+01]
 [ 2.52440873e-01 -9.71625956e-03  9.67563538e-01  1.84249798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.0407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:704.29, Y:60.31, Z:184.27
[[ 9.38082935e-01 -2.42812946e-01 -2.47067360e-01  7.04286017e+02]
 [ 2.37199166e-01  9.70029915e-01 -5.27116612e-02  6.03092878e+01]
 [ 2.52461804e-01 -9.15626201e-03  9.67563538e-01  1.84265182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.100714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:704.34, Y:60.33, Z:184.28
[[ 9.38911933e-01 -2.39601478e-01 -2.47053666e-01  7.04340359e+02]
 [ 2.33861561e-01  9.70836489e-01 -5.27757678e-02  6.03302614e+01]
 [ 2.52493866e-01 -8.22455794e-03  9.67563540e-01  1.84279974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.1607140570001 meters
Centerline goodness : 0.999831 with order 1
Centerline is valid?  [True, True]
Translation: X:704.39, Y:60.35, Z:184.29
[[ 9.39483367e-01 -2.37364495e-01 -2.47040683e-01  7.04394389e+02]
 [ 2.31532608e-01  9.71391249e-01 -5.28364757e-02  6.03503839e+01]
 [ 2.52514661e-01 -7.55898335e-03  9.67563542e-01  1.84294352e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.220714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:704.45, Y:60.37, Z:184.31
[[ 9.38970540e-01 -2.39386826e-01 -2.47039008e-01  7.04449347e+02]
 [ 2.33621599e-01  9.70890533e-01 -5.28443037e-02  6.03666283e+01]
 [ 2.52498065e-01 -8.09440371e-03  9.67563542e-01  1.84309471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.2807140570001 meters
Centerline goodness : 0.999894 with order 1
Centerline is valid?  [True, True]
Translation: X:704.51, Y:60.38, Z:184.32
[[ 9.37256725e-01 -2.46014194e-01 -2.47036125e-01  7.04505885e+02]
 [ 2.40471063e-01  9.69216035e-01 -5.28577786e-02  6.03822438e+01]
 [ 2.52435138e-01 -9.86373100e-03  9.67563542e-01  1.84324943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.340714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:704.56, Y:60.40, Z:184.34
[[ 9.35719378e-01 -2.51798328e-01 -2.47036125e-01  7.04562653e+02]
 [ 2.46452694e-01  9.67712315e-01 -5.28577786e-02  6.03963162e+01]
 [ 2.52369401e-01 -1.14226709e-02  9.67563542e-01  1.84340274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.4007140570001 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:704.62, Y:60.41, Z:184.36
[[ 9.33944497e-01 -2.58304125e-01 -2.47035736e-01  7.04618944e+02]
 [ 2.53180789e-01  9.65973784e-01 -5.28595950e-02  6.04107818e+01]
 [ 2.52283897e-01 -1.31767747e-02  9.67563542e-01  1.84355983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.460714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:704.67, Y:60.43, Z:184.37
[[ 9.33378446e-01 -2.60342020e-01 -2.47035846e-01  7.04673319e+02]
 [ 2.55288741e-01  9.65418861e-01 -5.28590818e-02  6.04260499e+01]
 [ 2.52254505e-01 -1.37279425e-02  9.67563542e-01  1.84371335e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.5207140570001 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:704.73, Y:60.44, Z:184.39
[[ 9.33568531e-01 -2.59672799e-01 -2.47021933e-01  7.04726989e+02]
 [ 2.54579417e-01  9.65602593e-01 -5.29240252e-02  6.04439525e+01]
 [ 2.52267949e-01 -1.34784953e-02  9.67563544e-01  1.84385447e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.580714057 meters
Centerline goodness : 0.999621 with order 1
Centerline is valid?  [True, True]
Translation: X:704.78, Y:60.46, Z:184.40
[[ 9.34222375e-01 -2.57326083e-01 -2.47005752e-01  7.04782226e+02]
 [ 2.52132335e-01  9.66240314e-01 -5.29994383e-02  6.04607625e+01]
 [ 2.52305054e-01 -1.27648760e-02  9.67563547e-01  1.84400249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.640714057 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:704.84, Y:60.48, Z:184.41
[[ 9.35902230e-01 -2.51149662e-01 -2.47003770e-01  7.04838288e+02]
 [ 2.45742107e-01  9.67884754e-01 -5.30086765e-02  6.04804079e+01]
 [ 2.52384294e-01 -1.10882883e-02  9.67563547e-01  1.84414978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.700714057 meters
Centerline goodness : 0.999373 with order 1
Centerline is valid?  [True, True]
Translation: X:704.89, Y:60.50, Z:184.43
[[ 9.37173692e-01 -2.46362361e-01 -2.47004165e-01  7.04893471e+02]
 [ 2.40791877e-01  9.69128241e-01 -5.30068356e-02  6.04977251e+01]
 [ 2.52437601e-01 -9.79998460e-03  9.67563547e-01  1.84429150e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.760714057 meters
Centerline goodness : 0.999311 with order 1
Centerline is valid?  [True, True]
Translation: X:704.95, Y:60.52, Z:184.44
[[ 9.38782232e-01 -2.40173338e-01 -2.46991272e-01  7.04949106e+02]
 [ 2.34376360e-01  9.70696467e-01 -5.30668476e-02  6.05154080e+01]
 [ 2.52498797e-01 -8.07070159e-03  9.67563549e-01  1.84443119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.820714057 meters
Centerline goodness : 0.999185 with order 1
Centerline is valid?  [True, True]
Translation: X:705.00, Y:60.53, Z:184.46
[[ 9.39308741e-01 -2.38106921e-01 -2.46990250e-01  7.05003727e+02]
 [ 2.32238479e-01  9.71209912e-01 -5.30716013e-02  6.05300361e+01]
 [ 2.52516095e-01 -7.51002108e-03  9.67563549e-01  1.84456117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.880714057 meters
Centerline goodness : 0.999057 with order 1
Centerline is valid?  [True, True]
Translation: X:705.06, Y:60.55, Z:184.47
[[ 9.39166019e-01 -2.38685486e-01 -2.46974547e-01  7.05057541e+02]
 [ 2.32817522e-01  9.71067276e-01 -5.31445806e-02  6.05452221e+01]
 [ 2.52513741e-01 -7.58841788e-03  9.67563552e-01  1.84470544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 727.940714057 meters
Centerline goodness : 0.998934 with order 1
Centerline is valid?  [True, True]
Translation: X:705.11, Y:60.56, Z:184.49
[[ 9.38791576e-01 -2.40170356e-01 -2.46958654e-01  7.05113615e+02]
 [ 2.34333466e-01  9.70698530e-01 -5.32183339e-02  6.05581550e+01]
 [ 2.52503869e-01 -7.90975376e-03  9.67563555e-01  1.84485376e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.000714057 meters
Centerline goodness : 0.998933 with order 1
Centerline is valid?  [True, True]
Translation: X:705.17, Y:60.57, Z:184.50
[[ 9.38600284e-01 -2.40923424e-01 -2.46952245e-01  7.05170159e+02]
 [ 2.35104320e-01  9.70510486e-01 -5.32480607e-02  6.05732658e+01]
 [ 2.52498448e-01 -8.08089464e-03  9.67563555e-01  1.84500994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.060714057 meters
Centerline goodness : 0.998514 with order 1
Centerline is valid?  [True, True]
Translation: X:705.23, Y:60.59, Z:184.52
[[ 9.39143714e-01 -2.38796300e-01 -2.46952245e-01  7.05226274e+02]
 [ 2.32904914e-01  9.71040651e-01 -5.32480607e-02  6.05875843e+01]
 [ 2.52516108e-01 -7.50880975e-03  9.67563555e-01  1.84516025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.120714057 meters
Centerline goodness : 0.998615 with order 1
Centerline is valid?  [True, True]
Translation: X:705.28, Y:60.60, Z:184.53
[[ 9.40808086e-01 -2.32154512e-01 -2.46950255e-01  7.05281004e+02]
 [ 2.26035475e-01  9.72662133e-01 -5.32572881e-02  6.06005599e+01]
 [ 2.52563081e-01 -5.71463072e-03  9.67563555e-01  1.84530901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.180714057 meters
Centerline goodness : 0.998515 with order 1
Centerline is valid?  [True, True]
Translation: X:705.34, Y:60.61, Z:184.55
[[ 9.42595090e-01 -2.24804024e-01 -2.46936526e-01  7.05336313e+02]
 [ 2.18419885e-01  9.74397064e-01 -5.33208705e-02  6.06126285e+01]
 [ 2.52600972e-01 -3.67585678e-03  9.67563557e-01  1.84546241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.240714057 meters
Centerline goodness : 0.998673 with order 1
Centerline is valid?  [True, True]
Translation: X:705.39, Y:60.62, Z:184.56
[[ 9.43331164e-01 -2.21698202e-01 -2.46933640e-01  7.05393204e+02]
 [ 2.15205855e-01  9.75111224e-01 -5.33342307e-02  6.06233886e+01]
 [ 2.52611867e-01 -2.82972325e-03  9.67563557e-01  1.84559984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.300714057 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:705.45, Y:60.63, Z:184.57
[[ 9.44424386e-01 -2.16996146e-01 -2.46931675e-01  7.05450462e+02]
 [ 2.10343185e-01  9.76171211e-01 -5.33433278e-02  6.06301177e+01]
 [ 2.52622889e-01 -1.56165530e-03  9.67563557e-01  1.84574192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.360714057 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:705.51, Y:60.64, Z:184.59
[[ 9.45227933e-01 -2.13484646e-01 -2.46917924e-01  7.05507073e+02]
 [ 2.06697134e-01  9.76946261e-01 -5.34069054e-02  6.06384768e+01]
 [ 2.52627097e-01 -5.55528469e-04  9.67563559e-01  1.84588909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.420714057 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:705.56, Y:60.64, Z:184.60
[[ 9.46783330e-01 -2.06494071e-01 -2.46903876e-01  7.05562957e+02]
 [ 1.99455446e-01  9.78446879e-01 -5.34717731e-02  6.06431768e+01]
 [ 2.52623931e-01  1.37986057e-03  9.67563561e-01  1.84604602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.480714057 meters
Centerline goodness : 0.999348 with order 1
Centerline is valid?  [True, True]
Translation: X:705.62, Y:60.65, Z:184.62
[[ 9.47431741e-01 -2.03504304e-01 -2.46898956e-01  7.05620022e+02]
 [ 1.96359843e-01  9.79071577e-01 -5.34944824e-02  6.06499242e+01]
 [ 2.52618108e-01  2.20133033e-03  9.67563562e-01  1.84618824e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.5407140570001 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:705.68, Y:60.65, Z:184.63
[[ 9.47421934e-01 -2.03566878e-01 -2.46885005e-01  7.05679222e+02]
 [ 1.96407748e-01  9.79058452e-01 -5.35587950e-02  6.06529379e+01]
 [ 2.52617647e-01  2.25264923e-03  9.67563564e-01  1.84633405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.600714057 meters
Centerline goodness : 0.999369 with order 1
Centerline is valid?  [True, True]
Translation: X:705.74, Y:60.66, Z:184.65
[[ 9.47220020e-01 -2.04505542e-01 -2.46884016e-01  7.05736250e+02]
 [ 1.97376575e-01  9.78863348e-01 -5.35633539e-02  6.06612792e+01]
 [ 2.52619717e-01  2.00715972e-03  9.67563564e-01  1.84647542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.6607140570001 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:705.80, Y:60.66, Z:184.66
[[ 9.46572002e-01 -2.07487847e-01 -2.46881021e-01  7.05795312e+02]
 [ 2.00454979e-01  9.78236827e-01 -5.35771528e-02  6.06612943e+01]
 [ 2.52624715e-01  1.22610285e-03  9.67563564e-01  1.84660494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.720714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:705.85, Y:60.67, Z:184.68
[[ 9.46213784e-01 -2.09118897e-01 -2.46878031e-01  7.05853252e+02]
 [ 2.02137018e-01  9.77889891e-01 -5.35909266e-02  6.06654971e+01]
 [ 2.52626407e-01  8.05284380e-04  9.67563564e-01  1.84675375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.7807140570001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:705.91, Y:60.67, Z:184.69
[[ 9.45948664e-01 -2.10322667e-01 -2.46871425e-01  7.05911581e+02]
 [ 2.03373160e-01  9.77631889e-01 -5.36213425e-02  6.06674494e+01]
 [ 2.52627161e-01  5.16015607e-04  9.67563564e-01  1.84691951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.840714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:705.97, Y:60.67, Z:184.71
[[ 9.45819476e-01 -2.10905214e-01 -2.46869416e-01  7.05969295e+02]
 [ 2.03972808e-01  9.77506447e-01 -5.36305884e-02  6.06727211e+01]
 [ 2.52627417e-01  3.70207042e-04  9.67563564e-01  1.84708160e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.9007140570001 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:706.03, Y:60.67, Z:184.72
[[ 9.45267663e-01 -2.13367082e-01 -2.46867442e-01  7.06027288e+02]
 [ 2.06514828e-01  9.76972063e-01 -5.36396738e-02  6.06744516e+01]
 [ 2.52627535e-01 -2.77938378e-04  9.67563565e-01  1.84721634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 728.960714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:706.08, Y:60.68, Z:184.74
[[ 9.44854757e-01 -2.15204187e-01 -2.46853492e-01  7.06083896e+02]
 [ 2.08396822e-01  9.76568823e-01 -5.37038017e-02  6.06800620e+01]
 [ 2.52626707e-01 -7.01190631e-04  9.67563567e-01  1.84736256e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.0207140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:706.14, Y:60.68, Z:184.75
[[ 9.44176699e-01 -2.18168319e-01 -2.46845995e-01  7.06141949e+02]
 [ 2.11451512e-01  9.75910068e-01 -5.37382367e-02  6.06828097e+01]
 [ 2.52623473e-01 -1.45756796e-03  9.67563567e-01  1.84750709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.080714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:706.20, Y:60.69, Z:184.77
[[ 9.43701282e-01 -2.20220466e-01 -2.46841724e-01  7.06198634e+02]
 [ 2.13567534e-01  9.75448103e-01 -5.37578521e-02  6.06891377e+01]
 [ 2.52619870e-01 -1.98602413e-03  9.67563567e-01  1.84765417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.140714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:706.26, Y:60.69, Z:184.78
[[ 9.43193840e-01 -2.22387025e-01 -2.46838794e-01  7.06256248e+02]
 [ 2.15803496e-01  9.74955127e-01 -5.37712981e-02  6.06930427e+01]
 [ 2.52614787e-01 -2.55191749e-03  9.67563567e-01  1.84780045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.200714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:706.31, Y:60.70, Z:184.79
[[ 9.43520786e-01 -2.21010853e-01 -2.46825301e-01  7.06314457e+02]
 [ 2.14364813e-01  9.75269049e-01 -5.38331695e-02  6.06993707e+01]
 [ 2.52618791e-01 -2.11794488e-03  9.67563569e-01  1.84793644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.260714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:706.37, Y:60.70, Z:184.81
[[ 9.44621387e-01 -2.16259622e-01 -2.46824253e-01  7.06371543e+02]
 [ 2.09452632e-01  9.76335530e-01 -5.38379730e-02  6.07037469e+01]
 [ 2.52626268e-01 -8.41488755e-04  9.67563569e-01  1.84807420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.320714057 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:706.43, Y:60.71, Z:184.82
[[ 9.45372542e-01 -2.12968076e-01 -2.46810362e-01  7.06428121e+02]
 [ 2.06034056e-01  9.77059152e-01 -5.39015807e-02  6.07104085e+01]
 [ 2.52627639e-01  1.05734394e-04  9.67563571e-01  1.84822768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.380714057 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:706.49, Y:60.71, Z:184.84
[[ 9.46199369e-01 -2.09280200e-01 -2.46796580e-01  7.06485426e+02]
 [ 2.02206237e-01  9.77855029e-01 -5.39646129e-02  6.07122135e+01]
 [ 2.52625002e-01  1.15747481e-03  9.67563573e-01  1.84838267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.440714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:706.54, Y:60.71, Z:184.85
[[ 9.46694727e-01 -2.07044298e-01 -2.46782803e-01  7.06543616e+02]
 [ 1.99879168e-01  9.78329874e-01 -5.40275426e-02  6.07141930e+01]
 [ 2.52621084e-01  1.82084840e-03  9.67563576e-01  1.84852510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.500714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:706.60, Y:60.72, Z:184.87
[[ 9.47090991e-01 -2.05240823e-01 -2.46768838e-01  7.06601397e+02]
 [ 1.97998852e-01  9.78708634e-01 -5.40912551e-02  6.07192949e+01]
 [ 2.52616526e-01  2.36939358e-03  9.67563578e-01  1.84867288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.560714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:706.66, Y:60.72, Z:184.88
[[ 9.47267696e-01 -2.04427379e-01 -2.46765798e-01  7.06659283e+02]
 [ 1.97154645e-01  9.78878277e-01 -5.41051239e-02  6.07194424e+01]
 [ 2.52614247e-01  2.60101278e-03  9.67563578e-01  1.84883091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.620714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:706.72, Y:60.72, Z:184.90
[[ 9.47010099e-01 -2.05620120e-01 -2.46763528e-01  7.06717259e+02]
 [ 1.98384503e-01  9.78629197e-01 -5.41154741e-02  6.07232349e+01]
 [ 2.52617223e-01  2.29384070e-03  9.67563578e-01  1.84897565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.680714057 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:706.78, Y:60.72, Z:184.91
[[ 9.46651466e-01 -2.07281608e-01 -2.46749543e-01  7.06775986e+02]
 [ 2.00084885e-01  9.78279437e-01 -5.41791672e-02  6.07244836e+01]
 [ 2.52620349e-01  1.91793403e-03  9.67563580e-01  1.84910187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.740714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:706.83, Y:60.72, Z:184.93
[[ 9.45853317e-01 -2.10910159e-01 -2.46735500e-01  7.06833930e+02]
 [ 2.03818107e-01  9.77504921e-01 -5.42430452e-02  6.07244161e+01]
 [ 2.52625575e-01  1.01680153e-03  9.67563582e-01  1.84925017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.800714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:706.89, Y:60.73, Z:184.94
[[ 9.45030499e-01 -2.14585100e-01 -2.46719660e-01  7.06891710e+02]
 [ 2.07597346e-01  9.76705289e-01 -5.43150029e-02  6.07286712e+01]
 [ 2.52627587e-01  1.10987730e-04  9.67563584e-01  1.84939753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.860714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:706.95, Y:60.73, Z:184.95
[[ 9.43897939e-01 -2.19527921e-01 -2.46706654e-01  7.06949376e+02]
 [ 2.12690607e-01  9.75605541e-01 -5.43740134e-02  6.07306493e+01]
 [ 2.52624993e-01 -1.14866892e-03  9.67563586e-01  1.84953025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.920714057 meters
Centerline goodness : 0.999558 with order 1
Centerline is valid?  [True, True]
Translation: X:707.01, Y:60.74, Z:184.97
[[ 9.43669642e-01 -2.20512736e-01 -2.46701723e-01  7.07006234e+02]
 [ 2.13702664e-01  9.75383107e-01 -5.43963794e-02  6.07363524e+01]
 [ 2.52623787e-01 -1.38860359e-03  9.67563586e-01  1.84966716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 729.980714057 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:707.06, Y:60.74, Z:184.98
[[ 9.43666642e-01 -2.20531175e-01 -2.46696718e-01  7.07062691e+02]
 [ 2.13715792e-01  9.75378965e-01 -5.44190702e-02  6.07435811e+01]
 [ 2.52623891e-01 -1.36952310e-03  9.67563587e-01  1.84981627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.0407140570001 meters
Centerline goodness : 0.999538 with order 1
Centerline is valid?  [True, True]
Translation: X:707.12, Y:60.75, Z:185.00
[[ 9.44016946e-01 -2.19042992e-01 -2.46682334e-01  7.07118082e+02]
 [ 2.12160596e-01  9.75714791e-01 -5.44841956e-02  6.07496192e+01]
 [ 2.52625983e-01 -9.02267238e-04  9.67563589e-01  1.84996942e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.100714057 meters
Centerline goodness : 0.999264 with order 1
Centerline is valid?  [True, True]
Translation: X:707.17, Y:60.76, Z:185.01
[[ 9.44153488e-01 -2.18459403e-01 -2.46677279e-01  7.07173629e+02]
 [ 2.11551438e-01  9.75845771e-01 -5.45070712e-02  6.07553540e+01]
 [ 2.52626562e-01 -7.21891868e-04  9.67563589e-01  1.85012177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.1607140570001 meters
Centerline goodness : 0.999496 with order 1
Centerline is valid?  [True, True]
Translation: X:707.23, Y:60.77, Z:185.03
[[ 9.43749660e-01 -2.20202978e-01 -2.46672309e-01  7.07229999e+02]
 [ 2.13347687e-01  9.75453378e-01 -5.45295551e-02  6.07651144e+01]
 [ 2.52624908e-01 -1.16471747e-03  9.67563589e-01  1.85026119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.220714057 meters
Centerline goodness : 0.999558 with order 1
Centerline is valid?  [True, True]
Translation: X:707.29, Y:60.77, Z:185.04
[[ 9.42794566e-01 -2.24271663e-01 -2.46658931e-01  7.07286432e+02]
 [ 2.17537371e-01  9.74524204e-01 -5.45900058e-02  6.07736869e+01]
 [ 2.52618090e-01 -2.19037441e-03  9.67563591e-01  1.85040169e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.2807140570001 meters
Centerline goodness : 0.999243 with order 1
Centerline is valid?  [True, True]
Translation: X:707.34, Y:60.78, Z:185.05
[[ 9.41993693e-01 -2.27626973e-01 -2.46645177e-01  7.07342278e+02]
 [ 2.20989443e-01  9.73743712e-01 -5.46520786e-02  6.07827140e+01]
 [ 2.52609478e-01 -3.02406707e-03  9.67563593e-01  1.85054888e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.340714057 meters
Centerline goodness : 0.999369 with order 1
Centerline is valid?  [True, True]
Translation: X:707.40, Y:60.79, Z:185.07
[[ 9.40521985e-01 -2.33638750e-01 -2.46640083e-01  7.07399432e+02]
 [ 2.27198116e-01  9.72312529e-01 -5.46750573e-02  6.07919178e+01]
 [ 2.52585455e-01 -4.61306885e-03  9.67563593e-01  1.85070896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.4007140570001 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:707.45, Y:60.81, Z:185.09
[[ 9.38652081e-01 -2.41042392e-01 -2.46639080e-01  7.07454298e+02]
 [ 2.34851265e-01  9.70492157e-01 -5.46795820e-02  6.08058061e+01]
 [ 2.52541390e-01 -6.59839659e-03  9.67563594e-01  1.85085687e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.460714057 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:707.51, Y:60.82, Z:185.10
[[ 9.37417127e-01 -2.45815504e-01 -2.46624956e-01  7.07509609e+02]
 [ 2.39769748e-01  9.69285123e-01 -5.47432142e-02  6.08184737e+01]
 [ 2.52506632e-01 -7.81597701e-03  9.67563596e-01  1.85101933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.5207140570001 meters
Centerline goodness : 0.999790 with order 1
Centerline is valid?  [True, True]
Translation: X:707.57, Y:60.83, Z:185.11
[[ 9.35562228e-01 -2.52784862e-01 -2.46623458e-01  7.07565670e+02]
 [ 2.46974656e-01  9.67474011e-01 -5.47499615e-02  6.08333634e+01]
 [ 2.52441748e-01 -9.68774782e-03  9.67563596e-01  1.85113689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.580714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:707.62, Y:60.85, Z:185.13
[[ 9.35003107e-01 -2.54848100e-01 -2.46620428e-01  7.07621860e+02]
 [ 2.49104712e-01  9.66926983e-01 -5.47636084e-02  6.08478493e+01]
 [ 2.52420348e-01 -1.02301666e-02  9.67563596e-01  1.85128900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.640714057 meters
Centerline goodness : 0.999810 with order 1
Centerline is valid?  [True, True]
Translation: X:707.68, Y:60.86, Z:185.14
[[ 9.34033384e-01 -2.58380535e-01 -2.46619416e-01  7.07676550e+02]
 [ 2.52756657e-01  9.65978530e-01 -5.47681679e-02  6.08638040e+01]
 [ 2.52380089e-01 -1.11794019e-02  9.67563596e-01  1.85143828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.700714057 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:707.73, Y:60.88, Z:185.16
[[ 9.33144182e-01 -2.61577502e-01 -2.46615379e-01  7.07732102e+02]
 [ 2.56058259e-01  9.65107572e-01 -5.47863364e-02  6.08831969e+01]
 [ 2.52341243e-01 -1.20243535e-02  9.67563596e-01  1.85159068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.760714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:707.79, Y:60.91, Z:185.17
[[ 9.32745011e-01 -2.62998455e-01 -2.46614186e-01  7.07785245e+02]
 [ 2.57526485e-01  9.64716528e-01 -5.47917071e-02  6.09052195e+01]
 [ 2.52322916e-01 -1.24029930e-02  9.67563596e-01  1.85174059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.820714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:707.84, Y:60.92, Z:185.19
[[ 9.33308529e-01 -2.61005101e-01 -2.46599933e-01  7.07839469e+02]
 [ 2.55447946e-01  9.65265347e-01 -5.48557838e-02  6.09247784e+01]
 [ 2.52352009e-01 -1.17960755e-02  9.67563598e-01  1.85189748e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.880714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:707.89, Y:60.95, Z:185.21
[[ 9.34819138e-01 -2.55543996e-01 -2.46597740e-01  7.07892099e+02]
 [ 2.49797503e-01  9.66742452e-01 -5.48656420e-02  6.09500560e+01]
 [ 2.52417089e-01 -1.03100474e-02  9.67563598e-01  1.85206081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 730.940714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:707.95, Y:60.97, Z:185.22
[[ 9.35984361e-01 -2.51244483e-01 -2.46595792e-01  7.07946745e+02]
 [ 2.45349016e-01  9.67880500e-01 -5.48743923e-02  6.09699604e+01]
 [ 2.52462147e-01 -9.14046190e-03  9.67563598e-01  1.85220932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.000714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:708.00, Y:60.99, Z:185.23
[[ 9.37458936e-01 -2.45687215e-01 -2.46593868e-01  7.08000518e+02]
 [ 2.39600352e-01  9.69319103e-01 -5.48830370e-02  6.09925996e+01]
 [ 2.52512208e-01 -7.63338415e-03  9.67563598e-01  1.85234468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.060714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:708.05, Y:61.01, Z:185.25
[[ 9.38001026e-01 -2.43623894e-01 -2.46579549e-01  7.08054315e+02]
 [ 2.37450062e-01  9.69844453e-01 -5.49472993e-02  6.10142196e+01]
 [ 2.52530283e-01 -7.00970604e-03  9.67563600e-01  1.85250244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.120714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:708.11, Y:61.03, Z:185.27
[[ 9.37624142e-01 -2.45072401e-01 -2.46577547e-01  7.08108432e+02]
 [ 2.38945401e-01  9.69476613e-01 -5.49562807e-02  6.10310026e+01]
 [ 2.52519433e-01 -7.39023536e-03  9.67563600e-01  1.85265779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.180714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:708.16, Y:61.05, Z:185.28
[[ 9.36507386e-01 -2.49319714e-01 -2.46563574e-01  7.08163473e+02]
 [ 2.43320682e-01  9.68384204e-01 -5.50189016e-02  6.10495610e+01]
 [ 2.52485567e-01 -8.46840925e-03  9.67563602e-01  1.85281218e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.240714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:708.22, Y:61.07, Z:185.30
[[ 9.35351276e-01 -2.53623498e-01 -2.46562591e-01  7.08218795e+02]
 [ 2.47769951e-01  9.67255130e-01 -5.50233094e-02  6.10668411e+01]
 [ 2.52444135e-01 -9.62467825e-03  9.67563602e-01  1.85296064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.300714057 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:708.27, Y:61.09, Z:185.31
[[ 9.32866851e-01 -2.62616221e-01 -2.46560659e-01  7.08273600e+02]
 [ 2.57067797e-01  9.64825182e-01 -5.50319635e-02  6.10859614e+01]
 [ 2.52340219e-01 -1.20453109e-02  9.67563602e-01  1.85309755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.360714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:708.33, Y:61.11, Z:185.32
[[ 9.29547472e-01 -2.74135515e-01 -2.46558749e-01  7.08329164e+02]
 [ 2.68980573e-01  9.61571626e-01 -5.50405180e-02  6.11056307e+01]
 [ 2.52172458e-01 -1.51567394e-02  9.67563602e-01  1.85324435e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.420714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:708.38, Y:61.12, Z:185.34
[[ 9.27173110e-01 -2.82062702e-01 -2.46557613e-01  7.08384841e+02]
 [ 2.77180047e-01  9.59239909e-01 -5.50456092e-02  6.11230736e+01]
 [ 2.52034215e-01 -1.73040420e-02  9.67563602e-01  1.85340439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.480714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:708.44, Y:61.14, Z:185.35
[[ 9.24182455e-01 -2.91713156e-01 -2.46556736e-01  7.08440278e+02]
 [ 2.87164023e-01  9.56298266e-01 -5.50495361e-02  6.11440338e+01]
 [ 2.51840453e-01 -1.99264087e-02  9.67563602e-01  1.85354390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.5407140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:708.50, Y:61.16, Z:185.37
[[ 9.22974434e-01 -2.95513344e-01 -2.46556398e-01  7.08495438e+02]
 [ 2.91095991e-01  9.55108636e-01 -5.50510506e-02  6.11641024e+01]
 [ 2.51756465e-01 -2.09608667e-02  9.67563602e-01  1.85371036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.600714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:708.55, Y:61.19, Z:185.39
[[ 9.22715906e-01 -2.96319603e-01 -2.46556384e-01  7.08548232e+02]
 [ 2.91930310e-01  9.54853952e-01 -5.50511116e-02  6.11883800e+01]
 [ 2.51738061e-01 -2.11807454e-02  9.67563602e-01  1.85388440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.6607140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:708.60, Y:61.21, Z:185.40
[[ 9.23497004e-01 -2.93877945e-01 -2.46554328e-01  7.08602145e+02]
 [ 2.89401220e-01  9.55622988e-01 -5.50603193e-02  6.12143153e+01]
 [ 2.51793997e-01 -2.05050834e-02  9.67563602e-01  1.85404537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.720714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:708.66, Y:61.24, Z:185.42
[[ 9.24398299e-01 -2.91031303e-01 -2.46553372e-01  7.08656343e+02]
 [ 2.86454487e-01  9.56510176e-01 -5.50645983e-02  6.12358156e+01]
 [ 2.51856331e-01 -1.97246988e-02  9.67563602e-01  1.85420544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.7807140570001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:708.71, Y:61.26, Z:185.44
[[ 9.25597271e-01 -2.87196574e-01 -2.46551860e-01  7.08710058e+02]
 [ 2.82484880e-01  9.57689635e-01 -5.50713677e-02  6.12610391e+01]
 [ 2.51936469e-01 -1.86732651e-02  9.67563602e-01  1.85437340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.840714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:708.76, Y:61.28, Z:185.45
[[ 9.25875111e-01 -2.86301640e-01 -2.46549489e-01  7.08764375e+02]
 [ 2.81556113e-01  9.57962489e-01 -5.50819810e-02  6.12811643e+01]
 [ 2.51955224e-01 -1.84184806e-02  9.67563602e-01  1.85452904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.9007140570001 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:708.82, Y:61.31, Z:185.47
[[ 9.25842495e-01 -2.86408911e-01 -2.46547378e-01  7.08818874e+02]
 [ 2.81664600e-01  9.57930054e-01 -5.50914282e-02  6.13054120e+01]
 [ 2.51953819e-01 -1.84376834e-02  9.67563603e-01  1.85466783e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 731.960714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:708.87, Y:61.33, Z:185.48
[[ 9.26011427e-01 -2.85863154e-01 -2.46546332e-01  7.08872143e+02]
 [ 2.81098692e-01  9.58096000e-01 -5.50961081e-02  6.13300389e+01]
 [ 2.51965002e-01 -1.82842257e-02  9.67563603e-01  1.85480528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.0207140570001 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:708.93, Y:61.36, Z:185.49
[[ 9.26616836e-01 -2.83907106e-01 -2.46531934e-01  7.08925845e+02]
 [ 2.79057869e-01  9.58688703e-01 -5.51604613e-02  6.13555401e+01]
 [ 2.52007827e-01 -1.76840641e-02  9.67563605e-01  1.85493692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.080714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:708.98, Y:61.38, Z:185.51
[[ 9.27591276e-01 -2.80718618e-01 -2.46518724e-01  7.08980922e+02]
 [ 2.75743507e-01  9.59643857e-01 -5.52194370e-02  6.13772606e+01]
 [ 2.52071303e-01 -1.67548697e-02  9.67563606e-01  1.85508491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.140714057 meters
Centerline goodness : 0.999603 with order 1
Centerline is valid?  [True, True]
Translation: X:709.03, Y:61.40, Z:185.52
[[ 9.29362424e-01 -2.74798683e-01 -2.46518090e-01  7.09034232e+02]
 [ 2.69618561e-01  9.61382511e-01 -5.52222697e-02  6.14018373e+01]
 [ 2.52173187e-01 -1.51443502e-02  9.67563606e-01  1.85522773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.200714057 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:709.09, Y:61.42, Z:185.54
[[ 9.29733624e-01 -2.73542438e-01 -2.46515565e-01  7.09087870e+02]
 [ 2.68316069e-01  9.61746195e-01 -5.52335394e-02  6.14217287e+01]
 [ 2.52194123e-01 -1.47916086e-02  9.67563606e-01  1.85536790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.260714057 meters
Centerline goodness : 0.999284 with order 1
Centerline is valid?  [True, True]
Translation: X:709.14, Y:61.45, Z:185.55
[[ 9.30459002e-01 -2.71077610e-01 -2.46501471e-01  7.09142128e+02]
 [ 2.65749833e-01  9.62454850e-01 -5.52963694e-02  6.14457424e+01]
 [ 2.52236144e-01 -1.40567200e-02  9.67563608e-01  1.85551137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.320714057 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:709.19, Y:61.47, Z:185.57
[[ 9.31087926e-01 -2.68910426e-01 -2.46500418e-01  7.09194168e+02]
 [ 2.63506926e-01  9.63071073e-01 -5.53010641e-02  6.14679105e+01]
 [ 2.52268455e-01 -1.34644142e-02  9.67563608e-01  1.85566037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.380714057 meters
Centerline goodness : 0.999473 with order 1
Centerline is valid?  [True, True]
Translation: X:709.25, Y:61.49, Z:185.58
[[ 9.30859159e-01 -2.69705992e-01 -2.46495242e-01  7.09246976e+02]
 [ 2.64323737e-01  9.62845888e-01 -5.53241247e-02  6.14897229e+01]
 [ 2.52258178e-01 -1.36555753e-02  9.67563609e-01  1.85578780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.440714057 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:709.30, Y:61.51, Z:185.59
[[ 9.30722947e-01 -2.70190682e-01 -2.46478783e-01  7.09301876e+02]
 [ 2.64805750e-01  9.62709223e-01 -5.53973574e-02  6.15051243e+01]
 [ 2.52255248e-01 -1.37094074e-02  9.67563611e-01  1.85592849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.500714057 meters
Centerline goodness : 0.998967 with order 1
Centerline is valid?  [True, True]
Translation: X:709.36, Y:61.52, Z:185.61
[[ 9.30225906e-01 -2.71910581e-01 -2.46463789e-01  7.09356466e+02]
 [ 2.66567185e-01  9.62219144e-01 -5.54639887e-02  6.15246215e+01]
 [ 2.52233422e-01 -1.41051194e-02  9.67563614e-01  1.85605410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.560714057 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:709.41, Y:61.54, Z:185.62
[[ 9.29923171e-01 -2.72957607e-01 -2.46448859e-01  7.09410236e+02]
 [ 2.67632729e-01  9.61919494e-01 -5.55302532e-02  6.15418565e+01]
 [ 2.52221367e-01 -1.43189114e-02  9.67563616e-01  1.85618202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.620714057 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:709.47, Y:61.56, Z:185.63
[[ 9.29675936e-01 -2.73805142e-01 -2.46441468e-01  7.09466993e+02]
 [ 2.68500772e-01  9.61675665e-01 -5.55630339e-02  6.15600328e+01]
 [ 2.52210207e-01 -1.45141090e-02  9.67563616e-01  1.85630917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.680714057 meters
Centerline goodness : 0.997465 with order 1
Centerline is valid?  [True, True]
Translation: X:709.52, Y:61.58, Z:185.64
[[ 9.29344288e-01 -2.74928714e-01 -2.46441468e-01  7.09520228e+02]
 [ 2.69663028e-01  9.61350405e-01 -5.55630339e-02  6.15776182e+01]
 [ 2.52192479e-01 -1.48189645e-02  9.67563616e-01  1.85643912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.740714057 meters
Centerline goodness : 0.997885 with order 1
Centerline is valid?  [True, True]
Translation: X:709.57, Y:61.59, Z:185.66
[[ 9.28573089e-01 -2.77530298e-01 -2.46432448e-01  7.09574684e+02]
 [ 2.72343699e-01  9.60592117e-01 -5.56030146e-02  6.15933851e+01]
 [ 2.52152588e-01 -1.54828613e-02  9.67563617e-01  1.85660188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.800714057 meters
Centerline goodness : 0.997566 with order 1
Centerline is valid?  [True, True]
Translation: X:709.63, Y:61.61, Z:185.67
[[ 9.27366910e-01 -2.81547248e-01 -2.46417860e-01  7.09629452e+02]
 [ 2.76482217e-01  9.59405390e-01 -5.56675902e-02  6.16104274e+01]
 [ 2.52087680e-01 -1.65058751e-02  9.67563619e-01  1.85674763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.860714057 meters
Centerline goodness : 0.996633 with order 1
Centerline is valid?  [True, True]
Translation: X:709.69, Y:61.63, Z:185.69
[[ 9.26667259e-01 -2.83841984e-01 -2.46417366e-01  7.09685799e+02]
 [ 2.78855698e-01  9.58718090e-01 -5.56697773e-02  6.16264551e+01]
 [ 2.52046207e-01 -1.71275267e-02  9.67563619e-01  1.85689714e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.920714057 meters
Centerline goodness : 0.996549 with order 1
Centerline is valid?  [True, True]
Translation: X:709.74, Y:61.64, Z:185.71
[[ 9.25220016e-01 -2.88525647e-01 -2.46416057e-01  7.09741087e+02]
 [ 2.83700010e-01  9.57295427e-01 -5.56755706e-02  6.16447104e+01]
 [ 2.51956795e-01 -1.83960854e-02  9.67563619e-01  1.85705592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 732.980714057 meters
Centerline goodness : 0.995889 with order 1
Centerline is valid?  [True, True]
Translation: X:709.80, Y:61.66, Z:185.72
[[ 9.23600688e-01 -2.93668867e-01 -2.46415027e-01  7.09796322e+02]
 [ 2.89020556e-01  9.55702277e-01 -5.56801283e-02  6.16637982e+01]
 [ 2.51850923e-01 -1.97928034e-02  9.67563619e-01  1.85722911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.0407140570001 meters
Centerline goodness : 0.996395 with order 1
Centerline is valid?  [True, True]
Translation: X:709.85, Y:61.68, Z:185.74
[[ 9.22931271e-01 -2.95766514e-01 -2.46414363e-01  7.09851934e+02]
 [ 2.91190370e-01  9.55043227e-01 -5.56830672e-02  6.16831292e+01]
 [ 2.51805555e-01 -2.03618456e-02  9.67563619e-01  1.85739284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.100714057 meters
Centerline goodness : 0.996101 with order 1
Centerline is valid?  [True, True]
Translation: X:709.91, Y:61.70, Z:185.76
[[ 9.23452623e-01 -2.94134978e-01 -2.46414016e-01  7.09906995e+02]
 [ 2.89501683e-01  9.55556383e-01 -5.56846028e-02  6.17017624e+01]
 [ 2.51841275e-01 -1.99151799e-02  9.67563619e-01  1.85755976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.1607140570001 meters
Centerline goodness : 0.995614 with order 1
Centerline is valid?  [True, True]
Translation: X:709.96, Y:61.72, Z:185.77
[[ 9.25221179e-01 -2.88524004e-01 -2.46413613e-01  7.09961159e+02]
 [ 2.83695446e-01  9.57296151e-01 -5.56863863e-02  6.17242476e+01]
 [ 2.51957662e-01 -1.83841959e-02  9.67563619e-01  1.85773001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.220714057 meters
Centerline goodness : 0.995352 with order 1
Centerline is valid?  [True, True]
Translation: X:710.02, Y:61.75, Z:185.79
[[ 9.27227461e-01 -2.82010232e-01 -2.46413199e-01  7.10015046e+02]
 [ 2.76955740e-01  9.59267606e-01 -5.56882178e-02  6.17456380e+01]
 [ 2.52080847e-01 -1.66099052e-02  9.67563619e-01  1.85789317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.2807140570001 meters
Centerline goodness : 0.995744 with order 1
Centerline is valid?  [True, True]
Translation: X:710.07, Y:61.77, Z:185.81
[[ 9.28984708e-01 -2.76167749e-01 -2.46411822e-01  7.10069060e+02]
 [ 2.70910055e-01  9.60992136e-01 -5.56943107e-02  6.17683967e+01]
 [ 2.52180796e-01 -1.50162773e-02  9.67563619e-01  1.85806718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.340714057 meters
Centerline goodness : 0.995306 with order 1
Centerline is valid?  [True, True]
Translation: X:710.12, Y:61.79, Z:185.82
[[ 9.30593119e-01 -2.70700460e-01 -2.46409636e-01  7.10123123e+02]
 [ 2.65252097e-01  9.62568642e-01 -5.57039805e-02  6.17901239e+01]
 [ 2.52265282e-01 -1.35229319e-02  9.67563620e-01  1.85822166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.4007140570001 meters
Centerline goodness : 0.995981 with order 1
Centerline is valid?  [True, True]
Translation: X:710.18, Y:61.81, Z:185.84
[[ 9.31811343e-01 -2.66478062e-01 -2.46408329e-01  7.10177263e+02]
 [ 2.60883242e-01  9.63761566e-01 -5.57097632e-02  6.18084933e+01]
 [ 2.52324306e-01 -1.23728145e-02  9.67563620e-01  1.85836750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.460714057 meters
Centerline goodness : 0.996518 with order 1
Centerline is valid?  [True, True]
Translation: X:710.23, Y:61.83, Z:185.85
[[ 9.33684209e-01 -2.59843688e-01 -2.46404252e-01  7.10232413e+02]
 [ 2.54017012e-01  9.65592964e-01 -5.57277873e-02  6.18298985e+01]
 [ 2.52406726e-01 -1.05587169e-02  9.67563620e-01  1.85850451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.5207140570001 meters
Centerline goodness : 0.996178 with order 1
Centerline is valid?  [True, True]
Translation: X:710.29, Y:61.85, Z:185.87
[[ 9.34974817e-01 -2.55161227e-01 -2.46403814e-01  7.10287065e+02]
 [ 2.49174203e-01  9.66853874e-01 -5.57297240e-02  6.18491493e+01]
 [ 2.52456547e-01 -9.29158552e-03  9.67563620e-01  1.85867094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.580714057 meters
Centerline goodness : 0.995367 with order 1
Centerline is valid?  [True, True]
Translation: X:710.34, Y:61.87, Z:185.88
[[ 9.34692955e-01 -2.56192785e-01 -2.46402794e-01  7.10341790e+02]
 [ 2.50239754e-01  9.66578378e-01 -5.57342347e-02  6.18650815e+01]
 [ 2.52446322e-01 -9.56537802e-03  9.67563620e-01  1.85882349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.640714057 meters
Centerline goodness : 0.995852 with order 1
Centerline is valid?  [True, True]
Translation: X:710.40, Y:61.88, Z:185.90
[[ 9.33672120e-01 -2.59902002e-01 -2.46388560e-01  7.10398257e+02]
 [ 2.54059063e-01  9.65577898e-01 -5.57970919e-02  6.18785668e+01]
 [ 2.52409124e-01 -1.05010575e-02  9.67563622e-01  1.85898290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.700714057 meters
Centerline goodness : 0.996287 with order 1
Centerline is valid?  [True, True]
Translation: X:710.45, Y:61.89, Z:185.92
[[ 9.31591512e-01 -2.67264141e-01 -2.46388177e-01  7.10453435e+02]
 [ 2.61672797e-01  9.63542341e-01 -5.57987821e-02  6.18924512e+01]
 [ 2.52318455e-01 -1.24914116e-02  9.67563622e-01  1.85915350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.760714057 meters
Centerline goodness : 0.995523 with order 1
Centerline is valid?  [True, True]
Translation: X:710.51, Y:61.91, Z:185.93
[[ 9.29841750e-01 -2.73290753e-01 -2.46386859e-01  7.10509742e+02]
 [ 2.67904876e-01  9.61827856e-01 -5.58046017e-02  6.19054303e+01]
 [ 2.52232626e-01 -1.41187923e-02  9.67563622e-01  1.85931427e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.820714057 meters
Centerline goodness : 0.995453 with order 1
Centerline is valid?  [True, True]
Translation: X:710.56, Y:61.92, Z:185.95
[[ 9.29259973e-01 -2.75263352e-01 -2.46385855e-01  7.10564863e+02]
 [ 2.69944194e-01  9.61257241e-01 -5.58090346e-02  6.19199624e+01]
 [ 2.52202369e-01 -1.46493290e-02  9.67563622e-01  1.85945742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.880714057 meters
Centerline goodness : 0.996023 with order 1
Centerline is valid?  [True, True]
Translation: X:710.62, Y:61.94, Z:185.96
[[ 9.29870910e-01 -2.73205304e-01 -2.46371573e-01  7.10619340e+02]
 [ 2.67798684e-01  9.61853514e-01 -5.58720150e-02  6.19350395e+01]
 [ 2.52237894e-01 -1.40242215e-02  9.67563624e-01  1.85959283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 733.940714057 meters
Centerline goodness : 0.995966 with order 1
Centerline is valid?  [True, True]
Translation: X:710.68, Y:61.95, Z:185.97
[[ 9.30601069e-01 -2.70722754e-01 -2.46355110e-01  7.10675969e+02]
 [ 2.65211663e-01  9.62565834e-01 -5.59445144e-02  6.19496973e+01]
 [ 2.52278465e-01 -1.32742234e-02  9.67563626e-01  1.85973155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.000714057 meters
Centerline goodness : 0.996230 with order 1
Centerline is valid?  [True, True]
Translation: X:710.73, Y:61.96, Z:185.99
[[ 9.31884312e-01 -2.66272181e-01 -2.46354937e-01  7.10730631e+02]
 [ 2.60608187e-01  9.63822338e-01 -5.59452757e-02  6.19639208e+01]
 [ 2.52339062e-01 -1.20675888e-02  9.67563626e-01  1.85987585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.060714057 meters
Centerline goodness : 0.996240 with order 1
Centerline is valid?  [True, True]
Translation: X:710.79, Y:61.98, Z:186.00
[[ 9.32557728e-01 -2.63907951e-01 -2.46350722e-01  7.10785432e+02]
 [ 2.58158086e-01  9.64480406e-01 -5.59638303e-02  6.19783360e+01]
 [ 2.52369744e-01 -1.14079283e-02  9.67563627e-01  1.86003014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.120714057 meters
Centerline goodness : 0.995756 with order 1
Centerline is valid?  [True, True]
Translation: X:710.84, Y:61.99, Z:186.02
[[ 9.32424763e-01 -2.64381204e-01 -2.46346586e-01  7.10840921e+02]
 [ 2.58642743e-01  9.64349493e-01 -5.59820303e-02  6.19898676e+01]
 [ 2.52364802e-01 -1.15167253e-02  9.67563627e-01  1.86017395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.180714057 meters
Centerline goodness : 0.996074 with order 1
Centerline is valid?  [True, True]
Translation: X:710.90, Y:62.00, Z:186.03
[[ 9.31665341e-01 -2.67058332e-01 -2.46332172e-01  7.10896039e+02]
 [ 2.61394881e-01  9.63603461e-01 -5.60453852e-02  6.20022065e+01]
 [ 2.52333921e-01 -1.21744260e-02  9.67563629e-01  1.86032892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.240714057 meters
Centerline goodness : 0.996174 with order 1
Centerline is valid?  [True, True]
Translation: X:710.95, Y:62.01, Z:186.05
[[ 9.31190386e-01 -2.68712525e-01 -2.46329138e-01  7.10950838e+02]
 [ 2.63102286e-01  9.63137896e-01 -5.60587195e-02  6.20143962e+01]
 [ 2.52312607e-01 -1.26084186e-02  9.67563629e-01  1.86047837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.300714057 meters
Centerline goodness : 0.996216 with order 1
Centerline is valid?  [True, True]
Translation: X:711.00, Y:62.03, Z:186.06
[[ 9.30275586e-01 -2.71869675e-01 -2.46321364e-01  7.11004529e+02]
 [ 2.66358826e-01  9.62240390e-01 -5.60928570e-02  6.20264383e+01]
 [ 2.52270312e-01 -1.34280538e-02  9.67563630e-01  1.86064859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.360714057 meters
Centerline goodness : 0.995511 with order 1
Centerline is valid?  [True, True]
Translation: X:711.06, Y:62.04, Z:186.08
[[ 9.29900487e-01 -2.73165021e-01 -2.46304599e-01  7.11059642e+02]
 [ 2.67679282e-01  9.61869607e-01 -5.61663778e-02  6.20390133e+01]
 [ 2.52255598e-01 -1.37014962e-02  9.67563632e-01  1.86081798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.420714057 meters
Centerline goodness : 0.995082 with order 1
Centerline is valid?  [True, True]
Translation: X:711.11, Y:62.05, Z:186.10
[[ 9.30399208e-01 -2.71474713e-01 -2.46290059e-01  7.11113526e+02]
 [ 2.65914075e-01  9.62355383e-01 -5.62300678e-02  6.20523106e+01]
 [ 2.52283605e-01 -1.31755826e-02  9.67563634e-01  1.86096697e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.480714057 meters
Centerline goodness : 0.995530 with order 1
Centerline is valid?  [True, True]
Translation: X:711.17, Y:62.07, Z:186.11
[[ 9.32091129e-01 -2.65614716e-01 -2.46282256e-01  7.11169931e+02]
 [ 2.59844096e-01  9.64010053e-01 -5.62642238e-02  6.20659488e+01]
 [ 2.52363176e-01 -1.15516062e-02  9.67563635e-01  1.86110612e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.5407140570001 meters
Centerline goodness : 0.995121 with order 1
Centerline is valid?  [True, True]
Translation: X:711.23, Y:62.08, Z:186.13
[[ 9.34033679e-01 -2.58702596e-01 -2.46280435e-01  7.11226129e+02]
 [ 2.52693584e-01  9.65908584e-01 -5.62721935e-02  6.20776916e+01]
 [ 2.52442149e-01 -9.67336184e-03  9.67563635e-01  1.86126758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.600714057 meters
Centerline goodness : 0.995627 with order 1
Centerline is valid?  [True, True]
Translation: X:711.28, Y:62.09, Z:186.14
[[ 9.35675550e-01 -2.52701872e-01 -2.46278355e-01  7.11283417e+02]
 [ 2.46485992e-01  9.67510761e-01 -5.62812942e-02  6.20903472e+01]
 [ 2.52499347e-01 -8.04313363e-03  9.67563635e-01  1.86142755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.6607140570001 meters
Centerline goodness : 0.996107 with order 1
Centerline is valid?  [True, True]
Translation: X:711.34, Y:62.10, Z:186.16
[[ 9.38908290e-01 -2.40411599e-01 -2.46279283e-01  7.11339741e+02]
 [ 2.33779895e-01  9.70659484e-01 -5.62772337e-02  6.20977579e+01]
 [ 2.52583021e-01 -4.73598370e-03  9.67563635e-01  1.86158964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.720714057 meters
Centerline goodness : 0.996545 with order 1
Centerline is valid?  [True, True]
Translation: X:711.40, Y:62.11, Z:186.17
[[ 9.40427759e-01 -2.34400772e-01 -2.46276079e-01  7.11396226e+02]
 [ 2.27562432e-01  9.72135091e-01 -5.62912497e-02  6.21063110e+01]
 [ 2.52608331e-01 -3.10532966e-03  9.67563635e-01  1.86172877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.7807140570001 meters
Centerline goodness : 0.996019 with order 1
Centerline is valid?  [True, True]
Translation: X:711.45, Y:62.11, Z:186.18
[[ 9.42046334e-01 -2.27813109e-01 -2.46271990e-01  7.11454443e+02]
 [ 2.20748345e-01  9.73703985e-01 -5.63091358e-02  6.21111165e+01]
 [ 2.52623977e-01 -1.31831918e-03  9.67563635e-01  1.86183552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.840714057 meters
Centerline goodness : 0.996760 with order 1
Centerline is valid?  [True, True]
Translation: X:711.51, Y:62.11, Z:186.20
[[ 9.43277819e-01 -2.22674937e-01 -2.46257648e-01  7.11513027e+02]
 [ 2.15421365e-01  9.74892741e-01 -5.63717909e-02  6.21117390e+01]
 [ 2.52627378e-01  1.25101418e-04  9.67563637e-01  1.86196000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.9007140570001 meters
Centerline goodness : 0.997114 with order 1
Centerline is valid?  [True, True]
Translation: X:711.57, Y:62.12, Z:186.21
[[ 9.43913384e-01 -2.19969869e-01 -2.46253487e-01  7.11570668e+02]
 [ 2.12620954e-01  9.75506280e-01 -5.63899589e-02  6.21152966e+01]
 [ 2.52625915e-01  8.68585504e-04  9.67563637e-01  1.86211485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 734.960714057 meters
Centerline goodness : 0.997291 with order 1
Centerline is valid?  [True, True]
Translation: X:711.63, Y:62.11, Z:186.23
[[ 9.44468932e-01 -2.17588475e-01 -2.46239096e-01  7.11629429e+02]
 [ 2.10143535e-01  9.76039335e-01 -5.64527360e-02  6.21109415e+01]
 [ 2.52622508e-01  1.57230120e-03  9.67563639e-01  1.86227620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.0207140570001 meters
Centerline goodness : 0.996962 with order 1
Centerline is valid?  [True, True]
Translation: X:711.69, Y:62.11, Z:186.24
[[ 9.43975935e-01 -2.19720809e-01 -2.46236066e-01  7.11688532e+02]
 [ 2.12343737e-01  9.75562266e-01 -5.64659473e-02  6.21055452e+01]
 [ 2.52625358e-01  1.01580891e-03  9.67563640e-01  1.86243063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.080714057 meters
Centerline goodness : 0.997227 with order 1
Centerline is valid?  [True, True]
Translation: X:711.75, Y:62.10, Z:186.26
[[ 9.42443530e-01 -2.26219180e-01 -2.46221600e-01  7.11747925e+02]
 [ 2.19043436e-01  9.74076203e-01 -5.65289604e-02  6.20990525e+01]
 [ 2.52626536e-01 -6.57872344e-04  9.67563642e-01  1.86257972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.140714057 meters
Centerline goodness : 0.997365 with order 1
Centerline is valid?  [True, True]
Translation: X:711.81, Y:62.10, Z:186.27
[[ 9.41065093e-01 -2.31890967e-01 -2.46217528e-01  7.11806919e+02]
 [ 2.24901223e-01  9.72739385e-01 -5.65466906e-02  6.20992572e+01]
 [ 2.52618153e-01 -2.16050643e-03  9.67563642e-01  1.86272771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.200714057 meters
Centerline goodness : 0.998012 with order 1
Centerline is valid?  [True, True]
Translation: X:711.87, Y:62.09, Z:186.29
[[ 9.39940440e-01 -2.36422103e-01 -2.46204302e-01  7.11867258e+02]
 [ 2.29569973e-01  9.71644786e-01 -5.66042187e-02  6.20948860e+01]
 [ 2.52605615e-01 -3.31652082e-03  9.67563643e-01  1.86290128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.260714057 meters
Centerline goodness : 0.998709 with order 1
Centerline is valid?  [True, True]
Translation: X:711.92, Y:62.09, Z:186.31
[[ 9.40764110e-01 -2.33124068e-01 -2.46203287e-01  7.11924922e+02]
 [ 2.26159630e-01  9.72443975e-01 -5.66086354e-02  6.20916361e+01]
 [ 2.52615738e-01 -2.42587167e-03  9.67563643e-01  1.86307248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.320714057 meters
Centerline goodness : 0.998824 with order 1
Centerline is valid?  [True, True]
Translation: X:711.98, Y:62.09, Z:186.32
[[ 9.42818379e-01 -2.24677346e-01 -2.46198282e-01  7.11982607e+02]
 [ 2.17423382e-01  9.74433205e-01 -5.66303928e-02  6.20898862e+01]
 [ 2.52627348e-01 -1.37088062e-04  9.67563644e-01  1.86323155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.380714057 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:712.04, Y:62.09, Z:186.34
[[ 9.44660931e-01 -2.16818307e-01 -2.46181940e-01  7.12039903e+02]
 [ 2.09282833e-01  9.76209840e-01 -5.67013506e-02  6.20931166e+01]
 [ 2.52619123e-01  2.04189680e-03  9.67563646e-01  1.86337792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.440714057 meters
Centerline goodness : 0.999497 with order 1
Centerline is valid?  [True, True]
Translation: X:712.10, Y:62.09, Z:186.35
[[ 9.46534469e-01 -2.08493305e-01 -2.46176847e-01  7.12098580e+02]
 [ 2.00674627e-01  9.78014388e-01 -5.67234526e-02  6.20903637e+01]
 [ 2.52590959e-01  4.28925604e-03  9.67563646e-01  1.86352000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.500714057 meters
Centerline goodness : 0.999665 with order 1
Centerline is valid?  [True, True]
Translation: X:712.16, Y:62.09, Z:186.37
[[ 9.47138099e-01 -2.05754070e-01 -2.46159875e-01  7.12158501e+02]
 [ 1.97825241e-01  9.78590452e-01 -5.67970130e-02  6.20855893e+01]
 [ 2.52575920e-01  5.09797819e-03  9.67563649e-01  1.86368179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.560714057 meters
Centerline goodness : 0.999917 with order 1
Centerline is valid?  [True, True]
Translation: X:712.22, Y:62.08, Z:186.38
[[ 9.46987738e-01 -2.06447502e-01 -2.46157782e-01  7.12218309e+02]
 [ 1.98539347e-01  9.78445296e-01 -5.68060845e-02  6.20797515e+01]
 [ 2.52579398e-01  4.92266033e-03  9.67563649e-01  1.86383018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.620714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:712.28, Y:62.08, Z:186.40
[[ 9.46143914e-01 -2.10283300e-01 -2.46155699e-01  7.12277358e+02]
 [ 2.02500339e-01  9.77632680e-01 -5.68151077e-02  6.20762146e+01]
 [ 2.52597124e-01  3.90865598e-03  9.67563649e-01  1.86397892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.680714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:712.34, Y:62.08, Z:186.41
[[ 9.45284984e-01 -2.14127967e-01 -2.46141248e-01  7.12336786e+02]
 [ 2.06456800e-01  9.76801169e-01 -5.68776492e-02  6.20781048e+01]
 [ 2.52610154e-01  2.94805334e-03  9.67563651e-01  1.86413562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.740714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:712.40, Y:62.08, Z:186.43
[[ 9.43391432e-01 -2.22323172e-01 -2.46140231e-01  7.12396196e+02]
 [ 2.14924646e-01  9.74972732e-01 -5.68820497e-02  6.20761572e+01]
 [ 2.52626211e-01  7.60436307e-04  9.67563651e-01  1.86427778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.800714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:712.45, Y:62.08, Z:186.44
[[ 9.41907409e-01 -2.28544400e-01 -2.46125762e-01  7.12454550e+02]
 [ 2.21338120e-01  9.73533128e-01 -5.69445872e-02  6.20766018e+01]
 [ 2.52625950e-01 -8.40484845e-04  9.67563653e-01  1.86441208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.860714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:712.51, Y:62.08, Z:186.46
[[ 9.40711935e-01 -2.33431337e-01 -2.46111492e-01  7.12512089e+02]
 [ 2.26373224e-01  9.72371049e-01 -5.70061981e-02  6.20825492e+01]
 [ 2.52618723e-01 -2.08664101e-03  9.67563655e-01  1.86455527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.920714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:712.57, Y:62.08, Z:186.47
[[ 9.38438443e-01 -2.42423952e-01 -2.46097371e-01  7.12569702e+02]
 [ 2.35653199e-01  9.70160253e-01 -5.70670944e-02  6.20843496e+01]
 [ 2.52588319e-01 -4.43967747e-03  9.67563657e-01  1.86470405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 735.980714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:712.63, Y:62.09, Z:186.49
[[ 9.35439236e-01 -2.53755897e-01 -2.46092221e-01  7.12627735e+02]
 [ 2.47363454e-01  9.67239440e-01 -5.70892976e-02  6.20900321e+01]
 [ 2.52516848e-01 -7.47065274e-03  9.67563657e-01  1.86485688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.0407140570001 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:712.68, Y:62.10, Z:186.50
[[ 9.32437130e-01 -2.64575676e-01 -2.46090856e-01  7.12684161e+02]
 [ 2.58550509e-01  9.64308962e-01 -5.70951789e-02  6.20975696e+01]
 [ 2.52413614e-01 -1.03892512e-02  9.67563657e-01  1.86500944e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.100714057 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:712.74, Y:62.11, Z:186.52
[[ 9.29775456e-01 -2.73783778e-01 -2.46089506e-01  7.12740455e+02]
 [ 2.68072555e-01  9.61705039e-01 -5.71009975e-02  6.21082286e+01]
 [ 2.52298845e-01 -1.28787367e-02  9.67563657e-01  1.86516573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.1607140570001 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:712.80, Y:62.12, Z:186.53
[[ 9.28465092e-01 -2.78196152e-01 -2.46088344e-01  7.12797191e+02]
 [ 2.72635303e-01  9.60421207e-01 -5.71060068e-02  6.21229977e+01]
 [ 2.52235135e-01 -1.40714363e-02  9.67563657e-01  1.86531127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.220714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:712.85, Y:62.14, Z:186.55
[[ 9.27514790e-01 -2.81348572e-01 -2.46087984e-01  7.12852614e+02]
 [ 2.75895901e-01  9.59489541e-01 -5.71075570e-02  6.21377267e+01]
 [ 2.52185976e-01 -1.49265624e-02  9.67563657e-01  1.86546672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.2807140570001 meters
Centerline goodness : 0.999747 with order 1
Centerline is valid?  [True, True]
Translation: X:712.91, Y:62.15, Z:186.56
[[ 9.26829005e-01 -2.83602232e-01 -2.46084884e-01  7.12906553e+02]
 [ 2.78223765e-01  9.58816321e-01 -5.71209137e-02  6.21544200e+01]
 [ 2.52149821e-01 -1.55253432e-02  9.67563658e-01  1.86560886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.340714057 meters
Centerline goodness : 0.999747 with order 1
Centerline is valid?  [True, True]
Translation: X:712.96, Y:62.17, Z:186.58
[[ 9.26614990e-01 -2.84305121e-01 -2.46079780e-01  7.12960552e+02]
 [ 2.78945104e-01  9.58605403e-01 -5.71428903e-02  6.21724323e+01]
 [ 2.52139423e-01 -1.56932912e-02  9.67563658e-01  1.86575362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.4007140570001 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:713.02, Y:62.19, Z:186.59
[[ 9.25899905e-01 -2.86629670e-01 -2.46074783e-01  7.13015845e+02]
 [ 2.81344262e-01  9.57902729e-01 -5.71644021e-02  6.21920409e+01]
 [ 2.52100720e-01 -1.63032137e-02  9.67563658e-01  1.86590099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.460714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:713.07, Y:62.21, Z:186.60
[[ 9.25073864e-01 -2.89286095e-01 -2.46072959e-01  7.13069512e+02]
 [ 2.84090488e-01  9.57091390e-01 -5.71722515e-02  6.22117827e+01]
 [ 2.52053448e-01 -1.70184315e-02  9.67563658e-01  1.86604548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.5207140570001 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:713.12, Y:62.23, Z:186.62
[[ 9.25327690e-01 -2.88484987e-01 -2.46059097e-01  7.13122705e+02]
 [ 2.83245883e-01  9.57338125e-01 -5.72318536e-02  6.22316682e+01]
 [ 2.52072285e-01 -1.67370072e-02  9.67563660e-01  1.86619986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.580714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:713.17, Y:62.26, Z:186.64
[[ 9.29152848e-01 -2.75921000e-01 -2.46054031e-01  7.13174545e+02]
 [ 2.70242910e-01  9.61088337e-01 -5.72536267e-02  6.22625768e+01]
 [ 2.52277137e-01 -1.32969870e-02  9.67563660e-01  1.86638204e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.640714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:713.23, Y:62.28, Z:186.65
[[ 9.32135100e-01 -2.65672718e-01 -2.46053169e-01  7.13227929e+02]
 [ 2.59642332e-01  9.64005943e-01 -5.72573287e-02  6.22837213e+01]
 [ 2.52408427e-01 -1.05142529e-02  9.67563660e-01  1.86653536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.700714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:713.28, Y:62.31, Z:186.67
[[ 9.36161334e-01 -2.51118831e-01 -2.46051396e-01  7.13282298e+02]
 [ 2.44590664e-01  9.67933951e-01 -5.72649474e-02  6.23079105e+01]
 [ 2.52541806e-01 -6.57264471e-03  9.67563660e-01  1.86667667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.760714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:713.34, Y:62.33, Z:186.68
[[ 9.39375882e-01 -2.38814679e-01 -2.46049794e-01  7.13335532e+02]
 [ 2.31868411e-01  9.71059719e-01 -5.72718302e-02  6.23290491e+01]
 [ 2.52606397e-01 -3.25139877e-03  9.67563660e-01  1.86683110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.820714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:713.39, Y:62.35, Z:186.70
[[ 9.41788917e-01 -2.29129447e-01 -2.46035226e-01  7.13389738e+02]
 [ 2.21840973e-01  9.73395786e-01 -5.73343447e-02  6.23460290e+01]
 [ 2.52626639e-01 -5.83843543e-04  9.67563662e-01  1.86698706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.880714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:713.45, Y:62.36, Z:186.71
[[ 9.42670892e-01 -2.25475313e-01 -2.46033480e-01  7.13445204e+02]
 [ 2.18062361e-01  9.74248798e-01 -5.73418377e-02  6.23581448e+01]
 [ 2.52626991e-01  4.03839623e-04  9.67563662e-01  1.86713195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 736.940714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:713.50, Y:62.37, Z:186.73
[[ 9.43445253e-01 -2.22228888e-01 -2.46019056e-01  7.13503081e+02]
 [ 2.14691155e-01  9.74993604e-01 -5.74036571e-02  6.23663646e+01]
 [ 2.52623757e-01  1.33909240e-03  9.67563664e-01  1.86726223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.000714057 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:713.56, Y:62.37, Z:186.74
[[ 9.44384412e-01 -2.18205678e-01 -2.46016999e-01  7.13559729e+02]
 [ 2.10531250e-01  9.75899790e-01 -5.74124732e-02  6.23745085e+01]
 [ 2.52615665e-01  2.42517848e-03  9.67563664e-01  1.86740722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.060714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:713.62, Y:62.38, Z:186.76
[[ 9.44781600e-01 -2.16495802e-01 -2.46002634e-01  7.13616245e+02]
 [ 2.08748329e-01  9.76279099e-01 -5.74739622e-02  6.23815013e+01]
 [ 2.52610101e-01  2.94770333e-03  9.67563666e-01  1.86756290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.120714057 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:713.67, Y:62.38, Z:186.77
[[ 9.44621659e-01 -2.17209695e-01 -2.45987542e-01  7.13674818e+02]
 [ 2.09469226e-01  9.76120877e-01 -5.75384847e-02  6.23831173e+01]
 [ 2.52611492e-01  2.82527894e-03  9.67563668e-01  1.86771535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.180714057 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:713.73, Y:62.38, Z:186.79
[[ 9.43502859e-01 -2.22034396e-01 -2.45973744e-01  7.13733222e+02]
 [ 2.14439645e-01  9.75037526e-01 -5.75974102e-02  6.23842432e+01]
 [ 2.52622237e-01  1.59679884e-03  9.67563670e-01  1.86786528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.240714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:713.79, Y:62.38, Z:186.80
[[ 9.41882485e-01 -2.28814109e-01 -2.45970502e-01  7.13791606e+02]
 [ 2.21442728e-01  9.73470113e-01 -5.76112535e-02  6.23843350e+01]
 [ 2.52627200e-01 -2.05348479e-04  9.67563670e-01  1.86802217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.300714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:713.85, Y:62.39, Z:186.82
[[ 9.40711958e-01 -2.33582027e-01 -2.45968388e-01  7.13850138e+02]
 [ 2.26368381e-01  9.72335981e-01 -5.76202774e-02  6.23874409e+01]
 [ 2.52622975e-01 -1.47538180e-03  9.67563670e-01  1.86817825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.360714057 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:713.91, Y:62.39, Z:186.83
[[ 9.39276127e-01 -2.39292556e-01 -2.45966320e-01  7.13907946e+02]
 [ 2.32268847e-01  9.70942876e-01 -5.76291059e-02  6.23876549e+01]
 [ 2.52609462e-01 -3.00067002e-03  9.67563670e-01  1.86833531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.420714057 meters
Centerline goodness : 0.999562 with order 1
Centerline is valid?  [True, True]
Translation: X:713.97, Y:62.39, Z:186.85
[[ 9.38692339e-01 -2.41587435e-01 -2.45951628e-01  7.13966138e+02]
 [ 2.34624733e-01  9.70372556e-01 -5.76917394e-02  6.23892551e+01]
 [ 2.52602310e-01 -3.55154124e-03  9.67563672e-01  1.86849481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.480714057 meters
Centerline goodness : 0.999437 with order 1
Centerline is valid?  [True, True]
Translation: X:714.02, Y:62.40, Z:186.86
[[ 9.38602823e-01 -2.41950056e-01 -2.45936805e-01  7.14023048e+02]
 [ 2.34983056e-01  9.70282092e-01 -5.77548643e-02  6.23955819e+01]
 [ 2.52601870e-01 -3.58210341e-03  9.67563674e-01  1.86863805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.5407140570001 meters
Centerline goodness : 0.999791 with order 1
Centerline is valid?  [True, True]
Translation: X:714.08, Y:62.40, Z:186.88
[[ 9.38478232e-01 -2.42436023e-01 -2.45933696e-01  7.14080701e+02]
 [ 2.35481960e-01  9.70160344e-01 -5.77680998e-02  6.24014124e+01]
 [ 2.52600188e-01 -3.69884451e-03  9.67563674e-01  1.86877443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.600714057 meters
Centerline goodness : 0.999623 with order 1
Centerline is valid?  [True, True]
Translation: X:714.14, Y:62.41, Z:186.89
[[ 9.38625239e-01 -2.41880973e-01 -2.45919207e-01  7.14137011e+02]
 [ 2.34892033e-01  9.70299674e-01 -5.78297171e-02  6.24090883e+01]
 [ 2.52603234e-01 -3.48403047e-03  9.67563676e-01  1.86891297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.6607140570001 meters
Centerline goodness : 0.999770 with order 1
Centerline is valid?  [True, True]
Translation: X:714.19, Y:62.42, Z:186.91
[[ 9.38269415e-01 -2.43262973e-01 -2.45913869e-01  7.14194510e+02]
 [ 2.36314741e-01  9.69952804e-01 -5.78524071e-02  6.24162834e+01]
 [ 2.52598195e-01 -3.83192817e-03  9.67563677e-01  1.86905707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.720714057 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:714.25, Y:62.43, Z:186.92
[[ 9.37616817e-01 -2.45780237e-01 -2.45899939e-01  7.14249893e+02]
 [ 2.38901554e-01  9.69315376e-01 -5.79115566e-02  6.24262671e+01]
 [ 2.52588108e-01 -4.44702837e-03  9.67563678e-01  1.86920861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.7807140570001 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:714.31, Y:62.44, Z:186.94
[[ 9.36918852e-01 -2.48432836e-01 -2.45894673e-01  7.14306402e+02]
 [ 2.41638028e-01  9.68635497e-01 -5.79339094e-02  6.24385592e+01]
 [ 2.52574994e-01 -5.13813197e-03  9.67563679e-01  1.86936531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.840714057 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:714.36, Y:62.45, Z:186.95
[[ 9.36023768e-01 -2.51786084e-01 -2.45892808e-01  7.14363724e+02]
 [ 2.45102810e-01  9.67764102e-01 -5.79418245e-02  6.24471157e+01]
 [ 2.52555177e-01 -6.03409315e-03  9.67563679e-01  1.86949778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.9007140570001 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:714.42, Y:62.46, Z:186.96
[[ 9.35643497e-01 -2.53198610e-01 -2.45889630e-01  7.14419116e+02]
 [ 2.46559710e-01  9.67393142e-01 -5.79553080e-02  6.24609664e+01]
 [ 2.52546145e-01 -6.40096888e-03  9.67563679e-01  1.86963108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 737.960714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:714.47, Y:62.48, Z:186.98
[[ 9.36079048e-01 -2.51587792e-01 -2.45885337e-01  7.14474285e+02]
 [ 2.44889474e-01  9.67816210e-01 -5.79735157e-02  6.24750843e+01]
 [ 2.52557244e-01 -5.94693744e-03  9.67563679e-01  1.86978974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.0207140570001 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:714.53, Y:62.49, Z:187.00
[[ 9.37019989e-01 -2.48075245e-01 -2.45870316e-01  7.14527580e+02]
 [ 2.41241252e-01  9.68728211e-01 -5.80371553e-02  6.24889255e+01]
 [ 2.52579092e-01 -4.93208801e-03  9.67563681e-01  1.86995449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.080714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:714.58, Y:62.50, Z:187.01
[[ 9.36781358e-01 -2.48982635e-01 -2.45862432e-01  7.14581018e+02]
 [ 2.42170597e-01  9.68494303e-01 -5.80705351e-02  6.25028418e+01]
 [ 2.52574919e-01 -5.14125718e-03  9.67563681e-01  1.87011773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.140714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:714.64, Y:62.52, Z:187.03
[[ 9.36504650e-01 -2.50038343e-01 -2.45845211e-01  7.14636341e+02]
 [ 2.43242947e-01  9.68221162e-01 -5.81433531e-02  6.25167527e+01]
 [ 2.52570603e-01 -5.34859293e-03  9.67563684e-01  1.87027312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.200714057 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:714.69, Y:62.53, Z:187.04
[[ 9.36016423e-01 -2.51862983e-01 -2.45842011e-01  7.14691042e+02]
 [ 2.45125860e-01  9.67745364e-01 -5.81568774e-02  6.25330632e+01]
 [ 2.52560031e-01 -5.82644214e-03  9.67563684e-01  1.87042618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.260714057 meters
Centerline goodness : 0.999623 with order 1
Centerline is valid?  [True, True]
Translation: X:714.75, Y:62.55, Z:187.06
[[ 9.35922812e-01 -2.52214752e-01 -2.45837771e-01  7.14745854e+02]
 [ 2.45484850e-01  9.67653286e-01 -5.81747967e-02  6.25491687e+01]
 [ 2.52558269e-01 -5.90232904e-03  9.67563684e-01  1.87055446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.320714057 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:714.80, Y:62.56, Z:187.07
[[ 9.36293077e-01 -2.50853431e-01 -2.45820729e-01  7.14801186e+02]
 [ 2.44058518e-01  9.68009690e-01 -5.82467216e-02  6.25629455e+01]
 [ 2.52568238e-01 -5.45864072e-03  9.67563687e-01  1.87071129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.380714057 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:714.86, Y:62.58, Z:187.09
[[ 9.36985412e-01 -2.48269737e-01 -2.45805767e-01  7.14856049e+02]
 [ 2.41370818e-01  9.68679563e-01 -5.83097987e-02  6.25764475e+01]
 [ 2.52583581e-01 -4.69490828e-03  9.67563689e-01  1.87086309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.440714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:714.91, Y:62.59, Z:187.10
[[ 9.37974766e-01 -2.44520594e-01 -2.45790596e-01  7.14912011e+02]
 [ 2.37478244e-01  9.69637353e-01 -5.83736796e-02  6.25901228e+01]
 [ 2.52601310e-01 -3.61688067e-03  9.67563691e-01  1.87101348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.500714057 meters
Centerline goodness : 0.999624 with order 1
Centerline is valid?  [True, True]
Translation: X:714.97, Y:62.60, Z:187.12
[[ 9.38096833e-01 -2.44053962e-01 -2.45788516e-01  7.14967838e+02]
 [ 2.36993569e-01  9.69755402e-01 -5.83824345e-02  6.26012595e+01]
 [ 2.52603206e-01 -3.48192069e-03  9.67563691e-01  1.87117865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.560714057 meters
Centerline goodness : 0.999623 with order 1
Centerline is valid?  [True, True]
Translation: X:715.02, Y:62.61, Z:187.13
[[ 9.38177086e-01 -2.43760366e-01 -2.45773553e-01  7.15023311e+02]
 [ 2.36673582e-01  9.69829756e-01 -5.84453610e-02  6.26127482e+01]
 [ 2.52605167e-01 -3.33600867e-03  9.67563693e-01  1.87133340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.620714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:715.08, Y:62.63, Z:187.15
[[ 9.38184153e-01 -2.43748295e-01 -2.45758550e-01  7.15077746e+02]
 [ 2.36644598e-01  9.69833029e-01 -5.85083831e-02  6.26257322e+01]
 [ 2.52606077e-01 -3.26579529e-03  9.67563695e-01  1.87148463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.680714057 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:715.13, Y:62.64, Z:187.16
[[ 9.37464620e-01 -2.46506386e-01 -2.45753307e-01  7.15133871e+02]
 [ 2.39490028e-01  9.69132973e-01 -5.85303975e-02  6.26371013e+01]
 [ 2.52595749e-01 -3.98528938e-03  9.67563696e-01  1.87164555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.740714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:715.19, Y:62.65, Z:187.18
[[ 9.35626953e-01 -2.53405242e-01 -2.45739677e-01  7.15190853e+02]
 [ 2.46607342e-01  9.67342915e-01 -5.85875657e-02  6.26457773e+01]
 [ 2.52560932e-01 -5.78510312e-03  9.67563697e-01  1.87181418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.800714057 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:715.25, Y:62.66, Z:187.20
[[ 9.33835980e-01 -2.59928629e-01 -2.45738623e-01  7.15246812e+02]
 [ 2.53351072e-01  9.65598371e-01 -5.85919858e-02  6.26584700e+01]
 [ 2.52514549e-01 -7.54283933e-03  9.67563697e-01  1.87196347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.860714057 meters
Centerline goodness : 0.999916 with order 1
Centerline is valid?  [True, True]
Translation: X:715.30, Y:62.67, Z:187.21
[[ 9.31109865e-01 -2.69533927e-01 -2.45735389e-01  7.15303011e+02]
 [ 2.63280318e-01  9.62937622e-01 -5.86055500e-02  6.26692686e+01]
 [ 2.52424035e-01 -1.01290854e-02  9.67563697e-01  1.87210290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.920714057 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:715.36, Y:62.68, Z:187.23
[[ 9.29590659e-01 -2.74728901e-01 -2.45734081e-01  7.15359847e+02]
 [ 2.68651664e-01  9.61452563e-01 -5.86110331e-02  6.26819694e+01]
 [ 2.52363806e-01 -1.15326009e-02  9.67563697e-01  1.87225657e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 738.980714057 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:715.41, Y:62.70, Z:187.24
[[ 9.30118083e-01 -2.72939778e-01 -2.45732027e-01  7.15412986e+02]
 [ 2.66798978e-01  9.61967797e-01 -5.86196410e-02  6.26981430e+01]
 [ 2.52385929e-01 -1.10378656e-02  9.67563697e-01  1.87241702e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.0407140570001 meters
Centerline goodness : 0.999770 with order 1
Centerline is valid?  [True, True]
Translation: X:715.47, Y:62.72, Z:187.26
[[ 9.32608971e-01 -2.64308170e-01 -2.45726879e-01  7.15468010e+02]
 [ 2.57866789e-01  9.64399257e-01 -5.86412157e-02  6.27160872e+01]
 [ 2.52478172e-01 -8.67547728e-03  9.67563698e-01  1.87258192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.100714057 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:715.52, Y:62.73, Z:187.27
[[ 9.34823305e-01 -2.56367128e-01 -2.45726035e-01  7.15523621e+02]
 [ 2.49654686e-01  9.66557464e-01 -5.86447515e-02  6.27323234e+01]
 [ 2.52542920e-01 -6.52417577e-03  9.67563698e-01  1.87274650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.1607140570001 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:715.58, Y:62.75, Z:187.29
[[ 9.37533461e-01 -2.46272897e-01 -2.45724786e-01  7.15578554e+02]
 [ 2.39217315e-01  9.69193095e-01 -5.86499825e-02  6.27501603e+01]
 [ 2.52598667e-01 -3.79530254e-03  9.67563698e-01  1.87290029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.220714057 meters
Centerline goodness : 0.999686 with order 1
Centerline is valid?  [True, True]
Translation: X:715.63, Y:62.77, Z:187.30
[[ 9.39378010e-01 -2.39142767e-01 -2.45722795e-01  7.15633880e+02]
 [ 2.31844668e-01  9.70982621e-01 -5.86583262e-02  6.27652576e+01]
 [ 2.52620278e-01 -1.86717801e-03  9.67563698e-01  1.87303363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.2807140570001 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:715.69, Y:62.78, Z:187.32
[[ 9.39980855e-01 -2.36777612e-01 -2.45707865e-01  7.15689931e+02]
 [ 2.29383658e-01  9.71563176e-01 -5.87207997e-02  6.27774966e+01]
 [ 2.52624484e-01 -1.16494129e-03  9.67563700e-01  1.87318114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.340714057 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:715.75, Y:62.79, Z:187.33
[[ 9.40177980e-01 -2.35997052e-01 -2.45704613e-01  7.15745552e+02]
 [ 2.28573322e-01  9.71753316e-01 -5.87344030e-02  6.27868028e+01]
 [ 2.52625418e-01 -9.40727186e-04  9.67563700e-01  1.87331875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.4007140570001 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:715.80, Y:62.79, Z:187.35
[[ 9.40465366e-01 -2.34854777e-01 -2.45699265e-01  7.15802441e+02]
 [ 2.27386852e-01  9.72030278e-01 -5.87567681e-02  6.27947711e+01]
 [ 2.52626432e-01 -6.10076847e-04  9.67563700e-01  1.87345707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.460714057 meters
Centerline goodness : 0.999727 with order 1
Centerline is valid?  [True, True]
Translation: X:715.86, Y:62.80, Z:187.36
[[ 9.41038063e-01 -2.32565464e-01 -2.45684085e-01  7.15859580e+02]
 [ 2.25004195e-01  9.72580742e-01 -5.88201719e-02  6.28015330e+01]
 [ 2.52627151e-01  7.20707783e-05  9.67563702e-01  1.87359921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.5207140570001 meters
Centerline goodness : 0.999517 with order 1
Centerline is valid?  [True, True]
Translation: X:715.92, Y:62.81, Z:187.38
[[ 9.41134368e-01 -2.32191501e-01 -2.45668900e-01  7.15915844e+02]
 [ 2.24601159e-01  9.72670062e-01 -5.88835283e-02  6.28101740e+01]
 [ 2.52627039e-01  2.39792416e-04  9.67563704e-01  1.87376227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.580714057 meters
Centerline goodness : 0.999307 with order 1
Centerline is valid?  [True, True]
Translation: X:715.97, Y:62.81, Z:187.39
[[ 9.40855211e-01 -2.33336037e-01 -2.45653754e-01  7.15971830e+02]
 [ 2.25767576e-01  9.72396161e-01 -5.89466519e-02  6.28148961e+01]
 [ 2.52627145e-01 -3.87855979e-07  9.67563706e-01  1.87392651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.640714057 meters
Centerline goodness : 0.999580 with order 1
Centerline is valid?  [True, True]
Translation: X:716.03, Y:62.82, Z:187.41
[[ 9.40270116e-01 -2.35690989e-01 -2.45645817e-01  7.16029632e+02]
 [ 2.28192887e-01  9.71827866e-01 -5.89797073e-02  6.28215155e+01]
 [ 2.52626436e-01 -5.97771958e-04  9.67563707e-01  1.87408581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.700714057 meters
Centerline goodness : 0.999244 with order 1
Centerline is valid?  [True, True]
Translation: X:716.09, Y:62.83, Z:187.42
[[ 9.38453253e-01 -2.42825372e-01 -2.45644727e-01  7.16086624e+02]
 [ 2.35565973e-01  9.70066766e-01 -5.89842491e-02  6.28267371e+01]
 [ 2.52614658e-01 -2.51157862e-03  9.67563707e-01  1.87422803e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.760714057 meters
Centerline goodness : 0.998758 with order 1
Centerline is valid?  [True, True]
Translation: X:716.15, Y:62.83, Z:187.44
[[ 9.36171600e-01 -2.51483714e-01 -2.45639324e-01  7.16145174e+02]
 [ 2.44510746e-01  9.67849523e-01 -5.90067414e-02  6.28318859e+01]
 [ 2.52581137e-01 -4.82101893e-03  9.67563707e-01  1.87437484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.820714057 meters
Centerline goodness : 0.999243 with order 1
Centerline is valid?  [True, True]
Translation: X:716.20, Y:62.84, Z:187.45
[[ 9.34572003e-01 -2.57366284e-01 -2.45637471e-01  7.16201771e+02]
 [ 2.50590650e-01  9.66292720e-01 -5.90144543e-02  6.28377574e+01]
 [ 2.52546031e-01 -6.40119669e-03  9.67563707e-01  1.87451072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.880714057 meters
Centerline goodness : 0.999079 with order 1
Centerline is valid?  [True, True]
Translation: X:716.26, Y:62.85, Z:187.46
[[ 9.34209804e-01 -2.58683013e-01 -2.45632125e-01  7.16257675e+02]
 [ 2.51946242e-01  9.65938797e-01 -5.90366957e-02  6.28493138e+01]
 [ 2.52537390e-01 -6.73343095e-03  9.67563707e-01  1.87464095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 739.940714057 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:716.31, Y:62.86, Z:187.48
[[ 9.34514797e-01 -2.57593312e-01 -2.45617140e-01  7.16312784e+02]
 [ 2.50803182e-01  9.66232412e-01 -5.90989789e-02  6.28605964e+01]
 [ 2.52546743e-01 -6.37268988e-03  9.67563709e-01  1.87477549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.000714057 meters
Centerline goodness : 0.999389 with order 1
Centerline is valid?  [True, True]
Translation: X:716.37, Y:62.87, Z:187.49
[[ 9.35157232e-01 -2.55256258e-01 -2.45611878e-01  7.16368439e+02]
 [ 2.48381120e-01  9.66856528e-01 -5.91208360e-02  6.28719141e+01]
 [ 2.52562412e-01 -5.71807599e-03  9.67563710e-01  1.87491939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.060714057 meters
Centerline goodness : 0.999600 with order 1
Centerline is valid?  [True, True]
Translation: X:716.42, Y:62.88, Z:187.51
[[ 9.35621466e-01 -2.53563459e-01 -2.45597323e-01  7.16424462e+02]
 [ 2.46615115e-01  9.67304795e-01 -5.91812406e-02  6.28848966e+01]
 [ 2.52573669e-01 -5.19677295e-03  9.67563711e-01  1.87506586e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.120714057 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:716.48, Y:62.90, Z:187.52
[[ 9.36956565e-01 -2.48597991e-01 -2.45583864e-01  7.16479818e+02]
 [ 2.41467094e-01  9.68599306e-01 -5.92370438e-02  6.28976897e+01]
 [ 2.52598570e-01 -3.79788483e-03  9.67563713e-01  1.87520871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.180714057 meters
Centerline goodness : 0.999286 with order 1
Centerline is valid?  [True, True]
Translation: X:716.54, Y:62.91, Z:187.54
[[ 9.37520019e-01 -2.46479491e-01 -2.45568877e-01  7.16536377e+02]
 [ 2.39260835e-01  9.69142853e-01 -5.92991068e-02  6.29085575e+01]
 [ 2.52607336e-01 -3.16091483e-03  9.67563715e-01  1.87538237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.240714057 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:716.59, Y:62.92, Z:187.56
[[ 9.37371137e-01 -2.47048322e-01 -2.45565630e-01  7.16591751e+02]
 [ 2.39845334e-01  9.68997542e-01 -5.93125503e-02  6.29197200e+01]
 [ 2.52605558e-01 -3.29989794e-03  9.67563715e-01  1.87555074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.300714057 meters
Centerline goodness : 0.999286 with order 1
Centerline is valid?  [True, True]
Translation: X:716.65, Y:62.93, Z:187.57
[[ 9.37398699e-01 -2.46958934e-01 -2.45550329e-01  7.16648517e+02]
 [ 2.39736355e-01  9.69020635e-01 -5.93758333e-02  6.29306685e+01]
 [ 2.52606728e-01 -3.20851190e-03  9.67563717e-01  1.87570220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.360714057 meters
Centerline goodness : 0.999056 with order 1
Centerline is valid?  [True, True]
Translation: X:716.70, Y:62.94, Z:187.58
[[ 9.37499746e-01 -2.46577316e-01 -2.45548069e-01  7.16704896e+02]
 [ 2.39339419e-01  9.69118178e-01 -5.93851760e-02  6.29432125e+01]
 [ 2.52608135e-01 -3.09574472e-03  9.67563717e-01  1.87583434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.420714057 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:716.76, Y:62.96, Z:187.60
[[ 9.38016867e-01 -2.44618476e-01 -2.45532400e-01  7.16761915e+02]
 [ 2.37297609e-01  9.69616190e-01 -5.94498926e-02  6.29553789e+01]
 [ 2.52614732e-01 -2.49924942e-03  9.67563719e-01  1.87598138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.480714057 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:716.82, Y:62.97, Z:187.61
[[ 9.39392686e-01 -2.39281732e-01 -2.45531331e-01  7.16818180e+02]
 [ 2.31780182e-01  9.70949604e-01 -5.94543073e-02  6.29673268e+01]
 [ 2.52624878e-01 -1.05835516e-03  9.67563719e-01  1.87610540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.5407140570001 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:716.87, Y:62.98, Z:187.62
[[ 9.39753778e-01 -2.37863018e-01 -2.45528046e-01  7.16873902e+02]
 [ 2.30310284e-01  9.71298484e-01 -5.94678695e-02  6.29784433e+01]
 [ 2.52626226e-01 -6.62479027e-04  9.67563719e-01  1.87624990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.600714057 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:716.93, Y:62.99, Z:187.64
[[ 9.38647469e-01 -2.42207253e-01 -2.45512884e-01  7.16930466e+02]
 [ 2.34784151e-01  9.70222930e-01 -5.95304052e-02  6.29854706e+01]
 [ 2.52620925e-01 -1.76446990e-03  9.67563721e-01  1.87641224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.6607140570001 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:716.99, Y:63.00, Z:187.66
[[ 9.37614659e-01 -2.46190545e-01 -2.45497384e-01  7.16986132e+02]
 [ 2.38884863e-01  9.69217492e-01 -5.95942560e-02  6.29963791e+01]
 [ 2.52611902e-01 -2.76916086e-03  9.67563723e-01  1.87656406e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.720714057 meters
Centerline goodness : 0.998806 with order 1
Centerline is valid?  [True, True]
Translation: X:717.04, Y:63.01, Z:187.67
[[ 9.36172182e-01 -2.51635218e-01 -2.45481898e-01  7.17042739e+02]
 [ 2.44496608e-01  9.67813171e-01 -5.96579837e-02  6.30069175e+01]
 [ 2.52592663e-01 -4.16934642e-03  9.67563726e-01  1.87672274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.7807140570001 meters
Centerline goodness : 0.998424 with order 1
Centerline is valid?  [True, True]
Translation: X:717.10, Y:63.02, Z:187.69
[[ 9.34679616e-01 -2.57125691e-01 -2.45479928e-01  7.17098171e+02]
 [ 2.50170792e-01  9.66361492e-01 -5.96660858e-02  6.30179031e+01]
 [ 2.52564033e-01 -5.64323389e-03  9.67563726e-01  1.87687932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.840714057 meters
Centerline goodness : 0.998699 with order 1
Centerline is valid?  [True, True]
Translation: X:717.16, Y:63.03, Z:187.70
[[ 9.33253847e-01 -2.62267770e-01 -2.45464609e-01  7.17155009e+02]
 [ 2.55470858e-01  9.64969990e-01 -5.97290466e-02  6.30303601e+01]
 [ 2.52530985e-01 -6.96669151e-03  9.67563728e-01  1.87704344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.9007140570001 meters
Centerline goodness : 0.998909 with order 1
Centerline is valid?  [True, True]
Translation: X:717.21, Y:63.04, Z:187.72
[[ 9.32575931e-01 -2.64669425e-01 -2.45463293e-01  7.17209878e+02]
 [ 2.57952763e-01  9.64309166e-01 -5.97344515e-02  6.30443781e+01]
 [ 2.52512387e-01 -7.61102292e-03  9.67563728e-01  1.87718901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 740.960714057 meters
Centerline goodness : 0.998951 with order 1
Centerline is valid?  [True, True]
Translation: X:717.27, Y:63.06, Z:187.73
[[ 9.32348566e-01 -2.65483074e-01 -2.45448344e-01  7.17265417e+02]
 [ 2.58777964e-01  9.64084242e-01 -5.97958153e-02  6.30608229e+01]
 [ 2.52507658e-01 -7.76608034e-03  9.67563730e-01  1.87731724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.0207140570001 meters
Centerline goodness : 0.998971 with order 1
Centerline is valid?  [True, True]
Translation: X:717.32, Y:63.08, Z:187.74
[[ 9.31298102e-01 -2.69158266e-01 -2.45433642e-01  7.17321069e+02]
 [ 2.62562508e-01  9.63056684e-01 -5.98561013e-02  6.30752691e+01]
 [ 2.52477274e-01 -8.69779921e-03  9.67563731e-01  1.87744518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.080714057 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:717.38, Y:63.09, Z:187.76
[[ 9.29962516e-01 -2.73751203e-01 -2.45418005e-01  7.17376398e+02]
 [ 2.67295388e-01  9.61749838e-01 -5.99201490e-02  6.30907118e+01]
 [ 2.52433940e-01 -9.87560833e-03  9.67563734e-01  1.87759111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.140714057 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:717.43, Y:63.11, Z:187.77
[[ 9.27569216e-01 -2.81756078e-01 -2.45415691e-01  7.17431177e+02]
 [ 2.75571966e-01  9.59410512e-01 -5.99296270e-02  6.31069751e+01]
 [ 2.52339930e-01 -1.20408073e-02  9.67563734e-01  1.87773298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.200714057 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:717.49, Y:63.12, Z:187.79
[[ 9.25715002e-01 -2.87791507e-01 -2.45413497e-01  7.17486389e+02]
 [ 2.81812539e-01  9.57595455e-01 -5.99386093e-02  6.31246582e+01]
 [ 2.52256672e-01 -1.36745310e-02  9.67563734e-01  1.87789566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.260714057 meters
Centerline goodness : 0.999012 with order 1
Centerline is valid?  [True, True]
Translation: X:717.54, Y:63.15, Z:187.80
[[ 9.24808294e-01 -2.90693536e-01 -2.45411669e-01  7.17541111e+02]
 [ 2.84812610e-01  9.56706979e-01 -5.99460915e-02  6.31459342e+01]
 [ 2.52212998e-01 -1.44576954e-02  9.67563734e-01  1.87804647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.320714057 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:717.59, Y:63.17, Z:187.82
[[ 9.24469478e-01 -2.91771137e-01 -2.45409431e-01  7.17594856e+02]
 [ 2.85924967e-01  9.56374550e-01 -5.99552540e-02  6.31665264e+01]
 [ 2.52196547e-01 -1.47418812e-02  9.67563734e-01  1.87818246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.380714057 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:717.65, Y:63.18, Z:187.83
[[ 9.24097131e-01 -2.92950993e-01 -2.45406211e-01  7.17649296e+02]
 [ 2.87142068e-01  9.56009006e-01 -5.99684328e-02  6.31849698e+01]
 [ 2.52178359e-01 -1.50497902e-02  9.67563734e-01  1.87831921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.440714057 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:717.70, Y:63.21, Z:187.85
[[ 9.23588646e-01 -2.94562846e-01 -2.45390999e-01  7.17703474e+02]
 [ 2.88793151e-01  9.55507635e-01 -6.00306168e-02  6.32095452e+01]
 [ 2.52155762e-01 -1.54236437e-02  9.67563736e-01  1.87845317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.500714057 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:717.76, Y:63.23, Z:187.86
[[ 9.23555265e-01 -2.94669284e-01 -2.45388846e-01  7.17755390e+02]
 [ 2.88900938e-01  9.55474498e-01 -6.00394174e-02  6.32336481e+01]
 [ 2.52154556e-01 -1.54433477e-02  9.67563736e-01  1.87861345e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.560714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:717.81, Y:63.25, Z:187.88
[[ 9.24151906e-01 -2.92805106e-01 -2.45374051e-01  7.17808732e+02]
 [ 2.86956385e-01  9.56056507e-01 -6.00998223e-02  6.32548479e+01]
 [ 2.52188993e-01 -1.48702854e-02  9.67563738e-01  1.87876475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.620714057 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:717.86, Y:63.29, Z:187.89
[[ 9.28114299e-01 -2.80005027e-01 -2.45358988e-01  7.17860721e+02]
 [ 2.73699724e-01  9.59931812e-01 -6.01612583e-02  6.32883115e+01]
 [ 2.52373352e-01 -1.13181632e-02  9.67563740e-01  1.87891150e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.680714057 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:717.91, Y:63.31, Z:187.91
[[ 9.30548151e-01 -2.71808924e-01 -2.45356981e-01  7.17914925e+02]
 [ 2.65221107e-01  9.62308372e-01 -6.01694423e-02  6.33120493e+01]
 [ 2.52463668e-01 -9.08328684e-03  9.67563740e-01  1.87906845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.740714057 meters
Centerline goodness : 0.999644 with order 1
Centerline is valid?  [True, True]
Translation: X:717.97, Y:63.34, Z:187.92
[[ 9.33819658e-01 -2.60348098e-01 -2.45356299e-01  7.17968034e+02]
 [ 2.53369585e-01  9.65496327e-01 -6.01722206e-02  6.33391280e+01]
 [ 2.52556329e-01 -5.97582121e-03  9.67563740e-01  1.87922347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.800714057 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:718.02, Y:63.36, Z:187.94
[[ 9.35968538e-01 -2.52514609e-01 -2.45355391e-01  7.18019543e+02]
 [ 2.45269956e-01  9.67585400e-01 -6.01759230e-02  6.33608286e+01]
 [ 2.52597594e-01 -3.85553538e-03  9.67563740e-01  1.87938549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.860714057 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:718.07, Y:63.38, Z:187.95
[[ 9.36916793e-01 -2.48978549e-01 -2.45349963e-01  7.18074856e+02]
 [ 2.41608768e-01  9.68504723e-01 -6.01980479e-02  6.33785249e+01]
 [ 2.52610621e-01 -2.87814018e-03  9.67563740e-01  1.87954077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.920714057 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:718.13, Y:63.40, Z:187.97
[[ 9.38182885e-01 -2.44165385e-01 -2.45349017e-01  7.18130286e+02]
 [ 2.36632528e-01  9.69732322e-01 -6.02019050e-02  6.33968487e+01]
 [ 2.52622093e-01 -1.57716117e-03  9.67563740e-01  1.87968552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 741.980714057 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:718.19, Y:63.41, Z:187.98
[[ 9.38754317e-01 -2.41961337e-01 -2.45346782e-01  7.18185865e+02]
 [ 2.34352026e-01  9.70285403e-01 -6.02110087e-02  6.34109177e+01]
 [ 2.52625138e-01 -9.74171195e-04  9.67563740e-01  1.87983592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.0407140570001 meters
Centerline goodness : 0.999625 with order 1
Centerline is valid?  [True, True]
Translation: X:718.24, Y:63.42, Z:188.00
[[ 9.40334587e-01 -2.35747534e-01 -2.45344584e-01  7.18242230e+02]
 [ 2.27927519e-01  9.71814078e-01 -6.02199658e-02  6.34244069e+01]
 [ 2.52626029e-01  7.06134252e-04  9.67563740e-01  1.87997846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.100714057 meters
Centerline goodness : 0.999601 with order 1
Centerline is valid?  [True, True]
Translation: X:718.30, Y:63.44, Z:188.01
[[ 9.40488077e-01 -2.35136315e-01 -2.45342801e-01  7.18298462e+02]
 [ 2.27293948e-01  9.71962007e-01 -6.02272266e-02  6.34360084e+01]
 [ 2.52625490e-01  8.78054562e-04  9.67563740e-01  1.88013459e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.1607140570001 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:718.36, Y:63.44, Z:188.03
[[ 9.38869867e-01 -2.41531526e-01 -2.45328137e-01  7.18355355e+02]
 [ 2.33887947e-01  9.70392661e-01 -6.02869043e-02  6.34421575e+01]
 [ 2.52625812e-01 -7.77736553e-04  9.67563742e-01  1.88029382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.220714057 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:718.41, Y:63.45, Z:188.04
[[ 9.37460022e-01 -2.46962472e-01 -2.45312545e-01  7.18411558e+02]
 [ 2.39484918e-01  9.69022609e-01 -6.03502842e-02  6.34509999e+01]
 [ 2.52617658e-01 -2.17267606e-03  9.67563744e-01  1.88044953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.2807140570001 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:718.47, Y:63.46, Z:188.06
[[ 9.35993636e-01 -2.52478541e-01 -2.45296757e-01  7.18469489e+02]
 [ 2.45170181e-01  9.67595827e-01 -6.04143886e-02  6.34593929e+01]
 [ 2.52601455e-01 -3.59196710e-03  9.67563746e-01  1.88059599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.340714057 meters
Centerline goodness : 0.999519 with order 1
Centerline is valid?  [True, True]
Translation: X:718.53, Y:63.47, Z:188.07
[[ 9.34937417e-01 -2.56363454e-01 -2.45295345e-01  7.18527808e+02]
 [ 2.49184894e-01  9.66569344e-01 -6.04201216e-02  6.34679335e+01]
 [ 2.52584472e-01 -4.63486224e-03  9.67563746e-01  1.88073135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.4007140570001 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:718.58, Y:63.48, Z:188.09
[[ 9.34684726e-01 -2.57284282e-01 -2.45294235e-01  7.18584437e+02]
 [ 2.50135701e-01  9.66323442e-01 -6.04246301e-02  6.34781211e+01]
 [ 2.52579877e-01 -4.87886664e-03  9.67563746e-01  1.88088767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.460714057 meters
Centerline goodness : 0.999582 with order 1
Centerline is valid?  [True, True]
Translation: X:718.64, Y:63.49, Z:188.11
[[ 9.34843054e-01 -2.56710536e-01 -2.45291999e-01  7.18638809e+02]
 [ 2.49540158e-01  9.66476837e-01 -6.04337030e-02  6.34871389e+01]
 [ 2.52583004e-01 -4.71417686e-03  9.67563746e-01  1.88105848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.5207140570001 meters
Centerline goodness : 0.999540 with order 1
Centerline is valid?  [True, True]
Translation: X:718.70, Y:63.50, Z:188.12
[[ 9.35665649e-01 -2.53701249e-01 -2.45286506e-01  7.18695043e+02]
 [ 2.46423281e-01  9.67274852e-01 -6.04559912e-02  6.34992910e+01]
 [ 2.52597229e-01 -3.87771138e-03  9.67563746e-01  1.88119947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.580714057 meters
Centerline goodness : 0.999311 with order 1
Centerline is valid?  [True, True]
Translation: X:718.75, Y:63.51, Z:188.13
[[ 9.35689612e-01 -2.53627385e-01 -2.45271482e-01  7.18751360e+02]
 [ 2.46330964e-01  9.67294559e-01 -6.05168823e-02  6.35091960e+01]
 [ 2.52598509e-01 -3.79294261e-03  9.67563748e-01  1.88134989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.640714057 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:718.81, Y:63.52, Z:188.15
[[ 9.34730712e-01 -2.57153422e-01 -2.45256220e-01  7.18807859e+02]
 [ 2.49960006e-01  9.66359260e-01 -6.05786740e-02  6.35197326e+01]
 [ 2.52583633e-01 -4.67949914e-03  9.67563750e-01  1.88149355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.700714057 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:718.86, Y:63.53, Z:188.16
[[ 9.34275088e-01 -2.58807056e-01 -2.45252864e-01  7.18862104e+02]
 [ 2.51666054e-01  9.65915512e-01 -6.05922580e-02  6.35329467e+01]
 [ 2.52575250e-01 -5.11198344e-03  9.67563750e-01  1.88163603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.760714057 meters
Centerline goodness : 0.999644 with order 1
Centerline is valid?  [True, True]
Translation: X:718.92, Y:63.55, Z:188.18
[[ 9.34051497e-01 -2.59618048e-01 -2.45247366e-01  7.18918144e+02]
 [ 2.52498679e-01  9.65696795e-01 -6.06145037e-02  6.35450942e+01]
 [ 2.52571215e-01 -5.30756819e-03  9.67563751e-01  1.88176921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.820714057 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:718.97, Y:63.56, Z:188.19
[[ 9.34063705e-01 -2.59588995e-01 -2.45231622e-01  7.18974193e+02]
 [ 2.52451943e-01  9.65705017e-01 -6.06781375e-02  6.35586179e+01]
 [ 2.52572784e-01 -5.23195345e-03  9.67563753e-01  1.88191660e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.880714057 meters
Centerline goodness : 0.999540 with order 1
Centerline is valid?  [True, True]
Translation: X:719.03, Y:63.57, Z:188.20
[[ 9.33764888e-01 -2.60663909e-01 -2.45229405e-01  7.19028533e+02]
 [ 2.53560929e-01  9.65413866e-01 -6.06870941e-02  6.35729540e+01]
 [ 2.52566803e-01 -5.51311825e-03  9.67563753e-01  1.88204794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 742.940714057 meters
Centerline goodness : 0.999459 with order 1
Centerline is valid?  [True, True]
Translation: X:719.08, Y:63.59, Z:188.22
[[ 9.33090288e-01 -2.63085350e-01 -2.45211364e-01  7.19084590e+02]
 [ 2.56045372e-01  9.64753337e-01 -6.07599053e-02  6.35854736e+01]
 [ 2.52553523e-01 -6.09075751e-03  9.67563755e-01  1.88218373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.000714057 meters
Centerline goodness : 0.999521 with order 1
Centerline is valid?  [True, True]
Translation: X:719.14, Y:63.60, Z:188.23
[[ 9.32609335e-01 -2.64789345e-01 -2.45206914e-01  7.19139929e+02]
 [ 2.57802499e-01  9.64284151e-01 -6.07778586e-02  6.35995122e+01]
 [ 2.52542471e-01 -6.53295704e-03  9.67563756e-01  1.88231969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.060714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:719.20, Y:63.61, Z:188.25
[[ 9.31719341e-01 -2.67918288e-01 -2.45191477e-01  7.19195387e+02]
 [ 2.61021443e-01  9.63413873e-01 -6.08400752e-02  6.36133716e+01]
 [ 2.52521039e-01 -7.31435841e-03  9.67563758e-01  1.88248920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.120714057 meters
Centerline goodness : 0.999579 with order 1
Centerline is valid?  [True, True]
Translation: X:719.25, Y:63.63, Z:188.26
[[ 9.30498296e-01 -2.72129735e-01 -2.45190391e-01  7.19251206e+02]
 [ 2.65375165e-01  9.62223454e-01 -6.08444505e-02  6.36263601e+01]
 [ 2.52485529e-01 -8.45178293e-03  9.67563758e-01  1.88264374e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.180714057 meters
Centerline goodness : 0.999791 with order 1
Centerline is valid?  [True, True]
Translation: X:719.31, Y:63.64, Z:188.28
[[ 9.29757715e-01 -2.74652265e-01 -2.45187122e-01  7.19305561e+02]
 [ 2.67980290e-01  9.61500345e-01 -6.08576230e-02  6.36388313e+01]
 [ 2.52462186e-01 -9.12247162e-03  9.67563758e-01  1.88280357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.240714057 meters
Centerline goodness : 0.999602 with order 1
Centerline is valid?  [True, True]
Translation: X:719.36, Y:63.65, Z:188.29
[[ 9.29292644e-01 -2.76226246e-01 -2.45182059e-01  7.19361492e+02]
 [ 2.69602659e-01  9.61045407e-01 -6.08780145e-02  6.36524931e+01]
 [ 2.52447197e-01 -9.52824398e-03  9.67563758e-01  1.88293844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.300714057 meters
Centerline goodness : 0.999477 with order 1
Centerline is valid?  [True, True]
Translation: X:719.42, Y:63.67, Z:188.31
[[ 9.30071270e-01 -2.73606269e-01 -2.45167375e-01  7.19415083e+02]
 [ 2.66877671e-01  9.61801944e-01 -6.09370936e-02  6.36684082e+01]
 [ 2.52475229e-01 -8.75385796e-03  9.67563760e-01  1.88307118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.360714057 meters
Centerline goodness : 0.999665 with order 1
Centerline is valid?  [True, True]
Translation: X:719.47, Y:63.68, Z:188.32
[[ 9.31758098e-01 -2.67810634e-01 -2.45161806e-01  7.19471278e+02]
 [ 2.60878733e-01  9.63444979e-01 -6.09594909e-02  6.36832376e+01]
 [ 2.52525511e-01 -7.15800195e-03  9.67563760e-01  1.88322556e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.420714057 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:719.53, Y:63.70, Z:188.34
[[ 9.32740853e-01 -2.64368532e-01 -2.45160723e-01  7.19526562e+02]
 [ 2.57318538e-01  9.64401669e-01 -6.09638473e-02  6.36986892e+01]
 [ 2.52550333e-01 -6.22092770e-03  9.67563760e-01  1.88338565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.480714057 meters
Centerline goodness : 0.999707 with order 1
Centerline is valid?  [True, True]
Translation: X:719.58, Y:63.71, Z:188.35
[[ 9.33144789e-01 -2.62941319e-01 -2.45158452e-01  7.19581076e+02]
 [ 2.55840501e-01  9.64794244e-01 -6.09729777e-02  6.37139609e+01]
 [ 2.52559778e-01 -5.82484470e-03  9.67563760e-01  1.88354688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.5407140570001 meters
Centerline goodness : 0.999561 with order 1
Centerline is valid?  [True, True]
Translation: X:719.64, Y:63.73, Z:188.37
[[ 9.32139667e-01 -2.66484471e-01 -2.45156416e-01  7.19635733e+02]
 [ 2.59501790e-01  9.63815397e-01 -6.09811634e-02  6.37281651e+01]
 [ 2.52536061e-01 -6.77556739e-03  9.67563760e-01  1.88369236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.600714057 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:719.69, Y:63.74, Z:188.38
[[ 9.29429653e-01 -2.75792621e-01 -2.45150875e-01  7.19690546e+02]
 [ 2.69121184e-01  9.61172393e-01 -6.10034302e-02  6.37434631e+01]
 [ 2.52456549e-01 -9.27689686e-03  9.67563760e-01  1.88384562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.6607140570001 meters
Centerline goodness : 0.999644 with order 1
Centerline is valid?  [True, True]
Translation: X:719.75, Y:63.76, Z:188.40
[[ 9.27266084e-01 -2.82983621e-01 -2.45148690e-01  7.19746503e+02]
 [ 2.76555946e-01  9.59059080e-01 -6.10122068e-02  6.37607800e+01]
 [ 2.52377533e-01 -1.12227779e-02  9.67563760e-01  1.88398335e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.720714057 meters
Centerline goodness : 0.999750 with order 1
Centerline is valid?  [True, True]
Translation: X:719.80, Y:63.78, Z:188.41
[[ 9.24402916e-01 -2.92201834e-01 -2.45147581e-01  7.19801791e+02]
 [ 2.86089843e-01  9.56258108e-01 -6.10166637e-02  6.37803966e+01]
 [ 2.52253543e-01 -1.37302511e-02  9.67563760e-01  1.88414446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.7807140570001 meters
Centerline goodness : 0.999644 with order 1
Centerline is valid?  [True, True]
Translation: X:719.86, Y:63.80, Z:188.43
[[ 9.22990504e-01 -2.96634236e-01 -2.45146200e-01  7.19855813e+02]
 [ 2.90673705e-01  9.54874383e-01 -6.10222137e-02  6.37992517e+01]
 [ 2.52185104e-01 -1.49346303e-02  9.67563760e-01  1.88430860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.840714057 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:719.91, Y:63.82, Z:188.45
[[ 9.21692018e-01 -3.00646302e-01 -2.45144090e-01  7.19910126e+02]
 [ 2.94822273e-01  9.53601113e-01 -6.10306894e-02  6.38201663e+01]
 [ 2.52118328e-01 -1.60224385e-02  9.67563760e-01  1.88445916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.9007140570001 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:719.96, Y:63.85, Z:188.46
[[ 9.20007237e-01 -3.05764301e-01 -2.45142563e-01  7.19964248e+02]
 [ 3.00116082e-01  9.51947921e-01 -6.10368212e-02  6.38461120e+01]
 [ 2.52025834e-01 -1.74169083e-02  9.67563760e-01  1.88458004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 743.960714057 meters
Centerline goodness : 0.999579 with order 1
Centerline is valid?  [True, True]
Translation: X:720.02, Y:63.87, Z:188.47
[[ 9.18755256e-01 -3.09506836e-01 -2.45141386e-01  7.20018828e+02]
 [ 3.03987430e-01  9.50718450e-01 -6.10415486e-02  6.38684580e+01]
 [ 2.51953215e-01 -1.84376563e-02  9.67563760e-01  1.88472110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.0207140570001 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:720.07, Y:63.90, Z:188.49
[[ 9.17312273e-01 -3.13758583e-01 -2.45140255e-01  7.20071099e+02]
 [ 3.08386064e-01  9.49300485e-01 -6.10460892e-02  6.38978550e+01]
 [ 2.51865497e-01 -1.95995115e-02  9.67563760e-01  1.88488114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.080714057 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:720.12, Y:63.93, Z:188.50
[[ 9.16381217e-01 -3.16469094e-01 -2.45138284e-01  7.20123390e+02]
 [ 3.11189064e-01  9.48384825e-01 -6.10540038e-02  6.39268967e+01]
 [ 2.51807134e-01 -2.03356107e-02  9.67563760e-01  1.88503338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.140714057 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:720.18, Y:63.96, Z:188.52
[[ 9.15253414e-01 -3.19716140e-01 -2.45138284e-01  7.20175161e+02]
 [ 3.14549612e-01  9.47275541e-01 -6.10540038e-02  6.39563581e+01]
 [ 2.51733451e-01 -2.12282666e-02  9.67563760e-01  1.88517672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.200714057 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:720.23, Y:63.99, Z:188.53
[[ 9.14598013e-01 -3.21587620e-01 -2.45136445e-01  7.20226764e+02]
 [ 3.16484641e-01  9.46630329e-01 -6.10613841e-02  6.39867034e+01]
 [ 2.51690179e-01 -2.17352992e-02  9.67563760e-01  1.88531009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.260714057 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:720.28, Y:64.02, Z:188.55
[[ 9.14743151e-01 -3.21175904e-01 -2.45134671e-01  7.20277951e+02]
 [ 3.16056613e-01  9.46772863e-01 -6.10685076e-02  6.40184395e+01]
 [ 2.51700587e-01 -2.16144348e-02  9.67563760e-01  1.88545634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.320714057 meters
Centerline goodness : 0.999727 with order 1
Centerline is valid?  [True, True]
Translation: X:720.33, Y:64.04, Z:188.56
[[ 9.15160507e-01 -3.19996306e-01 -2.45119586e-01  7.20329916e+02]
 [ 3.14819644e-01  9.47180995e-01 -6.11289971e-02  6.40439689e+01]
 [ 2.51733667e-01 -2.12256169e-02  9.67563762e-01  1.88560531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.380714057 meters
Centerline goodness : 0.999223 with order 1
Centerline is valid?  [True, True]
Translation: X:720.38, Y:64.07, Z:188.58
[[ 9.15714882e-01 -3.18418737e-01 -2.45103576e-01  7.20382018e+02]
 [ 3.13169859e-01  9.47723610e-01 -6.11931248e-02  6.40737832e+01]
 [ 2.51775484e-01 -2.07235975e-02  9.67563764e-01  1.88576094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.440714057 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:720.43, Y:64.10, Z:188.59
[[ 9.15976073e-01 -3.17668120e-01 -2.45101611e-01  7.20432856e+02]
 [ 3.12390919e-01  9.47980143e-01 -6.12009957e-02  6.41027776e+01]
 [ 2.51793066e-01 -2.05088699e-02  9.67563765e-01  1.88591545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.500714057 meters
Centerline goodness : 0.999521 with order 1
Centerline is valid?  [True, True]
Translation: X:720.48, Y:64.13, Z:188.61
[[ 9.16124377e-01 -3.17252207e-01 -2.45086031e-01  7.20484474e+02]
 [ 3.11943915e-01  9.48123304e-01 -6.12633249e-02  6.41262600e+01]
 [ 2.51807703e-01 -2.03282708e-02  9.67563767e-01  1.88606243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.560714057 meters
Centerline goodness : 0.998297 with order 1
Centerline is valid?  [True, True]
Translation: X:720.54, Y:64.15, Z:188.62
[[ 9.15893149e-01 -3.17923356e-01 -2.45080558e-01  7.20538440e+02]
 [ 3.12632696e-01  9.47894994e-01 -6.12852122e-02  6.41537242e+01]
 [ 2.51794635e-01 -2.04894896e-02  9.67563767e-01  1.88620190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.620714057 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:720.59, Y:64.18, Z:188.63
[[ 9.15641709e-01 -3.18646796e-01 -2.45080558e-01  7.20590269e+02]
 [ 3.13381418e-01  9.47647724e-01 -6.12852122e-02  6.41795988e+01]
 [ 2.51778370e-01 -2.06883966e-02  9.67563767e-01  1.88634612e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.680714057 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:720.64, Y:64.20, Z:188.65
[[ 9.15629888e-01 -3.18687270e-01 -2.45072098e-01  7.20642928e+02]
 [ 3.13414320e-01  9.47634656e-01 -6.13190279e-02  6.42034426e+01]
 [ 2.51780406e-01 -2.06635701e-02  9.67563767e-01  1.88648439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.740714057 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:720.70, Y:64.22, Z:188.66
[[ 9.15937011e-01 -3.17815646e-01 -2.45056333e-01  7.20696201e+02]
 [ 3.12495513e-01  9.47933968e-01 -6.13819692e-02  6.42246038e+01]
 [ 2.51805372e-01 -2.03569870e-02  9.67563769e-01  1.88662834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.800714057 meters
Centerline goodness : 0.998366 with order 1
Centerline is valid?  [True, True]
Translation: X:720.75, Y:64.25, Z:188.68
[[ 9.16445914e-01 -3.16346857e-01 -2.45054184e-01  7.20750962e+02]
 [ 3.10973156e-01  9.48433918e-01 -6.13905470e-02  6.42473272e+01]
 [ 2.51838406e-01 -1.99441569e-02  9.67563769e-01  1.88676463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.860714057 meters
Centerline goodness : 0.997595 with order 1
Centerline is valid?  [True, True]
Translation: X:720.80, Y:64.27, Z:188.69
[[ 9.16984438e-01 -3.14783336e-01 -2.45053038e-01  7.20803550e+02]
 [ 3.09353872e-01  9.48963024e-01 -6.13951177e-02  6.42687974e+01]
 [ 2.51872432e-01 -1.95097388e-02  9.67563769e-01  1.88689795e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.920714057 meters
Centerline goodness : 0.997043 with order 1
Centerline is valid?  [True, True]
Translation: X:720.86, Y:64.29, Z:188.70
[[ 9.17743792e-01 -3.12568772e-01 -2.45045088e-01  7.20858764e+02]
 [ 3.07053707e-01  9.49707726e-01 -6.14268329e-02  6.42891793e+01]
 [ 2.51921323e-01 -1.88679083e-02  9.67563770e-01  1.88703854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 744.980714057 meters
Centerline goodness : 0.997040 with order 1
Centerline is valid?  [True, True]
Translation: X:720.91, Y:64.31, Z:188.72
[[ 9.18339209e-01 -3.10815930e-01 -2.45043987e-01  7.20912310e+02]
 [ 3.05238680e-01  9.50292351e-01 -6.14312276e-02  6.43117366e+01]
 [ 2.51957230e-01 -1.83821980e-02  9.67563770e-01  1.88719825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.0407140570001 meters
Centerline goodness : 0.996370 with order 1
Centerline is valid?  [True, True]
Translation: X:720.97, Y:64.33, Z:188.74
[[ 9.17742717e-01 -3.12574555e-01 -2.45041738e-01  7.20967277e+02]
 [ 3.07056145e-01  9.49706073e-01 -6.14401970e-02  6.43311974e+01]
 [ 2.51922269e-01 -1.88552781e-02  9.67563770e-01  1.88735710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.100714057 meters
Centerline goodness : 0.996118 with order 1
Centerline is valid?  [True, True]
Translation: X:721.02, Y:64.35, Z:188.75
[[ 9.15688039e-01 -3.18544169e-01 -2.45040869e-01  7.21022666e+02]
 [ 3.13233097e-01  9.47686500e-01 -6.14436631e-02  6.43502559e+01]
 [ 2.51794444e-01 -2.04916828e-02  9.67563770e-01  1.88749450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.1607140570001 meters
Centerline goodness : 0.995893 with order 1
Centerline is valid?  [True, True]
Translation: X:721.08, Y:64.37, Z:188.77
[[ 9.13959135e-01 -3.23472127e-01 -2.45039757e-01  7.21076383e+02]
 [ 3.18332321e-01  9.45985552e-01 -6.14480968e-02  6.43719661e+01]
 [ 2.51680816e-01 -2.18430250e-02  9.67563770e-01  1.88765428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.220714057 meters
Centerline goodness : 0.995631 with order 1
Centerline is valid?  [True, True]
Translation: X:721.13, Y:64.39, Z:188.78
[[ 9.13465527e-01 -3.24864197e-01 -2.45038742e-01  7.21130526e+02]
 [ 3.19772113e-01  9.45499566e-01 -6.14521448e-02  6.43918477e+01]
 [ 2.51647626e-01 -2.22221404e-02  9.67563770e-01  1.88782000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.2807140570001 meters
Centerline goodness : 0.996068 with order 1
Centerline is valid?  [True, True]
Translation: X:721.19, Y:64.41, Z:188.80
[[ 9.14459872e-01 -3.22055455e-01 -2.45037603e-01  7.21185565e+02]
 [ 3.16863743e-01  9.46477916e-01 -6.14566855e-02  6.44111179e+01]
 [ 2.51715140e-01 -2.14438591e-02  9.67563770e-01  1.88798095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.340714057 meters
Centerline goodness : 0.995668 with order 1
Centerline is valid?  [True, True]
Translation: X:721.24, Y:64.43, Z:188.81
[[ 9.17526493e-01 -3.13212216e-01 -2.45037228e-01  7.21239891e+02]
 [ 3.07711244e-01  9.49492855e-01 -6.14581799e-02  6.44347843e+01]
 [ 2.51910550e-01 -1.90112020e-02  9.67563770e-01  1.88814300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.4007140570001 meters
Centerline goodness : 0.995551 with order 1
Centerline is valid?  [True, True]
Translation: X:721.29, Y:64.46, Z:188.83
[[ 9.22085139e-01 -2.99526730e-01 -2.45036192e-01  7.21294619e+02]
 [ 2.93549684e-01  9.53965915e-01 -6.14623113e-02  6.44560021e+01]
 [ 2.52165780e-01 -1.52568127e-02  9.67563770e-01  1.88829287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.460714057 meters
Centerline goodness : 0.995548 with order 1
Centerline is valid?  [True, True]
Translation: X:721.35, Y:64.48, Z:188.84
[[ 9.26196954e-01 -2.86560090e-01 -2.45035746e-01  7.21350191e+02]
 [ 2.80135865e-01  9.57990638e-01 -6.14640880e-02  6.44757297e+01]
 [ 2.52355105e-01 -1.17154495e-02  9.67563770e-01  1.88842312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.5207140570001 meters
Centerline goodness : 0.995510 with order 1
Centerline is valid?  [True, True]
Translation: X:721.41, Y:64.49, Z:188.86
[[ 9.29549971e-01 -2.75490008e-01 -2.45034911e-01  7.21405965e+02]
 [ 2.68686060e-01  9.61264562e-01 -6.14674163e-02  6.44924291e+01]
 [ 2.52477036e-01 -8.70042984e-03  9.67563770e-01  1.88857406e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.580714057 meters
Centerline goodness : 0.995622 with order 1
Centerline is valid?  [True, True]
Translation: X:721.46, Y:64.51, Z:188.87
[[ 9.31506694e-01 -2.68799690e-01 -2.45034703e-01  7.21462373e+02]
 [ 2.61767680e-01  9.63171499e-01 -6.14682466e-02  6.45070742e+01]
 [ 2.52533088e-01 -6.88408258e-03  9.67563770e-01  1.88872683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.640714057 meters
Centerline goodness : 0.995679 with order 1
Centerline is valid?  [True, True]
Translation: X:721.52, Y:64.52, Z:188.89
[[ 9.33712336e-01 -2.61038076e-01 -2.45031422e-01  7.21519153e+02]
 [ 2.53739354e-01  9.65316729e-01 -6.14813234e-02  6.45181776e+01]
 [ 2.52581897e-01 -4.76824467e-03  9.67563770e-01  1.88887746e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.700714057 meters
Centerline goodness : 0.995422 with order 1
Centerline is valid?  [True, True]
Translation: X:721.58, Y:64.53, Z:188.90
[[ 9.34719564e-01 -2.57409526e-01 -2.45029941e-01  7.21575504e+02]
 [ 2.49986560e-01  9.66295007e-01 -6.14872238e-02  6.45262687e+01]
 [ 2.52598606e-01 -3.78088101e-03  9.67563770e-01  1.88902610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.760714057 meters
Centerline goodness : 0.995497 with order 1
Centerline is valid?  [True, True]
Translation: X:721.63, Y:64.54, Z:188.92
[[ 9.34792882e-01 -2.57146246e-01 -2.45026683e-01  7.21631708e+02]
 [ 2.49710985e-01  9.66365432e-01 -6.15002052e-02  6.45370917e+01]
 [ 2.52599863e-01 -3.69590023e-03  9.67563770e-01  1.88916426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.820714057 meters
Centerline goodness : 0.995793 with order 1
Centerline is valid?  [True, True]
Translation: X:721.69, Y:64.54, Z:188.93
[[ 9.34434419e-01 -2.58460715e-01 -2.45010971e-01  7.21691325e+02]
 [ 2.51053474e-01  9.66013552e-01 -6.15627395e-02  6.45398778e+01]
 [ 2.52595468e-01 -3.98451268e-03  9.67563772e-01  1.88931216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.880714057 meters
Centerline goodness : 0.996178 with order 1
Centerline is valid?  [True, True]
Translation: X:721.75, Y:64.54, Z:188.95
[[ 9.33792308e-01 -2.60773287e-01 -2.45008609e-01  7.21750671e+02]
 [ 2.53441784e-01  9.65389110e-01 -6.15721376e-02  6.45409132e+01]
 [ 2.52585012e-01 -4.59983045e-03  9.67563772e-01  1.88947970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 745.940714057 meters
Centerline goodness : 0.996656 with order 1
Centerline is valid?  [True, True]
Translation: X:721.81, Y:64.54, Z:188.96
[[ 9.32960293e-01 -2.63735672e-01 -2.45007321e-01  7.21809052e+02]
 [ 2.56503143e-01  9.64579897e-01 -6.15772620e-02  6.45388602e+01]
 [ 2.52569257e-01 -5.39600746e-03  9.67563772e-01  1.88962898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.000714057 meters
Centerline goodness : 0.997508 with order 1
Centerline is valid?  [True, True]
Translation: X:721.87, Y:64.54, Z:188.98
[[ 9.32422321e-01 -2.65647879e-01 -2.44989429e-01  7.21868655e+02]
 [ 2.58461519e-01  9.64052448e-01 -6.16483669e-02  6.45421384e+01]
 [ 2.52559417e-01 -5.83802675e-03  9.67563775e-01  1.88977375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.060714057 meters
Centerline goodness : 0.997656 with order 1
Centerline is valid?  [True, True]
Translation: X:721.93, Y:64.54, Z:188.99
[[ 9.31927930e-01 -2.67378134e-01 -2.44988298e-01  7.21927247e+02]
 [ 2.60249316e-01  9.63571076e-01 -6.16528636e-02  6.45432702e+01]
 [ 2.52548265e-01 -6.30201115e-03  9.67563775e-01  1.88992758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.120714057 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:721.99, Y:64.54, Z:189.01
[[ 9.32391148e-01 -2.65772976e-01 -2.44972393e-01  7.21986616e+02]
 [ 2.58573100e-01  9.64018199e-01 -6.17159977e-02  6.45437452e+01]
 [ 2.52560289e-01 -5.79982111e-03  9.67563777e-01  1.89008673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.180714057 meters
Centerline goodness : 0.999143 with order 1
Centerline is valid?  [True, True]
Translation: X:722.05, Y:64.55, Z:189.03
[[ 9.32549142e-01 -2.65218718e-01 -2.44971692e-01  7.22045397e+02]
 [ 2.57999314e-01  9.64171741e-01 -6.17187806e-02  6.45454485e+01]
 [ 2.52563758e-01 -5.64673261e-03  9.67563777e-01  1.89025958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.240714057 meters
Centerline goodness : 0.998957 with order 1
Centerline is valid?  [True, True]
Translation: X:722.10, Y:64.55, Z:189.04
[[ 9.32109326e-01 -2.66762439e-01 -2.44969399e-01  7.22101977e+02]
 [ 2.59593014e-01  9.63743294e-01 -6.17278798e-02  6.45527582e+01]
 [ 2.52554295e-01 -6.05521226e-03  9.67563777e-01  1.89042446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.300714057 meters
Centerline goodness : 0.999459 with order 1
Centerline is valid?  [True, True]
Translation: X:722.16, Y:64.55, Z:189.06
[[ 9.30037717e-01 -2.73911746e-01 -2.44953464e-01  7.22161357e+02]
 [ 2.66968813e-01  9.61722163e-01 -6.17910517e-02  6.45512040e+01]
 [ 2.52502470e-01 -7.92692676e-03  9.67563779e-01  1.89056985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.360714057 meters
Centerline goodness : 0.999583 with order 1
Centerline is valid?  [True, True]
Translation: X:722.22, Y:64.56, Z:189.07
[[ 9.28225192e-01 -2.80006544e-01 -2.44937396e-01  7.22219416e+02]
 [ 2.73254831e-01  9.59950934e-01 -6.18546819e-02  6.45602502e+01]
 [ 2.52447597e-01 -9.51525274e-03  9.67563781e-01  1.89071195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.420714057 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:722.28, Y:64.57, Z:189.08
[[ 9.24862709e-01 -2.90921132e-01 -2.44936450e-01  7.22277642e+02]
 [ 2.84542612e-01  9.56665583e-01 -6.18584258e-02  6.45680311e+01]
 [ 2.52318195e-01 -1.24843060e-02  9.67563781e-01  1.89084984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.480714057 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:722.33, Y:64.58, Z:189.10
[[ 9.21231922e-01 -3.02222537e-01 -2.44935265e-01  7.22334760e+02]
 [ 2.96232619e-01  9.53110272e-01 -6.18631197e-02  6.45766154e+01]
 [ 2.52146746e-01 -1.55675343e-02  9.67563781e-01  1.89099968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.5407140570001 meters
Centerline goodness : 0.999748 with order 1
Centerline is valid?  [True, True]
Translation: X:722.39, Y:64.59, Z:189.12
[[ 9.18999029e-01 -3.08946756e-01 -2.44934046e-01  7.22392098e+02]
 [ 3.03188683e-01  9.50920070e-01 -6.18679430e-02  6.45886542e+01]
 [ 2.52026601e-01 -1.74046514e-02  9.67563781e-01  1.89115870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.600714057 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:722.45, Y:64.60, Z:189.13
[[ 9.16279997e-01 -3.16920184e-01 -2.44933796e-01  7.22448880e+02]
 [ 3.11439424e-01  9.48249819e-01 -6.18689350e-02  6.46022498e+01]
 [ 2.51865942e-01 -1.95927727e-02  9.67563781e-01  1.89130239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.6607140570001 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:722.51, Y:64.62, Z:189.15
[[ 9.14158045e-01 -3.22990386e-01 -2.44933213e-01  7.22505247e+02]
 [ 3.17721171e-01  9.46163415e-01 -6.18712400e-02  6.46171525e+01]
 [ 2.51730661e-01 -2.12603756e-02  9.67563781e-01  1.89145386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.720714057 meters
Centerline goodness : 0.999727 with order 1
Centerline is valid?  [True, True]
Translation: X:722.56, Y:64.64, Z:189.16
[[ 9.12745304e-01 -3.26962194e-01 -2.44932101e-01  7.22560293e+02]
 [ 3.21831020e-01  9.44773094e-01 -6.18756448e-02  6.46364439e+01]
 [ 2.51636255e-01 -2.23500436e-02  9.67563781e-01  1.89161671e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.7807140570001 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:722.61, Y:64.65, Z:189.18
[[ 9.11945500e-01 -3.29187465e-01 -2.44930639e-01  7.22613613e+02]
 [ 3.24132884e-01  9.43985467e-01 -6.18814284e-02  6.46546291e+01]
 [ 2.51581555e-01 -2.29575845e-02  9.67563781e-01  1.89176509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.840714057 meters
Centerline goodness : 0.999519 with order 1
Centerline is valid?  [True, True]
Translation: X:722.67, Y:64.68, Z:189.19
[[ 9.11300150e-01 -3.30983412e-01 -2.44912265e-01  7.22667157e+02]
 [ 3.25972617e-01  9.43346991e-01 -6.19540694e-02  6.46773121e+01]
 [ 2.51543017e-01 -2.33759391e-02  9.67563784e-01  1.89192313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.9007140570001 meters
Centerline goodness : 0.999580 with order 1
Centerline is valid?  [True, True]
Translation: X:722.72, Y:64.70, Z:189.21
[[ 9.11784016e-01 -3.29649606e-01 -2.44910282e-01  7.22718276e+02]
 [ 3.24589837e-01  9.43823161e-01 -6.19619048e-02  6.47017901e+01]
 [ 2.51577714e-01 -2.29995143e-02  9.67563784e-01  1.89206201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 746.960714057 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:722.77, Y:64.73, Z:189.22
[[ 9.12860641e-01 -3.26661410e-01 -2.44903601e-01  7.22772918e+02]
 [ 3.21489705e-01  9.44881908e-01 -6.19883021e-02  6.47285696e+01]
 [ 2.51654168e-01 -2.21473051e-02  9.67563784e-01  1.89217651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.0207140570001 meters
Centerline goodness : 0.998735 with order 1
Centerline is valid?  [True, True]
Translation: X:722.83, Y:64.75, Z:189.23
[[ 9.13976623e-01 -3.23527844e-01 -2.44900934e-01  7.22826212e+02]
 [ 3.18243517e-01  9.45979497e-01 -6.19988352e-02  6.47532002e+01]
 [ 2.51729612e-01 -2.12726485e-02  9.67563784e-01  1.89232234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.080714057 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:722.88, Y:64.78, Z:189.25
[[ 9.16128071e-01 -3.17385814e-01 -2.44899168e-01  7.22878601e+02]
 [ 3.11884944e-01  9.48094437e-01 -6.20058133e-02  6.47817487e+01]
 [ 2.51867304e-01 -1.95750971e-02  9.67563784e-01  1.89249073e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.140714057 meters
Centerline goodness : 0.997621 with order 1
Centerline is valid?  [True, True]
Translation: X:722.93, Y:64.81, Z:189.26
[[ 9.18314112e-01 -3.11004561e-01 -2.44898661e-01  7.22931652e+02]
 [ 3.05280901e-01  9.50241339e-01 -6.20078148e-02  6.48101836e+01]
 [ 2.51997545e-01 -1.78202324e-02  9.67563784e-01  1.89263837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.200714057 meters
Centerline goodness : 0.996858 with order 1
Centerline is valid?  [True, True]
Translation: X:722.99, Y:64.83, Z:189.28
[[ 9.19709957e-01 -3.06852770e-01 -2.44897881e-01  7.22985519e+02]
 [ 3.00984116e-01  9.51610851e-01 -6.20108952e-02  6.48340041e+01]
 [ 2.52075696e-01 -1.66783343e-02  9.67563784e-01  1.89279231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.260714057 meters
Centerline goodness : 0.996230 with order 1
Centerline is valid?  [True, True]
Translation: X:723.04, Y:64.86, Z:189.30
[[ 9.21636595e-01 -3.01017602e-01 -2.44896694e-01  7.23037579e+02]
 [ 2.94945641e-01  9.53499416e-01 -6.20155819e-02  6.48611493e+01]
 [ 2.52176636e-01 -1.50753828e-02  9.67563784e-01  1.89295917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.320714057 meters
Centerline goodness : 0.995638 with order 1
Centerline is valid?  [True, True]
Translation: X:723.09, Y:64.89, Z:189.31
[[ 9.23288098e-01 -2.95914668e-01 -2.44895074e-01  7.23090991e+02]
 [ 2.89664850e-01  9.55116511e-01 -6.20219783e-02  6.48853734e+01]
 [ 2.52256542e-01 -1.36733404e-02  9.67563784e-01  1.89311283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.380714057 meters
Centerline goodness : 0.994873 with order 1
Centerline is valid?  [True, True]
Translation: X:723.14, Y:64.91, Z:189.33
[[ 9.24222934e-01 -2.92982831e-01 -2.44893913e-01  7.23144283e+02]
 [ 2.86630816e-01  9.56031109e-01 -6.20265617e-02  6.49084520e+01]
 [ 2.52298917e-01 -1.28677713e-02  9.67563784e-01  1.89326759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.440714057 meters
Centerline goodness : 0.995059 with order 1
Centerline is valid?  [True, True]
Translation: X:723.20, Y:64.93, Z:189.34
[[ 9.24734277e-01 -2.91366838e-01 -2.44891573e-01  7.23197208e+02]
 [ 2.84956791e-01  9.56530808e-01 -6.20358005e-02  6.49266178e+01]
 [ 2.52321509e-01 -1.24168856e-02  9.67563784e-01  1.89341771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.500714057 meters
Centerline goodness : 0.995682 with order 1
Centerline is valid?  [True, True]
Translation: X:723.25, Y:64.95, Z:189.35
[[ 9.25808326e-01 -2.87940383e-01 -2.44886258e-01  7.23253757e+02]
 [ 2.81407096e-01  9.57579763e-01 -6.20567757e-02  6.49453390e+01]
 [ 2.52366776e-01 -1.14600509e-02  9.67563785e-01  1.89353536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.560714057 meters
Centerline goodness : 0.995178 with order 1
Centerline is valid?  [True, True]
Translation: X:723.31, Y:64.96, Z:189.37
[[ 9.27456561e-01 -2.82588180e-01 -2.44884151e-01  7.23309843e+02]
 [ 2.75869301e-01  9.59189269e-01 -6.20650891e-02  6.49605069e+01]
 [ 2.52429110e-01 -9.99334529e-03  9.67563785e-01  1.89369600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.620714057 meters
Centerline goodness : 0.995794 with order 1
Centerline is valid?  [True, True]
Translation: X:723.36, Y:64.97, Z:189.39
[[ 9.28877841e-01 -2.77881139e-01 -2.44883706e-01  7.23364671e+02]
 [ 2.71000959e-01  9.60575966e-01 -6.20668424e-02  6.49737414e+01]
 [ 2.52476608e-01 -8.71120468e-03  9.67563785e-01  1.89386404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.680714057 meters
Centerline goodness : 0.995644 with order 1
Centerline is valid?  [True, True]
Translation: X:723.42, Y:64.99, Z:189.40
[[ 9.29060002e-01 -2.77273589e-01 -2.44881339e-01  7.23420447e+02]
 [ 2.70370221e-01  9.60753086e-01 -6.20761816e-02  6.49872155e+01]
 [ 2.52482587e-01 -8.53612423e-03  9.67563785e-01  1.89400957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.740714057 meters
Centerline goodness : 0.995198 with order 1
Centerline is valid?  [True, True]
Translation: X:723.48, Y:65.00, Z:189.42
[[ 9.29252097e-01 -2.76632137e-01 -2.44877929e-01  7.23477387e+02]
 [ 2.69703351e-01  9.60939634e-01 -6.20896277e-02  6.49986254e+01]
 [ 2.52488894e-01 -8.34748148e-03  9.67563785e-01  1.89417000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.800714057 meters
Centerline goodness : 0.995112 with order 1
Centerline is valid?  [True, True]
Translation: X:723.53, Y:65.01, Z:189.43
[[ 9.28754043e-01 -2.78300722e-01 -2.44876776e-01  7.23531916e+02]
 [ 2.71427664e-01  9.60453714e-01 -6.20941782e-02  6.50085603e+01]
 [ 2.52473663e-01 -8.79611199e-03  9.67563785e-01  1.89433918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.860714057 meters
Centerline goodness : 0.994719 with order 1
Centerline is valid?  [True, True]
Translation: X:723.59, Y:65.02, Z:189.45
[[ 9.27149712e-01 -2.83604580e-01 -2.44871096e-01  7.23589161e+02]
 [ 2.76906913e-01  9.58886903e-01 -6.21165699e-02  6.50188242e+01]
 [ 2.52420230e-01 -1.02151393e-02  9.67563785e-01  1.89450669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.920714057 meters
Centerline goodness : 0.995430 with order 1
Centerline is valid?  [True, True]
Translation: X:723.65, Y:65.03, Z:189.47
[[ 9.25313094e-01 -2.89541012e-01 -2.44870744e-01  7.23646658e+02]
 [ 2.83046526e-01  9.57092485e-01 -6.21179538e-02  6.50270450e+01]
 [ 2.52349644e-01 -1.18312575e-02  9.67563785e-01  1.89466279e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 747.980714057 meters
Centerline goodness : 0.995523 with order 1
Centerline is valid?  [True, True]
Translation: X:723.70, Y:65.04, Z:189.48
[[ 9.24083413e-01 -2.93442879e-01 -2.44869604e-01  7.23704191e+02]
 [ 2.87081359e-01  9.55889687e-01 -6.21224502e-02  6.50379036e+01]
 [ 2.52297720e-01 -1.28911729e-02  9.67563785e-01  1.89481851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.0407140570001 meters
Centerline goodness : 0.995715 with order 1
Centerline is valid?  [True, True]
Translation: X:723.76, Y:65.05, Z:189.50
[[ 9.22150821e-01 -2.99460677e-01 -2.44869693e-01  7.23762371e+02]
 [ 2.93306728e-01  9.53997908e-01 -6.21220986e-02  6.50495208e+01]
 [ 2.52208300e-01 -1.45359843e-02  9.67563785e-01  1.89495570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.100714057 meters
Centerline goodness : 0.995861 with order 1
Centerline is valid?  [True, True]
Translation: X:723.82, Y:65.06, Z:189.51
[[ 9.20593833e-01 -3.04213663e-01 -2.44869439e-01  7.23820121e+02]
 [ 2.98223815e-01  9.52472192e-01 -6.21231014e-02  6.50616315e+01]
 [ 2.52130027e-01 -1.58357541e-02  9.67563785e-01  1.89509456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.1607140570001 meters
Centerline goodness : 0.995758 with order 1
Centerline is valid?  [True, True]
Translation: X:723.88, Y:65.08, Z:189.53
[[ 9.19521304e-01 -3.07440803e-01 -2.44868792e-01  7.23875870e+02]
 [ 3.01562131e-01  9.51420351e-01 -6.21256516e-02  6.50762324e+01]
 [ 2.52073112e-01 -1.67172943e-02  9.67563785e-01  1.89526002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.220714057 meters
Centerline goodness : 0.995823 with order 1
Centerline is valid?  [True, True]
Translation: X:723.93, Y:65.09, Z:189.54
[[ 9.18698647e-01 -3.09891352e-01 -2.44867609e-01  7.23930873e+02]
 [ 3.04096515e-01  9.50613031e-01 -6.21303125e-02  6.50916977e+01]
 [ 2.52027986e-01 -1.73843524e-02  9.67563785e-01  1.89541366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.2807140570001 meters
Centerline goodness : 0.996093 with order 1
Centerline is valid?  [True, True]
Translation: X:723.99, Y:65.11, Z:189.56
[[ 9.17535227e-01 -3.13322061e-01 -2.44864032e-01  7.23986578e+02]
 [ 3.07642776e-01  9.49470376e-01 -6.21444077e-02  6.51081812e+01]
 [ 2.51962358e-01 -1.83109673e-02  9.67563785e-01  1.89555324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.340714057 meters
Centerline goodness : 0.995796 with order 1
Centerline is valid?  [True, True]
Translation: X:724.04, Y:65.13, Z:189.57
[[ 9.16686121e-01 -3.15798580e-01 -2.44862845e-01  7.24041256e+02]
 [ 3.10204312e-01  9.48636272e-01 -6.21490820e-02  6.51255325e+01]
 [ 2.51912369e-01 -1.89863095e-02  9.67563785e-01  1.89569328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.4007140570001 meters
Centerline goodness : 0.996476 with order 1
Centerline is valid?  [True, True]
Translation: X:724.10, Y:65.15, Z:189.58
[[ 9.14973920e-01 -3.20727368e-01 -2.44860536e-01  7.24096255e+02]
 [ 3.15302709e-01  9.46953305e-01 -6.21581809e-02  6.51478870e+01]
 [ 2.51807323e-01 -2.03320758e-02  9.67563785e-01  1.89584206e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.460714057 meters
Centerline goodness : 0.996432 with order 1
Centerline is valid?  [True, True]
Translation: X:724.15, Y:65.17, Z:189.60
[[ 9.13825347e-01 -3.23985333e-01 -2.44860653e-01  7.24151669e+02]
 [ 3.18674772e-01  9.45823878e-01 -6.21577174e-02  6.51661806e+01]
 [ 2.51733241e-01 -2.12296153e-02  9.67563785e-01  1.89599033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.5207140570001 meters
Centerline goodness : 0.996428 with order 1
Centerline is valid?  [True, True]
Translation: X:724.21, Y:65.19, Z:189.61
[[ 9.10941457e-01 -3.32008292e-01 -2.44859462e-01  7.24205425e+02]
 [ 3.26978059e-01  9.42985251e-01 -6.21624087e-02  6.51870223e+01]
 [ 2.51537297e-01 -2.34373564e-02  9.67563785e-01  1.89613868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.580714057 meters
Centerline goodness : 0.996322 with order 1
Centerline is valid?  [True, True]
Translation: X:724.26, Y:65.21, Z:189.63
[[ 9.08005845e-01 -3.39955608e-01 -2.44858267e-01  7.24260245e+02]
 [ 3.35204316e-01  9.40092185e-01 -6.21671180e-02  6.52098292e+01]
 [ 2.51323403e-01 -2.56294413e-02  9.67563785e-01  1.89629559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.640714057 meters
Centerline goodness : 0.996212 with order 1
Centerline is valid?  [True, True]
Translation: X:724.31, Y:65.23, Z:189.64
[[ 9.06944768e-01 -3.42775901e-01 -2.44858876e-01  7.24312699e+02]
 [ 3.38124991e-01  9.39045813e-01 -6.21647166e-02  6.52304874e+01]
 [ 2.51242269e-01 -2.64129409e-02  9.67563785e-01  1.89644937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.700714057 meters
Centerline goodness : 0.995597 with order 1
Centerline is valid?  [True, True]
Translation: X:724.37, Y:65.26, Z:189.66
[[ 9.06806496e-01 -3.43145453e-01 -2.44853381e-01  7.24365292e+02]
 [ 3.38501850e-01  9.38908598e-01 -6.21863560e-02  6.52562118e+01]
 [ 2.51233909e-01 -2.64923307e-02  9.67563786e-01  1.89659173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.760714057 meters
Centerline goodness : 0.995722 with order 1
Centerline is valid?  [True, True]
Translation: X:724.42, Y:65.28, Z:189.68
[[ 9.08044792e-01 -3.39857622e-01 -2.44849858e-01  7.24417553e+02]
 [ 3.35094038e-01  9.40129309e-01 -6.22002205e-02  6.52819032e+01]
 [ 2.51329747e-01 -2.55671416e-02  9.67563786e-01  1.89676755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.820714057 meters
Centerline goodness : 0.996830 with order 1
Centerline is valid?  [True, True]
Translation: X:724.47, Y:65.31, Z:189.69
[[ 9.10881622e-01 -3.32180840e-01 -2.44848035e-01  7.24470043e+02]
 [ 3.27144693e-01  9.42924488e-01 -6.22073996e-02  6.53084465e+01]
 [ 2.51537314e-01 -2.34371579e-02  9.67563786e-01  1.89691094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.880714057 meters
Centerline goodness : 0.996908 with order 1
Centerline is valid?  [True, True]
Translation: X:724.52, Y:65.34, Z:189.71
[[ 9.14873202e-01 -3.21024529e-01 -2.44847456e-01  7.24523340e+02]
 [ 3.15596571e-01  9.46852027e-01 -6.22096768e-02  6.53355277e+01]
 [ 2.51805142e-01 -2.03590513e-02  9.67563786e-01  1.89706603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 748.940714057 meters
Centerline goodness : 0.996674 with order 1
Centerline is valid?  [True, True]
Translation: X:724.58, Y:65.36, Z:189.72
[[ 9.17771423e-01 -3.12642688e-01 -2.44847228e-01  7.24577710e+02]
 [ 3.06922205e-01  9.49699218e-01 -6.22105758e-02  6.53579017e+01]
 [ 2.51980902e-01 -1.80539624e-02  9.67563786e-01  1.89721614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.000714057 meters
Centerline goodness : 0.997152 with order 1
Centerline is valid?  [True, True]
Translation: X:724.63, Y:65.38, Z:189.74
[[ 9.22560115e-01 -2.98216211e-01 -2.44846740e-01  7.24629970e+02]
 [ 2.91995387e-01  9.54394206e-01 -6.22124952e-02  6.53839758e+01]
 [ 2.52233084e-01 -1.40993517e-02  9.67563786e-01  1.89736798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.060714057 meters
Centerline goodness : 0.996973 with order 1
Centerline is valid?  [True, True]
Translation: X:724.69, Y:65.41, Z:189.75
[[ 9.25819674e-01 -2.87938677e-01 -2.44845359e-01  7.24685878e+02]
 [ 2.81362800e-01  9.57582322e-01 -6.22179307e-02  6.54050244e+01]
 [ 2.52374536e-01 -1.12877914e-02  9.67563786e-01  1.89751112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.120714057 meters
Centerline goodness : 0.996393 with order 1
Centerline is valid?  [True, True]
Translation: X:724.74, Y:65.43, Z:189.77
[[ 9.30321308e-01 -2.73043665e-01 -2.44845708e-01  7.24740678e+02]
 [ 2.65959257e-01  9.61974414e-01 -6.22165558e-02  6.54258912e+01]
 [ 2.52523143e-01 -7.23759487e-03  9.67563786e-01  1.89766968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.180714057 meters
Centerline goodness : 0.996339 with order 1
Centerline is valid?  [True, True]
Translation: X:724.80, Y:65.44, Z:189.78
[[ 9.33557046e-01 -2.61766627e-01 -2.44845818e-01  7.24797381e+02]
 [ 2.54299843e-01  9.65122139e-01 -6.22161229e-02  6.54415086e+01]
 [ 2.52592224e-01 -4.18195312e-03  9.67563786e-01  1.89783307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.240714057 meters
Centerline goodness : 0.995568 with order 1
Centerline is valid?  [True, True]
Translation: X:724.85, Y:65.46, Z:189.80
[[ 9.35055737e-01 -2.56361355e-01 -2.44846123e-01  7.24854480e+02]
 [ 2.48712397e-01  9.66577181e-01 -6.22149219e-02  6.54551215e+01]
 [ 2.52612177e-01 -2.72184644e-03  9.67563786e-01  1.89799368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.300714057 meters
Centerline goodness : 0.995569 with order 1
Centerline is valid?  [True, True]
Translation: X:724.91, Y:65.46, Z:189.81
[[ 9.36097247e-01 -2.52528478e-01 -2.44849571e-01  7.24914264e+02]
 [ 2.44753997e-01  9.67587967e-01 -6.22013511e-02  6.54631557e+01]
 [ 2.52621111e-01 -1.70139752e-03  9.67563786e-01  1.89814866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.360714057 meters
Centerline goodness : 0.995324 with order 1
Centerline is valid?  [True, True]
Translation: X:724.97, Y:65.47, Z:189.83
[[ 9.35689736e-01 -2.54030961e-01 -2.44852993e-01  7.24974856e+02]
 [ 2.46310571e-01  9.67193761e-01 -6.21878754e-02  6.54660387e+01]
 [ 2.52617933e-01 -2.12132382e-03  9.67563786e-01  1.89830372e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.420714057 meters
Centerline goodness : 0.995247 with order 1
Centerline is valid?  [True, True]
Translation: X:725.04, Y:65.47, Z:189.85
[[ 9.34972109e-01 -2.56657438e-01 -2.44855294e-01  7.25035933e+02]
 [ 2.49027915e-01  9.66498263e-01 -6.21788172e-02  6.54676111e+01]
 [ 2.52610872e-01 -2.84034342e-03  9.67563786e-01  1.89845656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.480714057 meters
Centerline goodness : 0.995558 with order 1
Centerline is valid?  [True, True]
Translation: X:725.09, Y:65.47, Z:189.86
[[ 9.34408415e-01 -2.58699938e-01 -2.44857623e-01  7.25093919e+02]
 [ 2.51141729e-01  9.65951742e-01 -6.21696421e-02  6.54720780e+01]
 [ 2.52603930e-01 -3.40213017e-03  9.67563786e-01  1.89860227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.5407140570001 meters
Centerline goodness : 0.995188 with order 1
Centerline is valid?  [True, True]
Translation: X:725.15, Y:65.47, Z:189.87
[[ 9.34010296e-01 -2.60135802e-01 -2.44855330e-01  7.25153690e+02]
 [ 2.52623716e-01  9.65564638e-01 -6.21786741e-02  6.54705806e+01]
 [ 2.52598547e-01 -3.78074137e-03  9.67563786e-01  1.89874128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.600714057 meters
Centerline goodness : 0.995267 with order 1
Centerline is valid?  [True, True]
Translation: X:725.21, Y:65.48, Z:189.89
[[ 9.33716783e-01 -2.61190599e-01 -2.44851874e-01  7.25211255e+02]
 [ 2.53710592e-01  9.65278745e-01 -6.21922788e-02  6.54801199e+01]
 [ 2.52594348e-01 -4.05153949e-03  9.67563786e-01  1.89888517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.6607140570001 meters
Centerline goodness : 0.996218 with order 1
Centerline is valid?  [True, True]
Translation: X:725.27, Y:65.48, Z:189.90
[[ 9.33230550e-01 -2.62924777e-01 -2.44849550e-01  7.25272009e+02]
 [ 2.55501018e-01  9.64805790e-01 -6.22014277e-02  6.54790170e+01]
 [ 2.52586560e-01 -4.51103657e-03  9.67563786e-01  1.89902386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.720714057 meters
Centerline goodness : 0.995859 with order 1
Centerline is valid?  [True, True]
Translation: X:725.33, Y:65.48, Z:189.92
[[ 9.31798123e-01 -2.67958052e-01 -2.44848404e-01  7.25330788e+02]
 [ 2.60703644e-01  9.63412700e-01 -6.22059360e-02  6.54776893e+01]
 [ 2.52558644e-01 -5.86949705e-03  9.67563786e-01  1.89917821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.7807140570001 meters
Centerline goodness : 0.996342 with order 1
Centerline is valid?  [True, True]
Translation: X:725.39, Y:65.48, Z:189.93
[[ 9.29606449e-01 -2.75479460e-01 -2.44832426e-01  7.25389934e+02]
 [ 2.68464246e-01  9.61274961e-01 -6.22687633e-02  6.54767318e+01]
 [ 2.52505046e-01 -7.84330872e-03  9.67563788e-01  1.89932444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.840714057 meters
Centerline goodness : 0.996485 with order 1
Centerline is valid?  [True, True]
Translation: X:725.45, Y:65.48, Z:189.95
[[ 9.28069690e-01 -2.80616153e-01 -2.44828971e-01  7.25447820e+02]
 [ 2.73772601e-01  9.59775741e-01 -6.22823459e-02  6.54820863e+01]
 [ 2.52458339e-01 -9.22510671e-03  9.67563788e-01  1.89947297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.9007140570001 meters
Centerline goodness : 0.997052 with order 1
Centerline is valid?  [True, True]
Translation: X:725.51, Y:65.49, Z:189.96
[[ 9.25799213e-01 -2.88017832e-01 -2.44829626e-01  7.25505790e+02]
 [ 2.81428351e-01  9.57559039e-01 -6.22797693e-02  6.54879974e+01]
 [ 2.52376506e-01 -1.12434364e-02  9.67563788e-01  1.89962879e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 749.960714057 meters
Centerline goodness : 0.996440 with order 1
Centerline is valid?  [True, True]
Translation: X:725.56, Y:65.50, Z:189.98
[[ 9.23570186e-01 -2.95089271e-01 -2.44827356e-01  7.25563743e+02]
 [ 2.88740501e-01  9.55379004e-01 -6.22886918e-02  6.54952433e+01]
 [ 2.52283640e-01 -1.31635948e-02  9.67563788e-01  1.89979270e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.0207140570001 meters
Centerline goodness : 0.997077 with order 1
Centerline is valid?  [True, True]
Translation: X:725.62, Y:65.51, Z:189.99
[[ 9.22087082e-01 -2.99691982e-01 -2.44826732e-01  7.25619061e+02]
 [ 2.93501292e-01  9.53927044e-01 -6.22911438e-02  6.55072005e+01]
 [ 2.52214997e-01 -1.44191031e-02  9.67563788e-01  1.89993983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.080714057 meters
Centerline goodness : 0.996879 with order 1
Centerline is valid?  [True, True]
Translation: X:725.68, Y:65.52, Z:190.01
[[ 9.20211735e-01 -3.05414894e-01 -2.44810347e-01  7.25675655e+02]
 [ 2.99405093e-01  9.52086333e-01 -6.23554762e-02  6.55219113e+01]
 [ 2.52124876e-01 -1.59172238e-02  9.67563791e-01  1.90009099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.140714057 meters
Centerline goodness : 0.996731 with order 1
Centerline is valid?  [True, True]
Translation: X:725.73, Y:65.54, Z:190.02
[[ 9.17999591e-01 -3.12001576e-01 -2.44809657e-01  7.25731938e+02]
 [ 3.06219635e-01  9.49916308e-01 -6.23581839e-02  6.55394397e+01]
 [ 2.52004537e-01 -1.77207366e-02  9.67563791e-01  1.90021926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.200714057 meters
Centerline goodness : 0.996896 with order 1
Centerline is valid?  [True, True]
Translation: X:725.79, Y:65.56, Z:190.04
[[ 9.15409672e-01 -3.19521432e-01 -2.44808471e-01  7.25786088e+02]
 [ 3.14000261e-01  9.47372531e-01 -6.23628416e-02  6.55591477e+01]
 [ 2.51851085e-01 -1.97823754e-02  9.67563791e-01  1.90035601e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.260714057 meters
Centerline goodness : 0.996482 with order 1
Centerline is valid?  [True, True]
Translation: X:725.84, Y:65.58, Z:190.05
[[ 9.13954326e-01 -3.23659210e-01 -2.44810550e-01  7.25841031e+02]
 [ 3.18284857e-01  9.45942199e-01 -6.23546777e-02  6.55788321e+01]
 [ 2.51758296e-01 -2.09301635e-02  9.67563791e-01  1.90051913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.320714057 meters
Centerline goodness : 0.995371 with order 1
Centerline is valid?  [True, True]
Translation: X:725.89, Y:65.61, Z:190.07
[[ 9.12458688e-01 -3.27852559e-01 -2.44809809e-01  7.25894083e+02]
 [ 3.22624373e-01  9.44470775e-01 -6.23575864e-02  6.56051041e+01]
 [ 2.51659804e-01 -2.20828897e-02  9.67563791e-01  1.90069139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.380714057 meters
Centerline goodness : 0.995050 with order 1
Centerline is valid?  [True, True]
Translation: X:725.95, Y:65.63, Z:190.08
[[ 9.12036844e-01 -3.29024615e-01 -2.44809311e-01  7.25947009e+02]
 [ 3.23837042e-01  9.44055538e-01 -6.23595405e-02  6.56317466e+01]
 [ 2.51631410e-01 -2.24041247e-02  9.67563791e-01  1.90084467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.440714057 meters
Centerline goodness : 0.994883 with order 1
Centerline is valid?  [True, True]
Translation: X:726.00, Y:65.66, Z:190.10
[[ 9.12546196e-01 -3.27611067e-01 -2.44806923e-01  7.25997932e+02]
 [ 3.22371394e-01  9.44556405e-01 -6.23689159e-02  6.56605355e+01]
 [ 2.51666694e-01 -2.20042320e-02  9.67563791e-01  1.90100197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.500714057 meters
Centerline goodness : 0.995028 with order 1
Centerline is valid?  [True, True]
Translation: X:726.05, Y:65.69, Z:190.12
[[ 9.12882972e-01 -3.26683901e-01 -2.44790336e-01  7.26051228e+02]
 [ 3.21394411e-01  9.44884985e-01 -6.24339499e-02  6.56850013e+01]
 [ 2.51694880e-01 -2.16793562e-02  9.67563793e-01  1.90115645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.560714057 meters
Centerline goodness : 0.995232 with order 1
Centerline is valid?  [True, True]
Translation: X:726.10, Y:65.71, Z:190.13
[[ 9.12353622e-01 -3.28161096e-01 -2.44787996e-01  7.26103250e+02]
 [ 3.22920971e-01  9.44363756e-01 -6.24431258e-02  6.57140449e+01]
 [ 2.51660316e-01 -2.20769652e-02  9.67563793e-01  1.90130876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.620714057 meters
Centerline goodness : 0.995669 with order 1
Centerline is valid?  [True, True]
Translation: X:726.16, Y:65.74, Z:190.15
[[ 9.10798533e-01 -3.32452799e-01 -2.44788007e-01  7.26156010e+02]
 [ 3.27363447e-01  9.42832984e-01 -6.24430817e-02  6.57410838e+01]
 [ 2.51553584e-01 -2.32615785e-02  9.67563793e-01  1.90147684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.680714057 meters
Centerline goodness : 0.995781 with order 1
Centerline is valid?  [True, True]
Translation: X:726.21, Y:65.77, Z:190.16
[[ 9.08649496e-01 -3.38282428e-01 -2.44787853e-01  7.26209359e+02]
 [ 3.33398297e-01  9.40715877e-01 -6.24436854e-02  6.57701045e+01]
 [ 2.51399421e-01 -2.48724301e-02  9.67563793e-01  1.90162365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.740714057 meters
Centerline goodness : 0.995751 with order 1
Centerline is valid?  [True, True]
Translation: X:726.26, Y:65.79, Z:190.18
[[ 9.07371038e-01 -3.41696673e-01 -2.44788036e-01  7.26262751e+02]
 [ 3.36933342e-01  9.39455586e-01 -6.24429696e-02  6.57932623e+01]
 [ 2.51304042e-01 -2.58183088e-02  9.67563793e-01  1.90175497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.800714057 meters
Centerline goodness : 0.996031 with order 1
Centerline is valid?  [True, True]
Translation: X:726.32, Y:65.82, Z:190.19
[[ 9.06321064e-01 -3.44472437e-01 -2.44787397e-01  7.26315113e+02]
 [ 3.39806667e-01  9.38419944e-01 -6.24454745e-02  6.58223174e+01]
 [ 2.51224120e-01 -2.65847405e-02  9.67563793e-01  1.90191364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.860714057 meters
Centerline goodness : 0.996742 with order 1
Centerline is valid?  [True, True]
Translation: X:726.37, Y:65.85, Z:190.21
[[ 9.06635794e-01 -3.43644048e-01 -2.44786244e-01  7.26367906e+02]
 [ 3.38947741e-01  9.38730221e-01 -6.24499939e-02  6.58527609e+01]
 [ 2.51248813e-01 -2.63503444e-02  9.67563793e-01  1.90209589e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.920714057 meters
Centerline goodness : 0.996174 with order 1
Centerline is valid?  [True, True]
Translation: X:726.42, Y:65.88, Z:190.23
[[ 9.07850312e-01 -3.40420907e-01 -2.44788516e-01  7.26419949e+02]
 [ 3.35612985e-01  9.39928208e-01 -6.24410843e-02  6.58816694e+01]
 [ 2.51339882e-01 -2.54670467e-02  9.67563793e-01  1.90226359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 750.980714057 meters
Centerline goodness : 0.996558 with order 1
Centerline is valid?  [True, True]
Translation: X:726.47, Y:65.91, Z:190.24
[[ 9.08630775e-01 -3.38332217e-01 -2.44788533e-01  7.26474699e+02]
 [ 3.33450555e-01  9.40697532e-01 -6.24410194e-02  6.59055109e+01]
 [ 2.51397777e-01 -2.48890403e-02  9.67563793e-01  1.90242521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.0407140570001 meters
Centerline goodness : 0.996162 with order 1
Centerline is valid?  [True, True]
Translation: X:726.53, Y:65.93, Z:190.26
[[ 9.09300985e-01 -3.36525183e-01 -2.44790766e-01  7.26527534e+02]
 [ 3.31582116e-01  9.41358334e-01 -6.24322620e-02  6.59340548e+01]
 [ 2.51445856e-01 -2.43985230e-02  9.67563793e-01  1.90259795e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.100714057 meters
Centerline goodness : 0.996873 with order 1
Centerline is valid?  [True, True]
Translation: X:726.58, Y:65.96, Z:190.27
[[ 9.09902364e-01 -3.34895513e-01 -2.44791100e-01  7.26582164e+02]
 [ 3.29895368e-01  9.41950860e-01 -6.24309526e-02  6.59614203e+01]
 [ 2.51489033e-01 -2.39493788e-02  9.67563793e-01  1.90274478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.1607140570001 meters
Centerline goodness : 0.996263 with order 1
Centerline is valid?  [True, True]
Translation: X:726.64, Y:65.99, Z:190.29
[[ 9.10831464e-01 -3.32358582e-01 -2.44793416e-01  7.26638093e+02]
 [ 3.27271565e-01  9.42866286e-01 -6.24218698e-02  6.59854904e+01]
 [ 2.51553903e-01 -2.32581214e-02  9.67563793e-01  1.90291141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.220714057 meters
Centerline goodness : 0.997082 with order 1
Centerline is valid?  [True, True]
Translation: X:726.69, Y:66.01, Z:190.31
[[ 9.13029472e-01 -3.26259570e-01 -2.44809878e-01  7.26691138e+02]
 [ 3.20975613e-01  9.45032396e-01 -6.23572453e-02  6.60128585e+01]
 [ 2.51697914e-01 -2.16439978e-02  9.67563795e-01  1.90305792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.2807140570001 meters
Centerline goodness : 0.996809 with order 1
Centerline is valid?  [True, True]
Translation: X:726.74, Y:66.04, Z:190.32
[[ 9.16412502e-01 -3.16633052e-01 -2.44809389e-01  7.26743287e+02]
 [ 3.11012088e-01  9.48357958e-01 -6.23591652e-02  6.60398133e+01]
 [ 2.51911905e-01 -1.89919606e-02  9.67563795e-01  1.90321582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.340714057 meters
Centerline goodness : 0.997322 with order 1
Centerline is valid?  [True, True]
Translation: X:726.80, Y:66.07, Z:190.34
[[ 9.20149679e-01 -3.05602274e-01 -2.44809761e-01  7.26796199e+02]
 [ 2.99598374e-01  9.52025384e-01 -6.23577032e-02  6.60657250e+01]
 [ 2.52121763e-01 -1.59661859e-02  9.67563795e-01  1.90340573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.4007140570001 meters
Centerline goodness : 0.997786 with order 1
Centerline is valid?  [True, True]
Translation: X:726.85, Y:66.09, Z:190.36
[[ 9.22236160e-01 -2.99246472e-01 -2.44810158e-01  7.26851707e+02]
 [ 2.93023202e-01  9.54069764e-01 -6.23561439e-02  6.60858069e+01]
 [ 2.52225826e-01 -1.42279659e-02  9.67563795e-01  1.90357024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.460714057 meters
Centerline goodness : 0.998530 with order 1
Centerline is valid?  [True, True]
Translation: X:726.91, Y:66.10, Z:190.37
[[ 9.23552925e-01 -2.95156285e-01 -2.44811687e-01  7.26906968e+02]
 [ 2.88793580e-01  9.55358952e-01 -6.23501425e-02  6.61045970e+01]
 [ 2.52286073e-01 -1.31163870e-02  9.67563795e-01  1.90371767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.5207140570001 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:726.96, Y:66.12, Z:190.39
[[ 9.24538650e-01 -2.92054645e-01 -2.44810883e-01  7.26962837e+02]
 [ 2.85584382e-01  9.56322972e-01 -6.23533007e-02  6.61215421e+01]
 [ 2.52328842e-01 -1.22661282e-02  9.67563795e-01  1.90387711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.580714057 meters
Centerline goodness : 0.997498 with order 1
Centerline is valid?  [True, True]
Translation: X:727.02, Y:66.14, Z:190.40
[[ 9.26258397e-01 -2.86553335e-01 -2.44811290e-01  7.27020265e+02]
 [ 2.79894659e-01  9.58003782e-01 -6.23517008e-02  6.61381422e+01]
 [ 2.52397229e-01 -1.07675860e-02  9.67563795e-01  1.90401637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.640714057 meters
Centerline goodness : 0.997996 with order 1
Centerline is valid?  [True, True]
Translation: X:727.08, Y:66.15, Z:190.41
[[ 9.28300046e-01 -2.79867618e-01 -2.44812461e-01  7.27078130e+02]
 [ 2.72981444e-01  9.59996859e-01 -6.23471017e-02  6.61530836e+01]
 [ 2.52468129e-01 -8.95244184e-03  9.67563795e-01  1.90414693e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.700714057 meters
Centerline goodness : 0.997358 with order 1
Centerline is valid?  [True, True]
Translation: X:727.14, Y:66.17, Z:190.43
[[ 9.30517528e-01 -2.72402003e-01 -2.44814787e-01  7.27135492e+02]
 [ 2.65263847e-01  9.62158547e-01 -6.23379691e-02  6.61652406e+01]
 [ 2.52531627e-01 -6.93393912e-03  9.67563795e-01  1.90430212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.760714057 meters
Centerline goodness : 0.997038 with order 1
Centerline is valid?  [True, True]
Translation: X:727.19, Y:66.18, Z:190.45
[[ 9.31350247e-01 -2.69541241e-01 -2.44814698e-01  7.27194185e+02]
 [ 2.62305794e-01  9.62969161e-01 -6.23383165e-02  6.61772844e+01]
 [ 2.52551752e-01 -6.15750736e-03  9.67563795e-01  1.90446284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.820714057 meters
Centerline goodness : 0.996979 with order 1
Centerline is valid?  [True, True]
Translation: X:727.25, Y:66.18, Z:190.46
[[ 9.31369647e-01 -2.69470088e-01 -2.44819225e-01  7.27252459e+02]
 [ 2.62236897e-01  9.62989076e-01 -6.23205339e-02  6.61844338e+01]
 [ 2.52551759e-01 -6.15718025e-03  9.67563795e-01  1.90462938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.880714057 meters
Centerline goodness : 0.997124 with order 1
Centerline is valid?  [True, True]
Translation: X:727.31, Y:66.19, Z:190.48
[[ 9.29412558e-01 -2.76144609e-01 -2.44819225e-01  7.27312095e+02]
 [ 2.69138435e-01  9.61083063e-01 -6.23205339e-02  6.61876407e+01]
 [ 2.52501090e-01 -7.96877633e-03  9.67563795e-01  1.90479192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 751.940714057 meters
Centerline goodness : 0.996897 with order 1
Centerline is valid?  [True, True]
Translation: X:727.37, Y:66.19, Z:190.50
[[ 9.27519606e-01 -2.82437062e-01 -2.44819704e-01  7.27372078e+02]
 [ 2.75646182e-01  9.59236972e-01 -6.23186542e-02  6.61939370e+01]
 [ 2.52441209e-01 -9.68184291e-03  9.67563795e-01  1.90495118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.000714057 meters
Centerline goodness : 0.997072 with order 1
Centerline is valid?  [True, True]
Translation: X:727.43, Y:66.20, Z:190.51
[[ 9.24375424e-01 -2.92551165e-01 -2.44834416e-01  7.27431676e+02]
 [ 2.86122409e-01  9.56168165e-01 -6.22608006e-02  6.61952159e+01]
 [ 2.52317344e-01 -1.25002591e-02  9.67563797e-01  1.90509333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.060714057 meters
Centerline goodness : 0.996609 with order 1
Centerline is valid?  [True, True]
Translation: X:727.49, Y:66.20, Z:190.52
[[ 9.21272044e-01 -3.02180998e-01 -2.44835588e-01  7.27492044e+02]
 [ 2.96085568e-01  9.53130371e-01 -6.22561897e-02  6.61975100e+01]
 [ 2.52172873e-01 -1.51373970e-02  9.67563797e-01  1.90522060e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.120714057 meters
Centerline goodness : 0.995921 with order 1
Centerline is valid?  [True, True]
Translation: X:727.55, Y:66.20, Z:190.54
[[ 9.19588253e-01 -3.07266698e-01 -2.44835908e-01  7.27551629e+02]
 [ 3.01347721e-01  9.51479834e-01 -6.22549327e-02  6.62016649e+01]
 [ 2.52085297e-01 -1.65318382e-02  9.67563797e-01  1.90537312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.180714057 meters
Centerline goodness : 0.995937 with order 1
Centerline is valid?  [True, True]
Translation: X:727.61, Y:66.21, Z:190.55
[[ 9.19017861e-01 -3.08966423e-01 -2.44838561e-01  7.27610566e+02]
 [ 3.03109188e-01  9.50920839e-01 -6.22444967e-02  6.62121057e+01]
 [ 2.52053550e-01 -1.70090133e-02  9.67563797e-01  1.90553099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.240714057 meters
Centerline goodness : 0.995836 with order 1
Centerline is valid?  [True, True]
Translation: X:727.67, Y:66.22, Z:190.57
[[ 9.18618736e-01 -3.10139085e-01 -2.44853763e-01  7.27668938e+02]
 [ 3.04338445e-01  9.50532052e-01 -6.21846404e-02  6.62206530e+01]
 [ 2.52027237e-01 -1.73944378e-02  9.67563799e-01  1.90567291e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.300714057 meters
Centerline goodness : 0.995777 with order 1
Centerline is valid?  [True, True]
Translation: X:727.73, Y:66.23, Z:190.58
[[ 9.17942637e-01 -3.12133830e-01 -2.44854627e-01  7.27727234e+02]
 [ 3.06403430e-01  9.49868639e-01 -6.21812397e-02  6.62295093e+01]
 [ 2.51988600e-01 -1.79454863e-02  9.67563799e-01  1.90582640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.360714057 meters
Centerline goodness : 0.996416 with order 1
Centerline is valid?  [True, True]
Translation: X:727.79, Y:66.24, Z:190.60
[[ 9.16965932e-01 -3.14990676e-01 -2.44855783e-01  7.27785481e+02]
 [ 3.09360926e-01  9.48909836e-01 -6.21766868e-02  6.62414166e+01]
 [ 2.51931137e-01 -1.87349082e-02  9.67563799e-01  1.90597638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.420714057 meters
Centerline goodness : 0.996102 with order 1
Centerline is valid?  [True, True]
Translation: X:727.84, Y:66.25, Z:190.61
[[ 9.14583222e-01 -3.21841654e-01 -2.44858082e-01  7.27842408e+02]
 [ 3.16453439e-01  9.46568754e-01 -6.21676332e-02  6.62548373e+01]
 [ 2.51783143e-01 -2.06287078e-02  9.67563799e-01  1.90612031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.480714057 meters
Centerline goodness : 0.996703 with order 1
Centerline is valid?  [True, True]
Translation: X:727.90, Y:66.27, Z:190.62
[[ 9.11552186e-01 -3.30328557e-01 -2.44858443e-01  7.27899702e+02]
 [ 3.25238251e-01  9.43586479e-01 -6.21662098e-02  6.62664253e+01]
 [ 2.51580390e-01 -2.29695873e-02  9.67563799e-01  1.90624741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.5407140570001 meters
Centerline goodness : 0.995939 with order 1
Centerline is valid?  [True, True]
Translation: X:727.96, Y:66.28, Z:190.64
[[ 9.09850784e-01 -3.34987402e-01 -2.44857082e-01  7.27956085e+02]
 [ 3.30059610e-01  9.41910479e-01 -6.21715710e-02  6.62824945e+01]
 [ 2.51460144e-01 -2.42505803e-02  9.67563799e-01  1.90640908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.600714057 meters
Centerline goodness : 0.996084 with order 1
Centerline is valid?  [True, True]
Translation: X:728.01, Y:66.30, Z:190.66
[[ 9.09727982e-01 -3.35320272e-01 -2.44857741e-01  7.28011786e+02]
 [ 3.30404902e-01  9.41789583e-01 -6.21689736e-02  6.62989803e+01]
 [ 2.51450987e-01 -2.43453432e-02  9.67563799e-01  1.90657892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.6607140570001 meters
Centerline goodness : 0.995814 with order 1
Centerline is valid?  [True, True]
Translation: X:728.07, Y:66.32, Z:190.67
[[ 9.10688247e-01 -3.32702619e-01 -2.44858907e-01  7.28067772e+02]
 [ 3.27696287e-01  9.42735771e-01 -6.21643833e-02  6.63167802e+01]
 [ 2.51519503e-01 -2.36269813e-02  9.67563799e-01  1.90672850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.720714057 meters
Centerline goodness : 0.996354 with order 1
Centerline is valid?  [True, True]
Translation: X:728.12, Y:66.34, Z:190.69
[[ 9.11984646e-01 -3.29131759e-01 -2.44859738e-01  7.28123506e+02]
 [ 3.24000766e-01  9.44012447e-01 -6.21611084e-02  6.63360097e+01]
 [ 2.51609835e-01 -2.26447663e-02  9.67563799e-01  1.90688547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.7807140570001 meters
Centerline goodness : 0.995774 with order 1
Centerline is valid?  [True, True]
Translation: X:728.18, Y:66.36, Z:190.70
[[ 9.12686602e-01 -3.27179483e-01 -2.44860680e-01  7.28180262e+02]
 [ 3.21980954e-01  9.44703511e-01 -6.21573971e-02  6.63556110e+01]
 [ 2.51657369e-01 -2.21102519e-02  9.67563799e-01  1.90704289e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.840714057 meters
Centerline goodness : 0.995726 with order 1
Centerline is valid?  [True, True]
Translation: X:728.24, Y:66.37, Z:190.72
[[ 9.12394572e-01 -3.27989567e-01 -2.44865247e-01  7.28235892e+02]
 [ 3.22824253e-01  9.44416855e-01 -6.21393993e-02  6.63737786e+01]
 [ 2.51635942e-01 -2.23527901e-02  9.67563799e-01  1.90719441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.9007140570001 meters
Centerline goodness : 0.996076 with order 1
Centerline is valid?  [True, True]
Translation: X:728.29, Y:66.40, Z:190.73
[[ 9.11829187e-01 -3.29557261e-01 -2.44866382e-01  7.28292178e+02]
 [ 3.24448184e-01  9.43860491e-01 -6.21349265e-02  6.63951401e+01]
 [ 2.51596720e-01 -2.27900136e-02  9.67563799e-01  1.90733290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 752.960714057 meters
Centerline goodness : 0.995843 with order 1
Centerline is valid?  [True, True]
Translation: X:728.35, Y:66.42, Z:190.75
[[ 9.11483861e-01 -3.30509414e-01 -2.44868735e-01  7.28348546e+02]
 [ 3.25436263e-01  9.43520875e-01 -6.21256522e-02  6.64169140e+01]
 [ 2.51571876e-01 -2.30626368e-02  9.67563799e-01  1.90747031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.0207140570001 meters
Centerline goodness : 0.996253 with order 1
Centerline is valid?  [True, True]
Translation: X:728.40, Y:66.44, Z:190.76
[[ 9.10828264e-01 -3.32306016e-01 -2.44876673e-01  7.28403880e+02]
 [ 3.27304382e-01  9.42876521e-01 -6.20943499e-02  6.64392590e+01]
 [ 2.51522791e-01 -2.35919192e-02  9.67563800e-01  1.90762540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.080714057 meters
Centerline goodness : 0.996132 with order 1
Centerline is valid?  [True, True]
Translation: X:728.46, Y:66.46, Z:190.78
[[ 9.10537363e-01 -3.33101869e-01 -2.44877226e-01  7.28458910e+02]
 [ 3.28128825e-01  9.42590068e-01 -6.20921686e-02  6.64628872e+01]
 [ 2.51501859e-01 -2.38140370e-02  9.67563800e-01  1.90778665e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.140714057 meters
Centerline goodness : 0.996507 with order 1
Centerline is valid?  [True, True]
Translation: X:728.51, Y:66.49, Z:190.79
[[ 9.10220344e-01 -3.33961023e-01 -2.44885606e-01  7.28513643e+02]
 [ 3.29027040e-01  9.42279085e-01 -6.20591023e-02  6.64856420e+01]
 [ 2.51475906e-01 -2.40865287e-02  9.67563800e-01  1.90794901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.200714057 meters
Centerline goodness : 0.996573 with order 1
Centerline is valid?  [True, True]
Translation: X:728.57, Y:66.51, Z:190.81
[[ 9.09965453e-01 -3.34654516e-01 -2.44886157e-01  7.28570923e+02]
 [ 3.29745543e-01  9.42028033e-01 -6.20569275e-02  6.65055357e+01]
 [ 2.51457256e-01 -2.42804588e-02  9.67563800e-01  1.90809843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.260714057 meters
Centerline goodness : 0.996467 with order 1
Centerline is valid?  [True, True]
Translation: X:728.63, Y:66.53, Z:190.82
[[ 9.09361486e-01 -3.36280579e-01 -2.44902144e-01  7.28626733e+02]
 [ 3.31445760e-01  9.41435330e-01 -6.19937750e-02  6.65270655e+01]
 [ 2.51406833e-01 -2.47970259e-02  9.67563802e-01  1.90823975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.320714057 meters
Centerline goodness : 0.996904 with order 1
Centerline is valid?  [True, True]
Translation: X:728.68, Y:66.55, Z:190.84
[[ 9.08482890e-01 -3.38645263e-01 -2.44904523e-01  7.28682120e+02]
 [ 3.33896412e-01  9.40569574e-01 -6.19843747e-02  6.65478115e+01]
 [ 2.51340458e-01 -2.54609976e-02  9.67563803e-01  1.90839234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.380714057 meters
Centerline goodness : 0.996961 with order 1
Centerline is valid?  [True, True]
Translation: X:728.74, Y:66.56, Z:190.85
[[ 9.08244846e-01 -3.39282662e-01 -2.44905235e-01  7.28738899e+02]
 [ 3.34557078e-01  9.40334966e-01 -6.19815597e-02  6.65637910e+01]
 [ 2.51322225e-01 -2.56403478e-02  9.67563803e-01  1.90853818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.440714057 meters
Centerline goodness : 0.997886 with order 1
Centerline is valid?  [True, True]
Translation: X:728.80, Y:66.58, Z:190.87
[[ 9.07604017e-01 -3.40984193e-01 -2.44917800e-01  7.28795086e+02]
 [ 3.36332011e-01  9.39704859e-01 -6.19318736e-02  6.65841152e+01]
 [ 2.51268236e-01 -2.61640790e-02  9.67563804e-01  1.90868731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.500714057 meters
Centerline goodness : 0.997331 with order 1
Centerline is valid?  [True, True]
Translation: X:728.85, Y:66.60, Z:190.88
[[ 9.07718668e-01 -3.40677311e-01 -2.44919966e-01  7.28851707e+02]
 [ 3.36016562e-01  9.39818267e-01 -6.19233050e-02  6.66033976e+01]
 [ 2.51276123e-01 -2.60882250e-02  9.67563804e-01  1.90884429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.560714057 meters
Centerline goodness : 0.997805 with order 1
Centerline is valid?  [True, True]
Translation: X:728.91, Y:66.62, Z:190.90
[[ 9.08143453e-01 -3.39538068e-01 -2.44927275e-01  7.28905675e+02]
 [ 3.34844758e-01  9.40238307e-01 -6.18943847e-02  6.66235034e+01]
 [ 2.51305506e-01 -2.58036339e-02  9.67563804e-01  1.90900030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.620714057 meters
Centerline goodness : 0.997918 with order 1
Centerline is valid?  [True, True]
Translation: X:728.96, Y:66.64, Z:190.92
[[ 9.08637186e-01 -3.38215366e-01 -2.44926172e-01  7.28963621e+02]
 [ 3.33474165e-01  9.40725000e-01 -6.18987460e-02  6.66440143e+01]
 [ 2.51343281e-01 -2.54330485e-02  9.67563804e-01  1.90917198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.680714057 meters
Centerline goodness : 0.997955 with order 1
Centerline is valid?  [True, True]
Translation: X:729.02, Y:66.66, Z:190.93
[[ 9.08973282e-01 -3.37298223e-01 -2.44943832e-01  7.29019732e+02]
 [ 3.32543294e-01  9.41059062e-01 -6.18287859e-02  6.66632476e+01]
 [ 2.51361353e-01 -2.52537146e-02  9.67563807e-01  1.90933392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.740714057 meters
Centerline goodness : 0.998107 with order 1
Centerline is valid?  [True, True]
Translation: X:729.08, Y:66.68, Z:190.95
[[ 9.08699630e-01 -3.38033085e-01 -2.44946148e-01  7.29077045e+02]
 [ 3.33306548e-01  9.40789605e-01 -6.18196105e-02  6.66812578e+01]
 [ 2.51339864e-01 -2.54666979e-02  9.67563807e-01  1.90948506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.800714057 meters
Centerline goodness : 0.998265 with order 1
Centerline is valid?  [True, True]
Translation: X:729.13, Y:66.70, Z:190.96
[[ 9.08482354e-01 -3.38605907e-01 -2.44960918e-01  7.29132863e+02]
 [ 3.33915224e-01  9.40577588e-01 -6.17610308e-02  6.66972375e+01]
 [ 2.51317399e-01 -2.56873732e-02  9.67563809e-01  1.90963320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.860714057 meters
Centerline goodness : 0.997962 with order 1
Centerline is valid?  [True, True]
Translation: X:729.19, Y:66.71, Z:190.98
[[ 9.08075127e-01 -3.39696501e-01 -2.44960918e-01  7.29191249e+02]
 [ 3.35044358e-01  9.40175969e-01 -6.17610308e-02  6.67148819e+01]
 [ 2.51286375e-01 -2.59891177e-02  9.67563809e-01  1.90976301e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.920714057 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:729.25, Y:66.73, Z:190.99
[[ 9.07896977e-01 -3.40160971e-01 -2.44976718e-01  7.29247150e+02]
 [ 3.35541983e-01  9.40002605e-01 -6.16983003e-02  6.67311013e+01]
 [ 2.51266106e-01 -2.61842732e-02  9.67563811e-01  1.90990038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 753.980714057 meters
Centerline goodness : 0.998560 with order 1
Centerline is valid?  [True, True]
Translation: X:729.30, Y:66.75, Z:191.01
[[ 9.08743153e-01 -3.37889973e-01 -2.44982137e-01  7.29302882e+02]
 [ 3.33196468e-01  9.40837972e-01 -6.16767742e-02  6.67482205e+01]
 [ 2.51328461e-01 -2.55788366e-02  9.67563811e-01  1.91006740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.0407140570001 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:729.36, Y:66.77, Z:191.02
[[ 9.09771336e-01 -3.35111767e-01 -2.44982079e-01  7.29358762e+02]
 [ 3.30320158e-01  9.41851655e-01 -6.16770051e-02  6.67654260e+01]
 [ 2.51405467e-01 -2.48105477e-02  9.67563811e-01  1.91023758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.100714057 meters
Centerline goodness : 0.998268 with order 1
Centerline is valid?  [True, True]
Translation: X:729.41, Y:66.78, Z:191.04
[[ 9.10947797e-01 -3.31899612e-01 -2.44983182e-01  7.29414711e+02]
 [ 3.26996007e-01  9.43011187e-01 -6.16726220e-02  6.67833620e+01]
 [ 2.51491001e-01 -2.39279832e-02  9.67563811e-01  1.91040022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.1607140570001 meters
Centerline goodness : 0.998659 with order 1
Centerline is valid?  [True, True]
Translation: X:729.47, Y:66.80, Z:191.05
[[ 9.11017063e-01 -3.31708469e-01 -2.44984494e-01  7.29472868e+02]
 [ 3.26799525e-01  9.43079637e-01 -6.16674102e-02  6.67991243e+01]
 [ 2.51495490e-01 -2.38807533e-02  9.67563811e-01  1.91054880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.220714057 meters
Centerline goodness : 0.999002 with order 1
Centerline is valid?  [True, True]
Translation: X:729.53, Y:66.82, Z:191.07
[[ 9.10844623e-01 -3.32170610e-01 -2.44999507e-01  7.29530383e+02]
 [ 3.27293835e-01  9.42912104e-01 -6.16077099e-02  6.68153986e+01]
 [ 2.51477271e-01 -2.40717770e-02  9.67563813e-01  1.91067876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.2807140570001 meters
Centerline goodness : 0.998336 with order 1
Centerline is valid?  [True, True]
Translation: X:729.59, Y:66.83, Z:191.08
[[ 9.10759506e-01 -3.32393056e-01 -2.45014240e-01  7.29587469e+02]
 [ 3.27539737e-01  9.42830544e-01 -6.15490624e-02  6.68306303e+01]
 [ 2.51465390e-01 -2.41955060e-02  9.67563814e-01  1.91079985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.340714057 meters
Centerline goodness : 0.998297 with order 1
Centerline is valid?  [True, True]
Translation: X:729.64, Y:66.85, Z:191.10
[[ 9.11397566e-01 -3.30638730e-01 -2.45015319e-01  7.29643497e+02]
 [ 3.25724810e-01  9.43459374e-01 -6.15447664e-02  6.68464546e+01]
 [ 2.51511083e-01 -2.37158179e-02  9.67563815e-01  1.91096347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.4007140570001 meters
Centerline goodness : 0.998607 with order 1
Centerline is valid?  [True, True]
Translation: X:729.70, Y:66.86, Z:191.11
[[ 9.12803668e-01 -3.26735962e-01 -2.45016478e-01  7.29700990e+02]
 [ 3.21686127e-01  9.44844350e-01 -6.15401523e-02  6.68628496e+01]
 [ 2.51609816e-01 -2.26443250e-02  9.67563815e-01  1.91112802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.460714057 meters
Centerline goodness : 0.998047 with order 1
Centerline is valid?  [True, True]
Translation: X:729.76, Y:66.88, Z:191.13
[[ 9.13843811e-01 -3.23812764e-01 -2.45019964e-01  7.29756146e+02]
 [ 3.18664096e-01  9.45868760e-01 -6.15262722e-02  6.68786597e+01]
 [ 2.51679721e-01 -2.18536622e-02  9.67563815e-01  1.91128291e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.5207140570001 meters
Centerline goodness : 0.998412 with order 1
Centerline is valid?  [True, True]
Translation: X:729.81, Y:66.89, Z:191.14
[[ 9.15736485e-01 -3.18421550e-01 -2.45019198e-01  7.29811479e+02]
 [ 3.13083428e-01  9.47730399e-01 -6.15293209e-02  6.68944090e+01]
 [ 2.51804404e-01 -2.03668063e-02  9.67563815e-01  1.91144370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.580714057 meters
Centerline goodness : 0.998076 with order 1
Centerline is valid?  [True, True]
Translation: X:729.87, Y:66.91, Z:191.16
[[ 9.17497780e-01 -3.13309844e-01 -2.45019929e-01  7.29867960e+02]
 [ 3.07794158e-01  9.49461562e-01 -6.15264113e-02  6.69102034e+01]
 [ 2.51913834e-01 -1.89653569e-02  9.67563815e-01  1.91159857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.640714057 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:729.92, Y:66.93, Z:191.17
[[ 9.18352351e-01 -3.10795193e-01 -2.45021034e-01  7.29924355e+02]
 [ 3.05193132e-01  9.50301108e-01 -6.15220071e-02  6.69251359e+01]
 [ 2.51964504e-01 -1.82798570e-02  9.67563815e-01  1.91173085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.700714057 meters
Centerline goodness : 0.998045 with order 1
Centerline is valid?  [True, True]
Translation: X:729.98, Y:66.94, Z:191.18
[[ 9.19299524e-01 -3.07982763e-01 -2.45020414e-01  7.29982101e+02]
 [ 3.02282281e-01  9.51230866e-01 -6.15244776e-02  6.69404539e+01]
 [ 2.52019459e-01 -1.75059068e-02  9.67563815e-01  1.91184811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.760714057 meters
Centerline goodness : 0.998452 with order 1
Centerline is valid?  [True, True]
Translation: X:730.04, Y:66.96, Z:191.20
[[ 9.19673286e-01 -3.06863838e-01 -2.45021695e-01  7.30038759e+02]
 [ 3.01125856e-01  9.51597911e-01 -6.15193769e-02  6.69554961e+01]
 [ 2.52040205e-01 -1.72046400e-02  9.67563815e-01  1.91200125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.820714057 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:730.10, Y:66.97, Z:191.22
[[ 9.21103576e-01 -3.02541717e-01 -2.45023902e-01  7.30095157e+02]
 [ 2.96656211e-01  9.53001333e-01 -6.15105849e-02  6.69713652e+01]
 [ 2.52117623e-01 -1.60302425e-02  9.67563815e-01  1.91216859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.880714057 meters
Centerline goodness : 0.997788 with order 1
Centerline is valid?  [True, True]
Translation: X:730.15, Y:66.99, Z:191.23
[[ 9.23028648e-01 -2.96616388e-01 -2.45024148e-01  7.30151992e+02]
 [ 2.90526286e-01  9.54887976e-01 -6.15096030e-02  6.69875475e+01]
 [ 2.52215369e-01 -1.44108300e-02  9.67563815e-01  1.91233242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 754.940714057 meters
Centerline goodness : 0.998416 with order 1
Centerline is valid?  [True, True]
Translation: X:730.21, Y:67.00, Z:191.25
[[ 9.24212053e-01 -2.92907500e-01 -2.45025055e-01  7.30209986e+02]
 [ 2.86690468e-01  9.56046855e-01 -6.15059896e-02  6.70034636e+01]
 [ 2.52270999e-01 -1.34017709e-02  9.67563815e-01  1.91249619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.000714057 meters
Centerline goodness : 0.998296 with order 1
Centerline is valid?  [True, True]
Translation: X:730.27, Y:67.02, Z:191.27
[[ 9.24970162e-01 -2.90491209e-01 -2.45040929e-01  7.30266321e+02]
 [ 2.84207726e-01  9.56791913e-01 -6.14426861e-02  6.70200794e+01]
 [ 2.52301739e-01 -1.28098739e-02  9.67563817e-01  1.91265568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.060714057 meters
Centerline goodness : 0.998413 with order 1
Centerline is valid?  [True, True]
Translation: X:730.33, Y:67.03, Z:191.28
[[ 9.25280049e-01 -2.89501685e-01 -2.45042047e-01  7.30325287e+02]
 [ 2.83185347e-01  9.57095295e-01 -6.14382252e-02  6.70338798e+01]
 [ 2.52315060e-01 -1.25447532e-02  9.67563817e-01  1.91278848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.120714057 meters
Centerline goodness : 0.998362 with order 1
Centerline is valid?  [True, True]
Translation: X:730.38, Y:67.05, Z:191.29
[[ 9.25465172e-01 -2.88895939e-01 -2.45057853e-01  7.30382196e+02]
 [ 2.82575443e-01  9.57279590e-01 -6.13751185e-02  6.70486916e+01]
 [ 2.52319904e-01 -1.24467968e-02  9.67563819e-01  1.91293654e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.180714057 meters
Centerline goodness : 0.998271 with order 1
Centerline is valid?  [True, True]
Translation: X:730.44, Y:67.06, Z:191.31
[[ 9.25311968e-01 -2.89385301e-01 -2.45058992e-01  7.30440449e+02]
 [ 2.83082831e-01  9.57129962e-01 -6.13705717e-02  6.70637487e+01]
 [ 2.52313045e-01 -1.25850688e-02  9.67563819e-01  1.91310348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.240714057 meters
Centerline goodness : 0.999010 with order 1
Centerline is valid?  [True, True]
Translation: X:730.50, Y:67.08, Z:191.32
[[ 9.24446273e-01 -2.92135164e-01 -2.45063532e-01  7.30498313e+02]
 [ 2.85932116e-01  9.56283799e-01 -6.13524379e-02  6.70774179e+01]
 [ 2.52273490e-01 -1.33545017e-02  9.67563819e-01  1.91324649e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.300714057 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:730.56, Y:67.09, Z:191.34
[[ 9.23883151e-01 -2.93899116e-01 -2.45078016e-01  7.30555494e+02]
 [ 2.87772160e-01  9.55735405e-01 -6.12945267e-02  6.70916311e+01]
 [ 2.52244144e-01 -1.38976494e-02  9.67563821e-01  1.91340732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.360714057 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:730.61, Y:67.10, Z:191.35
[[ 9.22362040e-01 -2.98637461e-01 -2.45079444e-01  7.30613260e+02]
 [ 2.92675592e-01  9.54245607e-01 -6.12888151e-02  6.71045083e+01]
 [ 2.52169119e-01 -1.51982950e-02  9.67563821e-01  1.91354547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.420714057 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:730.67, Y:67.12, Z:191.37
[[ 9.21098083e-01 -3.02512570e-01 -2.45080532e-01  7.30671155e+02]
 [ 2.96685950e-01  9.53006643e-01 -6.12844653e-02  6.71176411e+01]
 [ 2.52102696e-01 -1.62629470e-02  9.67563821e-01  1.91369779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.480714057 meters
Centerline goodness : 0.998868 with order 1
Centerline is valid?  [True, True]
Translation: X:730.73, Y:67.13, Z:191.39
[[ 9.20569617e-01 -3.04116084e-01 -2.45081595e-01  7.30730731e+02]
 [ 2.98346164e-01  9.52488479e-01 -6.12802142e-02  6.71320803e+01]
 [ 2.52073694e-01 -1.67064503e-02  9.67563821e-01  1.91385523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.5407140570001 meters
Centerline goodness : 0.998139 with order 1
Centerline is valid?  [True, True]
Translation: X:730.79, Y:67.14, Z:191.40
[[ 9.18985119e-01 -3.08856482e-01 -2.45100030e-01  7.30788850e+02]
 [ 3.03270723e-01  9.50936720e-01 -6.12063926e-02  6.71440688e+01]
 [ 2.51978610e-01 -1.80838995e-02  9.67563824e-01  1.91400945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.600714057 meters
Centerline goodness : 0.998729 with order 1
Centerline is valid?  [True, True]
Translation: X:730.85, Y:67.16, Z:191.42
[[ 9.18283792e-01 -3.10933997e-01 -2.45101870e-01  7.30845048e+02]
 [ 3.05422466e-01  9.50248282e-01 -6.11990237e-02  6.71581032e+01]
 [ 2.51936488e-01 -1.86615462e-02  9.67563824e-01  1.91415831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.6607140570001 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:730.90, Y:67.17, Z:191.43
[[ 9.17975989e-01 -3.11839183e-01 -2.45104892e-01  7.30903601e+02]
 [ 3.06362382e-01  9.49946447e-01 -6.11869184e-02  6.71718813e+01]
 [ 2.51917000e-01 -1.89227967e-02  9.67563824e-01  1.91430448e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.720714057 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:730.96, Y:67.19, Z:191.45
[[ 9.18283298e-01 -3.10921670e-01 -2.45119357e-01  7.30959191e+02]
 [ 3.05428314e-01  9.50250914e-01 -6.11289196e-02  6.71860196e+01]
 [ 2.51931199e-01 -1.87327260e-02  9.67563825e-01  1.91445498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.7807140570001 meters
Centerline goodness : 0.998914 with order 1
Centerline is valid?  [True, True]
Translation: X:731.02, Y:67.20, Z:191.46
[[ 9.19209095e-01 -3.08174754e-01 -2.45118259e-01  7.31016767e+02]
 [ 3.02584676e-01  9.51159940e-01 -6.11333226e-02  6.72031165e+01]
 [ 2.51986415e-01 -1.79747227e-02  9.67563825e-01  1.91462987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.840714057 meters
Centerline goodness : 0.998137 with order 1
Centerline is valid?  [True, True]
Translation: X:731.07, Y:67.22, Z:191.48
[[ 9.20013268e-01 -3.05752967e-01 -2.45134065e-01  7.31073327e+02]
 [ 3.00095585e-01  9.51952262e-01 -6.10698798e-02  6.72183208e+01]
 [ 2.52028224e-01 -1.73785509e-02  9.67563827e-01  1.91476349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.9007140570001 meters
Centerline goodness : 0.998578 with order 1
Centerline is valid?  [True, True]
Translation: X:731.13, Y:67.23, Z:191.49
[[ 9.20133229e-01 -3.05390904e-01 -2.45135140e-01  7.31130840e+02]
 [ 2.99722100e-01  9.52070197e-01 -6.10655619e-02  6.72330715e+01]
 [ 2.52034728e-01 -1.72839663e-02  9.67563827e-01  1.91490812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 755.960714057 meters
Centerline goodness : 0.998938 with order 1
Centerline is valid?  [True, True]
Translation: X:731.19, Y:67.25, Z:191.50
[[ 9.20084708e-01 -3.05536174e-01 -2.45136243e-01  7.31187026e+02]
 [ 2.99873585e-01  9.52022778e-01 -6.10611358e-02  6.72483351e+01]
 [ 2.52031673e-01 -1.73284666e-02  9.67563827e-01  1.91504872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.0207140570001 meters
Centerline goodness : 0.998912 with order 1
Centerline is valid?  [True, True]
Translation: X:731.24, Y:67.26, Z:191.52
[[ 9.20518912e-01 -3.04225501e-01 -2.45136243e-01  7.31244545e+02]
 [ 2.98517432e-01  9.52448886e-01 -6.10611358e-02  6.72643281e+01]
 [ 2.52056096e-01 -1.69695115e-02  9.67563827e-01  1.91520909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.080714057 meters
Centerline goodness : 0.999191 with order 1
Centerline is valid?  [True, True]
Translation: X:731.30, Y:67.28, Z:191.54
[[ 9.20736612e-01 -3.03554051e-01 -2.45151034e-01  7.31301496e+02]
 [ 2.97838447e-01  9.52665236e-01 -6.10016957e-02  6.72820546e+01]
 [ 2.52064179e-01 -1.68489086e-02  9.67563829e-01  1.91538411e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.140714057 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:731.36, Y:67.30, Z:191.55
[[ 9.20300745e-01 -3.04860355e-01 -2.45166685e-01  7.31359461e+02]
 [ 2.99206756e-01  9.52240404e-01 -6.09387322e-02  6.72982862e+01]
 [ 2.52035426e-01 -1.72735679e-02  9.67563831e-01  1.91554429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.200714057 meters
Centerline goodness : 0.998909 with order 1
Centerline is valid?  [True, True]
Translation: X:731.42, Y:67.31, Z:191.57
[[ 9.19620992e-01 -3.06892285e-01 -2.45182295e-01  7.31416679e+02]
 [ 3.01325917e-01  9.51575967e-01 -6.08758640e-02  6.73133515e+01]
 [ 2.51991912e-01 -1.78970573e-02  9.67563833e-01  1.91569315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.260714057 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:731.47, Y:67.33, Z:191.58
[[ 9.19414393e-01 -3.07509787e-01 -2.45183410e-01  7.31473740e+02]
 [ 3.01966072e-01  9.51373306e-01 -6.08713706e-02  6.73296035e+01]
 [ 2.51979494e-01 -1.80710569e-02  9.67563833e-01  1.91583995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.320714057 meters
Centerline goodness : 0.998999 with order 1
Centerline is valid?  [True, True]
Translation: X:731.53, Y:67.34, Z:191.60
[[ 9.19819025e-01 -3.06291385e-01 -2.45190840e-01  7.31531100e+02]
 [ 3.00713272e-01  9.51771952e-01 -6.08414271e-02  6.73443724e+01]
 [ 2.52000970e-01 -1.77690379e-02  9.67563834e-01  1.91599253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.380714057 meters
Centerline goodness : 0.998876 with order 1
Centerline is valid?  [True, True]
Translation: X:731.59, Y:67.36, Z:191.61
[[ 9.20362187e-01 -3.04654473e-01 -2.45191959e-01  7.31588824e+02]
 [ 2.99020718e-01  9.52305350e-01 -6.08369187e-02  6.73613246e+01]
 [ 2.52031854e-01 -1.73254760e-02  9.67563834e-01  1.91614875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.440714057 meters
Centerline goodness : 0.999019 with order 1
Centerline is valid?  [True, True]
Translation: X:731.64, Y:67.38, Z:191.63
[[ 9.21057006e-01 -3.02534734e-01 -2.45207518e-01  7.31644573e+02]
 [ 2.96844085e-01  9.52990080e-01 -6.07741432e-02  6.73766334e+01]
 [ 2.52066622e-01 -1.68119511e-02  9.67563836e-01  1.91628726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.500714057 meters
Centerline goodness : 0.999089 with order 1
Centerline is valid?  [True, True]
Translation: X:731.70, Y:67.39, Z:191.64
[[ 9.21666344e-01 -3.00673634e-01 -2.45207089e-01  7.31703628e+02]
 [ 2.94918034e-01  9.53587776e-01 -6.07758768e-02  6.73921527e+01]
 [ 2.52100186e-01 -1.63009122e-02  9.67563836e-01  1.91644349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.560714057 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:731.76, Y:67.41, Z:191.66
[[ 9.22684119e-01 -2.97521617e-01 -2.45224192e-01  7.31758696e+02]
 [ 2.91675230e-01  9.54589046e-01 -6.07067894e-02  6.74091693e+01]
 [ 2.52149910e-01 -1.55126323e-02  9.67563838e-01  1.91660832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.620714057 meters
Centerline goodness : 0.998625 with order 1
Centerline is valid?  [True, True]
Translation: X:731.82, Y:67.42, Z:191.68
[[ 9.23368730e-01 -2.95390690e-01 -2.45223427e-01  7.31815001e+02]
 [ 2.89469844e-01  9.55259923e-01 -6.07098828e-02  6.74244484e+01]
 [ 2.52185246e-01 -1.49271797e-02  9.67563838e-01  1.91676728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.680714057 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:731.87, Y:67.44, Z:191.69
[[ 9.23563833e-01 -2.94780117e-01 -2.45223427e-01  7.31874155e+02]
 [ 2.88838187e-01  9.55451104e-01 -6.07098828e-02  6.74394226e+01]
 [ 2.52195060e-01 -1.47604379e-02  9.67563838e-01  1.91692761e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.740714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:731.93, Y:67.45, Z:191.71
[[ 9.24061296e-01 -2.93202242e-01 -2.45241039e-01  7.31931571e+02]
 [ 2.87224694e-01  9.55941906e-01 -6.06386563e-02  6.74542426e+01]
 [ 2.52215576e-01 -1.44054471e-02  9.67563841e-01  1.91708032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.800714057 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:731.99, Y:67.47, Z:191.72
[[ 9.26389379e-01 -2.85754758e-01 -2.45248725e-01  7.31989142e+02]
 [ 2.79529003e-01  9.58222449e-01 -6.06075529e-02  6.74669344e+01]
 [ 2.52321731e-01 -1.24079384e-02  9.67563841e-01  1.91723910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.860714057 meters
Centerline goodness : 0.998674 with order 1
Centerline is valid?  [True, True]
Translation: X:732.05, Y:67.48, Z:191.74
[[ 9.27007313e-01 -2.83742698e-01 -2.45249918e-01  7.32045777e+02]
 [ 2.77449115e-01  9.58827043e-01 -6.06027262e-02  6.74819337e+01]
 [ 2.52347835e-01 -1.18652023e-02  9.67563841e-01  1.91741318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.920714057 meters
Centerline goodness : 0.998987 with order 1
Centerline is valid?  [True, True]
Translation: X:732.11, Y:67.49, Z:191.75
[[ 9.27188470e-01 -2.83149549e-01 -2.45250636e-01  7.32105671e+02]
 [ 2.76836376e-01  9.59004319e-01 -6.05998198e-02  6.74937965e+01]
 [ 2.52355231e-01 -1.17068431e-02  9.67563841e-01  1.91752712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 756.980714057 meters
Centerline goodness : 0.998557 with order 1
Centerline is valid?  [True, True]
Translation: X:732.16, Y:67.51, Z:191.77
[[ 9.27316661e-01 -2.82716018e-01 -2.45266107e-01  7.32164323e+02]
 [ 2.76404510e-01  9.59132838e-01 -6.05371421e-02  6.75066830e+01]
 [ 2.52357597e-01 -1.16555576e-02  9.67563843e-01  1.91765836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.0407140570001 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:732.22, Y:67.52, Z:191.78
[[ 9.28911088e-01 -2.77424654e-01 -2.45274851e-01  7.32221826e+02]
 [ 2.70941204e-01  9.60692672e-01 -6.05016942e-02  6.75207525e+01]
 [ 2.52418414e-01 -1.02543689e-02  9.67563844e-01  1.91783808e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.100714057 meters
Centerline goodness : 0.998628 with order 1
Centerline is valid?  [True, True]
Translation: X:732.28, Y:67.53, Z:191.80
[[ 9.29210312e-01 -2.76407946e-01 -2.45289306e-01  7.32280555e+02]
 [ 2.69905178e-01  9.60987947e-01 -6.04430342e-02  6.75343991e+01]
 [ 2.52427002e-01 -1.00405632e-02  9.67563846e-01  1.91804333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.1607140570001 meters
Centerline goodness : 0.998237 with order 1
Centerline is valid?  [True, True]
Translation: X:732.34, Y:67.55, Z:191.82
[[ 9.29827685e-01 -2.74308546e-01 -2.45306540e-01  7.32338201e+02]
 [ 2.67752467e-01  9.61594361e-01 -6.03730121e-02  6.75467380e+01]
 [ 2.52446219e-01 -9.54493324e-03  9.67563848e-01  1.91820698e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.220714057 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:732.40, Y:67.56, Z:191.84
[[ 9.30388764e-01 -2.72398690e-01 -2.45307363e-01  7.32397501e+02]
 [ 2.65778277e-01  9.62142095e-01 -6.03696681e-02  6.75585458e+01]
 [ 2.52465159e-01 -9.03010742e-03  9.67563848e-01  1.91837011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.2807140570001 meters
Centerline goodness : 0.998730 with order 1
Centerline is valid?  [True, True]
Translation: X:732.46, Y:67.57, Z:191.85
[[ 9.31998110e-01 -2.66826705e-01 -2.45322302e-01  7.32455446e+02]
 [ 2.60032388e-01  9.63714685e-01 -6.03089031e-02  6.75687438e+01]
 [ 2.52512731e-01 -7.58396042e-03  9.67563850e-01  1.91852744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.340714057 meters
Centerline goodness : 0.998359 with order 1
Centerline is valid?  [True, True]
Translation: X:732.51, Y:67.58, Z:191.87
[[ 9.33006598e-01 -2.63277686e-01 -2.45323353e-01  7.32514760e+02]
 [ 2.56363833e-01  9.64697329e-01 -6.03046263e-02  6.75806458e+01]
 [ 2.52539646e-01 -6.62742095e-03  9.67563850e-01  1.91868863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.4007140570001 meters
Centerline goodness : 0.998527 with order 1
Centerline is valid?  [True, True]
Translation: X:732.57, Y:67.59, Z:191.88
[[ 9.34020285e-01 -2.59654403e-01 -2.45327737e-01  7.32573468e+02]
 [ 2.52622283e-01  9.65684983e-01 -6.02867882e-02  6.75880011e+01]
 [ 2.52563041e-01 -5.66616975e-03  9.67563850e-01  1.91881032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.460714057 meters
Centerline goodness : 0.998408 with order 1
Centerline is valid?  [True, True]
Translation: X:732.63, Y:67.60, Z:191.89
[[ 9.34769788e-01 -2.56943678e-01 -2.45327109e-01  7.32633447e+02]
 [ 2.49819056e-01  9.66413801e-01 -6.02893437e-02  6.75979207e+01]
 [ 2.52578469e-01 -4.93072983e-03  9.67563850e-01  1.91894616e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.5207140570001 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:732.69, Y:67.61, Z:191.91
[[ 9.35948588e-01 -2.52600917e-01 -2.45342654e-01  7.32691599e+02]
 [ 2.45346049e-01  9.67562992e-01 -6.02260200e-02  6.76057424e+01]
 [ 2.52597620e-01 -3.82539240e-03  9.67563853e-01  1.91910212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.580714057 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:732.75, Y:67.61, Z:191.93
[[ 9.36311250e-01 -2.51253308e-01 -2.45342654e-01  7.32748619e+02]
 [ 2.43952936e-01  9.67915178e-01 -6.02260200e-02  6.76131068e+01]
 [ 2.52602865e-01 -3.46176079e-03  9.67563853e-01  1.91927497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.640714057 meters
Centerline goodness : 0.997995 with order 1
Centerline is valid?  [True, True]
Translation: X:732.81, Y:67.62, Z:191.94
[[ 9.35674765e-01 -2.53608281e-01 -2.45347865e-01  7.32807462e+02]
 [ 2.46393015e-01  9.67298230e-01 -6.02047842e-02  6.76207942e+01]
 [ 2.52592987e-01 -4.11990291e-03  9.67563853e-01  1.91943481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.700714057 meters
Centerline goodness : 0.998474 with order 1
Centerline is valid?  [True, True]
Translation: X:732.87, Y:67.62, Z:191.96
[[ 9.33275202e-01 -2.62298924e-01 -2.45350101e-01  7.32867608e+02]
 [ 2.55380456e-01  9.64964924e-01 -6.01956721e-02  6.76242008e+01]
 [ 2.52543501e-01 -6.47849255e-03  9.67563853e-01  1.91956046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.760714057 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:732.93, Y:67.63, Z:191.97
[[ 9.30513792e-01 -2.71932256e-01 -2.45350628e-01  7.32927121e+02]
 [ 2.65342304e-01  9.62273455e-01 -6.01935219e-02  6.76292282e+01]
 [ 2.52462957e-01 -9.09099866e-03  9.67563853e-01  1.91969262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.820714057 meters
Centerline goodness : 0.997795 with order 1
Centerline is valid?  [True, True]
Translation: X:732.99, Y:67.63, Z:191.98
[[ 9.28302592e-01 -2.79386955e-01 -2.45351235e-01  7.32987094e+02]
 [ 2.73052603e-01  9.60114219e-01 -6.01910499e-02  6.76345812e+01]
 [ 2.52381803e-01 -1.11182857e-02  9.67563853e-01  1.91984536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.880714057 meters
Centerline goodness : 0.997321 with order 1
Centerline is valid?  [True, True]
Translation: X:733.05, Y:67.64, Z:192.00
[[ 9.27103371e-01 -2.83339429e-01 -2.45353027e-01  7.33045135e+02]
 [ 2.77142596e-01  9.58942073e-01 -6.01837438e-02  6.76421126e+01]
 [ 2.52331768e-01 -1.22012231e-02  9.67563853e-01  1.92000922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 757.940714057 meters
Centerline goodness : 0.997396 with order 1
Centerline is valid?  [True, True]
Translation: X:733.10, Y:67.65, Z:192.02
[[ 9.26793871e-01 -2.84349219e-01 -2.45354115e-01  7.33104417e+02]
 [ 2.78188246e-01  9.58639531e-01 -6.01793055e-02  6.76529134e+01]
 [ 2.52318093e-01 -1.24808194e-02  9.67563853e-01  1.92016856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.000714057 meters
Centerline goodness : 0.997413 with order 1
Centerline is valid?  [True, True]
Translation: X:733.16, Y:67.66, Z:192.03
[[ 9.26668053e-01 -2.84745837e-01 -2.45369369e-01  7.33163112e+02]
 [ 2.78614935e-01  9.58519514e-01 -6.01170498e-02  6.76641673e+01]
 [ 2.52309408e-01 -1.26550212e-02  9.67563855e-01  1.92031274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.060714057 meters
Centerline goodness : 0.996929 with order 1
Centerline is valid?  [True, True]
Translation: X:733.22, Y:67.68, Z:192.05
[[ 9.26564131e-01 -2.85081968e-01 -2.45371522e-01  7.33220872e+02]
 [ 2.78964940e-01  9.58418259e-01 -6.01082617e-02  6.76760052e+01]
 [ 2.52304328e-01 -1.27558927e-02  9.67563855e-01  1.92046243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.120714057 meters
Centerline goodness : 0.997247 with order 1
Centerline is valid?  [True, True]
Translation: X:733.28, Y:67.69, Z:192.06
[[ 9.27282622e-01 -2.82735266e-01 -2.45372592e-01  7.33281002e+02]
 [ 2.76538767e-01  9.59121386e-01 -6.01038908e-02  6.76897461e+01]
 [ 2.52335590e-01 -1.21217407e-02  9.67563855e-01  1.92061698e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.180714057 meters
Centerline goodness : 0.996881 with order 1
Centerline is valid?  [True, True]
Translation: X:733.34, Y:67.70, Z:192.08
[[ 9.27948776e-01 -2.80525703e-01 -2.45390300e-01  7.33338509e+02]
 [ 2.74272480e-01  9.59776445e-01 -6.00315109e-02  6.77032389e+01]
 [ 2.52360212e-01 -1.15976390e-02  9.67563858e-01  1.92077907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.240714057 meters
Centerline goodness : 0.997324 with order 1
Centerline is valid?  [True, True]
Translation: X:733.40, Y:67.72, Z:192.09
[[ 9.28448538e-01 -2.78866227e-01 -2.45391401e-01  7.33396943e+02]
 [ 2.72557298e-01  9.60265212e-01 -6.00270092e-02  6.77168491e+01]
 [ 2.52380331e-01 -1.11512283e-02  9.67563858e-01  1.92094923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.300714057 meters
Centerline goodness : 0.997864 with order 1
Centerline is valid?  [True, True]
Translation: X:733.45, Y:67.73, Z:192.11
[[ 9.29250437e-01 -2.76168777e-01 -2.45406667e-01  7.33454254e+02]
 [ 2.69783945e-01  9.61051964e-01 -5.99645346e-02  6.77311342e+01]
 [ 2.52408892e-01 -1.04847089e-02  9.67563860e-01  1.92113578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.360714057 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:733.51, Y:67.74, Z:192.13
[[ 9.29308210e-01 -2.75971343e-01 -2.45410002e-01  7.33512631e+02]
 [ 2.69583354e-01  9.61109103e-01 -5.99508816e-02  6.77434063e+01]
 [ 2.52410513e-01 -1.04456052e-02  9.67563860e-01  1.92132750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.420714057 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:733.57, Y:67.76, Z:192.15
[[ 9.29815012e-01 -2.74244950e-01 -2.45425652e-01  7.33569770e+02]
 [ 2.67814810e-01  9.61607407e-01 -5.98867498e-02  6.77554141e+01]
 [ 2.52426763e-01 -1.00450253e-02  9.67563862e-01  1.92148319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.480714057 meters
Centerline goodness : 0.997947 with order 1
Centerline is valid?  [True, True]
Translation: X:733.63, Y:67.77, Z:192.16
[[ 9.30403570e-01 -2.72235577e-01 -2.45432246e-01  7.33628542e+02]
 [ 2.65743889e-01  9.62183454e-01 -5.98597157e-02  6.77703539e+01]
 [ 2.52446790e-01 -9.52842631e-03  9.67563862e-01  1.92163353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.5407140570001 meters
Centerline goodness : 0.997635 with order 1
Centerline is valid?  [True, True]
Translation: X:733.69, Y:67.78, Z:192.18
[[ 9.30943635e-01 -2.70369023e-01 -2.45447631e-01  7.33688358e+02]
 [ 2.63830238e-01  9.62713860e-01 -5.97965655e-02  6.77819449e+01]
 [ 2.52462975e-01 -9.08927471e-03  9.67563864e-01  1.92177186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.600714057 meters
Centerline goodness : 0.997747 with order 1
Centerline is valid?  [True, True]
Translation: X:733.75, Y:67.79, Z:192.19
[[ 9.31308030e-01 -2.69096944e-01 -2.45463211e-01  7.33748526e+02]
 [ 2.62531613e-01  9.63072778e-01 -5.97325433e-02  6.77933660e+01]
 [ 2.52472781e-01 -8.81245547e-03  9.67563866e-01  1.92191307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.6607140570001 meters
Centerline goodness : 0.997962 with order 1
Centerline is valid?  [True, True]
Translation: X:733.81, Y:67.81, Z:192.21
[[ 9.32444969e-01 -2.65125428e-01 -2.45468709e-01  7.33806554e+02]
 [ 2.58430725e-01  9.64182702e-01 -5.97099415e-02  6.78061582e+01]
 [ 2.52507307e-01 -7.76042173e-03  9.67563867e-01  1.92208276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.720714057 meters
Centerline goodness : 0.997666 with order 1
Centerline is valid?  [True, True]
Translation: X:733.86, Y:67.82, Z:192.22
[[ 9.33514063e-01 -2.61331746e-01 -2.45473447e-01  7.33864970e+02]
 [ 2.54513166e-01  9.65225413e-01 -5.96904581e-02  6.78161706e+01]
 [ 2.52536221e-01 -6.75434205e-03  9.67563867e-01  1.92223759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.7807140570001 meters
Centerline goodness : 0.997806 with order 1
Centerline is valid?  [True, True]
Translation: X:733.92, Y:67.83, Z:192.24
[[ 9.33617723e-01 -2.60959104e-01 -2.45475649e-01  7.33924441e+02]
 [ 2.54130246e-01  9.65326861e-01 -5.96814007e-02  6.78256252e+01]
 [ 2.52538642e-01 -6.66317368e-03  9.67563867e-01  1.92240153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.840714057 meters
Centerline goodness : 0.997212 with order 1
Centerline is valid?  [True, True]
Translation: X:733.98, Y:67.83, Z:192.26
[[ 9.32329256e-01 -2.65511432e-01 -2.45491013e-01  7.33983836e+02]
 [ 2.58854015e-01  9.64074829e-01 -5.96181392e-02  6.78335429e+01]
 [ 2.52501004e-01 -7.96259875e-03  9.67563869e-01  1.92257988e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.9007140570001 meters
Centerline goodness : 0.997107 with order 1
Centerline is valid?  [True, True]
Translation: X:734.04, Y:67.84, Z:192.27
[[ 9.31132122e-01 -2.69675696e-01 -2.45495399e-01  7.34044745e+02]
 [ 2.63164984e-01  9.62908107e-01 -5.96000724e-02  6.78395472e+01]
 [ 2.52462201e-01 -9.11025087e-03  9.67563869e-01  1.92271712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 758.960714057 meters
Centerline goodness : 0.997453 with order 1
Centerline is valid?  [True, True]
Translation: X:734.10, Y:67.85, Z:192.29
[[ 9.31210153e-01 -2.69402157e-01 -2.45499752e-01  7.34103705e+02]
 [ 2.62886834e-01  9.62985193e-01 -5.95821348e-02  6.78474738e+01]
 [ 2.52464182e-01 -9.05516372e-03  9.67563869e-01  1.92285163e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.0207140570001 meters
Centerline goodness : 0.997702 with order 1
Centerline is valid?  [True, True]
Translation: X:734.16, Y:67.86, Z:192.30
[[ 9.33040237e-01 -2.62991630e-01 -2.45502177e-01  7.34161958e+02]
 [ 2.56260563e-01  9.64770275e-01 -5.95721408e-02  6.78568623e+01]
 [ 2.52520178e-01 -7.32932192e-03  9.67563869e-01  1.92301108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.080714057 meters
Centerline goodness : 0.996999 with order 1
Centerline is valid?  [True, True]
Translation: X:734.22, Y:67.87, Z:192.32
[[ 9.33766006e-01 -2.60402022e-01 -2.45503224e-01  7.34220950e+02]
 [ 2.53584084e-01  9.65477491e-01 -5.95678251e-02  6.78690737e+01]
 [ 2.52539419e-01 -6.63330015e-03  9.67563869e-01  1.92317473e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.140714057 meters
Centerline goodness : 0.997283 with order 1
Centerline is valid?  [True, True]
Translation: X:734.28, Y:67.88, Z:192.33
[[ 9.35359597e-01 -2.54614305e-01 -2.45507597e-01  7.34280470e+02]
 [ 2.47604842e-01  9.67029298e-01 -5.95497970e-02  6.78760710e+01]
 [ 2.52575270e-01 -5.08839582e-03  9.67563869e-01  1.92334275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.200714057 meters
Centerline goodness : 0.997097 with order 1
Centerline is valid?  [True, True]
Translation: X:734.34, Y:67.88, Z:192.35
[[ 9.35384545e-01 -2.54515138e-01 -2.45515373e-01  7.34340651e+02]
 [ 2.47510732e-01  9.67055365e-01 -5.95177239e-02  6.78824265e+01]
 [ 2.52575120e-01 -5.09573051e-03  9.67563870e-01  1.92350025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.260714057 meters
Centerline goodness : 0.997091 with order 1
Centerline is valid?  [True, True]
Translation: X:734.40, Y:67.89, Z:192.36
[[ 9.34964234e-01 -2.56051679e-01 -2.45518674e-01  7.34400626e+02]
 [ 2.49102894e-01  9.66647304e-01 -5.95041022e-02  6.78911332e+01]
 [ 2.52566090e-01 -5.52520496e-03  9.67563870e-01  1.92364614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.320714057 meters
Centerline goodness : 0.997030 with order 1
Centerline is valid?  [True, True]
Translation: X:734.46, Y:67.90, Z:192.38
[[ 9.34235938e-01 -2.58692154e-01 -2.45523078e-01  7.34461014e+02]
 [ 2.51837683e-01  9.65939546e-01 -5.94859269e-02  6.78958494e+01]
 [ 2.52548993e-01 -6.25807222e-03  9.67563870e-01  1.92378083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.380714057 meters
Centerline goodness : 0.997215 with order 1
Centerline is valid?  [True, True]
Translation: X:734.52, Y:67.90, Z:192.39
[[ 9.33234756e-01 -2.62279061e-01 -2.45525121e-01  7.34521224e+02]
 [ 2.55548645e-01  9.64964931e-01 -5.94774931e-02  6.79025527e+01]
 [ 2.52522832e-01 -7.23714822e-03  9.67563870e-01  1.92394637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.440714057 meters
Centerline goodness : 0.996701 with order 1
Centerline is valid?  [True, True]
Translation: X:734.58, Y:67.91, Z:192.41
[[ 9.32124389e-01 -2.66194268e-01 -2.45529501e-01  7.34580950e+02]
 [ 2.59601866e-01  9.63883525e-01 -5.94594067e-02  6.79096738e+01]
 [ 2.52489594e-01 -8.31635336e-03  9.67563870e-01  1.92410110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.500714057 meters
Centerline goodness : 0.996839 with order 1
Centerline is valid?  [True, True]
Translation: X:734.64, Y:67.92, Z:192.42
[[ 9.30452750e-01 -2.71974098e-01 -2.45535681e-01  7.34638630e+02]
 [ 2.65585653e-01  9.62253540e-01 -5.94338767e-02  6.79165328e+01]
 [ 2.52432053e-01 -9.91034014e-03  9.67563871e-01  1.92424044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.560714057 meters
Centerline goodness : 0.996809 with order 1
Centerline is valid?  [True, True]
Translation: X:734.70, Y:67.93, Z:192.44
[[ 9.29500550e-01 -2.75211553e-01 -2.45534779e-01  7.34696934e+02]
 [ 2.68932871e-01  9.61323194e-01 -5.94376009e-02  6.79276543e+01]
 [ 2.52396192e-01 -1.07850902e-02  9.67563871e-01  1.92439866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.620714057 meters
Centerline goodness : 0.997025 with order 1
Centerline is valid?  [True, True]
Translation: X:734.76, Y:67.94, Z:192.45
[[ 9.29552347e-01 -2.75034611e-01 -2.45536958e-01  7.34755344e+02]
 [ 2.68752245e-01  9.61374263e-01 -5.94285960e-02  6.79384476e+01]
 [ 2.52397833e-01 -1.07466178e-02  9.67563871e-01  1.92454846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.680714057 meters
Centerline goodness : 0.997150 with order 1
Centerline is valid?  [True, True]
Translation: X:734.81, Y:67.95, Z:192.47
[[ 9.29818780e-01 -2.74130589e-01 -2.45539115e-01  7.34812953e+02]
 [ 2.67819632e-01  9.61635038e-01 -5.94196831e-02  6.79501820e+01]
 [ 2.52407769e-01 -1.05106582e-02  9.67563871e-01  1.92471486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.740714057 meters
Centerline goodness : 0.996956 with order 1
Centerline is valid?  [True, True]
Translation: X:734.87, Y:67.96, Z:192.49
[[ 9.29990695e-01 -2.73544653e-01 -2.45541504e-01  7.34870003e+02]
 [ 2.67216251e-01  9.61803488e-01 -5.94098120e-02  6.79624774e+01]
 [ 2.52413911e-01 -1.03621078e-02  9.67563871e-01  1.92489382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.800714057 meters
Centerline goodness : 0.997153 with order 1
Centerline is valid?  [True, True]
Translation: X:734.93, Y:67.98, Z:192.51
[[ 9.30067417e-01 -2.73281734e-01 -2.45543670e-01  7.34927783e+02]
 [ 2.66946699e-01  9.61878890e-01 -5.94008573e-02  6.79765279e+01]
 [ 2.52416442e-01 -1.03002703e-02  9.67563871e-01  1.92505615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.860714057 meters
Centerline goodness : 0.996952 with order 1
Centerline is valid?  [True, True]
Translation: X:734.99, Y:67.99, Z:192.52
[[ 9.30710138e-01 -2.71081822e-01 -2.45546910e-01  7.34985905e+02]
 [ 2.64675115e-01  9.62507254e-01 -5.93874594e-02  6.79902730e+01]
 [ 2.52439543e-01 -9.71764626e-03  9.67563871e-01  1.92519684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.920714057 meters
Centerline goodness : 0.996631 with order 1
Centerline is valid?  [True, True]
Translation: X:735.04, Y:68.01, Z:192.53
[[ 9.32089043e-01 -2.66299976e-01 -2.45549056e-01  7.35042027e+02]
 [ 2.59732441e-01  9.63853330e-01 -5.93785864e-02  6.80063510e+01]
 [ 2.52485792e-01 -8.43092601e-03  9.67563871e-01  1.92533951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 759.980714057 meters
Centerline goodness : 0.997284 with order 1
Centerline is valid?  [True, True]
Translation: X:735.10, Y:68.02, Z:192.55
[[ 9.33660366e-01 -2.60737381e-01 -2.45549056e-01  7.35099403e+02]
 [ 2.53980559e-01  9.65384928e-01 -5.93785864e-02  6.80206965e+01]
 [ 2.52531575e-01 -6.92525385e-03  9.67563871e-01  1.92550030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.0407140570001 meters
Centerline goodness : 0.997285 with order 1
Centerline is valid?  [True, True]
Translation: X:735.16, Y:68.03, Z:192.57
[[ 9.34706104e-01 -2.56962336e-01 -2.45550110e-01  7.35156676e+02]
 [ 2.50078515e-01  9.66403351e-01 -5.93742275e-02  6.80344783e+01]
 [ 2.52557390e-01 -5.90935400e-03  9.67563871e-01  1.92566947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.100714057 meters
Centerline goodness : 0.996415 with order 1
Centerline is valid?  [True, True]
Translation: X:735.21, Y:68.05, Z:192.58
[[ 9.36366913e-01 -2.50840739e-01 -2.45552294e-01  7.35214526e+02]
 [ 2.43752027e-01  9.68018968e-01 -5.93651957e-02  6.80475632e+01]
 [ 2.52590488e-01 -4.26626426e-03  9.67563871e-01  1.92584607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.1607140570001 meters
Centerline goodness : 0.996327 with order 1
Centerline is valid?  [True, True]
Translation: X:735.27, Y:68.06, Z:192.60
[[ 9.37048609e-01 -2.48277727e-01 -2.45556664e-01  7.35273495e+02]
 [ 2.41107173e-01  9.68682224e-01 -5.93471149e-02  6.80567235e+01]
 [ 2.52600942e-01 -3.59434151e-03  9.67563871e-01  1.92599183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.220714057 meters
Centerline goodness : 0.996351 with order 1
Centerline is valid?  [True, True]
Translation: X:735.33, Y:68.07, Z:192.61
[[ 9.36751580e-01 -2.49393925e-01 -2.45558848e-01  7.35333183e+02]
 [ 2.42263433e-01  9.68394249e-01 -5.93380744e-02  6.80656694e+01]
 [ 2.52596332e-01 -3.90489468e-03  9.67563871e-01  1.92613244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.2807140570001 meters
Centerline goodness : 0.996716 with order 1
Centerline is valid?  [True, True]
Translation: X:735.39, Y:68.07, Z:192.63
[[ 9.35468958e-01 -2.54159486e-01 -2.45562180e-01  7.35390749e+02]
 [ 2.47193792e-01  9.67148313e-01 -5.93242815e-02  6.80744313e+01]
 [ 2.52572877e-01 -5.20542267e-03  9.67563871e-01  1.92628759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.340714057 meters
Centerline goodness : 0.996849 with order 1
Centerline is valid?  [True, True]
Translation: X:735.45, Y:68.08, Z:192.65
[[ 9.34036259e-01 -2.59375177e-01 -2.45562180e-01  7.35449290e+02]
 [ 2.52586352e-01  9.65753988e-01 -5.93242815e-02  6.80809613e+01]
 [ 2.52539901e-01 -6.61462540e-03  9.67563871e-01  1.92645227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.4007140570001 meters
Centerline goodness : 0.996601 with order 1
Centerline is valid?  [True, True]
Translation: X:735.51, Y:68.09, Z:192.66
[[ 9.33385824e-01 -2.61705156e-01 -2.45563261e-01  7.35507543e+02]
 [ 2.54996676e-01  9.65120643e-01 -5.93198096e-02  6.80909808e+01]
 [ 2.52522472e-01 -7.24954598e-03  9.67563871e-01  1.92662543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.460714057 meters
Centerline goodness : 0.996590 with order 1
Centerline is valid?  [True, True]
Translation: X:735.57, Y:68.10, Z:192.68
[[ 9.33574461e-01 -2.61029329e-01 -2.45565501e-01  7.35566310e+02]
 [ 2.54300313e-01  9.65304932e-01 -5.93105339e-02  6.80998676e+01]
 [ 2.52527378e-01 -7.07658415e-03  9.67563871e-01  1.92680233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.5207140570001 meters
Centerline goodness : 0.996985 with order 1
Centerline is valid?  [True, True]
Translation: X:735.62, Y:68.11, Z:192.69
[[ 9.33946141e-01 -2.59693171e-01 -2.45568856e-01  7.35624050e+02]
 [ 2.52922409e-01  9.65667730e-01 -5.92966386e-02  6.81082984e+01]
 [ 2.52536852e-01 -6.72999991e-03  9.67563872e-01  1.92693662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.580714057 meters
Centerline goodness : 0.996785 with order 1
Centerline is valid?  [True, True]
Translation: X:735.68, Y:68.12, Z:192.71
[[ 9.33147051e-01 -2.62551055e-01 -2.45567760e-01  7.35680960e+02]
 [ 2.55876241e-01  9.64888968e-01 -5.93011762e-02  6.81164834e+01]
 [ 2.52515209e-01 -7.49823778e-03  9.67563872e-01  1.92709178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.640714057 meters
Centerline goodness : 0.996658 with order 1
Centerline is valid?  [True, True]
Translation: X:735.74, Y:68.12, Z:192.72
[[ 9.32571589e-01 -2.64589825e-01 -2.45565584e-01  7.35736985e+02]
 [ 2.57982029e-01  9.64327525e-01 -5.93101862e-02  6.81249424e+01]
 [ 2.52498524e-01 -8.04051307e-03  9.67563872e-01  1.92723846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.700714057 meters
Centerline goodness : 0.995935 with order 1
Centerline is valid?  [True, True]
Translation: X:735.80, Y:68.13, Z:192.74
[[ 9.31636428e-01 -2.67871937e-01 -2.45556900e-01  7.35795549e+02]
 [ 2.61366541e-01  9.63413499e-01 -5.93461195e-02  6.81319217e+01]
 [ 2.52469992e-01 -8.89135095e-03  9.67563872e-01  1.92736631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.760714057 meters
Centerline goodness : 0.996237 with order 1
Centerline is valid?  [True, True]
Translation: X:735.85, Y:68.14, Z:192.75
[[ 9.31445388e-01 -2.68537485e-01 -2.45554694e-01  7.35852808e+02]
 [ 2.62052391e-01  9.63226608e-01 -5.93552482e-02  6.81400546e+01]
 [ 2.52463924e-01 -9.06202241e-03  9.67563872e-01  1.92748738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.820714057 meters
Centerline goodness : 0.995890 with order 1
Centerline is valid?  [True, True]
Translation: X:735.91, Y:68.15, Z:192.76
[[ 9.31664045e-01 -2.67781883e-01 -2.45550343e-01  7.35908929e+02]
 [ 2.61266276e-01  9.63439023e-01 -5.93732417e-02  6.81506839e+01]
 [ 2.52471861e-01 -8.83810921e-03  9.67563872e-01  1.92761941e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.880714057 meters
Centerline goodness : 0.995086 with order 1
Centerline is valid?  [True, True]
Translation: X:735.97, Y:68.16, Z:192.78
[[ 9.32346468e-01 -2.65400428e-01 -2.45545669e-01  7.35965025e+02]
 [ 2.58798569e-01  9.64103638e-01 -5.93925641e-02  6.81617211e+01]
 [ 2.52494285e-01 -8.17242037e-03  9.67563873e-01  1.92776765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 760.940714057 meters
Centerline goodness : 0.995205 with order 1
Centerline is valid?  [True, True]
Translation: X:736.02, Y:68.17, Z:192.80
[[ 9.33382232e-01 -2.61738409e-01 -2.45541473e-01  7.36021576e+02]
 [ 2.55007377e-01  9.65112274e-01 -5.94099082e-02  6.81730051e+01]
 [ 2.52524944e-01 -7.16273420e-03  9.67563873e-01  1.92796658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.000714057 meters
Centerline goodness : 0.995313 with order 1
Centerline is valid?  [True, True]
Translation: X:736.08, Y:68.19, Z:192.81
[[ 9.33560560e-01 -2.61101844e-01 -2.45541254e-01  7.36076634e+02]
 [ 2.54348938e-01  9.65285954e-01 -5.94108115e-02  6.81851908e+01]
 [ 2.52529796e-01 -6.98956684e-03  9.67563873e-01  1.92812572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.060714057 meters
Centerline goodness : 0.995736 with order 1
Centerline is valid?  [True, True]
Translation: X:736.13, Y:68.19, Z:192.83
[[ 9.34174751e-01 -2.58910299e-01 -2.45525948e-01  7.36133299e+02]
 [ 2.52066363e-01  9.65880630e-01 -5.94740022e-02  6.81933009e+01]
 [ 2.52547189e-01 -6.32972156e-03  9.67563875e-01  1.92827139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.120714057 meters
Centerline goodness : 0.995800 with order 1
Centerline is valid?  [True, True]
Translation: X:736.19, Y:68.20, Z:192.84
[[ 9.34303687e-01 -2.58459127e-01 -2.45510691e-01  7.36190938e+02]
 [ 2.51583357e-01  9.66002676e-01 -5.95369183e-02  6.82004968e+01]
 [ 2.52551845e-01 -6.14084155e-03  9.67563877e-01  1.92840254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.180714057 meters
Centerline goodness : 0.995018 with order 1
Centerline is valid?  [True, True]
Translation: X:736.25, Y:68.21, Z:192.85
[[ 9.33900291e-01 -2.59917361e-01 -2.45506033e-01  7.36247757e+02]
 [ 2.53086041e-01  9.65608888e-01 -5.95561198e-02  6.82090960e+01]
 [ 2.52542477e-01 -6.51467249e-03  9.67563877e-01  1.92854146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.240714057 meters
Centerline goodness : 0.995212 with order 1
Centerline is valid?  [True, True]
Translation: X:736.30, Y:68.22, Z:192.87
[[ 9.33046434e-01 -2.62970175e-01 -2.45501608e-01  7.36304974e+02]
 [ 2.56237797e-01  9.64776185e-01 -5.95743566e-02  6.82198941e+01]
 [ 2.52520384e-01 -7.32115009e-03  9.67563877e-01  1.92869354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.300714057 meters
Centerline goodness : 0.995746 with order 1
Centerline is valid?  [True, True]
Translation: X:736.36, Y:68.23, Z:192.88
[[ 9.31708195e-01 -2.67673961e-01 -2.45500490e-01  7.36360164e+02]
 [ 2.61100529e-01  9.63471256e-01 -5.95789623e-02  6.82284436e+01]
 [ 2.52480402e-01 -8.59010060e-03  9.67563877e-01  1.92884845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.360714057 meters
Centerline goodness : 0.995769 with order 1
Centerline is valid?  [True, True]
Translation: X:736.42, Y:68.24, Z:192.90
[[ 9.29759491e-01 -2.74371095e-01 -2.45494990e-01  7.36417910e+02]
 [ 2.68020412e-01  9.61567837e-01 -5.96016159e-02  6.82393326e+01]
 [ 2.52413048e-01 -1.03825005e-02  9.67563878e-01  1.92900321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.420714057 meters
Centerline goodness : 0.996042 with order 1
Centerline is valid?  [True, True]
Translation: X:736.48, Y:68.25, Z:192.92
[[ 9.27692959e-01 -2.81279446e-01 -2.45494698e-01  7.36475119e+02]
 [ 2.75165225e-01  9.59547603e-01 -5.96028205e-02  6.82502773e+01]
 [ 2.52328897e-01 -1.22584870e-02  9.67563878e-01  1.92915139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.480714057 meters
Centerline goodness : 0.996533 with order 1
Centerline is valid?  [True, True]
Translation: X:736.53, Y:68.26, Z:192.93
[[ 9.26241093e-01 -2.86024565e-01 -2.45494167e-01  7.36531909e+02]
 [ 2.80072908e-01  9.58126510e-01 -5.96050072e-02  6.82644207e+01]
 [ 2.52262966e-01 -1.35476582e-02  9.67563878e-01  1.92930055e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.5407140570001 meters
Centerline goodness : 0.996273 with order 1
Centerline is valid?  [True, True]
Translation: X:736.59, Y:68.28, Z:192.94
[[ 9.23492782e-01 -2.94777490e-01 -2.45494017e-01  7.36589348e+02]
 [ 2.89127693e-01  9.55433068e-01 -5.96056240e-02  6.82773827e+01]
 [ 2.52123498e-01 -1.59337554e-02  9.67563878e-01  1.92944700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.600714057 meters
Centerline goodness : 0.995417 with order 1
Centerline is valid?  [True, True]
Translation: X:736.65, Y:68.29, Z:192.96
[[ 9.21771658e-01 -3.00116054e-01 -2.45494125e-01  7.36646015e+02]
 [ 2.94651281e-01  9.53744119e-01 -5.96051817e-02  6.82904738e+01]
 [ 2.52027050e-01 -1.73927911e-02  9.67563878e-01  1.92960002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.6607140570001 meters
Centerline goodness : 0.994403 with order 1
Centerline is valid?  [True, True]
Translation: X:736.70, Y:68.31, Z:192.98
[[ 9.19778873e-01 -3.06169901e-01 -2.45493008e-01  7.36700629e+02]
 [ 3.00914234e-01  9.51786372e-01 -5.96097796e-02  6.83087691e+01]
 [ 2.51907620e-01 -1.90445247e-02  9.67563878e-01  1.92976470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.720714057 meters
Centerline goodness : 0.994606 with order 1
Centerline is valid?  [True, True]
Translation: X:736.76, Y:68.33, Z:192.99
[[ 9.18363913e-01 -3.10389151e-01 -2.45491950e-01  7.36756492e+02]
 [ 3.05279321e-01  9.50395018e-01 -5.96141384e-02  6.83281433e+01]
 [ 2.51817908e-01 -2.01961422e-02  9.67563878e-01  1.92989929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.7807140570001 meters
Centerline goodness : 0.994781 with order 1
Centerline is valid?  [True, True]
Translation: X:736.81, Y:68.35, Z:193.00
[[ 9.16548173e-01 -3.15710510e-01 -2.45491999e-01  7.36811483e+02]
 [ 3.10786602e-01  9.48608384e-01 -5.96139369e-02  6.83495566e+01]
 [ 2.51696515e-01 -2.16565791e-02  9.67563878e-01  1.93003273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.840714057 meters
Centerline goodness : 0.994607 with order 1
Centerline is valid?  [True, True]
Translation: X:736.87, Y:68.37, Z:193.02
[[ 9.15464229e-01 -3.18840835e-01 -2.45490872e-01  7.36866726e+02]
 [ 3.14025283e-01  9.47540895e-01 -5.96185755e-02  6.83699704e+01]
 [ 2.51621477e-01 -2.25116674e-02  9.67563878e-01  1.93019073e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.9007140570001 meters
Centerline goodness : 0.994514 with order 1
Centerline is valid?  [True, True]
Translation: X:736.92, Y:68.40, Z:193.04
[[ 9.14624800e-01 -3.21240887e-01 -2.45490872e-01  7.36919331e+02]
 [ 3.16509485e-01  9.46713986e-01 -5.96185755e-02  6.83953690e+01]
 [ 2.51561566e-01 -2.31715620e-02  9.67563878e-01  1.93036687e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 761.960714057 meters
Centerline goodness : 0.994899 with order 1
Centerline is valid?  [True, True]
Translation: X:736.97, Y:68.42, Z:193.05
[[ 9.14374024e-01 -3.21954819e-01 -2.45489793e-01  7.36970622e+02]
 [ 3.17247289e-01  9.46466721e-01 -5.96230172e-02  6.84196413e+01]
 [ 2.51543838e-01 -2.33632332e-02  9.67563878e-01  1.93051806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.0207140570001 meters
Centerline goodness : 0.995250 with order 1
Centerline is valid?  [True, True]
Translation: X:737.02, Y:68.44, Z:193.07
[[ 9.14384726e-01 -3.21937785e-01 -2.45472270e-01  7.37024899e+02]
 [ 3.17210485e-01  9.46474514e-01 -5.96950788e-02  6.84397627e+01]
 [ 2.51551349e-01 -2.32821095e-02  9.67563880e-01  1.93065209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.080714057 meters
Centerline goodness : 0.996084 with order 1
Centerline is valid?  [True, True]
Translation: X:737.08, Y:68.47, Z:193.08
[[ 9.14375582e-01 -3.21975535e-01 -2.45456821e-01  7.37077076e+02]
 [ 3.17232676e-01  9.46463072e-01 -5.97585390e-02  6.84651655e+01]
 [ 2.51556604e-01 -2.32251752e-02  9.67563882e-01  1.93079162e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.140714057 meters
Centerline goodness : 0.997225 with order 1
Centerline is valid?  [True, True]
Translation: X:737.13, Y:68.49, Z:193.09
[[ 9.14858262e-01 -3.20613384e-01 -2.45441273e-01  7.37130145e+02]
 [ 3.15805775e-01  9.46936113e-01 -5.98223291e-02  6.84926107e+01]
 [ 2.51597045e-01 -2.27828196e-02  9.67563884e-01  1.93094750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.200714057 meters
Centerline goodness : 0.996918 with order 1
Centerline is valid?  [True, True]
Translation: X:737.19, Y:68.51, Z:193.11
[[ 9.15482317e-01 -3.18828776e-01 -2.45439075e-01  7.37185068e+02]
 [ 3.13956226e-01  9.47550367e-01 -5.98313467e-02  6.85141133e+01]
 [ 2.51641841e-01 -2.22825860e-02  9.67563884e-01  1.93110315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.260714057 meters
Centerline goodness : 0.997447 with order 1
Centerline is valid?  [True, True]
Translation: X:737.24, Y:68.54, Z:193.13
[[ 9.15426481e-01 -3.18989127e-01 -2.45438984e-01  7.37240361e+02]
 [ 3.14122095e-01  9.47495369e-01 -5.98317222e-02  6.85413920e+01]
 [ 2.51637969e-01 -2.23262648e-02  9.67563884e-01  1.93125568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.320714057 meters
Centerline goodness : 0.996783 with order 1
Centerline is valid?  [True, True]
Translation: X:737.29, Y:68.57, Z:193.14
[[ 9.14746489e-01 -3.20930447e-01 -2.45443494e-01  7.37294022e+02]
 [ 3.16136381e-01  9.46826366e-01 -5.98132139e-02  6.85675714e+01]
 [ 2.51588253e-01 -2.28796905e-02  9.67563885e-01  1.93141024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.380714057 meters
Centerline goodness : 0.996725 with order 1
Centerline is valid?  [True, True]
Translation: X:737.35, Y:68.59, Z:193.16
[[ 9.14126621e-01 -3.22690981e-01 -2.45444599e-01  7.37347975e+02]
 [ 3.17959893e-01  9.46215847e-01 -5.98086788e-02  6.85928948e+01]
 [ 2.51543290e-01 -2.33688330e-02  9.67563885e-01  1.93157640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.440714057 meters
Centerline goodness : 0.996626 with order 1
Centerline is valid?  [True, True]
Translation: X:737.40, Y:68.61, Z:193.17
[[ 9.13868868e-01 -3.23418351e-01 -2.45447068e-01  7.37404420e+02]
 [ 3.18715498e-01  9.45962243e-01 -5.97985463e-02  6.86145036e+01]
 [ 2.51523606e-01 -2.35797546e-02  9.67563885e-01  1.93174279e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.500714057 meters
Centerline goodness : 0.996159 with order 1
Centerline is valid?  [True, True]
Translation: X:737.46, Y:68.64, Z:193.19
[[ 9.13498525e-01 -3.24459552e-01 -2.45451510e-01  7.37458384e+02]
 [ 3.19798129e-01  9.45597944e-01 -5.97803071e-02  6.86404345e+01]
 [ 2.51494735e-01 -2.38857112e-02  9.67563885e-01  1.93190354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.560714057 meters
Centerline goodness : 0.996431 with order 1
Centerline is valid?  [True, True]
Translation: X:737.51, Y:68.66, Z:193.20
[[ 9.13133099e-01 -3.25484662e-01 -2.45454024e-01  7.37514379e+02]
 [ 3.20862018e-01  9.45238126e-01 -5.97699839e-02  6.86631829e+01]
 [ 2.51466714e-01 -2.41789228e-02  9.67563885e-01  1.93204731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.620714057 meters
Centerline goodness : 0.996686 with order 1
Centerline is valid?  [True, True]
Translation: X:737.57, Y:68.69, Z:193.22
[[ 9.13124755e-01 -3.25506432e-01 -2.45456196e-01  7.37569641e+02]
 [ 3.20886928e-01  9.45230234e-01 -5.97610629e-02  6.86882578e+01]
 [ 2.51465228e-01 -2.41943787e-02  9.67563885e-01  1.93219070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.680714057 meters
Centerline goodness : 0.996600 with order 1
Centerline is valid?  [True, True]
Translation: X:737.63, Y:68.71, Z:193.23
[[ 9.13334586e-01 -3.24911102e-01 -2.45464273e-01  7.37625478e+02]
 [ 3.20279505e-01  9.45438322e-01 -5.97278674e-02  6.87079828e+01]
 [ 2.51477578e-01 -2.40656490e-02  9.67563886e-01  1.93234691e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.740714057 meters
Centerline goodness : 0.996761 with order 1
Centerline is valid?  [True, True]
Translation: X:737.68, Y:68.73, Z:193.25
[[ 9.13159513e-01 -3.25402595e-01 -2.45464570e-01  7.37680125e+02]
 [ 3.20788601e-01  9.45265783e-01 -5.97266492e-02  6.87292006e+01]
 [ 2.51464465e-01 -2.42022779e-02  9.67563886e-01  1.93250720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.800714057 meters
Centerline goodness : 0.997224 with order 1
Centerline is valid?  [True, True]
Translation: X:737.74, Y:68.75, Z:193.27
[[ 9.13083710e-01 -3.25614948e-01 -2.45464955e-01  7.37736726e+02]
 [ 3.21008842e-01  9.45191113e-01 -5.97250647e-02  6.87503978e+01]
 [ 2.51458668e-01 -2.42624374e-02  9.67563886e-01  1.93267681e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.860714057 meters
Centerline goodness : 0.996967 with order 1
Centerline is valid?  [True, True]
Translation: X:737.79, Y:68.77, Z:193.28
[[ 9.13494707e-01 -3.24448580e-01 -2.45480223e-01  7.37794129e+02]
 [ 3.19818192e-01  9.45598615e-01 -5.96622475e-02  6.87699997e+01]
 [ 2.51483090e-01 -2.40078938e-02  9.67563888e-01  1.93283255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.920714057 meters
Centerline goodness : 0.997436 with order 1
Centerline is valid?  [True, True]
Translation: X:737.85, Y:68.79, Z:193.30
[[ 9.13771851e-01 -3.23655642e-01 -2.45495478e-01  7.37851159e+02]
 [ 3.19014115e-01  9.45874148e-01 -5.95994123e-02  6.87858368e+01]
 [ 2.51497512e-01 -2.38562575e-02  9.67563890e-01  1.93298466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 762.980714057 meters
Centerline goodness : 0.997769 with order 1
Centerline is valid?  [True, True]
Translation: X:737.91, Y:68.80, Z:193.31
[[ 9.15171971e-01 -3.19673523e-01 -2.45497664e-01  7.37907033e+02]
 [ 3.14894644e-01  9.47254109e-01 -5.95904070e-02  6.88048034e+01]
 [ 2.51598146e-01 -2.27704294e-02  9.67563890e-01  1.93313514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.0407140570001 meters
Centerline goodness : 0.997596 with order 1
Centerline is valid?  [True, True]
Translation: X:737.96, Y:68.82, Z:193.32
[[ 9.17105106e-01 -3.14083882e-01 -2.45498555e-01  7.37964119e+02]
 [ 3.09110327e-01  9.49157641e-01 -5.95867375e-02  6.88216563e+01]
 [ 2.51732063e-01 -2.12388373e-02  9.67563890e-01  1.93323625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.100714057 meters
Centerline goodness : 0.997733 with order 1
Centerline is valid?  [True, True]
Translation: X:738.02, Y:68.84, Z:193.35
[[ 9.18187584e-01 -3.10905143e-01 -2.45498578e-01  7.38018194e+02]
 [ 3.05820613e-01  9.50222703e-01 -5.95866398e-02  6.88407304e+01]
 [ 2.51804115e-01 -2.03668129e-02  9.67563890e-01  1.93345262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.1607140570001 meters
Centerline goodness : 0.997772 with order 1
Centerline is valid?  [True, True]
Translation: X:738.07, Y:68.86, Z:193.36
[[ 9.19700632e-01 -3.06399985e-01 -2.45499077e-01  7.38073648e+02]
 [ 3.01159008e-01  9.51710528e-01 -5.95845873e-02  6.88585028e+01]
 [ 2.51900772e-01 -1.91342758e-02  9.67563890e-01  1.93363600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.220714057 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:738.13, Y:68.88, Z:193.38
[[ 9.20051882e-01 -3.05342746e-01 -2.45500188e-01  7.38129252e+02]
 [ 3.00066197e-01  9.52055933e-01 -5.95800091e-02  6.88758150e+01]
 [ 2.51922234e-01 -1.88496082e-02  9.67563890e-01  1.93378282e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.2807140570001 meters
Centerline goodness : 0.998082 with order 1
Centerline is valid?  [True, True]
Translation: X:738.19, Y:68.89, Z:193.39
[[ 9.18843153e-01 -3.08961523e-01 -2.45499567e-01  7.38186646e+02]
 [ 3.03810297e-01  9.50867615e-01 -5.95825667e-02  6.88903367e+01]
 [ 2.51846308e-01 -1.98382630e-02  9.67563890e-01  1.93393567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.340714057 meters
Centerline goodness : 0.997952 with order 1
Centerline is valid?  [True, True]
Translation: X:738.24, Y:68.90, Z:193.41
[[ 9.17803303e-01 -3.12035904e-01 -2.45500900e-01  7.38244011e+02]
 [ 3.06993379e-01  9.49845060e-01 -5.95770742e-02  6.89044535e+01]
 [ 2.51778003e-01 -2.06871152e-02  9.67563890e-01  1.93405544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.4007140570001 meters
Centerline goodness : 0.998149 with order 1
Centerline is valid?  [True, True]
Translation: X:738.30, Y:68.92, Z:193.42
[[ 9.16065059e-01 -3.17102690e-01 -2.45500900e-01  7.38300833e+02]
 [ 3.12237296e-01  9.48134190e-01 -5.95770742e-02  6.89195475e+01]
 [ 2.51659847e-01 -2.20780612e-02  9.67563890e-01  1.93422679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.460714057 meters
Centerline goodness : 0.997922 with order 1
Centerline is valid?  [True, True]
Translation: X:738.36, Y:68.93, Z:193.44
[[ 9.14894959e-01 -3.20461597e-01 -2.45502707e-01  7.38357310e+02]
 [ 3.15715878e-01  9.46982019e-01 -5.95696253e-02  6.89348880e+01]
 [ 2.51576427e-01 -2.30091530e-02  9.67563890e-01  1.93438902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.5207140570001 meters
Centerline goodness : 0.998152 with order 1
Centerline is valid?  [True, True]
Translation: X:738.41, Y:68.95, Z:193.45
[[ 9.14538372e-01 -3.21477366e-01 -2.45503297e-01  7.38414574e+02]
 [ 3.16767929e-01  9.46630777e-01 -5.95671944e-02  6.89494879e+01]
 [ 2.51550482e-01 -2.32910859e-02  9.67563890e-01  1.93454737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.580714057 meters
Centerline goodness : 0.998168 with order 1
Centerline is valid?  [True, True]
Translation: X:738.47, Y:68.97, Z:193.47
[[ 9.15011575e-01 -3.20117136e-01 -2.45517487e-01  7.38472109e+02]
 [ 3.15375554e-01  9.47099245e-01 -5.95086532e-02  6.89662434e+01]
 [ 2.51579166e-01 -2.29791069e-02  9.67563891e-01  1.93473507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.640714057 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:738.53, Y:68.98, Z:193.49
[[ 9.15803684e-01 -3.17837492e-01 -2.45525846e-01  7.38529395e+02]
 [ 3.13025192e-01  9.47880823e-01 -5.94741439e-02  6.89822458e+01]
 [ 2.51632354e-01 -2.23891351e-02  9.67563892e-01  1.93488900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.700714057 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:738.59, Y:69.00, Z:193.50
[[ 9.16181163e-01 -3.16746039e-01 -2.45528052e-01  7.38587678e+02]
 [ 3.11897942e-01  9.48252911e-01 -5.94650377e-02  6.89980765e+01]
 [ 2.51658005e-01 -2.20989466e-02  9.67563892e-01  1.93503187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.760714057 meters
Centerline goodness : 0.998297 with order 1
Centerline is valid?  [True, True]
Translation: X:738.65, Y:69.01, Z:193.52
[[ 9.16585000e-01 -3.15573001e-01 -2.45531299e-01  7.38645110e+02]
 [ 3.10687417e-01  9.48651060e-01 -5.94516282e-02  6.90139478e+01]
 [ 2.51684855e-01 -2.17910143e-02  9.67563892e-01  1.93517190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.820714057 meters
Centerline goodness : 0.998522 with order 1
Centerline is valid?  [True, True]
Translation: X:738.70, Y:69.03, Z:193.53
[[ 9.18419016e-01 -3.10193226e-01 -2.45533447e-01  7.38701543e+02]
 [ 3.05122065e-01  9.50456251e-01 -5.94427540e-02  6.90300719e+01]
 [ 2.51807539e-01 -2.03243168e-02  9.67563892e-01  1.93529921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.880714057 meters
Centerline goodness : 0.998396 with order 1
Centerline is valid?  [True, True]
Translation: X:738.76, Y:69.05, Z:193.55
[[ 9.21210833e-01 -3.01801524e-01 -2.45532975e-01  7.38756339e+02]
 [ 2.96437780e-01  9.53200383e-01 -5.94447016e-02  6.90491056e+01]
 [ 2.51982628e-01 -1.80241470e-02  9.67563892e-01  1.93547935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 763.940714057 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:738.81, Y:69.07, Z:193.56
[[ 9.24105909e-01 -2.92817019e-01 -2.45533017e-01  7.38812156e+02]
 [ 2.87142080e-01  9.56041722e-01 -5.94445296e-02  6.90664023e+01]
 [ 2.52146178e-01 -1.55698202e-02  9.67563892e-01  1.93562264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.000714057 meters
Centerline goodness : 0.997805 with order 1
Centerline is valid?  [True, True]
Translation: X:738.87, Y:69.08, Z:193.58
[[ 9.26751744e-01 -2.84332409e-01 -2.45532660e-01  7.38866904e+02]
 [ 2.78364527e-01  9.58634113e-01 -5.94460039e-02  6.90839533e+01]
 [ 2.52278409e-01 -1.32558951e-02  9.67563892e-01  1.93581771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.060714057 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:738.92, Y:69.10, Z:193.60
[[ 9.28385832e-01 -2.78949921e-01 -2.45533476e-01  7.38922037e+02]
 [ 2.72798025e-01  9.60233207e-01 -5.94426327e-02  6.91002075e+01]
 [ 2.52350915e-01 -1.17953493e-02  9.67563892e-01  1.93596358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.120714057 meters
Centerline goodness : 0.998607 with order 1
Centerline is valid?  [True, True]
Translation: X:738.98, Y:69.12, Z:193.61
[[ 9.30219812e-01 -2.72772472e-01 -2.45532648e-01  7.38978573e+02]
 [ 2.66408109e-01  9.62025408e-01 -5.94460553e-02  6.91162374e+01]
 [ 2.52423893e-01 -1.01139900e-02  9.67563892e-01  1.93610276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.180714057 meters
Centerline goodness : 0.997821 with order 1
Centerline is valid?  [True, True]
Translation: X:739.04, Y:69.13, Z:193.62
[[ 9.31690110e-01 -2.67706774e-01 -2.45533343e-01  7.39035824e+02]
 [ 2.61170197e-01  9.63460760e-01 -5.94431812e-02  6.91325444e+01]
 [ 2.52475084e-01 -8.74336752e-03  9.67563892e-01  1.93624901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.240714057 meters
Centerline goodness : 0.998068 with order 1
Centerline is valid?  [True, True]
Translation: X:739.09, Y:69.15, Z:193.64
[[ 9.32373696e-01 -2.65315150e-01 -2.45534441e-01  7.39092625e+02]
 [ 2.58698263e-01  9.64127718e-01 -5.94386462e-02  6.91466210e+01]
 [ 2.52496534e-01 -8.10030325e-03  9.67563892e-01  1.93638776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.300714057 meters
Centerline goodness : 0.998373 with order 1
Centerline is valid?  [True, True]
Translation: X:739.15, Y:69.16, Z:193.66
[[ 9.32624005e-01 -2.64432918e-01 -2.45535532e-01  7.39149622e+02]
 [ 2.57787176e-01  9.64372000e-01 -5.94341411e-02  6.91600435e+01]
 [ 2.52503935e-01 -7.86620456e-03  9.67563892e-01  1.93655712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.360714057 meters
Centerline goodness : 0.997491 with order 1
Centerline is valid?  [True, True]
Translation: X:739.21, Y:69.17, Z:193.67
[[ 9.32859559e-01 -2.63599865e-01 -2.45536465e-01  7.39207117e+02]
 [ 2.56926784e-01  9.64601819e-01 -5.94302867e-02  6.91716988e+01]
 [ 2.52510736e-01 -7.64478317e-03  9.67563892e-01  1.93671892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.420714057 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:739.26, Y:69.18, Z:193.69
[[ 9.32879116e-01 -2.63529621e-01 -2.45537561e-01  7.39264481e+02]
 [ 2.56855342e-01  9.64621124e-01 -5.94257566e-02  6.91831243e+01]
 [ 2.52511165e-01 -7.63058690e-03  9.67563892e-01  1.93687844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.480714057 meters
Centerline goodness : 0.997366 with order 1
Centerline is valid?  [True, True]
Translation: X:739.32, Y:69.19, Z:193.70
[[ 9.32096221e-01 -2.66284448e-01 -2.45538648e-01  7.39324356e+02]
 [ 2.59705154e-01  9.63858053e-01 -5.94212663e-02  6.91919296e+01]
 [ 2.52487362e-01 -8.38131459e-03  9.67563892e-01  1.93703474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.5407140570001 meters
Centerline goodness : 0.997452 with order 1
Centerline is valid?  [True, True]
Translation: X:739.38, Y:69.20, Z:193.72
[[ 9.30908982e-01 -2.70401732e-01 -2.45543014e-01  7.39383826e+02]
 [ 2.63967642e-01  9.62700546e-01 -5.94032205e-02  6.92004039e+01]
 [ 2.52447127e-01 -9.51641884e-03  9.67563892e-01  1.93718061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.600714057 meters
Centerline goodness : 0.998172 with order 1
Centerline is valid?  [True, True]
Translation: X:739.44, Y:69.21, Z:193.73
[[ 9.29543987e-01 -2.75055522e-01 -2.45545183e-01  7.39440914e+02]
 [ 2.68782925e-01  9.61367808e-01 -5.93942518e-02  6.92093893e+01]
 [ 2.52395951e-01 -1.07887829e-02  9.67563892e-01  1.93733322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.6607140570001 meters
Centerline goodness : 0.998065 with order 1
Centerline is valid?  [True, True]
Translation: X:739.50, Y:69.22, Z:193.75
[[ 9.27786537e-01 -2.80926536e-01 -2.45545156e-01  7.39500481e+02]
 [ 2.74855222e-01  9.59649371e-01 -5.93943646e-02  6.92175380e+01]
 [ 2.52322707e-01 -1.23840766e-02  9.67563892e-01  1.93747409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.720714057 meters
Centerline goodness : 0.997822 with order 1
Centerline is valid?  [True, True]
Translation: X:739.56, Y:69.23, Z:193.76
[[ 9.26570777e-01 -2.84909313e-01 -2.45546897e-01  7.39559069e+02]
 [ 2.78976826e-01  9.58459751e-01 -5.93871664e-02  6.92284432e+01]
 [ 2.52266774e-01 -1.34754810e-02  9.67563893e-01  1.93762615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.7807140570001 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:739.62, Y:69.24, Z:193.78
[[ 9.25482804e-01 -2.88422035e-01 -2.45548995e-01  7.39617246e+02]
 [ 2.82612850e-01  9.57394471e-01 -5.93784904e-02  6.92381096e+01]
 [ 2.52213315e-01 -1.44415293e-02  9.67563893e-01  1.93778517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.840714057 meters
Centerline goodness : 0.997872 with order 1
Centerline is valid?  [True, True]
Translation: X:739.67, Y:69.25, Z:193.79
[[ 9.25239387e-01 -2.89200689e-01 -2.45550480e-01  7.39674839e+02]
 [ 2.83419982e-01  9.57156224e-01 -5.93723487e-02  6.92510926e+01]
 [ 2.52200694e-01 -1.46602771e-02  9.67563893e-01  1.93794099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.9007140570001 meters
Centerline goodness : 0.997719 with order 1
Centerline is valid?  [True, True]
Translation: X:739.73, Y:69.26, Z:193.81
[[ 9.25364936e-01 -2.88796951e-01 -2.45552552e-01  7.39733398e+02]
 [ 2.83004585e-01  9.57279660e-01 -5.93637784e-02  6.92631482e+01]
 [ 2.52206541e-01 -1.45593389e-02  9.67563893e-01  1.93810569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 764.960714057 meters
Centerline goodness : 0.997773 with order 1
Centerline is valid?  [True, True]
Translation: X:739.79, Y:69.27, Z:193.83
[[ 9.25975578e-01 -2.86820837e-01 -2.45566768e-01  7.39792410e+02]
 [ 2.80975911e-01  9.57880715e-01 -5.93049157e-02  6.92733298e+01]
 [ 2.52233556e-01 -1.40834428e-02  9.67563894e-01  1.93826882e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.0207140570001 meters
Centerline goodness : 0.997000 with order 1
Centerline is valid?  [True, True]
Translation: X:739.85, Y:69.28, Z:193.84
[[ 9.27107039e-01 -2.83139342e-01 -2.45570053e-01  7.39851250e+02]
 [ 2.77171285e-01  9.58989374e-01 -5.92913098e-02  6.92846694e+01]
 [ 2.52286773e-01 -1.30955765e-02  9.67563894e-01  1.93842059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.080714057 meters
Centerline goodness : 0.997601 with order 1
Centerline is valid?  [True, True]
Translation: X:739.91, Y:69.30, Z:193.86
[[ 9.28306459e-01 -2.79178884e-01 -2.45573346e-01  7.39910028e+02]
 [ 2.73078375e-01  9.60163715e-01 -5.92776649e-02  6.92973255e+01]
 [ 2.52339689e-01 -1.20329313e-02  9.67563895e-01  1.93857234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.140714057 meters
Centerline goodness : 0.997032 with order 1
Centerline is valid?  [True, True]
Translation: X:739.97, Y:69.31, Z:193.87
[[ 9.29747941e-01 -2.74326546e-01 -2.45588503e-01  7.39968339e+02]
 [ 2.68076303e-01  9.61576156e-01 -5.92148059e-02  6.93078107e+01]
 [ 2.52396242e-01 -1.07816140e-02  9.67563897e-01  1.93872422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.200714057 meters
Centerline goodness : 0.996565 with order 1
Centerline is valid?  [True, True]
Translation: X:740.03, Y:69.32, Z:193.89
[[ 9.31265749e-01 -2.69128026e-01 -2.45589518e-01  7.40027349e+02]
 [ 2.62701172e-01  9.63058772e-01 -5.92105982e-02  6.93189386e+01]
 [ 2.52452371e-01 -9.37585214e-03  9.67563897e-01  1.93887747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.260714057 meters
Centerline goodness : 0.997292 with order 1
Centerline is valid?  [True, True]
Translation: X:740.08, Y:69.33, Z:193.90
[[ 9.32583819e-01 -2.64521408e-01 -2.45592843e-01  7.40084427e+02]
 [ 2.57941106e-01  9.64345438e-01 -5.91968027e-02  6.93294505e+01]
 [ 2.52495159e-01 -8.14250922e-03  9.67563897e-01  1.93903279e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.320714057 meters
Centerline goodness : 0.996883 with order 1
Centerline is valid?  [True, True]
Translation: X:740.14, Y:69.34, Z:193.92
[[ 9.33091404e-01 -2.62725307e-01 -2.45592843e-01  7.40143553e+02]
 [ 2.56083863e-01  9.64840294e-01 -5.91968027e-02  6.93393935e+01]
 [ 2.52510369e-01 -7.65633613e-03  9.67563897e-01  1.93919583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.380714057 meters
Centerline goodness : 0.997201 with order 1
Centerline is valid?  [True, True]
Translation: X:740.20, Y:69.35, Z:193.94
[[ 9.33216204e-01 -2.62267620e-01 -2.45607844e-01  7.40202689e+02]
 [ 2.55626986e-01  9.64965261e-01 -5.91345002e-02  6.93505344e+01]
 [ 2.52512102e-01 -7.59871896e-03  9.67563899e-01  1.93936043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.440714057 meters
Centerline goodness : 0.997530 with order 1
Centerline is valid?  [True, True]
Translation: X:740.26, Y:69.36, Z:193.95
[[ 9.32310557e-01 -2.65455322e-01 -2.45622673e-01  7.40262714e+02]
 [ 2.58939452e-01  9.64085452e-01 -5.90728410e-02  6.93599864e+01]
 [ 2.52482446e-01 -8.52716724e-03  9.67563901e-01  1.93951429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.500714057 meters
Centerline goodness : 0.997138 with order 1
Centerline is valid?  [True, True]
Translation: X:740.32, Y:69.37, Z:193.97
[[ 9.30022181e-01 -2.73351352e-01 -2.45637498e-01  7.40320763e+02]
 [ 2.67121420e-01  9.61854372e-01 -5.90111370e-02  6.93680385e+01]
 [ 2.52398275e-01 -1.07333707e-02  9.67563903e-01  1.93965030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.560714057 meters
Centerline goodness : 0.996979 with order 1
Centerline is valid?  [True, True]
Translation: X:740.38, Y:69.38, Z:193.98
[[ 9.27590375e-01 -2.81488937e-01 -2.45642168e-01  7.40380068e+02]
 [ 2.75543266e-01  9.59476883e-01 -5.89916893e-02  6.93753821e+01]
 [ 2.52293490e-01 -1.29649219e-02  9.67563903e-01  1.93979497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.620714057 meters
Centerline goodness : 0.996644 with order 1
Centerline is valid?  [True, True]
Translation: X:740.44, Y:69.39, Z:193.99
[[ 9.26106166e-01 -2.86333008e-01 -2.45643599e-01  7.40439267e+02]
 [ 2.80555645e-01  9.58023598e-01 -5.89857285e-02  6.93859013e+01]
 [ 2.52221926e-01 -1.42896515e-02  9.67563903e-01  1.93994713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.680714057 meters
Centerline goodness : 0.996944 with order 1
Centerline is valid?  [True, True]
Translation: X:740.50, Y:69.39, Z:194.01
[[ 9.24814849e-01 -2.90463814e-01 -2.45658846e-01  7.40496562e+02]
 [ 2.84845788e-01  9.56760710e-01 -5.89221643e-02  6.93938858e+01]
 [ 2.52151489e-01 -1.54827950e-02  9.67563905e-01  1.94009024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.740714057 meters
Centerline goodness : 0.996812 with order 1
Centerline is valid?  [True, True]
Translation: X:740.55, Y:69.40, Z:194.02
[[ 9.23688478e-01 -2.94026624e-01 -2.45658178e-01  7.40554432e+02]
 [ 2.88531046e-01  9.55655631e-01 -5.89249510e-02  6.94047875e+01]
 [ 2.52090125e-01 -1.64517126e-02  9.67563905e-01  1.94023501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.800714057 meters
Centerline goodness : 0.997129 with order 1
Centerline is valid?  [True, True]
Translation: X:740.61, Y:69.42, Z:194.04
[[ 9.22566894e-01 -2.97525239e-01 -2.45660453e-01  7.40612795e+02]
 [ 2.92153368e-01  9.54555068e-01 -5.89154643e-02  6.94155050e+01]
 [ 2.52025268e-01 -1.74170717e-02  9.67563905e-01  1.94039845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.860714057 meters
Centerline goodness : 0.997597 with order 1
Centerline is valid?  [True, True]
Translation: X:740.67, Y:69.43, Z:194.06
[[ 9.21976506e-01 -2.99347973e-01 -2.45662599e-01  7.40670038e+02]
 [ 2.94041704e-01  9.53975628e-01 -5.89065145e-02  6.94267970e+01]
 [ 2.51989678e-01 -1.79246268e-02  9.67563905e-01  1.94055077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.920714057 meters
Centerline goodness : 0.997251 with order 1
Centerline is valid?  [True, True]
Translation: X:740.73, Y:69.44, Z:194.07
[[ 9.22015189e-01 -2.99227941e-01 -2.45663654e-01  7.40728733e+02]
 [ 2.93918673e-01  9.54013813e-01 -5.89021119e-02  6.94411405e+01]
 [ 2.51991677e-01 -1.78964935e-02  9.67563905e-01  1.94070030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 765.980714057 meters
Centerline goodness : 0.997132 with order 1
Centerline is valid?  [True, True]
Translation: X:740.79, Y:69.45, Z:194.08
[[ 9.22047264e-01 -2.99125650e-01 -2.45667842e-01  7.40786716e+02]
 [ 2.93817462e-01  9.54046067e-01 -5.88846428e-02  6.94541198e+01]
 [ 2.51992345e-01 -1.78870780e-02  9.67563905e-01  1.94084445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.0407140570001 meters
Centerline goodness : 0.996417 with order 1
Centerline is valid?  [True, True]
Translation: X:740.85, Y:69.47, Z:194.10
[[ 9.21785006e-01 -2.99927466e-01 -2.45674414e-01  7.40845869e+02]
 [ 2.94654381e-01  9.53789612e-01 -5.88572110e-02  6.94671426e+01]
 [ 2.51974598e-01 -1.81353476e-02  9.67563905e-01  1.94100670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.100714057 meters
Centerline goodness : 0.997103 with order 1
Centerline is valid?  [True, True]
Translation: X:740.90, Y:69.48, Z:194.12
[[ 9.21151800e-01 -3.01862480e-01 -2.45679475e-01  7.40902703e+02]
 [ 2.96662218e-01  9.53168319e-01 -5.88360770e-02  6.94824499e+01]
 [ 2.51934296e-01 -1.86868597e-02  9.67563906e-01  1.94119533e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.1607140570001 meters
Centerline goodness : 0.997056 with order 1
Centerline is valid?  [True, True]
Translation: X:740.96, Y:69.50, Z:194.14
[[ 9.21034082e-01 -3.02219007e-01 -2.45682503e-01  7.40959606e+02]
 [ 2.97034491e-01  9.53053154e-01 -5.88234316e-02  6.94961844e+01]
 [ 2.51926043e-01 -1.87977919e-02  9.67563906e-01  1.94135610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.220714057 meters
Centerline goodness : 0.997809 with order 1
Centerline is valid?  [True, True]
Translation: X:741.02, Y:69.51, Z:194.15
[[ 9.21250578e-01 -3.01558110e-01 -2.45682882e-01  7.41016875e+02]
 [ 2.96351043e-01  9.53265991e-01 -5.88218468e-02  6.95113358e+01]
 [ 2.51939341e-01 -1.86187181e-02  9.67563906e-01  1.94151283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.2807140570001 meters
Centerline goodness : 0.997268 with order 1
Centerline is valid?  [True, True]
Translation: X:741.07, Y:69.53, Z:194.17
[[ 9.21480810e-01 -3.00852142e-01 -2.45684972e-01  7.41073408e+02]
 [ 2.95622861e-01  9.53492602e-01 -5.88131151e-02  6.95280087e+01]
 [ 2.51952855e-01 -1.84349376e-02  9.67563906e-01  1.94167603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.340714057 meters
Centerline goodness : 0.997563 with order 1
Centerline is valid?  [True, True]
Translation: X:741.13, Y:69.54, Z:194.18
[[ 9.21463804e-01 -3.00903389e-01 -2.45685995e-01  7.41132966e+02]
 [ 2.95677021e-01  9.53476072e-01 -5.88088420e-02  6.95431927e+01]
 [ 2.51951497e-01 -1.84534839e-02  9.67563906e-01  1.94182671e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.4007140570001 meters
Centerline goodness : 0.997270 with order 1
Centerline is valid?  [True, True]
Translation: X:741.19, Y:69.56, Z:194.20
[[ 9.21673352e-01 -3.00246707e-01 -2.45703372e-01  7.41191193e+02]
 [ 2.95016799e-01  9.53685039e-01 -5.87361536e-02  6.95589089e+01]
 [ 2.51958967e-01 -1.83510748e-02  9.67563909e-01  1.94197108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.460714057 meters
Centerline goodness : 0.997689 with order 1
Centerline is valid?  [True, True]
Translation: X:741.25, Y:69.58, Z:194.21
[[ 9.22479528e-01 -2.97748044e-01 -2.45718586e-01  7.41247230e+02]
 [ 2.92448291e-01  9.54479723e-01 -5.86724436e-02  6.95766277e+01]
 [ 2.52003013e-01 -1.77358523e-02  9.67563911e-01  1.94213144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.5207140570001 meters
Centerline goodness : 0.997249 with order 1
Centerline is valid?  [True, True]
Translation: X:741.30, Y:69.59, Z:194.23
[[ 9.23817598e-01 -2.93569262e-01 -2.45719625e-01  7.41303559e+02]
 [ 2.88125862e-01  9.55793672e-01 -5.86680882e-02  6.95931896e+01]
 [ 2.52080410e-01 -1.65995666e-02  9.67563911e-01  1.94229715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.580714057 meters
Centerline goodness : 0.997314 with order 1
Centerline is valid?  [True, True]
Translation: X:741.36, Y:69.61, Z:194.25
[[ 9.24506193e-01 -2.91392589e-01 -2.45720691e-01  7.41359343e+02]
 [ 2.85875073e-01  9.56469562e-01 -5.86636229e-02  6.96095020e+01]
 [ 2.52118507e-01 -1.60105379e-02  9.67563911e-01  1.94245740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.640714057 meters
Centerline goodness : 0.997486 with order 1
Centerline is valid?  [True, True]
Translation: X:741.42, Y:69.63, Z:194.26
[[ 9.25304122e-01 -2.88848480e-01 -2.45721057e-01  7.41415288e+02]
 [ 2.83243469e-01  9.57252264e-01 -5.86620935e-02  6.96269344e+01]
 [ 2.52161494e-01 -1.53186075e-02  9.67563911e-01  1.94261562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.700714057 meters
Centerline goodness : 0.997276 with order 1
Centerline is valid?  [True, True]
Translation: X:741.47, Y:69.64, Z:194.28
[[ 9.25578415e-01 -2.87968331e-01 -2.45721057e-01  7.41472765e+02]
 [ 2.82332938e-01  9.57521212e-01 -5.86620935e-02  6.96429850e+01]
 [ 2.52175949e-01 -1.50787803e-02  9.67563911e-01  1.94275730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.760714057 meters
Centerline goodness : 0.997493 with order 1
Centerline is valid?  [True, True]
Translation: X:741.53, Y:69.66, Z:194.29
[[ 9.25794018e-01 -2.87262856e-01 -2.45734588e-01  7.41529396e+02]
 [ 2.81618124e-01  9.57735164e-01 -5.86053586e-02  6.96583378e+01]
 [ 2.52183798e-01 -1.49468232e-02  9.67563912e-01  1.94292953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.820714057 meters
Centerline goodness : 0.997472 with order 1
Centerline is valid?  [True, True]
Translation: X:741.59, Y:69.67, Z:194.31
[[ 9.26249612e-01 -2.85789494e-01 -2.45735674e-01  7.41586662e+02]
 [ 2.80095154e-01  9.58181951e-01 -5.86008035e-02  6.96748192e+01]
 [ 2.52206982e-01 -1.45503998e-02  9.67563912e-01  1.94310675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.880714057 meters
Centerline goodness : 0.997865 with order 1
Centerline is valid?  [True, True]
Translation: X:741.64, Y:69.69, Z:194.33
[[ 9.26883988e-01 -2.83712274e-01 -2.45750725e-01  7.41642553e+02]
 [ 2.77963058e-01  9.58806490e-01 -5.85376186e-02  6.96916914e+01]
 [ 2.52235231e-01 -1.40520418e-02  9.67563914e-01  1.94328004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 766.940714057 meters
Centerline goodness : 0.997532 with order 1
Centerline is valid?  [True, True]
Translation: X:741.70, Y:69.71, Z:194.34
[[ 9.27340996e-01 -2.82213986e-01 -2.45751793e-01  7.41699249e+02]
 [ 2.76414373e-01  9.59254381e-01 -5.85331346e-02  6.97071664e+01]
 [ 2.52257353e-01 -1.36491524e-02  9.67563914e-01  1.94343893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.000714057 meters
Centerline goodness : 0.998483 with order 1
Centerline is valid?  [True, True]
Translation: X:741.76, Y:69.72, Z:194.36
[[ 9.27134527e-01 -2.82890607e-01 -2.45752870e-01  7.41757067e+02]
 [ 2.77115478e-01  9.59052352e-01 -5.85286124e-02  6.97242954e+01]
 [ 2.52247063e-01 -1.38380266e-02  9.67563914e-01  1.94360851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.060714057 meters
Centerline goodness : 0.997861 with order 1
Centerline is valid?  [True, True]
Translation: X:741.82, Y:69.74, Z:194.38
[[ 9.26734017e-01 -2.84186918e-01 -2.45767893e-01  7.41815134e+02]
 [ 2.78473121e-01  9.58662876e-01 -5.84654656e-02  6.97391292e+01]
 [ 2.52223675e-01 -1.42578162e-02  9.67563916e-01  1.94377750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.120714057 meters
Centerline goodness : 0.998238 with order 1
Centerline is valid?  [True, True]
Translation: X:741.87, Y:69.75, Z:194.39
[[ 9.25952831e-01 -2.86708959e-01 -2.45783091e-01  7.41873622e+02]
 [ 2.81099025e-01  9.57900100e-01 -5.84015052e-02  6.97542661e+01]
 [ 2.52179882e-01 -1.50123482e-02  9.67563918e-01  1.94392450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.180714057 meters
Centerline goodness : 0.997935 with order 1
Centerline is valid?  [True, True]
Translation: X:741.93, Y:69.77, Z:194.41
[[ 9.24934006e-01 -2.89975233e-01 -2.45787406e-01  7.41931047e+02]
 [ 2.84482896e-01  9.56901702e-01 -5.83833409e-02  6.97696882e+01]
 [ 2.52124110e-01 -1.59215756e-02  9.67563919e-01  1.94407392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.240714057 meters
Centerline goodness : 0.998017 with order 1
Centerline is valid?  [True, True]
Translation: X:741.99, Y:69.78, Z:194.42
[[ 9.24488874e-01 -2.91390386e-01 -2.45788456e-01  7.41987682e+02]
 [ 2.85948147e-01  9.56465137e-01 -5.83789206e-02  6.97833438e+01]
 [ 2.52099145e-01 -1.63120909e-02  9.67563919e-01  1.94420907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.300714057 meters
Centerline goodness : 0.998398 with order 1
Centerline is valid?  [True, True]
Translation: X:742.04, Y:69.80, Z:194.44
[[ 9.23918460e-01 -2.93194385e-01 -2.45787981e-01  7.42044188e+02]
 [ 2.87814044e-01  9.55905196e-01 -5.83809180e-02  6.97977460e+01]
 [ 2.52066966e-01 -1.68020250e-02  9.67563919e-01  1.94438251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.360714057 meters
Centerline goodness : 0.998218 with order 1
Centerline is valid?  [True, True]
Translation: X:742.10, Y:69.81, Z:194.45
[[ 9.23461371e-01 -2.94630018e-01 -2.45789033e-01  7.42101970e+02]
 [ 2.89300571e-01  9.55456626e-01 -5.83764919e-02  6.98127682e+01]
 [ 2.52040227e-01 -1.71984722e-02  9.67563919e-01  1.94454290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.420714057 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:742.16, Y:69.83, Z:194.47
[[ 9.22602369e-01 -2.97306255e-01 -2.45792311e-01  7.42158636e+02]
 [ 2.92073256e-01  9.54613540e-01 -5.83626836e-02  6.98269035e+01]
 [ 2.51988259e-01 -1.79438105e-02  9.67563919e-01  1.94466808e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.480714057 meters
Centerline goodness : 0.998552 with order 1
Centerline is valid?  [True, True]
Translation: X:742.22, Y:69.84, Z:194.48
[[ 9.21895052e-01 -2.99492761e-01 -2.45791781e-01  7.42215999e+02]
 [ 2.94335078e-01  9.53918444e-01 -5.83649170e-02  6.98412668e+01]
 [ 2.51945183e-01 -1.85388147e-02  9.67563919e-01  1.94482596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.5407140570001 meters
Centerline goodness : 0.998415 with order 1
Centerline is valid?  [True, True]
Translation: X:742.27, Y:69.86, Z:194.50
[[ 9.21067704e-01 -3.02025894e-01 -2.45793907e-01  7.42274267e+02]
 [ 2.96958637e-01  9.53105529e-01 -5.83559625e-02  6.98565875e+01]
 [ 2.51892543e-01 -1.92408312e-02  9.67563919e-01  1.94499213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.600714057 meters
Centerline goodness : 0.997988 with order 1
Centerline is valid?  [True, True]
Translation: X:742.33, Y:69.87, Z:194.51
[[ 9.20498295e-01 -3.03744653e-01 -2.45809022e-01  7.42331929e+02]
 [ 2.98754115e-01  9.52548159e-01 -5.82922291e-02  6.98714751e+01]
 [ 2.51850884e-01 -1.97785593e-02  9.67563921e-01  1.94513832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.6607140570001 meters
Centerline goodness : 0.998253 with order 1
Centerline is valid?  [True, True]
Translation: X:742.39, Y:69.89, Z:194.53
[[ 9.20234565e-01 -3.04541001e-01 -2.45811156e-01  7.42389562e+02]
 [ 2.99580586e-01  9.52289104e-01 -5.82832255e-02  6.98863407e+01]
 [ 2.51832918e-01 -2.00060117e-02  9.67563921e-01  1.94528665e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.720714057 meters
Centerline goodness : 0.998521 with order 1
Centerline is valid?  [True, True]
Translation: X:742.45, Y:69.90, Z:194.54
[[ 9.19610019e-01 -3.06420285e-01 -2.45812984e-01  7.42445993e+02]
 [ 3.01527409e-01  9.51674937e-01 -5.82755173e-02  6.99021233e+01]
 [ 2.51790856e-01 -2.05286026e-02  9.67563921e-01  1.94542412e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.7807140570001 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:742.50, Y:69.92, Z:194.56
[[ 9.19174228e-01 -3.07725064e-01 -2.45812984e-01  7.42503676e+02]
 [ 3.02877699e-01  9.51246058e-01 -5.82755173e-02  6.99184193e+01]
 [ 2.51761469e-01 -2.08859174e-02  9.67563921e-01  1.94556513e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.840714057 meters
Centerline goodness : 0.998093 with order 1
Centerline is valid?  [True, True]
Translation: X:742.56, Y:69.93, Z:194.57
[[ 9.18996673e-01 -3.08244305e-01 -2.45826289e-01  7.42560697e+02]
 [ 3.03429976e-01  9.51073477e-01 -5.82193398e-02  6.99338507e+01]
 [ 2.51744643e-01 -2.10876855e-02  9.67563923e-01  1.94571725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.9007140570001 meters
Centerline goodness : 0.998379 with order 1
Centerline is valid?  [True, True]
Translation: X:742.62, Y:69.95, Z:194.59
[[ 9.19221753e-01 -3.07561991e-01 -2.45839360e-01  7.42618011e+02]
 [ 3.02738519e-01  9.51297182e-01 -5.81640925e-02  6.99519772e+01]
 [ 2.51755355e-01 -2.09593447e-02  9.67563924e-01  1.94589434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 767.960714057 meters
Centerline goodness : 0.998266 with order 1
Centerline is valid?  [True, True]
Translation: X:742.67, Y:69.97, Z:194.60
[[ 9.19842794e-01 -3.05696113e-01 -2.45843691e-01  7.42674401e+02]
 [ 3.00812424e-01  9.51909110e-01 -5.81457837e-02  6.99685258e+01]
 [ 2.51795789e-01 -2.04678565e-02  9.67563924e-01  1.94603180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.0207140570001 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:742.73, Y:69.99, Z:194.62
[[ 9.20653631e-01 -3.03245398e-01 -2.45843691e-01  7.42730254e+02]
 [ 2.98276331e-01  9.52706827e-01 -5.81457837e-02  6.99861504e+01]
 [ 2.51849404e-01 -1.97972271e-02  9.67563924e-01  1.94619060e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.080714057 meters
Centerline goodness : 0.998330 with order 1
Centerline is valid?  [True, True]
Translation: X:742.79, Y:70.00, Z:194.63
[[ 9.21583638e-01 -3.00406608e-01 -2.45844397e-01  7.42785665e+02]
 [ 2.95339573e-01  9.53621493e-01 -5.81427960e-02  7.00032967e+01]
 [ 2.51908981e-01 -1.90241298e-02  9.67563924e-01  1.94633564e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.140714057 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:742.84, Y:70.02, Z:194.65
[[ 9.23009434e-01 -2.95997131e-01 -2.45844022e-01  7.42841808e+02]
 [ 2.90776562e-01  9.55022629e-01 -5.81443840e-02  7.00208088e+01]
 [ 2.51997175e-01 -1.78178643e-02  9.67563924e-01  1.94647554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.200714057 meters
Centerline goodness : 0.998173 with order 1
Centerline is valid?  [True, True]
Translation: X:742.90, Y:70.04, Z:194.66
[[ 9.24669588e-01 -2.90769466e-01 -2.45843996e-01  7.42897294e+02]
 [ 2.85367801e-01  9.56652725e-01 -5.81444937e-02  7.00402992e+01]
 [ 2.52093972e-01 -1.63915154e-02  9.67563924e-01  1.94664012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.260714057 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:742.95, Y:70.06, Z:194.68
[[ 9.25826062e-01 -2.87064607e-01 -2.45845511e-01  7.42952514e+02]
 [ 2.81536614e-01  9.57787606e-01 -5.81380875e-02  7.00571209e+01]
 [ 2.52157170e-01 -1.53887561e-02  9.67563924e-01  1.94679519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.320714057 meters
Centerline goodness : 0.998325 with order 1
Centerline is valid?  [True, True]
Translation: X:743.01, Y:70.08, Z:194.70
[[ 9.27252041e-01 -2.82425484e-01 -2.45844459e-01  7.43007543e+02]
 [ 2.76736357e-01  9.59185297e-01 -5.81425327e-02  7.00757571e+01]
 [ 2.52231324e-01 -1.41213181e-02  9.67563924e-01  1.94695844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.380714057 meters
Centerline goodness : 0.998130 with order 1
Centerline is valid?  [True, True]
Translation: X:743.06, Y:70.09, Z:194.71
[[ 9.27923456e-01 -2.80210717e-01 -2.45845509e-01  7.43064493e+02]
 [ 2.74446534e-01  9.59843249e-01 -5.81380942e-02  7.00913360e+01]
 [ 2.52264069e-01 -1.35237466e-02  9.67563924e-01  1.94711727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.440714057 meters
Centerline goodness : 0.998268 with order 1
Centerline is valid?  [True, True]
Translation: X:743.12, Y:70.11, Z:194.73
[[ 9.28722682e-01 -2.77549271e-01 -2.45846663e-01  7.43122625e+02]
 [ 2.71694888e-01  9.60626055e-01 -5.81332128e-02  7.01088881e+01]
 [ 2.52301541e-01 -1.28056483e-02  9.67563924e-01  1.94727805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.500714057 meters
Centerline goodness : 0.998564 with order 1
Centerline is valid?  [True, True]
Translation: X:743.18, Y:70.12, Z:194.74
[[ 9.29222956e-01 -2.75856270e-01 -2.45861782e-01  7.43181072e+02]
 [ 2.69960647e-01  9.61118732e-01 -5.80692028e-02  7.01245685e+01]
 [ 2.52321118e-01 -1.24137695e-02  9.67563926e-01  1.94741651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.560714057 meters
Centerline goodness : 0.998305 with order 1
Centerline is valid?  [True, True]
Translation: X:743.24, Y:70.14, Z:194.76
[[ 9.29100270e-01 -2.76254960e-01 -2.45877785e-01  7.43238898e+02]
 [ 2.70390928e-01  9.61001867e-01 -5.80013679e-02  7.01390848e+01]
 [ 2.52312176e-01 -1.25940357e-02  9.67563929e-01  1.94755723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.620714057 meters
Centerline goodness : 0.998842 with order 1
Centerline is valid?  [True, True]
Translation: X:743.30, Y:70.15, Z:194.77
[[ 9.28779094e-01 -2.77331089e-01 -2.45879772e-01  7.43297785e+02]
 [ 2.71506242e-01  9.60687868e-01 -5.79929416e-02  7.01537235e+01]
 [ 2.52296960e-01 -1.28952610e-02  9.67563929e-01  1.94770837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.680714057 meters
Centerline goodness : 0.998352 with order 1
Centerline is valid?  [True, True]
Translation: X:743.35, Y:70.17, Z:194.79
[[ 9.28300606e-01 -2.78924878e-01 -2.45883910e-01  7.43353764e+02]
 [ 2.73159444e-01  9.60220168e-01 -5.79753933e-02  7.01674739e+01]
 [ 2.52273469e-01 -1.33469194e-02  9.67563929e-01  1.94785787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.740714057 meters
Centerline goodness : 0.998430 with order 1
Centerline is valid?  [True, True]
Translation: X:743.41, Y:70.18, Z:194.80
[[ 9.27688548e-01 -2.80954182e-01 -2.45883519e-01  7.43410735e+02]
 [ 2.75258124e-01  9.59620564e-01 -5.79770508e-02  7.01812815e+01]
 [ 2.52243776e-01 -1.38967900e-02  9.67563929e-01  1.94800402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.800714057 meters
Centerline goodness : 0.998385 with order 1
Centerline is valid?  [True, True]
Translation: X:743.47, Y:70.20, Z:194.82
[[ 9.27195554e-01 -2.82576033e-01 -2.45884506e-01  7.43467486e+02]
 [ 2.76936930e-01  9.59137677e-01 -5.79728644e-02  7.01951466e+01]
 [ 2.52218836e-01 -1.43423182e-02  9.67563929e-01  1.94816939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.860714057 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:743.53, Y:70.21, Z:194.83
[[ 9.26957302e-01 -2.83354848e-01 -2.45886541e-01  7.43526232e+02]
 [ 2.77744863e-01  9.58904551e-01 -5.79642331e-02  7.02082465e+01]
 [ 2.52206170e-01 -1.45633545e-02  9.67563929e-01  1.94832057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.920714057 meters
Centerline goodness : 0.998340 with order 1
Centerline is valid?  [True, True]
Translation: X:743.58, Y:70.22, Z:194.85
[[ 9.26302278e-01 -2.85485193e-01 -2.45890819e-01  7.43584042e+02]
 [ 2.79953470e-01  9.58263172e-01 -5.79460803e-02  7.02212591e+01]
 [ 2.52170864e-01 -1.51624018e-02  9.67563929e-01  1.94846081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 768.980714057 meters
Centerline goodness : 0.998290 with order 1
Centerline is valid?  [True, True]
Translation: X:743.64, Y:70.23, Z:194.86
[[ 9.25568313e-01 -2.87844241e-01 -2.45904435e-01  7.43641817e+02]
 [ 2.82409266e-01  9.57545799e-01 -5.78882431e-02  7.02335573e+01]
 [ 2.52127556e-01 -1.58661674e-02  9.67563931e-01  1.94859450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.0407140570001 meters
Centerline goodness : 0.998038 with order 1
Centerline is valid?  [True, True]
Translation: X:743.70, Y:70.25, Z:194.88
[[ 9.24697999e-01 -2.90625960e-01 -2.45906815e-01  7.43700958e+02]
 [ 2.85289838e-01  9.56692129e-01 -5.78781288e-02  7.02466612e+01]
 [ 2.52078001e-01 -1.66349256e-02  9.67563931e-01  1.94875069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.100714057 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:743.76, Y:70.26, Z:194.89
[[ 9.24468264e-01 -2.91343396e-01 -2.45921644e-01  7.43759002e+02]
 [ 2.86048800e-01  9.56469290e-01 -5.78150570e-02  7.02604028e+01]
 [ 2.52060535e-01 -1.68974056e-02  9.67563933e-01  1.94891469e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.1607140570001 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:743.82, Y:70.27, Z:194.91
[[ 9.24494507e-01 -2.91248171e-01 -2.45935785e-01  7.43816467e+02]
 [ 2.85966221e-01  9.56497621e-01 -5.77548395e-02  7.02747660e+01]
 [ 2.52057985e-01 -1.69352954e-02  9.67563935e-01  1.94907901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.220714057 meters
Centerline goodness : 0.998247 with order 1
Centerline is valid?  [True, True]
Translation: X:743.88, Y:70.29, Z:194.92
[[ 9.24768365e-01 -2.90365683e-01 -2.45949672e-01  7.43875262e+02]
 [ 2.85068862e-01  9.56769019e-01 -5.76956458e-02  7.02887681e+01]
 [ 2.52069862e-01 -1.67574849e-02  9.67563937e-01  1.94924064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.2807140570001 meters
Centerline goodness : 0.998545 with order 1
Centerline is valid?  [True, True]
Translation: X:743.93, Y:70.30, Z:194.94
[[ 9.25107928e-01 -2.89269208e-01 -2.45964728e-01  7.43934167e+02]
 [ 2.83951461e-01  9.57105110e-01 -5.76313879e-02  7.03036427e+01]
 [ 2.52085084e-01 -1.65267903e-02  9.67563939e-01  1.94939865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.340714057 meters
Centerline goodness : 0.997966 with order 1
Centerline is valid?  [True, True]
Translation: X:743.99, Y:70.32, Z:194.95
[[ 9.25112065e-01 -2.89243230e-01 -2.45979717e-01  7.43992814e+02]
 [ 2.83941535e-01  9.57111908e-01 -5.75673472e-02  7.03180988e+01]
 [ 2.52081081e-01 -1.65876110e-02  9.67563941e-01  1.94954692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.4007140570001 meters
Centerline goodness : 0.997871 with order 1
Centerline is valid?  [True, True]
Translation: X:744.05, Y:70.33, Z:194.97
[[ 9.24664870e-01 -2.90656975e-01 -2.45994719e-01  7.44050553e+02]
 [ 2.85421191e-01  9.56675561e-01 -5.75031700e-02  7.03328475e+01]
 [ 2.52050833e-01 -1.70409446e-02  9.67563943e-01  1.94968272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.460714057 meters
Centerline goodness : 0.997917 with order 1
Centerline is valid?  [True, True]
Translation: X:744.11, Y:70.35, Z:194.98
[[ 9.24080987e-01 -2.92496488e-01 -2.46008404e-01  7.44108884e+02]
 [ 2.87339937e-01  9.56104535e-01 -5.74445665e-02  7.03483242e+01]
 [ 2.52012085e-01 -1.76046076e-02  9.67563945e-01  1.94983899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.5207140570001 meters
Centerline goodness : 0.998166 with order 1
Centerline is valid?  [True, True]
Translation: X:744.17, Y:70.36, Z:195.00
[[ 9.23667188e-01 -2.93788008e-01 -2.46023440e-01  7.44166186e+02]
 [ 2.88693308e-01  9.55700632e-01 -5.73801007e-02  7.03626685e+01]
 [ 2.51982342e-01 -1.80252044e-02  9.67563947e-01  1.94999341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.580714057 meters
Centerline goodness : 0.998098 with order 1
Centerline is valid?  [True, True]
Translation: X:744.22, Y:70.38, Z:195.02
[[ 9.22895619e-01 -2.96201995e-01 -2.46024502e-01  7.44221985e+02]
 [ 2.91192273e-01  9.54942463e-01 -5.73755449e-02  7.03782380e+01]
 [ 2.51933995e-01 -1.86887949e-02  9.67563947e-01  1.95015802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.640714057 meters
Centerline goodness : 0.997427 with order 1
Centerline is valid?  [True, True]
Translation: X:744.28, Y:70.39, Z:195.03
[[ 9.22332776e-01 -2.97950154e-01 -2.46024301e-01  7.44278617e+02]
 [ 2.93000934e-01  9.54389020e-01 -5.73764061e-02  7.03920711e+01]
 [ 2.51898201e-01 -1.91652101e-02  9.67563947e-01  1.95031993e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.700714057 meters
Centerline goodness : 0.998054 with order 1
Centerline is valid?  [True, True]
Translation: X:744.34, Y:70.41, Z:195.05
[[ 9.21496926e-01 -3.00524662e-01 -2.46025087e-01  7.44336818e+02]
 [ 2.95665874e-01  9.53567001e-01 -5.73730385e-02  7.04052927e+01]
 [ 2.51843417e-01 -1.98721436e-02  9.67563947e-01  1.95047118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.760714057 meters
Centerline goodness : 0.998097 with order 1
Centerline is valid?  [True, True]
Translation: X:744.40, Y:70.42, Z:195.06
[[ 9.21163145e-01 -3.01544475e-01 -2.46027214e-01  7.44395310e+02]
 [ 2.96723608e-01  9.53238943e-01 -5.73639167e-02  7.04203025e+01]
 [ 2.51820493e-01 -2.01605565e-02  9.67563947e-01  1.95061840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.820714057 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:744.45, Y:70.43, Z:195.08
[[ 9.21135525e-01 -3.01616578e-01 -2.46042242e-01  7.44452852e+02]
 [ 2.96815342e-01  9.53214264e-01 -5.72993863e-02  7.04349287e+01]
 [ 2.51813420e-01 -2.02486119e-02  9.67563949e-01  1.95075792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.880714057 meters
Centerline goodness : 0.998399 with order 1
Centerline is valid?  [True, True]
Translation: X:744.51, Y:70.45, Z:195.09
[[ 9.21944692e-01 -2.99127296e-01 -2.46050493e-01  7.44510230e+02]
 [ 2.94248826e-01  9.54011777e-01 -5.72639367e-02  7.04493129e+01]
 [ 2.51864274e-01 -1.96058862e-02  9.67563950e-01  1.95089460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 769.940714057 meters
Centerline goodness : 0.998326 with order 1
Centerline is valid?  [True, True]
Translation: X:744.57, Y:70.46, Z:195.11
[[ 9.22811836e-01 -2.96440497e-01 -2.46051513e-01  7.44566836e+02]
 [ 2.91469802e-01  9.54864754e-01 -5.72595536e-02  7.04644823e+01]
 [ 2.51919968e-01 -1.88767918e-02  9.67563950e-01  1.95105092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.000714057 meters
Centerline goodness : 0.998324 with order 1
Centerline is valid?  [True, True]
Translation: X:744.62, Y:70.48, Z:195.12
[[ 9.24857290e-01 -2.89995085e-01 -2.46052522e-01  7.44622552e+02]
 [ 2.84802034e-01  9.56874935e-01 -5.72552180e-02  7.04803305e+01]
 [ 2.52045222e-01 -1.71233529e-02  9.67563950e-01  1.95121436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.060714057 meters
Centerline goodness : 0.998247 with order 1
Centerline is valid?  [True, True]
Translation: X:744.68, Y:70.50, Z:195.14
[[ 9.26181857e-01 -2.85736436e-01 -2.46052549e-01  7.44678654e+02]
 [ 2.80396147e-01  9.58175273e-01 -5.72551010e-02  7.04951894e+01]
 [ 2.52121337e-01 -1.59635510e-02  9.67563950e-01  1.95138047e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.120714057 meters
Centerline goodness : 0.998298 with order 1
Centerline is valid?  [True, True]
Translation: X:744.74, Y:70.51, Z:195.15
[[ 9.28260067e-01 -2.78910631e-01 -2.46053059e-01  7.44735669e+02]
 [ 2.73335547e-01  9.60213405e-01 -5.72529092e-02  7.05110834e+01]
 [ 2.52231890e-01 -1.41094580e-02  9.67563950e-01  1.95153768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.180714057 meters
Centerline goodness : 0.997865 with order 1
Centerline is valid?  [True, True]
Translation: X:744.79, Y:70.53, Z:195.17
[[ 9.29347518e-01 -2.75264769e-01 -2.46053852e-01  7.44792017e+02]
 [ 2.69565201e-01  9.61278886e-01 -5.72495008e-02  7.05254449e+01]
 [ 2.52285143e-01 -1.31228746e-02  9.67563950e-01  1.95167868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.240714057 meters
Centerline goodness : 0.997906 with order 1
Centerline is valid?  [True, True]
Translation: X:744.85, Y:70.54, Z:195.18
[[ 9.30764086e-01 -2.70436164e-01 -2.46053852e-01  7.44850147e+02]
 [ 2.64570895e-01  9.62665433e-01 -5.72495008e-02  7.05393724e+01]
 [ 2.52349873e-01 -1.18129085e-02  9.67563950e-01  1.95183043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.300714057 meters
Centerline goodness : 0.998544 with order 1
Centerline is valid?  [True, True]
Translation: X:744.91, Y:70.55, Z:195.20
[[ 9.32017610e-01 -2.66079696e-01 -2.46058467e-01  7.44907191e+02]
 [ 2.60070506e-01  9.63892161e-01 -5.72296559e-02  7.05529305e+01]
 [ 2.52401477e-01 -1.06535030e-02  9.67563950e-01  1.95198790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.360714057 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:744.97, Y:70.57, Z:195.21
[[ 9.32582765e-01 -2.64091080e-01 -2.46059523e-01  7.44965079e+02]
 [ 2.58015109e-01  9.64444653e-01 -5.72251192e-02  7.05652806e+01]
 [ 2.52423434e-01 -1.01199147e-02  9.67563950e-01  1.95214527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.420714057 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:745.02, Y:70.58, Z:195.23
[[ 9.33025689e-01 -2.62521013e-01 -2.46060526e-01  7.45023161e+02]
 [ 2.56392558e-01  9.64877524e-01 -5.72208037e-02  7.05769525e+01]
 [ 2.52439934e-01 -9.69960811e-03  9.67563950e-01  1.95230523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.480714057 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:745.08, Y:70.59, Z:195.25
[[ 9.32948558e-01 -2.62782466e-01 -2.46073900e-01  7.45081743e+02]
 [ 2.56678098e-01  9.64805016e-01 -5.71632346e-02  7.05878824e+01]
 [ 2.52434829e-01 -9.83142344e-03  9.67563952e-01  1.95247544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.5407140570001 meters
Centerline goodness : 0.998478 with order 1
Centerline is valid?  [True, True]
Translation: X:745.14, Y:70.60, Z:195.26
[[ 9.32934510e-01 -2.62829409e-01 -2.46077025e-01  7.45140294e+02]
 [ 2.56730187e-01  9.64791954e-01 -5.71497772e-02  7.05996972e+01]
 [ 2.52433776e-01 -9.85840149e-03  9.67563952e-01  1.95263204e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.600714057 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:745.20, Y:70.61, Z:195.28
[[ 9.32405497e-01 -2.64687149e-01 -2.46090842e-01  7.45198797e+02]
 [ 2.58667085e-01  9.64277992e-01 -5.70902235e-02  7.06080996e+01]
 [ 2.52411031e-01 -1.04243624e-02  9.67563953e-01  1.95278528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.6607140570001 meters
Centerline goodness : 0.998467 with order 1
Centerline is valid?  [True, True]
Translation: X:745.26, Y:70.62, Z:195.29
[[ 9.31812016e-01 -2.66767955e-01 -2.46091903e-01  7.45257958e+02]
 [ 2.60820261e-01  9.63698096e-01 -5.70856496e-02  7.06185826e+01]
 [ 2.52386920e-01 -1.09926601e-02  9.67563954e-01  1.95294262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.720714057 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:745.32, Y:70.63, Z:195.31
[[ 9.30775052e-01 -2.70350306e-01 -2.46106715e-01  7.45315934e+02]
 [ 2.64542173e-01  9.62686845e-01 -5.70217220e-02  7.06257765e+01]
 [ 2.52339537e-01 -1.20312089e-02  9.67563956e-01  1.95306771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.7807140570001 meters
Centerline goodness : 0.998503 with order 1
Centerline is valid?  [True, True]
Translation: X:745.38, Y:70.64, Z:195.32
[[ 9.30250121e-01 -2.72151367e-01 -2.46106371e-01  7.45376209e+02]
 [ 2.66404620e-01  9.62173026e-01 -5.70232077e-02  7.06353078e+01]
 [ 2.52315855e-01 -1.25180283e-02  9.67563956e-01  1.95321187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.840714057 meters
Centerline goodness : 0.998375 with order 1
Centerline is valid?  [True, True]
Translation: X:745.44, Y:70.64, Z:195.34
[[ 9.29979024e-01 -2.73064128e-01 -2.46119883e-01  7.45436280e+02]
 [ 2.67364119e-01  9.61910306e-01 -5.69648284e-02  7.06442838e+01]
 [ 2.52300303e-01 -1.28275302e-02  9.67563957e-01  1.95337259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.9007140570001 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:745.50, Y:70.66, Z:195.35
[[ 9.30139366e-01 -2.72504633e-01 -2.46134080e-01  7.45495351e+02]
 [ 2.66801622e-01  9.62070109e-01 -5.69034204e-02  7.06553624e+01]
 [ 2.52304687e-01 -1.27408606e-02  9.67563959e-01  1.95354205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 770.960714057 meters
Centerline goodness : 0.998007 with order 1
Centerline is valid?  [True, True]
Translation: X:745.56, Y:70.66, Z:195.37
[[ 9.30539299e-01 -2.71122586e-01 -2.46148646e-01  7.45555432e+02]
 [ 2.65388788e-01  9.62464527e-01 -5.68403469e-02  7.06641423e+01]
 [ 2.52320042e-01 -1.24329143e-02  9.67563961e-01  1.95370028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.0207140570001 meters
Centerline goodness : 0.998132 with order 1
Centerline is valid?  [True, True]
Translation: X:745.61, Y:70.67, Z:195.39
[[ 9.30510320e-01 -2.71209023e-01 -2.46162976e-01  7.45613746e+02]
 [ 2.65494583e-01  9.62439016e-01 -5.67782227e-02  7.06739724e+01]
 [ 2.52315618e-01 -1.25222143e-02  9.67563963e-01  1.95386291e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.080714057 meters
Centerline goodness : 0.998002 with order 1
Centerline is valid?  [True, True]
Translation: X:745.67, Y:70.68, Z:195.40
[[ 9.30272066e-01 -2.72023249e-01 -2.46165057e-01  7.45673393e+02]
 [ 2.66339135e-01  9.62206175e-01 -5.67691948e-02  7.06846439e+01]
 [ 2.52304079e-01 -1.27525924e-02  9.67563963e-01  1.95401423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.140714057 meters
Centerline goodness : 0.997960 with order 1
Centerline is valid?  [True, True]
Translation: X:745.73, Y:70.69, Z:195.42
[[ 9.29654043e-01 -2.74114988e-01 -2.46179475e-01  7.45732926e+02]
 [ 2.68519241e-01  9.61603753e-01 -5.67066075e-02  7.06925234e+01]
 [ 2.52271238e-01 -1.33863989e-02  9.67563965e-01  1.95416388e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.200714057 meters
Centerline goodness : 0.998213 with order 1
Centerline is valid?  [True, True]
Translation: X:745.79, Y:70.70, Z:195.43
[[ 9.29199480e-01 -2.75640181e-01 -2.46192644e-01  7.45790977e+02]
 [ 2.70111985e-01  9.61160946e-01 -5.66493795e-02  7.07024727e+01]
 [ 2.52245599e-01 -1.38610097e-02  9.67563967e-01  1.95431403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.260714057 meters
Centerline goodness : 0.998488 with order 1
Centerline is valid?  [True, True]
Translation: X:745.85, Y:70.71, Z:195.45
[[ 9.28779753e-01 -2.77050647e-01 -2.46193237e-01  7.45849490e+02]
 [ 2.71571665e-01  9.60749692e-01 -5.66468004e-02  7.07114079e+01]
 [ 2.52224109e-01 -1.42467061e-02  9.67563967e-01  1.95446709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.320714057 meters
Centerline goodness : 0.997843 with order 1
Centerline is valid?  [True, True]
Translation: X:745.91, Y:70.72, Z:195.46
[[ 9.28862468e-01 -2.76761732e-01 -2.46206134e-01  7.45908715e+02]
 [ 2.71287628e-01  9.60833241e-01 -5.65906931e-02  7.07201788e+01]
 [ 2.52225176e-01 -1.42277072e-02  9.67563969e-01  1.95462513e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.380714057 meters
Centerline goodness : 0.998095 with order 1
Centerline is valid?  [True, True]
Translation: X:745.97, Y:70.73, Z:195.48
[[ 9.29365261e-01 -2.75056502e-01 -2.46219685e-01  7.45967543e+02]
 [ 2.69539318e-01  9.61328625e-01 -5.65316740e-02  7.07316187e+01]
 [ 2.52247436e-01 -1.38273119e-02  9.67563970e-01  1.95479804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.440714057 meters
Centerline goodness : 0.997581 with order 1
Centerline is valid?  [True, True]
Translation: X:746.03, Y:70.74, Z:195.50
[[ 9.30209355e-01 -2.72175726e-01 -2.46233487e-01  7.46025723e+02]
 [ 2.66575420e-01  9.62158259e-01 -5.64714964e-02  7.07430913e+01]
 [ 2.52285753e-01 -1.31094809e-02  9.67563972e-01  1.95497342e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.500714057 meters
Centerline goodness : 0.997514 with order 1
Centerline is valid?  [True, True]
Translation: X:746.08, Y:70.75, Z:195.51
[[ 9.30678275e-01 -2.70565098e-01 -2.46236625e-01  7.46084768e+02]
 [ 2.64913108e-01  9.62618077e-01 -5.64578089e-02  7.07538391e+01]
 [ 2.52307339e-01 -1.26872533e-02  9.67563972e-01  1.95512871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.560714057 meters
Centerline goodness : 0.997896 with order 1
Centerline is valid?  [True, True]
Translation: X:746.14, Y:70.76, Z:195.53
[[ 9.31053495e-01 -2.69268186e-01 -2.46239788e-01  7.46144730e+02]
 [ 2.63575342e-01  9.62986040e-01 -5.64440079e-02  7.07638628e+01]
 [ 2.52324054e-01 -1.23503457e-02  9.67563972e-01  1.95528684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.620714057 meters
Centerline goodness : 0.997785 with order 1
Centerline is valid?  [True, True]
Translation: X:746.20, Y:70.78, Z:195.54
[[ 9.31360197e-01 -2.68191957e-01 -2.46254457e-01  7.46202085e+02]
 [ 2.62479109e-01  9.63289167e-01 -5.63799394e-02  7.07759308e+01]
 [ 2.52334898e-01 -1.21266192e-02  9.67563974e-01  1.95543740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.680714057 meters
Centerline goodness : 0.997720 with order 1
Centerline is valid?  [True, True]
Translation: X:746.26, Y:70.79, Z:195.56
[[ 9.32320889e-01 -2.64831997e-01 -2.46255504e-01  7.46261522e+02]
 [ 2.59005266e-01  9.64229273e-01 -5.63753672e-02  7.07861660e+01]
 [ 2.52376767e-01 -1.12215399e-02  9.67563974e-01  1.95560737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.740714057 meters
Centerline goodness : 0.997857 with order 1
Centerline is valid?  [True, True]
Translation: X:746.32, Y:70.80, Z:195.58
[[ 9.32902819e-01 -2.62769809e-01 -2.46260752e-01  7.46319926e+02]
 [ 2.56878579e-01  9.64799357e-01 -5.63524332e-02  7.07972451e+01]
 [ 2.52399934e-01 -1.06877684e-02  9.67563975e-01  1.95576565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.800714057 meters
Centerline goodness : 0.997775 with order 1
Centerline is valid?  [True, True]
Translation: X:746.38, Y:70.81, Z:195.59
[[ 9.33761201e-01 -2.59701050e-01 -2.46262837e-01  7.46377040e+02]
 [ 2.53707376e-01  9.65638647e-01 -5.63433219e-02  7.08089331e+01]
 [ 2.52433333e-01 -9.86749021e-03  9.67563975e-01  1.95592061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.860714057 meters
Centerline goodness : 0.997056 with order 1
Centerline is valid?  [True, True]
Translation: X:746.44, Y:70.82, Z:195.61
[[ 9.34164920e-01 -2.58244088e-01 -2.46263869e-01  7.46436125e+02]
 [ 2.52201881e-01  9.66033203e-01 -5.63388096e-02  7.08190225e+01]
 [ 2.52448239e-01 -9.47847153e-03  9.67563975e-01  1.95608013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.920714057 meters
Centerline goodness : 0.996842 with order 1
Centerline is valid?  [True, True]
Translation: X:746.49, Y:70.83, Z:195.62
[[ 9.33988888e-01 -2.58866333e-01 -2.46278254e-01  7.46494332e+02]
 [ 2.52861930e-01  9.65864313e-01 -5.62758592e-02  7.08293505e+01]
 [ 2.52439302e-01 -9.71336757e-03  9.67563977e-01  1.95623422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 771.980714057 meters
Centerline goodness : 0.997246 with order 1
Centerline is valid?  [True, True]
Translation: X:746.55, Y:70.84, Z:195.64
[[ 9.33246508e-01 -2.61528050e-01 -2.46280397e-01  7.46551458e+02]
 [ 2.55617017e-01  9.65139381e-01 -5.62664819e-02  7.08395367e+01]
 [ 2.52410173e-01 -1.04429625e-02  9.67563977e-01  1.95638274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.0407140570001 meters
Centerline goodness : 0.997003 with order 1
Centerline is valid?  [True, True]
Translation: X:746.61, Y:70.85, Z:195.65
[[ 9.32743471e-01 -2.63316508e-01 -2.46280397e-01  7.46610861e+02]
 [ 2.57466621e-01  9.64647615e-01 -5.62664819e-02  7.08499722e+01]
 [ 2.52389691e-01 -1.09267879e-02  9.67563977e-01  1.95653764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.100714057 meters
Centerline goodness : 0.997181 with order 1
Centerline is valid?  [True, True]
Translation: X:746.67, Y:70.86, Z:195.67
[[ 9.31736893e-01 -2.66843100e-01 -2.46294786e-01  7.46670001e+02]
 [ 2.61130573e-01  9.63665916e-01 -5.62034281e-02  7.08585926e+01]
 [ 2.52343387e-01 -1.19482911e-02  9.67563979e-01  1.95668283e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.1607140570001 meters
Centerline goodness : 0.995840 with order 1
Centerline is valid?  [True, True]
Translation: X:746.73, Y:70.87, Z:195.69
[[ 9.30940137e-01 -2.69607740e-01 -2.46296828e-01  7.46728298e+02]
 [ 2.63992381e-01  9.62886392e-01 -5.61944765e-02  7.08691341e+01]
 [ 2.52306330e-01 -1.27067923e-02  9.67563979e-01  1.95685127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.220714057 meters
Centerline goodness : 0.996529 with order 1
Centerline is valid?  [True, True]
Translation: X:746.79, Y:70.88, Z:195.70
[[ 9.30448418e-01 -2.71288009e-01 -2.46309881e-01  7.46786115e+02]
 [ 2.65745450e-01  9.62407382e-01 -5.61372096e-02  7.08794750e+01]
 [ 2.52279799e-01 -1.32229522e-02  9.67563981e-01  1.95699420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.2807140570001 meters
Centerline goodness : 0.996528 with order 1
Centerline is valid?  [True, True]
Translation: X:746.84, Y:70.89, Z:195.72
[[ 9.29933710e-01 -2.73046994e-01 -2.46310037e-01  7.46844814e+02]
 [ 2.67565060e-01  9.61903129e-01 -5.61365228e-02  7.08910432e+01]
 [ 2.52254304e-01 -1.37007150e-02  9.67563981e-01  1.95715177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.340714057 meters
Centerline goodness : 0.996599 with order 1
Centerline is valid?  [True, True]
Translation: X:746.90, Y:70.90, Z:195.73
[[ 9.29163219e-01 -2.75651025e-01 -2.46317324e-01  7.46901912e+02]
 [ 2.70267123e-01  9.61149293e-01 -5.61045304e-02  7.09011013e+01]
 [ 2.52212993e-01 -1.44412085e-02  9.67563981e-01  1.95729687e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.4007140570001 meters
Centerline goodness : 0.996999 with order 1
Centerline is valid?  [True, True]
Translation: X:746.96, Y:70.91, Z:195.75
[[ 9.28358385e-01 -2.78350084e-01 -2.46316746e-01  7.46960468e+02]
 [ 2.73058488e-01  9.60359859e-01 -5.61070685e-02  7.09118452e+01]
 [ 2.52170123e-01 -1.51714108e-02  9.67563981e-01  1.95746186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.460714057 meters
Centerline goodness : 0.997027 with order 1
Centerline is valid?  [True, True]
Translation: X:747.02, Y:70.93, Z:195.76
[[ 9.28127121e-01 -2.79113651e-01 -2.46324213e-01  7.47018676e+02]
 [ 2.73857052e-01  9.60134361e-01 -5.60742696e-02  7.09251753e+01]
 [ 2.52155435e-01 -1.54135723e-02  9.67563982e-01  1.95761709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.5207140570001 meters
Centerline goodness : 0.996724 with order 1
Centerline is valid?  [True, True]
Translation: X:747.08, Y:70.94, Z:195.78
[[ 9.27706587e-01 -2.80495622e-01 -2.46338578e-01  7.47075601e+02]
 [ 2.75303404e-01  9.59724332e-01 -5.60110908e-02  7.09368523e+01]
 [ 2.52127993e-01 -1.58559912e-02  9.67563984e-01  1.95777032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.580714057 meters
Centerline goodness : 0.997251 with order 1
Centerline is valid?  [True, True]
Translation: X:747.13, Y:70.95, Z:195.79
[[ 9.27538863e-01 -2.81049750e-01 -2.46338578e-01  7.47133580e+02]
 [ 2.75876659e-01  9.59559705e-01 -5.60110908e-02  7.09488018e+01]
 [ 2.52118477e-01 -1.60066004e-02  9.67563984e-01  1.95794365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.640714057 meters
Centerline goodness : 0.997164 with order 1
Centerline is valid?  [True, True]
Translation: X:747.19, Y:70.96, Z:195.81
[[ 9.27710066e-01 -2.80482296e-01 -2.46340647e-01  7.47192157e+02]
 [ 2.75292024e-01  9.59728127e-01 -5.60019901e-02  7.09617653e+01]
 [ 2.52127615e-01 -1.58620056e-02  9.67563984e-01  1.95811790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.700714057 meters
Centerline goodness : 0.997008 with order 1
Centerline is valid?  [True, True]
Translation: X:747.25, Y:70.97, Z:195.83
[[ 9.27956491e-01 -2.79653050e-01 -2.46355278e-01  7.47249956e+02]
 [ 2.74451201e-01  9.59972671e-01 -5.59375560e-02  7.09746361e+01]
 [ 2.52137443e-01 -1.57048839e-02  9.67563986e-01  1.95826830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.760714057 meters
Centerline goodness : 0.997074 with order 1
Centerline is valid?  [True, True]
Translation: X:747.31, Y:70.99, Z:195.84
[[ 9.28666852e-01 -2.77283123e-01 -2.46357360e-01  7.47308928e+02]
 [ 2.72001978e-01  9.60670047e-01 -5.59283862e-02  7.09888418e+01]
 [ 2.52176134e-01 -1.50708510e-02  9.67563986e-01  1.95842158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.820714057 meters
Centerline goodness : 0.996663 with order 1
Centerline is valid?  [True, True]
Translation: X:747.37, Y:71.00, Z:195.86
[[ 9.29551011e-01 -2.74299959e-01 -2.46362436e-01  7.47365740e+02]
 [ 2.68921996e-01  9.61538079e-01 -5.59060171e-02  7.10030426e+01]
 [ 2.52221882e-01 -1.42847834e-02  9.67563986e-01  1.95857314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.880714057 meters
Centerline goodness : 0.997026 with order 1
Centerline is valid?  [True, True]
Translation: X:747.42, Y:71.02, Z:195.87
[[ 9.31030494e-01 -2.69235133e-01 -2.46362869e-01  7.47422871e+02]
 [ 2.63683605e-01  9.62987896e-01 -5.59041098e-02  7.10175584e+01]
 [ 2.52295811e-01 -1.29134185e-02  9.67563986e-01  1.95873109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 772.940714057 meters
Centerline goodness : 0.997765 with order 1
Centerline is valid?  [True, True]
Translation: X:747.48, Y:71.03, Z:195.89
[[ 9.32740487e-01 -2.63249711e-01 -2.46363093e-01  7.47479211e+02]
 [ 2.57493300e-01  9.64661620e-01 -5.59031229e-02  7.10323187e+01]
 [ 2.52373501e-01 -1.12937398e-02  9.67563986e-01  1.95888464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.000714057 meters
Centerline goodness : 0.997278 with order 1
Centerline is valid?  [True, True]
Translation: X:747.54, Y:71.05, Z:195.91
[[ 9.33724362e-01 -2.59738411e-01 -2.46363093e-01  7.47535777e+02]
 [ 2.53861937e-01  9.65623611e-01 -5.59031229e-02  7.10472023e+01]
 [ 2.52414208e-01 -1.03441043e-02  9.67563986e-01  1.95905583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.060714057 meters
Centerline goodness : 0.997698 with order 1
Centerline is valid?  [True, True]
Translation: X:747.59, Y:71.06, Z:195.92
[[ 9.34644826e-01 -2.56406287e-01 -2.46363280e-01  7.47593135e+02]
 [ 2.50416288e-01  9.66522952e-01 -5.59022999e-02  7.10605369e+01]
 [ 2.52449466e-01 -9.44458255e-03  9.67563986e-01  1.95920914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.120714057 meters
Centerline goodness : 0.997768 with order 1
Centerline is valid?  [True, True]
Translation: X:747.65, Y:71.07, Z:195.94
[[ 9.34576732e-01 -2.56653386e-01 -2.46364308e-01  7.47651051e+02]
 [ 2.50673007e-01  9.66456664e-01 -5.58977700e-02  7.10735919e+01]
 [ 2.52446779e-01 -9.51612659e-03  9.67563986e-01  1.95935966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.180714057 meters
Centerline goodness : 0.996969 with order 1
Centerline is valid?  [True, True]
Translation: X:747.71, Y:71.09, Z:195.95
[[ 9.33960273e-01 -2.58875202e-01 -2.46377430e-01  7.47708958e+02]
 [ 2.52985900e-01  9.65857154e-01 -5.58398750e-02  7.10859715e+01]
 [ 2.52420962e-01 -1.01777910e-02  9.67563988e-01  1.95951389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.240714057 meters
Centerline goodness : 0.997295 with order 1
Centerline is valid?  [True, True]
Translation: X:747.77, Y:71.10, Z:195.96
[[ 9.33067461e-01 -2.62072991e-01 -2.46379506e-01  7.47766065e+02]
 [ 2.56295403e-01  9.64984766e-01 -5.58307142e-02  7.10972315e+01]
 [ 2.52384192e-01 -1.10521119e-02  9.67563988e-01  1.95964780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.300714057 meters
Centerline goodness : 0.997435 with order 1
Centerline is valid?  [True, True]
Translation: X:747.82, Y:71.11, Z:195.98
[[ 9.31623555e-01 -2.67159373e-01 -2.46380642e-01  7.47824503e+02]
 [ 2.61557316e-01  9.63572136e-01 -5.58256969e-02  7.11081822e+01]
 [ 2.52319880e-01 -1.24341254e-02  9.67563988e-01  1.95980039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.360714057 meters
Centerline goodness : 0.997986 with order 1
Centerline is valid?  [True, True]
Translation: X:747.88, Y:71.12, Z:196.00
[[ 9.30873009e-01 -2.69761008e-01 -2.46382709e-01  7.47881543e+02]
 [ 2.64250636e-01  9.62837531e-01 -5.58165736e-02  7.11208122e+01]
 [ 2.52283655e-01 -1.31486458e-02  9.67563988e-01  1.95995821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.420714057 meters
Centerline goodness : 0.997964 with order 1
Centerline is valid?  [True, True]
Translation: X:747.94, Y:71.13, Z:196.01
[[ 9.29614670e-01 -2.74064999e-01 -2.46383728e-01  7.47938760e+02]
 [ 2.68703764e-01  9.61604544e-01 -5.58120769e-02  7.11325841e+01]
 [ 2.52219849e-01 -1.43205095e-02  9.67563988e-01  1.96012195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.480714057 meters
Centerline goodness : 0.997675 with order 1
Centerline is valid?  [True, True]
Translation: X:748.00, Y:71.14, Z:196.03
[[ 9.28534378e-01 -2.77702129e-01 -2.46384734e-01  7.47996147e+02]
 [ 2.72467341e-01  9.60545187e-01 -5.58076360e-02  7.11439471e+01]
 [ 2.52161569e-01 -1.53124848e-02  9.67563988e-01  1.96026348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.5407140570001 meters
Centerline goodness : 0.997835 with order 1
Centerline is valid?  [True, True]
Translation: X:748.05, Y:71.16, Z:196.04
[[ 9.26878443e-01 -2.83179194e-01 -2.46385665e-01  7.48053429e+02]
 [ 2.78134573e-01  9.58919770e-01 -5.58035230e-02  7.11568060e+01]
 [ 2.52066482e-01 -1.68052893e-02  9.67563988e-01  1.96042056e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.600714057 meters
Centerline goodness : 0.997462 with order 1
Centerline is valid?  [True, True]
Translation: X:748.11, Y:71.17, Z:196.06
[[ 9.25756785e-01 -2.86822854e-01 -2.46387959e-01  7.48111612e+02]
 [ 2.81906987e-01  9.57818118e-01 -5.57933928e-02  7.11687474e+01]
 [ 2.51997672e-01 -1.78073753e-02  9.67563988e-01  1.96057659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.6607140570001 meters
Centerline goodness : 0.997220 with order 1
Centerline is valid?  [True, True]
Translation: X:748.17, Y:71.18, Z:196.07
[[ 9.23971067e-01 -2.92522484e-01 -2.46390066e-01  7.48167579e+02]
 [ 2.87806758e-01  9.56062449e-01 -5.57840879e-02  7.11815945e+01]
 [ 2.51882390e-01 -1.93698429e-02  9.67563988e-01  1.96072247e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.720714057 meters
Centerline goodness : 0.996895 with order 1
Centerline is valid?  [True, True]
Translation: X:748.22, Y:71.20, Z:196.09
[[ 9.23021797e-01 -2.95504677e-01 -2.46389423e-01  7.48224762e+02]
 [ 2.90891853e-01  9.55128132e-01 -5.57869292e-02  7.11970369e+01]
 [ 2.51818767e-01 -2.01801240e-02  9.67563988e-01  1.96088732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.7807140570001 meters
Centerline goodness : 0.997067 with order 1
Centerline is valid?  [True, True]
Translation: X:748.28, Y:71.21, Z:196.10
[[ 9.22880050e-01 -2.95945678e-01 -2.46391090e-01  7.48283411e+02]
 [ 2.91350148e-01  9.54988865e-01 -5.57795653e-02  7.12114035e+01]
 [ 2.51808468e-01 -2.03082324e-02  9.67563988e-01  1.96104723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.840714057 meters
Centerline goodness : 0.997051 with order 1
Centerline is valid?  [True, True]
Translation: X:748.34, Y:71.23, Z:196.12
[[ 9.22870677e-01 -2.95962465e-01 -2.46406034e-01  7.48340220e+02]
 [ 2.91385044e-01  9.54982076e-01 -5.57134750e-02  7.12262175e+01]
 [ 2.51802443e-01 -2.03827004e-02  9.67563990e-01  1.96120368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.9007140570001 meters
Centerline goodness : 0.996656 with order 1
Centerline is valid?  [True, True]
Translation: X:748.40, Y:71.24, Z:196.14
[[ 9.23491372e-01 -2.94013825e-01 -2.46413387e-01  7.48396320e+02]
 [ 2.89377260e-01  9.55594284e-01 -5.56809328e-02  7.12444335e+01]
 [ 2.51842188e-01 -1.98855698e-02  9.67563991e-01  1.96137504e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 773.960714057 meters
Centerline goodness : 0.996992 with order 1
Centerline is valid?  [True, True]
Translation: X:748.45, Y:71.26, Z:196.15
[[ 9.23908656e-01 -2.92698213e-01 -2.46415406e-01  7.48453530e+02]
 [ 2.88018297e-01  9.56005277e-01 -5.56719981e-02  7.12593984e+01]
 [ 2.51869522e-01 -1.95363046e-02  9.67563991e-01  1.96153525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.0207140570001 meters
Centerline goodness : 0.996882 with order 1
Centerline is valid?  [True, True]
Translation: X:748.51, Y:71.28, Z:196.17
[[ 9.24587249e-01 -2.90546871e-01 -2.46416181e-01  7.48511776e+02]
 [ 2.85793167e-01  9.56673025e-01 -5.56685663e-02  7.12765034e+01]
 [ 2.51914041e-01 -1.89536141e-02  9.67563991e-01  1.96169151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.080714057 meters
Centerline goodness : 0.996969 with order 1
Centerline is valid?  [True, True]
Translation: X:748.57, Y:71.29, Z:196.18
[[ 9.26018030e-01 -2.85941418e-01 -2.46430748e-01  7.48568057e+02]
 [ 2.81045166e-01  9.58082360e-01 -5.56040086e-02  7.12948011e+01]
 [ 2.52000442e-01 -1.77678560e-02  9.67563993e-01  1.96184642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.140714057 meters
Centerline goodness : 0.997040 with order 1
Centerline is valid?  [True, True]
Translation: X:748.62, Y:71.31, Z:196.20
[[ 9.27308856e-01 -2.81726166e-01 -2.46431844e-01  7.48623988e+02]
 [ 2.76685394e-01  9.59350784e-01 -5.55991526e-02  7.13133881e+01]
 [ 2.52078319e-01 -1.66265053e-02  9.67563993e-01  1.96201349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.200714057 meters
Centerline goodness : 0.996730 with order 1
Centerline is valid?  [True, True]
Translation: X:748.68, Y:71.33, Z:196.22
[[ 9.28121134e-01 -2.79038129e-01 -2.46432311e-01  7.48682046e+02]
 [ 2.73905086e-01  9.60148410e-01 -5.55970805e-02  7.13298077e+01]
 [ 2.52125297e-01 -1.58982380e-02  9.67563993e-01  1.96218349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.260714057 meters
Centerline goodness : 0.997167 with order 1
Centerline is valid?  [True, True]
Translation: X:748.74, Y:71.35, Z:196.23
[[ 9.28776730e-01 -2.76835271e-01 -2.46446786e-01  7.48738281e+02]
 [ 2.71643232e-01  9.60794493e-01 -5.55328445e-02  7.13462560e+01]
 [ 2.52158165e-01 -1.53679880e-02  9.67563995e-01  1.96234833e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.320714057 meters
Centerline goodness : 0.996793 with order 1
Centerline is valid?  [True, True]
Translation: X:748.80, Y:71.36, Z:196.25
[[ 9.28948025e-01 -2.76259589e-01 -2.46447169e-01  7.48796381e+02]
 [ 2.71048155e-01  9.60962637e-01 -5.55311482e-02  7.13603874e+01]
 [ 2.52167533e-01 -1.52135000e-02  9.67563995e-01  1.96250570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.380714057 meters
Centerline goodness : 0.997717 with order 1
Centerline is valid?  [True, True]
Translation: X:748.85, Y:71.38, Z:196.27
[[ 9.29421841e-01 -2.74657635e-01 -2.46451265e-01  7.48854259e+02]
 [ 2.69395820e-01  9.61428210e-01 -5.55129637e-02  7.13773960e+01]
 [ 2.52192258e-01 -1.47979795e-02  9.67563995e-01  1.96266707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.440714057 meters
Centerline goodness : 0.997894 with order 1
Centerline is valid?  [True, True]
Translation: X:748.91, Y:71.39, Z:196.28
[[ 9.30117334e-01 -2.72279964e-01 -2.46465751e-01  7.48911414e+02]
 [ 2.66953321e-01  9.62112977e-01 -5.54485750e-02  7.13931241e+01]
 [ 2.52225433e-01 -1.42211702e-02  9.67563997e-01  1.96281903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.500714057 meters
Centerline goodness : 0.997985 with order 1
Centerline is valid?  [True, True]
Translation: X:748.97, Y:71.41, Z:196.30
[[ 9.30498645e-01 -2.70961960e-01 -2.46478979e-01  7.48968201e+02]
 [ 2.65605536e-01  9.62489314e-01 -5.53897123e-02  7.14064818e+01]
 [ 2.52241889e-01 -1.39261291e-02  9.67563999e-01  1.96298320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.560714057 meters
Centerline goodness : 0.998412 with order 1
Centerline is valid?  [True, True]
Translation: X:749.03, Y:71.42, Z:196.31
[[ 9.30786811e-01 -2.69970194e-01 -2.46479224e-01  7.49025641e+02]
 [ 2.64579968e-01  9.62771801e-01 -5.53886240e-02  7.14222080e+01]
 [ 2.52256524e-01 -1.36584646e-02  9.67563999e-01  1.96313090e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.620714057 meters
Centerline goodness : 0.998340 with order 1
Centerline is valid?  [True, True]
Translation: X:749.08, Y:71.44, Z:196.33
[[ 9.30816778e-01 -2.69854852e-01 -2.46492364e-01  7.49083523e+02]
 [ 2.64476115e-01  9.62803701e-01 -5.53300884e-02  7.14354965e+01]
 [ 2.52254853e-01 -1.36891683e-02  9.67564001e-01  1.96328326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.680714057 meters
Centerline goodness : 0.998007 with order 1
Centerline is valid?  [True, True]
Translation: X:749.14, Y:71.45, Z:196.35
[[ 9.30282791e-01 -2.71688235e-01 -2.46494285e-01  7.49140824e+02]
 [ 2.66374790e-01  9.62280624e-01 -5.53215303e-02  7.14479131e+01]
 [ 2.52226883e-01 -1.41951957e-02  9.67564001e-01  1.96345700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.740714057 meters
Centerline goodness : 0.998272 with order 1
Centerline is valid?  [True, True]
Translation: X:749.20, Y:71.46, Z:196.36
[[ 9.29858900e-01 -2.73134833e-01 -2.46495010e-01  7.49200435e+02]
 [ 2.67872017e-01  9.61865099e-01 -5.53182976e-02  7.14624619e+01]
 [ 2.52204301e-01 -1.45909042e-02  9.67564001e-01  1.96361870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.800714057 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:749.26, Y:71.48, Z:196.37
[[ 9.28785931e-01 -2.76746712e-01 -2.46511566e-01  7.49257756e+02]
 [ 2.71627857e-01  9.60815467e-01 -5.52444244e-02  7.14756401e+01]
 [ 2.52140838e-01 -1.56491644e-02  9.67564004e-01  1.96374862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.860714057 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:749.32, Y:71.49, Z:196.39
[[ 9.27966324e-01 -2.79480738e-01 -2.46513731e-01  7.49315381e+02]
 [ 2.74458785e-01  9.60011196e-01 -5.52347644e-02  7.14882346e+01]
 [ 2.52092994e-01 -1.64018578e-02  9.67564004e-01  1.96391243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.920714057 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:749.37, Y:71.50, Z:196.41
[[ 9.26847443e-01 -2.83168301e-01 -2.46514768e-01  7.49372203e+02]
 [ 2.78275029e-01  9.58912217e-01 -5.52301337e-02  7.15011299e+01]
 [ 2.52025446e-01 -1.74089962e-02  9.67564004e-01  1.96407188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 774.980714057 meters
Centerline goodness : 0.997763 with order 1
Centerline is valid?  [True, True]
Translation: X:749.43, Y:71.51, Z:196.42
[[ 9.26537342e-01 -2.84180805e-01 -2.46515361e-01  7.49431643e+02]
 [ 2.79323271e-01  9.58607550e-01 -5.52274858e-02  7.15139593e+01]
 [ 2.52006078e-01 -1.76871493e-02  9.67564004e-01  1.96422318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.0407140570001 meters
Centerline goodness : 0.997415 with order 1
Centerline is valid?  [True, True]
Translation: X:749.49, Y:71.53, Z:196.44
[[ 9.26772527e-01 -2.83400404e-01 -2.46529704e-01  7.49488716e+02]
 [ 2.78532827e-01  9.58841209e-01 -5.51633900e-02  7.15272298e+01]
 [ 2.52016167e-01 -1.75427010e-02  9.67564006e-01  1.96437335e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.100714057 meters
Centerline goodness : 0.997391 with order 1
Centerline is valid?  [True, True]
Translation: X:749.55, Y:71.54, Z:196.45
[[ 9.28040385e-01 -2.79220609e-01 -2.46529704e-01  7.49545190e+02]
 [ 2.74208550e-01  9.60086804e-01 -5.51633900e-02  7.15416933e+01]
 [ 2.52092671e-01 -1.64066990e-02  9.67564006e-01  1.96453391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.1607140570001 meters
Centerline goodness : 0.997643 with order 1
Centerline is valid?  [True, True]
Translation: X:749.60, Y:71.56, Z:196.47
[[ 9.29311252e-01 -2.74960548e-01 -2.46530513e-01  7.49601771e+02]
 [ 2.69802493e-01  9.61334497e-01 -5.51597735e-02  7.15557009e+01]
 [ 2.52165048e-01 -1.52539489e-02  9.67564006e-01  1.96468120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.220714057 meters
Centerline goodness : 0.996632 with order 1
Centerline is valid?  [True, True]
Translation: X:749.66, Y:71.57, Z:196.48
[[ 9.31509870e-01 -2.67416816e-01 -2.46531151e-01  7.49658489e+02]
 [ 2.62000044e-01  9.63490369e-01 -5.51569237e-02  7.15698888e+01]
 [ 2.52280278e-01 -1.32119536e-02  9.67564006e-01  1.96484418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.2807140570001 meters
Centerline goodness : 0.996485 with order 1
Centerline is valid?  [True, True]
Translation: X:749.72, Y:71.58, Z:196.50
[[ 9.33455061e-01 -2.60544318e-01 -2.46532568e-01  7.49715244e+02]
 [ 2.54893666e-01  9.65395065e-01 -5.51505882e-02  7.15844465e+01]
 [ 2.52370497e-01 -1.13589945e-02  9.67564006e-01  1.96498694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.340714057 meters
Centerline goodness : 0.996461 with order 1
Centerline is valid?  [True, True]
Translation: X:749.77, Y:71.60, Z:196.51
[[ 9.34407182e-01 -2.57108659e-01 -2.46532667e-01  7.49772111e+02]
 [ 2.51340664e-01  9.66326204e-01 -5.51501460e-02  7.15990507e+01]
 [ 2.52410556e-01 -1.04309917e-02  9.67564006e-01  1.96513433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.4007140570001 meters
Centerline goodness : 0.996117 with order 1
Centerline is valid?  [True, True]
Translation: X:749.83, Y:71.61, Z:196.53
[[ 9.35237112e-01 -2.54071782e-01 -2.46534124e-01  7.49830591e+02]
 [ 2.48201841e-01  9.67137543e-01 -5.51436308e-02  7.16123238e+01]
 [ 2.52442848e-01 -9.61785338e-03  9.67564006e-01  1.96528290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.460714057 meters
Centerline goodness : 0.996746 with order 1
Centerline is valid?  [True, True]
Translation: X:749.89, Y:71.63, Z:196.55
[[ 9.35285698e-01 -2.53879169e-01 -2.46548232e-01  7.49890002e+02]
 [ 2.48019278e-01  9.67187975e-01 -5.50804838e-02  7.16254571e+01]
 [ 2.52442273e-01 -9.63272580e-03  9.67564008e-01  1.96545247e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.5207140570001 meters
Centerline goodness : 0.997035 with order 1
Centerline is valid?  [True, True]
Translation: X:749.95, Y:71.64, Z:196.56
[[ 9.35122568e-01 -2.54463213e-01 -2.46564912e-01  7.49948818e+02]
 [ 2.48642927e-01  9.67032091e-01 -5.50057198e-02  7.16393932e+01]
 [ 2.52433115e-01 -9.86953149e-03  9.67564011e-01  1.96561554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.580714057 meters
Centerline goodness : 0.996717 with order 1
Centerline is valid?  [True, True]
Translation: X:750.01, Y:71.65, Z:196.58
[[ 9.34599783e-01 -2.56362892e-01 -2.46579223e-01  7.50008437e+02]
 [ 2.50624373e-01  9.66524110e-01 -5.49414933e-02  7.16510553e+01]
 [ 2.52409724e-01 -1.04504556e-02  9.67564013e-01  1.96575358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.640714057 meters
Centerline goodness : 0.996950 with order 1
Centerline is valid?  [True, True]
Translation: X:750.07, Y:71.66, Z:196.59
[[ 9.33820716e-01 -2.59172900e-01 -2.46593346e-01  7.50065713e+02]
 [ 2.53547155e-01  9.65765107e-01 -5.48780341e-02  7.16629244e+01]
 [ 2.52374149e-01 -1.12767962e-02  9.67564015e-01  1.96590223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.700714057 meters
Centerline goodness : 0.996952 with order 1
Centerline is valid?  [True, True]
Translation: X:750.12, Y:71.68, Z:196.61
[[ 9.33128988e-01 -2.61651973e-01 -2.46593870e-01  7.50124211e+02]
 [ 2.56111705e-01  9.65088314e-01 -5.48756794e-02  7.16754615e+01]
 [ 2.52343192e-01 -1.19494892e-02  9.67564015e-01  1.96605768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.760714057 meters
Centerline goodness : 0.997520 with order 1
Centerline is valid?  [True, True]
Translation: X:750.18, Y:71.69, Z:196.62
[[ 9.33222443e-01 -2.61304502e-01 -2.46608654e-01  7.50182402e+02]
 [ 2.55769869e-01  9.65182744e-01 -5.48091645e-02  7.16877104e+01]
 [ 2.52344299e-01 -1.19259207e-02  9.67564017e-01  1.96621406e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.820714057 meters
Centerline goodness : 0.997723 with order 1
Centerline is valid?  [True, True]
Translation: X:750.24, Y:71.70, Z:196.64
[[ 9.33814317e-01 -2.59179464e-01 -2.46610680e-01  7.50239317e+02]
 [ 2.53574495e-01  9.65762357e-01 -5.48000451e-02  7.16999018e+01]
 [ 2.52370358e-01 -1.13611121e-02  9.67564017e-01  1.96635793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.880714057 meters
Centerline goodness : 0.997565 with order 1
Centerline is valid?  [True, True]
Translation: X:750.30, Y:71.71, Z:196.65
[[ 9.35030427e-01 -2.54757980e-01 -2.46609959e-01  7.50296200e+02]
 [ 2.49001049e-01  9.66951435e-01 -5.48032898e-02  7.17129411e+01]
 [ 2.52421429e-01 -1.01633951e-02  9.67564017e-01  1.96651133e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 775.940714057 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:750.36, Y:71.73, Z:196.67
[[ 9.36262891e-01 -2.50190580e-01 -2.46609959e-01  7.50355266e+02]
 [ 2.44277895e-01  9.68155416e-01 -5.48032898e-02  7.17257630e+01]
 [ 2.52468035e-01 -8.93107521e-03  9.67564017e-01  1.96666305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.000714057 meters
Centerline goodness : 0.997516 with order 1
Centerline is valid?  [True, True]
Translation: X:750.41, Y:71.74, Z:196.68
[[ 9.36909894e-01 -2.47742450e-01 -2.46624267e-01  7.50412985e+02]
 [ 2.41763370e-01  9.68790036e-01 -5.47388301e-02  7.17383544e+01]
 [ 2.52488264e-01 -8.33936225e-03  9.67564019e-01  1.96681258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.060714057 meters
Centerline goodness : 0.997314 with order 1
Centerline is valid?  [True, True]
Translation: X:750.47, Y:71.75, Z:196.70
[[ 9.37779702e-01 -2.44427296e-01 -2.46626291e-01  7.50473519e+02]
 [ 2.38337898e-01  9.69638956e-01 -5.47297092e-02  7.17509176e+01]
 [ 2.52515894e-01 -7.45598126e-03  9.67564019e-01  1.96695892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.120714057 meters
Centerline goodness : 0.996820 with order 1
Centerline is valid?  [True, True]
Translation: X:750.53, Y:71.76, Z:196.71
[[ 9.38455550e-01 -2.41802868e-01 -2.46642564e-01  7.50532503e+02]
 [ 2.35643650e-01  9.70301377e-01 -5.46562779e-02  7.17619430e+01]
 [ 2.52533664e-01 -6.82726668e-03  9.67564022e-01  1.96710983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.180714057 meters
Centerline goodness : 0.997010 with order 1
Centerline is valid?  [True, True]
Translation: X:750.59, Y:71.77, Z:196.73
[[ 9.38802616e-01 -2.40448725e-01 -2.46645615e-01  7.50591706e+02]
 [ 2.34247186e-01  9.70640228e-01 -5.46425054e-02  7.17727684e+01]
 [ 2.52542877e-01 -6.47751434e-03  9.67564022e-01  1.96726540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.240714057 meters
Centerline goodness : 0.996849 with order 1
Centerline is valid?  [True, True]
Translation: X:750.65, Y:71.78, Z:196.74
[[ 9.38861363e-01 -2.40204816e-01 -2.46659658e-01  7.50649437e+02]
 [ 2.34011667e-01  9.70700607e-01 -5.45790434e-02  7.17842598e+01]
 [ 2.52542829e-01 -6.47908263e-03  9.67564024e-01  1.96741694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.300714057 meters
Centerline goodness : 0.997125 with order 1
Centerline is valid?  [True, True]
Translation: X:750.71, Y:71.79, Z:196.76
[[ 9.39312490e-01 -2.38432548e-01 -2.46661644e-01  7.50709257e+02]
 [ 2.32181677e-01  9.71140451e-01 -5.45700674e-02  7.17943194e+01]
 [ 2.52554381e-01 -6.01196843e-03  9.67564024e-01  1.96756986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.360714057 meters
Centerline goodness : 0.998226 with order 1
Centerline is valid?  [True, True]
Translation: X:750.77, Y:71.80, Z:196.77
[[ 9.40096744e-01 -2.35317252e-01 -2.46665568e-01  7.50768096e+02]
 [ 2.28965554e-01  9.71904738e-01 -5.45523252e-02  7.18028553e+01]
 [ 2.52572537e-01 -5.19345511e-03  9.67564024e-01  1.96772195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.420714057 meters
Centerline goodness : 0.997290 with order 1
Centerline is valid?  [True, True]
Translation: X:750.83, Y:71.81, Z:196.79
[[ 9.40281199e-01 -2.34565873e-01 -2.46678167e-01  7.50826833e+02]
 [ 2.28203711e-01  9.72087099e-01 -5.44952976e-02  7.18129598e+01]
 [ 2.52575401e-01 -5.05196938e-03  9.67564026e-01  1.96786434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.480714057 meters
Centerline goodness : 0.997036 with order 1
Centerline is valid?  [True, True]
Translation: X:750.89, Y:71.82, Z:196.80
[[ 9.40384044e-01 -2.34151161e-01 -2.46680126e-01  7.50887027e+02]
 [ 2.27777298e-01  9.72187601e-01 -5.44864292e-02  7.18212169e+01]
 [ 2.52577420e-01 -4.94996374e-03  9.67564026e-01  1.96801302e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.5407140570001 meters
Centerline goodness : 0.996953 with order 1
Centerline is valid?  [True, True]
Translation: X:750.95, Y:71.83, Z:196.81
[[ 9.40292520e-01 -2.34514235e-01 -2.46684109e-01  7.50947450e+02]
 [ 2.28157383e-01  9.72099482e-01 -5.44683901e-02  7.18282383e+01]
 [ 2.52575107e-01 -5.06658076e-03  9.67564026e-01  1.96814963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.600714057 meters
Centerline goodness : 0.997087 with order 1
Centerline is valid?  [True, True]
Translation: X:751.01, Y:71.84, Z:196.83
[[ 9.40037502e-01 -2.35531306e-01 -2.46687047e-01  7.51006727e+02]
 [ 2.29212356e-01  9.71852015e-01 -5.44550812e-02  7.18381023e+01]
 [ 2.52569180e-01 -5.35390074e-03  9.67564026e-01  1.96829832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.6607140570001 meters
Centerline goodness : 0.996804 with order 1
Centerline is valid?  [True, True]
Translation: X:751.06, Y:71.85, Z:196.85
[[ 9.39449688e-01 -2.37851433e-01 -2.46700180e-01  7.51064814e+02]
 [ 2.31626681e-01  9.71282764e-01 -5.43955186e-02  7.18455295e+01]
 [ 2.52553685e-01 -6.04049097e-03  9.67564028e-01  1.96845232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.720714057 meters
Centerline goodness : 0.996307 with order 1
Centerline is valid?  [True, True]
Translation: X:751.13, Y:71.85, Z:196.86
[[ 9.39043776e-01 -2.39446375e-01 -2.46702695e-01  7.51125231e+02]
 [ 2.33278683e-01  9.70887957e-01 -5.43841097e-02  7.18538098e+01]
 [ 2.52542754e-01 -6.48142008e-03  9.67564028e-01  1.96860919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.7807140570001 meters
Centerline goodness : 0.996590 with order 1
Centerline is valid?  [True, True]
Translation: X:751.19, Y:71.86, Z:196.88
[[ 9.38718047e-01 -2.40714988e-01 -2.46707767e-01  7.51185062e+02]
 [ 2.34596373e-01  9.70571694e-01 -5.43610926e-02  7.18608629e+01]
 [ 2.52533105e-01 -6.84700872e-03  9.67564029e-01  1.96876743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.840714057 meters
Centerline goodness : 0.997008 with order 1
Centerline is valid?  [True, True]
Translation: X:751.24, Y:71.87, Z:196.89
[[ 9.38290949e-01 -2.42360187e-01 -2.46721776e-01  7.51243537e+02]
 [ 2.36314143e-01  9.70158448e-01 -5.42974417e-02  7.18678851e+01]
 [ 2.52518753e-01 -7.35704691e-03  9.67564031e-01  1.96891648e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.9007140570001 meters
Centerline goodness : 0.995558 with order 1
Centerline is valid?  [True, True]
Translation: X:751.30, Y:71.88, Z:196.91
[[ 9.37948125e-01 -2.43682568e-01 -2.46722760e-01  7.51303369e+02]
 [ 2.37682626e-01  9.69824336e-01 -5.42929686e-02  7.18765791e+01]
 [ 2.52507987e-01 -7.71772531e-03  9.67564031e-01  1.96905679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 776.960714057 meters
Centerline goodness : 0.995958 with order 1
Centerline is valid?  [True, True]
Translation: X:751.36, Y:71.88, Z:196.92
[[ 9.37236611e-01 -2.46401046e-01 -2.46726689e-01  7.51363628e+02]
 [ 2.40498247e-01  9.69130954e-01 -5.42751101e-02  7.18832053e+01]
 [ 2.52483915e-01 -8.46871592e-03  9.67564031e-01  1.96920411e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.0207140570001 meters
Centerline goodness : 0.996680 with order 1
Centerline is valid?  [True, True]
Translation: X:751.42, Y:71.89, Z:196.94
[[ 9.36496954e-01 -2.49193647e-01 -2.46730586e-01  7.51422625e+02]
 [ 2.43390608e-01  9.68409597e-01 -5.42573863e-02  7.18907007e+01]
 [ 2.52456864e-01 -9.24003039e-03  9.67564031e-01  1.96936169e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.080714057 meters
Centerline goodness : 0.996737 with order 1
Centerline is valid?  [True, True]
Translation: X:751.48, Y:71.90, Z:196.95
[[ 9.35586668e-01 -2.52588860e-01 -2.46731542e-01  7.51482220e+02]
 [ 2.46902757e-01  9.67520355e-01 -5.42530370e-02  7.18992845e+01]
 [ 2.52421502e-01 -1.01602799e-02  9.67564031e-01  1.96951854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.140714057 meters
Centerline goodness : 0.996841 with order 1
Centerline is valid?  [True, True]
Translation: X:751.54, Y:71.91, Z:196.97
[[ 9.34943189e-01 -2.54956674e-01 -2.46735341e-01  7.51540629e+02]
 [ 2.49355987e-01  9.66891966e-01 -5.42357558e-02  7.19080294e+01]
 [ 2.52394187e-01 -1.08175842e-02  9.67564031e-01  1.96965876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.200714057 meters
Centerline goodness : 0.996705 with order 1
Centerline is valid?  [True, True]
Translation: X:751.60, Y:71.92, Z:196.98
[[ 9.33601009e-01 -2.59828190e-01 -2.46735622e-01  7.51599112e+02]
 [ 2.54394504e-01  9.65578613e-01 -5.42344772e-02  7.19168661e+01]
 [ 2.52334286e-01 -1.21348235e-02  9.67564031e-01  1.96981022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.260714057 meters
Centerline goodness : 0.996663 with order 1
Centerline is valid?  [True, True]
Translation: X:751.66, Y:71.93, Z:197.00
[[ 9.32537412e-01 -2.63613095e-01 -2.46743005e-01  7.51657197e+02]
 [ 2.58318034e-01  9.64538262e-01 -5.42008692e-02  7.19263088e+01]
 [ 2.52281128e-01 -1.31938297e-02  9.67564032e-01  1.96995092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.320714057 meters
Centerline goodness : 0.996567 with order 1
Centerline is valid?  [True, True]
Translation: X:751.72, Y:71.93, Z:197.01
[[ 9.30684407e-01 -2.70082088e-01 -2.46743187e-01  7.51715784e+02]
 [ 2.65009582e-01  9.62721288e-01 -5.42000385e-02  7.19340473e+01]
 [ 2.52183379e-01 -1.49461782e-02  9.67564032e-01  1.97009405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.380714057 meters
Centerline goodness : 0.996767 with order 1
Centerline is valid?  [True, True]
Translation: X:751.77, Y:71.95, Z:197.02
[[ 9.29674739e-01 -2.73536811e-01 -2.46743778e-01  7.51772836e+02]
 [ 2.68584036e-01  9.61730348e-01 -5.41973475e-02  7.19456132e+01]
 [ 2.52125950e-01 -1.58855350e-02  9.67564032e-01  1.97024561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.440714057 meters
Centerline goodness : 0.997197 with order 1
Centerline is valid?  [True, True]
Translation: X:751.83, Y:71.96, Z:197.04
[[ 9.28473403e-01 -2.77587188e-01 -2.46743778e-01  7.51830625e+02]
 [ 2.72774209e-01  9.60550300e-01 -5.41973475e-02  7.19571810e+01]
 [ 2.52054300e-01 -1.69845434e-02  9.67564032e-01  1.97040135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.500714057 meters
Centerline goodness : 0.996567 with order 1
Centerline is valid?  [True, True]
Translation: X:751.89, Y:71.97, Z:197.06
[[ 9.27411645e-01 -2.81113173e-01 -2.46744858e-01  7.51889361e+02]
 [ 2.76423414e-01  9.59506788e-01 -5.41924325e-02  7.19686280e+01]
 [ 2.51987573e-01 -1.79473631e-02  9.67564032e-01  1.97055501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.560714057 meters
Centerline goodness : 0.996434 with order 1
Centerline is valid?  [True, True]
Translation: X:751.95, Y:71.98, Z:197.07
[[ 9.26839356e-01 -2.82991611e-01 -2.46747959e-01  7.51946531e+02]
 [ 2.78370630e-01  9.58944474e-01 -5.41783069e-02  7.19820072e+01]
 [ 2.51949599e-01 -1.84727978e-02  9.67564032e-01  1.97070696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.620714057 meters
Centerline goodness : 0.996784 with order 1
Centerline is valid?  [True, True]
Translation: X:752.00, Y:72.00, Z:197.08
[[ 9.25854865e-01 -2.86194214e-01 -2.46750159e-01  7.52003308e+02]
 [ 2.81686909e-01  9.57976139e-01 -5.41682886e-02  7.19966115e+01]
 [ 2.51883415e-01 -1.93543159e-02  9.67564032e-01  1.97084891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.680714057 meters
Centerline goodness : 0.997035 with order 1
Centerline is valid?  [True, True]
Translation: X:752.06, Y:72.01, Z:197.10
[[ 9.24991005e-01 -2.88973189e-01 -2.46751165e-01  7.52060698e+02]
 [ 2.84563575e-01  9.57125835e-01 -5.41637043e-02  7.20110263e+01]
 [ 2.51823773e-01 -2.01154545e-02  9.67564032e-01  1.97098323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.740714057 meters
Centerline goodness : 0.997078 with order 1
Centerline is valid?  [True, True]
Translation: X:752.12, Y:72.03, Z:197.11
[[ 9.24607178e-01 -2.90196989e-01 -2.46753467e-01  7.52118114e+02]
 [ 2.85832685e-01  9.56748194e-01 -5.41532136e-02  7.20269005e+01]
 [ 2.51796034e-01 -2.04597560e-02  9.67564032e-01  1.97114205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.800714057 meters
Centerline goodness : 0.997094 with order 1
Centerline is valid?  [True, True]
Translation: X:752.18, Y:72.04, Z:197.13
[[ 9.24381073e-01 -2.90914737e-01 -2.46755440e-01  7.52175869e+02]
 [ 2.86577770e-01  9.56525789e-01 -5.41442250e-02  7.20429650e+01]
 [ 2.51779295e-01 -2.06647268e-02  9.67564032e-01  1.97129013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.860714057 meters
Centerline goodness : 0.996718 with order 1
Centerline is valid?  [True, True]
Translation: X:752.23, Y:72.06, Z:197.14
[[ 9.24301831e-01 -2.91163908e-01 -2.46758392e-01  7.52233495e+02]
 [ 2.86839173e-01  9.56448194e-01 -5.41307689e-02  7.20616016e+01]
 [ 2.51772544e-01 -2.07468042e-02  9.67564032e-01  1.97144553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.920714057 meters
Centerline goodness : 0.996454 with order 1
Centerline is valid?  [True, True]
Translation: X:752.29, Y:72.08, Z:197.16
[[ 9.24442646e-01 -2.90713086e-01 -2.46762427e-01  7.52289079e+02]
 [ 2.86377551e-01  9.56587555e-01 -5.41123663e-02  7.20784361e+01]
 [ 2.51781040e-01 -2.06434406e-02  9.67564032e-01  1.97160093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 777.980714057 meters
Centerline goodness : 0.996360 with order 1
Centerline is valid?  [True, True]
Translation: X:752.35, Y:72.10, Z:197.18
[[ 9.24911958e-01 -2.89216483e-01 -2.46762427e-01  7.52346775e+02]
 [ 2.84828926e-01  9.57049808e-01 -5.41123663e-02  7.20956767e+01]
 [ 2.51814122e-01 -2.02359026e-02  9.67564032e-01  1.97176544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.0407140570001 meters
Centerline goodness : 0.996944 with order 1
Centerline is valid?  [True, True]
Translation: X:752.40, Y:72.11, Z:197.19
[[ 9.25216060e-01 -2.88238801e-01 -2.46766360e-01  7.52403545e+02]
 [ 2.83822035e-01  9.57349908e-01 -5.40944236e-02  7.21118322e+01]
 [ 2.51833864e-01 -1.99887012e-02  9.67564032e-01  1.97192166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.100714057 meters
Centerline goodness : 0.996899 with order 1
Centerline is valid?  [True, True]
Translation: X:752.46, Y:72.13, Z:197.21
[[ 9.25297546e-01 -2.87976276e-01 -2.46767332e-01  7.52460607e+02]
 [ 2.83551567e-01  9.57430301e-01 -5.40899910e-02  7.21300022e+01]
 [ 2.51839155e-01 -1.99219278e-02  9.67564032e-01  1.97207295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.1607140570001 meters
Centerline goodness : 0.996081 with order 1
Centerline is valid?  [True, True]
Translation: X:752.52, Y:72.14, Z:197.22
[[ 9.25294979e-01 -2.87982803e-01 -2.46769340e-01  7.52518558e+02]
 [ 2.83560749e-01  9.57428100e-01 -5.40808282e-02  7.21437462e+01]
 [ 2.51838249e-01 -1.99333800e-02  9.67564032e-01  1.97222019e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.220714057 meters
Centerline goodness : 0.995909 with order 1
Centerline is valid?  [True, True]
Translation: X:752.58, Y:72.16, Z:197.24
[[ 9.25562545e-01 -2.87110663e-01 -2.46782175e-01  7.52575115e+02]
 [ 2.82673860e-01  9.57693631e-01 -5.40221993e-02  7.21613683e+01]
 [ 2.51852067e-01 -1.97579456e-02  9.67564034e-01  1.97235750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.2807140570001 meters
Centerline goodness : 0.996529 with order 1
Centerline is valid?  [True, True]
Translation: X:752.63, Y:72.18, Z:197.25
[[ 9.25673842e-01 -2.86751419e-01 -2.46782420e-01  7.52632426e+02]
 [ 2.82302443e-01  9.57803244e-01 -5.40210797e-02  7.21783869e+01]
 [ 2.51859624e-01 -1.96613795e-02  9.67564034e-01  1.97252151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.340714057 meters
Centerline goodness : 0.996463 with order 1
Centerline is valid?  [True, True]
Translation: X:752.69, Y:72.20, Z:197.27
[[ 9.25825388e-01 -2.86250606e-01 -2.46795345e-01  7.52689644e+02]
 [ 2.81799907e-01  9.57954549e-01 -5.39619685e-02  7.21954012e+01]
 [ 2.51865370e-01 -1.95875447e-02  9.67564036e-01  1.97268244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.4007140570001 meters
Centerline goodness : 0.996209 with order 1
Centerline is valid?  [True, True]
Translation: X:752.75, Y:72.21, Z:197.28
[[ 9.25736458e-01 -2.86534695e-01 -2.46799267e-01  7.52748524e+02]
 [ 2.82098608e-01  9.57867641e-01 -5.39440235e-02  7.22104712e+01]
 [ 2.51857866e-01 -1.96837806e-02  9.67564036e-01  1.97284588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.460714057 meters
Centerline goodness : 0.997066 with order 1
Centerline is valid?  [True, True]
Translation: X:752.81, Y:72.23, Z:197.30
[[ 9.25077481e-01 -2.88641638e-01 -2.46815029e-01  7.52805122e+02]
 [ 2.84297853e-01  9.57221269e-01 -5.38718139e-02  7.22270038e+01]
 [ 2.51806244e-01 -2.03333809e-02  9.67564039e-01  1.97299847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.5207140570001 meters
Centerline goodness : 0.996752 with order 1
Centerline is valid?  [True, True]
Translation: X:752.86, Y:72.24, Z:197.31
[[ 9.24239575e-01 -2.91312984e-01 -2.46815626e-01  7.52863661e+02]
 [ 2.87062805e-01  9.56395874e-01 -5.38690800e-02  7.22422301e+01]
 [ 2.51746209e-01 -2.10636503e-02  9.67564039e-01  1.97314153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.580714057 meters
Centerline goodness : 0.997400 with order 1
Centerline is valid?  [True, True]
Translation: X:752.92, Y:72.26, Z:197.33
[[ 9.23768343e-01 -2.92800495e-01 -2.46819607e-01  7.52921033e+02]
 [ 2.88606928e-01  9.55932073e-01 -5.38508317e-02  7.22563087e+01]
 [ 2.51710329e-01 -2.14881551e-02  9.67564039e-01  1.97328895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.640714057 meters
Centerline goodness : 0.997365 with order 1
Centerline is valid?  [True, True]
Translation: X:752.98, Y:72.27, Z:197.34
[[ 9.23233306e-01 -2.94482603e-01 -2.46820295e-01  7.52979331e+02]
 [ 2.90348464e-01  9.55404730e-01 -5.38476775e-02  7.22715823e+01]
 [ 2.51670482e-01 -2.19499243e-02  9.67564039e-01  1.97344544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.700714057 meters
Centerline goodness : 0.997564 with order 1
Centerline is valid?  [True, True]
Translation: X:753.04, Y:72.29, Z:197.36
[[ 9.22972456e-01 -2.95287520e-01 -2.46834209e-01  7.53036770e+02]
 [ 2.91198372e-01  9.55149626e-01 -5.37838236e-02  7.22856438e+01]
 [ 2.51645295e-01 -2.22367322e-02  9.67564041e-01  1.97359889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.760714057 meters
Centerline goodness : 0.997730 with order 1
Centerline is valid?  [True, True]
Translation: X:753.09, Y:72.30, Z:197.37
[[ 9.23030791e-01 -2.95103132e-01 -2.46836586e-01  7.53094700e+02]
 [ 2.91010450e-01  9.55207512e-01 -5.37729166e-02  7.22986032e+01]
 [ 2.51648717e-01 -2.21979681e-02  9.67564041e-01  1.97374958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.820714057 meters
Centerline goodness : 0.997424 with order 1
Centerline is valid?  [True, True]
Translation: X:753.15, Y:72.31, Z:197.39
[[ 9.22821794e-01 -2.95754386e-01 -2.46838570e-01  7.53152231e+02]
 [ 2.91686827e-01  9.55001701e-01 -5.37638041e-02  7.23124219e+01]
 [ 2.51632135e-01 -2.23851493e-02  9.67564041e-01  1.97390606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.880714057 meters
Centerline goodness : 0.997962 with order 1
Centerline is valid?  [True, True]
Translation: X:753.21, Y:72.33, Z:197.41
[[ 9.22978585e-01 -2.95263050e-01 -2.46840561e-01  7.53210075e+02]
 [ 2.91180784e-01  9.55156629e-01 -5.37546647e-02  7.23265090e+01]
 [ 2.51643164e-01 -2.22608237e-02  9.67564041e-01  1.97405841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 778.940714057 meters
Centerline goodness : 0.998041 with order 1
Centerline is valid?  [True, True]
Translation: X:753.27, Y:72.34, Z:197.42
[[ 9.22996948e-01 -2.95195005e-01 -2.46853284e-01  7.53267422e+02]
 [ 2.91125881e-01  9.55176655e-01 -5.36961769e-02  7.23402559e+01]
 [ 2.51639337e-01 -2.23039722e-02  9.67564043e-01  1.97420567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.000714057 meters
Centerline goodness : 0.998151 with order 1
Centerline is valid?  [True, True]
Translation: X:753.32, Y:72.35, Z:197.44
[[ 9.22704638e-01 -2.96106627e-01 -2.46854242e-01  7.53324583e+02]
 [ 2.92070463e-01  9.54888495e-01 -5.36917702e-02  7.23544517e+01]
 [ 2.51616765e-01 -2.25571873e-02  9.67564043e-01  1.97435761e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.060714057 meters
Centerline goodness : 0.998462 with order 1
Centerline is valid?  [True, True]
Translation: X:753.38, Y:72.37, Z:197.45
[[ 9.21550798e-01 -2.99678022e-01 -2.46854632e-01  7.53381974e+02]
 [ 2.95767012e-01  9.53750104e-01 -5.36899759e-02  7.23697002e+01]
 [ 2.51527337e-01 -2.35334168e-02  9.67564043e-01  1.97451490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.120714057 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:753.44, Y:72.38, Z:197.47
[[ 9.20991170e-01 -3.01391900e-01 -2.46856612e-01  7.53439710e+02]
 [ 2.97543214e-01  9.53197985e-01 -5.36808733e-02  7.23826840e+01]
 [ 2.51482205e-01 -2.40108994e-02  9.67564043e-01  1.97466566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.180714057 meters
Centerline goodness : 0.998777 with order 1
Centerline is valid?  [True, True]
Translation: X:753.50, Y:72.40, Z:197.48
[[ 9.20265568e-01 -3.03599805e-01 -2.46857130e-01  7.53495659e+02]
 [ 2.99829004e-01  9.52481595e-01 -5.36784902e-02  7.23982070e+01]
 [ 2.51423652e-01 -2.46164611e-02  9.67564043e-01  1.97482158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.240714057 meters
Centerline goodness : 0.998615 with order 1
Centerline is valid?  [True, True]
Translation: X:753.55, Y:72.41, Z:197.50
[[ 9.20088200e-01 -3.04136913e-01 -2.46857130e-01  7.53553138e+02]
 [ 3.00384917e-01  9.52306422e-01 -5.36784902e-02  7.24130064e+01]
 [ 2.51409240e-01 -2.47632130e-02  9.67564043e-01  1.97498960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.300714057 meters
Centerline goodness : 0.998325 with order 1
Centerline is valid?  [True, True]
Translation: X:753.61, Y:72.43, Z:197.51
[[ 9.19973607e-01 -3.04481734e-01 -2.46859144e-01  7.53611085e+02]
 [ 3.00744273e-01  9.52193518e-01 -5.36692273e-02  7.24255931e+01]
 [ 2.51398976e-01 -2.48672013e-02  9.67564043e-01  1.97513626e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.360714057 meters
Centerline goodness : 0.998368 with order 1
Centerline is valid?  [True, True]
Translation: X:753.67, Y:72.44, Z:197.53
[[ 9.19421789e-01 -3.06133599e-01 -2.46872020e-01  7.53668043e+02]
 [ 3.02469766e-01  9.51650154e-01 -5.36099362e-02  7.24387966e+01]
 [ 2.51347598e-01 -2.53811785e-02  9.67564045e-01  1.97529102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.420714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:753.73, Y:72.45, Z:197.54
[[ 9.19329083e-01 -3.06411441e-01 -2.46872570e-01  7.53726367e+02]
 [ 3.02758021e-01  9.51558630e-01 -5.36074035e-02  7.24515319e+01]
 [ 2.51339646e-01 -2.54598055e-02  9.67564045e-01  1.97543772e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.480714057 meters
Centerline goodness : 0.998258 with order 1
Centerline is valid?  [True, True]
Translation: X:753.79, Y:72.46, Z:197.56
[[ 9.19503817e-01 -3.05881484e-01 -2.46879014e-01  7.53785875e+02]
 [ 3.02217377e-01  9.51732151e-01 -5.35777074e-02  7.24637302e+01]
 [ 2.51351124e-01 -2.53462216e-02  9.67564045e-01  1.97558366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.5407140570001 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:753.84, Y:72.48, Z:197.57
[[ 9.20290798e-01 -3.03494247e-01 -2.46892868e-01  7.53843025e+02]
 [ 2.99763490e-01  9.52511482e-01 -5.35137949e-02  7.24768144e+01]
 [ 2.51409421e-01 -2.47612146e-02  9.67564047e-01  1.97573616e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.600714057 meters
Centerline goodness : 0.998331 with order 1
Centerline is valid?  [True, True]
Translation: X:753.90, Y:72.49, Z:197.59
[[ 9.21292865e-01 -3.00438240e-01 -2.46893340e-01  7.53901480e+02]
 [ 2.96601145e-01  9.53501058e-01 -5.35116167e-02  7.24903662e+01]
 [ 2.51489997e-01 -2.39289767e-02  9.67564047e-01  1.97589551e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.6607140570001 meters
Centerline goodness : 0.998243 with order 1
Centerline is valid?  [True, True]
Translation: X:753.96, Y:72.50, Z:197.60
[[ 9.22836032e-01 -2.95661813e-01 -2.46896236e-01  7.53958835e+02]
 [ 2.91661472e-01  9.55024357e-01 -5.34982530e-02  7.25035740e+01]
 [ 2.51609309e-01 -2.26400040e-02  9.67564047e-01  1.97604799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.720714057 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:754.02, Y:72.52, Z:197.62
[[ 9.23937585e-01 -2.92200979e-01 -2.46896591e-01  7.54015938e+02]
 [ 2.88080461e-01  9.56110747e-01 -5.34966116e-02  7.25168414e+01]
 [ 2.51692247e-01 -2.16985538e-02  9.67564047e-01  1.97621052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.7807140570001 meters
Centerline goodness : 0.998244 with order 1
Centerline is valid?  [True, True]
Translation: X:754.07, Y:72.53, Z:197.64
[[ 9.25510883e-01 -2.87178317e-01 -2.46897185e-01  7.54072216e+02]
 [ 2.82883836e-01  9.57661287e-01 -5.34938743e-02  7.25304517e+01]
 [ 2.51806156e-01 -2.03340599e-02  9.67564047e-01  1.97636505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.840714057 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:754.13, Y:72.54, Z:197.65
[[ 9.26155092e-01 -2.85094639e-01 -2.46896319e-01  7.54130111e+02]
 [ 2.80726754e-01  9.58295606e-01 -5.34978698e-02  7.25424693e+01]
 [ 2.51851613e-01 -1.97630776e-02  9.67564047e-01  1.97652521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.9007140570001 meters
Centerline goodness : 0.999064 with order 1
Centerline is valid?  [True, True]
Translation: X:754.19, Y:72.55, Z:197.67
[[ 9.27275998e-01 -2.81426618e-01 -2.46897313e-01  7.54187334e+02]
 [ 2.76932767e-01  9.59399141e-01 -5.34932807e-02  7.25544998e+01]
 [ 2.51927503e-01 -1.87709210e-02  9.67564047e-01  1.97667603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 779.960714057 meters
Centerline goodness : 0.998413 with order 1
Centerline is valid?  [True, True]
Translation: X:754.25, Y:72.57, Z:197.68
[[ 9.28215918e-01 -2.78310651e-01 -2.46897534e-01  7.54246035e+02]
 [ 2.73709205e-01  9.60323825e-01 -5.34922629e-02  7.25678785e+01]
 [ 2.51989050e-01 -1.79257578e-02  9.67564047e-01  1.97683809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.0207140570001 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:754.30, Y:72.58, Z:197.70
[[ 9.29993575e-01 -2.72298992e-01 -2.46911340e-01  7.54302209e+02]
 [ 2.67506759e-01  9.62073559e-01 -5.34284618e-02  7.25808396e+01]
 [ 2.52095388e-01 -1.63623261e-02  9.67564049e-01  1.97698321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.080714057 meters
Centerline goodness : 0.998676 with order 1
Centerline is valid?  [True, True]
Translation: X:754.36, Y:72.59, Z:197.71
[[ 9.30586324e-01 -2.70267125e-01 -2.46910461e-01  7.54360458e+02]
 [ 2.65403764e-01  9.62655602e-01 -5.34325217e-02  7.25941992e+01]
 [ 2.52130793e-01 -1.58073918e-02  9.67564049e-01  1.97713796e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.140714057 meters
Centerline goodness : 0.998675 with order 1
Centerline is valid?  [True, True]
Translation: X:754.42, Y:72.61, Z:197.73
[[ 9.31747861e-01 -2.66232448e-01 -2.46913359e-01  7.54417417e+02]
 [ 2.61233716e-01  9.63796318e-01 -5.34191269e-02  7.26086565e+01]
 [ 2.52196091e-01 -1.47289372e-02  9.67564050e-01  1.97729254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.200714057 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:754.48, Y:72.62, Z:197.75
[[ 9.32014308e-01 -2.65297603e-01 -2.46913978e-01  7.54475689e+02]
 [ 2.60267479e-01  9.64057852e-01 -5.34162654e-02  7.26217915e+01]
 [ 2.52210567e-01 -1.44789551e-02  9.67564050e-01  1.97745582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.260714057 meters
Centerline goodness : 0.998204 with order 1
Centerline is valid?  [True, True]
Translation: X:754.53, Y:72.64, Z:197.76
[[ 9.31885874e-01 -2.65736056e-01 -2.46927249e-01  7.54534029e+02]
 [ 2.60737225e-01  9.63934313e-01 -5.33548486e-02  7.26351758e+01]
 [ 2.52199956e-01 -1.46624962e-02  9.67564051e-01  1.97763837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.320714057 meters
Centerline goodness : 0.999146 with order 1
Centerline is valid?  [True, True]
Translation: X:754.59, Y:72.65, Z:197.78
[[ 9.31436372e-01 -2.67294612e-01 -2.46941036e-01  7.54591597e+02]
 [ 2.62366273e-01  9.63495725e-01 -5.32909671e-02  7.26475253e+01]
 [ 2.52171021e-01 -1.51518543e-02  9.67564054e-01  1.97779960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.380714057 meters
Centerline goodness : 0.998769 with order 1
Centerline is valid?  [True, True]
Translation: X:754.65, Y:72.66, Z:197.79
[[ 9.30381705e-01 -2.70941910e-01 -2.46942026e-01  7.54649891e+02]
 [ 2.66140429e-01  9.62460303e-01 -5.32863773e-02  7.26585673e+01]
 [ 2.52109410e-01 -1.61445863e-02  9.67564054e-01  1.97794053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.440714057 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:754.71, Y:72.67, Z:197.81
[[ 9.28956674e-01 -2.75787321e-01 -2.46943013e-01  7.54707476e+02]
 [ 2.71154308e-01  9.61060035e-01 -5.32818021e-02  7.26691890e+01]
 [ 2.52021507e-01 -1.74631763e-02  9.67564054e-01  1.97807910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.500714057 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:754.76, Y:72.68, Z:197.82
[[ 9.27998828e-01 -2.78991738e-01 -2.46944905e-01  7.54764964e+02]
 [ 2.74471869e-01  9.60118314e-01 -5.32730360e-02  7.26811537e+01]
 [ 2.51959062e-01 -1.83421146e-02  9.67564054e-01  1.97823615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.560714057 meters
Centerline goodness : 0.998814 with order 1
Centerline is valid?  [True, True]
Translation: X:754.82, Y:72.69, Z:197.84
[[ 9.26878758e-01 -2.82690165e-01 -2.46945418e-01  7.54823406e+02]
 [ 2.78299047e-01  9.59016099e-01 -5.32706565e-02  7.26904794e+01]
 [ 2.51883722e-01 -1.93492345e-02  9.67564054e-01  1.97838583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.620714057 meters
Centerline goodness : 0.999040 with order 1
Centerline is valid?  [True, True]
Translation: X:754.88, Y:72.70, Z:197.85
[[ 9.26597885e-01 -2.83608129e-01 -2.46946936e-01  7.54881677e+02]
 [ 2.79250710e-01  9.58739812e-01 -5.32636196e-02  7.27024955e+01]
 [ 2.51863854e-01 -1.96061498e-02  9.67564054e-01  1.97852991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.680714057 meters
Centerline goodness : 0.998773 with order 1
Centerline is valid?  [True, True]
Translation: X:754.94, Y:72.71, Z:197.87
[[ 9.26772646e-01 -2.83030343e-01 -2.46954018e-01  7.54938744e+02]
 [ 2.78661585e-01  9.58913034e-01 -5.32307631e-02  7.27145262e+01]
 [ 2.51873348e-01 -1.94837829e-02  9.67564054e-01  1.97870178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.740714057 meters
Centerline goodness : 0.998859 with order 1
Centerline is valid?  [True, True]
Translation: X:755.00, Y:72.73, Z:197.89
[[ 9.27442353e-01 -2.80827184e-01 -2.46955007e-01  7.54996943e+02]
 [ 2.76383275e-01  9.59572436e-01 -5.32261748e-02  7.27270129e+01]
 [ 2.51918574e-01 -1.88900248e-02  9.67564054e-01  1.97885717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.800714057 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:755.06, Y:72.74, Z:197.90
[[ 9.27814757e-01 -2.79583209e-01 -2.46967622e-01  7.55056136e+02]
 [ 2.75111724e-01  9.59941012e-01 -5.31675810e-02  7.27404299e+01]
 [ 2.51939112e-01 -1.86140220e-02  9.67564056e-01  1.97901571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.860714057 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:755.11, Y:72.75, Z:197.92
[[ 9.28419647e-01 -2.77563606e-01 -2.46972475e-01  7.55113223e+02]
 [ 2.73028192e-01  9.60536940e-01 -5.31450250e-02  7.27542114e+01]
 [ 2.51977310e-01 -1.80895632e-02  9.67564056e-01  1.97917237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.920714057 meters
Centerline goodness : 0.999061 with order 1
Centerline is valid?  [True, True]
Translation: X:755.17, Y:72.77, Z:197.93
[[ 9.28808397e-01 -2.76258231e-01 -2.46974393e-01  7.55170940e+02]
 [ 2.71680032e-01  9.60919619e-01 -5.31361105e-02  7.27659506e+01]
 [ 2.52001828e-01 -1.77447455e-02  9.67564056e-01  1.97932324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 780.980714057 meters
Centerline goodness : 0.999057 with order 1
Centerline is valid?  [True, True]
Translation: X:755.23, Y:72.78, Z:197.95
[[ 9.29126316e-01 -2.75185958e-01 -2.46975661e-01  7.55229393e+02]
 [ 2.70572256e-01  9.61232456e-01 -5.31302188e-02  7.27796837e+01]
 [ 2.52021711e-01 -1.74600773e-02  9.67564056e-01  1.97947780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.0407140570001 meters
Centerline goodness : 0.998695 with order 1
Centerline is valid?  [True, True]
Translation: X:755.29, Y:72.79, Z:197.96
[[ 9.29548165e-01 -2.73755107e-01 -2.46978441e-01  7.55287444e+02]
 [ 2.69095396e-01  9.61647659e-01 -5.31172936e-02  7.27935601e+01]
 [ 2.52047370e-01 -1.70856786e-02  9.67564056e-01  1.97964749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.100714057 meters
Centerline goodness : 0.998966 with order 1
Centerline is valid?  [True, True]
Translation: X:755.35, Y:72.81, Z:197.98
[[ 9.30221679e-01 -2.71445317e-01 -2.46992039e-01  7.55345399e+02]
 [ 2.66722619e-01  9.62311965e-01 -5.30539898e-02  7.28064728e+01]
 [ 2.52084651e-01 -1.65263920e-02  9.67564058e-01  1.97980119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.1607140570001 meters
Centerline goodness : 0.998720 with order 1
Centerline is valid?  [True, True]
Translation: X:755.40, Y:72.82, Z:198.00
[[ 9.31338626e-01 -2.67586110e-01 -2.46994003e-01  7.55402289e+02]
 [ 2.62732817e-01  9.63409420e-01 -5.30448428e-02  7.28200641e+01]
 [ 2.52150413e-01 -1.54907193e-02  9.67564058e-01  1.97995324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.220714057 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:755.46, Y:72.83, Z:198.01
[[ 9.32218469e-01 -2.64503996e-01 -2.46994659e-01  7.55460069e+02]
 [ 2.59545453e-01  9.64273160e-01 -5.30417913e-02  7.28329303e+01]
 [ 2.52200086e-01 -1.46598030e-02  9.67564058e-01  1.98013091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.2807140570001 meters
Centerline goodness : 0.998832 with order 1
Centerline is valid?  [True, True]
Translation: X:755.52, Y:72.85, Z:198.03
[[ 9.32688093e-01 -2.62840414e-01 -2.46997648e-01  7.55517360e+02]
 [ 2.57828366e-01  9.64734460e-01 -5.30278650e-02  7.28453279e+01]
 [ 2.52225009e-01 -1.42245420e-02  9.67564058e-01  1.98028313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.340714057 meters
Centerline goodness : 0.998404 with order 1
Centerline is valid?  [True, True]
Translation: X:755.58, Y:72.86, Z:198.04
[[ 9.33489859e-01 -2.59977607e-01 -2.46998638e-01  7.55576679e+02]
 [ 2.54868478e-01  9.65520892e-01 -5.30232556e-02  7.28576224e+01]
 [ 2.52267204e-01 -1.34554955e-02  9.67564058e-01  1.98043114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.4007140570001 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:755.63, Y:72.87, Z:198.06
[[ 9.34133474e-01 -2.57641619e-01 -2.47013053e-01  7.55634553e+02]
 [ 2.52470108e-01  9.66154493e-01 -5.29560216e-02  7.28680787e+01]
 [ 2.52296446e-01 -1.28954197e-02  9.67564061e-01  1.98059084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.460714057 meters
Centerline goodness : 0.998499 with order 1
Centerline is valid?  [True, True]
Translation: X:755.69, Y:72.88, Z:198.07
[[ 9.34250609e-01 -2.57215208e-01 -2.47014445e-01  7.55694128e+02]
 [ 2.52030794e-01  9.66269541e-01 -5.29495270e-02  7.28795439e+01]
 [ 2.52301958e-01 -1.27871189e-02  9.67564061e-01  1.98074223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.5207140570001 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:755.75, Y:72.89, Z:198.09
[[ 9.34080883e-01 -2.57817802e-01 -2.47028107e-01  7.55752801e+02]
 [ 2.52670872e-01  9.66105859e-01 -5.28857145e-02  7.28898746e+01]
 [ 2.52290180e-01 -1.30172723e-02  9.67564063e-01  1.98089279e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.580714057 meters
Centerline goodness : 0.998302 with order 1
Centerline is valid?  [True, True]
Translation: X:755.81, Y:72.90, Z:198.10
[[ 9.33231907e-01 -2.60872303e-01 -2.47030056e-01  7.55810041e+02]
 [ 2.55832575e-01  9.65273929e-01 -5.28766074e-02  7.28986387e+01]
 [ 2.52245715e-01 -1.38521981e-02  9.67564063e-01  1.98104566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.6407140570001 meters
Centerline goodness : 0.998080 with order 1
Centerline is valid?  [True, True]
Translation: X:755.87, Y:72.91, Z:198.12
[[ 9.31873532e-01 -2.65683793e-01 -2.47030044e-01  7.55868569e+02]
 [ 2.60809437e-01  9.63941127e-01 -5.28766620e-02  7.29062845e+01]
 [ 2.52170892e-01 -1.51534051e-02  9.67564063e-01  1.98119897e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.700714057 meters
Centerline goodness : 0.997888 with order 1
Centerline is valid?  [True, True]
Translation: X:755.93, Y:72.92, Z:198.13
[[ 9.30664346e-01 -2.69888491e-01 -2.47030518e-01  7.55926522e+02]
 [ 2.65159555e-01  9.62753709e-01 -5.28744483e-02  7.29153167e+01]
 [ 2.52099753e-01 -1.62941383e-02  9.67564063e-01  1.98134932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.760714057 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:755.99, Y:72.92, Z:198.15
[[ 9.29285314e-01 -2.74598255e-01 -2.47031586e-01  7.55985290e+02]
 [ 2.70033210e-01  9.61398401e-01 -5.28694595e-02  7.29225090e+01]
 [ 2.52013633e-01 -1.75759199e-02  9.67564063e-01  1.98149823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.820714057 meters
Centerline goodness : 0.997316 with order 1
Centerline is valid?  [True, True]
Translation: X:756.04, Y:72.93, Z:198.16
[[ 9.28713618e-01 -2.76525216e-01 -2.47032025e-01  7.56044014e+02]
 [ 2.72027334e-01  9.60836181e-01 -5.28674087e-02  7.29309977e+01]
 [ 2.51976479e-01 -1.81007807e-02  9.67564063e-01  1.98164581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.880714057 meters
Centerline goodness : 0.998228 with order 1
Centerline is valid?  [True, True]
Translation: X:756.10, Y:72.94, Z:198.18
[[ 9.28425707e-01 -2.77489492e-01 -2.47032971e-01  7.56104391e+02]
 [ 2.73026140e-01  9.60553086e-01 -5.28629862e-02  7.29396859e+01]
 [ 2.51957206e-01 -1.83671034e-02  9.67564063e-01  1.98179794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 781.940714057 meters
Centerline goodness : 0.997739 with order 1
Centerline is valid?  [True, True]
Translation: X:756.16, Y:72.95, Z:198.20
[[ 9.28613877e-01 -2.76854771e-01 -2.47037859e-01  7.56163409e+02]
 [ 2.72375505e-01  9.60739041e-01 -5.28401370e-02  7.29508643e+01]
 [ 2.51967959e-01 -1.82189769e-02  9.67564063e-01  1.98195859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.000714057 meters
Centerline goodness : 0.997683 with order 1
Centerline is valid?  [True, True]
Translation: X:756.22, Y:72.96, Z:198.21
[[ 9.29053800e-01 -2.75362419e-01 -2.47051768e-01  7.56223763e+02]
 [ 2.70848765e-01  9.61174148e-01 -5.27750265e-02  7.29616650e+01]
 [ 2.51992032e-01 -1.78828275e-02  9.67564065e-01  1.98212053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.060714057 meters
Centerline goodness : 0.997787 with order 1
Centerline is valid?  [True, True]
Translation: X:756.28, Y:72.97, Z:198.23
[[ 9.30239653e-01 -2.71315107e-01 -2.47067403e-01  7.56281501e+02]
 [ 2.66681033e-01  9.62342846e-01 -5.27017342e-02  7.29742186e+01]
 [ 2.52062324e-01 -1.68629473e-02  9.67564068e-01  1.98227323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.120714057 meters
Centerline goodness : 0.997989 with order 1
Centerline is valid?  [True, True]
Translation: X:756.34, Y:72.99, Z:198.24
[[ 9.31756228e-01 -2.66059359e-01 -2.47068310e-01  7.56338221e+02]
 [ 2.61245253e-01  9.63832918e-01 -5.26974813e-02  7.29868996e+01]
 [ 2.52153228e-01 -1.54442167e-02  9.67564068e-01  1.98241449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.180714057 meters
Centerline goodness : 0.997831 with order 1
Centerline is valid?  [True, True]
Translation: X:756.39, Y:73.00, Z:198.26
[[ 9.33005667e-01 -2.61644806e-01 -2.47067645e-01  7.56394946e+02]
 [ 2.56678058e-01  9.65059077e-01 -5.27005978e-02  7.30003109e+01]
 [ 2.52223711e-01 -1.42468868e-02  9.67564068e-01  1.98255800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.240714057 meters
Centerline goodness : 0.997761 with order 1
Centerline is valid?  [True, True]
Translation: X:756.45, Y:73.01, Z:198.27
[[ 9.33482166e-01 -2.59939727e-01 -2.47067569e-01  7.56453376e+02]
 [ 2.54914330e-01  9.65526433e-01 -5.27009538e-02  7.30137612e+01]
 [ 2.52249340e-01 -1.37856634e-02  9.67564068e-01  1.98271575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.300714057 meters
Centerline goodness : 0.997678 with order 1
Centerline is valid?  [True, True]
Translation: X:756.51, Y:73.03, Z:198.29
[[ 9.33812659e-01 -2.58746461e-01 -2.47071220e-01  7.56509444e+02]
 [ 2.53684629e-01  9.65851191e-01 -5.26838331e-02  7.30267539e+01]
 [ 2.52265787e-01 -1.34813406e-02  9.67564068e-01  1.98287336e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.360714057 meters
Centerline goodness : 0.998275 with order 1
Centerline is valid?  [True, True]
Translation: X:756.57, Y:73.04, Z:198.30
[[ 9.33830792e-01 -2.58681718e-01 -2.47070476e-01  7.56568251e+02]
 [ 2.53616745e-01  9.65868828e-01 -5.26873196e-02  7.30397841e+01]
 [ 2.52266918e-01 -1.34601686e-02  9.67564068e-01  1.98303210e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.420714057 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:756.63, Y:73.05, Z:198.32
[[ 9.33562246e-01 -2.59645851e-01 -2.47074009e-01  7.56626532e+02]
 [ 2.54618335e-01  9.65606180e-01 -5.26707504e-02  7.30529157e+01]
 [ 2.52251931e-01 -1.37381486e-02  9.67564068e-01  1.98319689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.480714057 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:756.68, Y:73.06, Z:198.33
[[ 9.32941387e-01 -2.61855200e-01 -2.47087480e-01  7.56684728e+02]
 [ 2.56920258e-01  9.64999707e-01 -5.26074794e-02  7.30649369e+01]
 [ 2.52214888e-01 -1.44020843e-02  9.67564070e-01  1.98333943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.5407140570001 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:756.74, Y:73.08, Z:198.35
[[ 9.32552051e-01 -2.63237957e-01 -2.47087942e-01  7.56742409e+02]
 [ 2.58351117e-01  9.64617738e-01 -5.26053109e-02  7.30782827e+01]
 [ 2.52193126e-01 -1.47782554e-02  9.67564070e-01  1.98350045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.600714057 meters
Centerline goodness : 0.998356 with order 1
Centerline is valid?  [True, True]
Translation: X:756.80, Y:73.09, Z:198.37
[[ 9.31955585e-01 -2.65340162e-01 -2.47089832e-01  7.56800584e+02]
 [ 2.60527988e-01  9.64032563e-01 -5.25964296e-02  7.30909525e+01]
 [ 2.52158590e-01 -1.53562806e-02  9.67564070e-01  1.98365653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.6607140570001 meters
Centerline goodness : 0.998310 with order 1
Centerline is valid?  [True, True]
Translation: X:756.86, Y:73.10, Z:198.38
[[ 9.31474365e-01 -2.67022775e-01 -2.47091776e-01  7.56859135e+02]
 [ 2.62270950e-01  9.63560338e-01 -5.25872973e-02  7.31040615e+01]
 [ 2.52129841e-01 -1.58212756e-02  9.67564070e-01  1.98380521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.720714057 meters
Centerline goodness : 0.998265 with order 1
Centerline is valid?  [True, True]
Translation: X:756.92, Y:73.12, Z:198.40
[[ 9.31225647e-01 -2.67877300e-01 -2.47104324e-01  7.56917926e+02]
 [ 2.63170512e-01  9.63318256e-01 -5.25282729e-02  7.31165417e+01]
 [ 2.52111238e-01 -1.61148965e-02  9.67564072e-01  1.98395506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.7807140570001 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:756.98, Y:73.13, Z:198.41
[[ 9.30972453e-01 -2.68743604e-01 -2.47117719e-01  7.56975632e+02]
 [ 2.64083350e-01  9.63071850e-01 -5.24651789e-02  7.31295186e+01]
 [ 2.52091801e-01 -1.64160390e-02  9.67564074e-01  1.98410222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.840714057 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:757.03, Y:73.14, Z:198.43
[[ 9.31223719e-01 -2.67865468e-01 -2.47124413e-01  7.57034380e+02]
 [ 2.63183279e-01  9.63319924e-01 -5.24336335e-02  7.31437518e+01]
 [ 2.52105030e-01 -1.62115700e-02  9.67564075e-01  1.98426937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.9007140570001 meters
Centerline goodness : 0.998621 with order 1
Centerline is valid?  [True, True]
Translation: X:757.09, Y:73.16, Z:198.44
[[ 9.32497247e-01 -2.63393317e-01 -2.47129206e-01  7.57091749e+02]
 [ 2.58563115e-01  9.64571511e-01 -5.24110326e-02  7.31573431e+01]
 [ 2.52178507e-01 -1.50253537e-02  9.67564075e-01  1.98441965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 782.960714057 meters
Centerline goodness : 0.998887 with order 1
Centerline is valid?  [True, True]
Translation: X:757.15, Y:73.17, Z:198.46
[[ 9.34002095e-01 -2.58005947e-01 -2.47129556e-01  7.57147989e+02]
 [ 2.52991107e-01  9.66048009e-01 -5.24093810e-02  7.31709214e+01]
 [ 2.52260948e-01 -1.35711083e-02  9.67564075e-01  1.98459490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.0207140570001 meters
Centerline goodness : 0.998465 with order 1
Centerline is valid?  [True, True]
Translation: X:757.20, Y:73.19, Z:198.48
[[ 9.35349101e-01 -2.53079146e-01 -2.47129532e-01  7.57203017e+02]
 [ 2.47895429e-01  9.67368131e-01 -5.24094949e-02  7.31851163e+01]
 [ 2.52328984e-01 -1.22411075e-02  9.67564075e-01  1.98476288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.080714057 meters
Centerline goodness : 0.998388 with order 1
Centerline is valid?  [True, True]
Translation: X:757.26, Y:73.20, Z:198.49
[[ 9.36479926e-01 -2.48862869e-01 -2.47128755e-01  7.57261295e+02]
 [ 2.43533995e-01  9.68475118e-01 -5.24131585e-02  7.31977758e+01]
 [ 2.52381739e-01 -1.11003823e-02  9.67564075e-01  1.98491910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.1407140570001 meters
Centerline goodness : 0.998281 with order 1
Centerline is valid?  [True, True]
Translation: X:757.32, Y:73.21, Z:198.51
[[ 9.37058452e-01 -2.46672650e-01 -2.47131667e-01  7.57319613e+02]
 [ 2.41272599e-01  9.69041709e-01 -5.23994271e-02  7.32097876e+01]
 [ 2.52406398e-01 -1.05247734e-02  9.67564075e-01  1.98506252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.200714057 meters
Centerline goodness : 0.998324 with order 1
Centerline is valid?  [True, True]
Translation: X:757.38, Y:73.22, Z:198.52
[[ 9.37084872e-01 -2.46571306e-01 -2.47132623e-01  7.57378445e+02]
 [ 2.41168983e-01  9.69067745e-01 -5.23949179e-02  7.32204289e+01]
 [ 2.52407337e-01 -1.05022383e-02  9.67564075e-01  1.98520140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.260714057 meters
Centerline goodness : 0.998288 with order 1
Centerline is valid?  [True, True]
Translation: X:757.44, Y:73.23, Z:198.54
[[ 9.37142461e-01 -2.46350395e-01 -2.47134561e-01  7.57437272e+02]
 [ 2.40942940e-01  9.69124466e-01 -5.23857744e-02  7.32309755e+01]
 [ 2.52409405e-01 -1.04523941e-02  9.67564075e-01  1.98535139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.320714057 meters
Centerline goodness : 0.997882 with order 1
Centerline is valid?  [True, True]
Translation: X:757.49, Y:73.24, Z:198.55
[[ 9.36844093e-01 -2.47470342e-01 -2.47146871e-01  7.57494634e+02]
 [ 2.42116426e-01  9.68835102e-01 -5.23276330e-02  7.32417737e+01]
 [ 2.52394102e-01 -1.08154834e-02  9.67564077e-01  1.98552260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.380714057 meters
Centerline goodness : 0.998039 with order 1
Centerline is valid?  [True, True]
Translation: X:757.55, Y:73.25, Z:198.57
[[ 9.36424535e-01 -2.49050566e-01 -2.47149560e-01  7.57553527e+02]
 [ 2.43753976e-01  9.68425086e-01 -5.23149335e-02  7.32524475e+01]
 [ 2.52374897e-01 -1.12547004e-02  9.67564077e-01  1.98569555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.440714057 meters
Centerline goodness : 0.998476 with order 1
Centerline is valid?  [True, True]
Translation: X:757.61, Y:73.26, Z:198.58
[[ 9.35754123e-01 -2.51544409e-01 -2.47163170e-01  7.57611043e+02]
 [ 2.46350054e-01  9.67771425e-01 -5.22505548e-02  7.32631765e+01]
 [ 2.52340788e-01 -1.19949880e-02  9.67564079e-01  1.98584928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.500714057 meters
Centerline goodness : 0.998227 with order 1
Centerline is valid?  [True, True]
Translation: X:757.67, Y:73.27, Z:198.60
[[ 9.34002136e-01 -2.57971505e-01 -2.47165354e-01  7.57669193e+02]
 [ 2.53000107e-01  9.66054815e-01 -5.22402231e-02  7.32723488e+01]
 [ 2.52251769e-01 -1.37403810e-02  9.67564079e-01  1.98600682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.560714057 meters
Centerline goodness : 0.998210 with order 1
Centerline is valid?  [True, True]
Translation: X:757.73, Y:73.28, Z:198.62
[[ 9.31777639e-01 -2.65892586e-01 -2.47167080e-01  7.57726786e+02]
 [ 2.61195677e-01  9.63871688e-01 -5.22320545e-02  7.32823577e+01]
 [ 2.52125466e-01 -1.58903122e-02  9.67564079e-01  1.98615276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.620714057 meters
Centerline goodness : 0.998223 with order 1
Centerline is valid?  [True, True]
Translation: X:757.78, Y:73.29, Z:198.63
[[ 9.30627188e-01 -2.69891702e-01 -2.47166961e-01  7.57784250e+02]
 [ 2.65332518e-01  9.62741091e-01 -5.22326152e-02  7.32935512e+01]
 [ 2.52054939e-01 -1.69723403e-02  9.67564079e-01  1.98631507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.680714057 meters
Centerline goodness : 0.997500 with order 1
Centerline is valid?  [True, True]
Translation: X:757.84, Y:73.31, Z:198.65
[[ 9.30122676e-01 -2.71624750e-01 -2.47167559e-01  7.57841003e+02]
 [ 2.67126142e-01  9.62245122e-01 -5.22297845e-02  7.33054938e+01]
 [ 2.52022680e-01 -1.74448096e-02  9.67564079e-01  1.98645750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.740714057 meters
Centerline goodness : 0.997181 with order 1
Centerline is valid?  [True, True]
Translation: X:757.90, Y:73.32, Z:198.66
[[ 9.30334657e-01 -2.70897812e-01 -2.47167559e-01  7.57898834e+02]
 [ 2.66374103e-01  9.62453576e-01 -5.22297845e-02  7.33196341e+01]
 [ 2.52036236e-01 -1.72478583e-02  9.67564079e-01  1.98662469e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.800714057 meters
Centerline goodness : 0.997290 with order 1
Centerline is valid?  [True, True]
Translation: X:757.96, Y:73.33, Z:198.68
[[ 9.30538779e-01 -2.70191999e-01 -2.47171732e-01  7.57958683e+02]
 [ 2.65649148e-01  9.62654997e-01 -5.22100324e-02  7.33326452e+01]
 [ 2.52047836e-01 -1.70775001e-02  9.67564079e-01  1.98678395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.860714057 meters
Centerline goodness : 0.997648 with order 1
Centerline is valid?  [True, True]
Translation: X:758.02, Y:73.35, Z:198.69
[[ 9.30439109e-01 -2.70521042e-01 -2.47187035e-01  7.58016887e+02]
 [ 2.66008728e-01  9.62559629e-01 -5.21374818e-02  7.33451852e+01]
 [ 2.52036547e-01 -1.72431566e-02  9.67564082e-01  1.98692998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.920714057 meters
Centerline goodness : 0.997061 with order 1
Centerline is valid?  [True, True]
Translation: X:758.08, Y:73.36, Z:198.71
[[ 9.30552933e-01 -2.70118076e-01 -2.47199238e-01  7.58075655e+02]
 [ 2.65607165e-01  9.62673649e-01 -5.20795605e-02  7.33586928e+01]
 [ 2.52039823e-01 -1.71951009e-02  9.67564084e-01  1.98709147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 783.980714057 meters
Centerline goodness : 0.997094 with order 1
Centerline is valid?  [True, True]
Translation: X:758.13, Y:73.37, Z:198.72
[[ 9.31345633e-01 -2.67368648e-01 -2.47202992e-01  7.58131808e+02]
 [ 2.62767601e-01  9.63453560e-01 -5.20617391e-02  7.33719813e+01]
 [ 2.52088279e-01 -1.64694638e-02  9.67564084e-01  1.98724044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.0407140570001 meters
Centerline goodness : 0.997399 with order 1
Centerline is valid?  [True, True]
Translation: X:758.19, Y:73.39, Z:198.74
[[ 9.32240163e-01 -2.64232777e-01 -2.47202992e-01  7.58189929e+02]
 [ 2.59523700e-01  9.64332424e-01 -5.20617391e-02  7.33858781e+01]
 [ 2.52142278e-01 -1.56209910e-02  9.67564084e-01  1.98740422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.100714057 meters
Centerline goodness : 0.996538 with order 1
Centerline is valid?  [True, True]
Translation: X:758.25, Y:73.40, Z:198.76
[[ 9.34287669e-01 -2.56895724e-01 -2.47206673e-01  7.58245750e+02]
 [ 2.51939109e-01  9.66342631e-01 -5.20442525e-02  7.34006955e+01]
 [ 2.52256293e-01 -1.36567257e-02  9.67564084e-01  1.98758272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.1607140570001 meters
Centerline goodness : 0.997588 with order 1
Centerline is valid?  [True, True]
Translation: X:758.30, Y:73.42, Z:198.77
[[ 9.36356014e-01 -2.49251517e-01 -2.47206587e-01  7.58303098e+02]
 [ 2.44032985e-01  9.68369380e-01 -5.20446620e-02  7.34152386e+01]
 [ 2.52359500e-01 -1.15942291e-02  9.67564084e-01  1.98773635e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.220714057 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:758.36, Y:73.43, Z:198.79
[[ 9.37467352e-01 -2.45037645e-01 -2.47207436e-01  7.58358978e+02]
 [ 2.39676245e-01  9.69457101e-01 -5.20406302e-02  7.34285126e+01]
 [ 2.52408917e-01 -1.04633580e-02  9.67564084e-01  1.98789086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.2807140570001 meters
Centerline goodness : 0.997560 with order 1
Centerline is valid?  [True, True]
Translation: X:758.42, Y:73.44, Z:198.81
[[ 9.38349989e-01 -2.41636509e-01 -2.47206586e-01  7.58416754e+02]
 [ 2.36158078e-01  9.70319903e-01 -5.20446664e-02  7.34420876e+01]
 [ 2.52445362e-01 -9.54372014e-03  9.67564084e-01  1.98806679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.340714057 meters
Centerline goodness : 0.997537 with order 1
Centerline is valid?  [True, True]
Translation: X:758.47, Y:73.45, Z:198.82
[[ 9.38367974e-01 -2.41563697e-01 -2.47209477e-01  7.58474434e+02]
 [ 2.36086398e-01  9.70338083e-01 -5.20309321e-02  7.34541666e+01]
 [ 2.52445554e-01 -9.53863443e-03  9.67564084e-01  1.98821236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.4007140570001 meters
Centerline goodness : 0.997832 with order 1
Centerline is valid?  [True, True]
Translation: X:758.53, Y:73.47, Z:198.84
[[ 9.37911648e-01 -2.43328475e-01 -2.47210423e-01  7.58533963e+02]
 [ 2.37912510e-01  9.69892204e-01 -5.20264344e-02  7.34657302e+01]
 [ 2.52426975e-01 -1.00182534e-02  9.67564084e-01  1.98836791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.460714057 meters
Centerline goodness : 0.997903 with order 1
Centerline is valid?  [True, True]
Translation: X:758.59, Y:73.48, Z:198.85
[[ 9.37090209e-01 -2.46459815e-01 -2.47223585e-01  7.58591140e+02]
 [ 2.41167184e-01  9.69091405e-01 -5.19638199e-02  7.34750250e+01]
 [ 2.52389244e-01 -1.09274288e-02  9.67564086e-01  1.98853421e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.5207140570001 meters
Centerline goodness : 0.997728 with order 1
Centerline is valid?  [True, True]
Translation: X:758.65, Y:73.49, Z:198.87
[[ 9.36400018e-01 -2.49068640e-01 -2.47224229e-01  7.58649413e+02]
 [ 2.43865960e-01  9.68415961e-01 -5.19607518e-02  7.34856498e+01]
 [ 2.52357683e-01 -1.16335252e-02  9.67564086e-01  1.98868766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.580714057 meters
Centerline goodness : 0.997453 with order 1
Centerline is valid?  [True, True]
Translation: X:758.71, Y:73.50, Z:198.88
[[ 9.36047953e-01 -2.50386643e-01 -2.47226127e-01  7.58707816e+02]
 [ 2.45231420e-01  9.68071572e-01 -5.19517217e-02  7.34965643e+01]
 [ 2.52340603e-01 -1.19983113e-02  9.67564086e-01  1.98884105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.6407140570001 meters
Centerline goodness : 0.997493 with order 1
Centerline is valid?  [True, True]
Translation: X:758.77, Y:73.51, Z:198.90
[[ 9.35144065e-01 -2.53729806e-01 -2.47238273e-01  7.58765694e+02]
 [ 2.48704301e-01  9.67188295e-01 -5.18938564e-02  7.35073004e+01]
 [ 2.52292982e-01 -1.29609901e-02  9.67564088e-01  1.98899974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.700714057 meters
Centerline goodness : 0.997366 with order 1
Centerline is valid?  [True, True]
Translation: X:758.82, Y:73.52, Z:198.91
[[ 9.34465914e-01 -2.56214212e-01 -2.47240232e-01  7.58823299e+02]
 [ 2.51276350e-01  9.66523767e-01 -5.18845216e-02  7.35173154e+01]
 [ 2.52257112e-01 -1.36413061e-02  9.67564088e-01  1.98913545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.760714057 meters
Centerline goodness : 0.997540 with order 1
Centerline is valid?  [True, True]
Translation: X:758.88, Y:73.53, Z:198.93
[[ 9.33528245e-01 -2.59606215e-01 -2.47244070e-01  7.58880855e+02]
 [ 2.54789638e-01  9.65604544e-01 -5.18662281e-02  7.35282317e+01]
 [ 2.52204792e-01 -1.45766380e-02  9.67564088e-01  1.98929925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.820714057 meters
Centerline goodness : 0.997000 with order 1
Centerline is valid?  [True, True]
Translation: X:758.94, Y:73.54, Z:198.95
[[ 9.33165210e-01 -2.60907834e-01 -2.47244398e-01  7.58940686e+02]
 [ 2.56136408e-01  9.65248257e-01 -5.18646606e-02  7.35403671e+01]
 [ 2.52184121e-01 -1.49299953e-02  9.67564088e-01  1.98945507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.880714057 meters
Centerline goodness : 0.997626 with order 1
Centerline is valid?  [True, True]
Translation: X:759.00, Y:73.55, Z:198.96
[[ 9.33330172e-01 -2.60302831e-01 -2.47259430e-01  7.58999691e+02]
 [ 2.55529549e-01  9.65412940e-01 -5.17929028e-02  7.35517515e+01]
 [ 2.52189293e-01 -1.48422116e-02  9.67564091e-01  1.98961482e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 784.940714057 meters
Centerline goodness : 0.997375 with order 1
Centerline is valid?  [True, True]
Translation: X:759.06, Y:73.56, Z:198.98
[[ 9.33786922e-01 -2.58647096e-01 -2.47272448e-01  7.59058974e+02]
 [ 2.53833341e-01  9.65863640e-01 -5.17306782e-02  7.35642504e+01]
 [ 2.52211457e-01 -1.44605610e-02  9.67564093e-01  1.98978253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.000714057 meters
Centerline goodness : 0.997173 with order 1
Centerline is valid?  [True, True]
Translation: X:759.12, Y:73.58, Z:198.99
[[ 9.34003095e-01 -2.57850985e-01 -2.47287462e-01  7.59116359e+02]
 [ 2.53028850e-01  9.66078552e-01 -5.16588134e-02  7.35765577e+01]
 [ 2.52219389e-01 -1.43213706e-02  9.67564095e-01  1.98992042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.060714057 meters
Centerline goodness : 0.997866 with order 1
Centerline is valid?  [True, True]
Translation: X:759.17, Y:73.59, Z:199.01
[[ 9.34119063e-01 -2.57429647e-01 -2.47288400e-01  7.59174996e+02]
 [ 2.52594229e-01  9.66192520e-01 -5.16543225e-02  7.35880916e+01]
 [ 2.52225556e-01 -1.42123353e-02  9.67564095e-01  1.99009268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.120714057 meters
Centerline goodness : 0.997643 with order 1
Centerline is valid?  [True, True]
Translation: X:759.23, Y:73.60, Z:199.03
[[ 9.34501430e-01 -2.56025215e-01 -2.47301771e-01  7.59234895e+02]
 [ 2.51158498e-01  9.66570151e-01 -5.15902311e-02  7.36003900e+01]
 [ 2.52242910e-01 -1.39007965e-02  9.67564097e-01  1.99025276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.180714057 meters
Centerline goodness : 0.996976 with order 1
Centerline is valid?  [True, True]
Translation: X:759.29, Y:73.61, Z:199.04
[[ 9.35226553e-01 -2.53348744e-01 -2.47317020e-01  7.59292364e+02]
 [ 2.48409538e-01  9.67284186e-01 -5.15170286e-02  7.36128375e+01]
 [ 2.52277617e-01 -1.32558135e-02  9.67564100e-01  1.99041335e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.240714057 meters
Centerline goodness : 0.997998 with order 1
Centerline is valid?  [True, True]
Translation: X:759.35, Y:73.62, Z:199.06
[[ 9.35834861e-01 -2.51091138e-01 -2.47318324e-01  7.59350413e+02]
 [ 2.46076237e-01  9.67880740e-01 -5.15107638e-02  7.36240637e+01]
 [ 2.52308539e-01 -1.26535942e-02  9.67564100e-01  1.99056617e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.300714057 meters
Centerline goodness : 0.997641 with order 1
Centerline is valid?  [True, True]
Translation: X:759.41, Y:73.64, Z:199.07
[[ 9.36792554e-01 -2.47493228e-01 -2.47319251e-01  7.59407872e+02]
 [ 2.42356396e-01  9.68819115e-01 -5.15063135e-02  7.36365216e+01]
 [ 2.52355082e-01 -1.16886713e-02  9.67564100e-01  1.99072298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.360714057 meters
Centerline goodness : 0.997551 with order 1
Centerline is valid?  [True, True]
Translation: X:759.47, Y:73.65, Z:199.09
[[ 9.37786113e-01 -2.43701115e-01 -2.47319577e-01  7.59465812e+02]
 [ 2.38435164e-01  9.69791696e-01 -5.15047484e-02  7.36501241e+01]
 [ 2.52400237e-01 -1.06692461e-02  9.67564100e-01  1.99089704e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.420714057 meters
Centerline goodness : 0.997394 with order 1
Centerline is valid?  [True, True]
Translation: X:759.52, Y:73.66, Z:199.10
[[ 9.38481741e-01 -2.40994681e-01 -2.47332946e-01  7.59524737e+02]
 [ 2.35653330e-01  9.70474825e-01 -5.14404730e-02  7.36614169e+01]
 [ 2.52427278e-01 -1.00088875e-02  9.67564102e-01  1.99103331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.480714057 meters
Centerline goodness : 0.997747 with order 1
Centerline is valid?  [True, True]
Translation: X:759.58, Y:73.67, Z:199.12
[[ 9.39033937e-01 -2.38826178e-01 -2.47340496e-01  7.59582116e+02]
 [ 2.33420493e-01  9.71016214e-01 -5.14041444e-02  7.36736867e+01]
 [ 2.52448287e-01 -9.46410451e-03  9.67564103e-01  1.99118251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.5407140570001 meters
Centerline goodness : 0.997498 with order 1
Centerline is valid?  [True, True]
Translation: X:759.64, Y:73.69, Z:199.13
[[ 9.39524279e-01 -2.36888047e-01 -2.47342238e-01  7.59640700e+02]
 [ 2.31418584e-01  9.71495710e-01 -5.13957612e-02  7.36853704e+01]
 [ 2.52466965e-01 -8.95202508e-03  9.67564103e-01  1.99134840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.600714057 meters
Centerline goodness : 0.997813 with order 1
Centerline is valid?  [True, True]
Translation: X:759.70, Y:73.70, Z:199.15
[[ 9.40232761e-01 -2.34056236e-01 -2.47345978e-01  7.59699666e+02]
 [ 2.28495202e-01  9.72188392e-01 -5.13777545e-02  7.36964764e+01]
 [ 2.52492173e-01 -8.21032135e-03  9.67564103e-01  1.99149369e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.6607140570001 meters
Centerline goodness : 0.997207 with order 1
Centerline is valid?  [True, True]
Translation: X:759.76, Y:73.71, Z:199.17
[[ 9.40622680e-01 -2.32481296e-01 -2.47348786e-01  7.59756958e+02]
 [ 2.26870305e-01  9.72569576e-01 -5.13642346e-02  7.37079649e+01]
 [ 2.52505128e-01 -7.80173052e-03  9.67564103e-01  1.99165511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.720714057 meters
Centerline goodness : 0.996499 with order 1
Centerline is valid?  [True, True]
Translation: X:759.81, Y:73.72, Z:199.18
[[ 9.40680490e-01 -2.32246243e-01 -2.47349749e-01  7.59814550e+02]
 [ 2.26628488e-01  9.72626198e-01 -5.13595944e-02  7.37187291e+01]
 [ 2.52506919e-01 -7.74353130e-03  9.67564103e-01  1.99179544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.7807140570001 meters
Centerline goodness : 0.996628 with order 1
Centerline is valid?  [True, True]
Translation: X:759.87, Y:73.73, Z:199.20
[[ 9.40640124e-01 -2.32408671e-01 -2.47350697e-01  7.59874185e+02]
 [ 2.26797631e-01  9.72587012e-01 -5.13550308e-02  7.37302025e+01]
 [ 2.52505430e-01 -7.79194956e-03  9.67564103e-01  1.99196828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.840714057 meters
Centerline goodness : 0.996644 with order 1
Centerline is valid?  [True, True]
Translation: X:759.93, Y:73.74, Z:199.21
[[ 9.40235281e-01 -2.34025096e-01 -2.47365865e-01  7.59933500e+02]
 [ 2.28488201e-01  9.72195100e-01 -5.12818689e-02  7.37398483e+01]
 [ 2.52489126e-01 -8.30315896e-03  9.67564106e-01  1.99211710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.9007140570001 meters
Centerline goodness : 0.996908 with order 1
Centerline is valid?  [True, True]
Translation: X:759.99, Y:73.75, Z:199.23
[[ 9.40049573e-01 -2.34755870e-01 -2.47379227e-01  7.59992820e+02]
 [ 2.29260782e-01  9.72016604e-01 -5.12173305e-02  7.37504746e+01]
 [ 2.52480286e-01 -8.56752554e-03  9.67564108e-01  1.99228185e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 785.960714057 meters
Centerline goodness : 0.996129 with order 1
Centerline is valid?  [True, True]
Translation: X:760.05, Y:73.76, Z:199.24
[[ 9.39826146e-01 -2.35634943e-01 -2.47392377e-01  7.60052280e+02]
 [ 2.30186472e-01  9.71801154e-01 -5.11537377e-02  7.37606524e+01]
 [ 2.52469806e-01 -8.87075828e-03  9.67564110e-01  1.99244519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.0207140570001 meters
Centerline goodness : 0.996310 with order 1
Centerline is valid?  [True, True]
Translation: X:760.11, Y:73.77, Z:199.26
[[ 9.39602850e-01 -2.36509905e-01 -2.47405636e-01  7.60111944e+02]
 [ 2.31108090e-01  9.71585771e-01 -5.10895316e-02  7.37712807e+01]
 [ 2.52458976e-01 -9.17357467e-03  9.67564112e-01  1.99259580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.080714057 meters
Centerline goodness : 0.996421 with order 1
Centerline is valid?  [True, True]
Translation: X:760.17, Y:73.78, Z:199.27
[[ 9.38614076e-01 -2.40400085e-01 -2.47409410e-01  7.60170720e+02]
 [ 2.35135613e-01  9.70619890e-01 -5.10712493e-02  7.37802388e+01]
 [ 2.52418027e-01 -1.02385700e-02  9.67564112e-01  1.99274210e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.1407140570001 meters
Centerline goodness : 0.996265 with order 1
Centerline is valid?  [True, True]
Translation: X:760.23, Y:73.79, Z:199.29
[[ 9.37360865e-01 -2.45240145e-01 -2.47410348e-01  7.60228939e+02]
 [ 2.40142090e-01  9.69393608e-01 -5.10667071e-02  7.37881636e+01]
 [ 2.52361617e-01 -1.15457054e-02  9.67564112e-01  1.99288167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.200714057 meters
Centerline goodness : 0.996756 with order 1
Centerline is valid?  [True, True]
Translation: X:760.29, Y:73.80, Z:199.30
[[ 9.36232854e-01 -2.49508469e-01 -2.47413758e-01  7.60286923e+02]
 [ 2.44560772e-01  9.68289165e-01 -5.10501822e-02  7.37980708e+01]
 [ 2.52305514e-01 -1.27128419e-02  9.67564112e-01  1.99304195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.260714057 meters
Centerline goodness : 0.996570 with order 1
Centerline is valid?  [True, True]
Translation: X:760.35, Y:73.81, Z:199.32
[[ 9.35249416e-01 -2.53168505e-01 -2.47415114e-01  7.60345684e+02]
 [ 2.48347964e-01  9.67325095e-01 -5.10436062e-02  7.38082252e+01]
 [ 2.52253482e-01 -1.37065370e-02  9.67564112e-01  1.99319441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.320714057 meters
Centerline goodness : 0.996479 with order 1
Centerline is valid?  [True, True]
Translation: X:760.40, Y:73.82, Z:199.33
[[ 9.34038723e-01 -2.57587738e-01 -2.47427204e-01  7.60403326e+02]
 [ 2.52934396e-01  9.66139083e-01 -5.09849401e-02  7.38174226e+01]
 [ 2.52182187e-01 -1.49609419e-02  9.67564114e-01  1.99334296e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.380714057 meters
Centerline goodness : 0.996800 with order 1
Centerline is valid?  [True, True]
Translation: X:760.46, Y:73.83, Z:199.35
[[ 9.33235696e-01 -2.60481811e-01 -2.47427488e-01  7.60460468e+02]
 [ 2.55928360e-01  9.65350378e-01 -5.09835570e-02  7.38276161e+01]
 [ 2.52134509e-01 -1.57440359e-02  9.67564114e-01  1.99350311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.440714057 meters
Centerline goodness : 0.996685 with order 1
Centerline is valid?  [True, True]
Translation: X:760.52, Y:73.84, Z:199.37
[[ 9.32909496e-01 -2.61646817e-01 -2.47428406e-01  7.60517842e+02]
 [ 2.57134642e-01  9.65030003e-01 -5.09791051e-02  7.38390631e+01]
 [ 2.52114356e-01 -1.60635235e-02  9.67564114e-01  1.99366204e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.500714057 meters
Centerline goodness : 0.997040 with order 1
Centerline is valid?  [True, True]
Translation: X:760.58, Y:73.85, Z:199.38
[[ 9.32969860e-01 -2.61431333e-01 -2.47428571e-01  7.60575456e+02]
 [ 2.56911952e-01  9.65089354e-01 -5.09783010e-02  7.38513779e+01]
 [ 2.52118005e-01 -1.60061390e-02  9.67564114e-01  1.99382734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.560714057 meters
Centerline goodness : 0.995498 with order 1
Centerline is valid?  [True, True]
Translation: X:760.63, Y:73.86, Z:199.40
[[ 9.33245842e-01 -2.60437650e-01 -2.47435706e-01  7.60633065e+02]
 [ 2.55893217e-01  9.65361801e-01 -5.09436512e-02  7.38646019e+01]
 [ 2.52132623e-01 -1.57741679e-02  9.67564115e-01  1.99397867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.620714057 meters
Centerline goodness : 0.996550 with order 1
Centerline is valid?  [True, True]
Translation: X:760.69, Y:73.88, Z:199.41
[[ 9.33762926e-01 -2.58576754e-01 -2.47436577e-01  7.60691878e+02]
 [ 2.53969426e-01  9.65869922e-01 -5.09394163e-02  7.38784929e+01]
 [ 2.52163297e-01 -1.52759870e-02  9.67564115e-01  1.99413506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.680714057 meters
Centerline goodness : 0.996595 with order 1
Centerline is valid?  [True, True]
Translation: X:760.75, Y:73.89, Z:199.43
[[ 9.33914032e-01 -2.58026841e-01 -2.47440357e-01  7.60749292e+02]
 [ 2.53405455e-01  9.66019007e-01 -5.09210489e-02  7.38928616e+01]
 [ 2.52171086e-01 -1.51468542e-02  9.67564115e-01  1.99428837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.740714057 meters
Centerline goodness : 0.996539 with order 1
Centerline is valid?  [True, True]
Translation: X:760.81, Y:73.91, Z:199.45
[[ 9.34304089e-01 -2.56609973e-01 -2.47441288e-01  7.60808657e+02]
 [ 2.51941088e-01  9.66402191e-01 -5.09165280e-02  7.39074770e+01]
 [ 2.52193491e-01 -1.47691070e-02  9.67564115e-01  1.99446333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.800714057 meters
Centerline goodness : 0.996577 with order 1
Centerline is valid?  [True, True]
Translation: X:760.86, Y:73.92, Z:199.46
[[ 9.34882718e-01 -2.54478918e-01 -2.47456630e-01  7.60864973e+02]
 [ 2.49756555e-01  9.66972993e-01 -5.08418546e-02  7.39227735e+01]
 [ 2.52222059e-01 -1.42727443e-02  9.67564118e-01  1.99462255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.860714057 meters
Centerline goodness : 0.996469 with order 1
Centerline is valid?  [True, True]
Translation: X:760.92, Y:73.94, Z:199.48
[[ 9.35296928e-01 -2.52952201e-01 -2.47456747e-01  7.60923969e+02]
 [ 2.48177600e-01  9.67379472e-01 -5.08412891e-02  7.39362906e+01]
 [ 2.52244993e-01 -1.38615200e-02  9.67564118e-01  1.99478746e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.920714057 meters
Centerline goodness : 0.996937 with order 1
Centerline is valid?  [True, True]
Translation: X:760.98, Y:73.95, Z:199.49
[[ 9.35834985e-01 -2.50941263e-01 -2.47469925e-01  7.60982213e+02]
 [ 2.46114646e-01  9.67909743e-01 -5.07770663e-02  7.39509703e+01]
 [ 2.52270612e-01 -1.33870179e-02  9.67564120e-01  1.99494911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 786.980714057 meters
Centerline goodness : 0.996788 with order 1
Centerline is valid?  [True, True]
Translation: X:761.04, Y:73.96, Z:199.51
[[ 9.36437782e-01 -2.48669335e-01 -2.47483015e-01  7.61040740e+02]
 [ 2.43781726e-01  9.68503300e-01 -5.07131901e-02  7.39644873e+01]
 [ 2.52298932e-01 -1.28420891e-02  9.67564122e-01  1.99509972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.0407140570001 meters
Centerline goodness : 0.997126 with order 1
Centerline is valid?  [True, True]
Translation: X:761.10, Y:73.98, Z:199.53
[[ 9.37070958e-01 -2.46259529e-01 -2.47495988e-01  7.61097507e+02]
 [ 2.41306149e-01  9.69126380e-01 -5.06498003e-02  7.39786404e+01]
 [ 2.52327887e-01 -1.22598468e-02  9.67564124e-01  1.99525514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.100714057 meters
Centerline goodness : 0.996810 with order 1
Centerline is valid?  [True, True]
Translation: X:761.15, Y:73.99, Z:199.54
[[ 9.37479976e-01 -2.44697835e-01 -2.47495988e-01  7.61154758e+02]
 [ 2.39691050e-01  9.69527100e-01 -5.06498003e-02  7.39921310e+01]
 [ 2.52347964e-01 -1.18393996e-02  9.67564124e-01  1.99540927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.1607140570001 meters
Centerline goodness : 0.996920 with order 1
Centerline is valid?  [True, True]
Translation: X:761.21, Y:74.01, Z:199.56
[[ 9.37418990e-01 -2.44930543e-01 -2.47496802e-01  7.61212846e+02]
 [ 2.39932761e-01  9.69467519e-01 -5.06458229e-02  7.40050477e+01]
 [ 2.52344819e-01 -1.19062348e-02  9.67564124e-01  1.99555645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.220714057 meters
Centerline goodness : 0.996886 with order 1
Centerline is valid?  [True, True]
Translation: X:761.27, Y:74.02, Z:199.57
[[ 9.37349444e-01 -2.45184546e-01 -2.47508703e-01  7.61270047e+02]
 [ 2.40210787e-01  9.69401709e-01 -5.05875963e-02  7.40177424e+01]
 [ 2.52338656e-01 -1.20360049e-02  9.67564126e-01  1.99573358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.2807140570001 meters
Centerline goodness : 0.996908 with order 1
Centerline is valid?  [True, True]
Translation: X:761.33, Y:74.03, Z:199.59
[[ 9.37108517e-01 -2.46102838e-01 -2.47509637e-01  7.61328774e+02]
 [ 2.41161690e-01  9.69165825e-01 -5.05830255e-02  7.40296946e+01]
 [ 2.52326508e-01 -1.22880583e-02  9.67564126e-01  1.99587631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.340714057 meters
Centerline goodness : 0.997226 with order 1
Centerline is valid?  [True, True]
Translation: X:761.39, Y:74.04, Z:199.60
[[ 9.36275247e-01 -2.49247145e-01 -2.47516712e-01  7.61386016e+02]
 [ 2.44422768e-01  9.68350335e-01 -5.05483807e-02  7.40408044e+01]
 [ 2.52281931e-01 -1.31715224e-02  9.67564126e-01  1.99604038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.4007140570001 meters
Centerline goodness : 0.996560 with order 1
Centerline is valid?  [True, True]
Translation: X:761.44, Y:74.05, Z:199.62
[[ 9.35499015e-01 -2.52144021e-01 -2.47517648e-01  7.61444692e+02]
 [ 2.47420158e-01  9.67589060e-01 -5.05437992e-02  7.40518033e+01]
 [ 2.52239685e-01 -1.39571812e-02  9.67564126e-01  1.99619146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.460714057 meters
Centerline goodness : 0.996633 with order 1
Centerline is valid?  [True, True]
Translation: X:761.50, Y:74.06, Z:199.63
[[ 9.34280671e-01 -2.56619801e-01 -2.47519504e-01  7.61502955e+02]
 [ 2.52052021e-01  9.66393306e-01 -5.05347093e-02  7.40623017e+01]
 [ 2.52169399e-01 -1.51741892e-02  9.67564126e-01  1.99632904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.5207140570001 meters
Centerline goodness : 0.996814 with order 1
Centerline is valid?  [True, True]
Translation: X:761.56, Y:74.07, Z:199.65
[[ 9.33533688e-01 -2.59323673e-01 -2.47519872e-01  7.61561272e+02]
 [ 2.54849361e-01  9.65659479e-01 -5.05329064e-02  7.40730830e+01]
 [ 2.52124289e-01 -1.59061108e-02  9.67564126e-01  1.99647443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.580714057 meters
Centerline goodness : 0.996911 with order 1
Centerline is valid?  [True, True]
Translation: X:761.62, Y:74.09, Z:199.66
[[ 9.33672828e-01 -2.58811071e-01 -2.47531572e-01  7.61621080e+02]
 [ 2.54334270e-01  9.65798271e-01 -5.04755306e-02  7.40855225e+01]
 [ 2.52129190e-01 -1.58281303e-02  9.67564128e-01  1.99664845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.6407140570001 meters
Centerline goodness : 0.997209 with order 1
Centerline is valid?  [True, True]
Translation: X:761.68, Y:74.10, Z:199.68
[[ 9.34069045e-01 -2.57363083e-01 -2.47546488e-01  7.61680009e+02]
 [ 2.52855813e-01  9.66190224e-01 -5.04022786e-02  7.40983364e+01]
 [ 2.52148682e-01 -1.55143601e-02  9.67564131e-01  1.99681675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.700714057 meters
Centerline goodness : 0.997167 with order 1
Centerline is valid?  [True, True]
Translation: X:761.74, Y:74.11, Z:199.70
[[ 9.34740332e-01 -2.54909705e-01 -2.47551114e-01  7.61737679e+02]
 [ 2.50324111e-01  9.66850423e-01 -5.03795469e-02  7.41109572e+01]
 [ 2.52187134e-01 -1.48762181e-02  9.67564131e-01  1.99697938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.760714057 meters
Centerline goodness : 0.997318 with order 1
Centerline is valid?  [True, True]
Translation: X:761.79, Y:74.12, Z:199.71
[[ 9.35936417e-01 -2.50481553e-01 -2.47552046e-01  7.61794767e+02]
 [ 2.45745202e-01  9.68024617e-01 -5.03749640e-02  7.41228337e+01]
 [ 2.52254474e-01 -1.36869643e-02  9.67564131e-01  1.99712377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.820714057 meters
Centerline goodness : 0.996874 with order 1
Centerline is valid?  [True, True]
Translation: X:761.85, Y:74.13, Z:199.73
[[ 9.36563766e-01 -2.48125565e-01 -2.47552046e-01  7.61854604e+02]
 [ 2.43308483e-01  9.68639946e-01 -5.03749640e-02  7.41347873e+01]
 [ 2.52288117e-01 -1.30521467e-02  9.67564131e-01  1.99727521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.880714057 meters
Centerline goodness : 0.996980 with order 1
Centerline is valid?  [True, True]
Translation: X:761.91, Y:74.15, Z:199.74
[[ 9.37415255e-01 -2.44874154e-01 -2.47566735e-01  7.61912500e+02]
 [ 2.39964838e-01  9.69477445e-01 -5.03026761e-02  7.41453213e+01]
 [ 2.52328191e-01 -1.22528155e-02  9.67564134e-01  1.99742102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 787.940714057 meters
Centerline goodness : 0.997339 with order 1
Centerline is valid?  [True, True]
Translation: X:761.97, Y:74.16, Z:199.76
[[ 9.38306748e-01 -2.41434665e-01 -2.47567666e-01  7.61971241e+02]
 [ 2.36409004e-01  9.70350908e-01 -5.02980953e-02  7.41570303e+01]
 [ 2.52371213e-01 -1.13321831e-02  9.67564134e-01  1.99757903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.000714057 meters
Centerline goodness : 0.996873 with order 1
Centerline is valid?  [True, True]
Translation: X:762.03, Y:74.17, Z:199.77
[[ 9.40139615e-01 -2.34193019e-01 -2.47570463e-01  7.62027977e+02]
 [ 2.28924065e-01  9.72144670e-01 -5.02843215e-02  7.41686186e+01]
 [ 2.52450544e-01 -9.40055422e-03  9.67564134e-01  1.99773222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.060714057 meters
Centerline goodness : 0.997221 with order 1
Centerline is valid?  [True, True]
Translation: X:762.09, Y:74.18, Z:199.79
[[ 9.41464854e-01 -2.28808013e-01 -2.47569833e-01  7.62086018e+02]
 [ 2.23355140e-01  9.73439087e-01 -5.02874246e-02  7.41788205e+01]
 [ 2.52500318e-01 -7.95215186e-03  9.67564134e-01  1.99788958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.120714057 meters
Centerline goodness : 0.996844 with order 1
Centerline is valid?  [True, True]
Translation: X:762.14, Y:74.19, Z:199.81
[[ 9.42666415e-01 -2.23805166e-01 -2.47570751e-01  7.62143760e+02]
 [ 2.18183758e-01  9.74611449e-01 -5.02829056e-02  7.41874862e+01]
 [ 2.52538862e-01 -6.61591042e-03  9.67564134e-01  1.99805999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.180714057 meters
Centerline goodness : 0.996966 with order 1
Centerline is valid?  [True, True]
Translation: X:762.20, Y:74.20, Z:199.82
[[ 9.43014759e-01 -2.22332417e-01 -2.47571124e-01  7.62202892e+02]
 [ 2.16661598e-01  9.74951058e-01 -5.02810665e-02  7.41966631e+01]
 [ 2.52548841e-01 -6.22336772e-03  9.67564134e-01  1.99821793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.240714057 meters
Centerline goodness : 0.996664 with order 1
Centerline is valid?  [True, True]
Translation: X:762.26, Y:74.20, Z:199.84
[[ 9.42685926e-01 -2.23707961e-01 -2.47584317e-01  7.62262445e+02]
 [ 2.18100810e-01  9.74633463e-01 -5.02160266e-02  7.42029424e+01]
 [ 2.52537685e-01 -6.66039854e-03  9.67564136e-01  1.99835070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.300714057 meters
Centerline goodness : 0.997115 with order 1
Centerline is valid?  [True, True]
Translation: X:762.32, Y:74.21, Z:199.85
[[ 9.41839278e-01 -2.27232973e-01 -2.47596347e-01  7.62322150e+02]
 [ 2.21760973e-01  9.73810239e-01 -5.01566427e-02  7.42079648e+01]
 [ 2.52509101e-01 -7.66771063e-03  9.67564138e-01  1.99847718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.360714057 meters
Centerline goodness : 0.997285 with order 1
Centerline is valid?  [True, True]
Translation: X:762.38, Y:74.22, Z:199.86
[[ 9.41217152e-01 -2.29795269e-01 -2.47597266e-01  7.62381719e+02]
 [ 2.24411488e-01  9.73203088e-01 -5.01521051e-02  7.42152892e+01]
 [ 2.52487140e-01 -8.35964932e-03  9.67564138e-01  1.99862518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.420714057 meters
Centerline goodness : 0.997483 with order 1
Centerline is valid?  [True, True]
Translation: X:762.44, Y:74.22, Z:199.88
[[ 9.40414780e-01 -2.33055182e-01 -2.47599120e-01  7.62441310e+02]
 [ 2.27784671e-01  9.72419574e-01 -5.01429492e-02  7.42194954e+01]
 [ 2.52456305e-01 -9.24411352e-03  9.67564138e-01  1.99877253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.480714057 meters
Centerline goodness : 0.997355 with order 1
Centerline is valid?  [True, True]
Translation: X:762.50, Y:74.23, Z:199.89
[[ 9.39701281e-01 -2.35912726e-01 -2.47601873e-01  7.62500794e+02]
 [ 2.30743102e-01  9.71722527e-01 -5.01293502e-02  7.42269512e+01]
 [ 2.52426470e-01 -1.00258098e-02  9.67564138e-01  1.99892919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.5407140570001 meters
Centerline goodness : 0.998395 with order 1
Centerline is valid?  [True, True]
Translation: X:762.56, Y:74.23, Z:199.91
[[ 9.38434120e-01 -2.40901166e-01 -2.47604587e-01  7.62559239e+02]
 [ 2.35905244e-01  9.70482925e-01 -5.01159436e-02  7.42317306e+01]
 [ 2.52369013e-01 -1.13807092e-02  9.67564138e-01  1.99909293e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.600714057 meters
Centerline goodness : 0.997732 with order 1
Centerline is valid?  [True, True]
Translation: X:762.62, Y:74.24, Z:199.92
[[ 9.37120324e-01 -2.45962182e-01 -2.47604732e-01  7.62617888e+02]
 [ 2.41139483e-01  9.69195653e-01 -5.01152252e-02  7.42383897e+01]
 [ 2.52303880e-01 -1.27432811e-02  9.67564138e-01  1.99924885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.6607140570001 meters
Centerline goodness : 0.998067 with order 1
Centerline is valid?  [True, True]
Translation: X:762.68, Y:74.25, Z:199.94
[[ 9.36271046e-01 -2.49174090e-01 -2.47606144e-01  7.62677422e+02]
 [ 2.44463243e-01  9.68362993e-01 -5.01082515e-02  7.42479887e+01]
 [ 2.52258304e-01 -1.36156959e-02  9.67564138e-01  1.99940341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.720714057 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:762.74, Y:74.26, Z:199.95
[[ 9.34497085e-01 -2.55743064e-01 -2.47609942e-01  7.62735323e+02]
 [ 2.51262660e-01  9.66622015e-01 -5.00894751e-02  7.42555427e+01]
 [ 2.52155257e-01 -1.54066642e-02  9.67564138e-01  1.99953862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.7807140570001 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:762.79, Y:74.26, Z:199.97
[[ 9.33034474e-01 -2.61029281e-01 -2.47609338e-01  7.62793958e+02]
 [ 2.56730025e-01  9.65184148e-01 -5.00924586e-02  7.42647669e+01]
 [ 2.52064207e-01 -1.68307609e-02  9.67564138e-01  1.99967836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.840714057 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:762.85, Y:74.27, Z:199.98
[[ 9.31523030e-01 -2.66371304e-01 -2.47610933e-01  7.62852312e+02]
 [ 2.62258420e-01  9.63697077e-01 -5.00845759e-02  7.42747451e+01]
 [ 2.51963026e-01 -1.82831163e-02  9.67564138e-01  1.99983358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.9007140570001 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:762.91, Y:74.29, Z:200.00
[[ 9.30988137e-01 -2.68233414e-01 -2.47612448e-01  7.62910949e+02]
 [ 2.64186854e-01  9.63170593e-01 -5.00770862e-02  7.42876126e+01]
 [ 2.51925376e-01 -1.87947803e-02  9.67564138e-01  2.00000561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 788.960714057 meters
Centerline goodness : 0.998480 with order 1
Centerline is valid?  [True, True]
Translation: X:762.97, Y:74.30, Z:200.02
[[ 9.30765032e-01 -2.69003245e-01 -2.47616054e-01  7.62967822e+02]
 [ 2.64988018e-01  9.62951412e-01 -5.00592495e-02  7.43019154e+01]
 [ 2.51908329e-01 -1.90218883e-02  9.67564138e-01  2.00015787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.0207140570001 meters
Centerline goodness : 0.997458 with order 1
Centerline is valid?  [True, True]
Translation: X:763.03, Y:74.32, Z:200.03
[[ 9.30312568e-01 -2.70563657e-01 -2.47616304e-01  7.63025072e+02]
 [ 2.66602736e-01  9.62505676e-01 -5.00580134e-02  7.43170049e+01]
 [ 2.51875977e-01 -1.94455849e-02  9.67564138e-01  2.00032386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.080714057 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:763.08, Y:74.33, Z:200.05
[[ 9.29865553e-01 -2.72093449e-01 -2.47619079e-01  7.63081753e+02]
 [ 2.68189117e-01  9.62065573e-01 -5.00442818e-02  7.43299608e+01]
 [ 2.51842512e-01 -1.98742882e-02  9.67564138e-01  2.00048307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.1407140570001 meters
Centerline goodness : 0.998371 with order 1
Centerline is valid?  [True, True]
Translation: X:763.14, Y:74.34, Z:200.06
[[ 9.28925166e-01 -2.75286657e-01 -2.47619248e-01  7.63139368e+02]
 [ 2.71493201e-01  9.61138437e-01 -5.00434455e-02  7.43449496e+01]
 [ 2.51772670e-01 -2.07403264e-02  9.67564138e-01  2.00061646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.200714057 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:763.20, Y:74.36, Z:200.08
[[ 9.28483784e-01 -2.76771563e-01 -2.47619395e-01  7.63196077e+02]
 [ 2.73029811e-01  9.60703101e-01 -5.00427160e-02  7.43622719e+01]
 [ 2.51739122e-01 -2.11436264e-02  9.67564138e-01  2.00075569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.260714057 meters
Centerline goodness : 0.998322 with order 1
Centerline is valid?  [True, True]
Translation: X:763.25, Y:74.38, Z:200.09
[[ 9.28633561e-01 -2.76267762e-01 -2.47620342e-01  7.63252619e+02]
 [ 2.72509770e-01  9.60850988e-01 -5.00380299e-02  7.43787137e+01]
 [ 2.51750145e-01 -2.10119686e-02  9.67564138e-01  2.00091883e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.320714057 meters
Centerline goodness : 0.997684 with order 1
Centerline is valid?  [True, True]
Translation: X:763.31, Y:74.40, Z:200.11
[[ 9.28802978e-01 -2.75697359e-01 -2.47620666e-01  7.63310434e+02]
 [ 2.71920004e-01  9.61018141e-01 -5.00364260e-02  7.43958958e+01]
 [ 2.51762863e-01 -2.08590311e-02  9.67564138e-01  2.00108523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.380714057 meters
Centerline goodness : 0.997915 with order 1
Centerline is valid?  [True, True]
Translation: X:763.37, Y:74.41, Z:200.13
[[ 9.28663563e-01 -2.76163246e-01 -2.47624409e-01  7.63366569e+02]
 [ 2.72406957e-01  9.60881189e-01 -5.00178982e-02  7.44114751e+01]
 [ 2.51750741e-01 -2.10048121e-02  9.67564139e-01  2.00125879e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.440714057 meters
Centerline goodness : 0.998037 with order 1
Centerline is valid?  [True, True]
Translation: X:763.42, Y:74.43, Z:200.14
[[ 9.28143252e-01 -2.77906440e-01 -2.47624947e-01  7.63424553e+02]
 [ 2.74211355e-01  9.60367955e-01 -5.00152351e-02  7.44291453e+01]
 [ 2.51710619e-01 -2.14802692e-02  9.67564139e-01  2.00142573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.500714057 meters
Centerline goodness : 0.998032 with order 1
Centerline is valid?  [True, True]
Translation: X:763.48, Y:74.44, Z:200.16
[[ 9.27688130e-01 -2.79418681e-01 -2.47628623e-01  7.63483235e+02]
 [ 2.75780941e-01  9.59919356e-01 -4.99970266e-02  7.44448613e+01]
 [ 2.51673612e-01 -2.19096066e-02  9.67564139e-01  2.00157404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.560714057 meters
Centerline goodness : 0.997610 with order 1
Centerline is valid?  [True, True]
Translation: X:763.54, Y:74.46, Z:200.17
[[ 9.27086697e-01 -2.81404545e-01 -2.47632266e-01  7.63540321e+02]
 [ 2.77840614e-01  9.59326167e-01 -4.99789744e-02  7.44625173e+01]
 [ 2.51624424e-01 -2.24674586e-02  9.67564139e-01  2.00172549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.620714057 meters
Centerline goodness : 0.997482 with order 1
Centerline is valid?  [True, True]
Translation: X:763.60, Y:74.48, Z:200.19
[[ 9.26897536e-01 -2.82025562e-01 -2.47633883e-01  7.63598545e+02]
 [ 2.78485352e-01  9.59139620e-01 -4.99709616e-02  7.44764745e+01]
 [ 2.51608557e-01 -2.26444482e-02  9.67564139e-01  2.00188360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.680714057 meters
Centerline goodness : 0.997282 with order 1
Centerline is valid?  [True, True]
Translation: X:763.66, Y:74.49, Z:200.20
[[ 9.26245274e-01 -2.84158041e-01 -2.47636630e-01  7.63655378e+02]
 [ 2.80695653e-01  9.58495808e-01 -4.99573455e-02  7.44934230e+01]
 [ 2.51554453e-01 -2.32377706e-02  9.67564139e-01  2.00203924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.740714057 meters
Centerline goodness : 0.997628 with order 1
Centerline is valid?  [True, True]
Translation: X:763.71, Y:74.51, Z:200.22
[[ 9.26204423e-01 -2.84289843e-01 -2.47638147e-01  7.63714905e+02]
 [ 2.80834037e-01  9.58455663e-01 -4.99498264e-02  7.45077277e+01]
 [ 2.51550413e-01 -2.32814704e-02  9.67564139e-01  2.00219360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.800714057 meters
Centerline goodness : 0.997868 with order 1
Centerline is valid?  [True, True]
Translation: X:763.77, Y:74.52, Z:200.23
[[ 9.26302121e-01 -2.83958615e-01 -2.47652751e-01  7.63773054e+02]
 [ 2.80510490e-01  9.58554181e-01 -4.98773178e-02  7.45243568e+01]
 [ 2.51551674e-01 -2.32677293e-02  9.67564142e-01  2.00234854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.860714057 meters
Centerline goodness : 0.997996 with order 1
Centerline is valid?  [True, True]
Translation: X:763.83, Y:74.54, Z:200.25
[[ 9.26720511e-01 -2.82578708e-01 -2.47665840e-01  7.63829620e+02]
 [ 2.79099795e-01  9.58969262e-01 -4.98122415e-02  7.45387536e+01]
 [ 2.51579807e-01 -2.29614592e-02  9.67564144e-01  2.00251400e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.920714057 meters
Centerline goodness : 0.997571 with order 1
Centerline is valid?  [True, True]
Translation: X:763.89, Y:74.55, Z:200.27
[[ 9.26916692e-01 -2.81934527e-01 -2.47665840e-01  7.63888080e+02]
 [ 2.78433200e-01  9.59163017e-01 -4.98122415e-02  7.45528080e+01]
 [ 2.51595705e-01 -2.27865944e-02  9.67564144e-01  2.00268000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 789.980714057 meters
Centerline goodness : 0.997145 with order 1
Centerline is valid?  [True, True]
Translation: X:763.95, Y:74.57, Z:200.28
[[ 9.26802570e-01 -2.82298100e-01 -2.47678781e-01  7.63945925e+02]
 [ 2.78826492e-01  9.59052106e-01 -4.97478172e-02  7.45668009e+01]
 [ 2.51580570e-01 -2.29530006e-02  9.67564146e-01  2.00281762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.0407140570001 meters
Centerline goodness : 0.997940 with order 1
Centerline is valid?  [True, True]
Translation: X:764.01, Y:74.58, Z:200.30
[[ 9.26845826e-01 -2.82154445e-01 -2.47680610e-01  7.64005505e+02]
 [ 2.78680252e-01  9.59095083e-01 -4.97387061e-02  7.45787463e+01]
 [ 2.51583253e-01 -2.29235828e-02  9.67564146e-01  2.00295288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.100714057 meters
Centerline goodness : 0.997538 with order 1
Centerline is valid?  [True, True]
Translation: X:764.06, Y:74.59, Z:200.31
[[ 9.27265609e-01 -2.80760876e-01 -2.47692999e-01  7.64063091e+02]
 [ 2.77254570e-01  9.59511389e-01 -4.96769401e-02  7.45925698e+01]
 [ 2.51611594e-01 -2.26102978e-02  9.67564148e-01  2.00308451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.1607140570001 meters
Centerline goodness : 0.997671 with order 1
Centerline is valid?  [True, True]
Translation: X:764.12, Y:74.61, Z:200.32
[[ 9.28353759e-01 -2.77140024e-01 -2.47694784e-01  7.64120026e+02]
 [ 2.73510261e-01  9.60585875e-01 -4.96680353e-02  7.46072898e+01]
 [ 2.51697111e-01 -2.16375579e-02  9.67564148e-01  2.00324963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.220714057 meters
Centerline goodness : 0.997888 with order 1
Centerline is valid?  [True, True]
Translation: X:764.18, Y:74.62, Z:200.34
[[ 9.29273577e-01 -2.74039774e-01 -2.47695015e-01  7.64176315e+02]
 [ 2.70302751e-01  9.61493434e-01 -4.96668829e-02  7.46203607e+01]
 [ 2.51767832e-01 -2.07985220e-02  9.67564148e-01  2.00340408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.2807140570001 meters
Centerline goodness : 0.997602 with order 1
Centerline is valid?  [True, True]
Translation: X:764.23, Y:74.64, Z:200.36
[[ 9.30742568e-01 -2.69008947e-01 -2.47694285e-01  7.64232454e+02]
 [ 2.65096725e-01  9.62941621e-01 -4.96705229e-02  7.46356868e+01]
 [ 2.51876952e-01 -1.94324737e-02  9.67564148e-01  2.00358875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.340714057 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:764.29, Y:74.65, Z:200.37
[[ 9.31656268e-01 -2.65826951e-01 -2.47694632e-01  7.64290952e+02]
 [ 2.61805183e-01  9.63841822e-01 -4.96687935e-02  7.46495944e+01]
 [ 2.51941749e-01 -1.85734957e-02  9.67564148e-01  2.00374982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.4007140570001 meters
Centerline goodness : 0.997659 with order 1
Centerline is valid?  [True, True]
Translation: X:764.35, Y:74.66, Z:200.39
[[ 9.32387046e-01 -2.63240496e-01 -2.47707163e-01  7.64347002e+02]
 [ 2.59145960e-01  9.64563421e-01 -4.96062238e-02  7.46636600e+01]
 [ 2.51987635e-01 -1.79401102e-02  9.67564150e-01  2.00388486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.460714057 meters
Centerline goodness : 0.997856 with order 1
Centerline is valid?  [True, True]
Translation: X:764.40, Y:74.68, Z:200.40
[[ 9.32792305e-01 -2.61801761e-01 -2.47706185e-01  7.64404855e+02]
 [ 2.57656301e-01  9.64962159e-01 -4.96111065e-02  7.46768749e+01]
 [ 2.52015370e-01 -1.75462010e-02  9.67564150e-01  2.00402237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.5207140570001 meters
Centerline goodness : 0.997982 with order 1
Centerline is valid?  [True, True]
Translation: X:764.46, Y:74.69, Z:200.42
[[ 9.33147551e-01 -2.60522015e-01 -2.47717437e-01  7.64463647e+02]
 [ 2.56347290e-01  9.65313619e-01 -4.95548622e-02  7.46919907e+01]
 [ 2.52035148e-01 -1.72596954e-02  9.67564151e-01  2.00417534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.580714057 meters
Centerline goodness : 0.998269 with order 1
Centerline is valid?  [True, True]
Translation: X:764.52, Y:74.71, Z:200.43
[[ 9.33514902e-01 -2.59190382e-01 -2.47730243e-01  7.64521288e+02]
 [ 2.54986699e-01  9.65677197e-01 -4.94907620e-02  7.47059372e+01]
 [ 2.52054976e-01 -1.69675530e-02  9.67564154e-01  2.00432505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.6407140570001 meters
Centerline goodness : 0.998153 with order 1
Centerline is valid?  [True, True]
Translation: X:764.58, Y:74.72, Z:200.45
[[ 9.34127951e-01 -2.56970414e-01 -2.47732068e-01  7.64578574e+02]
 [ 2.52692696e-01  9.66280482e-01 -4.94816252e-02  7.47203612e+01]
 [ 2.52093976e-01 -1.63779149e-02  9.67564154e-01  2.00447912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.700714057 meters
Centerline goodness : 0.998333 with order 1
Centerline is valid?  [True, True]
Translation: X:764.64, Y:74.73, Z:200.46
[[ 9.34463959e-01 -2.55744099e-01 -2.47733859e-01  7.64636547e+02]
 [ 2.51426550e-01  9.66611166e-01 -4.94726558e-02  7.47335692e+01]
 [ 2.52114654e-01 -1.60564558e-02  9.67564154e-01  2.00463963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.760714057 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:764.69, Y:74.75, Z:200.48
[[ 9.34887790e-01 -2.54186651e-01 -2.47737699e-01  7.64693083e+02]
 [ 2.49820618e-01  9.67028447e-01 -4.94534222e-02  7.47476392e+01]
 [ 2.52139802e-01 -1.56565843e-02  9.67564154e-01  2.00480488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.820714057 meters
Centerline goodness : 0.998578 with order 1
Centerline is valid?  [True, True]
Translation: X:764.75, Y:74.76, Z:200.50
[[ 9.35139947e-01 -2.53256802e-01 -2.47738312e-01  7.64751680e+02]
 [ 2.48859619e-01  9.67276358e-01 -4.94503504e-02  7.47619086e+01]
 [ 2.52155050e-01 -1.54090638e-02  9.67564154e-01  2.00496084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.880714057 meters
Centerline goodness : 0.998285 with order 1
Centerline is valid?  [True, True]
Translation: X:764.81, Y:74.77, Z:200.51
[[ 9.35298741e-01 -2.52657281e-01 -2.47751010e-01  7.64810649e+02]
 [ 2.48256307e-01  9.67434631e-01 -4.93866511e-02  7.47741010e+01]
 [ 2.52160804e-01 -1.53144781e-02  9.67564156e-01  2.00509906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 790.940714057 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:764.87, Y:74.79, Z:200.52
[[ 9.35469027e-01 -2.52014620e-01 -2.47762651e-01  7.64868514e+02]
 [ 2.47606994e-01  9.67604003e-01 -4.93281842e-02  7.47860949e+01]
 [ 2.52167557e-01 -1.52027768e-02  9.67564158e-01  2.00523934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.000714057 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:764.93, Y:74.80, Z:200.54
[[ 9.35619130e-01 -2.51455901e-01 -2.47763545e-01  7.64925151e+02]
 [ 2.47030269e-01  9.67751631e-01 -4.93236956e-02  7.47985835e+01]
 [ 2.52176309e-01 -1.50569018e-02  9.67564158e-01  2.00538889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.060714057 meters
Centerline goodness : 0.998666 with order 1
Centerline is valid?  [True, True]
Translation: X:764.98, Y:74.81, Z:200.56
[[ 9.35734822e-01 -2.51021690e-01 -2.47766936e-01  7.64982130e+02]
 [ 2.46585642e-01  9.67865887e-01 -4.93066546e-02  7.48110726e+01]
 [ 2.52182205e-01 -1.49578154e-02  9.67564158e-01  2.00555093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.120714057 meters
Centerline goodness : 0.998979 with order 1
Centerline is valid?  [True, True]
Translation: X:765.04, Y:74.82, Z:200.57
[[ 9.35894809e-01 -2.50424543e-01 -2.47766936e-01  7.65040372e+02]
 [ 2.45967993e-01  9.68023037e-01 -4.93066546e-02  7.48236696e+01]
 [ 2.52191698e-01 -1.47968938e-02  9.67564158e-01  2.00572747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.180714057 meters
Centerline goodness : 0.998618 with order 1
Centerline is valid?  [True, True]
Translation: X:765.10, Y:74.84, Z:200.59
[[ 9.35802772e-01 -2.50755387e-01 -2.47779958e-01  7.65099311e+02]
 [ 2.46327482e-01  9.67934958e-01 -4.92411301e-02  7.48367025e+01]
 [ 2.52182362e-01 -1.49550271e-02  9.67564160e-01  2.00589767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.240714057 meters
Centerline goodness : 0.998031 with order 1
Centerline is valid?  [True, True]
Translation: X:765.16, Y:74.85, Z:200.60
[[ 9.35588505e-01 -2.51549159e-01 -2.47784525e-01  7.65156701e+02]
 [ 2.47154579e-01  9.67725265e-01 -4.92181394e-02  7.48475026e+01]
 [ 2.52168127e-01 -1.51931545e-02  9.67564160e-01  2.00603207e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.300714057 meters
Centerline goodness : 0.998258 with order 1
Centerline is valid?  [True, True]
Translation: X:765.21, Y:74.86, Z:200.62
[[ 9.35545510e-01 -2.51707782e-01 -2.47785775e-01  7.65214556e+02]
 [ 2.47320312e-01  9.67683242e-01 -4.92118435e-02  7.48573581e+01]
 [ 2.52165147e-01 -1.52425360e-02  9.67564160e-01  2.00618717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.360714057 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:765.27, Y:74.87, Z:200.63
[[ 9.35925498e-01 -2.50290498e-01 -2.47786457e-01  7.65273601e+02]
 [ 2.45855263e-01  9.68056673e-01 -4.92084099e-02  7.48675936e+01]
 [ 2.52187731e-01 -1.48641990e-02  9.67564160e-01  2.00633174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.420714057 meters
Centerline goodness : 0.998439 with order 1
Centerline is valid?  [True, True]
Translation: X:765.33, Y:74.88, Z:200.65
[[ 9.36991753e-01 -2.46266979e-01 -2.47788276e-01  7.65331436e+02]
 [ 2.41696148e-01  9.69103919e-01 -4.91992518e-02  7.48774411e+01]
 [ 2.52248740e-01 -1.37901784e-02  9.67564160e-01  2.00649124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.480714057 meters
Centerline goodness : 0.998125 with order 1
Centerline is valid?  [True, True]
Translation: X:765.39, Y:74.89, Z:200.67
[[ 9.37551983e-01 -2.44124668e-01 -2.47789074e-01  7.65390303e+02]
 [ 2.39481510e-01  9.69653771e-01 -4.91952298e-02  7.48885312e+01]
 [ 2.52279379e-01 -1.32178163e-02  9.67564160e-01  2.00665219e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.5407140570001 meters
Centerline goodness : 0.998670 with order 1
Centerline is valid?  [True, True]
Translation: X:765.45, Y:74.90, Z:200.68
[[ 9.39288196e-01 -2.37343807e-01 -2.47801538e-01  7.65448257e+02]
 [ 2.32485359e-01  9.71358105e-01 -4.91323709e-02  7.48971698e+01]
 [ 2.52365296e-01 -1.14607736e-02  9.67564162e-01  2.00681208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.600714057 meters
Centerline goodness : 0.998151 with order 1
Centerline is valid?  [True, True]
Translation: X:765.51, Y:74.91, Z:200.70
[[ 9.40509097e-01 -2.32458524e-01 -2.47801680e-01  7.65505206e+02]
 [ 2.27433642e-01  9.72553350e-01 -4.91316567e-02  7.49068719e+01]
 [ 2.52421426e-01 -1.01496682e-02  9.67564162e-01  2.00695896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.6607140570001 meters
Centerline goodness : 0.997634 with order 1
Centerline is valid?  [True, True]
Translation: X:765.56, Y:74.91, Z:200.71
[[ 9.42310063e-01 -2.25047896e-01 -2.47800707e-01  7.65563173e+02]
 [ 2.19769638e-01  9.74313556e-01 -4.91365617e-02  7.49146272e+01]
 [ 2.52493668e-01 -8.15719508e-03  9.67564162e-01  2.00711348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.720714057 meters
Centerline goodness : 0.997316 with order 1
Centerline is valid?  [True, True]
Translation: X:765.62, Y:74.92, Z:200.73
[[ 9.43570669e-01 -2.19702538e-01 -2.47800702e-01  7.65621918e+02]
 [ 2.14242938e-01  9.75543725e-01 -4.91365873e-02  7.49216230e+01]
 [ 2.52535853e-01 -6.72570782e-03  9.67564162e-01  2.00727397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.7807140570001 meters
Centerline goodness : 0.997749 with order 1
Centerline is valid?  [True, True]
Translation: X:765.68, Y:74.93, Z:200.74
[[ 9.44042916e-01 -2.17662312e-01 -2.47802525e-01  7.65682220e+02]
 [ 2.12136020e-01  9.76004512e-01 -4.91273928e-02  7.49294629e+01]
 [ 2.52549564e-01 -6.18947415e-03  9.67564162e-01  2.00743496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.840714057 meters
Centerline goodness : 0.997182 with order 1
Centerline is valid?  [True, True]
Translation: X:765.74, Y:74.93, Z:200.76
[[ 9.43809121e-01 -2.18666051e-01 -2.47809407e-01  7.65742992e+02]
 [ 2.13182864e-01  9.75778140e-01 -4.90926540e-02  7.49345241e+01]
 [ 2.52541899e-01 -6.49462441e-03  9.67564163e-01  2.00760465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.9007140570001 meters
Centerline goodness : 0.997093 with order 1
Centerline is valid?  [True, True]
Translation: X:765.80, Y:74.94, Z:200.78
[[ 9.42782565e-01 -2.23034608e-01 -2.47823726e-01  7.65801736e+02]
 [ 2.17718541e-01  9.74779796e-01 -4.90202650e-02  7.49403749e+01]
 [ 2.52506777e-01 -7.74036905e-03  9.67564165e-01  2.00775466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 791.960714057 meters
Centerline goodness : 0.997340 with order 1
Centerline is valid?  [True, True]
Translation: X:765.86, Y:74.94, Z:200.79
[[ 9.40866310e-01 -2.30983912e-01 -2.47824575e-01  7.65861993e+02]
 [ 2.25939225e-01  9.72907447e-01 -4.90159736e-02  7.49414366e+01]
 [ 2.52432276e-01 -9.87581430e-03  9.67564166e-01  2.00789567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.0207140570001 meters
Centerline goodness : 0.997283 with order 1
Centerline is valid?  [True, True]
Translation: X:765.92, Y:74.95, Z:200.80
[[ 9.39365566e-01 -2.37013076e-01 -2.47824808e-01  7.65921381e+02]
 [ 2.32174288e-01  9.71438444e-01 -4.90147964e-02  7.49461406e+01]
 [ 2.52363693e-01 -1.14957363e-02  9.67564166e-01  2.00804846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.080714057 meters
Centerline goodness : 0.997050 with order 1
Centerline is valid?  [True, True]
Translation: X:765.98, Y:74.95, Z:200.82
[[ 9.37235399e-01 -2.45299853e-01 -2.47826125e-01  7.65979644e+02]
 [ 2.40746261e-01  9.69350009e-01 -4.90081370e-02  7.49483660e+01]
 [ 2.52251945e-01 -1.37310522e-02  9.67564166e-01  2.00819298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.1407140570001 meters
Centerline goodness : 0.997148 with order 1
Centerline is valid?  [True, True]
Translation: X:766.04, Y:74.95, Z:200.84
[[ 9.36305064e-01 -2.48826337e-01 -2.47827120e-01  7.66037777e+02]
 [ 2.44395000e-01  9.68436771e-01 -4.90031018e-02  7.49543827e+01]
 [ 2.52198159e-01 -1.46858568e-02  9.67564166e-01  2.00836303e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.200714057 meters
Centerline goodness : 0.997029 with order 1
Centerline is valid?  [True, True]
Translation: X:766.10, Y:74.96, Z:200.85
[[ 9.35391734e-01 -2.52237373e-01 -2.47827784e-01  7.66097434e+02]
 [ 2.47924068e-01  9.67539499e-01 -4.89997443e-02  7.49594537e+01]
 [ 2.52142737e-01 -1.56085166e-02  9.67564166e-01  2.00851713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.260714057 meters
Centerline goodness : 0.996933 with order 1
Centerline is valid?  [True, True]
Translation: X:766.16, Y:74.97, Z:200.87
[[ 9.35072316e-01 -2.53413336e-01 -2.47833503e-01  7.66157050e+02]
 [ 2.49148096e-01  9.67226492e-01 -4.89708014e-02  7.49678070e+01]
 [ 2.52120984e-01 -1.59560049e-02  9.67564166e-01  2.00868393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.320714057 meters
Centerline goodness : 0.997303 with order 1
Centerline is valid?  [True, True]
Translation: X:766.22, Y:74.98, Z:200.88
[[ 9.34864419e-01 -2.54175770e-01 -2.47837035e-01  7.66215774e+02]
 [ 2.49941472e-01  9.67022684e-01 -4.89529196e-02  7.49756443e+01]
 [ 2.52106681e-01 -1.61804108e-02  9.67564166e-01  2.00882338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.380714057 meters
Centerline goodness : 0.997344 with order 1
Centerline is valid?  [True, True]
Translation: X:766.28, Y:74.98, Z:200.90
[[ 9.35219871e-01 -2.52863111e-01 -2.47838738e-01  7.66275636e+02]
 [ 2.48585947e-01  9.67372463e-01 -4.89442996e-02  7.49847868e+01]
 [ 2.52128578e-01 -1.58355459e-02  9.67564166e-01  2.00896659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.440714057 meters
Centerline goodness : 0.997188 with order 1
Centerline is valid?  [True, True]
Translation: X:766.34, Y:75.00, Z:200.91
[[ 9.35596096e-01 -2.51464030e-01 -2.47842262e-01  7.66335088e+02]
 [ 2.47143491e-01  9.67742888e-01 -4.89264466e-02  7.49960007e+01]
 [ 2.52150828e-01 -1.54772095e-02  9.67564166e-01  2.00912662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.500714057 meters
Centerline goodness : 0.997429 with order 1
Centerline is valid?  [True, True]
Translation: X:766.39, Y:75.01, Z:200.93
[[ 9.36115986e-01 -2.49518215e-01 -2.47845762e-01  7.66391716e+02]
 [ 2.45135525e-01  9.68254364e-01 -4.89087115e-02  7.50074321e+01]
 [ 2.52181355e-01 -1.49715742e-02  9.67564166e-01  2.00929655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.560714057 meters
Centerline goodness : 0.996880 with order 1
Centerline is valid?  [True, True]
Translation: X:766.45, Y:75.02, Z:200.95
[[ 9.36194573e-01 -2.49222906e-01 -2.47846051e-01  7.66449442e+02]
 [ 2.44830464e-01  9.68331619e-01 -4.89072458e-02  7.50187914e+01]
 [ 2.52185974e-01 -1.48935658e-02  9.67564166e-01  2.00945224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.620714057 meters
Centerline goodness : 0.997446 with order 1
Centerline is valid?  [True, True]
Translation: X:766.51, Y:75.03, Z:200.96
[[ 9.36272659e-01 -2.48927681e-01 -2.47847770e-01  7.66507407e+02]
 [ 2.44527405e-01  9.68408634e-01 -4.88985315e-02  7.50290331e+01]
 [ 2.52190119e-01 -1.48232140e-02  9.67564167e-01  2.00962383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.680714057 meters
Centerline goodness : 0.996854 with order 1
Centerline is valid?  [True, True]
Translation: X:766.57, Y:75.04, Z:200.98
[[ 9.36653192e-01 -2.47491062e-01 -2.47848688e-01  7.66566303e+02]
 [ 2.43042718e-01  9.68782548e-01 -4.88938795e-02  7.50403489e+01]
 [ 2.52212282e-01 -1.44412107e-02  9.67564167e-01  2.00977937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.740714057 meters
Centerline goodness : 0.997492 with order 1
Centerline is valid?  [True, True]
Translation: X:766.62, Y:75.05, Z:200.99
[[ 9.36960683e-01 -2.46320696e-01 -2.47852364e-01  7.66624588e+02]
 [ 2.41837131e-01  9.69085142e-01 -4.88752414e-02  7.50512949e+01]
 [ 2.52229027e-01 -1.41457248e-02  9.67564167e-01  2.00993485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.800714057 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:766.68, Y:75.06, Z:201.01
[[ 9.37423085e-01 -2.44554118e-01 -2.47853270e-01  7.66683919e+02]
 [ 2.40011219e-01  9.69539208e-01 -4.88706427e-02  7.50610777e+01]
 [ 2.52254980e-01 -1.36750970e-02  9.67564167e-01  2.01008730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.860714057 meters
Centerline goodness : 0.997687 with order 1
Centerline is valid?  [True, True]
Translation: X:766.74, Y:75.07, Z:201.02
[[ 9.37872719e-01 -2.42820307e-01 -2.47856937e-01  7.66742800e+02]
 [ 2.38222932e-01  9.69981089e-01 -4.88520417e-02  7.50719255e+01]
 [ 2.52278809e-01 -1.32282089e-02  9.67564167e-01  2.01024129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.920714057 meters
Centerline goodness : 0.997595 with order 1
Centerline is valid?  [True, True]
Translation: X:766.80, Y:75.08, Z:201.04
[[ 9.38311853e-01 -2.41114165e-01 -2.47860498e-01  7.66799195e+02]
 [ 2.36463163e-01  9.70412498e-01 -4.88339635e-02  7.50823180e+01]
 [ 2.52301486e-01 -1.27883909e-02  9.67564167e-01  2.01039549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 792.980714057 meters
Centerline goodness : 0.997991 with order 1
Centerline is valid?  [True, True]
Translation: X:766.86, Y:75.09, Z:201.06
[[ 9.38467044e-01 -2.40510320e-01 -2.47859626e-01  7.66858144e+02]
 [ 2.35837496e-01  9.70564520e-01 -4.88383922e-02  7.50930456e+01]
 [ 2.52309896e-01 -1.26213720e-02  9.67564167e-01  2.01055198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.0407140570001 meters
Centerline goodness : 0.997951 with order 1
Centerline is valid?  [True, True]
Translation: X:766.92, Y:75.10, Z:201.07
[[ 9.38105090e-01 -2.41914596e-01 -2.47863204e-01  7.66916423e+02]
 [ 2.37294603e-01  9.70210213e-01 -4.88202234e-02  7.51028463e+01]
 [ 2.52289737e-01 -1.30181005e-02  9.67564167e-01  2.01069163e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.100714057 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:766.98, Y:75.11, Z:201.08
[[ 9.37633173e-01 -2.43736392e-01 -2.47864084e-01  7.66976491e+02]
 [ 2.39179949e-01  9.69747376e-01 -4.88157558e-02  7.51130960e+01]
 [ 2.52263722e-01 -1.35128470e-02  9.67564167e-01  2.01083632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.1607140570001 meters
Centerline goodness : 0.998401 with order 1
Centerline is valid?  [True, True]
Translation: X:767.04, Y:75.12, Z:201.10
[[ 9.37100015e-01 -2.45774739e-01 -2.47867587e-01  7.67035447e+02]
 [ 2.41292830e-01  9.69224705e-01 -4.87979667e-02  7.51227405e+01]
 [ 2.52232696e-01 -1.40800961e-02  9.67564167e-01  2.01097475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.220714057 meters
Centerline goodness : 0.998820 with order 1
Centerline is valid?  [True, True]
Translation: X:767.10, Y:75.13, Z:201.11
[[ 9.36911414e-01 -2.46490871e-01 -2.47869427e-01  7.67095151e+02]
 [ 2.42035981e-01  9.69039862e-01 -4.87886180e-02  7.51335159e+01]
 [ 2.52221304e-01 -1.42827067e-02  9.67564167e-01  2.01112383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.2807140570001 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:767.15, Y:75.14, Z:201.13
[[ 9.36583584e-01 -2.47729962e-01 -2.47873064e-01  7.67152949e+02]
 [ 2.43322449e-01  9.68718566e-01 -4.87701325e-02  7.51444053e+01]
 [ 2.52201062e-01 -1.46357754e-02  9.67564168e-01  2.01127585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.340714057 meters
Centerline goodness : 0.998161 with order 1
Centerline is valid?  [True, True]
Translation: X:767.21, Y:75.16, Z:201.14
[[ 9.36309126e-01 -2.48765098e-01 -2.47873245e-01  7.67211158e+02]
 [ 2.44393353e-01  9.68448994e-01 -4.87692099e-02  7.51553291e+01]
 [ 2.52184672e-01 -1.49155171e-02  9.67564168e-01  2.01142626e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.4007140570001 meters
Centerline goodness : 0.997722 with order 1
Centerline is valid?  [True, True]
Translation: X:767.27, Y:75.17, Z:201.16
[[ 9.36065867e-01 -2.49676194e-01 -2.47875958e-01  7.67270279e+02]
 [ 2.45339367e-01  9.68210465e-01 -4.87554207e-02  7.51670795e+01]
 [ 2.52169164e-01 -1.51754455e-02  9.67564168e-01  2.01157954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.460714057 meters
Centerline goodness : 0.997768 with order 1
Centerline is valid?  [True, True]
Translation: X:767.33, Y:75.18, Z:201.17
[[ 9.35714268e-01 -2.50987059e-01 -2.47879619e-01  7.67328537e+02]
 [ 2.46700173e-01  9.67865564e-01 -4.87367985e-02  7.51796747e+01]
 [ 2.52146453e-01 -1.55482272e-02  9.67564168e-01  2.01173127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.5207140570001 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:767.39, Y:75.19, Z:201.19
[[ 9.35630740e-01 -2.51296451e-01 -2.47881447e-01  7.67386697e+02]
 [ 2.47022650e-01  9.67783778e-01 -4.87275012e-02  7.51917084e+01]
 [ 2.52140691e-01 -1.56413839e-02  9.67564168e-01  2.01187466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.580714057 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:767.44, Y:75.20, Z:201.20
[[ 9.35551080e-01 -2.51591056e-01 -2.47883273e-01  7.67444487e+02]
 [ 2.47329832e-01  9.67705787e-01 -4.87182068e-02  7.52038172e+01]
 [ 2.52135143e-01 -1.57305575e-02  9.67564168e-01  2.01201862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.6407140570001 meters
Centerline goodness : 0.997796 with order 1
Centerline is valid?  [True, True]
Translation: X:767.50, Y:75.22, Z:201.22
[[ 9.35610924e-01 -2.51365770e-01 -2.47885959e-01  7.67503163e+02]
 [ 2.47100411e-01  9.67765082e-01 -4.87045367e-02  7.52164318e+01]
 [ 2.52138029e-01 -1.56842260e-02  9.67564168e-01  2.01217703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.700714057 meters
Centerline goodness : 0.997375 with order 1
Centerline is valid?  [True, True]
Translation: X:767.56, Y:75.23, Z:201.23
[[ 9.35775541e-01 -2.50748718e-01 -2.47889528e-01  7.67559548e+02]
 [ 2.46466951e-01  9.67927518e-01 -4.86863659e-02  7.52279691e+01]
 [ 2.52147140e-01 -1.55370657e-02  9.67564168e-01  2.01233941e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.760714057 meters
Centerline goodness : 0.997206 with order 1
Centerline is valid?  [True, True]
Translation: X:767.62, Y:75.24, Z:201.25
[[ 9.35649224e-01 -2.51215697e-01 -2.47893532e-01  7.67618991e+02]
 [ 2.46955357e-01  9.67804048e-01 -4.86659732e-02  7.52395357e+01]
 [ 2.52138020e-01 -1.56843555e-02  9.67564168e-01  2.01249164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.820714057 meters
Centerline goodness : 0.997643 with order 1
Centerline is valid?  [True, True]
Translation: X:767.68, Y:75.25, Z:201.26
[[ 9.35682788e-01 -2.51087136e-01 -2.47897096e-01  7.67677047e+02]
 [ 2.46827171e-01  9.67837661e-01 -4.86478114e-02  7.52508487e+01]
 [ 2.52138985e-01 -1.56688190e-02  9.67564169e-01  2.01264039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.880714057 meters
Centerline goodness : 0.997670 with order 1
Centerline is valid?  [True, True]
Translation: X:767.74, Y:75.26, Z:201.28
[[ 9.35766441e-01 -2.50774548e-01 -2.47897750e-01  7.67736311e+02]
 [ 2.46504722e-01  9.67920006e-01 -4.86444754e-02  7.52609781e+01]
 [ 2.52143988e-01 -1.55880985e-02  9.67564169e-01  2.01280885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 793.940714057 meters
Centerline goodness : 0.997327 with order 1
Centerline is valid?  [True, True]
Translation: X:767.80, Y:75.27, Z:201.30
[[ 9.35653723e-01 -2.51191152e-01 -2.47901422e-01  7.67795527e+02]
 [ 2.46940582e-01  9.67809839e-01 -4.86257556e-02  7.52727174e+01]
 [ 2.52135795e-01 -1.57200522e-02  9.67564169e-01  2.01297226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.000714057 meters
Centerline goodness : 0.997825 with order 1
Centerline is valid?  [True, True]
Translation: X:767.85, Y:75.28, Z:201.31
[[ 9.35594296e-01 -2.51408825e-01 -2.47905056e-01  7.67853622e+02]
 [ 2.47170626e-01  9.67752044e-01 -4.86072245e-02  7.52833620e+01]
 [ 2.52130910e-01 -1.57982058e-02  9.67564169e-01  2.01312579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.060714057 meters
Centerline goodness : 0.997390 with order 1
Centerline is valid?  [True, True]
Translation: X:767.91, Y:75.29, Z:201.33
[[ 9.35564890e-01 -2.51511895e-01 -2.47911482e-01  7.67912151e+02]
 [ 2.47285894e-01  9.67724244e-01 -4.85744254e-02  7.52939902e+01]
 [ 2.52126998e-01 -1.58604855e-02  9.67564170e-01  2.01327950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.120714057 meters
Centerline goodness : 0.997433 with order 1
Centerline is valid?  [True, True]
Translation: X:767.97, Y:75.31, Z:201.34
[[ 9.35529421e-01 -2.51641261e-01 -2.47914056e-01  7.67971053e+02]
 [ 2.47423174e-01  9.67689813e-01 -4.85612892e-02  7.53064781e+01]
 [ 2.52123930e-01 -1.59091676e-02  9.67564170e-01  2.01343332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.180714057 meters
Centerline goodness : 0.996773 with order 1
Centerline is valid?  [True, True]
Translation: X:768.03, Y:75.32, Z:201.36
[[ 9.35386651e-01 -2.52167892e-01 -2.47917664e-01  7.68029231e+02]
 [ 2.47972775e-01  9.67550047e-01 -4.85428611e-02  7.53198718e+01]
 [ 2.52113698e-01 -1.60704869e-02  9.67564170e-01  2.01357780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.240714057 meters
Centerline goodness : 0.997964 with order 1
Centerline is valid?  [True, True]
Translation: X:768.09, Y:75.33, Z:201.37
[[ 9.35069231e-01 -2.53340642e-01 -2.47919448e-01  7.68088529e+02]
 [ 2.49188265e-01  9.67238173e-01 -4.85337498e-02  7.53315500e+01]
 [ 2.52092725e-01 -1.63962008e-02  9.67564170e-01  2.01373027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.300714057 meters
Centerline goodness : 0.997497 with order 1
Centerline is valid?  [True, True]
Translation: X:768.15, Y:75.34, Z:201.39
[[ 9.34690700e-01 -2.54730183e-01 -2.47923031e-01  7.68146162e+02]
 [ 2.50630459e-01  9.66866395e-01 -4.85154372e-02  7.53444758e+01]
 [ 2.52066794e-01 -1.67901351e-02  9.67564170e-01  2.01389430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.360714057 meters
Centerline goodness : 0.997302 with order 1
Centerline is valid?  [True, True]
Translation: X:768.20, Y:75.36, Z:201.40
[[ 9.33942731e-01 -2.57458160e-01 -2.47923923e-01  7.68203626e+02]
 [ 2.53453602e-01  9.66130408e-01 -4.85108794e-02  7.53578441e+01]
 [ 2.52016363e-01 -1.75308282e-02  9.67564170e-01  2.01403686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.420714057 meters
Centerline goodness : 0.997108 with order 1
Centerline is valid?  [True, True]
Translation: X:768.26, Y:75.37, Z:201.42
[[ 9.33488453e-01 -2.59100263e-01 -2.47924104e-01  7.68261628e+02]
 [ 2.55152564e-01  9.65683154e-01 -4.85099547e-02  7.53706534e+01]
 [ 2.51985073e-01 -1.79749881e-02  9.67564170e-01  2.01419134e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.480714057 meters
Centerline goodness : 0.997142 with order 1
Centerline is valid?  [True, True]
Translation: X:768.32, Y:75.38, Z:201.44
[[ 9.33268115e-01 -2.59890254e-01 -2.47926766e-01  7.68320087e+02]
 [ 2.55973401e-01  9.65466583e-01 -4.84963435e-02  7.53837000e+01]
 [ 2.51968735e-01 -1.82025666e-02  9.67564170e-01  2.01435879e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.5407140570001 meters
Centerline goodness : 0.997206 with order 1
Centerline is valid?  [True, True]
Translation: X:768.38, Y:75.40, Z:201.45
[[ 9.32664930e-01 -2.62043288e-01 -2.47930320e-01  7.68376176e+02]
 [ 2.58205555e-01  9.64872924e-01 -4.84781697e-02  7.53968058e+01]
 [ 2.51924632e-01 -1.88030971e-02  9.67564170e-01  2.01451054e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.600714057 meters
Centerline goodness : 0.997445 with order 1
Centerline is valid?  [True, True]
Translation: X:768.44, Y:75.41, Z:201.47
[[ 9.32280543e-01 -2.63404707e-01 -2.47933358e-01  7.68435190e+02]
 [ 2.59618109e-01  9.64494588e-01 -4.84626287e-02  7.54093288e+01]
 [ 2.51895666e-01 -1.91872238e-02  9.67564170e-01  2.01466326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.6607140570001 meters
Centerline goodness : 0.996555 with order 1
Centerline is valid?  [True, True]
Translation: X:768.49, Y:75.42, Z:201.48
[[ 9.31858098e-01 -2.64892053e-01 -2.47936860e-01  7.68491618e+02]
 [ 2.61161604e-01  9.64078693e-01 -4.84447065e-02  7.54222022e+01]
 [ 2.51863261e-01 -1.96079960e-02  9.67564171e-01  2.01481139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.720714057 meters
Centerline goodness : 0.997260 with order 1
Centerline is valid?  [True, True]
Translation: X:768.55, Y:75.44, Z:201.50
[[ 9.31877497e-01 -2.64824438e-01 -2.47936176e-01  7.68548568e+02]
 [ 2.61090726e-01  9.64097715e-01 -4.84482054e-02  7.54352386e+01]
 [ 2.51864969e-01 -1.95860438e-02  9.67564171e-01  2.01496832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.7807140570001 meters
Centerline goodness : 0.997071 with order 1
Centerline is valid?  [True, True]
Translation: X:768.61, Y:75.45, Z:201.51
[[ 9.31758195e-01 -2.65243087e-01 -2.47937030e-01  7.68607813e+02]
 [ 2.61525007e-01  9.63980220e-01 -4.84438358e-02  7.54479956e+01]
 [ 2.51855785e-01 -1.97037924e-02  9.67564171e-01  2.01513010e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.840714057 meters
Centerline goodness : 0.996984 with order 1
Centerline is valid?  [True, True]
Translation: X:768.67, Y:75.46, Z:201.53
[[ 9.32072332e-01 -2.64132947e-01 -2.47941434e-01  7.68667193e+02]
 [ 2.60382448e-01  9.64290599e-01 -4.84212827e-02  7.54612357e+01]
 [ 2.51877250e-01 -1.94274598e-02  9.67564171e-01  2.01528849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.9007140570001 meters
Centerline goodness : 0.996700 with order 1
Centerline is valid?  [True, True]
Translation: X:768.72, Y:75.47, Z:201.54
[[ 9.32610401e-01 -2.62221709e-01 -2.47946799e-01  7.68724763e+02]
 [ 2.58412438e-01  9.64821773e-01 -4.83937949e-02  7.54741728e+01]
 [ 2.51914374e-01 -1.89399804e-02  9.67564171e-01  2.01544774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 794.960714057 meters
Centerline goodness : 0.997415 with order 1
Centerline is valid?  [True, True]
Translation: X:768.78, Y:75.49, Z:201.56
[[ 9.33503294e-01 -2.59023874e-01 -2.47948043e-01  7.68781751e+02]
 [ 2.55105913e-01  9.65701626e-01 -4.83874221e-02  7.54878139e+01]
 [ 2.51977326e-01 -1.80831940e-02  9.67564171e-01  2.01560671e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.0207140570001 meters
Centerline goodness : 0.997550 with order 1
Centerline is valid?  [True, True]
Translation: X:768.84, Y:75.50, Z:201.58
[[ 9.34524041e-01 -2.55315762e-01 -2.47948941e-01  7.68838210e+02]
 [ 2.51271218e-01  9.66706718e-01 -4.83828192e-02  7.55021652e+01]
 [ 2.52046804e-01 -1.70875247e-02  9.67564171e-01  2.01576324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.080714057 meters
Centerline goodness : 0.997669 with order 1
Centerline is valid?  [True, True]
Translation: X:768.90, Y:75.52, Z:201.59
[[ 9.35107187e-01 -2.53170746e-01 -2.47949838e-01  7.68895663e+02]
 [ 2.49053579e-01  9.67280653e-01 -4.83782244e-02  7.55158249e+01]
 [ 2.52085032e-01 -1.65139693e-02  9.67564171e-01  2.01591891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.1407140570001 meters
Centerline goodness : 0.997774 with order 1
Centerline is valid?  [True, True]
Translation: X:768.95, Y:75.53, Z:201.61
[[ 9.36132179e-01 -2.49353761e-01 -2.47950085e-01  7.68952958e+02]
 [ 2.45105707e-01  9.68288626e-01 -4.83769566e-02  7.55309002e+01]
 [ 2.52150223e-01 -1.54867551e-02  9.67564171e-01  2.01607285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.200714057 meters
Centerline goodness : 0.997173 with order 1
Centerline is valid?  [True, True]
Translation: X:769.01, Y:75.55, Z:201.62
[[ 9.37077032e-01 -2.45778788e-01 -2.47950444e-01  7.69010300e+02]
 [ 2.41408512e-01  9.69217096e-01 -4.83751164e-02  7.55451228e+01]
 [ 2.52207387e-01 -1.45261372e-02  9.67564171e-01  2.01623024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.260714057 meters
Centerline goodness : 0.997257 with order 1
Centerline is valid?  [True, True]
Translation: X:769.07, Y:75.56, Z:201.64
[[ 9.37800412e-01 -2.43002898e-01 -2.47951567e-01  7.69069050e+02]
 [ 2.38538987e-01  9.69927604e-01 -4.83693598e-02  7.55584747e+01]
 [ 2.52248964e-01 -1.37853100e-02  9.67564171e-01  2.01639842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.320714057 meters
Centerline goodness : 0.997658 with order 1
Centerline is valid?  [True, True]
Translation: X:769.13, Y:75.57, Z:201.66
[[ 9.38422236e-01 -2.40577532e-01 -2.47964024e-01  7.69126355e+02]
 [ 2.36047423e-01  9.70540159e-01 -4.83054178e-02  7.55713485e+01]
 [ 2.52280242e-01 -1.32003907e-02  9.67564173e-01  2.01655383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.380714057 meters
Centerline goodness : 0.997568 with order 1
Centerline is valid?  [True, True]
Translation: X:769.18, Y:75.58, Z:201.67
[[ 9.38755585e-01 -2.39271644e-01 -2.47965786e-01  7.69183810e+02]
 [ 2.34699236e-01  9.70867514e-01 -4.82963710e-02  7.55838119e+01]
 [ 2.52297878e-01 -1.28588926e-02  9.67564173e-01  2.01670287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.440714057 meters
Centerline goodness : 0.997139 with order 1
Centerline is valid?  [True, True]
Translation: X:769.24, Y:75.60, Z:201.69
[[ 9.39187345e-01 -2.37570322e-01 -2.47966678e-01  7.69243692e+02]
 [ 2.32940944e-01  9.71291110e-01 -4.82917930e-02  7.55968185e+01]
 [ 2.52320526e-01 -1.24065511e-02  9.67564173e-01  2.01685641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.500714057 meters
Centerline goodness : 0.997117 with order 1
Centerline is valid?  [True, True]
Translation: X:769.30, Y:75.61, Z:201.70
[[ 9.39556963e-01 -2.36098647e-01 -2.47972060e-01  7.69302951e+02]
 [ 2.31426260e-01  9.71654496e-01 -4.82641398e-02  7.56100096e+01]
 [ 2.52338265e-01 -1.20403378e-02  9.67564174e-01  2.01702496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.560714057 meters
Centerline goodness : 0.996922 with order 1
Centerline is valid?  [True, True]
Translation: X:769.36, Y:75.62, Z:201.72
[[ 9.39900288e-01 -2.34712881e-01 -2.47986515e-01  7.69360230e+02]
 [ 2.30012747e-01  9.71993767e-01 -4.81897593e-02  7.56220867e+01]
 [ 2.52352104e-01 -1.17464908e-02  9.67564177e-01  2.01717680e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.620714057 meters
Centerline goodness : 0.997185 with order 1
Centerline is valid?  [True, True]
Translation: X:769.42, Y:75.64, Z:201.73
[[ 9.40336300e-01 -2.32959002e-01 -2.47987390e-01  7.69417658e+02]
 [ 2.28200188e-01  9.72421131e-01 -4.81852544e-02  7.56351737e+01]
 [ 2.52373367e-01 -1.12804253e-02  9.67564177e-01  2.01732853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.680714057 meters
Centerline goodness : 0.997054 with order 1
Centerline is valid?  [True, True]
Translation: X:769.48, Y:75.65, Z:201.75
[[ 9.41151940e-01 -2.29640698e-01 -2.47988257e-01  7.69475723e+02]
 [ 2.24769914e-01  9.73219963e-01 -4.81807916e-02  7.56459725e+01]
 [ 2.52411393e-01 -1.03948537e-02  9.67564177e-01  2.01749912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.740714057 meters
Centerline goodness : 0.997001 with order 1
Centerline is valid?  [True, True]
Translation: X:769.53, Y:75.66, Z:201.77
[[ 9.41678364e-01 -2.27470476e-01 -2.47990003e-01  7.69534604e+02]
 [ 2.22528143e-01  9.73735438e-01 -4.81718046e-02  7.56580523e+01]
 [ 2.52434317e-01 -9.82240868e-03  9.67564177e-01  2.01767624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.800714057 meters
Centerline goodness : 0.996697 with order 1
Centerline is valid?  [True, True]
Translation: X:769.59, Y:75.67, Z:201.78
[[ 9.42016264e-01 -2.26053150e-01 -2.48002685e-01  7.69592141e+02]
 [ 2.21079768e-01  9.74068534e-01 -4.81064283e-02  7.56675926e+01]
 [ 2.52446221e-01 -9.51133807e-03  9.67564179e-01  2.01781991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.860714057 meters
Centerline goodness : 0.997218 with order 1
Centerline is valid?  [True, True]
Translation: X:769.65, Y:75.67, Z:201.79
[[ 9.41978438e-01 -2.26210721e-01 -2.48002685e-01  7.69650498e+02]
 [ 2.21242701e-01  9.74031539e-01 -4.81064283e-02  7.56733461e+01]
 [ 2.52444627e-01 -9.55356559e-03  9.67564179e-01  2.01794331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.920714057 meters
Centerline goodness : 0.997594 with order 1
Centerline is valid?  [True, True]
Translation: X:769.71, Y:75.68, Z:201.81
[[ 9.42263964e-01 -2.25018424e-01 -2.48002685e-01  7.69710214e+02]
 [ 2.20009843e-01  9.74310752e-01 -4.81064283e-02  7.56811345e+01]
 [ 2.52456515e-01 -9.23407785e-03  9.67564179e-01  2.01811023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 795.980714057 meters
Centerline goodness : 0.997376 with order 1
Centerline is valid?  [True, True]
Translation: X:769.77, Y:75.69, Z:201.83
[[ 9.42604895e-01 -2.23582002e-01 -2.48006251e-01  7.69768088e+02]
 [ 2.18529416e-01  9.74644774e-01 -4.80880343e-02  7.56896981e+01]
 [ 2.52469616e-01 -8.86864472e-03  9.67564179e-01  2.01826296e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.0407140570001 meters
Centerline goodness : 0.997335 with order 1
Centerline is valid?  [True, True]
Translation: X:769.83, Y:75.70, Z:201.84
[[ 9.42955556e-01 -2.22098144e-01 -2.48006521e-01  7.69826903e+02]
 [ 2.16995501e-01  9.74987501e-01 -4.80866438e-02  7.56953872e+01]
 [ 2.52483213e-01 -8.47273144e-03  9.67564179e-01  2.01839759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.100714057 meters
Centerline goodness : 0.997383 with order 1
Centerline is valid?  [True, True]
Translation: X:769.89, Y:75.70, Z:201.86
[[ 9.42889893e-01 -2.22375771e-01 -2.48007393e-01  7.69885442e+02]
 [ 2.17283741e-01  9.74923527e-01 -4.80821456e-02  7.57035852e+01]
 [ 2.52480547e-01 -8.55180520e-03  9.67564179e-01  2.01855404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.1607140570001 meters
Centerline goodness : 0.996990 with order 1
Centerline is valid?  [True, True]
Translation: X:769.94, Y:75.71, Z:201.87
[[ 9.42474964e-01 -2.24125917e-01 -2.48009103e-01  7.69943760e+02]
 [ 2.19095687e-01  9.74518361e-01 -4.80733232e-02  7.57100417e+01]
 [ 2.52463902e-01 -9.02982133e-03  9.67564179e-01  2.01872297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.220714057 meters
Centerline goodness : 0.997422 with order 1
Centerline is valid?  [True, True]
Translation: X:770.00, Y:75.71, Z:201.89
[[ 9.41599433e-01 -2.27776022e-01 -2.48009259e-01  7.70002607e+02]
 [ 2.22870199e-01  9.73662112e-01 -4.80725197e-02  7.57148002e+01]
 [ 2.52426986e-01 -1.00088155e-02  9.67564179e-01  2.01888108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.2807140570001 meters
Centerline goodness : 0.996617 with order 1
Centerline is valid?  [True, True]
Translation: X:770.06, Y:75.72, Z:201.90
[[ 9.40950147e-01 -2.30442598e-01 -2.48010142e-01  7.70061652e+02]
 [ 2.25628825e-01  9.73026775e-01 -4.80679622e-02  7.57220092e+01]
 [ 2.52397415e-01 -1.07286809e-02  9.67564179e-01  2.01902990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.340714057 meters
Centerline goodness : 0.996652 with order 1
Centerline is valid?  [True, True]
Translation: X:770.12, Y:75.73, Z:201.92
[[ 9.39585948e-01 -2.35936718e-01 -2.48016352e-01  7.70120950e+02]
 [ 2.31318896e-01  9.71691371e-01 -4.80359009e-02  7.57267962e+01]
 [ 2.52328782e-01 -1.22370113e-02  9.67564179e-01  2.01918218e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.4007140570001 meters
Centerline goodness : 0.996707 with order 1
Centerline is valid?  [True, True]
Translation: X:770.18, Y:75.73, Z:201.93
[[ 9.38384409e-01 -2.40670206e-01 -2.48017242e-01  7.70180255e+02]
 [ 2.36215498e-01  9.70512871e-01 -4.80313082e-02  7.57321894e+01]
 [ 2.52263630e-01 -1.35136854e-02  9.67564179e-01  2.01932578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.460714057 meters
Centerline goodness : 0.997330 with order 1
Centerline is valid?  [True, True]
Translation: X:770.24, Y:75.74, Z:201.95
[[ 9.37810832e-01 -2.42895405e-01 -2.48017472e-01  7.70238174e+02]
 [ 2.38517232e-01  9.69949812e-01 -4.80301187e-02  7.57406543e+01]
 [ 2.52230795e-01 -1.41132753e-02  9.67564179e-01  2.01948850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.5207140570001 meters
Centerline goodness : 0.996956 with order 1
Centerline is valid?  [True, True]
Translation: X:770.30, Y:75.75, Z:201.96
[[ 9.37470719e-01 -2.44203901e-01 -2.48018357e-01  7.70297425e+02]
 [ 2.39871788e-01  9.69615941e-01 -4.80255491e-02  7.57480390e+01]
 [ 2.52210579e-01 -1.44700606e-02  9.67564179e-01  2.01963445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.580714057 meters
Centerline goodness : 0.997330 with order 1
Centerline is valid?  [True, True]
Translation: X:770.36, Y:75.76, Z:201.98
[[ 9.37711187e-01 -2.43272807e-01 -2.48024336e-01  7.70356886e+02]
 [ 2.38916919e-01  9.69853195e-01 -4.79946519e-02  7.57570997e+01]
 [ 2.52222988e-01 -1.42520881e-02  9.67564180e-01  2.01978333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.6407140570001 meters
Centerline goodness : 0.997644 with order 1
Centerline is valid?  [True, True]
Translation: X:770.42, Y:75.77, Z:201.99
[[ 9.37947845e-01 -2.42355176e-01 -2.48027838e-01  7.70415273e+02]
 [ 2.37972613e-01  9.70086226e-01 -4.79765446e-02  7.57665838e+01]
 [ 2.52235754e-01 -1.40243362e-02  9.67564180e-01  2.01993944e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.700714057 meters
Centerline goodness : 0.997700 with order 1
Centerline is valid?  [True, True]
Translation: X:770.47, Y:75.78, Z:202.01
[[ 9.38071378e-01 -2.41875665e-01 -2.48028733e-01  7.70474951e+02]
 [ 2.37477892e-01  9.70207682e-01 -4.79719212e-02  7.57768049e+01]
 [ 2.52242622e-01 -1.39002543e-02  9.67564180e-01  2.02009821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.760714057 meters
Centerline goodness : 0.997604 with order 1
Centerline is valid?  [True, True]
Translation: X:770.53, Y:75.79, Z:202.03
[[ 9.38032497e-01 -2.42022786e-01 -2.48032268e-01  7.70533143e+02]
 [ 2.37634873e-01  9.70170148e-01 -4.79536352e-02  7.57870208e+01]
 [ 2.52239374e-01 -1.39590482e-02  9.67564180e-01  2.02025721e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.820714057 meters
Centerline goodness : 0.997872 with order 1
Centerline is valid?  [True, True]
Translation: X:770.59, Y:75.80, Z:202.04
[[ 9.37915029e-01 -2.42476698e-01 -2.48033161e-01  7.70592014e+02]
 [ 2.38105555e-01  9.70054966e-01 -4.79490169e-02  7.57969786e+01]
 [ 2.52232319e-01 -1.40859697e-02  9.67564180e-01  2.02040970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.880714057 meters
Centerline goodness : 0.997820 with order 1
Centerline is valid?  [True, True]
Translation: X:770.65, Y:75.81, Z:202.06
[[ 9.37957296e-01 -2.42309542e-01 -2.48036685e-01  7.70650109e+02]
 [ 2.37937479e-01  9.70097107e-01 -4.79307803e-02  7.58077007e+01]
 [ 2.52233756e-01 -1.40601984e-02  9.67564180e-01  2.02056581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 796.940714057 meters
Centerline goodness : 0.997583 with order 1
Centerline is valid?  [True, True]
Translation: X:770.71, Y:75.82, Z:202.07
[[ 9.38243396e-01 -2.41197527e-01 -2.48038472e-01  7.70709214e+02]
 [ 2.36789806e-01  9.70378336e-01 -4.79215313e-02  7.58193096e+01]
 [ 2.52249714e-01 -1.37709213e-02  9.67564181e-01  2.02071984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.000714057 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:770.77, Y:75.83, Z:202.09
[[ 9.38412853e-01 -2.40533687e-01 -2.48042058e-01  7.70766923e+02]
 [ 2.36108125e-01  9.70545341e-01 -4.79029643e-02  7.58311102e+01]
 [ 2.52258340e-01 -1.36119877e-02  9.67564181e-01  2.02088868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.060714057 meters
Centerline goodness : 0.997025 with order 1
Centerline is valid?  [True, True]
Translation: X:770.83, Y:75.84, Z:202.11
[[ 9.38455686e-01 -2.40364705e-01 -2.48043817e-01  7.70825049e+02]
 [ 2.35935758e-01  9.70587707e-01 -4.78938543e-02  7.58410390e+01]
 [ 2.52260271e-01 -1.35761460e-02  9.67564181e-01  2.02105607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.120714057 meters
Centerline goodness : 0.997265 with order 1
Centerline is valid?  [True, True]
Translation: X:770.88, Y:75.85, Z:202.12
[[ 9.38087639e-01 -2.41795229e-01 -2.48045658e-01  7.70882884e+02]
 [ 2.37417791e-01  9.70226718e-01 -4.78843158e-02  7.58516535e+01]
 [ 2.52238724e-01 -1.39707675e-02  9.67564181e-01  2.02119819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.180714057 meters
Centerline goodness : 0.997298 with order 1
Centerline is valid?  [True, True]
Translation: X:770.94, Y:75.86, Z:202.14
[[ 9.37892616e-01 -2.42548560e-01 -2.48047649e-01  7.70942472e+02]
 [ 2.38199655e-01  9.70035569e-01 -4.78739975e-02  7.58614537e+01]
 [ 2.52226812e-01 -1.41841958e-02  9.67564181e-01  2.02135766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.240714057 meters
Centerline goodness : 0.997399 with order 1
Centerline is valid?  [True, True]
Translation: X:771.00, Y:75.87, Z:202.15
[[ 9.37935944e-01 -2.42377483e-01 -2.48051046e-01  7.71001346e+02]
 [ 2.38027355e-01  9.70078731e-01 -4.78563943e-02  7.58718399e+01]
 [ 2.52228356e-01 -1.41567021e-02  9.67564181e-01  2.02151548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.300714057 meters
Centerline goodness : 0.997976 with order 1
Centerline is valid?  [True, True]
Translation: X:771.06, Y:75.88, Z:202.17
[[ 9.37893947e-01 -2.42536336e-01 -2.48054571e-01  7.71060808e+02]
 [ 2.38196472e-01  9.70038121e-01 -4.78381123e-02  7.58827466e+01]
 [ 2.52224871e-01 -1.42186477e-02  9.67564181e-01  2.02166822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.360714057 meters
Centerline goodness : 0.997509 with order 1
Centerline is valid?  [True, True]
Translation: X:771.12, Y:75.89, Z:202.18
[[ 9.37715727e-01 -2.43220858e-01 -2.48058120e-01  7.71118617e+02]
 [ 2.38909310e-01  9.69863711e-01 -4.78197067e-02  7.58940451e+01]
 [ 2.52213318e-01 -1.44221031e-02  9.67564181e-01  2.02182686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.420714057 meters
Centerline goodness : 0.997723 with order 1
Centerline is valid?  [True, True]
Translation: X:771.18, Y:75.90, Z:202.20
[[ 9.37573185e-01 -2.43767083e-01 -2.48060741e-01  7.71175585e+02]
 [ 2.39477850e-01  9.69724154e-01 -4.78061066e-02  7.59041235e+01]
 [ 2.52204047e-01 -1.45833292e-02  9.67564181e-01  2.02197280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.480714057 meters
Centerline goodness : 0.997283 with order 1
Centerline is valid?  [True, True]
Translation: X:771.23, Y:75.92, Z:202.21
[[ 9.37214495e-01 -2.45142530e-01 -2.48060741e-01  7.71234116e+02]
 [ 2.40900477e-01  9.69371723e-01 -4.78061066e-02  7.59158374e+01]
 [ 2.52182377e-01 -1.49533747e-02  9.67564181e-01  2.02213802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.5407140570001 meters
Centerline goodness : 0.998089 with order 1
Centerline is valid?  [True, True]
Translation: X:771.29, Y:75.93, Z:202.23
[[ 9.36874177e-01 -2.46436376e-01 -2.48064285e-01  7.71292923e+02]
 [ 2.42243581e-01  9.69037864e-01 -4.77877083e-02  7.59267934e+01]
 [ 2.52160315e-01 -1.53209110e-02  9.67564182e-01  2.02228990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.600714057 meters
Centerline goodness : 0.996956 with order 1
Centerline is valid?  [True, True]
Translation: X:771.35, Y:75.94, Z:202.25
[[ 9.36794509e-01 -2.46736378e-01 -2.48066943e-01  7.71351194e+02]
 [ 2.42557524e-01  9.68960010e-01 -4.77739084e-02  7.59381209e+01]
 [ 2.52154508e-01 -1.54161683e-02  9.67564182e-01  2.02245665e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.6607140570001 meters
Centerline goodness : 0.996908 with order 1
Centerline is valid?  [True, True]
Translation: X:771.41, Y:75.95, Z:202.26
[[ 9.36920222e-01 -2.46255882e-01 -2.48069623e-01  7.71410248e+02]
 [ 2.42064204e-01  9.69084055e-01 -4.77599855e-02  7.59496647e+01]
 [ 2.52161494e-01 -1.53014795e-02  9.67564182e-01  2.02262069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.720714057 meters
Centerline goodness : 0.996651 with order 1
Centerline is valid?  [True, True]
Translation: X:771.47, Y:75.96, Z:202.28
[[ 9.37065029e-01 -2.45700697e-01 -2.48073171e-01  7.71468696e+02]
 [ 2.41494823e-01  9.69227009e-01 -4.77415516e-02  7.59599082e+01]
 [ 2.52169350e-01 -1.51714481e-02  9.67564182e-01  2.02277759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.7807140570001 meters
Centerline goodness : 0.997013 with order 1
Centerline is valid?  [True, True]
Translation: X:771.53, Y:75.97, Z:202.29
[[ 9.37082423e-01 -2.45631701e-01 -2.48075794e-01  7.71526715e+02]
 [ 2.41427054e-01  9.69244563e-01 -4.77279194e-02  7.59692502e+01]
 [ 2.52169604e-01 -1.51672137e-02  9.67564182e-01  2.02292771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.840714057 meters
Centerline goodness : 0.996513 with order 1
Centerline is valid?  [True, True]
Translation: X:771.59, Y:75.98, Z:202.31
[[ 9.37118528e-01 -2.45493058e-01 -2.48076649e-01  7.71585609e+02]
 [ 2.41284826e-01  9.69280198e-01 -4.77234750e-02  7.59803285e+01]
 [ 2.52171565e-01 -1.51345782e-02  9.67564182e-01  2.02307998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.9007140570001 meters
Centerline goodness : 0.995996 with order 1
Centerline is valid?  [True, True]
Translation: X:771.65, Y:75.99, Z:202.32
[[ 9.37076314e-01 -2.45650666e-01 -2.48080091e-01  7.71645798e+02]
 [ 2.41452564e-01  9.69239309e-01 -4.77055757e-02  7.59905152e+01]
 [ 2.52167882e-01 -1.51958088e-02  9.67564182e-01  2.02323563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 797.960714057 meters
Centerline goodness : 0.995579 with order 1
Centerline is valid?  [True, True]
Translation: X:771.70, Y:76.00, Z:202.34
[[ 9.36638837e-01 -2.47308095e-01 -2.48085459e-01  7.71704740e+02]
 [ 2.43174269e-01  9.68810155e-01 -4.76776412e-02  7.59989964e+01]
 [ 2.52138779e-01 -1.56712698e-02  9.67564183e-01  2.02338195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.0207140570001 meters
Centerline goodness : 0.996130 with order 1
Centerline is valid?  [True, True]
Translation: X:771.76, Y:76.01, Z:202.35
[[ 9.36091271e-01 -2.49370949e-01 -2.48087208e-01  7.71763295e+02]
 [ 2.45310410e-01  9.68271921e-01 -4.76685390e-02  7.60087068e+01]
 [ 2.52103027e-01 -1.62362715e-02  9.67564183e-01  2.02354236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.080714057 meters
Centerline goodness : 0.996733 with order 1
Centerline is valid?  [True, True]
Translation: X:771.82, Y:76.02, Z:202.37
[[ 9.35974799e-01 -2.49806034e-01 -2.48088939e-01  7.71822533e+02]
 [ 2.45762831e-01  9.68157632e-01 -4.76595298e-02  7.60190216e+01]
 [ 2.52094838e-01 -1.63629212e-02  9.67564183e-01  2.02370089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.1407140570001 meters
Centerline goodness : 0.996509 with order 1
Centerline is valid?  [True, True]
Translation: X:771.88, Y:76.03, Z:202.39
[[ 9.35618172e-01 -2.51134985e-01 -2.48092432e-01  7.71880439e+02]
 [ 2.47142292e-01  9.67807311e-01 -4.76413385e-02  7.60295286e+01]
 [ 2.52070077e-01 -1.67400302e-02  9.67564183e-01  2.02385072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.200714057 meters
Centerline goodness : 0.996895 with order 1
Centerline is valid?  [True, True]
Translation: X:771.94, Y:76.04, Z:202.40
[[ 9.34969391e-01 -2.53538842e-01 -2.48093318e-01  7.71938247e+02]
 [ 2.49630110e-01  9.67168832e-01 -4.76367274e-02  7.60407626e+01]
 [ 2.52025885e-01 -1.73926802e-02  9.67564183e-01  2.02399539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.260714057 meters
Centerline goodness : 0.996698 with order 1
Centerline is valid?  [True, True]
Translation: X:772.00, Y:76.05, Z:202.41
[[ 9.34175871e-01 -2.56445467e-01 -2.48095072e-01  7.71996353e+02]
 [ 2.52639312e-01  9.66387599e-01 -4.76275903e-02  7.60523112e+01]
 [ 2.51969880e-01 -1.81860225e-02  9.67564183e-01  2.02414225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.320714057 meters
Centerline goodness : 0.996602 with order 1
Centerline is valid?  [True, True]
Translation: X:772.06, Y:76.06, Z:202.43
[[ 9.33942221e-01 -2.57294237e-01 -2.48095954e-01  7.72055394e+02]
 [ 2.53518568e-01  9.66157537e-01 -4.76229937e-02  7.60642207e+01]
 [ 2.51952898e-01 -1.84198065e-02  9.67564183e-01  2.02429502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.380714057 meters
Centerline goodness : 0.996525 with order 1
Centerline is valid?  [True, True]
Translation: X:772.11, Y:76.08, Z:202.45
[[ 9.34198845e-01 -2.56357483e-01 -2.48099495e-01  7.72113935e+02]
 [ 2.52554381e-01  9.66410933e-01 -4.76045422e-02  7.60784993e+01]
 [ 2.51969845e-01 -1.81865060e-02  9.67564183e-01  2.02445862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.440714057 meters
Centerline goodness : 0.997049 with order 1
Centerline is valid?  [True, True]
Translation: X:772.17, Y:76.09, Z:202.46
[[ 9.35348730e-01 -2.52126241e-01 -2.48103027e-01  7.72170971e+02]
 [ 2.48182234e-01  9.67543870e-01 -4.75861236e-02  7.60934281e+01]
 [ 2.52048274e-01 -1.70651435e-02  9.67564183e-01  2.02462116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.500714057 meters
Centerline goodness : 0.996785 with order 1
Centerline is valid?  [True, True]
Translation: X:772.23, Y:76.11, Z:202.48
[[ 9.36673278e-01 -2.47159111e-01 -2.48103897e-01  7.72226437e+02]
 [ 2.43045507e-01  9.68847188e-01 -4.75815868e-02  7.61087856e+01]
 [ 2.52134986e-01 -1.57321368e-02  9.67564183e-01  2.02478748e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.560714057 meters
Centerline goodness : 0.996864 with order 1
Centerline is valid?  [True, True]
Translation: X:772.28, Y:76.12, Z:202.49
[[ 9.37297576e-01 -2.44781787e-01 -2.48103067e-01  7.72283518e+02]
 [ 2.40585423e-01  9.69460796e-01 -4.75859173e-02  7.61225965e+01]
 [ 2.52174362e-01 -1.50878164e-02  9.67564183e-01  2.02494745e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.620714057 meters
Centerline goodness : 0.997507 with order 1
Centerline is valid?  [True, True]
Translation: X:772.34, Y:76.14, Z:202.51
[[ 9.37704472e-01 -2.43218449e-01 -2.48103023e-01  7.72342307e+02]
 [ 2.38968397e-01  9.69860642e-01 -4.75861484e-02  7.61350978e+01]
 [ 2.52199186e-01 -1.46670373e-02  9.67564183e-01  2.02509148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.680714057 meters
Centerline goodness : 0.997097 with order 1
Centerline is valid?  [True, True]
Translation: X:772.40, Y:76.15, Z:202.52
[[ 9.37769944e-01 -2.42962243e-01 -2.48106593e-01  7.72401615e+02]
 [ 2.38708315e-01  9.69925601e-01 -4.75675251e-02  7.61487493e+01]
 [ 2.52202049e-01 -1.46177114e-02  9.67564183e-01  2.02524696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.740714057 meters
Centerline goodness : 0.997963 with order 1
Centerline is valid?  [True, True]
Translation: X:772.46, Y:76.16, Z:202.54
[[ 9.38152399e-01 -2.41475703e-01 -2.48111994e-01  7.72458370e+02]
 [ 2.37178248e-01  9.70302268e-01 -4.75393378e-02  7.61611992e+01]
 [ 2.52223225e-01 -1.42476241e-02  9.67564184e-01  2.02539904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.800714057 meters
Centerline goodness : 0.997814 with order 1
Centerline is valid?  [True, True]
Translation: X:772.52, Y:76.17, Z:202.56
[[ 9.38795134e-01 -2.38964714e-01 -2.48111994e-01  7.72517048e+02]
 [ 2.34581254e-01  9.70933389e-01 -4.75393378e-02  7.61736830e+01]
 [ 2.52260444e-01 -1.35727236e-02  9.67564184e-01  2.02556330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.860714057 meters
Centerline goodness : 0.997965 with order 1
Centerline is valid?  [True, True]
Translation: X:772.57, Y:76.19, Z:202.57
[[ 9.39335417e-01 -2.36828330e-01 -2.48115530e-01  7.72574962e+02]
 [ 2.32376629e-01  9.71464291e-01 -4.75208773e-02  7.61853968e+01]
 [ 2.52289667e-01 -1.30182072e-02  9.67564184e-01  2.02572125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.920714057 meters
Centerline goodness : 0.997815 with order 1
Centerline is valid?  [True, True]
Translation: X:772.63, Y:76.20, Z:202.59
[[ 9.39902987e-01 -2.34563832e-01 -2.48117280e-01  7.72632390e+02]
 [ 2.30037120e-01  9.72021377e-01 -4.75117388e-02  7.61972939e+01]
 [ 2.52319835e-01 -1.24197593e-02  9.67564184e-01  2.02587469e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 798.980714057 meters
Centerline goodness : 0.998252 with order 1
Centerline is valid?  [True, True]
Translation: X:772.69, Y:76.21, Z:202.60
[[ 9.40132990e-01 -2.33639364e-01 -2.48118134e-01  7.72690593e+02]
 [ 2.29082241e-01  9.72247081e-01 -4.75072762e-02  7.62073513e+01]
 [ 2.52331701e-01 -1.21763006e-02  9.67564184e-01  2.02602530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.0407140570001 meters
Centerline goodness : 0.998144 with order 1
Centerline is valid?  [True, True]
Translation: X:772.75, Y:76.22, Z:202.62
[[ 9.39782622e-01 -2.35043830e-01 -2.48118968e-01  7.72748106e+02]
 [ 2.30535844e-01  9.71903646e-01 -4.75029200e-02  7.62181037e+01]
 [ 2.52312998e-01 -1.25578970e-02  9.67564184e-01  2.02616880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.100714057 meters
Centerline goodness : 0.997993 with order 1
Centerline is valid?  [True, True]
Translation: X:772.81, Y:76.23, Z:202.63
[[ 9.39561668e-01 -2.35925364e-01 -2.48119113e-01  7.72806341e+02]
 [ 2.31447714e-01  9.71686935e-01 -4.75021614e-02  7.62292776e+01]
 [ 2.52301066e-01 -1.27953915e-02  9.67564184e-01  2.02632177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.1607140570001 meters
Centerline goodness : 0.997713 with order 1
Centerline is valid?  [True, True]
Translation: X:772.86, Y:76.24, Z:202.65
[[ 9.39023429e-01 -2.38056824e-01 -2.48120834e-01  7.72864802e+02]
 [ 2.33654454e-01  9.71159099e-01 -4.74931696e-02  7.62402772e+01]
 [ 2.52270879e-01 -1.33773391e-02  9.67564184e-01  2.02648421e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.220714057 meters
Centerline goodness : 0.997971 with order 1
Centerline is valid?  [True, True]
Translation: X:772.92, Y:76.25, Z:202.66
[[ 9.38106857e-01 -2.41640720e-01 -2.48123531e-01  7.72921358e+02]
 [ 2.37364805e-01  9.70259597e-01 -4.74790768e-02  7.62506618e+01]
 [ 2.52217116e-01 -1.43553462e-02  9.67564184e-01  2.02663745e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.2807140570001 meters
Centerline goodness : 0.997407 with order 1
Centerline is valid?  [True, True]
Translation: X:772.98, Y:76.26, Z:202.68
[[ 9.36912782e-01 -2.46230567e-01 -2.48122845e-01  7.72979259e+02]
 [ 2.42111170e-01  9.69085950e-01 -4.74826626e-02  7.62624470e+01]
 [ 2.52144046e-01 -1.55861988e-02  9.67564184e-01  2.02679370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.340714057 meters
Centerline goodness : 0.997606 with order 1
Centerline is valid?  [True, True]
Translation: X:773.04, Y:76.27, Z:202.69
[[ 9.36084919e-01 -2.49357884e-01 -2.48124303e-01  7.73038679e+02]
 [ 2.45347959e-01  9.68271914e-01 -4.74750415e-02  7.62734173e+01]
 [ 2.52090070e-01 -1.64361210e-02  9.67564184e-01  2.02694298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.4007140570001 meters
Centerline goodness : 0.997535 with order 1
Centerline is valid?  [True, True]
Translation: X:773.10, Y:76.28, Z:202.71
[[ 9.35637598e-01 -2.51027594e-01 -2.48127855e-01  7.73096642e+02]
 [ 2.47080003e-01  9.67832297e-01 -4.74564701e-02  7.62844619e+01]
 [ 2.52059036e-01 -1.69053735e-02  9.67564184e-01  2.02709043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.460714057 meters
Centerline goodness : 0.997655 with order 1
Centerline is valid?  [True, True]
Translation: X:773.16, Y:76.30, Z:202.72
[[ 9.35676840e-01 -2.50879535e-01 -2.48129624e-01  7.73156030e+02]
 [ 2.46929292e-01  9.67871214e-01 -4.74472187e-02  7.62967256e+01]
 [ 2.52061057e-01 -1.68752088e-02  9.67564184e-01  2.02724374e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.5207140570001 meters
Centerline goodness : 0.997419 with order 1
Centerline is valid?  [True, True]
Translation: X:773.21, Y:76.31, Z:202.74
[[ 9.36270689e-01 -2.48650671e-01 -2.48133110e-01  7.73213195e+02]
 [ 2.44628586e-01  9.68456167e-01 -4.74289806e-02  7.63094001e+01]
 [ 2.52099289e-01 -1.62940875e-02  9.67564185e-01  2.02739370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.580714057 meters
Centerline goodness : 0.997012 with order 1
Centerline is valid?  [True, True]
Translation: X:773.27, Y:76.32, Z:202.76
[[ 9.37227459e-01 -2.45019734e-01 -2.48133068e-01  7.73271284e+02]
 [ 2.40872868e-01  9.69397097e-01 -4.74292013e-02  7.63233183e+01]
 [ 2.52160566e-01 -1.53165738e-02  9.67564185e-01  2.02755629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.6407140570001 meters
Centerline goodness : 0.997124 with order 1
Centerline is valid?  [True, True]
Translation: X:773.33, Y:76.34, Z:202.77
[[ 9.38285417e-01 -2.40933986e-01 -2.48135629e-01  7.73328238e+02]
 [ 2.36650531e-01  9.70437153e-01 -4.74158008e-02  7.63379923e+01]
 [ 2.52224111e-01 -1.42318737e-02  9.67564185e-01  2.02772773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.700714057 meters
Centerline goodness : 0.997375 with order 1
Centerline is valid?  [True, True]
Translation: X:773.39, Y:76.35, Z:202.79
[[ 9.38569928e-01 -2.39822604e-01 -2.48136270e-01  7.73386277e+02]
 [ 2.35501958e-01  9.70716688e-01 -4.74124469e-02  7.63517840e+01]
 [ 2.52240594e-01 -1.39366806e-02  9.67564185e-01  2.02789141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.760714057 meters
Centerline goodness : 0.997709 with order 1
Centerline is valid?  [True, True]
Translation: X:773.44, Y:76.37, Z:202.80
[[ 9.37947015e-01 -2.42243787e-01 -2.48139769e-01  7.73444578e+02]
 [ 2.38010939e-01  9.70105453e-01 -4.73941280e-02  7.63653215e+01]
 [ 2.52202676e-01 -1.46067986e-02  9.67564185e-01  2.02803222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.820714057 meters
Centerline goodness : 0.997530 with order 1
Centerline is valid?  [True, True]
Translation: X:773.50, Y:76.38, Z:202.82
[[ 9.37061641e-01 -2.45644594e-01 -2.48141520e-01  7.73502308e+02]
 [ 2.41530848e-01  9.69235531e-01 -4.73849568e-02  7.63767166e+01]
 [ 2.52147436e-01 -1.55312064e-02  9.67564185e-01  2.02817280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.880714057 meters
Centerline goodness : 0.997634 with order 1
Centerline is valid?  [True, True]
Translation: X:773.56, Y:76.39, Z:202.83
[[ 9.35821150e-01 -2.50328053e-01 -2.48142383e-01  7.73559885e+02]
 [ 2.46376463e-01  9.68015358e-01 -4.73804379e-02  7.63885268e+01]
 [ 2.52066290e-01 -1.67968266e-02  9.67564185e-01  2.02833555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 799.940714057 meters
Centerline goodness : 0.997524 with order 1
Centerline is valid?  [True, True]
Translation: X:773.62, Y:76.40, Z:202.85
[[ 9.35866562e-01 -2.50157352e-01 -2.48143261e-01  7.73618545e+02]
 [ 2.46201104e-01  9.68060198e-01 -4.73758366e-02  7.64020440e+01]
 [ 2.52069028e-01 -1.67556836e-02  9.67564185e-01  2.02849371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.000714057 meters
Centerline goodness : 0.997525 with order 1
Centerline is valid?  [True, True]
Translation: X:773.68, Y:76.42, Z:202.86
[[ 9.36462601e-01 -2.47913252e-01 -2.48146763e-01  7.73676139e+02]
 [ 2.43884685e-01  9.68647267e-01 -4.73574902e-02  7.64151882e+01]
 [ 2.52107233e-01 -1.61706766e-02  9.67564185e-01  2.02864678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.060714057 meters
Centerline goodness : 0.997604 with order 1
Centerline is valid?  [True, True]
Translation: X:773.73, Y:76.43, Z:202.88
[[ 9.37083555e-01 -2.45555593e-01 -2.48146853e-01  7.73733655e+02]
 [ 2.41446162e-01  9.69257997e-01 -4.73570152e-02  7.64291289e+01]
 [ 2.52147102e-01 -1.55366253e-02  9.67564185e-01  2.02880713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.120714057 meters
Centerline goodness : 0.997709 with order 1
Centerline is valid?  [True, True]
Translation: X:773.79, Y:76.44, Z:202.90
[[ 9.37316489e-01 -2.44663188e-01 -2.48148592e-01  7.73792422e+02]
 [ 2.40525526e-01  9.69487312e-01 -4.73479003e-02  7.64421451e+01]
 [ 2.52161200e-01 -1.53061032e-02  9.67564185e-01  2.02896763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.180714057 meters
Centerline goodness : 0.997498 with order 1
Centerline is valid?  [True, True]
Translation: X:773.85, Y:76.45, Z:202.91
[[ 9.37472868e-01 -2.44059818e-01 -2.48152026e-01  7.73851757e+02]
 [ 2.39906196e-01  9.69641634e-01 -4.73298997e-02  7.64542256e+01]
 [ 2.52169862e-01 -1.51627117e-02  9.67564185e-01  2.02912351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.240714057 meters
Centerline goodness : 0.997615 with order 1
Centerline is valid?  [True, True]
Translation: X:773.91, Y:76.47, Z:202.93
[[ 9.37373265e-01 -2.44438660e-01 -2.48155401e-01  7.73910110e+02]
 [ 2.40302708e-01  9.69544308e-01 -4.73121983e-02  7.64668761e+01]
 [ 2.52162587e-01 -1.52832249e-02  9.67564186e-01  2.02925551e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.300714057 meters
Centerline goodness : 0.997608 with order 1
Centerline is valid?  [True, True]
Translation: X:773.97, Y:76.48, Z:202.94
[[ 9.37198455e-01 -2.45105557e-01 -2.48157858e-01  7.73969313e+02]
 [ 2.40995897e-01  9.69372866e-01 -4.72993052e-02  7.64788497e+01]
 [ 2.52150817e-01 -1.54761899e-02  9.67564186e-01  2.02940520e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.360714057 meters
Centerline goodness : 0.998172 with order 1
Centerline is valid?  [True, True]
Translation: X:774.03, Y:76.49, Z:202.96
[[ 9.37096644e-01 -2.45491051e-01 -2.48161284e-01  7.74027970e+02]
 [ 2.41399369e-01  9.69273347e-01 -4.72813262e-02  7.64904075e+01]
 [ 2.52143260e-01 -1.55988050e-02  9.67564186e-01  2.02958084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.420714057 meters
Centerline goodness : 0.997564 with order 1
Centerline is valid?  [True, True]
Translation: X:774.09, Y:76.50, Z:202.97
[[ 9.37131214e-01 -2.45355510e-01 -2.48164786e-01  7.74086806e+02]
 [ 2.41264024e-01  9.69307942e-01 -4.72629360e-02  7.65025854e+01]
 [ 2.52144320e-01 -1.55816624e-02  9.67564186e-01  2.02974327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.480714057 meters
Centerline goodness : 0.997449 with order 1
Centerline is valid?  [True, True]
Translation: X:774.14, Y:76.52, Z:202.99
[[ 9.36985368e-01 -2.45908336e-01 -2.48168310e-01  7.74144872e+02]
 [ 2.41840716e-01  9.69165121e-01 -4.72444285e-02  7.65150359e+01]
 [ 2.52133869e-01 -1.57498635e-02  9.67564186e-01  2.02988937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.5407140570001 meters
Centerline goodness : 0.997753 with order 1
Centerline is valid?  [True, True]
Translation: X:774.20, Y:76.53, Z:203.00
[[ 9.36586409e-01 -2.47422628e-01 -2.48169180e-01  7.74204649e+02]
 [ 2.43408237e-01  9.68772845e-01 -4.72398560e-02  7.65269406e+01]
 [ 2.52107772e-01 -1.61622155e-02  9.67564186e-01  2.03004851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.600714057 meters
Centerline goodness : 0.997754 with order 1
Centerline is valid?  [True, True]
Translation: X:774.26, Y:76.54, Z:203.02
[[ 9.35957030e-01 -2.49787761e-01 -2.48174360e-01  7.74261345e+02]
 [ 2.45861876e-01  9.68154381e-01 -4.72126292e-02  7.65377368e+01]
 [ 2.52064230e-01 -1.68276216e-02  9.67564186e-01  2.03021428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.6607140570001 meters
Centerline goodness : 0.997643 with order 1
Centerline is valid?  [True, True]
Translation: X:774.32, Y:76.55, Z:203.04
[[ 9.35648754e-01 -2.50940027e-01 -2.48174360e-01  7.74319450e+02]
 [ 2.47053790e-01  9.67850915e-01 -4.72126292e-02  7.65488428e+01]
 [ 2.52043319e-01 -1.71379784e-02  9.67564186e-01  2.03037253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.720714057 meters
Centerline goodness : 0.997686 with order 1
Centerline is valid?  [True, True]
Translation: X:774.38, Y:76.56, Z:203.05
[[ 9.36268310e-01 -2.48616682e-01 -2.48176140e-01  7.74377892e+02]
 [ 2.44652991e-01  9.68461029e-01 -4.72032689e-02  7.65596494e+01]
 [ 2.52084440e-01 -1.65221102e-02  9.67564187e-01  2.03050928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.7807140570001 meters
Centerline goodness : 0.997642 with order 1
Centerline is valid?  [True, True]
Translation: X:774.44, Y:76.57, Z:203.06
[[ 9.37096956e-01 -2.45473953e-01 -2.48177022e-01  7.74437105e+02]
 [ 2.41403496e-01  9.69276349e-01 -4.71986324e-02  7.65704440e+01]
 [ 2.52138152e-01 -1.56811059e-02  9.67564187e-01  2.03064716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.840714057 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:774.50, Y:76.58, Z:203.08
[[ 9.37668900e-01 -2.43277387e-01 -2.48179667e-01  7.74495037e+02]
 [ 2.39135204e-01  9.69839140e-01 -4.71847168e-02  7.65817659e+01]
 [ 2.52173330e-01 -1.51048540e-02  9.67564187e-01  2.03079765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.9007140570001 meters
Centerline goodness : 0.997955 with order 1
Centerline is valid?  [True, True]
Translation: X:774.55, Y:76.59, Z:203.10
[[ 9.38424543e-01 -2.40345780e-01 -2.48179940e-01  7.74552347e+02]
 [ 2.36103456e-01  9.70581731e-01 -4.71832840e-02  7.65936110e+01]
 [ 2.52219219e-01 -1.43181898e-02  9.67564187e-01  2.03095457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 800.960714057 meters
Centerline goodness : 0.998269 with order 1
Centerline is valid?  [True, True]
Translation: X:774.61, Y:76.60, Z:203.11
[[ 9.38461806e-01 -2.40199368e-01 -2.48180784e-01  7.74610471e+02]
 [ 2.35953198e-01  9.70618486e-01 -4.71788446e-02  7.66038256e+01]
 [ 2.52221185e-01 -1.42835059e-02  9.67564187e-01  2.03108985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.0207140570001 meters
Centerline goodness : 0.998113 with order 1
Centerline is valid?  [True, True]
Translation: X:774.67, Y:76.62, Z:203.12
[[ 9.38335971e-01 -2.40689606e-01 -2.48181626e-01  7.74669234e+02]
 [ 2.36461403e-01  9.70495018e-01 -4.71744145e-02  7.66152627e+01]
 [ 2.52213423e-01 -1.44199254e-02  9.67564187e-01  2.03124429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.080714057 meters
Centerline goodness : 0.998446 with order 1
Centerline is valid?  [True, True]
Translation: X:774.73, Y:76.63, Z:203.14
[[ 9.37727383e-01 -2.43046431e-01 -2.48184988e-01  7.74727982e+02]
 [ 2.38903708e-01  9.69897552e-01 -4.71567199e-02  7.66262363e+01]
 [ 2.52175285e-01 -1.50721662e-02  9.67564187e-01  2.03141922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.1407140570001 meters
Centerline goodness : 0.997854 with order 1
Centerline is valid?  [True, True]
Translation: X:774.79, Y:76.64, Z:203.16
[[ 9.37502735e-01 -2.43908131e-01 -2.48188326e-01  7.74786792e+02]
 [ 2.39799610e-01  9.69677291e-01 -4.71391462e-02  7.66369430e+01]
 [ 2.52160204e-01 -1.53223852e-02  9.67564187e-01  2.03159561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.200714057 meters
Centerline goodness : 0.997994 with order 1
Centerline is valid?  [True, True]
Translation: X:774.85, Y:76.65, Z:203.17
[[ 9.37557357e-01 -2.43694563e-01 -2.48191786e-01  7.74846567e+02]
 [ 2.39583518e-01  9.69731590e-01 -4.71209229e-02  7.66471404e+01]
 [ 2.52162528e-01 -1.52840933e-02  9.67564187e-01  2.03174125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.260714057 meters
Centerline goodness : 0.997812 with order 1
Centerline is valid?  [True, True]
Translation: X:774.91, Y:76.66, Z:203.19
[[ 9.38041993e-01 -2.41818799e-01 -2.48195262e-01  7.74905355e+02]
 [ 2.37648237e-01  9.70208565e-01 -4.71026056e-02  7.66572489e+01]
 [ 2.52191465e-01 -1.47989444e-02  9.67564187e-01  2.03188836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.320714057 meters
Centerline goodness : 0.997715 with order 1
Centerline is valid?  [True, True]
Translation: X:774.96, Y:76.67, Z:203.21
[[ 9.38749042e-01 -2.39056626e-01 -2.48197835e-01  7.74964720e+02]
 [ 2.34794974e-01  9.70903673e-01 -4.70890458e-02  7.66684350e+01]
 [ 2.52233138e-01 -1.40708075e-02  9.67564187e-01  2.03205465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.380714057 meters
Centerline goodness : 0.997393 with order 1
Centerline is valid?  [True, True]
Translation: X:775.02, Y:76.68, Z:203.22
[[ 9.39857394e-01 -2.34655514e-01 -2.48203283e-01  7.75022569e+02]
 [ 2.30250817e-01  9.71992741e-01 -4.70603099e-02  7.66791782e+01]
 [ 2.52294751e-01 -1.29190285e-02  9.67564188e-01  2.03222057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.440714057 meters
Centerline goodness : 0.997460 with order 1
Centerline is valid?  [True, True]
Translation: X:775.08, Y:76.69, Z:203.24
[[ 9.40244877e-01 -2.33097236e-01 -2.48204051e-01  7.75081867e+02]
 [ 2.28640341e-01  9.72373026e-01 -4.70562627e-02  7.66892809e+01]
 [ 2.52315609e-01 -1.25050489e-02  9.67564188e-01  2.03236913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.500714057 meters
Centerline goodness : 0.997178 with order 1
Centerline is valid?  [True, True]
Translation: X:775.14, Y:76.70, Z:203.25
[[ 9.39162040e-01 -2.37418770e-01 -2.48207555e-01  7.75139536e+02]
 [ 2.33114547e-01  9.71310999e-01 -4.70377700e-02  7.66980074e+01]
 [ 2.52254378e-01 -1.36847036e-02  9.67564188e-01  2.03250453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.560714057 meters
Centerline goodness : 0.997598 with order 1
Centerline is valid?  [True, True]
Translation: X:775.20, Y:76.71, Z:203.27
[[ 9.37822215e-01 -2.42653219e-01 -2.48211418e-01  7.75197640e+02]
 [ 2.38533749e-01  9.69995369e-01 -4.70173787e-02  7.67056663e+01]
 [ 2.52172844e-01 -1.51128578e-02  9.67564188e-01  2.03266819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.620714057 meters
Centerline goodness : 0.997602 with order 1
Centerline is valid?  [True, True]
Translation: X:775.26, Y:76.71, Z:203.28
[[ 9.37098503e-01 -2.45432386e-01 -2.48212289e-01  7.75255206e+02]
 [ 2.41409526e-01  9.69283880e-01 -4.70127774e-02  7.67147710e+01]
 [ 2.52126629e-01 -1.58652079e-02  9.67564188e-01  2.03282440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.680714057 meters
Centerline goodness : 0.998210 with order 1
Centerline is valid?  [True, True]
Translation: X:775.31, Y:76.72, Z:203.30
[[ 9.36240714e-01 -2.48684248e-01 -2.48212550e-01  7.75312000e+02]
 [ 2.44773514e-01  9.68439908e-01 -4.70114033e-02  7.67231474e+01]
 [ 2.52069934e-01 -1.67418682e-02  9.67564188e-01  2.03297202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.740714057 meters
Centerline goodness : 0.997627 with order 1
Centerline is valid?  [True, True]
Translation: X:775.37, Y:76.73, Z:203.31
[[ 9.35512965e-01 -2.51408778e-01 -2.48211841e-01  7.75371567e+02]
 [ 2.47590812e-01  9.67723290e-01 -4.70151440e-02  7.67332947e+01]
 [ 2.52020399e-01 -1.74716944e-02  9.67564188e-01  2.03312520e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.800714057 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:775.43, Y:76.74, Z:203.33
[[ 9.34899630e-01 -2.53676630e-01 -2.48215329e-01  7.75429547e+02]
 [ 2.49941648e-01  9.67119683e-01 -4.69967248e-02  7.67433762e+01]
 [ 2.51975900e-01 -1.81021277e-02  9.67564188e-01  2.03327043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.860714057 meters
Centerline goodness : 0.997951 with order 1
Centerline is valid?  [True, True]
Translation: X:775.49, Y:76.75, Z:203.34
[[ 9.34534815e-01 -2.55017127e-01 -2.48215519e-01  7.75489079e+02]
 [ 2.51328622e-01  9.66760222e-01 -4.69957196e-02  7.67540865e+01]
 [ 2.51949603e-01 -1.84645282e-02  9.67564188e-01  2.03341660e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.920714057 meters
Centerline goodness : 0.997410 with order 1
Centerline is valid?  [True, True]
Translation: X:775.55, Y:76.77, Z:203.36
[[ 9.34209256e-01 -2.56203803e-01 -2.48219013e-01  7.75547240e+02]
 [ 2.52561105e-01  9.66439872e-01 -4.69772592e-02  7.67663487e+01]
 [ 2.51924503e-01 -1.88038777e-02  9.67564189e-01  2.03356858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 801.980714057 meters
Centerline goodness : 0.997754 with order 1
Centerline is valid?  [True, True]
Translation: X:775.61, Y:76.78, Z:203.37
[[ 9.33445424e-01 -2.58971212e-01 -2.48220771e-01  7.75605433e+02]
 [ 2.55426501e-01  9.65686964e-01 -4.69679670e-02  7.67788457e+01]
 [ 2.51866914e-01 -1.95601290e-02  9.67564189e-01  2.03370756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.0407140570001 meters
Centerline goodness : 0.997995 with order 1
Centerline is valid?  [True, True]
Translation: X:775.66, Y:76.79, Z:203.39
[[ 9.32828964e-01 -2.61180550e-01 -2.48223375e-01  7.75662223e+02]
 [ 2.57715824e-01  9.65079197e-01 -4.69542019e-02  7.67929877e+01]
 [ 2.51818740e-01 -2.01708519e-02  9.67564189e-01  2.03386927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.100714057 meters
Centerline goodness : 0.997816 with order 1
Centerline is valid?  [True, True]
Translation: X:775.72, Y:76.81, Z:203.40
[[ 9.32589222e-01 -2.62035155e-01 -2.48223528e-01  7.75720128e+02]
 [ 2.58600194e-01  9.64842639e-01 -4.69533918e-02  7.68078541e+01]
 [ 2.51800083e-01 -2.04024254e-02  9.67564189e-01  2.03403559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.1607140570001 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:775.78, Y:76.82, Z:203.42
[[ 9.32664421e-01 -2.61764096e-01 -2.48226985e-01  7.75778470e+02]
 [ 2.58324595e-01  9.64917354e-01 -4.69351067e-02  7.68229192e+01]
 [ 2.51804452e-01 -2.03484314e-02  9.67564189e-01  2.03419306e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.220714057 meters
Centerline goodness : 0.997633 with order 1
Centerline is valid?  [True, True]
Translation: X:775.84, Y:76.84, Z:203.44
[[ 9.32899222e-01 -2.60922722e-01 -2.48230488e-01  7.75837412e+02]
 [ 2.57459028e-01  9.65149566e-01 -4.69165769e-02  7.68364627e+01]
 [ 2.51821148e-01 -2.01407419e-02  9.67564189e-01  2.03435137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.2807140570001 meters
Centerline goodness : 0.997893 with order 1
Centerline is valid?  [True, True]
Translation: X:775.89, Y:76.85, Z:203.45
[[ 9.33322631e-01 -2.59400764e-01 -2.48233982e-01  7.75894485e+02]
 [ 2.55889361e-01  9.65567815e-01 -4.68980802e-02  7.68519776e+01]
 [ 2.51852142e-01 -1.97493955e-02  9.67564189e-01  2.03450387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.340714057 meters
Centerline goodness : 0.998172 with order 1
Centerline is valid?  [True, True]
Translation: X:775.95, Y:76.87, Z:203.47
[[ 9.34634725e-01 -2.54626006e-01 -2.48240865e-01  7.75951393e+02]
 [ 2.50959434e-01  9.66862633e-01 -4.68616193e-02  7.68679724e+01]
 [ 2.51947004e-01 -1.84998903e-02  9.67564190e-01  2.03465393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.4007140570001 meters
Centerline goodness : 0.998101 with order 1
Centerline is valid?  [True, True]
Translation: X:776.01, Y:76.89, Z:203.48
[[ 9.36598348e-01 -2.47305365e-01 -2.48240994e-01  7.76007143e+02]
 [ 2.43386924e-01  9.68796603e-01 -4.68609394e-02  7.68868665e+01]
 [ 2.52083993e-01 -1.65287335e-02  9.67564190e-01  2.03480739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.460714057 meters
Centerline goodness : 0.998032 with order 1
Centerline is valid?  [True, True]
Translation: X:776.06, Y:76.90, Z:203.50
[[ 9.38712038e-01 -2.39157044e-01 -2.48241047e-01  7.76062257e+02]
 [ 2.34959025e-01  9.70875036e-01 -4.68606553e-02  7.69033165e+01]
 [ 2.52218092e-01 -1.43378133e-02  9.67564190e-01  2.03495982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.5207140570001 meters
Centerline goodness : 0.998140 with order 1
Centerline is valid?  [True, True]
Translation: X:776.12, Y:76.92, Z:203.51
[[ 9.40049010e-01 -2.33847411e-01 -2.48240300e-01  7.76118851e+02]
 [ 2.29466624e-01  9.72187624e-01 -4.68646134e-02  7.69186178e+01]
 [ 2.52295316e-01 -1.29078301e-02  9.67564190e-01  2.03511413e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.580714057 meters
Centerline goodness : 0.997959 with order 1
Centerline is valid?  [True, True]
Translation: X:776.18, Y:76.93, Z:203.53
[[ 9.40515779e-01 -2.31962977e-01 -2.48240300e-01  7.76176466e+02]
 [ 2.27517790e-01  9.72645549e-01 -4.68646134e-02  7.69316798e+01]
 [ 2.52320678e-01 -1.24021760e-02  9.67564190e-01  2.03527676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.6407140570001 meters
Centerline goodness : 0.998202 with order 1
Centerline is valid?  [True, True]
Translation: X:776.23, Y:76.94, Z:203.54
[[ 9.40474928e-01 -2.32126696e-01 -2.48242034e-01  7.76234121e+02]
 [ 2.27689520e-01  9.72605805e-01 -4.68554289e-02  7.69433324e+01]
 [ 2.52318039e-01 -1.24557533e-02  9.67564190e-01  2.03543630e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.700714057 meters
Centerline goodness : 0.998053 with order 1
Centerline is valid?  [True, True]
Translation: X:776.29, Y:76.95, Z:203.56
[[ 9.39286785e-01 -2.36877102e-01 -2.48253045e-01  7.76292501e+02]
 [ 2.32617770e-01  9.71441718e-01 -4.67970152e-02  7.69519861e+01]
 [ 2.52248506e-01 -1.37922520e-02  9.67564192e-01  2.03557908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.760714057 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:776.35, Y:76.96, Z:203.57
[[ 9.37580339e-01 -2.43541740e-01 -2.48254968e-01  7.76351518e+02]
 [ 2.39513563e-01  9.69765047e-01 -4.67868159e-02  7.69610937e+01]
 [ 2.52143533e-01 -1.55940330e-02  9.67564192e-01  2.03572778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.820714057 meters
Centerline goodness : 0.997770 with order 1
Centerline is valid?  [True, True]
Translation: X:776.41, Y:76.97, Z:203.59
[[ 9.36522248e-01 -2.47578075e-01 -2.48256271e-01  7.76409673e+02]
 [ 2.43690395e-01  9.68724229e-01 -4.67799006e-02  7.69685399e+01]
 [ 2.52073542e-01 -1.66872509e-02  9.67564192e-01  2.03586924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.880714057 meters
Centerline goodness : 0.997465 with order 1
Centerline is valid?  [True, True]
Translation: X:776.47, Y:76.98, Z:203.60
[[ 9.36292503e-01 -2.48444748e-01 -2.48257037e-01  7.76467732e+02]
 [ 2.44587946e-01  9.68498197e-01 -4.67758330e-02  7.69778925e+01]
 [ 2.52057703e-01 -1.69248171e-02  9.67564192e-01  2.03601631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 802.940714057 meters
Centerline goodness : 0.998229 with order 1
Centerline is valid?  [True, True]
Translation: X:776.53, Y:76.99, Z:203.62
[[ 9.36597373e-01 -2.47292077e-01 -2.48257908e-01  7.76527017e+02]
 [ 2.43396857e-01  9.68798443e-01 -4.67712105e-02  7.69875656e+01]
 [ 2.52078025e-01 -1.66194016e-02  9.67564192e-01  2.03616952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.000714057 meters
Centerline goodness : 0.997838 with order 1
Centerline is valid?  [True, True]
Translation: X:776.58, Y:77.00, Z:203.63
[[ 9.37660079e-01 -2.43219297e-01 -2.48269912e-01  7.76584180e+02]
 [ 2.39200994e-01  9.69846020e-01 -4.67074065e-02  7.69964298e+01]
 [ 2.52143729e-01 -1.55907392e-02  9.67564194e-01  2.03631325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.060714057 meters
Centerline goodness : 0.997680 with order 1
Centerline is valid?  [True, True]
Translation: X:776.64, Y:77.01, Z:203.65
[[ 9.38702118e-01 -2.39166987e-01 -2.48268980e-01  7.76641698e+02]
 [ 2.35008396e-01  9.70870233e-01 -4.67123597e-02  7.70071572e+01]
 [ 2.52209017e-01 -1.44963037e-02  9.67564194e-01  2.03646769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.120714057 meters
Centerline goodness : 0.998101 with order 1
Centerline is valid?  [True, True]
Translation: X:776.70, Y:77.02, Z:203.66
[[ 9.40809100e-01 -2.30739573e-01 -2.48268980e-01  7.76699592e+02]
 [ 2.26292682e-01  9.72938630e-01 -4.67123597e-02  7.70165114e+01]
 [ 2.52328871e-01 -1.22340402e-02  9.67564194e-01  2.03663187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.180714057 meters
Centerline goodness : 0.997659 with order 1
Centerline is valid?  [True, True]
Translation: X:776.76, Y:77.03, Z:203.68
[[ 9.41569362e-01 -2.27616515e-01 -2.48269730e-01  7.76758163e+02]
 [ 2.23064085e-01  9.73684108e-01 -4.67083759e-02  7.70261837e+01]
 [ 2.52367888e-01 -1.14008842e-02  9.67564194e-01  2.03678236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.240714057 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:776.82, Y:77.03, Z:203.69
[[ 9.41811274e-01 -2.26612527e-01 -2.48270594e-01  7.76817160e+02]
 [ 2.22027068e-01  9.73921320e-01 -4.67037802e-02  7.70349963e+01]
 [ 2.52379686e-01 -1.11366455e-02  9.67564194e-01  2.03692142e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.300714057 meters
Centerline goodness : 0.997661 with order 1
Centerline is valid?  [True, True]
Translation: X:776.88, Y:77.04, Z:203.71
[[ 9.41483746e-01 -2.27966655e-01 -2.48273157e-01  7.76875806e+02]
 [ 2.23430964e-01  9.73600860e-01 -4.66901499e-02  7.70433934e+01]
 [ 2.52362757e-01 -1.15138936e-02  9.67564194e-01  2.03707588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.360714057 meters
Centerline goodness : 0.997953 with order 1
Centerline is valid?  [True, True]
Translation: X:776.93, Y:77.05, Z:203.72
[[ 9.41101117e-01 -2.29539268e-01 -2.48274874e-01  7.76934690e+02]
 [ 2.25059643e-01  9.73226099e-01 -4.66810218e-02  7.70519208e+01]
 [ 2.52342714e-01 -1.19450927e-02  9.67564194e-01  2.03722837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.420714057 meters
Centerline goodness : 0.997843 with order 1
Centerline is valid?  [True, True]
Translation: X:776.99, Y:77.06, Z:203.74
[[ 9.39903819e-01 -2.34391865e-01 -2.48276588e-01  7.76992881e+02]
 [ 2.30080452e-01  9.72051809e-01 -4.66719003e-02  7.70585333e+01]
 [ 2.52277221e-01 -1.32564924e-02  9.67564194e-01  2.03738712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.480714057 meters
Centerline goodness : 0.997549 with order 1
Centerline is valid?  [True, True]
Translation: X:777.05, Y:77.07, Z:203.75
[[ 9.39583674e-01 -2.35671619e-01 -2.48276879e-01  7.77051660e+02]
 [ 2.31404397e-01  9.71737559e-01 -4.66703554e-02  7.70679980e+01]
 [ 2.52258846e-01 -1.36016575e-02  9.67564194e-01  2.03754620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.5407140570001 meters
Centerline goodness : 0.997840 with order 1
Centerline is valid?  [True, True]
Translation: X:777.11, Y:77.08, Z:203.77
[[ 9.39211076e-01 -2.37145386e-01 -2.48283349e-01  7.77110503e+02]
 [ 2.32937689e-01  9.71372804e-01 -4.66359124e-02  7.70760370e+01]
 [ 2.52235184e-01 -1.40335841e-02  9.67564195e-01  2.03772160e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.600714057 meters
Centerline goodness : 0.997795 with order 1
Centerline is valid?  [True, True]
Translation: X:777.17, Y:77.08, Z:203.79
[[ 9.38642632e-01 -2.39381942e-01 -2.48286720e-01  7.77168590e+02]
 [ 2.35255600e-01  9.70814899e-01 -4.66179576e-02  7.70834706e+01]
 [ 2.52199944e-01 -1.46532388e-02  9.67564195e-01  2.03787334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.6607140570001 meters
Centerline goodness : 0.997492 with order 1
Centerline is valid?  [True, True]
Translation: X:777.23, Y:77.09, Z:203.80
[[ 9.37619970e-01 -2.43356585e-01 -2.48286861e-01  7.77227870e+02]
 [ 2.39366785e-01  9.69809455e-01 -4.66172073e-02  7.70906523e+01]
 [ 2.52135549e-01 -1.57224030e-02  9.67564195e-01  2.03801086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.720714057 meters
Centerline goodness : 0.997499 with order 1
Centerline is valid?  [True, True]
Translation: X:777.29, Y:77.10, Z:203.82
[[ 9.36447634e-01 -2.47827926e-01 -2.48288436e-01  7.77286154e+02]
 [ 2.43993986e-01  9.68656055e-01 -4.66088153e-02  7.70977304e+01]
 [ 2.52057063e-01 -1.69341703e-02  9.67564195e-01  2.03816342e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.7807140570001 meters
Centerline goodness : 0.997519 with order 1
Centerline is valid?  [True, True]
Translation: X:777.35, Y:77.11, Z:203.83
[[ 9.35843707e-01 -2.50098590e-01 -2.48288647e-01  7.77345495e+02]
 [ 2.46343081e-01  9.68061367e-01 -4.66076915e-02  7.71070373e+01]
 [ 2.52015165e-01 -1.75466754e-02  9.67564195e-01  2.03832443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.840714057 meters
Centerline goodness : 0.997350 with order 1
Centerline is valid?  [True, True]
Translation: X:777.40, Y:77.12, Z:203.85
[[ 9.35874863e-01 -2.49978614e-01 -2.48292034e-01  7.77404445e+02]
 [ 2.46223740e-01  9.68092596e-01 -4.65896399e-02  7.71161223e+01]
 [ 2.52016094e-01 -1.75333205e-02  9.67564195e-01  2.03847779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.9007140570001 meters
Centerline goodness : 0.997317 with order 1
Centerline is valid?  [True, True]
Translation: X:777.46, Y:77.13, Z:203.86
[[ 9.36716564e-01 -2.46804182e-01 -2.48293727e-01  7.77461194e+02]
 [ 2.42942479e-01  9.68921668e-01 -4.65806186e-02  7.71257849e+01]
 [ 2.52073463e-01 -1.66882564e-02  9.67564195e-01  2.03861952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 803.960714057 meters
Centerline goodness : 0.996965 with order 1
Centerline is valid?  [True, True]
Translation: X:777.52, Y:77.14, Z:203.88
[[ 9.37141080e-01 -2.45187830e-01 -2.48293223e-01  7.77519234e+02]
 [ 2.41269865e-01  9.69339387e-01 -4.65833046e-02  7.71353312e+01]
 [ 2.52102060e-01 -1.62505439e-02  9.67564195e-01  2.03879315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.0207140570001 meters
Centerline goodness : 0.997270 with order 1
Centerline is valid?  [True, True]
Translation: X:777.58, Y:77.15, Z:203.90
[[ 9.37209638e-01 -2.44924775e-01 -2.48294079e-01  7.77578424e+02]
 [ 2.40998976e-01  9.69406991e-01 -4.65787416e-02  7.71453843e+01]
 [ 2.52106304e-01 -1.61845733e-02  9.67564195e-01  2.03895663e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.080714057 meters
Centerline goodness : 0.997407 with order 1
Centerline is valid?  [True, True]
Translation: X:777.64, Y:77.15, Z:203.91
[[ 9.37040665e-01 -2.45566875e-01 -2.48297607e-01  7.77635980e+02]
 [ 2.41668104e-01  9.69241302e-01 -4.65599232e-02  7.71542710e+01]
 [ 2.52093871e-01 -1.63770705e-02  9.67564195e-01  2.03910567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.1407140570001 meters
Centerline goodness : 0.996813 with order 1
Centerline is valid?  [True, True]
Translation: X:777.70, Y:77.16, Z:203.93
[[ 9.36886894e-01 -2.46152000e-01 -2.48298492e-01  7.77695157e+02]
 [ 2.42274582e-01  9.69090109e-01 -4.65552078e-02  7.71627061e+01]
 [ 2.52083270e-01 -1.65394493e-02  9.67564195e-01  2.03926089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.200714057 meters
Centerline goodness : 0.997261 with order 1
Centerline is valid?  [True, True]
Translation: X:777.76, Y:77.17, Z:203.94
[[ 9.36639182e-01 -2.47090277e-01 -2.48301104e-01  7.77755066e+02]
 [ 2.43248794e-01  9.68846703e-01 -4.65412720e-02  7.71709386e+01]
 [ 2.52065602e-01 -1.68065650e-02  9.67564195e-01  2.03941089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.260714057 meters
Centerline goodness : 0.997155 with order 1
Centerline is valid?  [True, True]
Translation: X:777.81, Y:77.18, Z:203.96
[[ 9.36316884e-01 -2.48305349e-01 -2.48304543e-01  7.77813748e+02]
 [ 2.44510503e-01  9.68529934e-01 -4.65229139e-02  7.71798391e+01]
 [ 2.52042271e-01 -1.71528790e-02  9.67564195e-01  2.03956492e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.320714057 meters
Centerline goodness : 0.997809 with order 1
Centerline is valid?  [True, True]
Translation: X:777.87, Y:77.19, Z:203.97
[[ 9.36170772e-01 -2.48853954e-01 -2.48306251e-01  7.77873099e+02]
 [ 2.45080391e-01  9.68386322e-01 -4.65137990e-02  7.71893906e+01]
 [ 2.52031520e-01 -1.73101339e-02  9.67564195e-01  2.03972471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.380714057 meters
Centerline goodness : 0.997412 with order 1
Centerline is valid?  [True, True]
Translation: X:777.93, Y:77.20, Z:203.99
[[ 9.36240540e-01 -2.48587959e-01 -2.48309641e-01  7.77932903e+02]
 [ 2.44810021e-01  9.68455577e-01 -4.64956955e-02  7.71994008e+01]
 [ 2.52035126e-01 -1.72575333e-02  9.67564196e-01  2.03988272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.440714057 meters
Centerline goodness : 0.997236 with order 1
Centerline is valid?  [True, True]
Translation: X:777.99, Y:77.21, Z:204.00
[[ 9.36721170e-01 -2.46764957e-01 -2.48315335e-01  7.77990825e+02]
 [ 2.42932344e-01  9.68929748e-01 -4.64652659e-02  7.72097629e+01]
 [ 2.52066114e-01 -1.67988280e-02  9.67564196e-01  2.04004146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.500714057 meters
Centerline goodness : 0.996784 with order 1
Centerline is valid?  [True, True]
Translation: X:778.05, Y:77.22, Z:204.02
[[ 9.37570455e-01 -2.43511478e-01 -2.48321973e-01  7.78048293e+02]
 [ 2.39576435e-01  9.69766678e-01 -4.64297628e-02  7.72203903e+01]
 [ 2.52120555e-01 -1.59609192e-02  9.67564197e-01  2.04019196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.560714057 meters
Centerline goodness : 0.997411 with order 1
Centerline is valid?  [True, True]
Translation: X:778.11, Y:77.23, Z:204.03
[[ 9.38277755e-01 -2.40771784e-01 -2.48321973e-01  7.78106326e+02]
 [ 2.36742712e-01  9.70462346e-01 -4.64297628e-02  7.72316849e+01]
 [ 2.52166102e-01 -1.52244039e-02  9.67564197e-01  2.04034744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.620714057 meters
Centerline goodness : 0.997300 with order 1
Centerline is valid?  [True, True]
Translation: X:778.16, Y:77.24, Z:204.05
[[ 9.38632346e-01 -2.39383901e-01 -2.48323712e-01  7.78164918e+02]
 [ 2.35309688e-01  9.70811254e-01 -4.64204597e-02  7.72433869e+01]
 [ 2.52187765e-01 -1.48612303e-02  9.67564197e-01  2.04050662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.680714057 meters
Centerline goodness : 0.997060 with order 1
Centerline is valid?  [True, True]
Translation: X:778.22, Y:77.25, Z:204.07
[[ 9.38637134e-01 -2.39362438e-01 -2.48326306e-01  7.78222157e+02]
 [ 2.35291148e-01  9.70816412e-01 -4.64065800e-02  7.72541235e+01]
 [ 2.52187246e-01 -1.48700425e-02  9.67564197e-01  2.04065346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.740714057 meters
Centerline goodness : 0.997175 with order 1
Centerline is valid?  [True, True]
Translation: X:778.28, Y:77.26, Z:204.08
[[ 9.38337961e-01 -2.40532568e-01 -2.48326306e-01  7.78280216e+02]
 [ 2.36501403e-01  9.70522290e-01 -4.64065800e-02  7.72648583e+01]
 [ 2.52168509e-01 -1.51844641e-02  9.67564197e-01  2.04080300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.800714057 meters
Centerline goodness : 0.996978 with order 1
Centerline is valid?  [True, True]
Translation: X:778.34, Y:77.28, Z:204.10
[[ 9.38145294e-01 -2.41282055e-01 -2.48327159e-01  7.78337946e+02]
 [ 2.37277804e-01  9.70332982e-01 -4.64020167e-02  7.72750224e+01]
 [ 2.52156007e-01 -1.53906894e-02  9.67564197e-01  2.04095878e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.860714057 meters
Centerline goodness : 0.996809 with order 1
Centerline is valid?  [True, True]
Translation: X:778.40, Y:77.29, Z:204.11
[[ 9.38205101e-01 -2.41047040e-01 -2.48329446e-01  7.78396546e+02]
 [ 2.37037955e-01  9.70392187e-01 -4.63897716e-02  7.72861352e+01]
 [ 2.52159072e-01 -1.53403837e-02  9.67564197e-01  2.04111838e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.920714057 meters
Centerline goodness : 0.996595 with order 1
Centerline is valid?  [True, True]
Translation: X:778.45, Y:77.30, Z:204.13
[[ 9.38715602e-01 -2.39044303e-01 -2.48336144e-01  7.78454498e+02]
 [ 2.34975996e-01  9.70895256e-01 -4.63538907e-02  7.72974270e+01]
 [ 2.52189018e-01 -1.48399124e-02  9.67564198e-01  2.04127427e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 804.980714057 meters
Centerline goodness : 0.996921 with order 1
Centerline is valid?  [True, True]
Translation: X:778.51, Y:77.31, Z:204.14
[[ 9.39393861e-01 -2.36363908e-01 -2.48337024e-01  7.78512208e+02]
 [ 2.32205008e-01  9.71561932e-01 -4.63491747e-02  7.73085496e+01]
 [ 2.52230071e-01 -1.41249705e-02  9.67564198e-01  2.04142856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.0407140570001 meters
Centerline goodness : 0.997355 with order 1
Centerline is valid?  [True, True]
Translation: X:778.57, Y:77.32, Z:204.16
[[ 9.40032980e-01 -2.33807290e-01 -2.48338774e-01  7.78569651e+02]
 [ 2.29563359e-01  9.72189944e-01 -4.63397949e-02  7.73184141e+01]
 [ 2.52267041e-01 -1.34485478e-02  9.67564198e-01  2.04157717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.100714057 meters
Centerline goodness : 0.997137 with order 1
Centerline is valid?  [True, True]
Translation: X:778.63, Y:77.33, Z:204.17
[[ 9.40402114e-01 -2.32317863e-01 -2.48339031e-01  7.78629117e+02]
 [ 2.28023358e-01  9.72552363e-01 -4.63384193e-02  7.73290976e+01]
 [ 2.52287954e-01 -1.30503524e-02  9.67564198e-01  2.04173904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.1607140570001 meters
Centerline goodness : 0.997459 with order 1
Centerline is valid?  [True, True]
Translation: X:778.69, Y:77.34, Z:204.19
[[ 9.40840999e-01 -2.30530363e-01 -2.48342437e-01  7.78687499e+02]
 [ 2.26179577e-01  9.72983680e-01 -4.63201602e-02  7.73396144e+01]
 [ 2.52311341e-01 -1.25900815e-02  9.67564198e-01  2.04189350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.220714057 meters
Centerline goodness : 0.997225 with order 1
Centerline is valid?  [True, True]
Translation: X:778.75, Y:77.35, Z:204.20
[[ 9.40945526e-01 -2.30101547e-01 -2.48344106e-01  7.78747322e+02]
 [ 2.25738469e-01  9.73086541e-01 -4.63112078e-02  7.73487205e+01]
 [ 2.52316588e-01 -1.24844945e-02  9.67564198e-01  2.04204076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.2807140570001 meters
Centerline goodness : 0.997398 with order 1
Centerline is valid?  [True, True]
Translation: X:778.81, Y:77.36, Z:204.22
[[ 9.40761395e-01 -2.30849544e-01 -2.48347512e-01  7.78807513e+02]
 [ 2.26516831e-01  9.72906516e-01 -4.62929388e-02  7.73570519e+01]
 [ 2.52305616e-01 -1.27042816e-02  9.67564198e-01  2.04219286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.340714057 meters
Centerline goodness : 0.997667 with order 1
Centerline is valid?  [True, True]
Translation: X:778.87, Y:77.37, Z:204.23
[[ 9.40726920e-01 -2.30985410e-01 -2.48351770e-01  7.78865673e+02]
 [ 2.26663357e-01  9.72873477e-01 -4.62700835e-02  7.73667203e+01]
 [ 2.52302564e-01 -1.27647327e-02  9.67564198e-01  2.04234467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.4007140570001 meters
Centerline goodness : 0.997729 with order 1
Centerline is valid?  [True, True]
Translation: X:778.93, Y:77.38, Z:204.25
[[ 9.40673178e-01 -2.31203273e-01 -2.48352609e-01  7.78925033e+02]
 [ 2.26889851e-01  9.72820894e-01 -4.62655790e-02  7.73758551e+01]
 [ 2.52299360e-01 -1.28278972e-02  9.67564198e-01  2.04250191e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.460714057 meters
Centerline goodness : 0.998362 with order 1
Centerline is valid?  [True, True]
Translation: X:778.98, Y:77.39, Z:204.27
[[ 9.40726620e-01 -2.30982999e-01 -2.48355150e-01  7.78983310e+02]
 [ 2.26665643e-01  9.72873807e-01 -4.62519329e-02  7.73856003e+01]
 [ 2.52301631e-01 -1.27831554e-02  9.67564198e-01  2.04265828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.5207140570001 meters
Centerline goodness : 0.998614 with order 1
Centerline is valid?  [True, True]
Translation: X:779.04, Y:77.39, Z:204.28
[[ 9.40698134e-01 -2.31096279e-01 -2.48357666e-01  7.79042880e+02]
 [ 2.26786352e-01  9.72846318e-01 -4.62384189e-02  7.73947602e+01]
 [ 2.52299368e-01 -1.28277348e-02  9.67564198e-01  2.04281938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.580714057 meters
Centerline goodness : 0.998209 with order 1
Centerline is valid?  [True, True]
Translation: X:779.10, Y:77.40, Z:204.30
[[ 9.40881583e-01 -2.30344653e-01 -2.48361004e-01  7.79102167e+02]
 [ 2.26013765e-01  9.73026950e-01 -4.62204827e-02  7.74037801e+01]
 [ 2.52308592e-01 -1.26450049e-02  9.67564199e-01  2.04297061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.6407140570001 meters
Centerline goodness : 0.998515 with order 1
Centerline is valid?  [True, True]
Translation: X:779.16, Y:77.41, Z:204.31
[[ 9.41102823e-01 -2.29435517e-01 -2.48364290e-01  7.79160621e+02]
 [ 2.25078224e-01  9.73244621e-01 -4.62028219e-02  7.74136947e+01]
 [ 2.52319778e-01 -1.24197872e-02  9.67564199e-01  2.04311507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.700714057 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:779.22, Y:77.42, Z:204.33
[[ 9.41488113e-01 -2.27848501e-01 -2.48365040e-01  7.79219895e+02]
 [ 2.23438085e-01  9.73622665e-01 -4.61987896e-02  7.74234329e+01]
 [ 2.52340157e-01 -1.19985977e-02  9.67564199e-01  2.04325980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.760714057 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:779.28, Y:77.43, Z:204.34
[[ 9.42087228e-01 -2.25354840e-01 -2.48368377e-01  7.79279051e+02]
 [ 2.20864075e-01  9.74210650e-01 -4.61808436e-02  7.74334660e+01]
 [ 2.52370194e-01 -1.13492688e-02  9.67564199e-01  2.04341212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.820714057 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:779.34, Y:77.44, Z:204.36
[[ 9.42855727e-01 -2.22113643e-01 -2.48371914e-01  7.79336732e+02]
 [ 2.17517435e-01  9.74964231e-01 -4.61618146e-02  7.74434384e+01]
 [ 2.52406901e-01 -1.05012902e-02  9.67564199e-01  2.04356665e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.880714057 meters
Centerline goodness : 0.998790 with order 1
Centerline is valid?  [True, True]
Translation: X:779.40, Y:77.45, Z:204.37
[[ 9.43243208e-01 -2.20462213e-01 -2.48372027e-01  7.79395329e+02]
 [ 2.15809945e-01  9.75343637e-01 -4.61612062e-02  7.74519305e+01]
 [ 2.52424878e-01 -1.00599091e-02  9.67564199e-01  2.04371699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 805.940714057 meters
Centerline goodness : 0.997970 with order 1
Centerline is valid?  [True, True]
Translation: X:779.45, Y:77.46, Z:204.39
[[ 9.43095936e-01 -2.21088438e-01 -2.48374633e-01  7.79453465e+02]
 [ 2.16461173e-01  9.75199979e-01 -4.61471777e-02  7.74609458e+01]
 [ 2.52417544e-01 -1.02422486e-02  9.67564199e-01  2.04386377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.000714057 meters
Centerline goodness : 0.997694 with order 1
Centerline is valid?  [True, True]
Translation: X:779.51, Y:77.47, Z:204.40
[[ 9.42047954e-01 -2.25509751e-01 -2.48376740e-01  7.79513129e+02]
 [ 2.21036109e-01  9.74173764e-01 -4.61358359e-02  7.74679483e+01]
 [ 2.52366185e-01 -1.14380584e-02  9.67564199e-01  2.04401753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.060714057 meters
Centerline goodness : 0.997463 with order 1
Centerline is valid?  [True, True]
Translation: X:779.57, Y:77.47, Z:204.42
[[ 9.40236787e-01 -2.32942215e-01 -2.48380172e-01  7.79571230e+02]
 [ 2.28727284e-01  9.72397562e-01 -4.61173537e-02  7.74749912e+01]
 [ 2.52266952e-01 -1.34500895e-02  9.67564199e-01  2.04417642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.120714057 meters
Centerline goodness : 0.997564 with order 1
Centerline is valid?  [True, True]
Translation: X:779.63, Y:77.48, Z:204.43
[[ 9.39132639e-01 -2.37354675e-01 -2.48380040e-01  7.79630055e+02]
 [ 2.33290619e-01  9.71312829e-01 -4.61180600e-02  7.74817993e+01]
 [ 2.52201057e-01 -1.46337581e-02  9.67564199e-01  2.04432681e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.180714057 meters
Centerline goodness : 0.997684 with order 1
Centerline is valid?  [True, True]
Translation: X:779.69, Y:77.49, Z:204.45
[[ 9.38842108e-01 -2.38499833e-01 -2.48381414e-01  7.79687817e+02]
 [ 2.34476977e-01  9.71027474e-01 -4.61106599e-02  7.74906108e+01]
 [ 2.52182562e-01 -1.49490940e-02  9.67564200e-01  2.04448204e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.240714057 meters
Centerline goodness : 0.997038 with order 1
Centerline is valid?  [True, True]
Translation: X:779.75, Y:77.50, Z:204.46
[[ 9.39012545e-01 -2.37827907e-01 -2.48381414e-01  7.79745834e+02]
 [ 2.33782019e-01  9.71195024e-01 -4.61106599e-02  7.74996566e+01]
 [ 2.52193195e-01 -1.47686204e-02  9.67564200e-01  2.04463872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.300714057 meters
Centerline goodness : 0.997373 with order 1
Centerline is valid?  [True, True]
Translation: X:779.80, Y:77.51, Z:204.48
[[ 9.39656824e-01 -2.35268575e-01 -2.48382268e-01  7.79802866e+02]
 [ 2.31136229e-01  9.71828316e-01 -4.61060585e-02  7.75089068e+01]
 [ 2.52232228e-01 -1.40862685e-02  9.67564200e-01  2.04479289e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.360714057 meters
Centerline goodness : 0.997860 with order 1
Centerline is valid?  [True, True]
Translation: X:779.86, Y:77.52, Z:204.49
[[ 9.40304828e-01 -2.32665164e-01 -2.48382268e-01  7.79860515e+02]
 [ 2.28443731e-01  9.72464752e-01 -4.61060585e-02  7.75186550e+01]
 [ 2.52270275e-01 -1.33876228e-02  9.67564200e-01  2.04493546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.420714057 meters
Centerline goodness : 0.997635 with order 1
Centerline is valid?  [True, True]
Translation: X:779.92, Y:77.53, Z:204.51
[[ 9.40675412e-01 -2.31162305e-01 -2.48382283e-01  7.79919176e+02]
 [ 2.26889509e-01  9.72828551e-01 -4.61059779e-02  7.75289371e+01]
 [ 2.52291341e-01 -1.29845746e-02  9.67564200e-01  2.04508162e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.480714057 meters
Centerline goodness : 0.997609 with order 1
Centerline is valid?  [True, True]
Translation: X:779.98, Y:77.54, Z:204.52
[[ 9.41349085e-01 -2.28401623e-01 -2.48383975e-01  7.79976692e+02]
 [ 2.24036916e-01  9.73489876e-01 -4.60968648e-02  7.75384124e+01]
 [ 2.52327884e-01 -1.22539381e-02  9.67564200e-01  2.04522257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.5407140570001 meters
Centerline goodness : 0.997308 with order 1
Centerline is valid?  [True, True]
Translation: X:780.03, Y:77.55, Z:204.54
[[ 9.42650498e-01 -2.22970523e-01 -2.48383142e-01  7.80033943e+02]
 [ 2.18419402e-01  9.74765423e-01 -4.61013511e-02  7.75496773e+01]
 [ 2.52394541e-01 -1.07942358e-02  9.67564200e-01  2.04538426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.600714057 meters
Centerline goodness : 0.997005 with order 1
Centerline is valid?  [True, True]
Translation: X:780.09, Y:77.56, Z:204.55
[[ 9.43951480e-01 -2.17397097e-01 -2.48382982e-01  7.80091181e+02]
 [ 2.12656082e-01  9.76038922e-01 -4.61022136e-02  7.75602360e+01]
 [ 2.52453945e-01 -9.30189890e-03  9.67564200e-01  2.04553994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.6607140570001 meters
Centerline goodness : 0.997457 with order 1
Centerline is valid?  [True, True]
Translation: X:780.15, Y:77.57, Z:204.57
[[ 9.44410407e-01 -2.15394869e-01 -2.48382838e-01  7.80148830e+02]
 [ 2.10585616e-01  9.76487692e-01 -4.61029912e-02  7.75701829e+01]
 [ 2.52473132e-01 -8.76570812e-03  9.67564200e-01  2.04569776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.720714057 meters
Centerline goodness : 0.996929 with order 1
Centerline is valid?  [True, True]
Translation: X:780.21, Y:77.58, Z:204.59
[[ 9.44444207e-01 -2.15246615e-01 -2.48382838e-01  7.80206774e+02]
 [ 2.10432326e-01  9.76520737e-01 -4.61029912e-02  7.75790233e+01]
 [ 2.52474504e-01 -8.72607523e-03  9.67564200e-01  2.04585402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.7807140570001 meters
Centerline goodness : 0.997342 with order 1
Centerline is valid?  [True, True]
Translation: X:780.27, Y:77.59, Z:204.60
[[ 9.43753907e-01 -2.18252369e-01 -2.48383707e-01  7.80265136e+02]
 [ 2.13541459e-01  9.75845783e-01 -4.60983038e-02  7.75858753e+01]
 [ 2.52445257e-01 -9.53476493e-03  9.67564200e-01  2.04600710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.840714057 meters
Centerline goodness : 0.996545 with order 1
Centerline is valid?  [True, True]
Translation: X:780.32, Y:77.59, Z:204.62
[[ 9.42887271e-01 -2.21965545e-01 -2.48384563e-01  7.80323738e+02]
 [ 2.17382206e-01  9.74997614e-01 -4.60936937e-02  7.75943502e+01]
 [ 2.52405568e-01 -1.05332273e-02  9.67564200e-01  2.04616410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.9007140570001 meters
Centerline goodness : 0.996565 with order 1
Centerline is valid?  [True, True]
Translation: X:780.38, Y:77.60, Z:204.63
[[ 9.41564542e-01 -2.27509270e-01 -2.48386282e-01  7.80380984e+02]
 [ 2.23117372e-01  9.73701630e-01 -4.60844297e-02  7.76011899e+01]
 [ 2.52338762e-01 -1.20278295e-02  9.67564200e-01  2.04631547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 806.960714057 meters
Centerline goodness : 0.996577 with order 1
Centerline is valid?  [True, True]
Translation: X:780.44, Y:77.61, Z:204.65
[[ 9.40275136e-01 -2.32782164e-01 -2.48385051e-01  7.80438879e+02]
 [ 2.28568682e-01  9.72436101e-01 -4.60910627e-02  7.76090638e+01]
 [ 2.52267768e-01 -1.34347636e-02  9.67564200e-01  2.04646514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.0207140570001 meters
Centerline goodness : 0.996450 with order 1
Centerline is valid?  [True, True]
Translation: X:780.50, Y:77.62, Z:204.66
[[ 9.39557426e-01 -2.35662238e-01 -2.48385089e-01  7.80496405e+02]
 [ 2.31547377e-01  9.71731159e-01 -4.60908586e-02  7.76179466e+01]
 [ 2.52225405e-01 -1.42079074e-02  9.67564200e-01  2.04661796e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.080714057 meters
Centerline goodness : 0.996153 with order 1
Centerline is valid?  [True, True]
Translation: X:780.56, Y:77.63, Z:204.68
[[ 9.39131432e-01 -2.37355059e-01 -2.48384237e-01  7.80555086e+02]
 [ 2.33296976e-01  9.71312376e-01 -4.60954483e-02  7.76284938e+01]
 [ 2.52199671e-01 -1.46576070e-02  9.67564200e-01  2.04677192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.1407140570001 meters
Centerline goodness : 0.996681 with order 1
Centerline is valid?  [True, True]
Translation: X:780.61, Y:77.64, Z:204.69
[[ 9.38396879e-01 -2.40240926e-01 -2.48385980e-01  7.80612114e+02]
 [ 2.36284266e-01  9.70590450e-01 -4.60860549e-02  7.76398095e+01]
 [ 2.52152816e-01 -1.54426890e-02  9.67564200e-01  2.04692605e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.200714057 meters
Centerline goodness : 0.996152 with order 1
Centerline is valid?  [True, True]
Translation: X:780.67, Y:77.65, Z:204.71
[[ 9.36983364e-01 -2.45695945e-01 -2.48386146e-01  7.80668831e+02]
 [ 2.41926874e-01  9.69199436e-01 -4.60851597e-02  7.76526149e+01]
 [ 2.52058649e-01 -1.69102558e-02  9.67564200e-01  2.04707780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.260714057 meters
Centerline goodness : 0.996107 with order 1
Centerline is valid?  [True, True]
Translation: X:780.73, Y:77.67, Z:204.72
[[ 9.35561647e-01 -2.51055181e-01 -2.48386192e-01  7.80726225e+02]
 [ 2.47470640e-01  9.67798772e-01 -4.60849126e-02  7.76654978e+01]
 [ 2.51957708e-01 -1.83530131e-02  9.67564200e-01  2.04722182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.320714057 meters
Centerline goodness : 0.996242 with order 1
Centerline is valid?  [True, True]
Translation: X:780.78, Y:77.68, Z:204.74
[[ 9.35040550e-01 -2.52989333e-01 -2.48385923e-01  7.80783389e+02]
 [ 2.49471082e-01  9.67284977e-01 -4.60863604e-02  7.76781082e+01]
 [ 2.51919330e-01 -1.88724892e-02  9.67564200e-01  2.04737183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.380714057 meters
Centerline goodness : 0.996563 with order 1
Centerline is valid?  [True, True]
Translation: X:780.84, Y:77.69, Z:204.75
[[ 9.34812689e-01 -2.53830815e-01 -2.48385094e-01  7.80840162e+02]
 [ 2.50340407e-01  9.67060141e-01 -4.60908292e-02  7.76943001e+01]
 [ 2.51902597e-01 -1.90945335e-02  9.67564200e-01  2.04754232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.440714057 meters
Centerline goodness : 0.997264 with order 1
Centerline is valid?  [True, True]
Translation: X:780.90, Y:77.71, Z:204.77
[[ 9.35146879e-01 -2.52595142e-01 -2.48386814e-01  7.80897305e+02]
 [ 2.49064568e-01  9.67389958e-01 -4.60815564e-02  7.77115753e+01]
 [ 2.51926887e-01 -1.87713310e-02  9.67564200e-01  2.04770710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.500714057 meters
Centerline goodness : 0.997062 with order 1
Centerline is valid?  [True, True]
Translation: X:780.95, Y:77.73, Z:204.79
[[ 9.34691702e-01 -2.54272596e-01 -2.48388545e-01  7.80953526e+02]
 [ 2.50802343e-01  9.66941330e-01 -4.60722251e-02  7.77293812e+01]
 [ 2.51892054e-01 -1.92331026e-02  9.67564200e-01  2.04786855e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.560714057 meters
Centerline goodness : 0.996545 with order 1
Centerline is valid?  [True, True]
Translation: X:781.01, Y:77.74, Z:204.80
[[ 9.33957980e-01 -2.56952641e-01 -2.48390482e-01  7.81010327e+02]
 [ 2.53577668e-01  9.66217718e-01 -4.60617783e-02  7.77437295e+01]
 [ 2.51834981e-01 -1.99665139e-02  9.67564200e-01  2.04801943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.620714057 meters
Centerline goodness : 0.997007 with order 1
Centerline is valid?  [True, True]
Translation: X:781.07, Y:77.76, Z:204.82
[[ 9.32607922e-01 -2.61810095e-01 -2.48390695e-01  7.81067148e+02]
 [ 2.58603372e-01  9.64884819e-01 -4.60606308e-02  7.77600496e+01]
 [ 2.51727549e-01 -2.12781622e-02  9.67564200e-01  2.04815636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.680714057 meters
Centerline goodness : 0.996351 with order 1
Centerline is valid?  [True, True]
Translation: X:781.12, Y:77.78, Z:204.83
[[ 9.31648268e-01 -2.65204626e-01 -2.48390845e-01  7.81123086e+02]
 [ 2.62115680e-01  9.63936649e-01 -4.60598245e-02  7.77782751e+01]
 [ 2.51648317e-01 -2.21955796e-02  9.67564200e-01  2.04829825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.740714057 meters
Centerline goodness : 0.995895 with order 1
Centerline is valid?  [True, True]
Translation: X:781.18, Y:77.79, Z:204.85
[[ 9.31501368e-01 -2.65720064e-01 -2.48390919e-01  7.81180839e+02]
 [ 2.62649090e-01  9.63791464e-01 -4.60594239e-02  7.77936179e+01]
 [ 2.51635960e-01 -2.23352324e-02  9.67564200e-01  2.04847054e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.800714057 meters
Centerline goodness : 0.996568 with order 1
Centerline is valid?  [True, True]
Translation: X:781.24, Y:77.81, Z:204.86
[[ 9.31863209e-01 -2.64445027e-01 -2.48394419e-01  7.81237284e+02]
 [ 2.61334859e-01  9.64149553e-01 -4.60405432e-02  7.78149514e+01]
 [ 2.51664560e-01 -2.20106319e-02  9.67564200e-01  2.04864186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.860714057 meters
Centerline goodness : 0.996862 with order 1
Centerline is valid?  [True, True]
Translation: X:781.30, Y:77.83, Z:204.88
[[ 9.32294564e-01 -2.62916706e-01 -2.48398172e-01  7.81295052e+02]
 [ 2.59758959e-01  9.64576288e-01 -4.60202869e-02  7.78314205e+01]
 [ 2.51698489e-01 -2.16191872e-02  9.67564200e-01  2.04880390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.920714057 meters
Centerline goodness : 0.996906 with order 1
Centerline is valid?  [True, True]
Translation: X:781.35, Y:77.85, Z:204.90
[[ 9.33014549e-01 -2.60346891e-01 -2.48401586e-01  7.81350416e+02]
 [ 2.57105082e-01  9.65287940e-01 -4.60018481e-02  7.78501569e+01]
 [ 2.51755494e-01 -2.09449167e-02  9.67564200e-01  2.04896795e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 807.980714057 meters
Centerline goodness : 0.997540 with order 1
Centerline is valid?  [True, True]
Translation: X:781.41, Y:77.87, Z:204.91
[[ 9.33524001e-01 -2.58514268e-01 -2.48401514e-01  7.81407538e+02]
 [ 2.55208988e-01  9.65790954e-01 -4.60022375e-02  7.78687484e+01]
 [ 2.51796170e-01 -2.04501062e-02  9.67564200e-01  2.04912114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.0407140570001 meters
Centerline goodness : 0.997253 with order 1
Centerline is valid?  [True, True]
Translation: X:781.47, Y:77.88, Z:204.93
[[ 9.33704809e-01 -2.57858807e-01 -2.48403229e-01  7.81465448e+02]
 [ 2.54533323e-01  9.65969686e-01 -4.59929739e-02  7.78843311e+01]
 [ 2.51809683e-01 -2.02830385e-02  9.67564200e-01  2.04927347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.100714057 meters
Centerline goodness : 0.997408 with order 1
Centerline is valid?  [True, True]
Translation: X:781.52, Y:77.90, Z:204.94
[[ 9.34097790e-01 -2.56429027e-01 -2.48405862e-01  7.81523655e+02]
 [ 2.53057908e-01  9.66357930e-01 -4.59787507e-02  7.79008637e+01]
 [ 2.51839261e-01 -1.99124184e-02  9.67564201e-01  2.04941780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.1607140570001 meters
Centerline goodness : 0.997584 with order 1
Centerline is valid?  [True, True]
Translation: X:781.58, Y:77.92, Z:204.96
[[ 9.34703904e-01 -2.54207407e-01 -2.48409354e-01  7.81581181e+02]
 [ 2.50764581e-01  9.66956470e-01 -4.59598792e-02  7.79174257e+01]
 [ 2.51884373e-01 -1.93333890e-02  9.67564201e-01  2.04956232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.220714057 meters
Centerline goodness : 0.997418 with order 1
Centerline is valid?  [True, True]
Translation: X:781.64, Y:77.93, Z:204.97
[[ 9.35409430e-01 -2.51587900e-01 -2.48420464e-01  7.81637649e+02]
 [ 2.48070613e-01  9.67653959e-01 -4.58997490e-02  7.79339825e+01]
 [ 2.51932867e-01 -1.86907588e-02  9.67564203e-01  2.04971592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.2807140570001 meters
Centerline goodness : 0.997805 with order 1
Centerline is valid?  [True, True]
Translation: X:781.69, Y:77.95, Z:204.99
[[ 9.35477721e-01 -2.51333855e-01 -2.48420464e-01  7.81694635e+02]
 [ 2.47807811e-01  9.67721294e-01 -4.58997490e-02  7.79491720e+01]
 [ 2.51937934e-01 -1.86223389e-02  9.67564203e-01  2.04988920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.340714057 meters
Centerline goodness : 0.997964 with order 1
Centerline is valid?  [True, True]
Translation: X:781.75, Y:77.96, Z:205.00
[[ 9.35185933e-01 -2.52415708e-01 -2.48422181e-01  7.81751187e+02]
 [ 2.48929416e-01  9.67433828e-01 -4.58904547e-02  7.79634110e+01]
 [ 2.51915493e-01 -1.89234807e-02  9.67564203e-01  2.05004124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.4007140570001 meters
Centerline goodness : 0.998291 with order 1
Centerline is valid?  [True, True]
Translation: X:781.81, Y:77.98, Z:205.02
[[ 9.34907480e-01 -2.53445464e-01 -2.48421820e-01  7.81810834e+02]
 [ 2.49994171e-01  9.67159140e-01 -4.58924120e-02  7.79766856e+01]
 [ 2.51894657e-01 -1.91988475e-02  9.67564203e-01  2.05019832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.460714057 meters
Centerline goodness : 0.998285 with order 1
Centerline is valid?  [True, True]
Translation: X:781.87, Y:77.99, Z:205.03
[[ 9.34964407e-01 -2.53222188e-01 -2.48435265e-01  7.81868926e+02]
 [ 2.49782447e-01  9.67217298e-01 -4.58195132e-02  7.79895065e+01]
 [ 2.51893403e-01 -1.92151545e-02  9.67564205e-01  2.05033791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.5207140570001 meters
Centerline goodness : 0.998246 with order 1
Centerline is valid?  [True, True]
Translation: X:781.93, Y:78.00, Z:205.05
[[ 9.35783449e-01 -2.50167786e-01 -2.48446000e-01  7.81926053e+02]
 [ 2.46638131e-01  9.68026622e-01 -4.57612341e-02  7.80036204e+01]
 [ 2.51950329e-01 -1.84536518e-02  9.67564207e-01  2.05050184e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.580714057 meters
Centerline goodness : 0.998460 with order 1
Centerline is valid?  [True, True]
Translation: X:781.98, Y:78.02, Z:205.07
[[ 9.37267264e-01 -2.44549058e-01 -2.48446845e-01  7.81982917e+02]
 [ 2.40827235e-01  9.69488820e-01 -4.57566452e-02  7.80187265e+01]
 [ 2.52056183e-01 -1.69465611e-02  9.67564207e-01  2.05067291e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.6407140570001 meters
Centerline goodness : 0.998286 with order 1
Centerline is valid?  [True, True]
Translation: X:782.04, Y:78.03, Z:205.08
[[ 9.37753604e-01 -2.42676859e-01 -2.48447420e-01  7.82041564e+02]
 [ 2.38891521e-01  9.69967761e-01 -4.57535223e-02  7.80308516e+01]
 [ 2.52089309e-01 -1.64464517e-02  9.67564207e-01  2.05083156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.700714057 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:782.10, Y:78.05, Z:205.10
[[ 9.38438814e-01 -2.40001506e-01 -2.48458988e-01  7.82098624e+02]
 [ 2.36140898e-01  9.70644035e-01 -4.56906228e-02  7.80454459e+01]
 [ 2.52131053e-01 -1.57934747e-02  9.67564209e-01  2.05096114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.760714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:782.16, Y:78.06, Z:205.11
[[ 9.38221899e-01 -2.40848083e-01 -2.48458988e-01  7.82157931e+02]
 [ 2.37016532e-01  9.70430590e-01 -4.56906228e-02  7.80582248e+01]
 [ 2.52116701e-01 -1.60209448e-02  9.67564209e-01  2.05110655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.820714057 meters
Centerline goodness : 0.998521 with order 1
Centerline is valid?  [True, True]
Translation: X:782.22, Y:78.07, Z:205.12
[[ 9.37709073e-01 -2.42833733e-01 -2.48462214e-01  7.82217396e+02]
 [ 2.39075007e-01  9.69926344e-01 -4.56730703e-02  7.80711306e+01]
 [ 2.52081009e-01 -1.65730531e-02  9.67564209e-01  2.05124149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.880714057 meters
Centerline goodness : 0.998722 with order 1
Centerline is valid?  [True, True]
Translation: X:782.27, Y:78.08, Z:205.14
[[ 9.37533705e-01 -2.43506679e-01 -2.48465389e-01  7.82274847e+02]
 [ 2.39775634e-01  9.69754193e-01 -4.56557935e-02  7.80835044e+01]
 [ 2.52067843e-01 -1.67721009e-02  9.67564209e-01  2.05140777e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 808.940714057 meters
Centerline goodness : 0.998610 with order 1
Centerline is valid?  [True, True]
Translation: X:782.33, Y:78.10, Z:205.16
[[ 9.37878172e-01 -2.42175684e-01 -2.48466240e-01  7.82331788e+02]
 [ 2.38400130e-01  9.70093475e-01 -4.56511607e-02  7.80974961e+01]
 [ 2.52091079e-01 -1.64191568e-02  9.67564209e-01  2.05157813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.000714057 meters
Centerline goodness : 0.998197 with order 1
Centerline is valid?  [True, True]
Translation: X:782.39, Y:78.11, Z:205.17
[[ 9.37964222e-01 -2.41831019e-01 -2.48477116e-01  7.82389747e+02]
 [ 2.38059261e-01  9.70179967e-01 -4.55918889e-02  7.81108341e+01]
 [ 2.52093053e-01 -1.63887181e-02  9.67564211e-01  2.05174501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.060714057 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:782.45, Y:78.12, Z:205.19
[[ 9.37641021e-01 -2.43074667e-01 -2.48483444e-01  7.82446820e+02]
 [ 2.39354739e-01  9.69862792e-01 -4.55573740e-02  7.81241103e+01]
 [ 2.52068691e-01 -1.67592272e-02  9.67564212e-01  2.05190463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.120714057 meters
Centerline goodness : 0.998421 with order 1
Centerline is valid?  [True, True]
Translation: X:782.51, Y:78.14, Z:205.21
[[ 9.36891230e-01 -2.45947119e-01 -2.48485088e-01  7.82505372e+02]
 [ 2.42328324e-01  9.69124515e-01 -4.55484099e-02  7.81373777e+01]
 [ 2.52015490e-01 -1.75410690e-02  9.67564212e-01  2.05206067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.180714057 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:782.56, Y:78.15, Z:205.22
[[ 9.36304761e-01 -2.48159122e-01 -2.48496367e-01  7.82563987e+02]
 [ 2.44632729e-01  9.68548285e-01 -4.54867915e-02  7.81480880e+01]
 [ 2.51968692e-01 -1.82008451e-02  9.67564214e-01  2.05220281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.240714057 meters
Centerline goodness : 0.998601 with order 1
Centerline is valid?  [True, True]
Translation: X:782.62, Y:78.16, Z:205.23
[[ 9.35447336e-01 -2.51370293e-01 -2.48498005e-01  7.82621898e+02]
 [ 2.47956917e-01  9.67703019e-01 -4.54778441e-02  7.81601171e+01]
 [ 2.51904048e-01 -1.90746712e-02  9.67564214e-01  2.05234666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.300714057 meters
Centerline goodness : 0.998803 with order 1
Centerline is valid?  [True, True]
Translation: X:782.68, Y:78.17, Z:205.25
[[ 9.34849957e-01 -2.53581443e-01 -2.48499516e-01  7.82678777e+02]
 [ 2.50246527e-01  9.67113847e-01 -4.54695852e-02  7.81713864e+01]
 [ 2.51857566e-01 -1.96789011e-02  9.67564214e-01  2.05248495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.360714057 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:782.74, Y:78.18, Z:205.27
[[ 9.34816774e-01 -2.53704130e-01 -2.48499121e-01  7.82737008e+02]
 [ 2.50372879e-01  9.67081042e-01 -4.54717419e-02  7.81823836e+01]
 [ 2.51855158e-01 -1.97096932e-02  9.67564214e-01  2.05265213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.420714057 meters
Centerline goodness : 0.998758 with order 1
Centerline is valid?  [True, True]
Translation: X:782.79, Y:78.19, Z:205.28
[[ 9.34959161e-01 -2.53168880e-01 -2.48509326e-01  7.82794861e+02]
 [ 2.49833905e-01  9.67223043e-01 -4.54159058e-02  7.81939761e+01]
 [ 2.51861840e-01 -1.96240381e-02  9.67564215e-01  2.05281913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.480714057 meters
Centerline goodness : 0.998504 with order 1
Centerline is valid?  [True, True]
Translation: X:782.85, Y:78.20, Z:205.29
[[ 9.36061589e-01 -2.49060898e-01 -2.48510304e-01  7.82852637e+02]
 [ 2.45585693e-01  9.68310668e-01 -4.54105546e-02  7.82049691e+01]
 [ 2.51945172e-01 -1.85234992e-02  9.67564215e-01  2.05293010e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.5407140570001 meters
Centerline goodness : 0.998529 with order 1
Centerline is valid?  [True, True]
Translation: X:782.91, Y:78.22, Z:205.31
[[ 9.36157782e-01 -2.48699580e-01 -2.48509811e-01  7.82910790e+02]
 [ 2.45211216e-01  9.68405440e-01 -4.54132518e-02  7.82167147e+01]
 [ 2.51952509e-01 -1.84234238e-02  9.67564215e-01  2.05311311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.600714057 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:782.97, Y:78.23, Z:205.33
[[ 9.36848373e-01 -2.46082839e-01 -2.48512300e-01  7.82969044e+02]
 [ 2.42507979e-01  9.69086557e-01 -4.53996245e-02  7.82282211e+01]
 [ 2.52001998e-01 -1.77336515e-02  9.67564215e-01  2.05326390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.6607140570001 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:783.03, Y:78.24, Z:205.34
[[ 9.38678986e-01 -2.39004161e-01 -2.48513122e-01  7.83026542e+02]
 [ 2.35187244e-01  9.70889408e-01 -4.53951265e-02  7.82387096e+01]
 [ 2.52128382e-01 -1.58356650e-02  9.67564215e-01  2.05337362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.720714057 meters
Centerline goodness : 0.998956 with order 1
Centerline is valid?  [True, True]
Translation: X:783.08, Y:78.25, Z:205.36
[[ 9.39127343e-01 -2.37237243e-01 -2.48512219e-01  7.83083275e+02]
 [ 2.33358414e-01  9.71330368e-01 -4.54000675e-02  7.82511863e+01]
 [ 2.52158052e-01 -1.53559726e-02  9.67564215e-01  2.05357608e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.7807140570001 meters
Centerline goodness : 0.998668 with order 1
Centerline is valid?  [True, True]
Translation: X:783.14, Y:78.26, Z:205.37
[[ 9.40925246e-01 -2.30001109e-01 -2.48513926e-01  7.83139856e+02]
 [ 2.25876967e-01  9.73097774e-01 -4.53907224e-02  7.82638886e+01]
 [ 2.52268265e-01 -1.34242951e-02  9.67564215e-01  2.05373468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.840714057 meters
Centerline goodness : 0.998889 with order 1
Centerline is valid?  [True, True]
Translation: X:783.20, Y:78.27, Z:205.39
[[ 9.41919966e-01 -2.25892903e-01 -2.48513931e-01  7.83197244e+02]
 [ 2.21628412e-01  9.74074192e-01 -4.53906990e-02  7.82739152e+01]
 [ 2.52324443e-01 -1.23233421e-02  9.67564215e-01  2.05389268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.9007140570001 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:783.26, Y:78.28, Z:205.40
[[ 9.42135613e-01 -2.24991805e-01 -2.48513931e-01  7.83257257e+02]
 [ 2.20696558e-01  9.74285745e-01 -4.53906990e-02  7.82837883e+01]
 [ 2.52336115e-01 -1.20819752e-02  9.67564215e-01  2.05404502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 809.960714057 meters
Centerline goodness : 0.998436 with order 1
Centerline is valid?  [True, True]
Translation: X:783.32, Y:78.29, Z:205.42
[[ 9.41924200e-01 -2.25870670e-01 -2.48518091e-01  7.83316770e+02]
 [ 2.21611418e-01  9.74079120e-01 -4.53679077e-02  7.82929799e+01]
 [ 2.52323563e-01 -1.23413164e-02  9.67564216e-01  2.05419290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.0207140570001 meters
Centerline goodness : 0.998645 with order 1
Centerline is valid?  [True, True]
Translation: X:783.38, Y:78.30, Z:205.44
[[ 9.41392827e-01 -2.28063279e-01 -2.48529044e-01  7.83376146e+02]
 [ 2.23894727e-01  9.73559629e-01 -4.53078279e-02  7.83019561e+01]
 [ 2.52290896e-01 -1.29918784e-02  9.67564217e-01  2.05435058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.080714057 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:783.43, Y:78.31, Z:205.45
[[ 9.40460616e-01 -2.31864948e-01 -2.48540691e-01  7.83434598e+02]
 [ 2.27843247e-01  9.72646107e-01 -4.52438531e-02  7.83093012e+01]
 [ 2.52232599e-01 -1.40782560e-02  9.67564219e-01  2.05450453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.1407140570001 meters
Centerline goodness : 0.998307 with order 1
Centerline is valid?  [True, True]
Translation: X:783.49, Y:78.32, Z:205.46
[[ 9.40641478e-01 -2.31127635e-01 -2.48543007e-01  7.83493387e+02]
 [ 2.27084056e-01  9.72824227e-01 -4.52311268e-02  7.83171685e+01]
 [ 2.52242822e-01 -1.38938801e-02  9.67564220e-01  2.05463235e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.200714057 meters
Centerline goodness : 0.998516 with order 1
Centerline is valid?  [True, True]
Translation: X:783.55, Y:78.33, Z:205.48
[[ 9.40326948e-01 -2.32403103e-01 -2.48543817e-01  7.83552706e+02]
 [ 2.28404347e-01  9.72515297e-01 -4.52266726e-02  7.83266690e+01]
 [ 2.52223483e-01 -1.42406295e-02  9.67564220e-01  2.05481491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.260714057 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:783.61, Y:78.34, Z:205.50
[[ 9.40762028e-01 -2.30630948e-01 -2.48548128e-01  7.83611187e+02]
 [ 2.26577794e-01  9.72943572e-01 -4.52029707e-02  7.83355090e+01]
 [ 2.52248508e-01 -1.37902482e-02  9.67564220e-01  2.05496658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.320714057 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:783.67, Y:78.34, Z:205.51
[[ 9.41320749e-01 -2.28337965e-01 -2.48549838e-01  7.83668933e+02]
 [ 2.24208883e-01  9.73492639e-01 -4.51935680e-02  7.83435929e+01]
 [ 2.52280845e-01 -1.31854382e-02  9.67564220e-01  2.05511707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.380714057 meters
Centerline goodness : 0.998674 with order 1
Centerline is valid?  [True, True]
Translation: X:783.73, Y:78.35, Z:205.53
[[ 9.41842472e-01 -2.26175408e-01 -2.48550686e-01  7.83728706e+02]
 [ 2.21973675e-01  9.74004954e-01 -4.51889046e-02  7.83513617e+01]
 [ 2.52310218e-01 -1.26108796e-02  9.67564220e-01  2.05527007e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.440714057 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:783.79, Y:78.36, Z:205.54
[[ 9.42050212e-01 -2.25295653e-01 -2.48562402e-01  7.83787913e+02]
 [ 2.21080867e-01  9.74210984e-01 -4.51243689e-02  7.83588209e+01]
 [ 2.52318546e-01 -1.24429702e-02  9.67564222e-01  2.05541202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.500714057 meters
Centerline goodness : 0.998419 with order 1
Centerline is valid?  [True, True]
Translation: X:783.85, Y:78.37, Z:205.56
[[ 9.41677859e-01 -2.26845112e-01 -2.48564086e-01  7.83847110e+02]
 [ 2.22685683e-01  9.73845838e-01 -4.51150914e-02  7.83671412e+01]
 [ 2.52297238e-01 -1.28677805e-02  9.67564222e-01  2.05556773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.560714057 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:783.90, Y:78.38, Z:205.57
[[ 9.41352594e-01 -2.28179482e-01 -2.48574774e-01  7.83904425e+02]
 [ 2.24081172e-01  9.73528414e-01 -4.50561286e-02  7.83756956e+01]
 [ 2.52275490e-01 -1.32872232e-02  9.67564224e-01  2.05571339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.620714057 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:783.96, Y:78.38, Z:205.59
[[ 9.39842774e-01 -2.34320598e-01 -2.48574774e-01  7.83962950e+02]
 [ 2.30432447e-01  9.72044666e-01 -4.50561286e-02  7.83808192e+01]
 [ 2.52183362e-01 -1.49340165e-02  9.67564224e-01  2.05585866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.680714057 meters
Centerline goodness : 0.998709 with order 1
Centerline is valid?  [True, True]
Translation: X:784.02, Y:78.39, Z:205.60
[[ 9.37834552e-01 -2.42232603e-01 -2.48575379e-01  7.84021115e+02]
 [ 2.38616845e-01  9.70068166e-01 -4.50527925e-02  7.83885787e+01]
 [ 2.52048317e-01 -1.70622072e-02  9.67564224e-01  2.05601918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.740714057 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:784.08, Y:78.40, Z:205.62
[[ 9.36936230e-01 -2.45683999e-01 -2.48575689e-01  7.84079601e+02]
 [ 2.42187400e-01  9.69182988e-01 -4.50510773e-02  7.83965687e+01]
 [ 2.51983658e-01 -1.79919133e-02  9.67564224e-01  2.05617516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.800714057 meters
Centerline goodness : 0.998695 with order 1
Centerline is valid?  [True, True]
Translation: X:784.14, Y:78.40, Z:205.63
[[ 9.35847535e-01 -2.49797718e-01 -2.48576934e-01  7.84137007e+02]
 [ 2.46444630e-01  9.68109531e-01 -4.50442107e-02  7.84040226e+01]
 [ 2.51901640e-01 -1.91059369e-02  9.67564224e-01  2.05631995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.860714057 meters
Centerline goodness : 0.998542 with order 1
Centerline is valid?  [True, True]
Translation: X:784.20, Y:78.41, Z:205.65
[[ 9.35047350e-01 -2.52776678e-01 -2.48576758e-01  7.84195470e+02]
 [ 2.49526091e-01  9.67319834e-01 -4.50451801e-02  7.84124183e+01]
 [ 2.51839599e-01 -1.99070104e-02  9.67564224e-01  2.05647156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.920714057 meters
Centerline goodness : 0.998543 with order 1
Centerline is valid?  [True, True]
Translation: X:784.26, Y:78.42, Z:205.66
[[ 9.34398953e-01 -2.55162625e-01 -2.48577213e-01  7.84255483e+02]
 [ 2.51995089e-01  9.66679695e-01 -4.50426673e-02  7.84224479e+01]
 [ 2.51787750e-01 -2.05524158e-02  9.67564224e-01  2.05662452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 810.980714057 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:784.31, Y:78.43, Z:205.68
[[ 9.34260600e-01 -2.55664726e-01 -2.48581332e-01  7.84313354e+02]
 [ 2.52520548e-01  9.66543625e-01 -4.50199242e-02  7.84338102e+01]
 [ 2.51774709e-01 -2.07115528e-02  9.67564224e-01  2.05677889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.0407140570001 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:784.37, Y:78.45, Z:205.69
[[ 9.34408554e-01 -2.55122658e-01 -2.48582146e-01  7.84372310e+02]
 [ 2.51960938e-01  9.66689866e-01 -4.50154299e-02  7.84458162e+01]
 [ 2.51786298e-01 -2.05701880e-02  9.67564224e-01  2.05694951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.100714057 meters
Centerline goodness : 0.999177 with order 1
Centerline is valid?  [True, True]
Translation: X:784.43, Y:78.46, Z:205.71
[[ 9.34639815e-01 -2.54262389e-01 -2.48594155e-01  7.84428894e+02]
 [ 2.51088499e-01  9.66919930e-01 -4.49490193e-02  7.84586953e+01]
 [ 2.51799488e-01 -2.04079901e-02  9.67564226e-01  2.05709810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.1607140570001 meters
Centerline goodness : 0.998999 with order 1
Centerline is valid?  [True, True]
Translation: X:784.49, Y:78.47, Z:205.72
[[ 9.34726978e-01 -2.53941769e-01 -2.48594155e-01  7.84487293e+02]
 [ 2.50756806e-01  9.67006003e-01 -4.49490193e-02  7.84716377e+01]
 [ 2.51806473e-01 -2.03216153e-02  9.67564226e-01  2.05724367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.220714057 meters
Centerline goodness : 0.999201 with order 1
Centerline is valid?  [True, True]
Translation: X:784.55, Y:78.49, Z:205.74
[[ 9.34400722e-01 -2.55138000e-01 -2.48595840e-01  7.84545742e+02]
 [ 2.51996820e-01  9.66684037e-01 -4.49396952e-02  7.84854270e+01]
 [ 2.51779454e-01 -2.06536776e-02  9.67564226e-01  2.05738584e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.2807140570001 meters
Centerline goodness : 0.999174 with order 1
Centerline is valid?  [True, True]
Translation: X:784.60, Y:78.50, Z:205.76
[[ 9.34190967e-01 -2.55898484e-01 -2.48602499e-01  7.84602405e+02]
 [ 2.52793323e-01  9.66477766e-01 -4.49028310e-02  7.84991819e+01]
 [ 2.51759354e-01 -2.08972327e-02  9.67564227e-01  2.05755950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.340714057 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:784.66, Y:78.51, Z:205.77
[[ 9.34205155e-01 -2.55845878e-01 -2.48603329e-01  7.84659963e+02]
 [ 2.52740114e-01  9.66491895e-01 -4.48982357e-02  7.85132416e+01]
 [ 2.51760131e-01 -2.08878704e-02  9.67564227e-01  2.05773488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.4007140570001 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:784.72, Y:78.53, Z:205.79
[[ 9.34636109e-01 -2.54263549e-01 -2.48606903e-01  7.84718825e+02]
 [ 2.51108346e-01  9.66918055e-01 -4.48784341e-02  7.85270656e+01]
 [ 2.51793453e-01 -2.04822634e-02  9.67564227e-01  2.05790312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.460714057 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:784.78, Y:78.54, Z:205.81
[[ 9.35603966e-01 -2.50674642e-01 -2.48611028e-01  7.84775290e+02]
 [ 2.47401605e-01  9.67874177e-01 -4.48555741e-02  7.85419067e+01]
 [ 2.51868349e-01 -1.95397144e-02  9.67564227e-01  2.05806123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.5207140570001 meters
Centerline goodness : 0.999370 with order 1
Centerline is valid?  [True, True]
Translation: X:784.83, Y:78.56, Z:205.82
[[ 9.36497096e-01 -2.47317096e-01 -2.48611028e-01  7.84831672e+02]
 [ 2.43928329e-01  9.68755360e-01 -4.48555741e-02  7.85569400e+01]
 [ 2.51936816e-01 -1.86361578e-02  9.67564227e-01  2.05822150e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.580714057 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:784.89, Y:78.57, Z:205.84
[[ 9.37116132e-01 -2.44960976e-01 -2.48611094e-01  7.84889959e+02]
 [ 2.41491185e-01  9.69365781e-01 -4.48552084e-02  7.85710810e+01]
 [ 2.51982863e-01 -1.80028484e-02  9.67564227e-01  2.05837189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.6407140570001 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:784.95, Y:78.58, Z:205.85
[[ 9.37525587e-01 -2.43385634e-01 -2.48614575e-01  7.84948517e+02]
 [ 2.39866740e-01  9.69769915e-01 -4.48359062e-02  7.85847182e+01]
 [ 2.52011351e-01 -1.75995583e-02  9.67564228e-01  2.05852509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.700714057 meters
Centerline goodness : 0.999026 with order 1
Centerline is valid?  [True, True]
Translation: X:785.01, Y:78.60, Z:205.87
[[ 9.38390269e-01 -2.40018192e-01 -2.48626168e-01  7.85005388e+02]
 [ 2.36400536e-01  9.70623664e-01 -4.47715304e-02  7.85994845e+01]
 [ 2.52068424e-01 -1.67621911e-02  9.67564230e-01  2.05867529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.760714057 meters
Centerline goodness : 0.999137 with order 1
Centerline is valid?  [True, True]
Translation: X:785.06, Y:78.61, Z:205.88
[[ 9.39539697e-01 -2.35478316e-01 -2.48626468e-01  7.85061911e+02]
 [ 2.31705294e-01  9.71755276e-01 -4.47698670e-02  7.86145245e+01]
 [ 2.52146415e-01 -1.55450015e-02  9.67564230e-01  2.05884400e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.820714057 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:785.12, Y:78.63, Z:205.90
[[ 9.40995187e-01 -2.29592342e-01 -2.48627059e-01  7.85118433e+02]
 [ 2.25618595e-01  9.73186623e-01 -4.47665833e-02  7.86292100e+01]
 [ 2.52238593e-01 -1.39697482e-02  9.67564230e-01  2.05902187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.880714057 meters
Centerline goodness : 0.999084 with order 1
Centerline is valid?  [True, True]
Translation: X:785.18, Y:78.64, Z:205.92
[[ 9.41752537e-01 -2.26464872e-01 -2.48627877e-01  7.85175409e+02]
 [ 2.22385396e-01  9.73930745e-01 -4.47620388e-02  7.86442685e+01]
 [ 2.52283363e-01 -1.31364454e-02  9.67564230e-01  2.05918046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 811.940714057 meters
Centerline goodness : 0.999012 with order 1
Centerline is valid?  [True, True]
Translation: X:785.23, Y:78.66, Z:205.93
[[ 9.42106121e-01 -2.24987634e-01 -2.48629485e-01  7.85232819e+02]
 [ 2.20860049e-01  9.74278194e-01 -4.47531048e-02  7.86569501e+01]
 [ 2.52303181e-01 -1.27501463e-02  9.67564230e-01  2.05933106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.000714057 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:785.29, Y:78.67, Z:205.95
[[ 9.42031428e-01 -2.25299305e-01 -2.48630271e-01  7.85290218e+02]
 [ 2.21183513e-01  9.74205011e-01 -4.47487375e-02  7.86699512e+01]
 [ 2.52298716e-01 -1.28381999e-02  9.67564230e-01  2.05947187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.060714057 meters
Centerline goodness : 0.998897 with order 1
Centerline is valid?  [True, True]
Translation: X:785.35, Y:78.68, Z:205.96
[[ 9.41302880e-01 -2.28323216e-01 -2.48631048e-01  7.85348703e+02]
 [ 2.24311899e-01  9.73489655e-01 -4.47444228e-02  7.86836303e+01]
 [ 2.52255943e-01 -1.36528485e-02  9.67564230e-01  2.05963298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.120714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:785.41, Y:78.70, Z:205.98
[[ 9.40053351e-01 -2.33411164e-01 -2.48634122e-01  7.85406164e+02]
 [ 2.29578500e-01  9.72261888e-01 -4.47273318e-02  7.86961367e+01]
 [ 2.52177340e-01 -1.50349706e-02  9.67564230e-01  2.05978763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.180714057 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:785.46, Y:78.71, Z:206.00
[[ 9.39156623e-01 -2.36993208e-01 -2.48634382e-01  7.85462419e+02]
 [ 2.33283740e-01  9.71379582e-01 -4.47258883e-02  7.87091245e+01]
 [ 2.52118094e-01 -1.59977444e-02  9.67564230e-01  2.05997956e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.240714057 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:785.52, Y:78.72, Z:206.02
[[ 9.38582589e-01 -2.39255908e-01 -2.48634940e-01  7.85518204e+02]
 [ 2.35624928e-01  9.70814486e-01 -4.47227838e-02  7.87221441e+01]
 [ 2.52078592e-01 -1.66085637e-02  9.67564230e-01  2.06015360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.300714057 meters
Centerline goodness : 0.999143 with order 1
Centerline is valid?  [True, True]
Translation: X:785.58, Y:78.73, Z:206.03
[[ 9.38207987e-01 -2.40716467e-01 -2.48639007e-01  7.85577080e+02]
 [ 2.37141625e-01  9.70446158e-01 -4.47001626e-02  7.87333121e+01]
 [ 2.52050835e-01 -1.70246087e-02  9.67564230e-01  2.06032335e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.360714057 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:785.63, Y:78.75, Z:206.05
[[ 9.37793371e-01 -2.42315040e-01 -2.48650388e-01  7.85634099e+02]
 [ 2.38811869e-01  9.70039407e-01 -4.46367704e-02  7.87450415e+01]
 [ 2.52016835e-01 -1.75205964e-02  9.67564232e-01  2.06046461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.420714057 meters
Centerline goodness : 0.998910 with order 1
Centerline is valid?  [True, True]
Translation: X:785.69, Y:78.76, Z:206.06
[[ 9.37677186e-01 -2.42763103e-01 -2.48651503e-01  7.85692546e+02]
 [ 2.39276979e-01  9.69925070e-01 -4.46305578e-02  7.87574193e+01]
 [ 2.52007979e-01 -1.76475247e-02  9.67564232e-01  2.06063496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.480714057 meters
Centerline goodness : 0.998886 with order 1
Centerline is valid?  [True, True]
Translation: X:785.75, Y:78.77, Z:206.08
[[ 9.37832217e-01 -2.42160126e-01 -2.48654794e-01  7.85750927e+02]
 [ 2.38658106e-01  9.70078378e-01 -4.46122162e-02  7.87683878e+01]
 [ 2.52017939e-01 -1.75047085e-02  9.67564232e-01  2.06079012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.5407140570001 meters
Centerline goodness : 0.999143 with order 1
Centerline is valid?  [True, True]
Translation: X:785.81, Y:78.78, Z:206.09
[[ 9.38325054e-01 -2.40241682e-01 -2.48656446e-01  7.85808173e+02]
 [ 2.36676153e-01  9.70564254e-01 -4.46030038e-02  7.87802211e+01]
 [ 2.52052559e-01 -1.69989351e-02  9.67564232e-01  2.06093712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.600714057 meters
Centerline goodness : 0.999001 with order 1
Centerline is valid?  [True, True]
Translation: X:785.87, Y:78.79, Z:206.11
[[ 9.39388646e-01 -2.36048606e-01 -2.48656446e-01  7.85865515e+02]
 [ 2.32339129e-01  9.71611600e-01 -4.46030038e-02  7.87929325e+01]
 [ 2.52125964e-01 -1.58730668e-02  9.67564232e-01  2.06111073e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.6607140570001 meters
Centerline goodness : 0.998995 with order 1
Centerline is valid?  [True, True]
Translation: X:785.92, Y:78.81, Z:206.13
[[ 9.41013793e-01 -2.29482495e-01 -2.48658052e-01  7.85922352e+02]
 [ 2.25550432e-01  9.73210344e-01 -4.45940515e-02  7.88052413e+01]
 [ 2.52230142e-01 -1.41213135e-02  9.67564232e-01  2.06129260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.720714057 meters
Centerline goodness : 0.999062 with order 1
Centerline is valid?  [True, True]
Translation: X:785.98, Y:78.82, Z:206.14
[[ 9.42566866e-01 -2.23017191e-01 -2.48658473e-01  7.85978929e+02]
 [ 2.18864816e-01  9.74735745e-01 -4.45917020e-02  7.88167850e+01]
 [ 2.52321018e-01 -1.23919301e-02  9.67564232e-01  2.06144912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.7807140570001 meters
Centerline goodness : 0.998779 with order 1
Centerline is valid?  [True, True]
Translation: X:786.04, Y:78.83, Z:206.16
[[ 9.43713872e-01 -2.18113138e-01 -2.48657970e-01  7.86036267e+02]
 [ 2.13792814e-01  9.75860627e-01 -4.45945081e-02  7.88275117e+01]
 [ 2.52382170e-01 -1.10768311e-02  9.67564232e-01  2.06161190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.840714057 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:786.10, Y:78.84, Z:206.18
[[ 9.44338313e-01 -2.15393133e-01 -2.48658298e-01  7.86095604e+02]
 [ 2.10980684e-01  9.76472552e-01 -4.45926785e-02  7.88369479e+01]
 [ 2.52412959e-01 -1.03515229e-02  9.67564232e-01  2.06175295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.9007140570001 meters
Centerline goodness : 0.999107 with order 1
Centerline is valid?  [True, True]
Translation: X:786.15, Y:78.85, Z:206.19
[[ 9.44728931e-01 -2.13660199e-01 -2.48669594e-01  7.86154227e+02]
 [ 2.09205377e-01  9.76857321e-01 -4.45295994e-02  7.88457812e+01]
 [ 2.52428916e-01 -9.95461551e-03  9.67564234e-01  2.06190274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 812.960714057 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:786.22, Y:78.85, Z:206.21
[[ 9.45098022e-01 -2.12019683e-01 -2.48671236e-01  7.86215234e+02]
 [ 2.07511498e-01  9.77218967e-01 -4.45204269e-02  7.88543848e+01]
 [ 2.52445455e-01 -9.52597341e-03  9.67564235e-01  2.06206112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.0207140570001 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:786.28, Y:78.86, Z:206.22
[[ 9.45434679e-01 -2.10498115e-01 -2.48684160e-01  7.86275340e+02]
 [ 2.05957224e-01  9.77551015e-01 -4.44481232e-02  7.88620076e+01]
 [ 2.52457699e-01 -9.19550212e-03  9.67564237e-01  2.06222822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.080714057 meters
Centerline goodness : 0.998668 with order 1
Centerline is valid?  [True, True]
Translation: X:786.33, Y:78.87, Z:206.24
[[ 9.45506457e-01 -2.10168124e-01 -2.48690369e-01  7.86334942e+02]
 [ 2.05625156e-01  9.77622498e-01 -4.44133556e-02  7.88684684e+01]
 [ 2.52459572e-01 -9.14388157e-03  9.67564238e-01  2.06237130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.1407140570001 meters
Centerline goodness : 0.999046 with order 1
Centerline is valid?  [True, True]
Translation: X:786.39, Y:78.88, Z:206.25
[[ 9.45559536e-01 -2.09916825e-01 -2.48700806e-01  7.86393144e+02]
 [ 2.05380692e-01  9.77676542e-01 -4.43548364e-02  7.88756558e+01]
 [ 2.52459771e-01 -9.13820513e-03  9.67564239e-01  2.06252737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.200714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:786.45, Y:78.88, Z:206.27
[[ 9.45429573e-01 -2.10501382e-01 -2.48700806e-01  7.86451573e+02]
 [ 2.05985107e-01  9.77549377e-01 -4.43548364e-02  7.88805603e+01]
 [ 2.52454073e-01 -9.29428816e-03  9.67564239e-01  2.06265766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.260714057 meters
Centerline goodness : 0.998290 with order 1
Centerline is valid?  [True, True]
Translation: X:786.51, Y:78.89, Z:206.28
[[ 9.45058750e-01 -2.12157935e-01 -2.48702574e-01  7.86510030e+02]
 [ 2.07700562e-01  9.77186781e-01 -4.43449210e-02  7.88856196e+01]
 [ 2.52436995e-01 -9.74710876e-03  9.67564239e-01  2.06281655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.320714057 meters
Centerline goodness : 0.998067 with order 1
Centerline is valid?  [True, True]
Translation: X:786.57, Y:78.89, Z:206.30
[[ 9.44553776e-01 -2.14394948e-01 -2.48702574e-01  7.86569250e+02]
 [ 2.10013657e-01  9.76692271e-01 -4.43449210e-02  7.88906586e+01]
 [ 2.52413209e-01 -1.03447745e-02  9.67564239e-01  2.06296036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.380714057 meters
Centerline goodness : 0.998125 with order 1
Centerline is valid?  [True, True]
Translation: X:786.63, Y:78.90, Z:206.31
[[ 9.43909489e-01 -2.17213042e-01 -2.48703379e-01  7.86629851e+02]
 [ 2.12928876e-01  9.76061075e-01 -4.43404059e-02  7.88954509e+01]
 [ 2.52381002e-01 -1.11028012e-02  9.67564239e-01  2.06310046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.440714057 meters
Centerline goodness : 0.998243 with order 1
Centerline is valid?  [True, True]
Translation: X:786.69, Y:78.90, Z:206.32
[[ 9.43330829e-01 -2.19699848e-01 -2.48714542e-01  7.86688128e+02]
 [ 2.15516922e-01  9.75495741e-01 -4.42777048e-02  7.89017999e+01]
 [ 2.52347782e-01 -1.18336687e-02  9.67564241e-01  2.06324764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.500714057 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:786.75, Y:78.91, Z:206.34
[[ 9.43265408e-01 -2.19978569e-01 -2.48716302e-01  7.86745569e+02]
 [ 2.15807748e-01  9.75431892e-01 -4.42678199e-02  7.89106039e+01]
 [ 2.52343784e-01 -1.19186017e-02  9.67564242e-01  2.06341670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.560714057 meters
Centerline goodness : 0.997848 with order 1
Centerline is valid?  [True, True]
Translation: X:786.80, Y:78.92, Z:206.36
[[ 9.43780486e-01 -2.17758114e-01 -2.48716302e-01  7.86804569e+02]
 [ 2.13511605e-01  9.75937065e-01 -4.42678199e-02  7.89193129e+01]
 [ 2.52371134e-01 -1.13247121e-02  9.67564242e-01  2.06356887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.620714057 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:786.86, Y:78.93, Z:206.38
[[ 9.44568804e-01 -2.14300729e-01 -2.48726702e-01  7.86861973e+02]
 [ 2.09951878e-01  9.76711701e-01 -4.42093068e-02  7.89281434e+01]
 [ 2.52408367e-01 -1.04619062e-02  9.67564243e-01  2.06375572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.680714057 meters
Centerline goodness : 0.998136 with order 1
Centerline is valid?  [True, True]
Translation: X:786.92, Y:78.94, Z:206.39
[[ 9.45661955e-01 -2.09423920e-01 -2.48726936e-01  7.86921438e+02]
 [ 2.04909615e-01  9.77782032e-01 -4.42079943e-02  7.89376584e+01]
 [ 2.52458940e-01 -9.16072233e-03  9.67564243e-01  2.06392373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.740714057 meters
Centerline goodness : 0.997975 with order 1
Centerline is valid?  [True, True]
Translation: X:786.98, Y:78.95, Z:206.41
[[ 9.46775245e-01 -2.04318367e-01 -2.48738097e-01  7.86979246e+02]
 [ 1.99647323e-01  9.78872901e-01 -4.41451082e-02  7.89468956e+01]
 [ 2.52502639e-01 -7.86439956e-03  9.67564245e-01  2.06408906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.800714057 meters
Centerline goodness : 0.998306 with order 1
Centerline is valid?  [True, True]
Translation: X:787.04, Y:78.96, Z:206.42
[[ 9.47343027e-01 -2.01668854e-01 -2.48738542e-01  7.87037167e+02]
 [ 1.96908687e-01  9.79427588e-01 -4.41426035e-02  7.89557809e+01]
 [ 2.52523578e-01 -7.16059210e-03  9.67564245e-01  2.06423274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.860714057 meters
Centerline goodness : 0.998182 with order 1
Centerline is valid?  [True, True]
Translation: X:787.10, Y:78.96, Z:206.44
[[ 9.48155456e-01 -1.97812976e-01 -2.48739339e-01  7.87096570e+02]
 [ 1.92923493e-01  9.80220564e-01 -4.41381100e-02  7.89647954e+01]
 [ 2.52550506e-01 -6.13787228e-03  9.67564245e-01  2.06438002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.920714057 meters
Centerline goodness : 0.997919 with order 1
Centerline is valid?  [True, True]
Translation: X:787.16, Y:78.97, Z:206.45
[[ 9.48546520e-01 -1.95926086e-01 -2.48741768e-01  7.87155482e+02]
 [ 1.90976404e-01  9.80602391e-01 -4.41244146e-02  7.89739607e+01]
 [ 2.52561897e-01 -5.64974856e-03  9.67564245e-01  2.06453637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 813.980714057 meters
Centerline goodness : 0.998479 with order 1
Centerline is valid?  [True, True]
Translation: X:787.21, Y:78.98, Z:206.47
[[ 9.48796341e-01 -1.94704561e-01 -2.48748140e-01  7.87214712e+02]
 [ 1.89723028e-01  9.80847277e-01 -4.40884646e-02  7.89809694e+01]
 [ 2.52568161e-01 -5.36227653e-03  9.67564246e-01  2.06471114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.0407140570001 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:787.27, Y:78.99, Z:206.49
[[ 9.48867993e-01 -1.94340784e-01 -2.48759304e-01  7.87274052e+02]
 [ 1.89363491e-01  9.80919585e-01 -4.40253908e-02  7.89898536e+01]
 [ 2.52568802e-01 -5.33164603e-03  9.67564248e-01  2.06488771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.100714057 meters
Centerline goodness : 0.998148 with order 1
Centerline is valid?  [True, True]
Translation: X:787.33, Y:79.00, Z:206.50
[[ 9.48861342e-01 -1.94358892e-01 -2.48770526e-01  7.87333481e+02]
 [ 1.89398851e-01  9.80915607e-01 -4.39618890e-02  7.89982668e+01]
 [ 2.52567276e-01 -5.40311489e-03  9.67564250e-01  2.06504149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.1607140570001 meters
Centerline goodness : 0.998036 with order 1
Centerline is valid?  [True, True]
Translation: X:787.39, Y:79.00, Z:206.52
[[ 9.48375884e-01 -1.96700027e-01 -2.48781596e-01  7.87393749e+02]
 [ 1.91835554e-01  9.80444789e-01 -4.38991593e-02  7.90044088e+01]
 [ 2.52551585e-01 -6.09225130e-03  9.67564252e-01  2.06519203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.220714057 meters
Centerline goodness : 0.998176 with order 1
Centerline is valid?  [True, True]
Translation: X:787.45, Y:79.01, Z:206.54
[[ 9.47722153e-01 -1.99822089e-01 -2.48784752e-01  7.87452962e+02]
 [ 1.95067944e-01  9.79807600e-01 -4.38812623e-02  7.90105624e+01]
 [ 2.52529637e-01 -6.94268573e-03  9.67564252e-01  2.06535244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.2807140570001 meters
Centerline goodness : 0.998745 with order 1
Centerline is valid?  [True, True]
Translation: X:787.51, Y:79.02, Z:206.55
[[ 9.46999806e-01 -2.03205571e-01 -2.48794822e-01  7.87513250e+02]
 [ 1.98581052e-01  9.79104190e-01 -4.38240978e-02  7.90170731e+01]
 [ 2.52501354e-01 -7.90452540e-03  9.67564254e-01  2.06550767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.340714057 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:787.57, Y:79.03, Z:206.57
[[ 9.46924593e-01 -2.03551930e-01 -2.48797965e-01  7.87571608e+02]
 [ 1.98943838e-01  9.79031339e-01 -4.38062492e-02  7.90260534e+01]
 [ 2.52497851e-01 -8.01560742e-03  9.67564254e-01  2.06565675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.4007140570001 meters
Centerline goodness : 0.998244 with order 1
Centerline is valid?  [True, True]
Translation: X:787.63, Y:79.03, Z:206.58
[[ 9.46700060e-01 -2.04593104e-01 -2.48798429e-01  7.87630777e+02]
 [ 2.00021014e-01  9.78811952e-01 -4.38036129e-02  7.90337897e+01]
 [ 2.52488793e-01 -8.29603093e-03  9.67564254e-01  2.06581234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.460714057 meters
Centerline goodness : 0.998173 with order 1
Centerline is valid?  [True, True]
Translation: X:787.69, Y:79.04, Z:206.60
[[ 9.46297615e-01 -2.06443640e-01 -2.48800820e-01  7.87688479e+02]
 [ 2.01937909e-01  9.78418885e-01 -4.37900249e-02  7.90418177e+01]
 [ 2.52471593e-01 -8.80392135e-03  9.67564254e-01  2.06595497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.5207140570001 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:787.75, Y:79.05, Z:206.61
[[ 9.45818419e-01 -2.08628068e-01 -2.48800820e-01  7.87746843e+02]
 [ 2.04196516e-01  9.77950007e-01 -4.37900249e-02  7.90508603e+01]
 [ 2.52450592e-01 -9.38684872e-03  9.67564254e-01  2.06611726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.580714057 meters
Centerline goodness : 0.998094 with order 1
Centerline is valid?  [True, True]
Translation: X:787.81, Y:79.06, Z:206.63
[[ 9.45135939e-01 -2.11696494e-01 -2.48802435e-01  7.87806895e+02]
 [ 2.07371656e-01  9.77282064e-01 -4.37808496e-02  7.90595995e+01]
 [ 2.52418410e-01 -1.02157187e-02  9.67564254e-01  2.06625995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.6407140570001 meters
Centerline goodness : 0.997957 with order 1
Centerline is valid?  [True, True]
Translation: X:787.87, Y:79.07, Z:206.64
[[ 9.44546367e-01 -2.14298749e-01 -2.48813600e-01  7.87865617e+02]
 [ 2.10079168e-01  9.76706476e-01 -4.37173084e-02  7.90688341e+01]
 [ 2.52386419e-01 -1.09775293e-02  9.67564256e-01  2.06640628e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.700714057 meters
Centerline goodness : 0.998381 with order 1
Centerline is valid?  [True, True]
Translation: X:787.93, Y:79.08, Z:206.66
[[ 9.44352912e-01 -2.15148331e-01 -2.48814737e-01  7.87925300e+02]
 [ 2.10959384e-01  9.76517026e-01 -4.37108347e-02  7.90784151e+01]
 [ 2.52376140e-01 -1.12113497e-02  9.67564256e-01  2.06656973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.760714057 meters
Centerline goodness : 0.998465 with order 1
Centerline is valid?  [True, True]
Translation: X:787.98, Y:79.09, Z:206.67
[[ 9.44290034e-01 -2.15411077e-01 -2.48826044e-01  7.87983377e+02]
 [ 2.11248029e-01  9.76457508e-01 -4.36463775e-02  7.90873897e+01]
 [ 2.52369972e-01 -1.13491721e-02  9.67564258e-01  2.06671732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.820714057 meters
Centerline goodness : 0.998330 with order 1
Centerline is valid?  [True, True]
Translation: X:788.04, Y:79.10, Z:206.69
[[ 9.44272583e-01 -2.15482079e-01 -2.48830791e-01  7.88042064e+02]
 [ 2.11328570e-01  9.76441290e-01 -4.36193000e-02  7.90977503e+01]
 [ 2.52367836e-01 -1.13965461e-02  9.67564258e-01  2.06687940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.880714057 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:788.10, Y:79.11, Z:206.70
[[ 9.44177447e-01 -2.15895955e-01 -2.48833046e-01  7.88099488e+02]
 [ 2.11759930e-01  9.76348407e-01 -4.36064321e-02  7.91079446e+01]
 [ 2.52362200e-01 -1.15206587e-02  9.67564259e-01  2.06702687e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 814.940714057 meters
Centerline goodness : 0.999067 with order 1
Centerline is valid?  [True, True]
Translation: X:788.16, Y:79.12, Z:206.72
[[ 9.43802470e-01 -2.17526238e-01 -2.48835755e-01  7.88158808e+02]
 [ 2.13449846e-01  9.75981040e-01 -4.35909683e-02  7.91176647e+01]
 [ 2.52341158e-01 -1.19726900e-02  9.67564259e-01  2.06718686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.000714057 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:788.22, Y:79.13, Z:206.74
[[ 9.43792843e-01 -2.17564502e-01 -2.48838819e-01  7.88219419e+02]
 [ 2.13494018e-01  9.75972160e-01 -4.35734718e-02  7.91272177e+01]
 [ 2.52339800e-01 -1.20012684e-02  9.67564259e-01  2.06735244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.060714057 meters
Centerline goodness : 0.998444 with order 1
Centerline is valid?  [True, True]
Translation: X:788.28, Y:79.14, Z:206.75
[[ 9.44174217e-01 -2.15888595e-01 -2.48851688e-01  7.88278776e+02]
 [ 2.11780349e-01  9.76348732e-01 -4.34998520e-02  7.91374408e+01]
 [ 2.52357152e-01 -1.16304586e-02  9.67564262e-01  2.06750892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.120714057 meters
Centerline goodness : 0.998291 with order 1
Centerline is valid?  [True, True]
Translation: X:788.34, Y:79.15, Z:206.77
[[ 9.45233170e-01 -2.11190620e-01 -2.48862966e-01  7.88336022e+02]
 [ 2.06939404e-01  9.77389105e-01 -4.34352382e-02  7.91476088e+01]
 [ 2.52409067e-01 -1.04431261e-02  9.67564264e-01  2.06766375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.180714057 meters
Centerline goodness : 0.997732 with order 1
Centerline is valid?  [True, True]
Translation: X:788.39, Y:79.16, Z:206.78
[[ 9.46369023e-01 -2.06041061e-01 -2.48862921e-01  7.88393638e+02]
 [ 2.01614763e-01  9.78501326e-01 -4.34354979e-02  7.91571788e+01]
 [ 2.52462194e-01 -9.06842909e-03  9.67564264e-01  2.06782911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.240714057 meters
Centerline goodness : 0.997940 with order 1
Centerline is valid?  [True, True]
Translation: X:788.45, Y:79.17, Z:206.80
[[ 9.47312835e-01 -2.01656254e-01 -2.48863714e-01  7.88452809e+02]
 [ 1.97082394e-01  9.79424465e-01 -4.34309510e-02  7.91657445e+01]
 [ 2.52501333e-01 -7.90395927e-03  9.67564264e-01  2.06798984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.300714057 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:788.51, Y:79.17, Z:206.81
[[ 9.47556045e-01 -2.00506434e-01 -2.48866854e-01  7.88512245e+02]
 [ 1.95898329e-01  9.79662779e-01 -4.34129524e-02  7.91744739e+01]
 [ 2.52510170e-01 -7.61639529e-03  9.67564264e-01  2.06814321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.360714057 meters
Centerline goodness : 0.997758 with order 1
Centerline is valid?  [True, True]
Translation: X:788.57, Y:79.18, Z:206.83
[[ 9.47424236e-01 -2.01125387e-01 -2.48869236e-01  7.88572344e+02]
 [ 1.96541840e-01  9.79534485e-01 -4.33992942e-02  7.91812220e+01]
 [ 2.52504699e-01 -7.79567448e-03  9.67564264e-01  2.06829170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.420714057 meters
Centerline goodness : 0.997458 with order 1
Centerline is valid?  [True, True]
Translation: X:788.63, Y:79.19, Z:206.84
[[ 9.46879197e-01 -2.03672066e-01 -2.48872410e-01  7.88630465e+02]
 [ 1.99179653e-01  9.79002322e-01 -4.33810855e-02  7.91869224e+01]
 [ 2.52482183e-01 -8.49367288e-03  9.67564264e-01  2.06843156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.480714057 meters
Centerline goodness : 0.997309 with order 1
Centerline is valid?  [True, True]
Translation: X:788.69, Y:79.19, Z:206.86
[[ 9.46662208e-01 -2.04678256e-01 -2.48872410e-01  7.88689709e+02]
 [ 2.00219985e-01  9.78790089e-01 -4.33810855e-02  7.91945137e+01]
 [ 2.52473013e-01 -8.76199600e-03  9.67564264e-01  2.06859851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.5407140570001 meters
Centerline goodness : 0.997285 with order 1
Centerline is valid?  [True, True]
Translation: X:788.75, Y:79.20, Z:206.88
[[ 9.46386151e-01 -2.05938319e-01 -2.48882827e-01  7.88747894e+02]
 [ 2.01538538e-01  9.78522094e-01 -4.33212449e-02  7.92002955e+01]
 [ 2.52458849e-01 -9.16085473e-03  9.67564266e-01  2.06875984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.600714057 meters
Centerline goodness : 0.996816 with order 1
Centerline is valid?  [True, True]
Translation: X:788.81, Y:79.21, Z:206.89
[[ 9.45875584e-01 -2.08269841e-01 -2.48883615e-01  7.88807584e+02]
 [ 2.03950455e-01  9.78022430e-01 -4.33167148e-02  7.92052117e+01]
 [ 2.52435323e-01 -9.78770355e-03  9.67564266e-01  2.06890842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.6607140570001 meters
Centerline goodness : 0.997319 with order 1
Centerline is valid?  [True, True]
Translation: X:788.87, Y:79.21, Z:206.91
[[ 9.45182190e-01 -2.11392618e-01 -2.48885093e-01  7.88866630e+02]
 [ 2.07181659e-01  9.77343419e-01 -4.33082188e-02  7.92102877e+01]
 [ 2.52401246e-01 -1.06302695e-02  9.67564266e-01  2.06906238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.720714057 meters
Centerline goodness : 0.997138 with order 1
Centerline is valid?  [True, True]
Translation: X:788.93, Y:79.22, Z:206.92
[[ 9.44739063e-01 -2.13364085e-01 -2.48885255e-01  7.88925988e+02]
 [ 2.09220476e-01  9.76909039e-01 -4.33072908e-02  7.92164330e+01]
 [ 2.52378476e-01 -1.11578022e-02  9.67564266e-01  2.06920979e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.7807140570001 meters
Centerline goodness : 0.996907 with order 1
Centerline is valid?  [True, True]
Translation: X:788.99, Y:79.22, Z:206.94
[[ 9.44669936e-01 -2.13668082e-01 -2.48886846e-01  7.88985586e+02]
 [ 2.09537230e-01  9.76841553e-01 -4.32981459e-02  7.92216882e+01]
 [ 2.52374445e-01 -1.12486035e-02  9.67564266e-01  2.06935458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.840714057 meters
Centerline goodness : 0.996442 with order 1
Centerline is valid?  [True, True]
Translation: X:789.04, Y:79.23, Z:206.95
[[ 9.45142186e-01 -2.11568451e-01 -2.48887601e-01  7.89044836e+02]
 [ 2.07367264e-01  9.77304694e-01 -4.32938039e-02  7.92283655e+01]
 [ 2.52398624e-01 -1.06923404e-02  9.67564266e-01  2.06950123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.9007140570001 meters
Centerline goodness : 0.997129 with order 1
Centerline is valid?  [True, True]
Translation: X:789.10, Y:79.24, Z:206.97
[[ 9.45554538e-01 -2.09714966e-01 -2.48890033e-01  7.89102809e+02]
 [ 2.05454403e-01  9.77709234e-01 -4.32798205e-02  7.92357709e+01]
 [ 2.52418509e-01 -1.02121223e-02  9.67564266e-01  2.06965767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 815.960714057 meters
Centerline goodness : 0.997085 with order 1
Centerline is valid?  [True, True]
Translation: X:789.16, Y:79.24, Z:206.98
[[ 9.45714830e-01 -2.08990651e-01 -2.48890275e-01  7.89160772e+02]
 [ 2.04705826e-01  9.77866301e-01 -4.32784251e-02  7.92432385e+01]
 [ 2.52426199e-01 -1.00202410e-02  9.67564266e-01  2.06979596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.0207140570001 meters
Centerline goodness : 0.997244 with order 1
Centerline is valid?  [True, True]
Translation: X:789.22, Y:79.25, Z:206.99
[[ 9.45468676e-01 -2.10101436e-01 -2.48890275e-01  7.89219615e+02]
 [ 2.05854382e-01  9.77625159e-01 -4.32784251e-02  7.92500951e+01]
 [ 2.52414254e-01 -1.03167586e-02  9.67564266e-01  2.06994784e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.080714057 meters
Centerline goodness : 0.996955 with order 1
Centerline is valid?  [True, True]
Translation: X:789.28, Y:79.26, Z:207.01
[[ 9.44819313e-01 -2.13000816e-01 -2.48891779e-01  7.89278109e+02]
 [ 2.08854702e-01  9.76988966e-01 -4.32697752e-02  7.92584189e+01]
 [ 2.52381019e-01 -1.11000991e-02  9.67564266e-01  2.07010635e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.1407140570001 meters
Centerline goodness : 0.997022 with order 1
Centerline is valid?  [True, True]
Translation: X:789.34, Y:79.27, Z:207.03
[[ 9.44309300e-01 -2.15248185e-01 -2.48893884e-01  7.89337880e+02]
 [ 2.11181808e-01  9.76489129e-01 -4.32576614e-02  7.92671144e+01]
 [ 2.52353306e-01 -1.17132485e-02  9.67564266e-01  2.07026682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.200714057 meters
Centerline goodness : 0.996985 with order 1
Centerline is valid?  [True, True]
Translation: X:789.40, Y:79.28, Z:207.04
[[ 9.43443792e-01 -2.19006854e-01 -2.48897188e-01  7.89396002e+02]
 [ 2.15073658e-01  9.75640170e-01 -4.32386439e-02  7.92757810e+01]
 [ 2.52303654e-01 -1.27379986e-02  9.67564266e-01  2.07042013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.260714057 meters
Centerline goodness : 0.996974 with order 1
Centerline is valid?  [True, True]
Translation: X:789.45, Y:79.29, Z:207.06
[[ 9.42749609e-01 -2.21974188e-01 -2.48898845e-01  7.89454942e+02]
 [ 2.18144823e-01  9.74958502e-01 -4.32291074e-02  7.92855000e+01]
 [ 2.52261791e-01 -1.35417702e-02  9.67564266e-01  2.07057482e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.320714057 meters
Centerline goodness : 0.997172 with order 1
Centerline is valid?  [True, True]
Translation: X:789.51, Y:79.29, Z:207.07
[[ 9.41936411e-01 -2.25397317e-01 -2.48901280e-01  7.89512353e+02]
 [ 2.21688671e-01  9.74159427e-01 -4.32150823e-02  7.92948937e+01]
 [ 2.52210092e-01 -1.44727345e-02  9.67564266e-01  2.07071574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.380714057 meters
Centerline goodness : 0.997421 with order 1
Centerline is valid?  [True, True]
Translation: X:789.57, Y:79.31, Z:207.09
[[ 9.40744401e-01 -2.30321785e-01 -2.48901280e-01  7.89570040e+02]
 [ 2.26781759e-01  9.72986377e-01 -4.32150823e-02  7.93054309e+01]
 [ 2.52130929e-01 -1.57919233e-02  9.67564266e-01  2.07086790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.440714057 meters
Centerline goodness : 0.996999 with order 1
Centerline is valid?  [True, True]
Translation: X:789.63, Y:79.32, Z:207.10
[[ 9.40109053e-01 -2.32901502e-01 -2.48901304e-01  7.89626966e+02]
 [ 2.29449971e-01  9.72360622e-01 -4.32149407e-02  7.93169399e+01]
 [ 2.52086652e-01 -1.64836400e-02  9.67564266e-01  2.07100548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.500714057 meters
Centerline goodness : 0.996983 with order 1
Centerline is valid?  [True, True]
Translation: X:789.68, Y:79.33, Z:207.12
[[ 9.39602621e-01 -2.34932478e-01 -2.48904892e-01  7.89684742e+02]
 [ 2.31556099e-01  9.71862145e-01 -4.31942644e-02  7.93286221e+01]
 [ 2.52048978e-01 -1.70500020e-02  9.67564267e-01  2.07117120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.560714057 meters
Centerline goodness : 0.996792 with order 1
Centerline is valid?  [True, True]
Translation: X:789.74, Y:79.34, Z:207.13
[[ 9.39457196e-01 -2.35512487e-01 -2.48905697e-01  7.89743769e+02]
 [ 2.32157248e-01  9.71718925e-01 -4.31896254e-02  7.93402782e+01]
 [ 2.52038073e-01 -1.72104574e-02  9.67564267e-01  2.07133849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.620714057 meters
Centerline goodness : 0.997028 with order 1
Centerline is valid?  [True, True]
Translation: X:789.80, Y:79.35, Z:207.15
[[ 9.39889873e-01 -2.33776338e-01 -2.48908920e-01  7.89801631e+02]
 [ 2.30366395e-01  9.72145866e-01 -4.31710470e-02  7.93522942e+01]
 [ 2.52068147e-01 -1.67642206e-02  9.67564267e-01  2.07148739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.680714057 meters
Centerline goodness : 0.996744 with order 1
Centerline is valid?  [True, True]
Translation: X:789.86, Y:79.36, Z:207.17
[[ 9.40132380e-01 -2.32797482e-01 -2.48910506e-01  7.89860530e+02]
 [ 2.29356363e-01  9.72385062e-01 -4.31619000e-02  7.93641084e+01]
 [ 2.52084839e-01 -1.65113086e-02  9.67564267e-01  2.07166475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.740714057 meters
Centerline goodness : 0.996938 with order 1
Centerline is valid?  [True, True]
Translation: X:789.92, Y:79.38, Z:207.18
[[ 9.40698432e-01 -2.30496050e-01 -2.48913700e-01  7.89917718e+02]
 [ 2.26980868e-01  9.72943126e-01 -4.31434717e-02  7.93761571e+01]
 [ 2.52123273e-01 -1.59136514e-02  9.67564267e-01  2.07179866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.800714057 meters
Centerline goodness : 0.997239 with order 1
Centerline is valid?  [True, True]
Translation: X:789.98, Y:79.39, Z:207.20
[[ 9.41203080e-01 -2.28426646e-01 -2.48913700e-01  7.89975792e+02]
 [ 2.24840558e-01  9.73439964e-01 -4.31434717e-02  7.93883112e+01]
 [ 2.52157662e-01 -1.53591267e-02  9.67564267e-01  2.07197878e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.860714057 meters
Centerline goodness : 0.997370 with order 1
Centerline is valid?  [True, True]
Translation: X:790.03, Y:79.40, Z:207.21
[[ 9.41505745e-01 -2.27172401e-01 -2.48916919e-01  7.90032990e+02]
 [ 2.23548258e-01  9.73738374e-01 -4.31248927e-02  7.93995143e+01]
 [ 2.52176741e-01 -1.50426093e-02  9.67564267e-01  2.07212914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.920714057 meters
Centerline goodness : 0.997155 with order 1
Centerline is valid?  [True, True]
Translation: X:790.09, Y:79.41, Z:207.23
[[ 9.41800505e-01 -2.25947304e-01 -2.48916902e-01  7.90091072e+02]
 [ 2.22281203e-01  9.74028389e-01 -4.31249899e-02  7.94116469e+01]
 [ 2.52196104e-01 -1.47144113e-02  9.67564267e-01  2.07229756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 816.980714057 meters
Centerline goodness : 0.997622 with order 1
Centerline is valid?  [True, True]
Translation: X:790.15, Y:79.42, Z:207.25
[[ 9.41853339e-01 -2.25721160e-01 -2.48922170e-01  7.90150127e+02]
 [ 2.22055334e-01  9.74081253e-01 -4.30945640e-02  7.94223986e+01]
 [ 2.52197774e-01 -1.46857365e-02  9.67564268e-01  2.07246290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.0407140570001 meters
Centerline goodness : 0.997118 with order 1
Centerline is valid?  [True, True]
Translation: X:790.21, Y:79.43, Z:207.26
[[ 9.41638546e-01 -2.26611238e-01 -2.48926086e-01  7.90209532e+02]
 [ 2.22981835e-01  9.73870582e-01 -4.30719313e-02  7.94336103e+01]
 [ 2.52182376e-01 -1.49478046e-02  9.67564268e-01  2.07262502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.100714057 meters
Centerline goodness : 0.997232 with order 1
Centerline is valid?  [True, True]
Translation: X:790.27, Y:79.45, Z:207.28
[[ 9.41352636e-01 -2.27791751e-01 -2.48929976e-01  7.90268610e+02]
 [ 2.24208691e-01  9.73589856e-01 -4.30494395e-02  7.94451306e+01]
 [ 2.52162006e-01 -1.52875606e-02  9.67564268e-01  2.07279233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.1607140570001 meters
Centerline goodness : 0.997411 with order 1
Centerline is valid?  [True, True]
Translation: X:790.33, Y:79.46, Z:207.29
[[ 9.41053579e-01 -2.29020739e-01 -2.48933049e-01  7.90326060e+02]
 [ 2.25484461e-01  9.73295964e-01 -4.30316591e-02  7.94566451e+01]
 [ 2.52140675e-01 -1.56354375e-02  9.67564268e-01  2.07294591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.220714057 meters
Centerline goodness : 0.997076 with order 1
Centerline is valid?  [True, True]
Translation: X:790.38, Y:79.47, Z:207.31
[[ 9.41079135e-01 -2.28914883e-01 -2.48933803e-01  7.90384580e+02]
 [ 2.25376128e-01  9.73321248e-01 -4.30272979e-02  7.94674669e+01]
 [ 2.52142149e-01 -1.56116443e-02  9.67564268e-01  2.07310550e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.2807140570001 meters
Centerline goodness : 0.997339 with order 1
Centerline is valid?  [True, True]
Translation: X:790.44, Y:79.48, Z:207.33
[[ 9.41279414e-01 -2.28088180e-01 -2.48935428e-01  7.90443397e+02]
 [ 2.24523582e-01  9.73518681e-01 -4.30178949e-02  7.94800936e+01]
 [ 2.52155163e-01 -1.54000151e-02  9.67564268e-01  2.07325683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.340714057 meters
Centerline goodness : 0.997642 with order 1
Centerline is valid?  [True, True]
Translation: X:790.50, Y:79.49, Z:207.34
[[ 9.41469574e-01 -2.27290583e-01 -2.48945843e-01  7.90501026e+02]
 [ 2.23714571e-01  9.73707575e-01 -4.29575389e-02  7.94920225e+01]
 [ 2.52164297e-01 -1.52495967e-02  9.67564270e-01  2.07341084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.4007140570001 meters
Centerline goodness : 0.997483 with order 1
Centerline is valid?  [True, True]
Translation: X:790.56, Y:79.50, Z:207.36
[[ 9.41688950e-01 -2.26378227e-01 -2.48947426e-01  7.90559715e+02]
 [ 2.22773395e-01  9.73923741e-01 -4.29483659e-02  7.95038849e+01]
 [ 2.52178383e-01 -1.50148617e-02  9.67564270e-01  2.07356041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.460714057 meters
Centerline goodness : 0.997245 with order 1
Centerline is valid?  [True, True]
Translation: X:790.62, Y:79.52, Z:207.37
[[ 9.41963519e-01 -2.25220221e-01 -2.48958995e-01  7.90617380e+02]
 [ 2.21593447e-01  9.74195846e-01 -4.28812014e-02  7.95155256e+01]
 [ 2.52192532e-01 -1.47751546e-02  9.67564273e-01  2.07371215e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.5207140570001 meters
Centerline goodness : 0.997503 with order 1
Centerline is valid?  [True, True]
Translation: X:790.68, Y:79.53, Z:207.39
[[ 9.42137298e-01 -2.24490477e-01 -2.48960515e-01  7.90676757e+02]
 [ 2.20841060e-01  9.74367069e-01 -4.28723765e-02  7.95265937e+01]
 [ 2.52203367e-01 -1.45890390e-02  9.67564273e-01  2.07387690e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.580714057 meters
Centerline goodness : 0.997562 with order 1
Centerline is valid?  [True, True]
Translation: X:790.74, Y:79.54, Z:207.40
[[ 9.42389470e-01 -2.23416947e-01 -2.48971797e-01  7.90736586e+02]
 [ 2.19748089e-01  9.74617032e-01 -4.28067599e-02  7.95373039e+01]
 [ 2.52215909e-01 -1.43704370e-02  9.67564275e-01  2.07402108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.6407140570001 meters
Centerline goodness : 0.997327 with order 1
Centerline is valid?  [True, True]
Translation: X:790.79, Y:79.55, Z:207.42
[[ 9.42637836e-01 -2.22354091e-01 -2.48983070e-01  7.90793581e+02]
 [ 2.18666182e-01  9.74863221e-01 -4.27410944e-02  7.95488908e+01]
 [ 2.52228095e-01 -1.41548046e-02  9.67564277e-01  2.07417243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.700714057 meters
Centerline goodness : 0.997844 with order 1
Centerline is valid?  [True, True]
Translation: X:790.85, Y:79.56, Z:207.43
[[ 9.43308475e-01 -2.19490678e-01 -2.48983862e-01  7.90851594e+02]
 [ 2.15706145e-01  9.75522656e-01 -4.27364818e-02  7.95604631e+01]
 [ 2.52269657e-01 -1.33936635e-02  9.67564277e-01  2.07434048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.760714057 meters
Centerline goodness : 0.997575 with order 1
Centerline is valid?  [True, True]
Translation: X:790.91, Y:79.57, Z:207.45
[[ 9.44064201e-01 -2.16215220e-01 -2.48985466e-01  7.90909421e+02]
 [ 2.12321357e-01  9.76265350e-01 -4.27271320e-02  7.95720548e+01]
 [ 2.52314139e-01 -1.25277764e-02  9.67564277e-01  2.07450095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.820714057 meters
Centerline goodness : 0.997446 with order 1
Centerline is valid?  [True, True]
Translation: X:790.97, Y:79.58, Z:207.46
[[ 9.44567213e-01 -2.14005187e-01 -2.48987069e-01  7.90966665e+02]
 [ 2.10038429e-01  9.76759463e-01 -4.27177912e-02  7.95823165e+01]
 [ 2.52342304e-01 -1.19470278e-02  9.67564277e-01  2.07464605e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.880714057 meters
Centerline goodness : 0.997802 with order 1
Centerline is valid?  [True, True]
Translation: X:791.03, Y:79.59, Z:207.48
[[ 9.44946190e-01 -2.12325539e-01 -2.48987074e-01  7.91026738e+02]
 [ 2.08301562e-01  9.77131338e-01 -4.27177628e-02  7.95924921e+01]
 [ 2.52363144e-01 -1.14984091e-02  9.67564277e-01  2.07479177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 817.940714057 meters
Centerline goodness : 0.998038 with order 1
Centerline is valid?  [True, True]
Translation: X:791.08, Y:79.60, Z:207.50
[[ 9.44734347e-01 -2.13262574e-01 -2.48990137e-01  7.91084932e+02]
 [ 2.09275215e-01  9.76924052e-01 -4.26999004e-02  7.96013228e+01]
 [ 2.52350744e-01 -1.17674019e-02  9.67564277e-01  2.07495009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.000714057 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:791.15, Y:79.61, Z:207.51
[[ 9.44073712e-01 -2.16167381e-01 -2.48990943e-01  7.91145418e+02]
 [ 2.12280288e-01  9.76275678e-01 -4.26951975e-02  7.96095968e+01]
 [ 2.52313111e-01 -1.25484555e-02  9.67564277e-01  2.07507427e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.060714057 meters
Centerline goodness : 0.997564 with order 1
Centerline is valid?  [True, True]
Translation: X:791.20, Y:79.62, Z:207.52
[[ 9.43571046e-01 -2.18337508e-01 -2.49002839e-01  7.91202700e+02]
 [ 2.14542752e-01  9.75784021e-01 -4.26257117e-02  7.96181650e+01]
 [ 2.52279783e-01 -1.32013669e-02  9.67564280e-01  2.07523941e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.120714057 meters
Centerline goodness : 0.997733 with order 1
Centerline is valid?  [True, True]
Translation: X:791.26, Y:79.63, Z:207.54
[[ 9.43507810e-01 -2.18610316e-01 -2.49003097e-01  7.91262076e+02]
 [ 2.14825269e-01  9.75721928e-01 -4.26242067e-02  7.96283989e+01]
 [ 2.52275873e-01 -1.32758853e-02  9.67564280e-01  2.07540013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.180714057 meters
Centerline goodness : 0.997792 with order 1
Centerline is valid?  [True, True]
Translation: X:791.32, Y:79.64, Z:207.56
[[ 9.43938303e-01 -2.16740290e-01 -2.49006278e-01  7.91319789e+02]
 [ 2.12896310e-01  9.76145442e-01 -4.26056111e-02  7.96382628e+01]
 [ 2.52300696e-01 -1.27954496e-02  9.67564280e-01  2.07556002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.240714057 meters
Centerline goodness : 0.997501 with order 1
Centerline is valid?  [True, True]
Translation: X:791.38, Y:79.65, Z:207.57
[[ 9.44380928e-01 -2.14802558e-01 -2.49007076e-01  7.91377900e+02]
 [ 2.10893712e-01  9.76580259e-01 -4.26009482e-02  7.96482956e+01]
 [ 2.52326187e-01 -1.22825037e-02  9.67564280e-01  2.07571038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.300714057 meters
Centerline goodness : 0.997314 with order 1
Centerline is valid?  [True, True]
Translation: X:791.44, Y:79.66, Z:207.59
[[ 9.44778302e-01 -2.13036042e-01 -2.49017280e-01  7.91435825e+02]
 [ 2.09082692e-01  9.76972196e-01 -4.25412235e-02  7.96579199e+01]
 [ 2.52345773e-01 -1.18731783e-02  9.67564281e-01  2.07586700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.360714057 meters
Centerline goodness : 0.997843 with order 1
Centerline is valid?  [True, True]
Translation: X:791.50, Y:79.67, Z:207.60
[[ 9.44965470e-01 -2.12203189e-01 -2.49018208e-01  7.91495194e+02]
 [ 2.08222891e-01  9.77156044e-01 -4.25357918e-02  7.96673781e+01]
 [ 2.52355877e-01 -1.16564365e-02  9.67564281e-01  2.07602968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.420714057 meters
Centerline goodness : 0.998174 with order 1
Centerline is valid?  [True, True]
Translation: X:791.55, Y:79.68, Z:207.62
[[ 9.45078236e-01 -2.11696624e-01 -2.49021420e-01  7.91554513e+02]
 [ 2.07704017e-01  9.77267286e-01 -4.25169794e-02  7.96769416e+01]
 [ 2.52361188e-01 -1.15408774e-02  9.67564282e-01  2.07618611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.480714057 meters
Centerline goodness : 0.997805 with order 1
Centerline is valid?  [True, True]
Translation: X:791.61, Y:79.69, Z:207.63
[[ 9.45400971e-01 -2.10246896e-01 -2.49024591e-01  7.91613751e+02]
 [ 2.06209810e-01  9.77584472e-01 -4.24983982e-02  7.96854229e+01]
 [ 2.52377729e-01 -1.11732865e-02  9.67564282e-01  2.07634140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.5407140570001 meters
Centerline goodness : 0.997614 with order 1
Centerline is valid?  [True, True]
Translation: X:791.67, Y:79.70, Z:207.65
[[ 9.45695150e-01 -2.08915887e-01 -2.49027779e-01  7.91672655e+02]
 [ 2.04838415e-01  9.77873560e-01 -4.24797057e-02  7.96952473e+01]
 [ 2.52392366e-01 -1.08376039e-02  9.67564282e-01  2.07650193e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.600714057 meters
Centerline goodness : 0.997480 with order 1
Centerline is valid?  [True, True]
Translation: X:791.73, Y:79.70, Z:207.67
[[ 9.45705549e-01 -2.08865026e-01 -2.49030955e-01  7.91732181e+02]
 [ 2.04790718e-01  9.77884358e-01 -4.24610825e-02  7.97045883e+01]
 [ 2.52392110e-01 -1.08435466e-02  9.67564282e-01  2.07665364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.6607140570001 meters
Centerline goodness : 0.997124 with order 1
Centerline is valid?  [True, True]
Translation: X:791.79, Y:79.71, Z:207.68
[[ 9.45726741e-01 -2.08765301e-01 -2.49034097e-01  7.91791200e+02]
 [ 2.04692445e-01  9.77905734e-01 -4.24426453e-02  7.97138945e+01]
 [ 2.52392423e-01 -1.08362536e-02  9.67564282e-01  2.07680289e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.720714057 meters
Centerline goodness : 0.997917 with order 1
Centerline is valid?  [True, True]
Translation: X:791.85, Y:79.72, Z:207.70
[[ 9.45756824e-01 -2.08622725e-01 -2.49039330e-01  7.91850235e+02]
 [ 2.04553095e-01  9.77936225e-01 -4.24119164e-02  7.97231458e+01]
 [ 2.52392672e-01 -1.08304063e-02  9.67564283e-01  2.07696269e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.7807140570001 meters
Centerline goodness : 0.997455 with order 1
Centerline is valid?  [True, True]
Translation: X:791.91, Y:79.73, Z:207.71
[[ 9.45797037e-01 -2.08437518e-01 -2.49041696e-01  7.91909136e+02]
 [ 2.04365237e-01  9.77976103e-01 -4.23980233e-02  7.97323523e+01]
 [ 2.52394166e-01 -1.07955404e-02  9.67564283e-01  2.07711618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.840714057 meters
Centerline goodness : 0.997812 with order 1
Centerline is valid?  [True, True]
Translation: X:791.97, Y:79.74, Z:207.73
[[ 9.45779486e-01 -2.08515293e-01 -2.49043241e-01  7.91967800e+02]
 [ 2.04448045e-01  9.77959189e-01 -4.23889429e-02  7.97415703e+01]
 [ 2.52392869e-01 -1.08258111e-02  9.67564283e-01  2.07725883e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.9007140570001 meters
Centerline goodness : 0.997790 with order 1
Centerline is valid?  [True, True]
Translation: X:792.03, Y:79.75, Z:207.74
[[ 9.45684815e-01 -2.08941509e-01 -2.49045531e-01  7.92027283e+02]
 [ 2.04892301e-01  9.77866792e-01 -4.23754832e-02  7.97514623e+01]
 [ 2.52387352e-01 -1.09536611e-02  9.67564283e-01  2.07740913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 818.960714057 meters
Centerline goodness : 0.997673 with order 1
Centerline is valid?  [True, True]
Translation: X:792.09, Y:79.76, Z:207.76
[[ 9.45441407e-01 -2.10036548e-01 -2.49048578e-01  7.92085376e+02]
 [ 2.06029322e-01  9.77628639e-01 -4.23575672e-02  7.97611934e+01]
 [ 2.52373660e-01 -1.12647120e-02  9.67564283e-01  2.07757466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.0207140570001 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:792.14, Y:79.77, Z:207.77
[[ 9.44941851e-01 -2.12270835e-01 -2.49050177e-01  7.92142929e+02]
 [ 2.08342179e-01  9.77138767e-01 -4.23481638e-02  7.97699894e+01]
 [ 2.52345863e-01 -1.18711043e-02  9.67564283e-01  2.07771966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.080714057 meters
Centerline goodness : 0.997858 with order 1
Centerline is valid?  [True, True]
Translation: X:792.20, Y:79.78, Z:207.79
[[ 9.44221037e-01 -2.15450118e-01 -2.49053969e-01  7.92201026e+02]
 [ 2.11635723e-01  9.76431689e-01 -4.23258513e-02  7.97793006e+01]
 [ 2.52303298e-01 -1.27437577e-02  9.67564283e-01  2.07788018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.1407140570001 meters
Centerline goodness : 0.997897 with order 1
Centerline is valid?  [True, True]
Translation: X:792.26, Y:79.79, Z:207.80
[[ 9.43713835e-01 -2.17660120e-01 -2.49054752e-01  7.92259603e+02]
 [ 2.13922357e-01  9.75933470e-01 -4.23212476e-02  7.97884729e+01]
 [ 2.52272516e-01 -1.33392327e-02  9.67564284e-01  2.07803524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.200714057 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:792.32, Y:79.80, Z:207.82
[[ 9.43482822e-01 -2.18658428e-01 -2.49055528e-01  7.92318630e+02]
 [ 2.14955958e-01  9.75706531e-01 -4.23166770e-02  7.97984904e+01]
 [ 2.52258004e-01 -1.36109119e-02  9.67564284e-01  2.07819591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.260714057 meters
Centerline goodness : 0.997656 with order 1
Centerline is valid?  [True, True]
Translation: X:792.38, Y:79.81, Z:207.83
[[ 9.43995976e-01 -2.16428637e-01 -2.49058713e-01  7.92376577e+02]
 [ 2.12654977e-01  9.76211425e-01 -4.22979222e-02  7.98090378e+01]
 [ 2.52288443e-01 -1.30345065e-02  9.67564284e-01  2.07834359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.320714057 meters
Centerline goodness : 0.997704 with order 1
Centerline is valid?  [True, True]
Translation: X:792.43, Y:79.82, Z:207.85
[[ 9.45003079e-01 -2.11987153e-01 -2.49059487e-01  7.92433970e+02]
 [ 2.08063241e-01  9.77200573e-01 -4.22933644e-02  7.98207875e+01]
 [ 2.52346724e-01 -1.18527647e-02  9.67564284e-01  2.07848989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.380714057 meters
Centerline goodness : 0.998289 with order 1
Centerline is valid?  [True, True]
Translation: X:792.49, Y:79.83, Z:207.86
[[ 9.46045419e-01 -2.07284922e-01 -2.49060287e-01  7.92491499e+02]
 [ 2.03202174e-01  9.78223158e-01 -4.22886542e-02  7.98324780e+01]
 [ 2.52402341e-01 -1.06026044e-02  9.67564284e-01  2.07863591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.440714057 meters
Centerline goodness : 0.998380 with order 1
Centerline is valid?  [True, True]
Translation: X:792.55, Y:79.84, Z:207.88
[[ 9.46563337e-01 -2.04906864e-01 -2.49060287e-01  7.92550156e+02]
 [ 2.00743267e-01  9.78730714e-01 -4.22886542e-02  7.98437925e+01]
 [ 2.52428188e-01 -9.96828614e-03  9.67564284e-01  2.07879317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.500714057 meters
Centerline goodness : 0.998289 with order 1
Centerline is valid?  [True, True]
Translation: X:792.61, Y:79.85, Z:207.90
[[ 9.46972524e-01 -2.03004623e-01 -2.49062567e-01  7.92608878e+02]
 [ 1.98779931e-01  9.79131934e-01 -4.22752243e-02  7.98549079e+01]
 [ 2.52447179e-01 -9.47516404e-03  9.67564284e-01  2.07895226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.560714057 meters
Centerline goodness : 0.998265 with order 1
Centerline is valid?  [True, True]
Translation: X:792.67, Y:79.86, Z:207.91
[[ 9.47237874e-01 -2.01759086e-01 -2.49065616e-01  7.92667386e+02]
 [ 1.97496824e-01  9.79392327e-01 -4.22572538e-02  7.98643169e+01]
 [ 2.52458738e-01 -9.16199667e-03  9.67564284e-01  2.07910771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.620714057 meters
Centerline goodness : 0.998643 with order 1
Centerline is valid?  [True, True]
Translation: X:792.73, Y:79.87, Z:207.93
[[ 9.47508149e-01 -2.00484023e-01 -2.49067190e-01  7.92726393e+02]
 [ 1.96180924e-01  9.79657161e-01 -4.22479743e-02  7.98732545e+01]
 [ 2.52470500e-01 -8.83193153e-03  9.67564284e-01  2.07926765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.680714057 meters
Centerline goodness : 0.998203 with order 1
Centerline is valid?  [True, True]
Translation: X:792.79, Y:79.88, Z:207.94
[[ 9.47813992e-01 -1.99030231e-01 -2.49069476e-01  7.92786125e+02]
 [ 1.94681358e-01  9.79956844e-01 -4.22344895e-02  7.98823644e+01]
 [ 2.52483278e-01 -8.45874379e-03  9.67564284e-01  2.07942555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.740714057 meters
Centerline goodness : 0.998232 with order 1
Centerline is valid?  [True, True]
Translation: X:792.85, Y:79.89, Z:207.96
[[ 9.48647626e-01 -1.95014261e-01 -2.49072517e-01  7.92845128e+02]
 [ 1.90534002e-01  9.80772429e-01 -4.22165498e-02  7.98899407e+01]
 [ 2.52516287e-01 -7.40815356e-03  9.67564284e-01  2.07957074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.800714057 meters
Centerline goodness : 0.997717 with order 1
Centerline is valid?  [True, True]
Translation: X:792.90, Y:79.90, Z:207.97
[[ 9.49388361e-01 -1.91372681e-01 -2.49074763e-01  7.92904438e+02]
 [ 1.86772660e-01  9.81496233e-01 -4.22032935e-02  7.98972005e+01]
 [ 2.52542499e-01 -6.45304053e-03  9.67564284e-01  2.07974252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.860714057 meters
Centerline goodness : 0.998227 with order 1
Centerline is valid?  [True, True]
Translation: X:792.96, Y:79.90, Z:207.99
[[ 9.50081031e-01 -1.87899555e-01 -2.49077884e-01  7.92963008e+02]
 [ 1.83186976e-01  9.82172576e-01 -4.21848706e-02  7.99039301e+01]
 [ 2.52563985e-01 -5.54877904e-03  9.67564285e-01  2.07989739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.920714057 meters
Centerline goodness : 0.997485 with order 1
Centerline is valid?  [True, True]
Translation: X:793.02, Y:79.91, Z:208.01
[[ 9.50323102e-01 -1.86671304e-01 -2.49077954e-01  7.93022232e+02]
 [ 1.81917356e-01  9.82408544e-01 -4.21844573e-02  7.99097160e+01]
 [ 2.52570937e-01 -5.22273834e-03  9.67564285e-01  2.08006273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 819.980714057 meters
Centerline goodness : 0.997834 with order 1
Centerline is valid?  [True, True]
Translation: X:793.08, Y:79.92, Z:208.02
[[ 9.50176493e-01 -1.87414058e-01 -2.49079513e-01  7.93082926e+02]
 [ 1.82687603e-01  9.82265997e-01 -4.21752476e-02  7.99167487e+01]
 [ 2.52566570e-01 -5.42981032e-03  9.67564285e-01  2.08022555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.0407140570001 meters
Centerline goodness : 0.997647 with order 1
Centerline is valid?  [True, True]
Translation: X:793.14, Y:79.92, Z:208.04
[[ 9.49775280e-01 -1.89430584e-01 -2.49084265e-01  7.93143357e+02]
 [ 1.84779618e-01  9.81875812e-01 -4.21471617e-02  7.99213562e+01]
 [ 2.52553777e-01 -5.99536304e-03  9.67564285e-01  2.08039340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.100714057 meters
Centerline goodness : 0.997910 with order 1
Centerline is valid?  [True, True]
Translation: X:793.20, Y:79.93, Z:208.05
[[ 9.49644367e-01 -1.90081610e-01 -2.49087451e-01  7.93202197e+02]
 [ 1.85457587e-01  9.81748790e-01 -4.21283261e-02  7.99294634e+01]
 [ 2.52549124e-01 -6.18823010e-03  9.67564285e-01  2.08054907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.1607140570001 meters
Centerline goodness : 0.996963 with order 1
Centerline is valid?  [True, True]
Translation: X:793.26, Y:79.93, Z:208.07
[[ 9.49072206e-01 -1.92915049e-01 -2.49089805e-01  7.93262033e+02]
 [ 1.88390516e-01  9.81190802e-01 -4.21144063e-02  7.99344488e+01]
 [ 2.52529128e-01 -6.95654436e-03  9.67564285e-01  2.08070362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.220714057 meters
Centerline goodness : 0.997059 with order 1
Centerline is valid?  [True, True]
Translation: X:793.32, Y:79.94, Z:208.09
[[ 9.48120874e-01 -1.97533637e-01 -2.49092896e-01  7.93320556e+02]
 [ 1.93170338e-01  9.80261770e-01 -4.20961149e-02  7.99398321e+01]
 [ 2.52491642e-01 -8.20515362e-03  9.67564285e-01  2.08086203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.2807140570001 meters
Centerline goodness : 0.997014 with order 1
Centerline is valid?  [True, True]
Translation: X:793.38, Y:79.95, Z:208.10
[[ 9.46817882e-01 -2.03687323e-01 -2.49093100e-01  7.93379941e+02]
 [ 1.99533182e-01  9.78986480e-01 -4.20949061e-02  7.99450866e+01]
 [ 2.52432976e-01 -9.84612912e-03  9.67564285e-01  2.08102485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.340714057 meters
Centerline goodness : 0.997147 with order 1
Centerline is valid?  [True, True]
Translation: X:793.44, Y:79.95, Z:208.12
[[ 9.45286352e-01 -2.10678829e-01 -2.49094650e-01  7.93438254e+02]
 [ 2.06764942e-01  9.77485064e-01 -4.20857335e-02  7.99497476e+01]
 [ 2.52352873e-01 -1.17209713e-02  9.67564285e-01  2.08116910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.4007140570001 meters
Centerline goodness : 0.997177 with order 1
Centerline is valid?  [True, True]
Translation: X:793.50, Y:79.96, Z:208.13
[[ 9.44432276e-01 -2.14474530e-01 -2.49095068e-01  7.93496673e+02]
 [ 2.10690673e-01  9.76646527e-01 -4.20832621e-02  7.99568116e+01]
 [ 2.52303621e-01 -1.27372164e-02  9.67564285e-01  2.08133059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.460714057 meters
Centerline goodness : 0.997347 with order 1
Centerline is valid?  [True, True]
Translation: X:793.56, Y:79.96, Z:208.15
[[ 9.43500208e-01 -2.18537500e-01 -2.49095803e-01  7.93555407e+02]
 [ 2.14893478e-01  9.75730577e-01 -4.20789101e-02  7.99622058e+01]
 [ 2.52246211e-01 -1.38276030e-02  9.67564285e-01  2.08147073e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.5207140570001 meters
Centerline goodness : 0.996245 with order 1
Centerline is valid?  [True, True]
Translation: X:793.61, Y:79.97, Z:208.16
[[ 9.42872633e-01 -2.21227601e-01 -2.49097465e-01  7.93614711e+02]
 [ 2.17678110e-01  9.75113549e-01 -4.20690699e-02  7.99710826e+01]
 [ 2.52205152e-01 -1.45572907e-02  9.67564285e-01  2.08162574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.580714057 meters
Centerline goodness : 0.996752 with order 1
Centerline is valid?  [True, True]
Translation: X:793.67, Y:79.98, Z:208.18
[[ 9.42823512e-01 -2.21433501e-01 -2.49100443e-01  7.93673845e+02]
 [ 2.17895696e-01  9.75065712e-01 -4.20514245e-02  7.99793746e+01]
 [ 2.52200895e-01 -1.46308429e-02  9.67564286e-01  2.08177769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.6407140570001 meters
Centerline goodness : 0.996470 with order 1
Centerline is valid?  [True, True]
Translation: X:793.73, Y:79.99, Z:208.19
[[ 9.43127326e-01 -2.20133263e-01 -2.49102776e-01  7.93731429e+02]
 [ 2.16554642e-01  9.75365022e-01 -4.20376048e-02  7.99886636e+01]
 [ 2.52220009e-01 -1.42975486e-02  9.67564286e-01  2.08190072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.700714057 meters
Centerline goodness : 0.996667 with order 1
Centerline is valid?  [True, True]
Translation: X:793.79, Y:80.00, Z:208.20
[[ 9.43952903e-01 -2.16566629e-01 -2.49102014e-01  7.93787924e+02]
 [ 2.12864986e-01  9.76176704e-01 -4.20421196e-02  7.99984618e+01]
 [ 2.52272503e-01 -1.33393158e-02  9.67564286e-01  2.08203908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.760714057 meters
Centerline goodness : 0.996752 with order 1
Centerline is valid?  [True, True]
Translation: X:793.85, Y:80.01, Z:208.22
[[ 9.44759168e-01 -2.13024323e-01 -2.49099884e-01  7.93845026e+02]
 [ 2.09198517e-01  9.76968464e-01 -4.20547341e-02  8.00088186e+01]
 [ 2.52321412e-01 -1.23797306e-02  9.67564286e-01  2.08221872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.820714057 meters
Centerline goodness : 0.997173 with order 1
Centerline is valid?  [True, True]
Translation: X:793.90, Y:80.02, Z:208.24
[[ 9.45312173e-01 -2.10555510e-01 -2.49100929e-01  7.93902928e+02]
 [ 2.06647201e-01  9.77511562e-01 -4.20485433e-02  8.00197261e+01]
 [ 2.52352591e-01 -1.17270099e-02  9.67564286e-01  2.08237881e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.880714057 meters
Centerline goodness : 0.996854 with order 1
Centerline is valid?  [True, True]
Translation: X:793.96, Y:80.03, Z:208.25
[[ 9.46000327e-01 -2.07440900e-01 -2.49101695e-01  7.93960506e+02]
 [ 2.03427754e-01  9.78186818e-01 -4.20440024e-02  8.00304604e+01]
 [ 2.52389640e-01 -1.09005583e-02  9.67564286e-01  2.08254699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 820.940714057 meters
Centerline goodness : 0.997258 with order 1
Centerline is valid?  [True, True]
Translation: X:794.02, Y:80.04, Z:208.27
[[ 9.46215199e-01 -2.06457632e-01 -2.49102476e-01  7.94018909e+02]
 [ 2.02412252e-01  9.78397655e-01 -4.20393782e-02  8.00402602e+01]
 [ 2.52400629e-01 -1.06430946e-02  9.67564286e-01  2.08270561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.000714057 meters
Centerline goodness : 0.997259 with order 1
Centerline is valid?  [True, True]
Translation: X:794.08, Y:80.05, Z:208.29
[[ 9.45819613e-01 -2.08260468e-01 -2.49104069e-01  7.94077876e+02]
 [ 2.04278908e-01  9.78010027e-01 -4.20299353e-02  8.00512344e+01]
 [ 2.52379451e-01 -1.11339702e-02  9.67564286e-01  2.08286932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.060714057 meters
Centerline goodness : 0.997186 with order 1
Centerline is valid?  [True, True]
Translation: X:794.14, Y:80.06, Z:208.30
[[ 9.45415466e-01 -2.10083695e-01 -2.49107280e-01  7.94136776e+02]
 [ 2.06169214e-01  9.77614106e-01 -4.20108956e-02  8.00617521e+01]
 [ 2.52356595e-01 -1.16405018e-02  9.67564286e-01  2.08301851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.120714057 meters
Centerline goodness : 0.997423 with order 1
Centerline is valid?  [True, True]
Translation: X:794.20, Y:80.07, Z:208.32
[[ 9.44419750e-01 -2.14512735e-01 -2.49109657e-01  7.94195394e+02]
 [ 2.10752929e-01  9.76636817e-01 -4.19967939e-02  8.00716760e+01]
 [ 2.52298510e-01 -1.28379882e-02  9.67564286e-01  2.08316323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.180714057 meters
Centerline goodness : 0.997460 with order 1
Centerline is valid?  [True, True]
Translation: X:794.25, Y:80.08, Z:208.33
[[ 9.43058259e-01 -2.20419435e-01 -2.49111206e-01  7.94253571e+02]
 [ 2.16863760e-01  9.75298493e-01 -4.19876055e-02  8.00825292e+01]
 [ 2.52212668e-01 -1.44264346e-02  9.67564286e-01  2.08331249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.240714057 meters
Centerline goodness : 0.997767 with order 1
Centerline is valid?  [True, True]
Translation: X:794.31, Y:80.09, Z:208.35
[[ 9.41820504e-01 -2.25648061e-01 -2.49112607e-01  7.94311607e+02]
 [ 2.22273497e-01  9.74080198e-01 -4.19792918e-02  8.00925243e+01]
 [ 2.52128203e-01 -1.58341727e-02  9.67564286e-01  2.08346672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.300714057 meters
Centerline goodness : 0.997182 with order 1
Centerline is valid?  [True, True]
Translation: X:794.37, Y:80.10, Z:208.36
[[ 9.41101780e-01 -2.28626931e-01 -2.49112759e-01  7.94369480e+02]
 [ 2.25354693e-01  9.73372014e-01 -4.19783921e-02  8.01030091e+01]
 [ 2.52076779e-01 -1.66327898e-02  9.67564286e-01  2.08362743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.360714057 meters
Centerline goodness : 0.997140 with order 1
Centerline is valid?  [True, True]
Translation: X:794.43, Y:80.11, Z:208.38
[[ 9.40421118e-01 -2.31409956e-01 -2.49113533e-01  7.94427335e+02]
 [ 2.28234408e-01  9.72701010e-01 -4.19737956e-02  8.01129748e+01]
 [ 2.52026140e-01 -1.73832361e-02  9.67564286e-01  2.08377043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.420714057 meters
Centerline goodness : 0.996744 with order 1
Centerline is valid?  [True, True]
Translation: X:794.48, Y:80.12, Z:208.39
[[ 9.39716504e-01 -2.34254606e-01 -2.49113773e-01  7.94484595e+02]
 [ 2.31177127e-01  9.72005893e-01 -4.19723704e-02  8.01232000e+01]
 [ 2.51972277e-01 -1.81472772e-02  9.67564286e-01  2.08390343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.480714057 meters
Centerline goodness : 0.997043 with order 1
Centerline is valid?  [True, True]
Translation: X:794.54, Y:80.13, Z:208.41
[[ 9.39669384e-01 -2.34444233e-01 -2.49113126e-01  7.94543774e+02]
 [ 2.31372257e-01  9.71959298e-01 -4.19762110e-02  8.01334334e+01]
 [ 2.51968900e-01 -1.81941060e-02  9.67564286e-01  2.08405203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.5407140570001 meters
Centerline goodness : 0.997259 with order 1
Centerline is valid?  [True, True]
Translation: X:794.60, Y:80.14, Z:208.42
[[ 9.40231600e-01 -2.32176738e-01 -2.49115436e-01  7.94601996e+02]
 [ 2.29030491e-01  9.72514361e-01 -4.19625008e-02  8.01446502e+01]
 [ 2.52011055e-01 -1.76005613e-02  9.67564286e-01  2.08420610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.600714057 meters
Centerline goodness : 0.997687 with order 1
Centerline is valid?  [True, True]
Translation: X:794.66, Y:80.16, Z:208.44
[[ 9.40868763e-01 -2.29580256e-01 -2.49116192e-01  7.94660102e+02]
 [ 2.26346084e-01  9.73142834e-01 -4.19580122e-02  8.01564722e+01]
 [ 2.52058368e-01 -1.69094915e-02  9.67564286e-01  2.08435792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.6607140570001 meters
Centerline goodness : 0.997124 with order 1
Centerline is valid?  [True, True]
Translation: X:794.72, Y:80.17, Z:208.45
[[ 9.41794206e-01 -2.25752082e-01 -2.49117788e-01  7.94716921e+02]
 [ 2.22389183e-01  9.74055117e-01 -4.19485350e-02  8.01683090e+01]
 [ 2.52124425e-01 -1.58942141e-02  9.67564286e-01  2.08451247e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.720714057 meters
Centerline goodness : 0.997707 with order 1
Centerline is valid?  [True, True]
Translation: X:794.77, Y:80.18, Z:208.47
[[ 9.42272278e-01 -2.23748348e-01 -2.49117706e-01  7.94774939e+02]
 [ 2.20316710e-01  9.74525950e-01 -4.19490193e-02  8.01785957e+01]
 [ 2.52157693e-01 -1.53573955e-02  9.67564286e-01  2.08466164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.7807140570001 meters
Centerline goodness : 0.997108 with order 1
Centerline is valid?  [True, True]
Translation: X:794.83, Y:80.19, Z:208.48
[[ 9.42377321e-01 -2.23304406e-01 -2.49118702e-01  7.94833429e+02]
 [ 2.19859130e-01  9.74629539e-01 -4.19431043e-02  8.01892097e+01]
 [ 2.52164526e-01 -1.52447909e-02  9.67564286e-01  2.08480319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.840714057 meters
Centerline goodness : 0.996844 with order 1
Centerline is valid?  [True, True]
Translation: X:794.89, Y:80.20, Z:208.50
[[ 9.42294015e-01 -2.23653492e-01 -2.49120665e-01  7.94893049e+02]
 [ 2.20223236e-01  9.74547834e-01 -4.19314433e-02  8.01994417e+01]
 [ 2.52158118e-01 -1.53504109e-02  9.67564287e-01  2.08495240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.9007140570001 meters
Centerline goodness : 0.997621 with order 1
Centerline is valid?  [True, True]
Translation: X:794.95, Y:80.21, Z:208.51
[[ 9.42215231e-01 -2.23981653e-01 -2.49123820e-01  7.94951225e+02]
 [ 2.20567569e-01  9.74470766e-01 -4.19126916e-02  8.02091032e+01]
 [ 2.52151553e-01 -1.54578589e-02  9.67564287e-01  2.08509910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 821.960714057 meters
Centerline goodness : 0.996736 with order 1
Centerline is valid?  [True, True]
Translation: X:795.01, Y:80.22, Z:208.53
[[ 9.42239565e-01 -2.23876672e-01 -2.49126149e-01  7.95009358e+02]
 [ 2.20462642e-01  9.74495106e-01 -4.18988386e-02  8.02200787e+01]
 [ 2.52152386e-01 -1.54442657e-02  9.67564287e-01  2.08525301e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.0207140570001 meters
Centerline goodness : 0.996908 with order 1
Centerline is valid?  [True, True]
Translation: X:795.07, Y:80.23, Z:208.54
[[ 9.42205975e-01 -2.24016293e-01 -2.49127683e-01  7.95069077e+02]
 [ 2.20609445e-01  9.74462274e-01 -4.18897201e-02  8.02318330e+01]
 [ 2.52149508e-01 -1.54911752e-02  9.67564287e-01  2.08541075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.080714057 meters
Centerline goodness : 0.997341 with order 1
Centerline is valid?  [True, True]
Translation: X:795.13, Y:80.24, Z:208.56
[[ 9.42383910e-01 -2.23261386e-01 -2.49132332e-01  7.95127586e+02]
 [ 2.19835985e-01  9.74638245e-01 -4.18620483e-02  8.02443583e+01]
 [ 2.52160078e-01 -1.53181309e-02  9.67564287e-01  2.08557238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.1407140570001 meters
Centerline goodness : 0.997456 with order 1
Centerline is valid?  [True, True]
Translation: X:795.19, Y:80.26, Z:208.57
[[ 9.42811120e-01 -2.21447796e-01 -2.49134632e-01  7.95186637e+02]
 [ 2.17963949e-01  9.75059194e-01 -4.18483571e-02  8.02573674e+01]
 [ 2.52188240e-01 -1.48472718e-02  9.67564287e-01  2.08572652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.200714057 meters
Centerline goodness : 0.997193 with order 1
Centerline is valid?  [True, True]
Translation: X:795.24, Y:80.27, Z:208.59
[[ 9.42988100e-01 -2.20689369e-01 -2.49137804e-01  7.95244027e+02]
 [ 2.17184558e-01  9.75233902e-01 -4.18294649e-02  8.02701042e+01]
 [ 2.52198951e-01 -1.46641964e-02  9.67564287e-01  2.08588006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.260714057 meters
Centerline goodness : 0.997588 with order 1
Centerline is valid?  [True, True]
Translation: X:795.30, Y:80.28, Z:208.60
[[ 9.43128830e-01 -2.20085406e-01 -2.49139369e-01  7.95302022e+02]
 [ 2.16562398e-01  9.75372649e-01 -4.18201441e-02  8.02812097e+01]
 [ 2.52207729e-01 -1.45124355e-02  9.67564288e-01  2.08601862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.320714057 meters
Centerline goodness : 0.997211 with order 1
Centerline is valid?  [True, True]
Translation: X:795.36, Y:80.29, Z:208.61
[[ 9.43436372e-01 -2.18762441e-01 -2.49140136e-01  7.95359993e+02]
 [ 2.15195416e-01  9.75675351e-01 -4.18155763e-02  8.02926604e+01]
 [ 2.52227567e-01 -1.41634795e-02  9.67564288e-01  2.08614554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.380714057 meters
Centerline goodness : 0.997511 with order 1
Centerline is valid?  [True, True]
Translation: X:795.42, Y:80.31, Z:208.63
[[ 9.44270473e-01 -2.15133218e-01 -2.49140465e-01  7.95417571e+02]
 [ 2.11442775e-01  9.76495558e-01 -4.18136107e-02  8.03052946e+01]
 [ 2.52280054e-01 -1.31955935e-02  9.67564288e-01  2.08629098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.440714057 meters
Centerline goodness : 0.997948 with order 1
Centerline is valid?  [True, True]
Translation: X:795.47, Y:80.32, Z:208.65
[[ 9.45201671e-01 -2.11003397e-01 -2.49141260e-01  7.95474117e+02]
 [ 2.07173367e-01  9.77410464e-01 -4.18088732e-02  8.03170797e+01]
 [ 2.52335089e-01 -1.20976169e-02  9.67564288e-01  2.08645158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.500714057 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:795.53, Y:80.33, Z:208.66
[[ 9.46170085e-01 -2.06618094e-01 -2.49140789e-01  7.95532104e+02]
 [ 2.02638010e-01  9.78360680e-01 -4.18116847e-02  8.03301309e+01]
 [ 2.52388602e-01 -1.09244284e-02  9.67564288e-01  2.08662200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.560714057 meters
Centerline goodness : 0.998188 with order 1
Centerline is valid?  [True, True]
Translation: X:795.59, Y:80.34, Z:208.68
[[ 9.46084538e-01 -2.07005691e-01 -2.49143914e-01  7.95589499e+02]
 [ 2.03043691e-01  9.78277364e-01 -4.17930531e-02  8.03409065e+01]
 [ 2.52383251e-01 -1.10473387e-02  9.67564288e-01  2.08677809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.620714057 meters
Centerline goodness : 0.998123 with order 1
Centerline is valid?  [True, True]
Translation: X:795.65, Y:80.35, Z:208.69
[[ 9.45689429e-01 -2.08803290e-01 -2.49143914e-01  7.95648796e+02]
 [ 2.04902477e-01  9.77889726e-01 -4.17930531e-02  8.03517016e+01]
 [ 2.52361801e-01 -1.15269567e-02  9.67564288e-01  2.08693791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.680714057 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:795.71, Y:80.36, Z:208.71
[[ 9.45207474e-01 -2.10970536e-01 -2.49147075e-01  7.95706613e+02]
 [ 2.07148503e-01  9.77417216e-01 -4.17742028e-02  8.03619994e+01]
 [ 2.52333766e-01 -1.21251548e-02  9.67564288e-01  2.08709685e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.740714057 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:795.76, Y:80.37, Z:208.72
[[ 9.43583922e-01 -2.18117021e-01 -2.49147241e-01  7.95764469e+02]
 [ 2.14539094e-01  9.75821693e-01 -4.17732125e-02  8.03720486e+01]
 [ 2.52234731e-01 -1.40352917e-02  9.67564288e-01  2.08722902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.800714057 meters
Centerline goodness : 0.998039 with order 1
Centerline is valid?  [True, True]
Translation: X:795.82, Y:80.38, Z:208.74
[[ 9.42903232e-01 -2.21040508e-01 -2.49147727e-01  7.95822735e+02]
 [ 2.17563279e-01  9.75152019e-01 -4.17703142e-02  8.03819601e+01]
 [ 2.52189840e-01 -1.48200321e-02  9.67564288e-01  2.08736979e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.860714057 meters
Centerline goodness : 0.997882 with order 1
Centerline is valid?  [True, True]
Translation: X:795.88, Y:80.39, Z:208.75
[[ 9.42392426e-01 -2.23207399e-01 -2.49148497e-01  7.95881206e+02]
 [ 2.19805520e-01  9.74649249e-01 -4.17657195e-02  8.03931541e+01]
 [ 2.52154813e-01 -1.54045173e-02  9.67564288e-01  2.08753366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.920714057 meters
Centerline goodness : 0.998015 with order 1
Centerline is valid?  [True, True]
Translation: X:795.94, Y:80.40, Z:208.77
[[ 9.42496978e-01 -2.22762944e-01 -2.49150790e-01  7.95939627e+02]
 [ 2.19349458e-01  9.74752575e-01 -4.17520339e-02  8.04039310e+01]
 [ 2.52161180e-01 -1.52999251e-02  9.67564288e-01  2.08769154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 822.980714057 meters
Centerline goodness : 0.998559 with order 1
Centerline is valid?  [True, True]
Translation: X:796.00, Y:80.41, Z:208.78
[[ 9.42591648e-01 -2.22359493e-01 -2.49153046e-01  7.95999121e+02]
 [ 2.18935746e-01  9.74846158e-01 -4.17385683e-02  8.04147023e+01]
 [ 2.52166857e-01 -1.52060821e-02  9.67564288e-01  2.08784484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.0407140570001 meters
Centerline goodness : 0.998328 with order 1
Centerline is valid?  [True, True]
Translation: X:796.06, Y:80.43, Z:208.80
[[ 9.42703562e-01 -2.21881070e-01 -2.49156145e-01  7.96057511e+02]
 [ 2.18445826e-01  9.74956849e-01 -4.17200637e-02  8.04263314e+01]
 [ 2.52173382e-01 -1.50974671e-02  9.67564288e-01  2.08798397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.100714057 meters
Centerline goodness : 0.999104 with order 1
Centerline is valid?  [True, True]
Translation: X:796.11, Y:80.44, Z:208.81
[[ 9.43551532e-01 -2.18245175e-01 -2.49157682e-01  7.96114903e+02]
 [ 2.14688033e-01  9.75791602e-01 -4.17108819e-02  8.04381203e+01]
 [ 2.52229172e-01 -1.41348061e-02  9.67564288e-01  2.08814401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.1607140570001 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:796.17, Y:80.45, Z:208.83
[[ 9.44831383e-01 -2.12636058e-01 -2.49157711e-01  7.96171611e+02]
 [ 2.08887499e-01  9.77049758e-01 -4.17107080e-02  8.04496980e+01]
 [ 2.52308682e-01 -1.26363451e-02  9.67564288e-01  2.08831752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.220714057 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:796.23, Y:80.46, Z:208.85
[[ 9.45606717e-01 -2.09161115e-01 -2.49157711e-01  7.96229632e+02]
 [ 2.05294136e-01  9.77811094e-01 -4.17107080e-02  8.04605111e+01]
 [ 2.52353432e-01 -1.17086912e-02  9.67564288e-01  2.08847535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.2807140570001 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:796.29, Y:80.47, Z:208.86
[[ 9.46499078e-01 -2.05084691e-01 -2.49158111e-01  7.96287617e+02]
 [ 2.01079612e-01  9.78686572e-01 -4.17083165e-02  8.04709710e+01]
 [ 2.52401435e-01 -1.06237331e-02  9.67564288e-01  2.08862174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.340714057 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:796.35, Y:80.48, Z:208.88
[[ 9.47042706e-01 -2.02559231e-01 -2.49158325e-01  7.96346134e+02]
 [ 1.98468643e-01  9.79219444e-01 -4.17070412e-02  8.04805606e+01]
 [ 2.52428822e-01 -9.95176545e-03  9.67564288e-01  2.08877393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.4007140570001 meters
Centerline goodness : 0.998708 with order 1
Centerline is valid?  [True, True]
Translation: X:796.40, Y:80.49, Z:208.89
[[ 9.47436341e-01 -2.00707202e-01 -2.49160587e-01  7.96404658e+02]
 [ 1.96557261e-01  9.79605478e-01 -4.16935213e-02  8.04880673e+01]
 [ 2.52447266e-01 -9.47236533e-03  9.67564288e-01  2.08892229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.460714057 meters
Centerline goodness : 0.998883 with order 1
Centerline is valid?  [True, True]
Translation: X:796.46, Y:80.49, Z:208.91
[[ 9.47559226e-01 -2.00124419e-01 -2.49162056e-01  7.96463501e+02]
 [ 1.95956999e-01  9.79726103e-01 -4.16847397e-02  8.04945175e+01]
 [ 2.52452705e-01 -9.32628908e-03  9.67564288e-01  2.08907310e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.5207140570001 meters
Centerline goodness : 0.998753 with order 1
Centerline is valid?  [True, True]
Translation: X:796.52, Y:80.50, Z:208.92
[[ 9.47457574e-01 -2.00602414e-01 -2.49164238e-01  7.96523424e+02]
 [ 1.96454647e-01  9.79626991e-01 -4.16716958e-02  8.05026933e+01]
 [ 2.52447455e-01 -9.46730848e-03  9.67564289e-01  2.08923156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.580714057 meters
Centerline goodness : 0.998360 with order 1
Centerline is valid?  [True, True]
Translation: X:796.58, Y:80.51, Z:208.94
[[ 9.47316985e-01 -2.01261749e-01 -2.49167090e-01  7.96582147e+02]
 [ 1.97140852e-01  9.79489855e-01 -4.16546332e-02  8.05088829e+01]
 [ 2.52440121e-01 -9.66087090e-03  9.67564289e-01  2.08942588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.6407140570001 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:796.64, Y:80.51, Z:208.96
[[ 9.46746672e-01 -2.03923958e-01 -2.49170139e-01  7.96640363e+02]
 [ 1.99898313e-01  9.78931599e-01 -4.16363857e-02  8.05145493e+01]
 [ 2.52411180e-01 -1.03895809e-02  9.67564289e-01  2.08959058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.700714057 meters
Centerline goodness : 0.998302 with order 1
Centerline is valid?  [True, True]
Translation: X:796.70, Y:80.52, Z:208.97
[[ 9.46393401e-01 -2.05556733e-01 -2.49170546e-01  7.96700071e+02]
 [ 2.01587250e-01  9.78585303e-01 -4.16339531e-02  8.05199196e+01]
 [ 2.52392773e-01 -1.08275067e-02  9.67564289e-01  2.08974684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.760714057 meters
Centerline goodness : 0.997848 with order 1
Centerline is valid?  [True, True]
Translation: X:796.76, Y:80.53, Z:208.99
[[ 9.46047236e-01 -2.07140515e-01 -2.49173500e-01  7.96759115e+02]
 [ 2.03229570e-01  9.78246303e-01 -4.16162633e-02  8.05266950e+01]
 [ 2.52373470e-01 -1.12684726e-02  9.67564289e-01  2.08989741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.820714057 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:796.82, Y:80.53, Z:209.00
[[ 9.45618676e-01 -2.09087310e-01 -2.49174270e-01  7.96818778e+02]
 [ 2.05243859e-01  9.77825868e-01 -4.16116554e-02  8.05348807e+01]
 [ 2.52349516e-01 -1.17927303e-02  9.67564289e-01  2.09003529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.880714057 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:796.88, Y:80.54, Z:209.02
[[ 9.45084278e-01 -2.11486119e-01 -2.49177304e-01  7.96876603e+02]
 [ 2.07729186e-01  9.77301677e-01 -4.15934811e-02  8.05428058e+01]
 [ 2.52317841e-01 -1.24520533e-02  9.67564289e-01  2.09018401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 823.940714057 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:796.94, Y:80.55, Z:209.04
[[ 9.44469731e-01 -2.14213754e-01 -2.49177437e-01  7.96935652e+02]
 [ 2.10550060e-01  9.76697866e-01 -4.15926817e-02  8.05511305e+01]
 [ 2.52280796e-01 -1.31812954e-02  9.67564289e-01  2.09035067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.000714057 meters
Centerline goodness : 0.997967 with order 1
Centerline is valid?  [True, True]
Translation: X:796.99, Y:80.56, Z:209.05
[[ 9.43889589e-01 -2.16752190e-01 -2.49180519e-01  7.96993734e+02]
 [ 2.13180016e-01  9.76127997e-01 -4.15742104e-02  8.05608266e+01]
 [ 2.52243382e-01 -1.38788428e-02  9.67564289e-01  2.09050564e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.060714057 meters
Centerline goodness : 0.998489 with order 1
Centerline is valid?  [True, True]
Translation: X:797.05, Y:80.57, Z:209.07
[[ 9.43535297e-01 -2.18287958e-01 -2.49181682e-01  7.97053356e+02]
 [ 2.14770087e-01  9.75779675e-01 -4.15672400e-02  8.05705016e+01]
 [ 2.52220048e-01 -1.42966134e-02  9.67564289e-01  2.09066509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.120714057 meters
Centerline goodness : 0.997640 with order 1
Centerline is valid?  [True, True]
Translation: X:797.11, Y:80.58, Z:209.08
[[ 9.43033199e-01 -2.20443581e-01 -2.49184696e-01  7.97112595e+02]
 [ 2.17004165e-01  9.75286040e-01 -4.15491626e-02  8.05813466e+01]
 [ 2.52185602e-01 -1.48918771e-02  9.67564290e-01  2.09083219e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.180714057 meters
Centerline goodness : 0.997790 with order 1
Centerline is valid?  [True, True]
Translation: X:797.17, Y:80.59, Z:209.10
[[ 9.43005811e-01 -2.20557354e-01 -2.49187668e-01  7.97170174e+02]
 [ 2.17126523e-01  9.75259566e-01 -4.15313333e-02  8.05921050e+01]
 [ 2.52182698e-01 -1.49409633e-02  9.67564290e-01  2.09099869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.240714057 meters
Centerline goodness : 0.997941 with order 1
Centerline is valid?  [True, True]
Translation: X:797.23, Y:80.60, Z:209.11
[[ 9.43237124e-01 -2.19564159e-01 -2.49189303e-01  7.97229128e+02]
 [ 2.16101948e-01  9.75487525e-01 -4.15215189e-02  8.06027314e+01]
 [ 2.52197694e-01 -1.46856557e-02  9.67564290e-01  2.09114723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.300714057 meters
Centerline goodness : 0.997532 with order 1
Centerline is valid?  [True, True]
Translation: X:797.29, Y:80.61, Z:209.13
[[ 9.43811740e-01 -2.17077407e-01 -2.49192294e-01  7.97287183e+02]
 [ 2.13534935e-01  9.76053424e-01 -4.15035632e-02  8.06139928e+01]
 [ 2.52234477e-01 -1.40397100e-02  9.67564290e-01  2.09129600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.360714057 meters
Centerline goodness : 0.997926 with order 1
Centerline is valid?  [True, True]
Translation: X:797.35, Y:80.62, Z:209.15
[[ 9.44279402e-01 -2.15033160e-01 -2.49192998e-01  7.97345977e+02]
 [ 2.11421992e-01  9.76513465e-01 -4.14993336e-02  8.06247646e+01]
 [ 2.52264051e-01 -1.34979142e-02  9.67564290e-01  2.09145715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.420714057 meters
Centerline goodness : 0.997156 with order 1
Centerline is valid?  [True, True]
Translation: X:797.40, Y:80.64, Z:209.16
[[ 9.45344182e-01 -2.10300136e-01 -2.49195165e-01  7.97404948e+02]
 [ 2.06530961e-01  9.77560150e-01 -4.14863195e-02  8.06356734e+01]
 [ 2.52327841e-01 -1.22476660e-02  9.67564290e-01  2.09156741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.480714057 meters
Centerline goodness : 0.997502 with order 1
Centerline is valid?  [True, True]
Translation: X:797.46, Y:80.65, Z:209.18
[[ 9.45128267e-01 -2.11266699e-01 -2.49196590e-01  7.97462400e+02]
 [ 2.07532721e-01  9.77348334e-01 -4.14777555e-02  8.06462307e+01]
 [ 2.52314741e-01 -1.25146473e-02  9.67564290e-01  2.09175548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.5407140570001 meters
Centerline goodness : 0.997465 with order 1
Centerline is valid?  [True, True]
Translation: X:797.52, Y:80.66, Z:209.19
[[ 9.45221801e-01 -2.10846883e-01 -2.49197390e-01  7.97519023e+02]
 [ 2.07099858e-01  9.77440353e-01 -4.14729517e-02  8.06562361e+01]
 [ 2.52320027e-01 -1.24076058e-02  9.67564290e-01  2.09192007e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.600714057 meters
Centerline goodness : 0.997670 with order 1
Centerline is valid?  [True, True]
Translation: X:797.58, Y:80.67, Z:209.21
[[ 9.45414387e-01 -2.09978744e-01 -2.49199849e-01  7.97576860e+02]
 [ 2.06206019e-01  9.77629939e-01 -4.14581703e-02  8.06661958e+01]
 [ 2.52330567e-01 -1.21913582e-02  9.67564290e-01  2.09210321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.6607140570001 meters
Centerline goodness : 0.997117 with order 1
Centerline is valid?  [True, True]
Translation: X:797.64, Y:80.68, Z:209.23
[[ 9.45427697e-01 -2.09917159e-01 -2.49201237e-01  7.97635279e+02]
 [ 2.06144530e-01  9.77643261e-01 -4.14498262e-02  8.06756205e+01]
 [ 2.52330939e-01 -1.21836580e-02  9.67564290e-01  2.09227620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.720714057 meters
Centerline goodness : 0.997484 with order 1
Centerline is valid?  [True, True]
Translation: X:797.69, Y:80.68, Z:209.24
[[ 9.44703223e-01 -2.13151180e-01 -2.49203521e-01  7.97694110e+02]
 [ 2.09492429e-01  9.76931918e-01 -4.14360868e-02  8.06835860e+01]
 [ 2.52287025e-01 -1.30614462e-02  9.67564290e-01  2.09241912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.7807140570001 meters
Centerline goodness : 0.997177 with order 1
Centerline is valid?  [True, True]
Translation: X:797.75, Y:80.69, Z:209.26
[[ 9.44037022e-01 -2.16081756e-01 -2.49204286e-01  7.97752634e+02]
 [ 2.12524245e-01  9.76277049e-01 -4.14314866e-02  8.06925630e+01]
 [ 2.52245013e-01 -1.38490956e-02  9.67564290e-01  2.09256146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.840714057 meters
Centerline goodness : 0.997505 with order 1
Centerline is valid?  [True, True]
Translation: X:797.81, Y:80.70, Z:209.27
[[ 9.43254397e-01 -2.19472621e-01 -2.49204558e-01  7.97811105e+02]
 [ 2.16031414e-01  9.75507046e-01 -4.14298495e-02  8.07017410e+01]
 [ 2.52193520e-01 -1.47571252e-02  9.67564290e-01  2.09270165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.9007140570001 meters
Centerline goodness : 0.996867 with order 1
Centerline is valid?  [True, True]
Translation: X:797.87, Y:80.71, Z:209.29
[[ 9.43190910e-01 -2.19743568e-01 -2.49206084e-01  7.97869608e+02]
 [ 2.16314042e-01  9.75444803e-01 -4.14206715e-02  8.07123511e+01]
 [ 2.52188705e-01 -1.48391743e-02  9.67564290e-01  2.09286931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 824.960714057 meters
Centerline goodness : 0.997267 with order 1
Centerline is valid?  [True, True]
Translation: X:797.93, Y:80.72, Z:209.30
[[ 9.43380734e-01 -2.18924648e-01 -2.49208327e-01  7.97928073e+02]
 [ 2.15470675e-01  9.75632018e-01 -4.14071725e-02  8.07235765e+01]
 [ 2.52200673e-01 -1.46343575e-02  9.67564290e-01  2.09302547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.0207140570001 meters
Centerline goodness : 0.997518 with order 1
Centerline is valid?  [True, True]
Translation: X:797.99, Y:80.74, Z:209.32
[[ 9.43783459e-01 -2.17179410e-01 -2.49210528e-01  7.97985540e+02]
 [ 2.13669280e-01  9.76028679e-01 -4.13939210e-02  8.07358472e+01]
 [ 2.52226529e-01 -1.41817361e-02  9.67564291e-01  2.09318708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.080714057 meters
Centerline goodness : 0.997696 with order 1
Centerline is valid?  [True, True]
Translation: X:798.04, Y:80.75, Z:209.34
[[ 9.44389949e-01 -2.14525938e-01 -2.49211249e-01  7.98042434e+02]
 [ 2.10926335e-01  9.76625304e-01 -4.13895789e-02  8.07465354e+01]
 [ 2.52265150e-01 -1.34773130e-02  9.67564291e-01  2.09336246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.1407140570001 meters
Centerline goodness : 0.997684 with order 1
Centerline is valid?  [True, True]
Translation: X:798.10, Y:80.76, Z:209.35
[[ 9.44910056e-01 -2.12223326e-01 -2.49211249e-01  7.98101927e+02]
 [ 2.08545159e-01  9.77136541e-01 -4.13895789e-02  8.07570735e+01]
 [ 2.52297252e-01 -1.28623702e-02  9.67564291e-01  2.09349967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.200714057 meters
Centerline goodness : 0.997847 with order 1
Centerline is valid?  [True, True]
Translation: X:798.16, Y:80.77, Z:209.36
[[ 9.45559710e-01 -2.09306250e-01 -2.49214222e-01  7.98160582e+02]
 [ 2.05533356e-01  9.77775242e-01 -4.13716694e-02  8.07681765e+01]
 [ 2.52334845e-01 -1.21024518e-02  9.67564291e-01  2.09363529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.260714057 meters
Centerline goodness : 0.997769 with order 1
Centerline is valid?  [True, True]
Translation: X:798.22, Y:80.78, Z:209.38
[[ 9.46156943e-01 -2.06588430e-01 -2.49215288e-01  7.98220135e+02]
 [ 2.02724673e-01  9.78361704e-01 -4.13652483e-02  8.07785755e+01]
 [ 2.52368275e-01 -1.13840708e-02  9.67564291e-01  2.09379092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.320714057 meters
Centerline goodness : 0.997788 with order 1
Centerline is valid?  [True, True]
Translation: X:798.28, Y:80.79, Z:209.39
[[ 9.46862628e-01 -2.03325829e-01 -2.49218321e-01  7.98276245e+02]
 [ 1.99355889e-01  9.79054471e-01 -4.13469649e-02  8.07901911e+01]
 [ 2.52405218e-01 -1.05332441e-02  9.67564291e-01  2.09394559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.380714057 meters
Centerline goodness : 0.997695 with order 1
Centerline is valid?  [True, True]
Translation: X:798.33, Y:80.80, Z:209.41
[[ 9.46933606e-01 -2.02995938e-01 -2.49217566e-01  7.98333733e+02]
 [ 1.99013588e-01  9.79123917e-01 -4.13515146e-02  8.08014394e+01]
 [ 2.52409069e-01 -1.04405431e-02  9.67564291e-01  2.09411534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.440714057 meters
Centerline goodness : 0.997971 with order 1
Centerline is valid?  [True, True]
Translation: X:798.39, Y:80.81, Z:209.43
[[ 9.45850372e-01 -2.07983883e-01 -2.49218335e-01  7.98392871e+02]
 [ 2.04172463e-01  9.78061369e-01 -4.13468826e-02  8.08114070e+01]
 [ 2.52350311e-01 -1.17755570e-02  9.67564291e-01  2.09427216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.500714057 meters
Centerline goodness : 0.998313 with order 1
Centerline is valid?  [True, True]
Translation: X:798.45, Y:80.82, Z:209.44
[[ 9.43848286e-01 -2.16885050e-01 -2.49221366e-01  7.98451470e+02]
 [ 2.13382053e-01  9.76094281e-01 -4.13286065e-02  8.08195453e+01]
 [ 2.52227107e-01 -1.41714323e-02  9.67564291e-01  2.09441478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.560714057 meters
Centerline goodness : 0.997768 with order 1
Centerline is valid?  [True, True]
Translation: X:798.51, Y:80.83, Z:209.46
[[ 9.42017588e-01 -2.24703215e-01 -2.49221448e-01  7.98509357e+02]
 [ 2.21467827e-01  9.74291532e-01 -4.13281111e-02  8.08291573e+01]
 [ 2.52100905e-01 -1.62627249e-02  9.67564291e-01  2.09457719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.620714057 meters
Centerline goodness : 0.998274 with order 1
Centerline is valid?  [True, True]
Translation: X:798.57, Y:80.84, Z:209.47
[[ 9.41476212e-01 -2.26960579e-01 -2.49221664e-01  7.98567423e+02]
 [ 2.23802903e-01  9.73757853e-01 -4.13268088e-02  8.08386623e+01]
 [ 2.52061108e-01 -1.68683245e-02  9.67564291e-01  2.09473201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.680714057 meters
Centerline goodness : 0.997792 with order 1
Centerline is valid?  [True, True]
Translation: X:798.63, Y:80.85, Z:209.49
[[ 9.41609038e-01 -2.26408055e-01 -2.49222415e-01  7.98626481e+02]
 [ 2.23232631e-01  9.73888937e-01 -4.13222744e-02  8.08502241e+01]
 [ 2.52070649e-01 -1.67251485e-02  9.67564291e-01  2.09487967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.740714057 meters
Centerline goodness : 0.998396 with order 1
Centerline is valid?  [True, True]
Translation: X:798.68, Y:80.87, Z:209.50
[[ 9.42582846e-01 -2.22316453e-01 -2.49224746e-01  7.98684696e+02]
 [ 2.19004568e-01  9.74849030e-01 -4.13082165e-02  8.08653652e+01]
 [ 2.52139998e-01 -1.56449413e-02  9.67564291e-01  2.09502962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.800714057 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:798.74, Y:80.88, Z:209.52
[[ 9.42749620e-01 -2.21605578e-01 -2.49227047e-01  7.98742569e+02]
 [ 2.18273020e-01  9.75013676e-01 -4.12943248e-02  8.08761611e+01]
 [ 2.52150832e-01 -1.54693312e-02  9.67564291e-01  2.09518489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.860714057 meters
Centerline goodness : 0.998351 with order 1
Centerline is valid?  [True, True]
Translation: X:798.80, Y:80.89, Z:209.53
[[ 9.43038016e-01 -2.20374221e-01 -2.49227813e-01  7.98800579e+02]
 [ 2.17000748e-01  9.75297819e-01 -4.12897045e-02  8.08891944e+01]
 [ 2.52170529e-01 -1.51448607e-02  9.67564291e-01  2.09533959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.920714057 meters
Centerline goodness : 0.998394 with order 1
Centerline is valid?  [True, True]
Translation: X:798.86, Y:80.90, Z:209.55
[[ 9.43102779e-01 -2.20095151e-01 -2.49229356e-01  7.98859689e+02]
 [ 2.16714585e-01  9.75361840e-01 -4.12803844e-02  8.09033452e+01]
 [ 2.52174416e-01 -1.50799914e-02  9.67564291e-01  2.09549236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 825.980714057 meters
Centerline goodness : 0.998461 with order 1
Centerline is valid?  [True, True]
Translation: X:798.92, Y:80.92, Z:209.57
[[ 9.43324913e-01 -2.19137625e-01 -2.49232442e-01  7.98918785e+02]
 [ 2.15729219e-01  9.75581043e-01 -4.12617461e-02  8.09154281e+01]
 [ 2.52188447e-01 -1.48434871e-02  9.67564291e-01  2.09565105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.0407140570001 meters
Centerline goodness : 0.998128 with order 1
Centerline is valid?  [True, True]
Translation: X:798.98, Y:80.93, Z:209.58
[[ 9.44202211e-01 -2.15313471e-01 -2.49243445e-01  7.98975057e+02]
 [ 2.11791909e-01  9.76446181e-01 -4.11951777e-02  8.09288391e+01]
 [ 2.52242687e-01 -1.38911671e-02  9.67564294e-01  2.09582228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.100714057 meters
Centerline goodness : 0.998217 with order 1
Centerline is valid?  [True, True]
Translation: X:799.03, Y:80.94, Z:209.60
[[ 9.45276216e-01 -2.10548305e-01 -2.49243429e-01  7.99030298e+02]
 [ 2.06864127e-01  9.77502011e-01 -4.11952761e-02  8.09420165e+01]
 [ 2.52309549e-01 -1.26186098e-02  9.67564294e-01  2.09599734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.1607140570001 meters
Centerline goodness : 0.998368 with order 1
Centerline is valid?  [True, True]
Translation: X:799.09, Y:80.95, Z:209.61
[[ 9.46016443e-01 -2.07197945e-01 -2.49242656e-01  7.99089312e+02]
 [ 2.03398387e-01  9.78228838e-01 -4.11999535e-02  8.09541313e+01]
 [ 2.52352899e-01 -1.17197207e-02  9.67564294e-01  2.09613817e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.220714057 meters
Centerline goodness : 0.998496 with order 1
Centerline is valid?  [True, True]
Translation: X:799.15, Y:80.97, Z:209.63
[[ 9.46240373e-01 -2.06170101e-01 -2.49244951e-01  7.99148285e+02]
 [ 2.02339202e-01  9.78449056e-01 -4.11860666e-02  8.09650903e+01]
 [ 2.52364822e-01 -1.14601053e-02  9.67564294e-01  2.09629938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.2807140570001 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:799.21, Y:80.97, Z:209.64
[[ 9.46247979e-01 -2.06121894e-01 -2.49255949e-01  7.99206226e+02]
 [ 2.02306876e-01  9.78458544e-01 -4.11194008e-02  8.09747982e+01]
 [ 2.52362222e-01 -1.15170426e-02  9.67564296e-01  2.09643728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.340714057 meters
Centerline goodness : 0.998852 with order 1
Centerline is valid?  [True, True]
Translation: X:799.27, Y:80.98, Z:209.66
[[ 9.46645829e-01 -2.04285966e-01 -2.49256733e-01  7.99265525e+02]
 [ 2.00409723e-01  9.78849084e-01 -4.11146470e-02  8.09847657e+01]
 [ 2.52383870e-01 -1.10324636e-02  9.67564296e-01  2.09659692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.4007140570001 meters
Centerline goodness : 0.999025 with order 1
Centerline is valid?  [True, True]
Translation: X:799.32, Y:81.00, Z:209.68
[[ 9.47696795e-01 -1.99349806e-01 -2.49259784e-01  7.99323343e+02]
 [ 1.95310649e-01  9.79880022e-01 -4.10961445e-02  8.09959182e+01]
 [ 2.52437191e-01 -9.73640569e-03  9.67564296e-01  2.09675179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.460714057 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:799.38, Y:81.01, Z:209.69
[[ 9.48766904e-01 -1.94192092e-01 -2.49260494e-01  7.99381165e+02]
 [ 1.89979072e-01  9.80927833e-01 -4.10918363e-02  8.10065130e+01]
 [ 2.52486266e-01 -8.36770313e-03  9.67564296e-01  2.09693362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.5207140570001 meters
Centerline goodness : 0.998604 with order 1
Centerline is valid?  [True, True]
Translation: X:799.44, Y:81.01, Z:209.71
[[ 9.49315279e-01 -1.91491379e-01 -2.49262016e-01  7.99440513e+02]
 [ 1.87189278e-01  9.81464413e-01 -4.10826014e-02  8.10147179e+01]
 [ 2.52508762e-01 -7.65883561e-03  9.67564296e-01  2.09710805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.580714057 meters
Centerline goodness : 0.998718 with order 1
Centerline is valid?  [True, True]
Translation: X:799.50, Y:81.02, Z:209.73
[[ 9.49276770e-01 -1.91678242e-01 -2.49265050e-01  7.99500164e+02]
 [ 1.87387302e-01  9.81427395e-01 -4.10641820e-02  8.10207646e+01]
 [ 2.52506659e-01 -7.72783113e-03  9.67564296e-01  2.09725451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.6407140570001 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:799.56, Y:81.03, Z:209.74
[[ 9.48829869e-01 -1.93875467e-01 -2.49267294e-01  7.99558910e+02]
 [ 1.89662548e-01  9.80990810e-01 -4.10505573e-02  8.10274615e+01]
 [ 2.52487621e-01 -8.32667518e-03  9.67564296e-01  2.09740414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.700714057 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:799.62, Y:81.03, Z:209.75
[[ 9.47956648e-01 -1.98100821e-01 -2.49267443e-01  7.99618688e+02]
 [ 1.94031466e-01  9.80136070e-01 -4.10496519e-02  8.10306982e+01]
 [ 2.52447982e-01 -9.45243700e-03  9.67564296e-01  2.09754063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.760714057 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:799.68, Y:81.04, Z:209.77
[[ 9.47163346e-01 -2.01853163e-01 -2.49272736e-01  7.99678990e+02]
 [ 1.97919720e-01  9.79359663e-01 -4.10174890e-02  8.10351844e+01]
 [ 2.52407172e-01 -1.04857279e-02  9.67564297e-01  2.09771234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.820714057 meters
Centerline goodness : 0.998687 with order 1
Centerline is valid?  [True, True]
Translation: X:799.74, Y:81.04, Z:209.79
[[ 9.46782401e-01 -2.03628744e-01 -2.49275792e-01  7.99738285e+02]
 [ 1.99760559e-01  9.78986623e-01 -4.09989068e-02  8.10414930e+01]
 [ 2.52386222e-01 -1.09784283e-02  9.67564297e-01  2.09786086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.880714057 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:799.80, Y:81.05, Z:209.80
[[ 9.46250503e-01 -2.06084482e-01 -2.49277298e-01  7.99797828e+02]
 [ 2.02302271e-01  9.78464936e-01 -4.09897476e-02  8.10471407e+01]
 [ 2.52356447e-01 -1.16427944e-02  9.67564297e-01  2.09801156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 826.940714057 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:799.86, Y:81.05, Z:209.82
[[ 9.45781029e-01 -2.08226606e-01 -2.49278813e-01  7.99855777e+02]
 [ 2.04519772e-01  9.78004222e-01 -4.09805344e-02  8.10538207e+01]
 [ 2.52328969e-01 -1.22238341e-02  9.67564297e-01  2.09815779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.000714057 meters
Centerline goodness : 0.998387 with order 1
Centerline is valid?  [True, True]
Translation: X:799.92, Y:81.06, Z:209.83
[[ 9.45842310e-01 -2.07948065e-01 -2.49278813e-01  7.99915509e+02]
 [ 2.04231742e-01  9.78064411e-01 -4.09805344e-02  8.10614173e+01]
 [ 2.52332558e-01 -1.21495229e-02  9.67564297e-01  2.09833115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.060714057 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:799.98, Y:81.07, Z:209.85
[[ 9.45996088e-01 -2.07243859e-01 -2.49281736e-01  7.99975675e+02]
 [ 2.03508226e-01  9.78215956e-01 -4.09627435e-02  8.10694808e+01]
 [ 2.52340649e-01 -1.19802888e-02  9.67564297e-01  2.09849129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.120714057 meters
Centerline goodness : 0.998298 with order 1
Centerline is valid?  [True, True]
Translation: X:800.04, Y:81.08, Z:209.86
[[ 9.45805192e-01 -2.08108901e-01 -2.49285429e-01  8.00036131e+02]
 [ 2.04408646e-01  9.78029141e-01 -4.09402612e-02  8.10771454e+01]
 [ 2.52328446e-01 -1.22345855e-02  9.67564298e-01  2.09863253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.180714057 meters
Centerline goodness : 0.997978 with order 1
Centerline is valid?  [True, True]
Translation: X:800.09, Y:81.09, Z:209.88
[[ 9.46140621e-01 -2.06574857e-01 -2.49288495e-01  8.00094568e+02]
 [ 2.02827261e-01  9.78359099e-01 -4.09215830e-02  8.10853276e+01]
 [ 2.52347037e-01 -1.18449306e-02  9.67564298e-01  2.09877689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.240714057 meters
Centerline goodness : 0.998235 with order 1
Centerline is valid?  [True, True]
Translation: X:800.15, Y:81.09, Z:209.89
[[ 9.46592768e-01 -2.04486563e-01 -2.49293756e-01  8.00153577e+02]
 [ 2.00676311e-01  9.78803896e-01 -4.08895102e-02  8.10944526e+01]
 [ 2.52371055e-01 -1.13216366e-02  9.67564298e-01  2.09894116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.300714057 meters
Centerline goodness : 0.997845 with order 1
Centerline is valid?  [True, True]
Translation: X:800.21, Y:81.10, Z:209.91
[[ 9.47323150e-01 -2.01072968e-01 -2.49296032e-01  8.00212132e+02]
 [ 1.97150273e-01  9.79520777e-01 -4.08756279e-02  8.11049612e+01]
 [ 2.52409627e-01 -1.04263522e-02  9.67564298e-01  2.09910120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.360714057 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:800.27, Y:81.11, Z:209.93
[[ 9.47799873e-01 -1.98809974e-01 -2.49299009e-01  8.00270049e+02]
 [ 1.94815166e-01  9.79988632e-01 -4.08574617e-02  8.11138841e+01]
 [ 2.52433066e-01 -9.84253085e-03  9.67564299e-01  2.09926357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.420714057 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:800.33, Y:81.12, Z:209.94
[[ 9.48137808e-01 -1.97190655e-01 -2.49300104e-01  8.00329089e+02]
 [ 1.93142623e-01  9.80319918e-01 -4.08507812e-02  8.11218210e+01]
 [ 2.52449250e-01 -9.41830567e-03  9.67564299e-01  2.09941532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.480714057 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:800.39, Y:81.13, Z:209.96
[[ 9.48354249e-01 -1.96144135e-01 -2.49302422e-01  8.00389229e+02]
 [ 1.92064303e-01  9.80532342e-01 -4.08366292e-02  8.11298285e+01]
 [ 2.52458953e-01 -9.15450499e-03  9.67564299e-01  2.09957534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.5407140570001 meters
Centerline goodness : 0.998064 with order 1
Centerline is valid?  [True, True]
Translation: X:800.45, Y:81.14, Z:209.97
[[ 9.48866342e-01 -1.93646749e-01 -2.49306241e-01  8.00449135e+02]
 [ 1.89488338e-01  9.81034375e-01 -4.08133028e-02  8.11371332e+01]
 [ 2.52481355e-01 -8.51425590e-03  9.67564299e-01  2.09974065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.600714057 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:800.51, Y:81.14, Z:209.99
[[ 9.49511966e-01 -1.90451796e-01 -2.49309324e-01  8.00507794e+02]
 [ 1.86190075e-01  9.81666475e-01 -4.07944606e-02  8.11440734e+01]
 [ 2.52507983e-01 -7.68409316e-03  9.67564299e-01  2.09989444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.6607140570001 meters
Centerline goodness : 0.998218 with order 1
Centerline is valid?  [True, True]
Translation: X:800.57, Y:81.15, Z:210.00
[[ 9.49682537e-01 -1.89598379e-01 -2.49310114e-01  8.00566830e+02]
 [ 1.85309028e-01  9.81833372e-01 -4.07896317e-02  8.11511837e+01]
 [ 2.52514638e-01 -7.46221406e-03  9.67564299e-01  2.10002686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.720714057 meters
Centerline goodness : 0.998074 with order 1
Centerline is valid?  [True, True]
Translation: X:800.63, Y:81.16, Z:210.02
[[ 9.49592226e-01 -1.90047214e-01 -2.49312375e-01  8.00625071e+02]
 [ 1.85776686e-01  9.81745566e-01 -4.07758062e-02  8.11592794e+01]
 [ 2.52510647e-01 -7.59603815e-03  9.67564299e-01  2.10017264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.7807140570001 meters
Centerline goodness : 0.997785 with order 1
Centerline is valid?  [True, True]
Translation: X:800.68, Y:81.17, Z:210.03
[[ 9.48632039e-01 -1.94783212e-01 -2.49312565e-01  8.00684460e+02]
 [ 1.90673483e-01  9.80806327e-01 -4.07746468e-02  8.11654151e+01]
 [ 2.52469558e-01 -8.85715876e-03  9.67564299e-01  2.10031857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.840714057 meters
Centerline goodness : 0.997980 with order 1
Centerline is valid?  [True, True]
Translation: X:800.74, Y:81.17, Z:210.05
[[ 9.47337114e-01 -2.00983952e-01 -2.49314750e-01  8.00742252e+02]
 [ 1.97088270e-01  9.79538019e-01 -4.07612827e-02  8.11731533e+01]
 [ 2.52405640e-01 -1.05223369e-02  9.67564299e-01  2.10047980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.9007140570001 meters
Centerline goodness : 0.998094 with order 1
Centerline is valid?  [True, True]
Translation: X:800.80, Y:81.18, Z:210.06
[[ 9.45984145e-01 -2.07258456e-01 -2.49314920e-01  8.00800970e+02]
 [ 2.03576560e-01  9.78210196e-01 -4.07602408e-02  8.11815381e+01]
 [ 2.52330301e-01 -1.21961323e-02  9.67564299e-01  2.10063390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 827.960714057 meters
Centerline goodness : 0.997664 with order 1
Centerline is valid?  [True, True]
Translation: X:800.86, Y:81.19, Z:210.08
[[ 9.44223889e-01 -2.15133797e-01 -2.49316458e-01  8.00857527e+02]
 [ 2.11723034e-01  9.76479763e-01 -4.07508294e-02  8.11907481e+01]
 [ 2.52219357e-01 -1.43081304e-02  9.67564299e-01  2.10078951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.0207140570001 meters
Centerline goodness : 0.997688 with order 1
Centerline is valid?  [True, True]
Translation: X:800.91, Y:81.20, Z:210.10
[[ 9.42889008e-01 -2.20910561e-01 -2.49316753e-01  8.00914850e+02]
 [ 2.17697816e-01  9.75165205e-01 -4.07490255e-02  8.12002405e+01]
 [ 2.52126913e-01 -1.58539046e-02  9.67564299e-01  2.10095773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.080714057 meters
Centerline goodness : 0.997995 with order 1
Centerline is valid?  [True, True]
Translation: X:800.97, Y:81.21, Z:210.11
[[ 9.42488011e-01 -2.22614317e-01 -2.49317499e-01  8.00973081e+02]
 [ 2.19461112e-01  9.74770080e-01 -4.07444648e-02  8.12102199e+01]
 [ 2.52097539e-01 -1.63143259e-02  9.67564299e-01  2.10111679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.1407140570001 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:801.03, Y:81.22, Z:210.12
[[ 9.42219393e-01 -2.23747688e-01 -2.49318246e-01  8.01031439e+02]
 [ 2.20634516e-01  9.74505347e-01 -4.07398899e-02  8.12209196e+01]
 [ 2.52077420e-01 -1.66222963e-02  9.67564299e-01  2.10124740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.200714057 meters
Centerline goodness : 0.997680 with order 1
Centerline is valid?  [True, True]
Translation: X:801.09, Y:81.23, Z:210.14
[[ 9.42028768e-01 -2.24548095e-01 -2.49318979e-01  8.01090813e+02]
 [ 2.21463536e-01  9.74317468e-01 -4.07354054e-02  8.12330144e+01]
 [ 2.52062894e-01 -1.68411389e-02  9.67564299e-01  2.10137688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.260714057 meters
Centerline goodness : 0.997615 with order 1
Centerline is valid?  [True, True]
Translation: X:801.15, Y:81.25, Z:210.15
[[ 9.42189903e-01 -2.23868412e-01 -2.49321320e-01  8.01149976e+02]
 [ 2.20764335e-01  9.74476733e-01 -4.07210692e-02  8.12452843e+01]
 [ 2.52073987e-01 -1.66742753e-02  9.67564300e-01  2.10152794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.320714057 meters
Centerline goodness : 0.997677 with order 1
Centerline is valid?  [True, True]
Translation: X:801.21, Y:81.26, Z:210.17
[[ 9.42432907e-01 -2.22839762e-01 -2.49324398e-01  8.01208378e+02]
 [ 2.19705409e-01  9.74716812e-01 -4.07022157e-02  8.12589639e+01]
 [ 2.52090755e-01 -1.64188114e-02  9.67564300e-01  2.10170314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.380714057 meters
Centerline goodness : 0.997463 with order 1
Centerline is valid?  [True, True]
Translation: X:801.27, Y:81.27, Z:210.19
[[ 9.43155937e-01 -2.19755976e-01 -2.49327475e-01  8.01266786e+02]
 [ 2.16521006e-01  9.75429914e-01 -4.06833619e-02  8.12715423e+01]
 [ 2.52141889e-01 -1.56138814e-02  9.67564300e-01  2.10187483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.440714057 meters
Centerline goodness : 0.997691 with order 1
Centerline is valid?  [True, True]
Translation: X:801.32, Y:81.28, Z:210.20
[[ 9.44168511e-01 -2.15360043e-01 -2.49330854e-01  8.01323225e+02]
 [ 2.11980219e-01  9.76427640e-01 -4.06626403e-02  8.12849165e+01]
 [ 2.52210646e-01 -1.44608245e-02  9.67564300e-01  2.10202336e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.500714057 meters
Centerline goodness : 0.997427 with order 1
Centerline is valid?  [True, True]
Translation: X:801.38, Y:81.30, Z:210.22
[[ 9.44706573e-01 -2.12987989e-01 -2.49330318e-01  8.01380153e+02]
 [ 2.09526289e-01  9.76957019e-01 -4.06659270e-02  8.12963650e+01]
 [ 2.52246358e-01 -1.38238876e-02  9.67564300e-01  2.10218561e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.560714057 meters
Centerline goodness : 0.997248 with order 1
Centerline is valid?  [True, True]
Translation: X:801.44, Y:81.31, Z:210.24
[[ 9.44973052e-01 -2.11802311e-01 -2.49330527e-01  8.01438811e+02]
 [ 2.08300479e-01  9.77219165e-01 -4.06646486e-02  8.13061520e+01]
 [ 2.52263436e-01 -1.35086710e-02  9.67564300e-01  2.10235648e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.620714057 meters
Centerline goodness : 0.997559 with order 1
Centerline is valid?  [True, True]
Translation: X:801.50, Y:81.32, Z:210.25
[[ 9.45127416e-01 -2.11109776e-01 -2.49332771e-01  8.01497914e+02]
 [ 2.07587935e-01  9.77371350e-01 -4.06508833e-02  8.13163322e+01]
 [ 2.52272506e-01 -1.33382109e-02  9.67564300e-01  2.10251971e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.680714057 meters
Centerline goodness : 0.997296 with order 1
Centerline is valid?  [True, True]
Translation: X:801.56, Y:81.33, Z:210.27
[[ 9.45594250e-01 -2.09005289e-01 -2.49335724e-01  8.01556494e+02]
 [ 2.05416444e-01  9.77830795e-01 -4.06327632e-02  8.13268795e+01]
 [ 2.52300611e-01 -1.27955506e-02  9.67564300e-01  2.10266704e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.740714057 meters
Centerline goodness : 0.997003 with order 1
Centerline is valid?  [True, True]
Translation: X:801.61, Y:81.34, Z:210.28
[[ 9.45711099e-01 -2.08473319e-01 -2.49337907e-01  8.01614327e+02]
 [ 2.04869864e-01  9.77946014e-01 -4.06193645e-02  8.13370233e+01]
 [ 2.52307066e-01 -1.26676391e-02  9.67564300e-01  2.10280585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.800714057 meters
Centerline goodness : 0.997767 with order 1
Centerline is valid?  [True, True]
Translation: X:801.67, Y:81.35, Z:210.30
[[ 9.45574259e-01 -2.09093110e-01 -2.49337907e-01  8.01673416e+02]
 [ 2.05510783e-01  9.77811529e-01 -4.06193645e-02  8.13480949e+01]
 [ 2.52298709e-01 -1.28330030e-02  9.67564300e-01  2.10295980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.860714057 meters
Centerline goodness : 0.997745 with order 1
Centerline is valid?  [True, True]
Translation: X:801.73, Y:81.36, Z:210.31
[[ 9.44806484e-01 -2.12531969e-01 -2.49340872e-01  8.01731379e+02]
 [ 2.09071744e-01  9.77057088e-01 -4.06011557e-02  8.13584148e+01]
 [ 2.52249310e-01 -1.37698956e-02  9.67564301e-01  2.10311466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.920714057 meters
Centerline goodness : 0.997648 with order 1
Centerline is valid?  [True, True]
Translation: X:801.79, Y:81.37, Z:210.33
[[ 9.43756231e-01 -2.17147944e-01 -2.49341027e-01  8.01789890e+02]
 [ 2.13845663e-01  9.76023389e-01 -4.06002015e-02  8.13682182e+01]
 [ 2.52178925e-01 -1.50038040e-02  9.67564301e-01  2.10327992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 828.980714057 meters
Centerline goodness : 0.997312 with order 1
Centerline is valid?  [True, True]
Translation: X:801.85, Y:81.38, Z:210.35
[[ 9.42869803e-01 -2.20959637e-01 -2.49345891e-01  8.01846825e+02]
 [ 2.17795638e-01  9.75150814e-01 -4.05703104e-02  8.13784242e+01]
 [ 2.52114249e-01 -1.60539268e-02  9.67564301e-01  2.10345912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.0407140570001 meters
Centerline goodness : 0.997315 with order 1
Centerline is valid?  [True, True]
Translation: X:801.90, Y:81.39, Z:210.36
[[ 9.42390553e-01 -2.22993965e-01 -2.49346621e-01  8.01902906e+02]
 [ 2.19900821e-01  9.74678430e-01 -4.05658244e-02  8.13884302e+01]
 [ 2.52078707e-01 -1.66026769e-02  9.67564301e-01  2.10361751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.100714057 meters
Centerline goodness : 0.997075 with order 1
Centerline is valid?  [True, True]
Translation: X:801.96, Y:81.40, Z:210.38
[[ 9.42330991e-01 -2.23242828e-01 -2.49349039e-01  8.01961660e+02]
 [ 2.20162128e-01  9.74620058e-01 -4.05509548e-02  8.13999392e+01]
 [ 2.52073284e-01 -1.66847936e-02  9.67564301e-01  2.10377308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.1607140570001 meters
Centerline goodness : 0.997646 with order 1
Centerline is valid?  [True, True]
Translation: X:802.02, Y:81.41, Z:210.39
[[ 9.42904619e-01 -2.20804163e-01 -2.49351961e-01  8.02018788e+02]
 [ 2.17644672e-01  9.75186072e-01 -4.05329784e-02  8.14121660e+01]
 [ 2.52114410e-01 -1.60513932e-02  9.67564301e-01  2.10392606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.220714057 meters
Centerline goodness : 0.997712 with order 1
Centerline is valid?  [True, True]
Translation: X:802.08, Y:81.42, Z:210.41
[[ 9.43427943e-01 -2.18557353e-01 -2.49351961e-01  8.02077752e+02]
 [ 2.15320971e-01  9.75701777e-01 -4.05329784e-02  8.14247459e+01]
 [ 2.52151932e-01 -1.54507618e-02  9.67564301e-01  2.10407977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.2807140570001 meters
Centerline goodness : 0.997830 with order 1
Centerline is valid?  [True, True]
Translation: X:802.14, Y:81.44, Z:210.42
[[ 9.43621618e-01 -2.17716249e-01 -2.49354922e-01  8.02137587e+02]
 [ 2.14455896e-01  9.75893039e-01 -4.05147515e-02  8.14361532e+01]
 [ 2.52164453e-01 -1.52450379e-02  9.67564302e-01  2.10423023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.340714057 meters
Centerline goodness : 0.998047 with order 1
Centerline is valid?  [True, True]
Translation: X:802.19, Y:81.45, Z:210.44
[[ 9.44074902e-01 -2.15737891e-01 -2.49358661e-01  8.02194280e+02]
 [ 2.12415961e-01  9.76340043e-01 -4.04917289e-02  8.14479874e+01]
 [ 2.52194446e-01 -1.47405347e-02  9.67564302e-01  2.10437637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.4007140570001 meters
Centerline goodness : 0.997622 with order 1
Centerline is valid?  [True, True]
Translation: X:802.25, Y:81.46, Z:210.46
[[ 9.45152147e-01 -2.10968427e-01 -2.49358661e-01  8.02251055e+02]
 [ 2.07483631e-01  9.77400104e-01 -4.04917289e-02  8.14600458e+01]
 [ 2.52265658e-01 -1.34669958e-02  9.67564302e-01  2.10455136e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.460714057 meters
Centerline goodness : 0.998049 with order 1
Centerline is valid?  [True, True]
Translation: X:802.31, Y:81.47, Z:210.47
[[ 9.45992139e-01 -2.07168995e-01 -2.49358939e-01  8.02307920e+02]
 [ 2.03555102e-01  9.78225884e-01 -4.04900163e-02  8.14711181e+01]
 [ 2.52317645e-01 -1.24550470e-02  9.67564302e-01  2.10471883e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.5207140570001 meters
Centerline goodness : 0.997984 with order 1
Centerline is valid?  [True, True]
Translation: X:802.37, Y:81.48, Z:210.49
[[ 9.45781665e-01 -2.08122484e-01 -2.49363337e-01  8.02366992e+02]
 [ 2.04548212e-01  9.78019827e-01 -4.04629169e-02  8.14804320e+01]
 [ 2.52303530e-01 -1.27377396e-02  9.67564302e-01  2.10490906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.580714057 meters
Centerline goodness : 0.998094 with order 1
Centerline is valid?  [True, True]
Translation: X:802.43, Y:81.49, Z:210.51
[[ 9.45612286e-01 -2.08878180e-01 -2.49373835e-01  8.02425882e+02]
 [ 2.05346713e-01  9.77855163e-01 -4.03981111e-02  8.14898966e+01]
 [ 2.52289777e-01 -1.30071471e-02  9.67564304e-01  2.10506852e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.6407140570001 meters
Centerline goodness : 0.997801 with order 1
Centerline is valid?  [True, True]
Translation: X:802.49, Y:81.50, Z:210.52
[[ 9.45061963e-01 -2.11342707e-01 -2.49383533e-01  8.02485073e+02]
 [ 2.07911082e-01  9.77315617e-01 -4.03381604e-02  8.14983213e+01]
 [ 2.52251597e-01 -1.37275391e-02  9.67564306e-01  2.10522936e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.700714057 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:802.54, Y:81.51, Z:210.54
[[ 9.44956864e-01 -2.11808654e-01 -2.49386486e-01  8.02544870e+02]
 [ 2.08397737e-01  9.77212714e-01 -4.03198989e-02  8.15072329e+01]
 [ 2.52243748e-01 -1.38710138e-02  9.67564306e-01  2.10536998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.760714057 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:802.60, Y:81.52, Z:210.55
[[ 9.45145870e-01 -2.10960208e-01 -2.49389405e-01  8.02602894e+02]
 [ 2.07525086e-01  9.77399151e-01 -4.03018329e-02  8.15164542e+01]
 [ 2.52255076e-01 -1.36634469e-02  9.67564306e-01  2.10550732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.820714057 meters
Centerline goodness : 0.998063 with order 1
Centerline is valid?  [True, True]
Translation: X:802.66, Y:81.53, Z:210.57
[[ 9.45333737e-01 -2.10116753e-01 -2.49389405e-01  8.02662106e+02]
 [ 2.06652853e-01  9.77583941e-01 -4.03018329e-02  8.15262119e+01]
 [ 2.52267168e-01 -1.34383497e-02  9.67564306e-01  2.10566453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.880714057 meters
Centerline goodness : 0.998482 with order 1
Centerline is valid?  [True, True]
Translation: X:802.72, Y:81.54, Z:210.58
[[ 9.45970898e-01 -2.07225771e-01 -2.49392343e-01  8.02720561e+02]
 [ 2.03668077e-01  9.78210889e-01 -4.02836429e-02  8.15354584e+01]
 [ 2.52306115e-01 -1.26861051e-02  9.67564307e-01  2.10580640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 829.940714057 meters
Centerline goodness : 0.998330 with order 1
Centerline is valid?  [True, True]
Translation: X:802.78, Y:81.54, Z:210.60
[[ 9.46845226e-01 -2.03191668e-01 -2.49393793e-01  8.02778372e+02]
 [ 1.99498942e-01  9.79070030e-01 -4.02746641e-02  8.15448011e+01]
 [ 2.52357465e-01 -1.16199245e-02  9.67564307e-01  2.10595914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.000714057 meters
Centerline goodness : 0.998217 with order 1
Centerline is valid?  [True, True]
Translation: X:802.84, Y:81.55, Z:210.61
[[ 9.47238699e-01 -2.01349134e-01 -2.49394011e-01  8.02837240e+02]
 [ 1.97594074e-01  9.79456299e-01 -4.02733162e-02  8.15534601e+01]
 [ 2.52379532e-01 -1.11303350e-02  9.67564307e-01  2.10612073e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.060714057 meters
Centerline goodness : 0.998118 with order 1
Centerline is valid?  [True, True]
Translation: X:802.90, Y:81.56, Z:210.63
[[ 9.47204158e-01 -2.01508934e-01 -2.49396134e-01  8.02895973e+02]
 [ 1.97762766e-01  9.79422793e-01 -4.02601627e-02  8.15604465e+01]
 [ 2.52377041e-01 -1.11866758e-02  9.67564307e-01  2.10629137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.120714057 meters
Centerline goodness : 0.997718 with order 1
Centerline is valid?  [True, True]
Translation: X:802.96, Y:81.57, Z:210.64
[[ 9.46934261e-01 -2.02771614e-01 -2.49397628e-01  8.02955037e+02]
 [ 1.99070837e-01  9.79158142e-01 -4.02509072e-02  8.15689301e+01]
 [ 2.52361460e-01 -1.15328315e-02  9.67564307e-01  2.10644846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.180714057 meters
Centerline goodness : 0.998263 with order 1
Centerline is valid?  [True, True]
Translation: X:803.01, Y:81.57, Z:210.66
[[ 9.46143334e-01 -2.06427931e-01 -2.49399882e-01  8.03013674e+02]
 [ 2.02855329e-01  9.78381676e-01 -4.02369365e-02  8.15749396e+01]
 [ 2.52314302e-01 -1.25221859e-02  9.67564307e-01  2.10658174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.240714057 meters
Centerline goodness : 0.997446 with order 1
Centerline is valid?  [True, True]
Translation: X:803.07, Y:81.58, Z:210.67
[[ 9.45615673e-01 -2.08831288e-01 -2.49400266e-01  8.03072545e+02]
 [ 2.05341238e-01  9.77863056e-01 -4.02345557e-02  8.15814699e+01]
 [ 2.52281541e-01 -1.31657329e-02  9.67564307e-01  2.10670564e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.300714057 meters
Centerline goodness : 0.997520 with order 1
Centerline is valid?  [True, True]
Translation: X:803.13, Y:81.59, Z:210.69
[[ 9.45649794e-01 -2.08675867e-01 -2.49400981e-01  8.03132267e+02]
 [ 2.05181682e-01  9.77896730e-01 -4.02301266e-02  8.15901774e+01]
 [ 2.52283460e-01 -1.31289016e-02  9.67564307e-01  2.10686641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.360714057 meters
Centerline goodness : 0.997568 with order 1
Centerline is valid?  [True, True]
Translation: X:803.19, Y:81.60, Z:210.70
[[ 9.46428171e-01 -2.05113052e-01 -2.49403997e-01  8.03189360e+02]
 [ 2.01502367e-01  9.78662270e-01 -4.02114160e-02  8.15982115e+01]
 [ 2.52330168e-01 -1.21982790e-02  9.67564307e-01  2.10702884e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.420714057 meters
Centerline goodness : 0.997518 with order 1
Centerline is valid?  [True, True]
Translation: X:803.25, Y:81.61, Z:210.72
[[ 9.47188806e-01 -2.01571358e-01 -2.49403997e-01  8.03247897e+02]
 [ 1.97840122e-01  9.79409173e-01 -4.02114160e-02  8.16069441e+01]
 [ 2.52374033e-01 -1.12543143e-02  9.67564307e-01  2.10719965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.480714057 meters
Centerline goodness : 0.997626 with order 1
Centerline is valid?  [True, True]
Translation: X:803.31, Y:81.62, Z:210.74
[[ 9.48005778e-01 -1.97690532e-01 -2.49406294e-01  8.03305444e+02]
 [ 1.93831113e-01  9.80211042e-01 -4.01971696e-02  8.16160969e+01]
 [ 2.52417403e-01 -1.02355504e-02  9.67564307e-01  2.10735854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.5407140570001 meters
Centerline goodness : 0.997651 with order 1
Centerline is valid?  [True, True]
Translation: X:803.37, Y:81.62, Z:210.75
[[ 9.48269238e-01 -1.96422895e-01 -2.49406294e-01  8.03365259e+02]
 [ 1.92520423e-01  9.80469313e-01 -4.01971696e-02  8.16247012e+01]
 [ 2.52430862e-01 -9.89806567e-03  9.67564307e-01  2.10751551e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.600714057 meters
Centerline goodness : 0.998023 with order 1
Centerline is valid?  [True, True]
Translation: X:803.42, Y:81.63, Z:210.77
[[ 9.48469055e-01 -1.95451900e-01 -2.49409314e-01  8.03423578e+02]
 [ 1.91521383e-01  9.80665720e-01 -4.01784225e-02  8.16326973e+01]
 [ 2.52440113e-01 -9.65922634e-03  9.67564307e-01  2.10766361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.6607140570001 meters
Centerline goodness : 0.997128 with order 1
Centerline is valid?  [True, True]
Translation: X:803.48, Y:81.64, Z:210.78
[[ 9.49033663e-01 -1.92690742e-01 -2.49410071e-01  8.03482465e+02]
 [ 1.88667774e-01  9.81218907e-01 -4.01737220e-02  8.16409177e+01]
 [ 2.52466981e-01 -8.92942831e-03  9.67564307e-01  2.10782227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.720714057 meters
Centerline goodness : 0.997615 with order 1
Centerline is valid?  [True, True]
Translation: X:803.54, Y:81.65, Z:210.80
[[ 9.49316650e-01 -1.91284681e-01 -2.49415454e-01  8.03540745e+02]
 [ 1.87222817e-01  9.81497007e-01 -4.01402753e-02  8.16479026e+01]
 [ 2.52478741e-01 -8.59043216e-03  9.67564308e-01  2.10796582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.7807140570001 meters
Centerline goodness : 0.997159 with order 1
Centerline is valid?  [True, True]
Translation: X:803.60, Y:81.65, Z:210.81
[[ 9.49349574e-01 -1.91121047e-01 -2.49415583e-01  8.03600485e+02]
 [ 1.87053845e-01  9.81529257e-01 -4.01394753e-02  8.16540532e+01]
 [ 2.52480190e-01 -8.54775003e-03  9.67564308e-01  2.10811669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.840714057 meters
Centerline goodness : 0.997144 with order 1
Centerline is valid?  [True, True]
Translation: X:803.66, Y:81.66, Z:210.83
[[ 9.49501360e-01 -1.90362572e-01 -2.49417840e-01  8.03658845e+02]
 [ 1.86273347e-01  9.81678251e-01 -4.01254405e-02  8.16611482e+01]
 [ 2.52486452e-01 -8.36073564e-03  9.67564308e-01  2.10827145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.9007140570001 meters
Centerline goodness : 0.997038 with order 1
Centerline is valid?  [True, True]
Translation: X:803.72, Y:81.67, Z:210.84
[[ 9.49495002e-01 -1.90387524e-01 -2.49422999e-01  8.03716842e+02]
 [ 1.86307564e-01  9.81673069e-01 -4.00933511e-02  8.16664005e+01]
 [ 2.52485115e-01 -8.40095490e-03  9.67564308e-01  2.10843350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 830.960714057 meters
Centerline goodness : 0.997219 with order 1
Centerline is valid?  [True, True]
Translation: X:803.78, Y:81.67, Z:210.86
[[ 9.49052734e-01 -1.92580051e-01 -2.49422999e-01  8.03777175e+02]
 [ 1.88574424e-01  9.81240139e-01 -4.00933511e-02  8.16722104e+01]
 [ 2.52465038e-01 -8.98409376e-03  9.67564308e-01  2.10857670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.0207140570001 meters
Centerline goodness : 0.997280 with order 1
Centerline is valid?  [True, True]
Translation: X:803.84, Y:81.68, Z:210.87
[[ 9.48265191e-01 -1.96417434e-01 -2.49425980e-01  8.03835051e+02]
 [ 1.92546912e-01  9.80469121e-01 -4.00747936e-02  8.16777648e+01]
 [ 2.52425860e-01 -1.00246704e-02  9.67564309e-01  2.10872870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.080714057 meters
Centerline goodness : 0.997157 with order 1
Centerline is valid?  [True, True]
Translation: X:803.89, Y:81.69, Z:210.89
[[ 9.47996307e-01 -1.97706988e-01 -2.49429248e-01  8.03892906e+02]
 [ 1.93885615e-01  9.80206106e-01 -4.00544477e-02  8.16854653e+01]
 [ 2.52411116e-01 -1.03892745e-02  9.67564309e-01  2.10888418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.1407140570001 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:803.95, Y:81.69, Z:210.91
[[ 9.48375979e-01 -1.95877139e-01 -2.49429648e-01  8.03950586e+02]
 [ 1.91994267e-01  9.80578422e-01 -4.00519527e-02  8.16935840e+01]
 [ 2.52430593e-01 -9.90475273e-03  9.67564309e-01  2.10905921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.200714057 meters
Centerline goodness : 0.997514 with order 1
Centerline is valid?  [True, True]
Translation: X:804.01, Y:81.70, Z:210.92
[[ 9.48666636e-01 -1.94464417e-01 -2.49429758e-01  8.04008516e+02]
 [ 1.90533767e-01  9.80863283e-01 -4.00512698e-02  8.17026392e+01]
 [ 2.52445038e-01 -9.52948806e-03  9.67564309e-01  2.10920778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.260714057 meters
Centerline goodness : 0.997246 with order 1
Centerline is valid?  [True, True]
Translation: X:804.07, Y:81.71, Z:210.93
[[ 9.48591592e-01 -1.94829207e-01 -2.49430496e-01  8.04068121e+02]
 [ 1.90912145e-01  9.80789894e-01 -4.00466737e-02  8.17111402e+01]
 [ 2.52441171e-01 -9.63137322e-03  9.67564309e-01  2.10934449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.320714057 meters
Centerline goodness : 0.997163 with order 1
Centerline is valid?  [True, True]
Translation: X:804.13, Y:81.72, Z:210.95
[[ 9.47543359e-01 -1.99861376e-01 -2.49433384e-01  8.04127473e+02]
 [ 1.96120000e-01  9.79762548e-01 -4.00286748e-02  8.17173953e+01]
 [ 2.52385674e-01 -1.09899704e-02  9.67564309e-01  2.10948515e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.380714057 meters
Centerline goodness : 0.996957 with order 1
Centerline is valid?  [True, True]
Translation: X:804.19, Y:81.72, Z:210.96
[[ 9.46647609e-01 -2.04060132e-01 -2.49434894e-01  8.04185121e+02]
 [ 2.00464102e-01  9.78883345e-01 -4.00192670e-02  8.17249254e+01]
 [ 2.52334000e-01 -1.21185984e-02  9.67564309e-01  2.10963475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.440714057 meters
Centerline goodness : 0.996867 with order 1
Centerline is valid?  [True, True]
Translation: X:804.24, Y:81.73, Z:210.98
[[ 9.45534772e-01 -2.09155990e-01 -2.49434894e-01  8.04243996e+02]
 [ 2.05733639e-01  9.77789409e-01 -4.00192670e-02  8.17317433e+01]
 [ 2.52265067e-01 -1.34775399e-02  9.67564309e-01  2.10977541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.500714057 meters
Centerline goodness : 0.996717 with order 1
Centerline is valid?  [True, True]
Translation: X:804.30, Y:81.74, Z:210.99
[[ 9.45027054e-01 -2.11437243e-01 -2.49435684e-01  8.04304195e+02]
 [ 2.08094038e-01  9.77289990e-01 -4.00143418e-02  8.17401597e+01]
 [ 2.52231519e-01 -1.40914432e-02  9.67564309e-01  2.10992494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.560714057 meters
Centerline goodness : 0.997030 with order 1
Centerline is valid?  [True, True]
Translation: X:804.36, Y:81.75, Z:211.01
[[ 9.44928737e-01 -2.11872714e-01 -2.49438639e-01  8.04362032e+02]
 [ 2.08549227e-01  9.77193710e-01 -3.99959097e-02  8.17495417e+01]
 [ 2.52223911e-01 -1.42269510e-02  9.67564309e-01  2.11008153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.620714057 meters
Centerline goodness : 0.997024 with order 1
Centerline is valid?  [True, True]
Translation: X:804.42, Y:81.76, Z:211.03
[[ 9.45254657e-01 -2.10412999e-01 -2.49439380e-01  8.04419294e+02]
 [ 2.07040897e-01  9.77514585e-01 -3.99912906e-02  8.17598809e+01]
 [ 2.52245319e-01 -1.38421994e-02  9.67564309e-01  2.11025044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.680714057 meters
Centerline goodness : 0.996593 with order 1
Centerline is valid?  [True, True]
Translation: X:804.48, Y:81.77, Z:211.04
[[ 9.45867369e-01 -2.07641315e-01 -2.49439380e-01  8.04477810e+02]
 [ 2.04174666e-01  9.78117274e-01 -3.99912906e-02  8.17703148e+01]
 [ 2.52284811e-01 -1.31027454e-02  9.67564309e-01  2.11040738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.740714057 meters
Centerline goodness : 0.996092 with order 1
Centerline is valid?  [True, True]
Translation: X:804.54, Y:81.78, Z:211.05
[[ 9.46228817e-01 -2.05985246e-01 -2.49441585e-01  8.04537417e+02]
 [ 2.02465766e-01  9.78472999e-01 -3.99775332e-02  8.17801560e+01]
 [ 2.52306638e-01 -1.26754875e-02  9.67564309e-01  2.11053997e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.800714057 meters
Centerline goodness : 0.996414 with order 1
Centerline is valid?  [True, True]
Translation: X:804.60, Y:81.79, Z:211.07
[[ 9.46310653e-01 -2.05605444e-01 -2.49444483e-01  8.04595903e+02]
 [ 2.02077778e-01  9.78553940e-01 -3.99594444e-02  8.17908359e+01]
 [ 2.52310761e-01 -1.25931389e-02  9.67564309e-01  2.11066514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.860714057 meters
Centerline goodness : 0.996555 with order 1
Centerline is valid?  [True, True]
Translation: X:804.65, Y:81.80, Z:211.08
[[ 9.46107510e-01 -2.06537933e-01 -2.49444706e-01  8.04654656e+02]
 [ 2.03042412e-01  9.78354298e-01 -3.99580475e-02  8.18006148e+01]
 [ 2.52298153e-01 -1.28432460e-02  9.67564309e-01  2.11080565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.920714057 meters
Centerline goodness : 0.996698 with order 1
Centerline is valid?  [True, True]
Translation: X:804.71, Y:81.81, Z:211.10
[[ 9.45925173e-01 -2.07370563e-01 -2.49445418e-01  8.04712177e+02]
 [ 2.03904594e-01  9.78175151e-01 -3.99536030e-02  8.18107691e+01]
 [ 2.52286511e-01 -1.30699480e-02  9.67564309e-01  2.11095897e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 831.980714057 meters
Centerline goodness : 0.997115 with order 1
Centerline is valid?  [True, True]
Translation: X:804.77, Y:81.82, Z:211.11
[[ 9.45838308e-01 -2.07765563e-01 -2.49446118e-01  8.04770414e+02]
 [ 2.04314211e-01  9.78089854e-01 -3.99492327e-02  8.18219266e+01]
 [ 2.52280792e-01 -1.31798721e-02  9.67564309e-01  2.11110657e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.0407140570001 meters
Centerline goodness : 0.997326 with order 1
Centerline is valid?  [True, True]
Translation: X:804.83, Y:81.83, Z:211.13
[[ 9.45535014e-01 -2.09139757e-01 -2.49447590e-01  8.04829650e+02]
 [ 2.05737692e-01  9.77791795e-01 -3.99400414e-02  8.18331552e+01]
 [ 2.52260857e-01 -1.35560639e-02  9.67564310e-01  2.11126881e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.100714057 meters
Centerline goodness : 0.996855 with order 1
Centerline is valid?  [True, True]
Translation: X:804.89, Y:81.84, Z:211.14
[[ 9.45295676e-01 -2.10215468e-01 -2.49450480e-01  8.04887564e+02]
 [ 2.06854857e-01  9.77556803e-01 -3.99219857e-02  8.18429502e+01]
 [ 2.52244232e-01 -1.38619628e-02  9.67564310e-01  2.11143409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.1607140570001 meters
Centerline goodness : 0.997345 with order 1
Centerline is valid?  [True, True]
Translation: X:804.95, Y:81.85, Z:211.16
[[ 9.44931837e-01 -2.11844069e-01 -2.49451223e-01  8.04945325e+02]
 [ 2.08540279e-01  9.77198833e-01 -3.99173366e-02  8.18530477e+01]
 [ 2.52219695e-01 -1.43014655e-02  9.67564310e-01  2.11159853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.220714057 meters
Centerline goodness : 0.996684 with order 1
Centerline is valid?  [True, True]
Translation: X:805.00, Y:81.86, Z:211.17
[[ 9.44696208e-01 -2.12885550e-01 -2.49457045e-01  8.05004917e+02]
 [ 2.09626911e-01  9.76967794e-01 -3.98809240e-02  8.18628972e+01]
 [ 2.52201571e-01 -1.46175522e-02  9.67564310e-01  2.11172855e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.2807140570001 meters
Centerline goodness : 0.996936 with order 1
Centerline is valid?  [True, True]
Translation: X:805.06, Y:81.87, Z:211.19
[[ 9.44679239e-01 -2.12958239e-01 -2.49459264e-01  8.05063459e+02]
 [ 2.09705737e-01  9.76951444e-01 -3.98670408e-02  8.18728246e+01]
 [ 2.52199603e-01 -1.46514730e-02  9.67564310e-01  2.11185678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.340714057 meters
Centerline goodness : 0.997540 with order 1
Centerline is valid?  [True, True]
Translation: X:805.12, Y:81.88, Z:211.20
[[ 9.44818540e-01 -2.12338475e-01 -2.49460015e-01  8.05122009e+02]
 [ 2.09066040e-01  9.77088729e-01 -3.98623397e-02  8.18832385e+01]
 [ 2.52208877e-01 -1.44909398e-02  9.67564310e-01  2.11200169e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.4007140570001 meters
Centerline goodness : 0.997395 with order 1
Centerline is valid?  [True, True]
Translation: X:805.18, Y:81.89, Z:211.22
[[ 9.45325299e-01 -2.10070009e-01 -2.49460760e-01  8.05179626e+02]
 [ 2.06721351e-01  9.77587668e-01 -3.98576793e-02  8.18942845e+01]
 [ 2.52242665e-01 -1.38903927e-02  9.67564310e-01  2.11215898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.460714057 meters
Centerline goodness : 0.997646 with order 1
Centerline is valid?  [True, True]
Translation: X:805.24, Y:81.91, Z:211.23
[[ 9.46148942e-01 -2.06328214e-01 -2.49461116e-01  8.05237272e+02]
 [ 2.02852524e-01  9.78397872e-01 -3.98554451e-02  8.19063043e+01]
 [ 2.52295528e-01 -1.28946300e-02  9.67564310e-01  2.11232026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.5207140570001 meters
Centerline goodness : 0.997297 with order 1
Centerline is valid?  [True, True]
Translation: X:805.30, Y:81.92, Z:211.25
[[ 9.46776999e-01 -2.03425892e-01 -2.49461862e-01  8.05296407e+02]
 [ 1.99852556e-01  9.79015256e-01 -3.98507757e-02  8.19181261e+01]
 [ 2.52333649e-01 -1.21257929e-02  9.67564310e-01  2.11248904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.580714057 meters
Centerline goodness : 0.997843 with order 1
Centerline is valid?  [True, True]
Translation: X:805.35, Y:81.93, Z:211.27
[[ 9.46954004e-01 -2.02596579e-01 -2.49464907e-01  8.05354017e+02]
 [ 1.99000020e-01  9.79189679e-01 -3.98317066e-02  8.19287910e+01]
 [ 2.52343230e-01 -1.19247275e-02  9.67564311e-01  2.11265024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.6407140570001 meters
Centerline goodness : 0.997694 with order 1
Centerline is valid?  [True, True]
Translation: X:805.41, Y:81.94, Z:211.28
[[ 9.46895197e-01 -2.02868492e-01 -2.49467153e-01  8.05413208e+02]
 [ 1.99284889e-01  9.79132314e-01 -3.98176359e-02  8.19394369e+01]
 [ 2.52339095e-01 -1.20119056e-02  9.67564311e-01  2.11280877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.700714057 meters
Centerline goodness : 0.997560 with order 1
Centerline is valid?  [True, True]
Translation: X:805.47, Y:81.95, Z:211.30
[[ 9.46546867e-01 -2.04483887e-01 -2.49470177e-01  8.05471342e+02]
 [ 2.00960278e-01  9.78790596e-01 -3.97986817e-02  8.19495158e+01]
 [ 2.52317252e-01 -1.24622786e-02  9.67564311e-01  2.11295707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.760714057 meters
Centerline goodness : 0.997361 with order 1
Centerline is valid?  [True, True]
Translation: X:805.53, Y:81.96, Z:211.31
[[ 9.46193768e-01 -2.06109176e-01 -2.49472166e-01  8.05530051e+02]
 [ 2.02644228e-01  9.78443854e-01 -3.97862081e-02  8.19597268e+01]
 [ 2.52294810e-01 -1.29086324e-02  9.67564311e-01  2.11309622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.820714057 meters
Centerline goodness : 0.997686 with order 1
Centerline is valid?  [True, True]
Translation: X:805.59, Y:81.97, Z:211.32
[[ 9.46332606e-01 -2.05467999e-01 -2.49474447e-01  8.05589676e+02]
 [ 2.01984960e-01  9.78580744e-01 -3.97719046e-02  8.19695142e+01]
 [ 2.52302743e-01 -1.27526360e-02  9.67564311e-01  2.11324694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.880714057 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:805.65, Y:81.98, Z:211.34
[[ 9.46578762e-01 -2.04327404e-01 -2.49477372e-01  8.05648262e+02]
 [ 2.00810331e-01  9.78823205e-01 -3.97535447e-02  8.19793231e+01]
 [ 2.52316980e-01 -1.24677725e-02  9.67564311e-01  2.11340849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 832.940714057 meters
Centerline goodness : 0.997733 with order 1
Centerline is valid?  [True, True]
Translation: X:805.71, Y:81.99, Z:211.36
[[ 9.47503806e-01 -1.99992052e-01 -2.49478891e-01  8.05706568e+02]
 [ 1.96329914e-01  9.79732095e-01 -3.97440095e-02  8.19890919e+01]
 [ 2.52370963e-01 -1.13225691e-02  9.67564311e-01  2.11355768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.000714057 meters
Centerline goodness : 0.998368 with order 1
Centerline is valid?  [True, True]
Translation: X:805.76, Y:82.00, Z:211.37
[[ 9.48417190e-01 -1.95613805e-01 -2.49479604e-01  8.05764725e+02]
 [ 1.91804033e-01  9.80628361e-01 -3.97395326e-02  8.19986404e+01]
 [ 2.52420377e-01 -1.01615384e-02  9.67564311e-01  2.11371103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.060714057 meters
Centerline goodness : 0.997669 with order 1
Centerline is valid?  [True, True]
Translation: X:805.82, Y:82.01, Z:211.39
[[ 9.49148982e-01 -1.92030611e-01 -2.49480370e-01  8.05823259e+02]
 [ 1.88100480e-01  9.81345689e-01 -3.97347231e-02  8.20061670e+01]
 [ 2.52456769e-01 -9.21320549e-03  9.67564311e-01  2.11386231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.120714057 meters
Centerline goodness : 0.997392 with order 1
Centerline is valid?  [True, True]
Translation: X:805.88, Y:82.01, Z:211.40
[[ 9.49567978e-01 -1.89944906e-01 -2.49482640e-01  8.05881651e+02]
 [ 1.85947791e-01  9.81756438e-01 -3.97204673e-02  8.20139210e+01]
 [ 2.52475889e-01 -8.67346200e-03  9.67564311e-01  2.11401690e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.180714057 meters
Centerline goodness : 0.997784 with order 1
Centerline is valid?  [True, True]
Translation: X:805.94, Y:82.02, Z:211.42
[[ 9.50066780e-01 -1.87432096e-01 -2.49484112e-01  8.05941483e+02]
 [ 1.83352264e-01  9.82244861e-01 -3.97112192e-02  8.20211079e+01]
 [ 2.52497644e-01 -8.01516647e-03  9.67564312e-01  2.11416791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.240714057 meters
Centerline goodness : 0.997331 with order 1
Centerline is valid?  [True, True]
Translation: X:806.00, Y:82.03, Z:211.43
[[ 9.50092863e-01 -1.87295887e-01 -2.49487081e-01  8.06001807e+02]
 [ 1.83216335e-01  9.82270978e-01 -3.96925620e-02  8.20264910e+01]
 [ 2.52498172e-01 -7.99848875e-03  9.67564312e-01  2.11431916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.300714057 meters
Centerline goodness : 0.997571 with order 1
Centerline is valid?  [True, True]
Translation: X:806.06, Y:82.03, Z:211.45
[[ 9.49671967e-01 -1.89414586e-01 -2.49490021e-01  8.06062995e+02]
 [ 1.85411669e-01  9.81859705e-01 -3.96740735e-02  8.20329188e+01]
 [ 2.52479046e-01 -8.58100571e-03  9.67564312e-01  2.11447703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.360714057 meters
Centerline goodness : 0.996910 with order 1
Centerline is valid?  [True, True]
Translation: X:806.12, Y:82.04, Z:211.46
[[ 9.48883698e-01 -1.93319013e-01 -2.49494462e-01  8.06122635e+02]
 [ 1.89455856e-01  9.81088509e-01 -3.96461248e-02  8.20369923e+01]
 [ 2.52440499e-01 -9.64862531e-03  9.67564312e-01  2.11462111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.420714057 meters
Centerline goodness : 0.996690 with order 1
Centerline is valid?  [True, True]
Translation: X:806.18, Y:82.04, Z:211.48
[[ 9.48713837e-01 -1.94149371e-01 -2.49495648e-01  8.06181143e+02]
 [ 1.90316360e-01  9.80922250e-01 -3.96386619e-02  8.20439949e+01]
 [ 2.52431653e-01 -9.87735653e-03  9.67564312e-01  2.11477571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.480714057 meters
Centerline goodness : 0.996099 with order 1
Centerline is valid?  [True, True]
Translation: X:806.24, Y:82.05, Z:211.49
[[ 9.48510128e-01 -1.95139317e-01 -2.49497863e-01  8.06241081e+02]
 [ 1.91343583e-01  9.80722956e-01 -3.96247134e-02  8.20474846e+01]
 [ 2.52420621e-01 -1.01553730e-02  9.67564312e-01  2.11492401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.5407140570001 meters
Centerline goodness : 0.996885 with order 1
Centerline is valid?  [True, True]
Translation: X:806.30, Y:82.05, Z:211.51
[[ 9.49071748e-01 -1.92386408e-01 -2.49500077e-01  8.06301541e+02]
 [ 1.88500885e-01  9.81273868e-01 -3.96107706e-02  8.20517743e+01]
 [ 2.52448479e-01 -9.43752198e-03  9.67564312e-01  2.11507826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.600714057 meters
Centerline goodness : 0.997032 with order 1
Centerline is valid?  [True, True]
Translation: X:806.36, Y:82.06, Z:211.52
[[ 9.50219034e-01 -1.86633390e-01 -2.49503036e-01  8.06359966e+02]
 [ 1.82557749e-01  9.82397645e-01 -3.95921221e-02  8.20569719e+01]
 [ 2.52500407e-01 -7.92752455e-03  9.67564313e-01  2.11522871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.6607140570001 meters
Centerline goodness : 0.996266 with order 1
Centerline is valid?  [True, True]
Translation: X:806.42, Y:82.06, Z:211.54
[[ 9.50808065e-01 -1.83609071e-01 -2.49502972e-01  8.06419281e+02]
 [ 1.79430960e-01  9.82973531e-01 -3.95925236e-02  8.20634934e+01]
 [ 2.52524364e-01 -7.12366712e-03  9.67564313e-01  2.11537996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.720714057 meters
Centerline goodness : 0.996635 with order 1
Centerline is valid?  [True, True]
Translation: X:806.48, Y:82.07, Z:211.55
[[ 9.51191468e-01 -1.81610365e-01 -2.49504443e-01  8.06477852e+02]
 [ 1.77367092e-01  9.83348402e-01 -3.95832544e-02  8.20676413e+01]
 [ 2.52538524e-01 -6.60262367e-03  9.67564313e-01  2.11553836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.7807140570001 meters
Centerline goodness : 0.996283 with order 1
Centerline is valid?  [True, True]
Translation: X:806.54, Y:82.07, Z:211.57
[[ 9.51242967e-01 -1.81339419e-01 -2.49505178e-01  8.06537552e+02]
 [ 1.77088201e-01  9.83398852e-01 -3.95786195e-02  8.20713829e+01]
 [ 2.52540269e-01 -6.53553964e-03  9.67564313e-01  2.11569727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.840714057 meters
Centerline goodness : 0.996630 with order 1
Centerline is valid?  [True, True]
Translation: X:806.60, Y:82.07, Z:211.58
[[ 9.51035483e-01 -1.82421429e-01 -2.49507379e-01  8.06596966e+02]
 [ 1.78210434e-01  9.83196660e-01 -3.95647370e-02  8.20743717e+01]
 [ 2.52532278e-01 -6.83734944e-03  9.67564313e-01  2.11582713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.9007140570001 meters
Centerline goodness : 0.996388 with order 1
Centerline is valid?  [True, True]
Translation: X:806.66, Y:82.08, Z:211.60
[[ 9.50554130e-01 -1.84913260e-01 -2.49507379e-01  8.06656123e+02]
 [ 1.80786566e-01  9.82726233e-01 -3.95647370e-02  8.20768988e+01]
 [ 2.52513491e-01 -7.49915820e-03  9.67564313e-01  2.11596877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 833.960714057 meters
Centerline goodness : 0.995812 with order 1
Centerline is valid?  [True, True]
Translation: X:806.71, Y:82.08, Z:211.61
[[ 9.50020820e-01 -1.87633979e-01 -2.49507379e-01  8.06713010e+02]
 [ 1.83599412e-01  9.82204606e-01 -3.95647394e-02  8.20817117e+01]
 [ 2.52490986e-01 -8.22208188e-03  9.67564313e-01  2.11612157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.0207140570001 meters
Centerline goodness : 0.995968 with order 1
Centerline is valid?  [True, True]
Translation: X:806.77, Y:82.08, Z:211.63
[[ 9.48789634e-01 -1.93767170e-01 -2.49504539e-01  8.06771365e+02]
 [ 1.89935893e-01  9.80998252e-01 -3.95826422e-02  8.20846146e+01]
 [ 2.52433333e-01 -9.83426678e-03  9.67564313e-01  2.11627022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.080714057 meters
Centerline goodness : 0.995807 with order 1
Centerline is valid?  [True, True]
Translation: X:806.83, Y:82.09, Z:211.64
[[ 9.47826120e-01 -1.98427310e-01 -2.49504006e-01  8.06828473e+02]
 [ 1.94753475e-01  9.80053077e-01 -3.95859966e-02  8.20872566e+01]
 [ 2.52382112e-01 -1.10711307e-02  9.67564313e-01  2.11642887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.1407140570001 meters
Centerline goodness : 0.994866 with order 1
Centerline is valid?  [True, True]
Translation: X:806.89, Y:82.09, Z:211.66
[[ 9.47341930e-01 -2.00727992e-01 -2.49502588e-01  8.06885361e+02]
 [ 1.97130064e-01  9.79577449e-01 -3.95949368e-02  8.20923911e+01]
 [ 2.52354921e-01 -1.16745173e-02  9.67564313e-01  2.11659404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.200714057 meters
Centerline goodness : 0.995676 with order 1
Centerline is valid?  [True, True]
Translation: X:806.94, Y:82.10, Z:211.67
[[ 9.47049430e-01 -2.02106119e-01 -2.49500489e-01  8.06941824e+02]
 [ 1.98551620e-01  9.79289767e-01 -3.96081605e-02  8.20979772e+01]
 [ 2.52338327e-01 -1.20278405e-02  9.67564313e-01  2.11673413e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.260714057 meters
Centerline goodness : 0.995818 with order 1
Centerline is valid?  [True, True]
Translation: X:807.00, Y:82.10, Z:211.69
[[ 9.46811479e-01 -2.03221324e-01 -2.49497729e-01  8.06998802e+02]
 [ 1.99700230e-01  9.79055481e-01 -3.96255330e-02  8.21048091e+01]
 [ 2.52324873e-01 -1.23068446e-02  9.67564313e-01  2.11687991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.320714057 meters
Centerline goodness : 0.995581 with order 1
Centerline is valid?  [True, True]
Translation: X:807.06, Y:82.11, Z:211.70
[[ 9.46528939e-01 -2.04535936e-01 -2.49495529e-01  8.07056401e+02]
 [ 2.01055981e-01  9.78777407e-01 -3.96393826e-02  8.21122237e+01]
 [ 2.52308265e-01 -1.26427455e-02  9.67564313e-01  2.11703006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.380714057 meters
Centerline goodness : 0.995469 with order 1
Centerline is valid?  [True, True]
Translation: X:807.11, Y:82.12, Z:211.72
[[ 9.46334054e-01 -2.05436623e-01 -2.49494795e-01  8.07114472e+02]
 [ 2.01986146e-01  9.78585689e-01 -3.96439991e-02  8.21205720e+01]
 [ 2.52296366e-01 -1.28780258e-02  9.67564313e-01  2.11716906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.440714057 meters
Centerline goodness : 0.995168 with order 1
Centerline is valid?  [True, True]
Translation: X:807.17, Y:82.13, Z:211.73
[[ 9.46463599e-01 -2.04841552e-01 -2.49492675e-01  8.07171585e+02]
 [ 2.01367287e-01  9.78712680e-01 -3.96573427e-02  8.21294418e+01]
 [ 2.52305116e-01 -1.27054317e-02  9.67564313e-01  2.11731273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.500714057 meters
Centerline goodness : 0.994952 with order 1
Centerline is valid?  [True, True]
Translation: X:807.23, Y:82.14, Z:211.75
[[ 9.47054698e-01 -2.02092928e-01 -2.49491179e-01  8.07226865e+02]
 [ 1.98522580e-01  9.79293283e-01 -3.96667510e-02  8.21382342e+01]
 [ 2.52341405e-01 -1.19630496e-02  9.67564313e-01  2.11745600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.560714057 meters
Centerline goodness : 0.995316 with order 1
Centerline is valid?  [True, True]
Translation: X:807.28, Y:82.15, Z:211.76
[[ 9.47869345e-01 -1.98241503e-01 -2.49487497e-01  8.07283640e+02]
 [ 1.94534056e-01  9.80092451e-01 -3.96898970e-02  8.21470265e+01]
 [ 2.52388997e-01 -1.09129778e-02  9.67564314e-01  2.11761344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.620714057 meters
Centerline goodness : 0.994637 with order 1
Centerline is valid?  [True, True]
Translation: X:807.34, Y:82.15, Z:211.78
[[ 9.48424458e-01 -1.95570050e-01 -2.49486277e-01  8.07339861e+02]
 [ 1.91769814e-01  9.80636753e-01 -3.96975631e-02  8.21549022e+01]
 [ 2.52419067e-01 -1.01937971e-02  9.67564314e-01  2.11776210e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.680714057 meters
Centerline goodness : 0.994555 with order 1
Centerline is valid?  [True, True]
Translation: X:807.40, Y:82.16, Z:211.79
[[ 9.48863194e-01 -1.93443438e-01 -2.49476002e-01  8.07396756e+02]
 [ 1.89554074e-01  9.81064847e-01 -3.97620332e-02  8.21621760e+01]
 [ 2.52443840e-01 -9.56046265e-03  9.67564316e-01  2.11791967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.740714057 meters
Centerline goodness : 0.994465 with order 1
Centerline is valid?  [True, True]
Translation: X:807.45, Y:82.17, Z:211.81
[[ 9.49179310e-01 -1.91888310e-01 -2.49474477e-01  8.07452245e+02]
 [ 1.87943672e-01  9.81374239e-01 -3.97716008e-02  8.21693664e+01]
 [ 2.52459530e-01 -9.13676850e-03  9.67564316e-01  2.11806680e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.800714057 meters
Centerline goodness : 0.994476 with order 1
Centerline is valid?  [True, True]
Translation: X:807.51, Y:82.17, Z:211.82
[[ 9.49483596e-01 -1.90384420e-01 -2.49468784e-01  8.07509879e+02]
 [ 1.86379422e-01  9.81671071e-01 -3.98072790e-02  8.21745835e+01]
 [ 2.52474974e-01 -8.69948945e-03  9.67564316e-01  2.11822229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.860714057 meters
Centerline goodness : 0.994175 with order 1
Centerline is valid?  [True, True]
Translation: X:807.57, Y:82.18, Z:211.84
[[ 9.49585233e-01 -1.89878673e-01 -2.49467381e-01  8.07566862e+02]
 [ 1.85854226e-01  9.81770283e-01 -3.98160664e-02  8.21797054e+01]
 [ 2.52479883e-01 -8.55581833e-03  9.67564317e-01  2.11836085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.920714057 meters
Centerline goodness : 0.994831 with order 1
Centerline is valid?  [True, True]
Translation: X:807.62, Y:82.18, Z:211.85
[[ 9.49489292e-01 -1.90371447e-01 -2.49457005e-01  8.07622595e+02]
 [ 1.86346671e-01  9.81674297e-01 -3.98809744e-02  8.21842985e+01]
 [ 2.52477729e-01 -8.61892419e-03  9.67564319e-01  2.11850478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 834.980714057 meters
Centerline goodness : 0.994588 with order 1
Centerline is valid?  [True, True]
Translation: X:807.68, Y:82.19, Z:211.87
[[ 9.49227991e-01 -1.91674833e-01 -2.49453362e-01  8.07681294e+02]
 [ 1.87688272e-01  9.81417752e-01 -3.99037448e-02  8.21902803e+01]
 [ 2.52466502e-01 -8.94171895e-03  9.67564319e-01  2.11865206e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.0407140570001 meters
Centerline goodness : 0.993621 with order 1
Centerline is valid?  [True, True]
Translation: X:807.74, Y:82.19, Z:211.88
[[ 9.48887522e-01 -1.93353279e-01 -2.49453362e-01  8.07737454e+02]
 [ 1.89423652e-01  9.81084283e-01 -3.99037448e-02  8.21938542e+01]
 [ 2.52450293e-01 -9.38820151e-03  9.67564319e-01  2.11880055e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.100714057 meters
Centerline goodness : 0.993483 with order 1
Centerline is valid?  [True, True]
Translation: X:807.79, Y:82.20, Z:211.90
[[ 9.48656522e-01 -1.94488217e-01 -2.49449668e-01  8.07794390e+02]
 [ 1.90591047e-01  9.80857228e-01 -3.99268263e-02  8.21981169e+01]
 [ 2.52439807e-01 -9.66602920e-03  9.67564319e-01  2.11895953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.1607140570001 meters
Centerline goodness : 0.993304 with order 1
Centerline is valid?  [True, True]
Translation: X:807.85, Y:82.20, Z:211.91
[[ 9.48540639e-01 -1.95065566e-01 -2.49439535e-01  8.07850989e+02]
 [ 1.91171398e-01  9.80741706e-01 -3.99900361e-02  8.22029649e+01]
 [ 2.52436434e-01 -9.75353020e-03  9.67564321e-01  2.11910526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.220714057 meters
Centerline goodness : 0.993071 with order 1
Centerline is valid?  [True, True]
Translation: X:807.91, Y:82.21, Z:211.92
[[ 9.48774883e-01 -1.93926944e-01 -2.49436488e-01  8.07909366e+02]
 [ 1.89989142e-01  9.80970643e-01 -4.00090354e-02  8.22068460e+01]
 [ 2.52448702e-01 -9.43065637e-03  9.67564321e-01  2.11924252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.2807140570001 meters
Centerline goodness : 0.993638 with order 1
Centerline is valid?  [True, True]
Translation: X:807.97, Y:82.21, Z:211.94
[[ 9.49955649e-01 -1.88060033e-01 -2.49434737e-01  8.07966556e+02]
 [ 1.83920482e-01  9.82126092e-01 -4.00199462e-02  8.22112849e+01]
 [ 2.52502516e-01 -7.85898309e-03  9.67564321e-01  2.11939437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.340714057 meters
Centerline goodness : 0.993986 with order 1
Centerline is valid?  [True, True]
Translation: X:808.02, Y:82.22, Z:211.95
[[ 9.50347155e-01 -1.86084717e-01 -2.49424867e-01  8.08023729e+02]
 [ 1.81862185e-01  9.82506809e-01 -4.00813718e-02  8.22191906e+01]
 [ 2.52520160e-01 -7.26973365e-03  9.67564323e-01  2.11954558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.4007140570001 meters
Centerline goodness : 0.993802 with order 1
Centerline is valid?  [True, True]
Translation: X:808.08, Y:82.22, Z:211.97
[[ 9.51596866e-01 -1.79586725e-01 -2.49423360e-01  8.08081615e+02]
 [ 1.75142093e-01  9.83726578e-01 -4.00907424e-02  8.22231907e+01]
 [ 2.52564154e-01 -5.53430461e-03  9.67564323e-01  2.11969504e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.460714057 meters
Centerline goodness : 0.994100 with order 1
Centerline is valid?  [True, True]
Translation: X:808.14, Y:82.23, Z:211.98
[[ 9.52084430e-01 -1.76985797e-01 -2.49421863e-01  8.08139242e+02]
 [ 1.72450947e-01  9.84201532e-01 -4.01000572e-02  8.22265065e+01]
 [ 2.52578520e-01 -4.83439632e-03  9.67564323e-01  2.11984281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.5207140570001 meters
Centerline goodness : 0.994949 with order 1
Centerline is valid?  [True, True]
Translation: X:808.20, Y:82.23, Z:212.00
[[ 9.52019191e-01 -1.77349901e-01 -2.49412254e-01  8.08197606e+02]
 [ 1.72811705e-01  9.84135819e-01 -4.01597376e-02  8.22286803e+01]
 [ 2.52577858e-01 -4.86851597e-03  9.67564325e-01  2.11999362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.580714057 meters
Centerline goodness : 0.995436 with order 1
Centerline is valid?  [True, True]
Translation: X:808.26, Y:82.23, Z:212.01
[[ 9.51044699e-01 -1.82503991e-01 -2.49411855e-01  8.08255664e+02]
 [ 1.78139174e-01  9.83185349e-01 -4.01622135e-02  8.22297612e+01]
 [ 2.52547846e-01 -6.23396166e-03  9.67564325e-01  2.12013712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.6407140570001 meters
Centerline goodness : 0.995632 with order 1
Centerline is valid?  [True, True]
Translation: X:808.31, Y:82.23, Z:212.03
[[ 9.49940395e-01 -1.88180043e-01 -2.49402322e-01  8.08314271e+02]
 [ 1.83991732e-01  9.82104520e-01 -4.02213285e-02  8.22331206e+01]
 [ 2.52507999e-01 -7.68010045e-03  9.67564327e-01  2.12029312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.700714057 meters
Centerline goodness : 0.995976 with order 1
Centerline is valid?  [True, True]
Translation: X:808.37, Y:82.23, Z:212.04
[[ 9.47591694e-01 -1.99671809e-01 -2.49401585e-01  8.08372046e+02]
 [ 1.95872172e-01  9.79804046e-01 -4.02258996e-02  8.22346187e+01]
 [ 2.52396660e-01 -1.07331019e-02  9.67564327e-01  2.12043710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.760714057 meters
Centerline goodness : 0.996569 with order 1
Centerline is valid?  [True, True]
Translation: X:808.43, Y:82.24, Z:212.06
[[ 9.45471525e-01 -2.09480918e-01 -2.49401968e-01  8.08431509e+02]
 [ 2.06015924e-01  9.77721590e-01 -4.02235261e-02  8.22372547e+01]
 [ 2.52271749e-01 -1.33505783e-02  9.67564327e-01  2.12057620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.820714057 meters
Centerline goodness : 0.995853 with order 1
Centerline is valid?  [True, True]
Translation: X:808.49, Y:82.24, Z:212.07
[[ 9.44212967e-01 -2.15082668e-01 -2.49401922e-01  8.08490291e+02]
 [ 2.11808862e-01  9.76483001e-01 -4.02238062e-02  8.22440568e+01]
 [ 2.52188181e-01 -1.48456981e-02  9.67564327e-01  2.12071857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.880714057 meters
Centerline goodness : 0.996092 with order 1
Centerline is valid?  [True, True]
Translation: X:808.55, Y:82.25, Z:212.09
[[ 9.42194560e-01 -2.23758935e-01 -2.49401987e-01  8.08548150e+02]
 [ 2.20782210e-01  9.74493352e-01 -4.02234073e-02  8.22526805e+01]
 [ 2.52040925e-01 -1.71652462e-02  9.67564327e-01  2.12085530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 835.940714057 meters
Centerline goodness : 0.996700 with order 1
Centerline is valid?  [True, True]
Translation: X:808.61, Y:82.26, Z:212.10
[[ 9.41192829e-01 -2.27936507e-01 -2.49401298e-01  8.08605597e+02]
 [ 2.25101970e-01  9.73504410e-01 -4.02276778e-02  8.22631381e+01]
 [ 2.51962620e-01 -1.82787216e-02  9.67564327e-01  2.12101397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.000714057 meters
Centerline goodness : 0.996089 with order 1
Centerline is valid?  [True, True]
Translation: X:808.66, Y:82.28, Z:212.12
[[ 9.39628217e-01 -2.34302732e-01 -2.49401371e-01  8.08661801e+02]
 [ 2.31687113e-01  9.71958256e-01 -4.02272268e-02  8.22752120e+01]
 [ 2.51833070e-01 -1.99844463e-02  9.67564327e-01  2.12118902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.060714057 meters
Centerline goodness : 0.996890 with order 1
Centerline is valid?  [True, True]
Translation: X:808.72, Y:82.29, Z:212.13
[[ 9.38147146e-01 -2.40164448e-01 -2.49401224e-01  8.08718531e+02]
 [ 2.37750484e-01  9.70492867e-01 -4.02281339e-02  8.22907783e+01]
 [ 2.51703477e-01 -2.15553529e-02  9.67564327e-01  2.12134328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.120714057 meters
Centerline goodness : 0.995734 with order 1
Centerline is valid?  [True, True]
Translation: X:808.77, Y:82.31, Z:212.15
[[ 9.37308423e-01 -2.43417174e-01 -2.49401283e-01  8.08774905e+02]
 [ 2.41115519e-01  9.69662329e-01 -4.02277689e-02  8.23061802e+01]
 [ 2.51627159e-01 -2.24286933e-02  9.67564327e-01  2.12148648e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.180714057 meters
Centerline goodness : 0.995666 with order 1
Centerline is valid?  [True, True]
Translation: X:808.83, Y:82.32, Z:212.16
[[ 9.35811400e-01 -2.49110713e-01 -2.49401034e-01  8.08830073e+02]
 [ 2.47005377e-01  9.68178675e-01 -4.02293154e-02  8.23244502e+01]
 [ 2.51486316e-01 -2.39563444e-02  9.67564327e-01  2.12162620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.240714057 meters
Centerline goodness : 0.995189 with order 1
Centerline is valid?  [True, True]
Translation: X:808.89, Y:82.35, Z:212.18
[[ 9.34376621e-01 -2.54439845e-01 -2.49400672e-01  8.08885280e+02]
 [ 2.52518411e-01  9.66755333e-01 -4.02315568e-02  8.23460839e+01]
 [ 2.51345941e-01 -2.53868353e-02  9.67564327e-01  2.12178114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.300714057 meters
Centerline goodness : 0.995036 with order 1
Centerline is valid?  [True, True]
Translation: X:808.94, Y:82.37, Z:212.19
[[ 9.33430846e-01 -2.57888569e-01 -2.49399962e-01  8.08940782e+02]
 [ 2.56085553e-01  9.65816368e-01 -4.02359586e-02  8.23687265e+01]
 [ 2.51250959e-01 -2.63102423e-02  9.67564327e-01  2.12194305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.360714057 meters
Centerline goodness : 0.995217 with order 1
Centerline is valid?  [True, True]
Translation: X:809.00, Y:82.39, Z:212.21
[[ 9.32732418e-01 -2.60403600e-01 -2.49399682e-01  8.08995956e+02]
 [ 2.58687423e-01  9.65122658e-01 -4.02376952e-02  8.23921587e+01]
 [ 2.51179325e-01 -2.69855583e-02  9.67564327e-01  2.12209157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.420714057 meters
Centerline goodness : 0.994736 with order 1
Centerline is valid?  [True, True]
Translation: X:809.05, Y:82.41, Z:212.22
[[ 9.32482441e-01 -2.61298063e-01 -2.49398915e-01  8.09051646e+02]
 [ 2.59611697e-01  9.64874247e-01 -4.02424465e-02  8.24120913e+01]
 [ 2.51153864e-01 -2.72215010e-02  9.67564327e-01  2.12223961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.480714057 meters
Centerline goodness : 0.994688 with order 1
Centerline is valid?  [True, True]
Translation: X:809.11, Y:82.44, Z:212.24
[[ 9.32595515e-01 -2.60894943e-01 -2.49398144e-01  8.09106103e+02]
 [ 2.59193312e-01  9.64986522e-01 -4.02472251e-02  8.24367303e+01]
 [ 2.51166145e-01 -2.71079495e-02  9.67564327e-01  2.12240573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.5407140570001 meters
Centerline goodness : 0.995830 with order 1
Centerline is valid?  [True, True]
Translation: X:809.16, Y:82.46, Z:212.26
[[ 9.32929389e-01 -2.59699993e-01 -2.49396610e-01  8.09160801e+02]
 [ 2.57954355e-01  9.65318054e-01 -4.02567317e-02  8.24599868e+01]
 [ 2.51201723e-01 -2.67762535e-02  9.67564327e-01  2.12258738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.600714057 meters
Centerline goodness : 0.995498 with order 1
Centerline is valid?  [True, True]
Translation: X:809.22, Y:82.48, Z:212.27
[[ 9.33247731e-01 -2.58553676e-01 -2.49396610e-01  8.09216606e+02]
 [ 2.56768250e-01  9.65634228e-01 -4.02567317e-02  8.24819576e+01]
 [ 2.51234428e-01 -2.64676275e-02  9.67564327e-01  2.12274511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.6607140570001 meters
Centerline goodness : 0.996827 with order 1
Centerline is valid?  [True, True]
Translation: X:809.27, Y:82.50, Z:212.29
[[ 9.33683992e-01 -2.56973289e-01 -2.49397136e-01  8.09273461e+02]
 [ 2.55133896e-01  9.66067468e-01 -4.02534723e-02  8.25021058e+01]
 [ 2.51278527e-01 -2.60456401e-02  9.67564327e-01  2.12287164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.720714057 meters
Centerline goodness : 0.997201 with order 1
Centerline is valid?  [True, True]
Translation: X:809.33, Y:82.52, Z:212.30
[[ 9.33917595e-01 -2.56123006e-01 -2.49397136e-01  8.09330758e+02]
 [ 2.54254126e-01  9.66299383e-01 -4.02534723e-02  8.25190749e+01]
 [ 2.51302139e-01 -2.58168248e-02  9.67564327e-01  2.12302251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.7807140570001 meters
Centerline goodness : 0.997451 with order 1
Centerline is valid?  [True, True]
Translation: X:809.39, Y:82.54, Z:212.32
[[ 9.34220060e-01 -2.55016054e-01 -2.49398661e-01  8.09386286e+02]
 [ 2.53111297e-01  9.66599757e-01 -4.02440203e-02  8.25404966e+01]
 [ 2.51331556e-01 -2.55288476e-02  9.67564327e-01  2.12317944e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.840714057 meters
Centerline goodness : 0.997865 with order 1
Centerline is valid?  [True, True]
Translation: X:809.44, Y:82.56, Z:212.34
[[ 9.34421800e-01 -2.54275143e-01 -2.49399382e-01  8.09443245e+02]
 [ 2.52345891e-01  9.66800047e-01 -4.02395512e-02  8.25598256e+01]
 [ 2.51351252e-01 -2.53341954e-02  9.67564327e-01  2.12335117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.9007140570001 meters
Centerline goodness : 0.997841 with order 1
Centerline is valid?  [True, True]
Translation: X:809.50, Y:82.58, Z:212.35
[[ 9.34466005e-01 -2.54109586e-01 -2.49402496e-01  8.09500049e+02]
 [ 2.52179696e-01  9.66844213e-01 -4.02202435e-02  8.25753363e+01]
 [ 2.51353709e-01 -2.53097954e-02  9.67564327e-01  2.12350988e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 836.960714057 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:809.56, Y:82.60, Z:212.37
[[ 9.34597954e-01 -2.53622345e-01 -2.49404030e-01  8.09556539e+02]
 [ 2.51678089e-01  9.66975303e-01 -4.02107264e-02  8.25958333e+01]
 [ 2.51365876e-01 -2.51886671e-02  9.67564327e-01  2.12369333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.0207140570001 meters
Centerline goodness : 0.998527 with order 1
Centerline is valid?  [True, True]
Translation: X:809.61, Y:82.61, Z:212.39
[[ 9.34659492e-01 -2.53393283e-01 -2.49406251e-01  8.09613719e+02]
 [ 2.51444731e-01  9.67036583e-01 -4.01969455e-02  8.26098763e+01]
 [ 2.51370605e-01 -2.51414311e-02  9.67564327e-01  2.12385428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.080714057 meters
Centerline goodness : 0.998592 with order 1
Centerline is valid?  [True, True]
Translation: X:809.67, Y:82.63, Z:212.40
[[ 9.34275086e-01 -2.54806224e-01 -2.49407002e-01  8.09671574e+02]
 [ 2.52907860e-01  9.66655158e-01 -4.01922888e-02  8.26260639e+01]
 [ 2.51331810e-01 -2.55263369e-02  9.67564327e-01  2.12400170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.1407140570001 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:809.73, Y:82.64, Z:212.41
[[ 9.34057469e-01 -2.55600630e-01 -2.49409229e-01  8.09729820e+02]
 [ 2.53733454e-01  9.66439354e-01 -4.01784653e-02  8.26425597e+01]
 [ 2.51308535e-01 -2.57544694e-02  9.67564327e-01  2.12414334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.200714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:809.79, Y:82.65, Z:212.43
[[ 9.34124473e-01 -2.55346129e-01 -2.49418971e-01  8.09789841e+02]
 [ 2.53486129e-01  9.66506770e-01 -4.01179009e-02  8.26547625e+01]
 [ 2.51309074e-01 -2.57491364e-02  9.67564329e-01  2.12429581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.260714057 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:809.85, Y:82.67, Z:212.44
[[ 9.34705311e-01 -2.53207299e-01 -2.49423426e-01  8.09848030e+02]
 [ 2.51280503e-01  9.67083702e-01 -4.00901828e-02  8.26718653e+01]
 [ 2.51364457e-01 -2.52027371e-02  9.67564330e-01  2.12444817e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.320714057 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:809.90, Y:82.69, Z:212.46
[[ 9.35467820e-01 -2.50372347e-01 -2.49426635e-01  8.09904748e+02]
 [ 2.48352672e-01  9.67840549e-01 -4.00702098e-02  8.26862365e+01]
 [ 2.51437683e-01 -2.44613794e-02  9.67564330e-01  2.12460175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.380714057 meters
Centerline goodness : 0.999382 with order 1
Centerline is valid?  [True, True]
Translation: X:809.96, Y:82.70, Z:212.48
[[ 9.36308397e-01 -2.47210383e-01 -2.49426567e-01  8.09960877e+02]
 [ 2.45081235e-01  9.68674111e-01 -4.00706314e-02  8.27039810e+01]
 [ 2.51518934e-01 -2.36113024e-02  9.67564330e-01  2.12475159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.440714057 meters
Centerline goodness : 0.999467 with order 1
Centerline is valid?  [True, True]
Translation: X:810.02, Y:82.72, Z:212.49
[[ 9.36388700e-01 -2.46906036e-01 -2.49426567e-01  8.10018597e+02]
 [ 2.44766367e-01  9.68753720e-01 -4.00706314e-02  8.27196419e+01]
 [ 2.51526595e-01 -2.35295482e-02  9.67564330e-01  2.12492669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.500714057 meters
Centerline goodness : 0.999244 with order 1
Centerline is valid?  [True, True]
Translation: X:810.08, Y:82.73, Z:212.51
[[ 9.35877146e-01 -2.48835746e-01 -2.49428824e-01  8.10075980e+02]
 [ 2.46766510e-01  9.68246746e-01 -4.00565767e-02  8.27344746e+01]
 [ 2.51476155e-01 -2.40626456e-02  9.67564330e-01  2.12506810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.560714057 meters
Centerline goodness : 0.999021 with order 1
Centerline is valid?  [True, True]
Translation: X:810.14, Y:82.75, Z:212.52
[[ 9.35307800e-01 -2.50966950e-01 -2.49429166e-01  8.10135039e+02]
 [ 2.48972016e-01  9.67682064e-01 -4.00544459e-02  8.27490731e+01]
 [ 2.51420472e-01 -2.46376467e-02  9.67564330e-01  2.12521759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.620714057 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:810.19, Y:82.76, Z:212.54
[[ 9.35184278e-01 -2.51416404e-01 -2.49439686e-01  8.10193600e+02]
 [ 2.49454358e-01  9.67560550e-01 -3.99888276e-02  8.27613394e+01]
 [ 2.51401847e-01 -2.48268939e-02  9.67564332e-01  2.12535756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.680714057 meters
Centerline goodness : 0.999374 with order 1
Centerline is valid?  [True, True]
Translation: X:810.25, Y:82.78, Z:212.55
[[ 9.35440333e-01 -2.50452474e-01 -2.49449276e-01  8.10252061e+02]
 [ 2.48472882e-01  9.67815534e-01 -3.99289176e-02  8.27763427e+01]
 [ 2.51421181e-01 -2.46302606e-02  9.67564334e-01  2.12553221e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.740714057 meters
Centerline goodness : 0.999204 with order 1
Centerline is valid?  [True, True]
Translation: X:810.31, Y:82.79, Z:212.56
[[ 9.36167716e-01 -2.47709373e-01 -2.49459562e-01  8.10309241e+02]
 [ 2.45651881e-01  9.68538058e-01 -3.98645547e-02  8.27899514e+01]
 [ 2.51485904e-01 -2.39603016e-02  9.67564336e-01  2.12564555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.800714057 meters
Centerline goodness : 0.999330 with order 1
Centerline is valid?  [True, True]
Translation: X:810.37, Y:82.80, Z:212.58
[[ 9.36262418e-01 -2.47351530e-01 -2.49459225e-01  8.10365043e+02]
 [ 2.45281109e-01  9.68631936e-01 -3.98666664e-02  8.28035870e+01]
 [ 2.51495253e-01 -2.38619737e-02  9.67564336e-01  2.12584359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.860714057 meters
Centerline goodness : 0.999213 with order 1
Centerline is valid?  [True, True]
Translation: X:810.42, Y:82.82, Z:212.60
[[ 9.36808035e-01 -2.45276988e-01 -2.49459225e-01  8.10422258e+02]
 [ 2.43134869e-01  9.69172887e-01 -3.98666664e-02  8.28181586e+01]
 [ 2.51547493e-01 -2.33048225e-02  9.67564336e-01  2.12598227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.920714057 meters
Centerline goodness : 0.999618 with order 1
Centerline is valid?  [True, True]
Translation: X:810.48, Y:82.83, Z:212.61
[[ 9.37514222e-01 -2.42563762e-01 -2.49459225e-01  8.10479600e+02]
 [ 2.40327951e-01  9.69872736e-01 -3.98666664e-02  8.28327711e+01]
 [ 2.51613910e-01 -2.25764577e-02  9.67564336e-01  2.12611031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 837.980714057 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:810.54, Y:82.85, Z:212.63
[[ 9.37936922e-01 -2.40919599e-01 -2.49463579e-01  8.10537324e+02]
 [ 2.38634249e-01  9.70291975e-01 -3.98394026e-02  8.28454214e+01]
 [ 2.51650602e-01 -2.21637073e-02  9.67564336e-01  2.12626596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.0407140570001 meters
Centerline goodness : 0.999637 with order 1
Centerline is valid?  [True, True]
Translation: X:810.59, Y:82.86, Z:212.64
[[ 9.38555106e-01 -2.38499572e-01 -2.49463960e-01  8.10594311e+02]
 [ 2.36131405e-01  9.70904203e-01 -3.98370189e-02  8.28589418e+01]
 [ 2.51706719e-01 -2.15170379e-02  9.67564336e-01  2.12644470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.100714057 meters
Centerline goodness : 0.999387 with order 1
Centerline is valid?  [True, True]
Translation: X:810.65, Y:82.87, Z:212.66
[[ 9.39232605e-01 -2.35816681e-01 -2.49464641e-01  8.10651556e+02]
 [ 2.33357212e-01  9.71574888e-01 -3.98327528e-02  8.28734796e+01]
 [ 2.51766808e-01 -2.08021530e-02  9.67564336e-01  2.12660591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.1607140570001 meters
Centerline goodness : 0.999522 with order 1
Centerline is valid?  [True, True]
Translation: X:810.71, Y:82.89, Z:212.68
[[ 9.39791045e-01 -2.33580926e-01 -2.49464912e-01  8.10710158e+02]
 [ 2.31044947e-01  9.72127419e-01 -3.98310547e-02  8.28859536e+01]
 [ 2.51815456e-01 -2.02047388e-02  9.67564336e-01  2.12677805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.220714057 meters
Centerline goodness : 0.999453 with order 1
Centerline is valid?  [True, True]
Translation: X:810.77, Y:82.90, Z:212.69
[[ 9.40290655e-01 -2.31550879e-01 -2.49474798e-01  8.10766185e+02]
 [ 2.28961424e-01  9.72622789e-01 -3.97690424e-02  8.28980044e+01]
 [ 2.51853430e-01 -1.97256461e-02  9.67564338e-01  2.12693300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.2807140570001 meters
Centerline goodness : 0.999179 with order 1
Centerline is valid?  [True, True]
Translation: X:810.83, Y:82.91, Z:212.71
[[ 9.40484758e-01 -2.30762005e-01 -2.49474083e-01  8.10825407e+02]
 [ 2.28144246e-01  9.72814612e-01 -3.97735274e-02  8.29087700e+01]
 [ 2.51870252e-01 -1.95096803e-02  9.67564338e-01  2.12707059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.340714057 meters
Centerline goodness : 0.999359 with order 1
Centerline is valid?  [True, True]
Translation: X:810.88, Y:82.92, Z:212.72
[[ 9.40573798e-01 -2.30396531e-01 -2.49476191e-01  8.10883274e+02]
 [ 2.27769697e-01  9.72902916e-01 -3.97602995e-02  8.29204304e+01]
 [ 2.51876749e-01 -1.94256205e-02  9.67564338e-01  2.12722472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.4007140570001 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:810.94, Y:82.93, Z:212.74
[[ 9.40913160e-01 -2.29005885e-01 -2.49476914e-01  8.10941284e+02]
 [ 2.26332460e-01  9.73238458e-01 -3.97557624e-02  8.29313772e+01]
 [ 2.51904831e-01 -1.90580036e-02  9.67564338e-01  2.12738518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.460714057 meters
Centerline goodness : 0.998900 with order 1
Centerline is valid?  [True, True]
Translation: X:811.00, Y:82.94, Z:212.76
[[ 9.41115987e-01 -2.28160764e-01 -2.49486202e-01  8.10998476e+02]
 [ 2.25473692e-01  9.73440153e-01 -3.96973950e-02  8.29417348e+01]
 [ 2.51917274e-01 -1.88927220e-02  9.67564340e-01  2.12755769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.5207140570001 meters
Centerline goodness : 0.999175 with order 1
Centerline is valid?  [True, True]
Translation: X:811.06, Y:82.95, Z:212.77
[[ 9.41492850e-01 -2.26599852e-01 -2.49486917e-01  8.11056497e+02]
 [ 2.23860367e-01  9.73812615e-01 -3.96929016e-02  8.29520092e+01]
 [ 2.51947912e-01 -1.84796496e-02  9.67564340e-01  2.12772636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.580714057 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:811.12, Y:82.96, Z:212.79
[[ 9.41982429e-01 -2.24555180e-01 -2.49487624e-01  8.11116314e+02]
 [ 2.21746702e-01  9.74296273e-01 -3.96884538e-02  8.29619196e+01]
 [ 2.51987110e-01 -1.79372317e-02  9.67564340e-01  2.12788509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.6407140570001 meters
Centerline goodness : 0.999128 with order 1
Centerline is valid?  [True, True]
Translation: X:811.17, Y:82.97, Z:212.80
[[ 9.42121036e-01 -2.23961780e-01 -2.49497645e-01  8.11174329e+02]
 [ 2.21149570e-01  9.74434553e-01 -3.96253616e-02  8.29708662e+01]
 [ 2.51993693e-01 -1.78444103e-02  9.67564342e-01  2.12802822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.700714057 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:811.23, Y:82.98, Z:212.82
[[ 9.42354194e-01 -2.22977906e-01 -2.49498350e-01  8.11234178e+02]
 [ 2.20133127e-01  9.74664860e-01 -3.96209206e-02  8.29786390e+01]
 [ 2.52011865e-01 -1.75859114e-02  9.67564342e-01  2.12818373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.7607140570001 meters
Centerline goodness : 0.999083 with order 1
Centerline is valid?  [True, True]
Translation: X:811.29, Y:82.99, Z:212.83
[[ 9.43153319e-01 -2.19561673e-01 -2.49508494e-01  8.11294562e+02]
 [ 2.16616678e-01  9.75455003e-01 -3.95569431e-02  8.29864633e+01]
 [ 2.52069497e-01 -1.67394389e-02  9.67564344e-01  2.12833326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.820714057 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:811.35, Y:83.00, Z:212.85
[[ 9.44058289e-01 -2.15625757e-01 -2.49518497e-01  8.11351588e+02]
 [ 2.12562690e-01  9.76348988e-01 -3.94937474e-02  8.29950435e+01]
 [ 2.52133001e-01 -1.57539234e-02  9.67564346e-01  2.12847264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.880714057 meters
Centerline goodness : 0.998807 with order 1
Centerline is valid?  [True, True]
Translation: X:811.41, Y:83.00, Z:212.87
[[ 9.46100144e-01 -2.06483488e-01 -2.49517710e-01  8.11408571e+02]
 [ 2.03106898e-01  9.78359565e-01 -3.94987171e-02  8.30030073e+01]
 [ 2.52273871e-01 -1.33090264e-02  9.67564346e-01  2.12868662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 838.940714057 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:811.47, Y:83.01, Z:212.88
[[ 9.48329430e-01 -1.95989440e-01 -2.49518399e-01  8.11466049e+02]
 [ 1.92256815e-01  9.80549597e-01 -3.94943633e-02  8.30100022e+01]
 [ 2.52405644e-01 -1.05179458e-02  9.67564346e-01  2.12884121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.000714057 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:811.52, Y:83.02, Z:212.90
[[ 9.50211014e-01 -1.86653728e-01 -2.49518365e-01  8.11523441e+02]
 [ 1.82604361e-01  9.82392908e-01 -3.94945820e-02  8.30161287e+01]
 [ 2.52496883e-01 -8.03495470e-03  9.67564346e-01  2.12898375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.060714057 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:811.58, Y:83.02, Z:212.91
[[ 9.51581024e-01 -1.79539066e-01 -2.49518092e-01  8.11581460e+02]
 [ 1.75248577e-01  9.83731660e-01 -3.94963073e-02  8.30212689e+01]
 [ 2.52549977e-01 -6.14375396e-03  9.67564346e-01  2.12914577e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.120714057 meters
Centerline goodness : 0.998583 with order 1
Centerline is valid?  [True, True]
Translation: X:811.64, Y:83.03, Z:212.93
[[ 9.51834534e-01 -1.78190187e-01 -2.49518092e-01  8.11641358e+02]
 [ 1.73854134e-01  9.83979056e-01 -3.94963073e-02  8.30292213e+01]
 [ 2.52558431e-01 -5.78580260e-03  9.67564346e-01  2.12931380e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.180714057 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:811.70, Y:83.03, Z:212.95
[[ 9.52212148e-01 -1.76146728e-01 -2.49528267e-01  8.11700732e+02]
 [ 1.71758554e-01  9.84349594e-01 -3.94319178e-02  8.30312208e+01]
 [ 2.52568852e-01 -5.31106333e-03  9.67564348e-01  2.12947180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.240714057 meters
Centerline goodness : 0.998958 with order 1
Centerline is valid?  [True, True]
Translation: X:811.76, Y:83.03, Z:212.96
[[ 9.52167004e-01 -1.76389564e-01 -2.49528994e-01  8.11762502e+02]
 [ 1.72010792e-01  9.84305732e-01 -3.94273172e-02  8.30323007e+01]
 [ 2.52567387e-01 -5.38028949e-03  9.67564348e-01  2.12963263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.300714057 meters
Centerline goodness : 0.998605 with order 1
Centerline is valid?  [True, True]
Translation: X:811.82, Y:83.03, Z:212.98
[[ 9.52096276e-01 -1.76754482e-01 -2.49540647e-01  8.11822990e+02]
 [ 1.72407384e-01  9.84239301e-01 -3.93534295e-02  8.30332257e+01]
 [ 2.52563607e-01 -5.55439640e-03  9.67564351e-01  2.12978811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.360714057 meters
Centerline goodness : 0.998435 with order 1
Centerline is valid?  [True, True]
Translation: X:811.88, Y:83.03, Z:212.99
[[ 9.51812857e-01 -1.78260061e-01 -2.49550870e-01  8.11883034e+02]
 [ 1.73980816e-01  9.83964984e-01 -3.92885034e-02  8.30331862e+01]
 [ 2.52552889e-01 -6.02176127e-03  9.67564353e-01  2.12994764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.420714057 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:811.94, Y:83.04, Z:213.01
[[ 9.51683381e-01 -1.78948003e-01 -2.49552309e-01  8.11943984e+02]
 [ 1.74694396e-01  9.83838910e-01 -3.92793599e-02  8.30351113e+01]
 [ 2.52548235e-01 -6.21387587e-03  9.67564353e-01  2.13010947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.480714057 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:812.01, Y:83.03, Z:213.03
[[ 9.51660377e-01 -1.79066270e-01 -2.49555200e-01  8.12005911e+02]
 [ 1.74821474e-01  9.83817070e-01 -3.92609867e-02  8.30332759e+01]
 [ 2.52546984e-01 -6.26448242e-03  9.67564353e-01  2.13026088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.5407140570001 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:812.07, Y:83.03, Z:213.04
[[ 9.51836408e-01 -1.78122125e-01 -2.49559535e-01  8.12066837e+02]
 [ 1.73852658e-01  9.83989834e-01 -3.92334069e-02  8.30330227e+01]
 [ 2.52552384e-01 -6.04280342e-03  9.67564353e-01  2.13041023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.600714057 meters
Centerline goodness : 0.998348 with order 1
Centerline is valid?  [True, True]
Translation: X:812.13, Y:83.03, Z:213.06
[[ 9.52104814e-01 -1.76678790e-01 -2.49561674e-01  8.12127449e+02]
 [ 1.72364143e-01  9.84252208e-01 -3.92198006e-02  8.30313339e+01]
 [ 2.52560935e-01 -5.67412315e-03  9.67564354e-01  2.13055662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.6607140570001 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:812.19, Y:83.03, Z:213.07
[[ 9.52136504e-01 -1.76499911e-01 -2.49567345e-01  8.12188422e+02]
 [ 1.72188686e-01  9.84284357e-01 -3.91836840e-02  8.30303968e+01]
 [ 2.52561150e-01 -5.66445720e-03  9.67564354e-01  2.13072631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.720714057 meters
Centerline goodness : 0.998209 with order 1
Centerline is valid?  [True, True]
Translation: X:812.25, Y:83.03, Z:213.09
[[ 9.51858525e-01 -1.77988865e-01 -2.49570255e-01  8.12247227e+02]
 [ 1.73732785e-01  9.84013725e-01 -3.91651388e-02  8.30329139e+01]
 [ 2.52551515e-01 -6.07886410e-03  9.67564354e-01  2.13088392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.7807140570001 meters
Centerline goodness : 0.997890 with order 1
Centerline is valid?  [True, True]
Translation: X:812.31, Y:83.03, Z:213.10
[[ 9.50972294e-01 -1.82663700e-01 -2.49570970e-01  8.12307469e+02]
 [ 1.78566861e-01  9.83148170e-01 -3.91605840e-02  8.30315990e+01]
 [ 2.52518459e-01 -7.32447430e-03  9.67564354e-01  2.13104067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.840714057 meters
Centerline goodness : 0.998134 with order 1
Centerline is valid?  [True, True]
Translation: X:812.37, Y:83.03, Z:213.12
[[ 9.50136123e-01 -1.86962459e-01 -2.49572408e-01  8.12368989e+02]
 [ 1.83013579e-01  9.82330493e-01 -3.91514116e-02  8.30308365e+01]
 [ 2.52482431e-01 -8.47596929e-03  9.67564354e-01  2.13119508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.9007140570001 meters
Centerline goodness : 0.997688 with order 1
Centerline is valid?  [True, True]
Translation: X:812.43, Y:83.03, Z:213.13
[[ 9.49691442e-01 -1.89203417e-01 -2.49576103e-01  8.12428069e+02]
 [ 1.85336683e-01  9.81895781e-01 -3.91278443e-02  8.30320383e+01]
 [ 2.52460845e-01 -9.09622835e-03  9.67564355e-01  2.13134259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 839.960714057 meters
Centerline goodness : 0.997738 with order 1
Centerline is valid?  [True, True]
Translation: X:812.49, Y:83.03, Z:213.15
[[ 9.49296895e-01 -1.91172203e-01 -2.49576830e-01  8.12489187e+02]
 [ 1.87373470e-01  9.81509326e-01 -3.91232100e-02  8.30332594e+01]
 [ 2.52441256e-01 -9.62453497e-03  9.67564355e-01  2.13148308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.0207140570001 meters
Centerline goodness : 0.997760 with order 1
Centerline is valid?  [True, True]
Translation: X:812.55, Y:83.03, Z:213.16
[[ 9.48706021e-01 -1.94079429e-01 -2.49579770e-01  8.12547380e+02]
 [ 1.90384324e-01  9.80930503e-01 -3.91044421e-02  8.30349898e+01]
 [ 2.52409778e-01 -1.04174563e-02  9.67564355e-01  2.13162372e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.080714057 meters
Centerline goodness : 0.996698 with order 1
Centerline is valid?  [True, True]
Translation: X:812.61, Y:83.04, Z:213.18
[[ 9.48080923e-01 -1.97111136e-01 -2.49579173e-01  8.12605130e+02]
 [ 1.93518060e-01  9.80316941e-01 -3.91082531e-02  8.30388261e+01]
 [ 2.52375364e-01 -1.12202887e-02  9.67564355e-01  2.13178113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.1407140570001 meters
Centerline goodness : 0.996534 with order 1
Centerline is valid?  [True, True]
Translation: X:812.66, Y:83.04, Z:213.19
[[ 9.47737352e-01 -1.98754149e-01 -2.49581047e-01  8.12664310e+02]
 [ 1.95220096e-01  9.79979895e-01 -3.90962928e-02  8.30427216e+01]
 [ 2.52354958e-01 -1.16702189e-02  9.67564355e-01  2.13193042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.200714057 meters
Centerline goodness : 0.996447 with order 1
Centerline is valid?  [True, True]
Translation: X:812.72, Y:83.05, Z:213.21
[[ 9.47708962e-01 -1.98889476e-01 -2.49581047e-01  8.12724356e+02]
 [ 1.95360027e-01  9.79952009e-01 -3.90962928e-02  8.30490480e+01]
 [ 2.52353289e-01 -1.17062529e-02  9.67564355e-01  2.13207802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.2607140570001 meters
Centerline goodness : 0.996799 with order 1
Centerline is valid?  [True, True]
Translation: X:812.78, Y:83.05, Z:213.22
[[ 9.47558587e-01 -1.99600979e-01 -2.49584002e-01  8.12783422e+02]
 [ 1.96100699e-01  9.79804813e-01 -3.90774196e-02  8.30540383e+01]
 [ 2.52343497e-01 -1.19154526e-02  9.67564355e-01  2.13222611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.320714057 meters
Centerline goodness : 0.996339 with order 1
Centerline is valid?  [True, True]
Translation: X:812.84, Y:83.06, Z:213.24
[[ 9.47026753e-01 -2.02107467e-01 -2.49585459e-01  8.12842065e+02]
 [ 1.98694967e-01  9.79282387e-01 -3.90681130e-02  8.30592027e+01]
 [ 2.52310601e-01 -1.25928263e-02  9.67564355e-01  2.13238257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.380714057 meters
Centerline goodness : 0.996636 with order 1
Centerline is valid?  [True, True]
Translation: X:812.90, Y:83.07, Z:213.25
[[ 9.46293584e-01 -2.05511563e-01 -2.49586559e-01  8.12900561e+02]
 [ 2.02216922e-01  9.78561469e-01 -3.90610796e-02  8.30652369e+01]
 [ 2.52263294e-01 -1.35073770e-02  9.67564355e-01  2.13254367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.440714057 meters
Centerline goodness : 0.995817 with order 1
Centerline is valid?  [True, True]
Translation: X:812.96, Y:83.07, Z:213.27
[[ 9.46096399e-01 -2.06417265e-01 -2.49586693e-01  8.12958778e+02]
 [ 2.03153738e-01  9.78367445e-01 -3.90602266e-02  8.30730958e+01]
 [ 2.52250200e-01 -1.37497298e-02  9.67564355e-01  2.13269562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.500714057 meters
Centerline goodness : 0.996468 with order 1
Centerline is valid?  [True, True]
Translation: X:813.02, Y:83.08, Z:213.28
[[ 9.46491992e-01 -2.04595678e-01 -2.49586693e-01  8.13015884e+02]
 [ 2.01270036e-01  9.78756697e-01 -3.90602266e-02  8.30815098e+01]
 [ 2.52276201e-01 -1.32641310e-02  9.67564355e-01  2.13283514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.560714057 meters
Centerline goodness : 0.996001 with order 1
Centerline is valid?  [True, True]
Translation: X:813.07, Y:83.09, Z:213.30
[[ 9.46706694e-01 -2.03611075e-01 -2.49577574e-01  8.13074947e+02]
 [ 2.00236578e-01  9.78966324e-01 -3.91184080e-02  8.30910429e+01]
 [ 2.52292981e-01 -1.29409006e-02  9.67564357e-01  2.13299090e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.620714057 meters
Centerline goodness : 0.996033 with order 1
Centerline is valid?  [True, True]
Translation: X:813.13, Y:83.10, Z:213.31
[[ 9.46200987e-01 -2.05945680e-01 -2.49579786e-01  8.13132136e+02]
 [ 2.02654480e-01  9.78469221e-01 -3.91042908e-02  8.31013103e+01]
 [ 2.52259499e-01 -1.35779432e-02  9.67564357e-01  2.13314635e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.680714057 meters
Centerline goodness : 0.995705 with order 1
Centerline is valid?  [True, True]
Translation: X:813.19, Y:83.11, Z:213.33
[[ 9.45649740e-01 -2.08462961e-01 -2.49579171e-01  8.13191034e+02]
 [ 2.05256611e-01  9.77926516e-01 -3.91082147e-02  8.31121749e+01]
 [ 2.52222704e-01 -1.42451018e-02  9.67564357e-01  2.13330590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.740714057 meters
Centerline goodness : 0.995792 with order 1
Centerline is valid?  [True, True]
Translation: X:813.25, Y:83.12, Z:213.35
[[ 9.45620459e-01 -2.08592203e-01 -2.49582134e-01  8.13250208e+02]
 [ 2.05395241e-01  9.77898165e-01 -3.90892990e-02  8.31229809e+01]
 [ 2.52219634e-01 -1.42993416e-02  9.67564357e-01  2.13345987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.800714057 meters
Centerline goodness : 0.996393 with order 1
Centerline is valid?  [True, True]
Translation: X:813.31, Y:83.14, Z:213.36
[[ 9.46687222e-01 -2.03692364e-01 -2.49585106e-01  8.13307562e+02]
 [ 2.00333282e-01  9.78948460e-01 -3.90703115e-02  8.31365426e+01]
 [ 2.52289279e-01 -1.30128390e-02  9.67564357e-01  2.13361065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.860714057 meters
Centerline goodness : 0.996435 with order 1
Centerline is valid?  [True, True]
Translation: X:813.36, Y:83.15, Z:213.38
[[ 9.47564251e-01 -1.99570871e-01 -2.49586573e-01  8.13364694e+02]
 [ 1.96073897e-01  9.79810834e-01 -3.90609402e-02  8.31482616e+01]
 [ 2.52343054e-01 -1.19246614e-02  9.67564357e-01  2.13376393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.920714057 meters
Centerline goodness : 0.996855 with order 1
Centerline is valid?  [True, True]
Translation: X:813.42, Y:83.16, Z:213.39
[[ 9.48778353e-01 -1.93716827e-01 -2.49586516e-01  8.13422390e+02]
 [ 1.90020734e-01  9.81002719e-01 -3.90613055e-02  8.31613262e+01]
 [ 2.52411883e-01 -1.03660918e-02  9.67564357e-01  2.13392685e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 840.980714057 meters
Centerline goodness : 0.996624 with order 1
Centerline is valid?  [True, True]
Translation: X:813.48, Y:83.17, Z:213.41
[[ 9.49561906e-01 -1.89836860e-01 -2.49587968e-01  8.13480221e+02]
 [ 1.86011510e-01  9.81771184e-01 -3.90520243e-02  8.31740599e+01]
 [ 2.52451788e-01 -9.34392005e-03  9.67564357e-01  2.13408794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.0407140570001 meters
Centerline goodness : 0.996873 with order 1
Centerline is valid?  [True, True]
Translation: X:813.54, Y:83.18, Z:213.42
[[ 9.49673845e-01 -1.89274166e-01 -2.49589421e-01  8.13539427e+02]
 [ 1.85432169e-01  9.81881141e-01 -3.90427342e-02  8.31839687e+01]
 [ 2.52456927e-01 -9.20404415e-03  9.67564357e-01  2.13424662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.100714057 meters
Centerline goodness : 0.996996 with order 1
Centerline is valid?  [True, True]
Translation: X:813.60, Y:83.20, Z:213.44
[[ 9.49305599e-01 -1.91108638e-01 -2.49592404e-01  8.13597861e+02]
 [ 1.87333882e-01  9.81520846e-01 -3.90236575e-02  8.31955326e+01]
 [ 2.52437905e-01 -9.71173744e-03  9.67564358e-01  2.13440258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.1607140570001 meters
Centerline goodness : 0.997316 with order 1
Centerline is valid?  [True, True]
Translation: X:813.65, Y:83.21, Z:213.46
[[ 9.48024610e-01 -1.97362290e-01 -2.49594603e-01  8.13654532e+02]
 [ 1.93803676e-01  9.80264448e-01 -3.90095856e-02  8.32053625e+01]
 [ 2.52367737e-01 -1.13903043e-02  9.67564358e-01  2.13455990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.220714057 meters
Centerline goodness : 0.996726 with order 1
Centerline is valid?  [True, True]
Translation: X:813.71, Y:83.22, Z:213.47
[[ 9.46893471e-01 -2.02716078e-01 -2.49597568e-01  8.13714089e+02]
 [ 1.99344687e-01  9.79153425e-01 -3.89906030e-02  8.32150846e+01]
 [ 2.52298336e-01 -1.28360017e-02  9.67564358e-01  2.13472762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.2807140570001 meters
Centerline goodness : 0.997007 with order 1
Centerline is valid?  [True, True]
Translation: X:813.77, Y:83.22, Z:213.49
[[ 9.45334081e-01 -2.09864526e-01 -2.49600395e-01  8.13771875e+02]
 [ 2.06741732e-01  9.77619047e-01 -3.89725029e-02  8.32243088e+01]
 [ 2.52193046e-01 -1.47607828e-02  9.67564358e-01  2.13488778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.340714057 meters
Centerline goodness : 0.997115 with order 1
Centerline is valid?  [True, True]
Translation: X:813.83, Y:83.23, Z:213.50
[[ 9.44442308e-01 -2.13841335e-01 -2.49600902e-01  8.13829734e+02]
 [ 2.10855304e-01  9.76740210e-01 -3.89692545e-02  8.32332620e+01]
 [ 2.52128475e-01 -1.58254614e-02  9.67564358e-01  2.13503229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.4007140570001 meters
Centerline goodness : 0.997252 with order 1
Centerline is valid?  [True, True]
Translation: X:813.89, Y:83.24, Z:213.52
[[ 9.44406667e-01 -2.13998541e-01 -2.49601024e-01  8.13889126e+02]
 [ 2.11018092e-01  9.76705085e-01 -3.89684724e-02  8.32444796e+01]
 [ 2.52125786e-01 -1.58682466e-02  9.67564358e-01  2.13519450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.460714057 meters
Centerline goodness : 0.997188 with order 1
Centerline is valid?  [True, True]
Translation: X:813.95, Y:83.26, Z:213.53
[[ 9.44835751e-01 -2.12092594e-01 -2.49603958e-01  8.13946852e+02]
 [ 2.09051932e-01  9.77128555e-01 -3.89496685e-02  8.32552925e+01]
 [ 2.52156091e-01 -1.53791504e-02  9.67564358e-01  2.13534883e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.5207140570001 meters
Centerline goodness : 0.997323 with order 1
Centerline is valid?  [True, True]
Translation: X:814.00, Y:83.27, Z:213.55
[[ 9.45827241e-01 -2.07624592e-01 -2.49605409e-01  8.14004605e+02]
 [ 2.04433781e-01  9.78105555e-01 -3.89403706e-02  8.32671692e+01]
 [ 2.52225415e-01 -1.41969143e-02  9.67564358e-01  2.13549608e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.580714057 meters
Centerline goodness : 0.997877 with order 1
Centerline is valid?  [True, True]
Translation: X:814.06, Y:83.28, Z:213.56
[[ 9.46982867e-01 -2.02287571e-01 -2.49606066e-01  8.14060755e+02]
 [ 1.98915894e-01  9.79242790e-01 -3.89361606e-02  8.32793133e+01]
 [ 2.52301241e-01 -1.27787367e-02  9.67564358e-01  2.13564541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.6407140570001 meters
Centerline goodness : 0.997052 with order 1
Centerline is valid?  [True, True]
Translation: X:814.12, Y:83.29, Z:213.58
[[ 9.47565198e-01 -1.99542904e-01 -2.49605339e-01  8.14118073e+02]
 [ 1.96076546e-01  9.79815085e-01 -3.89408175e-02  8.32899667e+01]
 [ 2.52337440e-01 -1.20427894e-02  9.67564358e-01  2.13580172e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.700714057 meters
Centerline goodness : 0.997360 with order 1
Centerline is valid?  [True, True]
Translation: X:814.18, Y:83.30, Z:213.60
[[ 9.48144943e-01 -1.96769769e-01 -2.49605339e-01  8.14176649e+02]
 [ 1.93209073e-01  9.80384550e-01 -3.89408175e-02  8.32998242e+01]
 [ 2.52371594e-01 -1.13044770e-02  9.67564358e-01  2.13595395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.7607140570001 meters
Centerline goodness : 0.997633 with order 1
Centerline is valid?  [True, True]
Translation: X:814.24, Y:83.31, Z:213.61
[[ 9.48350909e-01 -1.95771875e-01 -2.49607543e-01  8.14235376e+02]
 [ 1.92180966e-01  9.80587166e-01 -3.89266860e-02  8.33093892e+01]
 [ 2.52382703e-01 -1.10536607e-02  9.67564358e-01  2.13610120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.820714057 meters
Centerline goodness : 0.997729 with order 1
Centerline is valid?  [True, True]
Translation: X:814.30, Y:83.32, Z:213.63
[[ 9.48321440e-01 -1.95912747e-01 -2.49608978e-01  8.14295443e+02]
 [ 1.92329044e-01  9.80558498e-01 -3.89174838e-02  8.33172692e+01]
 [ 2.52380635e-01 -1.11007717e-02  9.67564358e-01  2.13625508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.880714057 meters
Centerline goodness : 0.997570 with order 1
Centerline is valid?  [True, True]
Translation: X:814.36, Y:83.32, Z:213.64
[[ 9.48421441e-01 -1.95424407e-01 -2.49611840e-01  8.14356210e+02]
 [ 1.91828930e-01  9.80657188e-01 -3.88991141e-02  8.33240848e+01]
 [ 2.52385482e-01 -1.09900183e-02  9.67564359e-01  2.13639506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 841.940714057 meters
Centerline goodness : 0.997767 with order 1
Centerline is valid?  [True, True]
Translation: X:814.41, Y:83.33, Z:213.65
[[ 9.48737136e-01 -1.93882357e-01 -2.49614660e-01  8.14414811e+02]
 [ 1.90239234e-01  9.80967533e-01 -3.88810130e-02  8.33318738e+01]
 [ 2.52402220e-01 -1.05986408e-02  9.67564359e-01  2.13653443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.000714057 meters
Centerline goodness : 0.997828 with order 1
Centerline is valid?  [True, True]
Translation: X:814.47, Y:83.34, Z:213.67
[[ 9.49047799e-01 -1.92354991e-01 -2.49615371e-01  8.14473085e+02]
 [ 1.88661193e-01  9.81272427e-01 -3.88764469e-02  8.33400771e+01]
 [ 2.52418760e-01 -1.01971273e-02  9.67564359e-01  2.13669124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.060714057 meters
Centerline goodness : 0.997999 with order 1
Centerline is valid?  [True, True]
Translation: X:814.53, Y:83.35, Z:213.68
[[ 9.49716870e-01 -1.89023572e-01 -2.49615617e-01  8.14531454e+02]
 [ 1.85217134e-01  9.81928387e-01 -3.88748696e-02  8.33472686e+01]
 [ 2.52452927e-01 -9.31296961e-03  9.67564359e-01  2.13684967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.120714057 meters
Centerline goodness : 0.997448 with order 1
Centerline is valid?  [True, True]
Translation: X:814.59, Y:83.36, Z:213.70
[[ 9.49869200e-01 -1.88253761e-01 -2.49617755e-01  8.14588979e+02]
 [ 1.84424821e-01  9.82078051e-01 -3.88611341e-02  8.33554512e+01]
 [ 2.52459873e-01 -9.12271550e-03  9.67564359e-01  2.13700467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.180714057 meters
Centerline goodness : 0.997641 with order 1
Centerline is valid?  [True, True]
Translation: X:814.65, Y:83.36, Z:213.71
[[ 9.49362856e-01 -1.90791730e-01 -2.49617075e-01  8.14648602e+02]
 [ 1.87047739e-01  9.81581691e-01 -3.88655027e-02  8.33603027e+01]
 [ 2.52434767e-01 -9.79284486e-03  9.67564359e-01  2.13714950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.240714057 meters
Centerline goodness : 0.997638 with order 1
Centerline is valid?  [True, True]
Translation: X:814.71, Y:83.37, Z:213.73
[[ 9.48444696e-01 -1.95303036e-01 -2.49618476e-01  8.14707082e+02]
 [ 1.91714627e-01  9.80681230e-01 -3.88565030e-02  8.33672671e+01]
 [ 2.52384947e-01 -1.10022688e-02  9.67564359e-01  2.13729878e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.300714057 meters
Centerline goodness : 0.997370 with order 1
Centerline is valid?  [True, True]
Translation: X:814.76, Y:83.37, Z:213.74
[[ 9.46614250e-01 -2.03989532e-01 -2.49619176e-01  8.14764582e+02]
 [ 2.00697979e-01  9.78882446e-01 -3.88520075e-02  8.33733540e+01]
 [ 2.52273232e-01 -1.33202001e-02  9.67564359e-01  2.13744935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.360714057 meters
Centerline goodness : 0.996824 with order 1
Centerline is valid?  [True, True]
Translation: X:814.82, Y:83.38, Z:213.76
[[ 9.44492453e-01 -2.13598713e-01 -2.49618902e-01  8.14822871e+02]
 [ 2.10634784e-01  9.76792390e-01 -3.88537638e-02  8.33811374e+01]
 [ 2.52124958e-01 -1.58813368e-02  9.67564359e-01  2.13759967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.420714057 meters
Centerline goodness : 0.997004 with order 1
Centerline is valid?  [True, True]
Translation: X:814.88, Y:83.39, Z:213.78
[[ 9.42655912e-01 -2.21563048e-01 -2.49619004e-01  8.14879810e+02]
 [ 2.18872023e-01  9.74979730e-01 -3.88531111e-02  8.33915355e+01]
 [ 2.51981883e-01 -1.80095014e-02  9.67564359e-01  2.13776223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.480714057 meters
Centerline goodness : 0.997240 with order 1
Centerline is valid?  [True, True]
Translation: X:814.94, Y:83.40, Z:213.79
[[ 9.42000974e-01 -2.24331111e-01 -2.49619144e-01  8.14937595e+02]
 [ 2.21735284e-01  9.74332576e-01 -3.88522133e-02  8.34025888e+01]
 [ 2.51927823e-01 -1.87505489e-02  9.67564359e-01  2.13792247e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.5407140570001 meters
Centerline goodness : 0.996891 with order 1
Centerline is valid?  [True, True]
Translation: X:815.00, Y:83.42, Z:213.81
[[ 9.41491110e-01 -2.26461264e-01 -2.49619282e-01  8.14996158e+02]
 [ 2.23938809e-01  9.73828519e-01 -3.88513258e-02  8.34172978e+01]
 [ 2.51884696e-01 -1.93212666e-02  9.67564359e-01  2.13808248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.600714057 meters
Centerline goodness : 0.997957 with order 1
Centerline is valid?  [True, True]
Translation: X:815.05, Y:83.43, Z:213.82
[[ 9.40875945e-01 -2.29000464e-01 -2.49622200e-01  8.15053795e+02]
 [ 2.26570205e-01  9.73220414e-01 -3.88325650e-02  8.34316807e+01]
 [ 2.51830096e-01 -2.00203268e-02  9.67564359e-01  2.13823699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.6607140570001 meters
Centerline goodness : 0.997743 with order 1
Centerline is valid?  [True, True]
Translation: X:815.11, Y:83.45, Z:213.84
[[ 9.40123175e-01 -2.32069148e-01 -2.49624370e-01  8.15110319e+02]
 [ 2.29748115e-01  9.72475665e-01 -3.88186153e-02  8.34471303e+01]
 [ 2.51762228e-01 -2.08564484e-02  9.67564359e-01  2.13838390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.720714057 meters
Centerline goodness : 0.998230 with order 1
Centerline is valid?  [True, True]
Translation: X:815.17, Y:83.46, Z:213.85
[[ 9.40123980e-01 -2.32066517e-01 -2.49623784e-01  8.15168317e+02]
 [ 2.29744400e-01  9.72476392e-01 -3.88223821e-02  8.34643470e+01]
 [ 2.51762612e-01 -2.08518140e-02  9.67564359e-01  2.13854725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.7807140570001 meters
Centerline goodness : 0.998506 with order 1
Centerline is valid?  [True, True]
Translation: X:815.23, Y:83.48, Z:213.87
[[ 9.40606344e-01 -2.30100428e-01 -2.49626718e-01  8.15226647e+02]
 [ 2.27715650e-01  9.72954198e-01 -3.88035057e-02  8.34798453e+01]
 [ 2.51804066e-01 -2.03450868e-02  9.67564359e-01  2.13870825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.840714057 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:815.28, Y:83.50, Z:213.89
[[ 9.42171028e-01 -2.23604129e-01 -2.49629621e-01  8.15282614e+02]
 [ 2.21001109e-01  9.74502051e-01 -3.87848220e-02  8.34989751e+01]
 [ 2.51937024e-01 -1.86264876e-02  9.67564360e-01  2.13886636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.9007140570001 meters
Centerline goodness : 0.998557 with order 1
Centerline is valid?  [True, True]
Translation: X:815.34, Y:83.52, Z:213.90
[[ 9.43881834e-01 -2.16268750e-01 -2.49629550e-01  8.15337546e+02]
 [ 2.13414204e-01  9.76191620e-01 -3.87852799e-02  8.35174840e+01]
 [ 2.52074319e-01 -1.66657705e-02  9.67564360e-01  2.13902065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 842.960714057 meters
Centerline goodness : 0.998583 with order 1
Centerline is valid?  [True, True]
Translation: X:815.40, Y:83.53, Z:213.92
[[ 9.44557717e-01 -2.13298774e-01 -2.49628427e-01  8.15395296e+02]
 [ 2.10340712e-01  9.76858192e-01 -3.87925026e-02  8.35287991e+01]
 [ 2.52125967e-01 -1.58652636e-02  9.67564360e-01  2.13917614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.0207140570001 meters
Centerline goodness : 0.998598 with order 1
Centerline is valid?  [True, True]
Translation: X:815.45, Y:83.55, Z:213.93
[[ 9.46141670e-01 -2.06158049e-01 -2.49629324e-01  8.15451458e+02]
 [ 2.02957610e-01  9.78419030e-01 -3.87867326e-02  8.35466551e+01]
 [ 2.52238278e-01 -1.39664272e-02  9.67564360e-01  2.13934315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.080714057 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:815.51, Y:83.56, Z:213.95
[[ 9.48081263e-01 -1.97046023e-01 -2.49629294e-01  8.15508012e+02]
 [ 1.93535152e-01  9.80326333e-01 -3.87869279e-02  8.35623970e+01]
 [ 2.52360980e-01 -1.15388838e-02  9.67564360e-01  2.13948076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.1407140570001 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:815.57, Y:83.58, Z:213.96
[[ 9.50068327e-01 -1.87230523e-01 -2.49629538e-01  8.15565448e+02]
 [ 1.83386777e-01  9.82275413e-01 -3.87853548e-02  8.35768576e+01]
 [ 2.52466760e-01 -8.93001941e-03  9.67564360e-01  2.13963482e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.200714057 meters
Centerline goodness : 0.999032 with order 1
Centerline is valid?  [True, True]
Translation: X:815.62, Y:83.59, Z:213.98
[[ 9.51208045e-01 -1.81351458e-01 -2.49629534e-01  8.15623377e+02]
 [ 1.77308602e-01  9.83390743e-01 -3.87853810e-02  8.35882788e+01]
 [ 2.52517158e-01 -7.36849722e-03  9.67564360e-01  2.13978913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.2607140570001 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:815.68, Y:83.60, Z:213.99
[[ 9.52367970e-01 -1.75156172e-01 -2.49630856e-01  8.15680786e+02]
 [ 1.70906154e-01  9.84523967e-01 -3.87768670e-02  8.35981527e+01]
 [ 2.52559569e-01 -5.73360351e-03  9.67564360e-01  2.13994279e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.320714057 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:815.74, Y:83.61, Z:214.01
[[ 9.53052091e-01 -1.71394772e-01 -2.49630817e-01  8.15741082e+02]
 [ 1.67017764e-01  9.85191048e-01 -3.87771239e-02  8.36056641e+01]
 [ 2.52580242e-01 -4.73616195e-03  9.67564360e-01  2.14009598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.380714057 meters
Centerline goodness : 0.999027 with order 1
Centerline is valid?  [True, True]
Translation: X:815.80, Y:83.61, Z:214.02
[[ 9.53233446e-01 -1.70377969e-01 -2.49634422e-01  8.15800065e+02]
 [ 1.65972760e-01  9.85368550e-01 -3.87538978e-02  8.36108011e+01]
 [ 2.52584719e-01 -4.49100250e-03  9.67564360e-01  2.14024527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.440714057 meters
Centerline goodness : 0.998635 with order 1
Centerline is valid?  [True, True]
Translation: X:815.86, Y:83.62, Z:214.04
[[ 9.53032101e-01 -1.71499608e-01 -2.49635133e-01  8.15860649e+02]
 [ 1.67133417e-01  9.85172529e-01 -3.87493190e-02  8.36157297e+01]
 [ 2.52579168e-01 -4.79302783e-03  9.67564360e-01  2.14040324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.500714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:815.92, Y:83.62, Z:214.05
[[ 9.52328017e-01 -1.75363033e-01 -2.49638048e-01  8.15920288e+02]
 [ 1.71132139e-01  9.84486535e-01 -3.87305306e-02  8.36169373e+01]
 [ 2.52557200e-01 -5.83692369e-03  9.67564360e-01  2.14054357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.560714057 meters
Centerline goodness : 0.998773 with order 1
Centerline is valid?  [True, True]
Translation: X:815.98, Y:83.62, Z:214.07
[[ 9.51401460e-01 -1.80319333e-01 -2.49640143e-01  8.15981648e+02]
 [ 1.76259483e-01  9.83582018e-01 -3.87170259e-02  8.36177068e+01]
 [ 2.52522984e-01 -7.16600755e-03  9.67564360e-01  2.14069364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.620714057 meters
Centerline goodness : 0.997816 with order 1
Centerline is valid?  [True, True]
Translation: X:816.04, Y:83.62, Z:214.08
[[ 9.50641414e-01 -1.84280391e-01 -2.49643026e-01  8.16041177e+02]
 [ 1.80359489e-01  9.82839197e-01 -3.86984262e-02  8.36213644e+01]
 [ 2.52490312e-01 -8.23716199e-03  9.67564360e-01  2.14084890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.680714057 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:816.10, Y:83.62, Z:214.10
[[ 9.49312679e-01 -1.91004536e-01 -2.49645157e-01  8.16100420e+02]
 [ 1.87315243e-01  9.81537822e-01 -3.86846705e-02  8.36222168e+01]
 [ 2.52425112e-01 -1.00384953e-02  9.67564360e-01  2.14100534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.740714057 meters
Centerline goodness : 0.998076 with order 1
Centerline is valid?  [True, True]
Translation: X:816.16, Y:83.62, Z:214.12
[[ 9.47830789e-01 -1.98225558e-01 -2.49646596e-01  8.16160125e+02]
 [ 1.94784123e-01  9.80083343e-01 -3.86753846e-02  8.36243055e+01]
 [ 2.52340920e-01 -1.19694730e-02  9.67564361e-01  2.14115052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.800714057 meters
Centerline goodness : 0.997919 with order 1
Centerline is valid?  [True, True]
Translation: X:816.22, Y:83.63, Z:214.13
[[ 9.46876386e-01 -2.02734621e-01 -2.49647318e-01  8.16219465e+02]
 [ 1.99447962e-01  9.79145079e-01 -3.86707210e-02  8.36290902e+01]
 [ 2.52280837e-01 -1.31752563e-02  9.67564361e-01  2.14129822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.860714057 meters
Centerline goodness : 0.997889 with order 1
Centerline is valid?  [True, True]
Translation: X:816.28, Y:83.63, Z:214.14
[[ 9.45241186e-01 -2.10225668e-01 -2.49648292e-01  8.16277802e+02]
 [ 2.07196270e-01  9.77535047e-01 -3.86644359e-02  8.36334235e+01]
 [ 2.52168211e-01 -1.51789775e-02  9.67564361e-01  2.14143799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.920714057 meters
Centerline goodness : 0.997911 with order 1
Centerline is valid?  [True, True]
Translation: X:816.34, Y:83.64, Z:214.16
[[ 9.44125972e-01 -2.15175294e-01 -2.49651242e-01  8.16336323e+02]
 [ 2.12320156e-01  9.76435705e-01 -3.86453771e-02  8.36403395e+01]
 [ 2.52083917e-01 -1.65198864e-02  9.67564361e-01  2.14158829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 843.980714057 meters
Centerline goodness : 0.997542 with order 1
Centerline is valid?  [True, True]
Translation: X:816.40, Y:83.65, Z:214.17
[[ 9.42708822e-01 -2.21301160e-01 -2.49651505e-01  8.16395362e+02]
 [ 2.18656323e-01  9.75036450e-01 -3.86436771e-02  8.36483394e+01]
 [ 2.51971208e-01 -1.81581450e-02  9.67564361e-01  2.14172934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.0407140570001 meters
Centerline goodness : 0.998168 with order 1
Centerline is valid?  [True, True]
Translation: X:816.45, Y:83.66, Z:214.19
[[ 9.42069985e-01 -2.24003878e-01 -2.49652571e-01  8.16452887e+02]
 [ 2.21453582e-01  9.74405208e-01 -3.86367885e-02  8.36575186e+01]
 [ 2.51917556e-01 -1.88878973e-02  9.67564361e-01  2.14187491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.100714057 meters
Centerline goodness : 0.998312 with order 1
Centerline is valid?  [True, True]
Translation: X:816.51, Y:83.67, Z:214.20
[[ 9.41600035e-01 -2.25967448e-01 -2.49655939e-01  8.16510608e+02]
 [ 2.23490307e-01  9.73940944e-01 -3.86150186e-02  8.36701295e+01]
 [ 2.51875878e-01 -1.94357794e-02  9.67564361e-01  2.14203236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.1607140570001 meters
Centerline goodness : 0.998049 with order 1
Centerline is valid?  [True, True]
Translation: X:816.57, Y:83.68, Z:214.22
[[ 9.41167136e-01 -2.27763010e-01 -2.49656630e-01  8.16567464e+02]
 [ 2.25348738e-01  9.73512800e-01 -3.86105463e-02  8.36845936e+01]
 [ 2.51837979e-01 -1.99208293e-02  9.67564361e-01  2.14221343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.220714057 meters
Centerline goodness : 0.998352 with order 1
Centerline is valid?  [True, True]
Translation: X:816.63, Y:83.70, Z:214.24
[[ 9.40714786e-01 -2.29623378e-01 -2.49657358e-01  8.16625846e+02]
 [ 2.27274304e-01  9.73065250e-01 -3.86058394e-02  8.36967021e+01]
 [ 2.51797703e-01 -2.04236183e-02  9.67564361e-01  2.14237532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.2807140570001 meters
Centerline goodness : 0.997935 with order 1
Centerline is valid?  [True, True]
Translation: X:816.68, Y:83.71, Z:214.25
[[ 9.40279285e-01 -2.31397896e-01 -2.49659529e-01  8.16683347e+02]
 [ 2.29113567e-01  9.72634385e-01 -3.85917950e-02  8.37092565e+01]
 [ 2.51757503e-01 -2.09133197e-02  9.67564361e-01  2.14252513e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.340714057 meters
Centerline goodness : 0.997780 with order 1
Centerline is valid?  [True, True]
Translation: X:816.74, Y:83.73, Z:214.27
[[ 9.39489412e-01 -2.34582702e-01 -2.49660972e-01  8.16740532e+02]
 [ 2.32410483e-01  9.71852232e-01 -3.85824605e-02  8.37253541e+01]
 [ 2.51684350e-01 -2.17760140e-02  9.67564361e-01  2.14266994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.4007140570001 meters
Centerline goodness : 0.998389 with order 1
Centerline is valid?  [True, True]
Translation: X:816.80, Y:83.74, Z:214.28
[[ 9.38802012e-01 -2.37318200e-01 -2.49661481e-01  8.16797030e+02]
 [ 2.35241124e-01  9.71171077e-01 -3.85791676e-02  8.37399990e+01]
 [ 2.51619548e-01 -2.25124471e-02  9.67564361e-01  2.14280233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.460714057 meters
Centerline goodness : 0.998448 with order 1
Centerline is valid?  [True, True]
Translation: X:816.86, Y:83.76, Z:214.29
[[ 9.38462283e-01 -2.38654849e-01 -2.49664589e-01  8.16855824e+02]
 [ 2.36629179e-01  9.70834606e-01 -3.85590384e-02  8.37556055e+01]
 [ 2.51585325e-01 -2.28917238e-02  9.67564361e-01  2.14294189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.5207140570001 meters
Centerline goodness : 0.999016 with order 1
Centerline is valid?  [True, True]
Translation: X:816.91, Y:83.77, Z:214.31
[[ 9.38691540e-01 -2.37748501e-01 -2.49667465e-01  8.16913349e+02]
 [ 2.35696486e-01  9.71062204e-01 -3.85404092e-02  8.37717945e+01]
 [ 2.51605563e-01 -2.26681882e-02  9.67564362e-01  2.14307224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.580714057 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:816.97, Y:83.79, Z:214.32
[[ 9.38972776e-01 -2.36630123e-01 -2.49672407e-01  8.16970899e+02]
 [ 2.34547999e-01  9.71341517e-01 -3.85083676e-02  8.37854325e+01]
 [ 2.51629415e-01 -2.24018547e-02  9.67564362e-01  2.14323529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.6407140570001 meters
Centerline goodness : 0.998986 with order 1
Centerline is valid?  [True, True]
Translation: X:817.03, Y:83.80, Z:214.34
[[ 9.39719252e-01 -2.33647671e-01 -2.49672771e-01  8.17027163e+02]
 [ 2.31463408e-01  9.72081261e-01 -3.85060099e-02  8.38011764e+01]
 [ 2.51699062e-01 -2.16052716e-02  9.67564362e-01  2.14341927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.700714057 meters
Centerline goodness : 0.998742 with order 1
Centerline is valid?  [True, True]
Translation: X:817.09, Y:83.81, Z:214.36
[[ 9.40355872e-01 -2.31072199e-01 -2.49672730e-01  8.17085236e+02]
 [ 2.28799211e-01  9.72711770e-01 -3.85062740e-02  8.38146856e+01]
 [ 2.51757333e-01 -2.09153227e-02  9.67564362e-01  2.14358961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.7607140570001 meters
Centerline goodness : 0.998760 with order 1
Centerline is valid?  [True, True]
Translation: X:817.14, Y:83.83, Z:214.37
[[ 9.41215738e-01 -2.27534081e-01 -2.49682151e-01  8.17143009e+02]
 [ 2.25155550e-01  9.73564047e-01 -3.84450935e-02  8.38291205e+01]
 [ 2.51829134e-01 -2.00321949e-02  9.67564364e-01  2.14373130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.820714057 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:817.20, Y:83.84, Z:214.39
[[ 9.41490490e-01 -2.26393858e-01 -2.49682754e-01  8.17200842e+02]
 [ 2.23977180e-01  9.73835971e-01 -3.84411739e-02  8.38399261e+01]
 [ 2.51852893e-01 -1.97312395e-02  9.67564364e-01  2.14387594e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.880714057 meters
Centerline goodness : 0.998559 with order 1
Centerline is valid?  [True, True]
Translation: X:817.26, Y:83.85, Z:214.40
[[ 9.42457348e-01 -2.22334587e-01 -2.49682754e-01  8.17258558e+02]
 [ 2.19778544e-01  9.74792115e-01 -3.84411739e-02  8.38536758e+01]
 [ 2.51935583e-01 -1.86457455e-02  9.67564364e-01  2.14401445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 844.940714057 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:817.32, Y:83.87, Z:214.42
[[ 9.43084601e-01 -2.19657099e-01 -2.49684190e-01  8.17316082e+02]
 [ 2.17011692e-01  9.75412179e-01 -3.84318507e-02  8.38653134e+01]
 [ 2.51986828e-01 -1.79399017e-02  9.67564364e-01  2.14416786e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.000714057 meters
Centerline goodness : 0.998801 with order 1
Centerline is valid?  [True, True]
Translation: X:817.37, Y:83.88, Z:214.43
[[ 9.43873562e-01 -2.16241806e-01 -2.49684160e-01  8.17371956e+02]
 [ 2.13479343e-01  9.76191348e-01 -3.84320418e-02  8.38778409e+01]
 [ 2.52050131e-01 -1.70274222e-02  9.67564364e-01  2.14432138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.060714057 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:817.43, Y:83.89, Z:214.45
[[ 9.44265398e-01 -2.14524912e-01 -2.49683639e-01  8.17430736e+02]
 [ 2.11702789e-01  9.76578029e-01 -3.84354271e-02  8.38885882e+01]
 [ 2.52080913e-01 -1.65654789e-02  9.67564364e-01  2.14447776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.120714057 meters
Centerline goodness : 0.998169 with order 1
Centerline is valid?  [True, True]
Translation: X:817.49, Y:83.90, Z:214.46
[[ 9.44382105e-01 -2.13999926e-01 -2.49692755e-01  8.17490097e+02]
 [ 2.11175452e-01  9.76694529e-01 -3.83761191e-02  8.39005759e+01]
 [ 2.52086034e-01 -1.64872602e-02  9.67564366e-01  2.14462113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.180714057 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:817.55, Y:83.91, Z:214.48
[[ 9.44088709e-01 -2.15287324e-01 -2.49695571e-01  8.17549286e+02]
 [ 2.12511735e-01  9.76405368e-01 -3.83577854e-02  8.39111042e+01]
 [ 2.52062041e-01 -1.68500869e-02  9.67564366e-01  2.14477343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.240714057 meters
Centerline goodness : 0.998816 with order 1
Centerline is valid?  [True, True]
Translation: X:817.61, Y:83.92, Z:214.49
[[ 9.43367323e-01 -2.18423488e-01 -2.49698365e-01  8.17607703e+02]
 [ 2.15760100e-01  9.75693423e-01 -3.83395901e-02  8.39217575e+01]
 [ 2.52003319e-01 -1.77066276e-02  9.67564366e-01  2.14491729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.300714057 meters
Centerline goodness : 0.998792 with order 1
Centerline is valid?  [True, True]
Translation: X:817.67, Y:83.93, Z:214.51
[[ 9.42840704e-01 -2.20680414e-01 -2.49702949e-01  8.17667399e+02]
 [ 2.18102262e-01  9.75173712e-01 -3.83097132e-02  8.39316544e+01]
 [ 2.51957955e-01 -1.83408211e-02  9.67564366e-01  2.14507031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.360714057 meters
Centerline goodness : 0.999104 with order 1
Centerline is valid?  [True, True]
Translation: X:817.73, Y:83.94, Z:214.52
[[ 9.42593057e-01 -2.21732632e-01 -2.49705764e-01  8.17725753e+02]
 [ 2.19195406e-01  9.74929303e-01 -3.82913571e-02  8.39433813e+01]
 [ 2.51935910e-01 -1.86411889e-02  9.67564367e-01  2.14521116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.420714057 meters
Centerline goodness : 0.999395 with order 1
Centerline is valid?  [True, True]
Translation: X:817.78, Y:83.96, Z:214.54
[[ 9.42930074e-01 -2.20284736e-01 -2.49714857e-01  8.17784140e+02]
 [ 2.17713495e-01  9.75263632e-01 -3.82319636e-02  8.39561828e+01]
 [ 2.51959737e-01 -1.83162261e-02  9.67564368e-01  2.14538993e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.480714057 meters
Centerline goodness : 0.999304 with order 1
Centerline is valid?  [True, True]
Translation: X:817.84, Y:83.97, Z:214.56
[[ 9.43394367e-01 -2.18276611e-01 -2.49724627e-01  8.17841636e+02]
 [ 2.15653367e-01  9.75723745e-01 -3.81680460e-02  8.39676667e+01]
 [ 2.51993440e-01 -1.78464370e-02  9.67564370e-01  2.14555014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.5407140570001 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:817.90, Y:83.98, Z:214.57
[[ 9.44093149e-01 -2.15234056e-01 -2.49724703e-01  8.17900672e+02]
 [ 2.12506729e-01  9.76413912e-01 -3.81675487e-02  8.39815902e+01]
 [ 2.52049631e-01 -1.70344586e-02  9.67564370e-01  2.14571533e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.600714057 meters
Centerline goodness : 0.998671 with order 1
Centerline is valid?  [True, True]
Translation: X:817.96, Y:83.99, Z:214.59
[[ 9.44458286e-01 -2.13621946e-01 -2.49728274e-01  8.17958334e+02]
 [ 2.10845597e-01  9.76774875e-01 -3.81441729e-02  8.39930175e+01]
 [ 2.52076736e-01 -1.66285269e-02  9.67564371e-01  2.14585535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.6607140570001 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:818.02, Y:84.01, Z:214.60
[[ 9.45060240e-01 -2.10942959e-01 -2.49728274e-01  8.18016208e+02]
 [ 2.08074983e-01  9.77368827e-01 -3.81441729e-02  8.40055804e+01]
 [ 2.52122875e-01 -1.59136651e-02  9.67564371e-01  2.14597230e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.720714057 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:818.07, Y:84.02, Z:214.61
[[ 9.45905146e-01 -2.07120470e-01 -2.49728984e-01  8.18073050e+02]
 [ 2.04123122e-01  9.78201987e-01 -3.81395196e-02  8.40191014e+01]
 [ 2.52184864e-01 -1.48990922e-02  9.67564371e-01  2.14611793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.7807140570001 meters
Centerline goodness : 0.998618 with order 1
Centerline is valid?  [True, True]
Translation: X:818.13, Y:84.03, Z:214.63
[[ 9.46585544e-01 -2.03988394e-01 -2.49728940e-01  8.18131394e+02]
 [ 2.00884085e-01  9.78872280e-01 -3.81398082e-02  8.40315059e+01]
 [ 2.52232815e-01 -1.40639784e-02  9.67564371e-01  2.14627491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.840714057 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:818.19, Y:84.04, Z:214.64
[[ 9.47536196e-01 -1.99522599e-01 -2.49731636e-01  8.18188389e+02]
 [ 1.96270721e-01  9.79808403e-01 -3.81221502e-02  8.40448283e+01]
 [ 2.52295386e-01 -1.28928911e-02  9.67564371e-01  2.14643013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.9007140570001 meters
Centerline goodness : 0.998975 with order 1
Centerline is valid?  [True, True]
Translation: X:818.25, Y:84.06, Z:214.66
[[ 9.47901896e-01 -1.97777821e-01 -2.49731713e-01  8.18245811e+02]
 [ 1.94466667e-01  9.80168075e-01 -3.81216438e-02  8.40572992e+01]
 [ 2.52318668e-01 -1.24289155e-02  9.67564371e-01  2.14659166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 845.960714057 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:818.30, Y:84.07, Z:214.68
[[ 9.47714440e-01 -1.98673086e-01 -2.49732547e-01  8.18304243e+02]
 [ 1.95393847e-01  9.79983878e-01 -3.81161833e-02  8.40704406e+01]
 [ 2.52306529e-01 -1.26729457e-02  9.67564371e-01  2.14678503e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.0207140570001 meters
Centerline goodness : 0.998354 with order 1
Centerline is valid?  [True, True]
Translation: X:818.36, Y:84.08, Z:214.69
[[ 9.46343851e-01 -2.05090574e-01 -2.49742213e-01  8.18361751e+02]
 [ 2.02046763e-01  9.78636344e-01 -3.80527471e-02  8.40813026e+01]
 [ 2.52211066e-01 -1.44486225e-02  9.67564373e-01  2.14694683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.080714057 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:818.42, Y:84.09, Z:214.71
[[ 9.45132200e-01 -2.10603090e-01 -2.49742794e-01  8.18419637e+02]
 [ 2.07748559e-01  9.77441975e-01 -3.80489343e-02  8.40901228e+01]
 [ 2.52122313e-01 -1.59224325e-02  9.67564373e-01  2.14710205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.1407140570001 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:818.48, Y:84.10, Z:214.72
[[ 9.43652169e-01 -2.17138042e-01 -2.49743178e-01  8.18477174e+02]
 [ 2.14507818e-01  9.75980977e-01 -3.80464107e-02  8.40985656e+01]
 [ 2.52005914e-01 -1.76692861e-02  9.67564373e-01  2.14723152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.200714057 meters
Centerline goodness : 0.998696 with order 1
Centerline is valid?  [True, True]
Translation: X:818.54, Y:84.11, Z:214.74
[[ 9.42957949e-01 -2.20129728e-01 -2.49746292e-01  8.18535433e+02]
 [ 2.17607433e-01  9.75295356e-01 -3.80259631e-02  8.41078661e+01]
 [ 2.51947043e-01 -1.84897652e-02  9.67564373e-01  2.14737285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.2607140570001 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:818.59, Y:84.12, Z:214.75
[[ 9.43212258e-01 -2.19037082e-01 -2.49746659e-01  8.18593027e+02]
 [ 2.16477959e-01  9.75546771e-01 -3.80235485e-02  8.41167263e+01]
 [ 2.51968114e-01 -1.82003700e-02  9.67564373e-01  2.14752819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.320714057 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:818.65, Y:84.12, Z:214.77
[[ 9.44164688e-01 -2.14894254e-01 -2.49746874e-01  8.18650583e+02]
 [ 2.12193578e-01  9.76487687e-01 -3.80221368e-02  8.41243379e+01]
 [ 2.52045486e-01 -1.70955239e-02  9.67564373e-01  2.14770110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.380714057 meters
Centerline goodness : 0.998931 with order 1
Centerline is valid?  [True, True]
Translation: X:818.71, Y:84.13, Z:214.79
[[ 9.45293129e-01 -2.09873918e-01 -2.49747551e-01  8.18708695e+02]
 [ 2.07002686e-01  9.77601424e-01 -3.80176879e-02  8.41326099e+01]
 [ 2.52132483e-01 -1.57605549e-02  9.67564373e-01  2.14785085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.440714057 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:818.77, Y:84.14, Z:214.80
[[ 9.46997517e-01 -2.02043433e-01 -2.49748181e-01  8.18767331e+02]
 [ 1.98906002e-01  9.79281049e-01 -3.80135501e-02  8.41410479e+01]
 [ 2.52254049e-01 -1.36776745e-02  9.67564373e-01  2.14799104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.500714057 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:818.83, Y:84.15, Z:214.81
[[ 9.48337858e-01 -1.95654870e-01 -2.49748833e-01  8.18825607e+02]
 [ 1.92301003e-01  9.80599623e-01 -3.80092693e-02  8.41485712e+01]
 [ 2.52340310e-01 -1.19813219e-02  9.67564373e-01  2.14812349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.560714057 meters
Centerline goodness : 0.998539 with order 1
Centerline is valid?  [True, True]
Translation: X:818.88, Y:84.16, Z:214.83
[[ 9.48812037e-01 -1.93342656e-01 -2.49748547e-01  8.18883958e+02]
 [ 1.89909666e-01  9.81065478e-01 -3.80111428e-02  8.41557881e+01]
 [ 2.52368853e-01 -1.13642334e-02  9.67564373e-01  2.14826477e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.620714057 meters
Centerline goodness : 0.998542 with order 1
Centerline is valid?  [True, True]
Translation: X:818.94, Y:84.16, Z:214.84
[[ 9.49041418e-01 -1.92213210e-01 -2.49748813e-01  8.18943303e+02]
 [ 1.88742292e-01  9.81290799e-01 -3.80093988e-02  8.41630261e+01]
 [ 2.52382121e-01 -1.10656696e-02  9.67564373e-01  2.14841834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.680714057 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:819.00, Y:84.17, Z:214.86
[[ 9.48507479e-01 -1.94824416e-01 -2.49753897e-01  8.19002109e+02]
 [ 1.91451051e-01  9.80767211e-01 -3.79759639e-02  8.41694239e+01]
 [ 2.52349078e-01 -1.17951603e-02  9.67564374e-01  2.14857307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.740714057 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:819.06, Y:84.18, Z:214.87
[[ 9.48184907e-01 -1.96387666e-01 -2.49754413e-01  8.19060945e+02]
 [ 1.93068374e-01  9.80450247e-01 -3.79725709e-02  8.41770971e+01]
 [ 2.52329120e-01 -1.22146599e-02  9.67564374e-01  2.14872738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.800714057 meters
Centerline goodness : 0.998955 with order 1
Centerline is valid?  [True, True]
Translation: X:819.12, Y:84.18, Z:214.89
[[ 9.47033999e-01 -2.01862908e-01 -2.49755825e-01  8.19119593e+02]
 [ 1.98732540e-01  9.79318215e-01 -3.79632824e-02  8.41832844e+01]
 [ 2.52253807e-01 -1.36820902e-02  9.67564374e-01  2.14887776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.860714057 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:819.18, Y:84.19, Z:214.90
[[ 9.46221864e-01 -2.05634313e-01 -2.49757308e-01  8.19178674e+02]
 [ 2.02635157e-01  9.78518535e-01 -3.79535234e-02  8.41898856e+01]
 [ 2.52196701e-01 -1.46971577e-02  9.67564374e-01  2.14901788e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.920714057 meters
Centerline goodness : 0.998819 with order 1
Centerline is valid?  [True, True]
Translation: X:819.24, Y:84.20, Z:214.92
[[ 9.45139287e-01 -2.10543346e-01 -2.49766346e-01  8.19238150e+02]
 [ 2.07727558e-01  9.77452459e-01 -3.78939565e-02  8.41962835e+01]
 [ 2.52113049e-01 -1.60682860e-02  9.67564376e-01  2.14916113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 846.980714057 meters
Centerline goodness : 0.998848 with order 1
Centerline is valid?  [True, True]
Translation: X:819.30, Y:84.21, Z:214.93
[[ 9.44845442e-01 -2.11856733e-01 -2.49767525e-01  8.19296880e+02]
 [ 2.09087904e-01  9.77162671e-01 -3.78861839e-02  8.42051016e+01]
 [ 2.52089945e-01 -1.64267800e-02  9.67564376e-01  2.14931477e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.0407140570001 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:819.36, Y:84.21, Z:214.95
[[ 9.45107854e-01 -2.10681371e-01 -2.49768902e-01  8.19355677e+02]
 [ 2.07874738e-01  9.77421822e-01 -3.78771015e-02  8.42146697e+01]
 [ 2.52109575e-01 -1.61226989e-02  9.67564376e-01  2.14947223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.100714057 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:819.41, Y:84.22, Z:214.96
[[ 9.45709675e-01 -2.07959604e-01 -2.49771924e-01  8.19413419e+02]
 [ 2.05065199e-01  9.78015899e-01 -3.78571636e-02  8.42241701e+01]
 [ 2.52153673e-01 -1.54176435e-02  9.67564376e-01  2.14961096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.1607140570001 meters
Centerline goodness : 0.999026 with order 1
Centerline is valid?  [True, True]
Translation: X:819.47, Y:84.23, Z:214.98
[[ 9.46124485e-01 -2.06063332e-01 -2.49772621e-01  8.19470373e+02]
 [ 2.03105378e-01  9.78424953e-01 -3.78525659e-02  8.42340834e+01]
 [ 2.52183790e-01 -1.49169231e-02  9.67564376e-01  2.14975804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.220714057 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:819.53, Y:84.24, Z:214.99
[[ 9.46543126e-01 -2.04131697e-01 -2.49772621e-01  8.19529685e+02]
 [ 2.01107818e-01  9.78837488e-01 -3.78525659e-02  8.42449532e+01]
 [ 2.52213713e-01 -1.44021407e-02  9.67564376e-01  2.14992170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.2807140570001 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:819.59, Y:84.25, Z:215.01
[[ 9.46320010e-01 -2.05151942e-01 -2.49782145e-01  8.19588100e+02]
 [ 2.02179437e-01  9.78619140e-01 -3.77896122e-02  8.42545268e+01]
 [ 2.52194201e-01 -1.47397474e-02  9.67564378e-01  2.15007241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.340714057 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:819.65, Y:84.26, Z:215.02
[[ 9.45676616e-01 -2.08095952e-01 -2.49783533e-01  8.19646090e+02]
 [ 2.05226391e-01  9.77985055e-01 -3.77804410e-02  8.42641347e+01]
 [ 2.52146519e-01 -1.55340932e-02  9.67564378e-01  2.15022710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.4007140570001 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:819.71, Y:84.27, Z:215.04
[[ 9.45150954e-01 -2.10470307e-01 -2.49783754e-01  8.19705210e+02]
 [ 2.07682282e-01  9.77466531e-01 -3.77789740e-02  8.42741076e+01]
 [ 2.52106612e-01 -1.61688267e-02  9.67564378e-01  2.15038228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.460714057 meters
Centerline goodness : 0.998402 with order 1
Centerline is valid?  [True, True]
Translation: X:819.76, Y:84.28, Z:215.06
[[ 9.44280863e-01 -2.14330025e-01 -2.49792500e-01  8.19762823e+02]
 [ 2.11689296e-01  9.76608808e-01 -3.77210623e-02  8.42844023e+01]
 [ 2.52034312e-01 -1.72591213e-02  9.67564379e-01  2.15055489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.5207140570001 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:819.82, Y:84.29, Z:215.07
[[ 9.43799019e-01 -2.16441574e-01 -2.49792827e-01  8.19820504e+02]
 [ 2.13873731e-01  9.76132835e-01 -3.77188963e-02  8.42942189e+01]
 [ 2.51994918e-01 -1.78250667e-02  9.67564379e-01  2.15071508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.580714057 meters
Centerline goodness : 0.998791 with order 1
Centerline is valid?  [True, True]
Translation: X:819.88, Y:84.30, Z:215.09
[[ 9.43291285e-01 -2.18643487e-01 -2.49793071e-01  8.19880858e+02]
 [ 2.16151532e-01  9.75631038e-01 -3.77172798e-02  8.43048288e+01]
 [ 2.51952511e-01 -1.84147738e-02  9.67564379e-01  2.15087636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.6407140570001 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:819.94, Y:84.32, Z:215.10
[[ 9.43218806e-01 -2.18943328e-01 -2.49804130e-01  8.19940234e+02]
 [ 2.16480981e-01  9.75560824e-01 -3.76438980e-02  8.43151363e+01]
 [ 2.51941003e-01 -1.85714106e-02  9.67564382e-01  2.15102876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.700714057 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:820.00, Y:84.33, Z:215.12
[[ 9.43671335e-01 -2.16972814e-01 -2.49814350e-01  8.19998671e+02]
 [ 2.14460812e-01  9.76009532e-01 -3.75759608e-02  8.43257506e+01]
 [ 2.51974148e-01 -1.81160311e-02  9.67564384e-01  2.15119164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.7607140570001 meters
Centerline goodness : 0.998631 with order 1
Centerline is valid?  [True, True]
Translation: X:820.06, Y:84.34, Z:215.14
[[ 9.44796744e-01 -2.12008445e-01 -2.49823003e-01  8.20055424e+02]
 [ 2.09341624e-01  9.77122540e-01 -3.75183459e-02  8.43368587e+01]
 [ 2.52061893e-01 -1.68511420e-02  9.67564386e-01  2.15136827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.820714057 meters
Centerline goodness : 0.998559 with order 1
Centerline is valid?  [True, True]
Translation: X:820.11, Y:84.35, Z:215.15
[[ 9.46200757e-01 -2.05651079e-01 -2.49823459e-01  8.20113163e+02]
 [ 2.02767767e-01  9.78507963e-01 -3.75153093e-02  8.43480866e+01]
 [ 2.52169308e-01 -1.51591307e-02  9.67564386e-01  2.15152705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.880714057 meters
Centerline goodness : 0.998576 with order 1
Centerline is valid?  [True, True]
Translation: X:820.17, Y:84.36, Z:215.17
[[ 9.47055682e-01 -2.01677071e-01 -2.49823726e-01  8.20173151e+02]
 [ 1.98658624e-01  9.79350543e-01 -3.75135296e-02  8.43574830e+01]
 [ 2.52230620e-01 -1.41022363e-02  9.67564386e-01  2.15167747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 847.940714057 meters
Centerline goodness : 0.998877 with order 1
Centerline is valid?  [True, True]
Translation: X:820.23, Y:84.37, Z:215.18
[[ 9.48036387e-01 -1.97003395e-01 -2.49833288e-01  8.20230435e+02]
 [ 1.93842460e-01  9.80317611e-01 -3.74497423e-02  8.43669242e+01]
 [ 2.52293698e-01 -1.29245807e-02  9.67564388e-01  2.15180629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.000714057 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:820.29, Y:84.38, Z:215.20
[[ 9.48649353e-01 -1.94031136e-01 -2.49832590e-01  8.20288086e+02]
 [ 1.90767818e-01  9.80920388e-01 -3.74544003e-02  8.43761766e+01]
 [ 2.52333201e-01 -1.21289253e-02  9.67564388e-01  2.15196856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.060714057 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:820.35, Y:84.39, Z:215.21
[[ 9.49576431e-01 -1.89441108e-01 -2.49833281e-01  8.20348054e+02]
 [ 1.86022973e-01  9.81831435e-01 -3.74497883e-02  8.43854959e+01]
 [ 2.52388698e-01 -1.09132935e-02  9.67564388e-01  2.15212498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.120714057 meters
Centerline goodness : 0.999036 with order 1
Centerline is valid?  [True, True]
Translation: X:820.41, Y:84.39, Z:215.23
[[ 9.50410382e-01 -1.85207198e-01 -2.49836745e-01  8.20406280e+02]
 [ 1.81651414e-01  9.82650502e-01 -3.74266681e-02  8.43937211e+01]
 [ 2.52433891e-01 -9.81250391e-03  9.67564388e-01  2.15227408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.180714057 meters
Centerline goodness : 0.998739 with order 1
Centerline is valid?  [True, True]
Translation: X:820.46, Y:84.40, Z:215.24
[[ 9.50652470e-01 -1.83959982e-01 -2.49837161e-01  8.20464174e+02]
 [ 1.80362628e-01  9.82887977e-01 -3.74238862e-02  8.44025183e+01]
 [ 2.52446440e-01 -9.48417707e-03  9.67564388e-01  2.15241573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.240714057 meters
Centerline goodness : 0.998992 with order 1
Centerline is valid?  [True, True]
Translation: X:820.52, Y:84.41, Z:215.26
[[ 9.50452793e-01 -1.84987961e-01 -2.49837832e-01  8.20522939e+02]
 [ 1.81426645e-01  9.82692302e-01 -3.74194087e-02  8.44103014e+01]
 [ 2.52435854e-01 -9.76185818e-03  9.67564388e-01  2.15259909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.300714057 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:820.58, Y:84.42, Z:215.28
[[ 9.49329736e-01 -1.90664068e-01 -2.49840480e-01  8.20580899e+02]
 [ 1.87300108e-01  9.81590435e-01 -3.74017180e-02  8.44171338e+01]
 [ 2.52372189e-01 -1.12885858e-02  9.67564389e-01  2.15277094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.360714057 meters
Centerline goodness : 0.999201 with order 1
Centerline is valid?  [True, True]
Translation: X:820.64, Y:84.42, Z:215.29
[[ 9.48296675e-01 -1.95737111e-01 -2.49840749e-01  8.20638891e+02]
 [ 1.92546158e-01  9.80574945e-01 -3.73999248e-02  8.44235701e+01]
 [ 2.52308132e-01 -1.26396520e-02  9.67564389e-01  2.15290577e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.420714057 meters
Centerline goodness : 0.999296 with order 1
Centerline is valid?  [True, True]
Translation: X:820.70, Y:84.43, Z:215.31
[[ 9.46578436e-01 -2.03884984e-01 -2.49840307e-01  8.20697679e+02]
 [ 2.00970958e-01  9.78882883e-01 -3.74028759e-02  8.44289256e+01]
 [ 2.52190285e-01 -1.48058900e-02  9.67564389e-01  2.15305134e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.480714057 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:820.76, Y:84.44, Z:215.32
[[ 9.45572991e-01 -2.08498080e-01 -2.49840489e-01  8.20756713e+02]
 [ 2.05741925e-01  9.77891291e-01 -3.74016620e-02  8.44359155e+01]
 [ 2.52115013e-01 -1.60366616e-02  9.67564389e-01  2.15319789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.5407140570001 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:820.81, Y:84.44, Z:215.34
[[ 9.44595670e-01 -2.12880728e-01 -2.49841582e-01  8.20814438e+02]
 [ 2.10276395e-01  9.76926558e-01 -3.73943547e-02  8.44429543e+01]
 [ 2.52037415e-01 -1.72132416e-02  9.67564389e-01  2.15335963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.600714057 meters
Centerline goodness : 0.998613 with order 1
Centerline is valid?  [True, True]
Translation: X:820.87, Y:84.45, Z:215.35
[[ 9.43456834e-01 -2.17871147e-01 -2.49842681e-01  8.20872744e+02]
 [ 2.15439693e-01  9.75801184e-01 -3.73870135e-02  8.44501850e+01]
 [ 2.51942335e-01 -1.85529971e-02  9.67564389e-01  2.15351536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.6607140570001 meters
Centerline goodness : 0.999295 with order 1
Centerline is valid?  [True, True]
Translation: X:820.93, Y:84.46, Z:215.37
[[ 9.43104698e-01 -2.19389656e-01 -2.49843365e-01  8.20932183e+02]
 [ 2.17011478e-01  9.75453008e-01 -3.73824442e-02  8.44583554e+01]
 [ 2.51911783e-01 -1.89633191e-02  9.67564389e-01  2.15366812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.720714057 meters
Centerline goodness : 0.999067 with order 1
Centerline is valid?  [True, True]
Translation: X:820.99, Y:84.47, Z:215.38
[[ 9.42919457e-01 -2.20174374e-01 -2.49852242e-01  8.20990205e+02]
 [ 2.17838768e-01  9.75270867e-01 -3.73230180e-02  8.44667313e+01]
 [ 2.51891185e-01 -1.92349049e-02  9.67564390e-01  2.15382338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.7807140570001 meters
Centerline goodness : 0.999093 with order 1
Centerline is valid?  [True, True]
Translation: X:821.05, Y:84.48, Z:215.40
[[ 9.42616390e-01 -2.21467944e-01 -2.49852538e-01  8.21048785e+02]
 [ 2.19177252e-01  9.74971011e-01 -3.73210357e-02  8.44755971e+01]
 [ 2.51864395e-01 -1.95825727e-02  9.67564390e-01  2.15396350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.840714057 meters
Centerline goodness : 0.999387 with order 1
Centerline is valid?  [True, True]
Translation: X:821.11, Y:84.48, Z:215.41
[[ 9.42491388e-01 -2.21998537e-01 -2.49853224e-01  8.21109133e+02]
 [ 2.19727268e-01  9.74847378e-01 -3.73164443e-02  8.44848990e+01]
 [ 2.51852956e-01 -1.97291390e-02  9.67564390e-01  2.15410926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.9007140570001 meters
Centerline goodness : 0.999408 with order 1
Centerline is valid?  [True, True]
Translation: X:821.17, Y:84.50, Z:215.43
[[ 9.42459447e-01 -2.22123455e-01 -2.49862687e-01  8.21168608e+02]
 [ 2.19873195e-01  9.74816903e-01 -3.72529776e-02  8.44950935e+01]
 [ 2.51845131e-01 -1.98286867e-02  9.67564392e-01  2.15426753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 848.960714057 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:821.23, Y:84.51, Z:215.44
[[ 9.42621025e-01 -2.21426059e-01 -2.49872174e-01  8.21227919e+02]
 [ 2.19168649e-01  9.74977981e-01 -3.71892377e-02  8.45067350e+01]
 [ 2.51854534e-01 -1.97087895e-02  9.67564394e-01  2.15443567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.0207140570001 meters
Centerline goodness : 0.999296 with order 1
Centerline is valid?  [True, True]
Translation: X:821.29, Y:84.52, Z:215.46
[[ 9.42770289e-01 -2.20777521e-01 -2.49882909e-01  8.21286721e+02]
 [ 2.18516886e-01  9.75127018e-01 -3.71169738e-02  8.45166337e+01]
 [ 2.51862169e-01 -1.96108551e-02  9.67564397e-01  2.15459355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.080714057 meters
Centerline goodness : 0.999177 with order 1
Centerline is valid?  [True, True]
Translation: X:821.34, Y:84.53, Z:215.48
[[ 9.42902837e-01 -2.20208487e-01 -2.49884896e-01  8.21343521e+02]
 [ 2.17931850e-01  9.75258444e-01 -3.71035912e-02  8.45269656e+01]
 [ 2.51872880e-01 -1.94727963e-02  9.67564397e-01  2.15476073e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.1407140570001 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:821.40, Y:84.54, Z:215.49
[[ 9.43231987e-01 -2.18789930e-01 -2.49888745e-01  8.21402958e+02]
 [ 2.16471457e-01  9.75584623e-01 -3.70776529e-02  8.45369347e+01]
 [ 2.51899834e-01 -1.91209525e-02  9.67564397e-01  2.15492381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.200714057 meters
Centerline goodness : 0.999064 with order 1
Centerline is valid?  [True, True]
Translation: X:821.46, Y:84.55, Z:215.51
[[ 9.43623624e-01 -2.17091677e-01 -2.49891295e-01  8.21461419e+02]
 [ 2.14719500e-01  9.75972366e-01 -3.70604537e-02  8.45463134e+01]
 [ 2.51932515e-01 -1.86854143e-02  9.67564398e-01  2.15510537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.2607140570001 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:821.52, Y:84.56, Z:215.52
[[ 9.44535742e-01 -2.13085713e-01 -2.49893398e-01  8.21519290e+02]
 [ 2.10580027e-01  9.76874417e-01 -3.70462716e-02  8.45556258e+01]
 [ 2.52008498e-01 -1.76310309e-02  9.67564398e-01  2.15524224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.320714057 meters
Centerline goodness : 0.999544 with order 1
Centerline is valid?  [True, True]
Translation: X:821.58, Y:84.56, Z:215.54
[[ 9.45372301e-01 -2.09343028e-01 -2.49893396e-01  8.21577135e+02]
 [ 2.06709276e-01  9.77700797e-01 -3.70462857e-02  8.45647059e+01]
 [ 2.52076354e-01 -1.66327505e-02  9.67564398e-01  2.15538270e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.380714057 meters
Centerline goodness : 0.999472 with order 1
Centerline is valid?  [True, True]
Translation: X:821.63, Y:84.57, Z:215.56
[[ 9.46955719e-01 -2.02059784e-01 -2.49893396e-01  8.21634685e+02]
 [ 1.99177259e-01  9.79262984e-01 -3.70462857e-02  8.45745121e+01]
 [ 2.52196917e-01 -1.46918895e-02  9.67564398e-01  2.15555046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.440714057 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:821.69, Y:84.58, Z:215.57
[[ 9.48898447e-01 -1.92729656e-01 -2.49894010e-01  8.21690748e+02]
 [ 1.89530379e-01  9.81175884e-01 -3.70421395e-02  8.45838222e+01]
 [ 2.52329095e-01 -1.22132778e-02  9.67564398e-01  2.15572053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.500714057 meters
Centerline goodness : 0.999218 with order 1
Centerline is valid?  [True, True]
Translation: X:821.75, Y:84.59, Z:215.59
[[ 9.49865421e-01 -1.87906995e-01 -2.49893262e-01  8.21748221e+02]
 [ 1.84542473e-01  9.82126052e-01 -3.70471850e-02  8.45921976e+01]
 [ 2.52388108e-01 -1.09260806e-02  9.67564398e-01  2.15588512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.560714057 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:821.81, Y:84.60, Z:215.60
[[ 9.50688175e-01 -1.83698692e-01 -2.49893548e-01  8.21808134e+02]
 [ 1.80191843e-01  9.82933644e-01 -3.70452585e-02  8.45991549e+01]
 [ 2.52433941e-01 -9.81028973e-03  9.67564398e-01  2.15604078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.620714057 meters
Centerline goodness : 0.999361 with order 1
Centerline is valid?  [True, True]
Translation: X:821.87, Y:84.61, Z:215.62
[[ 9.50249405e-01 -1.85942486e-01 -2.49902900e-01  8.21868557e+02]
 [ 1.82528358e-01  9.82504822e-01 -3.69820638e-02  8.46054120e+01]
 [ 2.52407342e-01 -1.04721819e-02  9.67564400e-01  2.15619167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.680714057 meters
Centerline goodness : 0.999381 with order 1
Centerline is valid?  [True, True]
Translation: X:821.93, Y:84.61, Z:215.63
[[ 9.49278660e-01 -1.90824064e-01 -2.49912391e-01  8.21928341e+02]
 [ 1.87592640e-01  9.81552890e-01 -3.69178233e-02  8.46113117e+01]
 [ 2.52347038e-01 -1.18364233e-02  9.67564402e-01  2.15633487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.740714057 meters
Centerline goodness : 0.998998 with order 1
Centerline is valid?  [True, True]
Translation: X:821.99, Y:84.62, Z:215.65
[[ 9.47142891e-01 -2.01146089e-01 -2.49921178e-01  8.21987186e+02]
 [ 1.98281843e-01  9.79451776e-01 -3.68582445e-02  8.46151518e+01]
 [ 2.52199633e-01 -1.46448074e-02  9.67564403e-01  2.15648268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.800714057 meters
Centerline goodness : 0.999046 with order 1
Centerline is valid?  [True, True]
Translation: X:822.05, Y:84.62, Z:215.66
[[ 9.45577252e-01 -2.08381820e-01 -2.49921343e-01  8.22045221e+02]
 [ 2.05764977e-01  9.77907116e-01 -3.68571280e-02  8.46204527e+01]
 [ 2.52080215e-01 -1.65737973e-02  9.67564403e-01  2.15661433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.860714057 meters
Centerline goodness : 0.999366 with order 1
Centerline is valid?  [True, True]
Translation: X:822.10, Y:84.62, Z:215.68
[[ 9.43548774e-01 -2.17378850e-01 -2.49924282e-01  8.22103436e+02]
 [ 2.15075316e-01  9.75902470e-01 -3.68371820e-02  8.46246422e+01]
 [ 2.51909349e-01 -1.89948660e-02  9.67564404e-01  2.15678329e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.920714057 meters
Centerline goodness : 0.999210 with order 1
Centerline is valid?  [True, True]
Translation: X:822.16, Y:84.63, Z:215.69
[[ 9.42443871e-01 -2.22119532e-01 -2.49924915e-01  8.22160555e+02]
 [ 2.19979806e-01  9.74808814e-01 -3.68328918e-02  8.46306224e+01]
 [ 2.51810314e-01 -2.02655012e-02  9.67564404e-01  2.15694109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 849.980714057 meters
Centerline goodness : 0.999165 with order 1
Centerline is valid?  [True, True]
Translation: X:822.22, Y:84.64, Z:215.71
[[ 9.42183204e-01 -2.23219717e-01 -2.49927527e-01  8.22218985e+02]
 [ 2.21122453e-01  9.74550925e-01 -3.68151551e-02  8.46378614e+01]
 [ 2.51784972e-01 -2.05779672e-02  9.67564404e-01  2.15709237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.0407140570001 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:822.28, Y:84.64, Z:215.72
[[ 9.42124544e-01 -2.23466427e-01 -2.49928189e-01  8.22279403e+02]
 [ 2.21378822e-01  9.74492890e-01 -3.68106641e-02  8.46445943e+01]
 [ 2.51779191e-01 -2.06485779e-02  9.67564404e-01  2.15722196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.100714057 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:822.34, Y:84.65, Z:215.73
[[ 9.42484716e-01 -2.21931476e-01 -2.49937953e-01  8.22338631e+02]
 [ 2.19808643e-01  9.74850768e-01 -3.67442537e-02  8.46533271e+01]
 [ 2.51806912e-01 -2.03076247e-02  9.67564406e-01  2.15734194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.1607140570001 meters
Centerline goodness : 0.999185 with order 1
Centerline is valid?  [True, True]
Translation: X:822.40, Y:84.66, Z:215.75
[[ 9.43160459e-01 -2.19031759e-01 -2.49946869e-01  8.22395578e+02]
 [ 2.16825393e-01  9.75520922e-01 -3.66835032e-02  8.46646866e+01]
 [ 2.51863253e-01 -1.95963984e-02  9.67564408e-01  2.15751045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.220714057 meters
Centerline goodness : 0.999074 with order 1
Centerline is valid?  [True, True]
Translation: X:822.45, Y:84.67, Z:215.77
[[ 9.43795144e-01 -2.16280627e-01 -2.49946829e-01  8.22454621e+02]
 [ 2.13979836e-01  9.76149031e-01 -3.66837804e-02  8.46746530e+01]
 [ 2.51919346e-01 -1.88616075e-02  9.67564408e-01  2.15767254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.2807140570001 meters
Centerline goodness : 0.998829 with order 1
Centerline is valid?  [True, True]
Translation: X:822.51, Y:84.68, Z:215.78
[[ 9.43879226e-01 -2.15910993e-01 -2.49948894e-01  8.22512563e+02]
 [ 2.13601239e-01  9.76232474e-01 -3.66696997e-02  8.46841163e+01]
 [ 2.51925619e-01 -1.87776258e-02  9.67564408e-01  2.15782828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.340714057 meters
Centerline goodness : 0.998984 with order 1
Centerline is valid?  [True, True]
Translation: X:822.57, Y:84.69, Z:215.80
[[ 9.43696950e-01 -2.16704733e-01 -2.49950247e-01  8.22571018e+02]
 [ 2.14424618e-01  9.76052300e-01 -3.66604772e-02  8.46934872e+01]
 [ 2.51909013e-01 -1.89991056e-02  9.67564408e-01  2.15797901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.4007140570001 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:822.63, Y:84.70, Z:215.81
[[ 9.43527227e-01 -2.17441746e-01 -2.49950914e-01  8.22630285e+02]
 [ 2.15188101e-01  9.75884432e-01 -3.66559273e-02  8.47028309e+01]
 [ 2.51893735e-01 -1.92005971e-02  9.67564408e-01  2.15813524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.460714057 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:822.69, Y:84.71, Z:215.83
[[ 9.43371708e-01 -2.18112455e-01 -2.49953550e-01  8.22690090e+02]
 [ 2.15886549e-01  9.75730833e-01 -3.66379481e-02  8.47115299e+01]
 [ 2.51878578e-01 -1.93984055e-02  9.67564408e-01  2.15829447e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.5207140570001 meters
Centerline goodness : 0.998962 with order 1
Centerline is valid?  [True, True]
Translation: X:822.75, Y:84.72, Z:215.85
[[ 9.43145523e-01 -2.19078121e-01 -2.49962596e-01  8.22749301e+02]
 [ 2.16901626e-01  9.75508007e-01 -3.65761263e-02  8.47190130e+01]
 [ 2.51853543e-01 -1.97206839e-02  9.67564410e-01  2.15845836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.580714057 meters
Centerline goodness : 0.998944 with order 1
Centerline is valid?  [True, True]
Translation: X:822.81, Y:84.73, Z:215.86
[[ 9.43109961e-01 -2.19221701e-01 -2.49970892e-01  8.22809184e+02]
 [ 2.17065088e-01  9.75473775e-01 -3.65193477e-02  8.47263380e+01]
 [ 2.51845883e-01 -1.98181930e-02  9.67564412e-01  2.15861704e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.6407140570001 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:822.87, Y:84.73, Z:215.88
[[ 9.43162798e-01 -2.18991256e-01 -2.49973530e-01  8.22868680e+02]
 [ 2.16831494e-01  9.75526402e-01 -3.65012783e-02  8.47341264e+01]
 [ 2.51849239e-01 -1.97754862e-02  9.67564412e-01  2.15876865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.700714057 meters
Centerline goodness : 0.998588 with order 1
Centerline is valid?  [True, True]
Translation: X:822.93, Y:84.74, Z:215.89
[[ 9.43530021e-01 -2.17393148e-01 -2.49982636e-01  8.22927074e+02]
 [ 2.15195012e-01  9.75891039e-01 -3.64388142e-02  8.47419529e+01]
 [ 2.51877363e-01 -1.94139013e-02  9.67564414e-01  2.15894632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.7607140570001 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:822.99, Y:84.75, Z:215.91
[[ 9.43862220e-01 -2.15944705e-01 -2.49983988e-01  8.22985626e+02]
 [ 2.13699344e-01  9.76219995e-01 -3.64295399e-02  8.47486960e+01]
 [ 2.51906133e-01 -1.90369477e-02  9.67564414e-01  2.15911132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.820714057 meters
Centerline goodness : 0.999058 with order 1
Centerline is valid?  [True, True]
Translation: X:823.05, Y:84.75, Z:215.93
[[ 9.44028212e-01 -2.15216814e-01 -2.49984914e-01  8.23045588e+02]
 [ 2.12948177e-01  9.76384364e-01 -3.64231799e-02  8.47546710e+01]
 [ 2.51920242e-01 -1.88493223e-02  9.67564414e-01  2.15926058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.880714057 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:823.11, Y:84.76, Z:215.94
[[ 9.43993205e-01 -2.15359290e-01 -2.49994411e-01  8.23106531e+02]
 [ 2.13112729e-01  9.76350894e-01 -3.63578842e-02  8.47605095e+01]
 [ 2.51912275e-01 -1.89553955e-02  9.67564416e-01  2.15939413e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 850.940714057 meters
Centerline goodness : 0.999236 with order 1
Centerline is valid?  [True, True]
Translation: X:823.17, Y:84.77, Z:215.96
[[ 9.43919610e-01 -2.15670017e-01 -2.50004428e-01  8.23165844e+02]
 [ 2.13452277e-01  9.76279285e-01 -3.62888780e-02  8.47663678e+01]
 [ 2.51900567e-01 -1.91102309e-02  9.67564418e-01  2.15955953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.000714057 meters
Centerline goodness : 0.999106 with order 1
Centerline is valid?  [True, True]
Translation: X:823.22, Y:84.77, Z:215.97
[[ 9.43940086e-01 -2.15577330e-01 -2.50007056e-01  8.23224058e+02]
 [ 2.13361182e-01  9.76299871e-01 -3.62707652e-02  8.47734299e+01]
 [ 2.51901011e-01 -1.91043716e-02  9.67564418e-01  2.15971873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.060714057 meters
Centerline goodness : 0.999148 with order 1
Centerline is valid?  [True, True]
Translation: X:823.28, Y:84.78, Z:215.99
[[ 9.44054053e-01 -2.15072452e-01 -2.50011571e-01  8.23283621e+02]
 [ 2.12847198e-01  9.76413212e-01 -3.62396158e-02  8.47800958e+01]
 [ 2.51908744e-01 -1.90021063e-02  9.67564419e-01  2.15988804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.120714057 meters
Centerline goodness : 0.999213 with order 1
Centerline is valid?  [True, True]
Translation: X:823.34, Y:84.79, Z:216.00
[[ 9.44063045e-01 -2.15022130e-01 -2.50020900e-01  8.23343253e+02]
 [ 2.12812127e-01  9.76423247e-01 -3.61751433e-02  8.47866790e+01]
 [ 2.51904676e-01 -1.90558636e-02  9.67564421e-01  2.16004350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.180714057 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:823.40, Y:84.79, Z:216.02
[[ 9.43982620e-01 -2.15364002e-01 -2.50030319e-01  8.23404144e+02]
 [ 2.13182889e-01  9.76344780e-01 -3.61099282e-02  8.47949149e+01]
 [ 2.51892576e-01 -1.92150413e-02  9.67564423e-01  2.16020686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.240714057 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:823.46, Y:84.80, Z:216.04
[[ 9.43634287e-01 -2.16872784e-01 -2.50041051e-01  8.23464242e+02]
 [ 2.14763016e-01  9.76001174e-01 -3.60354662e-02  8.48024047e+01]
 [ 2.51855472e-01 -1.96952688e-02  9.67564426e-01  2.16035980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.300714057 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:823.52, Y:84.81, Z:216.05
[[ 9.43430051e-01 -2.17748761e-01 -2.50050427e-01  8.23522649e+02]
 [ 2.15686207e-01  9.75799979e-01 -3.59702910e-02  8.48093077e+01]
 [ 2.51831688e-01 -1.99969749e-02  9.67564428e-01  2.16049330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.360714057 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:823.58, Y:84.82, Z:216.07
[[ 9.43371849e-01 -2.18000024e-01 -2.50051084e-01  8.23580827e+02]
 [ 2.15947294e-01  9.75742401e-01 -3.59657269e-02  8.48185063e+01]
 [ 2.51825974e-01 -2.00688007e-02  9.67564428e-01  2.16065346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.420714057 meters
Centerline goodness : 0.999019 with order 1
Centerline is valid?  [True, True]
Translation: X:823.64, Y:84.83, Z:216.08
[[ 9.43234387e-01 -2.18593279e-01 -2.50051735e-01  8.23639844e+02]
 [ 2.16562099e-01  9.75606298e-01 -3.59611995e-02  8.48283449e+01]
 [ 2.51812924e-01 -2.02318887e-02  9.67564428e-01  2.16082516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.480714057 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:823.70, Y:84.84, Z:216.10
[[ 9.42800931e-01 -2.20452338e-01 -2.50054339e-01  8.23698743e+02]
 [ 2.18489751e-01  9.75177073e-01 -3.59430853e-02  8.48375926e+01]
 [ 2.51770995e-01 -2.07471360e-02  9.67564428e-01  2.16099398e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.5407140570001 meters
Centerline goodness : 0.999126 with order 1
Centerline is valid?  [True, True]
Translation: X:823.76, Y:84.85, Z:216.11
[[ 9.42378737e-01 -2.22239572e-01 -2.50063769e-01  8.23756605e+02]
 [ 2.20355690e-01  9.74759552e-01 -3.58773638e-02  8.48461330e+01]
 [ 2.51725417e-01 -2.12929096e-02  9.67564430e-01  2.16113409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.600714057 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:823.81, Y:84.86, Z:216.13
[[ 9.41604802e-01 -2.25496489e-01 -2.50063453e-01  8.23814992e+02]
 [ 2.23723995e-01  9.73991905e-01 -3.58795624e-02  8.48559223e+01]
 [ 2.51650495e-01 -2.21608265e-02  9.67564430e-01  2.16127457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.6607140570001 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:823.87, Y:84.87, Z:216.14
[[ 9.41013829e-01 -2.27949888e-01 -2.50063636e-01  8.23872740e+02]
 [ 2.26262149e-01  9.73405460e-01 -3.58782850e-02  8.48650688e+01]
 [ 2.51591760e-01 -2.28179733e-02  9.67564430e-01  2.16143606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.720714057 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:823.93, Y:84.87, Z:216.16
[[ 9.40731302e-01 -2.29111171e-01 -2.50065370e-01  8.23930477e+02]
 [ 2.27466599e-01  9.73125152e-01 -3.58661973e-02  8.48740273e+01]
 [ 2.51562248e-01 -2.31410647e-02  9.67564430e-01  2.16158845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.7807140570001 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:823.99, Y:84.88, Z:216.18
[[ 9.40806535e-01 -2.28801816e-01 -2.50065576e-01  8.23989949e+02]
 [ 2.27146970e-01  9.73199863e-01 -3.58647629e-02  8.48842517e+01]
 [ 2.51569707e-01 -2.30598345e-02  9.67564430e-01  2.16175507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.840714057 meters
Centerline goodness : 0.999528 with order 1
Centerline is valid?  [True, True]
Translation: X:824.05, Y:84.89, Z:216.19
[[ 9.41150347e-01 -2.27373265e-01 -2.50074833e-01  8.24048841e+02]
 [ 2.25686281e-01  9.73542015e-01 -3.58001005e-02  8.48945829e+01]
 [ 2.51598343e-01 -2.27451822e-02  9.67564432e-01  2.16191641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.9007140570001 meters
Centerline goodness : 0.999030 with order 1
Centerline is valid?  [True, True]
Translation: X:824.11, Y:84.90, Z:216.21
[[ 9.41253161e-01 -2.26937149e-01 -2.50084022e-01  8.24107498e+02]
 [ 2.25252100e-01  9.73644927e-01 -3.57358013e-02  8.49042471e+01]
 [ 2.51602820e-01 -2.26955151e-02  9.67564434e-01  2.16207408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 851.960714057 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:824.17, Y:84.91, Z:216.22
[[ 9.41290024e-01 -2.26782712e-01 -2.50085371e-01  8.24166393e+02]
 [ 2.25094836e-01  9.73681643e-01 -3.57263589e-02  8.49145544e+01]
 [ 2.51605655e-01 -2.26640604e-02  9.67564434e-01  2.16222093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.0207140570001 meters
Centerline goodness : 0.999213 with order 1
Centerline is valid?  [True, True]
Translation: X:824.23, Y:84.92, Z:216.24
[[ 9.41281064e-01 -2.26810463e-01 -2.50093926e-01  8.24226564e+02]
 [ 2.25139348e-01  9.73673551e-01 -3.56663760e-02  8.49236488e+01]
 [ 2.51599348e-01 -2.27338990e-02  9.67564436e-01  2.16236569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.080714057 meters
Centerline goodness : 0.999434 with order 1
Centerline is valid?  [True, True]
Translation: X:824.29, Y:84.93, Z:216.25
[[ 9.41393657e-01 -2.26332655e-01 -2.50103004e-01  8.24285005e+02]
 [ 2.24661900e-01  9.73786160e-01 -3.56026057e-02  8.49341923e+01]
 [ 2.51604876e-01 -2.26725490e-02  9.67564438e-01  2.16251791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.1407140570001 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:824.34, Y:84.94, Z:216.27
[[ 9.41542496e-01 -2.25711244e-01 -2.50104304e-01  8.24344557e+02]
 [ 2.24021517e-01  9.73934015e-01 -3.55934676e-02  8.49435493e+01]
 [ 2.51618935e-01 -2.25159834e-02  9.67564438e-01  2.16269235e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.200714057 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:824.40, Y:84.95, Z:216.29
[[ 9.41391031e-01 -2.26331941e-01 -2.50113534e-01  8.24404077e+02]
 [ 2.24680688e-01  9.73784532e-01 -3.55284991e-02  8.49527556e+01]
 [ 2.51597925e-01 -2.27494704e-02  9.67564440e-01  2.16286475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.2607140570001 meters
Centerline goodness : 0.999505 with order 1
Centerline is valid?  [True, True]
Translation: X:824.46, Y:84.96, Z:216.30
[[ 9.41223681e-01 -2.27016651e-01 -2.50122816e-01  8.24463257e+02]
 [ 2.25406212e-01  9.73619234e-01 -3.54630347e-02  8.49613203e+01]
 [ 2.51575084e-01 -2.30005884e-02  9.67564442e-01  2.16300586e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.320714057 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:824.52, Y:84.97, Z:216.32
[[ 9.40704381e-01 -2.29149766e-01 -2.50131271e-01  8.24521712e+02]
 [ 2.27628511e-01  9.73104243e-01 -3.54032998e-02  8.49696166e+01]
 [ 2.51516459e-01 -2.36329695e-02  9.67564444e-01  2.16317316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.380714057 meters
Centerline goodness : 0.999414 with order 1
Centerline is valid?  [True, True]
Translation: X:824.58, Y:84.98, Z:216.33
[[ 9.40224886e-01 -2.31108211e-01 -2.50132281e-01  8.24579954e+02]
 [ 2.29656309e-01  9.72627931e-01 -3.53961662e-02  8.49771983e+01]
 [ 2.51465987e-01 -2.41641000e-02  9.67564444e-01  2.16333863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.440714057 meters
Centerline goodness : 0.999256 with order 1
Centerline is valid?  [True, True]
Translation: X:824.64, Y:84.99, Z:216.35
[[ 9.40048877e-01 -2.31822383e-01 -2.50132947e-01  8.24640025e+02]
 [ 2.30396338e-01  9.72453069e-01 -3.53914569e-02  8.49850008e+01]
 [ 2.51447084e-01 -2.43600157e-02  9.67564444e-01  2.16349734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.500714057 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:824.70, Y:84.99, Z:216.36
[[ 9.39612144e-01 -2.33576194e-01 -2.50142321e-01  8.24698237e+02]
 [ 2.32228114e-01  9.72019671e-01 -3.53250853e-02  8.49913339e+01]
 [ 2.51394355e-01 -2.48982003e-02  9.67564446e-01  2.16364417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.560714057 meters
Centerline goodness : 0.999415 with order 1
Centerline is valid?  [True, True]
Translation: X:824.76, Y:85.00, Z:216.38
[[ 9.40096529e-01 -2.31618240e-01 -2.50142974e-01  8.24756924e+02]
 [ 2.30203870e-01  9.72501231e-01 -3.53204576e-02  8.49982738e+01]
 [ 2.51445212e-01 -2.43792410e-02  9.67564446e-01  2.16379095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.620714057 meters
Centerline goodness : 0.999324 with order 1
Centerline is valid?  [True, True]
Translation: X:824.81, Y:85.01, Z:216.40
[[ 9.40816936e-01 -2.28673700e-01 -2.50143624e-01  8.24814602e+02]
 [ 2.27159093e-01  9.73217107e-01 -3.53158524e-02  8.50067199e+01]
 [ 2.51519861e-01 -2.35966467e-02  9.67564446e-01  2.16395325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.680714057 meters
Centerline goodness : 0.999395 with order 1
Centerline is valid?  [True, True]
Translation: X:824.87, Y:85.02, Z:216.41
[[ 9.42293904e-01 -2.22509248e-01 -2.50143624e-01  8.24871234e+02]
 [ 2.20782548e-01  9.74683465e-01 -3.53158524e-02  8.50150388e+01]
 [ 2.51668958e-01 -2.19494343e-02  9.67564446e-01  2.16411947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.740714057 meters
Centerline goodness : 0.999007 with order 1
Centerline is valid?  [True, True]
Translation: X:824.93, Y:85.02, Z:216.43
[[ 9.43235321e-01 -2.18484474e-01 -2.50143286e-01  8.24928731e+02]
 [ 2.16618885e-01  9.75617179e-01 -3.53182479e-02  8.50231170e+01]
 [ 2.51760576e-01 -2.08723409e-02  9.67564446e-01  2.16428818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.800714057 meters
Centerline goodness : 0.999053 with order 1
Centerline is valid?  [True, True]
Translation: X:824.99, Y:85.03, Z:216.44
[[ 9.44528010e-01 -2.12826696e-01 -2.50143229e-01  8.24986506e+02]
 [ 2.10766934e-01  9.76898097e-01 -3.53186534e-02  8.50306555e+01]
 [ 2.51881197e-01 -1.93624639e-02  9.67564446e-01  2.16444407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.860714057 meters
Centerline goodness : 0.999186 with order 1
Centerline is valid?  [True, True]
Translation: X:825.04, Y:85.04, Z:216.46
[[ 9.45588680e-01 -2.08063691e-01 -2.50143055e-01  8.25044519e+02]
 [ 2.05840490e-01  9.77947953e-01 -3.53198850e-02  8.50381895e+01]
 [ 2.51975674e-01 -1.80914855e-02  9.67564446e-01  2.16457750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.920714057 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:825.10, Y:85.05, Z:216.47
[[ 9.46275942e-01 -2.04914800e-01 -2.50143491e-01  8.25102496e+02]
 [ 2.02584704e-01  9.78627693e-01 -3.53167969e-02  8.50462499e+01]
 [ 2.52034282e-01 -1.72558098e-02  9.67564446e-01  2.16472915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 852.980714057 meters
Centerline goodness : 0.999230 with order 1
Centerline is valid?  [True, True]
Translation: X:825.16, Y:85.05, Z:216.49
[[ 9.47570380e-01 -1.98843175e-01 -2.50143491e-01  8.25160841e+02]
 [ 1.96305691e-01  9.79906526e-01 -3.53167969e-02  8.50545411e+01]
 [ 2.52139743e-01 -1.56394401e-02  9.67564446e-01  2.16489556e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.0407140570001 meters
Centerline goodness : 0.999412 with order 1
Centerline is valid?  [True, True]
Translation: X:825.22, Y:85.06, Z:216.51
[[ 9.48586516e-01 -1.93936643e-01 -2.50144359e-01  8.25218877e+02]
 [ 1.91233464e-01  9.80909232e-01 -3.53106439e-02  8.50617779e+01]
 [ 2.52216939e-01 -1.43407717e-02  9.67564446e-01  2.16505426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.100714057 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:825.28, Y:85.07, Z:216.52
[[ 9.48880458e-01 -1.92493398e-01 -2.50144297e-01  8.25277169e+02]
 [ 1.89740934e-01  9.81199014e-01 -3.53110883e-02  8.50692454e+01]
 [ 2.52238489e-01 -1.39566110e-02  9.67564446e-01  2.16521429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.1607140570001 meters
Centerline goodness : 0.998783 with order 1
Centerline is valid?  [True, True]
Translation: X:825.34, Y:85.08, Z:216.54
[[ 9.48906110e-01 -1.92365920e-01 -2.50145052e-01  8.25336163e+02]
 [ 1.89610522e-01  9.81224416e-01 -3.53057354e-02  8.50753945e+01]
 [ 2.52240053e-01 -1.39283058e-02  9.67564446e-01  2.16537493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.220714057 meters
Centerline goodness : 0.999029 with order 1
Centerline is valid?  [True, True]
Translation: X:825.40, Y:85.08, Z:216.55
[[ 9.48766435e-01 -1.93051929e-01 -2.50146365e-01  8.25395113e+02]
 [ 1.90322343e-01  9.81086932e-01 -3.52964305e-02  8.50820830e+01]
 [ 2.52229374e-01 -1.41203737e-02  9.67564446e-01  2.16552377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.2807140570001 meters
Centerline goodness : 0.998715 with order 1
Centerline is valid?  [True, True]
Translation: X:825.45, Y:85.09, Z:216.57
[[ 9.48379710e-01 -1.94941164e-01 -2.50147692e-01  8.25453807e+02]
 [ 1.92278427e-01  9.80705783e-01 -3.52870240e-02  8.50892774e+01]
 [ 2.52200182e-01 -1.46325071e-02  9.67564446e-01  2.16567228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.340714057 meters
Centerline goodness : 0.998650 with order 1
Centerline is valid?  [True, True]
Translation: X:825.51, Y:85.10, Z:216.58
[[ 9.48030158e-01 -1.96633238e-01 -2.50148334e-01  8.25513727e+02]
 [ 1.94029388e-01  9.80361027e-01 -3.52824723e-02  8.50970401e+01]
 [ 2.52173385e-01 -1.50872803e-02  9.67564447e-01  2.16582478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.4007140570001 meters
Centerline goodness : 0.998675 with order 1
Centerline is valid?  [True, True]
Translation: X:825.57, Y:85.10, Z:216.60
[[ 9.47075519e-01 -2.01169496e-01 -2.50157541e-01  8.25571348e+02]
 [ 1.98737654e-01  9.79419779e-01 -3.52170742e-02  8.51040893e+01]
 [ 2.52093845e-01 -1.63624941e-02  9.67564449e-01  2.16598472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.460714057 meters
Centerline goodness : 0.998722 with order 1
Centerline is valid?  [True, True]
Translation: X:825.63, Y:85.11, Z:216.61
[[ 9.46430257e-01 -2.04183394e-01 -2.50157770e-01  8.25629281e+02]
 [ 2.01854956e-01  9.78782125e-01 -3.52154502e-02  8.51122932e+01]
 [ 2.52040364e-01 -1.71666180e-02  9.67564449e-01  2.16613945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.5207140570001 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:825.69, Y:85.12, Z:216.63
[[ 9.45588194e-01 -2.08047763e-01 -2.50158140e-01  8.25688519e+02]
 [ 2.05852190e-01  9.77949351e-01 -3.52128204e-02  8.51196772e+01]
 [ 2.51967939e-01 -1.81987737e-02  9.67564449e-01  2.16629277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.580714057 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:825.75, Y:85.13, Z:216.64
[[ 9.44895350e-01 -2.11170612e-01 -2.50159448e-01  8.25746052e+02]
 [ 2.09084410e-01  9.77263742e-01 -3.52035288e-02  8.51274627e+01]
 [ 2.51905709e-01 -1.90407900e-02  9.67564449e-01  2.16643094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.6407140570001 meters
Centerline goodness : 0.999060 with order 1
Centerline is valid?  [True, True]
Translation: X:825.80, Y:85.14, Z:216.66
[[ 9.43914127e-01 -2.15510833e-01 -2.50162350e-01  8.25804806e+02]
 [ 2.13578841e-01  9.76292089e-01 -3.51828931e-02  8.51362958e+01]
 [ 2.51813818e-01 -2.02197551e-02  9.67564449e-01  2.16657876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.700714057 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:825.86, Y:85.15, Z:216.67
[[ 9.43422976e-01 -2.17649827e-01 -2.50163229e-01  8.25863382e+02]
 [ 2.15792877e-01  9.75805328e-01 -3.51766419e-02  8.51452564e+01]
 [ 2.51766802e-01 -2.07969907e-02  9.67564449e-01  2.16673140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.7607140570001 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:825.92, Y:85.15, Z:216.69
[[ 9.42874376e-01 -2.20004882e-01 -2.50171467e-01  8.25921424e+02]
 [ 2.18244252e-01  9.75262106e-01 -3.51179580e-02  8.51536421e+01]
 [ 2.51708874e-01 -2.14866621e-02  9.67564451e-01  2.16688725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.820714057 meters
Centerline goodness : 0.998931 with order 1
Centerline is valid?  [True, True]
Translation: X:825.98, Y:85.16, Z:216.70
[[ 9.42944309e-01 -2.19704514e-01 -2.50171855e-01  8.25979120e+02]
 [ 2.17934294e-01  9.75331516e-01 -3.51151994e-02  8.51636972e+01]
 [ 2.51715462e-01 -2.14093490e-02  9.67564451e-01  2.16704419e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.880714057 meters
Centerline goodness : 0.998789 with order 1
Centerline is valid?  [True, True]
Translation: X:826.04, Y:85.17, Z:216.72
[[ 9.43204889e-01 -2.18581702e-01 -2.50173094e-01  8.26038587e+02]
 [ 2.16775251e-01  9.75590095e-01 -3.51063633e-02  8.51740710e+01]
 [ 2.51740002e-01 -2.11188418e-02  9.67564451e-01  2.16721549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 853.940714057 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:826.10, Y:85.18, Z:216.74
[[ 9.43832737e-01 -2.15850728e-01 -2.50176395e-01  8.26095175e+02]
 [ 2.13956744e-01  9.76212941e-01 -3.50828278e-02  8.51847388e+01]
 [ 2.51798088e-01 -2.04146055e-02  9.67564451e-01  2.16735705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.000714057 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:826.15, Y:85.19, Z:216.75
[[ 9.44828067e-01 -2.11451961e-01 -2.50175922e-01  8.26152469e+02]
 [ 2.09406280e-01  9.77199042e-01 -3.50862017e-02  8.51942325e+01]
 [ 2.51890717e-01 -1.92379810e-02  9.67564451e-01  2.16747751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.060714057 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:826.21, Y:85.20, Z:216.77
[[ 9.45080513e-01 -2.10321280e-01 -2.50175507e-01  8.26210862e+02]
 [ 2.08236088e-01  9.77448967e-01 -3.50891616e-02  8.52042887e+01]
 [ 2.51913788e-01 -1.89334860e-02  9.67564451e-01  2.16766593e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.120714057 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:826.27, Y:85.21, Z:216.78
[[ 9.45536992e-01 -2.08248703e-01 -2.50184482e-01  8.26270438e+02]
 [ 2.06109420e-01  9.77901914e-01 -3.50250540e-02  8.52132834e+01]
 [ 2.51949806e-01 -1.84478943e-02  9.67564453e-01  2.16780828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.180714057 meters
Centerline goodness : 0.998783 with order 1
Centerline is valid?  [True, True]
Translation: X:826.33, Y:85.22, Z:216.80
[[ 9.46285164e-01 -2.04811218e-01 -2.50193431e-01  8.26328012e+02]
 [ 2.02571180e-01  9.78643267e-01 -3.49610163e-02  8.52220583e+01]
 [ 2.52010525e-01 -1.75988875e-02  9.67564455e-01  2.16796195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.240714057 meters
Centerline goodness : 0.998330 with order 1
Centerline is valid?  [True, True]
Translation: X:826.39, Y:85.23, Z:216.81
[[ 9.46994760e-01 -2.01504286e-01 -2.50193820e-01  8.26385723e+02]
 [ 1.99151958e-01  9.79344893e-01 -3.49582285e-02  8.52320899e+01]
 [ 2.52070273e-01 -1.67213299e-02  9.67564455e-01  2.16812406e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.300714057 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:826.44, Y:85.24, Z:216.83
[[ 9.47321752e-01 -1.99960338e-01 -2.50194648e-01  8.26443713e+02]
 [ 1.97556837e-01  9.79668124e-01 -3.49523078e-02  8.52410770e+01]
 [ 2.52096796e-01 -1.63165817e-02  9.67564455e-01  2.16828200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.360714057 meters
Centerline goodness : 0.998417 with order 1
Centerline is valid?  [True, True]
Translation: X:826.50, Y:85.25, Z:216.84
[[ 9.47349787e-01 -1.99825868e-01 -2.50195932e-01  8.26502404e+02]
 [ 1.97420193e-01  9.79695997e-01 -3.49431128e-02  8.52499022e+01]
 [ 2.52098491e-01 -1.62903788e-02  9.67564455e-01  2.16844221e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.420714057 meters
Centerline goodness : 0.998552 with order 1
Centerline is valid?  [True, True]
Translation: X:826.56, Y:85.26, Z:216.86
[[ 9.47150137e-01 -2.00768491e-01 -2.50197186e-01  8.26562456e+02]
 [ 1.98397369e-01  9.79498898e-01 -3.49341282e-02  8.52583859e+01]
 [ 2.52081540e-01 -1.65505991e-02  9.67564455e-01  2.16859946e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.480714057 meters
Centerline goodness : 0.998438 with order 1
Centerline is valid?  [True, True]
Translation: X:826.62, Y:85.27, Z:216.88
[[ 9.46744719e-01 -2.02667836e-01 -2.50200290e-01  8.26620587e+02]
 [ 2.00367453e-01  9.79098588e-01 -3.49118872e-02  8.52666291e+01]
 [ 2.52046267e-01 -1.70793498e-02  9.67564455e-01  2.16875076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.5407140570001 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:826.68, Y:85.28, Z:216.89
[[ 9.45967466e-01 -2.06260103e-01 -2.50204564e-01  8.26678697e+02]
 [ 2.04090613e-01  9.78330374e-01 -3.48812314e-02  8.52756090e+01]
 [ 2.51977331e-01 -1.80678928e-02  9.67564456e-01  2.16892654e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.600714057 meters
Centerline goodness : 0.998983 with order 1
Centerline is valid?  [True, True]
Translation: X:826.74, Y:85.28, Z:216.91
[[ 9.45193957e-01 -2.09774992e-01 -2.50205588e-01  8.26736254e+02]
 [ 2.07727751e-01  9.77564829e-01 -3.48738789e-02  8.52839749e+01]
 [ 2.51907851e-01 -1.90120646e-02  9.67564456e-01  2.16908954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.6607140570001 meters
Centerline goodness : 0.998869 with order 1
Centerline is valid?  [True, True]
Translation: X:826.79, Y:85.29, Z:216.92
[[ 9.44420160e-01 -2.13231198e-01 -2.50205950e-01  8.26793043e+02]
 [ 2.11303068e-01  9.76798345e-01 -3.48712873e-02  8.52927487e+01]
 [ 2.51836404e-01 -1.99361381e-02  9.67564456e-01  2.16923508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.720714057 meters
Centerline goodness : 0.998715 with order 1
Centerline is valid?  [True, True]
Translation: X:826.85, Y:85.30, Z:216.94
[[ 9.44059775e-01 -2.14821627e-01 -2.50205536e-01  8.26850807e+02]
 [ 2.12947255e-01  9.76441116e-01 -3.48742540e-02  8.53013213e+01]
 [ 2.51802717e-01 -2.03572019e-02  9.67564456e-01  2.16936892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.7807140570001 meters
Centerline goodness : 0.998551 with order 1
Centerline is valid?  [True, True]
Translation: X:826.91, Y:85.31, Z:216.95
[[ 9.43533320e-01 -2.17122590e-01 -2.50205226e-01  8.26910330e+02]
 [ 2.15326583e-01  9.75919102e-01 -3.48764762e-02  8.53094471e+01]
 [ 2.51752531e-01 -2.09687192e-02  9.67564456e-01  2.16950506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.840714057 meters
Centerline goodness : 0.999028 with order 1
Centerline is valid?  [True, True]
Translation: X:826.97, Y:85.32, Z:216.96
[[ 9.43059681e-01 -2.19169265e-01 -2.50206459e-01  8.26969341e+02]
 [ 2.17445860e-01  9.75449407e-01 -3.48676320e-02  8.53177975e+01]
 [ 2.51705655e-01 -2.15241006e-02  9.67564456e-01  2.16964430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.9007140570001 meters
Centerline goodness : 0.998692 with order 1
Centerline is valid?  [True, True]
Translation: X:827.03, Y:85.33, Z:216.98
[[ 9.42886088e-01 -2.19913885e-01 -2.50207330e-01  8.27029225e+02]
 [ 2.18217703e-01  9.75277252e-01 -3.48613811e-02  8.53267398e+01]
 [ 2.51688019e-01 -2.17293576e-02  9.67564456e-01  2.16978664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 854.960714057 meters
Centerline goodness : 0.998664 with order 1
Centerline is valid?  [True, True]
Translation: X:827.09, Y:85.34, Z:216.99
[[ 9.42870358e-01 -2.19978548e-01 -2.50209763e-01  8.27087096e+02]
 [ 2.18289189e-01  9.75261879e-01 -3.48439087e-02  8.53361845e+01]
 [ 2.51684956e-01 -2.17647976e-02  9.67564456e-01  2.16991242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.0207140570001 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:827.15, Y:85.35, Z:217.01
[[ 9.43124059e-01 -2.18888292e-01 -2.50209763e-01  8.27146258e+02]
 [ 2.17161484e-01  9.75513604e-01 -3.48439087e-02  8.53453389e+01]
 [ 2.51709951e-01 -2.14737949e-02  9.67564456e-01  2.17006792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.080714057 meters
Centerline goodness : 0.998571 with order 1
Centerline is valid?  [True, True]
Translation: X:827.20, Y:85.36, Z:217.02
[[ 9.43723660e-01 -2.16285829e-01 -2.50212098e-01  8.27203026e+02]
 [ 2.14474097e-01  9.76108566e-01 -3.48271355e-02  8.53555769e+01]
 [ 2.51766788e-01 -2.07968220e-02  9.67564456e-01  2.17024188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.1407140570001 meters
Centerline goodness : 0.998567 with order 1
Centerline is valid?  [True, True]
Translation: X:827.26, Y:85.37, Z:217.04
[[ 9.44509312e-01 -2.12828690e-01 -2.50212126e-01  8.27260250e+02]
 [ 2.10898439e-01  9.76887370e-01 -3.48269304e-02  8.53653265e+01]
 [ 2.51841236e-01 -1.98749867e-02  9.67564456e-01  2.17040844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.200714057 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:827.32, Y:85.38, Z:217.06
[[ 9.45436641e-01 -2.08670544e-01 -2.50212234e-01  8.27318051e+02]
 [ 2.06598043e-01  9.77805905e-01 -3.48261560e-02  8.53756835e+01]
 [ 2.51926193e-01 -1.87674338e-02  9.67564456e-01  2.17055770e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.2607140570001 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:827.38, Y:85.39, Z:217.07
[[ 9.45986965e-01 -2.06161045e-01 -2.50212481e-01  8.27375901e+02]
 [ 2.04003124e-01  9.78350647e-01 -3.48243847e-02  8.53853364e+01]
 [ 2.51974974e-01 -1.81007138e-02  9.67564456e-01  2.17070774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.320714057 meters
Centerline goodness : 0.998603 with order 1
Centerline is valid?  [True, True]
Translation: X:827.43, Y:85.40, Z:217.08
[[ 9.47017824e-01 -2.01371896e-01 -2.50213111e-01  8.27432734e+02]
 [ 1.99051439e-01  9.79370258e-01 -3.48198571e-02  8.53956611e+01]
 [ 2.52063019e-01 -1.68302545e-02  9.67564456e-01  2.17084986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.380714057 meters
Centerline goodness : 0.998556 with order 1
Centerline is valid?  [True, True]
Translation: X:827.49, Y:85.41, Z:217.10
[[ 9.47767309e-01 -1.97815192e-01 -2.50212464e-01  8.27491011e+02]
 [ 1.95372073e-01  9.80110712e-01 -3.48245053e-02  8.54052583e+01]
 [ 2.52124732e-01 -1.58790000e-02  9.67564456e-01  2.17100428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.440714057 meters
Centerline goodness : 0.998745 with order 1
Centerline is valid?  [True, True]
Translation: X:827.55, Y:85.41, Z:217.12
[[ 9.48774779e-01 -1.92925140e-01 -2.50212529e-01  8.27548931e+02]
 [ 1.90315388e-01  9.81105162e-01 -3.48240391e-02  8.54148585e+01]
 [ 2.52203236e-01 -1.45791244e-02  9.67564456e-01  2.17116340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.500714057 meters
Centerline goodness : 0.998810 with order 1
Centerline is valid?  [True, True]
Translation: X:827.61, Y:85.42, Z:217.13
[[ 9.49310248e-01 -1.90272768e-01 -2.50212562e-01  8.27606577e+02]
 [ 1.87572733e-01  9.81633217e-01 -3.48237994e-02  8.54237154e+01]
 [ 2.52242983e-01 -1.38744644e-02  9.67564456e-01  2.17132792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.560714057 meters
Centerline goodness : 0.998649 with order 1
Centerline is valid?  [True, True]
Translation: X:827.66, Y:85.43, Z:217.15
[[ 9.49789768e-01 -1.87864501e-01 -2.50212562e-01  8.27664501e+02]
 [ 1.85082497e-01  9.82105785e-01 -3.48237994e-02  8.54325817e+01]
 [ 2.52277360e-01 -1.32346774e-02  9.67564456e-01  2.17149570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.620714057 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:827.72, Y:85.44, Z:217.17
[[ 9.50059538e-01 -1.86493719e-01 -2.50213843e-01  8.27724096e+02]
 [ 1.83667502e-01  9.82371718e-01 -3.48145923e-02  8.54405618e+01]
 [ 2.52295706e-01 -1.28802160e-02  9.67564456e-01  2.17167867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.680714057 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:827.78, Y:85.45, Z:217.18
[[ 9.50390267e-01 -1.84796609e-01 -2.50217015e-01  8.27784326e+02]
 [ 1.81918677e-01  9.82697882e-01 -3.47917827e-02  8.54459768e+01]
 [ 2.52317134e-01 -1.24533767e-02  9.67564456e-01  2.17184124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.740714057 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:827.84, Y:85.45, Z:217.20
[[ 9.50727298e-01 -1.83042488e-01 -2.50226003e-01  8.27844648e+02]
 [ 1.80121947e-01  9.83031087e-01 -3.47270220e-02  8.54524377e+01]
 [ 2.52336460e-01 -1.20552670e-02  9.67564459e-01  2.17200233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.800714057 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:827.90, Y:85.46, Z:217.22
[[ 9.51033231e-01 -1.81439572e-01 -2.50230845e-01  8.27903285e+02]
 [ 1.78473748e-01  9.83332893e-01 -3.46920995e-02  8.54582852e+01]
 [ 2.52354740e-01 -1.16662974e-02  9.67564459e-01  2.17215386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.860714057 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:827.96, Y:85.46, Z:217.23
[[ 9.51570374e-01 -1.78601018e-01 -2.50230895e-01  8.27963011e+02]
 [ 1.75538925e-01  9.83861052e-01 -3.46917398e-02  8.54630294e+01]
 [ 2.52388411e-01 -1.09136304e-02  9.67564459e-01  2.17231980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.920714057 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:828.02, Y:85.47, Z:217.25
[[ 9.52219033e-01 -1.75106090e-01 -2.50233431e-01  8.28022255e+02]
 [ 1.71930263e-01  9.84498724e-01 -3.46734392e-02  8.54668310e+01]
 [ 2.52426023e-01 -1.00059908e-02  9.67564459e-01  2.17247228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 855.980714057 meters
Centerline goodness : 0.998226 with order 1
Centerline is valid?  [True, True]
Translation: X:828.08, Y:85.47, Z:217.26
[[ 9.52676050e-01 -1.72601450e-01 -2.50234059e-01  8.28081023e+02]
 [ 1.69341938e-01  9.84947397e-01 -3.46689021e-02  8.54719428e+01]
 [ 2.52451288e-01 -9.34688777e-03  9.67564459e-01  2.17260766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.0407140570001 meters
Centerline goodness : 0.998863 with order 1
Centerline is valid?  [True, True]
Translation: X:828.14, Y:85.48, Z:217.28
[[ 9.53199341e-01 -1.69686823e-01 -2.50234686e-01  8.28141935e+02]
 [ 1.66329810e-01  9.85460692e-01 -3.46643760e-02  8.54756916e+01]
 [ 2.52478535e-01 -8.57942743e-03  9.67564459e-01  2.17275765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.100714057 meters
Centerline goodness : 0.998868 with order 1
Centerline is valid?  [True, True]
Translation: X:828.20, Y:85.48, Z:217.29
[[ 9.53356610e-01 -1.68787664e-01 -2.50243678e-01  8.28200759e+02]
 [ 1.65417272e-01  9.85616564e-01 -3.45993441e-02  8.54794367e+01]
 [ 2.52484257e-01 -8.40911319e-03  9.67564461e-01  2.17291421e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.1607140570001 meters
Centerline goodness : 0.998734 with order 1
Centerline is valid?  [True, True]
Translation: X:828.26, Y:85.48, Z:217.31
[[ 9.53362468e-01 -1.68753630e-01 -2.50244315e-01  8.28261296e+02]
 [ 1.65383295e-01  9.85622428e-01 -3.45947366e-02  8.54837240e+01]
 [ 2.52484397e-01 -8.40490588e-03  9.67564461e-01  2.17307227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.220714057 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:828.32, Y:85.49, Z:217.32
[[ 9.53160750e-01 -1.69885515e-01 -2.50246873e-01  8.28322232e+02]
 [ 1.66558341e-01  9.85425189e-01 -3.45762272e-02  8.54855072e+01]
 [ 2.52473572e-01 -8.72400140e-03  9.67564462e-01  2.17323259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.2807140570001 meters
Centerline goodness : 0.998650 with order 1
Centerline is valid?  [True, True]
Translation: X:828.38, Y:85.49, Z:217.34
[[ 9.53005221e-01 -1.70751134e-01 -2.50250075e-01  8.28381202e+02]
 [ 1.67459347e-01  9.85273289e-01 -3.45530370e-02  8.54915044e+01]
 [ 2.52464684e-01 -8.97748936e-03  9.67564462e-01  2.17339327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.340714057 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:828.44, Y:85.49, Z:217.36
[[ 9.52824024e-01 -1.71757502e-01 -2.50251354e-01  8.28441481e+02]
 [ 1.68502225e-01  9.85095796e-01 -3.45437704e-02  8.54949554e+01]
 [ 2.52454708e-01 -9.25377561e-03  9.67564462e-01  2.17355522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.4007140570001 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:828.50, Y:85.50, Z:217.37
[[ 9.52476651e-01 -1.73669843e-01 -2.50253899e-01  8.28499791e+02]
 [ 1.70484195e-01  9.84755371e-01 -3.45253186e-02  8.54957638e+01]
 [ 2.52434878e-01 -9.77977484e-03  9.67564462e-01  2.17371163e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.460714057 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:828.56, Y:85.50, Z:217.39
[[ 9.51918198e-01 -1.76701364e-01 -2.50256613e-01  8.28560521e+02]
 [ 1.73623662e-01  9.84207389e-01 -3.45056391e-02  8.54959536e+01]
 [ 2.52401601e-01 -1.06039238e-02  9.67564462e-01  2.17385688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.5207140570001 meters
Centerline goodness : 0.998887 with order 1
Centerline is valid?  [True, True]
Translation: X:828.62, Y:85.50, Z:217.40
[[ 9.51313504e-01 -1.79924940e-01 -2.50259130e-01  8.28618870e+02]
 [ 1.76961430e-01  9.83613376e-01 -3.44873708e-02  8.54996494e+01]
 [ 2.52363366e-01 -1.14779120e-02  9.67564462e-01  2.17400183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.580714057 meters
Centerline goodness : 0.998710 with order 1
Centerline is valid?  [True, True]
Translation: X:828.68, Y:85.50, Z:217.41
[[ 9.50642617e-01 -1.83435945e-01 -2.50259601e-01  8.28678431e+02]
 [ 1.80592603e-01  9.82953289e-01 -3.44839535e-02  8.55008099e+01]
 [ 2.52319095e-01 -1.24131170e-02  9.67564462e-01  2.17413599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.6407140570001 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:828.74, Y:85.51, Z:217.43
[[ 9.50312142e-01 -1.85134588e-01 -2.50263895e-01  8.28737639e+02]
 [ 1.82357186e-01  9.82628548e-01 -3.44527659e-02  8.55052954e+01]
 [ 2.52294846e-01 -1.28965379e-02  9.67564463e-01  2.17430735e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.700714057 meters
Centerline goodness : 0.998739 with order 1
Centerline is valid?  [True, True]
Translation: X:828.80, Y:85.51, Z:217.45
[[ 9.49897343e-01 -1.87248672e-01 -2.50265805e-01  8.28796743e+02]
 [ 1.84546830e-01  9.82220154e-01 -3.44388891e-02  8.55097929e+01]
 [ 2.52264753e-01 -1.34723516e-02  9.67564463e-01  2.17446540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.7607140570001 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:828.86, Y:85.51, Z:217.46
[[ 9.49168102e-01 -1.90909364e-01 -2.50266914e-01  8.28856172e+02]
 [ 1.88334273e-01  9.81501258e-01 -3.44308230e-02  8.55142936e+01]
 [ 2.52210458e-01 -1.44531985e-02  9.67564463e-01  2.17461322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.820714057 meters
Centerline goodness : 0.998519 with order 1
Centerline is valid?  [True, True]
Translation: X:828.92, Y:85.52, Z:217.48
[[ 9.48403982e-01 -1.94667450e-01 -2.50268796e-01  8.28915132e+02]
 [ 1.92224046e-01  9.80747356e-01 -3.44171388e-02  8.55198611e+01]
 [ 2.52150357e-01 -1.54663291e-02  9.67564463e-01  2.17476658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.880714057 meters
Centerline goodness : 0.998790 with order 1
Centerline is valid?  [True, True]
Translation: X:828.97, Y:85.52, Z:217.49
[[ 9.47150926e-01 -2.00674661e-01 -2.50269462e-01  8.28973470e+02]
 [ 1.98437577e-01  9.79509225e-01 -3.44122987e-02  8.55248036e+01]
 [ 2.52046923e-01 -1.70692249e-02  9.67564463e-01  2.17492534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 856.940714057 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:829.03, Y:85.53, Z:217.51
[[ 9.46503198e-01 -2.03707429e-01 -2.50269813e-01  8.29032856e+02]
 [ 2.01574675e-01  9.78868541e-01 -3.44097416e-02  8.55314182e+01]
 [ 2.51990767e-01 -1.78791257e-02  9.67564463e-01  2.17507412e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.000714057 meters
Centerline goodness : 0.998417 with order 1
Centerline is valid?  [True, True]
Translation: X:829.09, Y:85.54, Z:217.52
[[ 9.45850337e-01 -2.06715387e-01 -2.50271632e-01  8.29091153e+02]
 [ 2.04689016e-01  9.78222514e-01 -3.43965104e-02  8.55382367e+01]
 [ 2.51931633e-01 -1.86939030e-02  9.67564463e-01  2.17523203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.060714057 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:829.15, Y:85.55, Z:217.54
[[ 9.45535906e-01 -2.08147440e-01 -2.50272837e-01  8.29150685e+02]
 [ 2.06172400e-01  9.77911256e-01 -3.43877414e-02  8.55465815e+01]
 [ 2.51902344e-01 -1.90845072e-02  9.67564463e-01  2.17539326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.120714057 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:829.21, Y:85.56, Z:217.55
[[ 9.44869398e-01 -2.11149322e-01 -2.50275416e-01  8.29209156e+02]
 [ 2.09282058e-01  9.77251142e-01 -3.43689553e-02  8.55552563e+01]
 [ 2.51838918e-01 -1.99039801e-02  9.67564463e-01  2.17553891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.180714057 meters
Centerline goodness : 0.998766 with order 1
Centerline is valid?  [True, True]
Translation: X:829.27, Y:85.56, Z:217.57
[[ 9.44214413e-01 -2.14059114e-01 -2.50275523e-01  8.29267662e+02]
 [ 2.12291819e-01  9.76601767e-01 -3.43681772e-02  8.55639373e+01]
 [ 2.51776340e-01 -2.06805178e-02  9.67564463e-01  2.17568541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.240714057 meters
Centerline goodness : 0.998458 with order 1
Centerline is valid?  [True, True]
Translation: X:829.33, Y:85.57, Z:217.58
[[ 9.43818459e-01 -2.15797773e-01 -2.50275922e-01  8.29327150e+02]
 [ 2.14090895e-01  9.76209054e-01 -3.43652757e-02  8.55721690e+01]
 [ 2.51737571e-01 -2.11472145e-02  9.67564463e-01  2.17584061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.300714057 meters
Centerline goodness : 0.999007 with order 1
Centerline is valid?  [True, True]
Translation: X:829.39, Y:85.58, Z:217.60
[[ 9.43602708e-01 -2.16736345e-01 -2.50278416e-01  8.29385290e+02]
 [ 2.15066467e-01  9.75995231e-01 -3.43471021e-02  8.55814726e+01]
 [ 2.51714806e-01 -2.14164761e-02  9.67564464e-01  2.17601367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.360714057 meters
Centerline goodness : 0.999098 with order 1
Centerline is valid?  [True, True]
Translation: X:829.44, Y:85.59, Z:217.62
[[ 9.43937671e-01 -2.15271327e-01 -2.50279702e-01  8.29444312e+02]
 [ 2.13553636e-01  9.76327693e-01 -3.43377288e-02  8.55905828e+01]
 [ 2.51746932e-01 -2.10354646e-02  9.67564464e-01  2.17616219e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.420714057 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:829.50, Y:85.60, Z:217.63
[[ 9.44256606e-01 -2.13862092e-01 -2.50284774e-01  8.29502912e+02]
 [ 2.12105798e-01  9.76644557e-01 -3.43007166e-02  8.55991889e+01]
 [ 2.51774886e-01 -2.06981735e-02  9.67564464e-01  2.17631690e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.480714057 meters
Centerline goodness : 0.999256 with order 1
Centerline is valid?  [True, True]
Translation: X:829.56, Y:85.61, Z:217.65
[[ 9.44860380e-01 -2.11177852e-01 -2.50285390e-01  8.29561463e+02]
 [ 2.09330709e-01  9.77243278e-01 -3.42962208e-02  8.56082378e+01]
 [ 2.51832317e-01 -1.99872780e-02  9.67564464e-01  2.17647319e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.5407140570001 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:829.62, Y:85.62, Z:217.66
[[ 9.45341325e-01 -2.09012898e-01 -2.50286610e-01  8.29619821e+02]
 [ 2.07093924e-01  9.77720045e-01 -3.42873174e-02  8.56172193e+01]
 [ 2.51876727e-01 -1.94196180e-02  9.67564464e-01  2.17662461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.600714057 meters
Centerline goodness : 0.999029 with order 1
Centerline is valid?  [True, True]
Translation: X:829.68, Y:85.63, Z:217.68
[[ 9.46152241e-01 -2.05310145e-01 -2.50287198e-01  8.29677577e+02]
 [ 2.03265547e-01  9.78523271e-01 -3.42830240e-02  8.56267592e+01]
 [ 2.51950500e-01 -1.84378042e-02  9.67564464e-01  2.17678915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.6607140570001 meters
Centerline goodness : 0.998831 with order 1
Centerline is valid?  [True, True]
Translation: X:829.73, Y:85.64, Z:217.69
[[ 9.46970428e-01 -2.01502631e-01 -2.50287231e-01  8.29734233e+02]
 [ 1.99327901e-01  9.79332976e-01 -3.42827874e-02  8.56380384e+01]
 [ 2.52022610e-01 -1.74244424e-02  9.67564464e-01  2.17693922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.720714057 meters
Centerline goodness : 0.998938 with order 1
Centerline is valid?  [True, True]
Translation: X:829.79, Y:85.65, Z:217.71
[[ 9.47412267e-01 -1.99414891e-01 -2.50287231e-01  8.29792611e+02]
 [ 1.97168835e-01  9.79769943e-01 -3.42827874e-02  8.56478872e+01]
 [ 2.52060404e-01 -1.68689084e-02  9.67564464e-01  2.17709976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.7807140570001 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:829.85, Y:85.66, Z:217.72
[[ 9.47560008e-01 -1.98710114e-01 -2.50288476e-01  8.29850205e+02]
 [ 1.96442381e-01  9.79916172e-01 -3.42736926e-02  8.56580397e+01]
 [ 2.52072255e-01 -1.66908837e-02  9.67564464e-01  2.17724456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.840714057 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:829.91, Y:85.67, Z:217.74
[[ 9.47288712e-01 -1.99999436e-01 -2.50288476e-01  8.29908830e+02]
 [ 1.97775737e-01  9.79647933e-01 -3.42736926e-02  8.56676687e+01]
 [ 2.52049307e-01 -1.70339058e-02  9.67564464e-01  2.17739389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.9007140570001 meters
Centerline goodness : 0.998538 with order 1
Centerline is valid?  [True, True]
Translation: X:829.97, Y:85.68, Z:217.76
[[ 9.46448424e-01 -2.03937427e-01 -2.50289645e-01  8.29966674e+02]
 [ 2.01850574e-01  9.78816758e-01 -3.42651520e-02  8.56772904e+01]
 [ 2.51975646e-01 -1.80909095e-02  9.67564464e-01  2.17755523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 857.960714057 meters
Centerline goodness : 0.998802 with order 1
Centerline is valid?  [True, True]
Translation: X:830.03, Y:85.69, Z:217.77
[[ 9.46092979e-01 -2.05579836e-01 -2.50289843e-01  8.30025036e+02]
 [ 2.03549548e-01  9.78464910e-01 -3.42637058e-02  8.56866696e+01]
 [ 2.51943756e-01 -1.85297330e-02  9.67564464e-01  2.17771798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.0207140570001 meters
Centerline goodness : 0.998935 with order 1
Centerline is valid?  [True, True]
Translation: X:830.08, Y:85.70, Z:217.79
[[ 9.46081143e-01 -2.05632802e-01 -2.50291072e-01  8.30084528e+02]
 [ 2.03606689e-01  9.78453336e-01 -3.42547252e-02  8.56964251e+01]
 [ 2.51942030e-01 -1.85531870e-02  9.67564465e-01  2.17788140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.080714057 meters
Centerline goodness : 0.999001 with order 1
Centerline is valid?  [True, True]
Translation: X:830.14, Y:85.71, Z:217.80
[[ 9.46360584e-01 -2.04339861e-01 -2.50293559e-01  8.30143284e+02]
 [ 2.02274299e-01  9.78730283e-01 -3.42365430e-02  8.57077826e+01]
 [ 2.51965777e-01 -1.82278396e-02  9.67564465e-01  2.17803860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.1407140570001 meters
Centerline goodness : 0.999133 with order 1
Centerline is valid?  [True, True]
Translation: X:830.20, Y:85.72, Z:217.82
[[ 9.46764712e-01 -2.02455765e-01 -2.50296309e-01  8.30200593e+02]
 [ 2.00331068e-01  9.79130583e-01 -3.42164285e-02  8.57198578e+01]
 [ 2.52000084e-01 -1.77472198e-02  9.67564465e-01  2.17819048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.200714057 meters
Centerline goodness : 0.999157 with order 1
Centerline is valid?  [True, True]
Translation: X:830.26, Y:85.73, Z:217.83
[[ 9.46812701e-01 -2.02231004e-01 -2.50296485e-01  8.30259116e+02]
 [ 2.00098961e-01  9.79178089e-01 -3.42151462e-02  8.57296056e+01]
 [ 2.52004197e-01 -1.76887314e-02  9.67564465e-01  2.17833978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.2607140570001 meters
Centerline goodness : 0.999003 with order 1
Centerline is valid?  [True, True]
Translation: X:830.32, Y:85.74, Z:217.85
[[ 9.47084037e-01 -2.00954165e-01 -2.50298324e-01  8.30317148e+02]
 [ 1.98782023e-01  9.79446758e-01 -3.42016828e-02  8.57408497e+01]
 [ 2.52026853e-01 -1.73629396e-02  9.67564465e-01  2.17849534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.320714057 meters
Centerline goodness : 0.999466 with order 1
Centerline is valid?  [True, True]
Translation: X:830.38, Y:85.75, Z:217.86
[[ 9.47134608e-01 -2.00714768e-01 -2.50299055e-01  8.30376333e+02]
 [ 1.98535853e-01  9.79496874e-01 -3.41963339e-02  8.57507071e+01]
 [ 2.52030851e-01 -1.73048051e-02  9.67564465e-01  2.17864869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.380714057 meters
Centerline goodness : 0.999239 with order 1
Centerline is valid?  [True, True]
Translation: X:830.43, Y:85.76, Z:217.88
[[ 9.47316431e-01 -1.99852549e-01 -2.50300896e-01  8.30434843e+02]
 [ 1.97647722e-01  9.79676942e-01 -3.41828532e-02  8.57630679e+01]
 [ 2.52045547e-01 -1.70894235e-02  9.67564465e-01  2.17881260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.440714057 meters
Centerline goodness : 0.999284 with order 1
Centerline is valid?  [True, True]
Translation: X:830.49, Y:85.77, Z:217.90
[[ 9.47352330e-01 -1.99679167e-01 -2.50303404e-01  8.30493885e+02]
 [ 1.97473249e-01  9.79712766e-01 -3.41644826e-02  8.57733850e+01]
 [ 2.52047375e-01 -1.70624243e-02  9.67564465e-01  2.17896065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.500714057 meters
Centerline goodness : 0.999508 with order 1
Centerline is valid?  [True, True]
Translation: X:830.55, Y:85.78, Z:217.91
[[ 9.47284859e-01 -1.99995920e-01 -2.50305871e-01  8.30553283e+02]
 [ 1.97805579e-01  9.79646353e-01 -3.41463985e-02  8.57835737e+01]
 [ 2.52040374e-01 -1.71655313e-02  9.67564465e-01  2.17913703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.560714057 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:830.61, Y:85.79, Z:217.93
[[ 9.47029205e-01 -2.01199062e-01 -2.50309055e-01  8.30611199e+02]
 [ 1.99055973e-01  9.79393862e-01 -3.41230429e-02  8.57944380e+01]
 [ 2.52016676e-01 -1.75099942e-02  9.67564466e-01  2.17928636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.620714057 meters
Centerline goodness : 0.998879 with order 1
Centerline is valid?  [True, True]
Translation: X:830.67, Y:85.80, Z:217.94
[[ 9.46749102e-01 -2.02504470e-01 -2.50315956e-01  8.30669329e+02]
 [ 2.00419337e-01  9.79117544e-01 -3.40723445e-02  8.58038670e+01]
 [ 2.51988546e-01 -1.79101964e-02  9.67564467e-01  2.17943206e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.680714057 meters
Centerline goodness : 0.999125 with order 1
Centerline is valid?  [True, True]
Translation: X:830.73, Y:85.81, Z:217.96
[[ 9.46514990e-01 -2.03595718e-01 -2.50316116e-01  8.30728609e+02]
 [ 2.01548209e-01  9.78885833e-01 -3.40711710e-02  8.58149847e+01]
 [ 2.51967644e-01 -1.82018907e-02  9.67564467e-01  2.17958729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.740714057 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:830.79, Y:85.82, Z:217.98
[[ 9.46532717e-01 -2.03510244e-01 -2.50318588e-01  8.30787279e+02]
 [ 2.01464593e-01  9.78903678e-01 -3.40529964e-02  8.58249379e+01]
 [ 2.51967920e-01 -1.81980573e-02  9.67564467e-01  2.17975109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.800714057 meters
Centerline goodness : 0.998944 with order 1
Centerline is valid?  [True, True]
Translation: X:830.85, Y:85.84, Z:217.99
[[ 9.46534307e-01 -2.03500576e-01 -2.50320436e-01  8.30845624e+02]
 [ 2.01458168e-01  9.78905473e-01 -3.40394105e-02  8.58364828e+01]
 [ 2.51967084e-01 -1.82096266e-02  9.67564467e-01  2.17991712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.860714057 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:830.90, Y:85.85, Z:218.01
[[ 9.46550014e-01 -2.03424494e-01 -2.50322885e-01  8.30903836e+02]
 [ 2.01384225e-01  9.78921314e-01 -3.40213881e-02  8.58462622e+01]
 [ 2.51967191e-01 -1.82081348e-02  9.67564467e-01  2.18007490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.920714057 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:830.96, Y:85.86, Z:218.02
[[ 9.46277359e-01 -2.04688297e-01 -2.50323512e-01  8.30963304e+02]
 [ 2.02692471e-01  9.78651430e-01 -3.40167736e-02  8.58567779e+01]
 [ 2.51942299e-01 -1.85493885e-02  9.67564467e-01  2.18022991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 858.980714057 meters
Centerline goodness : 0.998966 with order 1
Centerline is valid?  [True, True]
Translation: X:831.02, Y:85.87, Z:218.04
[[ 9.45486990e-01 -2.08305596e-01 -2.50326050e-01  8.31021319e+02]
 [ 2.06438507e-01  9.77868740e-01 -3.39980894e-02  8.58668247e+01]
 [ 2.51868011e-01 -1.95321849e-02  9.67564468e-01  2.18037975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.0407140570001 meters
Centerline goodness : 0.998780 with order 1
Centerline is valid?  [True, True]
Translation: X:831.08, Y:85.88, Z:218.05
[[ 9.44776630e-01 -2.11503346e-01 -2.50326694e-01  8.31079556e+02]
 [ 2.09747078e-01  9.77164580e-01 -3.39933435e-02  8.58755083e+01]
 [ 2.51800085e-01 -2.03891761e-02  9.67564468e-01  2.18052731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.100714057 meters
Centerline goodness : 0.998420 with order 1
Centerline is valid?  [True, True]
Translation: X:831.14, Y:85.88, Z:218.07
[[ 9.43786931e-01 -2.15876445e-01 -2.50326963e-01  8.31137941e+02]
 [ 2.14270710e-01  9.76182693e-01 -3.39913605e-02  8.58847807e+01]
 [ 2.51702783e-01 -2.15571343e-02  9.67564468e-01  2.18066517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.1607140570001 meters
Centerline goodness : 0.998890 with order 1
Centerline is valid?  [True, True]
Translation: X:831.20, Y:85.89, Z:218.08
[[ 9.43368131e-01 -2.17698957e-01 -2.50327255e-01  8.31195805e+02]
 [ 2.16156361e-01  9.75766960e-01 -3.39892168e-02  8.58944249e+01]
 [ 2.51660481e-01 -2.20454846e-02  9.67564468e-01  2.18079139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.220714057 meters
Centerline goodness : 0.998890 with order 1
Centerline is valid?  [True, True]
Translation: X:831.25, Y:85.91, Z:218.10
[[ 9.43343117e-01 -2.17807320e-01 -2.50327255e-01  8.31254380e+02]
 [ 2.16268445e-01  9.75742124e-01 -3.39892169e-02  8.59055296e+01]
 [ 2.51657947e-01 -2.20743924e-02  9.67564468e-01  2.18097191e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.2807140570001 meters
Centerline goodness : 0.998756 with order 1
Centerline is valid?  [True, True]
Translation: X:831.31, Y:85.92, Z:218.11
[[ 9.43575440e-01 -2.16788452e-01 -2.50336087e-01  8.31311845e+02]
 [ 2.15231749e-01  9.75973593e-01 -3.39240419e-02  8.59156824e+01]
 [ 2.51675751e-01 -2.18703811e-02  9.67564470e-01  2.18113297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.340714057 meters
Centerline goodness : 0.998285 with order 1
Centerline is valid?  [True, True]
Translation: X:831.37, Y:85.93, Z:218.13
[[ 9.44064569e-01 -2.14648394e-01 -2.50336087e-01  8.31371973e+02]
 [ 2.13018235e-01  9.76459109e-01 -3.39240419e-02  8.59273447e+01]
 [ 2.51724694e-01 -2.12996653e-02  9.67564470e-01  2.18130302e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.4007140570001 meters
Centerline goodness : 0.998591 with order 1
Centerline is valid?  [True, True]
Translation: X:831.43, Y:85.94, Z:218.15
[[ 9.44573281e-01 -2.12386927e-01 -2.50345983e-01  8.31429591e+02]
 [ 2.10698455e-01  9.76964831e-01 -3.38508619e-02  8.59378304e+01]
 [ 2.51768701e-01 -2.07728921e-02  9.67564472e-01  2.18146188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.460714057 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:831.49, Y:85.95, Z:218.16
[[ 9.44655339e-01 -2.12021678e-01 -2.50345959e-01  8.31487143e+02]
 [ 2.10320635e-01  9.77046231e-01 -3.38510376e-02  8.59465681e+01]
 [ 2.51776730e-01 -2.06753578e-02  9.67564472e-01  2.18161006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.5207140570001 meters
Centerline goodness : 0.998430 with order 1
Centerline is valid?  [True, True]
Translation: X:831.55, Y:85.96, Z:218.18
[[ 9.44576899e-01 -2.12370861e-01 -2.50345959e-01  8.31547214e+02]
 [ 2.10681792e-01  9.76968418e-01 -3.38510376e-02  8.59558320e+01]
 [ 2.51769070e-01 -2.07684272e-02  9.67564472e-01  2.18176428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.580714057 meters
Centerline goodness : 0.998729 with order 1
Centerline is valid?  [True, True]
Translation: X:831.61, Y:85.96, Z:218.19
[[ 9.44514705e-01 -2.12637580e-01 -2.50354211e-01  8.31605810e+02]
 [ 2.10973748e-01  9.76907529e-01 -3.37899056e-02  8.59635902e+01]
 [ 2.51757917e-01 -2.09031035e-02  9.67564474e-01  2.18191860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.6407140570001 meters
Centerline goodness : 0.998312 with order 1
Centerline is valid?  [True, True]
Translation: X:831.67, Y:85.97, Z:218.21
[[ 9.44630894e-01 -2.12120083e-01 -2.50354838e-01  8.31665409e+02]
 [ 2.10439729e-01  9.77022864e-01 -3.37852542e-02  8.59724972e+01]
 [ 2.51768932e-01 -2.07700095e-02  9.67564474e-01  2.18206091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.700714057 meters
Centerline goodness : 0.998883 with order 1
Centerline is valid?  [True, True]
Translation: X:831.72, Y:85.98, Z:218.22
[[ 9.44708345e-01 -2.11765401e-01 -2.50362851e-01  8.31724999e+02]
 [ 2.10088540e-01  9.77100495e-01 -3.37257746e-02  8.59818810e+01]
 [ 2.51771618e-01 -2.07373452e-02  9.67564476e-01  2.18221645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.7607140570001 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:831.78, Y:85.99, Z:218.24
[[ 9.44622649e-01 -2.12137311e-01 -2.50371351e-01  8.31784106e+02]
 [ 2.10489841e-01  9.77016304e-01 -3.36625623e-02  8.59913138e+01]
 [ 2.51757977e-01 -2.09022069e-02  9.67564478e-01  2.18238164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.820714057 meters
Centerline goodness : 0.998424 with order 1
Centerline is valid?  [True, True]
Translation: X:831.84, Y:86.00, Z:218.25
[[ 9.44354473e-01 -2.13324735e-01 -2.50374095e-01  8.31842920e+02]
 [ 2.11723367e-01  9.76750440e-01 -3.36421403e-02  8.59994504e+01]
 [ 2.51729708e-01 -2.12399406e-02  9.67564478e-01  2.18254042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.880714057 meters
Centerline goodness : 0.998585 with order 1
Centerline is valid?  [True, True]
Translation: X:831.90, Y:86.01, Z:218.27
[[ 9.43882627e-01 -2.15401430e-01 -2.50375339e-01  8.31901404e+02]
 [ 2.13873762e-01  9.76282154e-01 -3.36328778e-02  8.60073120e+01]
 [ 2.51681545e-01 -2.18032266e-02  9.67564478e-01  2.18270365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 859.940714057 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:831.96, Y:86.02, Z:218.29
[[ 9.43690939e-01 -2.16238501e-01 -2.50376362e-01  8.31960772e+02]
 [ 2.14741575e-01  9.76091900e-01 -3.36252596e-02  8.60153638e+01]
 [ 2.51661415e-01 -2.20343616e-02  9.67564478e-01  2.18285869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.000714057 meters
Centerline goodness : 0.998662 with order 1
Centerline is valid?  [True, True]
Translation: X:832.02, Y:86.02, Z:218.30
[[ 9.43491937e-01 -2.17095674e-01 -2.50384569e-01  8.32019626e+02]
 [ 2.15644300e-01  9.75894969e-01 -3.35640381e-02  8.60219871e+01]
 [ 2.51635649e-01 -2.23266060e-02  9.67564480e-01  2.18299791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.060714057 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:832.08, Y:86.03, Z:218.32
[[ 9.43190689e-01 -2.18399327e-01 -2.50385820e-01  8.32078812e+02]
 [ 2.16995191e-01  9.75595802e-01 -3.35547072e-02  8.60278311e+01]
 [ 2.51603680e-01 -2.26840315e-02  9.67564480e-01  2.18315079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.120714057 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:832.14, Y:86.04, Z:218.33
[[ 9.43070641e-01 -2.18915717e-01 -2.50387052e-01  8.32137905e+02]
 [ 2.17531745e-01  9.75476621e-01 -3.35455120e-02  8.60351070e+01]
 [ 2.51590355e-01 -2.28313447e-02  9.67564480e-01  2.18329799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.180714057 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:832.20, Y:86.04, Z:218.34
[[ 9.43042877e-01 -2.19030581e-01 -2.50391169e-01  8.32198796e+02]
 [ 2.17658655e-01  9.75449369e-01 -3.35147522e-02  8.60415269e+01]
 [ 2.51584663e-01 -2.28939569e-02  9.67564481e-01  2.18344794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.240714057 meters
Centerline goodness : 0.998439 with order 1
Centerline is valid?  [True, True]
Translation: X:832.26, Y:86.05, Z:218.36
[[ 9.43335518e-01 -2.17755325e-01 -2.50401115e-01  8.32259398e+02]
 [ 2.16359189e-01  9.75740974e-01 -3.34402855e-02  8.60482233e+01]
 [ 2.51608428e-01 -2.26311732e-02  9.67564483e-01  2.18359311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.300714057 meters
Centerline goodness : 0.998572 with order 1
Centerline is valid?  [True, True]
Translation: X:832.32, Y:86.06, Z:218.37
[[ 9.43498119e-01 -2.17039703e-01 -2.50409798e-01  8.32318292e+02]
 [ 2.15636139e-01  9.75903251e-01 -3.33751359e-02  8.60550430e+01]
 [ 2.51619466e-01 -2.25080240e-02  9.67564485e-01  2.18374407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.360714057 meters
Centerline goodness : 0.998348 with order 1
Centerline is valid?  [True, True]
Translation: X:832.38, Y:86.06, Z:218.39
[[ 9.43636254e-01 -2.16436913e-01 -2.50411029e-01  8.32378235e+02]
 [ 2.15015078e-01  9.76040590e-01 -3.33659003e-02  8.60610913e+01]
 [ 2.51632941e-01 -2.23568739e-02  9.67564485e-01  2.18389931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.420714057 meters
Centerline goodness : 0.998595 with order 1
Centerline is valid?  [True, True]
Translation: X:832.44, Y:86.07, Z:218.41
[[ 9.43776275e-01 -2.15815745e-01 -2.50419460e-01  8.32438096e+02]
 [ 2.14389270e-01  9.76180406e-01 -3.33025044e-02  8.60677915e+01]
 [ 2.51641775e-01 -2.22571317e-02  9.67564487e-01  2.18405813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.480714057 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:832.50, Y:86.07, Z:218.42
[[ 9.43654707e-01 -2.16336873e-01 -2.50427936e-01  8.32499369e+02]
 [ 2.14945100e-01  9.76060344e-01 -3.32386513e-02  8.60738516e+01]
 [ 2.51623523e-01 -2.24624480e-02  9.67564489e-01  2.18421498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.5407140570001 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:832.56, Y:86.08, Z:218.43
[[ 9.43030874e-01 -2.19029219e-01 -2.50437559e-01  8.32558053e+02]
 [ 2.17749070e-01  9.75441110e-01 -3.31659891e-02  8.60776838e+01]
 [ 2.51551412e-01 -2.32559938e-02  9.67564492e-01  2.18434903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.600714057 meters
Centerline goodness : 0.999078 with order 1
Centerline is valid?  [True, True]
Translation: X:832.62, Y:86.08, Z:218.45
[[ 9.42587008e-01 -2.20931136e-01 -2.50437946e-01  8.32618285e+02]
 [ 2.19717138e-01  9.74999790e-01 -3.31630720e-02  8.60835445e+01]
 [ 2.51503700e-01 -2.37664279e-02  9.67564492e-01  2.18450148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.6607140570001 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:832.68, Y:86.09, Z:218.47
[[ 9.42210187e-01 -2.22530049e-01 -2.50440294e-01  8.32677434e+02]
 [ 2.21375716e-01  9.74625148e-01 -3.31453317e-02  8.60888741e+01]
 [ 2.51461241e-01 -2.42115302e-02  9.67564492e-01  2.18466192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.720714057 meters
Centerline goodness : 0.998741 with order 1
Centerline is valid?  [True, True]
Translation: X:832.74, Y:86.09, Z:218.48
[[ 9.42373770e-01 -2.21834950e-01 -2.50441476e-01  8.32737708e+02]
 [ 2.20659059e-01  9.74787956e-01 -3.31363967e-02  8.60944351e+01]
 [ 2.51478145e-01 -2.40353093e-02  9.67564492e-01  2.18482826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.7807140570001 meters
Centerline goodness : 0.998650 with order 1
Centerline is valid?  [True, True]
Translation: X:832.80, Y:86.10, Z:218.50
[[ 9.42669506e-01 -2.20571357e-01 -2.50444561e-01  8.32795936e+02]
 [ 2.19358156e-01  9.75082317e-01 -3.31130606e-02  8.61010801e+01]
 [ 2.51507856e-01 -2.37223846e-02  9.67564492e-01  2.18498976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.840714057 meters
Centerline goodness : 0.998359 with order 1
Centerline is valid?  [True, True]
Translation: X:832.86, Y:86.11, Z:218.51
[[ 9.43224020e-01 -2.18187816e-01 -2.50444654e-01  8.32856560e+02]
 [ 2.16892872e-01  9.75633668e-01 -3.31123567e-02  8.61072956e+01]
 [ 2.51566950e-01 -2.30872901e-02  9.67564492e-01  2.18513873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.9007140570001 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:832.92, Y:86.11, Z:218.53
[[ 9.43563882e-01 -2.16703495e-01 -2.50453181e-01  8.32915460e+02]
 [ 2.15374569e-01  9.75972152e-01 -3.30477431e-02  8.61130922e+01]
 [ 2.51596891e-01 -2.27585891e-02  9.67564494e-01  2.18528032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 860.960714057 meters
Centerline goodness : 0.998675 with order 1
Centerline is valid?  [True, True]
Translation: X:832.97, Y:86.12, Z:218.54
[[ 9.44083038e-01 -2.14429057e-01 -2.50454381e-01  8.32974608e+02]
 [ 2.13024432e-01  9.76488115e-01 -3.30386424e-02  8.61174779e+01]
 [ 2.51650172e-01 -2.21616804e-02  9.67564495e-01  2.18541528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.0207140570001 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:833.03, Y:86.12, Z:218.56
[[ 9.44573460e-01 -2.12257787e-01 -2.50454806e-01  8.33033323e+02]
 [ 2.10779506e-01  9.76975261e-01 -3.30354203e-02  8.61236172e+01]
 [ 2.51700175e-01 -2.15863590e-02  9.67564495e-01  2.18556593e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.080714057 meters
Centerline goodness : 0.998812 with order 1
Centerline is valid?  [True, True]
Translation: X:833.09, Y:86.13, Z:218.57
[[ 9.45229814e-01 -2.09309782e-01 -2.50459608e-01  8.33091477e+02]
 [ 2.07740006e-01  9.77627310e-01 -3.29989797e-02  8.61286171e+01]
 [ 2.51763162e-01 -2.08388610e-02  9.67564495e-01  2.18572545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.1407140570001 meters
Centerline goodness : 0.998321 with order 1
Centerline is valid?  [True, True]
Translation: X:833.15, Y:86.13, Z:218.59
[[ 9.45498406e-01 -2.08093035e-01 -2.50459682e-01  8.33149823e+02]
 [ 2.06481712e-01  9.77893863e-01 -3.29984148e-02  8.61325350e+01]
 [ 2.51789726e-01 -2.05153953e-02  9.67564495e-01  2.18588071e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.200714057 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:833.21, Y:86.14, Z:218.60
[[ 9.45502040e-01 -2.08076525e-01 -2.50459682e-01  8.33208639e+02]
 [ 2.06464636e-01  9.77897468e-01 -3.29984148e-02  8.61374751e+01]
 [ 2.51790085e-01 -2.05109987e-02  9.67564495e-01  2.18602356e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.2607140570001 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:833.27, Y:86.14, Z:218.62
[[ 9.45601570e-01 -2.07622273e-01 -2.50460901e-01  8.33268025e+02]
 [ 2.05997257e-01  9.77996342e-01 -3.29891576e-02  8.61418127e+01]
 [ 2.51799129e-01 -2.03996594e-02  9.67564495e-01  2.18616858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.320714057 meters
Centerline goodness : 0.998613 with order 1
Centerline is valid?  [True, True]
Translation: X:833.33, Y:86.15, Z:218.63
[[ 9.45799784e-01 -2.06715933e-01 -2.50462154e-01  8.33327569e+02]
 [ 2.05062375e-01  9.78193113e-01 -3.29796427e-02  8.61485094e+01]
 [ 2.51817772e-01 -2.01682252e-02  9.67564495e-01  2.18632590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.380714057 meters
Centerline goodness : 0.998843 with order 1
Centerline is valid?  [True, True]
Translation: X:833.39, Y:86.15, Z:218.65
[[ 9.46424806e-01 -2.03832179e-01 -2.50464627e-01  8.33385141e+02]
 [ 2.02084836e-01  9.78813211e-01 -3.29608524e-02  8.61535125e+01]
 [ 2.51876568e-01 -1.94201349e-02  9.67564495e-01  2.18647647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.440714057 meters
Centerline goodness : 0.998531 with order 1
Centerline is valid?  [True, True]
Translation: X:833.44, Y:86.16, Z:218.66
[[ 9.47184365e-01 -2.00272938e-01 -2.50464627e-01  8.33443332e+02]
 [ 1.98403853e-01  9.79565972e-01 -3.29608524e-02  8.61602685e+01]
 [ 2.51947793e-01 -1.84731429e-02  9.67564495e-01  2.18663714e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.500714057 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:833.50, Y:86.17, Z:218.68
[[ 9.47655029e-01 -1.98033787e-01 -2.50464698e-01  8.33500478e+02]
 [ 1.96088317e-01  9.80032137e-01 -3.29603137e-02  8.61665300e+01]
 [ 2.51990709e-01 -1.78781941e-02  9.67564495e-01  2.18678440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.560714057 meters
Centerline goodness : 0.998227 with order 1
Centerline is valid?  [True, True]
Translation: X:833.56, Y:86.17, Z:218.69
[[ 9.48119148e-01 -1.95800440e-01 -2.50464106e-01  8.33558809e+02]
 [ 1.93777510e-01  9.80491508e-01 -3.29648091e-02  8.61724109e+01]
 [ 2.52032454e-01 -1.72797440e-02  9.67564495e-01  2.18694375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.620714057 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:833.62, Y:86.18, Z:218.71
[[ 9.48397831e-01 -1.94443868e-01 -2.50465840e-01  8.33617005e+02]
 [ 1.92378092e-01  9.80767485e-01 -3.29516343e-02  8.61787937e+01]
 [ 2.52055995e-01 -1.69328819e-02  9.67564496e-01  2.18709950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.680714057 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:833.68, Y:86.19, Z:218.72
[[ 9.48965103e-01 -1.91655434e-01 -2.50466421e-01  8.33677489e+02]
 [ 1.89495684e-01  9.81328623e-01 -3.29472188e-02  8.61854548e+01]
 [ 2.52104381e-01 -1.61965448e-02  9.67564496e-01  2.18724644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.740714057 meters
Centerline goodness : 0.998422 with order 1
Centerline is valid?  [True, True]
Translation: X:833.74, Y:86.19, Z:218.74
[[ 9.49454685e-01 -1.89211885e-01 -2.50468888e-01  8.33735964e+02]
 [ 1.86973761e-01  9.81812879e-01 -3.29284522e-02  8.61932447e+01]
 [ 2.52144034e-01 -1.55670367e-02  9.67564496e-01  2.18740018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.800714057 meters
Centerline goodness : 0.998354 with order 1
Centerline is valid?  [True, True]
Translation: X:833.79, Y:86.20, Z:218.76
[[ 9.50493101e-01 -1.83923600e-01 -2.50469507e-01  8.33792957e+02]
 [ 1.81506617e-01  9.82838428e-01 -3.29237447e-02  8.62013288e+01]
 [ 2.52226510e-01 -1.41680807e-02  9.67564496e-01  2.18755331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.860714057 meters
Centerline goodness : 0.998798 with order 1
Centerline is valid?  [True, True]
Translation: X:833.85, Y:86.21, Z:218.77
[[ 9.51735044e-01 -1.77381608e-01 -2.50471898e-01  8.33850418e+02]
 [ 1.74746985e-01  9.84063370e-01 -3.29055415e-02  8.62093991e+01]
 [ 2.52317058e-01 -1.24518520e-02  9.67564496e-01  2.18773116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.920714057 meters
Centerline goodness : 0.998932 with order 1
Centerline is valid?  [True, True]
Translation: X:833.91, Y:86.22, Z:218.79
[[ 9.52434953e-01 -1.73584309e-01 -2.50471853e-01  8.33907838e+02]
 [ 1.70820678e-01  9.84752506e-01 -3.29058853e-02  8.62176811e+01]
 [ 2.52364730e-01 -1.14450565e-02  9.67564496e-01  2.18789422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 861.980714057 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:833.97, Y:86.23, Z:218.81
[[ 9.52724319e-01 -1.71989018e-01 -2.50471853e-01  8.33966652e+02]
 [ 1.69171270e-01  9.85037199e-01 -3.29058853e-02  8.62256474e+01]
 [ 2.52383543e-01 -1.10224041e-02  9.67564496e-01  2.18805632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.0407140570001 meters
Centerline goodness : 0.999200 with order 1
Centerline is valid?  [True, True]
Translation: X:834.03, Y:86.23, Z:218.82
[[ 9.52918640e-01 -1.70907321e-01 -2.50473060e-01  8.34026575e+02]
 [ 1.68055302e-01  9.85228513e-01 -3.28966937e-02  8.62319414e+01]
 [ 2.52395486e-01 -1.07454532e-02  9.67564496e-01  2.18820729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.100714057 meters
Centerline goodness : 0.998671 with order 1
Centerline is valid?  [True, True]
Translation: X:834.09, Y:86.24, Z:218.83
[[ 9.51973860e-01 -1.76090328e-01 -2.50475480e-01  8.34085752e+02]
 [ 1.73419013e-01  9.84299175e-01 -3.28782604e-02  8.62367021e+01]
 [ 2.52332352e-01 -1.21379659e-02  9.67564496e-01  2.18834796e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.1607140570001 meters
Centerline goodness : 0.998428 with order 1
Centerline is valid?  [True, True]
Translation: X:834.14, Y:86.24, Z:218.85
[[ 9.50994569e-01 -1.81302856e-01 -2.50476753e-01  8.34143862e+02]
 [ 1.78811215e-01  9.83334230e-01 -3.28685585e-02  8.62422716e+01]
 [ 2.52261528e-01 -1.35302318e-02  9.67564496e-01  2.18849656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.220714057 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:834.20, Y:86.25, Z:218.86
[[ 9.49475160e-01 -1.89098617e-01 -2.50476814e-01  8.34202160e+02]
 [ 1.86872494e-01  9.81834181e-01 -3.28680924e-02  8.62469964e+01]
 [ 2.52142008e-01 -1.55997896e-02  9.67564496e-01  2.18864592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.2807140570001 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:834.26, Y:86.25, Z:218.88
[[ 9.48530846e-01 -1.93779651e-01 -2.50476908e-01  8.34260979e+02]
 [ 1.91713355e-01  9.80900466e-01 -3.28673779e-02  8.62521284e+01]
 [ 2.52061945e-01 -1.68440465e-02  9.67564496e-01  2.18880316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.340714057 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:834.32, Y:86.26, Z:218.90
[[ 9.47346918e-01 -1.99485214e-01 -2.50478475e-01  8.34319267e+02]
 [ 1.97616925e-01  9.79728570e-01 -3.28554336e-02  8.62580411e+01]
 [ 2.51955091e-01 -1.83732921e-02  9.67564496e-01  2.18896299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.4007140570001 meters
Centerline goodness : 0.998675 with order 1
Centerline is valid?  [True, True]
Translation: X:834.38, Y:86.27, Z:218.91
[[ 9.46642818e-01 -2.02799983e-01 -2.50478625e-01  8.34377900e+02]
 [ 2.01045351e-01  9.79030828e-01 -3.28542902e-02  8.62652162e+01]
 [ 2.51889145e-01 -1.92562851e-02  9.67564496e-01  2.18911645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.460714057 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:834.44, Y:86.27, Z:218.93
[[ 9.45894706e-01 -2.06260422e-01 -2.50479227e-01  8.34437115e+02]
 [ 2.04625449e-01  9.78288977e-01 -3.28497002e-02  8.62713992e+01]
 [ 2.51816659e-01 -2.01820667e-02  9.67564496e-01  2.18926095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.5207140570001 meters
Centerline goodness : 0.999226 with order 1
Centerline is valid?  [True, True]
Translation: X:834.50, Y:86.28, Z:218.94
[[ 9.45566109e-01 -2.07760547e-01 -2.50480117e-01  8.34496726e+02]
 [ 2.06178748e-01  9.77963019e-01 -3.28429077e-02  8.62793553e+01]
 [ 2.51783752e-01 -2.05885366e-02  9.67564496e-01  2.18940432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.580714057 meters
Centerline goodness : 0.999164 with order 1
Centerline is valid?  [True, True]
Translation: X:834.56, Y:86.29, Z:218.95
[[ 9.45387813e-01 -2.08567506e-01 -2.50482491e-01  8.34556444e+02]
 [ 2.07018124e-01  9.77786290e-01 -3.28247941e-02  8.62892572e+01]
 [ 2.51764531e-01 -2.08222550e-02  9.67564496e-01  2.18954969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.6407140570001 meters
Centerline goodness : 0.998986 with order 1
Centerline is valid?  [True, True]
Translation: X:834.61, Y:86.30, Z:218.97
[[ 9.45547965e-01 -2.07837389e-01 -2.50484862e-01  8.34614300e+02]
 [ 2.06267752e-01  9.77945467e-01 -3.28066878e-02  8.62981750e+01]
 [ 2.51778992e-01 -2.06466526e-02  9.67564497e-01  2.18971360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.700714057 meters
Centerline goodness : 0.998670 with order 1
Centerline is valid?  [True, True]
Translation: X:834.67, Y:86.31, Z:218.99
[[ 9.45664907e-01 -2.07303903e-01 -2.50485480e-01  8.34671660e+02]
 [ 2.05717230e-01  9.78061579e-01 -3.28019694e-02  8.63093735e+01]
 [ 2.51790201e-01 -2.05095078e-02  9.67564497e-01  2.18987156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.7607140570001 meters
Centerline goodness : 0.999001 with order 1
Centerline is valid?  [True, True]
Translation: X:834.73, Y:86.32, Z:219.00
[[ 9.45794819e-01 -2.06710084e-01 -2.50485732e-01  8.34729571e+02]
 [ 2.05103577e-01  9.78190513e-01 -3.28000437e-02  8.63214447e+01]
 [ 2.51802867e-01 -2.03534083e-02  9.67564497e-01  2.19003814e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.820714057 meters
Centerline goodness : 0.998644 with order 1
Centerline is valid?  [True, True]
Translation: X:834.79, Y:86.33, Z:219.02
[[ 9.45595270e-01 -2.07619538e-01 -2.50486953e-01  8.34788482e+02]
 [ 2.06046638e-01  9.77992613e-01 -3.27907222e-02  8.63315062e+01]
 [ 2.51782384e-01 -2.06052428e-02  9.67564497e-01  2.19017896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.880714057 meters
Centerline goodness : 0.998801 with order 1
Centerline is valid?  [True, True]
Translation: X:834.85, Y:86.34, Z:219.03
[[ 9.44884205e-01 -2.10822734e-01 -2.50494738e-01  8.34847003e+02]
 [ 2.09375308e-01  9.77287395e-01 -3.27311432e-02  8.63414771e+01]
 [ 2.51705819e-01 -2.15202727e-02  9.67564498e-01  2.19032450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 862.940714057 meters
Centerline goodness : 0.999133 with order 1
Centerline is valid?  [True, True]
Translation: X:834.90, Y:86.35, Z:219.05
[[ 9.44043897e-01 -2.14553506e-01 -2.50495336e-01  8.34904807e+02]
 [ 2.13235293e-01  9.76452601e-01 -3.27265649e-02  8.63501651e+01]
 [ 2.51618422e-01 -2.25191325e-02  9.67564498e-01  2.19047337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.000714057 meters
Centerline goodness : 0.999379 with order 1
Centerline is valid?  [True, True]
Translation: X:834.96, Y:86.36, Z:219.06
[[ 9.43895058e-01 -2.15207514e-01 -2.50495201e-01  8.34963771e+02]
 [ 2.13911483e-01  9.76304656e-01 -3.27275978e-02  8.63583779e+01]
 [ 2.51602856e-01 -2.26923821e-02  9.67564498e-01  2.19062434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.060714057 meters
Centerline goodness : 0.999063 with order 1
Centerline is valid?  [True, True]
Translation: X:835.02, Y:86.37, Z:219.08
[[ 9.44184213e-01 -2.13933931e-01 -2.50496397e-01  8.35021341e+02]
 [ 2.12596588e-01  9.76592133e-01 -3.27184444e-02  8.63686140e+01]
 [ 2.51632396e-01 -2.23624405e-02  9.67564498e-01  2.19078071e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.120714057 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:835.08, Y:86.38, Z:219.10
[[ 9.45287667e-01 -2.09003547e-01 -2.50496993e-01  8.35078897e+02]
 [ 2.07498294e-01  9.77688222e-01 -3.27138812e-02  8.63781509e+01]
 [ 2.51745277e-01 -2.10536701e-02  9.67564498e-01  2.19095234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.180714057 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:835.14, Y:86.39, Z:219.11
[[ 9.46315139e-01 -2.04300275e-01 -2.50497615e-01  8.35137060e+02]
 [ 2.02635174e-01  9.78707873e-01 -3.27091151e-02  8.63876321e+01]
 [ 2.51846469e-01 -1.98064970e-02  9.67564498e-01  2.19111397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.240714057 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:835.19, Y:86.40, Z:219.13
[[ 9.47921291e-01 -1.96712608e-01 -2.50498256e-01  8.35194688e+02]
 [ 1.94789345e-01  9.80299722e-01 -3.27042081e-02  8.63982927e+01]
 [ 2.51996701e-01 -1.77933761e-02  9.67564498e-01  2.19127107e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.300714057 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:835.25, Y:86.41, Z:219.14
[[ 9.49268296e-01 -1.90105824e-01 -2.50498457e-01  8.35252316e+02]
 [ 1.87957507e-01  9.81632575e-01 -3.27026675e-02  8.64085903e+01]
 [ 2.52114413e-01 -1.60394599e-02  9.67564498e-01  2.19142149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.360714057 meters
Centerline goodness : 0.998812 with order 1
Centerline is valid?  [True, True]
Translation: X:835.31, Y:86.42, Z:219.16
[[ 9.49977771e-01 -1.86527582e-01 -2.50498895e-01  8.35310333e+02]
 [ 1.84258210e-01  9.82333786e-01 -3.26993130e-02  8.64174793e+01]
 [ 2.52172852e-01 -1.50928576e-02  9.67564498e-01  2.19157192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.420714057 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:835.37, Y:86.43, Z:219.17
[[ 9.50645800e-01 -1.83091692e-01 -2.50499491e-01  8.35369452e+02]
 [ 1.80706551e-01  9.82993487e-01 -3.26947443e-02  8.64267199e+01]
 [ 2.52225504e-01 -1.41857777e-02  9.67564498e-01  2.19173146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.480714057 meters
Centerline goodness : 0.999057 with order 1
Centerline is valid?  [True, True]
Translation: X:835.43, Y:86.44, Z:219.19
[[ 9.50746563e-01 -1.82565306e-01 -2.50501262e-01  8.35428958e+02]
 [ 1.80165821e-01  9.83093189e-01 -3.26811674e-02  8.64351549e+01]
 [ 2.52232532e-01 -1.40602581e-02  9.67564499e-01  2.19189261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.5407140570001 meters
Centerline goodness : 0.998813 with order 1
Centerline is valid?  [True, True]
Translation: X:835.49, Y:86.44, Z:219.20
[[ 9.50645464e-01 -1.83087835e-01 -2.50503584e-01  8.35487212e+02]
 [ 1.80710806e-01  9.82993748e-01 -3.26633616e-02  8.64434998e+01]
 [ 2.52223721e-01 -1.42174281e-02  9.67564499e-01  2.19204548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.600714057 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:835.55, Y:86.45, Z:219.22
[[ 9.49983059e-01 -1.86493577e-01 -2.50504158e-01  8.35545137e+02]
 [ 1.84233649e-01  9.82339735e-01 -3.26589619e-02  8.64518971e+01]
 [ 2.52170875e-01 -1.51258345e-02  9.67564499e-01  2.19218560e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.6607140570001 meters
Centerline goodness : 0.998943 with order 1
Centerline is valid?  [True, True]
Translation: X:835.60, Y:86.46, Z:219.23
[[ 9.48603814e-01 -1.93386613e-01 -2.50504334e-01  8.35602495e+02]
 [ 1.91362046e-01  9.80976069e-01 -3.26576082e-02  8.64600681e+01]
 [ 2.52054301e-01 -1.69578903e-02  9.67564499e-01  2.19232462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.720714057 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:835.66, Y:86.47, Z:219.25
[[ 9.47594729e-01 -1.98272637e-01 -2.50503875e-01  8.35660104e+02]
 [ 1.96414001e-01  9.79976934e-01 -3.26611296e-02  8.64682327e+01]
 [ 2.51963828e-01 -1.82529540e-02  9.67564499e-01  2.19248574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.7807140570001 meters
Centerline goodness : 0.998967 with order 1
Centerline is valid?  [True, True]
Translation: X:835.72, Y:86.48, Z:219.26
[[ 9.46337545e-01 -2.04188514e-01 -2.50504096e-01  8.35717209e+02]
 [ 2.02532655e-01  9.78730752e-01 -3.26594358e-02  8.64775664e+01]
 [ 2.51844744e-01 -1.98284093e-02  9.67564499e-01  2.19263225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.840714057 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:835.78, Y:86.49, Z:219.28
[[ 9.45862611e-01 -2.06374288e-01 -2.50506634e-01  8.35775819e+02]
 [ 2.04798396e-01  9.78259807e-01 -3.26399555e-02  8.64866927e+01]
 [ 2.51796619e-01 -2.04304433e-02  9.67564499e-01  2.19279097e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.9007140570001 meters
Centerline goodness : 0.998516 with order 1
Centerline is valid?  [True, True]
Translation: X:835.83, Y:86.50, Z:219.30
[[ 9.45563050e-01 -2.07741063e-01 -2.50507825e-01  8.35833745e+02]
 [ 2.06214398e-01  9.77962602e-01 -3.26308179e-02  8.64969400e+01]
 [ 2.51766045e-01 -2.08038246e-02  9.67564499e-01  2.19295941e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 863.960714057 meters
Centerline goodness : 0.998806 with order 1
Centerline is valid?  [True, True]
Translation: X:835.89, Y:86.51, Z:219.31
[[ 9.45557260e-01 -2.07766674e-01 -2.50508438e-01  8.35893323e+02]
 [ 2.06242126e-01  9.77956913e-01 -3.26261081e-02  8.65067497e+01]
 [ 2.51765076e-01 -2.08155393e-02  9.67564499e-01  2.19312039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.0207140570001 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:835.95, Y:86.52, Z:219.33
[[ 9.45628607e-01 -2.07431502e-01 -2.50516887e-01  8.35953002e+02]
 [ 2.05912570e-01  9.78028521e-01 -3.25611093e-02  8.65175050e+01]
 [ 2.51766860e-01 -2.07938597e-02  9.67564501e-01  2.19326079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.080714057 meters
Centerline goodness : 0.999013 with order 1
Centerline is valid?  [True, True]
Translation: X:836.01, Y:86.53, Z:219.34
[[ 9.45631303e-01 -2.07408915e-01 -2.50525410e-01  8.36011471e+02]
 [ 2.05906496e-01  9.78031985e-01 -3.24954030e-02  8.65269483e+01]
 [ 2.51761700e-01 -2.08561391e-02  9.67564503e-01  2.19339141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.1407140570001 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:836.07, Y:86.54, Z:219.35
[[ 9.45785649e-01 -2.06702491e-01 -2.50526616e-01  8.36071573e+02]
 [ 2.05178318e-01  9.78185315e-01 -3.24861003e-02  8.65387906e+01]
 [ 2.51776415e-01 -2.06777423e-02  9.67564503e-01  2.19353118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.200714057 meters
Centerline goodness : 0.998488 with order 1
Centerline is valid?  [True, True]
Translation: X:836.13, Y:86.55, Z:219.37
[[ 9.46183198e-01 -2.04871329e-01 -2.50529628e-01  8.36128993e+02]
 [ 2.03290556e-01  9.78580151e-01 -3.24628549e-02  8.65505148e+01]
 [ 2.51814030e-01 -2.02144997e-02  9.67564503e-01  2.19367133e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.2607140570001 meters
Centerline goodness : 0.998613 with order 1
Centerline is valid?  [True, True]
Translation: X:836.19, Y:86.56, Z:219.38
[[ 9.46531805e-01 -2.03254638e-01 -2.50529628e-01  8.36186166e+02]
 [ 2.01618523e-01  9.78926011e-01 -3.24628549e-02  8.65611596e+01]
 [ 2.51848195e-01 -1.97842891e-02  9.67564503e-01  2.19382767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.320714057 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:836.24, Y:86.57, Z:219.40
[[ 9.47153295e-01 -2.00338421e-01 -2.50529745e-01  8.36243789e+02]
 [ 1.98602780e-01  9.79542320e-01 -3.24619540e-02  8.65734694e+01]
 [ 2.51907865e-01 -1.90094571e-02  9.67564503e-01  2.19399167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.380714057 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:836.30, Y:86.58, Z:219.42
[[ 9.47485079e-01 -1.98753606e-01 -2.50537480e-01  8.36300886e+02]
 [ 1.96979508e-01  9.79872019e-01 -3.24021472e-02  8.65845499e+01]
 [ 2.51934710e-01 -1.86501987e-02  9.67564505e-01  2.19416071e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.440714057 meters
Centerline goodness : 0.998861 with order 1
Centerline is valid?  [True, True]
Translation: X:836.36, Y:86.59, Z:219.43
[[ 9.47420286e-01 -1.99062235e-01 -2.50537480e-01  8.36360785e+02]
 [ 1.97298687e-01  9.79807802e-01 -3.24021472e-02  8.65933725e+01]
 [ 2.51928622e-01 -1.87322645e-02  9.67564505e-01  2.19432433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.500714057 meters
Centerline goodness : 0.998742 with order 1
Centerline is valid?  [True, True]
Translation: X:836.42, Y:86.60, Z:219.45
[[ 9.46812008e-01 -2.01925277e-01 -2.50545812e-01  8.36418925e+02]
 [ 2.00276619e-01  9.79205574e-01 -3.23375977e-02  8.66017892e+01]
 [ 2.51865634e-01 -1.95608423e-02  9.67564507e-01  2.19446309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.560714057 meters
Centerline goodness : 0.999315 with order 1
Centerline is valid?  [True, True]
Translation: X:836.48, Y:86.61, Z:219.46
[[ 9.46158526e-01 -2.04965093e-01 -2.50546111e-01  8.36478549e+02]
 [ 2.03421090e-01  9.78557249e-01 -3.23352816e-02  8.66099093e+01]
 [ 2.51801317e-01 -2.03720607e-02  9.67564507e-01  2.19459750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.620714057 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:836.54, Y:86.62, Z:219.47
[[ 9.45866247e-01 -2.06308235e-01 -2.50547313e-01  8.36536172e+02]
 [ 2.04812682e-01  9.78267242e-01 -3.23259707e-02  8.66182064e+01]
 [ 2.51771342e-01 -2.07392225e-02  9.67564507e-01  2.19473929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.680714057 meters
Centerline goodness : 0.998949 with order 1
Centerline is valid?  [True, True]
Translation: X:836.60, Y:86.63, Z:219.49
[[ 9.45747122e-01 -2.06853634e-01 -2.50547313e-01  8.36595686e+02]
 [ 2.05376766e-01  9.78148974e-01 -3.23259707e-02  8.66271593e+01]
 [ 2.51759341e-01 -2.08844030e-02  9.67564507e-01  2.19489492e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.740714057 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:836.65, Y:86.64, Z:219.50
[[ 9.45829320e-01 -2.06467600e-01 -2.50555439e-01  8.36654353e+02]
 [ 2.04994108e-01  9.78231324e-01 -3.22628638e-02  8.66356066e+01]
 [ 2.51762415e-01 -2.08472261e-02  9.67564509e-01  2.19504736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.800714057 meters
Centerline goodness : 0.999218 with order 1
Centerline is valid?  [True, True]
Translation: X:836.71, Y:86.64, Z:219.52
[[ 9.46345261e-01 -2.04088316e-01 -2.50556595e-01  8.36712469e+02]
 [ 2.02535704e-01  9.78743570e-01 -3.22538855e-02  8.66443709e+01]
 [ 2.51813297e-01 -2.02233445e-02  9.67564509e-01  2.19520465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.860714057 meters
Centerline goodness : 0.999218 with order 1
Centerline is valid?  [True, True]
Translation: X:836.77, Y:86.65, Z:219.54
[[ 9.46723887e-01 -2.02324007e-01 -2.50557136e-01  8.36771426e+02]
 [ 2.00712114e-01  9.79119301e-01 -3.22496787e-02  8.66530831e+01]
 [ 2.51850212e-01 -1.97583114e-02  9.67564509e-01  2.19535697e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.920714057 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:836.83, Y:86.66, Z:219.55
[[ 9.47152922e-01 -2.00304488e-01 -2.50558286e-01  8.36831066e+02]
 [ 1.98625861e-01  9.79544946e-01 -3.22407412e-02  8.66615609e+01]
 [ 2.51891068e-01 -1.92304430e-02  9.67564509e-01  2.19551629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 864.980714057 meters
Centerline goodness : 0.999079 with order 1
Centerline is valid?  [True, True]
Translation: X:836.89, Y:86.67, Z:219.57
[[ 9.47322637e-01 -1.99497441e-01 -2.50560556e-01  8.36889858e+02]
 [ 1.97795856e-01  9.79713464e-01 -3.22230937e-02  8.66685476e+01]
 [ 2.51905975e-01 -1.90341737e-02  9.67564510e-01  2.19567569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.0407140570001 meters
Centerline goodness : 0.999058 with order 1
Centerline is valid?  [True, True]
Translation: X:836.95, Y:86.68, Z:219.58
[[ 9.47367694e-01 -1.99281886e-01 -2.50561734e-01  8.36948580e+02]
 [ 1.97575342e-01  9.79758260e-01 -3.22139275e-02  8.66750274e+01]
 [ 2.51909581e-01 -1.89863862e-02  9.67564510e-01  2.19582041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.100714057 meters
Centerline goodness : 0.998966 with order 1
Centerline is valid?  [True, True]
Translation: X:837.01, Y:86.68, Z:219.60
[[ 9.47563125e-01 -1.98349087e-01 -2.50562893e-01  8.37006944e+02]
 [ 1.96613025e-01  9.79952122e-01 -3.22049128e-02  8.66821428e+01]
 [ 2.51927454e-01 -1.87477405e-02  9.67564510e-01  2.19597251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.1607140570001 meters
Centerline goodness : 0.999332 with order 1
Centerline is valid?  [True, True]
Translation: X:837.07, Y:86.69, Z:219.61
[[ 9.47969136e-01 -1.96398767e-01 -2.50563448e-01  8.37065898e+02]
 [ 1.94597194e-01  9.80354555e-01 -3.22005952e-02  8.66890130e+01]
 [ 2.51965175e-01 -1.82337734e-02  9.67564510e-01  2.19612078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.220714057 meters
Centerline goodness : 0.999150 with order 1
Centerline is valid?  [True, True]
Translation: X:837.12, Y:86.70, Z:219.63
[[ 9.48228569e-01 -1.95132406e-01 -2.50571198e-01  8.37124536e+02]
 [ 1.93303460e-01  9.80612452e-01 -3.21401809e-02  8.66959340e+01]
 [ 2.51984827e-01 -1.79600418e-02  9.67564511e-01  2.19628074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.2807140570001 meters
Centerline goodness : 0.999060 with order 1
Centerline is valid?  [True, True]
Translation: X:837.18, Y:86.70, Z:219.64
[[ 9.48313775e-01 -1.94716334e-01 -2.50572411e-01  8.37182791e+02]
 [ 1.92875668e-01  9.80696994e-01 -3.21307161e-02  8.67019621e+01]
 [ 2.51991986e-01 -1.78593205e-02  9.67564511e-01  2.19643137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.340714057 meters
Centerline goodness : 0.998851 with order 1
Centerline is valid?  [True, True]
Translation: X:837.24, Y:86.71, Z:219.66
[[ 9.48131380e-01 -1.95601770e-01 -2.50573012e-01  8.37243038e+02]
 [ 1.93792575e-01  9.80516372e-01 -3.21260316e-02  8.67076697e+01]
 [ 2.51974849e-01 -1.80994904e-02  9.67564511e-01  2.19659396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.4007140570001 meters
Centerline goodness : 0.999016 with order 1
Centerline is valid?  [True, True]
Translation: X:837.30, Y:86.71, Z:219.67
[[ 9.47833233e-01 -1.97030858e-01 -2.50581331e-01  8.37300548e+02]
 [ 1.95287579e-01  9.80221839e-01 -3.20610161e-02  8.67131973e+01]
 [ 2.51942302e-01 -1.85469250e-02  9.67564514e-01  2.19673553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.460714057 meters
Centerline goodness : 0.999131 with order 1
Centerline is valid?  [True, True]
Translation: X:837.36, Y:86.72, Z:219.69
[[ 9.47397027e-01 -1.99118247e-01 -2.50580921e-01  8.37360701e+02]
 [ 1.97445475e-01  9.79789350e-01 -3.20642183e-02  8.67187686e+01]
 [ 2.51901089e-01 -1.90985240e-02  9.67564514e-01  2.19689518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.5207140570001 meters
Centerline goodness : 0.999091 with order 1
Centerline is valid?  [True, True]
Translation: X:837.42, Y:86.72, Z:219.71
[[ 9.47192843e-01 -2.00084416e-01 -2.50583211e-01  8.37419599e+02]
 [ 1.98449390e-01  9.79587093e-01 -3.20463172e-02  8.67244101e+01]
 [ 2.51880047e-01 -1.93740430e-02  9.67564514e-01  2.19706239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.580714057 meters
Centerline goodness : 0.999066 with order 1
Centerline is valid?  [True, True]
Translation: X:837.48, Y:86.73, Z:219.72
[[ 9.47295084e-01 -1.99598307e-01 -2.50584395e-01  8.37479011e+02]
 [ 1.97949094e-01  9.79688616e-01 -3.20370510e-02  8.67304556e+01]
 [ 2.51889220e-01 -1.92544131e-02  9.67564514e-01  2.19722376e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.6407140570001 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:837.54, Y:86.74, Z:219.74
[[ 9.47612804e-01 -1.98082106e-01 -2.50586220e-01  8.37537483e+02]
 [ 1.96384811e-01  9.80003851e-01 -3.20227697e-02  8.67363879e+01]
 [ 2.51918599e-01 -1.88661410e-02  9.67564514e-01  2.19737067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.700714057 meters
Centerline goodness : 0.998703 with order 1
Centerline is valid?  [True, True]
Translation: X:837.60, Y:86.74, Z:219.75
[[ 9.47912289e-01 -1.96643179e-01 -2.50586816e-01  8.37595841e+02]
 [ 1.94897934e-01  9.80300789e-01 -3.20181082e-02  8.67424706e+01]
 [ 2.51946596e-01 -1.84884945e-02  9.67564514e-01  2.19751981e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.7607140570001 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:837.66, Y:86.75, Z:219.77
[[ 9.48300816e-01 -1.94760709e-01 -2.50586969e-01  8.37655642e+02]
 [ 1.92951476e-01  9.80685804e-01 -3.20169072e-02  8.67483497e+01]
 [ 2.51982719e-01 -1.79894665e-02  9.67564514e-01  2.19767740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.820714057 meters
Centerline goodness : 0.998678 with order 1
Centerline is valid?  [True, True]
Translation: X:837.71, Y:86.75, Z:219.78
[[ 9.48460604e-01 -1.93970259e-01 -2.50595333e-01  8.37713579e+02]
 [ 1.92151277e-01  9.80845044e-01 -3.19513190e-02  8.67549941e+01]
 [ 2.51992796e-01 -1.78476457e-02  9.67564516e-01  2.19782756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.880714057 meters
Centerline goodness : 0.999089 with order 1
Centerline is valid?  [True, True]
Translation: X:837.77, Y:86.76, Z:219.80
[[ 9.48694597e-01 -1.92821800e-01 -2.50595920e-01  8.37773949e+02]
 [ 1.90964821e-01  9.81076880e-01 -3.19467140e-02  8.67619494e+01]
 [ 2.52013886e-01 -1.75473301e-02  9.67564516e-01  2.19798667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 865.940714057 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:837.83, Y:86.77, Z:219.81
[[ 9.49186223e-01 -1.90374504e-01 -2.50605393e-01  8.37832785e+02]
 [ 1.88453592e-01  9.81564773e-01 -3.18722326e-02  8.67671364e+01]
 [ 2.52053086e-01 -1.69748024e-02  9.67564519e-01  2.19812952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.000714057 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:837.89, Y:86.77, Z:219.83
[[ 9.49700498e-01 -1.87791083e-01 -2.50606213e-01  8.37890427e+02]
 [ 1.85783771e-01  9.82073807e-01 -3.18657865e-02  8.67735505e+01]
 [ 2.52097908e-01 -1.62956140e-02  9.67564519e-01  2.19827779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.060714057 meters
Centerline goodness : 0.998935 with order 1
Centerline is valid?  [True, True]
Translation: X:837.95, Y:86.78, Z:219.84
[[ 9.49926528e-01 -1.86644382e-01 -2.50606197e-01  8.37949853e+02]
 [ 1.84597955e-01  9.82297388e-01 -3.18659107e-02  8.67806244e+01]
 [ 2.52117406e-01 -1.59911175e-02  9.67564519e-01  2.19843913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.120714057 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:838.01, Y:86.79, Z:219.86
[[ 9.50201144e-01 -1.85238894e-01 -2.50607938e-01  8.38009749e+02]
 [ 1.83148180e-01  9.82569174e-01 -3.18522112e-02  8.67870311e+01]
 [ 2.52139903e-01 -1.56323803e-02  9.67564519e-01  2.19860250e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.180714057 meters
Centerline goodness : 0.998499 with order 1
Centerline is valid?  [True, True]
Translation: X:838.07, Y:86.79, Z:219.88
[[ 9.50375002e-01 -1.84341723e-01 -2.50610226e-01  8.38069086e+02]
 [ 1.82225183e-01  9.82741353e-01 -3.18341994e-02  8.67937141e+01]
 [ 2.52153404e-01 -1.54130670e-02  9.67564519e-01  2.19876989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.240714057 meters
Centerline goodness : 0.998732 with order 1
Centerline is valid?  [True, True]
Translation: X:838.13, Y:86.80, Z:219.89
[[ 9.50469646e-01 -1.83849934e-01 -2.50612556e-01  8.38128808e+02]
 [ 1.81721467e-01  9.82835215e-01 -3.18158482e-02  8.67988183e+01]
 [ 2.52160187e-01 -1.53016832e-02  9.67564519e-01  2.19892675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.300714057 meters
Centerline goodness : 0.998890 with order 1
Centerline is valid?  [True, True]
Translation: X:838.19, Y:86.80, Z:219.91
[[ 9.50432507e-01 -1.84038588e-01 -2.50614938e-01  8.38187044e+02]
 [ 1.81921477e-01  9.82798821e-01 -3.17970727e-02  8.68041106e+01]
 [ 2.52155954e-01 -1.53712682e-02  9.67564519e-01  2.19907963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.360714057 meters
Centerline goodness : 0.998555 with order 1
Centerline is valid?  [True, True]
Translation: X:838.24, Y:86.81, Z:219.92
[[ 9.50280094e-01 -1.84823958e-01 -2.50614938e-01  8.38244902e+02]
 [ 1.82733595e-01  9.82648146e-01 -3.17970727e-02  8.68094059e+01]
 [ 2.52143165e-01 -1.55796433e-02  9.67564519e-01  2.19921834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.420714057 meters
Centerline goodness : 0.998807 with order 1
Centerline is valid?  [True, True]
Translation: X:838.31, Y:86.82, Z:219.94
[[ 9.50271656e-01 -1.84867338e-01 -2.50614938e-01  8.38305427e+02]
 [ 1.82778453e-01  9.82639803e-01 -3.17970727e-02  8.68151567e+01]
 [ 2.52142454e-01 -1.55911538e-02  9.67564519e-01  2.19936389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.480714057 meters
Centerline goodness : 0.998530 with order 1
Centerline is valid?  [True, True]
Translation: X:838.36, Y:86.82, Z:219.95
[[ 9.50420820e-01 -1.84095764e-01 -2.50617268e-01  8.38364382e+02]
 [ 1.81985427e-01  9.82787576e-01 -3.17786986e-02  8.68223513e+01]
 [ 2.52153861e-01 -1.54055538e-02  9.67564520e-01  2.19950456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.5407140570001 meters
Centerline goodness : 0.998414 with order 1
Centerline is valid?  [True, True]
Translation: X:838.42, Y:86.83, Z:219.97
[[ 9.50603435e-01 -1.83149659e-01 -2.50617859e-01  8.38422528e+02]
 [ 1.81008330e-01  9.82968156e-01 -3.17740386e-02  8.68296455e+01]
 [ 2.52168779e-01 -1.51594099e-02  9.67564520e-01  2.19965748e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.600714057 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:838.48, Y:86.84, Z:219.98
[[ 9.50671088e-01 -1.82797753e-01 -2.50618165e-01  8.38480958e+02]
 [ 1.80645078e-01  9.83035055e-01 -3.17716264e-02  8.68380798e+01]
 [ 2.52174223e-01 -1.50685712e-02  9.67564520e-01  2.19980716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.6607140570001 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:838.54, Y:86.85, Z:220.00
[[ 9.50305411e-01 -1.84686994e-01 -2.50619911e-01  8.38540568e+02]
 [ 1.82602272e-01  9.82673827e-01 -3.17578430e-02  8.68457077e+01]
 [ 2.52142888e-01 -1.55841151e-02  9.67564520e-01  2.19997233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.720714057 meters
Centerline goodness : 0.999298 with order 1
Centerline is valid?  [True, True]
Translation: X:838.60, Y:86.85, Z:220.01
[[ 9.49865289e-01 -1.86934360e-01 -2.50622183e-01  8.38598178e+02]
 [ 1.84930923e-01  9.82238837e-01 -3.17399019e-02  8.68525934e+01]
 [ 2.52104120e-01 -1.61991606e-02  9.67564520e-01  2.20013669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.7807140570001 meters
Centerline goodness : 0.998981 with order 1
Centerline is valid?  [True, True]
Translation: X:838.66, Y:86.86, Z:220.03
[[ 9.49148131e-01 -1.90541759e-01 -2.50622551e-01  8.38657727e+02]
 [ 1.88662094e-01  9.81529102e-01 -3.17370009e-02  8.68597186e+01]
 [ 2.52040551e-01 -1.71598601e-02  9.67564520e-01  2.20031080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.840714057 meters
Centerline goodness : 0.998981 with order 1
Centerline is valid?  [True, True]
Translation: X:838.72, Y:86.87, Z:220.05
[[ 9.48433609e-01 -1.94064098e-01 -2.50624850e-01  8.38716413e+02]
 [ 1.92309433e-01  9.80821593e-01 -3.17188359e-02  8.68660507e+01]
 [ 2.51973752e-01 -1.81143126e-02  9.67564520e-01  2.20046022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.9007140570001 meters
Centerline goodness : 0.999004 with order 1
Centerline is valid?  [True, True]
Translation: X:838.78, Y:86.87, Z:220.06
[[ 9.48017031e-01 -1.96087464e-01 -2.50626048e-01  8.38776713e+02]
 [ 1.94404404e-01  9.80408815e-01 -3.17093630e-02  8.68723634e+01]
 [ 2.51933795e-01 -1.86617914e-02  9.67564520e-01  2.20059590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 866.960714057 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:838.84, Y:86.88, Z:220.07
[[ 9.48103678e-01 -1.95665060e-01 -2.50628409e-01  8.38835859e+02]
 [ 1.93972478e-01  9.80494966e-01 -3.16906899e-02  8.68801211e+01]
 [ 2.51940654e-01 -1.85689538e-02  9.67564520e-01  2.20073021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.0207140570001 meters
Centerline goodness : 0.999480 with order 1
Centerline is valid?  [True, True]
Translation: X:838.90, Y:86.89, Z:220.09
[[ 9.48327883e-01 -1.94570679e-01 -2.50632154e-01  8.38895377e+02]
 [ 1.92848506e-01  9.80717611e-01 -3.16610443e-02  8.68885441e+01]
 [ 2.51959679e-01 -1.83089854e-02  9.67564521e-01  2.20087225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.080714057 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:838.95, Y:86.90, Z:220.10
[[ 9.48707573e-01 -1.92708579e-01 -2.50633886e-01  8.38953580e+02]
 [ 1.90926428e-01  9.81094055e-01 -3.16473320e-02  8.68977616e+01]
 [ 2.51994128e-01 -1.78285690e-02  9.67564521e-01  2.20103794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.1407140570001 meters
Centerline goodness : 0.999162 with order 1
Centerline is valid?  [True, True]
Translation: X:839.01, Y:86.91, Z:220.12
[[ 9.48904514e-01 -1.91734999e-01 -2.50635021e-01  8.39011249e+02]
 [ 1.89921980e-01  9.81289283e-01 -3.16383418e-02  8.69061445e+01]
 [ 2.52011637e-01 -1.75793340e-02  9.67564521e-01  2.20119481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.200714057 meters
Centerline goodness : 0.999161 with order 1
Centerline is valid?  [True, True]
Translation: X:839.07, Y:86.91, Z:220.14
[[ 9.49089153e-01 -1.90818745e-01 -2.50635167e-01  8.39070595e+02]
 [ 1.88974764e-01  9.81472174e-01 -3.16371827e-02  8.69147814e+01]
 [ 2.52028410e-01 -1.73372145e-02  9.67564521e-01  2.20135485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.2607140570001 meters
Centerline goodness : 0.999230 with order 1
Centerline is valid?  [True, True]
Translation: X:839.13, Y:86.92, Z:220.15
[[ 9.49045780e-01 -1.91031432e-01 -2.50637385e-01  8.39129931e+02]
 [ 1.89199327e-01  9.81429475e-01 -3.16196054e-02  8.69219145e+01]
 [ 2.52023255e-01 -1.74119714e-02  9.67564521e-01  2.20151361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.320714057 meters
Centerline goodness : 0.999457 with order 1
Centerline is valid?  [True, True]
Translation: X:839.19, Y:86.93, Z:220.16
[[ 9.48915052e-01 -1.91669661e-01 -2.50645098e-01  8.39189133e+02]
 [ 1.89875436e-01  9.81300866e-01 -3.15583465e-02  8.69280649e+01]
 [ 2.52007029e-01 -1.76451572e-02  9.67564523e-01  2.20164930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.380714057 meters
Centerline goodness : 0.999095 with order 1
Centerline is valid?  [True, True]
Translation: X:839.25, Y:86.93, Z:220.18
[[ 9.48847622e-01 -1.92001652e-01 -2.50646276e-01  8.39248768e+02]
 [ 1.90221219e-01  9.81234197e-01 -3.15489863e-02  8.69346654e+01]
 [ 2.52000155e-01 -1.77430595e-02  9.67564523e-01  2.20178666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.440714057 meters
Centerline goodness : 0.998961 with order 1
Centerline is valid?  [True, True]
Translation: X:839.31, Y:86.94, Z:220.19
[[ 9.48891667e-01 -1.91781588e-01 -2.50648014e-01  8.39307800e+02]
 [ 1.89997273e-01  9.81278028e-01 -3.15351754e-02  8.69418740e+01]
 [ 2.52003255e-01 -1.76989740e-02  9.67564523e-01  2.20193984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.500714057 meters
Centerline goodness : 0.999162 with order 1
Centerline is valid?  [True, True]
Translation: X:839.36, Y:86.95, Z:220.21
[[ 9.49197466e-01 -1.90260763e-01 -2.50649181e-01  8.39364923e+02]
 [ 1.88426991e-01  9.81581065e-01 -3.15258950e-02  8.69497039e+01]
 [ 2.52030631e-01 -1.73047714e-02  9.67564523e-01  2.20209377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.560714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:839.42, Y:86.96, Z:220.23
[[ 9.49409235e-01 -1.89201778e-01 -2.50648741e-01  8.39424047e+02]
 [ 1.87330961e-01  9.81790715e-01 -3.15293966e-02  8.69580810e+01]
 [ 2.52050024e-01 -1.70199692e-02  9.67564523e-01  2.20225862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.620714057 meters
Centerline goodness : 0.998753 with order 1
Centerline is valid?  [True, True]
Translation: X:839.48, Y:86.97, Z:220.24
[[ 9.49597290e-01 -1.88250728e-01 -2.50652450e-01  8.39481787e+02]
 [ 1.86355235e-01  9.81977334e-01 -3.14998796e-02  8.69666667e+01]
 [ 2.52064900e-01 -1.67981959e-02  9.67564523e-01  2.20241970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.680714057 meters
Centerline goodness : 0.998642 with order 1
Centerline is valid?  [True, True]
Translation: X:839.54, Y:86.97, Z:220.26
[[ 9.49648273e-01 -1.87993135e-01 -2.50652626e-01  8.39540906e+02]
 [ 1.86089226e-01  9.82027823e-01 -3.14984792e-02  8.69743392e+01]
 [ 2.52069351e-01 -1.67312769e-02  9.67564523e-01  2.20256608e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.740714057 meters
Centerline goodness : 0.998821 with order 1
Centerline is valid?  [True, True]
Translation: X:839.60, Y:86.98, Z:220.27
[[ 9.49532703e-01 -1.88566060e-01 -2.50660104e-01  8.39600520e+02]
 [ 1.86697354e-01  9.81914302e-01 -3.14388609e-02  8.69817113e+01]
 [ 2.52055043e-01 -1.69453517e-02  9.67564525e-01  2.20271967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.800714057 meters
Centerline goodness : 0.998643 with order 1
Centerline is valid?  [True, True]
Translation: X:839.66, Y:86.99, Z:220.29
[[ 9.48980562e-01 -1.91322330e-01 -2.50662439e-01  8.39657795e+02]
 [ 1.89552550e-01  9.81367719e-01 -3.14202366e-02  8.69884498e+01]
 [ 2.52003419e-01 -1.76965108e-02  9.67564525e-01  2.20285142e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.860714057 meters
Centerline goodness : 0.998645 with order 1
Centerline is valid?  [True, True]
Translation: X:839.72, Y:87.00, Z:220.30
[[ 9.48631898e-01 -1.93044909e-01 -2.50661495e-01  8.39716006e+02]
 [ 1.91331953e-01  9.81022110e-01 -3.14277632e-02  8.69952514e+01]
 [ 2.51971439e-01 -1.81461749e-02  9.67564525e-01  2.20300869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.920714057 meters
Centerline goodness : 0.998642 with order 1
Centerline is valid?  [True, True]
Translation: X:839.78, Y:87.00, Z:220.32
[[ 9.48027499e-01 -1.95990794e-01 -2.50662063e-01  8.39775184e+02]
 [ 1.94379653e-01  9.80422935e-01 -3.14232350e-02  8.70020180e+01]
 [ 2.51913500e-01 -1.89335139e-02  9.67564525e-01  2.20317415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 867.980714057 meters
Centerline goodness : 0.998510 with order 1
Centerline is valid?  [True, True]
Translation: X:839.83, Y:87.01, Z:220.33
[[ 9.47714162e-01 -1.97497411e-01 -2.50664399e-01  8.39833311e+02]
 [ 1.95942665e-01  9.80112353e-01 -3.14045927e-02  8.70078825e+01]
 [ 2.51881599e-01 -1.93532731e-02  9.67564525e-01  2.20333653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.0407140570001 meters
Centerline goodness : 0.998489 with order 1
Centerline is valid?  [True, True]
Translation: X:839.89, Y:87.01, Z:220.35
[[ 9.47660727e-01 -1.97752904e-01 -2.50664985e-01  8.39890636e+02]
 [ 1.96208124e-01  9.80059395e-01 -3.13999101e-02  8.70144818e+01]
 [ 2.51875997e-01 -1.94260449e-02  9.67564525e-01  2.20348798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.100714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:839.95, Y:87.02, Z:220.36
[[ 9.47727579e-01 -1.97432277e-01 -2.50664978e-01  8.39949932e+02]
 [ 1.95876521e-01  9.80125722e-01 -3.13999674e-02  8.70198212e+01]
 [ 2.51882560e-01 -1.93407687e-02  9.67564525e-01  2.20363087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.1607140570001 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:840.01, Y:87.03, Z:220.38
[[ 9.47645811e-01 -1.97822920e-01 -2.50666130e-01  8.40008442e+02]
 [ 1.96282938e-01  9.80044707e-01 -3.13907687e-02  8.70266577e+01]
 [ 2.51873827e-01 -1.94541539e-02  9.67564526e-01  2.20377541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.220714057 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:840.07, Y:87.03, Z:220.39
[[ 9.47543209e-01 -1.98312383e-01 -2.50667241e-01  8.40067836e+02]
 [ 1.96791469e-01  9.79943006e-01 -3.13818915e-02  8.70322895e+01]
 [ 2.51863028e-01 -1.95934765e-02  9.67564526e-01  2.20392390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.2807140570001 meters
Centerline goodness : 0.998739 with order 1
Centerline is valid?  [True, True]
Translation: X:840.13, Y:87.04, Z:220.41
[[ 9.47447058e-01 -1.98769766e-01 -2.50668412e-01  8.40127313e+02]
 [ 1.97266953e-01  9.79847699e-01 -3.13725376e-02  8.70381720e+01]
 [ 2.51852779e-01 -1.97247754e-02  9.67564526e-01  2.20408293e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.340714057 meters
Centerline goodness : 0.998559 with order 1
Centerline is valid?  [True, True]
Translation: X:840.19, Y:87.04, Z:220.42
[[ 9.47252873e-01 -1.99687710e-01 -2.50672721e-01  8.40186422e+02]
 [ 1.98225355e-01  9.79655365e-01 -3.13380710e-02  8.70442978e+01]
 [ 2.51830704e-01 -2.00046113e-02  9.67564526e-01  2.20424733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.4007140570001 meters
Centerline goodness : 0.998742 with order 1
Centerline is valid?  [True, True]
Translation: X:840.25, Y:87.05, Z:220.44
[[ 9.47195925e-01 -1.99948182e-01 -2.50680283e-01  8.40245528e+02]
 [ 1.98510673e-01  9.79599527e-01 -3.12774643e-02  8.70496034e+01]
 [ 2.51820159e-01 -2.01368252e-02  9.67564528e-01  2.20441609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.460714057 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:840.30, Y:87.05, Z:220.46
[[ 9.47119440e-01 -2.00304857e-01 -2.50684526e-01  8.40303439e+02]
 [ 1.98888501e-01  9.79523972e-01 -3.12434244e-02  8.70547956e+01]
 [ 2.51809712e-01 -2.02670151e-02  9.67564529e-01  2.20457865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.5207140570001 meters
Centerline goodness : 0.999082 with order 1
Centerline is valid?  [True, True]
Translation: X:840.36, Y:87.06, Z:220.47
[[ 9.46911846e-01 -2.01283721e-01 -2.50684702e-01  8.40363598e+02]
 [ 1.99901231e-01  9.79317841e-01 -3.12420147e-02  8.70610721e+01]
 [ 2.51788510e-01 -2.05287467e-02  9.67564529e-01  2.20472302e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.580714057 meters
Centerline goodness : 0.998811 with order 1
Centerline is valid?  [True, True]
Translation: X:840.42, Y:87.07, Z:220.49
[[ 9.46595494e-01 -2.02763392e-01 -2.50687010e-01  8.40423264e+02]
 [ 2.01436425e-01  9.79003811e-01 -3.12234825e-02  8.70671593e+01]
 [ 2.51754517e-01 -2.09414872e-02  9.67564529e-01  2.20486315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.6407140570001 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:840.48, Y:87.07, Z:220.50
[[ 9.46227651e-01 -2.04471720e-01 -2.50688148e-01  8.40482489e+02]
 [ 2.03205658e-01  9.78638404e-01 -3.12143421e-02  8.70727767e+01]
 [ 2.51715499e-01 -2.14053764e-02  9.67564529e-01  2.20499958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.700714057 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:840.54, Y:87.08, Z:220.51
[[ 9.46387094e-01 -2.03731765e-01 -2.50688725e-01  8.40540713e+02]
 [ 2.02441578e-01  9.78796895e-01 -3.12097102e-02  8.70805019e+01]
 [ 2.51731755e-01 -2.12133541e-02  9.67564529e-01  2.20514926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.7607140570001 meters
Centerline goodness : 0.999079 with order 1
Centerline is valid?  [True, True]
Translation: X:840.60, Y:87.09, Z:220.53
[[ 9.47128284e-01 -2.00257068e-01 -2.50689293e-01  8.40598038e+02]
 [ 1.98849142e-01  9.79533183e-01 -3.12051492e-02  8.70882941e+01]
 [ 2.51807532e-01 -2.02940713e-02  9.67564529e-01  2.20531876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.820714057 meters
Centerline goodness : 0.999127 with order 1
Centerline is valid?  [True, True]
Translation: X:840.65, Y:87.10, Z:220.55
[[ 9.48020904e-01 -1.95987585e-01 -2.50689513e-01  8.40654716e+02]
 [ 1.94434133e-01  9.80419154e-01 -3.12033780e-02  8.70959486e+01]
 [ 2.51896275e-01 -1.91611435e-02  9.67564529e-01  2.20548926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.880714057 meters
Centerline goodness : 0.999058 with order 1
Centerline is valid?  [True, True]
Translation: X:840.71, Y:87.10, Z:220.56
[[ 9.48703052e-01 -1.92659213e-01 -2.50688946e-01  8.40713435e+02]
 [ 1.90990868e-01  9.81095588e-01 -3.12079360e-02  8.71026917e+01]
 [ 2.51962315e-01 -1.82722351e-02  9.67564529e-01  2.20564422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 868.940714057 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:840.77, Y:87.11, Z:220.58
[[ 9.49048550e-01 -1.90949281e-01 -2.50689492e-01  8.40772739e+02]
 [ 1.89223719e-01  9.81438089e-01 -3.12035465e-02  8.71091968e+01]
 [ 2.51994511e-01 -1.78227173e-02  9.67564529e-01  2.20578126e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.000714057 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:840.83, Y:87.12, Z:220.59
[[ 9.49314267e-01 -1.89622300e-01 -2.50690659e-01  8.40832991e+02]
 [ 1.87853923e-01  9.81701496e-01 -3.11941677e-02  8.71159245e+01]
 [ 2.52018505e-01 -1.74801553e-02  9.67564529e-01  2.20593073e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.060714057 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:840.89, Y:87.12, Z:220.61
[[ 9.49973267e-01 -1.86289664e-01 -2.50692947e-01  8.40891773e+02]
 [ 1.84412475e-01  9.82354371e-01 -3.11757665e-02  8.71226273e+01]
 [ 2.52077036e-01 -1.66147622e-02  9.67564529e-01  2.20608080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.120714057 meters
Centerline goodness : 0.999011 with order 1
Centerline is valid?  [True, True]
Translation: X:840.95, Y:87.13, Z:220.62
[[ 9.50221341e-01 -1.85018557e-01 -2.50694108e-01  8.40949498e+02]
 [ 1.83100501e-01  9.82600051e-01 -3.11664275e-02  8.71301956e+01]
 [ 2.52098411e-01 -1.62872124e-02  9.67564529e-01  2.20623662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.180714057 meters
Centerline goodness : 0.998788 with order 1
Centerline is valid?  [True, True]
Translation: X:841.01, Y:87.14, Z:220.64
[[ 9.50435911e-01 -1.83913019e-01 -2.50694197e-01  8.41008700e+02]
 [ 1.81957484e-01  9.82812379e-01 -3.11657189e-02  8.71371579e+01]
 [ 2.52117141e-01 -1.59946667e-02  9.67564529e-01  2.20638779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.240714057 meters
Centerline goodness : 0.998988 with order 1
Centerline is valid?  [True, True]
Translation: X:841.07, Y:87.14, Z:220.66
[[ 9.50132734e-01 -1.85471365e-01 -2.50695354e-01  8.41066388e+02]
 [ 1.83571372e-01  9.82512509e-01 -3.11564083e-02  8.71442336e+01]
 [ 2.52089942e-01 -1.64177666e-02  9.67564529e-01  2.20655461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.300714057 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:841.13, Y:87.15, Z:220.67
[[ 9.49889465e-01 -1.86713070e-01 -2.50695500e-01  8.41126303e+02]
 [ 1.84855708e-01  9.82271713e-01 -3.11552340e-02  8.71515193e+01]
 [ 2.52068187e-01 -1.67484656e-02  9.67564529e-01  2.20672640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.360714057 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:841.19, Y:87.16, Z:220.69
[[ 9.49537888e-01 -1.88489073e-01 -2.50698362e-01  8.41185295e+02]
 [ 1.86698328e-01  9.81923888e-01 -3.11321821e-02  8.71574165e+01]
 [ 2.52034787e-01 -1.72437786e-02  9.67564529e-01  2.20688021e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.420714057 meters
Centerline goodness : 0.999266 with order 1
Centerline is valid?  [True, True]
Translation: X:841.25, Y:87.16, Z:220.70
[[ 9.49421384e-01 -1.89073534e-01 -2.50699491e-01  8.41245145e+02]
 [ 1.87305114e-01  9.81808610e-01 -3.11230941e-02  8.71646630e+01]
 [ 2.52023472e-01 -1.74083655e-02  9.67564529e-01  2.20702132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.480714057 meters
Centerline goodness : 0.999372 with order 1
Centerline is valid?  [True, True]
Translation: X:841.30, Y:87.17, Z:220.72
[[ 9.48778948e-01 -1.92264088e-01 -2.50705061e-01  8.41304294e+02]
 [ 1.90616363e-01  9.81172539e-01 -3.10781559e-02  8.71722493e+01]
 [ 2.51960135e-01 -1.83021869e-02  9.67564530e-01  2.20715486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.5407140570001 meters
Centerline goodness : 0.999174 with order 1
Centerline is valid?  [True, True]
Translation: X:841.36, Y:87.18, Z:220.73
[[ 9.47919219e-01 -1.96458226e-01 -2.50705644e-01  8.41362492e+02]
 [ 1.94955014e-01  9.80319837e-01 -3.10734595e-02  8.71800760e+01]
 [ 2.51876352e-01 -1.94211929e-02  9.67564530e-01  2.20728129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.600714057 meters
Centerline goodness : 0.998864 with order 1
Centerline is valid?  [True, True]
Translation: X:841.42, Y:87.19, Z:220.74
[[ 9.47573773e-01 -1.98116972e-01 -2.50706225e-01  8.41421548e+02]
 [ 1.96671703e-01  9.79977027e-01 -3.10687673e-02  8.71882484e+01]
 [ 2.51841591e-01 -1.98668712e-02  9.67564530e-01  2.20742888e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.6607140570001 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:841.48, Y:87.20, Z:220.76
[[ 9.46177273e-01 -2.04681197e-01 -2.50707352e-01  8.41478644e+02]
 [ 2.03462988e-01  9.78589858e-01 -3.10596705e-02  8.71980724e+01]
 [ 2.51697002e-01 -2.16217127e-02  9.67564530e-01  2.20757755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.720714057 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:841.54, Y:87.21, Z:220.77
[[ 9.45484348e-01 -2.07859091e-01 -2.50706892e-01  8.41537023e+02]
 [ 2.06748816e-01  9.77900810e-01 -3.10633802e-02  8.72058726e+01]
 [ 2.51623279e-01 -2.24634134e-02  9.67564530e-01  2.20773220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.7807140570001 meters
Centerline goodness : 0.999167 with order 1
Centerline is valid?  [True, True]
Translation: X:841.59, Y:87.22, Z:220.79
[[ 9.44593200e-01 -2.11871705e-01 -2.50707135e-01  8.41594929e+02]
 [ 2.10899594e-01  9.77014099e-01 -3.10614245e-02  8.72151846e+01]
 [ 2.51525442e-01 -2.35336225e-02  9.67564530e-01  2.20788779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.840714057 meters
Centerline goodness : 0.999240 with order 1
Centerline is valid?  [True, True]
Translation: X:841.65, Y:87.23, Z:220.81
[[ 9.44036684e-01 -2.14337627e-01 -2.50707240e-01  8.41652382e+02]
 [ 2.13450404e-01  9.76460017e-01 -3.10605742e-02  8.72251943e+01]
 [ 2.51463046e-01 -2.41912403e-02  9.67564530e-01  2.20805692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.9007140570001 meters
Centerline goodness : 0.999166 with order 1
Centerline is valid?  [True, True]
Translation: X:841.71, Y:87.23, Z:220.82
[[ 9.43731322e-01 -2.15677452e-01 -2.50707855e-01  8.41710631e+02]
 [ 2.14837561e-01  9.76155916e-01 -3.10556062e-02  8.72335060e+01]
 [ 2.51427950e-01 -2.45533160e-02  9.67564530e-01  2.20820979e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 869.960714057 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:841.77, Y:87.24, Z:220.84
[[ 9.43894111e-01 -2.14962058e-01 -2.50709437e-01  8.41770107e+02]
 [ 2.14100951e-01  9.76318148e-01 -3.10428352e-02  8.72428697e+01]
 [ 2.51445205e-01 -2.43759794e-02  9.67564531e-01  2.20835324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.0207140570001 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:841.83, Y:87.25, Z:220.85
[[ 9.44183842e-01 -2.13683218e-01 -2.50711696e-01  8.41828311e+02]
 [ 2.12782991e-01  9.76606817e-01 -3.10245812e-02  8.72531683e+01]
 [ 2.51476183e-01 -2.40542762e-02  9.67564531e-01  2.20849871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.080714057 meters
Centerline goodness : 0.999098 with order 1
Centerline is valid?  [True, True]
Translation: X:841.89, Y:87.26, Z:220.86
[[ 9.44530995e-01 -2.12142863e-01 -2.50712195e-01  8.41885981e+02]
 [ 2.11190812e-01  9.76952489e-01 -3.10205487e-02  8.72621492e+01]
 [ 2.51514691e-01 -2.36482423e-02  9.67564531e-01  2.20863203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.1407140570001 meters
Centerline goodness : 0.999390 with order 1
Centerline is valid?  [True, True]
Translation: X:841.94, Y:87.27, Z:220.88
[[ 9.45234277e-01 -2.08987006e-01 -2.50712173e-01  8.41943063e+02]
 [ 2.07926629e-01  9.77652408e-01 -3.10207211e-02  8.72730452e+01]
 [ 2.51592288e-01 -2.28078883e-02  9.67564531e-01  2.20879613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.200714057 meters
Centerline goodness : 0.999136 with order 1
Centerline is valid?  [True, True]
Translation: X:842.00, Y:87.29, Z:220.90
[[ 9.46098156e-01 -2.05040689e-01 -2.50712176e-01  8.41999828e+02]
 [ 2.03845047e-01  9.78511581e-01 -3.10206960e-02  8.72858094e+01]
 [ 2.51685273e-01 -2.17578120e-02  9.67564531e-01  2.20897560e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.2607140570001 meters
Centerline goodness : 0.999065 with order 1
Centerline is valid?  [True, True]
Translation: X:842.06, Y:87.30, Z:220.91
[[ 9.46895845e-01 -2.01324312e-01 -2.50712545e-01  8.42057826e+02]
 [ 2.00002193e-01  9.79304357e-01 -3.10177164e-02  8.72984720e+01]
 [ 2.51768508e-01 -2.07725120e-02  9.67564531e-01  2.20913554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.320714057 meters
Centerline goodness : 0.999246 with order 1
Centerline is valid?  [True, True]
Translation: X:842.12, Y:87.31, Z:220.93
[[ 9.47033319e-01 -2.00676007e-01 -2.50713047e-01  8.42116254e+02]
 [ 1.99332769e-01  9.79440963e-01 -3.10136551e-02  8.73110133e+01]
 [ 2.51782325e-01 -2.06043612e-02  9.67564531e-01  2.20930568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.380714057 meters
Centerline goodness : 0.999016 with order 1
Centerline is valid?  [True, True]
Translation: X:842.17, Y:87.32, Z:220.95
[[ 9.46850129e-01 -2.01528665e-01 -2.50721022e-01  8.42174323e+02]
 [ 2.00231594e-01  9.79259651e-01 -3.09490604e-02  8.73206057e+01]
 [ 2.51758103e-01 -2.08981479e-02  9.67564533e-01  2.20945439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.440714057 meters
Centerline goodness : 0.999015 with order 1
Centerline is valid?  [True, True]
Translation: X:842.23, Y:87.33, Z:220.96
[[ 9.46605698e-01 -2.02672983e-01 -2.50721589e-01  8.42233393e+02]
 [ 2.01416295e-01  9.79016811e-01 -3.09444636e-02  8.73309923e+01]
 [ 2.51732257e-01 -2.12072081e-02  9.67564533e-01  2.20958115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.500714057 meters
Centerline goodness : 0.999472 with order 1
Centerline is valid?  [True, True]
Translation: X:842.29, Y:87.34, Z:220.97
[[ 9.46748285e-01 -2.01996880e-01 -2.50728828e-01  8.42292844e+02]
 [ 2.00732496e-01  9.79159098e-01 -3.08857031e-02  8.73394097e+01]
 [ 2.51742228e-01 -2.10884370e-02  9.67564534e-01  2.20973871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.560714057 meters
Centerline goodness : 0.999426 with order 1
Centerline is valid?  [True, True]
Translation: X:842.35, Y:87.35, Z:220.99
[[ 9.47197027e-01 -1.99879348e-01 -2.50731009e-01  8.42350877e+02]
 [ 1.98547153e-01  9.79605122e-01 -3.08679815e-02  8.73480010e+01]
 [ 2.51787253e-01 -2.05438678e-02  9.67564535e-01  2.20989454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.620714057 meters
Centerline goodness : 0.999127 with order 1
Centerline is valid?  [True, True]
Translation: X:842.41, Y:87.36, Z:221.01
[[ 9.47543297e-01 -1.98230656e-01 -2.50731545e-01  8.42408140e+02]
 [ 1.96843208e-01  9.79949074e-01 -3.08636314e-02  8.73569980e+01]
 [ 2.51822263e-01 -2.01101746e-02  9.67564535e-01  2.21007587e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.680714057 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:842.47, Y:87.36, Z:221.02
[[ 9.47892950e-01 -1.96551155e-01 -2.50732124e-01  8.42467034e+02]
 [ 1.95107519e-01  9.80296273e-01 -3.08589232e-02  8.73643818e+01]
 [ 2.51857124e-01 -1.96687669e-02  9.67564535e-01  2.21021712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.740714057 meters
Centerline goodness : 0.999332 with order 1
Centerline is valid?  [True, True]
Translation: X:842.53, Y:87.37, Z:221.04
[[ 9.47633454e-01 -1.97797716e-01 -2.50732725e-01  8.42525935e+02]
 [ 1.96397984e-01  9.80038703e-01 -3.08540386e-02  8.73702876e+01]
 [ 2.51830634e-01 -2.00050826e-02  9.67564535e-01  2.21037203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.800714057 meters
Centerline goodness : 0.999241 with order 1
Centerline is valid?  [True, True]
Translation: X:842.58, Y:87.38, Z:221.05
[[ 9.47243334e-01 -1.99656898e-01 -2.50733302e-01  8.42584639e+02]
 [ 1.98321991e-01  9.79651318e-01 -3.08493507e-02  8.73754840e+01]
 [ 2.51790496e-01 -2.05040859e-02  9.67564535e-01  2.21053661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.860714057 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:842.64, Y:87.38, Z:221.07
[[ 9.46218723e-01 -2.04456963e-01 -2.50733879e-01  8.42642368e+02]
 [ 2.03287619e-01  9.78633103e-01 -3.08446607e-02  8.73766072e+01]
 [ 2.51682880e-01 -2.17852977e-02  9.67564535e-01  2.21069042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.920714057 meters
Centerline goodness : 0.999521 with order 1
Centerline is valid?  [True, True]
Translation: X:842.70, Y:87.38, Z:221.08
[[ 9.45877616e-01 -2.06029692e-01 -2.50733526e-01  8.42700766e+02]
 [ 2.04913479e-01  9.78293870e-01 -3.08475355e-02  8.73795493e+01]
 [ 2.51646579e-01 -2.22006857e-02  9.67564535e-01  2.21084449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 870.980714057 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:842.76, Y:87.38, Z:221.10
[[ 9.45533957e-01 -2.07600831e-01 -2.50733784e-01  8.42760576e+02]
 [ 2.06539026e-01  9.77952039e-01 -3.08454364e-02  8.73811686e+01]
 [ 2.51609153e-01 -2.26209040e-02  9.67564535e-01  2.21100179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.0407140570001 meters
Centerline goodness : 0.999033 with order 1
Centerline is valid?  [True, True]
Translation: X:842.82, Y:87.38, Z:221.12
[[ 9.45304826e-01 -2.08640333e-01 -2.50734915e-01  8.42821055e+02]
 [ 2.07616593e-01  9.77724131e-01 -3.08362362e-02  8.73831598e+01]
 [ 2.51583260e-01 -2.29070861e-02  9.67564535e-01  2.21115296e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.100714057 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:842.88, Y:87.39, Z:221.13
[[ 9.45055784e-01 -2.09762814e-01 -2.50737168e-01  8.42880079e+02]
 [ 2.08782396e-01  9.77476428e-01 -3.08179083e-02  8.73861679e+01]
 [ 2.51554122e-01 -2.32248642e-02  9.67564535e-01  2.21129915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.1607140570001 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:842.94, Y:87.39, Z:221.14
[[ 9.44886559e-01 -2.10523413e-01 -2.50737481e-01  8.42939182e+02]
 [ 2.09569760e-01  9.77308001e-01 -3.08153638e-02  8.73850738e+01]
 [ 2.51535102e-01 -2.34299705e-02  9.67564535e-01  2.21144676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.220714057 meters
Centerline goodness : 0.999483 with order 1
Centerline is valid?  [True, True]
Translation: X:843.00, Y:87.39, Z:221.16
[[ 9.45079491e-01 -2.09654923e-01 -2.50738049e-01  8.42999587e+02]
 [ 2.08672691e-01  9.77500080e-01 -3.08107373e-02  8.73882861e+01]
 [ 2.51556086e-01 -2.32035874e-02  9.67564535e-01  2.21160821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.2807140570001 meters
Centerline goodness : 0.999573 with order 1
Centerline is valid?  [True, True]
Translation: X:843.06, Y:87.39, Z:221.18
[[ 9.45432872e-01 -2.08052852e-01 -2.50740294e-01  8.43058349e+02]
 [ 2.07020481e-01  9.77851903e-01 -3.07924566e-02  8.73876723e+01]
 [ 2.51593332e-01 -2.27961756e-02  9.67564535e-01  2.21175667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.340714057 meters
Centerline goodness : 0.999441 with order 1
Centerline is valid?  [True, True]
Translation: X:843.12, Y:87.39, Z:221.19
[[ 9.45634023e-01 -2.07136616e-01 -2.50740336e-01  8.43118065e+02]
 [ 2.06072920e-01  9.78052042e-01 -3.07921198e-02  8.73878899e+01]
 [ 2.51615273e-01 -2.25527169e-02  9.67564535e-01  2.21189973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.4007140570001 meters
Centerline goodness : 0.999531 with order 1
Centerline is valid?  [True, True]
Translation: X:843.18, Y:87.39, Z:221.20
[[ 9.45409409e-01 -2.08157401e-01 -2.50741993e-01  8.43179046e+02]
 [ 2.07132254e-01  9.77828669e-01 -3.07786208e-02  8.73877051e+01]
 [ 2.51589507e-01 -2.28383563e-02  9.67564535e-01  2.21204221e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.460714057 meters
Centerline goodness : 0.999199 with order 1
Centerline is valid?  [True, True]
Translation: X:843.24, Y:87.39, Z:221.22
[[ 9.45097989e-01 -2.09564104e-01 -2.50744246e-01  8.43238511e+02]
 [ 2.08592035e-01  9.77518885e-01 -3.07602504e-02  8.73870526e+01]
 [ 2.51553480e-01 -2.32318018e-02  9.67564535e-01  2.21218952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.5207140570001 meters
Centerline goodness : 0.999400 with order 1
Centerline is valid?  [True, True]
Translation: X:843.30, Y:87.39, Z:221.24
[[ 9.44981678e-01 -2.10086579e-01 -2.50745404e-01  8.43298290e+02]
 [ 2.09134918e-01  9.77403179e-01 -3.07508118e-02  8.73921158e+01]
 [ 2.51539688e-01 -2.33806657e-02  9.67564535e-01  2.21235281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.580714057 meters
Centerline goodness : 0.999379 with order 1
Centerline is valid?  [True, True]
Translation: X:843.36, Y:87.39, Z:221.25
[[ 9.44777125e-01 -2.11001771e-01 -2.50747755e-01  8.43358986e+02]
 [ 2.10086559e-01  9.77199675e-01 -3.07316280e-02  8.73930100e+01]
 [ 2.51515053e-01 -2.36441940e-02  9.67564536e-01  2.21250859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.6407140570001 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:843.42, Y:87.39, Z:221.27
[[ 9.45000029e-01 -2.09998440e-01 -2.50750075e-01  8.43416740e+02]
 [ 2.09053784e-01  9.77421734e-01 -3.07126829e-02  8.73946862e+01]
 [ 2.51538189e-01 -2.33967658e-02  9.67564536e-01  2.21266345e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.700714057 meters
Centerline goodness : 0.999203 with order 1
Centerline is valid?  [True, True]
Translation: X:843.47, Y:87.40, Z:221.28
[[ 9.45604610e-01 -2.07259070e-01 -2.50750075e-01  8.43474645e+02]
 [ 2.06220464e-01  9.78023441e-01 -3.07126829e-02  8.73977491e+01]
 [ 2.51604934e-01 -2.26677423e-02  9.67564536e-01  2.21283155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.7607140570001 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:843.53, Y:87.40, Z:221.30
[[ 9.46777658e-01 -2.01832660e-01 -2.50750164e-01  8.43532502e+02]
 [ 2.00608339e-01  9.79190007e-01 -3.07119636e-02  8.74019514e+01]
 [ 2.51730732e-01 -2.12251730e-02  9.67564536e-01  2.21297340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.820714057 meters
Centerline goodness : 0.998829 with order 1
Centerline is valid?  [True, True]
Translation: X:843.59, Y:87.41, Z:221.31
[[ 9.48131813e-01 -1.95373293e-01 -2.50749559e-01  8.43591696e+02]
 [ 1.93926733e-01  9.80535004e-01 -3.07168973e-02  8.74068767e+01]
 [ 2.51869981e-01 -1.95033752e-02  9.67564536e-01  2.21311460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.880714057 meters
Centerline goodness : 0.998875 with order 1
Centerline is valid?  [True, True]
Translation: X:843.65, Y:87.41, Z:221.33
[[ 9.49066862e-01 -1.90778536e-01 -2.50750160e-01  8.43649032e+02]
 [ 1.89176330e-01  9.81462730e-01 -3.07119942e-02  8.74146290e+01]
 [ 2.51961126e-01 -1.82882590e-02  9.67564536e-01  2.21328737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 871.940714057 meters
Centerline goodness : 0.999073 with order 1
Centerline is valid?  [True, True]
Translation: X:843.71, Y:87.42, Z:221.34
[[ 9.50750478e-01 -1.82202957e-01 -2.50750095e-01  8.43706400e+02]
 [ 1.80308221e-01  9.83130554e-01 -3.07125193e-02  8.74223368e+01]
 [ 2.52115992e-01 -1.60123612e-02  9.67564536e-01  2.21344929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.000714057 meters
Centerline goodness : 0.999161 with order 1
Centerline is valid?  [True, True]
Translation: X:843.76, Y:87.43, Z:221.36
[[ 9.52229505e-01 -1.74307587e-01 -2.50750544e-01  8.43763761e+02]
 [ 1.72145196e-01  9.84592808e-01 -3.07088555e-02  8.74304931e+01]
 [ 2.52239969e-01 -1.39236232e-02  9.67564536e-01  2.21360137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.060714057 meters
Centerline goodness : 0.998583 with order 1
Centerline is valid?  [True, True]
Translation: X:843.82, Y:87.44, Z:221.38
[[ 9.53225771e-01 -1.68774973e-01 -2.50750151e-01  8.43821496e+02]
 [ 1.66423840e-01  9.85575910e-01 -3.07120618e-02  8.74400462e+01]
 [ 2.52316736e-01 -1.24552743e-02  9.67564536e-01  2.21376620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.120714057 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:843.88, Y:87.45, Z:221.39
[[ 9.53571644e-01 -1.66809118e-01 -2.50750551e-01  8.43880164e+02]
 [ 1.64392142e-01  9.85916930e-01 -3.07087998e-02  8.74481048e+01]
 [ 2.52341721e-01 -1.19383795e-02  9.67564536e-01  2.21394179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.180714057 meters
Centerline goodness : 0.998985 with order 1
Centerline is valid?  [True, True]
Translation: X:843.94, Y:87.46, Z:221.41
[[ 9.53703273e-01 -1.66052331e-01 -2.50752250e-01  8.43938854e+02]
 [ 1.63613329e-01  9.86046906e-01 -3.06949184e-02  8.74550243e+01]
 [ 2.52350443e-01 -1.17525663e-02  9.67564536e-01  2.21408465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.240714057 meters
Centerline goodness : 0.999249 with order 1
Centerline is valid?  [True, True]
Translation: X:844.00, Y:87.46, Z:221.42
[[ 9.53610651e-01 -1.66580904e-01 -2.50753922e-01  8.43997397e+02]
 [ 1.64163414e-01  9.85955899e-01 -3.06812572e-02  8.74627135e+01]
 [ 2.52343220e-01 -1.19066461e-02  9.67564536e-01  2.21423844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.300714057 meters
Centerline goodness : 0.998918 with order 1
Centerline is valid?  [True, True]
Translation: X:844.06, Y:87.47, Z:221.44
[[ 9.53295175e-01 -1.68375264e-01 -2.50755020e-01  8.44055999e+02]
 [ 1.66021007e-01  9.85645087e-01 -3.06722755e-02  8.74702720e+01]
 [ 2.52319906e-01 -1.23908688e-02  9.67564536e-01  2.21439783e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.360714057 meters
Centerline goodness : 0.999096 with order 1
Centerline is valid?  [True, True]
Translation: X:844.12, Y:87.48, Z:221.46
[[ 9.53009103e-01 -1.69986147e-01 -2.50755577e-01  8.44115112e+02]
 [ 1.67687760e-01  9.85363033e-01 -3.06677255e-02  8.74775806e+01]
 [ 2.52298364e-01 -1.28220194e-02  9.67564536e-01  2.21455046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.420714057 meters
Centerline goodness : 0.998701 with order 1
Centerline is valid?  [True, True]
Translation: X:844.17, Y:87.49, Z:221.47
[[ 9.52773829e-01 -1.71297527e-01 -2.50757229e-01  8.44172722e+02]
 [ 1.69047216e-01  9.85131138e-01 -3.06542092e-02  8.74850403e+01]
 [ 2.52279745e-01 -1.31832832e-02  9.67564536e-01  2.21471641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.480714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:844.23, Y:87.49, Z:221.49
[[ 9.52475322e-01 -1.72948846e-01 -2.50757768e-01  8.44232056e+02]
 [ 1.70755784e-01  9.84836561e-01 -3.06498029e-02  8.74913055e+01]
 [ 2.52256266e-01 -1.36251584e-02  9.67564536e-01  2.21489112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.5407140570001 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:844.29, Y:87.50, Z:221.50
[[ 9.52017844e-01 -1.75446398e-01 -2.50760019e-01  8.44291212e+02]
 [ 1.73343059e-01  9.84385038e-01 -3.06313737e-02  8.74986731e+01]
 [ 2.52218575e-01 -1.43058944e-02  9.67564536e-01  2.21503229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.600714057 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:844.35, Y:87.51, Z:221.52
[[ 9.51910022e-01 -1.76029672e-01 -2.50760574e-01  8.44349139e+02]
 [ 1.73947358e-01  9.84278575e-01 -3.06268297e-02  8.75059947e+01]
 [ 2.52209491e-01 -1.44651531e-02  9.67564536e-01  2.21516891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.6607140570001 meters
Centerline goodness : 0.998937 with order 1
Centerline is valid?  [True, True]
Translation: X:844.41, Y:87.51, Z:221.53
[[ 9.52024051e-01 -1.75411918e-01 -2.50760574e-01  8.44409059e+02]
 [ 1.73308600e-01  9.84391247e-01 -3.06268297e-02  8.75146363e+01]
 [ 2.52218825e-01 -1.43014854e-02  9.67564536e-01  2.21532588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.720714057 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:844.47, Y:87.52, Z:221.55
[[ 9.52087602e-01 -1.75063548e-01 -2.50762742e-01  8.44467115e+02]
 [ 1.72953049e-01  9.84454330e-01 -3.06090684e-02  8.75236484e+01]
 [ 2.52222999e-01 -1.42276664e-02  9.67564536e-01  2.21549442e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.7807140570001 meters
Centerline goodness : 0.998714 with order 1
Centerline is valid?  [True, True]
Translation: X:844.53, Y:87.53, Z:221.56
[[ 9.52228953e-01 -1.74292256e-01 -2.50763298e-01  8.44526123e+02]
 [ 1.72156735e-01  9.84594039e-01 -3.06045137e-02  8.75318833e+01]
 [ 2.52234178e-01 -1.40280866e-02  9.67564536e-01  2.21564806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.840714057 meters
Centerline goodness : 0.998978 with order 1
Centerline is valid?  [True, True]
Translation: X:844.59, Y:87.54, Z:221.58
[[ 9.52449108e-01 -1.73082750e-01 -2.50764946e-01  8.44585543e+02]
 [ 1.70909671e-01  9.84811695e-01 -3.05910081e-02  8.75405098e+01]
 [ 2.52251027e-01 -1.37217759e-02  9.67564537e-01  2.21579770e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.9007140570001 meters
Centerline goodness : 0.998578 with order 1
Centerline is valid?  [True, True]
Translation: X:844.64, Y:87.55, Z:221.60
[[ 9.52792061e-01 -1.71182420e-01 -2.50766561e-01  8.44644124e+02]
 [ 1.68948265e-01  9.85150488e-01 -3.05777584e-02  8.75500574e+01]
 [ 2.52277175e-01 -1.32323300e-02  9.67564537e-01  2.21597132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 872.960714057 meters
Centerline goodness : 0.999024 with order 1
Centerline is valid?  [True, True]
Translation: X:844.70, Y:87.56, Z:221.61
[[ 9.52914305e-01 -1.70497244e-01 -2.50768854e-01  8.44702951e+02]
 [ 1.68244758e-01  9.85271461e-01 -3.05589453e-02  8.75586915e+01]
 [ 2.52285611e-01 -1.30704890e-02  9.67564537e-01  2.21613709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.0207140570001 meters
Centerline goodness : 0.998824 with order 1
Centerline is valid?  [True, True]
Translation: X:844.76, Y:87.57, Z:221.63
[[ 9.52786348e-01 -1.71207430e-01 -2.50771192e-01  8.44762367e+02]
 [ 1.68984102e-01  9.85145521e-01 -3.05397429e-02  8.75674906e+01]
 [ 2.52274748e-01 -1.32784947e-02  9.67564537e-01  2.21630924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.080714057 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:844.82, Y:87.58, Z:221.65
[[ 9.52622094e-01 -1.72115762e-01 -2.50773427e-01  8.44820558e+02]
 [ 1.69928105e-01  9.84983697e-01 -3.05213856e-02  8.75753544e+01]
 [ 2.52260949e-01 -1.35381070e-02  9.67564537e-01  2.21647563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.1407140570001 meters
Centerline goodness : 0.998741 with order 1
Centerline is valid?  [True, True]
Translation: X:844.88, Y:87.58, Z:221.66
[[ 9.53004134e-01 -1.69986822e-01 -2.50774006e-01  8.44878437e+02]
 [ 1.67728111e-01  9.85360856e-01 -3.05166266e-02  8.75830405e+01]
 [ 2.52290313e-01 -1.29793791e-02  9.67564537e-01  2.21661789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.200714057 meters
Centerline goodness : 0.999202 with order 1
Centerline is valid?  [True, True]
Translation: X:844.94, Y:87.59, Z:221.68
[[ 9.53894485e-01 -1.64917283e-01 -2.50774006e-01  8.44936217e+02]
 [ 1.62486563e-01  9.86238740e-01 -3.05166266e-02  8.75909348e+01]
 [ 2.52355759e-01 -1.16377645e-02  9.67564537e-01  2.21675739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.2607140570001 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:845.00, Y:87.60, Z:221.69
[[ 9.54796568e-01 -1.59611756e-01 -2.50774006e-01  8.44995930e+02]
 [ 1.57001263e-01  9.87126810e-01 -3.05166266e-02  8.75991398e+01]
 [ 2.52416557e-01 -1.02346654e-02  9.67564537e-01  2.21692356e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.320714057 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:845.05, Y:87.61, Z:221.71
[[ 9.55196308e-01 -1.57198240e-01 -2.50776249e-01  8.45054887e+02]
 [ 1.54510885e-01  9.87520252e-01 -3.04981789e-02  8.76060447e+01]
 [ 2.52440885e-01 -9.61591231e-03  9.67564537e-01  2.21707500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.380714057 meters
Centerline goodness : 0.998315 with order 1
Centerline is valid?  [True, True]
Translation: X:845.11, Y:87.61, Z:221.72
[[ 9.55443949e-01 -1.55684181e-01 -2.50777385e-01  8.45113158e+02]
 [ 1.52948049e-01  9.87763800e-01 -3.04888356e-02  8.76116548e+01]
 [ 2.52455453e-01 -9.22553827e-03  9.67564537e-01  2.21721077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.440714057 meters
Centerline goodness : 0.998732 with order 1
Centerline is valid?  [True, True]
Translation: X:845.17, Y:87.62, Z:221.74
[[ 9.55338484e-01 -1.56329148e-01 -2.50777947e-01  8.45172664e+02]
 [ 1.53616047e-01  9.87660277e-01 -3.04842131e-02  8.76164498e+01]
 [ 2.52448988e-01 -9.40077490e-03  9.67564537e-01  2.21737853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.500714057 meters
Centerline goodness : 0.998340 with order 1
Centerline is valid?  [True, True]
Translation: X:845.23, Y:87.62, Z:221.75
[[ 9.55189925e-01 -1.57230713e-01 -2.50780205e-01  8.45230660e+02]
 [ 1.54552989e-01  9.87514668e-01 -3.04656310e-02  8.76225381e+01]
 [ 2.52439263e-01 -9.65836647e-03  9.67564538e-01  2.21752387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.560714057 meters
Centerline goodness : 0.998162 with order 1
Centerline is valid?  [True, True]
Translation: X:845.29, Y:87.63, Z:221.77
[[ 9.54728129e-01 -1.60010391e-01 -2.50780531e-01  8.45289781e+02]
 [ 1.57427472e-01  9.87060586e-01 -3.04629463e-02  8.76276678e+01]
 [ 2.52409966e-01 -1.03959133e-02  9.67564538e-01  2.21771062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.620714057 meters
Centerline goodness : 0.998759 with order 1
Centerline is valid?  [True, True]
Translation: X:845.35, Y:87.63, Z:221.79
[[ 9.53679654e-01 -1.66141842e-01 -2.50782785e-01  8.45348649e+02]
 [ 1.63771606e-01  9.86028398e-01 -3.04443796e-02  8.76313840e+01]
 [ 2.52337033e-01 -1.20369139e-02  9.67564538e-01  2.21786886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.680714057 meters
Centerline goodness : 0.998162 with order 1
Centerline is valid?  [True, True]
Translation: X:845.41, Y:87.64, Z:221.80
[[ 9.52457359e-01 -1.73009726e-01 -2.50783998e-01  8.45407403e+02]
 [ 1.70875278e-01  9.84822516e-01 -3.04343858e-02  8.76355348e+01]
 [ 2.52243172e-01 -1.38653306e-02  9.67564538e-01  2.21801869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.740714057 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:845.47, Y:87.64, Z:221.82
[[ 9.51811717e-01 -1.76527042e-01 -2.50784088e-01  8.45466831e+02]
 [ 1.74512365e-01  9.84184550e-01 -3.04336409e-02  8.76413088e+01]
 [ 2.52190185e-01 -1.47978285e-02  9.67564538e-01  2.21818329e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.800714057 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:845.52, Y:87.65, Z:221.83
[[ 9.51638657e-01 -1.77455158e-01 -2.50785830e-01  8.45524144e+02]
 [ 1.75475824e-01  9.84013670e-01 -3.04192763e-02  8.76470435e+01]
 [ 2.52174743e-01 -1.50586911e-02  9.67564538e-01  2.21832034e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.860714057 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:845.58, Y:87.65, Z:221.85
[[ 9.51473365e-01 -1.78339926e-01 -2.50785382e-01  8.45582069e+02]
 [ 1.76389724e-01  9.83850145e-01 -3.04229763e-02  8.76538937e+01]
 [ 2.52160865e-01 -1.52893126e-02  9.67564538e-01  2.21847395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.920714057 meters
Centerline goodness : 0.998635 with order 1
Centerline is valid?  [True, True]
Translation: X:845.64, Y:87.66, Z:221.86
[[ 9.51765526e-01 -1.76773286e-01 -2.50785941e-01  8.45642000e+02]
 [ 1.74770996e-01  9.84139127e-01 -3.04183662e-02  8.76607281e+01]
 [ 2.52185411e-01 -1.48789564e-02  9.67564538e-01  2.21863737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 873.980714057 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:845.70, Y:87.67, Z:221.88
[[ 9.52142187e-01 -1.74730010e-01 -2.50788116e-01  8.45700174e+02]
 [ 1.72662949e-01  9.84511717e-01 -3.04004224e-02  8.76682456e+01]
 [ 2.52215705e-01 -1.43562910e-02  9.67564538e-01  2.21879212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.0407140570001 meters
Centerline goodness : 0.999034 with order 1
Centerline is valid?  [True, True]
Translation: X:845.76, Y:87.68, Z:221.89
[[ 9.52516071e-01 -1.72679749e-01 -2.50788436e-01  8.45760540e+02]
 [ 1.70543697e-01  9.84881121e-01 -3.03977825e-02  8.76755923e+01]
 [ 2.52245877e-01 -1.38160107e-02  9.67564538e-01  2.21893987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.100714057 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:845.82, Y:87.68, Z:221.91
[[ 9.53129509e-01 -1.69257716e-01 -2.50790681e-01  8.45818769e+02]
 [ 1.67010304e-01  9.85487017e-01 -3.03792484e-02  8.76831670e+01]
 [ 2.52292882e-01 -1.29292697e-02  9.67564538e-01  2.21908797e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.1607140570001 meters
Centerline goodness : 0.998564 with order 1
Centerline is valid?  [True, True]
Translation: X:845.88, Y:87.69, Z:221.93
[[ 9.53994129e-01 -1.64314491e-01 -2.50790650e-01  8.45877402e+02]
 [ 1.61899304e-01  9.86339547e-01 -3.03795020e-02  8.76915891e+01]
 [ 2.52356529e-01 -1.16209653e-02  9.67564538e-01  2.21926310e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.220714057 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:845.93, Y:87.70, Z:221.94
[[ 9.54873298e-01 -1.59123211e-01 -2.50792323e-01  8.45934731e+02]
 [ 1.56535753e-01  9.87205391e-01 -3.03656880e-02  8.76994394e+01]
 [ 2.52415419e-01 -1.02625805e-02  9.67564538e-01  2.21942258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.2807140570001 meters
Centerline goodness : 0.998983 with order 1
Centerline is valid?  [True, True]
Translation: X:845.99, Y:87.71, Z:221.96
[[ 9.54970246e-01 -1.58540356e-01 -2.50792313e-01  8.45994052e+02]
 [ 1.55933142e-01  9.87300752e-01 -3.03657721e-02  8.77062094e+01]
 [ 2.52421639e-01 -1.01084244e-02  9.67564538e-01  2.21958747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.340714057 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:846.05, Y:87.71, Z:221.97
[[ 9.54713671e-01 -1.60074658e-01 -2.50794558e-01  8.46053112e+02]
 [ 1.57524264e-01  9.87048708e-01 -3.03472144e-02  8.77130262e+01]
 [ 2.52404265e-01 -1.05333278e-02  9.67564538e-01  2.21974626e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.4007140570001 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:846.11, Y:87.72, Z:221.99
[[ 9.54233975e-01 -1.62908053e-01 -2.50795709e-01  8.46111588e+02]
 [ 1.60456151e-01  9.86576630e-01 -3.03377064e-02  8.77191242e+01]
 [ 2.52371442e-01 -1.12924440e-02  9.67564539e-01  2.21989418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.460714057 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:846.17, Y:87.72, Z:222.00
[[ 9.53762888e-01 -1.65637797e-01 -2.50799668e-01  8.46171167e+02]
 [ 1.63287046e-01  9.86113052e-01 -3.03049428e-02  8.77249219e+01]
 [ 2.52336470e-01 -1.20486070e-02  9.67564539e-01  2.22003851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.5207140570001 meters
Centerline goodness : 0.998985 with order 1
Centerline is valid?  [True, True]
Translation: X:846.23, Y:87.73, Z:222.02
[[ 9.53424323e-01 -1.67573938e-01 -2.50800790e-01  8.46230522e+02]
 [ 1.65291311e-01  9.85779365e-01 -3.02956520e-02  8.77308754e+01]
 [ 2.52311005e-01 -1.25705800e-02  9.67564539e-01  2.22017726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.580714057 meters
Centerline goodness : 0.998896 with order 1
Centerline is valid?  [True, True]
Translation: X:846.29, Y:87.74, Z:222.03
[[ 9.53420305e-01 -1.67594305e-01 -2.50802454e-01  8.46290527e+02]
 [ 1.65315985e-01  9.85775651e-01 -3.02818699e-02  8.77376605e+01]
 [ 2.52310021e-01 -1.25903052e-02  9.67564539e-01  2.22034377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.6407140570001 meters
Centerline goodness : 0.998696 with order 1
Centerline is valid?  [True, True]
Translation: X:846.35, Y:87.75, Z:222.05
[[ 9.53647547e-01 -1.66293112e-01 -2.50804620e-01  8.46349635e+02]
 [ 1.63975352e-01  9.86000091e-01 -3.02639231e-02  8.77454993e+01]
 [ 2.52326060e-01 -1.22646598e-02  9.67564539e-01  2.22050769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.700714057 meters
Centerline goodness : 0.998762 with order 1
Centerline is valid?  [True, True]
Translation: X:846.41, Y:87.75, Z:222.07
[[ 9.53601808e-01 -1.66552710e-01 -2.50806275e-01  8.46407851e+02]
 [ 1.64247357e-01  9.85955238e-01 -3.02502014e-02  8.77529885e+01]
 [ 2.52322013e-01 -1.23476210e-02  9.67564539e-01  2.22065234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.7607140570001 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:846.47, Y:87.76, Z:222.08
[[ 9.52979844e-01 -1.70074570e-01 -2.50806815e-01  8.46465249e+02]
 [ 1.67889935e-01  9.85341649e-01 -3.02457225e-02  8.77613911e+01]
 [ 2.52274429e-01 -1.32843760e-02  9.67564539e-01  2.22080870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.820714057 meters
Centerline goodness : 0.999048 with order 1
Centerline is valid?  [True, True]
Translation: X:846.52, Y:87.77, Z:222.10
[[ 9.52036580e-01 -1.75278385e-01 -2.50806375e-01  8.46523577e+02]
 [ 1.73269626e-01  9.84409779e-01 -3.02493664e-02  8.77695206e+01]
 [ 2.52198308e-01 -1.46586235e-02  9.67564539e-01  2.22096859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.880714057 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:846.58, Y:87.78, Z:222.11
[[ 9.51234805e-01 -1.79578564e-01 -2.50806471e-01  8.46580993e+02]
 [ 1.77716319e-01  9.83616762e-01 -3.02485700e-02  8.77779099e+01]
 [ 2.52129444e-01 -1.57989104e-02  9.67564539e-01  2.22109258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 874.940714057 meters
Centerline goodness : 0.998849 with order 1
Centerline is valid?  [True, True]
Translation: X:846.64, Y:87.79, Z:222.13
[[ 9.50913734e-01 -1.81271648e-01 -2.50806022e-01  8.46640467e+02]
 [ 1.79466074e-01  9.83298900e-01 -3.02522916e-02  8.77875420e+01]
 [ 2.52101169e-01 -1.62438527e-02  9.67564539e-01  2.22126388e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.000714057 meters
Centerline goodness : 0.998691 with order 1
Centerline is valid?  [True, True]
Translation: X:846.70, Y:87.80, Z:222.14
[[ 9.51067693e-01 -1.80459094e-01 -2.50808212e-01  8.46699322e+02]
 [ 1.78630620e-01  9.83451574e-01 -3.02341283e-02  8.77974773e+01]
 [ 2.52113754e-01 -1.60473238e-02  9.67564540e-01  2.22142764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.060714057 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:846.76, Y:87.81, Z:222.16
[[ 9.51511090e-01 -1.78103277e-01 -2.50810425e-01  8.46757620e+02]
 [ 1.76199436e-01  9.83890627e-01 -3.02157606e-02  8.78086506e+01]
 [ 2.52151552e-01 -1.54420240e-02  9.67564540e-01  2.22160667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.120714057 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:846.82, Y:87.82, Z:222.18
[[ 9.51935238e-01 -1.75819780e-01 -2.50812098e-01  8.46815187e+02]
 [ 1.73841904e-01  9.84310337e-01 -3.02018643e-02  8.78190563e+01]
 [ 2.52187026e-01 -1.48514338e-02  9.67564540e-01  2.22175987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.180714057 meters
Centerline goodness : 0.998931 with order 1
Centerline is valid?  [True, True]
Translation: X:846.87, Y:87.83, Z:222.19
[[ 9.52380714e-01 -1.73389935e-01 -2.50812492e-01  8.46874502e+02]
 [ 1.71330306e-01  9.84750715e-01 -3.01985903e-02  8.78298862e+01]
 [ 2.52223913e-01 -1.42112260e-02  9.67564540e-01  2.22191244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.240714057 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:846.93, Y:87.84, Z:222.21
[[ 9.53234622e-01 -1.68628976e-01 -2.50814722e-01  8.46932032e+02]
 [ 1.66412490e-01  9.85594261e-01 -3.01800641e-02  8.78412003e+01]
 [ 2.52290784e-01 -1.29700203e-02  9.67564540e-01  2.22207558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.300714057 meters
Centerline goodness : 0.999242 with order 1
Centerline is valid?  [True, True]
Translation: X:846.99, Y:87.85, Z:222.22
[[ 9.53963414e-01 -1.64455681e-01 -2.50814941e-01  8.46991562e+02]
 [ 1.62098078e-01  9.86313078e-01 -3.01782403e-02  8.78503915e+01]
 [ 2.52345040e-01 -1.18676827e-02  9.67564540e-01  2.22223612e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.360714057 meters
Centerline goodness : 0.999107 with order 1
Centerline is valid?  [True, True]
Translation: X:847.05, Y:87.86, Z:222.24
[[ 9.54633864e-01 -1.60514603e-01 -2.50817160e-01  8.47049012e+02]
 [ 1.58028260e-01  9.86973888e-01 -3.01597895e-02  8.78595993e+01]
 [ 2.52391074e-01 -1.08446430e-02  9.67564540e-01  2.22239423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.420714057 meters
Centerline goodness : 0.998931 with order 1
Centerline is valid?  [True, True]
Translation: X:847.11, Y:87.87, Z:222.26
[[ 9.55422512e-01 -1.55751699e-01 -2.50817129e-01  8.47108014e+02]
 [ 1.53104036e-01  9.87749728e-01 -3.01600440e-02  8.78689845e+01]
 [ 2.52442029e-01 -9.58552982e-03  9.67564540e-01  2.22255906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.480714057 meters
Centerline goodness : 0.999060 with order 1
Centerline is valid?  [True, True]
Translation: X:847.17, Y:87.88, Z:222.27
[[ 9.55568073e-01 -1.54853405e-01 -2.50818821e-01  8.47167926e+02]
 [ 1.52179041e-01  9.87893091e-01 -3.01459669e-02  8.78768455e+01]
 [ 2.52450386e-01 -9.36284428e-03  9.67564540e-01  2.22271747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.5407140570001 meters
Centerline goodness : 0.999038 with order 1
Centerline is valid?  [True, True]
Translation: X:847.23, Y:87.88, Z:222.29
[[ 9.55371429e-01 -1.56058435e-01 -2.50821048e-01  8.47227310e+02]
 [ 1.53429702e-01  9.87700190e-01 -3.01274247e-02  8.78835051e+01]
 [ 2.52437636e-01 -9.70051799e-03  9.67564541e-01  2.22286909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.600714057 meters
Centerline goodness : 0.999285 with order 1
Centerline is valid?  [True, True]
Translation: X:847.29, Y:87.89, Z:222.30
[[ 9.54878921e-01 -1.59041547e-01 -2.50822712e-01  8.47285952e+02]
 [ 1.56517432e-01  9.87216018e-01 -3.01135656e-02  8.78902061e+01]
 [ 2.52405507e-01 -1.05033177e-02  9.67564541e-01  2.22303241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.6607140570001 meters
Centerline goodness : 0.999442 with order 1
Centerline is valid?  [True, True]
Translation: X:847.34, Y:87.90, Z:222.32
[[ 9.54050227e-01 -1.63937709e-01 -2.50823826e-01  8.47344300e+02]
 [ 1.61581941e-01  9.86400025e-01 -3.01042875e-02  8.78956555e+01]
 [ 2.52347856e-01 -1.18075982e-02  9.67564541e-01  2.22317908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.720714057 meters
Centerline goodness : 0.999171 with order 1
Centerline is valid?  [True, True]
Translation: X:847.40, Y:87.90, Z:222.33
[[ 9.53223833e-01 -1.68676260e-01 -2.50823931e-01  8.47402721e+02]
 [ 1.66481494e-01  9.85584952e-01 -3.01034111e-02  8.79009010e+01]
 [ 2.52286023e-01 -1.30622539e-02  9.67564541e-01  2.22332715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.7807140570001 meters
Centerline goodness : 0.999263 with order 1
Centerline is valid?  [True, True]
Translation: X:847.46, Y:87.91, Z:222.35
[[ 9.53007353e-01 -1.69894288e-01 -2.50824472e-01  8.47460983e+02]
 [ 1.67742062e-01  9.85371329e-01 -3.00989040e-02  8.79077072e+01]
 [ 2.52268875e-01 -1.33893373e-02  9.67564541e-01  2.22349608e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.840714057 meters
Centerline goodness : 0.999285 with order 1
Centerline is valid?  [True, True]
Translation: X:847.52, Y:87.91, Z:222.37
[[ 9.53148218e-01 -1.69101416e-01 -2.50825011e-01  8.47520699e+02]
 [ 1.66923446e-01  9.85510472e-01 -3.00944149e-02  8.79135522e+01]
 [ 2.52279683e-01 -1.31841371e-02  9.67564541e-01  2.22365741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.9007140570001 meters
Centerline goodness : 0.999195 with order 1
Centerline is valid?  [True, True]
Translation: X:847.58, Y:87.92, Z:222.38
[[ 9.53555200e-01 -1.66787795e-01 -2.50827255e-01  8.47580406e+02]
 [ 1.64536203e-01  9.85912415e-01 -3.00756991e-02  8.79210492e+01]
 [ 2.52309964e-01 -1.25913249e-02  9.67564541e-01  2.22380175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 875.960714057 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:847.64, Y:87.93, Z:222.39
[[ 9.53915268e-01 -1.64712574e-01 -2.50829483e-01  8.47638701e+02]
 [ 1.62395460e-01  9.86267857e-01 -3.00571056e-02  8.79288011e+01]
 [ 2.52335840e-01 -1.20616374e-02  9.67564541e-01  2.22394158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.0207140570001 meters
Centerline goodness : 0.998996 with order 1
Centerline is valid?  [True, True]
Translation: X:847.70, Y:87.94, Z:222.41
[[ 9.53967683e-01 -1.64408607e-01 -2.50829565e-01  8.47697045e+02]
 [ 1.62081364e-01  9.86319544e-01 -3.00564229e-02  8.79364670e+01]
 [ 2.52339636e-01 -1.19819418e-02  9.67564541e-01  2.22408882e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.080714057 meters
Centerline goodness : 0.999128 with order 1
Centerline is valid?  [True, True]
Translation: X:847.76, Y:87.94, Z:222.43
[[ 9.53963745e-01 -1.64425599e-01 -2.50833402e-01  8.47755575e+02]
 [ 1.62107343e-01  9.86316251e-01 -3.00243626e-02  8.79447679e+01]
 [ 2.52337835e-01 -1.20197829e-02  9.67564542e-01  2.22425513e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.1407140570001 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:847.81, Y:87.95, Z:222.44
[[ 9.53896367e-01 -1.64814352e-01 -2.50834509e-01  8.47814019e+02]
 [ 1.62511707e-01  9.86249988e-01 -3.00151114e-02  8.79549424e+01]
 [ 2.52332453e-01 -1.21322387e-02  9.67564542e-01  2.22441854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.200714057 meters
Centerline goodness : 0.999153 with order 1
Centerline is valid?  [True, True]
Translation: X:847.87, Y:87.96, Z:222.46
[[ 9.53687947e-01 -1.66013647e-01 -2.50836140e-01  8.47873627e+02]
 [ 1.63755261e-01  9.86044687e-01 -3.00014823e-02  8.79631155e+01]
 [ 2.52316298e-01 -1.24636856e-02  9.67564542e-01  2.22458440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.2607140570001 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:847.93, Y:87.97, Z:222.47
[[ 9.52949844e-01 -1.70196115e-01 -2.50838350e-01  8.47931668e+02]
 [ 1.68084561e-01  9.85316498e-01 -2.99829894e-02  8.79726020e+01]
 [ 2.52258153e-01 -1.35897689e-02  9.67564542e-01  2.22473617e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.320714057 meters
Centerline goodness : 0.998704 with order 1
Centerline is valid?  [True, True]
Translation: X:847.99, Y:87.98, Z:222.49
[[ 9.52358915e-01 -1.73472114e-01 -2.50838439e-01  8.47990127e+02]
 [ 1.71472071e-01  9.84732651e-01 -2.99822455e-02  8.79810217e+01]
 [ 2.52209884e-01 -1.44579278e-02  9.67564542e-01  2.22488962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.380714057 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:848.05, Y:87.99, Z:222.50
[[ 9.51533355e-01 -1.77942931e-01 -2.50839766e-01  8.48047434e+02]
 [ 1.76097869e-01  9.83916293e-01 -2.99711362e-02  8.79904476e+01]
 [ 2.52138485e-01 -1.56538127e-02  9.67564542e-01  2.22502981e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.440714057 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:848.11, Y:88.00, Z:222.52
[[ 9.50862694e-01 -1.81492931e-01 -2.50839499e-01  8.48106500e+02]
 [ 1.79768151e-01  9.83252261e-01 -2.99733764e-02  8.80007877e+01]
 [ 2.52078460e-01 -1.65923874e-02  9.67564542e-01  2.22519125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.500714057 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:848.16, Y:88.01, Z:222.54
[[ 9.50548635e-01 -1.83127652e-01 -2.50841693e-01  8.48163743e+02]
 [ 1.81463395e-01  9.82941369e-01 -2.99549988e-02  8.80131450e+01]
 [ 2.52048266e-01 -1.70449020e-02  9.67564542e-01  2.22535392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.560714057 meters
Centerline goodness : 0.998832 with order 1
Centerline is valid?  [True, True]
Translation: X:848.22, Y:88.02, Z:222.55
[[ 9.50388129e-01 -1.83958697e-01 -2.50841789e-01  8.48222460e+02]
 [ 1.82322974e-01  9.82782315e-01 -2.99541965e-02  8.80246275e+01]
 [ 2.52033209e-01 -1.72661082e-02  9.67564542e-01  2.22550770e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.620714057 meters
Centerline goodness : 0.998806 with order 1
Centerline is valid?  [True, True]
Translation: X:848.28, Y:88.03, Z:222.57
[[ 9.50125122e-01 -1.85310136e-01 -2.50843391e-01  8.48282085e+02]
 [ 1.83724011e-01  9.82521775e-01 -2.99407756e-02  8.80343428e+01]
 [ 2.52007423e-01 -1.76384708e-02  9.67564542e-01  2.22565099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.680714057 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:848.34, Y:88.05, Z:222.58
[[ 9.49724099e-01 -1.87351728e-01 -2.50845502e-01  8.48340129e+02]
 [ 1.85839884e-01  9.82124303e-01 -2.99230779e-02  8.80459723e+01]
 [ 2.51967604e-01 -1.81984307e-02  9.67564542e-01  2.22577955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.740714057 meters
Centerline goodness : 0.998551 with order 1
Centerline is valid?  [True, True]
Translation: X:848.40, Y:88.06, Z:222.59
[[ 9.49689336e-01 -1.87526955e-01 -2.50846179e-01  8.48399182e+02]
 [ 1.86022579e-01  9.82089888e-01 -2.99174055e-02  8.80578325e+01]
 [ 2.51963816e-01 -1.82508122e-02  9.67564542e-01  2.22594205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.800714057 meters
Centerline goodness : 0.998753 with order 1
Centerline is valid?  [True, True]
Translation: X:848.46, Y:88.07, Z:222.61
[[ 9.49916514e-01 -1.86369791e-01 -2.50848397e-01  8.48459007e+02]
 [ 1.84830831e-01  9.82315441e-01 -2.98987929e-02  8.80679290e+01]
 [ 2.51984486e-01 -1.79631607e-02  9.67564542e-01  2.22610245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.860714057 meters
Centerline goodness : 0.998911 with order 1
Centerline is valid?  [True, True]
Translation: X:848.52, Y:88.08, Z:222.63
[[ 9.50809887e-01 -1.81753311e-01 -2.50851138e-01  8.48515903e+02]
 [ 1.80063034e-01  9.83201272e-01 -2.98757799e-02  8.80822890e+01]
 [ 2.52067180e-01 -1.67628302e-02  9.67564543e-01  2.22628712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.920714057 meters
Centerline goodness : 0.998448 with order 1
Centerline is valid?  [True, True]
Translation: X:848.57, Y:88.09, Z:222.64
[[ 9.51367021e-01 -1.78813358e-01 -2.50851698e-01  8.48572814e+02]
 [ 1.77024196e-01  9.83753095e-01 -2.98710824e-02  8.80924409e+01]
 [ 2.52117482e-01 -1.59884574e-02  9.67564543e-01  2.22644902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 876.980714057 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:848.63, Y:88.10, Z:222.66
[[ 9.51916090e-01 -1.75866987e-01 -2.50851670e-01  8.48630703e+02]
 [ 1.73977504e-01  9.84296466e-01 -2.98713102e-02  8.81031426e+01]
 [ 2.52165790e-01 -1.52075668e-02  9.67564543e-01  2.22661595e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.0407140570001 meters
Centerline goodness : 0.999196 with order 1
Centerline is valid?  [True, True]
Translation: X:848.69, Y:88.11, Z:222.68
[[ 9.52463812e-01 -1.72874421e-01 -2.50852789e-01  8.48688718e+02]
 [ 1.70885647e-01  9.84838241e-01 -2.98619175e-02  8.81125019e+01]
 [ 2.52211781e-01 -1.44247454e-02  9.67564543e-01  2.22675439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.100714057 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:848.75, Y:88.12, Z:222.69
[[ 9.53114367e-01 -1.69250931e-01 -2.50852796e-01  8.48747648e+02]
 [ 1.67139069e-01  9.85481000e-01 -2.98618516e-02  8.81213120e+01]
 [ 2.52264811e-01 -1.34655431e-02  9.67564543e-01  2.22689832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.1607140570001 meters
Centerline goodness : 0.998752 with order 1
Centerline is valid?  [True, True]
Translation: X:848.81, Y:88.13, Z:222.70
[[ 9.54337746e-01 -1.62209100e-01 -2.50853889e-01  8.48805771e+02]
 [ 1.59860729e-01  9.86688079e-01 -2.98526661e-02  8.81313197e+01]
 [ 2.52356916e-01 -1.16121597e-02  9.67564543e-01  2.22704028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.220714057 meters
Centerline goodness : 0.998962 with order 1
Centerline is valid?  [True, True]
Translation: X:848.86, Y:88.14, Z:222.72
[[ 9.55314940e-01 -1.56351224e-01 -2.50853861e-01  8.48862940e+02]
 [ 1.53804367e-01  9.87650252e-01 -2.98529053e-02  8.81400312e+01]
 [ 2.52423417e-01 -1.00634929e-02  9.67564543e-01  2.22719399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.2807140570001 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:848.92, Y:88.15, Z:222.74
[[ 9.56216875e-01 -1.50736952e-01 -2.50853861e-01  8.48921776e+02]
 [ 1.48000199e-01  9.88536669e-01 -2.98529053e-02  8.81480882e+01]
 [ 2.52478176e-01 -8.58056945e-03  9.67564543e-01  2.22736008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.340714057 meters
Centerline goodness : 0.999093 with order 1
Centerline is valid?  [True, True]
Translation: X:848.98, Y:88.16, Z:222.75
[[ 9.57108009e-01 -1.44966951e-01 -2.50856221e-01  8.48979628e+02]
 [ 1.42040512e-01  9.89411179e-01 -2.98330652e-02  8.81563030e+01]
 [ 2.52524757e-01 -7.07828031e-03  9.67564543e-01  2.22754364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.4007140570001 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:849.04, Y:88.16, Z:222.77
[[ 9.57229241e-01 -1.44163318e-01 -2.50856769e-01  8.49036870e+02]
 [ 1.41210967e-01  9.89530053e-01 -2.98284527e-02  8.81625556e+01]
 [ 2.52530481e-01 -6.87105981e-03  9.67564543e-01  2.22770031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.460714057 meters
Centerline goodness : 0.998657 with order 1
Centerline is valid?  [True, True]
Translation: X:849.10, Y:88.17, Z:222.78
[[ 9.56323051e-01 -1.50057001e-01 -2.50856769e-01  8.49095515e+02]
 [ 1.47303675e-01  9.88641437e-01 -2.98284527e-02  8.81664134e+01]
 [ 2.52483365e-01 -8.42648716e-03  9.67564543e-01  2.22784541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.5207140570001 meters
Centerline goodness : 0.998939 with order 1
Centerline is valid?  [True, True]
Translation: X:849.16, Y:88.17, Z:222.80
[[ 9.54815325e-01 -1.59369081e-01 -2.50856915e-01  8.49155211e+02]
 [ 1.56931145e-01  9.87159031e-01 -2.98272259e-02  8.81693284e+01]
 [ 2.52389207e-01 -1.08877705e-02  9.67564543e-01  2.22797596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.580714057 meters
Centerline goodness : 0.998784 with order 1
Centerline is valid?  [True, True]
Translation: X:849.21, Y:88.17, Z:222.81
[[ 9.53317199e-01 -1.68098141e-01 -2.50857199e-01  8.49213240e+02]
 [ 1.65956849e-01  9.85681898e-01 -2.98248398e-02  8.81732175e+01]
 [ 2.52278900e-01 -1.31989376e-02  9.67564543e-01  2.22810732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.6407140570001 meters
Centerline goodness : 0.998809 with order 1
Centerline is valid?  [True, True]
Translation: X:849.27, Y:88.18, Z:222.83
[[ 9.52117513e-01 -1.74764130e-01 -2.50858010e-01  8.49271519e+02]
 [ 1.72851130e-01  9.84496507e-01 -2.98180159e-02  8.81778748e+01]
 [ 2.52179954e-01 -1.49708352e-02  9.67564543e-01  2.22827871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.700714057 meters
Centerline goodness : 0.998947 with order 1
Centerline is valid?  [True, True]
Translation: X:849.33, Y:88.18, Z:222.84
[[ 9.51454986e-01 -1.78335542e-01 -2.50858214e-01  8.49328725e+02]
 [ 1.76544503e-01  9.83840956e-01 -2.98162949e-02  8.81831933e+01]
 [ 2.52121890e-01 -1.59187764e-02  9.67564543e-01  2.22843053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.7607140570001 meters
Centerline goodness : 0.998970 with order 1
Centerline is valid?  [True, True]
Translation: X:849.39, Y:88.19, Z:222.86
[[ 9.50593906e-01 -1.82870400e-01 -2.50857814e-01  8.49387023e+02]
 [ 1.81232925e-01  9.82988003e-01 -2.98196655e-02  8.81879256e+01]
 [ 2.52043355e-01 -1.71173030e-02  9.67564543e-01  2.22859022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.820714057 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:849.44, Y:88.19, Z:222.87
[[ 9.49941580e-01 -1.86229017e-01 -2.50858023e-01  8.49444947e+02]
 [ 1.84706508e-01  9.82341284e-01 -2.98179005e-02  8.81929652e+01]
 [ 2.51981151e-01 -1.80098460e-02  9.67564543e-01  2.22873952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.880714057 meters
Centerline goodness : 0.998677 with order 1
Centerline is valid?  [True, True]
Translation: X:849.50, Y:88.20, Z:222.89
[[ 9.49449342e-01 -1.88719839e-01 -2.50860059e-01  8.49503586e+02]
 [ 1.87286814e-01  9.81853127e-01 -2.98007657e-02  8.81986492e+01]
 [ 2.51931729e-01 -1.86884637e-02  9.67564543e-01  2.22889092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 877.940714057 meters
Centerline goodness : 0.998681 with order 1
Centerline is valid?  [True, True]
Translation: X:849.56, Y:88.20, Z:222.90
[[ 9.49012442e-01 -1.90904002e-01 -2.50860612e-01  8.49563068e+02]
 [ 1.89546766e-01  9.81419490e-01 -2.97961076e-02  8.82048331e+01]
 [ 2.51887690e-01 -1.92729408e-02  9.67564543e-01  2.22904139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.000714057 meters
Centerline goodness : 0.998748 with order 1
Centerline is valid?  [True, True]
Translation: X:849.62, Y:88.21, Z:222.92
[[ 9.48975893e-01 -1.91084139e-01 -2.50861728e-01  8.49622264e+02]
 [ 1.89735523e-01  9.81383301e-01 -2.97867125e-02  8.82113986e+01]
 [ 2.51883279e-01 -1.93305090e-02  9.67564543e-01  2.22917796e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.060714057 meters
Centerline goodness : 0.999066 with order 1
Centerline is valid?  [True, True]
Translation: X:849.68, Y:88.22, Z:222.93
[[ 9.49163745e-01 -1.90139428e-01 -2.50868856e-01  8.49681756e+02]
 [ 1.88774360e-01  9.81570462e-01 -2.97265564e-02  8.82192156e+01]
 [ 2.51897650e-01 -1.91422383e-02  9.67564545e-01  2.22934404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.120714057 meters
Centerline goodness : 0.998929 with order 1
Centerline is valid?  [True, True]
Translation: X:849.74, Y:88.23, Z:222.95
[[ 9.49523833e-01 -1.88322759e-01 -2.50876520e-01  8.49739681e+02]
 [ 1.86912709e-01  9.81928623e-01 -2.96617453e-02  8.82284009e+01]
 [ 2.51928817e-01 -1.87274758e-02  9.67564547e-01  2.22951895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.180714057 meters
Centerline goodness : 0.999063 with order 1
Centerline is valid?  [True, True]
Translation: X:849.80, Y:88.24, Z:222.97
[[ 9.49940482e-01 -1.86208965e-01 -2.50877067e-01  8.49796801e+02]
 [ 1.84728013e-01  9.82342108e-01 -2.96571116e-02  8.82366514e+01]
 [ 2.51969527e-01 -1.81715313e-02  9.67564547e-01  2.22969659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.240714057 meters
Centerline goodness : 0.999270 with order 1
Centerline is valid?  [True, True]
Translation: X:849.86, Y:88.24, Z:222.98
[[ 9.49802486e-01 -1.86911569e-01 -2.50877067e-01  8.49856008e+02]
 [ 1.85454585e-01  9.82205199e-01 -2.96571116e-02  8.82432467e+01]
 [ 2.51956017e-01 -1.83579041e-02  9.67564547e-01  2.22984077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.300714057 meters
Centerline goodness : 0.999111 with order 1
Centerline is valid?  [True, True]
Translation: X:849.91, Y:88.25, Z:223.00
[[ 9.49381295e-01 -1.89038549e-01 -2.50877627e-01  8.49914416e+02]
 [ 1.87655390e-01  9.81787243e-01 -2.96523792e-02  8.82502007e+01]
 [ 2.51913896e-01 -1.89271248e-02  9.67564547e-01  2.22997183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.360714057 meters
Centerline goodness : 0.999021 with order 1
Centerline is valid?  [True, True]
Translation: X:849.97, Y:88.26, Z:223.01
[[ 9.49066407e-01 -1.90612852e-01 -2.50877848e-01  8.49974757e+02]
 [ 1.89283934e-01  9.81474625e-01 -2.96505038e-02  8.82578258e+01]
 [ 2.51882009e-01 -1.93468490e-02  9.67564547e-01  2.23011827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.420714057 meters
Centerline goodness : 0.999339 with order 1
Centerline is valid?  [True, True]
Translation: X:850.03, Y:88.26, Z:223.03
[[ 9.48892779e-01 -1.91465247e-01 -2.50885537e-01  8.50034587e+02]
 [ 1.90182571e-01  9.81302858e-01 -2.95853052e-02  8.82640629e+01]
 [ 2.51859253e-01 -1.96407741e-02  9.67564549e-01  2.23027071e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.480714057 meters
Centerline goodness : 0.999091 with order 1
Centerline is valid?  [True, True]
Translation: X:850.09, Y:88.27, Z:223.04
[[ 9.48803733e-01 -1.91903116e-01 -2.50887765e-01  8.50094137e+02]
 [ 1.90640364e-01  9.81214594e-01 -2.95664025e-02  8.82713181e+01]
 [ 2.51848621e-01 -1.97766219e-02  9.67564549e-01  2.23042569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.5407140570001 meters
Centerline goodness : 0.999317 with order 1
Centerline is valid?  [True, True]
Translation: X:850.15, Y:88.28, Z:223.06
[[ 9.48802769e-01 -1.91897208e-01 -2.50895930e-01  8.50152530e+02]
 [ 1.90652502e-01  9.81214326e-01 -2.94969613e-02  8.82781326e+01]
 [ 2.51843065e-01 -1.98471382e-02  9.67564552e-01  2.23058163e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.600714057 meters
Centerline goodness : 0.998772 with order 1
Centerline is valid?  [True, True]
Translation: X:850.21, Y:88.29, Z:223.08
[[ 9.48863946e-01 -1.91593777e-01 -2.50896465e-01  8.50212182e+02]
 [ 1.90339903e-01  9.81275150e-01 -2.94924087e-02  8.82855683e+01]
 [ 2.51849028e-01 -1.97713255e-02  9.67564552e-01  2.23075308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.6607140570001 meters
Centerline goodness : 0.999066 with order 1
Centerline is valid?  [True, True]
Translation: X:850.27, Y:88.29, Z:223.09
[[ 9.48826266e-01 -1.91770231e-01 -2.50904155e-01  8.50271997e+02]
 [ 1.90539612e-01  9.81238359e-01 -2.94268454e-02  8.82917450e+01]
 [ 2.51839974e-01 -1.98862165e-02  9.67564554e-01  2.23090867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.720714057 meters
Centerline goodness : 0.998840 with order 1
Centerline is valid?  [True, True]
Translation: X:850.33, Y:88.30, Z:223.10
[[ 9.48735923e-01 -1.92206802e-01 -2.50911725e-01  8.50330816e+02]
 [ 1.91008096e-01  9.81149209e-01 -2.93621578e-02  8.82970493e+01]
 [ 2.51825447e-01 -2.00692369e-02  9.67564556e-01  2.23104405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.7807140570001 meters
Centerline goodness : 0.999043 with order 1
Centerline is valid?  [True, True]
Translation: X:850.39, Y:88.30, Z:223.12
[[ 9.48685435e-01 -1.92453883e-01 -2.50913229e-01  8.50391010e+02]
 [ 1.91266996e-01  9.81099156e-01 -2.93493036e-02  8.83024522e+01]
 [ 2.51819145e-01 -2.01481627e-02  9.67564556e-01  2.23118083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.840714057 meters
Centerline goodness : 0.999132 with order 1
Centerline is valid?  [True, True]
Translation: X:850.45, Y:88.31, Z:223.13
[[ 9.48883385e-01 -1.91466459e-01 -2.50920140e-01  8.50448966e+02]
 [ 1.90261394e-01  9.81296434e-01 -2.92901039e-02  8.83091261e+01]
 [ 2.51835111e-01 -1.99475228e-02  9.67564558e-01  2.23133428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.9007140570001 meters
Centerline goodness : 0.998547 with order 1
Centerline is valid?  [True, True]
Translation: X:850.51, Y:88.32, Z:223.15
[[ 9.49228531e-01 -1.89747935e-01 -2.50920140e-01  8.50508790e+02]
 [ 1.88484180e-01  9.81639345e-01 -2.92901039e-02  8.83155782e+01]
 [ 2.51870818e-01 -1.94914745e-02  9.67564558e-01  2.23149430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 878.960714057 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:850.57, Y:88.32, Z:223.16
[[ 9.49631327e-01 -1.87711500e-01 -2.50927749e-01  8.50567657e+02]
 [ 1.86395394e-01  9.82040055e-01 -2.92247749e-02  8.83218994e+01]
 [ 2.51906927e-01 -1.90190148e-02  9.67564560e-01  2.23164872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.0207140570001 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:850.63, Y:88.33, Z:223.18
[[ 9.49767946e-01 -1.87017561e-01 -2.50928836e-01  8.50627187e+02]
 [ 1.85680227e-01  9.82175805e-01 -2.92154349e-02  8.83294329e+01]
 [ 2.51920031e-01 -1.88446398e-02  9.67564560e-01  2.23180474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.080714057 meters
Centerline goodness : 0.998656 with order 1
Centerline is valid?  [True, True]
Translation: X:850.69, Y:88.34, Z:223.20
[[ 9.49486283e-01 -1.88432370e-01 -2.50936327e-01  8.50687241e+02]
 [ 1.87160260e-01  9.81896766e-01 -2.91509602e-02  8.83351071e+01]
 [ 2.51886552e-01 -1.92868714e-02  9.67564562e-01  2.23195325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.1407140570001 meters
Centerline goodness : 0.998631 with order 1
Centerline is valid?  [True, True]
Translation: X:850.75, Y:88.34, Z:223.21
[[ 9.49290977e-01 -1.89403390e-01 -2.50944212e-01  8.50745534e+02]
 [ 1.88182304e-01  9.81703419e-01 -2.90829299e-02  8.83411916e+01]
 [ 2.51861196e-01 -1.96150969e-02  9.67564564e-01  2.23211207e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.200714057 meters
Centerline goodness : 0.998887 with order 1
Centerline is valid?  [True, True]
Translation: X:850.80, Y:88.35, Z:223.23
[[ 9.48618895e-01 -1.92740766e-01 -2.50944594e-01  8.50804066e+02]
 [ 1.91634544e-01  9.81035461e-01 -2.90796311e-02  8.83460997e+01]
 [ 2.51790376e-01 -2.05041654e-02  9.67564564e-01  2.23225261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.2607140570001 meters
Centerline goodness : 0.998779 with order 1
Centerline is valid?  [True, True]
Translation: X:850.86, Y:88.35, Z:223.24
[[ 9.48153504e-01 -1.95016602e-01 -2.50945130e-01  8.50862436e+02]
 [ 1.93989390e-01  9.80572670e-01 -2.90750032e-02  8.83505041e+01]
 [ 2.51740045e-01 -2.11131267e-02  9.67564564e-01  2.23240011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.320714057 meters
Centerline goodness : 0.999048 with order 1
Centerline is valid?  [True, True]
Translation: X:850.92, Y:88.35, Z:223.26
[[ 9.47873209e-01 -1.96373797e-01 -2.50945636e-01  8.50920899e+02]
 [ 1.95394145e-01  9.80293847e-01 -2.90706389e-02  8.83548761e+01]
 [ 2.51709174e-01 -2.14780281e-02  9.67564564e-01  2.23255310e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.380714057 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:850.98, Y:88.36, Z:223.27
[[ 9.47717450e-01 -1.97122898e-01 -2.50946605e-01  8.50979750e+02]
 [ 1.96171070e-01  9.80138917e-01 -2.90622684e-02  8.83602463e+01]
 [ 2.51691372e-01 -2.16856451e-02  9.67564564e-01  2.23272768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.440714057 meters
Centerline goodness : 0.999300 with order 1
Centerline is valid?  [True, True]
Translation: X:851.04, Y:88.36, Z:223.29
[[ 9.47744491e-01 -1.96991511e-01 -2.50947654e-01  8.51039458e+02]
 [ 1.96037568e-01  9.80165896e-01 -2.90532124e-02  8.83642620e+01]
 [ 2.51693568e-01 -2.16601458e-02  9.67564564e-01  2.23287602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.500714057 meters
Centerline goodness : 0.999209 with order 1
Centerline is valid?  [True, True]
Translation: X:851.10, Y:88.37, Z:223.30
[[ 9.47859758e-01 -1.96427566e-01 -2.50954359e-01  8.51100391e+02]
 [ 1.95469583e-01  9.80281042e-01 -2.89951843e-02  8.83694106e+01]
 [ 2.51701254e-01 -2.15705753e-02  9.67564566e-01  2.23300253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.560714057 meters
Centerline goodness : 0.998824 with order 1
Centerline is valid?  [True, True]
Translation: X:851.16, Y:88.38, Z:223.32
[[ 9.48548151e-01 -1.93073279e-01 -2.50956401e-01  8.51158466e+02]
 [ 1.92005257e-01  9.80965996e-01 -2.89775019e-02  8.83757920e+01]
 [ 2.51774477e-01 -2.06983924e-02  9.67564566e-01  2.23317809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.620714057 meters
Centerline goodness : 0.998915 with order 1
Centerline is valid?  [True, True]
Translation: X:851.22, Y:88.38, Z:223.33
[[ 9.49598808e-01 -1.87836988e-01 -2.50956908e-01  8.51215483e+02]
 [ 1.86591282e-01  9.82010312e-01 -2.89731032e-02  8.83834385e+01]
 [ 2.51884492e-01 -1.93135470e-02  9.67564566e-01  2.23334622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.680714057 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:851.27, Y:88.39, Z:223.35
[[ 9.50642655e-01 -1.82480898e-01 -2.50956699e-01  8.51272986e+02]
 [ 1.81052024e-01  9.83046601e-01 -2.89749201e-02  8.83909029e+01]
 [ 2.51989499e-01 -1.78914231e-02  9.67564566e-01  2.23351159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.740714057 meters
Centerline goodness : 0.998235 with order 1
Centerline is valid?  [True, True]
Translation: X:851.33, Y:88.40, Z:223.37
[[ 9.51066009e-01 -1.80261425e-01 -2.50956699e-01  8.51330921e+02]
 [ 1.78756918e-01  9.83466531e-01 -2.89749201e-02  8.83974969e+01]
 [ 2.52030574e-01 -1.73031842e-02  9.67564566e-01  2.23366340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.800714057 meters
Centerline goodness : 0.998601 with order 1
Centerline is valid?  [True, True]
Translation: X:851.39, Y:88.40, Z:223.38
[[ 9.50947284e-01 -1.80886729e-01 -2.50956678e-01  8.51390183e+02]
 [ 1.79403478e-01  9.83348786e-01 -2.89751009e-02  8.84028250e+01]
 [ 2.52019156e-01 -1.74687073e-02  9.67564566e-01  2.23381358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.860714057 meters
Centerline goodness : 0.998851 with order 1
Centerline is valid?  [True, True]
Translation: X:851.45, Y:88.41, Z:223.39
[[ 9.49892831e-01 -1.86343257e-01 -2.50957767e-01  8.51448640e+02]
 [ 1.85048531e-01  9.82302414e-01 -2.89656630e-02  8.84052391e+01]
 [ 2.51913976e-01 -1.89250904e-02  9.67564566e-01  2.23394164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.920714057 meters
Centerline goodness : 0.998723 with order 1
Centerline is valid?  [True, True]
Translation: X:851.51, Y:88.41, Z:223.41
[[ 9.49393585e-01 -1.88870943e-01 -2.50957343e-01  8.51506797e+02]
 [ 1.87661521e-01  9.81806463e-01 -2.89693385e-02  8.84100671e+01]
 [ 2.51863007e-01 -1.95917326e-02  9.67564566e-01  2.23408943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 879.980714057 meters
Centerline goodness : 0.998922 with order 1
Centerline is valid?  [True, True]
Translation: X:851.57, Y:88.41, Z:223.43
[[ 9.49082978e-01 -1.90426041e-01 -2.50957017e-01  8.51565891e+02]
 [ 1.89268980e-01  9.81497767e-01 -2.89721619e-02  8.84145335e+01]
 [ 2.51830806e-01 -2.00013928e-02  9.67564566e-01  2.23425134e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.0407140570001 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:851.62, Y:88.42, Z:223.44
[[ 9.49297863e-01 -1.89350523e-01 -2.50958058e-01  8.51624750e+02]
 [ 1.88159104e-01  9.81711408e-01 -2.89631380e-02  8.84198458e+01]
 [ 2.51852574e-01 -1.97253985e-02  9.67564566e-01  2.23441012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.100714057 meters
Centerline goodness : 0.999348 with order 1
Centerline is valid?  [True, True]
Translation: X:851.68, Y:88.43, Z:223.46
[[ 9.49558279e-01 -1.88038177e-01 -2.50959596e-01  8.51683232e+02]
 [ 1.86805457e-01  9.81970279e-01 -2.89498109e-02  8.84252467e+01]
 [ 2.51878534e-01 -1.93910894e-02  9.67564566e-01  2.23456973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.1607140570001 meters
Centerline goodness : 0.998858 with order 1
Centerline is valid?  [True, True]
Translation: X:851.74, Y:88.43, Z:223.47
[[ 9.49706358e-01 -1.87288181e-01 -2.50960099e-01  8.51742697e+02]
 [ 1.86031010e-01  9.82117419e-01 -2.89454457e-02  8.84308569e+01]
 [ 2.51893425e-01 -1.91966870e-02  9.67564566e-01  2.23474338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.220714057 meters
Centerline goodness : 0.998561 with order 1
Centerline is valid?  [True, True]
Translation: X:851.80, Y:88.44, Z:223.49
[[ 9.49848674e-01 -1.86562165e-01 -2.50962261e-01  8.51802846e+02]
 [ 1.85285145e-01  9.82258958e-01 -2.89266940e-02  8.84373809e+01]
 [ 2.51906555e-01 -1.90235968e-02  9.67564566e-01  2.23489736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.2807140570001 meters
Centerline goodness : 0.998516 with order 1
Centerline is valid?  [True, True]
Translation: X:851.86, Y:88.44, Z:223.50
[[ 9.49955001e-01 -1.86017062e-01 -2.50964436e-01  8.51861474e+02]
 [ 1.84726405e-01  9.82364746e-01 -2.89078059e-02  8.84438640e+01]
 [ 2.51915960e-01 -1.88986434e-02  9.67564567e-01  2.23504811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.340714057 meters
Centerline goodness : 0.998272 with order 1
Centerline is valid?  [True, True]
Translation: X:851.92, Y:88.45, Z:223.52
[[ 9.49967410e-01 -1.85952240e-01 -2.50965506e-01  8.51921224e+02]
 [ 1.84661812e-01  9.82377163e-01 -2.88985157e-02  8.84500224e+01]
 [ 2.51916526e-01 -1.88910970e-02  9.67564567e-01  2.23521091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.4007140570001 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:851.98, Y:88.46, Z:223.54
[[ 9.49863821e-01 -1.86477805e-01 -2.50967627e-01  8.51980525e+02]
 [ 1.85210149e-01  9.82274473e-01 -2.88800886e-02  8.84557150e+01]
 [ 2.51904589e-01 -1.90496002e-02  9.67564567e-01  2.23535977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.460714057 meters
Centerline goodness : 0.998606 with order 1
Centerline is valid?  [True, True]
Translation: X:852.04, Y:88.46, Z:223.55
[[ 9.49814182e-01 -1.86728372e-01 -2.50969191e-01  8.52039728e+02]
 [ 1.85472839e-01  9.82225306e-01 -2.88664887e-02  8.84621802e+01]
 [ 2.51898483e-01 -1.91301680e-02  9.67564567e-01  2.23551477e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.5207140570001 meters
Centerline goodness : 0.998384 with order 1
Centerline is valid?  [True, True]
Translation: X:852.10, Y:88.47, Z:223.57
[[ 9.50082523e-01 -1.85356021e-01 -2.50970806e-01  8.52098881e+02]
 [ 1.84057358e-01  9.82491947e-01 -2.88524369e-02  8.84695844e+01]
 [ 2.51924769e-01 -1.87808275e-02  9.67564567e-01  2.23567083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.580714057 meters
Centerline goodness : 0.998629 with order 1
Centerline is valid?  [True, True]
Translation: X:852.16, Y:88.48, Z:223.58
[[ 9.50322614e-01 -1.84118902e-01 -2.50972426e-01  8.52156575e+02]
 [ 1.82781747e-01  9.82730473e-01 -2.88383376e-02  8.84771386e+01]
 [ 2.51947935e-01 -1.84674542e-02  9.67564567e-01  2.23581262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.6407140570001 meters
Centerline goodness : 0.998606 with order 1
Centerline is valid?  [True, True]
Translation: X:852.22, Y:88.48, Z:223.60
[[ 9.50288361e-01 -1.84295612e-01 -2.50972426e-01  8.52216539e+02]
 [ 1.82964484e-01  9.82696468e-01 -2.88383376e-02  8.84839748e+01]
 [ 2.51944496e-01 -1.85143039e-02  9.67564567e-01  2.23596197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.700714057 meters
Centerline goodness : 0.998451 with order 1
Centerline is valid?  [True, True]
Translation: X:852.28, Y:88.49, Z:223.61
[[ 9.50017658e-01 -1.85683173e-01 -2.50974517e-01  8.52275374e+02]
 [ 1.84404156e-01  9.82427864e-01 -2.88201304e-02  8.84904836e+01]
 [ 2.51915772e-01 -1.89011113e-02  9.67564567e-01  2.23610016e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.7607140570001 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:852.33, Y:88.50, Z:223.63
[[ 9.49859294e-01 -1.86490894e-01 -2.50975036e-01  8.52334118e+02]
 [ 1.85240623e-01  9.82270621e-01 -2.88156128e-02  8.84974297e+01]
 [ 2.51899254e-01 -1.91199943e-02  9.67564567e-01  2.23625196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.820714057 meters
Centerline goodness : 0.999077 with order 1
Centerline is valid?  [True, True]
Translation: X:852.39, Y:88.51, Z:223.64
[[ 9.49971035e-01 -1.85918782e-01 -2.50976572e-01  8.52394528e+02]
 [ 1.84652506e-01  9.82381740e-01 -2.88022270e-02  8.85051791e+01]
 [ 2.51909677e-01 -1.89821717e-02  9.67564567e-01  2.23643463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.880714057 meters
Centerline goodness : 0.998833 with order 1
Centerline is valid?  [True, True]
Translation: X:852.45, Y:88.51, Z:223.66
[[ 9.50307054e-01 -1.84189185e-01 -2.50979774e-01  8.52452779e+02]
 [ 1.82871246e-01  9.82715700e-01 -2.87743034e-02  8.85123669e+01]
 [ 2.51941679e-01 -1.85525605e-02  9.67564568e-01  2.23658321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 880.940714057 meters
Centerline goodness : 0.999165 with order 1
Centerline is valid?  [True, True]
Translation: X:852.51, Y:88.52, Z:223.67
[[ 9.50902743e-01 -1.81084470e-01 -2.50982846e-01  8.52510263e+02]
 [ 1.79667736e-01  9.83307219e-01 -2.87474771e-02  8.85209257e+01]
 [ 2.51998966e-01 -1.77574649e-02  9.67564568e-01  2.23673978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.000714057 meters
Centerline goodness : 0.999142 with order 1
Centerline is valid?  [True, True]
Translation: X:852.57, Y:88.53, Z:223.69
[[ 9.51428492e-01 -1.78301537e-01 -2.50982841e-01  8.52568668e+02]
 [ 1.76789987e-01  9.83828684e-01 -2.87475259e-02  8.85294342e+01]
 [ 2.52049846e-01 -1.70200379e-02  9.67564568e-01  2.23690040e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.060714057 meters
Centerline goodness : 0.998874 with order 1
Centerline is valid?  [True, True]
Translation: X:852.63, Y:88.54, Z:223.71
[[ 9.51996641e-01 -1.75241950e-01 -2.50983374e-01  8.52627132e+02]
 [ 1.73627469e-01  9.84391868e-01 -2.87428711e-02  8.85380120e+01]
 [ 2.52102949e-01 -1.62144913e-02  9.67564568e-01  2.23705596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.120714057 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:852.68, Y:88.55, Z:223.72
[[ 9.52987633e-01 -1.69769175e-01 -2.50984062e-01  8.52684999e+02]
 [ 1.67970165e-01  9.85373136e-01 -2.87368648e-02  8.85485731e+01]
 [ 2.52191586e-01 -1.47719574e-02  9.67564568e-01  2.23720840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.180714057 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:852.74, Y:88.56, Z:223.74
[[ 9.53891963e-01 -1.64611225e-01 -2.50984597e-01  8.52741750e+02]
 [ 1.62638269e-01  9.86267334e-01 -2.87321843e-02  8.85589080e+01]
 [ 2.52267550e-01 -1.34123009e-02  9.67564568e-01  2.23736864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.240714057 meters
Centerline goodness : 0.998501 with order 1
Centerline is valid?  [True, True]
Translation: X:852.80, Y:88.57, Z:223.75
[[ 9.54336196e-01 -1.62016004e-01 -2.50984540e-01  8.52800972e+02]
 [ 1.59954863e-01  9.86706073e-01 -2.87326822e-02  8.85676200e+01]
 [ 2.52303125e-01 -1.27255592e-02  9.67564568e-01  2.23754183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.300714057 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:852.86, Y:88.58, Z:223.77
[[ 9.54388888e-01 -1.61701999e-01 -2.50986680e-01  8.52859703e+02]
 [ 1.59635114e-01  9.86758399e-01 -2.87139804e-02  8.85757117e+01]
 [ 2.52306323e-01 -1.26619834e-02  9.67564568e-01  2.23770470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.360714057 meters
Centerline goodness : 0.998796 with order 1
Centerline is valid?  [True, True]
Translation: X:852.92, Y:88.58, Z:223.79
[[ 9.54389012e-01 -1.61690708e-01 -2.50993485e-01  8.52918712e+02]
 [ 1.59639075e-01  9.86759491e-01 -2.86543759e-02  8.85821136e+01]
 [ 2.52303350e-01 -1.27209463e-02  9.67564570e-01  2.23785847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.420714057 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:852.98, Y:88.59, Z:223.80
[[ 9.54249636e-01 -1.62509621e-01 -2.50994533e-01  8.52978478e+02]
 [ 1.60488175e-01  9.86622014e-01 -2.86451958e-02  8.85892547e+01]
 [ 2.52291851e-01 -1.29469869e-02  9.67564570e-01  2.23799904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.480714057 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:853.04, Y:88.60, Z:223.81
[[ 9.54686654e-01 -1.59919751e-01 -2.50996146e-01  8.53039495e+02]
 [ 1.57814181e-01  9.87053670e-01 -2.86310560e-02  8.85953705e+01]
 [ 2.52325338e-01 -1.22770640e-02  9.67564570e-01  2.23805057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.5407140570001 meters
Centerline goodness : 0.998910 with order 1
Centerline is valid?  [True, True]
Translation: X:853.10, Y:88.60, Z:223.83
[[ 9.54029990e-01 -1.63786854e-01 -2.50999292e-01  8.53096065e+02]
 [ 1.61819696e-01  9.86405712e-01 -2.86034464e-02  8.86017124e+01]
 [ 2.52272004e-01 -1.33280836e-02  9.67564571e-01  2.23828714e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.600714057 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:853.15, Y:88.61, Z:223.84
[[ 9.54358814e-01 -1.61859042e-01 -2.50999810e-01  8.53154428e+02]
 [ 1.59827671e-01  9.86730570e-01 -2.85988993e-02  8.86091464e+01]
 [ 2.52298176e-01 -1.28231036e-02  9.67564571e-01  2.23843920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.6607140570001 meters
Centerline goodness : 0.998438 with order 1
Centerline is valid?  [True, True]
Translation: X:853.21, Y:88.62, Z:223.86
[[ 9.54998750e-01 -1.58037836e-01 -2.51000858e-01  8.53212110e+02]
 [ 1.55879323e-01  9.87362277e-01 -2.85896998e-02  8.86156769e+01]
 [ 2.52347033e-01 -1.18227164e-02  9.67564571e-01  2.23862238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.720714057 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:853.27, Y:88.62, Z:223.88
[[ 9.55585815e-01 -1.54448434e-01 -2.51000859e-01  8.53271552e+02]
 [ 1.52168337e-01  9.87941004e-01 -2.85896897e-02  8.86216859e+01]
 [ 2.52389674e-01 -1.08744814e-02  9.67564571e-01  2.23878055e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.7807140570001 meters
Centerline goodness : 0.998140 with order 1
Centerline is valid?  [True, True]
Translation: X:853.33, Y:88.63, Z:223.89
[[ 9.55963769e-01 -1.52088935e-01 -2.51002446e-01  8.53329914e+02]
 [ 1.49732624e-01  9.88313497e-01 -2.85757515e-02  8.86274260e+01]
 [ 2.52415161e-01 -1.02658717e-02  9.67564571e-01  2.23891813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.840714057 meters
Centerline goodness : 0.998389 with order 1
Centerline is valid?  [True, True]
Translation: X:853.39, Y:88.63, Z:223.91
[[ 9.55984586e-01 -1.51957166e-01 -2.51002971e-01  8.53388915e+02]
 [ 1.49597605e-01  9.88334076e-01 -2.85711399e-02  8.86326610e+01]
 [ 2.52416379e-01 -1.02358741e-02  9.67564571e-01  2.23909480e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.9007140570001 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:853.45, Y:88.64, Z:223.92
[[ 9.55855637e-01 -1.52763554e-01 -2.51004579e-01  8.53448357e+02]
 [ 1.50434988e-01  9.88207373e-01 -2.85570072e-02  8.86365343e+01]
 [ 2.52407046e-01 -1.04634944e-02  9.67564571e-01  2.23923042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 881.960714057 meters
Centerline goodness : 0.998551 with order 1
Centerline is valid?  [True, True]
Translation: X:853.51, Y:88.64, Z:223.94
[[ 9.55648976e-01 -1.54048502e-01 -2.51006162e-01  8.53507890e+02]
 [ 1.51767081e-01  9.88004071e-01 -2.85430894e-02  8.86425261e+01]
 [ 2.52392130e-01 -1.08172984e-02  9.67564571e-01  2.23938108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.0207140570001 meters
Centerline goodness : 0.998397 with order 1
Centerline is valid?  [True, True]
Translation: X:853.57, Y:88.65, Z:223.95
[[ 9.55030834e-01 -1.57829990e-01 -2.51009562e-01  8.53567342e+02]
 [ 1.55684506e-01  9.87395227e-01 -2.85131554e-02  8.86474488e+01]
 [ 2.52345875e-01 -1.18473572e-02  9.67564571e-01  2.23954466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.080714057 meters
Centerline goodness : 0.998196 with order 1
Centerline is valid?  [True, True]
Translation: X:853.63, Y:88.65, Z:223.97
[[ 9.54017961e-01 -1.63830471e-01 -2.51016547e-01  8.53625277e+02]
 [ 1.61904648e-01  9.86396165e-01 -2.84515355e-02  8.86523702e+01]
 [ 2.52262988e-01 -1.34974698e-02  9.67564573e-01  2.23969895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.1407140570001 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:853.68, Y:88.66, Z:223.99
[[ 9.53042352e-01 -1.69413461e-01 -2.51016642e-01  8.53683978e+02]
 [ 1.67677467e-01  9.85431289e-01 -2.84506965e-02  8.86575251e+01]
 [ 2.52179584e-01 -1.49751160e-02  9.67564573e-01  2.23986186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.200714057 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:853.74, Y:88.66, Z:224.00
[[ 9.50887909e-01 -1.81114596e-01 -2.51017307e-01  8.53742320e+02]
 [ 1.79778369e-01  9.83295800e-01 -2.84448289e-02  8.86596527e+01]
 [ 2.51976037e-01 -1.80796381e-02  9.67564573e-01  2.24000781e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.2607140570001 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:853.80, Y:88.66, Z:224.02
[[ 9.50135694e-01 -1.85020708e-01 -2.51016931e-01  8.53799868e+02]
 [ 1.83816801e-01  9.82548771e-01 -2.84481444e-02  8.86648664e+01]
 [ 2.51899873e-01 -1.91115318e-02  9.67564573e-01  2.24015745e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.320714057 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:853.86, Y:88.67, Z:224.03
[[ 9.49685102e-01 -1.87316725e-01 -2.51019225e-01  8.53858302e+02]
 [ 1.86196487e-01  9.82101178e-01 -2.84278886e-02  8.86719887e+01]
 [ 2.51851296e-01 -1.97413557e-02  9.67564573e-01  2.24031708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.380714057 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:853.92, Y:88.68, Z:224.05
[[ 9.49961869e-01 -1.85907868e-01 -2.51019345e-01  8.53915808e+02]
 [ 1.84739827e-01  9.82376258e-01 -2.84268284e-02  8.86793777e+01]
 [ 2.51880216e-01 -1.93688675e-02  9.67564573e-01  2.24047817e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.440714057 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:853.97, Y:88.69, Z:224.06
[[ 9.50454364e-01 -1.83373023e-01 -2.51019592e-01  8.53974166e+02]
 [ 1.82119089e-01  9.82865544e-01 -2.84246466e-02  8.86875949e+01]
 [ 2.51930822e-01 -1.86991300e-02  9.67564573e-01  2.24064523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.500714057 meters
Centerline goodness : 0.998316 with order 1
Centerline is valid?  [True, True]
Translation: X:854.03, Y:88.69, Z:224.08
[[ 9.50894143e-01 -1.81077954e-01 -2.51020126e-01  8.54032801e+02]
 [ 1.79747017e-01  9.83302251e-01 -2.84199310e-02  8.86945863e+01]
 [ 2.51974878e-01 -1.80957729e-02  9.67564573e-01  2.24078669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.560714057 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:854.09, Y:88.70, Z:224.09
[[ 9.51185233e-01 -1.79541873e-01 -2.51020653e-01  8.54092043e+02]
 [ 1.78159815e-01  9.83591202e-01 -2.84152779e-02  8.87015427e+01]
 [ 2.52003438e-01 -1.76936003e-02  9.67564573e-01  2.24093575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.620714057 meters
Centerline goodness : 0.998466 with order 1
Centerline is valid?  [True, True]
Translation: X:854.15, Y:88.71, Z:224.11
[[ 9.51957750e-01 -1.75394038e-01 -2.51024648e-01  8.54150323e+02]
 [ 1.73880015e-01  9.84357821e-01 -2.83799438e-02  8.87091627e+01]
 [ 2.52075748e-01 -1.66316622e-02  9.67564574e-01  2.24108368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.680714057 meters
Centerline goodness : 0.998402 with order 1
Centerline is valid?  [True, True]
Translation: X:854.21, Y:88.72, Z:224.12
[[ 9.53054287e-01 -1.69333651e-01 -2.51025179e-01  8.54207093e+02]
 [ 1.67614746e-01  9.85444135e-01 -2.83752456e-02  8.87179731e+01]
 [ 2.52176174e-01 -1.50323722e-02  9.67564574e-01  2.24123270e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.740714057 meters
Centerline goodness : 0.998532 with order 1
Centerline is valid?  [True, True]
Translation: X:854.26, Y:88.73, Z:224.14
[[ 9.54111056e-01 -1.63273894e-01 -2.51025353e-01  8.54264562e+02]
 [ 1.61349601e-01  9.86489351e-01 -2.83737067e-02  8.87258077e+01]
 [ 2.52266523e-01 -1.34311732e-02  9.67564574e-01  2.24140044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.800714057 meters
Centerline goodness : 0.998395 with order 1
Centerline is valid?  [True, True]
Translation: X:854.32, Y:88.73, Z:224.16
[[ 9.54860814e-01 -1.58830413e-01 -2.51025348e-01  8.54322539e+02]
 [ 1.56755398e-01  9.87229799e-01 -2.83737468e-02  8.87341925e+01]
 [ 2.52326318e-01 -1.22565994e-02  9.67564574e-01  2.24157570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.860714057 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:854.38, Y:88.74, Z:224.17
[[ 9.55162573e-01 -1.57004791e-01 -2.51025804e-01  8.54382429e+02]
 [ 1.54868960e-01  9.87527602e-01 -2.83697172e-02  8.87415744e+01]
 [ 2.52349092e-01 -1.17784131e-02  9.67564574e-01  2.24173643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.920714057 meters
Centerline goodness : 0.998532 with order 1
Centerline is valid?  [True, True]
Translation: X:854.44, Y:88.75, Z:224.19
[[ 9.54792959e-01 -1.59233946e-01 -2.51027798e-01  8.54440966e+02]
 [ 1.57178300e-01  9.87163180e-01 -2.83520579e-02  8.87479425e+01]
 [ 2.52320010e-01 -1.23857772e-02  9.67564574e-01  2.24187377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 882.980714057 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:854.50, Y:88.75, Z:224.20
[[ 9.54563869e-01 -1.60600805e-01 -2.51028288e-01  8.54500821e+02]
 [ 1.58592644e-01  9.86937070e-01 -2.83477239e-02  8.87546744e+01]
 [ 2.52301790e-01 -1.27515269e-02  9.67564574e-01  2.24204164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.0407140570001 meters
Centerline goodness : 0.998848 with order 1
Centerline is valid?  [True, True]
Translation: X:854.56, Y:88.76, Z:224.22
[[ 9.53825352e-01 -1.64927049e-01 -2.51030410e-01  8.54558612e+02]
 [ 1.63070620e-01  9.86207608e-01 -2.83289152e-02  8.87610752e+01]
 [ 2.52240305e-01 -1.39148473e-02  9.67564574e-01  2.24218596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.100714057 meters
Centerline goodness : 0.998962 with order 1
Centerline is valid?  [True, True]
Translation: X:854.62, Y:88.77, Z:224.23
[[ 9.53084667e-01 -1.69154814e-01 -2.51030410e-01  8.54616901e+02]
 [ 1.67441990e-01  9.85474836e-01 -2.83289152e-02  8.87671554e+01]
 [ 2.52176125e-01 -1.50331769e-02  9.67564574e-01  2.24233700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.1607140570001 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:854.68, Y:88.77, Z:224.25
[[ 9.52389321e-01 -1.73026783e-01 -2.51030503e-01  8.54675521e+02]
 [ 1.71445824e-01  9.84786194e-01 -2.83280921e-02  8.87741482e+01]
 [ 2.52112893e-01 -1.60587590e-02  9.67564574e-01  2.24250460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.220714057 meters
Centerline goodness : 0.998894 with order 1
Centerline is valid?  [True, True]
Translation: X:854.73, Y:88.78, Z:224.27
[[ 9.51897907e-01 -1.75709010e-01 -2.51031309e-01  8.54733570e+02]
 [ 1.74221195e-01  9.84299192e-01 -2.83209509e-02  8.87811191e+01]
 [ 2.52066161e-01 -1.67763209e-02  9.67564574e-01  2.24265415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.2807140570001 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:854.79, Y:88.79, Z:224.28
[[ 9.51107848e-01 -1.79935775e-01 -2.51031826e-01  8.54792192e+02]
 [ 1.78593112e-01  9.83515472e-01 -2.83163651e-02  8.87885014e+01]
 [ 2.51988812e-01 -1.79006379e-02  9.67564574e-01  2.24280389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.340714057 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:854.85, Y:88.80, Z:224.30
[[ 9.50397456e-01 -1.83649001e-01 -2.51033307e-01  8.54850819e+02]
 [ 1.82436366e-01  9.82810205e-01 -2.83032349e-02  8.87965069e+01]
 [ 2.51915956e-01 -1.88982817e-02  9.67564575e-01  2.24295191e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.4007140570001 meters
Centerline goodness : 0.998553 with order 1
Centerline is valid?  [True, True]
Translation: X:854.91, Y:88.80, Z:224.31
[[ 9.50041499e-01 -1.85480519e-01 -2.51034117e-01  8.54908215e+02]
 [ 1.84332248e-01  9.82456592e-01 -2.82960501e-02  8.88034223e+01]
 [ 2.51878489e-01 -1.93912611e-02  9.67564575e-01  2.24309174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.460714057 meters
Centerline goodness : 0.999097 with order 1
Centerline is valid?  [True, True]
Translation: X:854.97, Y:88.81, Z:224.33
[[ 9.50258266e-01 -1.84367192e-01 -2.51033795e-01  8.54966116e+02]
 [ 1.83180191e-01  9.82671965e-01 -2.82988983e-02  8.88126983e+01]
 [ 2.51901261e-01 -1.90931565e-02  9.67564575e-01  2.24325326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.5207140570001 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:855.02, Y:88.82, Z:224.34
[[ 9.50593275e-01 -1.82631310e-01 -2.51034319e-01  8.55024841e+02]
 [ 1.81386330e-01  9.83004799e-01 -2.82942534e-02  8.88236796e+01]
 [ 2.51935357e-01 -1.86378669e-02  9.67564575e-01  2.24342440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.580714057 meters
Centerline goodness : 0.998754 with order 1
Centerline is valid?  [True, True]
Translation: X:855.08, Y:88.83, Z:224.36
[[ 9.50603750e-01 -1.82566155e-01 -2.51042047e-01  8.55082447e+02]
 [ 1.81337003e-01  9.83015875e-01 -2.82255217e-02  8.88321039e+01]
 [ 2.51931343e-01 -1.86919258e-02  9.67564577e-01  2.24357835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.6407140570001 meters
Centerline goodness : 0.998481 with order 1
Centerline is valid?  [True, True]
Translation: X:855.14, Y:88.84, Z:224.37
[[ 9.50164019e-01 -1.84841089e-01 -2.51042047e-01  8.55140759e+02]
 [ 1.83689526e-01  9.82578993e-01 -2.82255217e-02  8.88404170e+01]
 [ 2.51885878e-01 -1.92949196e-02  9.67564577e-01  2.24373166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.700714057 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:855.20, Y:88.85, Z:224.39
[[ 9.49753171e-01 -1.86940497e-01 -2.51042158e-01  8.55198057e+02]
 [ 1.85860831e-01  9.82170620e-01 -2.82245402e-02  8.88485967e+01]
 [ 2.51842541e-01 -1.98525576e-02  9.67564577e-01  2.24386727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.7607140570001 meters
Centerline goodness : 0.998587 with order 1
Centerline is valid?  [True, True]
Translation: X:855.26, Y:88.86, Z:224.40
[[ 9.49610489e-01 -1.87664470e-01 -2.51041762e-01  8.55257200e+02]
 [ 1.86608593e-01  9.82028721e-01 -2.82280598e-02  8.88571062e+01]
 [ 2.51827624e-01 -2.00408884e-02  9.67564577e-01  2.24403159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.820714057 meters
Centerline goodness : 0.998521 with order 1
Centerline is valid?  [True, True]
Translation: X:855.32, Y:88.87, Z:224.42
[[ 9.49594124e-01 -1.87745186e-01 -2.51043314e-01  8.55315323e+02]
 [ 1.86695692e-01  9.82012563e-01 -2.82142507e-02  8.88656146e+01]
 [ 2.51824778e-01 -2.00766186e-02  9.67564577e-01  2.24418644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.880714057 meters
Centerline goodness : 0.998795 with order 1
Centerline is valid?  [True, True]
Translation: X:855.37, Y:88.87, Z:224.43
[[ 9.49583241e-01 -1.87799531e-01 -2.51043832e-01  8.55373957e+02]
 [ 1.86753103e-01  9.82001779e-01 -2.82096441e-02  8.88735560e+01]
 [ 2.51823247e-01 -2.00958092e-02  9.67564577e-01  2.24434262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 883.940714057 meters
Centerline goodness : 0.999066 with order 1
Centerline is valid?  [True, True]
Translation: X:855.43, Y:88.88, Z:224.45
[[ 9.49576282e-01 -1.87833290e-01 -2.51044895e-01  8.55433389e+02]
 [ 1.86790501e-01  9.81994938e-01 -2.82001787e-02  8.88813590e+01]
 [ 2.51821748e-01 -2.01145808e-02  9.67564577e-01  2.24449346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.000714057 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:855.49, Y:88.89, Z:224.46
[[ 9.49585427e-01 -1.87776703e-01 -2.51052637e-01  8.55493121e+02]
 [ 1.86750130e-01  9.82004598e-01 -2.81310876e-02  8.88891310e+01]
 [ 2.51817207e-01 -2.01712418e-02  9.67564579e-01  2.24463316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.060714057 meters
Centerline goodness : 0.998655 with order 1
Centerline is valid?  [True, True]
Translation: X:855.55, Y:88.90, Z:224.48
[[ 9.49653309e-01 -1.87430390e-01 -2.51054658e-01  8.55551436e+02]
 [ 1.86396734e-01  9.82072255e-01 -2.81130439e-02  8.88968158e+01]
 [ 2.51823053e-01 -2.00981232e-02  9.67564580e-01  2.24476121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.120714057 meters
Centerline goodness : 0.998974 with order 1
Centerline is valid?  [True, True]
Translation: X:855.61, Y:88.90, Z:224.49
[[ 9.49754744e-01 -1.86915051e-01 -2.51055154e-01  8.55610251e+02]
 [ 1.85864968e-01  9.82173162e-01 -2.81086115e-02  8.89041334e+01]
 [ 2.51833557e-01 -1.99660710e-02  9.67564580e-01  2.24491548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.180714057 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:855.67, Y:88.91, Z:224.51
[[ 9.50057017e-01 -1.85371188e-01 -2.51056143e-01  8.55668334e+02]
 [ 1.84270738e-01  9.82473764e-01 -2.80997727e-02  8.89121437e+01]
 [ 2.51864963e-01 -1.95659146e-02  9.67564580e-01  2.24508043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.240714057 meters
Centerline goodness : 0.998880 with order 1
Centerline is valid?  [True, True]
Translation: X:855.73, Y:88.92, Z:224.53
[[ 9.50224980e-01 -1.84508031e-01 -2.51056315e-01  8.55727321e+02]
 [ 1.83378536e-01  9.82640729e-01 -2.80982381e-02  8.89205710e+01]
 [ 2.51882511e-01 -1.93386918e-02  9.67564580e-01  2.24526743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.300714057 meters
Centerline goodness : 0.998956 with order 1
Centerline is valid?  [True, True]
Translation: X:855.79, Y:88.93, Z:224.54
[[ 9.49949960e-01 -1.85909085e-01 -2.51063509e-01  8.55786354e+02]
 [ 1.84844313e-01  9.82367897e-01 -2.80338181e-02  8.89269006e+01]
 [ 2.51848473e-01 -1.97769375e-02  9.67564582e-01  2.24542146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.360714057 meters
Centerline goodness : 0.998951 with order 1
Centerline is valid?  [True, True]
Translation: X:855.85, Y:88.93, Z:224.56
[[ 9.49318090e-01 -1.89107826e-01 -2.51064522e-01  8.55845112e+02]
 [ 1.88154640e-01  9.81739500e-01 -2.80247457e-02  8.89324374e+01]
 [ 2.51779657e-01 -2.06345565e-02  9.67564582e-01  2.24555331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.420714057 meters
Centerline goodness : 0.998841 with order 1
Centerline is valid?  [True, True]
Translation: X:855.90, Y:88.94, Z:224.57
[[ 9.48779377e-01 -1.91790736e-01 -2.51065742e-01  8.55904281e+02]
 [ 1.90932080e-01  9.81203428e-01 -2.80138091e-02  8.89382970e+01]
 [ 2.51719356e-01 -2.13575800e-02  9.67564582e-01  2.24569619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.480714057 meters
Centerline goodness : 0.998564 with order 1
Centerline is valid?  [True, True]
Translation: X:855.96, Y:88.94, Z:224.58
[[ 9.48260931e-01 -1.94336741e-01 -2.51066602e-01  8.55963213e+02]
 [ 1.93567146e-01  9.80687217e-01 -2.80060977e-02  8.89441330e+01]
 [ 2.51660421e-01 -2.20411575e-02  9.67564582e-01  2.24584968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.5407140570001 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:856.02, Y:88.95, Z:224.60
[[ 9.47997422e-01 -1.95617488e-01 -2.51067095e-01  8.56021829e+02]
 [ 1.94892855e-01  9.80424745e-01 -2.80016823e-02  8.89501837e+01]
 [ 2.51630011e-01 -2.23856602e-02  9.67564582e-01  2.24602671e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.600714057 meters
Centerline goodness : 0.998406 with order 1
Centerline is valid?  [True, True]
Translation: X:856.08, Y:88.96, Z:224.62
[[ 9.47631169e-01 -1.97382770e-01 -2.51068139e-01  8.56080547e+02]
 [ 1.96720996e-01  9.80059835e-01 -2.79923134e-02  8.89551714e+01]
 [ 2.51586999e-01 -2.28639856e-02  9.67564582e-01  2.24618264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.6607140570001 meters
Centerline goodness : 0.998390 with order 1
Centerline is valid?  [True, True]
Translation: X:856.14, Y:88.96, Z:224.63
[[ 9.47080794e-01 -1.99998547e-01 -2.51074792e-01  8.56139186e+02]
 [ 1.99442027e-01  9.79511436e-01 -2.79325156e-02  8.89586280e+01]
 [ 2.51517093e-01 -2.36205164e-02  9.67564584e-01  2.24634218e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.720714057 meters
Centerline goodness : 0.998687 with order 1
Centerline is valid?  [True, True]
Translation: X:856.20, Y:88.96, Z:224.65
[[ 9.46668887e-01 -2.01938912e-01 -2.51075078e-01  8.56198556e+02]
 [ 2.01449525e-01  9.79100611e-01 -2.79299497e-02  8.89619903e+01]
 [ 2.51467906e-01 -2.41385407e-02  9.67564584e-01  2.24649358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.7807140570001 meters
Centerline goodness : 0.998375 with order 1
Centerline is valid?  [True, True]
Translation: X:856.26, Y:88.96, Z:224.66
[[ 9.46440616e-01 -2.03004779e-01 -2.51076123e-01  8.56258019e+02]
 [ 2.02554382e-01  9.78872906e-01 -2.79205506e-02  8.89646782e+01]
 [ 2.51439619e-01 -2.44314259e-02  9.67564584e-01  2.24663338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.840714057 meters
Centerline goodness : 0.998330 with order 1
Centerline is valid?  [True, True]
Translation: X:856.32, Y:88.97, Z:224.68
[[ 9.46435075e-01 -2.03029975e-01 -2.51076640e-01  8.56317827e+02]
 [ 2.02581663e-01  9.78867393e-01 -2.79159012e-02  8.89696268e+01]
 [ 2.51438500e-01 -2.44429352e-02  9.67564584e-01  2.24678389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.9007140570001 meters
Centerline goodness : 0.998243 with order 1
Centerline is valid?  [True, True]
Translation: X:856.38, Y:88.97, Z:224.69
[[ 9.46567406e-01 -2.02403104e-01 -2.51083910e-01  8.56378773e+02]
 [ 2.01950532e-01  9.78999663e-01 -2.78503663e-02  8.89724878e+01]
 [ 2.51448063e-01 -2.43442802e-02  9.67564586e-01  2.24692546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 884.960714057 meters
Centerline goodness : 0.998106 with order 1
Centerline is valid?  [True, True]
Translation: X:856.44, Y:88.98, Z:224.71
[[ 9.46823847e-01 -2.01191112e-01 -2.51091098e-01  8.56436917e+02]
 [ 2.00714087e-01  9.79255751e-01 -2.77854112e-02  8.89753764e+01]
 [ 2.51472579e-01 -2.40896305e-02  9.67564588e-01  2.24706916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.0207140570001 meters
Centerline goodness : 0.998493 with order 1
Centerline is valid?  [True, True]
Translation: X:856.50, Y:88.98, Z:224.72
[[ 9.47253483e-01 -1.99158478e-01 -2.51091098e-01  8.56495614e+02]
 [ 1.98611845e-01  9.79684289e-01 -2.77854112e-02  8.89799390e+01]
 [ 2.51523704e-01 -2.35498387e-02  9.67564588e-01  2.24723766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.080714057 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:856.55, Y:88.98, Z:224.74
[[ 9.48086167e-01 -1.95154710e-01 -2.51092134e-01  8.56553762e+02]
 [ 1.94473529e-01  9.80514425e-01 -2.77760434e-02  8.89836215e+01]
 [ 2.51620085e-01 -2.24966910e-02  9.67564588e-01  2.24741086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.1407140570001 meters
Centerline goodness : 0.998677 with order 1
Centerline is valid?  [True, True]
Translation: X:856.61, Y:88.99, Z:224.76
[[ 9.48903541e-01 -1.91140870e-01 -2.51092090e-01  8.56611639e+02]
 [ 1.90322360e-01  9.81328624e-01 -2.77764448e-02  8.89877151e+01]
 [ 2.51713069e-01 -2.14312724e-02  9.67564588e-01  2.24756228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.200714057 meters
Centerline goodness : 0.998795 with order 1
Centerline is valid?  [True, True]
Translation: X:856.67, Y:88.99, Z:224.77
[[ 9.49490678e-01 -1.88202265e-01 -2.51092335e-01  8.56670037e+02]
 [ 1.87283957e-01  9.81913088e-01 -2.77742301e-02  8.89908898e+01]
 [ 2.51778023e-01 -2.06541934e-02  9.67564588e-01  2.24770957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.2607140570001 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:856.73, Y:88.99, Z:224.78
[[ 9.49502313e-01 -1.88143600e-01 -2.51092299e-01  8.56729330e+02]
 [ 1.87223203e-01  9.81924664e-01 -2.77745564e-02  8.89939881e+01]
 [ 2.51779326e-01 -2.06382989e-02  9.67564588e-01  2.24784923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.320714057 meters
Centerline goodness : 0.998637 with order 1
Centerline is valid?  [True, True]
Translation: X:856.79, Y:89.00, Z:224.80
[[ 9.49329782e-01 -1.89010184e-01 -2.51093838e-01  8.56789403e+02]
 [ 1.88123038e-01  9.81753059e-01 -2.77606322e-02  8.89968162e+01]
 [ 2.51759186e-01 -2.08825409e-02  9.67564588e-01  2.24799978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.380714057 meters
Centerline goodness : 0.998415 with order 1
Centerline is valid?  [True, True]
Translation: X:856.85, Y:89.00, Z:224.81
[[ 9.49151822e-01 -1.89899143e-01 -2.51095867e-01  8.56849120e+02]
 [ 1.89047185e-01  9.81576043e-01 -2.77422704e-02  8.90003643e+01]
 [ 2.51737921e-01 -2.11373403e-02  9.67564588e-01  2.24814458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.440714057 meters
Centerline goodness : 0.998442 with order 1
Centerline is valid?  [True, True]
Translation: X:856.91, Y:89.00, Z:224.83
[[ 9.48960854e-01 -1.90849844e-01 -2.51096864e-01  8.56909576e+02]
 [ 1.90032738e-01  9.81385972e-01 -2.77332414e-02  8.90030063e+01]
 [ 2.51715825e-01 -2.13988641e-02  9.67564588e-01  2.24830123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.500714057 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:856.97, Y:89.01, Z:224.85
[[ 9.48861639e-01 -1.91339841e-01 -2.51098897e-01  8.56967181e+02]
 [ 1.90544318e-01  9.81287293e-01 -2.77148201e-02  8.90061977e+01]
 [ 2.51703107e-01 -2.15479385e-02  9.67564588e-01  2.24845663e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.560714057 meters
Centerline goodness : 0.998737 with order 1
Centerline is valid?  [True, True]
Translation: X:857.03, Y:89.01, Z:224.86
[[ 9.48882183e-01 -1.91235613e-01 -2.51100665e-01  8.57026171e+02]
 [ 1.90440738e-01  9.81307853e-01 -2.76987933e-02  8.90092015e+01]
 [ 2.51704050e-01 -2.15369046e-02  9.67564588e-01  2.24861989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.620714057 meters
Centerline goodness : 0.998931 with order 1
Centerline is valid?  [True, True]
Translation: X:857.09, Y:89.01, Z:224.88
[[ 9.48873272e-01 -1.91278466e-01 -2.51101697e-01  8.57086539e+02]
 [ 1.90487514e-01  9.81299038e-01 -2.76894341e-02  8.90125602e+01]
 [ 2.51702247e-01 -2.15579742e-02  9.67564588e-01  2.24876952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.680714057 meters
Centerline goodness : 0.998602 with order 1
Centerline is valid?  [True, True]
Translation: X:857.15, Y:89.02, Z:224.89
[[ 9.49157874e-01 -1.89857817e-01 -2.51104239e-01  8.57147571e+02]
 [ 1.89024385e-01  9.81582576e-01 -2.76663647e-02  8.90176962e+01]
 [ 2.51732222e-01 -2.12050765e-02  9.67564589e-01  2.24892197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.740714057 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:857.21, Y:89.02, Z:224.91
[[ 9.50097614e-01 -1.85093724e-01 -2.51107224e-01  8.57205798e+02]
 [ 1.84104758e-01  9.82517944e-01 -2.76392447e-02  8.90231987e+01]
 [ 2.51833205e-01 -1.99700544e-02  9.67564589e-01  2.24908063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.800714057 meters
Centerline goodness : 0.998670 with order 1
Centerline is valid?  [True, True]
Translation: X:857.26, Y:89.03, Z:224.92
[[ 9.51531298e-01 -1.77576351e-01 -2.51107204e-01  8.57263115e+02]
 [ 1.76331049e-01  9.83942795e-01 -2.76394286e-02  8.90302379e+01]
 [ 2.51983233e-01 -1.79782152e-02  9.67564589e-01  2.24923514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.860714057 meters
Centerline goodness : 0.998748 with order 1
Centerline is valid?  [True, True]
Translation: X:857.32, Y:89.04, Z:224.94
[[ 9.53170582e-01 -1.68556433e-01 -2.51106690e-01  8.57320769e+02]
 [ 1.67002992e-01  9.85568772e-01 -2.76440993e-02  8.90374718e+01]
 [ 2.52142503e-01 -1.55860262e-02  9.67564589e-01  2.24939615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.920714057 meters
Centerline goodness : 0.998394 with order 1
Centerline is valid?  [True, True]
Translation: X:857.38, Y:89.05, Z:224.96
[[ 9.54889591e-01 -1.58528645e-01 -2.51106626e-01  8.57378454e+02]
 [ 1.56634609e-01  9.87269655e-01 -2.76446825e-02  8.90456694e+01]
 [ 2.52292426e-01 -1.29343685e-02  9.67564589e-01  2.24955715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 885.980714057 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:857.44, Y:89.05, Z:224.97
[[ 9.55774478e-01 -1.53102792e-01 -2.51106913e-01  8.57435810e+02]
 [ 1.51025569e-01  9.88143306e-01 -2.76420691e-02  8.90528373e+01]
 [ 2.52361694e-01 -1.15039803e-02  9.67564589e-01  2.24971525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.0407140570001 meters
Centerline goodness : 0.998574 with order 1
Centerline is valid?  [True, True]
Translation: X:857.50, Y:89.06, Z:224.99
[[ 9.56419526e-01 -1.49020180e-01 -2.51106901e-01  8.57495107e+02]
 [ 1.46804729e-01  9.88779187e-01 -2.76421835e-02  8.90592278e+01]
 [ 2.52408521e-01 -1.04261566e-02  9.67564589e-01  2.24988106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.100714057 meters
Centerline goodness : 0.998666 with order 1
Centerline is valid?  [True, True]
Translation: X:857.56, Y:89.06, Z:225.00
[[ 9.56391813e-01 -1.49194585e-01 -2.51108892e-01  8.57555508e+02]
 [ 1.46989778e-01  9.88752201e-01 -2.76240881e-02  8.90635638e+01]
 [ 2.52405834e-01 -1.04909885e-02  9.67564589e-01  2.25003725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.1607140570001 meters
Centerline goodness : 0.998376 with order 1
Centerline is valid?  [True, True]
Translation: X:857.62, Y:89.07, Z:225.02
[[ 9.55878095e-01 -1.52447906e-01 -2.51110938e-01  8.57616041e+02]
 [ 1.50358100e-01  9.88246113e-01 -2.76054717e-02  8.90662867e+01]
 [ 2.52367805e-01 -1.13690980e-02  9.67564589e-01  2.25019232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.220714057 meters
Centerline goodness : 0.998959 with order 1
Centerline is valid?  [True, True]
Translation: X:857.67, Y:89.07, Z:225.04
[[ 9.55375631e-01 -1.55562465e-01 -2.51112971e-01  8.57674441e+02]
 [ 1.53583015e-01  9.87750584e-01 -2.75869663e-02  8.90700548e+01]
 [ 2.52328480e-01 -1.22107720e-02  9.67564590e-01  2.25036088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.2807140570001 meters
Centerline goodness : 0.998853 with order 1
Centerline is valid?  [True, True]
Translation: X:857.73, Y:89.07, Z:225.05
[[ 9.54917793e-01 -1.58347811e-01 -2.51113478e-01  8.57732452e+02]
 [ 1.56463991e-01  9.87298452e-01 -2.75823498e-02  8.90730200e+01]
 [ 2.52291553e-01 -1.29513404e-02  9.67564590e-01  2.25052180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.340714057 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:857.79, Y:89.08, Z:225.07
[[ 9.54726796e-01 -1.59495197e-01 -2.51113576e-01  8.57791402e+02]
 [ 1.57650523e-01  9.87109708e-01 -2.75814591e-02  8.90753970e+01]
 [ 2.52275759e-01 -1.32554284e-02  9.67564590e-01  2.25066013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.4007140570001 meters
Centerline goodness : 0.998894 with order 1
Centerline is valid?  [True, True]
Translation: X:857.85, Y:89.08, Z:225.08
[[ 9.54223941e-01 -1.62475808e-01 -2.51114082e-01  8.57849703e+02]
 [ 1.60733476e-01  9.86612521e-01 -2.75768517e-02  8.90792115e+01]
 [ 2.52232869e-01 -1.40479472e-02  9.67564590e-01  2.25079607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.460714057 meters
Centerline goodness : 0.998966 with order 1
Centerline is valid?  [True, True]
Translation: X:857.91, Y:89.08, Z:225.09
[[ 9.53647985e-01 -1.65821556e-01 -2.51114980e-01  8.57909360e+02]
 [ 1.64194976e-01  9.86042584e-01 -2.75686768e-02  8.90830358e+01]
 [ 2.52181544e-01 -1.49410051e-02  9.67564590e-01  2.25093838e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.5207140570001 meters
Centerline goodness : 0.998964 with order 1
Centerline is valid?  [True, True]
Translation: X:857.97, Y:89.09, Z:225.11
[[ 9.52997182e-01 -1.69520364e-01 -2.51115942e-01  8.57968251e+02]
 [ 1.68021786e-01  9.85397956e-01 -2.75599037e-02  8.90874515e+01]
 [ 2.52121101e-01 -1.59284387e-02  9.67564590e-01  2.25108897e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.580714057 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:858.03, Y:89.09, Z:225.13
[[ 9.52663574e-01 -1.71384527e-01 -2.51116425e-01  8.58026412e+02]
 [ 1.69950498e-01  9.85067268e-01 -2.75555024e-02  8.90938563e+01]
 [ 2.52089158e-01 -1.64262381e-02  9.67564590e-01  2.25125418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.6407140570001 meters
Centerline goodness : 0.999028 with order 1
Centerline is valid?  [True, True]
Translation: X:858.08, Y:89.10, Z:225.14
[[ 9.52193133e-01 -1.73978532e-01 -2.51116919e-01  8.58084823e+02]
 [ 1.72633944e-01  9.84600662e-01 -2.75510002e-02  8.91000908e+01]
 [ 2.52043168e-01 -1.71174309e-02  9.67564590e-01  2.25142297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.700714057 meters
Centerline goodness : 0.999292 with order 1
Centerline is valid?  [True, True]
Translation: X:858.14, Y:89.11, Z:225.16
[[ 9.51747765e-01 -1.76397929e-01 -2.51117428e-01  8.58142253e+02]
 [ 1.75136924e-01  9.84158654e-01 -2.75463672e-02  8.91063025e+01]
 [ 2.51998512e-01 -1.77627404e-02  9.67564590e-01  2.25158254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.7607140570001 meters
Centerline goodness : 0.999033 with order 1
Centerline is valid?  [True, True]
Translation: X:858.20, Y:89.11, Z:225.17
[[ 9.51444495e-01 -1.78027025e-01 -2.51117006e-01  8.58201864e+02]
 [ 1.76820500e-01  9.83857458e-01 -2.75502067e-02  8.91139521e+01]
 [ 2.51968021e-01 -1.81901421e-02  9.67564590e-01  2.25174158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.820714057 meters
Centerline goodness : 0.999120 with order 1
Centerline is valid?  [True, True]
Translation: X:858.26, Y:89.12, Z:225.19
[[ 9.51139399e-01 -1.79647114e-01 -2.51119012e-01  8.58260021e+02]
 [ 1.78500593e-01  9.83554539e-01 -2.75319174e-02  8.91223228e+01]
 [ 2.51935273e-01 -1.86382011e-02  9.67564590e-01  2.25189267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.880714057 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:858.32, Y:89.13, Z:225.20
[[ 9.51002002e-01 -1.80372350e-01 -2.51119510e-01  8.58319584e+02]
 [ 1.79251741e-01  9.83418048e-01 -2.75273730e-02  8.91316594e+01]
 [ 2.51920635e-01 -1.88350224e-02  9.67564590e-01  2.25203576e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 886.940714057 meters
Centerline goodness : 0.999006 with order 1
Centerline is valid?  [True, True]
Translation: X:858.38, Y:89.14, Z:225.22
[[ 9.51271687e-01 -1.78941832e-01 -2.51121482e-01  8.58377201e+02]
 [ 1.77777196e-01  9.83686181e-01 -2.75093723e-02  8.91414076e+01]
 [ 2.51947309e-01 -1.84747858e-02  9.67564590e-01  2.25219008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.000714057 meters
Centerline goodness : 0.999137 with order 1
Centerline is valid?  [True, True]
Translation: X:858.44, Y:89.15, Z:225.24
[[ 9.51945553e-01 -1.75321607e-01 -2.51121482e-01  8.58435777e+02]
 [ 1.74033665e-01  9.84355382e-01 -2.75093723e-02  8.91518684e+01]
 [ 2.52015769e-01 -1.75161672e-02  9.67564590e-01  2.25236580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.060714057 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:858.49, Y:89.16, Z:225.25
[[ 9.52810197e-01 -1.70557830e-01 -2.51122989e-01  8.58494070e+02]
 [ 1.69111404e-01  9.85213340e-01 -2.74956075e-02  8.91619655e+01]
 [ 2.52099310e-01 -1.62696660e-02  9.67564590e-01  2.25252410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.120714057 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:858.55, Y:89.17, Z:225.27
[[ 9.53507618e-01 -1.66614036e-01 -2.51123447e-01  8.58552613e+02]
 [ 1.65034650e-01  9.85904552e-01 -2.74914232e-02  8.91727285e+01]
 [ 2.52164206e-01 -1.52307886e-02  9.67564590e-01  2.25269395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.180714057 meters
Centerline goodness : 0.999173 with order 1
Centerline is valid?  [True, True]
Translation: X:858.61, Y:89.18, Z:225.29
[[ 9.53917225e-01 -1.64250378e-01 -2.51124952e-01  8.58611166e+02]
 [ 1.62594315e-01  9.86310330e-01 -2.74776655e-02  8.91813358e+01]
 [ 2.52200351e-01 -1.46200710e-02  9.67564590e-01  2.25285470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.240714057 meters
Centerline goodness : 0.999599 with order 1
Centerline is valid?  [True, True]
Translation: X:858.67, Y:89.19, Z:225.30
[[ 9.54411132e-01 -1.61354108e-01 -2.51125952e-01  8.58668957e+02]
 [ 1.59602124e-01  9.86799190e-01 -2.74685244e-02  8.91889843e+01]
 [ 2.52243046e-01 -1.38639699e-02  9.67564590e-01  2.25301140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.300714057 meters
Centerline goodness : 0.999131 with order 1
Centerline is valid?  [True, True]
Translation: X:858.73, Y:89.20, Z:225.32
[[ 9.54514254e-01 -1.60743019e-01 -2.51125905e-01  8.58728517e+02]
 [ 1.58970186e-01  9.86901179e-01 -2.74689556e-02  8.91971817e+01]
 [ 2.52251894e-01 -1.37020221e-02  9.67564590e-01  2.25316954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.360714057 meters
Centerline goodness : 0.998974 with order 1
Centerline is valid?  [True, True]
Translation: X:858.79, Y:89.20, Z:225.33
[[ 9.54343987e-01 -1.61747691e-01 -2.51127934e-01  8.58787692e+02]
 [ 1.60013821e-01  9.86733020e-01 -2.74503908e-02  8.92041571e+01]
 [ 2.52236262e-01 -1.39868250e-02  9.67564590e-01  2.25330304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.420714057 meters
Centerline goodness : 0.999264 with order 1
Centerline is valid?  [True, True]
Translation: X:858.85, Y:89.21, Z:225.35
[[ 9.54017048e-01 -1.63662706e-01 -2.51129431e-01  8.58847211e+02]
 [ 1.61997438e-01  9.86409681e-01 -2.74366893e-02  8.92106164e+01]
 [ 2.52206865e-01 -1.45072551e-02  9.67564591e-01  2.25347760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.480714057 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:858.91, Y:89.22, Z:225.36
[[ 9.53665215e-01 -1.65697419e-01 -2.51131485e-01  8.58905809e+02]
 [ 1.64106191e-01  9.86061569e-01 -2.74178751e-02  8.92179025e+01]
 [ 2.52174178e-01 -1.50647577e-02  9.67564591e-01  2.25362982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.5407140570001 meters
Centerline goodness : 0.999398 with order 1
Centerline is valid?  [True, True]
Translation: X:858.96, Y:89.23, Z:225.38
[[ 9.53237785e-01 -1.68138181e-01 -2.51131991e-01  8.58964830e+02]
 [ 1.66631105e-01  9.85638163e-01 -2.74132437e-02  8.92261215e+01]
 [ 2.52134487e-01 -1.57150615e-02  9.67564591e-01  2.25378692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.600714057 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:859.02, Y:89.23, Z:225.39
[[ 9.53025172e-01 -1.69337645e-01 -2.51132998e-01  8.59023310e+02]
 [ 1.67873766e-01  9.85427531e-01 -2.74040173e-02  8.92343119e+01]
 [ 2.52113902e-01 -1.60419238e-02  9.67564591e-01  2.25393724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.6607140570001 meters
Centerline goodness : 0.999084 with order 1
Centerline is valid?  [True, True]
Translation: X:859.08, Y:89.24, Z:225.41
[[ 9.53504630e-01 -1.66614486e-01 -2.51134493e-01  8.59082071e+02]
 [ 1.65061647e-01  9.85902847e-01 -2.73903098e-02  8.92431417e+01]
 [ 2.52157834e-01 -1.53358859e-02  9.67564591e-01  2.25410792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.720714057 meters
Centerline goodness : 0.999149 with order 1
Centerline is valid?  [True, True]
Translation: X:859.14, Y:89.25, Z:225.43
[[ 9.54676362e-01 -1.59760717e-01 -2.51136529e-01  8.59139056e+02]
 [ 1.57980088e-01  9.87062858e-01 -2.73716246e-02  8.92535824e+01]
 [ 2.52260451e-01 -1.35435279e-02  9.67564591e-01  2.25427474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.7807140570001 meters
Centerline goodness : 0.999260 with order 1
Centerline is valid?  [True, True]
Translation: X:859.20, Y:89.26, Z:225.45
[[ 9.55512567e-01 -1.54680641e-01 -2.51136684e-01  8.59196981e+02]
 [ 1.52728147e-01  9.87889156e-01 -2.73702101e-02  8.92633317e+01]
 [ 2.52328848e-01 -1.22030606e-02  9.67564591e-01  2.25445430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.840714057 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:859.25, Y:89.27, Z:225.46
[[ 9.56517772e-01 -1.48336995e-01 -2.51137190e-01  8.59254794e+02]
 [ 1.46170929e-01  9.88880774e-01 -2.73655632e-02  8.92729678e+01]
 [ 2.52404064e-01 -1.05333088e-02  9.67564591e-01  2.25462519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.9007140570001 meters
Centerline goodness : 0.998696 with order 1
Centerline is valid?  [True, True]
Translation: X:859.31, Y:89.28, Z:225.48
[[ 9.56820924e-01 -1.46368823e-01 -2.51137186e-01  8.59313414e+02]
 [ 1.44136173e-01  9.89179401e-01 -2.73655964e-02  8.92808817e+01]
 [ 2.52425202e-01 -1.00139776e-02  9.67564591e-01  2.25477271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 887.960714057 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:859.37, Y:89.29, Z:225.49
[[ 9.56644466e-01 -1.47516871e-01 -2.51137687e-01  8.59372303e+02]
 [ 1.45324255e-01  9.89005681e-01 -2.73610042e-02  8.92869701e+01]
 [ 2.52412808e-01 -1.03216439e-02  9.67564591e-01  2.25490666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.0207140570001 meters
Centerline goodness : 0.998364 with order 1
Centerline is valid?  [True, True]
Translation: X:859.43, Y:89.29, Z:225.50
[[ 9.56091665e-01 -1.51055876e-01 -2.51139105e-01  8.59431796e+02]
 [ 1.48986440e-01  9.88460990e-01 -2.73479813e-02  8.92923197e+01]
 [ 2.52372281e-01 -1.12691442e-02  9.67564591e-01  2.25504587e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.080714057 meters
Centerline goodness : 0.998361 with order 1
Centerline is valid?  [True, True]
Translation: X:859.49, Y:89.30, Z:225.52
[[ 9.55778858e-01 -1.53020986e-01 -2.51140106e-01  8.59490381e+02]
 [ 1.51020507e-01  9.88152517e-01 -2.73387835e-02  8.92985314e+01]
 [ 2.52348136e-01 -1.17974749e-02  9.67564591e-01  2.25519469e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.1407140570001 meters
Centerline goodness : 0.998539 with order 1
Centerline is valid?  [True, True]
Translation: X:859.55, Y:89.30, Z:225.54
[[ 9.55557046e-01 -1.54398446e-01 -2.51141100e-01  8.59549533e+02]
 [ 1.52447027e-01  9.87933700e-01 -2.73296453e-02  8.93042779e+01]
 [ 2.52330411e-01 -1.21706789e-02  9.67564591e-01  2.25535238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.200714057 meters
Centerline goodness : 0.998767 with order 1
Centerline is valid?  [True, True]
Translation: X:859.61, Y:89.31, Z:225.55
[[ 9.55561075e-01 -1.54371102e-01 -2.51142578e-01  8.59608109e+02]
 [ 1.52422319e-01  9.87937887e-01 -2.73160597e-02  8.93105585e+01]
 [ 2.52330078e-01 -1.21775708e-02  9.67564591e-01  2.25551338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.2607140570001 meters
Centerline goodness : 0.998316 with order 1
Centerline is valid?  [True, True]
Translation: X:859.67, Y:89.32, Z:225.57
[[ 9.55766504e-01 -1.53091687e-01 -2.51144031e-01  8.59665977e+02]
 [ 1.51103065e-01  9.88140894e-01 -2.73026933e-02  8.93175502e+01]
 [ 2.52345503e-01 -1.18536332e-02  9.67564591e-01  2.25566882e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.320714057 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:859.72, Y:89.32, Z:225.58
[[ 9.55821258e-01 -1.52749235e-01 -2.51144171e-01  8.59724510e+02]
 [ 1.50749351e-01  9.88194954e-01 -2.73014044e-02  8.93235569e+01]
 [ 2.52349671e-01 -1.17645582e-02  9.67564591e-01  2.25581030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.380714057 meters
Centerline goodness : 0.998518 with order 1
Centerline is valid?  [True, True]
Translation: X:859.78, Y:89.33, Z:225.60
[[ 9.55946589e-01 -1.51962133e-01 -2.51144637e-01  8.59782628e+02]
 [ 1.49936715e-01  9.88318698e-01 -2.72971230e-02  8.93298328e+01]
 [ 2.52359069e-01 -1.15612103e-02  9.67564591e-01  2.25597209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.440714057 meters
Centerline goodness : 0.998429 with order 1
Centerline is valid?  [True, True]
Translation: X:859.84, Y:89.34, Z:225.61
[[ 9.56679028e-01 -1.47279896e-01 -2.51145118e-01  8.59840892e+02]
 [ 1.45097165e-01  9.89040910e-01 -2.72926959e-02  8.93365310e+01]
 [ 2.52412461e-01 -1.03300949e-02  9.67564591e-01  2.25613668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.500714057 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:859.90, Y:89.34, Z:225.63
[[ 9.57594821e-01 -1.41202836e-01 -2.51145211e-01  8.59900595e+02]
 [ 1.38814905e-01  9.89942209e-01 -2.72918347e-02  8.93437167e+01]
 [ 2.52472930e-01 -8.72817895e-03  9.67564591e-01  2.25630531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.560714057 meters
Centerline goodness : 0.998130 with order 1
Centerline is valid?  [True, True]
Translation: X:859.96, Y:89.35, Z:225.65
[[ 9.59372521e-01 -1.28567006e-01 -2.51147149e-01  8.59958608e+02]
 [ 1.25757530e-01  9.91686026e-01 -2.72739904e-02  8.93507416e+01]
 [ 2.52565654e-01 -5.41772808e-03  9.67564592e-01  2.25647527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.620714057 meters
Centerline goodness : 0.998441 with order 1
Centerline is valid?  [True, True]
Translation: X:860.02, Y:89.36, Z:225.66
[[ 9.60429354e-01 -1.20418305e-01 -2.51147145e-01  8.60017980e+02]
 [ 1.17334612e-01  9.92717843e-01 -2.72740278e-02  8.93565389e+01]
 [ 2.52602545e-01 -3.27347602e-03  9.67564592e-01  2.25663384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.680714057 meters
Centerline goodness : 0.998376 with order 1
Centerline is valid?  [True, True]
Translation: X:860.08, Y:89.36, Z:225.68
[[ 9.61204983e-01 -1.14058448e-01 -2.51148662e-01  8.60078302e+02]
 [ 1.10764752e-01  9.93472727e-01 -2.72600565e-02  8.93602637e+01]
 [ 2.52618586e-01 -1.61591692e-03  9.67564592e-01  2.25679190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.740714057 meters
Centerline goodness : 0.998315 with order 1
Centerline is valid?  [True, True]
Translation: X:860.14, Y:89.36, Z:225.69
[[ 9.61848744e-01 -1.08491170e-01 -2.51150673e-01  8.60138663e+02]
 [ 1.05015540e-01  9.94097398e-01 -2.72415134e-02  8.93590540e+01]
 [ 2.52623694e-01 -1.72508161e-04  9.67564592e-01  2.25693184e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.800714057 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:860.20, Y:89.36, Z:225.71
[[ 9.62231960e-01 -1.05035642e-01 -2.51151686e-01  8.60198831e+02]
 [ 1.01446639e-01  9.94468194e-01 -2.72321730e-02  8.93561385e+01]
 [ 2.52622712e-01  7.25172695e-04  9.67564592e-01  2.25707832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.860714057 meters
Centerline goodness : 0.998506 with order 1
Centerline is valid?  [True, True]
Translation: X:860.26, Y:89.35, Z:225.72
[[ 9.62460718e-01 -1.02915977e-01 -2.51152679e-01  8.60259539e+02]
 [ 9.92583692e-02  9.94689240e-01 -2.72230157e-02  8.93496946e+01]
 [ 2.52620550e-01  1.27207790e-03  9.67564592e-01  2.25724016e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.920714057 meters
Centerline goodness : 0.998757 with order 1
Centerline is valid?  [True, True]
Translation: X:860.32, Y:89.34, Z:225.74
[[ 9.62365161e-01 -1.03802031e-01 -2.51154207e-01  8.60319650e+02]
 [ 1.00177779e-01  9.94597450e-01 -2.72089062e-02  8.93418514e+01]
 [ 2.52621674e-01  1.02483281e-03  9.67564592e-01  2.25738609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 888.980714057 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:860.38, Y:89.33, Z:225.75
[[ 9.61800577e-01 -1.08909202e-01 -2.51154207e-01  8.60378534e+02]
 [ 1.05456104e-01  9.94051651e-01 -2.72089062e-02  8.93331739e+01]
 [ 2.52623555e-01 -3.16202415e-04  9.67564592e-01  2.25752314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.0407140570001 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:860.44, Y:89.32, Z:225.77
[[ 9.60792553e-01 -1.17484059e-01 -2.51147698e-01  8.60437326e+02]
 [ 1.14303104e-01  9.93071603e-01 -2.72688639e-02  8.93227378e+01]
 [ 2.52611303e-01 -2.50723994e-03  9.67564594e-01  2.25765441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.100714057 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:860.50, Y:89.32, Z:225.78
[[ 9.59871201e-01 -1.24792314e-01 -2.51145689e-01  8.60495424e+02]
 [ 1.21852259e-01  9.92173083e-01 -2.72873520e-02  8.93186905e+01]
 [ 2.52585244e-01 -4.41032604e-03  9.67564594e-01  2.25779189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.1607140570001 meters
Centerline goodness : 0.997897 with order 1
Centerline is valid?  [True, True]
Translation: X:860.56, Y:89.31, Z:225.79
[[ 9.57854011e-01 -1.39435627e-01 -2.51144183e-01  8.60555187e+02]
 [ 1.36985557e-01  9.90196749e-01 -2.73012057e-02  8.93066532e+01]
 [ 2.52488914e-01 -8.25255653e-03  9.67564594e-01  2.25794241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.220714057 meters
Centerline goodness : 0.997412 with order 1
Centerline is valid?  [True, True]
Translation: X:860.61, Y:89.31, Z:225.81
[[ 9.56916576e-01 -1.45731050e-01 -2.51143640e-01  8.60612647e+02]
 [ 1.43492396e-01  9.89274635e-01 -2.73062025e-02  8.93050292e+01]
 [ 2.52429394e-01 -9.90744478e-03  9.67564594e-01  2.25809247e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.2807140570001 meters
Centerline goodness : 0.997322 with order 1
Centerline is valid?  [True, True]
Translation: X:860.67, Y:89.30, Z:225.82
[[ 9.55699042e-01 -1.53515331e-01 -2.51142158e-01  8.60671862e+02]
 [ 1.51536569e-01  9.88074034e-01 -2.73198211e-02  8.93021191e+01]
 [ 2.52341057e-01 -1.19476940e-02  9.67564594e-01  2.25823222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.340714057 meters
Centerline goodness : 0.997329 with order 1
Centerline is valid?  [True, True]
Translation: X:860.73, Y:89.30, Z:225.84
[[ 9.54844427e-01 -1.58744277e-01 -2.51142140e-01  8.60730483e+02]
 [ 1.56942713e-01  9.87229762e-01 -2.73199872e-02  8.93016069e+01]
 [ 2.52271887e-01 -1.33285912e-02  9.67564594e-01  2.25837674e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.4007140570001 meters
Centerline goodness : 0.997221 with order 1
Centerline is valid?  [True, True]
Translation: X:860.79, Y:89.30, Z:225.85
[[ 9.54229503e-01 -1.62400472e-01 -2.51141679e-01  8.60787652e+02]
 [ 1.60721856e-01  9.86621443e-01 -2.73242255e-02  8.93036543e+01]
 [ 2.52219233e-01 -1.42903745e-02  9.67564594e-01  2.25851271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.460714057 meters
Centerline goodness : 0.996692 with order 1
Centerline is valid?  [True, True]
Translation: X:860.85, Y:89.31, Z:225.87
[[ 9.53728092e-01 -1.65330427e-01 -2.51134577e-01  8.60845054e+02]
 [ 1.63734217e-01  9.86124196e-01 -2.73893460e-02  8.93078268e+01]
 [ 2.52178175e-01 -1.49973347e-02  9.67564596e-01  2.25866238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.5207140570001 meters
Centerline goodness : 0.997131 with order 1
Centerline is valid?  [True, True]
Translation: X:860.90, Y:89.31, Z:225.88
[[ 9.53233519e-01 -1.68159380e-01 -2.51133993e-01  8.60903607e+02]
 [ 1.66657889e-01  9.85634150e-01 -2.73947048e-02  8.93141087e+01]
 [ 2.52132916e-01 -1.57399102e-02  9.67564596e-01  2.25880788e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.580714057 meters
Centerline goodness : 0.997563 with order 1
Centerline is valid?  [True, True]
Translation: X:860.96, Y:89.32, Z:225.90
[[ 9.52724421e-01 -1.71020160e-01 -2.51133993e-01  8.60961724e+02]
 [ 1.69615941e-01  9.85129414e-01 -2.73947048e-02  8.93213290e+01]
 [ 2.52084530e-01 -1.64967242e-02  9.67564596e-01  2.25895548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.6407140570001 meters
Centerline goodness : 0.996501 with order 1
Centerline is valid?  [True, True]
Translation: X:861.02, Y:89.33, Z:225.91
[[ 9.52058020e-01 -1.74692582e-01 -2.51133487e-01  8.61018924e+02]
 [ 1.73412110e-01  9.84468139e-01 -2.73993390e-02  8.93313161e+01]
 [ 2.52019378e-01 -1.74638274e-02  9.67564596e-01  2.25910408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.700714057 meters
Centerline goodness : 0.997342 with order 1
Centerline is valid?  [True, True]
Translation: X:861.08, Y:89.34, Z:225.92
[[ 9.51205187e-01 -1.79278856e-01 -2.51133000e-01  8.61076778e+02]
 [ 1.78153423e-01  9.83621060e-01 -2.74037989e-02  8.93419574e+01]
 [ 2.51932630e-01 -1.86735681e-02  9.67564596e-01  2.25924501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.7607140570001 meters
Centerline goodness : 0.997617 with order 1
Centerline is valid?  [True, True]
Translation: X:861.14, Y:89.35, Z:225.94
[[ 9.50017522e-01 -1.85470098e-01 -2.51132536e-01  8.61135031e+02]
 [ 1.84554690e-01  9.82440006e-01 -2.74080584e-02  8.93526942e+01]
 [ 2.51806025e-01 -2.03095516e-02  9.67564596e-01  2.25938111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.820714057 meters
Centerline goodness : 0.997206 with order 1
Centerline is valid?  [True, True]
Translation: X:861.19, Y:89.36, Z:225.95
[[ 9.48502213e-01 -1.93069950e-01 -2.51132528e-01  8.61192021e+02]
 [ 1.92414127e-01  9.80930986e-01 -2.74081255e-02  8.93640310e+01]
 [ 2.51635364e-01 -2.23247784e-02  9.67564596e-01  2.25951568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.880714057 meters
Centerline goodness : 0.997707 with order 1
Centerline is valid?  [True, True]
Translation: X:861.25, Y:89.38, Z:225.97
[[ 9.47340687e-01 -1.98690860e-01 -2.51132567e-01  8.61249430e+02]
 [ 1.98227432e-01  9.79772779e-01 -2.74077740e-02  8.93769549e+01]
 [ 2.51498527e-01 -2.38168643e-02  9.67564596e-01  2.25966792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 889.940714057 meters
Centerline goodness : 0.998112 with order 1
Centerline is valid?  [True, True]
Translation: X:861.31, Y:89.39, Z:225.98
[[ 9.47401405e-01 -1.98400972e-01 -2.51132697e-01  8.61306828e+02]
 [ 1.97927934e-01  9.79833360e-01 -2.74065824e-02  8.93926562e+01]
 [ 2.51505686e-01 -2.37411410e-02  9.67564596e-01  2.25983147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.000714057 meters
Centerline goodness : 0.998379 with order 1
Centerline is valid?  [True, True]
Translation: X:861.36, Y:89.41, Z:226.00
[[ 9.47798915e-01 -1.96488620e-01 -2.51136297e-01  8.61364559e+02]
 [ 1.95958808e-01  9.80229991e-01 -2.73735523e-02  8.94059405e+01]
 [ 2.51549922e-01 -2.32677462e-02  9.67564597e-01  2.25998634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.060714057 meters
Centerline goodness : 0.998761 with order 1
Centerline is valid?  [True, True]
Translation: X:861.42, Y:89.42, Z:226.01
[[ 9.48300208e-01 -1.94054174e-01 -2.51136801e-01  8.61422129e+02]
 [ 1.93442299e-01  9.80729840e-01 -2.73689307e-02  8.94221461e+01]
 [ 2.51608410e-01 -2.26265175e-02  9.67564597e-01  2.26013154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.120714057 meters
Centerline goodness : 0.998562 with order 1
Centerline is valid?  [True, True]
Translation: X:861.48, Y:89.44, Z:226.03
[[ 9.48461713e-01 -1.93263096e-01 -2.51136925e-01  8.61480174e+02]
 [ 1.92624470e-01  9.80890829e-01 -2.73677925e-02  8.94389413e+01]
 [ 2.51627090e-01 -2.24178138e-02  9.67564597e-01  2.26026214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.180714057 meters
Centerline goodness : 0.998555 with order 1
Centerline is valid?  [True, True]
Translation: X:861.54, Y:89.45, Z:226.04
[[ 9.48241947e-01 -1.94337241e-01 -2.51137906e-01  8.61538583e+02]
 [ 1.93737712e-01  9.80671808e-01 -2.73587868e-02  8.94541788e+01]
 [ 2.51600695e-01 -2.27121340e-02  9.67564597e-01  2.26039290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.240714057 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:861.60, Y:89.47, Z:226.05
[[ 9.47848381e-01 -1.96247183e-01 -2.51138386e-01  8.61596151e+02]
 [ 1.95714148e-01  9.80279404e-01 -2.73543759e-02  8.94707224e+01]
 [ 2.51554007e-01 -2.32235342e-02  9.67564597e-01  2.26054888e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.300714057 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:861.65, Y:89.48, Z:226.07
[[ 9.47663537e-01 -1.97137201e-01 -2.51138896e-01  8.61654725e+02]
 [ 1.96635850e-01  9.80095065e-01 -2.73496978e-02  8.94826325e+01]
 [ 2.51531635e-01 -2.34645989e-02  9.67564597e-01  2.26071469e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.360714057 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:861.71, Y:89.50, Z:226.09
[[ 9.46845639e-01 -2.01026285e-01 -2.51140934e-01  8.61712031e+02]
 [ 2.00663009e-01  9.79279008e-01 -2.73309687e-02  8.94978117e+01]
 [ 2.51431288e-01 -2.45164871e-02  9.67564597e-01  2.26086768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.420714057 meters
Centerline goodness : 0.999205 with order 1
Centerline is valid?  [True, True]
Translation: X:861.77, Y:89.51, Z:226.10
[[ 9.46339669e-01 -2.03393527e-01 -2.51141998e-01  8.61769549e+02]
 [ 2.03113933e-01  9.78773867e-01 -2.73211844e-02  8.95077853e+01]
 [ 2.51368177e-01 -2.51553184e-02  9.67564597e-01  2.26101721e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.480714057 meters
Centerline goodness : 0.999226 with order 1
Centerline is valid?  [True, True]
Translation: X:861.83, Y:89.52, Z:226.12
[[ 9.45665119e-01 -2.06506987e-01 -2.51142085e-01  8.61828035e+02]
 [ 2.06334350e-01  9.78100063e-01 -2.73203855e-02  8.95217179e+01]
 [ 2.51283940e-01 -2.59833034e-02  9.67564597e-01  2.26115909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.5407140570001 meters
Centerline goodness : 0.998624 with order 1
Centerline is valid?  [True, True]
Translation: X:861.89, Y:89.53, Z:226.13
[[ 9.45465807e-01 -2.07416520e-01 -2.51142976e-01  8.61887451e+02]
 [ 2.07277235e-01  9.77900911e-01 -2.73121945e-02  8.95322975e+01]
 [ 2.51257946e-01 -2.62334757e-02  9.67564597e-01  2.26132152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.600714057 meters
Centerline goodness : 0.998874 with order 1
Centerline is valid?  [True, True]
Translation: X:861.95, Y:89.54, Z:226.15
[[ 9.45502523e-01 -2.07246627e-01 -2.51145008e-01  8.61947582e+02]
 [ 2.07106426e-01  9.77937622e-01 -2.72934987e-02  8.95401698e+01]
 [ 2.51260638e-01 -2.62076730e-02  9.67564597e-01  2.26148082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.6607140570001 meters
Centerline goodness : 0.998937 with order 1
Centerline is valid?  [True, True]
Translation: X:862.01, Y:89.55, Z:226.16
[[ 9.45518974e-01 -2.07167027e-01 -2.51148748e-01  8.62006185e+02]
 [ 2.07033146e-01  9.77954100e-01 -2.72590457e-02  8.95511176e+01]
 [ 2.51259123e-01 -2.62221704e-02  9.67564598e-01  2.26162909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.720714057 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:862.07, Y:89.56, Z:226.18
[[ 9.45720511e-01 -2.06243802e-01 -2.51149775e-01  8.62065202e+02]
 [ 2.06080742e-01  9.78155503e-01 -2.72495764e-02  8.95596671e+01]
 [ 2.51283591e-01 -2.59866488e-02  9.67564598e-01  2.26177576e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.7807140570001 meters
Centerline goodness : 0.998870 with order 1
Centerline is valid?  [True, True]
Translation: X:862.12, Y:89.57, Z:226.19
[[ 9.46396179e-01 -2.03119558e-01 -2.51150788e-01  8.62121756e+02]
 [ 2.02851840e-01  9.78830476e-01 -2.72402371e-02  8.95689144e+01]
 [ 2.51367070e-01 -2.51663432e-02  9.67564598e-01  2.26192475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.840714057 meters
Centerline goodness : 0.998909 with order 1
Centerline is valid?  [True, True]
Translation: X:862.18, Y:89.58, Z:226.21
[[ 9.47539458e-01 -1.97718179e-01 -2.51150347e-01  8.62180019e+02]
 [ 1.97264399e-01  9.79971686e-01 -2.72443022e-02  8.95775671e+01]
 [ 2.51506923e-01 -2.37279708e-02  9.67564598e-01  2.26206717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.9007140570001 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:862.24, Y:89.59, Z:226.22
[[ 9.48449655e-01 -1.93304872e-01 -2.51150309e-01  8.62238426e+02]
 [ 1.92700021e-01  9.80879417e-01 -2.72446485e-02  8.95862867e+01]
 [ 2.51614692e-01 -2.25564924e-02  9.67564598e-01  2.26221064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 890.960714057 meters
Centerline goodness : 0.998465 with order 1
Centerline is valid?  [True, True]
Translation: X:862.30, Y:89.60, Z:226.23
[[ 9.50166118e-01 -1.84682552e-01 -2.51150759e-01  8.62296118e+02]
 [ 1.83784270e-01  9.82589079e-01 -2.72405035e-02  8.95950394e+01]
 [ 2.51808839e-01 -2.02745553e-02  9.67564598e-01  2.26233924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.0207140570001 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:862.35, Y:89.61, Z:226.25
[[ 9.51662652e-01 -1.76808885e-01 -2.51150980e-01  8.62353313e+02]
 [ 1.75642708e-01  9.84077083e-01 -2.72384621e-02  8.96056071e+01]
 [ 2.51967926e-01 -1.81910112e-02  9.67564598e-01  2.26249257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.080714057 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:862.41, Y:89.61, Z:226.27
[[ 9.52409115e-01 -1.72742840e-01 -2.51150928e-01  8.62410910e+02]
 [ 1.71438109e-01  9.84818265e-01 -2.72389472e-02  8.96135477e+01]
 [ 2.52043354e-01 -1.71142185e-02  9.67564598e-01  2.26265176e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.1407140570001 meters
Centerline goodness : 0.998745 with order 1
Centerline is valid?  [True, True]
Translation: X:862.47, Y:89.62, Z:226.28
[[ 9.52984541e-01 -1.69539600e-01 -2.51150928e-01  8.62468500e+02]
 [ 1.68125908e-01  9.85389121e-01 -2.72389472e-02  8.96229268e+01]
 [ 2.52099472e-01 -1.62666821e-02  9.67564598e-01  2.26282899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.200714057 meters
Centerline goodness : 0.999083 with order 1
Centerline is valid?  [True, True]
Translation: X:862.53, Y:89.63, Z:226.30
[[ 9.53231716e-01 -1.68143552e-01 -2.51151431e-01  8.62526154e+02]
 [ 1.66683614e-01  9.85634245e-01 -2.72343108e-02  8.96316754e+01]
 [ 2.52122724e-01 -1.59022192e-02  9.67564598e-01  2.26298869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.2607140570001 meters
Centerline goodness : 0.998633 with order 1
Centerline is valid?  [True, True]
Translation: X:862.58, Y:89.64, Z:226.31
[[ 9.52787215e-01 -1.70644314e-01 -2.51151431e-01  8.62583265e+02]
 [ 1.69269407e-01  9.85193463e-01 -2.72343108e-02  8.96398814e+01]
 [ 2.52080128e-01 -1.65637506e-02  9.67564598e-01  2.26313982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.320714057 meters
Centerline goodness : 0.998315 with order 1
Centerline is valid?  [True, True]
Translation: X:862.64, Y:89.65, Z:226.33
[[ 9.51704797e-01 -1.76581627e-01 -2.51151166e-01  8.62641549e+02]
 [ 1.75408160e-01  9.84118965e-01 -2.72367476e-02  8.96480024e+01]
 [ 2.51972135e-01 -1.81326207e-02  9.67564598e-01  2.26329589e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.380714057 meters
Centerline goodness : 0.998422 with order 1
Centerline is valid?  [True, True]
Translation: X:862.70, Y:89.65, Z:226.34
[[ 9.50228883e-01 -1.84358662e-01 -2.51151257e-01  8.62700260e+02]
 [ 1.83450532e-01  9.82651570e-01 -2.72359134e-02  8.96547452e+01]
 [ 2.51815353e-01 -2.01934801e-02  9.67564598e-01  2.26343217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.440714057 meters
Centerline goodness : 0.998787 with order 1
Centerline is valid?  [True, True]
Translation: X:862.76, Y:89.66, Z:226.36
[[ 9.49410364e-01 -1.88528284e-01 -2.51151440e-01  8.62758601e+02]
 [ 1.87762940e-01  9.81836736e-01 -2.72342195e-02  8.96616889e+01]
 [ 2.51724131e-01 -2.13004827e-02  9.67564598e-01  2.26357246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.500714057 meters
Centerline goodness : 0.998601 with order 1
Centerline is valid?  [True, True]
Translation: X:862.82, Y:89.67, Z:226.37
[[ 9.48563916e-01 -1.92741817e-01 -2.51151525e-01  8.62817258e+02]
 [ 1.92120659e-01  9.80993370e-01 -2.72334403e-02  8.96719172e+01]
 [ 2.51627004e-01 -2.24187376e-02  9.67564598e-01  2.26371426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.560714057 meters
Centerline goodness : 0.998605 with order 1
Centerline is valid?  [True, True]
Translation: X:862.88, Y:89.68, Z:226.39
[[ 9.48381023e-01 -1.93638901e-01 -2.51152167e-01  8.62875968e+02]
 [ 1.93049972e-01  9.80811078e-01 -2.72275147e-02  8.96795702e+01]
 [ 2.51605134e-01 -2.26628605e-02  9.67564598e-01  2.26387505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.620714057 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:862.93, Y:89.69, Z:226.40
[[ 9.48490474e-01 -1.93100781e-01 -2.51153159e-01  8.62934939e+02]
 [ 1.92495856e-01  9.80920234e-01 -2.72183611e-02  8.96876519e+01]
 [ 2.51617103e-01 -2.25295861e-02  9.67564598e-01  2.26402610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.680714057 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:862.99, Y:89.70, Z:226.42
[[ 9.49007222e-01 -1.90543619e-01 -2.51154178e-01  8.62993931e+02]
 [ 1.89853759e-01  9.81435287e-01 -2.72089560e-02  8.96970012e+01]
 [ 2.51676066e-01 -2.18610691e-02  9.67564598e-01  2.26416479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.740714057 meters
Centerline goodness : 0.998685 with order 1
Centerline is valid?  [True, True]
Translation: X:863.05, Y:89.71, Z:226.43
[[ 9.49830702e-01 -1.86394421e-01 -2.51154847e-01  8.63051405e+02]
 [ 1.85564472e-01  9.82255484e-01 -2.72027778e-02  8.97071631e+01]
 [ 2.51768672e-01 -2.07673832e-02  9.67564598e-01  2.26429611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.800714057 meters
Centerline goodness : 0.998565 with order 1
Centerline is valid?  [True, True]
Translation: X:863.11, Y:89.72, Z:226.45
[[ 9.50703549e-01 -1.81889552e-01 -2.51155237e-01  8.63108833e+02]
 [ 1.80906844e-01  9.83124061e-01 -2.71991809e-02  8.97179305e+01]
 [ 2.51864003e-01 -1.95773434e-02  9.67564598e-01  2.26447112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.860714057 meters
Centerline goodness : 0.998813 with order 1
Centerline is valid?  [True, True]
Translation: X:863.17, Y:89.73, Z:226.46
[[ 9.51095642e-01 -1.79827979e-01 -2.51155286e-01  8.63166729e+02]
 [ 1.78775103e-01  9.83513951e-01 -2.71987299e-02  8.97267246e+01]
 [ 2.51905820e-01 -1.90317186e-02  9.67564598e-01  2.26462889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.920714057 meters
Centerline goodness : 0.998536 with order 1
Centerline is valid?  [True, True]
Translation: X:863.23, Y:89.74, Z:226.48
[[ 9.51404576e-01 -1.78185576e-01 -2.51155794e-01  8.63226452e+02]
 [ 1.77077961e-01  9.83821061e-01 -2.71940377e-02  8.97356969e+01]
 [ 2.51937945e-01 -1.86016240e-02  9.67564598e-01  2.26478144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 891.980714057 meters
Centerline goodness : 0.998351 with order 1
Centerline is valid?  [True, True]
Translation: X:863.29, Y:89.74, Z:226.49
[[ 9.51387112e-01 -1.78275965e-01 -2.51157805e-01  8.63285909e+02]
 [ 1.77176309e-01  9.83803868e-01 -2.71754511e-02  8.97444264e+01]
 [ 2.51934750e-01 -1.86448389e-02  9.67564598e-01  2.26492196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.0407140570001 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:863.34, Y:89.75, Z:226.51
[[ 9.51274083e-01 -1.78875326e-01 -2.51159782e-01  8.63344865e+02]
 [ 1.77800895e-01  9.83691685e-01 -2.71571645e-02  8.97521750e+01]
 [ 2.51921536e-01 -1.88225273e-02  9.67564598e-01  2.26505505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.100714057 meters
Centerline goodness : 0.998479 with order 1
Centerline is valid?  [True, True]
Translation: X:863.40, Y:89.76, Z:226.52
[[ 9.51031314e-01 -1.80159539e-01 -2.51161263e-01  8.63404508e+02]
 [ 1.79132475e-01  9.83450451e-01 -2.71434612e-02  8.97603199e+01]
 [ 2.51894811e-01 -1.91768573e-02  9.67564599e-01  2.26520815e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.1607140570001 meters
Centerline goodness : 0.998603 with order 1
Centerline is valid?  [True, True]
Translation: X:863.46, Y:89.77, Z:226.53
[[ 9.50365612e-01 -1.83629096e-01 -2.51168389e-01  8.63463253e+02]
 [ 1.82737706e-01  9.82788760e-01 -2.70773729e-02  8.97653949e+01]
 [ 2.51817663e-01 -2.01645311e-02  9.67564601e-01  2.26534196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.220714057 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:863.52, Y:89.76, Z:226.55
[[ 9.48093388e-01 -1.95019992e-01 -2.51169527e-01  8.63524410e+02]
 [ 1.94520509e-01  9.80524941e-01 -2.70668091e-02  8.97576449e+01]
 [ 2.51556554e-01 -2.31957616e-02  9.67564601e-01  2.26545932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.2807140570001 meters
Centerline goodness : 0.998805 with order 1
Centerline is valid?  [True, True]
Translation: X:863.58, Y:89.76, Z:226.56
[[ 9.47622955e-01 -1.97293078e-01 -2.51169618e-01  8.63583879e+02]
 [ 1.96871594e-01  9.80055615e-01 -2.70659621e-02  8.97556203e+01]
 [ 2.51500122e-01 -2.37998363e-02  9.67564601e-01  2.26563025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.340714057 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:863.64, Y:89.75, Z:226.59
[[ 9.47245594e-01 -1.99095737e-01 -2.51170604e-01  8.63641772e+02]
 [ 1.98738366e-01  9.79679024e-01 -2.70568117e-02  8.97540433e+01]
 [ 2.51453468e-01 -2.42877898e-02  9.67564601e-01  2.26586045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.4007140570001 meters
Centerline goodness : 0.999018 with order 1
Centerline is valid?  [True, True]
Translation: X:863.70, Y:89.74, Z:226.59
[[ 9.47887125e-01 -1.96017436e-01 -2.51171582e-01  8.63703833e+02]
 [ 1.95557089e-01  9.80319257e-01 -2.70477271e-02  8.97418598e+01]
 [ 2.51530165e-01 -2.34801911e-02  9.67564601e-01  2.26594367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.460714057 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:863.76, Y:89.74, Z:226.61
[[ 9.48128537e-01 -1.94846399e-01 -2.51171570e-01  8.63764433e+02]
 [ 1.94345960e-01  9.80560076e-01 -2.70478426e-02  8.97434101e+01]
 [ 2.51558988e-01 -2.31693484e-02  9.67564601e-01  2.26607868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.5207140570001 meters
Centerline goodness : 0.998774 with order 1
Centerline is valid?  [True, True]
Translation: X:863.82, Y:89.74, Z:226.62
[[ 9.49241006e-01 -1.89350463e-01 -2.51173076e-01  8.63823537e+02]
 [ 1.88665826e-01  9.81669179e-01 -2.70338483e-02  8.97432833e+01]
 [ 2.51687739e-01 -2.17261385e-02  9.67564601e-01  2.26623907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.580714057 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:863.88, Y:89.74, Z:226.64
[[ 9.50471478e-01 -1.83073260e-01 -2.51173549e-01  8.63881933e+02]
 [ 1.82175491e-01  9.82894450e-01 -2.70294489e-02  8.97421350e+01]
 [ 2.51825457e-01 -2.00669445e-02  9.67564601e-01  2.26641391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.6407140570001 meters
Centerline goodness : 0.998737 with order 1
Centerline is valid?  [True, True]
Translation: X:863.94, Y:89.74, Z:226.66
[[ 9.51225423e-01 -1.79114724e-01 -2.51173467e-01  8.63939788e+02]
 [ 1.78081781e-01  9.83644370e-01 -2.70302122e-02  8.97411993e+01]
 [ 2.51906876e-01 -1.90175933e-02  9.67564601e-01  2.26659974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.700714057 meters
Centerline goodness : 0.998347 with order 1
Centerline is valid?  [True, True]
Translation: X:864.00, Y:89.74, Z:226.68
[[ 9.51534566e-01 -1.77464397e-01 -2.51173958e-01  8.63997461e+02]
 [ 1.76376416e-01  9.83951713e-01 -2.70256546e-02  8.97438436e+01]
 [ 2.51939137e-01 -1.85853179e-02  9.67564601e-01  2.26678471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.7607140570001 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:864.06, Y:89.74, Z:226.69
[[ 9.51220882e-01 -1.79138117e-01 -2.51173982e-01  8.64055682e+02]
 [ 1.78107227e-01  9.83639894e-01 -2.70254320e-02  8.97446871e+01]
 [ 2.51906034e-01 -1.90287460e-02  9.67564601e-01  2.26692929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.820714057 meters
Centerline goodness : 0.998661 with order 1
Centerline is valid?  [True, True]
Translation: X:864.11, Y:89.74, Z:226.71
[[ 9.49981980e-01 -1.85596522e-01 -2.51173582e-01  8.64114990e+02]
 [ 1.84784933e-01  9.82407224e-01 -2.70291478e-02  8.97419823e+01]
 [ 2.51771257e-01 -2.07358900e-02  9.67564601e-01  2.26706830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.880714057 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:864.17, Y:89.74, Z:226.72
[[ 9.48403420e-01 -1.93501897e-01 -2.51173185e-01  8.64174530e+02]
 [ 1.92959416e-01  9.80834282e-01 -2.70328383e-02  8.97424329e+01]
 [ 2.51590176e-01 -2.28281948e-02  9.67564601e-01  2.26720836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 892.940714057 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:864.23, Y:89.74, Z:226.73
[[ 9.46857757e-01 -2.00928735e-01 -2.51173309e-01  8.64233914e+02]
 [ 2.00640740e-01  9.79291878e-01 -2.70316820e-02  8.97426152e+01]
 [ 2.51403423e-01 -2.48004408e-02  9.67564601e-01  2.26734055e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.000714057 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:864.29, Y:89.74, Z:226.75
[[ 9.45818351e-01 -2.05765822e-01 -2.51173394e-01  8.64291495e+02]
 [ 2.05643819e-01  9.78253521e-01 -2.70308961e-02  8.97447658e+01]
 [ 2.51273291e-01 -2.60859383e-02  9.67564601e-01  2.26749393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.060714057 meters
Centerline goodness : 0.998155 with order 1
Centerline is valid?  [True, True]
Translation: X:864.35, Y:89.75, Z:226.76
[[ 9.45353452e-01 -2.07891438e-01 -2.51173248e-01  8.64348919e+02]
 [ 2.07841993e-01  9.77788814e-01 -2.70322451e-02  8.97500300e+01]
 [ 2.51214165e-01 -2.66493222e-02  9.67564601e-01  2.26764827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.120714057 meters
Centerline goodness : 0.997586 with order 1
Centerline is valid?  [True, True]
Translation: X:864.41, Y:89.75, Z:226.78
[[ 9.44761663e-01 -2.10563675e-01 -2.51173920e-01  8.64407677e+02]
 [ 2.10607584e-01  9.77197033e-01 -2.70260027e-02  8.97540966e+01]
 [ 2.51137104e-01 -2.73660012e-02  9.67564601e-01  2.26779157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.180714057 meters
Centerline goodness : 0.998017 with order 1
Centerline is valid?  [True, True]
Translation: X:864.47, Y:89.76, Z:226.79
[[ 9.43959397e-01 -2.14131142e-01 -2.51174263e-01  8.64466912e+02]
 [ 2.14298417e-01  9.76394365e-01 -2.70228186e-02  8.97610470e+01]
 [ 2.51031562e-01 -2.83178032e-02  9.67564601e-01  2.26791768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.240714057 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:864.53, Y:89.77, Z:226.80
[[ 9.43673366e-01 -2.15388122e-01 -2.51174315e-01  8.64525076e+02]
 [ 2.15598720e-01  9.76108081e-01 -2.70223345e-02  8.97708788e+01]
 [ 2.50993568e-01 -2.86526033e-02  9.67564601e-01  2.26804802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.300714057 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:864.58, Y:89.78, Z:226.82
[[ 9.44170493e-01 -2.13197782e-01 -2.51174811e-01  8.64582284e+02]
 [ 2.13334327e-01  9.76605605e-01 -2.70177251e-02  8.97838621e+01]
 [ 2.51058847e-01 -2.80748704e-02  9.67564601e-01  2.26820420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.360714057 meters
Centerline goodness : 0.998467 with order 1
Centerline is valid?  [True, True]
Translation: X:864.64, Y:89.80, Z:226.84
[[ 9.45679182e-01 -2.06402626e-01 -2.51174920e-01  8.64638861e+02]
 [ 2.06306190e-01  9.78114438e-01 -2.70167078e-02  8.98006418e+01]
 [ 2.51254135e-01 -2.62698027e-02  9.67564601e-01  2.26836497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.420714057 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:864.70, Y:89.82, Z:226.85
[[ 9.46936868e-01 -2.00553241e-01 -2.51175168e-01  8.64696251e+02]
 [ 2.00256923e-01  9.79370914e-01 -2.70144041e-02  8.98160110e+01]
 [ 2.51411480e-01 -2.47186311e-02  9.67564601e-01  2.26852752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.480714057 meters
Centerline goodness : 0.998539 with order 1
Centerline is valid?  [True, True]
Translation: X:864.75, Y:89.84, Z:226.87
[[ 9.48797196e-01 -1.91558728e-01 -2.51175507e-01  8.64751375e+02]
 [ 1.90955484e-01  9.81226985e-01 -2.70112531e-02  8.98363606e+01]
 [ 2.51634426e-01 -2.23351393e-02  9.67564601e-01  2.26868567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.5407140570001 meters
Centerline goodness : 0.998358 with order 1
Centerline is valid?  [True, True]
Translation: X:864.81, Y:89.86, Z:226.88
[[ 9.50067467e-01 -1.85155756e-01 -2.51175545e-01  8.64807541e+02]
 [ 1.84333917e-01  9.82492452e-01 -2.70108924e-02  8.98563226e+01]
 [ 2.51779300e-01 -2.06380020e-02  9.67564601e-01  2.26881018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.600714057 meters
Centerline goodness : 0.997802 with order 1
Centerline is valid?  [True, True]
Translation: X:864.87, Y:89.88, Z:226.90
[[ 9.50440869e-01 -1.83229813e-01 -2.51175217e-01  8.64865799e+02]
 [ 1.82341454e-01  9.82864101e-01 -2.70139498e-02  8.98762651e+01]
 [ 2.51820864e-01 -2.01244924e-02  9.67564601e-01  2.26895766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.6607140570001 meters
Centerline goodness : 0.997793 with order 1
Centerline is valid?  [True, True]
Translation: X:864.92, Y:89.89, Z:226.91
[[ 9.49709583e-01 -1.86981302e-01 -2.51176632e-01  8.64923310e+02]
 [ 1.86224435e-01  9.82136150e-01 -2.70007813e-02  8.98932481e+01]
 [ 2.51738292e-01 -2.11323257e-02  9.67564601e-01  2.26912965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.720714057 meters
Centerline goodness : 0.998395 with order 1
Centerline is valid?  [True, True]
Translation: X:864.98, Y:89.91, Z:226.93
[[ 9.48238423e-01 -1.94303132e-01 -2.51177598e-01  8.64979823e+02]
 [ 1.93798833e-01  9.80669902e-01 -2.69917927e-02  8.99076175e+01]
 [ 2.51566900e-01 -2.30832704e-02  9.67564601e-01  2.26930998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.7807140570001 meters
Centerline goodness : 0.998442 with order 1
Centerline is valid?  [True, True]
Translation: X:865.04, Y:89.92, Z:226.95
[[ 9.47100089e-01 -1.99777785e-01 -2.51177742e-01  8.65037460e+02]
 [ 1.99461200e-01  9.79533943e-01 -2.69904520e-02  8.99190527e+01]
 [ 2.51429217e-01 -2.45375544e-02  9.67564601e-01  2.26947967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.840714057 meters
Centerline goodness : 0.998685 with order 1
Centerline is valid?  [True, True]
Translation: X:865.09, Y:89.93, Z:226.97
[[ 9.45773368e-01 -2.05966990e-01 -2.51177896e-01  8.65093931e+02]
 [ 2.05862887e-01  9.78208600e-01 -2.69890196e-02  8.99315587e+01]
 [ 2.51263225e-01 -2.61827108e-02  9.67564601e-01  2.26966920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.9007140570001 meters
Centerline goodness : 0.998708 with order 1
Centerline is valid?  [True, True]
Translation: X:865.15, Y:89.94, Z:226.98
[[ 9.45322775e-01 -2.08025313e-01 -2.51177865e-01  8.65151637e+02]
 [ 2.07991741e-01  9.77758157e-01 -2.69893075e-02  8.99412012e+01]
 [ 2.51205666e-01 -2.67293144e-02  9.67564601e-01  2.26982180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 893.960714057 meters
Centerline goodness : 0.998071 with order 1
Centerline is valid?  [True, True]
Translation: X:865.21, Y:89.95, Z:227.00
[[ 9.46033713e-01 -2.04766576e-01 -2.51178948e-01  8.65209450e+02]
 [ 2.04623883e-01  9.78468798e-01 -2.69792267e-02  8.99491219e+01]
 [ 2.51295207e-01 -2.58739537e-02  9.67564601e-01  2.26998187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.0207140570001 meters
Centerline goodness : 0.998279 with order 1
Centerline is valid?  [True, True]
Translation: X:865.27, Y:89.96, Z:227.01
[[ 9.46991523e-01 -2.00290109e-01 -2.51179073e-01  8.65266493e+02]
 [ 1.99994326e-01  9.79425574e-01 -2.69780599e-02  8.99565472e+01]
 [ 2.51414646e-01 -2.46863953e-02  9.67564601e-01  2.27012754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.080714057 meters
Centerline goodness : 0.997892 with order 1
Centerline is valid?  [True, True]
Translation: X:865.32, Y:89.96, Z:227.03
[[ 9.47776021e-01 -1.96545015e-01 -2.51178563e-01  8.65324494e+02]
 [ 1.96119771e-01  9.80208633e-01 -2.69828111e-02  8.99617170e+01]
 [ 2.51510733e-01 -2.36874209e-02  9.67564601e-01  2.27028736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.1407140570001 meters
Centerline goodness : 0.997861 with order 1
Centerline is valid?  [True, True]
Translation: X:865.38, Y:89.97, Z:227.05
[[ 9.48344510e-01 -1.93783446e-01 -2.51178556e-01  8.65383148e+02]
 [ 1.93263717e-01  9.80775744e-01 -2.69828742e-02  8.99663936e+01]
 [ 2.51578670e-01 -2.29546406e-02  9.67564601e-01  2.27045288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.200714057 meters
Centerline goodness : 0.997318 with order 1
Centerline is valid?  [True, True]
Translation: X:865.44, Y:89.97, Z:227.06
[[ 9.48713064e-01 -1.91970393e-01 -2.51179002e-01  8.65443430e+02]
 [ 1.91389765e-01  9.81143265e-01 -2.69787191e-02  8.99708582e+01]
 [ 2.51621702e-01 -2.24780269e-02  9.67564601e-01  2.27061199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.2607140570001 meters
Centerline goodness : 0.997894 with order 1
Centerline is valid?  [True, True]
Translation: X:865.50, Y:89.97, Z:227.08
[[ 9.49050442e-01 -1.90292865e-01 -2.51180980e-01  8.65502119e+02]
 [ 1.89659745e-01  9.81479661e-01 -2.69602917e-02  8.99734187e+01]
 [ 2.51659374e-01 -2.20522439e-02  9.67564601e-01  2.27076773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.320714057 meters
Centerline goodness : 0.998169 with order 1
Centerline is valid?  [True, True]
Translation: X:865.56, Y:89.98, Z:227.09
[[ 9.49717913e-01 -1.86933145e-01 -2.51180982e-01  8.65559432e+02]
 [ 1.86185270e-01  9.82144688e-01 -2.69602796e-02  8.99761898e+01]
 [ 2.51735837e-01 -2.11615383e-02  9.67564601e-01  2.27092216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.380714057 meters
Centerline goodness : 0.997974 with order 1
Centerline is valid?  [True, True]
Translation: X:865.62, Y:89.98, Z:227.11
[[ 9.50040366e-01 -1.85288067e-01 -2.51180484e-01  8.65618392e+02]
 [ 1.84482818e-01  9.82465767e-01 -2.69649118e-02  8.99813873e+01]
 [ 2.51772504e-01 -2.07207288e-02  9.67564601e-01  2.27107681e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.440714057 meters
Centerline goodness : 0.998073 with order 1
Centerline is valid?  [True, True]
Translation: X:865.68, Y:89.98, Z:227.13
[[ 9.51281066e-01 -1.78807798e-01 -2.51181419e-01  8.65676160e+02]
 [ 1.77783825e-01  9.83700297e-01 -2.69562025e-02  8.99844322e+01]
 [ 2.51907216e-01 -1.90130684e-02  9.67564601e-01  2.27126528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.500714057 meters
Centerline goodness : 0.997553 with order 1
Centerline is valid?  [True, True]
Translation: X:865.73, Y:89.99, Z:227.14
[[ 9.53064753e-01 -1.69042836e-01 -2.51181403e-01  8.65734702e+02]
 [ 1.67686412e-01  9.85471776e-01 -2.69563558e-02  8.99880647e+01]
 [ 2.52088962e-01 -1.64285556e-02  9.67564601e-01  2.27140290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.560714057 meters
Centerline goodness : 0.998259 with order 1
Centerline is valid?  [True, True]
Translation: X:865.79, Y:89.99, Z:227.16
[[ 9.55045099e-01 -1.57469427e-01 -2.51181684e-01  8.65792315e+02]
 [ 1.55720682e-01  9.87433322e-01 -2.69537376e-02  8.99933049e+01]
 [ 2.52269554e-01 -1.33721480e-02  9.67564601e-01  2.27156543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.620714057 meters
Centerline goodness : 0.997542 with order 1
Centerline is valid?  [True, True]
Translation: X:865.85, Y:90.00, Z:227.17
[[ 9.56952170e-01 -1.45432007e-01 -2.51181361e-01  8.65849698e+02]
 [ 1.43274815e-01  9.89315754e-01 -2.69567400e-02  8.99970865e+01]
 [ 2.52418051e-01 -1.01916523e-02  9.67564601e-01  2.27174807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.680714057 meters
Centerline goodness : 0.998443 with order 1
Centerline is valid?  [True, True]
Translation: X:865.91, Y:90.00, Z:227.19
[[ 9.57985948e-01 -1.38458545e-01 -2.51181516e-01  8.65908274e+02]
 [ 1.36066081e-01  9.90332991e-01 -2.69552938e-02  9.00016130e+01]
 [ 2.52485533e-01 -8.35449187e-03  9.67564601e-01  2.27190203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.740714057 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:865.97, Y:90.01, Z:227.20
[[ 9.58872456e-01 -1.32178798e-01 -2.51181964e-01  8.65966795e+02]
 [ 1.29575538e-01  9.91203217e-01 -2.69511219e-02  9.00057823e+01]
 [ 2.52534738e-01 -6.70434970e-03  9.67564601e-01  2.27204648e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.800714057 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:866.03, Y:90.01, Z:227.22
[[ 9.59173012e-01 -1.29978868e-01 -2.51182457e-01  8.66025863e+02]
 [ 1.27302653e-01  9.91497816e-01 -2.69465276e-02  9.00082968e+01]
 [ 2.52549337e-01 -6.12981108e-03  9.67564601e-01  2.27222543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.860714057 meters
Centerline goodness : 0.998441 with order 1
Centerline is valid?  [True, True]
Translation: X:866.08, Y:90.01, Z:227.24
[[ 9.58994426e-01 -1.31287141e-01 -2.51183951e-01  8.66084570e+02]
 [ 1.28658669e-01  9.91323147e-01 -2.69325975e-02  9.00114479e+01]
 [ 2.52540368e-01 -6.48878179e-03  9.67564602e-01  2.27238432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.920714057 meters
Centerline goodness : 0.998250 with order 1
Centerline is valid?  [True, True]
Translation: X:866.14, Y:90.01, Z:227.25
[[ 9.58217501e-01 -1.36837079e-01 -2.51186852e-01  8.66143630e+02]
 [ 1.34402912e-01  9.90561432e-01 -2.69055095e-02  9.00094176e+01]
 [ 2.52497679e-01 -7.97891428e-03  9.67564602e-01  2.27254696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 894.980714057 meters
Centerline goodness : 0.998073 with order 1
Centerline is valid?  [True, True]
Translation: X:866.20, Y:90.01, Z:227.27
[[ 9.57795470e-01 -1.39760343e-01 -2.51186950e-01  8.66204427e+02]
 [ 1.37425120e-01  9.90146696e-01 -2.69045996e-02  9.00113931e+01]
 [ 2.52472124e-01 -8.75029309e-03  9.67564602e-01  2.27269272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.0407140570001 meters
Centerline goodness : 0.998390 with order 1
Centerline is valid?  [True, True]
Translation: X:866.26, Y:90.01, Z:227.28
[[ 9.57224031e-01 -1.43618596e-01 -2.51188879e-01  8.66263760e+02]
 [ 1.41418473e-01  9.89584725e-01 -2.68865721e-02  9.00126324e+01]
 [ 2.52434090e-01 -9.78627475e-03  9.67564602e-01  2.27283228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.100714057 meters
Centerline goodness : 0.998882 with order 1
Centerline is valid?  [True, True]
Translation: X:866.32, Y:90.01, Z:227.30
[[ 9.56712819e-01 -1.46985440e-01 -2.51188899e-01  8.66324862e+02]
 [ 1.44899232e-01  9.89081056e-01 -2.68863869e-02  9.00135870e+01]
 [ 2.52398089e-01 -1.06745276e-02  9.67564602e-01  2.27298508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.1607140570001 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:866.38, Y:90.02, Z:227.31
[[ 9.56415468e-01 -1.48903213e-01 -2.51191733e-01  8.66382943e+02]
 [ 1.46888847e-01  9.88788255e-01 -2.68598903e-02  9.00169471e+01]
 [ 2.52374959e-01 -1.12080494e-02  9.67564602e-01  2.27312155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.220714057 meters
Centerline goodness : 0.998429 with order 1
Centerline is valid?  [True, True]
Translation: X:866.44, Y:90.02, Z:227.33
[[ 9.56427199e-01 -1.48828521e-01 -2.51191331e-01  8.66441255e+02]
 [ 1.46810642e-01  9.88799767e-01 -2.68636489e-02  9.00222332e+01]
 [ 2.52376006e-01 -1.11844360e-02  9.67564602e-01  2.27329197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.2807140570001 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:866.50, Y:90.03, Z:227.35
[[ 9.56357485e-01 -1.49274773e-01 -2.51191963e-01  8.66500067e+02]
 [ 1.47273550e-01  9.88731088e-01 -2.68577329e-02  9.00279378e+01]
 [ 2.52370485e-01 -1.13083383e-02  9.67564602e-01  2.27345789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.340714057 meters
Centerline goodness : 0.998596 with order 1
Centerline is valid?  [True, True]
Translation: X:866.56, Y:90.03, Z:227.36
[[ 9.56107935e-01 -1.50863275e-01 -2.51192930e-01  8.66558607e+02]
 [ 1.48918206e-01  9.88484960e-01 -2.68486838e-02  9.00330974e+01]
 [ 2.52350914e-01 -1.17369609e-02  9.67564602e-01  2.27362773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.4007140570001 meters
Centerline goodness : 0.998419 with order 1
Centerline is valid?  [True, True]
Translation: X:866.62, Y:90.04, Z:227.38
[[ 9.55658098e-01 -1.53685468e-01 -2.51193904e-01  8.66618363e+02]
 [ 1.51838388e-01  9.88040860e-01 -2.68395741e-02  9.00405687e+01]
 [ 2.52314693e-01 -1.24914210e-02  9.67564603e-01  2.27378818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.460714057 meters
Centerline goodness : 0.998373 with order 1
Centerline is valid?  [True, True]
Translation: X:866.68, Y:90.05, Z:227.39
[[ 9.55120893e-01 -1.56986399e-01 -2.51195839e-01  8.66677012e+02]
 [ 1.55255967e-01  9.87510098e-01 -2.68214500e-02  9.00471620e+01]
 [ 2.52269031e-01 -1.33819256e-02  9.67564603e-01  2.27393851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.5207140570001 meters
Centerline goodness : 0.998642 with order 1
Centerline is valid?  [True, True]
Translation: X:866.73, Y:90.06, Z:227.41
[[ 9.54533053e-01 -1.60521215e-01 -2.51196317e-01  8.66734835e+02]
 [ 1.58911876e-01  9.86928501e-01 -2.68169701e-02  9.00553594e+01]
 [ 2.52217497e-01 -1.43203936e-02  9.67564603e-01  2.27408091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.580714057 meters
Centerline goodness : 0.998777 with order 1
Centerline is valid?  [True, True]
Translation: X:866.79, Y:90.06, Z:227.42
[[ 9.54406988e-01 -1.61268667e-01 -2.51196574e-01  8.66794328e+02]
 [ 1.59685328e-01  9.86803717e-01 -2.68145659e-02  9.00631675e+01]
 [ 2.52206062e-01 -1.45203982e-02  9.67564603e-01  2.27424178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.6407140570001 meters
Centerline goodness : 0.998574 with order 1
Centerline is valid?  [True, True]
Translation: X:866.85, Y:90.07, Z:227.44
[[ 9.54603037e-01 -1.60101038e-01 -2.51198527e-01  8.66854208e+02]
 [ 1.58482871e-01  9.86998045e-01 -2.67962613e-02  9.00737374e+01]
 [ 2.52222564e-01 -1.42308713e-02  9.67564603e-01  2.27440065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.700714057 meters
Centerline goodness : 0.998213 with order 1
Centerline is valid?  [True, True]
Translation: X:866.91, Y:90.09, Z:227.46
[[ 9.54561801e-01 -1.60342876e-01 -2.51200975e-01  8.66913092e+02]
 [ 1.58738942e-01  9.86957516e-01 -2.67732881e-02  9.00854006e+01]
 [ 2.52217597e-01 -1.43186190e-02  9.67564603e-01  2.27457462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.7607140570001 meters
Centerline goodness : 0.998414 with order 1
Centerline is valid?  [True, True]
Translation: X:866.97, Y:90.10, Z:227.47
[[ 9.53996453e-01 -1.63669929e-01 -2.51202949e-01  8.66970208e+02]
 [ 1.62183814e-01  9.86397787e-01 -2.67547509e-02  9.00955163e+01]
 [ 2.52164982e-01 -1.52171151e-02  9.67564603e-01  2.27472372e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.820714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:867.03, Y:90.10, Z:227.49
[[ 9.53460233e-01 -1.66765688e-01 -2.51202685e-01  8.67028391e+02]
 [ 1.65384103e-01  9.85866192e-01 -2.67572309e-02  9.01046916e+01]
 [ 2.52114423e-01 -1.60329753e-02  9.67564603e-01  2.27487864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.880714057 meters
Centerline goodness : 0.998384 with order 1
Centerline is valid?  [True, True]
Translation: X:867.09, Y:90.12, Z:227.50
[[ 9.52469855e-01 -1.72331497e-01 -2.51203166e-01  8.67085908e+02]
 [ 1.71140385e-01  9.84883374e-01 -2.67527218e-02  9.01152305e+01]
 [ 2.52016158e-01 -1.75098455e-02  9.67564603e-01  2.27501840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 895.940714057 meters
Centerline goodness : 0.998189 with order 1
Centerline is valid?  [True, True]
Translation: X:867.14, Y:90.13, Z:227.52
[[ 9.51614181e-01 -1.76995275e-01 -2.51203349e-01  8.67144177e+02]
 [ 1.75963413e-01  9.84033161e-01 -2.67510012e-02  9.01258419e+01]
 [ 2.51927226e-01 -1.87459664e-02  9.67564603e-01  2.27515999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.000714057 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:867.20, Y:90.14, Z:227.53
[[ 9.50926386e-01 -1.80653934e-01 -2.51203431e-01  8.67201620e+02]
 [ 1.79746968e-01  9.83349100e-01 -2.67502252e-02  9.01383701e+01]
 [ 2.51853202e-01 -1.97155602e-02  9.67564603e-01  2.27532179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.060714057 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:867.26, Y:90.15, Z:227.55
[[ 9.50662695e-01 -1.82035874e-01 -2.51203862e-01  8.67261790e+02]
 [ 1.81177097e-01  9.83086721e-01 -2.67461796e-02  9.01520445e+01]
 [ 2.51823945e-01 -2.00857912e-02  9.67564603e-01  2.27548385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.120714057 meters
Centerline goodness : 0.998164 with order 1
Centerline is valid?  [True, True]
Translation: X:867.32, Y:90.16, Z:227.56
[[ 9.50578465e-01 -1.82471388e-01 -2.51206636e-01  8.67320029e+02]
 [ 1.81634313e-01  9.83003058e-01 -2.67200977e-02  9.01632841e+01]
 [ 2.51812545e-01 -2.02281953e-02  9.67564604e-01  2.27563831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.180714057 meters
Centerline goodness : 0.998429 with order 1
Centerline is valid?  [True, True]
Translation: X:867.38, Y:90.18, Z:227.58
[[ 9.50397593e-01 -1.83409255e-01 -2.51208001e-01  8.67376237e+02]
 [ 1.82607544e-01  9.82823080e-01 -2.67072663e-02  9.01766321e+01]
 [ 2.51791381e-01 -2.04899543e-02  9.67564604e-01  2.27578481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.240714057 meters
Centerline goodness : 0.998539 with order 1
Centerline is valid?  [True, True]
Translation: X:867.44, Y:90.19, Z:227.59
[[ 9.50097719e-01 -1.84955799e-01 -2.51208434e-01  8.67435284e+02]
 [ 1.84207931e-01  9.82524492e-01 -2.67031926e-02  9.01871367e+01]
 [ 2.51757349e-01 -2.09039434e-02  9.67564604e-01  2.27594000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.300714057 meters
Centerline goodness : 0.998649 with order 1
Centerline is valid?  [True, True]
Translation: X:867.49, Y:90.20, Z:227.61
[[ 9.49798909e-01 -1.86481799e-01 -2.51210212e-01  8.67493625e+02]
 [ 1.85790417e-01  9.82226936e-01 -2.66864578e-02  9.01969441e+01]
 [ 2.51721975e-01 -2.13256815e-02  9.67564604e-01  2.27608197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.360714057 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:867.55, Y:90.21, Z:227.62
[[ 9.50435793e-01 -1.83208063e-01 -2.51210288e-01  8.67552728e+02]
 [ 1.82405140e-01  9.82861250e-01 -2.66857359e-02  9.02080248e+01]
 [ 2.51793900e-01 -2.04589693e-02  9.67564604e-01  2.27620419e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.420714057 meters
Centerline goodness : 0.998658 with order 1
Centerline is valid?  [True, True]
Translation: X:867.61, Y:90.22, Z:227.64
[[ 9.51497922e-01 -1.77608854e-01 -2.51210668e-01  8.67609450e+02]
 [ 1.76615967e-01  9.83918118e-01 -2.66821624e-02  9.02196592e+01]
 [ 2.51909716e-01 -1.89797930e-02  9.67564604e-01  2.27636624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.480714057 meters
Centerline goodness : 0.998697 with order 1
Centerline is valid?  [True, True]
Translation: X:867.67, Y:90.23, Z:227.66
[[ 9.52380734e-01 -1.72812073e-01 -2.51210917e-01  8.67666452e+02]
 [ 1.71656450e-01  9.84795537e-01 -2.66798191e-02  9.02303887e+01]
 [ 2.52001984e-01 -1.77126286e-02  9.67564604e-01  2.27655321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.5407140570001 meters
Centerline goodness : 0.998538 with order 1
Centerline is valid?  [True, True]
Translation: X:867.72, Y:90.24, Z:227.67
[[ 9.53197971e-01 -1.68245376e-01 -2.51211309e-01  8.67724097e+02]
 [ 1.66935374e-01  9.85606902e-01 -2.66761218e-02  9.02400325e+01]
 [ 2.52083734e-01 -1.65084288e-02  9.67564604e-01  2.27667909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.600714057 meters
Centerline goodness : 0.999112 with order 1
Centerline is valid?  [True, True]
Translation: X:867.78, Y:90.25, Z:227.68
[[ 9.53754564e-01 -1.65060925e-01 -2.51211309e-01  8.67782036e+02]
 [ 1.63642691e-01  9.86158940e-01 -2.66761218e-02  9.02494876e+01]
 [ 2.52137464e-01 -1.56664217e-02  9.67564604e-01  2.27684395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.6607140570001 meters
Centerline goodness : 0.999392 with order 1
Centerline is valid?  [True, True]
Translation: X:867.84, Y:90.26, Z:227.70
[[ 9.54545529e-01 -1.60423233e-01 -2.51211504e-01  8.67840115e+02]
 [ 1.58847994e-01  9.86942651e-01 -2.66742885e-02  9.02593654e+01]
 [ 2.52210523e-01 -1.44426207e-02  9.67564604e-01  2.27700191e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.720714057 meters
Centerline goodness : 0.999484 with order 1
Centerline is valid?  [True, True]
Translation: X:867.90, Y:90.27, Z:227.71
[[ 9.55249094e-01 -1.56178441e-01 -2.51211987e-01  8.67898961e+02]
 [ 1.54460397e-01  9.87638958e-01 -2.66697398e-02  9.02680117e+01]
 [ 2.52271983e-01 -1.33260584e-02  9.67564604e-01  2.27714157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.7807140570001 meters
Centerline goodness : 0.999552 with order 1
Centerline is valid?  [True, True]
Translation: X:867.96, Y:90.28, Z:227.73
[[ 9.55782429e-01 -1.52879878e-01 -2.51212443e-01  8.67958488e+02]
 [ 1.51051159e-01  9.88166232e-01 -2.66654391e-02  9.02753102e+01]
 [ 2.52316263e-01 -1.24595725e-02  9.67564604e-01  2.27729243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.840714057 meters
Centerline goodness : 0.999362 with order 1
Centerline is valid?  [True, True]
Translation: X:868.02, Y:90.28, Z:227.75
[[ 9.55893383e-01 -1.52181458e-01 -2.51214340e-01  8.68016034e+02]
 [ 1.50333764e-01  9.88276109e-01 -2.66475593e-02  9.02827639e+01]
 [ 2.52324395e-01 -1.22937716e-02  9.67564604e-01  2.27745599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.9007140570001 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:868.08, Y:90.29, Z:227.76
[[ 9.55700619e-01 -1.53386589e-01 -2.51214811e-01  8.68075549e+02]
 [ 1.51580891e-01  9.88085714e-01 -2.66431164e-02  9.02889280e+01]
 [ 2.52308463e-01 -1.26165222e-02  9.67564604e-01  2.27761226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 896.960714057 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:868.13, Y:90.29, Z:227.78
[[ 9.55240475e-01 -1.56224401e-01 -2.51216185e-01  8.68134005e+02]
 [ 1.54518297e-01  9.87630969e-01 -2.66301541e-02  9.02929209e+01]
 [ 2.52269164e-01 -1.33792960e-02  9.67564604e-01  2.27777555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.0207140570001 meters
Centerline goodness : 0.999135 with order 1
Centerline is valid?  [True, True]
Translation: X:868.19, Y:90.30, Z:227.80
[[ 9.54540058e-01 -1.60448319e-01 -2.51216272e-01  8.68193200e+02]
 [ 1.58885723e-01  9.86937792e-01 -2.66293339e-02  9.02968493e+01]
 [ 2.52207465e-01 -1.44959132e-02  9.67564604e-01  2.27795280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.080714057 meters
Centerline goodness : 0.999233 with order 1
Centerline is valid?  [True, True]
Translation: X:868.25, Y:90.30, Z:227.81
[[ 9.53866847e-01 -1.64400320e-01 -2.51218176e-01  8.68252362e+02]
 [ 1.62976635e-01  9.86270983e-01 -2.66113574e-02  9.02989651e+01]
 [ 2.52144114e-01 -1.55590015e-02  9.67564604e-01  2.27809086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.1407140570001 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:868.31, Y:90.30, Z:227.82
[[ 9.53122984e-01 -1.68657846e-01 -2.51219243e-01  8.68311303e+02]
 [ 1.67381507e-01  9.85533258e-01 -2.66012861e-02  9.03023242e+01]
 [ 2.52071435e-01 -1.66951581e-02  9.67564604e-01  2.27823906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.200714057 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:868.37, Y:90.31, Z:227.84
[[ 9.52741737e-01 -1.70798026e-01 -2.51219461e-01  8.68370010e+02]
 [ 1.69595019e-01  9.85154815e-01 -2.65992304e-02  9.03075710e+01]
 [ 2.52033157e-01 -1.72633723e-02  9.67564604e-01  2.27839436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.2607140570001 meters
Centerline goodness : 0.999073 with order 1
Centerline is valid?  [True, True]
Translation: X:868.43, Y:90.31, Z:227.86
[[ 9.52642371e-01 -1.71350743e-01 -2.51219895e-01  8.68429891e+02]
 [ 1.70167617e-01  9.85056182e-01 -2.65951313e-02  9.03115346e+01]
 [ 2.52022806e-01 -1.74138419e-02  9.67564604e-01  2.27856950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.320714057 meters
Centerline goodness : 0.999215 with order 1
Centerline is valid?  [True, True]
Translation: X:868.49, Y:90.32, Z:227.87
[[ 9.52734685e-01 -1.70826612e-01 -2.51226769e-01  8.68488959e+02]
 [ 1.69642737e-01  9.85148465e-01 -2.65300375e-02  9.03177914e+01]
 [ 2.52027703e-01 -1.73427098e-02  9.67564606e-01  2.27873866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.3807140570001 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:868.55, Y:90.32, Z:227.89
[[ 9.52684532e-01 -1.71103934e-01 -2.51228236e-01  8.68546524e+02]
 [ 1.69933141e-01  9.85098788e-01 -2.65161428e-02  9.03242800e+01]
 [ 2.52021647e-01 -1.74304840e-02  9.67564607e-01  2.27889738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.440714057 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:868.61, Y:90.33, Z:227.90
[[ 9.52549871e-01 -1.71848638e-01 -2.51230550e-01  8.68606222e+02]
 [ 1.70708944e-01  9.84965235e-01 -2.64941943e-02  9.03293765e+01]
 [ 2.52006349e-01 -1.76502606e-02  9.67564607e-01  2.27904706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.500714057 meters
Centerline goodness : 0.998681 with order 1
Centerline is valid?  [True, True]
Translation: X:868.67, Y:90.34, Z:227.92
[[ 9.51988188e-01 -1.74931308e-01 -2.51232018e-01  8.68665985e+02]
 [ 1.73900209e-01  9.84407188e-01 -2.64802732e-02  9.03356913e+01]
 [ 2.51946833e-01 -1.84803931e-02  9.67564607e-01  2.27917754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.560714057 meters
Centerline goodness : 0.999099 with order 1
Centerline is valid?  [True, True]
Translation: X:868.72, Y:90.34, Z:227.93
[[ 9.51425895e-01 -1.77962770e-01 -2.51232996e-01  8.68724857e+02]
 [ 1.77037376e-01  9.83848085e-01 -2.64709926e-02  9.03425171e+01]
 [ 2.51885953e-01 -1.92924424e-02  9.67564607e-01  2.27930584e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.620714057 meters
Centerline goodness : 0.999072 with order 1
Centerline is valid?  [True, True]
Translation: X:868.78, Y:90.35, Z:227.95
[[ 9.51258775e-01 -1.78853229e-01 -2.51233490e-01  8.68784213e+02]
 [ 1.77959413e-01  9.83681850e-01 -2.64663038e-02  9.03498427e+01]
 [ 2.51867408e-01 -1.95330606e-02  9.67564607e-01  2.27946171e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.680714057 meters
Centerline goodness : 0.999420 with order 1
Centerline is valid?  [True, True]
Translation: X:868.84, Y:90.36, Z:227.96
[[ 9.51548932e-01 -1.77292763e-01 -2.51240733e-01  8.68841481e+02]
 [ 1.76363865e-01  9.83971019e-01 -2.63973643e-02  9.03579013e+01]
 [ 2.51893662e-01 -1.91914031e-02  9.67564609e-01  2.27963397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.740714057 meters
Centerline goodness : 0.999281 with order 1
Centerline is valid?  [True, True]
Translation: X:868.90, Y:90.37, Z:227.98
[[ 9.51934889e-01 -1.75207929e-01 -2.51241215e-01  8.68900008e+02]
 [ 1.74209215e-01  9.84354901e-01 -2.63927770e-02  9.03670940e+01]
 [ 2.51934745e-01 -1.86443297e-02  9.67564609e-01  2.27981568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.800714057 meters
Centerline goodness : 0.999276 with order 1
Centerline is valid?  [True, True]
Translation: X:868.96, Y:90.37, Z:228.00
[[ 9.51973692e-01 -1.74994935e-01 -2.51242636e-01  8.68959788e+02]
 [ 1.73992518e-01  9.84393589e-01 -2.63792502e-02  9.03746567e+01]
 [ 2.51937875e-01 -1.86019865e-02  9.67564609e-01  2.27997906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.860714057 meters
Centerline goodness : 0.999209 with order 1
Centerline is valid?  [True, True]
Translation: X:869.02, Y:90.38, Z:228.01
[[ 9.51512580e-01 -1.77475710e-01 -2.51249242e-01  8.69019593e+02]
 [ 1.76574356e-01  9.83935443e-01 -2.63161785e-02  9.03813080e+01]
 [ 2.51883517e-01 -1.93239983e-02  9.67564611e-01  2.28011118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.920714057 meters
Centerline goodness : 0.999393 with order 1
Centerline is valid?  [True, True]
Translation: X:869.08, Y:90.39, Z:228.03
[[ 9.51137023e-01 -1.79476223e-01 -2.51250173e-01  8.69079603e+02]
 [ 1.78645385e-01  9.83561769e-01 -2.63072931e-02  9.03870636e+01]
 [ 2.51841598e-01 -1.98628434e-02  9.67564611e-01  2.28025463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 897.980714057 meters
Centerline goodness : 0.999232 with order 1
Centerline is valid?  [True, True]
Translation: X:869.14, Y:90.39, Z:228.04
[[ 9.50468919e-01 -1.82978777e-01 -2.51252066e-01  8.69138126e+02]
 [ 1.82272142e-01  9.82896609e-01 -2.62891945e-02  9.03934586e+01]
 [ 2.51765169e-01 -2.08091900e-02  9.67564612e-01  2.28038125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.0407140570001 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:869.20, Y:90.40, Z:228.05
[[ 9.49803329e-01 -1.86402473e-01 -2.51252372e-01  8.69195592e+02]
 [ 1.85813457e-01  9.82233369e-01 -2.62862765e-02  9.04001012e+01]
 [ 2.51688290e-01 -2.17192787e-02  9.67564612e-01  2.28052757e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.100714057 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:869.25, Y:90.41, Z:228.07
[[ 9.49179578e-01 -1.89553436e-01 -2.51252111e-01  8.69253341e+02]
 [ 1.89071390e-01  9.81611384e-01 -2.62887697e-02  9.04070063e+01]
 [ 2.51615059e-01 -2.25518225e-02  9.67564612e-01  2.28072385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.1607140570001 meters
Centerline goodness : 0.998881 with order 1
Centerline is valid?  [True, True]
Translation: X:869.31, Y:90.41, Z:228.09
[[ 9.48296316e-01 -1.93922885e-01 -2.51252883e-01  8.69310711e+02]
 [ 1.93592146e-01  9.80730019e-01 -2.62813920e-02  9.04127043e+01]
 [ 2.51507808e-01 -2.37180376e-02  9.67564612e-01  2.28088141e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.220714057 meters
Centerline goodness : 0.999025 with order 1
Centerline is valid?  [True, True]
Translation: X:869.37, Y:90.42, Z:228.10
[[ 9.47971922e-01 -1.95501120e-01 -2.51253949e-01  8.69370229e+02]
 [ 1.95227048e-01  9.80406153e-01 -2.62711919e-02  9.04185438e+01]
 [ 2.51466965e-01 -2.41472146e-02  9.67564612e-01  2.28103873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.2807140570001 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:869.43, Y:90.42, Z:228.12
[[ 9.46974075e-01 -2.00274627e-01 -2.51257188e-01  8.69429267e+02]
 [ 2.00172109e-01  9.79409301e-01 -2.62401823e-02  9.04248271e+01]
 [ 2.51338869e-01 -2.54459088e-02  9.67564612e-01  2.28117540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.340714057 meters
Centerline goodness : 0.998626 with order 1
Centerline is valid?  [True, True]
Translation: X:869.49, Y:90.43, Z:228.13
[[ 9.46363583e-01 -2.03139597e-01 -2.51257385e-01  8.69487154e+02]
 [ 2.03135736e-01  9.78798971e-01 -2.62382959e-02  9.04324485e+01]
 [ 2.51260506e-01 -2.62083861e-02  9.67564612e-01  2.28129942e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.4007140570001 meters
Centerline goodness : 0.998898 with order 1
Centerline is valid?  [True, True]
Translation: X:869.55, Y:90.44, Z:228.14
[[ 9.46322625e-01 -2.03327640e-01 -2.51259549e-01  8.69545858e+02]
 [ 2.03335669e-01  9.78758012e-01 -2.62175596e-02  9.04404162e+01]
 [ 2.51253051e-01 -2.62797586e-02  9.67564612e-01  2.28144099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.460714057 meters
Centerline goodness : 0.999085 with order 1
Centerline is valid?  [True, True]
Translation: X:869.60, Y:90.45, Z:228.16
[[ 9.47129855e-01 -1.99533072e-01 -2.51260007e-01  8.69603316e+02]
 [ 1.99412252e-01  9.79565018e-01 -2.62131637e-02  9.04515455e+01]
 [ 2.51355906e-01 -2.52770539e-02  9.67564612e-01  2.28161504e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.5207140570001 meters
Centerline goodness : 0.998941 with order 1
Centerline is valid?  [True, True]
Translation: X:869.66, Y:90.46, Z:228.18
[[ 9.47839408e-01 -1.96134249e-01 -2.51260451e-01  8.69661256e+02]
 [ 1.95898195e-01  9.80273936e-01 -2.62089116e-02  9.04610700e+01]
 [ 2.51444536e-01 -2.43796296e-02  9.67564612e-01  2.28178763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.580714057 meters
Centerline goodness : 0.999408 with order 1
Centerline is valid?  [True, True]
Translation: X:869.72, Y:90.47, Z:228.19
[[ 9.48981286e-01 -1.90531418e-01 -2.51261413e-01  8.69719609e+02]
 [ 1.90106184e-01  9.81413886e-01 -2.61996823e-02  9.04709064e+01]
 [ 2.51583302e-01 -2.29033401e-02  9.67564612e-01  2.28194127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.6407140570001 meters
Centerline goodness : 0.999667 with order 1
Centerline is valid?  [True, True]
Translation: X:869.78, Y:90.48, Z:228.21
[[ 9.49881614e-01 -1.85990390e-01 -2.51261806e-01  8.69777785e+02]
 [ 1.85411029e-01  9.82311827e-01 -2.61959130e-02  9.04792968e+01]
 [ 2.51689632e-01 -2.17036939e-02  9.67564612e-01  2.28209706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.700714057 meters
Centerline goodness : 0.999479 with order 1
Centerline is valid?  [True, True]
Translation: X:869.83, Y:90.49, Z:228.22
[[ 9.50891050e-01 -1.80758135e-01 -2.51262229e-01  8.69834870e+02]
 [ 1.80001308e-01  9.83317607e-01 -2.61918588e-02  9.04883083e+01]
 [ 2.51804965e-01 -2.03219255e-02  9.67564612e-01  2.28222823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.7607140570001 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:869.89, Y:90.50, Z:228.24
[[ 9.52173300e-01 -1.73877845e-01 -2.51261820e-01  8.69893410e+02]
 [ 1.72885543e-01  9.84593505e-01 -2.61957785e-02  9.04971925e+01]
 [ 2.51945622e-01 -1.84966154e-02  9.67564612e-01  2.28237382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.820714057 meters
Centerline goodness : 0.999714 with order 1
Centerline is valid?  [True, True]
Translation: X:869.95, Y:90.50, Z:228.25
[[ 9.52992565e-01 -1.69329503e-01 -2.51262197e-01  8.69951432e+02]
 [ 1.68183363e-01  9.85407696e-01 -2.61921662e-02  9.05047178e+01]
 [ 2.52030809e-01 -1.72971816e-02  9.67564612e-01  2.28252526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.8807140570001 meters
Centerline goodness : 0.999498 with order 1
Centerline is valid?  [True, True]
Translation: X:870.01, Y:90.51, Z:228.27
[[ 9.54164292e-01 -1.62596668e-01 -2.51262468e-01  8.70008462e+02]
 [ 1.61222372e-01  9.86570552e-01 -2.61895618e-02  9.05106496e+01]
 [ 2.52146487e-01 -1.55199864e-02  9.67564612e-01  2.28268641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 898.940714057 meters
Centerline goodness : 0.999713 with order 1
Centerline is valid?  [True, True]
Translation: X:870.07, Y:90.52, Z:228.28
[[ 9.54862059e-01 -1.58447679e-01 -2.51262374e-01  8.70066402e+02]
 [ 1.56932300e-01  9.87262029e-01 -2.61904635e-02  9.05155415e+01]
 [ 2.52211619e-01 -1.44229023e-02  9.67564612e-01  2.28284726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.000714057 meters
Centerline goodness : 0.999784 with order 1
Centerline is valid?  [True, True]
Translation: X:870.12, Y:90.52, Z:228.30
[[ 9.55718489e-01 -1.53197230e-01 -2.51262370e-01  8.70124021e+02]
 [ 1.51503789e-01  9.88109639e-01 -2.61904989e-02  9.05221527e+01]
 [ 2.52287082e-01 -1.30364572e-02  9.67564612e-01  2.28301543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.060714057 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:870.18, Y:90.53, Z:228.32
[[ 9.56619224e-01 -1.47468236e-01 -2.51262370e-01  8.70182117e+02]
 [ 1.45580753e-01  9.88999647e-01 -2.61904989e-02  9.05303269e+01]
 [ 2.52360662e-01 -1.15246303e-02  9.67564612e-01  2.28318220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.120714057 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:870.24, Y:90.53, Z:228.33
[[ 9.56949341e-01 -1.45309874e-01 -2.51262809e-01  8.70242728e+02]
 [ 1.43350454e-01  9.89325490e-01 -2.61862876e-02  9.05349989e+01]
 [ 2.52385828e-01 -1.09596870e-02  9.67564612e-01  2.28333102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.180714057 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:870.30, Y:90.54, Z:228.35
[[ 9.56917591e-01 -1.45515630e-01 -2.51264653e-01  8.70302311e+02]
 [ 1.43567810e-01  9.89294440e-01 -2.61685887e-02  9.05394092e+01]
 [ 2.52382662e-01 -1.10323330e-02  9.67564613e-01  2.28345873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.240714057 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:870.36, Y:90.54, Z:228.36
[[ 9.57088835e-01 -1.44383446e-01 -2.51265562e-01  8.70361598e+02]
 [ 1.42399614e-01  9.89463497e-01 -2.61598493e-02  9.05445257e+01]
 [ 2.52395151e-01 -1.07428193e-02  9.67564613e-01  2.28362224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.300714057 meters
Centerline goodness : 0.999881 with order 1
Centerline is valid?  [True, True]
Translation: X:870.42, Y:90.55, Z:228.38
[[ 9.57491363e-01 -1.41678884e-01 -2.51271534e-01  8.70420238e+02]
 [ 1.39618655e-01  9.89861252e-01 -2.61023643e-02  9.05503219e+01]
 [ 2.52422110e-01 -1.00894053e-02  9.67564614e-01  2.28377634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.360714057 meters
Centerline goodness : 0.999785 with order 1
Centerline is valid?  [True, True]
Translation: X:870.48, Y:90.56, Z:228.39
[[ 9.57845760e-01 -1.39262305e-01 -2.51271786e-01  8.70477834e+02]
 [ 1.37121035e-01  9.90210389e-01 -2.60999435e-02  9.05574036e+01]
 [ 2.52446671e-01 -9.45492703e-03  9.67564614e-01  2.28391674e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.420714057 meters
Centerline goodness : 0.999857 with order 1
Centerline is valid?  [True, True]
Translation: X:870.54, Y:90.56, Z:228.41
[[ 9.58145380e-01 -1.37185714e-01 -2.51271786e-01  8.70537228e+02]
 [ 1.34974294e-01  9.90505292e-01 -2.60999435e-02  9.05642513e+01]
 [ 2.52466573e-01 -8.90769164e-03  9.67564614e-01  2.28407732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.480714057 meters
Centerline goodness : 0.999545 with order 1
Centerline is valid?  [True, True]
Translation: X:870.60, Y:90.57, Z:228.42
[[ 9.58499353e-01 -1.34686953e-01 -2.51273586e-01  8.70597154e+02]
 [ 1.32395707e-01  9.90853710e-01 -2.60826001e-02  9.05687320e+01]
 [ 2.52488351e-01 -8.26738873e-03  9.67564614e-01  2.28424964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.5407140570001 meters
Centerline goodness : 0.999690 with order 1
Centerline is valid?  [True, True]
Translation: X:870.66, Y:90.57, Z:228.44
[[ 9.58438178e-01 -1.35118139e-01 -2.51275441e-01  8.70656006e+02]
 [ 1.32846131e-01  9.90793892e-01 -2.60647160e-02  9.05728206e+01]
 [ 2.52483988e-01 -8.39955143e-03  9.67564614e-01  2.28440389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.600714057 meters
Centerline goodness : 0.999620 with order 1
Centerline is valid?  [True, True]
Translation: X:870.72, Y:90.58, Z:228.46
[[ 9.58218143e-01 -1.36668998e-01 -2.51275895e-01  8.70715014e+02]
 [ 1.34450500e-01  9.90577570e-01 -2.60603403e-02  9.05767077e+01]
 [ 2.52469906e-01 -8.81267879e-03  9.67564614e-01  2.28456052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.6607140570001 meters
Centerline goodness : 0.999382 with order 1
Centerline is valid?  [True, True]
Translation: X:870.78, Y:90.58, Z:228.47
[[ 9.57977184e-01 -1.38345430e-01 -2.51277252e-01  8.70775641e+02]
 [ 1.36186984e-01  9.90340672e-01 -2.60472533e-02  9.05794408e+01]
 [ 2.52453601e-01 -9.26801686e-03  9.67564615e-01  2.28469768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.720714057 meters
Centerline goodness : 0.999596 with order 1
Centerline is valid?  [True, True]
Translation: X:870.83, Y:90.58, Z:228.49
[[ 9.57735876e-01 -1.40003023e-01 -2.51279019e-01  8.70834859e+02]
 [ 1.37905055e-01  9.90103340e-01 -2.60301972e-02  9.05828687e+01]
 [ 2.52436502e-01 -9.72259309e-03  9.67564615e-01  2.28485159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.7807140570001 meters
Centerline goodness : 0.999481 with order 1
Centerline is valid?  [True, True]
Translation: X:870.89, Y:90.59, Z:228.50
[[ 9.57354872e-01 -1.42583451e-01 -2.51279942e-01  8.70893655e+02]
 [ 1.40575051e-01  9.89728017e-01 -2.60212810e-02  9.05866672e+01]
 [ 2.52409003e-01 -1.04120906e-02  9.67564615e-01  2.28501386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.840714057 meters
Centerline goodness : 0.999339 with order 1
Centerline is valid?  [True, True]
Translation: X:870.95, Y:90.59, Z:228.52
[[ 9.57119626e-01 -1.44152334e-01 -2.51280970e-01  8.70953240e+02]
 [ 1.42199596e-01  9.89496177e-01 -2.60113547e-02  9.05909291e+01]
 [ 2.52391156e-01 -1.08360744e-02  9.67564615e-01  2.28517324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.9007140570001 meters
Centerline goodness : 0.999552 with order 1
Centerline is valid?  [True, True]
Translation: X:871.01, Y:90.60, Z:228.53
[[ 9.57184957e-01 -1.43714644e-01 -2.51282828e-01  8.71011747e+02]
 [ 1.41751809e-01  9.89560897e-01 -2.59933900e-02  9.05964874e+01]
 [ 2.52395291e-01 -1.07393135e-02  9.67564615e-01  2.28533218e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 899.960714057 meters
Centerline goodness : 0.999574 with order 1
Centerline is valid?  [True, True]
Translation: X:871.07, Y:90.60, Z:228.55
[[ 9.57690247e-01 -1.40307149e-01 -2.51283297e-01  8.71069973e+02]
 [ 1.38230291e-01  9.90059072e-01 -2.59888529e-02  9.06036973e+01]
 [ 2.52431730e-01 -9.84569220e-03  9.67564615e-01  2.28547098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.0207140570001 meters
Centerline goodness : 0.999692 with order 1
Centerline is valid?  [True, True]
Translation: X:871.13, Y:90.61, Z:228.56
[[ 9.58110718e-01 -1.37405689e-01 -2.51283762e-01  8.71128453e+02]
 [ 1.35231974e-01  9.90473183e-01 -2.59843541e-02  9.06116314e+01]
 [ 2.52460226e-01 -9.08571103e-03  9.67564615e-01  2.28564450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.080714057 meters
Centerline goodness : 0.999644 with order 1
Centerline is valid?  [True, True]
Translation: X:871.19, Y:90.62, Z:228.58
[[ 9.58315178e-01 -1.35970653e-01 -2.51284700e-01  8.71187159e+02]
 [ 1.33750850e-01  9.90674515e-01 -2.59752830e-02  9.06179638e+01]
 [ 2.52473225e-01 -8.71703424e-03  9.67564615e-01  2.28579086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.1407140570001 meters
Centerline goodness : 0.999669 with order 1
Centerline is valid?  [True, True]
Translation: X:871.24, Y:90.62, Z:228.60
[[ 9.58745610e-01 -1.32894703e-01 -2.51288387e-01  8.71244893e+02]
 [ 1.30580422e-01  9.91098326e-01 -2.59395659e-02  9.06246999e+01]
 [ 2.52498731e-01 -7.94389856e-03  9.67564616e-01  2.28595494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.200714057 meters
Centerline goodness : 0.999384 with order 1
Centerline is valid?  [True, True]
Translation: X:871.30, Y:90.63, Z:228.61
[[ 9.58818893e-01 -1.32364082e-01 -2.51288838e-01  8.71303363e+02]
 [ 1.30033039e-01  9.91170406e-01 -2.59352021e-02  9.06307883e+01]
 [ 2.52502948e-01 -7.80868941e-03  9.67564616e-01  2.28611059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.2607140570001 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:871.36, Y:90.64, Z:228.63
[[ 9.58825689e-01 -1.32314611e-01 -2.51288961e-01  8.71361267e+02]
 [ 1.29982212e-01  9.91177104e-01 -2.59340047e-02  9.06366788e+01]
 [ 2.52503313e-01 -7.79690514e-03  9.67564616e-01  2.28627193e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.320714057 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:871.42, Y:90.64, Z:228.64
[[ 9.58718891e-01 -1.33085673e-01 -2.51289258e-01  8.71419903e+02]
 [ 1.30780047e-01  9.91072226e-01 -2.59311246e-02  9.06416572e+01]
 [ 2.52496866e-01 -8.00296199e-03  9.67564616e-01  2.28640130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.3807140570001 meters
Centerline goodness : 0.999361 with order 1
Centerline is valid?  [True, True]
Translation: X:871.48, Y:90.65, Z:228.66
[[ 9.58628825e-01 -1.33732032e-01 -2.51289712e-01  8.71479450e+02]
 [ 1.31449371e-01  9.90983788e-01 -2.59267278e-02  9.06478226e+01]
 [ 2.52491265e-01 -8.17776595e-03  9.67564616e-01  2.28655828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.440714057 meters
Centerline goodness : 0.999244 with order 1
Centerline is valid?  [True, True]
Translation: X:871.54, Y:90.65, Z:228.67
[[ 9.58614346e-01 -1.33832306e-01 -2.51291564e-01  8.71539630e+02]
 [ 1.31557732e-01  9.90969878e-01 -2.59087689e-02  9.06539629e+01]
 [ 2.52489800e-01 -8.22283058e-03  9.67564616e-01  2.28671190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.500714057 meters
Centerline goodness : 0.999200 with order 1
Centerline is valid?  [True, True]
Translation: X:871.60, Y:90.66, Z:228.69
[[ 9.58779870e-01 -1.32637822e-01 -2.51293392e-01  8.71599000e+02]
 [ 1.30327583e-01  9.91132875e-01 -2.58910217e-02  9.06606935e+01]
 [ 2.52499271e-01 -7.92666994e-03  9.67564616e-01  2.28687620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.560714057 meters
Centerline goodness : 0.998933 with order 1
Centerline is valid?  [True, True]
Translation: X:871.66, Y:90.67, Z:228.71
[[ 9.59334969e-01 -1.28557912e-01 -2.51295206e-01  8.71656607e+02]
 [ 1.26114673e-01  9.91678202e-01 -2.58734072e-02  9.06702152e+01]
 [ 2.52530209e-01 -6.87074855e-03  9.67564616e-01  2.28706285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.620714057 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:871.72, Y:90.68, Z:228.72
[[ 9.59873267e-01 -1.24474068e-01 -2.51295678e-01  8.71715348e+02]
 [ 1.21894407e-01  9.92205905e-01 -2.58688201e-02  9.06788361e+01]
 [ 2.52557053e-01 -5.80074873e-03  9.67564616e-01  2.28721001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.680714057 meters
Centerline goodness : 0.999306 with order 1
Centerline is valid?  [True, True]
Translation: X:871.77, Y:90.69, Z:228.74
[[ 9.60468333e-01 -1.19792990e-01 -2.51297075e-01  8.71773010e+02]
 [ 1.17059283e-01  9.92788311e-01 -2.58552387e-02  9.06881577e+01]
 [ 2.52582075e-01 -4.58351734e-03  9.67564616e-01  2.28736892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.740714057 meters
Centerline goodness : 0.999331 with order 1
Centerline is valid?  [True, True]
Translation: X:871.83, Y:90.70, Z:228.75
[[ 9.60774670e-01 -1.17310757e-01 -2.51297075e-01  8.71831474e+02]
 [ 1.14493545e-01  9.93087476e-01 -2.58552387e-02  9.06964082e+01]
 [ 2.52593076e-01 -3.93083448e-03  9.67564616e-01  2.28751093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.800714057 meters
Centerline goodness : 0.999566 with order 1
Centerline is valid?  [True, True]
Translation: X:871.89, Y:90.70, Z:228.76
[[ 9.60774302e-01 -1.17312798e-01 -2.51297531e-01  8.71889986e+02]
 [ 1.14496812e-01  9.93087215e-01 -2.58508106e-02  9.07028258e+01]
 [ 2.52592996e-01 -3.93597166e-03  9.67564616e-01  2.28762224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.860714057 meters
Centerline goodness : 0.999568 with order 1
Centerline is valid?  [True, True]
Translation: X:871.95, Y:90.71, Z:228.78
[[ 9.60738056e-01 -1.17609261e-01 -2.51297531e-01  8.71948747e+02]
 [ 1.14803247e-01  9.93051837e-01 -2.58508107e-02  9.07076029e+01]
 [ 2.52591769e-01 -4.01391489e-03  9.67564616e-01  2.28781587e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.920714057 meters
Centerline goodness : 0.999759 with order 1
Centerline is valid?  [True, True]
Translation: X:872.01, Y:90.71, Z:228.80
[[ 9.60941040e-01 -1.15935062e-01 -2.51299380e-01  8.72008044e+02]
 [ 1.13077450e-01  9.93250299e-01 -2.58328211e-02  9.07139496e+01]
 [ 2.52598114e-01 -3.59247520e-03  9.67564616e-01  2.28799828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 900.980714057 meters
Centerline goodness : 0.999473 with order 1
Centerline is valid?  [True, True]
Translation: X:872.07, Y:90.72, Z:228.82
[[ 9.61080772e-01 -1.14766941e-01 -2.51301211e-01  8.72066007e+02]
 [ 1.11874719e-01  9.93386950e-01 -2.58149964e-02  9.07195192e+01]
 [ 2.52602052e-01 -3.30395571e-03  9.67564617e-01  2.28815105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.0407140570001 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:872.12, Y:90.72, Z:228.83
[[ 9.60957723e-01 -1.15786868e-01 -2.51303913e-01  8.72124734e+02]
 [ 1.12935817e-01  9.93267560e-01 -2.57886729e-02  9.07236490e+01]
 [ 2.52598014e-01 -3.59938833e-03  9.67564617e-01  2.28830385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.100714057 meters
Centerline goodness : 0.999616 with order 1
Centerline is valid?  [True, True]
Translation: X:872.18, Y:90.73, Z:228.85
[[ 9.60706466e-01 -1.17846855e-01 -2.51306993e-01  8.72184264e+02]
 [ 1.15072939e-01  9.93023017e-01 -2.57586271e-02  9.07284284e+01]
 [ 2.52589201e-01 -4.17215450e-03  9.67564617e-01  2.28846583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.1607140570001 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:872.24, Y:90.73, Z:228.86
[[ 9.60423208e-01 -1.20129552e-01 -2.51308879e-01  8.72243954e+02]
 [ 1.17437260e-01  9.92746660e-01 -2.57402057e-02  9.07328906e+01]
 [ 2.52578210e-01 -4.79153524e-03  9.67564618e-01  2.28861086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.220714057 meters
Centerline goodness : 0.999762 with order 1
Centerline is valid?  [True, True]
Translation: X:872.30, Y:90.74, Z:228.87
[[ 9.60225312e-01 -1.21698371e-01 -2.51310278e-01  8.72303355e+02]
 [ 1.19062461e-01  9.92553412e-01 -2.57265438e-02  9.07382913e+01]
 [ 2.52569752e-01 -5.21834169e-03  9.67564618e-01  2.28873599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.2807140570001 meters
Centerline goodness : 0.999762 with order 1
Centerline is valid?  [True, True]
Translation: X:872.36, Y:90.74, Z:228.89
[[ 9.60119253e-01 -1.22529505e-01 -2.51311641e-01  8.72362613e+02]
 [ 1.19925065e-01  9.92449903e-01 -2.57132208e-02  9.07448606e+01]
 [ 2.52564842e-01 -5.45080646e-03  9.67564618e-01  2.28892279e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.340714057 meters
Centerline goodness : 0.999643 with order 1
Centerline is valid?  [True, True]
Translation: X:872.42, Y:90.75, Z:228.91
[[ 9.60081524e-01 -1.22821071e-01 -2.51313454e-01  8.72421982e+02]
 [ 1.20231088e-01  9.92413335e-01 -2.56954901e-02  9.07510804e+01]
 [ 2.52562771e-01 -5.54592462e-03  9.67564618e-01  2.28909096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.4007140570001 meters
Centerline goodness : 0.999905 with order 1
Centerline is valid?  [True, True]
Translation: X:872.48, Y:90.76, Z:228.93
[[ 9.59974716e-01 -1.23649386e-01 -2.51315290e-01  8.72480119e+02]
 [ 1.21092000e-01  9.92309121e-01 -2.56775250e-02  9.07577199e+01]
 [ 2.52557464e-01 -5.78249631e-03  9.67564618e-01  2.28926260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.460714057 meters
Centerline goodness : 0.999667 with order 1
Centerline is valid?  [True, True]
Translation: X:872.54, Y:90.76, Z:228.94
[[ 9.59769554e-01 -1.25230959e-01 -2.51315758e-01  8.72538783e+02]
 [ 1.22728054e-01  9.92108222e-01 -2.56729379e-02  9.07645538e+01]
 [ 2.52547477e-01 -6.20338986e-03  9.67564618e-01  2.28941192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.5207140570001 meters
Centerline goodness : 0.999522 with order 1
Centerline is valid?  [True, True]
Translation: X:872.60, Y:90.77, Z:228.96
[[ 9.59591370e-01 -1.26587227e-01 -2.51316688e-01  8.72597711e+02]
 [ 1.24132410e-01  9.91933724e-01 -2.56638377e-02  9.07723387e+01]
 [ 2.52538212e-01 -6.56974880e-03  9.67564618e-01  2.28955440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.580714057 meters
Centerline goodness : 0.999762 with order 1
Centerline is valid?  [True, True]
Translation: X:872.66, Y:90.78, Z:228.97
[[ 9.59249001e-01 -1.29153515e-01 -2.51317971e-01  8.72658050e+02]
 [ 1.26788509e-01  9.91598047e-01 -2.56512591e-02  9.07767227e+01]
 [ 2.52519360e-01 -7.25828630e-03  9.67564618e-01  2.28971268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.6407140570001 meters
Centerline goodness : 0.999881 with order 1
Centerline is valid?  [True, True]
Translation: X:872.72, Y:90.78, Z:228.99
[[ 9.58700803e-01 -1.33158189e-01 -2.51319850e-01  8.72717267e+02]
 [ 1.30933117e-01  9.91059774e-01 -2.56328388e-02  9.07802738e+01]
 [ 2.52486216e-01 -8.33186805e-03  9.67564618e-01  2.28988203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.700714057 meters
Centerline goodness : 0.999668 with order 1
Centerline is valid?  [True, True]
Translation: X:872.78, Y:90.78, Z:229.00
[[ 9.58554370e-01 -1.34206475e-01 -2.51320796e-01  8.72776121e+02]
 [ 1.32019219e-01  9.90915919e-01 -2.56235590e-02  9.07849307e+01]
 [ 2.52476625e-01 -8.61760094e-03  9.67564618e-01  2.29004334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.7607140570001 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:872.84, Y:90.79, Z:229.02
[[ 9.58800109e-01 -1.32427974e-01 -2.51326843e-01  8.72835143e+02]
 [ 1.30196251e-01  9.91158621e-01 -2.55641161e-02  9.07915768e+01]
 [ 2.52490171e-01 -8.21093547e-03  9.67564620e-01  2.29021232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.820714057 meters
Centerline goodness : 0.999784 with order 1
Centerline is valid?  [True, True]
Translation: X:872.89, Y:90.80, Z:229.04
[[ 9.59610879e-01 -1.26416273e-01 -2.51328247e-01  8.72893816e+02]
 [ 1.23985406e-01  9.91955040e-01 -2.55503100e-02  9.07999443e+01]
 [ 2.52536296e-01 -6.64267927e-03  9.67564620e-01  2.29037341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.8807140570001 meters
Centerline goodness : 0.999856 with order 1
Centerline is valid?  [True, True]
Translation: X:872.95, Y:90.81, Z:229.05
[[ 9.60254436e-01 -1.21429215e-01 -2.51329195e-01  8.72952714e+02]
 [ 1.18832789e-01  9.92585728e-01 -2.55409776e-02  9.08082499e+01]
 [ 2.52567193e-01 -5.34031217e-03  9.67564620e-01  2.29053163e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 901.940714057 meters
Centerline goodness : 0.999736 with order 1
Centerline is valid?  [True, True]
Translation: X:873.01, Y:90.81, Z:229.07
[[ 9.60510295e-01 -1.19386492e-01 -2.51330138e-01  8.73011112e+02]
 [ 1.16723732e-01  9.92836191e-01 -2.55316916e-02  9.08140305e+01]
 [ 2.52577797e-01 -4.81273921e-03  9.67564620e-01  2.29068820e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.000714057 meters
Centerline goodness : 0.999808 with order 1
Centerline is valid?  [True, True]
Translation: X:873.07, Y:90.82, Z:229.08
[[ 9.60542974e-01 -1.19122298e-01 -2.51330607e-01  8.73070060e+02]
 [ 1.16451854e-01  9.92868236e-01 -2.55270770e-02  9.08188930e+01]
 [ 2.52579021e-01 -4.74806063e-03  9.67564620e-01  2.29083830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.060714057 meters
Centerline goodness : 0.999880 with order 1
Centerline is valid?  [True, True]
Translation: X:873.13, Y:90.82, Z:229.10
[[ 9.60647588e-01 -1.18274713e-01 -2.51331063e-01  8.73128357e+02]
 [ 1.15576923e-01  9.92970580e-01 -2.55225862e-02  9.08232878e+01]
 [ 2.52583028e-01 -4.52985995e-03  9.67564620e-01  2.29098025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.120714057 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:873.19, Y:90.83, Z:229.11
[[ 9.60880987e-01 -1.16357378e-01 -2.51333819e-01  8.73187950e+02]
 [ 1.13602192e-01  9.93199137e-01 -2.54954211e-02  9.08291719e+01]
 [ 2.52591112e-01 -4.05400723e-03  9.67564621e-01  2.29113697e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.180714057 meters
Centerline goodness : 0.999639 with order 1
Centerline is valid?  [True, True]
Translation: X:873.25, Y:90.84, Z:229.13
[[ 9.60948656e-01 -1.15793124e-01 -2.51335699e-01  8.73246533e+02]
 [ 1.13023811e-01  9.93265597e-01 -2.54768721e-02  9.08356991e+01]
 [ 2.52593150e-01 -3.92495260e-03  9.67564621e-01  2.29129052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.240714057 meters
Centerline goodness : 0.999760 with order 1
Centerline is valid?  [True, True]
Translation: X:873.31, Y:90.84, Z:229.15
[[ 9.60674715e-01 -1.18043054e-01 -2.51336286e-01  8.73305068e+02]
 [ 1.15350940e-01  9.92998180e-01 -2.54710791e-02  9.08417977e+01]
 [ 2.52583159e-01 -4.52245517e-03  9.67564621e-01  2.29146079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.300714057 meters
Centerline goodness : 0.999760 with order 1
Centerline is valid?  [True, True]
Translation: X:873.37, Y:90.85, Z:229.16
[[ 9.60433509e-01 -1.19987853e-01 -2.51337204e-01  8.73365026e+02]
 [ 1.17363558e-01  9.92762550e-01 -2.54620174e-02  9.08470515e+01]
 [ 2.52573297e-01 -5.04325393e-03  9.67564621e-01  2.29163001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.360714057 meters
Centerline goodness : 0.999784 with order 1
Centerline is valid?  [True, True]
Translation: X:873.42, Y:90.85, Z:229.18
[[ 9.60374177e-01 -1.20457882e-01 -2.51339090e-01  8.73423779e+02]
 [ 1.17854282e-01  9.92704892e-01 -2.54433939e-02  9.08514848e+01]
 [ 2.52570401e-01 -5.18620954e-03  9.67564621e-01  2.29177291e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.420714057 meters
Centerline goodness : 0.999762 with order 1
Centerline is valid?  [True, True]
Translation: X:873.48, Y:90.86, Z:229.19
[[ 9.60350665e-01 -1.20645194e-01 -2.51339090e-01  8.73483755e+02]
 [ 1.18047900e-01  9.92681886e-01 -2.54433939e-02  9.08571576e+01]
 [ 2.52569385e-01 -5.23547142e-03  9.67564621e-01  2.29192697e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.480714057 meters
Centerline goodness : 0.999642 with order 1
Centerline is valid?  [True, True]
Translation: X:873.54, Y:90.86, Z:229.21
[[ 9.60274458e-01 -1.21246410e-01 -2.51340949e-01  8.73543878e+02]
 [ 1.18674166e-01  9.92607682e-01 -2.54250143e-02  9.08626345e+01]
 [ 2.52565648e-01 -5.41268580e-03  9.67564621e-01  2.29209084e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.5407140570001 meters
Centerline goodness : 0.999715 with order 1
Centerline is valid?  [True, True]
Translation: X:873.60, Y:90.87, Z:229.22
[[ 9.60091708e-01 -1.22681270e-01 -2.51342829e-01  8.73603164e+02]
 [ 1.20162213e-01  9.92429119e-01 -2.54064140e-02  9.08672638e+01]
 [ 2.52556834e-01 -5.80942322e-03  9.67564621e-01  2.29223664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.600714057 meters
Centerline goodness : 0.999738 with order 1
Centerline is valid?  [True, True]
Translation: X:873.66, Y:90.87, Z:229.24
[[ 9.60051798e-01 -1.22990383e-01 -2.51344206e-01  8.73663656e+02]
 [ 1.20485306e-01  9.92390295e-01 -2.53927811e-02  9.08722453e+01]
 [ 2.52554619e-01 -5.90489839e-03  9.67564621e-01  2.29238121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.6607140570001 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:873.72, Y:90.88, Z:229.25
[[ 9.59940901e-01 -1.23849162e-01 -2.51346078e-01  8.73723870e+02]
 [ 1.21377865e-01  9.92281997e-01 -2.53742409e-02  9.08772843e+01]
 [ 2.52548767e-01 -6.15007873e-03  9.67564622e-01  2.29253438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.720714057 meters
Centerline goodness : 0.999667 with order 1
Centerline is valid?  [True, True]
Translation: X:873.78, Y:90.88, Z:229.27
[[ 9.59839515e-01 -1.24628754e-01 -2.51347926e-01  8.73783522e+02]
 [ 1.22188518e-01  9.92182969e-01 -2.53559254e-02  9.08823867e+01]
 [ 2.52543209e-01 -6.37421143e-03  9.67564622e-01  2.29269663e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.7807140570001 meters
Centerline goodness : 0.999574 with order 1
Centerline is valid?  [True, True]
Translation: X:873.84, Y:90.89, Z:229.28
[[ 9.59688403e-01 -1.25783337e-01 -2.51349800e-01  8.73842921e+02]
 [ 1.23386877e-01  9.92035129e-01 -2.53373344e-02  9.08877277e+01]
 [ 2.52534846e-01 -6.69732091e-03  9.67564622e-01  2.29284363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.840714057 meters
Centerline goodness : 0.999574 with order 1
Centerline is valid?  [True, True]
Translation: X:873.90, Y:90.89, Z:229.30
[[ 9.59430541e-01 -1.27733497e-01 -2.51350734e-01  8.73902412e+02]
 [ 1.25405209e-01  9.91782246e-01 -2.53280612e-02  9.08918900e+01]
 [ 2.52520438e-01 -7.22017594e-03  9.67564622e-01  2.29297135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.9007140570001 meters
Centerline goodness : 0.999479 with order 1
Centerline is valid?  [True, True]
Translation: X:873.96, Y:90.90, Z:229.31
[[ 9.58930548e-01 -1.31432668e-01 -2.51351663e-01  8.73961951e+02]
 [ 1.29231579e-01  9.91291156e-01 -2.53188412e-02  9.08964226e+01]
 [ 2.52490404e-01 -8.20356199e-03  9.67564622e-01  2.29310128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 902.960714057 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:874.02, Y:90.90, Z:229.32
[[ 9.58358160e-01 -1.35542422e-01 -2.51352123e-01  8.74021867e+02]
 [ 1.33481279e-01  9.90727983e-01 -2.53142768e-02  9.09010180e+01]
 [ 2.52452740e-01 -9.29065920e-03  9.67564622e-01  2.29323237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.0207140570001 meters
Centerline goodness : 0.999292 with order 1
Centerline is valid?  [True, True]
Translation: X:874.08, Y:90.91, Z:229.34
[[ 9.58021579e-01 -1.37898824e-01 -2.51353472e-01  8.74080974e+02]
 [ 1.35920804e-01  9.90396588e-01 -2.53008720e-02  9.09063181e+01]
 [ 2.52428582e-01 -9.92538457e-03  9.67564622e-01  2.29337271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.080714057 meters
Centerline goodness : 0.998939 with order 1
Centerline is valid?  [True, True]
Translation: X:874.14, Y:90.91, Z:229.35
[[ 9.58351322e-01 -1.35586293e-01 -2.51354532e-01  8.74138263e+02]
 [ 1.33532903e-01  9.90721637e-01 -2.52903351e-02  9.09126856e+01]
 [ 2.52451397e-01 -9.32707424e-03  9.67564622e-01  2.29352552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.1407140570001 meters
Centerline goodness : 0.998984 with order 1
Centerline is valid?  [True, True]
Translation: X:874.20, Y:90.92, Z:229.37
[[ 9.58702453e-01 -1.33080825e-01 -2.51354532e-01  8.74197398e+02]
 [ 1.30942830e-01  9.91067290e-01 -2.52903351e-02  9.09189975e+01]
 [ 2.52474914e-01 -8.66716764e-03  9.67564622e-01  2.29369165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.200714057 meters
Centerline goodness : 0.998484 with order 1
Centerline is valid?  [True, True]
Translation: X:874.26, Y:90.92, Z:229.39
[[ 9.59044275e-01 -1.30592193e-01 -2.51355840e-01  8.74257353e+02]
 [ 1.28373611e-01  9.91403688e-01 -2.52773317e-02  9.09242288e+01]
 [ 2.52496129e-01 -8.02537668e-03  9.67564622e-01  2.29385009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.2607140570001 meters
Centerline goodness : 0.998514 with order 1
Centerline is valid?  [True, True]
Translation: X:874.32, Y:90.93, Z:229.40
[[ 9.59388853e-01 -1.28032700e-01 -2.51357627e-01  8.74316462e+02]
 [ 1.25732436e-01  9.91742562e-01 -2.52595497e-02  9.09282649e+01]
 [ 2.52516105e-01 -7.37007625e-03  9.67564622e-01  2.29397198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.320714057 meters
Centerline goodness : 0.997871 with order 1
Centerline is valid?  [True, True]
Translation: X:874.38, Y:90.93, Z:229.41
[[ 9.60002078e-01 -1.23345156e-01 -2.51360263e-01  8.74375008e+02]
 [ 1.20893764e-01  9.92344688e-01 -2.52332881e-02  9.09333022e+01]
 [ 2.52548426e-01 -6.16387931e-03  9.67564623e-01  2.29411296e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.3807140570001 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:874.43, Y:90.95, Z:229.42
[[ 9.61335643e-01 -1.12479570e-01 -2.51360552e-01  8.74434667e+02]
 [ 1.09663289e-01  9.93648524e-01 -2.52304139e-02  9.09453461e+01]
 [ 2.52601948e-01 -3.31012866e-03  9.67564623e-01  2.29423626e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.440714057 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:874.49, Y:90.95, Z:229.44
[[ 9.62023278e-01 -1.06433973e-01 -2.51362332e-01  8.74492544e+02]
 [ 1.03419252e-01  9.94318249e-01 -2.52126637e-02  9.09500649e+01]
 [ 2.52617638e-01 -1.74053500e-03  9.67564623e-01  2.29441254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.500714057 meters
Centerline goodness : 0.998417 with order 1
Centerline is valid?  [True, True]
Translation: X:874.55, Y:90.96, Z:229.46
[[ 9.62743360e-01 -9.97104081e-02 -2.51362404e-01  8.74551510e+02]
 [ 9.64703238e-02  9.95016499e-01 -2.52119547e-02  9.09600675e+01]
 [ 2.52623633e-01  2.36294945e-05  9.67564623e-01  2.29457454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.560714057 meters
Centerline goodness : 0.998452 with order 1
Centerline is valid?  [True, True]
Translation: X:874.61, Y:90.97, Z:229.47
[[ 9.63087422e-01 -9.63257611e-02 -2.51364209e-01  8.74609167e+02]
 [ 9.29769579e-02  9.95349462e-01 -2.51939440e-02  9.09667265e+01]
 [ 2.52622056e-01  8.92891090e-04  9.67564623e-01  2.29472742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.620714057 meters
Centerline goodness : 0.999061 with order 1
Centerline is valid?  [True, True]
Translation: X:874.67, Y:90.97, Z:229.49
[[ 9.63471882e-01 -9.24018426e-02 -2.51363944e-01  8.74667076e+02]
 [ 8.89209594e-02  9.95719938e-01 -2.51965849e-02  9.09730040e+01]
 [ 2.52616302e-01  1.92467803e-03  9.67564623e-01  2.29487038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.680714057 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:874.72, Y:90.98, Z:229.50
[[ 9.63899469e-01 -8.78305508e-02 -2.51363498e-01  8.74724802e+02]
 [ 8.41955763e-02  9.96130520e-01 -2.52010374e-02  9.09797854e+01]
 [ 2.52604273e-01  3.12757199e-03  9.67564623e-01  2.29501715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.740714057 meters
Centerline goodness : 0.999350 with order 1
Centerline is valid?  [True, True]
Translation: X:874.78, Y:90.99, Z:229.51
[[ 9.64059960e-01 -8.60549585e-02 -2.51362166e-01  8.74780865e+02]
 [ 8.23571612e-02  9.96283863e-01 -2.52143159e-02  9.09855148e+01]
 [ 2.52597886e-01  3.60663800e-03  9.67564623e-01  2.29514520e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.800714057 meters
Centerline goodness : 0.999469 with order 1
Centerline is valid?  [True, True]
Translation: X:874.84, Y:90.99, Z:229.53
[[ 9.64477114e-01 -8.12532041e-02 -2.51359927e-01  8.74837589e+02]
 [ 7.73891788e-02  9.96681508e-01 -2.52366168e-02  9.09921339e+01]
 [ 2.52576347e-01  4.88760104e-03  9.67564623e-01  2.29528198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.860714057 meters
Centerline goodness : 0.999250 with order 1
Centerline is valid?  [True, True]
Translation: X:874.89, Y:91.00, Z:229.54
[[ 9.64636511e-01 -7.93425643e-02 -2.51358628e-01  8.74894204e+02]
 [ 7.54113873e-02  9.96832776e-01 -2.52495455e-02  9.09976353e+01]
 [ 2.52565883e-01  5.40133057e-03  9.67564623e-01  2.29543373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.920714057 meters
Centerline goodness : 0.999367 with order 1
Centerline is valid?  [True, True]
Translation: X:874.95, Y:91.00, Z:229.56
[[ 9.65055039e-01 -7.40997736e-02 -2.51352334e-01  8.74950909e+02]
 [ 6.99774382e-02  9.97227385e-01 -2.53120551e-02  9.10043974e+01]
 [ 2.52531048e-01  6.83853393e-03  9.67564625e-01  2.29561396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 903.980714057 meters
Centerline goodness : 0.999566 with order 1
Centerline is valid?  [True, True]
Translation: X:875.01, Y:91.01, Z:229.58
[[ 9.65137893e-01 -7.30142144e-02 -2.51351888e-01  8.75007358e+02]
 [ 6.88545425e-02  9.97305434e-01 -2.53164784e-02  9.10096052e+01]
 [ 2.52523067e-01  7.12717338e-03  9.67564625e-01  2.29576601e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.0407140570001 meters
Centerline goodness : 0.999589 with order 1
Centerline is valid?  [True, True]
Translation: X:875.06, Y:91.01, Z:229.59
[[ 9.65278515e-01 -7.11532408e-02 -2.51345589e-01  8.75064164e+02]
 [ 6.69153265e-02  9.97435839e-01 -2.53788638e-02  9.10145141e+01]
 [ 2.52506887e-01  7.67879973e-03  9.67564627e-01  2.29590540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.100714057 meters
Centerline goodness : 0.999324 with order 1
Centerline is valid?  [True, True]
Translation: X:875.12, Y:91.02, Z:229.60
[[ 9.65368349e-01 -6.99462330e-02 -2.51339361e-01  8.75120474e+02]
 [ 6.56521083e-02  9.97518214e-01 -2.54404005e-02  9.10206468e+01]
 [ 2.52495051e-01  8.05839850e-03  9.67564629e-01  2.29604807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.1607140570001 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:875.18, Y:91.03, Z:229.62
[[ 9.65497152e-01 -6.81681109e-02 -2.51333162e-01  8.75178574e+02]
 [ 6.37988930e-02  9.97636895e-01 -2.55015016e-02  9.10260253e+01]
 [ 2.52477625e-01  8.58684961e-03  9.67564631e-01  2.29618079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.220714057 meters
Centerline goodness : 0.999564 with order 1
Centerline is valid?  [True, True]
Translation: X:875.24, Y:91.03, Z:229.63
[[ 9.65485416e-01 -6.83374325e-02 -2.51332263e-01  8.75235590e+02]
 [ 6.39715482e-02  9.97625612e-01 -2.55103582e-02  9.10310135e+01]
 [ 2.52478815e-01  8.55176485e-03  9.67564631e-01  2.29631715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.2807140570001 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:875.29, Y:91.04, Z:229.65
[[ 9.65211082e-01 -7.21306696e-02 -2.51325952e-01  8.75291433e+02]
 [ 6.78749737e-02  9.97366052e-01 -2.55723861e-02  9.10366063e+01]
 [ 2.52508526e-01  7.62400806e-03  9.67564633e-01  2.29646429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.340714057 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:875.35, Y:91.04, Z:229.66
[[ 9.64873698e-01 -7.65188069e-02 -2.51323735e-01  8.75347655e+02]
 [ 7.24036980e-02  9.97046962e-01 -2.55941609e-02  9.10426625e+01]
 [ 2.52540001e-01  6.49836482e-03  9.67564633e-01  2.29661337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.4007140570001 meters
Centerline goodness : 0.999326 with order 1
Centerline is valid?  [True, True]
Translation: X:875.40, Y:91.05, Z:229.68
[[ 9.64523306e-01 -8.08348972e-02 -2.51317550e-01  8.75404774e+02]
 [ 7.68479924e-02  9.96712707e-01 -2.56547523e-02  9.10486602e+01]
 [ 2.52565195e-01  5.43135735e-03  9.67564635e-01  2.29675181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.460714057 meters
Centerline goodness : 0.999567 with order 1
Centerline is valid?  [True, True]
Translation: X:875.46, Y:91.05, Z:229.69
[[ 9.64005977e-01 -8.68040610e-02 -2.51311624e-01  8.75461383e+02]
 [ 8.30013974e-02  9.96217660e-01 -2.57126802e-02  9.10540951e+01]
 [ 2.52593043e-01  3.92796148e-03  9.67564637e-01  2.29689190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.5207140570001 meters
Centerline goodness : 0.999688 with order 1
Centerline is valid?  [True, True]
Translation: X:875.52, Y:91.06, Z:229.70
[[ 9.63552273e-01 -9.17081817e-02 -2.51309824e-01  8.75517235e+02]
 [ 8.80648879e-02  9.95782370e-01 -2.57302624e-02  9.10598398e+01]
 [ 2.52609567e-01  2.66088136e-03  9.67564637e-01  2.29701884e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.580714057 meters
Centerline goodness : 0.999641 with order 1
Centerline is valid?  [True, True]
Translation: X:875.57, Y:91.07, Z:229.71
[[ 9.62761385e-01 -9.96744984e-02 -2.51307602e-01  8.75574997e+02]
 [ 9.62922419e-02  9.95019920e-01 -2.57519438e-02  9.10650015e+01]
 [ 2.52622882e-01  5.94004705e-04  9.67564637e-01  2.29714224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.6407140570001 meters
Centerline goodness : 0.999426 with order 1
Centerline is valid?  [True, True]
Translation: X:875.63, Y:91.07, Z:229.73
[[ 9.62163795e-01 -1.05299420e-01 -2.51302337e-01  8.75632411e+02]
 [ 1.02092354e-01  9.94440217e-01 -2.58032257e-02  9.10712754e+01]
 [ 2.52622215e-01 -8.29117667e-04  9.67564638e-01  2.29730105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.700714057 meters
Centerline goodness : 0.999545 with order 1
Centerline is valid?  [True, True]
Translation: X:875.69, Y:91.08, Z:229.74
[[ 9.61893582e-01 -1.07741963e-01 -2.51301424e-01  8.75689474e+02]
 [ 1.04614534e-01  9.94177818e-01 -2.58121116e-02  9.10764160e+01]
 [ 2.52619349e-01 -1.46127697e-03  9.67564638e-01  2.29744454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.7607140570001 meters
Centerline goodness : 0.999690 with order 1
Centerline is valid?  [True, True]
Translation: X:875.75, Y:91.08, Z:229.76
[[ 9.62076954e-01 -1.06091907e-01 -2.51301495e-01  8.75746986e+02]
 [ 1.02909289e-01  9.94355796e-01 -2.58114167e-02  9.10822289e+01]
 [ 2.52621481e-01 -1.02868895e-03  9.67564638e-01  2.29759025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.820714057 meters
Centerline goodness : 0.999569 with order 1
Centerline is valid?  [True, True]
Translation: X:875.81, Y:91.09, Z:229.78
[[ 9.62648964e-01 -1.00771923e-01 -2.51300600e-01  8.75805511e+02]
 [ 9.74086418e-02  9.94909482e-01 -2.58201291e-02  9.10879084e+01]
 [ 2.52623294e-01  3.76870379e-04  9.67564638e-01  2.29775360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.8807140570001 meters
Centerline goodness : 0.999353 with order 1
Centerline is valid?  [True, True]
Translation: X:875.86, Y:91.09, Z:229.79
[[ 9.63680375e-01 -9.03752254e-02 -2.51301517e-01  8.75863035e+02]
 [ 8.66662482e-02  9.95902979e-01 -2.58111996e-02  9.10942857e+01]
 [ 2.52604623e-01  3.09438682e-03  9.67564638e-01  2.29792891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 904.940714057 meters
Centerline goodness : 0.999279 with order 1
Centerline is valid?  [True, True]
Translation: X:875.92, Y:91.10, Z:229.81
[[ 9.64649572e-01 -7.93646750e-02 -2.51301517e-01  8.75919883e+02]
 [ 7.52879766e-02  9.96827720e-01 -2.58111996e-02  9.10992939e+01]
 [ 2.52552816e-01  5.97877985e-03  9.67564638e-01  2.29808535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.000714057 meters
Centerline goodness : 0.999278 with order 1
Centerline is valid?  [True, True]
Translation: X:875.98, Y:91.10, Z:229.82
[[ 9.65365294e-01 -7.01290855e-02 -2.51300142e-01  8.75978802e+02]
 [ 6.57411403e-02  9.97502478e-01 -2.58245832e-02  9.11039729e+01]
 [ 2.52483569e-01  8.40939846e-03  9.67564638e-01  2.29822995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.060714057 meters
Centerline goodness : 0.999328 with order 1
Centerline is valid?  [True, True]
Translation: X:876.04, Y:91.11, Z:229.84
[[ 9.65920170e-01 -6.20204393e-02 -2.51300002e-01  8.76037112e+02]
 [ 5.73624396e-02  9.98019324e-01 -2.58259426e-02  9.11085779e+01]
 [ 2.52403995e-01  1.05306176e-02  9.67564638e-01  2.29837529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.120714057 meters
Centerline goodness : 0.999302 with order 1
Centerline is valid?  [True, True]
Translation: X:876.10, Y:91.11, Z:229.85
[[ 9.66423138e-01 -5.36154699e-02 -2.51300020e-01  8.76095417e+02]
 [ 4.86784570e-02  9.98480564e-01 -2.58257736e-02  9.11135271e+01]
 [ 2.52302847e-01  1.27257280e-02  9.67564638e-01  2.29852509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.180714057 meters
Centerline goodness : 0.999164 with order 1
Centerline is valid?  [True, True]
Translation: X:876.15, Y:91.12, Z:229.87
[[ 9.66609031e-01 -5.01538608e-02 -2.51299764e-01  8.76153837e+02]
 [ 4.51014198e-02  9.98648468e-01 -2.58282636e-02  9.11191439e+01]
 [ 2.52255511e-01  1.36318567e-02  9.67564638e-01  2.29868172e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.240714057 meters
Centerline goodness : 0.999137 with order 1
Centerline is valid?  [True, True]
Translation: X:876.21, Y:91.12, Z:229.88
[[ 9.66773177e-01 -4.68842368e-02 -2.51299609e-01  8.76210062e+02]
 [ 4.17230677e-02  9.98795279e-01 -2.58297724e-02  9.11235019e+01]
 [ 2.52207872e-01  1.44865405e-02  9.67564638e-01  2.29882732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.300714057 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:876.27, Y:91.13, Z:229.90
[[ 9.66813952e-01 -4.60474599e-02 -2.51297460e-01  8.76266179e+02]
 [ 4.08531659e-02  9.98830697e-01 -2.58506618e-02  9.11277297e+01]
 [ 2.52193975e-01  1.47264837e-02  9.67564639e-01  2.29900286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.360714057 meters
Centerline goodness : 0.999141 with order 1
Centerline is valid?  [True, True]
Translation: X:876.32, Y:91.13, Z:229.92
[[ 9.66844720e-01 -4.54311794e-02 -2.51291256e-01  8.76322525e+02]
 [ 4.02008928e-02  9.98855604e-01 -2.59108385e-02  9.11312355e+01]
 [ 2.52180839e-01  1.49496246e-02  9.67564640e-01  2.29916562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.420714057 meters
Centerline goodness : 0.999096 with order 1
Centerline is valid?  [True, True]
Translation: X:876.38, Y:91.13, Z:229.93
[[ 9.66816872e-01 -4.60541193e-02 -2.51285006e-01  8.76379052e+02]
 [ 4.08287971e-02  9.98828564e-01 -2.59713069e-02  9.11328836e+01]
 [ 2.52186728e-01  1.48498332e-02  9.67564642e-01  2.29931811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.480714057 meters
Centerline goodness : 0.998990 with order 1
Centerline is valid?  [True, True]
Translation: X:876.44, Y:91.13, Z:229.95
[[ 9.66652756e-01 -4.94106617e-02 -2.51278801e-01  8.76436188e+02]
 [ 4.42809918e-02  9.98679914e-01 -2.60312153e-02  9.11329394e+01]
 [ 2.52233310e-01  1.40362715e-02  9.67564644e-01  2.29946341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.5407140570001 meters
Centerline goodness : 0.998566 with order 1
Centerline is valid?  [True, True]
Translation: X:876.49, Y:91.13, Z:229.96
[[ 9.66282724e-01 -5.61900256e-02 -2.51277491e-01  8.76494926e+02]
 [ 5.12818581e-02  9.98344574e-01 -2.60438515e-02  9.11313009e+01]
 [ 2.52324924e-01  1.22797472e-02  9.67564644e-01  2.29960827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.600714057 meters
Centerline goodness : 0.998341 with order 1
Centerline is valid?  [True, True]
Translation: X:876.55, Y:91.13, Z:229.97
[[ 9.65971516e-01 -6.13107153e-02 -2.51276793e-01  8.76553131e+02]
 [ 5.65708017e-02  9.98058671e-01 -2.60505872e-02  9.11319574e+01]
 [ 2.52386162e-01  1.09491956e-02  9.67564644e-01  2.29973980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.6607140570001 meters
Centerline goodness : 0.998021 with order 1
Centerline is valid?  [True, True]
Translation: X:876.61, Y:91.13, Z:229.99
[[ 9.65248285e-01 -7.18064041e-02 -2.51275921e-01  8.76611887e+02]
 [ 6.74133457e-02  9.97384765e-01 -2.60589918e-02  9.11294381e+01]
 [ 2.52489978e-01  8.21404659e-03  9.67564644e-01  2.29990575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.720714057 meters
Centerline goodness : 0.998635 with order 1
Centerline is valid?  [True, True]
Translation: X:876.67, Y:91.13, Z:230.01
[[ 9.64349681e-01 -8.30069964e-02 -2.51275809e-01  8.76671123e+02]
 [ 7.89870202e-02  9.96534958e-01 -2.60600734e-02  9.11263713e+01]
 [ 2.52568296e-01  5.28349606e-03  9.67564644e-01  2.30005298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.7807140570001 meters
Centerline goodness : 0.998500 with order 1
Centerline is valid?  [True, True]
Translation: X:876.73, Y:91.13, Z:230.02
[[ 9.63698047e-01 -9.02595121e-02 -2.51275337e-01  8.76729174e+02]
 [ 8.64805946e-02  9.95912517e-01 -2.60646263e-02  9.11271356e+01]
 [ 2.52600833e-01  3.38798899e-03  9.67564644e-01  2.30021331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.840714057 meters
Centerline goodness : 0.998239 with order 1
Centerline is valid?  [True, True]
Translation: X:876.79, Y:91.13, Z:230.04
[[ 9.63036023e-01 -9.70689001e-02 -2.51275241e-01  8.76785444e+02]
 [ 9.35175360e-02  9.95276373e-01 -2.60655476e-02  9.11278166e+01]
 [ 2.52618464e-01  1.60341992e-03  9.67564644e-01  2.30036045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.9007140570001 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:876.84, Y:91.13, Z:230.05
[[ 9.62281000e-01 -1.04293833e-01 -2.51272905e-01  8.76842317e+02]
 [ 1.00978660e-01  9.94546492e-01 -2.60880474e-02  9.11278803e+01]
 [ 2.52623409e-01 -2.69169057e-04  9.67564644e-01  2.30050156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 905.960714057 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:876.90, Y:91.13, Z:230.06
[[ 9.62099528e-01 -1.05960430e-01 -2.51270541e-01  8.76900513e+02]
 [ 1.02695207e-01  9.94370113e-01 -2.61107971e-02  9.11330645e+01]
 [ 2.52622628e-01 -6.83094621e-04  9.67564645e-01  2.30064268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.0207140570001 meters
Centerline goodness : 0.998155 with order 1
Centerline is valid?  [True, True]
Translation: X:876.96, Y:91.14, Z:230.08
[[ 9.62168251e-01 -1.05336876e-01 -2.51269575e-01  8.76956829e+02]
 [ 1.02048312e-01  9.94436465e-01 -2.61200920e-02  9.11402880e+01]
 [ 2.52623037e-01 -5.09712791e-04  9.67564645e-01  2.30078500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.080714057 meters
Centerline goodness : 0.998242 with order 1
Centerline is valid?  [True, True]
Translation: X:877.01, Y:91.15, Z:230.09
[[ 9.62200569e-01 -1.05044680e-01 -2.51268145e-01  8.77013697e+02]
 [ 1.01742727e-01  9.94467415e-01 -2.61338404e-02  9.11472340e+01]
 [ 2.52623204e-01 -4.18710110e-04  9.67564645e-01  2.30092291e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.1407140570001 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:877.07, Y:91.15, Z:230.11
[[ 9.62120076e-01 -1.05795257e-01 -2.51261462e-01  8.77070226e+02]
 [ 1.02501736e-01  9.94387783e-01 -2.61979406e-02  9.11530916e+01]
 [ 2.52622946e-01 -5.49171433e-04  9.67564647e-01  2.30106542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.200714057 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:877.13, Y:91.16, Z:230.12
[[ 9.62026008e-01 -1.06662942e-01 -2.51254805e-01  8.77127520e+02]
 [ 1.03381888e-01  9.94294982e-01 -2.62616391e-02  9.11585894e+01]
 [ 2.52622535e-01 -7.10816205e-04  9.67564649e-01  2.30122323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.2607140570001 meters
Centerline goodness : 0.998321 with order 1
Centerline is valid?  [True, True]
Translation: X:877.18, Y:91.16, Z:230.14
[[ 9.62040826e-01 -1.06530314e-01 -2.51254337e-01  8.77184258e+02]
 [ 1.03243644e-01  9.94309228e-01 -2.62661109e-02  9.11634259e+01]
 [ 2.52622643e-01 -6.71342287e-04  9.67564649e-01  2.30136865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.320714057 meters
Centerline goodness : 0.997932 with order 1
Centerline is valid?  [True, True]
Translation: X:877.24, Y:91.17, Z:230.15
[[ 9.62177916e-01 -1.05287595e-01 -2.51253219e-01  8.77241858e+02]
 [ 1.01956457e-01  9.94441758e-01 -2.62767989e-02  9.11688944e+01]
 [ 2.52623314e-01 -3.33932304e-04  9.67564649e-01  2.30150877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.3807140570001 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:877.30, Y:91.18, Z:230.16
[[ 9.62649440e-01 -1.00887737e-01 -2.51252304e-01  8.77297265e+02]
 [ 9.74068491e-02  9.94897470e-01 -2.62855502e-02  9.11756625e+01]
 [ 2.52622171e-01  8.30074932e-04  9.67564649e-01  2.30164326e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.440714057 meters
Centerline goodness : 0.997949 with order 1
Centerline is valid?  [True, True]
Translation: X:877.35, Y:91.18, Z:230.18
[[ 9.63312639e-01 -9.43513210e-02 -2.51250049e-01  8.77353939e+02]
 [ 9.06460100e-02  9.95535654e-01 -2.63070873e-02  9.11844525e+01]
 [ 2.52610490e-01  2.56713527e-03  9.67564649e-01  2.30179038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.500714057 meters
Centerline goodness : 0.997664 with order 1
Centerline is valid?  [True, True]
Translation: X:877.41, Y:91.19, Z:230.19
[[ 9.63731971e-01 -8.99713130e-02 -2.51248586e-01  8.77409943e+02]
 [ 8.61159201e-02  9.95937373e-01 -2.63210547e-02  9.11939219e+01]
 [ 2.52595996e-01  3.72993881e-03  9.67564649e-01  2.30192535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.560714057 meters
Centerline goodness : 0.998322 with order 1
Centerline is valid?  [True, True]
Translation: X:877.47, Y:91.21, Z:230.21
[[ 9.64115555e-01 -8.57689226e-02 -2.51246669e-01  8.77467230e+02]
 [ 8.17683982e-02  9.96303251e-01 -2.63393418e-02  9.12054176e+01]
 [ 2.52576970e-01  4.85013149e-03  9.67564649e-01  2.30209778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.620714057 meters
Centerline goodness : 0.998106 with order 1
Centerline is valid?  [True, True]
Translation: X:877.52, Y:91.22, Z:230.22
[[ 9.63987541e-01 -8.71959436e-02 -2.51246669e-01  8.77523678e+02]
 [ 8.32430687e-02  9.96181123e-01 -2.63393418e-02  9.12178944e+01]
 [ 2.52583872e-01  4.47625361e-03  9.67564649e-01  2.30224618e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.680714057 meters
Centerline goodness : 0.998122 with order 1
Centerline is valid?  [True, True]
Translation: X:877.58, Y:91.23, Z:230.24
[[ 9.63708010e-01 -9.02500785e-02 -2.51240512e-01  8.77581202e+02]
 [ 8.63839601e-02  9.95912125e-01 -2.63979446e-02  9.12284721e+01]
 [ 2.52595888e-01  3.73676034e-03  9.67564651e-01  2.30240064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.740714057 meters
Centerline goodness : 0.998410 with order 1
Centerline is valid?  [True, True]
Translation: X:877.64, Y:91.24, Z:230.26
[[ 9.62930959e-01 -9.81957890e-02 -2.51240034e-01  8.77636445e+02]
 [ 9.45942390e-02  9.95165734e-01 -2.64024927e-02  9.12417072e+01]
 [ 2.52618086e-01  1.65791786e-03  9.67564651e-01  2.30255273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.800714057 meters
Centerline goodness : 0.998810 with order 1
Centerline is valid?  [True, True]
Translation: X:877.69, Y:91.25, Z:230.27
[[ 9.62412711e-01 -1.03157397e-01 -2.51237587e-01  8.77692883e+02]
 [ 9.97159578e-02  9.94664972e-01 -2.64257593e-02  9.12526883e+01]
 [ 2.52623240e-01  3.80090123e-04  9.67564651e-01  2.30270431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.860714057 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:877.75, Y:91.27, Z:230.29
[[ 9.61935722e-01 -1.07529273e-01 -2.51231215e-01  8.77751070e+02]
 [ 1.04218628e-01  9.94201669e-01 -2.64862039e-02  9.12686786e+01]
 [ 2.52622535e-01 -7.04946794e-04  9.67564653e-01  2.30285523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.920714057 meters
Centerline goodness : 0.999335 with order 1
Centerline is valid?  [True, True]
Translation: X:877.81, Y:91.29, Z:230.30
[[ 9.61797856e-01 -1.08753253e-01 -2.51232193e-01  8.77810208e+02]
 [ 1.05486094e-01  9.94068235e-01 -2.64769225e-02  9.12865466e+01]
 [ 2.52621394e-01 -1.03605533e-03  9.67564653e-01  2.30300733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 906.980714057 meters
Centerline goodness : 0.999303 with order 1
Centerline is valid?  [True, True]
Translation: X:877.87, Y:91.30, Z:230.32
[[ 9.61765070e-01 -1.09038367e-01 -2.51234124e-01  8.77867122e+02]
 [ 1.05785566e-01  9.94036900e-01 -2.64585810e-02  9.13015523e+01]
 [ 2.52620991e-01 -1.13000491e-03  9.67564653e-01  2.30316280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.0407140570001 meters
Centerline goodness : 0.999614 with order 1
Centerline is valid?  [True, True]
Translation: X:877.93, Y:91.31, Z:230.33
[[ 9.60977580e-01 -1.15772483e-01 -2.51234598e-01  8.77926171e+02]
 [ 1.12746990e-01  9.93271513e-01 -2.64540804e-02  9.13148829e+01]
 [ 2.52606824e-01 -2.90416648e-03  9.67564653e-01  2.30333151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.100714057 meters
Centerline goodness : 0.999473 with order 1
Centerline is valid?  [True, True]
Translation: X:877.99, Y:91.32, Z:230.35
[[ 9.59436666e-01 -1.27912086e-01 -2.51236508e-01  8.77985624e+02]
 [ 1.25299849e-01  9.91766651e-01 -2.64359366e-02  9.13202943e+01]
 [ 2.52549465e-01 -6.11628951e-03  9.67564653e-01  2.30347619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.1607140570001 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:878.05, Y:91.32, Z:230.36
[[ 9.59083730e-01 -1.30530175e-01 -2.51237483e-01  8.78045965e+02]
 [ 1.28008612e-01  9.91420913e-01 -2.64266637e-02  9.13238291e+01]
 [ 2.52531572e-01 -6.81517827e-03  9.67564653e-01  2.30359968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.220714057 meters
Centerline goodness : 0.999426 with order 1
Centerline is valid?  [True, True]
Translation: X:878.10, Y:91.33, Z:230.37
[[ 9.58747142e-01 -1.32977112e-01 -2.51238940e-01  8.78104880e+02]
 [ 1.30541702e-01  9.91090928e-01 -2.64128087e-02  9.13285579e+01]
 [ 2.52512933e-01 -7.47395387e-03  9.67564654e-01  2.30373676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.2807140570001 meters
Centerline goodness : 0.999261 with order 1
Centerline is valid?  [True, True]
Translation: X:878.16, Y:91.33, Z:230.39
[[ 9.58827955e-01 -1.32392248e-01 -2.51239419e-01  8.78163757e+02]
 [ 1.29938301e-01  9.91170340e-01 -2.64082507e-02  9.13349621e+01]
 [ 2.52517308e-01 -7.32465433e-03  9.67564654e-01  2.30389905e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.340714057 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:878.22, Y:91.34, Z:230.41
[[ 9.59059819e-01 -1.30700131e-01 -2.51240400e-01  8.78223494e+02]
 [ 1.28191564e-01  9.91398013e-01 -2.63989070e-02  9.13425039e+01]
 [ 2.52529574e-01 -6.88876890e-03  9.67564654e-01  2.30406908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.4007140570001 meters
Centerline goodness : 0.999713 with order 1
Centerline is valid?  [True, True]
Translation: X:878.28, Y:91.35, Z:230.42
[[ 9.59371301e-01 -1.28389112e-01 -2.51242798e-01  8.78283199e+02]
 [ 1.25808618e-01  9.91703834e-01 -2.63760684e-02  9.13500473e+01]
 [ 2.52544846e-01 -6.30406625e-03  9.67564654e-01  2.30423603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.460714057 meters
Centerline goodness : 0.999329 with order 1
Centerline is valid?  [True, True]
Translation: X:878.34, Y:91.36, Z:230.44
[[ 9.59391324e-01 -1.28235655e-01 -2.51244711e-01  8.78340877e+02]
 [ 1.25654761e-01  9.91723825e-01 -2.63578341e-02  9.13557738e+01]
 [ 2.52545380e-01 -6.28261694e-03  9.67564654e-01  2.30439076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.5207140570001 meters
Centerline goodness : 0.999403 with order 1
Centerline is valid?  [True, True]
Translation: X:878.40, Y:91.36, Z:230.46
[[ 9.59111121e-01 -1.30314825e-01 -2.51244711e-01  8.78399225e+02]
 [ 1.27804018e-01  9.91449140e-01 -2.63578341e-02  9.13603835e+01]
 [ 2.52531169e-01 -6.82999171e-03  9.67564654e-01  2.30455594e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.580714057 meters
Centerline goodness : 0.999595 with order 1
Centerline is valid?  [True, True]
Translation: X:878.46, Y:91.36, Z:230.47
[[ 9.58581844e-01 -1.34150942e-01 -2.51245642e-01  8.78459235e+02]
 [ 1.31771855e-01  9.90929821e-01 -2.63489574e-02  9.13642776e+01]
 [ 2.52501537e-01 -7.84947228e-03  9.67564654e-01  2.30471848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.6407140570001 meters
Centerline goodness : 0.999668 with order 1
Centerline is valid?  [True, True]
Translation: X:878.52, Y:91.37, Z:230.49
[[ 9.58129907e-01 -1.37337017e-01 -2.51248135e-01  8.78518608e+02]
 [ 1.35071716e-01  9.90486051e-01 -2.63251658e-02  9.13690324e+01]
 [ 2.52473193e-01 -8.71358807e-03  9.67564654e-01  2.30486323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.700714057 meters
Centerline goodness : 0.999265 with order 1
Centerline is valid?  [True, True]
Translation: X:878.58, Y:91.37, Z:230.50
[[ 9.57867279e-01 -1.39154223e-01 -2.51249634e-01  8.78577376e+02]
 [ 1.36954052e-01  9.90227917e-01 -2.63108492e-02  9.13746599e+01]
 [ 2.52455668e-01 -9.20735401e-03  9.67564654e-01  2.30500572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.7607140570001 meters
Centerline goodness : 0.999358 with order 1
Centerline is valid?  [True, True]
Translation: X:878.64, Y:91.38, Z:230.51
[[ 9.57801053e-01 -1.39608456e-01 -2.51250118e-01  8.78637144e+02]
 [ 1.37424842e-01  9.90162812e-01 -2.63062302e-02  9.13810009e+01]
 [ 2.52451096e-01 -9.33187265e-03  9.67564654e-01  2.30514574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.820714057 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:878.70, Y:91.39, Z:230.53
[[ 9.57981394e-01 -1.38362950e-01 -2.51251554e-01  8.78696116e+02]
 [ 1.36140853e-01  9.90340533e-01 -2.62925083e-02  9.13879562e+01]
 [ 2.52462507e-01 -9.01786709e-03  9.67564655e-01  2.30528705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.8807140570001 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:878.75, Y:91.39, Z:230.55
[[ 9.58334809e-01 -1.35886610e-01 -2.51255296e-01  8.78754954e+02]
 [ 1.33590266e-01  9.90688764e-01 -2.62567018e-02  9.13949051e+01]
 [ 2.52483733e-01 -8.40255046e-03  9.67564655e-01  2.30546315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 907.940714057 meters
Centerline goodness : 0.999191 with order 1
Centerline is valid?  [True, True]
Translation: X:878.81, Y:91.40, Z:230.56
[[ 9.58516602e-01 -1.34595656e-01 -2.51256709e-01  8.78813247e+02]
 [ 1.32259277e-01  9.90867690e-01 -2.62431767e-02  9.14011343e+01]
 [ 2.52494372e-01 -8.07651014e-03  9.67564655e-01  2.30561510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.000714057 meters
Centerline goodness : 0.999404 with order 1
Centerline is valid?  [True, True]
Translation: X:878.87, Y:91.41, Z:230.58
[[ 9.58662130e-01 -1.33553449e-01 -2.51257631e-01  8.78872880e+02]
 [ 1.31184212e-01  9.91010828e-01 -2.62343417e-02  9.14069995e+01]
 [ 2.52502720e-01 -7.81116433e-03  9.67564655e-01  2.30577006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.060714057 meters
Centerline goodness : 0.999067 with order 1
Centerline is valid?  [True, True]
Translation: X:878.93, Y:91.41, Z:230.59
[[ 9.58701202e-01 -1.33269216e-01 -2.51259471e-01  8.78932701e+02]
 [ 1.30895006e-01  9.91049536e-01 -2.62167050e-02  9.14130381e+01]
 [ 2.52504462e-01 -7.75462331e-03  9.67564655e-01  2.30591703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.120714057 meters
Centerline goodness : 0.999024 with order 1
Centerline is valid?  [True, True]
Translation: X:878.99, Y:91.42, Z:230.61
[[ 9.58693584e-01 -1.33320555e-01 -2.51261303e-01  8.78992413e+02]
 [ 1.30952677e-01  9.91042381e-01 -2.61991365e-02  9.14182384e+01]
 [ 2.52503484e-01 -7.78639629e-03  9.67564656e-01  2.30607200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.180714057 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:879.05, Y:91.42, Z:230.62
[[ 9.58580794e-01 -1.34125615e-01 -2.51263169e-01  8.79051569e+02]
 [ 1.31789594e-01  9.90931908e-01 -2.61812279e-02  9.14223441e+01]
 [ 2.52496265e-01 -8.01704875e-03  9.67564656e-01  2.30620677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.240714057 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:879.11, Y:91.43, Z:230.64
[[ 9.58326063e-01 -1.35927793e-01 -2.51266377e-01  8.79110018e+02]
 [ 1.33660676e-01  9.90682078e-01 -2.61504087e-02  9.14275689e+01]
 [ 2.52479664e-01 -8.52381569e-03  9.67564656e-01  2.30635985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.300714057 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:879.17, Y:91.43, Z:230.65
[[ 9.57936632e-01 -1.38644792e-01 -2.51266853e-01  8.79170276e+02]
 [ 1.36470637e-01  9.90299026e-01 -2.61458291e-02  9.14322986e+01]
 [ 2.52454303e-01 -9.24450014e-03  9.67564656e-01  2.30650538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.360714057 meters
Centerline goodness : 0.998572 with order 1
Centerline is valid?  [True, True]
Translation: X:879.23, Y:91.44, Z:230.67
[[ 9.57580474e-01 -1.41080317e-01 -2.51268742e-01  8.79229865e+02]
 [ 1.38993223e-01  9.89948599e-01 -2.61276661e-02  9.14379428e+01]
 [ 2.52429239e-01 -9.90530952e-03  9.67564656e-01  2.30666704e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.420714057 meters
Centerline goodness : 0.998528 with order 1
Centerline is valid?  [True, True]
Translation: X:879.29, Y:91.44, Z:230.68
[[ 9.57511986e-01 -1.41541013e-01 -2.51270648e-01  8.79289479e+02]
 [ 1.39474298e-01  9.89881419e-01 -2.61093240e-02  9.14438339e+01]
 [ 2.52423686e-01 -1.00458065e-02  9.67564657e-01  2.30681158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.480714057 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:879.35, Y:91.45, Z:230.70
[[ 9.57560153e-01 -1.41209018e-01 -2.51273888e-01  8.79348566e+02]
 [ 1.39139259e-01  9.89929391e-01 -2.60781074e-02  9.14490334e+01]
 [ 2.52425871e-01 -9.99070603e-03  9.67564657e-01  2.30697331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.5407140570001 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:879.41, Y:91.46, Z:230.72
[[ 9.57671258e-01 -1.40451955e-01 -2.51274772e-01  8.79407973e+02]
 [ 1.38358837e-01  9.90038994e-01 -2.60695901e-02  9.14554670e+01]
 [ 2.52433347e-01 -9.79998809e-03  9.67564657e-01  2.30715808e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.600714057 meters
Centerline goodness : 0.998009 with order 1
Centerline is valid?  [True, True]
Translation: X:879.47, Y:91.46, Z:230.73
[[ 9.58083829e-01 -1.37606030e-01 -2.51276654e-01  8.79467316e+02]
 [ 1.35421511e-01  9.90445525e-01 -2.60514340e-02  9.14610991e+01]
 [ 2.52460672e-01 -9.06880642e-03  9.67564657e-01  2.30730591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.6607140570001 meters
Centerline goodness : 0.998182 with order 1
Centerline is valid?  [True, True]
Translation: X:879.53, Y:91.47, Z:230.75
[[ 9.58334015e-01 -1.35850984e-01 -2.51277587e-01  8.79527251e+02]
 [ 1.33609553e-01  9.90691818e-01 -2.60424326e-02  9.14650875e+01]
 [ 2.52476540e-01 -8.61573703e-03  9.67564657e-01  2.30745886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.720714057 meters
Centerline goodness : 0.998554 with order 1
Centerline is valid?  [True, True]
Translation: X:879.59, Y:91.47, Z:230.76
[[ 9.58895573e-01 -1.31825295e-01 -2.51279469e-01  8.79585955e+02]
 [ 1.29452755e-01  9.91244028e-01 -2.60242614e-02  9.14714103e+01]
 [ 2.52509929e-01 -7.57427043e-03  9.67564657e-01  2.30761179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.7807140570001 meters
Centerline goodness : 0.998594 with order 1
Centerline is valid?  [True, True]
Translation: X:879.64, Y:91.48, Z:230.78
[[ 9.59921660e-01 -1.24133022e-01 -2.51279525e-01  8.79644223e+02]
 [ 1.21501343e-01  9.92250064e-01 -2.60237214e-02  9.14815112e+01]
 [ 2.52562528e-01 -5.55006589e-03  9.67564657e-01  2.30775622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.840714057 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:879.70, Y:91.49, Z:230.79
[[ 9.60611803e-01 -1.18673200e-01 -2.51279996e-01  8.79703567e+02]
 [ 1.15858944e-01  9.92924825e-01 -2.60191691e-02  9.14898988e+01]
 [ 2.52589924e-01 -4.11871408e-03  9.67564657e-01  2.30791607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.9007140570001 meters
Centerline goodness : 0.999015 with order 1
Centerline is valid?  [True, True]
Translation: X:879.76, Y:91.50, Z:230.81
[[ 9.61099397e-01 -1.14653205e-01 -2.51281895e-01  8.79762453e+02]
 [ 1.11708582e-01  9.93400800e-01 -2.60008186e-02  9.14987289e+01]
 [ 2.52604713e-01 -3.08097309e-03  9.67564658e-01  2.30809575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 908.960714057 meters
Centerline goodness : 0.999347 with order 1
Centerline is valid?  [True, True]
Translation: X:879.82, Y:91.51, Z:230.82
[[ 9.61702706e-01 -1.09473105e-01 -2.51283793e-01  8.79820465e+02]
 [ 1.06359279e-01  9.93988237e-01 -2.59824659e-02  9.15108547e+01]
 [ 2.52617515e-01 -1.73895526e-03  9.67564658e-01  2.30824226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.0207140570001 meters
Centerline goodness : 0.999131 with order 1
Centerline is valid?  [True, True]
Translation: X:879.88, Y:91.52, Z:230.84
[[ 9.61408308e-01 -1.12022500e-01 -2.51286738e-01  8.79879183e+02]
 [ 1.09001736e-01  9.93702679e-01 -2.59539503e-02  9.15154320e+01]
 [ 2.52611731e-01 -2.43834719e-03  9.67564658e-01  2.30841038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.080714057 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:879.94, Y:91.52, Z:230.86
[[ 9.61011258e-01 -1.15377083e-01 -2.51287664e-01  8.79937135e+02]
 [ 1.12471388e-01  9.93316186e-01 -2.59449814e-02  9.15227045e+01]
 [ 2.52601560e-01 -3.32925309e-03  9.67564658e-01  2.30855683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.1407140570001 meters
Centerline goodness : 0.999348 with order 1
Centerline is valid?  [True, True]
Translation: X:880.00, Y:91.53, Z:230.87
[[ 9.60669752e-01 -1.18185906e-01 -2.51288120e-01  8.79995456e+02]
 [ 1.15375814e-01  9.92983136e-01 -2.59405679e-02  9.15298094e+01]
 [ 2.52590675e-01 -4.07225239e-03  9.67564658e-01  2.30871339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.200714057 meters
Centerline goodness : 0.999304 with order 1
Centerline is valid?  [True, True]
Translation: X:880.05, Y:91.54, Z:230.89
[[ 9.60097032e-01 -1.22750732e-01 -2.51288574e-01  8.80053831e+02]
 [ 1.20095413e-01  9.92423502e-01 -2.59361655e-02  9.15357179e+01]
 [ 2.52568370e-01 -5.27736962e-03  9.67564658e-01  2.30885130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.2607140570001 meters
Centerline goodness : 0.999401 with order 1
Centerline is valid?  [True, True]
Translation: X:880.11, Y:91.54, Z:230.90
[[ 9.59485271e-01 -1.27443489e-01 -2.51289022e-01  8.80113715e+02]
 [ 1.24947391e-01  9.91824425e-01 -2.59318286e-02  9.15396553e+01]
 [ 2.52539432e-01 -6.51670014e-03  9.67564658e-01  2.30899734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.320714057 meters
Centerline goodness : 0.999476 with order 1
Centerline is valid?  [True, True]
Translation: X:880.17, Y:91.55, Z:230.91
[[ 9.59105561e-01 -1.30267678e-01 -2.51290379e-01  8.80172839e+02]
 [ 1.27870243e-01  9.91452179e-01 -2.59186682e-02  9.15455471e+01]
 [ 2.52518759e-01 -7.27382309e-03  9.67564658e-01  2.30914358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.3807140570001 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:880.23, Y:91.55, Z:230.93
[[ 9.58832891e-01 -1.32257169e-01 -2.51291720e-01  8.80230466e+02]
 [ 1.29930250e-01  9.91184658e-01 -2.59056638e-02  9.15501459e+01]
 [ 2.52502707e-01 -7.81119351e-03  9.67564658e-01  2.30930711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.440714057 meters
Centerline goodness : 0.999475 with order 1
Centerline is valid?  [True, True]
Translation: X:880.29, Y:91.56, Z:230.95
[[ 9.59055557e-01 -1.30633458e-01 -2.51291340e-01  8.80288685e+02]
 [ 1.28250801e-01  9.91403267e-01 -2.59093422e-02  9.15561211e+01]
 [ 2.52515683e-01 -7.37981719e-03  9.67564658e-01  2.30946292e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.500714057 meters
Centerline goodness : 0.999381 with order 1
Centerline is valid?  [True, True]
Translation: X:880.35, Y:91.56, Z:230.96
[[ 9.59347875e-01 -1.28468709e-01 -2.51291556e-01  8.80347273e+02]
 [ 1.26013601e-01  9.91690167e-01 -2.59072562e-02  9.15635033e+01]
 [ 2.52531636e-01 -6.81208266e-03  9.67564658e-01  2.30961382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.560714057 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:880.41, Y:91.57, Z:230.98
[[ 9.59763734e-01 -1.25321363e-01 -2.51292920e-01  8.80407237e+02]
 [ 1.22763652e-01  9.92098073e-01 -2.58940102e-02  9.15713684e+01]
 [ 2.52552295e-01 -5.99750485e-03  9.67564659e-01  2.30977323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.620714057 meters
Centerline goodness : 0.999785 with order 1
Centerline is valid?  [True, True]
Translation: X:880.47, Y:91.58, Z:230.99
[[ 9.60023180e-01 -1.23314411e-01 -2.51294749e-01  8.80466920e+02]
 [ 1.20693747e-01  9.92352477e-01 -2.58762558e-02  9.15773911e+01]
 [ 2.52563882e-01 -5.48789940e-03  9.67564659e-01  2.30992840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.680714057 meters
Centerline goodness : 0.999712 with order 1
Centerline is valid?  [True, True]
Translation: X:880.53, Y:91.58, Z:231.01
[[ 9.60234190e-01 -1.21656647e-01 -2.51296558e-01  8.80525605e+02]
 [ 1.18984765e-01  9.92559295e-01 -2.58586778e-02  9.15834647e+01]
 [ 2.52572614e-01 -5.07007525e-03  9.67564659e-01  2.31008424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.740714057 meters
Centerline goodness : 0.999592 with order 1
Centerline is valid?  [True, True]
Translation: X:880.58, Y:91.59, Z:231.02
[[ 9.60448789e-01 -1.19948795e-01 -2.51297454e-01  8.80583649e+02]
 [ 1.17221710e-01  9.92769283e-01 -2.58499632e-02  9.15905596e+01]
 [ 2.52581065e-01 -4.62995133e-03  9.67564659e-01  2.31024177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.800714057 meters
Centerline goodness : 0.999639 with order 1
Centerline is valid?  [True, True]
Translation: X:880.64, Y:91.60, Z:231.04
[[ 9.60646999e-01 -1.18349960e-01 -2.51297892e-01  8.80642511e+02]
 [ 1.15570196e-01  9.92963005e-01 -2.58457023e-02  9.15972758e+01]
 [ 2.52588348e-01 -4.21395016e-03  9.67564659e-01  2.31040978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.860714057 meters
Centerline goodness : 0.999518 with order 1
Centerline is valid?  [True, True]
Translation: X:880.70, Y:91.60, Z:231.06
[[ 9.60676024e-01 -1.18111253e-01 -2.51299242e-01  8.80700768e+02]
 [ 1.15326892e-01  9.92991635e-01 -2.58325731e-02  9.16036836e+01]
 [ 2.52589162e-01 -4.16482686e-03  9.67564659e-01  2.31057103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.920714057 meters
Centerline goodness : 0.999759 with order 1
Centerline is valid?  [True, True]
Translation: X:880.76, Y:91.61, Z:231.07
[[ 9.60822752e-01 -1.16910657e-01 -2.51299696e-01  8.80759869e+02]
 [ 1.14087070e-01  9.93134959e-01 -2.58281555e-02  9.16089207e+01]
 [ 2.52594100e-01 -3.85376655e-03  9.67564659e-01  2.31072489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 909.980714057 meters
Centerline goodness : 0.999447 with order 1
Centerline is valid?  [True, True]
Translation: X:880.82, Y:91.61, Z:231.09
[[ 9.61154579e-01 -1.14148468e-01 -2.51300622e-01  8.80819810e+02]
 [ 1.11234374e-01  9.93458749e-01 -2.58191403e-02  9.16124141e+01]
 [ 2.52604017e-01 -3.13708250e-03  9.67564659e-01  2.31087603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.0407140570001 meters
Centerline goodness : 0.999736 with order 1
Centerline is valid?  [True, True]
Translation: X:880.88, Y:91.62, Z:231.10
[[ 9.61598149e-01 -1.10345261e-01 -2.51302454e-01  8.80876666e+02]
 [ 1.07308058e-01  9.93890977e-01 -2.58012941e-02  9.16192231e+01]
 [ 2.52614292e-01 -2.15630184e-03  9.67564659e-01  2.31103354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.100714057 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:880.94, Y:91.63, Z:231.12
[[ 9.62677162e-01 -1.00498681e-01 -2.51302005e-01  8.80936299e+02]
 [ 9.71300165e-02  9.94937097e-01 -2.58056744e-02  9.16265560e+01]
 [ 2.52623123e-01  4.33565541e-04  9.67564659e-01  2.31120922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.1607140570001 meters
Centerline goodness : 0.999904 with order 1
Centerline is valid?  [True, True]
Translation: X:881.00, Y:91.63, Z:231.14
[[ 9.63415136e-01 -9.31539079e-02 -2.51303851e-01  8.80995637e+02]
 [ 8.95440030e-02  9.95648968e-01 -2.57876845e-02  9.16318366e+01]
 [ 2.52612643e-01  2.34149281e-03  9.67564659e-01  2.31136756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.220714057 meters
Centerline goodness : 0.999543 with order 1
Centerline is valid?  [True, True]
Translation: X:881.05, Y:91.64, Z:231.15
[[ 9.64493846e-01 -8.12251535e-02 -2.51304787e-01  8.81053084e+02]
 [ 7.72190285e-02  9.96680835e-01 -2.57785623e-02  9.16358364e+01]
 [ 2.52564532e-01  5.45775324e-03  9.67564659e-01  2.31150986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.2807140570001 meters
Centerline goodness : 0.999566 with order 1
Centerline is valid?  [True, True]
Translation: X:881.11, Y:91.64, Z:231.17
[[ 9.65442262e-01 -6.90461653e-02 -2.51304328e-01  8.81110931e+02]
 [ 6.46329775e-02  9.97575969e-01 -2.57830309e-02  9.16404547e+01]
 [ 2.52475378e-01  8.64948069e-03  9.67564659e-01  2.31166826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.340714057 meters
Centerline goodness : 0.999301 with order 1
Centerline is valid?  [True, True]
Translation: X:881.17, Y:91.65, Z:231.18
[[ 9.66018310e-01 -6.04545755e-02 -2.51304335e-01  8.81168680e+02]
 [ 5.57557079e-02  9.98111487e-01 -2.57829675e-02  9.16457184e+01]
 [ 2.52388441e-01  1.08951676e-02  9.67564659e-01  2.31180909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.4007140570001 meters
Centerline goodness : 0.999711 with order 1
Centerline is valid?  [True, True]
Translation: X:881.23, Y:91.65, Z:231.20
[[ 9.66640564e-01 -4.95213946e-02 -2.51303901e-01  8.81227111e+02]
 [ 4.44586377e-02  9.98678352e-01 -2.57871924e-02  9.16501427e+01]
 [ 2.52248783e-01  1.37543172e-02  9.67564659e-01  2.31196276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.460714057 meters
Centerline goodness : 0.999590 with order 1
Centerline is valid?  [True, True]
Translation: X:881.29, Y:91.65, Z:231.21
[[ 9.66898101e-01 -4.42096985e-02 -2.51303732e-01  8.81285444e+02]
 [ 3.89705677e-02  9.98907519e-01 -2.57888425e-02  9.16544482e+01]
 [ 2.52169304e-01  1.51417337e-02  9.67564659e-01  2.31211920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.5207140570001 meters
Centerline goodness : 0.999448 with order 1
Centerline is valid?  [True, True]
Translation: X:881.34, Y:91.66, Z:231.23
[[ 9.66953104e-01 -4.29914398e-02 -2.51303462e-01  8.81341337e+02]
 [ 3.77113036e-02  9.98955784e-01 -2.57914684e-02  9.16585471e+01]
 [ 2.52149859e-01  1.54621593e-02  9.67564659e-01  2.31226906e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.580714057 meters
Centerline goodness : 0.999738 with order 1
Centerline is valid?  [True, True]
Translation: X:881.40, Y:91.66, Z:231.24
[[ 9.66808640e-01 -4.61444370e-02 -2.51300109e-01  8.81399122e+02]
 [ 4.09602363e-02  9.98827000e-01 -2.58241004e-02  9.16641485e+01]
 [ 2.52196972e-01  1.46736516e-02  9.67564660e-01  2.31242701e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.6407140570001 meters
Centerline goodness : 0.999543 with order 1
Centerline is valid?  [True, True]
Translation: X:881.46, Y:91.67, Z:231.26
[[ 9.66422380e-01 -5.36307737e-02 -2.51299671e-01  8.81456715e+02]
 [ 4.86935981e-02  9.98479759e-01 -2.58283627e-02  9.16692426e+01]
 [ 2.52302830e-01  1.27244225e-02  9.67564660e-01  2.31256792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.700714057 meters
Centerline goodness : 0.999544 with order 1
Centerline is valid?  [True, True]
Translation: X:881.52, Y:91.68, Z:231.27
[[ 9.65794525e-01 -6.39512209e-02 -2.51298980e-01  8.81515112e+02]
 [ 5.93550237e-02  9.97902565e-01 -2.58350848e-02  9.16750121e+01]
 [ 2.52424082e-01  1.00355265e-02  9.67564660e-01  2.31271358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.7607140570001 meters
Centerline goodness : 0.999711 with order 1
Centerline is valid?  [True, True]
Translation: X:881.57, Y:91.68, Z:231.29
[[ 9.65248815e-01 -7.17189358e-02 -2.51298865e-01  8.81571823e+02]
 [ 6.73809045e-02  9.97392753e-01 -2.58362033e-02  9.16834525e+01]
 [ 2.52496612e-01  8.00561976e-03  9.67564660e-01  2.31286004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.820714057 meters
Centerline goodness : 0.999856 with order 1
Centerline is valid?  [True, True]
Translation: X:881.63, Y:91.69, Z:231.30
[[ 9.64161128e-01 -8.51026847e-02 -2.51298333e-01  8.81628890e+02]
 [ 8.12096488e-02  9.96361991e-01 -2.58413722e-02  9.16918862e+01]
 [ 2.52583278e-01  4.50739712e-03  9.67564660e-01  2.31301106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.8807140570001 meters
Centerline goodness : 0.999688 with order 1
Centerline is valid?  [True, True]
Translation: X:881.69, Y:91.70, Z:231.31
[[ 9.62869406e-01 -9.86512609e-02 -2.51297506e-01  8.81687058e+02]
 [ 9.52092848e-02  9.95121601e-01 -2.58494138e-02  9.16992591e+01]
 [ 2.52621654e-01  9.63753890e-04  9.67564660e-01  2.31314120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 910.940714057 meters
Centerline goodness : 0.999785 with order 1
Centerline is valid?  [True, True]
Translation: X:881.74, Y:91.71, Z:231.33
[[ 9.61882055e-01 -1.07855029e-01 -2.51297047e-01  8.81743060e+02]
 [ 1.04720484e-01  9.94165578e-01 -2.58538775e-02  9.17062987e+01]
 [ 2.52619345e-01 -1.44756750e-03  9.67564660e-01  2.31329449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.000714057 meters
Centerline goodness : 0.999521 with order 1
Centerline is valid?  [True, True]
Translation: X:881.80, Y:91.71, Z:231.35
[[ 9.60776799e-01 -1.17307043e-01 -2.51290668e-01  8.81801132e+02]
 [ 1.14473886e-01  9.93088165e-01 -2.59157355e-02  9.17141051e+01]
 [ 2.52593887e-01 -3.86698195e-03  9.67564662e-01  2.31345861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.060714057 meters
Centerline goodness : 0.999547 with order 1
Centerline is valid?  [True, True]
Translation: X:881.86, Y:91.72, Z:231.36
[[ 9.60297496e-01 -1.21167166e-01 -2.51291139e-01  8.81859167e+02]
 [ 1.18465077e-01  9.92620087e-01 -2.59111654e-02  9.17195519e+01]
 [ 2.52576215e-01 -4.88679680e-03  9.67564662e-01  2.31359902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.120714057 meters
Centerline goodness : 0.999571 with order 1
Centerline is valid?  [True, True]
Translation: X:881.92, Y:91.72, Z:231.37
[[ 9.59995338e-01 -1.23538313e-01 -2.51291139e-01  8.81919466e+02]
 [ 1.20916055e-01  9.92324503e-01 -2.59111654e-02  9.17247015e+01]
 [ 2.52563376e-01 -5.51053524e-03  9.67564662e-01  2.31374773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.180714057 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:881.98, Y:91.73, Z:231.39
[[ 9.60104070e-01 -1.22686637e-01 -2.51292985e-01  8.81977810e+02]
 [ 1.20040387e-01  9.92431280e-01 -2.58932492e-02  9.17298508e+01]
 [ 2.52567775e-01 -5.30509332e-03  9.67564662e-01  2.31388065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.240714057 meters
Centerline goodness : 0.999521 with order 1
Centerline is valid?  [True, True]
Translation: X:882.04, Y:91.74, Z:231.41
[[ 9.60676624e-01 -1.18118705e-01 -2.51293444e-01  8.82036797e+02]
 [ 1.15319892e-01  9.92990983e-01 -2.58887938e-02  9.17367276e+01]
 [ 2.52590075e-01 -4.10837377e-03  9.67564662e-01  2.31405940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.300714057 meters
Centerline goodness : 0.999737 with order 1
Centerline is valid?  [True, True]
Translation: X:882.10, Y:91.74, Z:231.42
[[ 9.60986188e-01 -1.15568984e-01 -2.51295359e-01  8.82096063e+02]
 [ 1.12689292e-01  9.93293439e-01 -2.58701970e-02  9.17434819e+01]
 [ 2.52599824e-01 -3.45739399e-03  9.67564662e-01  2.31422974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.360714057 meters
Centerline goodness : 0.999618 with order 1
Centerline is valid?  [True, True]
Translation: X:882.16, Y:91.75, Z:231.44
[[ 9.61291894e-01 -1.12993743e-01 -2.51297250e-01  8.82155086e+02]
 [ 1.10032305e-01  9.93591755e-01 -2.58518110e-02  9.17492610e+01]
 [ 2.52607969e-01 -2.79967937e-03  9.67564662e-01  2.31439108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.420714057 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:882.21, Y:91.75, Z:231.45
[[ 9.61516453e-01 -1.11064466e-01 -2.51298220e-01  8.82213711e+02]
 [ 1.08040681e-01  9.93810537e-01 -2.58423794e-02  9.17542942e+01]
 [ 2.52612989e-01 -2.30255795e-03  9.67564662e-01  2.31453931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.480714057 meters
Centerline goodness : 0.999690 with order 1
Centerline is valid?  [True, True]
Translation: X:882.27, Y:91.76, Z:231.47
[[ 9.61661886e-01 -1.09795913e-01 -2.51299172e-01  8.82273167e+02]
 [ 1.06731948e-01  9.93952183e-01 -2.58331198e-02  9.17603544e+01]
 [ 2.52615732e-01 -1.97892332e-03  9.67564662e-01  2.31468644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.5407140570001 meters
Centerline goodness : 0.999761 with order 1
Centerline is valid?  [True, True]
Translation: X:882.33, Y:91.77, Z:231.48
[[ 9.61942478e-01 -1.07302806e-01 -2.51302162e-01  8.82331756e+02]
 [ 1.04162758e-01  9.94225464e-01 -2.58040008e-02  9.17660768e+01]
 [ 2.52619851e-01 -1.35436177e-03  9.67564663e-01  2.31484766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.600714057 meters
Centerline goodness : 0.999592 with order 1
Centerline is valid?  [True, True]
Translation: X:882.39, Y:91.77, Z:231.50
[[ 9.62435226e-01 -1.02787136e-01 -2.51303086e-01  8.82390161e+02]
 [ 9.94979653e-02  9.94703359e-01 -2.57949995e-02  9.17725729e+01]
 [ 2.52623418e-01 -1.78129622e-04  9.67564663e-01  2.31501515e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.6607140570001 meters
Centerline goodness : 0.999713 with order 1
Centerline is valid?  [True, True]
Translation: X:882.45, Y:91.78, Z:231.52
[[ 9.62856623e-01 -9.87594027e-02 -2.51304008e-01  8.82449304e+02]
 [ 9.53375956e-02  9.95110961e-01 -2.57860145e-02  9.17780083e+01]
 [ 2.52621984e-01  8.69514928e-04  9.67564663e-01  2.31517815e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.720714057 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:882.51, Y:91.78, Z:231.53
[[ 9.63057535e-01 -9.67781323e-02 -2.51304948e-01  8.82507880e+02]
 [ 9.32923596e-02  9.95305023e-01 -2.57768554e-02  9.17833211e+01]
 [ 2.52619713e-01  1.37976330e-03  9.67564663e-01  2.31533530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.7807140570001 meters
Centerline goodness : 0.999473 with order 1
Centerline is valid?  [True, True]
Translation: X:882.57, Y:91.79, Z:231.55
[[ 9.63501758e-01 -9.22506680e-02 -2.51304948e-01  8.82566594e+02]
 [ 8.86133698e-02  9.95732506e-01 -2.57768554e-02  9.17890478e+01]
 [ 2.52610437e-01  2.56706727e-03  9.67564663e-01  2.31550140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.840714057 meters
Centerline goodness : 0.999521 with order 1
Centerline is valid?  [True, True]
Translation: X:882.62, Y:91.80, Z:231.57
[[ 9.64353792e-01 -8.28680228e-02 -2.51305900e-01  8.82622352e+02]
 [ 7.89195984e-02  9.96547906e-01 -2.57675634e-02  9.17966921e+01]
 [ 2.52573676e-01  5.01608674e-03  9.67564663e-01  2.31565366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.9007140570001 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:882.68, Y:91.80, Z:231.58
[[ 9.64692968e-01 -7.88273927e-02 -2.51304038e-01  8.82680574e+02]
 [ 7.47394099e-02  9.96869659e-01 -2.57857095e-02  9.18021490e+01]
 [ 2.52549991e-01  6.09297712e-03  9.67564663e-01  2.31581278e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 911.960714057 meters
Centerline goodness : 0.999449 with order 1
Centerline is valid?  [True, True]
Translation: X:882.74, Y:91.81, Z:231.60
[[ 9.64949001e-01 -7.56287335e-02 -2.51304038e-01  8.82738143e+02]
 [ 7.14340985e-02  9.97111963e-01 -2.57857095e-02  9.18078077e+01]
 [ 2.52528404e-01  6.93021724e-03  9.67564663e-01  2.31596444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.0207140570001 meters
Centerline goodness : 0.999569 with order 1
Centerline is valid?  [True, True]
Translation: X:882.79, Y:91.81, Z:231.61
[[ 9.64667539e-01 -7.91409109e-02 -2.51303116e-01  8.82793667e+02]
 [ 7.50610465e-02  9.96845260e-01 -2.57946939e-02  9.18135342e+01]
 [ 2.52551736e-01  6.02022897e-03  9.67564663e-01  2.31609873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.080714057 meters
Centerline goodness : 0.999164 with order 1
Centerline is valid?  [True, True]
Translation: X:882.85, Y:91.82, Z:231.62
[[ 9.64351815e-01 -8.29220186e-02 -2.51295675e-01  8.82851750e+02]
 [ 7.89494966e-02  9.96542962e-01 -2.58669940e-02  9.18189690e+01]
 [ 2.52571880e-01  5.10521553e-03  9.67564666e-01  2.31622337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.1407140570001 meters
Centerline goodness : 0.999376 with order 1
Centerline is valid?  [True, True]
Translation: X:882.91, Y:91.83, Z:231.64
[[ 9.63783840e-01 -8.92841369e-02 -2.51294754e-01  8.82908904e+02]
 [ 8.55218054e-02  9.96000229e-01 -2.58759353e-02  9.18250322e+01]
 [ 2.52599943e-01  3.44762720e-03  9.67564666e-01  2.31636706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.200714057 meters
Centerline goodness : 0.999327 with order 1
Centerline is valid?  [True, True]
Translation: X:882.97, Y:91.83, Z:231.65
[[ 9.63437090e-01 -9.29676934e-02 -2.51288640e-01  8.82965949e+02]
 [ 8.93130912e-02  9.95665877e-01 -2.59351766e-02  9.18317175e+01]
 [ 2.52610658e-01  2.54354580e-03  9.67564668e-01  2.31651656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.2607140570001 meters
Centerline goodness : 0.999445 with order 1
Centerline is valid?  [True, True]
Translation: X:883.02, Y:91.84, Z:231.67
[[ 9.62611905e-01 -1.01157329e-01 -2.51287713e-01  8.83023052e+02]
 [ 9.77745854e-02  9.94870359e-01 -2.59441604e-02  9.18389383e+01]
 [ 2.52623139e-01  4.04605719e-04  9.67564668e-01  2.31669538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.320714057 meters
Centerline goodness : 0.999351 with order 1
Centerline is valid?  [True, True]
Translation: X:883.08, Y:91.85, Z:231.68
[[ 9.61471619e-01 -1.11476663e-01 -2.51287245e-01  8.83082091e+02]
 [ 1.08438939e-01  9.93764390e-01 -2.59486930e-02  9.18450919e+01]
 [ 2.52612989e-01 -2.30039027e-03  9.67564668e-01  2.31684161e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.3807140570001 meters
Centerline goodness : 0.999207 with order 1
Centerline is valid?  [True, True]
Translation: X:883.14, Y:91.85, Z:231.70
[[ 9.60794533e-01 -1.17168039e-01 -2.51287716e-01  8.83142094e+02]
 [ 1.14322781e-01  9.93104830e-01 -2.59441334e-02  9.18520243e+01]
 [ 2.52594867e-01 -3.80092902e-03  9.67564668e-01  2.31698651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.440714057 meters
Centerline goodness : 0.999135 with order 1
Centerline is valid?  [True, True]
Translation: X:883.20, Y:91.86, Z:231.71
[[ 9.60068931e-01 -1.22968213e-01 -2.51289606e-01  8.83202394e+02]
 [ 1.20322926e-01  9.92396214e-01 -2.59258070e-02  9.18598142e+01]
 [ 2.52566904e-01 -5.34533887e-03  9.67564668e-01  2.31713386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.500714057 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:883.26, Y:91.87, Z:231.73
[[ 9.59431061e-01 -1.27846129e-01 -2.51291478e-01  8.83261337e+02]
 [ 1.25369930e-01  9.91771735e-01 -2.59076518e-02  9.18661800e+01]
 [ 2.52535978e-01 -6.64778912e-03  9.67564668e-01  2.31728849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.560714057 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:883.32, Y:91.87, Z:231.74
[[ 9.59051272e-01 -1.30659563e-01 -2.51294124e-01  8.83320594e+02]
 [ 1.28284954e-01  9.91399564e-01 -2.58819638e-02  9.18724371e+01]
 [ 2.52514611e-01 -7.41512487e-03  9.67564668e-01  2.31744173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.620714057 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:883.38, Y:91.88, Z:231.76
[[ 9.58774561e-01 -1.32673037e-01 -2.51295057e-01  8.83380571e+02]
 [ 1.30368730e-01  9.91127937e-01 -2.58728990e-02  9.18780040e+01]
 [ 2.52498188e-01 -7.95474002e-03  9.67564668e-01  2.31759534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.680714057 meters
Centerline goodness : 0.999063 with order 1
Centerline is valid?  [True, True]
Translation: X:883.44, Y:91.88, Z:231.78
[[ 9.58820106e-01 -1.32339891e-01 -2.51296951e-01  8.83440717e+02]
 [ 1.30029161e-01  9.91173023e-01 -2.58544977e-02  9.18844885e+01]
 [ 2.52500340e-01 -7.88611929e-03  9.67564668e-01  2.31775842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.740714057 meters
Centerline goodness : 0.999304 with order 1
Centerline is valid?  [True, True]
Translation: X:883.50, Y:91.89, Z:231.79
[[ 9.58975022e-01 -1.31208033e-01 -2.51299342e-01  8.83500856e+02]
 [ 1.28865207e-01  9.91325631e-01 -2.58312324e-02  9.18905886e+01]
 [ 2.52508744e-01 -7.61223501e-03  9.67564669e-01  2.31791456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.800714057 meters
Centerline goodness : 0.999112 with order 1
Centerline is valid?  [True, True]
Translation: X:883.56, Y:91.90, Z:231.81
[[ 9.59063139e-01 -1.30558695e-01 -2.51301261e-01  8.83560902e+02]
 [ 1.28198855e-01  9.91412510e-01 -2.58125527e-02  9.18966915e+01]
 [ 2.52513267e-01 -7.46066606e-03  9.67564669e-01  2.31807231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.860714057 meters
Centerline goodness : 0.999376 with order 1
Centerline is valid?  [True, True]
Translation: X:883.62, Y:91.90, Z:231.82
[[ 9.59021188e-01 -1.30862832e-01 -2.51303165e-01  8.83620050e+02]
 [ 1.28518109e-01  9.91371659e-01 -2.57939983e-02  9.19033134e+01]
 [ 2.52510311e-01 -7.56001660e-03  9.67564669e-01  2.31823099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.920714057 meters
Centerline goodness : 0.999211 with order 1
Centerline is valid?  [True, True]
Translation: X:883.68, Y:91.91, Z:231.83
[[ 9.59055910e-01 -1.30604519e-01 -2.51305034e-01  8.83679566e+02]
 [ 1.28255854e-01  9.91406095e-01 -2.57757746e-02  9.19086882e+01]
 [ 2.52511776e-01 -7.51093274e-03  9.67564669e-01  2.31834992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 912.980714057 meters
Centerline goodness : 0.999519 with order 1
Centerline is valid?  [True, True]
Translation: X:883.74, Y:91.91, Z:231.85
[[ 9.59038261e-01 -1.30732290e-01 -2.51305953e-01  8.83737588e+02]
 [ 1.28390281e-01  9.91388928e-01 -2.57668114e-02  9.19140284e+01]
 [ 2.52510494e-01 -7.55388390e-03  9.67564669e-01  2.31852453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.0407140570001 meters
Centerline goodness : 0.999593 with order 1
Centerline is valid?  [True, True]
Translation: X:883.80, Y:91.92, Z:231.87
[[ 9.58772623e-01 -1.32665518e-01 -2.51306421e-01  8.83797485e+02]
 [ 1.30389930e-01  9.91128030e-01 -2.57622496e-02  9.19191082e+01]
 [ 2.52494600e-01 -8.06768695e-03  9.67564669e-01  2.31867980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.100714057 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:883.86, Y:91.92, Z:231.88
[[ 9.58555141e-01 -1.34224364e-01 -2.51308301e-01  8.83857674e+02]
 [ 1.32006195e-01  9.90914535e-01 -2.57439027e-02  9.19240179e+01]
 [ 2.52480507e-01 -8.49730230e-03  9.67564669e-01  2.31883309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.1607140570001 meters
Centerline goodness : 0.999451 with order 1
Centerline is valid?  [True, True]
Translation: X:883.92, Y:91.93, Z:231.90
[[ 9.58467458e-01 -1.34845584e-01 -2.51310169e-01  8.83917749e+02]
 [ 1.32653168e-01  9.90828607e-01 -2.57256467e-02  9.19297764e+01]
 [ 2.52474295e-01 -8.67989505e-03  9.67564670e-01  2.31899698e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.220714057 meters
Centerline goodness : 0.999451 with order 1
Centerline is valid?  [True, True]
Translation: X:883.98, Y:91.94, Z:231.92
[[ 9.58396920e-01 -1.35342557e-01 -2.51312029e-01  8.83977601e+02]
 [ 1.33171684e-01  9.90759521e-01 -2.57074638e-02  9.19352118e+01]
 [ 2.52469100e-01 -8.82969213e-03  9.67564670e-01  2.31915829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.2807140570001 meters
Centerline goodness : 0.999071 with order 1
Centerline is valid?  [True, True]
Translation: X:884.04, Y:91.94, Z:231.93
[[ 9.58320455e-01 -1.35879548e-01 -2.51313857e-01  8.84037061e+02]
 [ 1.33731492e-01  9.90684578e-01 -2.56895842e-02  9.19404856e+01]
 [ 2.52463452e-01 -8.98972319e-03  9.67564670e-01  2.31931074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.340714057 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:884.10, Y:91.95, Z:231.95
[[ 9.58259702e-01 -1.36304813e-01 -2.51315225e-01  8.84096306e+02]
 [ 1.34174625e-01  9.90625006e-01 -2.56761979e-02  9.19460643e+01]
 [ 2.52458936e-01 -9.11566041e-03  9.67564670e-01  2.31945461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.4007140570001 meters
Centerline goodness : 0.998929 with order 1
Centerline is valid?  [True, True]
Translation: X:884.16, Y:91.95, Z:231.96
[[ 9.58083334e-01 -1.37537377e-01 -2.51316126e-01  8.84155080e+02]
 [ 1.35451136e-01  9.90451501e-01 -2.56673739e-02  9.19514188e+01]
 [ 2.52446658e-01 -9.44957164e-03  9.67564670e-01  2.31960265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.460714057 meters
Centerline goodness : 0.999356 with order 1
Centerline is valid?  [True, True]
Translation: X:884.21, Y:91.96, Z:231.98
[[ 9.58085933e-01 -1.37514339e-01 -2.51318825e-01  8.84213974e+02]
 [ 1.35434248e-01  9.90454495e-01 -2.56409255e-02  9.19572829e+01]
 [ 2.52445855e-01 -9.47096599e-03  9.67564670e-01  2.31975789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.5207140570001 meters
Centerline goodness : 0.999594 with order 1
Centerline is valid?  [True, True]
Translation: X:884.27, Y:91.96, Z:231.99
[[ 9.58133771e-01 -1.37179849e-01 -2.51319252e-01  8.84272216e+02]
 [ 1.35089556e-01  9.90501676e-01 -2.56367337e-02  9.19628835e+01]
 [ 2.52448984e-01 -9.38718585e-03  9.67564670e-01  2.31991078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.580714057 meters
Centerline goodness : 0.999451 with order 1
Centerline is valid?  [True, True]
Translation: X:884.33, Y:91.97, Z:232.01
[[ 9.58114174e-01 -1.37315868e-01 -2.51319682e-01  8.84331985e+02]
 [ 1.35231275e-01  9.90482446e-01 -2.56325147e-02  9.19687288e+01]
 [ 2.52447485e-01 -9.42740547e-03  9.67564670e-01  2.32007462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.6407140570001 meters
Centerline goodness : 0.999426 with order 1
Centerline is valid?  [True, True]
Translation: X:884.39, Y:91.97, Z:232.03
[[ 9.58259333e-01 -1.36296056e-01 -2.51321379e-01  8.84390235e+02]
 [ 1.34181373e-01  9.90625654e-01 -2.56158733e-02  9.19746366e+01]
 [ 2.52456748e-01 -9.17599813e-03  9.67564671e-01  2.32025442e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.700714057 meters
Centerline goodness : 0.999424 with order 1
Centerline is valid?  [True, True]
Translation: X:884.45, Y:91.98, Z:232.04
[[ 9.58500787e-01 -1.34585867e-01 -2.51322276e-01  8.84449865e+02]
 [ 1.32415737e-01  9.90863437e-01 -2.56070685e-02  9.19804172e+01]
 [ 2.52472404e-01 -8.73462907e-03  9.67564671e-01  2.32042611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.7607140570001 meters
Centerline goodness : 0.999237 with order 1
Centerline is valid?  [True, True]
Translation: X:884.51, Y:91.99, Z:232.06
[[ 9.58982320e-01 -1.31107118e-01 -2.51324159e-01  8.84507587e+02]
 [ 1.28824420e-01  9.91337225e-01 -2.55885707e-02  9.19885409e+01]
 [ 2.52501838e-01 -7.83770204e-03  9.67564671e-01  2.32056995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.820714057 meters
Centerline goodness : 0.999449 with order 1
Centerline is valid?  [True, True]
Translation: X:884.57, Y:92.00, Z:232.07
[[ 9.59291102e-01 -1.28828366e-01 -2.51324159e-01  8.84567266e+02]
 [ 1.26468804e-01  9.91640493e-01 -2.55885707e-02  9.19954865e+01]
 [ 2.52519747e-01 -7.23777759e-03  9.67564671e-01  2.32074102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.8807140570001 meters
Centerline goodness : 0.999376 with order 1
Centerline is valid?  [True, True]
Translation: X:884.62, Y:92.00, Z:232.09
[[ 9.59715484e-01 -1.25624201e-01 -2.51325983e-01  8.84624426e+02]
 [ 1.23161314e-01  9.92057172e-01 -2.55706504e-02  9.20038998e+01]
 [ 2.52542036e-01 -6.41308918e-03  9.67564671e-01  2.32093552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 913.940714057 meters
Centerline goodness : 0.999277 with order 1
Centerline is valid?  [True, True]
Translation: X:884.68, Y:92.01, Z:232.11
[[ 9.59947005e-01 -1.23842493e-01 -2.51326053e-01  8.84683433e+02]
 [ 1.21319757e-01  9.92284079e-01 -2.55699597e-02  9.20123037e+01]
 [ 2.52553488e-01 -5.94500933e-03  9.67564671e-01  2.32110763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.000714057 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:884.74, Y:92.02, Z:232.13
[[ 9.60085754e-01 -1.22758426e-01 -2.51327902e-01  8.84741696e+02]
 [ 1.20203935e-01  9.92420335e-01 -2.55517682e-02  9.20194977e+01]
 [ 2.52559616e-01 -5.67871432e-03  9.67564671e-01  2.32126597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.060714057 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:884.80, Y:92.03, Z:232.14
[[ 9.60027172e-01 -1.23214772e-01 -2.51328369e-01  8.84800735e+02]
 [ 1.20676853e-01  9.92363058e-01 -2.55471751e-02  9.20258752e+01]
 [ 2.52556778e-01 -5.80353442e-03  9.67564671e-01  2.32141706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.120714057 meters
Centerline goodness : 0.999469 with order 1
Centerline is valid?  [True, True]
Translation: X:884.86, Y:92.03, Z:232.16
[[ 9.59880245e-01 -1.24346878e-01 -2.51331990e-01  8.84860305e+02]
 [ 1.21856430e-01  9.92219821e-01 -2.55115031e-02  9.20324694e+01]
 [ 2.52548858e-01 -6.13843129e-03  9.67564672e-01  2.32158154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.180714057 meters
Centerline goodness : 0.999519 with order 1
Centerline is valid?  [True, True]
Translation: X:884.92, Y:92.04, Z:232.17
[[ 9.59646451e-01 -1.26134866e-01 -2.51333813e-01  8.84919213e+02]
 [ 1.23709372e-01  9.91990963e-01 -2.54935367e-02  9.20376856e+01]
 [ 2.52536495e-01 -6.62756605e-03  9.67564672e-01  2.32174128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.240714057 meters
Centerline goodness : 0.999494 with order 1
Centerline is valid?  [True, True]
Translation: X:884.98, Y:92.04, Z:232.19
[[ 9.59346684e-01 -1.28393147e-01 -2.51334718e-01  8.84978862e+02]
 [ 1.26046123e-01  9.91696985e-01 -2.54846068e-02  9.20429119e+01]
 [ 2.52519931e-01 -7.23119386e-03  9.67564672e-01  2.32192408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.300714057 meters
Centerline goodness : 0.999664 with order 1
Centerline is valid?  [True, True]
Translation: X:885.04, Y:92.05, Z:232.21
[[ 9.59244224e-01 -1.29152767e-01 -2.51336592e-01  8.85037353e+02]
 [ 1.26836200e-01  9.91596720e-01 -2.54661178e-02  9.20494984e+01]
 [ 2.52513559e-01 -7.45035184e-03  9.67564672e-01  2.32206231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.360714057 meters
Centerline goodness : 0.999808 with order 1
Centerline is valid?  [True, True]
Translation: X:885.10, Y:92.06, Z:232.22
[[ 9.59467747e-01 -1.27480703e-01 -2.51337052e-01  8.85097776e+02]
 [ 1.25108942e-01  9.91816244e-01 -2.54615756e-02  9.20563324e+01]
 [ 2.52526030e-01 -7.01495205e-03  9.67564672e-01  2.32223428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.420714057 meters
Centerline goodness : 0.999638 with order 1
Centerline is valid?  [True, True]
Translation: X:885.16, Y:92.06, Z:232.24
[[ 9.59711877e-01 -1.25624249e-01 -2.51339731e-01  8.85155945e+02]
 [ 1.23196840e-01  9.92056246e-01 -2.54350969e-02  9.20629158e+01]
 [ 2.52538415e-01 -6.55389602e-03  9.67564672e-01  2.32240098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.480714057 meters
Centerline goodness : 0.999492 with order 1
Centerline is valid?  [True, True]
Translation: X:885.21, Y:92.07, Z:232.26
[[ 9.60007461e-01 -1.23344159e-01 -2.51340195e-01  8.85214899e+02]
 [ 1.20841124e-01  9.92346065e-01 -2.54305129e-02  9.20698854e+01]
 [ 2.52553159e-01 -5.95874954e-03  9.67564672e-01  2.32255456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.5407140570001 meters
Centerline goodness : 0.999590 with order 1
Centerline is valid?  [True, True]
Translation: X:885.27, Y:92.07, Z:232.27
[[ 9.60038710e-01 -1.23098815e-01 -2.51341116e-01  8.85274604e+02]
 [ 1.20589898e-01  9.92376858e-01 -2.54214062e-02  9.20747994e+01]
 [ 2.52554452e-01 -5.90366552e-03  9.67564672e-01  2.32270472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.600714057 meters
Centerline goodness : 0.999518 with order 1
Centerline is valid?  [True, True]
Translation: X:885.33, Y:92.08, Z:232.28
[[ 9.60132163e-01 -1.22364979e-01 -2.51342479e-01  8.85334009e+02]
 [ 1.19834872e-01  9.92468660e-01 -2.54079278e-02  9.20794394e+01]
 [ 2.52558574e-01 -5.72462522e-03  9.67564673e-01  2.32284972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.6607140570001 meters
Centerline goodness : 0.999447 with order 1
Centerline is valid?  [True, True]
Translation: X:885.39, Y:92.08, Z:232.30
[[ 9.60252119e-01 -1.21417266e-01 -2.51343818e-01  8.85393550e+02]
 [ 1.18858712e-01  9.92586378e-01 -2.53946724e-02  9.20849184e+01]
 [ 2.52563802e-01 -5.48911450e-03  9.67564673e-01  2.32300904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.720714057 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:885.45, Y:92.09, Z:232.32
[[ 9.60449059e-01 -1.19846698e-01 -2.51345130e-01  8.85452924e+02]
 [ 1.17238666e-01  9.92779364e-01 -2.53816848e-02  9.20898855e+01]
 [ 2.52572169e-01 -5.08955239e-03  9.67564673e-01  2.32319443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.7807140570001 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:885.51, Y:92.10, Z:232.33
[[ 9.60517652e-01 -1.19291775e-01 -2.51346996e-01  8.85511938e+02]
 [ 1.16669902e-01  9.92846838e-01 -2.53631854e-02  9.20952286e+01]
 [ 2.52574690e-01 -4.96284228e-03  9.67564673e-01  2.32333945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.840714057 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:885.57, Y:92.10, Z:232.35
[[ 9.60789814e-01 -1.17076602e-01 -2.51348368e-01  8.85571544e+02]
 [ 1.14383746e-01  9.93113164e-01 -2.53495831e-02  9.21010228e+01]
 [ 2.52585217e-01 -4.39454673e-03  9.67564673e-01  2.32351192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.9007140570001 meters
Centerline goodness : 0.999565 with order 1
Centerline is valid?  [True, True]
Translation: X:885.63, Y:92.11, Z:232.37
[[ 9.61393745e-01 -1.12005237e-01 -2.51350144e-01  8.85630588e+02]
 [ 1.09146465e-01  9.93702843e-01 -2.53319698e-02  9.21080065e+01]
 [ 2.52604666e-01 -3.07998220e-03  9.67564673e-01  2.32366243e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 914.960714057 meters
Centerline goodness : 0.999879 with order 1
Centerline is valid?  [True, True]
Translation: X:885.69, Y:92.11, Z:232.38
[[ 9.61932349e-01 -1.07278152e-01 -2.51351455e-01  8.85688615e+02]
 [ 1.04264001e-01  9.94227323e-01 -2.53189458e-02  9.21143610e+01]
 [ 2.52616654e-01 -1.85179546e-03  9.67564673e-01  2.32383103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.0207140570001 meters
Centerline goodness : 0.999586 with order 1
Centerline is valid?  [True, True]
Translation: X:885.75, Y:92.12, Z:232.40
[[ 9.63048744e-01 -9.67436653e-02 -2.51351903e-01  8.85746195e+02]
 [ 9.33773965e-02  9.95308916e-01 -2.53145016e-02  9.21219560e+01]
 [ 2.52621808e-01  9.08512705e-04  9.67564673e-01  2.32399316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.080714057 meters
Centerline goodness : 0.999732 with order 1
Centerline is valid?  [True, True]
Translation: X:885.80, Y:92.13, Z:232.42
[[ 9.64210132e-01 -8.43849416e-02 -2.51352349e-01  8.85804076e+02]
 [ 8.06063790e-02  9.96424614e-01 -2.53100701e-02  9.21294030e+01]
 [ 2.52589457e-01  4.14362336e-03  9.67564673e-01  2.32416443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.1407140570001 meters
Centerline goodness : 0.999903 with order 1
Centerline is valid?  [True, True]
Translation: X:885.86, Y:92.13, Z:232.43
[[ 9.64816983e-01 -7.71372770e-02 -2.51352403e-01  8.85860072e+02]
 [ 7.31168945e-02  9.97002180e-01 -2.53095324e-02  9.21341945e+01]
 [ 2.52551203e-01  6.04095955e-03  9.67564673e-01  2.32431037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.200714057 meters
Centerline goodness : 0.999879 with order 1
Centerline is valid?  [True, True]
Translation: X:885.92, Y:92.14, Z:232.45
[[ 9.65498496e-01 -6.80899794e-02 -2.51349176e-01  8.85917482e+02]
 [ 6.37597548e-02  9.97643473e-01 -2.53415436e-02  9.21379707e+01]
 [ 2.52482370e-01  8.44126040e-03  9.67564674e-01  2.32447737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.2607140570001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:885.98, Y:92.14, Z:232.46
[[ 9.66049074e-01 -5.97743901e-02 -2.51348780e-01  8.85975344e+02]
 [ 5.51665337e-02  9.98155429e-01 -2.53454709e-02  9.21420359e+01]
 [ 2.52400160e-01  1.06189277e-02  9.67564674e-01  2.32464953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.320714057 meters
Centerline goodness : 0.999805 with order 1
Centerline is valid?  [True, True]
Translation: X:886.03, Y:92.15, Z:232.48
[[ 9.66159219e-01 -5.79673282e-02 -2.51348668e-01  8.86031623e+02]
 [ 5.32991362e-02  9.98256857e-01 -2.53465876e-02  9.21466256e+01]
 [ 2.52379805e-01  1.10921725e-02  9.67564674e-01  2.32479772e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.3807140570001 meters
Centerline goodness : 0.999830 with order 1
Centerline is valid?  [True, True]
Translation: X:886.09, Y:92.15, Z:232.50
[[ 9.66216291e-01 -5.70181899e-02 -2.51346383e-01  8.86088494e+02]
 [ 5.23125927e-02  9.98308467e-01 -2.53692231e-02  9.21498177e+01]
 [ 2.52367729e-01  1.13635757e-02  9.67564674e-01  2.32496202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.440714057 meters
Centerline goodness : 0.999588 with order 1
Centerline is valid?  [True, True]
Translation: X:886.14, Y:92.15, Z:232.51
[[ 9.66040646e-01 -5.99456141e-02 -2.51340394e-01  8.86144611e+02]
 [ 5.53219045e-02  9.98144720e-01 -2.54284231e-02  9.21546065e+01]
 [ 2.52398410e-01  1.06602610e-02  9.67564676e-01  2.32510653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.500714057 meters
Centerline goodness : 0.999565 with order 1
Centerline is valid?  [True, True]
Translation: X:886.20, Y:92.16, Z:232.53
[[ 9.65400303e-01 -6.95066061e-02 -2.51338590e-01  8.86203332e+02]
 [ 6.51963241e-02  9.97547958e-01 -2.54462394e-02  9.21576366e+01]
 [ 2.52490979e-01  8.17945499e-03  9.67564676e-01  2.32525367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.560714057 meters
Centerline goodness : 0.999544 with order 1
Centerline is valid?  [True, True]
Translation: X:886.26, Y:92.16, Z:232.54
[[ 9.64751120e-01 -7.80013283e-02 -2.51338554e-01  8.86259522e+02]
 [ 7.39740833e-02  9.96935457e-01 -2.54465941e-02  9.21611650e+01]
 [ 2.52553185e-01  5.95709100e-03  9.67564676e-01  2.32539777e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.620714057 meters
Centerline goodness : 0.999521 with order 1
Centerline is valid?  [True, True]
Translation: X:886.32, Y:92.17, Z:232.56
[[ 9.63627649e-01 -9.08394048e-02 -2.51336341e-01  8.86317626e+02]
 [ 8.72353330e-02  9.95862117e-01 -2.54684345e-02  9.21664241e+01]
 [ 2.52609878e-01  2.61667827e-03  9.67564676e-01  2.32556655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.680714057 meters
Centerline goodness : 0.999522 with order 1
Centerline is valid?  [True, True]
Translation: X:886.38, Y:92.17, Z:232.57
[[ 9.62535335e-01 -1.01763998e-01 -2.51336064e-01  8.86375991e+02]
 [ 9.85250792e-02  9.94808538e-01 -2.54711724e-02  9.21727284e+01]
 [ 2.52623311e-01 -2.46002141e-04  9.67564676e-01  2.32571578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.740714057 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:886.44, Y:92.18, Z:232.59
[[ 9.61886873e-01 -1.07721056e-01 -2.51336064e-01  8.86435963e+02]
 [ 1.04682001e-01  9.94179510e-01 -2.54711724e-02  9.21794411e+01]
 [ 2.52616946e-01 -1.80997562e-03  9.67564676e-01  2.32586097e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.800714057 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:886.49, Y:92.19, Z:232.60
[[ 9.61280916e-01 -1.12996662e-01 -2.51337929e-01  8.86494779e+02]
 [ 1.10139635e-01  9.93590166e-01 -2.54527585e-02  9.21888072e+01]
 [ 2.52602971e-01 -3.21501669e-03  9.67564676e-01  2.32600230e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.860714057 meters
Centerline goodness : 0.999519 with order 1
Centerline is valid?  [True, True]
Translation: X:886.55, Y:92.20, Z:232.62
[[ 9.61149311e-01 -1.14107645e-01 -2.51339309e-01  8.86553826e+02]
 [ 1.11291529e-01  9.93462152e-01 -2.54391203e-02  9.21986363e+01]
 [ 2.52598889e-01 -3.52114297e-03  9.67564676e-01  2.32615008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.920714057 meters
Centerline goodness : 0.999710 with order 1
Centerline is valid?  [True, True]
Translation: X:886.61, Y:92.21, Z:232.63
[[ 9.61197271e-01 -1.13700910e-01 -2.51340224e-01  8.86610850e+02]
 [ 1.10873485e-01  9.93509125e-01 -2.54300734e-02  9.22077902e+01]
 [ 2.52600229e-01 -3.42364956e-03  9.67564676e-01  2.32629613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 915.980714057 meters
Centerline goodness : 0.999614 with order 1
Centerline is valid?  [True, True]
Translation: X:886.67, Y:92.22, Z:232.65
[[ 9.61275426e-01 -1.13039265e-01 -2.51339771e-01  8.86670433e+02]
 [ 1.10188429e-01  9.93585222e-01 -2.54345523e-02  9.22159085e+01]
 [ 2.52602585e-01 -3.24512436e-03  9.67564676e-01  2.32645728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.0407140570001 meters
Centerline goodness : 0.999589 with order 1
Centerline is valid?  [True, True]
Translation: X:886.73, Y:92.22, Z:232.66
[[ 9.61404963e-01 -1.11928104e-01 -2.51341592e-01  8.86730853e+02]
 [ 1.09044632e-01  9.93711863e-01 -2.54165432e-02  9.22218164e+01]
 [ 2.52605948e-01 -2.97186071e-03  9.67564677e-01  2.32661650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.100714057 meters
Centerline goodness : 0.999614 with order 1
Centerline is valid?  [True, True]
Translation: X:886.79, Y:92.23, Z:232.68
[[ 9.61810109e-01 -1.08386079e-01 -2.51343934e-01  8.86789774e+02]
 [ 1.05389681e-01  9.94106731e-01 -2.53933689e-02  9.22268137e+01]
 [ 2.52614984e-01 -2.06545822e-03  9.67564677e-01  2.32677327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.1607140570001 meters
Centerline goodness : 0.999518 with order 1
Centerline is valid?  [True, True]
Translation: X:886.85, Y:92.23, Z:232.69
[[ 9.62299334e-01 -1.03951847e-01 -2.51344396e-01  8.86850203e+02]
 [ 1.00807818e-01  9.94581919e-01 -2.53887959e-02  9.22320898e+01]
 [ 2.52621803e-01 -9.05858584e-04  9.67564677e-01  2.32693179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.220714057 meters
Centerline goodness : 0.999615 with order 1
Centerline is valid?  [True, True]
Translation: X:886.91, Y:92.24, Z:232.71
[[ 9.63269367e-01 -9.45354786e-02 -2.51346714e-01  8.86909502e+02]
 [ 9.10818669e-02  9.95520300e-01 -2.53658214e-02  9.22371032e+01]
 [ 2.52618727e-01  1.54099071e-03  9.67564677e-01  2.32709480e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.2807140570001 meters
Centerline goodness : 0.999614 with order 1
Centerline is valid?  [True, True]
Translation: X:886.97, Y:92.24, Z:232.73
[[ 9.63953912e-01 -8.72753710e-02 -2.51348097e-01  8.86968342e+02]
 [ 8.35824469e-02  9.96178320e-01 -2.53521150e-02  9.22423542e+01]
 [ 2.52600140e-01  3.42998150e-03  9.67564677e-01  2.32725848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.340714057 meters
Centerline goodness : 0.999638 with order 1
Centerline is valid?  [True, True]
Translation: X:887.03, Y:92.25, Z:232.74
[[ 9.64882186e-01 -7.63285449e-02 -2.51349002e-01  8.87025526e+02]
 [ 7.22724380e-02  9.97062897e-01 -2.53431367e-02  9.22465419e+01]
 [ 2.52545169e-01  6.28753592e-03  9.67564677e-01  2.32742720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.4007140570001 meters
Centerline goodness : 0.999469 with order 1
Centerline is valid?  [True, True]
Translation: X:887.08, Y:92.25, Z:232.76
[[ 9.65514777e-01 -6.78612158e-02 -2.51348505e-01  8.87084095e+02]
 [ 6.35216795e-02  9.97658495e-01 -2.53480646e-02  9.22495576e+01]
 [ 2.52480122e-01  8.50785173e-03  9.67564677e-01  2.32758123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.460714057 meters
Centerline goodness : 0.999517 with order 1
Centerline is valid?  [True, True]
Translation: X:887.14, Y:92.25, Z:232.77
[[ 9.65663575e-01 -6.57098877e-02 -2.51348505e-01  8.87140758e+02]
 [ 6.12987462e-02  9.97797544e-01 -2.53480646e-02  9.22532468e+01]
 [ 2.52460540e-01  9.07035443e-03  9.67564677e-01  2.32772921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.5207140570001 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:887.20, Y:92.26, Z:232.79
[[ 9.65555570e-01 -6.73024811e-02 -2.51342033e-01  8.87198255e+02]
 [ 6.29276994e-02  9.97694508e-01 -2.54120849e-02  9.22565418e+01]
 [ 2.52472862e-01  8.72040421e-03  9.67564679e-01  2.32787492e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.580714057 meters
Centerline goodness : 0.999475 with order 1
Centerline is valid?  [True, True]
Translation: X:887.26, Y:92.26, Z:232.80
[[ 9.65022629e-01 -7.45585259e-02 -2.51341108e-01  8.87256005e+02]
 [ 7.04230722e-02  9.97193237e-01 -2.54212277e-02  9.22598431e+01]
 [ 2.52531022e-01  6.83184694e-03  9.67564679e-01  2.32801734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.6407140570001 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:887.31, Y:92.26, Z:232.82
[[ 9.64164739e-01 -8.49375394e-02 -2.51340350e-01  8.87314340e+02]
 [ 8.11465169e-02  9.96377751e-01 -2.54287235e-02  9.22629594e+01]
 [ 2.52589786e-01  4.12208464e-03  9.67564679e-01  2.32815951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.700714057 meters
Centerline goodness : 0.999218 with order 1
Centerline is valid?  [True, True]
Translation: X:887.37, Y:92.27, Z:232.83
[[ 9.63549766e-01 -9.16521155e-02 -2.51339888e-01  8.87371966e+02]
 [ 8.80843988e-02  9.95788274e-01 -2.54332895e-02  9.22676421e+01]
 [ 2.52612328e-01  2.36711720e-03  9.67564679e-01  2.32829948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.7607140570001 meters
Centerline goodness : 0.998840 with order 1
Centerline is valid?  [True, True]
Translation: X:887.43, Y:92.27, Z:232.84
[[ 9.62699219e-01 -1.00194495e-01 -2.51338967e-01  8.87431125e+02]
 [ 9.69104770e-02  9.94967861e-01 -2.54423833e-02  9.22731288e+01]
 [ 2.52623381e-01  1.35983294e-04  9.67564679e-01  2.32844075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.820714057 meters
Centerline goodness : 0.999101 with order 1
Centerline is valid?  [True, True]
Translation: X:887.49, Y:92.28, Z:232.86
[[ 9.62186568e-01 -1.05001300e-01 -2.51339881e-01  8.87489930e+02]
 [ 1.01880843e-01  9.94471437e-01 -2.54333493e-02  9.22807814e+01]
 [ 2.52620868e-01 -1.13509208e-03  9.67564679e-01  2.32859032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.8807140570001 meters
Centerline goodness : 0.999356 with order 1
Centerline is valid?  [True, True]
Translation: X:887.55, Y:92.29, Z:232.87
[[ 9.61954256e-01 -1.07106536e-01 -2.51340803e-01  8.87549189e+02]
 [ 1.04059113e-01  9.94246101e-01 -2.54242397e-02  9.22885360e+01]
 [ 2.52617715e-01 -1.69734539e-03  9.67564679e-01  2.32873037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 916.940714057 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:887.61, Y:92.30, Z:232.89
[[ 9.61572093e-01 -1.10482701e-01 -2.51341764e-01  8.87606873e+02]
 [ 1.07551138e-01  9.93874662e-01 -2.54147355e-02  9.22983722e+01]
 [ 2.52610099e-01 -2.59399227e-03  9.67564680e-01  2.32885615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.000714057 meters
Centerline goodness : 0.999352 with order 1
Centerline is valid?  [True, True]
Translation: X:887.67, Y:92.31, Z:232.90
[[ 9.61220268e-01 -1.13503762e-01 -2.51341387e-01  8.87667498e+02]
 [ 1.10672746e-01  9.93531804e-01 -2.54184597e-02  9.23063288e+01]
 [ 2.52600753e-01 -3.38390284e-03  9.67564680e-01  2.32899650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.060714057 meters
Centerline goodness : 0.999570 with order 1
Centerline is valid?  [True, True]
Translation: X:887.73, Y:92.31, Z:232.91
[[ 9.60378735e-01 -1.20411799e-01 -2.51343757e-01  8.87725269e+02]
 [ 1.17819304e-01  9.92710283e-01 -2.53950100e-02  9.23106335e+01]
 [ 2.52569391e-01 -5.22431876e-03  9.67564680e-01  2.32913717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.120714057 meters
Centerline goodness : 0.999546 with order 1
Centerline is valid?  [True, True]
Translation: X:887.78, Y:92.32, Z:232.93
[[ 9.60108972e-01 -1.22544186e-01 -2.51343757e-01  8.87784272e+02]
 [ 1.20023495e-01  9.92446197e-01 -2.53950100e-02  9.23161842e+01]
 [ 2.52557166e-01 -5.78517911e-03  9.67564680e-01  2.32928411e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.180714057 meters
Centerline goodness : 0.999358 with order 1
Centerline is valid?  [True, True]
Translation: X:887.84, Y:92.32, Z:232.94
[[ 9.60207317e-01 -1.21769301e-01 -2.51344677e-01  8.87843795e+02]
 [ 1.19224897e-01  9.92542684e-01 -2.53858966e-02  9.23229961e+01]
 [ 2.52561543e-01 -5.59081967e-03  9.67564680e-01  2.32944075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.240714057 meters
Centerline goodness : 0.999569 with order 1
Centerline is valid?  [True, True]
Translation: X:887.90, Y:92.33, Z:232.96
[[ 9.60446203e-01 -1.19866656e-01 -2.51346527e-01  8.87904016e+02]
 [ 1.17262987e-01  9.92776852e-01 -2.53675717e-02  9.23290725e+01]
 [ 2.52571739e-01 -5.10945645e-03  9.67564680e-01  2.32960332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.300714057 meters
Centerline goodness : 0.999665 with order 1
Centerline is valid?  [True, True]
Translation: X:887.96, Y:92.34, Z:232.98
[[ 9.60750021e-01 -1.17402693e-01 -2.51348373e-01  8.87964009e+02]
 [ 1.14720892e-01  9.93074283e-01 -2.53492638e-02  9.23352136e+01]
 [ 2.52583677e-01 -4.48060381e-03  9.67564680e-01  2.32976292e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.360714057 meters
Centerline goodness : 0.999689 with order 1
Centerline is valid?  [True, True]
Translation: X:888.02, Y:92.34, Z:232.99
[[ 9.61020021e-01 -1.15167591e-01 -2.51350245e-01  8.88024770e+02]
 [ 1.12415465e-01  9.93338371e-01 -2.53306903e-02  9.23415411e+01]
 [ 2.52593117e-01 -3.91235405e-03  9.67564680e-01  2.32992550e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.420714057 meters
Centerline goodness : 0.999689 with order 1
Centerline is valid?  [True, True]
Translation: X:888.08, Y:92.35, Z:233.01
[[ 9.61093868e-01 -1.14543554e-01 -2.51353042e-01  8.88084246e+02]
 [ 1.11777709e-01  9.93411046e-01 -2.53029008e-02  9.23468119e+01]
 [ 2.52595173e-01 -3.77720431e-03  9.67564681e-01  2.33007522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.480714057 meters
Centerline goodness : 0.999476 with order 1
Centerline is valid?  [True, True]
Translation: X:888.14, Y:92.35, Z:233.02
[[ 9.61215436e-01 -1.13515830e-01 -2.51354417e-01  8.88144843e+02]
 [ 1.10719002e-01  9.93529948e-01 -2.52892436e-02  9.23516707e+01]
 [ 2.52598870e-01 -3.52129875e-03  9.67564681e-01  2.33021314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.5407140570001 meters
Centerline goodness : 0.999522 with order 1
Centerline is valid?  [True, True]
Translation: X:888.20, Y:92.36, Z:233.04
[[ 9.61540834e-01 -1.10721586e-01 -2.51356232e-01  8.88204924e+02]
 [ 1.07835567e-01  9.93847502e-01 -2.52711856e-02  9.23564286e+01]
 [ 2.52607829e-01 -2.80586498e-03  9.67564681e-01  2.33036070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.600714057 meters
Centerline goodness : 0.999333 with order 1
Centerline is valid?  [True, True]
Translation: X:888.26, Y:92.36, Z:233.05
[[ 9.62315984e-01 -1.03765493e-01 -2.51357653e-01  8.88264232e+02]
 [ 1.00649624e-01  9.94601294e-01 -2.52570451e-02  9.23624715e+01]
 [ 2.52621457e-01 -9.93795042e-04  9.67564681e-01  2.33052941e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.6607140570001 meters
Centerline goodness : 0.999154 with order 1
Centerline is valid?  [True, True]
Translation: X:888.32, Y:92.37, Z:233.07
[[ 9.63228450e-01 -9.49175750e-02 -2.51359517e-01  8.88322356e+02]
 [ 9.15099855e-02  9.95484275e-01 -2.52384788e-02  9.23667073e+01]
 [ 2.52620022e-01  1.30851501e-03  9.67564681e-01  2.33068767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.720714057 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:888.38, Y:92.37, Z:233.08
[[ 9.64040136e-01 -8.62831332e-02 -2.51359974e-01  8.88380305e+02]
 [ 8.25878512e-02  9.96264270e-01 -2.52339277e-02  9.23722949e+01]
 [ 2.52598224e-01  3.56723894e-03  9.67564681e-01  2.33084889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.7807140570001 meters
Centerline goodness : 0.999354 with order 1
Centerline is valid?  [True, True]
Translation: X:888.44, Y:92.38, Z:233.10
[[ 9.65015281e-01 -7.45900250e-02 -2.51359974e-01  8.88438046e+02]
 [ 7.05043711e-02  9.97192250e-01 -2.52339277e-02  9.23773262e+01]
 [ 2.52536417e-01  6.62914892e-03  9.67564681e-01  2.33100432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.840714057 meters
Centerline goodness : 0.999043 with order 1
Centerline is valid?  [True, True]
Translation: X:888.50, Y:92.38, Z:233.11
[[ 9.65416664e-01 -6.92031555e-02 -2.51359479e-01  8.88495405e+02]
 [ 6.49367052e-02  9.97570160e-01 -2.52388555e-02  9.23802754e+01]
 [ 2.52495325e-01  8.04355528e-03  9.67564681e-01  2.33114764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.9007140570001 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:888.55, Y:92.38, Z:233.13
[[ 9.65725960e-01 -6.47475621e-02 -2.51358555e-01  8.88551727e+02]
 [ 6.03303940e-02  9.97859098e-01 -2.52480616e-02  9.23828731e+01]
 [ 2.52455171e-01  9.21814787e-03  9.67564681e-01  2.33127660e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 917.960714057 meters
Centerline goodness : 0.999046 with order 1
Centerline is valid?  [True, True]
Translation: X:888.61, Y:92.39, Z:233.14
[[ 9.65684018e-01 -6.53787473e-02 -2.51356316e-01  8.88608569e+02]
 [ 6.09767929e-02  9.97819243e-01 -2.52703329e-02  9.23859829e+01]
 [ 2.52460311e-01  9.07625460e-03  9.67564682e-01  2.33142041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.0207140570001 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:888.67, Y:92.39, Z:233.16
[[ 9.65175643e-01 -7.25044618e-02 -2.51354492e-01  8.88665122e+02]
 [ 6.83350935e-02  9.97341872e-01 -2.52884589e-02  9.23872180e+01]
 [ 2.52519886e-01  7.23147191e-03  9.67564682e-01  2.33156325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.080714057 meters
Centerline goodness : 0.998775 with order 1
Centerline is valid?  [True, True]
Translation: X:888.72, Y:92.39, Z:233.17
[[ 9.64200224e-01 -8.45105029e-02 -2.51348173e-01  8.88723461e+02]
 [ 8.07254379e-02  9.96413932e-01 -2.53511185e-02  9.23915015e+01]
 [ 2.52589257e-01  4.15336281e-03  9.67564684e-01  2.33171821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.1407140570001 meters
Centerline goodness : 0.998687 with order 1
Centerline is valid?  [True, True]
Translation: X:888.78, Y:92.40, Z:233.19
[[ 9.63404868e-01 -9.31407128e-02 -2.51348100e-01  8.88782339e+02]
 [ 8.96440578e-02  9.95651157e-01 -2.53518398e-02  9.23960282e+01]
 [ 2.52616315e-01  1.89222231e-03  9.67564684e-01  2.33186488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.200714057 meters
Centerline goodness : 0.998962 with order 1
Centerline is valid?  [True, True]
Translation: X:888.84, Y:92.40, Z:233.20
[[ 9.62179487e-01 -1.05046724e-01 -2.51348009e-01  8.88840311e+02]
 [ 1.01948847e-01  9.94466526e-01 -2.53527430e-02  9.24009677e+01]
 [ 2.52620404e-01 -1.23075030e-03  9.67564684e-01  2.33201310e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.2607140570001 meters
Centerline goodness : 0.998891 with order 1
Centerline is valid?  [True, True]
Translation: X:888.90, Y:92.41, Z:233.22
[[ 9.61430174e-01 -1.11697952e-01 -2.51347545e-01  8.88899996e+02]
 [ 1.08822221e-01  9.93737757e-01 -2.53573416e-02  9.24090308e+01]
 [ 2.52605909e-01 -2.97288463e-03  9.67564684e-01  2.33216039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.320714057 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:888.96, Y:92.42, Z:233.23
[[ 9.61290162e-01 -1.12892413e-01 -2.51349415e-01  8.88957842e+02]
 [ 1.10061675e-01  9.93601718e-01 -2.53387915e-02  9.24182926e+01]
 [ 2.52601768e-01 -3.30600651e-03  9.67564684e-01  2.33228407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.3807140570001 meters
Centerline goodness : 0.999070 with order 1
Centerline is valid?  [True, True]
Translation: X:889.02, Y:92.43, Z:233.24
[[ 9.61546401e-01 -1.10688712e-01 -2.51349415e-01  8.89017515e+02]
 [ 1.07783919e-01  9.93851384e-01 -2.53387915e-02  9.24299625e+01]
 [ 2.52608682e-01 -2.72700122e-03  9.67564684e-01  2.33242566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.440714057 meters
Centerline goodness : 0.998901 with order 1
Centerline is valid?  [True, True]
Translation: X:889.08, Y:92.44, Z:233.26
[[ 9.61683637e-01 -1.09485685e-01 -2.51351281e-01  8.89077385e+02]
 [ 1.06545321e-01  9.93985402e-01 -2.53202666e-02  9.24393317e+01]
 [ 2.52611711e-01 -2.43021674e-03  9.67564684e-01  2.33257867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.500714057 meters
Centerline goodness : 0.998903 with order 1
Centerline is valid?  [True, True]
Translation: X:889.14, Y:92.44, Z:233.27
[[ 9.61184562e-01 -1.13779774e-01 -2.51353141e-01  8.89135914e+02]
 [ 1.10988539e-01  9.93499554e-01 -2.53017919e-02  9.24436579e+01]
 [ 2.52598066e-01 -3.57762604e-03  9.67564684e-01  2.33270307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.560714057 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:889.20, Y:92.44, Z:233.28
[[ 9.59753825e-01 -1.25275553e-01 -2.51353598e-01  8.89196300e+02]
 [ 1.22872467e-01  9.92099998e-01 -2.52972554e-02  9.24428894e+01]
 [ 2.52537031e-01 -6.60529900e-03  9.67564684e-01  2.33278581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.620714057 meters
Centerline goodness : 0.999288 with order 1
Centerline is valid?  [True, True]
Translation: X:889.26, Y:92.45, Z:233.29
[[ 9.59722292e-01 -1.25516721e-01 -2.51353685e-01  8.89255339e+02]
 [ 1.23121990e-01  9.92069084e-01 -2.52963903e-02  9.24488514e+01]
 [ 2.52535340e-01 -6.66965608e-03  9.67564684e-01  2.33294408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.680714057 meters
Centerline goodness : 0.999099 with order 1
Centerline is valid?  [True, True]
Translation: X:889.31, Y:92.45, Z:233.31
[[ 9.59552950e-01 -1.26802982e-01 -2.51354608e-01  8.89313690e+02]
 [ 1.24454012e-01  9.91903098e-01 -2.52872085e-02  9.24541981e+01]
 [ 2.52525908e-01 -7.01767389e-03  9.67564684e-01  2.33309797e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.740714057 meters
Centerline goodness : 0.999195 with order 1
Centerline is valid?  [True, True]
Translation: X:889.37, Y:92.46, Z:233.32
[[ 9.59683967e-01 -1.25807570e-01 -2.51354608e-01  8.89372229e+02]
 [ 1.23425044e-01  9.92031661e-01 -2.52872085e-02  9.24604981e+01]
 [ 2.52533052e-01 -6.75572510e-03  9.67564684e-01  2.33324444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.800714057 meters
Centerline goodness : 0.999221 with order 1
Centerline is valid?  [True, True]
Translation: X:889.43, Y:92.47, Z:233.34
[[ 9.59675044e-01 -1.25873025e-01 -2.51355908e-01  8.89431255e+02]
 [ 1.23496088e-01  9.92023148e-01 -2.52742856e-02  9.24657597e+01]
 [ 2.52532230e-01 -6.78637021e-03  9.67564684e-01  2.33339415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.860714057 meters
Centerline goodness : 0.999408 with order 1
Centerline is valid?  [True, True]
Translation: X:889.49, Y:92.47, Z:233.36
[[ 9.59556620e-01 -1.26770790e-01 -2.51356836e-01  8.89489893e+02]
 [ 1.24426535e-01  9.91907110e-01 -2.52650490e-02  9.24723922e+01]
 [ 2.52525503e-01 -7.03221504e-03  9.67564684e-01  2.33355623e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.920714057 meters
Centerline goodness : 0.999201 with order 1
Centerline is valid?  [True, True]
Translation: X:889.55, Y:92.48, Z:233.37
[[ 9.59600090e-01 -1.26439495e-01 -2.51357755e-01  8.89549775e+02]
 [ 1.24086464e-01  9.91949943e-01 -2.52559050e-02  9.24781017e+01]
 [ 2.52527655e-01 -6.95452632e-03  9.67564684e-01  2.33371227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 918.980714057 meters
Centerline goodness : 0.999266 with order 1
Centerline is valid?  [True, True]
Translation: X:889.61, Y:92.48, Z:233.39
[[ 9.59504580e-01 -1.27158604e-01 -2.51359602e-01  8.89609883e+02]
 [ 1.24834633e-01  9.91856533e-01 -2.52375048e-02  9.24838965e+01]
 [ 2.52521830e-01 -7.16288238e-03  9.67564684e-01  2.33387115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.0407140570001 meters
Centerline goodness : 0.999268 with order 1
Centerline is valid?  [True, True]
Translation: X:889.67, Y:92.49, Z:233.40
[[ 9.59482749e-01 -1.27319613e-01 -2.51361435e-01  8.89668238e+02]
 [ 1.25005851e-01  9.91835433e-01 -2.52192451e-02  9.24898915e+01]
 [ 2.52520082e-01 -7.22421954e-03  9.67564685e-01  2.33402609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.100714057 meters
Centerline goodness : 0.999172 with order 1
Centerline is valid?  [True, True]
Translation: X:889.73, Y:92.50, Z:233.42
[[ 9.59487818e-01 -1.27280493e-01 -2.51361896e-01  8.89728127e+02]
 [ 1.24966616e-01  9.91840495e-01 -2.52146470e-02  9.24956119e+01]
 [ 2.52520240e-01 -7.21869878e-03  9.67564685e-01  2.33418597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.1607140570001 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:889.79, Y:92.50, Z:233.43
[[ 9.59572819e-01 -1.26634446e-01 -2.51363726e-01  8.89788000e+02]
 [ 1.24303566e-01  9.91924274e-01 -2.51963871e-02  9.25021719e+01]
 [ 2.52524512e-01 -7.06763925e-03  9.67564685e-01  2.33434265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.220714057 meters
Centerline goodness : 0.999148 with order 1
Centerline is valid?  [True, True]
Translation: X:889.85, Y:92.51, Z:233.45
[[ 9.59562611e-01 -1.26708117e-01 -2.51365569e-01  8.89847906e+02]
 [ 1.24384537e-01  9.91914591e-01 -2.51779865e-02  9.25073689e+01]
 [ 2.52523431e-01 -7.10613557e-03  9.67564685e-01  2.33449096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.2807140570001 meters
Centerline goodness : 0.999175 with order 1
Centerline is valid?  [True, True]
Translation: X:889.91, Y:92.51, Z:233.46
[[ 9.59550847e-01 -1.26793502e-01 -2.51367419e-01  8.89907702e+02]
 [ 1.24477639e-01  9.91903381e-01 -2.51595050e-02  9.25133085e+01]
 [ 2.52522255e-01 -7.14779854e-03  9.67564685e-01  2.33464417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.340714057 meters
Centerline goodness : 0.999291 with order 1
Centerline is valid?  [True, True]
Translation: X:889.97, Y:92.52, Z:233.48
[[ 9.59092002e-01 -1.30215336e-01 -2.51369247e-01  8.89967127e+02]
 [ 1.28019671e-01  9.91452915e-01 -2.51412296e-02  9.25184853e+01]
 [ 2.52494546e-01 -8.06745613e-03  9.67564685e-01  2.33479397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.4007140570001 meters
Centerline goodness : 0.999413 with order 1
Centerline is valid?  [True, True]
Translation: X:890.03, Y:92.52, Z:233.49
[[ 9.58928633e-01 -1.31411267e-01 -2.51370158e-01  8.90026795e+02]
 [ 1.29258345e-01  9.91292417e-01 -2.51321187e-02  9.25231975e+01]
 [ 2.52483975e-01 -8.39178246e-03  9.67564685e-01  2.33492067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.460714057 meters
Centerline goodness : 0.998890 with order 1
Centerline is valid?  [True, True]
Translation: X:890.09, Y:92.53, Z:233.51
[[ 9.58905136e-01 -1.31577591e-01 -2.51372785e-01  8.90086162e+02]
 [ 1.29437170e-01  9.91269750e-01 -2.51058130e-02  9.25296876e+01]
 [ 2.52481600e-01 -8.46288891e-03  9.67564686e-01  2.33508866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.5207140570001 meters
Centerline goodness : 0.999198 with order 1
Centerline is valid?  [True, True]
Translation: X:890.15, Y:92.54, Z:233.53
[[ 9.58921851e-01 -1.31452194e-01 -2.51374630e-01  8.90145383e+02]
 [ 1.29312381e-01  9.91286505e-01 -2.50873310e-02  9.25364668e+01]
 [ 2.52482063e-01 -8.44906198e-03  9.67564686e-01  2.33525571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.580714057 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:890.21, Y:92.54, Z:233.54
[[ 9.58943032e-01 -1.31294115e-01 -2.51376446e-01  8.90205527e+02]
 [ 1.29153734e-01  9.91307648e-01 -2.50691210e-02  9.25426995e+01]
 [ 2.52482821e-01 -8.42634775e-03  9.67564686e-01  2.33542031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.6407140570001 meters
Centerline goodness : 0.999457 with order 1
Centerline is valid?  [True, True]
Translation: X:890.26, Y:92.55, Z:233.56
[[ 9.59185262e-01 -1.29508995e-01 -2.51378307e-01  8.90263976e+02]
 [ 1.27313268e-01  9.91546170e-01 -2.50504414e-02  9.25486812e+01]
 [ 2.52497456e-01 -7.97577961e-03  9.67564686e-01  2.33556921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.700714057 meters
Centerline goodness : 0.999504 with order 1
Centerline is valid?  [True, True]
Translation: X:890.32, Y:92.56, Z:233.57
[[ 9.59337236e-01 -1.28376598e-01 -2.51379227e-01  8.90323364e+02]
 [ 1.26145088e-01  9.91695697e-01 -2.50412068e-02  9.25552863e+01]
 [ 2.52506403e-01 -7.68729265e-03  9.67564686e-01  2.33573951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.7607140570001 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:890.38, Y:92.56, Z:233.59
[[ 9.59317240e-01 -1.28522374e-01 -2.51381049e-01  8.90381936e+02]
 [ 1.26300573e-01  9.91676368e-01 -2.50229060e-02  9.25623681e+01]
 [ 2.52504649e-01 -7.74466545e-03  9.67564686e-01  2.33592506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.820714057 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:890.44, Y:92.57, Z:233.61
[[ 9.59211969e-01 -1.29302173e-01 -2.51382870e-01  8.90440047e+02]
 [ 1.27111469e-01  9.91573217e-01 -2.50046050e-02  9.25678576e+01]
 [ 2.52497670e-01 -7.96892938e-03  9.67564687e-01  2.33606800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.8807140570001 meters
Centerline goodness : 0.999384 with order 1
Centerline is valid?  [True, True]
Translation: X:890.50, Y:92.57, Z:233.62
[[ 9.59091677e-01 -1.30191432e-01 -2.51382870e-01  8.90500572e+02]
 [ 1.28030731e-01  9.91454942e-01 -2.50046050e-02  9.25735085e+01]
 [ 2.52490174e-01 -8.20302410e-03  9.67564687e-01  2.33621659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 919.940714057 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:890.56, Y:92.58, Z:233.64
[[ 9.59045004e-01 -1.30531399e-01 -2.51384633e-01  8.90559496e+02]
 [ 1.28386817e-01  9.91409341e-01 -2.49868604e-02  9.25795926e+01]
 [ 2.52486644e-01 -8.31094941e-03  9.67564687e-01  2.33637835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.000714057 meters
Centerline goodness : 0.999246 with order 1
Centerline is valid?  [True, True]
Translation: X:890.62, Y:92.59, Z:233.65
[[ 9.59055577e-01 -1.30452014e-01 -2.51385507e-01  8.90617342e+02]
 [ 1.28307055e-01  9.91419889e-01 -2.49780691e-02  9.25854255e+01]
 [ 2.52487031e-01 -8.29917760e-03  9.67564687e-01  2.33653026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.060714057 meters
Centerline goodness : 0.998864 with order 1
Centerline is valid?  [True, True]
Translation: X:890.68, Y:92.59, Z:233.67
[[ 9.58900697e-01 -1.31584816e-01 -2.51385938e-01  8.90676793e+02]
 [ 1.29479224e-01  9.91267594e-01 -2.49737345e-02  9.25921630e+01]
 [ 2.52476898e-01 -8.60192478e-03  9.67564687e-01  2.33668899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.120714057 meters
Centerline goodness : 0.999195 with order 1
Centerline is valid?  [True, True]
Translation: X:890.73, Y:92.60, Z:233.68
[[ 9.58656910e-01 -1.33345806e-01 -2.51387799e-01  8.90734088e+02]
 [ 1.31304576e-01  9.91027930e-01 -2.49549869e-02  9.25989189e+01]
 [ 2.52459972e-01 -9.08509758e-03  9.67564687e-01  2.33684782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.180714057 meters
Centerline goodness : 0.999315 with order 1
Centerline is valid?  [True, True]
Translation: X:890.79, Y:92.61, Z:233.70
[[ 9.58261965e-01 -1.36154130e-01 -2.51388263e-01  8.90793707e+02]
 [ 1.34208982e-01  9.90638901e-01 -2.49503101e-02  9.26054400e+01]
 [ 2.52432080e-01 -9.82962955e-03  9.67564687e-01  2.33699412e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.240714057 meters
Centerline goodness : 0.999247 with order 1
Centerline is valid?  [True, True]
Translation: X:890.85, Y:92.61, Z:233.71
[[ 9.57682664e-01 -1.40168259e-01 -2.51389684e-01  8.90851158e+02]
 [ 1.38362549e-01  9.90067675e-01 -2.49359794e-02  9.26113205e+01]
 [ 2.52388033e-01 -1.09021623e-02  9.67564687e-01  2.33712436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.300714057 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:890.91, Y:92.62, Z:233.73
[[ 9.57234881e-01 -1.43193833e-01 -2.51389954e-01  8.90908106e+02]
 [ 1.41491180e-01  9.89625474e-01 -2.49332605e-02  9.26180702e+01]
 [ 2.52352191e-01 -1.17024747e-02  9.67564687e-01  2.33725942e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.360714057 meters
Centerline goodness : 0.997781 with order 1
Centerline is valid?  [True, True]
Translation: X:890.97, Y:92.63, Z:233.74
[[ 9.57146044e-01 -1.43788025e-01 -2.51389049e-01  8.90969005e+02]
 [ 1.42103089e-01  9.89537564e-01 -2.49423843e-02  9.26270205e+01]
 [ 2.52345323e-01 -1.18496559e-02  9.67564687e-01  2.33738288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.420714057 meters
Centerline goodness : 0.997186 with order 1
Centerline is valid?  [True, True]
Translation: X:891.03, Y:92.63, Z:233.75
[[ 9.57266073e-01 -1.42983287e-01 -2.51391022e-01  8.91028788e+02]
 [ 1.41276334e-01  9.89656439e-01 -2.49224846e-02  9.26344217e+01]
 [ 2.52354242e-01 -1.16581531e-02  9.67564687e-01  2.33752089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.480714057 meters
Centerline goodness : 0.994904 with order 1
Centerline is valid?  [True, True]
Translation: X:891.09, Y:92.64, Z:233.76
[[ 9.57272492e-01 -1.42937294e-01 -2.51392732e-01  8.91087791e+02]
 [ 1.41233310e-01  9.89663015e-01 -2.49052186e-02  9.26426472e+01]
 [ 2.52353974e-01 -1.16639470e-02  9.67564687e-01  2.33763650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.5407140570001 meters
Centerline goodness : 0.992662 with order 1
Centerline is valid?  [True, True]
Translation: X:891.15, Y:92.65, Z:233.78
[[ 9.57171655e-01 -1.43610132e-01 -2.51393226e-01  8.91147017e+02]
 [ 1.41930221e-01  9.89563434e-01 -2.49002360e-02  9.26498547e+01]
 [ 2.52345470e-01 -1.18464961e-02  9.67564687e-01  2.33777260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.600714057 meters
Centerline goodness : 0.990040 with order 1
Centerline is valid?  [True, True]
Translation: X:891.20, Y:92.66, Z:233.79
[[ 9.57591686e-01 -1.40780502e-01 -2.51394138e-01  8.91204976e+02]
 [ 1.39007277e-01  9.89978492e-01 -2.48910202e-02  9.26599092e+01]
 [ 2.52378960e-01 -1.11101806e-02  9.67564687e-01  2.33790409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.6607140570001 meters
Centerline goodness : 0.986584 with order 1
Centerline is valid?  [True, True]
Translation: X:891.26, Y:92.67, Z:233.80
[[ 9.58033263e-01 -1.37743439e-01 -2.51394138e-01  8.91262541e+02]
 [ 1.35867530e-01  9.90414283e-01 -2.48910202e-02  9.26667035e+01]
 [ 2.52412920e-01 -1.03098753e-02  9.67564687e-01  2.33803379e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.720714057 meters
Centerline goodness : 0.983018 with order 1
Centerline is valid?  [True, True]
Translation: X:891.32, Y:92.67, Z:233.81
[[ 9.58686519e-01 -1.33121289e-01 -2.51393877e-01  8.91322180e+02]
 [ 1.31088538e-01  9.91058071e-01 -2.48936607e-02  9.26714833e+01]
 [ 2.52459807e-01 -9.08963881e-03  9.67564687e-01  2.33813622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.7807140570001 meters
Centerline goodness : 0.979374 with order 1
Centerline is valid?  [True, True]
Translation: X:891.38, Y:92.68, Z:233.83
[[ 9.58946354e-01 -1.31236461e-01 -2.51393877e-01  8.91381280e+02]
 [ 1.29140079e-01  9.91313848e-01 -2.48936607e-02  9.26771008e+01]
 [ 2.52477187e-01 -8.59333986e-03  9.67564687e-01  2.33828638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.840714057 meters
Centerline goodness : 0.973246 with order 1
Centerline is valid?  [True, True]
Translation: X:891.44, Y:92.68, Z:233.84
[[ 9.59388244e-01 -1.27964324e-01 -2.51394767e-01  8.91440740e+02]
 [ 1.25759888e-01  9.91748559e-01 -2.48846688e-02  9.26845693e+01]
 [ 2.52504747e-01 -7.74131896e-03  9.67564688e-01  2.33843465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.9007140570001 meters
Centerline goodness : 0.966078 with order 1
Centerline is valid?  [True, True]
Translation: X:891.50, Y:92.69, Z:233.86
[[ 9.60037481e-01 -1.22996033e-01 -2.51396123e-01  8.91499582e+02]
 [ 1.20627691e-01  9.92386213e-01 -2.48709598e-02  9.26910871e+01]
 [ 2.52541076e-01 -6.44828024e-03  9.67564688e-01  2.33857715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 920.960714057 meters
Centerline goodness : 0.957473 with order 1
Centerline is valid?  [True, True]
Translation: X:891.56, Y:92.70, Z:233.87
[[ 9.60596831e-01 -1.18547432e-01 -2.51396569e-01  8.91556491e+02]
 [ 1.16030443e-01  9.92934336e-01 -2.48664482e-02  9.26958600e+01]
 [ 2.52568139e-01 -5.28302409e-03  9.67564688e-01  2.33872362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.0207140570001 meters
Centerline goodness : 0.951921 with order 1
Centerline is valid?  [True, True]
Translation: X:891.61, Y:92.70, Z:233.91
[[ 9.61098940e-01 -1.14407325e-01 -2.51395689e-01  8.91607899e+02]
 [ 1.11748697e-01  9.93425108e-01 -2.48753455e-02  9.26986917e+01]
 [ 2.52588711e-01 -4.18547265e-03  9.67564688e-01  2.33906122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.080714057 meters
Centerline goodness : 0.948036 with order 1
Centerline is valid?  [True, False]
Translation: X:891.61, Y:92.70, Z:233.91
[[ 9.61309396e-01 -1.14273340e-01 -2.50650851e-01  8.91609145e+02]
 [ 1.11456928e-01  9.93443287e-01 -2.54516991e-02  9.26996854e+01]
 [ 2.51915856e-01 -3.46981648e-03  9.67742921e-01  2.33906363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.1407140570001 meters
Centerline goodness : 0.331148 with order 1
Centerline is valid?  [False, False]
Translation: X:891.66, Y:92.71, Z:233.92
[[ 9.61176837e-01 -1.16923718e-01 -2.49935856e-01  8.91656625e+02]
 [ 1.13305081e-01  9.93140735e-01 -2.88693598e-02  9.27066178e+01]
 [ 2.51596992e-01 -5.70442382e-04  9.67831921e-01  2.33919651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.200714057 meters
Centerline goodness : 0.194776 with order 1
Centerline is valid?  [False, False]
Translation: X:891.71, Y:92.71, Z:233.93
[[ 9.60628835e-01 -1.20704315e-01 -2.50245298e-01  8.91709444e+02]
 [ 1.16098943e-01  9.92684605e-01 -3.31407737e-02  9.27147870e+01]
 [ 2.52414889e-01  2.78276832e-03  9.67615099e-01  2.33934924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.2607140570001 meters
Centerline goodness : 0.173214 with order 1
Centerline is valid?  [False, False]
Translation: X:891.74, Y:92.72, Z:233.94
[[ 9.60467275e-01 -1.21869329e-01 -2.50300779e-01  8.91736789e+02]
 [ 1.17230794e-01  9.92542337e-01 -3.34163046e-02  9.27201462e+01]
 [ 2.52506543e-01  2.75230794e-03  9.67591273e-01  2.33942066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.320714057 meters
Centerline goodness : 0.160304 with order 1
Centerline is valid?  [False, False]
Translation: X:891.79, Y:92.73, Z:233.96
[[ 9.60509877e-01 -1.24531662e-01 -2.48822508e-01  8.91786726e+02]
 [ 1.19138989e-01  9.92199919e-01 -3.66772680e-02  9.27283215e+01]
 [ 2.51449153e-01  5.58441621e-03  9.67854399e-01  2.33956449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.3807140570001 meters
Centerline goodness : 0.162833 with order 1
Centerline is valid?  [False, False]
Translation: X:891.82, Y:92.73, Z:233.96
[[ 9.60522433e-01 -1.27479211e-01 -2.47276580e-01  8.91815508e+02]
 [ 1.21743838e-01  9.91817990e-01 -3.84124012e-02  9.27323763e+01]
 [ 2.50150143e-01  6.79157315e-03  9.68183237e-01  2.33964392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.440714057 meters
Centerline goodness : 0.171058 with order 1
Centerline is valid?  [False, False]
Translation: X:891.87, Y:92.74, Z:233.98
[[ 9.60106545e-01 -1.32876984e-01 -2.46047006e-01  8.91866176e+02]
 [ 1.26231000e-01  9.91083077e-01 -4.26622572e-02  9.27402919e+01]
 [ 2.49521856e-01  9.90155283e-03  9.68318544e-01  2.33979287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.500714057 meters
Centerline goodness : 0.176946 with order 1
Centerline is valid?  [False, False]
Translation: X:891.92, Y:92.75, Z:233.99
[[ 9.59480332e-01 -1.40322507e-01 -2.44350335e-01  8.91915114e+02]
 [ 1.32784590e-01  9.90023332e-01 -4.71386824e-02  9.27457343e+01]
 [ 2.48527150e-01  1.27826796e-02  9.68540582e-01  2.33992440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.560714057 meters
Centerline goodness : 0.178363 with order 1
Centerline is valid?  [False, False]
Translation: X:891.95, Y:92.75, Z:234.00
[[ 9.58588461e-01 -1.44880335e-01 -2.45189420e-01  8.91948534e+02]
 [ 1.37255027e-01  9.89371980e-01 -4.80014927e-02  9.27478933e+01]
 [ 2.49538014e-01  1.23601964e-02  9.68286117e-01  2.34001624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.620714057 meters
Centerline goodness : 0.181344 with order 1
Centerline is valid?  [False, False]
Translation: X:891.99, Y:92.76, Z:234.02
[[ 9.57307441e-01 -1.51690506e-01 -2.46074084e-01  8.91992750e+02]
 [ 1.42306745e-01  9.88260549e-01 -5.55866608e-02  9.27567896e+01]
 [ 2.51617278e-01  1.81955221e-02  9.67655759e-01  2.34015549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.680714057 meters
Centerline goodness : 0.185625 with order 1
Centerline is valid?  [False, False]
Translation: X:892.03, Y:92.77, Z:234.03
[[ 9.56472780e-01 -1.57960615e-01 -2.45373726e-01  8.92032884e+02]
 [ 1.45598846e-01  9.87014509e-01 -6.78478769e-02  9.27679832e+01]
 [ 2.52904720e-01  2.91685161e-02  9.67051395e-01  2.34031160e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.740714057 meters
Centerline goodness : 0.200597 with order 1
Centerline is valid?  [False, False]
Translation: X:892.05, Y:92.77, Z:234.04
[[ 9.55951834e-01 -1.58934401e-01 -2.46771043e-01  8.92046861e+02]
 [ 1.47133845e-01  9.86934321e-01 -6.56679401e-02  9.27691491e+01]
 [ 2.53983706e-01  2.64670153e-02  9.66846303e-01  2.34035755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.800714057 meters
Centerline goodness : 0.221007 with order 1
Centerline is valid?  [False, False]
Translation: X:892.08, Y:92.78, Z:234.05
[[ 9.55919494e-01 -1.62250920e-01 -2.44729565e-01  8.92082774e+02]
 [ 1.48135221e-01  9.86107686e-01 -7.51504381e-02  9.27791795e+01]
 [ 2.53522933e-01  3.55847006e-02  9.66674636e-01  2.34051094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.860714057 meters
Centerline goodness : 0.225488 with order 1
Centerline is valid?  [False, False]
Translation: X:892.10, Y:92.78, Z:234.06
[[ 9.55724678e-01 -1.62219667e-01 -2.45509917e-01  8.92096329e+02]
 [ 1.48163670e-01  9.86129505e-01 -7.48072576e-02  9.27825999e+01]
 [ 2.54239781e-01  3.51194918e-02  9.66503365e-01  2.34056285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.920714057 meters
Centerline goodness : 0.857704 with order 1
Centerline is valid?  [False, False]
Translation: X:892.13, Y:92.79, Z:234.07
[[ 9.55890684e-01 -1.63179949e-01 -2.44223882e-01  8.92133562e+02]
 [ 1.47225913e-01  9.85669567e-01 -8.23409702e-02  9.27919640e+01]
 [ 2.54160443e-01  4.27528823e-02  9.66216673e-01  2.34070351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 921.980714057 meters
Centerline goodness : 0.860305 with order 1
Centerline is valid?  [False, False]
Translation: X:892.15, Y:92.79, Z:234.08
[[ 9.55683478e-01 -1.61963691e-01 -2.45839078e-01  8.92152953e+02]
 [ 1.45894682e-01  9.85866532e-01 -8.23524271e-02  9.27944423e+01]
 [ 2.55702622e-01  4.28362398e-02  9.65805998e-01  2.34076518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.0407140570001 meters
Centerline goodness : 0.864138 with order 1
Centerline is valid?  [False, False]
Translation: X:892.19, Y:92.81, Z:234.09
[[ 9.55921680e-01 -1.63355018e-01 -2.43985409e-01  8.92188974e+02]
 [ 1.44214584e-01  9.85025983e-01 -9.44773308e-02  9.28052363e+01]
 [ 2.55765313e-01  5.51266746e-02  9.65165869e-01  2.34091496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.100714057 meters
Centerline goodness : 0.839469 with order 1
Centerline is valid?  [False, False]
Translation: X:892.23, Y:92.82, Z:234.11
[[ 9.55783663e-01 -1.59039433e-01 -2.47354096e-01  8.92225671e+02]
 [ 1.37463534e-01  9.85210855e-01 -1.02290507e-01  9.28185169e+01]
 [ 2.59964165e-01  6.37654276e-02  9.63510562e-01  2.34106063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.1607140570001 meters
Centerline goodness : 0.856725 with order 1
Centerline is valid?  [False, False]
Translation: X:892.25, Y:92.83, Z:234.12
[[ 9.55836433e-01 -1.56827421e-01 -2.48559598e-01  8.92254655e+02]
 [ 1.31987105e-01  9.84704594e-01 -1.13737707e-01  9.28307805e+01]
 [ 2.62594969e-01  7.59079822e-02  9.61915724e-01  2.34120066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.220714057 meters
Centerline goodness : 0.902598 with order 2
Centerline is valid?  [False, False]
Translation: X:892.30, Y:92.84, Z:234.14
[[ 9.55956768e-01 -1.59022044e-01 -2.46695454e-01  8.92300830e+02]
 [ 1.31768900e-01  9.83568932e-01 -1.23406289e-01  9.28416691e+01]
 [ 2.62266305e-01  8.54642880e-02  9.61203538e-01  2.34137580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.2807140570001 meters
Centerline goodness : 0.795527 with order 3
Centerline is valid?  [False, False]
Translation: X:892.35, Y:92.85, Z:234.16
[[ 9.55982814e-01 -1.60866429e-01 -2.45395295e-01  8.92349963e+02]
 [ 1.32755958e-01  9.82953969e-01 -1.27190215e-01  9.28520628e+01]
 [ 2.61672915e-01  8.90139721e-02  9.61043078e-01  2.34156323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.340714057 meters
Centerline goodness : 0.814011 with order 1
Centerline is valid?  [False, False]
Translation: X:892.38, Y:92.86, Z:234.17
[[ 9.56029108e-01 -1.62777189e-01 -2.43950673e-01  8.92384894e+02]
 [ 1.32659589e-01  9.81886004e-01 -1.35282329e-01  9.28613153e+01]
 [ 2.61552629e-01  9.69714480e-02  9.60305556e-01  2.34171266e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.4007140570001 meters
Centerline goodness : 0.844742 with order 1
Centerline is valid?  [False, False]
Translation: X:892.43, Y:92.87, Z:234.19
[[ 9.55569620e-01 -1.64775326e-01 -2.44409069e-01  8.92429014e+02]
 [ 1.32486466e-01  9.80780571e-01 -1.43236894e-01  9.28696395e+01]
 [ 2.63313573e-01  1.04491931e-01  9.59034618e-01  2.34188139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.460714057 meters
Centerline goodness : 0.845724 with order 1
Centerline is valid?  [False, False]
Translation: X:892.45, Y:92.87, Z:234.19
[[ 9.55271785e-01 -1.62901032e-01 -2.46817891e-01  8.92446639e+02]
 [ 1.31081902e-01  9.81381637e-01 -1.40383819e-01  9.28726711e+01]
 [ 2.65091215e-01  1.01751343e-01  9.58839565e-01  2.34192231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.5207140570001 meters
Centerline goodness : 0.844850 with order 1
Centerline is valid?  [False, False]
Translation: X:892.49, Y:92.89, Z:234.21
[[ 9.55051677e-01 -1.62072046e-01 -2.48211496e-01  8.92488733e+02]
 [ 1.27554202e-01  9.80509135e-01 -1.49438152e-01  9.28879015e+01]
 [ 2.67593386e-01  1.11060738e-01  9.57109864e-01  2.34209273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.580714057 meters
Centerline goodness : 0.834676 with order 2
Centerline is valid?  [False, False]
Translation: X:892.50, Y:92.89, Z:234.21
[[ 9.53976932e-01 -1.65660478e-01 -2.49969237e-01  8.92504625e+02]
 [ 1.31183410e-01  9.80112379e-01 -1.48898076e-01  9.28919612e+01]
 [ 2.69664470e-01  1.09253513e-01  9.56736507e-01  2.34213936e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.6407140570001 meters
Centerline goodness : 0.857764 with order 2
Centerline is valid?  [False, False]
Translation: X:892.55, Y:92.91, Z:234.23
[[ 9.50805077e-01 -1.80336201e-01 -2.51889976e-01  8.92546762e+02]
 [ 1.42103964e-01  9.76399134e-01 -1.62638233e-01  9.29055844e+01]
 [ 2.75274716e-01  1.18842693e-01  9.53991743e-01  2.34231499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.700714057 meters
Centerline goodness : 0.866205 with order 2
Centerline is valid?  [False, False]
Translation: X:892.57, Y:92.91, Z:234.24
[[ 9.47809350e-01 -1.90826043e-01 -2.55426813e-01  8.92567246e+02]
 [ 1.52439406e-01  9.74839556e-01 -1.62634768e-01  9.29085837e+01]
 [ 2.80035111e-01  1.15209642e-01  9.53051455e-01  2.34236658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.7607140570001 meters
Centerline goodness : 0.891815 with order 2
Centerline is valid?  [False, False]
Translation: X:892.61, Y:92.92, Z:234.25
[[ 9.44203176e-01 -2.06884749e-01 -2.56279268e-01  8.92607604e+02]
 [ 1.64804539e-01  9.70455243e-01 -1.76227367e-01  9.29203150e+01]
 [ 2.85166314e-01  1.24158453e-01  9.50402468e-01  2.34253541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.820714057 meters
Centerline goodness : 0.487975 with order 3
Centerline is valid?  [False, False]
Translation: X:892.63, Y:92.92, Z:234.26
[[ 9.41447547e-01 -2.12720066e-01 -2.61584957e-01  8.92630347e+02]
 [ 1.69587975e-01  9.69324802e-01 -1.77902634e-01  9.29249558e+01]
 [ 2.91404246e-01  1.23124335e-01  9.48643222e-01  2.34259562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.8807140570001 meters
Centerline goodness : 0.272448 with order 1
Centerline is valid?  [False, False]
Translation: X:892.64, Y:92.93, Z:234.26
[[ 9.40409477e-01 -2.12917860e-01 -2.65133929e-01  8.92644718e+02]
 [ 1.69055552e-01  9.69262496e-01 -1.78746845e-01  9.29297152e+01]
 [ 2.95042769e-01  1.23272865e-01  9.47498583e-01  2.34263712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 922.940714057 meters
Centerline goodness : 0.484421 with order 3
Centerline is valid?  [False, False]
Translation: X:892.65, Y:92.93, Z:234.27
[[ 9.40383619e-01 -2.09336205e-01 -2.68061563e-01  8.92654793e+02]
 [ 1.65506040e-01  9.70188708e-01 -1.77035653e-01  9.29331359e+01]
 [ 2.97130273e-01  1.22115620e-01  9.46995975e-01  2.34266440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.000714057 meters
Centerline goodness : 0.487735 with order 3
Centerline is valid?  [False, False]
Translation: X:892.67, Y:92.94, Z:234.27
[[ 9.40339779e-01 -2.06548521e-01 -2.70367913e-01  8.92668073e+02]
 [ 1.63045276e-01  9.71020646e-01 -1.74743075e-01  9.29357177e+01]
 [ 2.98625749e-01  1.20235654e-01  9.46766101e-01  2.34270030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.060714057 meters
Centerline goodness : 0.416927 with order 3
Centerline is valid?  [False, False]
Translation: X:892.70, Y:92.94, Z:234.28
[[ 9.39738229e-01 -2.07091518e-01 -2.72038901e-01  8.92698795e+02]
 [ 1.59491858e-01  9.69334043e-01 -1.86959517e-01  9.29431457e+01]
 [ 3.02414298e-01  1.32305016e-01  9.43949668e-01  2.34284012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.120714057 meters
Centerline goodness : 0.953233 with order 1
Centerline is valid?  [False, True]
Translation: X:892.73, Y:92.95, Z:234.29
[[ 9.39923606e-01 -2.04000236e-01 -2.73728915e-01  8.92729128e+02]
 [ 1.56013366e-01  9.69873522e-01 -1.87096717e-01  9.29476331e+01]
 [ 3.03650201e-01  1.33151252e-01  9.43433781e-01  2.34293140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.180714057 meters
Centerline goodness : 0.959059 with order 2
Centerline is valid?  [True, True]
Translation: X:892.90, Y:93.00, Z:234.17
[[ 8.95707552e-01 -2.22319029e-01 -3.85074319e-01  8.92903484e+02]
 [ 2.03932176e-01  9.74973669e-01 -8.85325446e-02  9.29969787e+01]
 [ 3.95119791e-01  7.70225024e-04  9.18629282e-01  2.34169247e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.240714057 meters
Centerline goodness : 0.953281 with order 1
Centerline is valid?  [True, True]
Translation: X:892.92, Y:92.98, Z:234.15
[[ 8.96994336e-01 -1.94687711e-01 -3.96859996e-01  8.92923438e+02]
 [ 1.97963946e-01  9.79648831e-01 -3.31427960e-02  9.29778306e+01]
 [ 3.95235926e-01 -4.88350704e-02  9.17280600e-01  2.34146074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.300714057 meters
Centerline goodness : 0.950668 with order 1
Centerline is valid?  [True, True]
Translation: X:892.96, Y:93.02, Z:234.19
[[ 8.94154762e-01 -2.28897334e-01 -3.84828887e-01  8.92961208e+02]
 [ 2.11167066e-01  9.73447956e-01 -8.83603214e-02  9.30200129e+01]
 [ 3.94836336e-01 -2.25538496e-03  9.18748704e-01  2.34186188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.360714057 meters
Centerline goodness : 0.952350 with order 1
Centerline is valid?  [True, True]
Translation: X:893.01, Y:93.03, Z:234.21
[[ 8.94011555e-01 -2.29495018e-01 -3.84805634e-01  8.93012575e+02]
 [ 2.11774219e-01  9.73306861e-01 -8.84614816e-02  9.30262095e+01]
 [ 3.94835433e-01 -2.40632579e-03  9.18748709e-01  2.34213965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.420714057 meters
Centerline goodness : 0.955960 with order 1
Centerline is valid?  [True, True]
Translation: X:893.07, Y:93.04, Z:234.23
[[ 8.95131175e-01 -2.25101421e-01 -3.84798038e-01  8.93066118e+02]
 [ 2.06977187e-01  9.74335243e-01 -8.84945128e-02  9.30410757e+01]
 [ 3.94842530e-01 -4.30218210e-04  9.18748710e-01  2.34233309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.480714057 meters
Centerline goodness : 0.958787 with order 1
Centerline is valid?  [True, True]
Translation: X:893.11, Y:93.01, Z:234.30
[[ 8.97317407e-01 -2.16230538e-01 -3.84793225e-01  8.93110988e+02]
 [ 1.97314273e-01  9.76336057e-01 -8.85154339e-02  9.30051354e+01]
 [ 3.94827240e-01  3.50124416e-03  9.18748710e-01  2.34298930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.5407140570001 meters
Centerline goodness : 0.964826 with order 1
Centerline is valid?  [True, True]
Translation: X:893.17, Y:93.04, Z:234.29
[[ 8.95919657e-01 -2.21991206e-01 -3.84769895e-01  8.93173633e+02]
 [ 2.03539505e-01  9.75048072e-01 -8.86167404e-02  9.30361504e+01]
 [ 3.94841282e-01  1.07760553e-03  9.18748715e-01  2.34291720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.600714057 meters
Centerline goodness : 0.969334 with order 1
Centerline is valid?  [True, True]
Translation: X:893.22, Y:93.05, Z:234.32
[[ 8.95389002e-01 -2.24127829e-01 -3.84766489e-01  8.93221638e+02]
 [ 2.05858590e-01  9.74559743e-01 -8.86315277e-02  9.30536012e+01]
 [ 3.94842723e-01  1.52208053e-04  9.18748715e-01  2.34323299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.6607140570001 meters
Centerline goodness : 0.971484 with order 1
Centerline is valid?  [True, True]
Translation: X:893.27, Y:93.05, Z:234.35
[[ 8.93163475e-01 -2.32850075e-01 -3.84759469e-01  8.93272849e+02]
 [ 2.15340751e-01  9.72505739e-01 -8.86619913e-02  9.30509618e+01]
 [ 3.94825743e-01 -3.66474068e-03  9.18748715e-01  2.34353434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.720714057 meters
Centerline goodness : 0.969879 with order 1
Centerline is valid?  [True, True]
Translation: X:893.31, Y:93.05, Z:234.41
[[ 8.90502478e-01 -2.42852204e-01 -3.84744257e-01  8.93313122e+02]
 [ 2.26205309e-01  9.70030158e-01 -8.87279617e-02  9.30463350e+01]
 [ 3.94761313e-01 -8.01872356e-03  9.18748717e-01  2.34412512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.7807140570001 meters
Centerline goodness : 0.956379 with order 1
Centerline is valid?  [True, True]
Translation: X:893.40, Y:93.06, Z:234.36
[[ 9.02072140e-01 -1.95598647e-01 -3.84716808e-01  8.93398449e+02]
 [ 1.74734302e-01  9.80598881e-01 -8.88468284e-02  9.30628702e+01]
 [ 3.94631191e-01  1.29230255e-02  9.18748724e-01  2.34359837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.840714057 meters
Centerline goodness : 0.970277 with order 1
Centerline is valid?  [True, True]
Translation: X:893.44, Y:93.08, Z:234.41
[[ 8.95712465e-01 -2.22916435e-01 -3.84717355e-01  8.93439021e+02]
 [ 2.04448656e-01  9.74837119e-01 -8.88444598e-02  9.30840245e+01]
 [ 3.94841649e-01  9.24143849e-04  9.18748724e-01  2.34408601e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.9007140570001 meters
Centerline goodness : 0.972529 with order 1
Centerline is valid?  [True, True]
Translation: X:893.49, Y:93.10, Z:234.43
[[ 8.97334799e-01 -2.16298297e-01 -3.84714577e-01  8.93490945e+02]
 [ 1.97241774e-01  9.76319726e-01 -8.88564887e-02  9.30965625e+01]
 [ 3.94823938e-01  3.85223387e-03  9.18748724e-01  2.34433264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 923.960714057 meters
Centerline goodness : 0.981354 with order 1
Centerline is valid?  [True, True]
Translation: X:893.52, Y:93.10, Z:234.51
[[ 8.90249615e-01 -2.43829058e-01 -3.84711597e-01  8.93522716e+02]
 [ 2.27208335e-01  9.69782761e-01 -8.88693891e-02  9.31015665e+01]
 [ 3.94755614e-01 -8.29374192e-03  9.18748724e-01  2.34511700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.0207140570001 meters
Centerline goodness : 0.983281 with order 1
Centerline is valid?  [True, True]
Translation: X:893.59, Y:93.11, Z:234.50
[[ 8.93167142e-01 -2.32915098e-01 -3.84711597e-01  8.93589226e+02]
 [ 2.15322219e-01  9.72490912e-01 -8.88693890e-02  9.31139367e+01]
 [ 3.94827554e-01 -3.46173653e-03  9.18748724e-01  2.34504680e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.080714057 meters
Centerline goodness : 0.982755 with order 1
Centerline is valid?  [True, True]
Translation: X:893.63, Y:93.12, Z:234.56
[[ 8.89169000e-01 -2.47744722e-01 -3.84709035e-01  8.93629019e+02]
 [ 2.31469394e-01  9.68773544e-01 -8.88804780e-02  9.31230608e+01]
 [ 3.94715605e-01 -1.00186015e-02  9.18748725e-01  2.34560481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.1407140570001 meters
Centerline goodness : 0.986157 with order 1
Centerline is valid?  [True, True]
Translation: X:893.69, Y:93.14, Z:234.57
[[ 8.88985357e-01 -2.48409003e-01 -3.84705085e-01  8.93688724e+02]
 [ 2.32185763e-01  9.68600533e-01 -8.88975743e-02  9.31369841e+01]
 [ 3.94708508e-01 -1.02944019e-02  9.18748725e-01  2.34566040e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.200714057 meters
Centerline goodness : 0.988097 with order 1
Centerline is valid?  [True, True]
Translation: X:893.74, Y:93.15, Z:234.59
[[ 8.88358836e-01 -2.50649246e-01 -3.84699277e-01  8.93741347e+02]
 [ 2.34615888e-01  9.68012468e-01 -8.89226994e-02  9.31503599e+01]
 [ 3.94682104e-01 -1.12612968e-02  9.18748725e-01  2.34590877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.2607140570001 meters
Centerline goodness : 0.989637 with order 1
Centerline is valid?  [True, True]
Translation: X:893.79, Y:93.17, Z:234.62
[[ 8.88345606e-01 -2.50698451e-01 -3.84697765e-01  8.93791978e+02]
 [ 2.34666675e-01  9.67999557e-01 -8.89292394e-02  9.31673019e+01]
 [ 3.94681689e-01 -1.12758466e-02  9.18748725e-01  2.34615969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.320714057 meters
Centerline goodness : 0.990468 with order 1
Centerline is valid?  [True, True]
Translation: X:893.84, Y:93.18, Z:234.64
[[ 8.88903284e-01 -2.48746423e-01 -3.84676706e-01  8.93844871e+02]
 [ 2.32500352e-01  9.68513800e-01 -8.90202497e-02  9.31834488e+01]
 [ 3.94708167e-01 -1.03070773e-02  9.18748729e-01  2.34639728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.3807140570001 meters
Centerline goodness : 0.992698 with order 1
Centerline is valid?  [True, True]
Translation: X:893.90, Y:93.20, Z:234.66
[[ 8.88988025e-01 -2.48449242e-01 -3.84672934e-01  8.93896932e+02]
 [ 2.32169511e-01  9.68591664e-01 -8.90365465e-02  9.31992364e+01]
 [ 3.94712060e-01 -1.01569035e-02  9.18748729e-01  2.34662877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.440714057 meters
Centerline goodness : 0.992966 with order 1
Centerline is valid?  [True, True]
Translation: X:893.95, Y:93.21, Z:234.69
[[ 8.89153793e-01 -2.47887343e-01 -3.84652306e-01  8.93947928e+02]
 [ 2.31518813e-01  9.68739217e-01 -8.91255795e-02  9.32123450e+01]
 [ 3.94720877e-01 -9.80789841e-03  9.18748733e-01  2.34688415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.500714057 meters
Centerline goodness : 0.993364 with order 1
Centerline is valid?  [True, True]
Translation: X:894.00, Y:93.23, Z:234.72
[[ 8.88931531e-01 -2.48714877e-01 -3.84631829e-01  8.93995923e+02]
 [ 2.32382255e-01  9.68524327e-01 -8.92138735e-02  9.32265822e+01]
 [ 3.94714101e-01 -1.00765865e-02  9.18748737e-01  2.34718013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.560714057 meters
Centerline goodness : 0.994192 with order 1
Centerline is valid?  [True, True]
Translation: X:894.05, Y:93.24, Z:234.75
[[ 8.88256763e-01 -2.51125118e-01 -3.84624619e-01  8.94046934e+02]
 [ 2.34995001e-01  9.67890846e-01 -8.92449479e-02  9.32408003e+01]
 [ 3.94686295e-01 -1.11124339e-02  9.18748737e-01  2.34746392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.620714057 meters
Centerline goodness : 0.995315 with order 1
Centerline is valid?  [True, True]
Translation: X:894.10, Y:93.25, Z:234.77
[[ 8.87516292e-01 -2.53733486e-01 -3.84622086e-01  8.94097360e+02]
 [ 2.37832656e-01  9.67196474e-01 -8.92558622e-02  9.32529811e+01]
 [ 3.94652326e-01 -1.22596605e-02  9.18748737e-01  2.34772588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.680714057 meters
Centerline goodness : 0.995141 with order 1
Centerline is valid?  [True, True]
Translation: X:894.15, Y:93.27, Z:234.79
[[ 8.86839155e-01 -2.56100748e-01 -3.84615028e-01  8.94150490e+02]
 [ 2.40399415e-01  9.66558888e-01 -8.92862674e-02  9.32653738e+01]
 [ 3.94619353e-01 -1.32786698e-02  9.18748738e-01  2.34794363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.740714057 meters
Centerline goodness : 0.995588 with order 1
Centerline is valid?  [True, True]
Translation: X:894.20, Y:93.27, Z:234.82
[[ 8.85413999e-01 -2.60989364e-01 -3.84612275e-01  8.94202683e+02]
 [ 2.45722926e-01  9.65218156e-01 -8.92981232e-02  9.32745320e+01]
 [ 3.94540611e-01 -1.54422451e-02  9.18748738e-01  2.34824295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.800714057 meters
Centerline goodness : 0.996411 with order 1
Centerline is valid?  [True, True]
Translation: X:894.26, Y:93.28, Z:234.85
[[ 8.84277378e-01 -2.64816939e-01 -3.84610851e-01  8.94256716e+02]
 [ 2.49893189e-01  9.64146329e-01 -8.93042543e-02  9.32824753e+01]
 [ 3.94470420e-01 -1.71419003e-02  9.18748738e-01  2.34847772e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.860714057 meters
Centerline goodness : 0.996457 with order 1
Centerline is valid?  [True, True]
Translation: X:894.31, Y:93.29, Z:234.87
[[ 8.83332927e-01 -2.67956525e-01 -3.84606605e-01  8.94309557e+02]
 [ 2.53308650e-01  9.63252933e-01 -8.93225371e-02  9.32933243e+01]
 [ 3.94407997e-01 -1.85226419e-02  9.18748738e-01  2.34869938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.920714057 meters
Centerline goodness : 0.996936 with order 1
Centerline is valid?  [True, True]
Translation: X:894.36, Y:93.30, Z:234.89
[[ 8.82211791e-01 -2.71634942e-01 -3.84599550e-01  8.94364212e+02]
 [ 2.57307007e-01  9.62189774e-01 -8.93529074e-02  9.33006587e+01]
 [ 3.94329126e-01 -2.01319706e-02  9.18748738e-01  2.34892042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 924.980714057 meters
Centerline goodness : 0.997890 with order 1
Centerline is valid?  [True, True]
Translation: X:894.42, Y:93.31, Z:234.91
[[ 8.81358566e-01 -2.74395168e-01 -3.84596372e-01  8.94420125e+02]
 [ 2.60311707e-01  9.61379961e-01 -8.93665838e-02  9.33081236e+01]
 [ 3.94265004e-01 -2.13509337e-02  9.18748738e-01  2.34912924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.0407140570001 meters
Centerline goodness : 0.998129 with order 1
Centerline is valid?  [True, True]
Translation: X:894.47, Y:93.32, Z:234.94
[[ 8.80869627e-01 -2.75963350e-01 -3.84594502e-01  8.94471263e+02]
 [ 2.62018827e-01  9.60915350e-01 -8.93746323e-02  9.33191699e+01]
 [ 3.94226883e-01 -2.20436013e-02  9.18748739e-01  2.34938841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.100714057 meters
Centerline goodness : 0.997811 with order 1
Centerline is valid?  [True, True]
Translation: X:894.52, Y:93.33, Z:234.96
[[ 8.80967673e-01 -2.75681947e-01 -3.84571740e-01  8.94524986e+02]
 [ 2.61669279e-01  9.61001490e-01 -8.94724758e-02  9.33281222e+01]
 [ 3.94239961e-01 -2.18082512e-02  9.18748743e-01  2.34959530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.1607140570001 meters
Centerline goodness : 0.997507 with order 1
Centerline is valid?  [True, True]
Translation: X:894.58, Y:93.34, Z:234.98
[[ 8.81241112e-01 -2.74816446e-01 -3.84564719e-01  8.94575864e+02]
 [ 2.60712045e-01  9.61258814e-01 -8.95026427e-02  9.33384673e+01]
 [ 3.94263024e-01 -2.13872459e-02  9.18748744e-01  2.34984437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.220714057 meters
Centerline goodness : 0.996675 with order 1
Centerline is valid?  [True, True]
Translation: X:894.63, Y:93.35, Z:235.01
[[ 8.80915836e-01 -2.75866709e-01 -3.84557992e-01  8.94627324e+02]
 [ 2.61845126e-01  9.60948091e-01 -8.95315385e-02  9.33485470e+01]
 [ 3.94239039e-01 -2.18248858e-02  9.18748744e-01  2.35012152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.2807140570001 meters
Centerline goodness : 0.997737 with order 1
Centerline is valid?  [True, True]
Translation: X:894.68, Y:93.36, Z:235.04
[[ 8.78748607e-01 -2.82721473e-01 -3.84537974e-01  8.94679639e+02]
 [ 2.69286407e-01  9.58881403e-01 -8.96174383e-02  9.33600405e+01]
 [ 3.94063087e-01 -2.47996502e-02  9.18748748e-01  2.35037973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.340714057 meters
Centerline goodness : 0.997447 with order 1
Centerline is valid?  [True, True]
Translation: X:894.73, Y:93.37, Z:235.07
[[ 8.79388491e-01 -2.80727037e-01 -3.84536360e-01  8.94732615e+02]
 [ 2.67107182e-01  9.59490087e-01 -8.96243651e-02  9.33668292e+01]
 [ 3.94118808e-01 -2.38977881e-02  9.18748748e-01  2.35066472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.4007140570001 meters
Centerline goodness : 0.997079 with order 1
Centerline is valid?  [True, True]
Translation: X:894.79, Y:93.38, Z:235.08
[[ 8.79415257e-01 -2.80645131e-01 -3.84534936e-01  8.94788240e+02]
 [ 2.67015155e-01  9.59515130e-01 -8.96304748e-02  9.33789055e+01]
 [ 3.94121445e-01 -2.38542484e-02  9.18748748e-01  2.35082737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.460714057 meters
Centerline goodness : 0.997636 with order 1
Centerline is valid?  [True, True]
Translation: X:894.84, Y:93.39, Z:235.11
[[ 8.79827844e-01 -2.79354768e-01 -3.84530726e-01  8.94840070e+02]
 [ 2.65599440e-01  9.59906286e-01 -8.96485330e-02  9.33860521e+01]
 [ 3.94157206e-01 -2.32558697e-02  9.18748748e-01  2.35113230e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.5207140570001 meters
Centerline goodness : 0.997757 with order 1
Centerline is valid?  [True, True]
Translation: X:894.89, Y:93.40, Z:235.14
[[ 8.80090806e-01 -2.78527618e-01 -3.84528984e-01  8.94892700e+02]
 [ 2.64693771e-01  9.60155721e-01 -8.96560015e-02  9.33958200e+01]
 [ 3.94179377e-01 -2.28770044e-02  9.18748748e-01  2.35136437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.580714057 meters
Centerline goodness : 0.997783 with order 1
Centerline is valid?  [True, True]
Translation: X:894.95, Y:93.41, Z:235.16
[[ 8.80356498e-01 -2.77694278e-01 -3.84523503e-01  8.94945112e+02]
 [ 2.63774407e-01  9.60406502e-01 -8.96795038e-02  9.34052708e+01]
 [ 3.94202358e-01 -2.24775252e-02  9.18748748e-01  2.35160449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.6407140570001 meters
Centerline goodness : 0.997981 with order 1
Centerline is valid?  [True, True]
Translation: X:895.00, Y:93.42, Z:235.19
[[ 8.81640136e-01 -2.73618195e-01 -3.84504557e-01  8.94997840e+02]
 [ 2.59292811e-01  9.61618563e-01 -8.97606690e-02  9.34164291e+01]
 [ 3.94306872e-01 -2.05626590e-02  9.18748751e-01  2.35185824e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.700714057 meters
Centerline goodness : 0.989049 with order 1
Centerline is valid?  [True, True]
Translation: X:895.05, Y:93.43, Z:235.21
[[ 8.85387794e-01 -2.61240831e-01 -3.84501862e-01  8.95051713e+02]
 [ 2.45791464e-01  9.65156726e-01 -8.97722124e-02  9.34250448e+01]
 [ 3.94556726e-01 -1.50240544e-02  9.18748751e-01  2.35211581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.7607140570001 meters
Centerline goodness : 0.997808 with order 1
Centerline is valid?  [True, True]
Translation: X:895.10, Y:93.44, Z:235.25
[[ 8.83972613e-01 -2.65994502e-01 -3.84498823e-01  8.95099858e+02]
 [ 2.50968331e-01  9.63822344e-01 -8.97852262e-02  9.34377808e+01]
 [ 3.94470933e-01 -1.71293467e-02  9.18748751e-01  2.35245758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.820714057 meters
Centerline goodness : 0.997525 with order 1
Centerline is valid?  [True, True]
Translation: X:895.15, Y:93.45, Z:235.27
[[ 8.85565394e-01 -2.60649830e-01 -3.84493953e-01  8.95151471e+02]
 [ 2.45132544e-01  9.65321141e-01 -8.98060780e-02  9.34495267e+01]
 [ 3.94568080e-01 -1.47228259e-02  9.18748752e-01  2.35269455e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.8807140570001 meters
Centerline goodness : 0.997508 with order 1
Centerline is valid?  [True, True]
Translation: X:895.20, Y:93.46, Z:235.30
[[ 8.86509111e-01 -2.57433757e-01 -3.84485964e-01  8.95204475e+02]
 [ 2.41612271e-01  9.66205070e-01 -8.98402673e-02  9.34616187e+01]
 [ 3.94620206e-01 -1.32523114e-02  9.18748752e-01  2.35295648e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 925.940714057 meters
Centerline goodness : 0.997365 with order 1
Centerline is valid?  [True, True]
Translation: X:895.26, Y:93.47, Z:235.32
[[ 8.88731034e-01 -2.49655914e-01 -3.84485467e-01  8.95258802e+02]
 [ 2.33135786e-01  9.68285107e-01 -8.98423953e-02  9.34735027e+01]
 [ 3.94721237e-01 -9.79159670e-03  9.18748752e-01  2.35319929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.000714057 meters
Centerline goodness : 0.997945 with order 1
Centerline is valid?  [True, True]
Translation: X:895.31, Y:93.49, Z:235.34
[[ 8.89711894e-01 -2.46138683e-01 -3.84484713e-01  8.95311417e+02]
 [ 2.29302623e-01  9.69199707e-01 -8.98456212e-02  9.34854796e+01]
 [ 3.94756954e-01 -8.22663551e-03  9.18748752e-01  2.35344000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.060714057 meters
Centerline goodness : 0.998173 with order 1
Centerline is valid?  [True, True]
Translation: X:895.36, Y:93.50, Z:235.37
[[ 8.89781797e-01 -2.45922115e-01 -3.84461528e-01  8.95364662e+02]
 [ 2.29023901e-01  9.69256415e-01 -8.99447316e-02  9.34970766e+01]
 [ 3.94761201e-01 -8.01969407e-03  9.18748757e-01  2.35368104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.120714057 meters
Centerline goodness : 0.998023 with order 1
Centerline is valid?  [True, True]
Translation: X:895.42, Y:93.51, Z:235.39
[[ 8.88862912e-01 -2.49227955e-01 -3.84458256e-01  8.95418542e+02]
 [ 2.32619239e-01  9.68398533e-01 -8.99587191e-02  9.35067042e+01]
 [ 3.94729038e-01 -9.47141792e-03  9.18748757e-01  2.35392847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.180714057 meters
Centerline goodness : 0.998451 with order 1
Centerline is valid?  [True, True]
Translation: X:895.47, Y:93.51, Z:235.42
[[ 8.87493412e-01 -2.54064114e-01 -3.84456590e-01  8.95473185e+02]
 [ 2.37885634e-01  9.67117663e-01 -8.99658378e-02  9.35147048e+01]
 [ 3.94671849e-01 -1.16126112e-02  9.18748757e-01  2.35415807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.240714057 meters
Centerline goodness : 0.998340 with order 1
Centerline is valid?  [True, True]
Translation: X:895.53, Y:93.53, Z:235.44
[[ 8.86525678e-01 -2.57422032e-01 -3.84455614e-01  8.95526092e+02]
 [ 2.41543291e-01  9.66210244e-01 -8.99700087e-02  9.35261882e+01]
 [ 3.94625215e-01 -1.31019511e-02  9.18748757e-01  2.35437643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.300714057 meters
Centerline goodness : 0.998883 with order 1
Centerline is valid?  [True, True]
Translation: X:895.58, Y:93.54, Z:235.46
[[ 8.85212584e-01 -2.61911246e-01 -3.84449192e-01  8.95579127e+02]
 [ 2.46424618e-01  9.64974284e-01 -8.99974421e-02  9.35373326e+01]
 [ 3.94554926e-01 -1.50708771e-02  9.18748757e-01  2.35459837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.360714057 meters
Centerline goodness : 0.998572 with order 1
Centerline is valid?  [True, True]
Translation: X:895.63, Y:93.55, Z:235.49
[[ 8.83995618e-01 -2.65996678e-01 -3.84444425e-01  8.95631532e+02]
 [ 2.50869745e-01  9.63826315e-01 -9.00178022e-02  9.35485763e+01]
 [ 3.94482090e-01 -1.68701323e-02  9.18748758e-01  2.35485876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.420714057 meters
Centerline goodness : 0.997993 with order 1
Centerline is valid?  [True, True]
Translation: X:895.68, Y:93.56, Z:235.51
[[ 8.83193331e-01 -2.68650755e-01 -3.84442859e-01  8.95682328e+02]
 [ 2.53760776e-01  9.63068564e-01 -9.00244888e-02  9.35613658e+01]
 [ 3.94429979e-01 -1.80474901e-02  9.18748758e-01  2.35510850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.480714057 meters
Centerline goodness : 0.998310 with order 1
Centerline is valid?  [True, True]
Translation: X:895.74, Y:93.57, Z:235.54
[[ 8.82575406e-01 -2.70684784e-01 -3.84435171e-01  8.95735763e+02]
 [ 2.55964603e-01  9.62482105e-01 -9.00573090e-02  9.35748842e+01]
 [ 3.94389116e-01 -1.89194298e-02  9.18748758e-01  2.35535000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.5407140570001 meters
Centerline goodness : 0.998415 with order 1
Centerline is valid?  [True, True]
Translation: X:895.79, Y:93.59, Z:235.56
[[ 8.81883580e-01 -2.72932390e-01 -3.84433689e-01  8.95789316e+02]
 [ 2.58413081e-01  9.61827023e-01 -9.00636339e-02  9.35871074e+01]
 [ 3.94339993e-01 -1.99170539e-02  9.18748758e-01  2.35557157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.600714057 meters
Centerline goodness : 0.998429 with order 1
Centerline is valid?  [True, True]
Translation: X:895.84, Y:93.60, Z:235.58
[[ 8.79854586e-01 -2.79412968e-01 -3.84427239e-01  8.95842629e+02]
 [ 2.65470207e-01  9.59900595e-01 -9.00911586e-02  9.36025388e+01]
 [ 3.94184573e-01 -2.27868595e-02  9.18748759e-01  2.35577325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.6607140570001 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:895.90, Y:93.62, Z:235.60
[[ 8.77917642e-01 -2.85442495e-01 -3.84425800e-01  8.95896317e+02]
 [ 2.72046528e-01  9.58056973e-01 -9.00972989e-02  9.36186913e+01]
 [ 3.94019416e-01 -2.54836959e-02  9.18748759e-01  2.35600370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.720714057 meters
Centerline goodness : 0.998552 with order 1
Centerline is valid?  [True, True]
Translation: X:895.95, Y:93.63, Z:235.62
[[ 8.77441871e-01 -2.86901916e-01 -3.84425615e-01  8.95949451e+02]
 [ 2.73638881e-01  9.57603309e-01 -9.00980865e-02  9.36322945e+01]
 [ 3.93976555e-01 -2.61379617e-02  9.18748759e-01  2.35623858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.7807140570001 meters
Centerline goodness : 0.998818 with order 1
Centerline is valid?  [True, True]
Translation: X:896.00, Y:93.65, Z:235.65
[[ 8.76875547e-01 -2.88632766e-01 -3.84422166e-01  8.96000071e+02]
 [ 2.75521516e-01  9.57061951e-01 -9.01128010e-02  9.36495220e+01]
 [ 3.93925335e-01 -2.68988662e-02  9.18748759e-01  2.35645926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.840714057 meters
Centerline goodness : 0.997910 with order 1
Centerline is valid?  [True, True]
Translation: X:896.05, Y:93.67, Z:235.67
[[ 8.76975854e-01 -2.88339159e-01 -3.84413684e-01  8.96050728e+02]
 [ 2.75185284e-01  9.57155276e-01 -9.01489706e-02  9.36663250e+01]
 [ 3.93937064e-01 -2.67265185e-02  9.18748759e-01  2.35670997e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.9007140570001 meters
Centerline goodness : 0.997932 with order 1
Centerline is valid?  [True, True]
Translation: X:896.10, Y:93.68, Z:235.69
[[ 8.77594202e-01 -2.86478474e-01 -3.84393678e-01  8.96102203e+02]
 [ 2.73117406e-01  9.57739355e-01 -9.02342015e-02  9.36845210e+01]
 [ 3.93999109e-01 -2.57955922e-02  9.18748763e-01  2.35694579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 926.960714057 meters
Centerline goodness : 0.997444 with order 1
Centerline is valid?  [True, True]
Translation: X:896.15, Y:93.70, Z:235.72
[[ 8.77360643e-01 -2.87196743e-01 -3.84390860e-01  8.96154039e+02]
 [ 2.73896049e-01  9.57515836e-01 -9.02462047e-02  9.37028657e+01]
 [ 3.93978752e-01 -2.61046697e-02  9.18748763e-01  2.35717600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.0207140570001 meters
Centerline goodness : 0.998383 with order 1
Centerline is valid?  [True, True]
Translation: X:896.21, Y:93.72, Z:235.74
[[ 8.77124148e-01 -2.87946674e-01 -3.84369539e-01  8.96206411e+02]
 [ 2.74674935e-01  9.57284137e-01 -9.03369312e-02  9.37195409e+01]
 [ 3.93963081e-01 -2.63399742e-02  9.18748767e-01  2.35740983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.080714057 meters
Centerline goodness : 0.998646 with order 1
Centerline is valid?  [True, True]
Translation: X:896.26, Y:93.73, Z:235.76
[[ 8.76517445e-01 -2.89790385e-01 -3.84367924e-01  8.96259940e+02]
 [ 2.76684233e-01  9.56704674e-01 -9.03437984e-02  9.37341339e+01]
 [ 3.93907354e-01 -2.71606290e-02  9.18748767e-01  2.35763000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.1407140570001 meters
Centerline goodness : 0.998176 with order 1
Centerline is valid?  [True, True]
Translation: X:896.31, Y:93.75, Z:235.78
[[ 8.75664441e-01 -2.92359596e-01 -3.84366562e-01  8.96313631e+02]
 [ 2.79486127e-01  9.55889353e-01 -9.03495929e-02  9.37501276e+01]
 [ 3.93826475e-01 -2.83091960e-02  9.18748767e-01  2.35783876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.200714057 meters
Centerline goodness : 0.998614 with order 1
Centerline is valid?  [True, True]
Translation: X:896.36, Y:93.77, Z:235.81
[[ 8.75508095e-01 -2.92829850e-01 -3.84364742e-01  8.96364862e+02]
 [ 2.79996088e-01  9.55739369e-01 -9.03573377e-02  9.37658795e+01]
 [ 3.93811842e-01 -2.85120436e-02  9.18748767e-01  2.35809099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.2607140570001 meters
Centerline goodness : 0.998579 with order 1
Centerline is valid?  [True, True]
Translation: X:896.42, Y:93.78, Z:235.83
[[ 8.76687057e-01 -2.89287775e-01 -3.84359710e-01  8.96415393e+02]
 [ 2.76120407e-01  9.56864256e-01 -9.03787356e-02  9.37848951e+01]
 [ 3.93925532e-01 -2.68956920e-02  9.18748767e-01  2.35832797e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.320714057 meters
Centerline goodness : 0.998793 with order 1
Centerline is valid?  [True, True]
Translation: X:896.46, Y:93.81, Z:235.86
[[ 8.79229618e-01 -2.81471389e-01 -3.84355482e-01  8.96464826e+02]
 [ 2.67582916e-01  9.59285055e-01 -9.03967138e-02  9.38076398e+01]
 [ 3.94150559e-01 -2.33674925e-02  9.18748767e-01  2.35858443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.3807140570001 meters
Centerline goodness : 0.998963 with order 1
Centerline is valid?  [True, True]
Translation: X:896.52, Y:93.83, Z:235.88
[[ 8.81579590e-01 -2.74027230e-01 -3.84352057e-01  8.96515615e+02]
 [ 2.59456034e-01  9.61513582e-01 -9.04112763e-02  9.38282010e+01]
 [ 3.94334874e-01 -2.00177243e-02  9.18748767e-01  2.35884322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.440714057 meters
Centerline goodness : 0.998829 with order 1
Centerline is valid?  [True, True]
Translation: X:896.57, Y:93.85, Z:235.91
[[ 8.83902193e-01 -2.66441554e-01 -3.84351156e-01  8.96566003e+02]
 [ 2.51182347e-01  9.63707703e-01 -9.04151055e-02  9.38504257e+01]
 [ 3.94492511e-01 -1.66241153e-02  9.18748767e-01  2.35908268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.500714057 meters
Centerline goodness : 0.998896 with order 1
Centerline is valid?  [True, True]
Translation: X:896.62, Y:93.87, Z:235.93
[[ 8.85423311e-01 -2.61345958e-01 -3.84348606e-01  8.96618874e+02]
 [ 2.45622636e-01  9.65138679e-01 -9.04259431e-02  9.38683214e+01]
 [ 3.94582161e-01 -1.43394797e-02  9.18748768e-01  2.35932369e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.560714057 meters
Centerline goodness : 0.998761 with order 1
Centerline is valid?  [True, True]
Translation: X:896.67, Y:93.88, Z:235.96
[[ 8.86115845e-01 -2.58988550e-01 -3.84348332e-01  8.96670660e+02]
 [ 2.43052623e-01  9.65788983e-01 -9.04271077e-02  9.38830504e+01]
 [ 3.94618970e-01 -1.32879774e-02  9.18748768e-01  2.35955265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.620714057 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:896.73, Y:93.89, Z:235.98
[[ 8.85944788e-01 -2.59580471e-01 -3.84343351e-01  8.96725455e+02]
 [ 2.43688603e-01  9.65626726e-01 -9.04482736e-02  9.38944337e+01]
 [ 3.94610817e-01 -1.35279179e-02  9.18748768e-01  2.35976070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.680714057 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:896.78, Y:93.91, Z:236.00
[[ 8.85481280e-01 -2.61162104e-01 -3.84340029e-01  8.96779392e+02]
 [ 2.45406432e-01  9.65190261e-01 -9.04623898e-02  9.39055703e+01]
 [ 3.94586600e-01 -1.42167622e-02  9.18748768e-01  2.35999237e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.740714057 meters
Centerline goodness : 0.998353 with order 1
Centerline is valid?  [True, True]
Translation: X:896.83, Y:93.91, Z:236.02
[[ 8.84091293e-01 -2.65831943e-01 -3.84338345e-01  8.96833631e+02]
 [ 2.50494083e-01  9.63881723e-01 -9.04695407e-02  9.39149679e+01]
 [ 3.94506401e-01 -1.62911483e-02  9.18748768e-01  2.36020884e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.800714057 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:896.89, Y:93.92, Z:236.04
[[ 8.83296373e-01 -2.68496131e-01 -3.84314122e-01  8.96887343e+02]
 [ 2.53354262e-01  9.63124224e-01 -9.05723331e-02  9.39230968e+01]
 [ 3.94460562e-01 -1.73654075e-02  9.18748773e-01  2.36044729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.860714057 meters
Centerline goodness : 0.997200 with order 1
Centerline is valid?  [True, True]
Translation: X:896.94, Y:93.93, Z:236.07
[[ 8.84228001e-01 -2.65416885e-01 -3.84310707e-01  8.96939196e+02]
 [ 2.49990682e-01  9.64001393e-01 -9.05868230e-02  9.39332045e+01]
 [ 3.94519329e-01 -1.59746904e-02  9.18748773e-01  2.36067585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.920714057 meters
Centerline goodness : 0.997251 with order 1
Centerline is valid?  [True, True]
Translation: X:896.99, Y:93.94, Z:236.09
[[ 8.85003480e-01 -2.62831753e-01 -3.84302367e-01  8.96994080e+02]
 [ 2.47157157e-01  9.64728438e-01 -9.06221913e-02  9.39446415e+01]
 [ 3.94565812e-01 -1.47821258e-02  9.18748774e-01  2.36091286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 927.980714057 meters
Centerline goodness : 0.997842 with order 1
Centerline is valid?  [True, True]
Translation: X:897.05, Y:93.96, Z:236.11
[[ 8.85945200e-01 -2.59637671e-01 -3.84303764e-01  8.97046943e+02]
 [ 2.43678160e-01  9.65613611e-01 -9.06162688e-02  9.39573254e+01]
 [ 3.94616342e-01 -1.33653856e-02  9.18748774e-01  2.36111266e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.0407140570001 meters
Centerline goodness : 0.998455 with order 1
Centerline is valid?  [True, True]
Translation: X:897.10, Y:93.97, Z:236.13
[[ 8.86145894e-01 -2.58992628e-01 -3.84276298e-01  8.97099561e+02]
 [ 2.42924728e-01  9.65792509e-01 -9.07326056e-02  9.39704349e+01]
 [ 3.94630246e-01 -1.29478893e-02  9.18748780e-01  2.36132444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.100714057 meters
Centerline goodness : 0.998218 with order 1
Centerline is valid?  [True, True]
Translation: X:897.15, Y:93.99, Z:236.16
[[ 8.85270425e-01 -2.62009538e-01 -3.84248979e-01  8.97151522e+02]
 [ 2.46162933e-01  9.64961357e-01 -9.08481666e-02  9.39851608e+01]
 [ 3.94588502e-01 -1.41626605e-02  9.18748787e-01  2.36157134e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.1607140570001 meters
Centerline goodness : 0.997811 with order 1
Centerline is valid?  [True, True]
Translation: X:897.21, Y:94.00, Z:236.18
[[ 8.83897489e-01 -2.66621593e-01 -3.84237109e-01  8.97205006e+02]
 [ 2.51168922e-01  9.63665743e-01 -9.08983430e-02  9.39989900e+01]
 [ 3.94511600e-01 -1.61636032e-02  9.18748788e-01  2.36180863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.220714057 meters
Centerline goodness : 0.998788 with order 1
Centerline is valid?  [True, True]
Translation: X:897.26, Y:94.01, Z:236.21
[[ 8.82855546e-01 -2.70051798e-01 -3.84237050e-01  8.97257028e+02]
 [ 2.54908879e-01  9.62683182e-01 -9.08985921e-02  9.40127707e+01]
 [ 3.94445874e-01 -1.76951093e-02  9.18748788e-01  2.36206439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.2807140570001 meters
Centerline goodness : 0.998451 with order 1
Centerline is valid?  [True, True]
Translation: X:897.31, Y:94.03, Z:236.23
[[ 8.82243834e-01 -2.72048525e-01 -3.84233545e-01  8.97309323e+02]
 [ 2.57079815e-01  9.62104320e-01 -9.09134036e-02  9.40273032e+01]
 [ 3.94405611e-01 -1.85708990e-02  9.18748788e-01  2.36228708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.340714057 meters
Centerline goodness : 0.998833 with order 1
Centerline is valid?  [True, True]
Translation: X:897.36, Y:94.04, Z:236.25
[[ 8.83073927e-01 -2.69349161e-01 -3.84228407e-01  8.97363124e+02]
 [ 2.54126864e-01  9.62886464e-01 -9.09351139e-02  9.40432629e+01]
 [ 3.94461629e-01 -1.73403320e-02  9.18748788e-01  2.36251117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.4007140570001 meters
Centerline goodness : 0.999039 with order 1
Centerline is valid?  [True, True]
Translation: X:897.41, Y:94.06, Z:236.28
[[ 8.84873149e-01 -2.63379775e-01 -3.84227282e-01  8.97414865e+02]
 [ 2.47616802e-01  9.64580665e-01 -9.09398698e-02  9.40595453e+01]
 [ 3.94569929e-01 -1.46708818e-02  9.18748788e-01  2.36275713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.460714057 meters
Centerline goodness : 0.999171 with order 1
Centerline is valid?  [True, True]
Translation: X:897.47, Y:94.07, Z:236.30
[[ 8.86764286e-01 -2.56945806e-01 -3.84223833e-01  8.97467880e+02]
 [ 2.40598009e-01  9.66353914e-01 -9.09544397e-02  9.40722529e+01]
 [ 3.94666567e-01 -1.17883406e-02  9.18748788e-01  2.36301818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.5207140570001 meters
Centerline goodness : 0.998831 with order 1
Centerline is valid?  [True, True]
Translation: X:897.52, Y:94.08, Z:236.32
[[ 8.86549721e-01 -2.57685209e-01 -3.84223796e-01  8.97521118e+02]
 [ 2.41403721e-01  9.66152941e-01 -9.09545958e-02  9.40833377e+01]
 [ 3.94656604e-01 -1.21172827e-02  9.18748788e-01  2.36324947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.580714057 meters
Centerline goodness : 0.999144 with order 1
Centerline is valid?  [True, True]
Translation: X:897.57, Y:94.09, Z:236.35
[[ 8.85161481e-01 -2.62421848e-01 -3.84218591e-01  8.97574449e+02]
 [ 2.46556698e-01  9.64848722e-01 -9.09765782e-02  9.40916781e+01]
 [ 3.94587058e-01 -1.42027042e-02  9.18748789e-01  2.36346493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.6407140570001 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:897.63, Y:94.10, Z:236.37
[[ 8.83919950e-01 -2.66586126e-01 -3.84210046e-01  8.97630485e+02]
 [ 2.51080653e-01  9.63677956e-01 -9.10126516e-02  9.40997378e+01]
 [ 3.94517462e-01 -1.60198108e-02  9.18748789e-01  2.36365187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.700714057 meters
Centerline goodness : 0.999072 with order 1
Centerline is valid?  [True, True]
Translation: X:897.68, Y:94.11, Z:236.39
[[ 8.83724018e-01 -2.67245413e-01 -3.84202744e-01  8.97683760e+02]
 [ 2.51786068e-01  9.63490977e-01 -9.10434653e-02  9.41108475e+01]
 [ 3.94506826e-01 -1.62796011e-02  9.18748790e-01  2.36388738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.7607140570001 meters
Centerline goodness : 0.999353 with order 1
Centerline is valid?  [True, True]
Translation: X:897.74, Y:94.12, Z:236.42
[[ 8.84989416e-01 -2.63032259e-01 -3.84197560e-01  8.97735373e+02]
 [ 2.47183591e-01  9.64679935e-01 -9.10653386e-02  9.41221830e+01]
 [ 3.94580799e-01 -1.43754718e-02  9.18748790e-01  2.36415338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.820714057 meters
Centerline goodness : 0.999096 with order 1
Centerline is valid?  [True, True]
Translation: X:897.79, Y:94.13, Z:236.44
[[ 8.85636626e-01 -2.60881134e-01 -3.84172879e-01  8.97787872e+02]
 [ 2.44793815e-01  9.65279306e-01 -9.11693485e-02  9.41349803e+01]
 [ 3.94618493e-01 -1.33002307e-02  9.18748795e-01  2.36440278e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.8807140570001 meters
Centerline goodness : 0.998654 with order 1
Centerline is valid?  [True, True]
Translation: X:897.84, Y:94.14, Z:236.46
[[ 8.85183058e-01 -2.62421074e-01 -3.84169408e-01  8.97842005e+02]
 [ 2.46465959e-01  9.64852328e-01 -9.11839733e-02  9.41442833e+01]
 [ 3.94595344e-01 -1.39701732e-02  9.18748795e-01  2.36460629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 928.940714057 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:897.89, Y:94.16, Z:236.49
[[ 8.84809865e-01 -2.63712291e-01 -3.84144934e-01  8.97893430e+02]
 [ 2.47828775e-01  9.64493435e-01 -9.12869737e-02  9.41562113e+01]
 [ 3.94578764e-01 -1.44305535e-02  9.18748800e-01  2.36485201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.000714057 meters
Centerline goodness : 0.998194 with order 1
Centerline is valid?  [True, True]
Translation: X:897.95, Y:94.17, Z:236.51
[[ 8.84867049e-01 -2.63530470e-01 -3.84137993e-01  8.97947265e+02]
 [ 2.47617922e-01  9.64544826e-01 -9.13161736e-02  9.41685610e+01]
 [ 3.94582907e-01 -1.43167785e-02  9.18748801e-01  2.36509300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.060714057 meters
Centerline goodness : 0.998201 with order 1
Centerline is valid?  [True, True]
Translation: X:898.00, Y:94.18, Z:236.53
[[ 8.84722027e-01 -2.64019399e-01 -3.84136294e-01  8.98000306e+02]
 [ 2.48147785e-01  9.64407968e-01 -9.13233171e-02  9.41809579e+01]
 [ 3.94575230e-01 -1.45268203e-02  9.18748801e-01  2.36531327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.120714057 meters
Centerline goodness : 0.998066 with order 1
Centerline is valid?  [True, True]
Translation: X:898.05, Y:94.20, Z:236.56
[[ 8.85584028e-01 -2.61149288e-01 -3.84111936e-01  8.98051699e+02]
 [ 2.44975032e-01  9.65209087e-01 -9.14256664e-02  9.41950087e+01]
 [ 3.94624078e-01 -1.31327239e-02  9.18748806e-01  2.36556540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.180714057 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:898.10, Y:94.21, Z:236.58
[[ 8.85590905e-01 -2.61130971e-01 -3.84108532e-01  8.98103572e+02]
 [ 2.44948874e-01  9.65214371e-01 -9.14399655e-02  9.42074105e+01]
 [ 3.94624882e-01 -1.31085506e-02  9.18748806e-01  2.36581583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.240714057 meters
Centerline goodness : 0.997653 with order 1
Centerline is valid?  [True, True]
Translation: X:898.16, Y:94.22, Z:236.60
[[ 8.84666872e-01 -2.64254495e-01 -3.84101662e-01  8.98157700e+02]
 [ 2.48340974e-01  9.64344449e-01 -9.14688139e-02  9.42182928e+01]
 [ 3.94577351e-01 -1.44687512e-02  9.18748807e-01  2.36602823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.300714057 meters
Centerline goodness : 0.997346 with order 1
Centerline is valid?  [True, True]
Translation: X:898.21, Y:94.23, Z:236.62
[[ 8.84953705e-01 -2.63327201e-01 -3.84077760e-01  8.98211118e+02]
 [ 2.47286724e-01  9.64605816e-01 -9.15690782e-02  9.42290200e+01]
 [ 3.94596270e-01 -1.39429360e-02  9.18748811e-01  2.36624894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.360714057 meters
Centerline goodness : 0.997034 with order 1
Centerline is valid?  [True, True]
Translation: X:898.26, Y:94.24, Z:236.65
[[ 8.86641081e-01 -2.57624978e-01 -3.84053335e-01  8.98262916e+02]
 [ 2.41027795e-01  9.66179049e-01 -9.16714119e-02  9.42409742e+01]
 [ 3.94681132e-01 -1.12878887e-02  9.18748816e-01  2.36650950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.420714057 meters
Centerline goodness : 0.997030 with order 1
Centerline is valid?  [True, True]
Translation: X:898.32, Y:94.25, Z:236.67
[[ 8.88494847e-01 -2.51191724e-01 -3.84030761e-01  8.98316036e+02]
 [ 2.33977657e-01  9.67901584e-01 -9.17658931e-02  9.42511940e+01]
 [ 3.94754815e-01 -8.32109446e-03  9.18748821e-01  2.36674154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.480714057 meters
Centerline goodness : 0.997033 with order 1
Centerline is valid?  [True, True]
Translation: X:898.37, Y:94.26, Z:236.70
[[ 8.90563793e-01 -2.43760393e-01 -3.84027346e-01  8.98370417e+02]
 [ 2.25877394e-01  9.69822562e-01 -9.17801821e-02  9.42621230e+01]
 [ 3.94810757e-01 -5.00698909e-03  9.18748821e-01  2.36699414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.5407140570001 meters
Centerline goodness : 0.996840 with order 1
Centerline is valid?  [True, True]
Translation: X:898.42, Y:94.27, Z:236.73
[[ 8.91367272e-01 -2.40807628e-01 -3.84026135e-01  8.98423730e+02]
 [ 2.22659873e-01  9.70565840e-01 -9.17852485e-02  9.42697426e+01]
 [ 3.94825236e-01 -3.69284374e-03  9.18748821e-01  2.36725847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.600714057 meters
Centerline goodness : 0.997044 with order 1
Centerline is valid?  [True, True]
Translation: X:898.48, Y:94.28, Z:236.75
[[ 8.90665051e-01 -2.43397526e-01 -3.84022671e-01  8.98477544e+02]
 [ 2.25473805e-01  9.69914620e-01 -9.17997397e-02  9.42760073e+01]
 [ 3.94813033e-01 -4.82423304e-03  9.18748821e-01  2.36748582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.6607140570001 meters
Centerline goodness : 0.997038 with order 1
Centerline is valid?  [True, True]
Translation: X:898.53, Y:94.28, Z:236.77
[[ 8.87967679e-01 -2.53074554e-01 -3.84013895e-01  8.98533195e+02]
 [ 2.35998356e-01  9.67404179e-01 -9.18364383e-02  9.42800356e+01]
 [ 3.94738112e-01 -9.07885873e-03  9.18748822e-01  2.36771522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.720714057 meters
Centerline goodness : 0.997678 with order 1
Centerline is valid?  [True, True]
Translation: X:898.59, Y:94.29, Z:236.79
[[ 8.85140908e-01 -2.62795758e-01 -3.84010368e-01  8.98588534e+02]
 [ 2.46585206e-01  9.64758569e-01 -9.18511813e-02  9.42865841e+01]
 [ 3.94615394e-01 -1.33900379e-02  9.18748822e-01  2.36794508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.7807140570001 meters
Centerline goodness : 0.997801 with order 1
Centerline is valid?  [True, True]
Translation: X:898.64, Y:94.29, Z:236.82
[[ 8.81727503e-01 -2.74032623e-01 -3.84008765e-01  8.98643589e+02]
 [ 2.58833129e-01  9.61544352e-01 -9.18578824e-02  9.42911104e+01]
 [ 3.94413516e-01 -1.84005692e-02  9.18748822e-01  2.36818222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.840714057 meters
Centerline goodness : 0.997986 with order 1
Centerline is valid?  [True, True]
Translation: X:898.70, Y:94.30, Z:236.84
[[ 8.80405507e-01 -2.78252941e-01 -3.84007089e-01  8.98697739e+02]
 [ 2.63432895e-01  9.60293680e-01 -9.18648911e-02  9.43010202e+01]
 [ 3.94321256e-01 -2.02817428e-02  9.18748822e-01  2.36843972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.9007140570001 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:898.75, Y:94.31, Z:236.86
[[ 8.81415522e-01 -2.75036853e-01 -3.84007041e-01  8.98753427e+02]
 [ 2.59925159e-01  9.61249040e-01 -9.18650909e-02  9.43104785e+01]
 [ 3.94392685e-01 -1.88417742e-02  9.18748822e-01  2.36864763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 929.960714057 meters
Centerline goodness : 0.998555 with order 1
Centerline is valid?  [True, True]
Translation: X:898.81, Y:94.32, Z:236.89
[[ 8.84019965e-01 -2.66550732e-01 -3.84004438e-01  8.98807621e+02]
 [ 2.50667544e-01  9.63703579e-01 -9.18759718e-02  9.43242809e+01]
 [ 3.94556058e-01 -1.50372558e-02  9.18748822e-01  2.36888096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.0207140570001 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:898.86, Y:94.34, Z:236.91
[[ 8.87900066e-01 -2.53326513e-01 -3.84004102e-01  8.98860477e+02]
 [ 2.36255162e-01  9.67337607e-01 -9.18773736e-02  9.43388900e+01]
 [ 3.94736584e-01 -9.14502542e-03  9.18748822e-01  2.36912800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.080714057 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:898.92, Y:94.35, Z:236.93
[[ 8.90168566e-01 -2.45236909e-01 -3.84003624e-01  8.98915131e+02]
 [ 2.27442591e-01  9.69447290e-01 -9.18793720e-02  9.43516314e+01]
 [ 3.94803486e-01 -5.55065050e-03  9.18748822e-01  2.36934547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.1407140570001 meters
Centerline goodness : 0.998394 with order 1
Centerline is valid?  [True, True]
Translation: X:898.97, Y:94.36, Z:236.96
[[ 8.90201678e-01 -2.45119342e-01 -3.84001927e-01  8.98967130e+02]
 [ 2.27311495e-01  9.69477365e-01 -9.18864650e-02  9.43625488e+01]
 [ 3.94804326e-01 -5.49056680e-03  9.18748822e-01  2.36959550e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.200714057 meters
Centerline goodness : 0.998843 with order 1
Centerline is valid?  [True, True]
Translation: X:899.02, Y:94.37, Z:236.98
[[ 8.89282923e-01 -2.48469803e-01 -3.83977396e-01  8.99021020e+02]
 [ 2.30916403e-01  9.68615333e-01 -9.19888699e-02  9.43726729e+01]
 [ 3.94782850e-01 -6.86254826e-03  9.18748827e-01  2.36984340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.2607140570001 meters
Centerline goodness : 0.998281 with order 1
Centerline is valid?  [True, True]
Translation: X:899.08, Y:94.38, Z:237.01
[[ 8.87149379e-01 -2.55985696e-01 -3.83975654e-01  8.99075200e+02]
 [ 2.39101062e-01  9.66626811e-01 -9.19961415e-02  9.43818564e+01]
 [ 3.94710858e-01 -1.01946668e-02  9.18748827e-01  2.37009877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.320714057 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:899.13, Y:94.39, Z:237.03
[[ 8.85333910e-01 -2.62195600e-01 -3.83975696e-01  8.99129031e+02]
 [ 2.45868348e-01  9.64927716e-01 -9.19959678e-02  9.43907428e+01]
 [ 3.94629729e-01 -1.29603201e-02  9.18748827e-01  2.37032434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.3807140570001 meters
Centerline goodness : 0.997762 with order 1
Centerline is valid?  [True, True]
Translation: X:899.18, Y:94.40, Z:237.06
[[ 8.83274944e-01 -2.69057607e-01 -3.83970542e-01  8.99181860e+02]
 [ 2.53339135e-01  9.62991208e-01 -9.20174734e-02  9.44028736e+01]
 [ 3.94518257e-01 -1.59980364e-02  9.18748827e-01  2.37059433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.440714057 meters
Centerline goodness : 0.998325 with order 1
Centerline is valid?  [True, True]
Translation: X:899.24, Y:94.41, Z:237.08
[[ 8.81884349e-01 -2.73580942e-01 -3.83970654e-01  8.99237241e+02]
 [ 2.58271434e-01  9.61680164e-01 -9.20170072e-02  9.44137096e+01]
 [ 3.94431060e-01 -1.80202927e-02  9.18748827e-01  2.37082470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.500714057 meters
Centerline goodness : 0.998417 with order 1
Centerline is valid?  [True, True]
Translation: X:899.29, Y:94.43, Z:237.10
[[ 8.81046498e-01 -2.76267199e-01 -3.83970707e-01  8.99290431e+02]
 [ 2.61201034e-01  9.60888615e-01 -9.20167851e-02  9.44288943e+01]
 [ 3.94374300e-01 -1.92224794e-02  9.18748827e-01  2.37104970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.560714057 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:899.34, Y:94.44, Z:237.13
[[ 8.81420142e-01 -2.75077695e-01 -3.83967180e-01  8.99343262e+02]
 [ 2.59897376e-01  9.61240634e-01 -9.20315006e-02  9.44445719e+01]
 [ 3.94400668e-01 -1.86736441e-02  9.18748827e-01  2.37128845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.620714057 meters
Centerline goodness : 0.998208 with order 1
Centerline is valid?  [True, True]
Translation: X:899.40, Y:94.46, Z:237.15
[[ 8.83173929e-01 -2.69396298e-01 -3.83965424e-01  8.99395347e+02]
 [ 2.53699129e-01  9.62894390e-01 -9.20388267e-02  9.44642609e+01]
 [ 3.94513072e-01 -1.61254014e-02  9.18748827e-01  2.37152466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.680714057 meters
Centerline goodness : 0.998141 with order 1
Centerline is valid?  [True, True]
Translation: X:899.45, Y:94.49, Z:237.18
[[ 8.84504818e-01 -2.64995476e-01 -3.83964354e-01  8.99446363e+02]
 [ 2.48899626e-01  9.64145741e-01 -9.20432883e-02  9.44858156e+01]
 [ 3.94588652e-01 -1.41558520e-02  9.18748827e-01  2.37175501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.740714057 meters
Centerline goodness : 0.998208 with order 1
Centerline is valid?  [True, True]
Translation: X:899.50, Y:94.50, Z:237.20
[[ 8.84698414e-01 -2.64367303e-01 -3.83951359e-01  8.99497735e+02]
 [ 2.48191418e-01  9.64323118e-01 -9.20974672e-02  9.45048693e+01]
 [ 3.94600731e-01 -1.38149492e-02  9.18748829e-01  2.37198907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.800714057 meters
Centerline goodness : 0.998042 with order 1
Centerline is valid?  [True, True]
Translation: X:899.55, Y:94.52, Z:237.22
[[ 8.84512696e-01 -2.65021401e-01 -3.83928312e-01  8.99547900e+02]
 [ 2.48862788e-01  9.64140903e-01 -9.21934532e-02  9.45249001e+01]
 [ 3.94594227e-01 -1.39991902e-02  9.18748833e-01  2.37222132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.860714057 meters
Centerline goodness : 0.998034 with order 1
Centerline is valid?  [True, True]
Translation: X:899.60, Y:94.54, Z:237.25
[[ 8.84433581e-01 -2.65295385e-01 -3.83921345e-01  8.99600073e+02]
 [ 2.49148868e-01  9.64064241e-01 -9.22224551e-02  9.45418014e+01]
 [ 3.94591032e-01 -1.40889322e-02  9.18748834e-01  2.37246840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.920714057 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:899.65, Y:94.56, Z:237.27
[[ 8.84575713e-01 -2.64823656e-01 -3.83919575e-01  8.99650155e+02]
 [ 2.48631477e-01  9.64197100e-01 -9.22298237e-02  9.45613438e+01]
 [ 3.94598780e-01 -1.38702292e-02  9.18748834e-01  2.37271890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 930.980714057 meters
Centerline goodness : 0.999036 with order 1
Centerline is valid?  [True, True]
Translation: X:899.70, Y:94.58, Z:237.30
[[ 8.83288763e-01 -2.69120182e-01 -3.83894892e-01  8.99702417e+02]
 [ 2.53270676e-01  9.62979066e-01 -9.23324583e-02  9.45801912e+01]
 [ 3.94531273e-01 -1.56730959e-02  9.18748839e-01  2.37295338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.0407140570001 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:899.76, Y:94.60, Z:237.31
[[ 8.81249225e-01 -2.75727303e-01 -3.83893549e-01  8.99756151e+02]
 [ 2.60472590e-01  9.61055522e-01 -9.23380434e-02  9.45973992e+01]
 [ 3.94403135e-01 -1.86209176e-02  9.18748839e-01  2.37314913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.100714057 meters
Centerline goodness : 0.998750 with order 1
Centerline is valid?  [True, True]
Translation: X:899.80, Y:94.62, Z:237.35
[[ 8.80530731e-01 -2.78013555e-01 -3.83893339e-01  8.99804198e+02]
 [ 2.62965642e-01  9.60376278e-01 -9.23389163e-02  9.46180473e+01]
 [ 3.94353526e-01 -1.96435047e-02  9.18748839e-01  2.37345135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.1607140570001 meters
Centerline goodness : 0.998592 with order 1
Centerline is valid?  [True, True]
Translation: X:899.86, Y:94.63, Z:237.37
[[ 8.81276471e-01 -2.75672174e-01 -3.83870595e-01  8.99856187e+02]
 [ 2.60371037e-01  9.61073875e-01 -9.24333776e-02  9.46325049e+01]
 [ 3.94409311e-01 -1.84894243e-02  9.18748843e-01  2.37365264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.220714057 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:899.91, Y:94.65, Z:237.39
[[ 8.82758652e-01 -2.70906590e-01 -3.83857762e-01  8.99910283e+02]
 [ 2.55151408e-01  9.62467651e-01 -9.24866444e-02  9.46506134e+01]
 [ 3.94505920e-01 -1.62984626e-02  9.18748845e-01  2.37386989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.2807140570001 meters
Centerline goodness : 0.998920 with order 1
Centerline is valid?  [True, True]
Translation: X:899.96, Y:94.66, Z:237.41
[[ 8.84359797e-01 -2.65633595e-01 -3.83857450e-01  8.99962631e+02]
 [ 2.49402443e-01  9.63973238e-01 -9.24879364e-02  9.46644719e+01]
 [ 3.94596212e-01 -1.39423730e-02  9.18748845e-01  2.37412017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.340714057 meters
Centerline goodness : 0.999050 with order 1
Centerline is valid?  [True, True]
Translation: X:900.02, Y:94.68, Z:237.43
[[ 8.84245106e-01 -2.66020072e-01 -3.83854028e-01  9.00016171e+02]
 [ 2.49817558e-01  9.63864379e-01 -9.25021390e-02  9.46753000e+01]
 [ 3.94590650e-01 -1.40989121e-02  9.18748845e-01  2.37432637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.4007140570001 meters
Centerline goodness : 0.999229 with order 1
Centerline is valid?  [True, True]
Translation: X:900.07, Y:94.69, Z:237.45
[[ 8.83908638e-01 -2.67148409e-01 -3.83845343e-01  9.00068356e+02]
 [ 2.51031904e-01  9.63545366e-01 -9.25381635e-02  9.46887957e+01]
 [ 3.94573825e-01 -1.45621452e-02  9.18748845e-01  2.37453958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.460714057 meters
Centerline goodness : 0.999356 with order 1
Centerline is valid?  [True, True]
Translation: X:900.12, Y:94.70, Z:237.48
[[ 8.85364096e-01 -2.62296970e-01 -3.83836836e-01  9.00120370e+02]
 [ 2.45728696e-01  9.64908061e-01 -9.25734400e-02  9.47033316e+01]
 [ 3.94648990e-01 -1.23585249e-02  9.18748846e-01  2.37482772e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.5207140570001 meters
Centerline goodness : 0.999226 with order 1
Centerline is valid?  [True, True]
Translation: X:900.17, Y:94.72, Z:237.51
[[ 8.85957479e-01 -2.60283586e-01 -3.83838248e-01  9.00174396e+02]
 [ 2.43537061e-01  9.65464107e-01 -9.25675829e-02  9.47153274e+01]
 [ 3.94675874e-01 -1.14678965e-02  9.18748846e-01  2.37507969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.580714057 meters
Centerline goodness : 0.999510 with order 1
Centerline is valid?  [True, True]
Translation: X:900.23, Y:94.73, Z:237.53
[[ 8.85759745e-01 -2.60955694e-01 -3.83838248e-01  9.00226496e+02]
 [ 2.44269497e-01  9.65279056e-01 -9.25675829e-02  9.47269836e+01]
 [ 3.94667060e-01 -1.17673371e-02  9.18748846e-01  2.37531466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.6407140570001 meters
Centerline goodness : 0.999178 with order 1
Centerline is valid?  [True, True]
Translation: X:900.28, Y:94.74, Z:237.56
[[ 8.85151710e-01 -2.63018349e-01 -3.83833035e-01  9.00278517e+02]
 [ 2.46508075e-01  9.64707733e-01 -9.25891941e-02  9.47385187e+01]
 [ 3.94639354e-01 -1.26624590e-02  9.18748846e-01  2.37555463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.700714057 meters
Centerline goodness : 0.999026 with order 1
Centerline is valid?  [True, True]
Translation: X:900.33, Y:94.75, Z:237.58
[[ 8.84041318e-01 -2.66733970e-01 -3.83828006e-01  9.00333603e+02]
 [ 2.50548967e-01  9.63664151e-01 -9.26100381e-02  9.47496376e+01]
 [ 3.94583533e-01 -1.42966102e-02  9.18748846e-01  2.37577456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.7607140570001 meters
Centerline goodness : 0.999180 with order 1
Centerline is valid?  [True, True]
Translation: X:900.39, Y:94.76, Z:237.60
[[ 8.83460665e-01 -2.68650917e-01 -3.83828006e-01  9.00388720e+02]
 [ 2.52638661e-01  9.63118418e-01 -9.26100381e-02  9.47615385e+01]
 [ 3.94551594e-01 -1.51524677e-02  9.18748846e-01  2.37599411e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.820714057 meters
Centerline goodness : 0.998669 with order 1
Centerline is valid?  [True, True]
Translation: X:900.44, Y:94.77, Z:237.63
[[ 8.83520617e-01 -2.68453687e-01 -3.83828006e-01  9.00442099e+02]
 [ 2.52423649e-01  9.63174793e-01 -9.26100381e-02  9.47746903e+01]
 [ 3.94554966e-01 -1.50643879e-02  9.18748846e-01  2.37626726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.8807140570001 meters
Centerline goodness : 0.998568 with order 1
Centerline is valid?  [True, True]
Translation: X:900.50, Y:94.79, Z:237.65
[[ 8.83201066e-01 -2.69498098e-01 -3.83831541e-01  9.00496233e+02]
 [ 2.53568604e-01  9.62875411e-01 -9.25953861e-02  9.47878958e+01]
 [ 3.94536233e-01 -1.55472843e-02  9.18748846e-01  2.37650601e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 931.940714057 meters
Centerline goodness : 0.999028 with order 1
Centerline is valid?  [True, True]
Translation: X:900.55, Y:94.80, Z:237.67
[[ 8.82917149e-01 -2.70424282e-01 -3.83833318e-01  9.00549307e+02]
 [ 2.54581561e-01  9.62608793e-01 -9.25880175e-02  9.48012828e+01]
 [ 3.94519375e-01 -1.59693368e-02  9.18748846e-01  2.37672418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.000714057 meters
Centerline goodness : 0.998797 with order 1
Centerline is valid?  [True, True]
Translation: X:900.60, Y:94.81, Z:237.70
[[ 8.83610160e-01 -2.68156664e-01 -3.83829504e-01  9.00603150e+02]
 [ 2.52102545e-01  9.63259486e-01 -9.26038255e-02  9.48143280e+01]
 [ 3.94559744e-01 -1.49387138e-02  9.18748847e-01  2.37696588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.060714057 meters
Centerline goodness : 0.998821 with order 1
Centerline is valid?  [True, True]
Translation: X:900.66, Y:94.83, Z:237.72
[[ 8.83631220e-01 -2.68087752e-01 -3.83829159e-01  9.00658610e+02]
 [ 2.52026801e-01  9.63279169e-01 -9.26052563e-02  9.48262820e+01]
 [ 3.94560969e-01 -1.49063393e-02  9.18748847e-01  2.37718428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.120714057 meters
Centerline goodness : 0.998668 with order 1
Centerline is valid?  [True, True]
Translation: X:900.71, Y:94.84, Z:237.74
[[ 8.82406548e-01 -2.72091640e-01 -3.83829159e-01  9.00710797e+02]
 [ 2.56392001e-01  9.62126503e-01 -9.26052563e-02  9.48390431e+01]
 [ 3.94489323e-01 -1.66952416e-02  9.18748847e-01  2.37742354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.180714057 meters
Centerline goodness : 0.999155 with order 1
Centerline is valid?  [True, True]
Translation: X:900.76, Y:94.85, Z:237.77
[[ 8.82906589e-01 -2.70499718e-01 -3.83804453e-01  9.00761889e+02]
 [ 2.54611933e-01  9.62589255e-01 -9.27075463e-02  9.48513457e+01]
 [ 3.94523408e-01 -1.58690903e-02  9.18748852e-01  2.37766012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.240714057 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:900.81, Y:94.87, Z:237.79
[[ 8.83628686e-01 -2.68149864e-01 -3.83791605e-01  9.00812849e+02]
 [ 2.52027089e-01  9.63264137e-01 -9.27607083e-02  9.48657508e+01]
 [ 3.94566460e-01 -1.47598583e-02  9.18748853e-01  2.37790364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.300714057 meters
Centerline goodness : 0.998951 with order 1
Centerline is valid?  [True, True]
Translation: X:900.87, Y:94.88, Z:237.81
[[ 8.83214181e-01 -2.69523976e-01 -3.83783189e-01  9.00865515e+02]
 [ 2.53509989e-01  9.62871579e-01 -9.27955169e-02  9.48776770e+01]
 [ 3.94544542e-01 -1.53345554e-02  9.18748854e-01  2.37812996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.360714057 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:900.92, Y:94.89, Z:237.84
[[ 8.82940273e-01 -2.70454094e-01 -3.83759114e-01  9.00919001e+02]
 [ 2.54480855e-01  9.62605847e-01 -9.28949817e-02  9.48888860e+01]
 [ 3.94532595e-01 -1.56386270e-02  9.18748858e-01  2.37835158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.420714057 meters
Centerline goodness : 0.998724 with order 1
Centerline is valid?  [True, True]
Translation: X:900.97, Y:94.90, Z:237.86
[[ 8.83105411e-01 -2.69949610e-01 -3.83734336e-01  9.00969633e+02]
 [ 2.53886500e-01  9.62752907e-01 -9.29972303e-02  9.49017864e+01]
 [ 3.94545914e-01 -1.52986101e-02  9.18748864e-01  2.37862519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.480714057 meters
Centerline goodness : 0.998952 with order 1
Centerline is valid?  [True, True]
Translation: X:901.02, Y:94.91, Z:237.89
[[ 8.83315681e-01 -2.69295333e-01 -3.83710088e-01  9.01022805e+02]
 [ 2.53129870e-01  9.62942461e-01 -9.30971804e-02  9.49149475e+01]
 [ 3.94561373e-01 -1.48942853e-02  9.18748868e-01  2.37886789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.5407140570001 meters
Centerline goodness : 0.998747 with order 1
Centerline is valid?  [True, True]
Translation: X:901.08, Y:94.93, Z:237.91
[[ 8.83934055e-01 -2.67261066e-01 -3.83708365e-01  9.01078369e+02]
 [ 2.50909251e-01  9.63522776e-01 -9.31042829e-02  9.49268158e+01]
 [ 3.94594899e-01 -1.39779322e-02  9.18748868e-01  2.37906571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.600714057 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:901.13, Y:94.94, Z:237.93
[[ 8.85245038e-01 -2.62888659e-01 -3.83706628e-01  9.01128909e+02]
 [ 2.46140550e-01  9.64751309e-01 -9.31114419e-02  9.49434060e+01]
 [ 3.94659413e-01 -1.20193185e-02  9.18748868e-01  2.37931602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.6607140570001 meters
Centerline goodness : 0.999076 with order 1
Centerline is valid?  [True, True]
Translation: X:901.18, Y:94.96, Z:237.95
[[ 8.85971372e-01 -2.60440486e-01 -3.83699727e-01  9.01182326e+02]
 [ 2.43460352e-01  9.65428413e-01 -9.31398710e-02  9.49554109e+01]
 [ 3.94692012e-01 -1.08964112e-02  9.18748869e-01  2.37954757e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.720714057 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:901.23, Y:94.97, Z:237.98
[[ 8.85796913e-01 -2.61038401e-01 -3.83696212e-01  9.01234849e+02]
 [ 2.44105633e-01  9.65264061e-01 -9.31543498e-02  9.49662041e+01]
 [ 3.94685026e-01 -1.11465710e-02  9.18748869e-01  2.37976663e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.7807140570001 meters
Centerline goodness : 0.999128 with order 1
Centerline is valid?  [True, True]
Translation: X:901.29, Y:94.98, Z:238.00
[[ 8.85668328e-01 -2.61487038e-01 -3.83687558e-01  9.01288436e+02]
 [ 2.44579101e-01  9.65140762e-01 -9.31899804e-02  9.49776393e+01]
 [ 3.94680474e-01 -1.13065440e-02  9.18748870e-01  2.38001698e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.840714057 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:901.34, Y:94.99, Z:238.03
[[ 8.85033381e-01 -2.63628094e-01 -3.83687558e-01  9.01342678e+02]
 [ 2.46912395e-01  9.64546472e-01 -9.31899804e-02  9.49895414e+01]
 [ 3.94651977e-01 -1.22609703e-02  9.18748870e-01  2.38026477e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.9007140570001 meters
Centerline goodness : 0.998601 with order 1
Centerline is valid?  [True, True]
Translation: X:901.40, Y:95.00, Z:238.05
[[ 8.82541935e-01 -2.71852149e-01 -3.83687558e-01  9.01398052e+02]
 [ 2.55877065e-01  9.62207127e-01 -9.31899804e-02  9.49994010e+01]
 [ 3.94520799e-01 -1.59327805e-02  9.18748870e-01  2.38045708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 932.960714057 meters
Centerline goodness : 0.998527 with order 1
Centerline is valid?  [True, True]
Translation: X:901.45, Y:95.01, Z:238.07
[[ 8.80108854e-01 -2.79628752e-01 -3.83687589e-01  9.01452852e+02]
 [ 2.64357277e-01  9.59911913e-01 -9.31898530e-02  9.50109250e+01]
 [ 3.94364850e-01 -1.94133914e-02  9.18748870e-01  2.38067743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.0207140570001 meters
Centerline goodness : 0.998627 with order 1
Centerline is valid?  [True, True]
Translation: X:901.51, Y:95.02, Z:238.09
[[ 8.79603467e-01 -2.81214489e-01 -3.83687571e-01  9.01505994e+02]
 [ 2.66086833e-01  9.59433914e-01 -9.31899271e-02  9.50245750e+01]
 [ 3.94329226e-01 -2.01240276e-02  9.18748870e-01  2.38092925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.080714057 meters
Centerline goodness : 0.998677 with order 1
Centerline is valid?  [True, True]
Translation: X:901.56, Y:95.04, Z:238.12
[[ 8.80434614e-01 -2.78603802e-01 -3.83685824e-01  9.01559107e+02]
 [ 2.63236260e-01  9.60219229e-01 -9.31971192e-02  9.50393784e+01]
 [ 3.94387578e-01 -1.89460515e-02  9.18748870e-01  2.38117584e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.1407140570001 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:901.61, Y:95.05, Z:238.14
[[ 8.81130363e-01 -2.76395937e-01 -3.83685508e-01  9.01612535e+02]
 [ 2.60827881e-01  9.60876095e-01 -9.31984206e-02  9.50534367e+01]
 [ 3.94433898e-01 -1.79559199e-02  9.18748870e-01  2.38143552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.200714057 meters
Centerline goodness : 0.998422 with order 1
Centerline is valid?  [True, True]
Translation: X:901.67, Y:95.06, Z:238.17
[[ 8.81056236e-01 -2.76627200e-01 -3.83689069e-01  9.01667893e+02]
 [ 2.61086446e-01  9.60807293e-01 -9.31837590e-02  9.50639571e+01]
 [ 3.94428418e-01 -1.80758833e-02  9.18748870e-01  2.38165788e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.2607140570001 meters
Centerline goodness : 0.998699 with order 1
Centerline is valid?  [True, True]
Translation: X:901.72, Y:95.08, Z:238.19
[[ 8.80963923e-01 -2.76921045e-01 -3.83689069e-01  9.01720586e+02]
 [ 2.61406891e-01  9.60720159e-01 -9.31837589e-02  9.50799017e+01]
 [ 3.94422367e-01 -1.82074368e-02  9.18748870e-01  2.38187248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.320714057 meters
Centerline goodness : 0.998546 with order 1
Centerline is valid?  [True, True]
Translation: X:901.77, Y:95.09, Z:238.21
[[ 8.81695804e-01 -2.74589261e-01 -3.83683786e-01  9.01774514e+02]
 [ 2.58854701e-01  9.61408850e-01 -9.32055071e-02  9.50921959e+01]
 [ 3.94470219e-01 -1.71394473e-02  9.18748870e-01  2.38210268e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.3807140570001 meters
Centerline goodness : 0.998824 with order 1
Centerline is valid?  [True, True]
Translation: X:901.83, Y:95.11, Z:238.24
[[ 8.84030864e-01 -2.66978555e-01 -3.83682006e-01  9.01827424e+02]
 [ 2.50554253e-01  9.63604657e-01 -9.32128316e-02  9.51059534e+01]
 [ 3.94603595e-01 -1.37301384e-02  9.18748870e-01  2.38235849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.440714057 meters
Centerline goodness : 0.999051 with order 1
Centerline is valid?  [True, True]
Translation: X:901.88, Y:95.12, Z:238.26
[[ 8.87390835e-01 -2.55589295e-01 -3.83681663e-01  9.01878901e+02]
 [ 2.38142550e-01  9.66746725e-01 -9.32142460e-02  9.51231627e+01]
 [ 3.94747554e-01 -8.65346208e-03  9.18748870e-01  2.38262248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.500714057 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:901.93, Y:95.13, Z:238.29
[[ 8.90015106e-01 -2.46297351e-01 -3.83680501e-01  9.01933333e+02]
 [ 2.28019806e-01  9.69183770e-01 -9.32190284e-02  9.51334163e+01]
 [ 3.94816514e-01 -4.52041013e-03  9.18748870e-01  2.38286740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.560714057 meters
Centerline goodness : 0.997818 with order 1
Centerline is valid?  [True, True]
Translation: X:901.99, Y:95.15, Z:238.31
[[ 8.91879253e-01 -2.39459124e-01 -3.83680501e-01  9.01985937e+02]
 [ 2.20574488e-01  9.70905303e-01 -9.32190284e-02  9.51455496e+01]
 [ 3.94839580e-01 -1.49001260e-03  9.18748870e-01  2.38312915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.620714057 meters
Centerline goodness : 0.997831 with order 1
Centerline is valid?  [True, True]
Translation: X:902.04, Y:95.15, Z:238.34
[[ 8.91406799e-01 -2.41214654e-01 -3.83678785e-01  9.02040181e+02]
 [ 2.22482607e-01  9.70469157e-01 -9.32260913e-02  9.51505088e+01]
 [ 3.94835926e-01 -2.25948456e-03  9.18748870e-01  2.38335779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.680714057 meters
Centerline goodness : 0.997778 with order 1
Centerline is valid?  [True, True]
Translation: X:902.10, Y:95.16, Z:238.36
[[ 8.88062251e-01 -2.53288714e-01 -3.83653835e-01  9.02096520e+02]
 [ 2.35586961e-01  9.67361641e-01 -9.33286614e-02  9.51556659e+01]
 [ 3.94771100e-01 -7.50218015e-03  9.18748875e-01  2.38358828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.740714057 meters
Centerline goodness : 0.997712 with order 1
Centerline is valid?  [True, True]
Translation: X:902.15, Y:95.16, Z:238.38
[[ 8.85069972e-01 -2.63554557e-01 -3.83653673e-01  9.02152474e+02]
 [ 2.46771905e-01  9.64568952e-01 -9.33293278e-02  9.51620213e+01]
 [ 3.94657791e-01 -1.20719624e-02  9.18748875e-01  2.38382281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.800714057 meters
Centerline goodness : 0.997831 with order 1
Centerline is valid?  [True, True]
Translation: X:902.21, Y:95.17, Z:238.40
[[ 8.82733449e-01 -2.71277904e-01 -3.83653432e-01  9.02208779e+02]
 [ 2.55190096e-01  9.62375949e-01 -9.33303186e-02  9.51695270e+01]
 [ 3.94537289e-01 -1.55187621e-02  9.18748875e-01  2.38404517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.860714057 meters
Centerline goodness : 0.997605 with order 1
Centerline is valid?  [True, True]
Translation: X:902.26, Y:95.18, Z:238.43
[[ 8.83491872e-01 -2.68797393e-01 -3.83653586e-01  9.02263774e+02]
 [ 2.52486220e-01  9.63088925e-01 -9.33296884e-02  9.51828039e+01]
 [ 3.94579296e-01 -1.44112225e-02  9.18748875e-01  2.38426842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.920714057 meters
Centerline goodness : 0.997727 with order 1
Centerline is valid?  [True, True]
Translation: X:902.32, Y:95.20, Z:238.45
[[ 8.84115562e-01 -2.66739330e-01 -3.83653233e-01  9.02317851e+02]
 [ 2.50242220e-01  9.63674286e-01 -9.33311375e-02  9.51952765e+01]
 [ 3.94611841e-01 -1.34907257e-02  9.18748875e-01  2.38449161e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 933.980714057 meters
Centerline goodness : 0.997648 with order 1
Centerline is valid?  [True, True]
Translation: X:902.37, Y:95.21, Z:238.47
[[ 8.85401878e-01 -2.62440647e-01 -3.83651433e-01  9.02368937e+02]
 [ 2.45553986e-01  9.64878830e-01 -9.33385377e-02  9.52095943e+01]
 [ 3.94672972e-01 -1.15650222e-02  9.18748875e-01  2.38471427e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 934.0407140570001 meters
Centerline goodness : 0.997363 with order 1
Centerline is valid?  [True, True]
Translation: X:902.42, Y:95.23, Z:238.49
[[ 8.87368812e-01 -2.55754265e-01 -3.83622663e-01  9.02421197e+02]
 [ 2.38217525e-01  9.66704850e-01 -9.34566427e-02  9.52260770e+01]
 [ 3.94751824e-01 -8.45513133e-03  9.18748882e-01  2.38494950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 934.100714057 meters
Centerline goodness : 0.996774 with order 1
Centerline is valid?  [True, True]
Translation: X:902.47, Y:95.24, Z:238.52
[[ 8.89911715e-01 -2.46766124e-01 -3.83619107e-01  9.02473626e+02]
 [ 2.28421566e-01  9.69064866e-01 -9.34712406e-02  9.52397592e+01]
 [ 3.94817334e-01 -4.44572499e-03  9.18748882e-01  2.38519310e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 934.1607140570001 meters
Centerline goodness : 0.997078 with order 1
Centerline is valid?  [True, True]
Translation: X:902.53, Y:95.25, Z:238.54
[[ 8.90745211e-01 -2.43745838e-01 -3.83615608e-01  9.02525918e+02]
 [ 2.25126690e-01  9.69834221e-01 -9.34855964e-02  9.52525904e+01]
 [ 3.94830270e-01 -3.09026492e-03  9.18748882e-01  2.38543645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 934.220714057 meters
Centerline goodness : 0.997286 with order 1
Centerline is valid?  [True, True]
Translation: X:902.58, Y:95.26, Z:238.57
[[ 8.89308976e-01 -2.48970097e-01 -3.83592799e-01  9.02580744e+02]
 [ 2.30775178e-01  9.68496654e-01 -9.35791003e-02  9.52624954e+01]
 [ 3.94806740e-01 -5.30296252e-03  9.18748886e-01  2.38567154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 934.2807140570001 meters
Centerline goodness : 0.996454 with order 1
Centerline is valid?  [True, True]
Translation: X:902.64, Y:95.27, Z:238.59
[[ 8.85342385e-01 -2.62729462e-01 -3.83591048e-01  9.02635068e+02]
 [ 2.45761477e-01  9.64802003e-01 -9.35862806e-02  9.52719871e+01]
 [ 3.94677284e-01 -1.14160014e-02  9.18748886e-01  2.38591689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 934.340714057 meters
Centerline goodness : 0.996636 with order 1
Centerline is valid?  [True, True]
Translation: X:902.69, Y:95.28, Z:238.61
[[ 8.83009334e-01 -2.70467993e-01 -3.83590380e-01  9.02689642e+02]
 [ 2.54194909e-01  9.62614172e-01 -9.35890155e-02  9.52836482e+01]
 [ 3.94562370e-01 -1.48667476e-02  9.18748886e-01  2.38614285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 934.4007140570001 meters
Centerline goodness : 0.997187 with order 1
Centerline is valid?  [True, True]
Translation: X:902.74, Y:95.30, Z:238.64
[[ 8.80808110e-01 -2.77552670e-01 -3.83590392e-01  9.02743107e+02]
 [ 2.61919615e-01  9.60541108e-01 -9.35889673e-02  9.52980570e+01]
 [ 3.94430208e-01 -1.80359264e-02  9.18748886e-01  2.38637974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 934.460714057 meters
Centerline goodness : 0.997488 with order 1
Centerline is valid?  [True, True]
Translation: X:902.80, Y:95.31, Z:238.66
[[ 8.79300079e-01 -2.82294750e-01 -3.83589684e-01  9.02795235e+02]
 [ 2.67090289e-01  9.59115916e-01 -9.35918696e-02  9.53127603e+01]
 [ 3.94327464e-01 -2.01577412e-02  9.18748886e-01  2.38661313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 Total time of SLAM: 19038.27 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!