+ python -m lidar_slam --result /working/result.json --no-model /working/cc565e2a-c168-462e-a9c1-b82429f904d4
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Created default flags file: /working/cc565e2a-c168-462e-a9c1-b82429f904d4/processing/data/lidarslam.flags
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Lidar SLAM 0.0.17
=====================================================
 The recording path: /working/cc565e2a-c168-462e-a9c1-b82429f904d4
 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 0.021052754
Adjusted end_distance from 9.223372036854776e+18 to 124.961052754
 -=-=-> 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): 2.2332

 SLAMing on 0.021052754 meters
Centerline goodness : 0.967937 with order 1
Centerline is valid?  [0, True]

 SLAMing on 0.081052754 meters
Centerline goodness : 0.985842 with order 1
Centerline is valid?  [True, True]
Translation: X:0.06, Y:0.01, Z:0.04
[[ 0.99985565  0.01699084  0.          0.05990773]
 [-0.01699084  0.99985565  0.          0.00580632]
 [ 0.          0.          1.          0.04092179]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.141052754 meters
Centerline goodness : 0.974135 with order 1
Centerline is valid?  [True, True]
Translation: X:0.12, Y:0.04, Z:0.03
[[ 0.99978539  0.02071657  0.          0.12243955]
 [-0.02071657  0.99978539  0.          0.0396945 ]
 [ 0.          0.          1.          0.02829774]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.20105275400000003 meters
Centerline goodness : 0.985196 with order 1
Centerline is valid?  [True, True]
Translation: X:0.18, Y:-0.01, Z:0.04
[[ 0.99782852  0.06586534  0.          0.17976299]
 [-0.06586534  0.99782852  0.         -0.01300917]
 [ 0.          0.          1.          0.04054664]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.261052754 meters
Centerline goodness : 0.981960 with order 1
Centerline is valid?  [True, True]
Translation: X:0.24, Y:-0.01, Z:0.03
[[ 0.99734559  0.07281324  0.          0.24158312]
 [-0.07281324  0.99734559  0.         -0.00947416]
 [ 0.          0.          1.          0.0348136 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.32105275400000005 meters
Centerline goodness : 0.173973 with order 1
Centerline is valid?  [True, False]
Translation: X:0.31, Y:-0.01, Z:0.04
[[ 9.96380620e-01  8.49803499e-02  2.00012211e-03  3.12998021e-01]
 [-8.49790011e-02  9.96382460e-01 -7.50105028e-04 -1.20768443e-02]
 [-2.05663078e-03  5.77421734e-04  9.99997718e-01  3.50384056e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 0.38105275400000005 meters
Centerline goodness : 0.176752 with order 1
Centerline is valid?  [False, False]
Translation: X:0.37, Y:-0.02, Z:0.04
[[ 9.96049021e-01  8.87218942e-02  3.84355390e-03  3.66502092e-01]
 [-8.87242988e-02  9.96056117e-01  4.59363772e-04 -1.67069242e-02]
 [-3.78763974e-03 -7.98565460e-04  9.99992508e-01  3.66524071e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 0.44105275400000005 meters
Centerline goodness : 0.180487 with order 1
Centerline is valid?  [False, False]
Translation: X:0.40, Y:-0.02, Z:0.04
[[ 9.96100905e-01  8.81340471e-02  3.92142335e-03  3.98291600e-01]
 [-8.81361370e-02  9.96108372e-01  3.63016566e-04 -2.00021923e-02]
 [-3.87416851e-03 -7.07220236e-04  9.99992245e-01  3.81724169e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 0.501052754 meters
Centerline goodness : 0.197777 with order 1
Centerline is valid?  [False, False]
Translation: X:0.45, Y:-0.03, Z:0.04
[[ 0.99641903  0.08449808  0.00303241  0.44518769]
 [-0.08450148  0.99642284  0.00100929 -0.02800481]
 [-0.00293628 -0.00126192  0.99999489  0.03895221]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.561052754 meters
Centerline goodness : 0.217634 with order 1
Centerline is valid?  [False, False]
Translation: X:0.51, Y:-0.04, Z:0.04
[[ 9.96685247e-01  8.13542539e-02  5.72307443e-05  5.10595259e-01]
 [-8.13538628e-02  9.96677726e-01  3.88066419e-03 -3.55003786e-02]
 [ 2.58667931e-04 -3.87245669e-03  9.99992469e-01  3.82664832e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 0.621052754 meters
Centerline goodness : 0.230359 with order 1
Centerline is valid?  [False, False]
Translation: X:0.55, Y:-0.04, Z:0.04
[[ 0.99645992  0.08403234 -0.00248998  0.54689011]
 [-0.08402454  0.99645891  0.00308645 -0.04141983]
 [ 0.00274052 -0.00286631  0.99999214  0.03866792]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.681052754 meters
Centerline goodness : 0.245534 with order 1
Centerline is valid?  [False, False]
Translation: X:0.62, Y:-0.05, Z:0.04
[[ 0.99613006  0.08771009 -0.0056433   0.62419556]
 [-0.0877318   0.99613718 -0.00372152 -0.051423  ]
 [ 0.00529509  0.00420222  0.99997715  0.03714594]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.741052754 meters
Centerline goodness : 0.239170 with order 1
Centerline is valid?  [False, False]
Translation: X:0.69, Y:-0.06, Z:0.04
[[ 0.99608569  0.0878483  -0.00979625  0.68699811]
 [-0.08789655  0.99611895 -0.00460754 -0.0636552 ]
 [ 0.00935347  0.00545056  0.9999414   0.03576463]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.801052754 meters
Centerline goodness : 0.243343 with order 1
Centerline is valid?  [False, False]
Translation: X:0.73, Y:-0.07, Z:0.03
[[ 0.99608222  0.08711417 -0.01520972  0.72733716]
 [-0.0871584   0.99619188 -0.00226804 -0.07243462]
 [ 0.01495422  0.00358481  0.99988175  0.03433359]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.861052754 meters
Centerline goodness : 0.261619 with order 1
Centerline is valid?  [False, False]
Translation: X:0.81, Y:-0.10, Z:0.03
[[ 0.99570597  0.08911518 -0.02506217  0.81065573]
 [-0.08930148  0.99598399 -0.0064132  -0.09801402]
 [ 0.02439     0.00862375  0.99966532  0.03080831]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.921052754 meters
Centerline goodness : 0.306223 with order 1
Centerline is valid?  [False, False]
Translation: X:0.88, Y:-0.12, Z:0.03
[[ 0.99484531  0.0966072  -0.03081989  0.87860274]
 [-0.09676408  0.9953007  -0.00363658 -0.12052303]
 [ 0.03032374  0.00660009  0.99951834  0.03013191]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.981052754 meters
Centerline goodness : 0.383217 with order 1
Centerline is valid?  [False, False]
Translation: X:0.90, Y:-0.13, Z:0.03
[[ 0.99454411  0.09895246 -0.0330217   0.90180398]
 [-0.09908729  0.99507569 -0.00246776 -0.12839309]
 [ 0.0326149   0.00572632  0.99945159  0.03013998]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.041052754 meters
Centerline goodness : 0.373350 with order 1
Centerline is valid?  [False, False]
Translation: X:0.97, Y:-0.16, Z:0.03
[[ 0.9940971   0.10180702 -0.03750044  0.9715911 ]
 [-0.10195035  0.99478763 -0.00192499 -0.15611626]
 [ 0.03710899  0.00573681  0.99929476  0.03101102]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.1010527540000001 meters
Centerline goodness : 0.362030 with order 1
Centerline is valid?  [False, False]
Translation: X:1.04, Y:-0.19, Z:0.03
[[ 9.94430337e-01  9.79484468e-02 -3.89153713e-02  1.03732716e+00]
 [-9.80571963e-02  9.95180382e-01 -8.91116869e-04 -1.86209008e-01]
 [ 3.86405305e-02  4.70208585e-03  9.99242113e-01  3.15271504e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 1.1610527540000002 meters
Centerline goodness : 0.357336 with order 1
Centerline is valid?  [False, False]
Translation: X:1.10, Y:-0.21, Z:0.03
[[ 0.99472333  0.09427642 -0.04046547  1.09936295]
 [-0.09388839  0.99551758  0.01138914 -0.21397636]
 [ 0.04135781 -0.0075298   0.99911603  0.03173875]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.2210527540000002 meters
Centerline goodness : 0.332154 with order 1
Centerline is valid?  [False, False]
Translation: X:1.16, Y:-0.24, Z:0.03
[[ 0.99463516  0.09351491 -0.04422516  1.15511276]
 [-0.09289563  0.99554951  0.0158612  -0.23998717]
 [ 0.0455116  -0.01166778  0.99889567  0.03225119]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.281052754 meters
Centerline goodness : 0.334174 with order 1
Centerline is valid?  [False, False]
Translation: X:1.20, Y:-0.26, Z:0.03
[[ 0.99424511  0.09564615 -0.04825417  1.20235231]
 [-0.09467955  0.99526601  0.02193983 -0.26088661]
 [ 0.05012419 -0.01724489  0.9985941   0.03298852]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.3410527540000001 meters
Centerline goodness : 0.329837 with order 1
Centerline is valid?  [False, False]
Translation: X:1.24, Y:-0.28, Z:0.04
[[ 0.99387944  0.09922099 -0.04856813  1.24257626]
 [-0.09814869  0.99488251  0.02399224 -0.27795026]
 [ 0.05070012 -0.0190785   0.99853168  0.03575217]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.4010527540000002 meters
Centerline goodness : 0.320788 with order 1
Centerline is valid?  [False, False]
Translation: X:1.28, Y:-0.29, Z:0.04
[[ 0.99265945  0.10726252 -0.0558745   1.28193821]
 [-0.10517256  0.99368507  0.03909885 -0.28903325]
 [ 0.0597155  -0.03293538  0.99767195  0.0367335 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.4610527540000002 meters
Centerline goodness : 0.310967 with order 1
Centerline is valid?  [False, False]
Translation: X:1.32, Y:-0.30, Z:0.04
[[ 0.99200604  0.11299512 -0.05617941  1.316122  ]
 [-0.110918    0.99307111  0.03881964 -0.29824387]
 [ 0.06017657 -0.03227801  0.99766573  0.03931309]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.5210527540000003 meters
Centerline goodness : 0.295878 with order 1
Centerline is valid?  [False, False]
Translation: X:1.35, Y:-0.30, Z:0.04
[[ 0.99213062  0.11257698 -0.05480191  1.34955568]
 [-0.110263    0.99294702  0.04356925 -0.30302968]
 [ 0.05932029 -0.03718376  0.99754623  0.04204164]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.5810527540000001 meters
Centerline goodness : 0.294257 with order 1
Centerline is valid?  [False, False]
Translation: X:1.39, Y:-0.30, Z:0.04
[[ 0.99205201  0.11236211 -0.05663543  1.38919987]
 [-0.10965527  0.99276919  0.04883711 -0.30433356]
 [ 0.06171335 -0.04223858  0.99719976  0.043362  ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.6410527540000002 meters
Centerline goodness : 0.285566 with order 1
Centerline is valid?  [False, False]
Translation: X:1.43, Y:-0.30, Z:0.05
[[ 0.99246203  0.10707034 -0.05962441  1.43423007]
 [-0.10418415  0.99332123  0.04958418 -0.30329964]
 [ 0.06453518 -0.0429985   0.99698864  0.04521224]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.7010527540000002 meters
Centerline goodness : 0.752272 with order 3
Centerline is valid?  [False, False]
Translation: X:1.48, Y:-0.30, Z:0.05
[[ 0.99288503  0.09749189 -0.06837139  1.48179447]
 [-0.09387105  0.99410158  0.05431639 -0.30014407]
 [ 0.07326351 -0.04751183  0.99618025  0.04550909]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.7610527540000003 meters
Centerline goodness : 0.811063 with order 3
Centerline is valid?  [False, False]
Translation: X:1.53, Y:-0.30, Z:0.05
[[ 0.99384212  0.08382431 -0.07246602  1.52992304]
 [-0.08005952  0.99535935  0.05338757 -0.29873019]
 [ 0.0766049  -0.04725722  0.99594098  0.04744274]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.821052754 meters
Centerline goodness : 0.876284 with order 2
Centerline is valid?  [False, False]
Translation: X:1.58, Y:-0.30, Z:0.05
[[ 0.9951177   0.07066818 -0.06889689  1.57865341]
 [-0.06734839  0.99650706  0.04937476 -0.29876681]
 [ 0.07214546 -0.0444936   0.9964012   0.05170212]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.8810527540000002 meters
Centerline goodness : 0.874521 with order 2
Centerline is valid?  [False, False]
Translation: X:1.63, Y:-0.30, Z:0.06
[[ 0.99542     0.06390753 -0.0710975   1.62558127]
 [-0.06002721  0.99665606  0.05543851 -0.29919006]
 [ 0.07440269 -0.05091681  0.99592757  0.05550238]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.9410527540000002 meters
Centerline goodness : 0.891950 with order 2
Centerline is valid?  [False, False]
Translation: X:1.67, Y:-0.30, Z:0.06
[[ 0.99540494  0.06434779 -0.07091098  1.67205528]
 [-0.06078646  0.99683231  0.05128699 -0.30325316]
 [ 0.07398656 -0.04674089  0.99616328  0.0583769 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.0010527540000003 meters
Centerline goodness : 0.902016 with order 2
Centerline is valid?  [False, False]
Translation: X:1.71, Y:-0.30, Z:0.06
[[ 0.99478406  0.0748117  -0.06933892  1.71446638]
 [-0.07085175  0.99580426  0.05791289 -0.30373011]
 [ 0.07338055 -0.05269804  0.99591074  0.063121  ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.061052754 meters
Centerline goodness : 0.899170 with order 1
Centerline is valid?  [False, False]
Translation: X:1.77, Y:-0.30, Z:0.07
[[ 0.99384635  0.08574967 -0.07011723  1.76705892]
 [-0.08119971  0.9945528   0.06535543 -0.3042085 ]
 [ 0.07533949 -0.05925975  0.99539552  0.06702268]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.121052754 meters
Centerline goodness : 0.166811 with order 1
Centerline is valid?  [False, False]
Translation: X:1.79, Y:-0.30, Z:0.07
[[ 0.99364163  0.08479646 -0.07406671  1.79479524]
 [-0.0799345   0.99459187  0.06631352 -0.30310826]
 [ 0.0792893  -0.05997139  0.99504605  0.06773781]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.181052754 meters
Centerline goodness : 0.168291 with order 1
Centerline is valid?  [False, False]
Translation: X:1.84, Y:-0.30, Z:0.07
[[ 0.99391904  0.07946173 -0.07622842  1.84446659]
 [-0.07426249  0.99486424  0.06877663 -0.30211024]
 [ 0.08130203 -0.06269749  0.99471554  0.07162831]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.241052754 meters
Centerline goodness : 0.165744 with order 1
Centerline is valid?  [False, False]
Translation: X:1.89, Y:-0.30, Z:0.08
[[ 0.99456681  0.07471831 -0.0724847   1.89480818]
 [-0.06964421  0.99510075  0.07017247 -0.29622258]
 [ 0.07737275 -0.06474307  0.99489788  0.07681309]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.301052754 meters
Centerline goodness : 0.942413 with order 3
Centerline is valid?  [False, False]
Translation: X:1.94, Y:-0.29, Z:0.08
[[ 0.99562455  0.06721643 -0.06491305  1.94403226]
 [-0.06271771  0.99564197  0.06901858 -0.29111623]
 [ 0.06926934 -0.06464539  0.99550125  0.08115153]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.361052754 meters
Centerline goodness : 0.707896 with order 3
Centerline is valid?  [False, False]
Translation: X:2.00, Y:-0.29, Z:0.08
[[ 0.99593539  0.06070548 -0.06653973  1.99624533]
 [-0.05553814  0.99548814  0.07693428 -0.28558401]
 [ 0.07090985 -0.07292608  0.99481334  0.08463285]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.421052754 meters
Centerline goodness : 0.747052 with order 3
Centerline is valid?  [False, False]
Translation: X:2.05, Y:-0.28, Z:0.08
[[ 0.99578273  0.05177449 -0.07573738  2.05296143]
 [-0.04572672  0.99578423  0.07951623 -0.28167637]
 [ 0.079535   -0.07571767  0.99395222  0.08333865]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.4810527540000002 meters
Centerline goodness : 0.157473 with order 1
Centerline is valid?  [False, False]
Translation: X:2.11, Y:-0.27, Z:0.08
[[ 0.99585102  0.04421623 -0.07953406  2.11052164]
 [-0.03815931  0.99636773  0.07612628 -0.27365728]
 [ 0.08261118 -0.07277547  0.99392109  0.08462185]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.541052754 meters
Centerline goodness : 0.741723 with order 3
Centerline is valid?  [False, False]
Translation: X:2.17, Y:-0.26, Z:0.09
[[ 0.9961948   0.04416919 -0.07513322  2.17004297]
 [-0.03842858  0.99635121  0.07620698 -0.26279691]
 [ 0.07822507 -0.07302973  0.99425726  0.08863565]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.601052754 meters
Centerline goodness : 0.960139 with order 1
Centerline is valid?  [False, True]
Translation: X:2.23, Y:-0.25, Z:0.09
[[ 0.99618828  0.04796305 -0.07285921  2.23049219]
 [-0.04226923  0.99607444  0.0777754  -0.25275708]
 [ 0.07630354 -0.07439924  0.99430504  0.09348355]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.661052754 meters
Centerline goodness : 0.954504 with order 1
Centerline is valid?  [True, True]
Translation: X:2.32, Y:-0.24, Z:0.00
[[ 0.99459468  0.01960638 -0.10196573  2.31904198]
 [-0.01899936  0.99979554  0.006921   -0.24055688]
 [ 0.10208057 -0.00494631  0.99476384  0.00413207]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.721052754 meters
Centerline goodness : 0.965915 with order 1
Centerline is valid?  [True, True]
Translation: X:2.38, Y:-0.23, Z:-0.00
[[ 0.99467971  0.01466865 -0.10196616  2.38147215]
 [-0.01403647  0.99987758  0.00691462 -0.22713442]
 [ 0.1020551  -0.00544659  0.99476384 -0.00250751]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.781052754 meters
Centerline goodness : 0.970029 with order 1
Centerline is valid?  [True, True]
Translation: X:2.45, Y:-0.22, Z:-0.03
[[ 0.99460987  0.01881707 -0.10196627  2.44508781]
 [-0.01820676  0.99981034  0.00691293 -0.21885192]
 [ 0.10207702 -0.00501919  0.99476384 -0.03199377]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.841052754 meters
Centerline goodness : 0.975456 with order 1
Centerline is valid?  [True, True]
Translation: X:2.50, Y:-0.21, Z:0.00
[[ 9.94383978e-01  2.83435098e-02 -1.01966416e-01  2.50187452e+00]
 [-2.77832496e-02  9.99590082e-01  6.91083507e-03 -2.11955538e-01]
 [ 1.02120495e-01 -4.03906530e-03  9.94763837e-01  7.63597423e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 2.901052754 meters
Centerline goodness : 0.980167 with order 1
Centerline is valid?  [True, True]
Translation: X:2.56, Y:-0.21, Z:0.02
[[ 0.9946668   0.01551685 -0.10196655  2.55968632]
 [-0.01488969  0.99986527  0.00690892 -0.21475667]
 [ 0.10206001 -0.00535382  0.99476384  0.01735624]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.9610527540000002 meters
Centerline goodness : 0.982893 with order 1
Centerline is valid?  [True, True]
Translation: X:2.62, Y:-0.21, Z:0.00
[[ 9.94671093e-01  1.52395053e-02 -1.01966537e-01  2.62061858e+00]
 [-1.46108836e-02  9.99869385e-01  6.90904415e-03 -2.12463454e-01]
 [ 1.02058509e-01 -5.38240530e-03  9.94763837e-01  8.22744377e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.0210527540000003 meters
Centerline goodness : 0.986478 with order 1
Centerline is valid?  [True, True]
Translation: X:2.68, Y:-0.22, Z:0.05
[[ 0.99472024  0.01158335 -0.10196798  2.6757182 ]
 [-0.01093781  0.99991646  0.00688767 -0.21529019]
 [ 0.10203924 -0.005736    0.99476384  0.04591825]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.081052754 meters
Centerline goodness : 0.989817 with order 1
Centerline is valid?  [True, True]
Translation: X:2.74, Y:-0.22, Z:0.06
[[ 0.99477631  0.00474921 -0.10196829  2.73503966]
 [-0.00406846  0.99996803  0.00688309 -0.21632769]
 [ 0.10199772 -0.00643228  0.99476384  0.06382699]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.141052754 meters
Centerline goodness : 0.992556 with order 1
Centerline is valid?  [True, True]
Translation: X:2.79, Y:-0.22, Z:0.07
[[ 9.94787412e-01  6.86762095e-04 -1.01968295e-01  2.79391918e+00]
 [ 1.51826761e-05  9.99976312e-01  6.88301557e-03 -2.22921933e-01]
 [ 1.01970607e-01 -6.84868539e-03  9.94763837e-01  7.35032889e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.201052754 meters
Centerline goodness : 0.993573 with order 1
Centerline is valid?  [True, True]
Translation: X:2.85, Y:-0.23, Z:0.08
[[ 9.94785442e-01 -2.09024812e-03 -1.01968404e-01  2.85356882e+00]
 [ 2.80651093e-03  9.99972385e-01  6.88140433e-03 -2.31276881e-01]
 [ 1.01951204e-01 -7.13169629e-03  9.94763837e-01  8.20264641e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.261052754 meters
Centerline goodness : 0.994546 with order 1
Centerline is valid?  [True, True]
Translation: X:2.91, Y:-0.24, Z:0.09
[[ 0.99478204 -0.00333848 -0.10196839  2.91039605]
 [ 0.00406127  0.99996807  0.00688155 -0.23945689]
 [ 0.10194216 -0.00725977  0.99476384  0.08783754]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.321052754 meters
Centerline goodness : 0.995652 with order 1
Centerline is valid?  [True, True]
Translation: X:2.97, Y:-0.25, Z:0.09
[[ 0.99476361 -0.00690631 -0.10196892  2.9696162 ]
 [ 0.00764689  0.99994714  0.00687373 -0.24832538]
 [ 0.10191606 -0.00761748  0.99476384  0.09390923]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.381052754 meters
Centerline goodness : 0.996930 with order 1
Centerline is valid?  [True, True]
Translation: X:3.03, Y:-0.27, Z:0.10
[[ 0.9946065  -0.0189796  -0.10196902  3.02733934]
 [ 0.0197829   0.99978068  0.00687231 -0.26506303]
 [ 0.10181622 -0.00885248  0.99476384  0.10337704]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.441052754 meters
Centerline goodness : 0.997866 with order 1
Centerline is valid?  [True, True]
Translation: X:3.09, Y:-0.27, Z:0.11
[[ 0.99418786 -0.03453718 -0.10196907  3.08723583]
 [ 0.03542124  0.99934885  0.00687145 -0.27128712]
 [ 0.10166536 -0.01044338  0.99476384  0.11094809]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.5010527540000003 meters
Centerline goodness : 0.998470 with order 1
Centerline is valid?  [True, True]
Translation: X:3.15, Y:-0.28, Z:0.12
[[ 0.99365583 -0.04743828 -0.10196911  3.14648535]
 [ 0.0483892   0.99880492  0.00687096 -0.27808132]
 [ 0.1015213  -0.01176157  0.99476384  0.11668065]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.5610527540000003 meters
Centerline goodness : 0.998861 with order 1
Centerline is valid?  [True, True]
Translation: X:3.21, Y:-0.28, Z:0.11
[[ 0.99333319 -0.05377237 -0.10196914  3.20588399]
 [ 0.05475605  0.99847612  0.00687048 -0.28147185]
 [ 0.10144431 -0.0124081   0.99476384  0.11493651]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.621052754 meters
Centerline goodness : 0.998944 with order 1
Centerline is valid?  [True, True]
Translation: X:3.27, Y:-0.28, Z:0.12
[[ 0.99303086 -0.05909295 -0.10196924  3.26643411]
 [ 0.06010402  0.99816848  0.00686905 -0.28477643]
 [ 0.10137657 -0.01294994  0.99476384  0.11626079]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.681052754 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:3.33, Y:-0.29, Z:0.12
[[ 0.99214938 -0.0724008  -0.1019693   3.32542251]
 [ 0.07348057  0.997273    0.00686816 -0.28506677]
 [ 0.10119397 -0.014307    0.99476384  0.12386848]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.741052754 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:3.38, Y:-0.29, Z:0.14
[[ 0.99124    -0.08393755 -0.10196934  3.38394337]
 [ 0.08507679  0.99635073  0.0068675  -0.28867529]
 [ 0.10102079 -0.01548257  0.99476384  0.14276622]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.801052754 meters
Centerline goodness : 0.999148 with order 1
Centerline is valid?  [True, True]
Translation: X:3.44, Y:-0.29, Z:0.15
[[ 0.99104875 -0.08616624 -0.1019694   3.44293651]
 [ 0.08731688  0.99615692  0.00686669 -0.28993652]
 [ 0.10098584 -0.01570887  0.99476384  0.15336649]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.861052754 meters
Centerline goodness : 0.998983 with order 1
Centerline is valid?  [True, True]
Translation: X:3.50, Y:-0.28, Z:0.16
[[ 0.99189385 -0.07582084 -0.10196952  3.50337767]
 [ 0.07691794  0.99701379  0.00686489 -0.28217659]
 [ 0.10114451 -0.01465252  0.99476384  0.16197267]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.921052754 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:3.56, Y:-0.28, Z:0.17
[[ 0.9929228  -0.06088115 -0.10196961  3.56260785]
 [ 0.06190091  0.9980587   0.00686351 -0.28293452]
 [ 0.1013538  -0.01312695  0.99476384  0.16665914]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.9810527540000002 meters
Centerline goodness : 0.999212 with order 1
Centerline is valid?  [True, True]
Translation: X:3.62, Y:-0.28, Z:0.17
[[ 0.99333584 -0.05372231 -0.10196968  3.62300682]
 [ 0.05470492  0.99847898  0.00686244 -0.28436322]
 [ 0.10144592 -0.01239496  0.99476384  0.17422617]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.041052754000001 meters
Centerline goodness : 0.999273 with order 1
Centerline is valid?  [True, True]
Translation: X:3.68, Y:-0.29, Z:0.18
[[ 0.99350003 -0.05059504 -0.10196978  3.68146665]
 [ 0.05156131  0.99864626  0.006861   -0.29344909]
 [ 0.10148461 -0.0120741   0.99476384  0.18141951]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.101052754 meters
Centerline goodness : 0.999318 with order 1
Centerline is valid?  [True, True]
Translation: X:3.74, Y:-0.30, Z:0.18
[[ 0.99329602 -0.05445319 -0.10196994  3.74000906]
 [ 0.05543919  0.99843851  0.00685856 -0.30346393]
 [ 0.10143725 -0.01246571  0.99476384  0.18307921]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.161052754000001 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:3.80, Y:-0.32, Z:0.19
[[ 0.99323312 -0.05558829 -0.10197015  3.79826008]
 [ 0.05657986  0.99837454  0.00685544 -0.31640441]
 [ 0.10142332 -0.01257851  0.99476384  0.18835561]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.2210527540000005 meters
Centerline goodness : 0.999331 with order 1
Centerline is valid?  [True, True]
Translation: X:3.86, Y:-0.33, Z:0.20
[[ 0.99317384 -0.05663722 -0.10197036  3.85723947]
 [ 0.0576339   0.99831427  0.00685236 -0.32507638]
 [ 0.10141037 -0.01268253  0.99476384  0.19585095]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.281052754000001 meters
Centerline goodness : 0.999518 with order 1
Centerline is valid?  [True, True]
Translation: X:3.91, Y:-0.33, Z:0.22
[[ 0.99319789 -0.05621375 -0.10197046  3.91421441]
 [ 0.05720808  0.99833877  0.00685084 -0.33326706]
 [ 0.10141595 -0.01263777  0.99476384  0.22021843]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.341052754000001 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:3.97, Y:-0.34, Z:0.23
[[ 0.99281157 -0.06266705 -0.10197071  3.97374415]
 [ 0.0636944   0.99794596  0.00684715 -0.33760225]
 [ 0.10133217 -0.01329289  0.99476384  0.2250693 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.401052754000001 meters
Centerline goodness : 0.999709 with order 1
Centerline is valid?  [True, True]
Translation: X:4.03, Y:-0.34, Z:0.23
[[ 0.99218111 -0.07196268 -0.10197063  4.0333617 ]
 [ 0.0730382   0.99730563  0.00684838 -0.33941985]
 [ 0.10120305 -0.01424258  0.99476384  0.22702866]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.461052754000001 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:4.09, Y:-0.34, Z:0.24
[[ 0.99220544 -0.0716264  -0.10197068  4.09293047]
 [ 0.07270009  0.99733034  0.00684752 -0.33967799]
 [ 0.10120799 -0.01420742  0.99476384  0.23676299]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.521052754 meters
Centerline goodness : 0.999648 with order 1
Centerline is valid?  [True, True]
Translation: X:4.15, Y:-0.34, Z:0.24
[[ 0.99320017 -0.05617234 -0.101971    4.15222271]
 [ 0.05716566  0.99834126  0.00684288 -0.33546626]
 [ 0.10141747 -0.01262559  0.99476384  0.24392122]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.581052754000001 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:4.21, Y:-0.34, Z:0.25
[[ 0.99424261 -0.03291709 -0.10197108  4.212601  ]
 [ 0.03378972  0.99940555  0.00684168 -0.33658257]
 [ 0.10168525 -0.01024786  0.99476384  0.25097467]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.641052754 meters
Centerline goodness : 0.999749 with order 1
Centerline is valid?  [True, True]
Translation: X:4.27, Y:-0.34, Z:0.26
[[ 0.99462229 -0.01812126 -0.10197114  4.27270622]
 [ 0.01891688  0.99979766  0.00684078 -0.34187898]
 [ 0.10182654 -0.00873297  0.99476384  0.25921968]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.701052754000001 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:4.33, Y:-0.35, Z:0.26
[[ 0.9947437  -0.00931966 -0.10197119  4.33161642]
 [ 0.01006939  0.99992591  0.00684005 -0.34627494]
 [ 0.10189988 -0.00783088  0.99476384  0.26353982]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.7610527540000005 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:4.39, Y:-0.36, Z:0.27
[[ 9.94784370e-01  2.43042309e-03 -1.01971325e-01  4.39152280e+00]
 [-1.74217304e-03  9.99975103e-01  6.83796216e-03 -3.57290754e-01]
 [ 1.01985406e-01 -6.62464618e-03  9.94763837e-01  2.67787210e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.821052754000001 meters
Centerline goodness : 0.999938 with order 1
Centerline is valid?  [True, True]
Translation: X:4.45, Y:-0.36, Z:0.27
[[ 0.99477306  0.00532984 -0.10197137  4.45089736]
 [-0.00465679  0.99996578  0.00683726 -0.36400426]
 [ 0.10200432 -0.00632666  0.99476384  0.27204139]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.881052754000001 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:4.51, Y:-0.37, Z:0.28
[[ 0.99470528  0.01277594 -0.10197151  4.51072698]
 [-0.01214199  0.99990292  0.0068352  -0.37383356]
 [ 0.10204894 -0.00556087  0.99476384  0.27848125]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.941052754000001 meters
Centerline goodness : 0.999792 with order 1
Centerline is valid?  [True, True]
Translation: X:4.57, Y:-0.39, Z:0.28
[[ 0.99464359  0.01690934 -0.10197153  4.56886791]
 [-0.01629703  0.99984383  0.00683486 -0.39056574]
 [ 0.10207118 -0.00513641  0.99476384  0.28119521]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.001052754000001 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:4.63, Y:-0.40, Z:0.29
[[ 0.99458304  0.02015805 -0.10197167  4.62846544]
 [-0.01956293  0.99978528  0.00683288 -0.40389628]
 [ 0.10208751 -0.004801    0.99476384  0.28770342]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.061052754 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:4.68, Y:-0.43, Z:0.30
[[ 0.99458579  0.02002205 -0.1019717   4.68480006]
 [-0.01942627  0.99978795  0.00683238 -0.42807752]
 [ 0.10208687 -0.00481446  0.99476384  0.30205284]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.121052754000001 meters
Centerline goodness : 0.999938 with order 1
Centerline is valid?  [True, True]
Translation: X:4.74, Y:-0.44, Z:0.31
[[ 0.99458867  0.01987607 -0.10197214  4.74225777]
 [-0.0192802   0.99979082  0.00682576 -0.43757872]
 [ 0.10208648 -0.00482278  0.99476384  0.30997492]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.181052754 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:4.80, Y:-0.45, Z:0.32
[[ 0.99464014  0.01710297 -0.10197294  4.79914266]
 [-0.01649383  0.99984075  0.00681385 -0.45084121]
 [ 0.10207324 -0.0050954   0.99476384  0.31728516]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.241052754000001 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:4.86, Y:-0.46, Z:0.33
[[ 0.9947615   0.00714078 -0.1019734   4.85857964]
 [-0.00648029  0.99995583  0.00680693 -0.45980483]
 [ 0.1020175  -0.00611046  0.99476384  0.32891781]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.3010527540000005 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:4.92, Y:-0.47, Z:0.33
[[ 0.99475833 -0.00756809 -0.10197344  4.91734929]
 [ 0.00830524  0.99994235  0.00680627 -0.4658083 ]
 [ 0.10191605 -0.00761751  0.99476384  0.33362776]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.361052754000001 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:4.98, Y:-0.47, Z:0.34
[[ 0.99474713 -0.00892002 -0.10197343  4.97526267]
 [ 0.00966424  0.99993013  0.00680647 -0.46855026]
 [ 0.10190559 -0.00775621  0.99476384  0.34407382]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.421052754000001 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:5.03, Y:-0.47, Z:0.35
[[ 9.94777890e-01 -4.24894332e-03 -1.01974975e-01  5.03394131e+00]
 [ 4.96645181e-03  9.99964660e-01  6.78326517e-03 -4.67604220e-01]
 [ 1.01942549e-01 -7.25429602e-03  9.94763837e-01  3.53230820e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.481052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.09, Y:-0.47, Z:0.36
[[ 9.94786913e-01 -2.74193660e-04 -1.01975108e-01  5.09421308e+00]
 [ 9.70767518e-04  9.99976536e-01  6.78125877e-03 -4.65848039e-01]
 [ 1.01970856e-01 -6.84490160e-03  9.94763837e-01  3.59761451e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.541052754000001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:5.15, Y:-0.47, Z:0.37
[[ 9.94781566e-01  3.27117156e-03 -1.01975169e-01  5.15441154e+00]
 [-2.59319119e-03  9.99973651e-01  6.78034257e-03 -4.67496233e-01]
 [ 1.01994662e-01 -6.48051869e-03  9.94763837e-01  3.65802838e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.601052754 meters
Centerline goodness : 0.999917 with order 1
Centerline is valid?  [True, True]
Translation: X:5.21, Y:-0.47, Z:0.37
[[ 9.94775095e-01  4.85485552e-03 -1.01975192e-01  5.21293086e+00]
 [-4.18517749e-03  9.99968257e-01  6.77999285e-03 -4.73697589e-01]
 [ 1.02004871e-01 -6.31778375e-03  9.94763837e-01  3.70194590e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.661052754000001 meters
Centerline goodness : 0.999917 with order 1
Centerline is valid?  [True, True]
Translation: X:5.27, Y:-0.48, Z:0.37
[[ 9.94770817e-01  5.63525573e-03 -1.01976786e-01  5.27107907e+00]
 [-4.97210941e-03  9.99964817e-01  6.75593092e-03 -4.79433156e-01]
 [ 1.02011270e-01 -6.21356318e-03  9.94763838e-01  3.73981067e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.7210527540000005 meters
Centerline goodness : 0.999876 with order 1
Centerline is valid?  [True, True]
Translation: X:5.33, Y:-0.49, Z:0.38
[[ 9.94781318e-01  3.28208558e-03 -1.01977235e-01  5.32761524e+00]
 [-2.60734613e-03  9.99973825e-01  6.74915784e-03 -4.91510228e-01]
 [ 1.01996717e-01 -6.44804619e-03  9.94763838e-01  3.79978866e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.781052754000001 meters
Centerline goodness : 0.999814 with order 1
Centerline is valid?  [True, True]
Translation: X:5.39, Y:-0.50, Z:0.39
[[ 9.94784997e-01  1.82763567e-03 -1.01977787e-01  5.38573907e+00]
 [-1.14615834e-03  9.99976624e-01  6.74079959e-03 -4.95811674e-01]
 [ 1.01987723e-01 -6.58876361e-03  9.94763838e-01  3.87640993e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.841052754000001 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:5.44, Y:-0.50, Z:0.39
[[ 0.99477169 -0.00545131 -0.10197822  5.44478452]
 [ 0.00617009  0.99995829  0.0067342  -0.50096302]
 [ 0.10193726 -0.0073282   0.99476384  0.39437748]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.901052754000001 meters
Centerline goodness : 0.999855 with order 1
Centerline is valid?  [True, True]
Translation: X:5.50, Y:-0.50, Z:0.40
[[ 0.99471883 -0.01161406 -0.10197824  5.50499558]
 [ 0.01236494  0.99990088  0.00673402 -0.50085264]
 [ 0.10188992 -0.00795941  0.99476384  0.40204604]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.961052754000001 meters
Centerline goodness : 0.999855 with order 1
Centerline is valid?  [True, True]
Translation: X:5.56, Y:-0.50, Z:0.40
[[ 0.99473726 -0.00991044 -0.10197828  5.56474949]
 [ 0.01065237  0.99992059  0.00673336 -0.50240479]
 [ 0.10190345 -0.00778423  0.99476384  0.40314663]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.021052754000001 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:5.62, Y:-0.51, Z:0.41
[[ 9.94781253e-01 -3.26544333e-03 -1.01978403e-01  5.62423912e+00]
 [ 3.97253980e-03  9.99969453e-01  6.73146977e-03 -5.13994838e-01]
 [ 1.01953307e-01 -7.10145320e-03  9.94763838e-01  4.08089708e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.081052754000001 meters
Centerline goodness : 0.999772 with order 1
Centerline is valid?  [True, True]
Translation: X:5.68, Y:-0.53, Z:0.41
[[ 0.99475868  0.00745433 -0.10197846  5.68353541]
 [-0.00680327  0.99995421  0.00673064 -0.5282894 ]
 [ 0.10202396 -0.00600158  0.99476384  0.40988283]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.141052754 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:5.74, Y:-0.54, Z:0.42
[[ 9.94593876e-01  1.95809836e-02 -1.01978465e-01  5.74311329e+00]
 [-1.89933180e-02  9.99796956e-01  6.73053915e-03 -5.44035796e-01]
 [ 1.02089549e-01 -4.75724361e-03  9.94763838e-01  4.16462554e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.201052754000001 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:5.80, Y:-0.57, Z:0.43
[[ 9.94279125e-01  3.17715069e-02 -1.01978397e-01  5.80199837e+00]
 [-3.12475615e-02  9.99489007e-01  6.73156096e-03 -5.66268341e-01]
 [ 1.02140159e-01 -3.50647430e-03  9.94763838e-01  4.25643235e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.2610527540000005 meters
Centerline goodness : 0.999895 with order 1
Centerline is valid?  [True, True]
Translation: X:5.86, Y:-0.59, Z:0.43
[[ 9.94109656e-01  3.66931275e-02 -1.01978455e-01  5.86120974e+00]
 [-3.61950686e-02  9.99322078e-01  6.73068866e-03 -5.85275674e-01]
 [ 1.02156291e-01 -2.99992542e-03  9.94763838e-01  4.32499877e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.321052754000001 meters
Centerline goodness : 0.999729 with order 1
Centerline is valid?  [True, True]
Translation: X:5.92, Y:-0.60, Z:0.44
[[ 9.94081567e-01  3.74463158e-02 -1.01978488e-01  5.91892093e+00]
 [-3.69522575e-02  9.99294369e-01  6.73018881e-03 -6.00182979e-01]
 [ 1.02158549e-01 -2.92202130e-03  9.94763838e-01  4.39263625e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.381052754000001 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:5.98, Y:-0.62, Z:0.45
[[ 9.94026465e-01  3.88808341e-02 -1.01978760e-01  5.97748409e+00]
 [-3.83947222e-02  9.99240014e-01  6.72606044e-03 -6.15413310e-01]
 [ 1.02162772e-01 -2.77043592e-03  9.94763838e-01  4.49127174e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.441052754000001 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:6.04, Y:-0.64, Z:0.45
[[ 9.94155841e-01  3.54185530e-02 -1.01978867e-01  6.03682937e+00]
 [-3.49144525e-02  9.99367682e-01  6.72443528e-03 -6.35066073e-01]
 [ 1.02152554e-01 -3.12460030e-03  9.94763838e-01  4.50711517e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.501052754000001 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:6.09, Y:-0.66, Z:0.46
[[ 9.94526078e-01  2.27638221e-02 -1.01978867e-01  6.09375843e+00]
 [-2.21934353e-02  9.99731081e-01  6.72443528e-03 -6.57310142e-01]
 [ 1.02104517e-01 -4.42436486e-03  9.94763838e-01  4.59803684e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.561052754000001 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:6.15, Y:-0.68, Z:0.47
[[ 9.94693006e-01  1.36417160e-02 -1.01979050e-01  6.15288175e+00]
 [-1.30238999e-02  9.99892593e-01  6.72166100e-03 -6.76014038e-01]
 [ 1.02059792e-01 -5.35782425e-03  9.94763838e-01  4.67610107e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.621052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.21, Y:-0.71, Z:0.49
[[ 9.94774902e-01  4.81319235e-03 -1.01979050e-01  6.20923744e+00]
 [-4.14925383e-03  9.99968801e-01  6.72166100e-03 -7.08667231e-01]
 [ 1.02008221e-01 -6.26340270e-03  9.94763838e-01  4.86316091e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.27, Y:-0.72, Z:0.49
[[ 9.94701292e-01  1.30226895e-02 -1.01979160e-01  6.26854915e+00]
 [-1.24018085e-02  9.99900513e-01  6.71999007e-03 -7.18095877e-01]
 [ 1.02056527e-01 -5.41965679e-03  9.94763838e-01  4.91664249e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.741052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.33, Y:-0.72, Z:0.49
[[ 9.94674091e-01  1.49565711e-02 -1.01979184e-01  6.32613589e+00]
 [-1.43458368e-02  9.99874514e-01  6.71962667e-03 -7.22810197e-01]
 [ 1.02066890e-01 -5.22086182e-03  9.94763838e-01  4.94925657e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.8010527540000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.38, Y:-0.73, Z:0.50
[[ 9.94679684e-01  1.45757816e-02 -1.01979762e-01  6.38478678e+00]
 [-1.39639544e-02  9.99879979e-01  6.71084581e-03 -7.32231043e-01]
 [ 1.02065338e-01 -5.25110125e-03  9.94763838e-01  5.03491938e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.861052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.44, Y:-0.74, Z:0.51
[[ 9.94708941e-01  1.24178494e-02 -1.01979992e-01  6.44363277e+00]
 [-1.17950991e-02  9.99907939e-01  6.70735181e-03 -7.37092490e-01]
 [ 1.02053894e-01 -5.46899871e-03  9.94763838e-01  5.06711481e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.921052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.50, Y:-0.74, Z:0.51
[[ 9.94773784e-01  5.01033629e-03 -1.01980465e-01  6.50307445e+00]
 [-4.34962432e-03  9.99968094e-01  6.70014776e-03 -7.38293877e-01]
 [ 1.02010781e-01 -6.22155463e-03  9.94763838e-01  5.09800592e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.981052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.56, Y:-0.75, Z:0.52
[[ 9.94774905e-01 -4.78244990e-03 -1.01980468e-01  6.56213165e+00]
 [ 5.49425873e-03  9.99962460e-01  6.70010995e-03 -7.47609410e-01]
 [ 1.01944596e-01 -7.22540831e-03  9.94763838e-01  5.20140228e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.041052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.62, Y:-0.74, Z:0.53
[[ 9.94784927e-01  1.70978171e-03 -1.01980517e-01  6.62258446e+00]
 [-1.03192013e-03  9.99977027e-01  6.69935649e-03 -7.42661676e-01]
 [ 1.01989629e-01 -6.55918311e-03  9.94763838e-01  5.26819433e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.101052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.68, Y:-0.74, Z:0.54
[[ 9.94703581e-01  1.28355462e-02 -1.01980557e-01  6.68219622e+00]
 [-1.22158593e-02  9.99902945e-01  6.69874224e-03 -7.43490991e-01]
 [ 1.02056642e-01 -5.41748275e-03  9.94763838e-01  5.35464514e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.161052754000001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:6.74, Y:-0.75, Z:0.54
[[ 9.94618890e-01  1.82539507e-02 -1.01980669e-01  6.74181814e+00]
 [-1.76627698e-02  9.99821572e-01  6.69704536e-03 -7.45594497e-01]
 [ 1.02084720e-01 -4.85974674e-03  9.94763838e-01  5.43124753e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.2210527540000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.80, Y:-0.75, Z:0.55
[[ 9.94543084e-01  2.19998438e-02 -1.01980689e-01  6.80137139e+00]
 [-2.14282939e-02  9.99747959e-01  6.69673312e-03 -7.50460895e-01]
 [ 1.02102313e-01 -4.47491743e-03  9.94763838e-01  5.48465392e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.281052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.86, Y:-0.77, Z:0.55
[[ 9.94566872e-01  2.08966643e-02 -1.01980720e-01  6.86004134e+00]
 [-2.03193898e-02  9.99771115e-01  6.69626005e-03 -7.66825452e-01]
 [ 1.02097308e-01 -4.58769240e-03  9.94763838e-01  5.52448908e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.341052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.92, Y:-0.78, Z:0.56
[[ 9.94529231e-01  2.26162000e-02 -1.01980956e-01  6.91841705e+00]
 [-2.20482923e-02  9.99734505e-01  6.69266483e-03 -7.84819320e-01]
 [ 1.02105244e-01 -4.40754488e-03  9.94763838e-01  5.56856784e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.401052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.98, Y:-0.80, Z:0.56
[[ 9.94341689e-01  2.97395567e-02 -1.01981197e-01  6.97683714e+00]
 [-2.92093259e-02  9.99550936e-01  6.68899085e-03 -8.00936473e-01]
 [ 1.02134329e-01 -3.67234044e-03  9.94763838e-01  5.58107112e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.461052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.04, Y:-0.82, Z:0.57
[[ 9.94195170e-01  3.42897666e-02 -1.01981252e-01  7.03605110e+00]
 [-3.37834667e-02  9.99406797e-01  6.68815418e-03 -8.19552475e-01]
 [ 1.02150092e-01 -3.20405034e-03  9.94763838e-01  5.67341850e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.521052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.10, Y:-0.83, Z:0.58
[[ 9.94290248e-01  3.14150452e-02 -1.01980383e-01  7.09569967e+00]
 [-3.08923241e-02  9.99500253e-01  6.70137730e-03 -8.30710762e-01]
 [ 1.02139943e-01 -3.51270304e-03  9.94763838e-01  5.82604406e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.581052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.16, Y:-0.84, Z:0.59
[[ 9.94485686e-01  2.44595690e-02 -1.01980140e-01  7.15637733e+00]
 [-2.39000398e-02  9.99691868e-01  6.70507680e-03 -8.44001898e-01]
 [ 1.02112720e-01 -4.23077349e-03  9.94763838e-01  5.92607110e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.641052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.22, Y:-0.86, Z:0.60
[[ 9.94502209e-01  2.37803427e-02 -1.01979659e-01  7.21557372e+00]
 [-2.32165096e-02  9.99707926e-01  6.71238733e-03 -8.56768530e-01]
 [ 1.02109496e-01 -4.30787230e-03  9.94763838e-01  6.00783506e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.701052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.27, Y:-0.87, Z:0.61
[[ 9.94312936e-01  3.06913296e-02 -1.01979541e-01  7.27497689e+00]
 [-3.01635050e-02  9.99522427e-01  6.71417996e-03 -8.65575924e-01]
 [ 1.02136905e-01 -3.59993559e-03  9.94763838e-01  6.06293561e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.7610527540000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.33, Y:-0.88, Z:0.61
[[ 9.94168851e-01  3.50495705e-02 -1.01979528e-01  7.33425715e+00]
 [-3.45445663e-02  9.99380603e-01  6.71437830e-03 -8.80569528e-01]
 [ 1.02151698e-01 -3.15238720e-03  9.94763838e-01  6.11227599e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.821052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.40, Y:-0.90, Z:0.62
[[ 9.94176026e-01  3.48454359e-02 -1.01979528e-01  7.39552857e+00]
 [-3.43393616e-02  9.99387675e-01  6.71437830e-03 -8.95104396e-01]
 [ 1.02151049e-01 -3.17336206e-03  9.94763838e-01  6.17830501e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.881052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.45, Y:-0.91, Z:0.62
[[ 9.94305912e-01  3.09235959e-02 -1.01977868e-01  7.45392263e+00]
 [-3.03943951e-02  9.99515262e-01  6.73949459e-03 -9.12276035e-01]
 [ 1.02136845e-01 -3.60156370e-03  9.94763838e-01  6.21706656e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.941052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.51, Y:-0.93, Z:0.64
[[ 9.94512775e-01  2.33439710e-02 -1.01977444e-01  7.51254176e+00]
 [-2.27744226e-02  9.99717869e-01  6.74591092e-03 -9.34456361e-01]
 [ 1.02106149e-01 -4.38641720e-03  9.94763838e-01  6.38845020e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.57, Y:-0.95, Z:0.65
[[ 9.94624064e-01  1.79968318e-02 -1.01975906e-01  7.57108155e+00]
 [-1.73969387e-02  9.99825748e-01  6.76906862e-03 -9.51847684e-01]
 [ 1.02079959e-01 -4.95860994e-03  9.94763838e-01  6.48970658e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.63, Y:-0.96, Z:0.66
[[ 9.94596423e-01  1.94647704e-02 -1.01975869e-01  7.63062019e+00]
 [-1.88724970e-02  9.99798980e-01  6.76963735e-03 -9.63323708e-01]
 [ 1.02087139e-01 -4.80851782e-03  9.94763838e-01  6.55544264e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.69, Y:-0.97, Z:0.66
[[ 9.94621401e-01  1.81442587e-02 -1.01975753e-01  7.68917940e+00]
 [-1.75449012e-02  9.99823147e-01  6.77137091e-03 -9.74705373e-01]
 [ 1.02080580e-01 -4.94579591e-03  9.94763838e-01  6.61934016e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.181052754 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:7.75, Y:-0.98, Z:0.67
[[ 9.94520283e-01  2.30289762e-02 -1.01975844e-01  7.74810782e+00]
 [-2.24553134e-02  9.99724925e-01  6.77000393e-03 -9.83349991e-01]
 [ 1.02103700e-01 -4.44300668e-03  9.94763838e-01  6.67005558e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.241052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.81, Y:-0.99, Z:0.67
[[ 9.94356185e-01  2.92694828e-02 -1.01975858e-01  7.80884999e+00]
 [-2.87285136e-02  9.99564326e-01  6.76979503e-03 -9.94433394e-01]
 [ 1.02129578e-01 -3.80197273e-03  9.94763838e-01  6.71579973e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.301052754 meters
Centerline goodness : 0.999730 with order 1
Centerline is valid?  [True, True]
Translation: X:7.87, Y:-1.01, Z:0.68
[[ 9.94165563e-01  3.51543332e-02 -1.01975519e-01  7.86922766e+00]
 [-3.46436766e-02  9.99376764e-01  6.77489597e-03 -1.00770713e+00]
 [ 1.02150131e-01 -3.20256136e-03  9.94763838e-01  6.79826864e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.361052754 meters
Centerline goodness : 0.999876 with order 1
Centerline is valid?  [True, True]
Translation: X:7.93, Y:-1.02, Z:0.69
[[ 9.94052394e-01  3.82217337e-02 -1.01975180e-01  7.92842200e+00]
 [-3.77266353e-02  9.99265096e-01  6.78000567e-03 -1.01920642e+00]
 [ 1.02159381e-01 -2.89250046e-03  9.94763838e-01  6.89372129e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.421052754 meters
Centerline goodness : 0.999950 with order 1
Centerline is valid?  [True, True]
Translation: X:7.99, Y:-1.03, Z:0.70
[[ 9.93790726e-01  4.45090628e-02 -1.01975179e-01  7.98872641e+00]
 [-4.40469478e-02  9.99006455e-01  6.78001056e-03 -1.02612388e+00]
 [ 1.02175634e-01 -2.24621622e-03  9.94763838e-01  7.00674218e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.481052754 meters
Centerline goodness : 0.999752 with order 1
Centerline is valid?  [True, True]
Translation: X:8.05, Y:-1.03, Z:0.71
[[ 9.93583621e-01  4.89178018e-02 -1.01973703e-01  8.05071362e+00]
 [-4.84765617e-02  9.98801158e-01  6.80213952e-03 -1.02931154e+00]
 [ 1.02184198e-01 -1.81515990e-03  9.94763839e-01  7.09597731e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.541052754 meters
Centerline goodness : 0.999654 with order 1
Centerline is valid?  [True, True]
Translation: X:8.11, Y:-1.03, Z:0.71
[[ 9.93688751e-01  4.67348622e-02 -1.01973127e-01  8.11324443e+00]
 [-4.62812757e-02  9.98905229e-01  6.81076706e-03 -1.02999950e+00]
 [ 1.02179790e-01 -2.04833622e-03  9.94763839e-01  7.14538132e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.601052754 meters
Centerline goodness : 0.999579 with order 1
Centerline is valid?  [True, True]
Translation: X:8.17, Y:-1.03, Z:0.72
[[ 9.93834865e-01  4.35184833e-02 -1.01972556e-01  8.17365796e+00]
 [-4.30471399e-02  9.99049769e-01  6.81930670e-03 -1.03297594e+00]
 [ 1.02172424e-01 -2.38763788e-03  9.94763839e-01  7.21424690e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.661052754 meters
Centerline goodness : 0.999504 with order 1
Centerline is valid?  [True, True]
Translation: X:8.24, Y:-1.04, Z:0.73
[[ 9.93944045e-01  4.09528374e-02 -1.01971079e-01  8.23572751e+00]
 [-4.04657770e-02  9.99157504e-01  6.84131906e-03 -1.03741645e+00]
 [ 1.02165340e-01 -2.67354940e-03  9.94763839e-01  7.32548237e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.721052754 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:8.30, Y:-1.04, Z:0.73
[[ 9.94294423e-01  3.13189381e-02 -1.01969235e-01  8.29541450e+00]
 [-3.07785752e-02  9.99502627e-01  6.86869152e-03 -1.04010511e+00]
 [ 1.02133639e-01 -3.69103390e-03  9.94763839e-01  7.34167759e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.781052754000001 meters
Centerline goodness : 0.999356 with order 1
Centerline is valid?  [True, True]
Translation: X:8.36, Y:-1.04, Z:0.74
[[ 9.94503633e-01  2.37677559e-02 -1.01968713e-01  8.35537906e+00]
 [-2.31870671e-02  9.99707494e-01  6.87643583e-03 -1.04405159e+00]
 [ 1.02102324e-01 -4.47428503e-03  9.94763839e-01  7.43252293e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.841052754 meters
Centerline goodness : 0.999480 with order 1
Centerline is valid?  [True, True]
Translation: X:8.42, Y:-1.05, Z:0.75
[[ 9.94593592e-01  1.96463540e-02 -1.01968657e-01  8.41534248e+00]
 [-1.90440211e-02  9.99794993e-01  6.87726055e-03 -1.04667909e+00]
 [ 1.02082866e-01 -4.89818602e-03  9.94763839e-01  7.51689592e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.901052754 meters
Centerline goodness : 0.999505 with order 1
Centerline is valid?  [True, True]
Translation: X:8.48, Y:-1.05, Z:0.76
[[ 9.94611612e-01  1.87122800e-02 -1.01968580e-01  8.47701339e+00]
 [-1.81049446e-02  9.99812432e-01  6.87841354e-03 -1.04886001e+00]
 [ 1.02078164e-01 -4.99521450e-03  9.94763839e-01  7.58291058e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.961052754 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:8.54, Y:-1.05, Z:0.76
[[ 9.94538457e-01  2.22710787e-02 -1.01966934e-01  8.53849518e+00]
 [-2.16798698e-02  9.99741134e-01  6.90272007e-03 -1.04840060e+00]
 [ 1.02094269e-01 -4.65439072e-03  9.94763840e-01  7.64736528e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.021052754 meters
Centerline goodness : 0.999512 with order 1
Centerline is valid?  [True, True]
Translation: X:8.60, Y:-1.05, Z:0.78
[[ 9.94337034e-01  2.99490311e-02 -1.01965285e-01  8.59716319e+00]
 [-2.93955224e-02  9.99543856e-01  6.92700000e-03 -1.05136210e+00]
 [ 1.02126231e-01 -3.89044982e-03  9.94763840e-01  7.81511367e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.081052754 meters
Centerline goodness : 0.999344 with order 1
Centerline is valid?  [True, True]
Translation: X:8.66, Y:-1.05, Z:0.79
[[ 9.94104515e-01  3.68687077e-02 -1.01965251e-01  8.65689330e+00]
 [-3.63514003e-02  9.99315058e-01  6.92749303e-03 -1.05227051e+00]
 [ 1.02150819e-01 -3.18007243e-03  9.94763840e-01  7.90356312e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.141052754 meters
Centerline goodness : 0.999369 with order 1
Centerline is valid?  [True, True]
Translation: X:8.72, Y:-1.06, Z:0.79
[[ 9.94136697e-01  3.59905878e-02 -1.01965211e-01  8.71680572e+00]
 [-3.54686177e-02  9.99346776e-01  6.92808272e-03 -1.05562441e+00]
 [ 1.02147951e-01 -3.27089618e-03  9.94763840e-01  7.90324590e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.201052754000001 meters
Centerline goodness : 0.999324 with order 1
Centerline is valid?  [True, True]
Translation: X:8.78, Y:-1.06, Z:0.80
[[ 9.94051795e-01  3.82638923e-02 -1.01965211e-01  8.77878106e+00]
 [-3.77538380e-02  9.99263053e-01  6.92808272e-03 -1.05802151e+00]
 [ 1.02155164e-01 -3.03729500e-03  9.94763840e-01  7.97279378e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.261052754 meters
Centerline goodness : 0.999491 with order 1
Centerline is valid?  [True, True]
Translation: X:8.84, Y:-1.06, Z:0.81
[[ 9.93996847e-01  3.96699065e-02 -1.01963556e-01  8.83839543e+00]
 [-3.91647353e-02  9.99208581e-01  6.95236224e-03 -1.06481785e+00]
 [ 1.02158659e-01 -2.91725047e-03  9.94763840e-01  8.06801082e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.321052754 meters
Centerline goodness : 0.999174 with order 1
Centerline is valid?  [True, True]
Translation: X:8.90, Y:-1.07, Z:0.81
[[ 9.93958083e-01  4.06298756e-02 -1.01963433e-01  8.90034402e+00]
 [-4.01295539e-02  9.99170285e-01  6.95415801e-03 -1.07017610e+00]
 [ 1.02161379e-01 -2.82039447e-03  9.94763840e-01  8.11022853e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.381052754 meters
Centerline goodness : 0.999491 with order 1
Centerline is valid?  [True, True]
Translation: X:8.96, Y:-1.07, Z:0.81
[[ 9.93736680e-01  4.57271294e-02 -1.01962938e-01  8.96115095e+00]
 [-4.52528031e-02  9.98951311e-01  6.96140732e-03 -1.07453968e+00]
 [ 1.02174336e-01 -2.30369703e-03  9.94763840e-01  8.13608980e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.441052754 meters
Centerline goodness : 0.999515 with order 1
Centerline is valid?  [True, True]
Translation: X:9.02, Y:-1.08, Z:0.82
[[ 9.93851991e-01  4.31520789e-02 -1.01961353e-01  9.02195205e+00]
 [-4.26618700e-02  9.99065154e-01  6.98454745e-03 -1.08232733e+00]
 [ 1.02167433e-01 -2.59174440e-03  9.94763841e-01  8.19675164e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.501052754 meters
Centerline goodness : 0.999512 with order 1
Centerline is valid?  [True, True]
Translation: X:9.08, Y:-1.09, Z:0.83
[[ 9.94329495e-01  3.02167514e-02 -1.01959816e-01  9.08147437e+00]
 [-2.96564617e-02  9.99535591e-01  7.00691561e-03 -1.08906832e+00]
 [ 1.02124191e-01 -3.94341547e-03  9.94763841e-01  8.31214461e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.561052754 meters
Centerline goodness : 0.999610 with order 1
Centerline is valid?  [True, True]
Translation: X:9.14, Y:-1.09, Z:0.84
[[ 9.94440592e-01  2.63080318e-02 -1.01959778e-01  9.14206526e+00]
 [-2.57272266e-02  9.99644439e-01  7.00746154e-03 -1.09093906e+00]
 [ 1.02107878e-01 -4.34536188e-03  9.94763841e-01  8.37335111e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.621052754 meters
Centerline goodness : 0.999468 with order 1
Centerline is valid?  [True, True]
Translation: X:9.20, Y:-1.09, Z:0.84
[[ 9.94448996e-01  2.59891165e-02 -1.01959601e-01  9.20378561e+00]
 [-2.54063789e-02  9.99652627e-01  7.01003678e-03 -1.09043788e+00]
 [ 1.02106368e-01 -4.38069977e-03  9.94763841e-01  8.41114145e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.681052754 meters
Centerline goodness : 0.999470 with order 1
Centerline is valid?  [True, True]
Translation: X:9.27, Y:-1.09, Z:0.84
[[ 9.94310053e-01  3.08557727e-02 -1.01958026e-01  9.26543608e+00]
 [-3.02961707e-02  9.99516223e-01  7.03287780e-03 -1.08940438e+00]
 [ 1.02125706e-01 -3.90392334e-03  9.94763841e-01  8.42721253e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.741052754 meters
Centerline goodness : 0.999689 with order 1
Centerline is valid?  [True, True]
Translation: X:9.33, Y:-1.09, Z:0.84
[[ 9.93618027e-01  4.82472888e-02 -1.01957906e-01  9.32686022e+00]
 [-4.77786806e-02  9.98833175e-01  7.03461170e-03 -1.08502155e+00]
 [ 1.02178340e-01 -2.11830276e-03  9.94763841e-01  8.43001615e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.801052754 meters
Centerline goodness : 0.999714 with order 1
Centerline is valid?  [True, True]
Translation: X:9.39, Y:-1.09, Z:0.85
[[ 9.93471967e-01  5.11667464e-02 -1.01957912e-01  9.38567573e+00]
 [-5.07134728e-02  9.98688469e-01  7.03453192e-03 -1.08797930e+00]
 [ 1.02184125e-01 -1.81797048e-03  9.94763841e-01  8.51191442e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.861052754000001 meters
Centerline goodness : 0.999808 with order 1
Centerline is valid?  [True, True]
Translation: X:9.45, Y:-1.09, Z:0.86
[[ 9.93870004e-01  4.27431293e-02 -1.01958029e-01  9.44631384e+00]
 [-4.22458256e-02  9.99082494e-01  7.03282882e-03 -1.09227514e+00]
 [ 1.02165087e-01 -2.68241648e-03  9.94763841e-01  8.59766066e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.921052754 meters
Centerline goodness : 0.999831 with order 1
Centerline is valid?  [True, True]
Translation: X:9.51, Y:-1.10, Z:0.87
[[ 9.94313889e-01  3.07326695e-02 -1.01957797e-01  9.50638412e+00]
 [-3.01720834e-02  9.99519953e-01  7.03619355e-03 -1.10202435e+00]
 [ 1.02125094e-01 -3.91990582e-03  9.94763841e-01  8.68970908e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.981052754 meters
Centerline goodness : 0.999903 with order 1
Centerline is valid?  [True, True]
Translation: X:9.57, Y:-1.11, Z:0.87
[[ 9.94496143e-01  2.41260903e-02 -1.01957605e-01  9.56646772e+00]
 [-2.35306447e-02  9.99698335e-01  7.03897352e-03 -1.10891346e+00]
 [ 1.02096671e-01 -4.60110383e-03  9.94763841e-01  8.74796058e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.041052754 meters
Centerline goodness : 0.999757 with order 1
Centerline is valid?  [True, True]
Translation: X:9.63, Y:-1.11, Z:0.88
[[ 9.94498395e-01  2.40333069e-02 -1.01957549e-01  9.62644042e+00]
 [-2.34372928e-02  9.99700523e-01  7.03978594e-03 -1.11457309e+00]
 [ 1.02096204e-01 -4.61144689e-03  9.94763841e-01  8.78179697e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.101052754 meters
Centerline goodness : 0.999879 with order 1
Centerline is valid?  [True, True]
Translation: X:9.69, Y:-1.12, Z:0.89
[[ 9.94391157e-01  2.81239016e-02 -1.01957215e-01  9.68668543e+00]
 [-2.75487969e-02  9.99595637e-01  7.04461492e-03 -1.12017832e+00]
 [ 1.02114110e-01 -4.19630415e-03  9.94763841e-01  8.85833277e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.75, Y:-1.12, Z:0.89
[[ 9.93988490e-01  3.98952830e-02 -1.01957094e-01  9.74614953e+00]
 [-3.93816578e-02  9.99199396e-01  7.04637684e-03 -1.12365676e+00]
 [ 1.02156584e-01 -2.98877809e-03  9.94763841e-01  8.90806077e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.221052754 meters
Centerline goodness : 0.999927 with order 1
Centerline is valid?  [True, True]
Translation: X:9.81, Y:-1.13, Z:0.89
[[ 9.93506157e-01  5.05001380e-02 -1.01957105e-01  9.80614895e+00]
 [-5.00421658e-02  9.98722250e-01  7.04621380e-03 -1.12672334e+00]
 [ 1.02182664e-01 -1.89830245e-03  9.94763841e-01  8.92132143e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.281052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.87, Y:-1.13, Z:0.90
[[ 9.93290650e-01  5.45748249e-02 -1.01957217e-01  9.86684977e+00]
 [-5.41384176e-02  9.98508591e-01  7.04459645e-03 -1.13064063e+00]
 [ 1.02189614e-01 -1.47752941e-03  9.94763841e-01  8.95687239e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.93, Y:-1.14, Z:0.91
[[ 9.93587501e-01  4.88735878e-02 -1.01957096e-01  9.92543892e+00]
 [-4.84070644e-02  9.98802836e-01  7.04633553e-03 -1.14152753e+00]
 [ 1.02179417e-01 -2.06570717e-03  9.94763841e-01  9.07552466e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.99, Y:-1.15, Z:0.91
[[ 9.93938944e-01  4.11111342e-02 -1.01957096e-01  9.98588502e+00]
 [-4.06038878e-02  9.99150476e-01  7.04633553e-03 -1.14787873e+00]
 [ 1.02160164e-01 -2.86377279e-03  9.94763841e-01  9.11393825e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.461052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.05, Y:-1.16, Z:0.91
[[ 9.94053724e-01  3.82354594e-02 -1.01957067e-01  1.00481007e+01]
 [-3.77130936e-02  9.99263762e-01  7.04676874e-03 -1.15510627e+00]
 [ 1.02151438e-01 -3.15975031e-03  9.94763841e-01  9.14708542e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.11, Y:-1.16, Z:0.92
[[ 9.94003435e-01  3.95228221e-02 -1.01956453e-01  1.01089134e+01]
 [-3.90062949e-02  9.99214055e-01  7.05564150e-03 -1.16095131e+00]
 [ 1.02155179e-01 -3.03638843e-03  9.94763841e-01  9.20914241e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.17, Y:-1.16, Z:0.93
[[ 9.93865796e-01  4.28452004e-02 -1.01956210e-01  1.01692211e+01]
 [-4.23457341e-02  9.99078079e-01  7.05914543e-03 -1.16389452e+00]
 [ 1.02164665e-01 -2.69843264e-03  9.94763841e-01  9.25046555e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.23, Y:-1.17, Z:0.93
[[ 9.93873934e-01  4.26562864e-02 -1.01956095e-01  1.02313977e+01]
 [-4.21556593e-02  9.99086105e-01  7.06080464e-03 -1.16852598e+00]
 [ 1.02164106e-01 -2.71952327e-03  9.94763841e-01  9.27427582e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.701052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.29, Y:-1.17, Z:0.93
[[ 9.93959197e-01  4.06252455e-02 -1.01954424e-01  1.02926059e+01]
 [-4.01115038e-02  9.99170092e-01  7.08485406e-03 -1.17253019e+00]
 [ 1.02157635e-01 -2.95251059e-03  9.94763841e-01  9.33304988e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.35, Y:-1.18, Z:0.94
[[ 9.94186043e-01  3.46369766e-02 -1.01952889e-01  1.03526983e+01]
 [-3.40895989e-02  9.99393512e-01  7.10687254e-03 -1.18012500e+00]
 [ 1.02137216e-01 -3.59002039e-03  9.94763842e-01  9.44404598e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.821052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.41, Y:-1.18, Z:0.95
[[ 9.94410415e-01  2.74515006e-02 -1.01952644e-01  1.04128734e+01]
 [-2.68661451e-02  9.99613752e-01  7.11038871e-03 -1.18373602e+00]
 [ 1.02108456e-01 -4.33157006e-03  9.94763842e-01  9.49137723e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.47, Y:-1.18, Z:0.95
[[ 9.94574237e-01  2.06833424e-02 -1.01952377e-01  1.04738285e+01]
 [-2.00621986e-02  9.99773422e-01  7.11420507e-03 -1.18467862e+00]
 [ 1.02076423e-01 -5.03021623e-03  9.94763842e-01  9.52360283e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.941052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.54, Y:-1.19, Z:0.96
[[ 9.94637075e-01  1.74016273e-02 -1.01952301e-01  1.05358531e+01]
 [-1.67632205e-02  9.99834170e-01  7.11529773e-03 -1.18670047e+00]
 [ 1.02059212e-01 -5.36809002e-03  9.94763842e-01  9.59204647e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.60, Y:-1.18, Z:0.96
[[ 9.94535002e-01  2.24935372e-02 -1.01951809e-01  1.05958839e+01]
 [-2.18810258e-02  9.99735211e-01  7.12233706e-03 -1.18463127e+00]
 [ 1.02085020e-01 -4.85260333e-03  9.94763842e-01  9.59864021e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.66, Y:-1.18, Z:0.96
[[ 9.94150914e-01  3.56354203e-02 -1.01951342e-01  1.06555188e+01]
 [-3.50910038e-02  9.99358694e-01  7.12902451e-03 -1.18360949e+00]
 [ 1.02140006e-01 -3.50975132e-03  9.94763842e-01  9.63949660e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.72, Y:-1.18, Z:0.97
[[ 9.93622840e-01  4.81616859e-02 -1.01951478e-01  1.07153769e+01]
 [-4.76831448e-02  9.98837085e-01  7.12707876e-03 -1.18461281e+00]
 [ 1.02176169e-01 -2.22026116e-03  9.94763842e-01  9.72090399e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.77, Y:-1.19, Z:0.98
[[ 9.93278640e-01  5.48037190e-02 -1.01951437e-01  1.07744887e+01]
 [-5.43599901e-02  9.98495963e-01  7.12765918e-03 -1.18967188e+00]
 [ 1.02188721e-01 -1.53767249e-03  9.94763842e-01  9.81350677e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.241052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.84, Y:-1.20, Z:0.98
[[ 9.93239144e-01  5.55149329e-02 -1.01951437e-01  1.08353540e+01]
 [-5.50749400e-02  9.98456783e-01  7.12765918e-03 -1.19694210e+00]
 [ 1.02189796e-01 -1.46450081e-03  9.94763842e-01  9.83760687e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.89, Y:-1.20, Z:0.99
[[ 9.93240482e-01  5.54915468e-02 -1.01951130e-01  1.08947329e+01]
 [-5.50509799e-02  9.98458073e-01  7.13205513e-03 -1.20499203e+00]
 [ 1.02189697e-01 -1.47133628e-03  9.94763842e-01  9.87297664e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.361052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.96, Y:-1.21, Z:0.99
[[ 9.93399298e-01  5.25718752e-02 -1.01951130e-01  1.09552622e+01]
 [-5.21159742e-02  9.98615571e-01  7.13205513e-03 -1.21314587e+00]
 [ 1.02184931e-01 -1.77169612e-03  9.94763842e-01  9.91737339e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.02, Y:-1.22, Z:1.00
[[ 9.93809079e-01  4.41532129e-02 -1.01951011e-01  1.10162998e+01]
 [-4.36529585e-02  9.99021285e-01  7.13374990e-03 -1.22374422e+00]
 [ 1.02166208e-01 -2.63912215e-03  9.94763842e-01  9.97362654e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.08, Y:-1.23, Z:1.01
[[ 9.94160332e-01  3.53774284e-02 -1.01949364e-01  1.10766674e+01]
 [-3.48287733e-02  9.99367666e-01  7.15721220e-03 -1.23468907e+00]
 [ 1.02138102e-01 -3.56464516e-03  9.94763842e-01  1.00505010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.14, Y:-1.24, Z:1.01
[[ 9.94122677e-01  3.64207397e-02 -1.01949166e-01  1.11385766e+01]
 [-3.58772603e-02  9.99330554e-01  7.16003880e-03 -1.23838038e+00]
 [ 1.02141690e-01 -3.46030020e-03  9.94763842e-01  1.01132810e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.601052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.20, Y:-1.24, Z:1.02
[[ 9.93903287e-01  4.19876981e-02 -1.01947480e-01  1.12002585e+01]
 [-4.14709415e-02  9.99113883e-01  7.18396404e-03 -1.23976916e+00]
 [ 1.02158780e-01 -2.91230751e-03  9.94763842e-01  1.01633210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.26, Y:-1.24, Z:1.02
[[ 9.93504776e-01  5.05477766e-02 -1.01946958e-01  1.12612093e+01]
 [-5.00751649e-02  9.98719561e-01  7.19136507e-03 -1.24103803e+00]
 [ 1.02179928e-01 -2.03964484e-03  9.94763842e-01  1.01765160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.32, Y:-1.24, Z:1.01
[[ 9.93023760e-01  5.92505626e-02 -1.01946964e-01  1.13228635e+01]
 [-5.88236680e-02  9.98242486e-01  7.19127847e-03 -1.23848589e+00]
 [ 1.02193878e-01 -1.14421604e-03  9.94763842e-01  1.01265467e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.781052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.38, Y:-1.24, Z:1.02
[[ 9.93027813e-01  5.91827941e-02 -1.01946846e-01  1.13837476e+01]
 [-5.87553726e-02  9.98246497e-01  7.19294228e-03 -1.24456476e+00]
 [ 1.02193781e-01 -1.15286681e-03  9.94763842e-01  1.02258336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.44, Y:-1.25, Z:1.04
[[ 9.93645405e-01  4.77073832e-02 -1.01945152e-01  1.14428630e+01]
 [-4.72172491e-02  9.98858573e-01  7.21688215e-03 -1.25372025e+00]
 [ 1.02173087e-01 -2.35745218e-03  9.94763843e-01  1.03576850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.51, Y:-1.26, Z:1.04
[[ 9.93863478e-01  4.29258521e-02 -1.01944878e-01  1.15056439e+01]
 [-4.24102445e-02  9.99074187e-01  7.22074211e-03 -1.25725283e+00]
 [ 1.02160453e-01 -2.85292466e-03  9.94763843e-01  1.04134954e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.961052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.56, Y:-1.26, Z:1.05
[[ 9.94105872e-01  3.68937799e-02 -1.01942941e-01  1.15649428e+01]
 [-3.63437702e-02  9.99313063e-01  7.24798420e-03 -1.25867619e+00]
 [ 1.02140318e-01 -3.50027283e-03  9.94763843e-01  1.04982168e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.021052754000001 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:11.63, Y:-1.26, Z:1.06
[[ 9.94180965e-01  3.48115854e-02 -1.01942941e-01  1.16256838e+01]
 [-3.42506706e-02  9.99386991e-01  7.24798420e-03 -1.26198481e+00]
 [ 1.02132763e-01 -3.71419382e-03  9.94763843e-01  1.05707007e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.69, Y:-1.26, Z:1.06
[[ 9.94105735e-01  3.68981316e-02 -1.01942703e-01  1.16867046e+01]
 [-3.63478022e-02  9.99312892e-01  7.25132778e-03 -1.26344158e+00]
 [ 1.02140218e-01 -3.50319331e-03  9.94763843e-01  1.06014662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.75, Y:-1.26, Z:1.06
[[ 9.93819725e-01  4.39327554e-02 -1.01942468e-01  1.17475036e+01]
 [-4.34189524e-02  9.99030613e-01  7.25464310e-03 -1.26427147e+00]
 [ 1.02162362e-01 -2.78357227e-03  9.94763843e-01  1.06175508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.201052754000001 meters
Centerline goodness : 0.999929 with order 1
Centerline is valid?  [True, True]
Translation: X:11.81, Y:-1.27, Z:1.07
[[ 9.93290449e-01  5.46062390e-02 -1.01942346e-01  1.18060215e+01]
 [-5.41482674e-02  9.98506540e-01  7.25635597e-03 -1.26874615e+00]
 [ 1.02186341e-01 -1.68766769e-03  9.94763843e-01  1.07017622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.87, Y:-1.28, Z:1.08
[[ 9.92993261e-01  5.97671789e-02 -1.01942472e-01  1.18678747e+01]
 [-5.93365016e-02  9.98211676e-01  7.25457741e-03 -1.27559090e+00]
 [ 1.02193752e-01 -1.15483681e-03  9.94763843e-01  1.07784633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.321052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.93, Y:-1.28, Z:1.09
[[ 9.93312342e-01  5.42074664e-02 -1.01941859e-01  1.19274108e+01]
 [-5.37467002e-02  9.98528186e-01  7.26318357e-03 -1.28401586e+00]
 [ 1.02185538e-01 -1.73557135e-03  9.94763843e-01  1.08769147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.99, Y:-1.29, Z:1.10
[[ 9.93625636e-01  4.81244473e-02 -1.01941812e-01  1.19870689e+01]
 [-4.76316853e-02  9.98838555e-01  7.26384705e-03 -1.29258575e+00]
 [ 1.02172981e-01 -2.36188435e-03  9.94763843e-01  1.09775936e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.441052754000001 meters
Centerline goodness : 0.999471 with order 1
Centerline is valid?  [True, True]
Translation: X:12.05, Y:-1.30, Z:1.10
[[ 9.93674595e-01  4.71029911e-02 -1.01941691e-01  1.20479803e+01]
 [-4.66046964e-02  9.98886988e-01  7.26554662e-03 -1.29734184e+00]
 [ 1.02170457e-01 -2.46862755e-03  9.94763843e-01  1.10177255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.501052754 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:12.11, Y:-1.30, Z:1.10
[[ 9.93499000e-01  5.06720231e-02 -1.01941571e-01  1.21099179e+01]
 [-5.01922830e-02  9.98713133e-01  7.26722163e-03 -1.29856654e+00]
 [ 1.02178631e-01 -2.10329722e-03  9.94763843e-01  1.10363600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.561052754 meters
Centerline goodness : 0.998748 with order 1
Centerline is valid?  [True, True]
Translation: X:12.17, Y:-1.30, Z:1.11
[[ 9.93648000e-01  4.76642729e-02 -1.01940031e-01  1.21719352e+01]
 [-4.71665415e-02  9.98860446e-01  7.28876922e-03 -1.30412570e+00]
 [ 1.02171278e-01 -2.43431228e-03  9.94763843e-01  1.10835149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.621052754 meters
Centerline goodness : 0.998773 with order 1
Centerline is valid?  [True, True]
Translation: X:12.23, Y:-1.31, Z:1.11
[[ 9.93845719e-01  4.33475926e-02 -1.01939559e-01  1.22336309e+01]
 [-4.28265485e-02  9.99055887e-01  7.29535886e-03 -1.30526065e+00]
 [ 1.02159553e-01 -2.88474171e-03  9.94763843e-01  1.11296766e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.681052754 meters
Centerline goodness : 0.998866 with order 1
Centerline is valid?  [True, True]
Translation: X:12.29, Y:-1.31, Z:1.12
[[ 9.94027095e-01  3.89683597e-02 -1.01939209e-01  1.22933673e+01]
 [-3.84238638e-02  9.99234864e-01  7.30025130e-03 -1.30963017e+00]
 [ 1.02145690e-01 -3.33974932e-03  9.94763843e-01  1.12226055e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.741052754 meters
Centerline goodness : 0.998800 with order 1
Centerline is valid?  [True, True]
Translation: X:12.35, Y:-1.31, Z:1.13
[[ 9.94241124e-01  3.30605945e-02 -1.01939119e-01  1.23540158e+01]
 [-3.24850327e-02  9.99445552e-01  7.30150204e-03 -1.31018141e+00]
 [ 1.02123991e-01 -3.94795799e-03  9.94763843e-01  1.12806533e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.801052754 meters
Centerline goodness : 0.998629 with order 1
Centerline is valid?  [True, True]
Translation: X:12.41, Y:-1.31, Z:1.14
[[ 9.94434493e-01  2.66172682e-02 -1.01939000e-01  1.24134153e+01]
 [-2.60078240e-02  9.99635062e-01  7.30316382e-03 -1.31373877e+00]
 [ 1.02096189e-01 -4.61130644e-03  9.94763843e-01  1.13579115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.861052754000001 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:12.47, Y:-1.32, Z:1.15
[[ 9.94418026e-01  2.72255896e-02 -1.01938990e-01  1.24747397e+01]
 [-2.66193128e-02  9.99618964e-01  7.30330186e-03 -1.31726714e+00]
 [ 1.02098984e-01 -4.54898915e-03  9.94763843e-01  1.14563353e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.921052754 meters
Centerline goodness : 0.998945 with order 1
Centerline is valid?  [True, True]
Translation: X:12.54, Y:-1.32, Z:1.15
[[ 9.94270302e-01  3.21769094e-02 -1.01937296e-01  1.25352558e+01]
 [-3.15941250e-02  9.99473926e-01  7.32687429e-03 -1.31945870e+00]
 [ 1.02119425e-01 -4.06427386e-03  9.94763844e-01  1.15442886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.981052754 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:12.60, Y:-1.32, Z:1.15
[[ 9.93965209e-01  4.05216086e-02 -1.01937051e-01  1.25959242e+01]
 [-3.99821755e-02  9.99173505e-01  7.33027213e-03 -1.31992760e+00]
 [ 1.02149835e-01 -3.21037040e-03  9.94763844e-01  1.15367090e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.041052754 meters
Centerline goodness : 0.999044 with order 1
Centerline is valid?  [True, True]
Translation: X:12.66, Y:-1.33, Z:1.16
[[ 9.93393908e-01  5.27008350e-02 -1.01937062e-01  1.26560476e+01]
 [-5.22252916e-02  9.98608426e-01  7.33012478e-03 -1.32523685e+00]
 [ 1.02181513e-01 -1.95800852e-03  9.94763844e-01  1.16025280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.101052754000001 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:12.72, Y:-1.33, Z:1.17
[[ 9.93123397e-01  5.75738927e-02 -1.01937068e-01  1.27158211e+01]
 [-5.71239467e-02  9.98340185e-01  7.33003945e-03 -1.33268708e+00]
 [ 1.02189890e-01 -1.45658603e-03  9.94763844e-01  1.16550219e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.161052754 meters
Centerline goodness : 0.999061 with order 1
Centerline is valid?  [True, True]
Translation: X:12.77, Y:-1.34, Z:1.17
[[ 9.93387993e-01  5.28122115e-02 -1.01937068e-01  1.27749022e+01]
 [-5.23372615e-02  9.98602564e-01  7.33003945e-03 -1.34133783e+00]
 [ 1.02181733e-01 -1.94646619e-03  9.94763844e-01  1.17387860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.221052754 meters
Centerline goodness : 0.999204 with order 1
Centerline is valid?  [True, True]
Translation: X:12.84, Y:-1.35, Z:1.19
[[ 9.93383873e-01  5.28894795e-02 -1.01937153e-01  1.28365569e+01]
 [-5.24150554e-02  9.98598493e-01  7.32886597e-03 -1.34795456e+00]
 [ 1.02181907e-01 -1.93733576e-03  9.94763844e-01  1.18919783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.281052754000001 meters
Centerline goodness : 0.999396 with order 1
Centerline is valid?  [True, True]
Translation: X:12.90, Y:-1.35, Z:1.19
[[ 9.93626026e-01  4.81304732e-02 -1.01935170e-01  1.28979078e+01]
 [-4.76282587e-02  9.98838042e-01  7.35634374e-03 -1.35377755e+00]
 [ 1.02170790e-01 -2.45445996e-03  9.94763844e-01  1.19489436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.341052754 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:12.96, Y:-1.36, Z:1.20
[[ 9.93643337e-01  4.77755119e-02 -1.01933408e-01  1.29578374e+01]
 [-4.72689411e-02  9.98854931e-01  7.38067377e-03 -1.35544767e+00]
 [ 1.02169303e-01 -2.51547305e-03  9.94763844e-01  1.19709305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.401052754 meters
Centerline goodness : 0.999305 with order 1
Centerline is valid?  [True, True]
Translation: X:13.02, Y:-1.36, Z:1.20
[[ 9.93558032e-01  4.95178446e-02 -1.01933408e-01  1.30202085e+01]
 [-4.90204134e-02  9.98770507e-01  7.38067377e-03 -1.35775468e+00]
 [ 1.02173557e-01 -2.33630991e-03  9.94763844e-01  1.20403261e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.461052754 meters
Centerline goodness : 0.999424 with order 1
Centerline is valid?  [True, True]
Translation: X:13.08, Y:-1.36, Z:1.21
[[ 9.93790108e-01  4.46230139e-02 -1.01931388e-01  1.30797812e+01]
 [-4.40970644e-02  9.98999782e-01  7.40846123e-03 -1.36234954e+00]
 [ 1.02160023e-01 -2.86758049e-03  9.94763845e-01  1.20868362e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.521052754000001 meters
Centerline goodness : 0.999401 with order 1
Centerline is valid?  [True, True]
Translation: X:13.14, Y:-1.37, Z:1.21
[[ 9.94051551e-01  3.83618798e-02 -1.01930766e-01  1.31423982e+01]
 [-3.78022464e-02  9.99257713e-01  7.41702085e-03 -1.36749474e+00]
 [ 1.02139635e-01 -3.51968916e-03  9.94763845e-01  1.21154861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.581052754 meters
Centerline goodness : 0.999400 with order 1
Centerline is valid?  [True, True]
Translation: X:13.20, Y:-1.37, Z:1.22
[[ 9.93902065e-01  4.20619966e-02 -1.01928763e-01  1.32022142e+01]
 [-4.15189380e-02  9.99109983e-01  7.44443955e-03 -1.37387782e+00]
 [ 1.02151173e-01 -3.16706985e-03  9.94763845e-01  1.21807424e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.641052754 meters
Centerline goodness : 0.999283 with order 1
Centerline is valid?  [True, True]
Translation: X:13.26, Y:-1.38, Z:1.22
[[ 9.93541716e-01  4.98554099e-02 -1.01927899e-01  1.32621736e+01]
 [-4.93520002e-02  9.98753615e-01  7.45625040e-03 -1.37829285e+00]
 [ 1.02172592e-01 -2.37775012e-03  9.94763845e-01  1.22233132e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.701052754000001 meters
Centerline goodness : 0.999546 with order 1
Centerline is valid?  [True, True]
Translation: X:13.32, Y:-1.38, Z:1.23
[[ 9.93444549e-01  5.17554813e-02 -1.01927908e-01  1.33248271e+01]
 [-5.12620522e-02  9.98657403e-01  7.45613430e-03 -1.38287963e+00]
 [ 1.02176955e-01 -2.18222225e-03  9.94763845e-01  1.22861308e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.761052754 meters
Centerline goodness : 0.999497 with order 1
Centerline is valid?  [True, True]
Translation: X:13.39, Y:-1.39, Z:1.24
[[ 9.93250739e-01  5.53542416e-02 -1.01925842e-01  1.33851144e+01]
 [-5.48768154e-02  9.98465082e-01  7.48426448e-03 -1.38994350e+00]
 [ 1.02183680e-01 -1.84038561e-03  9.94763846e-01  1.23946644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.821052754 meters
Centerline goodness : 0.999472 with order 1
Centerline is valid?  [True, True]
Translation: X:13.45, Y:-1.40, Z:1.25
[[ 9.92953243e-01  6.04592205e-02 -1.01924184e-01  1.34453074e+01]
 [-6.00062942e-02  9.98169772e-01  7.50677364e-03 -1.39709476e+00]
 [ 1.02191493e-01 -1.33778264e-03  9.94763846e-01  1.24838643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.881052754 meters
Centerline goodness : 0.999471 with order 1
Centerline is valid?  [True, True]
Translation: X:13.51, Y:-1.40, Z:1.25
[[ 9.92608659e-01  6.58751643e-02 -1.01924058e-01  1.35070265e+01]
 [-6.54505260e-02  9.97827566e-01  7.50849278e-03 -1.40143949e+00]
 [ 1.02197258e-01 -7.82011764e-04  9.94763846e-01  1.24724761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.941052754000001 meters
Centerline goodness : 0.999565 with order 1
Centerline is valid?  [True, True]
Translation: X:13.57, Y:-1.41, Z:1.25
[[ 9.92332978e-01  6.99077083e-02 -1.01922390e-01  1.35673836e+01]
 [-6.95019607e-02  9.97553387e-01  7.53105982e-03 -1.40845274e+00]
 [ 1.02199505e-01 -3.89513060e-04  9.94763846e-01  1.25079641e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.001052754 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:13.63, Y:-1.42, Z:1.26
[[ 9.92266748e-01  7.08417518e-02 -1.01922260e-01  1.36260294e+01]
 [-7.04407369e-02  9.97487523e-01  7.53282505e-03 -1.41742927e+00]
 [ 1.02199821e-01 -2.95092732e-04  9.94763846e-01  1.25960280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.061052754 meters
Centerline goodness : 0.999660 with order 1
Centerline is valid?  [True, True]
Translation: X:13.69, Y:-1.42, Z:1.26
[[ 9.92037605e-01  7.39813699e-02 -1.01922260e-01  1.36877188e+01]
 [-7.35968780e-02  9.97259623e-01  7.53282505e-03 -1.42199927e+00]
 [ 1.02200243e-01  2.83143875e-05  9.94763846e-01  1.26376805e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.121052754 meters
Centerline goodness : 0.999782 with order 1
Centerline is valid?  [True, True]
Translation: X:13.75, Y:-1.42, Z:1.27
[[ 9.92248248e-01  7.11030234e-02 -1.01920431e-01  1.37486989e+01]
 [-7.07008506e-02  9.97468934e-01  7.55748206e-03 -1.42281481e+00]
 [ 1.02199824e-01 -2.93037135e-04  9.94763846e-01  1.26618478e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.181052754000001 meters
Centerline goodness : 0.999684 with order 1
Centerline is valid?  [True, True]
Translation: X:13.81, Y:-1.43, Z:1.27
[[ 9.92868986e-01  6.18340959e-02 -1.01920172e-01  1.38100282e+01]
 [-6.13828296e-02  9.98085658e-01  7.56098089e-03 -1.42810386e+00]
 [ 1.02192588e-01 -1.25091488e-03  9.94763846e-01  1.27407109e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.241052754 meters
Centerline goodness : 0.999709 with order 1
Centerline is valid?  [True, True]
Translation: X:13.87, Y:-1.43, Z:1.28
[[ 9.93552601e-01  4.96549579e-02 -1.01919649e-01  1.38708390e+01]
 [-4.91390376e-02  9.98763275e-01  7.56801800e-03 -1.42962594e+00]
 [ 1.02169392e-01 -2.51099048e-03  9.94763846e-01  1.27820793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.301052754 meters
Centerline goodness : 0.999757 with order 1
Centerline is valid?  [True, True]
Translation: X:13.93, Y:-1.44, Z:1.29
[[ 9.94007211e-01  3.95232705e-02 -1.01919452e-01  1.39294756e+01]
 [-3.89539833e-02  9.99212326e-01  7.57067243e-03 -1.43554787e+00]
 [ 1.02138391e-01 -3.55513436e-03  9.94763846e-01  1.29008709e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.361052754000001 meters
Centerline goodness : 0.999806 with order 1
Centerline is valid?  [True, True]
Translation: X:13.99, Y:-1.44, Z:1.30
[[ 9.94126038e-01  3.64133365e-02 -1.01919037e-01  1.39904494e+01]
 [-3.58271962e-02  9.99329281e-01  7.57625652e-03 -1.43976254e+00]
 [ 1.02126555e-01 -3.88028054e-03  9.94763846e-01  1.29695576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.421052754 meters
Centerline goodness : 0.999807 with order 1
Centerline is valid?  [True, True]
Translation: X:14.05, Y:-1.44, Z:1.30
[[ 9.94301120e-01  3.12750041e-02 -1.01917401e-01  1.40519026e+01]
 [-3.06597354e-02  9.99501000e-01  7.59819763e-03 -1.43572934e+00]
 [ 1.02104178e-01 -4.43013585e-03  9.94763847e-01  1.29524719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.481052754 meters
Centerline goodness : 0.999904 with order 1
Centerline is valid?  [True, True]
Translation: X:14.11, Y:-1.44, Z:1.30
[[ 9.94126501e-01  3.64053983e-02 -1.01917359e-01  1.41130051e+01]
 [-3.58169116e-02  9.99329479e-01  7.59877129e-03 -1.43596735e+00]
 [ 1.02125657e-01 -3.90377489e-03  9.94763847e-01  1.29954014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.17, Y:-1.44, Z:1.31
[[ 9.93959037e-01  4.07226964e-02 -1.01917099e-01  1.41739764e+01]
 [-4.01564561e-02  9.99164483e-01  7.60225224e-03 -1.43536832e+00]
 [ 1.02141530e-01 -3.46369781e-03  9.94763847e-01  1.30759885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.601052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.24, Y:-1.43, Z:1.32
[[ 9.93883063e-01  4.25372070e-02 -1.01916839e-01  1.42351038e+01]
 [-4.19801145e-02  9.99089497e-01  7.60572967e-03 -1.43432928e+00]
 [ 1.02147570e-01 -3.28072532e-03  9.94763847e-01  1.31610551e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.30, Y:-1.43, Z:1.32
[[ 9.94004361e-01  3.96022954e-02 -1.01916572e-01  1.42974321e+01]
 [-3.90294653e-02  9.99209087e-01  7.60930958e-03 -1.43357319e+00]
 [ 1.02137311e-01 -3.58593760e-03  9.94763847e-01  1.32267287e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.36, Y:-1.44, Z:1.33
[[ 9.94004934e-01  3.95928757e-02 -1.01914650e-01  1.43573238e+01]
 [-3.90173685e-02  9.99209364e-01  7.63497062e-03 -1.43735803e+00]
 [ 1.02136363e-01 -3.61275702e-03  9.94763847e-01  1.33106697e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.781052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.42, Y:-1.44, Z:1.34
[[ 9.93849384e-01  4.33224380e-02 -1.01914515e-01  1.44179469e+01]
 [-4.27662791e-02  9.99055917e-01  7.63677172e-03 -1.43858021e+00]
 [ 1.02149143e-01 -3.23129629e-03  9.94763847e-01  1.33665436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.48, Y:-1.44, Z:1.34
[[ 9.93598541e-01  4.87377742e-02 -1.01914514e-01  1.44793009e+01]
 [-4.82099958e-02  9.98808028e-01  7.63677836e-03 -1.43978088e+00]
 [ 1.02165235e-01 -2.67459354e-03  9.94763847e-01  1.34013461e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.54, Y:-1.45, Z:1.34
[[ 9.93620817e-01  4.82820621e-02 -1.01914248e-01  1.45405616e+01]
 [-4.77515312e-02  9.98830024e-01  7.64032363e-03 -1.44525159e+00]
 [ 1.02163902e-01 -2.72502320e-03  9.94763847e-01  1.34399139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.961052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.60, Y:-1.45, Z:1.35
[[ 9.93836065e-01  4.36315336e-02 -1.01912536e-01  1.46010255e+01]
 [-4.30742965e-02  9.99042482e-01  7.66310402e-03 -1.45245186e+00]
 [ 1.02149306e-01 -3.22605838e-03  9.94763847e-01  1.35067343e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.021052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.66, Y:-1.46, Z:1.36
[[ 9.94004815e-01  3.96016237e-02 -1.01912406e-01  1.46606594e+01]
 [-3.90231045e-02  9.99208911e-01  7.66483172e-03 -1.46105550e+00]
 [ 1.02135324e-01 -3.64194118e-03  9.94763847e-01  1.35673488e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.72, Y:-1.47, Z:1.36
[[ 9.94172849e-01  3.51314417e-02 -1.01912352e-01  1.47211191e+01]
 [-3.45294544e-02  9.99374282e-01  7.66554047e-03 -1.47259940e+00]
 [ 1.02117885e-01 -4.10189428e-03  9.94763847e-01  1.35931105e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.78, Y:-1.48, Z:1.36
[[ 9.94240081e-01  3.31746895e-02 -1.01912224e-01  1.47816791e+01]
 [-3.25622922e-02  9.99440299e-01  7.66723970e-03 -1.48074176e+00]
 [ 1.02109542e-01 -4.30458138e-03  9.94763847e-01  1.36375639e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.201052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.84, Y:-1.49, Z:1.37
[[ 9.94208550e-01  3.41114769e-02 -1.01910576e-01  1.48419228e+01]
 [-3.35017436e-02  9.99409081e-01  7.68909257e-03 -1.48960700e+00]
 [ 1.02112641e-01 -4.23037961e-03  9.94763848e-01  1.37108866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.261052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.90, Y:-1.50, Z:1.38
[[ 9.94054490e-01  3.83419846e-02 -1.01909579e-01  1.49012139e+01]
 [-3.77530373e-02  9.99257416e-01  7.70228085e-03 -1.49878440e+00]
 [ 1.02129223e-01 -3.80909073e-03  9.94763848e-01  1.38233397e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.321052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.96, Y:-1.50, Z:1.38
[[ 9.93411900e-01  5.24140505e-02 -1.01909590e-01  1.49624480e+01]
 [-5.18988508e-02  9.98622645e-01  7.70213814e-03 -1.49717516e+00]
 [ 1.02172924e-01 -2.36240509e-03  9.94763848e-01  1.38201294e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.02, Y:-1.50, Z:1.38
[[ 9.92665996e-01  6.50283233e-02 -1.01909460e-01  1.50221475e+01]
 [-6.45791766e-02  9.97882849e-01  7.70385703e-03 -1.50009673e+00]
 [ 1.02194671e-01 -1.06612791e-03  9.94763848e-01  1.38435242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.441052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.08, Y:-1.51, Z:1.39
[[ 9.92664361e-01  6.50532561e-02 -1.01909472e-01  1.50822657e+01]
 [-6.46042568e-02  9.97881227e-01  7.70369735e-03 -1.50798546e+00]
 [ 1.02194699e-01 -1.06340012e-03  9.94763848e-01  1.39343460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.14, Y:-1.52, Z:1.40
[[ 9.93266880e-01  5.50946107e-02 -1.01909215e-01  1.51419705e+01]
 [-5.45929662e-02  9.98478948e-01  7.70709191e-03 -1.51904734e+00]
 [ 1.02178825e-01 -2.09167280e-03  9.94763848e-01  1.40272230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.20, Y:-1.53, Z:1.41
[[ 9.93535648e-01  5.00145353e-02 -1.01909085e-01  1.52027483e+01]
 [-4.94860669e-02  9.98745064e-01  7.70881938e-03 -1.52573995e+00]
 [ 1.02166748e-01 -2.61590710e-03  9.94763848e-01  1.40985281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.26, Y:-1.53, Z:1.41
[[ 9.93762724e-01  4.52795724e-02 -1.01908827e-01  1.52648200e+01]
 [-4.47259380e-02  9.98969525e-01  7.71221658e-03 -1.52853876e+00]
 [ 1.02153019e-01 -3.10614546e-03  9.94763848e-01  1.41224995e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.681052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.33, Y:-1.53, Z:1.42
[[ 9.93869018e-01  4.28874950e-02 -1.01907005e-01  1.53254903e+01]
 [-4.23188702e-02  9.99074203e-01  7.73622917e-03 -1.53270348e+00]
 [ 1.02144447e-01 -3.37620919e-03  9.94763848e-01  1.41858985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.741052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.39, Y:-1.53, Z:1.42
[[ 9.93878626e-01  4.26645845e-02 -1.01906873e-01  1.53874378e+01]
 [-4.20946145e-02  9.99083664e-01  7.73796486e-03 -1.53422611e+00]
 [ 1.02143629e-01 -3.40086736e-03  9.94763848e-01  1.42427136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.45, Y:-1.54, Z:1.43
[[ 9.93487243e-01  5.09750960e-02 -1.01905046e-01  1.54481852e+01]
 [-5.04462184e-02  9.98696616e-01  7.76194631e-03 -1.53612938e+00]
 [ 1.02167891e-01 -2.57067043e-03  9.94763848e-01  1.42924153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.861052754000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.51, Y:-1.54, Z:1.44
[[ 9.92772258e-01  6.33926754e-02 -1.01904922e-01  1.55075563e+01]
 [-6.29288041e-02  9.97987822e-01  7.76358117e-03 -1.54043508e+00]
 [ 1.02192025e-01 -1.29471315e-03  9.94763848e-01  1.43861438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.921052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.57, Y:-1.54, Z:1.45
[[ 9.92174625e-01  7.21451867e-02 -1.01904789e-01  1.55673178e+01]
 [-7.17271487e-02  9.97394062e-01  7.76532731e-03 -1.54475263e+00]
 [ 1.02199462e-01 -3.95220788e-04  9.94763848e-01  1.44617392e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.63, Y:-1.55, Z:1.45
[[ 9.92345066e-01  6.97616179e-02 -1.01904789e-01  1.56277753e+01]
 [-6.93310432e-02  9.97563485e-01  7.76532731e-03 -1.55377588e+00]
 [ 1.02198218e-01 -6.40718948e-04  9.94763848e-01  1.45074323e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.69, Y:-1.56, Z:1.46
[[ 9.93127797e-01  5.75553646e-02 -1.01904658e-01  1.56877387e+01]
 [-5.70604854e-02  9.98340510e-01  7.76704366e-03 -1.56273201e+00]
 [ 1.02182583e-01 -1.89893772e-03  9.94763848e-01  1.45636883e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.101052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.75, Y:-1.57, Z:1.47
[[ 9.93560269e-01  4.95324053e-02 -1.01904529e-01  1.57487622e+01]
 [-4.89952678e-02  9.98768797e-01  7.76873617e-03 -1.56985915e+00]
 [ 1.02163868e-01 -2.72586792e-03  9.94763848e-01  1.46738793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.81, Y:-1.57, Z:1.47
[[ 9.93874708e-01  4.27625832e-02 -1.01904003e-01  1.58081903e+01]
 [-4.21892696e-02  9.99079379e-01  7.77562212e-03 -1.57305851e+00]
 [ 1.02142694e-01 -3.42873869e-03  9.94763848e-01  1.47427627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.221052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.87, Y:-1.57, Z:1.47
[[ 9.93895435e-01  4.22778698e-02 -1.01904107e-01  1.58688905e+01]
 [-4.17021567e-02  9.99099840e-01  7.77426753e-03 -1.57492364e+00]
 [ 1.02141056e-01 -3.47718798e-03  9.94763848e-01  1.47414289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.93, Y:-1.58, Z:1.48
[[ 9.93714088e-01  4.63453496e-02 -1.01903978e-01  1.59299916e+01]
 [-4.57907696e-02  9.98920788e-01  7.77595076e-03 -1.57602839e+00]
 [ 1.02154381e-01 -3.06081023e-03  9.94763848e-01  1.47933776e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.99, Y:-1.58, Z:1.49
[[ 9.93506774e-01  5.05956506e-02 -1.01903727e-01  1.59905686e+01]
 [-5.00630107e-02  9.98715765e-01  7.77924010e-03 -1.57747093e+00]
 [ 1.02166454e-01 -2.62712035e-03  9.94763848e-01  1.48950397e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.401052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.05, Y:-1.58, Z:1.50
[[ 9.93305680e-01  5.44013776e-02 -1.01903470e-01  1.60512545e+01]
 [-5.38883515e-02  9.98516638e-01  7.78261085e-03 -1.58157308e+00]
 [ 1.02175695e-01 -2.23910156e-03  9.94763848e-01  1.49763624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.461052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.11, Y:-1.59, Z:1.50
[[ 9.93111588e-01  5.78369400e-02 -1.01903201e-01  1.61127984e+01]
 [-5.73415811e-02  9.98324256e-01  7.78612886e-03 -1.58511048e+00]
 [ 1.02182763e-01 -1.88920414e-03  9.94763848e-01  1.50463413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.17, Y:-1.59, Z:1.51
[[ 9.92996513e-01  5.97832957e-02 -1.01901335e-01  1.61738871e+01]
 [-5.92956564e-02  9.98209909e-01  7.81047754e-03 -1.58962487e+00]
 [ 1.02185858e-01 -1.71347045e-03  9.94763849e-01  1.51017328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.24, Y:-1.60, Z:1.52
[[ 9.92926349e-01  6.09403999e-02 -1.01899620e-01  1.62359106e+01]
 [-6.04565479e-02  9.98140097e-01  7.83277972e-03 -1.59829160e+00]
 [ 1.02187430e-01 -1.61687410e-03  9.94763849e-01  1.51824213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.30, Y:-1.60, Z:1.52
[[ 9.92770232e-01  6.34364029e-02 -1.01897442e-01  1.62982072e+01]
 [-6.29627623e-02  9.97984917e-01  7.86101310e-03 -1.60428337e+00]
 [ 1.02190785e-01 -1.38843537e-03  9.94763849e-01  1.52160447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.36, Y:-1.61, Z:1.53
[[ 9.92672212e-01  6.49533028e-02 -1.01896754e-01  1.63595497e+01]
 [-6.44867163e-02  9.97887533e-01  7.86992420e-03 -1.61050358e+00]
 [ 1.02192678e-01 -1.24126799e-03  9.94763849e-01  1.52613614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.42, Y:-1.62, Z:1.53
[[ 9.92664395e-01  6.50740694e-02 -1.01895853e-01  1.64203320e+01]
 [-6.46069223e-02  9.97879665e-01  7.88156924e-03 -1.61849219e+00]
 [ 1.02192686e-01 -1.24057568e-03  9.94763849e-01  1.52892800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.821052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.48, Y:-1.63, Z:1.54
[[ 9.93100816e-01  5.80349852e-02 -1.01895584e-01  1.64795131e+01]
 [-5.75305194e-02  9.98312609e-01  7.88504907e-03 -1.62715859e+00]
 [ 1.02181255e-01 -1.96854279e-03  9.94763849e-01  1.53776265e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.881052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.54, Y:-1.63, Z:1.54
[[ 9.93301116e-01  5.45002283e-02 -1.01895133e-01  1.65415164e+01]
 [-5.39766197e-02  9.98511021e-01  7.89087753e-03 -1.62857722e+00]
 [ 1.02173468e-01 -2.33806263e-03  9.94763849e-01  1.54439698e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.60, Y:-1.63, Z:1.55
[[ 9.93587334e-01  4.90098749e-02 -1.01893286e-01  1.66035257e+01]
 [-4.84550458e-02  9.98794006e-01  7.91464867e-03 -1.63178668e+00]
 [ 1.02158299e-01 -2.92665083e-03  9.94763850e-01  1.54920783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.66, Y:-1.64, Z:1.56
[[ 9.93838581e-01  4.36204253e-02 -1.01892753e-01  1.66637210e+01]
 [-4.30366629e-02  9.99042089e-01  7.92151353e-03 -1.63552581e+00]
 [ 1.02140688e-01 -3.48758173e-03  9.94763850e-01  1.55901206e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.061052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.72, Y:-1.63, Z:1.57
[[ 9.94231480e-01  3.34914190e-02 -1.01892539e-01  1.67243160e+01]
 [-3.28543842e-02  9.99428735e-01  7.92426535e-03 -1.63184143e+00]
 [ 1.02099726e-01 -4.53093746e-03  9.94763850e-01  1.56860312e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.79, Y:-1.63, Z:1.58
[[ 9.94260769e-01  3.26105336e-02 -1.01892472e-01  1.67855442e+01]
 [-3.19688075e-02  9.99457447e-01  7.92511424e-03 -1.63193971e+00]
 [ 1.02095633e-01 -4.62224934e-03  9.94763850e-01  1.57560186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.85, Y:-1.63, Z:1.58
[[ 9.93822607e-01  4.39841601e-02 -1.01892197e-01  1.68459944e+01]
 [-4.34015709e-02  9.99026246e-01  7.92865439e-03 -1.62649568e+00]
 [ 1.02141714e-01 -3.45739456e-03  9.94763850e-01  1.58219755e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.241052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.91, Y:-1.63, Z:1.59
[[ 9.93241073e-01  5.55892288e-02 -1.01892142e-01  1.69057501e+01]
 [-5.50673864e-02  9.98451155e-01  7.92936325e-03 -1.62560488e+00]
 [ 1.02175114e-01 -2.26483532e-03  9.94763850e-01  1.58605367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.97, Y:-1.63, Z:1.59
[[ 9.92582464e-01  6.63175357e-02 -1.01892284e-01  1.69661112e+01]
 [-6.58522038e-02  9.97797896e-01  7.92753797e-03 -1.62995675e+00]
 [ 1.02193641e-01 -1.15890372e-03  9.94763850e-01  1.59062354e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.03, Y:-1.64, Z:1.59
[[ 9.92031773e-01  7.41009657e-02 -1.01892143e-01  1.70274588e+01]
 [-7.36763705e-02  9.97250680e-01  7.92934532e-03 -1.63739531e+00]
 [ 1.02199581e-01 -3.59119209e-04  9.94763850e-01  1.58979916e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.09, Y:-1.65, Z:1.60
[[ 9.92043262e-01  7.39494770e-02 -1.01890336e-01  1.70879061e+01]
 [-7.35217067e-02  9.97261910e-01  7.95250006e-03 -1.64602021e+00]
 [ 1.02199434e-01 -3.98072700e-04  9.94763850e-01  1.60321024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.15, Y:-1.66, Z:1.61
[[ 9.92497318e-01  6.75857267e-02 -1.01888386e-01  1.71470757e+01]
 [-6.71219396e-02  9.97712888e-01  7.97741103e-03 -1.66139902e+00]
 [ 1.02194515e-01 -1.07861299e-03  9.94763850e-01  1.61152985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.541052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.21, Y:-1.67, Z:1.62
[[ 9.92969906e-01  6.02485440e-02 -1.01886596e-01  1.72072932e+01]
 [-5.97438846e-02  9.98181679e-01  8.00020158e-03 -1.67179482e+00]
 [ 1.02183334e-01 -1.85685836e-03  9.94763851e-01  1.61839085e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.601052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.27, Y:-1.68, Z:1.63
[[ 9.93375428e-01  5.31454195e-02 -1.01886328e-01  1.72673940e+01]
 [-5.26031497e-02  9.98583422e-01  8.00361098e-03 -1.68466612e+00]
 [ 1.02167354e-01 -2.59104870e-03  9.94763851e-01  1.62684938e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.33, Y:-1.69, Z:1.63
[[ 9.93080054e-01  5.84058248e-02 -1.01886049e-01  1.73287264e+01]
 [-5.78907804e-02  9.98290811e-01  8.00716971e-03 -1.68735232e+00]
 [ 1.02179571e-01 -2.05349765e-03  9.94763851e-01  1.63140169e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.721052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.39, Y:-1.69, Z:1.63
[[ 9.92899267e-01  6.14032950e-02 -1.01885632e-01  1.73898366e+01]
 [-6.09034383e-02  9.98111503e-01  8.01247273e-03 -1.68903777e+00]
 [ 1.02185213e-01 -1.75039302e-03  9.94763851e-01  1.63467450e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.45, Y:-1.69, Z:1.64
[[ 9.92924919e-01  6.09900452e-02 -1.01883850e-01  1.74502496e+01]
 [-6.04857021e-02  9.98136723e-01  8.03506047e-03 -1.69302783e+00]
 [ 1.02184071e-01 -1.81569555e-03  9.94763851e-01  1.63992556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.51, Y:-1.69, Z:1.64
[[ 9.92825716e-01  6.25858258e-02 -1.01882838e-01  1.75119423e+01]
 [-6.20885451e-02  9.98038198e-01  8.04787662e-03 -1.69439227e+00]
 [ 1.02186647e-01 -1.66438169e-03  9.94763851e-01  1.64477047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.901052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.57, Y:-1.70, Z:1.65
[[ 9.92495743e-01  6.76200571e-02 -1.01880950e-01  1.75722633e+01]
 [-6.71467713e-02  9.97710458e-01  8.07171026e-03 -1.69791570e+00]
 [ 1.02193498e-01 -1.17016124e-03  9.94763851e-01  1.65129194e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.961052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.63, Y:-1.70, Z:1.66
[[ 9.92348015e-01  6.97546848e-02 -1.01880815e-01  1.76321741e+01]
 [-6.92924424e-02  9.97563721e-01  8.07340692e-03 -1.70400724e+00]
 [ 1.02195763e-01 -9.52058814e-04  9.94763851e-01  1.65884565e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.69, Y:-1.71, Z:1.67
[[ 9.92324797e-01  7.00846956e-02 -1.01880484e-01  1.76932693e+01]
 [-6.96237590e-02  9.97540618e-01  8.07758352e-03 -1.71007810e+00]
 [ 1.02196036e-01 -9.22284162e-04  9.94763851e-01  1.66794835e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.75, Y:-1.72, Z:1.68
[[ 9.92547311e-01  6.68624832e-02 -1.01878577e-01  1.77541410e+01]
 [-6.63821534e-02  9.97761381e-01  8.10156382e-03 -1.71777493e+00]
 [ 1.02192201e-01 -1.27826605e-03  9.94763851e-01  1.67550174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.81, Y:-1.72, Z:1.68
[[ 9.92632139e-01  6.55919654e-02 -1.01878017e-01  1.78147517e+01]
 [-6.51042398e-02  9.97845523e-01  8.10860120e-03 -1.72245179e+00]
 [ 1.02190382e-01 -1.41616730e-03  9.94763851e-01  1.67983640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.88, Y:-1.73, Z:1.68
[[ 9.92911295e-01  6.12217293e-02 -1.01877677e-01  1.78775606e+01]
 [-6.07106208e-02  9.98122438e-01  8.11287248e-03 -1.72615034e+00]
 [ 1.02183079e-01 -1.87030571e-03  9.94763852e-01  1.68316178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.94, Y:-1.73, Z:1.69
[[ 9.93287331e-01  5.47873236e-02 -1.01875545e-01  1.79367664e+01]
 [-5.42397272e-02  9.98494767e-01  8.13955996e-03 -1.72921950e+00]
 [ 1.02168143e-01 -2.55922004e-03  9.94763852e-01  1.68606785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.321052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.00, Y:-1.73, Z:1.69
[[ 9.93547995e-01  4.98370838e-02 -1.01875643e-01  1.79989431e+01]
 [-4.92636721e-02  9.98752651e-01  8.13832332e-03 -1.73150646e+00]
 [ 1.02154159e-01 -3.06704651e-03  9.94763852e-01  1.69129233e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.381052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.06, Y:-1.73, Z:1.69
[[ 9.93591633e-01  4.89631649e-02 -1.01873823e-01  1.80601901e+01]
 [-4.83828481e-02  9.98795523e-01  8.16104446e-03 -1.73024617e+00]
 [ 1.02150709e-01 -3.17979977e-03  9.94763852e-01  1.69383201e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.12, Y:-1.73, Z:1.70
[[ 9.93521382e-01  5.03687876e-02 -1.01873686e-01  1.81221063e+01]
 [-4.97956584e-02  9.98726069e-01  8.16275389e-03 -1.73296070e+00]
 [ 1.02155054e-01 -3.03700324e-03  9.94763852e-01  1.70307576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.18, Y:-1.74, Z:1.71
[[ 9.93551835e-01  4.97659249e-02 -1.01872977e-01  1.81823897e+01]
 [-4.91887315e-02  9.98756073e-01  8.17160049e-03 -1.73621097e+00]
 [ 1.02152921e-01 -3.10790616e-03  9.94763852e-01  1.71267364e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.561052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.24, Y:-1.73, Z:1.72
[[ 9.93550772e-01  4.97878547e-02 -1.01872635e-01  1.82445452e+01]
 [-4.92103395e-02  9.98754974e-01  8.17586311e-03 -1.73480769e+00]
 [ 1.02152859e-01 -3.10994816e-03  9.94763852e-01  1.71709552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.31, Y:-1.74, Z:1.72
[[ 9.93409248e-01  5.25398890e-02 -1.01870638e-01  1.83056412e+01]
 [-5.19742502e-02  9.98614754e-01  8.20067097e-03 -1.73761267e+00]
 [ 1.02160384e-01 -2.85197237e-03  9.94763852e-01  1.72154046e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.681052754 meters
Centerline goodness : 0.999930 with order 1
Centerline is valid?  [True, True]
Translation: X:18.37, Y:-1.74, Z:1.73
[[ 9.93126034e-01  5.76461850e-02 -1.01870497e-01  1.83661290e+01]
 [-5.71071352e-02  9.98334361e-01  8.20241994e-03 -1.74000838e+00]
 [ 1.02173655e-01 -2.32850456e-03  9.94763852e-01  1.72609897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.741052754000002 meters
Centerline goodness : 0.999954 with order 1
Centerline is valid?  [True, True]
Translation: X:18.43, Y:-1.74, Z:1.73
[[ 9.92676831e-01  6.49267681e-02 -1.01868658e-01  1.84267741e+01]
 [-6.44235868e-02  9.97888745e-01  8.22519053e-03 -1.74038528e+00]
 [ 1.02187623e-01 -1.60221172e-03  9.94763853e-01  1.72746321e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.801052754 meters
Centerline goodness : 0.999907 with order 1
Centerline is valid?  [True, True]
Translation: X:18.49, Y:-1.75, Z:1.74
[[ 9.92267713e-01  7.09053017e-02 -1.01868658e-01  1.84863913e+01]
 [-7.04335252e-02  9.97482564e-01  8.22519053e-03 -1.74808723e+00]
 [ 1.02195420e-01 -9.86622286e-04  9.94763853e-01  1.73648472e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.861052754 meters
Centerline goodness : 0.999977 with order 1
Centerline is valid?  [True, True]
Translation: X:18.55, Y:-1.75, Z:1.74
[[ 9.92007127e-01  7.44625075e-02 -1.01868514e-01  1.85478812e+01]
 [-7.40092479e-02  9.97223620e-01  8.22697598e-03 -1.75446503e+00]
 [ 1.02198290e-01 -6.22006698e-04  9.94763853e-01  1.74154595e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.61, Y:-1.76, Z:1.75
[[ 9.91816502e-01  7.69626239e-02 -1.01866488e-01  1.86083408e+01]
 [-7.65199446e-02  9.97033902e-01  8.25199240e-03 -1.76475518e+00]
 [ 1.02199437e-01 -3.89644253e-04  9.94763853e-01  1.74709580e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.67, Y:-1.78, Z:1.76
[[ 9.91985647e-01  7.47512731e-02 -1.01866202e-01  1.86688102e+01]
 [-7.42966018e-02  9.97202016e-01  8.25551162e-03 -1.77548983e+00]
 [ 1.02198292e-01 -6.21036365e-04  9.94763853e-01  1.75601848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.041052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.73, Y:-1.79, Z:1.76
[[ 9.92355125e-01  6.96777900e-02 -1.01864179e-01  1.87290985e+01]
 [-6.91938958e-02  9.97568865e-01  8.28040572e-03 -1.78750339e+00]
 [ 1.02193494e-01 -1.16872369e-03  9.94763853e-01  1.76268071e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.101052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.79, Y:-1.80, Z:1.77
[[ 9.92634422e-01  6.55793542e-02 -1.01863892e-01  1.87895792e+01]
 [-6.50735726e-02  9.97846084e-01  8.28393343e-03 -1.79753965e+00]
 [ 1.02187741e-01 -1.59427011e-03  9.94763853e-01  1.76620514e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.85, Y:-1.80, Z:1.77
[[ 9.92620052e-01  6.57967220e-02 -1.01863751e-01  1.88511726e+01]
 [-6.52919038e-02  9.97831807e-01  8.28566615e-03 -1.80260963e+00]
 [ 1.02188060e-01 -1.57364014e-03  9.94763853e-01  1.77119115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.221052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.91, Y:-1.81, Z:1.78
[[ 9.92503182e-01  6.75397633e-02 -1.01861739e-01  1.89119106e+01]
 [-6.70415679e-02  9.97715574e-01  8.31032523e-03 -1.80680378e+00]
 [ 1.02190321e-01 -1.41905353e-03  9.94763854e-01  1.77643731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.97, Y:-1.81, Z:1.78
[[ 9.92332565e-01  7.00021122e-02 -1.01861598e-01  1.89744982e+01]
 [-6.95166739e-02  9.97546160e-01  8.31205218e-03 -1.81109210e+00]
 [ 1.02193507e-01 -1.16724055e-03  9.94763854e-01  1.77879277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.04, Y:-1.82, Z:1.78
[[ 9.92218176e-01  7.16085153e-02 -1.01859270e-01  1.90354696e+01]
 [-7.11285996e-02  9.97432283e-01  8.34048264e-03 -1.81651479e+00]
 [ 1.02194974e-01 -1.03047122e-03  9.94763854e-01  1.77986118e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.401052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.10, Y:-1.82, Z:1.79
[[ 9.91996445e-01  7.46188543e-02 -1.01858133e-01  1.90971039e+01]
 [-7.41533376e-02  9.97211857e-01  8.35435416e-03 -1.81939850e+00]
 [ 1.02197530e-01 -7.34369131e-04  9.94763854e-01  1.78547914e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.461052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.16, Y:-1.82, Z:1.80
[[ 9.91971175e-01  7.49548758e-02 -1.01857524e-01  1.91572473e+01]
 [-7.44903649e-02  9.97186676e-01  8.36176426e-03 -1.82477494e+00]
 [ 1.02197721e-01 -7.07224958e-04  9.94763854e-01  1.79579898e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.22, Y:-1.83, Z:1.80
[[ 9.92268691e-01  7.09078114e-02 -1.01857385e-01  1.92189376e+01]
 [-7.04218554e-02  9.97482238e-01  8.36345961e-03 -1.83053850e+00]
 [ 1.02193967e-01 -1.12581308e-03  9.94763854e-01  1.80225760e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.28, Y:-1.83, Z:1.81
[[ 9.92430385e-01  6.86105162e-02 -1.01855425e-01  1.92806956e+01]
 [-6.81100491e-02  9.97642559e-01  8.38726723e-03 -1.83303434e+00]
 [ 1.02190761e-01 -1.38640087e-03  9.94763854e-01  1.80705291e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.34, Y:-1.84, Z:1.81
[[ 9.92742640e-01  6.39367985e-02 -1.01853502e-01  1.93435789e+01]
 [-6.34094064e-02  9.97952158e-01  8.41055459e-03 -1.83530710e+00]
 [ 1.02182666e-01 -1.89104608e-03  9.94763855e-01  1.81231266e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.701052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.40, Y:-1.84, Z:1.82
[[ 9.92991601e-01  5.99501091e-02 -1.01851190e-01  1.94038341e+01]
 [-5.93989432e-02  9.98198657e-01  8.43845482e-03 -1.83911424e+00]
 [ 1.02173608e-01 -2.32946170e-03  9.94763855e-01  1.81595660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.47, Y:-1.84, Z:1.82
[[ 9.92943555e-01  6.07412870e-02 -1.01850835e-01  1.94650560e+01]
 [-6.01938311e-02  9.98151002e-01  8.44273711e-03 -1.84185871e+00]
 [ 1.02175336e-01 -2.25236942e-03  9.94763855e-01  1.82061725e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.821052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.53, Y:-1.85, Z:1.83
[[ 9.92548970e-01  6.68805579e-02 -1.01850546e-01  1.95263771e+01]
 [-6.63649573e-02  9.97759667e-01  8.44623077e-03 -1.84647431e+00]
 [ 1.02187255e-01 -1.62399054e-03  9.94763855e-01  1.82820209e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.881052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.59, Y:-1.85, Z:1.83
[[ 9.91923695e-01  7.55926836e-02 -1.01848557e-01  1.95881678e+01]
 [-7.51203983e-02  9.97138497e-01  8.47014289e-03 -1.85009687e+00]
 [ 1.02197398e-01 -7.50831276e-04  9.94763855e-01  1.83042529e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.65, Y:-1.86, Z:1.84
[[ 9.92003416e-01  7.45398051e-02 -1.01848121e-01  1.96482746e+01]
 [-7.40614472e-02  9.97217664e-01  8.47538180e-03 -1.85991114e+00]
 [ 1.02196499e-01 -8.64588462e-04  9.94763855e-01  1.83973267e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.71, Y:-1.87, Z:1.85
[[ 9.92814337e-01  6.28242431e-02 -1.01846974e-01  1.97074738e+01]
 [-6.22829540e-02  9.98022429e-01  8.48914715e-03 -1.87025914e+00]
 [ 1.02178888e-01 -2.08481663e-03  9.94763856e-01  1.85035271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.061052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.77, Y:-1.88, Z:1.86
[[ 9.92991610e-01  5.99573638e-02 -1.01846831e-01  1.97680444e+01]
 [-5.94008637e-02  9.98198098e-01  8.49086033e-03 -1.87672512e+00]
 [ 1.02172402e-01 -2.38156335e-03  9.94763856e-01  1.85820005e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.83, Y:-1.88, Z:1.87
[[ 9.93315676e-01  5.43283806e-02 -1.01844950e-01  1.98285829e+01]
 [-5.37400758e-02  9.98518666e-01  8.51335648e-03 -1.88149932e+00]
 [ 1.02156601e-01 -2.98329510e-03  9.94763856e-01  1.86816682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.89, Y:-1.88, Z:1.87
[[ 9.93590474e-01  4.90472845e-02 -1.01844657e-01  1.98896683e+01]
 [-4.84309705e-02  9.98790220e-01  8.51686433e-03 -1.88111362e+00]
 [ 1.02139176e-01 -3.52983969e-03  9.94763856e-01  1.87016427e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.241052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.95, Y:-1.88, Z:1.88
[[ 9.93654043e-01  4.77430095e-02 -1.01844237e-01  1.99507643e+01]
 [-4.71193573e-02  9.98852914e-01  8.52187908e-03 -1.88080860e+00]
 [ 1.02134273e-01 -3.66896459e-03  9.94763856e-01  1.87500622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.01, Y:-1.88, Z:1.88
[[ 9.93536334e-01  5.01331701e-02 -1.01844087e-01  2.00100976e+01]
 [-4.95218416e-02  9.98736669e-01  8.52367987e-03 -1.88077447e+00]
 [ 1.02142743e-01 -3.42507893e-03  9.94763856e-01  1.87937586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.07, Y:-1.88, Z:1.89
[[ 9.93139274e-01  5.74642082e-02 -1.01844235e-01  2.00697867e+01]
 [-5.68914567e-02  9.98343998e-01  8.52190987e-03 -1.88277363e+00]
 [ 1.02165285e-01 -2.66937650e-03  9.94763856e-01  1.88819867e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.13, Y:-1.89, Z:1.90
[[ 9.92677344e-01  6.49573415e-02 -1.01844166e-01  2.01302287e+01]
 [-6.44238002e-02  9.97886235e-01  8.52272673e-03 -1.88617072e+00]
 [ 1.02182505e-01 -1.89912951e-03  9.94763856e-01  1.89651208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.19, Y:-1.89, Z:1.90
[[ 9.92719621e-01  6.43084780e-02 -1.01843868e-01  2.01903583e+01]
 [-6.37711668e-02  9.97928124e-01  8.52628983e-03 -1.89354677e+00]
 [ 1.02181173e-01 -1.96951291e-03  9.94763856e-01  1.90367002e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.541052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.25, Y:-1.90, Z:1.91
[[ 9.92982837e-01  6.01077504e-02 -1.01843721e-01  2.02505953e+01]
 [-5.95482263e-02  9.98189001e-01  8.52805253e-03 -1.90231101e+00]
 [ 1.02171884e-01 -2.40359688e-03  9.94763856e-01  1.91297192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.601052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.31, Y:-1.91, Z:1.92
[[ 9.93307887e-01  5.44750907e-02 -1.01842553e-01  2.03105086e+01]
 [-5.38846223e-02  9.98510632e-01  8.54197821e-03 -1.90977297e+00]
 [ 1.02156197e-01 -2.99706685e-03  9.94763856e-01  1.92205340e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.37, Y:-1.91, Z:1.93
[[ 9.93364743e-01  5.34287805e-02 -1.01842294e-01  2.03703563e+01]
 [-5.28325169e-02  9.98566827e-01  8.54505796e-03 -1.91405344e+00]
 [ 1.02152888e-01 -3.10777459e-03  9.94763856e-01  1.92567124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.721052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.43, Y:-1.92, Z:1.93
[[ 9.93131141e-01  5.76095396e-02 -1.01841438e-01  2.04336354e+01]
 [-5.70341332e-02  9.98335573e-01  8.55524980e-03 -1.91861408e+00]
 [ 1.02164794e-01 -2.68804685e-03  9.94763856e-01  1.92643652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.49, Y:-1.93, Z:1.94
[[ 9.92803139e-01  6.30136073e-02 -1.01839148e-01  2.04937172e+01]
 [-6.24637472e-02  9.98010332e-01  8.58242442e-03 -1.92522256e+00]
 [ 1.02177331e-01 -2.15940311e-03  9.94763856e-01  1.93520179e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.55, Y:-1.93, Z:1.94
[[ 9.92511706e-01  6.74485342e-02 -1.01839130e-01  2.05537178e+01]
 [-6.69219224e-02  9.97721301e-01  8.58263355e-03 -1.93220618e+00]
 [ 1.02185956e-01 -1.70309389e-03  9.94763856e-01  1.94411204e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.901052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.61, Y:-1.94, Z:1.95
[[ 9.92403179e-01  6.90274022e-02 -1.01838836e-01  2.06145111e+01]
 [-6.85087208e-02  9.97613569e-01  8.58612365e-03 -1.93749456e+00]
 [ 1.02188482e-01 -1.54404802e-03  9.94763856e-01  1.94912185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.961052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.67, Y:-1.95, Z:1.96
[[ 9.92232010e-01  7.14483657e-02 -1.01836971e-01  2.06744275e+01]
 [-7.09401340e-02  9.97443430e-01  8.60818195e-03 -1.95002995e+00]
 [ 1.02191659e-01 -1.31698528e-03  9.94763857e-01  1.95911917e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.73, Y:-1.96, Z:1.97
[[ 9.91795124e-01  7.72789360e-02 -1.01835148e-01  2.07340635e+01]
 [-7.67991342e-02  9.97009238e-01  8.62969502e-03 -1.96127903e+00]
 [ 1.02197477e-01 -7.38038217e-04  9.94763857e-01  1.96891830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.80, Y:-1.97, Z:1.97
[[ 9.91076429e-01  8.60066566e-02 -1.01835003e-01  2.07958091e+01]
 [-8.55725962e-02  9.96294550e-01  8.63141487e-03 -1.96884083e+00]
 [ 1.02200017e-01  1.59893740e-04  9.94763857e-01  1.97218851e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.86, Y:-1.98, Z:1.98
[[ 9.90768644e-01  8.94848659e-02 -1.01832963e-01  2.08558240e+01]
 [-8.90666573e-02  9.95988059e-01  8.65541510e-03 -1.97991030e+00]
 [ 1.02198944e-01  4.94407718e-04  9.94763857e-01  1.97634311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.201052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.92, Y:-1.99, Z:1.98
[[ 9.91056997e-01  8.62330237e-02 -1.01832674e-01  2.09166930e+01]
 [-8.57973398e-02  9.96274983e-01  8.65881508e-03 -1.98716118e+00]
 [ 1.02200021e-01  1.55593222e-04  9.94763857e-01  1.98225374e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.261052754 meters
Centerline goodness : 0.999787 with order 1
Centerline is valid?  [True, True]
Translation: X:20.98, Y:-1.99, Z:2.00
[[ 9.91597833e-01  7.97749895e-02 -1.01831673e-01  2.09772895e+01]
 [-7.93041149e-02  9.96812760e-01  8.67057327e-03 -1.99311840e+00]
 [ 1.02198805e-01 -5.22051005e-04  9.94763857e-01  1.99543664e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.321052754 meters
Centerline goodness : 0.999429 with order 1
Centerline is valid?  [True, True]
Translation: X:21.04, Y:-2.00, Z:2.00
[[ 9.92480876e-01  6.79149956e-02 -1.01829586e-01  2.10367590e+01]
 [-6.73793056e-02  9.97689544e-01  8.69500514e-03 -1.99840779e+00]
 [ 1.02184835e-01 -1.76841950e-03  9.94763858e-01  2.00449827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.381052754000002 meters
Centerline goodness : 0.999572 with order 1
Centerline is valid?  [True, True]
Translation: X:21.10, Y:-2.00, Z:2.01
[[ 9.93049906e-01  5.90138666e-02 -1.01829504e-01  2.10978543e+01]
 [-5.84313989e-02  9.98253551e-01  8.69597381e-03 -2.00178867e+00]
 [ 1.02164847e-01 -2.68549564e-03  9.94763858e-01  2.00650327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.441052754 meters
Centerline goodness : 0.999525 with order 1
Centerline is valid?  [True, True]
Translation: X:21.16, Y:-2.01, Z:2.02
[[ 9.93165662e-01  5.70360116e-02 -1.01827605e-01  2.11582366e+01]
 [-5.64409100e-02  9.98367877e-01  8.71814675e-03 -2.00621064e+00]
 [ 1.02158658e-01 -2.91132128e-03  9.94763858e-01  2.01573400e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.501052754 meters
Centerline goodness : 0.999740 with order 1
Centerline is valid?  [True, True]
Translation: X:21.22, Y:-2.00, Z:2.02
[[ 9.92196120e-01  7.19585211e-02 -1.01827454e-01  2.12177399e+01]
 [-7.14415034e-02  9.97406675e-01  8.71991471e-03 -2.00335626e+00]
 [ 1.02190854e-01 -1.37715915e-03  9.94763858e-01  2.02255465e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.561052754000002 meters
Centerline goodness : 0.999531 with order 1
Centerline is valid?  [True, True]
Translation: X:21.28, Y:-2.01, Z:2.03
[[ 9.90988664e-01  8.70207068e-02 -1.01827619e-01  2.12781751e+01]
 [-8.65830903e-02  9.96206487e-01  8.71798448e-03 -2.00500769e+00]
 [ 1.02199980e-01  1.77126151e-04  9.94763858e-01  2.02706662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.621052754 meters
Centerline goodness : 0.999673 with order 1
Centerline is valid?  [True, True]
Translation: X:21.34, Y:-2.01, Z:2.03
[[ 9.90375732e-01  9.37392384e-02 -1.01827619e-01  2.13396920e+01]
 [-9.33370174e-02  9.95596403e-01  8.71798448e-03 -2.00884181e+00]
 [ 1.02196429e-01  8.70205995e-04  9.94763858e-01  2.03364938e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.681052754 meters
Centerline goodness : 0.999695 with order 1
Centerline is valid?  [True, True]
Translation: X:21.40, Y:-2.02, Z:2.05
[[ 9.90161690e-01  9.59760032e-02 -1.01825514e-01  2.14002389e+01]
 [-9.55830545e-02  9.95383066e-01  8.74250058e-03 -2.01895632e+00]
 [ 1.02194463e-01  1.07630453e-03  9.94763858e-01  2.04671912e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.741052754000002 meters
Centerline goodness : 0.999882 with order 1
Centerline is valid?  [True, True]
Translation: X:21.46, Y:-2.03, Z:2.05
[[ 9.90636464e-01  9.09471629e-02 -1.01823425e-01  2.14618767e+01]
 [-9.05252132e-02  9.95855577e-01  8.76676770e-03 -2.02793406e+00]
 [ 1.02198738e-01  5.32907499e-04  9.94763858e-01  2.05081440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.801052754 meters
Centerline goodness : 0.999905 with order 1
Centerline is valid?  [True, True]
Translation: X:21.52, Y:-2.04, Z:2.06
[[ 9.91534939e-01  8.05659822e-02 -1.01821349e-01  2.15219659e+01]
 [-8.00869196e-02  9.96749119e-01  8.79081652e-03 -2.03703240e+00]
 [ 1.02198580e-01 -5.61843558e-04  9.94763859e-01  2.05630221e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.861052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.58, Y:-2.05, Z:2.07
[[ 9.92181175e-01  7.21755876e-02 -1.01819446e-01  2.15813701e+01]
 [-7.16501797e-02  9.97390889e-01  8.81279615e-03 -2.04690558e+00]
 [ 1.02189857e-01 -1.44850882e-03  9.94763859e-01  2.06549808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.921052754 meters
Centerline goodness : 0.999857 with order 1
Centerline is valid?  [True, True]
Translation: X:21.64, Y:-2.05, Z:2.07
[[ 9.92568387e-01  6.66395436e-02 -1.01819296e-01  2.16432364e+01]
 [-6.60849036e-02  9.97775070e-01  8.81452881e-03 -2.04892220e+00]
 [ 1.02180152e-01 -2.02030425e-03  9.94763859e-01  2.07050480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.981052754 meters
Centerline goodness : 0.999881 with order 1
Centerline is valid?  [True, True]
Translation: X:21.70, Y:-2.05, Z:2.07
[[ 9.92493111e-01  6.77521038e-02 -1.01818840e-01  2.17031365e+01]
 [-6.72027598e-02  9.97700356e-01  8.81980055e-03 -2.05215039e+00]
 [ 1.02182253e-01 -1.91108426e-03  9.94763859e-01  2.07216842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.041052754000003 meters
Centerline goodness : 0.999762 with order 1
Centerline is valid?  [True, True]
Translation: X:21.77, Y:-2.05, Z:2.08
[[ 9.92198653e-01  7.19367750e-02 -1.01818134e-01  2.17650004e+01]
 [-7.14085595e-02  9.97408084e-01  8.82793923e-03 -2.05361339e+00]
 [ 1.02189283e-01 -1.48838314e-03  9.94763859e-01  2.07642889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.101052754 meters
Centerline goodness : 0.999739 with order 1
Centerline is valid?  [True, True]
Translation: X:21.83, Y:-2.06, Z:2.08
[[ 9.91969811e-01  7.50270066e-02 -1.01817695e-01  2.18263038e+01]
 [-7.45145010e-02  9.97180810e-01  8.83300052e-03 -2.05513958e+00]
 [ 1.02193365e-01 -1.17517512e-03  9.94763859e-01  2.08329100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.161052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:21.89, Y:-2.06, Z:2.09
[[ 9.92009941e-01  7.44951306e-02 -1.01817249e-01  2.18884296e+01]
 [-7.39793035e-02  9.97220612e-01  8.83814145e-03 -2.05816577e+00]
 [ 1.02192658e-01 -1.23515504e-03  9.94763859e-01  2.09294736e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.221052754000002 meters
Centerline goodness : 0.999906 with order 1
Centerline is valid?  [True, True]
Translation: X:21.95, Y:-2.07, Z:2.11
[[ 9.92183046e-01  7.21562879e-02 -1.01814900e-01  2.19489430e+01]
 [-7.16254101e-02  9.97392205e-01  8.86512215e-03 -2.06786733e+00]
 [ 1.02189061e-01 -1.50328997e-03  9.94763859e-01  2.10724762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.281052754 meters
Centerline goodness : 0.999835 with order 1
Centerline is valid?  [True, True]
Translation: X:22.01, Y:-2.07, Z:2.12
[[ 9.92447798e-01  6.84216068e-02 -1.01812826e-01  2.20100790e+01]
 [-6.78686918e-02  9.97654664e-01  8.88887453e-03 -2.07448695e+00]
 [ 1.02182232e-01 -1.91184066e-03  9.94763860e-01  2.11627834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.341052754 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:22.07, Y:-2.08, Z:2.12
[[ 9.92549589e-01  6.69320032e-02 -1.01810713e-01  2.20703196e+01]
 [-6.63687994e-02  9.97755351e-01  8.91300854e-03 -2.07895375e+00]
 [ 1.02178749e-01 -2.08954817e-03  9.94763860e-01  2.12211811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.401052754000002 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:22.13, Y:-2.08, Z:2.13
[[ 9.92982103e-01  6.01764932e-02 -1.01810281e-01  2.21318406e+01]
 [-5.95773732e-02  9.98183854e-01  8.91794542e-03 -2.08470120e+00]
 [ 1.02162029e-01 -2.78977111e-03  9.94763860e-01  2.12546271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.461052754 meters
Centerline goodness : 0.999929 with order 1
Centerline is valid?  [True, True]
Translation: X:22.19, Y:-2.09, Z:2.13
[[ 9.93147988e-01  5.73771193e-02 -1.01808347e-01  2.21929489e+01]
 [-5.67610833e-02  9.98347763e-01  8.93996452e-03 -2.08928328e+00]
 [ 1.02153085e-01 -3.09995570e-03  9.94763860e-01  2.12946683e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.521052754 meters
Centerline goodness : 0.999859 with order 1
Centerline is valid?  [True, True]
Translation: X:22.25, Y:-2.09, Z:2.13
[[ 9.92920104e-01  6.11946836e-02 -1.01808047e-01  2.22540663e+01]
 [-6.05982912e-02  9.98122168e-01  8.94338602e-03 -2.09280974e+00]
 [ 1.02164156e-01 -2.71067412e-03  9.94763860e-01  2.13291448e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.581052754 meters
Centerline goodness : 0.999883 with order 1
Centerline is valid?  [True, True]
Translation: X:22.31, Y:-2.10, Z:2.14
[[ 9.92423375e-01  6.87822458e-02 -1.01807897e-01  2.23140959e+01]
 [-6.82254577e-02  9.97629827e-01  8.94509227e-03 -2.09839786e+00]
 [ 1.02181858e-01 -1.93142831e-03  9.94763860e-01  2.14015035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.641052754 meters
Centerline goodness : 0.999930 with order 1
Centerline is valid?  [True, True]
Translation: X:22.37, Y:-2.11, Z:2.15
[[ 9.91563816e-01  8.02270691e-02 -1.01807741e-01  2.23743448e+01]
 [-7.97302021e-02  9.96776328e-01  8.94686233e-03 -2.10659114e+00]
 [ 1.02197327e-01 -7.54233183e-04  9.94763860e-01  2.15195198e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.701052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.43, Y:-2.11, Z:2.16
[[ 9.91187356e-01  8.47540499e-02 -1.01805577e-01  2.24347146e+01]
 [-8.42784677e-02  9.96401853e-01  8.97142170e-03 -2.11282935e+00]
 [ 1.02199630e-01 -3.12341735e-04  9.94763860e-01  2.16032890e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.761052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:22.50, Y:-2.12, Z:2.16
[[ 9.91360403e-01  8.27055387e-02 -1.01805424e-01  2.24967817e+01]
 [-8.22190030e-02  9.96573890e-01  8.97316044e-03 -2.11929295e+00]
 [ 1.02198757e-01 -5.25295528e-04  9.94763860e-01  2.16414113e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.821052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:22.56, Y:-2.13, Z:2.18
[[ 9.91781143e-01  7.75000235e-02 -1.01803295e-01  2.25560339e+01]
 [-7.69836531e-02  9.96991759e-01  8.99724613e-03 -2.12979420e+00]
 [ 1.02194333e-01 -1.08610950e-03  9.94763861e-01  2.17600190e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.881052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.62, Y:-2.13, Z:2.18
[[ 9.92338270e-01  7.00088902e-02 -1.01801340e-01  2.26177735e+01]
 [-6.94509265e-02  9.97544596e-01  9.01930969e-03 -2.13163185e+00]
 [ 1.02182809e-01 -1.88000878e-03  9.94763861e-01  2.18149651e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.941052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:22.68, Y:-2.13, Z:2.18
[[ 9.92251870e-01  7.12238479e-02 -1.01800740e-01  2.26805742e+01]
 [-7.06715647e-02  9.97458801e-01  9.02608098e-03 -2.13391998e+00]
 [ 1.02184916e-01 -1.76172815e-03  9.94763861e-01  2.18134334e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.001052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:22.74, Y:-2.14, Z:2.18
[[ 9.91898491e-01  7.59900169e-02 -1.01798337e-01  2.27425936e+01]
 [-7.54599830e-02  9.97107734e-01  9.05309753e-03 -2.13592016e+00]
 [ 1.02191854e-01 -1.29805297e-03  9.94763861e-01  2.18487023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.061052754000002 meters
Centerline goodness : 0.999930 with order 1
Centerline is valid?  [True, True]
Translation: X:22.80, Y:-2.14, Z:2.19
[[ 9.91478266e-01  8.12919091e-02 -1.01796240e-01  2.28018741e+01]
 [-8.07873176e-02  9.96690034e-01  9.07662266e-03 -2.13866054e+00]
 [ 1.02197154e-01 -7.75428943e-04  9.94763862e-01  2.19468030e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.86, Y:-2.14, Z:2.20
[[ 9.90996501e-01  8.69681087e-02 -1.01796286e-01  2.28626507e+01]
 [-8.64934234e-02  9.96211078e-01  9.07610119e-03 -2.14478415e+00]
 [ 1.02199919e-01 -1.89675233e-04  9.94763862e-01  2.20052730e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.92, Y:-2.15, Z:2.21
[[ 9.90603463e-01  9.13382612e-02 -1.01794405e-01  2.29232969e+01]
 [-9.08844176e-02  9.95819896e-01  9.09714981e-03 -2.15332025e+00]
 [ 1.02199812e-01  2.39857120e-04  9.94763862e-01  2.20808800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.241052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.98, Y:-2.16, Z:2.22
[[ 9.90700839e-01  9.02771328e-02 -1.01793357e-01  2.29832526e+01]
 [-8.98164980e-02  9.95916676e-01  9.10886660e-03 -2.16395812e+00]
 [ 1.02200024e-01  1.18561032e-04  9.94763862e-01  2.22093597e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.05, Y:-2.17, Z:2.23
[[ 9.90691589e-01  9.03809958e-02 -1.01791212e-01  2.30453467e+01]
 [-8.99184523e-02  9.95907257e-01  9.13276526e-03 -2.17385407e+00]
 [ 1.02200036e-01  1.05154553e-04  9.94763862e-01  2.23002399e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.361052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.11, Y:-2.17, Z:2.23
[[ 9.90700248e-01  9.02887920e-02 -1.01788764e-01  2.31071887e+01]
 [-8.98229670e-02  9.95915624e-01  9.15997882e-03 -2.17431282e+00]
 [ 1.02200063e-01  6.81754608e-05  9.94763863e-01  2.23178785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.17, Y:-2.18, Z:2.24
[[ 9.91185147e-01  8.48004454e-02 -1.01788448e-01  2.31674818e+01]
 [-8.43053820e-02  9.96397829e-01  9.16348790e-03 -2.18017107e+00]
 [ 1.02198856e-01 -5.01399144e-04  9.94763863e-01  2.23599221e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.23, Y:-2.19, Z:2.24
[[ 9.91960693e-01  7.51897821e-02 -1.01786440e-01  2.32283330e+01]
 [-7.46419375e-02  9.97168092e-01  9.18573684e-03 -2.18576066e+00]
 [ 1.02188864e-01 -1.51435281e-03  9.94763863e-01  2.24213107e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.541052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.29, Y:-2.19, Z:2.25
[[ 9.92213400e-01  7.17784968e-02 -1.01786129e-01  2.32884197e+01]
 [-7.12123964e-02  9.97418846e-01  9.18918402e-03 -2.19016068e+00]
 [ 1.02182989e-01 -1.86919738e-03  9.94763863e-01  2.24923278e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.601052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.35, Y:-2.19, Z:2.25
[[ 9.91704393e-01  7.84984878e-02 -1.01785973e-01  2.33474388e+01]
 [-7.79674874e-02  9.96913536e-01  9.19090514e-03 -2.19482328e+00]
 [ 1.02193287e-01 -1.17866442e-03  9.94763863e-01  2.25366713e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.41, Y:-2.20, Z:2.26
[[ 9.90871687e-01  8.83905184e-02 -1.01786126e-01  2.34079473e+01]
 [-8.79116991e-02  9.96085886e-01  9.18921003e-03 -2.19891202e+00]
 [ 1.02199963e-01 -1.57136743e-04  9.94763863e-01  2.25677162e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.721052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.47, Y:-2.21, Z:2.26
[[ 9.90406842e-01  9.34553819e-02 -1.01785949e-01  2.34679827e+01]
 [-9.30030261e-02  9.95623402e-01  9.19117018e-03 -2.20669501e+00]
 [ 1.02199437e-01  3.63403464e-04  9.94763863e-01  2.26149130e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.53, Y:-2.22, Z:2.27
[[ 9.90792876e-01  8.92720602e-02 -1.01783963e-01  2.35289177e+01]
 [-8.87954250e-02  9.96007275e-01  9.21311018e-03 -2.21713547e+00]
 [ 1.02200041e-01 -9.03336535e-05  9.94763863e-01  2.27296944e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.59, Y:-2.22, Z:2.28
[[ 9.90745060e-01  8.98018598e-02 -1.01783354e-01  2.35914995e+01]
 [-8.93273220e-02  9.95959650e-01  9.21983521e-03 -2.22162396e+00]
 [ 1.02200072e-01 -4.24717326e-05  9.94763863e-01  2.27951881e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.901052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.65, Y:-2.23, Z:2.29
[[ 9.90918109e-01  8.78745890e-02 -1.01780934e-01  2.36529883e+01]
 [-8.73871727e-02  9.96131510e-01  9.24647770e-03 -2.22834364e+00]
 [ 1.02199726e-01 -2.68154149e-04  9.94763864e-01  2.28539314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.961052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.72, Y:-2.23, Z:2.29
[[ 9.91313380e-01  8.32997688e-02 -1.01778836e-01  2.37156384e+01]
 [-8.27859287e-02  9.96524243e-01  9.26951233e-03 -2.23227919e+00]
 [ 1.02197226e-01 -7.63136134e-04  9.94763864e-01  2.29123933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.021052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.78, Y:-2.24, Z:2.30
[[ 9.91892388e-01  7.60991440e-02 -1.01776279e-01  2.37753342e+01]
 [-7.55446072e-02  9.97099077e-01  9.29750465e-03 -2.23518057e+00]
 [ 1.02188566e-01 -1.53347508e-03  9.94763864e-01  2.29541809e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.84, Y:-2.24, Z:2.30
[[ 9.92411168e-01  6.90048004e-02 -1.01776279e-01  2.38364635e+01]
 [-6.84130480e-02  9.97613759e-01  9.29750465e-03 -2.24226715e+00]
 [ 1.02174989e-01 -2.26412200e-03  9.94763864e-01  2.30086050e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.90, Y:-2.25, Z:2.30
[[ 9.92504882e-01  6.76468326e-02 -1.01774090e-01  2.38972621e+01]
 [-6.70455133e-02  9.97706375e-01  9.32139929e-03 -2.24643827e+00]
 [ 1.02171222e-01 -2.42803818e-03  9.94763864e-01  2.30486471e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.201052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.96, Y:-2.25, Z:2.31
[[ 9.92295037e-01  7.06611866e-02 -1.01772084e-01  2.39591114e+01]
 [-7.00734287e-02  9.97498079e-01  9.34325410e-03 -2.24971202e+00]
 [ 1.02177664e-01 -2.13974580e-03  9.94763865e-01  2.31136230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.02, Y:-2.26, Z:2.32
[[ 9.91716784e-01  7.83606814e-02 -1.01771431e-01  2.40195485e+01]
 [-7.78125945e-02  9.96924155e-01  9.35036567e-03 -2.25671325e+00]
 [ 1.02191099e-01 -1.35381551e-03  9.94763865e-01  2.32014012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.321052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.08, Y:-2.26, Z:2.33
[[ 9.91710725e-01  7.84377553e-02 -1.01771099e-01  2.40802168e+01]
 [-7.78897034e-02  9.96918100e-01  9.35396934e-03 -2.26009842e+00]
 [ 1.02191155e-01 -1.34951096e-03  9.94763865e-01  2.32742213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.381052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.14, Y:-2.27, Z:2.33
[[ 9.91820206e-01  7.70414782e-02 -1.01770773e-01  2.41409776e+01]
 [-7.64857308e-02  9.97026765e-01  9.35752475e-03 -2.26615598e+00]
 [ 1.02189102e-01 -1.49697022e-03  9.94763865e-01  2.33424788e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.20, Y:-2.27, Z:2.34
[[ 9.91634708e-01  7.93947725e-02 -1.01769719e-01  2.42023005e+01]
 [-7.88502070e-02  9.96842449e-01  9.36896931e-03 -2.26943477e+00]
 [ 1.02192223e-01 -1.26603174e-03  9.94763865e-01  2.33994676e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.26, Y:-2.27, Z:2.34
[[ 9.91085052e-01  8.59853767e-02 -1.01769028e-01  2.42647152e+01]
 [-8.54746746e-02  9.96296222e-01  9.37646495e-03 -2.27088768e+00]
 [ 1.02198337e-01 -5.94199678e-04  9.94763865e-01  2.34395254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.561052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.33, Y:-2.28, Z:2.35
[[ 9.90690883e-01  9.04162286e-02 -1.01766790e-01  2.43255695e+01]
 [-8.99263449e-02  9.95904051e-01  9.40069243e-03 -2.27620751e+00]
 [ 1.02199934e-01 -1.61664793e-04  9.94763865e-01  2.34634834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.39, Y:-2.28, Z:2.35
[[ 9.90477075e-01  9.27292676e-02 -1.01766632e-01  2.43859181e+01]
 [-9.22513822e-02  9.95691356e-01  9.40240536e-03 -2.28265033e+00]
 [ 1.02200034e-01  7.52455120e-05  9.94763865e-01  2.35123748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.681052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.44, Y:-2.30, Z:2.36
[[ 9.90459167e-01  9.29207121e-02 -1.01766302e-01  2.44448297e+01]
 [-9.24434679e-02  9.95673507e-01  9.40597277e-03 -2.29522760e+00]
 [ 1.02200021e-01  9.13979576e-05  9.94763865e-01  2.36154491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.741052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.51, Y:-2.31, Z:2.37
[[ 9.90751468e-01  8.97504738e-02 -1.01766302e-01  2.45065115e+01]
 [-8.92565447e-02  9.95964255e-01  9.40597277e-03 -2.30669274e+00]
 [ 1.02199790e-01 -2.35672822e-04  9.94763865e-01  2.36981187e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.57, Y:-2.31, Z:2.37
[[ 9.90965813e-01  8.73550204e-02 -1.01763733e-01  2.45674292e+01]
 [-8.68456445e-02  9.96177113e-01  9.43368823e-03 -2.31387999e+00]
 [ 1.02198782e-01 -5.10725543e-04  9.94763866e-01  2.37306582e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.861052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.63, Y:-2.32, Z:2.38
[[ 9.91277253e-01  8.37494556e-02 -1.01761660e-01  2.46293620e+01]
 [-8.32188350e-02  9.96486432e-01  9.45599760e-03 -2.32324992e+00]
 [ 1.02196048e-01 -9.05028524e-04  9.94763866e-01  2.38133628e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.69, Y:-2.32, Z:2.39
[[ 9.91194580e-01  8.47253973e-02 -1.01759085e-01  2.46900236e+01]
 [-8.41970690e-02  9.96403992e-01  9.48363075e-03 -2.32411283e+00]
 [ 1.02196663e-01 -8.32306711e-04  9.94763866e-01  2.38780121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.75, Y:-2.32, Z:2.39
[[ 9.90988975e-01  8.70986002e-02 -1.01757975e-01  2.47522676e+01]
 [-8.65815263e-02  9.96199515e-01  9.49552417e-03 -2.32440024e+00]
 [ 1.02198292e-01 -5.99598972e-04  9.94763866e-01  2.38949573e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.041052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.81, Y:-2.33, Z:2.39
[[ 9.91125113e-01  8.55381293e-02 -1.01755779e-01  2.48126263e+01]
 [-8.50104421e-02  9.96334589e-01  9.51899570e-03 -2.32990257e+00]
 [ 1.02197040e-01 -7.84211900e-04  9.94763867e-01  2.39249678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.101052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.87, Y:-2.33, Z:2.39
[[ 9.91830052e-01  7.69349846e-02 -1.01755369e-01  2.48741418e+01]
 [-7.63616656e-02  9.97034704e-01  9.52337800e-03 -2.33442421e+00]
 [ 1.02186315e-01 -1.67536303e-03  9.94763867e-01  2.39486050e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.94, Y:-2.34, Z:2.41
[[ 9.92447638e-01  6.85124376e-02 -1.01753286e-01  2.49350081e+01]
 [-6.78926806e-02  9.97646964e-01  9.54558692e-03 -2.34298628e+00]
 [ 1.02167848e-01 -2.56519186e-03  9.94763867e-01  2.40505850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.221052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.99, Y:-2.35, Z:2.42
[[ 9.92884052e-01  6.18707184e-02 -1.01751036e-01  2.49946441e+01]
 [-6.12137388e-02  9.98078806e-01  9.56951169e-03 -2.34977578e+00]
 [ 1.02147625e-01 -3.27285423e-03  9.94763867e-01  2.41646900e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.06, Y:-2.35, Z:2.42
[[ 9.92948201e-01  6.08328107e-02 -1.01750872e-01  2.50570327e+01]
 [-6.01702229e-02  9.98142242e-01  9.57125445e-03 -2.35216066e+00]
 [ 1.02144090e-01 -3.38138726e-03  9.94763867e-01  2.42110712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.12, Y:-2.36, Z:2.43
[[ 9.92544477e-01  6.71026140e-02 -1.01748219e-01  2.51173436e+01]
 [-6.64699618e-02  9.97742249e-01  9.59937746e-03 -2.35797415e+00]
 [ 1.02162640e-01 -2.76460888e-03  9.94763867e-01  2.42978521e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.401052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.18, Y:-2.36, Z:2.43
[[ 9.92054110e-01  7.40000826e-02 -1.01747880e-01  2.51787083e+01]
 [-7.34032076e-02  9.97256112e-01  9.60296102e-03 -2.35808693e+00]
 [ 1.02179315e-01 -2.05803616e-03  9.94763867e-01  2.43101560e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.461052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.24, Y:-2.36, Z:2.44
[[ 9.91254279e-01  8.40402452e-02 -1.01745722e-01  2.52392001e+01]
 [-8.34937259e-02  9.96461812e-01  9.62577973e-03 -2.36076879e+00]
 [ 1.02194679e-01 -1.04646595e-03  9.94763868e-01  2.43510475e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.521052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.30, Y:-2.37, Z:2.44
[[ 9.90609139e-01  9.13309443e-02 -1.01745722e-01  2.53001833e+01]
 [-9.08227533e-02  9.95820552e-01  9.62577973e-03 -2.36685583e+00]
 [ 1.02199612e-01 -2.94558804e-04  9.94763868e-01  2.44178552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.36, Y:-2.37, Z:2.45
[[ 9.90344237e-01  9.41605129e-02 -1.01745224e-01  2.53620531e+01]
 [-9.36666720e-02  9.95557029e-01  9.63103333e-03 -2.37310623e+00]
 [ 1.02200036e-01 -7.90179178e-06  9.94763868e-01  2.44547405e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.42, Y:-2.39, Z:2.45
[[ 9.90689696e-01  9.04561556e-02 -1.01742861e-01  2.54220507e+01]
 [-8.99402658e-02  9.95900352e-01  9.65593630e-03 -2.38548802e+00]
 [ 1.02199190e-01 -4.15256638e-04  9.94763868e-01  2.45416326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.701052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.48, Y:-2.40, Z:2.46
[[ 9.91556484e-01  8.04025574e-02 -1.01740690e-01  2.54825303e+01]
 [-7.98314997e-02  9.96761382e-01  9.67875388e-03 -2.39655737e+00]
 [ 1.02189388e-01 -1.47491928e-03  9.94763868e-01  2.46135480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.54, Y:-2.40, Z:2.47
[[ 9.91762873e-01  7.78169473e-02 -1.01739502e-01  2.55428987e+01]
 [-7.72310412e-02  9.96966121e-01  9.69122909e-03 -2.40318478e+00]
 [ 1.02184978e-01 -1.75395354e-03  9.94763868e-01  2.46817480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.821052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.60, Y:-2.41, Z:2.48
[[ 9.91988095e-01  7.48916600e-02 -1.01739171e-01  2.56033700e+01]
 [-7.42900544e-02  9.97189551e-01  9.69470461e-03 -2.41143827e+00]
 [ 1.02179291e-01 -2.05882303e-03  9.94763868e-01  2.47772285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.881052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.66, Y:-2.42, Z:2.48
[[ 9.91868172e-01  7.64666064e-02 -1.01736854e-01  2.56648699e+01]
 [-7.58707736e-02  9.97070292e-01  9.71895630e-03 -2.41504696e+00]
 [ 1.02181970e-01 -1.92106960e-03  9.94763869e-01  2.48343976e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.73, Y:-2.42, Z:2.49
[[ 9.91773372e-01  7.76895872e-02 -1.01734496e-01  2.57258644e+01]
 [-7.70976444e-02  9.96975935e-01  9.74357921e-03 -2.41779735e+00]
 [ 1.02183819e-01 -1.81993243e-03  9.94763869e-01  2.48661046e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.79, Y:-2.42, Z:2.49
[[ 9.91358596e-01  8.28146205e-02 -1.01734329e-01  2.57878964e+01]
 [-8.22493966e-02  9.96564130e-01  9.74532326e-03 -2.42052695e+00]
 [ 1.02191838e-01 -1.29352283e-03  9.94763869e-01  2.49148711e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.061052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.85, Y:-2.42, Z:2.50
[[ 9.90389673e-01  9.36957624e-02 -1.01732001e-01  2.58471023e+01]
 [-9.31852448e-02  9.95600857e-01  9.76956338e-03 -2.42222962e+00]
 [ 1.02199834e-01 -1.95753277e-04  9.94763869e-01  2.49727557e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.91, Y:-2.43, Z:2.50
[[ 9.90500896e-01  9.25123890e-02 -1.01732165e-01  2.59078283e+01]
 [-9.19958210e-02  9.95711483e-01  9.76785470e-03 -2.42952097e+00]
 [ 1.02199532e-01 -3.16134798e-04  9.94763869e-01  2.50215117e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.181052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.97, Y:-2.44, Z:2.51
[[ 9.91278572e-01  8.37722328e-02 -1.01730068e-01  2.59683736e+01]
 [-8.32074893e-02  9.96484158e-01  9.78965001e-03 -2.43887389e+00]
 [ 1.02192502e-01 -1.23956677e-03  9.94763870e-01  2.51166844e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.241052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.03, Y:-2.45, Z:2.52
[[ 9.91829736e-01  7.69731553e-02 -1.01729579e-01  2.60283136e+01]
 [-7.63722107e-02  9.97031268e-01  9.79472164e-03 -2.44712245e+00]
 [ 1.02181502e-01 -1.94538332e-03  9.94763870e-01  2.52174858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.09, Y:-2.45, Z:2.53
[[ 9.91818052e-01  7.71237814e-02 -1.01729417e-01  2.60897183e+01]
 [-7.65234538e-02  9.97019654e-01  9.79640935e-03 -2.45170103e+00]
 [ 1.02181764e-01 -1.93156931e-03  9.94763870e-01  2.52610089e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.361052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.15, Y:-2.46, Z:2.53
[[ 9.91531141e-01  8.07293134e-02 -1.01728926e-01  2.61498630e+01]
 [-8.01473793e-02  9.96734833e-01  9.80150274e-03 -2.45835341e+00]
 [ 1.02188033e-01 -1.56518838e-03  9.94763870e-01  2.53241582e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.21, Y:-2.46, Z:2.54
[[ 9.90919739e-01  8.79166057e-02 -1.01728764e-01  2.62106487e+01]
 [-8.73722449e-02  9.96127496e-01  9.80318742e-03 -2.46013318e+00]
 [ 1.02196682e-01 -8.25901464e-04  9.94763870e-01  2.53545078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.27, Y:-2.47, Z:2.54
[[ 9.90392269e-01  9.36720592e-02 -1.01728552e-01  2.62720839e+01]
 [-9.31577375e-02  9.95603079e-01  9.80538403e-03 -2.46718488e+00]
 [ 1.02199750e-01 -2.34374804e-04  9.94763870e-01  2.54065712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.541052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.33, Y:-2.47, Z:2.55
[[ 9.90823063e-01  8.90024338e-02 -1.01726223e-01  2.63342575e+01]
 [-8.84610806e-02  9.96031133e-01  9.82948243e-03 -2.47445176e+00]
 [ 1.02197333e-01 -7.40466241e-04  9.94763870e-01  2.54776185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.601052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.39, Y:-2.48, Z:2.55
[[ 9.91582083e-01  8.01079554e-02 -1.01723587e-01  2.63949970e+01]
 [-7.95170999e-02  9.96784769e-01  9.85669412e-03 -2.48451411e+00]
 [ 1.02186122e-01 -1.68495668e-03  9.94763870e-01  2.55482385e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.46, Y:-2.49, Z:2.56
[[ 9.91739180e-01  7.81420181e-02 -1.01721303e-01  2.64554935e+01]
 [-7.75384387e-02  9.96940405e-01  9.88020682e-03 -2.49102142e+00]
 [ 1.02182136e-01 -1.91127720e-03  9.94763870e-01  2.56312918e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.721052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.52, Y:-2.49, Z:2.57
[[ 9.91408159e-01  8.22356687e-02 -1.01720980e-01  2.65174249e+01]
 [-8.16532264e-02  9.96611793e-01  9.88353040e-03 -2.49134993e+00]
 [ 1.02189107e-01 -1.49276646e-03  9.94763870e-01  2.56690761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.58, Y:-2.50, Z:2.57
[[ 9.91013613e-01  8.68617606e-02 -1.01720471e-01  2.65776477e+01]
 [-8.63030735e-02  9.96219851e-01  9.88876273e-03 -2.49560203e+00]
 [ 1.02194908e-01 -1.02110916e-03  9.94763871e-01  2.57348545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.841052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.64, Y:-2.50, Z:2.58
[[ 9.90820635e-01  8.90373607e-02 -1.01719304e-01  2.66382409e+01]
 [-8.84888740e-02  9.96027959e-01  9.90075819e-03 -2.49894979e+00]
 [ 1.02196808e-01 -8.08848855e-04  9.94763871e-01  2.58051135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.901052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.70, Y:-2.50, Z:2.59
[[ 9.90751981e-01  8.97982805e-02 -1.01719123e-01  2.66986807e+01]
 [-8.92536025e-02  9.95959704e-01  9.90261497e-03 -2.50312312e+00]
 [ 1.02197386e-01 -7.32237225e-04  9.94763871e-01  2.58894845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.961052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.76, Y:-2.51, Z:2.59
[[ 9.90873345e-01  8.84515270e-02 -1.01716964e-01  2.67589800e+01]
 [-8.78974999e-02  9.96080082e-01  9.92474001e-03 -2.50865075e+00]
 [ 1.02196101e-01 -8.93493475e-04  9.94763871e-01  2.59476885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.021052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.82, Y:-2.52, Z:2.60
[[ 9.91392699e-01  8.24269906e-02 -1.01716805e-01  2.68205025e+01]
 [-8.18411578e-02  9.96595952e-01  9.92637273e-03 -2.51708265e+00]
 [ 1.02188757e-01 -1.51631236e-03  9.94763871e-01  2.60081812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.88, Y:-2.53, Z:2.61
[[ 9.91984970e-01  7.49666069e-02 -1.01714441e-01  2.68814086e+01]
 [-7.43391708e-02  9.97183371e-01  9.95053994e-03 -2.52599292e+00]
 [ 1.02173907e-01 -2.30941888e-03  9.94763871e-01  2.60854545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.94, Y:-2.53, Z:2.62
[[ 9.92030041e-01  7.43712525e-02 -1.01711923e-01  2.69424985e+01]
 [-7.37380666e-02  9.97227744e-01  9.97620600e-03 -2.53354589e+00]
 [ 1.02171895e-01 -2.39665546e-03  9.94763871e-01  2.61816100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.201052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.00, Y:-2.54, Z:2.62
[[ 9.91778640e-01  7.76549565e-02 -1.01709570e-01  2.70032689e+01]
 [-7.70365274e-02  9.96978119e-01  1.00001415e-02 -2.53639610e+00]
 [ 1.02178776e-01 -2.08257460e-03  9.94763872e-01  2.62388058e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.06, Y:-2.54, Z:2.63
[[ 9.91481442e-01  8.13618335e-02 -1.01709400e-01  2.70649411e+01]
 [-8.07626678e-02  9.96683176e-01  1.00018710e-02 -2.54163204e+00]
 [ 1.02185818e-01 -1.70234696e-03  9.94763872e-01  2.62871905e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.321052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.13, Y:-2.55, Z:2.64
[[ 9.91093971e-01  8.59539219e-02 -1.01708725e-01  2.71254592e+01]
 [-8.53781559e-02  9.96298347e-01  1.00087261e-02 -2.54536579e+00]
 [ 1.02192524e-01 -1.23588468e-03  9.94763872e-01  2.63663933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.381052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.19, Y:-2.55, Z:2.64
[[ 9.90849694e-01  8.87257173e-02 -1.01708559e-01  2.71873088e+01]
 [-8.81643370e-02  9.96055642e-01  1.00104156e-02 -2.54827866e+00]
 [ 1.02195565e-01 -9.51749570e-04  9.94763872e-01  2.64164119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.25, Y:-2.55, Z:2.65
[[ 9.91362363e-01  8.28041988e-02 -1.01706092e-01  2.72480941e+01]
 [-8.22091609e-02  9.96564571e-01  1.00354148e-02 -2.55408323e+00]
 [ 1.02187663e-01 -1.58755996e-03  9.94763872e-01  2.64638904e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.31, Y:-2.56, Z:2.65
[[ 9.91999390e-01  7.47888042e-02 -1.01704697e-01  2.73073824e+01]
 [-7.41502913e-02  9.97196441e-01  1.00495418e-02 -2.55960307e+00]
 [ 1.02171155e-01 -2.42770645e-03  9.94763872e-01  2.65382547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.561052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.37, Y:-2.57, Z:2.66
[[ 9.92299866e-01  7.06908858e-02 -1.01704348e-01  2.73669121e+01]
 [-7.00305515e-02  9.97494189e-01  1.00530696e-02 -2.56639403e+00]
 [ 1.02160156e-01 -2.85324807e-03  9.94763872e-01  2.66353874e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.43, Y:-2.57, Z:2.67
[[ 9.92324211e-01  7.03485683e-02 -1.01704179e-01  2.74290520e+01]
 [-6.96862674e-02  9.97518283e-01  1.00547769e-02 -2.56817200e+00]
 [ 1.02159117e-01 -2.89021391e-03  9.94763872e-01  2.66809775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.681052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.49, Y:-2.57, Z:2.67
[[ 9.92071059e-01  7.38360342e-02 -1.01701793e-01  2.74880995e+01]
 [-7.31895274e-02  9.97267121e-01  1.00788510e-02 -2.57493139e+00]
 [ 1.02168037e-01 -2.55543019e-03  9.94763872e-01  2.67421863e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.741052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.55, Y:-2.58, Z:2.68
[[ 9.91335964e-01  8.31249101e-02 -1.01701797e-01  2.75486536e+01]
 [-8.25271033e-02  9.96537854e-01  1.00788186e-02 -2.58029434e+00]
 [ 1.02187491e-01 -1.59834072e-03  9.94763872e-01  2.67998458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.61, Y:-2.59, Z:2.69
[[ 9.90486656e-01  9.26984326e-02 -1.01701455e-01  2.76087545e+01]
 [-9.21505555e-02  9.95694041e-01  1.00822681e-02 -2.58549065e+00]
 [ 1.02198143e-01 -6.14506465e-04  9.94763872e-01  2.68724596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.861052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.67, Y:-2.59, Z:2.70
[[ 9.89714480e-01  1.00608800e-01 -1.01701118e-01  2.76700040e+01]
 [-1.00102195e-01  9.94926042e-01  1.00856624e-02 -2.59441238e+00]
 [ 1.02199797e-01  1.98579095e-04  9.94763872e-01  2.69570876e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.73, Y:-2.60, Z:2.70
[[ 9.89956984e-01  9.81964863e-02 -1.01698674e-01  2.77304313e+01]
 [-9.76746567e-02  9.95167043e-01  1.01102443e-02 -2.60149071e+00]
 [ 1.02199959e-01 -7.53238826e-05  9.94763873e-01  2.69614790e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.79, Y:-2.61, Z:2.71
[[ 9.90659546e-01  9.08366064e-02 -1.01697470e-01  2.77904724e+01]
 [-9.02748288e-02  9.95865449e-01  1.01223457e-02 -2.61349171e+00]
 [ 1.02196476e-01 -8.47076680e-04  9.94763873e-01  2.70556065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.041052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.85, Y:-2.62, Z:2.71
[[ 9.91487620e-01  8.13018703e-02 -1.01697124e-01  2.78513037e+01]
 [-8.06896800e-02  9.96687836e-01  1.01258160e-02 -2.62266195e+00]
 [ 1.02183534e-01 -1.83371276e-03  9.94763873e-01  2.71433413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.101052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.91, Y:-2.63, Z:2.72
[[ 9.92000563e-01  7.47845017e-02 -1.01696420e-01  2.79113970e+01]
 [-7.41374270e-02  9.97196554e-01  1.01328847e-02 -2.62940364e+00]
 [ 1.02169102e-01 -2.51231647e-03  9.94763873e-01  2.71940267e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.97, Y:-2.64, Z:2.73
[[ 9.92252388e-01  7.13656986e-02 -1.01696296e-01  2.79716244e+01]
 [-7.07005949e-02  9.97446101e-01  1.01341327e-02 -2.63850946e+00]
 [ 1.02159803e-01 -2.86562874e-03  9.94763873e-01  2.72670094e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.221052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.03, Y:-2.64, Z:2.73
[[ 9.92386637e-01  6.94744448e-02 -1.01695938e-01  2.80318442e+01]
 [-6.87990760e-02  9.97579026e-01  1.01377240e-02 -2.64220425e+00]
 [ 1.02154047e-01 -3.06395530e-03  9.94763873e-01  2.73232126e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.09, Y:-2.65, Z:2.74
[[ 9.92443153e-01  6.86626461e-02 -1.01695763e-01  2.80938899e+01]
 [-6.79828506e-02  9.97634965e-01  1.01394774e-02 -2.64577797e+00]
 [ 1.02151452e-01 -3.14928708e-03  9.94763873e-01  2.73882792e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.341052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.16, Y:-2.64, Z:2.74
[[ 9.92409469e-01  6.91514052e-02 -1.01693304e-01  2.81561738e+01]
 [-6.84716486e-02  9.97601286e-01  1.01640741e-02 -2.64458864e+00]
 [ 1.02152231e-01 -3.12381519e-03  9.94763873e-01  2.74223491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.401052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.22, Y:-2.65, Z:2.75
[[ 9.92349958e-01  7.00038565e-02 -1.01690814e-01  2.82182687e+01]
 [-6.93260155e-02  9.97542024e-01  1.01889258e-02 -2.64718424e+00]
 [ 1.02154125e-01 -3.06116116e-03  9.94763874e-01  2.74789265e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.461052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.28, Y:-2.65, Z:2.76
[[ 9.91851776e-01  7.67409748e-02 -1.01690108e-01  2.82771601e+01]
 [-7.60976847e-02  9.97048236e-01  1.01959748e-02 -2.64895883e+00]
 [ 1.02172391e-01 -2.37451400e-03  9.94763874e-01  2.75514803e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.521052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.34, Y:-2.65, Z:2.76
[[ 9.91038629e-01  8.66113316e-02 -1.01690285e-01  2.83378704e+01]
 [-8.60199869e-02  9.96241256e-01  1.01942078e-02 -2.64960541e+00]
 [ 1.02190991e-01 -1.35545673e-03  9.94763874e-01  2.75968458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.40, Y:-2.65, Z:2.76
[[ 9.90348244e-01  9.41778935e-02 -1.01690120e-01  2.83993358e+01]
 [-9.36261327e-02  9.95555218e-01  1.01958496e-02 -2.65228991e+00]
 [ 1.02198353e-01 -5.76589027e-04  9.94763874e-01  2.76453945e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.46, Y:-2.66, Z:2.77
[[ 9.90475736e-01  9.28300062e-02 -1.01687784e-01  2.84589537e+01]
 [-9.22687735e-02  9.95681698e-01  1.02190913e-02 -2.65821498e+00]
 [ 1.02197304e-01 -7.39154860e-04  9.94763874e-01  2.77046845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.701052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.52, Y:-2.67, Z:2.78
[[ 9.91172076e-01  8.50737678e-02 -1.01687608e-01  2.85186462e+01]
 [-8.44716198e-02  9.96373464e-01  1.02208515e-02 -2.66672416e+00]
 [ 1.02188360e-01 -1.54090569e-03  9.94763874e-01  2.77815845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.58, Y:-2.67, Z:2.78
[[ 9.91687740e-01  7.88358440e-02 -1.01687438e-01  2.85793733e+01]
 [-7.82008091e-02  9.96885216e-01  1.02225374e-02 -2.67188925e+00]
 [ 1.02176606e-01 -2.18552511e-03  9.94763874e-01  2.78022390e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.821052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.64, Y:-2.68, Z:2.79
[[ 9.91963367e-01  7.52902627e-02 -1.01686060e-01  2.86400366e+01]
 [-7.46352494e-02  9.97158362e-01  1.02362283e-02 -2.68031643e+00]
 [ 1.02167793e-01 -2.56459905e-03  9.94763874e-01  2.78870354e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.881052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.70, Y:-2.69, Z:2.80
[[ 9.91866361e-01  7.65590695e-02 -1.01684956e-01  2.86993086e+01]
 [-7.59095798e-02  9.97062050e-01  1.02471802e-02 -2.68822305e+00]
 [ 1.02170725e-01 -2.44497104e-03  9.94763874e-01  2.80032243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.76, Y:-2.69, Z:2.80
[[ 9.91187482e-01  8.48974757e-02 -1.01684780e-01  2.87594364e+01]
 [-8.42915233e-02  9.96388428e-01  1.02489243e-02 -2.69127323e+00]
 [ 1.02187646e-01 -1.58744039e-03  9.94763874e-01  2.80487811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.001052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.82, Y:-2.70, Z:2.81
[[ 9.90336330e-01  9.43088278e-02 -1.01684797e-01  2.88205565e+01]
 [-9.37523228e-02  9.95542799e-01  1.02487602e-02 -2.69796440e+00]
 [ 1.02198116e-01 -6.16533623e-04  9.94763874e-01  2.81075467e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.061052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.88, Y:-2.70, Z:2.81
[[ 9.89995650e-01  9.78229334e-02 -1.01682283e-01  2.88820461e+01]
 [-9.72823539e-02  9.95203796e-01  1.02736428e-02 -2.70409720e+00]
 [ 1.02199592e-01 -2.78969871e-04  9.94763874e-01  2.81325239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.94, Y:-2.71, Z:2.82
[[ 9.90343426e-01  9.42398828e-02 -1.01679610e-01  2.89419591e+01]
 [-9.36777514e-02  9.95549290e-01  1.03000312e-02 -2.71261967e+00]
 [ 1.02197737e-01 -6.75450937e-04  9.94763875e-01  2.82064131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.181052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.00, Y:-2.72, Z:2.83
[[ 9.91222246e-01  8.44970597e-02 -1.01679430e-01  2.90017108e+01]
 [-8.38835827e-02  9.96422309e-01  1.03018090e-02 -2.72452507e+00]
 [ 1.02186125e-01 -1.68214741e-03  9.94763875e-01  2.82906963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.241052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.06, Y:-2.73, Z:2.84
[[ 9.92182710e-01  7.23549075e-02 -1.01677120e-01  2.90611170e+01]
 [-7.16754814e-02  9.97374568e-01  1.03245573e-02 -2.73413973e+00]
 [ 1.02157206e-01 -2.95609074e-03  9.94763875e-01  2.83790874e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.12, Y:-2.75, Z:2.85
[[ 9.92599515e-01  6.63927710e-02 -1.01676958e-01  2.91200654e+01]
 [-6.56820020e-02  9.97787174e-01  1.03261553e-02 -2.74612135e+00]
 [ 1.02137546e-01 -3.57139063e-03  9.94763875e-01  2.84808607e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.361052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.18, Y:-2.75, Z:2.85
[[ 9.92531067e-01  6.74088210e-02 -1.01676604e-01  2.91799949e+01]
 [-6.67030068e-02  9.97719403e-01  1.03296336e-02 -2.75223853e+00]
 [ 1.02141029e-01 -3.47034706e-03  9.94763875e-01  2.85410385e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.24, Y:-2.76, Z:2.86
[[ 9.92172382e-01  7.24972289e-02 -1.01676525e-01  2.92415804e+01]
 [-7.18179479e-02  9.97364259e-01  1.03304133e-02 -2.75747230e+00]
 [ 1.02157458e-01 -2.94735139e-03  9.94763875e-01  2.85971545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.481052754 meters
Centerline goodness : 0.999977 with order 1
Centerline is valid?  [True, True]
Translation: X:29.30, Y:-2.76, Z:2.86
[[ 9.91806214e-01  7.73487680e-02 -1.01673998e-01  2.93027664e+01]
 [-7.66923446e-02  9.97001030e-01  1.03552280e-02 -2.76101900e+00]
 [ 1.02170045e-01 -2.47276220e-03  9.94763875e-01  2.86419398e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.541052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.36, Y:-2.76, Z:2.87
[[ 9.91534091e-01  8.07627237e-02 -1.01673635e-01  2.93647475e+01]
 [-8.01238234e-02  9.96731091e-01  1.03587847e-02 -2.76223959e+00]
 [ 1.02177877e-01 -2.12460781e-03  9.94763875e-01  2.86731514e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.601052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.43, Y:-2.77, Z:2.87
[[ 9.91523688e-01  8.08934950e-02 -1.01671127e-01  2.94257823e+01]
 [-8.02527624e-02  9.96720462e-01  1.03833492e-02 -2.76781888e+00]
 [ 1.02177638e-01 -2.13594789e-03  9.94763876e-01  2.87315775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.48, Y:-2.77, Z:2.88
[[ 9.91554446e-01  8.05162909e-02 -1.01670586e-01  2.94847637e+01]
 [-7.98730388e-02  9.96750909e-01  1.03886431e-02 -2.77466682e+00]
 [ 1.02176704e-01 -2.18016665e-03  9.94763876e-01  2.88052329e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.721052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.55, Y:-2.78, Z:2.89
[[ 9.91323948e-01  8.33061926e-02 -1.01670591e-01  2.95456908e+01]
 [-8.26775713e-02  9.96522201e-01  1.03885893e-02 -2.77771854e+00]
 [ 1.02182435e-01 -1.89257985e-03  9.94763876e-01  2.88608264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.61, Y:-2.78, Z:2.89
[[ 9.91110467e-01  8.58088076e-02 -1.01670503e-01  2.96072822e+01]
 [-8.51932244e-02  9.96310280e-01  1.03894513e-02 -2.78035654e+00]
 [ 1.02186874e-01 -1.63545591e-03  9.94763876e-01  2.89112646e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.841052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.67, Y:-2.79, Z:2.90
[[ 9.90861995e-01  8.86345337e-02 -1.01668218e-01  2.96652476e+01]
 [-8.80314903e-02  9.96063277e-01  1.04117688e-02 -2.79129287e+00]
 [ 1.02190820e-01 -1.36662124e-03  9.94763876e-01  2.90204994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.901052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.73, Y:-2.79, Z:2.91
[[ 9.91126690e-01  8.56239361e-02 -1.01668218e-01  2.97254063e+01]
 [-8.50050943e-02  9.96326116e-01  1.04117688e-02 -2.79412467e+00]
 [ 1.02186197e-01 -1.67706547e-03  9.94763876e-01  2.90895516e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.961052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.79, Y:-2.80, Z:2.91
[[ 9.91196766e-01  8.48089986e-02 -1.01668112e-01  2.97879623e+01]
 [-8.41857757e-02  9.96395669e-01  1.04128049e-02 -2.79966071e+00]
 [ 1.02184766e-01 -1.76212975e-03  9.94763876e-01  2.91115193e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.021052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.85, Y:-2.81, Z:2.91
[[ 9.90987469e-01  8.72216425e-02 -1.01667213e-01  2.98481169e+01]
 [-8.66101785e-02  9.96187767e-01  1.04215678e-02 -2.80543270e+00]
 [ 1.02188620e-01 -1.52222764e-03  9.94763876e-01  2.91245851e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.91, Y:-2.81, Z:2.92
[[ 9.90781894e-01  8.95268307e-02 -1.01667034e-01  2.99083165e+01]
 [-8.89272872e-02  9.95983580e-01  1.04233135e-02 -2.81377310e+00]
 [ 1.02191863e-01 -1.28625678e-03  9.94763876e-01  2.92380522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.97, Y:-2.82, Z:2.93
[[ 9.90766947e-01  8.96946450e-02 -1.01664777e-01  2.99697847e+01]
 [-8.90937280e-02  9.95968475e-01  1.04452875e-02 -2.82144216e+00]
 [ 1.02191799e-01 -1.29115167e-03  9.94763876e-01  2.93195417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.201052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.03, Y:-2.83, Z:2.94
[[ 9.90696310e-01  9.04743033e-02 -1.01662297e-01  3.00318653e+01]
 [-8.98750089e-02  9.95898024e-01  1.04693708e-02 -2.83067405e+00]
 [ 1.02192489e-01 -1.23506719e-03  9.94763876e-01  2.93752194e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.09, Y:-2.84, Z:2.95
[[ 9.90110645e-01  9.66761156e-02 -1.01659433e-01  3.00917203e+01]
 [-9.61065575e-02  9.95315699e-01  1.04971069e-02 -2.84174082e+00]
 [ 1.02198049e-01 -6.23159133e-04  9.94763877e-01  2.94676523e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.321052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.15, Y:-2.85, Z:2.95
[[ 9.89139567e-01  1.06152308e-01 -1.01659255e-01  3.01505885e+01]
 [-1.05632439e-01  9.94349819e-01  1.04988268e-02 -2.85134769e+00]
 [ 1.02199337e-01  3.53710055e-04  9.94763877e-01  2.95203078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.381052754000002 meters
Centerline goodness : 0.999742 with order 1
Centerline is valid?  [True, True]
Translation: X:30.21, Y:-2.86, Z:2.96
[[ 9.88524008e-01  1.11739349e-01 -1.01659255e-01  3.02131375e+01]
 [-1.11248927e-01  9.93737114e-01  1.04988268e-02 -2.85611687e+00]
 [ 1.02195707e-01  9.31140735e-04  9.94763877e-01  2.95575186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.441052754 meters
Centerline goodness : 0.999670 with order 1
Centerline is valid?  [True, True]
Translation: X:30.27, Y:-2.86, Z:2.96
[[ 9.87921892e-01  1.16945791e-01 -1.01656365e-01  3.02737915e+01]
 [-1.16479970e-01  9.93137254e-01  1.05267363e-02 -2.86396858e+00]
 [ 1.02189781e-01  1.44133714e-03  9.94763877e-01  2.96176597e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.501052754000003 meters
Centerline goodness : 0.999622 with order 1
Centerline is valid?  [True, True]
Translation: X:30.33, Y:-2.88, Z:2.97
[[ 9.88949380e-01  1.07914710e-01 -1.01654018e-01  3.03334197e+01]
 [-1.07398932e-01  9.94160038e-01  1.05493565e-02 -2.87615307e+00]
 [ 1.02198793e-01  4.84753431e-04  9.94763877e-01  2.96995764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.561052754000002 meters
Centerline goodness : 0.999762 with order 1
Centerline is valid?  [True, True]
Translation: X:30.39, Y:-2.89, Z:2.97
[[ 9.89972327e-01  9.80883613e-02 -1.01653656e-01  3.03945455e+01]
 [-9.75205055e-02  9.95177566e-01  1.05528420e-02 -2.88597914e+00]
 [ 1.02198549e-01 -5.33705634e-04  9.94763877e-01  2.97321343e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.621052754 meters
Centerline goodness : 0.999763 with order 1
Centerline is valid?  [True, True]
Translation: X:30.45, Y:-2.89, Z:2.98
[[ 9.90308043e-01  9.46415320e-02 -1.01651172e-01  3.04547742e+01]
 [-9.40531094e-02  9.95510997e-01  1.05767128e-02 -2.89130720e+00]
 [ 1.02195856e-01 -9.13594953e-04  9.94763878e-01  2.97836445e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.681052754000003 meters
Centerline goodness : 0.999810 with order 1
Centerline is valid?  [True, True]
Translation: X:30.51, Y:-2.89, Z:2.99
[[ 9.90960378e-01  8.75477255e-02 -1.01650994e-01  3.05148153e+01]
 [-8.69218856e-02  9.96158965e-01  1.05784201e-02 -2.89397043e+00]
 [ 1.02186666e-01 -1.64709908e-03  9.94763878e-01  2.98639272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.741052754000002 meters
Centerline goodness : 0.999882 with order 1
Centerline is valid?  [True, True]
Translation: X:30.57, Y:-2.90, Z:3.00
[[ 9.91513878e-01  8.10390819e-02 -1.01650863e-01  3.05747585e+01]
 [-8.03789913e-02  9.96708226e-01  1.05796865e-02 -2.90033893e+00]
 [ 1.02173619e-01 -2.31931221e-03  9.94763878e-01  2.99736816e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.801052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:30.64, Y:-2.90, Z:3.00
[[ 9.91655445e-01  7.92881922e-02 -1.01650681e-01  3.06365263e+01]
 [-7.86187521e-02  9.96848597e-01  1.05814298e-02 -2.90234865e+00]
 [ 1.02169321e-01 -2.50148281e-03  9.94763878e-01  3.00276344e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.861052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.70, Y:-2.91, Z:3.01
[[ 9.90999589e-01  8.71061848e-02 -1.01648054e-01  3.06972063e+01]
 [-8.64751385e-02  9.96197546e-01  1.06066051e-02 -2.90676107e+00]
 [ 1.02185443e-01 -1.72111174e-03  9.94763878e-01  3.00769337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.76, Y:-2.91, Z:3.01
[[ 9.89815716e-01  9.96621191e-02 -1.01647974e-01  3.07574214e+01]
 [-9.90969397e-02  9.95021246e-01  1.06073699e-02 -2.90889225e+00]
 [ 1.02199047e-01 -4.26338278e-04  9.94763878e-01  3.01254313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.82, Y:-2.91, Z:3.02
[[ 9.89061673e-01  1.06887418e-01 -1.01646874e-01  3.08195135e+01]
 [-1.06359184e-01  9.94271082e-01  1.06179028e-02 -2.91353019e+00]
 [ 1.02199468e-01  3.09317891e-04  9.94763878e-01  3.02019819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.041052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.88, Y:-2.92, Z:3.03
[[ 9.89322176e-01  1.04451601e-01 -1.01643962e-01  3.08788521e+01]
 [-1.03907684e-01  9.94529970e-01  1.06457067e-02 -2.92059414e+00]
 [ 1.02199928e-01  2.95549878e-05  9.94763878e-01  3.02626324e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.101052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.94, Y:-2.93, Z:3.03
[[ 9.90478948e-01  9.28437340e-02 -1.01643962e-01  3.09410359e+01]
 [-9.22387882e-02  9.95680006e-01  1.06457067e-02 -2.92580098e+00]
 [ 1.02193248e-01 -1.16883250e-03  9.94763878e-01  3.03191002e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.161052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.00, Y:-2.93, Z:3.04
[[ 9.91519036e-01  8.09857688e-02 -1.01643031e-01  3.10016977e+01]
 [-8.03177243e-02  9.96712367e-01  1.06545884e-02 -2.93360363e+00]
 [ 1.02171736e-01 -2.40049023e-03  9.94763879e-01  3.03946529e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.221052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.06, Y:-2.94, Z:3.05
[[ 9.91922547e-01  7.58843308e-02 -1.01642656e-01  3.10609727e+01]
 [-7.51892148e-02  9.97112323e-01  1.06581627e-02 -2.94033878e+00]
 [ 1.02157933e-01 -2.92964033e-03  9.94763879e-01  3.04586892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.12, Y:-2.94, Z:3.05
[[ 9.91765086e-01  7.79151338e-02 -1.01642737e-01  3.11232865e+01]
 [-7.72307245e-02  9.96956286e-01  1.06573893e-02 -2.94336974e+00]
 [ 1.02163738e-01 -2.71968439e-03  9.94763879e-01  3.04773527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.341052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.18, Y:-2.95, Z:3.05
[[ 9.91117927e-01  8.57563755e-02 -1.01642014e-01  3.11828713e+01]
 [-8.51123367e-02  9.96314289e-01  1.06642868e-02 -2.94847741e+00]
 [ 1.02181921e-01 -1.91857658e-03  9.94763879e-01  3.05186534e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.401052754000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.24, Y:-2.96, Z:3.06
[[ 9.90418317e-01  9.34903625e-02 -1.01642064e-01  3.12416705e+01]
 [-9.28869548e-02  9.95619554e-01  1.06638085e-02 -2.95699787e+00]
 [ 1.02193790e-01 -1.12040947e-03  9.94763879e-01  3.06292873e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.461052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.30, Y:-2.96, Z:3.07
[[ 9.90069852e-01  9.71112491e-02 -1.01641987e-01  3.13033407e+01]
 [-9.65267892e-02  9.95273252e-01  1.06645377e-02 -2.96252969e+00]
 [ 1.02197198e-01 -7.47462544e-04  9.94763879e-01  3.06879438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.521052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.37, Y:-2.97, Z:3.07
[[ 9.89984698e-01  9.79781073e-02 -1.01639502e-01  3.13650252e+01]
 [-9.73957770e-02  9.95188337e-01  1.06881748e-02 -2.96879537e+00]
 [ 1.02197654e-01 -6.81871298e-04  9.94763879e-01  3.07209702e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.43, Y:-2.98, Z:3.08
[[ 9.90418785e-01  9.34909449e-02 -1.01636972e-01  3.14264778e+01]
 [-9.28825770e-02  9.95619443e-01  1.07121801e-02 -2.97938702e+00]
 [ 1.02193237e-01 -1.16924057e-03  9.94763879e-01  3.07694298e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.49, Y:-2.99, Z:3.09
[[ 9.91513203e-01  8.10656781e-02 -1.01636231e-01  3.14856278e+01]
 [-8.03914325e-02  9.96705732e-01  1.07192012e-02 -2.99318655e+00]
 [ 1.02170374e-01 -2.45754731e-03  9.94763879e-01  3.08969619e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.701052754000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.55, Y:-3.00, Z:3.09
[[ 9.91489471e-01  8.13558901e-02 -1.01635857e-01  3.15476396e+01]
 [-8.06828011e-02  9.96682150e-01  1.07227483e-02 -2.99909961e+00]
 [ 1.02171003e-01 -2.43122640e-03  9.94763879e-01  3.09369148e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.761052754 meters
Centerline goodness : 0.999930 with order 1
Centerline is valid?  [True, True]
Translation: X:31.61, Y:-3.00, Z:3.10
[[ 9.90896743e-01  8.82854478e-02 -1.01633280e-01  3.16076130e+01]
 [-8.76461781e-02  9.96093694e-01  1.07471225e-02 -3.00068409e+00]
 [ 1.02185083e-01 -1.74152020e-03  9.94763879e-01  3.09605799e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.821052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.67, Y:-3.00, Z:3.10
[[ 9.90393124e-01  9.37663924e-02 -1.01633280e-01  3.16691765e+01]
 [-9.31558855e-02  9.95593532e-01  1.07471225e-02 -3.00479301e+00]
 [ 1.02193155e-01 -1.17613811e-03  9.94763879e-01  3.10349569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.881052754000002 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:31.73, Y:-3.01, Z:3.11
[[ 9.89557154e-01  1.02214613e-01 -1.01630758e-01  3.17298730e+01]
 [-1.01646064e-01  9.94762316e-01  1.07709128e-02 -3.00885901e+00]
 [ 1.02199393e-01 -3.28067328e-04  9.94763880e-01  3.10958354e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.79, Y:-3.02, Z:3.11
[[ 9.89716971e-01  1.00655561e-01 -1.01630578e-01  3.17915089e+01]
 [-1.00078638e-01  9.94921212e-01  1.07726103e-02 -3.01516083e+00]
 [ 1.02198741e-01 -4.90785412e-04  9.94763880e-01  3.11465613e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.85, Y:-3.03, Z:3.12
[[ 9.90327943e-01  9.44579735e-02 -1.01628035e-01  3.18513088e+01]
 [-9.38460263e-02  9.95528180e-01  1.07965521e-02 -3.02509531e+00]
 [ 1.02193393e-01 -1.15473995e-03  9.94763880e-01  3.12453724e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.91, Y:-3.04, Z:3.13
[[ 9.90884109e-01  8.84335834e-02 -1.01627671e-01  3.19123276e+01]
 [-8.77896709e-02  9.96080486e-01  1.07999806e-02 -3.03553382e+00]
 [ 1.02184420e-01 -1.77966944e-03  9.94763880e-01  3.13304107e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.97, Y:-3.04, Z:3.14
[[ 9.91056492e-01  8.64811971e-02 -1.01626929e-01  3.19739843e+01]
 [-8.58263332e-02  9.96251500e-01  1.08069546e-02 -3.04358019e+00]
 [ 1.02180579e-01 -1.98803584e-03  9.94763880e-01  3.13878924e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.04, Y:-3.05, Z:3.14
[[ 9.90964894e-01  8.75254134e-02 -1.01626177e-01  3.20362011e+01]
 [-8.68752996e-02  9.96160499e-01  1.08140185e-02 -3.04805340e+00]
 [ 1.02182485e-01 -1.88750810e-03  9.94763880e-01  3.14308991e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.10, Y:-3.05, Z:3.15
[[ 9.90789508e-01  8.94918960e-02 -1.01623575e-01  3.20955902e+01]
 [-8.88495922e-02  9.95986084e-01  1.08384222e-02 -3.05323854e+00]
 [ 1.02185617e-01 -1.70938183e-03  9.94763880e-01  3.15018881e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.301052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.16, Y:-3.06, Z:3.15
[[ 9.90394471e-01  9.37626796e-02 -1.01623575e-01  3.21579665e+01]
 [-9.31427859e-02  9.95593768e-01  1.08384222e-02 -3.05615090e+00]
 [ 1.02192037e-01 -1.26881056e-03  9.94763880e-01  3.15297126e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.22, Y:-3.06, Z:3.16
[[ 9.89415909e-01  1.03580662e-01 -1.01622856e-01  3.22185258e+01]
 [-1.03011674e-01  9.94621022e-01  1.08451535e-02 -3.05920906e+00]
 [ 1.02199577e-01 -2.62026906e-04  9.94763880e-01  3.15579893e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.28, Y:-3.07, Z:3.16
[[ 9.88326204e-01  1.13508188e-01 -1.01622856e-01  3.22806837e+01]
 [-1.12991482e-01  9.93536767e-01  1.08451535e-02 -3.06834697e+00]
 [ 1.02197058e-01  7.63967712e-04  9.94763880e-01  3.16322598e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.481052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.34, Y:-3.08, Z:3.17
[[ 9.88066387e-01  1.15750675e-01 -1.01619859e-01  3.23415492e+01]
 [-1.15242915e-01  9.93277829e-01  1.08731625e-02 -3.07921979e+00]
 [ 1.02195329e-01  9.67562358e-04  9.94763881e-01  3.17375839e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.40, Y:-3.09, Z:3.18
[[ 9.88994558e-01  1.07534623e-01 -1.01617266e-01  3.24007842e+01]
 [-1.06981081e-01  9.94201336e-01  1.08973492e-02 -3.09394312e+00]
 [ 1.02199864e-01  9.37058258e-05  9.94763881e-01  3.18130587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.46, Y:-3.10, Z:3.19
[[ 9.89957160e-01  9.82814110e-02 -1.01614884e-01  3.24604881e+01]
 [-9.76769280e-02  9.95158270e-01  1.09195084e-02 -3.10348754e+00]
 [ 1.02196077e-01 -8.84415788e-04  9.94763881e-01  3.19171081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.661052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:32.52, Y:-3.11, Z:3.20
[[ 9.90455697e-01  9.31233347e-02 -1.01614748e-01  3.25209485e+01]
 [-9.24916368e-02  9.95653571e-01  1.09207788e-02 -3.11059215e+00]
 [ 1.02190066e-01 -1.41803323e-03  9.94763881e-01  3.20337330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.58, Y:-3.11, Z:3.21
[[ 9.90850477e-01  8.88250392e-02 -1.01614193e-01  3.25825201e+01]
 [-8.81702656e-02  9.96045495e-01  1.09259379e-02 -3.11318264e+00]
 [ 1.02182856e-01 -1.86662038e-03  9.94763881e-01  3.20501034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.78105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.64, Y:-3.11, Z:3.21
[[ 9.90801377e-01  8.93714812e-02 -1.01613829e-01  3.26445078e+01]
 [-8.87192255e-02  9.95996711e-01  1.09293256e-02 -3.11451344e+00]
 [ 1.02183809e-01 -1.81369064e-03  9.94763881e-01  3.20694070e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.71, Y:-3.12, Z:3.21
[[ 9.90545344e-01  9.21687814e-02 -1.01611201e-01  3.27053625e+01]
 [-9.15286982e-02  9.95742192e-01  1.09536998e-02 -3.11920187e+00]
 [ 1.02188150e-01 -1.54979536e-03  9.94763882e-01  3.21058342e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.901052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.77, Y:-3.13, Z:3.22
[[ 9.90118716e-01  9.66445443e-02 -1.01610828e-01  3.27666653e+01]
 [-9.60275992e-02  9.95318362e-01  1.09571623e-02 -3.12595922e+00]
 [ 1.02194073e-01 -1.09144760e-03  9.94763882e-01  3.22092601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.83, Y:-3.13, Z:3.23
[[ 9.89604463e-01  1.01778060e-01 -1.01608239e-01  3.28276840e+01]
 [-1.01185629e-01  9.94806958e-01  1.09811146e-02 -3.13304119e+00]
 [ 1.02198220e-01 -5.85666405e-04  9.94763882e-01  3.22856428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.89, Y:-3.14, Z:3.24
[[ 9.89490319e-01  1.02882588e-01 -1.01607493e-01  3.28882121e+01]
 [-1.02295256e-01  9.94693392e-01  1.09880187e-02 -3.14229180e+00]
 [ 1.02198777e-01 -4.78573706e-04  9.94763882e-01  3.23853358e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.081052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.95, Y:-3.15, Z:3.25
[[ 9.89557284e-01  1.02237047e-01 -1.01606927e-01  3.29496150e+01]
 [-1.01645785e-01  9.94759912e-01  1.09932447e-02 -3.14973498e+00]
 [ 1.02198415e-01 -5.50529489e-04  9.94763882e-01  3.24720043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.01, Y:-3.16, Z:3.25
[[ 9.89679433e-01  1.01048526e-01 -1.01606178e-01  3.30090957e+01]
 [-1.00450305e-01  9.94881266e-01  1.10001665e-02 -3.15885997e+00]
 [ 1.02197634e-01 -6.80267027e-04  9.94763882e-01  3.25493707e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.07, Y:-3.17, Z:3.26
[[ 9.89968078e-01  9.81807757e-02 -1.01605808e-01  3.30692180e+01]
 [-9.75671353e-02  9.95168114e-01  1.10035833e-02 -3.16646714e+00]
 [ 1.02195201e-01 -9.79808575e-04  9.94763882e-01  3.25861591e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.13, Y:-3.17, Z:3.26
[[ 9.90201794e-01  9.57950407e-02 -1.01605700e-01  3.31302343e+01]
 [-9.51687696e-02  9.95400324e-01  1.10045812e-02 -3.17224032e+00]
 [ 1.02192531e-01 -1.22706659e-03  9.94763882e-01  3.26128336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.19, Y:-3.18, Z:3.26
[[ 9.90516079e-01  9.24890140e-02 -1.01605511e-01  3.31916045e+01]
 [-9.18452142e-02  9.95712467e-01  1.10063217e-02 -3.17949191e+00]
 [ 1.02187838e-01 -1.56995869e-03  9.94763882e-01  3.26323954e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.25, Y:-3.19, Z:3.27
[[ 9.90761621e-01  8.98232954e-02 -1.01603079e-01  3.32525981e+01]
 [-8.91632180e-02  9.95955967e-01  1.10287266e-02 -3.18763790e+00]
 [ 1.02182830e-01 -1.86758149e-03  9.94763882e-01  3.27161483e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.441052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.31, Y:-3.20, Z:3.28
[[ 9.91193848e-01  8.49240662e-02 -1.01600482e-01  3.33113850e+01]
 [-8.42358707e-02  9.96384543e-01  1.10526058e-02 -3.19977373e+00]
 [ 1.02171782e-01 -2.39686987e-03  9.94763883e-01  3.28312459e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.37, Y:-3.20, Z:3.29
[[ 9.91296170e-01  8.37213536e-02 -1.01600381e-01  3.33735739e+01]
 [-8.30267661e-02  9.96486014e-01  1.10535285e-02 -3.20369229e+00]
 [ 1.02168775e-01 -2.52176938e-03  9.94763883e-01  3.28632830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.43, Y:-3.21, Z:3.30
[[ 9.90859715e-01  8.87406915e-02 -1.01597806e-01  3.34343388e+01]
 [-8.80699760e-02  9.96052697e-01  1.10771459e-02 -3.21177562e+00]
 [ 1.02179763e-01 -2.02818130e-03  9.94763883e-01  3.29639157e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.621052754000004 meters
Centerline goodness : 0.999929 with order 1
Centerline is valid?  [True, True]
Translation: X:33.49, Y:-3.22, Z:3.30
[[ 9.90297649e-01  9.48102016e-02 -1.01595240e-01  3.34944844e+01]
 [-9.41689084e-02  9.95494346e-01  1.11006295e-02 -3.21650280e+00]
 [ 1.02189940e-01 -1.42581440e-03  9.94763883e-01  3.30400977e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.68105275400001 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:33.56, Y:-3.22, Z:3.31
[[ 9.89532405e-01  1.02489337e-01 -1.01595059e-01  3.35558889e+01]
 [-1.01888205e-01  9.94733901e-01  1.11022886e-02 -3.21847572e+00]
 [ 1.02197916e-01 -6.34736139e-04  9.94763883e-01  3.30848078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.62, Y:-3.22, Z:3.31
[[ 9.88974472e-01  1.07740495e-01 -1.01594683e-01  3.36173630e+01]
 [-1.07166628e-01  9.94179047e-01  1.11057327e-02 -3.22415284e+00]
 [ 1.02199842e-01 -9.57266187e-05  9.94763883e-01  3.31263721e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.801052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.68, Y:-3.23, Z:3.31
[[ 9.89133305e-01  1.06274964e-01 -1.01592013e-01  3.36797767e+01]
 [-1.05690883e-01  9.94336743e-01  1.11301023e-02 -3.22647150e+00]
 [ 1.02199522e-01 -2.71805368e-04  9.94763883e-01  3.31347455e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.861052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.74, Y:-3.24, Z:3.32
[[ 9.89773906e-01  1.00135992e-01 -1.01589355e-01  3.37401446e+01]
 [-9.95171539e-02  9.94973325e-01  1.11543085e-02 -3.23598316e+00]
 [ 1.02195646e-01 -9.30359972e-04  9.94763884e-01  3.32317932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.92105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.80, Y:-3.24, Z:3.33
[[ 9.90361748e-01  9.41474984e-02 -1.01586695e-01  3.37999355e+01]
 [-9.34947435e-02  9.95557017e-01  1.11784827e-02 -3.24429622e+00]
 [ 1.02187773e-01 -1.57291967e-03  9.94763884e-01  3.33391548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.981052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.86, Y:-3.25, Z:3.34
[[ 9.90330765e-01  9.44730487e-02 -1.01586507e-01  3.38617678e+01]
 [-9.38218267e-02  9.95526227e-01  1.11801886e-02 -3.24792065e+00]
 [ 1.02188259e-01 -1.54105310e-03  9.94763884e-01  3.34281154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.041052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.92, Y:-3.25, Z:3.35
[[ 9.90301844e-01  9.47789983e-02 -1.01583461e-01  3.39233861e+01]
 [-9.41265494e-02  9.95497151e-01  1.12078032e-02 -3.25388783e+00]
 [ 1.02188310e-01 -1.53740756e-03  9.94763884e-01  3.34896477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.98, Y:-3.26, Z:3.35
[[ 9.90609746e-01  9.15078356e-02 -1.01580743e-01  3.39845463e+01]
 [-9.08357127e-02  9.95802544e-01  1.12323780e-02 -3.26047242e+00]
 [ 1.02182213e-01 -1.89974394e-03  9.94763885e-01  3.35188047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.04, Y:-3.27, Z:3.36
[[ 9.90713710e-01  9.03757530e-02 -1.01580350e-01  3.40440729e+01]
 [-8.96973322e-02  9.95905690e-01  1.12359308e-02 -3.26823162e+00]
 [ 1.02179904e-01 -2.02010426e-03  9.94763885e-01  3.35640819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.221052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.11, Y:-3.27, Z:3.36
[[ 9.90341192e-01  9.43715421e-02 -1.01579210e-01  3.41058219e+01]
 [-9.37130148e-02  9.95535732e-01  1.12462335e-02 -3.27303470e+00]
 [ 1.02187057e-01 -1.61831431e-03  9.94763885e-01  3.36049094e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.28105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.17, Y:-3.28, Z:3.37
[[ 9.89980117e-01  9.80895730e-02 -1.01576588e-01  3.41670876e+01]
 [-9.74481317e-02  9.95176794e-01  1.12698610e-02 -3.28034005e+00]
 [ 1.02192119e-01 -1.25848956e-03  9.94763885e-01  3.36626832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.23, Y:-3.29, Z:3.37
[[ 9.90201002e-01  9.58368793e-02 -1.01573955e-01  3.42281283e+01]
 [-9.51811867e-02  9.95395900e-01  1.12935477e-02 -3.28602478e+00]
 [ 1.02188636e-01 -1.51495269e-03  9.94763885e-01  3.37125445e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.401052754000006 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:34.29, Y:-3.30, Z:3.38
[[ 9.90740567e-01  9.00884907e-02 -1.01573582e-01  3.42876727e+01]
 [-8.94023163e-02  9.95931527e-01  1.12968991e-02 -3.29616231e+00]
 [ 1.02178053e-01 -2.11138272e-03  9.94763885e-01  3.38078505e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.35, Y:-3.30, Z:3.39
[[ 9.90867888e-01  8.86773615e-02 -1.01573389e-01  3.43473825e+01]
 [-8.79836168e-02  9.96057842e-01  1.12986359e-02 -3.30330878e+00]
 [ 1.02174903e-01 -2.25866135e-03  9.94763885e-01  3.39039084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.41, Y:-3.31, Z:3.40
[[ 9.90633117e-01  9.12628780e-02 -1.01573197e-01  3.44089970e+01]
 [-9.05825030e-02  9.95824840e-01  1.13003592e-02 -3.30787610e+00]
 [ 1.02180416e-01 -1.99375562e-03  9.94763885e-01  3.39506093e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.581052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.47, Y:-3.31, Z:3.40
[[ 9.90480550e-01  9.29070076e-02 -1.01570505e-01  3.44706697e+01]
 [-9.22327756e-02  9.95673074e-01  1.13245035e-02 -3.31475076e+00]
 [ 1.02183143e-01 -1.84857090e-03  9.94763886e-01  3.40070715e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.64105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.53, Y:-3.32, Z:3.41
[[ 9.90262431e-01  9.52065783e-02 -1.01567832e-01  3.45302293e+01]
 [-9.45419512e-02  9.95456193e-01  1.13484311e-02 -3.32072058e+00]
 [ 1.02186772e-01 -1.63550404e-03  9.94763886e-01  3.40714662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.59, Y:-3.32, Z:3.41
[[ 9.89797774e-01  9.99216818e-02 -1.01567832e-01  3.45925028e+01]
 [-9.92817978e-02  9.94994642e-01  1.13484311e-02 -3.32441686e+00]
 [ 1.02193403e-01 -1.14881496e-03  9.94763886e-01  3.41158507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.761052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.65, Y:-3.33, Z:3.42
[[ 9.90259764e-01  9.52371592e-02 -1.01565171e-01  3.46517655e+01]
 [-9.45702562e-02  9.95453233e-01  1.13721909e-02 -3.33159224e+00]
 [ 1.02186433e-01 -1.65637880e-03  9.94763886e-01  3.41599672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.71, Y:-3.34, Z:3.42
[[ 9.91437221e-01  8.20777206e-02 -1.01565171e-01  3.47098694e+01]
 [-8.13419051e-02  9.96621376e-01  1.13721909e-02 -3.34383171e+00]
 [ 1.02155424e-01 -3.01330882e-03  9.94763886e-01  3.42422181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.77, Y:-3.35, Z:3.43
[[ 9.91589815e-01  8.02141973e-02 -1.01564366e-01  3.47699341e+01]
 [-7.94679043e-02  9.96772473e-01  1.13793765e-02 -3.35182866e+00]
 [ 1.02149352e-01 -3.21256654e-03  9.94763886e-01  3.43489320e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.941052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.83, Y:-3.36, Z:3.44
[[ 9.91550933e-01  8.06938579e-02 -1.01564013e-01  3.48306586e+01]
 [-7.99497498e-02  9.96733904e-01  1.13825256e-02 -3.35900820e+00]
 [ 1.02150795e-01 -3.16633647e-03  9.94763886e-01  3.44248540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.89, Y:-3.36, Z:3.44
[[ 9.91307774e-01  8.36289994e-02 -1.01563217e-01  3.48933578e+01]
 [-8.28995125e-02  9.96492824e-01  1.13896209e-02 -3.36293422e+00]
 [ 1.02159520e-01 -2.87107854e-03  9.94763886e-01  3.44038042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.06105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.95, Y:-3.37, Z:3.45
[[ 9.90077411e-01  9.71174308e-02 -1.01562422e-01  3.49519052e+01]
 [-9.64578760e-02  9.95271819e-01  1.13967142e-02 -3.37081403e+00]
 [ 1.02189036e-01 -1.48713388e-03  9.94763886e-01  3.44748361e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.01, Y:-3.38, Z:3.45
[[ 9.88936651e-01  1.08117216e-01 -1.01562633e-01  3.50124475e+01]
 [-1.07515637e-01  9.94138092e-01  1.13948300e-02 -3.37647719e+00]
 [ 1.02199259e-01 -3.49193895e-04  9.94763886e-01  3.45032809e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.07, Y:-3.38, Z:3.45
[[ 9.88888629e-01  1.08555717e-01 -1.01562468e-01  3.50736850e+01]
 [-1.07956294e-01  9.94090319e-01  1.13963029e-02 -3.38307946e+00]
 [ 1.02199400e-01 -3.05366785e-04  9.94763886e-01  3.45014158e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.13, Y:-3.40, Z:3.46
[[ 9.90074970e-01  9.71426640e-02 -1.01562085e-01  3.51315419e+01]
 [-9.64829344e-02  9.95269356e-01  1.13997091e-02 -3.39625650e+00]
 [ 1.02189029e-01 -1.48755863e-03  9.94763886e-01  3.46190154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.301052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.19, Y:-3.41, Z:3.47
[[ 9.90482992e-01  9.28909524e-02 -1.01561378e-01  3.51923339e+01]
 [-9.22082815e-02  9.95674413e-01  1.14060090e-02 -3.40535392e+00]
 [ 1.02181580e-01 -1.93265776e-03  9.94763886e-01  3.47066423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.25, Y:-3.42, Z:3.48
[[ 9.91407764e-01  8.24408763e-02 -1.01558589e-01  3.52505615e+01]
 [-8.17009625e-02  9.96591335e-01  1.14307846e-02 -3.41724861e+00]
 [ 1.02154774e-01 -3.03513411e-03  9.94763887e-01  3.48061059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.31, Y:-3.42, Z:3.48
[[ 9.91631157e-01  7.97099263e-02 -1.01557748e-01  3.53124096e+01]
 [-7.89549740e-02  9.96812559e-01  1.14382550e-02 -3.41960400e+00]
 [ 1.02145781e-01 -3.32404068e-03  9.94763887e-01  3.48426847e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.481052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.37, Y:-3.42, Z:3.49
[[ 9.91131331e-01  8.57044949e-02 -1.01555028e-01  3.53737647e+01]
 [-8.49784194e-02  9.96316859e-01  1.14623490e-02 -3.42174375e+00]
 [ 1.02163362e-01 -2.73070738e-03  9.94763887e-01  3.48890783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.43, Y:-3.42, Z:3.49
[[ 9.90142019e-01  9.64647009e-02 -1.01554633e-01  3.54339182e+01]
 [-9.57946322e-02  9.95335081e-01  1.14658503e-02 -3.42295961e+00]
 [ 1.02186939e-01 -1.62443147e-03  9.94763887e-01  3.49379564e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.50, Y:-3.42, Z:3.50
[[ 9.89559318e-01  1.02269319e-01 -1.01554633e-01  3.54965031e+01]
 [-1.01629714e-01  9.94756219e-01  1.14658503e-02 -3.42419522e+00]
 [ 1.02194708e-01 -1.02517072e-03  9.94763887e-01  3.49658199e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.661052754 meters
Centerline goodness : 0.999907 with order 1
Centerline is valid?  [True, True]
Translation: X:35.56, Y:-3.43, Z:3.50
[[ 9.89123539e-01  1.06404177e-01 -1.01551839e-01  3.55573190e+01]
 [-1.05783762e-01  9.94322766e-01  1.14905479e-02 -3.42741979e+00]
 [ 1.02197947e-01 -6.23035859e-04  9.94763887e-01  3.50352009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.721052754000006 meters
Centerline goodness : 0.999977 with order 1
Centerline is valid?  [True, True]
Translation: X:35.62, Y:-3.44, Z:3.51
[[ 9.89644656e-01  1.01445548e-01 -1.01549273e-01  3.56183462e+01]
 [-1.00796762e-01  9.94840419e-01  1.15131788e-02 -3.43574752e+00]
 [ 1.02193282e-01 -1.15811799e-03  9.94763888e-01  3.50899711e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.78105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.68, Y:-3.44, Z:3.51
[[ 9.90593752e-01  9.17166111e-02 -1.01548424e-01  3.56784281e+01]
 [-9.10160372e-02  9.95782785e-01  1.15206582e-02 -3.44325366e+00]
 [ 1.02176809e-01 -2.16975686e-03  9.94763888e-01  3.51455791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.841052754 meters
Centerline goodness : 0.999977 with order 1
Centerline is valid?  [True, True]
Translation: X:35.74, Y:-3.45, Z:3.52
[[ 9.91036784e-01  8.67990077e-02 -1.01548145e-01  3.57396344e+01]
 [-8.60724367e-02  9.96222241e-01  1.15231170e-02 -3.45297682e+00]
 [ 1.02164716e-01 -2.67933645e-03  9.94763888e-01  3.52033100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.901052754000006 meters
Centerline goodness : 0.999977 with order 1
Centerline is valid?  [True, True]
Translation: X:35.80, Y:-3.46, Z:3.53
[[ 9.90954085e-01  8.77390036e-02 -1.01547368e-01  3.58009134e+01]
 [-8.70166507e-02  9.96140132e-01  1.15299605e-02 -3.46004346e+00]
 [ 1.02167036e-01 -2.58934962e-03  9.94763888e-01  3.52648148e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.86, Y:-3.47, Z:3.53
[[ 9.90276739e-01  9.50824256e-02 -1.01544633e-01  3.58616715e+01]
 [-9.43960717e-02  9.95467672e-01  1.15540005e-02 -3.46815289e+00]
 [ 1.02182982e-01 -1.85624351e-03  9.94763888e-01  3.53330226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.021052754 meters
Centerline goodness : 0.999884 with order 1
Centerline is valid?  [True, True]
Translation: X:35.92, Y:-3.48, Z:3.54
[[ 9.89212903e-01  1.05577649e-01 -1.01544044e-01  3.59219003e+01]
 [-1.04945846e-01  9.94410758e-01  1.15591720e-02 -3.47547196e+00]
 [ 1.02196880e-01 -7.77856447e-04  9.94763888e-01  3.53587593e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.081052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.98, Y:-3.48, Z:3.54
[[ 9.87772216e-01  1.18300188e-01 -1.01543656e-01  3.59819289e+01]
 [-1.17734984e-01  9.92977734e-01  1.15625809e-02 -3.48173493e+00]
 [ 1.02198445e-01  5.34044588e-04  9.94763888e-01  3.53608463e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.14105275400001 meters
Centerline goodness : 0.999977 with order 1
Centerline is valid?  [True, True]
Translation: X:36.04, Y:-3.49, Z:3.54
[[ 9.87105973e-01  1.23736349e-01 -1.01543656e-01  3.60442228e+01]
 [-1.23199811e-01  9.92314523e-01  1.15625809e-02 -3.49196947e+00]
 [ 1.02193956e-01  1.09666655e-03  9.94763888e-01  3.53970970e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.10, Y:-3.50, Z:3.54
[[ 9.88016555e-01  1.16244607e-01 -1.01540528e-01  3.61039936e+01]
 [-1.15665756e-01  9.93220572e-01  1.15899874e-02 -3.50298276e+00]
 [ 1.02199415e-01  2.93662484e-04  9.94763888e-01  3.54362885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.17, Y:-3.51, Z:3.55
[[ 9.88995043e-01  1.07602815e-01 -1.01540329e-01  3.61653116e+01]
 [-1.06978314e-01  9.94193780e-01  1.15917274e-02 -3.51260271e+00]
 [ 1.02198066e-01 -6.01547749e-04  9.94763888e-01  3.55063961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.23, Y:-3.52, Z:3.56
[[ 9.89434301e-01  1.03488657e-01 -1.01537485e-01  3.62265314e+01]
 [-1.02839989e-01  9.94630078e-01  1.16165856e-02 -3.51588232e+00]
 [ 1.02194422e-01 -1.05173439e-03  9.94763889e-01  3.55848779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.29, Y:-3.52, Z:3.57
[[ 9.89599269e-01  1.01901975e-01 -1.01534592e-01  3.62865306e+01]
 [-1.01242387e-01  9.94793671e-01  1.16418198e-02 -3.52151940e+00]
 [ 1.02192294e-01 -1.24113188e-03  9.94763889e-01  3.56953368e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.441052754000005 meters
Centerline goodness : 0.999907 with order 1
Centerline is valid?  [True, True]
Translation: X:36.35, Y:-3.53, Z:3.57
[[ 9.89335111e-01  1.04438043e-01 -1.01531933e-01  3.63477945e+01]
 [-1.03789396e-01  9.94530889e-01  1.16649688e-02 -3.52639460e+00]
 [ 1.02194910e-01 -1.00262532e-03  9.94763889e-01  3.57299636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.41, Y:-3.53, Z:3.57
[[ 9.88760487e-01  1.09747413e-01 -1.01529327e-01  3.64089136e+01]
 [-1.09124343e-01  9.93959394e-01  1.16875998e-02 -3.53153330e+00]
 [ 1.02198713e-01 -4.76915780e-04  9.94763889e-01  3.57396216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.56105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.47, Y:-3.54, Z:3.58
[[ 9.88103330e-01  1.15514704e-01 -1.01529124e-01  3.64691933e+01]
 [-1.14921796e-01  9.93305763e-01  1.16893683e-02 -3.53767502e+00]
 [ 1.02199758e-01  1.17605546e-04  9.94763889e-01  3.57849070e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.621052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.53, Y:-3.55, Z:3.59
[[ 9.87267339e-01  1.22454563e-01 -1.01528720e-01  3.65293214e+01]
 [-1.21897863e-01  9.92473772e-01  1.16928792e-02 -3.54939739e+00]
 [ 1.02196438e-01  8.32136214e-04  9.94763889e-01  3.59125636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.68105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.59, Y:-3.56, Z:3.60
[[ 9.88051440e-01  1.15960513e-01 -1.01525911e-01  3.65889248e+01]
 [-1.15367092e-01  9.93253815e-01  1.17172117e-02 -3.55874130e+00]
 [ 1.02199733e-01  1.35541180e-04  9.94763890e-01  3.59862128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.65, Y:-3.57, Z:3.61
[[ 9.88894750e-01  1.08536574e-01 -1.01523324e-01  3.66494501e+01]
 [-1.07901801e-01  9.94092241e-01  1.17395835e-02 -3.56923583e+00]
 [ 1.02197723e-01 -6.54663024e-04  9.94763890e-01  3.60585329e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.801052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.71, Y:-3.58, Z:3.61
[[ 9.89545401e-01  1.02437701e-01 -1.01520527e-01  3.67109395e+01]
 [-1.01768420e-01  9.94738560e-01  1.17637212e-02 -3.57963882e+00]
 [ 1.02191432e-01 -1.30915255e-03  9.94763890e-01  3.60927764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.861052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.77, Y:-3.58, Z:3.61
[[ 9.89331191e-01  1.04487037e-01 -1.01519724e-01  3.67712745e+01]
 [-1.03827803e-01  9.94525635e-01  1.17706524e-02 -3.58189038e+00]
 [ 1.02193848e-01 -1.10450368e-03  9.94763890e-01  3.61491899e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.92105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.83, Y:-3.59, Z:3.62
[[ 9.89162755e-01  1.06069934e-01 -1.01519524e-01  3.68330398e+01]
 [-1.05418836e-01  9.94358225e-01  1.17723753e-02 -3.58598638e+00]
 [ 1.02195469e-01 -9.42725186e-04  9.94763890e-01  3.61953965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.981052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.89, Y:-3.59, Z:3.63
[[ 9.88990388e-01  1.07665945e-01 -1.01518746e-01  3.68928525e+01]
 [-1.07022542e-01  9.94186818e-01  1.17790829e-02 -3.59058171e+00]
 [ 1.02196805e-01 -7.84605466e-04  9.94763890e-01  3.62674793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.041052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.95, Y:-3.59, Z:3.63
[[ 9.88951317e-01  1.08024422e-01 -1.01518554e-01  3.69540478e+01]
 [-1.07382734e-01  9.94147958e-01  1.17807337e-02 -3.59304422e+00]
 [ 1.02197070e-01 -7.49232244e-04  9.94763890e-01  3.63300839e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.01, Y:-3.60, Z:3.64
[[ 9.88574401e-01  1.11421351e-01 -1.01518152e-01  3.70149787e+01]
 [-1.10797164e-01  9.93773174e-01  1.17841972e-02 -3.59696273e+00]
 [ 1.02199027e-01 -4.01632324e-04  9.94763890e-01  3.63767680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.08, Y:-3.60, Z:3.65
[[ 9.88866515e-01  1.08798717e-01 -1.01517753e-01  3.70754612e+01]
 [-1.08160389e-01  9.94063570e-01  1.17876373e-02 -3.60377714e+00]
 [ 1.02197580e-01 -6.76200197e-04  9.94763890e-01  3.64501737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.221052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.14, Y:-3.61, Z:3.65
[[ 9.89212826e-01  1.05606097e-01 -1.01515209e-01  3.71366433e+01]
 [-1.04948752e-01  9.94407510e-01  1.18095004e-02 -3.61119858e+00]
 [ 1.02194642e-01 -1.02821468e-03  9.94763891e-01  3.65272311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.28105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.20, Y:-3.62, Z:3.66
[[ 9.90478936e-01  9.29876564e-02 -1.01512427e-01  3.71963596e+01]
 [-9.22617018e-02  9.95664476e-01  1.18333690e-02 -3.61928124e+00]
 [ 1.02172675e-01 -2.35499350e-03  9.94763891e-01  3.66232984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.26, Y:-3.63, Z:3.67
[[ 9.91048314e-01  8.67092860e-02 -1.01512264e-01  3.72576011e+01]
 [-8.59503425e-02  9.96229129e-01  1.18347708e-02 -3.62577932e+00]
 [ 1.02155658e-01 -3.00381580e-03  9.94763891e-01  3.66876421e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.401052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.32, Y:-3.63, Z:3.68
[[ 9.90649156e-01  9.11598001e-02 -1.01509317e-01  3.73178723e+01]
 [-9.04215519e-02  9.95832960e-01  1.18599908e-02 -3.63190857e+00]
 [ 1.02167478e-01 -2.57045986e-03  9.94763891e-01  3.67560832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.38, Y:-3.63, Z:3.68
[[ 9.89381616e-01  1.04021268e-01 -1.01506617e-01  3.73782607e+01]
 [-1.03348057e-01  9.94574267e-01  1.18830583e-02 -3.63333912e+00]
 [ 1.02191960e-01 -1.26636787e-03  9.94763891e-01  3.67703811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.44, Y:-3.64, Z:3.68
[[ 9.86818551e-01  1.26037918e-01 -1.01506601e-01  3.74402635e+01]
 [-1.25480547e-01  9.92024910e-01  1.18831933e-02 -3.63762104e+00]
 [ 1.02194809e-01  1.01054820e-03  9.94763891e-01  3.68112507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.581052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.50, Y:-3.64, Z:3.69
[[ 9.85361397e-01  1.36966855e-01 -1.01503684e-01  3.75002943e+01]
 [-1.36464659e-01  9.90573367e-01  1.19080598e-02 -3.64408416e+00]
 [ 1.02177855e-01  2.11792307e-03  9.94763892e-01  3.68552423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.64105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.56, Y:-3.65, Z:3.69
[[ 9.85187058e-01  1.38215427e-01 -1.01503477e-01  3.75606306e+01]
 [-1.37719655e-01  9.90399643e-01  1.19098168e-02 -3.65342582e+00]
 [ 1.02175128e-01  2.24562654e-03  9.94763892e-01  3.69140391e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.62, Y:-3.67, Z:3.70
[[ 9.85850871e-01  1.33398597e-01 -1.01503074e-01  3.76204393e+01]
 [-1.32877000e-01  9.91060935e-01  1.19132520e-02 -3.66900335e+00]
 [ 1.02184943e-01  1.74273409e-03  9.94763892e-01  3.70107892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.761052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.68, Y:-3.68, Z:3.71
[[ 9.87327082e-01  1.21995625e-01 -1.01500251e-01  3.76781257e+01]
 [-1.21411380e-01  9.92530493e-01  1.19372609e-02 -3.68385292e+00]
 [ 1.02198387e-01  5.37304495e-04  9.94763892e-01  3.71060036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.74, Y:-3.70, Z:3.72
[[ 9.88458580e-01  1.12460350e-01 -1.01500269e-01  3.77394641e+01]
 [-1.11825925e-01  9.93656112e-01  1.19371035e-02 -3.69519432e+00]
 [ 1.02198814e-01 -4.48970929e-04  9.94763892e-01  3.71533238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.80, Y:-3.71, Z:3.72
[[ 9.89385893e-01  1.03989455e-01 -1.01497527e-01  3.77986301e+01]
 [-1.03308146e-01  9.94577486e-01  1.19603746e-02 -3.70737557e+00]
 [ 1.02190908e-01 -1.34790459e-03  9.94763892e-01  3.71870039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.941052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.86, Y:-3.71, Z:3.73
[[ 9.89708153e-01  1.00876792e-01 -1.01497019e-01  3.78596595e+01]
 [-1.00178714e-01  9.94897518e-01  1.19646868e-02 -3.71407328e+00]
 [ 1.02186091e-01 -1.67370719e-03  9.94763892e-01  3.72777112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.92, Y:-3.72, Z:3.73
[[ 9.89977765e-01  9.81964695e-02 -1.01496195e-01  3.79214000e+01]
 [-9.74836264e-02  9.95165123e-01  1.19716707e-02 -3.71716248e+00]
 [ 1.02181049e-01 -1.95747065e-03  9.94763892e-01  3.72958042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.06105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.98, Y:-3.72, Z:3.73
[[ 9.90152157e-01  9.64225611e-02 -1.01495788e-01  3.79827762e+01]
 [-9.57000715e-02  9.95338180e-01  1.19751193e-02 -3.71891104e+00]
 [ 1.02177304e-01 -2.14403607e-03  9.94763892e-01  3.73222540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.04, Y:-3.73, Z:3.74
[[ 9.90191195e-01  9.60210510e-02 -1.01495588e-01  3.80443076e+01]
 [-9.52962854e-02  9.95376900e-01  1.19768095e-02 -3.72521073e+00]
 [ 1.02176390e-01 -2.18717872e-03  9.94763892e-01  3.74235252e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.11, Y:-3.73, Z:3.75
[[ 9.90375964e-01  9.40996283e-02 -1.01492412e-01  3.81052046e+01]
 [-9.33620518e-02  9.95559862e-01  1.20036647e-02 -3.73135517e+00]
 [ 1.02171312e-01 -2.41260116e-03  9.94763893e-01  3.75244280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.17, Y:-3.74, Z:3.76
[[ 9.89982804e-01  9.81525374e-02 -1.01489546e-01  3.81660106e+01]
 [-9.74337071e-02  9.95169334e-01  1.20278471e-02 -3.73771042e+00]
 [ 1.02179848e-01 -2.01885903e-03  9.94763893e-01  3.75824659e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.301052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.23, Y:-3.75, Z:3.77
[[ 9.89160570e-01  1.06121496e-01 -1.01486915e-01  3.82262917e+01]
 [-1.05442182e-01  9.94352424e-01  1.20500066e-02 -3.74605709e+00]
 [ 1.02192525e-01 -1.21838966e-03  9.94763893e-01  3.76702894e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.29, Y:-3.75, Z:3.77
[[ 9.88268645e-01  1.14129635e-01 -1.01486506e-01  3.82857015e+01]
 [-1.13492040e-01  9.93465788e-01  1.20534549e-02 -3.75265081e+00]
 [ 1.02199028e-01 -3.94141000e-04  9.94763893e-01  3.77334104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.35, Y:-3.76, Z:3.78
[[ 9.87373367e-01  1.21631903e-01 -1.01486522e-01  3.83471139e+01]
 [-1.21033811e-01  9.92575203e-01  1.20533147e-02 -3.75978352e+00]
 [ 1.02199073e-01  3.82178718e-04  9.94763893e-01  3.78022121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.481052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.41, Y:-3.77, Z:3.79
[[ 9.87646804e-01  1.19393691e-01 -1.01483676e-01  3.84076031e+01]
 [-1.18781353e-01  9.92846982e-01  1.20772326e-02 -3.77134500e+00]
 [ 1.02199707e-01  1.26328199e-04  9.94763894e-01  3.78726674e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.47, Y:-3.78, Z:3.79
[[ 9.88465414e-01  1.12417875e-01 -1.01480766e-01  3.84678189e+01]
 [-1.11766334e-01  9.93660826e-01  1.21016338e-02 -3.78252145e+00]
 [ 1.02197902e-01 -6.19913251e-04  9.94763894e-01  3.79058056e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.53, Y:-3.79, Z:3.80
[[ 9.88883796e-01  1.08676473e-01 -1.01480356e-01  3.85277283e+01]
 [-1.08004923e-01  9.94076659e-01  1.21050723e-02 -3.79446719e+00]
 [ 1.02194790e-01 -1.01013175e-03  9.94763894e-01  3.79827708e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.59, Y:-3.80, Z:3.80
[[ 9.89033995e-01  1.07301349e-01 -1.01479935e-01  3.85902322e+01]
 [-1.06622217e-01  9.94225872e-01  1.21086013e-02 -3.79731614e+00]
 [ 1.02193246e-01 -1.15580272e-03  9.94763894e-01  3.80161493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.65, Y:-3.80, Z:3.81
[[ 9.89401308e-01  1.03861915e-01 -1.01477851e-01  3.86507619e+01]
 [-1.03162947e-01  9.94590552e-01  1.21260395e-02 -3.80048057e+00]
 [ 1.02188346e-01 -1.52876513e-03  9.94763894e-01  3.80613299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.78105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.71, Y:-3.81, Z:3.82
[[ 9.89907214e-01  9.89263055e-02 -1.01475584e-01  3.87118915e+01]
 [-9.81995256e-02  9.95092635e-01  1.21449828e-02 -3.80775934e+00]
 [ 1.02179065e-01 -2.05755187e-03  9.94763894e-01  3.81723886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.77, Y:-3.81, Z:3.82
[[ 9.89940339e-01  9.85971918e-02 -1.01472747e-01  3.87734396e+01]
 [-9.78662640e-02  9.95125177e-01  1.21686409e-02 -3.80838217e+00]
 [ 1.02177879e-01 -2.11546989e-03  9.94763894e-01  3.82078622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.901052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.83, Y:-3.81, Z:3.83
[[ 9.88613258e-01  1.11119904e-01 -1.01470156e-01  3.88335328e+01]
 [-1.10452451e-01  9.93806649e-01  1.21902101e-02 -3.81363696e+00]
 [ 1.02196290e-01 -8.43775933e-04  9.94763895e-01  3.82843323e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.96105275400001 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:38.90, Y:-3.82, Z:3.83
[[ 9.86502535e-01  1.28516819e-01 -1.01470075e-01  3.88952364e+01]
 [-1.27940880e-01  9.91706869e-01  1.21908823e-02 -3.81630644e+00]
 [ 1.02195304e-01  9.55834314e-04  9.94763895e-01  3.83475778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.95, Y:-3.83, Z:3.85
[[ 9.85948134e-01  1.32705275e-01 -1.01467171e-01  3.89544194e+01]
 [-1.32148961e-01  9.91154602e-01  1.22150073e-02 -3.82644377e+00]
 [ 1.02190649e-01  1.36541753e-03  9.94763895e-01  3.84641494e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.081052754000005 meters
Centerline goodness : 0.999907 with order 1
Centerline is valid?  [True, True]
Translation: X:39.02, Y:-3.84, Z:3.85
[[ 9.86735765e-01  1.26718135e-01 -1.01464499e-01  3.90155433e+01]
 [-1.26127951e-01  9.91938502e-01  1.22371619e-02 -3.83809212e+00]
 [ 1.02197213e-01  7.22663954e-04  9.94763895e-01  3.85338984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.08, Y:-3.85, Z:3.86
[[ 9.87179398e-01  1.23215098e-01 -1.01463671e-01  3.90778005e+01]
 [-1.22605746e-01  9.92379925e-01  1.22440235e-02 -3.84656519e+00]
 [ 1.02199159e-01  3.52981260e-04  9.94763895e-01  3.85965086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.201052754 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:39.14, Y:-3.86, Z:3.87
[[ 9.88840910e-01  1.09084656e-01 -1.01460304e-01  3.91381278e+01]
 [-1.08398137e-01  9.94031813e-01  1.22718628e-02 -3.85797639e+00]
 [ 1.02193442e-01 -1.13681216e-03  9.94763896e-01  3.86692281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.261052754000005 meters
Centerline goodness : 0.999906 with order 1
Centerline is valid?  [True, True]
Translation: X:39.20, Y:-3.87, Z:3.87
[[ 9.90264287e-01  9.53050488e-02 -1.01457329e-01  3.91982967e+01]
 [-9.45438019e-02  9.95444759e-01  1.22964078e-02 -3.86903834e+00]
 [ 1.02167076e-01 -2.58453190e-03  9.94763896e-01  3.87266801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.32105275400001 meters
Centerline goodness : 0.999836 with order 1
Centerline is valid?  [True, True]
Translation: X:39.26, Y:-3.87, Z:3.88
[[ 9.90992288e-01  8.74115640e-02 -1.01456907e-01  3.92596704e+01]
 [-8.66087070e-02  9.96166474e-01  1.22998904e-02 -3.87152367e+00]
 [ 1.02143122e-01 -3.40204499e-03  9.94763896e-01  3.87597704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.38105275400001 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:39.32, Y:-3.88, Z:3.88
[[ 9.91383039e-01  8.28628451e-02 -1.01456483e-01  3.93199276e+01]
 [-8.20358947e-02  9.96553430e-01  1.23033817e-02 -3.87706571e+00]
 [ 1.02126300e-01 -3.87429055e-03  9.94763896e-01  3.88424263e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.441052754000005 meters
Centerline goodness : 0.999721 with order 1
Centerline is valid?  [True, True]
Translation: X:39.38, Y:-3.88, Z:3.89
[[ 9.91004127e-01  8.72779619e-02 -1.01456287e-01  3.93797783e+01]
 [-8.64738851e-02  9.96178124e-01  1.23049971e-02 -3.87672913e+00]
 [ 1.02142489e-01 -3.42098354e-03  9.94763896e-01  3.89137684e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.50105275400001 meters
Centerline goodness : 0.999675 with order 1
Centerline is valid?  [True, True]
Translation: X:39.44, Y:-3.88, Z:3.90
[[ 9.90584083e-01  9.19227492e-02 -1.01456306e-01  3.94417393e+01]
 [-9.11429524e-02  9.95761795e-01  1.23048419e-02 -3.87822890e+00]
 [ 1.02157409e-01 -2.94195325e-03  9.94763896e-01  3.89828846e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.56105275400001 meters
Centerline goodness : 0.999745 with order 1
Centerline is valid?  [True, True]
Translation: X:39.50, Y:-3.88, Z:3.91
[[ 9.90023363e-01  9.77801283e-02 -1.01453372e-01  3.95039270e+01]
 [-9.70284964e-02  9.95205239e-01  1.23289896e-02 -3.88421835e+00]
 [ 1.02172457e-01 -2.36211963e-03  9.94763896e-01  3.90829800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.621052754000004 meters
Centerline goodness : 0.999793 with order 1
Centerline is valid?  [True, True]
Translation: X:39.56, Y:-3.88, Z:3.91
[[ 9.89228790e-01  1.05519214e-01 -1.01449972e-01  3.95647316e+01]
 [-1.04805266e-01  9.94415991e-01  1.23568988e-02 -3.88372867e+00]
 [ 1.02187365e-01 -1.59130869e-03  9.94763897e-01  3.90956799e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.68105275400001 meters
Centerline goodness : 0.999839 with order 1
Centerline is valid?  [True, True]
Translation: X:39.62, Y:-3.89, Z:3.92
[[ 9.88518132e-01  1.11981277e-01 -1.01449965e-01  3.96244512e+01]
 [-1.11301236e-01  9.93709888e-01  1.23569557e-02 -3.89218300e+00]
 [ 1.02195581e-01 -9.23568226e-04  9.94763897e-01  3.92169717e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.74105275400001 meters
Centerline goodness : 0.999839 with order 1
Centerline is valid?  [True, True]
Translation: X:39.68, Y:-3.90, Z:3.92
[[ 9.87961451e-01  1.16791106e-01 -1.01449543e-01  3.96844011e+01]
 [-1.16135985e-01  9.93156409e-01  1.23604215e-02 -3.89627367e+00]
 [ 1.02198851e-01 -4.29677376e-04  9.94763897e-01  3.92175440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.801052754000004 meters
Centerline goodness : 0.999793 with order 1
Centerline is valid?  [True, True]
Translation: X:39.75, Y:-3.90, Z:3.93
[[ 9.87429538e-01  1.21206016e-01 -1.01449543e-01  3.97465573e+01]
 [-1.20574122e-01  9.92627373e-01  1.23604215e-02 -3.90134334e+00]
 [ 1.02199751e-01  2.71443027e-05  9.94763897e-01  3.92811698e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.861052754000006 meters
Centerline goodness : 0.999793 with order 1
Centerline is valid?  [True, True]
Translation: X:39.81, Y:-3.91, Z:3.94
[[ 9.87212097e-01  1.22965392e-01 -1.01448454e-01  3.98056753e+01]
 [-1.22341844e-01  9.92410939e-01  1.23693564e-02 -3.91213893e+00]
 [ 1.02199558e-01  2.00212536e-04  9.94763897e-01  3.93810017e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.92105275400001 meters
Centerline goodness : 0.999701 with order 1
Centerline is valid?  [True, True]
Translation: X:39.87, Y:-3.92, Z:3.94
[[ 9.87668176e-01  1.19247112e-01 -1.01448022e-01  3.98653177e+01]
 [-1.18603627e-01  9.92864588e-01  1.23728989e-02 -3.91674614e+00]
 [ 1.02199581e-01 -1.88215137e-04  9.94763897e-01  3.94358047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.981052754000004 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:39.93, Y:-3.93, Z:3.95
[[ 9.88978536e-01  1.07841535e-01 -1.01447813e-01  3.99269271e+01]
 [-1.07137951e-01  9.94167153e-01  1.23746135e-02 -3.92546568e+00]
 [ 1.02190580e-01 -1.36931632e-03  9.94763897e-01  3.94861211e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.041052754000006 meters
Centerline goodness : 0.999861 with order 1
Centerline is valid?  [True, True]
Translation: X:39.99, Y:-3.93, Z:3.96
[[ 9.90319051e-01  9.47476223e-02 -1.01444884e-01  3.99862968e+01]
 [-9.39730008e-02  9.95497539e-01  1.23985734e-02 -3.93491088e+00]
 [ 1.02162868e-01 -2.74546326e-03  9.94763897e-01  3.95773744e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.10105275400001 meters
Centerline goodness : 0.999816 with order 1
Centerline is valid?  [True, True]
Translation: X:40.05, Y:-3.94, Z:3.97
[[ 9.90839683e-01  8.91385795e-02 -1.01444742e-01  4.00456648e+01]
 [-8.83345289e-02  9.96013683e-01  1.23997380e-02 -3.94048862e+00]
 [ 1.02145646e-01 -3.32507904e-03  9.94763897e-01  3.96685428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.161052754 meters
Centerline goodness : 0.999816 with order 1
Centerline is valid?  [True, True]
Translation: X:40.11, Y:-3.95, Z:3.98
[[ 9.90440969e-01  9.34649305e-02 -1.01444535e-01  4.01053938e+01]
 [-9.26833106e-02  9.95618405e-01  1.24014280e-02 -3.94527962e+00]
 [ 1.02159145e-01 -2.88066700e-03  9.94763897e-01  3.97545238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.221052754000006 meters
Centerline goodness : 0.999840 with order 1
Centerline is valid?  [True, True]
Translation: X:40.17, Y:-3.95, Z:3.98
[[ 9.89505554e-01  1.02896869e-01 -1.01444535e-01  4.01663835e+01]
 [-1.02164611e-01  9.94690201e-01  1.24014280e-02 -3.94686653e+00]
 [ 1.02181953e-01 -1.90724037e-03  9.94763897e-01  3.97968421e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.28105275400001 meters
Centerline goodness : 0.999932 with order 1
Centerline is valid?  [True, True]
Translation: X:40.23, Y:-3.95, Z:3.98
[[ 9.88595538e-01  1.11300896e-01 -1.01444430e-01  4.02281749e+01]
 [-1.10612630e-01  9.93786209e-01  1.24022886e-02 -3.94782257e+00]
 [ 1.02194461e-01 -1.03981196e-03  9.94763897e-01  3.98274047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.341052754 meters
Centerline goodness : 0.999751 with order 1
Centerline is valid?  [True, True]
Translation: X:40.29, Y:-3.95, Z:3.99
[[ 9.87990324e-01  1.16552930e-01 -1.01442273e-01  4.02891690e+01]
 [-1.15890449e-01  9.93184348e-01  1.24199046e-02 -3.95439836e+00]
 [ 1.02198454e-01 -5.14554958e-04  9.94763897e-01  3.98894437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.401052754000006 meters
Centerline goodness : 0.999818 with order 1
Centerline is valid?  [True, True]
Translation: X:40.35, Y:-3.96, Z:4.00
[[ 9.88712960e-01  1.10255519e-01 -1.01441625e-01  4.03508034e+01]
 [-1.09559415e-01  9.93902585e-01  1.24251937e-02 -3.96131995e+00]
 [ 1.02193040e-01 -1.17106486e-03  9.94763897e-01  3.99577446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.46105275400001 meters
Centerline goodness : 0.999931 with order 1
Centerline is valid?  [True, True]
Translation: X:40.41, Y:-3.97, Z:4.00
[[ 9.90272975e-01  9.52349394e-02 -1.01438362e-01  4.04092296e+01]
 [-9.44574196e-02  9.95451028e-01  1.24517825e-02 -3.97185557e+00]
 [ 1.02162766e-01 -2.74905776e-03  9.94763898e-01  4.00075673e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.521052754 meters
Centerline goodness : 0.999863 with order 1
Centerline is valid?  [True, True]
Translation: X:40.47, Y:-3.98, Z:4.01
[[ 9.91279021e-01  8.41204187e-02 -1.01437951e-01  4.04691720e+01]
 [-8.32845209e-02  9.96447971e-01  1.24551231e-02 -3.98037907e+00]
 [ 1.02125371e-01 -3.89829101e-03  9.94763898e-01  4.01007604e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.581052754000005 meters
Centerline goodness : 0.999954 with order 1
Centerline is valid?  [True, True]
Translation: X:40.53, Y:-3.99, Z:4.02
[[ 9.91605477e-01  8.01808178e-02 -1.01437738e-01  4.05286580e+01]
 [-7.93242100e-02  9.96771035e-01  1.24568605e-02 -3.98527456e+00]
 [ 1.02109000e-01 -4.30582262e-03  9.94763898e-01  4.01936970e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.64105275400001 meters
Centerline goodness : 0.999932 with order 1
Centerline is valid?  [True, True]
Translation: X:40.59, Y:-3.99, Z:4.03
[[ 9.91408196e-01  8.25846995e-02 -1.01437448e-01  4.05899143e+01]
 [-8.17403763e-02  9.96575777e-01  1.24592253e-02 -3.98926188e+00]
 [ 1.02119045e-01 -4.06064299e-03  9.94763898e-01  4.02666688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.65, Y:-3.99, Z:4.03
[[ 9.90643251e-01  9.13048753e-02 -1.01436524e-01  4.06504330e+01]
 [-9.05052851e-02  9.95817942e-01  1.24667434e-02 -3.99089730e+00]
 [ 1.02150585e-01 -3.16955373e-03  9.94763898e-01  4.03029907e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.761052754000005 meters
Centerline goodness : 0.999978 with order 1
Centerline is valid?  [True, True]
Translation: X:40.71, Y:-3.99, Z:4.03
[[ 9.89364374e-01  1.04253495e-01 -1.01436404e-01  4.07098845e+01]
 [-1.03521552e-01  9.94549066e-01  1.24677153e-02 -3.99446137e+00]
 [ 1.02183284e-01 -1.83425932e-03  9.94763898e-01  4.03412529e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.77, Y:-4.00, Z:4.04
[[ 9.88151816e-01  1.15180719e-01 -1.01436630e-01  4.07713007e+01]
 [-1.14506307e-01  9.93344305e-01  1.24658778e-02 -3.99783557e+00]
 [ 1.02197327e-01 -7.03045893e-04  9.94763898e-01  4.03698215e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.88105275400001 meters
Centerline goodness : 0.999955 with order 1
Centerline is valid?  [True, True]
Translation: X:40.83, Y:-4.01, Z:4.04
[[ 9.88085675e-01  1.15746931e-01 -1.01436417e-01  4.08319927e+01]
 [-1.15075316e-01  9.93278526e-01  1.24676073e-02 -4.00654965e+00]
 [ 1.02197702e-01 -6.46236297e-04  9.94763898e-01  4.04387999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.941052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.89, Y:-4.02, Z:4.05
[[ 9.88586730e-01  1.11388966e-01 -1.01433597e-01  4.08918640e+01]
 [-1.10692111e-01  9.93776254e-01  1.24905154e-02 -4.01752656e+00]
 [ 1.02193605e-01 -1.12005892e-03  9.94763898e-01  4.05207811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.95, Y:-4.03, Z:4.06
[[ 9.88714169e-01  1.10252469e-01 -1.01433156e-01  4.09521010e+01]
 [-1.09549281e-01  9.93902839e-01  1.24940908e-02 -4.02552134e+00]
 [ 1.02192206e-01 -1.24115529e-03  9.94763898e-01  4.05936540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.06105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.01, Y:-4.04, Z:4.06
[[ 9.88395031e-01  1.13077944e-01 -1.01432936e-01  4.10126729e+01]
 [-1.12389407e-01  9.93585665e-01  1.24958748e-02 -4.03506896e+00]
 [ 1.02195319e-01 -9.50872967e-04  9.94763898e-01  4.06460115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.07, Y:-4.05, Z:4.07
[[ 9.87201681e-01  1.23064455e-01 -1.01429685e-01  4.10721509e+01]
 [-1.22425723e-01  9.92398678e-01  1.25222104e-02 -4.04581539e+00]
 [ 1.02199724e-01  5.56553757e-05  9.94763898e-01  4.06912225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.13, Y:-4.06, Z:4.07
[[ 9.85397606e-01  1.36761177e-01 -1.01429475e-01  4.11320135e+01]
 [-1.36194497e-01  9.90602953e-01  1.25239136e-02 -4.05642995e+00]
 [ 1.02189122e-01  1.47310184e-03  9.94763898e-01  4.07385820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.19, Y:-4.07, Z:4.08
[[ 9.83742009e-01  1.48201776e-01 -1.01429257e-01  4.11900099e+01]
 [-1.47695437e-01  9.88953571e-01  1.25256793e-02 -4.07035134e+00]
 [ 1.02165154e-01  2.65860142e-03  9.94763898e-01  4.07773192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.301052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.25, Y:-4.09, Z:4.08
[[ 9.82424479e-01  1.56697786e-01 -1.01429517e-01  4.12498592e+01]
 [-1.56236721e-01  9.87640242e-01  1.25235712e-02 -4.09016253e+00]
 [ 1.02138289e-01  3.54355228e-03  9.94763898e-01  4.07948495e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.31, Y:-4.11, Z:4.09
[[ 9.83375070e-01  1.50619054e-01 -1.01426684e-01  4.13086501e+01]
 [-1.50123381e-01  9.88587657e-01  1.25464731e-02 -4.11160668e+00]
 [ 1.02158906e-01  2.88862787e-03  9.94763899e-01  4.08907367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.42105275400001 meters
Centerline goodness : 0.999789 with order 1
Centerline is valid?  [True, True]
Translation: X:41.37, Y:-4.13, Z:4.10
[[ 9.85725753e-01  1.34380160e-01 -1.01423429e-01  4.13660877e+01]
 [-1.33795884e-01  9.90929154e-01  1.25727320e-02 -4.13411967e+00]
 [ 1.02192958e-01  1.17677165e-03  9.94763899e-01  4.09784721e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.481052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.43, Y:-4.15, Z:4.11
[[ 9.88072037e-01  1.15874867e-01 -1.01423195e-01  4.14251093e+01]
 [-1.15192940e-01  9.93263543e-01  1.25746186e-02 -4.15314231e+00]
 [ 1.02197044e-01 -7.41392960e-04  9.94763899e-01  4.10543832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.48, Y:-4.16, Z:4.12
[[ 9.88740058e-01  1.10029640e-01 -1.01422762e-01  4.14843740e+01]
 [-1.09316666e-01  9.93927391e-01  1.25781094e-02 -4.16174652e+00]
 [ 1.02190826e-01 -1.34928245e-03  9.94763899e-01  4.11696150e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.54, Y:-4.17, Z:4.13
[[ 9.91011646e-01  8.72317904e-02 -1.01422541e-01  4.15439997e+01]
 [-8.63993688e-02  9.96181156e-01  1.25798963e-02 -4.16843803e+00]
 [ 1.02132591e-01 -3.70398026e-03  9.94763899e-01  4.13036935e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.60, Y:-4.17, Z:4.13
[[ 9.92450429e-01  6.89613944e-02 -1.01422244e-01  4.16044610e+01]
 [-6.80336422e-02  9.97603684e-01  1.25822859e-02 -4.17211434e+00]
 [ 1.02046896e-01 -5.58717039e-03  9.94763899e-01  4.13293074e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.67, Y:-4.17, Z:4.13
[[ 9.93317504e-01  5.50809393e-02 -1.01422024e-01  4.16660036e+01]
 [-5.40810591e-02  9.98457250e-01  1.25840578e-02 -4.16875141e+00]
 [ 1.01958697e-01 -7.01495441e-03  9.94763899e-01  4.13184114e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.78105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.73, Y:-4.17, Z:4.13
[[ 9.93622205e-01  4.92800323e-02 -1.01421852e-01  4.17276491e+01]
 [-4.82500173e-02  9.98755997e-01  1.25854457e-02 -4.16594748e+00]
 [ 1.01915894e-01 -7.61157216e-03  9.94763899e-01  4.13261532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.79, Y:-4.16, Z:4.14
[[ 9.93497761e-01  5.17290214e-02 -1.01421433e-01  4.17903846e+01]
 [-5.07113205e-02  9.98634009e-01  1.25888246e-02 -4.16260263e+00]
 [ 1.01934099e-01 -7.36375431e-03  9.94763899e-01  4.13794067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.901052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.85, Y:-4.16, Z:4.15
[[ 9.93104413e-01  5.88042641e-02 -1.01418357e-01  4.18509496e+01]
 [-5.78206590e-02  9.98247299e-01  1.26135570e-02 -4.15845650e+00]
 [ 1.01982332e-01 -6.66250296e-03  9.94763899e-01  4.14586341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.91, Y:-4.16, Z:4.15
[[ 9.92459982e-01  6.88294923e-02 -1.01418367e-01  4.19110681e+01]
 [-6.78978781e-02  9.97612539e-01  1.26134714e-02 -4.15952714e+00]
 [ 1.02044414e-01 -5.63227364e-03  9.94763899e-01  4.15373537e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.97, Y:-4.16, Z:4.16
[[ 9.91808194e-01  7.76583238e-02 -1.01418396e-01  4.19731055e+01]
 [-7.67726208e-02  9.96968841e-01  1.26132421e-02 -4.15554509e+00]
 [ 1.02090504e-01 -4.72376084e-03  9.94763899e-01  4.15729453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.081052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.04, Y:-4.16, Z:4.16
[[ 9.91691464e-01  7.91352661e-02 -1.01418193e-01  4.20358202e+01]
 [-7.82570832e-02  9.96853396e-01  1.26148704e-02 -4.15531329e+00]
 [ 1.02097352e-01 -4.57336727e-03  9.94763899e-01  4.16260381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.10, Y:-4.15, Z:4.17
[[ 9.92535710e-01  6.77335218e-02 -1.01415158e-01  4.20967560e+01]
 [-6.67935956e-02  9.97686757e-01  1.26392240e-02 -4.15388699e+00]
 [ 1.02036659e-01 -5.77099812e-03  9.94763899e-01  4.17080709e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.20105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.16, Y:-4.15, Z:4.18
[[ 9.93118728e-01  5.85676630e-02 -1.01415088e-01  4.21577345e+01]
 [-5.75801662e-02  9.98260868e-01  1.26397830e-02 -4.15348363e+00]
 [ 1.01978997e-01 -6.71330757e-03  9.94763899e-01  4.17603134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.22, Y:-4.14, Z:4.18
[[ 9.93777654e-01  4.60540550e-02 -1.01414980e-01  4.22206487e+01]
 [-4.50017801e-02  9.98906929e-01  1.26406496e-02 -4.14234417e+00]
 [ 1.01886280e-01 -7.99814049e-03  9.94763899e-01  4.17759433e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.28, Y:-4.14, Z:4.19
[[ 9.93838367e-01  4.47247911e-02 -1.01414951e-01  4.22826749e+01]
 [-4.36656328e-02  9.98966226e-01  1.26408827e-02 -4.13697118e+00]
 [ 1.01875472e-01 -8.13464619e-03  9.94763899e-01  4.18511606e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.35, Y:-4.13, Z:4.19
[[ 9.93748081e-01  4.66888470e-02 -1.01414508e-01  4.23464461e+01]
 [-4.56394640e-02  9.98877949e-01  1.26444424e-02 -4.12984764e+00]
 [ 1.01891070e-01 -7.93688659e-03  9.94763899e-01  4.18880451e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.441052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.41, Y:-4.12, Z:4.20
[[ 9.93621727e-01  4.93111377e-02 -1.01411411e-01  4.24090887e+01]
 [-4.82727810e-02  9.98753838e-01  1.26692258e-02 -4.11762432e+00]
 [ 1.01909770e-01 -7.69300722e-03  9.94763900e-01  4.19512197e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.47, Y:-4.10, Z:4.20
[[ 9.93411584e-01  5.33777979e-02 -1.01411222e-01  4.24718929e+01]
 [-5.23603025e-02  9.98547871e-01  1.26707416e-02 -4.10154730e+00]
 [ 1.01940296e-01 -7.27733921e-03  9.94763900e-01  4.20177955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.56105275400001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:42.53, Y:-4.09, Z:4.21
[[ 9.93208831e-01  5.70261967e-02 -1.01411200e-01  4.25348007e+01]
 [-5.60275558e-02  9.98348817e-01  1.26709157e-02 -4.08874776e+00]
 [ 1.01966326e-01 -6.90304368e-03  9.94763900e-01  4.20545572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.621052754000004 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:42.60, Y:-4.08, Z:4.21
[[ 9.93133340e-01  5.83268939e-02 -1.01410764e-01  4.25976105e+01]
 [-5.73346306e-02  9.98274561e-01  1.26744062e-02 -4.08155682e+00]
 [ 1.01975045e-01 -6.77302661e-03  9.94763900e-01  4.20987979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.68105275400001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:42.66, Y:-4.07, Z:4.21
[[ 9.93158365e-01  5.79003990e-02 -1.01410092e-01  4.26610942e+01]
 [-5.69053819e-02  9.98299054e-01  1.26797787e-02 -4.07098291e+00]
 [ 1.01971763e-01 -6.82224823e-03  9.94763900e-01  4.21472640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.74105275400001 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:42.73, Y:-4.06, Z:4.22
[[ 9.93143490e-01  5.81604104e-02 -1.01406976e-01  4.27260229e+01]
 [-5.71642112e-02  9.98283950e-01  1.27046491e-02 -4.06076254e+00]
 [ 1.01971865e-01 -6.82068973e-03  9.94763900e-01  4.22039573e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.801052754000004 meters
Centerline goodness : 0.999793 with order 1
Centerline is valid?  [True, True]
Translation: X:42.79, Y:-4.05, Z:4.23
[[ 9.92898735e-01  6.22048240e-02 -1.01403463e-01  4.27887915e+01]
 [-6.12267227e-02  9.98042669e-01  1.27326327e-02 -4.05463645e+00]
 [ 1.01997014e-01 -6.43361323e-03  9.94763901e-01  4.22728653e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.861052754000006 meters
Centerline goodness : 0.999813 with order 1
Centerline is valid?  [True, True]
Translation: X:42.85, Y:-4.05, Z:4.23
[[ 9.92337053e-01  7.06025539e-02 -1.01402426e-01  4.28502457e+01]
 [-6.96671650e-02  9.97488925e-01  1.27408825e-02 -4.04661795e+00]
 [ 1.02047336e-01 -5.57883023e-03  9.94763901e-01  4.23237680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.92105275400001 meters
Centerline goodness : 0.999668 with order 1
Centerline is valid?  [True, True]
Translation: X:42.91, Y:-4.05, Z:4.24
[[ 9.92060067e-01  7.43933266e-02 -1.01402448e-01  4.29108479e+01]
 [-7.34776450e-02  9.97215478e-01  1.27407116e-02 -4.04829923e+00]
 [ 1.02067914e-01 -5.18873809e-03  9.94763901e-01  4.23641621e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.981052754000004 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:42.97, Y:-4.04, Z:4.24
[[ 9.91129206e-01  8.59094880e-02 -1.01402448e-01  4.29724702e+01]
 [-8.50537399e-02  9.96294904e-01  1.27407116e-02 -4.04318849e+00]
 [ 1.02121290e-01 -4.00303391e-03  9.94763901e-01  4.23938105e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.041052754000006 meters
Centerline goodness : 0.999772 with order 1
Centerline is valid?  [True, True]
Translation: X:43.03, Y:-4.04, Z:4.25
[[ 9.90256697e-01  9.54422076e-02 -1.01402462e-01  4.30328734e+01]
 [-9.46362158e-02  9.95430391e-01  1.27405941e-02 -4.04289015e+00]
 [ 1.02155083e-01 -3.02011332e-03  9.94763901e-01  4.24800731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.10105275400001 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:43.10, Y:-4.04, Z:4.25
[[ 9.89620317e-01  1.01829089e-01 -1.01402487e-01  4.30958286e+01]
 [-1.01056513e-01  9.94799107e-01  1.27404019e-02 -4.04248032e+00]
 [ 1.02172447e-01 -2.36077885e-03  9.94763901e-01  4.25361406e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.161052754 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:43.16, Y:-4.05, Z:4.26
[[ 9.89250182e-01  1.05365257e-01 -1.01401378e-01  4.31563293e+01]
 [-1.04610290e-01  9.94431569e-01  1.27492228e-02 -4.04632270e+00]
 [ 1.02180056e-01 -2.00454339e-03  9.94763901e-01  4.25886888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.221052754000006 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:43.22, Y:-4.05, Z:4.26
[[ 9.89466999e-01  1.03309387e-01 -1.01401321e-01  4.32177806e+01]
 [-1.02543609e-01  9.94646799e-01  1.27496742e-02 -4.05280474e+00]
 [ 1.02175660e-01 -2.21732442e-03  9.94763901e-01  4.26499086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.28105275400001 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:43.28, Y:-4.06, Z:4.27
[[ 9.89507940e-01  1.02917370e-01 -1.01400447e-01  4.32789910e+01]
 [-1.02148829e-01  9.94687330e-01  1.27566180e-02 -4.05974906e+00]
 [ 1.02174618e-01 -2.26483782e-03  9.94763901e-01  4.27013397e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.341052754 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:43.34, Y:-4.07, Z:4.28
[[ 9.89443523e-01  1.03537928e-01 -1.01397294e-01  4.33383366e+01]
 [-1.02770073e-01  9.94623015e-01  1.27816331e-02 -4.06926700e+00]
 [ 1.02175466e-01 -2.22609671e-03  9.94763901e-01  4.27752281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.401052754000006 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:43.40, Y:-4.08, Z:4.28
[[ 9.89163481e-01  1.06180070e-01 -1.01397245e-01  4.33990930e+01]
 [-1.05426011e-01  9.94344999e-01  1.27820212e-02 -4.07737156e+00]
 [ 1.02181039e-01 -1.95360153e-03  9.94763901e-01  4.28242130e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.46105275400001 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:43.46, Y:-4.09, Z:4.29
[[ 9.88298202e-01  1.13953305e-01 -1.01396786e-01  4.34580422e+01]
 [-1.13239631e-01  9.93485437e-01  1.27856591e-02 -4.08954486e+00]
 [ 1.02193199e-01 -1.15390916e-03  9.94763901e-01  4.28581349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.521052754 meters
Centerline goodness : 0.999937 with order 1
Centerline is valid?  [True, True]
Translation: X:43.52, Y:-4.10, Z:4.29
[[ 9.87209561e-01  1.23028345e-01 -1.01396786e-01  4.35185044e+01]
 [-1.22362359e-01  9.92403134e-01  1.27856591e-02 -4.10491683e+00]
 [ 1.02199487e-01 -2.14974934e-04  9.94763901e-01  4.29128585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.581052754000005 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:43.58, Y:-4.12, Z:4.30
[[ 9.86966775e-01  1.24961834e-01 -1.01395882e-01  4.35780448e+01]
 [-1.24305285e-01  9.92161549e-01  1.27928301e-02 -4.11705343e+00]
 [ 1.02199710e-01 -2.20542580e-05  9.94763901e-01  4.29748213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.64105275400001 meters
Centerline goodness : 0.999792 with order 1
Centerline is valid?  [True, True]
Translation: X:43.64, Y:-4.14, Z:4.31
[[ 9.87838627e-01  1.17874118e-01 -1.01392991e-01  4.36362411e+01]
 [-1.17177950e-01  9.93028240e-01  1.28156989e-02 -4.14031366e+00]
 [ 1.02196743e-01 -7.78819521e-04  9.94763901e-01  4.31217714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.70105275400001 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:43.70, Y:-4.15, Z:4.32
[[ 9.88806945e-01  1.09455878e-01 -1.01391502e-01  4.36970844e+01]
 [-1.08714327e-01  9.93990267e-01  1.28274675e-02 -4.15347792e+00]
 [ 1.02186208e-01 -1.66118003e-03  9.94763901e-01  4.31862477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.761052754000005 meters
Centerline goodness : 0.999647 with order 1
Centerline is valid?  [True, True]
Translation: X:43.76, Y:-4.17, Z:4.33
[[ 9.89190029e-01  1.05940917e-01 -1.01388409e-01  4.37580428e+01]
 [-1.05178449e-01  9.94370315e-01  1.28518676e-02 -4.16596840e+00]
 [ 1.02179163e-01 -2.04906367e-03  9.94763902e-01  4.32605828e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.82105275400001 meters
Centerline goodness : 0.999875 with order 1
Centerline is valid?  [True, True]
Translation: X:43.82, Y:-4.18, Z:4.33
[[ 9.88835571e-01  1.09203140e-01 -1.01384846e-01  4.38176438e+01]
 [-1.08454887e-01  9.94017930e-01  1.28799153e-02 -4.18388727e+00]
 [ 1.02184882e-01 -1.74043633e-03  9.94763902e-01  4.33433940e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.88105275400001 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:43.88, Y:-4.19, Z:4.34
[[ 9.88022695e-01  1.16331026e-01 -1.01381688e-01  4.38776957e+01]
 [-1.15617618e-01  9.93209965e-01  1.29047299e-02 -4.19276778e+00]
 [ 1.02194523e-01 -1.02865675e-03  9.94763902e-01  4.34080209e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.941052754000005 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:43.94, Y:-4.21, Z:4.35
[[ 9.87001523e-01  1.24698995e-01 -1.01381234e-01  4.39379766e+01]
 [-1.24029203e-01  9.92194604e-01  1.29082910e-02 -4.20696451e+00]
 [ 1.02199564e-01 -1.66269222e-04  9.94763902e-01  4.34537812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.00105275400001 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:44.00, Y:-4.22, Z:4.35
[[ 9.86551251e-01  1.28214954e-01 -1.01378275e-01  4.39972361e+01]
 [-1.27561285e-01  9.91746387e-01  1.29314882e-02 -4.22485500e+00]
 [ 1.02199548e-01  1.74367198e-04  9.94763903e-01  4.35167722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.06105275400001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:44.06, Y:-4.25, Z:4.36
[[ 9.86279226e-01  1.30292360e-01 -1.01376470e-01  4.40562123e+01]
 [-1.29648180e-01  9.91475547e-01  1.29456256e-02 -4.24600903e+00]
 [ 1.02199007e-01  3.75273246e-04  9.94763903e-01  4.36232748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.11, Y:-4.26, Z:4.37
[[ 9.85526713e-01  1.35869610e-01 -1.01373309e-01  4.41145664e+01]
 [-1.35252294e-01  9.90726293e-01  1.29703342e-02 -4.26458179e+00]
 [ 1.02195476e-01  9.28361739e-04  9.94763903e-01  4.36636200e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.18105275400001 meters
Centerline goodness : 0.999958 with order 1
Centerline is valid?  [True, True]
Translation: X:44.17, Y:-4.28, Z:4.37
[[ 9.85626665e-01  1.35142734e-01 -1.01373164e-01  4.41726859e+01]
 [-1.34521468e-01  9.90825775e-01  1.29714634e-02 -4.28341309e+00]
 [ 1.02196143e-01  8.51846613e-04  9.94763903e-01  4.37278059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.23, Y:-4.31, Z:4.38
[[ 9.87854647e-01  1.17756863e-01 -1.01373164e-01  4.42306262e+01]
 [-1.17044095e-01  9.93042004e-01  1.29714634e-02 -4.31006400e+00]
 [ 1.02195289e-01 -9.48790161e-04  9.94763903e-01  4.38269630e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.301052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.29, Y:-4.33, Z:4.39
[[ 9.89154288e-01  1.06291373e-01 -1.01370301e-01  4.42884118e+01]
 [-1.05516200e-01  9.94332687e-01  1.29938027e-02 -4.32871422e+00]
 [ 1.02176933e-01 -2.15666683e-03  9.94763903e-01  4.38879232e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.35, Y:-4.34, Z:4.40
[[ 9.89398594e-01  1.03992717e-01 -1.01370301e-01  4.43483863e+01]
 [-1.03205512e-01  9.94575177e-01  1.29938027e-02 -4.34194167e+00]
 [ 1.02171646e-01 -2.39407633e-03  9.94763903e-01  4.39550379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.41, Y:-4.36, Z:4.40
[[ 9.89337411e-01  1.04575870e-01 -1.01367527e-01  4.44083967e+01]
 [-1.03789505e-01  9.94514122e-01  1.30154038e-02 -4.35905862e+00]
 [ 1.02172534e-01 -2.35574041e-03  9.94763903e-01  4.40211642e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.481052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.47, Y:-4.37, Z:4.41
[[ 9.88556228e-01  1.11722096e-01 -1.01364477e-01  4.44672980e+01]
 [-1.10970728e-01  9.93738134e-01  1.30391166e-02 -4.37115989e+00]
 [ 1.02186504e-01 -1.64141010e-03  9.94763904e-01  4.41063914e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.53, Y:-4.38, Z:4.42
[[ 9.87435790e-01  1.21226247e-01 -1.01364477e-01  4.45284345e+01]
 [-1.20524760e-01  9.92624684e-01  1.30391166e-02 -4.38130774e+00]
 [ 1.02197565e-01 -6.58361121e-04  9.94763904e-01  4.41592173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.59, Y:-4.40, Z:4.42
[[ 9.86094544e-01  1.31694472e-01 -1.01361317e-01  4.45869033e+01]
 [-1.31045551e-01  9.91290273e-01  1.30636330e-02 -4.40043848e+00]
 [ 1.02198896e-01  4.00972410e-04  9.94763904e-01  4.42147437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.65, Y:-4.41, Z:4.43
[[ 9.84457006e-01  1.43423613e-01 -1.01361094e-01  4.46467587e+01]
 [-1.42836409e-01  9.89660071e-01  1.30653671e-02 -4.41296694e+00]
 [ 1.02186909e-01  1.61576244e-03  9.94763904e-01  4.42564371e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.71, Y:-4.43, Z:4.43
[[ 9.82712203e-01  1.54928224e-01 -1.01360605e-01  4.47056604e+01]
 [-1.54401525e-01  9.87921741e-01  1.30691581e-02 -4.42694585e+00]
 [ 1.02161127e-01  2.80701082e-03  9.94763904e-01  4.43146027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.78105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.76, Y:-4.45, Z:4.44
[[ 9.81343504e-01  1.63373748e-01 -1.01360476e-01  4.47633922e+01]
 [-1.62891767e-01  9.86557369e-01  1.30701587e-02 -4.44925722e+00]
 [ 1.02133245e-01  3.68447173e-03  9.94763904e-01  4.44071360e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.82, Y:-4.46, Z:4.45
[[ 9.81084970e-01  1.64919261e-01 -1.01360345e-01  4.48223223e+01]
 [-1.64445389e-01  9.86299579e-01  1.30711702e-02 -4.46097959e+00]
 [ 1.02127354e-01  3.84431275e-03  9.94763904e-01  4.44561249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.901052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.88, Y:-4.48, Z:4.45
[[ 9.80332770e-01  1.69333224e-01 -1.01360345e-01  4.48811607e+01]
 [-1.68882827e-01  9.85549459e-01  1.30711702e-02 -4.48068657e+00]
 [ 1.02109017e-01  4.30392514e-03  9.94763904e-01  4.44770547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.94, Y:-4.50, Z:4.45
[[ 9.80141526e-01  1.70436792e-01 -1.01360196e-01  4.49413204e+01]
 [-1.69992148e-01  9.85358708e-01  1.30723268e-02 -4.50480124e+00]
 [ 1.02104157e-01  4.41770713e-03  9.94763904e-01  4.45411125e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.00, Y:-4.54, Z:4.47
[[ 9.80795006e-01  1.66637300e-01 -1.01356631e-01  4.49973310e+01]
 [-1.66169595e-01  9.86010171e-01  1.30999127e-02 -4.53722917e+00]
 [ 1.02121603e-01  3.99406139e-03  9.94763904e-01  4.46515902e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.081052754000005 meters
Centerline goodness : 0.999843 with order 1
Centerline is valid?  [True, True]
Translation: X:45.06, Y:-4.56, Z:4.47
[[ 9.81161760e-01  1.64464220e-01 -1.01356409e-01  4.50567187e+01]
 [-1.63984788e-01  9.86375860e-01  1.31016260e-02 -4.55562605e+00]
 [ 1.02130264e-01  3.76609487e-03  9.94763904e-01  4.47353212e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.11, Y:-4.58, Z:4.48
[[ 9.81667742e-01  1.61418593e-01 -1.01353255e-01  4.51143896e+01]
 [-1.60920470e-01  9.86880089e-01  1.31259858e-02 -4.57980405e+00]
 [ 1.02142287e-01  3.42445654e-03  9.94763905e-01  4.48054017e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.20105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.17, Y:-4.61, Z:4.49
[[ 9.82243008e-01  1.57881440e-01 -1.01351492e-01  4.51716261e+01]
 [-1.57363142e-01  9.87453388e-01  1.31395820e-02 -4.60532662e+00]
 [ 1.02154370e-01  3.04272674e-03  9.94763905e-01  4.49056863e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.23, Y:-4.63, Z:4.50
[[ 9.83716717e-01  1.48422830e-01 -1.01351293e-01  4.52303759e+01]
 [-1.47854264e-01  9.88921851e-01  1.31411155e-02 -4.62581174e+00]
 [ 1.02178950e-01  2.05808591e-03  9.94763905e-01  4.49534677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.29, Y:-4.64, Z:4.50
[[ 9.85127400e-01  1.38751504e-01 -1.01350999e-01  4.52894320e+01]
 [-1.38131596e-01  9.90326670e-01  1.31433878e-02 -4.64166329e+00]
 [ 1.02194262e-01  1.05186363e-03  9.94763905e-01  4.49881010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.35, Y:-4.65, Z:4.51
[[ 9.84975228e-01  1.39827824e-01 -1.01350772e-01  4.53487412e+01]
 [-1.39213417e-01  9.90175151e-01  1.31451331e-02 -4.64753524e+00]
 [ 1.02193072e-01  1.16175683e-03  9.94763905e-01  4.50542639e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.441052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.41, Y:-4.65, Z:4.51
[[ 9.84374166e-01  1.43998932e-01 -1.01349937e-01  4.54094004e+01]
 [-1.43405896e-01  9.89576569e-01  1.31515663e-02 -4.65099572e+00]
 [ 1.02187335e-01  1.58811639e-03  9.94763905e-01  4.51349188e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.47, Y:-4.66, Z:4.52
[[ 9.84047025e-01  1.46218106e-01 -1.01349488e-01  4.54695992e+01]
 [-1.45636445e-01  9.89250712e-01  1.31550275e-02 -4.65710451e+00]
 [ 1.02183556e-01  1.81501344e-03  9.94763905e-01  4.51746961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.56105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.53, Y:-4.67, Z:4.53
[[ 9.84224120e-01  1.45022326e-01 -1.01347945e-01  4.55301540e+01]
 [-1.44433120e-01  9.89426959e-01  1.31669032e-02 -4.66559905e+00]
 [ 1.02185884e-01  1.67881630e-03  9.94763905e-01  4.52544153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.621052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.59, Y:-4.67, Z:4.53
[[ 9.84450397e-01  1.43480373e-01 -1.01344951e-01  4.55898475e+01]
 [-1.42880650e-01  9.89652033e-01  1.31899081e-02 -4.67369489e+00]
 [ 1.02188730e-01  1.49542218e-03  9.94763905e-01  4.53354417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.68105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.65, Y:-4.68, Z:4.54
[[ 9.84131379e-01  1.45654482e-01 -1.01341998e-01  4.56497827e+01]
 [-1.45063917e-01  9.89334063e-01  1.32125610e-02 -4.68139343e+00]
 [ 1.02185559e-01  1.69817135e-03  9.94763906e-01  4.54226922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.71, Y:-4.69, Z:4.54
[[ 9.83929728e-01  1.47010830e-01 -1.01341534e-01  4.57123638e+01]
 [-1.46427071e-01  9.89133180e-01  1.32161207e-02 -4.68721397e+00]
 [ 1.02183186e-01  1.83540990e-03  9.94763906e-01  4.54349012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.801052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.77, Y:-4.70, Z:4.55
[[ 9.84480510e-01  1.43276847e-01 -1.01340373e-01  4.57715683e+01]
 [-1.42672435e-01  9.89681603e-01  1.32250113e-02 -4.70027732e+00]
 [ 1.02189541e-01  1.43871198e-03  9.94763906e-01  4.55067199e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.861052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.83, Y:-4.71, Z:4.56
[[ 9.84587069e-01  1.42544014e-01 -1.01338577e-01  4.58329813e+01]
 [-1.41934316e-01  9.89787545e-01  1.32387618e-02 -4.70893590e+00]
 [ 1.02190768e-01  1.34870802e-03  9.94763906e-01  4.55660198e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.92105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.90, Y:-4.72, Z:4.56
[[ 9.84469465e-01  1.43356272e-01 -1.01335344e-01  4.58950021e+01]
 [-1.42748323e-01  9.89670145e-01  1.32634611e-02 -4.71832803e+00]
 [ 1.02189965e-01  1.40797804e-03  9.94763906e-01  4.56338551e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.981052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.95, Y:-4.72, Z:4.57
[[ 9.84611289e-01  1.42381596e-01 -1.01331585e-01  4.59546938e+01]
 [-1.41765550e-01  9.89811017e-01  1.32921172e-02 -4.72437229e+00]
 [ 1.02191672e-01  1.27775921e-03  9.94763906e-01  4.57060218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.041052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.01, Y:-4.73, Z:4.58
[[ 9.84648196e-01  1.42126306e-01 -1.01331356e-01  4.60149614e+01]
 [-1.41508732e-01  9.89847742e-01  1.32938628e-02 -4.73054705e+00]
 [ 1.02192022e-01  1.24949382e-03  9.94763906e-01  4.57909448e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.07, Y:-4.74, Z:4.59
[[ 9.84640474e-01  1.42179953e-01 -1.01331128e-01  4.60738616e+01]
 [-1.41562484e-01  9.89840033e-01  1.32956024e-02 -4.73923759e+00]
 [ 1.02191975e-01  1.25329791e-03  9.94763906e-01  4.58622588e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.14, Y:-4.74, Z:4.59
[[ 9.84205154e-01  1.45162726e-01 -1.01331128e-01  4.61361372e+01]
 [-1.44561014e-01  9.89406560e-01  1.32956024e-02 -4.74443532e+00]
 [ 1.02187709e-01  1.56293019e-03  9.94763906e-01  4.58761701e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.221052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.20, Y:-4.75, Z:4.59
[[ 9.84242483e-01  1.44911681e-01 -1.01327880e-01  4.61974161e+01]
 [-1.44306099e-01  9.89443439e-01  1.33203108e-02 -4.74852565e+00]
 [ 1.02188475e-01  1.51181533e-03  9.94763907e-01  4.58844735e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.28105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.26, Y:-4.76, Z:4.59
[[ 9.82602900e-01  1.55643206e-01 -1.01324895e-01  4.62583295e+01]
 [-1.55092077e-01  9.87809907e-01  1.33429757e-02 -4.75569821e+00]
 [ 1.02166479e-01  2.60384193e-03  9.94763907e-01  4.59186103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.32, Y:-4.76, Z:4.60
[[ 9.82584350e-01  1.55760567e-01 -1.01324436e-01  4.63197482e+01]
 [-1.55209701e-01  9.87791385e-01  1.33464642e-02 -4.76320459e+00]
 [ 1.02166258e-01  2.61250855e-03  9.94763907e-01  4.59896608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.401052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.38, Y:-4.77, Z:4.61
[[ 9.82986003e-01  1.53207474e-01 -1.01321213e-01  4.63791656e+01]
 [-1.52640567e-01  9.88191316e-01  1.33708908e-02 -4.77406106e+00]
 [ 1.02173263e-01  2.32232883e-03  9.94763907e-01  4.61066712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.44, Y:-4.78, Z:4.62
[[ 9.83881103e-01  1.47350043e-01 -1.01320972e-01  4.64385255e+01]
 [-1.46751955e-01  9.89082926e-01  1.33727118e-02 -4.78470382e+00]
 [ 1.02185313e-01  1.71189227e-03  9.94763907e-01  4.61816072e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.52105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.50, Y:-4.80, Z:4.63
[[ 9.84594783e-01  1.42505434e-01 -1.01317887e-01  4.64986915e+01]
 [-1.41879348e-01  9.89793310e-01  1.33960465e-02 -4.79506252e+00]
 [ 1.02192776e-01  1.18523826e-03  9.94763908e-01  4.62904932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.581052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.56, Y:-4.80, Z:4.63
[[ 9.84573412e-01  1.42655261e-01 -1.01314719e-01  4.65598174e+01]
 [-1.42027506e-01  9.89771737e-01  1.34199602e-02 -4.80247482e+00]
 [ 1.02192874e-01  1.17654082e-03  9.94763908e-01  4.63349173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.64105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.62, Y:-4.81, Z:4.63
[[ 9.84059772e-01  1.46158625e-01 -1.01311506e-01  4.66218451e+01]
 [-1.45546882e-01  9.89260006e-01  1.34441784e-02 -4.80737696e+00]
 [ 1.02188403e-01  1.51569867e-03  9.94763908e-01  4.63239773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.70105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.68, Y:-4.81, Z:4.64
[[ 9.83547038e-01  1.49572217e-01 -1.01308319e-01  4.66838256e+01]
 [-1.48976053e-01  9.88749081e-01  1.34681521e-02 -4.81261195e+00]
 [ 1.02182968e-01  1.84595237e-03  9.94763908e-01  4.63681878e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.761052754000005 meters
Centerline goodness : 0.999929 with order 1
Centerline is valid?  [True, True]
Translation: X:46.74, Y:-4.82, Z:4.64
[[ 9.83160669e-01  1.52091768e-01 -1.01307416e-01  4.67437891e+01]
 [-1.51508236e-01  9.88364144e-01  1.34749367e-02 -4.81829672e+00]
 [ 1.02178045e-01  2.10088008e-03  9.94763908e-01  4.64120816e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.80, Y:-4.83, Z:4.65
[[ 9.83068678e-01  1.52685644e-01 -1.01306806e-01  4.68038074e+01]
 [-1.52104783e-01  9.88272451e-01  1.34795243e-02 -4.82769320e+00]
 [ 1.02176855e-01  2.15795154e-03  9.94763908e-01  4.64880906e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.86, Y:-4.84, Z:4.65
[[ 9.83779431e-01  1.48037359e-01 -1.01306327e-01  4.68646211e+01]
 [-1.47431538e-01  9.88980357e-01  1.34831242e-02 -4.83628981e+00]
 [ 1.02185973e-01  1.67132735e-03  9.94763908e-01  4.65159834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.941052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.92, Y:-4.85, Z:4.66
[[ 9.84051958e-01  1.46216932e-01 -1.01303274e-01  4.69249629e+01]
 [-1.45599132e-01  9.89251475e-01  1.35060238e-02 -4.84622802e+00]
 [ 1.02189222e-01  1.45903956e-03  9.94763909e-01  4.66125877e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.99, Y:-4.86, Z:4.67
[[ 9.84018351e-01  1.46443400e-01 -1.01302589e-01  4.69857899e+01]
 [-1.45826269e-01  9.89217948e-01  1.35111584e-02 -4.85679016e+00]
 [ 1.02188959e-01  1.47735066e-03  9.94763909e-01  4.67200724e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.06105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.05, Y:-4.86, Z:4.68
[[ 9.83963218e-01  1.46815601e-01 -1.01299384e-01  4.70460156e+01]
 [-1.46197967e-01  9.89162754e-01  1.35351404e-02 -4.86429131e+00]
 [ 1.02188748e-01  1.49168382e-03  9.94763909e-01  4.67773600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.11, Y:-4.87, Z:4.68
[[ 9.84168775e-01  1.45431438e-01 -1.01299157e-01  4.71066052e+01]
 [-1.44806317e-01  9.89367416e-01  1.35368393e-02 -4.87359125e+00]
 [ 1.02190768e-01  1.34622332e-03  9.94763909e-01  4.68318538e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.17, Y:-4.89, Z:4.69
[[ 9.84472666e-01  1.43360182e-01 -1.01298705e-01  4.71676035e+01]
 [-1.42723775e-01  9.89669938e-01  1.35402271e-02 -4.88509033e+00]
 [ 1.02193412e-01  1.12775001e-03  9.94763909e-01  4.68988502e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.23, Y:-4.89, Z:4.70
[[ 9.84444397e-01  1.43556420e-01 -1.01295529e-01  4.72287893e+01]
 [-1.42918609e-01  9.89641496e-01  1.35639389e-02 -4.89316544e+00]
 [ 1.02193450e-01  1.12407252e-03  9.94763909e-01  4.69559124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.301052754000004 meters
Centerline goodness : 0.999929 with order 1
Centerline is valid?  [True, True]
Translation: X:47.29, Y:-4.90, Z:4.70
[[ 9.84297098e-01  1.44565187e-01 -1.01292297e-01  4.72904075e+01]
 [-1.43930223e-01  9.89494546e-01  1.35880326e-02 -4.89742841e+00]
 [ 1.02192532e-01  1.20436188e-03  9.94763910e-01  4.70050022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.35, Y:-4.91, Z:4.71
[[ 9.84165216e-01  1.45462467e-01 -1.01289178e-01  4.73510301e+01]
 [-1.44829854e-01  9.89362950e-01  1.36112436e-02 -4.90597738e+00]
 [ 1.02191685e-01  1.27398437e-03  9.94763910e-01  4.70933985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.41, Y:-4.91, Z:4.72
[[ 9.84213630e-01  1.45135020e-01 -1.01288482e-01  4.74112823e+01]
 [-1.44500144e-01  9.89411088e-01  1.36164228e-02 -4.91488328e+00]
 [ 1.02192167e-01  1.23473137e-03  9.94763910e-01  4.71506385e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.481052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.47, Y:-4.92, Z:4.72
[[ 9.83814293e-01  1.47818048e-01 -1.01288017e-01  4.74723623e+01]
 [-1.47196990e-01  9.89013420e-01  1.36198784e-02 -4.92327033e+00]
 [ 1.02188472e-01  1.50986030e-03  9.94763910e-01  4.72057816e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.541052754000006 meters
Centerline goodness : 0.999904 with order 1
Centerline is valid?  [True, True]
Translation: X:47.53, Y:-4.93, Z:4.73
[[ 9.83098536e-01  1.52506371e-01 -1.01287090e-01  4.75327230e+01]
 [-1.51909395e-01  9.88300484e-01  1.36267751e-02 -4.93311807e+00]
 [ 1.02180250e-01  1.98999790e-03  9.94763910e-01  4.72818103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.60105275400001 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:47.59, Y:-4.94, Z:4.73
[[ 9.82902743e-01  1.53763862e-01 -1.01286097e-01  4.75930461e+01]
 [-1.53172782e-01  9.88105363e-01  1.36341493e-02 -4.93787667e+00]
 [ 1.02177775e-01  2.11323044e-03  9.94763910e-01  4.73313372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.65, Y:-4.95, Z:4.74
[[ 9.82792256e-01  1.54468627e-01 -1.01285861e-01  4.76530710e+01]
 [-1.53881097e-01  9.87995278e-01  1.36359026e-02 -4.94698715e+00]
 [ 1.02176272e-01  2.18471991e-03  9.94763910e-01  4.73641691e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.71, Y:-4.96, Z:4.74
[[ 9.82963514e-01  1.53377038e-01 -1.01282841e-01  4.77139421e+01]
 [-1.52781423e-01  9.88165618e-01  1.36582945e-02 -4.95593373e+00]
 [ 1.02179090e-01  2.04853143e-03  9.94763910e-01  4.74044175e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.78105275400001 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:47.77, Y:-4.96, Z:4.74
[[ 9.82994634e-01  1.53177950e-01 -1.01282110e-01  4.77739845e+01]
 [-1.52580723e-01  9.88196552e-01  1.36637157e-02 -4.96204100e+00]
 [ 1.02179612e-01  2.02233842e-03  9.94763910e-01  4.74082236e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.841052754 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:47.83, Y:-4.97, Z:4.75
[[ 9.82801910e-01  1.54409627e-01 -1.01282146e-01  4.78343891e+01]
 [-1.53818947e-01  9.88004576e-01  1.36634479e-02 -4.97002807e+00]
 [ 1.02176992e-01  2.15065040e-03  9.94763910e-01  4.74508253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.901052754000006 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:47.90, Y:-4.98, Z:4.75
[[ 9.82444066e-01  1.56671488e-01 -1.01280311e-01  4.78959996e+01]
 [-1.56091385e-01  9.87647922e-01  1.36770353e-02 -4.97899404e+00]
 [ 1.02172090e-01  2.37206196e-03  9.94763910e-01  4.75200193e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.96105275400001 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:47.96, Y:-4.98, Z:4.75
[[ 9.81865098e-01  1.60260621e-01 -1.01279134e-01  4.79569025e+01]
 [-1.59698641e-01  9.87070942e-01  1.36857454e-02 -4.98323494e+00]
 [ 1.02162977e-01  2.73658437e-03  9.94763910e-01  4.75465476e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.02105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.02, Y:-4.99, Z:4.76
[[ 9.81893497e-01  1.60086679e-01 -1.01278902e-01  4.80184757e+01]
 [-1.59523600e-01  9.87099222e-01  1.36874615e-02 -4.99078657e+00]
 [ 1.02163506e-01  2.71674559e-03  9.94763910e-01  4.75979520e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.081052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.08, Y:-5.00, Z:4.77
[[ 9.82450291e-01  1.56635511e-01 -1.01275579e-01  4.80781996e+01]
 [-1.56051614e-01  9.87653722e-01  1.37120110e-02 -5.00185311e+00]
 [ 1.02172990e-01  2.33284832e-03  9.94763911e-01  4.76793314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.14, Y:-5.01, Z:4.77
[[ 9.82634246e-01  1.55477627e-01 -1.01275104e-01  4.81395825e+01]
 [-1.54887238e-01  9.87836944e-01  1.37155169e-02 -5.01117761e+00]
 [ 1.02175745e-01  2.20888446e-03  9.94763911e-01  4.77363950e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.20105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.20, Y:-5.02, Z:4.78
[[ 9.83012817e-01  1.53068020e-01 -1.01271824e-01  4.82016630e+01]
 [-1.52462387e-01  9.88213763e-01  1.37396890e-02 -5.01949249e+00]
 [ 1.02181318e-01  1.93385370e-03  9.94763911e-01  4.78084434e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.26, Y:-5.03, Z:4.79
[[ 9.83122515e-01  1.52364373e-01 -1.01268054e-01  4.82631870e+01]
 [-1.51752162e-01  9.88322690e-01  1.37674195e-02 -5.02870034e+00]
 [ 1.02183180e-01  1.83258610e-03  9.94763911e-01  4.78739172e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.32, Y:-5.04, Z:4.79
[[ 9.83028112e-01  1.52974814e-01 -1.01264195e-01  4.83240167e+01]
 [-1.52362914e-01  9.88228324e-01  1.37957522e-02 -5.03599933e+00]
 [ 1.02182548e-01  1.86729561e-03  9.94763912e-01  4.79408414e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.39, Y:-5.04, Z:4.80
[[ 9.83062659e-01  1.52754715e-01 -1.01261078e-01  4.83852286e+01]
 [-1.52139299e-01  9.88262455e-01  1.38185912e-02 -5.04472629e+00]
 [ 1.02183376e-01  1.82124838e-03  9.94763912e-01  4.80189229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.441052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.45, Y:-5.05, Z:4.81
[[ 9.82918117e-01  1.53684279e-01 -1.01257680e-01  4.84471838e+01]
 [-1.53071222e-01  9.88118191e-01  1.38434415e-02 -5.05074363e+00]
 [ 1.02182075e-01  1.89266742e-03  9.94763912e-01  4.80717307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.51, Y:-5.06, Z:4.81
[[ 9.82598876e-01  1.55714559e-01 -1.01254258e-01  4.85091852e+01]
 [-1.55109672e-01  9.87799907e-01  1.38684296e-02 -5.05715237e+00]
 [ 1.02178463e-01  2.07841141e-03  9.94763913e-01  4.81122221e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.56105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.57, Y:-5.07, Z:4.82
[[ 9.82815057e-01  1.54346452e-01 -1.01250857e-01  4.85686620e+01]
 [-1.53731772e-01  9.88014940e-01  1.38932176e-02 -5.06747460e+00]
 [ 1.02181728e-01  1.91101014e-03  9.94763913e-01  4.82008497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.621052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.63, Y:-5.08, Z:4.83
[[ 9.82949303e-01  1.53489347e-01 -1.01250618e-01  4.86292381e+01]
 [-1.52869954e-01  9.88148626e-01  1.38949552e-02 -5.07669331e+00]
 [ 1.02183387e-01  1.82014081e-03  9.94763913e-01  4.82652023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.68105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.69, Y:-5.09, Z:4.83
[[ 9.83387599e-01  1.50657777e-01 -1.01247541e-01  4.86890725e+01]
 [-1.50021107e-01  9.88584834e-01  1.39173438e-02 -5.08534904e+00]
 [ 1.02188539e-01  1.50312485e-03  9.94763913e-01  4.83053778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.75, Y:-5.09, Z:4.84
[[ 9.83455407e-01  1.50214505e-01 -1.01247541e-01  4.87501519e+01]
 [-1.49575493e-01  9.88652355e-01  1.39173438e-02 -5.09480315e+00]
 [ 1.02189207e-01  1.45706376e-03  9.94763913e-01  4.83734775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.801052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.81, Y:-5.10, Z:4.84
[[ 9.83107770e-01  1.52475400e-01 -1.01244081e-01  4.88099181e+01]
 [-1.51845753e-01  9.88305861e-01  1.39424640e-02 -5.09978526e+00]
 [ 1.02186002e-01  1.66653907e-03  9.94763914e-01  4.84067840e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.861052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.87, Y:-5.10, Z:4.85
[[ 9.82840455e-01  1.54189091e-01 -1.01244081e-01  4.88720835e+01]
 [-1.53568507e-01  9.88039635e-01  1.39424640e-02 -5.10348333e+00]
 [ 1.02182941e-01  1.84468480e-03  9.94763914e-01  4.84575464e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.92105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.93, Y:-5.11, Z:4.85
[[ 9.82937717e-01  1.53570055e-01 -1.01240714e-01  4.89319399e+01]
 [-1.52943683e-01  9.88136203e-01  1.39668765e-02 -5.11149269e+00]
 [ 1.02184508e-01  1.75555787e-03  9.94763914e-01  4.85194160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.981052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.99, Y:-5.12, Z:4.86
[[ 9.83092744e-01  1.52576537e-01 -1.01237628e-01  4.89924919e+01]
 [-1.51942612e-01  9.88290314e-01  1.39892097e-02 -5.12240128e+00]
 [ 1.02186592e-01  1.62961901e-03  9.94763914e-01  4.86224350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.041052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.05, Y:-5.13, Z:4.87
[[ 9.83656249e-01  1.48902666e-01 -1.01234286e-01  4.90544565e+01]
 [-1.48246843e-01  9.88851101e-01  1.40133467e-02 -5.12992072e+00]
 [ 1.02192260e-01  1.22334732e-03  9.94763914e-01  4.86806751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.11, Y:-5.14, Z:4.87
[[ 9.83972710e-01  1.46797719e-01 -1.01233078e-01  4.91149586e+01]
 [-1.46129885e-01  9.89166032e-01  1.40220722e-02 -5.13907185e+00]
 [ 1.02194730e-01  9.95841667e-04  9.94763914e-01  4.87385453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.18, Y:-5.15, Z:4.88
[[ 9.84026574e-01  1.46437297e-01 -1.01231515e-01  4.91763620e+01]
 [-1.45766402e-01  9.89219501e-01  1.40333439e-02 -5.14901797e+00]
 [ 1.02195194e-01  9.46970431e-04  9.94763914e-01  4.88143200e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.221052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.24, Y:-5.16, Z:4.89
[[ 9.83706955e-01  1.48570017e-01 -1.01230312e-01  4.92382432e+01]
 [-1.47909488e-01  9.88901211e-01  1.40420167e-02 -5.15650453e+00]
 [ 1.02193001e-01  1.15969415e-03  9.94763915e-01  4.88639029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.28105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.30, Y:-5.16, Z:4.89
[[ 9.83630950e-01  1.49074642e-01 -1.01226998e-01  4.92989159e+01]
 [-1.48414323e-01  9.88825232e-01  1.40658690e-02 -5.16319681e+00]
 [ 1.02192674e-01  1.18791223e-03  9.94763915e-01  4.89250919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.34105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.36, Y:-5.17, Z:4.90
[[ 9.83585599e-01  1.49373913e-01 -1.01226500e-01  4.93604173e+01]
 [-1.48714806e-01  9.88780035e-01  1.40694501e-02 -5.17279680e+00]
 [ 1.02192351e-01  1.21537089e-03  9.94763915e-01  4.89993399e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.401052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.42, Y:-5.18, Z:4.91
[[ 9.83293795e-01  1.51285499e-01 -1.01222581e-01  4.94214652e+01]
 [-1.50633594e-01  9.88489139e-01  1.40975909e-02 -5.18158201e+00]
 [ 1.02190183e-01  1.38544751e-03  9.94763915e-01  4.90857357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.48, Y:-5.19, Z:4.92
[[ 9.83203083e-01  1.51876327e-01 -1.01218966e-01  4.94822526e+01]
 [-1.51224877e-01  9.88398484e-01  1.41234969e-02 -5.19031563e+00]
 [ 1.02189698e-01  1.42056010e-03  9.94763916e-01  4.91622365e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.52105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.54, Y:-5.20, Z:4.92
[[ 9.83546587e-01  1.49637917e-01 -1.01215636e-01  4.95420956e+01]
 [-1.48972192e-01  9.88740178e-01  1.41473211e-02 -5.19935471e+00]
 [ 1.02192942e-01  1.16376574e-03  9.94763916e-01  4.92251713e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.581052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.60, Y:-5.21, Z:4.93
[[ 9.84251958e-01  1.44925929e-01 -1.01215400e-01  4.96011860e+01]
 [-1.44235166e-01  9.89442279e-01  1.41490088e-02 -5.20955365e+00]
 [ 1.02197355e-01  6.72630445e-04  9.94763916e-01  4.93190016e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.64105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.66, Y:-5.22, Z:4.94
[[ 9.84900234e-01  1.40452957e-01 -1.01215099e-01  4.96617742e+01]
 [-1.39738400e-01  9.90087332e-01  1.41511629e-02 -5.21589102e+00]
 [ 1.02199360e-01  2.06152275e-04  9.94763916e-01  4.93545040e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.70105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.72, Y:-5.22, Z:4.94
[[ 9.85249715e-01  1.37980254e-01 -1.01214864e-01  4.97217250e+01]
 [-1.37252506e-01  9.90434979e-01  1.41528440e-02 -5.22475062e+00]
 [ 1.02199555e-01 -5.20918216e-05  9.94763916e-01  4.94017327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.761052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.78, Y:-5.23, Z:4.95
[[ 9.85468021e-01  1.36412527e-01 -1.01214632e-01  4.97829408e+01]
 [-1.35676359e-01  9.90652096e-01  1.41545017e-02 -5.23224947e+00]
 [ 1.02199339e-01 -2.16375945e-04  9.94763916e-01  4.94880450e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.84, Y:-5.24, Z:4.96
[[ 9.85499847e-01  1.36184897e-01 -1.01211290e-01  4.98415148e+01]
 [-1.35445082e-01  9.90683402e-01  1.41783604e-02 -5.23912558e+00]
 [ 1.02199224e-01 -2.64200596e-04  9.94763916e-01  4.95738146e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.90, Y:-5.25, Z:4.97
[[ 9.84999188e-01  1.39760064e-01 -1.01211290e-01  4.99021274e+01]
 [-1.39039062e-01  9.90185393e-01  1.41783604e-02 -5.24895826e+00]
 [ 1.02199510e-01  1.06649357e-04  9.94763916e-01  4.96985803e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.941052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.96, Y:-5.26, Z:4.98
[[ 9.84340951e-01  1.44325476e-01 -1.01207954e-01  4.99624461e+01]
 [-1.43626084e-01  9.89530114e-01  1.42021374e-02 -5.25555339e+00]
 [ 1.02198048e-01  5.56356588e-04  9.94763916e-01  4.97703280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.02, Y:-5.26, Z:4.99
[[ 9.83226439e-01  1.51732553e-01 -1.01207715e-01  5.00221629e+01]
 [-1.51072075e-01  9.88420700e-01  1.42038372e-02 -5.26437975e+00]
 [ 1.02190985e-01  1.32407118e-03  9.94763916e-01  4.98532643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.06105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.08, Y:-5.27, Z:4.99
[[ 9.82421751e-01  1.56858562e-01 -1.01207190e-01  5.00831460e+01]
 [-1.56224799e-01  9.87619338e-01  1.42075753e-02 -5.27454738e+00]
 [ 1.02182758e-01  1.85324198e-03  9.94763916e-01  4.99016392e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.14, Y:-5.29, Z:4.99
[[ 9.82004937e-01  1.59447966e-01 -1.01205977e-01  5.01440810e+01]
 [-1.58827018e-01  9.87204071e-01  1.42162114e-02 -5.28599681e+00]
 [ 1.02177699e-01  2.11385381e-03  9.94763916e-01  4.99191121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.21, Y:-5.30, Z:4.99
[[ 9.82355641e-01  1.57274868e-01 -1.01202821e-01  5.02050631e+01]
 [-1.56640108e-01  9.87553106e-01  1.42386436e-02 -5.29749911e+00]
 [ 1.02182541e-01  1.86500890e-03  9.94763917e-01  4.99484442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.27, Y:-5.31, Z:5.00
[[ 9.82683858e-01  1.55211537e-01 -1.01201853e-01  5.02658611e+01]
 [-1.54565155e-01  9.87879890e-01  1.42455236e-02 -5.30524897e+00]
 [ 1.02186345e-01  1.64343393e-03  9.94763917e-01  5.00043907e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.301052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.33, Y:-5.31, Z:5.01
[[ 9.82461410e-01  1.56613733e-01 -1.01201362e-01  5.03264913e+01]
 [-1.55974408e-01  9.87658316e-01  1.42490100e-02 -5.31389767e+00]
 [ 1.02183957e-01  1.78572002e-03  9.94763917e-01  5.00784147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.39, Y:-5.32, Z:5.01
[[ 9.81995449e-01  1.59511348e-01 -1.01198159e-01  5.03877448e+01]
 [-1.58885018e-01  9.87193937e-01  1.42717197e-02 -5.32096792e+00]
 [ 1.02178710e-01  2.06410745e-03  9.94763917e-01  5.01445207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.45, Y:-5.33, Z:5.02
[[ 9.81622602e-01  1.61790443e-01 -1.01197425e-01  5.04483078e+01]
 [-1.61175645e-01  9.86822467e-01  1.42769252e-02 -5.32516657e+00]
 [ 1.02173762e-01  2.29600779e-03  9.94763917e-01  5.01885333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.481052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.51, Y:-5.33, Z:5.02
[[ 9.81620863e-01  1.61801154e-01 -1.01197177e-01  5.05077069e+01]
 [-1.61186232e-01  9.86820712e-01  1.42786784e-02 -5.33236378e+00]
 [ 1.02173777e-01  2.29534306e-03  9.94763917e-01  5.02350500e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.57, Y:-5.34, Z:5.03
[[ 9.81610901e-01  1.61861579e-01 -1.01197177e-01  5.05674351e+01]
 [-1.61246978e-01  9.86810788e-01  1.42786784e-02 -5.34315581e+00]
 [ 1.02173636e-01  2.30163256e-03  9.94763917e-01  5.03424979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.63, Y:-5.35, Z:5.04
[[ 9.81463656e-01  1.62752338e-01 -1.01196681e-01  5.06276068e+01]
 [-1.62142093e-01  9.86664057e-01  1.42821962e-02 -5.35314927e+00]
 [ 1.02171588e-01  2.39078515e-03  9.94763917e-01  5.04151633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.69, Y:-5.36, Z:5.05
[[ 9.81282916e-01  1.63838857e-01 -1.01196185e-01  5.06876459e+01]
 [-1.63234007e-01  9.86483947e-01  1.42857075e-02 -5.36105530e+00]
 [ 1.02168966e-01  2.50033810e-03  9.94763917e-01  5.04900209e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.75, Y:-5.37, Z:5.06
[[ 9.81810934e-01  1.60644550e-01 -1.01195945e-01  5.07478849e+01]
 [-1.60022602e-01  9.87009948e-01  1.42874070e-02 -5.37030879e+00]
 [ 1.02176599e-01  2.16610607e-03  9.94763917e-01  5.05656537e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.78105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.81, Y:-5.38, Z:5.06
[[ 9.82378937e-01  1.57135963e-01 -1.01192453e-01  5.08076723e+01]
 [-1.56492903e-01  9.87575382e-01  1.43121019e-02 -5.38273165e+00]
 [ 1.02184121e-01  1.77599314e-03  9.94763917e-01  5.06301464e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.84105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.87, Y:-5.39, Z:5.07
[[ 9.82888610e-01  1.53915946e-01 -1.01192206e-01  5.08679915e+01]
 [-1.53255682e-01  9.88082896e-01  1.43138453e-02 -5.39058041e+00]
 [ 1.02189417e-01  1.43936495e-03  9.94763917e-01  5.07217601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.901052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.93, Y:-5.40, Z:5.08
[[ 9.83355209e-01  1.50908373e-01 -1.01188914e-01  5.09268941e+01]
 [-1.50229831e-01  9.88547139e-01  1.43370784e-02 -5.39754915e+00]
 [ 1.02193597e-01  1.10315270e-03  9.94763918e-01  5.08280386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.99, Y:-5.41, Z:5.09
[[ 9.84046696e-01  1.46331484e-01 -1.01188914e-01  5.09869539e+01]
 [-1.45628793e-01  9.89235413e-01  1.43370784e-02 -5.40639261e+00]
 [ 1.02197623e-01  6.27664788e-04  9.94763918e-01  5.09148339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.02105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.05, Y:-5.41, Z:5.09
[[ 9.84951050e-01  1.40115424e-01 -1.01188425e-01  5.10470610e+01]
 [-1.39379632e-01  9.90135176e-01  1.43405275e-02 -5.41388792e+00]
 [ 1.02199548e-01 -2.11121485e-05  9.94763918e-01  5.09396230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.081052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.11, Y:-5.42, Z:5.10
[[ 9.86230494e-01  1.30806592e-01 -1.01188182e-01  5.11068214e+01]
 [-1.30021694e-01  9.91407413e-01  1.43422417e-02 -5.42341144e+00]
 [ 1.02194774e-01 -9.88097250e-04  9.94763918e-01  5.09724466e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.17, Y:-5.43, Z:5.10
[[ 9.86787822e-01  1.26534121e-01 -1.01187498e-01  5.11669986e+01]
 [-1.25726315e-01  9.91961217e-01  1.43470667e-02 -5.42969414e+00]
 [ 1.02189467e-01 -1.43557942e-03  9.94763918e-01  5.10363947e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.20105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.23, Y:-5.44, Z:5.11
[[ 9.86634627e-01  1.27723534e-01 -1.01187016e-01  5.12275302e+01]
 [-1.26921616e-01  9.91808937e-01  1.43504702e-02 -5.43514921e+00]
 [ 1.02191079e-01 -1.31585127e-03  9.94763918e-01  5.11126756e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.29, Y:-5.44, Z:5.12
[[ 9.86294924e-01  1.30320984e-01 -1.01186778e-01  5.12902730e+01]
 [-1.29532521e-01  9.91471302e-01  1.43521455e-02 -5.43989468e+00]
 [ 1.02194172e-01 -1.04846984e-03  9.94763918e-01  5.11693971e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.35, Y:-5.45, Z:5.13
[[ 9.86023322e-01  1.32363279e-01 -1.01182857e-01  5.13496364e+01]
 [-1.31582706e-01  9.91200895e-01  1.43797385e-02 -5.44849821e+00]
 [ 1.02195887e-01 -8.64843372e-04  9.94763918e-01  5.12598255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.41, Y:-5.46, Z:5.14
[[ 9.85675018e-01  1.34933803e-01 -1.01181164e-01  5.14095556e+01]
 [-1.34165512e-01  9.90854427e-01  1.43916400e-02 -5.45799042e+00]
 [ 1.02197723e-01 -6.10457331e-04  9.94763918e-01  5.13515720e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.441052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.47, Y:-5.47, Z:5.14
[[ 9.84940729e-01  1.40195417e-01 -1.01178085e-01  5.14690023e+01]
 [-1.39452575e-01  9.90123850e-01  1.44132545e-02 -5.46877227e+00]
 [ 1.02199507e-01 -8.66569925e-05  9.94763918e-01  5.14246967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.53, Y:-5.48, Z:5.15
[[ 9.83767196e-01  1.48206399e-01 -1.01177903e-01  5.15299285e+01]
 [-1.47505632e-01  9.88956172e-01  1.44145289e-02 -5.47917947e+00]
 [ 1.02196837e-01  7.43769876e-04  9.94763918e-01  5.14546564e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.56105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.59, Y:-5.49, Z:5.15
[[ 9.82726144e-01  1.54961440e-01 -1.01174491e-01  5.15890959e+01]
 [-1.54293876e-01  9.87919496e-01  1.44384402e-02 -5.49238535e+00]
 [ 1.02189653e-01  1.42157174e-03  9.94763919e-01  5.15233539e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.621052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.65, Y:-5.50, Z:5.15
[[ 9.82482246e-01  1.56500510e-01 -1.01174241e-01  5.16500066e+01]
 [-1.55840901e-01  9.87676614e-01  1.44401921e-02 -5.50140845e+00]
 [ 1.02187329e-01  1.57985246e-03  9.94763919e-01  5.14947168e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.68105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.71, Y:-5.51, Z:5.16
[[ 9.82263707e-01  1.57868416e-01 -1.01171009e-01  5.17097303e+01]
 [-1.57213713e-01  9.87458696e-01  1.44627976e-02 -5.51081738e+00]
 [ 1.02185412e-01  1.69918883e-03  9.94763919e-01  5.15649763e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.77, Y:-5.52, Z:5.16
[[ 9.82205535e-01  1.58230096e-01 -1.01170765e-01  5.17712893e+01]
 [-1.57577130e-01  9.87400742e-01  1.44645053e-02 -5.51869496e+00]
 [ 1.02184809e-01  1.73508169e-03  9.94763919e-01  5.16134822e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.801052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.83, Y:-5.53, Z:5.17
[[ 9.82236662e-01  1.58037535e-01 -1.01169549e-01  5.18317432e+01]
 [-1.57382675e-01  9.87431631e-01  1.44730068e-02 -5.52622643e+00]
 [ 1.02185291e-01  1.70641635e-03  9.94763919e-01  5.16804945e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.861052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.89, Y:-5.53, Z:5.17
[[ 9.82135140e-01  1.58667384e-01 -1.01169302e-01  5.18932581e+01]
 [-1.58015678e-01  9.87330506e-01  1.44747354e-02 -5.53364757e+00]
 [ 1.02184206e-01  1.77018951e-03  9.94763919e-01  5.17444251e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.92105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.95, Y:-5.54, Z:5.18
[[ 9.81652142e-01  1.61630901e-01 -1.01165823e-01  5.19545014e+01]
 [-1.60992378e-01  9.86849144e-01  1.44990080e-02 -5.54319635e+00]
 [ 1.02178893e-01  2.05394411e-03  9.94763919e-01  5.18034930e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.981052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.01, Y:-5.55, Z:5.19
[[ 9.81213635e-01  1.64274177e-01 -1.01162235e-01  5.20147801e+01]
 [-1.63647077e-01  9.86412027e-01  1.45240013e-02 -5.55354298e+00]
 [ 1.02173563e-01  2.30375592e-03  9.94763920e-01  5.18500448e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.041052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.08, Y:-5.56, Z:5.19
[[ 9.80885498e-01  1.66224261e-01 -1.01158957e-01  5.20757789e+01]
 [-1.65605147e-01  9.86084847e-01  1.45467917e-02 -5.56131690e+00]
 [ 1.02169345e-01  2.48370692e-03  9.94763920e-01  5.19226071e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.14, Y:-5.57, Z:5.20
[[ 9.80697630e-01  1.67331208e-01 -1.01155454e-01  5.21365824e+01]
 [-1.66715455e-01  9.85897378e-01  1.45711147e-02 -5.56980454e+00]
 [ 1.02167099e-01  2.57431983e-03  9.94763920e-01  5.20419048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.20, Y:-5.58, Z:5.21
[[ 9.80919121e-01  1.66030085e-01 -1.01151813e-01  5.21959594e+01]
 [-1.65404834e-01  9.86117735e-01  1.45963480e-02 -5.57910703e+00]
 [ 1.02171029e-01  2.41316196e-03  9.94763920e-01  5.20837959e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.221052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.26, Y:-5.59, Z:5.21
[[ 9.81219769e-01  1.64244113e-01 -1.01151553e-01  5.22564348e+01]
 [-1.63609214e-01  9.86417214e-01  1.45981443e-02 -5.58912347e+00]
 [ 1.02175293e-01  2.22533836e-03  9.94763920e-01  5.21361106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.28105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.32, Y:-5.60, Z:5.22
[[ 9.81838438e-01  1.60504659e-01 -1.01151053e-01  5.23157308e+01]
 [-1.59849607e-01  9.87033382e-01  1.46016074e-02 -5.60163854e+00]
 [ 1.02183092e-01  1.83253675e-03  9.94763920e-01  5.22482780e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.34105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.38, Y:-5.61, Z:5.23
[[ 9.82171282e-01  1.58455478e-01 -1.01150556e-01  5.23769623e+01]
 [-1.57789232e-01  9.87364801e-01  1.46050501e-02 -5.60952425e+00]
 [ 1.02186749e-01  1.61580785e-03  9.94763920e-01  5.23247682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.401052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.44, Y:-5.62, Z:5.24
[[ 9.82731307e-01  1.54946597e-01 -1.01147072e-01  5.24366615e+01]
 [-1.54259328e-01  9.87922086e-01  1.46291403e-02 -5.61868914e+00]
 [ 1.02192162e-01  1.22636516e-03  9.94763921e-01  5.24014396e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.50, Y:-5.63, Z:5.25
[[ 9.82949449e-01  1.53557957e-01 -1.01145116e-01  5.24973866e+01]
 [-1.52861964e-01  9.88139065e-01  1.46426547e-02 -5.62782926e+00]
 [ 1.02193936e-01  1.06825171e-03  9.94763921e-01  5.24660882e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.52105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.56, Y:-5.64, Z:5.25
[[ 9.83359618e-01  1.50911267e-01 -1.01141736e-01  5.25570568e+01]
 [-1.50198909e-01  9.88547013e-01  1.46659602e-02 -5.63787178e+00]
 [ 1.02196620e-01  7.69465406e-04  9.94763921e-01  5.25357402e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.581052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.62, Y:-5.65, Z:5.26
[[ 9.83601445e-01  1.49328042e-01 -1.01140162e-01  5.26169611e+01]
 [-1.48606219e-01  9.88787532e-01  1.46768063e-02 -5.64632650e+00]
 [ 1.02197790e-01  5.93929241e-04  9.94763921e-01  5.26093804e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.64105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.68, Y:-5.65, Z:5.26
[[ 9.83875883e-01  1.47509207e-01 -1.01139908e-01  5.26775776e+01]
 [-1.46777616e-01  9.89060600e-01  1.46785582e-02 -5.65399762e+00]
 [ 1.02198721e-01  4.03195161e-04  9.94763921e-01  5.26243488e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.70105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.74, Y:-5.66, Z:5.27
[[ 9.84466294e-01  1.43518341e-01 -1.01136553e-01  5.27378525e+01]
 [-1.42763361e-01  9.89647657e-01  1.47016384e-02 -5.66298138e+00]
 [ 1.02199508e-01 -3.46732654e-05  9.94763921e-01  5.26573203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.761052754000005 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:52.80, Y:-5.67, Z:5.27
[[ 9.84251769e-01  1.44982425e-01 -1.01136303e-01  5.27991624e+01]
 [-1.44234976e-01  9.89434224e-01  1.47033603e-02 -5.66994935e+00]
 [ 1.02199448e-01  1.15583770e-04  9.94763921e-01  5.27073104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.86, Y:-5.67, Z:5.27
[[ 9.83818741e-01  1.47892821e-01 -1.01135544e-01  5.28614739e+01]
 [-1.47160166e-01  9.89003308e-01  1.47085756e-02 -5.67325726e+00]
 [ 1.02198681e-01  4.12551206e-04  9.94763921e-01  5.27144975e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.92, Y:-5.68, Z:5.28
[[ 9.83771146e-01  1.48211542e-01 -1.01131954e-01  5.29212448e+01]
 [-1.47478033e-01  9.88955592e-01  1.47332199e-02 -5.68272483e+00]
 [ 1.02198645e-01  4.20625006e-04  9.94763922e-01  5.27684708e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.941052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.98, Y:-5.69, Z:5.29
[[ 9.83776785e-01  1.48176361e-01 -1.01128649e-01  5.29812964e+01]
 [-1.47440339e-01  9.88960874e-01  1.47558706e-02 -5.69265201e+00]
 [ 1.02198748e-01  3.93959407e-04  9.94763922e-01  5.28651622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.04, Y:-5.70, Z:5.29
[[ 9.83430427e-01  1.50458283e-01 -1.01128142e-01  5.30431167e+01]
 [-1.49733933e-01  9.88616160e-01  1.47593418e-02 -5.70064344e+00]
 [ 1.02197581e-01  6.27528644e-04  9.94763922e-01  5.29280500e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.06105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.10, Y:-5.71, Z:5.30
[[ 9.83304912e-01  1.51279140e-01 -1.01124044e-01  5.31029088e+01]
 [-1.50556236e-01  9.88490846e-01  1.47873677e-02 -5.71188678e+00]
 [ 1.02197212e-01  6.84364210e-04  9.94763922e-01  5.29883750e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.16, Y:-5.72, Z:5.30
[[ 9.82699857e-01  1.55161110e-01 -1.01123789e-01  5.31647098e+01]
 [-1.54458512e-01  9.87888582e-01  1.47891129e-02 -5.72308981e+00]
 [ 1.02193732e-01  1.08617082e-03  9.94763922e-01  5.30347161e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.22, Y:-5.73, Z:5.31
[[ 9.81486992e-01  1.62659431e-01 -1.01119698e-01  5.32245616e+01]
 [-1.61993593e-01  9.86680562e-01  1.48170340e-02 -5.73025106e+00]
 [ 1.02182971e-01  1.83801706e-03  9.94763923e-01  5.30769730e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.28, Y:-5.74, Z:5.31
[[ 9.80521641e-01  1.68381233e-01 -1.01119093e-01  5.32849032e+01]
 [-1.67745273e-01  9.85718954e-01  1.48211572e-02 -5.73742670e+00]
 [ 1.02170612e-01  2.42978457e-03  9.94763923e-01  5.31259773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.301052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.35, Y:-5.75, Z:5.32
[[ 9.80347796e-01  1.69392478e-01 -1.01115715e-01  5.33450869e+01]
 [-1.68759507e-01  9.85545473e-01  1.48441712e-02 -5.74819835e+00]
 [ 1.02168626e-01  2.51178772e-03  9.94763923e-01  5.32194652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.41, Y:-5.76, Z:5.33
[[ 9.80528941e-01  1.68341394e-01 -1.01114646e-01  5.34056795e+01]
 [-1.67702101e-01  9.85725844e-01  1.48514519e-02 -5.75672337e+00]
 [ 1.02171434e-01  2.39486014e-03  9.94763923e-01  5.32662333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.47, Y:-5.77, Z:5.33
[[ 9.80880910e-01  1.66280339e-01 -1.01111274e-01  5.34675647e+01]
 [-1.65627764e-01  9.86076162e-01  1.48743734e-02 -5.76694024e+00]
 [ 1.02176733e-01  2.15684525e-03  9.94763923e-01  5.33468239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.481052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.53, Y:-5.78, Z:5.34
[[ 9.81807814e-01  1.60719476e-01 -1.01107202e-01  5.35275827e+01]
 [-1.60034628e-01  9.86998910e-01  1.49020012e-02 -5.77801323e+00]
 [ 1.02187740e-01  1.54975222e-03  9.94763924e-01  5.34426858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.59, Y:-5.79, Z:5.35
[[ 9.82441188e-01  1.56801802e-01 -1.01106416e-01  5.35873991e+01]
 [-1.56095704e-01  9.87629436e-01  1.49073312e-02 -5.78534288e+00]
 [ 1.02193169e-01  1.13670098e-03  9.94763924e-01  5.34850357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.65, Y:-5.80, Z:5.36
[[ 9.84052351e-01  1.46350660e-01 -1.01106159e-01  5.36473101e+01]
 [-1.45589277e-01  9.89232774e-01  1.49090735e-02 -5.79725681e+00]
 [ 1.02199479e-01  4.86637245e-05  9.94763924e-01  5.35669569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.66105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.71, Y:-5.81, Z:5.36
[[ 9.85785681e-01  1.34179882e-01 -1.01105641e-01  5.37069618e+01]
 [-1.33354185e-01  9.90956243e-01  1.49125821e-02 -5.80674567e+00]
 [ 1.02192235e-01 -1.21774945e-03  9.94763924e-01  5.36353322e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.77, Y:-5.81, Z:5.37
[[ 9.87164436e-01  1.23631284e-01 -1.01102335e-01  5.37687724e+01]
 [-1.22748054e-01  9.92325482e-01  1.49349675e-02 -5.81220575e+00]
 [ 1.02172852e-01 -2.33315392e-03  9.94763924e-01  5.36938637e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.78105275400001 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:53.83, Y:-5.82, Z:5.37
[[ 9.89331864e-01  1.04885618e-01 -1.01101285e-01  5.38284635e+01]
 [-1.03903933e-01  9.94475091e-01  1.49420700e-02 -5.81893151e+00]
 [ 1.02109918e-01 -4.27784481e-03  9.94763924e-01  5.37456004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.84105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.89, Y:-5.82, Z:5.38
[[ 9.89676815e-01  1.01579676e-01 -1.01100797e-01  5.38909573e+01]
 [-1.00580477e-01  9.94816668e-01  1.49453706e-02 -5.82159511e+00]
 [ 1.02094904e-01 -4.62232046e-03  9.94763924e-01  5.37906086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.901052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.95, Y:-5.83, Z:5.39
[[ 9.88984143e-01  1.08119000e-01 -1.01097209e-01  5.39512645e+01]
 [-1.07151323e-01  9.94130024e-01  1.49696005e-02 -5.82534764e+00]
 [ 1.02122269e-01 -3.97199775e-03  9.94763924e-01  5.38667493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.01, Y:-5.83, Z:5.39
[[ 9.87909393e-01  1.17534751e-01 -1.01097049e-01  5.40122784e+01]
 [-1.16616024e-01  9.93064238e-01  1.49706799e-02 -5.82807295e+00]
 [ 1.02155440e-01 -3.00013932e-03  9.94763924e-01  5.39379714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.02105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.07, Y:-5.83, Z:5.40
[[ 9.86295381e-01  1.30387284e-01 -1.01096876e-01  5.40713031e+01]
 [-1.29535631e-01  9.91461731e-01  1.49718541e-02 -5.83173962e+00]
 [ 1.02185823e-01 -1.67102293e-03  9.94763924e-01  5.40154382e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.081052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.13, Y:-5.83, Z:5.41
[[ 9.84546269e-01  1.42996550e-01 -1.01097135e-01  5.41330862e+01]
 [-1.42211252e-01  9.89723121e-01  1.49701011e-02 -5.83484823e+00]
 [ 1.02198845e-01 -3.61606988e-04  9.94763924e-01  5.40764901e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.20, Y:-5.84, Z:5.41
[[ 9.83567743e-01  1.49579469e-01 -1.01096375e-01  5.41951781e+01]
 [-1.48828291e-01  9.88749656e-01  1.49752319e-02 -5.84029979e+00]
 [ 1.02198993e-01  3.16845735e-04  9.94763924e-01  5.41356510e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.20105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.26, Y:-5.85, Z:5.42
[[ 9.83025224e-01  1.53105008e-01 -1.01095332e-01  5.42562226e+01]
 [-1.52371691e-01  9.88209694e-01  1.49822739e-02 -5.84821042e+00]
 [ 1.02197248e-01  6.76113466e-04  9.94763924e-01  5.41902706e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.32, Y:-5.86, Z:5.42
[[ 9.82562061e-01  1.56052134e-01 -1.01091683e-01  5.43157875e+01]
 [-1.55331839e-01  9.87748356e-01  1.50068488e-02 -5.85746115e+00]
 [ 1.02194995e-01  9.57596796e-04  9.94763925e-01  5.42410714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.38, Y:-5.87, Z:5.43
[[ 9.81813480e-01  1.60694789e-01 -1.01091422e-01  5.43760445e+01]
 [-1.59998835e-01  9.87003098e-01  1.50086076e-02 -5.86674494e+00]
 [ 1.02189352e-01  1.43885653e-03  9.94763925e-01  5.43145301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.44, Y:-5.88, Z:5.44
[[ 9.81537919e-01  1.62369778e-01 -1.01090898e-01  5.44358281e+01]
 [-1.61682316e-01  9.86728668e-01  1.50121385e-02 -5.87618032e+00]
 [ 1.02186805e-01  1.60962732e-03  9.94763925e-01  5.43716855e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.441052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.50, Y:-5.89, Z:5.44
[[ 9.80732676e-01  1.67164898e-01 -1.01090633e-01  5.44956845e+01]
 [-1.66502629e-01  9.85926699e-01  1.50139198e-02 -5.88992809e+00]
 [ 1.02177755e-01  2.10721450e-03  9.94763925e-01  5.44181781e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.56, Y:-5.91, Z:5.45
[[ 9.80319854e-01  1.69569229e-01 -1.01090357e-01  5.45552090e+01]
 [-1.68919507e-01  9.85515462e-01  1.50157832e-02 -5.90894698e+00]
 [ 1.02172324e-01  2.35586279e-03  9.94763925e-01  5.45029749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.56105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.62, Y:-5.92, Z:5.45
[[ 9.80018490e-01  1.71304513e-01 -1.01086713e-01  5.46151430e+01]
 [-1.70661465e-01  9.85214928e-01  1.50402707e-02 -5.92451461e+00]
 [ 1.02168605e-01  2.51186325e-03  9.94763925e-01  5.45499347e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.621052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.67, Y:-5.94, Z:5.46
[[ 9.79859319e-01  1.72213241e-01 -1.01085676e-01  5.46737393e+01]
 [-1.71574294e-01  9.85056263e-01  1.50472405e-02 -5.94431343e+00]
 [ 1.02166412e-01  2.59952461e-03  9.94763925e-01  5.46108687e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.68105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.73, Y:-5.96, Z:5.46
[[ 9.80257994e-01  1.69929560e-01 -1.01085165e-01  5.47342692e+01]
 [-1.69278152e-01  9.85453390e-01  1.50506701e-02 -5.96221570e+00]
 [ 1.02172272e-01  2.35797027e-03  9.94763925e-01  5.46216931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.79, Y:-5.97, Z:5.47
[[ 9.80540995e-01  1.68291006e-01 -1.01081623e-01  5.47940988e+01]
 [-1.67628469e-01  9.85734984e-01  1.50744224e-02 -5.97062017e+00]
 [ 1.02176582e-01  2.16306858e-03  9.94763925e-01  5.47060532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.801052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.85, Y:-5.98, Z:5.48
[[ 9.80273155e-01  1.69844339e-01 -1.01081367e-01  5.48549042e+01]
 [-1.69189854e-01  9.85468165e-01  1.50761376e-02 -5.97728558e+00]
 [ 1.02173066e-01  2.32320879e-03  9.94763925e-01  5.47594704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.861052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.91, Y:-5.99, Z:5.48
[[ 9.80314895e-01  1.69603533e-01 -1.01080899e-01  5.49148108e+01]
 [-1.68947448e-01  9.85509703e-01  1.50792759e-02 -5.98661737e+00]
 [ 1.02173705e-01  2.29492123e-03  9.94763925e-01  5.48222881e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.92105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.98, Y:-6.00, Z:5.49
[[ 9.80978885e-01  1.65720088e-01 -1.01080563e-01  5.49750774e+01]
 [-1.65043205e-01  9.86171024e-01  1.50815297e-02 -5.99613276e+00]
 [ 1.02182034e-01  1.88799787e-03  9.94763925e-01  5.48694591e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.981052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.03, Y:-6.01, Z:5.50
[[ 9.81721150e-01  1.61266786e-01 -1.01077240e-01  5.50345451e+01]
 [-1.60564059e-01  9.86909854e-01  1.51037657e-02 -6.00781939e+00]
 [ 1.02189860e-01  1.40168571e-03  9.94763926e-01  5.49892389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.041052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.10, Y:-6.02, Z:5.51
[[ 9.81907219e-01  1.60130278e-01 -1.01076735e-01  5.50955194e+01]
 [-1.59421198e-01  9.87095059e-01  1.51071444e-02 -6.01594832e+00]
 [ 1.02191457e-01  1.27996010e-03  9.94763926e-01  5.51085381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.16, Y:-6.03, Z:5.52
[[ 9.82306577e-01  1.57664233e-01 -1.01073134e-01  5.51571656e+01]
 [-1.56939654e-01  9.87492274e-01  1.51312016e-02 -6.02585208e+00]
 [ 1.02194588e-01  9.98903814e-04  9.94763926e-01  5.51775403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.16105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.22, Y:-6.04, Z:5.52
[[ 9.82330242e-01  1.57519408e-01 -1.01068949e-01  5.52176523e+01]
 [-1.56791193e-01  9.87515429e-01  1.51591020e-02 -6.03725991e+00]
 [ 1.02194999e-01  9.55476829e-04  9.94763926e-01  5.52274232e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.221052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.28, Y:-6.05, Z:5.53
[[ 9.81916547e-01  1.60078477e-01 -1.01068173e-01  5.52774314e+01]
 [-1.59363243e-01  9.87103541e-01  1.51642758e-02 -6.04835211e+00]
 [ 1.02192225e-01  1.21649842e-03  9.94763926e-01  5.52602768e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.28105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.34, Y:-6.05, Z:5.53
[[ 9.81854156e-01  1.60460877e-01 -1.01067915e-01  5.53396247e+01]
 [-1.59747487e-01  9.87041404e-01  1.51659935e-02 -6.05363088e+00]
 [ 1.02191765e-01  1.25455173e-03  9.94763926e-01  5.52969667e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.34105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.40, Y:-6.06, Z:5.54
[[ 9.81887702e-01  1.60257755e-01 -1.01064302e-01  5.53999365e+01]
 [-1.59540818e-01  9.87074460e-01  1.51900330e-02 -6.06318402e+00]
 [ 1.02192312e-01  1.20897485e-03  9.94763927e-01  5.54285837e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.401052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.46, Y:-6.07, Z:5.55
[[ 9.81781437e-01  1.60909840e-01 -1.01060545e-01  5.54604162e+01]
 [-1.60193780e-01  9.86968316e-01  1.52149845e-02 -6.07074745e+00]
 [ 1.02191797e-01  1.25148142e-03  9.94763927e-01  5.54740895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.52, Y:-6.08, Z:5.55
[[ 9.81870647e-01  1.60364751e-01 -1.01060278e-01  5.55194235e+01]
 [-1.59645629e-01  9.87057102e-01  1.52167610e-02 -6.08030873e+00]
 [ 1.02192497e-01  1.19294067e-03  9.94763927e-01  5.55151506e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.52105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.58, Y:-6.09, Z:5.56
[[ 9.82133365e-01  1.58747829e-01 -1.01060278e-01  5.55790257e+01]
 [-1.58020167e-01  9.87318630e-01  1.52167610e-02 -6.09041413e+00]
 [ 1.02194323e-01  1.02467335e-03  9.94763927e-01  5.55869974e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.581052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.64, Y:-6.10, Z:5.57
[[ 9.82608279e-01  1.55781647e-01 -1.01059631e-01  5.56382794e+01]
 [-1.55037891e-01  9.87791259e-01  1.52210553e-02 -6.09995602e+00]
 [ 1.02196981e-01  7.11737080e-04  9.94763927e-01  5.56620036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.64105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.70, Y:-6.11, Z:5.57
[[ 9.82920412e-01  1.53800091e-01 -1.01059368e-01  5.56983860e+01]
 [-1.53045707e-01  9.88101856e-01  1.52227990e-02 -6.10807177e+00]
 [ 1.02198217e-01  5.03902559e-04  9.94763927e-01  5.57484413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.70105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.76, Y:-6.11, Z:5.58
[[ 9.82957673e-01  1.53562112e-01 -1.01058850e-01  5.57596058e+01]
 [-1.52806119e-01  9.88138883e-01  1.52262427e-02 -6.11483601e+00]
 [ 1.02198353e-01  4.75658444e-04  9.94763927e-01  5.57769440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.761052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.82, Y:-6.12, Z:5.58
[[ 9.82620005e-01  1.55709825e-01 -1.01056297e-01  5.58201095e+01]
 [-1.54963417e-01  9.87802604e-01  1.52431664e-02 -6.12379326e+00]
 [ 1.02197184e-01  6.81788784e-04  9.94763927e-01  5.58236248e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.88, Y:-6.14, Z:5.59
[[ 9.82376728e-01  1.57237689e-01 -1.01055793e-01  5.58807142e+01]
 [-1.56498997e-01  9.87560433e-01  1.52465045e-02 -6.13512753e+00]
 [ 1.02196028e-01  8.37318990e-04  9.94763927e-01  5.59174214e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.94, Y:-6.14, Z:5.60
[[ 9.82205703e-01  1.58304806e-01 -1.01052187e-01  5.59412718e+01]
 [-1.57569291e-01  9.87389859e-01  1.52703717e-02 -6.14484649e+00]
 [ 1.02195277e-01  9.24075180e-04  9.94763927e-01  5.59824318e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.941052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.00, Y:-6.16, Z:5.61
[[ 9.81939259e-01  1.59951445e-01 -1.01048640e-01  5.60019104e+01]
 [-1.59222212e-01  9.87124302e-01  1.52938023e-02 -6.15531646e+00]
 [ 1.02193834e-01  1.07160309e-03  9.94763928e-01  5.60603161e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.06, Y:-6.17, Z:5.61
[[ 9.81858023e-01  1.60451576e-01 -1.01045107e-01  5.60611986e+01]
 [-1.59722586e-01  9.87043100e-01  1.53171100e-02 -6.16651784e+00]
 [ 1.02193530e-01  1.09995852e-03  9.94763928e-01  5.61442383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.06105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.12, Y:-6.17, Z:5.62
[[ 9.81511198e-01  1.62561709e-01 -1.01041866e-01  5.61219726e+01]
 [-1.61841668e-01  9.86697525e-01  1.53384595e-02 -6.17237842e+00]
 [ 1.02191206e-01  1.29791438e-03  9.94763928e-01  5.62051596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.18, Y:-6.18, Z:5.62
[[ 9.81179553e-01  1.64551913e-01 -1.01041340e-01  5.61823775e+01]
 [-1.63842035e-01  9.86367281e-01  1.53419250e-02 -6.17878811e+00]
 [ 1.02188415e-01  1.50163558e-03  9.94763928e-01  5.61824910e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.24, Y:-6.19, Z:5.63
[[ 9.81131086e-01  1.64840629e-01 -1.01041376e-01  5.62433541e+01]
 [-1.64132302e-01  9.86319026e-01  1.53416858e-02 -6.18996422e+00]
 [ 1.02187965e-01  1.53194888e-03  9.94763928e-01  5.62988485e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.30, Y:-6.20, Z:5.64
[[ 9.81167262e-01  1.64627720e-01 -1.01037207e-01  5.63023052e+01]
 [-1.63915445e-01  9.86354661e-01  1.53690970e-02 -6.20218220e+00]
 [ 1.02188699e-01  1.48190391e-03  9.94763929e-01  5.63917491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.301052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.36, Y:-6.21, Z:5.65
[[ 9.80684769e-01  1.67478169e-01 -1.01036856e-01  5.63619732e+01]
 [-1.66780733e-01  9.85874184e-01  1.53714041e-02 -6.20950557e+00]
 [ 1.02184002e-01  1.77649902e-03  9.94763929e-01  5.64592213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.42, Y:-6.22, Z:5.65
[[ 9.80600284e-01  1.67972371e-01 -1.01036455e-01  5.64222799e+01]
 [-1.67277279e-01  9.85790014e-01  1.53740404e-02 -6.21716561e+00]
 [ 1.02183142e-01  1.82531481e-03  9.94763929e-01  5.64764114e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.48, Y:-6.23, Z:5.66
[[ 9.80569763e-01  1.68150609e-01 -1.01036199e-01  5.64825138e+01]
 [-1.67456287e-01  9.85759595e-01  1.53757214e-02 -6.22777959e+00]
 [ 1.02182839e-01  1.84217921e-03  9.94763929e-01  5.65794071e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.48105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.54, Y:-6.24, Z:5.67
[[ 9.80717655e-01  1.67288155e-01 -1.01032440e-01  5.65434410e+01]
 [-1.66586730e-01  9.85906532e-01  1.54003795e-02 -6.23878035e+00]
 [ 1.02184844e-01  1.72723970e-03  9.94763929e-01  5.66727047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.60, Y:-6.25, Z:5.67
[[ 9.80939351e-01  1.65985858e-01 -1.01028140e-01  5.66032414e+01]
 [-1.65274644e-01  9.86126895e-01  1.54285407e-02 -6.24631853e+00]
 [ 1.02187485e-01  1.56292717e-03  9.94763929e-01  5.67025082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.66, Y:-6.26, Z:5.68
[[ 9.81049264e-01  1.65335953e-01 -1.01026554e-01  5.66630306e+01]
 [-1.64620234e-01  9.86236188e-01  1.54389139e-02 -6.25706478e+00]
 [ 1.02188652e-01  1.48467992e-03  9.94763929e-01  5.68091706e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.66105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.72, Y:-6.27, Z:5.69
[[ 9.80836333e-01  1.66596535e-01 -1.01023180e-01  5.67229598e+01]
 [-1.65885212e-01  9.86023861e-01  1.54609635e-02 -6.26561050e+00]
 [ 1.02187009e-01  1.59357689e-03  9.94763930e-01  5.68586892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.79, Y:-6.27, Z:5.69
[[ 9.80283483e-01  1.69821327e-01 -1.01019847e-01  5.67850023e+01]
 [-1.69124829e-01  9.85473023e-01  1.54827072e-02 -6.27082895e+00]
 [ 1.02181628e-01  1.90752228e-03  9.94763930e-01  5.68713657e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.78105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.85, Y:-6.28, Z:5.69
[[ 9.80957442e-01  1.65886226e-01 -1.01016122e-01  5.68464424e+01]
 [-1.65166409e-01  9.86143798e-01  1.55069755e-02 -6.27941985e+00]
 [ 1.02188816e-01  1.47278719e-03  9.94763930e-01  5.69239983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.84105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.91, Y:-6.29, Z:5.70
[[ 9.81099582e-01  1.65045751e-01 -1.01012426e-01  5.69080855e+01]
 [-1.64319017e-01  9.86284973e-01  1.55310130e-02 -6.28862147e+00]
 [ 1.02190366e-01  1.36079213e-03  9.94763930e-01  5.69842837e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.901052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.97, Y:-6.30, Z:5.71
[[ 9.80934122e-01  1.66027116e-01 -1.01011116e-01  5.69689787e+01]
 [-1.65304693e-01  9.86120115e-01  1.55395297e-02 -6.29695697e+00]
 [ 1.02189077e-01  1.45435663e-03  9.94763931e-01  5.70612342e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.03, Y:-6.31, Z:5.72
[[ 9.81014287e-01  1.65555061e-01 -1.01007379e-01  5.70300935e+01]
 [-1.64827645e-01  9.86199582e-01  1.55637854e-02 -6.30676662e+00]
 [ 1.02190098e-01  1.38051250e-03  9.94763931e-01  5.71662316e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.02105275400001 meters
Centerline goodness : 0.999834 with order 1
Centerline is valid?  [True, True]
Translation: X:57.09, Y:-6.32, Z:5.73
[[ 9.81476576e-01  1.62794666e-01 -1.01003106e-01  5.70898195e+01]
 [-1.62049818e-01  9.86659396e-01  1.55914632e-02 -6.31973287e+00]
 [ 1.02193871e-01  1.06487903e-03  9.94763931e-01  5.72693023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.081052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.15, Y:-6.33, Z:5.74
[[ 9.81914566e-01  1.60134004e-01 -1.00999435e-01  5.71496156e+01]
 [-1.59372670e-01  9.87094989e-01  1.56152088e-02 -6.33063701e+00]
 [ 1.02196562e-01  7.63748642e-04  9.94763931e-01  5.73617373e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.21, Y:-6.34, Z:5.74
[[ 9.82123560e-01  1.58849355e-01 -1.00996021e-01  5.72096515e+01]
 [-1.58078977e-01  9.87302645e-01  1.56372568e-02 -6.34125631e+00]
 [ 1.02197607e-01  6.07629420e-04  9.94763932e-01  5.74329733e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.20105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.27, Y:-6.35, Z:5.75
[[ 9.82151339e-01  1.58677838e-01 -1.00995495e-01  5.72701401e+01]
 [-1.57906207e-01  9.87330239e-01  1.56406543e-02 -6.35132260e+00]
 [ 1.02197731e-01  5.86325945e-04  9.94763932e-01  5.74842837e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.33, Y:-6.36, Z:5.75
[[ 9.81749041e-01  1.61149299e-01 -1.00993678e-01  5.73313945e+01]
 [-1.60389498e-01  9.86929689e-01  1.56523819e-02 -6.35984797e+00]
 [ 1.02196029e-01  8.31614340e-04  9.94763932e-01  5.74914804e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.39, Y:-6.37, Z:5.75
[[ 9.80445436e-01  1.68901516e-01 -1.00990219e-01  5.73932983e+01]
 [-1.68180378e-01  9.85631607e-01  1.56746649e-02 -6.36534076e+00]
 [ 1.02186627e-01  1.61641953e-03  9.94763932e-01  5.75382203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.45, Y:-6.37, Z:5.76
[[ 9.79913761e-01  1.71961490e-01 -1.00986470e-01  5.74539155e+01]
 [-1.71254062e-01  9.85101819e-01  1.56987793e-02 -6.37242954e+00]
 [ 1.02181541e-01  1.91089342e-03  9.94763932e-01  5.75978611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.441052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.51, Y:-6.38, Z:5.77
[[ 9.79634087e-01  1.73547962e-01 -1.00985938e-01  5.75140957e+01]
 [-1.72848583e-01  9.84823237e-01  1.57022024e-02 -6.38212289e+00]
 [ 1.02178384e-01  2.07286358e-03  9.94763932e-01  5.77008576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.57, Y:-6.39, Z:5.78
[[ 9.80537480e-01  1.68369592e-01 -1.00984802e-01  5.75735344e+01]
 [-1.67642054e-01  9.85722757e-01  1.57095059e-02 -6.39368314e+00]
 [ 1.02188020e-01  1.52554028e-03  9.94763932e-01  5.77592303e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.56105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.63, Y:-6.40, Z:5.78
[[ 9.81083163e-01  1.65162282e-01 -1.00981420e-01  5.76345618e+01]
 [-1.64415557e-01  9.86265711e-01  1.57312139e-02 -6.40415724e+00]
 [ 1.02192715e-01  1.16928734e-03  9.94763933e-01  5.78274295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.621052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.70, Y:-6.41, Z:5.79
[[ 9.81387582e-01  1.63345935e-01 -1.00977818e-01  5.76950436e+01]
 [-1.62587242e-01  9.86568391e-01  1.57543036e-02 -6.41405846e+00]
 [ 1.02194925e-01  9.56627003e-04  9.94763933e-01  5.79105254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.68105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.75, Y:-6.42, Z:5.80
[[ 9.81196714e-01  1.64490951e-01 -1.00973931e-01  5.77546563e+01]
 [-1.63735745e-01  9.86378033e-01  1.57791782e-02 -6.42334457e+00]
 [ 1.02193999e-01  1.05056398e-03  9.94763933e-01  5.79756589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.81, Y:-6.43, Z:5.80
[[ 9.80601723e-01  1.68001718e-01 -1.00973673e-01  5.78148640e+01]
 [-1.67264892e-01  9.85785687e-01  1.57808268e-02 -6.42845721e+00]
 [ 1.02189608e-01  1.41464460e-03  9.94763933e-01  5.80180076e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.801052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.88, Y:-6.44, Z:5.81
[[ 9.79869222e-01  1.72222743e-01 -1.00973433e-01  5.78767700e+01]
 [-1.71508088e-01  9.85056289e-01  1.57823623e-02 -6.43562850e+00]
 [ 1.02182597e-01  1.85310937e-03  9.94763933e-01  5.80557023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.861052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.94, Y:-6.45, Z:5.81
[[ 9.79591204e-01  1.73798692e-01 -1.00970725e-01  5.79380563e+01]
 [-1.73090599e-01  9.84779171e-01  1.57996681e-02 -6.44589125e+00]
 [ 1.02179829e-01  1.99986740e-03  9.94763933e-01  5.81094758e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.92105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.00, Y:-6.46, Z:5.82
[[ 9.80150507e-01  1.70618506e-01 -1.00966872e-01  5.79976433e+01]
 [-1.69891047e-01  9.85335793e-01  1.58242558e-02 -6.45949269e+00]
 [ 1.02186183e-01  1.64321510e-03  9.94763934e-01  5.82082350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.98105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.06, Y:-6.47, Z:5.83
[[ 9.80691176e-01  1.67485198e-01 -1.00962990e-01  5.80574947e+01]
 [-1.66738625e-01  9.85873745e-01  1.58489844e-02 -6.47215983e+00]
 [ 1.02191231e-01  1.29147089e-03  9.94763934e-01  5.82874198e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.041052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.12, Y:-6.48, Z:5.83
[[ 9.80969932e-01  1.65845212e-01 -1.00962166e-01  5.81171191e+01]
 [-1.65089435e-01  9.86151166e-01  1.58542298e-02 -6.48301232e+00]
 [ 1.02193306e-01  1.11526427e-03  9.94763934e-01  5.83424487e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.18, Y:-6.49, Z:5.84
[[ 9.81283003e-01  1.63984826e-01 -1.00958628e-01  5.81771614e+01]
 [-1.63216911e-01  9.86462452e-01  1.58767291e-02 -6.49447327e+00]
 [ 1.02195438e-01  8.98591042e-04  9.94763934e-01  5.84145808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.16105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.24, Y:-6.50, Z:5.85
[[ 9.81091792e-01  1.65127107e-01 -1.00955108e-01  5.82388514e+01]
 [-1.64362922e-01  9.86271793e-01  1.58990819e-02 -6.50406898e+00]
 [ 1.02194544e-01  9.94817710e-04  9.94763935e-01  5.84838433e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.221052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.30, Y:-6.51, Z:5.85
[[ 9.80585335e-01  1.68111148e-01 -1.00950695e-01  5.82987981e+01]
 [-1.67359847e-01  9.85767219e-01  1.59270530e-02 -6.51352919e+00]
 [ 1.02191401e-01  1.27725823e-03  9.94763935e-01  5.85332309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.28105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.36, Y:-6.52, Z:5.86
[[ 9.79950756e-01  1.71773626e-01 -1.00947199e-01  5.83599748e+01]
 [-1.71039413e-01  9.85135089e-01  1.59491754e-02 -6.52132704e+00]
 [ 1.02186276e-01  1.63654321e-03  9.94763935e-01  5.85939489e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.34105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.42, Y:-6.53, Z:5.86
[[ 9.79775319e-01  1.72772143e-01 -1.00946083e-01  5.84203344e+01]
 [-1.72042486e-01  9.84960294e-01  1.59562387e-02 -6.53044335e+00]
 [ 1.02184677e-01  1.73348619e-03  9.94763935e-01  5.86480011e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.401052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.48, Y:-6.54, Z:5.87
[[ 9.79955878e-01  1.71745389e-01 -1.00945522e-01  5.84790103e+01]
 [-1.71009934e-01  9.85140035e-01  1.59597888e-02 -6.54056323e+00]
 [ 1.02186495e-01  1.62279811e-03  9.94763935e-01  5.87276476e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.54, Y:-6.55, Z:5.88
[[ 9.79994011e-01  1.71528398e-01 -1.00944277e-01  5.85400433e+01]
 [-1.70790984e-01  9.85177889e-01  1.59676554e-02 -6.54863801e+00]
 [ 1.02186976e-01  1.59216581e-03  9.94763935e-01  5.87700993e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.52105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.60, Y:-6.56, Z:5.88
[[ 9.79899696e-01  1.72067023e-01 -1.00943176e-01  5.86015233e+01]
 [-1.71331742e-01  9.85083878e-01  1.59746159e-02 -6.55751975e+00]
 [ 1.02186200e-01  1.64124884e-03  9.94763935e-01  5.88107633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.581052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.66, Y:-6.57, Z:5.89
[[ 9.80000126e-01  1.71496404e-01 -1.00939271e-01  5.86622742e+01]
 [-1.70755567e-01  9.85183516e-01  1.59992513e-02 -6.56775603e+00]
 [ 1.02187520e-01  1.55667417e-03  9.94763936e-01  5.88906993e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.64105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.72, Y:-6.58, Z:5.89
[[ 9.80151738e-01  1.70628436e-01 -1.00938139e-01  5.87212110e+01]
 [-1.69882274e-01  9.85334364e-01  1.60063929e-02 -6.57740089e+00]
 [ 1.02188962e-01  1.45890675e-03  9.94763936e-01  5.89387663e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.70105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.78, Y:-6.58, Z:5.90
[[ 9.80214429e-01  1.70267925e-01 -1.00938139e-01  5.87828327e+01]
 [-1.69519857e-01  9.85396780e-01  1.60063929e-02 -6.58409653e+00]
 [ 1.02189492e-01  1.42132154e-03  9.94763936e-01  5.89569494e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.761052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.84, Y:-6.59, Z:5.90
[[ 9.80063871e-01  1.71134631e-01 -1.00934367e-01  5.88444663e+01]
 [-1.70388700e-01  9.85246530e-01  1.60301409e-02 -6.59264840e+00]
 [ 1.02188547e-01  1.48751368e-03  9.94763936e-01  5.90146535e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.91, Y:-6.60, Z:5.91
[[ 9.80684898e-01  1.67539870e-01 -1.00933254e-01  5.89053349e+01]
 [-1.66774221e-01  9.85864681e-01  1.60371438e-02 -6.60324288e+00]
 [ 1.02193392e-01  1.10568010e-03  9.94763936e-01  5.90900058e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.96, Y:-6.61, Z:5.91
[[ 9.82052423e-01  1.59330795e-01 -1.00929364e-01  5.89647919e+01]
 [-1.58519332e-01  9.87225226e-01  1.60615931e-02 -6.61315729e+00]
 [ 1.02199120e-01  2.25928818e-04  9.94763936e-01  5.91432294e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.941052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.02, Y:-6.62, Z:5.92
[[ 9.82460391e-01  1.56795545e-01 -1.00929364e-01  5.90228782e+01]
 [-1.55970733e-01  9.87631083e-01  1.60615931e-02 -6.62362912e+00]
 [ 1.02199363e-01 -3.78522574e-05  9.94763936e-01  5.92370363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.08, Y:-6.63, Z:5.93
[[ 9.82674871e-01  1.55445686e-01 -1.00929364e-01  5.90833746e+01]
 [-1.54613771e-01  9.87844425e-01  1.60615931e-02 -6.63243310e+00]
 [ 1.02199214e-01 -1.78254464e-04  9.94763936e-01  5.93295435e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.06105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.15, Y:-6.64, Z:5.94
[[ 9.81976402e-01  1.59799170e-01 -1.00928546e-01  5.91453109e+01]
 [-1.58989646e-01  9.87149509e-01  1.60667266e-02 -6.63985958e+00]
 [ 1.02199015e-01  2.69447503e-04  9.94763936e-01  5.94082086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.21, Y:-6.65, Z:5.95
[[ 9.81445215e-01  1.63032507e-01 -1.00924186e-01  5.92061958e+01]
 [-1.62237214e-01  9.86620528e-01  1.60940719e-02 -6.65057563e+00]
 [ 1.02197730e-01  5.78208859e-04  9.94763937e-01  5.94592227e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.27, Y:-6.66, Z:5.95
[[ 9.80694169e-01  1.67493357e-01 -1.00920373e-01  5.92677135e+01]
 [-1.66719147e-01  9.85872678e-01  1.61179436e-02 -6.65707803e+00]
 [ 1.02194287e-01  1.01858523e-03  9.94763937e-01  5.94783702e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.33, Y:-6.67, Z:5.95
[[ 9.79916323e-01  1.71987945e-01 -1.00916529e-01  5.93282422e+01]
 [-1.71235012e-01  9.85097968e-01  1.61419790e-02 -6.66598824e+00]
 [ 1.02188893e-01  1.46265430e-03  9.94763937e-01  5.95036555e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.301052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.39, Y:-6.68, Z:5.96
[[ 9.79755908e-01  1.72899747e-01 -1.00915999e-01  5.93894770e+01]
 [-1.72151294e-01  9.84938202e-01  1.61452901e-02 -6.67673506e+00]
 [ 1.02187539e-01  1.55437642e-03  9.94763937e-01  5.95596974e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.45, Y:-6.69, Z:5.96
[[ 9.80146736e-01  1.70672543e-01 -1.00912131e-01  5.94511619e+01]
 [-1.69909830e-01  9.85326950e-01  1.61694286e-02 -6.68670819e+00]
 [ 1.02191120e-01  1.29755040e-03  9.94763938e-01  5.96105410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.51, Y:-6.70, Z:5.97
[[ 9.80328364e-01  1.69626992e-01 -1.00910762e-01  5.95120774e+01]
 [-1.68857874e-01  9.85507631e-01  1.61779696e-02 -6.69739131e+00]
 [ 1.02192546e-01  1.17985425e-03  9.94763938e-01  5.96843367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.48105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.57, Y:-6.71, Z:5.98
[[ 9.80574961e-01  1.68196277e-01 -1.00909654e-01  5.95712881e+01]
 [-1.67418892e-01  9.85752994e-01  1.61848763e-02 -6.70650514e+00]
 [ 1.02194230e-01  1.02369801e-03  9.94763938e-01  5.97947024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.63, Y:-6.71, Z:5.98
[[ 9.80855423e-01  1.66553107e-01 -1.00909372e-01  5.96322814e+01]
 [-1.65766866e-01  9.86032119e-01  1.61866363e-02 -6.71227927e+00]
 [ 1.02195816e-01  8.50680336e-04  9.94763938e-01  5.98343836e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.69, Y:-6.72, Z:5.99
[[ 9.80975286e-01  1.65846812e-01 -1.00907496e-01  5.96921837e+01]
 [-1.65055643e-01  9.86151230e-01  1.61983191e-02 -6.72338681e+00]
 [ 1.02196491e-01  7.65200977e-04  9.94763938e-01  5.98982012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.66105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.75, Y:-6.73, Z:6.00
[[ 9.81039148e-01  1.65468796e-01 -1.00907222e-01  5.97521417e+01]
 [-1.64675456e-01  9.86214760e-01  1.62000283e-02 -6.73380597e+00]
 [ 1.02196791e-01  7.24080848e-04  9.94763938e-01  5.99595487e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.81, Y:-6.74, Z:6.00
[[ 9.80916466e-01  1.66194780e-01 -1.00906795e-01  5.98133523e+01]
 [-1.65404997e-01  9.86092622e-01  1.62026865e-02 -6.74330638e+00]
 [ 1.02196248e-01  7.97006204e-04  9.94763938e-01  5.99960307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.78105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.87, Y:-6.76, Z:6.01
[[ 9.80964958e-01  1.65908827e-01 -1.00905960e-01  5.98729216e+01]
 [-1.65117001e-01  9.86140802e-01  1.62078837e-02 -6.75579857e+00]
 [ 1.02196516e-01  7.61923596e-04  9.94763938e-01  6.00890525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.84105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.93, Y:-6.77, Z:6.02
[[ 9.80703115e-01  1.67451961e-01 -1.00902137e-01  5.99321840e+01]
 [-1.66665833e-01  9.85879827e-01  1.62316545e-02 -6.76739376e+00]
 [ 1.02195403e-01  8.98504527e-04  9.94763938e-01  6.02095339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.901052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.99, Y:-6.78, Z:6.03
[[ 9.80137047e-01  1.70734409e-01 -1.00901593e-01  5.99920572e+01]
 [-1.69965269e-01  9.85316310e-01  1.62350355e-02 -6.77633241e+00]
 [ 1.02191864e-01  1.23720651e-03  9.94763938e-01  6.02741963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.05, Y:-6.78, Z:6.03
[[ 9.80449409e-01  1.68933511e-01 -1.00898088e-01  6.00533256e+01]
 [-1.68152620e-01  9.85626914e-01  1.62567846e-02 -6.78470142e+00]
 [ 1.02194187e-01  1.02732306e-03  9.94763938e-01  6.02950169e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.02105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.11, Y:-6.80, Z:6.04
[[ 9.81542950e-01  1.62459760e-01 -1.00897289e-01  6.01132548e+01]
 [-1.61644209e-01  9.86715109e-01  1.62617420e-02 -6.79757730e+00]
 [ 1.02198759e-01  3.47864326e-04  9.94763938e-01  6.04162333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.081052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.17, Y:-6.81, Z:6.05
[[ 9.82116748e-01  1.58956630e-01 -1.00893421e-01  6.01731765e+01]
 [-1.58120168e-01  9.87285566e-01  1.62857099e-02 -6.80828226e+00]
 [ 1.02199339e-01 -4.11838100e-05  9.94763938e-01  6.04784982e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.24, Y:-6.82, Z:6.06
[[ 9.82204466e-01  1.58415967e-01 -1.00889879e-01  6.02353637e+01]
 [-1.57574409e-01  9.87372456e-01  1.63076228e-02 -6.81603905e+00]
 [ 1.02199275e-01 -1.19756970e-04  9.94763939e-01  6.05559589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.20105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.30, Y:-6.83, Z:6.06
[[ 9.81553853e-01  1.62401294e-01 -1.00885350e-01  6.02950641e+01]
 [-1.61577845e-01  9.86724758e-01  1.63355893e-02 -6.82563539e+00]
 [ 1.02198994e-01  2.66576903e-04  9.94763939e-01  6.05987985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.35, Y:-6.84, Z:6.07
[[ 9.80894336e-01  1.66338693e-01 -1.00884790e-01  6.03542186e+01]
 [-1.65535644e-01  9.86068449e-01  1.63390478e-02 -6.83680971e+00]
 [ 1.02197124e-01  6.73149221e-04  9.94763939e-01  6.06867727e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.42, Y:-6.84, Z:6.07
[[ 9.79911403e-01  1.72034803e-01 -1.00884432e-01  6.04157507e+01]
 [-1.71261601e-01  9.85090061e-01  1.63412564e-02 -6.84378230e+00]
 [ 1.02191517e-01  1.26464591e-03  9.94763939e-01  6.07456999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.48, Y:-6.86, Z:6.08
[[ 9.79258523e-01  1.75713695e-01 -1.00883312e-01  6.04767528e+01]
 [-1.74959235e-01  9.84439944e-01  1.63481703e-02 -6.85543608e+00]
 [ 1.02186159e-01  1.64138197e-03  9.94763939e-01  6.07872974e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.441052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.54, Y:-6.87, Z:6.09
[[ 9.79422262e-01  1.74799522e-01 -1.00881911e-01  6.05359523e+01]
 [-1.74039337e-01  9.84602846e-01  1.63568090e-02 -6.86798062e+00]
 [ 1.02187779e-01  1.53719815e-03  9.94763939e-01  6.08810399e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.60, Y:-6.88, Z:6.09
[[ 9.79585918e-01  1.73880215e-01 -1.00881617e-01  6.05964134e+01]
 [-1.73114981e-01  9.84765758e-01  1.63586235e-02 -6.87671878e+00]
 [ 1.02189203e-01  1.43944201e-03  9.94763939e-01  6.09106493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.56105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.66, Y:-6.88, Z:6.10
[[ 9.79260580e-01  1.75705332e-01 -1.00877909e-01  6.06568142e+01]
 [-1.74947400e-01  9.84441494e-01  1.63814571e-02 -6.88461143e+00]
 [ 1.02186709e-01  1.60661268e-03  9.94763939e-01  6.09940766e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.621052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.72, Y:-6.90, Z:6.11
[[ 9.79287436e-01  1.75555911e-01 -1.00877348e-01  6.07165920e+01]
 [-1.74796833e-01  9.84468182e-01  1.63849112e-02 -6.89522173e+00]
 [ 1.02187008e-01  1.58750331e-03  9.94763939e-01  6.10778307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.68105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.78, Y:-6.90, Z:6.11
[[ 9.79660135e-01  1.73464395e-01 -1.00876775e-01  6.07764955e+01]
 [-1.72693893e-01  9.84839194e-01  1.63884397e-02 -6.90362907e+00]
 [ 1.02190213e-01  1.36570196e-03  9.94763939e-01  6.10756927e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.84, Y:-6.91, Z:6.11
[[ 9.79689099e-01  1.73300738e-01 -1.00876775e-01  6.08375528e+01]
 [-1.72529370e-01  9.84868029e-01  1.63884397e-02 -6.91443696e+00]
 [ 1.02190439e-01  1.34863076e-03  9.94763939e-01  6.11229953e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.80105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.90, Y:-6.93, Z:6.12
[[ 9.79587863e-01  1.73872703e-01 -1.00875673e-01  6.08980302e+01]
 [-1.73103661e-01  9.84767140e-01  1.63952206e-02 -6.92523514e+00]
 [ 1.02189729e-01  1.40138914e-03  9.94763940e-01  6.12355890e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.861052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.96, Y:-6.93, Z:6.13
[[ 9.79571179e-01  1.73968966e-01 -1.00871717e-01  6.09588195e+01]
 [-1.73197931e-01  9.84750159e-01  1.64195229e-02 -6.93400507e+00]
 [ 1.02189927e-01  1.38668131e-03  9.94763940e-01  6.13106609e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.92105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.02, Y:-6.95, Z:6.14
[[ 9.80078726e-01  1.71088764e-01 -1.00867862e-01  6.10185678e+01]
 [-1.70300075e-01  9.85255046e-01  1.64431696e-02 -6.94639411e+00]
 [ 1.02193812e-01  1.06220381e-03  9.94763940e-01  6.14011641e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.98105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.08, Y:-6.96, Z:6.15
[[ 9.80422076e-01  1.69110596e-01 -1.00867041e-01  6.10773558e+01]
 [-1.68310945e-01  9.85596714e-01  1.64482090e-02 -6.95631533e+00]
 [ 1.02195790e-01  8.50839630e-04  9.94763940e-01  6.14771930e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.041052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.14, Y:-6.97, Z:6.15
[[ 9.80572480e-01  1.68236295e-01 -1.00867041e-01  6.11393960e+01]
 [-1.67432030e-01  9.85746403e-01  1.64482090e-02 -6.96760840e+00]
 [ 1.02196508e-01  7.59712195e-04  9.94763940e-01  6.15390016e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.20, Y:-6.98, Z:6.16
[[ 9.80412521e-01  1.69168588e-01 -1.00862663e-01  6.12000911e+01]
 [-1.68366485e-01  9.85586780e-01  1.64750110e-02 -6.97803081e+00]
 [ 1.02195961e-01  8.29584871e-04  9.94763940e-01  6.16146168e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.16105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.26, Y:-6.99, Z:6.17
[[ 9.80602455e-01  1.68066468e-01 -1.00858750e-01  6.12603356e+01]
 [-1.67256090e-01  9.85775424e-01  1.64989296e-02 -6.98666462e+00]
 [ 1.02196994e-01  6.90349305e-04  9.94763941e-01  6.16774384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.221052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.32, Y:-7.00, Z:6.17
[[ 9.80744438e-01  1.67236283e-01 -1.00858185e-01  6.13202507e+01]
 [-1.66421171e-01  9.85916662e-01  1.65023830e-02 -6.99624068e+00]
 [ 1.02197562e-01  6.00316938e-04  9.94763941e-01  6.17309615e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.28105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.38, Y:-7.01, Z:6.17
[[ 9.80469393e-01  1.68841789e-01 -1.00857422e-01  6.13811786e+01]
 [-1.68034667e-01  9.85642871e-01  1.65070465e-02 -7.00580994e+00]
 [ 1.02196478e-01  7.62889346e-04  9.94763941e-01  6.17467211e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.34105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.44, Y:-7.01, Z:6.18
[[ 9.80192282e-01  1.70445329e-01 -1.00853752e-01  6.14428407e+01]
 [-1.69644366e-01  9.85366717e-01  1.65294394e-02 -7.01488899e+00]
 [ 1.02195296e-01  9.07241816e-04  9.94763941e-01  6.18078736e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.401052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.50, Y:-7.02, Z:6.19
[[ 9.79630441e-01  1.73646208e-01 -1.00852338e-01  6.15043675e+01]
 [-1.72861264e-01  9.84807329e-01  1.65380608e-02 -7.02222821e+00]
 [ 1.02191893e-01  1.23227482e-03  9.94763941e-01  6.18928943e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.57, Y:-7.03, Z:6.20
[[ 9.79585250e-01  1.73903272e-01 -1.00848354e-01  6.15655600e+01]
 [-1.73117190e-01  9.84761965e-01  1.65623205e-02 -7.03307192e+00]
 [ 1.02191865e-01  1.23437875e-03  9.94763941e-01  6.19506162e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.52105275400001 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:61.63, Y:-7.05, Z:6.20
[[ 9.79808922e-01  1.72641259e-01 -1.00843797e-01  6.16264844e+01]
 [-1.71845658e-01  9.84984183e-01  1.65900201e-02 -7.04529623e+00]
 [ 1.02193667e-01  1.07451893e-03  9.94763942e-01  6.20408245e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.581052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.69, Y:-7.06, Z:6.21
[[ 9.79318876e-01  1.75402343e-01 -1.00839259e-01  6.16866490e+01]
 [-1.74618498e-01  9.84495930e-01  1.66175550e-02 -7.05666510e+00]
 [ 1.02190599e-01  1.33451469e-03  9.94763942e-01  6.21277885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.64105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.75, Y:-7.07, Z:6.22
[[ 9.79658424e-01  1.73498201e-01 -1.00835245e-01  6.17468161e+01]
 [-1.72701789e-01  9.84833559e-01  1.66418803e-02 -7.07003445e+00]
 [ 1.02193269e-01  1.11106895e-03  9.94763942e-01  6.21804884e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.70105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.81, Y:-7.08, Z:6.22
[[ 9.79943371e-01  1.71883818e-01 -1.00831258e-01  6.18065088e+01]
 [-1.71076399e-01  9.85116800e-01  1.66659994e-02 -7.08264522e+00]
 [ 1.02195182e-01  9.18112995e-04  9.94763943e-01  6.22217980e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.761052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.87, Y:-7.09, Z:6.23
[[ 9.79798568e-01  1.72708650e-01 -1.00829003e-01  6.18676817e+01]
 [-1.71904183e-01  9.84972457e-01  1.66796345e-02 -7.09223995e+00]
 [ 1.02194508e-01  9.90245334e-04  9.94763943e-01  6.22909748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.93, Y:-7.10, Z:6.24
[[ 9.79236132e-01  1.75870233e-01 -1.00827864e-01  6.19292374e+01]
 [-1.75081762e-01  9.84412483e-01  1.66865157e-02 -7.09831235e+00]
 [ 1.02190869e-01  1.31308092e-03  9.94763943e-01  6.23749359e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.99, Y:-7.11, Z:6.24
[[ 9.79541574e-01  1.74163361e-01 -1.00823747e-01  6.19888874e+01]
 [-1.73363313e-01  9.84716148e-01  1.67113533e-02 -7.10926126e+00]
 [ 1.02193277e-01  1.10967358e-03  9.94763943e-01  6.24346550e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.941052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.05, Y:-7.12, Z:6.25
[[ 9.79639170e-01  1.73615746e-01 -1.00819984e-01  6.20498988e+01]
 [-1.72810472e-01  9.84812933e-01  1.67340284e-02 -7.12041394e+00]
 [ 1.02194115e-01  1.02943924e-03  9.94763943e-01  6.25128975e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.00105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.11, Y:-7.13, Z:6.26
[[ 9.79504315e-01  1.74375773e-01 -1.00818581e-01  6.21105142e+01]
 [-1.73573645e-01  9.84678567e-01  1.67424714e-02 -7.13056447e+00]
 [ 1.02193378e-01  1.10012564e-03  9.94763943e-01  6.26209781e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.06105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.17, Y:-7.14, Z:6.27
[[ 9.79035599e-01  1.76990839e-01 -1.00814379e-01  6.21718108e+01]
 [-1.76199930e-01  9.84211577e-01  1.67677404e-02 -7.13976298e+00]
 [ 1.02190415e-01  1.34727172e-03  9.94763944e-01  6.26550271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.121052754000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.23, Y:-7.15, Z:6.27
[[ 9.78654531e-01  1.79088398e-01 -1.00809996e-01  6.22330123e+01]
 [-1.78305872e-01  9.83831782e-01  1.67940474e-02 -7.15225918e+00]
 [ 1.02187697e-01  1.53944370e-03  9.94763944e-01  6.27081745e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.18105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.29, Y:-7.16, Z:6.28
[[ 9.77877879e-01  1.83282545e-01 -1.00808545e-01  6.22933066e+01]
 [-1.82521326e-01  9.83058306e-01  1.68027556e-02 -7.16458008e+00]
 [ 1.02180329e-01  1.96866626e-03  9.94763944e-01  6.27629511e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.36, Y:-7.17, Z:6.28
[[ 9.77121266e-01  1.87276550e-01 -1.00804395e-01  6.23553061e+01]
 [-1.86533940e-01  9.82304393e-01  1.68276161e-02 -7.17158648e+00]
 [ 1.02172018e-01  2.36081938e-03  9.94763945e-01  6.27918726e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.30105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.42, Y:-7.18, Z:6.28
[[ 9.76557033e-01  1.90197466e-01 -1.00803203e-01  6.24170919e+01]
 [-1.89469622e-01  9.81742254e-01  1.68347548e-02 -7.17713609e+00]
 [ 1.02164691e-01  2.65904650e-03  9.94763945e-01  6.28339346e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.361052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.48, Y:-7.19, Z:6.29
[[ 9.76636286e-01  1.89792311e-01 -1.00799025e-01  6.24769522e+01]
 [-1.89059739e-01  9.81820841e-01  1.68597309e-02 -7.18967803e+00]
 [ 1.02166431e-01  2.59121241e-03  9.94763945e-01  6.29129156e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.42105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.54, Y:-7.20, Z:6.30
[[ 9.76607565e-01  1.89942100e-01 -1.00795155e-01  6.25380138e+01]
 [-1.89207941e-01  9.81791895e-01  1.68828352e-02 -7.20123539e+00]
 [ 1.02166628e-01  2.58333919e-03  9.94763945e-01  6.29741447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.48105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.60, Y:-7.21, Z:6.30
[[ 9.77076715e-01  1.87516065e-01 -1.00790964e-01  6.25978485e+01]
 [-1.86766457e-01  9.82258834e-01  1.69078207e-02 -7.21112919e+00]
 [ 1.02173303e-01  2.30413332e-03  9.94763945e-01  6.30268822e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.541052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.66, Y:-7.22, Z:6.31
[[ 9.77641813e-01  1.84547521e-01 -1.00790369e-01  6.26581636e+01]
 [-1.83781811e-01  9.82821577e-01  1.69113639e-02 -7.22286420e+00]
 [ 1.02179900e-01  1.99018018e-03  9.94763945e-01  6.31014947e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.72, Y:-7.23, Z:6.32
[[ 9.77806741e-01  1.83673904e-01 -1.00786285e-01  6.27169141e+01]
 [-1.82901061e-01  9.82985445e-01  1.69356721e-02 -7.23412350e+00]
 [ 1.02182092e-01  1.87410411e-03  9.94763946e-01  6.31714134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.66105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.78, Y:-7.24, Z:6.33
[[ 9.78038374e-01  1.82436656e-01 -1.00785940e-01  6.27765932e+01]
 [-1.81657051e-01  9.83216064e-01  1.69377214e-02 -7.24282846e+00]
 [ 1.02184417e-01  1.74273524e-03  9.94763946e-01  6.32730438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.721052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.84, Y:-7.25, Z:6.33
[[ 9.78279443e-01  1.81139768e-01 -1.00785497e-01  6.28364891e+01]
 [-1.80353027e-01  9.83456054e-01  1.69403590e-02 -7.25312371e+00]
 [ 1.02186680e-01  1.60456456e-03  9.94763946e-01  6.33265616e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.78105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.90, Y:-7.26, Z:6.34
[[ 9.78532952e-01  1.79765417e-01 -1.00785203e-01  6.28978276e+01]
 [-1.78971225e-01  9.83708425e-01  1.69421065e-02 -7.26419372e+00]
 [ 1.02188858e-01  1.45924179e-03  9.94763946e-01  6.33866544e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.84105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.96, Y:-7.28, Z:6.35
[[ 9.78730599e-01  1.78687473e-01 -1.00782945e-01  6.29572419e+01]
 [-1.77886199e-01  9.83904980e-01  1.69555273e-02 -7.27581976e+00]
 [ 1.02190582e-01  1.33300168e-03  9.94763946e-01  6.34609824e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.901052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.02, Y:-7.28, Z:6.35
[[ 9.79041061e-01  1.76979869e-01 -1.00780588e-01  6.30192102e+01]
 [-1.76168129e-01  9.84213811e-01  1.69695260e-02 -7.28472236e+00]
 [ 1.02192911e-01  1.14046493e-03  9.94763946e-01  6.35455300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.08, Y:-7.29, Z:6.36
[[ 9.79423838e-01  1.74851799e-01 -1.00775956e-01  6.30797936e+01]
 [-1.74025994e-01  9.84594361e-01  1.69969920e-02 -7.29486374e+00]
 [ 1.02195393e-01  8.90376778e-04  9.94763946e-01  6.36045637e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.02105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.14, Y:-7.31, Z:6.36
[[ 9.79400725e-01  1.74983626e-01 -1.00771779e-01  6.31413324e+01]
 [-1.74155972e-01  9.84570951e-01  1.70217230e-02 -7.30592184e+00]
 [ 1.02195489e-01  8.78919233e-04  9.94763947e-01  6.36387379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.081052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.20, Y:-7.32, Z:6.37
[[ 9.79033630e-01  1.77026824e-01 -1.00770311e-01  6.32030375e+01]
 [-1.76209067e-01  9.84205431e-01  1.70304051e-02 -7.31702378e+00]
 [ 1.02193526e-01  1.08330320e-03  9.94763947e-01  6.37059374e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.14105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.26, Y:-7.32, Z:6.38
[[ 9.78229757e-01  1.81418901e-01 -1.00765688e-01  6.32642955e+01]
 [-1.80621551e-01  9.83404744e-01  1.70577139e-02 -7.32218786e+00]
 [ 1.02188048e-01  1.51409161e-03  9.94763947e-01  6.37670706e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.20105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.32, Y:-7.33, Z:6.38
[[ 9.77625144e-01  1.84649594e-01 -1.00765099e-01  6.33247484e+01]
 [-1.83868985e-01  9.82802682e-01  1.70611968e-02 -7.32993079e+00]
 [ 1.02182552e-01  1.84812140e-03  9.94763947e-01  6.38203079e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.261052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.38, Y:-7.34, Z:6.39
[[ 9.78057408e-01  1.82346430e-01 -1.00764509e-01  6.33833777e+01]
 [-1.81553270e-01  9.83233038e-01  1.70646759e-02 -7.34281864e+00]
 [ 1.02186678e-01  1.60389352e-03  9.94763947e-01  6.38839341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.44, Y:-7.36, Z:6.39
[[ 9.78340186e-01  1.80823264e-01 -1.00764221e-01  6.34433465e+01]
 [-1.80021870e-01  9.83514547e-01  1.70663789e-02 -7.35636555e+00]
 [ 1.02189076e-01  1.44303920e-03  9.94763947e-01  6.39189100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.50, Y:-7.37, Z:6.40
[[ 9.78251937e-01  1.81300391e-01 -1.00763660e-01  6.35046229e+01]
 [-1.80501180e-01  9.83426637e-01  1.70696894e-02 -7.36746448e+00]
 [ 1.02188409e-01  1.48950289e-03  9.94763947e-01  6.40017144e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.441052754000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.57, Y:-7.37, Z:6.40
[[ 9.78023877e-01  1.82529242e-01 -1.00758983e-01  6.35653918e+01]
 [-1.81733694e-01  9.83199140e-01  1.70972512e-02 -7.37382378e+00]
 [ 1.02186894e-01  1.58978239e-03  9.94763948e-01  6.40118064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.50105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.63, Y:-7.39, Z:6.41
[[ 9.77974603e-01  1.82795131e-01 -1.00755233e-01  6.36252552e+01]
 [-1.81998716e-01  9.83149732e-01  1.71193268e-02 -7.38571002e+00]
 [ 1.02186810e-01  1.59505620e-03  9.94763948e-01  6.40718309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.56105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.69, Y:-7.40, Z:6.42
[[ 9.78278026e-01  1.81164578e-01 -1.00754649e-01  6.36850856e+01]
 [-1.80359184e-01  9.83451766e-01  1.71227601e-02 -7.39841650e+00]
 [ 1.02189375e-01  1.42120632e-03  9.94763948e-01  6.41778241e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.62105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.75, Y:-7.41, Z:6.42
[[ 9.78141715e-01  1.81901461e-01 -1.00750404e-01  6.37461357e+01]
 [-1.81097396e-01  9.83315661e-01  1.71477020e-02 -7.40567751e+00]
 [ 1.02188642e-01  1.47275318e-03  9.94763948e-01  6.42273898e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.68105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.81, Y:-7.42, Z:6.43
[[ 9.78066132e-01  1.82309555e-01 -1.00746551e-01  6.38066474e+01]
 [-1.81505320e-01  9.83240052e-01  1.71703103e-02 -7.41515716e+00]
 [ 1.02188356e-01  1.49233595e-03  9.94763948e-01  6.42749591e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.87, Y:-7.43, Z:6.44
[[ 9.78525354e-01  1.79830559e-01 -1.00742750e-01  6.38652468e+01]
 [-1.79010924e-01  9.83696856e-01  1.71925829e-02 -7.42738256e+00]
 [ 1.02192078e-01  1.21067450e-03  9.94763949e-01  6.43645348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.80105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.93, Y:-7.44, Z:6.44
[[ 9.78975116e-01  1.77365780e-01 -1.00742750e-01  6.39259700e+01]
 [-1.76533124e-01  9.84144538e-01  1.71925829e-02 -7.43565389e+00]
 [ 1.02194803e-01  9.53321521e-04  9.94763949e-01  6.44152545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.861052754000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.99, Y:-7.45, Z:6.45
[[ 9.79626979e-01  1.73729673e-01 -1.00742156e-01  6.39865215e+01]
 [-1.72877470e-01  9.84793215e-01  1.71960650e-02 -7.44736076e+00]
 [ 1.02197658e-01  5.70319774e-04  9.94763949e-01  6.44818443e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.92105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.05, Y:-7.46, Z:6.46
[[ 9.80292471e-01  1.69934892e-01 -1.00741273e-01  6.40470114e+01]
 [-1.69062159e-01  9.85455278e-01  1.72012330e-02 -7.45951255e+00]
 [ 1.02199109e-01  1.69297958e-04  9.94763949e-01  6.45606730e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.98105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.11, Y:-7.47, Z:6.46
[[ 9.80615020e-01  1.68066099e-01 -1.00737123e-01  6.41083699e+01]
 [-1.67181034e-01  9.85775727e-01  1.72255028e-02 -7.46984404e+00]
 [ 1.02199234e-01 -5.02503403e-05  9.94763949e-01  6.46312848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.17, Y:-7.48, Z:6.47
[[ 9.80934529e-01  1.66192011e-01 -1.00735626e-01  6.41677110e+01]
 [-1.65296188e-01  9.86093378e-01  1.72342542e-02 -7.47952551e+00]
 [ 1.02198929e-01 -2.54460086e-04  9.94763949e-01  6.46901478e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.101052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.23, Y:-7.49, Z:6.48
[[ 9.81058691e-01  1.65457660e-01 -1.00735333e-01  6.42277759e+01]
 [-1.64557800e-01  9.86216838e-01  1.72359648e-02 -7.49099917e+00]
 [ 1.02198704e-01 -3.32708288e-04  9.94763949e-01  6.47785841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.29, Y:-7.50, Z:6.49
[[ 9.80782986e-01  1.67084717e-01 -1.00734463e-01  6.42887918e+01]
 [-1.66192891e-01  9.85942528e-01  1.72410511e-02 -7.50229723e+00]
 [ 1.02199107e-01 -1.68377950e-04  9.94763949e-01  6.48524868e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.35, Y:-7.51, Z:6.49
[[ 9.79937743e-01  1.71975430e-01 -1.00729697e-01  6.43497650e+01]
 [-1.71106497e-01  9.85101189e-01  1.72688512e-02 -7.50955288e+00]
 [ 1.02198762e-01  3.13106567e-04  9.94763949e-01  6.48561319e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.41, Y:-7.52, Z:6.49
[[ 9.78863387e-01  1.77990921e-01 -1.00725874e-01  6.44095082e+01]
 [-1.77151427e-01  9.84031701e-01  1.72911200e-02 -7.52004598e+00]
 [ 1.02195116e-01  9.18088059e-04  9.94763950e-01  6.49119301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.47, Y:-7.53, Z:6.49
[[ 9.77925872e-01  1.83071973e-01 -1.00725577e-01  6.44710061e+01]
 [-1.82259152e-01  9.83098448e-01  1.72928497e-02 -7.53036002e+00]
 [ 1.02188995e-01  1.44703317e-03  9.94763950e-01  6.49381906e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.53, Y:-7.54, Z:6.50
[[ 9.77053423e-01  1.87674713e-01 -1.00721449e-01  6.45319446e+01]
 [-1.86883783e-01  9.82229392e-01  1.73168593e-02 -7.53922701e+00]
 [ 1.02181504e-01  1.90370875e-03  9.94763950e-01  6.49791817e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.59, Y:-7.55, Z:6.51
[[ 9.76797385e-01  1.89003845e-01 -1.00719485e-01  6.45923074e+01]
 [-1.88218781e-01  9.81974247e-01  1.73282737e-02 -7.54985224e+00]
 [ 1.02179051e-01  2.03108636e-03  9.94763950e-01  6.50569635e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.65, Y:-7.56, Z:6.52
[[ 9.77467134e-01  1.85511268e-01 -1.00715298e-01  6.46516924e+01]
 [-1.84705202e-01  9.82640767e-01  1.73525753e-02 -7.56330028e+00]
 [ 1.02186056e-01  1.64106756e-03  9.94763950e-01  6.51590518e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.71, Y:-7.57, Z:6.52
[[ 9.78044317e-01  1.82445983e-01 -1.00711360e-01  6.47107083e+01]
 [-1.81621351e-01  9.83215022e-01  1.73754061e-02 -7.57415282e+00]
 [ 1.02190995e-01  1.29741596e-03  9.94763951e-01  6.52121151e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.77, Y:-7.58, Z:6.53
[[ 9.77920230e-01  1.83109930e-01 -1.00711360e-01  6.47717703e+01]
 [-1.82288809e-01  9.83091494e-01  1.73754061e-02 -7.58352675e+00]
 [ 1.02190090e-01  1.36679267e-03  9.94763951e-01  6.52671944e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.83, Y:-7.59, Z:6.53
[[ 9.77961163e-01  1.82893500e-01 -1.00707156e-01  6.48323744e+01]
 [-1.82068729e-01  9.83131846e-01  1.73997377e-02 -7.59203937e+00]
 [ 1.02190711e-01  1.31935618e-03  9.94763951e-01  6.53137136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.89, Y:-7.60, Z:6.54
[[ 9.78324840e-01  1.80938380e-01 -1.00706559e-01  6.48924197e+01]
 [-1.80102920e-01  9.83493806e-01  1.74031918e-02 -7.60161679e+00]
 [ 1.02193182e-01  1.11157053e-03  9.94763951e-01  6.53821305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.95, Y:-7.61, Z:6.55
[[ 9.79124765e-01  1.76558609e-01 -1.00706263e-01  6.49521353e+01]
 [-1.75699851e-01  9.84289912e-01  1.74049035e-02 -7.61347119e+00]
 [ 1.02197144e-01  6.52503307e-04  9.94763951e-01  6.54763076e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.01, Y:-7.62, Z:6.56
[[ 9.79969437e-01  1.71808827e-01 -1.00705658e-01  6.50118579e+01]
 [-1.70924673e-01  9.85130298e-01  1.74084060e-02 -7.62481777e+00]
 [ 1.02199112e-01  1.53375763e-04  9.94763951e-01  6.55879043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.07, Y:-7.64, Z:6.57
[[ 9.80897044e-01  1.66433753e-01 -1.00701514e-01  6.50719912e+01]
 [-1.65518862e-01  9.86052544e-01  1.74323438e-02 -7.63660906e+00]
 [ 1.02198314e-01 -4.31334537e-04  9.94763951e-01  6.56557257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.13, Y:-7.65, Z:6.57
[[ 9.81768662e-01  1.61215166e-01 -1.00697394e-01  6.51316381e+01]
 [-1.60270434e-01  9.86918777e-01  1.74561068e-02 -7.64814691e+00]
 [ 1.02194338e-01 -9.99043482e-04  9.94763951e-01  6.57242359e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.19, Y:-7.66, Z:6.58
[[ 9.83018016e-01  1.53413609e-01 -1.00696800e-01  6.51912151e+01]
 [-1.52427658e-01  9.88160399e-01  1.74595341e-02 -7.66007776e+00]
 [ 1.02183120e-01 -1.81405909e-03  9.94763951e-01  6.58310645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.25, Y:-7.67, Z:6.59
[[ 9.83614807e-01  1.49539915e-01 -1.00696204e-01  6.52513993e+01]
 [-1.48533362e-01  9.88753197e-01  1.74629709e-02 -7.66742067e+00]
 [ 1.02175105e-01 -2.22009100e-03  9.94763951e-01  6.58718420e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.31, Y:-7.68, Z:6.59
[[ 9.83668609e-01  1.49185796e-01 -1.00695903e-01  6.53128445e+01]
 [-1.48177216e-01  9.88806602e-01  1.74647069e-02 -7.67581335e+00]
 [ 1.02174260e-01 -2.25864535e-03  9.94763951e-01  6.58928798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.241052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.37, Y:-7.68, Z:6.59
[[ 9.83852791e-01  1.47966923e-01 -1.00694964e-01  6.53743448e+01]
 [-1.46951423e-01  9.88989421e-01  1.74701215e-02 -7.68432396e+00]
 [ 1.02171254e-01 -2.39075955e-03  9.94763951e-01  6.59305299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.44, Y:-7.69, Z:6.60
[[ 9.83665833e-01  1.49206810e-01 -1.00691890e-01  6.54357678e+01]
 [-1.48195975e-01  9.88803383e-01  1.74878174e-02 -7.69167829e+00]
 [ 1.02173783e-01 -2.28003564e-03  9.94763952e-01  6.60044281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.50, Y:-7.70, Z:6.61
[[ 9.83243087e-01  1.51970442e-01 -1.00687721e-01  6.54961938e+01]
 [-1.50971594e-01  9.88382980e-01  1.75117880e-02 -7.69955783e+00]
 [ 1.02179304e-01 -2.01735866e-03  9.94763952e-01  6.60875013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.55, Y:-7.71, Z:6.62
[[ 9.82926527e-01  1.54005023e-01 -1.00687112e-01  6.55545694e+01]
 [-1.53016456e-01  9.88068408e-01  1.75152926e-02 -7.70744535e+00]
 [ 1.02183197e-01 -1.80946079e-03  9.94763952e-01  6.61631526e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.61, Y:-7.72, Z:6.63
[[ 9.82964621e-01  1.53761498e-01 -1.00687412e-01  6.56147105e+01]
 [-1.52771833e-01  9.88106291e-01  1.75135647e-02 -7.71742767e+00]
 [ 1.02182777e-01 -1.83301393e-03  9.94763952e-01  6.62630857e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.67, Y:-7.73, Z:6.63
[[ 9.83055285e-01  1.53183293e-01 -1.00683588e-01  6.56749141e+01]
 [-1.52188357e-01  9.88195937e-01  1.75355208e-02 -7.72719163e+00]
 [ 1.02181262e-01 -1.91551653e-03  9.94763952e-01  6.63160481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.601052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.74, Y:-7.74, Z:6.64
[[ 9.82995161e-01  1.53569036e-01 -1.00682996e-01  6.57369132e+01]
 [-1.52575769e-01  9.88136135e-01  1.75389209e-02 -7.73555820e+00]
 [ 1.02181942e-01 -1.87888881e-03  9.94763952e-01  6.63683544e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.80, Y:-7.75, Z:6.65
[[ 9.82624753e-01  1.55924654e-01 -1.00678190e-01  6.57959308e+01]
 [-1.54940890e-01  9.87767554e-01  1.75664672e-02 -7.74681092e+00]
 [ 1.02185694e-01 -1.66207715e-03  9.94763953e-01  6.64530330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.86, Y:-7.76, Z:6.65
[[ 9.82502642e-01  1.56692440e-01 -1.00677893e-01  6.58570022e+01]
 [-1.55712521e-01  9.87646177e-01  1.75681674e-02 -7.75792085e+00]
 [ 1.02186935e-01 -1.58396237e-03  9.94763953e-01  6.65415483e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.92, Y:-7.77, Z:6.66
[[ 9.82692690e-01  1.55497585e-01 -1.00675605e-01  6.59175068e+01]
 [-1.54510071e-01  9.87834772e-01  1.75812666e-02 -7.76842365e+00]
 [ 1.02184708e-01 -1.72158723e-03  9.94763953e-01  6.66018887e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.98, Y:-7.78, Z:6.67
[[ 9.83584213e-01  1.49757692e-01 -1.00671391e-01  6.59763624e+01]
 [-1.48737708e-01  9.88719953e-01  1.76053630e-02 -7.78129541e+00]
 [ 1.02172352e-01 -2.34272505e-03  9.94763953e-01  6.66732567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.04, Y:-7.79, Z:6.68
[[ 9.85494387e-01  1.36624100e-01 -1.00671090e-01  6.60358703e+01]
 [-1.35535524e-01  9.90616027e-01  1.76070888e-02 -7.79482491e+00]
 [ 1.02131947e-01 -3.70717829e-03  9.94763953e-01  6.67566947e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.09, Y:-7.81, Z:6.68
[[ 9.87495058e-01  1.21321604e-01 -1.00670641e-01  6.60947069e+01]
 [-1.20153456e-01  9.92599137e-01  1.76096511e-02 -7.80748627e+00]
 [ 1.02062023e-01 -5.29351795e-03  9.94763953e-01  6.68269604e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.15, Y:-7.82, Z:6.69
[[ 9.89224611e-01  1.06302337e-01 -1.00670160e-01  6.61531971e+01]
 [-1.05056488e-01  9.94310282e-01  1.76124024e-02 -7.81791148e+00]
 [ 1.01969615e-01 -6.84656843e-03  9.94763953e-01  6.68895439e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.21, Y:-7.82, Z:6.70
[[ 9.90132707e-01  9.74825685e-02 -1.00669620e-01  6.62129142e+01]
 [-9.61911353e-02  9.95206994e-01  1.76154910e-02 -7.82054671e+00]
 [ 1.01904313e-01 -7.75814880e-03  9.94763953e-01  6.69565771e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.27, Y:-7.82, Z:6.71
[[ 9.90086964e-01  9.79472383e-02 -1.00668481e-01  6.62749611e+01]
 [-9.66575292e-02  9.95161689e-01  1.76219960e-02 -7.82150382e+00]
 [ 1.01907441e-01 -7.71694185e-03  9.94763953e-01  6.70746096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.34, Y:-7.82, Z:6.71
[[ 9.89116174e-01  1.07312091e-01 -1.00664337e-01  6.63375541e+01]
 [-1.06068067e-01  9.94202292e-01  1.76456351e-02 -7.81735262e+00]
 [ 1.01974305e-01 -6.77631143e-03  9.94763953e-01  6.71272722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.40, Y:-7.81, Z:6.72
[[ 9.86659707e-01  1.27942823e-01 -1.00664079e-01  6.64001869e+01]
 [-1.26805126e-01  9.91770659e-01  1.76471067e-02 -7.81326351e+00]
 [ 1.02093501e-01 -4.64696786e-03  9.94763953e-01  6.71621500e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.46, Y:-7.82, Z:6.72
[[ 9.85443056e-01  1.36999190e-01 -1.00663827e-01  6.64608860e+01]
 [-1.35908334e-01  9.90564210e-01  1.76485475e-02 -7.81524557e+00]
 [ 1.02131821e-01 -3.71058560e-03  9.94763953e-01  6.71959001e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.52, Y:-7.82, Z:6.72
[[ 9.83096082e-01  1.52934299e-01 -1.00663765e-01  6.65230340e+01]
 [-1.51926455e-01  9.88234218e-01  1.76488997e-02 -7.81503383e+00]
 [ 1.02178499e-01 -2.05707520e-03  9.94763953e-01  6.71923580e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.58, Y:-7.83, Z:6.73
[[ 9.82162492e-01  1.58819709e-01 -1.00663500e-01  6.65835761e+01]
 [-1.57842502e-01  9.87306542e-01  1.76504132e-02 -7.82500088e+00]
 [ 1.02188965e-01 -1.44659517e-03  9.94763953e-01  6.72514011e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.64, Y:-7.84, Z:6.73
[[ 9.81648666e-01  1.61965851e-01 -1.00662606e-01  6.66438148e+01]
 [-1.61004609e-01  9.86795723e-01  1.76555049e-02 -7.83617300e+00]
 [ 1.02193018e-01 -1.12435919e-03  9.94763953e-01  6.73389975e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.70, Y:-7.85, Z:6.74
[[ 9.80066247e-01  1.71283464e-01 -1.00658460e-01  6.67036837e+01]
 [-1.70368734e-01  9.85221774e-01  1.76791125e-02 -7.84752844e+00]
 [ 1.02199046e-01 -1.77647029e-04  9.94763954e-01  6.74120244e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.76, Y:-7.86, Z:6.74
[[ 9.79471305e-01  1.74655671e-01 -1.00654655e-01  6.67636669e+01]
 [-1.73756467e-01  9.84629562e-01  1.77007503e-02 -7.86004542e+00]
 [ 1.02199085e-01  1.52020262e-04  9.94763954e-01  6.74492515e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.82, Y:-7.88, Z:6.75
[[ 9.80107852e-01  1.71047822e-01 -1.00654069e-01  6.68204676e+01]
 [-1.70129289e-01  9.85262701e-01  1.77040797e-02 -7.88118592e+00]
 [ 1.02198945e-01 -2.27702317e-04  9.94763954e-01  6.75309839e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.741052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.88, Y:-7.90, Z:6.76
[[ 9.81725503e-01  1.61505592e-01 -1.00652777e-01  6.68793141e+01]
 [-1.60536204e-01  9.86871031e-01  1.77114243e-02 -7.90103029e+00]
 [ 1.02191804e-01 -1.22934211e-03  9.94763954e-01  6.76228373e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.94, Y:-7.92, Z:6.77
[[ 9.83309001e-01  1.51569364e-01 -1.00648575e-01  6.69367070e+01]
 [-1.50545551e-01  9.88443978e-01  1.77352725e-02 -7.91965741e+00]
 [ 1.02173602e-01 -2.28705795e-03  9.94763954e-01  6.77074635e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.99, Y:-7.95, Z:6.78
[[ 9.85407554e-01  1.37265690e-01 -1.00648316e-01  6.69931873e+01]
 [-1.36167223e-01  9.90527080e-01  1.77367391e-02 -7.94503425e+00]
 [ 1.02129529e-01 -3.77291499e-03  9.94763954e-01  6.78187294e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.05, Y:-7.96, Z:6.79
[[ 9.85769306e-01  1.34643711e-01 -1.00647636e-01  6.70524418e+01]
 [-1.33531235e-01  9.90885806e-01  1.77405986e-02 -7.96298536e+00]
 [ 1.02118974e-01 -4.04853444e-03  9.94763954e-01  6.78706483e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.11, Y:-7.98, Z:6.79
[[ 9.86013964e-01  1.32843269e-01 -1.00643571e-01  6.71118731e+01]
 [-1.31719105e-01  9.91127908e-01  1.77636277e-02 -7.98062548e+00]
 [ 1.02110431e-01 -4.25850386e-03  9.94763954e-01  6.79319502e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.17, Y:-8.00, Z:6.80
[[ 9.86320447e-01  1.30551624e-01 -1.00639206e-01  6.71698193e+01]
 [-1.29413063e-01  9.91431205e-01  1.77883262e-02 -7.99534437e+00]
 [ 1.02099144e-01 -4.52096193e-03  9.94763955e-01  6.79792931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.101052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.23, Y:-8.01, Z:6.80
[[ 9.86915361e-01  1.25975475e-01 -1.00639206e-01  6.72283889e+01]
 [-1.24813223e-01  9.92020784e-01  1.77883262e-02 -8.01270552e+00]
 [ 1.02077077e-01 -4.99446877e-03  9.94763955e-01  6.80350684e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.29, Y:-8.03, Z:6.81
[[ 9.87381850e-01  1.22265655e-01 -1.00638916e-01  6.72873715e+01]
 [-1.21084057e-01  9.92482830e-01  1.77899655e-02 -8.02707802e+00]
 [ 1.02057498e-01 -5.37972080e-03  9.94763955e-01  6.80792015e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.35, Y:-8.04, Z:6.81
[[ 9.87312572e-01  1.22824086e-01 -1.00638608e-01  6.73477069e+01]
 [-1.21645197e-01  9.92414178e-01  1.77917075e-02 -8.03907857e+00]
 [ 1.02060432e-01 -5.32377323e-03  9.94763955e-01  6.81293398e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.41, Y:-8.05, Z:6.82
[[ 9.87344569e-01  1.22567379e-01 -1.00637664e-01  6.74065513e+01]
 [-1.21386620e-01  9.92445743e-01  1.77970463e-02 -8.04864773e+00]
 [ 1.02058759e-01 -5.35575113e-03  9.94763955e-01  6.81923881e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.47, Y:-8.06, Z:6.83
[[ 9.87772570e-01  1.19069822e-01 -1.00636611e-01  6.74668687e+01]
 [-1.17870400e-01  9.92869388e-01  1.78029975e-02 -8.05926455e+00]
 [ 1.02038810e-01 -5.72323492e-03  9.94763955e-01  6.82921456e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.53, Y:-8.07, Z:6.84
[[ 9.88639336e-01  1.11648531e-01 -1.00632341e-01  6.75264958e+01]
 [-1.10408424e-01  9.93726408e-01  1.78271003e-02 -8.06706843e+00]
 [ 1.01991385e-01 -6.51391440e-03  9.94763955e-01  6.83866084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.59, Y:-8.07, Z:6.85
[[ 9.89087261e-01  1.07608520e-01 -1.00631986e-01  6.75855748e+01]
 [-1.06347437e-01  9.94169174e-01  1.78291077e-02 -8.07451415e+00]
 [ 1.01963782e-01 -6.93258959e-03  9.94763955e-01  6.84577376e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.65, Y:-8.08, Z:6.85
[[ 9.89078102e-01  1.07693745e-01 -1.00630834e-01  6.76471539e+01]
 [-1.06432442e-01  9.94159960e-01  1.78356065e-02 -8.08051564e+00]
 [ 1.01963929e-01 -6.93042242e-03  9.94763955e-01  6.85265166e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.71, Y:-8.09, Z:6.86
[[ 9.88902417e-01  1.09299230e-01 -1.00626477e-01  6.77081160e+01]
 [-1.08043691e-01  9.93985702e-01  1.78601547e-02 -8.08562802e+00]
 [ 1.01973381e-01 -6.78989418e-03  9.94763955e-01  6.86018919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.77, Y:-8.09, Z:6.87
[[ 9.88842057e-01  1.09844540e-01 -1.00625859e-01  6.77695107e+01]
 [-1.08591452e-01  9.93925946e-01  1.78636364e-02 -8.09473060e+00]
 [ 1.01976875e-01 -6.73720685e-03  9.94763955e-01  6.86672775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.83, Y:-8.10, Z:6.87
[[ 9.88557267e-01  1.12382539e-01 -1.00621543e-01  6.78312106e+01]
 [-1.11140044e-01  9.93643756e-01  1.78879154e-02 -8.09681620e+00]
 [ 1.01992257e-01 -6.50014605e-03  9.94763956e-01  6.86995779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.89, Y:-8.10, Z:6.87
[[ 9.87477726e-01  1.21503796e-01 -1.00620910e-01  6.78903740e+01]
 [-1.20307949e-01  9.92575384e-01  1.78914765e-02 -8.10267988e+00]
 [ 1.02047720e-01 -5.56193923e-03  9.94763956e-01  6.87457707e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.95, Y:-8.11, Z:6.88
[[ 9.85693956e-01  1.35214263e-01 -1.00620719e-01  6.79499388e+01]
 [-1.34089261e-01  9.90807714e-01  1.78925490e-02 -8.10719302e+00]
 [ 1.02115112e-01 -4.14441955e-03  9.94763956e-01  6.87822985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.01, Y:-8.11, Z:6.88
[[ 9.83645148e-01  1.49391000e-01 -1.00620829e-01  6.80102656e+01]
 [-1.48339799e-01  9.88774587e-01  1.78919293e-02 -8.11458688e+00]
 [ 1.02164212e-01 -2.67323588e-03  9.94763956e-01  6.88132099e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.07, Y:-8.13, Z:6.89
[[ 9.81802354e-01  1.61057851e-01 -1.00620609e-01  6.80697864e+01]
 [-1.60067491e-01  9.86943885e-01  1.78931675e-02 -8.12623223e+00]
 [ 1.02188730e-01 -1.46146559e-03  9.94763956e-01  6.88716720e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.13, Y:-8.14, Z:6.89
[[ 9.80113230e-01  1.71036876e-01 -1.00620291e-01  6.81299907e+01]
 [-1.70098686e-01  9.85264537e-01  1.78949572e-02 -8.13776050e+00]
 [ 1.02198302e-01 -4.23705110e-04  9.94763956e-01  6.89117139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.19, Y:-8.15, Z:6.90
[[ 9.79283634e-01  1.75726763e-01 -1.00616443e-01  6.81900472e+01]
 [-1.74811023e-01  9.84438979e-01  1.79165638e-02 -8.15422234e+00]
 [ 1.02199168e-01  4.34656567e-05  9.94763956e-01  6.89555262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.25, Y:-8.17, Z:6.90
[[ 9.79263969e-01  1.75838783e-01 -1.00612137e-01  6.82493057e+01]
 [-1.74921152e-01  9.84418977e-01  1.79407140e-02 -8.17242841e+00]
 [ 1.02199170e-01  3.04960902e-05  9.94763956e-01  6.90254325e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.31, Y:-8.19, Z:6.91
[[ 9.79258012e-01  1.75872484e-01 -1.00611210e-01  6.83077276e+01]
 [-1.74954497e-01  9.84412956e-01  1.79459091e-02 -8.18899464e+00]
 [ 1.02199170e-01  2.87084112e-05  9.94763956e-01  6.90672131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.241052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.37, Y:-8.21, Z:6.91
[[ 9.80048118e-01  1.71415070e-01 -1.00610933e-01  6.83659125e+01]
 [-1.70473478e-01  9.85198803e-01  1.79474632e-02 -8.20960647e+00]
 [ 1.02198236e-01 -4.37881950e-04  9.94763956e-01  6.91124415e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.43, Y:-8.23, Z:6.92
[[ 9.80967677e-01  1.66072226e-01 -1.00610302e-01  6.84251092e+01]
 [-1.65102219e-01  9.86113086e-01  1.79509973e-02 -8.22714595e+00]
 [ 1.02194298e-01 -9.98363872e-04  9.94763956e-01  6.91656699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.49, Y:-8.24, Z:6.92
[[ 9.80953725e-01  1.66155986e-01 -1.00608044e-01  6.84856617e+01]
 [-1.65185121e-01  9.86098972e-01  1.79636474e-02 -8.23895740e+00]
 [ 1.02194256e-01 -1.00255497e-03  9.94763956e-01  6.92483068e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.55, Y:-8.25, Z:6.93
[[ 9.80297786e-01  1.69985750e-01 -1.00603658e-01  6.85471594e+01]
 [-1.69032470e-01  9.85446320e-01  1.79881738e-02 -8.24642727e+00]
 [ 1.02197238e-01 -6.28482057e-04  9.94763957e-01  6.92829275e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.61, Y:-8.25, Z:6.93
[[ 9.79704819e-01  1.73373153e-01 -1.00599296e-01  6.86086489e+01]
 [-1.72435172e-01  9.84856162e-01  1.80125379e-02 -8.25285728e+00]
 [ 1.02198727e-01 -3.00113198e-04  9.94763957e-01  6.92797409e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.67, Y:-8.26, Z:6.93
[[ 9.79505076e-01  1.74500424e-01 -1.00595272e-01  6.86687622e+01]
 [-1.73566068e-01  9.84657077e-01  1.80349809e-02 -8.26485281e+00]
 [ 1.02198959e-01 -2.05429449e-04  9.94763957e-01  6.93484477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.601052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.73, Y:-8.28, Z:6.94
[[ 9.78757119e-01  1.78648474e-01 -1.00594359e-01  6.87286650e+01]
 [-1.77735428e-01  9.83912940e-01  1.80400711e-02 -8.27657798e+00]
 [ 1.02198923e-01  2.22333554e-04  9.94763957e-01  6.94455605e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.79, Y:-8.29, Z:6.95
[[ 9.77206842e-01  1.86944795e-01 -1.00590416e-01  6.87896274e+01]
 [-1.86073259e-01  9.82369841e-01  1.80620305e-02 -8.28705062e+00]
 [ 1.02193594e-01  1.06684678e-03  9.94763958e-01  6.95254896e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.85, Y:-8.30, Z:6.96
[[ 9.75631658e-01  1.95000832e-01 -1.00586002e-01  6.88489026e+01]
 [-1.94169392e-01  9.80801266e-01  1.80865797e-02 -8.29805008e+00]
 [ 1.02181776e-01  1.88488319e-03  9.94763958e-01  6.95799763e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.91, Y:-8.31, Z:6.97
[[ 9.75101289e-01  1.97635924e-01 -1.00585877e-01  6.89091438e+01]
 [-1.96818382e-01  9.80273112e-01  1.80872759e-02 -8.31082141e+00]
 [ 1.02176326e-01  2.16022350e-03  9.94763958e-01  6.96863801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.97, Y:-8.32, Z:6.97
[[ 9.74875367e-01  1.98749589e-01 -1.00581404e-01  6.89691801e+01]
 [-1.97935394e-01  9.80047719e-01  1.81121147e-02 -8.32178629e+00]
 [ 1.02174351e-01  2.25156542e-03  9.94763958e-01  6.97367048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.03, Y:-8.34, Z:6.98
[[ 9.75297858e-01  1.96667985e-01 -1.00577292e-01  6.90287877e+01]
 [-1.95840398e-01  9.80468084e-01  1.81349198e-02 -8.33600826e+00]
 [ 1.02179383e-01  2.01014855e-03  9.94763958e-01  6.97857327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.96105275400001 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:69.09, Y:-8.35, Z:6.99
[[ 9.75493782e-01  1.95695939e-01 -1.00573262e-01  6.90880574e+01]
 [-1.94860900e-01  9.80662809e-01  1.81572459e-02 -8.35006460e+00]
 [ 1.02181757e-01  1.88551577e-03  9.94763959e-01  6.98617881e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.15, Y:-8.36, Z:6.99
[[ 9.75410393e-01  1.96111479e-01 -1.00572625e-01  6.91479359e+01]
 [-1.95278278e-01  9.80579717e-01  1.81607735e-02 -8.36344211e+00]
 [ 1.02181012e-01  1.92544171e-03  9.94763959e-01  6.99396038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.081052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:69.21, Y:-8.38, Z:7.00
[[ 9.75345520e-01  1.96434950e-01 -1.00570505e-01  6.92084002e+01]
 [-1.95602254e-01  9.80514925e-01  1.81725021e-02 -8.37516678e+00]
 [ 1.02180596e-01  1.94734903e-03  9.94763959e-01  7.00176299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.141052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:69.27, Y:-8.38, Z:7.00
[[ 9.75111705e-01  1.97594618e-01 -1.00566042e-01  6.92678313e+01]
 [-1.96765527e-01  9.80281689e-01  1.81971717e-02 -8.38354901e+00]
 [ 1.02178712e-01  2.04365502e-03  9.94763959e-01  7.00264818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.33, Y:-8.40, Z:7.01
[[ 9.74947109e-01  1.98405789e-01 -1.00564796e-01  6.93268858e+01]
 [-1.97580289e-01  9.80117667e-01  1.82040532e-02 -8.39506021e+00]
 [ 1.02177123e-01  2.12163239e-03  9.94763959e-01  7.01042665e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.39, Y:-8.41, Z:7.02
[[ 9.74807481e-01  1.99090751e-01 -1.00564646e-01  6.93863905e+01]
 [-1.98268799e-01  9.79978605e-01  1.82048830e-02 -8.40671098e+00]
 [ 1.02175625e-01  2.19257540e-03  9.94763959e-01  7.01965558e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.45, Y:-8.42, Z:7.03
[[ 9.74451365e-01  2.00828490e-01 -1.00560700e-01  6.94457533e+01]
 [-2.00013514e-01  9.79623593e-01  1.82266501e-02 -8.41678781e+00]
 [ 1.02172065e-01  2.35251496e-03  9.94763959e-01  7.02682731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.51, Y:-8.43, Z:7.03
[[ 9.74441616e-01  2.00875948e-01 -1.00560383e-01  6.95061497e+01]
 [-2.00061044e-01  9.79613855e-01  1.82283998e-02 -8.43000789e+00]
 [ 1.02171992e-01  2.35570389e-03  9.94763959e-01  7.03114337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.57, Y:-8.44, Z:7.04
[[ 9.75290807e-01  1.96713889e-01 -1.00555893e-01  6.95650615e+01]
 [-1.95874361e-01  9.80459106e-01  1.82531378e-02 -8.44419174e+00]
 [ 1.02181586e-01  1.89420374e-03  9.94763960e-01  7.03939212e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.62, Y:-8.46, Z:7.05
[[ 9.75933735e-01  1.93499311e-01 -1.00555263e-01  6.96241773e+01]
 [-1.92642400e-01  9.81099180e-01  1.82566091e-02 -8.45870293e+00]
 [ 1.02187327e-01  1.55396644e-03  9.94763960e-01  7.04808086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.69, Y:-8.47, Z:7.05
[[ 9.75853814e-01  1.93903015e-01 -1.00553245e-01  6.96853309e+01]
 [-1.93047097e-01  9.81019423e-01  1.82677139e-02 -8.46899467e+00]
 [ 1.02186851e-01  1.58489374e-03  9.94763960e-01  7.05489840e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.75, Y:-8.47, Z:7.06
[[ 9.75308107e-01  1.96631708e-01 -1.00548834e-01  6.97472317e+01]
 [-1.95787743e-01  9.80475682e-01  1.82919596e-02 -8.47496143e+00]
 [ 1.02182466e-01  1.84593284e-03  9.94763960e-01  7.05756037e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.681052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:69.81, Y:-8.49, Z:7.07
[[ 9.75630917e-01  1.95024362e-01 -1.00547565e-01  6.98074817e+01]
 [-1.94171164e-01  9.80796976e-01  1.82989358e-02 -8.48592875e+00]
 [ 1.02185486e-01  1.67043025e-03  9.94763960e-01  7.06552711e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.741052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.87, Y:-8.50, Z:7.07
[[ 9.75840568e-01  1.93974970e-01 -1.00543008e-01  6.98674828e+01]
 [-1.93113641e-01  9.81005278e-01  1.83239382e-02 -8.49630376e+00]
 [ 1.02187607e-01  1.53498409e-03  9.94763960e-01  7.07215205e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.93, Y:-8.51, Z:7.08
[[ 9.76574611e-01  1.90245274e-01 -1.00542354e-01  6.99273372e+01]
 [-1.89363851e-01  9.81735929e-01  1.83275239e-02 -8.50853300e+00]
 [ 1.02192767e-01  1.14089281e-03  9.94763960e-01  7.07745009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.99, Y:-8.52, Z:7.08
[[ 9.76606571e-01  1.90083323e-01 -1.00538234e-01  6.99882758e+01]
 [-1.89198719e-01  9.81767344e-01  1.83501015e-02 -8.51614294e+00]
 [ 1.02193203e-01  1.10087537e-03  9.94763961e-01  7.08206338e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.05, Y:-8.52, Z:7.09
[[ 9.76268143e-01  1.91814240e-01 -1.00537604e-01  7.00494714e+01]
 [-1.90938432e-01  9.81430417e-01  1.83535480e-02 -8.52450543e+00]
 [ 1.02191135e-01  1.27850834e-03  9.94763961e-01  7.08631860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.11, Y:-8.53, Z:7.09
[[ 9.75919699e-01  1.93581554e-01 -1.00533199e-01  7.01100699e+01]
 [-1.92712611e-01  9.81083132e-01  1.83776478e-02 -8.53420597e+00]
 [ 1.02188999e-01  1.43890678e-03  9.94763961e-01  7.09141505e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.17, Y:-8.54, Z:7.10
[[ 9.75315128e-01  1.96605365e-01 -1.00532236e-01  7.01716199e+01]
 [-1.95751888e-01  9.80481141e-01  1.83829146e-02 -8.54177174e+00]
 [ 1.02184141e-01  1.75024028e-03  9.94763961e-01  7.09840817e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.23, Y:-8.55, Z:7.10
[[ 9.75062993e-01  1.97852697e-01 -1.00530937e-01  7.02331277e+01]
 [-1.97005096e-01  9.80229973e-01  1.83900149e-02 -8.55018779e+00]
 [ 1.02181952e-01  1.87368394e-03  9.94763961e-01  7.10400304e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.29, Y:-8.56, Z:7.11
[[ 9.75296034e-01  1.96703055e-01 -1.00526389e-01  7.02928721e+01]
 [-1.95846804e-01  9.80461587e-01  1.84148456e-02 -8.56046219e+00]
 [ 1.02184519e-01  1.72784608e-03  9.94763961e-01  7.10957703e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.35, Y:-8.57, Z:7.11
[[ 9.75618653e-01  1.95096782e-01 -1.00526062e-01  7.03537773e+01]
 [-1.94231843e-01  9.80782758e-01  1.84166262e-02 -8.57092379e+00]
 [ 1.02187253e-01  1.55775828e-03  9.94763961e-01  7.11417861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.41, Y:-8.58, Z:7.12
[[ 9.75671157e-01  1.94836367e-01 -1.00521561e-01  7.04125511e+01]
 [-1.93967523e-01  9.80834606e-01  1.84411639e-02 -8.58468745e+00]
 [ 1.02188035e-01  1.50540635e-03  9.94763962e-01  7.12061336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.47, Y:-8.60, Z:7.13
[[ 9.75786664e-01  1.94257383e-01 -1.00520920e-01  7.04731149e+01]
 [-1.93385114e-01  9.80949536e-01  1.84446557e-02 -8.59748161e+00]
 [ 1.02188960e-01  1.44120053e-03  9.94763962e-01  7.12749407e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.401052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:70.53, Y:-8.61, Z:7.14
[[ 9.75966236e-01  1.93353828e-01 -1.00519665e-01  7.05327221e+01]
 [-1.92476075e-01  9.81128179e-01  1.84514947e-02 -8.61132920e+00]
 [ 1.02190343e-01  1.33959466e-03  9.94763962e-01  7.13663408e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.59, Y:-8.62, Z:7.14
[[ 9.76096672e-01  1.92696597e-01 -1.00515219e-01  7.05934762e+01]
 [-1.91812878e-01  9.81257596e-01  1.84756795e-02 -8.62367935e+00]
 [ 1.02191523e-01  1.24606429e-03  9.94763962e-01  7.14344147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.65, Y:-8.63, Z:7.15
[[ 9.75878578e-01  1.93800354e-01 -1.00510809e-01  7.06541456e+01]
 [-1.92920006e-01  9.81040078e-01  1.84996389e-02 -8.63213465e+00]
 [ 1.02190369e-01  1.33714462e-03  9.94763962e-01  7.14743242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.72, Y:-8.64, Z:7.15
[[ 9.75274410e-01  1.96818377e-01 -1.00510459e-01  7.07150330e+01]
 [-1.95953803e-01  9.80438575e-01  1.85015447e-02 -8.63969835e+00]
 [ 1.02185775e-01  1.65132353e-03  9.94763962e-01  7.15107892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.78, Y:-8.65, Z:7.16
[[ 9.74847077e-01  1.98924473e-01 -1.00509849e-01  7.07760945e+01]
 [-1.98070715e-01  9.80013042e-01  1.85048557e-02 -8.65136790e+00]
 [ 1.02182032e-01  1.86865320e-03  9.94763962e-01  7.15667393e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.84, Y:-8.66, Z:7.17
[[ 9.75523314e-01  1.95583494e-01 -1.00505523e-01  7.08359849e+01]
 [-1.94709625e-01  9.80685915e-01  1.85283230e-02 -8.66448948e+00]
 [ 1.02188185e-01  1.49458169e-03  9.94763963e-01  7.16693563e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.90, Y:-8.68, Z:7.17
[[ 9.75765812e-01  1.94370793e-01 -1.00504101e-01  7.08960934e+01]
 [-1.93489714e-01  9.80927187e-01  1.85360308e-02 -8.67621445e+00]
 [ 1.02190068e-01  1.35968467e-03  9.94763963e-01  7.17383977e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.96, Y:-8.69, Z:7.18
[[ 9.75966029e-01  1.93365484e-01 -1.00499259e-01  7.09553075e+01]
 [-1.92476388e-01  9.81126028e-01  1.85622507e-02 -8.68679833e+00]
 [ 1.02191737e-01  1.22760825e-03  9.94763963e-01  7.18071771e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.02, Y:-8.69, Z:7.18
[[ 9.75704792e-01  1.94679700e-01 -1.00498620e-01  7.10169464e+01]
 [-1.93797199e-01  9.80865924e-01  1.85657064e-02 -8.69449279e+00]
 [ 1.02190038e-01  1.36170245e-03  9.94763963e-01  7.18390481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.08, Y:-8.71, Z:7.19
[[ 9.75522685e-01  1.95592452e-01 -1.00494199e-01  7.10779307e+01]
 [-1.94712319e-01  9.80684220e-01  1.85896046e-02 -8.70576029e+00]
 [ 1.02189062e-01  1.43287762e-03  9.94763963e-01  7.19119283e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.14, Y:-8.72, Z:7.20
[[ 9.75849115e-01  1.93959630e-01 -1.00489632e-01  7.11376671e+01]
 [-1.93068321e-01  9.81008732e-01  1.86142609e-02 -8.71603186e+00]
 [ 1.02191622e-01  1.23665455e-03  9.94763964e-01  7.19652112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.20, Y:-8.73, Z:7.20
[[ 9.76135970e-01  1.92511108e-01 -1.00489011e-01  7.11981076e+01]
 [-1.91611797e-01  9.81294198e-01  1.86176133e-02 -8.72957145e+00]
 [ 1.02193381e-01  1.08155795e-03  9.94763964e-01  7.20383692e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.26, Y:-8.74, Z:7.21
[[ 9.76048465e-01  1.92954945e-01 -1.00487729e-01  7.12583909e+01]
 [-1.92057268e-01  9.81206977e-01  1.86245334e-02 -8.74006510e+00]
 [ 1.02192956e-01  1.12095133e-03  9.94763964e-01  7.20842861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.32, Y:-8.75, Z:7.21
[[ 9.75851786e-01  1.93947517e-01 -1.00487081e-01  7.13196203e+01]
 [-1.93054727e-01  9.81011146e-01  1.86280287e-02 -8.75087165e+00]
 [ 1.02191806e-01  1.22131086e-03  9.94763964e-01  7.21324400e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.241052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.38, Y:-8.76, Z:7.22
[[ 9.75869549e-01  1.93860585e-01 -1.00482320e-01  7.13791911e+01]
 [-1.92964695e-01  9.81028372e-01  1.86536738e-02 -8.76224212e+00]
 [ 1.02192219e-01  1.18598799e-03  9.94763964e-01  7.22391447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.44, Y:-8.77, Z:7.23
[[ 9.75622248e-01  1.95101663e-01 -1.00481695e-01  7.14399303e+01]
 [-1.94211988e-01  9.80782146e-01  1.86570408e-02 -8.77123926e+00]
 [ 1.02190672e-01  1.31252566e-03  9.94763964e-01  7.22929812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.50, Y:-8.78, Z:7.23
[[ 9.75683535e-01  1.94795439e-01 -1.00480726e-01  7.15013190e+01]
 [-1.93903608e-01  9.80843061e-01  1.86622564e-02 -8.78238505e+00]
 [ 1.02191145e-01  1.27511905e-03  9.94763964e-01  7.23229742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.56, Y:-8.80, Z:7.24
[[ 9.75732711e-01  1.94551308e-01 -1.00476195e-01  7.15616438e+01]
 [-1.93655678e-01  9.80891578e-01  1.86866174e-02 -8.79531425e+00]
 [ 1.02191760e-01  1.22464194e-03  9.94763964e-01  7.24093213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.62, Y:-8.80, Z:7.25
[[ 9.75443985e-01  1.95996148e-01 -1.00471598e-01  7.16217951e+01]
 [-1.95105617e-01  9.80603735e-01  1.87113021e-02 -8.80424323e+00]
 [ 1.02190168e-01  1.35074603e-03  9.94763965e-01  7.24547510e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.68, Y:-8.82, Z:7.25
[[ 9.74811673e-01  1.99119321e-01 -1.00467394e-01  7.16829338e+01]
 [-1.98242997e-01  9.79973855e-01  1.87338479e-02 -8.81566342e+00]
 [ 1.02185691e-01  1.65498374e-03  9.94763965e-01  7.24966267e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.74, Y:-8.83, Z:7.26
[[ 9.74820422e-01  1.99078777e-01 -1.00462858e-01  7.17428503e+01]
 [-1.98199735e-01  9.79982141e-01  1.87581417e-02 -8.82726555e+00]
 [ 1.02186155e-01  1.62589230e-03  9.94763965e-01  7.25603124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.80, Y:-8.84, Z:7.26
[[ 9.74743176e-01  1.99456971e-01 -1.00462217e-01  7.18028955e+01]
 [-1.98579578e-01  9.79905176e-01  1.87615763e-02 -8.83972641e+00]
 [ 1.02185573e-01  1.66202607e-03  9.94763965e-01  7.26435479e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.721052754 meters
Centerline goodness : 0.999906 with order 1
Centerline is valid?  [True, True]
Translation: X:71.86, Y:-8.85, Z:7.27
[[ 9.74729787e-01  1.99524686e-01 -1.00457668e-01  7.18624202e+01]
 [-1.98645145e-01  9.79891421e-01  1.87859008e-02 -8.85119745e+00]
 [ 1.02185858e-01  1.64425095e-03  9.94763965e-01  7.27072296e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.92, Y:-8.86, Z:7.28
[[ 9.74745808e-01  1.99448492e-01 -1.00453513e-01  7.19228338e+01]
 [-1.98566262e-01  9.79906983e-01  1.88080941e-02 -8.86245985e+00]
 [ 1.02186345e-01  1.61356766e-03  9.94763966e-01  7.27674866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.98, Y:-8.87, Z:7.28
[[ 9.74483185e-01  2.00730000e-01 -1.00448940e-01  7.19833159e+01]
 [-1.99852043e-01  9.79645088e-01  1.88324859e-02 -8.87302581e+00]
 [ 1.02184555e-01  1.72298506e-03  9.94763966e-01  7.28010644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.04, Y:-8.88, Z:7.29
[[ 9.74139701e-01  2.02392421e-01 -1.00444766e-01  7.20438746e+01]
 [-2.01520981e-01  9.79302708e-01  1.88547213e-02 -8.88409156e+00]
 [ 1.02181884e-01  1.87459518e-03  9.94763966e-01  7.28724185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.11, Y:-8.89, Z:7.29
[[ 9.74021755e-01  2.02961564e-01 -1.00440156e-01  7.21050922e+01]
 [-2.02090613e-01  9.79184844e-01  1.88792456e-02 -8.89335953e+00]
 [ 1.02181240e-01  1.90921675e-03  9.94763967e-01  7.29442249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.16, Y:-8.90, Z:7.30
[[ 9.73980054e-01  2.03163866e-01 -1.00435543e-01  7.21646552e+01]
 [-2.02291460e-01  9.79142897e-01  1.89037581e-02 -8.90376347e+00]
 [ 1.02181309e-01  1.90536921e-03  9.94763967e-01  7.30049829e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.22, Y:-8.92, Z:7.31
[[ 9.73534593e-01  2.05289928e-01 -1.00431276e-01  7.22248967e+01]
 [-2.04426462e-01  9.78698939e-01  1.89264007e-02 -8.91522234e+00]
 [ 1.02177382e-01  2.10530447e-03  9.94763967e-01  7.30842390e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.29, Y:-8.93, Z:7.31
[[ 9.73498107e-01  2.05463975e-01 -1.00429035e-01  7.22850084e+01]
 [-2.04600207e-01  9.78662402e-01  1.89382807e-02 -8.92690131e+00]
 [ 1.02177255e-01  2.11142098e-03  9.94763967e-01  7.31318470e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.34, Y:-8.94, Z:7.32
[[ 9.74237882e-01  2.01927441e-01 -1.00428373e-01  7.23444693e+01]
 [-2.01044563e-01  9.79398944e-01  1.89417918e-02 -8.94009895e+00]
 [ 1.02184310e-01  1.73676726e-03  9.94763967e-01  7.31653235e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.40, Y:-8.96, Z:7.32
[[ 9.75192008e-01  1.97268302e-01 -1.00427905e-01  7.24048987e+01]
 [-1.96360509e-01  9.80348747e-01  1.89442718e-02 -8.95632105e+00]
 [ 1.02191475e-01  1.24577221e-03  9.94763967e-01  7.32487781e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.46, Y:-8.97, Z:7.33
[[ 9.75403296e-01  1.96223575e-01 -1.00422705e-01  7.24632089e+01]
 [-1.95307425e-01  9.80558555e-01  1.89718001e-02 -8.96865362e+00]
 [ 1.02193057e-01  1.10814355e-03  9.94763968e-01  7.33393640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.52, Y:-8.97, Z:7.34
[[ 9.75106216e-01  1.97694747e-01 -1.00422379e-01  7.25247000e+01]
 [-1.96786197e-01  9.80262821e-01  1.89735231e-02 -8.97492962e+00]
 [ 1.02191291e-01  1.26053782e-03  9.94763968e-01  7.34117206e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.59, Y:-8.98, Z:7.34
[[ 9.74610867e-01  2.00124762e-01 -1.00417813e-01  7.25860611e+01]
 [-1.99226583e-01  9.79769288e-01  1.89976581e-02 -8.98250177e+00]
 [ 1.02188191e-01  1.49057379e-03  9.94763968e-01  7.34359756e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.65, Y:-9.00, Z:7.35
[[ 9.73859031e-01  2.03753206e-01 -1.00415237e-01  7.26451456e+01]
 [-2.02872842e-01  9.79020522e-01  1.90112646e-02 -8.99788151e+00]
 [ 1.02182184e-01  1.85723277e-03  9.94763968e-01  7.35427705e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.71, Y:-9.01, Z:7.36
[[ 9.73618654e-01  2.04901007e-01 -1.00410622e-01  7.27065741e+01]
 [-2.04024218e-01  9.78780754e-01  1.90356097e-02 -9.00736725e+00]
 [ 1.02180400e-01  1.95277391e-03  9.94763968e-01  7.35975541e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.77, Y:-9.02, Z:7.36
[[ 9.73767039e-01  2.04196934e-01 -1.00406009e-01  7.27673518e+01]
 [-2.03313907e-01  9.78928074e-01  1.90599111e-02 -9.01794165e+00]
 [ 1.02182236e-01  1.85402478e-03  9.94763969e-01  7.36408335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.83, Y:-9.03, Z:7.37
[[ 9.74685534e-01  1.99767402e-01 -1.00404653e-01  7.28258784e+01]
 [-1.98860184e-01  9.79842372e-01  1.90670526e-02 -9.03389402e+00]
 [ 1.02189709e-01  1.38210737e-03  9.94763969e-01  7.36962419e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.741052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.89, Y:-9.05, Z:7.38
[[ 9.74601457e-01  2.00179360e-01 -1.00400318e-01  7.28865069e+01]
 [-1.99271973e-01  9.79758265e-01  1.90898478e-02 -9.04511565e+00]
 [ 1.02189435e-01  1.40197611e-03  9.94763969e-01  7.37559808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.95, Y:-9.05, Z:7.38
[[ 9.74078467e-01  2.02709430e-01 -1.00399340e-01  7.29468036e+01]
 [-2.01814907e-01  9.79237522e-01  1.90949915e-02 -9.05276398e+00]
 [ 1.02185536e-01  1.66206346e-03  9.94763969e-01  7.38435363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.01, Y:-9.06, Z:7.39
[[ 9.73639040e-01  2.04809978e-01 -1.00398674e-01  7.30083155e+01]
 [-2.03926224e-01  9.78799950e-01  1.90984954e-02 -9.06170263e+00]
 [ 1.02181779e-01  1.87888162e-03  9.94763969e-01  7.39187587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.07, Y:-9.07, Z:7.40
[[ 9.73423337e-01  2.05835314e-01 -1.00393382e-01  7.30685590e+01]
 [-2.04954133e-01  9.78584687e-01  1.91262688e-02 -9.07388177e+00]
 [ 1.02180288e-01  1.95808220e-03  9.94763969e-01  7.39917795e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.13, Y:-9.08, Z:7.40
[[ 9.73766392e-01  2.04208523e-01 -1.00388713e-01  7.31302906e+01]
 [-2.03316196e-01  9.78925826e-01  1.91507482e-02 -9.08366902e+00]
 [ 1.02183850e-01  1.76229625e-03  9.94763970e-01  7.40290461e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.19, Y:-9.10, Z:7.41
[[ 9.74855383e-01  1.98945802e-01 -1.00387001e-01  7.31893330e+01]
 [-1.98024696e-01  9.80009758e-01  1.91597180e-02 -9.09788045e+00]
 [ 1.02191986e-01  1.20115103e-03  9.94763970e-01  7.40581675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.25, Y:-9.11, Z:7.41
[[ 9.76022938e-01  1.93136764e-01 -1.00386327e-01  7.32481541e+01]
 [-1.92184615e-01  9.81171669e-01  1.91632468e-02 -9.11331327e+00]
 [ 1.02197348e-01  5.88939210e-04  9.94763970e-01  7.41226108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.31, Y:-9.12, Z:7.42
[[ 9.75665033e-01  1.94937072e-01 -1.00385667e-01  7.33092628e+01]
 [-1.93994068e-01  9.80815446e-01  1.91667024e-02 -9.12316819e+00]
 [ 1.02196114e-01  7.73942734e-04  9.94763970e-01  7.41796871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.37, Y:-9.13, Z:7.43
[[ 9.74415038e-01  2.01092802e-01 -1.00384352e-01  7.33692224e+01]
 [-2.00181624e-01  9.79571177e-01  1.91735883e-02 -9.13223194e+00]
 [ 1.02189289e-01  1.41206988e-03  9.94763970e-01  7.42561508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.43, Y:-9.14, Z:7.43
[[ 9.74155225e-01  2.02347996e-01 -1.00383692e-01  7.34294311e+01]
 [-2.01443105e-01  9.79312471e-01  1.91770448e-02 -9.14392289e+00]
 [ 1.02187438e-01  1.54018421e-03  9.94763970e-01  7.43328905e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.49, Y:-9.16, Z:7.44
[[ 9.74461118e-01  2.00871870e-01 -1.00379388e-01  7.34889546e+01]
 [-1.99956849e-01  9.79616576e-01  1.91995434e-02 -9.15620325e+00]
 [ 1.02189961e-01  1.36233771e-03  9.94763970e-01  7.44193101e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.55, Y:-9.17, Z:7.45
[[ 9.74409903e-01  2.01120445e-01 -1.00378819e-01  7.35492017e+01]
 [-2.00206433e-01  9.79565540e-01  1.92025180e-02 -9.16797699e+00]
 [ 1.02189651e-01  1.38536171e-03  9.94763970e-01  7.44897110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.61, Y:-9.18, Z:7.46
[[ 9.74276181e-01  2.01769502e-01 -1.00374253e-01  7.36095464e+01]
 [-2.00856469e-01  9.79431992e-01  1.92263574e-02 -9.18098254e+00]
 [ 1.02189047e-01  1.42903597e-03  9.94763970e-01  7.45955949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.67, Y:-9.19, Z:7.47
[[ 9.74184895e-01  2.02212086e-01 -1.00369628e-01  7.36701652e+01]
 [-2.01298911e-01  9.79340680e-01  1.92504704e-02 -9.19492603e+00]
 [ 1.02188738e-01  1.45077944e-03  9.94763971e-01  7.46679755e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.73, Y:-9.21, Z:7.47
[[ 9.74286676e-01  2.01721950e-01 -1.00367967e-01  7.37316617e+01]
 [-2.00805290e-01  9.79441842e-01  1.92591311e-02 -9.20706015e+00]
 [ 1.02189575e-01  1.39050376e-03  9.94763971e-01  7.46928918e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.79, Y:-9.22, Z:7.47
[[ 9.73673909e-01  2.04660039e-01 -1.00366265e-01  7.37920747e+01]
 [-2.03758021e-01  9.78831657e-01  1.92679945e-02 -9.21922810e+00]
 [ 1.02185066e-01  1.68968798e-03  9.94763971e-01  7.47199785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.85, Y:-9.23, Z:7.47
[[ 9.72708990e-01  2.09200181e-01 -1.00361873e-01  7.38520770e+01]
 [-2.08319878e-01  9.77870488e-01  1.92908416e-02 -9.22842283e+00]
 [ 1.02176562e-01  2.14299818e-03  9.94763971e-01  7.47406264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.91, Y:-9.24, Z:7.48
[[ 9.72101608e-01  2.12004776e-01 -1.00361539e-01  7.39126558e+01]
 [-2.11139184e-01  9.77265594e-01  1.92925811e-02 -9.23811103e+00]
 [ 1.02169998e-01  2.43590436e-03  9.94763971e-01  7.47853806e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.97, Y:-9.25, Z:7.49
[[ 9.72810164e-01  2.08729687e-01 -1.00360865e-01  7.39718578e+01]
 [-2.07846346e-01  9.77971143e-01  1.92960869e-02 -9.25330469e+00]
 [ 1.02177696e-01  2.08820963e-03  9.94763971e-01  7.48803462e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.03, Y:-9.27, Z:7.50
[[ 9.73468453e-01  2.05638087e-01 -1.00360091e-01  7.40302428e+01]
 [-2.04737940e-01  9.78626528e-01  1.93001108e-02 -9.26804863e+00]
 [ 1.02183886e-01  1.75946939e-03  9.94763971e-01  7.49781716e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.09, Y:-9.28, Z:7.50
[[ 9.74041926e-01  2.02905649e-01 -1.00357485e-01  7.40923300e+01]
 [-2.01989637e-01  9.79197207e-01  1.93136553e-02 -9.27746528e+00]
 [ 1.02188618e-01  1.45886189e-03  9.94763971e-01  7.50462125e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.15, Y:-9.29, Z:7.51
[[ 9.74431350e-01  2.01029821e-01 -1.00352158e-01  7.41526661e+01]
 [-2.00101038e-01  9.79584345e-01  1.93412920e-02 -9.29159704e+00]
 [ 1.02191580e-01  1.23380980e-03  9.94763971e-01  7.51022341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.21, Y:-9.30, Z:7.52
[[ 9.75071524e-01  1.97903750e-01 -1.00347542e-01  7.42134015e+01]
 [-1.96955985e-01  9.80221061e-01  1.93652125e-02 -9.30328010e+00]
 [ 1.02195222e-01  8.81581739e-04  9.94763972e-01  7.51534094e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.27, Y:-9.31, Z:7.52
[[ 9.75224259e-01  1.97152084e-01 -1.00342912e-01  7.42720782e+01]
 [-1.96197884e-01  9.80372608e-01  1.93891732e-02 -9.31266737e+00]
 [ 1.02196058e-01  7.78275017e-04  9.94763972e-01  7.52241147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.33, Y:-9.32, Z:7.53
[[ 9.75204354e-01  1.97250519e-01 -1.00342912e-01  7.43334878e+01]
 [-1.96296839e-01  9.80352799e-01  1.93891732e-02 -9.32382591e+00]
 [ 1.02195979e-01  7.88590389e-04  9.94763972e-01  7.53081607e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.241052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.39, Y:-9.34, Z:7.54
[[ 9.75656958e-01  1.95002212e-01 -1.00337616e-01  7.43928983e+01]
 [-1.94033853e-01  9.80802662e-01  1.94165421e-02 -9.33693695e+00]
 [ 1.02197669e-01  5.25009827e-04  9.94763972e-01  7.54081834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.45, Y:-9.35, Z:7.55
[[ 9.75757168e-01  1.94500498e-01 -1.00336956e-01  7.44546436e+01]
 [-1.93529143e-01  9.80902307e-01  1.94199517e-02 -9.34862413e+00]
 [ 1.02197942e-01  4.68968065e-04  9.94763972e-01  7.54636334e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.51, Y:-9.36, Z:7.55
[[ 9.75133211e-01  1.97607630e-01 -1.00331680e-01  7.45147468e+01]
 [-1.96649868e-01  9.80280897e-01  1.94471715e-02 -9.36044507e+00]
 [ 1.02196139e-01  7.66628903e-04  9.94763973e-01  7.55200679e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.57, Y:-9.37, Z:7.56
[[ 9.74409637e-01  2.01147361e-01 -1.00327461e-01  7.45745002e+01]
 [-2.00206060e-01  9.79560358e-01  1.94689156e-02 -9.37489649e+00]
 [ 1.02192924e-01  1.11546655e-03  9.94763973e-01  7.55972700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.64, Y:-9.38, Z:7.56
[[ 9.73737483e-01  2.04377098e-01 -1.00326045e-01  7.46360935e+01]
 [-2.03452130e-01  9.78891163e-01  1.94762051e-02 -9.38429110e+00]
 [ 1.02188770e-01  1.44683669e-03  9.94763973e-01  7.55896578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.541052754 meters
Centerline goodness : 0.999906 with order 1
Centerline is valid?  [True, True]
Translation: X:74.70, Y:-9.39, Z:7.56
[[ 9.73037188e-01  2.07687877e-01 -1.00321365e-01  7.46976080e+01]
 [-2.06777960e-01  9.78193546e-01  1.95002855e-02 -9.39443384e+00]
 [ 1.02183684e-01  1.76974423e-03  9.94763973e-01  7.56136778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.76, Y:-9.41, Z:7.57
[[ 9.73082122e-01  2.07479563e-01 -1.00316569e-01  7.47574835e+01]
 [-2.06566003e-01  9.78237836e-01  1.95249267e-02 -9.40522097e+00]
 [ 1.02184486e-01  1.72263553e-03  9.94763974e-01  7.56747335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.82, Y:-9.42, Z:7.57
[[ 9.73493007e-01  2.05543392e-01 -1.00315894e-01  7.48166959e+01]
 [-2.04619221e-01  9.78646829e-01  1.95283924e-02 -9.41687213e+00]
 [ 1.02187764e-01  1.51580670e-03  9.94763974e-01  7.57304926e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.88, Y:-9.43, Z:7.58
[[ 9.73336028e-01  2.06287602e-01 -1.00311526e-01  7.48767692e+01]
 [-2.05365062e-01  9.78490142e-01  1.95508058e-02 -9.43136245e+00]
 [ 1.02186928e-01  1.57097898e-03  9.94763974e-01  7.58083614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.94, Y:-9.44, Z:7.59
[[ 9.73636316e-01  2.04867937e-01 -1.00306794e-01  7.49359159e+01]
 [-2.03935385e-01  9.78788627e-01  1.95750514e-02 -9.44493696e+00]
 [ 1.02189450e-01  1.39712378e-03  9.94763974e-01  7.59192904e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.00, Y:-9.46, Z:7.59
[[ 9.73956183e-01  2.03342166e-01 -1.00306119e-01  7.49962328e+01]
 [-2.02401186e-01  9.79106961e-01  1.95785097e-02 -9.45583245e+00]
 [ 1.02191556e-01  1.23346693e-03  9.94763974e-01  7.59471225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.06, Y:-9.47, Z:7.60
[[ 9.74043068e-01  2.02925897e-01 -1.00305446e-01  7.50560632e+01]
 [-2.01982360e-01  9.79193379e-01  1.95819600e-02 -9.47003945e+00]
 [ 1.02192115e-01  1.18625819e-03  9.94763974e-01  7.59946611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.12, Y:-9.48, Z:7.61
[[ 9.73232328e-01  2.06781496e-01 -1.00300791e-01  7.51169092e+01]
 [-2.05855908e-01  9.78385895e-01  1.96057718e-02 -9.47842618e+00]
 [ 1.02186990e-01  1.56653947e-03  9.94763975e-01  7.60820667e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.18, Y:-9.49, Z:7.62
[[ 9.72371449e-01  2.10794829e-01 -1.00296086e-01  7.51771723e+01]
 [-2.09888031e-01  9.77528355e-01  1.96298148e-02 -9.48630618e+00]
 [ 1.02180131e-01  1.96347637e-03  9.94763975e-01  7.61530309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.24, Y:-9.50, Z:7.62
[[ 9.72341498e-01  2.10933144e-01 -1.00295659e-01  7.52370667e+01]
 [-2.10026855e-01  9.77498494e-01  1.96319926e-02 -9.49966780e+00]
 [ 1.02179894e-01  1.97578086e-03  9.94763975e-01  7.62188243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.30, Y:-9.51, Z:7.63
[[ 9.72926968e-01  2.08218322e-01 -1.00290802e-01  7.52965314e+01]
 [-2.07295088e-01  9.78080957e-01  1.96567761e-02 -9.51328434e+00]
 [ 1.02185424e-01  1.66518301e-03  9.94763975e-01  7.62926059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.36, Y:-9.53, Z:7.64
[[ 9.72775976e-01  2.08925073e-01 -1.00285665e-01  7.53563861e+01]
 [-2.08002886e-01  9.77930151e-01  1.96829463e-02 -9.52644863e+00]
 [ 1.02184637e-01  1.71261055e-03  9.94763975e-01  7.63728601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.42, Y:-9.54, Z:7.64
[[ 9.72576120e-01  2.09855731e-01 -1.00280917e-01  7.54165467e+01]
 [-2.08935985e-01  9.77730732e-01  1.97071115e-02 -9.53989461e+00]
 [ 1.02183384e-01  1.78562605e-03  9.94763976e-01  7.64137025e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.48, Y:-9.55, Z:7.65
[[ 9.72490585e-01  2.10252236e-01 -1.00279905e-01  7.54774315e+01]
 [-2.09334062e-01  9.77645476e-01  1.97122563e-02 -9.55082436e+00]
 [ 1.02182742e-01  1.82201621e-03  9.94763976e-01  7.64602665e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.54, Y:-9.56, Z:7.65
[[ 9.72042980e-01  2.12314241e-01 -1.00275160e-01  7.55374196e+01]
 [-2.11404515e-01  9.77199369e-01  1.97363676e-02 -9.55995714e+00]
 [ 1.02179135e-01  2.01402390e-03  9.94763976e-01  7.64996174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.60, Y:-9.57, Z:7.66
[[ 9.72250160e-01  2.11363637e-01 -1.00274820e-01  7.55983608e+01]
 [-2.10448692e-01  9.77405625e-01  1.97380915e-02 -9.57098766e+00]
 [ 1.02181088e-01  1.91234216e-03  9.94763976e-01  7.65754745e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.66, Y:-9.58, Z:7.66
[[ 9.72586689e-01  2.09811991e-01 -1.00269939e-01  7.56591112e+01]
 [-2.08886268e-01  9.77740229e-01  1.97628588e-02 -9.58242574e+00]
 [ 1.02184438e-01  1.72391988e-03  9.94763976e-01  7.66314737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.72, Y:-9.59, Z:7.67
[[ 9.72771205e-01  2.08957146e-01 -1.00265120e-01  7.57181420e+01]
 [-2.08024378e-01  9.77923475e-01  1.97872757e-02 -9.59420788e+00]
 [ 1.02186307e-01  1.60909717e-03  9.94763977e-01  7.66804819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.78, Y:-9.61, Z:7.68
[[ 9.72602632e-01  2.09740540e-01 -1.00264776e-01  7.57788247e+01]
 [-2.08811742e-01  9.77755619e-01  1.97890201e-02 -9.60649377e+00]
 [ 1.02185008e-01  1.68960948e-03  9.94763977e-01  7.67570999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.84, Y:-9.62, Z:7.68
[[ 9.72428209e-01  2.10550027e-01 -1.00259985e-01  7.58391702e+01]
 [-2.09623019e-01  9.77581518e-01  1.98132649e-02 -9.61525197e+00]
 [ 1.02183991e-01  1.74982303e-03  9.94763977e-01  7.67831510e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.741052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.90, Y:-9.63, Z:7.69
[[ 9.72971678e-01  2.08026271e-01 -1.00255593e-01  7.58987167e+01]
 [-2.07083609e-01  9.78122146e-01  1.98354628e-02 -9.62867922e+00]
 [ 1.02188513e-01  1.46194642e-03  9.94763977e-01  7.68531994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.96, Y:-9.65, Z:7.70
[[ 9.73866463e-01  2.03796496e-01 -1.00255179e-01  7.59580556e+01]
 [-2.02831248e-01  9.79012746e-01  1.98375537e-02 -9.64694525e+00]
 [ 1.02193922e-01  1.01575483e-03  9.94763977e-01  7.69930913e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.02, Y:-9.65, Z:7.70
[[ 9.74181039e-01  2.02288652e-01 -1.00252701e-01  7.60180837e+01]
 [-2.01314150e-01  9.79325578e-01  1.98500696e-02 -9.65448469e+00]
 [ 1.02195478e-01  8.44725808e-04  9.94763977e-01  7.70448919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.08, Y:-9.66, Z:7.71
[[ 9.74933356e-01  1.98632430e-01 -1.00250229e-01  7.60792084e+01]
 [-1.97637351e-01  9.80073955e-01  1.98625468e-02 -9.66325020e+00]
 [ 1.02197984e-01  4.48530245e-04  9.94763977e-01  7.70874256e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.14, Y:-9.68, Z:7.72
[[ 9.76966212e-01  1.88382223e-01 -1.00245489e-01  7.61383663e+01]
 [-1.87330759e-01  9.82095574e-01  1.98864379e-02 -9.67885107e+00]
 [ 1.02196903e-01 -6.49314263e-04  9.94763978e-01  7.71676523e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.20, Y:-9.69, Z:7.72
[[ 9.77746752e-01  1.84290546e-01 -1.00241131e-01  7.61991606e+01]
 [-1.83215367e-01  9.82871195e-01  1.99083858e-02 -9.68798807e+00]
 [ 1.02193047e-01 -1.09964398e-03  9.94763978e-01  7.72185081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.26, Y:-9.70, Z:7.73
[[ 9.78007377e-01  1.82904853e-01 -1.00236643e-01  7.62599782e+01]
 [-1.81820101e-01  9.83129802e-01  1.99309548e-02 -9.69593309e+00]
 [ 1.02191099e-01 -1.26758433e-03  9.94763978e-01  7.72788932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.32, Y:-9.70, Z:7.73
[[ 9.76828869e-01  1.89098170e-01 -1.00235937e-01  7.63204932e+01]
 [-1.88045533e-01  9.81957989e-01  1.99345041e-02 -9.70454838e+00]
 [ 1.02197057e-01 -6.23678911e-04  9.94763978e-01  7.73315635e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.38, Y:-9.71, Z:7.74
[[ 9.74746184e-01  1.99558341e-01 -1.00231455e-01  7.63810063e+01]
 [-1.98558431e-01  9.79885844e-01  1.99570127e-02 -9.71488312e+00]
 [ 1.02197973e-01  4.48778483e-04  9.94763979e-01  7.74252250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.44, Y:-9.72, Z:7.75
[[ 9.72516890e-01  2.10155999e-01 -1.00226520e-01  7.64406370e+01]
 [-2.09209540e-01  9.77666660e-01  1.99817694e-02 -9.72458378e+00]
 [ 1.02187416e-01  1.53573587e-03  9.94763979e-01  7.74826280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.50, Y:-9.74, Z:7.75
[[ 9.71025533e-01  2.16944617e-01 -1.00221990e-01  7.65003912e+01]
 [-2.16031814e-01  9.76181375e-01  2.00044639e-02 -9.73772137e+00]
 [ 1.02174701e-01  2.22629315e-03  9.94763979e-01  7.75378286e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.56, Y:-9.75, Z:7.76
[[ 9.71214927e-01  2.16095481e-01 -1.00221301e-01  7.65604179e+01]
 [-2.15177814e-01  9.76369905e-01  2.00079173e-02 -9.74929768e+00]
 [ 1.02176682e-01  2.13341236e-03  9.94763979e-01  7.75740375e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.62, Y:-9.77, Z:7.77
[[ 9.72086758e-01  2.12139372e-01 -1.00220868e-01  7.66207657e+01]
 [-2.11200501e-01  9.77237916e-01  2.00100842e-02 -9.76600952e+00]
 [ 1.02184559e-01  1.71515967e-03  9.94763979e-01  7.76656617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.68, Y:-9.78, Z:7.77
[[ 9.72585703e-01  2.09842661e-01 -1.00215305e-01  7.66808485e+01]
 [-2.08888758e-01  9.77734099e-01  2.00379082e-02 -9.77887932e+00]
 [ 1.02188729e-01  1.44526747e-03  9.94763980e-01  7.77258341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.74, Y:-9.79, Z:7.78
[[ 9.73132425e-01  2.07292995e-01 -1.00214263e-01  7.67400022e+01]
 [-2.06325066e-01  9.78278202e-01  2.00431174e-02 -9.79408084e+00]
 [ 1.02192227e-01  1.17210695e-03  9.94763980e-01  7.77667135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.80, Y:-9.81, Z:7.78
[[ 9.72761905e-01  2.09026078e-01 -1.00211648e-01  7.68015762e+01]
 [-2.08065971e-01  9.77909148e-01  2.00561798e-02 -9.80560411e+00]
 [ 1.02190152e-01  1.34074626e-03  9.94763980e-01  7.77799255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.86, Y:-9.82, Z:7.79
[[ 9.72709891e-01  2.09270266e-01 -1.00206907e-01  7.68618482e+01]
 [-2.08309014e-01  9.77856919e-01  2.00798423e-02 -9.81813170e+00]
 [ 1.02190131e-01  1.34214078e-03  9.94763980e-01  7.78528501e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.92, Y:-9.83, Z:7.79
[[ 9.72703874e-01  2.09300557e-01 -1.00202052e-01  7.69217188e+01]
 [-2.08336973e-01  9.77850466e-01  2.01040413e-02 -9.82904573e+00]
 [ 1.02190410e-01  1.32051336e-03  9.94763980e-01  7.79355626e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.98, Y:-9.84, Z:7.80
[[ 9.72552925e-01  2.10001178e-01 -1.00201364e-01  7.69820052e+01]
 [-2.09040948e-01  9.77700144e-01  2.01074694e-02 -9.84035151e+00]
 [ 1.02189480e-01  1.39060989e-03  9.94763980e-01  7.80005913e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.04, Y:-9.85, Z:7.81
[[ 9.72270546e-01  2.11306802e-01 -1.00196907e-01  7.70426469e+01]
 [-2.10351199e-01  9.77418626e-01  2.01296544e-02 -9.85272609e+00]
 [ 1.02187856e-01  1.50506935e-03  9.94763980e-01  7.80586380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.10, Y:-9.87, Z:7.82
[[ 9.73067023e-01  2.07610539e-01 -1.00191977e-01  7.71021439e+01]
 [-2.06632856e-01  9.78210955e-01  2.01541616e-02 -9.86813096e+00]
 [ 1.02193106e-01  1.09160436e-03  9.94763981e-01  7.81697659e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.16, Y:-9.88, Z:7.83
[[ 9.73406662e-01  2.06014668e-01 -1.00186961e-01  7.71604911e+01]
 [-2.05025989e-01  9.78548491e-01  2.01790644e-02 -9.88087730e+00]
 [ 1.02194983e-01  8.98495146e-04  9.94763981e-01  7.82839474e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.22, Y:-9.89, Z:7.83
[[ 9.72921705e-01  2.08293235e-01 -1.00186251e-01  7.72230436e+01]
 [-2.07316234e-01  9.78065766e-01  2.01825929e-02 -9.88942425e+00]
 [ 1.02192639e-01  1.13415352e-03  9.94763981e-01  7.83122024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.28, Y:-9.90, Z:7.83
[[ 9.73242659e-01  2.06791087e-01 -1.00180707e-01  7.72824846e+01]
 [-2.05803318e-01  9.78384662e-01  2.02100745e-02 -9.90122851e+00]
 [ 1.02194530e-01  9.48215154e-04  9.94763982e-01  7.83471658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.34, Y:-9.91, Z:7.84
[[ 9.73582908e-01  2.05183373e-01 -1.00180365e-01  7.73426486e+01]
 [-2.04186938e-01  9.78723239e-01  2.02117685e-02 -9.91473992e+00]
 [ 1.02195970e-01  7.77689617e-04  9.94763982e-01  7.84245939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.40, Y:-9.93, Z:7.85
[[ 9.73483336e-01  2.05657583e-01 -1.00175613e-01  7.74036204e+01]
 [-2.04661232e-01  9.78623683e-01  2.02352928e-02 -9.92602605e+00]
 [ 1.02195769e-01  8.03344016e-04  9.94763982e-01  7.84928610e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.46, Y:-9.94, Z:7.85
[[ 9.73159654e-01  2.07186150e-01 -1.00170786e-01  7.74637639e+01]
 [-2.06195416e-01  9.78301087e-01  2.02591610e-02 -9.93570454e+00]
 [ 1.02194606e-01  9.39358803e-04  9.94763982e-01  7.85431840e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.52, Y:-9.95, Z:7.86
[[ 9.72876019e-01  2.08514280e-01 -1.00170089e-01  7.75241571e+01]
 [-2.07530211e-01  9.78018731e-01  2.02626042e-02 -9.94682889e+00]
 [ 1.02193266e-01  1.07531802e-03  9.94763982e-01  7.85987106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.58, Y:-9.96, Z:7.86
[[ 9.72633538e-01  2.09644743e-01 -1.00165279e-01  7.75839373e+01]
 [-2.08664205e-01  9.77776924e-01  2.02863532e-02 -9.95748147e+00]
 [ 1.02192226e-01  1.16972088e-03  9.94763982e-01  7.86196204e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.64, Y:-9.97, Z:7.87
[[ 9.72630466e-01  2.09659156e-01 -1.00164940e-01  7.76427976e+01]
 [-2.08678522e-01  9.77773834e-01  2.02880317e-02 -9.97034758e+00]
 [ 1.02192229e-01  1.16951378e-03  9.94763982e-01  7.86930401e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.70, Y:-9.98, Z:7.87
[[ 9.72560121e-01  2.09985319e-01 -1.00164750e-01  7.77049820e+01]
 [-2.09006313e-01  9.77703799e-01  2.02889685e-02 -9.98154073e+00]
 [ 1.02191842e-01  1.20282342e-03  9.94763982e-01  7.87261465e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.77, Y:-9.99, Z:7.88
[[ 9.72083513e-01  2.12183280e-01 -1.00159373e-01  7.77657352e+01]
 [-2.11213172e-01  9.77228877e-01  2.03154771e-02 -9.99432839e+00]
 [ 1.02189236e-01  1.40663859e-03  9.94763983e-01  7.87664097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.83, Y:-10.01, Z:7.88
[[ 9.71583050e-01  2.14464014e-01 -1.00157694e-01  7.78255073e+01]
 [-2.13505132e-01  9.76730517e-01  2.03237521e-02 -1.00070705e+01]
 [ 1.02185790e-01  1.63796858e-03  9.94763983e-01  7.88457006e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.89, Y:-10.02, Z:7.89
[[ 9.71271117e-01  2.15874490e-01 -1.00152996e-01  7.78857672e+01]
 [-2.14920699e-01  9.76419530e-01  2.03468781e-02 -1.00179621e+01]
 [ 1.02183713e-01  1.76261684e-03  9.94763983e-01  7.88908174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.95, Y:-10.03, Z:7.90
[[ 9.71220701e-01  2.16101499e-01 -1.00152342e-01  7.79454657e+01]
 [-2.15148579e-01  9.76369276e-01  2.03500975e-02 -1.00328102e+01]
 [ 1.02183356e-01  1.78319798e-03  9.94763983e-01  7.89588410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.00, Y:-10.05, Z:7.91
[[ 9.71559540e-01  2.14573439e-01 -1.00151381e-01  7.80041538e+01]
 [-2.13611934e-01  9.76706518e-01  2.03548245e-02 -1.00478029e+01]
 [ 1.02186111e-01  1.61760630e-03  9.94763983e-01  7.90582080e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.06, Y:-10.06, Z:7.92
[[ 9.71565306e-01  2.14549268e-01 -1.00147234e-01  7.80630144e+01]
 [-2.13585535e-01  9.76711866e-01  2.03752046e-02 -1.00616768e+01]
 [ 1.02186478e-01  1.59415881e-03  9.94763983e-01  7.91675084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.12, Y:-10.07, Z:7.92
[[ 9.71588451e-01  2.14444757e-01 -1.00146539e-01  7.81227903e+01]
 [-2.13480118e-01  9.76734842e-01  2.03786243e-02 -1.00738026e+01]
 [ 1.02186703e-01  1.57965881e-03  9.94763983e-01  7.91874747e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.18, Y:-10.09, Z:7.92
[[ 9.71667740e-01  2.14085423e-01 -1.00146069e-01  7.81816295e+01]
 [-2.13118643e-01  9.76813729e-01  2.03809308e-02 -1.00874011e+01]
 [ 1.02187315e-01  1.53950139e-03  9.94763983e-01  7.92371027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.24, Y:-10.10, Z:7.93
[[ 9.71375380e-01  2.15408519e-01 -1.00145099e-01  7.82413366e+01]
 [-2.14448257e-01  9.76522590e-01  2.03856990e-02 -1.00995449e+01]
 [ 1.02185204e-01  1.67377572e-03  9.94763983e-01  7.93330778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.30, Y:-10.11, Z:7.94
[[ 9.71204542e-01  2.16179508e-01 -1.00140692e-01  7.83017428e+01]
 [-2.15221103e-01  9.76352097e-01  2.04073204e-02 -1.01103235e+01]
 [ 1.02184220e-01  1.73270801e-03  9.94763984e-01  7.94108889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.36, Y:-10.13, Z:7.95
[[ 9.71442145e-01  2.15109780e-01 -1.00139610e-01  7.83603498e+01]
 [-2.14145160e-01  9.76588539e-01  2.04126328e-02 -1.01258597e+01]
 [ 1.02186152e-01  1.61472090e-03  9.94763984e-01  7.94868566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.42, Y:-10.14, Z:7.96
[[ 9.71038719e-01  2.16923969e-01 -1.00138892e-01  7.84203885e+01]
 [-2.15968600e-01  9.76186839e-01  2.04161535e-02 -1.01390236e+01]
 [ 1.02183021e-01  1.80198074e-03  9.94763984e-01  7.95515681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.48, Y:-10.15, Z:7.95
[[ 9.70551934e-01  2.19093935e-01 -1.00133865e-01  7.84810133e+01]
 [-2.18147536e-01  9.75701710e-01  2.04407773e-02 -1.01496134e+01]
 [ 1.02179234e-01  2.00512002e-03  9.94763984e-01  7.95406170e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.54, Y:-10.16, Z:7.96
[[ 9.70436906e-01  2.19604025e-01 -1.00131331e-01  7.85397576e+01]
 [-2.18659053e-01  9.75586944e-01  2.04531842e-02 -1.01631811e+01]
 [ 1.02178421e-01  2.04609717e-03  9.94763984e-01  7.96177370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.60, Y:-10.18, Z:7.97
[[ 9.70510206e-01  2.19280021e-01 -1.00130981e-01  7.85981127e+01]
 [-2.18333153e-01  9.75659895e-01  2.04548948e-02 -1.01776550e+01]
 [ 1.02179133e-01  2.01022875e-03  9.94763984e-01  7.97415446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.66, Y:-10.19, Z:7.98
[[ 9.70564113e-01  2.19041510e-01 -1.00130515e-01  7.86584497e+01]
 [-2.18093142e-01  9.75713526e-01  2.04571767e-02 -1.01894989e+01]
 [ 1.02179669e-01  1.98277718e-03  9.94763984e-01  7.97577075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.72, Y:-10.20, Z:7.98
[[ 9.70409345e-01  2.19728245e-01 -1.00125932e-01  7.87173721e+01]
 [-2.18781210e-01  9.75559003e-01  2.04795824e-02 -1.02017767e+01]
 [ 1.02178698e-01  2.03209445e-03  9.94763984e-01  7.98398337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.78, Y:-10.22, Z:7.99
[[ 9.70209792e-01  2.20607865e-01 -1.00125568e-01  7.87769060e+01]
 [-2.19665315e-01  9.75360273e-01  2.04813622e-02 -1.02153177e+01]
 [ 1.02176851e-01  2.12289639e-03  9.94763984e-01  7.98859701e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.84, Y:-10.23, Z:7.99
[[ 9.69698045e-01  2.22847664e-01 -1.00123023e-01  7.88364744e+01]
 [-2.21915726e-01  9.74850458e-01  2.04937991e-02 -1.02259949e+01]
 [ 1.02171970e-01  2.34607640e-03  9.94763984e-01  7.99316399e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.90, Y:-10.24, Z:8.00
[[ 9.69748437e-01  2.22628571e-01 -1.00122366e-01  7.88962423e+01]
 [-2.21695138e-01  9.74900579e-01  2.04970049e-02 -1.02388572e+01]
 [ 1.02172572e-01  2.31970338e-03  9.94763984e-01  8.00428204e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.96, Y:-10.25, Z:8.01
[[ 9.70101092e-01  2.21087479e-01 -1.00120918e-01  7.89556446e+01]
 [-2.20145132e-01  9.75251610e-01  2.05040784e-02 -1.02517364e+01]
 [ 1.02176281e-01  2.15010381e-03  9.94763984e-01  8.01034250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.02, Y:-10.26, Z:8.02
[[ 9.70647898e-01  2.18674572e-01 -1.00120372e-01  7.90155097e+01]
 [-2.17719146e-01  9.75796007e-01  2.05067448e-02 -1.02633708e+01]
 [ 1.02181363e-01  1.89329306e-03  9.94763984e-01  8.01555645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.08, Y:-10.28, Z:8.02
[[ 9.70885828e-01  2.17616094e-01 -1.00119657e-01  7.90756866e+01]
 [-2.16654695e-01  9.76032824e-01  2.05102326e-02 -1.02752841e+01]
 [ 1.02183428e-01  1.77829964e-03  9.94763984e-01  8.02244526e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.14, Y:-10.29, Z:8.03
[[ 9.70836848e-01  2.17834890e-01 -1.00118805e-01  7.91354830e+01]
 [-2.16874223e-01  9.75983981e-01  2.05143907e-02 -1.02866355e+01]
 [ 1.02183100e-01  1.79706170e-03  9.94763984e-01  8.02781311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.20, Y:-10.30, Z:8.03
[[ 9.71408581e-01  2.15273118e-01 -1.00114205e-01  7.91970630e+01]
 [-2.14296565e-01  9.76552723e-01  2.05368187e-02 -1.02964500e+01]
 [ 1.02187824e-01  1.50448826e-03  9.94763985e-01  8.03253243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.26, Y:-10.31, Z:8.04
[[ 9.72488826e-01  2.10341658e-01 -1.00109291e-01  7.92572957e+01]
 [-2.09336555e-01  9.77627466e-01  2.05607443e-02 -1.03060579e+01]
 [ 1.02194373e-01  9.61439936e-04  9.94763985e-01  8.03833896e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.32, Y:-10.32, Z:8.04
[[ 9.73525042e-01  2.05492737e-01 -1.00108580e-01  7.93172032e+01]
 [-2.04461683e-01  9.78658538e-01  2.05642049e-02 -1.03183356e+01]
 [ 1.02197911e-01  4.48600240e-04  9.94763985e-01  8.04483618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.38, Y:-10.33, Z:8.05
[[ 9.74206037e-01  2.02241880e-01 -1.00104046e-01  7.93781228e+01]
 [-2.01191430e-01  9.79335599e-01  2.05862508e-02 -1.03305352e+01]
 [ 1.02198858e-01  8.48264515e-05  9.94763985e-01  8.04865423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.44, Y:-10.34, Z:8.06
[[ 9.74608792e-01  2.00294424e-01 -1.00099186e-01  7.94380122e+01]
 [-1.99231299e-01  9.79735741e-01  2.06098575e-02 -1.03448896e+01]
 [ 1.02198789e-01 -1.43657546e-04  9.94763985e-01  8.05855078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.50, Y:-10.36, Z:8.07
[[ 9.73737972e-01  2.04488409e-01 -1.00094214e-01  7.94983604e+01]
 [-2.03444887e-01  9.78868948e-01  2.06339725e-02 -1.03564665e+01]
 [ 1.02198527e-01  2.71573648e-04  9.94763986e-01  8.06570984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.56, Y:-10.37, Z:8.07
[[ 9.72702549e-01  2.09360666e-01 -1.00089270e-01  7.95592546e+01]
 [-2.08340380e-01  9.77838195e-01  2.06579296e-02 -1.03677257e+01]
 [ 1.02196069e-01  7.58615800e-04  9.94763986e-01  8.07249976e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.62, Y:-10.38, Z:8.08
[[ 9.71721173e-01  2.13871665e-01 -1.00084331e-01  7.96191846e+01]
 [-2.12872758e-01  9.76861019e-01  2.06818285e-02 -1.03786529e+01]
 [ 1.02191739e-01  1.20825699e-03  9.94763986e-01  8.08110364e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.68, Y:-10.39, Z:8.08
[[ 9.71288741e-01  2.15827370e-01 -1.00083605e-01  7.96793671e+01]
 [-2.14838449e-01  9.76430518e-01  2.06853447e-02 -1.03889626e+01]
 [ 1.02189149e-01  1.41036395e-03  9.94763986e-01  8.08284307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.74, Y:-10.40, Z:8.09
[[ 9.71262248e-01  2.15946730e-01 -1.00083239e-01  7.97386313e+01]
 [-2.14958259e-01  9.76404112e-01  2.06871151e-02 -1.04000335e+01]
 [ 1.02189001e-01  1.42110476e-03  9.94763986e-01  8.08608377e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.80, Y:-10.41, Z:8.10
[[ 9.70894856e-01  2.17592733e-01 -1.00082872e-01  7.97979002e+01]
 [-2.16612796e-01  9.76038353e-01  2.06888901e-02 -1.04131737e+01]
 [ 1.02186473e-01  1.59249370e-03  9.94763986e-01  8.09794192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.86, Y:-10.43, Z:8.10
[[ 9.70614378e-01  2.18842606e-01 -1.00078183e-01  7.98576080e+01]
 [-2.17866957e-01  9.75758690e-01  2.07115474e-02 -1.04253890e+01]
 [ 1.02184726e-01  1.70080340e-03  9.94763987e-01  8.10257309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.92, Y:-10.44, Z:8.11
[[ 9.71251479e-01  2.15999640e-01 -1.00073574e-01  7.99179238e+01]
 [-2.15006640e-01  9.76392470e-01  2.07337915e-02 -1.04390356e+01]
 [ 1.02189576e-01  1.37875730e-03  9.94763987e-01  8.10719793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.98, Y:-10.46, Z:8.11
[[ 9.71606288e-01  2.14400341e-01 -1.00068552e-01  7.99767871e+01]
 [-2.13396386e-01  9.76745150e-01  2.07580005e-02 -1.04560511e+01]
 [ 1.02191996e-01  1.18566363e-03  9.94763987e-01  8.11360614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.04, Y:-10.47, Z:8.12
[[ 9.71224937e-01  2.16121624e-01 -1.00067808e-01  8.00373632e+01]
 [-2.15126406e-01  9.76365498e-01  2.07615887e-02 -1.04703174e+01]
 [ 1.02189783e-01  1.36305515e-03  9.94763987e-01  8.11648751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.10, Y:-10.48, Z:8.12
[[ 9.70354835e-01  2.19997606e-01 -1.00062715e-01  8.00983414e+01]
 [-2.19020392e-01  9.75498850e-01  2.07861076e-02 -1.04815594e+01]
 [ 1.02183957e-01  1.74587495e-03  9.94763988e-01  8.12224796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.16, Y:-10.50, Z:8.13
[[ 9.70042511e-01  2.21372960e-01 -1.00057677e-01  8.01574955e+01]
 [-2.20400543e-01  9.75187434e-01  2.08103304e-02 -1.04960699e+01]
 [ 1.02181833e-01  1.86586105e-03  9.94763988e-01  8.13219366e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.22, Y:-10.51, Z:8.14
[[ 9.69756603e-01  2.22624211e-01 -1.00052947e-01  8.02182506e+01]
 [-2.21656088e-01  9.74902335e-01  2.08330468e-02 -1.05091620e+01]
 [ 1.02179792e-01  1.97436013e-03  9.94763988e-01  8.13797497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.28, Y:-10.52, Z:8.14
[[ 9.69285078e-01  2.24670558e-01 -1.00047883e-01  8.02790024e+01]
 [-2.23710792e-01  9.74432375e-01  2.08573359e-02 -1.05216299e+01]
 [ 1.02175926e-01  2.16508677e-03  9.94763988e-01  8.14419039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.34, Y:-10.53, Z:8.15
[[ 9.69001092e-01  2.25894482e-01 -1.00042820e-01  8.03376938e+01]
 [-2.24938715e-01  9.74149133e-01  2.08815918e-02 -1.05345626e+01]
 [ 1.02173663e-01  2.26921815e-03  9.94763989e-01  8.15163346e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.40, Y:-10.55, Z:8.16
[[ 9.68691465e-01  2.27220308e-01 -1.00038878e-01  8.03969763e+01]
 [-2.26269639e-01  9.73840449e-01  2.09004628e-02 -1.05469712e+01]
 [ 1.02170915e-01  2.38966088e-03  9.94763989e-01  8.15671155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.46, Y:-10.56, Z:8.16
[[ 9.68735258e-01  2.27033691e-01 -1.00038510e-01  8.04570107e+01]
 [-2.26081849e-01  9.73884025e-01  2.09022204e-02 -1.05602707e+01]
 [ 1.02171415e-01  2.36817352e-03  9.94763989e-01  8.16092919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.52, Y:-10.57, Z:8.17
[[ 9.68558557e-01  2.27788389e-01 -1.00033852e-01  8.05162364e+01]
 [-2.26838260e-01  9.73707641e-01  2.09244891e-02 -1.05728342e+01]
 [ 1.02170082e-01  2.42491207e-03  9.94763989e-01  8.17155407e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.58, Y:-10.59, Z:8.18
[[ 9.68461633e-01  2.28200443e-01 -1.00033112e-01  8.05757653e+01]
 [-2.27252139e-01  9.73611053e-01  2.09280293e-02 -1.05884279e+01]
 [ 1.02169129e-01  2.46474520e-03  9.94763989e-01  8.18090509e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.64, Y:-10.60, Z:8.18
[[ 9.68463335e-01  2.28193865e-01 -1.00031643e-01  8.06367349e+01]
 [-2.27244802e-01  9.73612615e-01  2.09350473e-02 -1.05989889e+01]
 [ 1.02169319e-01  2.45684517e-03  9.94763989e-01  8.17961032e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.70, Y:-10.61, Z:8.19
[[ 9.68609934e-01  2.27572063e-01 -1.00028752e-01  8.06953353e+01]
 [-2.26618270e-01  9.73758340e-01  2.09488504e-02 -1.06136277e+01]
 [ 1.02171205e-01  2.37707812e-03  9.94763989e-01  8.18715726e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.75, Y:-10.63, Z:8.20
[[ 9.69683300e-01  2.22954298e-01 -1.00028391e-01  8.07543719e+01]
 [-2.21975807e-01  9.74827069e-01  2.09505735e-02 -1.06281883e+01]
 [ 1.02181404e-01  1.88846163e-03  9.94763989e-01  8.19673073e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.81, Y:-10.64, Z:8.20
[[ 9.71013516e-01  2.17088037e-01 -1.00027676e-01  8.08138884e+01]
 [-2.16078115e-01  9.76151207e-01  2.09539899e-02 -1.06387195e+01]
 [ 1.02190997e-01  1.26718420e-03  9.94763989e-01  8.20268636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.87, Y:-10.65, Z:8.21
[[ 9.72017992e-01  2.12545482e-01 -1.00027205e-01  8.08738507e+01]
 [-2.11511318e-01  9.77150858e-01  2.09562352e-02 -1.06548243e+01]
 [ 1.02195823e-01  7.87048420e-04  9.94763989e-01  8.21004813e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.93, Y:-10.67, Z:8.22
[[ 9.72321703e-01  2.11154088e-01 -1.00022283e-01  8.09333392e+01]
 [-2.10110164e-01  9.77452593e-01  2.09797036e-02 -1.06693177e+01]
 [ 1.02196990e-01  6.16677101e-04  9.94763990e-01  8.21695688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.99, Y:-10.68, Z:8.22
[[ 9.71477504e-01  2.15004979e-01 -1.00021586e-01  8.09934481e+01]
 [-2.13981052e-01  9.76612422e-01  2.09830250e-02 -1.06802934e+01]
 [ 1.02193778e-01  1.01818739e-03  9.94763990e-01  8.21960015e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.05, Y:-10.69, Z:8.22
[[ 9.69240030e-01  2.24876667e-01 -1.00021243e-01  8.10533831e+01]
 [-2.23904861e-01  9.74385066e-01  2.09846594e-02 -1.06924389e+01]
 [ 1.02178166e-01  2.05607059e-03  9.94763990e-01  8.22199372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.11, Y:-10.70, Z:8.23
[[ 9.67860671e-01  2.30743031e-01 -1.00016870e-01  8.11135403e+01]
 [-2.29800255e-01  9.73011106e-01  2.10054819e-02 -1.07047841e+01]
 [ 1.02164394e-01  2.65352246e-03  9.94763990e-01  8.22785121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.17, Y:-10.72, Z:8.23
[[ 9.67918505e-01  2.30501367e-01 -1.00014435e-01  8.11736408e+01]
 [-2.29556109e-01  9.73068485e-01  2.10170696e-02 -1.07161906e+01]
 [ 1.02165358e-01  2.61611390e-03  9.94763990e-01  8.23388665e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.23, Y:-10.73, Z:8.24
[[ 9.68005226e-01  2.30137194e-01 -1.00013773e-01  8.12330671e+01]
 [-2.29189673e-01  9.73154789e-01  2.10202189e-02 -1.07285536e+01]
 [ 1.02166416e-01  2.57444227e-03  9.94763990e-01  8.24064784e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.29, Y:-10.74, Z:8.25
[[ 9.69750236e-01  2.22671449e-01 -1.00009532e-01  8.12927184e+01]
 [-2.21682198e-01  9.74891946e-01  2.10403791e-02 -1.07402083e+01]
 [ 1.02183579e-01  1.76642018e-03  9.94763990e-01  8.24829715e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.35, Y:-10.75, Z:8.25
[[ 9.70753638e-01  2.18255851e-01 -1.00008788e-01  8.13523566e+01]
 [-2.17242846e-01  9.75890721e-01  2.10439138e-02 -1.07509781e+01]
 [ 1.02190606e-01  1.29773788e-03  9.94763990e-01  8.24876887e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.41, Y:-10.76, Z:8.25
[[ 9.70597981e-01  2.18947199e-01 -1.00008420e-01  8.14130400e+01]
 [-2.17937673e-01  9.75735748e-01  2.10456639e-02 -1.07622593e+01]
 [ 1.02189679e-01  1.36872341e-03  9.94763990e-01  8.25261976e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.47, Y:-10.77, Z:8.26
[[ 9.70234729e-01  2.20553316e-01 -1.00004027e-01  8.14748725e+01]
 [-2.19550146e-01  9.75373741e-01  2.10665162e-02 -1.07701369e+01]
 [ 1.02187592e-01  1.51643308e-03  9.94763990e-01  8.25709446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.381052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.53, Y:-10.78, Z:8.26
[[ 9.70410108e-01  2.19782706e-01 -9.99989202e-02  8.15329544e+01]
 [-2.18772960e-01  9.75547832e-01  2.10907296e-02 -1.07847193e+01]
 [ 1.02189107e-01  1.41040257e-03  9.94763991e-01  8.26405794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.59, Y:-10.80, Z:8.27
[[ 9.70647338e-01  2.18732789e-01 -9.99985604e-02  8.15920792e+01]
 [-2.17717310e-01  9.75783932e-01  2.10924357e-02 -1.07968462e+01]
 [ 1.02190596e-01  1.29810097e-03  9.94763991e-01  8.26619680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.65, Y:-10.81, Z:8.27
[[ 9.70182787e-01  2.20784246e-01 -9.99983794e-02  8.16521095e+01]
 [-2.19779540e-01  9.75321499e-01  2.10932935e-02 -1.08085039e+01]
 [ 1.02187636e-01  1.51324750e-03  9.94763991e-01  8.27290817e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.71, Y:-10.82, Z:8.28
[[ 9.69458718e-01  2.23942549e-01 -9.99976476e-02  8.17110917e+01]
 [-2.22954225e-01  9.74600605e-01  2.10967622e-02 -1.08213589e+01]
 [ 1.02182231e-01  1.84245805e-03  9.94763991e-01  8.27898247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.77, Y:-10.83, Z:8.29
[[ 9.69488842e-01  2.23814190e-01 -9.99929637e-02  8.17712518e+01]
 [-2.22822899e-01  9.74630159e-01  2.11189396e-02 -1.08341054e+01]
 [ 1.02182876e-01  1.80614570e-03  9.94763991e-01  8.28944251e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.83, Y:-10.85, Z:8.30
[[ 9.69794983e-01  2.22486130e-01 -9.99880614e-02  8.18311736e+01]
 [-2.21485408e-01  9.74934472e-01  2.11421243e-02 -1.08473641e+01]
 [ 1.02185637e-01  1.64237049e-03  9.94763991e-01  8.30227369e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.89, Y:-10.86, Z:8.31
[[ 9.70105415e-01  2.21129282e-01 -9.99866249e-02  8.18903066e+01]
 [-2.20120671e-01  9.75243361e-01  2.11489156e-02 -1.08575711e+01]
 [ 1.02187937e-01  1.49244549e-03  9.94763991e-01  8.31046487e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.95, Y:-10.87, Z:8.32
[[ 9.69432145e-01  2.24062530e-01 -9.99864925e-02  8.19495224e+01]
 [-2.23069400e-01  9.74573106e-01  2.11495416e-02 -1.08696119e+01]
 [ 1.02182966e-01  1.80088135e-03  9.94763991e-01  8.31928112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.01, Y:-10.88, Z:8.32
[[ 9.67949664e-01  2.30382768e-01 -9.99861372e-02  8.20100718e+01]
 [-2.29423028e-01  9.73096963e-01  2.11512214e-02 -1.08766572e+01]
 [ 1.02169083e-01  2.46580469e-03  9.94763991e-01  8.32366232e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.07, Y:-10.89, Z:8.33
[[ 9.66670445e-01  2.35692796e-01 -9.99857861e-02  8.20714427e+01]
 [-2.34761155e-01  9.71822904e-01  2.11528807e-02 -1.08854909e+01]
 [ 1.02154059e-01  3.02491399e-03  9.94763991e-01  8.32918556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.13, Y:-10.90, Z:8.34
[[ 9.66989270e-01  2.34383494e-01 -9.99806471e-02  8.21316715e+01]
 [-2.33442370e-01  9.72140005e-01  2.11771429e-02 -1.08978096e+01]
 [ 1.02158760e-01  2.86164921e-03  9.94763992e-01  8.33731934e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.19, Y:-10.91, Z:8.34
[[ 9.67750178e-01  2.31223905e-01 -9.99754943e-02  8.21906542e+01]
 [-2.30263454e-01  9.72897343e-01  2.12014412e-02 -1.09106037e+01]
 [ 1.02168173e-01  2.50300421e-03  9.94763992e-01  8.34296383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.25, Y:-10.93, Z:8.35
[[ 9.68835352e-01  2.26634255e-01 -9.99748685e-02  8.22501625e+01]
 [-2.25649113e-01  9.73977850e-01  2.12043917e-02 -1.09252557e+01]
 [ 1.02178949e-01  2.01567609e-03  9.94763992e-01  8.34730507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.31, Y:-10.94, Z:8.36
[[ 9.69119513e-01  2.25416308e-01 -9.99742852e-02  8.23097875e+01]
 [-2.24424419e-01  9.74260713e-01  2.12071413e-02 -1.09395360e+01]
 [ 1.02181454e-01  1.88441649e-03  9.94763992e-01  8.35561870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.37, Y:-10.95, Z:8.36
[[ 9.68602125e-01  2.27631479e-01 -9.99691657e-02  8.23694421e+01]
 [-2.26648861e-01  9.73745104e-01  2.12312472e-02 -1.09518762e+01]
 [ 1.02177386e-01  2.09326643e-03  9.94763992e-01  8.36116329e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.43, Y:-10.96, Z:8.36
[[ 9.67469832e-01  2.32396992e-01 -9.99688020e-02  8.24304780e+01]
 [-2.31439527e-01  9.72617554e-01  2.12329596e-02 -1.09620293e+01]
 [ 1.02165888e-01  2.59448442e-03  9.94763992e-01  8.36338855e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.49, Y:-10.98, Z:8.37
[[ 9.67275553e-01  2.33206562e-01 -9.99635134e-02  8.24893168e+01]
 [-2.32250837e-01  9.72423598e-01  2.12578290e-02 -1.09756098e+01]
 [ 1.02164345e-01  2.65443135e-03  9.94763992e-01  8.36715018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.55, Y:-10.99, Z:8.37
[[ 9.67310606e-01  2.33061283e-01 -9.99631425e-02  8.25498350e+01]
 [-2.32104605e-01  9.72458474e-01  2.12595731e-02 -1.09888590e+01]
 [ 1.02164788e-01  2.63729512e-03  9.94763992e-01  8.37479328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.61, Y:-11.00, Z:8.38
[[ 9.68221451e-01  2.29250128e-01 -9.99579979e-02  8.26077102e+01]
 [-2.28270692e-01  9.73365036e-01  2.12837343e-02 -1.10028800e+01]
 [ 1.02174919e-01  2.21011320e-03  9.94763993e-01  8.38035644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.67, Y:-11.02, Z:8.39
[[ 9.69175042e-01  2.25184721e-01 -9.99578861e-02  8.26669549e+01]
 [-2.24183652e-01  9.74314462e-01  2.12842596e-02 -1.10179544e+01]
 [ 1.02183304e-01  1.78075074e-03  9.94763993e-01  8.38908127e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.73, Y:-11.03, Z:8.40
[[ 9.70640173e-01  2.18785450e-01 -9.99528962e-02  8.27258841e+01]
 [-2.17748084e-01  9.75772389e-01  2.13076670e-02 -1.10337267e+01]
 [ 1.02193084e-01  1.08247400e-03  9.94763993e-01  8.39879310e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.78, Y:-11.05, Z:8.41
[[ 9.71054010e-01  2.16941998e-01 -9.99513854e-02  8.27843595e+01]
 [-2.15894160e-01  9.76184098e-01  2.13147518e-02 -1.10501758e+01]
 [ 1.02195018e-01  8.81145182e-04  9.94763993e-01  8.40659242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.84, Y:-11.07, Z:8.41
[[ 9.70893851e-01  2.17659713e-01 -9.99468867e-02  8.28444333e+01]
 [-2.16613498e-01  9.76024270e-01  2.13358260e-02 -1.10667018e+01]
 [ 1.02194537e-01  9.35022480e-04  9.94763993e-01  8.41092880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.90, Y:-11.08, Z:8.42
[[ 9.71111090e-01  2.16690634e-01 -9.99420882e-02  8.29041012e+01]
 [-2.15636988e-01  9.76239988e-01  2.13582794e-02 -1.10816402e+01]
 [ 1.02195602e-01  8.09948921e-04  9.94763994e-01  8.41601016e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.96, Y:-11.10, Z:8.42
[[ 9.71336071e-01  2.15680368e-01 -9.99410658e-02  8.29642663e+01]
 [-2.14620896e-01  9.76463768e-01  2.13630625e-02 -1.10974965e+01]
 [ 1.02196423e-01  6.98727900e-04  9.94763994e-01  8.41894626e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.881052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.02, Y:-11.11, Z:8.42
[[ 9.71217531e-01  2.16215699e-01 -9.99363702e-02  8.30245784e+01]
 [-2.15156795e-01  9.76345346e-01  2.13850062e-02 -1.11086659e+01]
 [ 1.02196184e-01  7.32496251e-04  9.94763994e-01  8.42311459e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.09, Y:-11.11, Z:8.43
[[ 9.70671822e-01  2.18652846e-01 -9.99357127e-02  8.30875571e+01]
 [-2.17606501e-01  9.75802214e-01  2.13880782e-02 -1.11142623e+01]
 [ 1.02194054e-01  9.85855931e-04  9.94763994e-01  8.42540438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.15, Y:-11.13, Z:8.44
[[ 9.70278196e-01  2.20395426e-01 -9.99303669e-02  8.31478187e+01]
 [-2.19355726e-01  9.75409938e-01  2.14130265e-02 -1.11250750e+01]
 [ 1.02192406e-01  1.14370539e-03  9.94763994e-01  8.43505953e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.21, Y:-11.14, Z:8.44
[[ 9.69943857e-01  2.21862694e-01 -9.99292752e-02  8.32071957e+01]
 [-2.20830232e-01  9.75077060e-01  2.14181197e-02 -1.11375843e+01]
 [ 1.02190626e-01  1.29303134e-03  9.94763994e-01  8.43886819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.27, Y:-11.15, Z:8.46
[[ 9.69204561e-01  2.25072412e-01 -9.99246177e-02  8.32662476e+01]
 [-2.24054711e-01  9.74340711e-01  2.14398273e-02 -1.11494365e+01]
 [ 1.02186137e-01  1.60900289e-03  9.94763994e-01  8.45620773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.33, Y:-11.16, Z:8.47
[[ 9.69036698e-01  2.25796298e-01 -9.99195189e-02  8.33261622e+01]
 [-2.24779987e-01  9.74173123e-01  2.14635638e-02 -1.11639886e+01]
 [ 1.02185303e-01  1.66092713e-03  9.94763995e-01  8.46553749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.39, Y:-11.18, Z:8.47
[[ 9.69813258e-01  2.22439626e-01 -9.99142489e-02  8.33850856e+01]
 [-2.21403011e-01  9.74945624e-01  2.14880681e-02 -1.11808222e+01]
 [ 1.02190758e-01  1.28190217e-03  9.94763995e-01  8.47145957e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.44, Y:-11.20, Z:8.48
[[ 9.69850580e-01  2.22279013e-01 -9.99094218e-02  8.34448500e+01]
 [-2.21239239e-01  9.74982306e-01  2.15104887e-02 -1.11964451e+01]
 [ 1.02191249e-01  1.24192458e-03  9.94763995e-01  8.47709537e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.50, Y:-11.21, Z:8.48
[[ 9.69205768e-01  2.25076221e-01 -9.99043281e-02  8.35049521e+01]
 [-2.24048821e-01  9.74339986e-01  2.15341200e-02 -1.12069589e+01]
 [ 1.02187600e-01  1.51245359e-03  9.94763996e-01  8.47841763e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.57, Y:-11.22, Z:8.48
[[ 9.68904265e-01  2.26370766e-01 -9.99039645e-02  8.35660459e+01]
 [-2.25350052e-01  9.74039816e-01  2.15358070e-02 -1.12187271e+01]
 [ 1.02185516e-01  1.64722833e-03  9.94763996e-01  8.48335766e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.63, Y:-11.23, Z:8.49
[[ 9.68515863e-01  2.28028991e-01 -9.98989634e-02  8.36261922e+01]
 [-2.27014680e-01  9.73652682e-01  2.15589809e-02 -1.12317645e+01]
 [ 1.02182966e-01  1.79831624e-03  9.94763996e-01  8.48904640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.69, Y:-11.24, Z:8.49
[[ 9.68076934e-01  2.29887439e-01 -9.98940214e-02  8.36851526e+01]
 [-2.28880629e-01  9.73215229e-01  2.15818559e-02 -1.12420350e+01]
 [ 1.02179780e-01  1.97090961e-03  9.94763996e-01  8.48981785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.74, Y:-11.26, Z:8.50
[[ 9.68312463e-01  2.28893334e-01 -9.98940214e-02  8.37442228e+01]
 [-2.27881249e-01  9.73449721e-01  2.15818559e-02 -1.12586639e+01]
 [ 1.02181750e-01  1.86599436e-03  9.94763996e-01  8.49844746e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.80, Y:-11.27, Z:8.51
[[ 9.68798338e-01  2.26828517e-01 -9.98929621e-02  8.38027915e+01]
 [-2.25804978e-01  9.73933326e-01  2.15867574e-02 -1.12716806e+01]
 [ 1.02185577e-01  1.64311343e-03  9.94763996e-01  8.50547522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.86, Y:-11.29, Z:8.51
[[ 9.68817366e-01  2.26747384e-01 -9.98926155e-02  8.38627314e+01]
 [-2.25723249e-01  9.73952236e-01  2.15883612e-02 -1.12857395e+01]
 [ 1.02185741e-01  1.63290649e-03  9.94763996e-01  8.51264789e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.92, Y:-11.30, Z:8.52
[[ 9.68306483e-01  2.28921314e-01 -9.98878686e-02  8.39216774e+01]
 [-2.27906444e-01  9.73443192e-01  2.16103029e-02 -1.12986094e+01]
 [ 1.02182225e-01  1.83969257e-03  9.94763996e-01  8.52083192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.98, Y:-11.31, Z:8.53
[[ 9.68065656e-01  2.29937758e-01 -9.98875054e-02  8.39815999e+01]
 [-2.28928108e-01  9.73203393e-01  2.16119816e-02 -1.13121089e+01]
 [ 1.02180270e-01  1.94524047e-03  9.94763996e-01  8.52795570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.04, Y:-11.32, Z:8.53
[[ 9.67962249e-01  2.30374891e-01 -9.98823997e-02  8.40425809e+01]
 [-2.29365130e-01  9.73099964e-01  2.16355523e-02 -1.13237957e+01]
 [ 1.02179848e-01  1.96714169e-03  9.94763997e-01  8.53405656e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.10, Y:-11.34, Z:8.54
[[ 9.67920814e-01  2.30551172e-01 -9.98772008e-02  8.41026191e+01]
 [-2.29539874e-01  9.73058226e-01  2.16595261e-02 -1.13381489e+01]
 [ 1.02179961e-01  1.96109395e-03  9.94763997e-01  8.54121423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.16, Y:-11.35, Z:8.55
[[ 9.67918558e-01  2.30562881e-01 -9.98720298e-02  8.41616984e+01]
 [-2.29549189e-01  9.73055498e-01  2.16833435e-02 -1.13532083e+01]
 [ 1.02180402e-01  1.93783284e-03  9.94763997e-01  8.54822430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.22, Y:-11.36, Z:8.56
[[ 9.67629283e-01  2.31775972e-01 -9.98672610e-02  8.42223042e+01]
 [-2.30766456e-01  9.72767045e-01  2.17052851e-02 -1.13649859e+01]
 [ 1.02178344e-01  2.04334446e-03  9.94763998e-01  8.55885636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.28, Y:-11.37, Z:8.56
[[ 9.67283057e-01  2.33219011e-01 -9.98618032e-02  8.42833163e+01]
 [-2.32214571e-01  9.72421814e-01  2.17303663e-02 -1.13749725e+01]
 [ 1.02175730e-01  2.16995063e-03  9.94763998e-01  8.56112906e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.34, Y:-11.39, Z:8.57
[[ 9.67455583e-01  2.32503915e-01 -9.98580166e-02  8.43434414e+01]
 [-2.31493883e-01  9.72593244e-01  2.17477532e-02 -1.13894582e+01]
 [ 1.02177670e-01  2.07653478e-03  9.94763998e-01  8.56600717e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.40, Y:-11.40, Z:8.57
[[ 9.67689342e-01  2.31531369e-01 -9.98527006e-02  8.44030047e+01]
 [-2.30513659e-01  9.72825487e-01  2.17721341e-02 -1.14047600e+01]
 [ 1.02180184e-01  1.94874921e-03  9.94763998e-01  8.57253401e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.46, Y:-11.42, Z:8.58
[[ 9.67351131e-01  2.32942736e-01 -9.98472422e-02  8.44625646e+01]
 [-2.31929939e-01  9.72488246e-01  2.17971379e-02 -1.14165074e+01]
 [ 1.02177754e-01  2.07207883e-03  9.94763999e-01  8.57523055e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.52, Y:-11.43, Z:8.58
[[ 9.66802377e-01  2.35210049e-01 -9.98468644e-02  8.45240029e+01]
 [-2.34209120e-01  9.71941818e-01  2.17988683e-02 -1.14278055e+01]
 [ 1.02172656e-01  2.30984850e-03  9.94763999e-01  8.57824183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.58, Y:-11.44, Z:8.59
[[ 9.67141123e-01  2.33815520e-01 -9.98416307e-02  8.45830425e+01]
 [-2.32804709e-01  9.72278629e-01  2.18228129e-02 -1.14435193e+01]
 [ 1.02176396e-01  2.13786209e-03  9.94763999e-01  8.58986412e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.64, Y:-11.46, Z:8.60
[[ 9.67802104e-01  2.31066639e-01 -9.98363489e-02  8.46419090e+01]
 [-2.30038746e-01  9.72936219e-01  2.18469499e-02 -1.14581881e+01]
 [ 1.02182501e-01  1.82270445e-03  9.94763999e-01  8.60074947e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.70, Y:-11.47, Z:8.61
[[ 9.68350797e-01  2.28756619e-01 -9.98355813e-02  8.47020296e+01]
 [-2.27716116e-01  9.73482372e-01  2.18504574e-02 -1.14717360e+01]
 [ 1.02186615e-01  1.57526297e-03  9.94763999e-01  8.60521756e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.76, Y:-11.49, Z:8.61
[[ 9.69380732e-01  2.24354416e-01 -9.98303170e-02  8.47599349e+01]
 [-2.23288134e-01  9.74507012e-01  2.18744826e-02 -1.14866415e+01]
 [ 1.02192981e-01  1.08622327e-03  9.94764000e-01  8.61022062e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.82, Y:-11.50, Z:8.62
[[ 9.70228443e-01  2.20659715e-01 -9.98301450e-02  8.48205697e+01]
 [-2.19573830e-01  9.75350607e-01  2.18752675e-02 -1.14971423e+01]
 [ 1.02196383e-01  6.96080547e-04  9.94764000e-01  8.61835852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.88, Y:-11.51, Z:8.63
[[ 9.71378071e-01  2.15544953e-01 -9.98249248e-02  8.48805745e+01]
 [-2.14429652e-01  9.76493910e-01  2.18990635e-02 -1.15061276e+01]
 [ 1.02198664e-01  1.33153848e-04  9.94764000e-01  8.62609710e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.94, Y:-11.52, Z:8.63
[[ 9.71716189e-01  2.14015670e-01 -9.98245487e-02  8.49398013e+01]
 [-2.12892142e-01  9.76830227e-01  2.19007779e-02 -1.15192655e+01]
 [ 1.02198746e-01 -2.94784410e-05  9.94764000e-01  8.63348907e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.00, Y:-11.53, Z:8.64
[[ 9.71914155e-01  2.13115206e-01 -9.98237643e-02  8.50004790e+01]
 [-2.11986572e-01  9.77027069e-01  2.19043525e-02 -1.15303020e+01]
 [ 1.02198670e-01 -1.27852679e-04  9.94764000e-01  8.63766135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.06, Y:-11.54, Z:8.64
[[ 9.70687257e-01  2.18636604e-01 -9.98212588e-02  8.50601664e+01]
 [-2.17535879e-01  9.75806252e-01  2.19157643e-02 -1.15426698e+01]
 [ 1.02197797e-01  4.41352161e-04  9.94764000e-01  8.64309045e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.12, Y:-11.55, Z:8.65
[[ 9.68323784e-01  2.28877390e-01 -9.98207852e-02  8.51211756e+01]
 [-2.27830574e-01  9.73454074e-01  2.19179211e-02 -1.15532883e+01]
 [ 1.02187467e-01  1.51858252e-03  9.94764000e-01  8.64771699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.18, Y:-11.56, Z:8.65
[[ 9.65775595e-01  2.39402632e-01 -9.98192383e-02  8.51812099e+01]
 [-2.38410987e-01  9.70916833e-01  2.19249638e-02 -1.15637203e+01]
 [ 1.02165073e-01  2.62340811e-03  9.94764000e-01  8.65056965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.24, Y:-11.58, Z:8.66
[[ 9.66202212e-01  2.37675177e-01 -9.98188130e-02  8.52392343e+01]
 [-2.36674139e-01  9.71341630e-01  2.19269003e-02 -1.15804217e+01]
 [ 1.02169648e-01  2.43871199e-03  9.94764000e-01  8.65903667e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.30, Y:-11.60, Z:8.67
[[ 9.67079797e-01  2.34080021e-01 -9.98158830e-02  8.52978698e+01]
 [-2.33058501e-01  9.72215183e-01  2.19402302e-02 -1.15966430e+01]
 [ 1.02178286e-01  2.04498667e-03  9.94764000e-01  8.67084192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.36, Y:-11.61, Z:8.67
[[ 9.67141111e-01  2.33827277e-01 -9.98142122e-02  8.53560534e+01]
 [-2.32803630e-01  9.72276073e-01  2.19478284e-02 -1.16098243e+01]
 [ 1.02178971e-01  2.01046376e-03  9.94764000e-01  8.67362127e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.42, Y:-11.62, Z:8.67
[[ 9.67509564e-01  2.32298014e-01 -9.98142122e-02  8.54163098e+01]
 [-2.31266250e-01  9.72642902e-01  2.19478284e-02 -1.16246885e+01]
 [ 1.02182022e-01  1.84892469e-03  9.94764000e-01  8.67488623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.48, Y:-11.64, Z:8.68
[[ 9.67873587e-01  2.30777083e-01 -9.98131105e-02  8.54752973e+01]
 [-2.29736737e-01  9.73005193e-01  2.19528377e-02 -1.16399900e+01]
 [ 1.02184887e-01  1.68316650e-03  9.94764000e-01  8.68298867e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.54, Y:-11.65, Z:8.69
[[ 9.67352780e-01  2.32950846e-01 -9.98123398e-02  8.55364068e+01]
 [-2.31921669e-01  9.72486637e-01  2.19563412e-02 -1.16531035e+01]
 [ 1.02180915e-01  1.90911676e-03  9.94764000e-01  8.68960017e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.60, Y:-11.66, Z:8.69
[[ 9.66953783e-01  2.34604132e-01 -9.98062259e-02  8.55967936e+01]
 [-2.33580868e-01  9.72088822e-01  2.19840980e-02 -1.16621911e+01]
 [ 1.02178077e-01  2.05521818e-03  9.94764001e-01  8.69112244e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.66, Y:-11.68, Z:8.70
[[ 9.67464345e-01  2.32491822e-01 -9.98012700e-02  8.56555688e+01]
 [-2.31455028e-01  9.72596669e-01  2.20065736e-02 -1.16793747e+01]
 [ 1.02182731e-01  1.80893044e-03  9.94764001e-01  8.70329670e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.72, Y:-11.70, Z:8.71
[[ 9.68213456e-01  2.29354523e-01 -9.97958196e-02  8.57152144e+01]
 [-2.28298554e-01  9.73341869e-01  2.20312624e-02 -1.16954409e+01]
 [ 1.02188419e-01  1.45227659e-03  9.94764001e-01  8.71251180e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.77, Y:-11.71, Z:8.72
[[ 9.68143131e-01  2.29653569e-01 -9.97903582e-02  8.57740009e+01]
 [-2.28596638e-01  9.73271345e-01  2.20559721e-02 -1.17067717e+01]
 [ 1.02188329e-01  1.45840249e-03  9.94764001e-01  8.71501595e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.83, Y:-11.72, Z:8.72
[[ 9.67779400e-01  2.31181623e-01 -9.97902260e-02  8.58340892e+01]
 [-2.30132727e-01  9.72909264e-01  2.20565706e-02 -1.17200552e+01]
 [ 1.02185909e-01  1.61910217e-03  9.94764001e-01  8.72229592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.89, Y:-11.73, Z:8.73
[[ 9.67290343e-01  2.33220080e-01 -9.97887060e-02  8.58929993e+01]
 [-2.32181285e-01  9.72422262e-01  2.20634453e-02 -1.17334153e+01]
 [ 1.02182398e-01  1.82731245e-03  9.94764001e-01  8.73216899e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.95, Y:-11.74, Z:8.74
[[ 9.66597992e-01  2.36073636e-01 -9.97875744e-02  8.59539643e+01]
 [-2.35049462e-01  9.71732849e-01  2.20685619e-02 -1.17437485e+01]
 [ 1.02176670e-01  2.12358810e-03  9.94764001e-01  8.73862253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.01, Y:-11.76, Z:8.75
[[ 9.66434475e-01  2.36742791e-01 -9.97860540e-02  8.60141389e+01]
 [-2.35721463e-01  9.71569898e-01  2.20754343e-02 -1.17585722e+01]
 [ 1.02175326e-01  2.18725387e-03  9.94764001e-01  8.74554696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.07, Y:-11.78, Z:8.75
[[ 9.67371792e-01  2.32885503e-01 -9.97805509e-02  8.60731545e+01]
 [-2.31841135e-01  9.72502579e-01  2.21002807e-02 -1.17754485e+01]
 [ 1.02183678e-01  1.75404800e-03  9.94764002e-01  8.75270577e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.13, Y:-11.79, Z:8.76
[[ 9.67717071e-01  2.31447072e-01 -9.97793750e-02  8.61335718e+01]
 [-2.30394530e-01  9.72846187e-01  2.21055882e-02 -1.17881697e+01]
 [ 1.02186258e-01  1.59666715e-03  9.94764002e-01  8.75829956e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.19, Y:-11.80, Z:8.76
[[ 9.67735605e-01  2.31371912e-01 -9.97739307e-02  8.61935899e+01]
 [-2.30316441e-01  9.72864119e-01  2.21301343e-02 -1.18014633e+01]
 [ 1.02186769e-01  1.56345770e-03  9.94764002e-01  8.76494811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.25, Y:-11.82, Z:8.77
[[ 9.67420876e-01  2.32686668e-01 -9.97685462e-02  8.62535895e+01]
 [-2.31635667e-01  9.72550308e-01  2.21543823e-02 -1.18155819e+01]
 [ 1.02184960e-01  1.67734187e-03  9.94764002e-01  8.77267092e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.31, Y:-11.83, Z:8.78
[[ 9.67983671e-01  2.30336547e-01 -9.97631607e-02  8.63139060e+01]
 [-2.29270596e-01  9.73110016e-01  2.21786075e-02 -1.18301766e+01]
 [ 1.02189075e-01  1.40422936e-03  9.94764003e-01  8.77747314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.37, Y:-11.84, Z:8.78
[[ 9.68321525e-01  2.28914408e-01 -9.97577940e-02  8.63745701e+01]
 [-2.27838444e-01  9.73445778e-01  2.22027204e-02 -1.18423436e+01]
 [ 1.02191326e-01  1.22928849e-03  9.94764003e-01  8.78117293e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.43, Y:-11.86, Z:8.79
[[ 9.68332607e-01  2.28869913e-01 -9.97523233e-02  8.64342845e+01]
 [-2.27791184e-01  9.73456278e-01  2.22272720e-02 -1.18551578e+01]
 [ 1.02191679e-01  1.19930761e-03  9.94764003e-01  8.78635987e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.49, Y:-11.87, Z:8.80
[[ 9.67755716e-01  2.31298430e-01 -9.97492384e-02  8.64933469e+01]
 [-2.30231133e-01  9.72881780e-01  2.22411078e-02 -1.18680285e+01]
 [ 1.02188550e-01  1.44142095e-03  9.94764003e-01  8.79699218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.55, Y:-11.88, Z:8.80
[[ 9.67628257e-01  2.31831240e-01 -9.97488421e-02  8.65524954e+01]
 [-2.30766583e-01  9.72754871e-01  2.22428849e-02 -1.18816327e+01]
 [ 1.02187768e-01  1.49585544e-03  9.94764003e-01  8.80291662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.61, Y:-11.90, Z:8.81
[[ 9.67718328e-01  2.31455315e-01 -9.97480596e-02  8.66124569e+01]
 [-2.30388305e-01  9.72844452e-01  2.22463933e-02 -1.18952465e+01]
 [ 1.02188392e-01  1.45254378e-03  9.94764003e-01  8.80660243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.67, Y:-11.91, Z:8.81
[[ 9.68665232e-01  2.27462047e-01 -9.97430970e-02  8.66716354e+01]
 [-2.26371614e-01  9.73786425e-01  2.22686217e-02 -1.19129936e+01]
 [ 1.02193740e-01  1.00816619e-03  9.94764004e-01  8.81382557e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.73, Y:-11.93, Z:8.82
[[ 9.68995754e-01  2.26052236e-01 -9.97377367e-02  8.67310668e+01]
 [-2.24951883e-01  9.74114824e-01  2.22926038e-02 -1.19275676e+01]
 [ 1.02195301e-01  8.34753287e-04  9.94764004e-01  8.82323570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.661052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.79, Y:-11.94, Z:8.83
[[ 9.68680377e-01  2.27402303e-01 -9.97322402e-02  8.67905312e+01]
 [-2.26306557e-01  9.73800435e-01  2.23171670e-02 -1.19387328e+01]
 [ 1.02194274e-01  9.51858124e-04  9.94764004e-01  8.82923369e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.85, Y:-11.95, Z:8.83
[[ 9.68369010e-01  2.28724940e-01 -9.97314558e-02  8.68522504e+01]
 [-2.27635825e-01  9.73490482e-01  2.23206716e-02 -1.19479564e+01]
 [ 1.02192917e-01  1.08780560e-03  9.94764004e-01  8.83321518e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.91, Y:-11.96, Z:8.84
[[ 9.68135943e-01  2.29710130e-01 -9.97298902e-02  8.69117604e+01]
 [-2.28625507e-01  9.73258369e-01  2.23276648e-02 -1.19599509e+01]
 [ 1.02191841e-01  1.18458192e-03  9.94764004e-01  8.84074194e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.97, Y:-11.97, Z:8.85
[[ 9.67606192e-01  2.31931802e-01 -9.97291143e-02  8.69712203e+01]
 [-2.30858582e-01  9.72731019e-01  2.23311298e-02 -1.19732842e+01]
 [ 1.02188902e-01  1.41558251e-03  9.94764004e-01  8.84753221e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.03, Y:-11.98, Z:8.85
[[ 9.66506629e-01  2.36472394e-01 -9.97283443e-02  8.70307889e+01]
 [-2.35422894e-01  9.71636366e-01  2.23345682e-02 -1.19833382e+01]
 [ 1.02181195e-01  1.89182721e-03  9.94764004e-01  8.85023742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.09, Y:-11.99, Z:8.85
[[ 9.65630879e-01  2.40023621e-01 -9.97279678e-02  8.70916968e+01]
 [-2.38992812e-01  9.70764404e-01  2.23362494e-02 -1.19945164e+01]
 [ 1.02173589e-01  2.26569530e-03  9.94764004e-01  8.85407939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.15, Y:-12.01, Z:8.86
[[ 9.64842855e-01  2.43174108e-01 -9.97227058e-02  8.71525158e+01]
 [-2.42157635e-01  9.69979238e-01  2.23597172e-02 -1.20072636e+01]
 [ 1.02166259e-01  2.57500118e-03  9.94764005e-01  8.85813837e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.21, Y:-12.03, Z:8.87
[[ 9.65785688e-01  2.39404461e-01 -9.97171469e-02  8.72108972e+01]
 [-2.38365383e-01  9.70917545e-01  2.23844809e-02 -1.20250087e+01]
 [ 1.02176072e-01  2.15050462e-03  9.94764005e-01  8.86970203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.27, Y:-12.04, Z:8.87
[[ 9.65844469e-01  2.39169516e-01 -9.97116105e-02  8.72709830e+01]
 [-2.38126647e-01  9.70975557e-01  2.24091158e-02 -1.20378714e+01]
 [ 1.02177114e-01  2.10027091e-03  9.94764005e-01  8.87438772e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.33, Y:-12.05, Z:8.88
[[ 9.65773813e-01  2.39455163e-01 -9.97104178e-02  8.73296642e+01]
 [-2.38413264e-01  9.70905098e-01  2.24144218e-02 -1.20520057e+01]
 [ 1.02176602e-01  2.12502449e-03  9.94764005e-01  8.87908385e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.39, Y:-12.07, Z:8.89
[[ 9.67513802e-01  2.32325101e-01 -9.97100282e-02  8.73881307e+01]
 [-2.31245204e-01  9.72637225e-01  2.24161546e-02 -1.20693154e+01]
 [ 1.02189521e-01  1.36952678e-03  9.94764005e-01  8.88863276e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.45, Y:-12.08, Z:8.90
[[ 9.68610321e-01  2.27710524e-01 -9.97093950e-02  8.74457576e+01]
 [-2.26605926e-01  9.73728475e-01  2.24189711e-02 -1.20829409e+01]
 [ 1.02194913e-01  8.79493029e-04  9.94764005e-01  8.89540642e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.51, Y:-12.10, Z:8.90
[[ 9.69147534e-01  2.25413061e-01 -9.97096264e-02  8.75055907e+01]
 [-2.24296436e-01  9.74263078e-01  2.24179416e-02 -1.20956877e+01]
 [ 1.02196704e-01  6.38220988e-04  9.94764005e-01  8.90038195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.57, Y:-12.11, Z:8.91
[[ 9.69874888e-01  2.22263006e-01 -9.97088687e-02  8.75655729e+01]
 [-2.21129420e-01  9.74986700e-01  2.24213111e-02 -1.21074124e+01]
 [ 1.02198249e-01  3.02697648e-04  9.94764005e-01  8.90705257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.62, Y:-12.12, Z:8.91
[[ 9.70748892e-01  2.18414435e-01 -9.97081864e-02  8.76244532e+01]
 [-2.17260271e-01  9.75856098e-01  2.24243450e-02 -1.21203704e+01]
 [ 1.02198642e-01 -1.05780438e-04  9.94764005e-01  8.91405567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.68, Y:-12.14, Z:8.92
[[ 9.71360402e-01  2.15678925e-01 -9.97074261e-02  8.76845777e+01]
 [-2.14510032e-01  9.76464256e-01  2.24277249e-02 -1.21350723e+01]
 [ 1.02197925e-01 -3.97160722e-04  9.94764005e-01  8.92268290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.75, Y:-12.15, Z:8.93
[[ 9.71462663e-01  2.15220266e-01 -9.97022138e-02  8.77455475e+01]
 [-2.14046587e-01  9.76565419e-01  2.24508725e-02 -1.21477093e+01]
 [ 1.02197617e-01 -4.69265767e-04  9.94764006e-01  8.92785750e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.80, Y:-12.16, Z:8.93
[[ 9.71221472e-01  2.16308635e-01 -9.96966709e-02  8.78044769e+01]
 [-2.15138150e-01  9.76324961e-01  2.24754598e-02 -1.21631553e+01]
 [ 1.02197984e-01 -3.80091799e-04  9.94764006e-01  8.93436841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.87, Y:-12.17, Z:8.94
[[ 9.70273255e-01  2.20523347e-01 -9.96958571e-02  8.78655805e+01]
 [-2.19374660e-01  9.75381694e-01  2.24790692e-02 -1.21738267e+01]
 [ 1.02198674e-01  5.99051590e-05  9.94764006e-01  8.93671646e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.92, Y:-12.19, Z:8.94
[[ 9.69144756e-01  2.25433731e-01 -9.96898895e-02  8.79244967e+01]
 [-2.24308208e-01  9.74258349e-01  2.25055033e-02 -1.21865016e+01]
 [ 1.02197207e-01  5.50169910e-04  9.94764006e-01  8.94346166e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.98, Y:-12.20, Z:8.95
[[ 9.68332336e-01  2.28898429e-01 -9.96895015e-02  8.79849518e+01]
 [-2.27791025e-01  9.73449883e-01  2.25072220e-02 -1.21958930e+01]
 [ 1.02194601e-01  9.13902903e-04  9.94764006e-01  8.94577372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.05, Y:-12.21, Z:8.95
[[ 9.68146601e-01  2.29684901e-01 -9.96845241e-02  8.80457307e+01]
 [-2.28579387e-01  9.73264557e-01  2.25292453e-02 -1.22077188e+01]
 [ 1.02194042e-01  9.74215078e-04  9.94764007e-01  8.95282173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.11, Y:-12.22, Z:8.96
[[ 9.68637601e-01  2.27607706e-01 -9.96791410e-02  8.81068516e+01]
 [-2.26488767e-01  9.73752637e-01  2.25530373e-02 -1.22221469e+01]
 [ 1.02196072e-01  7.30485874e-04  9.94764007e-01  8.96091177e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.17, Y:-12.24, Z:8.97
[[ 9.68658776e-01  2.27520255e-01 -9.96730173e-02  8.81666564e+01]
 [-2.26398073e-01  9.73773101e-01  2.25800691e-02 -1.22350682e+01]
 [ 1.02196326e-01  6.93396972e-04  9.94764007e-01  8.96898649e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.23, Y:-12.25, Z:8.97
[[ 9.68585174e-01  2.27835779e-01 -9.96675392e-02  8.82262459e+01]
 [-2.26712778e-01  9.73699320e-01  2.26042235e-02 -1.22454722e+01]
 [ 1.02196266e-01  7.01789003e-04  9.94764008e-01  8.96872687e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.28, Y:-12.26, Z:8.97
[[ 9.68941559e-01  2.26315519e-01 -9.96671498e-02  8.82847551e+01]
 [-2.25184317e-01  9.74053897e-01  2.26059400e-02 -1.22623101e+01]
 [ 1.02197251e-01  5.39644351e-04  9.94764008e-01  8.97421983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.34, Y:-12.28, Z:8.98
[[ 9.70044445e-01  2.21540762e-01 -9.96667685e-02  8.83443028e+01]
 [-2.20384224e-01  9.75151111e-01  2.26076210e-02 -1.22751762e+01]
 [ 1.02198670e-01  3.45862774e-05  9.94764008e-01  8.98340986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.40, Y:-12.29, Z:8.99
[[ 9.71372022e-01  2.15645710e-01 -9.96660535e-02  8.84047586e+01]
 [-2.14457857e-01  9.76471495e-01  2.26107727e-02 -1.22888091e+01]
 [ 1.02196976e-01 -5.89303718e-04  9.94764008e-01  8.98848933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.341052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.46, Y:-12.30, Z:9.00
[[ 9.71325691e-01  2.15855014e-01 -9.96645127e-02  8.84640905e+01]
 [-2.14667563e-01  9.76425257e-01  2.26175623e-02 -1.23045748e+01]
 [ 1.02197062e-01 -5.74281232e-04  9.94764008e-01  9.00096869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.52, Y:-12.32, Z:9.01
[[ 9.70877515e-01  2.17864429e-01 -9.96591249e-02  8.85245950e+01]
 [-2.16685099e-01  9.75978965e-01  2.26412778e-02 -1.23159031e+01]
 [ 1.02197939e-01 -3.87260225e-04  9.94764008e-01  9.00860571e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.59, Y:-12.33, Z:9.01
[[ 9.69817009e-01  2.22540111e-01 -9.96537407e-02  8.85868180e+01]
 [-2.21382943e-01  9.74923532e-01  2.26649512e-02 -1.23283068e+01]
 [ 1.02198638e-01  8.07831775e-05  9.94764008e-01  9.01113054e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.521052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.65, Y:-12.34, Z:9.02
[[ 9.70393985e-01  2.20013346e-01 -9.96475909e-02  8.86472015e+01]
 [-2.18840108e-01  9.75496839e-01  2.26919570e-02 -1.23410159e+01]
 [ 1.02198443e-01 -2.13248989e-04  9.94764009e-01  9.01902518e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.71, Y:-12.35, Z:9.03
[[ 9.71627070e-01  2.14504792e-01 -9.96420160e-02  8.87077374e+01]
 [-2.13300117e-01  9.76722594e-01  2.27164107e-02 -1.23537765e+01]
 [ 1.02195387e-01 -8.18225923e-04  9.94764009e-01  9.02812406e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.77, Y:-12.37, Z:9.04
[[ 9.72071377e-01  2.12483184e-01 -9.96400278e-02  8.87677151e+01]
 [-2.11267018e-01  9.77164170e-01  2.27251280e-02 -1.23663763e+01]
 [ 1.02193373e-01 -1.03979493e-03  9.94764009e-01  9.03576061e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.83, Y:-12.38, Z:9.04
[[ 9.73881630e-01  2.04028094e-01 -9.96348721e-02  8.88291939e+01]
 [-2.02765410e-01  9.78963089e-01  2.27477102e-02 -1.23752566e+01]
 [ 1.02180034e-01 -1.95107144e-03  9.94764009e-01  9.04403255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.89, Y:-12.38, Z:9.05
[[ 9.75808295e-01  1.94605699e-01 -9.96332919e-02  8.88912224e+01]
 [-1.93293254e-01  9.80877130e-01  2.27546293e-02 -1.23777737e+01]
 [ 1.02156198e-01 -2.94571275e-03  9.94764009e-01  9.04984966e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.95, Y:-12.38, Z:9.06
[[ 9.77873657e-01  1.83946894e-01 -9.96325783e-02  8.89518880e+01]
 [-1.82578903e-01  9.82927784e-01  2.27577536e-02 -1.23822237e+01]
 [ 1.02117847e-01 -4.06340091e-03  9.94764009e-01  9.05688659e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.01, Y:-12.38, Z:9.06
[[ 9.79435805e-01  1.75439246e-01 -9.96321961e-02  8.90143874e+01]
 [-1.74027201e-01  9.84477802e-01  2.27594267e-02 -1.23802041e+01]
 [ 1.02078582e-01 -4.95268517e-03  9.94764009e-01  9.06092585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.08, Y:-12.38, Z:9.07
[[ 9.79554838e-01  1.74773755e-01 -9.96315895e-02  8.90778958e+01]
 [-1.73358015e-01  9.84595798e-01  2.27620817e-02 -1.23798928e+01]
 [ 1.02075059e-01 -5.02477271e-03  9.94764009e-01  9.06833618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.14, Y:-12.37, Z:9.08
[[ 9.78713058e-01  1.79430693e-01 -9.96261789e-02  8.91415195e+01]
 [-1.78036542e-01  9.83760032e-01  2.27857384e-02 -1.23748630e+01]
 [ 1.02096714e-01 -4.56359937e-03  9.94764010e-01  9.07529145e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.20, Y:-12.37, Z:9.08
[[ 9.77903995e-01  1.83789188e-01 -9.96258562e-02  8.92048099e+01]
 [-1.82417391e-01  9.82957090e-01  2.27871495e-02 -1.23695144e+01]
 [ 1.02115973e-01 -4.11015572e-03  9.94764010e-01  9.07628796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.27, Y:-12.37, Z:9.09
[[ 9.77523121e-01  1.85804503e-01 -9.96254697e-02  8.92687102e+01]
 [-1.84442953e-01  9.82578987e-01  2.27888390e-02 -1.23685366e+01]
 [ 1.02124162e-01 -3.90140114e-03  9.94764010e-01  9.08574972e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.33, Y:-12.36, Z:9.09
[[ 9.77341745e-01  1.86759546e-01 -9.96191990e-02  8.93342747e+01]
 [-1.85400151e-01  9.82398190e-01  2.28162183e-02 -1.23577333e+01]
 [ 1.02126867e-01 -3.82982813e-03  9.94764010e-01  9.08935797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.40, Y:-12.35, Z:9.09
[[ 9.76294510e-01  1.92159788e-01 -9.96174982e-02  8.93978996e+01]
 [-1.90827611e-01  9.81358194e-01  2.28236416e-02 -1.23506062e+01]
 [ 1.02146234e-01 -3.27282683e-03  9.94764010e-01  9.09362678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.46, Y:-12.34, Z:9.10
[[ 9.75620049e-01  1.95555296e-01 -9.96174982e-02  8.94603265e+01]
 [-1.94240743e-01  9.80688337e-01  2.28236416e-02 -1.23439012e+01]
 [ 1.02157003e-01 -2.91742544e-03  9.94764010e-01  9.10191227e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.53, Y:-12.33, Z:9.11
[[ 9.75654021e-01  1.95385735e-01 -9.96174982e-02  8.95289425e+01]
 [-1.94070302e-01  9.80722081e-01  2.28236416e-02 -1.23251393e+01]
 [ 1.02156494e-01 -2.93517980e-03  9.94764010e-01  9.10629857e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.421052754 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:89.59, Y:-12.32, Z:9.11
[[ 9.74763966e-01  1.99781770e-01 -9.96115201e-02  8.95927606e+01]
 [-1.98486535e-01  9.79837225e-01  2.28497028e-02 -1.23220560e+01]
 [ 1.02168029e-01 -2.50152146e-03  9.94764010e-01  9.11394786e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.481052754 meters
Centerline goodness : 0.999896 with order 1
Centerline is valid?  [True, True]
Translation: X:89.66, Y:-12.32, Z:9.12
[[ 9.73408462e-01  2.06287573e-01 -9.96062387e-02  8.96558134e+01]
 [-2.05023897e-01  9.78489673e-01  2.28727025e-02 -1.23208169e+01]
 [ 1.02182030e-01 -1.84282297e-03  9.94764011e-01  9.11704985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.72, Y:-12.30, Z:9.12
[[ 9.70109419e-01  2.21283499e-01 -9.96058647e-02  8.97225953e+01]
 [-2.20098214e-01  9.75209486e-01  2.28743310e-02 -1.23008794e+01]
 [ 1.02198296e-01 -2.67531095e-04  9.94764011e-01  9.12465988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.60105275400001 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:89.78, Y:-12.30, Z:9.13
[[ 9.69437058e-01  2.24211107e-01 -9.96050743e-02  8.97830920e+01]
 [-2.23040869e-01  9.74540599e-01  2.28777721e-02 -1.23049041e+01]
 [ 1.02198639e-01  3.74422546e-05  9.94764011e-01  9.13045336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.661052754 meters
Centerline goodness : 0.999979 with order 1
Centerline is valid?  [True, True]
Translation: X:89.85, Y:-12.29, Z:9.14
[[ 9.69628306e-01  2.23382580e-01 -9.96050743e-02  8.98487846e+01]
 [-2.22207982e-01  9.74730845e-01  2.28777721e-02 -1.22921616e+01]
 [ 1.02198634e-01 -4.98928778e-05  9.94764011e-01  9.14043247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.91, Y:-12.28, Z:9.14
[[ 9.68944668e-01  2.26332004e-01 -9.95994725e-02  8.99143092e+01]
 [-2.25170433e-01  9.74050188e-01  2.29021344e-02 -1.22844171e+01]
 [ 1.02198371e-01  2.35955410e-04  9.94764011e-01  9.14402119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.98, Y:-12.29, Z:9.15
[[ 9.67818496e-01  2.31102602e-01 -9.95939053e-02  8.99767979e+01]
 [-2.29963708e-01  9.72929122e-01  2.29263185e-02 -1.22864890e+01]
 [ 1.02196143e-01  7.14468646e-04  9.94764011e-01  9.14719301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.04, Y:-12.28, Z:9.15
[[ 9.65825041e-01  2.39297310e-01 -9.95931149e-02  9.00410190e+01]
 [-2.38201420e-01  9.70945060e-01  2.29297516e-02 -1.22808419e+01]
 [ 1.02186471e-01  1.57709308e-03  9.94764011e-01  9.15341860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.10, Y:-12.27, Z:9.16
[[ 9.65205604e-01  2.41784021e-01 -9.95923118e-02  9.01044096e+01]
 [-2.40700961e-01  9.70328354e-01  2.29332395e-02 -1.22725823e+01]
 [ 1.02182135e-01  1.83667388e-03  9.94764011e-01  9.16457613e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.16, Y:-12.28, Z:9.17
[[ 9.65155320e-01  2.41984893e-01 -9.95917632e-02  9.01641201e+01]
 [-2.40902654e-01  9.70278243e-01  2.29356214e-02 -1.22785885e+01]
 [ 1.02181795e-01  1.85548307e-03  9.94764011e-01  9.17092104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.021052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.23, Y:-12.28, Z:9.17
[[ 9.64446334e-01  2.44795160e-01 -9.95921631e-02  9.02250800e+01]
 [-2.43728026e-01  9.69572424e-01  2.29338850e-02 -1.22779013e+01]
 [ 1.02175919e-01  2.15490001e-03  9.94764011e-01  9.17472374e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.29, Y:-12.28, Z:9.18
[[ 9.63527384e-01  2.48387086e-01 -9.95933528e-02  9.02850359e+01]
 [-2.47339594e-01  9.68657524e-01  2.29287171e-02 -1.22791895e+01]
 [ 1.02167048e-01  2.54093267e-03  9.94764011e-01  9.17766656e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.34, Y:-12.29, Z:9.18
[[ 9.63552472e-01  2.48289097e-01 -9.95949648e-02  9.03426465e+01]
 [-2.47241807e-01  9.68682654e-01  2.29217134e-02 -1.22869041e+01]
 [ 1.02167126e-01  2.53776549e-03  9.94764011e-01  9.18479191e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.40, Y:-12.29, Z:9.19
[[ 9.62746429e-01  2.51395784e-01 -9.95965509e-02  9.04020741e+01]
 [-2.50365759e-01  9.67880105e-01  2.29148194e-02 -1.22916144e+01]
 [ 1.02158209e-01  2.87440554e-03  9.94764011e-01  9.19338365e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.46, Y:-12.30, Z:9.20
[[ 9.59941759e-01  2.61901098e-01 -9.95973634e-02  9.04617065e+01]
 [-2.60927599e-01  9.65086453e-01  2.29112874e-02 -1.22980258e+01]
 [ 1.02120557e-01  3.99419931e-03  9.94764011e-01  9.20055942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.52, Y:-12.31, Z:9.21
[[ 9.57837266e-01  2.69495998e-01 -9.95975864e-02  9.05198619e+01]
 [-2.68563378e-01  9.62989527e-01  2.29103179e-02 -1.23086645e+01]
 [ 1.02085672e-01  4.80390797e-03  9.94764011e-01  9.20706522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.58, Y:-12.32, Z:9.21
[[ 9.57019982e-01  2.72384054e-01 -9.95975953e-02  9.05799138e+01]
 [-2.71466984e-01  9.62175034e-01  2.29102792e-02 -1.23168750e+01]
 [ 1.02070714e-01  5.11186379e-03  9.94764011e-01  9.21022880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.64, Y:-12.33, Z:9.22
[[ 9.56846862e-01  2.72991579e-01 -9.95975984e-02  9.06379136e+01]
 [-2.72077782e-01  9.62002495e-01  2.29102659e-02 -1.23281632e+01]
 [ 1.02067448e-01  5.17667766e-03  9.94764011e-01  9.21799029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.69, Y:-12.34, Z:9.22
[[ 9.56921310e-01  2.72730216e-01 -9.95983751e-02  9.06947951e+01]
 [-2.71815362e-01  9.62076756e-01  2.29068887e-02 -1.23402889e+01]
 [ 1.02068682e-01  5.15227844e-03  9.94764011e-01  9.22454910e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.75, Y:-12.35, Z:9.23
[[ 9.56989910e-01  2.72488840e-01 -9.95999221e-02  9.07525860e+01]
 [-2.71573384e-01  9.62145249e-01  2.29001605e-02 -1.23488979e+01]
 [ 1.02069630e-01  5.13346535e-03  9.94764011e-01  9.23006630e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.81, Y:-12.36, Z:9.23
[[ 9.57124533e-01  2.72015000e-01 -9.96015451e-02  9.08106464e+01]
 [-2.71097725e-01  9.62279549e-01  2.28930990e-02 -1.23568239e+01]
 [ 1.02071796e-01  5.09020557e-03  9.94764011e-01  9.23256159e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.87, Y:-12.37, Z:9.24
[[ 9.56890976e-01  2.72834734e-01 -9.96035577e-02  9.08684877e+01]
 [-2.71922784e-01  9.62046936e-01  2.28843393e-02 -1.23660551e+01]
 [ 1.02066940e-01  5.18665892e-03  9.94764011e-01  9.23815116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.93, Y:-12.38, Z:9.25
[[ 9.57176807e-01  2.71829827e-01 -9.96047444e-02  9.09263396e+01]
 [-2.70913000e-01  9.62331902e-01  2.28791729e-02 -1.23757206e+01]
 [ 1.02072065e-01  5.08480649e-03  9.94764011e-01  9.24801120e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.99, Y:-12.38, Z:9.26
[[ 9.58658598e-01  2.66556312e-01 -9.96063529e-02  9.09856772e+01]
 [-2.65611845e-01  9.63808701e-01  2.28721684e-02 -1.23806879e+01]
 [ 1.02098190e-01  4.53002636e-03  9.94764011e-01  9.25677442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.04, Y:-12.39, Z:9.26
[[ 9.60523991e-01  2.59753884e-01 -9.96071446e-02  9.10449766e+01]
 [-2.58773290e-01  9.65667337e-01  2.28687197e-02 -1.23879678e+01]
 [ 1.02127605e-01  3.80971463e-03  9.94764011e-01  9.26007498e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.11, Y:-12.39, Z:9.26
[[ 9.61718778e-01  2.55294446e-01 -9.96079263e-02  9.11058545e+01]
 [-2.54290351e-01  9.66857588e-01  2.28653145e-02 -1.23906714e+01]
 [ 1.02144067e-01  3.33933220e-03  9.94764011e-01  9.26432986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.16, Y:-12.39, Z:9.28
[[ 9.61735608e-01  2.55230933e-01 -9.96081908e-02  9.11639546e+01]
 [-2.54226618e-01  9.66874375e-01  2.28641621e-02 -1.23917912e+01]
 [ 1.02144249e-01  3.33377469e-03  9.94764011e-01  9.27503656e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.23, Y:-12.39, Z:9.29
[[ 9.61786557e-01  2.55036448e-01 -9.96144015e-02  9.12255185e+01]
 [-2.54033897e-01  9.66925668e-01  2.28370714e-02 -1.23853881e+01]
 [ 1.02144007e-01  3.34104630e-03  9.94764012e-01  9.28606858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.29, Y:-12.38, Z:9.29
[[ 9.62739254e-01  2.51415728e-01 -9.96155624e-02  9.12859695e+01]
 [-2.50394370e-01  9.67874661e-01  2.28320068e-02 -1.23793448e+01]
 [ 1.02155704e-01  2.96190684e-03  9.94764012e-01  9.29091589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.35, Y:-12.38, Z:9.30
[[ 9.63244779e-01  2.49469421e-01 -9.96218046e-02  9.13472904e+01]
 [-2.48440504e-01  9.68378676e-01  2.28047380e-02 -1.23802411e+01]
 [ 1.02160716e-01  2.78354652e-03  9.94764012e-01  9.29643182e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.221052754 meters
Centerline goodness : 0.999874 with order 1
Centerline is valid?  [True, True]
Translation: X:91.41, Y:-12.36, Z:9.30
[[ 9.62416934e-01  2.52644185e-01 -9.96220907e-02  9.14110201e+01]
 [-2.51632331e-01  9.67554221e-01  2.28034878e-02 -1.23644176e+01]
 [ 1.02150943e-01  3.12167605e-03  9.94764012e-01  9.30493989e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.281052754 meters
Centerline goodness : 0.999666 with order 1
Centerline is valid?  [True, True]
Translation: X:91.47, Y:-12.35, Z:9.31
[[ 9.60778983e-01  2.58801243e-01 -9.96276215e-02  9.14747512e+01]
 [-2.57824808e-01  9.65923119e-01  2.27792985e-02 -1.23496826e+01]
 [ 1.02127934e-01  3.80060110e-03  9.94764013e-01  9.31334741e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.341052754 meters
Centerline goodness : 0.999351 with order 1
Centerline is valid?  [True, True]
Translation: X:91.54, Y:-12.35, Z:9.32
[[ 9.60465135e-01  2.59963410e-01 -9.96280557e-02  9.15357505e+01]
 [-2.58993396e-01  9.65610486e-01  2.27773993e-02 -1.23452362e+01]
 [ 1.02123186e-01  3.92611063e-03  9.94764013e-01  9.31658847e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.401052754 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:91.60, Y:-12.34, Z:9.32
[[ 9.60118779e-01  2.61237644e-01 -9.96334454e-02  9.15973804e+01]
 [-2.60276903e-01  9.65265869e-01  2.27537996e-02 -1.23360050e+01]
 [ 1.02116913e-01  4.08593429e-03  9.94764013e-01  9.32016220e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.46105275400001 meters
Centerline goodness : 0.998764 with order 1
Centerline is valid?  [True, True]
Translation: X:91.66, Y:-12.31, Z:9.33
[[ 9.60223565e-01  2.60851500e-01 -9.96353355e-02  9.16628515e+01]
 [-2.59889546e-01  9.65370429e-01  2.27455198e-02 -1.23119237e+01]
 [ 1.02118210e-01  4.05339801e-03  9.94764013e-01  9.32871445e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.52105275400001 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:91.72, Y:-12.31, Z:9.33
[[ 9.60512195e-01  2.59784600e-01 -9.96407817e-02  9.17221707e+01]
 [-2.58819402e-01  9.65658451e-01  2.27216369e-02 -1.23102812e+01]
 [ 1.02121694e-01  3.96455821e-03  9.94764013e-01  9.33175675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.581052754 meters
Centerline goodness : 0.997404 with order 1
Centerline is valid?  [True, True]
Translation: X:91.79, Y:-12.29, Z:9.34
[[ 9.62343311e-01  2.52915971e-01 -9.96436821e-02  9.17875982e+01]
 [-2.51915350e-01  9.67482797e-01  2.27089105e-02 -1.22929900e+01]
 [ 1.02146994e-01  3.24800488e-03  9.94764013e-01  9.33824010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.641052754 meters
Centerline goodness : 0.997210 with order 1
Centerline is valid?  [True, True]
Translation: X:91.85, Y:-12.28, Z:9.35
[[ 9.65069317e-01  2.42305971e-01 -9.96445191e-02  9.18528236e+01]
 [-2.41249207e-01  9.70197553e-01  2.27052373e-02 -1.22755361e+01]
 [ 1.02176483e-01  2.12703337e-03  9.94764013e-01  9.34800720e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.701052754 meters
Centerline goodness : 0.997450 with order 1
Centerline is valid?  [True, True]
Translation: X:91.91, Y:-12.27, Z:9.35
[[ 9.66784262e-01  2.35370154e-01 -9.96447785e-02  9.19146126e+01]
 [-2.34276712e-01  9.71904803e-01  2.27040986e-02 -1.22733662e+01]
 [ 1.02189106e-01  1.39448586e-03  9.94764013e-01  9.35021393e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.761052754 meters
Centerline goodness : 0.997708 with order 1
Centerline is valid?  [True, True]
Translation: X:91.98, Y:-12.26, Z:9.35
[[ 9.68495823e-01  2.28224895e-01 -9.96455604e-02  9.19783200e+01]
 [-2.27094025e-01  9.73608229e-01  2.27006667e-02 -1.22560815e+01]
 [ 1.02196595e-01  6.43410479e-04  9.94764013e-01  9.35476540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.82105275400001 meters
Centerline goodness : 0.997041 with order 1
Centerline is valid?  [True, True]
Translation: X:92.04, Y:-12.23, Z:9.36
[[ 9.69338391e-01  2.24618822e-01 -9.96467172e-02  9.20435934e+01]
 [-2.23469456e-01  9.74446670e-01  2.26955874e-02 -1.22328039e+01]
 [ 1.02198268e-01  2.68293454e-04  9.94764013e-01  9.36367646e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.88105275400001 meters
Centerline goodness : 0.997219 with order 1
Centerline is valid?  [True, True]
Translation: X:92.11, Y:-12.20, Z:9.37
[[ 9.68962298e-01  2.26233286e-01 -9.96522230e-02  9.21110585e+01]
 [-2.25094919e-01  9.74073039e-01  2.26713869e-02 -1.21979966e+01]
 [ 1.02197566e-01  4.63489911e-04  9.94764014e-01  9.37250061e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.941052754 meters
Centerline goodness : 0.997669 with order 1
Centerline is valid?  [True, True]
Translation: X:92.18, Y:-12.17, Z:9.38
[[ 9.64178028e-01  2.45823240e-01 -9.96577362e-02  9.21787674e+01]
 [-2.44791184e-01  9.69311293e-01  2.26471264e-02 -1.21694488e+01]
 [ 1.02166559e-01  2.55947364e-03  9.94764014e-01  9.38151845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.001052754 meters
Centerline goodness : 0.997404 with order 1
Centerline is valid?  [True, True]
Translation: X:92.25, Y:-12.14, Z:9.38
[[ 9.57361212e-01  2.71159844e-01 -9.96586585e-02  9.22462831e+01]
 [-2.70263916e-01  9.62519978e-01  2.26430671e-02 -1.21407744e+01]
 [ 1.02063340e-01  5.25654512e-03  9.94764014e-01  9.38060675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.061052754 meters
Centerline goodness : 0.997298 with order 1
Centerline is valid?  [True, True]
Translation: X:92.31, Y:-12.14, Z:9.39
[[ 9.62066005e-01  2.53962469e-01 -9.96597520e-02  9.23061088e+01]
 [-2.52974748e-01  9.67207985e-01  2.26382534e-02 -1.21443042e+01]
 [ 1.02140975e-01  3.43190671e-03  9.94764014e-01  9.38994126e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.121052754 meters
Centerline goodness : 0.998630 with order 1
Centerline is valid?  [True, True]
Translation: X:92.36, Y:-12.16, Z:9.39
[[ 9.67157014e-01  2.33826920e-01 -9.96608310e-02  9.23642810e+01]
 [-2.32732580e-01  9.72277363e-01  2.26335021e-02 -1.21577118e+01]
 [ 1.02190292e-01  1.30417205e-03  9.94764014e-01  9.39172916e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.181052754 meters
Centerline goodness : 0.998918 with order 1
Centerline is valid?  [True, True]
Translation: X:92.42, Y:-12.17, Z:9.39
[[ 9.67751822e-01  2.31352432e-01 -9.96617466e-02  9.24204971e+01]
 [-2.30245415e-01  9.72869445e-01  2.26294699e-02 -1.21736961e+01]
 [ 1.02193251e-01  1.04694942e-03  9.94764014e-01  9.39376512e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.24105275400001 meters
Centerline goodness : 0.999362 with order 1
Centerline is valid?  [True, True]
Translation: X:92.48, Y:-12.18, Z:9.40
[[ 9.63932678e-01  2.46779758e-01 -9.96671579e-02  9.24779222e+01]
 [-2.45757085e-01  9.69067821e-01  2.26056117e-02 -1.21831510e+01]
 [ 1.02162843e-01  2.70362234e-03  9.94764014e-01  9.40146171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.301052754 meters
Centerline goodness : 0.999430 with order 1
Centerline is valid?  [True, True]
Translation: X:92.54, Y:-12.19, Z:9.41
[[ 9.61382244e-01  2.56535364e-01 -9.96683892e-02  9.25361624e+01]
 [-2.55565344e-01  9.66527592e-01  2.26001817e-02 -1.21914605e+01]
 [ 1.02129994e-01  3.74437279e-03  9.94764014e-01  9.40833870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.361052754 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:92.59, Y:-12.21, Z:9.41
[[ 9.62272108e-01  2.53176658e-01 -9.96693020e-02  9.25940803e+01]
 [-2.52189093e-01  9.67414118e-01  2.25961552e-02 -1.22062174e+01]
 [ 1.02142309e-01  3.39186102e-03  9.94764014e-01  9.40827142e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.421052754 meters
Centerline goodness : 0.999432 with order 1
Centerline is valid?  [True, True]
Translation: X:92.65, Y:-12.22, Z:9.42
[[ 9.62505147e-01  2.52288861e-01 -9.96703208e-02  9.26510747e+01]
 [-2.51297018e-01  9.67646333e-01  2.25916604e-02 -1.22156831e+01]
 [ 1.02145245e-01  3.30226493e-03  9.94764014e-01  9.41833401e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.481052754 meters
Centerline goodness : 0.999905 with order 1
Centerline is valid?  [True, True]
Translation: X:92.71, Y:-12.22, Z:9.43
[[ 9.61915426e-01  2.54526003e-01 -9.96756076e-02  9.27095168e+01]
 [-2.53548532e-01  9.67059364e-01  2.25683110e-02 -1.22233211e+01]
 [ 1.02136452e-01  3.56379748e-03  9.94764015e-01  9.43137034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.541052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:92.77, Y:-12.23, Z:9.44
[[ 9.62049479e-01  2.54018583e-01 -9.96762715e-02  9.27664963e+01]
 [-2.53038702e-01  9.67192958e-01  2.25653781e-02 -1.22314750e+01]
 [ 1.02138213e-01  3.51294411e-03  9.94764015e-01  9.44169192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.82, Y:-12.24, Z:9.45
[[ 9.62280699e-01  2.53140518e-01 -9.96781587e-02  9.28241013e+01]
 [-2.52156807e-01  9.67423446e-01  2.25570389e-02 -1.22448706e+01]
 [ 1.02141088e-01  3.42832305e-03  9.94764015e-01  9.44749033e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.661052754 meters
Centerline goodness : 0.999929 with order 1
Centerline is valid?  [True, True]
Translation: X:92.88, Y:-12.26, Z:9.45
[[ 9.61379166e-01  2.56542799e-01 -9.96789399e-02  9.28816147e+01]
 [-2.55577643e-01  9.66525429e-01  2.25535864e-02 -1.22605165e+01]
 [ 1.02128190e-01  3.79316034e-03  9.94764015e-01  9.44792968e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.721052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:92.94, Y:-12.27, Z:9.45
[[ 9.59296236e-01  2.64224554e-01 -9.96800713e-02  9.29394053e+01]
 [-2.63301112e-01  9.64450147e-01  2.25485849e-02 -1.22740464e+01]
 [ 1.02094349e-01  4.61510093e-03  9.94764015e-01  9.45295274e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.781052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:93.00, Y:-12.29, Z:9.46
[[ 9.55147940e-01  2.78847860e-01 -9.96809116e-02  9.29962489e+01]
 [-2.78003643e-01  9.60315419e-01  2.25448694e-02 -1.22883842e+01]
 [ 1.02011705e-01  6.17797102e-03  9.94764015e-01  9.45977234e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.841052754 meters
Centerline goodness : 0.999929 with order 1
Centerline is valid?  [True, True]
Translation: X:93.05, Y:-12.30, Z:9.47
[[ 9.51706244e-01  2.90376836e-01 -9.96820857e-02  9.30544371e+01]
 [-2.89595704e-01  9.56883635e-01  2.25396772e-02 -1.23003385e+01]
 [ 1.01929157e-01  7.41635232e-03  9.94764015e-01  9.46834644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.11, Y:-12.31, Z:9.48
[[ 9.46789541e-01  3.06026670e-01 -9.96857162e-02  9.31115407e+01]
 [-3.05332674e-01  9.51979330e-01  2.25236090e-02 -1.23116316e+01]
 [ 1.01791566e-01  9.11218879e-03  9.94764015e-01  9.48025616e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.17, Y:-12.33, Z:9.49
[[ 9.43842793e-01  3.14997300e-01 -9.96869252e-02  9.31695761e+01]
 [-3.14353143e-01  9.49039003e-01  2.25182571e-02 -1.23256578e+01]
 [ 1.01699970e-01  1.00832035e-02  9.94764015e-01  9.48672007e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.02105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.23, Y:-12.34, Z:9.49
[[ 9.42445021e-01  3.19154383e-01 -9.96888228e-02  9.32275220e+01]
 [-3.18534014e-01  9.47644125e-01  2.25098532e-02 -1.23385384e+01]
 [ 1.01653646e-01  1.05399818e-02  9.94764015e-01  9.49191042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.29, Y:-12.35, Z:9.50
[[ 9.42081130e-01  3.20225743e-01 -9.96926154e-02  9.32855116e+01]
 [-3.19613044e-01  9.47281144e-01  2.24930437e-02 -1.23528786e+01]
 [ 1.01639786e-01  1.06727882e-02  9.94764015e-01  9.49562715e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.34, Y:-12.36, Z:9.50
[[ 9.41243546e-01  3.22677982e-01 -9.96970741e-02  9.33436180e+01]
 [-3.22080896e-01  9.46445376e-01  2.24732640e-02 -1.23648576e+01]
 [ 1.01609462e-01  1.09577082e-02  9.94764015e-01  9.50140742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.40, Y:-12.38, Z:9.51
[[ 9.40134900e-01  3.25892891e-01 -9.97005179e-02  9.34013362e+01]
 [-3.25315187e-01  9.45338917e-01  2.24579755e-02 -1.23777432e+01]
 [ 1.01569674e-01  1.13205661e-02  9.94764015e-01  9.50644191e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.46, Y:-12.39, Z:9.51
[[ 9.40493007e-01  3.24857675e-01 -9.97015261e-02  9.34582488e+01]
 [-3.24274711e-01  9.45696438e-01  2.24534989e-02 -1.23918765e+01]
 [ 1.01581569e-01  1.12133248e-02  9.94764015e-01  9.50971652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.52, Y:-12.41, Z:9.52
[[ 9.41600640e-01  3.21631468e-01 -9.97067374e-02  9.35159676e+01]
 [-3.21033092e-01  9.46802321e-01  2.24303336e-02 -1.24058545e+01]
 [ 1.01616871e-01  1.08887457e-02  9.94764016e-01  9.51667927e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.57, Y:-12.42, Z:9.53
[[ 9.42853877e-01  3.17937418e-01 -9.97114088e-02  9.35724436e+01]
 [-3.17320827e-01  9.48053429e-01  2.24095484e-02 -1.24165535e+01]
 [ 1.01656577e-01  1.05115771e-02  9.94764016e-01  9.52704173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.63, Y:-12.43, Z:9.54
[[ 9.45809054e-01  3.09034995e-01 -9.97126138e-02  9.36302947e+01]
 [-3.08369975e-01  9.51002635e-01  2.24041852e-02 -1.24283836e+01]
 [ 1.01750636e-01  9.55829496e-03  9.94764016e-01  9.53537670e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.69, Y:-12.44, Z:9.54
[[ 9.50688874e-01  2.93679885e-01 -9.97135357e-02  9.36876389e+01]
 [-2.92931286e-01  9.55871068e-01  2.24000817e-02 -1.24400418e+01]
 [ 1.01891737e-01  7.91370572e-03  9.94764016e-01  9.53934919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.75, Y:-12.45, Z:9.54
[[ 9.56548285e-01  2.73993379e-01 -9.97146301e-02  9.37461577e+01]
 [-2.73138476e-01  9.61714005e-01  2.23952089e-02 -1.24516786e+01]
 [ 1.02033095e-01  5.81380344e-03  9.94764016e-01  9.54376457e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.80, Y:-12.46, Z:9.55
[[ 9.61848570e-01  2.54762739e-01 -9.97159716e-02  9.38047728e+01]
 [-2.53805071e-01  9.66996230e-01  2.23892340e-02 -1.24628797e+01]
 [ 1.02128911e-01  3.77336653e-03  9.94764016e-01  9.55005662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.86, Y:-12.47, Z:9.56
[[ 9.65457036e-01  2.40726464e-01 -9.97170016e-02  9.38633952e+01]
 [-2.39694395e-01  9.70590297e-01  2.23846458e-02 -1.24719033e+01]
 [ 1.02172931e-01  2.29019258e-03  9.94764016e-01  9.55681228e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.92, Y:-12.48, Z:9.57
[[ 9.63068626e-01  2.50110329e-01 -9.97178250e-02  9.39211604e+01]
 [-2.49128642e-01  9.68211760e-01  2.23809773e-02 -1.24840777e+01]
 [ 1.02145684e-01  3.28814932e-03  9.94764016e-01  9.56654374e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.98, Y:-12.50, Z:9.57
[[ 9.60763485e-01  2.58823787e-01 -9.97184744e-02  9.39792547e+01]
 [-2.57889028e-01  9.65915354e-01  2.23780835e-02 -1.24976675e+01]
 [ 1.02111586e-01  4.21625500e-03  9.94764016e-01  9.57454587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.04, Y:-12.52, Z:9.57
[[ 9.59566431e-01  2.63226864e-01 -9.97190219e-02  9.40362221e+01]
 [-2.62315993e-01  9.64722577e-01  2.23756435e-02 -1.25152846e+01]
 [ 1.02091062e-01  4.68697795e-03  9.94764016e-01  9.57310007e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.921052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.09, Y:-12.53, Z:9.58
[[ 9.58592109e-01  2.66752770e-01 -9.97202469e-02  9.40937230e+01]
 [-2.65861427e-01  9.63751667e-01  2.23701826e-02 -1.25319131e+01]
 [ 1.02072862e-01  5.06788664e-03  9.94764016e-01  9.57848065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.15, Y:-12.55, Z:9.59
[[ 9.58761985e-01  2.66141283e-01 -9.97209777e-02  9.41496212e+01]
 [-2.65246988e-01  9.63921032e-01  2.23669243e-02 -1.25471139e+01]
 [ 1.02075910e-01  5.00613229e-03  9.94764016e-01  9.58584247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.21, Y:-12.57, Z:9.59
[[ 9.60454837e-01  2.59963850e-01 -9.97261440e-02  9.42066041e+01]
 [-2.59038752e-01  9.65608449e-01  2.23438660e-02 -1.25659953e+01]
 [ 1.02105005e-01  4.37266178e-03  9.94764016e-01  9.58868336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.26, Y:-12.58, Z:9.59
[[ 9.62673457e-01  2.51623439e-01 -9.97269279e-02  9.42627624e+01]
 [-2.50654038e-01  9.67818920e-01  2.23403668e-02 -1.25844265e+01]
 [ 1.02138968e-01  3.49047900e-03  9.94764016e-01  9.59247650e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.32, Y:-12.60, Z:9.60
[[ 9.65518196e-01  2.40476605e-01 -9.97277098e-02  9.43204097e+01]
 [-2.39448139e-01  9.70652179e-01  2.23368756e-02 -1.26013959e+01]
 [ 1.02172415e-01  2.31295471e-03  9.94764016e-01  9.59825655e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.38, Y:-12.62, Z:9.60
[[ 9.68829732e-01  2.26767008e-01 -9.97280006e-02  9.43762782e+01]
 [-2.25666009e-01  9.73948651e-01  2.23355776e-02 -1.26177380e+01]
 [ 1.02194924e-01  8.65848223e-04  9.94764016e-01  9.60187026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.281052754 meters
Centerline goodness : 0.999954 with order 1
Centerline is valid?  [True, True]
Translation: X:94.43, Y:-12.63, Z:9.61
[[ 9.70897109e-01  2.17743204e-01 -9.97331488e-02  9.44324641e+01]
 [-2.16596990e-01  9.76006093e-01  2.23125659e-02 -1.26310273e+01]
 [ 1.02198571e-01 -6.13059002e-05  9.94764016e-01  9.61142986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.341052754 meters
Centerline goodness : 0.999954 with order 1
Centerline is valid?  [True, True]
Translation: X:94.49, Y:-12.64, Z:9.62
[[ 9.70747847e-01  2.18405269e-01 -9.97384329e-02  9.44902468e+01]
 [-2.17264969e-01  9.75858154e-01  2.22889210e-02 -1.26447623e+01]
 [ 1.02198581e-01  3.27454283e-05  9.94764017e-01  9.61912498e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.401052754 meters
Centerline goodness : 0.999931 with order 1
Centerline is valid?  [True, True]
Translation: X:94.55, Y:-12.66, Z:9.63
[[ 9.70376692e-01  2.20048280e-01 -9.97388050e-02  9.45468092e+01]
 [-2.18916804e-01  9.75488960e-01  2.22872555e-02 -1.26566195e+01]
 [ 1.02198375e-01  2.07467098e-04  9.94764017e-01  9.62973013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.46105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.60, Y:-12.67, Z:9.63
[[ 9.69449190e-01  2.24096814e-01 -9.97441046e-02  9.46030053e+01]
 [-2.22989129e-01  9.74566665e-01  2.22635126e-02 -1.26709768e+01]
 [ 1.02196462e-01  6.58506855e-04  9.94764017e-01  9.63384860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.52105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.66, Y:-12.69, Z:9.64
[[ 9.68159892e-01  2.29602244e-01 -9.97458428e-02  9.46609553e+01]
 [-2.28524460e-01  9.73283748e-01  2.22557224e-02 -1.26855105e+01]
 [ 1.02190972e-01  1.24726705e-03  9.94764017e-01  9.64097620e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.72, Y:-12.69, Z:9.65
[[ 9.64645098e-01  2.43947766e-01 -9.97462920e-02  9.47200118e+01]
 [-2.42946365e-01  9.69784428e-01  2.22537091e-02 -1.26919181e+01]
 [ 1.02161143e-01  2.76606759e-03  9.94764017e-01  9.64643105e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.78, Y:-12.69, Z:9.66
[[ 9.60102322e-01  2.61254625e-01 -9.97474399e-02  9.47803657e+01]
 [-2.60346334e-01  9.65258923e-01  2.22485628e-02 -1.26879863e+01]
 [ 1.02094646e-01  4.60798348e-03  9.94764017e-01  9.65527540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.84, Y:-12.70, Z:9.66
[[ 9.62992619e-01  2.50390590e-01 -9.97485189e-02  9.48391116e+01]
 [-2.49424599e-01  9.68138723e-01  2.22437242e-02 -1.26952154e+01]
 [ 1.02140023e-01  3.45919210e-03  9.94764017e-01  9.66317257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.90, Y:-12.71, Z:9.66
[[ 9.69602627e-01  2.23429693e-01 -9.97492777e-02  9.48978989e+01]
 [-2.22320872e-01  9.74719856e-01  2.22403208e-02 -1.27079051e+01]
 [ 1.02196750e-01  6.12072918e-04  9.94764017e-01  9.66461168e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.96, Y:-12.72, Z:9.66
[[ 9.74381019e-01  2.01572890e-01 -9.97496867e-02  9.49563780e+01]
 [-2.00349483e-01  9.79472069e-01  2.22384863e-02 -1.27233458e+01]
 [ 1.02184708e-01 -1.68396074e-03  9.94764017e-01  9.66439599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.01, Y:-12.74, Z:9.67
[[ 9.74221336e-01  2.02342970e-01 -9.97502395e-02  9.50145642e+01]
 [-2.01123841e-01  9.79313413e-01  2.22360065e-02 -1.27367582e+01]
 [ 1.02186047e-01 -1.60064066e-03  9.94764017e-01  9.66789955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.07, Y:-12.75, Z:9.68
[[ 9.73624757e-01  2.05193981e-01 -9.97510008e-02  9.50714844e+01]
 [-2.03990114e-01  9.78720463e-01  2.22325906e-02 -1.27469047e+01]
 [ 1.02190340e-01 -1.29798253e-03  9.94764017e-01  9.67715309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.001052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:95.13, Y:-12.76, Z:9.68
[[ 9.72616045e-01  2.09920750e-01 -9.97562434e-02  9.51281259e+01]
 [-2.08744064e-01  9.77718096e-01  2.22090426e-02 -1.27592507e+01]
 [ 1.02195623e-01 -7.77347534e-04  9.94764017e-01  9.68477769e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.19, Y:-12.77, Z:9.69
[[ 9.71260712e-01  2.16104151e-01 -9.97578356e-02  9.51859647e+01]
 [-2.14960681e-01  9.76370310e-01  2.22018885e-02 -1.27721057e+01]
 [ 1.02198509e-01 -1.19809721e-04  9.94764017e-01  9.69217552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.121052754 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:95.24, Y:-12.79, Z:9.70
[[ 9.70663969e-01  2.18768683e-01 -9.97583241e-02  9.52439590e+01]
 [-2.17639466e-01  9.75776735e-01  2.21996932e-02 -1.27864716e+01]
 [ 1.02198449e-01  1.62906030e-04  9.94764017e-01  9.69646748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.30, Y:-12.80, Z:9.70
[[ 9.71021163e-01  2.17177422e-01 -9.97590524e-02  9.53010631e+01]
 [-2.16040162e-01  9.76132146e-01  2.21964202e-02 -1.27991880e+01]
 [ 1.02198579e-01 -1.23189098e-06  9.94764017e-01  9.70273783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.36, Y:-12.81, Z:9.71
[[ 9.71704369e-01  2.14097460e-01 -9.97642105e-02  9.53570648e+01]
 [-2.12946383e-01  9.76812258e-01  2.21732123e-02 -1.28122355e+01]
 [ 1.02198132e-01 -3.01379462e-04  9.94764018e-01  9.70879068e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.301052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:95.41, Y:-12.83, Z:9.71
[[ 9.72862760e-01  2.08769707e-01 -9.97660256e-02  9.54147828e+01]
 [-2.07591496e-01  9.77964458e-01  2.21650423e-02 -1.28251239e+01]
 [ 1.02195017e-01 -8.52965744e-04  9.94764018e-01  9.71099519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.47, Y:-12.84, Z:9.71
[[ 9.73201205e-01  2.07185543e-01 -9.97675554e-02  9.54722715e+01]
 [-2.05999733e-01  9.78301143e-01  2.21581546e-02 -1.28398502e+01]
 [ 1.02193563e-01 -1.01225299e-03  9.94764018e-01  9.71000037e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.421052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:95.53, Y:-12.85, Z:9.72
[[ 9.73267820e-01  2.06871858e-01 -9.97686588e-02  9.55291703e+01]
 [-2.05684914e-01  9.78367494e-01  2.21531852e-02 -1.28521326e+01]
 [ 1.02193283e-01 -1.04007430e-03  9.94764018e-01  9.71503702e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.58, Y:-12.86, Z:9.72
[[ 9.73393798e-01  2.06275947e-01 -9.97734786e-02  9.55848739e+01]
 [-2.05088108e-01  9.78493263e-01  2.21314568e-02 -1.28640013e+01]
 [ 1.02192864e-01 -1.08026887e-03  9.94764018e-01  9.72455554e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.541052754 meters
Centerline goodness : 0.999904 with order 1
Centerline is valid?  [True, True]
Translation: X:95.64, Y:-12.88, Z:9.74
[[ 9.73684520e-01  2.04896279e-01 -9.97796116e-02  9.56413539e+01]
 [-2.03704051e-01  9.78782960e-01  2.21037717e-02 -1.28756347e+01]
 [ 1.02191564e-01 -1.19658920e-03  9.94764018e-01  9.73519353e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.60105275400001 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:95.70, Y:-12.89, Z:9.74
[[ 9.73555144e-01  2.05507557e-01 -9.97849005e-02  9.56987926e+01]
 [-2.04320979e-01  9.78654902e-01  2.20798697e-02 -1.28896970e+01]
 [ 1.02192562e-01 -1.10782211e-03  9.94764019e-01  9.73935712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.661052754 meters
Centerline goodness : 0.999665 with order 1
Centerline is valid?  [True, True]
Translation: X:95.75, Y:-12.90, Z:9.74
[[ 9.73556357e-01  2.05499394e-01 -9.97898739e-02  9.57548494e+01]
 [-2.04315080e-01  9.78656641e-01  2.20573698e-02 -1.29038820e+01]
 [ 1.02192799e-01 -1.08551649e-03  9.94764019e-01  9.74328657e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.721052754 meters
Centerline goodness : 0.999450 with order 1
Centerline is valid?  [True, True]
Translation: X:95.81, Y:-12.92, Z:9.75
[[ 9.73235610e-01  2.07012206e-01 -9.97917552e-02  9.58110881e+01]
 [-2.05836693e-01  9.78337929e-01  2.20488553e-02 -1.29172529e+01]
 [ 1.02194441e-01 -9.17926277e-04  9.94764019e-01  9.74812014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.781052754 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:95.87, Y:-12.93, Z:9.75
[[ 9.73124388e-01  2.07533697e-01 -9.97932355e-02  9.58685259e+01]
 [-2.06361605e-01  9.78227495e-01  2.20421532e-02 -1.29316723e+01]
 [ 1.02194976e-01 -8.56264604e-04  9.94764019e-01  9.75177333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.841052754 meters
Centerline goodness : 0.998545 with order 1
Centerline is valid?  [True, True]
Translation: X:95.93, Y:-12.95, Z:9.76
[[ 9.72932680e-01  2.08430240e-01 -9.97939616e-02  9.59256241e+01]
 [-2.07263188e-01  9.78036942e-01  2.20388655e-02 -1.29457476e+01]
 [ 1.02195747e-01 -7.58717907e-04  9.94764019e-01  9.75522983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.901052754 meters
Centerline goodness : 0.998621 with order 1
Centerline is valid?  [True, True]
Translation: X:95.98, Y:-12.96, Z:9.76
[[ 9.71624323e-01  2.14444265e-01 -9.97989591e-02  9.59823593e+01]
 [-2.13311133e-01  9.76736222e-01  2.20162122e-02 -1.29616213e+01]
 [ 1.02198509e-01 -1.03258162e-04  9.94764019e-01  9.75898974e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.96105275400001 meters
Centerline goodness : 0.998196 with order 1
Centerline is valid?  [True, True]
Translation: X:96.04, Y:-12.98, Z:9.77
[[ 9.70863922e-01  2.17860330e-01 -9.98004069e-02  9.60389606e+01]
 [-2.16745861e-01  9.75979922e-01  2.20096472e-02 -1.29751571e+01]
 [ 1.02198222e-01  2.62952656e-04  9.94764019e-01  9.76579155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.02105275400001 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:96.10, Y:-12.99, Z:9.77
[[ 9.71123865e-01  2.16696328e-01 -9.98055141e-02  9.60954341e+01]
 [-2.15578109e-01  9.76239046e-01  2.19864638e-02 -1.29872051e+01]
 [ 1.02198426e-01  1.64304294e-04  9.94764020e-01  9.77430302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.081052754 meters
Centerline goodness : 0.998376 with order 1
Centerline is valid?  [True, True]
Translation: X:96.15, Y:-13.00, Z:9.78
[[ 9.71363286e-01  2.15617852e-01 -9.98113626e-02  9.61519215e+01]
 [-2.14496685e-01  9.76477821e-01  2.19598816e-02 -1.30018718e+01]
 [ 1.02198524e-01  7.81836333e-05  9.94764020e-01  9.77812736e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.141052754 meters
Centerline goodness : 0.998261 with order 1
Centerline is valid?  [True, True]
Translation: X:96.21, Y:-13.01, Z:9.79
[[ 9.71898950e-01  2.13187862e-01 -9.98166652e-02  9.62082928e+01]
 [-2.12056385e-01  9.77011214e-01  2.19357523e-02 -1.30124919e+01]
 [ 1.02198437e-01 -1.52573486e-04  9.94764020e-01  9.78637253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.201052754 meters
Centerline goodness : 0.998098 with order 1
Centerline is valid?  [True, True]
Translation: X:96.26, Y:-13.02, Z:9.79
[[ 9.72121805e-01  2.12166456e-01 -9.98227960e-02  9.62647935e+01]
 [-2.11032477e-01  9.77233514e-01  2.19078177e-02 -1.30233065e+01]
 [ 1.02198286e-01 -2.31215447e-04  9.94764021e-01  9.78960104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.261052754 meters
Centerline goodness : 0.998305 with order 1
Centerline is valid?  [True, True]
Translation: X:96.32, Y:-13.04, Z:9.80
[[ 9.72248953e-01  2.11582153e-01 -9.98246784e-02  9.63221615e+01]
 [-2.10445983e-01  9.77360175e-01  2.18992371e-02 -1.30360685e+01]
 [ 1.02198153e-01 -2.83807839e-04  9.94764021e-01  9.79516285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.32105275400001 meters
Centerline goodness : 0.998244 with order 1
Centerline is valid?  [True, True]
Translation: X:96.38, Y:-13.05, Z:9.80
[[ 9.72701461e-01  2.09491475e-01 -9.98257978e-02  9.63807243e+01]
 [-2.08344843e-01  9.77810346e-01  2.18941335e-02 -1.30492807e+01]
 [ 1.02197332e-01 -4.98265501e-04  9.94764021e-01  9.80230700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.38105275400001 meters
Centerline goodness : 0.998288 with order 1
Centerline is valid?  [True, True]
Translation: X:96.44, Y:-13.06, Z:9.82
[[ 9.72279647e-01  2.11440359e-01 -9.98261658e-02  9.64377577e+01]
 [-2.10304139e-01  9.77390858e-01  2.18924552e-02 -1.30565375e+01]
 [ 1.02198130e-01 -2.91732835e-04  9.94764021e-01  9.81517854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.441052754 meters
Centerline goodness : 0.998211 with order 1
Centerline is valid?  [True, True]
Translation: X:96.50, Y:-13.06, Z:9.82
[[ 9.72811646e-01  2.08976250e-01 -9.98320020e-02  9.64958127e+01]
 [-2.07829818e-01  9.77920576e-01  2.18658091e-02 -1.30646519e+01]
 [ 1.02197204e-01 -5.23246943e-04  9.94764021e-01  9.82315525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.501052754 meters
Centerline goodness : 0.999109 with order 1
Centerline is valid?  [True, True]
Translation: X:96.56, Y:-13.07, Z:9.83
[[ 9.76436151e-01  1.91326417e-01 -9.98330869e-02  9.65552380e+01]
 [-1.90088168e-01  9.81523607e-01  2.18608546e-02 -1.30747281e+01]
 [ 1.02171091e-01 -2.36864020e-03  9.94764021e-01  9.82588539e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.561052754 meters
Centerline goodness : 0.999344 with order 1
Centerline is valid?  [True, True]
Translation: X:96.61, Y:-13.09, Z:9.83
[[ 9.79311543e-01  1.76017485e-01 -9.98335995e-02  9.66140899e+01]
 [-1.74699985e-01  9.84379053e-01  2.18585138e-02 -1.30862142e+01]
 [ 1.02121585e-01 -3.96536653e-03  9.94764021e-01  9.83092596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.621052754 meters
Centerline goodness : 0.999765 with order 1
Centerline is valid?  [True, True]
Translation: X:96.67, Y:-13.10, Z:9.84
[[ 9.80513410e-01  1.69193998e-01 -9.98340820e-02  9.66729839e+01]
 [-1.67841467e-01  9.85571684e-01  2.18563096e-02 -1.30966457e+01]
 [ 1.02091601e-01 -4.67410587e-03  9.94764021e-01  9.83525417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.681052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:96.73, Y:-13.11, Z:9.84
[[ 9.81419582e-01  1.63855631e-01 -9.98345480e-02  9.67306941e+01]
 [-1.62475810e-01  9.86470479e-01  2.18541807e-02 -1.31109231e+01]
 [ 1.02064765e-01 -5.22742190e-03  9.94764021e-01  9.83977050e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.74105275400001 meters
Centerline goodness : 0.999812 with order 1
Centerline is valid?  [True, True]
Translation: X:96.79, Y:-13.12, Z:9.85
[[ 9.81622841e-01  1.62633032e-01 -9.98353363e-02  9.67887750e+01]
 [-1.61247285e-01  9.86672116e-01  2.18505792e-02 -1.31227714e+01]
 [ 1.02058369e-01 -5.35085068e-03  9.94764021e-01  9.84546891e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.85, Y:-13.13, Z:9.85
[[ 9.79647542e-01  1.74136294e-01 -9.98360854e-02  9.68476470e+01]
 [-1.72810218e-01  9.84712816e-01  2.18471559e-02 -1.31329763e+01]
 [ 1.02114256e-01 -4.14981684e-03  9.94764021e-01  9.85046899e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.861052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:96.90, Y:-13.14, Z:9.86
[[ 9.77092684e-01  1.87942935e-01 -9.98365665e-02  9.69044249e+01]
 [-1.86688693e-01  9.82176221e-01  2.18449572e-02 -1.31439073e+01]
 [ 1.02162707e-01 -2.70618979e-03  9.94764021e-01  9.86007842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.921052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:96.96, Y:-13.16, Z:9.87
[[ 9.73543224e-01  2.05538410e-01 -9.98376319e-02  9.69625859e+01]
 [-2.04376575e-01  9.78648673e-01  2.18400872e-02 -1.31566639e+01]
 [ 1.02194943e-01 -8.57795612e-04  9.94764021e-01  9.86876866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.981052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:97.02, Y:-13.17, Z:9.87
[[ 9.70615524e-01  2.18947096e-01 -9.98382411e-02  9.70179482e+01]
 [-2.17856079e-01  9.75736574e-01  2.18373016e-02 -1.31711161e+01]
 [ 1.02197037e-01  5.54743790e-04  9.94764021e-01  9.87385380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.041052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:97.08, Y:-13.18, Z:9.88
[[ 9.67612669e-01  2.31857036e-01 -9.98400558e-02  9.70762778e+01]
 [-2.30835188e-01  9.72747969e-01  2.18290016e-02 -1.31837533e+01]
 [ 1.02180419e-01  1.92457949e-03  9.94764021e-01  9.88198133e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.13, Y:-13.20, Z:9.89
[[ 9.65597122e-01  2.40112581e-01 -9.98406049e-02  9.71334316e+01]
 [-2.39134888e-01  9.70741011e-01  2.18264900e-02 -1.31983926e+01]
 [ 1.02160185e-01  2.79977592e-03  9.94764021e-01  9.88962925e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.161052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.19, Y:-13.21, Z:9.90
[[ 9.64255558e-01  2.45444393e-01 -9.98412207e-02  9.71913223e+01]
 [-2.44495429e-01  9.69404824e-01  2.18236728e-02 -1.32104626e+01]
 [ 1.02143059e-01  3.36712428e-03  9.94764021e-01  9.89807541e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.221052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.25, Y:-13.22, Z:9.90
[[ 9.63961593e-01  2.46595968e-01 -9.98422539e-02  9.72482906e+01]
 [-2.45653644e-01  9.69112079e-01  2.18189450e-02 -1.32224555e+01]
 [ 1.02138798e-01  3.49398853e-03  9.94764021e-01  9.90490360e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.31, Y:-13.24, Z:9.91
[[ 9.64812840e-01  2.43242054e-01 -9.98473205e-02  9.73066834e+01]
 [-2.42284224e-01  9.69960464e-01  2.17957350e-02 -1.32352499e+01]
 [ 1.02149593e-01  3.16262551e-03  9.94764022e-01  9.91116569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.341052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:97.37, Y:-13.25, Z:9.92
[[ 9.67598518e-01  2.31912541e-01 -9.98482954e-02  9.73651210e+01]
 [-2.30894880e-01  9.72734648e-01  2.17912680e-02 -1.32454769e+01]
 [ 1.02179565e-01  1.96926154e-03  9.94764022e-01  9.92026618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.42, Y:-13.26, Z:9.93
[[ 9.70530381e-01  2.19319328e-01 -9.98489478e-02  9.74212750e+01]
 [-2.18235317e-01  9.75652918e-01  2.17882782e-02 -1.32555491e+01]
 [ 1.02196508e-01  6.44380838e-04  9.94764022e-01  9.92668991e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.46105275400001 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:97.48, Y:-13.27, Z:9.93
[[ 9.74069512e-01  2.03023187e-01 -9.98507456e-02  9.74784759e+01]
 [-2.01854324e-01  9.79173356e-01  2.17800359e-02 -1.32695537e+01]
 [ 1.02193042e-01 -1.05996418e-03  9.94764022e-01  9.92806436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.52105275400001 meters
Centerline goodness : 0.999929 with order 1
Centerline is valid?  [True, True]
Translation: X:97.54, Y:-13.28, Z:9.93
[[ 9.76565185e-01  1.90656719e-01 -9.98521638e-02  9.75366745e+01]
 [-1.89423903e-01  9.81653960e-01  2.17735321e-02 -1.32807917e+01]
 [ 1.02171542e-01 -2.34888680e-03  9.94764022e-01  9.93224046e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.581052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.59, Y:-13.29, Z:9.94
[[ 9.75863470e-01  1.94216007e-01 -9.98530463e-02  9.75935789e+01]
 [-1.93002167e-01  9.80956805e-01  2.17694843e-02 -1.32938353e+01]
 [ 1.02179508e-01 -1.97219010e-03  9.94764022e-01  9.93800484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.641052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:97.65, Y:-13.31, Z:9.94
[[ 9.75109476e-01  1.97964305e-01 -9.98581147e-02  9.76490512e+01]
 [-1.96772428e-01  9.80207995e-01  2.17462105e-02 -1.33071592e+01]
 [ 1.02186696e-01 -1.55561228e-03  9.94764022e-01  9.94309221e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.701052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.71, Y:-13.32, Z:9.95
[[ 9.74478202e-01  2.01047490e-01 -9.98606078e-02  9.77063488e+01]
 [-1.99872918e-01  9.79580735e-01  2.17347559e-02 -1.33181150e+01]
 [ 1.02191246e-01 -1.22061473e-03  9.94764022e-01  9.95322572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.761052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:97.76, Y:-13.33, Z:9.96
[[ 9.73225826e-01  2.07022587e-01 -9.98656112e-02  9.77643204e+01]
 [-2.05881705e-01  9.78335997e-01  2.17117424e-02 -1.33303624e+01]
 [ 1.02196943e-01 -5.69926119e-04  9.94764022e-01  9.96189723e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.82, Y:-13.34, Z:9.97
[[ 9.72949939e-01  2.08315072e-01 -9.98661493e-02  9.78226160e+01]
 [-2.07181232e-01  9.78061677e-01  2.17092669e-02 -1.33439914e+01]
 [ 1.02197621e-01 -4.31638048e-04  9.94764022e-01  9.96732685e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.88, Y:-13.36, Z:9.97
[[ 9.72916797e-01  2.08469662e-01 -9.98664440e-02  9.78797295e+01]
 [-2.07336775e-01  9.78028746e-01  2.17079111e-02 -1.33582457e+01]
 [ 1.02197694e-01 -4.14004937e-04  9.94764022e-01  9.96813762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.94, Y:-13.37, Z:9.97
[[ 9.72845298e-01  2.08800683e-01 -9.98714247e-02  9.79379853e+01]
 [-2.07671889e-01  9.77958153e-01  2.16849727e-02 -1.33694798e+01]
 [ 1.02197911e-01 -3.55636312e-04  9.94764023e-01  9.97227054e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.001052754 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:97.99, Y:-13.38, Z:9.98
[[ 9.73856398e-01  2.04031695e-01 -9.98738339e-02  9.79943895e+01]
 [-2.02879003e-01  9.78963918e-01  2.16738711e-02 -1.33824873e+01]
 [ 1.02195036e-01 -8.44934261e-04  9.94764023e-01  9.97735473e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.061052754 meters
Centerline goodness : 0.999692 with order 1
Centerline is valid?  [True, True]
Translation: X:98.05, Y:-13.40, Z:9.98
[[ 9.74806471e-01  1.99442233e-01 -9.98756214e-02  9.80511986e+01]
 [-1.98266339e-01  9.79908699e-01  2.16656307e-02 -1.33956989e+01]
 [ 1.02190032e-01 -1.31782313e-03  9.94764023e-01  9.98440462e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.121052754 meters
Centerline goodness : 0.999454 with order 1
Centerline is valid?  [True, True]
Translation: X:98.11, Y:-13.41, Z:9.99
[[ 9.75069402e-01  1.98150269e-01 -9.98805857e-02  9.81079886e+01]
 [-1.96969961e-01  9.80170611e-01  2.16427207e-02 -1.34069218e+01]
 [ 1.02188526e-01 -1.42967970e-03  9.94764023e-01  9.99455411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.181052754 meters
Centerline goodness : 0.999500 with order 1
Centerline is valid?  [True, True]
Translation: X:98.16, Y:-13.42, Z:10.00
[[ 9.74826989e-01  1.99336965e-01 -9.98855084e-02  9.81637647e+01]
 [-1.98165198e-01  9.79930166e-01  2.16199776e-02 -1.34182930e+01]
 [ 1.02190484e-01 -1.28190613e-03  9.94764023e-01  1.00019560e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.24105275400001 meters
Centerline goodness : 0.999043 with order 1
Centerline is valid?  [True, True]
Translation: X:98.22, Y:-13.43, Z:10.01
[[ 9.73790738e-01  2.04336340e-01 -9.98912304e-02  9.82215052e+01]
 [-2.03193488e-01  9.78900468e-01  2.15935080e-02 -1.34292474e+01]
 [ 1.02195911e-01 -7.30310590e-04  9.94764024e-01  1.00087608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.301052754 meters
Centerline goodness : 0.998538 with order 1
Centerline is valid?  [True, True]
Translation: X:98.28, Y:-13.44, Z:10.01
[[ 9.72987833e-01  2.08123756e-01 -9.98958423e-02  9.82791158e+01]
 [-2.07002987e-01  9.78102451e-01  2.15721515e-02 -1.34427731e+01]
 [ 1.02198045e-01 -3.10703126e-04  9.94764024e-01  1.00120283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.361052754 meters
Centerline goodness : 0.997813 with order 1
Centerline is valid?  [True, True]
Translation: X:98.34, Y:-13.45, Z:10.02
[[ 9.72164975e-01  2.11933819e-01 -9.98965386e-02  9.83356116e+01]
 [-2.10833426e-01  9.77284016e-01  2.15689265e-02 -1.34545963e+01]
 [ 1.02198475e-01  9.29746201e-05  9.94764024e-01  1.00222059e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.421052754 meters
Centerline goodness : 0.997241 with order 1
Centerline is valid?  [True, True]
Translation: X:98.39, Y:-13.47, Z:10.03
[[ 9.71090040e-01  2.16803708e-01 -9.99013847e-02  9.83917805e+01]
 [-2.15731298e-01  9.76215016e-01  2.15464575e-02 -1.34680766e+01]
 [ 1.02196584e-01  6.28305119e-04  9.94764024e-01  1.00302330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.481052754 meters
Centerline goodness : 0.996530 with order 1
Centerline is valid?  [True, True]
Translation: X:98.45, Y:-13.48, Z:10.03
[[ 9.71326547e-01  2.15740777e-01 -9.99032385e-02  9.84488673e+01]
 [-2.14663643e-01  9.76450532e-01  2.15378589e-02 -1.34831573e+01]
 [ 1.02197165e-01  5.25299025e-04  9.94764024e-01  1.00332666e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.541052754 meters
Centerline goodness : 0.995963 with order 1
Centerline is valid?  [True, True]
Translation: X:98.50, Y:-13.50, Z:10.03
[[ 9.72346696e-01  2.11092893e-01 -9.99084210e-02  9.85047631e+01]
 [-2.09993738e-01  9.77466003e-01  2.15137917e-02 -1.35001155e+01]
 [ 1.02198493e-01  6.12784926e-05  9.94764024e-01  1.00332835e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.60105275400001 meters
Centerline goodness : 0.995518 with order 1
Centerline is valid?  [True, True]
Translation: X:98.56, Y:-13.51, Z:10.04
[[ 9.73337057e-01  2.06477399e-01 -9.99102417e-02  9.85622731e+01]
 [-2.05354837e-01  9.78451282e-01  2.15053330e-02 -1.35145153e+01]
 [ 1.02197669e-01 -4.14886130e-04  9.94764024e-01  1.00393695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.66105275400001 meters
Centerline goodness : 0.995342 with order 1
Centerline is valid?  [True, True]
Translation: X:98.62, Y:-13.53, Z:10.05
[[ 9.74264856e-01  2.02053923e-01 -9.99109689e-02  9.86200504e+01]
 [-2.00908488e-01  9.79374007e-01  2.15019539e-02 -1.35276346e+01]
 [ 1.02194760e-01 -8.75636289e-04  9.94764024e-01  1.00451791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.721052754 meters
Centerline goodness : 0.995134 with order 1
Centerline is valid?  [True, True]
Translation: X:98.68, Y:-13.54, Z:10.05
[[ 9.75530088e-01  1.95853884e-01 -9.99114811e-02  9.86768782e+01]
 [-1.94676223e-01  9.80631907e-01  2.14995737e-02 -1.35404958e+01]
 [ 1.02187161e-01 -1.52309128e-03  9.94764024e-01  1.00533573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.781052754 meters
Centerline goodness : 0.995033 with order 1
Centerline is valid?  [True, True]
Translation: X:98.73, Y:-13.55, Z:10.06
[[ 9.75793791e-01  1.94533136e-01 -9.99166454e-02  9.87335030e+01]
 [-1.93351030e-01  9.80894582e-01  2.14755465e-02 -1.35514622e+01]
 [ 1.02185402e-01 -1.63671863e-03  9.94764025e-01  1.00592094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.841052754 meters
Centerline goodness : 0.995193 with order 1
Centerline is valid?  [True, True]
Translation: X:98.79, Y:-13.56, Z:10.07
[[ 9.74618142e-01  2.00339158e-01 -9.99184584e-02  9.87918856e+01]
 [-1.99188306e-01  9.79726075e-01  2.14671079e-02 -1.35590148e+01]
 [ 1.02193421e-01 -1.01964438e-03  9.94764025e-01  1.00661179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.901052754 meters
Centerline goodness : 0.994781 with order 1
Centerline is valid?  [True, True]
Translation: X:98.85, Y:-13.57, Z:10.07
[[ 9.74295820e-01  2.01900309e-01 -9.99195657e-02  9.88485706e+01]
 [-2.00758170e-01  9.79405708e-01  2.14619528e-02 -1.35722657e+01]
 [ 1.02194968e-01 -8.50621745e-04  9.94764025e-01  1.00698430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.96105275400001 meters
Centerline goodness : 0.995476 with order 1
Centerline is valid?  [True, True]
Translation: X:98.91, Y:-13.58, Z:10.08
[[ 9.75063356e-01  1.98159636e-01 -9.99210171e-02  9.89068279e+01]
 [-1.96998588e-01  9.80168981e-01  2.14551936e-02 -1.35806652e+01]
 [ 1.02191035e-01 -1.23587385e-03  9.94764025e-01  1.00786191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.02105275400001 meters
Centerline goodness : 0.996444 with order 1
Centerline is valid?  [True, True]
Translation: X:98.96, Y:-13.59, Z:10.08
[[ 9.75411437e-01  1.96438537e-01 -9.99221223e-02  9.89644900e+01]
 [-1.95269007e-01  9.80515125e-01  2.14500450e-02 -1.35868144e+01]
 [ 1.02188768e-01 -1.41092559e-03  9.94764025e-01  1.00823246e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.081052754 meters
Centerline goodness : 0.997247 with order 1
Centerline is valid?  [True, True]
Translation: X:99.02, Y:-13.60, Z:10.09
[[ 9.77256736e-01  1.87040933e-01 -9.99247742e-02  9.90226749e+01]
 [-1.85823596e-01  9.82349234e-01  2.14376841e-02 -1.35975257e+01]
 [ 1.02170750e-01 -2.38174030e-03  9.94764025e-01  1.00864643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.141052754 meters
Centerline goodness : 0.998690 with order 1
Centerline is valid?  [True, True]
Translation: X:99.08, Y:-13.60, Z:10.10
[[ 9.79912239e-01  1.72588589e-01 -9.99258830e-02  9.90807711e+01]
 [-1.71296707e-01  9.84986338e-01  2.14325146e-02 -1.36032323e+01]
 [ 1.02124637e-01 -3.88500871e-03  9.94764025e-01  1.00953813e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.201052754 meters
Centerline goodness : 0.999428 with order 1
Centerline is valid?  [True, True]
Translation: X:99.14, Y:-13.61, Z:10.10
[[ 9.81510601e-01  1.63253167e-01 -9.99266890e-02  9.91396366e+01]
 [-1.61913425e-01  9.86572274e-01  2.14287561e-02 -1.36128291e+01]
 [ 1.02083213e-01 -4.85307880e-03  9.94764025e-01  1.00997284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.261052754 meters
Centerline goodness : 0.999714 with order 1
Centerline is valid?  [True, True]
Translation: X:99.20, Y:-13.62, Z:10.11
[[ 9.81965311e-01  1.60495162e-01 -9.99271241e-02  9.91977499e+01]
 [-1.59141412e-01  9.87023255e-01  2.14267267e-02 -1.36233117e+01]
 [ 1.02069281e-01 -5.13775869e-03  9.94764025e-01  1.01083043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.26, Y:-13.63, Z:10.12
[[ 9.81297224e-01  1.64530354e-01 -9.99275742e-02  9.92564375e+01]
 [-1.63197621e-01  9.86360746e-01  2.14246274e-02 -1.36341285e+01]
 [ 1.02089638e-01 -4.71598510e-03  9.94764025e-01  1.01161862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.38105275400001 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:99.31, Y:-13.65, Z:10.12
[[ 9.79032235e-01  1.77511378e-01 -9.99279378e-02  9.93144711e+01]
 [-1.76245991e-01  9.84113006e-01  2.14229315e-02 -1.36479551e+01]
 [ 1.02143197e-01 -3.36184210e-03  9.94764025e-01  1.01205087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.441052754 meters
Centerline goodness : 0.999833 with order 1
Centerline is valid?  [True, True]
Translation: X:99.37, Y:-13.66, Z:10.13
[[ 9.76457816e-01  1.91165896e-01 -9.99286442e-02  9.93720588e+01]
 [-1.89971921e-01  9.81555841e-01  2.14196360e-02 -1.36618583e+01]
 [ 1.02180248e-01 -1.93173450e-03  9.94764025e-01  1.01281494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.501052754 meters
Centerline goodness : 0.999762 with order 1
Centerline is valid?  [True, True]
Translation: X:99.43, Y:-13.68, Z:10.13
[[ 9.73819737e-01  2.04179441e-01 -9.99293509e-02  9.94301124e+01]
 [-2.03053942e-01  9.78933316e-01  2.14163383e-02 -1.36757059e+01]
 [ 1.02196947e-01 -5.64604310e-04  9.94764025e-01  1.01339059e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.561052754 meters
Centerline goodness : 0.999787 with order 1
Centerline is valid?  [True, True]
Translation: X:99.49, Y:-13.69, Z:10.14
[[ 9.72227791e-01  2.11629716e-01 -9.99299042e-02  9.94873765e+01]
 [-2.10543669e-01  9.77349894e-01  2.14137562e-02 -1.36926200e+01]
 [ 1.02198268e-01  2.20559764e-04  9.94764025e-01  1.01382686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.621052754 meters
Centerline goodness : 0.999857 with order 1
Centerline is valid?  [True, True]
Translation: X:99.55, Y:-13.70, Z:10.15
[[ 9.69742223e-01  2.22741818e-01 -9.99304902e-02  9.95452491e+01]
 [-2.21714739e-01  9.74876475e-01  2.14110215e-02 -1.37009804e+01]
 [ 1.02189014e-01  1.39289098e-03  9.94764025e-01  1.01482556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.681052754 meters
Centerline goodness : 0.999857 with order 1
Centerline is valid?  [True, True]
Translation: X:99.60, Y:-13.71, Z:10.16
[[ 9.69192085e-01  2.25123203e-01 -9.99312022e-02  9.96030929e+01]
 [-2.24109082e-01  9.74328913e-01  2.14076976e-02 -1.37125714e+01]
 [ 1.02185229e-01  1.64731892e-03  9.94764025e-01  1.01557918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.74105275400001 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:99.66, Y:-13.72, Z:10.16
[[ 9.69688087e-01  2.22976758e-01 -9.99318749e-02  9.96603905e+01]
 [-2.21951590e-01  9.74822721e-01  2.14045569e-02 -1.37240147e+01]
 [ 1.02188581e-01  1.42429468e-03  9.94764025e-01  1.01642382e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.801052754 meters
Centerline goodness : 0.999881 with order 1
Centerline is valid?  [True, True]
Translation: X:99.72, Y:-13.73, Z:10.18
[[ 9.71059080e-01  2.16927952e-01 -9.99326109e-02  9.97183560e+01]
 [-2.15871151e-01  9.76187297e-01  2.14011203e-02 -1.37342276e+01]
 [ 1.02195446e-01  7.90815548e-04  9.94764025e-01  1.01752343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.861052754 meters
Centerline goodness : 0.999858 with order 1
Centerline is valid?  [True, True]
Translation: X:99.77, Y:-13.75, Z:10.18
[[ 9.73550853e-01  2.05455753e-01 -9.99333296e-02  9.97748812e+01]
 [-2.04338864e-01  9.78666319e-01  2.13977636e-02 -1.37510980e+01]
 [ 1.02197678e-01 -4.11547943e-04  9.94764025e-01  1.01781758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.921052754 meters
Centerline goodness : 0.999905 with order 1
Centerline is valid?  [True, True]
Translation: X:99.83, Y:-13.76, Z:10.19
[[ 9.74356128e-01  2.01601895e-01 -9.99340366e-02  9.98328202e+01]
 [-2.00465112e-01  9.79467210e-01  2.13944614e-02 -1.37623860e+01]
 [ 1.02195276e-01 -8.12536733e-04  9.94764025e-01  1.01869609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.981052754 meters
Centerline goodness : 0.999929 with order 1
Centerline is valid?  [True, True]
Translation: X:99.89, Y:-13.77, Z:10.19
[[ 9.74112087e-01  2.02777472e-01 -9.99346683e-02  9.98913987e+01]
 [-2.01647160e-01  9.79224604e-01  2.13915103e-02 -1.37739081e+01]
 [ 1.02196202e-01 -6.86186706e-04  9.94764025e-01  1.01930839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.041052754 meters
Centerline goodness : 0.999858 with order 1
Centerline is valid?  [True, True]
Translation: X:99.95, Y:-13.79, Z:10.19
[[ 9.73546711e-01  2.05474505e-01 -9.99351245e-02  9.99492489e+01]
 [-2.04358575e-01  9.78662387e-01  2.13893787e-02 -1.37923380e+01]
 [ 1.02197719e-01 -4.00959630e-04  9.94764025e-01  1.01925221e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.10105275400001 meters
Centerline goodness : 0.999787 with order 1
Centerline is valid?  [True, True]
Translation: X:100.01, Y:-13.81, Z:10.20
[[ 9.73206716e-01  2.07078615e-01 -9.99356555e-02  1.00007373e+02]
 [-2.05971372e-01  9.78324279e-01  2.13868978e-02 -1.38051611e+01]
 [ 1.02198247e-01 -2.29988481e-04  9.94764025e-01  1.01976856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.16105275400001 meters
Centerline goodness : 0.999857 with order 1
Centerline is valid?  [True, True]
Translation: X:100.07, Y:-13.82, Z:10.21
[[ 9.72519415e-01  2.10282564e-01 -9.99361288e-02  1.00065892e+02]
 [-2.09192409e-01  9.77640645e-01  2.13846856e-02 -1.38178544e+01]
 [ 1.02198448e-01  1.08857612e-04  9.94764025e-01  1.02057587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.221052754 meters
Centerline goodness : 0.999881 with order 1
Centerline is valid?  [True, True]
Translation: X:100.12, Y:-13.83, Z:10.21
[[ 9.71039239e-01  2.17015050e-01 -9.99363061e-02  1.00123621e+02]
 [-2.15960485e-01  9.76167916e-01  2.13838571e-02 -1.38322446e+01]
 [ 1.02195234e-01  8.17728817e-04  9.94764025e-01  1.02074186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.281052754 meters
Centerline goodness : 0.999763 with order 1
Centerline is valid?  [True, True]
Translation: X:100.18, Y:-13.85, Z:10.21
[[ 9.69808101e-01  2.22450188e-01 -9.99407863e-02  1.00180003e+02]
 [-2.21426524e-01  9.74943035e-01  2.13628979e-02 -1.38460063e+01]
 [ 1.02188754e-01  1.41162938e-03  9.94764025e-01  1.02084480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.341052754 meters
Centerline goodness : 0.999264 with order 1
Centerline is valid?  [True, True]
Translation: X:100.24, Y:-13.86, Z:10.22
[[ 9.69734574e-01  2.22769738e-01 -9.99424790e-02  1.00237170e+02]
 [-2.21748582e-01  9.74870007e-01  2.13549760e-02 -1.38582241e+01]
 [ 1.02188168e-01  1.45344443e-03  9.94764025e-01  1.02166997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.401052754 meters
Centerline goodness : 0.999385 with order 1
Centerline is valid?  [True, True]
Translation: X:100.29, Y:-13.87, Z:10.22
[[ 9.70088899e-01  2.21221055e-01 -9.99438453e-02  1.00294659e+02]
 [-2.20192359e-01  9.75222827e-01  2.13485796e-02 -1.38696435e+01]
 [ 1.02190275e-01  1.29685106e-03  9.94764025e-01  1.02249507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.46105275400001 meters
Centerline goodness : 0.999010 with order 1
Centerline is valid?  [True, True]
Translation: X:100.35, Y:-13.88, Z:10.23
[[ 9.70636066e-01  2.18807342e-01 -9.99448604e-02  1.00350901e+02]
 [-2.17766369e-01  9.75767518e-01  2.13438264e-02 -1.38848375e+01]
 [ 1.02193134e-01  1.04754161e-03  9.94764025e-01  1.02319896e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.52105275400001 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:100.41, Y:-13.90, Z:10.24
[[ 9.71122712e-01  2.16636801e-01 -9.99458619e-02  1.00407833e+02]
 [-2.15584841e-01  9.76251923e-01  2.13391354e-02 -1.38984167e+01]
 [ 1.02195182e-01  8.23893733e-04  9.94764025e-01  1.02401929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.581052754 meters
Centerline goodness : 0.998895 with order 1
Centerline is valid?  [True, True]
Translation: X:100.46, Y:-13.91, Z:10.24
[[ 9.71612278e-01  2.14428271e-01 -9.99504717e-02  1.00464676e+02]
 [-2.13366876e-01  9.76739545e-01  2.13175218e-02 -1.39122815e+01]
 [ 1.02196658e-01  6.13753907e-04  9.94764026e-01  1.02423096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.641052754 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:100.52, Y:-13.93, Z:10.24
[[ 9.72588432e-01  2.09954107e-01 -9.99550625e-02  1.00520681e+02]
 [-2.08871338e-01  9.77711228e-01  2.12959747e-02 -1.39278277e+01]
 [ 1.02198364e-01  1.65528932e-04  9.94764026e-01  1.02431034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.701052754 meters
Centerline goodness : 0.998121 with order 1
Centerline is valid?  [True, True]
Translation: X:100.58, Y:-13.94, Z:10.24
[[ 9.73646133e-01  2.04992368e-01 -9.99566777e-02  1.00578982e+02]
 [-2.03884272e-01  9.78763510e-01  2.12883905e-02 -1.39423361e+01]
 [ 1.02197906e-01 -3.47764589e-04  9.94764026e-01  1.02438170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.761052754 meters
Centerline goodness : 0.998267 with order 1
Centerline is valid?  [True, True]
Translation: X:100.64, Y:-13.95, Z:10.25
[[ 9.73885842e-01  2.03850019e-01 -9.99576686e-02  1.00635596e+02]
 [-2.02736398e-01  9.79002020e-01  2.12837370e-02 -1.39543373e+01]
 [ 1.02197450e-01 -4.62872500e-04  9.94764026e-01  1.02506502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.82105275400001 meters
Centerline goodness : 0.998401 with order 1
Centerline is valid?  [True, True]
Translation: X:100.69, Y:-13.97, Z:10.26
[[ 9.73434043e-01  2.05995841e-01 -9.99593838e-02  1.00694200e+02]
 [-2.04894325e-01  9.78552840e-01  2.12756786e-02 -1.39657403e+01]
 [ 1.02198240e-01 -2.29359333e-04  9.94764026e-01  1.02590272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.88105275400001 meters
Centerline goodness : 0.998560 with order 1
Centerline is valid?  [True, True]
Translation: X:100.75, Y:-13.98, Z:10.27
[[ 9.72387119e-01  2.10882294e-01 -9.99597365e-02  1.00752460e+02]
 [-2.09806672e-01  9.77511420e-01  2.12740212e-02 -1.39754349e+01]
 [ 1.02198098e-01  2.85635449e-04  9.94764026e-01  1.02666788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.941052754 meters
Centerline goodness : 0.998436 with order 1
Centerline is valid?  [True, True]
Translation: X:100.81, Y:-13.98, Z:10.27
[[ 9.71239913e-01  2.16103901e-01 -9.99606683e-02  1.00809340e+02]
 [-2.15056278e-01  9.76370012e-01  2.12696420e-02 -1.39849100e+01]
 [ 1.02195051e-01  8.39244052e-04  9.94764026e-01  1.02722037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.001052754 meters
Centerline goodness : 0.998152 with order 1
Centerline is valid?  [True, True]
Translation: X:100.87, Y:-14.00, Z:10.28
[[ 9.70831744e-01  2.17929443e-01 -9.99624103e-02  1.00866465e+02]
 [-2.16892309e-01  9.75963973e-01  2.12614521e-02 -1.39959698e+01]
 [ 1.02193207e-01  1.03978543e-03  9.94764026e-01  1.02811641e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.061052754 meters
Centerline goodness : 0.998200 with order 1
Centerline is valid?  [True, True]
Translation: X:100.92, Y:-14.01, Z:10.29
[[ 9.69475352e-01  2.23884052e-01 -9.99673624e-02  1.00922779e+02]
 [-2.22880841e-01  9.74614320e-01  2.12381429e-02 -1.40052242e+01]
 [ 1.02184504e-01  1.69095376e-03  9.94764026e-01  1.02874159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.121052754 meters
Centerline goodness : 0.999233 with order 1
Centerline is valid?  [True, True]
Translation: X:100.98, Y:-14.01, Z:10.29
[[ 9.67146167e-01  2.33739618e-01 -9.99704137e-02  1.00981244e+02]
 [-2.32790247e-01  9.72295353e-01  2.12237701e-02 -1.40148006e+01]
 [ 1.02161605e-01  2.74564936e-03  9.94764026e-01  1.02937848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.181052754 meters
Centerline goodness : 0.999111 with order 1
Centerline is valid?  [True, True]
Translation: X:101.04, Y:-14.03, Z:10.30
[[ 9.67424000e-01  2.32586752e-01 -9.99710314e-02  1.01039354e+02]
 [-2.31631545e-01  9.72572107e-01  2.12208601e-02 -1.40252211e+01]
 [ 1.02164728e-01  2.62687513e-03  9.94764026e-01  1.02983341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.24105275400001 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:101.10, Y:-14.04, Z:10.30
[[ 9.68342673e-01  2.28731544e-01 -9.99717372e-02  1.01097742e+02]
 [-2.27756183e-01  9.73486999e-01  2.12175348e-02 -1.40380748e+01]
 [ 1.02174306e-01  2.22333690e-03  9.94764026e-01  1.03000508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.301052754 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:101.16, Y:-14.05, Z:10.30
[[ 9.70614820e-01  2.18888977e-01 -9.99724306e-02  1.01156193e+02]
 [-2.17861776e-01  9.75749046e-01  2.12142670e-02 -1.40484258e+01]
 [ 1.02191573e-01  1.18928934e-03  9.94764026e-01  1.03048938e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.361052754 meters
Centerline goodness : 0.999784 with order 1
Centerline is valid?  [True, True]
Translation: X:101.21, Y:-14.06, Z:10.32
[[ 9.72158081e-01  2.11929315e-01 -9.99731505e-02  1.01214281e+02]
 [-2.10865705e-01  9.77284888e-01  2.12108740e-02 -1.40556695e+01]
 [ 1.02197455e-01  4.60586262e-04  9.94764026e-01  1.03178903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.27, Y:-14.07, Z:10.32
[[ 9.74136337e-01  2.02641434e-01 -9.99742245e-02  1.01272708e+02]
 [-2.01529462e-01  9.79252873e-01  2.12058107e-02 -1.40670206e+01]
 [ 1.02197222e-01 -5.09599183e-04  9.94764026e-01  1.03246304e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.33, Y:-14.08, Z:10.33
[[ 9.75341648e-01  1.96757325e-01 -9.99761200e-02  1.01329677e+02]
 [-1.95615403e-01  9.80451583e-01  2.11968705e-02 -1.40775813e+01]
 [ 1.02192385e-01 -1.11732159e-03  9.94764026e-01  1.03305778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.39, Y:-14.09, Z:10.34
[[ 9.76664317e-01  1.90082370e-01 -9.99775222e-02  1.01387448e+02]
 [-1.88906205e-01  9.81766479e-01  2.11902548e-02 -1.40882946e+01]
 [ 1.02182474e-01 -1.80939137e-03  9.94764026e-01  1.03381230e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.44, Y:-14.10, Z:10.34
[[ 9.76512834e-01  1.90858500e-01 -9.99785856e-02  1.01443821e+02]
 [-1.89686904e-01  9.81616047e-01  2.11852363e-02 -1.41009930e+01]
 [ 1.02183966e-01 -1.72302674e-03  9.94764026e-01  1.03379187e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.66105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.50, Y:-14.11, Z:10.34
[[ 9.75390095e-01  1.96512847e-01 -9.99843188e-02  1.01502225e+02]
 [-1.95373614e-01  9.80500629e-01  2.11581436e-02 -1.41125481e+01]
 [ 1.02192535e-01 -1.10314600e-03  9.94764027e-01  1.03436853e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.56, Y:-14.12, Z:10.35
[[ 9.73281643e-01  2.06702463e-01 -9.99846779e-02  1.01559459e+02]
 [-2.05616911e-01  9.78403848e-01  2.11564469e-02 -1.41234903e+01]
 [ 1.02198483e-01 -3.26407037e-05  9.94764027e-01  1.03512766e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.62, Y:-14.14, Z:10.35
[[ 9.71551865e-01  2.14683619e-01 -9.99895889e-02  1.01617344e+02]
 [-2.13642535e-01  9.76683293e-01  2.11332110e-02 -1.41372487e+01]
 [ 1.02195115e-01  8.30018697e-04  9.94764027e-01  1.03542781e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.67, Y:-14.15, Z:10.36
[[ 9.70810614e-01  2.18010758e-01 -9.99903080e-02  1.01674218e+02]
 [-2.16987610e-01  9.75945648e-01  2.11298082e-02 -1.41507651e+01]
 [ 1.02191631e-01  1.18361590e-03  9.94764027e-01  1.03562229e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.901052754 meters
Centerline goodness : 0.999832 with order 1
Centerline is valid?  [True, True]
Translation: X:101.73, Y:-14.18, Z:10.37
[[ 9.66928169e-01  2.34628968e-01 -9.99958139e-02  1.01727406e+02]
 [-2.33696736e-01  9.72080485e-01  2.11037197e-02 -1.41832763e+01]
 [ 1.02155523e-01  2.96291430e-03  9.94764027e-01  1.03684607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.79, Y:-14.17, Z:10.37
[[ 9.69192804e-01  2.25091191e-01 -9.99963234e-02  1.01790336e+02]
 [-2.24108492e-01  9.74335732e-01  2.11013052e-02 -1.41748679e+01]
 [ 1.02179709e-01  1.95879205e-03  9.94764027e-01  1.03732814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.02105275400001 meters
Centerline goodness : 0.999927 with order 1
Centerline is valid?  [True, True]
Translation: X:101.84, Y:-14.21, Z:10.38
[[ 9.64386643e-01  2.44864986e-01 -9.99977048e-02  1.01843664e+02]
 [-2.43988348e-01  9.69548708e-01  2.10947567e-02 -1.42066591e+01]
 [ 1.02118013e-01  4.05477324e-03  9.94764027e-01  1.03824574e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.081052754 meters
Centerline goodness : 0.999927 with order 1
Centerline is valid?  [True, True]
Translation: X:101.90, Y:-14.22, Z:10.39
[[ 9.63279987e-01  2.49182609e-01 -9.99984728e-02  1.01902105e+02]
 [-2.48329480e-01  9.68445989e-01  2.10911156e-02 -1.42182248e+01]
 [ 1.02098659e-01  4.51591921e-03  9.94764027e-01  1.03922531e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.141052754 meters
Centerline goodness : 0.999854 with order 1
Centerline is valid?  [True, True]
Translation: X:101.96, Y:-14.23, Z:10.40
[[ 9.63679702e-01  2.47632032e-01 -9.99990455e-02  1.01958540e+02]
 [-2.46770872e-01  9.68844371e-01  2.10883998e-02 -1.42318283e+01]
 [ 1.02105676e-01  4.35438880e-03  9.94764027e-01  1.03977358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.201052754 meters
Centerline goodness : 0.999855 with order 1
Centerline is valid?  [True, True]
Translation: X:102.02, Y:-14.24, Z:10.40
[[ 9.64699647e-01  2.43627808e-01 -1.00000408e-01  1.02016061e+02]
 [-2.42745876e-01  9.69860810e-01  2.10819369e-02 -1.42419535e+01]
 [ 1.02122623e-01  3.93694949e-03  9.94764027e-01  1.04044031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.261052754 meters
Centerline goodness : 0.999808 with order 1
Centerline is valid?  [True, True]
Translation: X:102.08, Y:-14.25, Z:10.40
[[ 9.68870452e-01  2.26472557e-01 -1.00001143e-01  1.02075106e+02]
 [-2.25499548e-01  9.74015222e-01  2.10784485e-02 -1.42546606e+01]
 [ 1.02176326e-01  2.12792675e-03  9.94764027e-01  1.04030559e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.32105275400001 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:102.13, Y:-14.27, Z:10.41
[[ 9.70367543e-01  2.19968916e-01 -1.00002532e-01  1.02131808e+02]
 [-2.18962101e-01  9.75505805e-01  2.10718574e-02 -1.42672872e+01]
 [ 1.02188204e-01  1.44931796e-03  9.94764027e-01  1.04090151e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.38105275400001 meters
Centerline goodness : 0.999810 with order 1
Centerline is valid?  [True, True]
Translation: X:102.19, Y:-14.28, Z:10.41
[[ 9.75337955e-01  1.96761509e-01 -1.00003912e-01  1.02190038e+02]
 [-1.95633096e-01  9.80450888e-01  2.10653090e-02 -1.42757123e+01]
 [ 1.02193766e-01 -9.81720580e-04  9.94764028e-01  1.04104577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.25, Y:-14.28, Z:10.42
[[ 9.74679984e-01  1.99994224e-01 -1.00006199e-01  1.02248349e+02]
 [-1.98883883e-01  9.79796873e-01  2.10544422e-02 -1.42806323e+01]
 [ 1.02196528e-01 -6.31722107e-04  9.94764028e-01  1.04217002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.501052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:102.30, Y:-14.30, Z:10.43
[[ 9.73272529e-01  2.06732534e-01 -1.00011213e-01  1.02303000e+02]
 [-2.05660070e-01  9.78397491e-01  2.10305997e-02 -1.43043026e+01]
 [ 1.02198429e-01  9.98080765e-05  9.94764028e-01  1.04330385e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.561052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:102.36, Y:-14.31, Z:10.43
[[ 9.71287954e-01  2.15864137e-01 -1.00011924e-01  1.02361817e+02]
 [-2.14840201e-01  9.76422831e-01  2.10272189e-02 -1.43138257e+01]
 [ 1.02192948e-01  1.06309744e-03  9.94764028e-01  1.04312689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.621052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:102.42, Y:-14.33, Z:10.44
[[ 9.70696833e-01  2.18506604e-01 -1.00012614e-01  1.02418207e+02]
 [-2.17496985e-01  9.75834543e-01  2.10239334e-02 -1.43309499e+01]
 [ 1.02189632e-01  1.34457647e-03  9.94764028e-01  1.04358279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.48, Y:-14.33, Z:10.45
[[ 9.70423355e-01  2.19715743e-01 -1.00017520e-01  1.02477921e+02]
 [-2.18714932e-01  9.75562789e-01  2.10005683e-02 -1.43283418e+01]
 [ 1.02187527e-01  1.49588325e-03  9.94764028e-01  1.04519962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.74105275400001 meters
Centerline goodness : 0.999763 with order 1
Centerline is valid?  [True, True]
Translation: X:102.54, Y:-14.34, Z:10.45
[[ 9.69881389e-01  2.22095697e-01 -1.00017958e-01  1.02535516e+02]
 [-2.21107712e-01  9.75023304e-01  2.09984855e-02 -1.43379573e+01]
 [ 1.02183513e-01  1.74870146e-03  9.94764028e-01  1.04529878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.801052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.59, Y:-14.36, Z:10.46
[[ 9.68231791e-01  2.29178135e-01 -1.00022909e-01  1.02591567e+02]
 [-2.28230193e-01  9.73381238e-01  2.09748746e-02 -1.43584306e+01]
 [ 1.02167406e-01  2.51970740e-03  9.94764028e-01  1.04602682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.861052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.65, Y:-14.37, Z:10.46
[[ 9.66476145e-01  2.36472272e-01 -1.00023624e-01  1.02650702e+02]
 [-2.35563538e-01  9.71632656e-01  2.09714640e-02 -1.43694505e+01]
 [ 1.02145389e-01  3.29349901e-03  9.94764028e-01  1.04627256e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.921052754 meters
Centerline goodness : 0.999905 with order 1
Centerline is valid?  [True, True]
Translation: X:102.71, Y:-14.38, Z:10.48
[[ 9.66562547e-01  2.36118620e-01 -1.00024196e-01  1.02706035e+02]
 [-2.35208281e-01  9.71718774e-01  2.09687379e-02 -1.43806908e+01]
 [ 1.02146498e-01  3.25892240e-03  9.94764028e-01  1.04789199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.981052754 meters
Centerline goodness : 0.998760 with order 1
Centerline is valid?  [True, True]
Translation: X:102.76, Y:-14.39, Z:10.48
[[ 9.65816774e-01  2.39150050e-01 -1.00026062e-01  1.02763619e+02]
 [-2.38256815e-01  9.70975991e-01  2.09598293e-02 -1.43900650e+01]
 [ 1.02135449e-01  3.58853628e-03  9.94764029e-01  1.04819511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.041052754 meters
Centerline goodness : 0.998451 with order 1
Centerline is valid?  [True, True]
Translation: X:102.82, Y:-14.40, Z:10.49
[[ 9.67771271e-01  2.31111682e-01 -1.00030781e-01  1.02819916e+02]
 [-2.30177910e-01  9.72923306e-01  2.09372854e-02 -1.44046513e+01]
 [ 1.02161129e-01  2.76237278e-03  9.94764029e-01  1.04885715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.10105275400001 meters
Centerline goodness : 0.998287 with order 1
Centerline is valid?  [True, True]
Translation: X:102.88, Y:-14.42, Z:10.50
[[ 9.69495293e-01  2.23768986e-01 -1.00031586e-01  1.02875841e+02]
 [-2.22796583e-01  9.74640177e-01  2.09334375e-02 -1.44180062e+01]
 [ 1.02179057e-01  1.99182647e-03  9.94764029e-01  1.04950555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.16105275400001 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:102.93, Y:-14.43, Z:10.50
[[ 9.70228986e-01  2.20565350e-01 -1.00033205e-01  1.02932398e+02]
 [-2.19576756e-01  9.75370783e-01  2.09257013e-02 -1.44297420e+01]
 [ 1.02184950e-01  1.66224459e-03  9.94764029e-01  1.05011191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.221052754 meters
Centerline goodness : 0.997798 with order 1
Centerline is valid?  [True, True]
Translation: X:102.99, Y:-14.45, Z:10.50
[[ 9.71256840e-01  2.15991829e-01 -1.00038392e-01  1.02990463e+02]
 [-2.14981578e-01  9.76394426e-01  2.09008714e-02 -1.44451404e+01]
 [ 1.02191346e-01  1.20629712e-03  9.94764029e-01  1.05048707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.281052754 meters
Centerline goodness : 0.997829 with order 1
Centerline is valid?  [True, True]
Translation: X:103.05, Y:-14.46, Z:10.51
[[ 9.73024424e-01  2.07883611e-01 -1.00039368e-01  1.03047266e+02]
 [-2.06831026e-01  9.78153503e-01  2.08962012e-02 -1.44609097e+01]
 [ 1.02197836e-01  3.58730938e-04  9.94764029e-01  1.05057063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.341052754 meters
Centerline goodness : 0.997980 with order 1
Centerline is valid?  [True, True]
Translation: X:103.11, Y:-14.48, Z:10.50
[[ 9.74160019e-01  2.02492985e-01 -1.00044228e-01  1.03105417e+02]
 [-2.01414410e-01  9.79283696e-01  2.08729036e-02 -1.44758772e+01]
 [ 1.02198298e-01 -1.83198890e-04  9.94764029e-01  1.05041384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.401052754 meters
Centerline goodness : 0.997831 with order 1
Centerline is valid?  [True, True]
Translation: X:103.16, Y:-14.48, Z:10.51
[[ 9.75168953e-01  1.97576640e-01 -1.00044913e-01  1.03163484e+02]
 [-1.96472571e-01  9.80287197e-01  2.08696212e-02 -1.44847513e+01]
 [ 1.02196097e-01 -6.95325274e-04  9.94764029e-01  1.05125648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.46105275400001 meters
Centerline goodness : 0.997651 with order 1
Centerline is valid?  [True, True]
Translation: X:103.22, Y:-14.49, Z:10.52
[[ 9.75959983e-01  1.93629135e-01 -1.00049337e-01  1.03219624e+02]
 [-1.92506541e-01  9.81074195e-01  2.08483910e-02 -1.44945613e+01]
 [ 1.02192679e-01 -1.08704348e-03  9.94764030e-01  1.05194605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.52105275400001 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:103.28, Y:-14.51, Z:10.53
[[ 9.77202413e-01  1.87256967e-01 -1.00051349e-01  1.03277112e+02]
 [-1.86102015e-01  9.82309415e-01  2.08387306e-02 -1.45056302e+01]
 [ 1.02183580e-01 -1.74390013e-03  9.94764030e-01  1.05274067e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.581052754 meters
Centerline goodness : 0.999081 with order 1
Centerline is valid?  [True, True]
Translation: X:103.34, Y:-14.51, Z:10.53
[[ 9.77196519e-01  1.87287153e-01 -1.00052416e-01  1.03335142e+02]
 [-1.86132883e-01  9.82303675e-01  2.08336088e-02 -1.45141501e+01]
 [ 1.02183723e-01 -1.73548535e-03  9.94764030e-01  1.05325889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.641052754 meters
Centerline goodness : 0.999197 with order 1
Centerline is valid?  [True, True]
Translation: X:103.39, Y:-14.52, Z:10.54
[[ 9.75427689e-01  1.96291124e-01 -1.00053080e-01  1.03392314e+02]
 [-1.95184330e-01  9.80545344e-01  2.08304193e-02 -1.45235850e+01]
 [ 1.02195408e-01 -7.89774401e-04  9.94764030e-01  1.05401220e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.701052754 meters
Centerline goodness : 0.999620 with order 1
Centerline is valid?  [True, True]
Translation: X:103.45, Y:-14.53, Z:10.55
[[ 9.74464130e-01  2.01017551e-01 -1.00058000e-01  1.03449235e+02]
 [-1.99938009e-01  9.79587603e-01  2.08067595e-02 -1.45336925e+01]
 [ 1.02198100e-01 -2.70043518e-04  9.94764030e-01  1.05451692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.761052754 meters
Centerline goodness : 0.999738 with order 1
Centerline is valid?  [True, True]
Translation: X:103.51, Y:-14.54, Z:10.55
[[ 9.73297071e-01  2.06593475e-01 -1.00059725e-01  1.03507345e+02]
 [-2.05544138e-01  9.78426815e-01  2.07984583e-02 -1.45449715e+01]
 [ 1.02197944e-01  3.23611515e-04  9.94764030e-01  1.05507830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.82105275400001 meters
Centerline goodness : 0.999761 with order 1
Centerline is valid?  [True, True]
Translation: X:103.57, Y:-14.56, Z:10.56
[[ 9.71215332e-01  2.16168199e-01 -1.00060422e-01  1.03566084e+02]
 [-2.15169775e-01  9.76355228e-01  2.07951056e-02 -1.45562833e+01]
 [ 1.02189757e-01  1.33345313e-03  9.94764030e-01  1.05580338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.88105275400001 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:103.62, Y:-14.57, Z:10.57
[[ 9.69692829e-01  2.22898087e-01 -1.00061284e-01  1.03624087e+02]
 [-2.21935758e-01  9.74839605e-01  2.07909578e-02 -1.45681458e+01]
 [ 1.02177967e-01  2.04633415e-03  9.94764030e-01  1.05654009e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.68, Y:-14.58, Z:10.57
[[ 9.67525580e-01  2.32124651e-01 -1.00061971e-01  1.03682290e+02]
 [-2.31211732e-01  9.72681350e-01  2.07876508e-02 -1.45801507e+01]
 [ 1.02153739e-01  3.02291773e-03  9.94764030e-01  1.05732247e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.74, Y:-14.59, Z:10.58
[[ 9.64945298e-01  2.42627406e-01 -1.00062551e-01  1.03739874e+02]
 [-2.41770871e-01  9.70110734e-01  2.07848572e-02 -1.45923320e+01]
 [ 1.02114731e-01  4.13595987e-03  9.94764030e-01  1.05786488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.80, Y:-14.61, Z:10.59
[[ 9.63395619e-01  2.48709109e-01 -1.00063286e-01  1.03797324e+02]
 [-2.47885539e-01  9.68566413e-01  2.07813199e-02 -1.46050993e+01]
 [ 1.02086441e-01  4.78360902e-03  9.94764030e-01  1.05873940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.85, Y:-14.61, Z:10.59
[[ 9.61869964e-01  2.54545422e-01 -1.00063979e-01  1.03854814e+02]
 [-2.53753563e-01  9.67045710e-01  2.07779831e-02 -1.46134592e+01]
 [ 1.02055382e-01  5.40587326e-03  9.94764030e-01  1.05949500e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.91, Y:-14.63, Z:10.60
[[ 9.61193220e-01  2.57088738e-01 -1.00064855e-01  1.03912280e+02]
 [-2.56311010e-01  9.66371107e-01  2.07737618e-02 -1.46259566e+01]
 [ 1.02040485e-01  5.68012514e-03  9.94764030e-01  1.05997669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.97, Y:-14.64, Z:10.60
[[ 9.62533011e-01  2.52025828e-01 -1.00065899e-01  1.03970574e+02]
 [-2.51221378e-01  9.67706815e-01  2.07687301e-02 -1.46362709e+01]
 [ 1.02068709e-01  5.14810483e-03  9.94764030e-01  1.06049800e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.301052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.03, Y:-14.65, Z:10.61
[[ 9.65274571e-01  2.41312439e-01 -1.00066529e-01  1.04028567e+02]
 [-2.40450850e-01  9.70439166e-01  2.07656959e-02 -1.46486596e+01]
 [ 1.02119500e-01  4.01648383e-03  9.94764030e-01  1.06094817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.09, Y:-14.66, Z:10.62
[[ 9.67236189e-01  2.33325302e-01 -1.00067264e-01  1.04085823e+02]
 [-2.32421418e-01  9.72393551e-01  2.07621539e-02 -1.46587223e+01]
 [ 1.02149098e-01  3.17586881e-03  9.94764030e-01  1.06158357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.14, Y:-14.67, Z:10.62
[[ 9.69233246e-01  2.24884977e-01 -1.00068288e-01  1.04144381e+02]
 [-2.23936680e-01  9.74382626e-01  2.07572163e-02 -1.46687118e+01]
 [ 1.02172788e-01  2.29037612e-03  9.94764030e-01  1.06239426e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.20, Y:-14.68, Z:10.63
[[ 9.70140466e-01  2.20938043e-01 -1.00069258e-01  1.04202420e+02]
 [-2.19969277e-01  9.75286035e-01  2.07525378e-02 -1.46789074e+01]
 [ 1.02181175e-01  1.87928579e-03  9.94764030e-01  1.06286583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.26, Y:-14.69, Z:10.63
[[ 9.71795535e-01  2.13539921e-01 -1.00070674e-01  1.04259530e+02]
 [-2.12532681e-01  9.76933711e-01  2.07457104e-02 -1.46911271e+01]
 [ 1.02192452e-01  1.10769988e-03  9.94764030e-01  1.06337935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.32, Y:-14.70, Z:10.64
[[ 9.72062469e-01  2.12320835e-01 -1.00072075e-01  1.04316324e+02]
 [-2.11307846e-01  9.77199514e-01  2.07389497e-02 -1.47027249e+01]
 [ 1.02193694e-01  9.86460033e-04  9.94764030e-01  1.06392200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.66105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.37, Y:-14.71, Z:10.65
[[ 9.71025048e-01  2.17015353e-01 -1.00073441e-01  1.04374149e+02]
 [-2.16027878e-01  9.76167058e-01  2.07323569e-02 -1.47131105e+01]
 [ 1.02187636e-01  1.48701518e-03  9.94764030e-01  1.06462744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.43, Y:-14.73, Z:10.65
[[ 9.70264770e-01  2.20389152e-01 -1.00074465e-01  1.04432724e+02]
 [-2.19420065e-01  9.75410277e-01  2.07274110e-02 -1.47250309e+01]
 [ 1.02181758e-01  1.84726898e-03  9.94764030e-01  1.06532703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.49, Y:-14.74, Z:10.66
[[ 9.70616586e-01  2.18834254e-01 -1.00075033e-01  1.04490058e+02]
 [-2.17857207e-01  9.75760588e-01  2.07246703e-02 -1.47398858e+01]
 [ 1.02184541e-01  1.68635834e-03  9.94764030e-01  1.06591976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.55, Y:-14.75, Z:10.66
[[ 9.71074930e-01  2.16790949e-01 -1.00075792e-01  1.04548374e+02]
 [-2.15803455e-01  9.76216937e-01  2.07210052e-02 -1.47499843e+01]
 [ 1.02187809e-01  1.47505288e-03  9.94764030e-01  1.06642255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.61, Y:-14.76, Z:10.67
[[ 9.71472789e-01  2.15000377e-01 -1.00077259e-01  1.04607218e+02]
 [-2.14004136e-01  9.76613108e-01  2.07139134e-02 -1.47593671e+01]
 [ 1.02190263e-01  1.29394427e-03  9.94764030e-01  1.06716730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.66, Y:-14.77, Z:10.68
[[ 9.72092911e-01  2.12178012e-01 -1.00079288e-01  1.04663975e+02]
 [-2.11167855e-01  9.77230514e-01  2.07041097e-02 -1.47707067e+01]
 [ 1.02193491e-01  1.00721022e-03  9.94764030e-01  1.06784889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.02105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.72, Y:-14.78, Z:10.69
[[ 9.72210020e-01  2.11638481e-01 -1.00084120e-01  1.04722032e+02]
 [-2.10627880e-01  9.77347535e-01  2.06807241e-02 -1.47803574e+01]
 [ 1.02193805e-01  9.74498846e-04  9.94764031e-01  1.06873140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.78, Y:-14.79, Z:10.69
[[ 9.71064488e-01  2.16832823e-01 -1.00086396e-01  1.04779368e+02]
 [-2.15850837e-01  9.76207549e-01  2.06697013e-02 -1.47946345e+01]
 [ 1.02186965e-01  1.53211948e-03  9.94764031e-01  1.06928929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.84, Y:-14.81, Z:10.70
[[ 9.69645293e-01  2.23093045e-01 -1.00087451e-01  1.04835837e+02]
 [-2.22144787e-01  9.74794680e-01  2.06645909e-02 -1.48090283e+01]
 [ 1.02174842e-01  2.19658230e-03  9.94764031e-01  1.07002960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.89, Y:-14.82, Z:10.71
[[ 9.67652383e-01  2.31582373e-01 -1.00092310e-01  1.04894158e+02]
 [-2.30681715e-01  9.72810307e-01  2.06410290e-02 -1.48185797e+01]
 [ 1.02150930e-01  3.11612492e-03  9.94764031e-01  1.07057644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.95, Y:-14.83, Z:10.71
[[ 9.67034819e-01  2.34147352e-01 -1.00093341e-01  1.04951328e+02]
 [-2.33260890e-01  9.72195202e-01  2.06360327e-02 -1.48343957e+01]
 [ 1.02142138e-01  3.39209960e-03  9.94764031e-01  1.07097752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.01, Y:-14.84, Z:10.72
[[ 9.67473592e-01  2.32327095e-01 -1.00094800e-01  1.05008856e+02]
 [-2.31431655e-01  9.72632426e-01  2.06289517e-02 -1.48443808e+01]
 [ 1.02148112e-01  3.20713921e-03  9.94764031e-01  1.07156522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.07, Y:-14.86, Z:10.72
[[ 9.70164494e-01  2.20820300e-01 -1.00096203e-01  1.05066646e+02]
 [-2.19864357e-01  9.75312459e-01  2.06221396e-02 -1.48570876e+01]
 [ 1.02178861e-01  2.00071972e-03  9.94764031e-01  1.07204231e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.13, Y:-14.87, Z:10.72
[[ 9.71895110e-01  2.13073876e-01 -1.00097042e-01  1.05125727e+02]
 [-2.12077314e-01  9.77035367e-01  2.06180695e-02 -1.48692182e+01]
 [ 1.02191522e-01  1.18971085e-03  9.94764031e-01  1.07228318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.18, Y:-14.88, Z:10.73
[[ 9.72313999e-01  2.11154005e-01 -1.00097326e-01  1.05183814e+02]
 [-2.10147435e-01  9.77452305e-01  2.06166912e-02 -1.48784207e+01]
 [ 1.02193658e-01  9.89298798e-04  9.94764031e-01  1.07349031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.24, Y:-14.89, Z:10.74
[[ 9.72500577e-01  2.10292689e-01 -1.00098017e-01  1.05241391e+02]
 [-2.09281914e-01  9.77638057e-01  2.06133329e-02 -1.48899762e+01]
 [ 1.02194464e-01  9.02226464e-04  9.94764031e-01  1.07439442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.30, Y:-14.90, Z:10.75
[[ 9.71455228e-01  2.15067978e-01 -1.00102470e-01  1.05297729e+02]
 [-2.14084686e-01  9.76598039e-01  2.05916881e-02 -1.49046397e+01]
 [ 1.02188488e-01  1.42650272e-03  9.94764031e-01  1.07493844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.35, Y:-14.92, Z:10.76
[[ 9.70844077e-01  2.17807920e-01 -1.00107387e-01  1.05354001e+02]
 [-2.16841607e-01  9.75990105e-01  2.05677556e-02 -1.49176696e+01]
 [ 1.02183639e-01  1.73936294e-03  9.94764032e-01  1.07550612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.74105275400001 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:105.41, Y:-14.93, Z:10.76
[[ 9.69912768e-01  2.21915741e-01 -1.00113071e-01  1.05411167e+02]
 [-2.20974080e-01  9.75063363e-01  2.05400509e-02 -1.49287482e+01]
 [ 1.02174748e-01  2.20033605e-03  9.94764032e-01  1.07623764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.80105275400001 meters
Centerline goodness : 0.999808 with order 1
Centerline is valid?  [True, True]
Translation: X:105.47, Y:-14.94, Z:10.77
[[ 9.70254454e-01  2.20416654e-01 -1.00113906e-01  1.05467978e+02]
 [-2.19467454e-01  9.75403665e-01  2.05359823e-02 -1.49407040e+01]
 [ 1.02177943e-01  2.04661559e-03  9.94764032e-01  1.07671668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.861052754 meters
Centerline goodness : 0.999545 with order 1
Centerline is valid?  [True, True]
Translation: X:105.53, Y:-14.96, Z:10.77
[[ 9.72118202e-01  2.12043089e-01 -1.00119578e-01  1.05526178e+02]
 [-2.11052381e-01  9.77259588e-01  2.05082892e-02 -1.49553956e+01]
 [ 1.02191459e-01  1.19399408e-03  9.94764032e-01  1.07680855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.921052754 meters
Centerline goodness : 0.999118 with order 1
Centerline is valid?  [True, True]
Translation: X:105.58, Y:-14.97, Z:10.78
[[ 9.75761695e-01  1.94589354e-01 -1.00120419e-01  1.05584594e+02]
 [-1.93507095e-01  9.80884592e-01  2.05041837e-02 -1.49669363e+01]
 [ 1.02196472e-01 -6.33185580e-04  9.94764032e-01  1.07750631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.981052754 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:105.64, Y:-14.98, Z:10.78
[[ 9.75916499e-01  1.93811115e-01 -1.00121116e-01  1.05640701e+02]
 [-1.92725121e-01  9.81038606e-01  2.05007800e-02 -1.49792095e+01]
 [ 1.02195959e-01 -7.11195264e-04  9.94764032e-01  1.07820453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.041052754 meters
Centerline goodness : 0.999028 with order 1
Centerline is valid?  [True, True]
Translation: X:105.70, Y:-14.99, Z:10.79
[[ 9.74454924e-01  2.01027983e-01 -1.00126681e-01  1.05697868e+02]
 [-1.99982720e-01  9.79585496e-01  2.04735629e-02 -1.49905800e+01]
 [ 1.02198404e-01  7.30419242e-05  9.94764033e-01  1.07902113e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.10105275400001 meters
Centerline goodness : 0.998663 with order 1
Centerline is valid?  [True, True]
Translation: X:105.75, Y:-15.00, Z:10.80
[[ 9.73125742e-01  2.07364333e-01 -1.00131530e-01  1.05754707e+02]
 [-2.06354919e-01  9.78263488e-01  2.04498197e-02 -1.50030507e+01]
 [ 1.02195583e-01  7.62387861e-04  9.94764033e-01  1.07957130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.16105275400001 meters
Centerline goodness : 0.998079 with order 1
Centerline is valid?  [True, True]
Translation: X:105.81, Y:-15.02, Z:10.80
[[ 9.73837184e-01  2.03994648e-01 -1.00136522e-01  1.05810207e+02]
 [-2.02969973e-01  9.78971907e-01  2.04253456e-02 -1.50183699e+01]
 [ 1.02197504e-01  4.33746184e-04  9.94764033e-01  1.07980412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.221052754 meters
Centerline goodness : 0.997379 with order 1
Centerline is valid?  [True, True]
Translation: X:105.87, Y:-15.03, Z:10.80
[[ 9.76012349e-01  1.93318962e-01 -1.00138274e-01  1.05866385e+02]
 [-1.92239005e-01  9.81135730e-01  2.04167562e-02 -1.50311692e+01]
 [ 1.02196184e-01 -6.76524082e-04  9.94764033e-01  1.08026428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.281052754 meters
Centerline goodness : 0.997216 with order 1
Centerline is valid?  [True, True]
Translation: X:105.92, Y:-15.04, Z:10.81
[[ 9.78160069e-01  1.82137563e-01 -1.00143840e-01  1.05923547e+02]
 [-1.81001845e-01  9.83271378e-01  2.03894187e-02 -1.50428042e+01]
 [ 1.02182250e-01 -1.81789543e-03  9.94764034e-01  1.08096956e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.341052754 meters
Centerline goodness : 0.996990 with order 1
Centerline is valid?  [True, True]
Translation: X:105.98, Y:-15.06, Z:10.81
[[ 9.80004587e-01  1.71936079e-01 -1.00144868e-01  1.05981462e+02]
 [-1.70747684e-01  9.85103906e-01  2.03843662e-02 -1.50566537e+01]
 [ 1.02157909e-01 -2.87726815e-03  9.94764034e-01  1.08129573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.401052754 meters
Centerline goodness : 0.996853 with order 1
Centerline is valid?  [True, True]
Translation: X:106.04, Y:-15.07, Z:10.82
[[ 9.81139663e-01  1.65335496e-01 -1.00145572e-01  1.06039775e+02]
 [-1.64113156e-01  9.86230952e-01  2.03809056e-02 -1.50681561e+01]
 [ 1.02136350e-01 -3.56130890e-03  9.94764034e-01  1.08193531e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.46105275400001 meters
Centerline goodness : 0.996944 with order 1
Centerline is valid?  [True, True]
Translation: X:106.10, Y:-15.08, Z:10.83
[[ 9.81655389e-01  1.62244899e-01 -1.00146343e-01  1.06095800e+02]
 [-1.61006917e-01  9.86742898e-01  2.03771198e-02 -1.50786832e+01]
 [ 1.02124776e-01 -3.87905564e-03  9.94764034e-01  1.08250697e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.52105275400001 meters
Centerline goodness : 0.996731 with order 1
Centerline is valid?  [True, True]
Translation: X:106.15, Y:-15.09, Z:10.83
[[ 9.81684610e-01  1.62066707e-01 -1.00148436e-01  1.06152508e+02]
 [-1.60828850e-01  9.86772149e-01  2.03668254e-02 -1.50918727e+01]
 [ 1.02124472e-01 -3.88704127e-03  9.94764034e-01  1.08282141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.581052754 meters
Centerline goodness : 0.996961 with order 1
Centerline is valid?  [True, True]
Translation: X:106.21, Y:-15.10, Z:10.84
[[ 9.80830657e-01  1.67156329e-01 -1.00149811e-01  1.06210270e+02]
 [-1.65945566e-01  9.85924712e-01  2.03600622e-02 -1.51013570e+01]
 [ 1.02143487e-01 -3.35035607e-03  9.94764034e-01  1.08402998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.641052754 meters
Centerline goodness : 0.997064 with order 1
Centerline is valid?  [True, True]
Translation: X:106.27, Y:-15.11, Z:10.85
[[ 9.79925666e-01  1.72382031e-01 -1.00150509e-01  1.06268677e+02]
 [-1.71198788e-01  9.85026184e-01  2.03566309e-02 -1.51134413e+01]
 [ 1.02159991e-01 -2.80233939e-03  9.94764034e-01  1.08486397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.701052754 meters
Centerline goodness : 0.996986 with order 1
Centerline is valid?  [True, True]
Translation: X:106.33, Y:-15.13, Z:10.85
[[ 9.78643288e-01  1.79519034e-01 -1.00151044e-01  1.06325987e+02]
 [-1.78373265e-01  9.83752354e-01  2.03539957e-02 -1.51276742e+01]
 [ 1.02177755e-01 -2.05503254e-03  9.94764034e-01  1.08512787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.761052754 meters
Centerline goodness : 0.997110 with order 1
Centerline is valid?  [True, True]
Translation: X:106.38, Y:-15.14, Z:10.85
[[ 9.76610623e-01  1.90264323e-01 -1.00155774e-01  1.06384456e+02]
 [-1.89177165e-01  9.81732480e-01  2.03306967e-02 -1.51371980e+01]
 [ 1.02194382e-01 -9.07988994e-04  9.94764034e-01  1.08545475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.82105275400001 meters
Centerline goodness : 0.997794 with order 1
Centerline is valid?  [True, True]
Translation: X:106.44, Y:-15.15, Z:10.86
[[ 9.75497862e-01  1.95889310e-01 -1.00156370e-01  1.06441767e+02]
 [-1.94831989e-01  9.80625962e-01  2.03277565e-02 -1.51480245e+01]
 [ 1.02197927e-01 -3.16018137e-04  9.94764034e-01  1.08609289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.88105275400001 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:106.50, Y:-15.15, Z:10.87
[[ 9.75650650e-01  1.95124559e-01 -1.00160952e-01  1.06499252e+02]
 [-1.94065539e-01  9.80778399e-01  2.03051556e-02 -1.51537644e+01]
 [ 1.02197733e-01 -3.72949111e-04  9.94764034e-01  1.08679883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.941052754 meters
Centerline goodness : 0.998283 with order 1
Centerline is valid?  [True, True]
Translation: X:106.56, Y:-15.16, Z:10.87
[[ 9.76924386e-01  1.88642634e-01 -1.00163367e-01  1.06557729e+02]
 [-1.87550814e-01  9.82045252e-01  2.02932365e-02 -1.51637413e+01]
 [ 1.02193129e-01 -1.03923657e-03  9.94764035e-01  1.08726628e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.001052754 meters
Centerline goodness : 0.999287 with order 1
Centerline is valid?  [True, True]
Translation: X:106.62, Y:-15.17, Z:10.88
[[ 9.78583595e-01  1.79836929e-01 -1.00164001e-01  1.06616063e+02]
 [-1.78699356e-01  9.83694491e-01  2.02901077e-02 -1.51737071e+01]
 [ 1.02179686e-01 -1.95632414e-03  9.94764035e-01  1.08816439e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.061052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:106.67, Y:-15.18, Z:10.89
[[ 9.79671612e-01  1.73811909e-01 -1.00164626e-01  1.06673057e+02]
 [-1.72643224e-01  9.84775484e-01  2.02870192e-02 -1.51791883e+01]
 [ 1.02165794e-01 -2.58187283e-03  9.94764035e-01  1.08940334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.73, Y:-15.19, Z:10.90
[[ 9.80542770e-01  1.68826712e-01 -1.00166953e-01  1.06731680e+02]
 [-1.67633254e-01  9.85640906e-01  2.02755250e-02 -1.51915905e+01]
 [ 1.02151697e-01 -3.08970718e-03  9.94764035e-01  1.08990117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.79, Y:-15.20, Z:10.90
[[ 9.80358327e-01  1.69894183e-01 -1.00167448e-01  1.06790205e+02]
 [-1.68706527e-01  9.85457817e-01  2.02730793e-02 -1.52030566e+01]
 [ 1.02155073e-01 -2.97597989e-03  9.94764035e-01  1.09038939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.84, Y:-15.22, Z:10.91
[[ 9.80555912e-01  1.68749665e-01 -1.00168125e-01  1.06844615e+02]
 [-1.67556398e-01  9.85654093e-01  2.02697361e-02 -1.52223824e+01]
 [ 1.02151633e-01 -3.09179944e-03  9.94764035e-01  1.09100705e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.30105275400001 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:106.90, Y:-15.23, Z:10.92
[[ 9.79068479e-01  1.77174378e-01 -1.00170619e-01  1.06902865e+02]
 [-1.76026251e-01  9.84177015e-01  2.02573996e-02 -1.52331538e+01]
 [ 1.02174713e-01 -2.20072282e-03  9.94764035e-01  1.09175395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.96, Y:-15.25, Z:10.92
[[ 9.76240321e-01  1.92147361e-01 -1.00170987e-01  1.06960562e+02]
 [-1.91077789e-01  9.81365880e-01  2.02555811e-02 -1.52456759e+01]
 [ 1.02196445e-01 -6.33864328e-04  9.94764035e-01  1.09248590e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.02, Y:-15.26, Z:10.93
[[ 9.73975040e-01  2.03318190e-01 -1.00171525e-01  1.07017153e+02]
 [-2.02307679e-01  9.79112569e-01  2.02529221e-02 -1.52593379e+01]
 [ 1.02196986e-01  5.39627995e-04  9.94764035e-01  1.09316711e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.07, Y:-15.27, Z:10.94
[[ 9.72080578e-01  2.12190314e-01 -1.00172954e-01  1.07074881e+02]
 [-2.11227416e-01  9.77227243e-01  2.02458514e-02 -1.52701616e+01]
 [ 1.02187713e-01  1.47867520e-03  9.94764035e-01  1.09383401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.13, Y:-15.28, Z:10.95
[[ 9.70968256e-01  2.17223057e-01 -1.00173793e-01  1.07131362e+02]
 [-2.16287261e-01  9.76119918e-01  2.02416994e-02 -1.52842816e+01]
 [ 1.02178598e-01  2.01226773e-03  9.94764035e-01  1.09454709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.19, Y:-15.29, Z:10.95
[[ 9.71160680e-01  2.16358883e-01 -1.00178677e-01  1.07187504e+02]
 [-2.15420999e-01  9.76311961e-01  2.02174986e-02 -1.52929039e+01]
 [ 1.02179876e-01  1.94615090e-03  9.94764035e-01  1.09543835e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.66105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.25, Y:-15.30, Z:10.96
[[ 9.71574959e-01  2.14490065e-01 -1.00180389e-01  1.07245036e+02]
 [-2.13543147e-01  9.76724588e-01  2.02090095e-02 -1.53015242e+01]
 [ 1.02183281e-01  1.75826801e-03  9.94764035e-01  1.09635810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.30, Y:-15.31, Z:10.97
[[ 9.72258552e-01  2.11367579e-01 -1.00185104e-01  1.07302277e+02]
 [-2.10406532e-01  9.77405562e-01  2.01856101e-02 -1.53121628e+01]
 [ 1.02188061e-01  1.45396824e-03  9.94764035e-01  1.09681875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.781052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:107.36, Y:-15.32, Z:10.97
[[ 9.73551289e-01  2.05328653e-01 -1.00189979e-01  1.07359922e+02]
 [-2.04338170e-01  9.78692715e-01  2.01613853e-02 -1.53224747e+01]
 [ 1.02194912e-01  8.44494198e-04  9.94764036e-01  1.09725387e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.42, Y:-15.34, Z:10.99
[[ 9.73905207e-01  2.03640969e-01 -1.00194824e-01  1.07415804e+02]
 [-2.02644056e-01  9.79045390e-01  2.01372762e-02 -1.53362429e+01]
 [ 1.02196055e-01  6.92087404e-04  9.94764036e-01  1.09911420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.47, Y:-15.36, Z:10.98
[[ 9.73841848e-01  2.03941295e-01 -1.00199815e-01  1.07470660e+02]
 [-2.02948525e-01  9.78982833e-01  2.01124128e-02 -1.53622470e+01]
 [ 1.02195650e-01  7.49095323e-04  9.94764036e-01  1.09823852e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.53, Y:-15.36, Z:11.00
[[ 9.74237680e-01  2.02041075e-01 -1.00201531e-01  1.07528651e+02]
 [-2.01039157e-01  9.79376890e-01  2.01038592e-02 -1.53619557e+01]
 [ 1.02196869e-01  5.58494263e-04  9.94764036e-01  1.09999672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.02105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.59, Y:-15.38, Z:11.00
[[ 9.72676876e-01  2.09423927e-01 -1.00206354e-01  1.07585700e+02]
 [-2.08463494e-01  9.77823999e-01  2.00797885e-02 -1.53837916e+01]
 [ 1.02189366e-01  1.35822086e-03  9.94764037e-01  1.09982253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.64, Y:-15.40, Z:11.01
[[ 9.70749047e-01  2.18185321e-01 -1.00207050e-01  1.07644093e+02]
 [-2.17271692e-01  9.75904685e-01  2.00763162e-02 -1.53962044e+01]
 [ 1.02172887e-01  2.28309049e-03  9.94764037e-01  1.10059146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.70, Y:-15.41, Z:11.01
[[ 9.69123212e-01  2.25296853e-01 -1.00207429e-01  1.07701318e+02]
 [-2.24421245e-01  9.74285442e-01  2.00744237e-02 -1.54085387e+01]
 [ 1.02153344e-01  3.03408607e-03  9.94764037e-01  1.10131279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.76, Y:-15.42, Z:11.01
[[ 9.66696792e-01  2.35490157e-01 -1.00208272e-01  1.07759233e+02]
 [-2.34669396e-01  9.71868026e-01  2.00702154e-02 -1.54242562e+01]
 [ 1.02115554e-01  4.11400185e-03  9.94764037e-01  1.10146094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.82, Y:-15.44, Z:11.03
[[ 9.66039465e-01  2.38172111e-01 -1.00208766e-01  1.07817070e+02]
 [-2.37365960e-01  9.71212997e-01  2.00677498e-02 -1.54357292e+01]
 [ 1.02103634e-01  4.39991165e-03  9.94764037e-01  1.10255529e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.88, Y:-15.44, Z:11.04
[[ 9.66921924e-01  2.34563561e-01 -1.00209428e-01  1.07875339e+02]
 [-2.33738442e-01  9.72092464e-01  2.00644429e-02 -1.54434093e+01]
 [ 1.02119217e-01  4.02204577e-03  9.94764037e-01  1.10389573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.93, Y:-15.46, Z:11.03
[[ 9.67736803e-01  2.31178374e-01 -1.00209972e-01  1.07931755e+02]
 [-2.30335447e-01  9.72904471e-01  2.00617232e-02 -1.54640933e+01]
 [ 1.02132567e-01  3.66744092e-03  9.94764037e-01  1.10315274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.99, Y:-15.47, Z:11.04
[[ 9.69928026e-01  2.21804678e-01 -1.00211327e-01  1.07991048e+02]
 [-2.20912491e-01  9.75087417e-01  2.00549564e-02 -1.54736346e+01]
 [ 1.02163087e-01  2.68606953e-03  9.94764037e-01  1.10356337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.05, Y:-15.49, Z:11.04
[[ 9.73352426e-01  2.06258696e-01 -1.00211805e-01  1.08047939e+02]
 [-2.05284326e-01  9.78496929e-01  2.00525659e-02 -1.54865179e+01]
 [ 1.02192960e-01  1.05369920e-03  9.94764037e-01  1.10421443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.561052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:108.10, Y:-15.50, Z:11.05
[[ 9.71860407e-01  2.13177865e-01 -1.00212510e-01  1.08104778e+02]
 [-2.12240481e-01  9.77011778e-01  2.00490442e-02 -1.54981039e+01]
 [ 1.02182815e-01  1.78427901e-03  9.94764037e-01  1.10511574e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.621052754 meters
Centerline goodness : 0.999904 with order 1
Centerline is valid?  [True, True]
Translation: X:108.16, Y:-15.52, Z:11.05
[[ 9.66725408e-01  2.35370538e-01 -1.00213251e-01  1.08162787e+02]
 [-2.34551712e-01  9.71896949e-01  2.00453383e-02 -1.55155650e+01]
 [ 1.02115035e-01  4.12685169e-03  9.94764037e-01  1.10516962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.681052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.22, Y:-15.53, Z:11.05
[[ 9.65599554e-01  2.39947161e-01 -1.00214079e-01  1.08220256e+02]
 [-2.39153270e-01  9.70774981e-01  2.00411952e-02 -1.55320993e+01]
 [ 1.02094149e-01  4.61475561e-03  9.94764037e-01  1.10530573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.74105275400001 meters
Centerline goodness : 0.999905 with order 1
Centerline is valid?  [True, True]
Translation: X:108.28, Y:-15.54, Z:11.06
[[ 9.66205606e-01  2.37494526e-01 -1.00215155e-01  1.08276391e+02]
 [-2.36688053e-01  9.71379087e-01  2.00358174e-02 -1.55438247e+01]
 [ 1.02105302e-01  4.36101074e-03  9.94764037e-01  1.10637704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.80105275400001 meters
Centerline goodness : 0.998643 with order 1
Centerline is valid?  [True, True]
Translation: X:108.34, Y:-15.52, Z:11.08
[[ 9.71191741e-01  2.16201676e-01 -1.00216948e-01  1.08339661e+02]
 [-2.15282620e-01  9.76346414e-01  2.00268432e-02 -1.55245944e+01]
 [ 1.02176295e-01  2.12506237e-03  9.94764037e-01  1.10807784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.861052754 meters
Centerline goodness : 0.998408 with order 1
Centerline is valid?  [True, True]
Translation: X:108.40, Y:-15.54, Z:11.08
[[ 9.71701657e-01  2.13897696e-01 -1.00218089e-01  1.08397840e+02]
 [-2.12967005e-01  9.76854241e-01  2.00211327e-02 -1.55422194e+01]
 [ 1.02180939e-01  1.88857841e-03  9.94764037e-01  1.10777972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.921052754 meters
Centerline goodness : 0.997829 with order 1
Centerline is valid?  [True, True]
Translation: X:108.45, Y:-15.56, Z:11.08
[[ 9.72865281e-01  2.08541098e-01 -1.00218541e-01  1.08453848e+02]
 [-2.07582267e-01  9.78012703e-01  2.00188708e-02 -1.55577384e+01]
 [ 1.02189763e-01  1.32792750e-03  9.94764037e-01  1.10806908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.981052754 meters
Centerline goodness : 0.997601 with order 1
Centerline is valid?  [True, True]
Translation: X:108.51, Y:-15.57, Z:11.09
[[ 9.75562412e-01  1.95534938e-01 -1.00220097e-01  1.08510507e+02]
 [-1.94508277e-01  9.80696736e-01  2.00110743e-02 -1.55720466e+01]
 [ 1.02198387e-01 -2.84134216e-05  9.94764037e-01  1.10899461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.041052754 meters
Centerline goodness : 0.997400 with order 1
Centerline is valid?  [True, True]
Translation: X:108.57, Y:-15.59, Z:11.10
[[ 9.78590466e-01  1.79765703e-01 -1.00224711e-01  1.08568234e+02]
 [-1.78658686e-01  9.83708065e-01  1.99879394e-02 -1.55853142e+01]
 [ 1.02185003e-01 -1.65399171e-03  9.94764037e-01  1.10954568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.10105275400001 meters
Centerline goodness : 0.997729 with order 1
Centerline is valid?  [True, True]
Translation: X:108.63, Y:-15.60, Z:11.10
[[ 9.80364139e-01  1.69826457e-01 -1.00225391e-01  1.08626396e+02]
 [-1.68667915e-01  9.85470321e-01  1.99845294e-02 -1.55979060e+01]
 [ 1.02163050e-01 -2.68730815e-03  9.94764037e-01  1.11022128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.16105275400001 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:108.68, Y:-15.61, Z:11.11
[[ 9.81683502e-01  1.62025566e-01 -1.00225834e-01  1.08684618e+02]
 [-1.60826684e-01  9.86780363e-01  1.99823105e-02 -1.56071151e+01]
 [ 1.02138530e-01 -3.49731603e-03  9.94764037e-01  1.11125753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.221052754 meters
Centerline goodness : 0.999436 with order 1
Centerline is valid?  [True, True]
Translation: X:108.74, Y:-15.62, Z:11.12
[[ 9.81624156e-01  1.62384472e-01 -1.00226239e-01  1.08741823e+02]
 [-1.61187661e-01  9.86721504e-01  1.99802783e-02 -1.56159823e+01]
 [ 1.02139872e-01 -3.45789084e-03  9.94764037e-01  1.11220633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.281052754 meters
Centerline goodness : 0.999625 with order 1
Centerline is valid?  [True, True]
Translation: X:108.80, Y:-15.63, Z:11.12
[[ 9.80431720e-01  1.69432457e-01 -1.00231162e-01  1.08799254e+02]
 [-1.68274824e-01  9.85538107e-01  1.99555514e-02 -1.56283396e+01]
 [ 1.02162747e-01 -2.69867452e-03  9.94764037e-01  1.11245363e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.341052754 meters
Centerline goodness : 0.999625 with order 1
Centerline is valid?  [True, True]
Translation: X:108.86, Y:-15.64, Z:11.13
[[ 9.79162390e-01  1.76619798e-01 -1.00232034e-01  1.08857661e+02]
 [-1.75500102e-01  9.84277230e-01  1.99511713e-02 -1.56390558e+01]
 [ 1.02179880e-01 -1.94470453e-03  9.94764037e-01  1.11309208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.401052754 meters
Centerline goodness : 0.999858 with order 1
Centerline is valid?  [True, True]
Translation: X:108.92, Y:-15.65, Z:11.13
[[ 9.76032192e-01  1.93169770e-01 -1.00232732e-01  1.08915705e+02]
 [-1.92137179e-01  9.81165325e-01  1.99476595e-02 -1.56492277e+01]
 [ 1.02198166e-01 -2.11123280e-04  9.94764037e-01  1.11343414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.46105275400001 meters
Centerline goodness : 0.999905 with order 1
Centerline is valid?  [True, True]
Translation: X:108.97, Y:-15.66, Z:11.14
[[ 9.73860634e-01  2.03835049e-01 -1.00233417e-01  1.08973699e+02]
 [-2.02859025e-01  9.79004823e-01  1.99442208e-02 -1.56585120e+01]
 [ 1.02194330e-01  9.10361597e-04  9.94764037e-01  1.11383331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.52105275400001 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:109.03, Y:-15.67, Z:11.15
[[ 9.71973082e-01  2.12651448e-01 -1.00238161e-01  1.09032629e+02]
 [-2.11724540e-01  9.77126347e-01  1.99203500e-02 -1.56690246e+01]
 [ 1.02181439e-01  1.86083438e-03  9.94764038e-01  1.11450476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.581052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:109.09, Y:-15.69, Z:11.15
[[ 9.71373178e-01  2.15375062e-01 -1.00238377e-01  1.09087617e+02]
 [-2.14462714e-01  9.76529041e-01  1.99192614e-02 -1.56906508e+01]
 [ 1.02175798e-01  2.14835815e-03  9.94764038e-01  1.11525115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.641052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:109.15, Y:-15.69, Z:11.16
[[ 9.69755327e-01  2.22544047e-01 -1.00243471e-01  1.09147349e+02]
 [-2.21672458e-01  9.74918236e-01  1.98935919e-02 -1.56907798e+01]
 [ 1.02156388e-01  2.92929988e-03  9.94764038e-01  1.11592321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.701052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:109.20, Y:-15.70, Z:11.17
[[ 9.68249536e-01  2.29006346e-01 -1.00244347e-01  1.09204733e+02]
 [-2.28169664e-01  9.73418217e-01  1.98891757e-02 -1.57008497e+01]
 [ 1.02134421e-01  3.61503395e-03  9.94764038e-01  1.11703626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.761052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.26, Y:-15.71, Z:11.18
[[ 9.67662912e-01  2.31472151e-01 -1.00245360e-01  1.09262418e+02]
 [-2.30649167e-01  9.72833791e-01  1.98840709e-02 -1.57123897e+01]
 [ 1.02124682e-01  3.88043072e-03  9.94764038e-01  1.11769135e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.82105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.32, Y:-15.72, Z:11.18
[[ 9.67174244e-01  2.33505124e-01 -1.00246389e-01  1.09318687e+02]
 [-2.32693545e-01  9.72346926e-01  1.98788806e-02 -1.57235071e+01]
 [ 1.02116089e-01  4.10034630e-03  9.94764038e-01  1.11807531e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.38, Y:-15.73, Z:11.19
[[ 9.66934238e-01  2.34496272e-01 -1.00248077e-01  1.09376809e+02]
 [-2.33690876e-01  9.72107886e-01  1.98703638e-02 -1.57342958e+01]
 [ 1.02111473e-01  4.21372593e-03  9.94764038e-01  1.11860790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.941052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.44, Y:-15.74, Z:11.19
[[ 9.67351279e-01  2.32769469e-01 -1.00249072e-01  1.09435466e+02]
 [-2.31955357e-01  9.72523563e-01  1.98653426e-02 -1.57443855e+01]
 [ 1.02118630e-01  4.03654478e-03  9.94764038e-01  1.11915887e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.49, Y:-15.75, Z:11.20
[[ 9.68556686e-01  2.27701327e-01 -1.00249946e-01  1.09492121e+02]
 [-2.26860601e-01  9.73724710e-01  1.98609299e-02 -1.57544091e+01]
 [ 1.02138210e-01  3.50632662e-03  9.94764038e-01  1.11965585e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.061052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.55, Y:-15.76, Z:11.20
[[ 9.70110126e-01  2.20988581e-01 -1.00251635e-01  1.09551151e+02]
 [-2.20112967e-01  9.75272354e-01  1.98524018e-02 -1.57643845e+01]
 [ 1.02159802e-01  2.80766892e-03  9.94764038e-01  1.12024208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.121052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.61, Y:-15.77, Z:11.21
[[ 9.70654074e-01  2.18586740e-01 -1.00252210e-01  1.09608323e+02]
 [-2.17698650e-01  9.75814170e-01  1.98495004e-02 -1.57734523e+01]
 [ 1.02166364e-01  2.55777230e-03  9.94764038e-01  1.12091562e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.181052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.67, Y:-15.78, Z:11.22
[[ 9.71764904e-01  2.13591991e-01 -1.00256835e-01  1.09665847e+02]
 [-2.12679788e-01  9.76920792e-01  1.98261090e-02 -1.57816246e+01]
 [ 1.02177685e-01  2.05628560e-03  9.94764039e-01  1.12193146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.24105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.72, Y:-15.79, Z:11.22
[[ 9.72480518e-01  2.10309162e-01 -1.00258164e-01  1.09723559e+02]
 [-2.09380245e-01  9.77633420e-01  1.98193901e-02 -1.57925892e+01]
 [ 1.02183931e-01  1.71810817e-03  9.94764039e-01  1.12243158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.30105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.78, Y:-15.80, Z:11.23
[[ 9.73140830e-01  2.07230061e-01 -1.00262786e-01  1.09781513e+02]
 [-2.06287252e-01  9.78291209e-01  1.97959775e-02 -1.58016570e+01]
 [ 1.02188524e-01  1.41866065e-03  9.94764039e-01  1.12304885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.361052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.84, Y:-15.81, Z:11.23
[[ 9.73473139e-01  2.05661079e-01 -1.00267480e-01  1.09839377e+02]
 [-2.04712419e-01  9.78622443e-01  1.97721766e-02 -1.58135951e+01]
 [ 1.02190373e-01  1.27831556e-03  9.94764039e-01  1.12339912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.421052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.90, Y:-15.83, Z:11.24
[[ 9.73745532e-01  2.04365371e-01 -1.00271801e-01  1.09896458e+02]
 [-2.03412118e-01  9.78893987e-01  1.97502376e-02 -1.58259973e+01]
 [ 1.02191728e-01  1.16479380e-03  9.94764039e-01  1.12359104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.481052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.95, Y:-15.84, Z:11.24
[[ 9.73793365e-01  2.04136684e-01 -1.00273111e-01  1.09953490e+02]
 [-2.03182906e-01  9.78941723e-01  1.97435855e-02 -1.58373340e+01]
 [ 1.02191922e-01  1.14760958e-03  9.94764039e-01  1.12418132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.541052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.01, Y:-15.85, Z:11.25
[[ 9.73237679e-01  2.06769100e-01 -1.00274424e-01  1.10010615e+02]
 [-2.05829935e-01  9.78388722e-01  1.97369145e-02 -1.58506914e+01]
 [ 1.02188350e-01  1.43076929e-03  9.94764039e-01  1.12479289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.60105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.07, Y:-15.86, Z:11.26
[[ 9.72068842e-01  2.12193971e-01 -1.00279036e-01  1.10068927e+02]
 [-2.11285968e-01  9.77225470e-01  1.97134535e-02 -1.58613895e+01]
 [ 1.02178304e-01  2.02471930e-03  9.94764040e-01  1.12569337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.66105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.13, Y:-15.87, Z:11.27
[[ 9.70550768e-01  2.19032443e-01 -1.00279584e-01  1.10126104e+02]
 [-2.18161056e-01  9.75713710e-01  1.97106666e-02 -1.58695535e+01]
 [ 1.02161440e-01  2.74689725e-03  9.94764040e-01  1.12652795e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.721052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.19, Y:-15.88, Z:11.27
[[ 9.68020501e-01  2.29956484e-01 -1.00281228e-01  1.10185004e+02]
 [-2.29144203e-01  9.73193071e-01  1.97022982e-02 -1.58816262e+01]
 [ 1.02123667e-01  3.90663349e-03  9.94764040e-01  1.12701882e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.24, Y:-15.89, Z:11.28
[[ 9.66882501e-01  2.34695137e-01 -1.00281715e-01  1.10241059e+02]
 [-2.33908458e-01  9.72059026e-01  1.96998177e-02 -1.58929069e+01]
 [ 1.02103198e-01  4.40933240e-03  9.94764040e-01  1.12763097e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.841052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.30, Y:-15.90, Z:11.28
[[ 9.67111135e-01  2.33750493e-01 -1.00283400e-01  1.10298771e+02]
 [-2.32959645e-01  9.72287025e-01  1.96912391e-02 -1.59048586e+01]
 [ 1.02107085e-01  4.31836868e-03  9.94764040e-01  1.12818287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.901052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.36, Y:-15.92, Z:11.29
[[ 9.67857607e-01  2.30638297e-01 -1.00287725e-01  1.10355837e+02]
 [-2.29833085e-01  9.73031282e-01  1.96691837e-02 -1.59170176e+01]
 [ 1.02119561e-01  4.01246823e-03  9.94764040e-01  1.12883841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.96105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.41, Y:-15.93, Z:11.29
[[ 9.70582775e-01  2.18884732e-01 -1.00292329e-01  1.10414874e+02]
 [-2.18019269e-01  9.75746712e-01  1.96456798e-02 -1.59267512e+01]
 [ 1.02160050e-01  2.79790194e-03  9.94764040e-01  1.12932436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.02105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.47, Y:-15.94, Z:11.29
[[ 9.74280077e-01  2.01791010e-01 -1.00293165e-01  1.10474228e+02]
 [-2.00835353e-01  9.79428086e-01  1.96414120e-02 -1.59388792e+01]
 [ 1.02193403e-01  1.00617683e-03  9.94764040e-01  1.12939842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.081052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.53, Y:-15.95, Z:11.30
[[ 9.77575906e-01  1.85165873e-01 -1.00294308e-01  1.10531821e+02]
 [-1.84123262e-01  9.82707010e-01  1.96355773e-02 -1.59493162e+01]
 [ 1.02195758e-01 -7.28752141e-04  9.94764040e-01  1.13000865e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.59, Y:-15.96, Z:11.31
[[ 9.78968424e-01  1.77654023e-01 -1.00298917e-01  1.10587952e+02]
 [-1.76574458e-01  9.84091881e-01  1.96120018e-02 -1.59591383e+01]
 [ 1.02187501e-01 -1.48930353e-03  9.94764041e-01  1.13095439e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.65, Y:-15.97, Z:11.32
[[ 9.78893124e-01  1.78067553e-01 -1.00300536e-01  1.10645881e+02]
 [-1.76991001e-01  9.84017215e-01  1.96037231e-02 -1.59688040e+01]
 [ 1.02188241e-01 -1.43765758e-03  9.94764041e-01  1.13195780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.70, Y:-15.98, Z:11.33
[[ 9.77879949e-01  1.83549651e-01 -1.00301200e-01  1.10703052e+02]
 [-1.82502176e-01  9.83010063e-01  1.96003207e-02 -1.59802275e+01]
 [ 1.02194721e-01 -8.61573323e-04  9.94764041e-01  1.13251176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.32105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.76, Y:-15.99, Z:11.33
[[ 9.76891982e-01  1.88734760e-01 -1.00305763e-01  1.10760163e+02]
 [-1.87716915e-01  9.82028056e-01  1.95769451e-02 -1.59926559e+01]
 [ 1.02197923e-01 -2.95472408e-04  9.94764041e-01  1.13285154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.38105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.82, Y:-16.01, Z:11.33
[[ 9.76216131e-01  1.92197493e-01 -1.00310463e-01  1.10817485e+02]
 [-1.91200343e-01  9.81356263e-01  1.95528338e-02 -1.60053551e+01]
 [ 1.02198306e-01  9.16031545e-05  9.94764041e-01  1.13327410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.441052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.87, Y:-16.02, Z:11.34
[[ 9.75096841e-01  1.97797107e-01 -1.00311788e-01  1.10874558e+02]
 [-1.96830174e-01  9.80242743e-01  1.95460307e-02 -1.60177023e+01]
 [ 1.02196051e-01  6.85113998e-04  9.94764041e-01  1.13364880e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.501052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.93, Y:-16.03, Z:11.34
[[ 9.74424875e-01  2.01079056e-01 -1.00316382e-01  1.10930846e+02]
 [-2.00131885e-01  9.79574450e-01  1.95224260e-02 -1.60300007e+01]
 [ 1.02192916e-01  1.05336911e-03  9.94764042e-01  1.13419143e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.561052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.99, Y:-16.04, Z:11.35
[[ 9.73474580e-01  2.05627862e-01 -1.00321601e-01  1.10988305e+02]
 [-2.04707519e-01  9.78629018e-01  1.94955720e-02 -1.60423880e+01]
 [ 1.02186462e-01  1.55814219e-03  9.94764042e-01  1.13493902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.05, Y:-16.05, Z:11.35
[[ 9.71955207e-01  2.12693316e-01 -1.00322621e-01  1.11046970e+02]
 [-2.11810978e-01  9.77116286e-01  1.94903189e-02 -1.60520111e+01]
 [ 1.02172328e-01  2.30571551e-03  9.94764042e-01  1.13543015e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.681052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:111.10, Y:-16.06, Z:11.36
[[ 9.71492543e-01  2.14796348e-01 -1.00323316e-01  1.11104034e+02]
 [-2.13925551e-01  9.76655582e-01  1.94867438e-02 -1.60645684e+01]
 [ 1.02167007e-01  2.53049425e-03  9.94764042e-01  1.13623034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.74105275400001 meters
Centerline goodness : 0.999856 with order 1
Centerline is valid?  [True, True]
Translation: X:111.16, Y:-16.08, Z:11.37
[[ 9.71140712e-01  2.16381129e-01 -1.00324097e-01  1.11162201e+02]
 [-2.15519172e-01  9.76305234e-01  1.94827211e-02 -1.60750458e+01]
 [ 1.02162634e-01  2.70130263e-03  9.94764042e-01  1.13685715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.80105275400001 meters
Centerline goodness : 0.999450 with order 1
Centerline is valid?  [True, True]
Translation: X:111.22, Y:-16.09, Z:11.37
[[ 9.72569653e-01  2.09864469e-01 -1.00325341e-01  1.11219331e+02]
 [-2.08968562e-01  9.77728394e-01  1.94763124e-02 -1.60881869e+01]
 [ 1.02178320e-01  2.02277181e-03  9.94764042e-01  1.13733272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.861052754 meters
Centerline goodness : 0.999065 with order 1
Centerline is valid?  [True, True]
Translation: X:111.28, Y:-16.10, Z:11.38
[[ 9.73681306e-01  2.04644247e-01 -1.00326701e-01  1.11276757e+02]
 [-2.03721402e-01  9.78835296e-01  1.94693041e-02 -1.60985325e+01]
 [ 1.02187597e-01  1.48179877e-03  9.94764042e-01  1.13790508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.921052754 meters
Centerline goodness : 0.998996 with order 1
Centerline is valid?  [True, True]
Translation: X:111.33, Y:-16.11, Z:11.38
[[ 9.75155464e-01  1.97499804e-01 -1.00327705e-01  1.11333761e+02]
 [-1.96539728e-01  9.80302649e-01  1.94641278e-02 -1.61120248e+01]
 [ 1.02195676e-01  7.37829222e-04  9.94764042e-01  1.13846534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.981052754 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:111.39, Y:-16.12, Z:11.39
[[ 9.76520195e-01  1.90636819e-01 -1.00329021e-01  1.11391614e+02]
 [-1.89641265e-01  9.81660635e-01  1.94573411e-02 -1.61247727e+01]
 [ 1.02198336e-01  2.60359917e-05  9.94764042e-01  1.13922107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.041052754 meters
Centerline goodness : 0.998489 with order 1
Centerline is valid?  [True, True]
Translation: X:111.45, Y:-16.14, Z:11.40
[[ 9.77691403e-01  1.84535841e-01 -1.00329680e-01  1.11449289e+02]
 [-1.83508559e-01  9.82825596e-01  1.94539448e-02 -1.61386680e+01]
 [ 1.02196527e-01 -6.08599616e-04  9.94764042e-01  1.13954069e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.10105275400001 meters
Centerline goodness : 0.998369 with order 1
Centerline is valid?  [True, True]
Translation: X:111.51, Y:-16.15, Z:11.40
[[ 9.77781759e-01  1.84055943e-01 -1.00330662e-01  1.11506681e+02]
 [-1.83026660e-01  9.82915552e-01  1.94488804e-02 -1.61523767e+01]
 [ 1.02196250e-01 -6.53574632e-04  9.94764042e-01  1.13996716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.16105275400001 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:111.56, Y:-16.16, Z:11.41
[[ 9.76901817e-01  1.88668191e-01 -1.00335211e-01  1.11564383e+02]
 [-1.87665560e-01  9.82040881e-01  1.94253814e-02 -1.61637897e+01]
 [ 1.02198231e-01 -1.47226839e-04  9.94764042e-01  1.14086517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.221052754 meters
Centerline goodness : 0.997847 with order 1
Centerline is valid?  [True, True]
Translation: X:111.62, Y:-16.18, Z:11.41
[[ 9.76049846e-01  1.93026927e-01 -1.00335957e-01  1.11620464e+02]
 [-1.92047642e-01  9.81193410e-01  1.94215263e-02 -1.61758364e+01]
 [ 1.02197858e-01  3.12906229e-04  9.94764042e-01  1.14137583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.281052754 meters
Centerline goodness : 0.997243 with order 1
Centerline is valid?  [True, True]
Translation: X:111.68, Y:-16.19, Z:11.42
[[ 9.75370237e-01  1.96431310e-01 -1.00337637e-01  1.11677897e+02]
 [-1.95470870e-01  9.80517353e-01  1.94128449e-02 -1.61914228e+01]
 [ 1.02196085e-01  6.78374037e-04  9.94764042e-01  1.14150208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.341052754 meters
Centerline goodness : 0.997395 with order 1
Centerline is valid?  [True, True]
Translation: X:111.73, Y:-16.20, Z:11.42
[[ 9.75268207e-01  1.96935036e-01 -1.00341996e-01  1.11734276e+02]
 [-1.95979576e-01  9.80416250e-01  1.93902892e-02 -1.62037867e+01]
 [ 1.02195550e-01  7.54249206e-04  9.94764043e-01  1.14170029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.401052754 meters
Centerline goodness : 0.997479 with order 1
Centerline is valid?  [True, True]
Translation: X:111.79, Y:-16.22, Z:11.42
[[ 9.75363189e-01  1.96463239e-01 -1.00343640e-01  1.11791154e+02]
 [-1.95506164e-01  9.80510931e-01  1.93817786e-02 -1.62166827e+01]
 [ 1.02195842e-01  7.13526723e-04  9.94764043e-01  1.14213684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.46105275400001 meters
Centerline goodness : 0.996888 with order 1
Centerline is valid?  [True, True]
Translation: X:111.85, Y:-16.23, Z:11.43
[[ 9.76045447e-01  1.93042807e-01 -1.00348191e-01  1.11848417e+02]
 [-1.92070117e-01  9.81190262e-01  1.93581866e-02 -1.62261319e+01]
 [ 1.02197626e-01  3.79418900e-04  9.94764043e-01  1.14253778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.52105275400001 meters
Centerline goodness : 0.996905 with order 1
Centerline is valid?  [True, True]
Translation: X:111.91, Y:-16.23, Z:11.43
[[ 9.76942032e-01  1.88452081e-01 -1.00349787e-01  1.11906699e+02]
 [-1.87456065e-01  9.82082382e-01  1.93499102e-02 -1.62348797e+01]
 [ 1.02198288e-01 -9.25644783e-05  9.94764043e-01  1.14299072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.581052754 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:111.96, Y:-16.24, Z:11.44
[[ 9.77880892e-01  1.83515655e-01 -1.00354199e-01  1.11964314e+02]
 [-1.82496042e-01  9.83016613e-01  1.93269990e-02 -1.62427569e+01]
 [ 1.02196652e-01 -5.85258954e-04  9.94764043e-01  1.14391991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.641052754 meters
Centerline goodness : 0.998513 with order 1
Centerline is valid?  [True, True]
Translation: X:112.02, Y:-16.25, Z:11.45
[[ 9.77971277e-01  1.83033056e-01 -1.00354778e-01  1.12023190e+02]
 [-1.82011217e-01  9.83106556e-01  1.93239918e-02 -1.62498635e+01]
 [ 1.02196370e-01 -6.32613634e-04  9.94764043e-01  1.14470197e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.701052754 meters
Centerline goodness : 0.998933 with order 1
Centerline is valid?  [True, True]
Translation: X:112.08, Y:-16.26, Z:11.45
[[ 9.77507546e-01  1.85493374e-01 -1.00355401e-01  1.12080174e+02]
 [-1.84484793e-01  9.82645445e-01  1.93207569e-02 -1.62604793e+01]
 [ 1.02197650e-01 -3.72140351e-04  9.94764043e-01  1.14540276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.761052754 meters
Centerline goodness : 0.999121 with order 1
Centerline is valid?  [True, True]
Translation: X:112.14, Y:-16.27, Z:11.46
[[ 9.76533536e-01  1.90552212e-01 -1.00359887e-01  1.12136679e+02]
 [-1.89572644e-01  9.81677046e-01  1.92974252e-02 -1.62684295e+01]
 [ 1.02198165e-01  1.80906311e-04  9.94764044e-01  1.14639285e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.82105275400001 meters
Centerline goodness : 0.999620 with order 1
Centerline is valid?  [True, True]
Translation: X:112.19, Y:-16.28, Z:11.47
[[ 9.75812087e-01  1.94210304e-01 -1.00364975e-01  1.12194192e+02]
 [-1.93252743e-01  9.80959738e-01  1.92709302e-02 -1.62790678e+01]
 [ 1.02196612e-01  5.91000078e-04  9.94764044e-01  1.14681457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.88105275400001 meters
Centerline goodness : 0.999621 with order 1
Centerline is valid?  [True, True]
Translation: X:112.25, Y:-16.29, Z:11.47
[[ 9.75861505e-01  1.93959576e-01 -1.00369348e-01  1.12253235e+02]
 [-1.93003039e-01  9.81009346e-01  1.92481239e-02 -1.62911795e+01]
 [ 1.02196627e-01  5.88086022e-04  9.94764044e-01  1.14718338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.94105275400001 meters
Centerline goodness : 0.999551 with order 1
Centerline is valid?  [True, True]
Translation: X:112.31, Y:-16.30, Z:11.48
[[ 9.77013665e-01  1.88069747e-01 -1.00369658e-01  1.12309846e+02]
 [-1.87082341e-01  9.82155675e-01  1.92465086e-02 -1.63014954e+01]
 [ 1.02198315e-01 -2.67113584e-05  9.94764044e-01  1.14756282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.001052754 meters
Centerline goodness : 0.999576 with order 1
Centerline is valid?  [True, True]
Translation: X:112.37, Y:-16.31, Z:11.48
[[ 9.78575428e-01  1.79765840e-01 -1.00371185e-01  1.12366347e+02]
 [-1.78735619e-01  9.83709031e-01  1.92385431e-02 -1.63088209e+01]
 [ 1.02194474e-01 -8.86459756e-04  9.94764044e-01  1.14834520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.061052754 meters
Centerline goodness : 0.999811 with order 1
Centerline is valid?  [True, True]
Translation: X:112.42, Y:-16.32, Z:11.49
[[ 9.79508405e-01  1.74609228e-01 -1.00373815e-01  1.12423974e+02]
 [-1.73553390e-01  9.84636800e-01  1.92248087e-02 -1.63169366e+01]
 [ 1.02188581e-01 -1.41064575e-03  9.94764044e-01  1.14881900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.121052754 meters
Centerline goodness : 0.999788 with order 1
Centerline is valid?  [True, True]
Translation: X:112.48, Y:-16.33, Z:11.50
[[ 9.80527538e-01  1.68791610e-01 -1.00374999e-01  1.12481527e+02]
 [-1.67705980e-01  9.85649709e-01  1.92186276e-02 -1.63283756e+01]
 [ 1.02178531e-01 -2.01090601e-03  9.94764044e-01  1.14953571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.181052754 meters
Centerline goodness : 0.999600 with order 1
Centerline is valid?  [True, True]
Translation: X:112.54, Y:-16.34, Z:11.51
[[ 9.80379755e-01  1.69645404e-01 -1.00379145e-01  1.12538098e+02]
 [-1.68566454e-01  9.85503337e-01  1.91969467e-02 -1.63380864e+01]
 [ 1.02180656e-01 -1.89974135e-03  9.94764045e-01  1.15057398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.24105275400001 meters
Centerline goodness : 0.999342 with order 1
Centerline is valid?  [True, True]
Translation: X:112.60, Y:-16.35, Z:11.51
[[ 9.79028967e-01  1.77273845e-01 -1.00380601e-01  1.12595846e+02]
 [-1.76235602e-01  9.84160953e-01  1.91893330e-02 -1.63505254e+01]
 [ 1.02192434e-01 -1.09627732e-03  9.94764045e-01  1.15139925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.30105275400001 meters
Centerline goodness : 0.999340 with order 1
Centerline is valid?  [True, True]
Translation: X:112.65, Y:-16.36, Z:11.52
[[ 9.77315448e-01  1.86488966e-01 -1.00381172e-01  1.12653049e+02]
 [-1.85499423e-01  9.82457047e-01  1.91863429e-02 -1.63632251e+01]
 [ 1.02198231e-01 -1.30459834e-04  9.94764045e-01  1.15189092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.361052754 meters
Centerline goodness : 0.999338 with order 1
Centerline is valid?  [True, True]
Translation: X:112.71, Y:-16.37, Z:11.52
[[ 9.76944224e-01  1.88421621e-01 -1.00385637e-01  1.12710412e+02]
 [-1.87444652e-01  9.82088226e-01  1.91629532e-02 -1.63745406e+01]
 [ 1.02198267e-01  9.56144016e-05  9.94764045e-01  1.15242315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.421052754 meters
Centerline goodness : 0.999151 with order 1
Centerline is valid?  [True, True]
Translation: X:112.77, Y:-16.39, Z:11.53
[[ 9.76149324e-01  1.92494982e-01 -1.00390137e-01  1.12768347e+02]
 [-1.91541905e-01  9.81297806e-01  1.91393513e-02 -1.63883609e+01]
 [ 1.02196850e-01  5.46053218e-04  9.94764045e-01  1.15269022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.481052754 meters
Centerline goodness : 0.999101 with order 1
Centerline is valid?  [True, True]
Translation: X:112.83, Y:-16.40, Z:11.53
[[ 9.75227535e-01  1.97111504e-01 -1.00390785e-01  1.12825138e+02]
 [-1.96183148e-01  9.80380532e-01  1.91359489e-02 -1.64005422e+01]
 [ 1.02193087e-01  1.03307602e-03  9.94764045e-01  1.15297073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.541052754 meters
Centerline goodness : 0.999124 with order 1
Centerline is valid?  [True, True]
Translation: X:112.88, Y:-16.41, Z:11.54
[[ 9.74856278e-01  1.98938700e-01 -1.00392382e-01  1.12882877e+02]
 [-1.98020866e-01  9.80011160e-01  1.91275713e-02 -1.64118526e+01]
 [ 1.02190868e-01  1.23315335e-03  9.94764045e-01  1.15368266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.60105275400001 meters
Centerline goodness : 0.998981 with order 1
Centerline is valid?  [True, True]
Translation: X:112.94, Y:-16.42, Z:11.54
[[ 9.73872464e-01  2.03699780e-01 -1.00393344e-01  1.12940953e+02]
 [-2.02807666e-01  9.79031859e-01  1.91225192e-02 -1.64232628e+01]
 [ 1.02183535e-01  1.73764486e-03  9.94764045e-01  1.15437002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.66105275400001 meters
Centerline goodness : 0.998773 with order 1
Centerline is valid?  [True, True]
Translation: X:113.00, Y:-16.44, Z:11.55
[[ 9.72950077e-01  2.08060559e-01 -1.00393981e-01  1.12998757e+02]
 [-2.07191912e-01  9.78113475e-01  1.91191714e-02 -1.64350738e+01]
 [ 1.02174651e-01  2.19882168e-03  9.94764045e-01  1.15524714e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.721052754 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:113.06, Y:-16.45, Z:11.56
[[ 9.72588102e-01  2.09745797e-01 -1.00394642e-01  1.13056298e+02]
 [-2.08886454e-01  9.77753056e-01  1.91157000e-02 -1.64469216e+01]
 [ 1.02170606e-01  2.37937848e-03  9.94764045e-01  1.15587138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.781052754 meters
Centerline goodness : 0.998701 with order 1
Centerline is valid?  [True, True]
Translation: X:113.11, Y:-16.46, Z:11.57
[[ 9.73545094e-01  2.05255782e-01 -1.00399271e-01  1.13113662e+02]
 [-2.04375125e-01  9.78706457e-01  1.90913608e-02 -1.64597308e+01]
 [ 1.02180027e-01  1.93281281e-03  9.94764046e-01  1.15686609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.841052754 meters
Centerline goodness : 0.998662 with order 1
Centerline is valid?  [True, True]
Translation: X:113.17, Y:-16.47, Z:11.57
[[ 9.74514058e-01  2.00604604e-01 -1.00399920e-01  1.13171472e+02]
 [-1.99699663e-01  9.79671218e-01  1.90879446e-02 -1.64724947e+01]
 [ 1.02188042e-01  1.44835992e-03  9.94764046e-01  1.15726360e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.901052754 meters
Centerline goodness : 0.999086 with order 1
Centerline is valid?  [True, True]
Translation: X:113.23, Y:-16.48, Z:11.58
[[ 9.75761372e-01  1.94444747e-01 -1.00404113e-01  1.13227294e+02]
 [-1.93509518e-01  9.80913125e-01  1.90658636e-02 -1.64836224e+01]
 [ 1.02194969e-01  8.25418324e-04  9.94764046e-01  1.15781019e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.96105275400001 meters
Centerline goodness : 0.999275 with order 1
Centerline is valid?  [True, True]
Translation: X:113.28, Y:-16.50, Z:11.58
[[ 9.76777213e-01  1.89273854e-01 -1.00407594e-01  1.13284735e+02]
 [-1.88313239e-01  9.81924293e-01  1.90475134e-02 -1.64969491e+01]
 [ 1.02197852e-01  3.02902185e-04  9.94764046e-01  1.15803489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.02105275400001 meters
Centerline goodness : 0.999650 with order 1
Centerline is valid?  [True, True]
Translation: X:113.34, Y:-16.51, Z:11.58
[[ 9.76763628e-01  1.89341611e-01 -1.00411993e-01  1.13340653e+02]
 [-1.88383739e-01  9.81911219e-01  1.90242965e-02 -1.65119550e+01]
 [ 1.02197753e-01  3.33745813e-04  9.94764046e-01  1.15817315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.081052754 meters
Centerline goodness : 0.999907 with order 1
Centerline is valid?  [True, True]
Translation: X:113.40, Y:-16.53, Z:11.59
[[ 9.75495909e-01  1.95767021e-01 -1.00414172e-01  1.13397973e+02]
 [-1.94844238e-01  9.80649905e-01  1.90127879e-02 -1.65253649e+01]
 [ 1.02193225e-01  1.01822604e-03  9.94764046e-01  1.15882441e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.141052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.46, Y:-16.54, Z:11.59
[[ 9.73080899e-01  2.07437807e-01 -1.00414736e-01  1.13455551e+02]
 [-2.06577135e-01  9.78245631e-01  1.90098070e-02 -1.65401862e+01]
 [ 1.02173630e-01  2.24530845e-03  9.94764046e-01  1.15945347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.201052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.51, Y:-16.55, Z:11.60
[[ 9.69266790e-01  2.24585589e-01 -1.00415150e-01  1.13513354e+02]
 [-2.23816462e-01  9.74445946e-01  1.90076218e-02 -1.65486149e+01]
 [ 1.02117974e-01  4.05110702e-03  9.94764046e-01  1.16024912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.261052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.57, Y:-16.57, Z:11.61
[[ 9.68191653e-01  2.29175835e-01 -1.00415936e-01  1.13570766e+02]
 [-2.28431688e-01  9.73374456e-01  1.90034666e-02 -1.65658499e+01]
 [ 1.02097443e-01  4.53918406e-03  9.94764046e-01  1.16076624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.32105275400001 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:113.63, Y:-16.58, Z:11.61
[[ 9.68769116e-01  2.26722197e-01 -1.00416364e-01  1.13629331e+02]
 [-2.25965155e-01  9.73950052e-01  1.90012052e-02 -1.65791773e+01]
 [ 1.02108518e-01  4.28281859e-03  9.94764046e-01  1.16129370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.38105275400001 meters
Centerline goodness : 0.999977 with order 1
Centerline is valid?  [True, True]
Translation: X:113.69, Y:-16.59, Z:11.61
[[ 9.69179082e-01  2.24963027e-01 -1.00416847e-01  1.13686157e+02]
 [-2.24196844e-01  9.74358674e-01  1.89986518e-02 -1.65893750e+01]
 [ 1.02116021e-01  4.10004442e-03  9.94764046e-01  1.16146887e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.44105275400001 meters
Centerline goodness : 0.999977 with order 1
Centerline is valid?  [True, True]
Translation: X:113.74, Y:-16.60, Z:11.62
[[ 9.70307081e-01  2.20046205e-01 -1.00418308e-01  1.13743492e+02]
 [-2.19254569e-01  9.75482844e-01  1.89909311e-02 -1.65995458e+01]
 [ 1.02135219e-01  3.59013785e-03  9.94764046e-01  1.16204628e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.501052754 meters
Centerline goodness : 0.999906 with order 1
Centerline is valid?  [True, True]
Translation: X:113.80, Y:-16.61, Z:11.63
[[ 9.72083269e-01  2.12061423e-01 -1.00419471e-01  1.13801603e+02]
 [-2.11227896e-01  9.77252452e-01  1.89847792e-02 -1.66067166e+01]
 [ 1.02161113e-01  2.75660726e-03  9.94764046e-01  1.16260943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.561052754 meters
Centerline goodness : 0.999977 with order 1
Centerline is valid?  [True, True]
Translation: X:113.86, Y:-16.62, Z:11.63
[[ 9.73608190e-01  2.04945976e-01 -1.00420316e-01  1.13859206e+02]
 [-2.04075126e-01  9.78771215e-01  1.89803039e-02 -1.66182756e+01]
 [ 1.02178452e-01  2.01390938e-03  9.94764046e-01  1.16318348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.621052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.92, Y:-16.62, Z:11.65
[[ 9.73816226e-01  2.03953199e-01 -1.00424350e-01  1.13918171e+02]
 [-2.03079287e-01  9.78978734e-01  1.89589411e-02 -1.66219115e+01]
 [ 1.02180039e-01  1.93158083e-03  9.94764047e-01  1.16469431e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.681052754 meters
Centerline goodness : 0.999859 with order 1
Centerline is valid?  [True, True]
Translation: X:113.98, Y:-16.63, Z:11.65
[[ 9.73117148e-01  2.07262884e-01 -1.00424661e-01  1.13976560e+02]
 [-2.06406700e-01  9.78282625e-01  1.89572887e-02 -1.66341643e+01]
 [ 1.02172844e-01  2.28066026e-03  9.94764047e-01  1.16524418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.74105275400001 meters
Centerline goodness : 0.999906 with order 1
Centerline is valid?  [True, True]
Translation: X:114.03, Y:-16.65, Z:11.66
[[ 9.71679724e-01  2.13900085e-01 -1.00425428e-01  1.14033094e+02]
 [-2.13079597e-01  9.76850992e-01  1.89532276e-02 -1.66450047e+01]
 [ 1.02154776e-01  2.98214278e-03  9.94764047e-01  1.16574373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.80105275400001 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:114.09, Y:-16.66, Z:11.67
[[ 9.69125734e-01  2.25187865e-01 -1.00427768e-01  1.14091271e+02]
 [-2.24428867e-01  9.74306384e-01  1.89408188e-02 -1.66552825e+01]
 [ 1.02112658e-01  4.18285530e-03  9.94764047e-01  1.16650193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.861052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:114.15, Y:-16.67, Z:11.67
[[ 9.66526513e-01  2.36094625e-01 -1.00428222e-01  1.14148067e+02]
 [-2.35394305e-01  9.71715420e-01  1.89384124e-02 -1.66681336e+01]
 [ 1.02058909e-01  5.33575382e-03  9.94764047e-01  1.16703086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.921052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:114.21, Y:-16.68, Z:11.68
[[ 9.64042829e-01  2.46039490e-01 -1.00429048e-01  1.14206105e+02]
 [-2.45393119e-01  9.69238732e-01  1.89340334e-02 -1.66814000e+01]
 [ 1.01998243e-01  6.39137811e-03  9.94764047e-01  1.16774493e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.26, Y:-16.69, Z:11.69
[[ 9.63247874e-01  2.49133249e-01 -1.00429863e-01  1.14264023e+02]
 [-2.48504011e-01  9.68445880e-01  1.89297092e-02 -1.66895363e+01]
 [ 1.01976907e-01  6.72322153e-03  9.94764047e-01  1.16894104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.32, Y:-16.70, Z:11.70
[[ 9.63882663e-01  2.46665661e-01 -1.00430395e-01  1.14321553e+02]
 [-2.46023406e-01  9.69079076e-01  1.89268855e-02 -1.67000505e+01]
 [ 1.01993607e-01  6.46493101e-03  9.94764047e-01  1.16965100e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.38, Y:-16.71, Z:11.70
[[ 9.64892331e-01  2.42685544e-01 -1.00431646e-01  1.14379370e+02]
 [-2.42022538e-01  9.70086138e-01  1.89202429e-02 -1.67097018e+01]
 [ 1.02019017e-01  6.05072464e-03  9.94764047e-01  1.17013868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.16105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.44, Y:-16.72, Z:11.71
[[ 9.64453038e-01  2.44425125e-01 -1.00432540e-01  1.14436977e+02]
 [-2.43771978e-01  9.69648094e-01  1.89154966e-02 -1.67197907e+01]
 [ 1.02007644e-01  6.23953087e-03  9.94764047e-01  1.17059432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.221052754 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:114.49, Y:-16.73, Z:11.71
[[ 9.63365183e-01  2.48677795e-01 -1.00433448e-01  1.14494652e+02]
 [-2.48048076e-01  9.68563131e-01  1.89106737e-02 -1.67327003e+01]
 [ 1.01978800e-01  6.69443892e-03  9.94764047e-01  1.17118052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.55, Y:-16.74, Z:11.72
[[ 9.63303842e-01  2.48915104e-01 -1.00433957e-01  1.14551267e+02]
 [-2.48286945e-01  9.68501978e-01  1.89079708e-02 -1.67439486e+01]
 [ 1.01976966e-01  6.72231954e-03  9.94764047e-01  1.17207057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.341052754 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:114.61, Y:-16.75, Z:11.73
[[ 9.61559713e-01  2.55568133e-01 -1.00438280e-01  1.14608091e+02]
 [-2.54978311e-01  9.66762338e-01  1.88849787e-02 -1.67534852e+01]
 [ 1.01926345e-01  7.45054837e-03  9.94764047e-01  1.17299275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.67, Y:-16.76, Z:11.74
[[ 9.60441119e-01  2.59739893e-01 -1.00439262e-01  1.14665239e+02]
 [-2.59173204e-01  9.65646315e-01  1.88797541e-02 -1.67635493e+01]
 [ 1.01892629e-01  7.89827331e-03  9.94764047e-01  1.17355286e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.46105275400001 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:114.72, Y:-16.77, Z:11.74
[[ 9.60806845e-01  2.58383346e-01 -1.00440293e-01  1.14722588e+02]
 [-2.57809877e-01  9.66011299e-01  1.88742682e-02 -1.67733021e+01]
 [ 1.01903255e-01  7.75997352e-03  9.94764047e-01  1.17444554e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.52105275400001 meters
Centerline goodness : 0.999879 with order 1
Centerline is valid?  [True, True]
Translation: X:114.78, Y:-16.78, Z:11.76
[[ 9.63657013e-01  2.47541382e-01 -1.00441157e-01  1.14780220e+02]
 [-2.46909788e-01  9.68854732e-01  1.88696708e-02 -1.67829925e+01]
 [ 1.01983915e-01  6.61601408e-03  9.94764047e-01  1.17562196e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.581052754 meters
Centerline goodness : 0.999927 with order 1
Centerline is valid?  [True, True]
Translation: X:114.84, Y:-16.79, Z:11.76
[[ 9.65681278e-01  2.39522684e-01 -1.00441793e-01  1.14838909e+02]
 [-2.38848257e-01  9.70873613e-01  1.88662839e-02 -1.67930890e+01]
 [ 1.02035190e-01  5.77153013e-03  9.94764047e-01  1.17621292e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.641052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.90, Y:-16.80, Z:11.77
[[ 9.67494212e-01  2.32091125e-01 -1.00442323e-01  1.14896732e+02]
 [-2.31377090e-01  9.72681249e-01  1.88634636e-02 -1.68034591e+01]
 [ 1.02076406e-01  4.98976054e-03  9.94764047e-01  1.17698071e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.701052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:114.95, Y:-16.82, Z:11.77
[[ 9.67768080e-01  2.30946148e-01 -1.00443121e-01  1.14954833e+02]
 [-2.30226416e-01  9.72954330e-01  1.88592128e-02 -1.68162120e+01]
 [ 1.02082032e-01  4.87331556e-03  9.94764047e-01  1.17705369e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.761052754 meters
Centerline goodness : 0.999902 with order 1
Centerline is valid?  [True, True]
Translation: X:115.01, Y:-16.83, Z:11.78
[[ 9.65731573e-01  2.39318877e-01 -1.00444033e-01  1.15013435e+02]
 [-2.38644591e-01  9.70923927e-01  1.88543522e-02 -1.68270311e+01]
 [ 1.02035718e-01  5.76218204e-03  9.94764047e-01  1.17782952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.82105275400001 meters
Centerline goodness : 0.999732 with order 1
Centerline is valid?  [True, True]
Translation: X:115.07, Y:-16.84, Z:11.79
[[ 9.62196555e-01  2.53157440e-01 -1.00444514e-01  1.15071078e+02]
 [-2.52558028e-01  9.67398084e-01  1.88517889e-02 -1.68385516e+01]
 [ 1.01942301e-01  7.22894214e-03  9.94764047e-01  1.17900362e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.88105275400001 meters
Centerline goodness : 0.999951 with order 1
Centerline is valid?  [True, True]
Translation: X:115.13, Y:-16.85, Z:11.80
[[ 9.58022832e-01  2.68520081e-01 -1.00445106e-01  1.15129341e+02]
 [-2.68004297e-01  9.63233318e-01  1.88486383e-02 -1.68496817e+01]
 [ 1.01813310e-01  8.86229406e-03  9.94764047e-01  1.18018740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.94105275400001 meters
Centerline goodness : 0.999755 with order 1
Centerline is valid?  [True, True]
Translation: X:115.19, Y:-16.86, Z:11.81
[[ 9.52550182e-01  2.87330415e-01 -1.00445927e-01  1.15187899e+02]
 [-2.86917775e-01  9.57769849e-01  1.88442617e-02 -1.68619016e+01]
 [ 1.01618610e-01  1.08696168e-02  9.94764047e-01  1.18089409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.001052754 meters
Centerline goodness : 0.999780 with order 1
Centerline is valid?  [True, True]
Translation: X:115.25, Y:-16.87, Z:11.82
[[ 9.48036400e-01  3.01889775e-01 -1.00446746e-01  1.15245668e+02]
 [-3.01557605e-01  9.53261805e-01  1.88398919e-02 -1.68733391e+01]
 [ 1.01439617e-01  1.24295770e-02  9.94764047e-01  1.18177225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.061052754 meters
Centerline goodness : 0.999732 with order 1
Centerline is valid?  [True, True]
Translation: X:115.30, Y:-16.89, Z:11.82
[[ 9.44143493e-01  3.13852384e-01 -1.00447731e-01  1.15302828e+02]
 [-3.13586857e-01  9.49372708e-01  1.88346425e-02 -1.68866450e+01]
 [ 1.01273631e-01  1.37164830e-02  9.94764047e-01  1.18228740e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.121052754 meters
Centerline goodness : 0.999632 with order 1
Centerline is valid?  [True, True]
Translation: X:115.36, Y:-16.90, Z:11.83
[[ 9.42505941e-01  3.18735911e-01 -1.00448845e-01  1.15360913e+02]
 [-3.18498080e-01  9.47736489e-01  1.88286975e-02 -1.68977057e+01]
 [ 1.01200418e-01  1.42466050e-02  9.94764047e-01  1.18304884e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.181052754 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:115.42, Y:-16.91, Z:11.84
[[ 9.43344755e-01  3.16244336e-01 -1.00449955e-01  1.15418525e+02]
 [-3.15993303e-01  9.48574686e-01  1.88227759e-02 -1.69101986e+01]
 [ 1.01236880e-01  1.39851459e-02  9.94764047e-01  1.18377107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.24105275400001 meters
Centerline goodness : 0.999730 with order 1
Centerline is valid?  [True, True]
Translation: X:115.48, Y:-16.92, Z:11.84
[[ 9.45136446e-01  3.10847622e-01 -1.00453243e-01  1.15476429e+02]
 [-3.10568536e-01  9.50364956e-01  1.88052096e-02 -1.69198065e+01]
 [ 1.01312797e-01  1.34241276e-02  9.94764047e-01  1.18415275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.30105275400001 meters
Centerline goodness : 0.999755 with order 1
Centerline is valid?  [True, True]
Translation: X:115.53, Y:-16.93, Z:11.85
[[ 9.51159514e-01  2.91898172e-01 -1.00454152e-01  1.15534275e+02]
 [-2.91515163e-01  9.56381439e-01  1.88003509e-02 -1.69309865e+01]
 [ 1.01560275e-01  1.14017760e-02  9.94764047e-01  1.18499287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.361052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:115.59, Y:-16.94, Z:11.85
[[ 9.56940054e-01  2.72349976e-01 -1.00455086e-01  1.15593612e+02]
 [-2.71860582e-01  9.62153085e-01  1.87953590e-02 -1.69399357e+01]
 [ 1.01772087e-01  9.32374639e-03  9.94764047e-01  1.18549860e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.421052754 meters
Centerline goodness : 0.999975 with order 1
Centerline is valid?  [True, True]
Translation: X:115.65, Y:-16.95, Z:11.87
[[ 9.60047085e-01  2.61186089e-01 -1.00456071e-01  1.15652490e+02]
 [-2.60636560e-01  9.65254120e-01  1.87900942e-02 -1.69474020e+01]
 [ 1.01873348e-01  8.14314961e-03  9.94764047e-01  1.18664744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.481052754 meters
Centerline goodness : 0.999951 with order 1
Centerline is valid?  [True, True]
Translation: X:115.71, Y:-16.96, Z:11.87
[[ 9.62108523e-01  2.53486779e-01 -1.00457169e-01  1.15711193e+02]
 [-2.52896164e-01  9.67311058e-01  1.87842251e-02 -1.69575429e+01]
 [ 1.01934883e-01  7.33276944e-03  9.94764047e-01  1.18742387e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.541052754 meters
Centerline goodness : 0.999756 with order 1
Centerline is valid?  [True, True]
Translation: X:115.77, Y:-16.97, Z:11.88
[[ 9.63098435e-01  2.49699156e-01 -1.00457638e-01  1.15769256e+02]
 [-2.49088335e-01  9.68298636e-01  1.87817122e-02 -1.69712613e+01]
 [ 1.01962772e-01  6.93418829e-03  9.94764047e-01  1.18770408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.60105275400001 meters
Centerline goodness : 0.999560 with order 1
Centerline is valid?  [True, True]
Translation: X:115.83, Y:-16.98, Z:11.88
[[ 9.61224254e-01  2.56819204e-01 -1.00458097e-01  1.15827782e+02]
 [-2.56247137e-01  9.66428862e-01  1.87792575e-02 -1.69832508e+01]
 [ 1.01908479e-01  7.69102203e-03  9.94764047e-01  1.18843836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.66105275400001 meters
Centerline goodness : 0.999828 with order 1
Centerline is valid?  [True, True]
Translation: X:115.89, Y:-16.99, Z:11.89
[[ 9.57335463e-01  2.70955516e-01 -1.00458542e-01  1.15886055e+02]
 [-2.70460451e-01  9.62547959e-01  1.87768798e-02 -1.69939902e+01]
 [ 1.01783863e-01  9.19428950e-03  9.94764048e-01  1.18913710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.721052754 meters
Centerline goodness : 0.999975 with order 1
Centerline is valid?  [True, True]
Translation: X:115.94, Y:-17.01, Z:11.90
[[ 9.53096617e-01  2.85507853e-01 -1.00459465e-01  1.15944552e+02]
 [-2.85092766e-01  9.58316090e-01  1.87719411e-02 -1.70054405e+01]
 [ 1.01631458e-01  1.07487930e-02  9.94764048e-01  1.18967039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.781052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.00, Y:-17.02, Z:11.90
[[ 9.49087565e-01  2.98564066e-01 -1.00460406e-01  1.16002232e+02]
 [-2.98221191e-01  9.54312279e-01  1.87669010e-02 -1.70152941e+01]
 [ 1.01473721e-01  1.21479896e-02  9.94764048e-01  1.19021162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.841052754 meters
Centerline goodness : 0.999877 with order 1
Centerline is valid?  [True, True]
Translation: X:116.06, Y:-17.03, Z:11.91
[[ 9.47297089e-01  3.04196855e-01 -1.00461428e-01  1.16060475e+02]
 [-3.03885594e-01  9.52523782e-01  1.87614275e-02 -1.70268266e+01]
 [ 1.01399067e-01  1.27561351e-02  9.94764048e-01  1.19073890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.901052754 meters
Centerline goodness : 0.999901 with order 1
Centerline is valid?  [True, True]
Translation: X:116.12, Y:-17.04, Z:11.92
[[ 9.46212132e-01  3.07554348e-01 -1.00463546e-01  1.16118072e+02]
 [-3.07262808e-01  9.51439962e-01  1.87500822e-02 -1.70378705e+01]
 [ 1.01351701e-01  1.31271560e-02  9.94764048e-01  1.19157827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.96105275400001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:116.17, Y:-17.05, Z:11.93
[[ 9.46264817e-01  3.07391853e-01 -1.00464644e-01  1.16174954e+02]
 [-3.07100031e-01  9.51492631e-01  1.87441946e-02 -1.70482074e+01]
 [ 1.01353181e-01  1.31157235e-02  9.94764048e-01  1.19267819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.02105275400001 meters
Centerline goodness : 0.999853 with order 1
Centerline is valid?  [True, True]
Translation: X:116.23, Y:-17.06, Z:11.94
[[ 9.46852843e-01  3.05574300e-01 -1.00469107e-01  1.16233330e+02]
 [-3.05274939e-01  9.52080230e-01  1.87202429e-02 -1.70565294e+01]
 [ 1.01375076e-01  1.29453853e-02  9.94764048e-01  1.19364889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.081052754 meters
Centerline goodness : 0.999756 with order 1
Centerline is valid?  [True, True]
Translation: X:116.29, Y:-17.07, Z:11.94
[[ 9.48859092e-01  2.99286123e-01 -1.00470100e-01  1.16291223e+02]
 [-2.98952646e-01  9.54084413e-01  1.87149138e-02 -1.70715244e+01]
 [ 1.01458070e-01  1.22779860e-02  9.94764048e-01  1.19396193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.141052754 meters
Centerline goodness : 0.999757 with order 1
Centerline is valid?  [True, True]
Translation: X:116.35, Y:-17.08, Z:11.95
[[ 9.50059983e-01  2.95451614e-01 -1.00470752e-01  1.16348847e+02]
 [-2.95097401e-01  9.55283940e-01  1.87114121e-02 -1.70836644e+01]
 [ 1.01506413e-01  1.18716940e-02  9.94764048e-01  1.19459539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.201052754 meters
Centerline goodness : 0.999732 with order 1
Centerline is valid?  [True, True]
Translation: X:116.41, Y:-17.09, Z:11.95
[[ 9.49678384e-01  2.96675546e-01 -1.00471823e-01  1.16406064e+02]
 [-2.96328665e-01  9.54902833e-01  1.87056595e-02 -1.70937288e+01]
 [ 1.01490340e-01  1.20083207e-02  9.94764048e-01  1.19504757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.261052754 meters
Centerline goodness : 0.999782 with order 1
Centerline is valid?  [True, True]
Translation: X:116.46, Y:-17.10, Z:11.96
[[ 9.47534733e-01  3.03450894e-01 -1.00476284e-01  1.16464972e+02]
 [-3.03143840e-01  9.52761674e-01  1.86816648e-02 -1.71037684e+01]
 [ 1.01398921e-01  1.27572404e-02  9.94764048e-01  1.19565216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.32105275400001 meters
Centerline goodness : 0.999782 with order 1
Centerline is valid?  [True, True]
Translation: X:116.52, Y:-17.11, Z:11.97
[[ 9.46606093e-01  3.06335208e-01 -1.00477088e-01  1.16521445e+02]
 [-3.06044526e-01  9.51833969e-01  1.86773392e-02 -1.71148594e+01]
 [ 1.01359032e-01  1.30703798e-02  9.94764048e-01  1.19667988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.38105275400001 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:116.58, Y:-17.13, Z:11.97
[[ 9.46605898e-01  3.06335494e-01 -1.00478052e-01  1.16578264e+02]
 [-3.06045354e-01  9.51833805e-01  1.86721527e-02 -1.71273719e+01]
 [ 1.01358350e-01  1.30756712e-02  9.94764048e-01  1.19739405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.44105275400001 meters
Centerline goodness : 0.999760 with order 1
Centerline is valid?  [True, True]
Translation: X:116.64, Y:-17.14, Z:11.98
[[ 9.47595211e-01  3.03260995e-01 -1.00479274e-01  1.16635626e+02]
 [-3.02954571e-01  9.52822189e-01  1.86655780e-02 -1.71408799e+01]
 [ 1.01399423e-01  1.27532429e-02  9.94764048e-01  1.19827664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.501052754 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:116.69, Y:-17.15, Z:11.99
[[ 9.49025881e-01  2.98753506e-01 -1.00479947e-01  1.16692828e+02]
 [-2.98422620e-01  9.54251367e-01  1.86619527e-02 -1.71541390e+01]
 [ 1.01458450e-01  1.22748129e-02  9.94764048e-01  1.19890739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.561052754 meters
Centerline goodness : 0.999736 with order 1
Centerline is valid?  [True, True]
Translation: X:116.75, Y:-17.17, Z:11.99
[[ 9.50114339e-01  2.95273372e-01 -1.00480736e-01  1.16751336e+02]
 [-2.94923780e-01  9.55338607e-01  1.86577023e-02 -1.71657997e+01]
 [ 1.01502249e-01  1.19072080e-02  9.94764048e-01  1.19946831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.621052754 meters
Centerline goodness : 0.999809 with order 1
Centerline is valid?  [True, True]
Translation: X:116.81, Y:-17.18, Z:12.00
[[ 9.50029536e-01  2.95545318e-01 -1.00483056e-01  1.16810202e+02]
 [-2.95198526e-01  9.55253991e-01  1.86451977e-02 -1.71765736e+01]
 [ 1.01497342e-01  1.19489616e-02  9.94764048e-01  1.19957398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.681052754 meters
Centerline goodness : 0.999590 with order 1
Centerline is valid?  [True, True]
Translation: X:116.87, Y:-17.19, Z:12.00
[[ 9.50183326e-01  2.95050287e-01 -1.00483708e-01  1.16868234e+02]
 [-2.94701138e-01  9.55407623e-01  1.86416862e-02 -1.71853377e+01]
 [ 1.01503135e-01  1.18996437e-02  9.94764048e-01  1.20021618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.74105275400001 meters
Centerline goodness : 0.999591 with order 1
Centerline is valid?  [True, True]
Translation: X:116.93, Y:-17.20, Z:12.01
[[ 9.51535295e-01  2.90660172e-01 -1.00485060e-01  1.16927377e+02]
 [-2.90287666e-01  9.56757979e-01  1.86343950e-02 -1.71958312e+01]
 [ 1.01556159e-01  1.14382890e-02  9.94764048e-01  1.20066209e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.80105275400001 meters
Centerline goodness : 0.999759 with order 1
Centerline is valid?  [True, True]
Translation: X:116.99, Y:-17.21, Z:12.01
[[ 9.53495051e-01  2.84164989e-01 -1.00486049e-01  1.16985656e+02]
 [-2.83757435e-01  9.58715117e-01  1.86290623e-02 -1.72056694e+01]
 [ 1.01631221e-01  1.07509447e-02  9.94764048e-01  1.20120778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.861052754 meters
Centerline goodness : 0.999662 with order 1
Centerline is valid?  [True, True]
Translation: X:117.04, Y:-17.21, Z:12.02
[[ 9.56176149e-01  2.75008244e-01 -1.00487002e-01  1.17043830e+02]
 [-2.74551185e-01  9.61392114e-01  1.86239181e-02 -1.72142366e+01]
 [ 1.01729142e-01  9.78107923e-03  9.94764048e-01  1.20206691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.921052754 meters
Centerline goodness : 0.999808 with order 1
Centerline is valid?  [True, True]
Translation: X:117.10, Y:-17.23, Z:12.03
[[ 9.58551916e-01  2.66609094e-01 -1.00487883e-01  1.17102315e+02]
 [-2.66106787e-01  9.63763718e-01  1.86191655e-02 -1.72256768e+01]
 [ 1.01810614e-01  8.89307084e-03  9.94764048e-01  1.20296958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.981052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:117.16, Y:-17.23, Z:12.04
[[ 9.60836888e-01  2.58252653e-01 -1.00489013e-01  1.17159687e+02]
 [-2.57705620e-01  9.66044185e-01  1.86130613e-02 -1.72344950e+01]
 [ 1.01883699e-01  8.01246759e-03  9.94764048e-01  1.20367348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.041052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.22, Y:-17.24, Z:12.04
[[ 9.62087688e-01  2.53552856e-01 -1.00489944e-01  1.17218275e+02]
 [-2.52980898e-01  9.67292307e-01  1.86080345e-02 -1.72439303e+01]
 [ 1.01921270e-01  7.51947537e-03  9.94764049e-01  1.20414005e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.10105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.28, Y:-17.25, Z:12.05
[[ 9.60411467e-01  2.59829592e-01 -1.00490783e-01  1.17277645e+02]
 [-2.59292101e-01  9.65619757e-01  1.86035004e-02 -1.72486199e+01]
 [ 1.01869626e-01  8.18945133e-03  9.94764049e-01  1.20475630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.16105275400001 meters
Centerline goodness : 0.999927 with order 1
Centerline is valid?  [True, True]
Translation: X:117.34, Y:-17.25, Z:12.06
[[ 9.57460841e-01  2.70499914e-01 -1.00491465e-01  1.17336772e+02]
 [-2.70020792e-01  9.62674825e-01  1.85998199e-02 -1.72508292e+01]
 [ 1.01771853e-01  9.32618566e-03  9.94764049e-01  1.20554697e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.221052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:117.40, Y:-17.26, Z:12.06
[[ 9.57248726e-01  2.71249237e-01 -1.00492431e-01  1.17395011e+02]
 [-2.70774739e-01  9.62463132e-01  1.85945987e-02 -1.72629626e+01]
 [ 1.01764030e-01  9.41115584e-03  9.94764049e-01  1.20633541e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.281052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.45, Y:-17.27, Z:12.07
[[ 9.57248754e-01  2.71248934e-01 -1.00492981e-01  1.17452915e+02]
 [-2.70774745e-01  9.62463189e-01  1.85916228e-02 -1.72748559e+01]
 [ 1.01763753e-01  9.41415362e-03  9.94764049e-01  1.20701121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.341052754 meters
Centerline goodness : 0.999903 with order 1
Centerline is valid?  [True, True]
Translation: X:117.51, Y:-17.29, Z:12.08
[[ 9.55825833e-01  2.76220064e-01 -1.00496038e-01  1.17510928e+02]
 [-2.75774701e-01  9.61042809e-01  1.85750876e-02 -1.72885812e+01]
 [ 1.01711806e-01  9.95971613e-03  9.94764049e-01  1.20780775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.401052754 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:117.57, Y:-17.30, Z:12.09
[[ 9.52062470e-01  2.88924774e-01 -1.00496413e-01  1.17567288e+02]
 [-2.88549140e-01  9.57284929e-01  1.85730573e-02 -1.73048649e+01]
 [ 1.01569918e-01  1.13154427e-02  9.94764049e-01  1.20863283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.46105275400001 meters
Centerline goodness : 0.999904 with order 1
Centerline is valid?  [True, True]
Translation: X:117.62, Y:-17.32, Z:12.09
[[ 9.50936359e-01  2.92609487e-01 -1.00497408e-01  1.17624959e+02]
 [-2.92254641e-01  9.56160272e-01  1.85676730e-02 -1.73208684e+01]
 [ 1.01524706e-01  1.17141584e-02  9.94764049e-01  1.20887678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.52105275400001 meters
Centerline goodness : 0.999857 with order 1
Centerline is valid?  [True, True]
Translation: X:117.68, Y:-17.34, Z:12.09
[[ 9.50586566e-01  2.93743679e-01 -1.00497916e-01  1.17681736e+02]
 [-2.93395352e-01  9.55810918e-01  1.85649198e-02 -1.73412575e+01]
 [ 1.01510333e-01  1.18380582e-02  9.94764049e-01  1.20896743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.581052754 meters
Centerline goodness : 0.999743 with order 1
Centerline is valid?  [True, True]
Translation: X:117.74, Y:-17.37, Z:12.09
[[ 9.51434442e-01  2.90985363e-01 -1.00498859e-01  1.17737811e+02]
 [-2.90622417e-01  9.56657799e-01  1.85598148e-02 -1.73677764e+01]
 [ 1.01543652e-01  1.15487742e-02  9.94764049e-01  1.20944627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.641052754 meters
Centerline goodness : 0.999699 with order 1
Centerline is valid?  [True, True]
Translation: X:117.79, Y:-17.39, Z:12.10
[[ 9.52580281e-01  2.87211892e-01 -1.00499438e-01  1.17793854e+02]
 [-2.86828571e-01  9.57802182e-01  1.85566819e-02 -1.73888950e+01]
 [ 1.01588280e-01  1.11493808e-02  9.94764049e-01  1.21011829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.701052754 meters
Centerline goodness : 0.999656 with order 1
Centerline is valid?  [True, True]
Translation: X:117.85, Y:-17.41, Z:12.11
[[ 9.53478698e-01  2.84214925e-01 -1.00499989e-01  1.17850515e+02]
 [-2.83815496e-01  9.58699392e-01  1.85536943e-02 -1.74121032e+01]
 [ 1.01622515e-01  1.08329020e-02  9.94764049e-01  1.21068963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.761052754 meters
Centerline goodness : 0.999500 with order 1
Centerline is valid?  [True, True]
Translation: X:117.91, Y:-17.43, Z:12.12
[[ 9.53964603e-01  2.82579514e-01 -1.00500517e-01  1.17905414e+02]
 [-2.82171431e-01  9.59184628e-01  1.85508353e-02 -1.74320684e+01]
 [ 1.01640637e-01  1.06615344e-02  9.94764049e-01  1.21150449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.82105275400001 meters
Centerline goodness : 0.999417 with order 1
Centerline is valid?  [True, True]
Translation: X:117.96, Y:-17.45, Z:12.12
[[ 9.53854749e-01  2.82948539e-01 -1.00504935e-01  1.17959820e+02]
 [-2.82544972e-01  9.59075124e-01  1.85268700e-02 -1.74531934e+01]
 [ 1.01633933e-01  1.07252210e-02  9.94764049e-01  1.21239566e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.88105275400001 meters
Centerline goodness : 0.999201 with order 1
Centerline is valid?  [True, True]
Translation: X:118.02, Y:-17.47, Z:12.13
[[ 9.52395932e-01  2.87820145e-01 -1.00506484e-01  1.18016792e+02]
 [-2.87444142e-01  9.57618365e-01  1.85184582e-02 -1.74738219e+01]
 [ 1.01576841e-01  1.12530959e-02  9.94764049e-01  1.21308001e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.94105275400001 meters
Centerline goodness : 0.999338 with order 1
Centerline is valid?  [True, True]
Translation: X:118.07, Y:-17.49, Z:12.14
[[ 9.49412629e-01  2.97512933e-01 -1.00507285e-01  1.18072217e+02]
 [-2.97190635e-01  9.54638651e-01  1.85141108e-02 -1.74949197e+01]
 [ 1.01456327e-01  1.22922933e-02  9.94764049e-01  1.21378624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.001052754 meters
Centerline goodness : 0.999299 with order 1
Centerline is valid?  [True, True]
Translation: X:118.13, Y:-17.52, Z:12.14
[[ 9.47605385e-01  3.03219629e-01 -1.00508161e-01  1.18128169e+02]
 [-3.02929274e-01  9.52833280e-01  1.85093572e-02 -1.75187746e+01]
 [ 1.01379921e-01  1.29072976e-02  9.94764049e-01  1.21425072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.061052754 meters
Centerline goodness : 0.999370 with order 1
Centerline is valid?  [True, True]
Translation: X:118.18, Y:-17.54, Z:12.15
[[ 9.48967581e-01  2.98928968e-01 -1.00508716e-01  1.18184243e+02]
 [-2.98615277e-01  9.54194127e-01  1.85063421e-02 -1.75407500e+01]
 [ 1.01436908e-01  1.24515193e-02  9.94764049e-01  1.21483804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.121052754 meters
Centerline goodness : 0.999546 with order 1
Centerline is valid?  [True, True]
Translation: X:118.24, Y:-17.56, Z:12.15
[[ 9.49734802e-01  2.96482149e-01 -1.00509412e-01  1.18241672e+02]
 [-2.96155383e-01  9.54960546e-01  1.85025580e-02 -1.75558093e+01]
 [ 1.01468202e-01  1.21938803e-02  9.94764049e-01  1.21546405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.181052754 meters
Centerline goodness : 0.999700 with order 1
Centerline is valid?  [True, True]
Translation: X:118.30, Y:-17.58, Z:12.16
[[ 9.51816595e-01  2.89729064e-01 -1.00509898e-01  1.18297330e+02]
 [-2.89365465e-01  9.57039906e-01  1.84999217e-02 -1.75822004e+01]
 [ 1.01551948e-01  1.14755607e-02  9.94764049e-01  1.21582698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.24105275400001 meters
Centerline goodness : 0.999681 with order 1
Centerline is valid?  [True, True]
Translation: X:118.35, Y:-17.60, Z:12.17
[[ 9.52874518e-01  2.86230284e-01 -1.00510585e-01  1.18354773e+02]
 [-2.85847886e-01  9.58096486e-01  1.84961890e-02 -1.75999222e+01]
 [ 1.01593007e-01  1.11061909e-02  9.94764049e-01  1.21669138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.30105275400001 meters
Centerline goodness : 0.999746 with order 1
Centerline is valid?  [True, True]
Translation: X:118.41, Y:-17.62, Z:12.17
[[ 9.54786548e-01  2.79786021e-01 -1.00510846e-01  1.18411145e+02]
 [-2.79368499e-01  9.60005826e-01  1.84947666e-02 -1.76183497e+01]
 [ 1.01665575e-01  1.04210099e-02  9.94764049e-01  1.21695161e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.361052754 meters
Centerline goodness : 0.999726 with order 1
Centerline is valid?  [True, True]
Translation: X:118.47, Y:-17.63, Z:12.17
[[ 9.57375222e-01  2.70795347e-01 -1.00511513e-01  1.18468447e+02]
 [-2.70329142e-01  9.62590376e-01  1.84911453e-02 -1.76342276e+01]
 [ 1.01758731e-01  9.46822658e-03  9.94764049e-01  1.21734083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.421052754 meters
Centerline goodness : 0.999663 with order 1
Centerline is valid?  [True, True]
Translation: X:118.53, Y:-17.64, Z:12.18
[[ 9.61582617e-01  2.55452858e-01 -1.00512226e-01  1.18527126e+02]
 [-2.54903728e-01  9.66789693e-01  1.84872683e-02 -1.76448789e+01]
 [ 1.01896809e-01  7.84390520e-03  9.94764049e-01  1.21831020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.481052754 meters
Centerline goodness : 0.999704 with order 1
Centerline is valid?  [True, True]
Translation: X:118.59, Y:-17.66, Z:12.19
[[ 9.64215658e-01  2.45326970e-01 -1.00512897e-01  1.18585259e+02]
 [-2.44723492e-01  9.69416715e-01  1.84836189e-02 -1.76575335e+01]
 [ 1.01973412e-01  6.77567231e-03  9.94764049e-01  1.21879183e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.541052754 meters
Centerline goodness : 0.999599 with order 1
Centerline is valid?  [True, True]
Translation: X:118.64, Y:-17.67, Z:12.19
[[ 9.66162722e-01  2.37542886e-01 -1.00513540e-01  1.18644095e+02]
 [-2.36897846e-01  9.71358788e-01  1.84801201e-02 -1.76664685e+01]
 [ 1.02024531e-01  5.95663791e-03  9.94764049e-01  1.21936436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.60105275400001 meters
Centerline goodness : 0.999661 with order 1
Centerline is valid?  [True, True]
Translation: X:118.70, Y:-17.67, Z:12.20
[[ 9.68049058e-01  2.29734468e-01 -1.00514159e-01  1.18703156e+02]
 [-2.29047845e-01  9.73239793e-01  1.84767550e-02 -1.76696791e+01]
 [ 1.02069126e-01  5.13614617e-03  9.94764049e-01  1.22031230e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.66105275400001 meters
Centerline goodness : 0.999744 with order 1
Centerline is valid?  [True, True]
Translation: X:118.76, Y:-17.67, Z:12.21
[[ 9.67371986e-01  2.32568793e-01 -1.00514661e-01  1.18763725e+02]
 [-2.31897660e-01  9.72564746e-01  1.84740197e-02 -1.76687491e+01]
 [ 1.02053497e-01  5.43786558e-03  9.94764049e-01  1.22101380e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.721052754 meters
Centerline goodness : 0.999673 with order 1
Centerline is valid?  [True, True]
Translation: X:118.82, Y:-17.66, Z:12.22
[[ 9.64572439e-01  2.43919416e-01 -1.00515310e-01  1.18824861e+02]
 [-2.43309710e-01  9.69772770e-01  1.84704889e-02 -1.76612863e+01]
 [ 1.01982322e-01  6.64022647e-03  9.94764049e-01  1.22185389e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.781052754 meters
Centerline goodness : 0.999648 with order 1
Centerline is valid?  [True, True]
Translation: X:118.89, Y:-17.66, Z:12.22
[[ 9.59704106e-01  2.62420654e-01 -1.00515813e-01  1.18886425e+02]
 [-2.61911335e-01  9.64915227e-01  1.84677535e-02 -1.76565678e+01]
 [ 1.01835558e-01  8.60265179e-03  9.94764049e-01  1.22246623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.841052754 meters
Centerline goodness : 0.999600 with order 1
Centerline is valid?  [True, True]
Translation: X:118.95, Y:-17.65, Z:12.23
[[ 9.55749453e-01  2.76476784e-01 -1.00516517e-01  1.18947573e+02]
 [-2.76044396e-01  9.60967520e-01  1.84639187e-02 -1.76535645e+01]
 [ 1.01697953e-01  1.01001411e-02  9.94764049e-01  1.22279587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.901052754 meters
Centerline goodness : 0.999303 with order 1
Centerline is valid?  [True, True]
Translation: X:119.01, Y:-17.65, Z:12.24
[[ 9.53700211e-01  2.83464595e-01 -1.00517312e-01  1.19008579e+02]
 [-2.83070861e-01  9.58921337e-01  1.84595883e-02 -1.76508963e+01]
 [ 1.01620835e-01  1.08486089e-02  9.94764049e-01  1.22369409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.96105275400001 meters
Centerline goodness : 0.999367 with order 1
Centerline is valid?  [True, True]
Translation: X:119.07, Y:-17.66, Z:12.24
[[ 9.53644817e-01  2.83650630e-01 -1.00518079e-01  1.19067828e+02]
 [-2.83258349e-01  9.58866052e-01  1.84554127e-02 -1.76599076e+01]
 [ 1.01618263e-01  1.08726765e-02  9.94764049e-01  1.22398514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.02105275400001 meters
Centerline goodness : 0.999594 with order 1
Centerline is valid?  [True, True]
Translation: X:119.13, Y:-17.67, Z:12.25
[[ 9.55329411e-01  2.77923932e-01 -1.00518679e-01  1.19126415e+02]
 [-2.77500673e-01  9.60548226e-01  1.84521445e-02 -1.76709693e+01]
 [ 1.01681331e-01  1.02661247e-02  9.94764049e-01  1.22473033e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.08105275400001 meters
Centerline goodness : 0.999505 with order 1
Centerline is valid?  [True, True]
Translation: X:119.18, Y:-17.68, Z:12.26
[[ 9.59325512e-01  2.63799916e-01 -1.00519482e-01  1.19182647e+02]
 [-2.63300166e-01  9.64537559e-01  1.84477670e-02 -1.76848816e+01]
 [ 1.01821336e-01  8.76938289e-03  9.94764049e-01  1.22559695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.141052754 meters
Centerline goodness : 0.999532 with order 1
Centerline is valid?  [True, True]
Translation: X:119.24, Y:-17.71, Z:12.26
[[ 9.64070563e-01  2.45893530e-01 -1.00520257e-01  1.19239964e+02]
 [-2.45297267e-01  9.69272452e-01  1.84435473e-02 -1.77054951e+01]
 [ 1.01966665e-01  6.87646321e-03  9.94764049e-01  1.22611470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.201052754 meters
Centerline goodness : 0.999712 with order 1
Centerline is valid?  [True, True]
Translation: X:119.30, Y:-17.72, Z:12.27
[[ 9.68063569e-01  2.29670307e-01 -1.00521024e-01  1.19297497e+02]
 [-2.28987212e-01  9.73254770e-01  1.84393642e-02 -1.77189318e+01]
 [ 1.02067540e-01  5.16755231e-03  9.94764049e-01  1.22715043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.261052754 meters
Centerline goodness : 0.999756 with order 1
Centerline is valid?  [True, True]
Translation: X:119.35, Y:-17.73, Z:12.28
[[ 9.69946701e-01  2.21582468e-01 -1.00521674e-01  1.19354669e+02]
 [-2.20856436e-01  9.75132071e-01  1.84358177e-02 -1.77314066e+01]
 [ 1.02106962e-01  4.31909821e-03  9.94764049e-01  1.22765077e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.32105275400001 meters
Centerline goodness : 0.999755 with order 1
Centerline is valid?  [True, True]
Translation: X:119.41, Y:-17.74, Z:12.28
[[ 9.70265970e-01  2.20179871e-01 -1.00522494e-01  1.19412555e+02]
 [-2.19446805e-01  9.75450350e-01  1.84313486e-02 -1.77387539e+01]
 [ 1.02112914e-01  4.17602978e-03  9.94764049e-01  1.22798757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.38105275400001 meters
Centerline goodness : 0.999687 with order 1
Centerline is valid?  [True, True]
Translation: X:119.47, Y:-17.74, Z:12.29
[[ 9.70443250e-01  2.19396437e-01 -1.00524141e-01  1.19471351e+02]
 [-2.18660115e-01  9.75627168e-01  1.84223629e-02 -1.77397717e+01]
 [ 1.02115883e-01  4.10276232e-03  9.94764049e-01  1.22850128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.44105275400001 meters
Centerline goodness : 0.999617 with order 1
Centerline is valid?  [True, True]
Translation: X:119.53, Y:-17.74, Z:12.29
[[ 9.70846223e-01  2.17604220e-01 -1.00528678e-01  1.19531362e+02]
 [-2.16860891e-01  9.76029141e-01  1.83975681e-02 -1.77432225e+01]
 [ 1.02122308e-01  3.93952917e-03  9.94764050e-01  1.22901026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.501052754 meters
Centerline goodness : 0.999363 with order 1
Centerline is valid?  [True, True]
Translation: X:119.59, Y:-17.74, Z:12.30
[[ 9.71202757e-01  2.16007066e-01 -1.00529364e-01  1.19590837e+02]
 [-2.15255600e-01  9.76384501e-01  1.83938213e-02 -1.77408888e+01]
 [ 1.02128508e-01  3.77537855e-03  9.94764050e-01  1.22974020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.561052754 meters
Centerline goodness : 0.999565 with order 1
Centerline is valid?  [True, True]
Translation: X:119.65, Y:-17.74, Z:12.31
[[ 9.70557746e-01  2.18884872e-01 -1.00533950e-01  1.19650576e+02]
 [-2.18151365e-01  9.75742062e-01  1.83687228e-02 -1.77370958e+01]
 [ 1.02115839e-01  4.10371212e-03  9.94764050e-01  1.23061906e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.621052754 meters
Centerline goodness : 0.999769 with order 1
Centerline is valid?  [True, True]
Translation: X:119.71, Y:-17.74, Z:12.31
[[ 9.68164674e-01  2.29236035e-01 -1.00538569e-01  1.19710775e+02]
 [-2.28560549e-01  9.73356869e-01  1.83434058e-02 -1.77365494e+01]
 [ 1.02064876e-01  5.21971290e-03  9.94764050e-01  1.23103339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.681052754 meters
Centerline goodness : 0.999883 with order 1
Centerline is valid?  [True, True]
Translation: X:119.77, Y:-17.73, Z:12.32
[[ 9.65048152e-01  2.42020483e-01 -1.00539298e-01  1.19770567e+02]
 [-2.41414140e-01  9.70248875e-01  1.83394070e-02 -1.77323622e+01]
 [ 1.01986653e-01  6.57319739e-03  9.94764050e-01  1.23180871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.74105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.83, Y:-17.73, Z:12.32
[[ 9.62272091e-01  2.52832240e-01 -1.00539949e-01  1.19830611e+02]
 [-2.52284654e-01  9.67479328e-01  1.83358376e-02 -1.77349250e+01]
 [ 1.01906213e-01  7.72062154e-03  9.94764050e-01  1.23226886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.80105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.89, Y:-17.74, Z:12.33
[[ 9.60458722e-01  2.59635524e-01 -1.00540726e-01  1.19890029e+02]
 [-2.59125244e-01  9.65669747e-01  1.83315761e-02 -1.77394611e+01]
 [ 1.01848666e-01  8.44591805e-03  9.94764050e-01  1.23266195e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.861052754 meters
Centerline goodness : 0.999928 with order 1
Centerline is valid?  [True, True]
Translation: X:119.95, Y:-17.75, Z:12.33
[[ 9.59752041e-01  2.62235443e-01 -1.00541493e-01  1.19948180e+02]
 [-2.61739714e-01  9.64964471e-01  1.83273687e-02 -1.77459214e+01]
 [ 1.01825054e-01  8.72597212e-03  9.94764050e-01  1.23321380e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.921052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:120.01, Y:-17.76, Z:12.34
[[ 9.60262533e-01  2.60359551e-01 -1.00542385e-01  1.20006388e+02]
 [-2.59854146e-01  9.65474034e-01  1.83224725e-02 -1.77586884e+01]
 [ 1.01841493e-01  8.53197183e-03  9.94764050e-01  1.23366121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.981052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.06, Y:-17.77, Z:12.34
[[ 9.61773036e-01  2.54722858e-01 -1.00542992e-01  1.20064721e+02]
 [-2.54187241e-01  9.66981518e-01  1.83191457e-02 -1.77683668e+01]
 [ 1.01889520e-01  7.93788524e-03  9.94764050e-01  1.23447731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.041052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:120.12, Y:-17.78, Z:12.35
[[ 9.62857219e-01  2.50593206e-01 -1.00543628e-01  1.20122978e+02]
 [-2.50035605e-01  9.68063393e-01  1.83156510e-02 -1.77782843e+01]
 [ 1.01922384e-01  7.50413012e-03  9.94764050e-01  1.23536890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.10105275400001 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:120.18, Y:-17.79, Z:12.36
[[ 9.63982844e-01  2.46227424e-01 -1.00544181e-01  1.20181245e+02]
 [-2.45646552e-01  9.69186473e-01  1.83126142e-02 -1.77905934e+01]
 [ 1.01955128e-01  7.04528560e-03  9.94764050e-01  1.23569037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.16105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.24, Y:-17.80, Z:12.36
[[ 9.65284404e-01  2.41074188e-01 -1.00544791e-01  1.20240004e+02]
 [-2.40465873e-01  9.70484897e-01  1.83092634e-02 -1.77999578e+01]
 [ 1.01991092e-01  6.50394471e-03  9.94764050e-01  1.23612145e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.221052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:120.30, Y:-17.81, Z:12.37
[[ 9.66364083e-01  2.36708833e-01 -1.00545448e-01  1.20298056e+02]
 [-2.36077393e-01  9.71561819e-01  1.83056583e-02 -1.78110193e+01]
 [ 1.02019229e-01  6.04657652e-03  9.94764050e-01  1.23684002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.281052754 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:120.36, Y:-17.82, Z:12.37
[[ 9.67767830e-01  2.30902445e-01 -1.00545954e-01  1.20356178e+02]
 [-2.30240097e-01  9.72961717e-01  1.83028797e-02 -1.78219934e+01]
 [ 1.02053543e-01  5.43677188e-03  9.94764050e-01  1.23726248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.341052754 meters
Centerline goodness : 0.999904 with order 1
Centerline is valid?  [True, True]
Translation: X:120.41, Y:-17.83, Z:12.38
[[ 9.70174424e-01  2.20571905e-01 -1.00546612e-01  1.20414951e+02]
 [-2.19854596e-01  9.75361007e-01  1.82992632e-02 -1.78308478e+01]
 [ 1.02105548e-01  4.35215766e-03  9.94764050e-01  1.23844243e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.401052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.47, Y:-17.85, Z:12.39
[[ 9.72770427e-01  2.08825230e-01 -1.00547105e-01  1.20473043e+02]
 [-2.08045542e-01  9.77947999e-01  1.82965546e-02 -1.78457499e+01]
 [ 1.02150622e-01  3.12002970e-03  9.94764050e-01  1.23888244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.46105275400001 meters
Centerline goodness : 0.999857 with order 1
Centerline is valid?  [True, True]
Translation: X:120.53, Y:-17.85, Z:12.40
[[ 9.75868088e-01  1.93833969e-01 -1.00547836e-01  1.20532010e+02]
 [-1.92975128e-01  9.81033120e-01  1.82925328e-02 -1.78520543e+01]
 [ 1.02186472e-01  1.55213254e-03  9.94764050e-01  1.23959318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.52105275400001 meters
Centerline goodness : 0.999952 with order 1
Centerline is valid?  [True, True]
Translation: X:120.59, Y:-17.86, Z:12.40
[[ 9.77029654e-01  1.87891104e-01 -1.00548437e-01  1.20590668e+02]
 [-1.87001183e-01  9.82189422e-01  1.82892307e-02 -1.78595758e+01]
 [ 1.02193995e-01  9.33555924e-04  9.94764050e-01  1.24034603e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.58105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.65, Y:-17.86, Z:12.41
[[ 9.78260248e-01  1.81374659e-01 -1.00549098e-01  1.20649183e+02]
 [-1.80450740e-01  9.83414037e-01  1.82855934e-02 -1.78643681e+01]
 [ 1.02197938e-01  2.56090085e-04  9.94764050e-01  1.24092527e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.641052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:120.71, Y:-17.87, Z:12.42
[[ 9.79183038e-01  1.76322249e-01 -1.00553679e-01  1.20709091e+02]
 [-1.75374327e-01  9.84332466e-01  1.82603704e-02 -1.78663719e+01]
 [ 1.02197960e-01 -2.45711170e-04  9.94764051e-01  1.24163043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.701052754 meters
Centerline goodness : 0.999903 with order 1
Centerline is valid?  [True, True]
Translation: X:120.77, Y:-17.87, Z:12.42
[[ 9.79087305e-01  1.76852698e-01 -1.00554329e-01  1.20768238e+02]
 [-1.75907934e-01  9.84237313e-01  1.82567901e-02 -1.78738542e+01]
 [ 1.02198085e-01 -1.86687134e-04  9.94764051e-01  1.24230643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.761052754 meters
Centerline goodness : 0.999903 with order 1
Centerline is valid?  [True, True]
Translation: X:120.83, Y:-17.88, Z:12.43
[[ 9.78359563e-01  1.80834953e-01 -1.00554882e-01  1.20825137e+02]
 [-1.79911465e-01  9.83513429e-01  1.82537436e-02 -1.78829400e+01]
 [ 1.02197992e-01  2.32251488e-04  9.94764051e-01  1.24327028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.82105275400001 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:120.88, Y:-17.90, Z:12.44
[[ 9.76026515e-01  1.93028631e-01 -1.00559379e-01  1.20882147e+02]
 [-1.92172079e-01  9.81191927e-01  1.82289357e-02 -1.78951105e+01]
 [ 1.02186758e-01  1.53278027e-03  9.94764051e-01  1.24397232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.88105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.94, Y:-17.91, Z:12.44
[[ 9.69527084e-01  2.23393921e-01 -1.00560374e-01  1.20940362e+02]
 [-2.22699552e-01  9.74716787e-01  1.82234484e-02 -1.79093329e+01]
 [ 1.02088892e-01  4.72662334e-03  9.94764051e-01  1.24447084e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.94105275400001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.00, Y:-17.92, Z:12.45
[[ 9.65413370e-01  2.40550435e-01 -1.00560993e-01  1.20998572e+02]
 [-2.39948554e-01  9.70614610e-01  1.82200313e-02 -1.79247298e+01]
 [ 1.01988805e-01  6.53960292e-03  9.94764051e-01  1.24496342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.001052754 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.06, Y:-17.94, Z:12.46
[[ 9.63547453e-01  2.47918623e-01 -1.00561733e-01  1.21056163e+02]
 [-2.47356919e-01  9.68753185e-01  1.82159429e-02 -1.79411505e+01]
 [ 1.01935571e-01  7.32271512e-03  9.94764051e-01  1.24572276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.061052754 meters
Centerline goodness : 0.999976 with order 1
Centerline is valid?  [True, True]
Translation: X:121.11, Y:-17.96, Z:12.46
[[ 9.63510829e-01  2.48060694e-01 -1.00562292e-01  1.21113490e+02]
 [-2.47500078e-01  9.68716679e-01  1.82128598e-02 -1.79621985e+01]
 [ 1.01934264e-01  7.34088730e-03  9.94764051e-01  1.24597478e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.121052754 meters
Centerline goodness : 0.999953 with order 1
Centerline is valid?  [True, True]
Translation: X:121.17, Y:-17.98, Z:12.46
[[ 9.64456939e-01  2.44356159e-01 -1.00562817e-01  1.21171130e+02]
 [-2.43775842e-01  9.69660629e-01  1.82099557e-02 -1.79804449e+01]
 [ 1.01961520e-01  6.95206734e-03  9.94764051e-01  1.24647591e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.181052754 meters
Centerline goodness : 0.999789 with order 1
Centerline is valid?  [True, True]
Translation: X:121.23, Y:-18.00, Z:12.47
[[ 9.65669957e-01  2.39517181e-01 -1.00563680e-01  1.21227736e+02]
 [-2.38911273e-01  9.70870730e-01  1.82051928e-02 -1.80014714e+01]
 [ 1.01994790e-01  6.44558897e-03  9.94764051e-01  1.24723570e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.24105275400001 meters
Centerline goodness : 0.999815 with order 1
Centerline is valid?  [True, True]
Translation: X:121.28, Y:-18.02, Z:12.48
[[ 9.65669797e-01  2.39517206e-01 -1.00565161e-01  1.21284936e+02]
 [-2.38912148e-01  9.70870668e-01  1.81970060e-02 -1.80202826e+01]
 [ 1.01994261e-01  6.45393955e-03  9.94764051e-01  1.24814582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.30105275400001 meters
Centerline goodness : 0.999702 with order 1
Centerline is valid?  [True, True]
Translation: X:121.34, Y:-18.04, Z:12.49
[[ 9.64727263e-01  2.43285619e-01 -1.00565482e-01  1.21342124e+02]
 [-2.42701055e-01  9.69930478e-01  1.81952314e-02 -1.80394105e+01]
 [ 1.01968164e-01  6.85391280e-03  9.94764051e-01  1.24886638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.361052754 meters
Centerline goodness : 0.999863 with order 1
Centerline is valid?  [True, True]
Translation: X:121.40, Y:-18.06, Z:12.49
[[ 9.63499491e-01  2.48103252e-01 -1.00565933e-01  1.21398065e+02]
 [-2.47544955e-01  9.68705590e-01  1.81927388e-02 -1.80616389e+01]
 [ 1.01932459e-01  7.36589474e-03  9.94764051e-01  1.24940432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.421052754 meters
Centerline goodness : 0.999368 with order 1
Centerline is valid?  [True, True]
Translation: X:121.45, Y:-18.08, Z:12.50
[[ 9.62408880e-01  2.52300441e-01 -1.00566567e-01  1.21453771e+02]
 [-2.51765204e-01  9.67617401e-01  1.81892315e-02 -1.80833082e+01]
 [ 1.01899112e-01  7.81368446e-03  9.94764051e-01  1.25023709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.481052754 meters
Centerline goodness : 0.999283 with order 1
Centerline is valid?  [True, True]
Translation: X:121.51, Y:-18.11, Z:12.51
[[ 9.61159680e-01  2.57018056e-01 -1.00567337e-01  1.21508910e+02]
 [-2.56508816e-01  9.66370806e-01  1.81849774e-02 -1.81105376e+01]
 [ 1.01859206e-01  8.31774132e-03  9.94764051e-01  1.25103284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.541052754 meters
Centerline goodness : 0.999449 with order 1
Centerline is valid?  [True, True]
Translation: X:121.56, Y:-18.14, Z:12.52
[[ 9.59584520e-01  2.62837701e-01 -1.00567848e-01  1.21564631e+02]
 [-2.62360342e-01  9.64798663e-01  1.81821484e-02 -1.81385466e+01]
 [ 1.01806680e-01  8.93770689e-03  9.94764051e-01  1.25163769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.60105275400001 meters
Centerline goodness : 0.999652 with order 1
Centerline is valid?  [True, True]
Translation: X:121.62, Y:-18.17, Z:12.52
[[ 9.58685595e-01  2.66097518e-01 -1.00568588e-01  1.21618663e+02]
 [-2.65638309e-01  9.63901368e-01  1.81780536e-02 -1.81680444e+01]
 [ 1.01775335e-01  9.28783168e-03  9.94764051e-01  1.25205520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.66105275400001 meters
Centerline goodness : 0.999700 with order 1
Centerline is valid?  [True, True]
Translation: X:121.67, Y:-18.20, Z:12.52
[[ 9.59255783e-01  2.64034408e-01 -1.00569253e-01  1.21672961e+02]
 [-2.63564361e-01  9.64470590e-01  1.81743765e-02 -1.82003899e+01]
 [ 1.01794747e-01  9.07259507e-03  9.94764051e-01  1.25237742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.721052754 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:121.73, Y:-18.23, Z:12.53
[[ 9.60002792e-01  2.61303722e-01 -1.00573376e-01  1.21728615e+02]
 [-2.60821213e-01  9.65216461e-01  1.81515333e-02 -1.82312564e+01]
 [ 1.01818141e-01  8.80614721e-03  9.94764051e-01  1.25278506e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.781052754 meters
Centerline goodness : 0.999708 with order 1
Centerline is valid?  [True, True]
Translation: X:121.78, Y:-18.26, Z:12.53
[[ 9.60785127e-01  2.58412242e-01 -1.00573625e-01  1.21784334e+02]
 [-2.57914182e-01  9.65997333e-01  1.81501498e-02 -1.82590160e+01]
 [ 1.01844075e-01  8.50097027e-03  9.94764051e-01  1.25342460e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.841052754 meters
Centerline goodness : 0.999083 with order 1
Centerline is valid?  [True, True]
Translation: X:121.84, Y:-18.29, Z:12.54
[[ 9.62374553e-01  2.52428283e-01 -1.00574256e-01  1.21840530e+02]
 [-2.51898160e-01  9.67583596e-01  1.81466530e-02 -1.82867442e+01]
 [ 1.01894729e-01  7.87059306e-03  9.94764051e-01  1.25382429e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.901052754 meters
Centerline goodness : 0.998499 with order 1
Centerline is valid?  [True, True]
Translation: X:121.90, Y:-18.31, Z:12.54
[[ 9.64024435e-01  2.46052188e-01 -1.00574403e-01  1.21896771e+02]
 [-2.45487679e-01  9.69229863e-01  1.81458381e-02 -1.83125283e+01]
 [ 1.01944538e-01  7.19674559e-03  9.94764051e-01  1.25442278e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.96105275400001 meters
Centerline goodness : 0.997597 with order 1
Centerline is valid?  [True, True]
Translation: X:121.95, Y:-18.33, Z:12.55
[[ 9.64917661e-01  2.42525424e-01 -1.00574976e-01  1.21952934e+02]
 [-2.41942215e-01  9.70121028e-01  1.81426656e-02 -1.83308055e+01]
 [ 1.01969956e-01  6.82715389e-03  9.94764051e-01  1.25504179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.02105275400001 meters
Centerline goodness : 0.996846 with order 1
Centerline is valid?  [True, True]
Translation: X:122.01, Y:-18.35, Z:12.56
[[ 9.65026490e-01  2.42091484e-01 -1.00576274e-01  1.22008742e+02]
 [-2.41506681e-01  9.70229678e-01  1.81354671e-02 -1.83498383e+01]
 [ 1.01972528e-01  6.78863591e-03  9.94764051e-01  1.25588950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.08105275400001 meters
Centerline goodness : 0.997231 with order 1
Centerline is valid?  [True, True]
Translation: X:122.07, Y:-18.37, Z:12.56
[[ 9.63854026e-01  2.46717856e-01 -1.00576912e-01  1.22066071e+02]
 [-2.46158387e-01  9.69059999e-01  1.81319246e-02 -1.83713042e+01]
 [ 1.01938532e-01  7.28132190e-03  9.94764051e-01  1.25641730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.141052754 meters
Centerline goodness : 0.996315 with order 1
Centerline is valid?  [True, True]
Translation: X:122.12, Y:-18.39, Z:12.57
[[ 9.61888776e-01  2.54271975e-01 -1.00577059e-01  1.22122471e+02]
 [-2.53753450e-01  9.67098986e-01  1.81311100e-02 -1.83910078e+01]
 [ 1.01878205e-01  8.08166444e-03  9.94764051e-01  1.25708168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.201052754 meters
Centerline goodness : 0.996320 with order 1
Centerline is valid?  [True, True]
Translation: X:122.18, Y:-18.41, Z:12.58
[[ 9.60497252e-01  2.59478695e-01 -1.00577514e-01  1.22179661e+02]
 [-2.58988663e-01  9.65710219e-01  1.81285853e-02 -1.84108823e+01]
 [ 1.01832715e-01  8.63597951e-03  9.94764051e-01  1.25793367e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.261052754 meters
Centerline goodness : 0.996280 with order 1
Centerline is valid?  [True, True]
Translation: X:122.24, Y:-18.43, Z:12.59
[[ 9.60174317e-01  2.60671029e-01 -1.00577807e-01  1.22235668e+02]
 [-2.60187639e-01  9.65387904e-01  1.81269577e-02 -1.84334810e+01]
 [ 1.01821771e-01  8.76406307e-03  9.94764051e-01  1.25889502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.32105275400001 meters
Centerline goodness : 0.996381 with order 1
Centerline is valid?  [True, True]
Translation: X:122.29, Y:-18.45, Z:12.60
[[ 9.60197792e-01  2.60584385e-01 -1.00578223e-01  1.22291029e+02]
 [-2.60100764e-01  9.65411358e-01  1.81246538e-02 -1.84543350e+01]
 [ 1.01822360e-01  8.75721994e-03  9.94764051e-01  1.25958684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.38105275400001 meters
Centerline goodness : 0.996590 with order 1
Centerline is valid?  [True, True]
Translation: X:122.35, Y:-18.48, Z:12.60
[[ 9.60031444e-01  2.61194789e-01 -1.00582840e-01  1.22346441e+02]
 [-2.60717151e-01  9.65245561e-01  1.80989924e-02 -1.84759983e+01]
 [ 1.01814503e-01  8.84806969e-03  9.94764052e-01  1.26010690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.44105275400001 meters
Centerline goodness : 0.997080 with order 1
Centerline is valid?  [True, True]
Translation: X:122.40, Y:-18.50, Z:12.61
[[ 9.60468503e-01  2.59582650e-01 -1.00583809e-01  1.22402628e+02]
 [-2.59096819e-01  9.65681863e-01  1.80936058e-02 -1.84992081e+01]
 [ 1.01828746e-01  8.68260644e-03  9.94764052e-01  1.26078185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.501052754 meters
Centerline goodness : 0.997624 with order 1
Centerline is valid?  [True, True]
Translation: X:122.46, Y:-18.52, Z:12.61
[[ 9.61298802e-01  2.56490575e-01 -1.00584287e-01  1.22457385e+02]
 [-2.55988246e-01  9.66510598e-01  1.80909474e-02 -1.85220020e+01]
 [ 1.01855937e-01  8.35758925e-03  9.94764052e-01  1.26138904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.561052754 meters
Centerline goodness : 0.998018 with order 1
Centerline is valid?  [True, True]
Translation: X:122.51, Y:-18.54, Z:12.62
[[ 9.62271784e-01  2.52813968e-01 -1.00588824e-01  1.22514805e+02]
 [-2.52294344e-01  9.67481884e-01  1.80656868e-02 -1.85429906e+01]
 [ 1.01885123e-01  7.99389066e-03  9.94764052e-01  1.26203913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.621052754 meters
Centerline goodness : 0.998332 with order 1
Centerline is valid?  [True, True]
Translation: X:122.57, Y:-18.56, Z:12.63
[[ 9.64046486e-01  2.45959789e-01 -1.00589041e-01  1.22571717e+02]
 [-2.45403226e-01  9.69252770e-01  1.80644809e-02 -1.85649341e+01]
 [ 1.01939342e-01  7.26987569e-03  9.94764052e-01  1.26281784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.681052754 meters
Centerline goodness : 0.998168 with order 1
Centerline is valid?  [True, True]
Translation: X:122.63, Y:-18.59, Z:12.63
[[ 9.66668756e-01  2.35442815e-01 -1.00589253e-01  1.22628884e+02]
 [-2.34829690e-01  9.71868681e-01  1.80632987e-02 -1.85855954e+01]
 [ 1.02012419e-01  6.16011663e-03  9.94764052e-01  1.26322637e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.74105275400001 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:122.69, Y:-18.60, Z:12.64
[[ 9.68067342e-01  2.29624370e-01 -1.00589610e-01  1.22686116e+02]
 [-2.28980187e-01  9.73263512e-01  1.80613076e-02 -1.86022456e+01]
 [ 1.02047514e-01  5.54846584e-03  9.94764052e-01  1.26386029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.80105275400001 meters
Centerline goodness : 0.998418 with order 1
Centerline is valid?  [True, True]
Translation: X:122.74, Y:-18.62, Z:12.65
[[ 9.66628121e-01  2.35609200e-01 -1.00590162e-01  1.22743346e+02]
 [-2.34997495e-01  9.71828214e-01  1.80582329e-02 -1.86158364e+01]
 [ 1.02011044e-01  6.18284044e-03  9.94764052e-01  1.26457871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.861052754 meters
Centerline goodness : 0.998647 with order 1
Centerline is valid?  [True, True]
Translation: X:122.80, Y:-18.63, Z:12.65
[[ 9.63754033e-01  2.47102677e-01 -1.00590417e-01  1.22800800e+02]
 [-2.46553083e-01  9.68961056e-01  1.80568148e-02 -1.86276749e+01]
 [ 1.01930084e-01  7.39854937e-03  9.94764052e-01  1.26513910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.921052754 meters
Centerline goodness : 0.998458 with order 1
Centerline is valid?  [True, True]
Translation: X:122.86, Y:-18.64, Z:12.66
[[ 9.62544797e-01  2.51771975e-01 -1.00590188e-01  1.22859426e+02]
 [-2.51247499e-01  9.67754411e-01  1.80580894e-02 -1.86384421e+01]
 [ 1.01893119e-01  7.89131315e-03  9.94764052e-01  1.26588811e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.981052754 meters
Centerline goodness : 0.998361 with order 1
Centerline is valid?  [True, True]
Translation: X:122.92, Y:-18.65, Z:12.67
[[ 9.63586689e-01  2.47754415e-01 -1.00590469e-01  1.22916912e+02]
 [-2.47208373e-01  9.68794087e-01  1.80565244e-02 -1.86525387e+01]
 [ 1.01925035e-01  7.46777958e-03  9.94764052e-01  1.26666775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.041052754 meters
Centerline goodness : 0.998539 with order 1
Centerline is valid?  [True, True]
Translation: X:122.98, Y:-18.67, Z:12.67
[[ 9.64965630e-01  2.42327827e-01 -1.00591035e-01  1.22975897e+02]
 [-2.41752816e-01  9.70169909e-01  1.80533714e-02 -1.86661412e+01]
 [ 1.01965230e-01  6.89728308e-03  9.94764052e-01  1.26727918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.10105275400001 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:123.04, Y:-18.68, Z:12.68
[[ 9.66022079e-01  2.38081259e-01 -1.00591538e-01  1.23035079e+02]
 [-2.37483654e-01  9.71223811e-01  1.80505702e-02 -1.86751322e+01]
 [ 1.01994399e-01  6.45159662e-03  9.94764052e-01  1.26802054e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.16105275400001 meters
Centerline goodness : 0.998558 with order 1
Centerline is valid?  [True, True]
Translation: X:123.09, Y:-18.68, Z:12.69
[[ 9.66916196e-01  2.34423434e-01 -1.00591864e-01  1.23092971e+02]
 [-2.33806335e-01  9.72115652e-01  1.80487535e-02 -1.86830616e+01]
 [ 1.02017976e-01  6.06738284e-03  9.94764052e-01  1.26877829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.221052754 meters
Centerline goodness : 0.998373 with order 1
Centerline is valid?  [True, True]
Translation: X:123.15, Y:-18.69, Z:12.69
[[ 9.67248749e-01  2.33047233e-01 -1.00592465e-01  1.23152026e+02]
 [-2.32423083e-01  9.72447363e-01  1.80454006e-02 -1.86899396e+01]
 [ 1.02026308e-01  5.92561964e-03  9.94764052e-01  1.26937606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.281052754 meters
Centerline goodness : 0.998820 with order 1
Centerline is valid?  [True, True]
Translation: X:123.21, Y:-18.69, Z:12.70
[[ 9.66679290e-01  2.35397912e-01 -1.00593109e-01  1.23212565e+02]
 [-2.34786773e-01  9.71879450e-01  1.80418126e-02 -1.86934950e+01]
 [ 1.02011380e-01  6.17728477e-03  9.94764052e-01  1.26974340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.341052754 meters
Centerline goodness : 0.996931 with order 1
Centerline is valid?  [True, True]
Translation: X:123.27, Y:-18.70, Z:12.70
[[ 9.64461934e-01  2.44323844e-01 -1.00593428e-01  1.23271494e+02]
 [-2.43760986e-01  9.69667540e-01  1.80400336e-02 -1.86972131e+01]
 [ 1.01949792e-01  7.12182741e-03  9.94764052e-01  1.27031285e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.401052754 meters
Centerline goodness : 0.996169 with order 1
Centerline is valid?  [True, True]
Translation: X:123.33, Y:-18.70, Z:12.71
[[ 9.63369922e-01  2.48594552e-01 -1.00593943e-01  1.23331661e+02]
 [-2.48055062e-01  9.68578003e-01  1.80371615e-02 -1.87024703e+01]
 [ 1.01917020e-01  7.57637784e-03  9.94764052e-01  1.27086514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.46105275400001 meters
Centerline goodness : 0.996734 with order 1
Centerline is valid?  [True, True]
Translation: X:123.39, Y:-18.71, Z:12.72
[[ 9.63263660e-01  2.49005903e-01 -1.00594141e-01  1.23390904e+02]
 [-2.48468752e-01  9.68471982e-01  1.80360528e-02 -1.87098988e+01]
 [ 1.01913691e-01  7.62102658e-03  9.94764052e-01  1.27157394e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.52105275400001 meters
Centerline goodness : 0.996935 with order 1
Centerline is valid?  [True, True]
Translation: X:123.45, Y:-18.71, Z:12.72
[[ 9.64020799e-01  2.46058235e-01 -1.00594457e-01  1.23449043e+02]
 [-2.45505337e-01  9.69227473e-01  1.80342902e-02 -1.87149869e+01]
 [ 1.01936397e-01  7.31104532e-03  9.94764052e-01  1.27227716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.58105275400001 meters
Centerline goodness : 0.996233 with order 1
Centerline is valid?  [True, True]
Translation: X:123.51, Y:-18.72, Z:12.73
[[ 9.63540012e-01  2.47933888e-01 -1.00595390e-01  1.23508057e+02]
 [-2.47391665e-01  9.68747808e-01  1.80290887e-02 -1.87226775e+01]
 [ 1.01921585e-01  7.51471258e-03  9.94764052e-01  1.27300448e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.641052754 meters
Centerline goodness : 0.996448 with order 1
Centerline is valid?  [True, True]
Translation: X:123.57, Y:-18.73, Z:12.74
[[ 9.63130385e-01  2.49520327e-01 -1.00595566e-01  1.23566825e+02]
 [-2.48986783e-01  9.68339078e-01  1.80281068e-02 -1.87272897e+01]
 [ 1.01908996e-01  7.68354882e-03  9.94764052e-01  1.27366164e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.701052754 meters
Centerline goodness : 0.995589 with order 1
Centerline is valid?  [True, True]
Translation: X:123.63, Y:-18.74, Z:12.74
[[ 9.61387373e-01  2.56152205e-01 -1.00600032e-01  1.23626008e+02]
 [-2.55657165e-01  9.66599866e-01  1.80031497e-02 -1.87368866e+01]
 [ 1.01851524e-01  8.41111815e-03  9.94764053e-01  1.27433240e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.761052754 meters
Centerline goodness : 0.995069 with order 1
Centerline is valid?  [True, True]
Translation: X:123.68, Y:-18.75, Z:12.75
[[ 9.59130386e-01  2.64477770e-01 -1.00600262e-01  1.23684694e+02]
 [-2.64028074e-01  9.64346986e-01  1.80018648e-02 -1.87481512e+01]
 [ 1.01774652e-01  9.29515778e-03  9.94764053e-01  1.27500920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.82105275400001 meters
Centerline goodness : 0.994610 with order 1
Centerline is valid?  [True, True]
Translation: X:123.74, Y:-18.76, Z:12.76
[[ 9.58606547e-01  2.66370043e-01 -1.00600634e-01  1.23744191e+02]
 [-2.65930859e-01  9.63824043e-01  1.79997844e-02 -1.87584704e+01]
 [ 1.01755913e-01  9.49810183e-03  9.94764053e-01  1.27564678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.88105275400001 meters
Centerline goodness : 0.994153 with order 1
Centerline is valid?  [True, True]
Translation: X:123.80, Y:-18.77, Z:12.76
[[ 9.57545360e-01  2.70159945e-01 -1.00600634e-01  1.23802234e+02]
 [-2.69741403e-01  9.62764552e-01  1.79997844e-02 -1.87731267e+01]
 [ 1.01717545e-01  9.90054609e-03  9.94764053e-01  1.27609118e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.94105275400001 meters
Centerline goodness : 0.993966 with order 1
Centerline is valid?  [True, True]
Translation: X:123.86, Y:-18.79, Z:12.76
[[ 9.60287735e-01  2.60243945e-01 -1.00600971e-01  1.23858948e+02]
 [-2.59771652e-01  9.65502338e-01  1.79978986e-02 -1.87931593e+01]
 [ 1.01814317e-01  8.85011932e-03  9.94764053e-01  1.27639485e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 Total time of SLAM: 2647.78 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!