+ python -m lidar_slam --result /working/result.json --no-model /working/19d1f8fd-585c-4b42-ac0f-550b32eeb740
Lidar SLAM 0.0.19
=====================================================
 The recording path: /working/19d1f8fd-585c-4b42-ac0f-550b32eeb740
 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 0.006066493
Adjusted end_distance from 9.223372036854776e+18 to 330.616066493
 -=-=-> Lidar cleaning parameters file not found.
 --> Creating a generic default one.

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Averaged over 500 frames
Averaged shape: 180 points (N x 2)
Shape size (median max width): 2.5763

 SLAMing on 0.006066493 meters
Centerline goodness : 0.975649 with order 1
Centerline is valid?  [0, True]

 SLAMing on 0.066066493 meters
Centerline goodness : 0.975923 with order 1
Centerline is valid?  [True, True]
Translation: X:0.06, Y:0.02, Z:0.00
[[ 0.99994772  0.01022506  0.          0.06139839]
 [-0.01022506  0.99994772  0.          0.02085458]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.126066493 meters
Centerline goodness : 0.977865 with order 1
Centerline is valid?  [True, True]
Translation: X:0.12, Y:0.03, Z:0.00
[[ 0.99977613  0.02115882  0.          0.12339506]
 [-0.02115882  0.99977613  0.          0.02826518]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.18606649300000003 meters
Centerline goodness : 0.979187 with order 1
Centerline is valid?  [True, True]
Translation: X:0.19, Y:0.03, Z:0.00
[[ 0.99947061  0.03253458  0.          0.18590622]
 [-0.03253458  0.99947061  0.          0.03091853]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.24606649300000003 meters
Centerline goodness : 0.980401 with order 1
Centerline is valid?  [True, True]
Translation: X:0.25, Y:0.05, Z:0.00
[[ 0.99958521  0.02879957  0.          0.24814377]
 [-0.02879957  0.99958521  0.          0.04945331]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.30606649300000005 meters
Centerline goodness : 0.981324 with order 1
Centerline is valid?  [True, True]
Translation: X:0.31, Y:0.06, Z:0.00
[[ 0.9996327   0.02710107  0.          0.31012094]
 [-0.02710107  0.9996327   0.          0.05693206]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.36606649300000005 meters
Centerline goodness : 0.982490 with order 1
Centerline is valid?  [True, True]
Translation: X:0.37, Y:0.06, Z:0.00
[[ 0.99961436  0.02776919  0.          0.37241566]
 [-0.02776919  0.99961436  0.          0.05917113]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.42606649300000005 meters
Centerline goodness : 0.985041 with order 1
Centerline is valid?  [True, True]
Translation: X:0.43, Y:0.06, Z:0.00
[[ 0.99962048  0.02754809  0.          0.43247823]
 [-0.02754809  0.99962048  0.          0.05681217]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.48606649300000004 meters
Centerline goodness : 0.986151 with order 1
Centerline is valid?  [True, True]
Translation: X:0.49, Y:0.06, Z:0.00
[[ 0.99968002  0.02529556  0.          0.49472871]
 [-0.02529556  0.99968002  0.          0.05832453]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.546066493 meters
Centerline goodness : 0.987667 with order 1
Centerline is valid?  [True, True]
Translation: X:0.55, Y:0.06, Z:0.00
[[ 0.99980137  0.01993048  0.          0.55484552]
 [-0.01993048  0.99980137  0.          0.06177877]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.606066493 meters
Centerline goodness : 0.988614 with order 1
Centerline is valid?  [True, True]
Translation: X:0.62, Y:0.06, Z:0.00
[[ 0.99975382  0.022188    0.          0.6161816 ]
 [-0.022188    0.99975382  0.          0.0574644 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.666066493 meters
Centerline goodness : 0.989454 with order 1
Centerline is valid?  [True, True]
Translation: X:0.68, Y:0.06, Z:0.00
[[ 0.99987108  0.01605674  0.          0.67810856]
 [-0.01605674  0.99987108  0.          0.063118  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.726066493 meters
Centerline goodness : 0.990827 with order 1
Centerline is valid?  [True, True]
Translation: X:0.74, Y:0.07, Z:0.00
[[ 0.99986593  0.01637448  0.          0.73828923]
 [-0.01637448  0.99986593  0.          0.06776352]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.786066493 meters
Centerline goodness : 0.993067 with order 1
Centerline is valid?  [True, True]
Translation: X:0.80, Y:0.07, Z:0.00
[[ 0.9997073   0.02419334  0.          0.79869413]
 [-0.02419334  0.9997073   0.          0.07402357]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.846066493 meters
Centerline goodness : 0.994613 with order 1
Centerline is valid?  [True, True]
Translation: X:0.86, Y:0.08, Z:0.00
[[ 0.99954443  0.03018154  0.          0.86042474]
 [-0.03018154  0.99954443  0.          0.07653454]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.906066493 meters
Centerline goodness : 0.997667 with order 1
Centerline is valid?  [True, True]
Translation: X:0.92, Y:0.08, Z:0.00
[[ 0.99917844  0.040527    0.          0.92057932]
 [-0.040527    0.99917844  0.          0.08310545]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.966066493 meters
Centerline goodness : 0.999692 with order 1
Centerline is valid?  [True, True]
Translation: X:0.98, Y:0.08, Z:0.00
[[ 0.99880409  0.04889156  0.          0.98273841]
 [-0.04889156  0.99880409  0.          0.08066336]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.04, Y:0.07, Z:0.00
[[ 0.99822355  0.05957979  0.          1.04200805]
 [-0.05957979  0.99822355  0.          0.07394854]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.0860664930000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.10, Y:0.07, Z:0.00
[[ 0.99789557  0.06484157  0.          1.10230582]
 [-0.06484157  0.99789557  0.          0.06708893]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.1460664930000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.16, Y:0.06, Z:0.00
[[ 0.99756217  0.06978338  0.          1.16331581]
 [-0.06978338  0.99756217  0.          0.05579105]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.2060664930000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.22, Y:0.05, Z:0.00
[[ 0.99732042  0.07315722  0.          1.22383624]
 [-0.07315722  0.99732042  0.          0.04555072]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.29, Y:0.03, Z:0.00
[[ 0.9972241   0.07445869  0.          1.28507046]
 [-0.07445869  0.9972241   0.          0.03084281]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.3260664930000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.35, Y:0.02, Z:0.00
[[ 0.99737153  0.07245716  0.          1.34753921]
 [-0.07245716  0.99737153  0.          0.0229941 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.3860664930000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.41, Y:0.01, Z:0.00
[[ 0.99778586  0.06650846  0.          1.40728145]
 [-0.06650846  0.99778586  0.          0.00655261]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.4460664930000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.47, Y:-0.02, Z:0.00
[[ 0.99837845  0.05692518  0.          1.46724569]
 [-0.05692518  0.99837845  0.         -0.02056167]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.5060664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.53, Y:-0.04, Z:0.00
[[ 0.99858661  0.0531487   0.          1.52813741]
 [-0.0531487   0.99858661  0.         -0.03803245]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.5660664930000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.59, Y:-0.05, Z:0.00
[[ 0.99853262  0.0541536   0.          1.58894519]
 [-0.0541536   0.99853262  0.         -0.05116521]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.6260664930000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.65, Y:-0.06, Z:0.00
[[ 0.99805202  0.06238725  0.          1.64825965]
 [-0.06238725  0.99805202  0.         -0.05608925]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.6860664930000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.71, Y:-0.07, Z:0.00
[[ 0.99855451  0.05374834  0.          1.70882287]
 [-0.05374834  0.99855451  0.         -0.07122462]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.7460664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.77, Y:-0.09, Z:0.00
[[ 0.99887241  0.04747525  0.          1.7685706 ]
 [-0.04747525  0.99887241  0.         -0.094033  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.83, Y:-0.12, Z:0.00
[[ 0.99913785  0.04151563  0.          1.8299366 ]
 [-0.04151563  0.99913785  0.         -0.11523697]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.8660664930000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.89, Y:-0.13, Z:0.00
[[ 0.99894137  0.04600156  0.          1.88916315]
 [-0.04600156  0.99894137  0.         -0.1290893 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.9260664930000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:1.95, Y:-0.14, Z:0.00
[[ 0.99903349  0.04395552  0.          1.94915159]
 [-0.04395552  0.99903349  0.         -0.14498504]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.9860664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.01, Y:-0.17, Z:0.00
[[ 0.99875567  0.0498709   0.          2.00857922]
 [-0.0498709   0.99875567  0.         -0.1735351 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.07, Y:-0.19, Z:0.00
[[ 0.99918566  0.04034865  0.          2.06819805]
 [-0.04034865  0.99918566  0.         -0.1940557 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.13, Y:-0.20, Z:0.00
[[ 0.99943733  0.0335414   0.          2.13003564]
 [-0.0335414   0.99943733  0.         -0.19853446]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.19, Y:-0.21, Z:0.00
[[ 0.99957296  0.02922157  0.          2.18929533]
 [-0.02922157  0.99957296  0.         -0.21235525]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.2260664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.25, Y:-0.22, Z:0.00
[[ 0.99966562  0.02585829  0.          2.25039818]
 [-0.02585829  0.99966562  0.         -0.22480702]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.2860664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.31, Y:-0.23, Z:0.00
[[ 0.99970424  0.02431946  0.          2.31088634]
 [-0.02431946  0.99970424  0.         -0.23292854]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.3460664930000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.37, Y:-0.25, Z:0.00
[[ 0.99987497  0.01581291  0.          2.37276125]
 [-0.01581291  0.99987497  0.         -0.24740812]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.4060664930000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.43, Y:-0.26, Z:0.00
[[ 0.99981548  0.0192097   0.          2.43430962]
 [-0.0192097   0.99981548  0.         -0.25720865]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.4660664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.49, Y:-0.27, Z:0.00
[[ 0.99990173  0.014019    0.          2.49475461]
 [-0.014019    0.99990173  0.         -0.27304979]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.56, Y:-0.28, Z:0.00
[[ 0.99976193  0.0218194   0.          2.55620328]
 [-0.0218194   0.99976193  0.         -0.27774656]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.62, Y:-0.29, Z:0.00
[[ 0.99986103  0.01667068  0.          2.61756258]
 [-0.01667068  0.99986103  0.         -0.29390338]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.68, Y:-0.30, Z:0.00
[[ 0.99979955  0.0200217   0.          2.67958841]
 [-0.0200217   0.99979955  0.         -0.29959422]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.7060664930000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.74, Y:-0.30, Z:0.00
[[ 0.99977722  0.02110691  0.          2.74163071]
 [-0.02110691  0.99977722  0.         -0.29600846]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.7660664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.80, Y:-0.29, Z:0.00
[[ 0.9998052   0.01973741  0.          2.8022319 ]
 [-0.01973741  0.9998052   0.         -0.29433574]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.8260664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.86, Y:-0.29, Z:0.00
[[ 0.99968891  0.02494156  0.          2.86354496]
 [-0.02494156  0.99968891  0.         -0.2938968 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.8860664930000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.93, Y:-0.29, Z:0.00
[[ 0.99959201  0.02856231  0.          2.92592449]
 [-0.02856231  0.99959201  0.         -0.29299956]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.9460664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:2.99, Y:-0.29, Z:0.00
[[ 0.99951965  0.03099145  0.          2.98706285]
 [-0.03099145  0.99951965  0.         -0.2944467 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.0060664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.05, Y:-0.29, Z:0.00
[[ 0.99957868  0.02902511  0.          3.04980387]
 [-0.02902511  0.99957868  0.         -0.29268339]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.11, Y:-0.29, Z:0.00
[[ 0.9995579   0.02973212  0.          3.11174851]
 [-0.02973212  0.9995579   0.         -0.29215939]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.17, Y:-0.30, Z:0.00
[[ 0.99963709  0.02693876  0.          3.17378788]
 [-0.02693876  0.99963709  0.         -0.2968958 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.24, Y:-0.30, Z:0.00
[[ 0.99965611  0.0262234   0.          3.23553085]
 [-0.0262234   0.99965611  0.         -0.30236457]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.2460664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.30, Y:-0.30, Z:0.00
[[ 0.99958118  0.02893882  0.          3.29727435]
 [-0.02893882  0.99958118  0.         -0.30482601]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.3060664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.36, Y:-0.30, Z:0.00
[[ 0.99953685  0.03043177  0.          3.3589479 ]
 [-0.03043177  0.99953685  0.         -0.3033605 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.3660664930000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.42, Y:-0.31, Z:0.00
[[ 0.99951981  0.0309862   0.          3.42017906]
 [-0.0309862   0.99951981  0.         -0.30630401]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.4260664930000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.48, Y:-0.31, Z:0.00
[[ 0.99956616  0.02945311  0.          3.4809575 ]
 [-0.02945311  0.99956616  0.         -0.30664873]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.4860664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.54, Y:-0.31, Z:0.00
[[ 0.99971991  0.02366626  0.          3.54208899]
 [-0.02366626  0.99971991  0.         -0.30690408]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.5460664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.60, Y:-0.32, Z:0.00
[[ 0.99984214  0.0177678   0.          3.60321147]
 [-0.0177678   0.99984214  0.         -0.31594804]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.66, Y:-0.32, Z:0.00
[[ 0.99977436  0.02124194  0.          3.66391925]
 [-0.02124194  0.99977436  0.         -0.31657187]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.73, Y:-0.31, Z:0.00
[[ 0.99970257  0.02438783  0.          3.72653801]
 [-0.02438783  0.99970257  0.         -0.31184831]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.7260664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.79, Y:-0.30, Z:0.00
[[ 0.99955497  0.02983046  0.          3.78932778]
 [-0.02983046  0.99955497  0.         -0.30391426]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.7860664930000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.85, Y:-0.31, Z:0.00
[[ 0.99945002  0.03316109  0.          3.85072108]
 [-0.03316109  0.99945002  0.         -0.30723156]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.8460664930000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.91, Y:-0.31, Z:0.00
[[ 0.99936611  0.03560035  0.          3.9121944 ]
 [-0.03560035  0.99936611  0.         -0.31375667]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.9060664930000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:3.97, Y:-0.32, Z:0.00
[[ 0.99952907  0.03068597  0.          3.97376442]
 [-0.03068597  0.99952907  0.         -0.31905544]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.9660664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.04, Y:-0.32, Z:0.00
[[ 0.9996688   0.02573484  0.          4.03585269]
 [-0.02573484  0.9996688   0.         -0.31892422]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.10, Y:-0.32, Z:0.00
[[ 0.99969547  0.02467732  0.          4.09795893]
 [-0.02467732  0.99969547  0.         -0.31847409]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.16, Y:-0.32, Z:0.00
[[ 0.9997237   0.02350599  0.          4.15844896]
 [-0.02350599  0.9997237   0.         -0.32044791]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.22, Y:-0.32, Z:0.00
[[ 0.99971011  0.02407677  0.          4.21990972]
 [-0.02407677  0.99971011  0.         -0.32473479]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.28, Y:-0.33, Z:0.00
[[ 0.99971614  0.02382533  0.          4.28013355]
 [-0.02382533  0.99971614  0.         -0.32921382]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.34, Y:-0.32, Z:0.00
[[ 0.99968054  0.02527494  0.          4.34221114]
 [-0.02527494  0.99968054  0.         -0.32401873]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.40, Y:-0.32, Z:0.00
[[ 0.99968872  0.02494909  0.          4.40338756]
 [-0.02494909  0.99968872  0.         -0.32453231]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.47, Y:-0.33, Z:0.00
[[ 0.99944764  0.0332327   0.          4.46606265]
 [-0.0332327   0.99944764  0.         -0.32633858]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.53, Y:-0.31, Z:0.00
[[ 0.99870106  0.05095294  0.          4.52576282]
 [-0.05095294  0.99870106  0.         -0.31342631]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.59, Y:-0.30, Z:0.00
[[ 0.99818515  0.06021971  0.          4.58699337]
 [-0.06021971  0.99818515  0.         -0.30266044]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.65, Y:-0.30, Z:0.00
[[ 0.997279    0.07371966  0.          4.64665079]
 [-0.07371966  0.997279    0.         -0.29915128]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.71, Y:-0.30, Z:0.00
[[ 0.99678308  0.08014675  0.          4.70705254]
 [-0.08014675  0.99678308  0.         -0.30346581]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.77, Y:-0.31, Z:0.00
[[ 0.99629751  0.08597249  0.          4.7677164 ]
 [-0.08597249  0.99629751  0.         -0.30590338]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.83, Y:-0.31, Z:0.00
[[ 0.9957584   0.09200655  0.          4.82783982]
 [-0.09200655  0.9957584   0.         -0.30513987]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.89, Y:-0.31, Z:0.00
[[ 0.9955847   0.09386749  0.          4.88868354]
 [-0.09386749  0.9955847   0.         -0.30826815]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:4.95, Y:-0.31, Z:0.00
[[ 0.99508587  0.09901572  0.          4.94917415]
 [-0.09901572  0.99508587  0.         -0.31448989]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.01, Y:-0.32, Z:0.00
[[ 0.9951023   0.09885044  0.          5.01133322]
 [-0.09885044  0.9951023   0.         -0.32069786]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 4.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.07, Y:-0.32, Z:0.00
[[ 0.99518136  0.09805132  0.          5.07211745]
 [-0.09805132  0.99518136  0.         -0.32374033]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.13, Y:-0.32, Z:0.00
[[ 0.99540817  0.09572131  0.          5.13356735]
 [-0.09572131  0.99540817  0.         -0.32415923]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.19, Y:-0.33, Z:0.00
[[ 0.99586004  0.09089987  0.          5.19363263]
 [-0.09089987  0.99586004  0.         -0.33090137]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.25, Y:-0.34, Z:0.00
[[ 0.99594621  0.08995079  0.          5.25438589]
 [-0.08995079  0.99594621  0.         -0.33919608]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.32, Y:-0.34, Z:0.00
[[ 0.9957857   0.09171064  0.          5.31571074]
 [-0.09171064  0.9957857   0.         -0.34281958]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.38, Y:-0.34, Z:0.00
[[ 0.99555636  0.09416755  0.          5.3767574 ]
 [-0.09416755  0.99555636  0.         -0.34390258]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.44, Y:-0.35, Z:0.00
[[ 0.9961165   0.08804494  0.          5.43695146]
 [-0.08804494  0.9961165   0.         -0.35057305]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.50, Y:-0.36, Z:0.00
[[ 0.99718958  0.07491957  0.          5.49775453]
 [-0.07491957  0.99718958  0.         -0.35765129]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.4660664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.56, Y:-0.35, Z:0.00
[[ 0.99773141  0.06732045  0.          5.55771672]
 [-0.06732045  0.99773141  0.         -0.35037465]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.62, Y:-0.35, Z:0.00
[[ 0.99789233  0.06489136  0.          5.61903297]
 [-0.06489136  0.99789233  0.         -0.34729684]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.68, Y:-0.35, Z:0.00
[[ 0.99848932  0.05494612  0.          5.67961629]
 [-0.05494612  0.99848932  0.         -0.34920057]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.74, Y:-0.36, Z:0.00
[[ 0.99923471  0.03911526  0.          5.73929823]
 [-0.03911526  0.99923471  0.         -0.36356365]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.80, Y:-0.38, Z:0.00
[[ 0.99962876  0.02724592  0.          5.800564  ]
 [-0.02724592  0.99962876  0.         -0.37914836]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.86, Y:-0.38, Z:0.00
[[ 0.99955366  0.0298744   0.          5.86183039]
 [-0.0298744   0.99955366  0.         -0.37780677]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.93, Y:-0.37, Z:0.00
[[ 0.99945008  0.03315937  0.          5.925022  ]
 [-0.03315937  0.99945008  0.         -0.37414336]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:5.99, Y:-0.38, Z:0.00
[[ 0.99950179  0.03156211  0.          5.98590402]
 [-0.03156211  0.99950179  0.         -0.38088493]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 5.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.05, Y:-0.39, Z:0.00
[[ 0.99963538  0.0270019   0.          6.04729414]
 [-0.0270019   0.99963538  0.         -0.38547212]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.0060664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.11, Y:-0.39, Z:0.00
[[ 0.99969075  0.02486757  0.          6.10791246]
 [-0.02486757  0.99969075  0.         -0.38553919]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.17, Y:-0.39, Z:0.00
[[ 0.99978712  0.02063299  0.          6.16899671]
 [-0.02063299  0.99978712  0.         -0.38509089]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.23, Y:-0.39, Z:0.00
[[ 0.99984139  0.01780995  0.          6.23062035]
 [-0.01780995  0.99984139  0.         -0.39002024]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.29, Y:-0.39, Z:0.00
[[ 0.99983582  0.01812011  0.          6.29231199]
 [-0.01812011  0.99983582  0.         -0.38981792]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.35, Y:-0.39, Z:0.00
[[ 0.99981032  0.01947648  0.          6.35439954]
 [-0.01947648  0.99981032  0.         -0.39101055]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.42, Y:-0.39, Z:0.00
[[ 0.9993706   0.0354741   0.          6.41624246]
 [-0.0354741   0.9993706   0.         -0.38978833]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.48, Y:-0.39, Z:0.00
[[ 0.99925318  0.03864048  0.          6.47672393]
 [-0.03864048  0.99925318  0.         -0.39060815]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.54, Y:-0.40, Z:0.00
[[ 0.99973773  0.02290125  0.          6.53575355]
 [-0.02290125  0.99973773  0.         -0.39998597]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.60, Y:-0.40, Z:0.00
[[ 0.99982569  0.01867076  0.          6.59806196]
 [-0.01867076  0.99982569  0.         -0.40352049]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.5460664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.66, Y:-0.41, Z:0.00
[[ 0.99983979  0.01789937  0.          6.65964551]
 [-0.01789937  0.99983979  0.         -0.40540143]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.72, Y:-0.41, Z:0.00
[[ 0.99988719  0.01501996  0.          6.71942414]
 [-0.01501996  0.99988719  0.         -0.41070025]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.78, Y:-0.41, Z:0.00
[[ 0.99993881  0.01106227  0.          6.78088302]
 [-0.01106227  0.99993881  0.         -0.41280149]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.84, Y:-0.41, Z:0.00
[[ 0.99995687  0.00928719  0.          6.84246911]
 [-0.00928719  0.99995687  0.         -0.41324896]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.90, Y:-0.41, Z:0.00
[[ 0.99986884  0.01619578  0.          6.9021583 ]
 [-0.01619578  0.99986884  0.         -0.40828951]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:6.96, Y:-0.41, Z:0.00
[[ 0.9997778   0.02107941  0.          6.9646484 ]
 [-0.02107941  0.9997778   0.         -0.40633215]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.03, Y:-0.41, Z:0.00
[[ 0.99989293  0.01463314  0.          7.0253109 ]
 [-0.01463314  0.99989293  0.         -0.41023818]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 6.9660664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.08, Y:-0.42, Z:0.00
[[ 9.99999747e-01 -7.11591064e-04  0.00000000e+00  7.08474081e+00]
 [ 7.11591064e-04  9.99999747e-01  0.00000000e+00 -4.20502239e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.15, Y:-0.42, Z:0.00
[[ 0.99984878 -0.01738989  0.          7.14514434]
 [ 0.01738989  0.99984878  0.         -0.42341936]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.086066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.21, Y:-0.42, Z:0.00
[[ 0.99984391 -0.01766811  0.          7.2053951 ]
 [ 0.01766811  0.99984391  0.         -0.42172539]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.27, Y:-0.42, Z:0.00
[[ 0.99993782 -0.01115147  0.          7.26634704]
 [ 0.01115147  0.99993782  0.         -0.41871309]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.33, Y:-0.41, Z:0.00
[[ 9.99999850e-01  5.46950729e-04  0.00000000e+00  7.32639714e+00]
 [-5.46950729e-04  9.99999850e-01  0.00000000e+00 -4.13824375e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.39, Y:-0.41, Z:0.00
[[ 9.99976487e-01  6.85743886e-03  0.00000000e+00  7.38735587e+00]
 [-6.85743886e-03  9.99976487e-01  0.00000000e+00 -4.14389200e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.45, Y:-0.42, Z:0.00
[[ 0.99994388  0.01059405  0.          7.44833468]
 [-0.01059405  0.99994388  0.         -0.41511054]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.51, Y:-0.42, Z:0.00
[[ 9.99992967e-01  3.75040399e-03  0.00000000e+00  7.50770614e+00]
 [-3.75040399e-03  9.99992967e-01  0.00000000e+00 -4.22605403e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.57, Y:-0.43, Z:0.00
[[ 9.99979139e-01  6.45924514e-03  0.00000000e+00  7.56859158e+00]
 [-6.45924514e-03  9.99979139e-01  0.00000000e+00 -4.27098369e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.5060664930000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.63, Y:-0.43, Z:0.00
[[ 0.99995596  0.00938537  0.          7.62979562]
 [-0.00938537  0.99995596  0.         -0.4282569 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.69, Y:-0.43, Z:0.00
[[ 0.99997024  0.00771425  0.          7.69136067]
 [-0.00771425  0.99997024  0.         -0.42560217]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.626066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.75, Y:-0.43, Z:0.00
[[ 9.99995804e-01  2.89705808e-03  0.00000000e+00  7.75181350e+00]
 [-2.89705808e-03  9.99995804e-01  0.00000000e+00 -4.25310147e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.81, Y:-0.42, Z:0.00
[[ 9.99985211e-01 -5.43857967e-03  0.00000000e+00  7.81174849e+00]
 [ 5.43857967e-03  9.99985211e-01  0.00000000e+00 -4.21633657e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.87, Y:-0.42, Z:0.00
[[ 0.99996795 -0.00800624  0.          7.87080652]
 [ 0.00800624  0.99996795  0.         -0.42410463]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.93, Y:-0.43, Z:0.00
[[ 0.99992829 -0.01197523  0.          7.93070598]
 [ 0.01197523  0.99992829  0.         -0.42743987]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:7.99, Y:-0.43, Z:0.00
[[ 0.99992177 -0.01250797  0.          7.9913892 ]
 [ 0.01250797  0.99992177  0.         -0.42651446]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.05, Y:-0.44, Z:0.00
[[ 0.99995622 -0.00935752  0.          8.04984462]
 [ 0.00935752  0.99995622  0.         -0.44027591]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 7.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.11, Y:-0.45, Z:0.00
[[ 0.99989359 -0.01458771  0.          8.10969535]
 [ 0.01458771  0.99989359  0.         -0.44866155]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.046066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.17, Y:-0.44, Z:0.00
[[ 0.99988466 -0.01518776  0.          8.16798113]
 [ 0.01518776  0.99988466  0.         -0.44441735]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.106066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.23, Y:-0.45, Z:0.00
[[ 0.99976128 -0.02184929  0.          8.22831906]
 [ 0.02184929  0.99976128  0.         -0.4460674 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.29, Y:-0.45, Z:0.00
[[ 0.99943148 -0.03371523  0.          8.28764409]
 [ 0.03371523  0.99943148  0.         -0.44639946]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.226066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.35, Y:-0.44, Z:0.00
[[ 0.99915498 -0.04110133  0.          8.34739149]
 [ 0.04110133  0.99915498  0.         -0.44492164]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.286066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.41, Y:-0.45, Z:0.00
[[ 0.99802713 -0.06278417  0.          8.40767632]
 [ 0.06278417  0.99802713  0.         -0.45313505]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.47, Y:-0.46, Z:0.00
[[ 0.9971953  -0.07484343  0.          8.46673936]
 [ 0.07484343  0.9971953   0.         -0.45876059]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.53, Y:-0.46, Z:0.00
[[ 0.99692856 -0.07831636  0.          8.52642574]
 [ 0.07831636  0.99692856  0.         -0.45997956]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.466066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.59, Y:-0.46, Z:0.00
[[ 0.99657141 -0.08273711  0.          8.5854844 ]
 [ 0.08273711  0.99657141  0.         -0.4603025 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.526066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.65, Y:-0.46, Z:0.00
[[ 0.99637688 -0.08504774  0.          8.64595153]
 [ 0.08504774  0.99637688  0.         -0.46285512]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.70, Y:-0.47, Z:0.00
[[ 0.99645155 -0.08416839  0.          8.70368206]
 [ 0.08416839  0.99645155  0.         -0.4685106 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.646066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.76, Y:-0.47, Z:0.00
[[ 0.99659803 -0.08241577  0.          8.76347782]
 [ 0.08241577  0.99659803  0.         -0.47102703]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.706066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.82, Y:-0.47, Z:0.00
[[ 0.99710818 -0.07599529  0.          8.82355338]
 [ 0.07599529  0.99710818  0.         -0.47141848]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.766066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.88, Y:-0.48, Z:0.00
[[ 0.99685247 -0.07927889  0.          8.88297568]
 [ 0.07927889  0.99685247  0.         -0.47565714]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:8.94, Y:-0.48, Z:0.00
[[ 0.99773073 -0.06733051  0.          8.94322924]
 [ 0.06733051  0.99773073  0.         -0.47905575]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.886066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.00, Y:-0.48, Z:0.00
[[ 0.99749353 -0.07075776  0.          9.00354764]
 [ 0.07075776  0.99749353  0.         -0.4833148 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 8.946066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.06, Y:-0.48, Z:0.00
[[ 0.99706946 -0.07650156  0.          9.06425644]
 [ 0.07650156  0.99706946  0.         -0.47800018]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.12, Y:-0.48, Z:0.00
[[ 0.99652297 -0.08331847  0.          9.12379976]
 [ 0.08331847  0.99652297  0.         -0.47679747]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.066066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.18, Y:-0.48, Z:0.00
[[ 0.99551118 -0.09464398  0.          9.18405514]
 [ 0.09464398  0.99551118  0.         -0.47565067]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.126066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.24, Y:-0.48, Z:0.00
[[ 0.99381019 -0.11109142  0.          9.24466105]
 [ 0.11109142  0.99381019  0.         -0.47636702]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.186066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.30, Y:-0.47, Z:0.00
[[ 0.99032667 -0.13875552  0.          9.30470099]
 [ 0.13875552  0.99032667  0.         -0.47206073]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.36, Y:-0.47, Z:0.00
[[ 0.98856513 -0.15079451  0.          9.3644983 ]
 [ 0.15079451  0.98856513  0.         -0.47330755]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.306066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.42, Y:-0.47, Z:0.00
[[ 0.98891973 -0.14845121  0.          9.42344412]
 [ 0.14845121  0.98891973  0.         -0.47464033]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.366066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.48, Y:-0.48, Z:0.00
[[ 0.99182167 -0.12763139  0.          9.48371868]
 [ 0.12763139  0.99182167  0.         -0.47664578]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.54, Y:-0.47, Z:0.00
[[ 0.99328359 -0.11570528  0.          9.5437845 ]
 [ 0.11570528  0.99328359  0.         -0.47443663]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.486066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.60, Y:-0.47, Z:0.00
[[ 0.99557949 -0.09392278  0.          9.60252016]
 [ 0.09392278  0.99557949  0.         -0.47047824]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.546066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.66, Y:-0.47, Z:0.00
[[ 0.99595594 -0.08984297  0.          9.66282211]
 [ 0.08984297  0.99595594  0.         -0.46943281]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.606066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.72, Y:-0.48, Z:0.00
[[ 0.99447381 -0.10498495  0.          9.72230956]
 [ 0.10498495  0.99447381  0.         -0.4794044 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.78, Y:-0.50, Z:0.00
[[ 0.99546483 -0.09513032  0.          9.78060159]
 [ 0.09513032  0.99546483  0.         -0.49991848]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.726066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.84, Y:-0.50, Z:0.00
[[ 0.99624173 -0.08661651  0.          9.84034876]
 [ 0.08661651  0.99624173  0.         -0.501246  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.786066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.90, Y:-0.49, Z:0.00
[[ 0.9962815  -0.08615788  0.          9.89983905]
 [ 0.08615788  0.9962815   0.         -0.48933205]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.846066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:9.96, Y:-0.49, Z:0.00
[[ 0.99540699 -0.09573359  0.          9.9601199 ]
 [ 0.09573359  0.99540699  0.         -0.49428547]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.02, Y:-0.51, Z:0.00
[[ 0.9936385  -0.11261676  0.         10.02030068]
 [ 0.11261676  0.9936385   0.         -0.50745958]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 9.966066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.08, Y:-0.51, Z:0.00
[[ 0.99333653 -0.11524988  0.         10.08086304]
 [ 0.11524988  0.99333653  0.         -0.50771405]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.026066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.14, Y:-0.50, Z:0.00
[[ 0.99337872 -0.11488568  0.         10.14081095]
 [ 0.11488568  0.99337872  0.         -0.50414929]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.20, Y:-0.50, Z:0.00
[[ 0.99451403 -0.10460329  0.         10.20059053]
 [ 0.10460329  0.99451403  0.         -0.50312083]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.146066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.26, Y:-0.50, Z:0.00
[[ 0.99605029 -0.0887909   0.         10.2595792 ]
 [ 0.0887909   0.99605029  0.         -0.50383961]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.206066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.32, Y:-0.51, Z:0.00
[[ 0.99732135 -0.07314459  0.         10.31824088]
 [ 0.07314459  0.99732135  0.         -0.50660916]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.266066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.38, Y:-0.52, Z:0.00
[[ 0.99775768 -0.06692997  0.         10.37795309]
 [ 0.06692997  0.99775768  0.         -0.51843174]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.44, Y:-0.53, Z:0.00
[[ 0.99845109 -0.05563647  0.         10.43751509]
 [ 0.05563647  0.99845109  0.         -0.53085938]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.386066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.50, Y:-0.54, Z:0.00
[[ 0.99935752 -0.0358407   0.         10.49667855]
 [ 0.0358407   0.99935752  0.         -0.5405368 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.446066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.56, Y:-0.53, Z:0.00
[[ 0.99975082 -0.0223227   0.         10.55648421]
 [ 0.0223227   0.99975082  0.         -0.53460363]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.62, Y:-0.53, Z:0.00
[[ 0.99980654 -0.01966957  0.         10.61632509]
 [ 0.01966957  0.99980654  0.         -0.53164204]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.566066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.68, Y:-0.53, Z:0.00
[[ 0.99953438 -0.03051271  0.         10.67646267]
 [ 0.03051271  0.99953438  0.         -0.52724383]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.626066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.74, Y:-0.52, Z:0.00
[[ 0.99931062 -0.03712524  0.         10.73704348]
 [ 0.03712524  0.99931062  0.         -0.52146916]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.686066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.80, Y:-0.52, Z:0.00
[[ 0.99924074 -0.03896086  0.         10.79785493]
 [ 0.03896086  0.99924074  0.         -0.522718  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.86, Y:-0.53, Z:0.00
[[ 0.99890093 -0.04687138  0.         10.85705183]
 [ 0.04687138  0.99890093  0.         -0.52502079]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.806066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.92, Y:-0.52, Z:0.00
[[ 0.9984787  -0.05513886  0.         10.91763756]
 [ 0.05513886  0.9984787   0.         -0.52040379]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.866066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:10.98, Y:-0.53, Z:0.00
[[ 0.99727717 -0.07374448  0.         10.97734249]
 [ 0.07374448  0.99727717  0.         -0.52510804]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.926066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.04, Y:-0.53, Z:0.00
[[ 0.99494933 -0.10037847  0.         11.03663659]
 [ 0.10037847  0.99494933  0.         -0.53129909]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 10.986066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.10, Y:-0.53, Z:0.00
[[ 0.9948787  -0.10107604  0.         11.09636919]
 [ 0.10107604  0.9948787   0.         -0.52578534]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.046066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.16, Y:-0.54, Z:0.00
[[ 0.99593642 -0.09005912  0.         11.1559763 ]
 [ 0.09005912  0.99593642  0.         -0.53879724]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.106066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.22, Y:-0.53, Z:0.00
[[ 0.9934282  -0.11445699  0.         11.21676421]
 [ 0.11445699  0.9934282   0.         -0.52794889]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.28, Y:-0.53, Z:0.00
[[ 0.99291585 -0.11881966  0.         11.27612112]
 [ 0.11881966  0.99291585  0.         -0.52746619]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.226066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.33, Y:-0.53, Z:0.00
[[ 0.99205407 -0.12581226  0.         11.33474606]
 [ 0.12581226  0.99205407  0.         -0.5339735 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.286066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.39, Y:-0.54, Z:0.00
[[ 0.99189057 -0.12709481  0.         11.39468717]
 [ 0.12709481  0.99189057  0.         -0.54195183]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.346066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.45, Y:-0.55, Z:0.00
[[ 0.99274307 -0.12025474  0.         11.45422809]
 [ 0.12025474  0.99274307  0.         -0.55087626]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.51, Y:-0.55, Z:0.00
[[ 0.99327099 -0.11581342  0.         11.51265612]
 [ 0.11581342  0.99327099  0.         -0.5548412 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.466066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.57, Y:-0.57, Z:0.00
[[ 0.99425165 -0.1070685   0.         11.57251386]
 [ 0.1070685   0.99425165  0.         -0.56654866]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.526066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.63, Y:-0.57, Z:0.00
[[ 0.99520041 -0.09785779  0.         11.63295691]
 [ 0.09785779  0.99520041  0.         -0.57055861]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.69, Y:-0.57, Z:0.00
[[ 0.99659879 -0.08240668  0.         11.69290886]
 [ 0.08240668  0.99659879  0.         -0.56979246]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.646066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.75, Y:-0.57, Z:0.00
[[ 0.99710993 -0.07597231  0.         11.7516215 ]
 [ 0.07597231  0.99710993  0.         -0.57150022]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.706066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.81, Y:-0.58, Z:0.00
[[ 0.99731756 -0.07319617  0.         11.81020119]
 [ 0.07319617  0.99731756  0.         -0.57908737]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.766066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.87, Y:-0.58, Z:0.00
[[ 0.99791511 -0.06454023  0.         11.87073179]
 [ 0.06454023  0.99791511  0.         -0.57627347]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.93, Y:-0.58, Z:0.00
[[ 0.99843916 -0.05585019  0.         11.93089042]
 [ 0.05585019  0.99843916  0.         -0.57695033]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.886066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:11.99, Y:-0.58, Z:0.00
[[ 0.99909143 -0.04261823  0.         11.98977985]
 [ 0.04261823  0.99909143  0.         -0.57824461]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 11.946066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.05, Y:-0.57, Z:0.00
[[ 0.99931179 -0.03709365  0.         12.05059813]
 [ 0.03709365  0.99931179  0.         -0.57480165]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.006066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.11, Y:-0.58, Z:0.00
[[ 0.99955761 -0.02974193  0.         12.11062952]
 [ 0.02974193  0.99955761  0.         -0.57597976]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.066066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.17, Y:-0.58, Z:0.00
[[ 0.9997669  -0.02159025  0.         12.16951802]
 [ 0.02159025  0.9997669   0.         -0.58145849]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.126066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.23, Y:-0.58, Z:0.00
[[ 9.99944316e-01 -1.05529509e-02  0.00000000e+00  1.22300774e+01]
 [ 1.05529509e-02  9.99944316e-01  0.00000000e+00 -5.77725850e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.186066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.29, Y:-0.58, Z:0.00
[[ 0.99978655 -0.0206604   0.         12.28914609]
 [ 0.0206604   0.99978655  0.         -0.5787462 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.35, Y:-0.59, Z:0.00
[[ 0.99929029 -0.03766859  0.         12.34883286]
 [ 0.03766859  0.99929029  0.         -0.58800402]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.306066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.41, Y:-0.60, Z:0.00
[[ 0.99809562 -0.06168572  0.         12.40815566]
 [ 0.06168572  0.99809562  0.         -0.59666775]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.366066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.47, Y:-0.59, Z:0.00
[[ 0.997983   -0.06348177  0.         12.46931757]
 [ 0.06348177  0.997983    0.         -0.58554466]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.426066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.53, Y:-0.57, Z:0.00
[[ 0.99809417 -0.06170915  0.         12.53021552]
 [ 0.06170915  0.99809417  0.         -0.57305074]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.486066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.59, Y:-0.57, Z:0.00
[[ 0.99796397 -0.06378025  0.         12.58941464]
 [ 0.06378025  0.99796397  0.         -0.57045862]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.546066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.65, Y:-0.58, Z:0.00
[[ 0.99761955 -0.06895816  0.         12.64945725]
 [ 0.06895816  0.99761955  0.         -0.57630092]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.606066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.71, Y:-0.57, Z:0.00
[[ 0.99708287 -0.07632664  0.         12.70979186]
 [ 0.07632664  0.99708287  0.         -0.57334506]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.77, Y:-0.58, Z:0.00
[[ 0.99667242 -0.08151128  0.         12.76865672]
 [ 0.08151128  0.99667242  0.         -0.57517207]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.726066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.83, Y:-0.59, Z:0.00
[[ 0.99697282 -0.0777509   0.         12.82692134]
 [ 0.0777509   0.99697282  0.         -0.58976669]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.786066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.89, Y:-0.60, Z:0.00
[[ 0.99793026 -0.0643055   0.         12.88665613]
 [ 0.0643055   0.99793026  0.         -0.59803161]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.846066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:12.95, Y:-0.61, Z:0.00
[[ 0.9985054  -0.05465319  0.         12.94667207]
 [ 0.05465319  0.9985054   0.         -0.60673749]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.01, Y:-0.62, Z:0.00
[[ 0.99955394 -0.02986488  0.         13.00643866]
 [ 0.02986488  0.99955394  0.         -0.61776311]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 12.966066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.07, Y:-0.62, Z:0.00
[[ 0.99985894 -0.01679562  0.         13.06623946]
 [ 0.01679562  0.99985894  0.         -0.62288103]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.026066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.13, Y:-0.62, Z:0.00
[[ 9.99975958e-01 -6.93418840e-03  0.00000000e+00  1.31262035e+01]
 [ 6.93418840e-03  9.99975958e-01  0.00000000e+00 -6.22841706e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.086066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.19, Y:-0.62, Z:0.00
[[ 9.99925243e-01 -1.22273334e-02  0.00000000e+00  1.31868474e+01]
 [ 1.22273334e-02  9.99925243e-01  0.00000000e+00 -6.24378792e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.146066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.25, Y:-0.64, Z:0.00
[[ 0.99957356 -0.02920094  0.         13.24553197]
 [ 0.02920094  0.99957356  0.         -0.6357793 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.206066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.31, Y:-0.63, Z:0.00
[[ 0.99919164 -0.04020038  0.         13.30654174]
 [ 0.04020038  0.99919164  0.         -0.62903917]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.266066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.37, Y:-0.62, Z:0.00
[[ 0.99890923 -0.04669426  0.         13.36737829]
 [ 0.04669426  0.99890923  0.         -0.62115745]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.43, Y:-0.62, Z:0.00
[[ 0.9985402  -0.05401363  0.         13.42824983]
 [ 0.05401363  0.9985402   0.         -0.61633456]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.386066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.49, Y:-0.61, Z:0.00
[[ 0.99829348 -0.05839638  0.         13.48746074]
 [ 0.05839638  0.99829348  0.         -0.61088059]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.446066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.55, Y:-0.60, Z:0.00
[[ 0.99827948 -0.05863512  0.         13.54707333]
 [ 0.05863512  0.99827948  0.         -0.60307655]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.506066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.61, Y:-0.60, Z:0.00
[[ 0.99828119 -0.05860598  0.         13.60589845]
 [ 0.05860598  0.99828119  0.         -0.60373138]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.566066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.66, Y:-0.61, Z:0.00
[[ 0.99816541 -0.06054595  0.         13.66467855]
 [ 0.06054595  0.99816541  0.         -0.60861812]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.626066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.72, Y:-0.61, Z:0.00
[[ 0.99806612 -0.06216132  0.         13.72451124]
 [ 0.06216132  0.99806612  0.         -0.61471845]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.686066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.78, Y:-0.62, Z:0.00
[[ 0.99845968 -0.05548209  0.         13.78476406]
 [ 0.05548209  0.99845968  0.         -0.62126395]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.84, Y:-0.63, Z:0.00
[[ 0.99842344 -0.05613051  0.         13.84334004]
 [ 0.05613051  0.99842344  0.         -0.62936644]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.806066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.90, Y:-0.64, Z:0.00
[[ 0.9983131  -0.05805993  0.         13.90203284]
 [ 0.05805993  0.9983131   0.         -0.64166219]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.866066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:13.96, Y:-0.65, Z:0.00
[[ 0.99883266 -0.04830447  0.         13.96079092]
 [ 0.04830447  0.99883266  0.         -0.64732402]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.926066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.02, Y:-0.65, Z:0.00
[[ 0.99906985 -0.04312108  0.         14.02069032]
 [ 0.04312108  0.99906985  0.         -0.64566   ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 13.986066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.08, Y:-0.64, Z:0.00
[[ 0.99933737 -0.03639804  0.         14.08000874]
 [ 0.03639804  0.99933737  0.         -0.63898948]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.046066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.14, Y:-0.64, Z:0.00
[[ 0.9993921  -0.03486312  0.         14.13990861]
 [ 0.03486312  0.9993921   0.         -0.64327136]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.106066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.20, Y:-0.64, Z:0.00
[[ 0.99959151 -0.02857995  0.         14.19973095]
 [ 0.02857995  0.99959151  0.         -0.64317227]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.166066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.26, Y:-0.64, Z:0.00
[[ 0.99967742 -0.02539797  0.         14.2599132 ]
 [ 0.02539797  0.99967742  0.         -0.6420164 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.226066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.32, Y:-0.64, Z:0.00
[[ 0.99979562 -0.02021683  0.         14.31906247]
 [ 0.02021683  0.99979562  0.         -0.64260619]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.286066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.38, Y:-0.65, Z:0.00
[[ 0.99981093 -0.0194448   0.         14.37705271]
 [ 0.0194448   0.99981093  0.         -0.6486742 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.346066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.44, Y:-0.65, Z:0.00
[[ 0.99975588 -0.02209466  0.         14.43622463]
 [ 0.02209466  0.99975588  0.         -0.65309894]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.50, Y:-0.65, Z:0.00
[[ 0.99987093 -0.0160661   0.         14.49615443]
 [ 0.0160661   0.99987093  0.         -0.65288172]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.466066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.56, Y:-0.66, Z:0.00
[[ 0.99982618 -0.01864414  0.         14.55682143]
 [ 0.01864414  0.99982618  0.         -0.65731262]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.526066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.62, Y:-0.67, Z:0.00
[[ 0.99968203 -0.02521571  0.         14.61692551]
 [ 0.02521571  0.99968203  0.         -0.66734628]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.586066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.68, Y:-0.68, Z:0.00
[[ 0.99969602 -0.02465504  0.         14.675297  ]
 [ 0.02465504  0.99969602  0.         -0.67643712]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.646066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.73, Y:-0.68, Z:0.00
[[ 0.9997011  -0.02444808  0.         14.73292132]
 [ 0.02444808  0.9997011   0.         -0.67564586]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.706066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.79, Y:-0.68, Z:0.00
[[ 0.99971584 -0.02383769  0.         14.7918938 ]
 [ 0.02383769  0.99971584  0.         -0.68086351]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.766066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.85, Y:-0.68, Z:0.00
[[ 0.99973375 -0.02307427  0.         14.85174166]
 [ 0.02307427  0.99973375  0.         -0.68350095]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.91, Y:-0.68, Z:0.00
[[ 0.99968285 -0.02518345  0.         14.91076015]
 [ 0.02518345  0.99968285  0.         -0.68117698]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.886066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:14.97, Y:-0.68, Z:0.00
[[ 0.9995822  -0.02890379  0.         14.97137719]
 [ 0.02890379  0.9995822   0.         -0.67514618]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 14.946066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.03, Y:-0.68, Z:0.00
[[ 0.9993511  -0.03601921  0.         15.03053335]
 [ 0.03601921  0.9993511   0.         -0.67919833]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.006066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.09, Y:-0.68, Z:0.00
[[ 0.9992654  -0.03832319  0.         15.09132643]
 [ 0.03832319  0.9992654   0.         -0.68075777]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.066066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.15, Y:-0.68, Z:0.00
[[ 0.9991569  -0.04105472  0.         15.15113768]
 [ 0.04105472  0.9991569   0.         -0.67887393]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.126066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.21, Y:-0.68, Z:0.00
[[ 0.99957031 -0.02931192  0.         15.21141167]
 [ 0.02931192  0.99957031  0.         -0.68268934]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.186066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.27, Y:-0.68, Z:0.00
[[ 0.9997963  -0.02018311  0.         15.27148307]
 [ 0.02018311  0.9997963   0.         -0.67987259]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.246066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.33, Y:-0.67, Z:0.00
[[ 0.99987755 -0.01564864  0.         15.33234366]
 [ 0.01564864  0.99987755  0.         -0.670165  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.306066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.39, Y:-0.67, Z:0.00
[[ 9.99885372e-01 -1.51407660e-02  0.00000000e+00  1.53911031e+01]
 [ 1.51407660e-02  9.99885372e-01  0.00000000e+00 -6.72828415e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.366066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.45, Y:-0.67, Z:0.00
[[ 0.99985264 -0.01716691  0.         15.45133418]
 [ 0.01716691  0.99985264  0.         -0.67026547]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.426066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.51, Y:-0.66, Z:0.00
[[ 0.99962756 -0.02728977  0.         15.5113618 ]
 [ 0.02728977  0.99962756  0.         -0.66122482]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.486066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.57, Y:-0.67, Z:0.00
[[ 0.99891576 -0.04655436  0.         15.57191496]
 [ 0.04655436  0.99891576  0.         -0.66937712]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.546066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.63, Y:-0.67, Z:0.00
[[ 0.99834468 -0.05751441  0.         15.63238871]
 [ 0.05751441  0.99834468  0.         -0.67228822]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.606066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.69, Y:-0.68, Z:0.00
[[ 0.99816327 -0.06058119  0.         15.69131754]
 [ 0.06058119  0.99816327  0.         -0.67558582]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.666066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.75, Y:-0.68, Z:0.00
[[ 0.9987166  -0.05064742  0.         15.75042892]
 [ 0.05064742  0.9987166   0.         -0.67998174]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.726066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.81, Y:-0.68, Z:0.00
[[ 0.99953353 -0.03054066  0.         15.81080488]
 [ 0.03054066  0.99953353  0.         -0.6842789 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.786066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.87, Y:-0.68, Z:0.00
[[ 9.99881260e-01 -1.54099165e-02  0.00000000e+00  1.58715882e+01]
 [ 1.54099165e-02  9.99881260e-01  0.00000000e+00 -6.80268295e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.846066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.93, Y:-0.68, Z:0.00
[[ 9.99874458e-01 -1.58451593e-02  0.00000000e+00  1.59296682e+01]
 [ 1.58451593e-02  9.99874458e-01  0.00000000e+00 -6.83370178e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.906066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:15.99, Y:-0.69, Z:0.00
[[ 0.99959858 -0.0283317   0.         15.98918456]
 [ 0.0283317   0.99959858  0.         -0.68965832]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 15.966066493000001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.05, Y:-0.70, Z:0.00
[[ 0.99924027 -0.03897276  0.         16.04895407]
 [ 0.03897276  0.99924027  0.         -0.69982583]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.11, Y:-0.72, Z:0.00
[[ 0.9990997  -0.04242393  0.         16.1075985 ]
 [ 0.04242393  0.9990997   0.         -0.71710386]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.17, Y:-0.73, Z:0.00
[[ 0.9992392  -0.03900037  0.         16.16755537]
 [ 0.03900037  0.9992392   0.         -0.72823041]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.23, Y:-0.73, Z:0.00
[[ 0.99954511 -0.03015911  0.         16.22785001]
 [ 0.03015911  0.99954511  0.         -0.72782112]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.29, Y:-0.73, Z:0.00
[[ 9.99886410e-01 -1.50720364e-02  0.00000000e+00  1.62873748e+01]
 [ 1.50720364e-02  9.99886410e-01  0.00000000e+00 -7.31620373e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.35, Y:-0.74, Z:0.00
[[ 9.99956559e-01 -9.32095834e-03  0.00000000e+00  1.63458628e+01]
 [ 9.32095834e-03  9.99956559e-01  0.00000000e+00 -7.36451932e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.40, Y:-0.74, Z:0.00
[[ 9.99925207e-01 -1.22302866e-02  0.00000000e+00  1.64048414e+01]
 [ 1.22302866e-02  9.99925207e-01  0.00000000e+00 -7.41774464e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.46, Y:-0.74, Z:0.00
[[ 0.99986147 -0.01664461  0.         16.46483361]
 [ 0.01664461  0.99986147  0.         -0.74445822]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.53, Y:-0.75, Z:0.00
[[ 0.99980194 -0.01990167  0.         16.52568931]
 [ 0.01990167  0.99980194  0.         -0.74543796]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.59, Y:-0.74, Z:0.00
[[ 9.99865082e-01 -1.64261154e-02  0.00000000e+00  1.65850561e+01]
 [ 1.64261154e-02  9.99865082e-01  0.00000000e+00 -7.38535102e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.65, Y:-0.75, Z:0.00
[[ 0.99980058 -0.01996998  0.         16.64568668]
 [ 0.01996998  0.99980058  0.         -0.7485181 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.71, Y:-0.75, Z:0.00
[[ 0.99972997 -0.02323758  0.         16.70593483]
 [ 0.02323758  0.99972997  0.         -0.7452818 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.77, Y:-0.75, Z:0.00
[[ 0.99973135 -0.02317798  0.         16.76586302]
 [ 0.02317798  0.99973135  0.         -0.7548684 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.83, Y:-0.74, Z:0.00
[[ 0.99979744 -0.02012652  0.         16.82684668]
 [ 0.02012652  0.99979744  0.         -0.74497761]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.89, Y:-0.74, Z:0.00
[[ 0.99984649 -0.01752159  0.         16.88672786]
 [ 0.01752159  0.99984649  0.         -0.73994895]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:16.95, Y:-0.74, Z:0.00
[[ 0.99982968 -0.01845579  0.         16.94615927]
 [ 0.01845579  0.99982968  0.         -0.74390791]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.01, Y:-0.75, Z:0.00
[[ 0.99975308 -0.02222095  0.         17.00552851]
 [ 0.02222095  0.99975308  0.         -0.75192302]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 16.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.06, Y:-0.73, Z:0.00
[[ 0.99974174 -0.02272571  0.         17.06384732]
 [ 0.02272571  0.99974174  0.         -0.73460472]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.12, Y:-0.75, Z:0.00
[[ 9.99859136e-01 -1.67841399e-02  0.00000000e+00  1.71242832e+01]
 [ 1.67841399e-02  9.99859136e-01  0.00000000e+00 -7.48531204e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.18, Y:-0.75, Z:0.00
[[ 9.99912749e-01 -1.32096559e-02  0.00000000e+00  1.71845750e+01]
 [ 1.32096559e-02  9.99912749e-01  0.00000000e+00 -7.48958210e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.24, Y:-0.74, Z:0.00
[[ 9.99994413e-01 -3.34266112e-03  0.00000000e+00  1.72446674e+01]
 [ 3.34266112e-03  9.99994413e-01  0.00000000e+00 -7.41604187e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.30, Y:-0.74, Z:0.00
[[ 9.99997660e-01  2.16316891e-03  0.00000000e+00  1.73040417e+01]
 [-2.16316891e-03  9.99997660e-01  0.00000000e+00 -7.35851953e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.36, Y:-0.74, Z:0.00
[[ 9.99988514e-01 -4.79279505e-03  0.00000000e+00  1.73630912e+01]
 [ 4.79279505e-03  9.99988514e-01  0.00000000e+00 -7.41998965e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.42, Y:-0.74, Z:0.00
[[ 0.99975204 -0.02226784  0.         17.42380764]
 [ 0.02226784  0.99975204  0.         -0.74258156]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.48, Y:-0.75, Z:0.00
[[ 0.99939664 -0.03473272  0.         17.48382053]
 [ 0.03473272  0.99939664  0.         -0.74852295]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.54, Y:-0.75, Z:0.00
[[ 0.99902898 -0.04405797  0.         17.54457554]
 [ 0.04405797  0.99902898  0.         -0.74510847]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.526066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.61, Y:-0.74, Z:0.00
[[ 0.99919104 -0.04021517  0.         17.60533566]
 [ 0.04021517  0.99919104  0.         -0.74230353]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.67, Y:-0.75, Z:0.00
[[ 0.99962977 -0.02720881  0.         17.66559398]
 [ 0.02720881  0.99962977  0.         -0.7528722 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 17.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.73, Y:-0.74, Z:0.00
[[ 9.99915716e-01 -1.29831095e-02  0.00000000e+00  1.77250971e+01]
 [ 1.29831095e-02  9.99915716e-01  0.00000000e+00 -7.42877084e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.79, Y:-0.74, Z:0.00
[[ 9.99969144e-01 -7.85564163e-03  0.00000000e+00  1.77852816e+01]
 [ 7.85564163e-03  9.99969144e-01  0.00000000e+00 -7.37113363e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.85, Y:-0.75, Z:0.00
[[ 9.99998970e-01 -1.43492718e-03  0.00000000e+00  1.78452148e+01]
 [ 1.43492718e-03  9.99998970e-01  0.00000000e+00 -7.47712820e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.90, Y:-0.75, Z:0.00
[[ 9.99999936e-01  3.56523057e-04  0.00000000e+00  1.79049752e+01]
 [-3.56523057e-04  9.99999936e-01  0.00000000e+00 -7.52151270e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:17.97, Y:-0.76, Z:0.00
[[ 9.99967919e-01 -8.01009421e-03  0.00000000e+00  1.79653346e+01]
 [ 8.01009421e-03  9.99967919e-01  0.00000000e+00 -7.57397814e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.02, Y:-0.75, Z:0.00
[[ 0.99979403 -0.02029527  0.         18.02440144]
 [ 0.02029527  0.99979403  0.         -0.75382122]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.08, Y:-0.77, Z:0.00
[[ 0.9997466  -0.02251087  0.         18.08431923]
 [ 0.02251087  0.9997466   0.         -0.76969295]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.14, Y:-0.77, Z:0.00
[[ 0.99978921 -0.02053141  0.         18.14270835]
 [ 0.02053141  0.99978921  0.         -0.77480706]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.20, Y:-0.77, Z:0.00
[[ 9.99859278e-01 -1.67757241e-02  0.00000000e+00  1.82032252e+01]
 [ 1.67757241e-02  9.99859278e-01  0.00000000e+00 -7.69959993e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.26, Y:-0.78, Z:0.00
[[ 9.99850864e-01 -1.72699267e-02  0.00000000e+00  1.82623422e+01]
 [ 1.72699267e-02  9.99850864e-01  0.00000000e+00 -7.79602888e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.32, Y:-0.79, Z:0.00
[[ 9.99833434e-01 -1.82511232e-02  0.00000000e+00  1.83227486e+01]
 [ 1.82511232e-02  9.99833434e-01  0.00000000e+00 -7.88462235e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.38, Y:-0.79, Z:0.00
[[ 9.99863599e-01 -1.65161677e-02  0.00000000e+00  1.83830262e+01]
 [ 1.65161677e-02  9.99863599e-01  0.00000000e+00 -7.93778256e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.44, Y:-0.79, Z:0.00
[[ 9.99944929e-01 -1.04946863e-02  0.00000000e+00  1.84431801e+01]
 [ 1.04946863e-02  9.99944929e-01  0.00000000e+00 -7.86565248e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.50, Y:-0.78, Z:0.00
[[ 9.99965731e-01 -8.27872901e-03  0.00000000e+00  1.85032514e+01]
 [ 8.27872901e-03  9.99965731e-01  0.00000000e+00 -7.82985517e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.56, Y:-0.79, Z:0.00
[[ 9.99974349e-01 -7.16249821e-03  0.00000000e+00  1.85615893e+01]
 [ 7.16249821e-03  9.99974349e-01  0.00000000e+00 -7.93808363e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.62, Y:-0.79, Z:0.00
[[ 9.99889615e-01 -1.48579477e-02  0.00000000e+00  1.86217197e+01]
 [ 1.48579477e-02  9.99889615e-01  0.00000000e+00 -7.93686356e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.68, Y:-0.79, Z:0.00
[[ 0.99964285 -0.02672403  0.         18.68220534]
 [ 0.02672403  0.99964285  0.         -0.79115543]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.74, Y:-0.79, Z:0.00
[[ 0.99956946 -0.02934095  0.         18.74117577]
 [ 0.02934095  0.99956946  0.         -0.78880253]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.80, Y:-0.78, Z:0.00
[[ 0.99964245 -0.02673898  0.         18.80106638]
 [ 0.02673898  0.99964245  0.         -0.78042236]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.86, Y:-0.78, Z:0.00
[[ 0.99964407 -0.02667826  0.         18.86022944]
 [ 0.02667826  0.99964407  0.         -0.77828592]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.92, Y:-0.77, Z:0.00
[[ 0.99970561 -0.02426319  0.         18.92064632]
 [ 0.02426319  0.99970561  0.         -0.77171297]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 18.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:18.98, Y:-0.77, Z:0.00
[[ 9.99827333e-01 -1.85823781e-02  0.00000000e+00  1.89810867e+01]
 [ 1.85823781e-02  9.99827333e-01  0.00000000e+00 -7.71171192e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.04, Y:-0.77, Z:0.00
[[ 9.99914400e-01 -1.30840722e-02  0.00000000e+00  1.90418706e+01]
 [ 1.30840722e-02  9.99914400e-01  0.00000000e+00 -7.68765525e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.026066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.10, Y:-0.77, Z:0.00
[[ 9.99933015e-01 -1.15743663e-02  0.00000000e+00  1.91018546e+01]
 [ 1.15743663e-02  9.99933015e-01  0.00000000e+00 -7.66569669e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.16, Y:-0.76, Z:0.00
[[ 9.99924766e-01 -1.22663305e-02  0.00000000e+00  1.91600960e+01]
 [ 1.22663305e-02  9.99924766e-01  0.00000000e+00 -7.59804642e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.22, Y:-0.77, Z:0.00
[[ 9.99956153e-01 -9.36435644e-03  0.00000000e+00  1.92183895e+01]
 [ 9.36435644e-03  9.99956153e-01  0.00000000e+00 -7.69891813e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.28, Y:-0.77, Z:0.00
[[ 9.99930144e-01 -1.18197380e-02  0.00000000e+00  1.92780236e+01]
 [ 1.18197380e-02  9.99930144e-01  0.00000000e+00 -7.69830227e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.34, Y:-0.77, Z:0.00
[[ 9.99930086e-01 -1.18246424e-02  0.00000000e+00  1.93359777e+01]
 [ 1.18246424e-02  9.99930086e-01  0.00000000e+00 -7.65268251e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.39, Y:-0.77, Z:0.00
[[ 9.99943244e-01 -1.06540438e-02  0.00000000e+00  1.93942660e+01]
 [ 1.06540438e-02  9.99943244e-01  0.00000000e+00 -7.74781199e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.45, Y:-0.77, Z:0.00
[[ 9.99923981e-01 -1.23301610e-02  0.00000000e+00  1.94527083e+01]
 [ 1.23301610e-02  9.99923981e-01  0.00000000e+00 -7.72270369e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.51, Y:-0.77, Z:0.00
[[ 9.99979196e-01 -6.45045470e-03  0.00000000e+00  1.95123855e+01]
 [ 6.45045470e-03  9.99979196e-01  0.00000000e+00 -7.68780185e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.57, Y:-0.78, Z:0.00
[[ 9.99998792e-01 -1.55438838e-03  0.00000000e+00  1.95727776e+01]
 [ 1.55438838e-03  9.99998792e-01  0.00000000e+00 -7.78086965e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.63, Y:-0.78, Z:0.00
[[ 9.99986478e-01 -5.20040439e-03  0.00000000e+00  1.96330171e+01]
 [ 5.20040439e-03  9.99986478e-01  0.00000000e+00 -7.80994226e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.69, Y:-0.79, Z:0.00
[[ 9.99947255e-01 -1.02706645e-02  0.00000000e+00  1.96932535e+01]
 [ 1.02706645e-02  9.99947255e-01  0.00000000e+00 -7.88835396e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.686066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.75, Y:-0.77, Z:0.00
[[ 9.99818081e-01 -1.90736642e-02  0.00000000e+00  1.97542597e+01]
 [ 1.90736642e-02  9.99818081e-01  0.00000000e+00 -7.73611655e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.81, Y:-0.77, Z:0.00
[[ 0.99979612 -0.02019193  0.         19.81392768]
 [ 0.02019193  0.99979612  0.         -0.77005781]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 19.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.87, Y:-0.81, Z:0.00
[[ 0.99972039 -0.02364631  0.         19.87285573]
 [ 0.02364631  0.99972039  0.         -0.80732938]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 19.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.93, Y:-0.80, Z:0.00
[[ 0.99962686 -0.02731541  0.         19.93398809]
 [ 0.02731541  0.99962686  0.         -0.79670488]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 19.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:19.99, Y:-0.78, Z:0.00
[[ 0.99940831 -0.03439521  0.         19.99365063]
 [ 0.03439521  0.99940831  0.         -0.77853832]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 19.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.05, Y:-0.80, Z:0.00
[[ 0.99944355 -0.03335561  0.         20.05254285]
 [ 0.03335561  0.99944355  0.         -0.80040956]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.11, Y:-0.81, Z:0.00
[[ 0.9992188  -0.03951954  0.         20.11130646]
 [ 0.03951954  0.9992188   0.         -0.80841885]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.17, Y:-0.79, Z:0.00
[[ 0.9989525  -0.04575923  0.         20.17243385]
 [ 0.04575923  0.9989525   0.         -0.79367193]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.23, Y:-0.79, Z:0.00
[[ 0.99892132 -0.04643479  0.         20.23018463]
 [ 0.04643479  0.99892132  0.         -0.79146765]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.29, Y:-0.79, Z:0.00
[[ 0.99880675 -0.04883733  0.         20.28925443]
 [ 0.04883733  0.99880675  0.         -0.78791255]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.35, Y:-0.78, Z:0.00
[[ 0.99881805 -0.04860567  0.         20.3485986 ]
 [ 0.04860567  0.99881805  0.         -0.77761552]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.41, Y:-0.78, Z:0.00
[[ 0.99910636 -0.04226673  0.         20.40782435]
 [ 0.04226673  0.99910636  0.         -0.77610232]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.47, Y:-0.77, Z:0.00
[[ 0.9993719  -0.03543727  0.         20.46866096]
 [ 0.03543727  0.9993719   0.         -0.77271892]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.53, Y:-0.77, Z:0.00
[[ 0.99943683 -0.03355628  0.         20.5281685 ]
 [ 0.03355628  0.99943683  0.         -0.76598867]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.526066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.59, Y:-0.75, Z:0.00
[[ 0.99953176 -0.03059848  0.         20.58846493]
 [ 0.03059848  0.99953176  0.         -0.74878847]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.65, Y:-0.75, Z:0.00
[[ 0.99944244 -0.03338888  0.         20.64748516]
 [ 0.03338888  0.99944244  0.         -0.74715701]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.71, Y:-0.75, Z:0.00
[[ 0.99963334 -0.02707734  0.         20.70631012]
 [ 0.02707734  0.99963334  0.         -0.74871853]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 20.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.77, Y:-0.72, Z:0.00
[[ 9.99850775e-01 -1.72750661e-02  0.00000000e+00  2.07674856e+01]
 [ 1.72750661e-02  9.99850775e-01  0.00000000e+00 -7.24877885e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.83, Y:-0.72, Z:0.00
[[ 9.99988916e-01 -4.70820468e-03  0.00000000e+00  2.08281813e+01]
 [ 4.70820468e-03  9.99988916e-01  0.00000000e+00 -7.23997952e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.89, Y:-0.73, Z:0.00
[[ 9.99983380e-01  5.76545121e-03  0.00000000e+00  2.08882735e+01]
 [-5.76545121e-03  9.99983380e-01  0.00000000e+00 -7.30428498e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:20.95, Y:-0.72, Z:0.00
[[ 9.99904286e-01  1.38354542e-02  0.00000000e+00  2.09495337e+01]
 [-1.38354542e-02  9.99904286e-01  0.00000000e+00 -7.20550622e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.01, Y:-0.74, Z:0.00
[[ 9.99998397e-01  1.79060931e-03  0.00000000e+00  2.10084755e+01]
 [-1.79060931e-03  9.99998397e-01  0.00000000e+00 -7.35349319e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.07, Y:-0.74, Z:0.00
[[ 9.99931397e-01 -1.17132825e-02  0.00000000e+00  2.10685263e+01]
 [ 1.17132825e-02  9.99931397e-01  0.00000000e+00 -7.41679733e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.13, Y:-0.74, Z:0.00
[[ 0.99967008 -0.02568531  0.         21.12938439]
 [ 0.02568531  0.99967008  0.         -0.7433747 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.19, Y:-0.74, Z:0.00
[[ 0.99863848 -0.05216496  0.         21.18938183]
 [ 0.05216496  0.99863848  0.         -0.73836351]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.186066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.25, Y:-0.75, Z:0.00
[[ 0.99802123 -0.06287779  0.         21.24837201]
 [ 0.06287779  0.99802123  0.         -0.74735416]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.31, Y:-0.73, Z:0.00
[[ 0.99778248 -0.06655921  0.         21.30951001]
 [ 0.06655921  0.99778248  0.         -0.72972982]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.37, Y:-0.71, Z:0.00
[[ 0.99792929 -0.06432058  0.         21.37018021]
 [ 0.06432058  0.99792929  0.         -0.71240916]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.43, Y:-0.70, Z:0.00
[[ 0.99785596 -0.06544831  0.         21.43073839]
 [ 0.06544831  0.99785596  0.         -0.69685267]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.49, Y:-0.68, Z:0.00
[[ 0.99719422 -0.07485784  0.         21.49111858]
 [ 0.07485784  0.99719422  0.         -0.68413765]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.55, Y:-0.66, Z:0.00
[[ 0.99660348 -0.08234988  0.         21.5520933 ]
 [ 0.08234988  0.99660348  0.         -0.65784273]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.61, Y:-0.64, Z:0.00
[[ 0.99637137 -0.08511228  0.         21.61322091]
 [ 0.08511228  0.99637137  0.         -0.6449151 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.67, Y:-0.63, Z:0.00
[[ 0.99646979 -0.08395212  0.         21.67133414]
 [ 0.08395212  0.99646979  0.         -0.62649658]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.73, Y:-0.60, Z:0.00
[[ 0.99731929 -0.07317262  0.         21.73222583]
 [ 0.07317262  0.99731929  0.         -0.59745948]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.79, Y:-0.57, Z:0.00
[[ 0.99816539 -0.06054629  0.         21.79320584]
 [ 0.06054629  0.99816539  0.         -0.57047759]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.85, Y:-0.56, Z:0.00
[[ 0.99824141 -0.05927968  0.         21.85227038]
 [ 0.05927968  0.99824141  0.         -0.55891209]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.846066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.91, Y:-0.53, Z:0.00
[[ 0.99870995 -0.05077824  0.         21.91346388]
 [ 0.05077824  0.99870995  0.         -0.52843037]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:21.97, Y:-0.52, Z:0.00
[[ 0.99917054 -0.0407215   0.         21.97301394]
 [ 0.0407215   0.99917054  0.         -0.51622706]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 21.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.03, Y:-0.51, Z:0.00
[[ 0.99931098 -0.03711562  0.         22.0336775 ]
 [ 0.03711562  0.99931098  0.         -0.51113185]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.026066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.09, Y:-0.49, Z:0.00
[[ 0.9993838  -0.03510006  0.         22.09232275]
 [ 0.03510006  0.9993838   0.         -0.48913058]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.15, Y:-0.49, Z:0.00
[[ 0.99933315 -0.03651386  0.         22.15161034]
 [ 0.03651386  0.99933315  0.         -0.49035933]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.21, Y:-0.50, Z:0.00
[[ 0.99918919 -0.04026108  0.         22.21140755]
 [ 0.04026108  0.99918919  0.         -0.50085586]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.27, Y:-0.49, Z:0.00
[[ 0.99945541 -0.03299831  0.         22.27219223]
 [ 0.03299831  0.99945541  0.         -0.49282035]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.33, Y:-0.49, Z:0.00
[[ 0.99955335 -0.02988493  0.         22.33177438]
 [ 0.02988493  0.99955335  0.         -0.48534012]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.39, Y:-0.49, Z:0.00
[[ 0.99932099 -0.03684501  0.         22.3920021 ]
 [ 0.03684501  0.99932099  0.         -0.4924707 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.45, Y:-0.50, Z:0.00
[[ 0.9987929  -0.04911971  0.         22.45274223]
 [ 0.04911971  0.9987929   0.         -0.49600929]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.51, Y:-0.49, Z:0.00
[[ 0.99858011 -0.05327061  0.         22.51183819]
 [ 0.05327061  0.99858011  0.         -0.4913196 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.57, Y:-0.49, Z:0.00
[[ 0.99818253 -0.0602631   0.         22.57139756]
 [ 0.0602631   0.99818253  0.         -0.48851472]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.63, Y:-0.49, Z:0.00
[[ 0.99827802 -0.05866002  0.         22.63188756]
 [ 0.05866002  0.99827802  0.         -0.4853717 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.69, Y:-0.49, Z:0.00
[[ 0.99847951 -0.05512404  0.         22.69261434]
 [ 0.05512404  0.99847951  0.         -0.48603555]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.686066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.75, Y:-0.47, Z:0.00
[[ 0.99911748 -0.04200311  0.         22.75266586]
 [ 0.04200311  0.99911748  0.         -0.47211466]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.81, Y:-0.47, Z:0.00
[[ 0.99900724 -0.04454807  0.         22.81176658]
 [ 0.04454807  0.99900724  0.         -0.47492877]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.87, Y:-0.48, Z:0.00
[[ 0.99835276 -0.05737388  0.         22.87126105]
 [ 0.05737388  0.99835276  0.         -0.47896989]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.93, Y:-0.47, Z:0.00
[[ 0.99720076 -0.07477065  0.         22.93224609]
 [ 0.07477065  0.99720076  0.         -0.46987084]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:22.99, Y:-0.46, Z:0.00
[[ 0.99690491 -0.07861681  0.         22.99256245]
 [ 0.07861681  0.99690491  0.         -0.45739716]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 22.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.05, Y:-0.46, Z:0.00
[[ 0.99694524 -0.07810373  0.         23.05166886]
 [ 0.07810373  0.99694524  0.         -0.46034007]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.11, Y:-0.43, Z:0.00
[[ 0.99764194 -0.06863352  0.         23.11216604]
 [ 0.06863352  0.99764194  0.         -0.43330388]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.17, Y:-0.42, Z:0.00
[[ 0.99800117 -0.06319544  0.         23.17282264]
 [ 0.06319544  0.99800117  0.         -0.42303606]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.23, Y:-0.42, Z:0.00
[[ 0.99797775 -0.0635642   0.         23.23248654]
 [ 0.0635642   0.99797775  0.         -0.42453454]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.29, Y:-0.41, Z:0.00
[[ 0.99829592 -0.0583545   0.         23.29387007]
 [ 0.0583545   0.99829592  0.         -0.40846313]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.35, Y:-0.39, Z:0.00
[[ 0.99880828 -0.04880599  0.         23.35434458]
 [ 0.04880599  0.99880828  0.         -0.3920061 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.346066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.41, Y:-0.40, Z:0.00
[[ 0.99876257 -0.04973254  0.         23.41480424]
 [ 0.04973254  0.99876257  0.         -0.39524377]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.47, Y:-0.38, Z:0.00
[[ 0.9987717  -0.04954896  0.         23.47412905]
 [ 0.04954896  0.9987717   0.         -0.38410122]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.54, Y:-0.37, Z:0.00
[[ 0.99879934 -0.04898856  0.         23.5350597 ]
 [ 0.04898856  0.99879934  0.         -0.36629747]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.526066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.60, Y:-0.37, Z:0.00
[[ 0.99836806 -0.05710699  0.         23.59549395]
 [ 0.05710699  0.99836806  0.         -0.3693897 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.66, Y:-0.36, Z:0.00
[[ 0.99804438 -0.06250926  0.         23.6554645 ]
 [ 0.06250926  0.99804438  0.         -0.3604572 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.72, Y:-0.36, Z:0.00
[[ 0.99768578 -0.06799329  0.         23.71637912]
 [ 0.06799329  0.99768578  0.         -0.35539591]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.78, Y:-0.35, Z:0.00
[[ 0.99663911 -0.08191757  0.         23.77700194]
 [ 0.08191757  0.99663911  0.         -0.3459655 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.84, Y:-0.34, Z:0.00
[[ 0.99645612 -0.08411421  0.         23.83784359]
 [ 0.08411421  0.99645612  0.         -0.34030023]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.90, Y:-0.33, Z:0.00
[[ 0.9970135  -0.07722748  0.         23.89907145]
 [ 0.07722748  0.9970135   0.         -0.32621057]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:23.96, Y:-0.32, Z:0.00
[[ 0.9974265  -0.07169644  0.         23.95872809]
 [ 0.07169644  0.9974265   0.         -0.32002787]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 23.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.02, Y:-0.30, Z:0.00
[[ 0.99818545 -0.0602147   0.         24.01953697]
 [ 0.0602147   0.99818545  0.         -0.29986903]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.006066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.08, Y:-0.29, Z:0.00
[[ 0.99840544 -0.05644974  0.         24.08019651]
 [ 0.05644974  0.99840544  0.         -0.29410601]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.14, Y:-0.29, Z:0.00
[[ 0.99869145 -0.05114078  0.         24.14030389]
 [ 0.05114078  0.99869145  0.         -0.29279937]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.20, Y:-0.30, Z:0.00
[[ 0.99843283 -0.05596328  0.         24.20029283]
 [ 0.05596328  0.99843283  0.         -0.30237016]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.186066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.26, Y:-0.30, Z:0.00
[[ 0.99810505 -0.061533    0.         24.25974971]
 [ 0.061533    0.99810505  0.         -0.30255532]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.32, Y:-0.30, Z:0.00
[[ 0.9980356  -0.06264937  0.         24.31944076]
 [ 0.06264937  0.9980356   0.         -0.30409538]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.38, Y:-0.31, Z:0.00
[[ 0.99881312 -0.04870672  0.         24.37845596]
 [ 0.04870672  0.99881312  0.         -0.30839418]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.44, Y:-0.31, Z:0.00
[[ 0.99904525 -0.04368748  0.         24.43917194]
 [ 0.04368748  0.99904525  0.         -0.31412341]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.50, Y:-0.32, Z:0.00
[[ 0.99865789 -0.05179206  0.         24.49975897]
 [ 0.05179206  0.99865789  0.         -0.31523588]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.56, Y:-0.32, Z:0.00
[[ 0.99807154 -0.06207422  0.         24.55983656]
 [ 0.06207422  0.99807154  0.         -0.32359405]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.62, Y:-0.33, Z:0.00
[[ 0.99722366 -0.07446452  0.         24.61864945]
 [ 0.07446452  0.99722366  0.         -0.33214975]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.68, Y:-0.33, Z:0.00
[[ 0.99665304 -0.08174783  0.         24.67762771]
 [ 0.08174783  0.99665304  0.         -0.33395223]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.666066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.74, Y:-0.33, Z:0.00
[[ 0.99636683 -0.08516541  0.         24.73814918]
 [ 0.08516541  0.99636683  0.         -0.33461782]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.80, Y:-0.33, Z:0.00
[[ 0.99607953 -0.08846228  0.         24.79852899]
 [ 0.08846228  0.99607953  0.         -0.33094216]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.86, Y:-0.32, Z:0.00
[[ 0.99523565 -0.09749877  0.         24.85880385]
 [ 0.09749877  0.99523565  0.         -0.32261261]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.846066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.92, Y:-0.32, Z:0.00
[[ 0.99501055 -0.09976977  0.         24.91878122]
 [ 0.09976977  0.99501055  0.         -0.31527482]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:24.98, Y:-0.30, Z:0.00
[[ 0.99530044 -0.09683511  0.         24.97936778]
 [ 0.09683511  0.99530044  0.         -0.29676238]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 24.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.04, Y:-0.28, Z:0.00
[[ 0.99486001 -0.10125989  0.         25.04047755]
 [ 0.10125989  0.99486001  0.         -0.28254964]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.026066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.10, Y:-0.27, Z:0.00
[[ 0.99415363 -0.10797481  0.         25.1008942 ]
 [ 0.10797481  0.99415363  0.         -0.27103223]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.16, Y:-0.25, Z:0.00
[[ 0.99410508 -0.10842093  0.         25.15971984]
 [ 0.10842093  0.99410508  0.         -0.24735682]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.22, Y:-0.23, Z:0.00
[[ 0.99462895 -0.10350483  0.         25.21960529]
 [ 0.10350483  0.99462895  0.         -0.23091724]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.28, Y:-0.21, Z:0.00
[[ 0.99541315 -0.09566949  0.         25.28114742]
 [ 0.09566949  0.99541315  0.         -0.20890191]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.34, Y:-0.19, Z:0.00
[[ 0.99543994 -0.09539037  0.         25.34050498]
 [ 0.09539037  0.99543994  0.         -0.19292225]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.40, Y:-0.17, Z:0.00
[[ 0.99512864 -0.09858493  0.         25.40196031]
 [ 0.09858493  0.99512864  0.         -0.1731043 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.46, Y:-0.16, Z:0.00
[[ 0.99508083 -0.09906635  0.         25.4615937 ]
 [ 0.09906635  0.99508083  0.         -0.15945272]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.52, Y:-0.14, Z:0.00
[[ 0.99598698 -0.08949825  0.         25.52173029]
 [ 0.08949825  0.99598698  0.         -0.13511118]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.506066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.58, Y:-0.13, Z:0.00
[[ 0.9964871  -0.08374636  0.         25.58214861]
 [ 0.08374636  0.9964871   0.         -0.12610918]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.64, Y:-0.11, Z:0.00
[[ 0.99674053 -0.08067418  0.         25.64186073]
 [ 0.08067418  0.99674053  0.         -0.10693477]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.70, Y:-0.10, Z:0.00
[[ 0.99706679 -0.07653631  0.         25.7028826 ]
 [ 0.07653631  0.99706679  0.         -0.09908566]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.686066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.76, Y:-0.10, Z:0.00
[[ 0.99779797 -0.06632649  0.         25.76289797]
 [ 0.06632649  0.99779797  0.         -0.09591016]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.82, Y:-0.09, Z:0.00
[[ 0.99824778 -0.05917238  0.         25.82375043]
 [ 0.05917238  0.99824778  0.         -0.08744977]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.88, Y:-0.09, Z:0.00
[[ 0.9989068  -0.04674626  0.         25.88445991]
 [ 0.04674626  0.9989068   0.         -0.08561871]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:25.94, Y:-0.09, Z:0.00
[[ 0.99921764 -0.03954873  0.         25.94487701]
 [ 0.03954873  0.99921764  0.         -0.09013787]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.01, Y:-0.09, Z:0.00
[[ 0.99926406 -0.03835814  0.         26.0052086 ]
 [ 0.03835814  0.99926406  0.         -0.09343954]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 25.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.07, Y:-0.09, Z:0.00
[[ 0.9994541  -0.03303795  0.         26.06592787]
 [ 0.03303795  0.9994541   0.         -0.09357224]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.12, Y:-0.10, Z:0.00
[[ 9.99777291e-01 -2.11037433e-02  0.00000000e+00  2.61247570e+01]
 [ 2.11037433e-02  9.99777291e-01  0.00000000e+00 -1.04248934e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.18, Y:-0.12, Z:0.00
[[ 9.99860112e-01 -1.67259171e-02  0.00000000e+00  2.61845225e+01]
 [ 1.67259171e-02  9.99860112e-01  0.00000000e+00 -1.16682393e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.166066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.24, Y:-0.13, Z:0.00
[[ 9.99869100e-01 -1.61796796e-02  0.00000000e+00  2.62434817e+01]
 [ 1.61796796e-02  9.99869100e-01  0.00000000e+00 -1.29088078e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.30, Y:-0.14, Z:0.00
[[ 9.99759070e-01 -2.19499884e-02  0.00000000e+00  2.63039094e+01]
 [ 2.19499884e-02  9.99759070e-01  0.00000000e+00 -1.44738192e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.36, Y:-0.17, Z:0.00
[[ 0.99961108 -0.02788718  0.         26.36412399]
 [ 0.02788718  0.99961108  0.         -0.16738106]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.346066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.42, Y:-0.18, Z:0.00
[[ 0.99964074 -0.02680272  0.         26.42232217]
 [ 0.02680272  0.99964074  0.         -0.18185824]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.48, Y:-0.19, Z:0.00
[[ 9.99730537e-01 -2.32131958e-02  0.00000000e+00  2.64821928e+01]
 [ 2.32131958e-02  9.99730537e-01  0.00000000e+00 -1.92117156e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.54, Y:-0.21, Z:0.00
[[ 9.99699549e-01 -2.45114599e-02  0.00000000e+00  2.65399107e+01]
 [ 2.45114599e-02  9.99699549e-01  0.00000000e+00 -2.08249621e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.526066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.60, Y:-0.22, Z:0.00
[[ 0.99940085 -0.03461125  0.         26.59972061]
 [ 0.03461125  0.99940085  0.         -0.21924409]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.66, Y:-0.23, Z:0.00
[[ 0.99859003 -0.05308433  0.         26.65986334]
 [ 0.05308433  0.99859003  0.         -0.2333167 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.72, Y:-0.24, Z:0.00
[[ 0.99773604 -0.06725166  0.         26.71953332]
 [ 0.06725166  0.99773604  0.         -0.24479702]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.78, Y:-0.25, Z:0.00
[[ 0.99713612 -0.0756277   0.         26.77892563]
 [ 0.0756277   0.99713612  0.         -0.25062699]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.84, Y:-0.25, Z:0.00
[[ 0.99746516 -0.07115656  0.         26.83901746]
 [ 0.07115656  0.99746516  0.         -0.25338223]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.826066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.90, Y:-0.26, Z:0.00
[[ 0.99788213 -0.06504817  0.         26.89800656]
 [ 0.06504817  0.99788213  0.         -0.25738967]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:26.96, Y:-0.26, Z:0.00
[[ 0.99843851 -0.05586187  0.         26.9569465 ]
 [ 0.05586187  0.99843851  0.         -0.25988181]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 26.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.02, Y:-0.26, Z:0.00
[[ 0.99863085 -0.05231079  0.         27.01727384]
 [ 0.05231079  0.99863085  0.         -0.2602006 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.006066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.08, Y:-0.27, Z:0.00
[[ 0.99880517 -0.04886953  0.         27.07720573]
 [ 0.04886953  0.99880517  0.         -0.26695721]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.14, Y:-0.26, Z:0.00
[[ 0.99890677 -0.04674684  0.         27.13584401]
 [ 0.04674684  0.99890677  0.         -0.26430644]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.20, Y:-0.27, Z:0.00
[[ 0.99891572 -0.04655513  0.         27.1956395 ]
 [ 0.04655513  0.99891572  0.         -0.26759945]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.186066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.25, Y:-0.28, Z:0.00
[[ 0.99877686 -0.04944475  0.         27.2546046 ]
 [ 0.04944475  0.99877686  0.         -0.27901597]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.31, Y:-0.29, Z:0.00
[[ 0.99893292 -0.04618468  0.         27.31421026]
 [ 0.04618468  0.99893292  0.         -0.2856175 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.37, Y:-0.29, Z:0.00
[[ 0.99917998 -0.04048909  0.         27.37479011]
 [ 0.04048909  0.99917998  0.         -0.28786375]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.43, Y:-0.31, Z:0.00
[[ 0.99930323 -0.0373237   0.         27.4347194 ]
 [ 0.0373237   0.99930323  0.         -0.30698564]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.49, Y:-0.33, Z:0.00
[[ 9.99657331e-01 -2.61767276e-02  0.00000000e+00  2.74933466e+01]
 [ 2.61767276e-02  9.99657331e-01  0.00000000e+00 -3.26233672e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.55, Y:-0.33, Z:0.00
[[ 9.99961027e-01 -8.82858955e-03  0.00000000e+00  2.75537503e+01]
 [ 8.82858955e-03  9.99961027e-01  0.00000000e+00 -3.32112584e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.61, Y:-0.35, Z:0.00
[[ 9.99974686e-01 -7.11530196e-03  0.00000000e+00  2.76120928e+01]
 [ 7.11530196e-03  9.99974686e-01  0.00000000e+00 -3.48169470e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.67, Y:-0.37, Z:0.00
[[ 9.99856413e-01 -1.69456162e-02  0.00000000e+00  2.76714207e+01]
 [ 1.69456162e-02  9.99856413e-01  0.00000000e+00 -3.74210175e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.666066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.73, Y:-0.38, Z:0.00
[[ 9.99789037e-01 -2.05397656e-02  0.00000000e+00  2.77318646e+01]
 [ 2.05397656e-02  9.99789037e-01  0.00000000e+00 -3.83624182e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.79, Y:-0.40, Z:0.00
[[ 9.99682387e-01 -2.52016977e-02  0.00000000e+00  2.77914673e+01]
 [ 2.52016977e-02  9.99682387e-01  0.00000000e+00 -3.99285911e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.85, Y:-0.41, Z:0.00
[[ 9.99627122e-01 -2.73060019e-02  0.00000000e+00  2.78502596e+01]
 [ 2.73060019e-02  9.99627122e-01  0.00000000e+00 -4.06624035e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.846066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.91, Y:-0.42, Z:0.00
[[ 0.99956658 -0.029439    0.         27.91041996]
 [ 0.029439    0.99956658  0.         -0.41586654]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:27.97, Y:-0.43, Z:0.00
[[ 0.9994866  -0.03203956  0.         27.96869406]
 [ 0.03203956  0.9994866   0.         -0.43359403]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 27.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.03, Y:-0.44, Z:0.00
[[ 0.99945005 -0.03316005  0.         28.026503  ]
 [ 0.03316005  0.99945005  0.         -0.43825394]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.026066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.09, Y:-0.45, Z:0.00
[[ 0.99916361 -0.04089108  0.         28.08666915]
 [ 0.04089108  0.99916361  0.         -0.4536212 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.15, Y:-0.46, Z:0.00
[[ 0.99877432 -0.04949595  0.         28.14726193]
 [ 0.04949595  0.99877432  0.         -0.46288242]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.21, Y:-0.47, Z:0.00
[[ 0.99836452 -0.05716888  0.         28.20736903]
 [ 0.05716888  0.99836452  0.         -0.47256695]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.27, Y:-0.48, Z:0.00
[[ 0.99822259 -0.05959575  0.         28.26722636]
 [ 0.05959575  0.99822259  0.         -0.47657137]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.33, Y:-0.48, Z:0.00
[[ 0.99827504 -0.05871063  0.         28.32634443]
 [ 0.05871063  0.99827504  0.         -0.47706624]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.326066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.39, Y:-0.48, Z:0.00
[[ 0.99808903 -0.06179232  0.         28.385494  ]
 [ 0.06179232  0.99808903  0.         -0.48062199]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.44, Y:-0.48, Z:0.00
[[ 0.99807054 -0.06209023  0.         28.44463184]
 [ 0.06209023  0.99807054  0.         -0.48381384]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.50, Y:-0.48, Z:0.00
[[ 0.99825811 -0.05899788  0.         28.50473347]
 [ 0.05899788  0.99825811  0.         -0.47947901]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.506066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.56, Y:-0.48, Z:0.00
[[ 0.998231   -0.05945481  0.         28.56374499]
 [ 0.05945481  0.998231    0.         -0.47948645]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.62, Y:-0.48, Z:0.00
[[ 0.99814135 -0.06094128  0.         28.62459015]
 [ 0.06094128  0.99814135  0.         -0.48289433]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.69, Y:-0.48, Z:0.00
[[ 0.99821053 -0.05979741  0.         28.68535704]
 [ 0.05979741  0.99821053  0.         -0.48198382]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.686066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.75, Y:-0.47, Z:0.00
[[ 0.99873063 -0.05037     0.         28.74636425]
 [ 0.05037     0.99873063  0.         -0.47051626]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.81, Y:-0.47, Z:0.00
[[ 0.99899874 -0.04473825  0.         28.80655981]
 [ 0.04473825  0.99899874  0.         -0.47456245]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.87, Y:-0.48, Z:0.00
[[ 0.9992313  -0.03920209  0.         28.86595259]
 [ 0.03920209  0.9992313   0.         -0.48019815]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 28.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.93, Y:-0.47, Z:0.00
[[ 9.99616863e-01 -2.76789897e-02  0.00000000e+00  2.89258465e+01]
 [ 2.76789897e-02  9.99616863e-01  0.00000000e+00 -4.67647916e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:28.99, Y:-0.47, Z:0.00
[[ 9.99852692e-01 -1.71637640e-02  0.00000000e+00  2.89864877e+01]
 [ 1.71637640e-02  9.99852692e-01  0.00000000e+00 -4.67039718e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.986066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.05, Y:-0.48, Z:0.00
[[ 9.99861608e-01 -1.66362274e-02  0.00000000e+00  2.90455787e+01]
 [ 1.66362274e-02  9.99861608e-01  0.00000000e+00 -4.75204870e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.11, Y:-0.47, Z:0.00
[[ 9.99782436e-01 -2.08585652e-02  0.00000000e+00  2.91057053e+01]
 [ 2.08585652e-02  9.99782436e-01  0.00000000e+00 -4.68669127e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.17, Y:-0.47, Z:0.00
[[ 9.99659201e-01 -2.61052169e-02  0.00000000e+00  2.91665051e+01]
 [ 2.61052169e-02  9.99659201e-01  0.00000000e+00 -4.73930711e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.166066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.23, Y:-0.49, Z:0.00
[[ 0.99953062 -0.03063545  0.         29.2269531 ]
 [ 0.03063545  0.99953062  0.         -0.48643957]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.29, Y:-0.49, Z:0.00
[[ 0.99938034 -0.03519845  0.         29.28716819]
 [ 0.03519845  0.99938034  0.         -0.49082853]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.35, Y:-0.50, Z:0.00
[[ 0.99939337 -0.03482663  0.         29.3451405 ]
 [ 0.03482663  0.99939337  0.         -0.49655096]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.346066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.40, Y:-0.50, Z:0.00
[[ 0.99948651 -0.03204228  0.         29.40432654]
 [ 0.03204228  0.99948651  0.         -0.502904  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.46, Y:-0.51, Z:0.00
[[ 0.99950947 -0.03131812  0.         29.46367638]
 [ 0.03131812  0.99950947  0.         -0.50712169]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.52, Y:-0.51, Z:0.00
[[ 0.99928881 -0.03770764  0.         29.52324307]
 [ 0.03770764  0.99928881  0.         -0.51112424]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.526066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.58, Y:-0.52, Z:0.00
[[ 0.99906176 -0.04330815  0.         29.58293271]
 [ 0.04330815  0.99906176  0.         -0.5196643 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.64, Y:-0.52, Z:0.00
[[ 0.99873745 -0.05023452  0.         29.64297942]
 [ 0.05023452  0.99873745  0.         -0.51811675]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.70, Y:-0.52, Z:0.00
[[ 0.99836624 -0.05713893  0.         29.70296245]
 [ 0.05713893  0.99836624  0.         -0.51977753]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.76, Y:-0.53, Z:0.00
[[ 0.99813717 -0.06100982  0.         29.76290174]
 [ 0.06100982  0.99813717  0.         -0.52626875]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.82, Y:-0.53, Z:0.00
[[ 0.99740823 -0.07195013  0.         29.82327341]
 [ 0.07195013  0.99740823  0.         -0.53110444]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.826066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.88, Y:-0.51, Z:0.00
[[ 0.99773903 -0.06720741  0.         29.88466205]
 [ 0.06720741  0.99773903  0.         -0.51487342]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:29.95, Y:-0.52, Z:0.00
[[ 0.99782209 -0.06596267  0.         29.94524532]
 [ 0.06596267  0.99782209  0.         -0.51527787]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 29.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.01, Y:-0.52, Z:0.00
[[ 0.99756707 -0.06971324  0.         30.00553896]
 [ 0.06971324  0.99756707  0.         -0.52207722]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.006066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.07, Y:-0.50, Z:0.00
[[ 0.99737455 -0.07241549  0.         30.06565634]
 [ 0.07241549  0.99737455  0.         -0.5011806 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.13, Y:-0.49, Z:0.00
[[ 0.9973021  -0.0734066   0.         30.12683223]
 [ 0.0734066   0.9973021   0.         -0.4891855 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.19, Y:-0.49, Z:0.00
[[ 0.99736983 -0.07248056  0.         30.18657206]
 [ 0.07248056  0.99736983  0.         -0.48781672]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.186066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.25, Y:-0.47, Z:0.00
[[ 0.99737378 -0.07242611  0.         30.24566406]
 [ 0.07242611  0.99737378  0.         -0.47358196]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.30, Y:-0.45, Z:0.00
[[ 0.99736798 -0.07250601  0.         30.30285101]
 [ 0.07250601  0.99736798  0.         -0.44997359]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.36, Y:-0.44, Z:0.00
[[ 0.9970476  -0.07678596  0.         30.36311183]
 [ 0.07678596  0.9970476   0.         -0.44158702]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.42, Y:-0.43, Z:0.00
[[ 0.99683569 -0.07948964  0.         30.42326097]
 [ 0.07948964  0.99683569  0.         -0.4321792 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.48, Y:-0.42, Z:0.00
[[ 0.99682091 -0.07967482  0.         30.48267781]
 [ 0.07967482  0.99682091  0.         -0.42439678]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.486066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.54, Y:-0.40, Z:0.00
[[ 0.99685397 -0.07926007  0.         30.54152125]
 [ 0.07926007  0.99685397  0.         -0.40090251]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.60, Y:-0.39, Z:0.00
[[ 0.99642395 -0.08449442  0.         30.60186209]
 [ 0.08449442  0.99642395  0.         -0.38821068]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.66, Y:-0.39, Z:0.00
[[ 0.99545709 -0.09521123  0.         30.66236497]
 [ 0.09521123  0.99545709  0.         -0.38951845]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.666066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.72, Y:-0.37, Z:0.00
[[ 0.99570173 -0.0926178   0.         30.72290344]
 [ 0.0926178   0.99570173  0.         -0.37074186]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.78, Y:-0.35, Z:0.00
[[ 0.99648979 -0.08371436  0.         30.78376755]
 [ 0.08371436  0.99648979  0.         -0.34974095]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.84, Y:-0.34, Z:0.00
[[ 0.99769324 -0.06788374  0.         30.84356249]
 [ 0.06788374  0.99769324  0.         -0.34008209]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.846066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.90, Y:-0.33, Z:0.00
[[ 0.99808531 -0.06185234  0.         30.90345285]
 [ 0.06185234  0.99808531  0.         -0.33047968]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:30.96, Y:-0.31, Z:0.00
[[ 0.99883284 -0.04830061  0.         30.96389676]
 [ 0.04830061  0.99883284  0.         -0.31248345]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 30.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.02, Y:-0.31, Z:0.00
[[ 0.99925136 -0.03868738  0.         31.02482139]
 [ 0.03868738  0.99925136  0.         -0.31213795]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.026066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.08, Y:-0.31, Z:0.00
[[ 9.99647016e-01 -2.65677285e-02  0.00000000e+00  3.10840752e+01]
 [ 2.65677285e-02  9.99647016e-01  0.00000000e+00 -3.05171095e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.14, Y:-0.31, Z:0.00
[[ 9.99674743e-01 -2.55031197e-02  0.00000000e+00  3.11445579e+01]
 [ 2.55031197e-02  9.99674743e-01  0.00000000e+00 -3.07626655e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.146066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.20, Y:-0.31, Z:0.00
[[ 9.99695778e-01 -2.46647844e-02  0.00000000e+00  3.12034165e+01]
 [ 2.46647844e-02  9.99695778e-01  0.00000000e+00 -3.12298432e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.26, Y:-0.32, Z:0.00
[[ 9.99696244e-01 -2.46458689e-02  0.00000000e+00  3.12628704e+01]
 [ 2.46458689e-02  9.99696244e-01  0.00000000e+00 -3.17864868e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.32, Y:-0.32, Z:0.00
[[ 9.99636032e-01 -2.69778466e-02  0.00000000e+00  3.13223052e+01]
 [ 2.69778466e-02  9.99636032e-01  0.00000000e+00 -3.23320581e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.326066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.38, Y:-0.33, Z:0.00
[[ 9.99602995e-01 -2.81753726e-02  0.00000000e+00  3.13820632e+01]
 [ 2.81753726e-02  9.99602995e-01  0.00000000e+00 -3.28765640e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.44, Y:-0.33, Z:0.00
[[ 0.99942869 -0.03379775  0.         31.44222111]
 [ 0.03379775  0.99942869  0.         -0.33185   ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.50, Y:-0.35, Z:0.00
[[ 0.99898149 -0.04512192  0.         31.50130552]
 [ 0.04512192  0.99898149  0.         -0.3491574 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.506066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.56, Y:-0.35, Z:0.00
[[ 0.99886256 -0.04768214  0.         31.56136318]
 [ 0.04768214  0.99886256  0.         -0.35461229]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.62, Y:-0.35, Z:0.00
[[ 0.99899231 -0.04488166  0.         31.62165184]
 [ 0.04488166  0.99899231  0.         -0.35116475]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.68, Y:-0.36, Z:0.00
[[ 0.99909584 -0.04251477  0.         31.6804124 ]
 [ 0.04251477  0.99909584  0.         -0.3551082 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.686066493000002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.74, Y:-0.37, Z:0.00
[[ 0.99916295 -0.04090731  0.         31.73797171]
 [ 0.04090731  0.99916295  0.         -0.36538385]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.80, Y:-0.36, Z:0.00
[[ 0.99900236 -0.0446574   0.         31.79846223]
 [ 0.0446574   0.99900236  0.         -0.36456352]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.806066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.86, Y:-0.36, Z:0.00
[[ 0.99889864 -0.04692017  0.         31.85852783]
 [ 0.04692017  0.99889864  0.         -0.36377254]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.92, Y:-0.37, Z:0.00
[[ 0.99928623 -0.03777595  0.         31.91825575]
 [ 0.03777595  0.99928623  0.         -0.3685846 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 31.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.98, Y:-0.37, Z:0.00
[[ 9.99728784e-01 -2.32885839e-02  0.00000000e+00  3.19779716e+01]
 [ 2.32885839e-02  9.99728784e-01  0.00000000e+00 -3.68800105e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.986066493000003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.04, Y:-0.37, Z:0.00
[[ 9.99989087e-01 -4.67179112e-03  0.00000000e+00  3.20381069e+01]
 [ 4.67179112e-03  9.99989087e-01  0.00000000e+00 -3.68196085e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.10, Y:-0.38, Z:0.00
[[ 9.99985001e-01  5.47700756e-03  0.00000000e+00  3.20980901e+01]
 [-5.47700756e-03  9.99985001e-01  0.00000000e+00 -3.76578901e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.16, Y:-0.40, Z:0.00
[[ 9.99941273e-01  1.08375007e-02  0.00000000e+00  3.21585620e+01]
 [-1.08375007e-02  9.99941273e-01  0.00000000e+00 -3.95464777e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.22, Y:-0.41, Z:0.00
[[ 9.99949590e-01  1.00408359e-02  0.00000000e+00  3.22192297e+01]
 [-1.00408359e-02  9.99949590e-01  0.00000000e+00 -4.12785741e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.28, Y:-0.44, Z:0.00
[[ 9.99993045e-01  3.72957656e-03  0.00000000e+00  3.22792056e+01]
 [-3.72957656e-03  9.99993045e-01  0.00000000e+00 -4.38389034e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.34, Y:-0.46, Z:0.00
[[ 9.99999128e-01  1.32061274e-03  0.00000000e+00  3.23389718e+01]
 [-1.32061274e-03  9.99999128e-01  0.00000000e+00 -4.57217334e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.40, Y:-0.48, Z:0.00
[[ 9.99999969e-01 -2.48021424e-04  0.00000000e+00  3.23987102e+01]
 [ 2.48021424e-04  9.99999969e-01  0.00000000e+00 -4.82748658e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.46, Y:-0.49, Z:0.00
[[ 9.99997680e-01 -2.15411906e-03  0.00000000e+00  3.24589730e+01]
 [ 2.15411906e-03  9.99997680e-01  0.00000000e+00 -4.94405107e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.52, Y:-0.52, Z:0.00
[[ 9.99909308e-01 -1.34675982e-02  0.00000000e+00  3.25181344e+01]
 [ 1.34675982e-02  9.99909308e-01  0.00000000e+00 -5.20050024e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.58, Y:-0.53, Z:0.00
[[ 9.99865290e-01 -1.64134857e-02  0.00000000e+00  3.25761176e+01]
 [ 1.64134857e-02  9.99865290e-01  0.00000000e+00 -5.34186721e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.63, Y:-0.55, Z:0.00
[[ 9.99852213e-01 -1.71916550e-02  0.00000000e+00  3.26348793e+01]
 [ 1.71916550e-02  9.99852213e-01  0.00000000e+00 -5.51401888e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.69, Y:-0.57, Z:0.00
[[ 9.99862972e-01 -1.65540412e-02  0.00000000e+00  3.26939090e+01]
 [ 1.65540412e-02  9.99862972e-01  0.00000000e+00 -5.68547230e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.75, Y:-0.59, Z:0.00
[[ 9.99927644e-01 -1.20293880e-02  0.00000000e+00  3.27528247e+01]
 [ 1.20293880e-02  9.99927644e-01  0.00000000e+00 -5.86499344e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.81, Y:-0.60, Z:0.00
[[ 9.99999644e-01 -8.43578115e-04  0.00000000e+00  3.28125953e+01]
 [ 8.43578115e-04  9.99999644e-01  0.00000000e+00 -5.97247475e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.87, Y:-0.61, Z:0.00
[[ 9.99977055e-01  6.77410893e-03  0.00000000e+00  3.28723974e+01]
 [-6.77410893e-03  9.99977055e-01  0.00000000e+00 -6.10182331e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:32.93, Y:-0.63, Z:0.00
[[ 9.99922542e-01  1.24463005e-02  0.00000000e+00  3.29334095e+01]
 [-1.24463005e-02  9.99922542e-01  0.00000000e+00 -6.25842785e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.00, Y:-0.63, Z:0.00
[[ 9.99899907e-01  1.41483443e-02  0.00000000e+00  3.29950761e+01]
 [-1.41483443e-02  9.99899907e-01  0.00000000e+00 -6.34186038e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.05, Y:-0.65, Z:0.00
[[ 9.99878922e-01  1.55608988e-02  0.00000000e+00  3.30547002e+01]
 [-1.55608988e-02  9.99878922e-01  0.00000000e+00 -6.50055661e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.12, Y:-0.67, Z:0.00
[[ 9.99808663e-01  1.95611276e-02  0.00000000e+00  3.31167504e+01]
 [-1.95611276e-02  9.99808663e-01  0.00000000e+00 -6.69436322e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.18, Y:-0.68, Z:0.00
[[ 9.99637811e-01  2.69118509e-02  0.00000000e+00  3.31780131e+01]
 [-2.69118509e-02  9.99637811e-01  0.00000000e+00 -6.81801824e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.24, Y:-0.70, Z:0.00
[[ 0.99941881  0.03408886  0.         33.23953712]
 [-0.03408886  0.99941881  0.         -0.70307491]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 33.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.30, Y:-0.72, Z:0.00
[[ 0.99935441  0.03592733  0.         33.3002851 ]
 [-0.03592733  0.99935441  0.         -0.71608001]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 33.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.36, Y:-0.74, Z:0.00
[[ 0.99918701  0.04031521  0.         33.36287344]
 [-0.04031521  0.99918701  0.         -0.73740717]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 33.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.42, Y:-0.76, Z:0.00
[[ 0.999205    0.03986688  0.         33.42318683]
 [-0.03986688  0.999205    0.         -0.75518631]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 33.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.48, Y:-0.77, Z:0.00
[[ 0.99925714  0.03853782  0.         33.48467978]
 [-0.03853782  0.99925714  0.         -0.76794494]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 33.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.55, Y:-0.79, Z:0.00
[[ 9.99740513e-01  2.27795363e-02  0.00000000e+00  3.35462021e+01]
 [-2.27795363e-02  9.99740513e-01  0.00000000e+00 -7.93048655e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.61, Y:-0.80, Z:0.00
[[ 9.99845224e-01  1.75933946e-02  0.00000000e+00  3.36070954e+01]
 [-1.75933946e-02  9.99845224e-01  0.00000000e+00 -7.98360861e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.67, Y:-0.80, Z:0.00
[[ 9.99965214e-01  8.34090565e-03  0.00000000e+00  3.36692953e+01]
 [-8.34090565e-03  9.99965214e-01  0.00000000e+00 -8.04410479e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.73, Y:-0.83, Z:0.00
[[ 9.99922438e-01 -1.24546596e-02  0.00000000e+00  3.37292148e+01]
 [ 1.24546596e-02  9.99922438e-01  0.00000000e+00 -8.29367477e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.79, Y:-0.85, Z:0.00
[[ 9.99430151e-01 -3.37545931e-02  0.00000000e+00  3.37880391e+01]
 [ 3.37545931e-02  9.99430151e-01  0.00000000e+00 -8.46607901e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.85, Y:-0.85, Z:0.00
[[ 0.99918198 -0.04043972  0.         33.84810365]
 [ 0.04043972  0.99918198  0.         -0.84521995]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 33.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.91, Y:-0.86, Z:0.00
[[ 0.99898863 -0.04496343  0.         33.90799321]
 [ 0.04496343  0.99898863  0.         -0.85723932]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 33.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:33.97, Y:-0.87, Z:0.00
[[ 0.99850776 -0.05461007  0.         33.96824994]
 [ 0.05461007  0.99850776  0.         -0.86724754]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 33.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.03, Y:-0.86, Z:0.00
[[ 0.99853839 -0.05404702  0.         34.02719218]
 [ 0.05404702  0.99853839  0.         -0.85513373]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.09, Y:-0.85, Z:0.00
[[ 0.99865961 -0.05175893  0.         34.08608793]
 [ 0.05175893  0.99865961  0.         -0.85415358]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.15, Y:-0.85, Z:0.00
[[ 0.99843911 -0.05585104  0.         34.1466627 ]
 [ 0.05585104  0.99843911  0.         -0.85390253]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.21, Y:-0.84, Z:0.00
[[ 0.99845543 -0.05555848  0.         34.20615219]
 [ 0.05555848  0.99845543  0.         -0.83784808]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.27, Y:-0.83, Z:0.00
[[ 0.99833657 -0.05765489  0.         34.26601595]
 [ 0.05765489  0.99833657  0.         -0.82566695]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.32, Y:-0.83, Z:0.00
[[ 0.99783378 -0.0657856   0.         34.32491059]
 [ 0.0657856   0.99783378  0.         -0.82983285]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.39, Y:-0.81, Z:0.00
[[ 0.99818717 -0.06018624  0.         34.38600385]
 [ 0.06018624  0.99818717  0.         -0.81114707]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.45, Y:-0.80, Z:0.00
[[ 0.99887706 -0.04737737  0.         34.44657652]
 [ 0.04737737  0.99887706  0.         -0.79983612]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.51, Y:-0.79, Z:0.00
[[ 9.99624849e-01 -2.73890685e-02  0.00000000e+00  3.45067953e+01]
 [ 2.73890685e-02  9.99624849e-01  0.00000000e+00 -7.87598555e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.57, Y:-0.78, Z:0.00
[[ 9.99714769e-01 -2.38826342e-02  0.00000000e+00  3.45675558e+01]
 [ 2.38826342e-02  9.99714769e-01  0.00000000e+00 -7.81506544e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.63, Y:-0.78, Z:0.00
[[ 9.99476859e-01 -3.23420659e-02  0.00000000e+00  3.46279608e+01]
 [ 3.23420659e-02  9.99476859e-01  0.00000000e+00 -7.75779123e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.69, Y:-0.77, Z:0.00
[[ 0.99916401 -0.04088121  0.         34.68837612]
 [ 0.04088121  0.99916401  0.         -0.77125101]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.75, Y:-0.77, Z:0.00
[[ 0.99890669 -0.04674862  0.         34.74890486]
 [ 0.04674862  0.99890669  0.         -0.76552482]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.81, Y:-0.76, Z:0.00
[[ 0.99867743 -0.05141382  0.         34.80802838]
 [ 0.05141382  0.99867743  0.         -0.75807253]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.87, Y:-0.74, Z:0.00
[[ 0.99892745 -0.04630288  0.         34.86796763]
 [ 0.04630288  0.99892745  0.         -0.74271978]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.93, Y:-0.74, Z:0.00
[[ 0.99880483 -0.04887649  0.         34.92664428]
 [ 0.04887649  0.99880483  0.         -0.73911382]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:34.99, Y:-0.74, Z:0.00
[[ 0.99851143 -0.05454278  0.         34.9868284 ]
 [ 0.05454278  0.99851143  0.         -0.73767023]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 34.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.05, Y:-0.72, Z:0.00
[[ 0.99837202 -0.05703784  0.         35.04605651]
 [ 0.05703784  0.99837202  0.         -0.71774683]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 35.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.11, Y:-0.71, Z:0.00
[[ 0.99827902 -0.05864302  0.         35.10706624]
 [ 0.05864302  0.99827902  0.         -0.70518934]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 35.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.17, Y:-0.70, Z:0.00
[[ 0.99816508 -0.06055138  0.         35.16659142]
 [ 0.06055138  0.99816508  0.         -0.69785881]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 35.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.23, Y:-0.67, Z:0.00
[[ 0.99864286 -0.05208103  0.         35.22674064]
 [ 0.05208103  0.99864286  0.         -0.67037587]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 35.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.29, Y:-0.66, Z:0.00
[[ 0.99921888 -0.0395175   0.         35.28718573]
 [ 0.0395175   0.99921888  0.         -0.6610936 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 35.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.35, Y:-0.65, Z:0.00
[[ 9.99719358e-01 -2.36897809e-02  0.00000000e+00  3.53481192e+01]
 [ 2.36897809e-02  9.99719358e-01  0.00000000e+00 -6.45755551e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.41, Y:-0.64, Z:0.00
[[ 9.99919913e-01 -1.26557705e-02  0.00000000e+00  3.54084958e+01]
 [ 1.26557705e-02  9.99919913e-01  0.00000000e+00 -6.35450901e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.47, Y:-0.63, Z:0.00
[[ 9.99998221e-01  1.88603235e-03  0.00000000e+00  3.54688999e+01]
 [-1.88603235e-03  9.99998221e-01  0.00000000e+00 -6.32706935e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.53, Y:-0.63, Z:0.00
[[ 9.99961195e-01  8.80953524e-03  0.00000000e+00  3.55292595e+01]
 [-8.80953524e-03  9.99961195e-01  0.00000000e+00 -6.32797430e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.59, Y:-0.63, Z:0.00
[[ 9.99737191e-01  2.29248568e-02  0.00000000e+00  3.55889820e+01]
 [-2.29248568e-02  9.99737191e-01  0.00000000e+00 -6.29373578e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.65, Y:-0.63, Z:0.00
[[ 9.99372883e-01  3.54096125e-02  0.00000000e+00  3.56487847e+01]
 [-3.54096125e-02  9.99372883e-01  0.00000000e+00 -6.34376760e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.71, Y:-0.65, Z:0.00
[[ 9.99565483e-01  2.94761937e-02  0.00000000e+00  3.57101796e+01]
 [-2.94761937e-02  9.99565483e-01  0.00000000e+00 -6.52463318e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.77, Y:-0.66, Z:0.00
[[ 9.99698963e-01  2.45353386e-02  0.00000000e+00  3.57722956e+01]
 [-2.45353386e-02  9.99698963e-01  0.00000000e+00 -6.55407046e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.83, Y:-0.68, Z:0.00
[[ 9.99847144e-01  1.74839705e-02  0.00000000e+00  3.58341206e+01]
 [-1.74839705e-02  9.99847144e-01  0.00000000e+00 -6.75118542e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.90, Y:-0.69, Z:0.00
[[ 9.99917668e-01  1.28318450e-02  0.00000000e+00  3.58957909e+01]
 [-1.28318450e-02  9.99917668e-01  0.00000000e+00 -6.90723554e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:35.96, Y:-0.69, Z:0.00
[[ 9.99910658e-01  1.33669765e-02  0.00000000e+00  3.59574277e+01]
 [-1.33669765e-02  9.99910658e-01  0.00000000e+00 -6.94169826e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.02, Y:-0.70, Z:0.00
[[ 9.99912434e-01  1.32334181e-02  0.00000000e+00  3.60194297e+01]
 [-1.32334181e-02  9.99912434e-01  0.00000000e+00 -7.02387823e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.08, Y:-0.73, Z:0.00
[[ 9.99956628e-01  9.31355368e-03  0.00000000e+00  3.60804717e+01]
 [-9.31355368e-03  9.99956628e-01  0.00000000e+00 -7.31634601e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.14, Y:-0.74, Z:0.00
[[ 9.99962626e-01  8.64565083e-03  0.00000000e+00  3.61429994e+01]
 [-8.64565083e-03  9.99962626e-01  0.00000000e+00 -7.36437131e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.21, Y:-0.74, Z:0.00
[[ 9.99993367e-01  3.64224163e-03  0.00000000e+00  3.62051351e+01]
 [-3.64224163e-03  9.99993367e-01  0.00000000e+00 -7.44555235e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.26, Y:-0.76, Z:0.00
[[ 9.99994037e-01 -3.45337352e-03  0.00000000e+00  3.62643973e+01]
 [ 3.45337352e-03  9.99994037e-01  0.00000000e+00 -7.61102338e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.32, Y:-0.78, Z:0.00
[[ 9.99859683e-01 -1.67515383e-02  0.00000000e+00  3.63246110e+01]
 [ 1.67515383e-02  9.99859683e-01  0.00000000e+00 -7.80312652e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.38, Y:-0.78, Z:0.00
[[ 9.99865731e-01 -1.63865788e-02  0.00000000e+00  3.63833025e+01]
 [ 1.63865788e-02  9.99865731e-01  0.00000000e+00 -7.81256112e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.44, Y:-0.79, Z:0.00
[[ 9.99863649e-01 -1.65131023e-02  0.00000000e+00  3.64422292e+01]
 [ 1.65131023e-02  9.99863649e-01  0.00000000e+00 -7.92260368e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.50, Y:-0.80, Z:0.00
[[ 9.99733802e-01 -2.30721716e-02  0.00000000e+00  3.65016287e+01]
 [ 2.30721716e-02  9.99733802e-01  0.00000000e+00 -8.03646612e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.56, Y:-0.81, Z:0.00
[[ 9.99396143e-01 -3.47469361e-02  0.00000000e+00  3.65617443e+01]
 [ 3.47469361e-02  9.99396143e-01  0.00000000e+00 -8.05029203e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.62, Y:-0.81, Z:0.00
[[ 0.99923238 -0.03917458  0.         36.62218959]
 [ 0.03917458  0.99923238  0.         -0.80718107]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 36.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.68, Y:-0.81, Z:0.00
[[ 9.99416370e-01 -3.41602107e-02  0.00000000e+00  3.66814777e+01]
 [ 3.41602107e-02  9.99416370e-01  0.00000000e+00 -8.10462735e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.74, Y:-0.80, Z:0.00
[[ 9.99730983e-01 -2.31940077e-02  0.00000000e+00  3.67419878e+01]
 [ 2.31940077e-02  9.99730983e-01  0.00000000e+00 -8.04599122e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.80, Y:-0.80, Z:0.00
[[ 9.99846710e-01 -1.75087486e-02  0.00000000e+00  3.68030519e+01]
 [ 1.75087486e-02  9.99846710e-01  0.00000000e+00 -7.99065962e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.86, Y:-0.81, Z:0.00
[[ 9.99880753e-01 -1.54427859e-02  0.00000000e+00  3.68631971e+01]
 [ 1.54427859e-02  9.99880753e-01  0.00000000e+00 -8.07454568e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.92, Y:-0.80, Z:0.00
[[ 9.99883874e-01 -1.52394003e-02  0.00000000e+00  3.69224544e+01]
 [ 1.52394003e-02  9.99883874e-01  0.00000000e+00 -8.02178609e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:36.98, Y:-0.80, Z:0.00
[[ 9.99946025e-01 -1.03897856e-02  0.00000000e+00  3.69815423e+01]
 [ 1.03897856e-02  9.99946025e-01  0.00000000e+00 -8.02560702e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.04, Y:-0.81, Z:0.00
[[ 9.99969822e-01 -7.76886961e-03  0.00000000e+00  3.70411167e+01]
 [ 7.76886961e-03  9.99969822e-01  0.00000000e+00 -8.07252053e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.10, Y:-0.81, Z:0.00
[[ 9.99977709e-01 -6.67691288e-03  0.00000000e+00  3.70987786e+01]
 [ 6.67691288e-03  9.99977709e-01  0.00000000e+00 -8.10154656e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.16, Y:-0.81, Z:0.00
[[ 9.99984838e-01 -5.50674374e-03  0.00000000e+00  3.71568096e+01]
 [ 5.50674374e-03  9.99984838e-01  0.00000000e+00 -8.10689210e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.22, Y:-0.82, Z:0.00
[[ 9.99992780e-01 -3.79994863e-03  0.00000000e+00  3.72167331e+01]
 [ 3.79994863e-03  9.99992780e-01  0.00000000e+00 -8.15895512e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.28, Y:-0.83, Z:0.00
[[ 9.99999788e-01 -6.51817802e-04  0.00000000e+00  3.72750719e+01]
 [ 6.51817802e-04  9.99999788e-01  0.00000000e+00 -8.25898925e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.34, Y:-0.83, Z:0.00
[[ 9.99995635e-01  2.95479960e-03  0.00000000e+00  3.73354714e+01]
 [-2.95479960e-03  9.99995635e-01  0.00000000e+00 -8.29166250e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.40, Y:-0.83, Z:0.00
[[ 9.99990388e-01  4.38443180e-03  0.00000000e+00  3.73967813e+01]
 [-4.38443180e-03  9.99990388e-01  0.00000000e+00 -8.30467097e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.46, Y:-0.84, Z:0.00
[[ 9.99861751e-01  1.66276792e-02  0.00000000e+00  3.74567515e+01]
 [-1.66276792e-02  9.99861751e-01  0.00000000e+00 -8.35722291e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.52, Y:-0.85, Z:0.00
[[ 9.99680234e-01  2.52869556e-02  0.00000000e+00  3.75182753e+01]
 [-2.52869556e-02  9.99680234e-01  0.00000000e+00 -8.46398063e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.58, Y:-0.86, Z:0.00
[[ 9.99474184e-01  3.24246162e-02  0.00000000e+00  3.75801145e+01]
 [-3.24246162e-02  9.99474184e-01  0.00000000e+00 -8.58256635e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.64, Y:-0.87, Z:0.00
[[ 0.99924761  0.03878427  0.         37.63984639]
 [-0.03878427  0.99924761  0.         -0.87201707]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 37.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.70, Y:-0.89, Z:0.00
[[ 0.99913975  0.04146995  0.         37.70176521]
 [-0.04146995  0.99913975  0.         -0.88785919]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 37.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.76, Y:-0.91, Z:0.00
[[ 0.99896876  0.0454028   0.         37.7623709 ]
 [-0.0454028   0.99896876  0.         -0.90747158]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 37.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.82, Y:-0.92, Z:0.00
[[ 0.99904617  0.04366636  0.         37.8241424 ]
 [-0.04366636  0.99904617  0.         -0.92202913]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 37.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.88, Y:-0.94, Z:0.00
[[ 0.99926955  0.03821468  0.         37.88410494]
 [-0.03821468  0.99926955  0.         -0.94264666]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 37.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:37.94, Y:-0.97, Z:0.00
[[ 9.99444914e-01  3.33146143e-02  0.00000000e+00  3.79431651e+01]
 [-3.33146143e-02  9.99444914e-01  0.00000000e+00 -9.66894109e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.00, Y:-0.98, Z:0.00
[[ 9.99634379e-01  2.70390142e-02  0.00000000e+00  3.80049058e+01]
 [-2.70390142e-02  9.99634379e-01  0.00000000e+00 -9.80765639e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.06, Y:-1.00, Z:0.00
[[ 9.99925979e-01  1.21670273e-02  0.00000000e+00  3.80647901e+01]
 [-1.21670273e-02  9.99925979e-01  0.00000000e+00 -9.98905488e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.13, Y:-1.02, Z:0.00
[[ 9.99992424e-01  3.89245235e-03  0.00000000e+00  3.81253984e+01]
 [-3.89245235e-03  9.99992424e-01  0.00000000e+00 -1.02120995e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.18, Y:-1.03, Z:0.00
[[ 9.99998469e-01  1.74985469e-03  0.00000000e+00  3.81848693e+01]
 [-1.74985469e-03  9.99998469e-01  0.00000000e+00 -1.03348268e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.24, Y:-1.04, Z:0.00
[[ 9.99987446e-01  5.01086582e-03  0.00000000e+00  3.82449329e+01]
 [-5.01086582e-03  9.99987446e-01  0.00000000e+00 -1.04306710e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.31, Y:-1.05, Z:0.00
[[ 9.99972584e-01  7.40481706e-03  0.00000000e+00  3.83054852e+01]
 [-7.40481706e-03  9.99972584e-01  0.00000000e+00 -1.05349967e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.37, Y:-1.07, Z:0.00
[[ 9.99935807e-01  1.13305868e-02  0.00000000e+00  3.83654940e+01]
 [-1.13305868e-02  9.99935807e-01  0.00000000e+00 -1.07012135e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.43, Y:-1.08, Z:0.00
[[ 9.99959252e-01  9.02741784e-03  0.00000000e+00  3.84271354e+01]
 [-9.02741784e-03  9.99959252e-01  0.00000000e+00 -1.07707535e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.49, Y:-1.09, Z:0.00
[[ 9.99998250e-01  1.87063642e-03  0.00000000e+00  3.84871062e+01]
 [-1.87063642e-03  9.99998250e-01  0.00000000e+00 -1.09221440e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.55, Y:-1.11, Z:0.00
[[ 9.99988870e-01 -4.71798689e-03  0.00000000e+00  3.85480171e+01]
 [ 4.71798689e-03  9.99988870e-01  0.00000000e+00 -1.10842271e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.61, Y:-1.11, Z:0.00
[[ 9.99998987e-01 -1.42346411e-03  0.00000000e+00  3.86067144e+01]
 [ 1.42346411e-03  9.99998987e-01  0.00000000e+00 -1.10885196e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.67, Y:-1.13, Z:0.00
[[ 9.99999999e-01 -3.84853209e-05  0.00000000e+00  3.86664740e+01]
 [ 3.84853209e-05  9.99999999e-01  0.00000000e+00 -1.12827920e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.73, Y:-1.14, Z:0.00
[[ 9.99976106e-01  6.91288300e-03  0.00000000e+00  3.87252481e+01]
 [-6.91288300e-03  9.99976106e-01  0.00000000e+00 -1.13734336e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.79, Y:-1.14, Z:0.00
[[ 9.99732125e-01  2.31447324e-02  0.00000000e+00  3.87859972e+01]
 [-2.31447324e-02  9.99732125e-01  0.00000000e+00 -1.14219991e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.85, Y:-1.15, Z:0.00
[[ 9.99567225e-01  2.94170611e-02  0.00000000e+00  3.88480490e+01]
 [-2.94170611e-02  9.99567225e-01  0.00000000e+00 -1.14864641e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.91, Y:-1.17, Z:0.00
[[ 9.99438026e-01  3.35206136e-02  0.00000000e+00  3.89083992e+01]
 [-3.35206136e-02  9.99438026e-01  0.00000000e+00 -1.16716100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:38.97, Y:-1.17, Z:0.00
[[ 0.99921676  0.03957103  0.         38.96899573]
 [-0.03957103  0.99921676  0.         -1.16881745]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 38.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.03, Y:-1.18, Z:0.00
[[ 0.99888703  0.04716678  0.         39.03101666]
 [-0.04716678  0.99888703  0.         -1.17508988]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.09, Y:-1.20, Z:0.00
[[ 0.99881907  0.04858471  0.         39.09136442]
 [-0.04858471  0.99881907  0.         -1.20062114]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.15, Y:-1.22, Z:0.00
[[ 0.99885197  0.04790346  0.         39.15181569]
 [-0.04790346  0.99885197  0.         -1.21781156]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.21, Y:-1.22, Z:0.00
[[ 0.99856025  0.05364173  0.         39.21200281]
 [-0.05364173  0.99856025  0.         -1.22340318]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.27, Y:-1.24, Z:0.00
[[ 0.99824898  0.05915205  0.         39.27254264]
 [-0.05915205  0.99824898  0.         -1.24291094]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.33, Y:-1.26, Z:0.00
[[ 0.99799396  0.0633092   0.         39.33267113]
 [-0.0633092   0.99799396  0.         -1.25838178]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.39, Y:-1.27, Z:0.00
[[ 0.99785839  0.06541122  0.         39.39477863]
 [-0.06541122  0.99785839  0.         -1.26767593]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.366066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.46, Y:-1.29, Z:0.00
[[ 0.9981433   0.06090944  0.         39.45568297]
 [-0.06090944  0.9981433   0.         -1.29122171]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.51, Y:-1.31, Z:0.00
[[ 0.9987715   0.04955288  0.         39.51482881]
 [-0.04955288  0.9987715   0.         -1.31214761]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.57, Y:-1.33, Z:0.00
[[ 0.99900575  0.04458142  0.         39.57492645]
 [-0.04458142  0.99900575  0.         -1.32936115]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.64, Y:-1.34, Z:0.00
[[ 0.99905709  0.0434157   0.         39.63652   ]
 [-0.0434157   0.99905709  0.         -1.34097117]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.70, Y:-1.36, Z:0.00
[[ 0.99912116  0.04191541  0.         39.69768256]
 [-0.04191541  0.99912116  0.         -1.36054064]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 39.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.76, Y:-1.38, Z:0.00
[[ 9.99334713e-01  3.64709546e-02  0.00000000e+00  3.97592436e+01]
 [-3.64709546e-02  9.99334713e-01  0.00000000e+00 -1.37517085e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.82, Y:-1.40, Z:0.00
[[ 9.99791850e-01  2.04023455e-02  0.00000000e+00  3.98203806e+01]
 [-2.04023455e-02  9.99791850e-01  0.00000000e+00 -1.39519782e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.88, Y:-1.40, Z:0.00
[[ 9.99824641e-01  1.87266346e-02  0.00000000e+00  3.98816069e+01]
 [-1.87266346e-02  9.99824641e-01  0.00000000e+00 -1.39678134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:39.94, Y:-1.40, Z:0.00
[[ 9.99820806e-01  1.89302990e-02  0.00000000e+00  3.99435816e+01]
 [-1.89302990e-02  9.99820806e-01  0.00000000e+00 -1.39825855e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.00, Y:-1.40, Z:0.00
[[ 9.99740248e-01  2.27911383e-02  0.00000000e+00  4.00049544e+01]
 [-2.27911383e-02  9.99740248e-01  0.00000000e+00 -1.39510933e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.07, Y:-1.39, Z:0.00
[[ 9.99683474e-01  2.51585170e-02  0.00000000e+00  4.00651265e+01]
 [-2.51585170e-02  9.99683474e-01  0.00000000e+00 -1.39255586e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.13, Y:-1.39, Z:0.00
[[ 9.99564332e-01  2.95151928e-02  0.00000000e+00  4.01278124e+01]
 [-2.95151928e-02  9.99564332e-01  0.00000000e+00 -1.38738327e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.19, Y:-1.39, Z:0.00
[[ 9.99649940e-01  2.64574785e-02  0.00000000e+00  4.01909877e+01]
 [-2.64574785e-02  9.99649940e-01  0.00000000e+00 -1.38989356e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.25, Y:-1.39, Z:0.00
[[ 9.99838473e-01  1.79729571e-02  0.00000000e+00  4.02521897e+01]
 [-1.79729571e-02  9.99838473e-01  0.00000000e+00 -1.39194567e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.31, Y:-1.39, Z:0.00
[[ 9.99831709e-01  1.83453763e-02  0.00000000e+00  4.03136952e+01]
 [-1.83453763e-02  9.99831709e-01  0.00000000e+00 -1.38822163e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.37, Y:-1.38, Z:0.00
[[ 9.99725773e-01  2.34174943e-02  0.00000000e+00  4.03749810e+01]
 [-2.34174943e-02  9.99725773e-01  0.00000000e+00 -1.38370896e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.44, Y:-1.38, Z:0.00
[[ 9.99869193e-01  1.61739342e-02  0.00000000e+00  4.04356472e+01]
 [-1.61739342e-02  9.99869193e-01  0.00000000e+00 -1.38250843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.50, Y:-1.38, Z:0.00
[[ 9.99997174e-01 -2.37732260e-03  0.00000000e+00  4.04964927e+01]
 [ 2.37732260e-03  9.99997174e-01  0.00000000e+00 -1.37734296e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.56, Y:-1.37, Z:0.00
[[ 9.99885704e-01 -1.51188057e-02  0.00000000e+00  4.05560135e+01]
 [ 1.51188057e-02  9.99885704e-01  0.00000000e+00 -1.36997124e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.62, Y:-1.37, Z:0.00
[[ 9.99671174e-01 -2.56426029e-02  0.00000000e+00  4.06163831e+01]
 [ 2.56426029e-02  9.99671174e-01  0.00000000e+00 -1.37140347e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.68, Y:-1.37, Z:0.00
[[ 9.99507255e-01 -3.13886540e-02  0.00000000e+00  4.06764715e+01]
 [ 3.13886540e-02  9.99507255e-01  0.00000000e+00 -1.36745561e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.74, Y:-1.36, Z:0.00
[[ 9.99598356e-01 -2.83394796e-02  0.00000000e+00  4.07373031e+01]
 [ 2.83394796e-02  9.99598356e-01  0.00000000e+00 -1.35725105e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.80, Y:-1.35, Z:0.00
[[ 9.99815947e-01 -1.91851836e-02  0.00000000e+00  4.07984959e+01]
 [ 1.91851836e-02  9.99815947e-01  0.00000000e+00 -1.34606008e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.86, Y:-1.34, Z:0.00
[[ 9.99895016e-01 -1.44899135e-02  0.00000000e+00  4.08592915e+01]
 [ 1.44899135e-02  9.99895016e-01  0.00000000e+00 -1.34203546e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.92, Y:-1.33, Z:0.00
[[ 9.99951460e-01 -9.85279691e-03  0.00000000e+00  4.09194418e+01]
 [ 9.85279691e-03  9.99951460e-01  0.00000000e+00 -1.33240986e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.866066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:40.98, Y:-1.32, Z:0.00
[[ 9.99986451e-01 -5.20563975e-03  0.00000000e+00  4.09804653e+01]
 [ 5.20563975e-03  9.99986451e-01  0.00000000e+00 -1.32354063e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.04, Y:-1.32, Z:0.00
[[ 9.99999987e-01 -1.62815209e-04  0.00000000e+00  4.10408977e+01]
 [ 1.62815209e-04  9.99999987e-01  0.00000000e+00 -1.31796750e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.10, Y:-1.32, Z:0.00
[[ 9.99999681e-01 -7.99294263e-04  0.00000000e+00  4.11001913e+01]
 [ 7.99294263e-04  9.99999681e-01  0.00000000e+00 -1.31793704e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.16, Y:-1.31, Z:0.00
[[ 9.99999570e-01  9.27271768e-04  0.00000000e+00  4.11602773e+01]
 [-9.27271768e-04  9.99999570e-01  0.00000000e+00 -1.30641975e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.22, Y:-1.30, Z:0.00
[[ 9.99995117e-01  3.12494989e-03  0.00000000e+00  4.12219253e+01]
 [-3.12494989e-03  9.99995117e-01  0.00000000e+00 -1.30399780e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.28, Y:-1.31, Z:0.00
[[ 9.99964118e-01  8.47129446e-03  0.00000000e+00  4.12820886e+01]
 [-8.47129446e-03  9.99964118e-01  0.00000000e+00 -1.30568136e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.34, Y:-1.30, Z:0.00
[[ 9.99917943e-01  1.28104256e-02  0.00000000e+00  4.13437814e+01]
 [-1.28104256e-02  9.99917943e-01  0.00000000e+00 -1.30323976e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.40, Y:-1.30, Z:0.00
[[ 9.99745973e-01  2.25386252e-02  0.00000000e+00  4.14049159e+01]
 [-2.25386252e-02  9.99745973e-01  0.00000000e+00 -1.29785638e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.47, Y:-1.29, Z:0.00
[[ 9.99466126e-01  3.26720452e-02  0.00000000e+00  4.14659589e+01]
 [-3.26720452e-02  9.99466126e-01  0.00000000e+00 -1.29395399e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.53, Y:-1.30, Z:0.00
[[ 0.99910554  0.04228613  0.         41.52630407]
 [-0.04228613  0.99910554  0.         -1.29983833]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 41.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.59, Y:-1.31, Z:0.00
[[ 9.99156829e-01  4.10564435e-02  0.00000000e+00  4.15857094e+01]
 [-4.10564435e-02  9.99156829e-01  0.00000000e+00 -1.30671475e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.65, Y:-1.30, Z:0.00
[[ 9.99205175e-01  3.98624921e-02  0.00000000e+00  4.16481425e+01]
 [-3.98624921e-02  9.99205175e-01  0.00000000e+00 -1.30326883e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.71, Y:-1.31, Z:0.00
[[ 9.99386955e-01  3.50102076e-02  0.00000000e+00  4.17092014e+01]
 [-3.50102076e-02  9.99386955e-01  0.00000000e+00 -1.30890819e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.77, Y:-1.34, Z:0.00
[[ 9.99822575e-01  1.88366512e-02  0.00000000e+00  4.17694550e+01]
 [-1.88366512e-02  9.99822575e-01  0.00000000e+00 -1.33744701e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.83, Y:-1.34, Z:0.00
[[ 9.99822224e-01  1.88552696e-02  0.00000000e+00  4.18315376e+01]
 [-1.88552696e-02  9.99822224e-01  0.00000000e+00 -1.33671730e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.89, Y:-1.34, Z:0.00
[[ 9.99759066e-01  2.19501696e-02  0.00000000e+00  4.18922977e+01]
 [-2.19501696e-02  9.99759066e-01  0.00000000e+00 -1.33994603e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:41.95, Y:-1.34, Z:0.00
[[ 9.99817648e-01  1.90963648e-02  0.00000000e+00  4.19540251e+01]
 [-1.90963648e-02  9.99817648e-01  0.00000000e+00 -1.34384609e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.01, Y:-1.36, Z:0.00
[[ 9.99978887e-01  6.49806664e-03  0.00000000e+00  4.20132116e+01]
 [-6.49806664e-03  9.99978887e-01  0.00000000e+00 -1.36131475e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.08, Y:-1.37, Z:0.00
[[ 9.99995294e-01  3.06786451e-03  0.00000000e+00  4.20755814e+01]
 [-3.06786451e-03  9.99995294e-01  0.00000000e+00 -1.36576496e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.14, Y:-1.37, Z:0.00
[[ 9.99998854e-01 -1.51361808e-03  0.00000000e+00  4.21353883e+01]
 [ 1.51361808e-03  9.99998854e-01  0.00000000e+00 -1.37381255e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.20, Y:-1.37, Z:0.00
[[ 9.99998223e-01  1.88502534e-03  0.00000000e+00  4.21954990e+01]
 [-1.88502534e-03  9.99998223e-01  0.00000000e+00 -1.37018208e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.26, Y:-1.38, Z:0.00
[[ 9.99990146e-01  4.43944184e-03  0.00000000e+00  4.22560385e+01]
 [-4.43944184e-03  9.99990146e-01  0.00000000e+00 -1.37899878e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.186066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.32, Y:-1.39, Z:0.00
[[ 9.99994795e-01  3.22655433e-03  0.00000000e+00  4.23174331e+01]
 [-3.22655433e-03  9.99994795e-01  0.00000000e+00 -1.38588283e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.38, Y:-1.38, Z:0.00
[[ 9.99986230e-01  5.24791117e-03  0.00000000e+00  4.23778388e+01]
 [-5.24791117e-03  9.99986230e-01  0.00000000e+00 -1.38150407e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.44, Y:-1.39, Z:0.00
[[ 9.99997183e-01 -2.37363964e-03  0.00000000e+00  4.24374215e+01]
 [ 2.37363964e-03  9.99997183e-01  0.00000000e+00 -1.39007059e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.366066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.50, Y:-1.39, Z:0.00
[[ 9.99985898e-01 -5.31066764e-03  0.00000000e+00  4.24976868e+01]
 [ 5.31066764e-03  9.99985898e-01  0.00000000e+00 -1.39325864e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.56, Y:-1.39, Z:0.00
[[ 9.99969404e-01 -7.82246647e-03  0.00000000e+00  4.25586850e+01]
 [ 7.82246647e-03  9.99969404e-01  0.00000000e+00 -1.38522414e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.62, Y:-1.39, Z:0.00
[[ 9.99895080e-01 -1.44854560e-02  0.00000000e+00  4.26174337e+01]
 [ 1.44854560e-02  9.99895080e-01  0.00000000e+00 -1.39141586e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.68, Y:-1.39, Z:0.00
[[ 9.99830524e-01 -1.84098913e-02  0.00000000e+00  4.26772005e+01]
 [ 1.84098913e-02  9.99830524e-01  0.00000000e+00 -1.39065695e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.74, Y:-1.39, Z:0.00
[[ 9.99866611e-01 -1.63327719e-02  0.00000000e+00  4.27379043e+01]
 [ 1.63327719e-02  9.99866611e-01  0.00000000e+00 -1.38525137e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.80, Y:-1.39, Z:0.00
[[ 9.99921754e-01 -1.25094188e-02  0.00000000e+00  4.27980333e+01]
 [ 1.25094188e-02  9.99921754e-01  0.00000000e+00 -1.39058409e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.86, Y:-1.39, Z:0.00
[[ 9.99976258e-01 -6.89082323e-03  0.00000000e+00  4.28588705e+01]
 [ 6.89082323e-03  9.99976258e-01  0.00000000e+00 -1.38786835e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.92, Y:-1.38, Z:0.00
[[ 9.99998351e-01  1.81578965e-03  0.00000000e+00  4.29191944e+01]
 [-1.81578965e-03  9.99998351e-01  0.00000000e+00 -1.37581062e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:42.98, Y:-1.38, Z:0.00
[[ 9.99921096e-01  1.25619332e-02  0.00000000e+00  4.29802134e+01]
 [-1.25619332e-02  9.99921096e-01  0.00000000e+00 -1.37905161e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.04, Y:-1.38, Z:0.00
[[ 9.99903843e-01  1.38674294e-02  0.00000000e+00  4.30420183e+01]
 [-1.38674294e-02  9.99903843e-01  0.00000000e+00 -1.37900620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.10, Y:-1.37, Z:0.00
[[ 9.99957947e-01  9.17086473e-03  0.00000000e+00  4.31043657e+01]
 [-9.17086473e-03  9.99957947e-01  0.00000000e+00 -1.37172292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.16, Y:-1.38, Z:0.00
[[ 9.99996688e-01  2.57389697e-03  0.00000000e+00  4.31645624e+01]
 [-2.57389697e-03  9.99996688e-01  0.00000000e+00 -1.38354706e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.22, Y:-1.39, Z:0.00
[[ 9.99996179e-01 -2.76442160e-03  0.00000000e+00  4.32243882e+01]
 [ 2.76442160e-03  9.99996179e-01  0.00000000e+00 -1.38718467e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.28, Y:-1.38, Z:0.00
[[ 9.99982210e-01 -5.96493826e-03  0.00000000e+00  4.32844843e+01]
 [ 5.96493826e-03  9.99982210e-01  0.00000000e+00 -1.38174416e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.34, Y:-1.38, Z:0.00
[[ 9.99998482e-01 -1.74239242e-03  0.00000000e+00  4.33439309e+01]
 [ 1.74239242e-03  9.99998482e-01  0.00000000e+00 -1.38073804e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.40, Y:-1.39, Z:0.00
[[ 9.99999733e-01 -7.31296087e-04  0.00000000e+00  4.34032419e+01]
 [ 7.31296087e-04  9.99999733e-01  0.00000000e+00 -1.38906136e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.46, Y:-1.39, Z:0.00
[[ 9.99998101e-01 -1.94865859e-03  0.00000000e+00  4.34632335e+01]
 [ 1.94865859e-03  9.99998101e-01  0.00000000e+00 -1.38648523e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.52, Y:-1.39, Z:0.00
[[ 1.00000000e+00 -2.08015876e-05  0.00000000e+00  4.35232347e+01]
 [ 2.08015876e-05  1.00000000e+00  0.00000000e+00 -1.38544810e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.58, Y:-1.39, Z:0.00
[[ 9.99998584e-01  1.68307829e-03  0.00000000e+00  4.35834302e+01]
 [-1.68307829e-03  9.99998584e-01  0.00000000e+00 -1.38791937e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.64, Y:-1.39, Z:0.00
[[ 9.99966108e-01  8.23301482e-03  0.00000000e+00  4.36434424e+01]
 [-8.23301482e-03  9.99966108e-01  0.00000000e+00 -1.38741147e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.70, Y:-1.39, Z:0.00
[[ 9.99937614e-01  1.11699528e-02  0.00000000e+00  4.37037363e+01]
 [-1.11699528e-02  9.99937614e-01  0.00000000e+00 -1.38538102e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.76, Y:-1.39, Z:0.00
[[ 9.99958324e-01  9.12965084e-03  0.00000000e+00  4.37643715e+01]
 [-9.12965084e-03  9.99958324e-01  0.00000000e+00 -1.39229292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.686066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.83, Y:-1.39, Z:0.00
[[ 9.99967951e-01  8.00600220e-03  0.00000000e+00  4.38259620e+01]
 [-8.00600220e-03  9.99967951e-01  0.00000000e+00 -1.39020850e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.89, Y:-1.39, Z:0.00
[[ 9.99985358e-01  5.41139165e-03  0.00000000e+00  4.38864212e+01]
 [-5.41139165e-03  9.99985358e-01  0.00000000e+00 -1.39121166e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:43.95, Y:-1.40, Z:0.00
[[ 9.99995780e-01  2.90504598e-03  0.00000000e+00  4.39484538e+01]
 [-2.90504598e-03  9.99995780e-01  0.00000000e+00 -1.39688514e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.866066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.01, Y:-1.39, Z:0.00
[[ 9.99999799e-01 -6.33843500e-04  0.00000000e+00  4.40089532e+01]
 [ 6.33843500e-04  9.99999799e-01  0.00000000e+00 -1.38964066e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.07, Y:-1.40, Z:0.00
[[ 9.99982873e-01 -5.85274802e-03  0.00000000e+00  4.40687368e+01]
 [ 5.85274802e-03  9.99982873e-01  0.00000000e+00 -1.40004422e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.13, Y:-1.40, Z:0.00
[[ 9.99981884e-01 -6.01928548e-03  0.00000000e+00  4.41280991e+01]
 [ 6.01928548e-03  9.99981884e-01  0.00000000e+00 -1.40340932e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.19, Y:-1.39, Z:0.00
[[ 9.99982218e-01 -5.96344889e-03  0.00000000e+00  4.41869851e+01]
 [ 5.96344889e-03  9.99982218e-01  0.00000000e+00 -1.39006794e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.24, Y:-1.39, Z:0.00
[[ 9.99983696e-01 -5.71029534e-03  0.00000000e+00  4.42444154e+01]
 [ 5.71029534e-03  9.99983696e-01  0.00000000e+00 -1.39358679e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.31, Y:-1.40, Z:0.00
[[ 9.99951079e-01 -9.89141922e-03  0.00000000e+00  4.43050358e+01]
 [ 9.89141922e-03  9.99951079e-01  0.00000000e+00 -1.39793773e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.37, Y:-1.39, Z:0.00
[[ 9.99970555e-01 -7.67389304e-03  0.00000000e+00  4.43650145e+01]
 [ 7.67389304e-03  9.99970555e-01  0.00000000e+00 -1.38623416e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.42, Y:-1.38, Z:0.00
[[ 9.99981154e-01 -6.13933265e-03  0.00000000e+00  4.44225884e+01]
 [ 6.13933265e-03  9.99981154e-01  0.00000000e+00 -1.38336812e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.48, Y:-1.38, Z:0.00
[[ 9.99982664e-01 -5.88824208e-03  0.00000000e+00  4.44819309e+01]
 [ 5.88824208e-03  9.99982664e-01  0.00000000e+00 -1.38003761e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.54, Y:-1.38, Z:0.00
[[ 9.99939879e-01 -1.09652951e-02  0.00000000e+00  4.45429319e+01]
 [ 1.09652951e-02  9.99939879e-01  0.00000000e+00 -1.37809160e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.60, Y:-1.37, Z:0.00
[[ 9.99862609e-01 -1.65759946e-02  0.00000000e+00  4.46034645e+01]
 [ 1.65759946e-02  9.99862609e-01  0.00000000e+00 -1.36507051e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.66, Y:-1.36, Z:0.00
[[ 9.99964463e-01 -8.43051843e-03  0.00000000e+00  4.46634656e+01]
 [ 8.43051843e-03  9.99964463e-01  0.00000000e+00 -1.36260491e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.72, Y:-1.36, Z:0.00
[[ 9.99999246e-01 -1.22808185e-03  0.00000000e+00  4.47235757e+01]
 [ 1.22808185e-03  9.99999246e-01  0.00000000e+00 -1.35634684e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.78, Y:-1.35, Z:0.00
[[ 9.99999570e-01 -9.27767494e-04  0.00000000e+00  4.47835477e+01]
 [ 9.27767494e-04  9.99999570e-01  0.00000000e+00 -1.35297759e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.84, Y:-1.35, Z:0.00
[[ 9.99986118e-01 -5.26920557e-03  0.00000000e+00  4.48431160e+01]
 [ 5.26920557e-03  9.99986118e-01  0.00000000e+00 -1.35367276e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.90, Y:-1.35, Z:0.00
[[ 9.99936855e-01 -1.12376771e-02  0.00000000e+00  4.49041679e+01]
 [ 1.12376771e-02  9.99936855e-01  0.00000000e+00 -1.34853280e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:44.96, Y:-1.35, Z:0.00
[[ 9.99909476e-01 -1.34550940e-02  0.00000000e+00  4.49644896e+01]
 [ 1.34550940e-02  9.99909476e-01  0.00000000e+00 -1.34564607e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.02, Y:-1.34, Z:0.00
[[ 9.99943292e-01 -1.06495225e-02  0.00000000e+00  4.50243717e+01]
 [ 1.06495225e-02  9.99943292e-01  0.00000000e+00 -1.33816339e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.08, Y:-1.33, Z:0.00
[[ 9.99951462e-01 -9.85260446e-03  0.00000000e+00  4.50839832e+01]
 [ 9.85260446e-03  9.99951462e-01  0.00000000e+00 -1.33102051e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.14, Y:-1.33, Z:0.00
[[ 9.99990363e-01 -4.39028379e-03  0.00000000e+00  4.51426963e+01]
 [ 4.39028379e-03  9.99990363e-01  0.00000000e+00 -1.32807436e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.20, Y:-1.33, Z:0.00
[[ 9.99990168e-01 -4.43442670e-03  0.00000000e+00  4.52030370e+01]
 [ 4.43442670e-03  9.99990168e-01  0.00000000e+00 -1.32735738e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.26, Y:-1.32, Z:0.00
[[ 9.99928743e-01 -1.19376878e-02  0.00000000e+00  4.52632282e+01]
 [ 1.19376878e-02  9.99928743e-01  0.00000000e+00 -1.32441003e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.186066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.32, Y:-1.32, Z:0.00
[[ 9.99907769e-01 -1.35814024e-02  0.00000000e+00  4.53229708e+01]
 [ 1.35814024e-02  9.99907769e-01  0.00000000e+00 -1.31882805e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.38, Y:-1.32, Z:0.00
[[ 9.99913272e-01 -1.31700218e-02  0.00000000e+00  4.53807804e+01]
 [ 1.31700218e-02  9.99913272e-01  0.00000000e+00 -1.32376087e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.44, Y:-1.31, Z:0.00
[[ 9.99932501e-01 -1.16186461e-02  0.00000000e+00  4.54405421e+01]
 [ 1.16186461e-02  9.99932501e-01  0.00000000e+00 -1.31385191e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.366066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.50, Y:-1.31, Z:0.00
[[ 9.99972330e-01 -7.43900228e-03  0.00000000e+00  4.55013169e+01]
 [ 7.43900228e-03  9.99972330e-01  0.00000000e+00 -1.30622327e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.56, Y:-1.31, Z:0.00
[[ 9.99901842e-01 -1.40109628e-02  0.00000000e+00  4.55612218e+01]
 [ 1.40109628e-02  9.99901842e-01  0.00000000e+00 -1.30722617e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.62, Y:-1.30, Z:0.00
[[ 9.99888268e-01 -1.49483080e-02  0.00000000e+00  4.56208767e+01]
 [ 1.49483080e-02  9.99888268e-01  0.00000000e+00 -1.30212672e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.68, Y:-1.29, Z:0.00
[[ 9.99983669e-01 -5.71509615e-03  0.00000000e+00  4.56804734e+01]
 [ 5.71509615e-03  9.99983669e-01  0.00000000e+00 -1.29315491e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.74, Y:-1.29, Z:0.00
[[ 9.99998192e-01 -1.90134998e-03  0.00000000e+00  4.57392309e+01]
 [ 1.90134998e-03  9.99998192e-01  0.00000000e+00 -1.29289607e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.80, Y:-1.29, Z:0.00
[[ 9.99999435e-01 -1.06280569e-03  0.00000000e+00  4.57986629e+01]
 [ 1.06280569e-03  9.99999435e-01  0.00000000e+00 -1.29022807e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.86, Y:-1.29, Z:0.00
[[ 9.99999999e-01  4.57583540e-05  0.00000000e+00  4.58582632e+01]
 [-4.57583540e-05  9.99999999e-01  0.00000000e+00 -1.28751472e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.92, Y:-1.29, Z:0.00
[[ 9.99997323e-01 -2.31402835e-03  0.00000000e+00  4.59189535e+01]
 [ 2.31402835e-03  9.99997323e-01  0.00000000e+00 -1.28943568e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:45.98, Y:-1.29, Z:0.00
[[ 9.99977420e-01 -6.72012266e-03  0.00000000e+00  4.59792515e+01]
 [ 6.72012266e-03  9.99977420e-01  0.00000000e+00 -1.29205113e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.04, Y:-1.29, Z:0.00
[[ 9.99977615e-01 -6.69100496e-03  0.00000000e+00  4.60381088e+01]
 [ 6.69100496e-03  9.99977615e-01  0.00000000e+00 -1.28865459e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.10, Y:-1.29, Z:0.00
[[ 9.99995511e-01 -2.99645405e-03  0.00000000e+00  4.60963227e+01]
 [ 2.99645405e-03  9.99995511e-01  0.00000000e+00 -1.28705959e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.15, Y:-1.29, Z:0.00
[[ 9.99983816e-01 -5.68928379e-03  0.00000000e+00  4.61549785e+01]
 [ 5.68928379e-03  9.99983816e-01  0.00000000e+00 -1.29154936e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.22, Y:-1.29, Z:0.00
[[ 9.99999994e-01  1.11556677e-04  0.00000000e+00  4.62157965e+01]
 [-1.11556677e-04  9.99999994e-01  0.00000000e+00 -1.28804292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.28, Y:-1.28, Z:0.00
[[ 9.99980117e-01  6.30593042e-03  0.00000000e+00  4.62755491e+01]
 [-6.30593042e-03  9.99980117e-01  0.00000000e+00 -1.28439995e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.34, Y:-1.29, Z:0.00
[[ 9.99941409e-01  1.08249101e-02  0.00000000e+00  4.63355877e+01]
 [-1.08249101e-02  9.99941409e-01  0.00000000e+00 -1.29045984e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.40, Y:-1.29, Z:0.00
[[ 9.99797426e-01  2.01272457e-02  0.00000000e+00  4.63959889e+01]
 [-2.01272457e-02  9.99797426e-01  0.00000000e+00 -1.28765575e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.46, Y:-1.29, Z:0.00
[[ 9.99744668e-01  2.25964276e-02  0.00000000e+00  4.64576492e+01]
 [-2.25964276e-02  9.99744668e-01  0.00000000e+00 -1.29308009e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.52, Y:-1.30, Z:0.00
[[ 9.99837262e-01  1.80402224e-02  0.00000000e+00  4.65198737e+01]
 [-1.80402224e-02  9.99837262e-01  0.00000000e+00 -1.30172514e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.58, Y:-1.30, Z:0.00
[[ 9.99802110e-01  1.98932303e-02  0.00000000e+00  4.65823250e+01]
 [-1.98932303e-02  9.99802110e-01  0.00000000e+00 -1.30369271e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.506066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.64, Y:-1.31, Z:0.00
[[ 9.99814175e-01  1.92773220e-02  0.00000000e+00  4.66426141e+01]
 [-1.92773220e-02  9.99814175e-01  0.00000000e+00 -1.30771982e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.70, Y:-1.32, Z:0.00
[[ 9.99912083e-01  1.32599587e-02  0.00000000e+00  4.67044155e+01]
 [-1.32599587e-02  9.99912083e-01  0.00000000e+00 -1.31756627e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.76, Y:-1.33, Z:0.00
[[ 9.99971030e-01  7.61177054e-03  0.00000000e+00  4.67648850e+01]
 [-7.61177054e-03  9.99971030e-01  0.00000000e+00 -1.32575220e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.686066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.83, Y:-1.32, Z:0.00
[[ 9.99958573e-01  9.10233748e-03  0.00000000e+00  4.68264205e+01]
 [-9.10233748e-03  9.99958573e-01  0.00000000e+00 -1.32162100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.89, Y:-1.33, Z:0.00
[[ 9.99968885e-01  7.88848662e-03  0.00000000e+00  4.68870157e+01]
 [-7.88848662e-03  9.99968885e-01  0.00000000e+00 -1.32861817e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:46.95, Y:-1.33, Z:0.00
[[ 9.99906025e-01  1.37091829e-02  0.00000000e+00  4.69483003e+01]
 [-1.37091829e-02  9.99906025e-01  0.00000000e+00 -1.32841892e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.866066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.01, Y:-1.33, Z:0.00
[[ 9.99869014e-01  1.61850264e-02  0.00000000e+00  4.70088198e+01]
 [-1.61850264e-02  9.99869014e-01  0.00000000e+00 -1.32966783e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.07, Y:-1.33, Z:0.00
[[ 9.99772822e-01  2.13144175e-02  0.00000000e+00  4.70697233e+01]
 [-2.13144175e-02  9.99772822e-01  0.00000000e+00 -1.33335407e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.13, Y:-1.34, Z:0.00
[[ 9.99700575e-01  2.44695854e-02  0.00000000e+00  4.71313741e+01]
 [-2.44695854e-02  9.99700575e-01  0.00000000e+00 -1.33670941e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.19, Y:-1.34, Z:0.00
[[ 9.99473225e-01  3.24541521e-02  0.00000000e+00  4.71930689e+01]
 [-3.24541521e-02  9.99473225e-01  0.00000000e+00 -1.34045649e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.25, Y:-1.34, Z:0.00
[[ 9.99259997e-01  3.84637177e-02  0.00000000e+00  4.72549278e+01]
 [-3.84637177e-02  9.99259997e-01  0.00000000e+00 -1.34237732e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.32, Y:-1.35, Z:0.00
[[ 9.99328637e-01  3.66370731e-02  0.00000000e+00  4.73167224e+01]
 [-3.66370731e-02  9.99328637e-01  0.00000000e+00 -1.35380074e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.38, Y:-1.36, Z:0.00
[[ 9.99416111e-01  3.41677845e-02  0.00000000e+00  4.73787730e+01]
 [-3.41677845e-02  9.99416111e-01  0.00000000e+00 -1.36228864e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.44, Y:-1.36, Z:0.00
[[ 9.99591683e-01  2.85738927e-02  0.00000000e+00  4.74405447e+01]
 [-2.85738927e-02  9.99591683e-01  0.00000000e+00 -1.36326339e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.50, Y:-1.38, Z:0.00
[[ 9.99914431e-01  1.30816593e-02  0.00000000e+00  4.75013411e+01]
 [-1.30816593e-02  9.99914431e-01  0.00000000e+00 -1.38340913e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.56, Y:-1.39, Z:0.00
[[ 9.99983115e-01  5.81117791e-03  0.00000000e+00  4.75618750e+01]
 [-5.81117791e-03  9.99983115e-01  0.00000000e+00 -1.38566329e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.62, Y:-1.39, Z:0.00
[[ 9.99995725e-01 -2.92391529e-03  0.00000000e+00  4.76224686e+01]
 [ 2.92391529e-03  9.99995725e-01  0.00000000e+00 -1.39105087e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.68, Y:-1.40, Z:0.00
[[ 9.99880883e-01 -1.54343605e-02  0.00000000e+00  4.76813039e+01]
 [ 1.54343605e-02  9.99880883e-01  0.00000000e+00 -1.40164157e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.74, Y:-1.40, Z:0.00
[[ 9.99859211e-01 -1.67796694e-02  0.00000000e+00  4.77415646e+01]
 [ 1.67796694e-02  9.99859211e-01  0.00000000e+00 -1.40420144e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.80, Y:-1.40, Z:0.00
[[ 9.99908001e-01 -1.35642485e-02  0.00000000e+00  4.78013044e+01]
 [ 1.35642485e-02  9.99908001e-01  0.00000000e+00 -1.39850926e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.86, Y:-1.40, Z:0.00
[[ 9.99930094e-01 -1.18240392e-02  0.00000000e+00  4.78609924e+01]
 [ 1.18240392e-02  9.99930094e-01  0.00000000e+00 -1.40074369e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.92, Y:-1.39, Z:0.00
[[ 9.99950434e-01 -9.95639203e-03  0.00000000e+00  4.79194898e+01]
 [ 9.95639203e-03  9.99950434e-01  0.00000000e+00 -1.39449411e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:47.98, Y:-1.39, Z:0.00
[[ 9.99739744e-01 -2.28132309e-02  0.00000000e+00  4.79795710e+01]
 [ 2.28132309e-02  9.99739744e-01  0.00000000e+00 -1.39289750e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.04, Y:-1.39, Z:0.00
[[ 9.99392278e-01 -3.48579283e-02  0.00000000e+00  4.80399331e+01]
 [ 3.48579283e-02  9.99392278e-01  0.00000000e+00 -1.39168160e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.10, Y:-1.38, Z:0.00
[[ 9.99065567e-01 -4.32202921e-02  0.00000000e+00  4.81002463e+01]
 [ 4.32202921e-02  9.99065567e-01  0.00000000e+00 -1.37702135e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.006066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.16, Y:-1.37, Z:0.00
[[ 0.99869865 -0.05100008  0.         48.15972332]
 [ 0.05100008  0.99869865  0.         -1.36782679]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 48.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.22, Y:-1.36, Z:0.00
[[ 0.99864723 -0.05199722  0.         48.21926976]
 [ 0.05199722  0.99864723  0.         -1.36370309]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 48.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.28, Y:-1.33, Z:0.00
[[ 9.99143665e-01 -4.13755638e-02  0.00000000e+00  4.82805069e+01]
 [ 4.13755638e-02  9.99143665e-01  0.00000000e+00 -1.33430793e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.186066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.34, Y:-1.33, Z:0.00
[[ 9.99311996e-01 -3.70881984e-02  0.00000000e+00  4.83407804e+01]
 [ 3.70881984e-02  9.99311996e-01  0.00000000e+00 -1.32560523e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.40, Y:-1.31, Z:0.00
[[ 9.99645107e-01 -2.66394472e-02  0.00000000e+00  4.84016177e+01]
 [ 2.66394472e-02  9.99645107e-01  0.00000000e+00 -1.30830140e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.46, Y:-1.29, Z:0.00
[[ 9.99891581e-01 -1.47250144e-02  0.00000000e+00  4.84615826e+01]
 [ 1.47250144e-02  9.99891581e-01  0.00000000e+00 -1.28709539e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.366066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.52, Y:-1.28, Z:0.00
[[ 9.99919654e-01 -1.26762105e-02  0.00000000e+00  4.85206516e+01]
 [ 1.26762105e-02  9.99919654e-01  0.00000000e+00 -1.27902220e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.58, Y:-1.27, Z:0.00
[[ 9.99984391e-01 -5.58731480e-03  0.00000000e+00  4.85805406e+01]
 [ 5.58731480e-03  9.99984391e-01  0.00000000e+00 -1.27173076e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.64, Y:-1.26, Z:0.00
[[ 9.99993274e-01  3.66761452e-03  0.00000000e+00  4.86413028e+01]
 [-3.66761452e-03  9.99993274e-01  0.00000000e+00 -1.26434856e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.70, Y:-1.26, Z:0.00
[[ 9.99889630e-01  1.48568843e-02  0.00000000e+00  4.87026058e+01]
 [-1.48568843e-02  9.99889630e-01  0.00000000e+00 -1.26016456e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.76, Y:-1.25, Z:0.00
[[ 9.99709830e-01  2.40884824e-02  0.00000000e+00  4.87646220e+01]
 [-2.40884824e-02  9.99709830e-01  0.00000000e+00 -1.25339316e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.83, Y:-1.26, Z:0.00
[[ 9.99673324e-01  2.55586721e-02  0.00000000e+00  4.88262711e+01]
 [-2.55586721e-02  9.99673324e-01  0.00000000e+00 -1.25988943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.89, Y:-1.27, Z:0.00
[[ 9.99872349e-01  1.59776844e-02  0.00000000e+00  4.88884851e+01]
 [-1.59776844e-02  9.99872349e-01  0.00000000e+00 -1.26614890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:48.95, Y:-1.27, Z:0.00
[[ 9.99929657e-01  1.18609137e-02  0.00000000e+00  4.89502886e+01]
 [-1.18609137e-02  9.99929657e-01  0.00000000e+00 -1.26971781e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.01, Y:-1.27, Z:0.00
[[ 9.99999310e-01  1.17476022e-03  0.00000000e+00  4.90109903e+01]
 [-1.17476022e-03  9.99999310e-01  0.00000000e+00 -1.27320570e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.07, Y:-1.29, Z:0.00
[[ 9.99881405e-01 -1.54005052e-02  0.00000000e+00  4.90712440e+01]
 [ 1.54005052e-02  9.99881405e-01  0.00000000e+00 -1.28639733e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.13, Y:-1.29, Z:0.00
[[ 9.99606553e-01 -2.80488629e-02  0.00000000e+00  4.91301557e+01]
 [ 2.80488629e-02  9.99606553e-01  0.00000000e+00 -1.29125073e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.19, Y:-1.29, Z:0.00
[[ 9.99524827e-01 -3.08240118e-02  0.00000000e+00  4.91898723e+01]
 [ 3.08240118e-02  9.99524827e-01  0.00000000e+00 -1.28899164e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.25, Y:-1.30, Z:0.00
[[ 9.99316504e-01 -3.69665279e-02  0.00000000e+00  4.92499430e+01]
 [ 3.69665279e-02  9.99316504e-01  0.00000000e+00 -1.29914497e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.31, Y:-1.29, Z:0.00
[[ 9.99263593e-01 -3.83701808e-02  0.00000000e+00  4.93086673e+01]
 [ 3.83701808e-02  9.99263593e-01  0.00000000e+00 -1.29461987e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.37, Y:-1.28, Z:0.00
[[ 9.99401259e-01 -3.45994760e-02  0.00000000e+00  4.93691755e+01]
 [ 3.45994760e-02  9.99401259e-01  0.00000000e+00 -1.28003313e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.43, Y:-1.28, Z:0.00
[[ 9.99500749e-01 -3.15951253e-02  0.00000000e+00  4.94295647e+01]
 [ 3.15951253e-02  9.99500749e-01  0.00000000e+00 -1.27755624e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.326066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.49, Y:-1.27, Z:0.00
[[ 9.99509509e-01 -3.13167953e-02  0.00000000e+00  4.94886289e+01]
 [ 3.13167953e-02  9.99509509e-01  0.00000000e+00 -1.26930589e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.55, Y:-1.25, Z:0.00
[[ 9.99586032e-01 -2.87709158e-02  0.00000000e+00  4.95481783e+01]
 [ 2.87709158e-02  9.99586032e-01  0.00000000e+00 -1.25038442e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.61, Y:-1.25, Z:0.00
[[ 9.99443885e-01 -3.33454625e-02  0.00000000e+00  4.96089033e+01]
 [ 3.33454625e-02  9.99443885e-01  0.00000000e+00 -1.25124581e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.506066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.67, Y:-1.24, Z:0.00
[[ 9.99152106e-01 -4.11712046e-02  0.00000000e+00  4.96681571e+01]
 [ 4.11712046e-02  9.99152106e-01  0.00000000e+00 -1.24352070e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.73, Y:-1.23, Z:0.00
[[ 9.99408357e-01 -3.43938273e-02  0.00000000e+00  4.97293152e+01]
 [ 3.43938273e-02  9.99408357e-01  0.00000000e+00 -1.22810452e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.79, Y:-1.23, Z:0.00
[[ 9.99553373e-01 -2.98840233e-02  0.00000000e+00  4.97893377e+01]
 [ 2.98840233e-02  9.99553373e-01  0.00000000e+00 -1.22531635e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.686066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.85, Y:-1.21, Z:0.00
[[ 9.99901840e-01 -1.40110860e-02  0.00000000e+00  4.98492760e+01]
 [ 1.40110860e-02  9.99901840e-01  0.00000000e+00 -1.20859442e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.91, Y:-1.20, Z:0.00
[[ 9.99996648e-01 -2.58905061e-03  0.00000000e+00  4.99086587e+01]
 [ 2.58905061e-03  9.99996648e-01  0.00000000e+00 -1.20448104e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:49.97, Y:-1.19, Z:0.00
[[ 9.99953621e-01  9.63097093e-03  0.00000000e+00  4.99697903e+01]
 [-9.63097093e-03  9.99953621e-01  0.00000000e+00 -1.19309941e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.866066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.03, Y:-1.19, Z:0.00
[[ 9.99957150e-01  9.25729622e-03  0.00000000e+00  5.00308839e+01]
 [-9.25729622e-03  9.99957150e-01  0.00000000e+00 -1.18789144e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.09, Y:-1.19, Z:0.00
[[ 9.99997618e-01  2.18276623e-03  0.00000000e+00  5.00910525e+01]
 [-2.18276623e-03  9.99997618e-01  0.00000000e+00 -1.19378716e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.15, Y:-1.20, Z:0.00
[[ 9.99954183e-01 -9.57249980e-03  0.00000000e+00  5.01517408e+01]
 [ 9.57249980e-03  9.99954183e-01  0.00000000e+00 -1.19610396e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.21, Y:-1.20, Z:0.00
[[ 9.99894635e-01 -1.45161723e-02  0.00000000e+00  5.02122576e+01]
 [ 1.45161723e-02  9.99894635e-01  0.00000000e+00 -1.19675769e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.27, Y:-1.21, Z:0.00
[[ 9.99851152e-01 -1.72532264e-02  0.00000000e+00  5.02708299e+01]
 [ 1.72532264e-02  9.99851152e-01  0.00000000e+00 -1.20754712e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.33, Y:-1.21, Z:0.00
[[ 9.99875241e-01 -1.57956714e-02  0.00000000e+00  5.03298351e+01]
 [ 1.57956714e-02  9.99875241e-01  0.00000000e+00 -1.21049888e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.39, Y:-1.20, Z:0.00
[[ 9.99902599e-01 -1.39567843e-02  0.00000000e+00  5.03895080e+01]
 [ 1.39567843e-02  9.99902599e-01  0.00000000e+00 -1.20388042e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.45, Y:-1.21, Z:0.00
[[ 9.99940207e-01 -1.09353770e-02  0.00000000e+00  5.04492032e+01]
 [ 1.09353770e-02  9.99940207e-01  0.00000000e+00 -1.20972080e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.51, Y:-1.21, Z:0.00
[[ 9.99935796e-01 -1.13315195e-02  0.00000000e+00  5.05074727e+01]
 [ 1.13315195e-02  9.99935796e-01  0.00000000e+00 -1.21062555e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.57, Y:-1.21, Z:0.00
[[ 9.99895767e-01 -1.44380055e-02  0.00000000e+00  5.05660863e+01]
 [ 1.44380055e-02  9.99895767e-01  0.00000000e+00 -1.20832231e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.63, Y:-1.21, Z:0.00
[[ 9.99584443e-01 -2.88260677e-02  0.00000000e+00  5.06268011e+01]
 [ 2.88260677e-02  9.99584443e-01  0.00000000e+00 -1.21160367e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.69, Y:-1.22, Z:0.00
[[ 9.99467270e-01 -3.26370455e-02  0.00000000e+00  5.06864504e+01]
 [ 3.26370455e-02  9.99467270e-01  0.00000000e+00 -1.21755019e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.75, Y:-1.21, Z:0.00
[[ 9.99452854e-01 -3.30755686e-02  0.00000000e+00  5.07470166e+01]
 [ 3.30755686e-02  9.99452854e-01  0.00000000e+00 -1.21286978e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.81, Y:-1.21, Z:0.00
[[ 9.99441108e-01 -3.34286051e-02  0.00000000e+00  5.08077745e+01]
 [ 3.34286051e-02  9.99441108e-01  0.00000000e+00 -1.20767900e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.87, Y:-1.21, Z:0.00
[[ 9.99457669e-01 -3.29297530e-02  0.00000000e+00  5.08679821e+01]
 [ 3.29297530e-02  9.99457669e-01  0.00000000e+00 -1.21074650e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.93, Y:-1.21, Z:0.00
[[ 9.99435185e-01 -3.36052183e-02  0.00000000e+00  5.09276421e+01]
 [ 3.36052183e-02  9.99435185e-01  0.00000000e+00 -1.20869905e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.826066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:50.99, Y:-1.20, Z:0.00
[[ 9.99463980e-01 -3.27376234e-02  0.00000000e+00  5.09882904e+01]
 [ 3.27376234e-02  9.99463980e-01  0.00000000e+00 -1.19886150e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.05, Y:-1.20, Z:0.00
[[ 9.99497804e-01 -3.16881549e-02  0.00000000e+00  5.10462988e+01]
 [ 3.16881549e-02  9.99497804e-01  0.00000000e+00 -1.19673798e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.11, Y:-1.19, Z:0.00
[[ 9.99504465e-01 -3.14773599e-02  0.00000000e+00  5.11065241e+01]
 [ 3.14773599e-02  9.99504465e-01  0.00000000e+00 -1.18963572e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.006066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.17, Y:-1.18, Z:0.00
[[ 9.99755157e-01 -2.21274934e-02  0.00000000e+00  5.11659233e+01]
 [ 2.21274934e-02  9.99755157e-01  0.00000000e+00 -1.18071611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.23, Y:-1.17, Z:0.00
[[ 9.99874811e-01 -1.58228169e-02  0.00000000e+00  5.12268619e+01]
 [ 1.58228169e-02  9.99874811e-01  0.00000000e+00 -1.17412733e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.29, Y:-1.17, Z:0.00
[[ 9.99822967e-01 -1.88158151e-02  0.00000000e+00  5.12850742e+01]
 [ 1.88158151e-02  9.99822967e-01  0.00000000e+00 -1.17193552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.186066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.35, Y:-1.17, Z:0.00
[[ 9.99603646e-01 -2.81522777e-02  0.00000000e+00  5.13459727e+01]
 [ 2.81522777e-02  9.99603646e-01  0.00000000e+00 -1.16533560e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.41, Y:-1.16, Z:0.00
[[ 9.99454827e-01 -3.30158830e-02  0.00000000e+00  5.14064752e+01]
 [ 3.30158830e-02  9.99454827e-01  0.00000000e+00 -1.16040778e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.47, Y:-1.16, Z:0.00
[[ 9.99506585e-01 -3.14099725e-02  0.00000000e+00  5.14656227e+01]
 [ 3.14099725e-02  9.99506585e-01  0.00000000e+00 -1.16343855e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.366066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.53, Y:-1.15, Z:0.00
[[ 9.99714839e-01 -2.38797065e-02  0.00000000e+00  5.15267007e+01]
 [ 2.38797065e-02  9.99714839e-01  0.00000000e+00 -1.14847010e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.59, Y:-1.14, Z:0.00
[[ 9.99923766e-01 -1.23475403e-02  0.00000000e+00  5.15865603e+01]
 [ 1.23475403e-02  9.99923766e-01  0.00000000e+00 -1.14010752e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.65, Y:-1.14, Z:0.00
[[ 9.99984113e-01  5.63677712e-03  0.00000000e+00  5.16468808e+01]
 [-5.63677712e-03  9.99984113e-01  0.00000000e+00 -1.14022614e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.71, Y:-1.13, Z:0.00
[[ 9.99866281e-01  1.63529724e-02  0.00000000e+00  5.17080771e+01]
 [-1.63529724e-02  9.99866281e-01  0.00000000e+00 -1.13141754e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.77, Y:-1.13, Z:0.00
[[ 9.99818901e-01  1.90306468e-02  0.00000000e+00  5.17689581e+01]
 [-1.90306468e-02  9.99818901e-01  0.00000000e+00 -1.13266084e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.83, Y:-1.15, Z:0.00
[[ 9.99899388e-01  1.41849946e-02  0.00000000e+00  5.18292386e+01]
 [-1.41849946e-02  9.99899388e-01  0.00000000e+00 -1.14547373e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.89, Y:-1.15, Z:0.00
[[ 9.99880262e-01  1.54745529e-02  0.00000000e+00  5.18915375e+01]
 [-1.54745529e-02  9.99880262e-01  0.00000000e+00 -1.14843709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:51.95, Y:-1.15, Z:0.00
[[ 9.99805824e-01  1.97056974e-02  0.00000000e+00  5.19528974e+01]
 [-1.97056974e-02  9.99805824e-01  0.00000000e+00 -1.15387472e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.02, Y:-1.17, Z:0.00
[[ 9.99904360e-01  1.38300568e-02  0.00000000e+00  5.20150178e+01]
 [-1.38300568e-02  9.99904360e-01  0.00000000e+00 -1.16901845e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.08, Y:-1.17, Z:0.00
[[ 9.99982409e-01  5.93149791e-03  0.00000000e+00  5.20752450e+01]
 [-5.93149791e-03  9.99982409e-01  0.00000000e+00 -1.17427053e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.14, Y:-1.19, Z:0.00
[[ 9.99981065e-01 -6.15390324e-03  0.00000000e+00  5.21351563e+01]
 [ 6.15390324e-03  9.99981065e-01  0.00000000e+00 -1.18786842e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.20, Y:-1.19, Z:0.00
[[ 9.99941086e-01 -1.08547122e-02  0.00000000e+00  5.21955007e+01]
 [ 1.08547122e-02  9.99941086e-01  0.00000000e+00 -1.19235967e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.25, Y:-1.19, Z:0.00
[[ 9.99929383e-01 -1.18840043e-02  0.00000000e+00  5.22546145e+01]
 [ 1.18840043e-02  9.99929383e-01  0.00000000e+00 -1.19408202e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.31, Y:-1.20, Z:0.00
[[ 9.99856265e-01 -1.69543102e-02  0.00000000e+00  5.23133305e+01]
 [ 1.69543102e-02  9.99856265e-01  0.00000000e+00 -1.20490809e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.37, Y:-1.20, Z:0.00
[[ 9.99711994e-01 -2.39985078e-02  0.00000000e+00  5.23736551e+01]
 [ 2.39985078e-02  9.99711994e-01  0.00000000e+00 -1.20274065e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.43, Y:-1.21, Z:0.00
[[ 9.99567147e-01 -2.94196860e-02  0.00000000e+00  5.24340256e+01]
 [ 2.94196860e-02  9.99567147e-01  0.00000000e+00 -1.20559023e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.326066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.49, Y:-1.21, Z:0.00
[[ 9.99357801e-01 -3.58327533e-02  0.00000000e+00  5.24938716e+01]
 [ 3.58327533e-02  9.99357801e-01  0.00000000e+00 -1.20822293e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.55, Y:-1.20, Z:0.00
[[ 9.99374991e-01 -3.53500656e-02  0.00000000e+00  5.25543362e+01]
 [ 3.53500656e-02  9.99374991e-01  0.00000000e+00 -1.20280034e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.62, Y:-1.20, Z:0.00
[[ 9.99590724e-01 -2.86074368e-02  0.00000000e+00  5.26151041e+01]
 [ 2.86074368e-02  9.99590724e-01  0.00000000e+00 -1.19894597e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.506066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.67, Y:-1.18, Z:0.00
[[ 9.99857084e-01 -1.69059626e-02  0.00000000e+00  5.26746933e+01]
 [ 1.69059626e-02  9.99857084e-01  0.00000000e+00 -1.18456303e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.73, Y:-1.18, Z:0.00
[[ 9.99907213e-01 -1.36222335e-02  0.00000000e+00  5.27338240e+01]
 [ 1.36222335e-02  9.99907213e-01  0.00000000e+00 -1.18480536e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.79, Y:-1.18, Z:0.00
[[ 9.99969661e-01 -7.78948737e-03  0.00000000e+00  5.27935954e+01]
 [ 7.78948737e-03  9.99969661e-01  0.00000000e+00 -1.18440404e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.686066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.85, Y:-1.18, Z:0.00
[[ 9.99948670e-01 -1.01319960e-02  0.00000000e+00  5.28543896e+01]
 [ 1.01319960e-02  9.99948670e-01  0.00000000e+00 -1.17772054e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.92, Y:-1.18, Z:0.00
[[ 9.99821038e-01 -1.89180432e-02  0.00000000e+00  5.29151062e+01]
 [ 1.89180432e-02  9.99821038e-01  0.00000000e+00 -1.17952067e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:52.97, Y:-1.18, Z:0.00
[[ 9.99823495e-01 -1.87877456e-02  0.00000000e+00  5.29743017e+01]
 [ 1.87877456e-02  9.99823495e-01  0.00000000e+00 -1.18372193e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.866066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.03, Y:-1.17, Z:0.00
[[ 9.99932885e-01 -1.15855658e-02  0.00000000e+00  5.30349852e+01]
 [ 1.15855658e-02  9.99932885e-01  0.00000000e+00 -1.17355298e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.10, Y:-1.17, Z:0.00
[[ 9.99944317e-01 -1.05528719e-02  0.00000000e+00  5.30959011e+01]
 [ 1.05528719e-02  9.99944317e-01  0.00000000e+00 -1.17215799e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.16, Y:-1.17, Z:0.00
[[ 9.99943136e-01 -1.06641431e-02  0.00000000e+00  5.31560298e+01]
 [ 1.06641431e-02  9.99943136e-01  0.00000000e+00 -1.17039929e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.21, Y:-1.17, Z:0.00
[[ 9.99983738e-01 -5.70298862e-03  0.00000000e+00  5.32149194e+01]
 [ 5.70298862e-03  9.99983738e-01  0.00000000e+00 -1.16791591e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.27, Y:-1.17, Z:0.00
[[ 9.99996070e-01 -2.80351263e-03  0.00000000e+00  5.32735608e+01]
 [ 2.80351263e-03  9.99996070e-01  0.00000000e+00 -1.16775750e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.33, Y:-1.17, Z:0.00
[[ 9.99999558e-01 -9.39981513e-04  0.00000000e+00  5.33340821e+01]
 [ 9.39981513e-04  9.99999558e-01  0.00000000e+00 -1.16873640e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.39, Y:-1.17, Z:0.00
[[ 9.99990615e-01  4.33245827e-03  0.00000000e+00  5.33940057e+01]
 [-4.33245827e-03  9.99990615e-01  0.00000000e+00 -1.17488882e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.45, Y:-1.18, Z:0.00
[[ 9.99933505e-01  1.15319536e-02  0.00000000e+00  5.34533828e+01]
 [-1.15319536e-02  9.99933505e-01  0.00000000e+00 -1.18309959e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.52, Y:-1.18, Z:0.00
[[ 9.99893423e-01  1.45994230e-02  0.00000000e+00  5.35154956e+01]
 [-1.45994230e-02  9.99893423e-01  0.00000000e+00 -1.18371898e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.58, Y:-1.20, Z:0.00
[[ 9.99949598e-01  1.00400339e-02  0.00000000e+00  5.35775748e+01]
 [-1.00400339e-02  9.99949598e-01  0.00000000e+00 -1.19879145e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.64, Y:-1.21, Z:0.00
[[ 9.99993633e-01  3.56834654e-03  0.00000000e+00  5.36367296e+01]
 [-3.56834654e-03  9.99993633e-01  0.00000000e+00 -1.20935908e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.70, Y:-1.22, Z:0.00
[[ 9.99988414e-01 -4.81368383e-03  0.00000000e+00  5.36970346e+01]
 [ 4.81368383e-03  9.99988414e-01  0.00000000e+00 -1.21909611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.76, Y:-1.23, Z:0.00
[[ 9.99875977e-01 -1.57489899e-02  0.00000000e+00  5.37561884e+01]
 [ 1.57489899e-02  9.99875977e-01  0.00000000e+00 -1.22811255e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.646066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.81, Y:-1.23, Z:0.00
[[ 9.99807073e-01 -1.96421951e-02  0.00000000e+00  5.38145441e+01]
 [ 1.96421951e-02  9.99807073e-01  0.00000000e+00 -1.23421958e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.87, Y:-1.24, Z:0.00
[[ 9.99816478e-01 -1.91575181e-02  0.00000000e+00  5.38729255e+01]
 [ 1.91575181e-02  9.99816478e-01  0.00000000e+00 -1.23935640e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.93, Y:-1.24, Z:0.00
[[ 9.99769051e-01 -2.14905667e-02  0.00000000e+00  5.39333816e+01]
 [ 2.14905667e-02  9.99769051e-01  0.00000000e+00 -1.24359368e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.826066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:53.99, Y:-1.24, Z:0.00
[[ 9.99709589e-01 -2.40984812e-02  0.00000000e+00  5.39930865e+01]
 [ 2.40984812e-02  9.99709589e-01  0.00000000e+00 -1.24199397e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.05, Y:-1.24, Z:0.00
[[ 9.99746867e-01 -2.24989499e-02  0.00000000e+00  5.40524390e+01]
 [ 2.24989499e-02  9.99746867e-01  0.00000000e+00 -1.24265711e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.11, Y:-1.24, Z:0.00
[[ 9.99714239e-01 -2.39048199e-02  0.00000000e+00  5.41131284e+01]
 [ 2.39048199e-02  9.99714239e-01  0.00000000e+00 -1.24090891e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.006066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.17, Y:-1.24, Z:0.00
[[ 9.99611845e-01 -2.78596247e-02  0.00000000e+00  5.41733559e+01]
 [ 2.78596247e-02  9.99611845e-01  0.00000000e+00 -1.23639005e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.23, Y:-1.23, Z:0.00
[[ 9.99423264e-01 -3.39578958e-02  0.00000000e+00  5.42328658e+01]
 [ 3.39578958e-02  9.99423264e-01  0.00000000e+00 -1.23176744e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.29, Y:-1.23, Z:0.00
[[ 9.99350235e-01 -3.60431372e-02  0.00000000e+00  5.42918257e+01]
 [ 3.60431372e-02  9.99350235e-01  0.00000000e+00 -1.22751348e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.186066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.35, Y:-1.22, Z:0.00
[[ 9.99508487e-01 -3.13493817e-02  0.00000000e+00  5.43527910e+01]
 [ 3.13493817e-02  9.99508487e-01  0.00000000e+00 -1.21819643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.41, Y:-1.21, Z:0.00
[[ 9.99816540e-01 -1.91542873e-02  0.00000000e+00  5.44136397e+01]
 [ 1.91542873e-02  9.99816540e-01  0.00000000e+00 -1.20715315e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.47, Y:-1.20, Z:0.00
[[ 9.99960609e-01 -8.87583330e-03  0.00000000e+00  5.44735252e+01]
 [ 8.87583330e-03  9.99960609e-01  0.00000000e+00 -1.20333810e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.366066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.53, Y:-1.20, Z:0.00
[[ 9.99986870e-01 -5.12437689e-03  0.00000000e+00  5.45335267e+01]
 [ 5.12437689e-03  9.99986870e-01  0.00000000e+00 -1.20085605e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.59, Y:-1.19, Z:0.00
[[ 9.99904570e-01 -1.38149065e-02  0.00000000e+00  5.45929588e+01]
 [ 1.38149065e-02  9.99904570e-01  0.00000000e+00 -1.19398293e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.65, Y:-1.19, Z:0.00
[[ 9.99873744e-01 -1.58901129e-02  0.00000000e+00  5.46519831e+01]
 [ 1.58901129e-02  9.99873744e-01  0.00000000e+00 -1.19150213e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.71, Y:-1.20, Z:0.00
[[ 9.99617887e-01 -2.76419892e-02  0.00000000e+00  5.47123451e+01]
 [ 2.76419892e-02  9.99617887e-01  0.00000000e+00 -1.19584528e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.77, Y:-1.19, Z:0.00
[[ 9.99553388e-01 -2.98835206e-02  0.00000000e+00  5.47718346e+01]
 [ 2.98835206e-02  9.99553388e-01  0.00000000e+00 -1.18958118e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.83, Y:-1.18, Z:0.00
[[ 9.99757036e-01 -2.20424511e-02  0.00000000e+00  5.48325892e+01]
 [ 2.20424511e-02  9.99757036e-01  0.00000000e+00 -1.17892995e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.89, Y:-1.19, Z:0.00
[[ 9.99833062e-01 -1.82714990e-02  0.00000000e+00  5.48915960e+01]
 [ 1.82714990e-02  9.99833062e-01  0.00000000e+00 -1.18856693e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:54.95, Y:-1.19, Z:0.00
[[ 9.99912121e-01 -1.32571001e-02  0.00000000e+00  5.49522202e+01]
 [ 1.32571001e-02  9.99912121e-01  0.00000000e+00 -1.18869996e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.01, Y:-1.18, Z:0.00
[[ 9.99997963e-01  2.01828191e-03  0.00000000e+00  5.50122889e+01]
 [-2.01828191e-03  9.99997963e-01  0.00000000e+00 -1.18300459e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.07, Y:-1.18, Z:0.00
[[ 9.99984153e-01  5.62978179e-03  0.00000000e+00  5.50730610e+01]
 [-5.62978179e-03  9.99984153e-01  0.00000000e+00 -1.18158665e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.13, Y:-1.19, Z:0.00
[[ 9.99981341e-01  6.10878708e-03  0.00000000e+00  5.51335045e+01]
 [-6.10878708e-03  9.99981341e-01  0.00000000e+00 -1.18936434e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.19, Y:-1.19, Z:0.00
[[ 9.99980660e-01  6.21928149e-03  0.00000000e+00  5.51945662e+01]
 [-6.21928149e-03  9.99980660e-01  0.00000000e+00 -1.18957383e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.26, Y:-1.20, Z:0.00
[[ 9.99989677e-01  4.54370992e-03  0.00000000e+00  5.52559524e+01]
 [-4.54370992e-03  9.99989677e-01  0.00000000e+00 -1.20206009e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.146066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.32, Y:-1.21, Z:0.00
[[ 9.99978459e-01  6.56369640e-03  0.00000000e+00  5.53165612e+01]
 [-6.56369640e-03  9.99978459e-01  0.00000000e+00 -1.21116230e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.38, Y:-1.22, Z:0.00
[[ 9.99989137e-01  4.66104866e-03  0.00000000e+00  5.53776635e+01]
 [-4.66104866e-03  9.99989137e-01  0.00000000e+00 -1.21649871e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.44, Y:-1.22, Z:0.00
[[ 9.99941740e-01 -1.07943246e-02  0.00000000e+00  5.54374134e+01]
 [ 1.07943246e-02  9.99941740e-01  0.00000000e+00 -1.22252768e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.326066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.50, Y:-1.23, Z:0.00
[[ 9.99721059e-01 -2.36178705e-02  0.00000000e+00  5.54974445e+01]
 [ 2.36178705e-02  9.99721059e-01  0.00000000e+00 -1.23164660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.56, Y:-1.24, Z:0.00
[[ 9.99522066e-01 -3.09134069e-02  0.00000000e+00  5.55563735e+01]
 [ 3.09134069e-02  9.99522066e-01  0.00000000e+00 -1.23739865e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.62, Y:-1.23, Z:0.00
[[ 9.99550708e-01 -2.99730279e-02  0.00000000e+00  5.56150392e+01]
 [ 2.99730279e-02  9.99550708e-01  0.00000000e+00 -1.23252979e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.506066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.67, Y:-1.23, Z:0.00
[[ 9.99628782e-01 -2.72451346e-02  0.00000000e+00  5.56743311e+01]
 [ 2.72451346e-02  9.99628782e-01  0.00000000e+00 -1.22767146e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.73, Y:-1.23, Z:0.00
[[ 9.99551113e-01 -2.99595300e-02  0.00000000e+00  5.57344223e+01]
 [ 2.99595300e-02  9.99551113e-01  0.00000000e+00 -1.22624438e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.79, Y:-1.22, Z:0.00
[[ 9.99540620e-01 -3.03075751e-02  0.00000000e+00  5.57930951e+01]
 [ 3.03075751e-02  9.99540620e-01  0.00000000e+00 -1.22144057e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.686066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.85, Y:-1.21, Z:0.00
[[ 9.99538019e-01 -3.03932183e-02  0.00000000e+00  5.58524305e+01]
 [ 3.03932183e-02  9.99538019e-01  0.00000000e+00 -1.20767739e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.91, Y:-1.20, Z:0.00
[[ 9.99302706e-01 -3.73376731e-02  0.00000000e+00  5.59116182e+01]
 [ 3.73376731e-02  9.99302706e-01  0.00000000e+00 -1.20185408e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:55.97, Y:-1.18, Z:0.00
[[ 9.99159352e-01 -4.09949990e-02  0.00000000e+00  5.59721021e+01]
 [ 4.09949990e-02  9.99159352e-01  0.00000000e+00 -1.18497861e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.866066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.03, Y:-1.18, Z:0.00
[[ 9.99150616e-01 -4.12073636e-02  0.00000000e+00  5.60309128e+01]
 [ 4.12073636e-02  9.99150616e-01  0.00000000e+00 -1.17600000e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.09, Y:-1.17, Z:0.00
[[ 9.99369719e-01 -3.54988123e-02  0.00000000e+00  5.60911539e+01]
 [ 3.54988123e-02  9.99369719e-01  0.00000000e+00 -1.16648217e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.15, Y:-1.15, Z:0.00
[[ 9.99720698e-01 -2.36331480e-02  0.00000000e+00  5.61515822e+01]
 [ 2.36331480e-02  9.99720698e-01  0.00000000e+00 -1.14681292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.21, Y:-1.14, Z:0.00
[[ 9.99797936e-01 -2.01019238e-02  0.00000000e+00  5.62117909e+01]
 [ 2.01019238e-02  9.99797936e-01  0.00000000e+00 -1.14364824e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.27, Y:-1.14, Z:0.00
[[ 9.99882110e-01 -1.53546619e-02  0.00000000e+00  5.62728350e+01]
 [ 1.53546619e-02  9.99882110e-01  0.00000000e+00 -1.14071700e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.33, Y:-1.13, Z:0.00
[[ 9.99981740e-01 -6.04314953e-03  0.00000000e+00  5.63324396e+01]
 [ 6.04314953e-03  9.99981740e-01  0.00000000e+00 -1.12978256e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.39, Y:-1.13, Z:0.00
[[ 9.99997772e-01  2.11108085e-03  0.00000000e+00  5.63923670e+01]
 [-2.11108085e-03  9.99997772e-01  0.00000000e+00 -1.12885070e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.45, Y:-1.13, Z:0.00
[[ 9.99977010e-01  6.78080089e-03  0.00000000e+00  5.64532064e+01]
 [-6.78080089e-03  9.99977010e-01  0.00000000e+00 -1.13179359e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.51, Y:-1.13, Z:0.00
[[ 9.99904898e-01  1.37911000e-02  0.00000000e+00  5.65130381e+01]
 [-1.37911000e-02  9.99904898e-01  0.00000000e+00 -1.13238072e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.58, Y:-1.13, Z:0.00
[[ 9.99867239e-01  1.62943307e-02  0.00000000e+00  5.65751350e+01]
 [-1.62943307e-02  9.99867239e-01  0.00000000e+00 -1.13248522e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.63, Y:-1.14, Z:0.00
[[ 9.99891070e-01  1.47596871e-02  0.00000000e+00  5.66342428e+01]
 [-1.47596871e-02  9.99891070e-01  0.00000000e+00 -1.14409155e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.69, Y:-1.15, Z:0.00
[[ 9.99986922e-01  5.11423482e-03  0.00000000e+00  5.66948437e+01]
 [-5.11423482e-03  9.99986922e-01  0.00000000e+00 -1.15197242e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.75, Y:-1.16, Z:0.00
[[ 9.99949717e-01 -1.00281526e-02  0.00000000e+00  5.67542472e+01]
 [ 1.00281526e-02  9.99949717e-01  0.00000000e+00 -1.15959772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.646066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.81, Y:-1.18, Z:0.00
[[ 9.99795887e-01 -2.02035602e-02  0.00000000e+00  5.68128308e+01]
 [ 2.02035602e-02  9.99795887e-01  0.00000000e+00 -1.17954660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.87, Y:-1.18, Z:0.00
[[ 9.99683843e-01 -2.51438824e-02  0.00000000e+00  5.68734711e+01]
 [ 2.51438824e-02  9.99683843e-01  0.00000000e+00 -1.17701450e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.93, Y:-1.18, Z:0.00
[[ 9.99429291e-01 -3.37800486e-02  0.00000000e+00  5.69339415e+01]
 [ 3.37800486e-02  9.99429291e-01  0.00000000e+00 -1.17873097e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.826066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:56.99, Y:-1.19, Z:0.00
[[ 9.99346241e-01 -3.61537020e-02  0.00000000e+00  5.69942277e+01]
 [ 3.61537020e-02  9.99346241e-01  0.00000000e+00 -1.18855770e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.05, Y:-1.18, Z:0.00
[[ 9.99795383e-01 -2.02284845e-02  0.00000000e+00  5.70548631e+01]
 [ 2.02284845e-02  9.99795383e-01  0.00000000e+00 -1.18383268e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.11, Y:-1.18, Z:0.00
[[ 9.99995848e-01  2.88154210e-03  0.00000000e+00  5.71149306e+01]
 [-2.88154210e-03  9.99995848e-01  0.00000000e+00 -1.17575774e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.006066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.18, Y:-1.18, Z:0.00
[[ 9.99914833e-01  1.30509555e-02  0.00000000e+00  5.71751224e+01]
 [-1.30509555e-02  9.99914833e-01  0.00000000e+00 -1.18337943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.23, Y:-1.19, Z:0.00
[[ 9.99554701e-01  2.98395677e-02  0.00000000e+00  5.72344196e+01]
 [-2.98395677e-02  9.99554701e-01  0.00000000e+00 -1.19385535e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.29, Y:-1.21, Z:0.00
[[ 9.99421360e-01  3.40138857e-02  0.00000000e+00  5.72938024e+01]
 [-3.40138857e-02  9.99421360e-01  0.00000000e+00 -1.20726401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.186066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.36, Y:-1.22, Z:0.00
[[ 9.99454943e-01  3.30123874e-02  0.00000000e+00  5.73553334e+01]
 [-3.30123874e-02  9.99454943e-01  0.00000000e+00 -1.22048311e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.42, Y:-1.24, Z:0.00
[[ 9.99624897e-01  2.73873318e-02  0.00000000e+00  5.74163872e+01]
 [-2.73873318e-02  9.99624897e-01  0.00000000e+00 -1.24348398e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.48, Y:-1.26, Z:0.00
[[ 9.99736805e-01  2.29417025e-02  0.00000000e+00  5.74772686e+01]
 [-2.29417025e-02  9.99736805e-01  0.00000000e+00 -1.26018908e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.366066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.54, Y:-1.28, Z:0.00
[[ 9.99797146e-01  2.01411801e-02  0.00000000e+00  5.75398363e+01]
 [-2.01411801e-02  9.99797146e-01  0.00000000e+00 -1.28314268e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.60, Y:-1.29, Z:0.00
[[ 9.99923145e-01  1.23977267e-02  0.00000000e+00  5.76005112e+01]
 [-1.23977267e-02  9.99923145e-01  0.00000000e+00 -1.28970409e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.66, Y:-1.31, Z:0.00
[[ 9.99999767e-01 -6.82837929e-04  0.00000000e+00  5.76601008e+01]
 [ 6.82837929e-04  9.99999767e-01  0.00000000e+00 -1.30935222e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.72, Y:-1.32, Z:0.00
[[ 9.99969618e-01 -7.79507444e-03  0.00000000e+00  5.77193307e+01]
 [ 7.79507444e-03  9.99969618e-01  0.00000000e+00 -1.32400058e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.78, Y:-1.33, Z:0.00
[[ 9.99846973e-01 -1.74937046e-02  0.00000000e+00  5.77795827e+01]
 [ 1.74937046e-02  9.99846973e-01  0.00000000e+00 -1.33306985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.84, Y:-1.34, Z:0.00
[[ 9.99517624e-01 -3.10566980e-02  0.00000000e+00  5.78389257e+01]
 [ 3.10566980e-02  9.99517624e-01  0.00000000e+00 -1.33967200e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.90, Y:-1.35, Z:0.00
[[ 9.99179111e-01 -4.05105444e-02  0.00000000e+00  5.78974906e+01]
 [ 4.05105444e-02  9.99179111e-01  0.00000000e+00 -1.34878127e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:57.96, Y:-1.35, Z:0.00
[[ 9.99175617e-01 -4.05966249e-02  0.00000000e+00  5.79563566e+01]
 [ 4.05966249e-02  9.99175617e-01  0.00000000e+00 -1.34827917e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.02, Y:-1.34, Z:0.00
[[ 9.99492257e-01 -3.18626408e-02  0.00000000e+00  5.80161640e+01]
 [ 3.18626408e-02  9.99492257e-01  0.00000000e+00 -1.33901219e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.08, Y:-1.34, Z:0.00
[[ 9.99572908e-01 -2.92233002e-02  0.00000000e+00  5.80757641e+01]
 [ 2.92233002e-02  9.99572908e-01  0.00000000e+00 -1.33670623e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.14, Y:-1.33, Z:0.00
[[ 9.99409153e-01 -3.43707036e-02  0.00000000e+00  5.81363414e+01]
 [ 3.43707036e-02  9.99409153e-01  0.00000000e+00 -1.32953010e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.20, Y:-1.32, Z:0.00
[[ 9.99289369e-01 -3.76929293e-02  0.00000000e+00  5.81961301e+01]
 [ 3.76929293e-02  9.99289369e-01  0.00000000e+00 -1.32466818e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.26, Y:-1.32, Z:0.00
[[ 9.99391524e-01 -3.48795199e-02  0.00000000e+00  5.82565235e+01]
 [ 3.48795199e-02  9.99391524e-01  0.00000000e+00 -1.31936571e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.146066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.32, Y:-1.31, Z:0.00
[[ 9.99572999e-01 -2.92202023e-02  0.00000000e+00  5.83166637e+01]
 [ 2.92202023e-02  9.99572999e-01  0.00000000e+00 -1.30699302e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.38, Y:-1.30, Z:0.00
[[ 9.99447089e-01 -3.32493046e-02  0.00000000e+00  5.83774501e+01]
 [ 3.32493046e-02  9.99447089e-01  0.00000000e+00 -1.30483235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.44, Y:-1.30, Z:0.00
[[ 9.98975165e-01 -4.52616763e-02  0.00000000e+00  5.84373941e+01]
 [ 4.52616763e-02  9.98975165e-01  0.00000000e+00 -1.29544402e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.326066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.50, Y:-1.29, Z:0.00
[[ 9.98904887e-01 -4.67870262e-02  0.00000000e+00  5.84966971e+01]
 [ 4.67870262e-02  9.98904887e-01  0.00000000e+00 -1.29481412e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.56, Y:-1.28, Z:0.00
[[ 9.99077438e-01 -4.29450058e-02  0.00000000e+00  5.85559962e+01]
 [ 4.29450058e-02  9.99077438e-01  0.00000000e+00 -1.28406089e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.62, Y:-1.28, Z:0.00
[[ 9.99262052e-01 -3.84103145e-02  0.00000000e+00  5.86162753e+01]
 [ 3.84103145e-02  9.99262052e-01  0.00000000e+00 -1.27568801e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.506066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.68, Y:-1.26, Z:0.00
[[ 9.99441103e-01 -3.34287594e-02  0.00000000e+00  5.86758261e+01]
 [ 3.34287594e-02  9.99441103e-01  0.00000000e+00 -1.26262968e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.73, Y:-1.26, Z:0.00
[[ 9.99428707e-01 -3.37973253e-02  0.00000000e+00  5.87342887e+01]
 [ 3.37973253e-02  9.99428707e-01  0.00000000e+00 -1.25796783e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.79, Y:-1.24, Z:0.00
[[ 9.99371305e-01 -3.54541330e-02  0.00000000e+00  5.87940646e+01]
 [ 3.54541330e-02  9.99371305e-01  0.00000000e+00 -1.23867730e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.686066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.85, Y:-1.23, Z:0.00
[[ 9.99512728e-01 -3.12138996e-02  0.00000000e+00  5.88546279e+01]
 [ 3.12138996e-02  9.99512728e-01  0.00000000e+00 -1.23302507e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.91, Y:-1.23, Z:0.00
[[ 9.99613063e-01 -2.78158875e-02  0.00000000e+00  5.89149100e+01]
 [ 2.78158875e-02  9.99613063e-01  0.00000000e+00 -1.22993436e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:58.97, Y:-1.21, Z:0.00
[[ 9.99794388e-01 -2.02776143e-02  0.00000000e+00  5.89745799e+01]
 [ 2.02776143e-02  9.99794388e-01  0.00000000e+00 -1.21027036e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.866066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.03, Y:-1.21, Z:0.00
[[ 9.99889182e-01 -1.48870566e-02  0.00000000e+00  5.90347578e+01]
 [ 1.48870566e-02  9.99889182e-01  0.00000000e+00 -1.20524796e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.09, Y:-1.20, Z:0.00
[[ 9.99909748e-01 -1.34349051e-02  0.00000000e+00  5.90939264e+01]
 [ 1.34349051e-02  9.99909748e-01  0.00000000e+00 -1.20122715e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.15, Y:-1.19, Z:0.00
[[ 9.99964038e-01 -8.48073153e-03  0.00000000e+00  5.91542345e+01]
 [ 8.48073153e-03  9.99964038e-01  0.00000000e+00 -1.19421922e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.21, Y:-1.20, Z:0.00
[[ 9.99999699e-01 -7.75324343e-04  0.00000000e+00  5.92146175e+01]
 [ 7.75324343e-04  9.99999699e-01  0.00000000e+00 -1.19651924e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.27, Y:-1.20, Z:0.00
[[ 9.99999965e-01 -2.63170985e-04  0.00000000e+00  5.92749085e+01]
 [ 2.63170985e-04  9.99999965e-01  0.00000000e+00 -1.20121324e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.33, Y:-1.20, Z:0.00
[[ 9.99999975e-01 -2.22939114e-04  0.00000000e+00  5.93341459e+01]
 [ 2.22939114e-04  9.99999975e-01  0.00000000e+00 -1.20259346e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.39, Y:-1.20, Z:0.00
[[ 9.99999917e-01 -4.07429815e-04  0.00000000e+00  5.93941236e+01]
 [ 4.07429815e-04  9.99999917e-01  0.00000000e+00 -1.20479801e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.45, Y:-1.21, Z:0.00
[[ 9.99990455e-01 -4.36928364e-03  0.00000000e+00  5.94542449e+01]
 [ 4.36928364e-03  9.99990455e-01  0.00000000e+00 -1.21121331e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.51, Y:-1.21, Z:0.00
[[ 9.99895835e-01 -1.44332379e-02  0.00000000e+00  5.95142378e+01]
 [ 1.44332379e-02  9.99895835e-01  0.00000000e+00 -1.20725649e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.57, Y:-1.21, Z:0.00
[[ 9.99700185e-01 -2.44855150e-02  0.00000000e+00  5.95748486e+01]
 [ 2.44855150e-02  9.99700185e-01  0.00000000e+00 -1.21227034e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.63, Y:-1.22, Z:0.00
[[ 9.99251464e-01 -3.86847755e-02  0.00000000e+00  5.96348724e+01]
 [ 3.86847755e-02  9.99251464e-01  0.00000000e+00 -1.21703496e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.69, Y:-1.22, Z:0.00
[[ 9.99247233e-01 -3.87939171e-02  0.00000000e+00  5.96934170e+01]
 [ 3.87939171e-02  9.99247233e-01  0.00000000e+00 -1.21636972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.75, Y:-1.21, Z:0.00
[[ 9.99672261e-01 -2.56002184e-02  0.00000000e+00  5.97529054e+01]
 [ 2.56002184e-02  9.99672261e-01  0.00000000e+00 -1.21059305e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.646066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.81, Y:-1.21, Z:0.00
[[ 9.99917389e-01 -1.28535755e-02  0.00000000e+00  5.98132705e+01]
 [ 1.28535755e-02  9.99917389e-01  0.00000000e+00 -1.21251112e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.87, Y:-1.21, Z:0.00
[[ 9.99991199e-01 -4.19540617e-03  0.00000000e+00  5.98722824e+01]
 [ 4.19540617e-03  9.99991199e-01  0.00000000e+00 -1.21186895e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.93, Y:-1.21, Z:0.00
[[ 9.99993714e-01 -3.54558318e-03  0.00000000e+00  5.99328132e+01]
 [ 3.54558318e-03  9.99993714e-01  0.00000000e+00 -1.21257351e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.826066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:59.99, Y:-1.22, Z:0.00
[[ 9.99976044e-01 -6.92183513e-03  0.00000000e+00  5.99925864e+01]
 [ 6.92183513e-03  9.99976044e-01  0.00000000e+00 -1.21713154e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.05, Y:-1.22, Z:0.00
[[ 9.99991210e-01 -4.19286326e-03  0.00000000e+00  6.00518623e+01]
 [ 4.19286326e-03  9.99991210e-01  0.00000000e+00 -1.21841591e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.11, Y:-1.22, Z:0.00
[[ 9.99998984e-01  1.42577791e-03  0.00000000e+00  6.01121587e+01]
 [-1.42577791e-03  9.99998984e-01  0.00000000e+00 -1.22105877e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.006066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.17, Y:-1.23, Z:0.00
[[ 9.99994603e-01  3.28543167e-03  0.00000000e+00  6.01718903e+01]
 [-3.28543167e-03  9.99994603e-01  0.00000000e+00 -1.22933077e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.23, Y:-1.23, Z:0.00
[[ 9.99993136e-01  3.70503379e-03  0.00000000e+00  6.02323639e+01]
 [-3.70503379e-03  9.99993136e-01  0.00000000e+00 -1.23372326e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.29, Y:-1.24, Z:0.00
[[ 9.99998145e-01  1.92636853e-03  0.00000000e+00  6.02924925e+01]
 [-1.92636853e-03  9.99998145e-01  0.00000000e+00 -1.24289571e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.186066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.35, Y:-1.25, Z:0.00
[[ 9.99996455e-01  2.66255803e-03  0.00000000e+00  6.03528920e+01]
 [-2.66255803e-03  9.99996455e-01  0.00000000e+00 -1.24960551e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.41, Y:-1.26, Z:0.00
[[ 9.99999461e-01 -1.03806966e-03  0.00000000e+00  6.04134807e+01]
 [ 1.03806966e-03  9.99999461e-01  0.00000000e+00 -1.26062354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.47, Y:-1.27, Z:0.00
[[ 9.99996830e-01 -2.51808986e-03  0.00000000e+00  6.04729692e+01]
 [ 2.51808986e-03  9.99996830e-01  0.00000000e+00 -1.26717460e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.366066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.53, Y:-1.28, Z:0.00
[[ 9.99960847e-01 -8.84899959e-03  0.00000000e+00  6.05329361e+01]
 [ 8.84899959e-03  9.99960847e-01  0.00000000e+00 -1.28002513e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.59, Y:-1.29, Z:0.00
[[ 9.99872598e-01 -1.59620661e-02  0.00000000e+00  6.05927500e+01]
 [ 1.59620661e-02  9.99872598e-01  0.00000000e+00 -1.28520309e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.65, Y:-1.28, Z:0.00
[[ 9.99706270e-01 -2.42357758e-02  0.00000000e+00  6.06523265e+01]
 [ 2.42357758e-02  9.99706270e-01  0.00000000e+00 -1.28287400e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.71, Y:-1.28, Z:0.00
[[ 9.99579091e-01 -2.90110398e-02  0.00000000e+00  6.07127908e+01]
 [ 2.90110398e-02  9.99579091e-01  0.00000000e+00 -1.28252307e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.77, Y:-1.29, Z:0.00
[[ 9.99526747e-01 -3.07616822e-02  0.00000000e+00  6.07703293e+01]
 [ 3.07616822e-02  9.99526747e-01  0.00000000e+00 -1.28548663e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.83, Y:-1.28, Z:0.00
[[ 9.99539072e-01 -3.03585831e-02  0.00000000e+00  6.08287613e+01]
 [ 3.03585831e-02  9.99539072e-01  0.00000000e+00 -1.28057181e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.89, Y:-1.28, Z:0.00
[[ 9.99576280e-01 -2.91077245e-02  0.00000000e+00  6.08865076e+01]
 [ 2.91077245e-02  9.99576280e-01  0.00000000e+00 -1.27800967e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.78606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:60.95, Y:-1.28, Z:0.00
[[ 9.99534992e-01 -3.04926197e-02  0.00000000e+00  6.09467494e+01]
 [ 3.04926197e-02  9.99534992e-01  0.00000000e+00 -1.28074134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.01, Y:-1.28, Z:0.00
[[ 9.99372472e-01 -3.54212212e-02  0.00000000e+00  6.10067488e+01]
 [ 3.54212212e-02  9.99372472e-01  0.00000000e+00 -1.27758843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.07, Y:-1.27, Z:0.00
[[ 9.99295224e-01 -3.75373833e-02  0.00000000e+00  6.10657867e+01]
 [ 3.75373833e-02  9.99295224e-01  0.00000000e+00 -1.27250289e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.12, Y:-1.26, Z:0.00
[[ 9.99256573e-01 -3.85525757e-02  0.00000000e+00  6.11245495e+01]
 [ 3.85525757e-02  9.99256573e-01  0.00000000e+00 -1.26273841e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.18, Y:-1.25, Z:0.00
[[ 9.99220801e-01 -3.94688618e-02  0.00000000e+00  6.11839558e+01]
 [ 3.94688618e-02  9.99220801e-01  0.00000000e+00 -1.25428677e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.086066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.24, Y:-1.25, Z:0.00
[[ 9.99363625e-01 -3.56699369e-02  0.00000000e+00  6.12433712e+01]
 [ 3.56699369e-02  9.99363625e-01  0.00000000e+00 -1.25010775e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.146066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.30, Y:-1.24, Z:0.00
[[ 9.99508402e-01 -3.13520974e-02  0.00000000e+00  6.13028037e+01]
 [ 3.13520974e-02  9.99508402e-01  0.00000000e+00 -1.23579259e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.36, Y:-1.23, Z:0.00
[[ 9.99772142e-01 -2.13462695e-02  0.00000000e+00  6.13626885e+01]
 [ 2.13462695e-02  9.99772142e-01  0.00000000e+00 -1.23248589e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.266066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.42, Y:-1.23, Z:0.00
[[ 9.99937653e-01 -1.11664975e-02  0.00000000e+00  6.14230005e+01]
 [ 1.11664975e-02  9.99937653e-01  0.00000000e+00 -1.23129635e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.326066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.48, Y:-1.23, Z:0.00
[[ 9.99995435e-01  3.02154447e-03  0.00000000e+00  6.14824839e+01]
 [-3.02154447e-03  9.99995435e-01  0.00000000e+00 -1.23229322e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.54, Y:-1.23, Z:0.00
[[ 9.99979808e-01  6.35487265e-03  0.00000000e+00  6.15428005e+01]
 [-6.35487265e-03  9.99979808e-01  0.00000000e+00 -1.23417438e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.446066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.60, Y:-1.24, Z:0.00
[[ 9.99999523e-01  9.76561491e-04  0.00000000e+00  6.16038036e+01]
 [-9.76561491e-04  9.99999523e-01  0.00000000e+00 -1.24276632e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.506066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.66, Y:-1.25, Z:0.00
[[ 9.99988246e-01 -4.84855163e-03  0.00000000e+00  6.16646661e+01]
 [ 4.84855163e-03  9.99988246e-01  0.00000000e+00 -1.24885211e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.72, Y:-1.25, Z:0.00
[[ 9.99951835e-01 -9.81462772e-03  0.00000000e+00  6.17237403e+01]
 [ 9.81462772e-03  9.99951835e-01  0.00000000e+00 -1.25033214e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.78, Y:-1.26, Z:0.00
[[ 9.99894086e-01 -1.45539117e-02  0.00000000e+00  6.17833337e+01]
 [ 1.45539117e-02  9.99894086e-01  0.00000000e+00 -1.25541568e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.686066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.84, Y:-1.25, Z:0.00
[[ 9.99873334e-01 -1.59158811e-02  0.00000000e+00  6.18425062e+01]
 [ 1.59158811e-02  9.99873334e-01  0.00000000e+00 -1.25455078e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.90, Y:-1.26, Z:0.00
[[ 9.99848571e-01 -1.74021754e-02  0.00000000e+00  6.19015350e+01]
 [ 1.74021754e-02  9.99848571e-01  0.00000000e+00 -1.25832195e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:61.96, Y:-1.26, Z:0.00
[[ 9.99876107e-01 -1.57407040e-02  0.00000000e+00  6.19613202e+01]
 [ 1.57407040e-02  9.99876107e-01  0.00000000e+00 -1.26135485e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.866066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.02, Y:-1.26, Z:0.00
[[ 9.99859735e-01 -1.67484466e-02  0.00000000e+00  6.20200415e+01]
 [ 1.67484466e-02  9.99859735e-01  0.00000000e+00 -1.25940833e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.08, Y:-1.26, Z:0.00
[[ 9.99828122e-01 -1.85398668e-02  0.00000000e+00  6.20799028e+01]
 [ 1.85398668e-02  9.99828122e-01  0.00000000e+00 -1.26361542e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.14, Y:-1.27, Z:0.00
[[ 9.99723220e-01 -2.35262471e-02  0.00000000e+00  6.21395300e+01]
 [ 2.35262471e-02  9.99723220e-01  0.00000000e+00 -1.26864172e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.046066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.20, Y:-1.26, Z:0.00
[[ 9.99746116e-01 -2.25322769e-02  0.00000000e+00  6.21999069e+01]
 [ 2.25322769e-02  9.99746116e-01  0.00000000e+00 -1.26424233e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.26, Y:-1.26, Z:0.00
[[ 9.99779760e-01 -2.09864655e-02  0.00000000e+00  6.22590467e+01]
 [ 2.09864655e-02  9.99779760e-01  0.00000000e+00 -1.26446487e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.32, Y:-1.26, Z:0.00
[[ 9.99867749e-01 -1.62629574e-02  0.00000000e+00  6.23193015e+01]
 [ 1.62629574e-02  9.99867749e-01  0.00000000e+00 -1.26462105e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.226066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.38, Y:-1.26, Z:0.00
[[ 9.99966964e-01 -8.12846215e-03  0.00000000e+00  6.23796442e+01]
 [ 8.12846215e-03  9.99966964e-01  0.00000000e+00 -1.26287858e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.28606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.44, Y:-1.26, Z:0.00
[[ 9.99990174e-01  4.43304777e-03  0.00000000e+00  6.24403748e+01]
 [-4.43304777e-03  9.99990174e-01  0.00000000e+00 -1.25849756e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.50, Y:-1.26, Z:0.00
[[ 9.99921318e-01  1.25442423e-02  0.00000000e+00  6.25009968e+01]
 [-1.25442423e-02  9.99921318e-01  0.00000000e+00 -1.26489861e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.406066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.56, Y:-1.27, Z:0.00
[[ 9.99854756e-01  1.70430965e-02  0.00000000e+00  6.25626057e+01]
 [-1.70430965e-02  9.99854756e-01  0.00000000e+00 -1.27095113e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.62, Y:-1.28, Z:0.00
[[ 9.99672225e-01  2.56016014e-02  0.00000000e+00  6.26227212e+01]
 [-2.56016014e-02  9.99672225e-01  0.00000000e+00 -1.28020825e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.68, Y:-1.29, Z:0.00
[[ 9.99660931e-01  2.60388718e-02  0.00000000e+00  6.26826585e+01]
 [-2.60388718e-02  9.99660931e-01  0.00000000e+00 -1.28896509e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.586066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.74, Y:-1.31, Z:0.00
[[ 9.99901201e-01  1.40565734e-02  0.00000000e+00  6.27426767e+01]
 [-1.40565734e-02  9.99901201e-01  0.00000000e+00 -1.31440885e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.646066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.80, Y:-1.33, Z:0.00
[[ 9.99999107e-01  1.33651527e-03  0.00000000e+00  6.28023595e+01]
 [-1.33651527e-03  9.99999107e-01  0.00000000e+00 -1.32544574e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.86, Y:-1.34, Z:0.00
[[ 9.99895383e-01 -1.44645688e-02  0.00000000e+00  6.28612017e+01]
 [ 1.44645688e-02  9.99895383e-01  0.00000000e+00 -1.34137675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.766066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.92, Y:-1.35, Z:0.00
[[ 9.99792477e-01 -2.03716019e-02  0.00000000e+00  6.29201276e+01]
 [ 2.03716019e-02  9.99792477e-01  0.00000000e+00 -1.35079012e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.826066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:62.98, Y:-1.36, Z:0.00
[[ 9.99713832e-01 -2.39218391e-02  0.00000000e+00  6.29801896e+01]
 [ 2.39218391e-02  9.99713832e-01  0.00000000e+00 -1.36237417e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.04, Y:-1.36, Z:0.00
[[ 9.99862386e-01 -1.65894503e-02  0.00000000e+00  6.30403684e+01]
 [ 1.65894503e-02  9.99862386e-01  0.00000000e+00 -1.36054718e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.946066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.10, Y:-1.36, Z:0.00
[[ 9.99997824e-01 -2.08614643e-03  0.00000000e+00  6.31003340e+01]
 [ 2.08614643e-03  9.99997824e-01  0.00000000e+00 -1.36012534e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.006066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.16, Y:-1.37, Z:0.00
[[ 9.99933208e-01  1.15576811e-02  0.00000000e+00  6.31607403e+01]
 [-1.15576811e-02  9.99933208e-01  0.00000000e+00 -1.36555724e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.22, Y:-1.37, Z:0.00
[[ 9.99398934e-01  3.46665583e-02  0.00000000e+00  6.32206456e+01]
 [-3.46665583e-02  9.99398934e-01  0.00000000e+00 -1.36893541e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.28, Y:-1.37, Z:0.00
[[ 9.98721667e-01  5.05473276e-02  0.00000000e+00  6.32816990e+01]
 [-5.05473276e-02  9.98721667e-01  0.00000000e+00 -1.36977031e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.186066493000006 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.34, Y:-1.39, Z:0.00
[[ 9.98265174e-01  5.88781981e-02  0.00000000e+00  6.33403991e+01]
 [-5.88781981e-02  9.98265174e-01  0.00000000e+00 -1.38703025e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.40, Y:-1.40, Z:0.00
[[ 9.98523423e-01  5.43228742e-02  0.00000000e+00  6.34008672e+01]
 [-5.43228742e-02  9.98523423e-01  0.00000000e+00 -1.40034013e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.46, Y:-1.42, Z:0.00
[[ 9.99191253e-01  4.02099367e-02  0.00000000e+00  6.34609622e+01]
 [-4.02099367e-02  9.99191253e-01  0.00000000e+00 -1.42455364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.366066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.52, Y:-1.45, Z:0.00
[[ 9.99798489e-01  2.00744089e-02  0.00000000e+00  6.35203666e+01]
 [-2.00744089e-02  9.99798489e-01  0.00000000e+00 -1.44860888e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.58, Y:-1.46, Z:0.00
[[ 9.99972759e-01  7.38113324e-03  0.00000000e+00  6.35806546e+01]
 [-7.38113324e-03  9.99972759e-01  0.00000000e+00 -1.46300128e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.64, Y:-1.48, Z:0.00
[[ 9.99996612e-01 -2.60324433e-03  0.00000000e+00  6.36399434e+01]
 [ 2.60324433e-03  9.99996612e-01  0.00000000e+00 -1.48139294e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.546066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.70, Y:-1.49, Z:0.00
[[ 9.99992050e-01 -3.98742037e-03  0.00000000e+00  6.36991549e+01]
 [ 3.98742037e-03  9.99992050e-01  0.00000000e+00 -1.49348187e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.76, Y:-1.50, Z:0.00
[[ 9.99982442e-01 -5.92580263e-03  0.00000000e+00  6.37577786e+01]
 [ 5.92580263e-03  9.99982442e-01  0.00000000e+00 -1.50384853e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.82, Y:-1.51, Z:0.00
[[ 9.99943872e-01 -1.05949648e-02  0.00000000e+00  6.38183503e+01]
 [ 1.05949648e-02  9.99943872e-01  0.00000000e+00 -1.51104533e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.726066493000005 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.88, Y:-1.51, Z:0.00
[[ 9.99751008e-01 -2.23141605e-02  0.00000000e+00  6.38789254e+01]
 [ 2.23141605e-02  9.99751008e-01  0.00000000e+00 -1.51379852e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.78606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:63.94, Y:-1.52, Z:0.00
[[ 9.99570745e-01 -2.92971930e-02  0.00000000e+00  6.39388804e+01]
 [ 2.92971930e-02  9.99570745e-01  0.00000000e+00 -1.52090808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.00, Y:-1.52, Z:0.00
[[ 9.99175545e-01 -4.05984083e-02  0.00000000e+00  6.39990193e+01]
 [ 4.05984083e-02  9.99175545e-01  0.00000000e+00 -1.52083456e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.906066493000004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.06, Y:-1.51, Z:0.00
[[ 9.98813919e-01 -4.86904108e-02  0.00000000e+00  6.40590412e+01]
 [ 4.86904108e-02  9.98813919e-01  0.00000000e+00 -1.51367521e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.12, Y:-1.50, Z:0.00
[[ 9.98634450e-01 -5.22420740e-02  0.00000000e+00  6.41203623e+01]
 [ 5.22420740e-02  9.98634450e-01  0.00000000e+00 -1.50059632e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.18, Y:-1.50, Z:0.00
[[ 9.98633082e-01 -5.22682208e-02  0.00000000e+00  6.41791999e+01]
 [ 5.22682208e-02  9.98633082e-01  0.00000000e+00 -1.49698034e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.24, Y:-1.48, Z:0.00
[[ 9.98750538e-01 -4.99736281e-02  0.00000000e+00  6.42398993e+01]
 [ 4.99736281e-02  9.98750538e-01  0.00000000e+00 -1.48200174e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.30, Y:-1.46, Z:0.00
[[ 9.98990407e-01 -4.49240128e-02  0.00000000e+00  6.43007671e+01]
 [ 4.49240128e-02  9.98990407e-01  0.00000000e+00 -1.45942335e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.36, Y:-1.44, Z:0.00
[[ 9.99019208e-01 -4.42789202e-02  0.00000000e+00  6.43598539e+01]
 [ 4.42789202e-02  9.99019208e-01  0.00000000e+00 -1.44115304e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.42, Y:-1.43, Z:0.00
[[ 9.99034711e-01 -4.39277311e-02  0.00000000e+00  6.44202411e+01]
 [ 4.39277311e-02  9.99034711e-01  0.00000000e+00 -1.42944313e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.48, Y:-1.41, Z:0.00
[[ 9.99246005e-01 -3.88255382e-02  0.00000000e+00  6.44809813e+01]
 [ 3.88255382e-02  9.99246005e-01  0.00000000e+00 -1.41423067e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.54, Y:-1.39, Z:0.00
[[ 9.99575898e-01 -2.91208574e-02  0.00000000e+00  6.45422020e+01]
 [ 2.91208574e-02  9.99575898e-01  0.00000000e+00 -1.39349514e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.60, Y:-1.38, Z:0.00
[[ 9.99645190e-01 -2.66363342e-02  0.00000000e+00  6.46032845e+01]
 [ 2.66363342e-02  9.99645190e-01  0.00000000e+00 -1.37988915e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.66, Y:-1.37, Z:0.00
[[ 9.99813347e-01 -1.93202493e-02  0.00000000e+00  6.46631963e+01]
 [ 1.93202493e-02  9.99813347e-01  0.00000000e+00 -1.37069478e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.72, Y:-1.36, Z:0.00
[[ 9.99936076e-01 -1.13068176e-02  0.00000000e+00  6.47232922e+01]
 [ 1.13068176e-02  9.99936076e-01  0.00000000e+00 -1.35639834e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.78, Y:-1.35, Z:0.00
[[ 9.99963477e-01 -8.54663911e-03  0.00000000e+00  6.47828241e+01]
 [ 8.54663911e-03  9.99963477e-01  0.00000000e+00 -1.35237856e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.84, Y:-1.34, Z:0.00
[[ 9.99929989e-01 -1.18328416e-02  0.00000000e+00  6.48428602e+01]
 [ 1.18328416e-02  9.99929989e-01  0.00000000e+00 -1.34399789e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.90, Y:-1.34, Z:0.00
[[ 9.99799862e-01 -2.00059145e-02  0.00000000e+00  6.49038328e+01]
 [ 2.00059145e-02  9.99799862e-01  0.00000000e+00 -1.33932440e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:64.96, Y:-1.34, Z:0.00
[[ 9.99631895e-01 -2.71306828e-02  0.00000000e+00  6.49643353e+01]
 [ 2.71306828e-02  9.99631895e-01  0.00000000e+00 -1.34020064e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.02, Y:-1.34, Z:0.00
[[ 9.99522514e-01 -3.08989403e-02  0.00000000e+00  6.50236648e+01]
 [ 3.08989403e-02  9.99522514e-01  0.00000000e+00 -1.34032688e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.08, Y:-1.34, Z:0.00
[[ 9.99470400e-01 -3.25410294e-02  0.00000000e+00  6.50837599e+01]
 [ 3.25410294e-02  9.99470400e-01  0.00000000e+00 -1.33711090e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.14, Y:-1.34, Z:0.00
[[ 9.99518866e-01 -3.10167142e-02  0.00000000e+00  6.51441624e+01]
 [ 3.10167142e-02  9.99518866e-01  0.00000000e+00 -1.33679605e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.21, Y:-1.33, Z:0.00
[[ 9.99462104e-01 -3.27948583e-02  0.00000000e+00  6.52050292e+01]
 [ 3.27948583e-02  9.99462104e-01  0.00000000e+00 -1.33119563e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.26, Y:-1.33, Z:0.00
[[ 9.99328959e-01 -3.66283010e-02  0.00000000e+00  6.52641597e+01]
 [ 3.66283010e-02  9.99328959e-01  0.00000000e+00 -1.32527522e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.32, Y:-1.32, Z:0.00
[[ 9.99079588e-01 -4.28949577e-02  0.00000000e+00  6.53247610e+01]
 [ 4.28949577e-02  9.99079588e-01  0.00000000e+00 -1.32228018e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.38, Y:-1.32, Z:0.00
[[ 9.98996603e-01 -4.47860152e-02  0.00000000e+00  6.53835954e+01]
 [ 4.47860152e-02  9.98996603e-01  0.00000000e+00 -1.31764741e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.44, Y:-1.30, Z:0.00
[[ 9.99035876e-01 -4.39012340e-02  0.00000000e+00  6.54419756e+01]
 [ 4.39012340e-02  9.99035876e-01  0.00000000e+00 -1.30065710e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.50, Y:-1.30, Z:0.00
[[ 9.98874073e-01 -4.74403548e-02  0.00000000e+00  6.55028760e+01]
 [ 4.74403548e-02  9.98874073e-01  0.00000000e+00 -1.29594759e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.56, Y:-1.28, Z:0.00
[[ 9.98772037e-01 -4.95420838e-02  0.00000000e+00  6.55626624e+01]
 [ 4.95420838e-02  9.98772037e-01  0.00000000e+00 -1.28272433e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.62, Y:-1.28, Z:0.00
[[ 9.99018881e-01 -4.42862969e-02  0.00000000e+00  6.56233045e+01]
 [ 4.42862969e-02  9.99018881e-01  0.00000000e+00 -1.27637175e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.68, Y:-1.27, Z:0.00
[[ 9.99362481e-01 -3.57019735e-02  0.00000000e+00  6.56839765e+01]
 [ 3.57019735e-02  9.99362481e-01  0.00000000e+00 -1.26616463e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.74, Y:-1.25, Z:0.00
[[ 9.99852941e-01 -1.71492649e-02  0.00000000e+00  6.57433385e+01]
 [ 1.71492649e-02  9.99852941e-01  0.00000000e+00 -1.25179506e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.80, Y:-1.25, Z:0.00
[[ 9.99949208e-01 -1.00787599e-02  0.00000000e+00  6.58043414e+01]
 [ 1.00787599e-02  9.99949208e-01  0.00000000e+00 -1.24733479e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.86, Y:-1.24, Z:0.00
[[ 9.99965795e-01 -8.27091405e-03  0.00000000e+00  6.58646357e+01]
 [ 8.27091405e-03  9.99965795e-01  0.00000000e+00 -1.24414132e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.92, Y:-1.24, Z:0.00
[[ 9.99916273e-01 -1.29401245e-02  0.00000000e+00  6.59239061e+01]
 [ 1.29401245e-02  9.99916273e-01  0.00000000e+00 -1.24090126e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:65.98, Y:-1.24, Z:0.00
[[ 9.99883976e-01 -1.52326968e-02  0.00000000e+00  6.59845591e+01]
 [ 1.52326968e-02  9.99883976e-01  0.00000000e+00 -1.24320929e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.04, Y:-1.25, Z:0.00
[[ 9.99865107e-01 -1.64246278e-02  0.00000000e+00  6.60444622e+01]
 [ 1.64246278e-02  9.99865107e-01  0.00000000e+00 -1.24768088e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.11, Y:-1.25, Z:0.00
[[ 9.99849123e-01 -1.73704307e-02  0.00000000e+00  6.61057311e+01]
 [ 1.73704307e-02  9.99849123e-01  0.00000000e+00 -1.24549414e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.17, Y:-1.24, Z:0.00
[[ 9.99756811e-01 -2.20526374e-02  0.00000000e+00  6.61664886e+01]
 [ 2.20526374e-02  9.99756811e-01  0.00000000e+00 -1.24216372e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.23, Y:-1.25, Z:0.00
[[ 9.99439627e-01 -3.34728409e-02  0.00000000e+00  6.62255107e+01]
 [ 3.34728409e-02  9.99439627e-01  0.00000000e+00 -1.25154810e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.29, Y:-1.26, Z:0.00
[[ 9.99299209e-01 -3.74311578e-02  0.00000000e+00  6.62852482e+01]
 [ 3.74311578e-02  9.99299209e-01  0.00000000e+00 -1.25746971e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.35, Y:-1.25, Z:0.00
[[ 9.99350927e-01 -3.60239531e-02  0.00000000e+00  6.63463561e+01]
 [ 3.60239531e-02  9.99350927e-01  0.00000000e+00 -1.25384414e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.41, Y:-1.25, Z:0.00
[[ 9.99363773e-01 -3.56658045e-02  0.00000000e+00  6.64080039e+01]
 [ 3.56658045e-02  9.99363773e-01  0.00000000e+00 -1.25406022e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.47, Y:-1.27, Z:0.00
[[ 9.99104842e-01 -4.23026557e-02  0.00000000e+00  6.64685344e+01]
 [ 4.23026557e-02  9.99104842e-01  0.00000000e+00 -1.26578050e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.53, Y:-1.26, Z:0.00
[[ 9.98889943e-01 -4.71050185e-02  0.00000000e+00  6.65289142e+01]
 [ 4.71050185e-02  9.98889943e-01  0.00000000e+00 -1.26457700e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.59, Y:-1.26, Z:0.00
[[ 9.98906994e-01 -4.67420250e-02  0.00000000e+00  6.65895591e+01]
 [ 4.67420250e-02  9.98906994e-01  0.00000000e+00 -1.25811937e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.65, Y:-1.26, Z:0.00
[[ 9.99047772e-01 -4.36296800e-02  0.00000000e+00  6.66500700e+01]
 [ 4.36296800e-02  9.99047772e-01  0.00000000e+00 -1.25613973e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.71, Y:-1.25, Z:0.00
[[ 9.99242794e-01 -3.89080922e-02  0.00000000e+00  6.67113106e+01]
 [ 3.89080922e-02  9.99242794e-01  0.00000000e+00 -1.25410523e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.77, Y:-1.24, Z:0.00
[[ 9.99683225e-01 -2.51684208e-02  0.00000000e+00  6.67707691e+01]
 [ 2.51684208e-02  9.99683225e-01  0.00000000e+00 -1.24397687e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.83, Y:-1.24, Z:0.00
[[ 9.99876106e-01 -1.57407887e-02  0.00000000e+00  6.68313369e+01]
 [ 1.57407887e-02  9.99876106e-01  0.00000000e+00 -1.24167239e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.89, Y:-1.25, Z:0.00
[[ 9.99905739e-01 -1.37300019e-02  0.00000000e+00  6.68913240e+01]
 [ 1.37300019e-02  9.99905739e-01  0.00000000e+00 -1.24537041e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:66.95, Y:-1.25, Z:0.00
[[ 9.99933571e-01 -1.15262505e-02  0.00000000e+00  6.69524128e+01]
 [ 1.15262505e-02  9.99933571e-01  0.00000000e+00 -1.24781209e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.01, Y:-1.26, Z:0.00
[[ 9.99949202e-01 -1.00793510e-02  0.00000000e+00  6.70128578e+01]
 [ 1.00793510e-02  9.99949202e-01  0.00000000e+00 -1.25912782e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.07, Y:-1.26, Z:0.00
[[ 9.99938232e-01 -1.11145337e-02  0.00000000e+00  6.70732216e+01]
 [ 1.11145337e-02  9.99938232e-01  0.00000000e+00 -1.26292033e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.13, Y:-1.27, Z:0.00
[[ 9.99982391e-01 -5.93449077e-03  0.00000000e+00  6.71339961e+01]
 [ 5.93449077e-03  9.99982391e-01  0.00000000e+00 -1.26698257e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.19, Y:-1.28, Z:0.00
[[ 9.99996325e-01 -2.71126842e-03  0.00000000e+00  6.71932852e+01]
 [ 2.71126842e-03  9.99996325e-01  0.00000000e+00 -1.27711977e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.25, Y:-1.28, Z:0.00
[[ 9.99991445e-01 -4.13632826e-03  0.00000000e+00  6.72532530e+01]
 [ 4.13632826e-03  9.99991445e-01  0.00000000e+00 -1.28063257e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.31, Y:-1.28, Z:0.00
[[ 9.99968044e-01 -7.99448548e-03  0.00000000e+00  6.73139872e+01]
 [ 7.99448548e-03  9.99968044e-01  0.00000000e+00 -1.28016533e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.37, Y:-1.30, Z:0.00
[[ 9.99756030e-01 -2.20880188e-02  0.00000000e+00  6.73731594e+01]
 [ 2.20880188e-02  9.99756030e-01  0.00000000e+00 -1.29653674e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.43, Y:-1.30, Z:0.00
[[ 9.99577306e-01 -2.90724912e-02  0.00000000e+00  6.74329993e+01]
 [ 2.90724912e-02  9.99577306e-01  0.00000000e+00 -1.30326854e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.49, Y:-1.31, Z:0.00
[[ 9.99434429e-01 -3.36277043e-02  0.00000000e+00  6.74934769e+01]
 [ 3.36277043e-02  9.99434429e-01  0.00000000e+00 -1.30703608e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.55, Y:-1.32, Z:0.00
[[ 9.99278120e-01 -3.79899823e-02  0.00000000e+00  6.75527590e+01]
 [ 3.79899823e-02  9.99278120e-01  0.00000000e+00 -1.31511605e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.61, Y:-1.33, Z:0.00
[[ 9.99149703e-01 -4.12294879e-02  0.00000000e+00  6.76126671e+01]
 [ 4.12294879e-02  9.99149703e-01  0.00000000e+00 -1.33010571e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.67, Y:-1.33, Z:0.00
[[ 9.99357748e-01 -3.58342105e-02  0.00000000e+00  6.76717311e+01]
 [ 3.58342105e-02  9.99357748e-01  0.00000000e+00 -1.32988647e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.73, Y:-1.33, Z:0.00
[[ 9.99788160e-01 -2.05823820e-02  0.00000000e+00  6.77308393e+01]
 [ 2.05823820e-02  9.99788160e-01  0.00000000e+00 -1.33098566e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.79, Y:-1.33, Z:0.00
[[ 9.99944704e-01 -1.05161135e-02  0.00000000e+00  6.77911197e+01]
 [ 1.05161135e-02  9.99944704e-01  0.00000000e+00 -1.33203236e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.85, Y:-1.33, Z:0.00
[[ 9.99999070e-01 -1.36371890e-03  0.00000000e+00  6.78520735e+01]
 [ 1.36371890e-03  9.99999070e-01  0.00000000e+00 -1.33404333e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.91, Y:-1.33, Z:0.00
[[ 9.99964373e-01  8.44118761e-03  0.00000000e+00  6.79124822e+01]
 [-8.44118761e-03  9.99964373e-01  0.00000000e+00 -1.33316073e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:67.97, Y:-1.34, Z:0.00
[[ 9.99951102e-01  9.88902128e-03  0.00000000e+00  6.79722724e+01]
 [-9.88902128e-03  9.99951102e-01  0.00000000e+00 -1.33520307e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.03, Y:-1.35, Z:0.00
[[ 9.99972394e-01  7.43041702e-03  0.00000000e+00  6.80313541e+01]
 [-7.43041702e-03  9.99972394e-01  0.00000000e+00 -1.34713620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.09, Y:-1.36, Z:0.00
[[ 9.99997110e-01  2.40429535e-03  0.00000000e+00  6.80914012e+01]
 [-2.40429535e-03  9.99997110e-01  0.00000000e+00 -1.35705214e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.15, Y:-1.37, Z:0.00
[[ 9.99999974e-01 -2.28300761e-04  0.00000000e+00  6.81510310e+01]
 [ 2.28300761e-04  9.99999974e-01  0.00000000e+00 -1.36600496e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.21, Y:-1.38, Z:0.00
[[ 9.99989446e-01 -4.59438200e-03  0.00000000e+00  6.82111534e+01]
 [ 4.59438200e-03  9.99989446e-01  0.00000000e+00 -1.37733840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.27, Y:-1.40, Z:0.00
[[ 9.99977824e-01 -6.65971723e-03  0.00000000e+00  6.82703316e+01]
 [ 6.65971723e-03  9.99977824e-01  0.00000000e+00 -1.39875886e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.33, Y:-1.40, Z:0.00
[[ 9.99959397e-01 -9.01138062e-03  0.00000000e+00  6.83302404e+01]
 [ 9.01138062e-03  9.99959397e-01  0.00000000e+00 -1.40498555e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.39, Y:-1.42, Z:0.00
[[ 9.99859710e-01 -1.67499394e-02  0.00000000e+00  6.83902649e+01]
 [ 1.67499394e-02  9.99859710e-01  0.00000000e+00 -1.41601910e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.45, Y:-1.43, Z:0.00
[[ 9.99499750e-01 -3.16267300e-02  0.00000000e+00  6.84496140e+01]
 [ 3.16267300e-02  9.99499750e-01  0.00000000e+00 -1.42875266e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.51, Y:-1.43, Z:0.00
[[ 9.99221712e-01 -3.94457864e-02  0.00000000e+00  6.85093226e+01]
 [ 3.94457864e-02  9.99221712e-01  0.00000000e+00 -1.43440007e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.57, Y:-1.43, Z:0.00
[[ 9.99260678e-01 -3.84460202e-02  0.00000000e+00  6.85684804e+01]
 [ 3.84460202e-02  9.99260678e-01  0.00000000e+00 -1.43198772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.63, Y:-1.42, Z:0.00
[[ 9.99333685e-01 -3.64991286e-02  0.00000000e+00  6.86276407e+01]
 [ 3.64991286e-02  9.99333685e-01  0.00000000e+00 -1.42308890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.69, Y:-1.43, Z:0.00
[[ 9.99032990e-01 -4.39668693e-02  0.00000000e+00  6.86867021e+01]
 [ 4.39668693e-02  9.99032990e-01  0.00000000e+00 -1.42668509e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.75, Y:-1.42, Z:0.00
[[ 9.98771306e-01 -4.95568249e-02  0.00000000e+00  6.87475203e+01]
 [ 4.95568249e-02  9.98771306e-01  0.00000000e+00 -1.42375119e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.81, Y:-1.41, Z:0.00
[[ 9.98858521e-01 -4.77666706e-02  0.00000000e+00  6.88077573e+01]
 [ 4.77666706e-02  9.98858521e-01  0.00000000e+00 -1.40974496e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.87, Y:-1.41, Z:0.00
[[ 9.98581076e-01 -5.32525618e-02  0.00000000e+00  6.88671747e+01]
 [ 5.32525618e-02  9.98581076e-01  0.00000000e+00 -1.40673786e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.93, Y:-1.40, Z:0.00
[[ 9.98479395e-01 -5.51261908e-02  0.00000000e+00  6.89279637e+01]
 [ 5.51261908e-02  9.98479395e-01  0.00000000e+00 -1.40307032e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:68.99, Y:-1.38, Z:0.00
[[ 9.98804014e-01 -4.88931666e-02  0.00000000e+00  6.89888246e+01]
 [ 4.88931666e-02  9.98804014e-01  0.00000000e+00 -1.38351942e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.05, Y:-1.37, Z:0.00
[[ 9.99085204e-01 -4.27639395e-02  0.00000000e+00  6.90498391e+01]
 [ 4.27639395e-02  9.99085204e-01  0.00000000e+00 -1.37321767e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.11, Y:-1.37, Z:0.00
[[ 9.99264564e-01 -3.83449013e-02  0.00000000e+00  6.91106939e+01]
 [ 3.83449013e-02  9.99264564e-01  0.00000000e+00 -1.37033843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.17, Y:-1.36, Z:0.00
[[ 9.99499139e-01 -3.16460152e-02  0.00000000e+00  6.91718975e+01]
 [ 3.16460152e-02  9.99499139e-01  0.00000000e+00 -1.36312014e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.23, Y:-1.35, Z:0.00
[[ 9.99780358e-01 -2.09579561e-02  0.00000000e+00  6.92330331e+01]
 [ 2.09579561e-02  9.99780358e-01  0.00000000e+00 -1.35496606e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.29, Y:-1.36, Z:0.00
[[ 9.99832516e-01 -1.83013487e-02  0.00000000e+00  6.92932503e+01]
 [ 1.83013487e-02  9.99832516e-01  0.00000000e+00 -1.35623334e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.35, Y:-1.36, Z:0.00
[[ 9.99857025e-01 -1.69094520e-02  0.00000000e+00  6.93536605e+01]
 [ 1.69094520e-02  9.99857025e-01  0.00000000e+00 -1.35788057e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.41, Y:-1.36, Z:0.00
[[ 9.99909487e-01 -1.34543141e-02  0.00000000e+00  6.94140151e+01]
 [ 1.34543141e-02  9.99909487e-01  0.00000000e+00 -1.35782598e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.47, Y:-1.37, Z:0.00
[[ 9.99987158e-01 -5.06795984e-03  0.00000000e+00  6.94742609e+01]
 [ 5.06795984e-03  9.99987158e-01  0.00000000e+00 -1.36594999e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.53, Y:-1.37, Z:0.00
[[ 9.99996928e-01  2.47878819e-03  0.00000000e+00  6.95340623e+01]
 [-2.47878819e-03  9.99996928e-01  0.00000000e+00 -1.37167704e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.59, Y:-1.38, Z:0.00
[[ 9.99980843e-01  6.18978456e-03  0.00000000e+00  6.95942443e+01]
 [-6.18978456e-03  9.99980843e-01  0.00000000e+00 -1.37594360e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.65, Y:-1.39, Z:0.00
[[ 9.99989691e-01  4.54058919e-03  0.00000000e+00  6.96537052e+01]
 [-4.54058919e-03  9.99989691e-01  0.00000000e+00 -1.38702770e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.71, Y:-1.40, Z:0.00
[[ 9.99994284e-01 -3.38111168e-03  0.00000000e+00  6.97135116e+01]
 [ 3.38111168e-03  9.99994284e-01  0.00000000e+00 -1.40210308e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.77, Y:-1.41, Z:0.00
[[ 9.99979310e-01 -6.43274983e-03  0.00000000e+00  6.97739527e+01]
 [ 6.43274983e-03  9.99979310e-01  0.00000000e+00 -1.41298814e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.83, Y:-1.43, Z:0.00
[[ 9.99975238e-01 -7.03725955e-03  0.00000000e+00  6.98335235e+01]
 [ 7.03725955e-03  9.99975238e-01  0.00000000e+00 -1.43164819e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.89, Y:-1.44, Z:0.00
[[ 9.99985223e-01 -5.43641722e-03  0.00000000e+00  6.98926004e+01]
 [ 5.43641722e-03  9.99985223e-01  0.00000000e+00 -1.43811126e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:69.95, Y:-1.44, Z:0.00
[[ 9.99992766e-01 -3.80362319e-03  0.00000000e+00  6.99528474e+01]
 [ 3.80362319e-03  9.99992766e-01  0.00000000e+00 -1.44319534e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.01, Y:-1.46, Z:0.00
[[ 9.99990124e-01 -4.44434863e-03  0.00000000e+00  7.00122587e+01]
 [ 4.44434863e-03  9.99990124e-01  0.00000000e+00 -1.46007845e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.07, Y:-1.47, Z:0.00
[[ 9.99917550e-01 -1.28410966e-02  0.00000000e+00  7.00717665e+01]
 [ 1.28410966e-02  9.99917550e-01  0.00000000e+00 -1.47263505e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.13, Y:-1.48, Z:0.00
[[ 9.99781268e-01 -2.09145073e-02  0.00000000e+00  7.01316934e+01]
 [ 2.09145073e-02  9.99781268e-01  0.00000000e+00 -1.48144845e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.19, Y:-1.49, Z:0.00
[[ 9.99442721e-01 -3.33803484e-02  0.00000000e+00  7.01906560e+01]
 [ 3.33803484e-02  9.99442721e-01  0.00000000e+00 -1.49231063e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.25, Y:-1.50, Z:0.00
[[ 9.99378270e-01 -3.52572403e-02  0.00000000e+00  7.02510081e+01]
 [ 3.52572403e-02  9.99378270e-01  0.00000000e+00 -1.49530316e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.31, Y:-1.49, Z:0.00
[[ 9.99372831e-01 -3.54110885e-02  0.00000000e+00  7.03097267e+01]
 [ 3.54110885e-02  9.99372831e-01  0.00000000e+00 -1.49391975e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.37, Y:-1.50, Z:0.00
[[ 9.99414499e-01 -3.42148879e-02  0.00000000e+00  7.03674268e+01]
 [ 3.42148879e-02  9.99414499e-01  0.00000000e+00 -1.50078797e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.43, Y:-1.50, Z:0.00
[[ 9.99389843e-01 -3.49276511e-02  0.00000000e+00  7.04256226e+01]
 [ 3.49276511e-02  9.99389843e-01  0.00000000e+00 -1.49684211e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.49, Y:-1.49, Z:0.00
[[ 9.99276521e-01 -3.80320286e-02  0.00000000e+00  7.04858013e+01]
 [ 3.80320286e-02  9.99276521e-01  0.00000000e+00 -1.49307083e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.55, Y:-1.49, Z:0.00
[[ 9.98845843e-01 -4.80310558e-02  0.00000000e+00  7.05459972e+01]
 [ 4.80310558e-02  9.98845843e-01  0.00000000e+00 -1.49201438e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.61, Y:-1.49, Z:0.00
[[ 9.98312937e-01 -5.80627239e-02  0.00000000e+00  7.06063305e+01]
 [ 5.80627239e-02  9.98312937e-01  0.00000000e+00 -1.48816206e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.67, Y:-1.48, Z:0.00
[[ 9.98092390e-01 -6.17379963e-02  0.00000000e+00  7.06664348e+01]
 [ 6.17379963e-02  9.98092390e-01  0.00000000e+00 -1.48327164e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.73, Y:-1.47, Z:0.00
[[ 9.98171857e-01 -6.04395820e-02  0.00000000e+00  7.07269493e+01]
 [ 6.04395820e-02  9.98171857e-01  0.00000000e+00 -1.47169313e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.79, Y:-1.46, Z:0.00
[[ 9.98615787e-01 -5.25976261e-02  0.00000000e+00  7.07878713e+01]
 [ 5.25976261e-02  9.98615787e-01  0.00000000e+00 -1.45711837e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.85, Y:-1.45, Z:0.00
[[ 9.98891858e-01 -4.70643731e-02  0.00000000e+00  7.08479824e+01]
 [ 4.70643731e-02  9.98891858e-01  0.00000000e+00 -1.44995883e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.91, Y:-1.43, Z:0.00
[[ 9.99401236e-01 -3.46001468e-02  0.00000000e+00  7.09093760e+01]
 [ 3.46001468e-02  9.99401236e-01  0.00000000e+00 -1.43325897e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:70.97, Y:-1.42, Z:0.00
[[ 9.99630936e-01 -2.71659948e-02  0.00000000e+00  7.09694103e+01]
 [ 2.71659948e-02  9.99630936e-01  0.00000000e+00 -1.42303682e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.03, Y:-1.42, Z:0.00
[[ 9.99810719e-01 -1.94557558e-02  0.00000000e+00  7.10302045e+01]
 [ 1.94557558e-02  9.99810719e-01  0.00000000e+00 -1.41953599e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.09, Y:-1.41, Z:0.00
[[ 9.99884597e-01 -1.51918617e-02  0.00000000e+00  7.10896145e+01]
 [ 1.51918617e-02  9.99884597e-01  0.00000000e+00 -1.41483134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.15, Y:-1.41, Z:0.00
[[ 9.99926480e-01 -1.21258201e-02  0.00000000e+00  7.11507989e+01]
 [ 1.21258201e-02  9.99926480e-01  0.00000000e+00 -1.40547450e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.21, Y:-1.41, Z:0.00
[[ 9.99931807e-01 -1.16782538e-02  0.00000000e+00  7.12103542e+01]
 [ 1.16782538e-02  9.99931807e-01  0.00000000e+00 -1.40950121e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.27, Y:-1.41, Z:0.00
[[ 9.99976171e-01 -6.90346691e-03  0.00000000e+00  7.12704713e+01]
 [ 6.90346691e-03  9.99976171e-01  0.00000000e+00 -1.41315798e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.33, Y:-1.41, Z:0.00
[[ 9.99989909e-01 -4.49237662e-03  0.00000000e+00  7.13297298e+01]
 [ 4.49237662e-03  9.99989909e-01  0.00000000e+00 -1.41481869e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.39, Y:-1.42, Z:0.00
[[ 9.99997826e-01 -2.08497029e-03  0.00000000e+00  7.13900427e+01]
 [ 2.08497029e-03  9.99997826e-01  0.00000000e+00 -1.41948250e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.45, Y:-1.43, Z:0.00
[[ 9.99956281e-01 -9.35077692e-03  0.00000000e+00  7.14496843e+01]
 [ 9.35077692e-03  9.99956281e-01  0.00000000e+00 -1.42772230e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.51, Y:-1.44, Z:0.00
[[ 9.99763203e-01 -2.17609341e-02  0.00000000e+00  7.15102048e+01]
 [ 2.17609341e-02  9.99763203e-01  0.00000000e+00 -1.43719147e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.57, Y:-1.44, Z:0.00
[[ 9.99660755e-01 -2.60456129e-02  0.00000000e+00  7.15697518e+01]
 [ 2.60456129e-02  9.99660755e-01  0.00000000e+00 -1.43900628e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.63, Y:-1.44, Z:0.00
[[ 9.99597907e-01 -2.83553225e-02  0.00000000e+00  7.16287849e+01]
 [ 2.83553225e-02  9.99597907e-01  0.00000000e+00 -1.44194876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.69, Y:-1.44, Z:0.00
[[ 9.99620066e-01 -2.75630788e-02  0.00000000e+00  7.16885212e+01]
 [ 2.75630788e-02  9.99620066e-01  0.00000000e+00 -1.44483180e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.75, Y:-1.44, Z:0.00
[[ 9.99694536e-01 -2.47150657e-02  0.00000000e+00  7.17492694e+01]
 [ 2.47150657e-02  9.99694536e-01  0.00000000e+00 -1.44356047e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.81, Y:-1.44, Z:0.00
[[ 9.99735185e-01 -2.30121695e-02  0.00000000e+00  7.18098572e+01]
 [ 2.30121695e-02  9.99735185e-01  0.00000000e+00 -1.44397377e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.87, Y:-1.45, Z:0.00
[[ 9.99808168e-01 -1.95864286e-02  0.00000000e+00  7.18699556e+01]
 [ 1.95864286e-02  9.99808168e-01  0.00000000e+00 -1.44539832e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.93, Y:-1.44, Z:0.00
[[ 9.99964786e-01 -8.39206400e-03  0.00000000e+00  7.19299069e+01]
 [ 8.39206400e-03  9.99964786e-01  0.00000000e+00 -1.44004632e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:71.99, Y:-1.44, Z:0.00
[[ 9.99998619e-01 -1.66201014e-03  0.00000000e+00  7.19899170e+01]
 [ 1.66201014e-03  9.99998619e-01  0.00000000e+00 -1.44333038e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.05, Y:-1.45, Z:0.00
[[ 9.99999501e-01  9.99321062e-04  0.00000000e+00  7.20504105e+01]
 [-9.99321062e-04  9.99999501e-01  0.00000000e+00 -1.44657992e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.11, Y:-1.45, Z:0.00
[[ 9.99997563e-01 -2.20765627e-03  0.00000000e+00  7.21102762e+01]
 [ 2.20765627e-03  9.99997563e-01  0.00000000e+00 -1.44895583e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.17, Y:-1.46, Z:0.00
[[ 9.99838218e-01 -1.79871790e-02  0.00000000e+00  7.21700331e+01]
 [ 1.79871790e-02  9.99838218e-01  0.00000000e+00 -1.45819903e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.23, Y:-1.47, Z:0.00
[[ 9.99626823e-01 -2.73169348e-02  0.00000000e+00  7.22298691e+01]
 [ 2.73169348e-02  9.99626823e-01  0.00000000e+00 -1.46761891e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.29, Y:-1.47, Z:0.00
[[ 9.99564879e-01 -2.94966405e-02  0.00000000e+00  7.22899116e+01]
 [ 2.94966405e-02  9.99564879e-01  0.00000000e+00 -1.46753752e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.35, Y:-1.47, Z:0.00
[[ 9.99710873e-01 -2.40451567e-02  0.00000000e+00  7.23494305e+01]
 [ 2.40451567e-02  9.99710873e-01  0.00000000e+00 -1.47183546e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.41, Y:-1.48, Z:0.00
[[ 9.99695513e-01 -2.46755043e-02  0.00000000e+00  7.24078233e+01]
 [ 2.46755043e-02  9.99695513e-01  0.00000000e+00 -1.47558204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.47, Y:-1.47, Z:0.00
[[ 9.99625261e-01 -2.73740465e-02  0.00000000e+00  7.24684740e+01]
 [ 2.73740465e-02  9.99625261e-01  0.00000000e+00 -1.46867521e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.53, Y:-1.47, Z:0.00
[[ 9.99488330e-01 -3.19856084e-02  0.00000000e+00  7.25290460e+01]
 [ 3.19856084e-02  9.99488330e-01  0.00000000e+00 -1.47104853e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.59, Y:-1.47, Z:0.00
[[ 9.99040493e-01 -4.37960453e-02  0.00000000e+00  7.25889867e+01]
 [ 4.37960453e-02  9.99040493e-01  0.00000000e+00 -1.47319565e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.65, Y:-1.47, Z:0.00
[[ 9.98692003e-01 -5.11300589e-02  0.00000000e+00  7.26483568e+01]
 [ 5.11300589e-02  9.98692003e-01  0.00000000e+00 -1.46967125e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.71, Y:-1.46, Z:0.00
[[ 9.98411610e-01 -5.63405401e-02  0.00000000e+00  7.27091283e+01]
 [ 5.63405401e-02  9.98411610e-01  0.00000000e+00 -1.46302419e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.77, Y:-1.46, Z:0.00
[[ 9.98413323e-01 -5.63101738e-02  0.00000000e+00  7.27686385e+01]
 [ 5.63101738e-02  9.98413323e-01  0.00000000e+00 -1.45898916e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.83, Y:-1.45, Z:0.00
[[ 9.98736631e-01 -5.02507847e-02  0.00000000e+00  7.28296926e+01]
 [ 5.02507847e-02  9.98736631e-01  0.00000000e+00 -1.44753298e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.89, Y:-1.44, Z:0.00
[[ 9.99023564e-01 -4.41805215e-02  0.00000000e+00  7.28908259e+01]
 [ 4.41805215e-02  9.99023564e-01  0.00000000e+00 -1.43760102e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:72.95, Y:-1.43, Z:0.00
[[ 9.99506736e-01 -3.14051595e-02  0.00000000e+00  7.29516402e+01]
 [ 3.14051595e-02  9.99506736e-01  0.00000000e+00 -1.42800137e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.01, Y:-1.42, Z:0.00
[[ 9.99820710e-01 -1.89353463e-02  0.00000000e+00  7.30121515e+01]
 [ 1.89353463e-02  9.99820710e-01  0.00000000e+00 -1.42102862e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.07, Y:-1.42, Z:0.00
[[ 9.99949985e-01 -1.00013450e-02  0.00000000e+00  7.30717532e+01]
 [ 1.00013450e-02  9.99949985e-01  0.00000000e+00 -1.41844745e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.13, Y:-1.42, Z:0.00
[[ 9.99933551e-01 -1.15279608e-02  0.00000000e+00  7.31327029e+01]
 [ 1.15279608e-02  9.99933551e-01  0.00000000e+00 -1.41727018e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.19, Y:-1.42, Z:0.00
[[ 9.99936005e-01 -1.13130654e-02  0.00000000e+00  7.31926077e+01]
 [ 1.13130654e-02  9.99936005e-01  0.00000000e+00 -1.42106003e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.25, Y:-1.43, Z:0.00
[[ 9.99955185e-01 -9.46720534e-03  0.00000000e+00  7.32526242e+01]
 [ 9.46720534e-03  9.99955185e-01  0.00000000e+00 -1.42593945e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.31, Y:-1.43, Z:0.00
[[ 9.99979072e-01 -6.46965422e-03  0.00000000e+00  7.33125018e+01]
 [ 6.46965422e-03  9.99979072e-01  0.00000000e+00 -1.43395961e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.37, Y:-1.44, Z:0.00
[[ 9.99913442e-01 -1.31570711e-02  0.00000000e+00  7.33726817e+01]
 [ 1.31570711e-02  9.99913442e-01  0.00000000e+00 -1.43925101e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.43, Y:-1.45, Z:0.00
[[ 9.99746157e-01 -2.25304702e-02  0.00000000e+00  7.34322301e+01]
 [ 2.25304702e-02  9.99746157e-01  0.00000000e+00 -1.44525216e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.49, Y:-1.46, Z:0.00
[[ 9.99234715e-01 -3.91150173e-02  0.00000000e+00  7.34917207e+01]
 [ 3.91150173e-02  9.99234715e-01  0.00000000e+00 -1.45786210e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.55, Y:-1.46, Z:0.00
[[ 9.99073574e-01 -4.30348048e-02  0.00000000e+00  7.35521625e+01]
 [ 4.30348048e-02  9.99073574e-01  0.00000000e+00 -1.45630552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.61, Y:-1.46, Z:0.00
[[ 9.98732105e-01 -5.03406621e-02  0.00000000e+00  7.36131751e+01]
 [ 5.03406621e-02  9.98732105e-01  0.00000000e+00 -1.45528123e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.67, Y:-1.46, Z:0.00
[[ 9.98568824e-01 -5.34818120e-02  0.00000000e+00  7.36740909e+01]
 [ 5.34818120e-02  9.98568824e-01  0.00000000e+00 -1.45637337e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.73, Y:-1.45, Z:0.00
[[ 9.98503770e-01 -5.46829235e-02  0.00000000e+00  7.37339774e+01]
 [ 5.46829235e-02  9.98503770e-01  0.00000000e+00 -1.45423093e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.79, Y:-1.44, Z:0.00
[[ 9.98240844e-01 -5.92892737e-02  0.00000000e+00  7.37949402e+01]
 [ 5.92892737e-02  9.98240844e-01  0.00000000e+00 -1.44486918e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.86, Y:-1.44, Z:0.00
[[ 9.98256585e-01 -5.90236518e-02  0.00000000e+00  7.38551706e+01]
 [ 5.90236518e-02  9.98256585e-01  0.00000000e+00 -1.44043696e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.92, Y:-1.42, Z:0.00
[[ 9.98150612e-01 -6.07894312e-02  0.00000000e+00  7.39158832e+01]
 [ 6.07894312e-02  9.98150612e-01  0.00000000e+00 -1.42466285e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:73.98, Y:-1.41, Z:0.00
[[ 9.98311445e-01 -5.80883640e-02  0.00000000e+00  7.39767784e+01]
 [ 5.80883640e-02  9.98311445e-01  0.00000000e+00 -1.40788391e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.04, Y:-1.40, Z:0.00
[[ 9.98382597e-01 -5.68523528e-02  0.00000000e+00  7.40369765e+01]
 [ 5.68523528e-02  9.98382597e-01  0.00000000e+00 -1.39743298e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.10, Y:-1.38, Z:0.00
[[ 9.98852758e-01 -4.78870341e-02  0.00000000e+00  7.40983905e+01]
 [ 4.78870341e-02  9.98852758e-01  0.00000000e+00 -1.38002810e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.16, Y:-1.36, Z:0.00
[[ 9.99150180e-01 -4.12179206e-02  0.00000000e+00  7.41599226e+01]
 [ 4.12179206e-02  9.99150180e-01  0.00000000e+00 -1.36267889e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.22, Y:-1.36, Z:0.00
[[ 9.99455963e-01 -3.29814694e-02  0.00000000e+00  7.42195293e+01]
 [ 3.29814694e-02  9.99455963e-01  0.00000000e+00 -1.35566162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.28, Y:-1.35, Z:0.00
[[ 9.99781017e-01 -2.09264862e-02  0.00000000e+00  7.42800383e+01]
 [ 2.09264862e-02  9.99781017e-01  0.00000000e+00 -1.34856070e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.34, Y:-1.35, Z:0.00
[[ 9.99940149e-01 -1.09406517e-02  0.00000000e+00  7.43397113e+01]
 [ 1.09406517e-02  9.99940149e-01  0.00000000e+00 -1.34826717e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.40, Y:-1.35, Z:0.00
[[ 9.99994644e-01  3.27278833e-03  0.00000000e+00  7.44001554e+01]
 [-3.27278833e-03  9.99994644e-01  0.00000000e+00 -1.34780536e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.46, Y:-1.35, Z:0.00
[[ 9.99995145e-01  3.11616359e-03  0.00000000e+00  7.44606494e+01]
 [-3.11616359e-03  9.99995145e-01  0.00000000e+00 -1.35174741e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.52, Y:-1.37, Z:0.00
[[ 9.99992160e-01 -3.95984241e-03  0.00000000e+00  7.45207965e+01]
 [ 3.95984241e-03  9.99992160e-01  0.00000000e+00 -1.36888815e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.58, Y:-1.38, Z:0.00
[[ 9.99910994e-01 -1.33418050e-02  0.00000000e+00  7.45815404e+01]
 [ 1.33418050e-02  9.99910994e-01  0.00000000e+00 -1.37766035e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.64, Y:-1.39, Z:0.00
[[ 9.99652603e-01 -2.63566589e-02  0.00000000e+00  7.46404362e+01]
 [ 2.63566589e-02  9.99652603e-01  0.00000000e+00 -1.39237693e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.70, Y:-1.41, Z:0.00
[[ 9.99518871e-01 -3.10165656e-02  0.00000000e+00  7.47007760e+01]
 [ 3.10165656e-02  9.99518871e-01  0.00000000e+00 -1.40653183e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.76, Y:-1.41, Z:0.00
[[ 9.99663786e-01 -2.59290233e-02  0.00000000e+00  7.47613021e+01]
 [ 2.59290233e-02  9.99663786e-01  0.00000000e+00 -1.41365378e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.82, Y:-1.42, Z:0.00
[[ 9.99737985e-01 -2.28901879e-02  0.00000000e+00  7.48226341e+01]
 [ 2.28901879e-02  9.99737985e-01  0.00000000e+00 -1.41725671e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.88, Y:-1.43, Z:0.00
[[ 9.99779523e-01 -2.09977354e-02  0.00000000e+00  7.48825972e+01]
 [ 2.09977354e-02  9.99779523e-01  0.00000000e+00 -1.43239393e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:74.94, Y:-1.44, Z:0.00
[[ 9.99783539e-01 -2.08056403e-02  0.00000000e+00  7.49447955e+01]
 [ 2.08056403e-02  9.99783539e-01  0.00000000e+00 -1.43874533e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.01, Y:-1.44, Z:0.00
[[ 9.99889026e-01 -1.48975219e-02  0.00000000e+00  7.50056275e+01]
 [ 1.48975219e-02  9.99889026e-01  0.00000000e+00 -1.44278737e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.07, Y:-1.45, Z:0.00
[[ 9.99879374e-01 -1.55318380e-02  0.00000000e+00  7.50669954e+01]
 [ 1.55318380e-02  9.99879374e-01  0.00000000e+00 -1.45017374e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.13, Y:-1.46, Z:0.00
[[ 9.99795269e-01 -2.02341256e-02  0.00000000e+00  7.51260188e+01]
 [ 2.02341256e-02  9.99795269e-01  0.00000000e+00 -1.46163668e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.19, Y:-1.47, Z:0.00
[[ 9.99663065e-01 -2.59568209e-02  0.00000000e+00  7.51864974e+01]
 [ 2.59568209e-02  9.99663065e-01  0.00000000e+00 -1.47061914e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.25, Y:-1.48, Z:0.00
[[ 9.99621949e-01 -2.74947084e-02  0.00000000e+00  7.52463186e+01]
 [ 2.74947084e-02  9.99621949e-01  0.00000000e+00 -1.47739855e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.31, Y:-1.49, Z:0.00
[[ 9.99872985e-01 -1.59378353e-02  0.00000000e+00  7.53066860e+01]
 [ 1.59378353e-02  9.99872985e-01  0.00000000e+00 -1.48826086e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.37, Y:-1.49, Z:0.00
[[ 9.99979511e-01 -6.40130690e-03  0.00000000e+00  7.53660021e+01]
 [ 6.40130690e-03  9.99979511e-01  0.00000000e+00 -1.49065609e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.43, Y:-1.50, Z:0.00
[[ 9.99991172e-01  4.20193681e-03  0.00000000e+00  7.54259352e+01]
 [-4.20193681e-03  9.99991172e-01  0.00000000e+00 -1.50170162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.48, Y:-1.51, Z:0.00
[[ 9.99993281e-01  3.66570978e-03  0.00000000e+00  7.54848438e+01]
 [-3.66570978e-03  9.99993281e-01  0.00000000e+00 -1.50721720e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.54, Y:-1.52, Z:0.00
[[ 9.99982223e-01 -5.96265589e-03  0.00000000e+00  7.55449894e+01]
 [ 5.96265589e-03  9.99982223e-01  0.00000000e+00 -1.52418300e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.61, Y:-1.53, Z:0.00
[[ 9.99936111e-01 -1.13037279e-02  0.00000000e+00  7.56050551e+01]
 [ 1.13037279e-02  9.99936111e-01  0.00000000e+00 -1.53244047e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.66, Y:-1.54, Z:0.00
[[ 9.99628683e-01 -2.72487803e-02  0.00000000e+00  7.56639266e+01]
 [ 2.72487803e-02  9.99628683e-01  0.00000000e+00 -1.54325970e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.72, Y:-1.55, Z:0.00
[[ 9.99553711e-01 -2.98727155e-02  0.00000000e+00  7.57241550e+01]
 [ 2.98727155e-02  9.99553711e-01  0.00000000e+00 -1.55098209e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.78, Y:-1.56, Z:0.00
[[ 9.99573134e-01 -2.92155793e-02  0.00000000e+00  7.57832877e+01]
 [ 2.92155793e-02  9.99573134e-01  0.00000000e+00 -1.56384443e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.84, Y:-1.57, Z:0.00
[[ 9.99704726e-01 -2.42994171e-02  0.00000000e+00  7.58433510e+01]
 [ 2.42994171e-02  9.99704726e-01  0.00000000e+00 -1.57202016e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.90, Y:-1.57, Z:0.00
[[ 9.99986522e-01 -5.19184956e-03  0.00000000e+00  7.59036410e+01]
 [ 5.19184956e-03  9.99986522e-01  0.00000000e+00 -1.56515299e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:75.96, Y:-1.57, Z:0.00
[[ 9.99999972e-01 -2.35342278e-04  0.00000000e+00  7.59641332e+01]
 [ 2.35342278e-04  9.99999972e-01  0.00000000e+00 -1.57354936e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.02, Y:-1.59, Z:0.00
[[ 9.99996503e-01 -2.64459231e-03  0.00000000e+00  7.60233193e+01]
 [ 2.64459231e-03  9.99996503e-01  0.00000000e+00 -1.58969084e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.08, Y:-1.59, Z:0.00
[[ 9.99935691e-01 -1.13408122e-02  0.00000000e+00  7.60832605e+01]
 [ 1.13408122e-02  9.99935691e-01  0.00000000e+00 -1.59306614e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.14, Y:-1.60, Z:0.00
[[ 9.99897749e-01 -1.43000692e-02  0.00000000e+00  7.61436050e+01]
 [ 1.43000692e-02  9.99897749e-01  0.00000000e+00 -1.60233508e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.20, Y:-1.61, Z:0.00
[[ 9.99873367e-01 -1.59138115e-02  0.00000000e+00  7.62025396e+01]
 [ 1.59138115e-02  9.99873367e-01  0.00000000e+00 -1.61445571e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.26, Y:-1.62, Z:0.00
[[ 9.99943618e-01 -1.06188523e-02  0.00000000e+00  7.62625143e+01]
 [ 1.06188523e-02  9.99943618e-01  0.00000000e+00 -1.62165588e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.32, Y:-1.62, Z:0.00
[[ 9.99985122e-01 -5.45488119e-03  0.00000000e+00  7.63228372e+01]
 [ 5.45488119e-03  9.99985122e-01  0.00000000e+00 -1.62404196e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.38, Y:-1.64, Z:0.00
[[ 9.99996312e-01 -2.71579086e-03  0.00000000e+00  7.63824156e+01]
 [ 2.71579086e-03  9.99996312e-01  0.00000000e+00 -1.63635497e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.44, Y:-1.64, Z:0.00
[[ 9.99996892e-01  2.49303264e-03  0.00000000e+00  7.64425328e+01]
 [-2.49303264e-03  9.99996892e-01  0.00000000e+00 -1.64350878e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.50, Y:-1.65, Z:0.00
[[ 9.99942265e-01  1.07454989e-02  0.00000000e+00  7.65026034e+01]
 [-1.07454989e-02  9.99942265e-01  0.00000000e+00 -1.64930860e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.56, Y:-1.65, Z:0.00
[[ 9.99915396e-01  1.30077319e-02  0.00000000e+00  7.65632744e+01]
 [-1.30077319e-02  9.99915396e-01  0.00000000e+00 -1.65314732e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.62, Y:-1.67, Z:0.00
[[ 9.99897252e-01  1.43347564e-02  0.00000000e+00  7.66243470e+01]
 [-1.43347564e-02  9.99897252e-01  0.00000000e+00 -1.67002065e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.68, Y:-1.69, Z:0.00
[[ 9.99788698e-01  2.05562644e-02  0.00000000e+00  7.66838576e+01]
 [-2.05562644e-02  9.99788698e-01  0.00000000e+00 -1.68637802e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.75, Y:-1.70, Z:0.00
[[ 9.99685705e-01  2.50697191e-02  0.00000000e+00  7.67452653e+01]
 [-2.50697191e-02  9.99685705e-01  0.00000000e+00 -1.69986216e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.81, Y:-1.72, Z:0.00
[[ 9.99519339e-01  3.10014813e-02  0.00000000e+00  7.68063940e+01]
 [-3.10014813e-02  9.99519339e-01  0.00000000e+00 -1.72304439e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.87, Y:-1.75, Z:0.00
[[ 9.99417765e-01  3.41193576e-02  0.00000000e+00  7.68670106e+01]
 [-3.41193576e-02  9.99417765e-01  0.00000000e+00 -1.74693204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.93, Y:-1.76, Z:0.00
[[ 9.99381433e-01  3.51674770e-02  0.00000000e+00  7.69301214e+01]
 [-3.51674770e-02  9.99381433e-01  0.00000000e+00 -1.75594695e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:76.99, Y:-1.77, Z:0.00
[[ 9.99455445e-01  3.29971884e-02  0.00000000e+00  7.69896691e+01]
 [-3.29971884e-02  9.99455445e-01  0.00000000e+00 -1.77493143e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.05, Y:-1.80, Z:0.00
[[ 9.99611894e-01  2.78578692e-02  0.00000000e+00  7.70512263e+01]
 [-2.78578692e-02  9.99611894e-01  0.00000000e+00 -1.79805178e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.11, Y:-1.81, Z:0.00
[[ 9.99747858e-01  2.24548707e-02  0.00000000e+00  7.71123052e+01]
 [-2.24548707e-02  9.99747858e-01  0.00000000e+00 -1.81267246e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.17, Y:-1.83, Z:0.00
[[ 9.99936056e-01  1.13085492e-02  0.00000000e+00  7.71712400e+01]
 [-1.13085492e-02  9.99936056e-01  0.00000000e+00 -1.83080459e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.23, Y:-1.84, Z:0.00
[[ 9.99986201e-01  5.25334768e-03  0.00000000e+00  7.72309833e+01]
 [-5.25334768e-03  9.99986201e-01  0.00000000e+00 -1.84447823e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.29, Y:-1.86, Z:0.00
[[ 9.99997319e-01  2.31561540e-03  0.00000000e+00  7.72915854e+01]
 [-2.31561540e-03  9.99997319e-01  0.00000000e+00 -1.85865007e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.35, Y:-1.88, Z:0.00
[[ 9.99994964e-01  3.17352565e-03  0.00000000e+00  7.73516992e+01]
 [-3.17352565e-03  9.99994964e-01  0.00000000e+00 -1.87569222e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.41, Y:-1.88, Z:0.00
[[ 9.99973581e-01  7.26890668e-03  0.00000000e+00  7.74120319e+01]
 [-7.26890668e-03  9.99973581e-01  0.00000000e+00 -1.88375761e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.47, Y:-1.90, Z:0.00
[[ 9.99935574e-01  1.13510782e-02  0.00000000e+00  7.74708384e+01]
 [-1.13510782e-02  9.99935574e-01  0.00000000e+00 -1.89776515e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.53, Y:-1.90, Z:0.00
[[ 9.99892868e-01  1.46373840e-02  0.00000000e+00  7.75307594e+01]
 [-1.46373840e-02  9.99892868e-01  0.00000000e+00 -1.90451094e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.59, Y:-1.91, Z:0.00
[[ 9.99875145e-01  1.58017148e-02  0.00000000e+00  7.75920231e+01]
 [-1.58017148e-02  9.99875145e-01  0.00000000e+00 -1.91179099e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.65, Y:-1.92, Z:0.00
[[ 9.99867490e-01  1.62789203e-02  0.00000000e+00  7.76543378e+01]
 [-1.62789203e-02  9.99867490e-01  0.00000000e+00 -1.91852723e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.72, Y:-1.93, Z:0.00
[[ 9.99924092e-01  1.23211695e-02  0.00000000e+00  7.77165183e+01]
 [-1.23211695e-02  9.99924092e-01  0.00000000e+00 -1.92926886e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.78, Y:-1.93, Z:0.00
[[ 9.99970136e-01  7.72828091e-03  0.00000000e+00  7.77765951e+01]
 [-7.72828091e-03  9.99970136e-01  0.00000000e+00 -1.93389595e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.84, Y:-1.94, Z:0.00
[[ 9.99994951e-01 -3.17774288e-03  0.00000000e+00  7.78368204e+01]
 [ 3.17774288e-03  9.99994951e-01  0.00000000e+00 -1.93644307e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.90, Y:-1.95, Z:0.00
[[ 9.99959610e-01 -8.98771949e-03  0.00000000e+00  7.78964080e+01]
 [ 8.98771949e-03  9.99959610e-01  0.00000000e+00 -1.94528461e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:77.96, Y:-1.95, Z:0.00
[[ 9.99880614e-01 -1.54518048e-02  0.00000000e+00  7.79551399e+01]
 [ 1.54518048e-02  9.99880614e-01  0.00000000e+00 -1.94817188e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.02, Y:-1.95, Z:0.00
[[ 9.99815286e-01 -1.92196330e-02  0.00000000e+00  7.80153816e+01]
 [ 1.92196330e-02  9.99815286e-01  0.00000000e+00 -1.94767927e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.07, Y:-1.95, Z:0.00
[[ 9.99552088e-01 -2.99269709e-02  0.00000000e+00  7.80744407e+01]
 [ 2.99269709e-02  9.99552088e-01  0.00000000e+00 -1.95222633e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.14, Y:-1.95, Z:0.00
[[ 9.99318758e-01 -3.69055592e-02  0.00000000e+00  7.81352366e+01]
 [ 3.69055592e-02  9.99318758e-01  0.00000000e+00 -1.95088985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.20, Y:-1.94, Z:0.00
[[ 9.99103729e-01 -4.23289333e-02  0.00000000e+00  7.81957270e+01]
 [ 4.23289333e-02  9.99103729e-01  0.00000000e+00 -1.94099421e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.26, Y:-1.93, Z:0.00
[[ 9.99116642e-01 -4.20230339e-02  0.00000000e+00  7.82558938e+01]
 [ 4.20230339e-02  9.99116642e-01  0.00000000e+00 -1.93433286e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.31, Y:-1.91, Z:0.00
[[ 9.99120317e-01 -4.19355657e-02  0.00000000e+00  7.83140520e+01]
 [ 4.19355657e-02  9.99120317e-01  0.00000000e+00 -1.91496579e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.37, Y:-1.90, Z:0.00
[[ 9.99147404e-01 -4.12851731e-02  0.00000000e+00  7.83742509e+01]
 [ 4.12851731e-02  9.99147404e-01  0.00000000e+00 -1.90384682e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.43, Y:-1.89, Z:0.00
[[ 9.99264962e-01 -3.83345153e-02  0.00000000e+00  7.84340348e+01]
 [ 3.83345153e-02  9.99264962e-01  0.00000000e+00 -1.88716367e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.49, Y:-1.87, Z:0.00
[[ 9.99246388e-01 -3.88156558e-02  0.00000000e+00  7.84929570e+01]
 [ 3.88156558e-02  9.99246388e-01  0.00000000e+00 -1.87170889e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.55, Y:-1.86, Z:0.00
[[ 9.99148728e-01 -4.12531050e-02  0.00000000e+00  7.85509733e+01]
 [ 4.12531050e-02  9.99148728e-01  0.00000000e+00 -1.85943419e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.61, Y:-1.85, Z:0.00
[[ 9.99187962e-01 -4.02916363e-02  0.00000000e+00  7.86104015e+01]
 [ 4.02916363e-02  9.99187962e-01  0.00000000e+00 -1.85287597e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.67, Y:-1.84, Z:0.00
[[ 9.99490099e-01 -3.19302529e-02  0.00000000e+00  7.86718650e+01]
 [ 3.19302529e-02  9.99490099e-01  0.00000000e+00 -1.83593195e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.73, Y:-1.83, Z:0.00
[[ 9.99731905e-01 -2.31542088e-02  0.00000000e+00  7.87311970e+01]
 [ 2.31542088e-02  9.99731905e-01  0.00000000e+00 -1.82734181e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.79, Y:-1.82, Z:0.00
[[ 9.99859475e-01 -1.67639608e-02  0.00000000e+00  7.87917230e+01]
 [ 1.67639608e-02  9.99859475e-01  0.00000000e+00 -1.82070417e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.85, Y:-1.81, Z:0.00
[[ 9.99827215e-01 -1.85887212e-02  0.00000000e+00  7.88524331e+01]
 [ 1.85887212e-02  9.99827215e-01  0.00000000e+00 -1.81443186e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.91, Y:-1.80, Z:0.00
[[ 9.99724339e-01 -2.34786395e-02  0.00000000e+00  7.89136647e+01]
 [ 2.34786395e-02  9.99724339e-01  0.00000000e+00 -1.80186353e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:78.97, Y:-1.80, Z:0.00
[[ 9.99670189e-01 -2.56809993e-02  0.00000000e+00  7.89721977e+01]
 [ 2.56809993e-02  9.99670189e-01  0.00000000e+00 -1.79699293e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.03, Y:-1.79, Z:0.00
[[ 9.99823515e-01 -1.87866483e-02  0.00000000e+00  7.90329402e+01]
 [ 1.87866483e-02  9.99823515e-01  0.00000000e+00 -1.78897183e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.09, Y:-1.78, Z:0.00
[[ 9.99999486e-01  1.01367286e-03  0.00000000e+00  7.90939735e+01]
 [-1.01367286e-03  9.99999486e-01  0.00000000e+00 -1.77771771e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.15, Y:-1.78, Z:0.00
[[ 9.99898488e-01  1.42482681e-02  0.00000000e+00  7.91542526e+01]
 [-1.42482681e-02  9.99898488e-01  0.00000000e+00 -1.77987515e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.22, Y:-1.79, Z:0.00
[[ 9.99676895e-01  2.54186110e-02  0.00000000e+00  7.92156508e+01]
 [-2.54186110e-02  9.99676895e-01  0.00000000e+00 -1.78614181e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.28, Y:-1.79, Z:0.00
[[ 9.99621666e-01  2.75050107e-02  0.00000000e+00  7.92762736e+01]
 [-2.75050107e-02  9.99621666e-01  0.00000000e+00 -1.79228877e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.34, Y:-1.81, Z:0.00
[[ 9.99722685e-01  2.35489502e-02  0.00000000e+00  7.93370602e+01]
 [-2.35489502e-02  9.99722685e-01  0.00000000e+00 -1.81052070e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.40, Y:-1.82, Z:0.00
[[ 9.99774190e-01  2.12501310e-02  0.00000000e+00  7.93993943e+01]
 [-2.12501310e-02  9.99774190e-01  0.00000000e+00 -1.82496401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.46, Y:-1.83, Z:0.00
[[ 9.99778251e-01  2.10582120e-02  0.00000000e+00  7.94615294e+01]
 [-2.10582120e-02  9.99778251e-01  0.00000000e+00 -1.83107241e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.52, Y:-1.84, Z:0.00
[[ 9.99751377e-01  2.22976374e-02  0.00000000e+00  7.95229893e+01]
 [-2.22976374e-02  9.99751377e-01  0.00000000e+00 -1.83910858e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.59, Y:-1.86, Z:0.00
[[ 9.99645778e-01  2.66142504e-02  0.00000000e+00  7.95850396e+01]
 [-2.66142504e-02  9.99645778e-01  0.00000000e+00 -1.85803613e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.65, Y:-1.88, Z:0.00
[[ 9.99410904e-01  3.43197331e-02  0.00000000e+00  7.96466191e+01]
 [-3.43197331e-02  9.99410904e-01  0.00000000e+00 -1.87777750e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.71, Y:-1.89, Z:0.00
[[ 9.99193984e-01  4.01420284e-02  0.00000000e+00  7.97064720e+01]
 [-4.01420284e-02  9.99193984e-01  0.00000000e+00 -1.88942731e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.77, Y:-1.91, Z:0.00
[[ 9.98804320e-01  4.88869106e-02  0.00000000e+00  7.97676947e+01]
 [-4.88869106e-02  9.98804320e-01  0.00000000e+00 -1.91238874e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.83, Y:-1.93, Z:0.00
[[ 9.98601466e-01  5.28688116e-02  0.00000000e+00  7.98294132e+01]
 [-5.28688116e-02  9.98601466e-01  0.00000000e+00 -1.93194686e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.89, Y:-1.96, Z:0.00
[[ 9.98755576e-01  4.98728365e-02  0.00000000e+00  7.98913879e+01]
 [-4.98728365e-02  9.98755576e-01  0.00000000e+00 -1.95773831e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:79.95, Y:-1.98, Z:0.00
[[ 9.99010437e-01  4.44763669e-02  0.00000000e+00  7.99517037e+01]
 [-4.44763669e-02  9.99010437e-01  0.00000000e+00 -1.97596143e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.01, Y:-1.99, Z:0.00
[[ 9.99345569e-01  3.61722858e-02  0.00000000e+00  8.00134490e+01]
 [-3.61722858e-02  9.99345569e-01  0.00000000e+00 -1.99422896e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.07, Y:-2.02, Z:0.00
[[ 9.99736060e-01  2.29741267e-02  0.00000000e+00  8.00744068e+01]
 [-2.29741267e-02  9.99736060e-01  0.00000000e+00 -2.01788089e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.14, Y:-2.04, Z:0.00
[[ 9.99888047e-01  1.49630898e-02  0.00000000e+00  8.01356095e+01]
 [-1.49630898e-02  9.99888047e-01  0.00000000e+00 -2.03659029e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.20, Y:-2.05, Z:0.00
[[ 9.99921234e-01  1.25509129e-02  0.00000000e+00  8.01964685e+01]
 [-1.25509129e-02  9.99921234e-01  0.00000000e+00 -2.04744056e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.26, Y:-2.05, Z:0.00
[[ 9.99913253e-01  1.31714429e-02  0.00000000e+00  8.02578615e+01]
 [-1.31714429e-02  9.99913253e-01  0.00000000e+00 -2.05185799e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.32, Y:-2.06, Z:0.00
[[ 9.99932436e-01  1.16242937e-02  0.00000000e+00  8.03191433e+01]
 [-1.16242937e-02  9.99932436e-01  0.00000000e+00 -2.06395652e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.38, Y:-2.07, Z:0.00
[[ 9.99943621e-01  1.06186386e-02  0.00000000e+00  8.03814666e+01]
 [-1.06186386e-02  9.99943621e-01  0.00000000e+00 -2.07045215e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.44, Y:-2.08, Z:0.00
[[ 9.99964454e-01  8.43148773e-03  0.00000000e+00  8.04436228e+01]
 [-8.43148773e-03  9.99964454e-01  0.00000000e+00 -2.07645220e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.50, Y:-2.08, Z:0.00
[[ 9.99996829e-01  2.51844003e-03  0.00000000e+00  8.05046329e+01]
 [-2.51844003e-03  9.99996829e-01  0.00000000e+00 -2.08397443e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.57, Y:-2.09, Z:0.00
[[ 9.99999949e-01 -3.20023243e-04  0.00000000e+00  8.05656616e+01]
 [ 3.20023243e-04  9.99999949e-01  0.00000000e+00 -2.09297978e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.63, Y:-2.10, Z:0.00
[[ 9.99993634e-01 -3.56815575e-03  0.00000000e+00  8.06256377e+01]
 [ 3.56815575e-03  9.99993634e-01  0.00000000e+00 -2.09794016e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.69, Y:-2.09, Z:0.00
[[ 9.99996459e-01 -2.66126622e-03  0.00000000e+00  8.06859284e+01]
 [ 2.66126622e-03  9.99996459e-01  0.00000000e+00 -2.09376796e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.75, Y:-2.09, Z:0.00
[[ 9.99990773e-01  4.29577263e-03  0.00000000e+00  8.07457748e+01]
 [-4.29577263e-03  9.99990773e-01  0.00000000e+00 -2.09036085e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.81, Y:-2.09, Z:0.00
[[ 9.99987617e-01  4.97648698e-03  0.00000000e+00  8.08055382e+01]
 [-4.97648698e-03  9.99987617e-01  0.00000000e+00 -2.09047420e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.87, Y:-2.08, Z:0.00
[[ 9.99998404e-01  1.78660830e-03  0.00000000e+00  8.08675655e+01]
 [-1.78660830e-03  9.99998404e-01  0.00000000e+00 -2.08317388e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.93, Y:-2.08, Z:0.00
[[ 9.99979349e-01 -6.42665652e-03  0.00000000e+00  8.09270305e+01]
 [ 6.42665652e-03  9.99979349e-01  0.00000000e+00 -2.07916859e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:80.99, Y:-2.08, Z:0.00
[[ 9.99918451e-01 -1.27707407e-02  0.00000000e+00  8.09868874e+01]
 [ 1.27707407e-02  9.99918451e-01  0.00000000e+00 -2.07640956e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.05, Y:-2.08, Z:0.00
[[ 9.99918584e-01 -1.27603281e-02  0.00000000e+00  8.10450722e+01]
 [ 1.27603281e-02  9.99918584e-01  0.00000000e+00 -2.07648772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.11, Y:-2.08, Z:0.00
[[ 9.99865923e-01 -1.63748364e-02  0.00000000e+00  8.11051419e+01]
 [ 1.63748364e-02  9.99865923e-01  0.00000000e+00 -2.07714858e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.17, Y:-2.07, Z:0.00
[[ 9.99815949e-01 -1.91850940e-02  0.00000000e+00  8.11654145e+01]
 [ 1.91850940e-02  9.99815949e-01  0.00000000e+00 -2.07398837e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.22, Y:-2.07, Z:0.00
[[ 9.99801516e-01 -1.99230430e-02  0.00000000e+00  8.12246122e+01]
 [ 1.99230430e-02  9.99801516e-01  0.00000000e+00 -2.06774739e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.29, Y:-2.06, Z:0.00
[[ 9.99853190e-01 -1.71346895e-02  0.00000000e+00  8.12850648e+01]
 [ 1.71346895e-02  9.99853190e-01  0.00000000e+00 -2.06425651e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.35, Y:-2.05, Z:0.00
[[ 9.99924852e-01 -1.22592700e-02  0.00000000e+00  8.13453241e+01]
 [ 1.22592700e-02  9.99924852e-01  0.00000000e+00 -2.05262258e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.40, Y:-2.05, Z:0.00
[[ 9.99955787e-01 -9.40339373e-03  0.00000000e+00  8.14049363e+01]
 [ 9.40339373e-03  9.99955787e-01  0.00000000e+00 -2.05282197e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.47, Y:-2.05, Z:0.00
[[ 9.99920936e-01 -1.25746754e-02  0.00000000e+00  8.14653340e+01]
 [ 1.25746754e-02  9.99920936e-01  0.00000000e+00 -2.04518549e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.53, Y:-2.03, Z:0.00
[[ 9.99777129e-01 -2.11114078e-02  0.00000000e+00  8.15252144e+01]
 [ 2.11114078e-02  9.99777129e-01  0.00000000e+00 -2.03142766e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.59, Y:-2.03, Z:0.00
[[ 9.99645256e-01 -2.66338563e-02  0.00000000e+00  8.15861911e+01]
 [ 2.66338563e-02  9.99645256e-01  0.00000000e+00 -2.02716495e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.65, Y:-2.01, Z:0.00
[[ 9.99216316e-01 -3.95822306e-02  0.00000000e+00  8.16459892e+01]
 [ 3.95822306e-02  9.99216316e-01  0.00000000e+00 -2.01376271e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.71, Y:-2.00, Z:0.00
[[ 9.98901903e-01 -4.68506979e-02  0.00000000e+00  8.17068533e+01]
 [ 4.68506979e-02  9.98901903e-01  0.00000000e+00 -2.00485159e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.77, Y:-2.00, Z:0.00
[[ 9.98781059e-01 -4.93598718e-02  0.00000000e+00  8.17671232e+01]
 [ 4.93598718e-02  9.98781059e-01  0.00000000e+00 -1.99928156e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.83, Y:-1.98, Z:0.00
[[ 9.98613869e-01 -5.26340176e-02  0.00000000e+00  8.18277638e+01]
 [ 5.26340176e-02  9.98613869e-01  0.00000000e+00 -1.98003803e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.89, Y:-1.97, Z:0.00
[[ 9.98561579e-01 -5.36169042e-02  0.00000000e+00  8.18874967e+01]
 [ 5.36169042e-02  9.98561579e-01  0.00000000e+00 -1.96977155e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:81.95, Y:-1.95, Z:0.00
[[ 9.98656316e-01 -5.18224185e-02  0.00000000e+00  8.19487752e+01]
 [ 5.18224185e-02  9.98656316e-01  0.00000000e+00 -1.95138798e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.01, Y:-1.93, Z:0.00
[[ 9.98875482e-01 -4.74106606e-02  0.00000000e+00  8.20094826e+01]
 [ 4.74106606e-02  9.98875482e-01  0.00000000e+00 -1.93494014e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.07, Y:-1.92, Z:0.00
[[ 9.98816226e-01 -4.86430538e-02  0.00000000e+00  8.20675059e+01]
 [ 4.86430538e-02  9.98816226e-01  0.00000000e+00 -1.92166797e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.13, Y:-1.91, Z:0.00
[[ 9.98822060e-01 -4.85231222e-02  0.00000000e+00  8.21254848e+01]
 [ 4.85231222e-02  9.98822060e-01  0.00000000e+00 -1.90724789e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.19, Y:-1.89, Z:0.00
[[ 9.98884576e-01 -4.72186873e-02  0.00000000e+00  8.21856003e+01]
 [ 4.72186873e-02  9.98884576e-01  0.00000000e+00 -1.88812334e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.24, Y:-1.87, Z:0.00
[[ 9.98953585e-01 -4.57354989e-02  0.00000000e+00  8.22430764e+01]
 [ 4.57354989e-02  9.98953585e-01  0.00000000e+00 -1.87035798e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.30, Y:-1.85, Z:0.00
[[ 9.98888437e-01 -4.71369398e-02  0.00000000e+00  8.23016527e+01]
 [ 4.71369398e-02  9.98888437e-01  0.00000000e+00 -1.85171396e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.36, Y:-1.84, Z:0.00
[[ 9.98683773e-01 -5.12905589e-02  0.00000000e+00  8.23627655e+01]
 [ 5.12905589e-02  9.98683773e-01  0.00000000e+00 -1.84113709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.42, Y:-1.83, Z:0.00
[[ 9.98531807e-01 -5.41685451e-02  0.00000000e+00  8.24228615e+01]
 [ 5.41685451e-02  9.98531807e-01  0.00000000e+00 -1.82967517e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.48, Y:-1.82, Z:0.00
[[ 9.98473581e-01 -5.52313956e-02  0.00000000e+00  8.24829250e+01]
 [ 5.52313956e-02  9.98473581e-01  0.00000000e+00 -1.81677843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.54, Y:-1.80, Z:0.00
[[ 9.98441057e-01 -5.58162758e-02  0.00000000e+00  8.25414547e+01]
 [ 5.58162758e-02  9.98441057e-01  0.00000000e+00 -1.80441090e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.60, Y:-1.79, Z:0.00
[[ 9.98271425e-01 -5.87721187e-02  0.00000000e+00  8.26026268e+01]
 [ 5.87721187e-02  9.98271425e-01  0.00000000e+00 -1.79019178e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.66, Y:-1.78, Z:0.00
[[ 9.98356133e-01 -5.73151935e-02  0.00000000e+00  8.26626660e+01]
 [ 5.73151935e-02  9.98356133e-01  0.00000000e+00 -1.78180589e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.72, Y:-1.77, Z:0.00
[[ 9.98644898e-01 -5.20419712e-02  0.00000000e+00  8.27239112e+01]
 [ 5.20419712e-02  9.98644898e-01  0.00000000e+00 -1.76968289e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.78, Y:-1.76, Z:0.00
[[ 9.98920763e-01 -4.64468392e-02  0.00000000e+00  8.27847370e+01]
 [ 4.64468392e-02  9.98920763e-01  0.00000000e+00 -1.75613291e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.85, Y:-1.75, Z:0.00
[[ 9.98825541e-01 -4.84513999e-02  0.00000000e+00  8.28450592e+01]
 [ 4.84513999e-02  9.98825541e-01  0.00000000e+00 -1.75079713e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.91, Y:-1.74, Z:0.00
[[ 9.98623628e-01 -5.24485426e-02  0.00000000e+00  8.29055104e+01]
 [ 5.24485426e-02  9.98623628e-01  0.00000000e+00 -1.73926986e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:82.97, Y:-1.73, Z:0.00
[[ 9.98626754e-01 -5.23889895e-02  0.00000000e+00  8.29675533e+01]
 [ 5.23889895e-02  9.98626754e-01  0.00000000e+00 -1.73167182e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.03, Y:-1.72, Z:0.00
[[ 9.98721730e-01 -5.05460701e-02  0.00000000e+00  8.30283938e+01]
 [ 5.05460701e-02  9.98721730e-01  0.00000000e+00 -1.72429237e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.09, Y:-1.72, Z:0.00
[[ 9.99188351e-01 -4.02819949e-02  0.00000000e+00  8.30886486e+01]
 [ 4.02819949e-02  9.99188351e-01  0.00000000e+00 -1.71510189e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.15, Y:-1.71, Z:0.00
[[ 9.99556106e-01 -2.97924506e-02  0.00000000e+00  8.31490640e+01]
 [ 2.97924506e-02  9.99556106e-01  0.00000000e+00 -1.71032236e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.21, Y:-1.70, Z:0.00
[[ 9.99936853e-01 -1.12378650e-02  0.00000000e+00  8.32095151e+01]
 [ 1.12378650e-02  9.99936853e-01  0.00000000e+00 -1.70444658e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.27, Y:-1.70, Z:0.00
[[ 9.99982335e-01 -5.94386771e-03  0.00000000e+00  8.32704839e+01]
 [ 5.94386771e-03  9.99982335e-01  0.00000000e+00 -1.70479033e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.33, Y:-1.71, Z:0.00
[[ 9.99989419e-01  4.60021570e-03  0.00000000e+00  8.33304355e+01]
 [-4.60021570e-03  9.99989419e-01  0.00000000e+00 -1.70639841e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.39, Y:-1.71, Z:0.00
[[ 9.99974951e-01  7.07788672e-03  0.00000000e+00  8.33908488e+01]
 [-7.07788672e-03  9.99974951e-01  0.00000000e+00 -1.71326284e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.45, Y:-1.72, Z:0.00
[[ 9.99991850e-01  4.03736988e-03  0.00000000e+00  8.34504046e+01]
 [-4.03736988e-03  9.99991850e-01  0.00000000e+00 -1.72072264e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.51, Y:-1.73, Z:0.00
[[ 9.99999776e-01 -6.69332747e-04  0.00000000e+00  8.35111767e+01]
 [ 6.69332747e-04  9.99999776e-01  0.00000000e+00 -1.72939947e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.57, Y:-1.74, Z:0.00
[[ 9.99978240e-01 -6.59687027e-03  0.00000000e+00  8.35710665e+01]
 [ 6.59687027e-03  9.99978240e-01  0.00000000e+00 -1.73827634e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.63, Y:-1.75, Z:0.00
[[ 9.99907310e-01 -1.36151036e-02  0.00000000e+00  8.36305030e+01]
 [ 1.36151036e-02  9.99907310e-01  0.00000000e+00 -1.75169031e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.69, Y:-1.76, Z:0.00
[[ 9.99908419e-01 -1.35334055e-02  0.00000000e+00  8.36907227e+01]
 [ 1.35334055e-02  9.99908419e-01  0.00000000e+00 -1.76083646e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.75, Y:-1.77, Z:0.00
[[ 9.99985145e-01 -5.45063459e-03  0.00000000e+00  8.37507332e+01]
 [ 5.45063459e-03  9.99985145e-01  0.00000000e+00 -1.76987173e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.81, Y:-1.78, Z:0.00
[[ 9.99998161e-01  1.91802225e-03  0.00000000e+00  8.38115750e+01]
 [-1.91802225e-03  9.99998161e-01  0.00000000e+00 -1.77602885e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.87, Y:-1.79, Z:0.00
[[ 9.99977043e-01  6.77599328e-03  0.00000000e+00  8.38708784e+01]
 [-6.77599328e-03  9.99977043e-01  0.00000000e+00 -1.78842334e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.93, Y:-1.80, Z:0.00
[[ 9.99968493e-01  7.93804349e-03  0.00000000e+00  8.39313084e+01]
 [-7.93804349e-03  9.99968493e-01  0.00000000e+00 -1.79960663e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:83.99, Y:-1.81, Z:0.00
[[ 9.99973842e-01  7.23296226e-03  0.00000000e+00  8.39913072e+01]
 [-7.23296226e-03  9.99973842e-01  0.00000000e+00 -1.81293495e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.05, Y:-1.83, Z:0.00
[[ 9.99978342e-01  6.58142310e-03  0.00000000e+00  8.40512414e+01]
 [-6.58142310e-03  9.99978342e-01  0.00000000e+00 -1.82507767e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.11, Y:-1.84, Z:0.00
[[ 9.99986393e-01  5.21662607e-03  0.00000000e+00  8.41113860e+01]
 [-5.21662607e-03  9.99986393e-01  0.00000000e+00 -1.83923620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.17, Y:-1.85, Z:0.00
[[ 9.99998009e-01  1.99568064e-03  0.00000000e+00  8.41714162e+01]
 [-1.99568064e-03  9.99998009e-01  0.00000000e+00 -1.84952100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.23, Y:-1.86, Z:0.00
[[ 9.99999782e-01 -6.59808168e-04  0.00000000e+00  8.42320127e+01]
 [ 6.59808168e-04  9.99999782e-01  0.00000000e+00 -1.86299942e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.29, Y:-1.88, Z:0.00
[[ 9.99990755e-01 -4.29990803e-03  0.00000000e+00  8.42923336e+01]
 [ 4.29990803e-03  9.99990755e-01  0.00000000e+00 -1.87610951e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.35, Y:-1.89, Z:0.00
[[ 9.99968606e-01 -7.92384578e-03  0.00000000e+00  8.43519352e+01]
 [ 7.92384578e-03  9.99968606e-01  0.00000000e+00 -1.88824550e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.41, Y:-1.90, Z:0.00
[[ 9.99852510e-01 -1.71743326e-02  0.00000000e+00  8.44124211e+01]
 [ 1.71743326e-02  9.99852510e-01  0.00000000e+00 -1.90407543e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.47, Y:-1.91, Z:0.00
[[ 9.99730181e-01 -2.32285556e-02  0.00000000e+00  8.44723770e+01]
 [ 2.32285556e-02  9.99730181e-01  0.00000000e+00 -1.91031026e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.53, Y:-1.92, Z:0.00
[[ 9.99601688e-01 -2.82217212e-02  0.00000000e+00  8.45320351e+01]
 [ 2.82217212e-02  9.99601688e-01  0.00000000e+00 -1.91827763e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.59, Y:-1.93, Z:0.00
[[ 9.99627730e-01 -2.72837123e-02  0.00000000e+00  8.45903691e+01]
 [ 2.72837123e-02  9.99627730e-01  0.00000000e+00 -1.93034323e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.65, Y:-1.93, Z:0.00
[[ 9.99807039e-01 -1.96439292e-02  0.00000000e+00  8.46503342e+01]
 [ 1.96439292e-02  9.99807039e-01  0.00000000e+00 -1.92956245e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.71, Y:-1.92, Z:0.00
[[ 9.99863797e-01 -1.65041562e-02  0.00000000e+00  8.47099405e+01]
 [ 1.65041562e-02  9.99863797e-01  0.00000000e+00 -1.92387559e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.77, Y:-1.92, Z:0.00
[[ 9.99936857e-01 -1.12374874e-02  0.00000000e+00  8.47702746e+01]
 [ 1.12374874e-02  9.99936857e-01  0.00000000e+00 -1.91991752e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.83, Y:-1.92, Z:0.00
[[ 9.99993449e-01 -3.61968402e-03  0.00000000e+00  8.48307667e+01]
 [ 3.61968402e-03  9.99993449e-01  0.00000000e+00 -1.91770609e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.89, Y:-1.91, Z:0.00
[[ 9.99974053e-01  7.20374682e-03  0.00000000e+00  8.48917811e+01]
 [-7.20374682e-03  9.99974053e-01  0.00000000e+00 -1.91416388e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:84.95, Y:-1.92, Z:0.00
[[ 9.99958023e-01  9.16259719e-03  0.00000000e+00  8.49517830e+01]
 [-9.16259719e-03  9.99958023e-01  0.00000000e+00 -1.92062856e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.01, Y:-1.93, Z:0.00
[[ 9.99955851e-01  9.39654731e-03  0.00000000e+00  8.50129451e+01]
 [-9.39654731e-03  9.99955851e-01  0.00000000e+00 -1.92981683e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.07, Y:-1.93, Z:0.00
[[ 9.99932684e-01  1.16028749e-02  0.00000000e+00  8.50733197e+01]
 [-1.16028749e-02  9.99932684e-01  0.00000000e+00 -1.93257521e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.13, Y:-1.94, Z:0.00
[[ 9.99821436e-01  1.88969733e-02  0.00000000e+00  8.51341400e+01]
 [-1.88969733e-02  9.99821436e-01  0.00000000e+00 -1.94219944e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.20, Y:-1.95, Z:0.00
[[ 9.99787637e-01  2.06078103e-02  0.00000000e+00  8.51956023e+01]
 [-2.06078103e-02  9.99787637e-01  0.00000000e+00 -1.94605664e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.26, Y:-1.96, Z:0.00
[[ 9.99653114e-01  2.63372541e-02  0.00000000e+00  8.52575363e+01]
 [-2.63372541e-02  9.99653114e-01  0.00000000e+00 -1.95898699e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.32, Y:-1.98, Z:0.00
[[ 9.99768247e-01  2.15279638e-02  0.00000000e+00  8.53161940e+01]
 [-2.15279638e-02  9.99768247e-01  0.00000000e+00 -1.97517171e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.38, Y:-1.99, Z:0.00
[[ 9.99932423e-01  1.16253787e-02  0.00000000e+00  8.53789934e+01]
 [-1.16253787e-02  9.99932423e-01  0.00000000e+00 -1.98895674e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.44, Y:-2.01, Z:0.00
[[ 9.99999631e-01 -8.59559164e-04  0.00000000e+00  8.54379643e+01]
 [ 8.59559164e-04  9.99999631e-01  0.00000000e+00 -2.00583000e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.50, Y:-2.02, Z:0.00
[[ 9.99973060e-01 -7.34024452e-03  0.00000000e+00  8.54978670e+01]
 [ 7.34024452e-03  9.99973060e-01  0.00000000e+00 -2.01638659e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.56, Y:-2.03, Z:0.00
[[ 9.99881530e-01 -1.53924015e-02  0.00000000e+00  8.55571206e+01]
 [ 1.53924015e-02  9.99881530e-01  0.00000000e+00 -2.03067888e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.62, Y:-2.03, Z:0.00
[[ 9.99757486e-01 -2.20220145e-02  0.00000000e+00  8.56178163e+01]
 [ 2.20220145e-02  9.99757486e-01  0.00000000e+00 -2.03417549e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.68, Y:-2.05, Z:0.00
[[ 9.99638776e-01 -2.68759753e-02  0.00000000e+00  8.56778290e+01]
 [ 2.68759753e-02  9.99638776e-01  0.00000000e+00 -2.04769986e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.74, Y:-2.05, Z:0.00
[[ 9.99628252e-01 -2.72645916e-02  0.00000000e+00  8.57366861e+01]
 [ 2.72645916e-02  9.99628252e-01  0.00000000e+00 -2.05053249e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.80, Y:-2.05, Z:0.00
[[ 9.99738666e-01 -2.28604463e-02  0.00000000e+00  8.57961239e+01]
 [ 2.28604463e-02  9.99738666e-01  0.00000000e+00 -2.05381067e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.86, Y:-2.05, Z:0.00
[[ 9.99857725e-01 -1.68680261e-02  0.00000000e+00  8.58556781e+01]
 [ 1.68680261e-02  9.99857725e-01  0.00000000e+00 -2.05468674e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.92, Y:-2.05, Z:0.00
[[ 9.99969518e-01 -7.80785564e-03  0.00000000e+00  8.59164840e+01]
 [ 7.80785564e-03  9.99969518e-01  0.00000000e+00 -2.05003364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:85.98, Y:-2.05, Z:0.00
[[ 9.99999761e-01 -6.91381381e-04  0.00000000e+00  8.59771670e+01]
 [ 6.91381381e-04  9.99999761e-01  0.00000000e+00 -2.04963464e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.04, Y:-2.05, Z:0.00
[[ 9.99928124e-01  1.19894557e-02  0.00000000e+00  8.60378115e+01]
 [-1.19894557e-02  9.99928124e-01  0.00000000e+00 -2.04817706e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.10, Y:-2.05, Z:0.00
[[ 9.99652049e-01  2.63776454e-02  0.00000000e+00  8.60977536e+01]
 [-2.63776454e-02  9.99652049e-01  0.00000000e+00 -2.04956829e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.16, Y:-2.05, Z:0.00
[[ 9.99329383e-01  3.66167086e-02  0.00000000e+00  8.61599058e+01]
 [-3.66167086e-02  9.99329383e-01  0.00000000e+00 -2.05418243e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.22, Y:-2.06, Z:0.00
[[ 9.99006435e-01  4.45661543e-02  0.00000000e+00  8.62211599e+01]
 [-4.45661543e-02  9.99006435e-01  0.00000000e+00 -2.06230003e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.28, Y:-2.08, Z:0.00
[[ 9.98681416e-01  5.13364303e-02  0.00000000e+00  8.62812209e+01]
 [-5.13364303e-02  9.98681416e-01  0.00000000e+00 -2.07866093e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.34, Y:-2.10, Z:0.00
[[ 9.98579348e-01  5.32849545e-02  0.00000000e+00  8.63418501e+01]
 [-5.32849545e-02  9.98579348e-01  0.00000000e+00 -2.09691568e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.40, Y:-2.12, Z:0.00
[[ 9.98459224e-01  5.54903466e-02  0.00000000e+00  8.64023924e+01]
 [-5.54903466e-02  9.98459224e-01  0.00000000e+00 -2.12141988e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.46, Y:-2.14, Z:0.00
[[ 9.98318104e-01  5.79738208e-02  0.00000000e+00  8.64633058e+01]
 [-5.79738208e-02  9.98318104e-01  0.00000000e+00 -2.13668499e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.52, Y:-2.17, Z:0.00
[[ 9.98460408e-01  5.54690386e-02  0.00000000e+00  8.65239053e+01]
 [-5.54690386e-02  9.98460408e-01  0.00000000e+00 -2.16786634e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.58, Y:-2.19, Z:0.00
[[ 9.98673173e-01  5.14965390e-02  0.00000000e+00  8.65840295e+01]
 [-5.14965390e-02  9.98673173e-01  0.00000000e+00 -2.19011105e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.64, Y:-2.22, Z:0.00
[[ 9.98887555e-01  4.71556284e-02  0.00000000e+00  8.66435646e+01]
 [-4.71556284e-02  9.98887555e-01  0.00000000e+00 -2.21675442e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.70, Y:-2.24, Z:0.00
[[ 9.99138749e-01  4.14940935e-02  0.00000000e+00  8.67035672e+01]
 [-4.14940935e-02  9.99138749e-01  0.00000000e+00 -2.23612430e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.76, Y:-2.27, Z:0.00
[[ 9.99163108e-01  4.09033494e-02  0.00000000e+00  8.67647207e+01]
 [-4.09033494e-02  9.99163108e-01  0.00000000e+00 -2.26990459e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.82, Y:-2.29, Z:0.00
[[ 9.99118734e-01  4.19732711e-02  0.00000000e+00  8.68249728e+01]
 [-4.19732711e-02  9.99118734e-01  0.00000000e+00 -2.28653609e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.89, Y:-2.31, Z:0.00
[[ 9.99069013e-01  4.31405552e-02  0.00000000e+00  8.68864770e+01]
 [-4.31405552e-02  9.99069013e-01  0.00000000e+00 -2.30932629e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:86.95, Y:-2.33, Z:0.00
[[ 9.99201378e-01  3.99575581e-02  0.00000000e+00  8.69467215e+01]
 [-3.99575581e-02  9.99201378e-01  0.00000000e+00 -2.32821679e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.01, Y:-2.36, Z:0.00
[[ 9.99401868e-01  3.45818716e-02  0.00000000e+00  8.70073891e+01]
 [-3.45818716e-02  9.99401868e-01  0.00000000e+00 -2.35564270e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.07, Y:-2.37, Z:0.00
[[ 9.99651264e-01  2.64073876e-02  0.00000000e+00  8.70692776e+01]
 [-2.64073876e-02  9.99651264e-01  0.00000000e+00 -2.36769757e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.13, Y:-2.38, Z:0.00
[[ 9.99851784e-01  1.72165598e-02  0.00000000e+00  8.71300682e+01]
 [-1.72165598e-02  9.99851784e-01  0.00000000e+00 -2.37938456e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.19, Y:-2.39, Z:0.00
[[ 9.99983096e-01  5.81440115e-03  0.00000000e+00  8.71902965e+01]
 [-5.81440115e-03  9.99983096e-01  0.00000000e+00 -2.39302797e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.25, Y:-2.41, Z:0.00
[[ 9.99959001e-01 -9.05519549e-03  0.00000000e+00  8.72505721e+01]
 [ 9.05519549e-03  9.99959001e-01  0.00000000e+00 -2.40892310e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.31, Y:-2.41, Z:0.00
[[ 9.99968453e-01 -7.94317184e-03  0.00000000e+00  8.73089260e+01]
 [ 7.94317184e-03  9.99968453e-01  0.00000000e+00 -2.40834625e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.37, Y:-2.41, Z:0.00
[[ 9.99982404e-01  5.93226911e-03  0.00000000e+00  8.73691977e+01]
 [-5.93226911e-03  9.99982404e-01  0.00000000e+00 -2.40575774e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.43, Y:-2.41, Z:0.00
[[ 9.99816597e-01  1.91513200e-02  0.00000000e+00  8.74301787e+01]
 [-1.91513200e-02  9.99816597e-01  0.00000000e+00 -2.40740708e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.49, Y:-2.41, Z:0.00
[[ 9.99408624e-01  3.43860633e-02  0.00000000e+00  8.74899164e+01]
 [-3.43860633e-02  9.99408624e-01  0.00000000e+00 -2.40747719e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.55, Y:-2.40, Z:0.00
[[ 9.99180779e-01  4.04693717e-02  0.00000000e+00  8.75526834e+01]
 [-4.04693717e-02  9.99180779e-01  0.00000000e+00 -2.40249456e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.61, Y:-2.41, Z:0.00
[[ 9.99096629e-01  4.24961823e-02  0.00000000e+00  8.76142360e+01]
 [-4.24961823e-02  9.99096629e-01  0.00000000e+00 -2.41318981e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.68, Y:-2.43, Z:0.00
[[ 9.99201240e-01  3.99610159e-02  0.00000000e+00  8.76750862e+01]
 [-3.99610159e-02  9.99201240e-01  0.00000000e+00 -2.42518513e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.74, Y:-2.43, Z:0.00
[[ 9.99087709e-01  4.27053771e-02  0.00000000e+00  8.77365833e+01]
 [-4.27053771e-02  9.99087709e-01  0.00000000e+00 -2.43161815e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.80, Y:-2.44, Z:0.00
[[ 9.98890522e-01  4.70927270e-02  0.00000000e+00  8.77971885e+01]
 [-4.70927270e-02  9.98890522e-01  0.00000000e+00 -2.43969941e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.86, Y:-2.45, Z:0.00
[[ 9.98806654e-01  4.88392099e-02  0.00000000e+00  8.78594075e+01]
 [-4.88392099e-02  9.98806654e-01  0.00000000e+00 -2.45286654e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.92, Y:-2.47, Z:0.00
[[ 9.98588806e-01  5.31074127e-02  0.00000000e+00  8.79188571e+01]
 [-5.31074127e-02  9.98588806e-01  0.00000000e+00 -2.46700993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:87.98, Y:-2.47, Z:0.00
[[ 9.98306896e-01  5.81665002e-02  0.00000000e+00  8.79802323e+01]
 [-5.81665002e-02  9.98306896e-01  0.00000000e+00 -2.47224135e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.04, Y:-2.49, Z:0.00
[[ 9.97624324e-01  6.88890948e-02  0.00000000e+00  8.80397369e+01]
 [-6.88890948e-02  9.97624324e-01  0.00000000e+00 -2.48525384e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.10, Y:-2.50, Z:0.00
[[ 9.97626142e-01  6.88627608e-02  0.00000000e+00  8.81015279e+01]
 [-6.88627608e-02  9.97626142e-01  0.00000000e+00 -2.50463987e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.16, Y:-2.52, Z:0.00
[[ 9.98035014e-01  6.26586879e-02  0.00000000e+00  8.81616477e+01]
 [-6.26586879e-02  9.98035014e-01  0.00000000e+00 -2.52083452e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.22, Y:-2.53, Z:0.00
[[ 9.98426337e-01  5.60789554e-02  0.00000000e+00  8.82217415e+01]
 [-5.60789554e-02  9.98426337e-01  0.00000000e+00 -2.53485884e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.28, Y:-2.56, Z:0.00
[[ 9.98958429e-01  4.56295589e-02  0.00000000e+00  8.82806153e+01]
 [-4.56295589e-02  9.98958429e-01  0.00000000e+00 -2.56207371e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.34, Y:-2.57, Z:0.00
[[ 9.99001887e-01  4.46680007e-02  0.00000000e+00  8.83426258e+01]
 [-4.46680007e-02  9.99001887e-01  0.00000000e+00 -2.57308831e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.40, Y:-2.59, Z:0.00
[[ 9.99261225e-01  3.84318250e-02  0.00000000e+00  8.84040747e+01]
 [-3.84318250e-02  9.99261225e-01  0.00000000e+00 -2.59120955e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.47, Y:-2.60, Z:0.00
[[ 9.99371060e-01  3.54610361e-02  0.00000000e+00  8.84653719e+01]
 [-3.54610361e-02  9.99371060e-01  0.00000000e+00 -2.60265976e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.53, Y:-2.62, Z:0.00
[[ 9.99532083e-01  3.05878132e-02  0.00000000e+00  8.85259630e+01]
 [-3.05878132e-02  9.99532083e-01  0.00000000e+00 -2.61712553e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.59, Y:-2.62, Z:0.00
[[ 9.99631329e-01  2.71515341e-02  0.00000000e+00  8.85857849e+01]
 [-2.71515341e-02  9.99631329e-01  0.00000000e+00 -2.62435936e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.65, Y:-2.63, Z:0.00
[[ 9.99611799e-01  2.78612813e-02  0.00000000e+00  8.86462663e+01]
 [-2.78612813e-02  9.99611799e-01  0.00000000e+00 -2.63117393e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.71, Y:-2.64, Z:0.00
[[ 9.99519115e-01  3.10086999e-02  0.00000000e+00  8.87088128e+01]
 [-3.10086999e-02  9.99519115e-01  0.00000000e+00 -2.64019009e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.77, Y:-2.64, Z:0.00
[[ 9.99318113e-01  3.69230276e-02  0.00000000e+00  8.87700031e+01]
 [-3.69230276e-02  9.99318113e-01  0.00000000e+00 -2.64309221e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.83, Y:-2.65, Z:0.00
[[ 9.98877310e-01  4.73721437e-02  0.00000000e+00  8.88298593e+01]
 [-4.73721437e-02  9.98877310e-01  0.00000000e+00 -2.64729755e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.89, Y:-2.65, Z:0.00
[[ 9.98623767e-01  5.24458929e-02  0.00000000e+00  8.88896734e+01]
 [-5.24458929e-02  9.98623767e-01  0.00000000e+00 -2.65480702e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:88.95, Y:-2.66, Z:0.00
[[ 9.98306463e-01  5.81739291e-02  0.00000000e+00  8.89506515e+01]
 [-5.81739291e-02  9.98306463e-01  0.00000000e+00 -2.66059694e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.01, Y:-2.67, Z:0.00
[[ 9.98390366e-01  5.67157572e-02  0.00000000e+00  8.90112084e+01]
 [-5.67157572e-02  9.98390366e-01  0.00000000e+00 -2.67417275e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.07, Y:-2.68, Z:0.00
[[ 9.98441784e-01  5.58032683e-02  0.00000000e+00  8.90735800e+01]
 [-5.58032683e-02  9.98441784e-01  0.00000000e+00 -2.68021349e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.14, Y:-2.69, Z:0.00
[[ 9.98480045e-01  5.51144202e-02  0.00000000e+00  8.91356107e+01]
 [-5.51144202e-02  9.98480045e-01  0.00000000e+00 -2.69018650e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.20, Y:-2.70, Z:0.00
[[ 9.98359452e-01  5.72573562e-02  0.00000000e+00  8.91970997e+01]
 [-5.72573562e-02  9.98359452e-01  0.00000000e+00 -2.70123106e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.26, Y:-2.71, Z:0.00
[[ 9.98045240e-01  6.24955981e-02  0.00000000e+00  8.92564522e+01]
 [-6.24955981e-02  9.98045240e-01  0.00000000e+00 -2.71072141e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.32, Y:-2.72, Z:0.00
[[ 9.97553404e-01  6.99085568e-02  0.00000000e+00  8.93168978e+01]
 [-6.99085568e-02  9.97553404e-01  0.00000000e+00 -2.72279029e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.38, Y:-2.73, Z:0.00
[[ 9.97136589e-01  7.56215793e-02  0.00000000e+00  8.93776993e+01]
 [-7.56215793e-02  9.97136589e-01  0.00000000e+00 -2.73384229e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.44, Y:-2.75, Z:0.00
[[ 9.96968804e-01  7.78023335e-02  0.00000000e+00  8.94386239e+01]
 [-7.78023335e-02  9.96968804e-01  0.00000000e+00 -2.74544650e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.50, Y:-2.76, Z:0.00
[[ 9.96797938e-01  7.99616886e-02  0.00000000e+00  8.94993383e+01]
 [-7.99616886e-02  9.96797938e-01  0.00000000e+00 -2.76263203e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.56, Y:-2.77, Z:0.00
[[ 9.96817261e-01  7.97204354e-02  0.00000000e+00  8.95608415e+01]
 [-7.97204354e-02  9.96817261e-01  0.00000000e+00 -2.77092536e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.62, Y:-2.80, Z:0.00
[[ 9.97399295e-01  7.20738941e-02  0.00000000e+00  8.96198157e+01]
 [-7.20738941e-02  9.97399295e-01  0.00000000e+00 -2.79521792e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.68, Y:-2.81, Z:0.00
[[ 9.97979242e-01  6.35407976e-02  0.00000000e+00  8.96803475e+01]
 [-6.35407976e-02  9.97979242e-01  0.00000000e+00 -2.80876018e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.74, Y:-2.82, Z:0.00
[[ 9.98629380e-01  5.23389104e-02  0.00000000e+00  8.97405823e+01]
 [-5.23389104e-02  9.98629380e-01  0.00000000e+00 -2.82422425e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.80, Y:-2.85, Z:0.00
[[ 9.99072277e-01  4.30648994e-02  0.00000000e+00  8.97993847e+01]
 [-4.30648994e-02  9.99072277e-01  0.00000000e+00 -2.84598365e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.86, Y:-2.86, Z:0.00
[[ 9.99297802e-01  3.74686855e-02  0.00000000e+00  8.98606409e+01]
 [-3.74686855e-02  9.99297802e-01  0.00000000e+00 -2.85591012e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.92, Y:-2.86, Z:0.00
[[ 9.99442885e-01  3.33754232e-02  0.00000000e+00  8.99220505e+01]
 [-3.33754232e-02  9.99442885e-01  0.00000000e+00 -2.86440895e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:89.98, Y:-2.87, Z:0.00
[[ 9.99408517e-01  3.43892010e-02  0.00000000e+00  8.99846007e+01]
 [-3.43892010e-02  9.99408517e-01  0.00000000e+00 -2.86712008e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.05, Y:-2.87, Z:0.00
[[ 9.99484374e-01  3.21089780e-02  0.00000000e+00  9.00466968e+01]
 [-3.21089780e-02  9.99484374e-01  0.00000000e+00 -2.86752532e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.11, Y:-2.87, Z:0.00
[[ 9.99491497e-01  3.18864898e-02  0.00000000e+00  9.01075363e+01]
 [-3.18864898e-02  9.99491497e-01  0.00000000e+00 -2.86684276e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.17, Y:-2.87, Z:0.00
[[ 9.99421696e-01  3.40040265e-02  0.00000000e+00  9.01689878e+01]
 [-3.40040265e-02  9.99421696e-01  0.00000000e+00 -2.86756835e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.23, Y:-2.87, Z:0.00
[[ 9.99347728e-01  3.61125742e-02  0.00000000e+00  9.02314163e+01]
 [-3.61125742e-02  9.99347728e-01  0.00000000e+00 -2.87020801e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.29, Y:-2.87, Z:0.00
[[ 9.99255135e-01  3.85898390e-02  0.00000000e+00  9.02936702e+01]
 [-3.85898390e-02  9.99255135e-01  0.00000000e+00 -2.86759038e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.36, Y:-2.86, Z:0.00
[[ 9.99162416e-01  4.09202493e-02  0.00000000e+00  9.03557737e+01]
 [-4.09202493e-02  9.99162416e-01  0.00000000e+00 -2.86497979e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.42, Y:-2.86, Z:0.00
[[ 9.98912042e-01  4.66340302e-02  0.00000000e+00  9.04181617e+01]
 [-4.66340302e-02  9.98912042e-01  0.00000000e+00 -2.86489289e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.48, Y:-2.87, Z:0.00
[[ 9.98694286e-01  5.10854420e-02  0.00000000e+00  9.04810658e+01]
 [-5.10854420e-02  9.98694286e-01  0.00000000e+00 -2.86709789e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.54, Y:-2.87, Z:0.00
[[ 9.98561981e-01  5.36094156e-02  0.00000000e+00  9.05420966e+01]
 [-5.36094156e-02  9.98561981e-01  0.00000000e+00 -2.86509835e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.60, Y:-2.87, Z:0.00
[[ 9.98380159e-01  5.68951496e-02  0.00000000e+00  9.06026245e+01]
 [-5.68951496e-02  9.98380159e-01  0.00000000e+00 -2.86771957e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.67, Y:-2.87, Z:0.00
[[ 9.98388352e-01  5.67512052e-02  0.00000000e+00  9.06652677e+01]
 [-5.67512052e-02  9.98388352e-01  0.00000000e+00 -2.87053259e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.73, Y:-2.87, Z:0.00
[[ 9.98457071e-01  5.55290628e-02  0.00000000e+00  9.07253579e+01]
 [-5.55290628e-02  9.98457071e-01  0.00000000e+00 -2.87124338e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.79, Y:-2.88, Z:0.00
[[ 9.98637259e-01  5.21883576e-02  0.00000000e+00  9.07861067e+01]
 [-5.21883576e-02  9.98637259e-01  0.00000000e+00 -2.87518538e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.85, Y:-2.88, Z:0.00
[[ 9.98367737e-01  5.71127065e-02  0.00000000e+00  9.08462352e+01]
 [-5.71127065e-02  9.98367737e-01  0.00000000e+00 -2.87760371e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.91, Y:-2.88, Z:0.00
[[ 9.98432032e-01  5.59774665e-02  0.00000000e+00  9.09073156e+01]
 [-5.59774665e-02  9.98432032e-01  0.00000000e+00 -2.87821853e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:90.97, Y:-2.88, Z:0.00
[[ 9.98457147e-01  5.55277051e-02  0.00000000e+00  9.09688453e+01]
 [-5.55277051e-02  9.98457147e-01  0.00000000e+00 -2.87837766e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.03, Y:-2.88, Z:0.00
[[ 9.98364235e-01  5.71738882e-02  0.00000000e+00  9.10309996e+01]
 [-5.71738882e-02  9.98364235e-01  0.00000000e+00 -2.88072489e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.09, Y:-2.88, Z:0.00
[[ 9.98014978e-01  6.29770018e-02  0.00000000e+00  9.10909947e+01]
 [-6.29770018e-02  9.98014978e-01  0.00000000e+00 -2.88368643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.15, Y:-2.89, Z:0.00
[[ 9.97922238e-01  6.44298611e-02  0.00000000e+00  9.11529127e+01]
 [-6.44298611e-02  9.97922238e-01  0.00000000e+00 -2.88795237e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.21, Y:-2.89, Z:0.00
[[ 9.98294068e-01  5.83862536e-02  0.00000000e+00  9.12123622e+01]
 [-5.83862536e-02  9.98294068e-01  0.00000000e+00 -2.89162304e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.27, Y:-2.90, Z:0.00
[[ 9.98664872e-01  5.16572784e-02  0.00000000e+00  9.12728476e+01]
 [-5.16572784e-02  9.98664872e-01  0.00000000e+00 -2.89815066e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.33, Y:-2.91, Z:0.00
[[ 9.98822395e-01  4.85162168e-02  0.00000000e+00  9.13346811e+01]
 [-4.85162168e-02  9.98822395e-01  0.00000000e+00 -2.90555437e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.40, Y:-2.92, Z:0.00
[[ 9.98898626e-01  4.69205178e-02  0.00000000e+00  9.13961899e+01]
 [-4.69205178e-02  9.98898626e-01  0.00000000e+00 -2.91772982e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.46, Y:-2.92, Z:0.00
[[ 9.98963566e-01  4.55169560e-02  0.00000000e+00  9.14571491e+01]
 [-4.55169560e-02  9.98963566e-01  0.00000000e+00 -2.91929352e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.52, Y:-2.91, Z:0.00
[[ 9.98789195e-01  4.91949512e-02  0.00000000e+00  9.15175450e+01]
 [-4.91949512e-02  9.98789195e-01  0.00000000e+00 -2.91214069e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.58, Y:-2.92, Z:0.00
[[ 9.98798391e-01  4.90079045e-02  0.00000000e+00  9.15784609e+01]
 [-4.90079045e-02  9.98798391e-01  0.00000000e+00 -2.91571888e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.64, Y:-2.92, Z:0.00
[[ 9.98535300e-01  5.41041032e-02  0.00000000e+00  9.16394945e+01]
 [-5.41041032e-02  9.98535300e-01  0.00000000e+00 -2.91669703e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.70, Y:-2.92, Z:0.00
[[ 9.98184368e-01  6.02326167e-02  0.00000000e+00  9.16992669e+01]
 [-6.02326167e-02  9.98184368e-01  0.00000000e+00 -2.91708949e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.76, Y:-2.92, Z:0.00
[[ 9.98062296e-01  6.22226101e-02  0.00000000e+00  9.17617160e+01]
 [-6.22226101e-02  9.98062296e-01  0.00000000e+00 -2.91747168e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.82, Y:-2.92, Z:0.00
[[ 9.97929590e-01  6.43158839e-02  0.00000000e+00  9.18236457e+01]
 [-6.43158839e-02  9.97929590e-01  0.00000000e+00 -2.91964808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.88, Y:-2.93, Z:0.00
[[ 9.97957057e-01  6.38882754e-02  0.00000000e+00  9.18841754e+01]
 [-6.38882754e-02  9.97957057e-01  0.00000000e+00 -2.92589400e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:91.94, Y:-2.93, Z:0.00
[[ 9.98302309e-01  5.82451657e-02  0.00000000e+00  9.19442327e+01]
 [-5.82451657e-02  9.98302309e-01  0.00000000e+00 -2.93317078e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.00, Y:-2.94, Z:0.00
[[ 9.98857421e-01  4.77896785e-02  0.00000000e+00  9.20047570e+01]
 [-4.77896785e-02  9.98857421e-01  0.00000000e+00 -2.93700843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.07, Y:-2.95, Z:0.00
[[ 9.99099269e-01  4.24340779e-02  0.00000000e+00  9.20657485e+01]
 [-4.24340779e-02  9.99099269e-01  0.00000000e+00 -2.94554099e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.13, Y:-2.96, Z:0.00
[[ 9.99394951e-01  3.47812053e-02  0.00000000e+00  9.21270153e+01]
 [-3.47812053e-02  9.99394951e-01  0.00000000e+00 -2.95626211e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.19, Y:-2.95, Z:0.00
[[ 9.99430886e-01  3.37328215e-02  0.00000000e+00  9.21893132e+01]
 [-3.37328215e-02  9.99430886e-01  0.00000000e+00 -2.95168237e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.25, Y:-2.95, Z:0.00
[[ 9.99378725e-01  3.52443391e-02  0.00000000e+00  9.22508973e+01]
 [-3.52443391e-02  9.99378725e-01  0.00000000e+00 -2.95290649e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.31, Y:-2.96, Z:0.00
[[ 9.99277224e-01  3.80135380e-02  0.00000000e+00  9.23104281e+01]
 [-3.80135380e-02  9.99277224e-01  0.00000000e+00 -2.95613651e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.37, Y:-2.95, Z:0.00
[[ 9.99086114e-01  4.27426849e-02  0.00000000e+00  9.23723504e+01]
 [-4.27426849e-02  9.99086114e-01  0.00000000e+00 -2.95392071e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.43, Y:-2.95, Z:0.00
[[ 9.99299773e-01  3.74160927e-02  0.00000000e+00  9.24332740e+01]
 [-3.74160927e-02  9.99299773e-01  0.00000000e+00 -2.95146187e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.50, Y:-2.95, Z:0.00
[[ 9.99174255e-01  4.06301332e-02  0.00000000e+00  9.24950327e+01]
 [-4.06301332e-02  9.99174255e-01  0.00000000e+00 -2.95169425e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.56, Y:-2.95, Z:0.00
[[ 9.99078895e-01  4.29110893e-02  0.00000000e+00  9.25571498e+01]
 [-4.29110893e-02  9.99078895e-01  0.00000000e+00 -2.95369086e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.62, Y:-2.96, Z:0.00
[[ 9.99094910e-01  4.25365704e-02  0.00000000e+00  9.26195260e+01]
 [-4.25365704e-02  9.99094910e-01  0.00000000e+00 -2.95705739e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.68, Y:-2.96, Z:0.00
[[ 9.99139570e-01  4.14743196e-02  0.00000000e+00  9.26807339e+01]
 [-4.14743196e-02  9.99139570e-01  0.00000000e+00 -2.95700139e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.74, Y:-2.96, Z:0.00
[[ 9.99329693e-01  3.66082486e-02  0.00000000e+00  9.27408750e+01]
 [-3.66082486e-02  9.99329693e-01  0.00000000e+00 -2.96251244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.80, Y:-2.96, Z:0.00
[[ 9.99297301e-01  3.74820535e-02  0.00000000e+00  9.28019731e+01]
 [-3.74820535e-02  9.99297301e-01  0.00000000e+00 -2.96475512e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.86, Y:-2.96, Z:0.00
[[ 9.99220903e-01  3.94662696e-02  0.00000000e+00  9.28631646e+01]
 [-3.94662696e-02  9.99220903e-01  0.00000000e+00 -2.96479928e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.92, Y:-2.97, Z:0.00
[[ 9.99255705e-01  3.85750706e-02  0.00000000e+00  9.29246461e+01]
 [-3.85750706e-02  9.99255705e-01  0.00000000e+00 -2.96712119e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:92.99, Y:-2.97, Z:0.00
[[ 9.99379350e-01  3.52266298e-02  0.00000000e+00  9.29867660e+01]
 [-3.52266298e-02  9.99379350e-01  0.00000000e+00 -2.97228001e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.05, Y:-2.98, Z:0.00
[[ 9.99375220e-01  3.53435937e-02  0.00000000e+00  9.30481719e+01]
 [-3.53435937e-02  9.99375220e-01  0.00000000e+00 -2.97517859e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.11, Y:-2.98, Z:0.00
[[ 9.99480967e-01  3.22148611e-02  0.00000000e+00  9.31088937e+01]
 [-3.22148611e-02  9.99480967e-01  0.00000000e+00 -2.97841673e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.17, Y:-2.99, Z:0.00
[[ 9.99554403e-01  2.98495305e-02  0.00000000e+00  9.31700641e+01]
 [-2.98495305e-02  9.99554403e-01  0.00000000e+00 -2.98540893e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.23, Y:-2.99, Z:0.00
[[ 9.99501487e-01  3.15717698e-02  0.00000000e+00  9.32317341e+01]
 [-3.15717698e-02  9.99501487e-01  0.00000000e+00 -2.98862915e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.29, Y:-2.99, Z:0.00
[[ 9.99470333e-01  3.25431088e-02  0.00000000e+00  9.32936496e+01]
 [-3.25431088e-02  9.99470333e-01  0.00000000e+00 -2.98710296e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.36, Y:-2.98, Z:0.00
[[ 9.99403383e-01  3.45380646e-02  0.00000000e+00  9.33556351e+01]
 [-3.45380646e-02  9.99403383e-01  0.00000000e+00 -2.98475610e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.42, Y:-2.99, Z:0.00
[[ 9.99417095e-01  3.41389966e-02  0.00000000e+00  9.34166959e+01]
 [-3.41389966e-02  9.99417095e-01  0.00000000e+00 -2.98858162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.48, Y:-2.99, Z:0.00
[[ 9.99291743e-01  3.76299481e-02  0.00000000e+00  9.34783301e+01]
 [-3.76299481e-02  9.99291743e-01  0.00000000e+00 -2.98898463e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.54, Y:-2.99, Z:0.00
[[ 9.99126585e-01  4.17859660e-02  0.00000000e+00  9.35395739e+01]
 [-4.17859660e-02  9.99126585e-01  0.00000000e+00 -2.98619025e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.60, Y:-2.99, Z:0.00
[[ 9.98887645e-01  4.71537139e-02  0.00000000e+00  9.36005546e+01]
 [-4.71537139e-02  9.98887645e-01  0.00000000e+00 -2.98942008e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.66, Y:-2.99, Z:0.00
[[ 9.98728530e-01  5.04115349e-02  0.00000000e+00  9.36622953e+01]
 [-5.04115349e-02  9.98728530e-01  0.00000000e+00 -2.98864558e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.72, Y:-2.99, Z:0.00
[[ 9.98631092e-01  5.23062267e-02  0.00000000e+00  9.37248269e+01]
 [-5.23062267e-02  9.98631092e-01  0.00000000e+00 -2.98729888e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.79, Y:-2.99, Z:0.00
[[ 9.98517255e-01  5.44361185e-02  0.00000000e+00  9.37871114e+01]
 [-5.44361185e-02  9.98517255e-01  0.00000000e+00 -2.98650397e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.85, Y:-2.99, Z:0.00
[[ 9.98601276e-01  5.28724105e-02  0.00000000e+00  9.38469161e+01]
 [-5.28724105e-02  9.98601276e-01  0.00000000e+00 -2.99075972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.91, Y:-2.99, Z:0.00
[[ 9.98679430e-01  5.13750436e-02  0.00000000e+00  9.39088772e+01]
 [-5.13750436e-02  9.98679430e-01  0.00000000e+00 -2.98913027e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:93.97, Y:-2.99, Z:0.00
[[ 9.98460673e-01  5.54642558e-02  0.00000000e+00  9.39693412e+01]
 [-5.54642558e-02  9.98460673e-01  0.00000000e+00 -2.98794607e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.03, Y:-2.99, Z:0.00
[[ 9.98316962e-01  5.79934781e-02  0.00000000e+00  9.40300202e+01]
 [-5.79934781e-02  9.98316962e-01  0.00000000e+00 -2.99150869e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.09, Y:-3.00, Z:0.00
[[ 9.98285436e-01  5.85336425e-02  0.00000000e+00  9.40922022e+01]
 [-5.85336425e-02  9.98285436e-01  0.00000000e+00 -2.99736660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.15, Y:-3.00, Z:0.00
[[ 9.98310899e-01  5.80977485e-02  0.00000000e+00  9.41529947e+01]
 [-5.80977485e-02  9.98310899e-01  0.00000000e+00 -2.99513020e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.21, Y:-3.00, Z:0.00
[[ 9.98331030e-01  5.77508020e-02  0.00000000e+00  9.42148081e+01]
 [-5.77508020e-02  9.98331030e-01  0.00000000e+00 -3.00036635e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.28, Y:-3.01, Z:0.00
[[ 9.98556899e-01  5.37039973e-02  0.00000000e+00  9.42750547e+01]
 [-5.37039973e-02  9.98556899e-01  0.00000000e+00 -3.01264565e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.34, Y:-3.01, Z:0.00
[[ 9.98580043e-01  5.32719145e-02  0.00000000e+00  9.43353000e+01]
 [-5.32719145e-02  9.98580043e-01  0.00000000e+00 -3.01257265e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.40, Y:-3.02, Z:0.00
[[ 9.98970233e-01  4.53704127e-02  0.00000000e+00  9.43950781e+01]
 [-4.53704127e-02  9.98970233e-01  0.00000000e+00 -3.01671622e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.46, Y:-3.03, Z:0.00
[[ 9.99194487e-01  4.01295157e-02  0.00000000e+00  9.44574668e+01]
 [-4.01295157e-02  9.99194487e-01  0.00000000e+00 -3.02695612e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.52, Y:-3.03, Z:0.00
[[ 9.99100800e-01  4.23980208e-02  0.00000000e+00  9.45196808e+01]
 [-4.23980208e-02  9.99100800e-01  0.00000000e+00 -3.03047172e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.58, Y:-3.03, Z:0.00
[[ 9.99208615e-01  3.97761612e-02  0.00000000e+00  9.45801545e+01]
 [-3.97761612e-02  9.99208615e-01  0.00000000e+00 -3.03484980e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.64, Y:-3.04, Z:0.00
[[ 9.99153594e-01  4.11350937e-02  0.00000000e+00  9.46399016e+01]
 [-4.11350937e-02  9.99153594e-01  0.00000000e+00 -3.03563903e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.70, Y:-3.03, Z:0.00
[[ 9.99102879e-01  4.23490028e-02  0.00000000e+00  9.47016524e+01]
 [-4.23490028e-02  9.99102879e-01  0.00000000e+00 -3.03403141e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.76, Y:-3.03, Z:0.00
[[ 9.98964815e-01  4.54895378e-02  0.00000000e+00  9.47631297e+01]
 [-4.54895378e-02  9.98964815e-01  0.00000000e+00 -3.03448134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.82, Y:-3.04, Z:0.00
[[ 9.98772661e-01  4.95295004e-02  0.00000000e+00  9.48234983e+01]
 [-4.95295004e-02  9.98772661e-01  0.00000000e+00 -3.03929400e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.89, Y:-3.04, Z:0.00
[[ 9.98741784e-01  5.01482684e-02  0.00000000e+00  9.48851420e+01]
 [-5.01482684e-02  9.98741784e-01  0.00000000e+00 -3.03985000e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:94.95, Y:-3.04, Z:0.00
[[ 9.98535181e-01  5.41063073e-02  0.00000000e+00  9.49481965e+01]
 [-5.41063073e-02  9.98535181e-01  0.00000000e+00 -3.03881622e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.01, Y:-3.04, Z:0.00
[[ 9.98702852e-01  5.09177197e-02  0.00000000e+00  9.50097529e+01]
 [-5.09177197e-02  9.98702852e-01  0.00000000e+00 -3.03839709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.07, Y:-3.04, Z:0.00
[[ 9.99099576e-01  4.24268462e-02  0.00000000e+00  9.50706171e+01]
 [-4.24268462e-02  9.99099576e-01  0.00000000e+00 -3.03911524e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.13, Y:-3.04, Z:0.00
[[ 9.99184693e-01  4.03726251e-02  0.00000000e+00  9.51336981e+01]
 [-4.03726251e-02  9.99184693e-01  0.00000000e+00 -3.03870654e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.19, Y:-3.03, Z:0.00
[[ 9.98870243e-01  4.75209159e-02  0.00000000e+00  9.51947157e+01]
 [-4.75209159e-02  9.98870243e-01  0.00000000e+00 -3.03127662e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.26, Y:-3.03, Z:0.00
[[ 9.98465448e-01  5.53782289e-02  0.00000000e+00  9.52552533e+01]
 [-5.53782289e-02  9.98465448e-01  0.00000000e+00 -3.02681101e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.32, Y:-3.03, Z:0.00
[[ 9.97838126e-01  6.57196673e-02  0.00000000e+00  9.53158568e+01]
 [-6.57196673e-02  9.97838126e-01  0.00000000e+00 -3.02714112e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.38, Y:-3.02, Z:0.00
[[ 9.97478246e-01  7.09728773e-02  0.00000000e+00  9.53766464e+01]
 [-7.09728773e-02  9.97478246e-01  0.00000000e+00 -3.02435286e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.44, Y:-3.02, Z:0.00
[[ 9.97146700e-01  7.54881366e-02  0.00000000e+00  9.54370753e+01]
 [-7.54881366e-02  9.97146700e-01  0.00000000e+00 -3.02003602e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.50, Y:-3.03, Z:0.00
[[ 9.97115684e-01  7.58967233e-02  0.00000000e+00  9.54998535e+01]
 [-7.58967233e-02  9.97115684e-01  0.00000000e+00 -3.02588886e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.56, Y:-3.03, Z:0.00
[[ 9.97666650e-01  6.82733947e-02  0.00000000e+00  9.55600690e+01]
 [-6.82733947e-02  9.97666650e-01  0.00000000e+00 -3.03047235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.62, Y:-3.04, Z:0.00
[[ 9.98145058e-01  6.08805661e-02  0.00000000e+00  9.56202211e+01]
 [-6.08805661e-02  9.98145058e-01  0.00000000e+00 -3.03534782e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.68, Y:-3.04, Z:0.00
[[ 9.98530753e-01  5.41879612e-02  0.00000000e+00  9.56811962e+01]
 [-5.41879612e-02  9.98530753e-01  0.00000000e+00 -3.03966718e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.74, Y:-3.05, Z:0.00
[[ 9.98551591e-01  5.38026119e-02  0.00000000e+00  9.57415886e+01]
 [-5.38026119e-02  9.98551591e-01  0.00000000e+00 -3.05123555e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.80, Y:-3.05, Z:0.00
[[ 9.98363513e-01  5.71865023e-02  0.00000000e+00  9.58038588e+01]
 [-5.71865023e-02  9.98363513e-01  0.00000000e+00 -3.05405075e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.86, Y:-3.06, Z:0.00
[[ 9.98408472e-01  5.63961321e-02  0.00000000e+00  9.58640611e+01]
 [-5.63961321e-02  9.98408472e-01  0.00000000e+00 -3.05698564e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.93, Y:-3.06, Z:0.00
[[ 9.98150549e-01  6.07904696e-02  0.00000000e+00  9.59258368e+01]
 [-6.07904696e-02  9.98150549e-01  0.00000000e+00 -3.05664211e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:95.99, Y:-3.06, Z:0.00
[[ 9.97541802e-01  7.00739090e-02  0.00000000e+00  9.59862248e+01]
 [-7.00739090e-02  9.97541802e-01  0.00000000e+00 -3.05507358e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.05, Y:-3.06, Z:0.00
[[ 9.97658801e-01  6.83879861e-02  0.00000000e+00  9.60471969e+01]
 [-6.83879861e-02  9.97658801e-01  0.00000000e+00 -3.05538755e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.11, Y:-3.05, Z:0.00
[[ 9.97551729e-01  6.99324542e-02  0.00000000e+00  9.61087893e+01]
 [-6.99324542e-02  9.97551729e-01  0.00000000e+00 -3.05265373e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.17, Y:-3.05, Z:0.00
[[ 9.97250336e-01  7.41064565e-02  0.00000000e+00  9.61697824e+01]
 [-7.41064565e-02  9.97250336e-01  0.00000000e+00 -3.05379001e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.23, Y:-3.06, Z:0.00
[[ 9.97029715e-01  7.70178388e-02  0.00000000e+00  9.62292030e+01]
 [-7.70178388e-02  9.97029715e-01  0.00000000e+00 -3.05821173e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.29, Y:-3.06, Z:0.00
[[ 9.97289572e-01  7.35765611e-02  0.00000000e+00  9.62885145e+01]
 [-7.35765611e-02  9.97289572e-01  0.00000000e+00 -3.06044973e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.35, Y:-3.06, Z:0.00
[[ 9.97888098e-01  6.49564719e-02  0.00000000e+00  9.63496233e+01]
 [-6.49564719e-02  9.97888098e-01  0.00000000e+00 -3.05883352e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.41, Y:-3.06, Z:0.00
[[ 9.98001778e-01  6.31858516e-02  0.00000000e+00  9.64118581e+01]
 [-6.31858516e-02  9.98001778e-01  0.00000000e+00 -3.05870235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.47, Y:-3.06, Z:0.00
[[ 9.97851974e-01  6.55090749e-02  0.00000000e+00  9.64722322e+01]
 [-6.55090749e-02  9.97851974e-01  0.00000000e+00 -3.05866288e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.53, Y:-3.06, Z:0.00
[[ 9.97434651e-01  7.15829402e-02  0.00000000e+00  9.65330404e+01]
 [-7.15829402e-02  9.97434651e-01  0.00000000e+00 -3.06255522e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.59, Y:-3.06, Z:0.00
[[ 9.97176941e-01  7.50876049e-02  0.00000000e+00  9.65927935e+01]
 [-7.50876049e-02  9.97176941e-01  0.00000000e+00 -3.06089707e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.65, Y:-3.07, Z:0.00
[[ 9.96857398e-01  7.92169716e-02  0.00000000e+00  9.66535889e+01]
 [-7.92169716e-02  9.96857398e-01  0.00000000e+00 -3.06607582e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.71, Y:-3.07, Z:0.00
[[ 9.96729076e-01  8.08155200e-02  0.00000000e+00  9.67133138e+01]
 [-8.08155200e-02  9.96729076e-01  0.00000000e+00 -3.07049778e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.77, Y:-3.07, Z:0.00
[[ 9.96829342e-01  7.95692287e-02  0.00000000e+00  9.67747489e+01]
 [-7.95692287e-02  9.96829342e-01  0.00000000e+00 -3.07417175e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.84, Y:-3.08, Z:0.00
[[ 9.96994336e-01  7.74744710e-02  0.00000000e+00  9.68364520e+01]
 [-7.74744710e-02  9.96994336e-01  0.00000000e+00 -3.07815978e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.90, Y:-3.09, Z:0.00
[[ 9.97339556e-01  7.28958872e-02  0.00000000e+00  9.68969990e+01]
 [-7.28958872e-02  9.97339556e-01  0.00000000e+00 -3.08973157e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:96.96, Y:-3.10, Z:0.00
[[ 9.97718684e-01  6.75087187e-02  0.00000000e+00  9.69572734e+01]
 [-6.75087187e-02  9.97718684e-01  0.00000000e+00 -3.10001415e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.02, Y:-3.11, Z:0.00
[[ 9.98032141e-01  6.27044303e-02  0.00000000e+00  9.70176502e+01]
 [-6.27044303e-02  9.98032141e-01  0.00000000e+00 -3.10900519e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.08, Y:-3.12, Z:0.00
[[ 9.98514944e-01  5.44784960e-02  0.00000000e+00  9.70771249e+01]
 [-5.44784960e-02  9.98514944e-01  0.00000000e+00 -3.11876376e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.14, Y:-3.12, Z:0.00
[[ 9.98641864e-01  5.21001687e-02  0.00000000e+00  9.71385323e+01]
 [-5.21001687e-02  9.98641864e-01  0.00000000e+00 -3.11945247e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.20, Y:-3.12, Z:0.00
[[ 9.98236548e-01  5.93615555e-02  0.00000000e+00  9.71981289e+01]
 [-5.93615555e-02  9.98236548e-01  0.00000000e+00 -3.12154535e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.26, Y:-3.13, Z:0.00
[[ 9.98130818e-01  6.11135904e-02  0.00000000e+00  9.72590128e+01]
 [-6.11135904e-02  9.98130818e-01  0.00000000e+00 -3.12549548e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.32, Y:-3.13, Z:0.00
[[ 9.98219891e-01  5.96410049e-02  0.00000000e+00  9.73198587e+01]
 [-5.96410049e-02  9.98219891e-01  0.00000000e+00 -3.12693395e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.38, Y:-3.13, Z:0.00
[[ 9.98386187e-01  5.67892716e-02  0.00000000e+00  9.73811926e+01]
 [-5.67892716e-02  9.98386187e-01  0.00000000e+00 -3.12859552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.44, Y:-3.13, Z:0.00
[[ 9.98175394e-01  6.03811509e-02  0.00000000e+00  9.74421653e+01]
 [-6.03811509e-02  9.98175394e-01  0.00000000e+00 -3.13103923e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.50, Y:-3.14, Z:0.00
[[ 9.98100177e-01  6.16119908e-02  0.00000000e+00  9.75019169e+01]
 [-6.16119908e-02  9.98100177e-01  0.00000000e+00 -3.13585108e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.56, Y:-3.14, Z:0.00
[[ 9.98196755e-01  6.00269781e-02  0.00000000e+00  9.75646049e+01]
 [-6.00269781e-02  9.98196755e-01  0.00000000e+00 -3.13535394e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.62, Y:-3.14, Z:0.00
[[ 9.98376237e-01  5.69639336e-02  0.00000000e+00  9.76237779e+01]
 [-5.69639336e-02  9.98376237e-01  0.00000000e+00 -3.14030332e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.68, Y:-3.15, Z:0.00
[[ 9.98737163e-01  5.02402101e-02  0.00000000e+00  9.76836648e+01]
 [-5.02402101e-02  9.98737163e-01  0.00000000e+00 -3.15047240e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.75, Y:-3.15, Z:0.00
[[ 9.99177209e-01  4.05574272e-02  0.00000000e+00  9.77456509e+01]
 [-4.05574272e-02  9.99177209e-01  0.00000000e+00 -3.15458933e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.81, Y:-3.16, Z:0.00
[[ 9.99457840e-01  3.29245632e-02  0.00000000e+00  9.78055396e+01]
 [-3.29245632e-02  9.99457840e-01  0.00000000e+00 -3.15993305e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.87, Y:-3.16, Z:0.00
[[ 9.99393306e-01  3.48284461e-02  0.00000000e+00  9.78665413e+01]
 [-3.48284461e-02  9.99393306e-01  0.00000000e+00 -3.16255442e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.93, Y:-3.16, Z:0.00
[[ 9.99329765e-01  3.66062969e-02  0.00000000e+00  9.79271579e+01]
 [-3.66062969e-02  9.99329765e-01  0.00000000e+00 -3.16222296e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:97.99, Y:-3.17, Z:0.00
[[ 9.99463495e-01  3.27524510e-02  0.00000000e+00  9.79878445e+01]
 [-3.27524510e-02  9.99463495e-01  0.00000000e+00 -3.16533754e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.05, Y:-3.17, Z:0.00
[[ 9.99758411e-01  2.19799786e-02  0.00000000e+00  9.80488233e+01]
 [-2.19799786e-02  9.99758411e-01  0.00000000e+00 -3.16611881e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.11, Y:-3.17, Z:0.00
[[ 9.99934123e-01  1.14781878e-02  0.00000000e+00  9.81099203e+01]
 [-1.14781878e-02  9.99934123e-01  0.00000000e+00 -3.17024097e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.17, Y:-3.17, Z:0.00
[[ 9.99999710e-01  7.62151251e-04  0.00000000e+00  9.81707854e+01]
 [-7.62151251e-04  9.99999710e-01  0.00000000e+00 -3.17026275e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.23, Y:-3.17, Z:0.00
[[ 9.99999805e-01 -6.24582994e-04  0.00000000e+00  9.82325252e+01]
 [ 6.24582994e-04  9.99999805e-01  0.00000000e+00 -3.16722782e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.29, Y:-3.16, Z:0.00
[[ 9.99993366e-01 -3.64244029e-03  0.00000000e+00  9.82926992e+01]
 [ 3.64244029e-03  9.99993366e-01  0.00000000e+00 -3.15990898e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.35, Y:-3.15, Z:0.00
[[ 9.99981196e-01 -6.13246660e-03  0.00000000e+00  9.83534916e+01]
 [ 6.13246660e-03  9.99981196e-01  0.00000000e+00 -3.15372053e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.41, Y:-3.14, Z:0.00
[[ 9.99982714e-01 -5.87976215e-03  0.00000000e+00  9.84117182e+01]
 [ 5.87976215e-03  9.99982714e-01  0.00000000e+00 -3.14177526e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.47, Y:-3.13, Z:0.00
[[ 9.99989644e-01 -4.55095489e-03  0.00000000e+00  9.84728588e+01]
 [ 4.55095489e-03  9.99989644e-01  0.00000000e+00 -3.13490125e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.53, Y:-3.12, Z:0.00
[[ 9.99986962e-01  5.10644673e-03  0.00000000e+00  9.85340005e+01]
 [-5.10644673e-03  9.99986962e-01  0.00000000e+00 -3.11902524e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.60, Y:-3.11, Z:0.00
[[ 9.99948212e-01  1.01771428e-02  0.00000000e+00  9.85953276e+01]
 [-1.01771428e-02  9.99948212e-01  0.00000000e+00 -3.11028086e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.66, Y:-3.10, Z:0.00
[[ 9.99811110e-01  1.94356618e-02  0.00000000e+00  9.86559800e+01]
 [-1.94356618e-02  9.99811110e-01  0.00000000e+00 -3.09958897e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.72, Y:-3.10, Z:0.00
[[ 9.99727775e-01  2.33318741e-02  0.00000000e+00  9.87177832e+01]
 [-2.33318741e-02  9.99727775e-01  0.00000000e+00 -3.09834560e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.78, Y:-3.09, Z:0.00
[[ 9.99252917e-01  3.86472293e-02  0.00000000e+00  9.87792361e+01]
 [-3.86472293e-02  9.99252917e-01  0.00000000e+00 -3.08949969e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.84, Y:-3.09, Z:0.00
[[ 9.98785162e-01  4.92767732e-02  0.00000000e+00  9.88410816e+01]
 [-4.92767732e-02  9.98785162e-01  0.00000000e+00 -3.08597729e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.90, Y:-3.09, Z:0.00
[[ 9.98602582e-01  5.28477275e-02  0.00000000e+00  9.89034268e+01]
 [-5.28477275e-02  9.98602582e-01  0.00000000e+00 -3.08622217e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:98.96, Y:-3.09, Z:0.00
[[ 9.98541762e-01  5.39847093e-02  0.00000000e+00  9.89643674e+01]
 [-5.39847093e-02  9.98541762e-01  0.00000000e+00 -3.09346686e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.02, Y:-3.10, Z:0.00
[[ 9.98639767e-01  5.21403558e-02  0.00000000e+00  9.90243933e+01]
 [-5.21403558e-02  9.98639767e-01  0.00000000e+00 -3.10071751e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.09, Y:-3.11, Z:0.00
[[ 9.98673087e-01  5.14982151e-02  0.00000000e+00  9.90853202e+01]
 [-5.14982151e-02  9.98673087e-01  0.00000000e+00 -3.10594106e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.15, Y:-3.12, Z:0.00
[[ 9.98707340e-01  5.08296007e-02  0.00000000e+00  9.91474472e+01]
 [-5.08296007e-02  9.98707340e-01  0.00000000e+00 -3.11695055e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.21, Y:-3.12, Z:0.00
[[ 9.98794143e-01  4.90944029e-02  0.00000000e+00  9.92103593e+01]
 [-4.90944029e-02  9.98794143e-01  0.00000000e+00 -3.12336161e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.27, Y:-3.13, Z:0.00
[[ 9.99039823e-01  4.38113319e-02  0.00000000e+00  9.92705386e+01]
 [-4.38113319e-02  9.99039823e-01  0.00000000e+00 -3.13414263e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.33, Y:-3.14, Z:0.00
[[ 9.99261791e-01  3.84170967e-02  0.00000000e+00  9.93326527e+01]
 [-3.84170967e-02  9.99261791e-01  0.00000000e+00 -3.14102587e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.39, Y:-3.15, Z:0.00
[[ 9.99694009e-01  2.47363589e-02  0.00000000e+00  9.93930275e+01]
 [-2.47363589e-02  9.99694009e-01  0.00000000e+00 -3.15087145e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.45, Y:-3.16, Z:0.00
[[ 9.99865235e-01  1.64168039e-02  0.00000000e+00  9.94532315e+01]
 [-1.64168039e-02  9.99865235e-01  0.00000000e+00 -3.16077691e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.51, Y:-3.17, Z:0.00
[[ 9.99918872e-01  1.27377312e-02  0.00000000e+00  9.95137077e+01]
 [-1.27377312e-02  9.99918872e-01  0.00000000e+00 -3.16585044e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.58, Y:-3.16, Z:0.00
[[ 9.99818060e-01  1.90747943e-02  0.00000000e+00  9.95757797e+01]
 [-1.90747943e-02  9.99818060e-01  0.00000000e+00 -3.16417457e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.64, Y:-3.17, Z:0.00
[[ 9.99492229e-01  3.18635149e-02  0.00000000e+00  9.96362456e+01]
 [-3.18635149e-02  9.99492229e-01  0.00000000e+00 -3.16579697e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.70, Y:-3.17, Z:0.00
[[ 9.99056832e-01  4.34217162e-02  0.00000000e+00  9.96979500e+01]
 [-4.34217162e-02  9.99056832e-01  0.00000000e+00 -3.16605567e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.76, Y:-3.17, Z:0.00
[[ 9.98471990e-01  5.52601581e-02  0.00000000e+00  9.97582189e+01]
 [-5.52601581e-02  9.98471990e-01  0.00000000e+00 -3.16798272e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.82, Y:-3.17, Z:0.00
[[ 9.98366176e-01  5.71399951e-02  0.00000000e+00  9.98206458e+01]
 [-5.71399951e-02  9.98366176e-01  0.00000000e+00 -3.16954982e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.88, Y:-3.18, Z:0.00
[[ 9.98370665e-01  5.70615033e-02  0.00000000e+00  9.98814406e+01]
 [-5.70615033e-02  9.98370665e-01  0.00000000e+00 -3.17739732e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:99.94, Y:-3.19, Z:0.00
[[ 9.98299586e-01  5.82918248e-02  0.00000000e+00  9.99434245e+01]
 [-5.82918248e-02  9.98299586e-01  0.00000000e+00 -3.18619590e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.01, Y:-3.19, Z:0.00
[[ 9.98103865e-01  6.15522172e-02  0.00000000e+00  1.00005323e+02]
 [-6.15522172e-02  9.98103865e-01  0.00000000e+00 -3.18932757e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.07, Y:-3.20, Z:0.00
[[ 9.97589230e-01  6.93954453e-02  0.00000000e+00  1.00066157e+02]
 [-6.93954453e-02  9.97589230e-01  0.00000000e+00 -3.19690732e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.13, Y:-3.21, Z:0.00
[[ 9.97265378e-01  7.39037600e-02  0.00000000e+00  1.00126125e+02]
 [-7.39037600e-02  9.97265378e-01  0.00000000e+00 -3.20702058e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.19, Y:-3.21, Z:0.00
[[ 9.97120851e-01  7.58288084e-02  0.00000000e+00  1.00188171e+02]
 [-7.58288084e-02  9.97120851e-01  0.00000000e+00 -3.21407253e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.25, Y:-3.23, Z:0.00
[[ 9.97166803e-01  7.52221233e-02  0.00000000e+00  1.00248588e+02]
 [-7.52221233e-02  9.97166803e-01  0.00000000e+00 -3.22561627e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.31, Y:-3.24, Z:0.00
[[ 9.97496357e-01  7.07178675e-02  0.00000000e+00  1.00308824e+02]
 [-7.07178675e-02  9.97496357e-01  0.00000000e+00 -3.23677933e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.37, Y:-3.24, Z:0.00
[[ 9.97849762e-01  6.55427579e-02  0.00000000e+00  1.00369113e+02]
 [-6.55427579e-02  9.97849762e-01  0.00000000e+00 -3.24444557e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.43, Y:-3.25, Z:0.00
[[ 9.98000336e-01  6.32086253e-02  0.00000000e+00  1.00430968e+02]
 [-6.32086253e-02  9.98000336e-01  0.00000000e+00 -3.25416323e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.49, Y:-3.26, Z:0.00
[[ 9.98193594e-01  6.00795293e-02  0.00000000e+00  1.00491189e+02]
 [-6.00795293e-02  9.98193594e-01  0.00000000e+00 -3.26233808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.55, Y:-3.26, Z:0.00
[[ 9.98648303e-01  5.19765937e-02  0.00000000e+00  1.00552644e+02]
 [-5.19765937e-02  9.98648303e-01  0.00000000e+00 -3.26380276e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.61, Y:-3.26, Z:0.00
[[ 9.98745491e-01  5.00743867e-02  0.00000000e+00  1.00614607e+02]
 [-5.00743867e-02  9.98745491e-01  0.00000000e+00 -3.26271041e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.68, Y:-3.27, Z:0.00
[[ 9.98781961e-01  4.93416090e-02  0.00000000e+00  1.00675944e+02]
 [-4.93416090e-02  9.98781961e-01  0.00000000e+00 -3.26725749e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.74, Y:-3.27, Z:0.00
[[ 9.99105552e-01  4.22858907e-02  0.00000000e+00  1.00736673e+02]
 [-4.22858907e-02  9.99105552e-01  0.00000000e+00 -3.27375423e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.80, Y:-3.27, Z:0.00
[[ 9.99200009e-01  3.99917790e-02  0.00000000e+00  1.00797407e+02]
 [-3.99917790e-02  9.99200009e-01  0.00000000e+00 -3.27473131e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.86, Y:-3.28, Z:0.00
[[ 9.99285912e-01  3.77844639e-02  0.00000000e+00  1.00856845e+02]
 [-3.77844639e-02  9.99285912e-01  0.00000000e+00 -3.28343408e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.92, Y:-3.28, Z:0.00
[[ 9.99346466e-01  3.61474938e-02  0.00000000e+00  1.00916862e+02]
 [-3.61474938e-02  9.99346466e-01  0.00000000e+00 -3.28416236e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:100.98, Y:-3.28, Z:0.00
[[ 9.99241864e-01  3.89319466e-02  0.00000000e+00  1.00978910e+02]
 [-3.89319466e-02  9.99241864e-01  0.00000000e+00 -3.28256660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.04, Y:-3.29, Z:0.00
[[ 9.98991135e-01  4.49078162e-02  0.00000000e+00  1.01040841e+02]
 [-4.49078162e-02  9.98991135e-01  0.00000000e+00 -3.28760459e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.10, Y:-3.29, Z:0.00
[[ 9.98788173e-01  4.92157001e-02  0.00000000e+00  1.01102913e+02]
 [-4.92157001e-02  9.98788173e-01  0.00000000e+00 -3.28972805e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.17, Y:-3.28, Z:0.00
[[ 9.98681948e-01  5.13260840e-02  0.00000000e+00  1.01165444e+02]
 [-5.13260840e-02  9.98681948e-01  0.00000000e+00 -3.28463653e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.23, Y:-3.29, Z:0.00
[[ 9.98594562e-01  5.29990711e-02  0.00000000e+00  1.01226703e+02]
 [-5.29990711e-02  9.98594562e-01  0.00000000e+00 -3.28930051e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.29, Y:-3.30, Z:0.00
[[ 9.98572550e-01  5.34121851e-02  0.00000000e+00  1.01288789e+02]
 [-5.34121851e-02  9.98572550e-01  0.00000000e+00 -3.29644151e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.35, Y:-3.29, Z:0.00
[[ 9.98985178e-01  4.50401440e-02  0.00000000e+00  1.01350375e+02]
 [-4.50401440e-02  9.98985178e-01  0.00000000e+00 -3.29408532e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.41, Y:-3.29, Z:0.00
[[ 9.99221756e-01  3.94446778e-02  0.00000000e+00  1.01412499e+02]
 [-3.94446778e-02  9.99221756e-01  0.00000000e+00 -3.28754920e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.47, Y:-3.29, Z:0.00
[[ 9.99039952e-01  4.38083864e-02  0.00000000e+00  1.01474279e+02]
 [-4.38083864e-02  9.99039952e-01  0.00000000e+00 -3.28583814e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.53, Y:-3.28, Z:0.00
[[ 9.98612402e-01  5.26618557e-02  0.00000000e+00  1.01534393e+02]
 [-5.26618557e-02  9.98612402e-01  0.00000000e+00 -3.27721251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.60, Y:-3.28, Z:0.00
[[ 9.98508648e-01  5.45937756e-02  0.00000000e+00  1.01596881e+02]
 [-5.45937756e-02  9.98508648e-01  0.00000000e+00 -3.27513675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.66, Y:-3.27, Z:0.00
[[ 9.98297823e-01  5.83220093e-02  0.00000000e+00  1.01658065e+02]
 [-5.83220093e-02  9.98297823e-01  0.00000000e+00 -3.27168809e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.72, Y:-3.27, Z:0.00
[[ 9.97901963e-01  6.47431196e-02  0.00000000e+00  1.01718427e+02]
 [-6.47431196e-02  9.97901963e-01  0.00000000e+00 -3.27169049e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.78, Y:-3.28, Z:0.00
[[ 9.97835051e-01  6.57663304e-02  0.00000000e+00  1.01779496e+02]
 [-6.57663304e-02  9.97835051e-01  0.00000000e+00 -3.27537838e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.84, Y:-3.28, Z:0.00
[[ 9.97643936e-01  6.86044970e-02  0.00000000e+00  1.01840332e+02]
 [-6.86044970e-02  9.97643936e-01  0.00000000e+00 -3.27716773e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.90, Y:-3.28, Z:0.00
[[ 9.97250612e-01  7.41027520e-02  0.00000000e+00  1.01900244e+02]
 [-7.41027520e-02  9.97250612e-01  0.00000000e+00 -3.28405273e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:101.96, Y:-3.29, Z:0.00
[[ 9.96995106e-01  7.74645672e-02  0.00000000e+00  1.01961521e+02]
 [-7.74645672e-02  9.96995106e-01  0.00000000e+00 -3.28696578e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.02, Y:-3.30, Z:0.00
[[ 9.97017735e-01  7.71727674e-02  0.00000000e+00  1.02023745e+02]
 [-7.71727674e-02  9.97017735e-01  0.00000000e+00 -3.29634816e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.09, Y:-3.30, Z:0.00
[[ 9.96971175e-01  7.77719540e-02  0.00000000e+00  1.02085581e+02]
 [-7.77719540e-02  9.96971175e-01  0.00000000e+00 -3.29831942e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.15, Y:-3.30, Z:0.00
[[ 9.96736319e-01  8.07261476e-02  0.00000000e+00  1.02146931e+02]
 [-8.07261476e-02  9.96736319e-01  0.00000000e+00 -3.29908087e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.21, Y:-3.30, Z:0.00
[[ 9.96565387e-01  8.28095966e-02  0.00000000e+00  1.02208564e+02]
 [-8.28095966e-02  9.96565387e-01  0.00000000e+00 -3.30291818e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.27, Y:-3.31, Z:0.00
[[ 9.97008461e-01  7.72924940e-02  0.00000000e+00  1.02268787e+02]
 [-7.72924940e-02  9.97008461e-01  0.00000000e+00 -3.30644634e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.33, Y:-3.31, Z:0.00
[[ 9.97067749e-01  7.65238757e-02  0.00000000e+00  1.02330107e+02]
 [-7.65238757e-02  9.97067749e-01  0.00000000e+00 -3.30728907e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.39, Y:-3.31, Z:0.00
[[ 9.96911538e-01  7.85327072e-02  0.00000000e+00  1.02390686e+02]
 [-7.85327072e-02  9.96911538e-01  0.00000000e+00 -3.31128219e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.45, Y:-3.32, Z:0.00
[[ 9.97435415e-01  7.15722978e-02  0.00000000e+00  1.02450106e+02]
 [-7.15722978e-02  9.97435415e-01  0.00000000e+00 -3.31742436e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.51, Y:-3.32, Z:0.00
[[ 9.97752518e-01  6.70068153e-02  0.00000000e+00  1.02511379e+02]
 [-6.70068153e-02  9.97752518e-01  0.00000000e+00 -3.32215743e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.57, Y:-3.33, Z:0.00
[[ 9.97850170e-01  6.55365474e-02  0.00000000e+00  1.02572839e+02]
 [-6.55365474e-02  9.97850170e-01  0.00000000e+00 -3.32525606e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.64, Y:-3.33, Z:0.00
[[ 9.97952487e-01  6.39596244e-02  0.00000000e+00  1.02635010e+02]
 [-6.39596244e-02  9.97952487e-01  0.00000000e+00 -3.32897941e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.70, Y:-3.34, Z:0.00
[[ 9.98260631e-01  5.89551694e-02  0.00000000e+00  1.02696381e+02]
 [-5.89551694e-02  9.98260631e-01  0.00000000e+00 -3.33780456e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.76, Y:-3.34, Z:0.00
[[ 9.98541046e-01  5.39979622e-02  0.00000000e+00  1.02756187e+02]
 [-5.39979622e-02  9.98541046e-01  0.00000000e+00 -3.34287509e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.82, Y:-3.35, Z:0.00
[[ 9.98582876e-01  5.32187910e-02  0.00000000e+00  1.02818105e+02]
 [-5.32187910e-02  9.98582876e-01  0.00000000e+00 -3.34907357e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.88, Y:-3.35, Z:0.00
[[ 9.98577949e-01  5.33111575e-02  0.00000000e+00  1.02879061e+02]
 [-5.33111575e-02  9.98577949e-01  0.00000000e+00 -3.35335153e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:102.94, Y:-3.35, Z:0.00
[[ 9.98403283e-01  5.64879208e-02  0.00000000e+00  1.02940161e+02]
 [-5.64879208e-02  9.98403283e-01  0.00000000e+00 -3.35484490e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.00, Y:-3.35, Z:0.00
[[ 9.97984220e-01  6.34625633e-02  0.00000000e+00  1.03002045e+02]
 [-6.34625633e-02  9.97984220e-01  0.00000000e+00 -3.35292662e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.06, Y:-3.35, Z:0.00
[[ 9.97320469e-01  7.31565589e-02  0.00000000e+00  1.03061967e+02]
 [-7.31565589e-02  9.97320469e-01  0.00000000e+00 -3.34622411e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.12, Y:-3.35, Z:0.00
[[ 9.96982843e-01  7.76222258e-02  0.00000000e+00  1.03123652e+02]
 [-7.76222258e-02  9.96982843e-01  0.00000000e+00 -3.34781518e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.19, Y:-3.35, Z:0.00
[[ 9.96967615e-01  7.78175762e-02  0.00000000e+00  1.03186496e+02]
 [-7.78175762e-02  9.96967615e-01  0.00000000e+00 -3.34960969e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.25, Y:-3.34, Z:0.00
[[ 9.97435505e-01  7.15710313e-02  0.00000000e+00  1.03247797e+02]
 [-7.15710313e-02  9.97435505e-01  0.00000000e+00 -3.33896876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.31, Y:-3.33, Z:0.00
[[ 9.97263677e-01  7.39267144e-02  0.00000000e+00  1.03309638e+02]
 [-7.39267144e-02  9.97263677e-01  0.00000000e+00 -3.32700149e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.37, Y:-3.32, Z:0.00
[[ 9.97144738e-01  7.55140417e-02  0.00000000e+00  1.03371570e+02]
 [-7.55140417e-02  9.97144738e-01  0.00000000e+00 -3.32067244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.43, Y:-3.31, Z:0.00
[[ 9.96823097e-01  7.96474363e-02  0.00000000e+00  1.03434634e+02]
 [-7.96474363e-02  9.96823097e-01  0.00000000e+00 -3.31029823e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.50, Y:-3.30, Z:0.00
[[ 9.96552288e-01  8.29670889e-02  0.00000000e+00  1.03495713e+02]
 [-8.29670889e-02  9.96552288e-01  0.00000000e+00 -3.30454871e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.56, Y:-3.30, Z:0.00
[[ 9.96460876e-01  8.40578530e-02  0.00000000e+00  1.03557258e+02]
 [-8.40578530e-02  9.96460876e-01  0.00000000e+00 -3.30016012e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.62, Y:-3.30, Z:0.00
[[ 9.96732015e-01  8.07792652e-02  0.00000000e+00  1.03619543e+02]
 [-8.07792652e-02  9.96732015e-01  0.00000000e+00 -3.30196363e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.68, Y:-3.31, Z:0.00
[[ 9.97157942e-01  7.53394911e-02  0.00000000e+00  1.03680423e+02]
 [-7.53394911e-02  9.97157942e-01  0.00000000e+00 -3.30589214e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.74, Y:-3.31, Z:0.00
[[ 9.97689512e-01  6.79384870e-02  0.00000000e+00  1.03739720e+02]
 [-6.79384870e-02  9.97689512e-01  0.00000000e+00 -3.31123569e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.80, Y:-3.32, Z:0.00
[[ 9.97864154e-01  6.53232806e-02  0.00000000e+00  1.03801440e+02]
 [-6.53232806e-02  9.97864154e-01  0.00000000e+00 -3.31752660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.86, Y:-3.33, Z:0.00
[[ 9.97931366e-01  6.42883226e-02  0.00000000e+00  1.03861701e+02]
 [-6.42883226e-02  9.97931366e-01  0.00000000e+00 -3.32777243e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.92, Y:-3.34, Z:0.00
[[ 9.97570925e-01  6.96580875e-02  0.00000000e+00  1.03921207e+02]
 [-6.96580875e-02  9.97570925e-01  0.00000000e+00 -3.34065709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:103.98, Y:-3.34, Z:0.00
[[ 9.97063225e-01  7.65827985e-02  0.00000000e+00  1.03982119e+02]
 [-7.65827985e-02  9.97063225e-01  0.00000000e+00 -3.34046193e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.04, Y:-3.35, Z:0.00
[[ 9.96267737e-01  8.63168330e-02  0.00000000e+00  1.04041228e+02]
 [-8.63168330e-02  9.96267737e-01  0.00000000e+00 -3.35215404e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.10, Y:-3.36, Z:0.00
[[ 9.95857438e-01  9.09283358e-02  0.00000000e+00  1.04102278e+02]
 [-9.09283358e-02  9.95857438e-01  0.00000000e+00 -3.35926136e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.16, Y:-3.37, Z:0.00
[[ 9.95400898e-01  9.57969371e-02  0.00000000e+00  1.04162582e+02]
 [-9.57969371e-02  9.95400898e-01  0.00000000e+00 -3.36655310e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.22, Y:-3.37, Z:0.00
[[ 9.95193932e-01  9.79236327e-02  0.00000000e+00  1.04224279e+02]
 [-9.79236327e-02  9.95193932e-01  0.00000000e+00 -3.37367224e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.28, Y:-3.38, Z:0.00
[[ 9.94955161e-01  1.00320619e-01  0.00000000e+00  1.04284552e+02]
 [-1.00320619e-01  9.94955161e-01  0.00000000e+00 -3.38402743e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.35, Y:-3.40, Z:0.00
[[ 9.94913926e-01  1.00728741e-01  0.00000000e+00  1.04345383e+02]
 [-1.00728741e-01  9.94913926e-01  0.00000000e+00 -3.39559797e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.41, Y:-3.41, Z:0.00
[[ 9.95949499e-01  8.99143793e-02  0.00000000e+00  1.04405698e+02]
 [-8.99143793e-02  9.95949499e-01  0.00000000e+00 -3.41319423e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.47, Y:-3.43, Z:0.00
[[ 9.97636965e-01  6.87057997e-02  0.00000000e+00  1.04465470e+02]
 [-6.87057997e-02  9.97636965e-01  0.00000000e+00 -3.42824176e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.52, Y:-3.44, Z:0.00
[[ 9.98178644e-01  6.03273939e-02  0.00000000e+00  1.04524626e+02]
 [-6.03273939e-02  9.98178644e-01  0.00000000e+00 -3.43629816e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.59, Y:-3.44, Z:0.00
[[ 9.97988032e-01  6.34025796e-02  0.00000000e+00  1.04585696e+02]
 [-6.34025796e-02  9.97988032e-01  0.00000000e+00 -3.44047422e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.65, Y:-3.45, Z:0.00
[[ 9.98206126e-01  5.98709471e-02  0.00000000e+00  1.04646116e+02]
 [-5.98709471e-02  9.98206126e-01  0.00000000e+00 -3.44897791e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.71, Y:-3.45, Z:0.00
[[ 9.98088321e-01  6.18037561e-02  0.00000000e+00  1.04706717e+02]
 [-6.18037561e-02  9.98088321e-01  0.00000000e+00 -3.44950507e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.77, Y:-3.45, Z:0.00
[[ 9.98173921e-01  6.04054943e-02  0.00000000e+00  1.04767389e+02]
 [-6.04054943e-02  9.98173921e-01  0.00000000e+00 -3.45384930e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.83, Y:-3.46, Z:0.00
[[ 9.98090246e-01  6.17726488e-02  0.00000000e+00  1.04829067e+02]
 [-6.17726488e-02  9.98090246e-01  0.00000000e+00 -3.45640504e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.89, Y:-3.46, Z:0.00
[[ 9.98114932e-01  6.13724864e-02  0.00000000e+00  1.04889393e+02]
 [-6.13724864e-02  9.98114932e-01  0.00000000e+00 -3.45933502e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:104.95, Y:-3.46, Z:0.00
[[ 9.98229209e-01  5.94848383e-02  0.00000000e+00  1.04951711e+02]
 [-5.94848383e-02  9.98229209e-01  0.00000000e+00 -3.46198476e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.01, Y:-3.46, Z:0.00
[[ 9.98276453e-01  5.86866596e-02  0.00000000e+00  1.05013379e+02]
 [-5.86866596e-02  9.98276453e-01  0.00000000e+00 -3.46271204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.07, Y:-3.46, Z:0.00
[[ 9.98268562e-01  5.88207279e-02  0.00000000e+00  1.05073656e+02]
 [-5.88207279e-02  9.98268562e-01  0.00000000e+00 -3.46479881e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.13, Y:-3.47, Z:0.00
[[ 9.98108911e-01  6.14703357e-02  0.00000000e+00  1.05134094e+02]
 [-6.14703357e-02  9.98108911e-01  0.00000000e+00 -3.46571010e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.20, Y:-3.47, Z:0.00
[[ 9.97909536e-01  6.46262992e-02  0.00000000e+00  1.05195292e+02]
 [-6.46262992e-02  9.97909536e-01  0.00000000e+00 -3.46704325e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.26, Y:-3.47, Z:0.00
[[ 9.97732617e-01  6.73024946e-02  0.00000000e+00  1.05256688e+02]
 [-6.73024946e-02  9.97732617e-01  0.00000000e+00 -3.46650852e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.32, Y:-3.47, Z:0.00
[[ 9.97324853e-01  7.30967628e-02  0.00000000e+00  1.05318651e+02]
 [-7.30967628e-02  9.97324853e-01  0.00000000e+00 -3.46528076e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.38, Y:-3.47, Z:0.00
[[ 9.96839994e-01  7.94356786e-02  0.00000000e+00  1.05378356e+02]
 [-7.94356786e-02  9.96839994e-01  0.00000000e+00 -3.46613382e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.44, Y:-3.46, Z:0.00
[[ 9.96255745e-01  8.64551339e-02  0.00000000e+00  1.05439331e+02]
 [-8.64551339e-02  9.96255745e-01  0.00000000e+00 -3.45817351e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.50, Y:-3.45, Z:0.00
[[ 9.95853446e-01  9.09720497e-02  0.00000000e+00  1.05500427e+02]
 [-9.09720497e-02  9.95853446e-01  0.00000000e+00 -3.44652991e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.56, Y:-3.44, Z:0.00
[[ 9.95477653e-01  9.49960130e-02  0.00000000e+00  1.05561958e+02]
 [-9.49960130e-02  9.95477653e-01  0.00000000e+00 -3.43901285e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.62, Y:-3.43, Z:0.00
[[ 9.94714338e-01  1.02680992e-01  0.00000000e+00  1.05623804e+02]
 [-1.02680992e-01  9.94714338e-01  0.00000000e+00 -3.42995011e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.69, Y:-3.42, Z:0.00
[[  0.99435968   0.10606045   0.         105.6855729 ]
 [ -0.10606045   0.99435968   0.          -3.42417807]
 [  0.           0.           1.           0.        ]
 [  0.           0.           0.           1.        ]]

 SLAMing on 105.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.75, Y:-3.41, Z:0.00
[[  0.99401193   0.10927162   0.         105.74590387]
 [ -0.10927162   0.99401193   0.          -3.41397334]
 [  0.           0.           1.           0.        ]
 [  0.           0.           0.           1.        ]]

 SLAMing on 105.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.81, Y:-3.41, Z:0.00
[[  0.99406044   0.10882945   0.         105.80787929]
 [ -0.10882945   0.99406044   0.          -3.41111736]
 [  0.           0.           1.           0.        ]
 [  0.           0.           0.           1.        ]]

 SLAMing on 105.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.87, Y:-3.41, Z:0.00
[[ 9.94458540e-01  1.05129506e-01  0.00000000e+00  1.05868595e+02]
 [-1.05129506e-01  9.94458540e-01  0.00000000e+00 -3.40898238e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.93, Y:-3.41, Z:0.00
[[ 9.95097258e-01  9.89011941e-02  0.00000000e+00  1.05928185e+02]
 [-9.89011941e-02  9.95097258e-01  0.00000000e+00 -3.41164576e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:105.99, Y:-3.42, Z:0.00
[[ 9.97032557e-01  7.69810376e-02  0.00000000e+00  1.05988958e+02]
 [-7.69810376e-02  9.97032557e-01  0.00000000e+00 -3.41999705e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.05, Y:-3.43, Z:0.00
[[ 9.98523215e-01  5.43266828e-02  0.00000000e+00  1.06048431e+02]
 [-5.43266828e-02  9.98523215e-01  0.00000000e+00 -3.42823715e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.11, Y:-3.43, Z:0.00
[[ 9.99075501e-01  4.29900486e-02  0.00000000e+00  1.06110204e+02]
 [-4.29900486e-02  9.99075501e-01  0.00000000e+00 -3.43476106e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.17, Y:-3.44, Z:0.00
[[ 9.99220260e-01  3.94825543e-02  0.00000000e+00  1.06170342e+02]
 [-3.94825543e-02  9.99220260e-01  0.00000000e+00 -3.44048506e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.23, Y:-3.45, Z:0.00
[[ 9.98929336e-01  4.62620972e-02  0.00000000e+00  1.06233066e+02]
 [-4.62620972e-02  9.98929336e-01  0.00000000e+00 -3.44652867e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.29, Y:-3.45, Z:0.00
[[ 9.98358850e-01  5.72678443e-02  0.00000000e+00  1.06293603e+02]
 [-5.72678443e-02  9.98358850e-01  0.00000000e+00 -3.45299769e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.35, Y:-3.46, Z:0.00
[[ 9.97880721e-01  6.50697067e-02  0.00000000e+00  1.06353272e+02]
 [-6.50697067e-02  9.97880721e-01  0.00000000e+00 -3.45598121e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.41, Y:-3.46, Z:0.00
[[ 9.97256432e-01  7.40243760e-02  0.00000000e+00  1.06413894e+02]
 [-7.40243760e-02  9.97256432e-01  0.00000000e+00 -3.46156957e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.47, Y:-3.47, Z:0.00
[[ 9.97098794e-01  7.61183010e-02  0.00000000e+00  1.06474179e+02]
 [-7.61183010e-02  9.97098794e-01  0.00000000e+00 -3.46710385e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.54, Y:-3.48, Z:0.00
[[ 9.96882811e-01  7.88965280e-02  0.00000000e+00  1.06535049e+02]
 [-7.88965280e-02  9.96882811e-01  0.00000000e+00 -3.47781548e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.60, Y:-3.49, Z:0.00
[[ 9.96798351e-01  7.99565304e-02  0.00000000e+00  1.06595549e+02]
 [-7.99565304e-02  9.96798351e-01  0.00000000e+00 -3.48549937e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.66, Y:-3.50, Z:0.00
[[ 9.97215683e-01  7.45713243e-02  0.00000000e+00  1.06655883e+02]
 [-7.45713243e-02  9.97215683e-01  0.00000000e+00 -3.50046234e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.72, Y:-3.51, Z:0.00
[[ 9.97521322e-01  7.03648499e-02  0.00000000e+00  1.06716058e+02]
 [-7.03648499e-02  9.97521322e-01  0.00000000e+00 -3.51265565e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.78, Y:-3.53, Z:0.00
[[ 9.97772670e-01  6.67060639e-02  0.00000000e+00  1.06776644e+02]
 [-6.67060639e-02  9.97772670e-01  0.00000000e+00 -3.52719895e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.84, Y:-3.54, Z:0.00
[[ 9.97840123e-01  6.56893308e-02  0.00000000e+00  1.06838404e+02]
 [-6.56893308e-02  9.97840123e-01  0.00000000e+00 -3.53660712e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.90, Y:-3.55, Z:0.00
[[ 9.98474016e-01  5.52235466e-02  0.00000000e+00  1.06898876e+02]
 [-5.52235466e-02  9.98474016e-01  0.00000000e+00 -3.54781545e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:106.96, Y:-3.55, Z:0.00
[[ 9.98552899e-01  5.37783163e-02  0.00000000e+00  1.06958869e+02]
 [-5.37783163e-02  9.98552899e-01  0.00000000e+00 -3.55325416e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.02, Y:-3.55, Z:0.00
[[ 9.98323880e-01  5.78742644e-02  0.00000000e+00  1.07020916e+02]
 [-5.78742644e-02  9.98323880e-01  0.00000000e+00 -3.55456772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.08, Y:-3.55, Z:0.00
[[ 9.98053808e-01  6.23586130e-02  0.00000000e+00  1.07081841e+02]
 [-6.23586130e-02  9.98053808e-01  0.00000000e+00 -3.55000279e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.14, Y:-3.55, Z:0.00
[[ 9.97775426e-01  6.66648224e-02  0.00000000e+00  1.07143096e+02]
 [-6.66648224e-02  9.97775426e-01  0.00000000e+00 -3.54991385e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.20, Y:-3.55, Z:0.00
[[ 9.97133230e-01  7.56658526e-02  0.00000000e+00  1.07203069e+02]
 [-7.56658526e-02  9.97133230e-01  0.00000000e+00 -3.54674061e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.26, Y:-3.55, Z:0.00
[[ 9.96759845e-01  8.04351386e-02  0.00000000e+00  1.07264422e+02]
 [-8.04351386e-02  9.96759845e-01  0.00000000e+00 -3.54671366e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.32, Y:-3.54, Z:0.00
[[ 9.96176526e-01  8.73632046e-02  0.00000000e+00  1.07324361e+02]
 [-8.73632046e-02  9.96176526e-01  0.00000000e+00 -3.54237567e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.39, Y:-3.54, Z:0.00
[[ 9.95959422e-01  8.98044023e-02  0.00000000e+00  1.07385059e+02]
 [-8.98044023e-02  9.95959422e-01  0.00000000e+00 -3.54412564e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.45, Y:-3.55, Z:0.00
[[ 9.95968617e-01  8.97023640e-02  0.00000000e+00  1.07446649e+02]
 [-8.97023640e-02  9.95968617e-01  0.00000000e+00 -3.54745760e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.51, Y:-3.55, Z:0.00
[[ 9.96231596e-01  8.67329591e-02  0.00000000e+00  1.07507704e+02]
 [-8.67329591e-02  9.96231596e-01  0.00000000e+00 -3.55119128e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.57, Y:-3.56, Z:0.00
[[ 9.96756307e-01  8.04789725e-02  0.00000000e+00  1.07568669e+02]
 [-8.04789725e-02  9.96756307e-01  0.00000000e+00 -3.55623834e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.63, Y:-3.56, Z:0.00
[[ 9.97023063e-01  7.71038974e-02  0.00000000e+00  1.07629186e+02]
 [-7.71038974e-02  9.97023063e-01  0.00000000e+00 -3.56185406e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.69, Y:-3.57, Z:0.00
[[ 9.97205967e-01  7.47011350e-02  0.00000000e+00  1.07691121e+02]
 [-7.47011350e-02  9.97205967e-01  0.00000000e+00 -3.56624244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.75, Y:-3.57, Z:0.00
[[ 9.97259442e-01  7.39838240e-02  0.00000000e+00  1.07752946e+02]
 [-7.39838240e-02  9.97259442e-01  0.00000000e+00 -3.56920323e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.81, Y:-3.57, Z:0.00
[[ 9.97065784e-01  7.65494740e-02  0.00000000e+00  1.07814705e+02]
 [-7.65494740e-02  9.97065784e-01  0.00000000e+00 -3.57473428e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.87, Y:-3.58, Z:0.00
[[ 9.96838935e-01  7.94489621e-02  0.00000000e+00  1.07874405e+02]
 [-7.94489621e-02  9.96838935e-01  0.00000000e+00 -3.58148380e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:107.94, Y:-3.58, Z:0.00
[[ 9.96926063e-01  7.83481059e-02  0.00000000e+00  1.07936900e+02]
 [-7.83481059e-02  9.96926063e-01  0.00000000e+00 -3.58488656e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.00, Y:-3.59, Z:0.00
[[ 9.97334025e-01  7.29715227e-02  0.00000000e+00  1.07996106e+02]
 [-7.29715227e-02  9.97334025e-01  0.00000000e+00 -3.58978100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.06, Y:-3.60, Z:0.00
[[ 9.97691543e-01  6.79086481e-02  0.00000000e+00  1.08057308e+02]
 [-6.79086481e-02  9.97691543e-01  0.00000000e+00 -3.59592764e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.12, Y:-3.60, Z:0.00
[[ 9.97701968e-01  6.77553221e-02  0.00000000e+00  1.08118568e+02]
 [-6.77553221e-02  9.97701968e-01  0.00000000e+00 -3.59896553e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.18, Y:-3.60, Z:0.00
[[ 9.97629330e-01  6.88165705e-02  0.00000000e+00  1.08179930e+02]
 [-6.88165705e-02  9.97629330e-01  0.00000000e+00 -3.60103503e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.24, Y:-3.60, Z:0.00
[[ 9.98134902e-01  6.10468443e-02  0.00000000e+00  1.08241626e+02]
 [-6.10468443e-02  9.98134902e-01  0.00000000e+00 -3.60041575e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.30, Y:-3.60, Z:0.00
[[ 9.97700081e-01  6.77830915e-02  0.00000000e+00  1.08301979e+02]
 [-6.77830915e-02  9.97700081e-01  0.00000000e+00 -3.59631032e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.36, Y:-3.60, Z:0.00
[[ 9.97647739e-01  6.85491730e-02  0.00000000e+00  1.08362740e+02]
 [-6.85491730e-02  9.97647739e-01  0.00000000e+00 -3.59818667e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.42, Y:-3.60, Z:0.00
[[ 9.97673531e-01  6.81727556e-02  0.00000000e+00  1.08424047e+02]
 [-6.81727556e-02  9.97673531e-01  0.00000000e+00 -3.59951967e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.48, Y:-3.59, Z:0.00
[[ 9.97031956e-01  7.69888208e-02  0.00000000e+00  1.08484750e+02]
 [-7.69888208e-02  9.97031956e-01  0.00000000e+00 -3.59028461e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.55, Y:-3.59, Z:0.00
[[ 9.96316312e-01  8.57543373e-02  0.00000000e+00  1.08545425e+02]
 [-8.57543373e-02  9.96316312e-01  0.00000000e+00 -3.58628643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.61, Y:-3.59, Z:0.00
[[ 9.95606962e-01  9.36310674e-02  0.00000000e+00  1.08605617e+02]
 [-9.36310674e-02  9.95606962e-01  0.00000000e+00 -3.59016929e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.67, Y:-3.59, Z:0.00
[[ 9.95651214e-01  9.31593224e-02  0.00000000e+00  1.08668065e+02]
 [-9.31593224e-02  9.95651214e-01  0.00000000e+00 -3.59203608e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.73, Y:-3.59, Z:0.00
[[ 9.96108665e-01  8.81335783e-02  0.00000000e+00  1.08728800e+02]
 [-8.81335783e-02  9.96108665e-01  0.00000000e+00 -3.59388511e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.79, Y:-3.60, Z:0.00
[[ 9.96430337e-01  8.44190922e-02  0.00000000e+00  1.08789411e+02]
 [-8.44190922e-02  9.96430337e-01  0.00000000e+00 -3.59859159e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.85, Y:-3.61, Z:0.00
[[ 9.96626865e-01  8.20663841e-02  0.00000000e+00  1.08849788e+02]
 [-8.20663841e-02  9.96626865e-01  0.00000000e+00 -3.60683905e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.91, Y:-3.61, Z:0.00
[[ 9.96567464e-01  8.27845964e-02  0.00000000e+00  1.08910857e+02]
 [-8.27845964e-02  9.96567464e-01  0.00000000e+00 -3.60763190e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:108.97, Y:-3.61, Z:0.00
[[ 9.96431416e-01  8.44063527e-02  0.00000000e+00  1.08972805e+02]
 [-8.44063527e-02  9.96431416e-01  0.00000000e+00 -3.61280383e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.03, Y:-3.62, Z:0.00
[[ 9.96459778e-01  8.40708727e-02  0.00000000e+00  1.09032447e+02]
 [-8.40708727e-02  9.96459778e-01  0.00000000e+00 -3.62307352e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.09, Y:-3.64, Z:0.00
[[ 9.96839707e-01  7.94392817e-02  0.00000000e+00  1.09093052e+02]
 [-7.94392817e-02  9.96839707e-01  0.00000000e+00 -3.63719645e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.15, Y:-3.64, Z:0.00
[[ 9.97206960e-01  7.46878737e-02  0.00000000e+00  1.09154876e+02]
 [-7.46878737e-02  9.97206960e-01  0.00000000e+00 -3.64119348e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.21, Y:-3.65, Z:0.00
[[ 9.97739892e-01  6.71945475e-02  0.00000000e+00  1.09214773e+02]
 [-6.71945475e-02  9.97739892e-01  0.00000000e+00 -3.65119294e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.27, Y:-3.67, Z:0.00
[[ 9.97980303e-01  6.35241244e-02  0.00000000e+00  1.09274720e+02]
 [-6.35241244e-02  9.97980303e-01  0.00000000e+00 -3.66627125e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.34, Y:-3.67, Z:0.00
[[ 9.98447306e-01  5.57043738e-02  0.00000000e+00  1.09337546e+02]
 [-5.57043738e-02  9.98447306e-01  0.00000000e+00 -3.67056841e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.40, Y:-3.67, Z:0.00
[[ 9.98554177e-01  5.37545802e-02  0.00000000e+00  1.09398477e+02]
 [-5.37545802e-02  9.98554177e-01  0.00000000e+00 -3.66790978e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.46, Y:-3.67, Z:0.00
[[ 9.98328982e-01  5.77861909e-02  0.00000000e+00  1.09460764e+02]
 [-5.77861909e-02  9.98328982e-01  0.00000000e+00 -3.66668359e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.52, Y:-3.67, Z:0.00
[[ 9.98146885e-01  6.08506081e-02  0.00000000e+00  1.09522219e+02]
 [-6.08506081e-02  9.98146885e-01  0.00000000e+00 -3.67030169e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.58, Y:-3.67, Z:0.00
[[ 9.98107516e-01  6.14929815e-02  0.00000000e+00  1.09583980e+02]
 [-6.14929815e-02  9.98107516e-01  0.00000000e+00 -3.67477466e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.65, Y:-3.67, Z:0.00
[[ 9.98388097e-01  5.67556856e-02  0.00000000e+00  1.09646402e+02]
 [-5.67556856e-02  9.98388097e-01  0.00000000e+00 -3.67266004e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.71, Y:-3.67, Z:0.00
[[ 9.98408743e-01  5.63913222e-02  0.00000000e+00  1.09708719e+02]
 [-5.63913222e-02  9.98408743e-01  0.00000000e+00 -3.67180548e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.77, Y:-3.67, Z:0.00
[[ 9.98200436e-01  5.99657414e-02  0.00000000e+00  1.09770363e+02]
 [-5.99657414e-02  9.98200436e-01  0.00000000e+00 -3.67354730e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.83, Y:-3.68, Z:0.00
[[ 9.97815420e-01  6.60635111e-02  0.00000000e+00  1.09830538e+02]
 [-6.60635111e-02  9.97815420e-01  0.00000000e+00 -3.67540804e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.89, Y:-3.68, Z:0.00
[[ 9.97607848e-01  6.91272837e-02  0.00000000e+00  1.09892087e+02]
 [-6.91272837e-02  9.97607848e-01  0.00000000e+00 -3.67574141e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.95, Y:-3.68, Z:0.00
[[ 9.97563155e-01  6.97692776e-02  0.00000000e+00  1.09953226e+02]
 [-6.97692776e-02  9.97563155e-01  0.00000000e+00 -3.67675746e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.02, Y:-3.68, Z:0.00
[[ 9.97482798e-01  7.09088722e-02  0.00000000e+00  1.10015092e+02]
 [-7.09088722e-02  9.97482798e-01  0.00000000e+00 -3.67984615e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.08, Y:-3.68, Z:0.00
[[ 9.97182775e-01  7.50100862e-02  0.00000000e+00  1.10075598e+02]
 [-7.50100862e-02  9.97182775e-01  0.00000000e+00 -3.68378450e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.14, Y:-3.69, Z:0.00
[[ 9.96505626e-01  8.35256704e-02  0.00000000e+00  1.10136425e+02]
 [-8.35256704e-02  9.96505626e-01  0.00000000e+00 -3.68555860e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.20, Y:-3.69, Z:0.00
[[ 9.95910289e-01  9.03476385e-02  0.00000000e+00  1.10196523e+02]
 [-9.03476385e-02  9.95910289e-01  0.00000000e+00 -3.68592200e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.26, Y:-3.68, Z:0.00
[[ 9.95516291e-01  9.45902429e-02  0.00000000e+00  1.10257229e+02]
 [-9.45902429e-02  9.95516291e-01  0.00000000e+00 -3.68449055e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.32, Y:-3.69, Z:0.00
[[ 9.95702019e-01  9.26147345e-02  0.00000000e+00  1.10318339e+02]
 [-9.26147345e-02  9.95702019e-01  0.00000000e+00 -3.68662475e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.38, Y:-3.69, Z:0.00
[[ 9.95760926e-01  9.19792243e-02  0.00000000e+00  1.10378746e+02]
 [-9.19792243e-02  9.95760926e-01  0.00000000e+00 -3.69059364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.44, Y:-3.70, Z:0.00
[[ 9.95942510e-01  8.99917625e-02  0.00000000e+00  1.10440404e+02]
 [-8.99917625e-02  9.95942510e-01  0.00000000e+00 -3.69525482e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.50, Y:-3.70, Z:0.00
[[ 9.96203916e-01  8.70503121e-02  0.00000000e+00  1.10499728e+02]
 [-8.70503121e-02  9.96203916e-01  0.00000000e+00 -3.70008124e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.92606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.56, Y:-3.71, Z:0.00
[[ 9.96959349e-01  7.79234067e-02  0.00000000e+00  1.10560504e+02]
 [-7.79234067e-02  9.96959349e-01  0.00000000e+00 -3.70735735e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.62, Y:-3.71, Z:0.00
[[ 9.97467248e-01  7.11272695e-02  0.00000000e+00  1.10621531e+02]
 [-7.11272695e-02  9.97467248e-01  0.00000000e+00 -3.71010513e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.68, Y:-3.71, Z:0.00
[[ 9.97793985e-01  6.63864691e-02  0.00000000e+00  1.10681851e+02]
 [-6.63864691e-02  9.97793985e-01  0.00000000e+00 -3.71395727e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.74, Y:-3.71, Z:0.00
[[ 9.97736106e-01  6.72507383e-02  0.00000000e+00  1.10742578e+02]
 [-6.72507383e-02  9.97736106e-01  0.00000000e+00 -3.71480242e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.80, Y:-3.72, Z:0.00
[[ 9.97624394e-01  6.88880806e-02  0.00000000e+00  1.10804093e+02]
 [-6.88880806e-02  9.97624394e-01  0.00000000e+00 -3.72062513e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.87, Y:-3.72, Z:0.00
[[ 9.97480061e-01  7.09473544e-02  0.00000000e+00  1.10865232e+02]
 [-7.09473544e-02  9.97480061e-01  0.00000000e+00 -3.71927362e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.93, Y:-3.72, Z:0.00
[[ 9.97323000e-01  7.31220465e-02  0.00000000e+00  1.10925773e+02]
 [-7.31220465e-02  9.97323000e-01  0.00000000e+00 -3.72181573e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:110.99, Y:-3.72, Z:0.00
[[ 9.97038106e-01  7.69091362e-02  0.00000000e+00  1.10987255e+02]
 [-7.69091362e-02  9.97038106e-01  0.00000000e+00 -3.72461355e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.05, Y:-3.73, Z:0.00
[[ 9.96748266e-01  8.05784981e-02  0.00000000e+00  1.11047124e+02]
 [-8.05784981e-02  9.96748266e-01  0.00000000e+00 -3.72806177e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.11, Y:-3.73, Z:0.00
[[ 9.96367348e-01  8.51593093e-02  0.00000000e+00  1.11108415e+02]
 [-8.51593093e-02  9.96367348e-01  0.00000000e+00 -3.72815908e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.17, Y:-3.73, Z:0.00
[[ 9.96130119e-01  8.78907608e-02  0.00000000e+00  1.11168302e+02]
 [-8.78907608e-02  9.96130119e-01  0.00000000e+00 -3.72887419e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.23, Y:-3.73, Z:0.00
[[ 9.95797172e-01  9.15859783e-02  0.00000000e+00  1.11229135e+02]
 [-9.15859783e-02  9.95797172e-01  0.00000000e+00 -3.73431532e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.29, Y:-3.74, Z:0.00
[[ 9.95460040e-01  9.51803968e-02  0.00000000e+00  1.11290161e+02]
 [-9.51803968e-02  9.95460040e-01  0.00000000e+00 -3.73892570e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.35, Y:-3.74, Z:0.00
[[ 9.95493178e-01  9.48331837e-02  0.00000000e+00  1.11351539e+02]
 [-9.48331837e-02  9.95493178e-01  0.00000000e+00 -3.74408621e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.41, Y:-3.75, Z:0.00
[[ 9.96364611e-01  8.51913293e-02  0.00000000e+00  1.11411496e+02]
 [-8.51913293e-02  9.96364611e-01  0.00000000e+00 -3.74750885e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.47, Y:-3.75, Z:0.00
[[ 9.97082746e-01  7.63282254e-02  0.00000000e+00  1.11472267e+02]
 [-7.63282254e-02  9.97082746e-01  0.00000000e+00 -3.75464452e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.53, Y:-3.76, Z:0.00
[[ 9.97332284e-01  7.29953152e-02  0.00000000e+00  1.11533007e+02]
 [-7.29953152e-02  9.97332284e-01  0.00000000e+00 -3.76388706e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.59, Y:-3.77, Z:0.00
[[ 9.97465621e-01  7.11500839e-02  0.00000000e+00  1.11592605e+02]
 [-7.11500839e-02  9.97465621e-01  0.00000000e+00 -3.76823615e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.65, Y:-3.77, Z:0.00
[[ 9.97516111e-01  7.04386801e-02  0.00000000e+00  1.11654146e+02]
 [-7.04386801e-02  9.97516111e-01  0.00000000e+00 -3.77268576e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.71, Y:-3.78, Z:0.00
[[ 9.97627521e-01  6.88427893e-02  0.00000000e+00  1.11714784e+02]
 [-6.88427893e-02  9.97627521e-01  0.00000000e+00 -3.78025121e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.78, Y:-3.78, Z:0.00
[[ 9.97443107e-01  7.14650082e-02  0.00000000e+00  1.11775410e+02]
 [-7.14650082e-02  9.97443107e-01  0.00000000e+00 -3.78104310e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.84, Y:-3.78, Z:0.00
[[ 9.97320657e-01  7.31539932e-02  0.00000000e+00  1.11838338e+02]
 [-7.31539932e-02  9.97320657e-01  0.00000000e+00 -3.78181733e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.90, Y:-3.79, Z:0.00
[[ 9.97221828e-01  7.44890980e-02  0.00000000e+00  1.11900196e+02]
 [-7.44890980e-02  9.97221828e-01  0.00000000e+00 -3.78506250e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:111.96, Y:-3.79, Z:0.00
[[ 9.97043981e-01  7.68329325e-02  0.00000000e+00  1.11960838e+02]
 [-7.68329325e-02  9.97043981e-01  0.00000000e+00 -3.79128855e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.02, Y:-3.79, Z:0.00
[[ 9.97087359e-01  7.62679327e-02  0.00000000e+00  1.12022859e+02]
 [-7.62679327e-02  9.97087359e-01  0.00000000e+00 -3.79404410e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.42606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.08, Y:-3.80, Z:0.00
[[ 9.97090246e-01  7.62301876e-02  0.00000000e+00  1.12083963e+02]
 [-7.62301876e-02  9.97090246e-01  0.00000000e+00 -3.79667674e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.15, Y:-3.80, Z:0.00
[[ 9.97060622e-01  7.66166826e-02  0.00000000e+00  1.12146556e+02]
 [-7.66166826e-02  9.97060622e-01  0.00000000e+00 -3.80334563e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.21, Y:-3.81, Z:0.00
[[ 9.97820559e-01  6.59858479e-02  0.00000000e+00  1.12207011e+02]
 [-6.59858479e-02  9.97820559e-01  0.00000000e+00 -3.81125158e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.27, Y:-3.81, Z:0.00
[[ 9.98263729e-01  5.89026915e-02  0.00000000e+00  1.12267759e+02]
 [-5.89026915e-02  9.98263729e-01  0.00000000e+00 -3.81290129e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.33, Y:-3.82, Z:0.00
[[ 9.98592761e-01  5.30329851e-02  0.00000000e+00  1.12329588e+02]
 [-5.30329851e-02  9.98592761e-01  0.00000000e+00 -3.81697001e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.39, Y:-3.82, Z:0.00
[[ 9.98917258e-01  4.65221626e-02  0.00000000e+00  1.12390654e+02]
 [-4.65221626e-02  9.98917258e-01  0.00000000e+00 -3.81830911e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.45, Y:-3.82, Z:0.00
[[ 9.98735308e-01  5.02770685e-02  0.00000000e+00  1.12452803e+02]
 [-5.02770685e-02  9.98735308e-01  0.00000000e+00 -3.81956782e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.51, Y:-3.82, Z:0.00
[[ 9.98112565e-01  6.14109649e-02  0.00000000e+00  1.12513624e+02]
 [-6.14109649e-02  9.98112565e-01  0.00000000e+00 -3.82098213e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.58, Y:-3.82, Z:0.00
[[ 9.97945222e-01  6.40728856e-02  0.00000000e+00  1.12575081e+02]
 [-6.40728856e-02  9.97945222e-01  0.00000000e+00 -3.82292122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.64, Y:-3.82, Z:0.00
[[ 9.97766900e-01  6.67923094e-02  0.00000000e+00  1.12637452e+02]
 [-6.67923094e-02  9.97766900e-01  0.00000000e+00 -3.82042935e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.70, Y:-3.82, Z:0.00
[[ 9.97734391e-01  6.72761869e-02  0.00000000e+00  1.12698567e+02]
 [-6.72761869e-02  9.97734391e-01  0.00000000e+00 -3.82443089e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.76, Y:-3.83, Z:0.00
[[ 9.97740785e-01  6.71812910e-02  0.00000000e+00  1.12760084e+02]
 [-6.71812910e-02  9.97740785e-01  0.00000000e+00 -3.82966741e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.82, Y:-3.83, Z:0.00
[[ 9.97740335e-01  6.71879770e-02  0.00000000e+00  1.12820624e+02]
 [-6.71879770e-02  9.97740335e-01  0.00000000e+00 -3.83239089e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.88, Y:-3.84, Z:0.00
[[ 9.97760280e-01  6.68911271e-02  0.00000000e+00  1.12882206e+02]
 [-6.68911271e-02  9.97760280e-01  0.00000000e+00 -3.83724578e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:112.94, Y:-3.84, Z:0.00
[[ 9.97838429e-01  6.57150624e-02  0.00000000e+00  1.12943483e+02]
 [-6.57150624e-02  9.97838429e-01  0.00000000e+00 -3.84460300e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.01, Y:-3.85, Z:0.00
[[ 9.97861986e-01  6.53563767e-02  0.00000000e+00  1.13005875e+02]
 [-6.53563767e-02  9.97861986e-01  0.00000000e+00 -3.85059554e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.07, Y:-3.85, Z:0.00
[[ 9.97620966e-01  6.89377186e-02  0.00000000e+00  1.13068173e+02]
 [-6.89377186e-02  9.97620966e-01  0.00000000e+00 -3.85429034e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.13, Y:-3.86, Z:0.00
[[ 9.97357060e-01  7.26560007e-02  0.00000000e+00  1.13128445e+02]
 [-7.26560007e-02  9.97357060e-01  0.00000000e+00 -3.85596441e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.19, Y:-3.86, Z:0.00
[[ 9.97506275e-01  7.05778387e-02  0.00000000e+00  1.13190607e+02]
 [-7.05778387e-02  9.97506275e-01  0.00000000e+00 -3.85942895e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.25, Y:-3.86, Z:0.00
[[ 9.97809042e-01  6.61597773e-02  0.00000000e+00  1.13251338e+02]
 [-6.61597773e-02  9.97809042e-01  0.00000000e+00 -3.85744313e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.31, Y:-3.85, Z:0.00
[[ 9.97386494e-01  7.22508232e-02  0.00000000e+00  1.13312347e+02]
 [-7.22508232e-02  9.97386494e-01  0.00000000e+00 -3.85404205e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.37, Y:-3.85, Z:0.00
[[ 9.96789711e-01  8.00641711e-02  0.00000000e+00  1.13373844e+02]
 [-8.00641711e-02  9.96789711e-01  0.00000000e+00 -3.85479987e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.43, Y:-3.86, Z:0.00
[[ 9.96320489e-01  8.57057898e-02  0.00000000e+00  1.13434817e+02]
 [-8.57057898e-02  9.96320489e-01  0.00000000e+00 -3.85648047e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.50, Y:-3.86, Z:0.00
[[ 9.96668557e-01  8.15584927e-02  0.00000000e+00  1.13496004e+02]
 [-8.15584927e-02  9.96668557e-01  0.00000000e+00 -3.85776383e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.56, Y:-3.86, Z:0.00
[[ 9.97030745e-01  7.70045097e-02  0.00000000e+00  1.13556390e+02]
 [-7.70045097e-02  9.97030745e-01  0.00000000e+00 -3.86054777e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.92606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.62, Y:-3.87, Z:0.00
[[ 9.97173524e-01  7.51329626e-02  0.00000000e+00  1.13617086e+02]
 [-7.51329626e-02  9.97173524e-01  0.00000000e+00 -3.86790787e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.68, Y:-3.87, Z:0.00
[[ 9.97375894e-01  7.23969970e-02  0.00000000e+00  1.13676643e+02]
 [-7.23969970e-02  9.97375894e-01  0.00000000e+00 -3.87352089e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.74, Y:-3.88, Z:0.00
[[ 9.97441742e-01  7.14840593e-02  0.00000000e+00  1.13737342e+02]
 [-7.14840593e-02  9.97441742e-01  0.00000000e+00 -3.87598611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.80, Y:-3.88, Z:0.00
[[ 9.97519765e-01  7.03869200e-02  0.00000000e+00  1.13797806e+02]
 [-7.03869200e-02  9.97519765e-01  0.00000000e+00 -3.88113982e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.86, Y:-3.89, Z:0.00
[[ 9.97530609e-01  7.02330706e-02  0.00000000e+00  1.13858718e+02]
 [-7.02330706e-02  9.97530609e-01  0.00000000e+00 -3.89105137e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.92, Y:-3.89, Z:0.00
[[ 9.97493004e-01  7.07651599e-02  0.00000000e+00  1.13920009e+02]
 [-7.07651599e-02  9.97493004e-01  0.00000000e+00 -3.89307227e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:113.98, Y:-3.90, Z:0.00
[[ 9.97333733e-01  7.29755114e-02  0.00000000e+00  1.13983292e+02]
 [-7.29755114e-02  9.97333733e-01  0.00000000e+00 -3.89554855e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.04, Y:-3.90, Z:0.00
[[ 9.97288018e-01  7.35976160e-02  0.00000000e+00  1.14043958e+02]
 [-7.35976160e-02  9.97288018e-01  0.00000000e+00 -3.90307652e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.11, Y:-3.91, Z:0.00
[[ 9.97362882e-01  7.25760335e-02  0.00000000e+00  1.14105990e+02]
 [-7.25760335e-02  9.97362882e-01  0.00000000e+00 -3.91002072e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.17, Y:-3.92, Z:0.00
[[ 9.97642318e-01  6.86280211e-02  0.00000000e+00  1.14166609e+02]
 [-6.86280211e-02  9.97642318e-01  0.00000000e+00 -3.91527117e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.23, Y:-3.92, Z:0.00
[[ 9.97643809e-01  6.86063409e-02  0.00000000e+00  1.14227828e+02]
 [-6.86063409e-02  9.97643809e-01  0.00000000e+00 -3.91869431e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.29, Y:-3.92, Z:0.00
[[ 9.97785342e-01  6.65162552e-02  0.00000000e+00  1.14288762e+02]
 [-6.65162552e-02  9.97785342e-01  0.00000000e+00 -3.92388636e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.35, Y:-3.93, Z:0.00
[[ 9.97875976e-01  6.51424368e-02  0.00000000e+00  1.14349853e+02]
 [-6.51424368e-02  9.97875976e-01  0.00000000e+00 -3.92927724e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.41, Y:-3.94, Z:0.00
[[ 9.98068414e-01  6.21244010e-02  0.00000000e+00  1.14410952e+02]
 [-6.21244010e-02  9.98068414e-01  0.00000000e+00 -3.93627368e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.47, Y:-3.94, Z:0.00
[[ 9.98208900e-01  5.98246842e-02  0.00000000e+00  1.14473308e+02]
 [-5.98246842e-02  9.98208900e-01  0.00000000e+00 -3.94069689e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.53, Y:-3.94, Z:0.00
[[ 9.98457129e-01  5.55280251e-02  0.00000000e+00  1.14534550e+02]
 [-5.55280251e-02  9.98457129e-01  0.00000000e+00 -3.94072439e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.60, Y:-3.94, Z:0.00
[[ 9.98199691e-01  5.99781379e-02  0.00000000e+00  1.14597005e+02]
 [-5.99781379e-02  9.98199691e-01  0.00000000e+00 -3.94019380e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.66, Y:-3.94, Z:0.00
[[ 9.98094182e-01  6.17090321e-02  0.00000000e+00  1.14659829e+02]
 [-6.17090321e-02  9.98094182e-01  0.00000000e+00 -3.94386638e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.72, Y:-3.94, Z:0.00
[[ 9.97889099e-01  6.49410905e-02  0.00000000e+00  1.14721985e+02]
 [-6.49410905e-02  9.97889099e-01  0.00000000e+00 -3.94427082e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.78, Y:-3.94, Z:0.00
[[ 9.97737624e-01  6.72282267e-02  0.00000000e+00  1.14783095e+02]
 [-6.72282267e-02  9.97737624e-01  0.00000000e+00 -3.94293822e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.84, Y:-3.94, Z:0.00
[[ 9.97532003e-01  7.02132703e-02  0.00000000e+00  1.14844839e+02]
 [-7.02132703e-02  9.97532003e-01  0.00000000e+00 -3.94297436e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.91, Y:-3.95, Z:0.00
[[ 9.97339900e-01  7.28911734e-02  0.00000000e+00  1.14905249e+02]
 [-7.28911734e-02  9.97339900e-01  0.00000000e+00 -3.94834400e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:114.97, Y:-3.95, Z:0.00
[[ 9.97121190e-01  7.58243560e-02  0.00000000e+00  1.14968362e+02]
 [-7.58243560e-02  9.97121190e-01  0.00000000e+00 -3.95023364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.03, Y:-3.95, Z:0.00
[[ 9.97267555e-01  7.38743824e-02  0.00000000e+00  1.15029438e+02]
 [-7.38743824e-02  9.97267555e-01  0.00000000e+00 -3.95164093e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.09, Y:-3.96, Z:0.00
[[ 9.97801597e-01  6.62719607e-02  0.00000000e+00  1.15089393e+02]
 [-6.62719607e-02  9.97801597e-01  0.00000000e+00 -3.95852632e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.42606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.15, Y:-3.96, Z:0.00
[[ 9.97875365e-01  6.51517936e-02  0.00000000e+00  1.15149945e+02]
 [-6.51517936e-02  9.97875365e-01  0.00000000e+00 -3.96309462e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.21, Y:-3.97, Z:0.00
[[ 9.97962530e-01  6.38027404e-02  0.00000000e+00  1.15210527e+02]
 [-6.38027404e-02  9.97962530e-01  0.00000000e+00 -3.96956357e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.27, Y:-3.97, Z:0.00
[[ 9.98007750e-01  6.30914481e-02  0.00000000e+00  1.15270491e+02]
 [-6.30914481e-02  9.98007750e-01  0.00000000e+00 -3.97319049e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.33, Y:-3.98, Z:0.00
[[ 9.98033054e-01  6.26898941e-02  0.00000000e+00  1.15331620e+02]
 [-6.26898941e-02  9.98033054e-01  0.00000000e+00 -3.97697704e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.39, Y:-3.98, Z:0.00
[[ 9.97948851e-01  6.40163268e-02  0.00000000e+00  1.15391681e+02]
 [-6.40163268e-02  9.97948851e-01  0.00000000e+00 -3.98090499e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.45, Y:-3.99, Z:0.00
[[ 9.98097934e-01  6.16483112e-02  0.00000000e+00  1.15453951e+02]
 [-6.16483112e-02  9.98097934e-01  0.00000000e+00 -3.98562629e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.51, Y:-3.99, Z:0.00
[[ 9.98156821e-01  6.06873993e-02  0.00000000e+00  1.15513562e+02]
 [-6.06873993e-02  9.98156821e-01  0.00000000e+00 -3.98507317e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.58, Y:-3.99, Z:0.00
[[ 9.98254689e-01  5.90557040e-02  0.00000000e+00  1.15575714e+02]
 [-5.90557040e-02  9.98254689e-01  0.00000000e+00 -3.98540273e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.64, Y:-3.99, Z:0.00
[[ 9.98755146e-01  4.98814504e-02  0.00000000e+00  1.15635828e+02]
 [-4.98814504e-02  9.98755146e-01  0.00000000e+00 -3.98790094e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.70, Y:-3.99, Z:0.00
[[ 9.98494667e-01  5.48488890e-02  0.00000000e+00  1.15697900e+02]
 [-5.48488890e-02  9.98494667e-01  0.00000000e+00 -3.99116960e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.76, Y:-3.99, Z:0.00
[[ 9.98104203e-01  6.15467246e-02  0.00000000e+00  1.15758486e+02]
 [-6.15467246e-02  9.98104203e-01  0.00000000e+00 -3.99306779e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.82, Y:-3.99, Z:0.00
[[ 9.97776535e-01  6.66482317e-02  0.00000000e+00  1.15820479e+02]
 [-6.66482317e-02  9.97776535e-01  0.00000000e+00 -3.98911054e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.88, Y:-3.99, Z:0.00
[[ 9.97590012e-01  6.93842084e-02  0.00000000e+00  1.15882304e+02]
 [-6.93842084e-02  9.97590012e-01  0.00000000e+00 -3.99254185e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:115.94, Y:-3.99, Z:0.00
[[ 9.96990610e-01  7.75224021e-02  0.00000000e+00  1.15942102e+02]
 [-7.75224021e-02  9.96990610e-01  0.00000000e+00 -3.99269933e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.00, Y:-3.99, Z:0.00
[[ 9.96712636e-01  8.10180257e-02  0.00000000e+00  1.16003314e+02]
 [-8.10180257e-02  9.96712636e-01  0.00000000e+00 -3.99301043e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.06, Y:-4.00, Z:0.00
[[ 9.96428012e-01  8.44465356e-02  0.00000000e+00  1.16064499e+02]
 [-8.44465356e-02  9.96428012e-01  0.00000000e+00 -3.99642619e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.12, Y:-4.00, Z:0.00
[[ 9.96069004e-01  8.85806949e-02  0.00000000e+00  1.16124085e+02]
 [-8.85806949e-02  9.96069004e-01  0.00000000e+00 -4.00094954e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.19, Y:-4.01, Z:0.00
[[ 9.96087683e-01  8.83704054e-02  0.00000000e+00  1.16185914e+02]
 [-8.83704054e-02  9.96087683e-01  0.00000000e+00 -4.00576835e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.25, Y:-4.01, Z:0.00
[[ 9.96581341e-01  8.26173738e-02  0.00000000e+00  1.16246602e+02]
 [-8.26173738e-02  9.96581341e-01  0.00000000e+00 -4.01216055e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.31, Y:-4.02, Z:0.00
[[ 9.96767372e-01  8.03418111e-02  0.00000000e+00  1.16308667e+02]
 [-8.03418111e-02  9.96767372e-01  0.00000000e+00 -4.01787030e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.37, Y:-4.02, Z:0.00
[[ 9.96792861e-01  8.00249424e-02  0.00000000e+00  1.16369368e+02]
 [-8.00249424e-02  9.96792861e-01  0.00000000e+00 -4.02382402e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.43, Y:-4.02, Z:0.00
[[ 9.96543558e-01  8.30718767e-02  0.00000000e+00  1.16429994e+02]
 [-8.30718767e-02  9.96543558e-01  0.00000000e+00 -4.02411473e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.49, Y:-4.03, Z:0.00
[[ 9.96383218e-01  8.49734284e-02  0.00000000e+00  1.16491504e+02]
 [-8.49734284e-02  9.96383218e-01  0.00000000e+00 -4.02904099e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.55, Y:-4.03, Z:0.00
[[ 9.96211125e-01  8.69677791e-02  0.00000000e+00  1.16551587e+02]
 [-8.69677791e-02  9.96211125e-01  0.00000000e+00 -4.03134084e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.61, Y:-4.03, Z:0.00
[[ 9.95858392e-01  9.09178909e-02  0.00000000e+00  1.16612868e+02]
 [-9.09178909e-02  9.95858392e-01  0.00000000e+00 -4.03085920e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.92606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.68, Y:-4.04, Z:0.00
[[ 9.95629303e-01  9.33932058e-02  0.00000000e+00  1.16675087e+02]
 [-9.33932058e-02  9.95629303e-01  0.00000000e+00 -4.03608510e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.73, Y:-4.04, Z:0.00
[[ 9.95382046e-01  9.59926182e-02  0.00000000e+00  1.16734767e+02]
 [-9.59926182e-02  9.95382046e-01  0.00000000e+00 -4.04290165e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.80, Y:-4.05, Z:0.00
[[ 9.95595985e-01  9.37477175e-02  0.00000000e+00  1.16796207e+02]
 [-9.37477175e-02  9.95595985e-01  0.00000000e+00 -4.04783203e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.86, Y:-4.05, Z:0.00
[[ 9.95895601e-01  9.05094002e-02  0.00000000e+00  1.16856630e+02]
 [-9.05094002e-02  9.95895601e-01  0.00000000e+00 -4.05311134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.92, Y:-4.06, Z:0.00
[[ 9.96783722e-01  8.01387005e-02  0.00000000e+00  1.16916571e+02]
 [-8.01387005e-02  9.96783722e-01  0.00000000e+00 -4.06388792e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:116.98, Y:-4.07, Z:0.00
[[ 9.97834846e-01  6.57694413e-02  0.00000000e+00  1.16976115e+02]
 [-6.57694413e-02  9.97834846e-01  0.00000000e+00 -4.07204134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.04, Y:-4.08, Z:0.00
[[ 9.98022968e-01  6.28502692e-02  0.00000000e+00  1.17036738e+02]
 [-6.28502692e-02  9.98022968e-01  0.00000000e+00 -4.07628724e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.10, Y:-4.08, Z:0.00
[[ 9.97910172e-01  6.46164767e-02  0.00000000e+00  1.17097854e+02]
 [-6.46164767e-02  9.97910172e-01  0.00000000e+00 -4.08108922e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.16, Y:-4.09, Z:0.00
[[ 9.97716634e-01  6.75390080e-02  0.00000000e+00  1.17158577e+02]
 [-6.75390080e-02  9.97716634e-01  0.00000000e+00 -4.08713013e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.22, Y:-4.09, Z:0.00
[[ 9.97666999e-01  6.82682830e-02  0.00000000e+00  1.17219178e+02]
 [-6.82682830e-02  9.97666999e-01  0.00000000e+00 -4.09420573e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.28, Y:-4.10, Z:0.00
[[ 9.97590056e-01  6.93835785e-02  0.00000000e+00  1.17279178e+02]
 [-6.93835785e-02  9.97590056e-01  0.00000000e+00 -4.09851122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.34, Y:-4.10, Z:0.00
[[ 9.97470456e-01  7.10822688e-02  0.00000000e+00  1.17340944e+02]
 [-7.10822688e-02  9.97470456e-01  0.00000000e+00 -4.09617237e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.40, Y:-4.10, Z:0.00
[[ 9.97325332e-01  7.30902286e-02  0.00000000e+00  1.17403427e+02]
 [-7.30902286e-02  9.97325332e-01  0.00000000e+00 -4.09836412e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.46, Y:-4.10, Z:0.00
[[ 9.97201189e-01  7.47648883e-02  0.00000000e+00  1.17463169e+02]
 [-7.47648883e-02  9.97201189e-01  0.00000000e+00 -4.10462272e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.52, Y:-4.11, Z:0.00
[[ 9.97168424e-01  7.52006275e-02  0.00000000e+00  1.17523762e+02]
 [-7.52006275e-02  9.97168424e-01  0.00000000e+00 -4.10779337e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.59, Y:-4.11, Z:0.00
[[ 9.97654245e-01  6.84544169e-02  0.00000000e+00  1.17585769e+02]
 [-6.84544169e-02  9.97654245e-01  0.00000000e+00 -4.11206410e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.64, Y:-4.12, Z:0.00
[[ 9.98157509e-01  6.06760921e-02  0.00000000e+00  1.17644892e+02]
 [-6.06760921e-02  9.98157509e-01  0.00000000e+00 -4.11710796e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.71, Y:-4.12, Z:0.00
[[ 9.98245162e-01  5.92165218e-02  0.00000000e+00  1.17705919e+02]
 [-5.92165218e-02  9.98245162e-01  0.00000000e+00 -4.12002686e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.77, Y:-4.12, Z:0.00
[[ 9.98036357e-01  6.26372880e-02  0.00000000e+00  1.17766834e+02]
 [-6.26372880e-02  9.98036357e-01  0.00000000e+00 -4.12240624e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.06606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.83, Y:-4.12, Z:0.00
[[ 9.97492561e-01  7.07713925e-02  0.00000000e+00  1.17826428e+02]
 [-7.07713925e-02  9.97492561e-01  0.00000000e+00 -4.12280728e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.89, Y:-4.12, Z:0.00
[[ 9.97167022e-01  7.52192161e-02  0.00000000e+00  1.17888343e+02]
 [-7.52192161e-02  9.97167022e-01  0.00000000e+00 -4.12291123e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:117.95, Y:-4.13, Z:0.00
[[ 9.97195244e-01  7.48441389e-02  0.00000000e+00  1.17950247e+02]
 [-7.48441389e-02  9.97195244e-01  0.00000000e+00 -4.12514751e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.01, Y:-4.13, Z:0.00
[[ 9.96885857e-01  7.88580303e-02  0.00000000e+00  1.18010606e+02]
 [-7.88580303e-02  9.96885857e-01  0.00000000e+00 -4.12792993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.07, Y:-4.13, Z:0.00
[[ 9.96644349e-01  8.18537877e-02  0.00000000e+00  1.18071882e+02]
 [-8.18537877e-02  9.96644349e-01  0.00000000e+00 -4.12666689e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.13, Y:-4.13, Z:0.00
[[ 9.96599822e-01  8.23941430e-02  0.00000000e+00  1.18132717e+02]
 [-8.23941430e-02  9.96599822e-01  0.00000000e+00 -4.12933397e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.42606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.19, Y:-4.14, Z:0.00
[[ 9.96959894e-01  7.79164237e-02  0.00000000e+00  1.18193533e+02]
 [-7.79164237e-02  9.96959894e-01  0.00000000e+00 -4.13823003e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.25, Y:-4.14, Z:0.00
[[ 9.97309913e-01  7.33003191e-02  0.00000000e+00  1.18254609e+02]
 [-7.33003191e-02  9.97309913e-01  0.00000000e+00 -4.14174909e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.32, Y:-4.14, Z:0.00
[[ 9.97022680e-01  7.71088594e-02  0.00000000e+00  1.18315188e+02]
 [-7.71088594e-02  9.97022680e-01  0.00000000e+00 -4.14036302e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.38, Y:-4.14, Z:0.00
[[ 9.96953094e-01  7.80033863e-02  0.00000000e+00  1.18375339e+02]
 [-7.80033863e-02  9.96953094e-01  0.00000000e+00 -4.14451685e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.44, Y:-4.15, Z:0.00
[[ 9.97004220e-01  7.73471778e-02  0.00000000e+00  1.18437024e+02]
 [-7.73471778e-02  9.97004220e-01  0.00000000e+00 -4.15235621e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.50, Y:-4.15, Z:0.00
[[ 9.97081302e-01  7.63470785e-02  0.00000000e+00  1.18497867e+02]
 [-7.63470785e-02  9.97081302e-01  0.00000000e+00 -4.15324511e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.56, Y:-4.16, Z:0.00
[[ 9.97030870e-01  7.70028864e-02  0.00000000e+00  1.18559791e+02]
 [-7.70028864e-02  9.97030870e-01  0.00000000e+00 -4.15650008e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.62, Y:-4.16, Z:0.00
[[ 9.96943680e-01  7.81236155e-02  0.00000000e+00  1.18620164e+02]
 [-7.81236155e-02  9.96943680e-01  0.00000000e+00 -4.15908628e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.68, Y:-4.16, Z:0.00
[[ 9.97184337e-01  7.49893185e-02  0.00000000e+00  1.18680810e+02]
 [-7.49893185e-02  9.97184337e-01  0.00000000e+00 -4.16455621e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.74, Y:-4.17, Z:0.00
[[ 9.97253377e-01  7.40655237e-02  0.00000000e+00  1.18742609e+02]
 [-7.40655237e-02  9.97253377e-01  0.00000000e+00 -4.16916328e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.80, Y:-4.17, Z:0.00
[[ 9.96878175e-01  7.89550775e-02  0.00000000e+00  1.18803896e+02]
 [-7.89550775e-02  9.96878175e-01  0.00000000e+00 -4.17166725e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.87, Y:-4.18, Z:0.00
[[ 9.96865635e-01  7.91132421e-02  0.00000000e+00  1.18865098e+02]
 [-7.91132421e-02  9.96865635e-01  0.00000000e+00 -4.17585699e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.93, Y:-4.18, Z:0.00
[[ 9.96989179e-01  7.75408136e-02  0.00000000e+00  1.18927380e+02]
 [-7.75408136e-02  9.96989179e-01  0.00000000e+00 -4.17930734e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:118.99, Y:-4.18, Z:0.00
[[ 9.96686755e-01  8.13358046e-02  0.00000000e+00  1.18988130e+02]
 [-8.13358046e-02  9.96686755e-01  0.00000000e+00 -4.18065385e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.05, Y:-4.18, Z:0.00
[[ 9.96809928e-01  7.98120769e-02  0.00000000e+00  1.19050049e+02]
 [-7.98120769e-02  9.96809928e-01  0.00000000e+00 -4.18461497e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.11, Y:-4.19, Z:0.00
[[ 9.96966457e-01  7.78324066e-02  0.00000000e+00  1.19110601e+02]
 [-7.78324066e-02  9.96966457e-01  0.00000000e+00 -4.18500772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.17, Y:-4.19, Z:0.00
[[ 9.96831214e-01  7.95457779e-02  0.00000000e+00  1.19171604e+02]
 [-7.95457779e-02  9.96831214e-01  0.00000000e+00 -4.19043555e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.23, Y:-4.19, Z:0.00
[[ 9.96719767e-01  8.09302567e-02  0.00000000e+00  1.19233443e+02]
 [-8.09302567e-02  9.96719767e-01  0.00000000e+00 -4.19220992e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.29, Y:-4.20, Z:0.00
[[ 9.97625569e-01  6.88710725e-02  0.00000000e+00  1.19293864e+02]
 [-6.88710725e-02  9.97625569e-01  0.00000000e+00 -4.19820709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.56606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.36, Y:-4.20, Z:0.00
[[ 9.98205746e-01  5.98772782e-02  0.00000000e+00  1.19355547e+02]
 [-5.98772782e-02  9.98205746e-01  0.00000000e+00 -4.20437044e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.42, Y:-4.20, Z:0.00
[[ 9.98232290e-01  5.94331193e-02  0.00000000e+00  1.19418064e+02]
 [-5.94331193e-02  9.98232290e-01  0.00000000e+00 -4.20280118e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.48, Y:-4.21, Z:0.00
[[ 9.97919169e-01  6.44773818e-02  0.00000000e+00  1.19479842e+02]
 [-6.44773818e-02  9.97919169e-01  0.00000000e+00 -4.20511949e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.54, Y:-4.21, Z:0.00
[[ 9.97579283e-01  6.95382891e-02  0.00000000e+00  1.19539397e+02]
 [-6.95382891e-02  9.97579283e-01  0.00000000e+00 -4.20915436e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.60, Y:-4.21, Z:0.00
[[ 9.97320051e-01  7.31622516e-02  0.00000000e+00  1.19600351e+02]
 [-7.31622516e-02  9.97320051e-01  0.00000000e+00 -4.21492593e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.66, Y:-4.22, Z:0.00
[[ 9.97322249e-01  7.31322892e-02  0.00000000e+00  1.19662002e+02]
 [-7.31322892e-02  9.97322249e-01  0.00000000e+00 -4.21787462e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.92606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.72, Y:-4.22, Z:0.00
[[ 9.97438593e-01  7.15279873e-02  0.00000000e+00  1.19722618e+02]
 [-7.15279873e-02  9.97438593e-01  0.00000000e+00 -4.21858980e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.78, Y:-4.23, Z:0.00
[[ 9.97363639e-01  7.25656418e-02  0.00000000e+00  1.19783509e+02]
 [-7.25656418e-02  9.97363639e-01  0.00000000e+00 -4.22688843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.85, Y:-4.23, Z:0.00
[[ 9.97325147e-01  7.30927627e-02  0.00000000e+00  1.19845714e+02]
 [-7.30927627e-02  9.97325147e-01  0.00000000e+00 -4.23124039e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.91, Y:-4.23, Z:0.00
[[ 9.97473936e-01  7.10334151e-02  0.00000000e+00  1.19907736e+02]
 [-7.10334151e-02  9.97473936e-01  0.00000000e+00 -4.23482054e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:119.97, Y:-4.24, Z:0.00
[[ 9.97540514e-01  7.00922478e-02  0.00000000e+00  1.19970780e+02]
 [-7.00922478e-02  9.97540514e-01  0.00000000e+00 -4.23940055e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.03, Y:-4.25, Z:0.00
[[ 9.97843242e-01  6.56419459e-02  0.00000000e+00  1.20031725e+02]
 [-6.56419459e-02  9.97843242e-01  0.00000000e+00 -4.24721354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.09, Y:-4.25, Z:0.00
[[ 9.97926109e-01  6.43698809e-02  0.00000000e+00  1.20092788e+02]
 [-6.43698809e-02  9.97926109e-01  0.00000000e+00 -4.25168092e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.15, Y:-4.26, Z:0.00
[[ 9.97966726e-01  6.37370715e-02  0.00000000e+00  1.20154695e+02]
 [-6.37370715e-02  9.97966726e-01  0.00000000e+00 -4.25561409e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.22, Y:-4.26, Z:0.00
[[ 9.97729113e-01  6.73544165e-02  0.00000000e+00  1.20215358e+02]
 [-6.73544165e-02  9.97729113e-01  0.00000000e+00 -4.25586978e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.28, Y:-4.26, Z:0.00
[[ 9.97284912e-01  7.36396924e-02  0.00000000e+00  1.20275818e+02]
 [-7.36396924e-02  9.97284912e-01  0.00000000e+00 -4.25989393e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.34, Y:-4.27, Z:0.00
[[ 9.97057094e-01  7.66625871e-02  0.00000000e+00  1.20335469e+02]
 [-7.66625871e-02  9.97057094e-01  0.00000000e+00 -4.26803477e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.40, Y:-4.27, Z:0.00
[[ 9.97361238e-01  7.25986274e-02  0.00000000e+00  1.20395809e+02]
 [-7.25986274e-02  9.97361238e-01  0.00000000e+00 -4.26674477e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.46, Y:-4.27, Z:0.00
[[ 9.97397488e-01  7.20989010e-02  0.00000000e+00  1.20457252e+02]
 [-7.20989010e-02  9.97397488e-01  0.00000000e+00 -4.26871814e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.52, Y:-4.28, Z:0.00
[[ 9.97139447e-01  7.55838816e-02  0.00000000e+00  1.20517995e+02]
 [-7.55838816e-02  9.97139447e-01  0.00000000e+00 -4.27955930e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.58, Y:-4.28, Z:0.00
[[ 9.97225964e-01  7.44337050e-02  0.00000000e+00  1.20579786e+02]
 [-7.44337050e-02  9.97225964e-01  0.00000000e+00 -4.28472731e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.64, Y:-4.28, Z:0.00
[[ 9.97307711e-01  7.33302743e-02  0.00000000e+00  1.20642679e+02]
 [-7.33302743e-02  9.97307711e-01  0.00000000e+00 -4.27813263e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.70, Y:-4.28, Z:0.00
[[ 9.97338953e-01  7.29041405e-02  0.00000000e+00  1.20704457e+02]
 [-7.29041405e-02  9.97338953e-01  0.00000000e+00 -4.27848698e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.77, Y:-4.28, Z:0.00
[[ 9.97323522e-01  7.31149205e-02  0.00000000e+00  1.20765465e+02]
 [-7.31149205e-02  9.97323522e-01  0.00000000e+00 -4.28492537e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.83, Y:-4.28, Z:0.00
[[ 9.97054630e-01  7.66946188e-02  0.00000000e+00  1.20826593e+02]
 [-7.66946188e-02  9.97054630e-01  0.00000000e+00 -4.28229718e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.89, Y:-4.28, Z:0.00
[[ 9.96722618e-01  8.08951345e-02  0.00000000e+00  1.20888751e+02]
 [-8.08951345e-02  9.96722618e-01  0.00000000e+00 -4.28027871e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:120.95, Y:-4.29, Z:0.00
[[ 9.96741088e-01  8.06672382e-02  0.00000000e+00  1.20949809e+02]
 [-8.06672382e-02  9.96741088e-01  0.00000000e+00 -4.28958155e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.01, Y:-4.29, Z:0.00
[[ 9.96867460e-01  7.90902427e-02  0.00000000e+00  1.21011001e+02]
 [-7.90902427e-02  9.96867460e-01  0.00000000e+00 -4.29115844e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.07, Y:-4.29, Z:0.00
[[ 9.97695312e-01  6.78532514e-02  0.00000000e+00  1.21070692e+02]
 [-6.78532514e-02  9.97695312e-01  0.00000000e+00 -4.29339929e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.13, Y:-4.30, Z:0.00
[[ 9.98527148e-01  5.42543428e-02  0.00000000e+00  1.21132900e+02]
 [-5.42543428e-02  9.98527148e-01  0.00000000e+00 -4.29906080e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.19, Y:-4.30, Z:0.00
[[ 9.99043615e-01  4.37247781e-02  0.00000000e+00  1.21193797e+02]
 [-4.37247781e-02  9.99043615e-01  0.00000000e+00 -4.30162868e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.42606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.25, Y:-4.30, Z:0.00
[[ 9.98925254e-01  4.63501547e-02  0.00000000e+00  1.21254202e+02]
 [-4.63501547e-02  9.98925254e-01  0.00000000e+00 -4.30130883e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.32, Y:-4.30, Z:0.00
[[ 9.98202613e-01  5.99294923e-02  0.00000000e+00  1.21315273e+02]
 [-5.99294923e-02  9.98202613e-01  0.00000000e+00 -4.29934371e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.38, Y:-4.30, Z:0.00
[[ 9.97372133e-01  7.24487912e-02  0.00000000e+00  1.21376339e+02]
 [-7.24487912e-02  9.97372133e-01  0.00000000e+00 -4.30236974e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.44, Y:-4.30, Z:0.00
[[ 9.97092821e-01  7.61964949e-02  0.00000000e+00  1.21436975e+02]
 [-7.61964949e-02  9.97092821e-01  0.00000000e+00 -4.30289788e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.50, Y:-4.30, Z:0.00
[[ 9.97125732e-01  7.57645988e-02  0.00000000e+00  1.21497572e+02]
 [-7.57645988e-02  9.97125732e-01  0.00000000e+00 -4.30386609e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.56, Y:-4.31, Z:0.00
[[ 9.97354988e-01  7.26844356e-02  0.00000000e+00  1.21559127e+02]
 [-7.26844356e-02  9.97354988e-01  0.00000000e+00 -4.31237114e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.62, Y:-4.32, Z:0.00
[[ 9.97319219e-01  7.31735982e-02  0.00000000e+00  1.21621484e+02]
 [-7.31735982e-02  9.97319219e-01  0.00000000e+00 -4.31836544e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.68, Y:-4.32, Z:0.00
[[ 9.97072167e-01  7.64662903e-02  0.00000000e+00  1.21682327e+02]
 [-7.64662903e-02  9.97072167e-01  0.00000000e+00 -4.32112885e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.74, Y:-4.33, Z:0.00
[[ 9.96731825e-01  8.07816157e-02  0.00000000e+00  1.21742915e+02]
 [-8.07816157e-02  9.96731825e-01  0.00000000e+00 -4.32519813e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.80, Y:-4.33, Z:0.00
[[ 9.96255196e-01  8.64614660e-02  0.00000000e+00  1.21803073e+02]
 [-8.64614660e-02  9.96255196e-01  0.00000000e+00 -4.33464424e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.86, Y:-4.34, Z:0.00
[[ 9.95928357e-01  9.01482578e-02  0.00000000e+00  1.21864936e+02]
 [-9.01482578e-02  9.95928357e-01  0.00000000e+00 -4.34167310e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.92, Y:-4.34, Z:0.00
[[ 9.95507638e-01  9.46812724e-02  0.00000000e+00  1.21924931e+02]
 [-9.46812724e-02  9.95507638e-01  0.00000000e+00 -4.34317910e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:121.99, Y:-4.35, Z:0.00
[[ 9.95442041e-01  9.53684602e-02  0.00000000e+00  1.21985662e+02]
 [-9.53684602e-02  9.95442041e-01  0.00000000e+00 -4.34878979e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.05, Y:-4.35, Z:0.00
[[ 9.95734784e-01  9.22618030e-02  0.00000000e+00  1.22045662e+02]
 [-9.22618030e-02  9.95734784e-01  0.00000000e+00 -4.35421554e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.11, Y:-4.36, Z:0.00
[[ 9.96217992e-01  8.68890780e-02  0.00000000e+00  1.22106024e+02]
 [-8.68890780e-02  9.96217992e-01  0.00000000e+00 -4.36213735e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.17, Y:-4.37, Z:0.00
[[ 9.96767106e-01  8.03451023e-02  0.00000000e+00  1.22165993e+02]
 [-8.03451023e-02  9.96767106e-01  0.00000000e+00 -4.36520548e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.23, Y:-4.37, Z:0.00
[[ 9.96834460e-01  7.95050950e-02  0.00000000e+00  1.22226674e+02]
 [-7.95050950e-02  9.96834460e-01  0.00000000e+00 -4.36983103e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.29, Y:-4.38, Z:0.00
[[ 9.96802933e-01  7.98993956e-02  0.00000000e+00  1.22288434e+02]
 [-7.98993956e-02  9.96802933e-01  0.00000000e+00 -4.37520886e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.35, Y:-4.38, Z:0.00
[[ 9.97006750e-01  7.73145514e-02  0.00000000e+00  1.22350087e+02]
 [-7.73145514e-02  9.97006750e-01  0.00000000e+00 -4.38149681e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.41, Y:-4.38, Z:0.00
[[ 9.96982875e-01  7.76218262e-02  0.00000000e+00  1.22412098e+02]
 [-7.76218262e-02  9.96982875e-01  0.00000000e+00 -4.38476713e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.47, Y:-4.39, Z:0.00
[[ 9.97074689e-01  7.64333975e-02  0.00000000e+00  1.22473715e+02]
 [-7.64333975e-02  9.97074689e-01  0.00000000e+00 -4.39098045e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.54, Y:-4.40, Z:0.00
[[ 9.97064243e-01  7.65695413e-02  0.00000000e+00  1.22535174e+02]
 [-7.65695413e-02  9.97064243e-01  0.00000000e+00 -4.39606541e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.59, Y:-4.40, Z:0.00
[[ 9.97169661e-01  7.51842235e-02  0.00000000e+00  1.22594904e+02]
 [-7.51842235e-02  9.97169661e-01  0.00000000e+00 -4.40065870e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.66, Y:-4.40, Z:0.00
[[ 9.97092663e-01  7.61985616e-02  0.00000000e+00  1.22656212e+02]
 [-7.61985616e-02  9.97092663e-01  0.00000000e+00 -4.40221475e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.72, Y:-4.41, Z:0.00
[[ 9.96906216e-01  7.86002371e-02  0.00000000e+00  1.22716643e+02]
 [-7.86002371e-02  9.96906216e-01  0.00000000e+00 -4.40571815e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.92606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.78, Y:-4.41, Z:0.00
[[ 9.96570256e-01  8.27509830e-02  0.00000000e+00  1.22778039e+02]
 [-8.27509830e-02  9.96570256e-01  0.00000000e+00 -4.40906134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.84, Y:-4.41, Z:0.00
[[ 9.96280783e-01  8.61661220e-02  0.00000000e+00  1.22839819e+02]
 [-8.61661220e-02  9.96280783e-01  0.00000000e+00 -4.40898712e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.90, Y:-4.41, Z:0.00
[[ 9.95992681e-01  8.94347781e-02  0.00000000e+00  1.22901636e+02]
 [-8.94347781e-02  9.95992681e-01  0.00000000e+00 -4.41019421e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:122.96, Y:-4.41, Z:0.00
[[ 9.95995547e-01  8.94028599e-02  0.00000000e+00  1.22961784e+02]
 [-8.94028599e-02  9.95995547e-01  0.00000000e+00 -4.41480432e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.02, Y:-4.42, Z:0.00
[[ 9.96260864e-01  8.63961311e-02  0.00000000e+00  1.23022788e+02]
 [-8.63961311e-02  9.96260864e-01  0.00000000e+00 -4.41877005e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.08, Y:-4.42, Z:0.00
[[ 9.96089722e-01  8.83474140e-02  0.00000000e+00  1.23084175e+02]
 [-8.83474140e-02  9.96089722e-01  0.00000000e+00 -4.41636179e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.14, Y:-4.42, Z:0.00
[[ 9.96079365e-01  8.84641115e-02  0.00000000e+00  1.23144903e+02]
 [-8.84641115e-02  9.96079365e-01  0.00000000e+00 -4.41997614e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.21, Y:-4.42, Z:0.00
[[ 9.96327838e-01  8.56203245e-02  0.00000000e+00  1.23206015e+02]
 [-8.56203245e-02  9.96327838e-01  0.00000000e+00 -4.42346403e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.27, Y:-4.42, Z:0.00
[[ 9.96577472e-01  8.26640312e-02  0.00000000e+00  1.23268084e+02]
 [-8.26640312e-02  9.96577472e-01  0.00000000e+00 -4.41841136e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.33, Y:-4.41, Z:0.00
[[ 9.97191606e-01  7.48925998e-02  0.00000000e+00  1.23329879e+02]
 [-7.48925998e-02  9.97191606e-01  0.00000000e+00 -4.41251418e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.39, Y:-4.41, Z:0.00
[[ 9.97412707e-01  7.18880491e-02  0.00000000e+00  1.23391927e+02]
 [-7.18880491e-02  9.97412707e-01  0.00000000e+00 -4.40941156e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.45, Y:-4.40, Z:0.00
[[ 9.97318398e-01  7.31847850e-02  0.00000000e+00  1.23452525e+02]
 [-7.31847850e-02  9.97318398e-01  0.00000000e+00 -4.40365027e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.51, Y:-4.40, Z:0.00
[[ 9.97033175e-01  7.69730365e-02  0.00000000e+00  1.23513770e+02]
 [-7.69730365e-02  9.97033175e-01  0.00000000e+00 -4.40130023e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.58, Y:-4.40, Z:0.00
[[ 9.96725923e-01  8.08544061e-02  0.00000000e+00  1.23575781e+02]
 [-8.08544061e-02  9.96725923e-01  0.00000000e+00 -4.40416034e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.64, Y:-4.40, Z:0.00
[[ 9.96335144e-01  8.55352550e-02  0.00000000e+00  1.23635604e+02]
 [-8.55352550e-02  9.96335144e-01  0.00000000e+00 -4.40403663e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.70, Y:-4.41, Z:0.00
[[ 9.96165771e-01  8.74857465e-02  0.00000000e+00  1.23697872e+02]
 [-8.74857465e-02  9.96165771e-01  0.00000000e+00 -4.40523653e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.76, Y:-4.41, Z:0.00
[[ 9.96465308e-01  8.40053012e-02  0.00000000e+00  1.23758025e+02]
 [-8.40053012e-02  9.96465308e-01  0.00000000e+00 -4.41242929e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.82, Y:-4.42, Z:0.00
[[ 9.96913544e-01  7.85072351e-02  0.00000000e+00  1.23819872e+02]
 [-7.85072351e-02  9.96913544e-01  0.00000000e+00 -4.41600165e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.88, Y:-4.42, Z:0.00
[[ 9.97451419e-01  7.13489035e-02  0.00000000e+00  1.23881257e+02]
 [-7.13489035e-02  9.97451419e-01  0.00000000e+00 -4.42269637e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:123.94, Y:-4.43, Z:0.00
[[ 9.97717816e-01  6.75215479e-02  0.00000000e+00  1.23943032e+02]
 [-6.75215479e-02  9.97717816e-01  0.00000000e+00 -4.42882715e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.00, Y:-4.43, Z:0.00
[[ 9.97876151e-01  6.51397588e-02  0.00000000e+00  1.24002640e+02]
 [-6.51397588e-02  9.97876151e-01  0.00000000e+00 -4.43494023e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.06, Y:-4.44, Z:0.00
[[ 9.98334612e-01  5.76888365e-02  0.00000000e+00  1.24062937e+02]
 [-5.76888365e-02  9.98334612e-01  0.00000000e+00 -4.44256146e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.12, Y:-4.45, Z:0.00
[[ 9.98392509e-01  5.66780210e-02  0.00000000e+00  1.24124724e+02]
 [-5.66780210e-02  9.98392509e-01  0.00000000e+00 -4.44854624e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.19, Y:-4.46, Z:0.00
[[ 9.98591275e-01  5.30609684e-02  0.00000000e+00  1.24185984e+02]
 [-5.30609684e-02  9.98591275e-01  0.00000000e+00 -4.45628856e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.25, Y:-4.46, Z:0.00
[[ 9.98630479e-01  5.23179294e-02  0.00000000e+00  1.24247936e+02]
 [-5.23179294e-02  9.98630479e-01  0.00000000e+00 -4.46420624e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.42606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.31, Y:-4.47, Z:0.00
[[ 9.98623838e-01  5.24445415e-02  0.00000000e+00  1.24308442e+02]
 [-5.24445415e-02  9.98623838e-01  0.00000000e+00 -4.46780300e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.37, Y:-4.47, Z:0.00
[[ 9.98635455e-01  5.22228732e-02  0.00000000e+00  1.24368892e+02]
 [-5.22228732e-02  9.98635455e-01  0.00000000e+00 -4.47324124e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.43, Y:-4.48, Z:0.00
[[ 9.98578524e-01  5.33003935e-02  0.00000000e+00  1.24430812e+02]
 [-5.33003935e-02  9.98578524e-01  0.00000000e+00 -4.48116390e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.49, Y:-4.48, Z:0.00
[[ 9.98322007e-01  5.79065729e-02  0.00000000e+00  1.24492337e+02]
 [-5.79065729e-02  9.98322007e-01  0.00000000e+00 -4.48238829e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.55, Y:-4.49, Z:0.00
[[ 9.98028927e-01  6.27555600e-02  0.00000000e+00  1.24554179e+02]
 [-6.27555600e-02  9.98028927e-01  0.00000000e+00 -4.48785559e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.62, Y:-4.50, Z:0.00
[[ 9.98020664e-01  6.28868406e-02  0.00000000e+00  1.24615915e+02]
 [-6.28868406e-02  9.98020664e-01  0.00000000e+00 -4.49591837e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.68, Y:-4.50, Z:0.00
[[ 9.97694683e-01  6.78625025e-02  0.00000000e+00  1.24677125e+02]
 [-6.78625025e-02  9.97694683e-01  0.00000000e+00 -4.49669115e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.74, Y:-4.50, Z:0.00
[[ 9.97436616e-01  7.15555590e-02  0.00000000e+00  1.24739508e+02]
 [-7.15555590e-02  9.97436616e-01  0.00000000e+00 -4.49964156e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.80, Y:-4.51, Z:0.00
[[ 9.96981791e-01  7.76357374e-02  0.00000000e+00  1.24801155e+02]
 [-7.76357374e-02  9.96981791e-01  0.00000000e+00 -4.50682975e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.86, Y:-4.51, Z:0.00
[[ 9.96434363e-01  8.43715573e-02  0.00000000e+00  1.24860641e+02]
 [-8.43715573e-02  9.96434363e-01  0.00000000e+00 -4.51285604e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.92, Y:-4.52, Z:0.00
[[ 9.95137360e-01  9.84968769e-02  0.00000000e+00  1.24921357e+02]
 [-9.84968769e-02  9.95137360e-01  0.00000000e+00 -4.51595665e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:124.98, Y:-4.52, Z:0.00
[[ 9.94438811e-01  1.05315962e-01  0.00000000e+00  1.24981649e+02]
 [-1.05315962e-01  9.94438811e-01  0.00000000e+00 -4.52105528e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.04, Y:-4.53, Z:0.00
[[ 9.93645200e-01  1.12557611e-01  0.00000000e+00  1.25040936e+02]
 [-1.12557611e-01  9.93645200e-01  0.00000000e+00 -4.53209141e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.20606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.10, Y:-4.54, Z:0.00
[[ 9.94219851e-01  1.07363345e-01  0.00000000e+00  1.25101584e+02]
 [-1.07363345e-01  9.94219851e-01  0.00000000e+00 -4.54258017e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.16, Y:-4.55, Z:0.00
[[ 9.94780489e-01  1.02038121e-01  0.00000000e+00  1.25160920e+02]
 [-1.02038121e-01  9.94780489e-01  0.00000000e+00 -4.55369640e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.22, Y:-4.56, Z:0.00
[[ 9.95389842e-01  9.59117424e-02  0.00000000e+00  1.25221297e+02]
 [-9.59117424e-02  9.95389842e-01  0.00000000e+00 -4.55917962e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.28, Y:-4.57, Z:0.00
[[ 9.95506118e-01  9.46972493e-02  0.00000000e+00  1.25283147e+02]
 [-9.46972493e-02  9.95506118e-01  0.00000000e+00 -4.56746484e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.34, Y:-4.58, Z:0.00
[[ 9.95612649e-01  9.35705740e-02  0.00000000e+00  1.25343340e+02]
 [-9.35705740e-02  9.95612649e-01  0.00000000e+00 -4.57789458e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.40, Y:-4.58, Z:0.00
[[ 9.96026574e-01  8.90565168e-02  0.00000000e+00  1.25404328e+02]
 [-8.90565168e-02  9.96026574e-01  0.00000000e+00 -4.58435956e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.47, Y:-4.58, Z:0.00
[[ 9.96029036e-01  8.90289837e-02  0.00000000e+00  1.25465945e+02]
 [-8.90289837e-02  9.96029036e-01  0.00000000e+00 -4.57908427e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.53, Y:-4.57, Z:0.00
[[ 9.96508662e-01  8.34894408e-02  0.00000000e+00  1.25526778e+02]
 [-8.34894408e-02  9.96508662e-01  0.00000000e+00 -4.57460665e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.59, Y:-4.57, Z:0.00
[[ 9.96745294e-01  8.06152479e-02  0.00000000e+00  1.25588916e+02]
 [-8.06152479e-02  9.96745294e-01  0.00000000e+00 -4.56682131e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.65, Y:-4.56, Z:0.00
[[ 9.96650224e-01  8.17822151e-02  0.00000000e+00  1.25651482e+02]
 [-8.17822151e-02  9.96650224e-01  0.00000000e+00 -4.56480672e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.71, Y:-4.56, Z:0.00
[[ 9.96364827e-01  8.51887975e-02  0.00000000e+00  1.25712571e+02]
 [-8.51887975e-02  9.96364827e-01  0.00000000e+00 -4.56186611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.77, Y:-4.56, Z:0.00
[[ 9.96349027e-01  8.53733992e-02  0.00000000e+00  1.25774818e+02]
 [-8.53733992e-02  9.96349027e-01  0.00000000e+00 -4.56301214e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.92606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.84, Y:-4.56, Z:0.00
[[ 9.96085926e-01  8.83902031e-02  0.00000000e+00  1.25836745e+02]
 [-8.83902031e-02  9.96085926e-01  0.00000000e+00 -4.56073273e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.90, Y:-4.56, Z:0.00
[[ 9.95829574e-01  9.12329913e-02  0.00000000e+00  1.25898422e+02]
 [-9.12329913e-02  9.95829574e-01  0.00000000e+00 -4.56379155e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.04606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:125.96, Y:-4.57, Z:0.00
[[ 9.95456300e-01  9.52195095e-02  0.00000000e+00  1.25958319e+02]
 [-9.52195095e-02  9.95456300e-01  0.00000000e+00 -4.56515720e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.02, Y:-4.57, Z:0.00
[[ 9.94791073e-01  1.01934890e-01  0.00000000e+00  1.26018847e+02]
 [-1.01934890e-01  9.94791073e-01  0.00000000e+00 -4.57128789e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.08, Y:-4.58, Z:0.00
[[ 9.94618519e-01  1.03605028e-01  0.00000000e+00  1.26080448e+02]
 [-1.03605028e-01  9.94618519e-01  0.00000000e+00 -4.57579972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.14, Y:-4.58, Z:0.00
[[ 9.94517156e-01  1.04573541e-01  0.00000000e+00  1.26141903e+02]
 [-1.04573541e-01  9.94517156e-01  0.00000000e+00 -4.58355006e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.20, Y:-4.59, Z:0.00
[[ 9.94368036e-01  1.05982114e-01  0.00000000e+00  1.26202757e+02]
 [-1.05982114e-01  9.94368036e-01  0.00000000e+00 -4.59071021e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.34606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.26, Y:-4.60, Z:0.00
[[ 9.94149451e-01  1.08013281e-01  0.00000000e+00  1.26263700e+02]
 [-1.08013281e-01  9.94149451e-01  0.00000000e+00 -4.59704771e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.40606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.32, Y:-4.61, Z:0.00
[[ 9.93725042e-01  1.11850529e-01  0.00000000e+00  1.26323496e+02]
 [-1.11850529e-01  9.93725042e-01  0.00000000e+00 -4.60536614e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.46606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.38, Y:-4.62, Z:0.00
[[ 9.93611686e-01  1.12853075e-01  0.00000000e+00  1.26384365e+02]
 [-1.12853075e-01  9.93611686e-01  0.00000000e+00 -4.61502035e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.52606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.44, Y:-4.63, Z:0.00
[[ 9.94193349e-01  1.07608478e-01  0.00000000e+00  1.26444437e+02]
 [-1.07608478e-01  9.94193349e-01  0.00000000e+00 -4.62696392e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.58606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.50, Y:-4.64, Z:0.00
[[ 9.94898804e-01  1.00877994e-01  0.00000000e+00  1.26504885e+02]
 [-1.00877994e-01  9.94898804e-01  0.00000000e+00 -4.63572950e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.64606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.56, Y:-4.65, Z:0.00
[[ 9.96077652e-01  8.84833997e-02  0.00000000e+00  1.26564231e+02]
 [-8.84833997e-02  9.96077652e-01  0.00000000e+00 -4.65389523e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.70606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.62, Y:-4.66, Z:0.00
[[ 9.97000095e-01  7.74003210e-02  0.00000000e+00  1.26624262e+02]
 [-7.74003210e-02  9.97000095e-01  0.00000000e+00 -4.66204367e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.76606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.69, Y:-4.66, Z:0.00
[[ 9.96876457e-01  7.89767640e-02  0.00000000e+00  1.26686856e+02]
 [-7.89767640e-02  9.96876457e-01  0.00000000e+00 -4.66156429e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.82606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.75, Y:-4.67, Z:0.00
[[ 9.96770334e-01  8.03050574e-02  0.00000000e+00  1.26747361e+02]
 [-8.03050574e-02  9.96770334e-01  0.00000000e+00 -4.66528915e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.81, Y:-4.67, Z:0.00
[[ 9.96796283e-01  7.99823102e-02  0.00000000e+00  1.26808483e+02]
 [-7.99823102e-02  9.96796283e-01  0.00000000e+00 -4.66921001e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.87, Y:-4.67, Z:0.00
[[ 9.96960196e-01  7.79125693e-02  0.00000000e+00  1.26869538e+02]
 [-7.79125693e-02  9.96960196e-01  0.00000000e+00 -4.67321028e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.93, Y:-4.68, Z:0.00
[[ 9.97110425e-01  7.59657891e-02  0.00000000e+00  1.26931260e+02]
 [-7.59657891e-02  9.97110425e-01  0.00000000e+00 -4.67591151e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:126.99, Y:-4.68, Z:0.00
[[ 9.96996618e-01  7.74450971e-02  0.00000000e+00  1.26993134e+02]
 [-7.74450971e-02  9.96996618e-01  0.00000000e+00 -4.67929750e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.12606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.06, Y:-4.68, Z:0.00
[[ 9.96561011e-01  8.28622489e-02  0.00000000e+00  1.27055097e+02]
 [-8.28622489e-02  9.96561011e-01  0.00000000e+00 -4.68159358e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.18606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.12, Y:-4.69, Z:0.00
[[ 9.96036861e-01  8.89413967e-02  0.00000000e+00  1.27115863e+02]
 [-8.89413967e-02  9.96036861e-01  0.00000000e+00 -4.68525121e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.24606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.18, Y:-4.69, Z:0.00
[[ 9.96403624e-01  8.47338029e-02  0.00000000e+00  1.27176926e+02]
 [-8.47338029e-02  9.96403624e-01  0.00000000e+00 -4.68719242e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.30606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.24, Y:-4.69, Z:0.00
[[ 9.96249329e-01  8.65290373e-02  0.00000000e+00  1.27237835e+02]
 [-8.65290373e-02  9.96249329e-01  0.00000000e+00 -4.68906715e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.36606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.30, Y:-4.69, Z:0.00
[[ 9.95916506e-01  9.02790796e-02  0.00000000e+00  1.27297773e+02]
 [-9.02790796e-02  9.95916506e-01  0.00000000e+00 -4.68923732e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.42606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.36, Y:-4.69, Z:0.00
[[ 9.95130248e-01  9.85687051e-02  0.00000000e+00  1.27358879e+02]
 [-9.85687051e-02  9.95130248e-01  0.00000000e+00 -4.69287898e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.48606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.42, Y:-4.70, Z:0.00
[[ 9.95391090e-01  9.58987948e-02  0.00000000e+00  1.27419719e+02]
 [-9.58987948e-02  9.95391090e-01  0.00000000e+00 -4.70266636e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.54606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.48, Y:-4.71, Z:0.00
[[ 9.95427553e-01  9.55195577e-02  0.00000000e+00  1.27481639e+02]
 [-9.55195577e-02  9.95427553e-01  0.00000000e+00 -4.70539121e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.54, Y:-4.71, Z:0.00
[[ 9.95863547e-01  9.08614143e-02  0.00000000e+00  1.27541463e+02]
 [-9.08614143e-02  9.95863547e-01  0.00000000e+00 -4.71004264e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.60, Y:-4.72, Z:0.00
[[ 9.96232984e-01  8.67170149e-02  0.00000000e+00  1.27601614e+02]
 [-8.67170149e-02  9.96232984e-01  0.00000000e+00 -4.71679737e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.66, Y:-4.72, Z:0.00
[[ 9.95843486e-01  9.10810165e-02  0.00000000e+00  1.27662778e+02]
 [-9.10810165e-02  9.95843486e-01  0.00000000e+00 -4.72050910e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.72, Y:-4.73, Z:0.00
[[ 9.95803562e-01  9.15164832e-02  0.00000000e+00  1.27723080e+02]
 [-9.15164832e-02  9.95803562e-01  0.00000000e+00 -4.72746069e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.84606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.78, Y:-4.73, Z:0.00
[[ 9.95801454e-01  9.15394121e-02  0.00000000e+00  1.27783511e+02]
 [-9.15394121e-02  9.95801454e-01  0.00000000e+00 -4.73189427e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.90606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.85, Y:-4.73, Z:0.00
[[ 9.95785776e-01  9.17098052e-02  0.00000000e+00  1.27845341e+02]
 [-9.17098052e-02  9.95785776e-01  0.00000000e+00 -4.73449919e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.96606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.90, Y:-4.74, Z:0.00
[[ 9.95533292e-01  9.44111503e-02  0.00000000e+00  1.27904869e+02]
 [-9.44111503e-02  9.95533292e-01  0.00000000e+00 -4.73716309e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.02606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:127.97, Y:-4.74, Z:0.00
[[ 9.95395039e-01  9.58577888e-02  0.00000000e+00  1.27966390e+02]
 [-9.58577888e-02  9.95395039e-01  0.00000000e+00 -4.74470118e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.08606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.03, Y:-4.75, Z:0.00
[[ 9.95579766e-01  9.39198010e-02  0.00000000e+00  1.28026767e+02]
 [-9.39198010e-02  9.95579766e-01  0.00000000e+00 -4.74727257e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.14606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.09, Y:-4.75, Z:0.00
[[ 9.96228563e-01  8.67677984e-02  0.00000000e+00  1.28088080e+02]
 [-8.67677984e-02  9.96228563e-01  0.00000000e+00 -4.74982232e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.20606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.15, Y:-4.76, Z:0.00
[[ 9.96612200e-01  8.22442842e-02  0.00000000e+00  1.28149112e+02]
 [-8.22442842e-02  9.96612200e-01  0.00000000e+00 -4.75513731e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.26606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.21, Y:-4.76, Z:0.00
[[ 9.96538356e-01  8.31342632e-02  0.00000000e+00  1.28210721e+02]
 [-8.31342632e-02  9.96538356e-01  0.00000000e+00 -4.75951313e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.32606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.27, Y:-4.76, Z:0.00
[[ 9.96157398e-01  8.75810341e-02  0.00000000e+00  1.28271214e+02]
 [-8.75810341e-02  9.96157398e-01  0.00000000e+00 -4.76279955e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.33, Y:-4.77, Z:0.00
[[ 9.95941069e-01  9.00077083e-02  0.00000000e+00  1.28332460e+02]
 [-9.00077083e-02  9.95941069e-01  0.00000000e+00 -4.77086637e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.39, Y:-4.78, Z:0.00
[[ 9.96328306e-01  8.56148769e-02  0.00000000e+00  1.28392484e+02]
 [-8.56148769e-02  9.96328306e-01  0.00000000e+00 -4.77547448e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.46, Y:-4.78, Z:0.00
[[ 9.96325021e-01  8.56530989e-02  0.00000000e+00  1.28455183e+02]
 [-8.56530989e-02  9.96325021e-01  0.00000000e+00 -4.77736192e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.52, Y:-4.78, Z:0.00
[[ 9.96454396e-01  8.41346401e-02  0.00000000e+00  1.28516097e+02]
 [-8.41346401e-02  9.96454396e-01  0.00000000e+00 -4.78271491e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.62606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.58, Y:-4.79, Z:0.00
[[ 9.96356251e-01  8.52890483e-02  0.00000000e+00  1.28578573e+02]
 [-8.52890483e-02  9.96356251e-01  0.00000000e+00 -4.78637390e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.68606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.64, Y:-4.79, Z:0.00
[[ 9.96051233e-01  8.87802981e-02  0.00000000e+00  1.28638280e+02]
 [-8.87802981e-02  9.96051233e-01  0.00000000e+00 -4.78863010e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.74606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.70, Y:-4.79, Z:0.00
[[ 9.96074448e-01  8.85194585e-02  0.00000000e+00  1.28698046e+02]
 [-8.85194585e-02  9.96074448e-01  0.00000000e+00 -4.79191642e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.80606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.76, Y:-4.80, Z:0.00
[[ 9.95954197e-01  8.98623265e-02  0.00000000e+00  1.28758860e+02]
 [-8.98623265e-02  9.95954197e-01  0.00000000e+00 -4.79777261e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.86606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.82, Y:-4.80, Z:0.00
[[ 9.95599638e-01  9.37089135e-02  0.00000000e+00  1.28822119e+02]
 [-9.37089135e-02  9.95599638e-01  0.00000000e+00 -4.80078220e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.92606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.88, Y:-4.81, Z:0.00
[[ 9.95459866e-01  9.51822168e-02  0.00000000e+00  1.28882740e+02]
 [-9.51822168e-02  9.95459866e-01  0.00000000e+00 -4.80727542e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.98606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:128.94, Y:-4.81, Z:0.00
[[ 9.95340426e-01  9.64232158e-02  0.00000000e+00  1.28944397e+02]
 [-9.64232158e-02  9.95340426e-01  0.00000000e+00 -4.81125350e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.00, Y:-4.82, Z:0.00
[[ 9.95174071e-01  9.81252725e-02  0.00000000e+00  1.29004285e+02]
 [-9.81252725e-02  9.95174071e-01  0.00000000e+00 -4.81549325e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.07, Y:-4.82, Z:0.00
[[ 9.94888551e-01  1.00979061e-01  0.00000000e+00  1.29065794e+02]
 [-1.00979061e-01  9.94888551e-01  0.00000000e+00 -4.81878602e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.13, Y:-4.83, Z:0.00
[[ 9.94454643e-01  1.05166363e-01  0.00000000e+00  1.29126461e+02]
 [-1.05166363e-01  9.94454643e-01  0.00000000e+00 -4.82502473e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.19, Y:-4.83, Z:0.00
[[ 9.94858954e-01  1.01270242e-01  0.00000000e+00  1.29187599e+02]
 [-1.01270242e-01  9.94858954e-01  0.00000000e+00 -4.82720275e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.25, Y:-4.83, Z:0.00
[[ 9.95368306e-01  9.61349887e-02  0.00000000e+00  1.29248180e+02]
 [-9.61349887e-02  9.95368306e-01  0.00000000e+00 -4.83485938e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.31, Y:-4.84, Z:0.00
[[ 9.96124594e-01  8.79533598e-02  0.00000000e+00  1.29308655e+02]
 [-8.79533598e-02  9.96124594e-01  0.00000000e+00 -4.84042524e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.37, Y:-4.84, Z:0.00
[[ 9.96650518e-01  8.17786305e-02  0.00000000e+00  1.29369782e+02]
 [-8.17786305e-02  9.96650518e-01  0.00000000e+00 -4.83698521e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.43, Y:-4.84, Z:0.00
[[ 9.96800419e-01  7.99307455e-02  0.00000000e+00  1.29429892e+02]
 [-7.99307455e-02  9.96800419e-01  0.00000000e+00 -4.84196230e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.49, Y:-4.85, Z:0.00
[[ 9.96632956e-01  8.19923853e-02  0.00000000e+00  1.29491608e+02]
 [-8.19923853e-02  9.96632956e-01  0.00000000e+00 -4.85268448e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.55, Y:-4.86, Z:0.00
[[ 9.96566293e-01  8.27986962e-02  0.00000000e+00  1.29551746e+02]
 [-8.27986962e-02  9.96566293e-01  0.00000000e+00 -4.85803014e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.61, Y:-4.87, Z:0.00
[[ 9.96516363e-01  8.33974669e-02  0.00000000e+00  1.29613365e+02]
 [-8.33974669e-02  9.96516363e-01  0.00000000e+00 -4.86522753e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.67, Y:-4.87, Z:0.00
[[ 9.96649435e-01  8.17918275e-02  0.00000000e+00  1.29674060e+02]
 [-8.17918275e-02  9.96649435e-01  0.00000000e+00 -4.87291131e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.73, Y:-4.88, Z:0.00
[[ 9.96848395e-01  7.93301798e-02  0.00000000e+00  1.29734207e+02]
 [-7.93301798e-02  9.96848395e-01  0.00000000e+00 -4.87993472e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.79, Y:-4.89, Z:0.00
[[ 9.97011610e-01  7.72518601e-02  0.00000000e+00  1.29794298e+02]
 [-7.72518601e-02  9.97011610e-01  0.00000000e+00 -4.88669475e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.86, Y:-4.89, Z:0.00
[[ 9.97116250e-01  7.58892928e-02  0.00000000e+00  1.29856054e+02]
 [-7.58892928e-02  9.97116250e-01  0.00000000e+00 -4.89466114e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.92, Y:-4.90, Z:0.00
[[ 9.97310802e-01  7.32882316e-02  0.00000000e+00  1.29917353e+02]
 [-7.32882316e-02  9.97310802e-01  0.00000000e+00 -4.89687745e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:129.98, Y:-4.90, Z:0.00
[[ 9.97501807e-01  7.06409530e-02  0.00000000e+00  1.29979390e+02]
 [-7.06409530e-02  9.97501807e-01  0.00000000e+00 -4.90022945e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.04, Y:-4.91, Z:0.00
[[ 9.97559775e-01  6.98175899e-02  0.00000000e+00  1.30040054e+02]
 [-6.98175899e-02  9.97559775e-01  0.00000000e+00 -4.90664644e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.10, Y:-4.91, Z:0.00
[[ 9.97423482e-01  7.17384000e-02  0.00000000e+00  1.30101928e+02]
 [-7.17384000e-02  9.97423482e-01  0.00000000e+00 -4.91071157e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.16, Y:-4.91, Z:0.00
[[ 9.97774027e-01  6.66857617e-02  0.00000000e+00  1.30162866e+02]
 [-6.66857617e-02  9.97774027e-01  0.00000000e+00 -4.91413283e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.22, Y:-4.91, Z:0.00
[[ 9.97880118e-01  6.50789598e-02  0.00000000e+00  1.30224388e+02]
 [-6.50789598e-02  9.97880118e-01  0.00000000e+00 -4.91425222e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.29, Y:-4.92, Z:0.00
[[ 9.97734065e-01  6.72810128e-02  0.00000000e+00  1.30286096e+02]
 [-6.72810128e-02  9.97734065e-01  0.00000000e+00 -4.91585452e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.35, Y:-4.92, Z:0.00
[[ 9.97186259e-01  7.49637576e-02  0.00000000e+00  1.30347161e+02]
 [-7.49637576e-02  9.97186259e-01  0.00000000e+00 -4.91579986e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.41, Y:-4.92, Z:0.00
[[ 9.97001767e-01  7.73787827e-02  0.00000000e+00  1.30407678e+02]
 [-7.73787827e-02  9.97001767e-01  0.00000000e+00 -4.92002710e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.47, Y:-4.92, Z:0.00
[[ 9.96793047e-01  8.00226267e-02  0.00000000e+00  1.30468341e+02]
 [-8.00226267e-02  9.96793047e-01  0.00000000e+00 -4.92132362e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.53, Y:-4.92, Z:0.00
[[ 9.96909260e-01  7.85616137e-02  0.00000000e+00  1.30530009e+02]
 [-7.85616137e-02  9.96909260e-01  0.00000000e+00 -4.92257375e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.59, Y:-4.93, Z:0.00
[[ 9.96544304e-01  8.30629297e-02  0.00000000e+00  1.30589808e+02]
 [-8.30629297e-02  9.96544304e-01  0.00000000e+00 -4.92715725e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.65, Y:-4.93, Z:0.00
[[ 9.96455966e-01  8.41160344e-02  0.00000000e+00  1.30651136e+02]
 [-8.41160344e-02  9.96455966e-01  0.00000000e+00 -4.93204627e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.71, Y:-4.93, Z:0.00
[[ 9.96636064e-01  8.19545975e-02  0.00000000e+00  1.30711149e+02]
 [-8.19545975e-02  9.96636064e-01  0.00000000e+00 -4.93357765e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.77, Y:-4.93, Z:0.00
[[ 9.97183211e-01  7.50042906e-02  0.00000000e+00  1.30773854e+02]
 [-7.50042906e-02  9.97183211e-01  0.00000000e+00 -4.93175380e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.83, Y:-4.94, Z:0.00
[[ 9.97137050e-01  7.56154977e-02  0.00000000e+00  1.30833742e+02]
 [-7.56154977e-02  9.97137050e-01  0.00000000e+00 -4.93524202e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.90, Y:-4.93, Z:0.00
[[ 9.96462543e-01  8.40380940e-02  0.00000000e+00  1.30895148e+02]
 [-8.40380940e-02  9.96462543e-01  0.00000000e+00 -4.93374413e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:130.96, Y:-4.93, Z:0.00
[[ 9.95709850e-01  9.25305091e-02  0.00000000e+00  1.30956945e+02]
 [-9.25305091e-02  9.95709850e-01  0.00000000e+00 -4.93458993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.02, Y:-4.94, Z:0.00
[[ 9.94485807e-01  1.04871251e-01  0.00000000e+00  1.31016860e+02]
 [-1.04871251e-01  9.94485807e-01  0.00000000e+00 -4.93642514e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.08, Y:-4.94, Z:0.00
[[ 9.94087385e-01  1.08583014e-01  0.00000000e+00  1.31077744e+02]
 [-1.08583014e-01  9.94087385e-01  0.00000000e+00 -4.93971561e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.14, Y:-4.94, Z:0.00
[[ 9.94020222e-01  1.09196142e-01  0.00000000e+00  1.31140364e+02]
 [-1.09196142e-01  9.94020222e-01  0.00000000e+00 -4.94373756e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.20, Y:-4.95, Z:0.00
[[ 9.94375607e-01  1.05911059e-01  0.00000000e+00  1.31200739e+02]
 [-1.05911059e-01  9.94375607e-01  0.00000000e+00 -4.95177117e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.26, Y:-4.96, Z:0.00
[[ 9.94626792e-01  1.03525575e-01  0.00000000e+00  1.31261478e+02]
 [-1.03525575e-01  9.94626792e-01  0.00000000e+00 -4.96026775e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.32, Y:-4.97, Z:0.00
[[ 9.94598652e-01  1.03795573e-01  0.00000000e+00  1.31320948e+02]
 [-1.03795573e-01  9.94598652e-01  0.00000000e+00 -4.96733230e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.38, Y:-4.98, Z:0.00
[[ 9.94679301e-01  1.03019842e-01  0.00000000e+00  1.31382201e+02]
 [-1.03019842e-01  9.94679301e-01  0.00000000e+00 -4.97537194e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.44, Y:-4.98, Z:0.00
[[ 9.94625185e-01  1.03541016e-01  0.00000000e+00  1.31443702e+02]
 [-1.03541016e-01  9.94625185e-01  0.00000000e+00 -4.98066324e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.51, Y:-4.99, Z:0.00
[[ 9.94590866e-01  1.03870157e-01  0.00000000e+00  1.31505878e+02]
 [-1.03870157e-01  9.94590866e-01  0.00000000e+00 -4.98883135e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.57, Y:-5.00, Z:0.00
[[ 9.94987071e-01  1.00003645e-01  0.00000000e+00  1.31566734e+02]
 [-1.00003645e-01  9.94987071e-01  0.00000000e+00 -4.99539642e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.63, Y:-5.00, Z:0.00
[[ 9.95072628e-01  9.91487037e-02  0.00000000e+00  1.31627737e+02]
 [-9.91487037e-02  9.95072628e-01  0.00000000e+00 -5.00054070e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.69, Y:-5.01, Z:0.00
[[ 9.95507105e-01  9.46868726e-02  0.00000000e+00  1.31688276e+02]
 [-9.46868726e-02  9.95507105e-01  0.00000000e+00 -5.00672175e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.75, Y:-5.01, Z:0.00
[[ 9.95798717e-01  9.15691795e-02  0.00000000e+00  1.31747808e+02]
 [-9.15691795e-02  9.95798717e-01  0.00000000e+00 -5.00978720e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.81, Y:-5.01, Z:0.00
[[ 9.95216901e-01  9.76899185e-02  0.00000000e+00  1.31808096e+02]
 [-9.76899185e-02  9.95216901e-01  0.00000000e+00 -5.01268414e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.87, Y:-5.02, Z:0.00
[[ 9.95247504e-01  9.73776473e-02  0.00000000e+00  1.31869626e+02]
 [-9.73776473e-02  9.95247504e-01  0.00000000e+00 -5.02072560e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.93, Y:-5.02, Z:0.00
[[ 9.95012007e-01  9.97552285e-02  0.00000000e+00  1.31931529e+02]
 [-9.97552285e-02  9.95012007e-01  0.00000000e+00 -5.02134940e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:131.99, Y:-5.02, Z:0.00
[[ 9.94859056e-01  1.01269239e-01  0.00000000e+00  1.31992883e+02]
 [-1.01269239e-01  9.94859056e-01  0.00000000e+00 -5.02187466e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.05, Y:-5.03, Z:0.00
[[ 9.95131502e-01  9.85560447e-02  0.00000000e+00  1.32054529e+02]
 [-9.85560447e-02  9.95131502e-01  0.00000000e+00 -5.02633830e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.11, Y:-5.03, Z:0.00
[[ 9.95401896e-01  9.57865598e-02  0.00000000e+00  1.32114426e+02]
 [-9.57865598e-02  9.95401896e-01  0.00000000e+00 -5.02899004e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.18, Y:-5.03, Z:0.00
[[ 9.95635949e-01  9.33223326e-02  0.00000000e+00  1.32176053e+02]
 [-9.33223326e-02  9.95635949e-01  0.00000000e+00 -5.03422359e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.24, Y:-5.04, Z:0.00
[[ 9.95707262e-01  9.25583525e-02  0.00000000e+00  1.32237742e+02]
 [-9.25583525e-02  9.95707262e-01  0.00000000e+00 -5.03912975e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.30, Y:-5.04, Z:0.00
[[ 9.95543864e-01  9.42996062e-02  0.00000000e+00  1.32298726e+02]
 [-9.42996062e-02  9.95543864e-01  0.00000000e+00 -5.04189223e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.36, Y:-5.04, Z:0.00
[[ 9.95358965e-01  9.62316559e-02  0.00000000e+00  1.32359269e+02]
 [-9.62316559e-02  9.95358965e-01  0.00000000e+00 -5.04403035e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.42, Y:-5.05, Z:0.00
[[ 9.95201315e-01  9.78485677e-02  0.00000000e+00  1.32419655e+02]
 [-9.78485677e-02  9.95201315e-01  0.00000000e+00 -5.04864163e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.48, Y:-5.05, Z:0.00
[[ 9.94769131e-01  1.02148793e-01  0.00000000e+00  1.32480196e+02]
 [-1.02148793e-01  9.94769131e-01  0.00000000e+00 -5.05333575e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.54, Y:-5.06, Z:0.00
[[ 9.94900590e-01  1.00860376e-01  0.00000000e+00  1.32542516e+02]
 [-1.00860376e-01  9.94900590e-01  0.00000000e+00 -5.05770947e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.60, Y:-5.06, Z:0.00
[[ 9.95469973e-01  9.50764551e-02  0.00000000e+00  1.32603095e+02]
 [-9.50764551e-02  9.95469973e-01  0.00000000e+00 -5.06038316e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.66, Y:-5.06, Z:0.00
[[ 9.95500145e-01  9.47600168e-02  0.00000000e+00  1.32664351e+02]
 [-9.47600168e-02  9.95500145e-01  0.00000000e+00 -5.06383737e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.72, Y:-5.07, Z:0.00
[[ 9.95290734e-01  9.69347919e-02  0.00000000e+00  1.32724982e+02]
 [-9.69347919e-02  9.95290734e-01  0.00000000e+00 -5.06859649e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.78, Y:-5.07, Z:0.00
[[ 9.94640528e-01  1.03393523e-01  0.00000000e+00  1.32784575e+02]
 [-1.03393523e-01  9.94640528e-01  0.00000000e+00 -5.07167903e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.84, Y:-5.08, Z:0.00
[[ 9.94430709e-01  1.05392436e-01  0.00000000e+00  1.32843837e+02]
 [-1.05392436e-01  9.94430709e-01  0.00000000e+00 -5.07659679e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.90, Y:-5.08, Z:0.00
[[ 9.94731259e-01  1.02516936e-01  0.00000000e+00  1.32904757e+02]
 [-1.02516936e-01  9.94731259e-01  0.00000000e+00 -5.07801895e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:132.96, Y:-5.08, Z:0.00
[[ 9.94476441e-01  1.04960035e-01  0.00000000e+00  1.32964958e+02]
 [-1.04960035e-01  9.94476441e-01  0.00000000e+00 -5.07606852e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.03, Y:-5.07, Z:0.00
[[ 9.94054493e-01  1.08883726e-01  0.00000000e+00  1.33026969e+02]
 [-1.08883726e-01  9.94054493e-01  0.00000000e+00 -5.07175186e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.09, Y:-5.07, Z:0.00
[[ 9.94411430e-01  1.05574182e-01  0.00000000e+00  1.33087588e+02]
 [-1.05574182e-01  9.94411430e-01  0.00000000e+00 -5.07462822e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.15, Y:-5.08, Z:0.00
[[ 9.94379874e-01  1.05870988e-01  0.00000000e+00  1.33150177e+02]
 [-1.05870988e-01  9.94379874e-01  0.00000000e+00 -5.07688354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.21, Y:-5.08, Z:0.00
[[ 9.94386240e-01  1.05811178e-01  0.00000000e+00  1.33212153e+02]
 [-1.05811178e-01  9.94386240e-01  0.00000000e+00 -5.07729755e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.27, Y:-5.08, Z:0.00
[[ 9.94484019e-01  1.04888203e-01  0.00000000e+00  1.33273319e+02]
 [-1.04888203e-01  9.94484019e-01  0.00000000e+00 -5.08075249e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.34, Y:-5.09, Z:0.00
[[ 9.94576490e-01  1.04007718e-01  0.00000000e+00  1.33335311e+02]
 [-1.04007718e-01  9.94576490e-01  0.00000000e+00 -5.08704261e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.40, Y:-5.09, Z:0.00
[[ 9.94605163e-01  1.03733167e-01  0.00000000e+00  1.33397685e+02]
 [-1.03733167e-01  9.94605163e-01  0.00000000e+00 -5.09204534e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.46, Y:-5.10, Z:0.00
[[ 9.94797822e-01  1.01869002e-01  0.00000000e+00  1.33457989e+02]
 [-1.01869002e-01  9.94797822e-01  0.00000000e+00 -5.09637559e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.52, Y:-5.10, Z:0.00
[[ 9.94673043e-01  1.03080244e-01  0.00000000e+00  1.33517622e+02]
 [-1.03080244e-01  9.94673043e-01  0.00000000e+00 -5.10468453e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.58, Y:-5.11, Z:0.00
[[ 9.94554044e-01  1.04222138e-01  0.00000000e+00  1.33578271e+02]
 [-1.04222138e-01  9.94554044e-01  0.00000000e+00 -5.11119903e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.64, Y:-5.12, Z:0.00
[[ 9.94510599e-01  1.04635882e-01  0.00000000e+00  1.33640514e+02]
 [-1.04635882e-01  9.94510599e-01  0.00000000e+00 -5.11619560e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.70, Y:-5.12, Z:0.00
[[ 9.94232217e-01  1.07248766e-01  0.00000000e+00  1.33700399e+02]
 [-1.07248766e-01  9.94232217e-01  0.00000000e+00 -5.12357782e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.76, Y:-5.13, Z:0.00
[[ 9.93362536e-01  1.15025529e-01  0.00000000e+00  1.33760287e+02]
 [-1.15025529e-01  9.93362536e-01  0.00000000e+00 -5.13028017e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.82, Y:-5.14, Z:0.00
[[ 9.93345945e-01  1.15168714e-01  0.00000000e+00  1.33821524e+02]
 [-1.15168714e-01  9.93345945e-01  0.00000000e+00 -5.13744092e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.88, Y:-5.15, Z:0.00
[[ 9.93555270e-01  1.13348690e-01  0.00000000e+00  1.33881677e+02]
 [-1.13348690e-01  9.93555270e-01  0.00000000e+00 -5.14551578e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:133.94, Y:-5.15, Z:0.00
[[ 9.94109297e-01  1.08382224e-01  0.00000000e+00  1.33942767e+02]
 [-1.08382224e-01  9.94109297e-01  0.00000000e+00 -5.15073921e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.00, Y:-5.16, Z:0.00
[[ 9.94445574e-01  1.05252081e-01  0.00000000e+00  1.34003888e+02]
 [-1.05252081e-01  9.94445574e-01  0.00000000e+00 -5.15673541e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.06, Y:-5.17, Z:0.00
[[ 9.94649676e-01  1.03305480e-01  0.00000000e+00  1.34064645e+02]
 [-1.03305480e-01  9.94649676e-01  0.00000000e+00 -5.16570066e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.13, Y:-5.17, Z:0.00
[[ 9.94571718e-01  1.04053345e-01  0.00000000e+00  1.34126216e+02]
 [-1.04053345e-01  9.94571718e-01  0.00000000e+00 -5.17336378e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.19, Y:-5.18, Z:0.00
[[ 9.94605177e-01  1.03733035e-01  0.00000000e+00  1.34188363e+02]
 [-1.03733035e-01  9.94605177e-01  0.00000000e+00 -5.18087385e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.25, Y:-5.19, Z:0.00
[[ 9.94623063e-01  1.03561392e-01  0.00000000e+00  1.34248550e+02]
 [-1.03561392e-01  9.94623063e-01  0.00000000e+00 -5.18816957e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.31, Y:-5.20, Z:0.00
[[ 9.95302757e-01  9.68112713e-02  0.00000000e+00  1.34308973e+02]
 [-9.68112713e-02  9.95302757e-01  0.00000000e+00 -5.19646220e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.37, Y:-5.20, Z:0.00
[[ 9.94932668e-01  1.00543453e-01  0.00000000e+00  1.34371278e+02]
 [-1.00543453e-01  9.94932668e-01  0.00000000e+00 -5.19983408e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.43, Y:-5.20, Z:0.00
[[ 9.94732832e-01  1.02501672e-01  0.00000000e+00  1.34430924e+02]
 [-1.02501672e-01  9.94732832e-01  0.00000000e+00 -5.20378880e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.49, Y:-5.21, Z:0.00
[[ 9.95026524e-01  9.96103208e-02  0.00000000e+00  1.34491831e+02]
 [-9.96103208e-02  9.95026524e-01  0.00000000e+00 -5.21083195e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.55, Y:-5.21, Z:0.00
[[ 9.95308226e-01  9.67550281e-02  0.00000000e+00  1.34552908e+02]
 [-9.67550281e-02  9.95308226e-01  0.00000000e+00 -5.21019120e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.61, Y:-5.21, Z:0.00
[[ 9.95139542e-01  9.84748306e-02  0.00000000e+00  1.34614542e+02]
 [-9.84748306e-02  9.95139542e-01  0.00000000e+00 -5.21319840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.67, Y:-5.22, Z:0.00
[[ 9.94798813e-01  1.01859319e-01  0.00000000e+00  1.34674359e+02]
 [-1.01859319e-01  9.94798813e-01  0.00000000e+00 -5.22160772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.74, Y:-5.22, Z:0.00
[[ 9.94494133e-01  1.04792269e-01  0.00000000e+00  1.34735265e+02]
 [-1.04792269e-01  9.94494133e-01  0.00000000e+00 -5.22489245e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.80, Y:-5.23, Z:0.00
[[ 9.94345328e-01  1.06194953e-01  0.00000000e+00  1.34796280e+02]
 [-1.06194953e-01  9.94345328e-01  0.00000000e+00 -5.22512333e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.86, Y:-5.23, Z:0.00
[[ 9.94187898e-01  1.07658832e-01  0.00000000e+00  1.34856930e+02]
 [-1.07658832e-01  9.94187898e-01  0.00000000e+00 -5.23087405e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.92, Y:-5.24, Z:0.00
[[ 9.94270796e-01  1.06890524e-01  0.00000000e+00  1.34918216e+02]
 [-1.06890524e-01  9.94270796e-01  0.00000000e+00 -5.23787554e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:134.98, Y:-5.24, Z:0.00
[[ 9.94065801e-01  1.08780435e-01  0.00000000e+00  1.34979849e+02]
 [-1.08780435e-01  9.94065801e-01  0.00000000e+00 -5.24092844e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.04, Y:-5.25, Z:0.00
[[ 9.94624322e-01  1.03549306e-01  0.00000000e+00  1.35039759e+02]
 [-1.03549306e-01  9.94624322e-01  0.00000000e+00 -5.24684035e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.10, Y:-5.25, Z:0.00
[[ 9.94494034e-01  1.04793206e-01  0.00000000e+00  1.35100245e+02]
 [-1.04793206e-01  9.94494034e-01  0.00000000e+00 -5.25111606e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.16, Y:-5.26, Z:0.00
[[ 9.94195376e-01  1.07589748e-01  0.00000000e+00  1.35162018e+02]
 [-1.07589748e-01  9.94195376e-01  0.00000000e+00 -5.25657757e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.22, Y:-5.26, Z:0.00
[[ 9.93845548e-01  1.10774668e-01  0.00000000e+00  1.35223126e+02]
 [-1.10774668e-01  9.93845548e-01  0.00000000e+00 -5.26140348e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.28, Y:-5.26, Z:0.00
[[ 9.93974254e-01  1.09613787e-01  0.00000000e+00  1.35284727e+02]
 [-1.09613787e-01  9.93974254e-01  0.00000000e+00 -5.26277870e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.34, Y:-5.26, Z:0.00
[[ 9.94144221e-01  1.08061406e-01  0.00000000e+00  1.35344580e+02]
 [-1.08061406e-01  9.94144221e-01  0.00000000e+00 -5.26095803e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.41, Y:-5.26, Z:0.00
[[ 9.93904193e-01  1.10247248e-01  0.00000000e+00  1.35405268e+02]
 [-1.10247248e-01  9.93904193e-01  0.00000000e+00 -5.26464162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.47, Y:-5.27, Z:0.00
[[ 9.93956413e-01  1.09775448e-01  0.00000000e+00  1.35466222e+02]
 [-1.09775448e-01  9.93956413e-01  0.00000000e+00 -5.26871162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.53, Y:-5.27, Z:0.00
[[ 9.94115432e-01  1.08325938e-01  0.00000000e+00  1.35528291e+02]
 [-1.08325938e-01  9.94115432e-01  0.00000000e+00 -5.27357675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.59, Y:-5.28, Z:0.00
[[ 9.95194595e-01  9.79168921e-02  0.00000000e+00  1.35588463e+02]
 [-9.79168921e-02  9.95194595e-01  0.00000000e+00 -5.27713132e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.65, Y:-5.29, Z:0.00
[[ 9.95619566e-01  9.34969556e-02  0.00000000e+00  1.35650364e+02]
 [-9.34969556e-02  9.95619566e-01  0.00000000e+00 -5.28584064e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.71, Y:-5.29, Z:0.00
[[ 9.96291413e-01  8.60431319e-02  0.00000000e+00  1.35711134e+02]
 [-8.60431319e-02  9.96291413e-01  0.00000000e+00 -5.28984443e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.77, Y:-5.29, Z:0.00
[[ 9.96442027e-01  8.42809963e-02  0.00000000e+00  1.35770545e+02]
 [-8.42809963e-02  9.96442027e-01  0.00000000e+00 -5.29374416e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.83, Y:-5.30, Z:0.00
[[ 9.96097307e-01  8.82618534e-02  0.00000000e+00  1.35831663e+02]
 [-8.82618534e-02  9.96097307e-01  0.00000000e+00 -5.30094470e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.89, Y:-5.31, Z:0.00
[[ 9.95733195e-01  9.22789452e-02  0.00000000e+00  1.35892492e+02]
 [-9.22789452e-02  9.95733195e-01  0.00000000e+00 -5.30606163e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:135.95, Y:-5.31, Z:0.00
[[ 9.95348149e-01  9.63434620e-02  0.00000000e+00  1.35952710e+02]
 [-9.63434620e-02  9.95348149e-01  0.00000000e+00 -5.30983650e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.01, Y:-5.32, Z:0.00
[[ 9.95044738e-01  9.94282103e-02  0.00000000e+00  1.36014164e+02]
 [-9.94282103e-02  9.95044738e-01  0.00000000e+00 -5.31609013e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.08, Y:-5.32, Z:0.00
[[ 9.95106863e-01  9.88045077e-02  0.00000000e+00  1.36076144e+02]
 [-9.88045077e-02  9.95106863e-01  0.00000000e+00 -5.32092906e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.14, Y:-5.32, Z:0.00
[[ 9.95020027e-01  9.96751972e-02  0.00000000e+00  1.36136034e+02]
 [-9.96751972e-02  9.95020027e-01  0.00000000e+00 -5.32352831e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.20, Y:-5.33, Z:0.00
[[ 9.94449346e-01  1.05216434e-01  0.00000000e+00  1.36197419e+02]
 [-1.05216434e-01  9.94449346e-01  0.00000000e+00 -5.33005053e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.26, Y:-5.33, Z:0.00
[[ 9.94260471e-01  1.06986518e-01  0.00000000e+00  1.36259787e+02]
 [-1.06986518e-01  9.94260471e-01  0.00000000e+00 -5.33347591e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.32, Y:-5.34, Z:0.00
[[ 9.94240710e-01  1.07170005e-01  0.00000000e+00  1.36321973e+02]
 [-1.07170005e-01  9.94240710e-01  0.00000000e+00 -5.33847721e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.38, Y:-5.35, Z:0.00
[[ 9.94556920e-01  1.04194690e-01  0.00000000e+00  1.36382962e+02]
 [-1.04194690e-01  9.94556920e-01  0.00000000e+00 -5.34602047e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.45, Y:-5.35, Z:0.00
[[ 9.94733056e-01  1.02499501e-01  0.00000000e+00  1.36445150e+02]
 [-1.02499501e-01  9.94733056e-01  0.00000000e+00 -5.35353366e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.51, Y:-5.36, Z:0.00
[[ 9.95137699e-01  9.84934510e-02  0.00000000e+00  1.36506568e+02]
 [-9.84934510e-02  9.95137699e-01  0.00000000e+00 -5.36133862e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.57, Y:-5.37, Z:0.00
[[ 9.95928212e-01  9.01498593e-02  0.00000000e+00  1.36567989e+02]
 [-9.01498593e-02  9.95928212e-01  0.00000000e+00 -5.36985232e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.63, Y:-5.37, Z:0.00
[[ 9.96364375e-01  8.51940858e-02  0.00000000e+00  1.36628989e+02]
 [-8.51940858e-02  9.96364375e-01  0.00000000e+00 -5.37149327e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.69, Y:-5.38, Z:0.00
[[ 9.96379617e-01  8.50156419e-02  0.00000000e+00  1.36690735e+02]
 [-8.50156419e-02  9.96379617e-01  0.00000000e+00 -5.37651082e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.75, Y:-5.38, Z:0.00
[[ 9.96129638e-01  8.78962138e-02  0.00000000e+00  1.36752536e+02]
 [-8.78962138e-02  9.96129638e-01  0.00000000e+00 -5.38320108e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.82, Y:-5.39, Z:0.00
[[ 9.96064671e-01  8.86294058e-02  0.00000000e+00  1.36815067e+02]
 [-8.86294058e-02  9.96064671e-01  0.00000000e+00 -5.38814802e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.88, Y:-5.39, Z:0.00
[[ 9.95982633e-01  8.95466040e-02  0.00000000e+00  1.36876584e+02]
 [-8.95466040e-02  9.95982633e-01  0.00000000e+00 -5.38952764e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:136.94, Y:-5.39, Z:0.00
[[ 9.95821477e-01  9.13213388e-02  0.00000000e+00  1.36938063e+02]
 [-9.13213388e-02  9.95821477e-01  0.00000000e+00 -5.39450301e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.00, Y:-5.40, Z:0.00
[[ 9.95583352e-01  9.38817796e-02  0.00000000e+00  1.36997916e+02]
 [-9.38817796e-02  9.95583352e-01  0.00000000e+00 -5.39945843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.06, Y:-5.40, Z:0.00
[[ 9.95815495e-01  9.13865466e-02  0.00000000e+00  1.37057863e+02]
 [-9.13865466e-02  9.95815495e-01  0.00000000e+00 -5.40378116e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.12, Y:-5.41, Z:0.00
[[ 9.95989687e-01  8.94681086e-02  0.00000000e+00  1.37119155e+02]
 [-8.94681086e-02  9.95989687e-01  0.00000000e+00 -5.40568387e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.18, Y:-5.41, Z:0.00
[[ 9.96202666e-01  8.70646158e-02  0.00000000e+00  1.37180806e+02]
 [-8.70646158e-02  9.96202666e-01  0.00000000e+00 -5.41073141e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.24, Y:-5.41, Z:0.00
[[ 9.95920251e-01  9.02377603e-02  0.00000000e+00  1.37242693e+02]
 [-9.02377603e-02  9.95920251e-01  0.00000000e+00 -5.41423883e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.30, Y:-5.42, Z:0.00
[[ 9.95641261e-01  9.32656378e-02  0.00000000e+00  1.37303686e+02]
 [-9.32656378e-02  9.95641261e-01  0.00000000e+00 -5.41864463e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.37, Y:-5.42, Z:0.00
[[ 9.95110549e-01  9.87673802e-02  0.00000000e+00  1.37365018e+02]
 [-9.87673802e-02  9.95110549e-01  0.00000000e+00 -5.41831922e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.43, Y:-5.42, Z:0.00
[[ 9.94722181e-01  1.02604982e-01  0.00000000e+00  1.37426258e+02]
 [-1.02604982e-01  9.94722181e-01  0.00000000e+00 -5.42197508e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.49, Y:-5.43, Z:0.00
[[ 9.94742893e-01  1.02403988e-01  0.00000000e+00  1.37487886e+02]
 [-1.02403988e-01  9.94742893e-01  0.00000000e+00 -5.42865353e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.55, Y:-5.43, Z:0.00
[[ 9.94729828e-01  1.02530820e-01  0.00000000e+00  1.37547516e+02]
 [-1.02530820e-01  9.94729828e-01  0.00000000e+00 -5.43151608e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.61, Y:-5.44, Z:0.00
[[ 9.94956007e-01  1.00312233e-01  0.00000000e+00  1.37607881e+02]
 [-1.00312233e-01  9.94956007e-01  0.00000000e+00 -5.43576472e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.67, Y:-5.45, Z:0.00
[[ 9.95539515e-01  9.43455069e-02  0.00000000e+00  1.37668323e+02]
 [-9.43455069e-02  9.95539515e-01  0.00000000e+00 -5.44504748e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.73, Y:-5.45, Z:0.00
[[ 9.95914946e-01  9.02962889e-02  0.00000000e+00  1.37729148e+02]
 [-9.02962889e-02  9.95914946e-01  0.00000000e+00 -5.45310019e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.79, Y:-5.46, Z:0.00
[[ 9.95825561e-01  9.12767934e-02  0.00000000e+00  1.37789528e+02]
 [-9.12767934e-02  9.95825561e-01  0.00000000e+00 -5.45531613e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.85, Y:-5.46, Z:0.00
[[ 9.95836220e-01  9.11604208e-02  0.00000000e+00  1.37851084e+02]
 [-9.11604208e-02  9.95836220e-01  0.00000000e+00 -5.46234129e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.91, Y:-5.47, Z:0.00
[[ 9.96071938e-01  8.85476926e-02  0.00000000e+00  1.37910508e+02]
 [-8.85476926e-02  9.96071938e-01  0.00000000e+00 -5.47474869e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:137.97, Y:-5.48, Z:0.00
[[ 9.96137546e-01  8.78065493e-02  0.00000000e+00  1.37971167e+02]
 [-8.78065493e-02  9.96137546e-01  0.00000000e+00 -5.47790552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.03, Y:-5.48, Z:0.00
[[ 9.96152610e-01  8.76354795e-02  0.00000000e+00  1.38034059e+02]
 [-8.76354795e-02  9.96152610e-01  0.00000000e+00 -5.47860167e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.09, Y:-5.49, Z:0.00
[[ 9.96124941e-01  8.79494329e-02  0.00000000e+00  1.38094552e+02]
 [-8.79494329e-02  9.96124941e-01  0.00000000e+00 -5.48556663e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.16, Y:-5.49, Z:0.00
[[ 9.96060332e-01  8.86781503e-02  0.00000000e+00  1.38155773e+02]
 [-8.86781503e-02  9.96060332e-01  0.00000000e+00 -5.49360822e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.22, Y:-5.50, Z:0.00
[[ 9.96201123e-01  8.70822719e-02  0.00000000e+00  1.38218150e+02]
 [-8.70822719e-02  9.96201123e-01  0.00000000e+00 -5.49914028e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.28, Y:-5.50, Z:0.00
[[ 9.96487549e-01  8.37410580e-02  0.00000000e+00  1.38278038e+02]
 [-8.37410580e-02  9.96487549e-01  0.00000000e+00 -5.50102685e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.34, Y:-5.51, Z:0.00
[[ 9.96533096e-01  8.31972864e-02  0.00000000e+00  1.38340227e+02]
 [-8.31972864e-02  9.96533096e-01  0.00000000e+00 -5.50578878e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.40, Y:-5.51, Z:0.00
[[ 9.97153765e-01  7.53947539e-02  0.00000000e+00  1.38402863e+02]
 [-7.53947539e-02  9.97153765e-01  0.00000000e+00 -5.50818042e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.46, Y:-5.51, Z:0.00
[[ 9.97137145e-01  7.56142388e-02  0.00000000e+00  1.38464620e+02]
 [-7.56142388e-02  9.97137145e-01  0.00000000e+00 -5.50730643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.53, Y:-5.51, Z:0.00
[[ 9.96325511e-01  8.56473981e-02  0.00000000e+00  1.38525942e+02]
 [-8.56473981e-02  9.96325511e-01  0.00000000e+00 -5.50707675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.59, Y:-5.51, Z:0.00
[[ 9.95738728e-01  9.22192207e-02  0.00000000e+00  1.38586998e+02]
 [-9.22192207e-02  9.95738728e-01  0.00000000e+00 -5.50699740e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.65, Y:-5.51, Z:0.00
[[ 9.95564457e-01  9.40819435e-02  0.00000000e+00  1.38648602e+02]
 [-9.40819435e-02  9.95564457e-01  0.00000000e+00 -5.50953133e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.71, Y:-5.52, Z:0.00
[[ 9.95769747e-01  9.18836808e-02  0.00000000e+00  1.38710550e+02]
 [-9.18836808e-02  9.95769747e-01  0.00000000e+00 -5.51508386e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.77, Y:-5.52, Z:0.00
[[ 9.96360807e-01  8.52357984e-02  0.00000000e+00  1.38771447e+02]
 [-8.52357984e-02  9.96360807e-01  0.00000000e+00 -5.52105715e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.83, Y:-5.53, Z:0.00
[[ 9.96676227e-01  8.14647053e-02  0.00000000e+00  1.38833655e+02]
 [-8.14647053e-02  9.96676227e-01  0.00000000e+00 -5.52631993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.89, Y:-5.53, Z:0.00
[[ 9.97104205e-01  7.60473867e-02  0.00000000e+00  1.38894245e+02]
 [-7.60473867e-02  9.97104205e-01  0.00000000e+00 -5.53303638e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:138.95, Y:-5.54, Z:0.00
[[ 9.97108126e-01  7.59959596e-02  0.00000000e+00  1.38954643e+02]
 [-7.59959596e-02  9.97108126e-01  0.00000000e+00 -5.53899467e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.02, Y:-5.54, Z:0.00
[[ 9.96603845e-01  8.23454663e-02  0.00000000e+00  1.39015067e+02]
 [-8.23454663e-02  9.96603845e-01  0.00000000e+00 -5.54417817e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.08, Y:-5.55, Z:0.00
[[ 9.96042007e-01  8.88837497e-02  0.00000000e+00  1.39077171e+02]
 [-8.88837497e-02  9.96042007e-01  0.00000000e+00 -5.54836117e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.14, Y:-5.56, Z:0.00
[[ 9.95669927e-01  9.29591130e-02  0.00000000e+00  1.39136751e+02]
 [-9.29591130e-02  9.95669927e-01  0.00000000e+00 -5.55577563e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.20, Y:-5.56, Z:0.00
[[ 9.95587164e-01  9.38413489e-02  0.00000000e+00  1.39198401e+02]
 [-9.38413489e-02  9.95587164e-01  0.00000000e+00 -5.56198047e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.26, Y:-5.56, Z:0.00
[[ 9.95931036e-01  9.01186502e-02  0.00000000e+00  1.39259850e+02]
 [-9.01186502e-02  9.95931036e-01  0.00000000e+00 -5.56489320e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.32, Y:-5.57, Z:0.00
[[ 9.95965481e-01  8.97371716e-02  0.00000000e+00  1.39320972e+02]
 [-8.97371716e-02  9.95965481e-01  0.00000000e+00 -5.57093480e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.38, Y:-5.58, Z:0.00
[[ 9.95708134e-01  9.25489746e-02  0.00000000e+00  1.39382557e+02]
 [-9.25489746e-02  9.95708134e-01  0.00000000e+00 -5.57958426e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.44, Y:-5.59, Z:0.00
[[ 9.95597298e-01  9.37337724e-02  0.00000000e+00  1.39444181e+02]
 [-9.37337724e-02  9.95597298e-01  0.00000000e+00 -5.58512489e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.51, Y:-5.59, Z:0.00
[[ 9.95509999e-01  9.46564408e-02  0.00000000e+00  1.39506357e+02]
 [-9.46564408e-02  9.95509999e-01  0.00000000e+00 -5.58740905e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.57, Y:-5.59, Z:0.00
[[ 9.95641138e-01  9.32669560e-02  0.00000000e+00  1.39567550e+02]
 [-9.32669560e-02  9.95641138e-01  0.00000000e+00 -5.59285145e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.63, Y:-5.60, Z:0.00
[[ 9.96339708e-01  8.54820824e-02  0.00000000e+00  1.39627848e+02]
 [-8.54820824e-02  9.96339708e-01  0.00000000e+00 -5.59725498e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.69, Y:-5.60, Z:0.00
[[ 9.96524767e-01  8.32969921e-02  0.00000000e+00  1.39689438e+02]
 [-8.32969921e-02  9.96524767e-01  0.00000000e+00 -5.60056046e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.75, Y:-5.60, Z:0.00
[[ 9.96059507e-01  8.86874223e-02  0.00000000e+00  1.39751644e+02]
 [-8.86874223e-02  9.96059507e-01  0.00000000e+00 -5.60085129e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.81, Y:-5.60, Z:0.00
[[ 9.95462203e-01  9.51577728e-02  0.00000000e+00  1.39813049e+02]
 [-9.51577728e-02  9.95462203e-01  0.00000000e+00 -5.60318658e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.87, Y:-5.61, Z:0.00
[[ 9.94872489e-01  1.01137190e-01  0.00000000e+00  1.39873811e+02]
 [-1.01137190e-01  9.94872489e-01  0.00000000e+00 -5.60845243e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:139.94, Y:-5.61, Z:0.00
[[ 9.94883224e-01  1.01031538e-01  0.00000000e+00  1.39935240e+02]
 [-1.01031538e-01  9.94883224e-01  0.00000000e+00 -5.61289187e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.00, Y:-5.62, Z:0.00
[[ 9.95260825e-01  9.72413994e-02  0.00000000e+00  1.39996790e+02]
 [-9.72413994e-02  9.95260825e-01  0.00000000e+00 -5.61708834e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.06, Y:-5.62, Z:0.00
[[ 9.95660557e-01  9.30594161e-02  0.00000000e+00  1.40057282e+02]
 [-9.30594161e-02  9.95660557e-01  0.00000000e+00 -5.62451192e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.12, Y:-5.63, Z:0.00
[[ 9.96104962e-01  8.81754194e-02  0.00000000e+00  1.40118551e+02]
 [-8.81754194e-02  9.96104962e-01  0.00000000e+00 -5.63259331e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.18, Y:-5.64, Z:0.00
[[ 9.96482452e-01  8.38016860e-02  0.00000000e+00  1.40179598e+02]
 [-8.38016860e-02  9.96482452e-01  0.00000000e+00 -5.64113087e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.24, Y:-5.65, Z:0.00
[[ 9.97093125e-01  7.61925238e-02  0.00000000e+00  1.40239857e+02]
 [-7.61925238e-02  9.97093125e-01  0.00000000e+00 -5.64845802e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.30, Y:-5.65, Z:0.00
[[ 9.97178544e-01  7.50663185e-02  0.00000000e+00  1.40301931e+02]
 [-7.50663185e-02  9.97178544e-01  0.00000000e+00 -5.65052523e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.36, Y:-5.66, Z:0.00
[[ 9.96918035e-01  7.84501891e-02  0.00000000e+00  1.40362928e+02]
 [-7.84501891e-02  9.96918035e-01  0.00000000e+00 -5.65841060e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.43, Y:-5.66, Z:0.00
[[ 9.96682478e-01  8.13881938e-02  0.00000000e+00  1.40425163e+02]
 [-8.13881938e-02  9.96682478e-01  0.00000000e+00 -5.66487131e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.49, Y:-5.67, Z:0.00
[[ 9.96394557e-01  8.48403567e-02  0.00000000e+00  1.40486197e+02]
 [-8.48403567e-02  9.96394557e-01  0.00000000e+00 -5.66797033e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.55, Y:-5.67, Z:0.00
[[ 9.96385957e-01  8.49412963e-02  0.00000000e+00  1.40548874e+02]
 [-8.49412963e-02  9.96385957e-01  0.00000000e+00 -5.66957822e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.61, Y:-5.68, Z:0.00
[[ 9.96592805e-01  8.24789738e-02  0.00000000e+00  1.40609001e+02]
 [-8.24789738e-02  9.96592805e-01  0.00000000e+00 -5.67805446e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.67, Y:-5.68, Z:0.00
[[ 9.96937609e-01  7.82010434e-02  0.00000000e+00  1.40670469e+02]
 [-7.82010434e-02  9.96937609e-01  0.00000000e+00 -5.68234362e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.73, Y:-5.69, Z:0.00
[[ 9.97067256e-01  7.65303004e-02  0.00000000e+00  1.40731605e+02]
 [-7.65303004e-02  9.97067256e-01  0.00000000e+00 -5.68589162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.79, Y:-5.69, Z:0.00
[[ 9.97014682e-01  7.72122021e-02  0.00000000e+00  1.40792984e+02]
 [-7.72122021e-02  9.97014682e-01  0.00000000e+00 -5.69392543e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.86, Y:-5.70, Z:0.00
[[ 9.97102406e-01  7.60709706e-02  0.00000000e+00  1.40855147e+02]
 [-7.60709706e-02  9.97102406e-01  0.00000000e+00 -5.69753258e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.92, Y:-5.70, Z:0.00
[[ 9.96918920e-01  7.84389325e-02  0.00000000e+00  1.40917218e+02]
 [-7.84389325e-02  9.96918920e-01  0.00000000e+00 -5.70291637e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:140.98, Y:-5.71, Z:0.00
[[ 9.96841890e-01  7.94118724e-02  0.00000000e+00  1.40978128e+02]
 [-7.94118724e-02  9.96841890e-01  0.00000000e+00 -5.70711269e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.04, Y:-5.71, Z:0.00
[[ 9.96064102e-01  8.86357929e-02  0.00000000e+00  1.41038521e+02]
 [-8.86357929e-02  9.96064102e-01  0.00000000e+00 -5.70991033e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.10, Y:-5.71, Z:0.00
[[ 9.95390038e-01  9.59097042e-02  0.00000000e+00  1.41099585e+02]
 [-9.59097042e-02  9.95390038e-01  0.00000000e+00 -5.71459795e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.16, Y:-5.72, Z:0.00
[[ 9.94229099e-01  1.07277670e-01  0.00000000e+00  1.41159220e+02]
 [-1.07277670e-01  9.94229099e-01  0.00000000e+00 -5.71926205e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.22, Y:-5.73, Z:0.00
[[ 9.94465562e-01  1.05063062e-01  0.00000000e+00  1.41220501e+02]
 [-1.05063062e-01  9.94465562e-01  0.00000000e+00 -5.72829874e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.28, Y:-5.73, Z:0.00
[[ 9.94372437e-01  1.05940813e-01  0.00000000e+00  1.41281818e+02]
 [-1.05940813e-01  9.94372437e-01  0.00000000e+00 -5.73132762e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.34, Y:-5.74, Z:0.00
[[ 9.94445289e-01  1.05254772e-01  0.00000000e+00  1.41343930e+02]
 [-1.05254772e-01  9.94445289e-01  0.00000000e+00 -5.74042615e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.40, Y:-5.75, Z:0.00
[[ 9.94284220e-01  1.06765583e-01  0.00000000e+00  1.41404621e+02]
 [-1.06765583e-01  9.94284220e-01  0.00000000e+00 -5.74825291e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.47, Y:-5.76, Z:0.00
[[ 9.94524902e-01  1.04499852e-01  0.00000000e+00  1.41465202e+02]
 [-1.04499852e-01  9.94524902e-01  0.00000000e+00 -5.75578081e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.52, Y:-5.76, Z:0.00
[[ 9.95045270e-01  9.94228840e-02  0.00000000e+00  1.41524688e+02]
 [-9.94228840e-02  9.95045270e-01  0.00000000e+00 -5.76466723e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.59, Y:-5.77, Z:0.00
[[ 9.95106102e-01  9.88121766e-02  0.00000000e+00  1.41586665e+02]
 [-9.88121766e-02  9.95106102e-01  0.00000000e+00 -5.77317390e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.65, Y:-5.78, Z:0.00
[[ 9.94947730e-01  1.00394298e-01  0.00000000e+00  1.41648613e+02]
 [-1.00394298e-01  9.94947730e-01  0.00000000e+00 -5.77907929e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.71, Y:-5.78, Z:0.00
[[ 9.95410276e-01  9.56994389e-02  0.00000000e+00  1.41708395e+02]
 [-9.56994389e-02  9.95410276e-01  0.00000000e+00 -5.78345555e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.77, Y:-5.79, Z:0.00
[[ 9.95419386e-01  9.56046305e-02  0.00000000e+00  1.41770429e+02]
 [-9.56046305e-02  9.95419386e-01  0.00000000e+00 -5.78524441e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.83, Y:-5.79, Z:0.00
[[ 9.95546411e-01  9.42727111e-02  0.00000000e+00  1.41832317e+02]
 [-9.42727111e-02  9.95546411e-01  0.00000000e+00 -5.78697706e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.89, Y:-5.79, Z:0.00
[[ 9.95571624e-01  9.40060702e-02  0.00000000e+00  1.41893876e+02]
 [-9.40060702e-02  9.95571624e-01  0.00000000e+00 -5.79276903e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:141.96, Y:-5.80, Z:0.00
[[ 9.95627164e-01  9.34160070e-02  0.00000000e+00  1.41955641e+02]
 [-9.34160070e-02  9.95627164e-01  0.00000000e+00 -5.79951837e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.02, Y:-5.81, Z:0.00
[[ 9.96168175e-01  8.74583783e-02  0.00000000e+00  1.42018062e+02]
 [-8.74583783e-02  9.96168175e-01  0.00000000e+00 -5.80524061e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.08, Y:-5.81, Z:0.00
[[ 9.96260355e-01  8.64019992e-02  0.00000000e+00  1.42080131e+02]
 [-8.64019992e-02  9.96260355e-01  0.00000000e+00 -5.80755515e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.14, Y:-5.81, Z:0.00
[[ 9.95609389e-01  9.36052559e-02  0.00000000e+00  1.42141593e+02]
 [-9.36052559e-02  9.95609389e-01  0.00000000e+00 -5.81030747e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.20, Y:-5.81, Z:0.00
[[ 9.94992238e-01  9.99522158e-02  0.00000000e+00  1.42202807e+02]
 [-9.99522158e-02  9.94992238e-01  0.00000000e+00 -5.81463685e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.26, Y:-5.82, Z:0.00
[[ 9.94440825e-01  1.05296935e-01  0.00000000e+00  1.42264003e+02]
 [-1.05296935e-01  9.94440825e-01  0.00000000e+00 -5.81783527e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.33, Y:-5.82, Z:0.00
[[ 9.94190196e-01  1.07637604e-01  0.00000000e+00  1.42325674e+02]
 [-1.07637604e-01  9.94190196e-01  0.00000000e+00 -5.81811944e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.39, Y:-5.82, Z:0.00
[[ 9.93688462e-01  1.12175044e-01  0.00000000e+00  1.42387489e+02]
 [-1.12175044e-01  9.93688462e-01  0.00000000e+00 -5.81679592e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.45, Y:-5.81, Z:0.00
[[ 9.92981105e-01  1.18273094e-01  0.00000000e+00  1.42449210e+02]
 [-1.18273094e-01  9.92981105e-01  0.00000000e+00 -5.81236126e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.51, Y:-5.80, Z:0.00
[[ 9.92093067e-01  1.25504366e-01  0.00000000e+00  1.42510871e+02]
 [-1.25504366e-01  9.92093067e-01  0.00000000e+00 -5.80436221e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.57, Y:-5.80, Z:0.00
[[ 9.91957461e-01  1.26571702e-01  0.00000000e+00  1.42571586e+02]
 [-1.26571702e-01  9.91957461e-01  0.00000000e+00 -5.79776005e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.63, Y:-5.80, Z:0.00
[[ 9.91917310e-01  1.26885971e-01  0.00000000e+00  1.42633554e+02]
 [-1.26885971e-01  9.91917310e-01  0.00000000e+00 -5.79834867e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.69, Y:-5.80, Z:0.00
[[ 9.92185522e-01  1.24771352e-01  0.00000000e+00  1.42694914e+02]
 [-1.24771352e-01  9.92185522e-01  0.00000000e+00 -5.79910856e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.76, Y:-5.80, Z:0.00
[[ 9.92398974e-01  1.23062084e-01  0.00000000e+00  1.42756433e+02]
 [-1.23062084e-01  9.92398974e-01  0.00000000e+00 -5.80181474e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.82, Y:-5.81, Z:0.00
[[ 9.93219915e-01  1.16250596e-01  0.00000000e+00  1.42816463e+02]
 [-1.16250596e-01  9.93219915e-01  0.00000000e+00 -5.80514951e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.88, Y:-5.81, Z:0.00
[[ 9.93695487e-01  1.12112795e-01  0.00000000e+00  1.42877944e+02]
 [-1.12112795e-01  9.93695487e-01  0.00000000e+00 -5.80578883e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:142.94, Y:-5.81, Z:0.00
[[ 9.93794175e-01  1.11234606e-01  0.00000000e+00  1.42939387e+02]
 [-1.11234606e-01  9.93794175e-01  0.00000000e+00 -5.81325779e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.00, Y:-5.82, Z:0.00
[[ 9.94073168e-01  1.08713091e-01  0.00000000e+00  1.42999160e+02]
 [-1.08713091e-01  9.94073168e-01  0.00000000e+00 -5.82209236e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.06, Y:-5.83, Z:0.00
[[ 9.94176937e-01  1.07759997e-01  0.00000000e+00  1.43061857e+02]
 [-1.07759997e-01  9.94176937e-01  0.00000000e+00 -5.82836742e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.12, Y:-5.84, Z:0.00
[[ 9.93932232e-01  1.09994174e-01  0.00000000e+00  1.43121769e+02]
 [-1.09994174e-01  9.93932232e-01  0.00000000e+00 -5.83614961e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.18, Y:-5.85, Z:0.00
[[ 9.93486512e-01  1.13949769e-01  0.00000000e+00  1.43182595e+02]
 [-1.13949769e-01  9.93486512e-01  0.00000000e+00 -5.84600554e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.24, Y:-5.86, Z:0.00
[[ 9.93048167e-01  1.17708699e-01  0.00000000e+00  1.43242802e+02]
 [-1.17708699e-01  9.93048167e-01  0.00000000e+00 -5.85796126e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.30, Y:-5.87, Z:0.00
[[ 9.93099733e-01  1.17272848e-01  0.00000000e+00  1.43303122e+02]
 [-1.17272848e-01  9.93099733e-01  0.00000000e+00 -5.86794432e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.36, Y:-5.87, Z:0.00
[[ 9.93337190e-01  1.15244210e-01  0.00000000e+00  1.43363790e+02]
 [-1.15244210e-01  9.93337190e-01  0.00000000e+00 -5.87486758e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.42, Y:-5.89, Z:0.00
[[ 9.93854584e-01  1.10693568e-01  0.00000000e+00  1.43424052e+02]
 [-1.10693568e-01  9.93854584e-01  0.00000000e+00 -5.88620009e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.48, Y:-5.90, Z:0.00
[[ 9.94363136e-01  1.06028084e-01  0.00000000e+00  1.43484074e+02]
 [-1.06028084e-01  9.94363136e-01  0.00000000e+00 -5.90385729e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.54, Y:-5.91, Z:0.00
[[ 9.94763343e-01  1.02205143e-01  0.00000000e+00  1.43544031e+02]
 [-1.02205143e-01  9.94763343e-01  0.00000000e+00 -5.91474158e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.60, Y:-5.92, Z:0.00
[[ 9.95622197e-01  9.34689344e-02  0.00000000e+00  1.43604116e+02]
 [-9.34689344e-02  9.95622197e-01  0.00000000e+00 -5.92437044e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.67, Y:-5.94, Z:0.00
[[ 9.95834973e-01  9.11740500e-02  0.00000000e+00  1.43665965e+02]
 [-9.11740500e-02  9.95834973e-01  0.00000000e+00 -5.93537854e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.73, Y:-5.95, Z:0.00
[[ 9.96261956e-01  8.63835361e-02  0.00000000e+00  1.43727174e+02]
 [-8.63835361e-02  9.96261956e-01  0.00000000e+00 -5.94716798e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.79, Y:-5.96, Z:0.00
[[ 9.96440868e-01  8.42947027e-02  0.00000000e+00  1.43787442e+02]
 [-8.42947027e-02  9.96440868e-01  0.00000000e+00 -5.95603262e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.85, Y:-5.96, Z:0.00
[[ 9.96535242e-01  8.31715753e-02  0.00000000e+00  1.43847916e+02]
 [-8.31715753e-02  9.96535242e-01  0.00000000e+00 -5.96153560e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.91, Y:-5.97, Z:0.00
[[ 9.96500339e-01  8.35887268e-02  0.00000000e+00  1.43909959e+02]
 [-8.35887268e-02  9.96500339e-01  0.00000000e+00 -5.96869969e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:143.97, Y:-5.97, Z:0.00
[[ 9.96225620e-01  8.68015748e-02  0.00000000e+00  1.43971036e+02]
 [-8.68015748e-02  9.96225620e-01  0.00000000e+00 -5.97271270e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.03, Y:-5.97, Z:0.00
[[ 9.95687014e-01  9.27759141e-02  0.00000000e+00  1.44033725e+02]
 [-9.27759141e-02  9.95687014e-01  0.00000000e+00 -5.97324150e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.09, Y:-5.98, Z:0.00
[[ 9.95155731e-01  9.83110927e-02  0.00000000e+00  1.44094277e+02]
 [-9.83110927e-02  9.95155731e-01  0.00000000e+00 -5.97537492e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.16, Y:-5.98, Z:0.00
[[ 9.94941064e-01  1.00460333e-01  0.00000000e+00  1.44155861e+02]
 [-1.00460333e-01  9.94941064e-01  0.00000000e+00 -5.98157441e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.22, Y:-5.98, Z:0.00
[[ 9.94993643e-01  9.99382369e-02  0.00000000e+00  1.44215492e+02]
 [-9.99382369e-02  9.94993643e-01  0.00000000e+00 -5.98283890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.28, Y:-5.99, Z:0.00
[[ 9.94915211e-01  1.00716052e-01  0.00000000e+00  1.44276698e+02]
 [-1.00716052e-01  9.94915211e-01  0.00000000e+00 -5.98601229e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.34, Y:-5.99, Z:0.00
[[ 9.94997539e-01  9.98994359e-02  0.00000000e+00  1.44337690e+02]
 [-9.98994359e-02  9.94997539e-01  0.00000000e+00 -5.99179203e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.40, Y:-6.00, Z:0.00
[[ 9.94961669e-01  1.00256057e-01  0.00000000e+00  1.44399633e+02]
 [-1.00256057e-01  9.94961669e-01  0.00000000e+00 -5.99921154e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.46, Y:-6.00, Z:0.00
[[ 9.95106625e-01  9.88069076e-02  0.00000000e+00  1.44461084e+02]
 [-9.88069076e-02  9.95106625e-01  0.00000000e+00 -6.00357488e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.52, Y:-6.01, Z:0.00
[[ 9.95313523e-01  9.67005206e-02  0.00000000e+00  1.44521914e+02]
 [-9.67005206e-02  9.95313523e-01  0.00000000e+00 -6.00881518e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.58, Y:-6.01, Z:0.00
[[ 9.95521203e-01  9.45385310e-02  0.00000000e+00  1.44582376e+02]
 [-9.45385310e-02  9.95521203e-01  0.00000000e+00 -6.01463437e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.64, Y:-6.02, Z:0.00
[[ 9.95322416e-01  9.66089444e-02  0.00000000e+00  1.44644148e+02]
 [-9.66089444e-02  9.95322416e-01  0.00000000e+00 -6.02052381e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.70, Y:-6.02, Z:0.00
[[ 9.94967051e-01  1.00202634e-01  0.00000000e+00  1.44704882e+02]
 [-1.00202634e-01  9.94967051e-01  0.00000000e+00 -6.02405464e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.77, Y:-6.04, Z:0.00
[[ 9.95152989e-01  9.83388463e-02  0.00000000e+00  1.44766398e+02]
 [-9.83388463e-02  9.95152989e-01  0.00000000e+00 -6.03535890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.83, Y:-6.04, Z:0.00
[[ 9.95554705e-01  9.41850816e-02  0.00000000e+00  1.44826926e+02]
 [-9.41850816e-02  9.95554705e-01  0.00000000e+00 -6.04162207e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.89, Y:-6.05, Z:0.00
[[ 9.95797829e-01  9.15788381e-02  0.00000000e+00  1.44887568e+02]
 [-9.15788381e-02  9.95797829e-01  0.00000000e+00 -6.04593504e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:144.95, Y:-6.05, Z:0.00
[[ 9.95589076e-01  9.38210637e-02  0.00000000e+00  1.44947924e+02]
 [-9.38210637e-02  9.95589076e-01  0.00000000e+00 -6.05396208e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.01, Y:-6.06, Z:0.00
[[ 9.95249508e-01  9.73571590e-02  0.00000000e+00  1.45008381e+02]
 [-9.73571590e-02  9.95249508e-01  0.00000000e+00 -6.05717824e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.07, Y:-6.06, Z:0.00
[[ 9.94987289e-01  1.00001471e-01  0.00000000e+00  1.45069697e+02]
 [-1.00001471e-01  9.94987289e-01  0.00000000e+00 -6.05984292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.13, Y:-6.07, Z:0.00
[[ 9.94991896e-01  9.99556240e-02  0.00000000e+00  1.45130518e+02]
 [-9.99556240e-02  9.94991896e-01  0.00000000e+00 -6.06599840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.19, Y:-6.07, Z:0.00
[[ 9.95267989e-01  9.71680472e-02  0.00000000e+00  1.45191924e+02]
 [-9.71680472e-02  9.95267989e-01  0.00000000e+00 -6.06893925e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.25, Y:-6.07, Z:0.00
[[ 9.95217490e-01  9.76839148e-02  0.00000000e+00  1.45253694e+02]
 [-9.76839148e-02  9.95217490e-01  0.00000000e+00 -6.07165510e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.31, Y:-6.07, Z:0.00
[[ 9.95096328e-01  9.89105513e-02  0.00000000e+00  1.45314625e+02]
 [-9.89105513e-02  9.95096328e-01  0.00000000e+00 -6.07485117e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.38, Y:-6.08, Z:0.00
[[ 9.94858229e-01  1.01277366e-01  0.00000000e+00  1.45376108e+02]
 [-1.01277366e-01  9.94858229e-01  0.00000000e+00 -6.08127570e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.44, Y:-6.09, Z:0.00
[[ 9.95095490e-01  9.89189865e-02  0.00000000e+00  1.45437806e+02]
 [-9.89189865e-02  9.95095490e-01  0.00000000e+00 -6.08525523e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.50, Y:-6.09, Z:0.00
[[ 9.94912931e-01  1.00738575e-01  0.00000000e+00  1.45500004e+02]
 [-1.00738575e-01  9.94912931e-01  0.00000000e+00 -6.08619205e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.56, Y:-6.09, Z:0.00
[[ 9.94706513e-01  1.02756770e-01  0.00000000e+00  1.45560992e+02]
 [-1.02756770e-01  9.94706513e-01  0.00000000e+00 -6.09076664e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.62, Y:-6.10, Z:0.00
[[ 9.94729401e-01  1.02534964e-01  0.00000000e+00  1.45623806e+02]
 [-1.02534964e-01  9.94729401e-01  0.00000000e+00 -6.09686247e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.69, Y:-6.10, Z:0.00
[[ 9.94681396e-01  1.02999617e-01  0.00000000e+00  1.45685586e+02]
 [-1.02999617e-01  9.94681396e-01  0.00000000e+00 -6.10239557e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.75, Y:-6.10, Z:0.00
[[ 9.94571520e-01  1.04055230e-01  0.00000000e+00  1.45746340e+02]
 [-1.04055230e-01  9.94571520e-01  0.00000000e+00 -6.10157251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.81, Y:-6.10, Z:0.00
[[ 9.94141917e-01  1.08082599e-01  0.00000000e+00  1.45808347e+02]
 [-1.08082599e-01  9.94141917e-01  0.00000000e+00 -6.10450285e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.87, Y:-6.11, Z:0.00
[[ 9.93494301e-01  1.13881838e-01  0.00000000e+00  1.45868827e+02]
 [-1.13881838e-01  9.93494301e-01  0.00000000e+00 -6.11453133e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.93, Y:-6.12, Z:0.00
[[ 9.93387543e-01  1.14809364e-01  0.00000000e+00  1.45930925e+02]
 [-1.14809364e-01  9.93387543e-01  0.00000000e+00 -6.11528985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:145.99, Y:-6.12, Z:0.00
[[ 9.93363286e-01  1.15019054e-01  0.00000000e+00  1.45991976e+02]
 [-1.15019054e-01  9.93363286e-01  0.00000000e+00 -6.11817002e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.05, Y:-6.12, Z:0.00
[[ 9.94085000e-01  1.08604843e-01  0.00000000e+00  1.46052522e+02]
 [-1.08604843e-01  9.94085000e-01  0.00000000e+00 -6.12427457e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.11, Y:-6.13, Z:0.00
[[ 9.93863633e-01  1.10612293e-01  0.00000000e+00  1.46114056e+02]
 [-1.10612293e-01  9.93863633e-01  0.00000000e+00 -6.12683627e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.17, Y:-6.13, Z:0.00
[[ 9.92971377e-01  1.18354737e-01  0.00000000e+00  1.46174202e+02]
 [-1.18354737e-01  9.92971377e-01  0.00000000e+00 -6.12782604e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.23, Y:-6.14, Z:0.00
[[ 9.91985561e-01  1.26351284e-01  0.00000000e+00  1.46233775e+02]
 [-1.26351284e-01  9.91985561e-01  0.00000000e+00 -6.13571188e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.29, Y:-6.14, Z:0.00
[[ 9.91679319e-01  1.28732778e-01  0.00000000e+00  1.46294095e+02]
 [-1.28732778e-01  9.91679319e-01  0.00000000e+00 -6.14154998e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.36, Y:-6.14, Z:0.00
[[ 9.91994997e-01  1.26277181e-01  0.00000000e+00  1.46355766e+02]
 [-1.26277181e-01  9.91994997e-01  0.00000000e+00 -6.14414752e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.42, Y:-6.15, Z:0.00
[[ 9.93571615e-01  1.13205328e-01  0.00000000e+00  1.46415146e+02]
 [-1.13205328e-01  9.93571615e-01  0.00000000e+00 -6.15183570e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.48, Y:-6.16, Z:0.00
[[ 9.95233091e-01  9.75248358e-02  0.00000000e+00  1.46475766e+02]
 [-9.75248358e-02  9.95233091e-01  0.00000000e+00 -6.16104111e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.54, Y:-6.17, Z:0.00
[[ 9.96196575e-01  8.71342872e-02  0.00000000e+00  1.46536206e+02]
 [-8.71342872e-02  9.96196575e-01  0.00000000e+00 -6.16686843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.60, Y:-6.17, Z:0.00
[[ 9.95979068e-01  8.95862494e-02  0.00000000e+00  1.46597218e+02]
 [-8.95862494e-02  9.95979068e-01  0.00000000e+00 -6.17266992e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.66, Y:-6.18, Z:0.00
[[ 9.95293296e-01  9.69084845e-02  0.00000000e+00  1.46658364e+02]
 [-9.69084845e-02  9.95293296e-01  0.00000000e+00 -6.17974325e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.72, Y:-6.19, Z:0.00
[[ 9.94611302e-01  1.03674290e-01  0.00000000e+00  1.46719668e+02]
 [-1.03674290e-01  9.94611302e-01  0.00000000e+00 -6.18535644e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.78, Y:-6.19, Z:0.00
[[ 9.93965733e-01  1.09691025e-01  0.00000000e+00  1.46779234e+02]
 [-1.09691025e-01  9.93965733e-01  0.00000000e+00 -6.19073546e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.84, Y:-6.20, Z:0.00
[[ 9.93821294e-01  1.10992048e-01  0.00000000e+00  1.46838759e+02]
 [-1.10992048e-01  9.93821294e-01  0.00000000e+00 -6.19662465e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.90, Y:-6.20, Z:0.00
[[ 9.93803308e-01  1.11152977e-01  0.00000000e+00  1.46899895e+02]
 [-1.11152977e-01  9.93803308e-01  0.00000000e+00 -6.20385064e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:146.96, Y:-6.21, Z:0.00
[[ 9.93632734e-01  1.12667607e-01  0.00000000e+00  1.46961699e+02]
 [-1.12667607e-01  9.93632734e-01  0.00000000e+00 -6.20839456e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.02, Y:-6.21, Z:0.00
[[ 9.93364213e-01  1.15011047e-01  0.00000000e+00  1.47021457e+02]
 [-1.15011047e-01  9.93364213e-01  0.00000000e+00 -6.21076569e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.08, Y:-6.22, Z:0.00
[[ 9.93358551e-01  1.15059937e-01  0.00000000e+00  1.47083396e+02]
 [-1.15059937e-01  9.93358551e-01  0.00000000e+00 -6.21541226e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.14, Y:-6.21, Z:0.00
[[ 9.93479060e-01  1.14014725e-01  0.00000000e+00  1.47144990e+02]
 [-1.14014725e-01  9.93479060e-01  0.00000000e+00 -6.21399214e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.21, Y:-6.22, Z:0.00
[[ 9.93377811e-01  1.14893532e-01  0.00000000e+00  1.47207322e+02]
 [-1.14893532e-01  9.93377811e-01  0.00000000e+00 -6.21955431e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.27, Y:-6.22, Z:0.00
[[ 9.92852527e-01  1.19347644e-01  0.00000000e+00  1.47267290e+02]
 [-1.19347644e-01  9.92852527e-01  0.00000000e+00 -6.22084372e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.33, Y:-6.23, Z:0.00
[[ 9.92153972e-01  1.25021979e-01  0.00000000e+00  1.47328021e+02]
 [-1.25021979e-01  9.92153972e-01  0.00000000e+00 -6.22692985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.39, Y:-6.23, Z:0.00
[[ 9.92072903e-01  1.25663662e-01  0.00000000e+00  1.47389759e+02]
 [-1.25663662e-01  9.92072903e-01  0.00000000e+00 -6.23148915e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.45, Y:-6.24, Z:0.00
[[ 9.92146773e-01  1.25079096e-01  0.00000000e+00  1.47449706e+02]
 [-1.25079096e-01  9.92146773e-01  0.00000000e+00 -6.23834662e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.51, Y:-6.25, Z:0.00
[[ 9.92646728e-01  1.21047405e-01  0.00000000e+00  1.47509393e+02]
 [-1.21047405e-01  9.92646728e-01  0.00000000e+00 -6.25089388e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.57, Y:-6.26, Z:0.00
[[ 9.93799293e-01  1.11188869e-01  0.00000000e+00  1.47568312e+02]
 [-1.11188869e-01  9.93799293e-01  0.00000000e+00 -6.26410998e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.63, Y:-6.28, Z:0.00
[[ 9.94405699e-01  1.05628153e-01  0.00000000e+00  1.47628506e+02]
 [-1.05628153e-01  9.94405699e-01  0.00000000e+00 -6.27595002e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.69, Y:-6.29, Z:0.00
[[ 9.95420058e-01  9.55976410e-02  0.00000000e+00  1.47688392e+02]
 [-9.55976410e-02  9.95420058e-01  0.00000000e+00 -6.29042692e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.75, Y:-6.30, Z:0.00
[[ 9.95892005e-01  9.05489595e-02  0.00000000e+00  1.47748247e+02]
 [-9.05489595e-02  9.95892005e-01  0.00000000e+00 -6.29664370e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.81, Y:-6.30, Z:0.00
[[ 9.96269247e-01  8.62994040e-02  0.00000000e+00  1.47809403e+02]
 [-8.62994040e-02  9.96269247e-01  0.00000000e+00 -6.30407936e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.87, Y:-6.31, Z:0.00
[[ 9.96681638e-01  8.13984741e-02  0.00000000e+00  1.47870790e+02]
 [-8.13984741e-02  9.96681638e-01  0.00000000e+00 -6.30750604e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.93, Y:-6.31, Z:0.00
[[ 9.96864910e-01  7.91223864e-02  0.00000000e+00  1.47932019e+02]
 [-7.91223864e-02  9.96864910e-01  0.00000000e+00 -6.31415684e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:147.99, Y:-6.32, Z:0.00
[[ 9.96880016e-01  7.89318307e-02  0.00000000e+00  1.47993160e+02]
 [-7.89318307e-02  9.96880016e-01  0.00000000e+00 -6.31781628e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.06, Y:-6.32, Z:0.00
[[ 9.96503150e-01  8.35552017e-02  0.00000000e+00  1.48055873e+02]
 [-8.35552017e-02  9.96503150e-01  0.00000000e+00 -6.31892283e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.12, Y:-6.32, Z:0.00
[[ 9.96050598e-01  8.87874207e-02  0.00000000e+00  1.48117287e+02]
 [-8.87874207e-02  9.96050598e-01  0.00000000e+00 -6.32169201e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.18, Y:-6.33, Z:0.00
[[ 9.96004289e-01  8.93054057e-02  0.00000000e+00  1.48179215e+02]
 [-8.93054057e-02  9.96004289e-01  0.00000000e+00 -6.32567959e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.24, Y:-6.33, Z:0.00
[[ 9.95862898e-01  9.08685197e-02  0.00000000e+00  1.48240886e+02]
 [-9.08685197e-02  9.95862898e-01  0.00000000e+00 -6.33242140e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.30, Y:-6.33, Z:0.00
[[ 9.95416316e-01  9.56365884e-02  0.00000000e+00  1.48301789e+02]
 [-9.56365884e-02  9.95416316e-01  0.00000000e+00 -6.33457121e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.36, Y:-6.34, Z:0.00
[[ 9.95058251e-01  9.92928856e-02  0.00000000e+00  1.48361815e+02]
 [-9.92928856e-02  9.95058251e-01  0.00000000e+00 -6.33911806e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.42, Y:-6.35, Z:0.00
[[ 9.94375769e-01  1.05909540e-01  0.00000000e+00  1.48423260e+02]
 [-1.05909540e-01  9.94375769e-01  0.00000000e+00 -6.34663621e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.48, Y:-6.36, Z:0.00
[[ 9.93984305e-01  1.09522611e-01  0.00000000e+00  1.48482721e+02]
 [-1.09522611e-01  9.93984305e-01  0.00000000e+00 -6.35545627e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.54, Y:-6.37, Z:0.00
[[ 9.94542482e-01  1.04332413e-01  0.00000000e+00  1.48542929e+02]
 [-1.04332413e-01  9.94542482e-01  0.00000000e+00 -6.36803252e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.60, Y:-6.38, Z:0.00
[[ 9.95169177e-01  9.81748934e-02  0.00000000e+00  1.48602086e+02]
 [-9.81748934e-02  9.95169177e-01  0.00000000e+00 -6.37652692e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.66, Y:-6.39, Z:0.00
[[ 9.95517394e-01  9.45786304e-02  0.00000000e+00  1.48662451e+02]
 [-9.45786304e-02  9.95517394e-01  0.00000000e+00 -6.38601878e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.72, Y:-6.40, Z:0.00
[[ 9.95939553e-01  9.00244803e-02  0.00000000e+00  1.48723678e+02]
 [-9.00244803e-02  9.95939553e-01  0.00000000e+00 -6.39516219e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.78, Y:-6.41, Z:0.00
[[ 9.96095238e-01  8.82852001e-02  0.00000000e+00  1.48784086e+02]
 [-8.82852001e-02  9.96095238e-01  0.00000000e+00 -6.40694643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.85, Y:-6.41, Z:0.00
[[ 9.96317572e-01  8.57396930e-02  0.00000000e+00  1.48846425e+02]
 [-8.57396930e-02  9.96317572e-01  0.00000000e+00 -6.40938358e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.91, Y:-6.41, Z:0.00
[[ 9.96473275e-01  8.39107368e-02  0.00000000e+00  1.48907713e+02]
 [-8.39107368e-02  9.96473275e-01  0.00000000e+00 -6.41251065e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:148.97, Y:-6.42, Z:0.00
[[ 9.97415409e-01  7.18505491e-02  0.00000000e+00  1.48967504e+02]
 [-7.18505491e-02  9.97415409e-01  0.00000000e+00 -6.41969234e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.03, Y:-6.42, Z:0.00
[[ 9.98283554e-01  5.85657471e-02  0.00000000e+00  1.49028658e+02]
 [-5.85657471e-02  9.98283554e-01  0.00000000e+00 -6.42282583e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.09, Y:-6.43, Z:0.00
[[ 9.98569250e-01  5.34738521e-02  0.00000000e+00  1.49089815e+02]
 [-5.34738521e-02  9.98569250e-01  0.00000000e+00 -6.42692227e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.15, Y:-6.43, Z:0.00
[[ 9.99172830e-01  4.06651647e-02  0.00000000e+00  1.49150827e+02]
 [-4.06651647e-02  9.99172830e-01  0.00000000e+00 -6.42858679e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.21, Y:-6.43, Z:0.00
[[ 9.99330958e-01  3.65737017e-02  0.00000000e+00  1.49211876e+02]
 [-3.65737017e-02  9.99330958e-01  0.00000000e+00 -6.42832181e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.27, Y:-6.42, Z:0.00
[[ 9.99342159e-01  3.62663757e-02  0.00000000e+00  1.49274672e+02]
 [-3.62663757e-02  9.99342159e-01  0.00000000e+00 -6.41990807e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.34, Y:-6.41, Z:0.00
[[ 9.99231342e-01  3.92010776e-02  0.00000000e+00  1.49336312e+02]
 [-3.92010776e-02  9.99231342e-01  0.00000000e+00 -6.41451616e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.40, Y:-6.40, Z:0.00
[[ 9.99157818e-01  4.10323527e-02  0.00000000e+00  1.49398485e+02]
 [-4.10323527e-02  9.99157818e-01  0.00000000e+00 -6.40133624e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.46, Y:-6.39, Z:0.00
[[ 9.99053294e-01  4.35030501e-02  0.00000000e+00  1.49460232e+02]
 [-4.35030501e-02  9.99053294e-01  0.00000000e+00 -6.38823731e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.52, Y:-6.37, Z:0.00
[[ 9.98812510e-01  4.87192926e-02  0.00000000e+00  1.49521278e+02]
 [-4.87192926e-02  9.98812510e-01  0.00000000e+00 -6.37412951e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.58, Y:-6.37, Z:0.00
[[ 9.98380506e-01  5.68890526e-02  0.00000000e+00  1.49582971e+02]
 [-5.68890526e-02  9.98380506e-01  0.00000000e+00 -6.36562623e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.64, Y:-6.36, Z:0.00
[[ 9.97996233e-01  6.32733629e-02  0.00000000e+00  1.49644601e+02]
 [-6.32733629e-02  9.97996233e-01  0.00000000e+00 -6.36154723e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.71, Y:-6.35, Z:0.00
[[ 9.97253140e-01  7.40687212e-02  0.00000000e+00  1.49706379e+02]
 [-7.40687212e-02  9.97253140e-01  0.00000000e+00 -6.35277154e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.77, Y:-6.35, Z:0.00
[[ 9.96713652e-01  8.10055252e-02  0.00000000e+00  1.49767430e+02]
 [-8.10055252e-02  9.96713652e-01  0.00000000e+00 -6.35084218e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.83, Y:-6.35, Z:0.00
[[ 9.95700441e-01  9.26316962e-02  0.00000000e+00  1.49829526e+02]
 [-9.26316962e-02  9.95700441e-01  0.00000000e+00 -6.34672666e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.89, Y:-6.35, Z:0.00
[[ 9.95276351e-01  9.70823623e-02  0.00000000e+00  1.49892709e+02]
 [-9.70823623e-02  9.95276351e-01  0.00000000e+00 -6.34934594e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:149.95, Y:-6.35, Z:0.00
[[ 9.95228429e-01  9.75723997e-02  0.00000000e+00  1.49953334e+02]
 [-9.75723997e-02  9.95228429e-01  0.00000000e+00 -6.34797252e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.01, Y:-6.35, Z:0.00
[[ 9.95211391e-01  9.77460323e-02  0.00000000e+00  1.50013747e+02]
 [-9.77460323e-02  9.95211391e-01  0.00000000e+00 -6.35291175e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.07, Y:-6.36, Z:0.00
[[ 9.95257746e-01  9.72729147e-02  0.00000000e+00  1.50074150e+02]
 [-9.72729147e-02  9.95257746e-01  0.00000000e+00 -6.36062803e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.13, Y:-6.37, Z:0.00
[[ 9.95420982e-01  9.55880157e-02  0.00000000e+00  1.50134886e+02]
 [-9.55880157e-02  9.95420982e-01  0.00000000e+00 -6.36704780e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.20, Y:-6.38, Z:0.00
[[ 9.95847135e-01  9.10411111e-02  0.00000000e+00  1.50196149e+02]
 [-9.10411111e-02  9.95847135e-01  0.00000000e+00 -6.37721794e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.26, Y:-6.39, Z:0.00
[[ 9.96121682e-01  8.79863365e-02  0.00000000e+00  1.50257380e+02]
 [-8.79863365e-02  9.96121682e-01  0.00000000e+00 -6.38602764e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.32, Y:-6.40, Z:0.00
[[ 9.96325398e-01  8.56487141e-02  0.00000000e+00  1.50317075e+02]
 [-8.56487141e-02  9.96325398e-01  0.00000000e+00 -6.39788506e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.38, Y:-6.41, Z:0.00
[[ 9.96592432e-01  8.24834858e-02  0.00000000e+00  1.50376133e+02]
 [-8.24834858e-02  9.96592432e-01  0.00000000e+00 -6.40868826e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.44, Y:-6.41, Z:0.00
[[ 9.97207624e-01  7.46790101e-02  0.00000000e+00  1.50436849e+02]
 [-7.46790101e-02  9.97207624e-01  0.00000000e+00 -6.41433148e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.50, Y:-6.42, Z:0.00
[[ 9.98203579e-01  5.99134001e-02  0.00000000e+00  1.50495790e+02]
 [-5.99134001e-02  9.98203579e-01  0.00000000e+00 -6.42329640e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.56, Y:-6.43, Z:0.00
[[ 9.98732944e-01  5.03240202e-02  0.00000000e+00  1.50556273e+02]
 [-5.03240202e-02  9.98732944e-01  0.00000000e+00 -6.43011526e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.62, Y:-6.43, Z:0.00
[[ 9.99157038e-01  4.10513454e-02  0.00000000e+00  1.50616408e+02]
 [-4.10513454e-02  9.99157038e-01  0.00000000e+00 -6.42720543e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.68, Y:-6.43, Z:0.00
[[ 9.99172705e-01  4.06682444e-02  0.00000000e+00  1.50677495e+02]
 [-4.06682444e-02  9.99172705e-01  0.00000000e+00 -6.42908936e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.74, Y:-6.42, Z:0.00
[[ 9.99056535e-01  4.34285697e-02  0.00000000e+00  1.50740515e+02]
 [-4.34285697e-02  9.99056535e-01  0.00000000e+00 -6.41530813e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.80, Y:-6.41, Z:0.00
[[ 9.98728685e-01  5.04084759e-02  0.00000000e+00  1.50801869e+02]
 [-5.04084759e-02  9.98728685e-01  0.00000000e+00 -6.41212364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.86, Y:-6.40, Z:0.00
[[ 9.98002211e-01  6.31790120e-02  0.00000000e+00  1.50863101e+02]
 [-6.31790120e-02  9.98002211e-01  0.00000000e+00 -6.40370643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.93, Y:-6.40, Z:0.00
[[ 9.97423406e-01  7.17394479e-02  0.00000000e+00  1.50925103e+02]
 [-7.17394479e-02  9.97423406e-01  0.00000000e+00 -6.39743196e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:150.99, Y:-6.39, Z:0.00
[[ 9.97151842e-01  7.54201767e-02  0.00000000e+00  1.50987916e+02]
 [-7.54201767e-02  9.97151842e-01  0.00000000e+00 -6.39278227e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.05, Y:-6.39, Z:0.00
[[ 9.97273867e-01  7.37891160e-02  0.00000000e+00  1.51049140e+02]
 [-7.37891160e-02  9.97273867e-01  0.00000000e+00 -6.39350312e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.11, Y:-6.40, Z:0.00
[[ 9.97327179e-01  7.30650260e-02  0.00000000e+00  1.51109525e+02]
 [-7.30650260e-02  9.97327179e-01  0.00000000e+00 -6.39794538e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.17, Y:-6.40, Z:0.00
[[ 9.97225037e-01  7.44461274e-02  0.00000000e+00  1.51171980e+02]
 [-7.44461274e-02  9.97225037e-01  0.00000000e+00 -6.39644255e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.23, Y:-6.40, Z:0.00
[[ 9.97001713e-01  7.73794801e-02  0.00000000e+00  1.51232273e+02]
 [-7.73794801e-02  9.97001713e-01  0.00000000e+00 -6.39728364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.29, Y:-6.40, Z:0.00
[[ 9.96720036e-01  8.09269428e-02  0.00000000e+00  1.51294587e+02]
 [-8.09269428e-02  9.96720036e-01  0.00000000e+00 -6.40087876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.36, Y:-6.40, Z:0.00
[[ 9.96729728e-01  8.08074866e-02  0.00000000e+00  1.51356228e+02]
 [-8.08074866e-02  9.96729728e-01  0.00000000e+00 -6.40494731e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.42, Y:-6.41, Z:0.00
[[ 9.96674348e-01  8.14876865e-02  0.00000000e+00  1.51418641e+02]
 [-8.14876865e-02  9.96674348e-01  0.00000000e+00 -6.40724322e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.48, Y:-6.41, Z:0.00
[[ 9.96593927e-01  8.24654185e-02  0.00000000e+00  1.51480908e+02]
 [-8.24654185e-02  9.96593927e-01  0.00000000e+00 -6.41436440e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.54, Y:-6.42, Z:0.00
[[ 9.96645739e-01  8.18368601e-02  0.00000000e+00  1.51541733e+02]
 [-8.18368601e-02  9.96645739e-01  0.00000000e+00 -6.41965578e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.60, Y:-6.43, Z:0.00
[[ 9.96536417e-01  8.31575040e-02  0.00000000e+00  1.51603562e+02]
 [-8.31575040e-02  9.96536417e-01  0.00000000e+00 -6.42623569e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.67, Y:-6.43, Z:0.00
[[ 9.96268300e-01  8.63103427e-02  0.00000000e+00  1.51665790e+02]
 [-8.63103427e-02  9.96268300e-01  0.00000000e+00 -6.43383775e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.73, Y:-6.44, Z:0.00
[[ 9.95802197e-01  9.15313290e-02  0.00000000e+00  1.51726100e+02]
 [-9.15313290e-02  9.95802197e-01  0.00000000e+00 -6.43861222e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.79, Y:-6.45, Z:0.00
[[ 9.95301301e-01  9.68262339e-02  0.00000000e+00  1.51787139e+02]
 [-9.68262339e-02  9.95301301e-01  0.00000000e+00 -6.44669107e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.85, Y:-6.46, Z:0.00
[[ 9.94620691e-01  1.03584173e-01  0.00000000e+00  1.51847314e+02]
 [-1.03584173e-01  9.94620691e-01  0.00000000e+00 -6.45610984e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.91, Y:-6.46, Z:0.00
[[ 9.94076944e-01  1.08678555e-01  0.00000000e+00  1.51907399e+02]
 [-1.08678555e-01  9.94076944e-01  0.00000000e+00 -6.46272549e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:151.97, Y:-6.48, Z:0.00
[[ 9.92866115e-01  1.19234550e-01  0.00000000e+00  1.51967288e+02]
 [-1.19234550e-01  9.92866115e-01  0.00000000e+00 -6.47586185e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.03, Y:-6.49, Z:0.00
[[ 9.92437618e-01  1.22750047e-01  0.00000000e+00  1.52027037e+02]
 [-1.22750047e-01  9.92437618e-01  0.00000000e+00 -6.48672189e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.09, Y:-6.50, Z:0.00
[[ 9.91692812e-01  1.28628793e-01  0.00000000e+00  1.52085214e+02]
 [-1.28628793e-01  9.91692812e-01  0.00000000e+00 -6.50450890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.15, Y:-6.52, Z:0.00
[[ 9.91708182e-01  1.28510242e-01  0.00000000e+00  1.52145699e+02]
 [-1.28510242e-01  9.91708182e-01  0.00000000e+00 -6.52273009e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.20, Y:-6.54, Z:0.00
[[ 9.91956841e-01  1.26576561e-01  0.00000000e+00  1.52204371e+02]
 [-1.26576561e-01  9.91956841e-01  0.00000000e+00 -6.54285368e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.26, Y:-6.56, Z:0.00
[[ 9.92278336e-01  1.24031056e-01  0.00000000e+00  1.52262488e+02]
 [-1.24031056e-01  9.92278336e-01  0.00000000e+00 -6.56386909e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.32, Y:-6.58, Z:0.00
[[ 9.92292232e-01  1.23919839e-01  0.00000000e+00  1.52323206e+02]
 [-1.23919839e-01  9.92292232e-01  0.00000000e+00 -6.58294854e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.38, Y:-6.60, Z:0.00
[[ 9.92034191e-01  1.25968897e-01  0.00000000e+00  1.52382073e+02]
 [-1.25968897e-01  9.92034191e-01  0.00000000e+00 -6.60016952e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.44, Y:-6.62, Z:0.00
[[ 9.91826136e-01  1.27596694e-01  0.00000000e+00  1.52442879e+02]
 [-1.27596694e-01  9.91826136e-01  0.00000000e+00 -6.61867470e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.50, Y:-6.64, Z:0.00
[[ 9.91426015e-01  1.30669264e-01  0.00000000e+00  1.52503369e+02]
 [-1.30669264e-01  9.91426015e-01  0.00000000e+00 -6.63811405e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.56, Y:-6.65, Z:0.00
[[ 9.91243570e-01  1.32046150e-01  0.00000000e+00  1.52562062e+02]
 [-1.32046150e-01  9.91243570e-01  0.00000000e+00 -6.65374032e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.62, Y:-6.68, Z:0.00
[[ 9.90950669e-01  1.34226571e-01  0.00000000e+00  1.52622018e+02]
 [-1.34226571e-01  9.90950669e-01  0.00000000e+00 -6.67575122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.68, Y:-6.69, Z:0.00
[[ 9.90582279e-01  1.36918769e-01  0.00000000e+00  1.52681519e+02]
 [-1.36918769e-01  9.90582279e-01  0.00000000e+00 -6.69430018e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.74, Y:-6.71, Z:0.00
[[ 9.91307277e-01  1.31567027e-01  0.00000000e+00  1.52741807e+02]
 [-1.31567027e-01  9.91307277e-01  0.00000000e+00 -6.70930305e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.80, Y:-6.72, Z:0.00
[[ 9.91668777e-01  1.28813958e-01  0.00000000e+00  1.52803080e+02]
 [-1.28813958e-01  9.91668777e-01  0.00000000e+00 -6.72161016e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.86, Y:-6.73, Z:0.00
[[ 9.92135256e-01  1.25170419e-01  0.00000000e+00  1.52863392e+02]
 [-1.25170419e-01  9.92135256e-01  0.00000000e+00 -6.73262132e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.92, Y:-6.74, Z:0.00
[[ 9.92081183e-01  1.25598272e-01  0.00000000e+00  1.52924314e+02]
 [-1.25598272e-01  9.92081183e-01  0.00000000e+00 -6.73634734e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:152.98, Y:-6.74, Z:0.00
[[ 9.92050853e-01  1.25837617e-01  0.00000000e+00  1.52984927e+02]
 [-1.25837617e-01  9.92050853e-01  0.00000000e+00 -6.74304512e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.05, Y:-6.75, Z:0.00
[[ 9.92207192e-01  1.24598907e-01  0.00000000e+00  1.53045446e+02]
 [-1.24598907e-01  9.92207192e-01  0.00000000e+00 -6.75452429e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.11, Y:-6.77, Z:0.00
[[ 9.93528958e-01  1.13579092e-01  0.00000000e+00  1.53105775e+02]
 [-1.13579092e-01  9.93528958e-01  0.00000000e+00 -6.76660692e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.17, Y:-6.77, Z:0.00
[[ 9.94980012e-01  1.00073850e-01  0.00000000e+00  1.53165990e+02]
 [-1.00073850e-01  9.94980012e-01  0.00000000e+00 -6.77230303e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.23, Y:-6.78, Z:0.00
[[ 9.95408660e-01  9.57162444e-02  0.00000000e+00  1.53227110e+02]
 [-9.57162444e-02  9.95408660e-01  0.00000000e+00 -6.77966474e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.29, Y:-6.79, Z:0.00
[[ 9.95866303e-01  9.08312000e-02  0.00000000e+00  1.53286491e+02]
 [-9.08312000e-02  9.95866303e-01  0.00000000e+00 -6.79089514e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.35, Y:-6.80, Z:0.00
[[ 9.96015851e-01  8.91763702e-02  0.00000000e+00  1.53348553e+02]
 [-8.91763702e-02  9.96015851e-01  0.00000000e+00 -6.79964554e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.41, Y:-6.80, Z:0.00
[[ 9.95625258e-01  9.34363194e-02  0.00000000e+00  1.53409591e+02]
 [-9.34363194e-02  9.95625258e-01  0.00000000e+00 -6.80371579e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.47, Y:-6.80, Z:0.00
[[ 9.95324730e-01  9.65850994e-02  0.00000000e+00  1.53471278e+02]
 [-9.65850994e-02  9.95324730e-01  0.00000000e+00 -6.80396187e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.53, Y:-6.81, Z:0.00
[[ 9.95170131e-01  9.81652163e-02  0.00000000e+00  1.53532051e+02]
 [-9.81652163e-02  9.95170131e-01  0.00000000e+00 -6.81244422e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.59, Y:-6.82, Z:0.00
[[ 9.95001722e-01  9.98577632e-02  0.00000000e+00  1.53592817e+02]
 [-9.98577632e-02  9.95001722e-01  0.00000000e+00 -6.81785847e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.66, Y:-6.82, Z:0.00
[[ 9.94964607e-01  1.00226896e-01  0.00000000e+00  1.53655154e+02]
 [-1.00226896e-01  9.94964607e-01  0.00000000e+00 -6.82127194e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.72, Y:-6.83, Z:0.00
[[ 9.94890626e-01  1.00958617e-01  0.00000000e+00  1.53715229e+02]
 [-1.00958617e-01  9.94890626e-01  0.00000000e+00 -6.82671299e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.78, Y:-6.84, Z:0.00
[[ 9.94289189e-01  1.06719299e-01  0.00000000e+00  1.53775275e+02]
 [-1.06719299e-01  9.94289189e-01  0.00000000e+00 -6.83626062e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.84, Y:-6.84, Z:0.00
[[ 9.93890528e-01  1.10370366e-01  0.00000000e+00  1.53836346e+02]
 [-1.10370366e-01  9.93890528e-01  0.00000000e+00 -6.84456158e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.90, Y:-6.85, Z:0.00
[[ 9.93962882e-01  1.09716855e-01  0.00000000e+00  1.53896658e+02]
 [-1.09716855e-01  9.93962882e-01  0.00000000e+00 -6.85151122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:153.96, Y:-6.86, Z:0.00
[[ 9.94392434e-01  1.05752954e-01  0.00000000e+00  1.53955901e+02]
 [-1.05752954e-01  9.94392434e-01  0.00000000e+00 -6.85740749e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.02, Y:-6.86, Z:0.00
[[ 9.94460902e-01  1.05107157e-01  0.00000000e+00  1.54017856e+02]
 [-1.05107157e-01  9.94460902e-01  0.00000000e+00 -6.86353096e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.08, Y:-6.86, Z:0.00
[[ 9.94605056e-01  1.03734194e-01  0.00000000e+00  1.54080004e+02]
 [-1.03734194e-01  9.94605056e-01  0.00000000e+00 -6.86451530e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.14, Y:-6.87, Z:0.00
[[ 9.94074490e-01  1.08701004e-01  0.00000000e+00  1.54141541e+02]
 [-1.08701004e-01  9.94074490e-01  0.00000000e+00 -6.86743848e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.20, Y:-6.87, Z:0.00
[[ 9.94002983e-01  1.09352961e-01  0.00000000e+00  1.54202936e+02]
 [-1.09352961e-01  9.94002983e-01  0.00000000e+00 -6.87497739e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.27, Y:-6.87, Z:0.00
[[ 9.93888394e-01  1.10389584e-01  0.00000000e+00  1.54265179e+02]
 [-1.10389584e-01  9.93888394e-01  0.00000000e+00 -6.87459660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.33, Y:-6.87, Z:0.00
[[ 9.93386604e-01  1.14817484e-01  0.00000000e+00  1.54326929e+02]
 [-1.14817484e-01  9.93386604e-01  0.00000000e+00 -6.87410255e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.39, Y:-6.88, Z:0.00
[[ 9.94018938e-01  1.09207837e-01  0.00000000e+00  1.54387981e+02]
 [-1.09207837e-01  9.94018938e-01  0.00000000e+00 -6.87950289e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.45, Y:-6.88, Z:0.00
[[ 9.94231414e-01  1.07256218e-01  0.00000000e+00  1.54448623e+02]
 [-1.07256218e-01  9.94231414e-01  0.00000000e+00 -6.88353164e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.51, Y:-6.88, Z:0.00
[[ 9.93801994e-01  1.11164731e-01  0.00000000e+00  1.54509781e+02]
 [-1.11164731e-01  9.93801994e-01  0.00000000e+00 -6.88387871e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.57, Y:-6.89, Z:0.00
[[ 9.93324695e-01  1.15351857e-01  0.00000000e+00  1.54570274e+02]
 [-1.15351857e-01  9.93324695e-01  0.00000000e+00 -6.88826943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.63, Y:-6.90, Z:0.00
[[ 9.92752469e-01  1.20177104e-01  0.00000000e+00  1.54630683e+02]
 [-1.20177104e-01  9.92752469e-01  0.00000000e+00 -6.89506070e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.69, Y:-6.90, Z:0.00
[[ 9.92213592e-01  1.24547935e-01  0.00000000e+00  1.54691477e+02]
 [-1.24547935e-01  9.92213592e-01  0.00000000e+00 -6.90235970e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.75, Y:-6.91, Z:0.00
[[ 9.91870091e-01  1.27254559e-01  0.00000000e+00  1.54752434e+02]
 [-1.27254559e-01  9.91870091e-01  0.00000000e+00 -6.90728292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.81, Y:-6.91, Z:0.00
[[ 9.92224602e-01  1.24460192e-01  0.00000000e+00  1.54813230e+02]
 [-1.24460192e-01  9.92224602e-01  0.00000000e+00 -6.91433409e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.87, Y:-6.92, Z:0.00
[[ 9.93374053e-01  1.14926027e-01  0.00000000e+00  1.54873924e+02]
 [-1.14926027e-01  9.93374053e-01  0.00000000e+00 -6.92309406e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:154.94, Y:-6.93, Z:0.00
[[ 9.93365416e-01  1.15000656e-01  0.00000000e+00  1.54935110e+02]
 [-1.15000656e-01  9.93365416e-01  0.00000000e+00 -6.92773817e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.00, Y:-6.93, Z:0.00
[[ 9.93007069e-01  1.18054907e-01  0.00000000e+00  1.54996859e+02]
 [-1.18054907e-01  9.93007069e-01  0.00000000e+00 -6.93074134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.06, Y:-6.94, Z:0.00
[[ 9.93172945e-01  1.16651195e-01  0.00000000e+00  1.55059067e+02]
 [-1.16651195e-01  9.93172945e-01  0.00000000e+00 -6.94132068e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.12, Y:-6.95, Z:0.00
[[ 9.93398122e-01  1.14717793e-01  0.00000000e+00  1.55120515e+02]
 [-1.14717793e-01  9.93398122e-01  0.00000000e+00 -6.95088330e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.18, Y:-6.96, Z:0.00
[[ 9.93632955e-01  1.12665663e-01  0.00000000e+00  1.55181474e+02]
 [-1.12665663e-01  9.93632955e-01  0.00000000e+00 -6.95877160e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.24, Y:-6.97, Z:0.00
[[ 9.93917890e-01  1.10123691e-01  0.00000000e+00  1.55243877e+02]
 [-1.10123691e-01  9.93917890e-01  0.00000000e+00 -6.96954429e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.30, Y:-6.98, Z:0.00
[[ 9.94191378e-01  1.07626683e-01  0.00000000e+00  1.55304153e+02]
 [-1.07626683e-01  9.94191378e-01  0.00000000e+00 -6.97954384e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.36, Y:-6.99, Z:0.00
[[ 9.94410474e-01  1.05583190e-01  0.00000000e+00  1.55363998e+02]
 [-1.05583190e-01  9.94410474e-01  0.00000000e+00 -6.99134987e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.43, Y:-7.00, Z:0.00
[[ 9.94893344e-01  1.00931830e-01  0.00000000e+00  1.55425512e+02]
 [-1.00931830e-01  9.94893344e-01  0.00000000e+00 -7.00036475e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.49, Y:-7.01, Z:0.00
[[ 9.95157041e-01  9.82978340e-02  0.00000000e+00  1.55486211e+02]
 [-9.82978340e-02  9.95157041e-01  0.00000000e+00 -7.00569695e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.55, Y:-7.01, Z:0.00
[[ 9.95085474e-01  9.90196950e-02  0.00000000e+00  1.55546489e+02]
 [-9.90196950e-02  9.95085474e-01  0.00000000e+00 -7.01145628e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.61, Y:-7.01, Z:0.00
[[ 9.95026297e-01  9.96125957e-02  0.00000000e+00  1.55607621e+02]
 [-9.96125957e-02  9.95026297e-01  0.00000000e+00 -7.01354981e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.67, Y:-7.01, Z:0.00
[[ 9.94666402e-01  1.03144306e-01  0.00000000e+00  1.55668844e+02]
 [-1.03144306e-01  9.94666402e-01  0.00000000e+00 -7.01357915e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.73, Y:-7.01, Z:0.00
[[ 9.94712344e-01  1.02700308e-01  0.00000000e+00  1.55730890e+02]
 [-1.02700308e-01  9.94712344e-01  0.00000000e+00 -7.01412132e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.79, Y:-7.01, Z:0.00
[[ 9.94916563e-01  1.00702695e-01  0.00000000e+00  1.55792128e+02]
 [-1.00702695e-01  9.94916563e-01  0.00000000e+00 -7.01496978e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.85, Y:-7.01, Z:0.00
[[ 9.94456336e-01  1.05150346e-01  0.00000000e+00  1.55853426e+02]
 [-1.05150346e-01  9.94456336e-01  0.00000000e+00 -7.01084608e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.91, Y:-7.01, Z:0.00
[[ 9.93710444e-01  1.11980148e-01  0.00000000e+00  1.55914564e+02]
 [-1.11980148e-01  9.93710444e-01  0.00000000e+00 -7.01328369e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:155.98, Y:-7.01, Z:0.00
[[ 9.92223335e-01  1.24470290e-01  0.00000000e+00  1.55975988e+02]
 [-1.24470290e-01  9.92223335e-01  0.00000000e+00 -7.01431387e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.04, Y:-7.01, Z:0.00
[[ 9.91225659e-01  1.32180533e-01  0.00000000e+00  1.56037187e+02]
 [-1.32180533e-01  9.91225659e-01  0.00000000e+00 -7.01466788e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.10, Y:-7.02, Z:0.00
[[ 9.89816928e-01  1.42346231e-01  0.00000000e+00  1.56097190e+02]
 [-1.42346231e-01  9.89816928e-01  0.00000000e+00 -7.01681596e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.16, Y:-7.02, Z:0.00
[[ 9.89400210e-01  1.45214407e-01  0.00000000e+00  1.56157413e+02]
 [-1.45214407e-01  9.89400210e-01  0.00000000e+00 -7.02147540e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.22, Y:-7.03, Z:0.00
[[ 9.89548507e-01  1.44200387e-01  0.00000000e+00  1.56219279e+02]
 [-1.44200387e-01  9.89548507e-01  0.00000000e+00 -7.02739519e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.28, Y:-7.04, Z:0.00
[[ 9.90637478e-01  1.36518818e-01  0.00000000e+00  1.56279908e+02]
 [-1.36518818e-01  9.90637478e-01  0.00000000e+00 -7.03693821e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.34, Y:-7.05, Z:0.00
[[ 9.91272610e-01  1.31827970e-01  0.00000000e+00  1.56340465e+02]
 [-1.31827970e-01  9.91272610e-01  0.00000000e+00 -7.04588572e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.40, Y:-7.06, Z:0.00
[[ 9.92026566e-01  1.26028932e-01  0.00000000e+00  1.56400615e+02]
 [-1.26028932e-01  9.92026566e-01  0.00000000e+00 -7.05655981e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.46, Y:-7.07, Z:0.00
[[ 9.92180186e-01  1.24813778e-01  0.00000000e+00  1.56462601e+02]
 [-1.24813778e-01  9.92180186e-01  0.00000000e+00 -7.06594907e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.53, Y:-7.08, Z:0.00
[[ 9.92087153e-01  1.25551108e-01  0.00000000e+00  1.56525021e+02]
 [-1.25551108e-01  9.92087153e-01  0.00000000e+00 -7.07667112e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.59, Y:-7.09, Z:0.00
[[ 9.92078975e-01  1.25615717e-01  0.00000000e+00  1.56585882e+02]
 [-1.25615717e-01  9.92078975e-01  0.00000000e+00 -7.08603438e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.65, Y:-7.09, Z:0.00
[[ 9.92109067e-01  1.25377823e-01  0.00000000e+00  1.56645391e+02]
 [-1.25377823e-01  9.92109067e-01  0.00000000e+00 -7.09384260e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.71, Y:-7.10, Z:0.00
[[ 9.92179779e-01  1.24817012e-01  0.00000000e+00  1.56705804e+02]
 [-1.24817012e-01  9.92179779e-01  0.00000000e+00 -7.10390052e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.77, Y:-7.12, Z:0.00
[[ 9.92931977e-01  1.18684829e-01  0.00000000e+00  1.56766086e+02]
 [-1.18684829e-01  9.92931977e-01  0.00000000e+00 -7.11629738e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.83, Y:-7.12, Z:0.00
[[ 9.93490833e-01  1.13912095e-01  0.00000000e+00  1.56827520e+02]
 [-1.13912095e-01  9.93490833e-01  0.00000000e+00 -7.12344010e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.89, Y:-7.13, Z:0.00
[[ 9.93926143e-01  1.10049179e-01  0.00000000e+00  1.56887821e+02]
 [-1.10049179e-01  9.93926143e-01  0.00000000e+00 -7.13057114e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:156.95, Y:-7.14, Z:0.00
[[ 9.93954270e-01  1.09794854e-01  0.00000000e+00  1.56949613e+02]
 [-1.09794854e-01  9.93954270e-01  0.00000000e+00 -7.13605840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.01, Y:-7.14, Z:0.00
[[ 9.94141762e-01  1.08084027e-01  0.00000000e+00  1.57011472e+02]
 [-1.08084027e-01  9.94141762e-01  0.00000000e+00 -7.14466888e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.07, Y:-7.15, Z:0.00
[[ 9.94425753e-01  1.05439184e-01  0.00000000e+00  1.57070862e+02]
 [-1.05439184e-01  9.94425753e-01  0.00000000e+00 -7.15123682e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.13, Y:-7.15, Z:0.00
[[ 9.94250109e-01  1.07082771e-01  0.00000000e+00  1.57133247e+02]
 [-1.07082771e-01  9.94250109e-01  0.00000000e+00 -7.15272678e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.19, Y:-7.16, Z:0.00
[[ 9.94032379e-01  1.09085425e-01  0.00000000e+00  1.57194242e+02]
 [-1.09085425e-01  9.94032379e-01  0.00000000e+00 -7.15743788e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.25, Y:-7.16, Z:0.00
[[ 9.94354083e-01  1.06112944e-01  0.00000000e+00  1.57254790e+02]
 [-1.06112944e-01  9.94354083e-01  0.00000000e+00 -7.16310374e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.32, Y:-7.16, Z:0.00
[[ 9.94292383e-01  1.06689540e-01  0.00000000e+00  1.57316561e+02]
 [-1.06689540e-01  9.94292383e-01  0.00000000e+00 -7.16450438e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.38, Y:-7.17, Z:0.00
[[ 9.93950209e-01  1.09831604e-01  0.00000000e+00  1.57376720e+02]
 [-1.09831604e-01  9.93950209e-01  0.00000000e+00 -7.16838608e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.44, Y:-7.17, Z:0.00
[[ 9.93659274e-01  1.12433305e-01  0.00000000e+00  1.57438832e+02]
 [-1.12433305e-01  9.93659274e-01  0.00000000e+00 -7.17274447e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.50, Y:-7.18, Z:0.00
[[ 9.93409496e-01  1.14619252e-01  0.00000000e+00  1.57499910e+02]
 [-1.14619252e-01  9.93409496e-01  0.00000000e+00 -7.17814292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.56, Y:-7.18, Z:0.00
[[ 9.93145990e-01  1.16880463e-01  0.00000000e+00  1.57559369e+02]
 [-1.16880463e-01  9.93145990e-01  0.00000000e+00 -7.18366702e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.62, Y:-7.19, Z:0.00
[[ 9.93042370e-01  1.17757598e-01  0.00000000e+00  1.57620288e+02]
 [-1.17757598e-01  9.93042370e-01  0.00000000e+00 -7.19039779e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.68, Y:-7.20, Z:0.00
[[ 9.93081531e-01  1.17426883e-01  0.00000000e+00  1.57682096e+02]
 [-1.17426883e-01  9.93081531e-01  0.00000000e+00 -7.19803420e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.74, Y:-7.20, Z:0.00
[[ 9.93120435e-01  1.17097406e-01  0.00000000e+00  1.57741416e+02]
 [-1.17097406e-01  9.93120435e-01  0.00000000e+00 -7.20474926e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.80, Y:-7.21, Z:0.00
[[ 9.93071933e-01  1.17508026e-01  0.00000000e+00  1.57802588e+02]
 [-1.17508026e-01  9.93071933e-01  0.00000000e+00 -7.21250840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.86, Y:-7.22, Z:0.00
[[ 9.93039828e-01  1.17779030e-01  0.00000000e+00  1.57863583e+02]
 [-1.17779030e-01  9.93039828e-01  0.00000000e+00 -7.21963760e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.92, Y:-7.23, Z:0.00
[[ 9.93331616e-01  1.15292241e-01  0.00000000e+00  1.57923331e+02]
 [-1.15292241e-01  9.93331616e-01  0.00000000e+00 -7.22795520e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:157.98, Y:-7.23, Z:0.00
[[ 9.93785816e-01  1.11309265e-01  0.00000000e+00  1.57983690e+02]
 [-1.11309265e-01  9.93785816e-01  0.00000000e+00 -7.23387080e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.04, Y:-7.24, Z:0.00
[[ 9.94337962e-01  1.06263905e-01  0.00000000e+00  1.58044423e+02]
 [-1.06263905e-01  9.94337962e-01  0.00000000e+00 -7.24033691e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.11, Y:-7.25, Z:0.00
[[ 9.94211027e-01  1.07445030e-01  0.00000000e+00  1.58106115e+02]
 [-1.07445030e-01  9.94211027e-01  0.00000000e+00 -7.24602556e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.17, Y:-7.25, Z:0.00
[[ 9.94141317e-01  1.08088118e-01  0.00000000e+00  1.58166924e+02]
 [-1.08088118e-01  9.94141317e-01  0.00000000e+00 -7.25439987e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.23, Y:-7.26, Z:0.00
[[ 9.93758320e-01  1.11554481e-01  0.00000000e+00  1.58228734e+02]
 [-1.11554481e-01  9.93758320e-01  0.00000000e+00 -7.25683881e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.29, Y:-7.26, Z:0.00
[[ 9.93373534e-01  1.14930510e-01  0.00000000e+00  1.58289575e+02]
 [-1.14930510e-01  9.93373534e-01  0.00000000e+00 -7.25956989e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.35, Y:-7.26, Z:0.00
[[ 9.93148583e-01  1.16858426e-01  0.00000000e+00  1.58350232e+02]
 [-1.16858426e-01  9.93148583e-01  0.00000000e+00 -7.26382280e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.41, Y:-7.27, Z:0.00
[[ 9.92657826e-01  1.20956355e-01  0.00000000e+00  1.58412242e+02]
 [-1.20956355e-01  9.92657826e-01  0.00000000e+00 -7.27072968e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.47, Y:-7.28, Z:0.00
[[ 9.93501745e-01  1.13816879e-01  0.00000000e+00  1.58472457e+02]
 [-1.13816879e-01  9.93501745e-01  0.00000000e+00 -7.27841256e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.53, Y:-7.28, Z:0.00
[[ 9.94222142e-01  1.07342126e-01  0.00000000e+00  1.58533078e+02]
 [-1.07342126e-01  9.94222142e-01  0.00000000e+00 -7.27779622e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.60, Y:-7.28, Z:0.00
[[ 9.94061972e-01  1.08815422e-01  0.00000000e+00  1.58595183e+02]
 [-1.08815422e-01  9.94061972e-01  0.00000000e+00 -7.28051212e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.66, Y:-7.29, Z:0.00
[[ 9.93548025e-01  1.13412175e-01  0.00000000e+00  1.58656911e+02]
 [-1.13412175e-01  9.93548025e-01  0.00000000e+00 -7.28847093e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.72, Y:-7.29, Z:0.00
[[ 9.92801267e-01  1.19773301e-01  0.00000000e+00  1.58717309e+02]
 [-1.19773301e-01  9.92801267e-01  0.00000000e+00 -7.28868563e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.78, Y:-7.29, Z:0.00
[[ 9.92203942e-01  1.24624784e-01  0.00000000e+00  1.58779018e+02]
 [-1.24624784e-01  9.92203942e-01  0.00000000e+00 -7.28968740e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.84, Y:-7.29, Z:0.00
[[ 9.91890679e-01  1.27093987e-01  0.00000000e+00  1.58840160e+02]
 [-1.27093987e-01  9.91890679e-01  0.00000000e+00 -7.29404163e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.90, Y:-7.30, Z:0.00
[[ 9.91045678e-01  1.33523272e-01  0.00000000e+00  1.58901107e+02]
 [-1.33523272e-01  9.91045678e-01  0.00000000e+00 -7.29742980e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:158.96, Y:-7.30, Z:0.00
[[ 9.90579799e-01  1.36936705e-01  0.00000000e+00  1.58961297e+02]
 [-1.36936705e-01  9.90579799e-01  0.00000000e+00 -7.30201260e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.02, Y:-7.31, Z:0.00
[[ 9.90252282e-01  1.39285382e-01  0.00000000e+00  1.59020777e+02]
 [-1.39285382e-01  9.90252282e-01  0.00000000e+00 -7.30723486e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.08, Y:-7.32, Z:0.00
[[ 9.90403673e-01  1.38204794e-01  0.00000000e+00  1.59081720e+02]
 [-1.38204794e-01  9.90403673e-01  0.00000000e+00 -7.31540194e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.14, Y:-7.33, Z:0.00
[[ 9.91562063e-01  1.29632846e-01  0.00000000e+00  1.59142243e+02]
 [-1.29632846e-01  9.91562063e-01  0.00000000e+00 -7.32776701e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.20, Y:-7.33, Z:0.00
[[ 9.92751379e-01  1.20186102e-01  0.00000000e+00  1.59203419e+02]
 [-1.20186102e-01  9.92751379e-01  0.00000000e+00 -7.33472720e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.26, Y:-7.34, Z:0.00
[[ 9.93491645e-01  1.13905008e-01  0.00000000e+00  1.59264763e+02]
 [-1.13905008e-01  9.93491645e-01  0.00000000e+00 -7.34448922e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.33, Y:-7.35, Z:0.00
[[ 9.93388886e-01  1.14797739e-01  0.00000000e+00  1.59327007e+02]
 [-1.14797739e-01  9.93388886e-01  0.00000000e+00 -7.35162734e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.39, Y:-7.36, Z:0.00
[[ 9.93141075e-01  1.16922219e-01  0.00000000e+00  1.59386404e+02]
 [-1.16922219e-01  9.93141075e-01  0.00000000e+00 -7.35914185e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.45, Y:-7.37, Z:0.00
[[ 9.93382313e-01  1.14854601e-01  0.00000000e+00  1.59447250e+02]
 [-1.14854601e-01  9.93382313e-01  0.00000000e+00 -7.36843045e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.51, Y:-7.37, Z:0.00
[[ 9.93609518e-01  1.12872162e-01  0.00000000e+00  1.59509406e+02]
 [-1.12872162e-01  9.93609518e-01  0.00000000e+00 -7.36867100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.57, Y:-7.37, Z:0.00
[[ 9.93204368e-01  1.16383347e-01  0.00000000e+00  1.59571841e+02]
 [-1.16383347e-01  9.93204368e-01  0.00000000e+00 -7.36654713e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.63, Y:-7.37, Z:0.00
[[ 9.92256570e-01  1.24205068e-01  0.00000000e+00  1.59631149e+02]
 [-1.24205068e-01  9.92256570e-01  0.00000000e+00 -7.37225464e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.69, Y:-7.38, Z:0.00
[[ 9.91686251e-01  1.28679368e-01  0.00000000e+00  1.59690907e+02]
 [-1.28679368e-01  9.91686251e-01  0.00000000e+00 -7.37891001e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.75, Y:-7.38, Z:0.00
[[ 9.90732728e-01  1.35825848e-01  0.00000000e+00  1.59751787e+02]
 [-1.35825848e-01  9.90732728e-01  0.00000000e+00 -7.38108493e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.81, Y:-7.38, Z:0.00
[[ 9.90540632e-01  1.37219738e-01  0.00000000e+00  1.59813724e+02]
 [-1.37219738e-01  9.90540632e-01  0.00000000e+00 -7.38468312e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.87, Y:-7.39, Z:0.00
[[ 9.90643682e-01  1.36473790e-01  0.00000000e+00  1.59872890e+02]
 [-1.36473790e-01  9.90643682e-01  0.00000000e+00 -7.39472615e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.93, Y:-7.40, Z:0.00
[[ 9.90616392e-01  1.36671734e-01  0.00000000e+00  1.59933785e+02]
 [-1.36671734e-01  9.90616392e-01  0.00000000e+00 -7.40355289e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:159.99, Y:-7.41, Z:0.00
[[ 9.90111603e-01  1.40281911e-01  0.00000000e+00  1.59993361e+02]
 [-1.40281911e-01  9.90111603e-01  0.00000000e+00 -7.41328770e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.05, Y:-7.42, Z:0.00
[[ 9.90978956e-01  1.34017566e-01  0.00000000e+00  1.60054061e+02]
 [-1.34017566e-01  9.90978956e-01  0.00000000e+00 -7.42278875e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.12, Y:-7.43, Z:0.00
[[ 9.91335220e-01  1.31356316e-01  0.00000000e+00  1.60115048e+02]
 [-1.31356316e-01  9.91335220e-01  0.00000000e+00 -7.42731140e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.18, Y:-7.43, Z:0.00
[[ 9.92295499e-01  1.23893675e-01  0.00000000e+00  1.60175328e+02]
 [-1.23893675e-01  9.92295499e-01  0.00000000e+00 -7.43204379e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.24, Y:-7.44, Z:0.00
[[ 9.92289917e-01  1.23938375e-01  0.00000000e+00  1.60236484e+02]
 [-1.23938375e-01  9.92289917e-01  0.00000000e+00 -7.43536242e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.30, Y:-7.44, Z:0.00
[[ 9.91426109e-01  1.30668554e-01  0.00000000e+00  1.60297993e+02]
 [-1.30668554e-01  9.91426109e-01  0.00000000e+00 -7.43661329e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.36, Y:-7.44, Z:0.00
[[ 9.90766429e-01  1.35579805e-01  0.00000000e+00  1.60358984e+02]
 [-1.35579805e-01  9.90766429e-01  0.00000000e+00 -7.44232247e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.42, Y:-7.45, Z:0.00
[[ 9.90331871e-01  1.38718366e-01  0.00000000e+00  1.60420304e+02]
 [-1.38718366e-01  9.90331871e-01  0.00000000e+00 -7.44694300e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.48, Y:-7.45, Z:0.00
[[ 9.89509922e-01  1.44464925e-01  0.00000000e+00  1.60481388e+02]
 [-1.44464925e-01  9.89509922e-01  0.00000000e+00 -7.45157419e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.54, Y:-7.46, Z:0.00
[[ 9.89087594e-01  1.47328652e-01  0.00000000e+00  1.60542596e+02]
 [-1.47328652e-01  9.89087594e-01  0.00000000e+00 -7.45526185e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.60, Y:-7.46, Z:0.00
[[ 9.88620423e-01  1.50431578e-01  0.00000000e+00  1.60604080e+02]
 [-1.50431578e-01  9.88620423e-01  0.00000000e+00 -7.45883551e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.67, Y:-7.47, Z:0.00
[[ 9.88739304e-01  1.49648216e-01  0.00000000e+00  1.60666006e+02]
 [-1.49648216e-01  9.88739304e-01  0.00000000e+00 -7.46698935e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.73, Y:-7.47, Z:0.00
[[ 9.88868294e-01  1.48793470e-01  0.00000000e+00  1.60725757e+02]
 [-1.48793470e-01  9.88868294e-01  0.00000000e+00 -7.47363795e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.79, Y:-7.48, Z:0.00
[[ 9.89139324e-01  1.46980944e-01  0.00000000e+00  1.60786358e+02]
 [-1.46980944e-01  9.89139324e-01  0.00000000e+00 -7.48017826e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.85, Y:-7.49, Z:0.00
[[ 9.89358782e-01  1.45496393e-01  0.00000000e+00  1.60847502e+02]
 [-1.45496393e-01  9.89358782e-01  0.00000000e+00 -7.48527808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.91, Y:-7.50, Z:0.00
[[ 9.90002427e-01  1.41050329e-01  0.00000000e+00  1.60907329e+02]
 [-1.41050329e-01  9.90002427e-01  0.00000000e+00 -7.49519330e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:160.97, Y:-7.51, Z:0.00
[[ 9.90327875e-01  1.38746894e-01  0.00000000e+00  1.60967591e+02]
 [-1.38746894e-01  9.90327875e-01  0.00000000e+00 -7.50546332e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.03, Y:-7.51, Z:0.00
[[ 9.90221801e-01  1.39501915e-01  0.00000000e+00  1.61028581e+02]
 [-1.39501915e-01  9.90221801e-01  0.00000000e+00 -7.51255145e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.09, Y:-7.52, Z:0.00
[[ 9.89974380e-01  1.41247039e-01  0.00000000e+00  1.61088946e+02]
 [-1.41247039e-01  9.89974380e-01  0.00000000e+00 -7.51932137e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.15, Y:-7.53, Z:0.00
[[ 9.90580051e-01  1.36934886e-01  0.00000000e+00  1.61148593e+02]
 [-1.36934886e-01  9.90580051e-01  0.00000000e+00 -7.52895138e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.21, Y:-7.54, Z:0.00
[[ 9.91377701e-01  1.31035314e-01  0.00000000e+00  1.61209861e+02]
 [-1.31035314e-01  9.91377701e-01  0.00000000e+00 -7.53846166e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.27, Y:-7.55, Z:0.00
[[ 9.91694912e-01  1.28612602e-01  0.00000000e+00  1.61269354e+02]
 [-1.28612602e-01  9.91694912e-01  0.00000000e+00 -7.54529985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.33, Y:-7.55, Z:0.00
[[ 9.91405297e-01  1.30826361e-01  0.00000000e+00  1.61329809e+02]
 [-1.30826361e-01  9.91405297e-01  0.00000000e+00 -7.55373171e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.39, Y:-7.56, Z:0.00
[[ 9.91520825e-01  1.29947891e-01  0.00000000e+00  1.61390521e+02]
 [-1.29947891e-01  9.91520825e-01  0.00000000e+00 -7.56400576e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.45, Y:-7.57, Z:0.00
[[ 9.92127436e-01  1.25232389e-01  0.00000000e+00  1.61449668e+02]
 [-1.25232389e-01  9.92127436e-01  0.00000000e+00 -7.57345758e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.51, Y:-7.57, Z:0.00
[[ 9.91846989e-01  1.27434491e-01  0.00000000e+00  1.61510693e+02]
 [-1.27434491e-01  9.91846989e-01  0.00000000e+00 -7.57408466e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.57, Y:-7.58, Z:0.00
[[ 9.91717966e-01  1.28434716e-01  0.00000000e+00  1.61572377e+02]
 [-1.28434716e-01  9.91717966e-01  0.00000000e+00 -7.57913991e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.63, Y:-7.59, Z:0.00
[[ 9.91555839e-01  1.29680450e-01  0.00000000e+00  1.61632677e+02]
 [-1.29680450e-01  9.91555839e-01  0.00000000e+00 -7.58963138e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.69, Y:-7.60, Z:0.00
[[ 9.91921141e-01  1.26856020e-01  0.00000000e+00  1.61692934e+02]
 [-1.26856020e-01  9.91921141e-01  0.00000000e+00 -7.59646555e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.76, Y:-7.59, Z:0.00
[[ 9.91694779e-01  1.28613629e-01  0.00000000e+00  1.61755333e+02]
 [-1.28613629e-01  9.91694779e-01  0.00000000e+00 -7.59478794e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.82, Y:-7.60, Z:0.00
[[ 9.91093484e-01  1.33167959e-01  0.00000000e+00  1.61816486e+02]
 [-1.33167959e-01  9.91093484e-01  0.00000000e+00 -7.59860925e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.88, Y:-7.61, Z:0.00
[[ 9.91692799e-01  1.28628895e-01  0.00000000e+00  1.61876300e+02]
 [-1.28628895e-01  9.91692799e-01  0.00000000e+00 -7.60566392e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:161.94, Y:-7.61, Z:0.00
[[ 9.91231343e-01  1.32137897e-01  0.00000000e+00  1.61937567e+02]
 [-1.32137897e-01  9.91231343e-01  0.00000000e+00 -7.60826271e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.00, Y:-7.61, Z:0.00
[[ 9.90605668e-01  1.36749443e-01  0.00000000e+00  1.61997424e+02]
 [-1.36749443e-01  9.90605668e-01  0.00000000e+00 -7.61096217e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.06, Y:-7.62, Z:0.00
[[ 9.90334179e-01  1.38701887e-01  0.00000000e+00  1.62057353e+02]
 [-1.38701887e-01  9.90334179e-01  0.00000000e+00 -7.61852126e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.12, Y:-7.63, Z:0.00
[[ 9.90258141e-01  1.39243723e-01  0.00000000e+00  1.62119020e+02]
 [-1.39243723e-01  9.90258141e-01  0.00000000e+00 -7.62591044e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.18, Y:-7.63, Z:0.00
[[ 9.89989857e-01  1.41138527e-01  0.00000000e+00  1.62180550e+02]
 [-1.41138527e-01  9.89989857e-01  0.00000000e+00 -7.63281404e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.24, Y:-7.64, Z:0.00
[[ 9.89882449e-01  1.41889879e-01  0.00000000e+00  1.62240745e+02]
 [-1.41889879e-01  9.89882449e-01  0.00000000e+00 -7.63955831e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.30, Y:-7.65, Z:0.00
[[ 9.90283247e-01  1.39065060e-01  0.00000000e+00  1.62300654e+02]
 [-1.39065060e-01  9.90283247e-01  0.00000000e+00 -7.65059732e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.36, Y:-7.66, Z:0.00
[[ 9.91219663e-01  1.32225488e-01  0.00000000e+00  1.62361340e+02]
 [-1.32225488e-01  9.91219663e-01  0.00000000e+00 -7.65719557e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.42, Y:-7.66, Z:0.00
[[ 9.91501823e-01  1.30092797e-01  0.00000000e+00  1.62422955e+02]
 [-1.30092797e-01  9.91501823e-01  0.00000000e+00 -7.66306453e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.48, Y:-7.67, Z:0.00
[[ 9.91303435e-01  1.31595973e-01  0.00000000e+00  1.62484417e+02]
 [-1.31595973e-01  9.91303435e-01  0.00000000e+00 -7.66725610e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.54, Y:-7.67, Z:0.00
[[ 9.90904752e-01  1.34565127e-01  0.00000000e+00  1.62544253e+02]
 [-1.34565127e-01  9.90904752e-01  0.00000000e+00 -7.67423247e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.61, Y:-7.68, Z:0.00
[[ 9.89878075e-01  1.41920389e-01  0.00000000e+00  1.62605609e+02]
 [-1.41920389e-01  9.89878075e-01  0.00000000e+00 -7.67629202e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.67, Y:-7.68, Z:0.00
[[ 9.89621665e-01  1.43697460e-01  0.00000000e+00  1.62666712e+02]
 [-1.43697460e-01  9.89621665e-01  0.00000000e+00 -7.68009372e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.73, Y:-7.68, Z:0.00
[[ 9.88889123e-01  1.48654975e-01  0.00000000e+00  1.62728011e+02]
 [-1.48654975e-01  9.88889123e-01  0.00000000e+00 -7.68325317e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.79, Y:-7.69, Z:0.00
[[ 9.89322166e-01  1.45745161e-01  0.00000000e+00  1.62788140e+02]
 [-1.45745161e-01  9.89322166e-01  0.00000000e+00 -7.69063859e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.85, Y:-7.70, Z:0.00
[[ 9.90820227e-01  1.35186086e-01  0.00000000e+00  1.62847848e+02]
 [-1.35186086e-01  9.90820227e-01  0.00000000e+00 -7.69747064e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.91, Y:-7.70, Z:0.00
[[ 9.91572071e-01  1.29556275e-01  0.00000000e+00  1.62908752e+02]
 [-1.29556275e-01  9.91572071e-01  0.00000000e+00 -7.69989238e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:162.97, Y:-7.71, Z:0.00
[[ 9.92042782e-01  1.25901227e-01  0.00000000e+00  1.62969565e+02]
 [-1.25901227e-01  9.92042782e-01  0.00000000e+00 -7.70554872e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.03, Y:-7.71, Z:0.00
[[ 9.92938058e-01  1.18633946e-01  0.00000000e+00  1.63029179e+02]
 [-1.18633946e-01  9.92938058e-01  0.00000000e+00 -7.71458029e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.09, Y:-7.72, Z:0.00
[[ 9.93364995e-01  1.15004286e-01  0.00000000e+00  1.63090460e+02]
 [-1.15004286e-01  9.93364995e-01  0.00000000e+00 -7.71977637e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.15, Y:-7.72, Z:0.00
[[ 9.93763055e-01  1.11512287e-01  0.00000000e+00  1.63150863e+02]
 [-1.11512287e-01  9.93763055e-01  0.00000000e+00 -7.72429430e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.21, Y:-7.73, Z:0.00
[[ 9.94293992e-01  1.06674541e-01  0.00000000e+00  1.63211779e+02]
 [-1.06674541e-01  9.94293992e-01  0.00000000e+00 -7.72964183e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.27, Y:-7.74, Z:0.00
[[ 9.94360780e-01  1.06050174e-01  0.00000000e+00  1.63272060e+02]
 [-1.06050174e-01  9.94360780e-01  0.00000000e+00 -7.73613090e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.34, Y:-7.74, Z:0.00
[[ 9.94271005e-01  1.06888576e-01  0.00000000e+00  1.63335307e+02]
 [-1.06888576e-01  9.94271005e-01  0.00000000e+00 -7.73857912e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.40, Y:-7.74, Z:0.00
[[ 9.93942165e-01  1.09904384e-01  0.00000000e+00  1.63397266e+02]
 [-1.09904384e-01  9.93942165e-01  0.00000000e+00 -7.74262060e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 161.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.46, Y:-7.74, Z:0.00
[[ 9.93438734e-01  1.14365559e-01  0.00000000e+00  1.63458984e+02]
 [-1.14365559e-01  9.93438734e-01  0.00000000e+00 -7.74323353e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.52, Y:-7.75, Z:0.00
[[ 9.92817109e-01  1.19641916e-01  0.00000000e+00  1.63521049e+02]
 [-1.19641916e-01  9.92817109e-01  0.00000000e+00 -7.74845689e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.58, Y:-7.75, Z:0.00
[[ 9.92357237e-01  1.23398193e-01  0.00000000e+00  1.63581690e+02]
 [-1.23398193e-01  9.92357237e-01  0.00000000e+00 -7.75126890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.64, Y:-7.76, Z:0.00
[[ 9.92223988e-01  1.24465088e-01  0.00000000e+00  1.63643008e+02]
 [-1.24465088e-01  9.92223988e-01  0.00000000e+00 -7.75554223e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.70, Y:-7.76, Z:0.00
[[ 9.92529164e-01  1.22007620e-01  0.00000000e+00  1.63704703e+02]
 [-1.22007620e-01  9.92529164e-01  0.00000000e+00 -7.75995115e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.77, Y:-7.77, Z:0.00
[[ 9.92687024e-01  1.20716495e-01  0.00000000e+00  1.63765950e+02]
 [-1.20716495e-01  9.92687024e-01  0.00000000e+00 -7.76610043e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.83, Y:-7.77, Z:0.00
[[ 9.92643422e-01  1.21074508e-01  0.00000000e+00  1.63827910e+02]
 [-1.21074508e-01  9.92643422e-01  0.00000000e+00 -7.77290120e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.89, Y:-7.78, Z:0.00
[[ 9.92190173e-01  1.24734364e-01  0.00000000e+00  1.63887466e+02]
 [-1.24734364e-01  9.92190173e-01  0.00000000e+00 -7.77671254e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:163.95, Y:-7.78, Z:0.00
[[ 9.90981680e-01  1.33997422e-01  0.00000000e+00  1.63948177e+02]
 [-1.33997422e-01  9.90981680e-01  0.00000000e+00 -7.77990713e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.01, Y:-7.79, Z:0.00
[[ 9.89792413e-01  1.42516591e-01  0.00000000e+00  1.64007728e+02]
 [-1.42516591e-01  9.89792413e-01  0.00000000e+00 -7.78958807e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.07, Y:-7.80, Z:0.00
[[ 9.89391713e-01  1.45272291e-01  0.00000000e+00  1.64068909e+02]
 [-1.45272291e-01  9.89391713e-01  0.00000000e+00 -7.79630551e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.13, Y:-7.80, Z:0.00
[[ 9.88353746e-01  1.52173827e-01  0.00000000e+00  1.64129988e+02]
 [-1.52173827e-01  9.88353746e-01  0.00000000e+00 -7.80336096e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.19, Y:-7.81, Z:0.00
[[ 9.87707531e-01  1.56313252e-01  0.00000000e+00  1.64189512e+02]
 [-1.56313252e-01  9.87707531e-01  0.00000000e+00 -7.81064490e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.25, Y:-7.82, Z:0.00
[[ 9.88527206e-01  1.51042921e-01  0.00000000e+00  1.64248837e+02]
 [-1.51042921e-01  9.88527206e-01  0.00000000e+00 -7.82238724e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.31, Y:-7.83, Z:0.00
[[ 9.88679221e-01  1.50044655e-01  0.00000000e+00  1.64308238e+02]
 [-1.50044655e-01  9.88679221e-01  0.00000000e+00 -7.83188084e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.37, Y:-7.84, Z:0.00
[[ 9.89185292e-01  1.46671255e-01  0.00000000e+00  1.64369188e+02]
 [-1.46671255e-01  9.89185292e-01  0.00000000e+00 -7.84008046e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.43, Y:-7.85, Z:0.00
[[ 9.89822251e-01  1.42309210e-01  0.00000000e+00  1.64429653e+02]
 [-1.42309210e-01  9.89822251e-01  0.00000000e+00 -7.85001296e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 162.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.49, Y:-7.86, Z:0.00
[[ 9.89940137e-01  1.41486835e-01  0.00000000e+00  1.64490178e+02]
 [-1.41486835e-01  9.89940137e-01  0.00000000e+00 -7.85996404e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.55, Y:-7.87, Z:0.00
[[ 9.90241501e-01  1.39362006e-01  0.00000000e+00  1.64550421e+02]
 [-1.39362006e-01  9.90241501e-01  0.00000000e+00 -7.86729007e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.61, Y:-7.88, Z:0.00
[[ 9.91191536e-01  1.32436171e-01  0.00000000e+00  1.64610537e+02]
 [-1.32436171e-01  9.91191536e-01  0.00000000e+00 -7.87511793e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.67, Y:-7.88, Z:0.00
[[ 9.91382713e-01  1.30997392e-01  0.00000000e+00  1.64671362e+02]
 [-1.30997392e-01  9.91382713e-01  0.00000000e+00 -7.88236616e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.73, Y:-7.89, Z:0.00
[[ 9.91169653e-01  1.32599845e-01  0.00000000e+00  1.64731910e+02]
 [-1.32599845e-01  9.91169653e-01  0.00000000e+00 -7.88688192e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.79, Y:-7.90, Z:0.00
[[ 9.92344068e-01  1.23504055e-01  0.00000000e+00  1.64791947e+02]
 [-1.23504055e-01  9.92344068e-01  0.00000000e+00 -7.89782896e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.85, Y:-7.90, Z:0.00
[[ 9.92378200e-01  1.23229491e-01  0.00000000e+00  1.64853122e+02]
 [-1.23229491e-01  9.92378200e-01  0.00000000e+00 -7.90090989e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.92, Y:-7.91, Z:0.00
[[ 9.92402364e-01  1.23034746e-01  0.00000000e+00  1.64915203e+02]
 [-1.23034746e-01  9.92402364e-01  0.00000000e+00 -7.90539135e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:164.98, Y:-7.92, Z:0.00
[[ 9.92957947e-01  1.18467358e-01  0.00000000e+00  1.64975526e+02]
 [-1.18467358e-01  9.92957947e-01  0.00000000e+00 -7.91724263e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.04, Y:-7.93, Z:0.00
[[ 9.93925782e-01  1.10052440e-01  0.00000000e+00  1.65035955e+02]
 [-1.10052440e-01  9.93925782e-01  0.00000000e+00 -7.92641627e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.10, Y:-7.93, Z:0.00
[[ 9.94378047e-01  1.05888148e-01  0.00000000e+00  1.65096822e+02]
 [-1.05888148e-01  9.94378047e-01  0.00000000e+00 -7.93010223e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.16, Y:-7.93, Z:0.00
[[ 9.94826241e-01  1.01591092e-01  0.00000000e+00  1.65158809e+02]
 [-1.01591092e-01  9.94826241e-01  0.00000000e+00 -7.93448341e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.22, Y:-7.94, Z:0.00
[[ 9.95504682e-01  9.47123437e-02  0.00000000e+00  1.65219648e+02]
 [-9.47123437e-02  9.95504682e-01  0.00000000e+00 -7.94351710e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.28, Y:-7.95, Z:0.00
[[ 9.95834302e-01  9.11813769e-02  0.00000000e+00  1.65280493e+02]
 [-9.11813769e-02  9.95834302e-01  0.00000000e+00 -7.94730904e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.34, Y:-7.95, Z:0.00
[[ 9.95809387e-01  9.14530748e-02  0.00000000e+00  1.65342070e+02]
 [-9.14530748e-02  9.95809387e-01  0.00000000e+00 -7.94809395e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.40, Y:-7.95, Z:0.00
[[ 9.95566139e-01  9.40641425e-02  0.00000000e+00  1.65403598e+02]
 [-9.40641425e-02  9.95566139e-01  0.00000000e+00 -7.95369000e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.47, Y:-7.96, Z:0.00
[[ 9.95261565e-01  9.72338233e-02  0.00000000e+00  1.65465322e+02]
 [-9.72338233e-02  9.95261565e-01  0.00000000e+00 -7.95529691e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 163.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.53, Y:-7.95, Z:0.00
[[ 9.94331705e-01  1.06322437e-01  0.00000000e+00  1.65527519e+02]
 [-1.06322437e-01  9.94331705e-01  0.00000000e+00 -7.95237170e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.59, Y:-7.96, Z:0.00
[[ 9.93652907e-01  1.12489560e-01  0.00000000e+00  1.65588488e+02]
 [-1.12489560e-01  9.93652907e-01  0.00000000e+00 -7.95704446e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.65, Y:-7.96, Z:0.00
[[ 9.92587011e-01  1.21536108e-01  0.00000000e+00  1.65648729e+02]
 [-1.21536108e-01  9.92587011e-01  0.00000000e+00 -7.95930316e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.71, Y:-7.96, Z:0.00
[[ 9.91767121e-01  1.28054592e-01  0.00000000e+00  1.65710506e+02]
 [-1.28054592e-01  9.91767121e-01  0.00000000e+00 -7.96046217e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.77, Y:-7.96, Z:0.00
[[ 9.90874750e-01  1.34785864e-01  0.00000000e+00  1.65770292e+02]
 [-1.34785864e-01  9.90874750e-01  0.00000000e+00 -7.96489844e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.83, Y:-7.97, Z:0.00
[[ 9.89938435e-01  1.41498745e-01  0.00000000e+00  1.65830276e+02]
 [-1.41498745e-01  9.89938435e-01  0.00000000e+00 -7.97467922e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.89, Y:-7.98, Z:0.00
[[ 9.89733653e-01  1.42924092e-01  0.00000000e+00  1.65891340e+02]
 [-1.42924092e-01  9.89733653e-01  0.00000000e+00 -7.97981534e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:165.95, Y:-7.99, Z:0.00
[[ 9.89294584e-01  1.45932265e-01  0.00000000e+00  1.65951531e+02]
 [-1.45932265e-01  9.89294584e-01  0.00000000e+00 -7.98530204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.01, Y:-8.00, Z:0.00
[[ 9.89113499e-01  1.47154631e-01  0.00000000e+00  1.66013160e+02]
 [-1.47154631e-01  9.89113499e-01  0.00000000e+00 -7.99820893e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.08, Y:-8.01, Z:0.00
[[ 9.88806265e-01  1.49205127e-01  0.00000000e+00  1.66075039e+02]
 [-1.49205127e-01  9.88806265e-01  0.00000000e+00 -8.00776363e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.14, Y:-8.02, Z:0.00
[[ 9.88678383e-01  1.50050172e-01  0.00000000e+00  1.66136865e+02]
 [-1.50050172e-01  9.88678383e-01  0.00000000e+00 -8.01675436e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.20, Y:-8.03, Z:0.00
[[ 9.88546445e-01  1.50916950e-01  0.00000000e+00  1.66196290e+02]
 [-1.50916950e-01  9.88546445e-01  0.00000000e+00 -8.03112740e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.26, Y:-8.05, Z:0.00
[[ 9.88647698e-01  1.50252222e-01  0.00000000e+00  1.66256739e+02]
 [-1.50252222e-01  9.88647698e-01  0.00000000e+00 -8.04506379e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.32, Y:-8.06, Z:0.00
[[ 9.89952983e-01  1.41396930e-01  0.00000000e+00  1.66317001e+02]
 [-1.41396930e-01  9.89952983e-01  0.00000000e+00 -8.05546406e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.38, Y:-8.06, Z:0.00
[[ 9.90642934e-01  1.36479223e-01  0.00000000e+00  1.66377738e+02]
 [-1.36479223e-01  9.90642934e-01  0.00000000e+00 -8.06357986e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.44, Y:-8.07, Z:0.00
[[ 9.90964120e-01  1.34127227e-01  0.00000000e+00  1.66438516e+02]
 [-1.34127227e-01  9.90964120e-01  0.00000000e+00 -8.07415508e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 164.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.50, Y:-8.09, Z:0.00
[[ 9.91212180e-01  1.32281574e-01  0.00000000e+00  1.66499364e+02]
 [-1.32281574e-01  9.91212180e-01  0.00000000e+00 -8.08591107e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.56, Y:-8.09, Z:0.00
[[ 9.91362649e-01  1.31149148e-01  0.00000000e+00  1.66560499e+02]
 [-1.31149148e-01  9.91362649e-01  0.00000000e+00 -8.09419992e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.62, Y:-8.10, Z:0.00
[[ 9.91801139e-01  1.27790846e-01  0.00000000e+00  1.66620185e+02]
 [-1.27790846e-01  9.91801139e-01  0.00000000e+00 -8.10358295e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.68, Y:-8.11, Z:0.00
[[ 9.92099340e-01  1.25454767e-01  0.00000000e+00  1.66681358e+02]
 [-1.25454767e-01  9.92099340e-01  0.00000000e+00 -8.11204860e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.74, Y:-8.12, Z:0.00
[[ 9.92391167e-01  1.23125021e-01  0.00000000e+00  1.66741913e+02]
 [-1.23125021e-01  9.92391167e-01  0.00000000e+00 -8.11780237e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.80, Y:-8.13, Z:0.00
[[ 9.92720238e-01  1.20443054e-01  0.00000000e+00  1.66803020e+02]
 [-1.20443054e-01  9.92720238e-01  0.00000000e+00 -8.12728600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.86, Y:-8.14, Z:0.00
[[ 9.93562265e-01  1.13287361e-01  0.00000000e+00  1.66862436e+02]
 [-1.13287361e-01  9.93562265e-01  0.00000000e+00 -8.13594391e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.92, Y:-8.14, Z:0.00
[[ 9.94336016e-01  1.06282107e-01  0.00000000e+00  1.66923135e+02]
 [-1.06282107e-01  9.94336016e-01  0.00000000e+00 -8.14272273e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:166.98, Y:-8.15, Z:0.00
[[ 9.95664929e-01  9.30126305e-02  0.00000000e+00  1.66983938e+02]
 [-9.30126305e-02  9.95664929e-01  0.00000000e+00 -8.15130514e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.04, Y:-8.16, Z:0.00
[[ 9.96575729e-01  8.26850373e-02  0.00000000e+00  1.67044703e+02]
 [-8.26850373e-02  9.96575729e-01  0.00000000e+00 -8.15917175e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.11, Y:-8.16, Z:0.00
[[ 9.97104223e-01  7.60471512e-02  0.00000000e+00  1.67105486e+02]
 [-7.60471512e-02  9.97104223e-01  0.00000000e+00 -8.16410846e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.17, Y:-8.16, Z:0.00
[[ 9.97406828e-01  7.19695723e-02  0.00000000e+00  1.67167052e+02]
 [-7.19695723e-02  9.97406828e-01  0.00000000e+00 -8.16174201e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.23, Y:-8.16, Z:0.00
[[ 9.97555142e-01  6.98837480e-02  0.00000000e+00  1.67229006e+02]
 [-6.98837480e-02  9.97555142e-01  0.00000000e+00 -8.15841667e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.29, Y:-8.16, Z:0.00
[[ 9.97473593e-01  7.10382356e-02  0.00000000e+00  1.67289603e+02]
 [-7.10382356e-02  9.97473593e-01  0.00000000e+00 -8.15829708e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.35, Y:-8.15, Z:0.00
[[ 9.97463514e-01  7.11796177e-02  0.00000000e+00  1.67352804e+02]
 [-7.11796177e-02  9.97463514e-01  0.00000000e+00 -8.15315681e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.41, Y:-8.14, Z:0.00
[[ 9.97251292e-01  7.40935943e-02  0.00000000e+00  1.67414332e+02]
 [-7.40935943e-02  9.97251292e-01  0.00000000e+00 -8.14152128e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.48, Y:-8.14, Z:0.00
[[ 9.97084227e-01  7.63088782e-02  0.00000000e+00  1.67476284e+02]
 [-7.63088782e-02  9.97084227e-01  0.00000000e+00 -8.13696863e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 165.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.54, Y:-8.13, Z:0.00
[[ 9.96577384e-01  8.26650918e-02  0.00000000e+00  1.67539107e+02]
 [-8.26650918e-02  9.96577384e-01  0.00000000e+00 -8.12654364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.60, Y:-8.12, Z:0.00
[[ 9.96291453e-01  8.60426705e-02  0.00000000e+00  1.67600412e+02]
 [-8.60426705e-02  9.96291453e-01  0.00000000e+00 -8.12033801e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.66, Y:-8.11, Z:0.00
[[ 9.95938548e-01  9.00355968e-02  0.00000000e+00  1.67661123e+02]
 [-9.00355968e-02  9.95938548e-01  0.00000000e+00 -8.11133659e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.72, Y:-8.11, Z:0.00
[[ 9.95710557e-01  9.25228976e-02  0.00000000e+00  1.67724401e+02]
 [-9.25228976e-02  9.95710557e-01  0.00000000e+00 -8.10675474e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.79, Y:-8.10, Z:0.00
[[ 9.95975455e-01  8.96264135e-02  0.00000000e+00  1.67787180e+02]
 [-8.96264135e-02  9.95975455e-01  0.00000000e+00 -8.10129146e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.85, Y:-8.10, Z:0.00
[[ 9.96228165e-01  8.67723645e-02  0.00000000e+00  1.67848589e+02]
 [-8.67723645e-02  9.96228165e-01  0.00000000e+00 -8.10093296e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.91, Y:-8.09, Z:0.00
[[ 9.96667453e-01  8.15719860e-02  0.00000000e+00  1.67912025e+02]
 [-8.15719860e-02  9.96667453e-01  0.00000000e+00 -8.09274426e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:167.97, Y:-8.09, Z:0.00
[[ 9.97005860e-01  7.73260285e-02  0.00000000e+00  1.67973097e+02]
 [-7.73260285e-02  9.97005860e-01  0.00000000e+00 -8.09345442e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.03, Y:-8.09, Z:0.00
[[ 9.97671529e-01  6.82020485e-02  0.00000000e+00  1.68034494e+02]
 [-6.82020485e-02  9.97671529e-01  0.00000000e+00 -8.08856969e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.10, Y:-8.08, Z:0.00
[[ 9.98047591e-01  6.24580273e-02  0.00000000e+00  1.68095941e+02]
 [-6.24580273e-02  9.98047591e-01  0.00000000e+00 -8.08457374e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.16, Y:-8.07, Z:0.00
[[ 9.98437933e-01  5.58721160e-02  0.00000000e+00  1.68157851e+02]
 [-5.58721160e-02  9.98437933e-01  0.00000000e+00 -8.07366816e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.22, Y:-8.07, Z:0.00
[[ 9.98563995e-01  5.35718888e-02  0.00000000e+00  1.68220521e+02]
 [-5.35718888e-02  9.98563995e-01  0.00000000e+00 -8.06740399e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.28, Y:-8.05, Z:0.00
[[ 9.98864469e-01  4.76421297e-02  0.00000000e+00  1.68281826e+02]
 [-4.76421297e-02  9.98864469e-01  0.00000000e+00 -8.05327003e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.34, Y:-8.04, Z:0.00
[[ 9.98928794e-01  4.62737989e-02  0.00000000e+00  1.68344197e+02]
 [-4.62737989e-02  9.98928794e-01  0.00000000e+00 -8.04465701e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.41, Y:-8.03, Z:0.00
[[ 9.98875035e-01  4.74200841e-02  0.00000000e+00  1.68407210e+02]
 [-4.74200841e-02  9.98875035e-01  0.00000000e+00 -8.03138772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.47, Y:-8.03, Z:0.00
[[ 9.98850015e-01  4.79442050e-02  0.00000000e+00  1.68468739e+02]
 [-4.79442050e-02  9.98850015e-01  0.00000000e+00 -8.02947920e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.53, Y:-8.01, Z:0.00
[[ 9.98473045e-01  5.52410907e-02  0.00000000e+00  1.68531202e+02]
 [-5.52410907e-02  9.98473045e-01  0.00000000e+00 -8.01034365e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 166.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.59, Y:-8.00, Z:0.00
[[ 9.98089408e-01  6.17861924e-02  0.00000000e+00  1.68592294e+02]
 [-6.17861924e-02  9.98089408e-01  0.00000000e+00 -8.00331879e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.66, Y:-7.99, Z:0.00
[[ 9.97958557e-01  6.38648396e-02  0.00000000e+00  1.68655637e+02]
 [-6.38648396e-02  9.97958557e-01  0.00000000e+00 -7.99258774e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.72, Y:-7.99, Z:0.00
[[ 9.97632955e-01  6.87640024e-02  0.00000000e+00  1.68717528e+02]
 [-6.87640024e-02  9.97632955e-01  0.00000000e+00 -7.98692863e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.78, Y:-7.97, Z:0.00
[[ 9.97329351e-01  7.30353735e-02  0.00000000e+00  1.68780123e+02]
 [-7.30353735e-02  9.97329351e-01  0.00000000e+00 -7.97447262e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.84, Y:-7.97, Z:0.00
[[ 9.97159597e-01  7.53175856e-02  0.00000000e+00  1.68841355e+02]
 [-7.53175856e-02  9.97159597e-01  0.00000000e+00 -7.97180781e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.90, Y:-7.96, Z:0.00
[[ 9.96641315e-01  8.18907197e-02  0.00000000e+00  1.68902839e+02]
 [-8.18907197e-02  9.96641315e-01  0.00000000e+00 -7.96400959e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:168.96, Y:-7.96, Z:0.00
[[ 9.96263618e-01  8.63643641e-02  0.00000000e+00  1.68964312e+02]
 [-8.63643641e-02  9.96263618e-01  0.00000000e+00 -7.95908451e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.03, Y:-7.96, Z:0.00
[[ 9.95795713e-01  9.16018493e-02  0.00000000e+00  1.69025543e+02]
 [-9.16018493e-02  9.95795713e-01  0.00000000e+00 -7.95547778e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.09, Y:-7.96, Z:0.00
[[ 9.95501170e-01  9.47492474e-02  0.00000000e+00  1.69087582e+02]
 [-9.47492474e-02  9.95501170e-01  0.00000000e+00 -7.95582106e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.15, Y:-7.95, Z:0.00
[[ 9.95209859e-01  9.77616349e-02  0.00000000e+00  1.69150894e+02]
 [-9.77616349e-02  9.95209859e-01  0.00000000e+00 -7.95345747e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.21, Y:-7.95, Z:0.00
[[ 9.95143385e-01  9.84359822e-02  0.00000000e+00  1.69212939e+02]
 [-9.84359822e-02  9.95143385e-01  0.00000000e+00 -7.95303241e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.27, Y:-7.96, Z:0.00
[[ 9.95178085e-01  9.80845526e-02  0.00000000e+00  1.69273967e+02]
 [-9.80845526e-02  9.95178085e-01  0.00000000e+00 -7.95809644e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.34, Y:-7.96, Z:0.00
[[ 9.94996866e-01  9.99061354e-02  0.00000000e+00  1.69335616e+02]
 [-9.99061354e-02  9.94996866e-01  0.00000000e+00 -7.95776551e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.40, Y:-7.96, Z:0.00
[[ 9.94762516e-01  1.02213194e-01  0.00000000e+00  1.69398272e+02]
 [-1.02213194e-01  9.94762516e-01  0.00000000e+00 -7.95891507e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.46, Y:-7.96, Z:0.00
[[ 9.94472076e-01  1.05001383e-01  0.00000000e+00  1.69461403e+02]
 [-1.05001383e-01  9.94472076e-01  0.00000000e+00 -7.96265580e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.52, Y:-7.97, Z:0.00
[[ 9.94003628e-01  1.09347096e-01  0.00000000e+00  1.69522486e+02]
 [-1.09347096e-01  9.94003628e-01  0.00000000e+00 -7.96806805e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 167.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.58, Y:-7.97, Z:0.00
[[ 9.94077712e-01  1.08671537e-01  0.00000000e+00  1.69584235e+02]
 [-1.08671537e-01  9.94077712e-01  0.00000000e+00 -7.97266325e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.64, Y:-7.98, Z:0.00
[[ 9.93909741e-01  1.10197221e-01  0.00000000e+00  1.69643908e+02]
 [-1.10197221e-01  9.93909741e-01  0.00000000e+00 -7.97634402e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.71, Y:-7.98, Z:0.00
[[ 9.94091267e-01  1.08547473e-01  0.00000000e+00  1.69705778e+02]
 [-1.08547473e-01  9.94091267e-01  0.00000000e+00 -7.98359337e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.77, Y:-7.99, Z:0.00
[[ 9.93748465e-01  1.11642236e-01  0.00000000e+00  1.69767220e+02]
 [-1.11642236e-01  9.93748465e-01  0.00000000e+00 -7.98864199e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.83, Y:-8.00, Z:0.00
[[ 9.93507703e-01  1.13764866e-01  0.00000000e+00  1.69829099e+02]
 [-1.13764866e-01  9.93507703e-01  0.00000000e+00 -7.99502969e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.89, Y:-8.01, Z:0.00
[[ 9.93967059e-01  1.09679016e-01  0.00000000e+00  1.69891514e+02]
 [-1.09679016e-01  9.93967059e-01  0.00000000e+00 -8.00530949e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:169.95, Y:-8.01, Z:0.00
[[ 9.94346504e-01  1.06183941e-01  0.00000000e+00  1.69952594e+02]
 [-1.06183941e-01  9.94346504e-01  0.00000000e+00 -8.01370231e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.01, Y:-8.02, Z:0.00
[[ 9.95342889e-01  9.63977837e-02  0.00000000e+00  1.70012890e+02]
 [-9.63977837e-02  9.95342889e-01  0.00000000e+00 -8.01939151e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.07, Y:-8.03, Z:0.00
[[ 9.96391748e-01  8.48733466e-02  0.00000000e+00  1.70072247e+02]
 [-8.48733466e-02  9.96391748e-01  0.00000000e+00 -8.02677867e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.13, Y:-8.04, Z:0.00
[[ 9.96920842e-01  7.84145017e-02  0.00000000e+00  1.70132691e+02]
 [-7.84145017e-02  9.96920842e-01  0.00000000e+00 -8.03569808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.19, Y:-8.04, Z:0.00
[[ 9.97651075e-01  6.85006022e-02  0.00000000e+00  1.70192968e+02]
 [-6.85006022e-02  9.97651075e-01  0.00000000e+00 -8.04118173e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.25, Y:-8.05, Z:0.00
[[ 9.97853728e-01  6.54823476e-02  0.00000000e+00  1.70252484e+02]
 [-6.54823476e-02  9.97853728e-01  0.00000000e+00 -8.04612651e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.31, Y:-8.05, Z:0.00
[[ 9.97794370e-01  6.63806886e-02  0.00000000e+00  1.70314339e+02]
 [-6.63806886e-02  9.97794370e-01  0.00000000e+00 -8.04714521e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.37, Y:-8.05, Z:0.00
[[ 9.97612422e-01  6.90612427e-02  0.00000000e+00  1.70374414e+02]
 [-6.90612427e-02  9.97612422e-01  0.00000000e+00 -8.04765603e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.44, Y:-8.05, Z:0.00
[[ 9.97559221e-01  6.98255048e-02  0.00000000e+00  1.70436054e+02]
 [-6.98255048e-02  9.97559221e-01  0.00000000e+00 -8.04758286e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.50, Y:-8.05, Z:0.00
[[ 9.97462441e-01  7.11946592e-02  0.00000000e+00  1.70496648e+02]
 [-7.11946592e-02  9.97462441e-01  0.00000000e+00 -8.04850914e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.56, Y:-8.04, Z:0.00
[[ 9.97875599e-01  6.51482084e-02  0.00000000e+00  1.70559408e+02]
 [-6.51482084e-02  9.97875599e-01  0.00000000e+00 -8.03748045e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 168.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.62, Y:-8.03, Z:0.00
[[ 9.98231799e-01  5.94413537e-02  0.00000000e+00  1.70620824e+02]
 [-5.94413537e-02  9.98231799e-01  0.00000000e+00 -8.03498756e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.68, Y:-8.03, Z:0.00
[[ 9.98568646e-01  5.34851329e-02  0.00000000e+00  1.70682150e+02]
 [-5.34851329e-02  9.98568646e-01  0.00000000e+00 -8.02741017e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.74, Y:-8.02, Z:0.00
[[ 9.98595160e-01  5.29877894e-02  0.00000000e+00  1.70744581e+02]
 [-5.29877894e-02  9.98595160e-01  0.00000000e+00 -8.01935758e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.81, Y:-8.01, Z:0.00
[[ 9.98498364e-01  5.47815447e-02  0.00000000e+00  1.70808250e+02]
 [-5.47815447e-02  9.98498364e-01  0.00000000e+00 -8.00578116e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.87, Y:-8.00, Z:0.00
[[ 9.98437372e-01  5.58821377e-02  0.00000000e+00  1.70869536e+02]
 [-5.58821377e-02  9.98437372e-01  0.00000000e+00 -8.00107342e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.93, Y:-7.98, Z:0.00
[[ 9.98096082e-01  6.16782812e-02  0.00000000e+00  1.70931006e+02]
 [-6.16782812e-02  9.98096082e-01  0.00000000e+00 -7.98442341e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:170.99, Y:-7.97, Z:0.00
[[ 9.97880264e-01  6.50767192e-02  0.00000000e+00  1.70992689e+02]
 [-6.50767192e-02  9.97880264e-01  0.00000000e+00 -7.96974856e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.06, Y:-7.96, Z:0.00
[[ 9.97928613e-01  6.43310396e-02  0.00000000e+00  1.71055479e+02]
 [-6.43310396e-02  9.97928613e-01  0.00000000e+00 -7.96291698e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.12, Y:-7.95, Z:0.00
[[ 9.97768739e-01  6.67648418e-02  0.00000000e+00  1.71117821e+02]
 [-6.67648418e-02  9.97768739e-01  0.00000000e+00 -7.95162816e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.18, Y:-7.94, Z:0.00
[[ 9.97541028e-01  7.00849257e-02  0.00000000e+00  1.71179430e+02]
 [-7.00849257e-02  9.97541028e-01  0.00000000e+00 -7.94299767e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.24, Y:-7.93, Z:0.00
[[ 9.96709468e-01  8.10569994e-02  0.00000000e+00  1.71242180e+02]
 [-8.10569994e-02  9.96709468e-01  0.00000000e+00 -7.93082188e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.30, Y:-7.92, Z:0.00
[[ 9.95598344e-01  9.37226584e-02  0.00000000e+00  1.71303469e+02]
 [-9.37226584e-02  9.95598344e-01  0.00000000e+00 -7.91935871e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.36, Y:-7.92, Z:0.00
[[ 9.94815615e-01  1.01695096e-01  0.00000000e+00  1.71364219e+02]
 [-1.01695096e-01  9.94815615e-01  0.00000000e+00 -7.91885061e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.43, Y:-7.92, Z:0.00
[[ 9.94826052e-01  1.01592945e-01  0.00000000e+00  1.71426216e+02]
 [-1.01592945e-01  9.94826052e-01  0.00000000e+00 -7.91601975e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.49, Y:-7.92, Z:0.00
[[ 9.95388310e-01  9.59276407e-02  0.00000000e+00  1.71487470e+02]
 [-9.59276407e-02  9.95388310e-01  0.00000000e+00 -7.91830930e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.55, Y:-7.93, Z:0.00
[[ 9.95851135e-01  9.09973473e-02  0.00000000e+00  1.71548536e+02]
 [-9.09973473e-02  9.95851135e-01  0.00000000e+00 -7.92519702e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.61, Y:-7.93, Z:0.00
[[ 9.96993584e-01  7.74841465e-02  0.00000000e+00  1.71609194e+02]
 [-7.74841465e-02  9.96993584e-01  0.00000000e+00 -7.93268962e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 169.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.67, Y:-7.94, Z:0.00
[[ 9.97726042e-01  6.73998864e-02  0.00000000e+00  1.71669253e+02]
 [-6.73998864e-02  9.97726042e-01  0.00000000e+00 -7.93640060e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.73, Y:-7.94, Z:0.00
[[ 9.98124398e-01  6.12183484e-02  0.00000000e+00  1.71728310e+02]
 [-6.12183484e-02  9.98124398e-01  0.00000000e+00 -7.94142594e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.79, Y:-7.94, Z:0.00
[[ 9.98717157e-01  5.06363506e-02  0.00000000e+00  1.71789352e+02]
 [-5.06363506e-02  9.98717157e-01  0.00000000e+00 -7.94163995e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.85, Y:-7.94, Z:0.00
[[ 9.98999624e-01  4.47185715e-02  0.00000000e+00  1.71850419e+02]
 [-4.47185715e-02  9.98999624e-01  0.00000000e+00 -7.94070841e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.91, Y:-7.93, Z:0.00
[[ 9.99311383e-01  3.71047170e-02  0.00000000e+00  1.71911245e+02]
 [-3.71047170e-02  9.99311383e-01  0.00000000e+00 -7.93467357e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:171.97, Y:-7.92, Z:0.00
[[ 9.99292681e-01  3.76050185e-02  0.00000000e+00  1.71973671e+02]
 [-3.76050185e-02  9.99292681e-01  0.00000000e+00 -7.92329920e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.04, Y:-7.92, Z:0.00
[[ 9.99241242e-01  3.89479160e-02  0.00000000e+00  1.72036358e+02]
 [-3.89479160e-02  9.99241242e-01  0.00000000e+00 -7.91550950e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.10, Y:-7.90, Z:0.00
[[ 9.99339246e-01  3.63465337e-02  0.00000000e+00  1.72098968e+02]
 [-3.63465337e-02  9.99339246e-01  0.00000000e+00 -7.90020336e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.16, Y:-7.88, Z:0.00
[[ 9.99645058e-01  2.66412889e-02  0.00000000e+00  1.72162022e+02]
 [-2.66412889e-02  9.99645058e-01  0.00000000e+00 -7.88249770e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.22, Y:-7.88, Z:0.00
[[ 9.99734414e-01  2.30456454e-02  0.00000000e+00  1.72223730e+02]
 [-2.30456454e-02  9.99734414e-01  0.00000000e+00 -7.87504884e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.29, Y:-7.85, Z:0.00
[[ 9.99612801e-01  2.78253276e-02  0.00000000e+00  1.72287034e+02]
 [-2.78253276e-02  9.99612801e-01  0.00000000e+00 -7.85498972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.35, Y:-7.84, Z:0.00
[[ 9.99398828e-01  3.46696219e-02  0.00000000e+00  1.72348184e+02]
 [-3.46696219e-02  9.99398828e-01  0.00000000e+00 -7.84383477e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.41, Y:-7.83, Z:0.00
[[ 9.99141832e-01  4.14197901e-02  0.00000000e+00  1.72409946e+02]
 [-4.14197901e-02  9.99141832e-01  0.00000000e+00 -7.83467015e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.47, Y:-7.83, Z:0.00
[[ 9.98754282e-01  4.98987399e-02  0.00000000e+00  1.72471808e+02]
 [-4.98987399e-02  9.98754282e-01  0.00000000e+00 -7.82740693e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.53, Y:-7.82, Z:0.00
[[ 9.98178950e-01  6.03223339e-02  0.00000000e+00  1.72533575e+02]
 [-6.03223339e-02  9.98178950e-01  0.00000000e+00 -7.81641753e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.59, Y:-7.81, Z:0.00
[[ 9.97730730e-01  6.73304559e-02  0.00000000e+00  1.72594348e+02]
 [-6.73304559e-02  9.97730730e-01  0.00000000e+00 -7.81130866e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 170.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.65, Y:-7.81, Z:0.00
[[ 9.97452038e-01  7.13402571e-02  0.00000000e+00  1.72654034e+02]
 [-7.13402571e-02  9.97452038e-01  0.00000000e+00 -7.80839861e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.71, Y:-7.81, Z:0.00
[[ 9.97190982e-01  7.49009106e-02  0.00000000e+00  1.72714474e+02]
 [-7.49009106e-02  9.97190982e-01  0.00000000e+00 -7.80937203e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.77, Y:-7.81, Z:0.00
[[ 9.97048992e-01  7.67678787e-02  0.00000000e+00  1.72773163e+02]
 [-7.67678787e-02  9.97048992e-01  0.00000000e+00 -7.81195741e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.83, Y:-7.82, Z:0.00
[[ 9.96724556e-01  8.08712558e-02  0.00000000e+00  1.72833066e+02]
 [-8.08712558e-02  9.96724556e-01  0.00000000e+00 -7.81868361e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.89, Y:-7.83, Z:0.00
[[ 9.96455135e-01  8.41258820e-02  0.00000000e+00  1.72891588e+02]
 [-8.41258820e-02  9.96455135e-01  0.00000000e+00 -7.82696958e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:172.95, Y:-7.83, Z:0.00
[[ 9.96462152e-01  8.40427249e-02  0.00000000e+00  1.72950063e+02]
 [-8.40427249e-02  9.96462152e-01  0.00000000e+00 -7.83447759e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.01, Y:-7.85, Z:0.00
[[ 9.96374216e-01  8.50789130e-02  0.00000000e+00  1.73008183e+02]
 [-8.50789130e-02  9.96374216e-01  0.00000000e+00 -7.85138775e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.07, Y:-7.87, Z:0.00
[[ 9.96386572e-01  8.49340898e-02  0.00000000e+00  1.73065402e+02]
 [-8.49340898e-02  9.96386572e-01  0.00000000e+00 -7.86689952e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.12, Y:-7.88, Z:0.00
[[ 9.96376144e-01  8.50563341e-02  0.00000000e+00  1.73123808e+02]
 [-8.50563341e-02  9.96376144e-01  0.00000000e+00 -7.87698768e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.18, Y:-7.90, Z:0.00
[[ 9.96524718e-01  8.32975796e-02  0.00000000e+00  1.73182398e+02]
 [-8.32975796e-02  9.96524718e-01  0.00000000e+00 -7.89800309e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.24, Y:-7.92, Z:0.00
[[ 9.96354981e-01  8.53038738e-02  0.00000000e+00  1.73240298e+02]
 [-8.53038738e-02  9.96354981e-01  0.00000000e+00 -7.91740448e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.30, Y:-7.93, Z:0.00
[[ 9.96043423e-01  8.88678801e-02  0.00000000e+00  1.73298495e+02]
 [-8.88678801e-02  9.96043423e-01  0.00000000e+00 -7.92885236e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.36, Y:-7.95, Z:0.00
[[ 9.95534353e-01  9.43999595e-02  0.00000000e+00  1.73357382e+02]
 [-9.43999595e-02  9.95534353e-01  0.00000000e+00 -7.94753664e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.42, Y:-7.96, Z:0.00
[[ 9.95260110e-01  9.72487233e-02  0.00000000e+00  1.73416732e+02]
 [-9.72487233e-02  9.95260110e-01  0.00000000e+00 -7.96211022e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.48, Y:-7.97, Z:0.00
[[ 9.94508571e-01  1.04655160e-01  0.00000000e+00  1.73476072e+02]
 [-1.04655160e-01  9.94508571e-01  0.00000000e+00 -7.97468959e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.54, Y:-8.00, Z:0.00
[[ 9.94128467e-01  1.08206242e-01  0.00000000e+00  1.73536409e+02]
 [-1.08206242e-01  9.94128467e-01  0.00000000e+00 -7.99959940e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.60, Y:-8.02, Z:0.00
[[ 9.93828782e-01  1.10924981e-01  0.00000000e+00  1.73595938e+02]
 [-1.10924981e-01  9.93828782e-01  0.00000000e+00 -8.02210548e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 171.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.65, Y:-8.04, Z:0.00
[[ 9.92794426e-01  1.19829992e-01  0.00000000e+00  1.73653736e+02]
 [-1.19829992e-01  9.92794426e-01  0.00000000e+00 -8.04191872e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.71, Y:-8.06, Z:0.00
[[ 9.92110872e-01  1.25363543e-01  0.00000000e+00  1.73712423e+02]
 [-1.25363543e-01  9.92110872e-01  0.00000000e+00 -8.06386104e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.77, Y:-8.09, Z:0.00
[[ 9.91172849e-01  1.32575956e-01  0.00000000e+00  1.73770638e+02]
 [-1.32575956e-01  9.91172849e-01  0.00000000e+00 -8.09031494e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.83, Y:-8.11, Z:0.00
[[ 9.90950284e-01  1.34229410e-01  0.00000000e+00  1.73831031e+02]
 [-1.34229410e-01  9.90950284e-01  0.00000000e+00 -8.10744894e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.89, Y:-8.14, Z:0.00
[[ 9.91086814e-01  1.33217590e-01  0.00000000e+00  1.73889015e+02]
 [-1.33217590e-01  9.91086814e-01  0.00000000e+00 -8.13732214e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:173.95, Y:-8.17, Z:0.00
[[ 9.91748714e-01  1.28197069e-01  0.00000000e+00  1.73945993e+02]
 [-1.28197069e-01  9.91748714e-01  0.00000000e+00 -8.16652885e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.01, Y:-8.18, Z:0.00
[[ 9.92863452e-01  1.19256718e-01  0.00000000e+00  1.74005537e+02]
 [-1.19256718e-01  9.92863452e-01  0.00000000e+00 -8.18495578e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.06, Y:-8.21, Z:0.00
[[ 9.94400108e-01  1.05680771e-01  0.00000000e+00  1.74064789e+02]
 [-1.05680771e-01  9.94400108e-01  0.00000000e+00 -8.21232151e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.12, Y:-8.24, Z:0.00
[[ 9.95698940e-01  9.26478293e-02  0.00000000e+00  1.74123602e+02]
 [-9.26478293e-02  9.95698940e-01  0.00000000e+00 -8.23849608e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.18, Y:-8.26, Z:0.00
[[ 9.96082015e-01  8.84342646e-02  0.00000000e+00  1.74183509e+02]
 [-8.84342646e-02  9.96082015e-01  0.00000000e+00 -8.25796476e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.24, Y:-8.27, Z:0.00
[[ 9.96025673e-01  8.90665959e-02  0.00000000e+00  1.74242832e+02]
 [-8.90665959e-02  9.96025673e-01  0.00000000e+00 -8.26591324e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.30, Y:-8.28, Z:0.00
[[ 9.95946170e-01  8.99512480e-02  0.00000000e+00  1.74304193e+02]
 [-8.99512480e-02  9.95946170e-01  0.00000000e+00 -8.27979334e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.36, Y:-8.29, Z:0.00
[[ 9.96053155e-01  8.87587292e-02  0.00000000e+00  1.74364221e+02]
 [-8.87587292e-02  9.96053155e-01  0.00000000e+00 -8.28684743e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.42, Y:-8.29, Z:0.00
[[ 9.96651039e-01  8.17722846e-02  0.00000000e+00  1.74424719e+02]
 [-8.17722846e-02  9.96651039e-01  0.00000000e+00 -8.29114993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.49, Y:-8.29, Z:0.00
[[ 9.97779036e-01  6.66107683e-02  0.00000000e+00  1.74485525e+02]
 [-6.66107683e-02  9.97779036e-01  0.00000000e+00 -8.29490808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.55, Y:-8.29, Z:0.00
[[ 9.98352115e-01  5.73851471e-02  0.00000000e+00  1.74547043e+02]
 [-5.73851471e-02  9.98352115e-01  0.00000000e+00 -8.29095518e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.61, Y:-8.29, Z:0.00
[[ 9.98336307e-01  5.76595085e-02  0.00000000e+00  1.74609297e+02]
 [-5.76595085e-02  9.98336307e-01  0.00000000e+00 -8.28860151e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 172.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.67, Y:-8.28, Z:0.00
[[ 9.98339744e-01  5.75999697e-02  0.00000000e+00  1.74672353e+02]
 [-5.75999697e-02  9.98339744e-01  0.00000000e+00 -8.28174733e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.73, Y:-8.27, Z:0.00
[[ 9.98473794e-01  5.52275452e-02  0.00000000e+00  1.74734879e+02]
 [-5.52275452e-02  9.98473794e-01  0.00000000e+00 -8.27156552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.80, Y:-8.27, Z:0.00
[[ 9.98694214e-01  5.10868522e-02  0.00000000e+00  1.74796176e+02]
 [-5.10868522e-02  9.98694214e-01  0.00000000e+00 -8.26813944e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.86, Y:-8.26, Z:0.00
[[ 9.98939927e-01  4.60328349e-02  0.00000000e+00  1.74858657e+02]
 [-4.60328349e-02  9.98939927e-01  0.00000000e+00 -8.25505249e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.92, Y:-8.24, Z:0.00
[[ 9.98922567e-01  4.64080235e-02  0.00000000e+00  1.74922734e+02]
 [-4.64080235e-02  9.98922567e-01  0.00000000e+00 -8.23858025e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:174.99, Y:-8.22, Z:0.00
[[ 9.98731851e-01  5.03457109e-02  0.00000000e+00  1.74985879e+02]
 [-5.03457109e-02  9.98731851e-01  0.00000000e+00 -8.21691344e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.05, Y:-8.21, Z:0.00
[[ 9.98653275e-01  5.18809835e-02  0.00000000e+00  1.75048090e+02]
 [-5.18809835e-02  9.98653275e-01  0.00000000e+00 -8.20669386e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.11, Y:-8.19, Z:0.00
[[ 9.98600615e-01  5.28848898e-02  0.00000000e+00  1.75111760e+02]
 [-5.28848898e-02  9.98600615e-01  0.00000000e+00 -8.19216147e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.18, Y:-8.17, Z:0.00
[[ 9.98638524e-01  5.21641391e-02  0.00000000e+00  1.75175294e+02]
 [-5.21641391e-02  9.98638524e-01  0.00000000e+00 -8.17232125e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.24, Y:-8.16, Z:0.00
[[ 9.98930372e-01  4.62397238e-02  0.00000000e+00  1.75238050e+02]
 [-4.62397238e-02  9.98930372e-01  0.00000000e+00 -8.15747643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.30, Y:-8.15, Z:0.00
[[ 9.99207617e-01  3.98012281e-02  0.00000000e+00  1.75300187e+02]
 [-3.98012281e-02  9.99207617e-01  0.00000000e+00 -8.14602197e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.36, Y:-8.14, Z:0.00
[[ 9.99164460e-01  4.08703010e-02  0.00000000e+00  1.75360072e+02]
 [-4.08703010e-02  9.99164460e-01  0.00000000e+00 -8.13773085e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.42, Y:-8.13, Z:0.00
[[ 9.98736502e-01  5.02533610e-02  0.00000000e+00  1.75422318e+02]
 [-5.02533610e-02  9.98736502e-01  0.00000000e+00 -8.12625896e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.48, Y:-8.12, Z:0.00
[[ 9.98095545e-01  6.16869708e-02  0.00000000e+00  1.75482846e+02]
 [-6.16869708e-02  9.98095545e-01  0.00000000e+00 -8.12029546e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.54, Y:-8.11, Z:0.00
[[ 9.97246410e-01  7.41592743e-02  0.00000000e+00  1.75544669e+02]
 [-7.41592743e-02  9.97246410e-01  0.00000000e+00 -8.10972621e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.61, Y:-8.11, Z:0.00
[[ 9.96715871e-01  8.09782212e-02  0.00000000e+00  1.75605803e+02]
 [-8.09782212e-02  9.96715871e-01  0.00000000e+00 -8.10881594e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 173.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.66, Y:-8.11, Z:0.00
[[ 9.96320491e-01  8.57057695e-02  0.00000000e+00  1.75663786e+02]
 [-8.57057695e-02  9.96320491e-01  0.00000000e+00 -8.10594055e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.72, Y:-8.11, Z:0.00
[[ 9.96244437e-01  8.65853414e-02  0.00000000e+00  1.75723296e+02]
 [-8.65853414e-02  9.96244437e-01  0.00000000e+00 -8.10771915e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.78, Y:-8.11, Z:0.00
[[ 9.96008583e-01  8.92575034e-02  0.00000000e+00  1.75782934e+02]
 [-8.92575034e-02  9.96008583e-01  0.00000000e+00 -8.11316525e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.84, Y:-8.12, Z:0.00
[[ 9.95629708e-01  9.33888873e-02  0.00000000e+00  1.75842347e+02]
 [-9.33888873e-02  9.95629708e-01  0.00000000e+00 -8.11632041e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.90, Y:-8.13, Z:0.00
[[ 9.95242390e-01  9.74298950e-02  0.00000000e+00  1.75900755e+02]
 [-9.74298950e-02  9.95242390e-01  0.00000000e+00 -8.12526284e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:175.96, Y:-8.14, Z:0.00
[[ 9.95423231e-01  9.55645903e-02  0.00000000e+00  1.75960169e+02]
 [-9.55645903e-02  9.95423231e-01  0.00000000e+00 -8.13855627e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.02, Y:-8.15, Z:0.00
[[ 9.96222570e-01  8.68365764e-02  0.00000000e+00  1.76018145e+02]
 [-8.68365764e-02  9.96222570e-01  0.00000000e+00 -8.14967969e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.08, Y:-8.16, Z:0.00
[[ 9.97366688e-01  7.25237245e-02  0.00000000e+00  1.76077328e+02]
 [-7.25237245e-02  9.97366688e-01  0.00000000e+00 -8.16360600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.14, Y:-8.18, Z:0.00
[[ 9.98202266e-01  5.99352668e-02  0.00000000e+00  1.76136309e+02]
 [-5.99352668e-02  9.98202266e-01  0.00000000e+00 -8.17632021e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.20, Y:-8.18, Z:0.00
[[ 9.98708254e-01  5.08116455e-02  0.00000000e+00  1.76195751e+02]
 [-5.08116455e-02  9.98708254e-01  0.00000000e+00 -8.18386808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.26, Y:-8.19, Z:0.00
[[ 9.98894194e-01  4.70147805e-02  0.00000000e+00  1.76255455e+02]
 [-4.70147805e-02  9.98894194e-01  0.00000000e+00 -8.19115629e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.32, Y:-8.20, Z:0.00
[[ 9.98954392e-01  4.57178616e-02  0.00000000e+00  1.76315880e+02]
 [-4.57178616e-02  9.98954392e-01  0.00000000e+00 -8.19643470e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.37, Y:-8.20, Z:0.00
[[ 9.98916456e-01  4.65393872e-02  0.00000000e+00  1.76374583e+02]
 [-4.65393872e-02  9.98916456e-01  0.00000000e+00 -8.20238478e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.43, Y:-8.20, Z:0.00
[[ 9.98826695e-01  4.84276167e-02  0.00000000e+00  1.76434404e+02]
 [-4.84276167e-02  9.98826695e-01  0.00000000e+00 -8.20467293e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.49, Y:-8.21, Z:0.00
[[ 9.98520830e-01  5.43705063e-02  0.00000000e+00  1.76494009e+02]
 [-5.43705063e-02  9.98520830e-01  0.00000000e+00 -8.20653075e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.55, Y:-8.21, Z:0.00
[[ 9.98376650e-01  5.69566948e-02  0.00000000e+00  1.76552744e+02]
 [-5.69566948e-02  9.98376650e-01  0.00000000e+00 -8.20874108e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.61, Y:-8.20, Z:0.00
[[ 9.98517429e-01  5.44329234e-02  0.00000000e+00  1.76614064e+02]
 [-5.44329234e-02  9.98517429e-01  0.00000000e+00 -8.20415921e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 174.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.67, Y:-8.21, Z:0.00
[[ 9.98608027e-01  5.27447462e-02  0.00000000e+00  1.76672121e+02]
 [-5.27447462e-02  9.98608027e-01  0.00000000e+00 -8.20650040e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.73, Y:-8.21, Z:0.00
[[ 9.98632295e-01  5.22832704e-02  0.00000000e+00  1.76731612e+02]
 [-5.22832704e-02  9.98632295e-01  0.00000000e+00 -8.20599262e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.79, Y:-8.20, Z:0.00
[[ 9.98613943e-01  5.26326265e-02  0.00000000e+00  1.76792313e+02]
 [-5.26326265e-02  9.98613943e-01  0.00000000e+00 -8.20305517e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.85, Y:-8.20, Z:0.00
[[ 9.98793533e-01  4.91068070e-02  0.00000000e+00  1.76852390e+02]
 [-4.91068070e-02  9.98793533e-01  0.00000000e+00 -8.20169498e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.91, Y:-8.20, Z:0.00
[[ 9.98920909e-01  4.64437115e-02  0.00000000e+00  1.76912038e+02]
 [-4.64437115e-02  9.98920909e-01  0.00000000e+00 -8.19918271e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:176.97, Y:-8.20, Z:0.00
[[ 9.99014156e-01  4.43927373e-02  0.00000000e+00  1.76971953e+02]
 [-4.43927373e-02  9.99014156e-01  0.00000000e+00 -8.19611611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.03, Y:-8.19, Z:0.00
[[ 9.99189491e-01  4.02537074e-02  0.00000000e+00  1.77033488e+02]
 [-4.02537074e-02  9.99189491e-01  0.00000000e+00 -8.19134483e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.09, Y:-8.18, Z:0.00
[[ 9.99267522e-01  3.82677252e-02  0.00000000e+00  1.77092756e+02]
 [-3.82677252e-02  9.99267522e-01  0.00000000e+00 -8.18434784e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.15, Y:-8.18, Z:0.00
[[ 9.99186283e-01  4.03332480e-02  0.00000000e+00  1.77152361e+02]
 [-4.03332480e-02  9.99186283e-01  0.00000000e+00 -8.18156902e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.21, Y:-8.18, Z:0.00
[[ 9.98799009e-01  4.89952997e-02  0.00000000e+00  1.77212435e+02]
 [-4.89952997e-02  9.98799009e-01  0.00000000e+00 -8.17625465e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.27, Y:-8.17, Z:0.00
[[ 9.98249899e-01  5.91366182e-02  0.00000000e+00  1.77273163e+02]
 [-5.91366182e-02  9.98249899e-01  0.00000000e+00 -8.17308160e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.33, Y:-8.17, Z:0.00
[[ 9.97465053e-01  7.11580539e-02  0.00000000e+00  1.77334744e+02]
 [-7.11580539e-02  9.97465053e-01  0.00000000e+00 -8.16835807e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.40, Y:-8.17, Z:0.00
[[ 9.95883658e-01  9.06407195e-02  0.00000000e+00  1.77395830e+02]
 [-9.06407195e-02  9.95883658e-01  0.00000000e+00 -8.16776500e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.46, Y:-8.17, Z:0.00
[[ 9.94929609e-01  1.00573720e-01  0.00000000e+00  1.77456103e+02]
 [-1.00573720e-01  9.94929609e-01  0.00000000e+00 -8.17017314e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.52, Y:-8.18, Z:0.00
[[ 9.94838851e-01  1.01467531e-01  0.00000000e+00  1.77515087e+02]
 [-1.01467531e-01  9.94838851e-01  0.00000000e+00 -8.17532596e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.57, Y:-8.19, Z:0.00
[[ 9.94961298e-01  1.00259740e-01  0.00000000e+00  1.77571083e+02]
 [-1.00259740e-01  9.94961298e-01  0.00000000e+00 -8.19162570e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.63, Y:-8.21, Z:0.00
[[ 9.95311770e-01  9.67185681e-02  0.00000000e+00  1.77629743e+02]
 [-9.67185681e-02  9.95311770e-01  0.00000000e+00 -8.20589188e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 175.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.69, Y:-8.22, Z:0.00
[[ 9.96037840e-01  8.89304244e-02  0.00000000e+00  1.77688309e+02]
 [-8.89304244e-02  9.96037840e-01  0.00000000e+00 -8.22419426e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.75, Y:-8.24, Z:0.00
[[ 9.96619265e-01  8.21586308e-02  0.00000000e+00  1.77746495e+02]
 [-8.21586308e-02  9.96619265e-01  0.00000000e+00 -8.24282751e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.80, Y:-8.25, Z:0.00
[[ 9.96816948e-01  7.97243540e-02  0.00000000e+00  1.77803979e+02]
 [-7.97243540e-02  9.96816948e-01  0.00000000e+00 -8.25427048e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.86, Y:-8.27, Z:0.00
[[ 9.96778407e-01  8.02047811e-02  0.00000000e+00  1.77860547e+02]
 [-8.02047811e-02  9.96778407e-01  0.00000000e+00 -8.26626763e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.92, Y:-8.28, Z:0.00
[[ 9.97037605e-01  7.69156289e-02  0.00000000e+00  1.77920045e+02]
 [-7.69156289e-02  9.97037605e-01  0.00000000e+00 -8.28151594e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:177.98, Y:-8.30, Z:0.00
[[ 9.97505863e-01  7.05836580e-02  0.00000000e+00  1.77977563e+02]
 [-7.05836580e-02  9.97505863e-01  0.00000000e+00 -8.29854305e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.04, Y:-8.31, Z:0.00
[[ 9.97932483e-01  6.42709835e-02  0.00000000e+00  1.78036590e+02]
 [-6.42709835e-02  9.97932483e-01  0.00000000e+00 -8.30691277e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.10, Y:-8.32, Z:0.00
[[ 9.98175493e-01  6.03795069e-02  0.00000000e+00  1.78095969e+02]
 [-6.03795069e-02  9.98175493e-01  0.00000000e+00 -8.31928552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.15, Y:-8.33, Z:0.00
[[ 9.98134799e-01  6.10485326e-02  0.00000000e+00  1.78153639e+02]
 [-6.10485326e-02  9.98134799e-01  0.00000000e+00 -8.33009597e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.21, Y:-8.34, Z:0.00
[[ 9.97680203e-01  6.80750492e-02  0.00000000e+00  1.78212499e+02]
 [-6.80750492e-02  9.97680203e-01  0.00000000e+00 -8.33754118e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.27, Y:-8.35, Z:0.00
[[ 9.97186991e-01  7.49540233e-02  0.00000000e+00  1.78272434e+02]
 [-7.49540233e-02  9.97186991e-01  0.00000000e+00 -8.34661986e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.33, Y:-8.36, Z:0.00
[[ 9.96527421e-01  8.32652372e-02  0.00000000e+00  1.78331971e+02]
 [-8.32652372e-02  9.96527421e-01  0.00000000e+00 -8.35538717e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.39, Y:-8.36, Z:0.00
[[ 9.95675849e-01  9.28956578e-02  0.00000000e+00  1.78388954e+02]
 [-9.28956578e-02  9.95675849e-01  0.00000000e+00 -8.36333011e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.45, Y:-8.37, Z:0.00
[[ 9.95049206e-01  9.93834898e-02  0.00000000e+00  1.78448065e+02]
 [-9.93834898e-02  9.95049206e-01  0.00000000e+00 -8.37376948e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.51, Y:-8.39, Z:0.00
[[ 9.94650563e-01  1.03296938e-01  0.00000000e+00  1.78506306e+02]
 [-1.03296938e-01  9.94650563e-01  0.00000000e+00 -8.38955154e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.56, Y:-8.41, Z:0.00
[[ 9.94345150e-01  1.06196619e-01  0.00000000e+00  1.78563248e+02]
 [-1.06196619e-01  9.94345150e-01  0.00000000e+00 -8.40744859e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 176.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.62, Y:-8.43, Z:0.00
[[ 9.94036855e-01  1.09044624e-01  0.00000000e+00  1.78620318e+02]
 [-1.09044624e-01  9.94036855e-01  0.00000000e+00 -8.42523842e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.68, Y:-8.45, Z:0.00
[[ 9.93625576e-01  1.12730715e-01  0.00000000e+00  1.78675661e+02]
 [-1.12730715e-01  9.93625576e-01  0.00000000e+00 -8.44886617e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.73, Y:-8.47, Z:0.00
[[ 9.93563629e-01  1.13275399e-01  0.00000000e+00  1.78733279e+02]
 [-1.13275399e-01  9.93563629e-01  0.00000000e+00 -8.46608366e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.79, Y:-8.49, Z:0.00
[[ 9.93653613e-01  1.12483320e-01  0.00000000e+00  1.78789093e+02]
 [-1.12483320e-01  9.93653613e-01  0.00000000e+00 -8.49318194e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.85, Y:-8.51, Z:0.00
[[ 9.93613368e-01  1.12838270e-01  0.00000000e+00  1.78846672e+02]
 [-1.12838270e-01  9.93613368e-01  0.00000000e+00 -8.51115151e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.90, Y:-8.54, Z:0.00
[[ 9.94133349e-01  1.08161385e-01  0.00000000e+00  1.78903495e+02]
 [-1.08161385e-01  9.94133349e-01  0.00000000e+00 -8.53549352e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:178.96, Y:-8.55, Z:0.00
[[ 9.94616042e-01  1.03628799e-01  0.00000000e+00  1.78961793e+02]
 [-1.03628799e-01  9.94616042e-01  0.00000000e+00 -8.55449900e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.02, Y:-8.58, Z:0.00
[[ 9.95910210e-01  9.03485075e-02  0.00000000e+00  1.79020313e+02]
 [-9.03485075e-02  9.95910210e-01  0.00000000e+00 -8.57864372e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.08, Y:-8.60, Z:0.00
[[ 9.96841551e-01  7.94161354e-02  0.00000000e+00  1.79079568e+02]
 [-7.94161354e-02  9.96841551e-01  0.00000000e+00 -8.59551542e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.14, Y:-8.61, Z:0.00
[[ 9.97738020e-01  6.72223480e-02  0.00000000e+00  1.79137441e+02]
 [-6.72223480e-02  9.97738020e-01  0.00000000e+00 -8.61107249e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.20, Y:-8.62, Z:0.00
[[ 9.98012803e-01  6.30114663e-02  0.00000000e+00  1.79197198e+02]
 [-6.30114663e-02  9.98012803e-01  0.00000000e+00 -8.62071316e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.26, Y:-8.63, Z:0.00
[[ 9.97888796e-01  6.49457593e-02  0.00000000e+00  1.79256622e+02]
 [-6.49457593e-02  9.97888796e-01  0.00000000e+00 -8.62797749e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.32, Y:-8.63, Z:0.00
[[ 9.97726422e-01  6.73942642e-02  0.00000000e+00  1.79317280e+02]
 [-6.73942642e-02  9.97726422e-01  0.00000000e+00 -8.63388244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.38, Y:-8.63, Z:0.00
[[ 9.97593242e-01  6.93377530e-02  0.00000000e+00  1.79379326e+02]
 [-6.93377530e-02  9.97593242e-01  0.00000000e+00 -8.63282695e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.44, Y:-8.64, Z:0.00
[[ 9.98143493e-01  6.09062239e-02  0.00000000e+00  1.79440320e+02]
 [-6.09062239e-02  9.98143493e-01  0.00000000e+00 -8.63592683e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.50, Y:-8.64, Z:0.00
[[ 9.98508382e-01  5.45986445e-02  0.00000000e+00  1.79500756e+02]
 [-5.45986445e-02  9.98508382e-01  0.00000000e+00 -8.63639691e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.56, Y:-8.63, Z:0.00
[[ 9.98833084e-01  4.82956483e-02  0.00000000e+00  1.79562156e+02]
 [-4.82956483e-02  9.98833084e-01  0.00000000e+00 -8.63468180e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 177.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.62, Y:-8.63, Z:0.00
[[ 9.99086791e-01  4.27268542e-02  0.00000000e+00  1.79622778e+02]
 [-4.27268542e-02  9.99086791e-01  0.00000000e+00 -8.62776814e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.68, Y:-8.62, Z:0.00
[[ 9.99106618e-01  4.22606848e-02  0.00000000e+00  1.79683622e+02]
 [-4.22606848e-02  9.99106618e-01  0.00000000e+00 -8.62402888e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.74, Y:-8.62, Z:0.00
[[ 9.98778942e-01  4.94026827e-02  0.00000000e+00  1.79744920e+02]
 [-4.94026827e-02  9.98778942e-01  0.00000000e+00 -8.61755718e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.81, Y:-8.61, Z:0.00
[[ 9.98428784e-01  5.60353671e-02  0.00000000e+00  1.79806258e+02]
 [-5.60353671e-02  9.98428784e-01  0.00000000e+00 -8.61439029e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.87, Y:-8.61, Z:0.00
[[ 9.97497477e-01  7.07020737e-02  0.00000000e+00  1.79867099e+02]
 [-7.07020737e-02  9.97497477e-01  0.00000000e+00 -8.60675412e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.93, Y:-8.61, Z:0.00
[[ 9.96447716e-01  8.42137173e-02  0.00000000e+00  1.79928050e+02]
 [-8.42137173e-02  9.96447716e-01  0.00000000e+00 -8.60842964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:179.99, Y:-8.61, Z:0.00
[[ 9.95103300e-01  9.88403872e-02  0.00000000e+00  1.79986977e+02]
 [-9.88403872e-02  9.95103300e-01  0.00000000e+00 -8.61293018e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.05, Y:-8.62, Z:0.00
[[ 9.94128014e-01  1.08210403e-01  0.00000000e+00  1.80046867e+02]
 [-1.08210403e-01  9.94128014e-01  0.00000000e+00 -8.61924836e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.10, Y:-8.63, Z:0.00
[[ 9.94145328e-01  1.08051222e-01  0.00000000e+00  1.80104275e+02]
 [-1.08051222e-01  9.94145328e-01  0.00000000e+00 -8.63091396e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.16, Y:-8.65, Z:0.00
[[ 9.94546296e-01  1.04296047e-01  0.00000000e+00  1.80161556e+02]
 [-1.04296047e-01  9.94546296e-01  0.00000000e+00 -8.65038727e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.22, Y:-8.66, Z:0.00
[[ 9.94621503e-01  1.03576377e-01  0.00000000e+00  1.80218958e+02]
 [-1.03576377e-01  9.94621503e-01  0.00000000e+00 -8.66329556e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.28, Y:-8.67, Z:0.00
[[ 9.94595998e-01  1.03821006e-01  0.00000000e+00  1.80277210e+02]
 [-1.03821006e-01  9.94595998e-01  0.00000000e+00 -8.67490536e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.33, Y:-8.70, Z:0.00
[[ 9.94812351e-01  1.01727020e-01  0.00000000e+00  1.80334999e+02]
 [-1.01727020e-01  9.94812351e-01  0.00000000e+00 -8.69760673e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.39, Y:-8.71, Z:0.00
[[ 9.95281638e-01  9.70281471e-02  0.00000000e+00  1.80393836e+02]
 [-9.70281471e-02  9.95281638e-01  0.00000000e+00 -8.71187672e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.45, Y:-8.72, Z:0.00
[[ 9.96139689e-01  8.77822268e-02  0.00000000e+00  1.80452477e+02]
 [-8.77822268e-02  9.96139689e-01  0.00000000e+00 -8.72353398e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.51, Y:-8.74, Z:0.00
[[ 9.97379904e-01  7.23417385e-02  0.00000000e+00  1.80511261e+02]
 [-7.23417385e-02  9.97379904e-01  0.00000000e+00 -8.74222834e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.57, Y:-8.75, Z:0.00
[[ 9.98081016e-01  6.19216024e-02  0.00000000e+00  1.80570912e+02]
 [-6.19216024e-02  9.98081016e-01  0.00000000e+00 -8.75452587e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 178.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.63, Y:-8.76, Z:0.00
[[ 9.98116327e-01  6.13497949e-02  0.00000000e+00  1.80631014e+02]
 [-6.13497949e-02  9.98116327e-01  0.00000000e+00 -8.76142550e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.69, Y:-8.77, Z:0.00
[[ 9.97820539e-01  6.59861533e-02  0.00000000e+00  1.80690360e+02]
 [-6.59861533e-02  9.97820539e-01  0.00000000e+00 -8.76681531e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.75, Y:-8.77, Z:0.00
[[ 9.97255626e-01  7.40352390e-02  0.00000000e+00  1.80751234e+02]
 [-7.40352390e-02  9.97255626e-01  0.00000000e+00 -8.77002763e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.81, Y:-8.77, Z:0.00
[[ 9.96523959e-01  8.33066560e-02  0.00000000e+00  1.80812297e+02]
 [-8.33066560e-02  9.96523959e-01  0.00000000e+00 -8.77102856e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.87, Y:-8.77, Z:0.00
[[ 9.95106631e-01  9.88068425e-02  0.00000000e+00  1.80873167e+02]
 [-9.88068425e-02  9.95106631e-01  0.00000000e+00 -8.77112021e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.93, Y:-8.78, Z:0.00
[[ 9.94483796e-01  1.04890318e-01  0.00000000e+00  1.80933403e+02]
 [-1.04890318e-01  9.94483796e-01  0.00000000e+00 -8.77621784e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:180.99, Y:-8.78, Z:0.00
[[ 9.94339618e-01  1.06248411e-01  0.00000000e+00  1.80993083e+02]
 [-1.06248411e-01  9.94339618e-01  0.00000000e+00 -8.78209331e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.05, Y:-8.79, Z:0.00
[[ 9.94543025e-01  1.04327233e-01  0.00000000e+00  1.81052561e+02]
 [-1.04327233e-01  9.94543025e-01  0.00000000e+00 -8.79240660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.11, Y:-8.80, Z:0.00
[[ 9.94416903e-01  1.05522617e-01  0.00000000e+00  1.81111683e+02]
 [-1.05522617e-01  9.94416903e-01  0.00000000e+00 -8.80276319e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.17, Y:-8.81, Z:0.00
[[ 9.94149218e-01  1.08015429e-01  0.00000000e+00  1.81171538e+02]
 [-1.08015429e-01  9.94149218e-01  0.00000000e+00 -8.81337660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.23, Y:-8.83, Z:0.00
[[ 9.93368974e-01  1.14969911e-01  0.00000000e+00  1.81231160e+02]
 [-1.14969911e-01  9.93368974e-01  0.00000000e+00 -8.82768119e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.29, Y:-8.84, Z:0.00
[[ 9.93452951e-01  1.14242000e-01  0.00000000e+00  1.81291253e+02]
 [-1.14242000e-01  9.93452951e-01  0.00000000e+00 -8.84014082e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.35, Y:-8.86, Z:0.00
[[ 9.94240491e-01  1.07172040e-01  0.00000000e+00  1.81350292e+02]
 [-1.07172040e-01  9.94240491e-01  0.00000000e+00 -8.85906752e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.41, Y:-8.88, Z:0.00
[[ 9.95893379e-01  9.05338533e-02  0.00000000e+00  1.81409153e+02]
 [-9.05338533e-02  9.95893379e-01  0.00000000e+00 -8.87631600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.47, Y:-8.89, Z:0.00
[[ 9.96792697e-01  8.00269936e-02  0.00000000e+00  1.81469077e+02]
 [-8.00269936e-02  9.96792697e-01  0.00000000e+00 -8.89132237e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.53, Y:-8.90, Z:0.00
[[ 9.97332748e-01  7.29889633e-02  0.00000000e+00  1.81529439e+02]
 [-7.29889633e-02  9.97332748e-01  0.00000000e+00 -8.90051046e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 179.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.59, Y:-8.91, Z:0.00
[[ 9.97218595e-01  7.45323675e-02  0.00000000e+00  1.81589340e+02]
 [-7.45323675e-02  9.97218595e-01  0.00000000e+00 -8.90835163e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.65, Y:-8.92, Z:0.00
[[ 9.96879624e-01  7.89367850e-02  0.00000000e+00  1.81649503e+02]
 [-7.89367850e-02  9.96879624e-01  0.00000000e+00 -8.91535124e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.71, Y:-8.92, Z:0.00
[[ 9.96055611e-01  8.87311631e-02  0.00000000e+00  1.81709238e+02]
 [-8.87311631e-02  9.96055611e-01  0.00000000e+00 -8.92289711e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.77, Y:-8.93, Z:0.00
[[ 9.95253294e-01  9.73184522e-02  0.00000000e+00  1.81769183e+02]
 [-9.73184522e-02  9.95253294e-01  0.00000000e+00 -8.92835642e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.83, Y:-8.94, Z:0.00
[[ 9.94847227e-01  1.01385375e-01  0.00000000e+00  1.81830573e+02]
 [-1.01385375e-01  9.94847227e-01  0.00000000e+00 -8.93536913e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.89, Y:-8.94, Z:0.00
[[ 9.94627643e-01  1.03517397e-01  0.00000000e+00  1.81891710e+02]
 [-1.03517397e-01  9.94627643e-01  0.00000000e+00 -8.94352972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:181.95, Y:-8.95, Z:0.00
[[ 9.95055189e-01  9.93235690e-02  0.00000000e+00  1.81951582e+02]
 [-9.93235690e-02  9.95055189e-01  0.00000000e+00 -8.95394781e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.01, Y:-8.96, Z:0.00
[[ 9.95453037e-01  9.52536114e-02  0.00000000e+00  1.82012740e+02]
 [-9.52536114e-02  9.95453037e-01  0.00000000e+00 -8.96147153e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.07, Y:-8.97, Z:0.00
[[ 9.95903841e-01  9.04186865e-02  0.00000000e+00  1.82073110e+02]
 [-9.04186865e-02  9.95903841e-01  0.00000000e+00 -8.97062943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.13, Y:-8.98, Z:0.00
[[ 9.95930256e-01  9.01272694e-02  0.00000000e+00  1.82133533e+02]
 [-9.01272694e-02  9.95930256e-01  0.00000000e+00 -8.97728463e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.19, Y:-8.99, Z:0.00
[[ 9.96172628e-01  8.74076391e-02  0.00000000e+00  1.82194038e+02]
 [-8.74076391e-02  9.96172628e-01  0.00000000e+00 -8.98786821e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.26, Y:-8.99, Z:0.00
[[ 9.96522654e-01  8.33222715e-02  0.00000000e+00  1.82255799e+02]
 [-8.33222715e-02  9.96522654e-01  0.00000000e+00 -8.99447462e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.32, Y:-9.00, Z:0.00
[[ 9.97130199e-01  7.57057889e-02  0.00000000e+00  1.82315487e+02]
 [-7.57057889e-02  9.97130199e-01  0.00000000e+00 -9.00288626e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.38, Y:-9.01, Z:0.00
[[ 9.97869189e-01  6.52463125e-02  0.00000000e+00  1.82375099e+02]
 [-6.52463125e-02  9.97869189e-01  0.00000000e+00 -9.01233959e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.44, Y:-9.02, Z:0.00
[[ 9.98213426e-01  5.97491178e-02  0.00000000e+00  1.82436083e+02]
 [-5.97491178e-02  9.98213426e-01  0.00000000e+00 -9.01766816e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.50, Y:-9.02, Z:0.00
[[ 9.98619118e-01  5.25343412e-02  0.00000000e+00  1.82496257e+02]
 [-5.25343412e-02  9.98619118e-01  0.00000000e+00 -9.01967572e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.56, Y:-9.02, Z:0.00
[[ 9.98916684e-01  4.65344884e-02  0.00000000e+00  1.82556152e+02]
 [-4.65344884e-02  9.98916684e-01  0.00000000e+00 -9.02063976e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 180.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.62, Y:-9.02, Z:0.00
[[ 9.99199136e-01  4.00135824e-02  0.00000000e+00  1.82616918e+02]
 [-4.00135824e-02  9.99199136e-01  0.00000000e+00 -9.01697451e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.68, Y:-9.01, Z:0.00
[[ 9.99224867e-01  3.93657810e-02  0.00000000e+00  1.82679835e+02]
 [-3.93657810e-02  9.99224867e-01  0.00000000e+00 -9.01479075e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.74, Y:-9.00, Z:0.00
[[ 9.98931536e-01  4.62145679e-02  0.00000000e+00  1.82742760e+02]
 [-4.62145679e-02  9.98931536e-01  0.00000000e+00 -9.00026403e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.80, Y:-8.99, Z:0.00
[[ 9.98386577e-01  5.67824094e-02  0.00000000e+00  1.82804911e+02]
 [-5.67824094e-02  9.98386577e-01  0.00000000e+00 -8.99165694e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.87, Y:-8.98, Z:0.00
[[ 9.97599852e-01  6.92425785e-02  0.00000000e+00  1.82867276e+02]
 [-6.92425785e-02  9.97599852e-01  0.00000000e+00 -8.97954813e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.93, Y:-8.97, Z:0.00
[[ 9.97127883e-01  7.57362888e-02  0.00000000e+00  1.82928010e+02]
 [-7.57362888e-02  9.97127883e-01  0.00000000e+00 -8.97490154e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:182.99, Y:-8.97, Z:0.00
[[ 9.96956931e-01  7.79543279e-02  0.00000000e+00  1.82987352e+02]
 [-7.79543279e-02  9.96956931e-01  0.00000000e+00 -8.97327547e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.05, Y:-8.97, Z:0.00
[[ 9.96609107e-01  8.22817610e-02  0.00000000e+00  1.83046876e+02]
 [-8.22817610e-02  9.96609107e-01  0.00000000e+00 -8.96783449e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.11, Y:-8.97, Z:0.00
[[ 9.96243609e-01  8.65948714e-02  0.00000000e+00  1.83106497e+02]
 [-8.65948714e-02  9.96243609e-01  0.00000000e+00 -8.97158929e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.17, Y:-8.97, Z:0.00
[[ 9.95426685e-01  9.55286050e-02  0.00000000e+00  1.83167343e+02]
 [-9.55286050e-02  9.95426685e-01  0.00000000e+00 -8.97319528e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.23, Y:-8.98, Z:0.00
[[ 9.94710662e-01  1.02716594e-01  0.00000000e+00  1.83225600e+02]
 [-1.02716594e-01  9.94710662e-01  0.00000000e+00 -8.97928235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.28, Y:-8.99, Z:0.00
[[ 9.94163069e-01  1.07887865e-01  0.00000000e+00  1.83282988e+02]
 [-1.07887865e-01  9.94163069e-01  0.00000000e+00 -8.98706207e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.34, Y:-9.00, Z:0.00
[[ 9.94095860e-01  1.08505399e-01  0.00000000e+00  1.83341669e+02]
 [-1.08505399e-01  9.94095860e-01  0.00000000e+00 -9.00074900e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.40, Y:-9.02, Z:0.00
[[ 9.94982733e-01  1.00046790e-01  0.00000000e+00  1.83399695e+02]
 [-1.00046790e-01  9.94982733e-01  0.00000000e+00 -9.01709948e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.46, Y:-9.03, Z:0.00
[[ 9.95983400e-01  8.95380704e-02  0.00000000e+00  1.83457773e+02]
 [-8.95380704e-02  9.95983400e-01  0.00000000e+00 -9.03396666e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.52, Y:-9.05, Z:0.00
[[ 9.96884312e-01  7.88775483e-02  0.00000000e+00  1.83516767e+02]
 [-7.88775483e-02  9.96884312e-01  0.00000000e+00 -9.05077063e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.58, Y:-9.07, Z:0.00
[[ 9.97693544e-01  6.78792408e-02  0.00000000e+00  1.83575246e+02]
 [-6.78792408e-02  9.97693544e-01  0.00000000e+00 -9.06634995e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 181.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.63, Y:-9.08, Z:0.00
[[ 9.97847018e-01  6.55845157e-02  0.00000000e+00  1.83634668e+02]
 [-6.55845157e-02  9.97847018e-01  0.00000000e+00 -9.07816840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.69, Y:-9.09, Z:0.00
[[ 9.97835072e-01  6.57660210e-02  0.00000000e+00  1.83694194e+02]
 [-6.57660210e-02  9.97835072e-01  0.00000000e+00 -9.08786233e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.75, Y:-9.09, Z:0.00
[[ 9.97804282e-01  6.62315305e-02  0.00000000e+00  1.83753924e+02]
 [-6.62315305e-02  9.97804282e-01  0.00000000e+00 -9.09491701e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.81, Y:-9.10, Z:0.00
[[ 9.97741117e-01  6.71763569e-02  0.00000000e+00  1.83814400e+02]
 [-6.71763569e-02  9.97741117e-01  0.00000000e+00 -9.09922039e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.88, Y:-9.10, Z:0.00
[[ 9.97397491e-01  7.20988500e-02  0.00000000e+00  1.83875158e+02]
 [-7.20988500e-02  9.97397491e-01  0.00000000e+00 -9.10344267e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:183.94, Y:-9.11, Z:0.00
[[ 9.96930095e-01  7.82967806e-02  0.00000000e+00  1.83935735e+02]
 [-7.82967806e-02  9.96930095e-01  0.00000000e+00 -9.10760471e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.00, Y:-9.11, Z:0.00
[[ 9.96200713e-01  8.70869621e-02  0.00000000e+00  1.83996313e+02]
 [-8.70869621e-02  9.96200713e-01  0.00000000e+00 -9.11053382e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.06, Y:-9.11, Z:0.00
[[ 9.95595178e-01  9.37562837e-02  0.00000000e+00  1.84056852e+02]
 [-9.37562837e-02  9.95595178e-01  0.00000000e+00 -9.11457917e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.12, Y:-9.12, Z:0.00
[[ 9.94507654e-01  1.04663874e-01  0.00000000e+00  1.84116214e+02]
 [-1.04663874e-01  9.94507654e-01  0.00000000e+00 -9.12040342e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.17, Y:-9.13, Z:0.00
[[ 9.93933211e-01  1.09985324e-01  0.00000000e+00  1.84174721e+02]
 [-1.09985324e-01  9.93933211e-01  0.00000000e+00 -9.12875307e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.23, Y:-9.14, Z:0.00
[[ 9.93689056e-01  1.12169781e-01  0.00000000e+00  1.84233729e+02]
 [-1.12169781e-01  9.93689056e-01  0.00000000e+00 -9.13680418e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.29, Y:-9.15, Z:0.00
[[ 9.93852776e-01  1.10709799e-01  0.00000000e+00  1.84292500e+02]
 [-1.10709799e-01  9.93852776e-01  0.00000000e+00 -9.14977819e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.35, Y:-9.16, Z:0.00
[[ 9.94322103e-01  1.06412193e-01  0.00000000e+00  1.84352689e+02]
 [-1.06412193e-01  9.94322103e-01  0.00000000e+00 -9.16480763e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.41, Y:-9.18, Z:0.00
[[ 9.94964259e-01  1.00230347e-01  0.00000000e+00  1.84413185e+02]
 [-1.00230347e-01  9.94964259e-01  0.00000000e+00 -9.18223447e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.47, Y:-9.19, Z:0.00
[[ 9.95638615e-01  9.32938852e-02  0.00000000e+00  1.84474053e+02]
 [-9.32938852e-02  9.95638615e-01  0.00000000e+00 -9.19466615e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.53, Y:-9.21, Z:0.00
[[ 9.96945045e-01  7.81061954e-02  0.00000000e+00  1.84531575e+02]
 [-7.81061954e-02  9.96945045e-01  0.00000000e+00 -9.21258841e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 182.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.59, Y:-9.22, Z:0.00
[[ 9.97764808e-01  6.68235568e-02  0.00000000e+00  1.84591621e+02]
 [-6.68235568e-02  9.97764808e-01  0.00000000e+00 -9.22254611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.65, Y:-9.23, Z:0.00
[[ 9.98426793e-01  5.60708364e-02  0.00000000e+00  1.84651597e+02]
 [-5.60708364e-02  9.98426793e-01  0.00000000e+00 -9.22934524e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.71, Y:-9.23, Z:0.00
[[ 9.98656109e-01  5.18264058e-02  0.00000000e+00  1.84712822e+02]
 [-5.18264058e-02  9.98656109e-01  0.00000000e+00 -9.23417819e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.77, Y:-9.23, Z:0.00
[[ 9.98828044e-01  4.83997694e-02  0.00000000e+00  1.84773942e+02]
 [-4.83997694e-02  9.98828044e-01  0.00000000e+00 -9.23097356e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.84, Y:-9.23, Z:0.00
[[ 9.98850396e-01  4.79362830e-02  0.00000000e+00  1.84835074e+02]
 [-4.79362830e-02  9.98850396e-01  0.00000000e+00 -9.22818657e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.90, Y:-9.23, Z:0.00
[[ 9.98779547e-01  4.93904515e-02  0.00000000e+00  1.84896048e+02]
 [-4.93904515e-02  9.98779547e-01  0.00000000e+00 -9.22644681e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:184.96, Y:-9.21, Z:0.00
[[ 9.98494895e-01  5.48447303e-02  0.00000000e+00  1.84957087e+02]
 [-5.48447303e-02  9.98494895e-01  0.00000000e+00 -9.21235304e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.02, Y:-9.20, Z:0.00
[[ 9.97903363e-01  6.47215430e-02  0.00000000e+00  1.85019785e+02]
 [-6.47215430e-02  9.97903363e-01  0.00000000e+00 -9.19843233e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.08, Y:-9.19, Z:0.00
[[ 9.97231839e-01  7.43549574e-02  0.00000000e+00  1.85080892e+02]
 [-7.43549574e-02  9.97231839e-01  0.00000000e+00 -9.19275821e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.14, Y:-9.19, Z:0.00
[[ 9.96292445e-01  8.60311849e-02  0.00000000e+00  1.85142251e+02]
 [-8.60311849e-02  9.96292445e-01  0.00000000e+00 -9.18715822e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.20, Y:-9.18, Z:0.00
[[ 9.94540241e-01  1.04353767e-01  0.00000000e+00  1.85202346e+02]
 [-1.04353767e-01  9.94540241e-01  0.00000000e+00 -9.17961769e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.26, Y:-9.18, Z:0.00
[[ 9.93647669e-01  1.12535819e-01  0.00000000e+00  1.85261675e+02]
 [-1.12535819e-01  9.93647669e-01  0.00000000e+00 -9.18346689e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.32, Y:-9.19, Z:0.00
[[ 9.93241429e-01  1.16066638e-01  0.00000000e+00  1.85321628e+02]
 [-1.16066638e-01  9.93241429e-01  0.00000000e+00 -9.18757197e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.38, Y:-9.20, Z:0.00
[[ 9.93565447e-01  1.13259444e-01  0.00000000e+00  1.85379702e+02]
 [-1.13259444e-01  9.93565447e-01  0.00000000e+00 -9.19930976e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.44, Y:-9.21, Z:0.00
[[ 9.93992798e-01  1.09445499e-01  0.00000000e+00  1.85437825e+02]
 [-1.09445499e-01  9.93992798e-01  0.00000000e+00 -9.21259038e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.50, Y:-9.23, Z:0.00
[[ 9.94461873e-01  1.05097965e-01  0.00000000e+00  1.85496015e+02]
 [-1.05097965e-01  9.94461873e-01  0.00000000e+00 -9.22579797e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.55, Y:-9.24, Z:0.00
[[ 9.95356865e-01  9.62533677e-02  0.00000000e+00  1.85553598e+02]
 [-9.62533677e-02  9.95356865e-01  0.00000000e+00 -9.24381690e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 183.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.61, Y:-9.27, Z:0.00
[[ 9.96668147e-01  8.15634955e-02  0.00000000e+00  1.85610886e+02]
 [-8.15634955e-02  9.96668147e-01  0.00000000e+00 -9.26656031e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.67, Y:-9.27, Z:0.00
[[ 9.96929227e-01  7.83078345e-02  0.00000000e+00  1.85669309e+02]
 [-7.83078345e-02  9.96929227e-01  0.00000000e+00 -9.27449559e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.73, Y:-9.29, Z:0.00
[[ 9.97587371e-01  6.94221705e-02  0.00000000e+00  1.85728513e+02]
 [-6.94221705e-02  9.97587371e-01  0.00000000e+00 -9.28687160e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.79, Y:-9.30, Z:0.00
[[ 9.98115733e-01  6.13594615e-02  0.00000000e+00  1.85787900e+02]
 [-6.13594615e-02  9.98115733e-01  0.00000000e+00 -9.30127537e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.85, Y:-9.31, Z:0.00
[[ 9.98550636e-01  5.38203237e-02  0.00000000e+00  1.85847483e+02]
 [-5.38203237e-02  9.98550636e-01  0.00000000e+00 -9.31489314e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.91, Y:-9.32, Z:0.00
[[ 9.98572718e-01  5.34090484e-02  0.00000000e+00  1.85907228e+02]
 [-5.34090484e-02  9.98572718e-01  0.00000000e+00 -9.31908916e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:185.97, Y:-9.32, Z:0.00
[[ 9.98440447e-01  5.58271801e-02  0.00000000e+00  1.85967269e+02]
 [-5.58271801e-02  9.98440447e-01  0.00000000e+00 -9.32326104e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.03, Y:-9.32, Z:0.00
[[ 9.98311055e-01  5.80950785e-02  0.00000000e+00  1.86027127e+02]
 [-5.80950785e-02  9.98311055e-01  0.00000000e+00 -9.32404292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.09, Y:-9.32, Z:0.00
[[ 9.97814942e-01  6.60707267e-02  0.00000000e+00  1.86088365e+02]
 [-6.60707267e-02  9.97814942e-01  0.00000000e+00 -9.31877191e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.15, Y:-9.32, Z:0.00
[[ 9.97316381e-01  7.32122719e-02  0.00000000e+00  1.86147943e+02]
 [-7.32122719e-02  9.97316381e-01  0.00000000e+00 -9.31815281e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.21, Y:-9.32, Z:0.00
[[ 9.96104635e-01  8.81791188e-02  0.00000000e+00  1.86207600e+02]
 [-8.81791188e-02  9.96104635e-01  0.00000000e+00 -9.31515653e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.27, Y:-9.31, Z:0.00
[[ 9.95131907e-01  9.85519562e-02  0.00000000e+00  1.86266804e+02]
 [-9.85519562e-02  9.95131907e-01  0.00000000e+00 -9.31492882e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.33, Y:-9.32, Z:0.00
[[ 9.94215045e-01  1.07407843e-01  0.00000000e+00  1.86326688e+02]
 [-1.07407843e-01  9.94215045e-01  0.00000000e+00 -9.31958576e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.38, Y:-9.33, Z:0.00
[[ 9.94193510e-01  1.07606990e-01  0.00000000e+00  1.86384785e+02]
 [-1.07606990e-01  9.94193510e-01  0.00000000e+00 -9.33238406e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.44, Y:-9.34, Z:0.00
[[ 9.94605624e-01  1.03728746e-01  0.00000000e+00  1.86444455e+02]
 [-1.03728746e-01  9.94605624e-01  0.00000000e+00 -9.34456244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.50, Y:-9.36, Z:0.00
[[ 9.94763318e-01  1.02205382e-01  0.00000000e+00  1.86500835e+02]
 [-1.02205382e-01  9.94763318e-01  0.00000000e+00 -9.35829047e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.56, Y:-9.37, Z:0.00
[[ 9.95000132e-01  9.98736045e-02  0.00000000e+00  1.86558990e+02]
 [-9.98736045e-02  9.95000132e-01  0.00000000e+00 -9.37153656e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 184.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.62, Y:-9.39, Z:0.00
[[ 9.95714777e-01  9.24774774e-02  0.00000000e+00  1.86617125e+02]
 [-9.24774774e-02  9.95714777e-01  0.00000000e+00 -9.39099583e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.68, Y:-9.41, Z:0.00
[[ 9.96475179e-01  8.38881257e-02  0.00000000e+00  1.86675461e+02]
 [-8.38881257e-02  9.96475179e-01  0.00000000e+00 -9.40573707e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.73, Y:-9.42, Z:0.00
[[ 9.96803498e-01  7.98923424e-02  0.00000000e+00  1.86734937e+02]
 [-7.98923424e-02  9.96803498e-01  0.00000000e+00 -9.41958834e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.79, Y:-9.43, Z:0.00
[[ 9.97135475e-01  7.56362647e-02  0.00000000e+00  1.86794226e+02]
 [-7.56362647e-02  9.97135475e-01  0.00000000e+00 -9.43080965e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.85, Y:-9.44, Z:0.00
[[ 9.97381299e-01  7.23225079e-02  0.00000000e+00  1.86853767e+02]
 [-7.23225079e-02  9.97381299e-01  0.00000000e+00 -9.44153804e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.91, Y:-9.45, Z:0.00
[[ 9.97381022e-01  7.23263210e-02  0.00000000e+00  1.86913846e+02]
 [-7.23263210e-02  9.97381022e-01  0.00000000e+00 -9.45030135e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:186.97, Y:-9.46, Z:0.00
[[ 9.97466593e-01  7.11364528e-02  0.00000000e+00  1.86973512e+02]
 [-7.11364528e-02  9.97466593e-01  0.00000000e+00 -9.45900693e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.03, Y:-9.47, Z:0.00
[[ 9.97629796e-01  6.88098147e-02  0.00000000e+00  1.87033503e+02]
 [-6.88098147e-02  9.97629796e-01  0.00000000e+00 -9.46747607e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.09, Y:-9.47, Z:0.00
[[ 9.98092585e-01  6.17348428e-02  0.00000000e+00  1.87093149e+02]
 [-6.17348428e-02  9.98092585e-01  0.00000000e+00 -9.47257393e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.15, Y:-9.48, Z:0.00
[[ 9.98602238e-01  5.28542381e-02  0.00000000e+00  1.87153705e+02]
 [-5.28542381e-02  9.98602238e-01  0.00000000e+00 -9.47800468e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.21, Y:-9.48, Z:0.00
[[ 9.99053169e-01  4.35059339e-02  0.00000000e+00  1.87214975e+02]
 [-4.35059339e-02  9.99053169e-01  0.00000000e+00 -9.47620026e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.28, Y:-9.48, Z:0.00
[[ 9.99110535e-01  4.21679891e-02  0.00000000e+00  1.87275910e+02]
 [-4.21679891e-02  9.99110535e-01  0.00000000e+00 -9.47623261e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.34, Y:-9.47, Z:0.00
[[ 9.99079769e-01  4.28907464e-02  0.00000000e+00  1.87336590e+02]
 [-4.28907464e-02  9.99079769e-01  0.00000000e+00 -9.46716402e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.40, Y:-9.46, Z:0.00
[[ 9.99016270e-01  4.43451555e-02  0.00000000e+00  1.87397818e+02]
 [-4.43451555e-02  9.99016270e-01  0.00000000e+00 -9.46123919e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.46, Y:-9.45, Z:0.00
[[ 9.98880244e-01  4.73102411e-02  0.00000000e+00  1.87459554e+02]
 [-4.73102411e-02  9.98880244e-01  0.00000000e+00 -9.45235529e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.52, Y:-9.45, Z:0.00
[[ 9.98676118e-01  5.14393893e-02  0.00000000e+00  1.87519678e+02]
 [-5.14393893e-02  9.98676118e-01  0.00000000e+00 -9.44990004e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 185.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.58, Y:-9.45, Z:0.00
[[ 9.98589962e-01  5.30856625e-02  0.00000000e+00  1.87578769e+02]
 [-5.30856625e-02  9.98589962e-01  0.00000000e+00 -9.44963019e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.64, Y:-9.44, Z:0.00
[[ 9.98295651e-01  5.83591722e-02  0.00000000e+00  1.87640555e+02]
 [-5.83591722e-02  9.98295651e-01  0.00000000e+00 -9.43699895e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.70, Y:-9.44, Z:0.00
[[ 9.98230716e-01  5.94595504e-02  0.00000000e+00  1.87700848e+02]
 [-5.94595504e-02  9.98230716e-01  0.00000000e+00 -9.43578284e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.76, Y:-9.43, Z:0.00
[[ 9.98151443e-01  6.07757980e-02  0.00000000e+00  1.87760514e+02]
 [-6.07757980e-02  9.98151443e-01  0.00000000e+00 -9.43230872e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.82, Y:-9.42, Z:0.00
[[ 9.97867025e-01  6.52794078e-02  0.00000000e+00  1.87821904e+02]
 [-6.52794078e-02  9.97867025e-01  0.00000000e+00 -9.42163318e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.88, Y:-9.42, Z:0.00
[[ 9.97351109e-01  7.27376527e-02  0.00000000e+00  1.87883223e+02]
 [-7.27376527e-02  9.97351109e-01  0.00000000e+00 -9.41688751e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:187.94, Y:-9.42, Z:0.00
[[ 9.97129701e-01  7.57123398e-02  0.00000000e+00  1.87944463e+02]
 [-7.57123398e-02  9.97129701e-01  0.00000000e+00 -9.41699184e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.00, Y:-9.41, Z:0.00
[[ 9.97055184e-01  7.66874197e-02  0.00000000e+00  1.88002877e+02]
 [-7.66874197e-02  9.97055184e-01  0.00000000e+00 -9.41233286e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.06, Y:-9.41, Z:0.00
[[ 9.97283076e-01  7.36645569e-02  0.00000000e+00  1.88062459e+02]
 [-7.36645569e-02  9.97283076e-01  0.00000000e+00 -9.41068560e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.12, Y:-9.42, Z:0.00
[[ 9.97332694e-01  7.29897078e-02  0.00000000e+00  1.88122418e+02]
 [-7.29897078e-02  9.97332694e-01  0.00000000e+00 -9.41739206e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.18, Y:-9.42, Z:0.00
[[ 9.96942068e-01  7.81441827e-02  0.00000000e+00  1.88182586e+02]
 [-7.81441827e-02  9.96942068e-01  0.00000000e+00 -9.41674783e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.24, Y:-9.41, Z:0.00
[[ 9.96587054e-01  8.25484369e-02  0.00000000e+00  1.88242736e+02]
 [-8.25484369e-02  9.96587054e-01  0.00000000e+00 -9.41484600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.30, Y:-9.43, Z:0.00
[[ 9.95511425e-01  9.46414387e-02  0.00000000e+00  1.88302064e+02]
 [-9.46414387e-02  9.95511425e-01  0.00000000e+00 -9.42759463e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.36, Y:-9.44, Z:0.00
[[ 9.95415802e-01  9.56419447e-02  0.00000000e+00  1.88361552e+02]
 [-9.56419447e-02  9.95415802e-01  0.00000000e+00 -9.43630582e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.42, Y:-9.45, Z:0.00
[[ 9.95455155e-01  9.52314806e-02  0.00000000e+00  1.88420368e+02]
 [-9.52314806e-02  9.95455155e-01  0.00000000e+00 -9.44555855e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.48, Y:-9.46, Z:0.00
[[ 9.96024347e-01  8.90814221e-02  0.00000000e+00  1.88478802e+02]
 [-8.90814221e-02  9.96024347e-01  0.00000000e+00 -9.45753649e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.54, Y:-9.47, Z:0.00
[[ 9.96207588e-01  8.70082827e-02  0.00000000e+00  1.88535959e+02]
 [-8.70082827e-02  9.96207588e-01  0.00000000e+00 -9.47125539e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 186.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.59, Y:-9.48, Z:0.00
[[ 9.96605870e-01  8.23209560e-02  0.00000000e+00  1.88593670e+02]
 [-8.23209560e-02  9.96605870e-01  0.00000000e+00 -9.48454442e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.65, Y:-9.50, Z:0.00
[[ 9.97132270e-01  7.56785019e-02  0.00000000e+00  1.88651847e+02]
 [-7.56785019e-02  9.97132270e-01  0.00000000e+00 -9.50068143e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.71, Y:-9.51, Z:0.00
[[ 9.97414652e-01  7.18610633e-02  0.00000000e+00  1.88711344e+02]
 [-7.18610633e-02  9.97414652e-01  0.00000000e+00 -9.50947064e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.77, Y:-9.52, Z:0.00
[[ 9.97488449e-01  7.08293324e-02  0.00000000e+00  1.88769984e+02]
 [-7.08293324e-02  9.97488449e-01  0.00000000e+00 -9.51861118e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.83, Y:-9.53, Z:0.00
[[ 9.97604399e-01  6.91770368e-02  0.00000000e+00  1.88828153e+02]
 [-6.91770368e-02  9.97604399e-01  0.00000000e+00 -9.53004253e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.89, Y:-9.54, Z:0.00
[[ 9.98008103e-01  6.30858633e-02  0.00000000e+00  1.88887386e+02]
 [-6.30858633e-02  9.98008103e-01  0.00000000e+00 -9.54037009e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:188.95, Y:-9.54, Z:0.00
[[ 9.98785226e-01  4.92754818e-02  0.00000000e+00  1.88946710e+02]
 [-4.92754818e-02  9.98785226e-01  0.00000000e+00 -9.54478034e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.01, Y:-9.55, Z:0.00
[[ 9.99207061e-01  3.98151926e-02  0.00000000e+00  1.89006894e+02]
 [-3.98151926e-02  9.99207061e-01  0.00000000e+00 -9.54939075e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.07, Y:-9.55, Z:0.00
[[ 9.99467972e-01  3.26155261e-02  0.00000000e+00  1.89067827e+02]
 [-3.26155261e-02  9.99467972e-01  0.00000000e+00 -9.54542954e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.13, Y:-9.54, Z:0.00
[[ 9.99451278e-01  3.31231399e-02  0.00000000e+00  1.89127040e+02]
 [-3.31231399e-02  9.99451278e-01  0.00000000e+00 -9.54138987e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.19, Y:-9.53, Z:0.00
[[ 9.99473857e-01  3.24346779e-02  0.00000000e+00  1.89187273e+02]
 [-3.24346779e-02  9.99473857e-01  0.00000000e+00 -9.53109211e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.25, Y:-9.53, Z:0.00
[[ 9.99429599e-01  3.37709522e-02  0.00000000e+00  1.89247180e+02]
 [-3.37709522e-02  9.99429599e-01  0.00000000e+00 -9.52600354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.31, Y:-9.51, Z:0.00
[[ 9.99201359e-01  3.99580331e-02  0.00000000e+00  1.89309550e+02]
 [-3.99580331e-02  9.99201359e-01  0.00000000e+00 -9.51438220e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.37, Y:-9.51, Z:0.00
[[ 9.98912936e-01  4.66148702e-02  0.00000000e+00  1.89370902e+02]
 [-4.66148702e-02  9.98912936e-01  0.00000000e+00 -9.50563122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.43, Y:-9.50, Z:0.00
[[ 9.98483846e-01  5.50455242e-02  0.00000000e+00  1.89432627e+02]
 [-5.50455242e-02  9.98483846e-01  0.00000000e+00 -9.50150529e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.49, Y:-9.50, Z:0.00
[[ 9.98093591e-01  6.17185910e-02  0.00000000e+00  1.89493188e+02]
 [-6.17185910e-02  9.98093591e-01  0.00000000e+00 -9.49732507e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.56, Y:-9.49, Z:0.00
[[ 9.97286824e-01  7.36137919e-02  0.00000000e+00  1.89555194e+02]
 [-7.36137919e-02  9.97286824e-01  0.00000000e+00 -9.48943150e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 187.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.62, Y:-9.49, Z:0.00
[[ 9.96898660e-01  7.86960073e-02  0.00000000e+00  1.89615861e+02]
 [-7.86960073e-02  9.96898660e-01  0.00000000e+00 -9.48974772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.67, Y:-9.49, Z:0.00
[[ 9.96748911e-01  8.05705172e-02  0.00000000e+00  1.89674948e+02]
 [-8.05705172e-02  9.96748911e-01  0.00000000e+00 -9.49032167e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.73, Y:-9.49, Z:0.00
[[ 9.96939695e-01  7.81744468e-02  0.00000000e+00  1.89732707e+02]
 [-7.81744468e-02  9.96939695e-01  0.00000000e+00 -9.49344592e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.79, Y:-9.50, Z:0.00
[[ 9.96777358e-01  8.02178163e-02  0.00000000e+00  1.89790835e+02]
 [-8.02178163e-02  9.96777358e-01  0.00000000e+00 -9.50068795e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.85, Y:-9.51, Z:0.00
[[ 9.96753635e-01  8.05120537e-02  0.00000000e+00  1.89848344e+02]
 [-8.05120537e-02  9.96753635e-01  0.00000000e+00 -9.50551968e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.91, Y:-9.51, Z:0.00
[[ 9.97123538e-01  7.57934644e-02  0.00000000e+00  1.89908347e+02]
 [-7.57934644e-02  9.97123538e-01  0.00000000e+00 -9.51007689e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:189.97, Y:-9.52, Z:0.00
[[ 9.97602919e-01  6.91983804e-02  0.00000000e+00  1.89966566e+02]
 [-6.91983804e-02  9.97602919e-01  0.00000000e+00 -9.52000710e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.03, Y:-9.53, Z:0.00
[[ 9.97788573e-01  6.64677674e-02  0.00000000e+00  1.90026152e+02]
 [-6.64677674e-02  9.97788573e-01  0.00000000e+00 -9.52948066e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.09, Y:-9.54, Z:0.00
[[ 9.97930616e-01  6.42999615e-02  0.00000000e+00  1.90086026e+02]
 [-6.42999615e-02  9.97930616e-01  0.00000000e+00 -9.53860068e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.14, Y:-9.55, Z:0.00
[[ 9.98037875e-01  6.26130942e-02  0.00000000e+00  1.90144355e+02]
 [-6.26130942e-02  9.98037875e-01  0.00000000e+00 -9.54586668e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.20, Y:-9.56, Z:0.00
[[ 9.98336568e-01  5.76549824e-02  0.00000000e+00  1.90203403e+02]
 [-5.76549824e-02  9.98336568e-01  0.00000000e+00 -9.55748968e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.26, Y:-9.56, Z:0.00
[[ 9.98330782e-01  5.77550794e-02  0.00000000e+00  1.90263215e+02]
 [-5.77550794e-02  9.98330782e-01  0.00000000e+00 -9.56379586e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.32, Y:-9.57, Z:0.00
[[ 9.97909792e-01  6.46223410e-02  0.00000000e+00  1.90323629e+02]
 [-6.46223410e-02  9.97909792e-01  0.00000000e+00 -9.56652673e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.38, Y:-9.57, Z:0.00
[[ 9.97429246e-01  7.16582134e-02  0.00000000e+00  1.90384258e+02]
 [-7.16582134e-02  9.97429246e-01  0.00000000e+00 -9.57106466e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.44, Y:-9.58, Z:0.00
[[ 9.96945105e-01  7.81054210e-02  0.00000000e+00  1.90444053e+02]
 [-7.81054210e-02  9.96945105e-01  0.00000000e+00 -9.57537596e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.50, Y:-9.58, Z:0.00
[[ 9.96312989e-01  8.57929378e-02  0.00000000e+00  1.90504370e+02]
 [-8.57929378e-02  9.96312989e-01  0.00000000e+00 -9.57929206e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 188.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.56, Y:-9.59, Z:0.00
[[ 9.96345252e-01  8.54174332e-02  0.00000000e+00  1.90561959e+02]
 [-8.54174332e-02  9.96345252e-01  0.00000000e+00 -9.58812690e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.62, Y:-9.60, Z:0.00
[[ 9.96191063e-01  8.71972842e-02  0.00000000e+00  1.90620600e+02]
 [-8.71972842e-02  9.96191063e-01  0.00000000e+00 -9.60078483e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.68, Y:-9.62, Z:0.00
[[ 9.95455815e-01  9.52245745e-02  0.00000000e+00  1.90679275e+02]
 [-9.52245745e-02  9.95455815e-01  0.00000000e+00 -9.61686619e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.74, Y:-9.63, Z:0.00
[[ 9.95225200e-01  9.76053377e-02  0.00000000e+00  1.90735987e+02]
 [-9.76053377e-02  9.95225200e-01  0.00000000e+00 -9.62939390e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.79, Y:-9.65, Z:0.00
[[ 9.95208597e-01  9.77744807e-02  0.00000000e+00  1.90794131e+02]
 [-9.77744807e-02  9.95208597e-01  0.00000000e+00 -9.64762993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.85, Y:-9.67, Z:0.00
[[ 9.95469301e-01  9.50834945e-02  0.00000000e+00  1.90851957e+02]
 [-9.50834945e-02  9.95469301e-01  0.00000000e+00 -9.66996197e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.91, Y:-9.69, Z:0.00
[[ 9.96074536e-01  8.85184640e-02  0.00000000e+00  1.90910642e+02]
 [-8.85184640e-02  9.96074536e-01  0.00000000e+00 -9.68698660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:190.97, Y:-9.70, Z:0.00
[[ 9.96688211e-01  8.13179563e-02  0.00000000e+00  1.90969467e+02]
 [-8.13179563e-02  9.96688211e-01  0.00000000e+00 -9.70163958e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.03, Y:-9.72, Z:0.00
[[ 9.97336809e-01  7.29334634e-02  0.00000000e+00  1.91027263e+02]
 [-7.29334634e-02  9.97336809e-01  0.00000000e+00 -9.71982817e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.09, Y:-9.74, Z:0.00
[[ 9.97601221e-01  6.92228528e-02  0.00000000e+00  1.91085050e+02]
 [-6.92228528e-02  9.97601221e-01  0.00000000e+00 -9.73536657e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.14, Y:-9.75, Z:0.00
[[ 9.97719525e-01  6.74962960e-02  0.00000000e+00  1.91144181e+02]
 [-6.74962960e-02  9.97719525e-01  0.00000000e+00 -9.74662203e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.20, Y:-9.76, Z:0.00
[[ 9.97677308e-01  6.81174587e-02  0.00000000e+00  1.91202599e+02]
 [-6.81174587e-02  9.97677308e-01  0.00000000e+00 -9.75710377e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.26, Y:-9.77, Z:0.00
[[ 9.97254367e-01  7.40522006e-02  0.00000000e+00  1.91260299e+02]
 [-7.40522006e-02  9.97254367e-01  0.00000000e+00 -9.77165450e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.32, Y:-9.78, Z:0.00
[[ 9.96984573e-01  7.76000111e-02  0.00000000e+00  1.91319524e+02]
 [-7.76000111e-02  9.96984573e-01  0.00000000e+00 -9.77954223e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.38, Y:-9.79, Z:0.00
[[ 9.96126269e-01  8.79343875e-02  0.00000000e+00  1.91378346e+02]
 [-8.79343875e-02  9.96126269e-01  0.00000000e+00 -9.79128235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.44, Y:-9.80, Z:0.00
[[ 9.95911485e-01  9.03344524e-02  0.00000000e+00  1.91436366e+02]
 [-9.03344524e-02  9.95911485e-01  0.00000000e+00 -9.80225510e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.49, Y:-9.82, Z:0.00
[[ 9.96028038e-01  8.90401452e-02  0.00000000e+00  1.91492924e+02]
 [-8.90401452e-02  9.96028038e-01  0.00000000e+00 -9.81694726e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 189.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.55, Y:-9.83, Z:0.00
[[ 9.96390320e-01  8.48901041e-02  0.00000000e+00  1.91552433e+02]
 [-8.48901041e-02  9.96390320e-01  0.00000000e+00 -9.82989898e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.61, Y:-9.84, Z:0.00
[[ 9.96722145e-01  8.09009667e-02  0.00000000e+00  1.91609795e+02]
 [-8.09009667e-02  9.96722145e-01  0.00000000e+00 -9.83988514e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.67, Y:-9.86, Z:0.00
[[ 9.97002297e-01  7.73719546e-02  0.00000000e+00  1.91668790e+02]
 [-7.73719546e-02  9.97002297e-01  0.00000000e+00 -9.85615729e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.73, Y:-9.87, Z:0.00
[[ 9.96992323e-01  7.75003794e-02  0.00000000e+00  1.91727825e+02]
 [-7.75003794e-02  9.96992323e-01  0.00000000e+00 -9.86535426e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.79, Y:-9.88, Z:0.00
[[ 9.96839024e-01  7.94478448e-02  0.00000000e+00  1.91786818e+02]
 [-7.94478448e-02  9.96839024e-01  0.00000000e+00 -9.87564860e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.84, Y:-9.89, Z:0.00
[[ 9.97024035e-01  7.70913334e-02  0.00000000e+00  1.91844419e+02]
 [-7.70913334e-02  9.97024035e-01  0.00000000e+00 -9.88779866e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.90, Y:-9.90, Z:0.00
[[ 9.97502823e-01  7.06266045e-02  0.00000000e+00  1.91902454e+02]
 [-7.06266045e-02  9.97502823e-01  0.00000000e+00 -9.89966276e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:191.96, Y:-9.91, Z:0.00
[[ 9.98010554e-01  6.30470708e-02  0.00000000e+00  1.91962345e+02]
 [-6.30470708e-02  9.98010554e-01  0.00000000e+00 -9.90799163e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.02, Y:-9.92, Z:0.00
[[ 9.98728551e-01  5.04111173e-02  0.00000000e+00  1.92020635e+02]
 [-5.04111173e-02  9.98728551e-01  0.00000000e+00 -9.91952993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.08, Y:-9.92, Z:0.00
[[ 9.99211283e-01  3.97090938e-02  0.00000000e+00  1.92080804e+02]
 [-3.97090938e-02  9.99211283e-01  0.00000000e+00 -9.92441893e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.14, Y:-9.93, Z:0.00
[[ 9.99272705e-01  3.81321641e-02  0.00000000e+00  1.92139725e+02]
 [-3.81321641e-02  9.99272705e-01  0.00000000e+00 -9.92533663e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.20, Y:-9.92, Z:0.00
[[ 9.99205635e-01  3.98509670e-02  0.00000000e+00  1.92199353e+02]
 [-3.98509670e-02  9.99205635e-01  0.00000000e+00 -9.92123354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.26, Y:-9.92, Z:0.00
[[ 9.99063736e-01  4.32625799e-02  0.00000000e+00  1.92259028e+02]
 [-4.32625799e-02  9.99063736e-01  0.00000000e+00 -9.91889602e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.32, Y:-9.91, Z:0.00
[[ 9.99018031e-01  4.43054684e-02  0.00000000e+00  1.92319962e+02]
 [-4.43054684e-02  9.99018031e-01  0.00000000e+00 -9.90765490e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.38, Y:-9.90, Z:0.00
[[ 9.99151204e-01  4.11931064e-02  0.00000000e+00  1.92380908e+02]
 [-4.11931064e-02  9.99151204e-01  0.00000000e+00 -9.90467243e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.44, Y:-9.90, Z:0.00
[[ 9.99259576e-01  3.84746532e-02  0.00000000e+00  1.92441400e+02]
 [-3.84746532e-02  9.99259576e-01  0.00000000e+00 -9.89902417e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.50, Y:-9.89, Z:0.00
[[ 9.99255780e-01  3.85731345e-02  0.00000000e+00  1.92500955e+02]
 [-3.85731345e-02  9.99255780e-01  0.00000000e+00 -9.89482554e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 190.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.56, Y:-9.89, Z:0.00
[[ 9.99071667e-01  4.30790569e-02  0.00000000e+00  1.92562558e+02]
 [-4.30790569e-02  9.99071667e-01  0.00000000e+00 -9.88885050e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.62, Y:-9.88, Z:0.00
[[ 9.98717922e-01  5.06212639e-02  0.00000000e+00  1.92623628e+02]
 [-5.06212639e-02  9.98717922e-01  0.00000000e+00 -9.88387505e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.68, Y:-9.88, Z:0.00
[[ 9.98425996e-01  5.60850372e-02  0.00000000e+00  1.92684493e+02]
 [-5.60850372e-02  9.98425996e-01  0.00000000e+00 -9.88289882e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.75, Y:-9.88, Z:0.00
[[ 9.98014796e-01  6.29798997e-02  0.00000000e+00  1.92745622e+02]
 [-6.29798997e-02  9.98014796e-01  0.00000000e+00 -9.88041909e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.81, Y:-9.88, Z:0.00
[[ 9.97125477e-01  7.57679596e-02  0.00000000e+00  1.92806394e+02]
 [-7.57679596e-02  9.97125477e-01  0.00000000e+00 -9.87749459e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.87, Y:-9.88, Z:0.00
[[ 9.96406546e-01  8.46994384e-02  0.00000000e+00  1.92865962e+02]
 [-8.46994384e-02  9.96406546e-01  0.00000000e+00 -9.87812941e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.93, Y:-9.88, Z:0.00
[[ 9.95524715e-01  9.45015428e-02  0.00000000e+00  1.92925738e+02]
 [-9.45015428e-02  9.95524715e-01  0.00000000e+00 -9.88111527e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:192.98, Y:-9.89, Z:0.00
[[ 9.94803145e-01  1.01817011e-01  0.00000000e+00  1.92984035e+02]
 [-1.01817011e-01  9.94803145e-01  0.00000000e+00 -9.88891077e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.04, Y:-9.90, Z:0.00
[[ 9.94323363e-01  1.06400420e-01  0.00000000e+00  1.93041782e+02]
 [-1.06400420e-01  9.94323363e-01  0.00000000e+00 -9.89801284e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.10, Y:-9.91, Z:0.00
[[ 9.93022264e-01  1.17927021e-01  0.00000000e+00  1.93099033e+02]
 [-1.17927021e-01  9.93022264e-01  0.00000000e+00 -9.91434680e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.16, Y:-9.93, Z:0.00
[[ 9.92616472e-01  1.21295255e-01  0.00000000e+00  1.93156199e+02]
 [-1.21295255e-01  9.92616472e-01  0.00000000e+00 -9.93357205e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.21, Y:-9.95, Z:0.00
[[ 9.92649597e-01  1.21023869e-01  0.00000000e+00  1.93214310e+02]
 [-1.21023869e-01  9.92649597e-01  0.00000000e+00 -9.94598378e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.27, Y:-9.97, Z:0.00
[[ 9.92709917e-01  1.20528091e-01  0.00000000e+00  1.93270487e+02]
 [-1.20528091e-01  9.92709917e-01  0.00000000e+00 -9.96964883e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.33, Y:-10.00, Z:0.00
[[ 9.93405633e-01  1.14652728e-01  0.00000000e+00  1.93326630e+02]
 [-1.14652728e-01  9.93405633e-01  0.00000000e+00 -1.00019132e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.38, Y:-10.03, Z:0.00
[[ 9.94236446e-01  1.07209558e-01  0.00000000e+00  1.93383944e+02]
 [-1.07209558e-01  9.94236446e-01  0.00000000e+00 -1.00348079e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.44, Y:-10.06, Z:0.00
[[ 9.94936229e-01  1.00508205e-01  0.00000000e+00  1.93440910e+02]
 [-1.00508205e-01  9.94936229e-01  0.00000000e+00 -1.00574568e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 191.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.50, Y:-10.08, Z:0.00
[[ 9.95629087e-01  9.33955057e-02  0.00000000e+00  1.93498648e+02]
 [-9.33955057e-02  9.95629087e-01  0.00000000e+00 -1.00782997e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.56, Y:-10.10, Z:0.00
[[ 9.97129082e-01  7.57204947e-02  0.00000000e+00  1.93556119e+02]
 [-7.57204947e-02  9.97129082e-01  0.00000000e+00 -1.01020333e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.61, Y:-10.12, Z:0.00
[[ 9.97953994e-01  6.39361137e-02  0.00000000e+00  1.93614616e+02]
 [-6.39361137e-02  9.97953994e-01  0.00000000e+00 -1.01187793e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.67, Y:-10.13, Z:0.00
[[ 9.98554656e-01  5.37456947e-02  0.00000000e+00  1.93674440e+02]
 [-5.37456947e-02  9.98554656e-01  0.00000000e+00 -1.01288856e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.73, Y:-10.14, Z:0.00
[[ 9.98976918e-01  4.52229640e-02  0.00000000e+00  1.93734458e+02]
 [-4.52229640e-02  9.98976918e-01  0.00000000e+00 -1.01387908e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.80, Y:-10.14, Z:0.00
[[ 9.99193504e-01  4.01539673e-02  0.00000000e+00  1.93795106e+02]
 [-4.01539673e-02  9.99193504e-01  0.00000000e+00 -1.01436226e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.85, Y:-10.15, Z:0.00
[[ 9.99262860e-01  3.83892798e-02  0.00000000e+00  1.93854283e+02]
 [-3.83892798e-02  9.99262860e-01  0.00000000e+00 -1.01489671e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.91, Y:-10.15, Z:0.00
[[ 9.99309034e-01  3.71679354e-02  0.00000000e+00  1.93913489e+02]
 [-3.71679354e-02  9.99309034e-01  0.00000000e+00 -1.01516213e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:193.97, Y:-10.15, Z:0.00
[[ 9.99229132e-01  3.92573890e-02  0.00000000e+00  1.93973876e+02]
 [-3.92573890e-02  9.99229132e-01  0.00000000e+00 -1.01467864e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.03, Y:-10.14, Z:0.00
[[ 9.98944568e-01  4.59320050e-02  0.00000000e+00  1.94034768e+02]
 [-4.59320050e-02  9.98944568e-01  0.00000000e+00 -1.01423694e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.09, Y:-10.14, Z:0.00
[[ 9.98880355e-01  4.73078912e-02  0.00000000e+00  1.94094171e+02]
 [-4.73078912e-02  9.98880355e-01  0.00000000e+00 -1.01430464e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.16, Y:-10.13, Z:0.00
[[ 9.98721121e-01  5.05581171e-02  0.00000000e+00  1.94156290e+02]
 [-5.05581171e-02  9.98721121e-01  0.00000000e+00 -1.01285491e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.22, Y:-10.12, Z:0.00
[[ 9.98548651e-01  5.38571405e-02  0.00000000e+00  1.94216061e+02]
 [-5.38571405e-02  9.98548651e-01  0.00000000e+00 -1.01237804e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.28, Y:-10.12, Z:0.00
[[ 9.98547198e-01  5.38840784e-02  0.00000000e+00  1.94277230e+02]
 [-5.38840784e-02  9.98547198e-01  0.00000000e+00 -1.01195333e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.34, Y:-10.12, Z:0.00
[[ 9.98659306e-01  5.17647601e-02  0.00000000e+00  1.94338580e+02]
 [-5.17647601e-02  9.98659306e-01  0.00000000e+00 -1.01184697e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.40, Y:-10.11, Z:0.00
[[ 9.98819283e-01  4.85802407e-02  0.00000000e+00  1.94397536e+02]
 [-4.85802407e-02  9.98819283e-01  0.00000000e+00 -1.01113436e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.46, Y:-10.11, Z:0.00
[[ 9.98767817e-01  4.96270857e-02  0.00000000e+00  1.94455891e+02]
 [-4.96270857e-02  9.98767817e-01  0.00000000e+00 -1.01145169e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 192.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.52, Y:-10.12, Z:0.00
[[ 9.98536231e-01  5.40869253e-02  0.00000000e+00  1.94515598e+02]
 [-5.40869253e-02  9.98536231e-01  0.00000000e+00 -1.01151420e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.58, Y:-10.11, Z:0.00
[[ 9.98037148e-01  6.26246930e-02  0.00000000e+00  1.94576356e+02]
 [-6.26246930e-02  9.98037148e-01  0.00000000e+00 -1.01101041e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.64, Y:-10.11, Z:0.00
[[ 9.97545184e-01  7.00257489e-02  0.00000000e+00  1.94637295e+02]
 [-7.00257489e-02  9.97545184e-01  0.00000000e+00 -1.01111690e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.70, Y:-10.11, Z:0.00
[[ 9.96783435e-01  8.01422770e-02  0.00000000e+00  1.94697653e+02]
 [-8.01422770e-02  9.96783435e-01  0.00000000e+00 -1.01094096e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.76, Y:-10.11, Z:0.00
[[ 9.96005412e-01  8.92928804e-02  0.00000000e+00  1.94758276e+02]
 [-8.92928804e-02  9.96005412e-01  0.00000000e+00 -1.01105780e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.82, Y:-10.11, Z:0.00
[[ 9.95421506e-01  9.55825622e-02  0.00000000e+00  1.94816946e+02]
 [-9.55825622e-02  9.95421506e-01  0.00000000e+00 -1.01120957e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.88, Y:-10.12, Z:0.00
[[ 9.94513509e-01  1.04608221e-01  0.00000000e+00  1.94876261e+02]
 [-1.04608221e-01  9.94513509e-01  0.00000000e+00 -1.01187270e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.94, Y:-10.13, Z:0.00
[[ 9.94111866e-01  1.08358656e-01  0.00000000e+00  1.94936301e+02]
 [-1.08358656e-01  9.94111866e-01  0.00000000e+00 -1.01258694e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:194.99, Y:-10.14, Z:0.00
[[ 9.93354101e-01  1.15098346e-01  0.00000000e+00  1.94993847e+02]
 [-1.15098346e-01  9.93354101e-01  0.00000000e+00 -1.01358323e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.05, Y:-10.15, Z:0.00
[[ 9.92955214e-01  1.18490264e-01  0.00000000e+00  1.95051902e+02]
 [-1.18490264e-01  9.92955214e-01  0.00000000e+00 -1.01517959e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.11, Y:-10.16, Z:0.00
[[ 9.92990128e-01  1.18197318e-01  0.00000000e+00  1.95109911e+02]
 [-1.18197318e-01  9.92990128e-01  0.00000000e+00 -1.01622397e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.17, Y:-10.18, Z:0.00
[[ 9.93731957e-01  1.11789077e-01  0.00000000e+00  1.95165490e+02]
 [-1.11789077e-01  9.93731957e-01  0.00000000e+00 -1.01845852e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.22, Y:-10.20, Z:0.00
[[ 9.94543291e-01  1.04324700e-01  0.00000000e+00  1.95222641e+02]
 [-1.04324700e-01  9.94543291e-01  0.00000000e+00 -1.02019602e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.28, Y:-10.23, Z:0.00
[[ 9.96100495e-01  8.82258703e-02  0.00000000e+00  1.95277458e+02]
 [-8.82258703e-02  9.96100495e-01  0.00000000e+00 -1.02302947e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.34, Y:-10.25, Z:0.00
[[ 9.96679145e-01  8.14289943e-02  0.00000000e+00  1.95335949e+02]
 [-8.14289943e-02  9.96679145e-01  0.00000000e+00 -1.02483385e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.39, Y:-10.26, Z:0.00
[[ 9.96772652e-01  8.02762739e-02  0.00000000e+00  1.95393269e+02]
 [-8.02762739e-02  9.96772652e-01  0.00000000e+00 -1.02622054e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.45, Y:-10.28, Z:0.00
[[ 9.96830007e-01  7.95608966e-02  0.00000000e+00  1.95449542e+02]
 [-7.95608966e-02  9.96830007e-01  0.00000000e+00 -1.02811437e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 193.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.51, Y:-10.30, Z:0.00
[[ 9.96866080e-01  7.91076341e-02  0.00000000e+00  1.95506009e+02]
 [-7.91076341e-02  9.96866080e-01  0.00000000e+00 -1.02967466e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.56, Y:-10.31, Z:0.00
[[ 9.97042330e-01  7.68543620e-02  0.00000000e+00  1.95564368e+02]
 [-7.68543620e-02  9.97042330e-01  0.00000000e+00 -1.03074286e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.62, Y:-10.32, Z:0.00
[[ 9.97320350e-01  7.31581831e-02  0.00000000e+00  1.95623652e+02]
 [-7.31581831e-02  9.97320350e-01  0.00000000e+00 -1.03182354e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.68, Y:-10.33, Z:0.00
[[ 9.97851481e-01  6.55165771e-02  0.00000000e+00  1.95682771e+02]
 [-6.55165771e-02  9.97851481e-01  0.00000000e+00 -1.03303194e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.74, Y:-10.34, Z:0.00
[[ 9.98274894e-01  5.87131623e-02  0.00000000e+00  1.95741843e+02]
 [-5.87131623e-02  9.98274894e-01  0.00000000e+00 -1.03399709e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.80, Y:-10.35, Z:0.00
[[ 9.98749081e-01  5.00027391e-02  0.00000000e+00  1.95802187e+02]
 [-5.00027391e-02  9.98749081e-01  0.00000000e+00 -1.03459823e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.86, Y:-10.35, Z:0.00
[[ 9.98836474e-01  4.82254948e-02  0.00000000e+00  1.95861030e+02]
 [-4.82254948e-02  9.98836474e-01  0.00000000e+00 -1.03515091e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.92, Y:-10.35, Z:0.00
[[ 9.98816420e-01  4.86390749e-02  0.00000000e+00  1.95919094e+02]
 [-4.86390749e-02  9.98816420e-01  0.00000000e+00 -1.03497326e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:195.98, Y:-10.35, Z:0.00
[[ 9.98863945e-01  4.76531109e-02  0.00000000e+00  1.95978739e+02]
 [-4.76531109e-02  9.98863945e-01  0.00000000e+00 -1.03473281e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.04, Y:-10.35, Z:0.00
[[ 9.98923563e-01  4.63865751e-02  0.00000000e+00  1.96037273e+02]
 [-4.63865751e-02  9.98923563e-01  0.00000000e+00 -1.03455101e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.10, Y:-10.34, Z:0.00
[[ 9.99157631e-01  4.10369188e-02  0.00000000e+00  1.96098734e+02]
 [-4.10369188e-02  9.99157631e-01  0.00000000e+00 -1.03384748e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.16, Y:-10.33, Z:0.00
[[ 9.99188886e-01  4.02687186e-02  0.00000000e+00  1.96157902e+02]
 [-4.02687186e-02  9.99188886e-01  0.00000000e+00 -1.03322466e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.22, Y:-10.32, Z:0.00
[[ 9.98842615e-01  4.80981438e-02  0.00000000e+00  1.96220108e+02]
 [-4.80981438e-02  9.98842615e-01  0.00000000e+00 -1.03204762e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.28, Y:-10.31, Z:0.00
[[ 9.97999730e-01  6.32181804e-02  0.00000000e+00  1.96281195e+02]
 [-6.32181804e-02  9.97999730e-01  0.00000000e+00 -1.03107562e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.34, Y:-10.30, Z:0.00
[[ 9.97093418e-01  7.61886915e-02  0.00000000e+00  1.96342903e+02]
 [-7.61886915e-02  9.97093418e-01  0.00000000e+00 -1.03032559e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.40, Y:-10.30, Z:0.00
[[ 9.96191832e-01  8.71884984e-02  0.00000000e+00  1.96403790e+02]
 [-8.71884984e-02  9.96191832e-01  0.00000000e+00 -1.03008126e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 194.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.46, Y:-10.30, Z:0.00
[[ 9.94992535e-01  9.99492678e-02  0.00000000e+00  1.96463614e+02]
 [-9.99492678e-02  9.94992535e-01  0.00000000e+00 -1.03025593e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.52, Y:-10.31, Z:0.00
[[ 9.94436965e-01  1.05333390e-01  0.00000000e+00  1.96520897e+02]
 [-1.05333390e-01  9.94436965e-01  0.00000000e+00 -1.03080850e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.58, Y:-10.32, Z:0.00
[[ 9.93867012e-01  1.10581926e-01  0.00000000e+00  1.96579639e+02]
 [-1.10581926e-01  9.93867012e-01  0.00000000e+00 -1.03163730e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.64, Y:-10.33, Z:0.00
[[ 9.93694914e-01  1.12117872e-01  0.00000000e+00  1.96637884e+02]
 [-1.12117872e-01  9.93694914e-01  0.00000000e+00 -1.03293729e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.70, Y:-10.34, Z:0.00
[[ 9.93727753e-01  1.11826442e-01  0.00000000e+00  1.96695695e+02]
 [-1.11826442e-01  9.93727753e-01  0.00000000e+00 -1.03442065e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.75, Y:-10.36, Z:0.00
[[ 9.93748424e-01  1.11642597e-01  0.00000000e+00  1.96753339e+02]
 [-1.11642597e-01  9.93748424e-01  0.00000000e+00 -1.03618510e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.81, Y:-10.38, Z:0.00
[[ 9.93815816e-01  1.11041094e-01  0.00000000e+00  1.96811287e+02]
 [-1.11041094e-01  9.93815816e-01  0.00000000e+00 -1.03812201e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.87, Y:-10.40, Z:0.00
[[ 9.94847525e-01  1.01382457e-01  0.00000000e+00  1.96866656e+02]
 [-1.01382457e-01  9.94847525e-01  0.00000000e+00 -1.04044901e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.92, Y:-10.42, Z:0.00
[[ 9.95749736e-01  9.21002860e-02  0.00000000e+00  1.96924238e+02]
 [-9.21002860e-02  9.95749736e-01  0.00000000e+00 -1.04234900e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:196.98, Y:-10.44, Z:0.00
[[ 9.96255341e-01  8.64597886e-02  0.00000000e+00  1.96982434e+02]
 [-8.64597886e-02  9.96255341e-01  0.00000000e+00 -1.04350177e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.04, Y:-10.46, Z:0.00
[[ 9.97608506e-01  6.91177917e-02  0.00000000e+00  1.97041128e+02]
 [-6.91177917e-02  9.97608506e-01  0.00000000e+00 -1.04553225e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.10, Y:-10.47, Z:0.00
[[ 9.98182462e-01  6.02641965e-02  0.00000000e+00  1.97100688e+02]
 [-6.02641965e-02  9.98182462e-01  0.00000000e+00 -1.04708461e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.16, Y:-10.48, Z:0.00
[[ 9.98674432e-01  5.14721225e-02  0.00000000e+00  1.97160247e+02]
 [-5.14721225e-02  9.98674432e-01  0.00000000e+00 -1.04841041e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.22, Y:-10.49, Z:0.00
[[ 9.98730780e-01  5.03669362e-02  0.00000000e+00  1.97218777e+02]
 [-5.03669362e-02  9.98730780e-01  0.00000000e+00 -1.04931274e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.28, Y:-10.50, Z:0.00
[[ 9.98554583e-01  5.37470361e-02  0.00000000e+00  1.97276985e+02]
 [-5.37470361e-02  9.98554583e-01  0.00000000e+00 -1.05024611e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.34, Y:-10.51, Z:0.00
[[ 9.98269042e-01  5.88125869e-02  0.00000000e+00  1.97336335e+02]
 [-5.88125869e-02  9.98269042e-01  0.00000000e+00 -1.05081692e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.40, Y:-10.51, Z:0.00
[[ 9.97893690e-01  6.48705179e-02  0.00000000e+00  1.97396348e+02]
 [-6.48705179e-02  9.97893690e-01  0.00000000e+00 -1.05107343e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 195.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.46, Y:-10.51, Z:0.00
[[ 9.97731036e-01  6.73259238e-02  0.00000000e+00  1.97455554e+02]
 [-6.73259238e-02  9.97731036e-01  0.00000000e+00 -1.05118896e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.51, Y:-10.52, Z:0.00
[[ 9.97929991e-01  6.43096629e-02  0.00000000e+00  1.97514864e+02]
 [-6.43096629e-02  9.97929991e-01  0.00000000e+00 -1.05153315e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.58, Y:-10.51, Z:0.00
[[ 9.98650721e-01  5.19301225e-02  0.00000000e+00  1.97575674e+02]
 [-5.19301225e-02  9.98650721e-01  0.00000000e+00 -1.05132596e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.64, Y:-10.51, Z:0.00
[[ 9.99262172e-01  3.84071758e-02  0.00000000e+00  1.97637168e+02]
 [-3.84071758e-02  9.99262172e-01  0.00000000e+00 -1.05098492e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.70, Y:-10.51, Z:0.00
[[ 9.99406185e-01  3.44568915e-02  0.00000000e+00  1.97697699e+02]
 [-3.44568915e-02  9.99406185e-01  0.00000000e+00 -1.05076286e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.76, Y:-10.50, Z:0.00
[[ 9.99461968e-01  3.27990150e-02  0.00000000e+00  1.97758854e+02]
 [-3.27990150e-02  9.99461968e-01  0.00000000e+00 -1.05029623e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.82, Y:-10.49, Z:0.00
[[ 9.99513429e-01  3.11914426e-02  0.00000000e+00  1.97818392e+02]
 [-3.11914426e-02  9.99513429e-01  0.00000000e+00 -1.04917384e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.88, Y:-10.49, Z:0.00
[[ 9.99538427e-01  3.03798096e-02  0.00000000e+00  1.97878611e+02]
 [-3.03798096e-02  9.99538427e-01  0.00000000e+00 -1.04857336e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:197.94, Y:-10.47, Z:0.00
[[ 9.99501315e-01  3.15772309e-02  0.00000000e+00  1.97939816e+02]
 [-3.15772309e-02  9.99501315e-01  0.00000000e+00 -1.04746482e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.00, Y:-10.47, Z:0.00
[[ 9.99456125e-01  3.29765717e-02  0.00000000e+00  1.97999241e+02]
 [-3.29765717e-02  9.99456125e-01  0.00000000e+00 -1.04675735e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.06, Y:-10.46, Z:0.00
[[ 9.99345152e-01  3.61837897e-02  0.00000000e+00  1.98061126e+02]
 [-3.61837897e-02  9.99345152e-01  0.00000000e+00 -1.04564876e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.12, Y:-10.45, Z:0.00
[[ 9.99269562e-01  3.82144196e-02  0.00000000e+00  1.98121442e+02]
 [-3.82144196e-02  9.99269562e-01  0.00000000e+00 -1.04544603e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.18, Y:-10.44, Z:0.00
[[ 9.98938678e-01  4.60599339e-02  0.00000000e+00  1.98183614e+02]
 [-4.60599339e-02  9.98938678e-01  0.00000000e+00 -1.04406533e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.24, Y:-10.44, Z:0.00
[[ 9.98515524e-01  5.44678566e-02  0.00000000e+00  1.98244845e+02]
 [-5.44678566e-02  9.98515524e-01  0.00000000e+00 -1.04358337e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.31, Y:-10.43, Z:0.00
[[ 9.97346135e-01  7.28058232e-02  0.00000000e+00  1.98305148e+02]
 [-7.28058232e-02  9.97346135e-01  0.00000000e+00 -1.04278970e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.37, Y:-10.42, Z:0.00
[[ 9.96371028e-01  8.51162428e-02  0.00000000e+00  1.98366436e+02]
 [-8.51162428e-02  9.96371028e-01  0.00000000e+00 -1.04236228e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.43, Y:-10.43, Z:0.00
[[ 9.94959863e-01  1.00273977e-01  0.00000000e+00  1.98425747e+02]
 [-1.00273977e-01  9.94959863e-01  0.00000000e+00 -1.04269725e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 196.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.48, Y:-10.44, Z:0.00
[[ 9.94523632e-01  1.04511936e-01  0.00000000e+00  1.98483769e+02]
 [-1.04511936e-01  9.94523632e-01  0.00000000e+00 -1.04372200e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.54, Y:-10.45, Z:0.00
[[ 9.94360644e-01  1.06051445e-01  0.00000000e+00  1.98540438e+02]
 [-1.06051445e-01  9.94360644e-01  0.00000000e+00 -1.04504967e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.60, Y:-10.47, Z:0.00
[[ 9.94203483e-01  1.07514806e-01  0.00000000e+00  1.98596738e+02]
 [-1.07514806e-01  9.94203483e-01  0.00000000e+00 -1.04659746e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.65, Y:-10.49, Z:0.00
[[ 9.94253001e-01  1.07055920e-01  0.00000000e+00  1.98653783e+02]
 [-1.07055920e-01  9.94253001e-01  0.00000000e+00 -1.04914762e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.71, Y:-10.51, Z:0.00
[[ 9.94877658e-01  1.01086331e-01  0.00000000e+00  1.98711196e+02]
 [-1.01086331e-01  9.94877658e-01  0.00000000e+00 -1.05098465e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.77, Y:-10.53, Z:0.00
[[ 9.95633341e-01  9.33501451e-02  0.00000000e+00  1.98767774e+02]
 [-9.33501451e-02  9.95633341e-01  0.00000000e+00 -1.05299517e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.83, Y:-10.55, Z:0.00
[[ 9.96438646e-01  8.43209579e-02  0.00000000e+00  1.98825768e+02]
 [-8.43209579e-02  9.96438646e-01  0.00000000e+00 -1.05485670e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.88, Y:-10.57, Z:0.00
[[ 9.97225308e-01  7.44424895e-02  0.00000000e+00  1.98884362e+02]
 [-7.44424895e-02  9.97225308e-01  0.00000000e+00 -1.05669633e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:198.94, Y:-10.58, Z:0.00
[[ 9.98004454e-01  6.31435714e-02  0.00000000e+00  1.98942819e+02]
 [-6.31435714e-02  9.98004454e-01  0.00000000e+00 -1.05836231e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.00, Y:-10.59, Z:0.00
[[ 9.98393892e-01  5.66536552e-02  0.00000000e+00  1.99001540e+02]
 [-5.66536552e-02  9.98393892e-01  0.00000000e+00 -1.05918624e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.06, Y:-10.60, Z:0.00
[[ 9.98385183e-01  5.68069183e-02  0.00000000e+00  1.99060025e+02]
 [-5.68069183e-02  9.98385183e-01  0.00000000e+00 -1.06048929e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.12, Y:-10.61, Z:0.00
[[ 9.98075805e-01  6.20055439e-02  0.00000000e+00  1.99119561e+02]
 [-6.20055439e-02  9.98075805e-01  0.00000000e+00 -1.06143176e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.18, Y:-10.61, Z:0.00
[[ 9.97790619e-01  6.64370483e-02  0.00000000e+00  1.99180571e+02]
 [-6.64370483e-02  9.97790619e-01  0.00000000e+00 -1.06140192e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.24, Y:-10.62, Z:0.00
[[ 9.96798515e-01  7.99544846e-02  0.00000000e+00  1.99239264e+02]
 [-7.99544846e-02  9.96798515e-01  0.00000000e+00 -1.06247162e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.30, Y:-10.62, Z:0.00
[[ 9.96336210e-01  8.55228420e-02  0.00000000e+00  1.99298367e+02]
 [-8.55228420e-02  9.96336210e-01  0.00000000e+00 -1.06245756e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.36, Y:-10.63, Z:0.00
[[ 9.95211267e-01  9.77472953e-02  0.00000000e+00  1.99357230e+02]
 [-9.77472953e-02  9.95211267e-01  0.00000000e+00 -1.06309284e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 197.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.42, Y:-10.64, Z:0.00
[[ 9.95400432e-01  9.58017717e-02  0.00000000e+00  1.99415802e+02]
 [-9.58017717e-02  9.95400432e-01  0.00000000e+00 -1.06359838e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.47, Y:-10.65, Z:0.00
[[ 9.95457005e-01  9.52121401e-02  0.00000000e+00  1.99473860e+02]
 [-9.52121401e-02  9.95457005e-01  0.00000000e+00 -1.06455019e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.53, Y:-10.65, Z:0.00
[[ 9.95352681e-01  9.62966265e-02  0.00000000e+00  1.99533509e+02]
 [-9.62966265e-02  9.95352681e-01  0.00000000e+00 -1.06524417e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.59, Y:-10.66, Z:0.00
[[ 9.94495052e-01  1.04783546e-01  0.00000000e+00  1.99591819e+02]
 [-1.04783546e-01  9.94495052e-01  0.00000000e+00 -1.06637898e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.65, Y:-10.68, Z:0.00
[[ 9.93926324e-01  1.10047551e-01  0.00000000e+00  1.99649392e+02]
 [-1.10047551e-01  9.93926324e-01  0.00000000e+00 -1.06751669e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.71, Y:-10.69, Z:0.00
[[ 9.93684664e-01  1.12208684e-01  0.00000000e+00  1.99708075e+02]
 [-1.12208684e-01  9.93684664e-01  0.00000000e+00 -1.06889667e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.77, Y:-10.70, Z:0.00
[[ 9.93674438e-01  1.12299205e-01  0.00000000e+00  1.99765735e+02]
 [-1.12299205e-01  9.93674438e-01  0.00000000e+00 -1.07048665e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.82, Y:-10.73, Z:0.00
[[ 9.94144485e-01  1.08058976e-01  0.00000000e+00  1.99821160e+02]
 [-1.08058976e-01  9.94144485e-01  0.00000000e+00 -1.07304677e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.88, Y:-10.75, Z:0.00
[[ 9.95166877e-01  9.81982050e-02  0.00000000e+00  1.99879406e+02]
 [-9.81982050e-02  9.95166877e-01  0.00000000e+00 -1.07501946e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:199.94, Y:-10.77, Z:0.00
[[ 9.96942782e-01  7.81350676e-02  0.00000000e+00  1.99937828e+02]
 [-7.81350676e-02  9.96942782e-01  0.00000000e+00 -1.07732776e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.00, Y:-10.79, Z:0.00
[[ 9.97662211e-01  6.83382217e-02  0.00000000e+00  1.99997384e+02]
 [-6.83382217e-02  9.97662211e-01  0.00000000e+00 -1.07858340e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.06, Y:-10.80, Z:0.00
[[ 9.97799441e-01  6.63044151e-02  0.00000000e+00  2.00055198e+02]
 [-6.63044151e-02  9.97799441e-01  0.00000000e+00 -1.08012661e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.11, Y:-10.80, Z:0.00
[[ 9.97592232e-01  6.93522764e-02  0.00000000e+00  2.00114042e+02]
 [-6.93522764e-02  9.97592232e-01  0.00000000e+00 -1.08028578e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.17, Y:-10.80, Z:0.00
[[ 9.96675123e-01  8.14782136e-02  0.00000000e+00  2.00173985e+02]
 [-8.14782136e-02  9.96675123e-01  0.00000000e+00 -1.08029249e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.23, Y:-10.81, Z:0.00
[[ 9.95609966e-01  9.35991264e-02  0.00000000e+00  2.00232395e+02]
 [-9.35991264e-02  9.95609966e-01  0.00000000e+00 -1.08072017e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.29, Y:-10.82, Z:0.00
[[ 9.94264824e-01  1.06946058e-01  0.00000000e+00  2.00290045e+02]
 [-1.06946058e-01  9.94264824e-01  0.00000000e+00 -1.08172603e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.35, Y:-10.83, Z:0.00
[[ 9.93801800e-01  1.11166458e-01  0.00000000e+00  2.00348477e+02]
 [-1.11166458e-01  9.93801800e-01  0.00000000e+00 -1.08283005e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 198.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.41, Y:-10.85, Z:0.00
[[ 9.93489588e-01  1.13922948e-01  0.00000000e+00  2.00405601e+02]
 [-1.13922948e-01  9.93489588e-01  0.00000000e+00 -1.08513536e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.46, Y:-10.87, Z:0.00
[[ 9.92925440e-01  1.18739508e-01  0.00000000e+00  2.00464434e+02]
 [-1.18739508e-01  9.92925440e-01  0.00000000e+00 -1.08715326e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.52, Y:-10.90, Z:0.00
[[ 9.92171341e-01  1.24884063e-01  0.00000000e+00  2.00522692e+02]
 [-1.24884063e-01  9.92171341e-01  0.00000000e+00 -1.08950072e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.58, Y:-10.92, Z:0.00
[[ 9.91371036e-01  1.31085732e-01  0.00000000e+00  2.00582281e+02]
 [-1.31085732e-01  9.91371036e-01  0.00000000e+00 -1.09203408e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.64, Y:-10.94, Z:0.00
[[ 9.91079620e-01  1.33271106e-01  0.00000000e+00  2.00642623e+02]
 [-1.33271106e-01  9.91079620e-01  0.00000000e+00 -1.09406639e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.70, Y:-10.95, Z:0.00
[[ 9.90891809e-01  1.34660396e-01  0.00000000e+00  2.00701875e+02]
 [-1.34660396e-01  9.90891809e-01  0.00000000e+00 -1.09539047e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.76, Y:-10.98, Z:0.00
[[ 9.90804665e-01  1.35300095e-01  0.00000000e+00  2.00759535e+02]
 [-1.35300095e-01  9.90804665e-01  0.00000000e+00 -1.09830282e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.82, Y:-11.00, Z:0.00
[[ 9.91100803e-01  1.33113482e-01  0.00000000e+00  2.00819825e+02]
 [-1.33113482e-01  9.91100803e-01  0.00000000e+00 -1.10040292e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.88, Y:-11.04, Z:0.00
[[ 9.92454068e-01  1.22616974e-01  0.00000000e+00  2.00877475e+02]
 [-1.22616974e-01  9.92454068e-01  0.00000000e+00 -1.10365558e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:200.94, Y:-11.06, Z:0.00
[[ 9.93898488e-01  1.10298662e-01  0.00000000e+00  2.00936605e+02]
 [-1.10298662e-01  9.93898488e-01  0.00000000e+00 -1.10593699e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.00, Y:-11.09, Z:0.00
[[ 9.95826693e-01  9.12644351e-02  0.00000000e+00  2.00995850e+02]
 [-9.12644351e-02  9.95826693e-01  0.00000000e+00 -1.10869480e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.05, Y:-11.10, Z:0.00
[[ 9.96662494e-01  8.16325464e-02  0.00000000e+00  2.01054777e+02]
 [-8.16325464e-02  9.96662494e-01  0.00000000e+00 -1.11016808e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.12, Y:-11.11, Z:0.00
[[ 9.97166195e-01  7.52301823e-02  0.00000000e+00  2.01116271e+02]
 [-7.52301823e-02  9.97166195e-01  0.00000000e+00 -1.11148052e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.18, Y:-11.12, Z:0.00
[[ 9.97358002e-01  7.26430779e-02  0.00000000e+00  2.01176401e+02]
 [-7.26430779e-02  9.97358002e-01  0.00000000e+00 -1.11196189e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.24, Y:-11.12, Z:0.00
[[ 9.97744319e-01  6.71287924e-02  0.00000000e+00  2.01236771e+02]
 [-6.71287924e-02  9.97744319e-01  0.00000000e+00 -1.11219708e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.30, Y:-11.12, Z:0.00
[[ 9.97986849e-01  6.34212084e-02  0.00000000e+00  2.01297387e+02]
 [-6.34212084e-02  9.97986849e-01  0.00000000e+00 -1.11219268e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.36, Y:-11.11, Z:0.00
[[ 9.98213236e-01  5.97522840e-02  0.00000000e+00  2.01359368e+02]
 [-5.97522840e-02  9.98213236e-01  0.00000000e+00 -1.11132270e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 199.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.42, Y:-11.11, Z:0.00
[[ 9.98437244e-01  5.58844314e-02  0.00000000e+00  2.01421974e+02]
 [-5.58844314e-02  9.98437244e-01  0.00000000e+00 -1.11088342e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.48, Y:-11.10, Z:0.00
[[ 9.98835546e-01  4.82447133e-02  0.00000000e+00  2.01482845e+02]
 [-4.82447133e-02  9.98835546e-01  0.00000000e+00 -1.10984607e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.55, Y:-11.08, Z:0.00
[[ 9.98984711e-01  4.50504948e-02  0.00000000e+00  2.01545358e+02]
 [-4.50504948e-02  9.98984711e-01  0.00000000e+00 -1.10833954e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.61, Y:-11.07, Z:0.00
[[ 9.98865592e-01  4.76185720e-02  0.00000000e+00  2.01607517e+02]
 [-4.76185720e-02  9.98865592e-01  0.00000000e+00 -1.10741742e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.67, Y:-11.07, Z:0.00
[[ 9.98719762e-01  5.05849577e-02  0.00000000e+00  2.01668265e+02]
 [-5.05849577e-02  9.98719762e-01  0.00000000e+00 -1.10651272e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.73, Y:-11.05, Z:0.00
[[ 9.98199660e-01  5.99786513e-02  0.00000000e+00  2.01730765e+02]
 [-5.99786513e-02  9.98199660e-01  0.00000000e+00 -1.10517085e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.79, Y:-11.03, Z:0.00
[[ 9.97361323e-01  7.25974589e-02  0.00000000e+00  2.01792916e+02]
 [-7.25974589e-02  9.97361323e-01  0.00000000e+00 -1.10331312e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.85, Y:-11.03, Z:0.00
[[ 9.96424552e-01  8.44873511e-02  0.00000000e+00  2.01854418e+02]
 [-8.44873511e-02  9.96424552e-01  0.00000000e+00 -1.10278672e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.92, Y:-11.02, Z:0.00
[[ 9.94752991e-01  1.02305853e-01  0.00000000e+00  2.01915917e+02]
 [-1.02305853e-01  9.94752991e-01  0.00000000e+00 -1.10210220e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:201.98, Y:-11.02, Z:0.00
[[ 9.93716602e-01  1.11925492e-01  0.00000000e+00  2.01976498e+02]
 [-1.11925492e-01  9.93716602e-01  0.00000000e+00 -1.10180906e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.04, Y:-11.02, Z:0.00
[[ 9.93218870e-01  1.16259524e-01  0.00000000e+00  2.02035610e+02]
 [-1.16259524e-01  9.93218870e-01  0.00000000e+00 -1.10215480e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.10, Y:-11.03, Z:0.00
[[ 9.93887990e-01  1.10393220e-01  0.00000000e+00  2.02095424e+02]
 [-1.10393220e-01  9.93887990e-01  0.00000000e+00 -1.10349173e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.16, Y:-11.05, Z:0.00
[[ 9.95662723e-01  9.30362435e-02  0.00000000e+00  2.02155848e+02]
 [-9.30362435e-02  9.95662723e-01  0.00000000e+00 -1.10478746e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.21, Y:-11.07, Z:0.00
[[ 9.97264115e-01  7.39207959e-02  0.00000000e+00  2.02213650e+02]
 [-7.39207959e-02  9.97264115e-01  0.00000000e+00 -1.10684128e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.27, Y:-11.08, Z:0.00
[[ 9.97969522e-01  6.36932758e-02  0.00000000e+00  2.02273574e+02]
 [-6.36932758e-02  9.97969522e-01  0.00000000e+00 -1.10787925e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.34, Y:-11.09, Z:0.00
[[ 9.98101970e-01  6.15829247e-02  0.00000000e+00  2.02335083e+02]
 [-6.15829247e-02  9.98101970e-01  0.00000000e+00 -1.10922138e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 200.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.40, Y:-11.10, Z:0.00
[[ 9.97995375e-01  6.32869050e-02  0.00000000e+00  2.02395778e+02]
 [-6.32869050e-02  9.97995375e-01  0.00000000e+00 -1.11007094e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.46, Y:-11.10, Z:0.00
[[ 9.97819692e-01  6.59989602e-02  0.00000000e+00  2.02457834e+02]
 [-6.59989602e-02  9.97819692e-01  0.00000000e+00 -1.11040433e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.52, Y:-11.11, Z:0.00
[[ 9.97957209e-01  6.38859014e-02  0.00000000e+00  2.02518200e+02]
 [-6.38859014e-02  9.97957209e-01  0.00000000e+00 -1.11146697e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.58, Y:-11.12, Z:0.00
[[ 9.98186723e-01  6.01935660e-02  0.00000000e+00  2.02579613e+02]
 [-6.01935660e-02  9.98186723e-01  0.00000000e+00 -1.11204861e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.64, Y:-11.12, Z:0.00
[[ 9.98557130e-01  5.36997017e-02  0.00000000e+00  2.02639014e+02]
 [-5.36997017e-02  9.98557130e-01  0.00000000e+00 -1.11242975e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.70, Y:-11.13, Z:0.00
[[ 9.98711245e-01  5.07528196e-02  0.00000000e+00  2.02700643e+02]
 [-5.07528196e-02  9.98711245e-01  0.00000000e+00 -1.11253061e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.76, Y:-11.13, Z:0.00
[[ 9.98528796e-01  5.42240185e-02  0.00000000e+00  2.02760493e+02]
 [-5.42240185e-02  9.98528796e-01  0.00000000e+00 -1.11272369e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.82, Y:-11.12, Z:0.00
[[ 9.97897827e-01  6.48068422e-02  0.00000000e+00  2.02821741e+02]
 [-6.48068422e-02  9.97897827e-01  0.00000000e+00 -1.11220825e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.88, Y:-11.12, Z:0.00
[[ 9.97642786e-01  6.86212229e-02  0.00000000e+00  2.02881763e+02]
 [-6.86212229e-02  9.97642786e-01  0.00000000e+00 -1.11193522e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:202.94, Y:-11.12, Z:0.00
[[ 9.98007920e-01  6.30887640e-02  0.00000000e+00  2.02941747e+02]
 [-6.30887640e-02  9.98007920e-01  0.00000000e+00 -1.11207557e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.00, Y:-11.12, Z:0.00
[[ 9.98900972e-01  4.68705375e-02  0.00000000e+00  2.03002313e+02]
 [-4.68705375e-02  9.98900972e-01  0.00000000e+00 -1.11192956e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.06, Y:-11.12, Z:0.00
[[ 9.99141457e-01  4.14288327e-02  0.00000000e+00  2.03061216e+02]
 [-4.14288327e-02  9.99141457e-01  0.00000000e+00 -1.11247793e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.12, Y:-11.12, Z:0.00
[[ 9.99346236e-01  3.61538496e-02  0.00000000e+00  2.03122474e+02]
 [-3.61538496e-02  9.99346236e-01  0.00000000e+00 -1.11233651e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.18, Y:-11.12, Z:0.00
[[ 9.99480555e-01  3.22276227e-02  0.00000000e+00  2.03183530e+02]
 [-3.22276227e-02  9.99480555e-01  0.00000000e+00 -1.11159195e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.24, Y:-11.12, Z:0.00
[[ 9.99420598e-01  3.40362777e-02  0.00000000e+00  2.03242973e+02]
 [-3.40362777e-02  9.99420598e-01  0.00000000e+00 -1.11175970e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.30, Y:-11.10, Z:0.00
[[ 9.99437250e-01  3.35437539e-02  0.00000000e+00  2.03302852e+02]
 [-3.35437539e-02  9.99437250e-01  0.00000000e+00 -1.11047043e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.36, Y:-11.09, Z:0.00
[[ 9.99410876e-01  3.43205728e-02  0.00000000e+00  2.03361773e+02]
 [-3.43205728e-02  9.99410876e-01  0.00000000e+00 -1.10925481e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 201.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.42, Y:-11.09, Z:0.00
[[ 9.99126813e-01  4.17805173e-02  0.00000000e+00  2.03423374e+02]
 [-4.17805173e-02  9.99126813e-01  0.00000000e+00 -1.10873171e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.48, Y:-11.07, Z:0.00
[[ 9.98584414e-01  5.31899278e-02  0.00000000e+00  2.03484940e+02]
 [-5.31899278e-02  9.98584414e-01  0.00000000e+00 -1.10712601e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.55, Y:-11.07, Z:0.00
[[ 9.97950450e-01  6.39913963e-02  0.00000000e+00  2.03545975e+02]
 [-6.39913963e-02  9.97950450e-01  0.00000000e+00 -1.10674800e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.61, Y:-11.06, Z:0.00
[[ 9.96845508e-01  7.93664463e-02  0.00000000e+00  2.03606882e+02]
 [-7.93664463e-02  9.96845508e-01  0.00000000e+00 -1.10614127e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.67, Y:-11.06, Z:0.00
[[ 9.96111708e-01  8.80991734e-02  0.00000000e+00  2.03667605e+02]
 [-8.80991734e-02  9.96111708e-01  0.00000000e+00 -1.10576051e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.73, Y:-11.06, Z:0.00
[[ 9.95838292e-01  9.11377851e-02  0.00000000e+00  2.03726783e+02]
 [-9.11377851e-02  9.95838292e-01  0.00000000e+00 -1.10634373e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.78, Y:-11.07, Z:0.00
[[ 9.95682874e-01  9.28203306e-02  0.00000000e+00  2.03783572e+02]
 [-9.28203306e-02  9.95682874e-01  0.00000000e+00 -1.10726545e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.84, Y:-11.09, Z:0.00
[[ 9.96207575e-01  8.70084295e-02  0.00000000e+00  2.03842120e+02]
 [-8.70084295e-02  9.96207575e-01  0.00000000e+00 -1.10882214e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.90, Y:-11.10, Z:0.00
[[ 9.96470725e-01  8.39410161e-02  0.00000000e+00  2.03899321e+02]
 [-8.39410161e-02  9.96470725e-01  0.00000000e+00 -1.11011786e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:203.96, Y:-11.11, Z:0.00
[[ 9.96878966e-01  7.89450846e-02  0.00000000e+00  2.03956915e+02]
 [-7.89450846e-02  9.96878966e-01  0.00000000e+00 -1.11142225e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.01, Y:-11.13, Z:0.00
[[ 9.97127097e-01  7.57466391e-02  0.00000000e+00  2.04013522e+02]
 [-7.57466391e-02  9.97127097e-01  0.00000000e+00 -1.11349384e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.07, Y:-11.14, Z:0.00
[[ 9.97144225e-01  7.55208170e-02  0.00000000e+00  2.04072617e+02]
 [-7.55208170e-02  9.97144225e-01  0.00000000e+00 -1.11442596e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.13, Y:-11.15, Z:0.00
[[ 9.97073507e-01  7.64488229e-02  0.00000000e+00  2.04132235e+02]
 [-7.64488229e-02  9.97073507e-01  0.00000000e+00 -1.11536059e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.19, Y:-11.17, Z:0.00
[[ 9.96991500e-01  7.75109556e-02  0.00000000e+00  2.04189772e+02]
 [-7.75109556e-02  9.96991500e-01  0.00000000e+00 -1.11662927e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.25, Y:-11.17, Z:0.00
[[ 9.96458233e-01  8.40891841e-02  0.00000000e+00  2.04249939e+02]
 [-8.40891841e-02  9.96458233e-01  0.00000000e+00 -1.11737508e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.31, Y:-11.18, Z:0.00
[[ 9.96218991e-01  8.68776277e-02  0.00000000e+00  2.04307797e+02]
 [-8.68776277e-02  9.96218991e-01  0.00000000e+00 -1.11830652e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.37, Y:-11.19, Z:0.00
[[ 9.96411581e-01  8.46401922e-02  0.00000000e+00  2.04366084e+02]
 [-8.46401922e-02  9.96411581e-01  0.00000000e+00 -1.11948589e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 202.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.42, Y:-11.21, Z:0.00
[[ 9.96790563e-01  8.00535660e-02  0.00000000e+00  2.04424132e+02]
 [-8.00535660e-02  9.96790563e-01  0.00000000e+00 -1.12071796e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.48, Y:-11.22, Z:0.00
[[ 9.97054326e-01  7.66985715e-02  0.00000000e+00  2.04483858e+02]
 [-7.66985715e-02  9.97054326e-01  0.00000000e+00 -1.12172898e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.54, Y:-11.22, Z:0.00
[[ 9.97194971e-01  7.48477791e-02  0.00000000e+00  2.04541149e+02]
 [-7.48477791e-02  9.97194971e-01  0.00000000e+00 -1.12241525e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.60, Y:-11.23, Z:0.00
[[ 9.97389914e-01  7.22035960e-02  0.00000000e+00  2.04600411e+02]
 [-7.22035960e-02  9.97389914e-01  0.00000000e+00 -1.12345977e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.66, Y:-11.24, Z:0.00
[[ 9.97674890e-01  6.81528783e-02  0.00000000e+00  2.04660094e+02]
 [-6.81528783e-02  9.97674890e-01  0.00000000e+00 -1.12390869e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.72, Y:-11.24, Z:0.00
[[ 9.97955392e-01  6.39142821e-02  0.00000000e+00  2.04719216e+02]
 [-6.39142821e-02  9.97955392e-01  0.00000000e+00 -1.12427888e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.78, Y:-11.25, Z:0.00
[[ 9.98515058e-01  5.44764081e-02  0.00000000e+00  2.04779240e+02]
 [-5.44764081e-02  9.98515058e-01  0.00000000e+00 -1.12489443e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.84, Y:-11.25, Z:0.00
[[ 9.98640851e-01  5.21195763e-02  0.00000000e+00  2.04837571e+02]
 [-5.21195763e-02  9.98640851e-01  0.00000000e+00 -1.12480472e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.90, Y:-11.25, Z:0.00
[[ 9.98549470e-01  5.38419520e-02  0.00000000e+00  2.04897229e+02]
 [-5.38419520e-02  9.98549470e-01  0.00000000e+00 -1.12496861e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:204.96, Y:-11.25, Z:0.00
[[ 9.98212845e-01  5.97588198e-02  0.00000000e+00  2.04957869e+02]
 [-5.97588198e-02  9.98212845e-01  0.00000000e+00 -1.12484757e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.02, Y:-11.24, Z:0.00
[[ 9.98203101e-01  5.99213585e-02  0.00000000e+00  2.05016281e+02]
 [-5.99213585e-02  9.98203101e-01  0.00000000e+00 -1.12447683e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.08, Y:-11.25, Z:0.00
[[ 9.98441122e-01  5.58151026e-02  0.00000000e+00  2.05076300e+02]
 [-5.58151026e-02  9.98441122e-01  0.00000000e+00 -1.12464444e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.14, Y:-11.24, Z:0.00
[[ 9.98877872e-01  4.73602949e-02  0.00000000e+00  2.05137376e+02]
 [-4.73602949e-02  9.98877872e-01  0.00000000e+00 -1.12421695e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.20, Y:-11.24, Z:0.00
[[ 9.99153588e-01  4.11352334e-02  0.00000000e+00  2.05199052e+02]
 [-4.11352334e-02  9.99153588e-01  0.00000000e+00 -1.12359025e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.26, Y:-11.23, Z:0.00
[[ 9.99120518e-01  4.19307879e-02  0.00000000e+00  2.05259100e+02]
 [-4.19307879e-02  9.99120518e-01  0.00000000e+00 -1.12307620e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.32, Y:-11.22, Z:0.00
[[ 9.98810581e-01  4.87588314e-02  0.00000000e+00  2.05320691e+02]
 [-4.87588314e-02  9.98810581e-01  0.00000000e+00 -1.12178885e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 203.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.38, Y:-11.21, Z:0.00
[[ 9.98259619e-01  5.89723149e-02  0.00000000e+00  2.05381337e+02]
 [-5.89723149e-02  9.98259619e-01  0.00000000e+00 -1.12144726e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.44, Y:-11.20, Z:0.00
[[ 9.96902909e-01  7.86421610e-02  0.00000000e+00  2.05442249e+02]
 [-7.86421610e-02  9.96902909e-01  0.00000000e+00 -1.12049789e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.50, Y:-11.20, Z:0.00
[[ 9.95452555e-01  9.52586509e-02  0.00000000e+00  2.05503816e+02]
 [-9.52586509e-02  9.95452555e-01  0.00000000e+00 -1.11987139e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.56, Y:-11.21, Z:0.00
[[ 9.94332638e-01  1.06313711e-01  0.00000000e+00  2.05562826e+02]
 [-1.06313711e-01  9.94332638e-01  0.00000000e+00 -1.12053878e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.62, Y:-11.22, Z:0.00
[[ 9.94081457e-01  1.08637267e-01  0.00000000e+00  2.05620555e+02]
 [-1.08637267e-01  9.94081457e-01  0.00000000e+00 -1.12151389e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.68, Y:-11.23, Z:0.00
[[ 9.93810445e-01  1.11089149e-01  0.00000000e+00  2.05678230e+02]
 [-1.11089149e-01  9.93810445e-01  0.00000000e+00 -1.12326117e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.74, Y:-11.25, Z:0.00
[[ 9.94201337e-01  1.07534654e-01  0.00000000e+00  2.05735592e+02]
 [-1.07534654e-01  9.94201337e-01  0.00000000e+00 -1.12532149e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.79, Y:-11.28, Z:0.00
[[ 9.95177979e-01  9.80856309e-02  0.00000000e+00  2.05792080e+02]
 [-9.80856309e-02  9.95177979e-01  0.00000000e+00 -1.12793492e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.85, Y:-11.30, Z:0.00
[[ 9.96035367e-01  8.89581260e-02  0.00000000e+00  2.05849016e+02]
 [-8.89581260e-02  9.96035367e-01  0.00000000e+00 -1.12979006e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.91, Y:-11.32, Z:0.00
[[ 9.97814233e-01  6.60814339e-02  0.00000000e+00  2.05908068e+02]
 [-6.60814339e-02  9.97814233e-01  0.00000000e+00 -1.13169828e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:205.97, Y:-11.34, Z:0.00
[[ 9.98885132e-01  4.72069261e-02  0.00000000e+00  2.05966875e+02]
 [-4.72069261e-02  9.98885132e-01  0.00000000e+00 -1.13368797e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.03, Y:-11.35, Z:0.00
[[ 9.99174520e-01  4.06236205e-02  0.00000000e+00  2.06026123e+02]
 [-4.06236205e-02  9.99174520e-01  0.00000000e+00 -1.13466556e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.09, Y:-11.35, Z:0.00
[[ 9.98624276e-01  5.24362081e-02  0.00000000e+00  2.06086043e+02]
 [-5.24362081e-02  9.98624276e-01  0.00000000e+00 -1.13517102e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.15, Y:-11.36, Z:0.00
[[ 9.98355204e-01  5.73313793e-02  0.00000000e+00  2.06145888e+02]
 [-5.73313793e-02  9.98355204e-01  0.00000000e+00 -1.13577747e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.20, Y:-11.36, Z:0.00
[[ 9.98273773e-01  5.87322277e-02  0.00000000e+00  2.06204539e+02]
 [-5.87322277e-02  9.98273773e-01  0.00000000e+00 -1.13591112e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.27, Y:-11.36, Z:0.00
[[ 9.98548599e-01  5.38581079e-02  0.00000000e+00  2.06265166e+02]
 [-5.38581079e-02  9.98548599e-01  0.00000000e+00 -1.13622464e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.33, Y:-11.36, Z:0.00
[[ 9.98721919e-01  5.05423405e-02  0.00000000e+00  2.06326230e+02]
 [-5.05423405e-02  9.98721919e-01  0.00000000e+00 -1.13597486e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 204.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.38, Y:-11.36, Z:0.00
[[ 9.98792445e-01  4.91289326e-02  0.00000000e+00  2.06384870e+02]
 [-4.91289326e-02  9.98792445e-01  0.00000000e+00 -1.13632247e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.45, Y:-11.36, Z:0.00
[[ 9.98952257e-01  4.57644768e-02  0.00000000e+00  2.06445587e+02]
 [-4.57644768e-02  9.98952257e-01  0.00000000e+00 -1.13592332e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.51, Y:-11.35, Z:0.00
[[ 9.99032716e-01  4.39730796e-02  0.00000000e+00  2.06506115e+02]
 [-4.39730796e-02  9.99032716e-01  0.00000000e+00 -1.13499989e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.57, Y:-11.35, Z:0.00
[[ 9.99122803e-01  4.18763060e-02  0.00000000e+00  2.06566445e+02]
 [-4.18763060e-02  9.99122803e-01  0.00000000e+00 -1.13462499e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.63, Y:-11.34, Z:0.00
[[ 9.99338841e-01  3.63576741e-02  0.00000000e+00  2.06627649e+02]
 [-3.63576741e-02  9.99338841e-01  0.00000000e+00 -1.13397755e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.69, Y:-11.33, Z:0.00
[[ 9.99440066e-01  3.34597308e-02  0.00000000e+00  2.06688452e+02]
 [-3.34597308e-02  9.99440066e-01  0.00000000e+00 -1.13348865e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.75, Y:-11.33, Z:0.00
[[ 9.99388740e-01  3.49592174e-02  0.00000000e+00  2.06749136e+02]
 [-3.49592174e-02  9.99388740e-01  0.00000000e+00 -1.13254707e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.81, Y:-11.32, Z:0.00
[[ 9.99287946e-01  3.77306381e-02  0.00000000e+00  2.06810089e+02]
 [-3.77306381e-02  9.99287946e-01  0.00000000e+00 -1.13211128e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.87, Y:-11.32, Z:0.00
[[ 9.99346000e-01  3.61603611e-02  0.00000000e+00  2.06870069e+02]
 [-3.61603611e-02  9.99346000e-01  0.00000000e+00 -1.13166999e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.93, Y:-11.30, Z:0.00
[[ 9.99538247e-01  3.03857371e-02  0.00000000e+00  2.06931795e+02]
 [-3.03857371e-02  9.99538247e-01  0.00000000e+00 -1.13049831e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:206.99, Y:-11.30, Z:0.00
[[ 9.99753462e-01  2.22039454e-02  0.00000000e+00  2.06992188e+02]
 [-2.22039454e-02  9.99753462e-01  0.00000000e+00 -1.12952090e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.05, Y:-11.29, Z:0.00
[[ 9.99792087e-01  2.03907364e-02  0.00000000e+00  2.07053502e+02]
 [-2.03907364e-02  9.99792087e-01  0.00000000e+00 -1.12906158e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.11, Y:-11.28, Z:0.00
[[ 9.99805880e-01  1.97028750e-02  0.00000000e+00  2.07112517e+02]
 [-1.97028750e-02  9.99805880e-01  0.00000000e+00 -1.12810498e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.17, Y:-11.27, Z:0.00
[[ 9.99646210e-01  2.65980262e-02  0.00000000e+00  2.07174634e+02]
 [-2.65980262e-02  9.99646210e-01  0.00000000e+00 -1.12695414e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.24, Y:-11.27, Z:0.00
[[ 9.99572703e-01  2.92303295e-02  0.00000000e+00  2.07236018e+02]
 [-2.92303295e-02  9.99572703e-01  0.00000000e+00 -1.12662371e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.30, Y:-11.26, Z:0.00
[[ 9.99473529e-01  3.24447898e-02  0.00000000e+00  2.07297240e+02]
 [-3.24447898e-02  9.99473529e-01  0.00000000e+00 -1.12573008e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.36, Y:-11.26, Z:0.00
[[ 9.99533891e-01  3.05287017e-02  0.00000000e+00  2.07356745e+02]
 [-3.05287017e-02  9.99533891e-01  0.00000000e+00 -1.12579278e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 205.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.42, Y:-11.26, Z:0.00
[[ 9.99640853e-01  2.67985843e-02  0.00000000e+00  2.07417220e+02]
 [-2.67985843e-02  9.99640853e-01  0.00000000e+00 -1.12557950e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.48, Y:-11.25, Z:0.00
[[ 9.99690643e-01  2.48720277e-02  0.00000000e+00  2.07478101e+02]
 [-2.48720277e-02  9.99690643e-01  0.00000000e+00 -1.12493770e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.54, Y:-11.25, Z:0.00
[[ 9.99757579e-01  2.20177898e-02  0.00000000e+00  2.07538861e+02]
 [-2.20177898e-02  9.99757579e-01  0.00000000e+00 -1.12478232e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.60, Y:-11.25, Z:0.00
[[ 9.99777418e-01  2.10977417e-02  0.00000000e+00  2.07599525e+02]
 [-2.10977417e-02  9.99777418e-01  0.00000000e+00 -1.12506340e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.66, Y:-11.24, Z:0.00
[[ 9.99759657e-01  2.19232496e-02  0.00000000e+00  2.07659577e+02]
 [-2.19232496e-02  9.99759657e-01  0.00000000e+00 -1.12449547e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.72, Y:-11.25, Z:0.00
[[ 9.99755625e-01  2.21063213e-02  0.00000000e+00  2.07717772e+02]
 [-2.21063213e-02  9.99755625e-01  0.00000000e+00 -1.12460543e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.78, Y:-11.25, Z:0.00
[[ 9.99603804e-01  2.81466623e-02  0.00000000e+00  2.07779055e+02]
 [-2.81466623e-02  9.99603804e-01  0.00000000e+00 -1.12456200e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.84, Y:-11.25, Z:0.00
[[ 9.99324804e-01  3.67414700e-02  0.00000000e+00  2.07839990e+02]
 [-3.67414700e-02  9.99324804e-01  0.00000000e+00 -1.12463533e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.90, Y:-11.25, Z:0.00
[[ 9.99135356e-01  4.15757160e-02  0.00000000e+00  2.07899572e+02]
 [-4.15757160e-02  9.99135356e-01  0.00000000e+00 -1.12500905e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:207.96, Y:-11.26, Z:0.00
[[ 9.98743692e-01  5.01102531e-02  0.00000000e+00  2.07958761e+02]
 [-5.01102531e-02  9.98743692e-01  0.00000000e+00 -1.12562107e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.02, Y:-11.26, Z:0.00
[[ 9.97982499e-01  6.34896132e-02  0.00000000e+00  2.08019124e+02]
 [-6.34896132e-02  9.97982499e-01  0.00000000e+00 -1.12621473e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.08, Y:-11.27, Z:0.00
[[ 9.97128870e-01  7.57232891e-02  0.00000000e+00  2.08077666e+02]
 [-7.57232891e-02  9.97128870e-01  0.00000000e+00 -1.12687990e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.13, Y:-11.28, Z:0.00
[[ 9.96805336e-01  7.98694031e-02  0.00000000e+00  2.08134755e+02]
 [-7.98694031e-02  9.96805336e-01  0.00000000e+00 -1.12772389e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.19, Y:-11.29, Z:0.00
[[ 9.96107388e-01  8.81480081e-02  0.00000000e+00  2.08193736e+02]
 [-8.81480081e-02  9.96107388e-01  0.00000000e+00 -1.12906511e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.25, Y:-11.31, Z:0.00
[[ 9.95277941e-01  9.70660614e-02  0.00000000e+00  2.08249138e+02]
 [-9.70660614e-02  9.95277941e-01  0.00000000e+00 -1.13060554e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.31, Y:-11.32, Z:0.00
[[ 9.95136572e-01  9.85048329e-02  0.00000000e+00  2.08307685e+02]
 [-9.85048329e-02  9.95136572e-01  0.00000000e+00 -1.13166619e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 206.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.36, Y:-11.34, Z:0.00
[[ 9.95477394e-01  9.49987270e-02  0.00000000e+00  2.08364452e+02]
 [-9.49987270e-02  9.95477394e-01  0.00000000e+00 -1.13433276e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.42, Y:-11.36, Z:0.00
[[ 9.96018222e-01  8.91498772e-02  0.00000000e+00  2.08422774e+02]
 [-8.91498772e-02  9.96018222e-01  0.00000000e+00 -1.13614512e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.48, Y:-11.39, Z:0.00
[[ 9.97446198e-01  7.14218605e-02  0.00000000e+00  2.08480050e+02]
 [-7.14218605e-02  9.97446198e-01  0.00000000e+00 -1.13904631e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.54, Y:-11.42, Z:0.00
[[ 9.98375191e-01  5.69822602e-02  0.00000000e+00  2.08537463e+02]
 [-5.69822602e-02  9.98375191e-01  0.00000000e+00 -1.14208303e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.60, Y:-11.44, Z:0.00
[[ 9.98746989e-01  5.00444976e-02  0.00000000e+00  2.08596248e+02]
 [-5.00444976e-02  9.98746989e-01  0.00000000e+00 -1.14356141e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.66, Y:-11.45, Z:0.00
[[ 9.99040941e-01  4.37858147e-02  0.00000000e+00  2.08655319e+02]
 [-4.37858147e-02  9.99040941e-01  0.00000000e+00 -1.14522269e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.71, Y:-11.46, Z:0.00
[[ 9.99137126e-01  4.15331622e-02  0.00000000e+00  2.08714121e+02]
 [-4.15331622e-02  9.99137126e-01  0.00000000e+00 -1.14618153e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.77, Y:-11.47, Z:0.00
[[ 9.99118746e-01  4.19729802e-02  0.00000000e+00  2.08771578e+02]
 [-4.19729802e-02  9.99118746e-01  0.00000000e+00 -1.14681241e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.83, Y:-11.47, Z:0.00
[[ 9.99126017e-01  4.17995364e-02  0.00000000e+00  2.08831056e+02]
 [-4.17995364e-02  9.99126017e-01  0.00000000e+00 -1.14693004e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.89, Y:-11.47, Z:0.00
[[ 9.99270998e-01  3.81768679e-02  0.00000000e+00  2.08891529e+02]
 [-3.81768679e-02  9.99270998e-01  0.00000000e+00 -1.14720453e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:208.95, Y:-11.47, Z:0.00
[[ 9.99383179e-01  3.51178104e-02  0.00000000e+00  2.08952529e+02]
 [-3.51178104e-02  9.99383179e-01  0.00000000e+00 -1.14735512e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.01, Y:-11.47, Z:0.00
[[ 9.99494771e-01  3.17836871e-02  0.00000000e+00  2.09012892e+02]
 [-3.17836871e-02  9.99494771e-01  0.00000000e+00 -1.14727114e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.07, Y:-11.47, Z:0.00
[[ 9.99310392e-01  3.71314054e-02  0.00000000e+00  2.09073542e+02]
 [-3.71314054e-02  9.99310392e-01  0.00000000e+00 -1.14680334e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.13, Y:-11.46, Z:0.00
[[ 9.98746617e-01  5.00519178e-02  0.00000000e+00  2.09134934e+02]
 [-5.00519178e-02  9.98746617e-01  0.00000000e+00 -1.14613121e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.20, Y:-11.46, Z:0.00
[[ 9.97969149e-01  6.36991153e-02  0.00000000e+00  2.09195953e+02]
 [-6.36991153e-02  9.97969149e-01  0.00000000e+00 -1.14625371e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.26, Y:-11.46, Z:0.00
[[ 9.97297666e-01  7.34667648e-02  0.00000000e+00  2.09255095e+02]
 [-7.34667648e-02  9.97297666e-01  0.00000000e+00 -1.14635161e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.31, Y:-11.47, Z:0.00
[[ 9.96479110e-01  8.38414158e-02  0.00000000e+00  2.09314772e+02]
 [-8.38414158e-02  9.96479110e-01  0.00000000e+00 -1.14668903e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 207.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.37, Y:-11.47, Z:0.00
[[ 9.96409393e-01  8.46659392e-02  0.00000000e+00  2.09374076e+02]
 [-8.46659392e-02  9.96409393e-01  0.00000000e+00 -1.14739515e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.43, Y:-11.48, Z:0.00
[[ 9.96154113e-01  8.76184007e-02  0.00000000e+00  2.09431407e+02]
 [-8.76184007e-02  9.96154113e-01  0.00000000e+00 -1.14842699e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.49, Y:-11.50, Z:0.00
[[ 9.96244002e-01  8.65903527e-02  0.00000000e+00  2.09489339e+02]
 [-8.65903527e-02  9.96244002e-01  0.00000000e+00 -1.14962549e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.55, Y:-11.51, Z:0.00
[[ 9.96943962e-01  7.81200124e-02  0.00000000e+00  2.09547513e+02]
 [-7.81200124e-02  9.96943962e-01  0.00000000e+00 -1.15099970e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.61, Y:-11.53, Z:0.00
[[ 9.97582709e-01  6.94891319e-02  0.00000000e+00  2.09607048e+02]
 [-6.94891319e-02  9.97582709e-01  0.00000000e+00 -1.15252276e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.67, Y:-11.54, Z:0.00
[[ 9.98491954e-01  5.48982582e-02  0.00000000e+00  2.09665941e+02]
 [-5.48982582e-02  9.98491954e-01  0.00000000e+00 -1.15429226e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.72, Y:-11.55, Z:0.00
[[ 9.99142167e-01  4.14117225e-02  0.00000000e+00  2.09724803e+02]
 [-4.14117225e-02  9.99142167e-01  0.00000000e+00 -1.15531716e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.78, Y:-11.56, Z:0.00
[[ 9.99343974e-01  3.62163040e-02  0.00000000e+00  2.09784071e+02]
 [-3.62163040e-02  9.99343974e-01  0.00000000e+00 -1.15633524e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.84, Y:-11.57, Z:0.00
[[ 9.99524466e-01  3.08357213e-02  0.00000000e+00  2.09843037e+02]
 [-3.08357213e-02  9.99524466e-01  0.00000000e+00 -1.15747254e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.90, Y:-11.58, Z:0.00
[[ 9.99587523e-01  2.87190450e-02  0.00000000e+00  2.09901925e+02]
 [-2.87190450e-02  9.99587523e-01  0.00000000e+00 -1.15804452e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:209.96, Y:-11.58, Z:0.00
[[ 9.99603182e-01  2.81687634e-02  0.00000000e+00  2.09961879e+02]
 [-2.81687634e-02  9.99603182e-01  0.00000000e+00 -1.15830501e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.02, Y:-11.59, Z:0.00
[[ 9.99610066e-01  2.79234051e-02  0.00000000e+00  2.10018954e+02]
 [-2.79234051e-02  9.99610066e-01  0.00000000e+00 -1.15861364e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.08, Y:-11.59, Z:0.00
[[ 9.99618156e-01  2.76322785e-02  0.00000000e+00  2.10078078e+02]
 [-2.76322785e-02  9.99618156e-01  0.00000000e+00 -1.15856168e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.14, Y:-11.59, Z:0.00
[[ 9.99601592e-01  2.82251224e-02  0.00000000e+00  2.10136765e+02]
 [-2.82251224e-02  9.99601592e-01  0.00000000e+00 -1.15887746e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.20, Y:-11.58, Z:0.00
[[ 9.99397730e-01  3.47012521e-02  0.00000000e+00  2.10196889e+02]
 [-3.47012521e-02  9.99397730e-01  0.00000000e+00 -1.15847821e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.26, Y:-11.58, Z:0.00
[[ 9.98929158e-01  4.62659346e-02  0.00000000e+00  2.10258024e+02]
 [-4.62659346e-02  9.98929158e-01  0.00000000e+00 -1.15790550e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.32, Y:-11.58, Z:0.00
[[ 9.98589220e-01  5.30996296e-02  0.00000000e+00  2.10318056e+02]
 [-5.30996296e-02  9.98589220e-01  0.00000000e+00 -1.15799011e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 208.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.38, Y:-11.58, Z:0.00
[[ 9.98189137e-01  6.01535330e-02  0.00000000e+00  2.10378837e+02]
 [-6.01535330e-02  9.98189137e-01  0.00000000e+00 -1.15790682e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.44, Y:-11.58, Z:0.00
[[ 9.97557719e-01  6.98469490e-02  0.00000000e+00  2.10438955e+02]
 [-6.98469490e-02  9.97557719e-01  0.00000000e+00 -1.15814786e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.50, Y:-11.59, Z:0.00
[[ 9.97086177e-01  7.62833850e-02  0.00000000e+00  2.10498434e+02]
 [-7.62833850e-02  9.97086177e-01  0.00000000e+00 -1.15863436e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.56, Y:-11.59, Z:0.00
[[ 9.97022177e-01  7.71153644e-02  0.00000000e+00  2.10556927e+02]
 [-7.71153644e-02  9.97022177e-01  0.00000000e+00 -1.15948354e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.62, Y:-11.60, Z:0.00
[[ 9.97058198e-01  7.66482264e-02  0.00000000e+00  2.10615172e+02]
 [-7.66482264e-02  9.97058198e-01  0.00000000e+00 -1.16047310e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.67, Y:-11.62, Z:0.00
[[ 9.97075442e-01  7.64235809e-02  0.00000000e+00  2.10672066e+02]
 [-7.64235809e-02  9.97075442e-01  0.00000000e+00 -1.16169555e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.73, Y:-11.63, Z:0.00
[[ 9.96945940e-01  7.80947733e-02  0.00000000e+00  2.10730001e+02]
 [-7.80947733e-02  9.96945940e-01  0.00000000e+00 -1.16290060e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.79, Y:-11.64, Z:0.00
[[ 9.97111610e-01  7.59502343e-02  0.00000000e+00  2.10789564e+02]
 [-7.59502343e-02  9.97111610e-01  0.00000000e+00 -1.16398750e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.85, Y:-11.65, Z:0.00
[[ 9.97254160e-01  7.40549808e-02  0.00000000e+00  2.10845785e+02]
 [-7.40549808e-02  9.97254160e-01  0.00000000e+00 -1.16546650e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.90, Y:-11.67, Z:0.00
[[ 9.97446244e-01  7.14212185e-02  0.00000000e+00  2.10903735e+02]
 [-7.14212185e-02  9.97446244e-01  0.00000000e+00 -1.16683154e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:210.96, Y:-11.68, Z:0.00
[[ 9.97811874e-01  6.61170437e-02  0.00000000e+00  2.10962973e+02]
 [-6.61170437e-02  9.97811874e-01  0.00000000e+00 -1.16841305e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.02, Y:-11.69, Z:0.00
[[ 9.98165147e-01  6.05502992e-02  0.00000000e+00  2.11021822e+02]
 [-6.05502992e-02  9.98165147e-01  0.00000000e+00 -1.16942024e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.08, Y:-11.71, Z:0.00
[[ 9.98829143e-01  4.83770959e-02  0.00000000e+00  2.11080513e+02]
 [-4.83770959e-02  9.98829143e-01  0.00000000e+00 -1.17115207e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.14, Y:-11.73, Z:0.00
[[ 9.99115353e-01  4.20536678e-02  0.00000000e+00  2.11138886e+02]
 [-4.20536678e-02  9.99115353e-01  0.00000000e+00 -1.17276762e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.20, Y:-11.73, Z:0.00
[[ 9.99116264e-01  4.20320288e-02  0.00000000e+00  2.11196151e+02]
 [-4.20320288e-02  9.99116264e-01  0.00000000e+00 -1.17341042e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.25, Y:-11.74, Z:0.00
[[ 9.99062777e-01  4.32847281e-02  0.00000000e+00  2.11254844e+02]
 [-4.32847281e-02  9.99062777e-01  0.00000000e+00 -1.17421255e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 209.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.32, Y:-11.75, Z:0.00
[[ 9.98959219e-01  4.56122749e-02  0.00000000e+00  2.11315407e+02]
 [-4.56122749e-02  9.98959219e-01  0.00000000e+00 -1.17476231e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.38, Y:-11.75, Z:0.00
[[ 9.98942758e-01  4.59713529e-02  0.00000000e+00  2.11375531e+02]
 [-4.59713529e-02  9.98942758e-01  0.00000000e+00 -1.17515258e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.44, Y:-11.75, Z:0.00
[[ 9.99226172e-01  3.93326575e-02  0.00000000e+00  2.11435699e+02]
 [-3.93326575e-02  9.99226172e-01  0.00000000e+00 -1.17505886e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.50, Y:-11.75, Z:0.00
[[ 9.99442104e-01  3.33988207e-02  0.00000000e+00  2.11495618e+02]
 [-3.33988207e-02  9.99442104e-01  0.00000000e+00 -1.17546007e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.56, Y:-11.75, Z:0.00
[[ 9.99503490e-01  3.15083083e-02  0.00000000e+00  2.11557091e+02]
 [-3.15083083e-02  9.99503490e-01  0.00000000e+00 -1.17515536e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.62, Y:-11.75, Z:0.00
[[ 9.99486315e-01  3.20484857e-02  0.00000000e+00  2.11615958e+02]
 [-3.20484857e-02  9.99486315e-01  0.00000000e+00 -1.17518341e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.68, Y:-11.75, Z:0.00
[[ 9.99112294e-01  4.21262943e-02  0.00000000e+00  2.11677340e+02]
 [-4.21262943e-02  9.99112294e-01  0.00000000e+00 -1.17494563e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.74, Y:-11.75, Z:0.00
[[ 9.98822956e-01  4.85046745e-02  0.00000000e+00  2.11738622e+02]
 [-4.85046745e-02  9.98822956e-01  0.00000000e+00 -1.17458815e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.80, Y:-11.75, Z:0.00
[[ 9.98653650e-01  5.18737682e-02  0.00000000e+00  2.11799061e+02]
 [-5.18737682e-02  9.98653650e-01  0.00000000e+00 -1.17451345e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.86, Y:-11.75, Z:0.00
[[ 9.98729832e-01  5.03857442e-02  0.00000000e+00  2.11858047e+02]
 [-5.03857442e-02  9.98729832e-01  0.00000000e+00 -1.17483895e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.92, Y:-11.75, Z:0.00
[[ 9.99177385e-01  4.05530898e-02  0.00000000e+00  2.11917866e+02]
 [-4.05530898e-02  9.99177385e-01  0.00000000e+00 -1.17499934e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:211.98, Y:-11.76, Z:0.00
[[ 9.99416340e-01  3.41610666e-02  0.00000000e+00  2.11977746e+02]
 [-3.41610666e-02  9.99416340e-01  0.00000000e+00 -1.17582758e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.04, Y:-11.76, Z:0.00
[[ 9.99490907e-01  3.19049710e-02  0.00000000e+00  2.12037067e+02]
 [-3.19049710e-02  9.99490907e-01  0.00000000e+00 -1.17565620e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.10, Y:-11.76, Z:0.00
[[ 9.99430527e-01  3.37434809e-02  0.00000000e+00  2.12097125e+02]
 [-3.37434809e-02  9.99430527e-01  0.00000000e+00 -1.17603136e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.16, Y:-11.76, Z:0.00
[[ 9.99082024e-01  4.28381814e-02  0.00000000e+00  2.12157837e+02]
 [-4.28381814e-02  9.99082024e-01  0.00000000e+00 -1.17605959e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.22, Y:-11.76, Z:0.00
[[ 9.98842606e-01  4.80983241e-02  0.00000000e+00  2.12217917e+02]
 [-4.80983241e-02  9.98842606e-01  0.00000000e+00 -1.17608435e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.28, Y:-11.76, Z:0.00
[[ 9.98405902e-01  5.64416084e-02  0.00000000e+00  2.12278788e+02]
 [-5.64416084e-02  9.98405902e-01  0.00000000e+00 -1.17607945e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 210.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.34, Y:-11.76, Z:0.00
[[ 9.97850207e-01  6.55359748e-02  0.00000000e+00  2.12339700e+02]
 [-6.55359748e-02  9.97850207e-01  0.00000000e+00 -1.17585767e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.40, Y:-11.76, Z:0.00
[[ 9.97599828e-01  6.92429270e-02  0.00000000e+00  2.12398156e+02]
 [-6.92429270e-02  9.97599828e-01  0.00000000e+00 -1.17649082e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.46, Y:-11.77, Z:0.00
[[ 9.97431730e-01  7.16236239e-02  0.00000000e+00  2.12456668e+02]
 [-7.16236239e-02  9.97431730e-01  0.00000000e+00 -1.17690847e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.51, Y:-11.77, Z:0.00
[[ 9.97397226e-01  7.21025232e-02  0.00000000e+00  2.12513751e+02]
 [-7.21025232e-02  9.97397226e-01  0.00000000e+00 -1.17745291e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.57, Y:-11.78, Z:0.00
[[ 9.97269531e-01  7.38477021e-02  0.00000000e+00  2.12572187e+02]
 [-7.38477021e-02  9.97269531e-01  0.00000000e+00 -1.17840193e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.63, Y:-11.79, Z:0.00
[[ 9.96864665e-01  7.91254626e-02  0.00000000e+00  2.12631783e+02]
 [-7.91254626e-02  9.96864665e-01  0.00000000e+00 -1.17901621e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.69, Y:-11.80, Z:0.00
[[ 9.96461336e-01  8.40524038e-02  0.00000000e+00  2.12690320e+02]
 [-8.40524038e-02  9.96461336e-01  0.00000000e+00 -1.17970027e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.75, Y:-11.80, Z:0.00
[[ 9.96532287e-01  8.32069757e-02  0.00000000e+00  2.12748766e+02]
 [-8.32069757e-02  9.96532287e-01  0.00000000e+00 -1.18040054e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.81, Y:-11.82, Z:0.00
[[ 9.96854264e-01  7.92563984e-02  0.00000000e+00  2.12805789e+02]
 [-7.92563984e-02  9.96854264e-01  0.00000000e+00 -1.18191132e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.86, Y:-11.83, Z:0.00
[[ 9.97148435e-01  7.54652134e-02  0.00000000e+00  2.12864212e+02]
 [-7.54652134e-02  9.97148435e-01  0.00000000e+00 -1.18287068e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.92, Y:-11.85, Z:0.00
[[ 9.97622568e-01  6.89145316e-02  0.00000000e+00  2.12922570e+02]
 [-6.89145316e-02  9.97622568e-01  0.00000000e+00 -1.18468988e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:212.98, Y:-11.86, Z:0.00
[[ 9.97722744e-01  6.74486977e-02  0.00000000e+00  2.12980806e+02]
 [-6.74486977e-02  9.97722744e-01  0.00000000e+00 -1.18624429e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.04, Y:-11.87, Z:0.00
[[ 9.97863485e-01  6.53334986e-02  0.00000000e+00  2.13037798e+02]
 [-6.53334986e-02  9.97863485e-01  0.00000000e+00 -1.18722312e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.10, Y:-11.88, Z:0.00
[[ 9.97826852e-01  6.58906182e-02  0.00000000e+00  2.13095334e+02]
 [-6.58906182e-02  9.97826852e-01  0.00000000e+00 -1.18837595e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.15, Y:-11.90, Z:0.00
[[ 9.98247738e-01  5.91730868e-02  0.00000000e+00  2.13153773e+02]
 [-5.91730868e-02  9.98247738e-01  0.00000000e+00 -1.18977156e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.21, Y:-11.91, Z:0.00
[[ 9.98619394e-01  5.25290898e-02  0.00000000e+00  2.13214106e+02]
 [-5.25290898e-02  9.98619394e-01  0.00000000e+00 -1.19060445e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.27, Y:-11.91, Z:0.00
[[ 9.98864807e-01  4.76350529e-02  0.00000000e+00  2.13273070e+02]
 [-4.76350529e-02  9.98864807e-01  0.00000000e+00 -1.19117406e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 211.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.33, Y:-11.92, Z:0.00
[[ 9.98853051e-01  4.78809124e-02  0.00000000e+00  2.13330719e+02]
 [-4.78809124e-02  9.98853051e-01  0.00000000e+00 -1.19207391e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.39, Y:-11.93, Z:0.00
[[ 9.98526991e-01  5.42572431e-02  0.00000000e+00  2.13389782e+02]
 [-5.42572431e-02  9.98526991e-01  0.00000000e+00 -1.19266511e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.45, Y:-11.93, Z:0.00
[[ 9.97723528e-01  6.74370905e-02  0.00000000e+00  2.13449677e+02]
 [-6.74370905e-02  9.97723528e-01  0.00000000e+00 -1.19301269e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.51, Y:-11.94, Z:0.00
[[ 9.97145287e-01  7.55067962e-02  0.00000000e+00  2.13509654e+02]
 [-7.55067962e-02  9.97145287e-01  0.00000000e+00 -1.19375936e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.57, Y:-11.95, Z:0.00
[[ 9.96568806e-01  8.27684388e-02  0.00000000e+00  2.13568911e+02]
 [-8.27684388e-02  9.96568806e-01  0.00000000e+00 -1.19472860e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.63, Y:-11.96, Z:0.00
[[ 9.96467378e-01  8.39807334e-02  0.00000000e+00  2.13626347e+02]
 [-8.39807334e-02  9.96467378e-01  0.00000000e+00 -1.19583898e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.69, Y:-11.97, Z:0.00
[[ 9.96766195e-01  8.03564152e-02  0.00000000e+00  2.13685107e+02]
 [-8.03564152e-02  9.96766195e-01  0.00000000e+00 -1.19695398e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.74, Y:-11.99, Z:0.00
[[ 9.96944183e-01  7.81171886e-02  0.00000000e+00  2.13742266e+02]
 [-7.81171886e-02  9.96944183e-01  0.00000000e+00 -1.19896902e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.80, Y:-12.01, Z:0.00
[[ 9.97229193e-01  7.43904341e-02  0.00000000e+00  2.13798922e+02]
 [-7.43904341e-02  9.97229193e-01  0.00000000e+00 -1.20076697e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.86, Y:-12.02, Z:0.00
[[ 9.97590195e-01  6.93815684e-02  0.00000000e+00  2.13858121e+02]
 [-6.93815684e-02  9.97590195e-01  0.00000000e+00 -1.20236774e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.91, Y:-12.03, Z:0.00
[[ 9.97799043e-01  6.63104086e-02  0.00000000e+00  2.13914901e+02]
 [-6.63104086e-02  9.97799043e-01  0.00000000e+00 -1.20336019e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:213.97, Y:-12.05, Z:0.00
[[ 9.98263348e-01  5.89091424e-02  0.00000000e+00  2.13974244e+02]
 [-5.89091424e-02  9.98263348e-01  0.00000000e+00 -1.20518577e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.03, Y:-12.06, Z:0.00
[[ 9.98481216e-01  5.50932106e-02  0.00000000e+00  2.14033352e+02]
 [-5.50932106e-02  9.98481216e-01  0.00000000e+00 -1.20629914e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.09, Y:-12.08, Z:0.00
[[ 9.98733362e-01  5.03157239e-02  0.00000000e+00  2.14092525e+02]
 [-5.03157239e-02  9.98733362e-01  0.00000000e+00 -1.20767475e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.15, Y:-12.08, Z:0.00
[[ 9.98963929e-01  4.55090005e-02  0.00000000e+00  2.14151707e+02]
 [-4.55090005e-02  9.98963929e-01  0.00000000e+00 -1.20844723e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.21, Y:-12.09, Z:0.00
[[ 9.99299094e-01  3.74342168e-02  0.00000000e+00  2.14210914e+02]
 [-3.74342168e-02  9.99299094e-01  0.00000000e+00 -1.20923533e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 212.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.27, Y:-12.10, Z:0.00
[[ 9.99540764e-01  3.03028109e-02  0.00000000e+00  2.14271272e+02]
 [-3.03028109e-02  9.99540764e-01  0.00000000e+00 -1.20997312e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.33, Y:-12.10, Z:0.00
[[ 9.99635782e-01  2.69870830e-02  0.00000000e+00  2.14330632e+02]
 [-2.69870830e-02  9.99635782e-01  0.00000000e+00 -1.21022942e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.39, Y:-12.10, Z:0.00
[[ 9.99420591e-01  3.40364811e-02  0.00000000e+00  2.14391103e+02]
 [-3.40364811e-02  9.99420591e-01  0.00000000e+00 -1.21027365e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.45, Y:-12.10, Z:0.00
[[ 9.98952256e-01  4.57645006e-02  0.00000000e+00  2.14451719e+02]
 [-4.57645006e-02  9.98952256e-01  0.00000000e+00 -1.20975392e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.51, Y:-12.10, Z:0.00
[[ 9.98601669e-01  5.28649943e-02  0.00000000e+00  2.14512358e+02]
 [-5.28649943e-02  9.98601669e-01  0.00000000e+00 -1.20977993e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.57, Y:-12.10, Z:0.00
[[ 9.98536860e-01  5.40753037e-02  0.00000000e+00  2.14571033e+02]
 [-5.40753037e-02  9.98536860e-01  0.00000000e+00 -1.20965241e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.63, Y:-12.10, Z:0.00
[[ 9.98634052e-01  5.22496962e-02  0.00000000e+00  2.14630277e+02]
 [-5.22496962e-02  9.98634052e-01  0.00000000e+00 -1.21014289e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.69, Y:-12.11, Z:0.00
[[ 9.98880323e-01  4.73085736e-02  0.00000000e+00  2.14689145e+02]
 [-4.73085736e-02  9.98880323e-01  0.00000000e+00 -1.21073415e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.75, Y:-12.11, Z:0.00
[[ 9.99089197e-01  4.26705604e-02  0.00000000e+00  2.14750179e+02]
 [-4.26705604e-02  9.99089197e-01  0.00000000e+00 -1.21073219e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.81, Y:-12.11, Z:0.00
[[ 9.99349521e-01  3.60629313e-02  0.00000000e+00  2.14810839e+02]
 [-3.60629313e-02  9.99349521e-01  0.00000000e+00 -1.21092427e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.87, Y:-12.11, Z:0.00
[[ 9.99513866e-01  3.11774253e-02  0.00000000e+00  2.14870328e+02]
 [-3.11774253e-02  9.99513866e-01  0.00000000e+00 -1.21133440e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.93, Y:-12.11, Z:0.00
[[ 9.99561638e-01  2.96062931e-02  0.00000000e+00  2.14930582e+02]
 [-2.96062931e-02  9.99561638e-01  0.00000000e+00 -1.21149691e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:214.99, Y:-12.12, Z:0.00
[[ 9.99469285e-01  3.25752569e-02  0.00000000e+00  2.14991455e+02]
 [-3.25752569e-02  9.99469285e-01  0.00000000e+00 -1.21173674e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.05, Y:-12.12, Z:0.00
[[ 9.99211708e-01  3.96983954e-02  0.00000000e+00  2.15050845e+02]
 [-3.96983954e-02  9.99211708e-01  0.00000000e+00 -1.21155384e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.11, Y:-12.12, Z:0.00
[[ 9.98984319e-01  4.50591987e-02  0.00000000e+00  2.15109472e+02]
 [-4.50591987e-02  9.98984319e-01  0.00000000e+00 -1.21179068e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.17, Y:-12.12, Z:0.00
[[ 9.98641934e-01  5.20988163e-02  0.00000000e+00  2.15169121e+02]
 [-5.20988163e-02  9.98641934e-01  0.00000000e+00 -1.21221963e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.23, Y:-12.12, Z:0.00
[[ 9.98470009e-01  5.52959489e-02  0.00000000e+00  2.15230036e+02]
 [-5.52959489e-02  9.98470009e-01  0.00000000e+00 -1.21247355e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 213.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.29, Y:-12.13, Z:0.00
[[ 9.98320240e-01  5.79370204e-02  0.00000000e+00  2.15288244e+02]
 [-5.79370204e-02  9.98320240e-01  0.00000000e+00 -1.21306042e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.35, Y:-12.13, Z:0.00
[[ 9.98356330e-01  5.73117661e-02  0.00000000e+00  2.15347345e+02]
 [-5.73117661e-02  9.98356330e-01  0.00000000e+00 -1.21270791e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.41, Y:-12.13, Z:0.00
[[ 9.98542107e-01  5.39783367e-02  0.00000000e+00  2.15408339e+02]
 [-5.39783367e-02  9.98542107e-01  0.00000000e+00 -1.21265567e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.47, Y:-12.13, Z:0.00
[[ 9.98357833e-01  5.72855807e-02  0.00000000e+00  2.15468245e+02]
 [-5.72855807e-02  9.98357833e-01  0.00000000e+00 -1.21313773e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.53, Y:-12.14, Z:0.00
[[ 9.97761395e-01  6.68744929e-02  0.00000000e+00  2.15527352e+02]
 [-6.68744929e-02  9.97761395e-01  0.00000000e+00 -1.21423131e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.59, Y:-12.15, Z:0.00
[[ 9.97276255e-01  7.37568439e-02  0.00000000e+00  2.15587098e+02]
 [-7.37568439e-02  9.97276255e-01  0.00000000e+00 -1.21457698e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.65, Y:-12.16, Z:0.00
[[ 9.95810810e-01  9.14375740e-02  0.00000000e+00  2.15646399e+02]
 [-9.14375740e-02  9.95810810e-01  0.00000000e+00 -1.21631397e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.70, Y:-12.18, Z:0.00
[[ 9.94612546e-01  1.03662355e-01  0.00000000e+00  2.15704782e+02]
 [-1.03662355e-01  9.94612546e-01  0.00000000e+00 -1.21812224e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.76, Y:-12.20, Z:0.00
[[ 9.93831762e-01  1.10898282e-01  0.00000000e+00  2.15763268e+02]
 [-1.10898282e-01  9.93831762e-01  0.00000000e+00 -1.21968486e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.82, Y:-12.21, Z:0.00
[[ 9.93444147e-01  1.14318528e-01  0.00000000e+00  2.15822347e+02]
 [-1.14318528e-01  9.93444147e-01  0.00000000e+00 -1.22074448e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.88, Y:-12.24, Z:0.00
[[ 9.93221365e-01  1.16238201e-01  0.00000000e+00  2.15878132e+02]
 [-1.16238201e-01  9.93221365e-01  0.00000000e+00 -1.22371823e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.93, Y:-12.26, Z:0.00
[[ 9.93704864e-01  1.12029649e-01  0.00000000e+00  2.15934998e+02]
 [-1.12029649e-01  9.93704864e-01  0.00000000e+00 -1.22597021e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:215.99, Y:-12.29, Z:0.00
[[ 9.94848558e-01  1.01372317e-01  0.00000000e+00  2.15992923e+02]
 [-1.01372317e-01  9.94848558e-01  0.00000000e+00 -1.22871898e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.05, Y:-12.31, Z:0.00
[[ 9.95784256e-01  9.17263128e-02  0.00000000e+00  2.16050425e+02]
 [-9.17263128e-02  9.95784256e-01  0.00000000e+00 -1.23057814e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.11, Y:-12.34, Z:0.00
[[ 9.96943282e-01  7.81286875e-02  0.00000000e+00  2.16106562e+02]
 [-7.81286875e-02  9.96943282e-01  0.00000000e+00 -1.23350646e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.16, Y:-12.35, Z:0.00
[[ 9.96923356e-01  7.83825412e-02  0.00000000e+00  2.16163602e+02]
 [-7.83825412e-02  9.96923356e-01  0.00000000e+00 -1.23506699e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.22, Y:-12.37, Z:0.00
[[ 9.95967839e-01  8.97110013e-02  0.00000000e+00  2.16220747e+02]
 [-8.97110013e-02  9.95967839e-01  0.00000000e+00 -1.23667555e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 214.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.28, Y:-12.38, Z:0.00
[[ 9.95146317e-01  9.84063425e-02  0.00000000e+00  2.16278119e+02]
 [-9.84063425e-02  9.95146317e-01  0.00000000e+00 -1.23818173e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.34, Y:-12.40, Z:0.00
[[ 9.94657370e-01  1.03231374e-01  0.00000000e+00  2.16335807e+02]
 [-1.03231374e-01  9.94657370e-01  0.00000000e+00 -1.23988314e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.39, Y:-12.41, Z:0.00
[[ 9.94651987e-01  1.03283227e-01  0.00000000e+00  2.16394770e+02]
 [-1.03283227e-01  9.94651987e-01  0.00000000e+00 -1.24092940e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.45, Y:-12.43, Z:0.00
[[ 9.94377795e-01  1.05890514e-01  0.00000000e+00  2.16450774e+02]
 [-1.05890514e-01  9.94377795e-01  0.00000000e+00 -1.24297894e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.51, Y:-12.45, Z:0.00
[[ 9.94803648e-01  1.01812093e-01  0.00000000e+00  2.16507868e+02]
 [-1.01812093e-01  9.94803648e-01  0.00000000e+00 -1.24480444e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.57, Y:-12.46, Z:0.00
[[ 9.95672373e-01  9.29329132e-02  0.00000000e+00  2.16566243e+02]
 [-9.29329132e-02  9.95672373e-01  0.00000000e+00 -1.24638920e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.62, Y:-12.49, Z:0.00
[[ 9.96660992e-01  8.16508885e-02  0.00000000e+00  2.16624399e+02]
 [-8.16508885e-02  9.96660992e-01  0.00000000e+00 -1.24911501e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.68, Y:-12.51, Z:0.00
[[ 9.97688420e-01  6.79545130e-02  0.00000000e+00  2.16684742e+02]
 [-6.79545130e-02  9.97688420e-01  0.00000000e+00 -1.25060291e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.74, Y:-12.52, Z:0.00
[[ 9.98610838e-01  5.26915047e-02  0.00000000e+00  2.16743478e+02]
 [-5.26915047e-02  9.98610838e-01  0.00000000e+00 -1.25188761e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.80, Y:-12.53, Z:0.00
[[ 9.98902989e-01  4.68275429e-02  0.00000000e+00  2.16804552e+02]
 [-4.68275429e-02  9.98902989e-01  0.00000000e+00 -1.25254979e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.86, Y:-12.53, Z:0.00
[[ 9.98887731e-01  4.71518867e-02  0.00000000e+00  2.16864700e+02]
 [-4.71518867e-02  9.98887731e-01  0.00000000e+00 -1.25257392e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.93, Y:-12.53, Z:0.00
[[ 9.98723048e-01  5.05200234e-02  0.00000000e+00  2.16925216e+02]
 [-5.05200234e-02  9.98723048e-01  0.00000000e+00 -1.25274113e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:216.99, Y:-12.53, Z:0.00
[[ 9.98574261e-01  5.33801979e-02  0.00000000e+00  2.16985615e+02]
 [-5.33801979e-02  9.98574261e-01  0.00000000e+00 -1.25291555e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.05, Y:-12.53, Z:0.00
[[ 9.98818385e-01  4.85987069e-02  0.00000000e+00  2.17046099e+02]
 [-4.85987069e-02  9.98818385e-01  0.00000000e+00 -1.25313844e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.11, Y:-12.53, Z:0.00
[[ 9.98970131e-01  4.53726563e-02  0.00000000e+00  2.17106569e+02]
 [-4.53726563e-02  9.98970131e-01  0.00000000e+00 -1.25309933e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.17, Y:-12.52, Z:0.00
[[ 9.99167955e-01  4.07847727e-02  0.00000000e+00  2.17167940e+02]
 [-4.07847727e-02  9.99167955e-01  0.00000000e+00 -1.25234975e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 215.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.23, Y:-12.52, Z:0.00
[[ 9.99125935e-01  4.18014994e-02  0.00000000e+00  2.17227707e+02]
 [-4.18014994e-02  9.99125935e-01  0.00000000e+00 -1.25173017e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.29, Y:-12.51, Z:0.00
[[ 9.99089772e-01  4.26570986e-02  0.00000000e+00  2.17288393e+02]
 [-4.26570986e-02  9.99089772e-01  0.00000000e+00 -1.25094901e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.35, Y:-12.50, Z:0.00
[[ 9.99063245e-01  4.32739338e-02  0.00000000e+00  2.17347704e+02]
 [-4.32739338e-02  9.99063245e-01  0.00000000e+00 -1.24953928e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.41, Y:-12.48, Z:0.00
[[ 9.99234514e-01  3.91201434e-02  0.00000000e+00  2.17408967e+02]
 [-3.91201434e-02  9.99234514e-01  0.00000000e+00 -1.24824862e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.47, Y:-12.47, Z:0.00
[[ 9.99397355e-01  3.47120547e-02  0.00000000e+00  2.17469112e+02]
 [-3.47120547e-02  9.99397355e-01  0.00000000e+00 -1.24727684e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.53, Y:-12.47, Z:0.00
[[ 9.99484577e-01  3.21026589e-02  0.00000000e+00  2.17528880e+02]
 [-3.21026589e-02  9.99484577e-01  0.00000000e+00 -1.24667825e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.59, Y:-12.46, Z:0.00
[[ 9.99353668e-01  3.59478371e-02  0.00000000e+00  2.17590470e+02]
 [-3.59478371e-02  9.99353668e-01  0.00000000e+00 -1.24558523e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.65, Y:-12.45, Z:0.00
[[ 9.99350400e-01  3.60385571e-02  0.00000000e+00  2.17650095e+02]
 [-3.60385571e-02  9.99350400e-01  0.00000000e+00 -1.24489144e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.71, Y:-12.44, Z:0.00
[[ 9.99340505e-01  3.63119001e-02  0.00000000e+00  2.17710066e+02]
 [-3.63119001e-02  9.99340505e-01  0.00000000e+00 -1.24449963e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.77, Y:-12.44, Z:0.00
[[ 9.99364110e-01  3.56563537e-02  0.00000000e+00  2.17770559e+02]
 [-3.56563537e-02  9.99364110e-01  0.00000000e+00 -1.24405574e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.83, Y:-12.43, Z:0.00
[[ 9.99293013e-01  3.75962014e-02  0.00000000e+00  2.17830541e+02]
 [-3.75962014e-02  9.99293013e-01  0.00000000e+00 -1.24343851e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.89, Y:-12.42, Z:0.00
[[ 9.99040229e-01  4.38020697e-02  0.00000000e+00  2.17891915e+02]
 [-4.38020697e-02  9.99040229e-01  0.00000000e+00 -1.24215322e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:217.95, Y:-12.42, Z:0.00
[[ 9.98840592e-01  4.81401246e-02  0.00000000e+00  2.17953146e+02]
 [-4.81401246e-02  9.98840592e-01  0.00000000e+00 -1.24167759e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.01, Y:-12.41, Z:0.00
[[ 9.98816712e-01  4.86330821e-02  0.00000000e+00  2.18012920e+02]
 [-4.86330821e-02  9.98816712e-01  0.00000000e+00 -1.24074358e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.07, Y:-12.40, Z:0.00
[[ 9.98668181e-01  5.15932615e-02  0.00000000e+00  2.18073083e+02]
 [-5.15932615e-02  9.98668181e-01  0.00000000e+00 -1.24028842e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.13, Y:-12.40, Z:0.00
[[ 9.98155673e-01  6.07062824e-02  0.00000000e+00  2.18133899e+02]
 [-6.07062824e-02  9.98155673e-01  0.00000000e+00 -1.23977482e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.19, Y:-12.40, Z:0.00
[[ 9.97786027e-01  6.65059785e-02  0.00000000e+00  2.18194485e+02]
 [-6.65059785e-02  9.97786027e-01  0.00000000e+00 -1.24018064e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 216.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.25, Y:-12.40, Z:0.00
[[ 9.96955500e-01  7.79726243e-02  0.00000000e+00  2.18254191e+02]
 [-7.79726243e-02  9.96955500e-01  0.00000000e+00 -1.23985481e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.31, Y:-12.41, Z:0.00
[[ 9.95716394e-01  9.24600615e-02  0.00000000e+00  2.18314145e+02]
 [-9.24600615e-02  9.95716394e-01  0.00000000e+00 -1.24103987e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.37, Y:-12.42, Z:0.00
[[ 9.94494576e-01  1.04788062e-01  0.00000000e+00  2.18372661e+02]
 [-1.04788062e-01  9.94494576e-01  0.00000000e+00 -1.24203405e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.43, Y:-12.44, Z:0.00
[[ 9.93085343e-01  1.17394643e-01  0.00000000e+00  2.18430998e+02]
 [-1.17394643e-01  9.93085343e-01  0.00000000e+00 -1.24366919e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.49, Y:-12.46, Z:0.00
[[ 9.92437276e-01  1.22752810e-01  0.00000000e+00  2.18488375e+02]
 [-1.22752810e-01  9.92437276e-01  0.00000000e+00 -1.24597227e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.54, Y:-12.48, Z:0.00
[[ 9.92966740e-01  1.18393636e-01  0.00000000e+00  2.18544631e+02]
 [-1.18393636e-01  9.92966740e-01  0.00000000e+00 -1.24831388e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.60, Y:-12.51, Z:0.00
[[ 9.93707636e-01  1.12005064e-01  0.00000000e+00  2.18601605e+02]
 [-1.12005064e-01  9.93707636e-01  0.00000000e+00 -1.25142197e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.66, Y:-12.54, Z:0.00
[[ 9.94182830e-01  1.07705619e-01  0.00000000e+00  2.18658910e+02]
 [-1.07705619e-01  9.94182830e-01  0.00000000e+00 -1.25378000e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.71, Y:-12.57, Z:0.00
[[ 9.94833066e-01  1.01524234e-01  0.00000000e+00  2.18713972e+02]
 [-1.01524234e-01  9.94833066e-01  0.00000000e+00 -1.25707127e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.77, Y:-12.60, Z:0.00
[[ 9.95133392e-01  9.85369611e-02  0.00000000e+00  2.18771194e+02]
 [-9.85369611e-02  9.95133392e-01  0.00000000e+00 -1.25997708e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.83, Y:-12.62, Z:0.00
[[ 9.95399627e-01  9.58101403e-02  0.00000000e+00  2.18828507e+02]
 [-9.58101403e-02  9.95399627e-01  0.00000000e+00 -1.26211727e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.89, Y:-12.64, Z:0.00
[[ 9.95454107e-01  9.52424312e-02  0.00000000e+00  2.18885604e+02]
 [-9.52424312e-02  9.95454107e-01  0.00000000e+00 -1.26425660e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:218.94, Y:-12.67, Z:0.00
[[ 9.95112807e-01  9.87446261e-02  0.00000000e+00  2.18942800e+02]
 [-9.87446261e-02  9.95112807e-01  0.00000000e+00 -1.26669519e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.00, Y:-12.69, Z:0.00
[[ 9.94985450e-01  1.00019765e-01  0.00000000e+00  2.19000514e+02]
 [-1.00019765e-01  9.94985450e-01  0.00000000e+00 -1.26877258e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.06, Y:-12.71, Z:0.00
[[ 9.95130847e-01  9.85626600e-02  0.00000000e+00  2.19058506e+02]
 [-9.85626600e-02  9.95130847e-01  0.00000000e+00 -1.27112368e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.12, Y:-12.73, Z:0.00
[[ 9.95296174e-01  9.68789240e-02  0.00000000e+00  2.19117712e+02]
 [-9.68789240e-02  9.95296174e-01  0.00000000e+00 -1.27276668e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.18, Y:-12.75, Z:0.00
[[ 9.95452906e-01  9.52549835e-02  0.00000000e+00  2.19176220e+02]
 [-9.52549835e-02  9.95452906e-01  0.00000000e+00 -1.27473651e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 217.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.24, Y:-12.76, Z:0.00
[[ 9.95393360e-01  9.58752278e-02  0.00000000e+00  2.19236132e+02]
 [-9.58752278e-02  9.95393360e-01  0.00000000e+00 -1.27610114e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.29, Y:-12.78, Z:0.00
[[ 9.94877174e-01  1.01091088e-01  0.00000000e+00  2.19294977e+02]
 [-1.01091088e-01  9.94877174e-01  0.00000000e+00 -1.27758484e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.36, Y:-12.79, Z:0.00
[[ 9.94413048e-01  1.05558940e-01  0.00000000e+00  2.19356179e+02]
 [-1.05558940e-01  9.94413048e-01  0.00000000e+00 -1.27896531e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.41, Y:-12.81, Z:0.00
[[ 9.93210543e-01  1.16330636e-01  0.00000000e+00  2.19414462e+02]
 [-1.16330636e-01  9.93210543e-01  0.00000000e+00 -1.28057620e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.47, Y:-12.82, Z:0.00
[[ 9.92629358e-01  1.21189757e-01  0.00000000e+00  2.19474106e+02]
 [-1.21189757e-01  9.92629358e-01  0.00000000e+00 -1.28207907e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.53, Y:-12.84, Z:0.00
[[ 9.92258151e-01  1.24192440e-01  0.00000000e+00  2.19533532e+02]
 [-1.24192440e-01  9.92258151e-01  0.00000000e+00 -1.28443866e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.60, Y:-12.86, Z:0.00
[[ 9.92170204e-01  1.24893099e-01  0.00000000e+00  2.19595151e+02]
 [-1.24893099e-01  9.92170204e-01  0.00000000e+00 -1.28552534e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.65, Y:-12.88, Z:0.00
[[ 9.92466717e-01  1.22514550e-01  0.00000000e+00  2.19652686e+02]
 [-1.22514550e-01  9.92466717e-01  0.00000000e+00 -1.28816925e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.71, Y:-12.91, Z:0.00
[[ 9.93608209e-01  1.12883688e-01  0.00000000e+00  2.19711433e+02]
 [-1.12883688e-01  9.93608209e-01  0.00000000e+00 -1.29084582e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.77, Y:-12.93, Z:0.00
[[ 9.94577879e-01  1.03994439e-01  0.00000000e+00  2.19771100e+02]
 [-1.03994439e-01  9.94577879e-01  0.00000000e+00 -1.29294142e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.83, Y:-12.95, Z:0.00
[[ 9.95824367e-01  9.12898149e-02  0.00000000e+00  2.19830382e+02]
 [-9.12898149e-02  9.95824367e-01  0.00000000e+00 -1.29545013e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.89, Y:-12.97, Z:0.00
[[ 9.96374727e-01  8.50729287e-02  0.00000000e+00  2.19890721e+02]
 [-8.50729287e-02  9.96374727e-01  0.00000000e+00 -1.29683262e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:219.95, Y:-12.98, Z:0.00
[[ 9.97174172e-01  7.51243680e-02  0.00000000e+00  2.19950515e+02]
 [-7.51243680e-02  9.97174172e-01  0.00000000e+00 -1.29800684e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.01, Y:-12.99, Z:0.00
[[ 9.97643163e-01  6.86157303e-02  0.00000000e+00  2.20009847e+02]
 [-6.86157303e-02  9.97643163e-01  0.00000000e+00 -1.29892696e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.07, Y:-12.99, Z:0.00
[[ 9.98237930e-01  5.93383141e-02  0.00000000e+00  2.20070991e+02]
 [-5.93383141e-02  9.98237930e-01  0.00000000e+00 -1.29942907e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.13, Y:-13.00, Z:0.00
[[ 9.98552508e-01  5.37855732e-02  0.00000000e+00  2.20131663e+02]
 [-5.37855732e-02  9.98552508e-01  0.00000000e+00 -1.29983867e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 218.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.19, Y:-13.00, Z:0.00
[[ 9.98749495e-01  4.99944599e-02  0.00000000e+00  2.20193281e+02]
 [-4.99944599e-02  9.98749495e-01  0.00000000e+00 -1.29971680e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.25, Y:-13.00, Z:0.00
[[ 9.98795957e-01  4.90574763e-02  0.00000000e+00  2.20254882e+02]
 [-4.90574763e-02  9.98795957e-01  0.00000000e+00 -1.29968876e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.32, Y:-12.99, Z:0.00
[[ 9.98871024e-01  4.75044985e-02  0.00000000e+00  2.20315428e+02]
 [-4.75044985e-02  9.98871024e-01  0.00000000e+00 -1.29931801e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.38, Y:-12.98, Z:0.00
[[ 9.98928658e-01  4.62767460e-02  0.00000000e+00  2.20378537e+02]
 [-4.62767460e-02  9.98928658e-01  0.00000000e+00 -1.29845349e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.44, Y:-12.98, Z:0.00
[[ 9.98707863e-01  5.08193308e-02  0.00000000e+00  2.20438856e+02]
 [-5.08193308e-02  9.98707863e-01  0.00000000e+00 -1.29786770e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.50, Y:-12.96, Z:0.00
[[ 9.98170771e-01  6.04575244e-02  0.00000000e+00  2.20500828e+02]
 [-6.04575244e-02  9.98170771e-01  0.00000000e+00 -1.29649502e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.56, Y:-12.96, Z:0.00
[[ 9.97741724e-01  6.71673484e-02  0.00000000e+00  2.20562029e+02]
 [-6.71673484e-02  9.97741724e-01  0.00000000e+00 -1.29592394e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.62, Y:-12.95, Z:0.00
[[ 9.97316739e-01  7.32073937e-02  0.00000000e+00  2.20623538e+02]
 [-7.32073937e-02  9.97316739e-01  0.00000000e+00 -1.29527491e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.68, Y:-12.95, Z:0.00
[[ 9.96988841e-01  7.75451543e-02  0.00000000e+00  2.20683591e+02]
 [-7.75451543e-02  9.96988841e-01  0.00000000e+00 -1.29502671e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.74, Y:-12.95, Z:0.00
[[ 9.96439993e-01  8.43050472e-02  0.00000000e+00  2.20744464e+02]
 [-8.43050472e-02  9.96439993e-01  0.00000000e+00 -1.29470549e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.81, Y:-12.95, Z:0.00
[[ 9.95535721e-01  9.43855251e-02  0.00000000e+00  2.20805839e+02]
 [-9.43855251e-02  9.95535721e-01  0.00000000e+00 -1.29506281e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.87, Y:-12.96, Z:0.00
[[ 9.94381077e-01  1.05859690e-01  0.00000000e+00  2.20866244e+02]
 [-1.05859690e-01  9.94381077e-01  0.00000000e+00 -1.29608713e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.93, Y:-12.97, Z:0.00
[[ 9.93768714e-01  1.11461842e-01  0.00000000e+00  2.20927409e+02]
 [-1.11461842e-01  9.93768714e-01  0.00000000e+00 -1.29713328e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:220.99, Y:-12.99, Z:0.00
[[ 9.93856229e-01  1.10678797e-01  0.00000000e+00  2.20987933e+02]
 [-1.10678797e-01  9.93856229e-01  0.00000000e+00 -1.29911444e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.05, Y:-13.01, Z:0.00
[[ 9.94019267e-01  1.09204837e-01  0.00000000e+00  2.21048741e+02]
 [-1.09204837e-01  9.94019267e-01  0.00000000e+00 -1.30111551e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.11, Y:-13.03, Z:0.00
[[ 9.94391611e-01  1.05760693e-01  0.00000000e+00  2.21106153e+02]
 [-1.05760693e-01  9.94391611e-01  0.00000000e+00 -1.30340089e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.17, Y:-13.05, Z:0.00
[[ 9.94257392e-01  1.07015128e-01  0.00000000e+00  2.21167298e+02]
 [-1.07015128e-01  9.94257392e-01  0.00000000e+00 -1.30504026e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 219.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.23, Y:-13.08, Z:0.00
[[ 9.93222749e-01  1.16226380e-01  0.00000000e+00  2.21227476e+02]
 [-1.16226380e-01  9.93222749e-01  0.00000000e+00 -1.30775631e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.29, Y:-13.10, Z:0.00
[[ 9.91529597e-01  1.29880939e-01  0.00000000e+00  2.21285429e+02]
 [-1.29880939e-01  9.91529597e-01  0.00000000e+00 -1.31004587e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.35, Y:-13.12, Z:0.00
[[ 9.90706763e-01  1.36015112e-01  0.00000000e+00  2.21345176e+02]
 [-1.36015112e-01  9.90706763e-01  0.00000000e+00 -1.31196560e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.40, Y:-13.15, Z:0.00
[[ 9.90444141e-01  1.37914480e-01  0.00000000e+00  2.21402849e+02]
 [-1.37914480e-01  9.90444141e-01  0.00000000e+00 -1.31528990e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.46, Y:-13.17, Z:0.00
[[ 9.90641684e-01  1.36488295e-01  0.00000000e+00  2.21462596e+02]
 [-1.36488295e-01  9.90641684e-01  0.00000000e+00 -1.31680683e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.52, Y:-13.19, Z:0.00
[[ 9.90986829e-01  1.33959342e-01  0.00000000e+00  2.21521154e+02]
 [-1.33959342e-01  9.90986829e-01  0.00000000e+00 -1.31917666e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.58, Y:-13.23, Z:0.00
[[ 9.92061742e-01  1.25751737e-01  0.00000000e+00  2.21577293e+02]
 [-1.25751737e-01  9.92061742e-01  0.00000000e+00 -1.32272838e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.64, Y:-13.25, Z:0.00
[[ 9.93244314e-01  1.16041945e-01  0.00000000e+00  2.21635728e+02]
 [-1.16041945e-01  9.93244314e-01  0.00000000e+00 -1.32512616e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.69, Y:-13.28, Z:0.00
[[ 9.95085468e-01  9.90197568e-02  0.00000000e+00  2.21693954e+02]
 [-9.90197568e-02  9.95085468e-01  0.00000000e+00 -1.32804319e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.75, Y:-13.30, Z:0.00
[[ 9.95938168e-01  9.00397994e-02  0.00000000e+00  2.21753124e+02]
 [-9.00397994e-02  9.95938168e-01  0.00000000e+00 -1.32980983e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.81, Y:-13.32, Z:0.00
[[ 9.96753584e-01  8.05126905e-02  0.00000000e+00  2.21814076e+02]
 [-8.05126905e-02  9.96753584e-01  0.00000000e+00 -1.33163341e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.87, Y:-13.33, Z:0.00
[[ 9.97249066e-01  7.41235513e-02  0.00000000e+00  2.21873753e+02]
 [-7.41235513e-02  9.97249066e-01  0.00000000e+00 -1.33268044e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:221.93, Y:-13.33, Z:0.00
[[ 9.97382834e-01  7.23013293e-02  0.00000000e+00  2.21934414e+02]
 [-7.23013293e-02  9.97382834e-01  0.00000000e+00 -1.33318956e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.00, Y:-13.34, Z:0.00
[[ 9.97265037e-01  7.39083676e-02  0.00000000e+00  2.21996071e+02]
 [-7.39083676e-02  9.97265037e-01  0.00000000e+00 -1.33359509e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.06, Y:-13.34, Z:0.00
[[ 9.97061694e-01  7.66027260e-02  0.00000000e+00  2.22055676e+02]
 [-7.66027260e-02  9.97061694e-01  0.00000000e+00 -1.33370982e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.12, Y:-13.34, Z:0.00
[[ 9.96562203e-01  8.28479113e-02  0.00000000e+00  2.22116648e+02]
 [-8.28479113e-02  9.96562203e-01  0.00000000e+00 -1.33357576e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.18, Y:-13.34, Z:0.00
[[ 9.96197903e-01  8.71191073e-02  0.00000000e+00  2.22177783e+02]
 [-8.71191073e-02  9.96197903e-01  0.00000000e+00 -1.33389043e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 220.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.24, Y:-13.34, Z:0.00
[[ 9.96066604e-01  8.86076713e-02  0.00000000e+00  2.22239931e+02]
 [-8.86076713e-02  9.96066604e-01  0.00000000e+00 -1.33408974e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.30, Y:-13.34, Z:0.00
[[ 9.95966595e-01  8.97248099e-02  0.00000000e+00  2.22300681e+02]
 [-8.97248099e-02  9.95966595e-01  0.00000000e+00 -1.33407182e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.36, Y:-13.35, Z:0.00
[[ 9.95645869e-01  9.32164292e-02  0.00000000e+00  2.22363022e+02]
 [-9.32164292e-02  9.95645869e-01  0.00000000e+00 -1.33452550e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.43, Y:-13.35, Z:0.00
[[ 9.95131639e-01  9.85546584e-02  0.00000000e+00  2.22425493e+02]
 [-9.85546584e-02  9.95131639e-01  0.00000000e+00 -1.33471880e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.49, Y:-13.35, Z:0.00
[[ 9.94760423e-01  1.02233564e-01  0.00000000e+00  2.22486474e+02]
 [-1.02233564e-01  9.94760423e-01  0.00000000e+00 -1.33508844e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.55, Y:-13.35, Z:0.00
[[ 9.95058275e-01  9.92926453e-02  0.00000000e+00  2.22548320e+02]
 [-9.92926453e-02  9.95058275e-01  0.00000000e+00 -1.33547666e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.61, Y:-13.36, Z:0.00
[[ 9.96098764e-01  8.82454092e-02  0.00000000e+00  2.22608741e+02]
 [-8.82454092e-02  9.96098764e-01  0.00000000e+00 -1.33628646e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.67, Y:-13.37, Z:0.00
[[ 9.96878974e-01  7.89449861e-02  0.00000000e+00  2.22669031e+02]
 [-7.89449861e-02  9.96878974e-01  0.00000000e+00 -1.33698438e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.73, Y:-13.37, Z:0.00
[[ 9.97596339e-01  6.92931775e-02  0.00000000e+00  2.22728817e+02]
 [-6.92931775e-02  9.97596339e-01  0.00000000e+00 -1.33735693e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.79, Y:-13.38, Z:0.00
[[ 9.98574229e-01  5.33807993e-02  0.00000000e+00  2.22789014e+02]
 [-5.33807993e-02  9.98574229e-01  0.00000000e+00 -1.33787021e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.85, Y:-13.38, Z:0.00
[[ 9.98777159e-01  4.94387219e-02  0.00000000e+00  2.22849842e+02]
 [-4.94387219e-02  9.98777159e-01  0.00000000e+00 -1.33822675e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.91, Y:-13.37, Z:0.00
[[ 9.98442177e-01  5.57962255e-02  0.00000000e+00  2.22911452e+02]
 [-5.57962255e-02  9.98442177e-01  0.00000000e+00 -1.33730227e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:222.97, Y:-13.37, Z:0.00
[[ 9.97807877e-01  6.61773437e-02  0.00000000e+00  2.22972192e+02]
 [-6.61773437e-02  9.97807877e-01  0.00000000e+00 -1.33679076e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.03, Y:-13.36, Z:0.00
[[ 9.96541155e-01  8.31007000e-02  0.00000000e+00  2.23034008e+02]
 [-8.31007000e-02  9.96541155e-01  0.00000000e+00 -1.33602317e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.09, Y:-13.35, Z:0.00
[[ 9.95868850e-01  9.08032666e-02  0.00000000e+00  2.23094232e+02]
 [-9.08032666e-02  9.95868850e-01  0.00000000e+00 -1.33549059e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.16, Y:-13.35, Z:0.00
[[ 9.95413227e-01  9.56687357e-02  0.00000000e+00  2.23155583e+02]
 [-9.56687357e-02  9.95413227e-01  0.00000000e+00 -1.33508447e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 221.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.22, Y:-13.35, Z:0.00
[[ 9.95088220e-01  9.89920916e-02  0.00000000e+00  2.23216315e+02]
 [-9.89920916e-02  9.95088220e-01  0.00000000e+00 -1.33540707e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.28, Y:-13.35, Z:0.00
[[ 9.94157584e-01  1.07938398e-01  0.00000000e+00  2.23277427e+02]
 [-1.07938398e-01  9.94157584e-01  0.00000000e+00 -1.33534658e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.34, Y:-13.36, Z:0.00
[[ 9.93387721e-01  1.14807822e-01  0.00000000e+00  2.23338361e+02]
 [-1.14807822e-01  9.93387721e-01  0.00000000e+00 -1.33591328e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.40, Y:-13.37, Z:0.00
[[ 9.93014117e-01  1.17995609e-01  0.00000000e+00  2.23399394e+02]
 [-1.17995609e-01  9.93014117e-01  0.00000000e+00 -1.33656221e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.46, Y:-13.38, Z:0.00
[[ 9.92351296e-01  1.23445959e-01  0.00000000e+00  2.23457740e+02]
 [-1.23445959e-01  9.92351296e-01  0.00000000e+00 -1.33785412e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.52, Y:-13.39, Z:0.00
[[ 9.91900394e-01  1.27018143e-01  0.00000000e+00  2.23518509e+02]
 [-1.27018143e-01  9.91900394e-01  0.00000000e+00 -1.33892642e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.58, Y:-13.40, Z:0.00
[[ 9.91385024e-01  1.30979901e-01  0.00000000e+00  2.23579357e+02]
 [-1.30979901e-01  9.91385024e-01  0.00000000e+00 -1.34002125e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.64, Y:-13.42, Z:0.00
[[ 9.91099167e-01  1.33125657e-01  0.00000000e+00  2.23640488e+02]
 [-1.33125657e-01  9.91099167e-01  0.00000000e+00 -1.34191879e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.70, Y:-13.44, Z:0.00
[[ 9.91183772e-01  1.32494268e-01  0.00000000e+00  2.23699915e+02]
 [-1.32494268e-01  9.91183772e-01  0.00000000e+00 -1.34353995e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.76, Y:-13.46, Z:0.00
[[ 9.91758112e-01  1.28124343e-01  0.00000000e+00  2.23757932e+02]
 [-1.28124343e-01  9.91758112e-01  0.00000000e+00 -1.34555592e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.82, Y:-13.47, Z:0.00
[[ 9.92165263e-01  1.24932345e-01  0.00000000e+00  2.23818345e+02]
 [-1.24932345e-01  9.92165263e-01  0.00000000e+00 -1.34729872e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.88, Y:-13.49, Z:0.00
[[ 9.92403781e-01  1.23023310e-01  0.00000000e+00  2.23878854e+02]
 [-1.23023310e-01  9.92403781e-01  0.00000000e+00 -1.34889115e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:223.94, Y:-13.51, Z:0.00
[[ 9.92261291e-01  1.24167346e-01  0.00000000e+00  2.23938536e+02]
 [-1.24167346e-01  9.92261291e-01  0.00000000e+00 -1.35069964e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.00, Y:-13.52, Z:0.00
[[ 9.92302415e-01  1.23838272e-01  0.00000000e+00  2.23998983e+02]
 [-1.23838272e-01  9.92302415e-01  0.00000000e+00 -1.35227501e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.06, Y:-13.54, Z:0.00
[[ 9.92430248e-01  1.22809618e-01  0.00000000e+00  2.24058884e+02]
 [-1.22809618e-01  9.92430248e-01  0.00000000e+00 -1.35375344e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.12, Y:-13.56, Z:0.00
[[ 9.92464382e-01  1.22533470e-01  0.00000000e+00  2.24118641e+02]
 [-1.22533470e-01  9.92464382e-01  0.00000000e+00 -1.35562956e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.18, Y:-13.57, Z:0.00
[[ 9.92612029e-01  1.21331610e-01  0.00000000e+00  2.24178221e+02]
 [-1.21331610e-01  9.92612029e-01  0.00000000e+00 -1.35714880e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 222.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.24, Y:-13.59, Z:0.00
[[ 9.93295615e-01  1.15601996e-01  0.00000000e+00  2.24237704e+02]
 [-1.15601996e-01  9.93295615e-01  0.00000000e+00 -1.35895068e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.30, Y:-13.61, Z:0.00
[[ 9.94279232e-01  1.06812024e-01  0.00000000e+00  2.24298093e+02]
 [-1.06812024e-01  9.94279232e-01  0.00000000e+00 -1.36077052e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.36, Y:-13.62, Z:0.00
[[ 9.94858866e-01  1.01271106e-01  0.00000000e+00  2.24357368e+02]
 [-1.01271106e-01  9.94858866e-01  0.00000000e+00 -1.36216066e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.42, Y:-13.63, Z:0.00
[[ 9.95315391e-01  9.66812913e-02  0.00000000e+00  2.24418339e+02]
 [-9.66812913e-02  9.95315391e-01  0.00000000e+00 -1.36338545e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.48, Y:-13.64, Z:0.00
[[ 9.95481748e-01  9.49530890e-02  0.00000000e+00  2.24479065e+02]
 [-9.49530890e-02  9.95481748e-01  0.00000000e+00 -1.36418594e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.54, Y:-13.65, Z:0.00
[[ 9.95491335e-01  9.48525296e-02  0.00000000e+00  2.24541033e+02]
 [-9.48525296e-02  9.95491335e-01  0.00000000e+00 -1.36506640e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.60, Y:-13.66, Z:0.00
[[ 9.95591143e-01  9.37991304e-02  0.00000000e+00  2.24601757e+02]
 [-9.37991304e-02  9.95591143e-01  0.00000000e+00 -1.36575297e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.66, Y:-13.66, Z:0.00
[[ 9.95735882e-01  9.22499515e-02  0.00000000e+00  2.24663224e+02]
 [-9.22499515e-02  9.95735882e-01  0.00000000e+00 -1.36612341e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.72, Y:-13.67, Z:0.00
[[ 9.96267212e-01  8.63228936e-02  0.00000000e+00  2.24724156e+02]
 [-8.63228936e-02  9.96267212e-01  0.00000000e+00 -1.36653778e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.79, Y:-13.67, Z:0.00
[[ 9.96544688e-01  8.30583232e-02  0.00000000e+00  2.24785568e+02]
 [-8.30583232e-02  9.96544688e-01  0.00000000e+00 -1.36697071e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.85, Y:-13.67, Z:0.00
[[ 9.96836806e-01  7.94756717e-02  0.00000000e+00  2.24847367e+02]
 [-7.94756717e-02  9.96836806e-01  0.00000000e+00 -1.36667420e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.91, Y:-13.67, Z:0.00
[[ 9.96552665e-01  8.29625548e-02  0.00000000e+00  2.24906922e+02]
 [-8.29625548e-02  9.96552665e-01  0.00000000e+00 -1.36658942e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:224.97, Y:-13.66, Z:0.00
[[ 9.95440432e-01  9.53852500e-02  0.00000000e+00  2.24968612e+02]
 [-9.53852500e-02  9.95440432e-01  0.00000000e+00 -1.36636858e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.03, Y:-13.66, Z:0.00
[[ 9.94908560e-01  1.00781731e-01  0.00000000e+00  2.25030028e+02]
 [-1.00781731e-01  9.94908560e-01  0.00000000e+00 -1.36629803e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.09, Y:-13.66, Z:0.00
[[ 9.94752536e-01  1.02310269e-01  0.00000000e+00  2.25092166e+02]
 [-1.02310269e-01  9.94752536e-01  0.00000000e+00 -1.36638295e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.15, Y:-13.66, Z:0.00
[[ 9.94722293e-01  1.02603897e-01  0.00000000e+00  2.25153615e+02]
 [-1.02603897e-01  9.94722293e-01  0.00000000e+00 -1.36644596e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.21, Y:-13.67, Z:0.00
[[ 9.94643893e-01  1.03361141e-01  0.00000000e+00  2.25214491e+02]
 [-1.03361141e-01  9.94643893e-01  0.00000000e+00 -1.36691318e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 223.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.28, Y:-13.67, Z:0.00
[[ 9.94429906e-01  1.05400007e-01  0.00000000e+00  2.25275268e+02]
 [-1.05400007e-01  9.94429906e-01  0.00000000e+00 -1.36726024e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.34, Y:-13.68, Z:0.00
[[ 9.94161936e-01  1.07898306e-01  0.00000000e+00  2.25336359e+02]
 [-1.07898306e-01  9.94161936e-01  0.00000000e+00 -1.36760505e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.40, Y:-13.68, Z:0.00
[[ 9.94043352e-01  1.08985387e-01  0.00000000e+00  2.25398122e+02]
 [-1.08985387e-01  9.94043352e-01  0.00000000e+00 -1.36802239e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.46, Y:-13.68, Z:0.00
[[ 9.93555791e-01  1.13344119e-01  0.00000000e+00  2.25461185e+02]
 [-1.13344119e-01  9.93555791e-01  0.00000000e+00 -1.36845569e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.52, Y:-13.69, Z:0.00
[[ 9.92808771e-01  1.19711089e-01  0.00000000e+00  2.25521526e+02]
 [-1.19711089e-01  9.92808771e-01  0.00000000e+00 -1.36888367e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.58, Y:-13.70, Z:0.00
[[ 9.90998679e-01  1.33871651e-01  0.00000000e+00  2.25581083e+02]
 [-1.33871651e-01  9.90998679e-01  0.00000000e+00 -1.36974271e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.64, Y:-13.70, Z:0.00
[[ 9.89458035e-01  1.44819880e-01  0.00000000e+00  2.25641035e+02]
 [-1.44819880e-01  9.89458035e-01  0.00000000e+00 -1.37035414e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.70, Y:-13.71, Z:0.00
[[ 9.88260613e-01  1.52777491e-01  0.00000000e+00  2.25700041e+02]
 [-1.52777491e-01  9.88260613e-01  0.00000000e+00 -1.37098534e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.76, Y:-13.73, Z:0.00
[[ 9.87780617e-01  1.55850741e-01  0.00000000e+00  2.25759452e+02]
 [-1.55850741e-01  9.87780617e-01  0.00000000e+00 -1.37268809e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.82, Y:-13.75, Z:0.00
[[ 9.88770430e-01  1.49442418e-01  0.00000000e+00  2.25818727e+02]
 [-1.49442418e-01  9.88770430e-01  0.00000000e+00 -1.37468366e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.88, Y:-13.77, Z:0.00
[[ 9.91048944e-01  1.33499032e-01  0.00000000e+00  2.25876176e+02]
 [-1.33499032e-01  9.91048944e-01  0.00000000e+00 -1.37705047e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.94, Y:-13.79, Z:0.00
[[ 9.92508527e-01  1.22175379e-01  0.00000000e+00  2.25935198e+02]
 [-1.22175379e-01  9.92508527e-01  0.00000000e+00 -1.37867739e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:225.99, Y:-13.81, Z:0.00
[[ 9.93817424e-01  1.11026695e-01  0.00000000e+00  2.25994645e+02]
 [-1.11026695e-01  9.93817424e-01  0.00000000e+00 -1.38079596e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.05, Y:-13.82, Z:0.00
[[ 9.93632162e-01  1.12672656e-01  0.00000000e+00  2.26054348e+02]
 [-1.12672656e-01  9.93632162e-01  0.00000000e+00 -1.38217452e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.11, Y:-13.83, Z:0.00
[[ 9.93244245e-01  1.16042532e-01  0.00000000e+00  2.26114625e+02]
 [-1.16042532e-01  9.93244245e-01  0.00000000e+00 -1.38302003e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.17, Y:-13.84, Z:0.00
[[ 9.92854063e-01  1.19334867e-01  0.00000000e+00  2.26174722e+02]
 [-1.19334867e-01  9.92854063e-01  0.00000000e+00 -1.38403439e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 224.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.24, Y:-13.85, Z:0.00
[[ 9.92150661e-01  1.25048250e-01  0.00000000e+00  2.26235129e+02]
 [-1.25048250e-01  9.92150661e-01  0.00000000e+00 -1.38514513e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.30, Y:-13.86, Z:0.00
[[ 9.91821532e-01  1.27632477e-01  0.00000000e+00  2.26295333e+02]
 [-1.27632477e-01  9.91821532e-01  0.00000000e+00 -1.38595775e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.36, Y:-13.87, Z:0.00
[[ 9.91970038e-01  1.26473098e-01  0.00000000e+00  2.26355253e+02]
 [-1.26473098e-01  9.91970038e-01  0.00000000e+00 -1.38744258e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.42, Y:-13.89, Z:0.00
[[ 9.92707347e-01  1.20549259e-01  0.00000000e+00  2.26415419e+02]
 [-1.20549259e-01  9.92707347e-01  0.00000000e+00 -1.38855785e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.47, Y:-13.90, Z:0.00
[[ 9.94232979e-01  1.07241705e-01  0.00000000e+00  2.26474590e+02]
 [-1.07241705e-01  9.94232979e-01  0.00000000e+00 -1.38988377e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.54, Y:-13.91, Z:0.00
[[ 9.94815235e-01  1.01698814e-01  0.00000000e+00  2.26536707e+02]
 [-1.01698814e-01  9.94815235e-01  0.00000000e+00 -1.39071210e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.60, Y:-13.91, Z:0.00
[[ 9.95220753e-01  9.76506662e-02  0.00000000e+00  2.26597916e+02]
 [-9.76506662e-02  9.95220753e-01  0.00000000e+00 -1.39099876e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.66, Y:-13.91, Z:0.00
[[ 9.95960139e-01  8.97964459e-02  0.00000000e+00  2.26659762e+02]
 [-8.97964459e-02  9.95960139e-01  0.00000000e+00 -1.39140562e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.72, Y:-13.92, Z:0.00
[[ 9.96491018e-01  8.36997661e-02  0.00000000e+00  2.26718983e+02]
 [-8.36997661e-02  9.96491018e-01  0.00000000e+00 -1.39203506e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.78, Y:-13.92, Z:0.00
[[ 9.97785118e-01  6.65196039e-02  0.00000000e+00  2.26779816e+02]
 [-6.65196039e-02  9.97785118e-01  0.00000000e+00 -1.39187448e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.84, Y:-13.92, Z:0.00
[[ 9.98340073e-01  5.75942548e-02  0.00000000e+00  2.26840260e+02]
 [-5.75942548e-02  9.98340073e-01  0.00000000e+00 -1.39197402e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.90, Y:-13.91, Z:0.00
[[ 9.98949008e-01  4.58353530e-02  0.00000000e+00  2.26900904e+02]
 [-4.58353530e-02  9.98949008e-01  0.00000000e+00 -1.39114090e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:226.96, Y:-13.90, Z:0.00
[[ 9.99044559e-01  4.37031829e-02  0.00000000e+00  2.26962755e+02]
 [-4.37031829e-02  9.99044559e-01  0.00000000e+00 -1.39034211e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.02, Y:-13.88, Z:0.00
[[ 9.98919666e-01  4.64704239e-02  0.00000000e+00  2.27024599e+02]
 [-4.64704239e-02  9.98919666e-01  0.00000000e+00 -1.38845201e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.09, Y:-13.87, Z:0.00
[[ 9.98669175e-01  5.15740133e-02  0.00000000e+00  2.27086823e+02]
 [-5.15740133e-02  9.98669175e-01  0.00000000e+00 -1.38747891e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.15, Y:-13.85, Z:0.00
[[ 9.98510955e-01  5.45515655e-02  0.00000000e+00  2.27149359e+02]
 [-5.45515655e-02  9.98510955e-01  0.00000000e+00 -1.38532011e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.21, Y:-13.85, Z:0.00
[[ 9.98425413e-01  5.60954131e-02  0.00000000e+00  2.27211874e+02]
 [-5.60954131e-02  9.98425413e-01  0.00000000e+00 -1.38504827e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 225.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.27, Y:-13.83, Z:0.00
[[ 9.98344594e-01  5.75158317e-02  0.00000000e+00  2.27274322e+02]
 [-5.75158317e-02  9.98344594e-01  0.00000000e+00 -1.38305315e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.33, Y:-13.82, Z:0.00
[[ 9.98175567e-01  6.03782863e-02  0.00000000e+00  2.27334990e+02]
 [-6.03782863e-02  9.98175567e-01  0.00000000e+00 -1.38216595e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.40, Y:-13.81, Z:0.00
[[ 9.97914235e-01  6.45537004e-02  0.00000000e+00  2.27397253e+02]
 [-6.45537004e-02  9.97914235e-01  0.00000000e+00 -1.38128670e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.46, Y:-13.80, Z:0.00
[[ 9.97235278e-01  7.43088238e-02  0.00000000e+00  2.27459243e+02]
 [-7.43088238e-02  9.97235278e-01  0.00000000e+00 -1.37982086e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.52, Y:-13.79, Z:0.00
[[ 9.96687816e-01  8.13227948e-02  0.00000000e+00  2.27519855e+02]
 [-8.13227948e-02  9.96687816e-01  0.00000000e+00 -1.37922035e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.58, Y:-13.79, Z:0.00
[[ 9.96237604e-01  8.66639264e-02  0.00000000e+00  2.27582910e+02]
 [-8.66639264e-02  9.96237604e-01  0.00000000e+00 -1.37904997e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.64, Y:-13.79, Z:0.00
[[ 9.95927882e-01  9.01535000e-02  0.00000000e+00  2.27644461e+02]
 [-9.01535000e-02  9.95927882e-01  0.00000000e+00 -1.37858578e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.71, Y:-13.78, Z:0.00
[[ 9.95905238e-01  9.04033042e-02  0.00000000e+00  2.27706675e+02]
 [-9.04033042e-02  9.95905238e-01  0.00000000e+00 -1.37848790e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.77, Y:-13.79, Z:0.00
[[ 9.95452019e-01  9.52642516e-02  0.00000000e+00  2.27767864e+02]
 [-9.52642516e-02  9.95452019e-01  0.00000000e+00 -1.37881322e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.83, Y:-13.80, Z:0.00
[[ 9.94767032e-01  1.02169236e-01  0.00000000e+00  2.27828211e+02]
 [-1.02169236e-01  9.94767032e-01  0.00000000e+00 -1.37954827e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.89, Y:-13.80, Z:0.00
[[ 9.93640331e-01  1.12600585e-01  0.00000000e+00  2.27887446e+02]
 [-1.12600585e-01  9.93640331e-01  0.00000000e+00 -1.38038041e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:227.95, Y:-13.82, Z:0.00
[[ 9.92908345e-01  1.18882369e-01  0.00000000e+00  2.27947683e+02]
 [-1.18882369e-01  9.92908345e-01  0.00000000e+00 -1.38183675e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.01, Y:-13.83, Z:0.00
[[ 9.92909990e-01  1.18868630e-01  0.00000000e+00  2.28008845e+02]
 [-1.18868630e-01  9.92909990e-01  0.00000000e+00 -1.38309157e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.07, Y:-13.85, Z:0.00
[[ 9.93615989e-01  1.12815186e-01  0.00000000e+00  2.28067905e+02]
 [-1.12815186e-01  9.93615989e-01  0.00000000e+00 -1.38465273e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.13, Y:-13.86, Z:0.00
[[ 9.94068980e-01  1.08751380e-01  0.00000000e+00  2.28129332e+02]
 [-1.08751380e-01  9.94068980e-01  0.00000000e+00 -1.38596498e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.19, Y:-13.87, Z:0.00
[[ 9.94266570e-01  1.06929824e-01  0.00000000e+00  2.28189071e+02]
 [-1.06929824e-01  9.94266570e-01  0.00000000e+00 -1.38722736e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.25, Y:-13.88, Z:0.00
[[ 9.94284742e-01  1.06760718e-01  0.00000000e+00  2.28249278e+02]
 [-1.06760718e-01  9.94284742e-01  0.00000000e+00 -1.38847189e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 226.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.31, Y:-13.90, Z:0.00
[[ 9.94353385e-01  1.06119485e-01  0.00000000e+00  2.28310801e+02]
 [-1.06119485e-01  9.94353385e-01  0.00000000e+00 -1.38965715e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.37, Y:-13.91, Z:0.00
[[ 9.94573694e-01  1.04034456e-01  0.00000000e+00  2.28370839e+02]
 [-1.04034456e-01  9.94573694e-01  0.00000000e+00 -1.39113978e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.43, Y:-13.92, Z:0.00
[[ 9.94707841e-01  1.02743911e-01  0.00000000e+00  2.28432085e+02]
 [-1.02743911e-01  9.94707841e-01  0.00000000e+00 -1.39208129e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.49, Y:-13.93, Z:0.00
[[ 9.95068375e-01  9.91913747e-02  0.00000000e+00  2.28492506e+02]
 [-9.91913747e-02  9.95068375e-01  0.00000000e+00 -1.39322751e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.55, Y:-13.94, Z:0.00
[[ 9.95778965e-01  9.17837337e-02  0.00000000e+00  2.28553171e+02]
 [-9.17837337e-02  9.95778965e-01  0.00000000e+00 -1.39382079e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.61, Y:-13.95, Z:0.00
[[ 9.96397685e-01  8.48036140e-02  0.00000000e+00  2.28613579e+02]
 [-8.48036140e-02  9.96397685e-01  0.00000000e+00 -1.39468356e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.67, Y:-13.95, Z:0.00
[[ 9.96576518e-01  8.26755279e-02  0.00000000e+00  2.28674751e+02]
 [-8.26755279e-02  9.96576518e-01  0.00000000e+00 -1.39482705e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.74, Y:-13.95, Z:0.00
[[ 9.96521550e-01  8.33354741e-02  0.00000000e+00  2.28736695e+02]
 [-8.33354741e-02  9.96521550e-01  0.00000000e+00 -1.39540463e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.80, Y:-13.95, Z:0.00
[[ 9.96032691e-01  8.89880844e-02  0.00000000e+00  2.28797821e+02]
 [-8.89880844e-02  9.96032691e-01  0.00000000e+00 -1.39544836e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.86, Y:-13.96, Z:0.00
[[ 9.95384397e-01  9.59682312e-02  0.00000000e+00  2.28859724e+02]
 [-9.59682312e-02  9.95384397e-01  0.00000000e+00 -1.39562942e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.92, Y:-13.96, Z:0.00
[[ 9.94489821e-01  1.04833182e-01  0.00000000e+00  2.28921079e+02]
 [-1.04833182e-01  9.94489821e-01  0.00000000e+00 -1.39602317e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:228.98, Y:-13.97, Z:0.00
[[ 9.94011721e-01  1.09273504e-01  0.00000000e+00  2.28981623e+02]
 [-1.09273504e-01  9.94011721e-01  0.00000000e+00 -1.39660142e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.04, Y:-13.97, Z:0.00
[[ 9.93997442e-01  1.09403312e-01  0.00000000e+00  2.29043854e+02]
 [-1.09403312e-01  9.93997442e-01  0.00000000e+00 -1.39748967e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.10, Y:-13.98, Z:0.00
[[ 9.93952429e-01  1.09811519e-01  0.00000000e+00  2.29103607e+02]
 [-1.09811519e-01  9.93952429e-01  0.00000000e+00 -1.39824570e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.16, Y:-13.99, Z:0.00
[[ 9.93920665e-01  1.10098646e-01  0.00000000e+00  2.29164957e+02]
 [-1.10098646e-01  9.93920665e-01  0.00000000e+00 -1.39904174e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.23, Y:-14.00, Z:0.00
[[ 9.94047797e-01  1.08944838e-01  0.00000000e+00  2.29225621e+02]
 [-1.08944838e-01  9.94047797e-01  0.00000000e+00 -1.40026772e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 227.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.29, Y:-14.01, Z:0.00
[[ 9.93871003e-01  1.10546050e-01  0.00000000e+00  2.29286168e+02]
 [-1.10546050e-01  9.93871003e-01  0.00000000e+00 -1.40136516e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.35, Y:-14.03, Z:0.00
[[ 9.93895591e-01  1.10324769e-01  0.00000000e+00  2.29347141e+02]
 [-1.10324769e-01  9.93895591e-01  0.00000000e+00 -1.40257690e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.41, Y:-14.04, Z:0.00
[[ 9.93553217e-01  1.13366685e-01  0.00000000e+00  2.29407320e+02]
 [-1.13366685e-01  9.93553217e-01  0.00000000e+00 -1.40364269e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.47, Y:-14.05, Z:0.00
[[ 9.93530277e-01  1.13567553e-01  0.00000000e+00  2.29468836e+02]
 [-1.13567553e-01  9.93530277e-01  0.00000000e+00 -1.40512070e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.53, Y:-14.07, Z:0.00
[[ 9.94197069e-01  1.07574100e-01  0.00000000e+00  2.29529956e+02]
 [-1.07574100e-01  9.94197069e-01  0.00000000e+00 -1.40661089e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.59, Y:-14.08, Z:0.00
[[ 9.94806576e-01  1.01783477e-01  0.00000000e+00  2.29588941e+02]
 [-1.01783477e-01  9.94806576e-01  0.00000000e+00 -1.40804000e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.65, Y:-14.09, Z:0.00
[[ 9.95637528e-01  9.33054805e-02  0.00000000e+00  2.29648658e+02]
 [-9.33054805e-02  9.95637528e-01  0.00000000e+00 -1.40925626e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.71, Y:-14.10, Z:0.00
[[ 9.95795475e-01  9.16044297e-02  0.00000000e+00  2.29710163e+02]
 [-9.16044297e-02  9.95795475e-01  0.00000000e+00 -1.41006730e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.77, Y:-14.11, Z:0.00
[[ 9.95960467e-01  8.97928062e-02  0.00000000e+00  2.29769728e+02]
 [-8.97928062e-02  9.95960467e-01  0.00000000e+00 -1.41104198e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.83, Y:-14.12, Z:0.00
[[ 9.95933345e-01  9.00931351e-02  0.00000000e+00  2.29832152e+02]
 [-9.00931351e-02  9.95933345e-01  0.00000000e+00 -1.41164016e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.89, Y:-14.12, Z:0.00
[[ 9.95467522e-01  9.51021213e-02  0.00000000e+00  2.29892192e+02]
 [-9.51021213e-02  9.95467522e-01  0.00000000e+00 -1.41222258e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:229.95, Y:-14.13, Z:0.00
[[ 9.95207066e-01  9.77900604e-02  0.00000000e+00  2.29953157e+02]
 [-9.77900604e-02  9.95207066e-01  0.00000000e+00 -1.41276565e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.01, Y:-14.13, Z:0.00
[[ 9.95014595e-01  9.97294140e-02  0.00000000e+00  2.30013549e+02]
 [-9.97294140e-02  9.95014595e-01  0.00000000e+00 -1.41342984e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.08, Y:-14.14, Z:0.00
[[ 9.94408399e-01  1.05602729e-01  0.00000000e+00  2.30075826e+02]
 [-1.05602729e-01  9.94408399e-01  0.00000000e+00 -1.41400250e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.14, Y:-14.15, Z:0.00
[[ 9.93838575e-01  1.10837212e-01  0.00000000e+00  2.30137565e+02]
 [-1.10837212e-01  9.93838575e-01  0.00000000e+00 -1.41452770e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.20, Y:-14.15, Z:0.00
[[ 9.93120508e-01  1.17096782e-01  0.00000000e+00  2.30198075e+02]
 [-1.17096782e-01  9.93120508e-01  0.00000000e+00 -1.41511330e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.26, Y:-14.16, Z:0.00
[[ 9.93140923e-01  1.16923509e-01  0.00000000e+00  2.30258346e+02]
 [-1.16923509e-01  9.93140923e-01  0.00000000e+00 -1.41617769e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 228.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.32, Y:-14.17, Z:0.00
[[ 9.93907938e-01  1.10213479e-01  0.00000000e+00  2.30318268e+02]
 [-1.10213479e-01  9.93907938e-01  0.00000000e+00 -1.41736844e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.38, Y:-14.19, Z:0.00
[[ 9.94577838e-01  1.03994830e-01  0.00000000e+00  2.30379365e+02]
 [-1.03994830e-01  9.94577838e-01  0.00000000e+00 -1.41869828e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.44, Y:-14.20, Z:0.00
[[ 9.94823318e-01  1.01619708e-01  0.00000000e+00  2.30441546e+02]
 [-1.01619708e-01  9.94823318e-01  0.00000000e+00 -1.41978570e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.50, Y:-14.21, Z:0.00
[[ 9.94522003e-01  1.04527436e-01  0.00000000e+00  2.30501265e+02]
 [-1.04527436e-01  9.94522003e-01  0.00000000e+00 -1.42117311e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.56, Y:-14.22, Z:0.00
[[ 9.94829332e-01  1.01560817e-01  0.00000000e+00  2.30561857e+02]
 [-1.01560817e-01  9.94829332e-01  0.00000000e+00 -1.42190682e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.62, Y:-14.23, Z:0.00
[[ 9.95287492e-01  9.69680804e-02  0.00000000e+00  2.30623674e+02]
 [-9.69680804e-02  9.95287492e-01  0.00000000e+00 -1.42287012e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.68, Y:-14.24, Z:0.00
[[ 9.95391425e-01  9.58953131e-02  0.00000000e+00  2.30683936e+02]
 [-9.58953131e-02  9.95391425e-01  0.00000000e+00 -1.42365502e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.74, Y:-14.24, Z:0.00
[[ 9.95262619e-01  9.72230336e-02  0.00000000e+00  2.30744435e+02]
 [-9.72230336e-02  9.95262619e-01  0.00000000e+00 -1.42441289e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.81, Y:-14.25, Z:0.00
[[ 9.95423630e-01  9.55604345e-02  0.00000000e+00  2.30805957e+02]
 [-9.55604345e-02  9.95423630e-01  0.00000000e+00 -1.42499381e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.87, Y:-14.26, Z:0.00
[[ 9.95881965e-01  9.06593127e-02  0.00000000e+00  2.30866047e+02]
 [-9.06593127e-02  9.95881965e-01  0.00000000e+00 -1.42606115e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.93, Y:-14.27, Z:0.00
[[ 9.96565972e-01  8.28025533e-02  0.00000000e+00  2.30926259e+02]
 [-8.28025533e-02  9.96565972e-01  0.00000000e+00 -1.42678850e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:230.99, Y:-14.27, Z:0.00
[[ 9.97020841e-01  7.71326329e-02  0.00000000e+00  2.30986952e+02]
 [-7.71326329e-02  9.97020841e-01  0.00000000e+00 -1.42725835e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.05, Y:-14.28, Z:0.00
[[ 9.96599743e-01  8.23950945e-02  0.00000000e+00  2.31046541e+02]
 [-8.23950945e-02  9.96599743e-01  0.00000000e+00 -1.42775237e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.11, Y:-14.28, Z:0.00
[[ 9.96008916e-01  8.92537954e-02  0.00000000e+00  2.31109294e+02]
 [-8.92537954e-02  9.96008916e-01  0.00000000e+00 -1.42764058e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.17, Y:-14.28, Z:0.00
[[ 9.95016494e-01  9.97104634e-02  0.00000000e+00  2.31170433e+02]
 [-9.97104634e-02  9.95016494e-01  0.00000000e+00 -1.42762109e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.23, Y:-14.28, Z:0.00
[[ 9.93846885e-01  1.10762668e-01  0.00000000e+00  2.31232187e+02]
 [-1.10762668e-01  9.93846885e-01  0.00000000e+00 -1.42763781e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.29, Y:-14.28, Z:0.00
[[ 9.92677965e-01  1.20790963e-01  0.00000000e+00  2.31293095e+02]
 [-1.20790963e-01  9.92677965e-01  0.00000000e+00 -1.42811181e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 229.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.35, Y:-14.29, Z:0.00
[[ 9.91696938e-01  1.28596977e-01  0.00000000e+00  2.31354224e+02]
 [-1.28596977e-01  9.91696938e-01  0.00000000e+00 -1.42850796e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.41, Y:-14.30, Z:0.00
[[ 9.90667136e-01  1.36303431e-01  0.00000000e+00  2.31413739e+02]
 [-1.36303431e-01  9.90667136e-01  0.00000000e+00 -1.42955438e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.47, Y:-14.31, Z:0.00
[[ 9.90675776e-01  1.36240620e-01  0.00000000e+00  2.31474138e+02]
 [-1.36240620e-01  9.90675776e-01  0.00000000e+00 -1.43107290e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.53, Y:-14.33, Z:0.00
[[ 9.91491667e-01  1.30170173e-01  0.00000000e+00  2.31533499e+02]
 [-1.30170173e-01  9.91491667e-01  0.00000000e+00 -1.43274942e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.59, Y:-14.35, Z:0.00
[[ 9.92539561e-01  1.21923007e-01  0.00000000e+00  2.31593077e+02]
 [-1.21923007e-01  9.92539561e-01  0.00000000e+00 -1.43463466e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.65, Y:-14.36, Z:0.00
[[ 9.93126343e-01  1.17047282e-01  0.00000000e+00  2.31652388e+02]
 [-1.17047282e-01  9.93126343e-01  0.00000000e+00 -1.43621046e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.71, Y:-14.38, Z:0.00
[[ 9.93162372e-01  1.16741178e-01  0.00000000e+00  2.31712756e+02]
 [-1.16741178e-01  9.93162372e-01  0.00000000e+00 -1.43788485e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.77, Y:-14.39, Z:0.00
[[ 9.92570179e-01  1.21673499e-01  0.00000000e+00  2.31773849e+02]
 [-1.21673499e-01  9.92570179e-01  0.00000000e+00 -1.43910902e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.83, Y:-14.40, Z:0.00
[[ 9.90936948e-01  1.34327827e-01  0.00000000e+00  2.31834091e+02]
 [-1.34327827e-01  9.90936948e-01  0.00000000e+00 -1.44047318e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.89, Y:-14.42, Z:0.00
[[ 9.89726477e-01  1.42973777e-01  0.00000000e+00  2.31894025e+02]
 [-1.42973777e-01  9.89726477e-01  0.00000000e+00 -1.44168446e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:231.95, Y:-14.43, Z:0.00
[[ 9.88469523e-01  1.51419950e-01  0.00000000e+00  2.31953687e+02]
 [-1.51419950e-01  9.88469523e-01  0.00000000e+00 -1.44337519e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.01, Y:-14.46, Z:0.00
[[ 9.88421181e-01  1.51735192e-01  0.00000000e+00  2.32011212e+02]
 [-1.51735192e-01  9.88421181e-01  0.00000000e+00 -1.44577851e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.07, Y:-14.48, Z:0.00
[[ 9.88935370e-01  1.48347004e-01  0.00000000e+00  2.32069250e+02]
 [-1.48347004e-01  9.88935370e-01  0.00000000e+00 -1.44773710e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.13, Y:-14.50, Z:0.00
[[ 9.89584917e-01  1.43950311e-01  0.00000000e+00  2.32127863e+02]
 [-1.43950311e-01  9.89584917e-01  0.00000000e+00 -1.45023539e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.19, Y:-14.52, Z:0.00
[[ 9.89594195e-01  1.43886518e-01  0.00000000e+00  2.32187402e+02]
 [-1.43886518e-01  9.89594195e-01  0.00000000e+00 -1.45192583e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.25, Y:-14.54, Z:0.00
[[ 9.88799876e-01  1.49247463e-01  0.00000000e+00  2.32246915e+02]
 [-1.49247463e-01  9.88799876e-01  0.00000000e+00 -1.45410943e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 230.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.31, Y:-14.56, Z:0.00
[[ 9.87065070e-01  1.60320138e-01  0.00000000e+00  2.32306310e+02]
 [-1.60320138e-01  9.87065070e-01  0.00000000e+00 -1.45591334e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.37, Y:-14.57, Z:0.00
[[ 9.85863234e-01  1.67552031e-01  0.00000000e+00  2.32366193e+02]
 [-1.67552031e-01  9.85863234e-01  0.00000000e+00 -1.45725940e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.42, Y:-14.59, Z:0.00
[[ 9.84953307e-01  1.72820665e-01  0.00000000e+00  2.32423911e+02]
 [-1.72820665e-01  9.84953307e-01  0.00000000e+00 -1.45947678e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.48, Y:-14.62, Z:0.00
[[ 9.85099014e-01  1.71988174e-01  0.00000000e+00  2.32483666e+02]
 [-1.71988174e-01  9.85099014e-01  0.00000000e+00 -1.46159415e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.54, Y:-14.64, Z:0.00
[[ 9.85356511e-01  1.70506734e-01  0.00000000e+00  2.32542134e+02]
 [-1.70506734e-01  9.85356511e-01  0.00000000e+00 -1.46356627e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.60, Y:-14.66, Z:0.00
[[ 9.86551559e-01  1.63450362e-01  0.00000000e+00  2.32600797e+02]
 [-1.63450362e-01  9.86551559e-01  0.00000000e+00 -1.46625693e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.66, Y:-14.68, Z:0.00
[[ 9.87297721e-01  1.58881120e-01  0.00000000e+00  2.32660075e+02]
 [-1.58881120e-01  9.87297721e-01  0.00000000e+00 -1.46774417e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.72, Y:-14.70, Z:0.00
[[ 9.87633793e-01  1.56778475e-01  0.00000000e+00  2.32718696e+02]
 [-1.56778475e-01  9.87633793e-01  0.00000000e+00 -1.47005359e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.78, Y:-14.72, Z:0.00
[[ 9.87984031e-01  1.54555993e-01  0.00000000e+00  2.32778270e+02]
 [-1.54555993e-01  9.87984031e-01  0.00000000e+00 -1.47231134e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.84, Y:-14.74, Z:0.00
[[ 9.87892081e-01  1.55142633e-01  0.00000000e+00  2.32839152e+02]
 [-1.55142633e-01  9.87892081e-01  0.00000000e+00 -1.47367513e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.90, Y:-14.75, Z:0.00
[[ 9.87424596e-01  1.58090692e-01  0.00000000e+00  2.32898257e+02]
 [-1.58090692e-01  9.87424596e-01  0.00000000e+00 -1.47541359e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:232.96, Y:-14.77, Z:0.00
[[ 9.86628473e-01  1.62985447e-01  0.00000000e+00  2.32957007e+02]
 [-1.62985447e-01  9.86628473e-01  0.00000000e+00 -1.47720784e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.02, Y:-14.78, Z:0.00
[[ 9.86452684e-01  1.64046038e-01  0.00000000e+00  2.33018369e+02]
 [-1.64046038e-01  9.86452684e-01  0.00000000e+00 -1.47824554e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.08, Y:-14.80, Z:0.00
[[ 9.86954490e-01  1.60999484e-01  0.00000000e+00  2.33077598e+02]
 [-1.60999484e-01  9.86954490e-01  0.00000000e+00 -1.47951430e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.14, Y:-14.81, Z:0.00
[[ 9.87981119e-01  1.54574602e-01  0.00000000e+00  2.33136088e+02]
 [-1.54574602e-01  9.87981119e-01  0.00000000e+00 -1.48097687e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.20, Y:-14.83, Z:0.00
[[ 9.90452853e-01  1.37851898e-01  0.00000000e+00  2.33195628e+02]
 [-1.37851898e-01  9.90452853e-01  0.00000000e+00 -1.48300509e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.25, Y:-14.84, Z:0.00
[[ 9.91784888e-01  1.27916912e-01  0.00000000e+00  2.33254743e+02]
 [-1.27916912e-01  9.91784888e-01  0.00000000e+00 -1.48403284e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 231.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.31, Y:-14.86, Z:0.00
[[ 9.94409316e-01  1.05594094e-01  0.00000000e+00  2.33313976e+02]
 [-1.05594094e-01  9.94409316e-01  0.00000000e+00 -1.48576179e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.37, Y:-14.87, Z:0.00
[[ 9.96241449e-01  8.66197172e-02  0.00000000e+00  2.33373607e+02]
 [-8.66197172e-02  9.96241449e-01  0.00000000e+00 -1.48685281e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.43, Y:-14.87, Z:0.00
[[ 9.97337122e-01  7.29291843e-02  0.00000000e+00  2.33434237e+02]
 [-7.29291843e-02  9.97337122e-01  0.00000000e+00 -1.48697571e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.50, Y:-14.87, Z:0.00
[[ 9.97833385e-01  6.57916043e-02  0.00000000e+00  2.33495250e+02]
 [-6.57916043e-02  9.97833385e-01  0.00000000e+00 -1.48698324e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.56, Y:-14.86, Z:0.00
[[ 9.98315924e-01  5.80113435e-02  0.00000000e+00  2.33557516e+02]
 [-5.80113435e-02  9.98315924e-01  0.00000000e+00 -1.48640457e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.62, Y:-14.85, Z:0.00
[[ 9.98687193e-01  5.12239178e-02  0.00000000e+00  2.33619455e+02]
 [-5.12239178e-02  9.98687193e-01  0.00000000e+00 -1.48501692e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.68, Y:-14.84, Z:0.00
[[ 9.98829339e-01  4.83730489e-02  0.00000000e+00  2.33681624e+02]
 [-4.83730489e-02  9.98829339e-01  0.00000000e+00 -1.48401420e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.74, Y:-14.83, Z:0.00
[[ 9.98726069e-01  5.04602736e-02  0.00000000e+00  2.33744699e+02]
 [-5.04602736e-02  9.98726069e-01  0.00000000e+00 -1.48305267e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.81, Y:-14.81, Z:0.00
[[ 9.98220476e-01  5.96312061e-02  0.00000000e+00  2.33807059e+02]
 [-5.96312061e-02  9.98220476e-01  0.00000000e+00 -1.48137764e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.87, Y:-14.81, Z:0.00
[[ 9.97854502e-01  6.54705564e-02  0.00000000e+00  2.33868952e+02]
 [-6.54705564e-02  9.97854502e-01  0.00000000e+00 -1.48055391e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.93, Y:-14.79, Z:0.00
[[ 9.97297847e-01  7.34643077e-02  0.00000000e+00  2.33931641e+02]
 [-7.34643077e-02  9.97297847e-01  0.00000000e+00 -1.47878898e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:233.99, Y:-14.77, Z:0.00
[[ 9.97393219e-01  7.21579333e-02  0.00000000e+00  2.33994131e+02]
 [-7.21579333e-02  9.97393219e-01  0.00000000e+00 -1.47723334e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.06, Y:-14.77, Z:0.00
[[ 9.97808539e-01  6.61673667e-02  0.00000000e+00  2.34055809e+02]
 [-6.61673667e-02  9.97808539e-01  0.00000000e+00 -1.47661234e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.12, Y:-14.75, Z:0.00
[[ 9.98306306e-01  5.81766150e-02  0.00000000e+00  2.34118107e+02]
 [-5.81766150e-02  9.98306306e-01  0.00000000e+00 -1.47528100e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.18, Y:-14.74, Z:0.00
[[ 9.98518468e-01  5.44138711e-02  0.00000000e+00  2.34182138e+02]
 [-5.44138711e-02  9.98518468e-01  0.00000000e+00 -1.47368236e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.24, Y:-14.72, Z:0.00
[[ 9.98476159e-01  5.51847876e-02  0.00000000e+00  2.34244260e+02]
 [-5.51847876e-02  9.98476159e-01  0.00000000e+00 -1.47180532e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.31, Y:-14.70, Z:0.00
[[ 9.98448447e-01  5.56839211e-02  0.00000000e+00  2.34308871e+02]
 [-5.56839211e-02  9.98448447e-01  0.00000000e+00 -1.47016114e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 232.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.37, Y:-14.69, Z:0.00
[[ 9.98459438e-01  5.54864830e-02  0.00000000e+00  2.34372112e+02]
 [-5.54864830e-02  9.98459438e-01  0.00000000e+00 -1.46891803e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.43, Y:-14.67, Z:0.00
[[ 9.98685658e-01  5.12538399e-02  0.00000000e+00  2.34434313e+02]
 [-5.12538399e-02  9.98685658e-01  0.00000000e+00 -1.46716998e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.50, Y:-14.65, Z:0.00
[[ 9.98891758e-01  4.70665131e-02  0.00000000e+00  2.34496870e+02]
 [-4.70665131e-02  9.98891758e-01  0.00000000e+00 -1.46529672e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.56, Y:-14.63, Z:0.00
[[ 9.98828749e-01  4.83852295e-02  0.00000000e+00  2.34560609e+02]
 [-4.83852295e-02  9.98828749e-01  0.00000000e+00 -1.46316995e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.62, Y:-14.61, Z:0.00
[[ 9.98715829e-01  5.06625318e-02  0.00000000e+00  2.34623661e+02]
 [-5.06625318e-02  9.98715829e-01  0.00000000e+00 -1.46104388e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.69, Y:-14.60, Z:0.00
[[ 9.98556042e-01  5.37199361e-02  0.00000000e+00  2.34685519e+02]
 [-5.37199361e-02  9.98556042e-01  0.00000000e+00 -1.45997516e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.75, Y:-14.58, Z:0.00
[[ 9.98629575e-01  5.23351808e-02  0.00000000e+00  2.34750451e+02]
 [-5.23351808e-02  9.98629575e-01  0.00000000e+00 -1.45814094e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.81, Y:-14.56, Z:0.00
[[ 9.98605503e-01  5.27925209e-02  0.00000000e+00  2.34813632e+02]
 [-5.27925209e-02  9.98605503e-01  0.00000000e+00 -1.45644470e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.88, Y:-14.55, Z:0.00
[[ 9.98692461e-01  5.11211221e-02  0.00000000e+00  2.34875180e+02]
 [-5.11211221e-02  9.98692461e-01  0.00000000e+00 -1.45547758e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:234.94, Y:-14.55, Z:0.00
[[ 9.98735944e-01  5.02644362e-02  0.00000000e+00  2.34938480e+02]
 [-5.02644362e-02  9.98735944e-01  0.00000000e+00 -1.45489010e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.00, Y:-14.54, Z:0.00
[[ 9.98845591e-01  4.80362964e-02  0.00000000e+00  2.35003076e+02]
 [-4.80362964e-02  9.98845591e-01  0.00000000e+00 -1.45373682e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.07, Y:-14.53, Z:0.00
[[ 9.99008195e-01  4.45266926e-02  0.00000000e+00  2.35065482e+02]
 [-4.45266926e-02  9.99008195e-01  0.00000000e+00 -1.45288355e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.13, Y:-14.51, Z:0.00
[[ 9.99187973e-01  4.02913643e-02  0.00000000e+00  2.35126965e+02]
 [-4.02913643e-02  9.99187973e-01  0.00000000e+00 -1.45133954e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.19, Y:-14.50, Z:0.00
[[ 9.99097731e-01  4.24702709e-02  0.00000000e+00  2.35189978e+02]
 [-4.24702709e-02  9.99097731e-01  0.00000000e+00 -1.44982589e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.25, Y:-14.48, Z:0.00
[[ 9.98754212e-01  4.99001385e-02  0.00000000e+00  2.35252671e+02]
 [-4.99001385e-02  9.98754212e-01  0.00000000e+00 -1.44795126e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.31, Y:-14.46, Z:0.00
[[ 9.98442633e-01  5.57880741e-02  0.00000000e+00  2.35314167e+02]
 [-5.57880741e-02  9.98442633e-01  0.00000000e+00 -1.44645354e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 233.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.38, Y:-14.45, Z:0.00
[[ 9.98057796e-01  6.22947502e-02  0.00000000e+00  2.35376196e+02]
 [-6.22947502e-02  9.98057796e-01  0.00000000e+00 -1.44504162e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.44, Y:-14.45, Z:0.00
[[ 9.97641767e-01  6.86360352e-02  0.00000000e+00  2.35437909e+02]
 [-6.86360352e-02  9.97641767e-01  0.00000000e+00 -1.44464613e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.50, Y:-14.44, Z:0.00
[[ 9.96396641e-01  8.48158805e-02  0.00000000e+00  2.35500392e+02]
 [-8.48158805e-02  9.96396641e-01  0.00000000e+00 -1.44359759e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.56, Y:-14.43, Z:0.00
[[ 9.94697509e-01  1.02843893e-01  0.00000000e+00  2.35560488e+02]
 [-1.02843893e-01  9.94697509e-01  0.00000000e+00 -1.44323976e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.62, Y:-14.44, Z:0.00
[[ 9.93568909e-01  1.13229077e-01  0.00000000e+00  2.35622542e+02]
 [-1.13229077e-01  9.93568909e-01  0.00000000e+00 -1.44361545e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.68, Y:-14.45, Z:0.00
[[ 9.92916083e-01  1.18817729e-01  0.00000000e+00  2.35683882e+02]
 [-1.18817729e-01  9.92916083e-01  0.00000000e+00 -1.44477153e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.74, Y:-14.46, Z:0.00
[[ 9.91994364e-01  1.26282150e-01  0.00000000e+00  2.35744759e+02]
 [-1.26282150e-01  9.91994364e-01  0.00000000e+00 -1.44633336e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.80, Y:-14.48, Z:0.00
[[ 9.91638473e-01  1.29047040e-01  0.00000000e+00  2.35802859e+02]
 [-1.29047040e-01  9.91638473e-01  0.00000000e+00 -1.44794299e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.86, Y:-14.50, Z:0.00
[[ 9.90811431e-01  1.35250539e-01  0.00000000e+00  2.35861393e+02]
 [-1.35250539e-01  9.90811431e-01  0.00000000e+00 -1.45046211e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.92, Y:-14.53, Z:0.00
[[ 9.90121109e-01  1.40214799e-01  0.00000000e+00  2.35921261e+02]
 [-1.40214799e-01  9.90121109e-01  0.00000000e+00 -1.45295478e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:235.98, Y:-14.56, Z:0.00
[[ 9.89861948e-01  1.42032828e-01  0.00000000e+00  2.35979605e+02]
 [-1.42032828e-01  9.89861948e-01  0.00000000e+00 -1.45599639e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.04, Y:-14.58, Z:0.00
[[ 9.89917843e-01  1.41642735e-01  0.00000000e+00  2.36040130e+02]
 [-1.41642735e-01  9.89917843e-01  0.00000000e+00 -1.45808445e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.10, Y:-14.61, Z:0.00
[[ 9.89692924e-01  1.43205852e-01  0.00000000e+00  2.36096868e+02]
 [-1.43205852e-01  9.89692924e-01  0.00000000e+00 -1.46106587e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.16, Y:-14.64, Z:0.00
[[ 9.89672121e-01  1.43349548e-01  0.00000000e+00  2.36156075e+02]
 [-1.43349548e-01  9.89672121e-01  0.00000000e+00 -1.46429430e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.22, Y:-14.67, Z:0.00
[[ 9.89472017e-01  1.44724317e-01  0.00000000e+00  2.36215986e+02]
 [-1.44724317e-01  9.89472017e-01  0.00000000e+00 -1.46660085e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.27, Y:-14.70, Z:0.00
[[ 9.89520105e-01  1.44395157e-01  0.00000000e+00  2.36273537e+02]
 [-1.44395157e-01  9.89520105e-01  0.00000000e+00 -1.46961055e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.33, Y:-14.73, Z:0.00
[[ 9.90033232e-01  1.40833942e-01  0.00000000e+00  2.36331504e+02]
 [-1.40833942e-01  9.90033232e-01  0.00000000e+00 -1.47268962e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 234.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.39, Y:-14.75, Z:0.00
[[ 9.90579074e-01  1.36941950e-01  0.00000000e+00  2.36389791e+02]
 [-1.36941950e-01  9.90579074e-01  0.00000000e+00 -1.47484904e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.45, Y:-14.78, Z:0.00
[[ 9.92217061e-01  1.24520296e-01  0.00000000e+00  2.36447673e+02]
 [-1.24520296e-01  9.92217061e-01  0.00000000e+00 -1.47760807e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.51, Y:-14.80, Z:0.00
[[ 9.93735604e-01  1.11756650e-01  0.00000000e+00  2.36506181e+02]
 [-1.11756650e-01  9.93735604e-01  0.00000000e+00 -1.48001344e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.57, Y:-14.82, Z:0.00
[[ 9.93811404e-01  1.11080572e-01  0.00000000e+00  2.36566003e+02]
 [-1.11080572e-01  9.93811404e-01  0.00000000e+00 -1.48184023e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.63, Y:-14.83, Z:0.00
[[ 9.93098607e-01  1.17282383e-01  0.00000000e+00  2.36626196e+02]
 [-1.17282383e-01  9.93098607e-01  0.00000000e+00 -1.48285508e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.69, Y:-14.85, Z:0.00
[[ 9.91761273e-01  1.28099869e-01  0.00000000e+00  2.36686634e+02]
 [-1.28099869e-01  9.91761273e-01  0.00000000e+00 -1.48460774e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.75, Y:-14.86, Z:0.00
[[ 9.91158782e-01  1.32681079e-01  0.00000000e+00  2.36745728e+02]
 [-1.32681079e-01  9.91158782e-01  0.00000000e+00 -1.48584730e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.81, Y:-14.87, Z:0.00
[[ 9.89854515e-01  1.42084619e-01  0.00000000e+00  2.36805574e+02]
 [-1.42084619e-01  9.89854515e-01  0.00000000e+00 -1.48747772e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.87, Y:-14.88, Z:0.00
[[ 9.89392910e-01  1.45264139e-01  0.00000000e+00  2.36866686e+02]
 [-1.45264139e-01  9.89392910e-01  0.00000000e+00 -1.48849440e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.93, Y:-14.90, Z:0.00
[[ 9.87940414e-01  1.54834554e-01  0.00000000e+00  2.36925921e+02]
 [-1.54834554e-01  9.87940414e-01  0.00000000e+00 -1.49041650e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:236.98, Y:-14.92, Z:0.00
[[ 9.87190183e-01  1.59547932e-01  0.00000000e+00  2.36984006e+02]
 [-1.59547932e-01  9.87190183e-01  0.00000000e+00 -1.49247284e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.04, Y:-14.94, Z:0.00
[[ 9.87375922e-01  1.58394411e-01  0.00000000e+00  2.37044490e+02]
 [-1.58394411e-01  9.87375922e-01  0.00000000e+00 -1.49424993e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.10, Y:-14.97, Z:0.00
[[ 9.89528096e-01  1.44340389e-01  0.00000000e+00  2.37102404e+02]
 [-1.44340389e-01  9.89528096e-01  0.00000000e+00 -1.49738512e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.16, Y:-14.99, Z:0.00
[[ 9.90445055e-01  1.37907917e-01  0.00000000e+00  2.37161598e+02]
 [-1.37907917e-01  9.90445055e-01  0.00000000e+00 -1.49933083e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.22, Y:-15.02, Z:0.00
[[ 9.90929791e-01  1.34380612e-01  0.00000000e+00  2.37221954e+02]
 [-1.34380612e-01  9.90929791e-01  0.00000000e+00 -1.50162007e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.28, Y:-15.03, Z:0.00
[[ 9.90901081e-01  1.34592152e-01  0.00000000e+00  2.37282143e+02]
 [-1.34592152e-01  9.90901081e-01  0.00000000e+00 -1.50328908e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.34, Y:-15.05, Z:0.00
[[ 9.91533854e-01  1.29848437e-01  0.00000000e+00  2.37341101e+02]
 [-1.29848437e-01  9.91533854e-01  0.00000000e+00 -1.50519107e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 235.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.40, Y:-15.07, Z:0.00
[[ 9.92242083e-01  1.24320746e-01  0.00000000e+00  2.37400565e+02]
 [-1.24320746e-01  9.92242083e-01  0.00000000e+00 -1.50689650e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.46, Y:-15.08, Z:0.00
[[ 9.92654589e-01  1.20982919e-01  0.00000000e+00  2.37461608e+02]
 [-1.20982919e-01  9.92654589e-01  0.00000000e+00 -1.50845489e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.52, Y:-15.09, Z:0.00
[[ 9.94763307e-01  1.02205491e-01  0.00000000e+00  2.37523158e+02]
 [-1.02205491e-01  9.94763307e-01  0.00000000e+00 -1.50943782e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.58, Y:-15.11, Z:0.00
[[ 9.95353693e-01  9.62861664e-02  0.00000000e+00  2.37584178e+02]
 [-9.62861664e-02  9.95353693e-01  0.00000000e+00 -1.51064371e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.65, Y:-15.11, Z:0.00
[[ 9.96169179e-01  8.74469354e-02  0.00000000e+00  2.37646346e+02]
 [-8.74469354e-02  9.96169179e-01  0.00000000e+00 -1.51093741e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.71, Y:-15.11, Z:0.00
[[ 9.95898576e-01  9.04766672e-02  0.00000000e+00  2.37706449e+02]
 [-9.04766672e-02  9.95898576e-01  0.00000000e+00 -1.51105222e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.77, Y:-15.11, Z:0.00
[[ 9.96132581e-01  8.78628570e-02  0.00000000e+00  2.37769421e+02]
 [-8.78628570e-02  9.96132581e-01  0.00000000e+00 -1.51082754e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.83, Y:-15.11, Z:0.00
[[ 9.96216685e-01  8.69040694e-02  0.00000000e+00  2.37832445e+02]
 [-8.69040694e-02  9.96216685e-01  0.00000000e+00 -1.51089656e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.90, Y:-15.10, Z:0.00
[[ 9.96472430e-01  8.39207760e-02  0.00000000e+00  2.37895982e+02]
 [-8.39207760e-02  9.96472430e-01  0.00000000e+00 -1.50979547e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:237.96, Y:-15.09, Z:0.00
[[ 9.96794832e-01  8.00003883e-02  0.00000000e+00  2.37958343e+02]
 [-8.00003883e-02  9.96794832e-01  0.00000000e+00 -1.50936430e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.02, Y:-15.09, Z:0.00
[[ 9.96968556e-01  7.78055144e-02  0.00000000e+00  2.38018774e+02]
 [-7.78055144e-02  9.96968556e-01  0.00000000e+00 -1.50905072e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.08, Y:-15.08, Z:0.00
[[ 9.96918454e-01  7.84448600e-02  0.00000000e+00  2.38082543e+02]
 [-7.84448600e-02  9.96918454e-01  0.00000000e+00 -1.50765689e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.15, Y:-15.07, Z:0.00
[[ 9.96807088e-01  7.98475384e-02  0.00000000e+00  2.38145760e+02]
 [-7.98475384e-02  9.96807088e-01  0.00000000e+00 -1.50714992e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.21, Y:-15.06, Z:0.00
[[ 9.96457564e-01  8.40971006e-02  0.00000000e+00  2.38209138e+02]
 [-8.40971006e-02  9.96457564e-01  0.00000000e+00 -1.50602606e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.27, Y:-15.04, Z:0.00
[[ 9.95779841e-01  9.17742239e-02  0.00000000e+00  2.38271251e+02]
 [-9.17742239e-02  9.95779841e-01  0.00000000e+00 -1.50442347e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.33, Y:-15.04, Z:0.00
[[ 9.95492866e-01  9.48364587e-02  0.00000000e+00  2.38333928e+02]
 [-9.48364587e-02  9.95492866e-01  0.00000000e+00 -1.50369087e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 236.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.40, Y:-15.03, Z:0.00
[[ 9.95416211e-01  9.56376834e-02  0.00000000e+00  2.38395988e+02]
 [-9.56376834e-02  9.95416211e-01  0.00000000e+00 -1.50273346e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.46, Y:-15.02, Z:0.00
[[ 9.95308916e-01  9.67479255e-02  0.00000000e+00  2.38457812e+02]
 [-9.67479255e-02  9.95308916e-01  0.00000000e+00 -1.50214176e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.52, Y:-15.02, Z:0.00
[[ 9.94803907e-01  1.01809565e-01  0.00000000e+00  2.38520206e+02]
 [-1.01809565e-01  9.94803907e-01  0.00000000e+00 -1.50163961e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.58, Y:-15.02, Z:0.00
[[ 9.94002270e-01  1.09359437e-01  0.00000000e+00  2.38583309e+02]
 [-1.09359437e-01  9.94002270e-01  0.00000000e+00 -1.50163059e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.64, Y:-15.02, Z:0.00
[[ 9.93711359e-01  1.11972028e-01  0.00000000e+00  2.38644795e+02]
 [-1.11972028e-01  9.93711359e-01  0.00000000e+00 -1.50182984e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.71, Y:-15.02, Z:0.00
[[ 9.92777083e-01  1.19973594e-01  0.00000000e+00  2.38705993e+02]
 [-1.19973594e-01  9.92777083e-01  0.00000000e+00 -1.50216938e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.77, Y:-15.03, Z:0.00
[[ 9.92115377e-01  1.25327885e-01  0.00000000e+00  2.38767185e+02]
 [-1.25327885e-01  9.92115377e-01  0.00000000e+00 -1.50262624e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.83, Y:-15.03, Z:0.00
[[ 9.91472587e-01  1.30315425e-01  0.00000000e+00  2.38826368e+02]
 [-1.30315425e-01  9.91472587e-01  0.00000000e+00 -1.50335117e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.89, Y:-15.04, Z:0.00
[[ 9.90397103e-01  1.38251868e-01  0.00000000e+00  2.38886116e+02]
 [-1.38251868e-01  9.90397103e-01  0.00000000e+00 -1.50413744e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:238.95, Y:-15.05, Z:0.00
[[ 9.89862124e-01  1.42031600e-01  0.00000000e+00  2.38946976e+02]
 [-1.42031600e-01  9.89862124e-01  0.00000000e+00 -1.50500862e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.01, Y:-15.06, Z:0.00
[[ 9.89494536e-01  1.44570270e-01  0.00000000e+00  2.39007006e+02]
 [-1.44570270e-01  9.89494536e-01  0.00000000e+00 -1.50622247e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.07, Y:-15.07, Z:0.00
[[ 9.89868284e-01  1.41988663e-01  0.00000000e+00  2.39067038e+02]
 [-1.41988663e-01  9.89868284e-01  0.00000000e+00 -1.50737613e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.13, Y:-15.09, Z:0.00
[[ 9.90756319e-01  1.35653664e-01  0.00000000e+00  2.39126011e+02]
 [-1.35653664e-01  9.90756319e-01  0.00000000e+00 -1.50929473e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.18, Y:-15.11, Z:0.00
[[ 9.91367166e-01  1.31114996e-01  0.00000000e+00  2.39184743e+02]
 [-1.31114996e-01  9.91367166e-01  0.00000000e+00 -1.51128121e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.25, Y:-15.13, Z:0.00
[[ 9.91524697e-01  1.29918340e-01  0.00000000e+00  2.39245654e+02]
 [-1.29918340e-01  9.91524697e-01  0.00000000e+00 -1.51291791e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.30, Y:-15.14, Z:0.00
[[ 9.91557911e-01  1.29664605e-01  0.00000000e+00  2.39304739e+02]
 [-1.29664605e-01  9.91557911e-01  0.00000000e+00 -1.51435836e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.37, Y:-15.16, Z:0.00
[[ 9.91831599e-01  1.27554221e-01  0.00000000e+00  2.39365104e+02]
 [-1.27554221e-01  9.91831599e-01  0.00000000e+00 -1.51577758e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 237.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.42, Y:-15.18, Z:0.00
[[ 9.92679365e-01  1.20779459e-01  0.00000000e+00  2.39424313e+02]
 [-1.20779459e-01  9.92679365e-01  0.00000000e+00 -1.51754343e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.48, Y:-15.19, Z:0.00
[[ 9.93921358e-01  1.10092389e-01  0.00000000e+00  2.39483523e+02]
 [-1.10092389e-01  9.93921358e-01  0.00000000e+00 -1.51917388e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.55, Y:-15.20, Z:0.00
[[ 9.94711951e-01  1.02704107e-01  0.00000000e+00  2.39545306e+02]
 [-1.02704107e-01  9.94711951e-01  0.00000000e+00 -1.52008123e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.61, Y:-15.21, Z:0.00
[[ 9.95147238e-01  9.83970263e-02  0.00000000e+00  2.39605613e+02]
 [-9.83970263e-02  9.95147238e-01  0.00000000e+00 -1.52090824e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.67, Y:-15.22, Z:0.00
[[ 9.95199337e-01  9.78686906e-02  0.00000000e+00  2.39666818e+02]
 [-9.78686906e-02  9.95199337e-01  0.00000000e+00 -1.52167489e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.73, Y:-15.22, Z:0.00
[[ 9.94821574e-01  1.01636783e-01  0.00000000e+00  2.39726526e+02]
 [-1.01636783e-01  9.94821574e-01  0.00000000e+00 -1.52185405e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.79, Y:-15.22, Z:0.00
[[ 9.94473123e-01  1.04991462e-01  0.00000000e+00  2.39788525e+02]
 [-1.04991462e-01  9.94473123e-01  0.00000000e+00 -1.52205059e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.85, Y:-15.22, Z:0.00
[[ 9.94331955e-01  1.06320095e-01  0.00000000e+00  2.39849643e+02]
 [-1.06320095e-01  9.94331955e-01  0.00000000e+00 -1.52232810e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.91, Y:-15.22, Z:0.00
[[ 9.94183573e-01  1.07698763e-01  0.00000000e+00  2.39911188e+02]
 [-1.07698763e-01  9.94183573e-01  0.00000000e+00 -1.52222923e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:239.97, Y:-15.23, Z:0.00
[[ 9.93943085e-01  1.09896057e-01  0.00000000e+00  2.39972300e+02]
 [-1.09896057e-01  9.93943085e-01  0.00000000e+00 -1.52275495e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.03, Y:-15.23, Z:0.00
[[ 9.93145175e-01  1.16887384e-01  0.00000000e+00  2.40033575e+02]
 [-1.16887384e-01  9.93145175e-01  0.00000000e+00 -1.52282226e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.62606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.10, Y:-15.23, Z:0.00
[[ 9.92061469e-01  1.25753896e-01  0.00000000e+00  2.40095871e+02]
 [-1.25753896e-01  9.92061469e-01  0.00000000e+00 -1.52322257e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.16, Y:-15.24, Z:0.00
[[ 9.91450286e-01  1.30484984e-01  0.00000000e+00  2.40156196e+02]
 [-1.30484984e-01  9.91450286e-01  0.00000000e+00 -1.52425131e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.22, Y:-15.25, Z:0.00
[[ 9.91919233e-01  1.26870935e-01  0.00000000e+00  2.40216324e+02]
 [-1.26870935e-01  9.91919233e-01  0.00000000e+00 -1.52542978e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.28, Y:-15.27, Z:0.00
[[ 9.92753474e-01  1.20168798e-01  0.00000000e+00  2.40277652e+02]
 [-1.20168798e-01  9.92753474e-01  0.00000000e+00 -1.52673280e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.34, Y:-15.28, Z:0.00
[[ 9.94203833e-01  1.07511575e-01  0.00000000e+00  2.40339415e+02]
 [-1.07511575e-01  9.94203833e-01  0.00000000e+00 -1.52819167e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.40, Y:-15.29, Z:0.00
[[ 9.94526565e-01  1.04484023e-01  0.00000000e+00  2.40399546e+02]
 [-1.04484023e-01  9.94526565e-01  0.00000000e+00 -1.52921824e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 238.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.46, Y:-15.30, Z:0.00
[[ 9.94050281e-01  1.08922171e-01  0.00000000e+00  2.40460918e+02]
 [-1.08922171e-01  9.94050281e-01  0.00000000e+00 -1.52994085e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.52, Y:-15.31, Z:0.00
[[ 9.92965585e-01  1.18403326e-01  0.00000000e+00  2.40521426e+02]
 [-1.18403326e-01  9.92965585e-01  0.00000000e+00 -1.53089969e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.58, Y:-15.32, Z:0.00
[[ 9.91698083e-01  1.28588151e-01  0.00000000e+00  2.40582256e+02]
 [-1.28588151e-01  9.91698083e-01  0.00000000e+00 -1.53165820e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.64, Y:-15.33, Z:0.00
[[ 9.90042863e-01  1.40766225e-01  0.00000000e+00  2.40642088e+02]
 [-1.40766225e-01  9.90042863e-01  0.00000000e+00 -1.53255752e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.70, Y:-15.33, Z:0.00
[[ 9.89129767e-01  1.47045243e-01  0.00000000e+00  2.40702811e+02]
 [-1.47045243e-01  9.89129767e-01  0.00000000e+00 -1.53340891e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.76, Y:-15.34, Z:0.00
[[ 9.88814122e-01  1.49153048e-01  0.00000000e+00  2.40762871e+02]
 [-1.49153048e-01  9.88814122e-01  0.00000000e+00 -1.53429148e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.82, Y:-15.36, Z:0.00
[[ 9.88902571e-01  1.48565491e-01  0.00000000e+00  2.40822002e+02]
 [-1.48565491e-01  9.88902571e-01  0.00000000e+00 -1.53618362e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.88, Y:-15.38, Z:0.00
[[ 9.89534612e-01  1.44295706e-01  0.00000000e+00  2.40882980e+02]
 [-1.44295706e-01  9.89534612e-01  0.00000000e+00 -1.53773571e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:240.94, Y:-15.39, Z:0.00
[[ 9.90734669e-01  1.35811695e-01  0.00000000e+00  2.40942625e+02]
 [-1.35811695e-01  9.90734669e-01  0.00000000e+00 -1.53937467e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.00, Y:-15.41, Z:0.00
[[ 9.90984139e-01  1.33979240e-01  0.00000000e+00  2.41002263e+02]
 [-1.33979240e-01  9.90984139e-01  0.00000000e+00 -1.54074861e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.06, Y:-15.43, Z:0.00
[[ 9.90292172e-01  1.39001487e-01  0.00000000e+00  2.41061024e+02]
 [-1.39001487e-01  9.90292172e-01  0.00000000e+00 -1.54297014e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.12, Y:-15.44, Z:0.00
[[ 9.89461118e-01  1.44798811e-01  0.00000000e+00  2.41120428e+02]
 [-1.44798811e-01  9.89461118e-01  0.00000000e+00 -1.54430659e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.18, Y:-15.46, Z:0.00
[[ 9.88660363e-01  1.50168859e-01  0.00000000e+00  2.41179518e+02]
 [-1.50168859e-01  9.88660363e-01  0.00000000e+00 -1.54611208e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.24, Y:-15.48, Z:0.00
[[ 9.88258995e-01  1.52787954e-01  0.00000000e+00  2.41237370e+02]
 [-1.52787954e-01  9.88258995e-01  0.00000000e+00 -1.54805640e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.30, Y:-15.50, Z:0.00
[[ 9.88012623e-01  1.54373109e-01  0.00000000e+00  2.41298425e+02]
 [-1.54373109e-01  9.88012623e-01  0.00000000e+00 -1.54972321e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.36, Y:-15.51, Z:0.00
[[ 9.87412916e-01  1.58163627e-01  0.00000000e+00  2.41357551e+02]
 [-1.58163627e-01  9.87412916e-01  0.00000000e+00 -1.55147624e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 239.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.42, Y:-15.53, Z:0.00
[[ 9.87062692e-01  1.60334780e-01  0.00000000e+00  2.41416822e+02]
 [-1.60334780e-01  9.87062692e-01  0.00000000e+00 -1.55305131e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.48, Y:-15.55, Z:0.00
[[ 9.86548945e-01  1.63466142e-01  0.00000000e+00  2.41475414e+02]
 [-1.63466142e-01  9.86548945e-01  0.00000000e+00 -1.55507567e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.53, Y:-15.57, Z:0.00
[[ 9.87151317e-01  1.59788227e-01  0.00000000e+00  2.41534432e+02]
 [-1.59788227e-01  9.87151317e-01  0.00000000e+00 -1.55716492e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.12606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.59, Y:-15.59, Z:0.00
[[ 9.87793969e-01  1.55766090e-01  0.00000000e+00  2.41594377e+02]
 [-1.55766090e-01  9.87793969e-01  0.00000000e+00 -1.55851911e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.65, Y:-15.61, Z:0.00
[[ 9.87824878e-01  1.55569951e-01  0.00000000e+00  2.41653408e+02]
 [-1.55569951e-01  9.87824878e-01  0.00000000e+00 -1.56060283e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.71, Y:-15.62, Z:0.00
[[ 9.87124331e-01  1.59954851e-01  0.00000000e+00  2.41713141e+02]
 [-1.59954851e-01  9.87124331e-01  0.00000000e+00 -1.56195558e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.77, Y:-15.63, Z:0.00
[[ 9.85704269e-01  1.68484701e-01  0.00000000e+00  2.41772446e+02]
 [-1.68484701e-01  9.85704269e-01  0.00000000e+00 -1.56335207e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.83, Y:-15.65, Z:0.00
[[ 9.84543879e-01  1.75138088e-01  0.00000000e+00  2.41831801e+02]
 [-1.75138088e-01  9.84543879e-01  0.00000000e+00 -1.56498592e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.89, Y:-15.67, Z:0.00
[[ 9.83873577e-01  1.78865272e-01  0.00000000e+00  2.41890996e+02]
 [-1.78865272e-01  9.83873577e-01  0.00000000e+00 -1.56729920e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:241.95, Y:-15.69, Z:0.00
[[ 9.83981211e-01  1.78272199e-01  0.00000000e+00  2.41950376e+02]
 [-1.78272199e-01  9.83981211e-01  0.00000000e+00 -1.56917021e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.01, Y:-15.71, Z:0.00
[[ 9.84427609e-01  1.75790449e-01  0.00000000e+00  2.42010129e+02]
 [-1.75790449e-01  9.84427609e-01  0.00000000e+00 -1.57081752e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.07, Y:-15.73, Z:0.00
[[ 9.84905276e-01  1.73094185e-01  0.00000000e+00  2.42067524e+02]
 [-1.73094185e-01  9.84905276e-01  0.00000000e+00 -1.57314528e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.13, Y:-15.75, Z:0.00
[[ 9.85320307e-01  1.70715824e-01  0.00000000e+00  2.42128395e+02]
 [-1.70715824e-01  9.85320307e-01  0.00000000e+00 -1.57470134e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.19, Y:-15.76, Z:0.00
[[ 9.85496917e-01  1.69693333e-01  0.00000000e+00  2.42186986e+02]
 [-1.69693333e-01  9.85496917e-01  0.00000000e+00 -1.57614831e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.25, Y:-15.78, Z:0.00
[[ 9.85548421e-01  1.69393946e-01  0.00000000e+00  2.42247156e+02]
 [-1.69393946e-01  9.85548421e-01  0.00000000e+00 -1.57834856e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.31, Y:-15.80, Z:0.00
[[ 9.84941667e-01  1.72886996e-01  0.00000000e+00  2.42306635e+02]
 [-1.72886996e-01  9.84941667e-01  0.00000000e+00 -1.57998799e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.37, Y:-15.81, Z:0.00
[[ 9.84873323e-01  1.73275902e-01  0.00000000e+00  2.42366530e+02]
 [-1.73275902e-01  9.84873323e-01  0.00000000e+00 -1.58144776e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 240.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.43, Y:-15.83, Z:0.00
[[ 9.85856388e-01  1.67592307e-01  0.00000000e+00  2.42426182e+02]
 [-1.67592307e-01  9.85856388e-01  0.00000000e+00 -1.58327134e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.48, Y:-15.85, Z:0.00
[[ 9.86921937e-01  1.61198915e-01  0.00000000e+00  2.42484573e+02]
 [-1.61198915e-01  9.86921937e-01  0.00000000e+00 -1.58497770e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.54, Y:-15.86, Z:0.00
[[ 9.87746587e-01  1.56066268e-01  0.00000000e+00  2.42543961e+02]
 [-1.56066268e-01  9.87746587e-01  0.00000000e+00 -1.58642355e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.60, Y:-15.88, Z:0.00
[[ 9.89030876e-01  1.47708925e-01  0.00000000e+00  2.42602827e+02]
 [-1.47708925e-01  9.89030876e-01  0.00000000e+00 -1.58829242e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.66, Y:-15.89, Z:0.00
[[ 9.89537455e-01  1.44276209e-01  0.00000000e+00  2.42663324e+02]
 [-1.44276209e-01  9.89537455e-01  0.00000000e+00 -1.58934113e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.72, Y:-15.91, Z:0.00
[[ 9.91012804e-01  1.33767045e-01  0.00000000e+00  2.42723712e+02]
 [-1.33767045e-01  9.91012804e-01  0.00000000e+00 -1.59077966e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.78, Y:-15.92, Z:0.00
[[ 9.92146714e-01  1.25079565e-01  0.00000000e+00  2.42783810e+02]
 [-1.25079565e-01  9.92146714e-01  0.00000000e+00 -1.59178515e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.84, Y:-15.93, Z:0.00
[[ 9.93481735e-01  1.13991414e-01  0.00000000e+00  2.42844524e+02]
 [-1.13991414e-01  9.93481735e-01  0.00000000e+00 -1.59274342e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.91, Y:-15.93, Z:0.00
[[ 9.94170555e-01  1.07818861e-01  0.00000000e+00  2.42905876e+02]
 [-1.07818861e-01  9.94170555e-01  0.00000000e+00 -1.59312531e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:242.97, Y:-15.94, Z:0.00
[[ 9.94528701e-01  1.04463693e-01  0.00000000e+00  2.42967673e+02]
 [-1.04463693e-01  9.94528701e-01  0.00000000e+00 -1.59355461e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.03, Y:-15.94, Z:0.00
[[ 9.94013108e-01  1.09260890e-01  0.00000000e+00  2.43029863e+02]
 [-1.09260890e-01  9.94013108e-01  0.00000000e+00 -1.59357982e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.62606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.09, Y:-15.94, Z:0.00
[[ 9.93381750e-01  1.14859475e-01  0.00000000e+00  2.43091408e+02]
 [-1.14859475e-01  9.93381750e-01  0.00000000e+00 -1.59379391e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.15, Y:-15.94, Z:0.00
[[ 9.91887811e-01  1.27116365e-01  0.00000000e+00  2.43152514e+02]
 [-1.27116365e-01  9.91887811e-01  0.00000000e+00 -1.59385417e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.21, Y:-15.94, Z:0.00
[[ 9.90482475e-01  1.37638899e-01  0.00000000e+00  2.43213895e+02]
 [-1.37638899e-01  9.90482475e-01  0.00000000e+00 -1.59401501e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.28, Y:-15.94, Z:0.00
[[ 9.88300475e-01  1.52519412e-01  0.00000000e+00  2.43275453e+02]
 [-1.52519412e-01  9.88300475e-01  0.00000000e+00 -1.59405490e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.34, Y:-15.95, Z:0.00
[[ 9.86959686e-01  1.60967632e-01  0.00000000e+00  2.43335037e+02]
 [-1.60967632e-01  9.86959686e-01  0.00000000e+00 -1.59450800e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.40, Y:-15.95, Z:0.00
[[ 9.85649924e-01  1.68802330e-01  0.00000000e+00  2.43395949e+02]
 [-1.68802330e-01  9.85649924e-01  0.00000000e+00 -1.59462879e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 241.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.46, Y:-15.95, Z:0.00
[[ 9.85533097e-01  1.69483083e-01  0.00000000e+00  2.43456240e+02]
 [-1.69483083e-01  9.85533097e-01  0.00000000e+00 -1.59538004e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.52, Y:-15.96, Z:0.00
[[ 9.86665066e-01  1.62763780e-01  0.00000000e+00  2.43516991e+02]
 [-1.62763780e-01  9.86665066e-01  0.00000000e+00 -1.59641834e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.58, Y:-15.97, Z:0.00
[[ 9.87072901e-01  1.60271921e-01  0.00000000e+00  2.43576760e+02]
 [-1.60271921e-01  9.87072901e-01  0.00000000e+00 -1.59727651e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.64, Y:-15.98, Z:0.00
[[ 9.87323805e-01  1.58718949e-01  0.00000000e+00  2.43637960e+02]
 [-1.58718949e-01  9.87323805e-01  0.00000000e+00 -1.59811143e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.70, Y:-15.99, Z:0.00
[[ 9.87204170e-01  1.59461362e-01  0.00000000e+00  2.43699862e+02]
 [-1.59461362e-01  9.87204170e-01  0.00000000e+00 -1.59911216e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.76, Y:-16.00, Z:0.00
[[ 9.86549027e-01  1.63465648e-01  0.00000000e+00  2.43758695e+02]
 [-1.63465648e-01  9.86549027e-01  0.00000000e+00 -1.60029356e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.82, Y:-16.01, Z:0.00
[[ 9.85480328e-01  1.69789642e-01  0.00000000e+00  2.43819273e+02]
 [-1.69789642e-01  9.85480328e-01  0.00000000e+00 -1.60145642e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.88, Y:-16.02, Z:0.00
[[ 9.84871179e-01  1.73288084e-01  0.00000000e+00  2.43879835e+02]
 [-1.73288084e-01  9.84871179e-01  0.00000000e+00 -1.60249830e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:243.94, Y:-16.04, Z:0.00
[[ 9.83866356e-01  1.78904986e-01  0.00000000e+00  2.43940235e+02]
 [-1.78904986e-01  9.83866356e-01  0.00000000e+00 -1.60389206e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.00, Y:-16.05, Z:0.00
[[ 9.82848347e-01  1.84415635e-01  0.00000000e+00  2.43999998e+02]
 [-1.84415635e-01  9.82848347e-01  0.00000000e+00 -1.60531155e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.06, Y:-16.06, Z:0.00
[[ 9.82543583e-01  1.86032546e-01  0.00000000e+00  2.44059663e+02]
 [-1.86032546e-01  9.82543583e-01  0.00000000e+00 -1.60643244e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.12, Y:-16.08, Z:0.00
[[ 9.82704505e-01  1.85180602e-01  0.00000000e+00  2.44118874e+02]
 [-1.85180602e-01  9.82704505e-01  0.00000000e+00 -1.60847544e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.18, Y:-16.10, Z:0.00
[[ 9.82996025e-01  1.83626836e-01  0.00000000e+00  2.44178531e+02]
 [-1.83626836e-01  9.82996025e-01  0.00000000e+00 -1.60984749e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.24, Y:-16.12, Z:0.00
[[ 9.84592357e-01  1.74865348e-01  0.00000000e+00  2.44237283e+02]
 [-1.74865348e-01  9.84592357e-01  0.00000000e+00 -1.61152058e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.30, Y:-16.13, Z:0.00
[[ 9.85236766e-01  1.71197296e-01  0.00000000e+00  2.44296696e+02]
 [-1.71197296e-01  9.85236766e-01  0.00000000e+00 -1.61307591e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.36, Y:-16.15, Z:0.00
[[ 9.86465248e-01  1.63970470e-01  0.00000000e+00  2.44356351e+02]
 [-1.63970470e-01  9.86465248e-01  0.00000000e+00 -1.61472465e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 242.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.42, Y:-16.16, Z:0.00
[[ 9.86868595e-01  1.61525156e-01  0.00000000e+00  2.44415281e+02]
 [-1.61525156e-01  9.86868595e-01  0.00000000e+00 -1.61606232e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.47, Y:-16.18, Z:0.00
[[ 9.87694878e-01  1.56393183e-01  0.00000000e+00  2.44473705e+02]
 [-1.56393183e-01  9.87694878e-01  0.00000000e+00 -1.61788062e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.53, Y:-16.19, Z:0.00
[[ 9.87959021e-01  1.54715779e-01  0.00000000e+00  2.44534903e+02]
 [-1.54715779e-01  9.87959021e-01  0.00000000e+00 -1.61887752e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.12606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.60, Y:-16.20, Z:0.00
[[ 9.88023366e-01  1.54304336e-01  0.00000000e+00  2.44595172e+02]
 [-1.54304336e-01  9.88023366e-01  0.00000000e+00 -1.62008361e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.65, Y:-16.21, Z:0.00
[[ 9.87506363e-01  1.57579135e-01  0.00000000e+00  2.44654803e+02]
 [-1.57579135e-01  9.87506363e-01  0.00000000e+00 -1.62125008e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.72, Y:-16.23, Z:0.00
[[ 9.87147412e-01  1.59812350e-01  0.00000000e+00  2.44715128e+02]
 [-1.59812350e-01  9.87147412e-01  0.00000000e+00 -1.62253829e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.78, Y:-16.24, Z:0.00
[[ 9.86638166e-01  1.62926763e-01  0.00000000e+00  2.44775918e+02]
 [-1.62926763e-01  9.86638166e-01  0.00000000e+00 -1.62360724e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.84, Y:-16.24, Z:0.00
[[ 9.86578671e-01  1.63286636e-01  0.00000000e+00  2.44836250e+02]
 [-1.63286636e-01  9.86578671e-01  0.00000000e+00 -1.62429178e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.90, Y:-16.25, Z:0.00
[[ 9.86346209e-01  1.64685019e-01  0.00000000e+00  2.44896804e+02]
 [-1.64685019e-01  9.86346209e-01  0.00000000e+00 -1.62545569e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:244.96, Y:-16.27, Z:0.00
[[ 9.86230105e-01  1.65378897e-01  0.00000000e+00  2.44958377e+02]
 [-1.65378897e-01  9.86230105e-01  0.00000000e+00 -1.62660289e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.02, Y:-16.28, Z:0.00
[[ 9.85997584e-01  1.66759599e-01  0.00000000e+00  2.45018494e+02]
 [-1.66759599e-01  9.85997584e-01  0.00000000e+00 -1.62801918e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.08, Y:-16.29, Z:0.00
[[ 9.86344832e-01  1.64693270e-01  0.00000000e+00  2.45078440e+02]
 [-1.64693270e-01  9.86344832e-01  0.00000000e+00 -1.62917246e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.14, Y:-16.30, Z:0.00
[[ 9.86819937e-01  1.61822160e-01  0.00000000e+00  2.45138951e+02]
 [-1.61822160e-01  9.86819937e-01  0.00000000e+00 -1.63049218e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.20, Y:-16.32, Z:0.00
[[ 9.86952078e-01  1.61014272e-01  0.00000000e+00  2.45199715e+02]
 [-1.61014272e-01  9.86952078e-01  0.00000000e+00 -1.63163090e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.26, Y:-16.33, Z:0.00
[[ 9.87468496e-01  1.57816254e-01  0.00000000e+00  2.45258877e+02]
 [-1.57816254e-01  9.87468496e-01  0.00000000e+00 -1.63285673e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.32, Y:-16.34, Z:0.00
[[ 9.87477097e-01  1.57762428e-01  0.00000000e+00  2.45318216e+02]
 [-1.57762428e-01  9.87477097e-01  0.00000000e+00 -1.63424563e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.38, Y:-16.35, Z:0.00
[[ 9.88432396e-01  1.51662117e-01  0.00000000e+00  2.45378842e+02]
 [-1.51662117e-01  9.88432396e-01  0.00000000e+00 -1.63527041e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 243.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.44, Y:-16.36, Z:0.00
[[ 9.89047294e-01  1.47598948e-01  0.00000000e+00  2.45439404e+02]
 [-1.47598948e-01  9.89047294e-01  0.00000000e+00 -1.63615431e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.50, Y:-16.37, Z:0.00
[[ 9.90302695e-01  1.38926502e-01  0.00000000e+00  2.45499176e+02]
 [-1.38926502e-01  9.90302695e-01  0.00000000e+00 -1.63733368e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.56, Y:-16.38, Z:0.00
[[ 9.91326251e-01  1.31423988e-01  0.00000000e+00  2.45560223e+02]
 [-1.31423988e-01  9.91326251e-01  0.00000000e+00 -1.63798386e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.62, Y:-16.39, Z:0.00
[[ 9.92167650e-01  1.24913384e-01  0.00000000e+00  2.45620692e+02]
 [-1.24913384e-01  9.92167650e-01  0.00000000e+00 -1.63896186e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.68, Y:-16.39, Z:0.00
[[ 9.92163909e-01  1.24943100e-01  0.00000000e+00  2.45681429e+02]
 [-1.24943100e-01  9.92163909e-01  0.00000000e+00 -1.63947908e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.74, Y:-16.40, Z:0.00
[[ 9.91915611e-01  1.26899256e-01  0.00000000e+00  2.45742014e+02]
 [-1.26899256e-01  9.91915611e-01  0.00000000e+00 -1.64025329e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.81, Y:-16.41, Z:0.00
[[ 9.91802111e-01  1.27783302e-01  0.00000000e+00  2.45805026e+02]
 [-1.27783302e-01  9.91802111e-01  0.00000000e+00 -1.64074536e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.87, Y:-16.41, Z:0.00
[[ 9.91606978e-01  1.29288825e-01  0.00000000e+00  2.45867068e+02]
 [-1.29288825e-01  9.91606978e-01  0.00000000e+00 -1.64135967e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.93, Y:-16.42, Z:0.00
[[ 9.91881057e-01  1.27169053e-01  0.00000000e+00  2.45928305e+02]
 [-1.27169053e-01  9.91881057e-01  0.00000000e+00 -1.64187624e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:245.99, Y:-16.42, Z:0.00
[[ 9.92451260e-01  1.22639700e-01  0.00000000e+00  2.45988751e+02]
 [-1.22639700e-01  9.92451260e-01  0.00000000e+00 -1.64213939e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.05, Y:-16.43, Z:0.00
[[ 9.93111272e-01  1.17175089e-01  0.00000000e+00  2.46050725e+02]
 [-1.17175089e-01  9.93111272e-01  0.00000000e+00 -1.64283155e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.62606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.11, Y:-16.43, Z:0.00
[[ 9.93331492e-01  1.15293313e-01  0.00000000e+00  2.46111899e+02]
 [-1.15293313e-01  9.93331492e-01  0.00000000e+00 -1.64337174e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.17, Y:-16.43, Z:0.00
[[ 9.93149078e-01  1.16854222e-01  0.00000000e+00  2.46173982e+02]
 [-1.16854222e-01  9.93149078e-01  0.00000000e+00 -1.64309324e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.24, Y:-16.43, Z:0.00
[[ 9.92931369e-01  1.18689917e-01  0.00000000e+00  2.46235131e+02]
 [-1.18689917e-01  9.92931369e-01  0.00000000e+00 -1.64320570e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.30, Y:-16.43, Z:0.00
[[ 9.92914643e-01  1.18829761e-01  0.00000000e+00  2.46297288e+02]
 [-1.18829761e-01  9.92914643e-01  0.00000000e+00 -1.64339125e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.36, Y:-16.44, Z:0.00
[[ 9.93369399e-01  1.14966245e-01  0.00000000e+00  2.46360016e+02]
 [-1.14966245e-01  9.93369399e-01  0.00000000e+00 -1.64356139e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.42, Y:-16.44, Z:0.00
[[ 9.93789512e-01  1.11276256e-01  0.00000000e+00  2.46420792e+02]
 [-1.11276256e-01  9.93789512e-01  0.00000000e+00 -1.64409094e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 244.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.48, Y:-16.44, Z:0.00
[[ 9.94280789e-01  1.06797534e-01  0.00000000e+00  2.46483491e+02]
 [-1.06797534e-01  9.94280789e-01  0.00000000e+00 -1.64425378e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.55, Y:-16.44, Z:0.00
[[ 9.95059751e-01  9.92778502e-02  0.00000000e+00  2.46545547e+02]
 [-9.92778502e-02  9.95059751e-01  0.00000000e+00 -1.64364740e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.61, Y:-16.44, Z:0.00
[[ 9.95112436e-01  9.87483625e-02  0.00000000e+00  2.46606862e+02]
 [-9.87483625e-02  9.95112436e-01  0.00000000e+00 -1.64373265e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.67, Y:-16.43, Z:0.00
[[ 9.94942360e-01  1.00447502e-01  0.00000000e+00  2.46669589e+02]
 [-1.00447502e-01  9.94942360e-01  0.00000000e+00 -1.64337675e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.73, Y:-16.43, Z:0.00
[[ 9.94921081e-01  1.00658052e-01  0.00000000e+00  2.46730819e+02]
 [-1.00658052e-01  9.94921081e-01  0.00000000e+00 -1.64328475e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.79, Y:-16.43, Z:0.00
[[ 9.94468609e-01  1.05034215e-01  0.00000000e+00  2.46793745e+02]
 [-1.05034215e-01  9.94468609e-01  0.00000000e+00 -1.64276814e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.86, Y:-16.43, Z:0.00
[[ 9.94205435e-01  1.07496762e-01  0.00000000e+00  2.46855001e+02]
 [-1.07496762e-01  9.94205435e-01  0.00000000e+00 -1.64285542e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.92, Y:-16.43, Z:0.00
[[ 9.94905628e-01  1.00810674e-01  0.00000000e+00  2.46917093e+02]
 [-1.00810674e-01  9.94905628e-01  0.00000000e+00 -1.64256723e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:246.98, Y:-16.42, Z:0.00
[[ 9.95397726e-01  9.58298883e-02  0.00000000e+00  2.46979709e+02]
 [-9.58298883e-02  9.95397726e-01  0.00000000e+00 -1.64200338e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.04, Y:-16.42, Z:0.00
[[ 9.96744246e-01  8.06282101e-02  0.00000000e+00  2.47041152e+02]
 [-8.06282101e-02  9.96744246e-01  0.00000000e+00 -1.64184611e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.10, Y:-16.42, Z:0.00
[[ 9.97299301e-01  7.34445632e-02  0.00000000e+00  2.47102964e+02]
 [-7.34445632e-02  9.97299301e-01  0.00000000e+00 -1.64153702e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.17, Y:-16.40, Z:0.00
[[ 9.97787780e-01  6.64796618e-02  0.00000000e+00  2.47166140e+02]
 [-6.64796618e-02  9.97787780e-01  0.00000000e+00 -1.64014204e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.23, Y:-16.39, Z:0.00
[[ 9.97441883e-01  7.14820998e-02  0.00000000e+00  2.47228498e+02]
 [-7.14820998e-02  9.97441883e-01  0.00000000e+00 -1.63881691e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.29, Y:-16.38, Z:0.00
[[ 9.96884351e-01  7.88770648e-02  0.00000000e+00  2.47290310e+02]
 [-7.88770648e-02  9.96884351e-01  0.00000000e+00 -1.63794127e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.35, Y:-16.36, Z:0.00
[[ 9.95443661e-01  9.53515515e-02  0.00000000e+00  2.47353295e+02]
 [-9.53515515e-02  9.95443661e-01  0.00000000e+00 -1.63601983e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.41, Y:-16.36, Z:0.00
[[ 9.94187886e-01  1.07658944e-01  0.00000000e+00  2.47414715e+02]
 [-1.07658944e-01  9.94187886e-01  0.00000000e+00 -1.63559153e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 245.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.48, Y:-16.35, Z:0.00
[[ 9.93050864e-01  1.17685946e-01  0.00000000e+00  2.47477512e+02]
 [-1.17685946e-01  9.93050864e-01  0.00000000e+00 -1.63498546e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.54, Y:-16.34, Z:0.00
[[ 9.92062741e-01  1.25743858e-01  0.00000000e+00  2.47539945e+02]
 [-1.25743858e-01  9.92062741e-01  0.00000000e+00 -1.63427892e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.60, Y:-16.34, Z:0.00
[[ 9.91581872e-01  1.29481237e-01  0.00000000e+00  2.47600720e+02]
 [-1.29481237e-01  9.91581872e-01  0.00000000e+00 -1.63449486e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.12606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.66, Y:-16.35, Z:0.00
[[ 9.90721925e-01  1.35904625e-01  0.00000000e+00  2.47662647e+02]
 [-1.35904625e-01  9.90721925e-01  0.00000000e+00 -1.63451408e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.72, Y:-16.35, Z:0.00
[[ 9.90208992e-01  1.39592810e-01  0.00000000e+00  2.47723979e+02]
 [-1.39592810e-01  9.90208992e-01  0.00000000e+00 -1.63529334e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.79, Y:-16.36, Z:0.00
[[ 9.89234101e-01  1.46341698e-01  0.00000000e+00  2.47785087e+02]
 [-1.46341698e-01  9.89234101e-01  0.00000000e+00 -1.63593375e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.85, Y:-16.37, Z:0.00
[[ 9.88575727e-01  1.50725019e-01  0.00000000e+00  2.47845045e+02]
 [-1.50725019e-01  9.88575727e-01  0.00000000e+00 -1.63711090e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.91, Y:-16.38, Z:0.00
[[ 9.88066523e-01  1.54027748e-01  0.00000000e+00  2.47905280e+02]
 [-1.54027748e-01  9.88066523e-01  0.00000000e+00 -1.63829290e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:247.97, Y:-16.39, Z:0.00
[[ 9.86612399e-01  1.63082720e-01  0.00000000e+00  2.47965434e+02]
 [-1.63082720e-01  9.86612399e-01  0.00000000e+00 -1.63945283e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.03, Y:-16.41, Z:0.00
[[ 9.85942135e-01  1.67087123e-01  0.00000000e+00  2.48025101e+02]
 [-1.67087123e-01  9.85942135e-01  0.00000000e+00 -1.64071954e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.08, Y:-16.43, Z:0.00
[[ 9.85276844e-01  1.70966489e-01  0.00000000e+00  2.48083209e+02]
 [-1.70966489e-01  9.85276844e-01  0.00000000e+00 -1.64279000e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.14, Y:-16.44, Z:0.00
[[ 9.85150729e-01  1.71691703e-01  0.00000000e+00  2.48143888e+02]
 [-1.71691703e-01  9.85150729e-01  0.00000000e+00 -1.64421361e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.20, Y:-16.46, Z:0.00
[[ 9.85016190e-01  1.72461894e-01  0.00000000e+00  2.48202789e+02]
 [-1.72461894e-01  9.85016190e-01  0.00000000e+00 -1.64641368e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.26, Y:-16.48, Z:0.00
[[ 9.85692695e-01  1.68552398e-01  0.00000000e+00  2.48262447e+02]
 [-1.68552398e-01  9.85692695e-01  0.00000000e+00 -1.64825859e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.32, Y:-16.51, Z:0.00
[[ 9.86192698e-01  1.65601819e-01  0.00000000e+00  2.48321295e+02]
 [-1.65601819e-01  9.86192698e-01  0.00000000e+00 -1.65055041e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.38, Y:-16.52, Z:0.00
[[ 9.86981310e-01  1.60834987e-01  0.00000000e+00  2.48380735e+02]
 [-1.60834987e-01  9.86981310e-01  0.00000000e+00 -1.65246972e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.44, Y:-16.54, Z:0.00
[[ 9.87004360e-01  1.60693478e-01  0.00000000e+00  2.48441576e+02]
 [-1.60693478e-01  9.87004360e-01  0.00000000e+00 -1.65365839e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 246.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.50, Y:-16.55, Z:0.00
[[ 9.87919476e-01  1.54968091e-01  0.00000000e+00  2.48500563e+02]
 [-1.54968091e-01  9.87919476e-01  0.00000000e+00 -1.65534166e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.56, Y:-16.57, Z:0.00
[[ 9.89535358e-01  1.44290595e-01  0.00000000e+00  2.48559423e+02]
 [-1.44290595e-01  9.89535358e-01  0.00000000e+00 -1.65731306e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.62, Y:-16.59, Z:0.00
[[ 9.90331891e-01  1.38718226e-01  0.00000000e+00  2.48618280e+02]
 [-1.38718226e-01  9.90331891e-01  0.00000000e+00 -1.65871534e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.68, Y:-16.60, Z:0.00
[[ 9.91336443e-01  1.31347088e-01  0.00000000e+00  2.48678971e+02]
 [-1.31347088e-01  9.91336443e-01  0.00000000e+00 -1.66038136e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.74, Y:-16.62, Z:0.00
[[ 9.91468649e-01  1.30345377e-01  0.00000000e+00  2.48739732e+02]
 [-1.30345377e-01  9.91468649e-01  0.00000000e+00 -1.66154115e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.80, Y:-16.62, Z:0.00
[[ 9.91144900e-01  1.32784738e-01  0.00000000e+00  2.48799830e+02]
 [-1.32784738e-01  9.91144900e-01  0.00000000e+00 -1.66227163e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.86, Y:-16.64, Z:0.00
[[ 9.90168574e-01  1.39879216e-01  0.00000000e+00  2.48858228e+02]
 [-1.39879216e-01  9.90168574e-01  0.00000000e+00 -1.66366352e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.92, Y:-16.65, Z:0.00
[[ 9.89148067e-01  1.46922093e-01  0.00000000e+00  2.48917904e+02]
 [-1.46922093e-01  9.89148067e-01  0.00000000e+00 -1.66487673e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:248.98, Y:-16.66, Z:0.00
[[ 9.88292115e-01  1.52573572e-01  0.00000000e+00  2.48978381e+02]
 [-1.52573572e-01  9.88292115e-01  0.00000000e+00 -1.66595676e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.04, Y:-16.67, Z:0.00
[[ 9.88243270e-01  1.52889632e-01  0.00000000e+00  2.49039881e+02]
 [-1.52889632e-01  9.88243270e-01  0.00000000e+00 -1.66686176e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.10, Y:-16.68, Z:0.00
[[ 9.88393384e-01  1.51916158e-01  0.00000000e+00  2.49100936e+02]
 [-1.51916158e-01  9.88393384e-01  0.00000000e+00 -1.66840000e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.62606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.16, Y:-16.70, Z:0.00
[[ 9.88485394e-01  1.51316311e-01  0.00000000e+00  2.49159897e+02]
 [-1.51316311e-01  9.88485394e-01  0.00000000e+00 -1.66962716e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.22, Y:-16.71, Z:0.00
[[ 9.88584961e-01  1.50664442e-01  0.00000000e+00  2.49220305e+02]
 [-1.50664442e-01  9.88584961e-01  0.00000000e+00 -1.67109434e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.28, Y:-16.73, Z:0.00
[[ 9.88114739e-01  1.53718126e-01  0.00000000e+00  2.49280313e+02]
 [-1.53718126e-01  9.88114739e-01  0.00000000e+00 -1.67264139e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.34, Y:-16.74, Z:0.00
[[ 9.87376165e-01  1.58392896e-01  0.00000000e+00  2.49340233e+02]
 [-1.58392896e-01  9.87376165e-01  0.00000000e+00 -1.67426217e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.40, Y:-16.76, Z:0.00
[[ 9.86604686e-01  1.63129378e-01  0.00000000e+00  2.49398516e+02]
 [-1.63129378e-01  9.86604686e-01  0.00000000e+00 -1.67590257e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.46, Y:-16.77, Z:0.00
[[ 9.86260976e-01  1.65194693e-01  0.00000000e+00  2.49456927e+02]
 [-1.65194693e-01  9.86260976e-01  0.00000000e+00 -1.67736800e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 247.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.52, Y:-16.79, Z:0.00
[[ 9.86366095e-01  1.64565871e-01  0.00000000e+00  2.49517099e+02]
 [-1.64565871e-01  9.86366095e-01  0.00000000e+00 -1.67896816e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.58, Y:-16.80, Z:0.00
[[ 9.86822836e-01  1.61804483e-01  0.00000000e+00  2.49577239e+02]
 [-1.61804483e-01  9.86822836e-01  0.00000000e+00 -1.68039487e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.64, Y:-16.82, Z:0.00
[[ 9.87843987e-01  1.55448567e-01  0.00000000e+00  2.49636951e+02]
 [-1.55448567e-01  9.87843987e-01  0.00000000e+00 -1.68187477e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.70, Y:-16.84, Z:0.00
[[ 9.89410111e-01  1.45146935e-01  0.00000000e+00  2.49695570e+02]
 [-1.45146935e-01  9.89410111e-01  0.00000000e+00 -1.68363020e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.76, Y:-16.85, Z:0.00
[[ 9.90276988e-01  1.39109619e-01  0.00000000e+00  2.49755210e+02]
 [-1.39109619e-01  9.90276988e-01  0.00000000e+00 -1.68487938e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.81, Y:-16.86, Z:0.00
[[ 9.91015428e-01  1.33747605e-01  0.00000000e+00  2.49814883e+02]
 [-1.33747605e-01  9.91015428e-01  0.00000000e+00 -1.68608544e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.87, Y:-16.87, Z:0.00
[[ 9.92013272e-01  1.26133535e-01  0.00000000e+00  2.49874962e+02]
 [-1.26133535e-01  9.92013272e-01  0.00000000e+00 -1.68709035e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:249.94, Y:-16.88, Z:0.00
[[ 9.92774750e-01  1.19992896e-01  0.00000000e+00  2.49936250e+02]
 [-1.19992896e-01  9.92774750e-01  0.00000000e+00 -1.68802529e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.00, Y:-16.89, Z:0.00
[[ 9.94295336e-01  1.06662010e-01  0.00000000e+00  2.49996578e+02]
 [-1.06662010e-01  9.94295336e-01  0.00000000e+00 -1.68906768e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.06, Y:-16.90, Z:0.00
[[ 9.95377514e-01  9.60395978e-02  0.00000000e+00  2.50057310e+02]
 [-9.60395978e-02  9.95377514e-01  0.00000000e+00 -1.68970311e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.12, Y:-16.90, Z:0.00
[[ 9.96545614e-01  8.30472150e-02  0.00000000e+00  2.50118484e+02]
 [-8.30472150e-02  9.96545614e-01  0.00000000e+00 -1.68955526e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.18, Y:-16.89, Z:0.00
[[ 9.96848239e-01  7.93321384e-02  0.00000000e+00  2.50180262e+02]
 [-7.93321384e-02  9.96848239e-01  0.00000000e+00 -1.68939678e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.24, Y:-16.89, Z:0.00
[[ 9.96874358e-01  7.90032562e-02  0.00000000e+00  2.50242995e+02]
 [-7.90032562e-02  9.96874358e-01  0.00000000e+00 -1.68886652e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.30, Y:-16.88, Z:0.00
[[ 9.96752354e-01  8.05279161e-02  0.00000000e+00  2.50304428e+02]
 [-8.05279161e-02  9.96752354e-01  0.00000000e+00 -1.68846511e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.37, Y:-16.89, Z:0.00
[[ 9.96689511e-01  8.13020254e-02  0.00000000e+00  2.50366676e+02]
 [-8.13020254e-02  9.96689511e-01  0.00000000e+00 -1.68851560e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.43, Y:-16.87, Z:0.00
[[ 9.96200600e-01  8.70882580e-02  0.00000000e+00  2.50429430e+02]
 [-8.70882580e-02  9.96200600e-01  0.00000000e+00 -1.68731642e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 248.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.49, Y:-16.87, Z:0.00
[[ 9.95942379e-01  8.99932097e-02  0.00000000e+00  2.50492262e+02]
 [-8.99932097e-02  9.95942379e-01  0.00000000e+00 -1.68681165e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.55, Y:-16.85, Z:0.00
[[ 9.95170614e-01  9.81603212e-02  0.00000000e+00  2.50554728e+02]
 [-9.81603212e-02  9.95170614e-01  0.00000000e+00 -1.68537791e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.62, Y:-16.85, Z:0.00
[[ 9.94384088e-01  1.05831400e-01  0.00000000e+00  2.50615954e+02]
 [-1.05831400e-01  9.94384088e-01  0.00000000e+00 -1.68513274e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.12606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.68, Y:-16.84, Z:0.00
[[ 9.93236090e-01  1.16112313e-01  0.00000000e+00  2.50678295e+02]
 [-1.16112313e-01  9.93236090e-01  0.00000000e+00 -1.68414343e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.74, Y:-16.84, Z:0.00
[[ 9.91414182e-01  1.30759016e-01  0.00000000e+00  2.50742013e+02]
 [-1.30759016e-01  9.91414182e-01  0.00000000e+00 -1.68387553e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.80, Y:-16.84, Z:0.00
[[ 9.90823575e-01  1.35161546e-01  0.00000000e+00  2.50803644e+02]
 [-1.35161546e-01  9.90823575e-01  0.00000000e+00 -1.68358306e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.87, Y:-16.83, Z:0.00
[[ 9.89524628e-01  1.44364159e-01  0.00000000e+00  2.50865577e+02]
 [-1.44364159e-01  9.89524628e-01  0.00000000e+00 -1.68310405e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.93, Y:-16.83, Z:0.00
[[ 9.88493909e-01  1.51260675e-01  0.00000000e+00  2.50926481e+02]
 [-1.51260675e-01  9.88493909e-01  0.00000000e+00 -1.68347809e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:250.99, Y:-16.84, Z:0.00
[[ 9.87513297e-01  1.57535674e-01  0.00000000e+00  2.50987967e+02]
 [-1.57535674e-01  9.87513297e-01  0.00000000e+00 -1.68390015e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.05, Y:-16.85, Z:0.00
[[ 9.87912980e-01  1.55009495e-01  0.00000000e+00  2.51049451e+02]
 [-1.55009495e-01  9.87912980e-01  0.00000000e+00 -1.68485281e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.11, Y:-16.86, Z:0.00
[[ 9.88288759e-01  1.52595309e-01  0.00000000e+00  2.51109094e+02]
 [-1.52595309e-01  9.88288759e-01  0.00000000e+00 -1.68563962e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.17, Y:-16.87, Z:0.00
[[ 9.87937321e-01  1.54854288e-01  0.00000000e+00  2.51168759e+02]
 [-1.54854288e-01  9.87937321e-01  0.00000000e+00 -1.68720565e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.23, Y:-16.88, Z:0.00
[[ 9.88193625e-01  1.53210178e-01  0.00000000e+00  2.51228796e+02]
 [-1.53210178e-01  9.88193625e-01  0.00000000e+00 -1.68816099e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.29, Y:-16.89, Z:0.00
[[ 9.88474151e-01  1.51389740e-01  0.00000000e+00  2.51289840e+02]
 [-1.51389740e-01  9.88474151e-01  0.00000000e+00 -1.68895628e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.35, Y:-16.90, Z:0.00
[[ 9.87792477e-01  1.55775550e-01  0.00000000e+00  2.51348201e+02]
 [-1.55775550e-01  9.87792477e-01  0.00000000e+00 -1.69037994e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.41, Y:-16.92, Z:0.00
[[ 9.87601861e-01  1.56979499e-01  0.00000000e+00  2.51406908e+02]
 [-1.56979499e-01  9.87601861e-01  0.00000000e+00 -1.69165261e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.47, Y:-16.93, Z:0.00
[[ 9.87301456e-01  1.58857909e-01  0.00000000e+00  2.51468140e+02]
 [-1.58857909e-01  9.87301456e-01  0.00000000e+00 -1.69295858e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 249.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.53, Y:-16.95, Z:0.00
[[ 9.86633923e-01  1.62952455e-01  0.00000000e+00  2.51527950e+02]
 [-1.62952455e-01  9.86633923e-01  0.00000000e+00 -1.69462838e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.59, Y:-16.96, Z:0.00
[[ 9.86764818e-01  1.62157929e-01  0.00000000e+00  2.51589356e+02]
 [-1.62157929e-01  9.86764818e-01  0.00000000e+00 -1.69577087e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.65, Y:-16.97, Z:0.00
[[ 9.87218189e-01  1.59374550e-01  0.00000000e+00  2.51648307e+02]
 [-1.59374550e-01  9.87218189e-01  0.00000000e+00 -1.69718334e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.71, Y:-16.98, Z:0.00
[[ 9.88405021e-01  1.51840421e-01  0.00000000e+00  2.51708192e+02]
 [-1.51840421e-01  9.88405021e-01  0.00000000e+00 -1.69779968e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.77, Y:-17.00, Z:0.00
[[ 9.89733517e-01  1.42925033e-01  0.00000000e+00  2.51766845e+02]
 [-1.42925033e-01  9.89733517e-01  0.00000000e+00 -1.70021625e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.83, Y:-17.02, Z:0.00
[[ 9.92510795e-01  1.22156958e-01  0.00000000e+00  2.51826784e+02]
 [-1.22156958e-01  9.92510795e-01  0.00000000e+00 -1.70158153e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.89, Y:-17.03, Z:0.00
[[ 9.93816645e-01  1.11033674e-01  0.00000000e+00  2.51887027e+02]
 [-1.11033674e-01  9.93816645e-01  0.00000000e+00 -1.70266271e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:251.95, Y:-17.04, Z:0.00
[[ 9.95072203e-01  9.91529708e-02  0.00000000e+00  2.51945809e+02]
 [-9.91529708e-02  9.95072203e-01  0.00000000e+00 -1.70365890e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.01, Y:-17.04, Z:0.00
[[ 9.95435610e-01  9.54355565e-02  0.00000000e+00  2.52006145e+02]
 [-9.54355565e-02  9.95435610e-01  0.00000000e+00 -1.70428480e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.07, Y:-17.04, Z:0.00
[[ 9.94944022e-01  1.00431036e-01  0.00000000e+00  2.52067489e+02]
 [-1.00431036e-01  9.94944022e-01  0.00000000e+00 -1.70417283e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.13, Y:-17.05, Z:0.00
[[ 9.94003220e-01  1.09350803e-01  0.00000000e+00  2.52127073e+02]
 [-1.09350803e-01  9.94003220e-01  0.00000000e+00 -1.70450737e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.62606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.19, Y:-17.05, Z:0.00
[[ 9.93152125e-01  1.16828319e-01  0.00000000e+00  2.52188841e+02]
 [-1.16828319e-01  9.93152125e-01  0.00000000e+00 -1.70464969e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.25, Y:-17.05, Z:0.00
[[ 9.92457602e-01  1.22588366e-01  0.00000000e+00  2.52251167e+02]
 [-1.22588366e-01  9.92457602e-01  0.00000000e+00 -1.70469253e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.31, Y:-17.05, Z:0.00
[[ 9.91830802e-01  1.27560421e-01  0.00000000e+00  2.52313693e+02]
 [-1.27560421e-01  9.91830802e-01  0.00000000e+00 -1.70501656e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.38, Y:-17.05, Z:0.00
[[ 9.91805439e-01  1.27757469e-01  0.00000000e+00  2.52375475e+02]
 [-1.27757469e-01  9.91805439e-01  0.00000000e+00 -1.70507143e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.44, Y:-17.05, Z:0.00
[[ 9.91976257e-01  1.26424308e-01  0.00000000e+00  2.52438007e+02]
 [-1.26424308e-01  9.91976257e-01  0.00000000e+00 -1.70544834e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.50, Y:-17.06, Z:0.00
[[ 9.92471842e-01  1.22473029e-01  0.00000000e+00  2.52499614e+02]
 [-1.22473029e-01  9.92471842e-01  0.00000000e+00 -1.70560148e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 250.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.56, Y:-17.06, Z:0.00
[[ 9.92526296e-01  1.22030942e-01  0.00000000e+00  2.52560627e+02]
 [-1.22030942e-01  9.92526296e-01  0.00000000e+00 -1.70577579e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.62, Y:-17.06, Z:0.00
[[ 9.92584154e-01  1.21559439e-01  0.00000000e+00  2.52622351e+02]
 [-1.21559439e-01  9.92584154e-01  0.00000000e+00 -1.70600184e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.68, Y:-17.06, Z:0.00
[[ 9.92397165e-01  1.23076669e-01  0.00000000e+00  2.52684885e+02]
 [-1.23076669e-01  9.92397165e-01  0.00000000e+00 -1.70606227e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.75, Y:-17.06, Z:0.00
[[ 9.91654670e-01  1.28922521e-01  0.00000000e+00  2.52746458e+02]
 [-1.28922521e-01  9.91654670e-01  0.00000000e+00 -1.70613022e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.81, Y:-17.06, Z:0.00
[[ 9.90450120e-01  1.37871534e-01  0.00000000e+00  2.52806931e+02]
 [-1.37871534e-01  9.90450120e-01  0.00000000e+00 -1.70648778e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.87, Y:-17.06, Z:0.00
[[ 9.88537542e-01  1.50975259e-01  0.00000000e+00  2.52868344e+02]
 [-1.50975259e-01  9.88537542e-01  0.00000000e+00 -1.70640857e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.93, Y:-17.07, Z:0.00
[[ 9.87355025e-01  1.58524617e-01  0.00000000e+00  2.52929776e+02]
 [-1.58524617e-01  9.87355025e-01  0.00000000e+00 -1.70672441e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:252.99, Y:-17.07, Z:0.00
[[ 9.86116749e-01  1.66053478e-01  0.00000000e+00  2.52989413e+02]
 [-1.66053478e-01  9.86116749e-01  0.00000000e+00 -1.70709197e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.05, Y:-17.08, Z:0.00
[[ 9.86302610e-01  1.64945938e-01  0.00000000e+00  2.53049704e+02]
 [-1.64945938e-01  9.86302610e-01  0.00000000e+00 -1.70786024e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.11, Y:-17.09, Z:0.00
[[ 9.87562983e-01  1.57223901e-01  0.00000000e+00  2.53109341e+02]
 [-1.57223901e-01  9.87562983e-01  0.00000000e+00 -1.70924654e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.17, Y:-17.10, Z:0.00
[[ 9.89453385e-01  1.44851646e-01  0.00000000e+00  2.53169532e+02]
 [-1.44851646e-01  9.89453385e-01  0.00000000e+00 -1.71028679e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.23, Y:-17.11, Z:0.00
[[ 9.90092322e-01  1.40417928e-01  0.00000000e+00  2.53230085e+02]
 [-1.40417928e-01  9.90092322e-01  0.00000000e+00 -1.71137073e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.29, Y:-17.12, Z:0.00
[[ 9.89020297e-01  1.47779740e-01  0.00000000e+00  2.53289930e+02]
 [-1.47779740e-01  9.89020297e-01  0.00000000e+00 -1.71194963e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.35, Y:-17.12, Z:0.00
[[ 9.88340439e-01  1.52260225e-01  0.00000000e+00  2.53352889e+02]
 [-1.52260225e-01  9.88340439e-01  0.00000000e+00 -1.71242441e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.41, Y:-17.14, Z:0.00
[[ 9.87091221e-01  1.60159048e-01  0.00000000e+00  2.53412747e+02]
 [-1.60159048e-01  9.87091221e-01  0.00000000e+00 -1.71356469e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.47, Y:-17.14, Z:0.00
[[ 9.85971584e-01  1.66913258e-01  0.00000000e+00  2.53472982e+02]
 [-1.66913258e-01  9.85971584e-01  0.00000000e+00 -1.71375970e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 251.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.53, Y:-17.15, Z:0.00
[[ 9.84783958e-01  1.73783071e-01  0.00000000e+00  2.53531780e+02]
 [-1.73783071e-01  9.84783958e-01  0.00000000e+00 -1.71472806e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.59, Y:-17.16, Z:0.00
[[ 9.84239599e-01  1.76840074e-01  0.00000000e+00  2.53592531e+02]
 [-1.76840074e-01  9.84239599e-01  0.00000000e+00 -1.71551083e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.65, Y:-17.17, Z:0.00
[[ 9.83334511e-01  1.81805499e-01  0.00000000e+00  2.53652826e+02]
 [-1.81805499e-01  9.83334511e-01  0.00000000e+00 -1.71683580e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.12606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.71, Y:-17.18, Z:0.00
[[ 9.83621477e-01  1.80246468e-01  0.00000000e+00  2.53713759e+02]
 [-1.80246468e-01  9.83621477e-01  0.00000000e+00 -1.71796388e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.77, Y:-17.20, Z:0.00
[[ 9.84576912e-01  1.74952294e-01  0.00000000e+00  2.53773314e+02]
 [-1.74952294e-01  9.84576912e-01  0.00000000e+00 -1.71965061e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.83, Y:-17.21, Z:0.00
[[ 9.84702428e-01  1.74244451e-01  0.00000000e+00  2.53832703e+02]
 [-1.74244451e-01  9.84702428e-01  0.00000000e+00 -1.72112482e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.89, Y:-17.23, Z:0.00
[[ 9.85021377e-01  1.72432270e-01  0.00000000e+00  2.53891530e+02]
 [-1.72432270e-01  9.85021377e-01  0.00000000e+00 -1.72262163e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:253.95, Y:-17.24, Z:0.00
[[ 9.85426398e-01  1.70102366e-01  0.00000000e+00  2.53952504e+02]
 [-1.70102366e-01  9.85426398e-01  0.00000000e+00 -1.72369570e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.01, Y:-17.26, Z:0.00
[[ 9.85296020e-01  1.70855940e-01  0.00000000e+00  2.54012245e+02]
 [-1.70855940e-01  9.85296020e-01  0.00000000e+00 -1.72556129e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.07, Y:-17.27, Z:0.00
[[ 9.84815346e-01  1.73605108e-01  0.00000000e+00  2.54070950e+02]
 [-1.73605108e-01  9.84815346e-01  0.00000000e+00 -1.72683011e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.13, Y:-17.28, Z:0.00
[[ 9.84687517e-01  1.74328695e-01  0.00000000e+00  2.54132252e+02]
 [-1.74328695e-01  9.84687517e-01  0.00000000e+00 -1.72792155e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.19, Y:-17.29, Z:0.00
[[ 9.84758041e-01  1.73929872e-01  0.00000000e+00  2.54193201e+02]
 [-1.73929872e-01  9.84758041e-01  0.00000000e+00 -1.72921209e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.25, Y:-17.31, Z:0.00
[[ 9.84864603e-01  1.73325455e-01  0.00000000e+00  2.54253100e+02]
 [-1.73325455e-01  9.84864603e-01  0.00000000e+00 -1.73062579e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.31, Y:-17.32, Z:0.00
[[ 9.84480249e-01  1.75495411e-01  0.00000000e+00  2.54312208e+02]
 [-1.75495411e-01  9.84480249e-01  0.00000000e+00 -1.73195088e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.37, Y:-17.33, Z:0.00
[[ 9.84978285e-01  1.72678250e-01  0.00000000e+00  2.54372019e+02]
 [-1.72678250e-01  9.84978285e-01  0.00000000e+00 -1.73318747e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.43, Y:-17.35, Z:0.00
[[ 9.86123049e-01  1.66016062e-01  0.00000000e+00  2.54431541e+02]
 [-1.66016062e-01  9.86123049e-01  0.00000000e+00 -1.73511605e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.49, Y:-17.36, Z:0.00
[[ 9.86873638e-01  1.61494345e-01  0.00000000e+00  2.54490362e+02]
 [-1.61494345e-01  9.86873638e-01  0.00000000e+00 -1.73639165e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 252.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.55, Y:-17.38, Z:0.00
[[ 9.87969173e-01  1.54650940e-01  0.00000000e+00  2.54550539e+02]
 [-1.54650940e-01  9.87969173e-01  0.00000000e+00 -1.73789017e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.026066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.61, Y:-17.39, Z:0.00
[[ 9.88606804e-01  1.50521053e-01  0.00000000e+00  2.54610026e+02]
 [-1.50521053e-01  9.88606804e-01  0.00000000e+00 -1.73919348e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.086066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.67, Y:-17.40, Z:0.00
[[ 9.88967025e-01  1.48135829e-01  0.00000000e+00  2.54671023e+02]
 [-1.48135829e-01  9.88967025e-01  0.00000000e+00 -1.74047722e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.146066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.73, Y:-17.42, Z:0.00
[[ 9.88944769e-01  1.48284336e-01  0.00000000e+00  2.54730721e+02]
 [-1.48284336e-01  9.88944769e-01  0.00000000e+00 -1.74152005e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.206066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.79, Y:-17.42, Z:0.00
[[ 9.88158038e-01  1.53439538e-01  0.00000000e+00  2.54790842e+02]
 [-1.53439538e-01  9.88158038e-01  0.00000000e+00 -1.74249609e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.266066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.85, Y:-17.43, Z:0.00
[[ 9.87322445e-01  1.58727405e-01  0.00000000e+00  2.54850257e+02]
 [-1.58727405e-01  9.87322445e-01  0.00000000e+00 -1.74336326e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.91, Y:-17.44, Z:0.00
[[ 9.86388906e-01  1.64429094e-01  0.00000000e+00  2.54910864e+02]
 [-1.64429094e-01  9.86388906e-01  0.00000000e+00 -1.74439632e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.38606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:254.97, Y:-17.45, Z:0.00
[[ 9.85771474e-01  1.68091048e-01  0.00000000e+00  2.54972220e+02]
 [-1.68091048e-01  9.85771474e-01  0.00000000e+00 -1.74536664e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.44606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.03, Y:-17.46, Z:0.00
[[ 9.86262087e-01  1.65188063e-01  0.00000000e+00  2.55032616e+02]
 [-1.65188063e-01  9.86262087e-01  0.00000000e+00 -1.74643100e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.50606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.09, Y:-17.48, Z:0.00
[[ 9.87963499e-01  1.54687184e-01  0.00000000e+00  2.55092639e+02]
 [-1.54687184e-01  9.87963499e-01  0.00000000e+00 -1.74793774e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.56606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.15, Y:-17.49, Z:0.00
[[ 9.89565644e-01  1.44082744e-01  0.00000000e+00  2.55152120e+02]
 [-1.44082744e-01  9.89565644e-01  0.00000000e+00 -1.74920462e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.62606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.21, Y:-17.50, Z:0.00
[[ 9.91251057e-01  1.31989934e-01  0.00000000e+00  2.55212337e+02]
 [-1.31989934e-01  9.91251057e-01  0.00000000e+00 -1.75026439e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.27, Y:-17.51, Z:0.00
[[ 9.91773892e-01  1.28002134e-01  0.00000000e+00  2.55273129e+02]
 [-1.28002134e-01  9.91773892e-01  0.00000000e+00 -1.75115746e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.34, Y:-17.52, Z:0.00
[[ 9.91846517e-01  1.27438165e-01  0.00000000e+00  2.55335274e+02]
 [-1.27438165e-01  9.91846517e-01  0.00000000e+00 -1.75189473e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.40, Y:-17.53, Z:0.00
[[ 9.91599538e-01  1.29345879e-01  0.00000000e+00  2.55396067e+02]
 [-1.29345879e-01  9.91599538e-01  0.00000000e+00 -1.75250226e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.46, Y:-17.53, Z:0.00
[[ 9.91083509e-01  1.33242180e-01  0.00000000e+00  2.55456647e+02]
 [-1.33242180e-01  9.91083509e-01  0.00000000e+00 -1.75308186e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.52, Y:-17.54, Z:0.00
[[ 9.90514017e-01  1.37411725e-01  0.00000000e+00  2.55517841e+02]
 [-1.37411725e-01  9.90514017e-01  0.00000000e+00 -1.75374974e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 253.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.58, Y:-17.54, Z:0.00
[[ 9.90146758e-01  1.40033562e-01  0.00000000e+00  2.55580553e+02]
 [-1.40033562e-01  9.90146758e-01  0.00000000e+00 -1.75427846e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.64, Y:-17.55, Z:0.00
[[ 9.89741437e-01  1.42870177e-01  0.00000000e+00  2.55641412e+02]
 [-1.42870177e-01  9.89741437e-01  0.00000000e+00 -1.75465391e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.10606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.70, Y:-17.55, Z:0.00
[[ 9.89509320e-01  1.44469048e-01  0.00000000e+00  2.55700830e+02]
 [-1.44469048e-01  9.89509320e-01  0.00000000e+00 -1.75539937e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.16606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.76, Y:-17.56, Z:0.00
[[ 9.89503381e-01  1.44509720e-01  0.00000000e+00  2.55762936e+02]
 [-1.44509720e-01  9.89503381e-01  0.00000000e+00 -1.75607774e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.22606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.83, Y:-17.57, Z:0.00
[[ 9.89647531e-01  1.43519215e-01  0.00000000e+00  2.55825070e+02]
 [-1.43519215e-01  9.89647531e-01  0.00000000e+00 -1.75676694e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.28606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.89, Y:-17.57, Z:0.00
[[ 9.90067579e-01  1.40592280e-01  0.00000000e+00  2.55886298e+02]
 [-1.40592280e-01  9.90067579e-01  0.00000000e+00 -1.75730611e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.34606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:255.95, Y:-17.58, Z:0.00
[[ 9.90355066e-01  1.38552672e-01  0.00000000e+00  2.55947449e+02]
 [-1.38552672e-01  9.90355066e-01  0.00000000e+00 -1.75793813e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.40606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.01, Y:-17.59, Z:0.00
[[ 9.90432364e-01  1.37999027e-01  0.00000000e+00  2.56008799e+02]
 [-1.37999027e-01  9.90432364e-01  0.00000000e+00 -1.75859274e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.07, Y:-17.59, Z:0.00
[[ 9.90531209e-01  1.37287744e-01  0.00000000e+00  2.56070057e+02]
 [-1.37287744e-01  9.90531209e-01  0.00000000e+00 -1.75914193e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.526066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.13, Y:-17.60, Z:0.00
[[ 9.90441068e-01  1.37936544e-01  0.00000000e+00  2.56130937e+02]
 [-1.37936544e-01  9.90441068e-01  0.00000000e+00 -1.75980916e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.586066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.19, Y:-17.60, Z:0.00
[[ 9.90319791e-01  1.38804578e-01  0.00000000e+00  2.56193085e+02]
 [-1.38804578e-01  9.90319791e-01  0.00000000e+00 -1.76026363e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.646066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.26, Y:-17.61, Z:0.00
[[ 9.90218722e-01  1.39523771e-01  0.00000000e+00  2.56255201e+02]
 [-1.39523771e-01  9.90218722e-01  0.00000000e+00 -1.76078073e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.706066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.32, Y:-17.61, Z:0.00
[[ 9.89833976e-01  1.42227636e-01  0.00000000e+00  2.56316931e+02]
 [-1.42227636e-01  9.89833976e-01  0.00000000e+00 -1.76136261e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.766066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.38, Y:-17.62, Z:0.00
[[ 9.89267444e-01  1.46116135e-01  0.00000000e+00  2.56378947e+02]
 [-1.46116135e-01  9.89267444e-01  0.00000000e+00 -1.76182826e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.44, Y:-17.62, Z:0.00
[[ 9.88575029e-01  1.50729602e-01  0.00000000e+00  2.56441479e+02]
 [-1.50729602e-01  9.88575029e-01  0.00000000e+00 -1.76205856e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.88606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.50, Y:-17.62, Z:0.00
[[ 9.88389908e-01  1.51938767e-01  0.00000000e+00  2.56503673e+02]
 [-1.51938767e-01  9.88389908e-01  0.00000000e+00 -1.76246400e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 254.94606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.56, Y:-17.63, Z:0.00
[[ 9.88734472e-01  1.49680140e-01  0.00000000e+00  2.56564728e+02]
 [-1.49680140e-01  9.88734472e-01  0.00000000e+00 -1.76282162e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.00606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.63, Y:-17.64, Z:0.00
[[ 9.89235758e-01  1.46330497e-01  0.00000000e+00  2.56625392e+02]
 [-1.46330497e-01  9.89235758e-01  0.00000000e+00 -1.76350480e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.06606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.69, Y:-17.64, Z:0.00
[[ 9.90380575e-01  1.38370213e-01  0.00000000e+00  2.56687308e+02]
 [-1.38370213e-01  9.90380575e-01  0.00000000e+00 -1.76415494e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.12606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.75, Y:-17.65, Z:0.00
[[ 9.90916067e-01  1.34481777e-01  0.00000000e+00  2.56748681e+02]
 [-1.34481777e-01  9.90916067e-01  0.00000000e+00 -1.76472722e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.81, Y:-17.65, Z:0.00
[[ 9.91454308e-01  1.30454421e-01  0.00000000e+00  2.56810190e+02]
 [-1.30454421e-01  9.91454308e-01  0.00000000e+00 -1.76511163e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.87, Y:-17.66, Z:0.00
[[ 9.91950836e-01  1.26623612e-01  0.00000000e+00  2.56871358e+02]
 [-1.26623612e-01  9.91950836e-01  0.00000000e+00 -1.76577160e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.93, Y:-17.66, Z:0.00
[[ 9.92820348e-01  1.19615031e-01  0.00000000e+00  2.56932060e+02]
 [-1.19615031e-01  9.92820348e-01  0.00000000e+00 -1.76624524e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:256.99, Y:-17.67, Z:0.00
[[ 9.93296308e-01  1.15596038e-01  0.00000000e+00  2.56993284e+02]
 [-1.15596038e-01  9.93296308e-01  0.00000000e+00 -1.76676697e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.05, Y:-17.67, Z:0.00
[[ 9.93671467e-01  1.12325488e-01  0.00000000e+00  2.57053707e+02]
 [-1.12325488e-01  9.93671467e-01  0.00000000e+00 -1.76727045e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.12, Y:-17.67, Z:0.00
[[ 9.94530674e-01  1.04444908e-01  0.00000000e+00  2.57115899e+02]
 [-1.04444908e-01  9.94530674e-01  0.00000000e+00 -1.76724028e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.18, Y:-17.67, Z:0.00
[[ 9.94691482e-01  1.02902165e-01  0.00000000e+00  2.57179466e+02]
 [-1.02902165e-01  9.94691482e-01  0.00000000e+00 -1.76661523e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.60606649300001 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.24, Y:-17.66, Z:0.00
[[ 9.94118696e-01  1.08295979e-01  0.00000000e+00  2.57241875e+02]
 [-1.08295979e-01  9.94118696e-01  0.00000000e+00 -1.76648818e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.66606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.30, Y:-17.66, Z:0.00
[[ 9.92706592e-01  1.20555472e-01  0.00000000e+00  2.57304671e+02]
 [-1.20555472e-01  9.92706592e-01  0.00000000e+00 -1.76570874e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.72606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.37, Y:-17.66, Z:0.00
[[ 9.91836990e-01  1.27512291e-01  0.00000000e+00  2.57366369e+02]
 [-1.27512291e-01  9.91836990e-01  0.00000000e+00 -1.76550130e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.78606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.43, Y:-17.65, Z:0.00
[[ 9.90866374e-01  1.34847429e-01  0.00000000e+00  2.57428697e+02]
 [-1.34847429e-01  9.90866374e-01  0.00000000e+00 -1.76549121e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.84606649300002 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.49, Y:-17.66, Z:0.00
[[ 9.90269678e-01  1.39161651e-01  0.00000000e+00  2.57489984e+02]
 [-1.39161651e-01  9.90269678e-01  0.00000000e+00 -1.76563099e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.90606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.55, Y:-17.66, Z:0.00
[[ 9.89951328e-01  1.41408514e-01  0.00000000e+00  2.57551383e+02]
 [-1.41408514e-01  9.89951328e-01  0.00000000e+00 -1.76589023e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 255.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.61, Y:-17.66, Z:0.00
[[ 9.89964912e-01  1.41313382e-01  0.00000000e+00  2.57612759e+02]
 [-1.41313382e-01  9.89964912e-01  0.00000000e+00 -1.76620367e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.67, Y:-17.66, Z:0.00
[[ 9.89756267e-01  1.42767408e-01  0.00000000e+00  2.57673713e+02]
 [-1.42767408e-01  9.89756267e-01  0.00000000e+00 -1.76641375e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.74, Y:-17.67, Z:0.00
[[ 9.89425675e-01  1.45040797e-01  0.00000000e+00  2.57735645e+02]
 [-1.45040797e-01  9.89425675e-01  0.00000000e+00 -1.76704852e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.80, Y:-17.68, Z:0.00
[[ 9.89428178e-01  1.45023722e-01  0.00000000e+00  2.57796274e+02]
 [-1.45023722e-01  9.89428178e-01  0.00000000e+00 -1.76764844e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.86, Y:-17.68, Z:0.00
[[ 9.89860347e-01  1.42043982e-01  0.00000000e+00  2.57857138e+02]
 [-1.42043982e-01  9.89860347e-01  0.00000000e+00 -1.76817937e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.92, Y:-17.69, Z:0.00
[[ 9.90588986e-01  1.36870230e-01  0.00000000e+00  2.57917347e+02]
 [-1.36870230e-01  9.90588986e-01  0.00000000e+00 -1.76889224e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:257.98, Y:-17.70, Z:0.00
[[ 9.91726575e-01  1.28368223e-01  0.00000000e+00  2.57978506e+02]
 [-1.28368223e-01  9.91726575e-01  0.00000000e+00 -1.76970478e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.04, Y:-17.71, Z:0.00
[[ 9.92163125e-01  1.24949321e-01  0.00000000e+00  2.58039023e+02]
 [-1.24949321e-01  9.92163125e-01  0.00000000e+00 -1.77050033e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.10, Y:-17.71, Z:0.00
[[ 9.92866999e-01  1.19227191e-01  0.00000000e+00  2.58101159e+02]
 [-1.19227191e-01  9.92866999e-01  0.00000000e+00 -1.77107263e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.16, Y:-17.71, Z:0.00
[[ 9.92931319e-01  1.18690338e-01  0.00000000e+00  2.58162071e+02]
 [-1.18690338e-01  9.92931319e-01  0.00000000e+00 -1.77145503e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.22, Y:-17.72, Z:0.00
[[ 9.92464121e-01  1.22535584e-01  0.00000000e+00  2.58223545e+02]
 [-1.22535584e-01  9.92464121e-01  0.00000000e+00 -1.77197073e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.29, Y:-17.72, Z:0.00
[[ 9.90751642e-01  1.35687821e-01  0.00000000e+00  2.58285226e+02]
 [-1.35687821e-01  9.90751642e-01  0.00000000e+00 -1.77205813e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.35, Y:-17.73, Z:0.00
[[ 9.89366309e-01  1.45445203e-01  0.00000000e+00  2.58347136e+02]
 [-1.45445203e-01  9.89366309e-01  0.00000000e+00 -1.77254660e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.41, Y:-17.73, Z:0.00
[[ 9.87311325e-01  1.58796560e-01  0.00000000e+00  2.58407516e+02]
 [-1.58796560e-01  9.87311325e-01  0.00000000e+00 -1.77303738e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.47, Y:-17.74, Z:0.00
[[ 9.85701129e-01  1.68503072e-01  0.00000000e+00  2.58467574e+02]
 [-1.68503072e-01  9.85701129e-01  0.00000000e+00 -1.77383938e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.53, Y:-17.75, Z:0.00
[[ 9.84910354e-01  1.73065287e-01  0.00000000e+00  2.58527290e+02]
 [-1.73065287e-01  9.84910354e-01  0.00000000e+00 -1.77468284e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.59, Y:-17.76, Z:0.00
[[ 9.84982251e-01  1.72655627e-01  0.00000000e+00  2.58588794e+02]
 [-1.72655627e-01  9.84982251e-01  0.00000000e+00 -1.77588220e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 256.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.65, Y:-17.77, Z:0.00
[[ 9.85914125e-01  1.67252316e-01  0.00000000e+00  2.58648594e+02]
 [-1.67252316e-01  9.85914125e-01  0.00000000e+00 -1.77743789e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.71, Y:-17.79, Z:0.00
[[ 9.87079198e-01  1.60233133e-01  0.00000000e+00  2.58708115e+02]
 [-1.60233133e-01  9.87079198e-01  0.00000000e+00 -1.77882779e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.77, Y:-17.80, Z:0.00
[[ 9.88128757e-01  1.53627991e-01  0.00000000e+00  2.58768081e+02]
 [-1.53627991e-01  9.88128757e-01  0.00000000e+00 -1.78007281e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.83, Y:-17.81, Z:0.00
[[ 9.88982030e-01  1.48035620e-01  0.00000000e+00  2.58827049e+02]
 [-1.48035620e-01  9.88982030e-01  0.00000000e+00 -1.78139522e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.89, Y:-17.83, Z:0.00
[[ 9.89647805e-01  1.43517326e-01  0.00000000e+00  2.58886282e+02]
 [-1.43517326e-01  9.89647805e-01  0.00000000e+00 -1.78293124e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:258.95, Y:-17.84, Z:0.00
[[ 9.90462416e-01  1.37783171e-01  0.00000000e+00  2.58946442e+02]
 [-1.37783171e-01  9.90462416e-01  0.00000000e+00 -1.78400964e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.01, Y:-17.85, Z:0.00
[[ 9.91797681e-01  1.27817683e-01  0.00000000e+00  2.59007530e+02]
 [-1.27817683e-01  9.91797681e-01  0.00000000e+00 -1.78525520e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.07, Y:-17.86, Z:0.00
[[ 9.92494430e-01  1.22289844e-01  0.00000000e+00  2.59068089e+02]
 [-1.22289844e-01  9.92494430e-01  0.00000000e+00 -1.78628969e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.13, Y:-17.87, Z:0.00
[[ 9.93850233e-01  1.10732622e-01  0.00000000e+00  2.59130031e+02]
 [-1.10732622e-01  9.93850233e-01  0.00000000e+00 -1.78670393e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.19, Y:-17.87, Z:0.00
[[ 9.94735150e-01  1.02479172e-01  0.00000000e+00  2.59190054e+02]
 [-1.02479172e-01  9.94735150e-01  0.00000000e+00 -1.78743944e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.25, Y:-17.88, Z:0.00
[[ 9.95036714e-01  9.95084821e-02  0.00000000e+00  2.59252381e+02]
 [-9.95084821e-02  9.95036714e-01  0.00000000e+00 -1.78776918e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.31, Y:-17.87, Z:0.00
[[ 9.94783886e-01  1.02005002e-01  0.00000000e+00  2.59313859e+02]
 [-1.02005002e-01  9.94783886e-01  0.00000000e+00 -1.78731012e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.38, Y:-17.87, Z:0.00
[[ 9.94059574e-01  1.08837329e-01  0.00000000e+00  2.59375172e+02]
 [-1.08837329e-01  9.94059574e-01  0.00000000e+00 -1.78734287e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.44, Y:-17.86, Z:0.00
[[ 9.92721185e-01  1.20435248e-01  0.00000000e+00  2.59437223e+02]
 [-1.20435248e-01  9.92721185e-01  0.00000000e+00 -1.78649248e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.50, Y:-17.86, Z:0.00
[[ 9.91260593e-01  1.31918295e-01  0.00000000e+00  2.59500143e+02]
 [-1.31918295e-01  9.91260593e-01  0.00000000e+00 -1.78576901e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.56, Y:-17.86, Z:0.00
[[ 9.91109400e-01  1.33049456e-01  0.00000000e+00  2.59562879e+02]
 [-1.33049456e-01  9.91109400e-01  0.00000000e+00 -1.78577739e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 257.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.63, Y:-17.86, Z:0.00
[[ 9.91148299e-01  1.32759364e-01  0.00000000e+00  2.59625961e+02]
 [-1.32759364e-01  9.91148299e-01  0.00000000e+00 -1.78565061e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.69, Y:-17.85, Z:0.00
[[ 9.91825904e-01  1.27598493e-01  0.00000000e+00  2.59688838e+02]
 [-1.27598493e-01  9.91825904e-01  0.00000000e+00 -1.78539328e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.75, Y:-17.86, Z:0.00
[[ 9.92505732e-01  1.22198081e-01  0.00000000e+00  2.59751818e+02]
 [-1.22198081e-01  9.92505732e-01  0.00000000e+00 -1.78569830e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.81, Y:-17.86, Z:0.00
[[ 9.93365733e-01  1.14997916e-01  0.00000000e+00  2.59812063e+02]
 [-1.14997916e-01  9.93365733e-01  0.00000000e+00 -1.78563332e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.88, Y:-17.85, Z:0.00
[[ 9.93775154e-01  1.11404413e-01  0.00000000e+00  2.59875003e+02]
 [-1.11404413e-01  9.93775154e-01  0.00000000e+00 -1.78526849e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:259.94, Y:-17.85, Z:0.00
[[ 9.93255641e-01  1.15944954e-01  0.00000000e+00  2.59935566e+02]
 [-1.15944954e-01  9.93255641e-01  0.00000000e+00 -1.78548185e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.00, Y:-17.86, Z:0.00
[[ 9.92978512e-01  1.18294862e-01  0.00000000e+00  2.59997251e+02]
 [-1.18294862e-01  9.92978512e-01  0.00000000e+00 -1.78599630e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.06, Y:-17.85, Z:0.00
[[ 9.92704678e-01  1.20571232e-01  0.00000000e+00  2.60061076e+02]
 [-1.20571232e-01  9.92704678e-01  0.00000000e+00 -1.78523941e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.12, Y:-17.85, Z:0.00
[[ 9.91725774e-01  1.28374414e-01  0.00000000e+00  2.60122648e+02]
 [-1.28374414e-01  9.91725774e-01  0.00000000e+00 -1.78490505e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.18, Y:-17.85, Z:0.00
[[ 9.91057281e-01  1.33437121e-01  0.00000000e+00  2.60183886e+02]
 [-1.33437121e-01  9.91057281e-01  0.00000000e+00 -1.78491279e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.25, Y:-17.85, Z:0.00
[[ 9.90237246e-01  1.39392239e-01  0.00000000e+00  2.60246610e+02]
 [-1.39392239e-01  9.90237246e-01  0.00000000e+00 -1.78494477e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.31, Y:-17.85, Z:0.00
[[ 9.89440405e-01  1.44940283e-01  0.00000000e+00  2.60308450e+02]
 [-1.44940283e-01  9.89440405e-01  0.00000000e+00 -1.78508318e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.37, Y:-17.85, Z:0.00
[[ 9.89920407e-01  1.41624815e-01  0.00000000e+00  2.60370118e+02]
 [-1.41624815e-01  9.89920407e-01  0.00000000e+00 -1.78499947e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.43, Y:-17.86, Z:0.00
[[ 9.90054747e-01  1.40682611e-01  0.00000000e+00  2.60429636e+02]
 [-1.40682611e-01  9.90054747e-01  0.00000000e+00 -1.78555016e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.49, Y:-17.86, Z:0.00
[[ 9.89670924e-01  1.43357814e-01  0.00000000e+00  2.60490328e+02]
 [-1.43357814e-01  9.89670924e-01  0.00000000e+00 -1.78621026e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.55, Y:-17.87, Z:0.00
[[ 9.89695996e-01  1.43184619e-01  0.00000000e+00  2.60552357e+02]
 [-1.43184619e-01  9.89695996e-01  0.00000000e+00 -1.78675741e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.61, Y:-17.88, Z:0.00
[[ 9.89190296e-01  1.46637507e-01  0.00000000e+00  2.60614174e+02]
 [-1.46637507e-01  9.89190296e-01  0.00000000e+00 -1.78757759e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 258.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.67, Y:-17.89, Z:0.00
[[ 9.89114061e-01  1.47150854e-01  0.00000000e+00  2.60674868e+02]
 [-1.47150854e-01  9.89114061e-01  0.00000000e+00 -1.78888240e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.74, Y:-17.90, Z:0.00
[[ 9.89438164e-01  1.44955578e-01  0.00000000e+00  2.60735217e+02]
 [-1.44955578e-01  9.89438164e-01  0.00000000e+00 -1.78977004e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.80, Y:-17.91, Z:0.00
[[ 9.89760594e-01  1.42737401e-01  0.00000000e+00  2.60795052e+02]
 [-1.42737401e-01  9.89760594e-01  0.00000000e+00 -1.79077059e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.86, Y:-17.92, Z:0.00
[[ 9.89547568e-01  1.44206836e-01  0.00000000e+00  2.60856375e+02]
 [-1.44206836e-01  9.89547568e-01  0.00000000e+00 -1.79203300e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.92, Y:-17.93, Z:0.00
[[ 9.88966503e-01  1.48139311e-01  0.00000000e+00  2.60917163e+02]
 [-1.48139311e-01  9.88966503e-01  0.00000000e+00 -1.79295583e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:260.98, Y:-17.94, Z:0.00
[[ 9.88381719e-01  1.51992029e-01  0.00000000e+00  2.60976875e+02]
 [-1.51992029e-01  9.88381719e-01  0.00000000e+00 -1.79400524e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.04, Y:-17.95, Z:0.00
[[ 9.88195716e-01  1.53196693e-01  0.00000000e+00  2.61037656e+02]
 [-1.53196693e-01  9.88195716e-01  0.00000000e+00 -1.79532056e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.10, Y:-17.97, Z:0.00
[[ 9.88316941e-01  1.52412680e-01  0.00000000e+00  2.61098136e+02]
 [-1.52412680e-01  9.88316941e-01  0.00000000e+00 -1.79682905e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.16, Y:-17.98, Z:0.00
[[ 9.88874628e-01  1.48751370e-01  0.00000000e+00  2.61159371e+02]
 [-1.48751370e-01  9.88874628e-01  0.00000000e+00 -1.79815822e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.22, Y:-18.00, Z:0.00
[[ 9.90727793e-01  1.35861843e-01  0.00000000e+00  2.61218796e+02]
 [-1.35861843e-01  9.90727793e-01  0.00000000e+00 -1.79983368e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.28, Y:-18.01, Z:0.00
[[ 9.92274037e-01  1.24065446e-01  0.00000000e+00  2.61278406e+02]
 [-1.24065446e-01  9.92274037e-01  0.00000000e+00 -1.80106192e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.34, Y:-18.02, Z:0.00
[[ 9.93178342e-01  1.16605239e-01  0.00000000e+00  2.61338680e+02]
 [-1.16605239e-01  9.93178342e-01  0.00000000e+00 -1.80201320e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.40, Y:-18.03, Z:0.00
[[ 9.94269343e-01  1.06904041e-01  0.00000000e+00  2.61398931e+02]
 [-1.06904041e-01  9.94269343e-01  0.00000000e+00 -1.80275492e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.46, Y:-18.03, Z:0.00
[[ 9.94779162e-01  1.02051056e-01  0.00000000e+00  2.61458992e+02]
 [-1.02051056e-01  9.94779162e-01  0.00000000e+00 -1.80325906e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.52, Y:-18.04, Z:0.00
[[ 9.94951151e-01  1.00360387e-01  0.00000000e+00  2.61521804e+02]
 [-1.00360387e-01  9.94951151e-01  0.00000000e+00 -1.80353705e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.58, Y:-18.03, Z:0.00
[[ 9.94891243e-01  1.00952540e-01  0.00000000e+00  2.61583857e+02]
 [-1.00952540e-01  9.94891243e-01  0.00000000e+00 -1.80312957e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.65, Y:-18.03, Z:0.00
[[ 9.94514077e-01  1.04602826e-01  0.00000000e+00  2.61647140e+02]
 [-1.04602826e-01  9.94514077e-01  0.00000000e+00 -1.80313046e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 259.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.71, Y:-18.03, Z:0.00
[[ 9.94120678e-01  1.08277780e-01  0.00000000e+00  2.61708182e+02]
 [-1.08277780e-01  9.94120678e-01  0.00000000e+00 -1.80316252e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.77, Y:-18.03, Z:0.00
[[ 9.93316682e-01  1.15420840e-01  0.00000000e+00  2.61769397e+02]
 [-1.15420840e-01  9.93316682e-01  0.00000000e+00 -1.80254791e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.83, Y:-18.02, Z:0.00
[[ 9.92996410e-01  1.18144528e-01  0.00000000e+00  2.61832484e+02]
 [-1.18144528e-01  9.92996410e-01  0.00000000e+00 -1.80248071e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.90, Y:-18.02, Z:0.00
[[ 9.91933805e-01  1.26756955e-01  0.00000000e+00  2.61895230e+02]
 [-1.26756955e-01  9.91933805e-01  0.00000000e+00 -1.80174649e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:261.96, Y:-18.02, Z:0.00
[[ 9.91809445e-01  1.27726364e-01  0.00000000e+00  2.61956048e+02]
 [-1.27726364e-01  9.91809445e-01  0.00000000e+00 -1.80217141e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.02, Y:-18.02, Z:0.00
[[ 9.90750652e-01  1.35695049e-01  0.00000000e+00  2.62019052e+02]
 [-1.35695049e-01  9.90750652e-01  0.00000000e+00 -1.80208887e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.08, Y:-18.02, Z:0.00
[[ 9.89804894e-01  1.42429883e-01  0.00000000e+00  2.62079993e+02]
 [-1.42429883e-01  9.89804894e-01  0.00000000e+00 -1.80238242e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.14, Y:-18.02, Z:0.00
[[ 9.88210400e-01  1.53101943e-01  0.00000000e+00  2.62141185e+02]
 [-1.53101943e-01  9.88210400e-01  0.00000000e+00 -1.80245690e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.20, Y:-18.03, Z:0.00
[[ 9.87192763e-01  1.59531966e-01  0.00000000e+00  2.62201535e+02]
 [-1.59531966e-01  9.87192763e-01  0.00000000e+00 -1.80335295e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.26, Y:-18.04, Z:0.00
[[ 9.86593128e-01  1.63199264e-01  0.00000000e+00  2.62261360e+02]
 [-1.63199264e-01  9.86593128e-01  0.00000000e+00 -1.80429445e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.32, Y:-18.05, Z:0.00
[[ 9.85968869e-01  1.66929297e-01  0.00000000e+00  2.62321165e+02]
 [-1.66929297e-01  9.85968869e-01  0.00000000e+00 -1.80535177e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.38, Y:-18.07, Z:0.00
[[ 9.86723007e-01  1.62412156e-01  0.00000000e+00  2.62380985e+02]
 [-1.62412156e-01  9.86723007e-01  0.00000000e+00 -1.80670741e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.44, Y:-18.08, Z:0.00
[[ 9.88626581e-01  1.50391102e-01  0.00000000e+00  2.62438968e+02]
 [-1.50391102e-01  9.88626581e-01  0.00000000e+00 -1.80836309e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.50, Y:-18.10, Z:0.00
[[ 9.89674669e-01  1.43331954e-01  0.00000000e+00  2.62500260e+02]
 [-1.43331954e-01  9.89674669e-01  0.00000000e+00 -1.80976265e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.56, Y:-18.11, Z:0.00
[[ 9.90763970e-01  1.35597770e-01  0.00000000e+00  2.62560033e+02]
 [-1.35597770e-01  9.90763970e-01  0.00000000e+00 -1.81088495e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.62, Y:-18.12, Z:0.00
[[ 9.90962315e-01  1.34140562e-01  0.00000000e+00  2.62620132e+02]
 [-1.34140562e-01  9.90962315e-01  0.00000000e+00 -1.81201126e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 260.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.68, Y:-18.13, Z:0.00
[[ 9.91151779e-01  1.32733384e-01  0.00000000e+00  2.62681838e+02]
 [-1.32733384e-01  9.91151779e-01  0.00000000e+00 -1.81309487e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.74, Y:-18.14, Z:0.00
[[ 9.90975642e-01  1.34042071e-01  0.00000000e+00  2.62743727e+02]
 [-1.34042071e-01  9.90975642e-01  0.00000000e+00 -1.81404251e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.80, Y:-18.15, Z:0.00
[[ 9.90392720e-01  1.38283260e-01  0.00000000e+00  2.62804775e+02]
 [-1.38283260e-01  9.90392720e-01  0.00000000e+00 -1.81474052e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.87, Y:-18.15, Z:0.00
[[ 9.90007195e-01  1.41016857e-01  0.00000000e+00  2.62866289e+02]
 [-1.41016857e-01  9.90007195e-01  0.00000000e+00 -1.81538088e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.93, Y:-18.16, Z:0.00
[[ 9.89179966e-01  1.46707172e-01  0.00000000e+00  2.62927667e+02]
 [-1.46707172e-01  9.89179966e-01  0.00000000e+00 -1.81613047e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:262.99, Y:-18.17, Z:0.00
[[ 9.87481651e-01  1.57733920e-01  0.00000000e+00  2.62986680e+02]
 [-1.57733920e-01  9.87481651e-01  0.00000000e+00 -1.81706655e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.05, Y:-18.18, Z:0.00
[[ 9.86669379e-01  1.62737632e-01  0.00000000e+00  2.63048461e+02]
 [-1.62737632e-01  9.86669379e-01  0.00000000e+00 -1.81784857e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.11, Y:-18.19, Z:0.00
[[ 9.85515479e-01  1.69585494e-01  0.00000000e+00  2.63106832e+02]
 [-1.69585494e-01  9.85515479e-01  0.00000000e+00 -1.81915254e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.17, Y:-18.20, Z:0.00
[[ 9.85511298e-01  1.69609792e-01  0.00000000e+00  2.63166727e+02]
 [-1.69609792e-01  9.85511298e-01  0.00000000e+00 -1.82009162e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.23, Y:-18.22, Z:0.00
[[ 9.84429092e-01  1.75782146e-01  0.00000000e+00  2.63225638e+02]
 [-1.75782146e-01  9.84429092e-01  0.00000000e+00 -1.82196460e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.28, Y:-18.23, Z:0.00
[[ 9.84274382e-01  1.76646374e-01  0.00000000e+00  2.63284746e+02]
 [-1.76646374e-01  9.84274382e-01  0.00000000e+00 -1.82342397e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.34, Y:-18.26, Z:0.00
[[ 9.83643363e-01  1.80126997e-01  0.00000000e+00  2.63342077e+02]
 [-1.80126997e-01  9.83643363e-01  0.00000000e+00 -1.82599154e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.40, Y:-18.28, Z:0.00
[[ 9.83666826e-01  1.79998821e-01  0.00000000e+00  2.63402105e+02]
 [-1.79998821e-01  9.83666826e-01  0.00000000e+00 -1.82790559e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.46, Y:-18.30, Z:0.00
[[ 9.83946932e-01  1.78461296e-01  0.00000000e+00  2.63461633e+02]
 [-1.78461296e-01  9.83946932e-01  0.00000000e+00 -1.83046462e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.52, Y:-18.32, Z:0.00
[[ 9.84515435e-01  1.75297913e-01  0.00000000e+00  2.63521251e+02]
 [-1.75297913e-01  9.84515435e-01  0.00000000e+00 -1.83222833e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.58, Y:-18.35, Z:0.00
[[ 9.85368149e-01  1.70439466e-01  0.00000000e+00  2.63579742e+02]
 [-1.70439466e-01  9.85368149e-01  0.00000000e+00 -1.83487548e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.64, Y:-18.37, Z:0.00
[[ 9.85851479e-01  1.67621184e-01  0.00000000e+00  2.63638718e+02]
 [-1.67621184e-01  9.85851479e-01  0.00000000e+00 -1.83662457e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 261.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.70, Y:-18.39, Z:0.00
[[ 9.85518552e-01  1.69567636e-01  0.00000000e+00  2.63697218e+02]
 [-1.69567636e-01  9.85518552e-01  0.00000000e+00 -1.83855726e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.76, Y:-18.41, Z:0.00
[[ 9.84079156e-01  1.77730736e-01  0.00000000e+00  2.63755513e+02]
 [-1.77730736e-01  9.84079156e-01  0.00000000e+00 -1.84092299e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.82, Y:-18.43, Z:0.00
[[ 9.83292966e-01  1.82030060e-01  0.00000000e+00  2.63815401e+02]
 [-1.82030060e-01  9.83292966e-01  0.00000000e+00 -1.84254644e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.87, Y:-18.44, Z:0.00
[[ 9.82695938e-01  1.85226059e-01  0.00000000e+00  2.63874329e+02]
 [-1.85226059e-01  9.82695938e-01  0.00000000e+00 -1.84449636e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.93, Y:-18.46, Z:0.00
[[ 9.83263371e-01  1.82189856e-01  0.00000000e+00  2.63933014e+02]
 [-1.82189856e-01  9.83263371e-01  0.00000000e+00 -1.84641223e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:263.99, Y:-18.49, Z:0.00
[[ 9.85695141e-01  1.68538095e-01  0.00000000e+00  2.63990685e+02]
 [-1.68538095e-01  9.85695141e-01  0.00000000e+00 -1.84897960e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.05, Y:-18.51, Z:0.00
[[ 9.87516213e-01  1.57517395e-01  0.00000000e+00  2.64050605e+02]
 [-1.57517395e-01  9.87516213e-01  0.00000000e+00 -1.85051865e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.11, Y:-18.52, Z:0.00
[[ 9.88760161e-01  1.49510350e-01  0.00000000e+00  2.64110358e+02]
 [-1.49510350e-01  9.88760161e-01  0.00000000e+00 -1.85211767e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.17, Y:-18.54, Z:0.00
[[ 9.90064455e-01  1.40614280e-01  0.00000000e+00  2.64169878e+02]
 [-1.40614280e-01  9.90064455e-01  0.00000000e+00 -1.85385330e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.23, Y:-18.55, Z:0.00
[[ 9.90585708e-01  1.36893958e-01  0.00000000e+00  2.64230250e+02]
 [-1.36893958e-01  9.90585708e-01  0.00000000e+00 -1.85521413e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.29, Y:-18.56, Z:0.00
[[ 9.91334531e-01  1.31361518e-01  0.00000000e+00  2.64290867e+02]
 [-1.31361518e-01  9.91334531e-01  0.00000000e+00 -1.85637820e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.35, Y:-18.57, Z:0.00
[[ 9.91580697e-01  1.29490239e-01  0.00000000e+00  2.64350701e+02]
 [-1.29490239e-01  9.91580697e-01  0.00000000e+00 -1.85746588e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.41, Y:-18.58, Z:0.00
[[ 9.92110236e-01  1.25368576e-01  0.00000000e+00  2.64411878e+02]
 [-1.25368576e-01  9.92110236e-01  0.00000000e+00 -1.85841209e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.47, Y:-18.59, Z:0.00
[[ 9.92226834e-01  1.24442396e-01  0.00000000e+00  2.64473753e+02]
 [-1.24442396e-01  9.92226834e-01  0.00000000e+00 -1.85890426e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.53, Y:-18.60, Z:0.00
[[ 9.92003328e-01  1.26211712e-01  0.00000000e+00  2.64534113e+02]
 [-1.26211712e-01  9.92003328e-01  0.00000000e+00 -1.85966145e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.60, Y:-18.60, Z:0.00
[[ 9.91866739e-01  1.27280684e-01  0.00000000e+00  2.64595794e+02]
 [-1.27280684e-01  9.91866739e-01  0.00000000e+00 -1.85995264e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.66, Y:-18.60, Z:0.00
[[ 9.91090430e-01  1.33190692e-01  0.00000000e+00  2.64658649e+02]
 [-1.33190692e-01  9.91090430e-01  0.00000000e+00 -1.85989654e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 262.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.72, Y:-18.60, Z:0.00
[[ 9.90033916e-01  1.40829134e-01  0.00000000e+00  2.64720826e+02]
 [-1.40829134e-01  9.90033916e-01  0.00000000e+00 -1.86007061e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.78, Y:-18.60, Z:0.00
[[ 9.89077857e-01  1.47394005e-01  0.00000000e+00  2.64784448e+02]
 [-1.47394005e-01  9.89077857e-01  0.00000000e+00 -1.86024368e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.85, Y:-18.60, Z:0.00
[[ 9.87270635e-01  1.59049344e-01  0.00000000e+00  2.64846351e+02]
 [-1.59049344e-01  9.87270635e-01  0.00000000e+00 -1.86018320e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.91, Y:-18.61, Z:0.00
[[ 9.85896459e-01  1.67356423e-01  0.00000000e+00  2.64907693e+02]
 [-1.67356423e-01  9.85896459e-01  0.00000000e+00 -1.86057340e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:264.97, Y:-18.61, Z:0.00
[[ 9.84128177e-01  1.77459096e-01  0.00000000e+00  2.64967495e+02]
 [-1.77459096e-01  9.84128177e-01  0.00000000e+00 -1.86107012e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.03, Y:-18.62, Z:0.00
[[ 9.83288331e-01  1.82055096e-01  0.00000000e+00  2.65028441e+02]
 [-1.82055096e-01  9.83288331e-01  0.00000000e+00 -1.86181985e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.09, Y:-18.63, Z:0.00
[[ 9.82670229e-01  1.85362405e-01  0.00000000e+00  2.65086781e+02]
 [-1.85362405e-01  9.82670229e-01  0.00000000e+00 -1.86333073e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.15, Y:-18.65, Z:0.00
[[ 9.83674248e-01  1.79958256e-01  0.00000000e+00  2.65146666e+02]
 [-1.79958256e-01  9.83674248e-01  0.00000000e+00 -1.86485349e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.21, Y:-18.67, Z:0.00
[[ 9.85553907e-01  1.69362029e-01  0.00000000e+00  2.65206185e+02]
 [-1.69362029e-01  9.85553907e-01  0.00000000e+00 -1.86659905e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.26, Y:-18.69, Z:0.00
[[ 9.87652572e-01  1.56660129e-01  0.00000000e+00  2.65264138e+02]
 [-1.56660129e-01  9.87652572e-01  0.00000000e+00 -1.86864732e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.32, Y:-18.70, Z:0.00
[[ 9.89405858e-01  1.45175921e-01  0.00000000e+00  2.65323220e+02]
 [-1.45175921e-01  9.89405858e-01  0.00000000e+00 -1.87038590e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.39, Y:-18.71, Z:0.00
[[ 9.89391139e-01  1.45276200e-01  0.00000000e+00  2.65385021e+02]
 [-1.45276200e-01  9.89391139e-01  0.00000000e+00 -1.87082370e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.45, Y:-18.72, Z:0.00
[[ 9.89773814e-01  1.42645708e-01  0.00000000e+00  2.65446190e+02]
 [-1.42645708e-01  9.89773814e-01  0.00000000e+00 -1.87192984e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.51, Y:-18.73, Z:0.00
[[ 9.90105483e-01  1.40325096e-01  0.00000000e+00  2.65506523e+02]
 [-1.40325096e-01  9.90105483e-01  0.00000000e+00 -1.87343304e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.57, Y:-18.74, Z:0.00
[[ 9.90172568e-01  1.39850940e-01  0.00000000e+00  2.65567597e+02]
 [-1.39850940e-01  9.90172568e-01  0.00000000e+00 -1.87378687e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.63, Y:-18.75, Z:0.00
[[ 9.89231748e-01  1.46357602e-01  0.00000000e+00  2.65628443e+02]
 [-1.46357602e-01  9.89231748e-01  0.00000000e+00 -1.87524363e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 263.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.69, Y:-18.76, Z:0.00
[[ 9.88431474e-01  1.51668128e-01  0.00000000e+00  2.65690966e+02]
 [-1.51668128e-01  9.88431474e-01  0.00000000e+00 -1.87562756e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.75, Y:-18.77, Z:0.00
[[ 9.87757166e-01  1.55999301e-01  0.00000000e+00  2.65751001e+02]
 [-1.55999301e-01  9.87757166e-01  0.00000000e+00 -1.87684177e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.81, Y:-18.77, Z:0.00
[[ 9.86915615e-01  1.61237614e-01  0.00000000e+00  2.65812024e+02]
 [-1.61237614e-01  9.86915615e-01  0.00000000e+00 -1.87722822e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.87, Y:-18.78, Z:0.00
[[ 9.87190091e-01  1.59548501e-01  0.00000000e+00  2.65872564e+02]
 [-1.59548501e-01  9.87190091e-01  0.00000000e+00 -1.87834516e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.93, Y:-18.79, Z:0.00
[[ 9.87768805e-01  1.55925586e-01  0.00000000e+00  2.65933083e+02]
 [-1.55925586e-01  9.87768805e-01  0.00000000e+00 -1.87882212e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:265.99, Y:-18.79, Z:0.00
[[ 9.88627611e-01  1.50384329e-01  0.00000000e+00  2.65993713e+02]
 [-1.50384329e-01  9.88627611e-01  0.00000000e+00 -1.87942987e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.05, Y:-18.81, Z:0.00
[[ 9.89460672e-01  1.44801859e-01  0.00000000e+00  2.66054495e+02]
 [-1.44801859e-01  9.89460672e-01  0.00000000e+00 -1.88077691e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.12, Y:-18.81, Z:0.00
[[ 9.88584692e-01  1.50666212e-01  0.00000000e+00  2.66116298e+02]
 [-1.50666212e-01  9.88584692e-01  0.00000000e+00 -1.88100346e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.18, Y:-18.82, Z:0.00
[[ 9.88548339e-01  1.50904542e-01  0.00000000e+00  2.66177067e+02]
 [-1.50904542e-01  9.88548339e-01  0.00000000e+00 -1.88172338e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.24, Y:-18.82, Z:0.00
[[ 9.88511297e-01  1.51146999e-01  0.00000000e+00  2.66238495e+02]
 [-1.51146999e-01  9.88511297e-01  0.00000000e+00 -1.88238977e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.30, Y:-18.83, Z:0.00
[[ 9.88142700e-01  1.53538285e-01  0.00000000e+00  2.66300775e+02]
 [-1.53538285e-01  9.88142700e-01  0.00000000e+00 -1.88336638e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.36, Y:-18.84, Z:0.00
[[ 9.90144626e-01  1.40048631e-01  0.00000000e+00  2.66362011e+02]
 [-1.40048631e-01  9.90144626e-01  0.00000000e+00 -1.88401861e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.42, Y:-18.84, Z:0.00
[[ 9.90846847e-01  1.34990834e-01  0.00000000e+00  2.66422231e+02]
 [-1.34990834e-01  9.90846847e-01  0.00000000e+00 -1.88447457e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.48, Y:-18.85, Z:0.00
[[ 9.92055269e-01  1.25802797e-01  0.00000000e+00  2.66483804e+02]
 [-1.25802797e-01  9.92055269e-01  0.00000000e+00 -1.88542758e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.54, Y:-18.86, Z:0.00
[[ 9.92827634e-01  1.19554547e-01  0.00000000e+00  2.66543963e+02]
 [-1.19554547e-01  9.92827634e-01  0.00000000e+00 -1.88616427e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.61, Y:-18.86, Z:0.00
[[ 9.93419767e-01  1.14530203e-01  0.00000000e+00  2.66606683e+02]
 [-1.14530203e-01  9.93419767e-01  0.00000000e+00 -1.88577672e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.67, Y:-18.86, Z:0.00
[[ 9.93885387e-01  1.10416657e-01  0.00000000e+00  2.66668430e+02]
 [-1.10416657e-01  9.93885387e-01  0.00000000e+00 -1.88569452e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 264.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.73, Y:-18.86, Z:0.00
[[ 9.94304487e-01  1.06576677e-01  0.00000000e+00  2.66729010e+02]
 [-1.06576677e-01  9.94304487e-01  0.00000000e+00 -1.88552433e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.79, Y:-18.85, Z:0.00
[[ 9.94163359e-01  1.07885199e-01  0.00000000e+00  2.66792519e+02]
 [-1.07885199e-01  9.94163359e-01  0.00000000e+00 -1.88484756e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.86, Y:-18.84, Z:0.00
[[ 9.94191363e-01  1.07626829e-01  0.00000000e+00  2.66855064e+02]
 [-1.07626829e-01  9.94191363e-01  0.00000000e+00 -1.88424139e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.92, Y:-18.84, Z:0.00
[[ 9.93152320e-01  1.16826667e-01  0.00000000e+00  2.66916968e+02]
 [-1.16826667e-01  9.93152320e-01  0.00000000e+00 -1.88357658e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:266.98, Y:-18.84, Z:0.00
[[ 9.91883655e-01  1.27148789e-01  0.00000000e+00  2.66978284e+02]
 [-1.27148789e-01  9.91883655e-01  0.00000000e+00 -1.88371996e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.04, Y:-18.83, Z:0.00
[[ 9.90010742e-01  1.40991950e-01  0.00000000e+00  2.67040353e+02]
 [-1.40991950e-01  9.90010742e-01  0.00000000e+00 -1.88302119e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.10, Y:-18.83, Z:0.00
[[ 9.88438866e-01  1.51619947e-01  0.00000000e+00  2.67102398e+02]
 [-1.51619947e-01  9.88438866e-01  0.00000000e+00 -1.88309327e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.16, Y:-18.83, Z:0.00
[[ 9.85857481e-01  1.67585877e-01  0.00000000e+00  2.67162689e+02]
 [-1.67585877e-01  9.85857481e-01  0.00000000e+00 -1.88327502e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.22, Y:-18.84, Z:0.00
[[ 9.84635415e-01  1.74622736e-01  0.00000000e+00  2.67222342e+02]
 [-1.74622736e-01  9.84635415e-01  0.00000000e+00 -1.88387382e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.28, Y:-18.85, Z:0.00
[[ 9.83278787e-01  1.82106635e-01  0.00000000e+00  2.67282121e+02]
 [-1.82106635e-01  9.83278787e-01  0.00000000e+00 -1.88496642e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.34, Y:-18.86, Z:0.00
[[ 9.82769516e-01  1.84835275e-01  0.00000000e+00  2.67341684e+02]
 [-1.84835275e-01  9.82769516e-01  0.00000000e+00 -1.88619768e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.40, Y:-18.88, Z:0.00
[[ 9.82149106e-01  1.88104050e-01  0.00000000e+00  2.67400805e+02]
 [-1.88104050e-01  9.82149106e-01  0.00000000e+00 -1.88775952e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.46, Y:-18.90, Z:0.00
[[ 9.82591432e-01  1.85779648e-01  0.00000000e+00  2.67459696e+02]
 [-1.85779648e-01  9.82591432e-01  0.00000000e+00 -1.88964134e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.52, Y:-18.92, Z:0.00
[[ 9.82607248e-01  1.85695978e-01  0.00000000e+00  2.67517834e+02]
 [-1.85695978e-01  9.82607248e-01  0.00000000e+00 -1.89193137e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.58, Y:-18.94, Z:0.00
[[ 9.82303084e-01  1.87298295e-01  0.00000000e+00  2.67577049e+02]
 [-1.87298295e-01  9.82303084e-01  0.00000000e+00 -1.89402469e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.63, Y:-18.96, Z:0.00
[[ 9.81895052e-01  1.89425730e-01  0.00000000e+00  2.67634107e+02]
 [-1.89425730e-01  9.81895052e-01  0.00000000e+00 -1.89629665e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.69, Y:-18.98, Z:0.00
[[ 9.81934958e-01  1.89218760e-01  0.00000000e+00  2.67694486e+02]
 [-1.89218760e-01  9.81934958e-01  0.00000000e+00 -1.89763988e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 265.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.75, Y:-19.00, Z:0.00
[[ 9.81707110e-01  1.90397349e-01  0.00000000e+00  2.67751990e+02]
 [-1.90397349e-01  9.81707110e-01  0.00000000e+00 -1.90026975e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.81, Y:-19.03, Z:0.00
[[ 9.82103906e-01  1.88339902e-01  0.00000000e+00  2.67809675e+02]
 [-1.88339902e-01  9.82103906e-01  0.00000000e+00 -1.90324514e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.87, Y:-19.05, Z:0.00
[[ 9.82022860e-01  1.88762025e-01  0.00000000e+00  2.67867735e+02]
 [-1.88762025e-01  9.82022860e-01  0.00000000e+00 -1.90535248e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.93, Y:-19.07, Z:0.00
[[ 9.82313676e-01  1.87242738e-01  0.00000000e+00  2.67927242e+02]
 [-1.87242738e-01  9.82313676e-01  0.00000000e+00 -1.90747978e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:267.98, Y:-19.10, Z:0.00
[[ 9.83482234e-01  1.81004684e-01  0.00000000e+00  2.67984559e+02]
 [-1.81004684e-01  9.83482234e-01  0.00000000e+00 -1.90991562e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.04, Y:-19.12, Z:0.00
[[ 9.84312160e-01  1.76435743e-01  0.00000000e+00  2.68044042e+02]
 [-1.76435743e-01  9.84312160e-01  0.00000000e+00 -1.91177541e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.10, Y:-19.14, Z:0.00
[[ 9.85313235e-01  1.70756637e-01  0.00000000e+00  2.68102212e+02]
 [-1.70756637e-01  9.85313235e-01  0.00000000e+00 -1.91412306e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.16, Y:-19.16, Z:0.00
[[ 9.84919973e-01  1.73010541e-01  0.00000000e+00  2.68161629e+02]
 [-1.73010541e-01  9.84919973e-01  0.00000000e+00 -1.91605556e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.22, Y:-19.17, Z:0.00
[[ 9.84803217e-01  1.73673898e-01  0.00000000e+00  2.68222144e+02]
 [-1.73673898e-01  9.84803217e-01  0.00000000e+00 -1.91745531e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.28, Y:-19.20, Z:0.00
[[ 9.85290823e-01  1.70885910e-01  0.00000000e+00  2.68281644e+02]
 [-1.70885910e-01  9.85290823e-01  0.00000000e+00 -1.91953058e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.34, Y:-19.21, Z:0.00
[[ 9.84829725e-01  1.73523524e-01  0.00000000e+00  2.68341431e+02]
 [-1.73523524e-01  9.84829725e-01  0.00000000e+00 -1.92079660e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.40, Y:-19.22, Z:0.00
[[ 9.84631585e-01  1.74644330e-01  0.00000000e+00  2.68400841e+02]
 [-1.74644330e-01  9.84631585e-01  0.00000000e+00 -1.92227083e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.46, Y:-19.24, Z:0.00
[[ 9.83813183e-01  1.79197155e-01  0.00000000e+00  2.68460279e+02]
 [-1.79197155e-01  9.83813183e-01  0.00000000e+00 -1.92360853e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.52, Y:-19.25, Z:0.00
[[ 9.81704148e-01  1.90412620e-01  0.00000000e+00  2.68520425e+02]
 [-1.90412620e-01  9.81704148e-01  0.00000000e+00 -1.92475964e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.58, Y:-19.26, Z:0.00
[[ 9.79857433e-01  1.99698300e-01  0.00000000e+00  2.68580184e+02]
 [-1.99698300e-01  9.79857433e-01  0.00000000e+00 -1.92635968e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.64, Y:-19.28, Z:0.00
[[ 9.80258982e-01  1.97717802e-01  0.00000000e+00  2.68638835e+02]
 [-1.97717802e-01  9.80258982e-01  0.00000000e+00 -1.92822917e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 266.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.70, Y:-19.30, Z:0.00
[[ 9.80448168e-01  1.96777515e-01  0.00000000e+00  2.68697987e+02]
 [-1.96777515e-01  9.80448168e-01  0.00000000e+00 -1.92992102e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.76, Y:-19.32, Z:0.00
[[ 9.81759373e-01  1.90127677e-01  0.00000000e+00  2.68755835e+02]
 [-1.90127677e-01  9.81759373e-01  0.00000000e+00 -1.93206934e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.82, Y:-19.34, Z:0.00
[[ 9.82298959e-01  1.87319926e-01  0.00000000e+00  2.68816094e+02]
 [-1.87319926e-01  9.82298959e-01  0.00000000e+00 -1.93360947e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.87, Y:-19.36, Z:0.00
[[ 9.82742956e-01  1.84976440e-01  0.00000000e+00  2.68874645e+02]
 [-1.84976440e-01  9.82742956e-01  0.00000000e+00 -1.93557325e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:268.94, Y:-19.37, Z:0.00
[[ 9.82786161e-01  1.84746752e-01  0.00000000e+00  2.68935125e+02]
 [-1.84746752e-01  9.82786161e-01  0.00000000e+00 -1.93712335e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.00, Y:-19.39, Z:0.00
[[ 9.82927432e-01  1.83993648e-01  0.00000000e+00  2.68995228e+02]
 [-1.83993648e-01  9.82927432e-01  0.00000000e+00 -1.93909024e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.06, Y:-19.40, Z:0.00
[[ 9.83247201e-01  1.82277100e-01  0.00000000e+00  2.69055322e+02]
 [-1.82277100e-01  9.83247201e-01  0.00000000e+00 -1.94038726e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.11, Y:-19.42, Z:0.00
[[ 9.84807811e-01  1.73647849e-01  0.00000000e+00  2.69113322e+02]
 [-1.73647849e-01  9.84807811e-01  0.00000000e+00 -1.94220910e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.17, Y:-19.44, Z:0.00
[[ 9.86619345e-01  1.63040696e-01  0.00000000e+00  2.69173512e+02]
 [-1.63040696e-01  9.86619345e-01  0.00000000e+00 -1.94377573e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.23, Y:-19.45, Z:0.00
[[ 9.89348078e-01  1.45569160e-01  0.00000000e+00  2.69232962e+02]
 [-1.45569160e-01  9.89348078e-01  0.00000000e+00 -1.94538348e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.29, Y:-19.46, Z:0.00
[[ 9.90597985e-01  1.36805088e-01  0.00000000e+00  2.69292438e+02]
 [-1.36805088e-01  9.90597985e-01  0.00000000e+00 -1.94636268e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.35, Y:-19.47, Z:0.00
[[ 9.91663672e-01  1.28853258e-01  0.00000000e+00  2.69353174e+02]
 [-1.28853258e-01  9.91663672e-01  0.00000000e+00 -1.94737584e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.41, Y:-19.48, Z:0.00
[[ 9.92224554e-01  1.24460574e-01  0.00000000e+00  2.69412876e+02]
 [-1.24460574e-01  9.92224554e-01  0.00000000e+00 -1.94807584e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.48, Y:-19.48, Z:0.00
[[ 9.92371777e-01  1.23281204e-01  0.00000000e+00  2.69475280e+02]
 [-1.23281204e-01  9.92371777e-01  0.00000000e+00 -1.94828026e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.54, Y:-19.48, Z:0.00
[[ 9.92404197e-01  1.23019957e-01  0.00000000e+00  2.69539245e+02]
 [-1.23019957e-01  9.92404197e-01  0.00000000e+00 -1.94822529e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.60, Y:-19.49, Z:0.00
[[ 9.92297735e-01  1.23875768e-01  0.00000000e+00  2.69599927e+02]
 [-1.23875768e-01  9.92297735e-01  0.00000000e+00 -1.94892394e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.66, Y:-19.49, Z:0.00
[[ 9.92059840e-01  1.25766740e-01  0.00000000e+00  2.69661038e+02]
 [-1.25766740e-01  9.92059840e-01  0.00000000e+00 -1.94915957e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 267.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.72, Y:-19.49, Z:0.00
[[ 9.91539377e-01  1.29806256e-01  0.00000000e+00  2.69724047e+02]
 [-1.29806256e-01  9.91539377e-01  0.00000000e+00 -1.94892531e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.79, Y:-19.49, Z:0.00
[[ 9.90891004e-01  1.34666322e-01  0.00000000e+00  2.69786028e+02]
 [-1.34666322e-01  9.90891004e-01  0.00000000e+00 -1.94870365e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.85, Y:-19.49, Z:0.00
[[ 9.90292807e-01  1.38996968e-01  0.00000000e+00  2.69848716e+02]
 [-1.38996968e-01  9.90292807e-01  0.00000000e+00 -1.94881737e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.91, Y:-19.49, Z:0.00
[[ 9.88094275e-01  1.53849612e-01  0.00000000e+00  2.69910492e+02]
 [-1.53849612e-01  9.88094275e-01  0.00000000e+00 -1.94851312e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:269.97, Y:-19.49, Z:0.00
[[ 9.86590513e-01  1.63215071e-01  0.00000000e+00  2.69971766e+02]
 [-1.63215071e-01  9.86590513e-01  0.00000000e+00 -1.94865559e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.03, Y:-19.49, Z:0.00
[[ 9.85214060e-01  1.71327919e-01  0.00000000e+00  2.70032850e+02]
 [-1.71327919e-01  9.85214060e-01  0.00000000e+00 -1.94902807e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.09, Y:-19.49, Z:0.00
[[ 9.84727977e-01  1.74100001e-01  0.00000000e+00  2.70093768e+02]
 [-1.74100001e-01  9.84727977e-01  0.00000000e+00 -1.94930002e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.15, Y:-19.50, Z:0.00
[[ 9.85055423e-01  1.72237666e-01  0.00000000e+00  2.70154620e+02]
 [-1.72237666e-01  9.85055423e-01  0.00000000e+00 -1.94996013e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.22, Y:-19.51, Z:0.00
[[ 9.86408814e-01  1.64309618e-01  0.00000000e+00  2.70215208e+02]
 [-1.64309618e-01  9.86408814e-01  0.00000000e+00 -1.95078632e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.28, Y:-19.51, Z:0.00
[[ 9.87948771e-01  1.54781219e-01  0.00000000e+00  2.70276353e+02]
 [-1.54781219e-01  9.87948771e-01  0.00000000e+00 -1.95135615e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.34, Y:-19.52, Z:0.00
[[ 9.90002349e-01  1.41050876e-01  0.00000000e+00  2.70336246e+02]
 [-1.41050876e-01  9.90002349e-01  0.00000000e+00 -1.95230976e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.40, Y:-19.53, Z:0.00
[[ 9.91263496e-01  1.31896477e-01  0.00000000e+00  2.70397277e+02]
 [-1.31896477e-01  9.91263496e-01  0.00000000e+00 -1.95318997e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.46, Y:-19.54, Z:0.00
[[ 9.91646188e-01  1.28987742e-01  0.00000000e+00  2.70458785e+02]
 [-1.28987742e-01  9.91646188e-01  0.00000000e+00 -1.95368923e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.52, Y:-19.54, Z:0.00
[[ 9.90550586e-01  1.37147864e-01  0.00000000e+00  2.70521190e+02]
 [-1.37147864e-01  9.90550586e-01  0.00000000e+00 -1.95380586e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.58, Y:-19.54, Z:0.00
[[ 9.89445810e-01  1.44903380e-01  0.00000000e+00  2.70583691e+02]
 [-1.44903380e-01  9.89445810e-01  0.00000000e+00 -1.95428121e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.65, Y:-19.54, Z:0.00
[[ 9.87440943e-01  1.57988556e-01  0.00000000e+00  2.70645907e+02]
 [-1.57988556e-01  9.87440943e-01  0.00000000e+00 -1.95414633e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.71, Y:-19.54, Z:0.00
[[ 9.86406278e-01  1.64324848e-01  0.00000000e+00  2.70706101e+02]
 [-1.64324848e-01  9.86406278e-01  0.00000000e+00 -1.95446384e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 268.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.77, Y:-19.55, Z:0.00
[[ 9.85785956e-01  1.68006097e-01  0.00000000e+00  2.70768506e+02]
 [-1.68006097e-01  9.85785956e-01  0.00000000e+00 -1.95510868e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.83, Y:-19.56, Z:0.00
[[ 9.85733623e-01  1.68312876e-01  0.00000000e+00  2.70830765e+02]
 [-1.68312876e-01  9.85733623e-01  0.00000000e+00 -1.95576804e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.89, Y:-19.56, Z:0.00
[[ 9.86313681e-01  1.64879722e-01  0.00000000e+00  2.70892595e+02]
 [-1.64879722e-01  9.86313681e-01  0.00000000e+00 -1.95636015e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:270.95, Y:-19.57, Z:0.00
[[ 9.86480234e-01  1.63880285e-01  0.00000000e+00  2.70953747e+02]
 [-1.63880285e-01  9.86480234e-01  0.00000000e+00 -1.95726328e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.01, Y:-19.58, Z:0.00
[[ 9.86188384e-01  1.65627506e-01  0.00000000e+00  2.71014617e+02]
 [-1.65627506e-01  9.86188384e-01  0.00000000e+00 -1.95841758e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.07, Y:-19.59, Z:0.00
[[ 9.85496809e-01  1.69693958e-01  0.00000000e+00  2.71074911e+02]
 [-1.69693958e-01  9.85496809e-01  0.00000000e+00 -1.95894032e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.14, Y:-19.60, Z:0.00
[[ 9.84714660e-01  1.74175307e-01  0.00000000e+00  2.71135080e+02]
 [-1.74175307e-01  9.84714660e-01  0.00000000e+00 -1.96031733e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.19, Y:-19.61, Z:0.00
[[ 9.84360366e-01  1.76166597e-01  0.00000000e+00  2.71194502e+02]
 [-1.76166597e-01  9.84360366e-01  0.00000000e+00 -1.96139803e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.25, Y:-19.62, Z:0.00
[[ 9.84896607e-01  1.73143503e-01  0.00000000e+00  2.71254876e+02]
 [-1.73143503e-01  9.84896607e-01  0.00000000e+00 -1.96243862e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.31, Y:-19.64, Z:0.00
[[ 9.86343399e-01  1.64701847e-01  0.00000000e+00  2.71313814e+02]
 [-1.64701847e-01  9.86343399e-01  0.00000000e+00 -1.96412266e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.37, Y:-19.65, Z:0.00
[[ 9.87116612e-01  1.60002482e-01  0.00000000e+00  2.71373913e+02]
 [-1.60002482e-01  9.87116612e-01  0.00000000e+00 -1.96523025e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.43, Y:-19.66, Z:0.00
[[ 9.88839401e-01  1.48985363e-01  0.00000000e+00  2.71434129e+02]
 [-1.48985363e-01  9.88839401e-01  0.00000000e+00 -1.96643874e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.49, Y:-19.68, Z:0.00
[[ 9.89770114e-01  1.42671373e-01  0.00000000e+00  2.71494769e+02]
 [-1.42671373e-01  9.89770114e-01  0.00000000e+00 -1.96763258e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.56, Y:-19.69, Z:0.00
[[ 9.90154649e-01  1.39977749e-01  0.00000000e+00  2.71555403e+02]
 [-1.39977749e-01  9.90154649e-01  0.00000000e+00 -1.96851412e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.62, Y:-19.69, Z:0.00
[[ 9.90807759e-01  1.35277435e-01  0.00000000e+00  2.71617287e+02]
 [-1.35277435e-01  9.90807759e-01  0.00000000e+00 -1.96909083e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.68, Y:-19.70, Z:0.00
[[ 9.90798764e-01  1.35343301e-01  0.00000000e+00  2.71679707e+02]
 [-1.35343301e-01  9.90798764e-01  0.00000000e+00 -1.96973267e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 269.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.74, Y:-19.70, Z:0.00
[[ 9.89724634e-01  1.42986537e-01  0.00000000e+00  2.71741729e+02]
 [-1.42986537e-01  9.89724634e-01  0.00000000e+00 -1.97019080e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.80, Y:-19.70, Z:0.00
[[ 9.87902808e-01  1.55074312e-01  0.00000000e+00  2.71803892e+02]
 [-1.55074312e-01  9.87902808e-01  0.00000000e+00 -1.97031625e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.87, Y:-19.71, Z:0.00
[[ 9.86718103e-01  1.62441947e-01  0.00000000e+00  2.71865157e+02]
 [-1.62441947e-01  9.86718103e-01  0.00000000e+00 -1.97068154e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.93, Y:-19.71, Z:0.00
[[ 9.85276163e-01  1.70970414e-01  0.00000000e+00  2.71925522e+02]
 [-1.70970414e-01  9.85276163e-01  0.00000000e+00 -1.97127977e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:271.99, Y:-19.72, Z:0.00
[[ 9.84284731e-01  1.76588700e-01  0.00000000e+00  2.71986457e+02]
 [-1.76588700e-01  9.84284731e-01  0.00000000e+00 -1.97192434e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.05, Y:-19.73, Z:0.00
[[ 9.82936521e-01  1.83945091e-01  0.00000000e+00  2.72045860e+02]
 [-1.83945091e-01  9.82936521e-01  0.00000000e+00 -1.97267853e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.11, Y:-19.74, Z:0.00
[[ 9.82441323e-01  1.86571830e-01  0.00000000e+00  2.72107612e+02]
 [-1.86571830e-01  9.82441323e-01  0.00000000e+00 -1.97361632e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.17, Y:-19.75, Z:0.00
[[ 9.82301983e-01  1.87304071e-01  0.00000000e+00  2.72167102e+02]
 [-1.87304071e-01  9.82301983e-01  0.00000000e+00 -1.97492712e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.23, Y:-19.76, Z:0.00
[[ 9.83213534e-01  1.82458616e-01  0.00000000e+00  2.72226615e+02]
 [-1.82458616e-01  9.83213534e-01  0.00000000e+00 -1.97638462e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.29, Y:-19.78, Z:0.00
[[ 9.84123968e-01  1.77482436e-01  0.00000000e+00  2.72286423e+02]
 [-1.77482436e-01  9.84123968e-01  0.00000000e+00 -1.97805618e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.35, Y:-19.80, Z:0.00
[[ 9.86042665e-01  1.66492834e-01  0.00000000e+00  2.72346423e+02]
 [-1.66492834e-01  9.86042665e-01  0.00000000e+00 -1.97958938e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.41, Y:-19.81, Z:0.00
[[ 9.87303178e-01  1.58847204e-01  0.00000000e+00  2.72406263e+02]
 [-1.58847204e-01  9.87303178e-01  0.00000000e+00 -1.98090877e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.47, Y:-19.82, Z:0.00
[[ 9.88836330e-01  1.49005743e-01  0.00000000e+00  2.72466251e+02]
 [-1.49005743e-01  9.88836330e-01  0.00000000e+00 -1.98237638e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.53, Y:-19.84, Z:0.00
[[ 9.90031509e-01  1.40846058e-01  0.00000000e+00  2.72527716e+02]
 [-1.40846058e-01  9.90031509e-01  0.00000000e+00 -1.98357501e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.59, Y:-19.85, Z:0.00
[[ 9.91670046e-01  1.28804190e-01  0.00000000e+00  2.72586966e+02]
 [-1.28804190e-01  9.91670046e-01  0.00000000e+00 -1.98455228e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.65, Y:-19.85, Z:0.00
[[ 9.92703838e-01  1.20578152e-01  0.00000000e+00  2.72647661e+02]
 [-1.20578152e-01  9.92703838e-01  0.00000000e+00 -1.98521559e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.71, Y:-19.85, Z:0.00
[[ 9.93635616e-01  1.12642191e-01  0.00000000e+00  2.72708778e+02]
 [-1.12642191e-01  9.93635616e-01  0.00000000e+00 -1.98542868e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 270.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.77, Y:-19.85, Z:0.00
[[ 9.93912057e-01  1.10176323e-01  0.00000000e+00  2.72771947e+02]
 [-1.10176323e-01  9.93912057e-01  0.00000000e+00 -1.98486301e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.83, Y:-19.85, Z:0.00
[[ 9.93650832e-01  1.12507881e-01  0.00000000e+00  2.72833754e+02]
 [-1.12507881e-01  9.93650832e-01  0.00000000e+00 -1.98480738e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.90, Y:-19.84, Z:0.00
[[ 9.93117110e-01  1.17125595e-01  0.00000000e+00  2.72896721e+02]
 [-1.17125595e-01  9.93117110e-01  0.00000000e+00 -1.98391410e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:272.96, Y:-19.84, Z:0.00
[[ 9.92802891e-01  1.19759840e-01  0.00000000e+00  2.72958855e+02]
 [-1.19759840e-01  9.92802891e-01  0.00000000e+00 -1.98367204e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.02, Y:-19.83, Z:0.00
[[ 9.92353809e-01  1.23425757e-01  0.00000000e+00  2.73022367e+02]
 [-1.23425757e-01  9.92353809e-01  0.00000000e+00 -1.98263197e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.08, Y:-19.82, Z:0.00
[[ 9.91624313e-01  1.29155801e-01  0.00000000e+00  2.73084983e+02]
 [-1.29155801e-01  9.91624313e-01  0.00000000e+00 -1.98243963e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.15, Y:-19.82, Z:0.00
[[ 9.90378585e-01  1.38384459e-01  0.00000000e+00  2.73146859e+02]
 [-1.38384459e-01  9.90378585e-01  0.00000000e+00 -1.98154426e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.21, Y:-19.81, Z:0.00
[[ 9.89313214e-01  1.45805914e-01  0.00000000e+00  2.73210395e+02]
 [-1.45805914e-01  9.89313214e-01  0.00000000e+00 -1.98134676e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.27, Y:-19.81, Z:0.00
[[ 9.87306315e-01  1.58827704e-01  0.00000000e+00  2.73273953e+02]
 [-1.58827704e-01  9.87306315e-01  0.00000000e+00 -1.98067986e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.34, Y:-19.81, Z:0.00
[[ 9.85686102e-01  1.68590950e-01  0.00000000e+00  2.73336101e+02]
 [-1.68590950e-01  9.85686102e-01  0.00000000e+00 -1.98051026e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.40, Y:-19.81, Z:0.00
[[ 9.84729138e-01  1.74093438e-01  0.00000000e+00  2.73397156e+02]
 [-1.74093438e-01  9.84729138e-01  0.00000000e+00 -1.98092719e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.46, Y:-19.82, Z:0.00
[[ 9.84395514e-01  1.75970091e-01  0.00000000e+00  2.73458269e+02]
 [-1.75970091e-01  9.84395514e-01  0.00000000e+00 -1.98160731e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.52, Y:-19.82, Z:0.00
[[ 9.83717167e-01  1.79723499e-01  0.00000000e+00  2.73519198e+02]
 [-1.79723499e-01  9.83717167e-01  0.00000000e+00 -1.98211194e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.58, Y:-19.83, Z:0.00
[[ 9.84381221e-01  1.76050024e-01  0.00000000e+00  2.73578673e+02]
 [-1.76050024e-01  9.84381221e-01  0.00000000e+00 -1.98286754e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.64, Y:-19.84, Z:0.00
[[ 9.85270059e-01  1.71005585e-01  0.00000000e+00  2.73638724e+02]
 [-1.71005585e-01  9.85270059e-01  0.00000000e+00 -1.98376393e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.70, Y:-19.85, Z:0.00
[[ 9.87151555e-01  1.59786759e-01  0.00000000e+00  2.73698617e+02]
 [-1.59786759e-01  9.87151555e-01  0.00000000e+00 -1.98489539e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.76, Y:-19.86, Z:0.00
[[ 9.87692302e-01  1.56409452e-01  0.00000000e+00  2.73759751e+02]
 [-1.56409452e-01  9.87692302e-01  0.00000000e+00 -1.98595975e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 271.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.82, Y:-19.87, Z:0.00
[[ 9.88583078e-01  1.50676798e-01  0.00000000e+00  2.73819889e+02]
 [-1.50676798e-01  9.88583078e-01  0.00000000e+00 -1.98717740e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.88, Y:-19.89, Z:0.00
[[ 9.89273585e-01  1.46074551e-01  0.00000000e+00  2.73879583e+02]
 [-1.46074551e-01  9.89273585e-01  0.00000000e+00 -1.98883128e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:273.94, Y:-19.90, Z:0.00
[[ 9.89412115e-01  1.45133270e-01  0.00000000e+00  2.73941136e+02]
 [-1.45133270e-01  9.89412115e-01  0.00000000e+00 -1.99001511e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.00, Y:-19.91, Z:0.00
[[ 9.89594963e-01  1.43881232e-01  0.00000000e+00  2.74002296e+02]
 [-1.43881232e-01  9.89594963e-01  0.00000000e+00 -1.99078174e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.06, Y:-19.91, Z:0.00
[[ 9.89197449e-01  1.46589248e-01  0.00000000e+00  2.74064445e+02]
 [-1.46589248e-01  9.89197449e-01  0.00000000e+00 -1.99125135e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.12, Y:-19.92, Z:0.00
[[ 9.88832593e-01  1.49030542e-01  0.00000000e+00  2.74124805e+02]
 [-1.49030542e-01  9.88832593e-01  0.00000000e+00 -1.99176324e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.19, Y:-19.92, Z:0.00
[[ 9.88442755e-01  1.51594591e-01  0.00000000e+00  2.74186449e+02]
 [-1.51594591e-01  9.88442755e-01  0.00000000e+00 -1.99231176e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.25, Y:-19.93, Z:0.00
[[ 9.88220729e-01  1.53035263e-01  0.00000000e+00  2.74247946e+02]
 [-1.53035263e-01  9.88220729e-01  0.00000000e+00 -1.99271231e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.31, Y:-19.92, Z:0.00
[[ 9.87730582e-01  1.56167530e-01  0.00000000e+00  2.74310645e+02]
 [-1.56167530e-01  9.87730582e-01  0.00000000e+00 -1.99229680e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.37, Y:-19.93, Z:0.00
[[ 9.88431303e-01  1.51669243e-01  0.00000000e+00  2.74370911e+02]
 [-1.51669243e-01  9.88431303e-01  0.00000000e+00 -1.99328865e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.43, Y:-19.94, Z:0.00
[[ 9.87987195e-01  1.54535765e-01  0.00000000e+00  2.74431129e+02]
 [-1.54535765e-01  9.87987195e-01  0.00000000e+00 -1.99429008e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.49, Y:-19.95, Z:0.00
[[ 9.87059054e-01  1.60357174e-01  0.00000000e+00  2.74492294e+02]
 [-1.60357174e-01  9.87059054e-01  0.00000000e+00 -1.99480470e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.55, Y:-19.96, Z:0.00
[[ 9.85802033e-01  1.67911735e-01  0.00000000e+00  2.74553090e+02]
 [-1.67911735e-01  9.85802033e-01  0.00000000e+00 -1.99567199e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.61, Y:-19.96, Z:0.00
[[ 9.83983011e-01  1.78262263e-01  0.00000000e+00  2.74613228e+02]
 [-1.78262263e-01  9.83983011e-01  0.00000000e+00 -1.99642030e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.826066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.67, Y:-19.97, Z:0.00
[[ 9.82568249e-01  1.85902224e-01  0.00000000e+00  2.74673025e+02]
 [-1.85902224e-01  9.82568249e-01  0.00000000e+00 -1.99739258e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.73, Y:-19.99, Z:0.00
[[ 9.82073217e-01  1.88499858e-01  0.00000000e+00  2.74733720e+02]
 [-1.88499858e-01  9.82073217e-01  0.00000000e+00 -1.99885023e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 272.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.79, Y:-20.00, Z:0.00
[[ 9.82341006e-01  1.87099298e-01  0.00000000e+00  2.74794629e+02]
 [-1.87099298e-01  9.82341006e-01  0.00000000e+00 -2.00039401e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.85, Y:-20.02, Z:0.00
[[ 9.83048399e-01  1.83346242e-01  0.00000000e+00  2.74854131e+02]
 [-1.83346242e-01  9.83048399e-01  0.00000000e+00 -2.00169434e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.91, Y:-20.04, Z:0.00
[[ 9.82418884e-01  1.86689949e-01  0.00000000e+00  2.74914336e+02]
 [-1.86689949e-01  9.82418884e-01  0.00000000e+00 -2.00351890e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:274.97, Y:-20.05, Z:0.00
[[ 9.81508155e-01  1.91420327e-01  0.00000000e+00  2.74973798e+02]
 [-1.91420327e-01  9.81508155e-01  0.00000000e+00 -2.00493874e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.03, Y:-20.07, Z:0.00
[[ 9.79681250e-01  2.00560836e-01  0.00000000e+00  2.75033373e+02]
 [-2.00560836e-01  9.79681250e-01  0.00000000e+00 -2.00656804e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.09, Y:-20.08, Z:0.00
[[ 9.78529968e-01  2.06104587e-01  0.00000000e+00  2.75093026e+02]
 [-2.06104587e-01  9.78529968e-01  0.00000000e+00 -2.00816743e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.15, Y:-20.11, Z:0.00
[[ 9.77629205e-01  2.10335773e-01  0.00000000e+00  2.75150963e+02]
 [-2.10335773e-01  9.77629205e-01  0.00000000e+00 -2.01066720e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.21, Y:-20.14, Z:0.00
[[ 9.77281634e-01  2.11944821e-01  0.00000000e+00  2.75208409e+02]
 [-2.11944821e-01  9.77281634e-01  0.00000000e+00 -2.01362107e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.27, Y:-20.15, Z:0.00
[[ 9.77299522e-01  2.11862322e-01  0.00000000e+00  2.75268321e+02]
 [-2.11862322e-01  9.77299522e-01  0.00000000e+00 -2.01543928e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.33, Y:-20.18, Z:0.00
[[ 9.77813737e-01  2.09476239e-01  0.00000000e+00  2.75326062e+02]
 [-2.09476239e-01  9.77813737e-01  0.00000000e+00 -2.01807859e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.38, Y:-20.20, Z:0.00
[[ 9.78511535e-01  2.06192084e-01  0.00000000e+00  2.75384490e+02]
 [-2.06192084e-01  9.78511535e-01  0.00000000e+00 -2.02027275e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.44, Y:-20.22, Z:0.00
[[ 9.79223997e-01  2.02781568e-01  0.00000000e+00  2.75442734e+02]
 [-2.02781568e-01  9.79223997e-01  0.00000000e+00 -2.02210107e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.50, Y:-20.25, Z:0.00
[[ 9.79384221e-01  2.02006308e-01  0.00000000e+00  2.75501628e+02]
 [-2.02006308e-01  9.79384221e-01  0.00000000e+00 -2.02459421e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.56, Y:-20.26, Z:0.00
[[ 9.79670462e-01  2.00613524e-01  0.00000000e+00  2.75561901e+02]
 [-2.00613524e-01  9.79670462e-01  0.00000000e+00 -2.02611858e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.62, Y:-20.28, Z:0.00
[[ 9.79460275e-01  2.01637222e-01  0.00000000e+00  2.75621269e+02]
 [-2.01637222e-01  9.79460275e-01  0.00000000e+00 -2.02835909e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.68, Y:-20.30, Z:0.00
[[ 9.80291316e-01  1.97557426e-01  0.00000000e+00  2.75679788e+02]
 [-1.97557426e-01  9.80291316e-01  0.00000000e+00 -2.03006424e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.74, Y:-20.32, Z:0.00
[[ 9.81157547e-01  1.93209388e-01  0.00000000e+00  2.75738797e+02]
 [-1.93209388e-01  9.81157547e-01  0.00000000e+00 -2.03221661e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 273.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.80, Y:-20.34, Z:0.00
[[ 9.82261538e-01  1.87516056e-01  0.00000000e+00  2.75797949e+02]
 [-1.87516056e-01  9.82261538e-01  0.00000000e+00 -2.03398215e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.86, Y:-20.35, Z:0.00
[[ 9.82922168e-01  1.84021767e-01  0.00000000e+00  2.75857424e+02]
 [-1.84021767e-01  9.82922168e-01  0.00000000e+00 -2.03510934e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.92, Y:-20.37, Z:0.00
[[ 9.82999548e-01  1.83607976e-01  0.00000000e+00  2.75916683e+02]
 [-1.83607976e-01  9.82999548e-01  0.00000000e+00 -2.03693343e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:275.98, Y:-20.38, Z:0.00
[[ 9.82446794e-01  1.86543018e-01  0.00000000e+00  2.75976854e+02]
 [-1.86543018e-01  9.82446794e-01  0.00000000e+00 -2.03831192e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.04, Y:-20.39, Z:0.00
[[ 9.82218626e-01  1.87740703e-01  0.00000000e+00  2.76036969e+02]
 [-1.87740703e-01  9.82218626e-01  0.00000000e+00 -2.03947255e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.10, Y:-20.41, Z:0.00
[[ 9.82797913e-01  1.84684225e-01  0.00000000e+00  2.76096459e+02]
 [-1.84684225e-01  9.82797913e-01  0.00000000e+00 -2.04088216e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.326066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.16, Y:-20.42, Z:0.00
[[ 9.83719164e-01  1.79712564e-01  0.00000000e+00  2.76156604e+02]
 [-1.79712564e-01  9.83719164e-01  0.00000000e+00 -2.04192235e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.22, Y:-20.43, Z:0.00
[[ 9.85671282e-01  1.68677575e-01  0.00000000e+00  2.76217187e+02]
 [-1.68677575e-01  9.85671282e-01  0.00000000e+00 -2.04306397e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.28, Y:-20.44, Z:0.00
[[ 9.88385488e-01  1.51967518e-01  0.00000000e+00  2.76276900e+02]
 [-1.51967518e-01  9.88385488e-01  0.00000000e+00 -2.04424488e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.34, Y:-20.45, Z:0.00
[[ 9.89746023e-01  1.42838405e-01  0.00000000e+00  2.76338317e+02]
 [-1.42838405e-01  9.89746023e-01  0.00000000e+00 -2.04538301e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.40, Y:-20.46, Z:0.00
[[ 9.91166509e-01  1.32623344e-01  0.00000000e+00  2.76399164e+02]
 [-1.32623344e-01  9.91166509e-01  0.00000000e+00 -2.04612819e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.46, Y:-20.47, Z:0.00
[[ 9.91377351e-01  1.31037966e-01  0.00000000e+00  2.76459958e+02]
 [-1.31037966e-01  9.91377351e-01  0.00000000e+00 -2.04676982e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.52, Y:-20.47, Z:0.00
[[ 9.91306473e-01  1.31573084e-01  0.00000000e+00  2.76522134e+02]
 [-1.31573084e-01  9.91306473e-01  0.00000000e+00 -2.04709890e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.58, Y:-20.47, Z:0.00
[[ 9.90585111e-01  1.36898277e-01  0.00000000e+00  2.76584135e+02]
 [-1.36898277e-01  9.90585111e-01  0.00000000e+00 -2.04724725e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.65, Y:-20.48, Z:0.00
[[ 9.89971470e-01  1.41267436e-01  0.00000000e+00  2.76646319e+02]
 [-1.41267436e-01  9.89971470e-01  0.00000000e+00 -2.04754944e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.71, Y:-20.47, Z:0.00
[[ 9.88605103e-01  1.50532223e-01  0.00000000e+00  2.76708294e+02]
 [-1.50532223e-01  9.88605103e-01  0.00000000e+00 -2.04736451e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.77, Y:-20.47, Z:0.00
[[ 9.87385119e-01  1.58337070e-01  0.00000000e+00  2.76770457e+02]
 [-1.58337070e-01  9.87385119e-01  0.00000000e+00 -2.04732318e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 274.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.83, Y:-20.48, Z:0.00
[[ 9.87026990e-01  1.60554417e-01  0.00000000e+00  2.76831343e+02]
 [-1.60554417e-01  9.87026990e-01  0.00000000e+00 -2.04754341e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.89, Y:-20.48, Z:0.00
[[ 9.86415715e-01  1.64268184e-01  0.00000000e+00  2.76892477e+02]
 [-1.64268184e-01  9.86415715e-01  0.00000000e+00 -2.04755895e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:276.95, Y:-20.48, Z:0.00
[[ 9.86539098e-01  1.63525557e-01  0.00000000e+00  2.76954093e+02]
 [-1.63525557e-01  9.86539098e-01  0.00000000e+00 -2.04785602e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.01, Y:-20.48, Z:0.00
[[ 9.86520601e-01  1.63637112e-01  0.00000000e+00  2.77014964e+02]
 [-1.63637112e-01  9.86520601e-01  0.00000000e+00 -2.04833104e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.08, Y:-20.49, Z:0.00
[[ 9.86210807e-01  1.65493938e-01  0.00000000e+00  2.77075658e+02]
 [-1.65493938e-01  9.86210807e-01  0.00000000e+00 -2.04928935e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.14, Y:-20.50, Z:0.00
[[ 9.85962565e-01  1.66966527e-01  0.00000000e+00  2.77136791e+02]
 [-1.66966527e-01  9.85962565e-01  0.00000000e+00 -2.05004691e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.20, Y:-20.51, Z:0.00
[[ 9.85434682e-01  1.70054363e-01  0.00000000e+00  2.77197675e+02]
 [-1.70054363e-01  9.85434682e-01  0.00000000e+00 -2.05087175e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.26, Y:-20.52, Z:0.00
[[ 9.84911407e-01  1.73059300e-01  0.00000000e+00  2.77258884e+02]
 [-1.73059300e-01  9.84911407e-01  0.00000000e+00 -2.05158910e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.32, Y:-20.52, Z:0.00
[[ 9.83830611e-01  1.79101447e-01  0.00000000e+00  2.77318254e+02]
 [-1.79101447e-01  9.83830611e-01  0.00000000e+00 -2.05234535e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.38, Y:-20.53, Z:0.00
[[ 9.83040745e-01  1.83387279e-01  0.00000000e+00  2.77379138e+02]
 [-1.83387279e-01  9.83040745e-01  0.00000000e+00 -2.05324401e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.44, Y:-20.54, Z:0.00
[[ 9.82908092e-01  1.84096941e-01  0.00000000e+00  2.77439621e+02]
 [-1.84096941e-01  9.82908092e-01  0.00000000e+00 -2.05439184e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.50, Y:-20.55, Z:0.00
[[ 9.84462828e-01  1.75593108e-01  0.00000000e+00  2.77498983e+02]
 [-1.75593108e-01  9.84462828e-01  0.00000000e+00 -2.05536522e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.56, Y:-20.57, Z:0.00
[[ 9.85596878e-01  1.69111782e-01  0.00000000e+00  2.77559777e+02]
 [-1.69111782e-01  9.85596878e-01  0.00000000e+00 -2.05664169e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.62, Y:-20.58, Z:0.00
[[ 9.86964733e-01  1.60936682e-01  0.00000000e+00  2.77619893e+02]
 [-1.60936682e-01  9.86964733e-01  0.00000000e+00 -2.05792475e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.68, Y:-20.59, Z:0.00
[[ 9.87995531e-01  1.54482462e-01  0.00000000e+00  2.77680615e+02]
 [-1.54482462e-01  9.87995531e-01  0.00000000e+00 -2.05893291e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.74, Y:-20.60, Z:0.00
[[ 9.88742473e-01  1.49627277e-01  0.00000000e+00  2.77741562e+02]
 [-1.49627277e-01  9.88742473e-01  0.00000000e+00 -2.05987254e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 275.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.80, Y:-20.61, Z:0.00
[[ 9.89909296e-01  1.41702457e-01  0.00000000e+00  2.77802581e+02]
 [-1.41702457e-01  9.89909296e-01  0.00000000e+00 -2.06074926e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.86, Y:-20.61, Z:0.00
[[ 9.90962673e-01  1.34137913e-01  0.00000000e+00  2.77863929e+02]
 [-1.34137913e-01  9.90962673e-01  0.00000000e+00 -2.06113943e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.92, Y:-20.62, Z:0.00
[[ 9.91736162e-01  1.28294138e-01  0.00000000e+00  2.77924324e+02]
 [-1.28294138e-01  9.91736162e-01  0.00000000e+00 -2.06166716e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:277.99, Y:-20.62, Z:0.00
[[ 9.92065565e-01  1.25721575e-01  0.00000000e+00  2.77986381e+02]
 [-1.25721575e-01  9.92065565e-01  0.00000000e+00 -2.06159194e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.05, Y:-20.61, Z:0.00
[[ 9.91069664e-01  1.33345117e-01  0.00000000e+00  2.78048703e+02]
 [-1.33345117e-01  9.91069664e-01  0.00000000e+00 -2.06110308e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.11, Y:-20.60, Z:0.00
[[ 9.89140566e-01  1.46972585e-01  0.00000000e+00  2.78110978e+02]
 [-1.46972585e-01  9.89140566e-01  0.00000000e+00 -2.06047880e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.17, Y:-20.60, Z:0.00
[[ 9.87188556e-01  1.59558000e-01  0.00000000e+00  2.78173824e+02]
 [-1.59558000e-01  9.87188556e-01  0.00000000e+00 -2.06048784e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.24, Y:-20.59, Z:0.00
[[ 9.84650240e-01  1.74539123e-01  0.00000000e+00  2.78236231e+02]
 [-1.74539123e-01  9.84650240e-01  0.00000000e+00 -2.05930654e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.30, Y:-20.60, Z:0.00
[[ 9.82952673e-01  1.83858756e-01  0.00000000e+00  2.78296540e+02]
 [-1.83858756e-01  9.82952673e-01  0.00000000e+00 -2.06006566e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.36, Y:-20.61, Z:0.00
[[ 9.81552357e-01  1.91193543e-01  0.00000000e+00  2.78357521e+02]
 [-1.91193543e-01  9.81552357e-01  0.00000000e+00 -2.06059401e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.42, Y:-20.61, Z:0.00
[[ 9.79649654e-01  2.00715109e-01  0.00000000e+00  2.78417915e+02]
 [-2.00715109e-01  9.79649654e-01  0.00000000e+00 -2.06128701e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.48, Y:-20.62, Z:0.00
[[ 9.78674640e-01  2.05416524e-01  0.00000000e+00  2.78478189e+02]
 [-2.05416524e-01  9.78674640e-01  0.00000000e+00 -2.06242177e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.54, Y:-20.64, Z:0.00
[[ 9.79520938e-01  2.01342326e-01  0.00000000e+00  2.78537426e+02]
 [-2.01342326e-01  9.79520938e-01  0.00000000e+00 -2.06400883e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.60, Y:-20.65, Z:0.00
[[ 9.81597674e-01  1.90960746e-01  0.00000000e+00  2.78596436e+02]
 [-1.90960746e-01  9.81597674e-01  0.00000000e+00 -2.06534625e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.66, Y:-20.67, Z:0.00
[[ 9.83286666e-01  1.82064088e-01  0.00000000e+00  2.78655922e+02]
 [-1.82064088e-01  9.83286666e-01  0.00000000e+00 -2.06697845e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.72, Y:-20.69, Z:0.00
[[ 9.85103545e-01  1.71962220e-01  0.00000000e+00  2.78715816e+02]
 [-1.71962220e-01  9.85103545e-01  0.00000000e+00 -2.06863339e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.77, Y:-20.70, Z:0.00
[[ 9.87130871e-01  1.59914488e-01  0.00000000e+00  2.78774265e+02]
 [-1.59914488e-01  9.87130871e-01  0.00000000e+00 -2.07018240e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 276.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.83, Y:-20.72, Z:0.00
[[ 9.88789870e-01  1.49313740e-01  0.00000000e+00  2.78834257e+02]
 [-1.49313740e-01  9.88789870e-01  0.00000000e+00 -2.07194539e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.89, Y:-20.73, Z:0.00
[[ 9.89801083e-01  1.42456364e-01  0.00000000e+00  2.78894845e+02]
 [-1.42456364e-01  9.89801083e-01  0.00000000e+00 -2.07271280e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:278.95, Y:-20.74, Z:0.00
[[ 9.91212467e-01  1.32279418e-01  0.00000000e+00  2.78954084e+02]
 [-1.32279418e-01  9.91212467e-01  0.00000000e+00 -2.07376970e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.01, Y:-20.74, Z:0.00
[[ 9.92281987e-01  1.24001848e-01  0.00000000e+00  2.79014663e+02]
 [-1.24001848e-01  9.92281987e-01  0.00000000e+00 -2.07390075e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.08, Y:-20.74, Z:0.00
[[ 9.93055893e-01  1.17643499e-01  0.00000000e+00  2.79075996e+02]
 [-1.17643499e-01  9.93055893e-01  0.00000000e+00 -2.07416554e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.14, Y:-20.75, Z:0.00
[[ 9.93272025e-01  1.15804511e-01  0.00000000e+00  2.79135798e+02]
 [-1.15804511e-01  9.93272025e-01  0.00000000e+00 -2.07451305e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.20, Y:-20.74, Z:0.00
[[ 9.93853921e-01  1.10699522e-01  0.00000000e+00  2.79198721e+02]
 [-1.10699522e-01  9.93853921e-01  0.00000000e+00 -2.07386318e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.26, Y:-20.74, Z:0.00
[[ 9.94075260e-01  1.08693963e-01  0.00000000e+00  2.79261225e+02]
 [-1.08693963e-01  9.94075260e-01  0.00000000e+00 -2.07364872e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.32, Y:-20.73, Z:0.00
[[ 9.93817533e-01  1.11025722e-01  0.00000000e+00  2.79322874e+02]
 [-1.11025722e-01  9.93817533e-01  0.00000000e+00 -2.07334959e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.39, Y:-20.72, Z:0.00
[[ 9.93579232e-01  1.13138452e-01  0.00000000e+00  2.79386294e+02]
 [-1.13138452e-01  9.93579232e-01  0.00000000e+00 -2.07229391e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.45, Y:-20.71, Z:0.00
[[ 9.92884407e-01  1.19082130e-01  0.00000000e+00  2.79449698e+02]
 [-1.19082130e-01  9.92884407e-01  0.00000000e+00 -2.07065120e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.51, Y:-20.68, Z:0.00
[[ 9.91551873e-01  1.29710764e-01  0.00000000e+00  2.79514930e+02]
 [-1.29710764e-01  9.91551873e-01  0.00000000e+00 -2.06821851e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.58, Y:-20.68, Z:0.00
[[ 9.91077472e-01  1.33287073e-01  0.00000000e+00  2.79578045e+02]
 [-1.33287073e-01  9.91077472e-01  0.00000000e+00 -2.06797612e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.64, Y:-20.69, Z:0.00
[[ 9.92100743e-01  1.25443679e-01  0.00000000e+00  2.79637779e+02]
 [-1.25443679e-01  9.92100743e-01  0.00000000e+00 -2.06860661e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.70, Y:-20.68, Z:0.00
[[ 9.91374848e-01  1.31056899e-01  0.00000000e+00  2.79699967e+02]
 [-1.31056899e-01  9.91374848e-01  0.00000000e+00 -2.06847970e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.76, Y:-20.68, Z:0.00
[[ 9.90090088e-01  1.40433675e-01  0.00000000e+00  2.79761883e+02]
 [-1.40433675e-01  9.90090088e-01  0.00000000e+00 -2.06837039e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.83, Y:-20.67, Z:0.00
[[ 9.88415800e-01  1.51770244e-01  0.00000000e+00  2.79825109e+02]
 [-1.51770244e-01  9.88415800e-01  0.00000000e+00 -2.06707618e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 277.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.88, Y:-20.68, Z:0.00
[[ 9.87536086e-01  1.57392756e-01  0.00000000e+00  2.79884812e+02]
 [-1.57392756e-01  9.87536086e-01  0.00000000e+00 -2.06784234e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:279.95, Y:-20.67, Z:0.00
[[ 9.86057037e-01  1.66407691e-01  0.00000000e+00  2.79946071e+02]
 [-1.66407691e-01  9.86057037e-01  0.00000000e+00 -2.06720053e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.01, Y:-20.68, Z:0.00
[[ 9.83899699e-01  1.78721523e-01  0.00000000e+00  2.80007207e+02]
 [-1.78721523e-01  9.83899699e-01  0.00000000e+00 -2.06776983e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.07, Y:-20.69, Z:0.00
[[ 9.82694660e-01  1.85232841e-01  0.00000000e+00  2.80065516e+02]
 [-1.85232841e-01  9.82694660e-01  0.00000000e+00 -2.06902142e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.13, Y:-20.70, Z:0.00
[[ 9.81480900e-01  1.91560023e-01  0.00000000e+00  2.80125528e+02]
 [-1.91560023e-01  9.81480900e-01  0.00000000e+00 -2.07009151e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.19, Y:-20.71, Z:0.00
[[ 9.81831166e-01  1.89756586e-01  0.00000000e+00  2.80185713e+02]
 [-1.89756586e-01  9.81831166e-01  0.00000000e+00 -2.07139403e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.25, Y:-20.73, Z:0.00
[[ 9.82732950e-01  1.85029590e-01  0.00000000e+00  2.80245357e+02]
 [-1.85029590e-01  9.82732950e-01  0.00000000e+00 -2.07299932e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.30, Y:-20.75, Z:0.00
[[ 9.84756208e-01  1.73940253e-01  0.00000000e+00  2.80303050e+02]
 [-1.73940253e-01  9.84756208e-01  0.00000000e+00 -2.07525927e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.36, Y:-20.77, Z:0.00
[[ 9.86166704e-01  1.65756546e-01  0.00000000e+00  2.80361774e+02]
 [-1.65756546e-01  9.86166704e-01  0.00000000e+00 -2.07722631e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.42, Y:-20.79, Z:0.00
[[ 9.87046735e-01  1.60432986e-01  0.00000000e+00  2.80421973e+02]
 [-1.60432986e-01  9.87046735e-01  0.00000000e+00 -2.07859032e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.48, Y:-20.79, Z:0.00
[[ 9.85685573e-01  1.68594042e-01  0.00000000e+00  2.80483516e+02]
 [-1.68594042e-01  9.85685573e-01  0.00000000e+00 -2.07925075e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.54, Y:-20.82, Z:0.00
[[ 9.86829955e-01  1.61761061e-01  0.00000000e+00  2.80539985e+02]
 [-1.61761061e-01  9.86829955e-01  0.00000000e+00 -2.08210718e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.60, Y:-20.83, Z:0.00
[[ 9.86422650e-01  1.64226540e-01  0.00000000e+00  2.80599896e+02]
 [-1.64226540e-01  9.86422650e-01  0.00000000e+00 -2.08323111e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.66, Y:-20.83, Z:0.00
[[ 9.85990186e-01  1.66803336e-01  0.00000000e+00  2.80662754e+02]
 [-1.66803336e-01  9.85990186e-01  0.00000000e+00 -2.08343295e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.72, Y:-20.85, Z:0.00
[[ 9.85933037e-01  1.67140801e-01  0.00000000e+00  2.80723188e+02]
 [-1.67140801e-01  9.85933037e-01  0.00000000e+00 -2.08471011e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.78, Y:-20.87, Z:0.00
[[ 9.86716744e-01  1.62450197e-01  0.00000000e+00  2.80781134e+02]
 [-1.62450197e-01  9.86716744e-01  0.00000000e+00 -2.08671934e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 278.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.84, Y:-20.88, Z:0.00
[[ 9.84601933e-01  1.74811423e-01  0.00000000e+00  2.80840702e+02]
 [-1.74811423e-01  9.84601933e-01  0.00000000e+00 -2.08780474e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.90, Y:-20.89, Z:0.00
[[ 9.82316703e-01  1.87226856e-01  0.00000000e+00  2.80899991e+02]
 [-1.87226856e-01  9.82316703e-01  0.00000000e+00 -2.08911623e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:280.96, Y:-20.91, Z:0.00
[[ 9.80151560e-01  1.98249638e-01  0.00000000e+00  2.80959784e+02]
 [-1.98249638e-01  9.80151560e-01  0.00000000e+00 -2.09054937e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.02, Y:-20.92, Z:0.00
[[ 9.79278740e-01  2.02517036e-01  0.00000000e+00  2.81019228e+02]
 [-2.02517036e-01  9.79278740e-01  0.00000000e+00 -2.09216233e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.08, Y:-20.94, Z:0.00
[[ 9.79784927e-01  2.00053734e-01  0.00000000e+00  2.81079323e+02]
 [-2.00053734e-01  9.79784927e-01  0.00000000e+00 -2.09411424e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.14, Y:-20.95, Z:0.00
[[ 9.80683901e-01  1.95599298e-01  0.00000000e+00  2.81139573e+02]
 [-1.95599298e-01  9.80683901e-01  0.00000000e+00 -2.09541165e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.20, Y:-20.98, Z:0.00
[[ 9.83407379e-01  1.81410935e-01  0.00000000e+00  2.81198582e+02]
 [-1.81410935e-01  9.83407379e-01  0.00000000e+00 -2.09756322e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.26, Y:-21.00, Z:0.00
[[ 9.85845807e-01  1.67654543e-01  0.00000000e+00  2.81257403e+02]
 [-1.67654543e-01  9.85845807e-01  0.00000000e+00 -2.09964188e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.32, Y:-21.01, Z:0.00
[[ 9.87071623e-01  1.60279792e-01  0.00000000e+00  2.81316113e+02]
 [-1.60279792e-01  9.87071623e-01  0.00000000e+00 -2.10146688e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.38, Y:-21.03, Z:0.00
[[ 9.87168967e-01  1.59679149e-01  0.00000000e+00  2.81377125e+02]
 [-1.59679149e-01  9.87168967e-01  0.00000000e+00 -2.10283692e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.44, Y:-21.04, Z:0.00
[[ 9.86613816e-01  1.63074148e-01  0.00000000e+00  2.81439214e+02]
 [-1.63074148e-01  9.86613816e-01  0.00000000e+00 -2.10381537e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.50, Y:-21.05, Z:0.00
[[ 9.85732771e-01  1.68317867e-01  0.00000000e+00  2.81500172e+02]
 [-1.68317867e-01  9.85732771e-01  0.00000000e+00 -2.10491069e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.56, Y:-21.06, Z:0.00
[[ 9.84652515e-01  1.74526288e-01  0.00000000e+00  2.81559896e+02]
 [-1.74526288e-01  9.84652515e-01  0.00000000e+00 -2.10620482e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.62, Y:-21.08, Z:0.00
[[ 9.82418559e-01  1.86691655e-01  0.00000000e+00  2.81619434e+02]
 [-1.86691655e-01  9.82418559e-01  0.00000000e+00 -2.10750336e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.68, Y:-21.09, Z:0.00
[[ 9.81359925e-01  1.92178815e-01  0.00000000e+00  2.81678582e+02]
 [-1.92178815e-01  9.81359925e-01  0.00000000e+00 -2.10874525e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.74, Y:-21.10, Z:0.00
[[ 9.80082877e-01  1.98588905e-01  0.00000000e+00  2.81737841e+02]
 [-1.98588905e-01  9.80082877e-01  0.00000000e+00 -2.11035437e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.80, Y:-21.12, Z:0.00
[[ 9.80195843e-01  1.98030576e-01  0.00000000e+00  2.81797999e+02]
 [-1.98030576e-01  9.80195843e-01  0.00000000e+00 -2.11197326e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 279.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.86, Y:-21.14, Z:0.00
[[ 9.81598210e-01  1.90957989e-01  0.00000000e+00  2.81856869e+02]
 [-1.90957989e-01  9.81598210e-01  0.00000000e+00 -2.11395609e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.92, Y:-21.15, Z:0.00
[[ 9.82556312e-01  1.85965304e-01  0.00000000e+00  2.81916466e+02]
 [-1.85965304e-01  9.82556312e-01  0.00000000e+00 -2.11549487e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:281.98, Y:-21.18, Z:0.00
[[ 9.83933083e-01  1.78537638e-01  0.00000000e+00  2.81975014e+02]
 [-1.78537638e-01  9.83933083e-01  0.00000000e+00 -2.11755680e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.04, Y:-21.19, Z:0.00
[[ 9.84020180e-01  1.78056971e-01  0.00000000e+00  2.82035129e+02]
 [-1.78056971e-01  9.84020180e-01  0.00000000e+00 -2.11887149e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.09, Y:-21.20, Z:0.00
[[ 9.84055618e-01  1.77861016e-01  0.00000000e+00  2.82093665e+02]
 [-1.77861016e-01  9.84055618e-01  0.00000000e+00 -2.12034667e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.15, Y:-21.22, Z:0.00
[[ 9.83136395e-01  1.82873806e-01  0.00000000e+00  2.82152864e+02]
 [-1.82873806e-01  9.83136395e-01  0.00000000e+00 -2.12232111e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.21, Y:-21.24, Z:0.00
[[ 9.83292365e-01  1.82033308e-01  0.00000000e+00  2.82213755e+02]
 [-1.82033308e-01  9.83292365e-01  0.00000000e+00 -2.12352133e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.27, Y:-21.25, Z:0.00
[[ 9.83691744e-01  1.79862595e-01  0.00000000e+00  2.82271412e+02]
 [-1.79862595e-01  9.83691744e-01  0.00000000e+00 -2.12541378e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.33, Y:-21.27, Z:0.00
[[ 9.84942027e-01  1.72884941e-01  0.00000000e+00  2.82329424e+02]
 [-1.72884941e-01  9.84942027e-01  0.00000000e+00 -2.12727436e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.39, Y:-21.28, Z:0.00
[[ 9.86400150e-01  1.64361625e-01  0.00000000e+00  2.82388759e+02]
 [-1.64361625e-01  9.86400150e-01  0.00000000e+00 -2.12848021e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.45, Y:-21.30, Z:0.00
[[ 9.88257144e-01  1.52799926e-01  0.00000000e+00  2.82448258e+02]
 [-1.52799926e-01  9.88257144e-01  0.00000000e+00 -2.13024188e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.51, Y:-21.31, Z:0.00
[[ 9.89534760e-01  1.44294694e-01  0.00000000e+00  2.82509049e+02]
 [-1.44294694e-01  9.89534760e-01  0.00000000e+00 -2.13129649e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.57, Y:-21.33, Z:0.00
[[ 9.91194748e-01  1.32412126e-01  0.00000000e+00  2.82567482e+02]
 [-1.32412126e-01  9.91194748e-01  0.00000000e+00 -2.13252849e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.63, Y:-21.33, Z:0.00
[[ 9.91855812e-01  1.27365805e-01  0.00000000e+00  2.82627905e+02]
 [-1.27365805e-01  9.91855812e-01  0.00000000e+00 -2.13326859e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.69, Y:-21.33, Z:0.00
[[ 9.91886990e-01  1.27122771e-01  0.00000000e+00  2.82691527e+02]
 [-1.27122771e-01  9.91886990e-01  0.00000000e+00 -2.13287540e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.75, Y:-21.33, Z:0.00
[[ 9.91248260e-01  1.32010935e-01  0.00000000e+00  2.82753539e+02]
 [-1.32010935e-01  9.91248260e-01  0.00000000e+00 -2.13331389e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.81, Y:-21.33, Z:0.00
[[ 9.89923567e-01  1.41602721e-01  0.00000000e+00  2.82814723e+02]
 [-1.41602721e-01  9.89923567e-01  0.00000000e+00 -2.13332243e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 280.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.88, Y:-21.34, Z:0.00
[[ 9.89781168e-01  1.42594670e-01  0.00000000e+00  2.82875950e+02]
 [-1.42594670e-01  9.89781168e-01  0.00000000e+00 -2.13375901e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:282.94, Y:-21.33, Z:0.00
[[ 9.91109698e-01  1.33047231e-01  0.00000000e+00  2.82937884e+02]
 [-1.33047231e-01  9.91109698e-01  0.00000000e+00 -2.13345911e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.00, Y:-21.34, Z:0.00
[[ 9.91585381e-01  1.29454367e-01  0.00000000e+00  2.83000520e+02]
 [-1.29454367e-01  9.91585381e-01  0.00000000e+00 -2.13363219e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.06, Y:-21.34, Z:0.00
[[ 9.92230221e-01  1.24415389e-01  0.00000000e+00  2.83061934e+02]
 [-1.24415389e-01  9.92230221e-01  0.00000000e+00 -2.13356932e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.12, Y:-21.34, Z:0.00
[[ 9.91764837e-01  1.28072273e-01  0.00000000e+00  2.83124403e+02]
 [-1.28072273e-01  9.91764837e-01  0.00000000e+00 -2.13352658e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.19, Y:-21.33, Z:0.00
[[ 9.91654385e-01  1.28924708e-01  0.00000000e+00  2.83185958e+02]
 [-1.28924708e-01  9.91654385e-01  0.00000000e+00 -2.13325640e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.25, Y:-21.33, Z:0.00
[[ 9.91223626e-01  1.32195778e-01  0.00000000e+00  2.83248669e+02]
 [-1.32195778e-01  9.91223626e-01  0.00000000e+00 -2.13262546e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.31, Y:-21.33, Z:0.00
[[ 9.90490612e-01  1.37580332e-01  0.00000000e+00  2.83311485e+02]
 [-1.37580332e-01  9.90490612e-01  0.00000000e+00 -2.13287009e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.37, Y:-21.32, Z:0.00
[[ 9.90748938e-01  1.35707563e-01  0.00000000e+00  2.83374124e+02]
 [-1.35707563e-01  9.90748938e-01  0.00000000e+00 -2.13249274e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.44, Y:-21.33, Z:0.00
[[ 9.89452552e-01  1.44857336e-01  0.00000000e+00  2.83435274e+02]
 [-1.44857336e-01  9.89452552e-01  0.00000000e+00 -2.13254496e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.50, Y:-21.33, Z:0.00
[[ 9.89323542e-01  1.45735823e-01  0.00000000e+00  2.83496433e+02]
 [-1.45735823e-01  9.89323542e-01  0.00000000e+00 -2.13278942e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.56, Y:-21.33, Z:0.00
[[ 9.89336027e-01  1.45651038e-01  0.00000000e+00  2.83558618e+02]
 [-1.45651038e-01  9.89336027e-01  0.00000000e+00 -2.13309390e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.62, Y:-21.33, Z:0.00
[[ 9.89905671e-01  1.41727778e-01  0.00000000e+00  2.83619716e+02]
 [-1.41727778e-01  9.89905671e-01  0.00000000e+00 -2.13342010e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.68, Y:-21.33, Z:0.00
[[ 9.91786277e-01  1.27906140e-01  0.00000000e+00  2.83681270e+02]
 [-1.27906140e-01  9.91786277e-01  0.00000000e+00 -2.13331691e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.74, Y:-21.34, Z:0.00
[[ 9.93630381e-01  1.12688357e-01  0.00000000e+00  2.83743002e+02]
 [-1.12688357e-01  9.93630381e-01  0.00000000e+00 -2.13350892e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.80, Y:-21.34, Z:0.00
[[ 9.94569154e-01  1.04077843e-01  0.00000000e+00  2.83804302e+02]
 [-1.04077843e-01  9.94569154e-01  0.00000000e+00 -2.13361309e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 281.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.87, Y:-21.32, Z:0.00
[[ 9.96190768e-01  8.72006579e-02  0.00000000e+00  2.83866863e+02]
 [-8.72006579e-02  9.96190768e-01  0.00000000e+00 -2.13207088e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.93, Y:-21.31, Z:0.00
[[ 9.96463873e-01  8.40223171e-02  0.00000000e+00  2.83930418e+02]
 [-8.40223171e-02  9.96463873e-01  0.00000000e+00 -2.13110180e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:283.99, Y:-21.29, Z:0.00
[[ 9.95834638e-01  9.11777055e-02  0.00000000e+00  2.83994542e+02]
 [-9.11777055e-02  9.95834638e-01  0.00000000e+00 -2.12936310e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.06, Y:-21.27, Z:0.00
[[ 9.94415056e-01  1.05540019e-01  0.00000000e+00  2.84058503e+02]
 [-1.05540019e-01  9.94415056e-01  0.00000000e+00 -2.12748017e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.12, Y:-21.26, Z:0.00
[[ 9.93701084e-01  1.12063181e-01  0.00000000e+00  2.84121252e+02]
 [-1.12063181e-01  9.93701084e-01  0.00000000e+00 -2.12645128e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.18, Y:-21.25, Z:0.00
[[ 9.92710036e-01  1.20527108e-01  0.00000000e+00  2.84184148e+02]
 [-1.20527108e-01  9.92710036e-01  0.00000000e+00 -2.12506948e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.25, Y:-21.25, Z:0.00
[[ 9.92525592e-01  1.22036672e-01  0.00000000e+00  2.84247454e+02]
 [-1.22036672e-01  9.92525592e-01  0.00000000e+00 -2.12473916e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.31, Y:-21.24, Z:0.00
[[ 9.91499238e-01  1.30112491e-01  0.00000000e+00  2.84310177e+02]
 [-1.30112491e-01  9.91499238e-01  0.00000000e+00 -2.12373979e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.37, Y:-21.24, Z:0.00
[[ 9.90725457e-01  1.35878875e-01  0.00000000e+00  2.84373748e+02]
 [-1.35878875e-01  9.90725457e-01  0.00000000e+00 -2.12352268e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.44, Y:-21.23, Z:0.00
[[ 9.89062474e-01  1.47497192e-01  0.00000000e+00  2.84435366e+02]
 [-1.47497192e-01  9.89062474e-01  0.00000000e+00 -2.12302586e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.50, Y:-21.23, Z:0.00
[[ 9.88156913e-01  1.53446786e-01  0.00000000e+00  2.84497125e+02]
 [-1.53446786e-01  9.88156913e-01  0.00000000e+00 -2.12319132e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.56, Y:-21.23, Z:0.00
[[ 9.86520404e-01  1.63638295e-01  0.00000000e+00  2.84558961e+02]
 [-1.63638295e-01  9.86520404e-01  0.00000000e+00 -2.12334541e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.62, Y:-21.24, Z:0.00
[[ 9.85729696e-01  1.68335873e-01  0.00000000e+00  2.84619927e+02]
 [-1.68335873e-01  9.85729696e-01  0.00000000e+00 -2.12410146e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.68, Y:-21.25, Z:0.00
[[ 9.84570135e-01  1.74990427e-01  0.00000000e+00  2.84680214e+02]
 [-1.74990427e-01  9.84570135e-01  0.00000000e+00 -2.12498379e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.74, Y:-21.27, Z:0.00
[[ 9.84206256e-01  1.77025551e-01  0.00000000e+00  2.84739419e+02]
 [-1.77025551e-01  9.84206256e-01  0.00000000e+00 -2.12688000e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.80, Y:-21.28, Z:0.00
[[ 9.86469349e-01  1.63945796e-01  0.00000000e+00  2.84798262e+02]
 [-1.63945796e-01  9.86469349e-01  0.00000000e+00 -2.12840225e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.86, Y:-21.30, Z:0.00
[[ 9.88139404e-01  1.53559495e-01  0.00000000e+00  2.84858769e+02]
 [-1.53559495e-01  9.88139404e-01  0.00000000e+00 -2.13010420e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 282.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.92, Y:-21.32, Z:0.00
[[ 9.89590340e-01  1.43913024e-01  0.00000000e+00  2.84917543e+02]
 [-1.43913024e-01  9.89590340e-01  0.00000000e+00 -2.13158927e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:284.98, Y:-21.34, Z:0.00
[[ 9.89271015e-01  1.46091952e-01  0.00000000e+00  2.84977839e+02]
 [-1.46091952e-01  9.89271015e-01  0.00000000e+00 -2.13350943e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.04, Y:-21.35, Z:0.00
[[ 9.88597145e-01  1.50584478e-01  0.00000000e+00  2.85038119e+02]
 [-1.50584478e-01  9.88597145e-01  0.00000000e+00 -2.13464221e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.10, Y:-21.36, Z:0.00
[[ 9.85421369e-01  1.70131496e-01  0.00000000e+00  2.85098785e+02]
 [-1.70131496e-01  9.85421369e-01  0.00000000e+00 -2.13580077e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.16, Y:-21.37, Z:0.00
[[ 9.82763953e-01  1.84864849e-01  0.00000000e+00  2.85157897e+02]
 [-1.84864849e-01  9.82763953e-01  0.00000000e+00 -2.13703102e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.22, Y:-21.39, Z:0.00
[[ 9.80091875e-01  1.98544493e-01  0.00000000e+00  2.85216689e+02]
 [-1.98544493e-01  9.80091875e-01  0.00000000e+00 -2.13894200e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.28, Y:-21.41, Z:0.00
[[ 9.79354873e-01  2.02148543e-01  0.00000000e+00  2.85275154e+02]
 [-2.02148543e-01  9.79354873e-01  0.00000000e+00 -2.14086651e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.33, Y:-21.44, Z:0.00
[[ 9.80116353e-01  1.98423624e-01  0.00000000e+00  2.85332637e+02]
 [-1.98423624e-01  9.80116353e-01  0.00000000e+00 -2.14359217e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.39, Y:-21.47, Z:0.00
[[ 9.82018167e-01  1.88786441e-01  0.00000000e+00  2.85388385e+02]
 [-1.88786441e-01  9.82018167e-01  0.00000000e+00 -2.14684569e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.45, Y:-21.49, Z:0.00
[[ 9.83216452e-01  1.82442891e-01  0.00000000e+00  2.85445161e+02]
 [-1.82442891e-01  9.83216452e-01  0.00000000e+00 -2.14919816e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.50, Y:-21.52, Z:0.00
[[ 9.84714901e-01  1.74173946e-01  0.00000000e+00  2.85502372e+02]
 [-1.74173946e-01  9.84714901e-01  0.00000000e+00 -2.15224085e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.56, Y:-21.54, Z:0.00
[[ 9.85835553e-01  1.67714827e-01  0.00000000e+00  2.85560588e+02]
 [-1.67714827e-01  9.85835553e-01  0.00000000e+00 -2.15427268e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.62, Y:-21.57, Z:0.00
[[ 9.87067129e-01  1.60307466e-01  0.00000000e+00  2.85619269e+02]
 [-1.60307466e-01  9.87067129e-01  0.00000000e+00 -2.15671172e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.68, Y:-21.58, Z:0.00
[[ 9.87586345e-01  1.57077086e-01  0.00000000e+00  2.85679768e+02]
 [-1.57077086e-01  9.87586345e-01  0.00000000e+00 -2.15828401e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.74, Y:-21.60, Z:0.00
[[ 9.87569289e-01  1.57184287e-01  0.00000000e+00  2.85739679e+02]
 [-1.57184287e-01  9.87569289e-01  0.00000000e+00 -2.16037917e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.80, Y:-21.62, Z:0.00
[[ 9.87431646e-01  1.58046655e-01  0.00000000e+00  2.85799127e+02]
 [-1.58046655e-01  9.87431646e-01  0.00000000e+00 -2.16193160e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.86, Y:-21.64, Z:0.00
[[ 9.87111400e-01  1.60034631e-01  0.00000000e+00  2.85858472e+02]
 [-1.60034631e-01  9.87111400e-01  0.00000000e+00 -2.16366878e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 283.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.92, Y:-21.65, Z:0.00
[[ 9.86482221e-01  1.63868325e-01  0.00000000e+00  2.85919710e+02]
 [-1.63868325e-01  9.86482221e-01  0.00000000e+00 -2.16485730e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:285.98, Y:-21.67, Z:0.00
[[ 9.84477067e-01  1.75513262e-01  0.00000000e+00  2.85977507e+02]
 [-1.75513262e-01  9.84477067e-01  0.00000000e+00 -2.16658627e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.04, Y:-21.68, Z:0.00
[[ 9.82889872e-01  1.84194189e-01  0.00000000e+00  2.86037945e+02]
 [-1.84194189e-01  9.82889872e-01  0.00000000e+00 -2.16763198e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.10, Y:-21.69, Z:0.00
[[ 9.79860907e-01  1.99681252e-01  0.00000000e+00  2.86097789e+02]
 [-1.99681252e-01  9.79860907e-01  0.00000000e+00 -2.16888482e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.16, Y:-21.71, Z:0.00
[[ 9.78902439e-01  2.04328204e-01  0.00000000e+00  2.86157233e+02]
 [-2.04328204e-01  9.78902439e-01  0.00000000e+00 -2.17056275e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.22, Y:-21.73, Z:0.00
[[ 9.79545842e-01  2.01221130e-01  0.00000000e+00  2.86216938e+02]
 [-2.01221130e-01  9.79545842e-01  0.00000000e+00 -2.17264739e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.28, Y:-21.75, Z:0.00
[[ 9.80480772e-01  1.96614993e-01  0.00000000e+00  2.86275492e+02]
 [-1.96614993e-01  9.80480772e-01  0.00000000e+00 -2.17476799e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.33, Y:-21.77, Z:0.00
[[ 9.81176481e-01  1.93113213e-01  0.00000000e+00  2.86333909e+02]
 [-1.93113213e-01  9.81176481e-01  0.00000000e+00 -2.17714065e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.39, Y:-21.79, Z:0.00
[[ 9.80870699e-01  1.94660400e-01  0.00000000e+00  2.86392482e+02]
 [-1.94660400e-01  9.80870699e-01  0.00000000e+00 -2.17897013e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.45, Y:-21.81, Z:0.00
[[ 9.79368929e-01  2.02080432e-01  0.00000000e+00  2.86450036e+02]
 [-2.02080432e-01  9.79368929e-01  0.00000000e+00 -2.18127510e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.51, Y:-21.83, Z:0.00
[[ 9.78072084e-01  2.08266651e-01  0.00000000e+00  2.86509284e+02]
 [-2.08266651e-01  9.78072084e-01  0.00000000e+00 -2.18326971e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.57, Y:-21.86, Z:0.00
[[ 9.77940454e-01  2.08883866e-01  0.00000000e+00  2.86568214e+02]
 [-2.08883866e-01  9.77940454e-01  0.00000000e+00 -2.18596659e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.63, Y:-21.88, Z:0.00
[[ 9.78541343e-01  2.06050577e-01  0.00000000e+00  2.86626610e+02]
 [-2.06050577e-01  9.78541343e-01  0.00000000e+00 -2.18818090e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.68, Y:-21.91, Z:0.00
[[ 9.80048050e-01  1.98760709e-01  0.00000000e+00  2.86684220e+02]
 [-1.98760709e-01  9.80048050e-01  0.00000000e+00 -2.19086791e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.74, Y:-21.93, Z:0.00
[[ 9.81134491e-01  1.93326437e-01  0.00000000e+00  2.86741610e+02]
 [-1.93326437e-01  9.81134491e-01  0.00000000e+00 -2.19323629e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.80, Y:-21.95, Z:0.00
[[ 9.81211351e-01  1.92935961e-01  0.00000000e+00  2.86800281e+02]
 [-1.92935961e-01  9.81211351e-01  0.00000000e+00 -2.19499467e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 284.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.86, Y:-21.96, Z:0.00
[[ 9.81048013e-01  1.93764798e-01  0.00000000e+00  2.86860047e+02]
 [-1.93764798e-01  9.81048013e-01  0.00000000e+00 -2.19643760e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.92, Y:-21.98, Z:0.00
[[ 9.80505598e-01  1.96491153e-01  0.00000000e+00  2.86919023e+02]
 [-1.96491153e-01  9.80505598e-01  0.00000000e+00 -2.19821080e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:286.98, Y:-22.00, Z:0.00
[[ 9.80195435e-01  1.98032596e-01  0.00000000e+00  2.86978273e+02]
 [-1.98032596e-01  9.80195435e-01  0.00000000e+00 -2.19964874e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.04, Y:-22.01, Z:0.00
[[ 9.79509423e-01  2.01398335e-01  0.00000000e+00  2.87037873e+02]
 [-2.01398335e-01  9.79509423e-01  0.00000000e+00 -2.20105614e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.10, Y:-22.03, Z:0.00
[[ 9.79581511e-01  2.01047414e-01  0.00000000e+00  2.87096416e+02]
 [-2.01047414e-01  9.79581511e-01  0.00000000e+00 -2.20295587e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.16, Y:-22.04, Z:0.00
[[ 9.79693133e-01  2.00502779e-01  0.00000000e+00  2.87156647e+02]
 [-2.00502779e-01  9.79693133e-01  0.00000000e+00 -2.20428639e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.22, Y:-22.06, Z:0.00
[[ 9.80072796e-01  1.98638653e-01  0.00000000e+00  2.87216246e+02]
 [-1.98638653e-01  9.80072796e-01  0.00000000e+00 -2.20561265e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.28, Y:-22.07, Z:0.00
[[ 9.81504109e-01  1.91441073e-01  0.00000000e+00  2.87275469e+02]
 [-1.91441073e-01  9.81504109e-01  0.00000000e+00 -2.20734056e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.33, Y:-22.09, Z:0.00
[[ 9.82542268e-01  1.86039490e-01  0.00000000e+00  2.87334633e+02]
 [-1.86039490e-01  9.82542268e-01  0.00000000e+00 -2.20882781e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.39, Y:-22.10, Z:0.00
[[ 9.85059369e-01  1.72215099e-01  0.00000000e+00  2.87394575e+02]
 [-1.72215099e-01  9.85059369e-01  0.00000000e+00 -2.21020014e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.45, Y:-22.12, Z:0.00
[[ 9.87469176e-01  1.57811999e-01  0.00000000e+00  2.87453910e+02]
 [-1.57811999e-01  9.87469176e-01  0.00000000e+00 -2.21177087e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.51, Y:-22.13, Z:0.00
[[ 9.89058972e-01  1.47520678e-01  0.00000000e+00  2.87514600e+02]
 [-1.47520678e-01  9.89058972e-01  0.00000000e+00 -2.21263380e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.58, Y:-22.13, Z:0.00
[[ 9.90326200e-01  1.38758846e-01  0.00000000e+00  2.87575499e+02]
 [-1.38758846e-01  9.90326200e-01  0.00000000e+00 -2.21317629e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.64, Y:-22.14, Z:0.00
[[ 9.90830914e-01  1.35107736e-01  0.00000000e+00  2.87637132e+02]
 [-1.35107736e-01  9.90830914e-01  0.00000000e+00 -2.21380590e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.70, Y:-22.14, Z:0.00
[[ 9.91192819e-01  1.32426566e-01  0.00000000e+00  2.87697181e+02]
 [-1.32426566e-01  9.91192819e-01  0.00000000e+00 -2.21399688e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.76, Y:-22.14, Z:0.00
[[ 9.91320785e-01  1.31465211e-01  0.00000000e+00  2.87759925e+02]
 [-1.31465211e-01  9.91320785e-01  0.00000000e+00 -2.21420541e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.82, Y:-22.14, Z:0.00
[[ 9.91331279e-01  1.31386051e-01  0.00000000e+00  2.87823972e+02]
 [-1.31386051e-01  9.91331279e-01  0.00000000e+00 -2.21418239e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 285.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.89, Y:-22.14, Z:0.00
[[ 9.91622494e-01  1.29169771e-01  0.00000000e+00  2.87885054e+02]
 [-1.29169771e-01  9.91622494e-01  0.00000000e+00 -2.21421771e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:287.95, Y:-22.13, Z:0.00
[[ 9.91794746e-01  1.27840456e-01  0.00000000e+00  2.87948575e+02]
 [-1.27840456e-01  9.91794746e-01  0.00000000e+00 -2.21323293e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.01, Y:-22.13, Z:0.00
[[ 9.91361076e-01  1.31161037e-01  0.00000000e+00  2.88011248e+02]
 [-1.31161037e-01  9.91361076e-01  0.00000000e+00 -2.21304810e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.07, Y:-22.12, Z:0.00
[[ 9.91002435e-01  1.33843839e-01  0.00000000e+00  2.88074975e+02]
 [-1.33843839e-01  9.91002435e-01  0.00000000e+00 -2.21220054e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.14, Y:-22.12, Z:0.00
[[ 9.90817948e-01  1.35202791e-01  0.00000000e+00  2.88138277e+02]
 [-1.35202791e-01  9.90817948e-01  0.00000000e+00 -2.21187603e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.20, Y:-22.11, Z:0.00
[[ 9.91173091e-01  1.32574147e-01  0.00000000e+00  2.88201141e+02]
 [-1.32574147e-01  9.91173091e-01  0.00000000e+00 -2.21099108e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.26, Y:-22.11, Z:0.00
[[ 9.91587663e-01  1.29436886e-01  0.00000000e+00  2.88263895e+02]
 [-1.29436886e-01  9.91587663e-01  0.00000000e+00 -2.21105705e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.33, Y:-22.10, Z:0.00
[[ 9.92615931e-01  1.21299686e-01  0.00000000e+00  2.88326362e+02]
 [-1.21299686e-01  9.92615931e-01  0.00000000e+00 -2.21044420e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.39, Y:-22.10, Z:0.00
[[ 9.93568060e-01  1.13236526e-01  0.00000000e+00  2.88388556e+02]
 [-1.13236526e-01  9.93568060e-01  0.00000000e+00 -2.21007931e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.45, Y:-22.10, Z:0.00
[[ 9.93952490e-01  1.09810959e-01  0.00000000e+00  2.88450192e+02]
 [-1.09810959e-01  9.93952490e-01  0.00000000e+00 -2.21017843e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.51, Y:-22.10, Z:0.00
[[ 9.93814964e-01  1.11048720e-01  0.00000000e+00  2.88513553e+02]
 [-1.11048720e-01  9.93814964e-01  0.00000000e+00 -2.20987423e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.57, Y:-22.10, Z:0.00
[[ 9.93367383e-01  1.14983662e-01  0.00000000e+00  2.88574031e+02]
 [-1.14983662e-01  9.93367383e-01  0.00000000e+00 -2.20968398e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.64, Y:-22.09, Z:0.00
[[ 9.91744632e-01  1.28228644e-01  0.00000000e+00  2.88637125e+02]
 [-1.28228644e-01  9.91744632e-01  0.00000000e+00 -2.20872424e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.70, Y:-22.08, Z:0.00
[[ 9.90761135e-01  1.35618481e-01  0.00000000e+00  2.88699823e+02]
 [-1.35618481e-01  9.90761135e-01  0.00000000e+00 -2.20833056e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.76, Y:-22.09, Z:0.00
[[ 9.89380178e-01  1.45350829e-01  0.00000000e+00  2.88760810e+02]
 [-1.45350829e-01  9.89380178e-01  0.00000000e+00 -2.20868987e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.82, Y:-22.09, Z:0.00
[[ 9.88476549e-01  1.51374077e-01  0.00000000e+00  2.88822618e+02]
 [-1.51374077e-01  9.88476549e-01  0.00000000e+00 -2.20860009e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.88, Y:-22.09, Z:0.00
[[ 9.88180845e-01  1.53292591e-01  0.00000000e+00  2.88884049e+02]
 [-1.53292591e-01  9.88180845e-01  0.00000000e+00 -2.20887442e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 286.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:288.95, Y:-22.09, Z:0.00
[[ 9.88915969e-01  1.48476283e-01  0.00000000e+00  2.88945163e+02]
 [-1.48476283e-01  9.88915969e-01  0.00000000e+00 -2.20915093e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.01, Y:-22.10, Z:0.00
[[ 9.89448879e-01  1.44882419e-01  0.00000000e+00  2.89005600e+02]
 [-1.44882419e-01  9.89448879e-01  0.00000000e+00 -2.20971513e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.07, Y:-22.10, Z:0.00
[[ 9.89575980e-01  1.44011738e-01  0.00000000e+00  2.89069214e+02]
 [-1.44011738e-01  9.89575980e-01  0.00000000e+00 -2.20966587e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.13, Y:-22.11, Z:0.00
[[ 9.88180862e-01  1.53292480e-01  0.00000000e+00  2.89129389e+02]
 [-1.53292480e-01  9.88180862e-01  0.00000000e+00 -2.21075074e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.19, Y:-22.11, Z:0.00
[[ 9.87017967e-01  1.60609880e-01  0.00000000e+00  2.89192456e+02]
 [-1.60609880e-01  9.87017967e-01  0.00000000e+00 -2.21119010e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.25, Y:-22.12, Z:0.00
[[ 9.85508858e-01  1.69623970e-01  0.00000000e+00  2.89253783e+02]
 [-1.69623970e-01  9.85508858e-01  0.00000000e+00 -2.21191660e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.31, Y:-22.13, Z:0.00
[[ 9.84123583e-01  1.77484573e-01  0.00000000e+00  2.89313018e+02]
 [-1.77484573e-01  9.84123583e-01  0.00000000e+00 -2.21272290e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.37, Y:-22.14, Z:0.00
[[ 9.82518727e-01  1.86163777e-01  0.00000000e+00  2.89372048e+02]
 [-1.86163777e-01  9.82518727e-01  0.00000000e+00 -2.21350450e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.43, Y:-22.15, Z:0.00
[[ 9.80508456e-01  1.96476889e-01  0.00000000e+00  2.89431889e+02]
 [-1.96476889e-01  9.80508456e-01  0.00000000e+00 -2.21471564e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.49, Y:-22.16, Z:0.00
[[ 9.79361692e-01  2.02115504e-01  0.00000000e+00  2.89490328e+02]
 [-2.02115504e-01  9.79361692e-01  0.00000000e+00 -2.21598482e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.55, Y:-22.17, Z:0.00
[[ 9.78246055e-01  2.07447961e-01  0.00000000e+00  2.89549715e+02]
 [-2.07447961e-01  9.78246055e-01  0.00000000e+00 -2.21746867e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.61, Y:-22.20, Z:0.00
[[ 9.76501033e-01  2.15512719e-01  0.00000000e+00  2.89607263e+02]
 [-2.15512719e-01  9.76501033e-01  0.00000000e+00 -2.21996119e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.67, Y:-22.22, Z:0.00
[[ 9.77286140e-01  2.11924047e-01  0.00000000e+00  2.89666085e+02]
 [-2.11924047e-01  9.77286140e-01  0.00000000e+00 -2.22161931e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.72, Y:-22.25, Z:0.00
[[ 9.79401580e-01  2.01922127e-01  0.00000000e+00  2.89722009e+02]
 [-2.01922127e-01  9.79401580e-01  0.00000000e+00 -2.22477244e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.78, Y:-22.27, Z:0.00
[[ 9.82128789e-01  1.88210099e-01  0.00000000e+00  2.89780948e+02]
 [-1.88210099e-01  9.82128789e-01  0.00000000e+00 -2.22662713e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.84, Y:-22.29, Z:0.00
[[ 9.85457367e-01  1.69922859e-01  0.00000000e+00  2.89838441e+02]
 [-1.69922859e-01  9.85457367e-01  0.00000000e+00 -2.22929971e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 287.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.90, Y:-22.31, Z:0.00
[[ 9.86862132e-01  1.61564639e-01  0.00000000e+00  2.89899128e+02]
 [-1.61564639e-01  9.86862132e-01  0.00000000e+00 -2.23096734e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:289.96, Y:-22.32, Z:0.00
[[ 9.88941974e-01  1.48302973e-01  0.00000000e+00  2.89958381e+02]
 [-1.48302973e-01  9.88941974e-01  0.00000000e+00 -2.23188806e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.02, Y:-22.33, Z:0.00
[[ 9.88273425e-01  1.52694587e-01  0.00000000e+00  2.90018587e+02]
 [-1.52694587e-01  9.88273425e-01  0.00000000e+00 -2.23304778e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.08, Y:-22.34, Z:0.00
[[ 9.87411372e-01  1.58173269e-01  0.00000000e+00  2.90078535e+02]
 [-1.58173269e-01  9.87411372e-01  0.00000000e+00 -2.23395081e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.14, Y:-22.35, Z:0.00
[[ 9.85618806e-01  1.68983932e-01  0.00000000e+00  2.90137953e+02]
 [-1.68983932e-01  9.85618806e-01  0.00000000e+00 -2.23465537e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.20, Y:-22.36, Z:0.00
[[ 9.83210139e-01  1.82476911e-01  0.00000000e+00  2.90197058e+02]
 [-1.82476911e-01  9.83210139e-01  0.00000000e+00 -2.23611928e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.26, Y:-22.37, Z:0.00
[[ 9.82439832e-01  1.86579677e-01  0.00000000e+00  2.90256784e+02]
 [-1.86579677e-01  9.82439832e-01  0.00000000e+00 -2.23716242e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.32, Y:-22.38, Z:0.00
[[ 9.82978767e-01  1.83719196e-01  0.00000000e+00  2.90318372e+02]
 [-1.83719196e-01  9.82978767e-01  0.00000000e+00 -2.23760532e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.38, Y:-22.38, Z:0.00
[[ 9.85244378e-01  1.71153483e-01  0.00000000e+00  2.90379457e+02]
 [-1.71153483e-01  9.85244378e-01  0.00000000e+00 -2.23822256e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.44, Y:-22.40, Z:0.00
[[ 9.84425306e-01  1.75803350e-01  0.00000000e+00  2.90438139e+02]
 [-1.75803350e-01  9.84425306e-01  0.00000000e+00 -2.24022338e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.50, Y:-22.41, Z:0.00
[[ 9.86184692e-01  1.65649489e-01  0.00000000e+00  2.90499154e+02]
 [-1.65649489e-01  9.86184692e-01  0.00000000e+00 -2.24095093e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.56, Y:-22.42, Z:0.00
[[ 9.86536297e-01  1.63542456e-01  0.00000000e+00  2.90560272e+02]
 [-1.63542456e-01  9.86536297e-01  0.00000000e+00 -2.24213872e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.62, Y:-22.42, Z:0.00
[[ 9.88965554e-01  1.48145648e-01  0.00000000e+00  2.90622369e+02]
 [-1.48145648e-01  9.88965554e-01  0.00000000e+00 -2.24201511e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.68, Y:-22.43, Z:0.00
[[ 9.90265361e-01  1.39192367e-01  0.00000000e+00  2.90681445e+02]
 [-1.39192367e-01  9.90265361e-01  0.00000000e+00 -2.24283727e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.74, Y:-22.44, Z:0.00
[[ 9.90736704e-01  1.35796848e-01  0.00000000e+00  2.90743032e+02]
 [-1.35796848e-01  9.90736704e-01  0.00000000e+00 -2.24377666e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.80, Y:-22.44, Z:0.00
[[ 9.91331496e-01  1.31384420e-01  0.00000000e+00  2.90803358e+02]
 [-1.31384420e-01  9.91331496e-01  0.00000000e+00 -2.24443696e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.86, Y:-22.45, Z:0.00
[[ 9.91716332e-01  1.28447332e-01  0.00000000e+00  2.90864760e+02]
 [-1.28447332e-01  9.91716332e-01  0.00000000e+00 -2.24476681e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 288.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.93, Y:-22.45, Z:0.00
[[ 9.91408361e-01  1.30803143e-01  0.00000000e+00  2.90927443e+02]
 [-1.30803143e-01  9.91408361e-01  0.00000000e+00 -2.24476834e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:290.99, Y:-22.45, Z:0.00
[[ 9.90752390e-01  1.35682354e-01  0.00000000e+00  2.90988906e+02]
 [-1.35682354e-01  9.90752390e-01  0.00000000e+00 -2.24501762e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.05, Y:-22.44, Z:0.00
[[ 9.89271869e-01  1.46086170e-01  0.00000000e+00  2.91050705e+02]
 [-1.46086170e-01  9.89271869e-01  0.00000000e+00 -2.24444782e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.11, Y:-22.45, Z:0.00
[[ 9.87788970e-01  1.55797786e-01  0.00000000e+00  2.91111835e+02]
 [-1.55797786e-01  9.87788970e-01  0.00000000e+00 -2.24508516e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.18, Y:-22.44, Z:0.00
[[ 9.88562841e-01  1.50809511e-01  0.00000000e+00  2.91175760e+02]
 [-1.50809511e-01  9.88562841e-01  0.00000000e+00 -2.24424115e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.24, Y:-22.45, Z:0.00
[[ 9.89620999e-01  1.43702044e-01  0.00000000e+00  2.91236141e+02]
 [-1.43702044e-01  9.89620999e-01  0.00000000e+00 -2.24467607e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.30, Y:-22.45, Z:0.00
[[ 9.90899176e-01  1.34606180e-01  0.00000000e+00  2.91297595e+02]
 [-1.34606180e-01  9.90899176e-01  0.00000000e+00 -2.24490447e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.36, Y:-22.45, Z:0.00
[[ 9.92109621e-01  1.25373445e-01  0.00000000e+00  2.91358240e+02]
 [-1.25373445e-01  9.92109621e-01  0.00000000e+00 -2.24547473e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.42, Y:-22.45, Z:0.00
[[ 9.92544469e-01  1.21883043e-01  0.00000000e+00  2.91419434e+02]
 [-1.21883043e-01  9.92544469e-01  0.00000000e+00 -2.24507744e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.48, Y:-22.45, Z:0.00
[[ 9.92913043e-01  1.18843128e-01  0.00000000e+00  2.91480753e+02]
 [-1.18843128e-01  9.92913043e-01  0.00000000e+00 -2.24513386e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.54, Y:-22.45, Z:0.00
[[ 9.92912124e-01  1.18850802e-01  0.00000000e+00  2.91542814e+02]
 [-1.18850802e-01  9.92912124e-01  0.00000000e+00 -2.24478106e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.61, Y:-22.44, Z:0.00
[[ 9.92616041e-01  1.21298785e-01  0.00000000e+00  2.91606324e+02]
 [-1.21298785e-01  9.92616041e-01  0.00000000e+00 -2.24378383e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.67, Y:-22.43, Z:0.00
[[ 9.92497449e-01  1.22265340e-01  0.00000000e+00  2.91671565e+02]
 [-1.22265340e-01  9.92497449e-01  0.00000000e+00 -2.24282171e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.73, Y:-22.42, Z:0.00
[[ 9.92484509e-01  1.22370338e-01  0.00000000e+00  2.91734995e+02]
 [-1.22370338e-01  9.92484509e-01  0.00000000e+00 -2.24214270e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.80, Y:-22.42, Z:0.00
[[ 9.93508721e-01  1.13755973e-01  0.00000000e+00  2.91797161e+02]
 [-1.13755973e-01  9.93508721e-01  0.00000000e+00 -2.24176775e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.86, Y:-22.41, Z:0.00
[[ 9.94252143e-01  1.07063888e-01  0.00000000e+00  2.91859050e+02]
 [-1.07063888e-01  9.94252143e-01  0.00000000e+00 -2.24137524e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.92, Y:-22.41, Z:0.00
[[ 9.94512318e-01  1.04619545e-01  0.00000000e+00  2.91921595e+02]
 [-1.04619545e-01  9.94512318e-01  0.00000000e+00 -2.24100267e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 289.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:291.98, Y:-22.40, Z:0.00
[[ 9.94093284e-01  1.08528991e-01  0.00000000e+00  2.91984957e+02]
 [-1.08528991e-01  9.94093284e-01  0.00000000e+00 -2.23980098e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.05, Y:-22.39, Z:0.00
[[ 9.92627280e-01  1.21206781e-01  0.00000000e+00  2.92047745e+02]
 [-1.21206781e-01  9.92627280e-01  0.00000000e+00 -2.23879654e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.11, Y:-22.38, Z:0.00
[[ 9.90569798e-01  1.37009036e-01  0.00000000e+00  2.92110049e+02]
 [-1.37009036e-01  9.90569798e-01  0.00000000e+00 -2.23846705e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.17, Y:-22.38, Z:0.00
[[ 9.87938098e-01  1.54849328e-01  0.00000000e+00  2.92170535e+02]
 [-1.54849328e-01  9.87938098e-01  0.00000000e+00 -2.23827914e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.23, Y:-22.38, Z:0.00
[[ 9.84609996e-01  1.74766004e-01  0.00000000e+00  2.92232211e+02]
 [-1.74766004e-01  9.84609996e-01  0.00000000e+00 -2.23832680e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.29, Y:-22.39, Z:0.00
[[ 9.83007696e-01  1.83564348e-01  0.00000000e+00  2.92292300e+02]
 [-1.83564348e-01  9.83007696e-01  0.00000000e+00 -2.23892396e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.35, Y:-22.40, Z:0.00
[[ 9.82523865e-01  1.86136658e-01  0.00000000e+00  2.92350943e+02]
 [-1.86136658e-01  9.82523865e-01  0.00000000e+00 -2.24001761e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.41, Y:-22.42, Z:0.00
[[ 9.82281999e-01  1.87408845e-01  0.00000000e+00  2.92411428e+02]
 [-1.87408845e-01  9.82281999e-01  0.00000000e+00 -2.24156796e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.47, Y:-22.44, Z:0.00
[[ 9.82415491e-01  1.86707800e-01  0.00000000e+00  2.92469635e+02]
 [-1.86707800e-01  9.82415491e-01  0.00000000e+00 -2.24366417e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.53, Y:-22.45, Z:0.00
[[ 9.82126045e-01  1.88224416e-01  0.00000000e+00  2.92527684e+02]
 [-1.88224416e-01  9.82126045e-01  0.00000000e+00 -2.24549321e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.59, Y:-22.48, Z:0.00
[[ 9.83215538e-01  1.82447817e-01  0.00000000e+00  2.92586984e+02]
 [-1.82447817e-01  9.83215538e-01  0.00000000e+00 -2.24800519e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.65, Y:-22.50, Z:0.00
[[ 9.84362870e-01  1.76152606e-01  0.00000000e+00  2.92645869e+02]
 [-1.76152606e-01  9.84362870e-01  0.00000000e+00 -2.25001647e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.71, Y:-22.51, Z:0.00
[[ 9.85098945e-01  1.71988574e-01  0.00000000e+00  2.92705484e+02]
 [-1.71988574e-01  9.85098945e-01  0.00000000e+00 -2.25145709e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.76, Y:-22.54, Z:0.00
[[ 9.86638662e-01  1.62923755e-01  0.00000000e+00  2.92762639e+02]
 [-1.62923755e-01  9.86638662e-01  0.00000000e+00 -2.25401381e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.82, Y:-22.56, Z:0.00
[[ 9.87226609e-01  1.59322387e-01  0.00000000e+00  2.92821515e+02]
 [-1.59322387e-01  9.87226609e-01  0.00000000e+00 -2.25595382e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.88, Y:-22.58, Z:0.00
[[ 9.87665729e-01  1.56577160e-01  0.00000000e+00  2.92879262e+02]
 [-1.56577160e-01  9.87665729e-01  0.00000000e+00 -2.25835182e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 290.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:292.94, Y:-22.60, Z:0.00
[[ 9.87227230e-01  1.59318538e-01  0.00000000e+00  2.92937547e+02]
 [-1.59318538e-01  9.87227230e-01  0.00000000e+00 -2.25976427e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.00, Y:-22.61, Z:0.00
[[ 9.86998142e-01  1.60731664e-01  0.00000000e+00  2.92997022e+02]
 [-1.60731664e-01  9.86998142e-01  0.00000000e+00 -2.26144327e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.06, Y:-22.63, Z:0.00
[[ 9.86370614e-01  1.64538787e-01  0.00000000e+00  2.93057244e+02]
 [-1.64538787e-01  9.86370614e-01  0.00000000e+00 -2.26291440e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.12, Y:-22.64, Z:0.00
[[ 9.86243454e-01  1.65299272e-01  0.00000000e+00  2.93118140e+02]
 [-1.65299272e-01  9.86243454e-01  0.00000000e+00 -2.26426576e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.18, Y:-22.66, Z:0.00
[[ 9.86862307e-01  1.61563569e-01  0.00000000e+00  2.93178348e+02]
 [-1.61563569e-01  9.86862307e-01  0.00000000e+00 -2.26563635e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.24, Y:-22.67, Z:0.00
[[ 9.87794736e-01  1.55761226e-01  0.00000000e+00  2.93238837e+02]
 [-1.55761226e-01  9.87794736e-01  0.00000000e+00 -2.26722773e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.30, Y:-22.69, Z:0.00
[[ 9.89213707e-01  1.46479493e-01  0.00000000e+00  2.93297155e+02]
 [-1.46479493e-01  9.89213707e-01  0.00000000e+00 -2.26852625e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.36, Y:-22.70, Z:0.00
[[ 9.90302877e-01  1.38925203e-01  0.00000000e+00  2.93357296e+02]
 [-1.38925203e-01  9.90302877e-01  0.00000000e+00 -2.26955309e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.42, Y:-22.70, Z:0.00
[[ 9.91764473e-01  1.28075093e-01  0.00000000e+00  2.93417482e+02]
 [-1.28075093e-01  9.91764473e-01  0.00000000e+00 -2.27039671e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.48, Y:-22.71, Z:0.00
[[ 9.92761832e-01  1.20099731e-01  0.00000000e+00  2.93477377e+02]
 [-1.20099731e-01  9.92761832e-01  0.00000000e+00 -2.27116784e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.54, Y:-22.72, Z:0.00
[[ 9.93246659e-01  1.16021870e-01  0.00000000e+00  2.93537762e+02]
 [-1.16021870e-01  9.93246659e-01  0.00000000e+00 -2.27161583e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.60, Y:-22.72, Z:0.00
[[ 9.93686423e-01  1.12193102e-01  0.00000000e+00  2.93600278e+02]
 [-1.12193102e-01  9.93686423e-01  0.00000000e+00 -2.27163591e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.66, Y:-22.71, Z:0.00
[[ 9.94088332e-01  1.08574342e-01  0.00000000e+00  2.93662925e+02]
 [-1.08574342e-01  9.94088332e-01  0.00000000e+00 -2.27128095e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.73, Y:-22.72, Z:0.00
[[ 9.94324376e-01  1.06390953e-01  0.00000000e+00  2.93725254e+02]
 [-1.06390953e-01  9.94324376e-01  0.00000000e+00 -2.27155012e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.79, Y:-22.71, Z:0.00
[[ 9.95042789e-01  9.94477183e-02  0.00000000e+00  2.93787546e+02]
 [-9.94477183e-02  9.95042789e-01  0.00000000e+00 -2.27081651e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.85, Y:-22.71, Z:0.00
[[ 9.94984657e-01  1.00027658e-01  0.00000000e+00  2.93849513e+02]
 [-1.00027658e-01  9.94984657e-01  0.00000000e+00 -2.27079224e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.91, Y:-22.70, Z:0.00
[[ 9.95075164e-01  9.91232454e-02  0.00000000e+00  2.93913239e+02]
 [-9.91232454e-02  9.95075164e-01  0.00000000e+00 -2.26975298e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 291.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:293.98, Y:-22.69, Z:0.00
[[ 9.95029693e-01  9.95786584e-02  0.00000000e+00  2.93977433e+02]
 [-9.95786584e-02  9.95029693e-01  0.00000000e+00 -2.26935204e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.04, Y:-22.68, Z:0.00
[[ 9.95029476e-01  9.95808319e-02  0.00000000e+00  2.94041397e+02]
 [-9.95808319e-02  9.95029476e-01  0.00000000e+00 -2.26844302e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.10, Y:-22.68, Z:0.00
[[ 9.95017863e-01  9.96968003e-02  0.00000000e+00  2.94104983e+02]
 [-9.96968003e-02  9.95017863e-01  0.00000000e+00 -2.26813605e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.17, Y:-22.67, Z:0.00
[[ 9.94539333e-01  1.04362426e-01  0.00000000e+00  2.94168230e+02]
 [-1.04362426e-01  9.94539333e-01  0.00000000e+00 -2.26706301e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.23, Y:-22.66, Z:0.00
[[ 9.93173658e-01  1.16645128e-01  0.00000000e+00  2.94232148e+02]
 [-1.16645128e-01  9.93173658e-01  0.00000000e+00 -2.26570545e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.29, Y:-22.65, Z:0.00
[[ 9.91611454e-01  1.29254491e-01  0.00000000e+00  2.94294927e+02]
 [-1.29254491e-01  9.91611454e-01  0.00000000e+00 -2.26519158e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.35, Y:-22.65, Z:0.00
[[ 9.90528361e-01  1.37308289e-01  0.00000000e+00  2.94354789e+02]
 [-1.37308289e-01  9.90528361e-01  0.00000000e+00 -2.26531087e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.42, Y:-22.64, Z:0.00
[[ 9.87945043e-01  1.54805013e-01  0.00000000e+00  2.94417397e+02]
 [-1.54805013e-01  9.87945043e-01  0.00000000e+00 -2.26441711e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.48, Y:-22.64, Z:0.00
[[ 9.85959550e-01  1.66984329e-01  0.00000000e+00  2.94480054e+02]
 [-1.66984329e-01  9.85959550e-01  0.00000000e+00 -2.26437120e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.54, Y:-22.66, Z:0.00
[[ 9.84838635e-01  1.73472948e-01  0.00000000e+00  2.94541365e+02]
 [-1.73472948e-01  9.84838635e-01  0.00000000e+00 -2.26555920e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.60, Y:-22.66, Z:0.00
[[ 9.83933095e-01  1.78537572e-01  0.00000000e+00  2.94602707e+02]
 [-1.78537572e-01  9.83933095e-01  0.00000000e+00 -2.26647248e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.66, Y:-22.68, Z:0.00
[[ 9.82440538e-01  1.86575960e-01  0.00000000e+00  2.94662511e+02]
 [-1.86575960e-01  9.82440538e-01  0.00000000e+00 -2.26789177e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.72, Y:-22.70, Z:0.00
[[ 9.80288820e-01  1.97569811e-01  0.00000000e+00  2.94720490e+02]
 [-1.97569811e-01  9.80288820e-01  0.00000000e+00 -2.26976532e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.78, Y:-22.72, Z:0.00
[[ 9.80071128e-01  1.98646882e-01  0.00000000e+00  2.94780210e+02]
 [-1.98646882e-01  9.80071128e-01  0.00000000e+00 -2.27198265e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.84, Y:-22.75, Z:0.00
[[ 9.79338996e-01  2.02225447e-01  0.00000000e+00  2.94836659e+02]
 [-2.02225447e-01  9.79338996e-01  0.00000000e+00 -2.27488134e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.89, Y:-22.77, Z:0.00
[[ 9.79370343e-01  2.02073576e-01  0.00000000e+00  2.94894956e+02]
 [-2.02073576e-01  9.79370343e-01  0.00000000e+00 -2.27737019e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:294.95, Y:-22.81, Z:0.00
[[ 9.79012336e-01  2.03800998e-01  0.00000000e+00  2.94951225e+02]
 [-2.03800998e-01  9.79012336e-01  0.00000000e+00 -2.28050511e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 292.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.01, Y:-22.84, Z:0.00
[[ 9.80362037e-01  1.97206175e-01  0.00000000e+00  2.95005041e+02]
 [-1.97206175e-01  9.80362037e-01  0.00000000e+00 -2.28425033e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.06, Y:-22.87, Z:0.00
[[ 9.80737521e-01  1.95330270e-01  0.00000000e+00  2.95062502e+02]
 [-1.95330270e-01  9.80737521e-01  0.00000000e+00 -2.28676352e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.12, Y:-22.90, Z:0.00
[[ 9.81293967e-01  1.92515324e-01  0.00000000e+00  2.95119694e+02]
 [-1.92515324e-01  9.81293967e-01  0.00000000e+00 -2.28994841e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.18, Y:-22.93, Z:0.00
[[ 9.81368072e-01  1.92137211e-01  0.00000000e+00  2.95177459e+02]
 [-1.92137211e-01  9.81368072e-01  0.00000000e+00 -2.29318348e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.23, Y:-22.96, Z:0.00
[[ 9.82025702e-01  1.88747242e-01  0.00000000e+00  2.95234192e+02]
 [-1.88747242e-01  9.82025702e-01  0.00000000e+00 -2.29551009e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.29, Y:-22.98, Z:0.00
[[ 9.83965352e-01  1.78359711e-01  0.00000000e+00  2.95291120e+02]
 [-1.78359711e-01  9.83965352e-01  0.00000000e+00 -2.29830449e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.35, Y:-23.01, Z:0.00
[[ 9.85469979e-01  1.69849700e-01  0.00000000e+00  2.95350350e+02]
 [-1.69849700e-01  9.85469979e-01  0.00000000e+00 -2.30055518e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.41, Y:-23.03, Z:0.00
[[ 9.87545884e-01  1.57331267e-01  0.00000000e+00  2.95409307e+02]
 [-1.57331267e-01  9.87545884e-01  0.00000000e+00 -2.30259237e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.47, Y:-23.04, Z:0.00
[[ 9.88446826e-01  1.51568047e-01  0.00000000e+00  2.95468303e+02]
 [-1.51568047e-01  9.88446826e-01  0.00000000e+00 -2.30432199e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.53, Y:-23.06, Z:0.00
[[ 9.89832766e-01  1.42236055e-01  0.00000000e+00  2.95527612e+02]
 [-1.42236055e-01  9.89832766e-01  0.00000000e+00 -2.30580318e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.59, Y:-23.07, Z:0.00
[[ 9.90397218e-01  1.38251044e-01  0.00000000e+00  2.95586566e+02]
 [-1.38251044e-01  9.90397218e-01  0.00000000e+00 -2.30684403e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.65, Y:-23.08, Z:0.00
[[ 9.90828466e-01  1.35125682e-01  0.00000000e+00  2.95647002e+02]
 [-1.35125682e-01  9.90828466e-01  0.00000000e+00 -2.30798230e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.71, Y:-23.09, Z:0.00
[[ 9.90653811e-01  1.36400242e-01  0.00000000e+00  2.95706890e+02]
 [-1.36400242e-01  9.90653811e-01  0.00000000e+00 -2.30873785e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.77, Y:-23.09, Z:0.00
[[ 9.89628734e-01  1.43648770e-01  0.00000000e+00  2.95768362e+02]
 [-1.43648770e-01  9.89628734e-01  0.00000000e+00 -2.30889605e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.83, Y:-23.09, Z:0.00
[[ 9.88797837e-01  1.49260971e-01  0.00000000e+00  2.95829352e+02]
 [-1.49260971e-01  9.88797837e-01  0.00000000e+00 -2.30916735e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.89, Y:-23.09, Z:0.00
[[ 9.87332281e-01  1.58666210e-01  0.00000000e+00  2.95891386e+02]
 [-1.58666210e-01  9.87332281e-01  0.00000000e+00 -2.30899817e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 293.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:295.96, Y:-23.09, Z:0.00
[[ 9.86836559e-01  1.61720764e-01  0.00000000e+00  2.95955073e+02]
 [-1.61720764e-01  9.86836559e-01  0.00000000e+00 -2.30929673e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.02, Y:-23.09, Z:0.00
[[ 9.86477143e-01  1.63898893e-01  0.00000000e+00  2.96018457e+02]
 [-1.63898893e-01  9.86477143e-01  0.00000000e+00 -2.30921399e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.08, Y:-23.10, Z:0.00
[[ 9.86166122e-01  1.65760004e-01  0.00000000e+00  2.96080226e+02]
 [-1.65760004e-01  9.86166122e-01  0.00000000e+00 -2.30963146e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.14, Y:-23.10, Z:0.00
[[ 9.85373637e-01  1.70407736e-01  0.00000000e+00  2.96142367e+02]
 [-1.70407736e-01  9.85373637e-01  0.00000000e+00 -2.30987348e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.20, Y:-23.10, Z:0.00
[[ 9.83882290e-01  1.78817336e-01  0.00000000e+00  2.96204429e+02]
 [-1.78817336e-01  9.83882290e-01  0.00000000e+00 -2.31033087e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.26, Y:-23.11, Z:0.00
[[ 9.82353225e-01  1.87035136e-01  0.00000000e+00  2.96263957e+02]
 [-1.87035136e-01  9.82353225e-01  0.00000000e+00 -2.31081276e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.32, Y:-23.12, Z:0.00
[[ 9.81828080e-01  1.89772553e-01  0.00000000e+00  2.96324835e+02]
 [-1.89772553e-01  9.81828080e-01  0.00000000e+00 -2.31166212e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.39, Y:-23.13, Z:0.00
[[ 9.81428767e-01  1.91826943e-01  0.00000000e+00  2.96385171e+02]
 [-1.91826943e-01  9.81428767e-01  0.00000000e+00 -2.31297320e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.45, Y:-23.14, Z:0.00
[[ 9.81584746e-01  1.91027186e-01  0.00000000e+00  2.96445976e+02]
 [-1.91027186e-01  9.81584746e-01  0.00000000e+00 -2.31406915e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.51, Y:-23.15, Z:0.00
[[ 9.81631378e-01  1.90787414e-01  0.00000000e+00  2.96505985e+02]
 [-1.90787414e-01  9.81631378e-01  0.00000000e+00 -2.31509109e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.57, Y:-23.17, Z:0.00
[[ 9.81669604e-01  1.90590633e-01  0.00000000e+00  2.96565595e+02]
 [-1.90590633e-01  9.81669604e-01  0.00000000e+00 -2.31689262e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.62, Y:-23.19, Z:0.00
[[ 9.81760855e-01  1.90120026e-01  0.00000000e+00  2.96624936e+02]
 [-1.90120026e-01  9.81760855e-01  0.00000000e+00 -2.31863188e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.68, Y:-23.20, Z:0.00
[[ 9.82477716e-01  1.86380091e-01  0.00000000e+00  2.96684975e+02]
 [-1.86380091e-01  9.82477716e-01  0.00000000e+00 -2.32035336e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.74, Y:-23.23, Z:0.00
[[ 9.83011353e-01  1.83544761e-01  0.00000000e+00  2.96743057e+02]
 [-1.83544761e-01  9.83011353e-01  0.00000000e+00 -2.32265821e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.80, Y:-23.24, Z:0.00
[[ 9.82681828e-01  1.85300904e-01  0.00000000e+00  2.96802648e+02]
 [-1.85300904e-01  9.82681828e-01  0.00000000e+00 -2.32421731e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.86, Y:-23.26, Z:0.00
[[ 9.80631958e-01  1.95859551e-01  0.00000000e+00  2.96860236e+02]
 [-1.95859551e-01  9.80631958e-01  0.00000000e+00 -2.32613559e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.92, Y:-23.28, Z:0.00
[[ 9.78510947e-01  2.06194877e-01  0.00000000e+00  2.96918913e+02]
 [-2.06194877e-01  9.78510947e-01  0.00000000e+00 -2.32778895e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 294.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:296.98, Y:-23.30, Z:0.00
[[ 9.75737088e-01  2.18945506e-01  0.00000000e+00  2.96977068e+02]
 [-2.18945506e-01  9.75737088e-01  0.00000000e+00 -2.33003013e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.04, Y:-23.32, Z:0.00
[[ 9.75342074e-01  2.20698523e-01  0.00000000e+00  2.97035537e+02]
 [-2.20698523e-01  9.75342074e-01  0.00000000e+00 -2.33177235e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.09, Y:-23.34, Z:0.00
[[ 9.76414889e-01  2.15902675e-01  0.00000000e+00  2.97091868e+02]
 [-2.15902675e-01  9.76414889e-01  0.00000000e+00 -2.33442874e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.15, Y:-23.37, Z:0.00
[[ 9.78118301e-01  2.08049488e-01  0.00000000e+00  2.97149876e+02]
 [-2.08049488e-01  9.78118301e-01  0.00000000e+00 -2.33675331e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.21, Y:-23.39, Z:0.00
[[ 9.79274101e-01  2.02539466e-01  0.00000000e+00  2.97206198e+02]
 [-2.02539466e-01  9.79274101e-01  0.00000000e+00 -2.33926828e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.26, Y:-23.42, Z:0.00
[[ 9.81402692e-01  1.91960296e-01  0.00000000e+00  2.97263175e+02]
 [-1.91960296e-01  9.81402692e-01  0.00000000e+00 -2.34209035e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.32, Y:-23.44, Z:0.00
[[ 9.82190805e-01  1.87886194e-01  0.00000000e+00  2.97321461e+02]
 [-1.87886194e-01  9.82190805e-01  0.00000000e+00 -2.34445028e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.38, Y:-23.47, Z:0.00
[[ 9.83574916e-01  1.80500372e-01  0.00000000e+00  2.97379318e+02]
 [-1.80500372e-01  9.83574916e-01  0.00000000e+00 -2.34697627e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.44, Y:-23.49, Z:0.00
[[ 9.84430365e-01  1.75775018e-01  0.00000000e+00  2.97437721e+02]
 [-1.75775018e-01  9.84430365e-01  0.00000000e+00 -2.34885170e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.50, Y:-23.51, Z:0.00
[[ 9.86288522e-01  1.65030154e-01  0.00000000e+00  2.97496371e+02]
 [-1.65030154e-01  9.86288522e-01  0.00000000e+00 -2.35106551e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.56, Y:-23.53, Z:0.00
[[ 9.87820374e-01  1.55598550e-01  0.00000000e+00  2.97555924e+02]
 [-1.55598550e-01  9.87820374e-01  0.00000000e+00 -2.35250387e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.61, Y:-23.54, Z:0.00
[[ 9.89091460e-01  1.47302693e-01  0.00000000e+00  2.97613601e+02]
 [-1.47302693e-01  9.89091460e-01  0.00000000e+00 -2.35445965e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.67, Y:-23.55, Z:0.00
[[ 9.89420221e-01  1.45078003e-01  0.00000000e+00  2.97673824e+02]
 [-1.45078003e-01  9.89420221e-01  0.00000000e+00 -2.35544552e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.74, Y:-23.57, Z:0.00
[[ 9.90150739e-01  1.40005410e-01  0.00000000e+00  2.97735924e+02]
 [-1.40005410e-01  9.90150739e-01  0.00000000e+00 -2.35675000e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.80, Y:-23.58, Z:0.00
[[ 9.89894409e-01  1.41806410e-01  0.00000000e+00  2.97796781e+02]
 [-1.41806410e-01  9.89894409e-01  0.00000000e+00 -2.35754349e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.86, Y:-23.58, Z:0.00
[[ 9.88334786e-01  1.52296914e-01  0.00000000e+00  2.97858153e+02]
 [-1.52296914e-01  9.88334786e-01  0.00000000e+00 -2.35772219e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.92, Y:-23.58, Z:0.00
[[ 9.87335151e-01  1.58648351e-01  0.00000000e+00  2.97920452e+02]
 [-1.58648351e-01  9.87335151e-01  0.00000000e+00 -2.35809660e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 295.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:297.98, Y:-23.58, Z:0.00
[[ 9.86457275e-01  1.64018426e-01  0.00000000e+00  2.97982714e+02]
 [-1.64018426e-01  9.86457275e-01  0.00000000e+00 -2.35844478e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.05, Y:-23.59, Z:0.00
[[ 9.85748696e-01  1.68224578e-01  0.00000000e+00  2.98045539e+02]
 [-1.68224578e-01  9.85748696e-01  0.00000000e+00 -2.35864310e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.11, Y:-23.59, Z:0.00
[[ 9.85396308e-01  1.70276589e-01  0.00000000e+00  2.98106931e+02]
 [-1.70276589e-01  9.85396308e-01  0.00000000e+00 -2.35890344e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.17, Y:-23.59, Z:0.00
[[ 9.84927213e-01  1.72969317e-01  0.00000000e+00  2.98168698e+02]
 [-1.72969317e-01  9.84927213e-01  0.00000000e+00 -2.35948653e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.23, Y:-23.60, Z:0.00
[[ 9.83776547e-01  1.79398174e-01  0.00000000e+00  2.98231057e+02]
 [-1.79398174e-01  9.83776547e-01  0.00000000e+00 -2.36018881e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.29, Y:-23.61, Z:0.00
[[ 9.82467622e-01  1.86433289e-01  0.00000000e+00  2.98291695e+02]
 [-1.86433289e-01  9.82467622e-01  0.00000000e+00 -2.36067380e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.35, Y:-23.62, Z:0.00
[[ 9.81907673e-01  1.89360298e-01  0.00000000e+00  2.98351387e+02]
 [-1.89360298e-01  9.81907673e-01  0.00000000e+00 -2.36171741e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.41, Y:-23.63, Z:0.00
[[ 9.81912192e-01  1.89336861e-01  0.00000000e+00  2.98411896e+02]
 [-1.89336861e-01  9.81912192e-01  0.00000000e+00 -2.36262173e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.47, Y:-23.64, Z:0.00
[[ 9.82531642e-01  1.86095599e-01  0.00000000e+00  2.98471932e+02]
 [-1.86095599e-01  9.82531642e-01  0.00000000e+00 -2.36391747e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.53, Y:-23.65, Z:0.00
[[ 9.82435698e-01  1.86601443e-01  0.00000000e+00  2.98532534e+02]
 [-1.86601443e-01  9.82435698e-01  0.00000000e+00 -2.36524514e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.59, Y:-23.67, Z:0.00
[[ 9.81907171e-01  1.89362900e-01  0.00000000e+00  2.98591734e+02]
 [-1.89362900e-01  9.81907171e-01  0.00000000e+00 -2.36661461e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.65, Y:-23.68, Z:0.00
[[ 9.79039493e-01  2.03670496e-01  0.00000000e+00  2.98650020e+02]
 [-2.03670496e-01  9.79039493e-01  0.00000000e+00 -2.36801844e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.71, Y:-23.69, Z:0.00
[[ 9.76312714e-01  2.16364242e-01  0.00000000e+00  2.98709666e+02]
 [-2.16364242e-01  9.76312714e-01  0.00000000e+00 -2.36939521e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.77, Y:-23.71, Z:0.00
[[ 9.74187831e-01  2.25738941e-01  0.00000000e+00  2.98767847e+02]
 [-2.25738941e-01  9.74187831e-01  0.00000000e+00 -2.37091620e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.83, Y:-23.73, Z:0.00
[[ 9.75031012e-01  2.22068742e-01  0.00000000e+00  2.98826282e+02]
 [-2.22068742e-01  9.75031012e-01  0.00000000e+00 -2.37289191e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.88, Y:-23.75, Z:0.00
[[ 9.75820349e-01  2.18574120e-01  0.00000000e+00  2.98884489e+02]
 [-2.18574120e-01  9.75820349e-01  0.00000000e+00 -2.37527647e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 296.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:298.94, Y:-23.77, Z:0.00
[[ 9.76185805e-01  2.16936107e-01  0.00000000e+00  2.98943789e+02]
 [-2.16936107e-01  9.76185805e-01  0.00000000e+00 -2.37731991e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.00, Y:-23.80, Z:0.00
[[ 9.76226411e-01  2.16753301e-01  0.00000000e+00  2.99001555e+02]
 [-2.16753301e-01  9.76226411e-01  0.00000000e+00 -2.37965388e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.06, Y:-23.82, Z:0.00
[[ 9.76103574e-01  2.17305804e-01  0.00000000e+00  2.99058309e+02]
 [-2.17305804e-01  9.76103574e-01  0.00000000e+00 -2.38218864e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.12, Y:-23.84, Z:0.00
[[ 9.75161972e-01  2.21492952e-01  0.00000000e+00  2.99116272e+02]
 [-2.21492952e-01  9.75161972e-01  0.00000000e+00 -2.38432108e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.17, Y:-23.87, Z:0.00
[[ 9.73701823e-01  2.27826160e-01  0.00000000e+00  2.99172753e+02]
 [-2.27826160e-01  9.73701823e-01  0.00000000e+00 -2.38688123e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.23, Y:-23.89, Z:0.00
[[ 9.71996668e-01  2.34994631e-01  0.00000000e+00  2.99231071e+02]
 [-2.34994631e-01  9.71996668e-01  0.00000000e+00 -2.38913379e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.29, Y:-23.92, Z:0.00
[[ 9.71224122e-01  2.38167388e-01  0.00000000e+00  2.99288608e+02]
 [-2.38167388e-01  9.71224122e-01  0.00000000e+00 -2.39196319e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.35, Y:-23.94, Z:0.00
[[ 9.72362183e-01  2.33477589e-01  0.00000000e+00  2.99346569e+02]
 [-2.33477589e-01  9.72362183e-01  0.00000000e+00 -2.39440655e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.41, Y:-23.97, Z:0.00
[[ 9.73550816e-01  2.28470587e-01  0.00000000e+00  2.99405088e+02]
 [-2.28470587e-01  9.73550816e-01  0.00000000e+00 -2.39666065e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.46, Y:-24.00, Z:0.00
[[ 9.76012544e-01  2.17714292e-01  0.00000000e+00  2.99461398e+02]
 [-2.17714292e-01  9.76012544e-01  0.00000000e+00 -2.39980210e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.52, Y:-24.02, Z:0.00
[[ 9.78008780e-01  2.08563720e-01  0.00000000e+00  2.99518848e+02]
 [-2.08563720e-01  9.78008780e-01  0.00000000e+00 -2.40210970e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.58, Y:-24.04, Z:0.00
[[ 9.79050783e-01  2.03616219e-01  0.00000000e+00  2.99576802e+02]
 [-2.03616219e-01  9.79050783e-01  0.00000000e+00 -2.40446885e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.64, Y:-24.07, Z:0.00
[[ 9.79434034e-01  2.01764646e-01  0.00000000e+00  2.99635331e+02]
 [-2.01764646e-01  9.79434034e-01  0.00000000e+00 -2.40652100e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.70, Y:-24.08, Z:0.00
[[ 9.79352153e-01  2.02161717e-01  0.00000000e+00  2.99695274e+02]
 [-2.02161717e-01  9.79352153e-01  0.00000000e+00 -2.40804274e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.75, Y:-24.10, Z:0.00
[[ 9.78940123e-01  2.04147585e-01  0.00000000e+00  2.99754508e+02]
 [-2.04147585e-01  9.78940123e-01  0.00000000e+00 -2.40976802e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.81, Y:-24.12, Z:0.00
[[ 9.77799587e-01  2.09542283e-01  0.00000000e+00  2.99812271e+02]
 [-2.09542283e-01  9.77799587e-01  0.00000000e+00 -2.41175878e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.87, Y:-24.13, Z:0.00
[[ 9.77275121e-01  2.11974852e-01  0.00000000e+00  2.99873173e+02]
 [-2.11974852e-01  9.77275121e-01  0.00000000e+00 -2.41310627e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 297.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.93, Y:-24.14, Z:0.00
[[ 9.76412992e-01  2.15911253e-01  0.00000000e+00  2.99932992e+02]
 [-2.15911253e-01  9.76412992e-01  0.00000000e+00 -2.41427212e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:299.99, Y:-24.16, Z:0.00
[[ 9.74869314e-01  2.22777512e-01  0.00000000e+00  2.99992580e+02]
 [-2.22777512e-01  9.74869314e-01  0.00000000e+00 -2.41557876e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.05, Y:-24.17, Z:0.00
[[ 9.74209464e-01  2.25645564e-01  0.00000000e+00  3.00050825e+02]
 [-2.25645564e-01  9.74209464e-01  0.00000000e+00 -2.41708250e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.11, Y:-24.19, Z:0.00
[[ 9.74949531e-01  2.22426196e-01  0.00000000e+00  3.00109630e+02]
 [-2.22426196e-01  9.74949531e-01  0.00000000e+00 -2.41902425e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.17, Y:-24.20, Z:0.00
[[ 9.75677393e-01  2.19211369e-01  0.00000000e+00  3.00169607e+02]
 [-2.19211369e-01  9.75677393e-01  0.00000000e+00 -2.42025240e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.23, Y:-24.22, Z:0.00
[[ 9.77125675e-01  2.12662680e-01  0.00000000e+00  3.00228342e+02]
 [-2.12662680e-01  9.77125675e-01  0.00000000e+00 -2.42221948e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.29, Y:-24.24, Z:0.00
[[ 9.77464336e-01  2.11100619e-01  0.00000000e+00  3.00286942e+02]
 [-2.11100619e-01  9.77464336e-01  0.00000000e+00 -2.42350972e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.35, Y:-24.25, Z:0.00
[[ 9.77338798e-01  2.11681066e-01  0.00000000e+00  3.00347054e+02]
 [-2.11681066e-01  9.77338798e-01  0.00000000e+00 -2.42521730e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.41, Y:-24.27, Z:0.00
[[ 9.76887279e-01  2.13755102e-01  0.00000000e+00  3.00405944e+02]
 [-2.13755102e-01  9.76887279e-01  0.00000000e+00 -2.42691341e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.47, Y:-24.29, Z:0.00
[[ 9.77028434e-01  2.13108986e-01  0.00000000e+00  3.00465885e+02]
 [-2.13108986e-01  9.77028434e-01  0.00000000e+00 -2.42854077e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.53, Y:-24.30, Z:0.00
[[ 9.76326175e-01  2.16303489e-01  0.00000000e+00  3.00526435e+02]
 [-2.16303489e-01  9.76326175e-01  0.00000000e+00 -2.43010265e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.59, Y:-24.31, Z:0.00
[[ 9.75597873e-01  2.19565004e-01  0.00000000e+00  3.00586456e+02]
 [-2.19565004e-01  9.75597873e-01  0.00000000e+00 -2.43122783e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.65, Y:-24.33, Z:0.00
[[ 9.73993446e-01  2.26576184e-01  0.00000000e+00  3.00646557e+02]
 [-2.26576184e-01  9.73993446e-01  0.00000000e+00 -2.43266936e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.71, Y:-24.34, Z:0.00
[[ 9.71335040e-01  2.37714619e-01  0.00000000e+00  3.00705685e+02]
 [-2.37714619e-01  9.71335040e-01  0.00000000e+00 -2.43398572e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.77, Y:-24.35, Z:0.00
[[ 9.69474764e-01  2.45191111e-01  0.00000000e+00  3.00765449e+02]
 [-2.45191111e-01  9.69474764e-01  0.00000000e+00 -2.43541333e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.83, Y:-24.37, Z:0.00
[[ 9.69162734e-01  2.46421578e-01  0.00000000e+00  3.00825184e+02]
 [-2.46421578e-01  9.69162734e-01  0.00000000e+00 -2.43726787e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.88, Y:-24.39, Z:0.00
[[ 9.70532437e-01  2.40970513e-01  0.00000000e+00  3.00884512e+02]
 [-2.40970513e-01  9.70532437e-01  0.00000000e+00 -2.43884456e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 298.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:300.94, Y:-24.41, Z:0.00
[[ 9.72395210e-01  2.33340001e-01  0.00000000e+00  3.00943215e+02]
 [-2.33340001e-01  9.72395210e-01  0.00000000e+00 -2.44063388e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.00, Y:-24.43, Z:0.00
[[ 9.75590968e-01  2.19595679e-01  0.00000000e+00  3.01001662e+02]
 [-2.19595679e-01  9.75590968e-01  0.00000000e+00 -2.44289057e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.06, Y:-24.45, Z:0.00
[[ 9.77851588e-01  2.09299478e-01  0.00000000e+00  3.01060166e+02]
 [-2.09299478e-01  9.77851588e-01  0.00000000e+00 -2.44456769e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.12, Y:-24.47, Z:0.00
[[ 9.80593931e-01  1.96049845e-01  0.00000000e+00  3.01118343e+02]
 [-1.96049845e-01  9.80593931e-01  0.00000000e+00 -2.44661153e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.18, Y:-24.48, Z:0.00
[[ 9.82341946e-01  1.87094362e-01  0.00000000e+00  3.01177716e+02]
 [-1.87094362e-01  9.82341946e-01  0.00000000e+00 -2.44821997e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.24, Y:-24.50, Z:0.00
[[ 9.84014900e-01  1.78086148e-01  0.00000000e+00  3.01237789e+02]
 [-1.78086148e-01  9.84014900e-01  0.00000000e+00 -2.44983199e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.30, Y:-24.51, Z:0.00
[[ 9.85001333e-01  1.72546730e-01  0.00000000e+00  3.01298014e+02]
 [-1.72546730e-01  9.85001333e-01  0.00000000e+00 -2.45106379e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.36, Y:-24.52, Z:0.00
[[ 9.86257605e-01  1.65214819e-01  0.00000000e+00  3.01357918e+02]
 [-1.65214819e-01  9.86257605e-01  0.00000000e+00 -2.45236604e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.42, Y:-24.53, Z:0.00
[[ 9.87096868e-01  1.60124240e-01  0.00000000e+00  3.01418233e+02]
 [-1.60124240e-01  9.87096868e-01  0.00000000e+00 -2.45317021e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.48, Y:-24.54, Z:0.00
[[ 9.86642359e-01  1.62901369e-01  0.00000000e+00  3.01479450e+02]
 [-1.62901369e-01  9.86642359e-01  0.00000000e+00 -2.45363941e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.54, Y:-24.54, Z:0.00
[[ 9.85923279e-01  1.67198349e-01  0.00000000e+00  3.01540742e+02]
 [-1.67198349e-01  9.85923279e-01  0.00000000e+00 -2.45404658e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.60, Y:-24.54, Z:0.00
[[ 9.85277588e-01  1.70962202e-01  0.00000000e+00  3.01602867e+02]
 [-1.70962202e-01  9.85277588e-01  0.00000000e+00 -2.45439467e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.67, Y:-24.55, Z:0.00
[[ 9.83613603e-01  1.80289435e-01  0.00000000e+00  3.01665758e+02]
 [-1.80289435e-01  9.83613603e-01  0.00000000e+00 -2.45482267e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.73, Y:-24.55, Z:0.00
[[ 9.82631051e-01  1.85569979e-01  0.00000000e+00  3.01726344e+02]
 [-1.85569979e-01  9.82631051e-01  0.00000000e+00 -2.45537292e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.79, Y:-24.55, Z:0.00
[[ 9.82505216e-01  1.86235068e-01  0.00000000e+00  3.01788960e+02]
 [-1.86235068e-01  9.82505216e-01  0.00000000e+00 -2.45507989e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.85, Y:-24.56, Z:0.00
[[ 9.82282953e-01  1.87403841e-01  0.00000000e+00  3.01850800e+02]
 [-1.87403841e-01  9.82282953e-01  0.00000000e+00 -2.45556511e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 299.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.91, Y:-24.56, Z:0.00
[[ 9.82623066e-01  1.85612257e-01  0.00000000e+00  3.01911998e+02]
 [-1.85612257e-01  9.82623066e-01  0.00000000e+00 -2.45589623e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:301.98, Y:-24.56, Z:0.00
[[ 9.83114697e-01  1.82990417e-01  0.00000000e+00  3.01975017e+02]
 [-1.82990417e-01  9.83114697e-01  0.00000000e+00 -2.45599436e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.04, Y:-24.57, Z:0.00
[[ 9.83268092e-01  1.82164375e-01  0.00000000e+00  3.02036351e+02]
 [-1.82164375e-01  9.83268092e-01  0.00000000e+00 -2.45677668e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.10, Y:-24.58, Z:0.00
[[ 9.83732034e-01  1.79642101e-01  0.00000000e+00  3.02098010e+02]
 [-1.79642101e-01  9.83732034e-01  0.00000000e+00 -2.45768255e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.16, Y:-24.58, Z:0.00
[[ 9.84827797e-01  1.73534464e-01  0.00000000e+00  3.02160269e+02]
 [-1.73534464e-01  9.84827797e-01  0.00000000e+00 -2.45833233e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.22, Y:-24.59, Z:0.00
[[ 9.86296755e-01  1.64980942e-01  0.00000000e+00  3.02221604e+02]
 [-1.64980942e-01  9.86296755e-01  0.00000000e+00 -2.45913363e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.28, Y:-24.59, Z:0.00
[[ 9.88921624e-01  1.48438613e-01  0.00000000e+00  3.02282224e+02]
 [-1.48438613e-01  9.88921624e-01  0.00000000e+00 -2.45932943e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.34, Y:-24.60, Z:0.00
[[ 9.89787430e-01  1.42551193e-01  0.00000000e+00  3.02342951e+02]
 [-1.42551193e-01  9.89787430e-01  0.00000000e+00 -2.46013514e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.40, Y:-24.60, Z:0.00
[[ 9.90386902e-01  1.38324923e-01  0.00000000e+00  3.02404171e+02]
 [-1.38324923e-01  9.90386902e-01  0.00000000e+00 -2.45987416e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.47, Y:-24.60, Z:0.00
[[ 9.89850302e-01  1.42113965e-01  0.00000000e+00  3.02466294e+02]
 [-1.42113965e-01  9.89850302e-01  0.00000000e+00 -2.46000317e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.53, Y:-24.59, Z:0.00
[[ 9.89017123e-01  1.47800985e-01  0.00000000e+00  3.02529857e+02]
 [-1.47800985e-01  9.89017123e-01  0.00000000e+00 -2.45931688e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.59, Y:-24.59, Z:0.00
[[ 9.88146561e-01  1.53513432e-01  0.00000000e+00  3.02591636e+02]
 [-1.53513432e-01  9.88146561e-01  0.00000000e+00 -2.45919926e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.65, Y:-24.59, Z:0.00
[[ 9.87121962e-01  1.59969469e-01  0.00000000e+00  3.02654172e+02]
 [-1.59969469e-01  9.87121962e-01  0.00000000e+00 -2.45912536e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.72, Y:-24.58, Z:0.00
[[ 9.86137266e-01  1.65931588e-01  0.00000000e+00  3.02717673e+02]
 [-1.65931588e-01  9.86137266e-01  0.00000000e+00 -2.45828893e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.78, Y:-24.58, Z:0.00
[[ 9.85327114e-01  1.70676530e-01  0.00000000e+00  3.02779464e+02]
 [-1.70676530e-01  9.85327114e-01  0.00000000e+00 -2.45837729e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.84, Y:-24.58, Z:0.00
[[ 9.84437128e-01  1.75737134e-01  0.00000000e+00  3.02843534e+02]
 [-1.75737134e-01  9.84437128e-01  0.00000000e+00 -2.45795506e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.90, Y:-24.59, Z:0.00
[[ 9.82676520e-01  1.85329051e-01  0.00000000e+00  3.02904076e+02]
 [-1.85329051e-01  9.82676520e-01  0.00000000e+00 -2.45862144e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 300.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:302.97, Y:-24.59, Z:0.00
[[ 9.80360935e-01  1.97211655e-01  0.00000000e+00  3.02965456e+02]
 [-1.97211655e-01  9.80360935e-01  0.00000000e+00 -2.45891211e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.03, Y:-24.60, Z:0.00
[[ 9.78094707e-01  2.08160379e-01  0.00000000e+00  3.03026650e+02]
 [-2.08160379e-01  9.78094707e-01  0.00000000e+00 -2.45952382e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.09, Y:-24.61, Z:0.00
[[ 9.76794421e-01  2.14179036e-01  0.00000000e+00  3.03087346e+02]
 [-2.14179036e-01  9.76794421e-01  0.00000000e+00 -2.46053426e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.15, Y:-24.62, Z:0.00
[[ 9.76692188e-01  2.14644752e-01  0.00000000e+00  3.03147815e+02]
 [-2.14644752e-01  9.76692188e-01  0.00000000e+00 -2.46155387e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.21, Y:-24.63, Z:0.00
[[ 9.76089831e-01  2.17367529e-01  0.00000000e+00  3.03206919e+02]
 [-2.17367529e-01  9.76089831e-01  0.00000000e+00 -2.46314035e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.27, Y:-24.65, Z:0.00
[[ 9.75941835e-01  2.18031041e-01  0.00000000e+00  3.03267262e+02]
 [-2.18031041e-01  9.75941835e-01  0.00000000e+00 -2.46470483e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.32, Y:-24.67, Z:0.00
[[ 9.75192504e-01  2.21358487e-01  0.00000000e+00  3.03324926e+02]
 [-2.21358487e-01  9.75192504e-01  0.00000000e+00 -2.46655373e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.386066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.38, Y:-24.69, Z:0.00
[[ 9.73608152e-01  2.28226128e-01  0.00000000e+00  3.03383877e+02]
 [-2.28226128e-01  9.73608152e-01  0.00000000e+00 -2.46863925e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.44, Y:-24.70, Z:0.00
[[ 9.72285408e-01  2.33797101e-01  0.00000000e+00  3.03443498e+02]
 [-2.33797101e-01  9.72285408e-01  0.00000000e+00 -2.47033622e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.50, Y:-24.73, Z:0.00
[[ 9.70707833e-01  2.40262989e-01  0.00000000e+00  3.03500519e+02]
 [-2.40262989e-01  9.70707833e-01  0.00000000e+00 -2.47260468e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.56, Y:-24.75, Z:0.00
[[ 9.70271172e-01  2.42020358e-01  0.00000000e+00  3.03560506e+02]
 [-2.42020358e-01  9.70271172e-01  0.00000000e+00 -2.47485653e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.62, Y:-24.77, Z:0.00
[[ 9.70189657e-01  2.42346919e-01  0.00000000e+00  3.03619822e+02]
 [-2.42346919e-01  9.70189657e-01  0.00000000e+00 -2.47715453e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.68, Y:-24.80, Z:0.00
[[ 9.70781572e-01  2.39964871e-01  0.00000000e+00  3.03676046e+02]
 [-2.39964871e-01  9.70781572e-01  0.00000000e+00 -2.48001742e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.73, Y:-24.82, Z:0.00
[[ 9.71686796e-01  2.36272662e-01  0.00000000e+00  3.03734290e+02]
 [-2.36272662e-01  9.71686796e-01  0.00000000e+00 -2.48230379e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.79, Y:-24.85, Z:0.00
[[ 9.73249210e-01  2.29751987e-01  0.00000000e+00  3.03791438e+02]
 [-2.29751987e-01  9.73249210e-01  0.00000000e+00 -2.48531449e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.85, Y:-24.87, Z:0.00
[[ 9.74265843e-01  2.25402012e-01  0.00000000e+00  3.03849935e+02]
 [-2.25402012e-01  9.74265843e-01  0.00000000e+00 -2.48746281e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.91, Y:-24.90, Z:0.00
[[ 9.74388672e-01  2.24870443e-01  0.00000000e+00  3.03906214e+02]
 [-2.24870443e-01  9.74388672e-01  0.00000000e+00 -2.49022666e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 301.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:303.97, Y:-24.92, Z:0.00
[[ 9.74583682e-01  2.24023766e-01  0.00000000e+00  3.03965341e+02]
 [-2.24023766e-01  9.74583682e-01  0.00000000e+00 -2.49247494e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.02, Y:-24.94, Z:0.00
[[ 9.74604870e-01  2.23931569e-01  0.00000000e+00  3.04023672e+02]
 [-2.23931569e-01  9.74604870e-01  0.00000000e+00 -2.49446975e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.08, Y:-24.97, Z:0.00
[[ 9.75298436e-01  2.20891285e-01  0.00000000e+00  3.04081022e+02]
 [-2.20891285e-01  9.75298436e-01  0.00000000e+00 -2.49683150e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.14, Y:-24.98, Z:0.00
[[ 9.75784058e-01  2.18736077e-01  0.00000000e+00  3.04140756e+02]
 [-2.18736077e-01  9.75784058e-01  0.00000000e+00 -2.49828454e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.20, Y:-25.01, Z:0.00
[[ 9.77062974e-01  2.12950568e-01  0.00000000e+00  3.04198381e+02]
 [-2.12950568e-01  9.77062974e-01  0.00000000e+00 -2.50072921e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.26, Y:-25.03, Z:0.00
[[ 9.77827384e-01  2.09412526e-01  0.00000000e+00  3.04257692e+02]
 [-2.09412526e-01  9.77827384e-01  0.00000000e+00 -2.50261905e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.32, Y:-25.04, Z:0.00
[[ 9.77513400e-01  2.10873310e-01  0.00000000e+00  3.04316122e+02]
 [-2.10873310e-01  9.77513400e-01  0.00000000e+00 -2.50430294e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.38, Y:-25.06, Z:0.00
[[ 9.76647575e-01  2.14847655e-01  0.00000000e+00  3.04376593e+02]
 [-2.14847655e-01  9.76647575e-01  0.00000000e+00 -2.50597237e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.44, Y:-25.08, Z:0.00
[[ 9.75858193e-01  2.18405097e-01  0.00000000e+00  3.04435183e+02]
 [-2.18405097e-01  9.75858193e-01  0.00000000e+00 -2.50785037e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.49, Y:-25.10, Z:0.00
[[ 9.75422758e-01  2.20341650e-01  0.00000000e+00  3.04494460e+02]
 [-2.20341650e-01  9.75422758e-01  0.00000000e+00 -2.50950398e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.55, Y:-25.11, Z:0.00
[[ 9.75240945e-01  2.21144971e-01  0.00000000e+00  3.04554985e+02]
 [-2.21144971e-01  9.75240945e-01  0.00000000e+00 -2.51098179e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.61, Y:-25.13, Z:0.00
[[ 9.75353657e-01  2.20647328e-01  0.00000000e+00  3.04614975e+02]
 [-2.20647328e-01  9.75353657e-01  0.00000000e+00 -2.51273785e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.68, Y:-25.14, Z:0.00
[[ 9.75777864e-01  2.18763709e-01  0.00000000e+00  3.04675032e+02]
 [-2.18763709e-01  9.75777864e-01  0.00000000e+00 -2.51435321e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.73, Y:-25.16, Z:0.00
[[ 9.76330114e-01  2.16285712e-01  0.00000000e+00  3.04734619e+02]
 [-2.16285712e-01  9.76330114e-01  0.00000000e+00 -2.51606177e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.79, Y:-25.17, Z:0.00
[[ 9.76600778e-01  2.15060272e-01  0.00000000e+00  3.04794062e+02]
 [-2.15060272e-01  9.76600778e-01  0.00000000e+00 -2.51749549e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.886066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.85, Y:-25.19, Z:0.00
[[ 9.76561685e-01  2.15237718e-01  0.00000000e+00  3.04853878e+02]
 [-2.15237718e-01  9.76561685e-01  0.00000000e+00 -2.51898066e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 302.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.91, Y:-25.21, Z:0.00
[[ 9.76856568e-01  2.13895409e-01  0.00000000e+00  3.04912213e+02]
 [-2.13895409e-01  9.76856568e-01  0.00000000e+00 -2.52060351e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:304.97, Y:-25.22, Z:0.00
[[ 9.77497064e-01  2.10949022e-01  0.00000000e+00  3.04972153e+02]
 [-2.10949022e-01  9.77497064e-01  0.00000000e+00 -2.52211830e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.03, Y:-25.24, Z:0.00
[[ 9.77508834e-01  2.10894474e-01  0.00000000e+00  3.05031672e+02]
 [-2.10894474e-01  9.77508834e-01  0.00000000e+00 -2.52353306e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.09, Y:-25.25, Z:0.00
[[ 9.77264771e-01  2.12022562e-01  0.00000000e+00  3.05091160e+02]
 [-2.12022562e-01  9.77264771e-01  0.00000000e+00 -2.52484106e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.15, Y:-25.26, Z:0.00
[[ 9.77269858e-01  2.11999115e-01  0.00000000e+00  3.05152403e+02]
 [-2.11999115e-01  9.77269858e-01  0.00000000e+00 -2.52603646e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.21, Y:-25.27, Z:0.00
[[ 9.77683915e-01  2.10081322e-01  0.00000000e+00  3.05211314e+02]
 [-2.10081322e-01  9.77683915e-01  0.00000000e+00 -2.52721431e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.27, Y:-25.28, Z:0.00
[[ 9.77509859e-01  2.10889724e-01  0.00000000e+00  3.05272057e+02]
 [-2.10889724e-01  9.77509859e-01  0.00000000e+00 -2.52831958e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.33, Y:-25.29, Z:0.00
[[ 9.77460405e-01  2.11118821e-01  0.00000000e+00  3.05332933e+02]
 [-2.11118821e-01  9.77460405e-01  0.00000000e+00 -2.52946105e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.39, Y:-25.30, Z:0.00
[[ 9.77745513e-01  2.09794452e-01  0.00000000e+00  3.05393017e+02]
 [-2.09794452e-01  9.77745513e-01  0.00000000e+00 -2.53041538e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.45, Y:-25.31, Z:0.00
[[ 9.77756521e-01  2.09743144e-01  0.00000000e+00  3.05454102e+02]
 [-2.09743144e-01  9.77756521e-01  0.00000000e+00 -2.53137097e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.51, Y:-25.32, Z:0.00
[[ 9.77745403e-01  2.09794965e-01  0.00000000e+00  3.05514123e+02]
 [-2.09794965e-01  9.77745403e-01  0.00000000e+00 -2.53246122e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.57, Y:-25.34, Z:0.00
[[ 9.77643943e-01  2.10267258e-01  0.00000000e+00  3.05574821e+02]
 [-2.10267258e-01  9.77643943e-01  0.00000000e+00 -2.53353065e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.64, Y:-25.34, Z:0.00
[[ 9.77957210e-01  2.08805402e-01  0.00000000e+00  3.05635033e+02]
 [-2.08805402e-01  9.77957210e-01  0.00000000e+00 -2.53441350e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.70, Y:-25.36, Z:0.00
[[ 9.78941116e-01  2.04142823e-01  0.00000000e+00  3.05695917e+02]
 [-2.04142823e-01  9.78941116e-01  0.00000000e+00 -2.53550777e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.76, Y:-25.37, Z:0.00
[[ 9.80064756e-01  1.98678318e-01  0.00000000e+00  3.05755188e+02]
 [-1.98678318e-01  9.80064756e-01  0.00000000e+00 -2.53656615e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.82, Y:-25.37, Z:0.00
[[ 9.81625170e-01  1.90819351e-01  0.00000000e+00  3.05815878e+02]
 [-1.90819351e-01  9.81625170e-01  0.00000000e+00 -2.53747282e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.88, Y:-25.38, Z:0.00
[[ 9.82669413e-01  1.85366732e-01  0.00000000e+00  3.05876891e+02]
 [-1.85366732e-01  9.82669413e-01  0.00000000e+00 -2.53839467e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 303.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:305.94, Y:-25.39, Z:0.00
[[ 9.84891393e-01  1.73173161e-01  0.00000000e+00  3.05937416e+02]
 [-1.73173161e-01  9.84891393e-01  0.00000000e+00 -2.53936847e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.00, Y:-25.40, Z:0.00
[[ 9.85567094e-01  1.69285274e-01  0.00000000e+00  3.05998159e+02]
 [-1.69285274e-01  9.85567094e-01  0.00000000e+00 -2.54040786e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.06, Y:-25.41, Z:0.00
[[ 9.86933415e-01  1.61128628e-01  0.00000000e+00  3.06058800e+02]
 [-1.61128628e-01  9.86933415e-01  0.00000000e+00 -2.54125432e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.12, Y:-25.42, Z:0.00
[[ 9.88112989e-01  1.53729377e-01  0.00000000e+00  3.06119909e+02]
 [-1.53729377e-01  9.88112989e-01  0.00000000e+00 -2.54175053e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.18, Y:-25.42, Z:0.00
[[ 9.88400796e-01  1.51867927e-01  0.00000000e+00  3.06181863e+02]
 [-1.51867927e-01  9.88400796e-01  0.00000000e+00 -2.54221080e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.25, Y:-25.42, Z:0.00
[[ 9.87804060e-01  1.55702085e-01  0.00000000e+00  3.06245378e+02]
 [-1.55702085e-01  9.87804060e-01  0.00000000e+00 -2.54212839e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.31, Y:-25.42, Z:0.00
[[ 9.86788790e-01  1.62011989e-01  0.00000000e+00  3.06306904e+02]
 [-1.62011989e-01  9.86788790e-01  0.00000000e+00 -2.54228187e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.38606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.37, Y:-25.42, Z:0.00
[[ 9.84566663e-01  1.75009962e-01  0.00000000e+00  3.06370348e+02]
 [-1.75009962e-01  9.84566663e-01  0.00000000e+00 -2.54190764e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.43, Y:-25.42, Z:0.00
[[ 9.81579715e-01  1.91053039e-01  0.00000000e+00  3.06432942e+02]
 [-1.91053039e-01  9.81579715e-01  0.00000000e+00 -2.54154741e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.49, Y:-25.42, Z:0.00
[[ 9.79810287e-01  1.99929490e-01  0.00000000e+00  3.06494177e+02]
 [-1.99929490e-01  9.79810287e-01  0.00000000e+00 -2.54188006e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.56, Y:-25.42, Z:0.00
[[ 9.78896097e-01  2.04358585e-01  0.00000000e+00  3.06555864e+02]
 [-2.04358585e-01  9.78896097e-01  0.00000000e+00 -2.54196937e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.62, Y:-25.43, Z:0.00
[[ 9.79526332e-01  2.01316083e-01  0.00000000e+00  3.06616731e+02]
 [-2.01316083e-01  9.79526332e-01  0.00000000e+00 -2.54286008e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.68, Y:-25.44, Z:0.00
[[ 9.81681723e-01  1.90528200e-01  0.00000000e+00  3.06677118e+02]
 [-1.90528200e-01  9.81681723e-01  0.00000000e+00 -2.54354620e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.74, Y:-25.45, Z:0.00
[[ 9.82807098e-01  1.84635337e-01  0.00000000e+00  3.06738039e+02]
 [-1.84635337e-01  9.82807098e-01  0.00000000e+00 -2.54468327e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.80, Y:-25.46, Z:0.00
[[ 9.84082510e-01  1.77712167e-01  0.00000000e+00  3.06799419e+02]
 [-1.77712167e-01  9.84082510e-01  0.00000000e+00 -2.54552383e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.86, Y:-25.46, Z:0.00
[[ 9.84342480e-01  1.76266510e-01  0.00000000e+00  3.06861158e+02]
 [-1.76266510e-01  9.84342480e-01  0.00000000e+00 -2.54625093e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.92, Y:-25.47, Z:0.00
[[ 9.82849987e-01  1.84406897e-01  0.00000000e+00  3.06922676e+02]
 [-1.84406897e-01  9.82849987e-01  0.00000000e+00 -2.54686416e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 304.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:306.98, Y:-25.48, Z:0.00
[[ 9.80581772e-01  1.96110653e-01  0.00000000e+00  3.06983513e+02]
 [-1.96110653e-01  9.80581772e-01  0.00000000e+00 -2.54768085e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.04, Y:-25.48, Z:0.00
[[ 9.76918167e-01  2.13613891e-01  0.00000000e+00  3.07044842e+02]
 [-2.13613891e-01  9.76918167e-01  0.00000000e+00 -2.54825411e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.11, Y:-25.49, Z:0.00
[[ 9.74478569e-01  2.24480552e-01  0.00000000e+00  3.07105516e+02]
 [-2.24480552e-01  9.74478569e-01  0.00000000e+00 -2.54930138e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.17, Y:-25.50, Z:0.00
[[ 9.71323496e-01  2.37761785e-01  0.00000000e+00  3.07165079e+02]
 [-2.37761785e-01  9.71323496e-01  0.00000000e+00 -2.55039673e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.22, Y:-25.52, Z:0.00
[[ 9.69983846e-01  2.43169360e-01  0.00000000e+00  3.07224959e+02]
 [-2.43169360e-01  9.69983846e-01  0.00000000e+00 -2.55187140e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.28, Y:-25.54, Z:0.00
[[ 9.70679407e-01  2.40377804e-01  0.00000000e+00  3.07283922e+02]
 [-2.40377804e-01  9.70679407e-01  0.00000000e+00 -2.55370065e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.34, Y:-25.56, Z:0.00
[[ 9.73454020e-01  2.28882659e-01  0.00000000e+00  3.07342455e+02]
 [-2.28882659e-01  9.73454020e-01  0.00000000e+00 -2.55573660e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.40, Y:-25.57, Z:0.00
[[ 9.75675503e-01  2.19219781e-01  0.00000000e+00  3.07400975e+02]
 [-2.19219781e-01  9.75675503e-01  0.00000000e+00 -2.55732499e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.46, Y:-25.59, Z:0.00
[[ 9.78391472e-01  2.06761040e-01  0.00000000e+00  3.07459421e+02]
 [-2.06761040e-01  9.78391472e-01  0.00000000e+00 -2.55944962e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.52, Y:-25.61, Z:0.00
[[ 9.80270672e-01  1.97659832e-01  0.00000000e+00  3.07519406e+02]
 [-1.97659832e-01  9.80270672e-01  0.00000000e+00 -2.56050619e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.58, Y:-25.63, Z:0.00
[[ 9.82206549e-01  1.87803875e-01  0.00000000e+00  3.07577816e+02]
 [-1.87803875e-01  9.82206549e-01  0.00000000e+00 -2.56256750e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.64, Y:-25.64, Z:0.00
[[ 9.83733926e-01  1.79631743e-01  0.00000000e+00  3.07638832e+02]
 [-1.79631743e-01  9.83733926e-01  0.00000000e+00 -2.56398277e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.70, Y:-25.65, Z:0.00
[[ 9.84466196e-01  1.75574225e-01  0.00000000e+00  3.07698605e+02]
 [-1.75574225e-01  9.84466196e-01  0.00000000e+00 -2.56544261e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.76, Y:-25.66, Z:0.00
[[ 9.84305338e-01  1.76473801e-01  0.00000000e+00  3.07758750e+02]
 [-1.76473801e-01  9.84305338e-01  0.00000000e+00 -2.56648040e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.82, Y:-25.67, Z:0.00
[[ 9.83451067e-01  1.81173946e-01  0.00000000e+00  3.07820072e+02]
 [-1.81173946e-01  9.83451067e-01  0.00000000e+00 -2.56733394e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.88606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.88, Y:-25.68, Z:0.00
[[ 9.82373165e-01  1.86930373e-01  0.00000000e+00  3.07880990e+02]
 [-1.86930373e-01  9.82373165e-01  0.00000000e+00 -2.56826499e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 305.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:307.94, Y:-25.69, Z:0.00
[[ 9.81283627e-01  1.92568021e-01  0.00000000e+00  3.07942801e+02]
 [-1.92568021e-01  9.81283627e-01  0.00000000e+00 -2.56916156e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.00, Y:-25.70, Z:0.00
[[ 9.80452073e-01  1.96758056e-01  0.00000000e+00  3.08003056e+02]
 [-1.96758056e-01  9.80452073e-01  0.00000000e+00 -2.56994104e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.06, Y:-25.71, Z:0.00
[[ 9.78975671e-01  2.03977049e-01  0.00000000e+00  3.08064873e+02]
 [-2.03977049e-01  9.78975671e-01  0.00000000e+00 -2.57051937e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.13, Y:-25.71, Z:0.00
[[ 9.78362363e-01  2.06898733e-01  0.00000000e+00  3.08125702e+02]
 [-2.06898733e-01  9.78362363e-01  0.00000000e+00 -2.57123531e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.19, Y:-25.72, Z:0.00
[[ 9.77129983e-01  2.12642886e-01  0.00000000e+00  3.08186357e+02]
 [-2.12642886e-01  9.77129983e-01  0.00000000e+00 -2.57207312e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.25, Y:-25.73, Z:0.00
[[ 9.75944725e-01  2.18018104e-01  0.00000000e+00  3.08246555e+02]
 [-2.18018104e-01  9.75944725e-01  0.00000000e+00 -2.57319482e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.31, Y:-25.74, Z:0.00
[[ 9.74807637e-01  2.23047239e-01  0.00000000e+00  3.08305947e+02]
 [-2.23047239e-01  9.74807637e-01  0.00000000e+00 -2.57404105e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.37, Y:-25.75, Z:0.00
[[ 9.74178250e-01  2.25780287e-01  0.00000000e+00  3.08367216e+02]
 [-2.25780287e-01  9.74178250e-01  0.00000000e+00 -2.57523246e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.43, Y:-25.77, Z:0.00
[[ 9.72981967e-01  2.30881120e-01  0.00000000e+00  3.08425308e+02]
 [-2.30881120e-01  9.72981967e-01  0.00000000e+00 -2.57687399e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.49, Y:-25.78, Z:0.00
[[ 9.72409806e-01  2.33279165e-01  0.00000000e+00  3.08485792e+02]
 [-2.33279165e-01  9.72409806e-01  0.00000000e+00 -2.57832847e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.55, Y:-25.80, Z:0.00
[[ 9.73076212e-01  2.30483590e-01  0.00000000e+00  3.08546375e+02]
 [-2.30483590e-01  9.73076212e-01  0.00000000e+00 -2.58003013e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.61, Y:-25.82, Z:0.00
[[ 9.73767858e-01  2.27543752e-01  0.00000000e+00  3.08606196e+02]
 [-2.27543752e-01  9.73767858e-01  0.00000000e+00 -2.58170591e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.66, Y:-25.83, Z:0.00
[[ 9.75263835e-01  2.21044004e-01  0.00000000e+00  3.08664511e+02]
 [-2.21044004e-01  9.75263835e-01  0.00000000e+00 -2.58316312e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.72, Y:-25.85, Z:0.00
[[ 9.76284789e-01  2.16490210e-01  0.00000000e+00  3.08723006e+02]
 [-2.16490210e-01  9.76284789e-01  0.00000000e+00 -2.58474836e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.78, Y:-25.86, Z:0.00
[[ 9.77177140e-01  2.12426073e-01  0.00000000e+00  3.08782406e+02]
 [-2.12426073e-01  9.77177140e-01  0.00000000e+00 -2.58620230e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.84, Y:-25.88, Z:0.00
[[ 9.78011879e-01  2.08549189e-01  0.00000000e+00  3.08842053e+02]
 [-2.08549189e-01  9.78011879e-01  0.00000000e+00 -2.58790841e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.90, Y:-25.89, Z:0.00
[[ 9.78270986e-01  2.07330358e-01  0.00000000e+00  3.08902560e+02]
 [-2.07330358e-01  9.78270986e-01  0.00000000e+00 -2.58926786e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 306.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:308.96, Y:-25.91, Z:0.00
[[ 9.77776528e-01  2.09649853e-01  0.00000000e+00  3.08962562e+02]
 [-2.09649853e-01  9.77776528e-01  0.00000000e+00 -2.59069251e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.02, Y:-25.92, Z:0.00
[[ 9.76721084e-01  2.14513226e-01  0.00000000e+00  3.09023483e+02]
 [-2.14513226e-01  9.76721084e-01  0.00000000e+00 -2.59180817e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.08, Y:-25.93, Z:0.00
[[ 9.74040555e-01  2.26373577e-01  0.00000000e+00  3.09082133e+02]
 [-2.26373577e-01  9.74040555e-01  0.00000000e+00 -2.59306412e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.14, Y:-25.94, Z:0.00
[[ 9.72815916e-01  2.31579780e-01  0.00000000e+00  3.09140898e+02]
 [-2.31579780e-01  9.72815916e-01  0.00000000e+00 -2.59440136e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.20, Y:-25.96, Z:0.00
[[ 9.72457583e-01  2.33079919e-01  0.00000000e+00  3.09200868e+02]
 [-2.33079919e-01  9.72457583e-01  0.00000000e+00 -2.59605882e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.26, Y:-25.97, Z:0.00
[[ 9.72688050e-01  2.32116260e-01  0.00000000e+00  3.09261016e+02]
 [-2.32116260e-01  9.72688050e-01  0.00000000e+00 -2.59745734e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.32, Y:-25.99, Z:0.00
[[ 9.73248190e-01  2.29756305e-01  0.00000000e+00  3.09320877e+02]
 [-2.29756305e-01  9.73248190e-01  0.00000000e+00 -2.59896726e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.38606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.38, Y:-26.00, Z:0.00
[[ 9.73483991e-01  2.28755150e-01  0.00000000e+00  3.09380039e+02]
 [-2.28755150e-01  9.73483991e-01  0.00000000e+00 -2.60030993e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.44, Y:-26.02, Z:0.00
[[ 9.74293134e-01  2.25284018e-01  0.00000000e+00  3.09440016e+02]
 [-2.25284018e-01  9.74293134e-01  0.00000000e+00 -2.60196649e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.50, Y:-26.04, Z:0.00
[[ 9.75402061e-01  2.20433252e-01  0.00000000e+00  3.09499487e+02]
 [-2.20433252e-01  9.75402061e-01  0.00000000e+00 -2.60358504e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.56, Y:-26.05, Z:0.00
[[ 9.76811311e-01  2.14101993e-01  0.00000000e+00  3.09559284e+02]
 [-2.14101993e-01  9.76811311e-01  0.00000000e+00 -2.60497577e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.62, Y:-26.07, Z:0.00
[[ 9.78524346e-01  2.06131277e-01  0.00000000e+00  3.09619222e+02]
 [-2.06131277e-01  9.78524346e-01  0.00000000e+00 -2.60659481e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.68, Y:-26.08, Z:0.00
[[ 9.79700665e-01  2.00465974e-01  0.00000000e+00  3.09678350e+02]
 [-2.00465974e-01  9.79700665e-01  0.00000000e+00 -2.60803774e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.74, Y:-26.09, Z:0.00
[[ 9.81690717e-01  1.90481853e-01  0.00000000e+00  3.09738326e+02]
 [-1.90481853e-01  9.81690717e-01  0.00000000e+00 -2.60937032e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.80, Y:-26.11, Z:0.00
[[ 9.82029957e-01  1.88725101e-01  0.00000000e+00  3.09798876e+02]
 [-1.88725101e-01  9.82029957e-01  0.00000000e+00 -2.61052583e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.86, Y:-26.12, Z:0.00
[[ 9.83554139e-01  1.80613551e-01  0.00000000e+00  3.09859953e+02]
 [-1.80613551e-01  9.83554139e-01  0.00000000e+00 -2.61157163e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.92, Y:-26.12, Z:0.00
[[ 9.84097759e-01  1.77627705e-01  0.00000000e+00  3.09920809e+02]
 [-1.77627705e-01  9.84097759e-01  0.00000000e+00 -2.61244307e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 307.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:309.98, Y:-26.13, Z:0.00
[[ 9.85297679e-01  1.70846376e-01  0.00000000e+00  3.09981327e+02]
 [-1.70846376e-01  9.85297679e-01  0.00000000e+00 -2.61298723e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.04, Y:-26.13, Z:0.00
[[ 9.85872698e-01  1.67496336e-01  0.00000000e+00  3.10042689e+02]
 [-1.67496336e-01  9.85872698e-01  0.00000000e+00 -2.61341585e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.10, Y:-26.13, Z:0.00
[[ 9.86022505e-01  1.66612185e-01  0.00000000e+00  3.10104991e+02]
 [-1.66612185e-01  9.86022505e-01  0.00000000e+00 -2.61340241e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.17, Y:-26.13, Z:0.00
[[ 9.85655237e-01  1.68771307e-01  0.00000000e+00  3.10168282e+02]
 [-1.68771307e-01  9.85655237e-01  0.00000000e+00 -2.61276129e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.23, Y:-26.13, Z:0.00
[[ 9.84903075e-01  1.73106709e-01  0.00000000e+00  3.10230336e+02]
 [-1.73106709e-01  9.84903075e-01  0.00000000e+00 -2.61290497e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.29, Y:-26.13, Z:0.00
[[ 9.82975941e-01  1.83734318e-01  0.00000000e+00  3.10293379e+02]
 [-1.83734318e-01  9.82975941e-01  0.00000000e+00 -2.61289756e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.36, Y:-26.13, Z:0.00
[[ 9.82117913e-01  1.88266845e-01  0.00000000e+00  3.10355855e+02]
 [-1.88266845e-01  9.82117913e-01  0.00000000e+00 -2.61341162e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.42, Y:-26.13, Z:0.00
[[ 9.81768581e-01  1.90080124e-01  0.00000000e+00  3.10418220e+02]
 [-1.90080124e-01  9.81768581e-01  0.00000000e+00 -2.61323730e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.48, Y:-26.14, Z:0.00
[[ 9.81862153e-01  1.89596184e-01  0.00000000e+00  3.10480112e+02]
 [-1.89596184e-01  9.81862153e-01  0.00000000e+00 -2.61394397e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.54, Y:-26.14, Z:0.00
[[ 9.82448715e-01  1.86532897e-01  0.00000000e+00  3.10541145e+02]
 [-1.86532897e-01  9.82448715e-01  0.00000000e+00 -2.61424244e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.60, Y:-26.15, Z:0.00
[[ 9.83343342e-01  1.81757726e-01  0.00000000e+00  3.10603234e+02]
 [-1.81757726e-01  9.83343342e-01  0.00000000e+00 -2.61465257e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.66, Y:-26.15, Z:0.00
[[ 9.84209051e-01  1.77010009e-01  0.00000000e+00  3.10664792e+02]
 [-1.77010009e-01  9.84209051e-01  0.00000000e+00 -2.61522900e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.73, Y:-26.16, Z:0.00
[[ 9.85213849e-01  1.71329132e-01  0.00000000e+00  3.10726850e+02]
 [-1.71329132e-01  9.85213849e-01  0.00000000e+00 -2.61566036e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.79, Y:-26.16, Z:0.00
[[ 9.85779737e-01  1.68042584e-01  0.00000000e+00  3.10787424e+02]
 [-1.68042584e-01  9.85779737e-01  0.00000000e+00 -2.61601735e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.85, Y:-26.16, Z:0.00
[[ 9.85848821e-01  1.67636818e-01  0.00000000e+00  3.10850082e+02]
 [-1.67636818e-01  9.85848821e-01  0.00000000e+00 -2.61623836e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.88606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.91, Y:-26.17, Z:0.00
[[ 9.85723832e-01  1.68370206e-01  0.00000000e+00  3.10912772e+02]
 [-1.68370206e-01  9.85723832e-01  0.00000000e+00 -2.61663268e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 308.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:310.98, Y:-26.17, Z:0.00
[[ 9.85031798e-01  1.72372728e-01  0.00000000e+00  3.10975921e+02]
 [-1.72372728e-01  9.85031798e-01  0.00000000e+00 -2.61666102e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.04, Y:-26.17, Z:0.00
[[ 9.84220008e-01  1.76949077e-01  0.00000000e+00  3.11038322e+02]
 [-1.76949077e-01  9.84220008e-01  0.00000000e+00 -2.61714971e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.10, Y:-26.17, Z:0.00
[[ 9.82691702e-01  1.85248535e-01  0.00000000e+00  3.11099823e+02]
 [-1.85248535e-01  9.82691702e-01  0.00000000e+00 -2.61748486e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.16, Y:-26.18, Z:0.00
[[ 9.81153419e-01  1.93230350e-01  0.00000000e+00  3.11162249e+02]
 [-1.93230350e-01  9.81153419e-01  0.00000000e+00 -2.61800947e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.22, Y:-26.18, Z:0.00
[[ 9.77957083e-01  2.08805997e-01  0.00000000e+00  3.11223742e+02]
 [-2.08805997e-01  9.77957083e-01  0.00000000e+00 -2.61824374e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.28, Y:-26.19, Z:0.00
[[ 9.73889658e-01  2.27021878e-01  0.00000000e+00  3.11283969e+02]
 [-2.27021878e-01  9.73889658e-01  0.00000000e+00 -2.61884269e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.34, Y:-26.20, Z:0.00
[[ 9.71927777e-01  2.35279399e-01  0.00000000e+00  3.11343757e+02]
 [-2.35279399e-01  9.71927777e-01  0.00000000e+00 -2.61993376e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.40, Y:-26.21, Z:0.00
[[ 9.71303213e-01  2.37844630e-01  0.00000000e+00  3.11404027e+02]
 [-2.37844630e-01  9.71303213e-01  0.00000000e+00 -2.62141092e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.46, Y:-26.23, Z:0.00
[[ 9.72102157e-01  2.34557874e-01  0.00000000e+00  3.11463163e+02]
 [-2.34557874e-01  9.72102157e-01  0.00000000e+00 -2.62268886e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.52, Y:-26.25, Z:0.00
[[ 9.73433296e-01  2.28970782e-01  0.00000000e+00  3.11521219e+02]
 [-2.28970782e-01  9.73433296e-01  0.00000000e+00 -2.62467781e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.58, Y:-26.27, Z:0.00
[[ 9.75042264e-01  2.22019333e-01  0.00000000e+00  3.11579111e+02]
 [-2.22019333e-01  9.75042264e-01  0.00000000e+00 -2.62687915e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.64, Y:-26.29, Z:0.00
[[ 9.75527196e-01  2.19878805e-01  0.00000000e+00  3.11638208e+02]
 [-2.19878805e-01  9.75527196e-01  0.00000000e+00 -2.62851648e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.70, Y:-26.31, Z:0.00
[[ 9.74951602e-01  2.22417117e-01  0.00000000e+00  3.11696762e+02]
 [-2.22417117e-01  9.74951602e-01  0.00000000e+00 -2.63085235e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.76, Y:-26.33, Z:0.00
[[ 9.74140801e-01  2.25941805e-01  0.00000000e+00  3.11755162e+02]
 [-2.25941805e-01  9.74140801e-01  0.00000000e+00 -2.63251167e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.82, Y:-26.34, Z:0.00
[[ 9.73606527e-01  2.28233063e-01  0.00000000e+00  3.11815344e+02]
 [-2.28233063e-01  9.73606527e-01  0.00000000e+00 -2.63375816e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.87, Y:-26.36, Z:0.00
[[ 9.71368253e-01  2.37578866e-01  0.00000000e+00  3.11874106e+02]
 [-2.37578866e-01  9.71368253e-01  0.00000000e+00 -2.63564261e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.93, Y:-26.38, Z:0.00
[[ 9.70600907e-01  2.40694577e-01  0.00000000e+00  3.11932876e+02]
 [-2.40694577e-01  9.70600907e-01  0.00000000e+00 -2.63769873e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 309.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:311.99, Y:-26.39, Z:0.00
[[ 9.70964927e-01  2.39221888e-01  0.00000000e+00  3.11991987e+02]
 [-2.39221888e-01  9.70964927e-01  0.00000000e+00 -2.63947086e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.05, Y:-26.42, Z:0.00
[[ 9.72447760e-01  2.33120901e-01  0.00000000e+00  3.12049687e+02]
 [-2.33120901e-01  9.72447760e-01  0.00000000e+00 -2.64160919e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.11, Y:-26.43, Z:0.00
[[ 9.73403544e-01  2.29097228e-01  0.00000000e+00  3.12108719e+02]
 [-2.29097228e-01  9.73403544e-01  0.00000000e+00 -2.64339867e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.17, Y:-26.45, Z:0.00
[[ 9.74380687e-01  2.24905039e-01  0.00000000e+00  3.12167326e+02]
 [-2.24905039e-01  9.74380687e-01  0.00000000e+00 -2.64543184e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.23, Y:-26.47, Z:0.00
[[ 9.74574566e-01  2.24063417e-01  0.00000000e+00  3.12225076e+02]
 [-2.24063417e-01  9.74574566e-01  0.00000000e+00 -2.64731487e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.28, Y:-26.49, Z:0.00
[[ 9.74165466e-01  2.25835437e-01  0.00000000e+00  3.12283544e+02]
 [-2.25835437e-01  9.74165466e-01  0.00000000e+00 -2.64941172e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.34, Y:-26.51, Z:0.00
[[ 9.72507934e-01  2.32869745e-01  0.00000000e+00  3.12342898e+02]
 [-2.32869745e-01  9.72507934e-01  0.00000000e+00 -2.65119202e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.38606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.40, Y:-26.53, Z:0.00
[[ 9.71433266e-01  2.37312893e-01  0.00000000e+00  3.12401904e+02]
 [-2.37312893e-01  9.71433266e-01  0.00000000e+00 -2.65282335e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.46, Y:-26.55, Z:0.00
[[ 9.69967031e-01  2.43236427e-01  0.00000000e+00  3.12460918e+02]
 [-2.43236427e-01  9.69967031e-01  0.00000000e+00 -2.65466353e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.52, Y:-26.56, Z:0.00
[[ 9.69243562e-01  2.46103470e-01  0.00000000e+00  3.12520064e+02]
 [-2.46103470e-01  9.69243562e-01  0.00000000e+00 -2.65630875e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.58, Y:-26.58, Z:0.00
[[ 9.68763068e-01  2.47988141e-01  0.00000000e+00  3.12578673e+02]
 [-2.47988141e-01  9.68763068e-01  0.00000000e+00 -2.65827584e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.64, Y:-26.60, Z:0.00
[[ 9.68471657e-01  2.49123764e-01  0.00000000e+00  3.12638066e+02]
 [-2.49123764e-01  9.68471657e-01  0.00000000e+00 -2.66036749e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.70, Y:-26.62, Z:0.00
[[ 9.68823637e-01  2.47751407e-01  0.00000000e+00  3.12697571e+02]
 [-2.47751407e-01  9.68823637e-01  0.00000000e+00 -2.66221238e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.75, Y:-26.64, Z:0.00
[[ 9.69663275e-01  2.44444542e-01  0.00000000e+00  3.12754623e+02]
 [-2.44444542e-01  9.69663275e-01  0.00000000e+00 -2.66434420e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.81, Y:-26.66, Z:0.00
[[ 9.70353213e-01  2.41691212e-01  0.00000000e+00  3.12813557e+02]
 [-2.41691212e-01  9.70353213e-01  0.00000000e+00 -2.66618540e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.87, Y:-26.68, Z:0.00
[[ 9.70696323e-01  2.40309487e-01  0.00000000e+00  3.12872371e+02]
 [-2.40309487e-01  9.70696323e-01  0.00000000e+00 -2.66798619e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.93, Y:-26.70, Z:0.00
[[ 9.71983923e-01  2.35047342e-01  0.00000000e+00  3.12930832e+02]
 [-2.35047342e-01  9.71983923e-01  0.00000000e+00 -2.67009612e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 310.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:312.99, Y:-26.72, Z:0.00
[[ 9.74248616e-01  2.25476463e-01  0.00000000e+00  3.12988854e+02]
 [-2.25476463e-01  9.74248616e-01  0.00000000e+00 -2.67231668e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.05, Y:-26.74, Z:0.00
[[ 9.76431207e-01  2.15828863e-01  0.00000000e+00  3.13047075e+02]
 [-2.15828863e-01  9.76431207e-01  0.00000000e+00 -2.67422567e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.11, Y:-26.76, Z:0.00
[[ 9.80213606e-01  1.97942636e-01  0.00000000e+00  3.13106107e+02]
 [-1.97942636e-01  9.80213606e-01  0.00000000e+00 -2.67621726e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.17, Y:-26.78, Z:0.00
[[ 9.82517217e-01  1.86171743e-01  0.00000000e+00  3.13165614e+02]
 [-1.86171743e-01  9.82517217e-01  0.00000000e+00 -2.67805549e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.23, Y:-26.80, Z:0.00
[[ 9.85058848e-01  1.72218075e-01  0.00000000e+00  3.13225547e+02]
 [-1.72218075e-01  9.85058848e-01  0.00000000e+00 -2.67964031e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.29, Y:-26.80, Z:0.00
[[ 9.86142708e-01  1.65899243e-01  0.00000000e+00  3.13286269e+02]
 [-1.65899243e-01  9.86142708e-01  0.00000000e+00 -2.68033496e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.35, Y:-26.81, Z:0.00
[[ 9.86809929e-01  1.61883181e-01  0.00000000e+00  3.13347746e+02]
 [-1.61883181e-01  9.86809929e-01  0.00000000e+00 -2.68096387e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.41, Y:-26.81, Z:0.00
[[ 9.87462863e-01  1.57851494e-01  0.00000000e+00  3.13408725e+02]
 [-1.57851494e-01  9.87462863e-01  0.00000000e+00 -2.68132745e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.47, Y:-26.82, Z:0.00
[[ 9.87482197e-01  1.57730500e-01  0.00000000e+00  3.13469993e+02]
 [-1.57730500e-01  9.87482197e-01  0.00000000e+00 -2.68194055e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.53, Y:-26.82, Z:0.00
[[ 9.87464494e-01  1.57841293e-01  0.00000000e+00  3.13533774e+02]
 [-1.57841293e-01  9.87464494e-01  0.00000000e+00 -2.68189432e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.60, Y:-26.82, Z:0.00
[[ 9.86886832e-01  1.61413693e-01  0.00000000e+00  3.13595557e+02]
 [-1.61413693e-01  9.86886832e-01  0.00000000e+00 -2.68218033e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.66, Y:-26.83, Z:0.00
[[ 9.86180492e-01  1.65674495e-01  0.00000000e+00  3.13657338e+02]
 [-1.65674495e-01  9.86180492e-01  0.00000000e+00 -2.68253134e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.72, Y:-26.83, Z:0.00
[[ 9.85632419e-01  1.68904511e-01  0.00000000e+00  3.13718488e+02]
 [-1.68904511e-01  9.85632419e-01  0.00000000e+00 -2.68268915e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.78, Y:-26.83, Z:0.00
[[ 9.84768634e-01  1.73869887e-01  0.00000000e+00  3.13781443e+02]
 [-1.73869887e-01  9.84768634e-01  0.00000000e+00 -2.68263244e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.84, Y:-26.83, Z:0.00
[[ 9.84626134e-01  1.74675060e-01  0.00000000e+00  3.13844503e+02]
 [-1.74675060e-01  9.84626134e-01  0.00000000e+00 -2.68251152e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.88606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.91, Y:-26.82, Z:0.00
[[ 9.84829061e-01  1.73527291e-01  0.00000000e+00  3.13907732e+02]
 [-1.73527291e-01  9.84829061e-01  0.00000000e+00 -2.68179299e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 311.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:313.97, Y:-26.82, Z:0.00
[[ 9.85260136e-01  1.71062751e-01  0.00000000e+00  3.13971177e+02]
 [-1.71062751e-01  9.85260136e-01  0.00000000e+00 -2.68218253e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.03, Y:-26.82, Z:0.00
[[ 9.86016639e-01  1.66646893e-01  0.00000000e+00  3.14032554e+02]
 [-1.66646893e-01  9.86016639e-01  0.00000000e+00 -2.68192537e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.09, Y:-26.82, Z:0.00
[[ 9.86934769e-01  1.61120335e-01  0.00000000e+00  3.14094307e+02]
 [-1.61120335e-01  9.86934769e-01  0.00000000e+00 -2.68202605e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.16, Y:-26.82, Z:0.00
[[ 9.88487784e-01  1.51300696e-01  0.00000000e+00  3.14157490e+02]
 [-1.51300696e-01  9.88487784e-01  0.00000000e+00 -2.68173550e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.22, Y:-26.81, Z:0.00
[[ 9.88534381e-01  1.50995950e-01  0.00000000e+00  3.14222001e+02]
 [-1.50995950e-01  9.88534381e-01  0.00000000e+00 -2.68133016e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.29, Y:-26.81, Z:0.00
[[ 9.88037057e-01  1.54216649e-01  0.00000000e+00  3.14286020e+02]
 [-1.54216649e-01  9.88037057e-01  0.00000000e+00 -2.68119053e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.35, Y:-26.81, Z:0.00
[[ 9.86843923e-01  1.61675820e-01  0.00000000e+00  3.14349512e+02]
 [-1.61675820e-01  9.86843923e-01  0.00000000e+00 -2.68075904e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.41, Y:-26.81, Z:0.00
[[ 9.85889444e-01  1.67397743e-01  0.00000000e+00  3.14411029e+02]
 [-1.67397743e-01  9.85889444e-01  0.00000000e+00 -2.68094830e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.47, Y:-26.81, Z:0.00
[[ 9.84538156e-01  1.75170258e-01  0.00000000e+00  3.14472777e+02]
 [-1.75170258e-01  9.84538156e-01  0.00000000e+00 -2.68052003e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.54, Y:-26.81, Z:0.00
[[ 9.83484607e-01  1.80991791e-01  0.00000000e+00  3.14535578e+02]
 [-1.80991791e-01  9.83484607e-01  0.00000000e+00 -2.68051440e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.60, Y:-26.81, Z:0.00
[[ 9.83415677e-01  1.81365946e-01  0.00000000e+00  3.14596967e+02]
 [-1.81365946e-01  9.83415677e-01  0.00000000e+00 -2.68077179e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.66, Y:-26.81, Z:0.00
[[ 9.83577434e-01  1.80486649e-01  0.00000000e+00  3.14658762e+02]
 [-1.80486649e-01  9.83577434e-01  0.00000000e+00 -2.68094519e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.72, Y:-26.82, Z:0.00
[[ 9.83459478e-01  1.81128282e-01  0.00000000e+00  3.14720392e+02]
 [-1.81128282e-01  9.83459478e-01  0.00000000e+00 -2.68196998e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.78, Y:-26.82, Z:0.00
[[ 9.84824787e-01  1.73551546e-01  0.00000000e+00  3.14781364e+02]
 [-1.73551546e-01  9.84824787e-01  0.00000000e+00 -2.68200718e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.84, Y:-26.82, Z:0.00
[[ 9.84407200e-01  1.75904702e-01  0.00000000e+00  3.14843431e+02]
 [-1.75904702e-01  9.84407200e-01  0.00000000e+00 -2.68232040e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.91, Y:-26.83, Z:0.00
[[ 9.82835251e-01  1.84485420e-01  0.00000000e+00  3.14905496e+02]
 [-1.84485420e-01  9.82835251e-01  0.00000000e+00 -2.68279822e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:314.97, Y:-26.84, Z:0.00
[[ 9.81225261e-01  1.92865205e-01  0.00000000e+00  3.14967236e+02]
 [-1.92865205e-01  9.81225261e-01  0.00000000e+00 -2.68379309e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 312.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.03, Y:-26.85, Z:0.00
[[ 9.78762892e-01  2.04995615e-01  0.00000000e+00  3.15029736e+02]
 [-2.04995615e-01  9.78762892e-01  0.00000000e+00 -2.68461527e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.09, Y:-26.86, Z:0.00
[[ 9.76454621e-01  2.15722906e-01  0.00000000e+00  3.15089631e+02]
 [-2.15722906e-01  9.76454621e-01  0.00000000e+00 -2.68569829e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.15, Y:-26.87, Z:0.00
[[ 9.74676328e-01  2.23620340e-01  0.00000000e+00  3.15149057e+02]
 [-2.23620340e-01  9.74676328e-01  0.00000000e+00 -2.68715521e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.21, Y:-26.89, Z:0.00
[[ 9.73216401e-01  2.29890926e-01  0.00000000e+00  3.15207918e+02]
 [-2.29890926e-01  9.73216401e-01  0.00000000e+00 -2.68870802e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.27, Y:-26.90, Z:0.00
[[ 9.72501353e-01  2.32897228e-01  0.00000000e+00  3.15267086e+02]
 [-2.32897228e-01  9.72501353e-01  0.00000000e+00 -2.69041302e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.33, Y:-26.92, Z:0.00
[[ 9.71459716e-01  2.37204594e-01  0.00000000e+00  3.15325814e+02]
 [-2.37204594e-01  9.71459716e-01  0.00000000e+00 -2.69238712e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.38, Y:-26.95, Z:0.00
[[ 9.71189667e-01  2.38307847e-01  0.00000000e+00  3.15384313e+02]
 [-2.38307847e-01  9.71189667e-01  0.00000000e+00 -2.69494373e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.38606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.44, Y:-26.97, Z:0.00
[[ 9.71734494e-01  2.36076412e-01  0.00000000e+00  3.15443174e+02]
 [-2.36076412e-01  9.71734494e-01  0.00000000e+00 -2.69733345e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.50, Y:-27.00, Z:0.00
[[ 9.71816764e-01  2.35737516e-01  0.00000000e+00  3.15501307e+02]
 [-2.35737516e-01  9.71816764e-01  0.00000000e+00 -2.69952384e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.56, Y:-27.02, Z:0.00
[[ 9.73273943e-01  2.29647190e-01  0.00000000e+00  3.15558918e+02]
 [-2.29647190e-01  9.73273943e-01  0.00000000e+00 -2.70200256e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.62, Y:-27.04, Z:0.00
[[ 9.73383319e-01  2.29183144e-01  0.00000000e+00  3.15619028e+02]
 [-2.29183144e-01  9.73383319e-01  0.00000000e+00 -2.70378307e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.68, Y:-27.06, Z:0.00
[[ 9.73811335e-01  2.27357614e-01  0.00000000e+00  3.15676665e+02]
 [-2.27357614e-01  9.73811335e-01  0.00000000e+00 -2.70610053e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.74, Y:-27.08, Z:0.00
[[ 9.74182528e-01  2.25761824e-01  0.00000000e+00  3.15736001e+02]
 [-2.25761824e-01  9.74182528e-01  0.00000000e+00 -2.70820868e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.79, Y:-27.11, Z:0.00
[[ 9.74285212e-01  2.25318276e-01  0.00000000e+00  3.15793164e+02]
 [-2.25318276e-01  9.74285212e-01  0.00000000e+00 -2.71052365e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.85, Y:-27.13, Z:0.00
[[ 9.73715817e-01  2.27766346e-01  0.00000000e+00  3.15851341e+02]
 [-2.27766346e-01  9.73715817e-01  0.00000000e+00 -2.71278168e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.91, Y:-27.15, Z:0.00
[[ 9.72513886e-01  2.32844888e-01  0.00000000e+00  3.15909471e+02]
 [-2.32844888e-01  9.72513886e-01  0.00000000e+00 -2.71492910e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:315.97, Y:-27.17, Z:0.00
[[ 9.71232300e-01  2.38134036e-01  0.00000000e+00  3.15969003e+02]
 [-2.38134036e-01  9.71232300e-01  0.00000000e+00 -2.71666152e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 313.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.03, Y:-27.19, Z:0.00
[[ 9.68463893e-01  2.49153946e-01  0.00000000e+00  3.16027948e+02]
 [-2.49153946e-01  9.68463893e-01  0.00000000e+00 -2.71860037e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.09, Y:-27.20, Z:0.00
[[ 9.67168655e-01  2.54135382e-01  0.00000000e+00  3.16085774e+02]
 [-2.54135382e-01  9.67168655e-01  0.00000000e+00 -2.72030257e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.14, Y:-27.22, Z:0.00
[[ 9.67637376e-01  2.52344820e-01  0.00000000e+00  3.16144201e+02]
 [-2.52344820e-01  9.67637376e-01  0.00000000e+00 -2.72238251e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.20, Y:-27.25, Z:0.00
[[ 9.69324050e-01  2.45786262e-01  0.00000000e+00  3.16201704e+02]
 [-2.45786262e-01  9.69324050e-01  0.00000000e+00 -2.72517825e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.26, Y:-27.27, Z:0.00
[[ 9.70951392e-01  2.39276816e-01  0.00000000e+00  3.16260923e+02]
 [-2.39276816e-01  9.70951392e-01  0.00000000e+00 -2.72711090e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.32, Y:-27.29, Z:0.00
[[ 9.72807258e-01  2.31616146e-01  0.00000000e+00  3.16318059e+02]
 [-2.31616146e-01  9.72807258e-01  0.00000000e+00 -2.72932659e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.38, Y:-27.31, Z:0.00
[[ 9.74313345e-01  2.25196596e-01  0.00000000e+00  3.16377703e+02]
 [-2.25196596e-01  9.74313345e-01  0.00000000e+00 -2.73109593e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.44, Y:-27.33, Z:0.00
[[ 9.76176841e-01  2.16976438e-01  0.00000000e+00  3.16435259e+02]
 [-2.16976438e-01  9.76176841e-01  0.00000000e+00 -2.73297295e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.49, Y:-27.35, Z:0.00
[[ 9.77946336e-01  2.08856321e-01  0.00000000e+00  3.16494085e+02]
 [-2.08856321e-01  9.77946336e-01  0.00000000e+00 -2.73483258e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.56, Y:-27.36, Z:0.00
[[ 9.79388598e-01  2.01985084e-01  0.00000000e+00  3.16555460e+02]
 [-2.01985084e-01  9.79388598e-01  0.00000000e+00 -2.73627545e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.62, Y:-27.38, Z:0.00
[[ 9.80541095e-01  1.96313936e-01  0.00000000e+00  3.16616417e+02]
 [-1.96313936e-01  9.80541095e-01  0.00000000e+00 -2.73759242e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.68, Y:-27.39, Z:0.00
[[ 9.81458515e-01  1.91674683e-01  0.00000000e+00  3.16676655e+02]
 [-1.91674683e-01  9.81458515e-01  0.00000000e+00 -2.73862565e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.74, Y:-27.40, Z:0.00
[[ 9.81320813e-01  1.92378432e-01  0.00000000e+00  3.16737658e+02]
 [-1.92378432e-01  9.81320813e-01  0.00000000e+00 -2.73962920e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.80, Y:-27.40, Z:0.00
[[ 9.81193208e-01  1.93028209e-01  0.00000000e+00  3.16799901e+02]
 [-1.93028209e-01  9.81193208e-01  0.00000000e+00 -2.74029090e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.86, Y:-27.41, Z:0.00
[[ 9.81336508e-01  1.92298356e-01  0.00000000e+00  3.16860912e+02]
 [-1.92298356e-01  9.81336508e-01  0.00000000e+00 -2.74107045e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.88606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.92, Y:-27.41, Z:0.00
[[ 9.81540093e-01  1.91256490e-01  0.00000000e+00  3.16923641e+02]
 [-1.91256490e-01  9.81540093e-01  0.00000000e+00 -2.74146777e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 314.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:316.99, Y:-27.42, Z:0.00
[[ 9.82170571e-01  1.87991938e-01  0.00000000e+00  3.16986008e+02]
 [-1.87991938e-01  9.82170571e-01  0.00000000e+00 -2.74180304e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.05, Y:-27.42, Z:0.00
[[ 9.82997656e-01  1.83618103e-01  0.00000000e+00  3.17048561e+02]
 [-1.83618103e-01  9.82997656e-01  0.00000000e+00 -2.74230701e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.11, Y:-27.42, Z:0.00
[[ 9.83721590e-01  1.79699287e-01  0.00000000e+00  3.17109988e+02]
 [-1.79699287e-01  9.83721590e-01  0.00000000e+00 -2.74245609e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.17, Y:-27.43, Z:0.00
[[ 9.84344299e-01  1.76256351e-01  0.00000000e+00  3.17171379e+02]
 [-1.76256351e-01  9.84344299e-01  0.00000000e+00 -2.74285293e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.23, Y:-27.43, Z:0.00
[[ 9.84689648e-01  1.74316657e-01  0.00000000e+00  3.17234946e+02]
 [-1.74316657e-01  9.84689648e-01  0.00000000e+00 -2.74294788e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.30, Y:-27.43, Z:0.00
[[ 9.84980523e-01  1.72665485e-01  0.00000000e+00  3.17296176e+02]
 [-1.72665485e-01  9.84980523e-01  0.00000000e+00 -2.74318486e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.36, Y:-27.43, Z:0.00
[[ 9.85003160e-01  1.72536301e-01  0.00000000e+00  3.17359658e+02]
 [-1.72536301e-01  9.85003160e-01  0.00000000e+00 -2.74320515e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.42, Y:-27.43, Z:0.00
[[ 9.85668383e-01  1.68694515e-01  0.00000000e+00  3.17422678e+02]
 [-1.68694515e-01  9.85668383e-01  0.00000000e+00 -2.74347641e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.49, Y:-27.44, Z:0.00
[[ 9.86303282e-01  1.64941917e-01  0.00000000e+00  3.17486242e+02]
 [-1.64941917e-01  9.86303282e-01  0.00000000e+00 -2.74358422e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.55, Y:-27.43, Z:0.00
[[ 9.86999381e-01  1.60724058e-01  0.00000000e+00  3.17550235e+02]
 [-1.60724058e-01  9.86999381e-01  0.00000000e+00 -2.74298102e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.61, Y:-27.42, Z:0.00
[[ 9.86445047e-01  1.64091953e-01  0.00000000e+00  3.17613290e+02]
 [-1.64091953e-01  9.86445047e-01  0.00000000e+00 -2.74247301e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.68, Y:-27.42, Z:0.00
[[ 9.85764549e-01  1.68131658e-01  0.00000000e+00  3.17676745e+02]
 [-1.68131658e-01  9.85764549e-01  0.00000000e+00 -2.74224283e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.74, Y:-27.42, Z:0.00
[[ 9.85050511e-01  1.72265756e-01  0.00000000e+00  3.17739247e+02]
 [-1.72265756e-01  9.85050511e-01  0.00000000e+00 -2.74172224e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.80, Y:-27.41, Z:0.00
[[ 9.85275029e-01  1.70976947e-01  0.00000000e+00  3.17802821e+02]
 [-1.70976947e-01  9.85275029e-01  0.00000000e+00 -2.74130250e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.87, Y:-27.41, Z:0.00
[[ 9.86140909e-01  1.65909939e-01  0.00000000e+00  3.17867106e+02]
 [-1.65909939e-01  9.86140909e-01  0.00000000e+00 -2.74096665e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.93, Y:-27.41, Z:0.00
[[ 9.87184201e-01  1.59584941e-01  0.00000000e+00  3.17929591e+02]
 [-1.59584941e-01  9.87184201e-01  0.00000000e+00 -2.74108271e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:317.99, Y:-27.41, Z:0.00
[[ 9.87551072e-01  1.57298694e-01  0.00000000e+00  3.17992608e+02]
 [-1.57298694e-01  9.87551072e-01  0.00000000e+00 -2.74089963e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 315.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.06, Y:-27.40, Z:0.00
[[ 9.87605509e-01  1.56956547e-01  0.00000000e+00  3.18056060e+02]
 [-1.56956547e-01  9.87605509e-01  0.00000000e+00 -2.74013938e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.12, Y:-27.40, Z:0.00
[[ 9.86666370e-01  1.62755875e-01  0.00000000e+00  3.18119723e+02]
 [-1.62755875e-01  9.86666370e-01  0.00000000e+00 -2.73961298e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.18, Y:-27.39, Z:0.00
[[ 9.84339347e-01  1.76284006e-01  0.00000000e+00  3.18183780e+02]
 [-1.76284006e-01  9.84339347e-01  0.00000000e+00 -2.73888983e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.25, Y:-27.39, Z:0.00
[[ 9.82077391e-01  1.88478112e-01  0.00000000e+00  3.18245215e+02]
 [-1.88478112e-01  9.82077391e-01  0.00000000e+00 -2.73862388e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.31, Y:-27.39, Z:0.00
[[ 9.79494970e-01  2.01468617e-01  0.00000000e+00  3.18308435e+02]
 [-2.01468617e-01  9.79494970e-01  0.00000000e+00 -2.73851015e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.37, Y:-27.39, Z:0.00
[[ 9.77626465e-01  2.10348508e-01  0.00000000e+00  3.18368804e+02]
 [-2.10348508e-01  9.77626465e-01  0.00000000e+00 -2.73885694e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.43, Y:-27.39, Z:0.00
[[ 9.77255958e-01  2.12063182e-01  0.00000000e+00  3.18431078e+02]
 [-2.12063182e-01  9.77255958e-01  0.00000000e+00 -2.73943717e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.38606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.49, Y:-27.40, Z:0.00
[[ 9.77072549e-01  2.12906630e-01  0.00000000e+00  3.18492224e+02]
 [-2.12906630e-01  9.77072549e-01  0.00000000e+00 -2.74024571e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.55, Y:-27.42, Z:0.00
[[ 9.75920655e-01  2.18125824e-01  0.00000000e+00  3.18552150e+02]
 [-2.18125824e-01  9.75920655e-01  0.00000000e+00 -2.74157748e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.61, Y:-27.43, Z:0.00
[[ 9.76444796e-01  2.15767375e-01  0.00000000e+00  3.18613746e+02]
 [-2.15767375e-01  9.76444796e-01  0.00000000e+00 -2.74262607e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.67, Y:-27.45, Z:0.00
[[ 9.76185041e-01  2.16939544e-01  0.00000000e+00  3.18672632e+02]
 [-2.16939544e-01  9.76185041e-01  0.00000000e+00 -2.74466315e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.73, Y:-27.47, Z:0.00
[[ 9.77162006e-01  2.12495678e-01  0.00000000e+00  3.18731536e+02]
 [-2.12495678e-01  9.77162006e-01  0.00000000e+00 -2.74680352e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.79, Y:-27.49, Z:0.00
[[ 9.77862567e-01  2.09248176e-01  0.00000000e+00  3.18790094e+02]
 [-2.09248176e-01  9.77862567e-01  0.00000000e+00 -2.74880994e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.85, Y:-27.51, Z:0.00
[[ 9.79632449e-01  2.00799068e-01  0.00000000e+00  3.18849110e+02]
 [-2.00799068e-01  9.79632449e-01  0.00000000e+00 -2.75104266e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.91, Y:-27.53, Z:0.00
[[ 9.81430234e-01  1.91819436e-01  0.00000000e+00  3.18907765e+02]
 [-1.91819436e-01  9.81430234e-01  0.00000000e+00 -2.75283111e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:318.97, Y:-27.55, Z:0.00
[[ 9.84104124e-01  1.77592433e-01  0.00000000e+00  3.18966022e+02]
 [-1.77592433e-01  9.84104124e-01  0.00000000e+00 -2.75461805e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.03, Y:-27.56, Z:0.00
[[ 9.85548782e-01  1.69391847e-01  0.00000000e+00  3.19025332e+02]
 [-1.69391847e-01  9.85548782e-01  0.00000000e+00 -2.75625428e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 316.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.09, Y:-27.57, Z:0.00
[[ 9.85562285e-01  1.69313265e-01  0.00000000e+00  3.19087215e+02]
 [-1.69313265e-01  9.85562285e-01  0.00000000e+00 -2.75717672e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.15, Y:-27.58, Z:0.00
[[ 9.83132012e-01  1.82897370e-01  0.00000000e+00  3.19148312e+02]
 [-1.82897370e-01  9.83132012e-01  0.00000000e+00 -2.75783464e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.21, Y:-27.59, Z:0.00
[[ 9.82025018e-01  1.88750799e-01  0.00000000e+00  3.19209593e+02]
 [-1.88750799e-01  9.82025018e-01  0.00000000e+00 -2.75864940e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.27, Y:-27.59, Z:0.00
[[ 9.79073885e-01  2.03505107e-01  0.00000000e+00  3.19270649e+02]
 [-2.03505107e-01  9.79073885e-01  0.00000000e+00 -2.75942613e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.33, Y:-27.60, Z:0.00
[[ 9.75912391e-01  2.18162793e-01  0.00000000e+00  3.19330913e+02]
 [-2.18162793e-01  9.75912391e-01  0.00000000e+00 -2.76027383e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.39, Y:-27.62, Z:0.00
[[ 9.73900018e-01  2.26977434e-01  0.00000000e+00  3.19390353e+02]
 [-2.26977434e-01  9.73900018e-01  0.00000000e+00 -2.76165579e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.45, Y:-27.63, Z:0.00
[[ 9.72779587e-01  2.31732336e-01  0.00000000e+00  3.19448097e+02]
 [-2.31732336e-01  9.72779587e-01  0.00000000e+00 -2.76319543e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.51, Y:-27.65, Z:0.00
[[ 9.73176958e-01  2.30057835e-01  0.00000000e+00  3.19507646e+02]
 [-2.30057835e-01  9.73176958e-01  0.00000000e+00 -2.76453154e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.57, Y:-27.67, Z:0.00
[[ 9.75789805e-01  2.18710441e-01  0.00000000e+00  3.19566243e+02]
 [-2.18710441e-01  9.75789805e-01  0.00000000e+00 -2.76666467e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.62, Y:-27.69, Z:0.00
[[ 9.79173033e-01  2.03027515e-01  0.00000000e+00  3.19623441e+02]
 [-2.03027515e-01  9.79173033e-01  0.00000000e+00 -2.76861603e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.68, Y:-27.70, Z:0.00
[[ 9.80123945e-01  1.98386119e-01  0.00000000e+00  3.19682939e+02]
 [-1.98386119e-01  9.80123945e-01  0.00000000e+00 -2.77034590e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.74, Y:-27.72, Z:0.00
[[ 9.80157360e-01  1.98220963e-01  0.00000000e+00  3.19741956e+02]
 [-1.98220963e-01  9.80157360e-01  0.00000000e+00 -2.77202654e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.80, Y:-27.74, Z:0.00
[[ 9.79439595e-01  2.01737653e-01  0.00000000e+00  3.19802693e+02]
 [-2.01737653e-01  9.79439595e-01  0.00000000e+00 -2.77358449e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.86, Y:-27.75, Z:0.00
[[ 9.78892530e-01  2.04375673e-01  0.00000000e+00  3.19862471e+02]
 [-2.04375673e-01  9.78892530e-01  0.00000000e+00 -2.77519401e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.92, Y:-27.77, Z:0.00
[[ 9.78222267e-01  2.07560104e-01  0.00000000e+00  3.19922080e+02]
 [-2.07560104e-01  9.78222267e-01  0.00000000e+00 -2.77652609e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.88606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:319.98, Y:-27.78, Z:0.00
[[ 9.75843156e-01  2.18472273e-01  0.00000000e+00  3.19980473e+02]
 [-2.18472273e-01  9.75843156e-01  0.00000000e+00 -2.77809703e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 317.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.04, Y:-27.80, Z:0.00
[[ 9.73419536e-01  2.29029273e-01  0.00000000e+00  3.20039858e+02]
 [-2.29029273e-01  9.73419536e-01  0.00000000e+00 -2.77965242e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.10, Y:-27.82, Z:0.00
[[ 9.73007660e-01  2.30772816e-01  0.00000000e+00  3.20098326e+02]
 [-2.30772816e-01  9.73007660e-01  0.00000000e+00 -2.78185828e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.16, Y:-27.84, Z:0.00
[[ 9.75229644e-01  2.21194806e-01  0.00000000e+00  3.20156105e+02]
 [-2.21194806e-01  9.75229644e-01  0.00000000e+00 -2.78369961e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.22, Y:-27.86, Z:0.00
[[ 9.76376997e-01  2.16073969e-01  0.00000000e+00  3.20215388e+02]
 [-2.16073969e-01  9.76376997e-01  0.00000000e+00 -2.78556622e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.27, Y:-27.88, Z:0.00
[[ 9.79356889e-01  2.02138776e-01  0.00000000e+00  3.20273202e+02]
 [-2.02138776e-01  9.79356889e-01  0.00000000e+00 -2.78773633e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.33, Y:-27.90, Z:0.00
[[ 9.81396469e-01  1.91992111e-01  0.00000000e+00  3.20331277e+02]
 [-1.91992111e-01  9.81396469e-01  0.00000000e+00 -2.79000750e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.39, Y:-27.91, Z:0.00
[[ 9.82474842e-01  1.86395238e-01  0.00000000e+00  3.20390522e+02]
 [-1.86395238e-01  9.82474842e-01  0.00000000e+00 -2.79143188e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.45, Y:-27.93, Z:0.00
[[ 9.83194541e-01  1.82560935e-01  0.00000000e+00  3.20451063e+02]
 [-1.82560935e-01  9.83194541e-01  0.00000000e+00 -2.79288031e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.51, Y:-27.94, Z:0.00
[[ 9.82858023e-01  1.84364062e-01  0.00000000e+00  3.20511945e+02]
 [-1.84364062e-01  9.82858023e-01  0.00000000e+00 -2.79404326e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.57, Y:-27.95, Z:0.00
[[ 9.81844908e-01  1.89685465e-01  0.00000000e+00  3.20573019e+02]
 [-1.89685465e-01  9.81844908e-01  0.00000000e+00 -2.79493603e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.63, Y:-27.96, Z:0.00
[[ 9.80892167e-01  1.94552195e-01  0.00000000e+00  3.20633208e+02]
 [-1.94552195e-01  9.80892167e-01  0.00000000e+00 -2.79582834e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.69, Y:-27.97, Z:0.00
[[ 9.80285124e-01  1.97588147e-01  0.00000000e+00  3.20693588e+02]
 [-1.97588147e-01  9.80285124e-01  0.00000000e+00 -2.79680845e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.75, Y:-27.98, Z:0.00
[[ 9.79494913e-01  2.01468894e-01  0.00000000e+00  3.20754490e+02]
 [-2.01468894e-01  9.79494913e-01  0.00000000e+00 -2.79760436e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.82, Y:-27.98, Z:0.00
[[ 9.78157703e-01  2.07864160e-01  0.00000000e+00  3.20816650e+02]
 [-2.07864160e-01  9.78157703e-01  0.00000000e+00 -2.79828504e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.88, Y:-28.00, Z:0.00
[[ 9.76892897e-01  2.13729429e-01  0.00000000e+00  3.20875806e+02]
 [-2.13729429e-01  9.76892897e-01  0.00000000e+00 -2.79957325e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.94, Y:-28.01, Z:0.00
[[ 9.77227011e-01  2.12196532e-01  0.00000000e+00  3.20936258e+02]
 [-2.12196532e-01  9.77227011e-01  0.00000000e+00 -2.80075503e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:320.99, Y:-28.03, Z:0.00
[[ 9.77279668e-01  2.11953888e-01  0.00000000e+00  3.20994663e+02]
 [-2.11953888e-01  9.77279668e-01  0.00000000e+00 -2.80251694e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 318.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.05, Y:-28.04, Z:0.00
[[ 9.77204560e-01  2.12299902e-01  0.00000000e+00  3.21054424e+02]
 [-2.12299902e-01  9.77204560e-01  0.00000000e+00 -2.80438825e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.11, Y:-28.06, Z:0.00
[[ 9.77935289e-01  2.08908044e-01  0.00000000e+00  3.21114617e+02]
 [-2.08908044e-01  9.77935289e-01  0.00000000e+00 -2.80592713e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.17, Y:-28.08, Z:0.00
[[ 9.78877021e-01  2.04449940e-01  0.00000000e+00  3.21172148e+02]
 [-2.04449940e-01  9.78877021e-01  0.00000000e+00 -2.80765461e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.23, Y:-28.09, Z:0.00
[[ 9.79064300e-01  2.03551214e-01  0.00000000e+00  3.21230827e+02]
 [-2.03551214e-01  9.79064300e-01  0.00000000e+00 -2.80924487e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.29, Y:-28.11, Z:0.00
[[ 9.79297309e-01  2.02427221e-01  0.00000000e+00  3.21290539e+02]
 [-2.02427221e-01  9.79297309e-01  0.00000000e+00 -2.81070156e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.35, Y:-28.12, Z:0.00
[[ 9.79091495e-01  2.03420365e-01  0.00000000e+00  3.21351301e+02]
 [-2.03420365e-01  9.79091495e-01  0.00000000e+00 -2.81208933e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.41, Y:-28.13, Z:0.00
[[ 9.77238508e-01  2.12143581e-01  0.00000000e+00  3.21410860e+02]
 [-2.12143581e-01  9.77238508e-01  0.00000000e+00 -2.81349204e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.38606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.47, Y:-28.15, Z:0.00
[[ 9.75257566e-01  2.21071662e-01  0.00000000e+00  3.21470296e+02]
 [-2.21071662e-01  9.75257566e-01  0.00000000e+00 -2.81485955e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.53, Y:-28.16, Z:0.00
[[ 9.71815687e-01  2.35741957e-01  0.00000000e+00  3.21529937e+02]
 [-2.35741957e-01  9.71815687e-01  0.00000000e+00 -2.81644232e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.59, Y:-28.18, Z:0.00
[[ 9.69886144e-01  2.43558756e-01  0.00000000e+00  3.21589058e+02]
 [-2.43558756e-01  9.69886144e-01  0.00000000e+00 -2.81797430e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.65, Y:-28.20, Z:0.00
[[ 9.68951543e-01  2.47250695e-01  0.00000000e+00  3.21648260e+02]
 [-2.47250695e-01  9.68951543e-01  0.00000000e+00 -2.81993149e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.71, Y:-28.22, Z:0.00
[[ 9.70275715e-01  2.42002141e-01  0.00000000e+00  3.21705940e+02]
 [-2.42002141e-01  9.70275715e-01  0.00000000e+00 -2.82208453e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.76, Y:-28.24, Z:0.00
[[ 9.72313476e-01  2.33680347e-01  0.00000000e+00  3.21764455e+02]
 [-2.33680347e-01  9.72313476e-01  0.00000000e+00 -2.82412293e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.82, Y:-28.27, Z:0.00
[[ 9.75920436e-01  2.18126805e-01  0.00000000e+00  3.21822369e+02]
 [-2.18126805e-01  9.75920436e-01  0.00000000e+00 -2.82656333e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.88, Y:-28.28, Z:0.00
[[ 9.78001463e-01  2.08598032e-01  0.00000000e+00  3.21880892e+02]
 [-2.08598032e-01  9.78001463e-01  0.00000000e+00 -2.82841779e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:321.94, Y:-28.30, Z:0.00
[[ 9.80315023e-01  1.97439751e-01  0.00000000e+00  3.21939065e+02]
 [-1.97439751e-01  9.80315023e-01  0.00000000e+00 -2.83027989e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.00, Y:-28.32, Z:0.00
[[ 9.83253768e-01  1.82241673e-01  0.00000000e+00  3.21997819e+02]
 [-1.82241673e-01  9.83253768e-01  0.00000000e+00 -2.83197719e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 319.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.06, Y:-28.33, Z:0.00
[[ 9.85275532e-01  1.70974050e-01  0.00000000e+00  3.22058111e+02]
 [-1.70974050e-01  9.85275532e-01  0.00000000e+00 -2.83324177e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.12, Y:-28.34, Z:0.00
[[ 9.86930129e-01  1.61148750e-01  0.00000000e+00  3.22117457e+02]
 [-1.61148750e-01  9.86930129e-01  0.00000000e+00 -2.83420747e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.18, Y:-28.35, Z:0.00
[[ 9.87624438e-01  1.56837400e-01  0.00000000e+00  3.22176296e+02]
 [-1.56837400e-01  9.87624438e-01  0.00000000e+00 -2.83524445e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.24, Y:-28.36, Z:0.00
[[ 9.87786552e-01  1.55813118e-01  0.00000000e+00  3.22238547e+02]
 [-1.55813118e-01  9.87786552e-01  0.00000000e+00 -2.83570450e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.30, Y:-28.36, Z:0.00
[[ 9.87069909e-01  1.60290343e-01  0.00000000e+00  3.22299974e+02]
 [-1.60290343e-01  9.87069909e-01  0.00000000e+00 -2.83621714e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.36, Y:-28.36, Z:0.00
[[ 9.85235849e-01  1.71202573e-01  0.00000000e+00  3.22361572e+02]
 [-1.71202573e-01  9.85235849e-01  0.00000000e+00 -2.83597816e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.42, Y:-28.36, Z:0.00
[[ 9.83952799e-01  1.78428946e-01  0.00000000e+00  3.22423367e+02]
 [-1.78428946e-01  9.83952799e-01  0.00000000e+00 -2.83644025e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.49, Y:-28.36, Z:0.00
[[ 9.82067729e-01  1.88528449e-01  0.00000000e+00  3.22485223e+02]
 [-1.88528449e-01  9.82067729e-01  0.00000000e+00 -2.83616354e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.55, Y:-28.36, Z:0.00
[[ 9.80570795e-01  1.96165531e-01  0.00000000e+00  3.22549189e+02]
 [-1.96165531e-01  9.80570795e-01  0.00000000e+00 -2.83612002e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.61, Y:-28.37, Z:0.00
[[ 9.80011243e-01  1.98942111e-01  0.00000000e+00  3.22611318e+02]
 [-1.98942111e-01  9.80011243e-01  0.00000000e+00 -2.83665826e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.67, Y:-28.37, Z:0.00
[[ 9.79782845e-01  2.00063930e-01  0.00000000e+00  3.22673161e+02]
 [-2.00063930e-01  9.79782845e-01  0.00000000e+00 -2.83713912e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.73, Y:-28.38, Z:0.00
[[ 9.79668279e-01  2.00624183e-01  0.00000000e+00  3.22734747e+02]
 [-2.00624183e-01  9.79668279e-01  0.00000000e+00 -2.83785968e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.80, Y:-28.39, Z:0.00
[[ 9.79145663e-01  2.03159471e-01  0.00000000e+00  3.22795736e+02]
 [-2.03159471e-01  9.79145663e-01  0.00000000e+00 -2.83866568e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.86, Y:-28.40, Z:0.00
[[ 9.77954982e-01  2.08815837e-01  0.00000000e+00  3.22857327e+02]
 [-2.08815837e-01  9.77954982e-01  0.00000000e+00 -2.83954591e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.92, Y:-28.40, Z:0.00
[[ 9.74971798e-01  2.22328570e-01  0.00000000e+00  3.22917898e+02]
 [-2.22328570e-01  9.74971798e-01  0.00000000e+00 -2.84036507e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.88606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:322.98, Y:-28.41, Z:0.00
[[ 9.72750457e-01  2.31854585e-01  0.00000000e+00  3.22978724e+02]
 [-2.31854585e-01  9.72750457e-01  0.00000000e+00 -2.84142705e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 320.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.04, Y:-28.43, Z:0.00
[[ 9.71320797e-01  2.37772812e-01  0.00000000e+00  3.23037707e+02]
 [-2.37772812e-01  9.71320797e-01  0.00000000e+00 -2.84277986e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.10, Y:-28.44, Z:0.00
[[ 9.70149998e-01  2.42505633e-01  0.00000000e+00  3.23096917e+02]
 [-2.42505633e-01  9.70149998e-01  0.00000000e+00 -2.84429368e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.16, Y:-28.46, Z:0.00
[[ 9.69902742e-01  2.43492652e-01  0.00000000e+00  3.23155558e+02]
 [-2.43492652e-01  9.69902742e-01  0.00000000e+00 -2.84598910e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.21, Y:-28.48, Z:0.00
[[ 9.70569769e-01  2.40820105e-01  0.00000000e+00  3.23213628e+02]
 [-2.40820105e-01  9.70569769e-01  0.00000000e+00 -2.84811899e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.27, Y:-28.50, Z:0.00
[[ 9.70969740e-01  2.39202351e-01  0.00000000e+00  3.23274012e+02]
 [-2.39202351e-01  9.70969740e-01  0.00000000e+00 -2.84968057e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.33, Y:-28.52, Z:0.00
[[ 9.72619006e-01  2.32405400e-01  0.00000000e+00  3.23330984e+02]
 [-2.32405400e-01  9.72619006e-01  0.00000000e+00 -2.85186454e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.39, Y:-28.54, Z:0.00
[[ 9.74002724e-01  2.26536295e-01  0.00000000e+00  3.23388681e+02]
 [-2.26536295e-01  9.74002724e-01  0.00000000e+00 -2.85393588e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.45, Y:-28.56, Z:0.00
[[ 9.76367106e-01  2.16118659e-01  0.00000000e+00  3.23446994e+02]
 [-2.16118659e-01  9.76367106e-01  0.00000000e+00 -2.85628219e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.51, Y:-28.58, Z:0.00
[[ 9.77200494e-01  2.12318616e-01  0.00000000e+00  3.23506854e+02]
 [-2.12318616e-01  9.77200494e-01  0.00000000e+00 -2.85807343e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.56, Y:-28.60, Z:0.00
[[ 9.78558463e-01  2.05969254e-01  0.00000000e+00  3.23564342e+02]
 [-2.05969254e-01  9.78558463e-01  0.00000000e+00 -2.86030592e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.62, Y:-28.62, Z:0.00
[[ 9.78983246e-01  2.03940686e-01  0.00000000e+00  3.23623907e+02]
 [-2.03940686e-01  9.78983246e-01  0.00000000e+00 -2.86188986e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.68, Y:-28.63, Z:0.00
[[ 9.79543478e-01  2.01232637e-01  0.00000000e+00  3.23682029e+02]
 [-2.01232637e-01  9.79543478e-01  0.00000000e+00 -2.86349669e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.74, Y:-28.65, Z:0.00
[[ 9.80167719e-01  1.98169730e-01  0.00000000e+00  3.23741986e+02]
 [-1.98169730e-01  9.80167719e-01  0.00000000e+00 -2.86517029e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.80, Y:-28.67, Z:0.00
[[ 9.81338546e-01  1.92287958e-01  0.00000000e+00  3.23800088e+02]
 [-1.92287958e-01  9.81338546e-01  0.00000000e+00 -2.86671678e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.86, Y:-28.68, Z:0.00
[[ 9.81911929e-01  1.89338224e-01  0.00000000e+00  3.23860825e+02]
 [-1.89338224e-01  9.81911929e-01  0.00000000e+00 -2.86817428e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.92, Y:-28.69, Z:0.00
[[ 9.83119986e-01  1.82962000e-01  0.00000000e+00  3.23920670e+02]
 [-1.82962000e-01  9.83119986e-01  0.00000000e+00 -2.86923782e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:323.98, Y:-28.70, Z:0.00
[[ 9.83685124e-01  1.79898797e-01  0.00000000e+00  3.23982451e+02]
 [-1.79898797e-01  9.83685124e-01  0.00000000e+00 -2.87026063e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 321.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.04, Y:-28.71, Z:0.00
[[ 9.83921737e-01  1.78600154e-01  0.00000000e+00  3.24043698e+02]
 [-1.78600154e-01  9.83921737e-01  0.00000000e+00 -2.87077052e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.11, Y:-28.72, Z:0.00
[[ 9.84538521e-01  1.75168205e-01  0.00000000e+00  3.24105094e+02]
 [-1.75168205e-01  9.84538521e-01  0.00000000e+00 -2.87157777e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.17, Y:-28.72, Z:0.00
[[ 9.85682700e-01  1.68610842e-01  0.00000000e+00  3.24165796e+02]
 [-1.68610842e-01  9.85682700e-01  0.00000000e+00 -2.87174039e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.23, Y:-28.72, Z:0.00
[[ 9.86995142e-01  1.60750085e-01  0.00000000e+00  3.24227612e+02]
 [-1.60750085e-01  9.86995142e-01  0.00000000e+00 -2.87192156e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.29, Y:-28.73, Z:0.00
[[ 9.87427334e-01  1.58073588e-01  0.00000000e+00  3.24288044e+02]
 [-1.58073588e-01  9.87427334e-01  0.00000000e+00 -2.87251774e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.35, Y:-28.73, Z:0.00
[[ 9.88135226e-01  1.53586375e-01  0.00000000e+00  3.24349757e+02]
 [-1.53586375e-01  9.88135226e-01  0.00000000e+00 -2.87263180e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.41, Y:-28.73, Z:0.00
[[ 9.87821859e-01  1.55589124e-01  0.00000000e+00  3.24412327e+02]
 [-1.55589124e-01  9.87821859e-01  0.00000000e+00 -2.87250159e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.38606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.47, Y:-28.73, Z:0.00
[[ 9.88110454e-01  1.53745672e-01  0.00000000e+00  3.24474186e+02]
 [-1.53745672e-01  9.88110454e-01  0.00000000e+00 -2.87280511e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.54, Y:-28.72, Z:0.00
[[ 9.88002166e-01  1.54440018e-01  0.00000000e+00  3.24536839e+02]
 [-1.54440018e-01  9.88002166e-01  0.00000000e+00 -2.87228225e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.60, Y:-28.72, Z:0.00
[[ 9.88305336e-01  1.52487914e-01  0.00000000e+00  3.24598984e+02]
 [-1.52487914e-01  9.88305336e-01  0.00000000e+00 -2.87229805e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.66, Y:-28.71, Z:0.00
[[ 9.87453208e-01  1.57911881e-01  0.00000000e+00  3.24662369e+02]
 [-1.57911881e-01  9.87453208e-01  0.00000000e+00 -2.87136675e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.73, Y:-28.71, Z:0.00
[[ 9.86918767e-01  1.61218320e-01  0.00000000e+00  3.24725216e+02]
 [-1.61218320e-01  9.86918767e-01  0.00000000e+00 -2.87138960e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.79, Y:-28.71, Z:0.00
[[ 9.86019112e-01  1.66632262e-01  0.00000000e+00  3.24788360e+02]
 [-1.66632262e-01  9.86019112e-01  0.00000000e+00 -2.87052818e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.85, Y:-28.71, Z:0.00
[[ 9.85343785e-01  1.70580263e-01  0.00000000e+00  3.24850814e+02]
 [-1.70580263e-01  9.85343785e-01  0.00000000e+00 -2.87060849e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.91, Y:-28.70, Z:0.00
[[ 9.84376518e-01  1.76076320e-01  0.00000000e+00  3.24913389e+02]
 [-1.76076320e-01  9.84376518e-01  0.00000000e+00 -2.87034468e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:324.97, Y:-28.70, Z:0.00
[[ 9.83732695e-01  1.79638482e-01  0.00000000e+00  3.24974168e+02]
 [-1.79638482e-01  9.83732695e-01  0.00000000e+00 -2.87048780e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.04, Y:-28.71, Z:0.00
[[ 9.82194805e-01  1.87865287e-01  0.00000000e+00  3.25037464e+02]
 [-1.87865287e-01  9.82194805e-01  0.00000000e+00 -2.87069419e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 322.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.10, Y:-28.71, Z:0.00
[[ 9.81429286e-01  1.91824284e-01  0.00000000e+00  3.25099207e+02]
 [-1.91824284e-01  9.81429286e-01  0.00000000e+00 -2.87141788e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.16, Y:-28.72, Z:0.00
[[ 9.79624656e-01  2.00837084e-01  0.00000000e+00  3.25159010e+02]
 [-2.00837084e-01  9.79624656e-01  0.00000000e+00 -2.87195466e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.22, Y:-28.73, Z:0.00
[[ 9.79017328e-01  2.03777012e-01  0.00000000e+00  3.25220056e+02]
 [-2.03777012e-01  9.79017328e-01  0.00000000e+00 -2.87311009e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.28, Y:-28.74, Z:0.00
[[ 9.77558727e-01  2.10663083e-01  0.00000000e+00  3.25281421e+02]
 [-2.10663083e-01  9.77558727e-01  0.00000000e+00 -2.87412014e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.34, Y:-28.75, Z:0.00
[[ 9.74272917e-01  2.25371434e-01  0.00000000e+00  3.25340453e+02]
 [-2.25371434e-01  9.74272917e-01  0.00000000e+00 -2.87525637e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.40, Y:-28.77, Z:0.00
[[ 9.70762800e-01  2.40040802e-01  0.00000000e+00  3.25399298e+02]
 [-2.40040802e-01  9.70762800e-01  0.00000000e+00 -2.87682283e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.46, Y:-28.79, Z:0.00
[[ 9.68547281e-01  2.48829588e-01  0.00000000e+00  3.25458009e+02]
 [-2.48829588e-01  9.68547281e-01  0.00000000e+00 -2.87852297e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.52, Y:-28.81, Z:0.00
[[ 9.66877487e-01  2.55240915e-01  0.00000000e+00  3.25515513e+02]
 [-2.55240915e-01  9.66877487e-01  0.00000000e+00 -2.88079384e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.57, Y:-28.83, Z:0.00
[[ 9.66690602e-01  2.55947809e-01  0.00000000e+00  3.25574063e+02]
 [-2.55947809e-01  9.66690602e-01  0.00000000e+00 -2.88319697e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.63, Y:-28.86, Z:0.00
[[ 9.68229947e-01  2.50061532e-01  0.00000000e+00  3.25630000e+02]
 [-2.50061532e-01  9.68229947e-01  0.00000000e+00 -2.88629557e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.69, Y:-28.89, Z:0.00
[[ 9.69375246e-01  2.45584268e-01  0.00000000e+00  3.25687339e+02]
 [-2.45584268e-01  9.69375246e-01  0.00000000e+00 -2.88885412e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.75, Y:-28.92, Z:0.00
[[ 9.69920071e-01  2.43423615e-01  0.00000000e+00  3.25745041e+02]
 [-2.43423615e-01  9.69920071e-01  0.00000000e+00 -2.89155908e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.80, Y:-28.95, Z:0.00
[[ 9.69554269e-01  2.44876540e-01  0.00000000e+00  3.25801509e+02]
 [-2.44876540e-01  9.69554269e-01  0.00000000e+00 -2.89491284e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.86, Y:-28.97, Z:0.00
[[ 9.68963041e-01  2.47205632e-01  0.00000000e+00  3.25859542e+02]
 [-2.47205632e-01  9.68963041e-01  0.00000000e+00 -2.89730750e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.92, Y:-29.00, Z:0.00
[[ 9.67883672e-01  2.51398483e-01  0.00000000e+00  3.25916299e+02]
 [-2.51398483e-01  9.67883672e-01  0.00000000e+00 -2.90010255e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.88606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:325.97, Y:-29.03, Z:0.00
[[ 9.65983032e-01  2.58605454e-01  0.00000000e+00  3.25972910e+02]
 [-2.58605454e-01  9.65983032e-01  0.00000000e+00 -2.90307039e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 323.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.03, Y:-29.05, Z:0.00
[[ 9.65949841e-01  2.58729403e-01  0.00000000e+00  3.26031961e+02]
 [-2.58729403e-01  9.65949841e-01  0.00000000e+00 -2.90528870e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.09, Y:-29.09, Z:0.00
[[ 9.64400960e-01  2.64444301e-01  0.00000000e+00  3.26086374e+02]
 [-2.64444301e-01  9.64400960e-01  0.00000000e+00 -2.90855548e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.14, Y:-29.11, Z:0.00
[[ 9.64028348e-01  2.65799442e-01  0.00000000e+00  3.26144321e+02]
 [-2.65799442e-01  9.64028348e-01  0.00000000e+00 -2.91092671e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.20, Y:-29.14, Z:0.00
[[ 9.63732978e-01  2.66868406e-01  0.00000000e+00  3.26199823e+02]
 [-2.66868406e-01  9.63732978e-01  0.00000000e+00 -2.91413738e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.26, Y:-29.17, Z:0.00
[[ 9.63694743e-01  2.67006446e-01  0.00000000e+00  3.26257588e+02]
 [-2.67006446e-01  9.63694743e-01  0.00000000e+00 -2.91699853e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.31, Y:-29.20, Z:0.00
[[ 9.65100808e-01  2.61878655e-01  0.00000000e+00  3.26313684e+02]
 [-2.61878655e-01  9.65100808e-01  0.00000000e+00 -2.91986356e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.37, Y:-29.23, Z:0.00
[[ 9.66799972e-01  2.55534371e-01  0.00000000e+00  3.26370172e+02]
 [-2.55534371e-01  9.66799972e-01  0.00000000e+00 -2.92296149e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.43, Y:-29.25, Z:0.00
[[ 9.68122067e-01  2.50478867e-01  0.00000000e+00  3.26427546e+02]
 [-2.50478867e-01  9.68122067e-01  0.00000000e+00 -2.92521111e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.49, Y:-29.28, Z:0.00
[[ 9.69801135e-01  2.43897026e-01  0.00000000e+00  3.26485369e+02]
 [-2.43897026e-01  9.69801135e-01  0.00000000e+00 -2.92772809e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.54, Y:-29.30, Z:0.00
[[ 9.71080874e-01  2.38750784e-01  0.00000000e+00  3.26543832e+02]
 [-2.38750784e-01  9.71080874e-01  0.00000000e+00 -2.92987291e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.60, Y:-29.32, Z:0.00
[[ 9.72205348e-01  2.34129795e-01  0.00000000e+00  3.26603682e+02]
 [-2.34129795e-01  9.72205348e-01  0.00000000e+00 -2.93170283e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.66, Y:-29.34, Z:0.00
[[ 9.73016496e-01  2.30735562e-01  0.00000000e+00  3.26659785e+02]
 [-2.30735562e-01  9.73016496e-01  0.00000000e+00 -2.93432309e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.72, Y:-29.36, Z:0.00
[[ 9.73023786e-01  2.30704816e-01  0.00000000e+00  3.26719222e+02]
 [-2.30704816e-01  9.73023786e-01  0.00000000e+00 -2.93602625e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.78, Y:-29.38, Z:0.00
[[ 9.72057044e-01  2.34744763e-01  0.00000000e+00  3.26778525e+02]
 [-2.34744763e-01  9.72057044e-01  0.00000000e+00 -2.93754915e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.84, Y:-29.39, Z:0.00
[[ 9.70329993e-01  2.41784418e-01  0.00000000e+00  3.26836945e+02]
 [-2.41784418e-01  9.70329993e-01  0.00000000e+00 -2.93903980e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.90, Y:-29.40, Z:0.00
[[ 9.69488987e-01  2.45134870e-01  0.00000000e+00  3.26897465e+02]
 [-2.45134870e-01  9.69488987e-01  0.00000000e+00 -2.94049667e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:326.96, Y:-29.42, Z:0.00
[[ 9.69431534e-01  2.45361980e-01  0.00000000e+00  3.26955950e+02]
 [-2.45361980e-01  9.69431534e-01  0.00000000e+00 -2.94210225e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 324.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.02, Y:-29.43, Z:0.00
[[ 9.69495385e-01  2.45109563e-01  0.00000000e+00  3.27015523e+02]
 [-2.45109563e-01  9.69495385e-01  0.00000000e+00 -2.94341020e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.07, Y:-29.45, Z:0.00
[[ 9.69633893e-01  2.44561064e-01  0.00000000e+00  3.27074312e+02]
 [-2.44561064e-01  9.69633893e-01  0.00000000e+00 -2.94474544e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.14, Y:-29.46, Z:0.00
[[ 9.70096197e-01  2.42720764e-01  0.00000000e+00  3.27135084e+02]
 [-2.42720764e-01  9.70096197e-01  0.00000000e+00 -2.94642247e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.19, Y:-29.48, Z:0.00
[[ 9.71069863e-01  2.38795566e-01  0.00000000e+00  3.27194225e+02]
 [-2.38795566e-01  9.71069863e-01  0.00000000e+00 -2.94816683e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.25, Y:-29.50, Z:0.00
[[ 9.72087402e-01  2.34619015e-01  0.00000000e+00  3.27254571e+02]
 [-2.34619015e-01  9.72087402e-01  0.00000000e+00 -2.94952452e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.31, Y:-29.51, Z:0.00
[[ 9.72575654e-01  2.32586753e-01  0.00000000e+00  3.27312105e+02]
 [-2.32586753e-01  9.72575654e-01  0.00000000e+00 -2.95133269e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.37, Y:-29.53, Z:0.00
[[ 9.72413224e-01  2.33264916e-01  0.00000000e+00  3.27372552e+02]
 [-2.33264916e-01  9.72413224e-01  0.00000000e+00 -2.95273030e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.38606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.43, Y:-29.54, Z:0.00
[[ 9.71889292e-01  2.35438323e-01  0.00000000e+00  3.27432818e+02]
 [-2.35438323e-01  9.71889292e-01  0.00000000e+00 -2.95408661e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.49, Y:-29.56, Z:0.00
[[ 9.71209865e-01  2.38225518e-01  0.00000000e+00  3.27493198e+02]
 [-2.38225518e-01  9.71209865e-01  0.00000000e+00 -2.95556114e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.55, Y:-29.57, Z:0.00
[[ 9.70551912e-01  2.40892061e-01  0.00000000e+00  3.27552592e+02]
 [-2.40892061e-01  9.70551912e-01  0.00000000e+00 -2.95679022e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.61, Y:-29.58, Z:0.00
[[ 9.69670137e-01  2.44417317e-01  0.00000000e+00  3.27612269e+02]
 [-2.44417317e-01  9.69670137e-01  0.00000000e+00 -2.95819204e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.67, Y:-29.60, Z:0.00
[[ 9.69180123e-01  2.46353179e-01  0.00000000e+00  3.27671175e+02]
 [-2.46353179e-01  9.69180123e-01  0.00000000e+00 -2.95983172e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.73, Y:-29.61, Z:0.00
[[ 9.69739182e-01  2.44143234e-01  0.00000000e+00  3.27730855e+02]
 [-2.44143234e-01  9.69739182e-01  0.00000000e+00 -2.96136088e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.79, Y:-29.63, Z:0.00
[[ 9.70966006e-01  2.39217508e-01  0.00000000e+00  3.27789585e+02]
 [-2.39217508e-01  9.70966006e-01  0.00000000e+00 -2.96302273e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.85, Y:-29.65, Z:0.00
[[ 9.72106931e-01  2.34538089e-01  0.00000000e+00  3.27849260e+02]
 [-2.34538089e-01  9.72106931e-01  0.00000000e+00 -2.96471468e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.91, Y:-29.66, Z:0.00
[[ 9.73582688e-01  2.28334733e-01  0.00000000e+00  3.27907623e+02]
 [-2.28334733e-01  9.73582688e-01  0.00000000e+00 -2.96637664e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:327.97, Y:-29.68, Z:0.00
[[ 9.76102951e-01  2.17308604e-01  0.00000000e+00  3.27966265e+02]
 [-2.17308604e-01  9.76102951e-01  0.00000000e+00 -2.96823000e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 325.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.03, Y:-29.70, Z:0.00
[[ 9.78225293e-01  2.07545839e-01  0.00000000e+00  3.28027450e+02]
 [-2.07545839e-01  9.78225293e-01  0.00000000e+00 -2.96982684e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.09, Y:-29.71, Z:0.00
[[ 9.80224513e-01  1.97888615e-01  0.00000000e+00  3.28088968e+02]
 [-1.97888615e-01  9.80224513e-01  0.00000000e+00 -2.97139492e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.15, Y:-29.73, Z:0.00
[[ 9.80950555e-01  1.94257585e-01  0.00000000e+00  3.28149312e+02]
 [-1.94257585e-01  9.80950555e-01  0.00000000e+00 -2.97281288e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.21, Y:-29.74, Z:0.00
[[ 9.80974925e-01  1.94134479e-01  0.00000000e+00  3.28209985e+02]
 [-1.94134479e-01  9.80974925e-01  0.00000000e+00 -2.97401752e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.27, Y:-29.75, Z:0.00
[[ 9.80785306e-01  1.95090191e-01  0.00000000e+00  3.28271507e+02]
 [-1.95090191e-01  9.80785306e-01  0.00000000e+00 -2.97463162e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.33, Y:-29.76, Z:0.00
[[ 9.81081439e-01  1.93595482e-01  0.00000000e+00  3.28332480e+02]
 [-1.93595482e-01  9.81081439e-01  0.00000000e+00 -2.97568508e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.39, Y:-29.76, Z:0.00
[[ 9.82120536e-01  1.88253164e-01  0.00000000e+00  3.28393477e+02]
 [-1.88253164e-01  9.82120536e-01  0.00000000e+00 -2.97619474e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.45, Y:-29.77, Z:0.00
[[ 9.82807014e-01  1.84635785e-01  0.00000000e+00  3.28454272e+02]
 [-1.84635785e-01  9.82807014e-01  0.00000000e+00 -2.97685074e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.52, Y:-29.77, Z:0.00
[[ 9.83091599e-01  1.83114466e-01  0.00000000e+00  3.28516322e+02]
 [-1.83114466e-01  9.83091599e-01  0.00000000e+00 -2.97702590e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.58, Y:-29.77, Z:0.00
[[ 9.83016379e-01  1.83517841e-01  0.00000000e+00  3.28578824e+02]
 [-1.83517841e-01  9.83016379e-01  0.00000000e+00 -2.97744504e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.64, Y:-29.77, Z:0.00
[[ 9.82200494e-01  1.87835539e-01  0.00000000e+00  3.28643215e+02]
 [-1.87835539e-01  9.82200494e-01  0.00000000e+00 -2.97684135e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.71, Y:-29.77, Z:0.00
[[ 9.81559589e-01  1.91156412e-01  0.00000000e+00  3.28705671e+02]
 [-1.91156412e-01  9.81559589e-01  0.00000000e+00 -2.97712021e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.77, Y:-29.77, Z:0.00
[[ 9.80337592e-01  1.97327659e-01  0.00000000e+00  3.28769762e+02]
 [-1.97327659e-01  9.80337592e-01  0.00000000e+00 -2.97710904e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.83, Y:-29.78, Z:0.00
[[ 9.79371734e-01  2.02066835e-01  0.00000000e+00  3.28831774e+02]
 [-2.02066835e-01  9.79371734e-01  0.00000000e+00 -2.97758413e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.82606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.89, Y:-29.78, Z:0.00
[[ 9.77595141e-01  2.10494037e-01  0.00000000e+00  3.28894391e+02]
 [-2.10494037e-01  9.77595141e-01  0.00000000e+00 -2.97758537e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.88606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:328.96, Y:-29.78, Z:0.00
[[ 9.76972924e-01  2.13363320e-01  0.00000000e+00  3.28956583e+02]
 [-2.13363320e-01  9.76972924e-01  0.00000000e+00 -2.97849270e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 326.946066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.02, Y:-29.79, Z:0.00
[[ 9.75115155e-01  2.21698975e-01  0.00000000e+00  3.29018102e+02]
 [-2.21698975e-01  9.75115155e-01  0.00000000e+00 -2.97890667e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.006066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.08, Y:-29.80, Z:0.00
[[ 9.73636355e-01  2.28105782e-01  0.00000000e+00  3.29078794e+02]
 [-2.28105782e-01  9.73636355e-01  0.00000000e+00 -2.97958171e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.066066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.14, Y:-29.80, Z:0.00
[[ 9.72155815e-01  2.34335384e-01  0.00000000e+00  3.29139879e+02]
 [-2.34335384e-01  9.72155815e-01  0.00000000e+00 -2.98018683e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.126066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.20, Y:-29.82, Z:0.00
[[ 9.71966298e-01  2.35120217e-01  0.00000000e+00  3.29200563e+02]
 [-2.35120217e-01  9.71966298e-01  0.00000000e+00 -2.98164915e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.186066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.26, Y:-29.83, Z:0.00
[[ 9.69955905e-01  2.43280789e-01  0.00000000e+00  3.29259035e+02]
 [-2.43280789e-01  9.69955905e-01  0.00000000e+00 -2.98304216e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.246066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.32, Y:-29.84, Z:0.00
[[ 9.68809980e-01  2.47804808e-01  0.00000000e+00  3.29318456e+02]
 [-2.47804808e-01  9.68809980e-01  0.00000000e+00 -2.98444578e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.306066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.38, Y:-29.86, Z:0.00
[[ 9.67426422e-01  2.53152362e-01  0.00000000e+00  3.29377335e+02]
 [-2.53152362e-01  9.67426422e-01  0.00000000e+00 -2.98560667e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.366066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.44, Y:-29.88, Z:0.00
[[ 9.64650463e-01  2.63532702e-01  0.00000000e+00  3.29435685e+02]
 [-2.63532702e-01  9.64650463e-01  0.00000000e+00 -2.98762129e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.426066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.49, Y:-29.90, Z:0.00
[[ 9.63414556e-01  2.68015659e-01  0.00000000e+00  3.29494775e+02]
 [-2.68015659e-01  9.63414556e-01  0.00000000e+00 -2.98951057e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.486066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.55, Y:-29.92, Z:0.00
[[ 9.62822025e-01  2.70136537e-01  0.00000000e+00  3.29553123e+02]
 [-2.70136537e-01  9.62822025e-01  0.00000000e+00 -2.99158408e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.546066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.61, Y:-29.94, Z:0.00
[[ 9.62766394e-01  2.70334736e-01  0.00000000e+00  3.29611225e+02]
 [-2.70334736e-01  9.62766394e-01  0.00000000e+00 -2.99407575e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.606066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.67, Y:-29.96, Z:0.00
[[ 9.62950717e-01  2.69677432e-01  0.00000000e+00  3.29670299e+02]
 [-2.69677432e-01  9.62950717e-01  0.00000000e+00 -2.99588142e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.666066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.73, Y:-29.99, Z:0.00
[[ 9.63224992e-01  2.68696138e-01  0.00000000e+00  3.29726917e+02]
 [-2.68696138e-01  9.63224992e-01  0.00000000e+00 -2.99866357e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.726066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.78, Y:-30.01, Z:0.00
[[ 9.63257113e-01  2.68580964e-01  0.00000000e+00  3.29783698e+02]
 [-2.68580964e-01  9.63257113e-01  0.00000000e+00 -3.00126630e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.786066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.84, Y:-30.04, Z:0.00
[[ 9.63805549e-01  2.66606195e-01  0.00000000e+00  3.29841236e+02]
 [-2.66606195e-01  9.63805549e-01  0.00000000e+00 -3.00366463e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.846066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.90, Y:-30.06, Z:0.00
[[ 9.62812381e-01  2.70170907e-01  0.00000000e+00  3.29899230e+02]
 [-2.70170907e-01  9.62812381e-01  0.00000000e+00 -3.00610178e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.906066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:329.96, Y:-30.08, Z:0.00
[[ 9.62629962e-01  2.70820155e-01  0.00000000e+00  3.29957056e+02]
 [-2.70820155e-01  9.62629962e-01  0.00000000e+00 -3.00822751e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 327.966066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.01, Y:-30.11, Z:0.00
[[ 9.63668890e-01  2.67099739e-01  0.00000000e+00  3.30014320e+02]
 [-2.67099739e-01  9.63668890e-01  0.00000000e+00 -3.01088925e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.02606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.07, Y:-30.14, Z:0.00
[[ 9.63918974e-01  2.66195813e-01  0.00000000e+00  3.30071602e+02]
 [-2.66195813e-01  9.63918974e-01  0.00000000e+00 -3.01352057e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.08606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.13, Y:-30.16, Z:0.00
[[ 9.65863474e-01  2.59051635e-01  0.00000000e+00  3.30128808e+02]
 [-2.59051635e-01  9.65863474e-01  0.00000000e+00 -3.01579795e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.14606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.19, Y:-30.18, Z:0.00
[[ 9.68269560e-01  2.49908101e-01  0.00000000e+00  3.30187007e+02]
 [-2.49908101e-01  9.68269560e-01  0.00000000e+00 -3.01825345e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.20606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.25, Y:-30.20, Z:0.00
[[ 9.71211651e-01  2.38218240e-01  0.00000000e+00  3.30245181e+02]
 [-2.38218240e-01  9.71211651e-01  0.00000000e+00 -3.02036982e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.26606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.30, Y:-30.23, Z:0.00
[[ 9.73490394e-01  2.28727901e-01  0.00000000e+00  3.30302161e+02]
 [-2.28727901e-01  9.73490394e-01  0.00000000e+00 -3.02264839e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.32606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.36, Y:-30.25, Z:0.00
[[ 9.76580806e-01  2.15150944e-01  0.00000000e+00  3.30360504e+02]
 [-2.15150944e-01  9.76580806e-01  0.00000000e+00 -3.02468651e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.38606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.42, Y:-30.26, Z:0.00
[[ 9.77717774e-01  2.09923687e-01  0.00000000e+00  3.30419569e+02]
 [-2.09923687e-01  9.77717774e-01  0.00000000e+00 -3.02641561e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.446066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.48, Y:-30.28, Z:0.00
[[ 9.79220145e-01  2.02800165e-01  0.00000000e+00  3.30477588e+02]
 [-2.02800165e-01  9.79220145e-01  0.00000000e+00 -3.02802357e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.506066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.54, Y:-30.29, Z:0.00
[[ 9.80379583e-01  1.97118930e-01  0.00000000e+00  3.30537543e+02]
 [-1.97118930e-01  9.80379583e-01  0.00000000e+00 -3.02936329e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.566066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.60, Y:-30.31, Z:0.00
[[ 9.81428365e-01  1.91828999e-01  0.00000000e+00  3.30597746e+02]
 [-1.91828999e-01  9.81428365e-01  0.00000000e+00 -3.03072649e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.626066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.66, Y:-30.32, Z:0.00
[[ 9.81756015e-01  1.90145017e-01  0.00000000e+00  3.30658084e+02]
 [-1.90145017e-01  9.81756015e-01  0.00000000e+00 -3.03170673e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.686066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.72, Y:-30.32, Z:0.00
[[ 9.80810525e-01  1.94963368e-01  0.00000000e+00  3.30719077e+02]
 [-1.94963368e-01  9.80810525e-01  0.00000000e+00 -3.03227475e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.746066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.78, Y:-30.33, Z:0.00
[[ 9.80404551e-01  1.96994713e-01  0.00000000e+00  3.30779973e+02]
 [-1.96994713e-01  9.80404551e-01  0.00000000e+00 -3.03334090e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.806066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.84, Y:-30.34, Z:0.00
[[ 9.79791372e-01  2.00022169e-01  0.00000000e+00  3.30840544e+02]
 [-2.00022169e-01  9.79791372e-01  0.00000000e+00 -3.03444783e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.866066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.90, Y:-30.34, Z:0.00
[[ 9.76719079e-01  2.14522354e-01  0.00000000e+00  3.30902908e+02]
 [-2.14522354e-01  9.76719079e-01  0.00000000e+00 -3.03444956e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.926066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:330.96, Y:-30.36, Z:0.00
[[ 9.75984201e-01  2.17841316e-01  0.00000000e+00  3.30963218e+02]
 [-2.17841316e-01  9.75984201e-01  0.00000000e+00 -3.03553518e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 328.986066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.03, Y:-30.36, Z:0.00
[[ 9.73970659e-01  2.26674117e-01  0.00000000e+00  3.31025202e+02]
 [-2.26674117e-01  9.73970659e-01  0.00000000e+00 -3.03621074e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.046066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.09, Y:-30.37, Z:0.00
[[ 9.73220440e-01  2.29873824e-01  0.00000000e+00  3.31085960e+02]
 [-2.29873824e-01  9.73220440e-01  0.00000000e+00 -3.03726174e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.106066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.15, Y:-30.38, Z:0.00
[[ 9.73006137e-01  2.30779238e-01  0.00000000e+00  3.31146620e+02]
 [-2.30779238e-01  9.73006137e-01  0.00000000e+00 -3.03841449e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.166066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.21, Y:-30.40, Z:0.00
[[ 9.74435599e-01  2.24667006e-01  0.00000000e+00  3.31206325e+02]
 [-2.24667006e-01  9.74435599e-01  0.00000000e+00 -3.03987957e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.226066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.27, Y:-30.41, Z:0.00
[[ 9.75826484e-01  2.18546731e-01  0.00000000e+00  3.31266037e+02]
 [-2.18546731e-01  9.75826484e-01  0.00000000e+00 -3.04129867e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.286066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.33, Y:-30.43, Z:0.00
[[ 9.75762076e-01  2.18834116e-01  0.00000000e+00  3.31326143e+02]
 [-2.18834116e-01  9.75762076e-01  0.00000000e+00 -3.04271779e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.346066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.39, Y:-30.44, Z:0.00
[[ 9.74693797e-01  2.23544182e-01  0.00000000e+00  3.31385383e+02]
 [-2.23544182e-01  9.74693797e-01  0.00000000e+00 -3.04405501e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.406066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.45, Y:-30.45, Z:0.00
[[ 9.73922739e-01  2.26879922e-01  0.00000000e+00  3.31445957e+02]
 [-2.26879922e-01  9.73922739e-01  0.00000000e+00 -3.04515408e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.466066493 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.51, Y:-30.47, Z:0.00
[[ 9.73530323e-01  2.28557892e-01  0.00000000e+00  3.31505559e+02]
 [-2.28557892e-01  9.73530323e-01  0.00000000e+00 -3.04706628e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.52606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.57, Y:-30.49, Z:0.00
[[ 9.71908546e-01  2.35358829e-01  0.00000000e+00  3.31565099e+02]
 [-2.35358829e-01  9.71908546e-01  0.00000000e+00 -3.04851833e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.58606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.62, Y:-30.50, Z:0.00
[[ 9.71004419e-01  2.39061535e-01  0.00000000e+00  3.31624345e+02]
 [-2.39061535e-01  9.71004419e-01  0.00000000e+00 -3.05045177e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.64606649300003 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.68, Y:-30.53, Z:0.00
[[ 9.69561898e-01  2.44846330e-01  0.00000000e+00  3.31682173e+02]
 [-2.44846330e-01  9.69561898e-01  0.00000000e+00 -3.05254014e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.70606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.74, Y:-30.55, Z:0.00
[[ 9.69731532e-01  2.44173618e-01  0.00000000e+00  3.31741565e+02]
 [-2.44173618e-01  9.69731532e-01  0.00000000e+00 -3.05456691e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.76606649300004 meters
Centerline goodness : 1.000000 with order 1
Centerline is valid?  [True, True]
Translation: X:331.80, Y:-30.57, Z:0.00
[[ 9.69835747e-01  2.43759355e-01  0.00000000e+00  3.31799942e+02]
 [-2.43759355e-01  9.69835747e-01  0.00000000e+00 -3.05659823e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.82606649300004 meters
Centerline goodness : 0.996807 with order 1
Centerline is valid?  [True, True]
Translation: X:331.86, Y:-30.59, Z:0.00
[[ 9.70863355e-01  2.39633775e-01  0.00000000e+00  3.31856997e+02]
 [-2.39633775e-01  9.70863355e-01  0.00000000e+00 -3.05891088e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.88606649300004 meters
Centerline goodness : 0.993612 with order 1
Centerline is valid?  [True, True]
Translation: X:331.92, Y:-30.61, Z:0.00
[[ 9.71328828e-01  2.37740000e-01  0.00000000e+00  3.31916602e+02]
 [-2.37740000e-01  9.71328828e-01  0.00000000e+00 -3.06069646e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 329.946066493 meters
Centerline goodness : 0.990208 with order 1
Centerline is valid?  [True, True]
Translation: X:331.98, Y:-30.62, Z:0.00
[[ 9.73394735e-01  2.29134656e-01  0.00000000e+00  3.31975806e+02]
 [-2.29134656e-01  9.73394735e-01  0.00000000e+00 -3.06228797e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.006066493 meters
Centerline goodness : 0.985792 with order 1
Centerline is valid?  [True, True]
Translation: X:332.03, Y:-30.64, Z:0.00
[[ 9.76543117e-01  2.15321946e-01  0.00000000e+00  3.32034460e+02]
 [-2.15321946e-01  9.76543117e-01  0.00000000e+00 -3.06410474e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.066066493 meters
Centerline goodness : 0.982889 with order 1
Centerline is valid?  [True, True]
Translation: X:332.10, Y:-30.65, Z:0.00
[[ 9.77728263e-01  2.09874830e-01  0.00000000e+00  3.32095057e+02]
 [-2.09874830e-01  9.77728263e-01  0.00000000e+00 -3.06546522e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.126066493 meters
Centerline goodness : 0.977948 with order 1
Centerline is valid?  [True, True]
Translation: X:332.16, Y:-30.67, Z:0.00
[[ 9.78503487e-01  2.06230276e-01  0.00000000e+00  3.32155103e+02]
 [-2.06230276e-01  9.78503487e-01  0.00000000e+00 -3.06705548e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.186066493 meters
Centerline goodness : 0.975075 with order 1
Centerline is valid?  [True, True]
Translation: X:332.22, Y:-30.68, Z:0.00
[[ 9.79209021e-01  2.02853871e-01  0.00000000e+00  3.32215570e+02]
 [-2.02853871e-01  9.79209021e-01  0.00000000e+00 -3.06793747e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.246066493 meters
Centerline goodness : 0.971402 with order 1
Centerline is valid?  [True, True]
Translation: X:332.28, Y:-30.69, Z:0.00
[[ 9.80043168e-01  1.98784778e-01  0.00000000e+00  3.32275744e+02]
 [-1.98784778e-01  9.80043168e-01  0.00000000e+00 -3.06919985e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.306066493 meters
Centerline goodness : 0.968499 with order 1
Centerline is valid?  [True, True]
Translation: X:332.34, Y:-30.70, Z:0.00
[[ 9.81283684e-01  1.92567730e-01  0.00000000e+00  3.32335269e+02]
 [-1.92567730e-01  9.81283684e-01  0.00000000e+00 -3.07011371e+01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.366066493 meters
Centerline goodness : 0.000000 with order 1
Centerline is valid?  [True, False]
Translation: X:332.39, Y:-30.71, Z:0.00
[[ 9.82804637e-01  1.84648384e-01  1.40112757e-04  3.32391710e+02]
 [-1.84648411e-01  9.82804617e-01  2.20699162e-04 -3.07094180e+01]
 [-9.69517213e-05 -2.42775758e-04  9.99999966e-01  3.71989744e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.426066493 meters
Centerline goodness : 0.000000 with order 1
Centerline is valid?  [False, False]
Translation: X:332.47, Y:-30.72, Z:0.00
[[ 9.84331523e-01  1.76296822e-01  3.29903278e-03  3.32470737e+02]
 [-1.76295848e-01  9.84337051e-01 -5.86013629e-04 -3.07161154e+01]
 [-3.35067254e-03 -4.77409247e-06  9.99994386e-01  4.30805773e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.486066493 meters
Centerline goodness : 0.963944 with order 1
Centerline is valid?  [False, True]
Translation: X:332.54, Y:-30.72, Z:0.00
[[ 9.84311614e-01  1.76303848e-01  6.89929808e-03  3.32541846e+02]
 [-1.76303633e-01  9.84335621e-01 -6.44164270e-04 -3.07156488e+01]
 [-6.90479349e-03 -5.82312940e-04  9.99975992e-01  8.42015610e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.546066493 meters
Centerline goodness : 0.964936 with order 1
Centerline is valid?  [True, True]
Translation: X:332.60, Y:-30.72, Z:-0.00
[[ 9.83549872e-01  1.80511936e-01  6.71492264e-03  3.32604837e+02]
 [-1.80506029e-01  9.83572764e-01 -1.48045211e-03 -3.07150417e+01]
 [-6.87185430e-03  2.44014459e-04  9.99976359e-01 -3.37813630e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 330.606066493 meters
Centerline goodness : 0.964611 with order 1
Centerline is valid?  [True, True]
Translation: X:332.67, Y:-30.71, Z:-0.00
[[ 9.82255697e-01  1.87426404e-01  6.71484992e-03  3.32668691e+02]
 [-1.87420657e-01  9.82278629e-01 -1.48078191e-03 -3.07109261e+01]
 [-6.87339120e-03  1.96004889e-04  9.99976359e-01 -7.60794055e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 Total time of SLAM: 57577.54 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!