+ python -m lidar_slam --no-model /working/3c07f40a-3ae8-4f9d-89b9-e1ac1cfacd69 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/3c07f40a-3ae8-4f9d-89b9-e1ac1cfacd69 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: False 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 0.020869431 Adjusted end_distance from 9.223372036854776e+18 to 3.251749431 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020869431 meters 0.10455220178102619 Centerline is valid? [0, False] SLAMing on 0.08086943099999999 meters 0.0875655656075922 Centerline is valid? [False, True] Translation: X:-0.03, Y:-0.00, Z:-0.00 [[ 9.99975488e-01 -2.78061288e-03 -6.42578674e-03 -3.38003601e-02] [ 2.77785564e-03 9.99996046e-01 -4.37973679e-04 -3.60192943e-03] [ 6.42697916e-03 4.20113036e-04 9.99979259e-01 -3.26537631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.140869431 meters 0.08375027535529826 Centerline is valid? [True, True] Translation: X:-0.09, Y:-0.00, Z:0.01 [[ 9.99949984e-01 -9.84438224e-03 1.76594484e-03 -9.43045674e-02] [ 9.84408359e-03 9.99951530e-01 1.77729225e-04 -4.94558075e-03] [-1.76760888e-03 -1.60336227e-04 9.99998425e-01 1.44676686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20086943099999996 meters 0.08359800376615871 Centerline is valid? [True, True] Translation: X:-0.15, Y:-0.02, Z:0.00 [[ 9.99922276e-01 -1.07268331e-02 -6.35425589e-03 -1.52405534e-01] [ 1.07229909e-02 9.99942303e-01 -6.38430285e-04 -2.42970175e-02] [ 6.36073760e-03 5.70244036e-04 9.99979608e-01 3.81312580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.260869431 meters 0.08718795930215752 Centerline is valid? [True, True] Translation: X:-0.21, Y:-0.01, Z:0.02 [[ 9.99907855e-01 -1.35734766e-02 -2.05574541e-04 -2.13491282e-01] [ 1.35734726e-02 9.99907876e-01 -2.06116543e-05 -1.27698339e-02] [ 2.05835374e-04 1.78193947e-05 9.99999979e-01 1.95796865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3208694309999999 meters 0.09600607289584855 Centerline is valid? [True, True] Translation: X:-0.27, Y:-0.03, Z:0.02 [[ 9.99980892e-01 -6.08081748e-03 -1.11302837e-03 -2.71570210e-01] [ 6.08069666e-03 9.99981506e-01 -1.11903826e-04 -2.75439381e-02] [ 1.11368825e-03 1.05133700e-04 9.99999374e-01 2.21484967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3808694309999999 meters 0.10955395181619602 Centerline is valid? [True, False] Translation: X:-0.25, Y:-0.02, Z:0.02 [[ 9.99997175e-01 -2.33600610e-03 4.38971940e-04 -2.49043524e-01] [ 2.33902842e-03 9.99972656e-01 -7.01545499e-03 -1.78777831e-02] [-4.22571791e-04 7.01646194e-03 9.99975295e-01 1.88641717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4408694309999999 meters 0.11844082733157864 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.01 [[ 9.99976129e-01 -8.65853812e-04 6.85506507e-03 -2.08404538e-01] [ 9.05653910e-04 9.99982741e-01 -5.80496652e-03 -5.88563090e-03] [-6.84992050e-03 5.81103627e-03 9.99959654e-01 1.30034345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5008694309999999 meters 0.1285240870811634 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.01, Z:0.00 [[ 0.99998683 -0.00485337 0.0016682 -0.17261144] [ 0.00486182 0.9999752 -0.00509613 0.0121935 ] [-0.00164342 0.00510418 0.99998562 0.00169515] [ 0. 0. 0. 1. ]] SLAMing on 0.560869431 meters 0.13641454160774563 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.02, Z:-0.00 [[ 9.99968506e-01 -2.66968902e-03 7.47389932e-03 -1.34485863e-01] [ 2.70609083e-03 9.99984506e-01 -4.86465598e-03 2.22547129e-02] [-7.46079640e-03 4.88472782e-03 9.99960237e-01 -4.82709290e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6208694309999999 meters 0.14127997393696354 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.05, Z:-0.01 [[ 0.99996065 -0.00797676 0.00388198 -0.07573397] [ 0.00799875 0.99995187 -0.00568177 0.04724916] [-0.00383647 0.0057126 0.99997632 -0.00595452] [ 0. 0. 0. 1. ]] SLAMing on 0.680869431 meters 0.13841873086072293 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.04, Z:-0.00 [[ 0.99998247 -0.00543468 0.00234968 -0.13727485] [ 0.00544873 0.99996707 -0.00601446 0.03992719] [-0.00231692 0.00602716 0.99997915 -0.00271619] [ 0. 0. 0. 1. ]] SLAMing on 0.7408694309999999 meters 0.14003280233214868 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.04, Z:0.00 [[ 9.99992295e-01 6.38081368e-06 3.92560073e-03 -1.87121471e-01] [ 4.72002330e-05 9.99906848e-01 -1.36488890e-02 3.54856653e-02] [-3.92532214e-03 1.36489691e-02 9.99899144e-01 4.93890999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.800869431 meters 0.1392563636431347 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.04, Z:0.00 [[ 0.99996505 -0.00393065 -0.00737861 -0.24347189] [ 0.00386316 0.99995078 -0.00913894 0.03542457] [ 0.00741417 0.00911012 0.99993102 0.00462834] [ 0. 0. 0. 1. ]] SLAMing on 0.8608694309999999 meters 0.14824679672296345 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.04, Z:0.01 [[ 0.99999036 0.00235573 -0.00370585 -0.29996085] [-0.00240924 0.99989192 -0.01450345 0.03578034] [ 0.00367129 0.01451223 0.99988795 0.01407568] [ 0. 0. 0. 1. ]] SLAMing on 0.920869431 meters 0.15161296717285794 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.03, Z:0.02 [[ 0.99995937 0.00255088 -0.00864583 -0.34302851] [-0.00265552 0.9999231 -0.0121137 0.03469411] [ 0.00861426 0.01213617 0.99988925 0.01656732] [ 0. 0. 0. 1. ]] SLAMing on 0.9808694309999999 meters 0.14926890500446452 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.04, Z:0.02 [[ 0.99992427 -0.00296517 -0.01194394 -0.3623407 ] [ 0.00286756 0.99996243 -0.00818067 0.03904718] [ 0.01196775 0.0081458 0.9998952 0.01866722] [ 0. 0. 0. 1. ]] SLAMing on 1.0408694309999997 meters 0.1437443980059 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.05, Z:0.02 [[ 0.99996982 -0.0044546 -0.00636454 -0.40686594] [ 0.00439626 0.99994846 -0.00915114 0.04722167] [ 0.00640497 0.00912289 0.99993787 0.02254572] [ 0. 0. 0. 1. ]] SLAMing on 1.1008694309999998 meters 0.14524566628977034 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.05, Z:0.03 [[ 0.99990172 -0.00563373 -0.01283778 -0.44966103] [ 0.00552568 0.99994914 -0.00843656 0.05058063] [ 0.01288466 0.00836479 0.999882 0.02589949] [ 0. 0. 0. 1. ]] SLAMing on 1.1608694309999998 meters 0.14744066347785925 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.03 [[ 0.9998771 -0.00838528 -0.01324639 -0.50445957] [ 0.00828058 0.9999342 -0.00793918 0.05416689] [ 0.01331209 0.00782852 0.99988074 0.03397364] [ 0. 0. 0. 1. ]] SLAMing on 1.2208694309999997 meters 0.15622318583134231 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.06, Z:0.04 [[ 0.99978257 -0.00967916 -0.01846951 -0.55308672] [ 0.00953948 0.99992534 -0.0076363 0.05702773] [ 0.01854204 0.00745845 0.99980026 0.03722916] [ 0. 0. 0. 1. ]] SLAMing on 1.2808694309999997 meters 0.14392709882158905 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.06, Z:0.04 [[ 0.9998028 -0.00764952 -0.01832631 -0.61272439] [ 0.00746849 0.99992284 -0.00992626 0.05810087] [ 0.01840082 0.00978743 0.99978278 0.03822078] [ 0. 0. 0. 1. ]] SLAMing on 1.3408694309999998 meters 0.13684680737497315 Centerline is valid? [False, False] Translation: X:-0.68, Y:0.06, Z:0.04 [[ 0.99968384 -0.00436365 -0.02476228 -0.67529266] [ 0.00407583 0.99992369 -0.01166203 0.06275173] [ 0.02481127 0.01155742 0.99962534 0.03831563] [ 0. 0. 0. 1. ]] SLAMing on 1.4008694309999998 meters 0.14110889785299277 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:0.04 [[ 0.99977691 -0.00218356 -0.02100884 -0.74001704] [ 0.00186432 0.99988269 -0.01520322 0.0666655 ] [ 0.02103957 0.01516066 0.99966369 0.04350606] [ 0. 0. 0. 1. ]] SLAMing on 1.4608694309999997 meters 0.12454224737933063 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.07, Z:0.05 [[ 9.99658554e-01 -9.79901242e-05 -2.61297931e-02 -7.91532072e-01] [-1.96033216e-04 9.99936702e-01 -1.12496184e-02 6.56347034e-02] [ 2.61292415e-02 1.12508996e-02 9.99595258e-01 4.69381881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5208694309999997 meters 0.11451558204139856 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.08, Z:0.05 [[ 0.99959981 -0.00229553 -0.02819476 -0.84028614] [ 0.00193033 0.99991398 -0.01297294 0.07547594] [ 0.02822212 0.01291332 0.99951826 0.05282447] [ 0. 0. 0. 1. ]] SLAMing on 1.5808694309999998 meters 0.10055020278719201 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.08, Z:0.05 [[ 0.99937296 -0.00634756 -0.03483372 -0.90294873] [ 0.00610807 0.999957 -0.00697737 0.07794405] [ 0.03487651 0.00676023 0.99936876 0.05214736] [ 0. 0. 0. 1. ]] SLAMing on 1.6408694309999996 meters 0.09452984769171154 Centerline is valid? [False, True] Translation: X:-0.95, Y:0.08, Z:0.06 [[ 0.99927054 -0.00573631 -0.03775556 -0.94516538] [ 0.0054164 0.99994861 -0.00857007 0.07941835] [ 0.03780278 0.00835932 0.99925025 0.05861601] [ 0. 0. 0. 1. ]] SLAMing on 1.7008694309999997 meters 0.08577069578350965 Centerline is valid? [True, True] Translation: X:-1.01, Y:0.10, Z:0.06 [[ 0.99917941 -0.00834221 -0.03963483 -1.00541621] [ 0.00825372 0.99996307 -0.00239572 0.09705073] [ 0.03965335 0.00206662 0.99921136 0.0593246 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7608694309999997 meters 0.08514914467268275 Centerline is valid? [True, True] Translation: X:-1.06, Y:0.09, Z:0.06 [[ 0.99909893 -0.00920638 -0.0414316 -1.06300543] [ 0.00911054 0.99995537 -0.00250152 0.09391826] [ 0.04145278 0.0021218 0.99913821 0.06498578] [ 0. 0. 0. 1. ]] SLAMing on 1.8208694309999998 meters 0.0689676464081408 Centerline is valid? [True, True] Translation: X:-1.12, Y:0.10, Z:0.06 [[ 0.99893815 -0.00606084 -0.04567105 -1.12345743] [ 0.00594117 0.99997855 -0.00275553 0.10064853] [ 0.04568678 0.00248126 0.99895273 0.05708802] [ 0. 0. 0. 1. ]] SLAMing on 1.8808694309999996 meters 0.06094332300084322 Centerline is valid? [True, True] Translation: X:-1.18, Y:0.10, Z:0.06 [[ 0.99890604 -0.01058514 -0.04554873 -1.18405378] [ 0.01047084 0.9999414 -0.00274741 0.10183165] [ 0.04557514 0.00226747 0.99895834 0.0614705 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9408694309999996 meters 0.07352891192499261 Centerline is valid? [True, True] Translation: X:-1.24, Y:0.11, Z:0.05 [[ 0.99889761 -0.01261814 -0.04521451 -1.24462895] [ 0.01250763 0.99991806 -0.00272608 0.11315646] [ 0.0452452 0.00215755 0.99897358 0.05071395] [ 0. 0. 0. 1. ]] SLAMing on 2.000869431 meters 0.08264792074642943 Centerline is valid? [True, True] Translation: X:-1.30, Y:0.10, Z:0.05 [[ 0.99899611 -0.01108981 -0.04340271 -1.30223313] [ 0.01098667 0.99993623 -0.00261419 0.10308867] [ 0.04342893 0.00213472 0.99905424 0.05209509] [ 0. 0. 0. 1. ]] SLAMing on 2.0608694309999995 meters 0.08001493699675497 Centerline is valid? [True, True] Translation: X:-1.36, Y:0.12, Z:0.06 [[ 0.99909919 -0.00662553 -0.0419155 -1.36371076] [ 0.00652551 0.99997553 -0.00252258 0.12007689] [ 0.04193119 0.00224679 0.99911797 0.05847179] [ 0. 0. 0. 1. ]] SLAMing on 2.1208694309999996 meters 0.08344719454798316 Centerline is valid? [True, True] Translation: X:-1.42, Y:0.13, Z:0.05 [[ 9.98898666e-01 -3.32830195e-04 -4.69184938e-02 -1.42423255e+00] [ 2.00615009e-04 9.99995996e-01 -2.82265663e-03 1.32715796e-01] [ 4.69192455e-02 2.81013539e-03 9.98894733e-01 4.76717687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1808694309999996 meters 0.07890046051434484 Centerline is valid? [True, True] Translation: X:-1.48, Y:0.14, Z:0.05 [[ 0.99892614 -0.00212561 -0.04628228 -1.4843668 ] [ 0.00199895 0.99999413 -0.0027827 0.14364213] [ 0.04628793 0.0026872 0.99892453 0.04635559] [ 0. 0. 0. 1. ]] SLAMing on 2.2408694309999997 meters 0.07210753536383818 Centerline is valid? [True, True] Translation: X:-1.55, Y:0.16, Z:0.04 [[ 0.99892095 -0.00721901 -0.04587832 -1.54616937] [ 0.00709997 0.99997099 -0.00275728 0.16368262] [ 0.0458969 0.00242857 0.99894323 0.04173282] [ 0. 0. 0. 1. ]] SLAMing on 2.3008694309999997 meters 0.059614779945051426 Centerline is valid? [True, True] Translation: X:-1.60, Y:0.16, Z:0.04 [[ 0.99854122 -0.0122019 -0.05259791 -1.60350337] [ 0.01205243 0.99992238 -0.00315804 0.16005093] [ 0.05263236 0.0025195 0.99861078 0.0372923 ] [ 0. 0. 0. 1. ]] SLAMing on 2.360869431 meters 0.058545126271690055 Centerline is valid? [True, True] Translation: X:-1.66, Y:0.18, Z:0.05 [[ 0.9987899 -0.01188687 -0.04772249 -1.66480607] [ 0.01176358 0.99992671 -0.00286349 0.18221018] [ 0.04775303 0.00229863 0.99885653 0.04597628] [ 0. 0. 0. 1. ]] SLAMing on 2.4208694309999994 meters 0.05051184413253365 Centerline is valid? [True, True] Translation: X:-1.73, Y:0.23, Z:0.04 [[ 0.99852601 -0.00493735 -0.0540503 -1.72765855] [ 0.00476909 0.99998337 -0.00324155 0.22540219] [ 0.05406541 0.002979 0.99853295 0.03909314] [ 0. 0. 0. 1. ]] SLAMing on 2.4808694309999995 meters 0.05103595661057318 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.25, Z:0.04 [[ 0.9985635 -0.00315534 -0.05348804 -1.78727634] [ 0.00298849 0.99999042 -0.00319897 0.24574883] [ 0.05349762 0.00303453 0.99856337 0.04150555] [ 0. 0. 0. 1. ]] SLAMing on 2.5408694309999995 meters 0.04827200572603109 Centerline is valid? [True, True] Translation: X:-1.85, Y:0.29, Z:0.03 [[ 0.99850505 -0.00412611 -0.05450351 -1.84845519] [ 0.00395498 0.99998691 -0.0032473 0.28658566] [ 0.0545162 0.00302688 0.9985083 0.03296654] [ 0. 0. 0. 1. ]] SLAMing on 2.6008694309999996 meters 0.04252782471259187 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.33, Z:0.05 [[ 0.99866828 0.00380215 -0.05145099 -1.91003713] [-0.00396485 0.99998746 -0.00306053 0.32684338] [ 0.05143871 0.00326045 0.99867083 0.0518712 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6608694309999996 meters 0.04394559688962594 Centerline is valid? [True, True] Translation: X:-1.97, Y:0.35, Z:0.03 [[ 0.99849009 0.00614472 -0.05458743 -1.97106547] [-0.0063313 0.99997469 -0.00324562 0.34948885] [ 0.0545661 0.00358633 0.99850372 0.0268556 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7208694309999997 meters 0.04239432548941036 Centerline is valid? [True, True] Translation: X:-2.03, Y:0.38, Z:0.03 [[ 0.99864051 0.00558413 -0.05182608 -2.03177876] [-0.00575143 0.99997872 -0.00307942 0.38088324] [ 0.05180779 0.00337331 0.99865138 0.02793593] [ 0. 0. 0. 1. ]] SLAMing on 2.7808694309999997 meters 0.04352111526319376 Centerline is valid? [True, True] Translation: X:-2.09, Y:0.40, Z:0.02 [[ 0.99862157 0.00610757 -0.05213111 -2.09152023] [-0.00627709 0.99997553 -0.00308871 0.40153252] [ 0.05211097 0.00341169 0.99863547 0.02111703] [ 0. 0. 0. 1. ]] SLAMing on 2.8408694309999993 meters 0.04169529254004603 Centerline is valid? [True, True] Translation: X:-2.15, Y:0.41, Z:0.02 [[ 0.9986786 0.00411323 -0.05122639 -2.15089867] [-0.0042741 0.99998627 -0.00303124 0.41070844] [ 0.05121321 0.00324618 0.99868247 0.01963908] [ 0. 0. 0. 1. ]] SLAMing on 2.9008694309999994 meters 0.04070239975232838 Centerline is valid? [True, True] Translation: X:-2.21, Y:0.42, Z:0.02 [[ 9.98867286e-01 2.10928380e-03 -4.75362491e-02 -2.21172895e+00] [-2.24549464e-03 9.99993525e-01 -2.81219062e-03 4.16816820e-01] [ 4.75300095e-02 2.91574760e-03 9.98865555e-01 2.00079132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9608694309999994 meters 0.042155526807107074 Centerline is valid? [True, True] Translation: X:-2.27, Y:0.44, Z:0.01 [[ 0.99873898 0.00544153 -0.04990833 -2.27282799] [-0.00559578 0.99997999 -0.00295152 0.44149794] [ 0.04989127 0.00322707 0.99874944 0.01305839] [ 0. 0. 0. 1. ]] SLAMing on 3.0208694309999995 meters 0.042838058418316304 Centerline is valid? [True, True] Translation: X:-2.33, Y:0.45, Z:0.01 [[ 0.99878133 0.01181896 -0.04791827 -2.33221867] [-0.01196836 0.99992437 -0.00283212 0.4470654 ] [ 0.04788117 0.00340217 0.99884725 0.01327826] [ 0. 0. 0. 1. ]] SLAMing on 3.0808694309999995 meters 0.04616104612531859 Centerline is valid? [True, True] Translation: X:-2.39, Y:0.47, Z:0.01 [[ 0.99859067 0.01796488 -0.04993924 -2.39425582] [-0.01813474 0.9998312 -0.00295026 0.47416232] [ 0.04987781 0.00385174 0.9987479 0.0073946 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1408694309999996 meters 0.04815086540782342 Centerline is valid? [True, True] Translation: X:-2.45, Y:0.48, Z:0.00 [[ 9.98649372e-01 2.04410930e-02 -4.77660335e-02 -2.45454495e+00] [-2.05992491e-02 9.99783833e-01 -2.82110234e-03 4.80163459e-01] [ 4.76980416e-02 3.80123650e-03 9.98854568e-01 2.35866831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2008694309999997 meters 0.04719509071842581 Centerline is valid? [True, True] Translation: X:-2.51, Y:0.49, Z:-0.01 [[ 0.99848098 0.01921438 -0.0516386 -2.51321523] [-0.01939721 0.99980723 -0.00304174 0.48566621] [ 0.0515702 0.00403876 0.99866121 -0.00748067] [ 0. 0. 0. 1. ]] Total time of SLAM: 97.77 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! 0%| | 0/108 [00:00