+ python -m lidar_slam --no-model /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 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 0.025779523 Adjusted end_distance from 9.223372036854776e+18 to 109.115779523 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025779523 meters 0.041993900608169564 Centerline is valid? [0, True] SLAMing on 0.085779523 meters 0.04902346363488436 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 9.99892386e-01 -1.06109372e-02 -1.01304137e-02 6.05878361e-02] [ 1.06191328e-02 9.99943330e-01 7.55560977e-04 -3.87359543e-03] [ 1.01218224e-02 -8.63055875e-04 9.99948401e-01 -7.78844155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145779523 meters 0.052843512438940435 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.01 [[ 0.99976382 -0.01591867 -0.01479556 0.12115312] [ 0.01593693 0.99987237 0.00111725 -0.00257283] [ 0.01477589 -0.00135278 0.99988992 -0.01077849] [ 0. 0. 0. 1. ]] SLAMing on 0.205779523 meters 0.057814547474743724 Centerline is valid? [True, True] Translation: X:0.18, Y:0.00, Z:-0.02 [[ 0.99941853 -0.02080337 -0.02701519 0.18276293] [ 0.02086594 0.99978021 0.00203604 0.00290133] [ 0.02696689 -0.00259855 0.99963295 -0.02176465] [ 0. 0. 0. 1. ]] SLAMing on 0.26577952299999996 meters 0.06906835249099447 Centerline is valid? [True, True] Translation: X:0.25, Y:0.02, Z:-0.05 [[ 0.99767883 -0.02679622 -0.06260122 0.24716131] [ 0.02714408 0.99962042 0.00471276 0.01707016] [ 0.06245117 -0.00640107 0.99802749 -0.04950782] [ 0. 0. 0. 1. ]] SLAMing on 0.325779523 meters 0.08308347331893084 Centerline is valid? [True, True] Translation: X:0.31, Y:0.03, Z:-0.07 [[ 0.99571713 -0.0264194 -0.08859696 0.30906421] [ 0.02711601 0.99961005 0.00666818 0.02628433] [ 0.08838625 -0.00904202 0.99604524 -0.06752188] [ 0. 0. 0. 1. ]] SLAMing on 0.38577952299999996 meters 0.09170068055198906 Centerline is valid? [True, True] Translation: X:0.37, Y:0.06, Z:-0.11 [[ 0.98997042 -0.02049517 -0.13978025 0.37475795] [ 0.02218135 0.99969866 0.0105157 0.05617706] [ 0.13952261 -0.01351075 0.99012671 -0.11078747] [ 0. 0. 0. 1. ]] SLAMing on 0.445779523 meters 0.09403562076995078 Centerline is valid? [True, True] Translation: X:0.44, Y:0.10, Z:-0.14 [[ 0.98492487 -0.00517612 -0.17290521 0.44057513] [ 0.0075373 0.99988706 0.01300216 0.09904023] [ 0.17281838 -0.01410939 0.98485265 -0.13855545] [ 0. 0. 0. 1. ]] SLAMing on 0.505779523 meters 0.09352744383202106 Centerline is valid? [True, True] Translation: X:0.51, Y:0.13, Z:-0.19 [[ 0.94861468 -0.01732015 -0.31595918 0.50685814] [ 0.02615167 0.99937623 0.02373251 0.12560091] [ 0.31535104 -0.03077587 0.94847592 -0.18871578] [ 0. 0. 0. 1. ]] SLAMing on 0.565779523 meters 0.002818607236446784 Centerline is valid? [True, True] Translation: X:-0.55, Y:0.33, Z:1.39 [[-0.98987815 0.06519376 0.12605961 -0.5499048 ] [ 0.06498957 0.99786946 -0.00573623 0.32932603] [-0.126165 0.00251439 -0.99200608 1.38839436] [ 0. 0. 0. 1. ]] SLAMing on 0.625779523 meters 0.03819393078188414 Centerline is valid? [True, True] Translation: X:-0.50, Y:0.38, Z:1.35 [[ 0.97278666 -0.15333492 -0.17370812 -0.49792136] [-0.16020296 -0.98673773 -0.02614707 0.37631802] [-0.1673951 0.05326407 -0.98445001 1.3450841 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6857795229999999 meters 0.1429494661266092 Centerline is valid? [True, False] Translation: X:0.77, Y:0.85, Z:-1.40 [[ 0.51239611 0.30948208 -0.80104374 0.76531813] [-0.72558805 0.65495264 -0.21109008 0.85357284] [ 0.45931712 0.6893895 0.56015168 -1.39914511] [ 0. 0. 0. 1. ]] SLAMing on 0.7457795229999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.805779523 meters 0.04956536171854669 Centerline is valid? [False, True] SLAMing on 0.8657795229999999 meters 0.09990324792616231 Centerline is valid? [True, True] Translation: X:-2.00, Y:1.25, Z:-1.28 [[-0.54525158 0.34952279 0.76192817 -2.00107728] [ 0.34395362 0.92217399 -0.17689275 1.24989652] [-0.76445839 0.1656169 -0.62303645 -1.28376514] [ 0. 0. 0. 1. ]] SLAMing on 0.9257795229999999 meters 0.12362878818393397 Centerline is valid? [True, False] Traceback (most recent call last): File "/app/lidar_slam/__main__.py", line 306, in main transformation = SlamTools.execute_tricp_registration( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/app/lidar_slam/tools/slam_tools.py", line 465, in execute_tricp_registration transformation = SlamTools.tricp(overlap_new, overlap_previous, k=trim_icp_level) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/app/lidar_slam/tools/slam_tools.py", line 543, in tricp keep_idx = np.argpartition(distances, N_keep)[:N_keep] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py", line 962, in argpartition return _wrapfunc(a, 'argpartition', kth, axis=axis, kind=kind, order=order) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py", line 57, in _wrapfunc return bound(*args, **kwds) ^^^^^^^^^^^^^^^^^^^^ ValueError: kth(=4) out of bounds (3)