+ python -m lidar_slam --no-model /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 Lidar SLAM 0.0.13 ===================================================== 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: 0.03 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 Centerline goodness [0,1] 0.977060976624241 Centerline is valid? [0, True] SLAMing on 0.055779523 meters Centerline goodness [0,1] 0.9559244063160512 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99980024e-01 -4.55714830e-03 -4.38001231e-03 3.01238033e-02] [ 4.55860178e-03 9.99989558e-01 3.21917972e-04 -4.83528949e-03] [ 4.37849954e-03 -3.41878273e-04 9.99990356e-01 6.93038006e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085779523 meters Centerline goodness [0,1] 0.9563079487446609 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 9.99891726e-01 -1.06738231e-02 -1.01294337e-02 5.99391340e-02] [ 1.06821528e-02 9.99942649e-01 7.68570269e-04 -3.76909355e-03] [ 1.01206492e-02 -8.76691211e-04 9.99948401e-01 -7.84398431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.115779523 meters Centerline goodness [0,1] 0.94294275547787 Centerline is valid? [True, False] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 9.99876242e-01 -1.15964027e-02 -1.06312881e-02 6.25430966e-02] [ 1.15950023e-02 9.99932757e-01 -1.93356523e-04 -1.97268202e-03] [ 1.06328155e-02 7.00627832e-05 9.99943468e-01 -1.00078005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145779523 meters Centerline goodness [0,1] 0.9489848713756494 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.01 [[ 0.99988025 -0.01054878 -0.0113227 0.0667178 ] [ 0.0105636 0.99994342 0.0012498 0.00121003] [ 0.01130888 -0.00136926 0.99993512 -0.01319914] [ 0. 0. 0. 1. ]] SLAMing on 0.175779523 meters Centerline goodness [0,1] 0.9440644694699866 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.02 [[ 9.99855820e-01 -1.17097391e-02 -1.22972154e-02 7.27593000e-02] [ 1.17147874e-02 9.99931322e-01 3.38569613e-04 4.90943934e-03] [ 1.22924063e-02 -4.82580063e-04 9.99924329e-01 -1.79696126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.205779523 meters Centerline goodness [0,1] 0.9588775004132915 Centerline is valid? [False, True] Translation: X:0.08, Y:0.01, Z:-0.02 [[ 0.99984737 -0.01085663 -0.01368849 0.07972085] [ 0.01087851 0.99993966 0.00152497 0.00842726] [ 0.01367111 -0.00167365 0.99990515 -0.02313986] [ 0. 0. 0. 1. ]] SLAMing on 0.235779523 meters Centerline goodness [0,1] 0.9696723531004603 Centerline is valid? [True, True] Translation: X:0.11, Y:0.02, Z:-0.04 [[ 0.99921767 -0.01453811 -0.03677897 0.11267053] [ 0.01466333 0.99988757 0.00313708 0.02020908] [ 0.03672923 -0.00367393 0.9993185 -0.04304499] [ 0. 0. 0. 1. ]] SLAMing on 0.26577952299999996 meters Centerline goodness [0,1] 0.9661475682878081 Centerline is valid? [True, True] Translation: X:0.14, Y:0.02, Z:-0.05 [[ 0.99864008 -0.01697238 -0.0492943 0.1423938 ] [ 0.01720041 0.99984322 0.00420526 0.02235226] [ 0.0492152 -0.00504742 0.99877544 -0.05193048] [ 0. 0. 0. 1. ]] SLAMing on 0.295779523 meters Centerline goodness [0,1] 0.9612486992715921 Centerline is valid? [True, True] Translation: X:0.17, Y:0.02, Z:-0.06 [[ 0.9979221 -0.01752521 -0.06200283 0.17241716] [ 0.01788701 0.99982605 0.00528496 0.02423568] [ 0.06189942 -0.00638302 0.99806198 -0.06059037] [ 0. 0. 0. 1. ]] SLAMing on 0.325779523 meters Centerline goodness [0,1] 0.9563559057087476 Centerline is valid? [True, True] Translation: X:0.20, Y:0.03, Z:-0.07 [[ 0.99702199 -0.0166727 -0.07529388 0.20352573] [ 0.01720411 0.99983142 0.00641473 0.0310515 ] [ 0.07517423 -0.00769099 0.99714075 -0.07080396] [ 0. 0. 0. 1. ]] SLAMing on 0.35577952299999993 meters Centerline goodness [0,1] 0.9320498064246102 Centerline is valid? [True, False] Translation: X:0.25, Y:0.05, Z:-0.08 [[ 0.99426145 -0.017738 -0.10549662 0.24708334] [ 0.01939685 0.99970351 0.01471892 0.04598035] [ 0.10520426 -0.01668076 0.99431072 -0.07977437] [ 0. 0. 0. 1. ]] SLAMing on 0.38577952299999996 meters Centerline goodness [0,1] 0.9027727915865943 Centerline is valid? [False, False] Translation: X:0.27, Y:0.06, Z:-0.09 [[ 0.99257393 -0.01449009 -0.12077679 0.27417076] [ 0.01665938 0.99971719 0.0169708 0.05712307] [ 0.12049673 -0.01885684 0.99253461 -0.08742171] [ 0. 0. 0. 1. ]] SLAMing on 0.415779523 meters Centerline goodness [0,1] 0.9148513158176027 Centerline is valid? [False, False] Translation: X:0.30, Y:0.07, Z:-0.10 [[ 0.9907074 -0.00858172 -0.13573949 0.30175753] [ 0.01165985 0.99969222 0.02189797 0.06646437] [ 0.13550979 -0.02327719 0.99050253 -0.09669129] [ 0. 0. 0. 1. ]] SLAMing on 0.445779523 meters Centerline goodness [0,1] 0.9100115174826695 Centerline is valid? [False, False] Translation: X:0.32, Y:0.09, Z:-0.11 [[ 9.89182531e-01 -6.17945085e-04 -1.46688574e-01 3.24755430e-01] [ 3.95862984e-03 9.99739384e-01 2.24831652e-02 8.67454735e-02] [ 1.46636451e-01 -2.28206400e-02 9.88927181e-01 -1.07334754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4757795229999999 meters Centerline goodness [0,1] 0.9442896935933147 Centerline is valid? [False, False] Translation: X:0.36, Y:0.11, Z:-0.15 [[ 0.97349928 -0.05571103 -0.22180043 0.36151717] [ 0.06120316 0.99796372 0.01796047 0.11180651] [ 0.22034819 -0.03105939 0.97492666 -0.15482332] [ 0. 0. 0. 1. ]] SLAMing on 0.505779523 meters Centerline goodness [0,1] 0.6817937701396348 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.09, Z:-0.18 [[-0.94925718 -0.26641337 -0.16713682 -0.35662963] [ 0.10206208 -0.76362509 0.6375422 -0.09302798] [-0.29747964 0.58813318 0.7520673 -0.18484039] [ 0. 0. 0. 1. ]] SLAMing on 0.535779523 meters Centerline goodness [0,1] 0.9406593406593406 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.52, Z:0.34 [[ 0.97000584 0.21578877 0.11191015 -0.26462399] [-0.21610867 0.55476745 0.80344889 -0.52244924] [ 0.11129114 -0.80353487 0.58476149 0.33915189] [ 0. 0. 0. 1. ]] SLAMing on 0.565779523 meters Centerline goodness [0,1] 1.0 Centerline is valid? [False, True] 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 (4)