+ python -m lidar_slam --no-model /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 Lidar SLAM 0.0.14 ===================================================== 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 : 0.997983 Centerline is valid? [0, True] SLAMing on 0.055779523 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.01, Z:0.01 [[ 9.99980344e-01 2.08437099e-04 -6.26645297e-03 3.15061382e-02] [-1.17899993e-04 9.99895661e-01 1.44448025e-02 -1.21370451e-02] [ 6.26880997e-03 -1.44437798e-02 9.99876032e-01 7.54845757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085779523 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:0.06, Y:0.05, Z:-0.03 [[ 0.99973775 -0.02272466 -0.00283288 0.06212908] [ 0.02248934 0.99758243 -0.06575353 0.05448774] [ 0.00432026 0.06567257 0.99783187 -0.03313042] [ 0. 0. 0. 1. ]] SLAMing on 0.115779523 meters Centerline goodness : 0.984310 Centerline is valid? [True, True] Translation: X:0.09, Y:0.17, Z:-0.08 [[ 0.99854905 -0.05303759 0.00931763 0.09196547] [ 0.05379178 0.97439542 -0.21831174 0.17301848] [ 0.00249967 0.21849619 0.9758346 -0.07622546] [ 0. 0. 0. 1. ]] SLAMing on 0.145779523 meters Centerline goodness : 0.988514 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.08, Z:0.01 [[ 0.99980687 -0.00970065 0.01709169 0.11689237] [ 0.00714351 0.98958362 0.14378186 -0.08431175] [-0.01830843 -0.143632 0.9894618 0.01480014] [ 0. 0. 0. 1. ]] SLAMing on 0.175779523 meters Centerline goodness : 0.894927 Centerline is valid? [True, False] Translation: X:0.13, Y:-0.05, Z:-0.00 [[ 9.99792189e-01 -1.75614936e-02 1.03523996e-02 1.31695537e-01] [ 1.63920437e-02 9.94454181e-01 1.03885428e-01 -5.46673611e-02] [-1.21193703e-02 -1.03694142e-01 9.94535392e-01 -9.81657278e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.205779523 meters Centerline goodness : 0.977930 Centerline is valid? [False, True] Translation: X:0.15, Y:-0.03, Z:-0.01 [[ 0.99971337 -0.02390388 0.00133304 0.14646924] [ 0.0237421 0.99703175 0.07323941 -0.0286273 ] [-0.00307979 -0.07318676 0.9973135 -0.01314858] [ 0. 0. 0. 1. ]] SLAMing on 0.235779523 meters Centerline goodness : 0.363515 Centerline is valid? [True, False] Translation: X:0.18, Y:-0.01, Z:-0.03 [[ 0.99935608 -0.03145376 -0.01726521 0.18244413] [ 0.03245209 0.99761235 0.06096283 -0.00744453] [ 0.01530647 -0.06148386 0.9979907 -0.02773402] [ 0. 0. 0. 1. ]] SLAMing on 0.26577952299999996 meters Centerline goodness : 0.356950 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.04 [[ 0.99903384 -0.03681353 -0.02400299 0.19833561] [ 0.03797705 0.99802847 0.04996907 0.00708084] [ 0.02211613 -0.05083235 0.99846229 -0.04004037] [ 0. 0. 0. 1. ]] SLAMing on 0.295779523 meters Centerline goodness : 0.346472 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:-0.05 [[ 0.99872156 -0.03993258 -0.03099424 0.21504861] [ 0.0412255 0.99825568 0.0422618 0.02108636] [ 0.02925255 -0.04348552 0.9986257 -0.05105009] [ 0. 0. 0. 1. ]] SLAMing on 0.325779523 meters Centerline goodness : 0.367932 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:-0.06 [[ 0.99835156 -0.04225735 -0.03883923 0.23253468] [ 0.04360982 0.9984472 0.0346608 0.03512016] [ 0.03731425 -0.03629743 0.99864415 -0.0618868 ] [ 0. 0. 0. 1. ]] SLAMing on 0.35577952299999993 meters Centerline goodness : 0.323135 Centerline is valid? [False, False] Translation: X:0.28, Y:0.06, Z:-0.08 [[ 0.99684113 -0.04246049 -0.06711832 0.28382013] [ 0.04478024 0.99843691 0.03344338 0.05504357] [ 0.06559339 -0.03634331 0.99718437 -0.07528563] [ 0. 0. 0. 1. ]] SLAMing on 0.38577952299999996 meters Centerline goodness : 0.827931 Centerline is valid? [False, False] Translation: X:0.31, Y:0.07, Z:-0.08 [[ 0.99582762 -0.03942946 -0.08229617 0.31046696] [ 0.04242671 0.99848654 0.0349944 0.06689952] [ 0.08079181 -0.03833995 0.99599334 -0.08437928] [ 0. 0. 0. 1. ]] SLAMing on 0.415779523 meters Centerline goodness : 0.944610 Centerline is valid? [False, False] Translation: X:0.34, Y:0.08, Z:-0.09 [[ 0.99467858 -0.03376043 -0.09733833 0.33764261] [ 0.03774012 0.99851301 0.03933773 0.07680534] [ 0.09586553 -0.04280196 0.99447363 -0.09497965] [ 0. 0. 0. 1. ]] SLAMing on 0.445779523 meters Centerline goodness : 0.163005 Centerline is valid? [False, False] Translation: X:0.36, Y:0.09, Z:-0.11 [[ 0.99361407 -0.02536734 -0.10994349 0.3628608 ] [ 0.03024415 0.99862067 0.042919 0.094689 ] [ 0.1087031 -0.04597007 0.99301077 -0.1053206 ] [ 0. 0. 0. 1. ]] SLAMing on 0.4757795229999999 meters Centerline goodness : 0.946569 Centerline is valid? [False, False] Translation: X:0.16, Y:0.18, Z:-0.17 [[ 0.98169543 -0.0968661 -0.16398487 0.16477425] [ 0.09286496 0.99516723 -0.03191062 0.18437548] [ 0.16628342 0.01609806 0.98594659 -0.17464802] [ 0. 0. 0. 1. ]] SLAMing on 0.505779523 meters Centerline goodness : 0.967508 Centerline is valid? [False, True] Translation: X:-0.37, Y:2.64, Z:0.93 [[ 0.63173296 -0.73202742 0.25504768 -0.36662472] [ 0.40280665 0.02888025 -0.91482935 2.64468732] [ 0.66231433 0.68066275 0.31311012 0.92909943] [ 0. 0. 0. 1. ]] SLAMing on 0.535779523 meters Centerline goodness : 0.962637 Centerline is valid? [True, True] Translation: X:0.32, Y:2.37, Z:0.43 [[ 0.5995267 -0.67601122 -0.42845835 0.32385736] [ 0.51899582 0.73589308 -0.4348617 2.36611594] [ 0.60927093 0.03834311 0.79203456 0.43092287] [ 0. 0. 0. 1. ]] SLAMing on 0.565779523 meters Centerline is valid? [True, False] /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( Traceback (most recent call last): File "/app/lidar_slam/__main__.py", line 315, in main transformation = SlamTools.execute_tricp_registration( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/app/lidar_slam/tools/slam_tools.py", line 435, in execute_tricp_registration transformation = SlamTools.tricp(overlap_new, overlap_previous, k=trim_icp_level) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/app/lidar_slam/tools/slam_tools.py", line 508, in tricp matched_tgt = tgt[indices] ~~~^^^^^^^^^ IndexError: index 0 is out of bounds for axis 0 with size 0