+ python -m lidar_slam --no-model /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 Lidar SLAM 0.0.15 ===================================================== 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: 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 0.025779523 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 : 0.975688 Centerline is valid? [0, True] SLAMing on 0.055779523 meters Centerline goodness : 0.974284 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99999504e-01 -9.96321711e-04 0.00000000e+00 3.34467647e-02] [ 9.96321711e-04 9.99999504e-01 0.00000000e+00 -3.35728212e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97089338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085779523 meters Centerline goodness : 0.976873 Centerline is valid? [True, True] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99987483 -0.01582133 0. 0.05375748] [ 0.01582133 0.99987483 0. 0.01003059] [ 0. 0. 1. -0.00451831] [ 0. 0. 0. 1. ]] SLAMing on 0.115779523 meters Centerline goodness : 0.978380 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:0.03 [[ 0.99962824 -0.02726513 0. 0.0610912 ] [ 0.02726513 0.99962824 0. 0.01744261] [ 0. 0. 1. 0.02732333] [ 0. 0. 0. 1. ]] SLAMing on 0.145779523 meters Centerline goodness : 0.976283 Centerline is valid? [True, True] Translation: X:0.11, Y:0.01, Z:-0.00 [[ 9.99743226e-01 -2.26601444e-02 0.00000000e+00 1.11383362e-01] [ 2.26601444e-02 9.99743226e-01 0.00000000e+00 1.35788436e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41815154e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.175779523 meters Centerline goodness : 0.972105 Centerline is valid? [True, True] Translation: X:0.12, Y:0.03, Z:0.01 [[ 0.99920237 -0.03993283 0. 0.11822142] [ 0.03993283 0.99920237 0. 0.03147215] [ 0. 0. 1. 0.00524427] [ 0. 0. 0. 1. ]] SLAMing on 0.205779523 meters Centerline goodness : 0.978509 Centerline is valid? [True, True] Translation: X:0.17, Y:0.02, Z:0.01 [[ 0.99952485 -0.03082329 0. 0.17047818] [ 0.03082329 0.99952485 0. 0.0243034 ] [ 0. 0. 1. 0.00542727] [ 0. 0. 0. 1. ]] SLAMing on 0.235779523 meters Centerline goodness : 0.238601 Centerline is valid? [True, False] Translation: X:0.21, Y:0.03, Z:-0.00 [[ 0.99918988 -0.03512548 -0.01964157 0.2097122 ] [ 0.03519551 0.99937522 0.00323071 0.03475151] [ 0.01951582 -0.00391939 0.99980187 -0.00241326] [ 0. 0. 0. 1. ]] SLAMing on 0.26577952299999996 meters Centerline goodness : 0.209319 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:-0.01 [[ 0.99899019 -0.03724004 -0.02513519 0.22801403] [ 0.03736707 0.999291 0.00460341 0.04055201] [ 0.02494594 -0.00553799 0.99967346 -0.00941444] [ 0. 0. 0. 1. ]] SLAMing on 0.295779523 meters Centerline goodness : 0.194610 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:-0.02 [[ 0.99880967 -0.03813952 -0.0304077 0.24579043] [ 0.03834398 0.99924555 0.00616931 0.04806612] [ 0.03014947 -0.00732792 0.99951854 -0.01689346] [ 0. 0. 0. 1. ]] SLAMing on 0.325779523 meters Centerline goodness : 0.202609 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.03 [[ 0.99869077 -0.03693825 -0.03538791 0.26086753] [ 0.03719836 0.99928531 0.00672011 0.05562534] [ 0.03511439 -0.00802769 0.99935106 -0.02580639] [ 0. 0. 0. 1. ]] SLAMing on 0.35577952299999993 meters Centerline goodness : 0.279795 Centerline is valid? [False, False] Translation: X:0.31, Y:0.07, Z:-0.04 [[ 0.99736251 -0.0364212 -0.06278146 0.31019008] [ 0.03705333 0.99927336 0.00893367 0.0730785 ] [ 0.06241046 -0.01123637 0.99798731 -0.03868959] [ 0. 0. 0. 1. ]] SLAMing on 0.38577952299999996 meters Centerline goodness : 0.927249 Centerline is valid? [False, False] Translation: X:0.34, Y:0.08, Z:-0.05 [[ 0.99642378 -0.03292554 -0.07781754 0.3361617 ] [ 0.03390358 0.99936144 0.01128056 0.08436496] [ 0.07739643 -0.01387851 0.9969038 -0.04752882] [ 0. 0. 0. 1. ]] SLAMing on 0.415779523 meters Centerline goodness : 0.937961 Centerline is valid? [False, False] Translation: X:0.36, Y:0.09, Z:-0.06 [[ 0.99531745 -0.02714714 -0.09276962 0.36304247] [ 0.0287469 0.99945943 0.01595169 0.09418639] [ 0.09228643 -0.01854384 0.99555981 -0.05800367] [ 0. 0. 0. 1. ]] SLAMing on 0.445779523 meters Centerline goodness : 0.158246 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:-0.07 [[ 0.99427947 -0.01857526 -0.10518219 0.38803287] [ 0.02077924 0.99958608 0.01989692 0.11192075] [ 0.10476906 -0.02196871 0.9942539 -0.06811233] [ 0. 0. 0. 1. ]] SLAMing on 0.4757795229999999 meters Centerline goodness : 0.899215 Centerline is valid? [False, False] Translation: X:0.19, Y:0.18, Z:-0.13 [[ 0.98459349 -0.08687207 -0.15175276 0.18512593] [ 0.08435464 0.99617121 -0.02296119 0.17858119] [ 0.15316642 0.00980639 0.98815175 -0.1331191 ] [ 0. 0. 0. 1. ]] SLAMing on 0.505779523 meters Centerline goodness : 0.845059 Centerline is valid? [False, False] Translation: X:-0.31, Y:2.65, Z:0.96 [[ 0.64395678 -0.7229517 0.25032081 -0.30842975] [ 0.40177968 0.04112608 -0.9148124 2.65212051] [ 0.65107047 0.68967346 0.31695072 0.95831539] [ 0. 0. 0. 1. ]] SLAMing on 0.535779523 meters Centerline goodness : 0.958242 Centerline is valid? [False, True] Translation: X:-0.62, Y:1.50, Z:-0.15 [[ 0.82690201 -0.46540347 0.31564643 -0.61688932] [ 0.45579313 0.88344277 0.10854257 1.49914761] [-0.32937165 0.05411541 0.94264831 -0.15171209] [ 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 320, 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