Load new scan failed. #7
Description
Thank you for your work, but after I configured it according to your instructions, I kept getting errors when I ran it. I don’t know the reason. Can you help me solve it? “Load new scan failed.”
`(base) xdh@Pc:~/SLAM/contour-context_ws$ rosrun cont2 cont2_batch_bin_test
batch bin test start
Loading parameters...
"fpath_sens_gt_pose"->: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-sens_pose-kitti00.txt
"fpath_lidar_bins"->: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-lidar_bins-kitti00.txt
"correlation_thres"->: 0.64928
Error opening gt pose file: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-sens_pose-kitti00.txt
"ContourDBConfig"->"nnk_"->: 50
"ContourDBConfig"->"max_fine_opt_"->: 10
"ContourDBConfig"->"q_levels_"->: 1, 2, 3,
"ContourDBConfig"->"TreeBucketConfig"->"max_elapse_"->: 25
"ContourDBConfig"->"TreeBucketConfig"->"min_elapse_"->: 15
"ContourDBConfig"->"ContourSimThresConfig"->"ta_cell_cnt"->: 6
"ContourDBConfig"->"ContourSimThresConfig"->"tp_cell_cnt"->: 0.2
"ContourDBConfig"->"ContourSimThresConfig"->"tp_eigval"->: 0.2
"ContourDBConfig"->"ContourSimThresConfig"->"ta_h_bar"->: 0.3
"ContourDBConfig"->"ContourSimThresConfig"->"ta_rcom"->: 0.4
"ContourDBConfig"->"ContourSimThresConfig"->"tp_rcom"->: 0.25
"thres_lb_"->"i_ovlp_sum"->: 3
"thres_lb_"->"i_ovlp_max_one"->: 3
"thres_lb_"->"i_in_ang_rng"->: 3
"thres_lb_"->"i_indiv_sim"->: 3
"thres_lb_"->"i_orie_sim"->: 4
"thres_lb_"->"correlation"->: 0.3
"thres_lb_"->"area_perc"->: 0.03
"thres_lb_"->"neg_est_dist"->: -5.01
"thres_ub_"->"i_ovlp_sum"->: 6
"thres_ub_"->"i_ovlp_max_one"->: 6
"thres_ub_"->"i_in_ang_rng"->: 6
"thres_ub_"->"i_indiv_sim"->: 6
"thres_ub_"->"i_orie_sim"->: 6
"thres_ub_"->"correlation"->: 0.75
"thres_ub_"->"area_perc"->: 0.15
"thres_ub_"->"neg_est_dist"->: -5
"ContourManagerConfig"->"lv_grads_"->: 1.5, 2, 2.5, 3, 3.5, 4,
"ContourManagerConfig"->"reso_row_"->: [!] Cannot find the specified config parameter!
"ContourManagerConfig"->"reso_col_"->: [!] Cannot find the specified config parameter!
"ContourManagerConfig"->"n_row_"->: 150
"ContourManagerConfig"->"n_col_"->: 150
"ContourManagerConfig"->"lidar_height_"->: 2
"ContourManagerConfig"->"blind_sq_"->: 9
"ContourManagerConfig"->"min_cont_key_cnt_"->: 9
"ContourManagerConfig"->"min_cont_cell_cnt_"->: 3
"ContourManagerConfig"->"piv_firsts_"->: 6
"ContourManagerConfig"->"dist_firsts_"->: 10
"ContourManagerConfig"->"roi_radius_"->: 10
"fpath_outcome_sav"->: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/outcome-kitti00.txt
Hold for 3 seconds...
===
current addr 0 exceeds boundary
Load new scan failed.
===
current addr 1 exceeds boundary
Load new scan failed.
===
current addr 2 exceeds boundary
Load new scan failed.
===
current addr 3 exceeds boundary
Load new scan failed.
^CIn outcome file:
TP is 0
FP is 1
TN is 2
FN is 3
Outcome saved successfully.
=== Time Profiling @2024-01-04 Thu 18:35:08 +0800 ===
=== Description: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/outcome-kitti00.txt
Index Name Count Average Stddev Per loop Loop % Accum %
* *sum 0 * * 0.00e+00 * *
`