Load new scan failed.

[wangzika]

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 * * `