-
Notifications
You must be signed in to change notification settings - Fork 23
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Load new scan failed. #7
Comments
It seems you that did not put the right timestamp+sensor-pose file in place. Please ensure |
In addition, what do these variables mean and what are the differences? fp_pose and sav_1 and sav_2
|
We only use poses from SemanticKITTI. Please check the configuration file |
我想知道 这个文件“ts-lidar_bins-kitti08.txt” 为什么没有提供 但是却在代码中打开 |
This file records the path to LiDAR scan files and is generated via a script as described in README. |
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 * *
`
The text was updated successfully, but these errors were encountered: