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 * *
`

[lewisjiang]

Error opening gt pose file: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-sens_pose-kitti00.txt

It seems you that did not put the right timestamp+sensor-pose file in place. Please ensure ./scripts/gen_batch_bin_configs.py is modified and run properly according to the instructions, and manually check the content of the output files before running loop detection.

[wangzika]

Thanks for your reply, can I configure it with original kitti dataset instead of semantic-kitti's dataset

[wangzika]

Error opening gt pose file: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-sens_pose-kitti00.txt

It seems you that did not put the right timestamp+sensor-pose file in place. Please ensure ./scripts/gen_batch_bin_configs.py is modified and run properly according to the instructions, and manually check the content of the output files before running loop detection.

In addition, what do these variables mean and what are the differences? fp_pose and sav_1 and sav_2

dir_lid_bin = "/media/xdh/Elements/wangzika_date/my_date/date/dataset/sequences/00/velodyne" fp_pose = "/home/xdh/kitti/dataset/poses/00.txt" fp_times = "/home/xdh//kitti/dataset/sequences/00/times.txt" fp_calib = "/home/xdh/下载/kitti/dataset/sequences/00/calib.txt" sav_1 = "/media/xdh/Elements/wangzika_date/my_date/date/dataset/KITTI_poses/kitti00.txt" sav_2 = "/media/xdh/Elements/wangzika_date/my_date/date/dataset/KITTI_poses/kitti00.txt"

[lewisjiang]

We only use poses from SemanticKITTI. Please check the configuration file batch_bin_test_config.yaml to match the file names.

[wangzika]

我们仅使用 SemanticKITTI 中的姿势。请检查配置文件batch_bin_test_config.yaml以匹配文件名。
为什么我按照您的说明对batch_bin_test_config.yaml文件进行配置还是会报错，
batch bin test start
Loading parameters...
"fpath_sens_gt_pose"->: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-sens_pose-kitti08.txt
"fpath_lidar_bins"->: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-lidar_bins-kitti08.txt
"correlation_thres"->: 0.64928
Added 4071 stamped gt poses.
Error opening laser info file: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-lidar_bins-kitti08.txt

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
infile2.open(fpath_laser, std::ios::in);
if (infile2.rdstate() != std::ifstream::goodbit) {
std::cerr << "Error opening laser info file: " << fpath_laser << std::endl;
return;
}

[lewisjiang]

我们仅使用 SemanticKITTI 中的姿势。请检查配置文件batch_bin_test_config.yaml以匹配文件名。
为什么我按照您的说明对batch_bin_test_config.yaml文件进行配置还是会报错，
batch bin test start
Loading parameters...
"fpath_sens_gt_pose"->: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-sens_pose-kitti08.txt
"fpath_lidar_bins"->: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-lidar_bins-kitti08.txt
"correlation_thres"->: 0.64928
Added 4071 stamped gt poses.
Error opening laser info file: /home/xdh/SLAM/contour-context_ws/src/contour-context/sample_data/ts-lidar_bins-kitti08.txt

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 infile2.open(fpath_laser, std::ios::in); if (infile2.rdstate() != std::ifstream::goodbit) { std::cerr << "Error opening laser info file: " << fpath_laser << std::endl; return; }

This file records the path to LiDAR scan files and is generated via a script as described in README.