Embedded Files
File Player
The File Player is an application designed to convert bin, csv, or txt files into ROS messages.
Features of the File Player for HeRCULES:
Display of Play Time & End Time: This allows users to anticipate the time left for the completion of the playback.
Rosbag File Saving: The application offers the convenience of simultaneously saving the played content as a rosbag file.
Loop Functionality: For users who wish to review the content multiple times, there's an option for repeated playback.
Playback Speed Control: Users can control the speed of the playback, allowing for quicker reviews of the content.
Navigation Controls: Through the use of a slide bar and play time indicators, users can effortlessly jump to any desired point in the playback.
With these features, the File Player enhances the user experience and provides flexibility for those working with the HeRCULES dataset.
Visitors can identify the file player repository by the icon below.
Usage of File Player
The video on the right shows the process of converting data to ros msg via file player.
The video was produced based on the Sports Complex sequence.
HeRCULES Pointcloud Toolbox
The HeRCULES Pointcloud Toolbox is a sophisticated software suite tailored for processing and analyzing the HeRCULES (Heterogeneous Radar Place Recognition) dataset. This toolbox offers robust functionalities for manipulating point cloud data from various range sensors, making it an essential tool for researchers in place recognition, SLAM (Simultaneous Localization and Mapping), and other related fields.
The HeRCULES_Pointcloud_Toolbox excels with two core functionalities:
Visualization for a comprehensive graphical representation of range sensor data.
File Handling(bin to pcd)
Files and functions
binVisualizer.py: Visualize the bin file using open3d.
Input: bin file from HeRCULES dataset.
Output: visualize the 3D pointcloud via open3d.
bin2pcd.py: Reads .bin files and outputs processed data in .pcd format.
Visitors can identify the file player repository by the icon below.
Spinning Radar Polar image to Cartesian image
Our spinning radar data is initially acquired in Polar image format, capturing data in a radial coordinate system with the radar at its center. While the polar format effectively represents the radar's native measurement space, it can be challenging to interpret for certain applications.
To enhance usability and provide more intuitive visualization, we convert all Polar images into Cartesian images. This conversion projects the radar data onto a 2D plane using X and Y coordinates, making it easier to integrate with other sensor modalities, such as cameras or LIDARs, that typically use Cartesian coordinate systems.
We offer both polar and Cartesian image formats in separate folders, allowing users to work with their preferred representation based on their specific needs or analysis workflows.
Spinning Radar raw image to Oxford-Radar-RobotCar Format
Our spinning radar data is captured as raw Polar images. To ensure compatibility with the Oxford-Radar-RobotCar dataset, we provide a conversion process that restructures the data into this widely-used format.
This allows for seamless integration with existing tools and algorithms, enabling researchers to easily apply their models and perform cross-comparisons without needing extensive preprocessing.
For the format, see details here.
Visitors can identify the Polar2X repository by the icon below.
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