Tool

HeRCULES 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.

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:

1. Visualization for a comprehensive graphical representation of range sensor data.

2. File Handling(bin to pcd)

• Files and Functions

1. binVisualizer.py: Visualize the bin file using open3d.

• Input: bin file from HeRCULES dataset.

• Output: visualize the 3D pointcloud via open3d.

2. bin2pcd.py: Reads .bin files from different sensors and outputs processed data in .pcd format.