rawlog-edit(1)

1RAWLOG-EDIT(1)      Mobile Robot Programming Toolkit - MRPT     RAWLOG-EDIT(1)
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NAME

6       rawlog-edit - Command-line robotic datasets (rawlogs) manipulation tool
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SYNOPSIS

9          rawlog-edit  [--rename-externals] [--stereo-rectify <SENSOR_LABEL,0.5>]
10                       [--camera-params <SENSOR_LABEL,file.ini>] [--sensors-pose
11                       <file.ini>] [--generate-pcd] [--generate-3d-pointclouds]
12                       [--cut] [--export-2d-scans-txt] [--export-imu-txt]
13                       [--export-gps-txt] [--export-gps-kml] [--keep-label <label[
14                       ,label...]>] [--remove-label <label[,label...]>]
15                       [--list-range-bearing] [--remap-timestamps <a;b>]
16                       [--list-timestamps] [--list-images] [--info]
17                       [--externalize] [-q] [-w] [--to-time <T1>] [--from-time
18                       <T0>] [--to-index <N1>] [--from-index <N0>]
19                       [--text-file-output <out.txt>] [--image-size <COLSxROWS>]
20                       [--image-format <jpg,png,pgm,...>] [--out-dir <.>] [-o
21                       <dataset_out.rawlog>] -i <dataset.rawlog> [--] [--version]
22                       [-h]
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USAGE EXAMPLES

25       Quick overview of a dataset file:
26
27       rawlog-edit --info -i in.rawlog
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29       Cut the entries [1000,2000] into another rawlog file:
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31       rawlog-edit --cut --from-index 1000 --to-index 2000 \
32                    -i in.rawlog -o out.rawlog
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34       Cut the entries from the beginning up to timestamp 1281619819:
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36       rawlog-edit --cut --to-time 1281619819 \
37                    -i in.rawlog -o out.rawlog
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39       Generate a Google Earth KML file with the GPS data in a dataset:
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41       rawlog-edit --export-gps-kml -i in.rawlog
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43       Remove all observations named "REAR_LASER":
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45       rawlog-edit --remove-label REAR_LASER -i in.rawlog -o out.rawlog
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47       Remove all observations not named "REAR_LASER":
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49       rawlog-edit --keep-label REAR_LASER -i in.rawlog -o out.rawlog
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51       Convert all images to external storage mode:
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53       rawlog-edit --externalize -i in.rawlog -o out.rawlog
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55       rawlog-edit --externalize --image-format jpg -i in.rawlog \
56                    -o out.rawlog
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DESCRIPTION

59       rawlog-edit is a command-line application to inspect and manipulate
60       robotic dataset files in the "rawlog" standardized format.
61
62       These are the supported arguments and operations:
63
64          --rename-externals
65            Op: Renames all the external storage file names within the rawlog (it
66            doesn't change the external files, which may even not exist).
67
68
69          --stereo-rectify <SENSOR_LABEL,0.5>
70            Op: creates a new set of external images for all
71            CObservationStereoImages with the given SENSOR_LABEL, using the camera
72            parameters stored in the observations (which must be a valid
73            calibration) and with the given alpha value. Alpha can be -1 for auto,
74            or otherwise be in the range [0,1] (see OpenCV's docs for
75            cvStereoRectify).
76
77            Requires: -o (or --output)
78
79            Optional: --image-format to set image format (default=jpg),
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81            --image-size to resize output images (example: --image-size 640x480)
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84
85          --camera-params <SENSOR_LABEL,file.ini>
86            Op: change the camera parameters of all CObservationImage's with the
87            given SENSOR_LABEL, with new params loaded from the given file,
88            section '[CAMERA_PARAMS]' for monocular cameras, or
89            '[CAMERA_PARAMS_LEFT]' and '[CAMERA_PARAMS_RIGHT]' for
90            stereo.
91
92            Requires: -o (or --output)
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94
95          --sensors-pose <file.ini>
96            Op: batch change the poses of sensors from a rawlog-grabber-like
97            configuration file that specifies the pose of sensors by their
98            sensorLabel names.
99
100            Requires: -o (or --output)
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102
103          --generate-pcd
104            Op: Generate a PointCloud Library (PCL) PCD file with the point cloud
105            for each sensor observation that can be converted into this
106            representation: laser scans, 3D camera images, etc.
107
108            Optional: --out-dir to change the output directory (default: "./")
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110
111          --generate-3d-pointclouds
112            Op: (re)generate the 3D pointclouds within CObservation3DRangeScan
113            objects that have range data.
114
115            Requires: -o (or --output)
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117
118          --cut
119            Op: Cut a part of the input rawlog.
120
121            Requires: -o (or --output)
122
123            Requires: At least one of --from-index, --from-time, --to-index,
124            --to-time. Use only one of the --from-* and --to-* at once.
125
126            If only a --from-* is given, the rawlog will be saved up to its end.
127            If only a --to-* is given, the rawlog will be saved from its
128            beginning.
129
130
131          --export-2d-scans-txt
132            Op: Export 2D scans to TXT files.
133
134            Generates two .txt files for each different sensor label of 2D scan
135            observations, one with the timestamps and the other with range
136            data.
137
138            The generated .txt files will be saved in the same path than the input
139            rawlog, with the same filename + each sensorLabel.
140
141          --export-imu-txt
142            Op: Export IMU readings to TXT files.
143
144            Generates one .txt file for each different sensor label of an IMU
145            observation in the dataset. The generated .txt files will be saved in
146            the same path than the input rawlog, with the same filename + each
147            sensorLabel.
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149          --export-gps-txt
150            Op: Export GPS readings to TXT files.
151
152            Generates one .txt file for each different sensor label of GPS
153            observations in the dataset. The generated .txt files will be saved in
154            the same path than the input rawlog, with the same filename + each
155            sensorLabel.
156
157          --export-gps-kml
158            Op: Export GPS paths to Google Earth KML files.
159
160            Generates one .kml file with different sections for each different
161            sensor label of GPS observations in the dataset. The generated .kml
162            files will be saved in the same path than the input rawlog, with the
163            same filename + each sensorLabel.
164
165          --keep-label <label[,label...]>
166            Op: Remove all observations not matching the given sensor
167            label(s).Several labels can be provided separated by commas.
168
169            Requires: -o (or --output)
170
171          --remove-label <label[,label...]>
172            Op: Remove all observation matching the given sensor label(s).Several
173            labels can be provided separated by commas.
174
175            Requires: -o (or --output)
176
177          --list-range-bearing
178            Op: dump a list of all landmark observations of type
179            range-bearing.
180
181            Optionally the output text file can be changed with
182            --text-file-output.
183
184          --remap-timestamps <a;b>
185            Op: Change all timestamps t replacing it with the linear map
186            'a*t+b'.The parameters 'a' and 'b' must be given separated with a
187            semicolon.
188
189            Requires: -o (or --output)
190
191          --list-timestamps
192            Op: generates a list with all the observations' timestamp, sensor
193            label and C++ class name.
194
195            Optionally the output text file can be changed with
196            --text-file-output.
197
198          --list-images
199            Op: dump a list of all external image files in the dataset.
200
201            Optionally the output text file can be changed with
202            --text-file-output.
203
204          --info
205            Op: parse input file and dump information and statistics.
206
207          --externalize
208            Op: convert to external storage.
209
210            Requires: -o (or --output)
211
212            Optional: --image-format
213
214          -q,  --quiet
215            Terse output
216
217          -w,  --overwrite
218            Force overwrite target file without prompting.
219
220          --to-time <T1>
221            End time for --cut, as UNIX timestamp, optionally with fractions of
222            seconds.
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224          --from-time <T0>
225            Starting time for --cut, as UNIX timestamp, optionally with fractions
226            of seconds.
227
228          --to-index <N1>
229            End index for --cut
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231          --from-index <N0>
232            Starting index for --cut
233
234          --text-file-output <out.txt>
235            Output for a text file
236
237          --image-size <COLSxROWS>
238            Resize output images
239
240          --image-format <jpg,png,pgm,...>
241            External image format
242
243          --out-dir <.>
244            Output directory (used by some commands only)
245
246          -o <dataset_out.rawlog>,  --output <dataset_out.rawlog>
247            Output dataset (*.rawlog)
248
249          -i <dataset.rawlog>,  --input <dataset.rawlog>
250            (required)  Input dataset (required) (*.rawlog)
251
252          --,  --ignore_rest
253            Ignores the rest of the labeled arguments following this flag.
254
255          --version
256            Displays version information and exits.
257
258          -h,  --help
259            Displays usage information and exits.
260
261       --
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BUGS

264       Please report bugs at https://github.com/MRPT/mrpt/issues
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AUTHORS

271       rawlog-edit is part of the Mobile Robot Programming Toolkit (MRPT), and
272       was originally written by the MAPIR laboratory (University of Malaga).
273
274       This manual page was written by Jose Luis Blanco
275       <joseluisblancoc@gmail.com>.
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COPYRIGHT

278       This program is free software; you can redistribute it and/or modify it
279       under the terms of the BSD License.
280
281       On Debian GNU/Linux systems, the complete text of the BSD License can
282       be found in `/usr/share/common-licenses/BSD'.
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286perl v5.30.0                      2019-07-25                    RAWLOG-EDIT(1)