rawlog-edit man page

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

Synopsis

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

Usage Examples

Quick overview of a dataset file:

rawlog-edit --info -i in.rawlog

Cut the entries [1000,2000] into another rawlog file:

rawlog-edit --cut --from-index 1000 --to-index 2000 \
-i in.rawlog -o out.rawlog

Cut the entries from the beginning up to timestamp 1281619819:

rawlog-edit --cut --to-time 1281619819 \
-i in.rawlog -o out.rawlog

Generate a Google Earth KML file with the GPS data in a dataset:

rawlog-edit --export-gps-kml -i in.rawlog

Remove all observations named "REAR_LASER":

rawlog-edit --remove-label REAR_LASER -i in.rawlog -o out.rawlog

Remove all observations not named "REAR_LASER":

rawlog-edit --keep-label REAR_LASER -i in.rawlog -o out.rawlog

Convert all images to external storage mode:

rawlog-edit --externalize -i in.rawlog -o out.rawlog

rawlog-edit --externalize --image-format jpg -i in.rawlog \
-o out.rawlog

Description

rawlog-edit is a command-line application to inspect and manipulate robotic dataset files in the "rawlog" standardized format.

These are the supported arguments and operations:

--rename-externals
  Op: Renames all the external storage file names within the rawlog (it
  doesn't change the external files, which may even not exist).
--stereo-rectify <SENSOR_LABEL,0.5>
  Op: creates a new set of external images for all
  CObservationStereoImages with the given SENSOR_LABEL, using the camera
  parameters stored in the observations (which must be a valid
  calibration) and with the given alpha value. Alpha can be -1 for auto,
  or otherwise be in the range [0,1] (see OpenCV's docs for
  cvStereoRectify).
  Requires: -o (or --output)
  Optional: --image-format to set image format (default=jpg), 
  --image-size to resize output images (example: --image-size 640x480)
  
--camera-params <SENSOR_LABEL,file.ini>
  Op: change the camera parameters of all CObservationImage's with the
  given SENSOR_LABEL, with new params loaded from the given file,
  section '[CAMERA_PARAMS]' for monocular cameras, or
  '[CAMERA_PARAMS_LEFT]' and '[CAMERA_PARAMS_RIGHT]' for
  stereo.
  Requires: -o (or --output)
--sensors-pose <file.ini>
  Op: batch change the poses of sensors from a rawlog-grabber-like
  configuration file that specifies the pose of sensors by their
  sensorLabel names.
  Requires: -o (or --output)
--generate-pcd
  Op: Generate a PointCloud Library (PCL) PCD file with the point cloud
  for each sensor observation that can be converted into this
  representation: laser scans, 3D camera images, etc.
  Optional: --out-dir to change the output directory (default: "./")
--generate-3d-pointclouds
  Op: (re)generate the 3D pointclouds within CObservation3DRangeScan
  objects that have range data.
  Requires: -o (or --output)
--cut
  Op: Cut a part of the input rawlog.
  Requires: -o (or --output)
  Requires: At least one of --from-index, --from-time, --to-index,
  --to-time. Use only one of the --from-* and --to-* at once.
  If only a --from-* is given, the rawlog will be saved up to its end.
  If only a --to-* is given, the rawlog will be saved from its
  beginning.
--export-2d-scans-txt
  Op: Export 2D scans to TXT files.
  Generates two .txt files for each different sensor label of 2D scan
  observations, one with the timestamps and the other with range
  data.
  The generated .txt files will be saved in the same path than the input
  rawlog, with the same filename + each sensorLabel.
--export-imu-txt
  Op: Export IMU readings to TXT files.
  Generates one .txt file for each different sensor label of an IMU
  observation in the dataset. The generated .txt files will be saved in
  the same path than the input rawlog, with the same filename + each
  sensorLabel.
--export-gps-txt
  Op: Export GPS readings to TXT files.
  Generates one .txt file for each different sensor label of GPS
  observations in the dataset. The generated .txt files will be saved in
  the same path than the input rawlog, with the same filename + each
  sensorLabel.
--export-gps-kml
  Op: Export GPS paths to Google Earth KML files.
  Generates one .kml file with different sections for each different
  sensor label of GPS observations in the dataset. The generated .kml
  files will be saved in the same path than the input rawlog, with the
  same filename + each sensorLabel.
--keep-label <label[,label...]>
  Op: Remove all observations not matching the given sensor
  label(s).Several labels can be provided separated by commas.
  Requires: -o (or --output)
--remove-label <label[,label...]>
  Op: Remove all observation matching the given sensor label(s).Several
  labels can be provided separated by commas.
  Requires: -o (or --output)
--list-range-bearing
  Op: dump a list of all landmark observations of type
  range-bearing.
  Optionally the output text file can be changed with
  --text-file-output.
--remap-timestamps <a;b>
  Op: Change all timestamps t replacing it with the linear map
  'a*t+b'.The parameters 'a' and 'b' must be given separated with a
  semicolon.
  Requires: -o (or --output)
--list-timestamps
  Op: generates a list with all the observations' timestamp, sensor
  label and C++ class name.
  Optionally the output text file can be changed with
  --text-file-output.
--list-images
  Op: dump a list of all external image files in the dataset.
  Optionally the output text file can be changed with
  --text-file-output.
--info
  Op: parse input file and dump information and statistics.
--externalize
  Op: convert to external storage.
  Requires: -o (or --output)
  Optional: --image-format
-q,  --quiet
  Terse output
-w,  --overwrite
  Force overwrite target file without prompting.
--to-time <T1>
  End time for --cut, as UNIX timestamp, optionally with fractions of
  seconds.
--from-time <T0>
  Starting time for --cut, as UNIX timestamp, optionally with fractions
  of seconds.
--to-index <N1>
  End index for --cut
--from-index <N0>
  Starting index for --cut
--text-file-output <out.txt>
  Output for a text file
--image-size <COLSxROWS>
  Resize output images
--image-format <jpg,png,pgm,...>
  External image format
--out-dir <.>
  Output directory (used by some commands only)
-o <dataset_out.rawlog>,  --output <dataset_out.rawlog>
  Output dataset (*.rawlog)
-i <dataset.rawlog>,  --input <dataset.rawlog>
  (required)  Input dataset (required) (*.rawlog)
--,  --ignore_rest
  Ignores the rest of the labeled arguments following this flag.
--version
  Displays version information and exits.
-h,  --help
  Displays usage information and exits.

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Bugs

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

See Also

The GUI program RawLogViewer, and the application wiki pages at http://www.mrpt.org/

Authors

rawlog-edit is part of the Mobile Robot Programming Toolkit (MRPT), and was originally written by the MAPIR laboratory (University of Malaga).

This manual page was written by Jose Luis Blanco <joseluisblancoc@gmail.com>.

Info

2015-11-03 perl v5.24.0 Mobile Robot Programming Toolkit - MRPT