| RAWLOG-EDIT(1) | Mobile Robot Programming Toolkit - MRPT | RAWLOG-EDIT(1) |
rawlog-edit - Command-line robotic datasets (rawlogs) manipulation tool
rawlog-edit [--undistort] [--rename-externals] [--stereo-rectify
<SENSOR_LABEL,0.5>] [--camera-params <SENSOR_LABEL
,file.ini>] [--sensors-pose <file.ini>]
[--generate-3d-pointclouds] [--cut] [--export-2d-scans-txt]
[--export-txt] [--export-rawdaq-txt] [--recalc-odometry]
[--export-anemometer-txt] [--export-enose-txt]
[--export-odometry-txt] [--export-imu-txt]
[--export-gps-all] [--export-gps-txt]
[--export-gps-gas-kml] [--export-gps-kml] [--keep-label
<label[,label...]>] [--remove-label <label[,label...]>]
[--list-range-bearing] [--remap-timestamps <a;b>]
[--list-timestamps] [--list-poses] [--list-images] [--info]
[--de-externalize] [--externalize] [-q] [-w] [--odo-D <D>]
[--odo-KR <KR>] [--odo-KL <KL>] [--to-time <T1>]
[--from-time <T0>] [--to-index <N1>] [--from-index <N0>]
[--text-file-output <out.txt>] [--rectify-centers-coincide]
[--image-size <COLSxROWS>] [--txt-externals]
[--image-format <jpg,png,pgm,...>] [--out-dir <.>] [-p
<mylib.so>] [-o <dataset_out.rawlog>] -i <dataset.rawlog>
[--] [--version] [-h]
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
Export all suitable observations to TXT/CSV files:
rawlog-edit --export-txt -i in.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
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:
--undistort
Op: Undistort all images in the rawlog.
--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-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-txt
Op: Generic export observations to TXT/CSV files.
Generates one .txt file for each different sensor label of all
observation classes that supports the export-to-txt API.
The generated .txt files will be saved in the same path than the input
rawlog, as `<rawlog_filename>_<sensorLabel>.txt`.
--export-rawdaq-txt
Op: Export raw DAQ readings to TXT files.
Generates one .txt file for each different sensor label + DAQ task.
The generated .txt files will be saved in the same path than the input
rawlog.
--recalc-odometry
Op: Recomputes odometry increments from new encoder-to-odometry
constants.
Requires: -o (or --output)
Requires: --odo-KL, --odo-KR and --odo-D.
--export-anemometer-txt
Op: Export anemometer readigns to TXT files.
Generates one .txt file for each different sensor label of an
anemometer 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-enose-txt
Op: Export e-nose readigns to TXT files.
Generates one .txt file for each different sensor label of an e-nose
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-odometry-txt
Op: Export absolute odometry readings to TXT files.
Generates one .txt file for each different sensor label of an odometry
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-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-all
Op: Generic export all kinds of GPS/GNSS messages to separate TXT
files.
Generates one .txt file for each different sensor label and for each
message type in the dataset, with a first header line describing each
field.
--export-gps-txt
Op: Export GPS GPGGA messages 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-gas-kml
Op: Export GPS paths to Google Earth KML files coloured by the gas
concentration.
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.
--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-poses
Op: dump a list of all the poses of the observations in the
dataset.
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.
--de-externalize
Op: the opposite that --externalize: generates a monolitic rawlog file
with all external files integrated in one.
Requires: -o (or --output)
--externalize
Op: convert to external storage.
Requires: -o (or --output)
Optional: --image-format, --txt-externals
-q, --quiet
Terse output
-w, --overwrite
Force overwrite target file without prompting.
--odo-D <D>
Distance between left-right wheels (meters), used in
--recalc-odometry.
--odo-KR <KR>
Constant from encoder ticks to meters (right wheel), used in
--recalc-odometry.
--odo-KL <KL>
Constant from encoder ticks to meters (left wheel), used in
--recalc-odometry.
--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
--rectify-centers-coincide
In stereo rectification, force that both image centers after coincide
after rectifying.
--image-size <COLSxROWS>
Resize output images
--txt-externals
When externalizing CObservation3DRangeScan objects, switched from
binary files (default) to plain text.
--image-format <jpg,png,pgm,...>
External image format
--out-dir <.>
Output directory (used by some commands only)
-p <mylib.so>, --plugins <mylib.so>
Single or comma-separated list of .so/.dll plugins to load for
additional user-supplied classes
-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.
--
Please report bugs at https://github.com/MRPT/mrpt/issues
The GUI program RawLogViewer, and the application wiki pages at https://www.mrpt.org/
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>.
This program is free software; you can redistribute it and/or modify it under the terms of the BSD License.
On Debian GNU/Linux systems, the complete text of the BSD License can be found in `/usr/share/common-licenses/BSD'.
| 2023-05-04 | perl v5.36.0 |