The Mobile Robot Programming Toolkit

Note: This is the HTML version of the program's man-page.

 

NAME

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

SYNOPSIS

   rawlog-edit  [--camera-params <SENSOR_LABEL,file.ini>] [--sensors-pose
                <file.ini>] [--cut] [--export-gps-txt] [--export-gps-kml]
                [--keep-label <label[,label...]>] [--remove-label <label[
                ,label...]>] [--list-images] [--info] [--externalize] [-q]
                [-w] [--to-time <T1>] [--from-time <T0>] [--to-index <N1>]
                [--from-index <N0>] [--text-file-output <out.txt>]
                [--image-format <jpg,png,pgm,...>] [-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:

   --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]'.

     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)


   --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-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-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-format <jpg,png,pgm,...>
     External image format

   -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.