Application: rawlog-edit

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

NAME

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

SYNOPSIS

USAGE:

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

bin/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-rawdaq-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 &lt;SENSOR_LABEL,0.5&gt;
     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 &lt;SENSOR_LABEL,file.ini&gt;
     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 &lt;file.ini&gt;
     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: &quot;./&quot;)


   --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-rawdaq-txt
     Op: Export raw DAQ readings to TXT files.

     Generates one .txt file for each different sensor label and acquired
     channel. 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 &lt;label[,label...]&gt;
     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 &lt;label[,label...]&gt;
     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 &lt;a;b&gt;
     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 &lt;T1&gt;
     End time for --cut, as UNIX timestamp, optionally with fractions of
     seconds.

   --from-time &lt;T0&gt;
     Starting time for --cut, as UNIX timestamp, optionally with fractions
     of seconds.

   --to-index &lt;N1&gt;
     End index for --cut

   --from-index &lt;N0&gt;
     Starting index for --cut

   --text-file-output &lt;out.txt&gt;
     Output for a text file

   --image-size &lt;COLSxROWS&gt;
     Resize output images

   --image-format &lt;jpg,png,pgm,...&gt;
     External image format

   --out-dir &lt;.&gt;
     Output directory (used by some commands only)

   -o &lt;dataset_out.rawlog&gt;,  --output &lt;dataset_out.rawlog&gt;
     Output dataset (*.rawlog)

   -i &lt;dataset.rawlog&gt;,  --input &lt;dataset.rawlog&gt;
     (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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--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-rawdaq-txt

Op: Export raw DAQ readings to TXT files.

Generates one .txt file for each different sensor label and acquired

channel. 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.