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Always turn off hyphenation; it makes .\" way too many mistakes in technical documents. .if n .ad l .nh .SH "NAME" rawlog\-edit \- Command\-line robotic datasets (rawlogs) manipulation tool .SH "SYNOPSIS" .IX Header "SYNOPSIS" .Vb 10 \& rawlog\-edit [\-\-rename\-externals] [\-\-stereo\-rectify ] \& [\-\-camera\-params ] [\-\-sensors\-pose \& ] [\-\-generate\-pcd] [\-\-generate\-3d\-pointclouds] \& [\-\-cut] [\-\-export\-2d\-scans\-txt] [\-\-export\-imu\-txt] \& [\-\-export\-gps\-txt] [\-\-export\-gps\-kml] [\-\-keep\-label ] [\-\-remove\-label ] \& [\-\-list\-range\-bearing] [\-\-remap\-timestamps ] \& [\-\-list\-timestamps] [\-\-list\-images] [\-\-info] \& [\-\-externalize] [\-q] [\-w] [\-\-to\-time ] [\-\-from\-time \& ] [\-\-to\-index ] [\-\-from\-index ] \& [\-\-text\-file\-output ] [\-\-image\-size ] \& [\-\-image\-format ] [\-\-out\-dir <.>] [\-o \& ] \-i [\-\-] [\-\-version] \& [\-h] .Ve .SH "USAGE EXAMPLES" .IX Header "USAGE EXAMPLES" \&\fBQuick overview of a dataset file:\fR .PP rawlog-edit \-\-info \-i \fIin.rawlog\fR .PP \&\fBCut the entries [1000,2000] into another rawlog file:\fR .PP rawlog-edit \-\-cut \-\-from\-index 1000 \-\-to\-index 2000 \e \-i \fIin.rawlog\fR \-o \fIout.rawlog\fR .PP \&\fBCut the entries from the beginning up to timestamp 1281619819:\fR .PP rawlog-edit \-\-cut \-\-to\-time 1281619819 \e \-i \fIin.rawlog\fR \-o \fIout.rawlog\fR .PP \&\fBGenerate a Google Earth \s-1KML\s0 file with the \s-1GPS\s0 data in a dataset:\fR .PP rawlog-edit \-\-export\-gps\-kml \-i \fIin.rawlog\fR .PP \&\fBRemove all observations named \*(L"\s-1REAR_LASER\*(R":\s0\fR .PP rawlog-edit \-\-remove\-label \s-1REAR_LASER\s0 \-i \fIin.rawlog\fR \-o \fIout.rawlog\fR .PP \&\fBRemove all observations not named \*(L"\s-1REAR_LASER\*(R":\s0\fR .PP rawlog-edit \-\-keep\-label \s-1REAR_LASER\s0 \-i \fIin.rawlog\fR \-o \fIout.rawlog\fR .PP \&\fBConvert all images to external storage mode:\fR .PP rawlog-edit \-\-externalize \-i \fIin.rawlog\fR \-o \fIout.rawlog\fR .PP rawlog-edit \-\-externalize \-\-image\-format jpg \-i \fIin.rawlog\fR \e \-o \fIout.rawlog\fR .SH "DESCRIPTION" .IX Header "DESCRIPTION" \&\fBrawlog-edit\fR is a command-line application to inspect and manipulate robotic dataset files in the \*(L"rawlog\*(R" standardized format. .PP These are the supported arguments and operations: .PP .Vb 3 \& \-\-rename\-externals \& Op: Renames all the external storage file names within the rawlog (it \& doesn\*(Aqt change the external files, which may even not exist). \& \& \& \-\-stereo\-rectify \& 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\*(Aqs 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 \& Op: change the camera parameters of all CObservationImage\*(Aqs with the \& given SENSOR_LABEL, with new params loaded from the given file, \& section \*(Aq[CAMERA_PARAMS]\*(Aq for monocular cameras, or \& \*(Aq[CAMERA_PARAMS_LEFT]\*(Aq and \*(Aq[CAMERA_PARAMS_RIGHT]\*(Aq for \& stereo. \& \& Requires: \-o (or \-\-output) \& \& \& \-\-sensors\-pose \& 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 \& 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 \& 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 \& Op: Change all timestamps t replacing it with the linear map \& \*(Aqa*t+b\*(Aq.The parameters \*(Aqa\*(Aq and \*(Aqb\*(Aq must be given separated with a \& semicolon. \& \& Requires: \-o (or \-\-output) \& \& \-\-list\-timestamps \& Op: generates a list with all the observations\*(Aq 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 \& End time for \-\-cut, as UNIX timestamp, optionally with fractions of \& seconds. \& \& \-\-from\-time \& Starting time for \-\-cut, as UNIX timestamp, optionally with fractions \& of seconds. \& \& \-\-to\-index \& End index for \-\-cut \& \& \-\-from\-index \& Starting index for \-\-cut \& \& \-\-text\-file\-output \& Output for a text file \& \& \-\-image\-size \& Resize output images \& \& \-\-image\-format \& External image format \& \& \-\-out\-dir <.> \& Output directory (used by some commands only) \& \& \-o , \-\-output \& Output dataset (*.rawlog) \& \& \-i , \-\-input \& (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. .Ve .PP \&\-\- .SH "BUGS" .IX Header "BUGS" Please report bugs at https://github.com/MRPT/mrpt/issues .SH "SEE ALSO" .IX Header "SEE ALSO" The \s-1GUI\s0 program RawLogViewer, and the application wiki pages at http://www.mrpt.org/ .SH "AUTHORS" .IX Header "AUTHORS" \&\fBrawlog-edit\fR is part of the Mobile Robot Programming Toolkit (\s-1MRPT\s0), and was originally written by the \s-1MAPIR\s0 laboratory (University of Malaga). .PP This manual page was written by Jose Luis Blanco . .SH "COPYRIGHT" .IX Header "COPYRIGHT" This program is free software; you can redistribute it and/or modify it under the terms of the \s-1BSD\s0 License. .PP On Debian GNU/Linux systems, the complete text of the \s-1BSD\s0 License can be found in `/usr/share/common\-licenses/BSD'.