.\" -*- mode: troff; coding: utf-8 -*- .\" Automatically generated by Pod::Man 5.01 (Pod::Simple 3.43) .\" .\" Standard preamble: .\" ======================================================================== .de Sp \" Vertical space (when we can't use .PP) .if t .sp .5v .if n .sp .. .de Vb \" Begin verbatim text .ft CW .nf .ne \\$1 .. .de Ve \" End verbatim text .ft R .fi .. .\" \*(C` and \*(C' are quotes in nroff, nothing in troff, for use with C<>. .ie n \{\ . ds C` "" . ds C' "" 'br\} .el\{\ . ds C` . ds C' 'br\} .\" .\" Escape single quotes in literal strings from groff's Unicode transform. .ie \n(.g .ds Aq \(aq .el .ds Aq ' .\" .\" If the F register is >0, we'll generate index entries on stderr for .\" titles (.TH), headers (.SH), subsections (.SS), items (.Ip), and index .\" entries marked with X<> in POD. Of course, you'll have to process the .\" output yourself in some meaningful fashion. .\" .\" Avoid warning from groff about undefined register 'F'. .de IX .. .nr rF 0 .if \n(.g .if rF .nr rF 1 .if (\n(rF:(\n(.g==0)) \{\ . if \nF \{\ . de IX . tm Index:\\$1\t\\n%\t"\\$2" .. . if !\nF==2 \{\ . nr % 0 . nr F 2 . \} . \} .\} .rr rF .\" ======================================================================== .\" .IX Title "RAWLOG-EDIT 1" .TH RAWLOG-EDIT 1 2024-03-20 "perl v5.38.2" "Mobile\ Robot\ Programming\ Toolkit\ -\ MRPT" .\" For nroff, turn off justification. 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 [\-\-undistort] [\-\-rename\-externals] [\-\-stereo\-rectify \& ] [\-\-camera\-params ] [\-\-sensors\-pose ] \& [\-\-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 \& ] [\-\-remove\-label ] \& [\-\-list\-range\-bearing] [\-\-remap\-timestamps ] \& [\-\-list\-timestamps] [\-\-list\-poses] [\-\-list\-images] [\-\-info] \& [\-\-de\-externalize] [\-\-externalize] [\-q] [\-w] [\-\-odo\-D ] \& [\-\-odo\-KR ] [\-\-odo\-KL ] [\-\-to\-time ] \& [\-\-from\-time ] [\-\-to\-index ] [\-\-from\-index ] \& [\-\-text\-file\-output ] [\-\-rectify\-centers\-coincide] \& [\-\-image\-size ] [\-\-txt\-externals] \& [\-\-image\-format ] [\-\-out\-dir <.>] [\-p \& ] [\-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 \&\fBExport all suitable observations to TXT/CSV files:\fR .PP rawlog-edit \-\-export\-txt \-i \fIin.rawlog\fR .PP \&\fBGenerate a Google Earth KML file with the GPS data in a dataset:\fR .PP rawlog-edit \-\-export\-gps\-kml \-i \fIin.rawlog\fR .PP \&\fBRemove all observations named "REAR_LASER":\fR .PP rawlog-edit \-\-remove\-label REAR_LASER \-i \fIin.rawlog\fR \-o \fIout.rawlog\fR .PP \&\fBRemove all observations not named "REAR_LASER":\fR .PP rawlog-edit \-\-keep\-label REAR_LASER \-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 "rawlog" standardized format. .PP These are the supported arguments and operations: .PP .Vb 2 \& \-\-undistort \& Op: Undistort all images in the rawlog. \& \& \& \-\-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\-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 \`_.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 \& 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\-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 \& Distance between left\-right wheels (meters), used in \& \-\-recalc\-odometry. \& \& \-\-odo\-KR \& Constant from encoder ticks to meters (right wheel), used in \& \-\-recalc\-odometry. \& \& \-\-odo\-KL \& Constant from encoder ticks to meters (left wheel), used in \& \-\-recalc\-odometry. \& \& \-\-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 \& \& \-\-rectify\-centers\-coincide \& In stereo rectification, force that both image centers after coincide \& after rectifying. \& \& \-\-image\-size \& Resize output images \& \& \-\-txt\-externals \& When externalizing CObservation3DRangeScan objects, switched from \& binary files (default) to plain text. \& \& \-\-image\-format \& External image format \& \& \-\-out\-dir <.> \& Output directory (used by some commands only) \& \& \-p , \-\-plugins \& Single or comma\-separated list of .so/.dll plugins to load for \& additional user\-supplied classes \& \& \-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 GUI program RawLogViewer, and the application wiki pages at https://www.mrpt.org/ .SH AUTHORS .IX Header "AUTHORS" \&\fBrawlog-edit\fR is part of the Mobile Robot Programming Toolkit (MRPT), and was originally written by the MAPIR 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 BSD License. .PP On Debian GNU/Linux systems, the complete text of the BSD License can be found in `/usr/share/common\-licenses/BSD'.