Provided by: mrpt-apps_1.5.6-1build1_amd64 bug

NAME

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

SYNOPSIS

          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-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 <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-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.

       --

BUGS

       Please report bugs at https://github.com/MRPT/mrpt/issues

SEE ALSO

       The GUI program RawLogViewer, and the application wiki pages at http://www.mrpt.org/

AUTHORS

       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>.

COPYRIGHT

       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'.