\page  app_rawlog-edit Application: rawlog-edit

## NAME

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

## SYNOPSIS

    rawlog-edit  [--describe] [--undistort] [--rename-externals]
                [--stereo-rectify <SENSOR_LABEL,0.5>] [--camera-params
                <SENSOR_LABEL,file.ini>] [--sensors-pose <file.ini>]
                [--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
                <label[,label...]>] [--remove-label <label[,label...]>]
                [--list-range-bearing] [--remap-timestamps <a;b>]
                [--list-timestamps] [--list-poses] [--list-images] [--info]
                [--de-externalize] [--externalize] [-q] [-w] [--odo-D <D>]
                [--odo-KR <KR>] [--odo-KL <KL>] [--to-time <T1>]
                [--from-time <T0>] [--to-index <N1>] [--from-index <N0>]
                [--text-file-output <out.txt>] [--rectify-centers-coincide]
                [--image-size <COLSxROWS>] [--txt-externals]
                [--externals-filename-format <"${type}_${label}_%.06%f">]
                [--image-format <jpg,png,pgm,...>] [--out-dir <.>] [-p
                <mylib.so>] [-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


**Export all suitable observations to TXT/CSV files:**

    rawlog-edit --export-txt -i in.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. At least one
"operation flag" (those defined as "Op: ..." below) is required.

These are the supported arguments and operations:

    --describe
      Op: Prints a human-readable description for *all* objects in the
      dataset.

    --undistort
      Op: Undistort all images in the rawlog.


    --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 intrinsic parameters of all CObservationImage
      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
      CObservationStereoImage, or '[DEPTH_CAM_PARAMS]' and
      '[INTENSITY_CAM_PARAMS]' for CObservation3DRangeScan.

      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-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 `<rawlog_filename>_<sensorLabel>.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 <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-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 <D>
      Distance between left-right wheels (meters), used in
      --recalc-odometry.

    --odo-KR <KR>
      Constant from encoder ticks to meters (right wheel), used in
      --recalc-odometry.

    --odo-KL <KL>
      Constant from encoder ticks to meters (left wheel), used in
      --recalc-odometry.

    --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

    --rectify-centers-coincide
      In stereo rectification, force that both image centers after coincide
      after rectifying.

    --image-size <COLSxROWS>
      Resize output images

    --txt-externals
      When externalizing CObservation3DRangeScan objects, switched from
      binary files (default) to plain text.

    --externals-filename-format <"${type}_${label}_%.06%f">
      Format string for the command --rename-externals.(Default:
      "${type}_${label}_%.06%f"). Refer to docs for
      mrpt::obs::format_externals_filename().

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

    --out-dir <.>
      Output directory (used by some commands only)

    -p <mylib.so>,  --plugins <mylib.so>
      Single or comma-separated list of .so/.dll plugins to load for
      additional user-supplied classes

    -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.